{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:WP5P76QTEBGMCLEFHL67WU6LCR","short_pith_number":"pith:WP5P76QT","canonical_record":{"source":{"id":"2209.01260","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-02T20:22:35Z","cross_cats_sorted":[],"title_canon_sha256":"e6e79099b943e611e7cb5ebc8a057c996535d0d6512737d029bcf67e03f1ae00","abstract_canon_sha256":"74a6193f4eb746b239d25b34ad00131e374bc30b85ccfda73d4305f5cd607084"},"schema_version":"1.0"},"canonical_sha256":"b3fafffa13204cc12c853afdfb53cb1440b067b67c60a0206c591f66ab7283f8","source":{"kind":"arxiv","id":"2209.01260","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.01260","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"arxiv_version","alias_value":"2209.01260v1","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.01260","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"pith_short_12","alias_value":"WP5P76QTEBGM","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"pith_short_16","alias_value":"WP5P76QTEBGMCLEF","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"pith_short_8","alias_value":"WP5P76QT","created_at":"2026-07-05T04:54:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:WP5P76QTEBGMCLEFHL67WU6LCR","target":"record","payload":{"canonical_record":{"source":{"id":"2209.01260","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-02T20:22:35Z","cross_cats_sorted":[],"title_canon_sha256":"e6e79099b943e611e7cb5ebc8a057c996535d0d6512737d029bcf67e03f1ae00","abstract_canon_sha256":"74a6193f4eb746b239d25b34ad00131e374bc30b85ccfda73d4305f5cd607084"},"schema_version":"1.0"},"canonical_sha256":"b3fafffa13204cc12c853afdfb53cb1440b067b67c60a0206c591f66ab7283f8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:54:26.761631Z","signature_b64":"N58IGyAEIIBpXX1qNCMVSqLC4xJzuwpzrtCosGdz2gnW1RYj6W3SxSiqLPuF5nOu5zldp29+IZYLLkdBQiypBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b3fafffa13204cc12c853afdfb53cb1440b067b67c60a0206c591f66ab7283f8","last_reissued_at":"2026-07-05T04:54:26.761207Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:54:26.761207Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.01260","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":"2026-07-05T04:54:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DeKPqq3qJWovOcBFuvxrO5zwmmnE8pAXQedCyhpRkFU3U8CqKwbevcTANGPLyGQ0diMFYirOvZEjcJW1DbhpBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T11:19:31.525922Z"},"content_sha256":"032321b4fa5e9c4b939be855cdf9cb027ce9992a517135f624c8ad617972026d","schema_version":"1.0","event_id":"sha256:032321b4fa5e9c4b939be855cdf9cb027ce9992a517135f624c8ad617972026d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:WP5P76QTEBGMCLEFHL67WU6LCR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Failure Identification and Recovery Framework for a Planar Reconfigurable Cable Driven Parallel Robot","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Adhiti Raman, Ian Walker, Matthias Schmid, Venkat Krovi","submitted_at":"2022-09-02T20:22:35Z","abstract_excerpt":"In cable driven parallel robots (CDPRs), a single cable malfunction usually induces complete failure of the entire robot. However, the lost static workspace (due to failure) can often be recovered through reconfiguration of the cable attachment points on the frame. This capability is introduced by adding kinematic redundancies to the robot in the form of moving linear sliders that are manipulated in a real-time redundancy resolution controller. The presented work combines this controller with an online failure detection framework to develop a complete fault tolerant control scheme for automati"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.01260","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/2209.01260/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":"2026-07-05T04:54:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9mDMuCEfl+tXCS186eWbn6/8GOBhQu/VM++m1d5F7RkbjDA1AtuyKTaJgXGZzFdYVbxErVxYq1AzSJeqX7UtDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T11:19:31.526302Z"},"content_sha256":"d45a68606c335c30a08f15db783d9ace8feb1fac2386a380c5bca261a246f184","schema_version":"1.0","event_id":"sha256:d45a68606c335c30a08f15db783d9ace8feb1fac2386a380c5bca261a246f184"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WP5P76QTEBGMCLEFHL67WU6LCR/bundle.json","state_url":"https://pith.science/pith/WP5P76QTEBGMCLEFHL67WU6LCR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WP5P76QTEBGMCLEFHL67WU6LCR/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":"2026-07-17T11:19:31Z","links":{"resolver":"https://pith.science/pith/WP5P76QTEBGMCLEFHL67WU6LCR","bundle":"https://pith.science/pith/WP5P76QTEBGMCLEFHL67WU6LCR/bundle.json","state":"https://pith.science/pith/WP5P76QTEBGMCLEFHL67WU6LCR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WP5P76QTEBGMCLEFHL67WU6LCR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:WP5P76QTEBGMCLEFHL67WU6LCR","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":"74a6193f4eb746b239d25b34ad00131e374bc30b85ccfda73d4305f5cd607084","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-02T20:22:35Z","title_canon_sha256":"e6e79099b943e611e7cb5ebc8a057c996535d0d6512737d029bcf67e03f1ae00"},"schema_version":"1.0","source":{"id":"2209.01260","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.01260","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"arxiv_version","alias_value":"2209.01260v1","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.01260","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"pith_short_12","alias_value":"WP5P76QTEBGM","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"pith_short_16","alias_value":"WP5P76QTEBGMCLEF","created_at":"2026-07-05T04:54:26Z"},{"alias_kind":"pith_short_8","alias_value":"WP5P76QT","created_at":"2026-07-05T04:54:26Z"}],"graph_snapshots":[{"event_id":"sha256:d45a68606c335c30a08f15db783d9ace8feb1fac2386a380c5bca261a246f184","target":"graph","created_at":"2026-07-05T04:54:26Z","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/2209.01260/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In cable driven parallel robots (CDPRs), a single cable malfunction usually induces complete failure of the entire robot. However, the lost static workspace (due to failure) can often be recovered through reconfiguration of the cable attachment points on the frame. This capability is introduced by adding kinematic redundancies to the robot in the form of moving linear sliders that are manipulated in a real-time redundancy resolution controller. The presented work combines this controller with an online failure detection framework to develop a complete fault tolerant control scheme for automati","authors_text":"Adhiti Raman, Ian Walker, Matthias Schmid, Venkat Krovi","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-02T20:22:35Z","title":"A Failure Identification and Recovery Framework for a Planar Reconfigurable Cable Driven Parallel Robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.01260","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":"sha256:032321b4fa5e9c4b939be855cdf9cb027ce9992a517135f624c8ad617972026d","target":"record","created_at":"2026-07-05T04:54:26Z","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":"74a6193f4eb746b239d25b34ad00131e374bc30b85ccfda73d4305f5cd607084","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-02T20:22:35Z","title_canon_sha256":"e6e79099b943e611e7cb5ebc8a057c996535d0d6512737d029bcf67e03f1ae00"},"schema_version":"1.0","source":{"id":"2209.01260","kind":"arxiv","version":1}},"canonical_sha256":"b3fafffa13204cc12c853afdfb53cb1440b067b67c60a0206c591f66ab7283f8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b3fafffa13204cc12c853afdfb53cb1440b067b67c60a0206c591f66ab7283f8","first_computed_at":"2026-07-05T04:54:26.761207Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:54:26.761207Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"N58IGyAEIIBpXX1qNCMVSqLC4xJzuwpzrtCosGdz2gnW1RYj6W3SxSiqLPuF5nOu5zldp29+IZYLLkdBQiypBw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:54:26.761631Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.01260","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:032321b4fa5e9c4b939be855cdf9cb027ce9992a517135f624c8ad617972026d","sha256:d45a68606c335c30a08f15db783d9ace8feb1fac2386a380c5bca261a246f184"],"state_sha256":"359f6cc877a267ff6978983d8897b31486dadcbff8f56687bf887070f2d55473"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TWpxlX5wfrBexDK8SrRbpECgZ/XUlCdmA8k2XIwCkhwhdng+ZysRnIyW1KS/q5l93FnU4sf4ZeqOQizNOYd4Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-17T11:19:31.528508Z","bundle_sha256":"65265a2013a93458c3b4f9f9cb7c5fc343f202d53c42f0cd0772646e0eaa1ecc"}}