{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:VALSHUGSS6FHCW7A5AXO3LQC6X","short_pith_number":"pith:VALSHUGS","canonical_record":{"source":{"id":"2011.07529","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-11-15T13:40:21Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"d005b828406e1847d10f8af811169f4f9071dee06386fd125cd1344d02040da6","abstract_canon_sha256":"55eb16db7deb68eb41764c2490a0561069b7e1200d1fad0993e4689d29ac0e83"},"schema_version":"1.0"},"canonical_sha256":"a81723d0d2978a715be0e82eedae02f5e8fd416587c1129b9fb30f207b529de7","source":{"kind":"arxiv","id":"2011.07529","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.07529","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"arxiv_version","alias_value":"2011.07529v3","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.07529","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"pith_short_12","alias_value":"VALSHUGSS6FH","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"pith_short_16","alias_value":"VALSHUGSS6FHCW7A","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"pith_short_8","alias_value":"VALSHUGS","created_at":"2026-07-05T08:00:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:VALSHUGSS6FHCW7A5AXO3LQC6X","target":"record","payload":{"canonical_record":{"source":{"id":"2011.07529","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-11-15T13:40:21Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"d005b828406e1847d10f8af811169f4f9071dee06386fd125cd1344d02040da6","abstract_canon_sha256":"55eb16db7deb68eb41764c2490a0561069b7e1200d1fad0993e4689d29ac0e83"},"schema_version":"1.0"},"canonical_sha256":"a81723d0d2978a715be0e82eedae02f5e8fd416587c1129b9fb30f207b529de7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:00:28.964805Z","signature_b64":"Kq9WUwkjkp37GTejCzAj9FYI9a2Ue/VxUtlJOYNnGObPgHw0DYXTkYCoyVPRjYGXWm2/h6wcfXEvGsfGnqT1Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a81723d0d2978a715be0e82eedae02f5e8fd416587c1129b9fb30f207b529de7","last_reissued_at":"2026-07-05T08:00:28.964401Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:00:28.964401Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2011.07529","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":"2026-07-05T08:00:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IJs4zPPtvBsKnEXaLM7Yv1jYkbsNWegszgcEXEXLRknmMGHtHv1bgj424aYbzYQoOKyhP4M/6VzOWMTjhWVqCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:54:44.905862Z"},"content_sha256":"3db331930efd4584504b2abca049635d47e3f929560ad99d2604a41eaa37aad0","schema_version":"1.0","event_id":"sha256:3db331930efd4584504b2abca049635d47e3f929560ad99d2604a41eaa37aad0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:VALSHUGSS6FHCW7A5AXO3LQC6X","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Full Attitude Intelligent Controller Design of a Heliquad under Complete Failure of an Actuator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Eeshan Kulkarni, Suresh Sundaram","submitted_at":"2020-11-15T13:40:21Z","abstract_excerpt":"In this paper, we design a reliable Heliquad and develop an intelligent controller to handle one actuators complete failure. Heliquad is a multi-copter similar to Quadcopter, with four actuators diagonally symmetric from the center. Each actuator has two control inputs; the first input changes the propeller blades collective pitch (also called variable pitch), and the other input changes the rotation speed. For reliable operation and high torque characteristic requirement for yaw control, a cambered airfoil is used to design propeller blades. A neural network-based control allocation is design"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.07529","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/2011.07529/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":"2026-07-05T08:00:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IgoZ/SspBDcZS+ldaYn2bvhaE3wmwKDArv/PKi0rt10154I4yGNNQT6/mu5KCZxJUSoDJ5Rs7RkEonHGW1kNBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:54:44.906497Z"},"content_sha256":"d70d4b311451c03bd1c188eee117ca6abea431151c0274bfddeb920e05174840","schema_version":"1.0","event_id":"sha256:d70d4b311451c03bd1c188eee117ca6abea431151c0274bfddeb920e05174840"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VALSHUGSS6FHCW7A5AXO3LQC6X/bundle.json","state_url":"https://pith.science/pith/VALSHUGSS6FHCW7A5AXO3LQC6X/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VALSHUGSS6FHCW7A5AXO3LQC6X/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":"2026-07-09T05:54:44Z","links":{"resolver":"https://pith.science/pith/VALSHUGSS6FHCW7A5AXO3LQC6X","bundle":"https://pith.science/pith/VALSHUGSS6FHCW7A5AXO3LQC6X/bundle.json","state":"https://pith.science/pith/VALSHUGSS6FHCW7A5AXO3LQC6X/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VALSHUGSS6FHCW7A5AXO3LQC6X/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:VALSHUGSS6FHCW7A5AXO3LQC6X","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":"55eb16db7deb68eb41764c2490a0561069b7e1200d1fad0993e4689d29ac0e83","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-11-15T13:40:21Z","title_canon_sha256":"d005b828406e1847d10f8af811169f4f9071dee06386fd125cd1344d02040da6"},"schema_version":"1.0","source":{"id":"2011.07529","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.07529","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"arxiv_version","alias_value":"2011.07529v3","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.07529","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"pith_short_12","alias_value":"VALSHUGSS6FH","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"pith_short_16","alias_value":"VALSHUGSS6FHCW7A","created_at":"2026-07-05T08:00:28Z"},{"alias_kind":"pith_short_8","alias_value":"VALSHUGS","created_at":"2026-07-05T08:00:28Z"}],"graph_snapshots":[{"event_id":"sha256:d70d4b311451c03bd1c188eee117ca6abea431151c0274bfddeb920e05174840","target":"graph","created_at":"2026-07-05T08:00:28Z","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/2011.07529/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we design a reliable Heliquad and develop an intelligent controller to handle one actuators complete failure. Heliquad is a multi-copter similar to Quadcopter, with four actuators diagonally symmetric from the center. Each actuator has two control inputs; the first input changes the propeller blades collective pitch (also called variable pitch), and the other input changes the rotation speed. For reliable operation and high torque characteristic requirement for yaw control, a cambered airfoil is used to design propeller blades. A neural network-based control allocation is design","authors_text":"Eeshan Kulkarni, Suresh Sundaram","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-11-15T13:40:21Z","title":"Full Attitude Intelligent Controller Design of a Heliquad under Complete Failure of an Actuator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.07529","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":"sha256:3db331930efd4584504b2abca049635d47e3f929560ad99d2604a41eaa37aad0","target":"record","created_at":"2026-07-05T08:00:28Z","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":"55eb16db7deb68eb41764c2490a0561069b7e1200d1fad0993e4689d29ac0e83","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-11-15T13:40:21Z","title_canon_sha256":"d005b828406e1847d10f8af811169f4f9071dee06386fd125cd1344d02040da6"},"schema_version":"1.0","source":{"id":"2011.07529","kind":"arxiv","version":3}},"canonical_sha256":"a81723d0d2978a715be0e82eedae02f5e8fd416587c1129b9fb30f207b529de7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a81723d0d2978a715be0e82eedae02f5e8fd416587c1129b9fb30f207b529de7","first_computed_at":"2026-07-05T08:00:28.964401Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:00:28.964401Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Kq9WUwkjkp37GTejCzAj9FYI9a2Ue/VxUtlJOYNnGObPgHw0DYXTkYCoyVPRjYGXWm2/h6wcfXEvGsfGnqT1Bw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:00:28.964805Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.07529","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3db331930efd4584504b2abca049635d47e3f929560ad99d2604a41eaa37aad0","sha256:d70d4b311451c03bd1c188eee117ca6abea431151c0274bfddeb920e05174840"],"state_sha256":"0890af67c9339d616d085a5ee5ad1df1d7fdadd36a7af8fe31991cb9ab555504"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rn8krClnzmxvB48siWgMRCMi2L8185SaJ4EaB9gXOJNYGMx61XYv4c7zw85oacYzyk2GX43SoKGYXaNUeDqUDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T05:54:44.910164Z","bundle_sha256":"2dc8044e495f6fdd4a6d1a5a994e2df1718c348e1b055e65a5c105189570a91e"}}