{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:TVIF5IE4IB2PN3O3ANWY3LWKCP","short_pith_number":"pith:TVIF5IE4","canonical_record":{"source":{"id":"1705.04399","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-11T23:29:53Z","cross_cats_sorted":[],"title_canon_sha256":"e09859598644804c05a45753a88257727dcd5230214c1bb58f87043d97077dbd","abstract_canon_sha256":"3f2fe7d7ecaad613918b1beeafb222501a0bed368c04c9c3d3b6507c1343a730"},"schema_version":"1.0"},"canonical_sha256":"9d505ea09c4074f6eddb036d8daeca13fc6fede2f2f991532b54ff2b36f6af5a","source":{"kind":"arxiv","id":"1705.04399","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.04399","created_at":"2026-05-18T00:44:38Z"},{"alias_kind":"arxiv_version","alias_value":"1705.04399v1","created_at":"2026-05-18T00:44:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.04399","created_at":"2026-05-18T00:44:38Z"},{"alias_kind":"pith_short_12","alias_value":"TVIF5IE4IB2P","created_at":"2026-05-18T12:31:46Z"},{"alias_kind":"pith_short_16","alias_value":"TVIF5IE4IB2PN3O3","created_at":"2026-05-18T12:31:46Z"},{"alias_kind":"pith_short_8","alias_value":"TVIF5IE4","created_at":"2026-05-18T12:31:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:TVIF5IE4IB2PN3O3ANWY3LWKCP","target":"record","payload":{"canonical_record":{"source":{"id":"1705.04399","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-11T23:29:53Z","cross_cats_sorted":[],"title_canon_sha256":"e09859598644804c05a45753a88257727dcd5230214c1bb58f87043d97077dbd","abstract_canon_sha256":"3f2fe7d7ecaad613918b1beeafb222501a0bed368c04c9c3d3b6507c1343a730"},"schema_version":"1.0"},"canonical_sha256":"9d505ea09c4074f6eddb036d8daeca13fc6fede2f2f991532b54ff2b36f6af5a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:44:38.223756Z","signature_b64":"c3wI0Rm9xTUcBsW1k2f9sxUPo8OmO69wgmS4gjj4PebJMeBqObfnCT3mjzKYazp5cfWRc6QAl4+no4tE/3cZDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9d505ea09c4074f6eddb036d8daeca13fc6fede2f2f991532b54ff2b36f6af5a","last_reissued_at":"2026-05-18T00:44:38.223302Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:44:38.223302Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1705.04399","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:44:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vqjxSzAjfqnR6I+X2UL2JUk0w6BULlPNmBAmF5Br2350Bl1ekktoxrOyc8E6PwGyNVgrXUxmLFI7RqLGT3ZfAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T12:54:23.578735Z"},"content_sha256":"478ddda28f827efb1dd868bf64556a6a591052be3109ee7955405e91964c3190","schema_version":"1.0","event_id":"sha256:478ddda28f827efb1dd868bf64556a6a591052be3109ee7955405e91964c3190"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:TVIF5IE4IB2PN3O3ANWY3LWKCP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Motion Rectification for an Homeostasis-Enabling Wheel","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Eric Feron, Juan-Pablo Afman, Mark Mote","submitted_at":"2017-05-11T23:29:53Z","abstract_excerpt":"A wheel that is capable of producing thrust and maintaining vehicle internal integrity is presented. The wheel can be seen as an organic extension to the central unit (eg the vehicle) it is attached to, that is, the system and the wheel can be completely surrounded by the same tegument while enabling continuous wheel rotation without tearing the tegument. Furthermore, a skeleton linking the central unit of the system to the wheel's center can be made through the use of joints and linear links, while allowing the apparatus to rotate continuously in the same direction with bounded twisting and n"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.04399","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:44:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kfbHj12kKXLu9/iqlNAF5Wt1L2Q0vhoKY07KB8O3GEbJ6/mFMO4N1zFfaMK1OhSDivrH91DA2SbsW+wiPRdFDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T12:54:23.579082Z"},"content_sha256":"02d7cdc73f5dbc092666da4fd582e7c610a98a3268f2223b4ca9425685543a59","schema_version":"1.0","event_id":"sha256:02d7cdc73f5dbc092666da4fd582e7c610a98a3268f2223b4ca9425685543a59"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TVIF5IE4IB2PN3O3ANWY3LWKCP/bundle.json","state_url":"https://pith.science/pith/TVIF5IE4IB2PN3O3ANWY3LWKCP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TVIF5IE4IB2PN3O3ANWY3LWKCP/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":"2026-06-05T12:54:23Z","links":{"resolver":"https://pith.science/pith/TVIF5IE4IB2PN3O3ANWY3LWKCP","bundle":"https://pith.science/pith/TVIF5IE4IB2PN3O3ANWY3LWKCP/bundle.json","state":"https://pith.science/pith/TVIF5IE4IB2PN3O3ANWY3LWKCP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TVIF5IE4IB2PN3O3ANWY3LWKCP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:TVIF5IE4IB2PN3O3ANWY3LWKCP","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":"3f2fe7d7ecaad613918b1beeafb222501a0bed368c04c9c3d3b6507c1343a730","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-11T23:29:53Z","title_canon_sha256":"e09859598644804c05a45753a88257727dcd5230214c1bb58f87043d97077dbd"},"schema_version":"1.0","source":{"id":"1705.04399","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.04399","created_at":"2026-05-18T00:44:38Z"},{"alias_kind":"arxiv_version","alias_value":"1705.04399v1","created_at":"2026-05-18T00:44:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.04399","created_at":"2026-05-18T00:44:38Z"},{"alias_kind":"pith_short_12","alias_value":"TVIF5IE4IB2P","created_at":"2026-05-18T12:31:46Z"},{"alias_kind":"pith_short_16","alias_value":"TVIF5IE4IB2PN3O3","created_at":"2026-05-18T12:31:46Z"},{"alias_kind":"pith_short_8","alias_value":"TVIF5IE4","created_at":"2026-05-18T12:31:46Z"}],"graph_snapshots":[{"event_id":"sha256:02d7cdc73f5dbc092666da4fd582e7c610a98a3268f2223b4ca9425685543a59","target":"graph","created_at":"2026-05-18T00:44:38Z","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"},"paper":{"abstract_excerpt":"A wheel that is capable of producing thrust and maintaining vehicle internal integrity is presented. The wheel can be seen as an organic extension to the central unit (eg the vehicle) it is attached to, that is, the system and the wheel can be completely surrounded by the same tegument while enabling continuous wheel rotation without tearing the tegument. Furthermore, a skeleton linking the central unit of the system to the wheel's center can be made through the use of joints and linear links, while allowing the apparatus to rotate continuously in the same direction with bounded twisting and n","authors_text":"Eric Feron, Juan-Pablo Afman, Mark Mote","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-11T23:29:53Z","title":"Motion Rectification for an Homeostasis-Enabling Wheel"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.04399","kind":"arxiv","version":1},"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":"sha256:478ddda28f827efb1dd868bf64556a6a591052be3109ee7955405e91964c3190","target":"record","created_at":"2026-05-18T00:44:38Z","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":"3f2fe7d7ecaad613918b1beeafb222501a0bed368c04c9c3d3b6507c1343a730","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-11T23:29:53Z","title_canon_sha256":"e09859598644804c05a45753a88257727dcd5230214c1bb58f87043d97077dbd"},"schema_version":"1.0","source":{"id":"1705.04399","kind":"arxiv","version":1}},"canonical_sha256":"9d505ea09c4074f6eddb036d8daeca13fc6fede2f2f991532b54ff2b36f6af5a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9d505ea09c4074f6eddb036d8daeca13fc6fede2f2f991532b54ff2b36f6af5a","first_computed_at":"2026-05-18T00:44:38.223302Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:44:38.223302Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"c3wI0Rm9xTUcBsW1k2f9sxUPo8OmO69wgmS4gjj4PebJMeBqObfnCT3mjzKYazp5cfWRc6QAl4+no4tE/3cZDg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:44:38.223756Z","signed_message":"canonical_sha256_bytes"},"source_id":"1705.04399","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:478ddda28f827efb1dd868bf64556a6a591052be3109ee7955405e91964c3190","sha256:02d7cdc73f5dbc092666da4fd582e7c610a98a3268f2223b4ca9425685543a59"],"state_sha256":"63747f2d629acf1a40fa6312e17d8af63ef460792f8b431f9e06bab5bb6c880b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4gyXD3sRLPm63JtZ2EsAq/9iHClsgaYpxFVd9tJJlcufP9uWjkGg/iyYq17Y2UqPWxNsN8J0xdePA5NXvEDLDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T12:54:23.581088Z","bundle_sha256":"6509b9895dec175649a62d0c5705f4de4a457604d7ee1e01ea5253e26ff8f240"}}