{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:TWSQMIA2LIHSDIIIU5SNMEFG5N","short_pith_number":"pith:TWSQMIA2","schema_version":"1.0","canonical_sha256":"9da506201a5a0f21a108a764d610a6eb555a76b0bbc5b957dbc94609a42abb65","source":{"kind":"arxiv","id":"2002.00798","version":1},"attestation_state":"computed","paper":{"title":"Characterization and Thermal Management of a DC Motor-Driven Resonant Actuator for Miniature Mobile Robots with Oscillating Limbs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY","eess.SY"],"primary_cat":"eess.SP","authors_text":"David Colmenares, Metin Sitti, Miao Liu, Randall Kania","submitted_at":"2020-01-24T05:05:10Z","abstract_excerpt":"In this paper, we characterize the performance of and develop thermal management solutions for a DC motor-driven resonant actuator developed for flapping wing micro air vehicles. The actuator, a DC micro-gearmotor connected in parallel with a torsional spring, drives reciprocal wing motion. Compared to the gearmotor alone, this design increased torque and power density by 161.1% and 666.8%, respectively, while decreasing the drawn current by 25.8%. Characterization of the actuator, isolated from nonlinear aerodynamic loading, results in standard metrics directly comparable to other actuators. "},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2002.00798","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2020-01-24T05:05:10Z","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"title_canon_sha256":"01fdf1f33158f6271141b9ebf4f734caab412111df8249417222b8de135e6af0","abstract_canon_sha256":"bc5ba0f1eaccbdc3aca287914c938abe8afdbb602f39a7c3527bb1c9c6c5e781"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:37:57.674180Z","signature_b64":"vjIT7uiLfTvWKqFRc3PkGFP7zqKJiUvCUSCWJ1ifUBi0l8D2d0xJs8NsWecRGLc4MoiEsHF9vp5esj0r4gkXAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9da506201a5a0f21a108a764d610a6eb555a76b0bbc5b957dbc94609a42abb65","last_reissued_at":"2026-07-05T00:37:57.673769Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:37:57.673769Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Characterization and Thermal Management of a DC Motor-Driven Resonant Actuator for Miniature Mobile Robots with Oscillating Limbs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY","eess.SY"],"primary_cat":"eess.SP","authors_text":"David Colmenares, Metin Sitti, Miao Liu, Randall Kania","submitted_at":"2020-01-24T05:05:10Z","abstract_excerpt":"In this paper, we characterize the performance of and develop thermal management solutions for a DC motor-driven resonant actuator developed for flapping wing micro air vehicles. The actuator, a DC micro-gearmotor connected in parallel with a torsional spring, drives reciprocal wing motion. Compared to the gearmotor alone, this design increased torque and power density by 161.1% and 666.8%, respectively, while decreasing the drawn current by 25.8%. Characterization of the actuator, isolated from nonlinear aerodynamic loading, results in standard metrics directly comparable to other actuators. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2002.00798","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2002.00798/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2002.00798","created_at":"2026-07-05T00:37:57.673831+00:00"},{"alias_kind":"arxiv_version","alias_value":"2002.00798v1","created_at":"2026-07-05T00:37:57.673831+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2002.00798","created_at":"2026-07-05T00:37:57.673831+00:00"},{"alias_kind":"pith_short_12","alias_value":"TWSQMIA2LIHS","created_at":"2026-07-05T00:37:57.673831+00:00"},{"alias_kind":"pith_short_16","alias_value":"TWSQMIA2LIHSDIII","created_at":"2026-07-05T00:37:57.673831+00:00"},{"alias_kind":"pith_short_8","alias_value":"TWSQMIA2","created_at":"2026-07-05T00:37:57.673831+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/TWSQMIA2LIHSDIIIU5SNMEFG5N","json":"https://pith.science/pith/TWSQMIA2LIHSDIIIU5SNMEFG5N.json","graph_json":"https://pith.science/api/pith-number/TWSQMIA2LIHSDIIIU5SNMEFG5N/graph.json","events_json":"https://pith.science/api/pith-number/TWSQMIA2LIHSDIIIU5SNMEFG5N/events.json","paper":"https://pith.science/paper/TWSQMIA2"},"agent_actions":{"view_html":"https://pith.science/pith/TWSQMIA2LIHSDIIIU5SNMEFG5N","download_json":"https://pith.science/pith/TWSQMIA2LIHSDIIIU5SNMEFG5N.json","view_paper":"https://pith.science/paper/TWSQMIA2","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2002.00798&json=true","fetch_graph":"https://pith.science/api/pith-number/TWSQMIA2LIHSDIIIU5SNMEFG5N/graph.json","fetch_events":"https://pith.science/api/pith-number/TWSQMIA2LIHSDIIIU5SNMEFG5N/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/TWSQMIA2LIHSDIIIU5SNMEFG5N/action/timestamp_anchor","attest_storage":"https://pith.science/pith/TWSQMIA2LIHSDIIIU5SNMEFG5N/action/storage_attestation","attest_author":"https://pith.science/pith/TWSQMIA2LIHSDIIIU5SNMEFG5N/action/author_attestation","sign_citation":"https://pith.science/pith/TWSQMIA2LIHSDIIIU5SNMEFG5N/action/citation_signature","submit_replication":"https://pith.science/pith/TWSQMIA2LIHSDIIIU5SNMEFG5N/action/replication_record"}},"created_at":"2026-07-05T00:37:57.673831+00:00","updated_at":"2026-07-05T00:37:57.673831+00:00"}