{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2014:WIM6MK7U6TQQUBID2CHHZE7N2F","short_pith_number":"pith:WIM6MK7U","canonical_record":{"source":{"id":"1412.2417","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-12-08T00:17:44Z","cross_cats_sorted":["cs.CE","physics.class-ph"],"title_canon_sha256":"bf51e281c36f5f744b3623856bd80775ecb7f0cbb349051ebaec3ac74c48614b","abstract_canon_sha256":"ef7446de839ae80c9ca17c6b38dae49ddca7e22da1365e9cd5dfc86da9109e45"},"schema_version":"1.0"},"canonical_sha256":"b219e62bf4f4e10a0503d08e7c93edd177588cb856c5756138af9eb32e102abc","source":{"kind":"arxiv","id":"1412.2417","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1412.2417","created_at":"2026-05-18T02:26:58Z"},{"alias_kind":"arxiv_version","alias_value":"1412.2417v2","created_at":"2026-05-18T02:26:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1412.2417","created_at":"2026-05-18T02:26:58Z"},{"alias_kind":"pith_short_12","alias_value":"WIM6MK7U6TQQ","created_at":"2026-05-18T12:28:54Z"},{"alias_kind":"pith_short_16","alias_value":"WIM6MK7U6TQQUBID","created_at":"2026-05-18T12:28:54Z"},{"alias_kind":"pith_short_8","alias_value":"WIM6MK7U","created_at":"2026-05-18T12:28:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2014:WIM6MK7U6TQQUBID2CHHZE7N2F","target":"record","payload":{"canonical_record":{"source":{"id":"1412.2417","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-12-08T00:17:44Z","cross_cats_sorted":["cs.CE","physics.class-ph"],"title_canon_sha256":"bf51e281c36f5f744b3623856bd80775ecb7f0cbb349051ebaec3ac74c48614b","abstract_canon_sha256":"ef7446de839ae80c9ca17c6b38dae49ddca7e22da1365e9cd5dfc86da9109e45"},"schema_version":"1.0"},"canonical_sha256":"b219e62bf4f4e10a0503d08e7c93edd177588cb856c5756138af9eb32e102abc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:26:58.629796Z","signature_b64":"5mLone5iyWsdYcKC2juj6M92ov4clOVt0TtGnOS1Tiu9MnzvBouRfkAJ5h3Wmhi6wEG9YjkvblTMAEiWKf+PCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b219e62bf4f4e10a0503d08e7c93edd177588cb856c5756138af9eb32e102abc","last_reissued_at":"2026-05-18T02:26:58.629423Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:26:58.629423Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1412.2417","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T02:26:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Eld59+Oob77dsZIj73Na7tgJVpA8wVuLTTqkrAfzZ7cRLOECD7gFU5PpWIlSuJs+iBrjqEMBvnYzOuMu2QleAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T17:55:36.772936Z"},"content_sha256":"50e1b0b86d3b777c7a0f25d102e468b6c7a0864b022f0144c19db16ddb3979ce","schema_version":"1.0","event_id":"sha256:50e1b0b86d3b777c7a0f25d102e468b6c7a0864b022f0144c19db16ddb3979ce"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2014:WIM6MK7U6TQQUBID2CHHZE7N2F","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Non-smooth Approach for Contact Dynamics and Impulse-based Control of Frictional Furuta Pendulum","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CE","physics.class-ph"],"primary_cat":"cs.SY","authors_text":"Hantian Zhang","submitted_at":"2014-12-08T00:17:44Z","abstract_excerpt":"In this thesis, a non-penetrated and physically consistent non-smooth numerical approach has been proposed, by employing the Prox formulation and Moreau's mid-point time-stepping rule, for the contact dynamics with coupled and decoupled constraints. Under this circumstance, the robust impulse-based control has been successfully implemented and validated on the motion system of controlled frictional oscillator. Further improvement has been achieved by utilizing shooting method in the impulse estimating process instead of robust estimation. This non-smooth numerical technique has been applied to"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1412.2417","kind":"arxiv","version":2},"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":"2026-05-18T02:26:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gRMDQzHlR6VXehIagzf7tsXBHJpJUhnrDUrW3yBFWwICIzGA9kCckf2DOzUQoQa2K7HBLvR24xoPypSdf8OXDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T17:55:36.773645Z"},"content_sha256":"da1afd0e77a96e44df5a99343a61bb69860df63e406951f58eb293060a2ead3e","schema_version":"1.0","event_id":"sha256:da1afd0e77a96e44df5a99343a61bb69860df63e406951f58eb293060a2ead3e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WIM6MK7U6TQQUBID2CHHZE7N2F/bundle.json","state_url":"https://pith.science/pith/WIM6MK7U6TQQUBID2CHHZE7N2F/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WIM6MK7U6TQQUBID2CHHZE7N2F/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":"2026-06-07T17:55:36Z","links":{"resolver":"https://pith.science/pith/WIM6MK7U6TQQUBID2CHHZE7N2F","bundle":"https://pith.science/pith/WIM6MK7U6TQQUBID2CHHZE7N2F/bundle.json","state":"https://pith.science/pith/WIM6MK7U6TQQUBID2CHHZE7N2F/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WIM6MK7U6TQQUBID2CHHZE7N2F/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:WIM6MK7U6TQQUBID2CHHZE7N2F","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":"ef7446de839ae80c9ca17c6b38dae49ddca7e22da1365e9cd5dfc86da9109e45","cross_cats_sorted":["cs.CE","physics.class-ph"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-12-08T00:17:44Z","title_canon_sha256":"bf51e281c36f5f744b3623856bd80775ecb7f0cbb349051ebaec3ac74c48614b"},"schema_version":"1.0","source":{"id":"1412.2417","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1412.2417","created_at":"2026-05-18T02:26:58Z"},{"alias_kind":"arxiv_version","alias_value":"1412.2417v2","created_at":"2026-05-18T02:26:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1412.2417","created_at":"2026-05-18T02:26:58Z"},{"alias_kind":"pith_short_12","alias_value":"WIM6MK7U6TQQ","created_at":"2026-05-18T12:28:54Z"},{"alias_kind":"pith_short_16","alias_value":"WIM6MK7U6TQQUBID","created_at":"2026-05-18T12:28:54Z"},{"alias_kind":"pith_short_8","alias_value":"WIM6MK7U","created_at":"2026-05-18T12:28:54Z"}],"graph_snapshots":[{"event_id":"sha256:da1afd0e77a96e44df5a99343a61bb69860df63e406951f58eb293060a2ead3e","target":"graph","created_at":"2026-05-18T02:26:58Z","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"},"paper":{"abstract_excerpt":"In this thesis, a non-penetrated and physically consistent non-smooth numerical approach has been proposed, by employing the Prox formulation and Moreau's mid-point time-stepping rule, for the contact dynamics with coupled and decoupled constraints. Under this circumstance, the robust impulse-based control has been successfully implemented and validated on the motion system of controlled frictional oscillator. Further improvement has been achieved by utilizing shooting method in the impulse estimating process instead of robust estimation. This non-smooth numerical technique has been applied to","authors_text":"Hantian Zhang","cross_cats":["cs.CE","physics.class-ph"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-12-08T00:17:44Z","title":"Non-smooth Approach for Contact Dynamics and Impulse-based Control of Frictional Furuta Pendulum"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1412.2417","kind":"arxiv","version":2},"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":"sha256:50e1b0b86d3b777c7a0f25d102e468b6c7a0864b022f0144c19db16ddb3979ce","target":"record","created_at":"2026-05-18T02:26:58Z","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":"ef7446de839ae80c9ca17c6b38dae49ddca7e22da1365e9cd5dfc86da9109e45","cross_cats_sorted":["cs.CE","physics.class-ph"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-12-08T00:17:44Z","title_canon_sha256":"bf51e281c36f5f744b3623856bd80775ecb7f0cbb349051ebaec3ac74c48614b"},"schema_version":"1.0","source":{"id":"1412.2417","kind":"arxiv","version":2}},"canonical_sha256":"b219e62bf4f4e10a0503d08e7c93edd177588cb856c5756138af9eb32e102abc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b219e62bf4f4e10a0503d08e7c93edd177588cb856c5756138af9eb32e102abc","first_computed_at":"2026-05-18T02:26:58.629423Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:26:58.629423Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5mLone5iyWsdYcKC2juj6M92ov4clOVt0TtGnOS1Tiu9MnzvBouRfkAJ5h3Wmhi6wEG9YjkvblTMAEiWKf+PCQ==","signature_status":"signed_v1","signed_at":"2026-05-18T02:26:58.629796Z","signed_message":"canonical_sha256_bytes"},"source_id":"1412.2417","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:50e1b0b86d3b777c7a0f25d102e468b6c7a0864b022f0144c19db16ddb3979ce","sha256:da1afd0e77a96e44df5a99343a61bb69860df63e406951f58eb293060a2ead3e"],"state_sha256":"1bfd4afd38518011593e1bc72d1633e4443d7d1d2e328fa6d0756faee0453d54"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1R1nzmEusdFpdQIc6WI83mnZfpO3700b0p0bYnOJZQSljc5b7v9bSiZLbGEElzlKdkTJ/sPJkqVD7cToSB5xDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-07T17:55:36.777145Z","bundle_sha256":"02973ad7d56a75eaf457103bbfe9cdfd5b7eaa0217f6520b6af0e04b13b21a76"}}