{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:TRN45IRAWK6F2ZSESEHRAWAXKH","short_pith_number":"pith:TRN45IRA","canonical_record":{"source":{"id":"1903.10259","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-03-25T12:07:03Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"9ab961b7e5261c116801056c42814beac210b51d58716851e6bb517fcf656623","abstract_canon_sha256":"680fe6e312efda59ab0004a80223e4228c592be2a2f939ee9795733928b74166"},"schema_version":"1.0"},"canonical_sha256":"9c5bcea220b2bc5d6644910f10581751ffab546c9e94873a938b1bb720ebbfe1","source":{"kind":"arxiv","id":"1903.10259","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.10259","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"arxiv_version","alias_value":"1903.10259v3","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.10259","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"pith_short_12","alias_value":"TRN45IRAWK6F","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"pith_short_16","alias_value":"TRN45IRAWK6F2ZSE","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"pith_short_8","alias_value":"TRN45IRA","created_at":"2026-06-04T20:14:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:TRN45IRAWK6F2ZSESEHRAWAXKH","target":"record","payload":{"canonical_record":{"source":{"id":"1903.10259","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-03-25T12:07:03Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"9ab961b7e5261c116801056c42814beac210b51d58716851e6bb517fcf656623","abstract_canon_sha256":"680fe6e312efda59ab0004a80223e4228c592be2a2f939ee9795733928b74166"},"schema_version":"1.0"},"canonical_sha256":"9c5bcea220b2bc5d6644910f10581751ffab546c9e94873a938b1bb720ebbfe1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T20:14:17.371269Z","signature_b64":"DMGaNi7ibfRVrLtTLTkQIBvGj78fW/sVFVIzxdy1QG7s1n91F9/V2m3c6C9cNVML3LW0eOIvRsudv8us3qwrAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9c5bcea220b2bc5d6644910f10581751ffab546c9e94873a938b1bb720ebbfe1","last_reissued_at":"2026-06-04T20:14:17.370822Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T20:14:17.370822Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1903.10259","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-04T20:14:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wH/2HuGB69KN2XHDAnceTM2Prb6r2JZGL8bgzht64YLBTiPBDvN3rs1vjKCvkQwQ3m4U2UBuJzQNp1PUAXhMDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T14:17:22.841338Z"},"content_sha256":"b18caa563bcebb88c205bd9c33e9bc517cc2247a794942bd8f85fce2e405199b","schema_version":"1.0","event_id":"sha256:b18caa563bcebb88c205bd9c33e9bc517cc2247a794942bd8f85fce2e405199b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:TRN45IRAWK6F2ZSESEHRAWAXKH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Perceptual Control with Large Feature and Actuator Networks","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"John Baillieul","submitted_at":"2019-03-25T12:07:03Z","abstract_excerpt":"This paper discusses elements of a control theory of systems comprised of networks of simple agents that collectively achieve sensing and actuation goals despite having strictly limited capability when acting alone. The goal is to understand {\\em neuromorphic} feedback control in which streams of data come from large arrays of sensors (e.g. photo-receptors in the eye) and actuation requires coordination of large numbers of actuators (e.g. motor neurons). The context for this work is set by consideration of a stylized problem of robot navigation that uses optical flow as sensed by two idealized"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.10259","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1903.10259/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-04T20:14:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+me4EldgAxBfkDjW+/R8t7rzuZpmTWOeuALzT3jXvaKE0Z5u7pPntqp5Uy5iA7E66VKLlu1euaRRUUb4RaPMAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T14:17:22.842106Z"},"content_sha256":"7b173703c08510c8f21d64348ce62aff2d74314192ea290debb5ba705352766e","schema_version":"1.0","event_id":"sha256:7b173703c08510c8f21d64348ce62aff2d74314192ea290debb5ba705352766e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TRN45IRAWK6F2ZSESEHRAWAXKH/bundle.json","state_url":"https://pith.science/pith/TRN45IRAWK6F2ZSESEHRAWAXKH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TRN45IRAWK6F2ZSESEHRAWAXKH/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-07T14:17:22Z","links":{"resolver":"https://pith.science/pith/TRN45IRAWK6F2ZSESEHRAWAXKH","bundle":"https://pith.science/pith/TRN45IRAWK6F2ZSESEHRAWAXKH/bundle.json","state":"https://pith.science/pith/TRN45IRAWK6F2ZSESEHRAWAXKH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TRN45IRAWK6F2ZSESEHRAWAXKH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:TRN45IRAWK6F2ZSESEHRAWAXKH","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":"680fe6e312efda59ab0004a80223e4228c592be2a2f939ee9795733928b74166","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-03-25T12:07:03Z","title_canon_sha256":"9ab961b7e5261c116801056c42814beac210b51d58716851e6bb517fcf656623"},"schema_version":"1.0","source":{"id":"1903.10259","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.10259","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"arxiv_version","alias_value":"1903.10259v3","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.10259","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"pith_short_12","alias_value":"TRN45IRAWK6F","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"pith_short_16","alias_value":"TRN45IRAWK6F2ZSE","created_at":"2026-06-04T20:14:17Z"},{"alias_kind":"pith_short_8","alias_value":"TRN45IRA","created_at":"2026-06-04T20:14:17Z"}],"graph_snapshots":[{"event_id":"sha256:7b173703c08510c8f21d64348ce62aff2d74314192ea290debb5ba705352766e","target":"graph","created_at":"2026-06-04T20:14:17Z","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/1903.10259/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper discusses elements of a control theory of systems comprised of networks of simple agents that collectively achieve sensing and actuation goals despite having strictly limited capability when acting alone. The goal is to understand {\\em neuromorphic} feedback control in which streams of data come from large arrays of sensors (e.g. photo-receptors in the eye) and actuation requires coordination of large numbers of actuators (e.g. motor neurons). The context for this work is set by consideration of a stylized problem of robot navigation that uses optical flow as sensed by two idealized","authors_text":"John Baillieul","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-03-25T12:07:03Z","title":"Perceptual Control with Large Feature and Actuator Networks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.10259","kind":"arxiv","version":3},"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:b18caa563bcebb88c205bd9c33e9bc517cc2247a794942bd8f85fce2e405199b","target":"record","created_at":"2026-06-04T20:14:17Z","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":"680fe6e312efda59ab0004a80223e4228c592be2a2f939ee9795733928b74166","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-03-25T12:07:03Z","title_canon_sha256":"9ab961b7e5261c116801056c42814beac210b51d58716851e6bb517fcf656623"},"schema_version":"1.0","source":{"id":"1903.10259","kind":"arxiv","version":3}},"canonical_sha256":"9c5bcea220b2bc5d6644910f10581751ffab546c9e94873a938b1bb720ebbfe1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9c5bcea220b2bc5d6644910f10581751ffab546c9e94873a938b1bb720ebbfe1","first_computed_at":"2026-06-04T20:14:17.370822Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T20:14:17.370822Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DMGaNi7ibfRVrLtTLTkQIBvGj78fW/sVFVIzxdy1QG7s1n91F9/V2m3c6C9cNVML3LW0eOIvRsudv8us3qwrAw==","signature_status":"signed_v1","signed_at":"2026-06-04T20:14:17.371269Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.10259","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b18caa563bcebb88c205bd9c33e9bc517cc2247a794942bd8f85fce2e405199b","sha256:7b173703c08510c8f21d64348ce62aff2d74314192ea290debb5ba705352766e"],"state_sha256":"da86a81419a69d0b4e154ef2b9aea4a3a3b604b9f60c7b42cfefed20a7b903e8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SDUzNM7dFFsVHhL8eCMMISKnVDB/H8vJFYEw5TTEuAikXdnUMnsOEjH0i0d3R8Wa/WuTD2b6rpbTWlv+jTLyDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-07T14:17:22.845750Z","bundle_sha256":"ae3935504e4f7d22c0aea6cb8ba1c258ac2bdd7d92dfcf8eb824001dc01a990e"}}