{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2011:WB7UQINC2VC7NX3SDLOPXGECLK","short_pith_number":"pith:WB7UQINC","canonical_record":{"source":{"id":"1106.0989","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-06-06T08:34:38Z","cross_cats_sorted":[],"title_canon_sha256":"0755a01c70691840e34a479e87e08531e49a5d9929fcfb877699c07dc79340f3","abstract_canon_sha256":"4e5068bd07505cb50c7a280a3a02f473914eba141b39563e4f2f576e105de225"},"schema_version":"1.0"},"canonical_sha256":"b07f4821a2d545f6df721adcfb98825a9d5da06f5ba716374ddb5a6516b04a58","source":{"kind":"arxiv","id":"1106.0989","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1106.0989","created_at":"2026-05-18T04:20:36Z"},{"alias_kind":"arxiv_version","alias_value":"1106.0989v1","created_at":"2026-05-18T04:20:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1106.0989","created_at":"2026-05-18T04:20:36Z"},{"alias_kind":"pith_short_12","alias_value":"WB7UQINC2VC7","created_at":"2026-05-18T12:26:44Z"},{"alias_kind":"pith_short_16","alias_value":"WB7UQINC2VC7NX3S","created_at":"2026-05-18T12:26:44Z"},{"alias_kind":"pith_short_8","alias_value":"WB7UQINC","created_at":"2026-05-18T12:26:44Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2011:WB7UQINC2VC7NX3SDLOPXGECLK","target":"record","payload":{"canonical_record":{"source":{"id":"1106.0989","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-06-06T08:34:38Z","cross_cats_sorted":[],"title_canon_sha256":"0755a01c70691840e34a479e87e08531e49a5d9929fcfb877699c07dc79340f3","abstract_canon_sha256":"4e5068bd07505cb50c7a280a3a02f473914eba141b39563e4f2f576e105de225"},"schema_version":"1.0"},"canonical_sha256":"b07f4821a2d545f6df721adcfb98825a9d5da06f5ba716374ddb5a6516b04a58","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T04:20:36.786700Z","signature_b64":"XfuAbKbqp3Cu0m713KiO+g/JcdCYeWuvPoXFEigIkz04mF5Ujo8vXsln6hmL7Fxq115LmE7+FzXNSLh0hTUcAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b07f4821a2d545f6df721adcfb98825a9d5da06f5ba716374ddb5a6516b04a58","last_reissued_at":"2026-05-18T04:20:36.785987Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T04:20:36.785987Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1106.0989","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":"2026-05-18T04:20:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DbuzHXDac+fE1sgoPOjA8jA+Sqeu3f9hRLMNZzmtBRhu1sSgEv8doebVeV3Z0EiVKZmwaD0YtNqv40rRcTbvBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T10:40:30.090456Z"},"content_sha256":"521f1d4b0d317bf53bc7425ae857716b5ef6e21fa41d9aaa460276022fe488e9","schema_version":"1.0","event_id":"sha256:521f1d4b0d317bf53bc7425ae857716b5ef6e21fa41d9aaa460276022fe488e9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2011:WB7UQINC2VC7NX3SDLOPXGECLK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abdel Kader Zaiter (IRCCyN), Damien Chablat (IRCCyN), Philippe Wenger (IRCCyN)","submitted_at":"2011-06-06T08:34:38Z","abstract_excerpt":"Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space and in the workspace. It is shown that a cusp (resp. a node) defines a point of tangency (resp. a crossing point) in the workspace between the singular curves and the curves associated with the so-called characteristics surfaces. The study is conducted on a planar 3-RPR manipulator for illustrative purposes."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1106.0989","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":"2026-05-18T04:20:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FJFfR/p47TP+Rcz8/dRM+prm2vUD4ks90vzFpQmY3jTf0p3Bxwu7PNQct5xM529RE8I63NS0XK2E/UP2Ec8sDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T10:40:30.090799Z"},"content_sha256":"55b260b39538bfa38dafd6e3416bdd35c9aeaa6ddfa696fc003fa5627f98e49b","schema_version":"1.0","event_id":"sha256:55b260b39538bfa38dafd6e3416bdd35c9aeaa6ddfa696fc003fa5627f98e49b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WB7UQINC2VC7NX3SDLOPXGECLK/bundle.json","state_url":"https://pith.science/pith/WB7UQINC2VC7NX3SDLOPXGECLK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WB7UQINC2VC7NX3SDLOPXGECLK/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":"2026-06-05T10:40:30Z","links":{"resolver":"https://pith.science/pith/WB7UQINC2VC7NX3SDLOPXGECLK","bundle":"https://pith.science/pith/WB7UQINC2VC7NX3SDLOPXGECLK/bundle.json","state":"https://pith.science/pith/WB7UQINC2VC7NX3SDLOPXGECLK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WB7UQINC2VC7NX3SDLOPXGECLK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2011:WB7UQINC2VC7NX3SDLOPXGECLK","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":"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}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1106.0989","created_at":"2026-05-18T04:20:36Z"},{"alias_kind":"arxiv_version","alias_value":"1106.0989v1","created_at":"2026-05-18T04:20:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1106.0989","created_at":"2026-05-18T04:20:36Z"},{"alias_kind":"pith_short_12","alias_value":"WB7UQINC2VC7","created_at":"2026-05-18T12:26:44Z"},{"alias_kind":"pith_short_16","alias_value":"WB7UQINC2VC7NX3S","created_at":"2026-05-18T12:26:44Z"},{"alias_kind":"pith_short_8","alias_value":"WB7UQINC","created_at":"2026-05-18T12:26:44Z"}],"graph_snapshots":[{"event_id":"sha256:55b260b39538bfa38dafd6e3416bdd35c9aeaa6ddfa696fc003fa5627f98e49b","target":"graph","created_at":"2026-05-18T04:20:36Z","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":"Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space and in the workspace. It is shown that a cusp (resp. a node) defines a point of tangency (resp. a crossing point) in the workspace between the singular curves and the curves associated with the so-called characteristics surfaces. The study is conducted on a planar 3-RPR manipulator for illustrative purposes.","authors_text":"Abdel Kader Zaiter (IRCCyN), Damien Chablat (IRCCyN), Philippe Wenger (IRCCyN)","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-06-06T08:34:38Z","title":"A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1106.0989","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":"sha256:521f1d4b0d317bf53bc7425ae857716b5ef6e21fa41d9aaa460276022fe488e9","target":"record","created_at":"2026-05-18T04:20:36Z","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":"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}},"canonical_sha256":"b07f4821a2d545f6df721adcfb98825a9d5da06f5ba716374ddb5a6516b04a58","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b07f4821a2d545f6df721adcfb98825a9d5da06f5ba716374ddb5a6516b04a58","first_computed_at":"2026-05-18T04:20:36.785987Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T04:20:36.785987Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XfuAbKbqp3Cu0m713KiO+g/JcdCYeWuvPoXFEigIkz04mF5Ujo8vXsln6hmL7Fxq115LmE7+FzXNSLh0hTUcAA==","signature_status":"signed_v1","signed_at":"2026-05-18T04:20:36.786700Z","signed_message":"canonical_sha256_bytes"},"source_id":"1106.0989","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:521f1d4b0d317bf53bc7425ae857716b5ef6e21fa41d9aaa460276022fe488e9","sha256:55b260b39538bfa38dafd6e3416bdd35c9aeaa6ddfa696fc003fa5627f98e49b"],"state_sha256":"ccb6ed0f9bee434b5423def90f29bd81c0052c0317ff1296edbf257084b88115"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ENlCzpF3FYURtNbZUw2L7HdcOy9PdLTPVGnLlOrTrI17wG0ey5b+XBss12GnVqKnY5wRsIPXKSm64KyVPq6QDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T10:40:30.092713Z","bundle_sha256":"b4ed5d9ad6647adc8b668ad6fd81acce56a0b109b71ca37ef5583c5411cc3749"}}