{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:UOMCV775CG5KBIVGRTSUAZUOC4","short_pith_number":"pith:UOMCV775","canonical_record":{"source":{"id":"2311.17197","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T20:03:55Z","cross_cats_sorted":[],"title_canon_sha256":"6a2e893d1a63fbdd6447bcb5636b4bfb7e8be31ef6de3cdca0df47a8c7a9f0ad","abstract_canon_sha256":"cff48f71f8d837be8089acbd0300a1dd73007599eb4d2bb1bc615e822fc100ec"},"schema_version":"1.0"},"canonical_sha256":"a3982afffd11baa0a2a68ce540668e17215f2a5a20365a653eab8140b94380cf","source":{"kind":"arxiv","id":"2311.17197","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2311.17197","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"arxiv_version","alias_value":"2311.17197v1","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.17197","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"pith_short_12","alias_value":"UOMCV775CG5K","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"pith_short_16","alias_value":"UOMCV775CG5KBIVG","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"pith_short_8","alias_value":"UOMCV775","created_at":"2026-07-05T07:17:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:UOMCV775CG5KBIVGRTSUAZUOC4","target":"record","payload":{"canonical_record":{"source":{"id":"2311.17197","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T20:03:55Z","cross_cats_sorted":[],"title_canon_sha256":"6a2e893d1a63fbdd6447bcb5636b4bfb7e8be31ef6de3cdca0df47a8c7a9f0ad","abstract_canon_sha256":"cff48f71f8d837be8089acbd0300a1dd73007599eb4d2bb1bc615e822fc100ec"},"schema_version":"1.0"},"canonical_sha256":"a3982afffd11baa0a2a68ce540668e17215f2a5a20365a653eab8140b94380cf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:17:58.792018Z","signature_b64":"xqeNDL0jMFH3sf6izQSILBDG2cGTH8oT8dDbGuB9k8oA5IJg5GWwF+Fx5ZtU+gvL0xZY0UZ15wnqJmHOsiDJDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a3982afffd11baa0a2a68ce540668e17215f2a5a20365a653eab8140b94380cf","last_reissued_at":"2026-07-05T07:17:58.791355Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:17:58.791355Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2311.17197","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":"2026-07-05T07:17:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KjHF8fcsewx2cxYtIEGclZuij0LXQ7uLCgm7yMgwGIhqJk4J3kyHI27j+dbNmLsN3WROHqc8Gsryx7D9za7ACA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T13:46:47.457139Z"},"content_sha256":"82c80308bd3a20e0504b6d1c17a3a198941a526ea22e8c60cf44903267247325","schema_version":"1.0","event_id":"sha256:82c80308bd3a20e0504b6d1c17a3a198941a526ea22e8c60cf44903267247325"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:UOMCV775CG5KBIVGRTSUAZUOC4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Marine$\\mathcal{X}$: Design and Implementation of Unmanned Surface Vessel for Vision Guided Navigation","license":"http://creativecommons.org/publicdomain/zero/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abdelrahman Alblooshi, Ahmed Humais, Irfan Hussain, Lakmal Seneviratne, Lyes Saad Saoud, Mohamed Alblooshi, Muhayy Ud Din, Waseem Akram","submitted_at":"2023-11-28T20:03:55Z","abstract_excerpt":"Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper presents the design and implementation of a USV named marine$\\mathcal{X}$. The hardware components of marine$\\mathcal{X}$ are meticulously developed to ensure robustness, efficiency, and adaptability to varying environmental conditions. Furthermore, the integration of a vision-based object tracking algorithm empowers marine$\\mathcal{X}$ to autonomously track and "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.17197","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/2311.17197/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":"2026-07-05T07:17:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uUH2pD3EMATIvPbYL/jkNvw4q9UjVGHDcNg0Fp3FudrXti/BoRmdWBOkb0fGlodEjWVIIPBqUySziAnfGfBkCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T13:46:47.457530Z"},"content_sha256":"67e517d3fa5fddc365726bea381a73ecad13a1681f518c6cad658677b0aaf1cc","schema_version":"1.0","event_id":"sha256:67e517d3fa5fddc365726bea381a73ecad13a1681f518c6cad658677b0aaf1cc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UOMCV775CG5KBIVGRTSUAZUOC4/bundle.json","state_url":"https://pith.science/pith/UOMCV775CG5KBIVGRTSUAZUOC4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UOMCV775CG5KBIVGRTSUAZUOC4/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":"2026-07-07T13:46:47Z","links":{"resolver":"https://pith.science/pith/UOMCV775CG5KBIVGRTSUAZUOC4","bundle":"https://pith.science/pith/UOMCV775CG5KBIVGRTSUAZUOC4/bundle.json","state":"https://pith.science/pith/UOMCV775CG5KBIVGRTSUAZUOC4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UOMCV775CG5KBIVGRTSUAZUOC4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:UOMCV775CG5KBIVGRTSUAZUOC4","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":"cff48f71f8d837be8089acbd0300a1dd73007599eb4d2bb1bc615e822fc100ec","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T20:03:55Z","title_canon_sha256":"6a2e893d1a63fbdd6447bcb5636b4bfb7e8be31ef6de3cdca0df47a8c7a9f0ad"},"schema_version":"1.0","source":{"id":"2311.17197","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2311.17197","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"arxiv_version","alias_value":"2311.17197v1","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.17197","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"pith_short_12","alias_value":"UOMCV775CG5K","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"pith_short_16","alias_value":"UOMCV775CG5KBIVG","created_at":"2026-07-05T07:17:58Z"},{"alias_kind":"pith_short_8","alias_value":"UOMCV775","created_at":"2026-07-05T07:17:58Z"}],"graph_snapshots":[{"event_id":"sha256:67e517d3fa5fddc365726bea381a73ecad13a1681f518c6cad658677b0aaf1cc","target":"graph","created_at":"2026-07-05T07:17:58Z","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/2311.17197/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper presents the design and implementation of a USV named marine$\\mathcal{X}$. The hardware components of marine$\\mathcal{X}$ are meticulously developed to ensure robustness, efficiency, and adaptability to varying environmental conditions. Furthermore, the integration of a vision-based object tracking algorithm empowers marine$\\mathcal{X}$ to autonomously track and ","authors_text":"Abdelrahman Alblooshi, Ahmed Humais, Irfan Hussain, Lakmal Seneviratne, Lyes Saad Saoud, Mohamed Alblooshi, Muhayy Ud Din, Waseem Akram","cross_cats":[],"headline":"","license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T20:03:55Z","title":"Marine$\\mathcal{X}$: Design and Implementation of Unmanned Surface Vessel for Vision Guided Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.17197","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":"sha256:82c80308bd3a20e0504b6d1c17a3a198941a526ea22e8c60cf44903267247325","target":"record","created_at":"2026-07-05T07:17:58Z","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":"cff48f71f8d837be8089acbd0300a1dd73007599eb4d2bb1bc615e822fc100ec","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T20:03:55Z","title_canon_sha256":"6a2e893d1a63fbdd6447bcb5636b4bfb7e8be31ef6de3cdca0df47a8c7a9f0ad"},"schema_version":"1.0","source":{"id":"2311.17197","kind":"arxiv","version":1}},"canonical_sha256":"a3982afffd11baa0a2a68ce540668e17215f2a5a20365a653eab8140b94380cf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a3982afffd11baa0a2a68ce540668e17215f2a5a20365a653eab8140b94380cf","first_computed_at":"2026-07-05T07:17:58.791355Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:17:58.791355Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xqeNDL0jMFH3sf6izQSILBDG2cGTH8oT8dDbGuB9k8oA5IJg5GWwF+Fx5ZtU+gvL0xZY0UZ15wnqJmHOsiDJDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:17:58.792018Z","signed_message":"canonical_sha256_bytes"},"source_id":"2311.17197","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:82c80308bd3a20e0504b6d1c17a3a198941a526ea22e8c60cf44903267247325","sha256:67e517d3fa5fddc365726bea381a73ecad13a1681f518c6cad658677b0aaf1cc"],"state_sha256":"fcf6f69d77d32083d416906a4307cbef5132e8df6eb372a6a9544e0a31a6d4bd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yRNWnAxvVbuKoqGAQzsidzVpTqf9ZBfs8mSQLJhmVqL2nVeIaGfGf/0dAVwqYiHr+7RsWFLEkYcFKE+/bX24Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T13:46:47.459727Z","bundle_sha256":"f4e5e07e102ce473d5d4330bd33c6c43f8399c0e22591d9df11ed45ea3394f51"}}