Pith Number

pith:WB7UQINC

pith:2011:WB7UQINC2VC7NX3SDLOPXGECLK

not attested not anchored not stored refs pending

A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes

Abdel Kader Zaiter (IRCCyN), Damien Chablat (IRCCyN), Philippe Wenger (IRCCyN)

arxiv:1106.0989 v1 · 2011-06-06 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{WB7UQINC2VC7NX3SDLOPXGECLK}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-05-18T04:20:36.785987Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b07f4821a2d545f6df721adcfb98825a9d5da06f5ba716374ddb5a6516b04a58

Aliases

arxiv: 1106.0989 · arxiv_version: 1106.0989v1 · doi: 10.48550/arxiv.1106.0989 · pith_short_12: WB7UQINC2VC7 · pith_short_16: WB7UQINC2VC7NX3S · pith_short_8: WB7UQINC

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/WB7UQINC2VC7NX3SDLOPXGECLK \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: b07f4821a2d545f6df721adcfb98825a9d5da06f5ba716374ddb5a6516b04a58

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4e5068bd07505cb50c7a280a3a02f473914eba141b39563e4f2f576e105de225",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2011-06-06T08:34:38Z",
    "title_canon_sha256": "0755a01c70691840e34a479e87e08531e49a5d9929fcfb877699c07dc79340f3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1106.0989",
    "kind": "arxiv",
    "version": 1
  }
}