{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:T4HJX7CFSSANHMTIVN3W3AHGW7","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"a91f922339a505ca5770d4437dad8d61e20f781476187f53f99ffdd5ba88b899","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-12-22T04:05:19Z","title_canon_sha256":"ca0cd4cd0ccedadda654d9e6d2dcb0722987509b5151c5e0564c24c5766e5116"},"schema_version":"1.0","source":{"id":"2312.14425","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.14425","created_at":"2026-07-05T10:53:09Z"},{"alias_kind":"arxiv_version","alias_value":"2312.14425v2","created_at":"2026-07-05T10:53:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.14425","created_at":"2026-07-05T10:53:09Z"},{"alias_kind":"pith_short_12","alias_value":"T4HJX7CFSSAN","created_at":"2026-07-05T10:53:09Z"},{"alias_kind":"pith_short_16","alias_value":"T4HJX7CFSSANHMTI","created_at":"2026-07-05T10:53:09Z"},{"alias_kind":"pith_short_8","alias_value":"T4HJX7CF","created_at":"2026-07-05T10:53:09Z"}],"graph_snapshots":[{"event_id":"sha256:2f4cea1708a2b822b9f6986fff5cd2b570379a9c9fb5031fef496353e462f33b","target":"graph","created_at":"2026-07-05T10:53:09Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2312.14425/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many energy-based control strategies for mechanical systems require the choice of a Coriolis factorization satisfying a skew-symmetry property. This paper (a) explores if and when a control designer has flexibility in this choice, (b) develops a canonical choice related to the Christoffel symbols, and (c) describes how to efficiently perform control computations with it for constrained mechanical systems. We link the choice of a Coriolis factorization to the notion of an affine connection on the configuration manifold and show how properties of the connection relate with the associated factori","authors_text":"Jean-Jacques E. Slotine, Patrick M. Wensing","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-12-22T04:05:19Z","title":"Coriolis Factorizations and their Connections to Riemannian Geometry"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.14425","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:2ae426df93170a62f470bbe2d1055e9f22037e8abcf2f95f826319e7ceb24d59","target":"record","created_at":"2026-07-05T10:53:09Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"a91f922339a505ca5770d4437dad8d61e20f781476187f53f99ffdd5ba88b899","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-12-22T04:05:19Z","title_canon_sha256":"ca0cd4cd0ccedadda654d9e6d2dcb0722987509b5151c5e0564c24c5766e5116"},"schema_version":"1.0","source":{"id":"2312.14425","kind":"arxiv","version":2}},"canonical_sha256":"9f0e9bfc459480d3b268ab776d80e6b7ef1c097d79a53c5b548924de0a348694","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9f0e9bfc459480d3b268ab776d80e6b7ef1c097d79a53c5b548924de0a348694","first_computed_at":"2026-07-05T10:53:09.071094Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:53:09.071094Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xBDTKHx6s6ilyP0QpyXRd7f11cho1r26S+fIHD4Wy0NDrjIJ+GaxuDptAuXLZRg0XqwsOOIkMawAulgEN7fyAg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:53:09.071587Z","signed_message":"canonical_sha256_bytes"},"source_id":"2312.14425","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2ae426df93170a62f470bbe2d1055e9f22037e8abcf2f95f826319e7ceb24d59","sha256:2f4cea1708a2b822b9f6986fff5cd2b570379a9c9fb5031fef496353e462f33b"],"state_sha256":"e41b0fe19e3082906d7247ec3b74ee74f397e18034563d998bfc6cee4d5057bf"}