{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:WYQ56GL4PP6BMPB2V5ES3UVARK","short_pith_number":"pith:WYQ56GL4","canonical_record":{"source":{"id":"2011.00426","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-01T04:56:22Z","cross_cats_sorted":[],"title_canon_sha256":"fca45b28221356b67498ebe492b5bce9ef06540a45c35d5f563ed7363e532e82","abstract_canon_sha256":"f710a9c51f461585b2d2a4ae2f7e5e1a18031b45d8ae13dbdb4c0921ba1d660d"},"schema_version":"1.0"},"canonical_sha256":"b621df197c7bfc163c3aaf492dd2a08a9a2028f45b6697effc72336dec120ecb","source":{"kind":"arxiv","id":"2011.00426","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.00426","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"arxiv_version","alias_value":"2011.00426v1","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.00426","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"pith_short_12","alias_value":"WYQ56GL4PP6B","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"pith_short_16","alias_value":"WYQ56GL4PP6BMPB2","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"pith_short_8","alias_value":"WYQ56GL4","created_at":"2026-07-05T03:29:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:WYQ56GL4PP6BMPB2V5ES3UVARK","target":"record","payload":{"canonical_record":{"source":{"id":"2011.00426","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-01T04:56:22Z","cross_cats_sorted":[],"title_canon_sha256":"fca45b28221356b67498ebe492b5bce9ef06540a45c35d5f563ed7363e532e82","abstract_canon_sha256":"f710a9c51f461585b2d2a4ae2f7e5e1a18031b45d8ae13dbdb4c0921ba1d660d"},"schema_version":"1.0"},"canonical_sha256":"b621df197c7bfc163c3aaf492dd2a08a9a2028f45b6697effc72336dec120ecb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:29:46.450112Z","signature_b64":"QG9+yG6EEqwVtEErIKyp1NYY1gYV0ADsAASn3tGBSVcemZz72MeBqRgGfi7aTCjOjrd3qkN8VrBl6EOLhJ40DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b621df197c7bfc163c3aaf492dd2a08a9a2028f45b6697effc72336dec120ecb","last_reissued_at":"2026-07-05T03:29:46.449750Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:29:46.449750Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2011.00426","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":"2026-07-05T03:29:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mDordTeIRseUw1Qmm4p/9Yhe0eAwHIUQIvZvan+8loFODAIT8k0p/U/UapoE0c+xID15RSc9ZXs4haspwMMwBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T01:27:21.167267Z"},"content_sha256":"e3fb9e65286bd16adb73a1a3ff0749792fea3de65e522d79a779b80b18a346f7","schema_version":"1.0","event_id":"sha256:e3fb9e65286bd16adb73a1a3ff0749792fea3de65e522d79a779b80b18a346f7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:WYQ56GL4PP6BMPB2V5ES3UVARK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Soft Hybrid Aerial Vehicle via Bistable Mechanism","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chenfanfu Jiang, Cynthia Sung, Jessica McWilliams, Minchen Li, Xuan Li","submitted_at":"2020-11-01T04:56:22Z","abstract_excerpt":"Unmanned aerial vehicles have been demonstrated successfully in a variety of tasks, including surveying and sampling tasks over large areas. These vehicles can take many forms. Quadrotors' agility and ability to hover makes them well suited for navigating potentially tight spaces, while fixed wing aircraft are capable of efficient flight over long distances. Hybrid aerial vehicles (HAVs) attempt to achieve both of these benefits by exhibiting multiple modes; however, morphing HAVs typically require extra actuators which add mass, reducing both agility and efficiency. We propose a morphing HAV "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.00426","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/2011.00426/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":"2026-07-05T03:29:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6oYSHMGtTrWP7E018Mp7sBXyOqsKcj5MEwfp3TaPKCRf+VSvxG3q6VTwoYBPJecTeRjw7KQxBThDddbTSh0eBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T01:27:21.167645Z"},"content_sha256":"d65ecc2fd31a3f698a04bfc80005a4dea516ff87ee94ece6b7de8253d835d6ba","schema_version":"1.0","event_id":"sha256:d65ecc2fd31a3f698a04bfc80005a4dea516ff87ee94ece6b7de8253d835d6ba"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WYQ56GL4PP6BMPB2V5ES3UVARK/bundle.json","state_url":"https://pith.science/pith/WYQ56GL4PP6BMPB2V5ES3UVARK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WYQ56GL4PP6BMPB2V5ES3UVARK/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":"2026-07-17T01:27:21Z","links":{"resolver":"https://pith.science/pith/WYQ56GL4PP6BMPB2V5ES3UVARK","bundle":"https://pith.science/pith/WYQ56GL4PP6BMPB2V5ES3UVARK/bundle.json","state":"https://pith.science/pith/WYQ56GL4PP6BMPB2V5ES3UVARK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WYQ56GL4PP6BMPB2V5ES3UVARK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:WYQ56GL4PP6BMPB2V5ES3UVARK","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":"f710a9c51f461585b2d2a4ae2f7e5e1a18031b45d8ae13dbdb4c0921ba1d660d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-01T04:56:22Z","title_canon_sha256":"fca45b28221356b67498ebe492b5bce9ef06540a45c35d5f563ed7363e532e82"},"schema_version":"1.0","source":{"id":"2011.00426","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.00426","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"arxiv_version","alias_value":"2011.00426v1","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.00426","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"pith_short_12","alias_value":"WYQ56GL4PP6B","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"pith_short_16","alias_value":"WYQ56GL4PP6BMPB2","created_at":"2026-07-05T03:29:46Z"},{"alias_kind":"pith_short_8","alias_value":"WYQ56GL4","created_at":"2026-07-05T03:29:46Z"}],"graph_snapshots":[{"event_id":"sha256:d65ecc2fd31a3f698a04bfc80005a4dea516ff87ee94ece6b7de8253d835d6ba","target":"graph","created_at":"2026-07-05T03:29:46Z","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/2011.00426/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Unmanned aerial vehicles have been demonstrated successfully in a variety of tasks, including surveying and sampling tasks over large areas. These vehicles can take many forms. Quadrotors' agility and ability to hover makes them well suited for navigating potentially tight spaces, while fixed wing aircraft are capable of efficient flight over long distances. Hybrid aerial vehicles (HAVs) attempt to achieve both of these benefits by exhibiting multiple modes; however, morphing HAVs typically require extra actuators which add mass, reducing both agility and efficiency. We propose a morphing HAV ","authors_text":"Chenfanfu Jiang, Cynthia Sung, Jessica McWilliams, Minchen Li, Xuan Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-01T04:56:22Z","title":"Soft Hybrid Aerial Vehicle via Bistable Mechanism"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.00426","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:e3fb9e65286bd16adb73a1a3ff0749792fea3de65e522d79a779b80b18a346f7","target":"record","created_at":"2026-07-05T03:29:46Z","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":"f710a9c51f461585b2d2a4ae2f7e5e1a18031b45d8ae13dbdb4c0921ba1d660d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-01T04:56:22Z","title_canon_sha256":"fca45b28221356b67498ebe492b5bce9ef06540a45c35d5f563ed7363e532e82"},"schema_version":"1.0","source":{"id":"2011.00426","kind":"arxiv","version":1}},"canonical_sha256":"b621df197c7bfc163c3aaf492dd2a08a9a2028f45b6697effc72336dec120ecb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b621df197c7bfc163c3aaf492dd2a08a9a2028f45b6697effc72336dec120ecb","first_computed_at":"2026-07-05T03:29:46.449750Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:29:46.449750Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QG9+yG6EEqwVtEErIKyp1NYY1gYV0ADsAASn3tGBSVcemZz72MeBqRgGfi7aTCjOjrd3qkN8VrBl6EOLhJ40DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:29:46.450112Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.00426","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e3fb9e65286bd16adb73a1a3ff0749792fea3de65e522d79a779b80b18a346f7","sha256:d65ecc2fd31a3f698a04bfc80005a4dea516ff87ee94ece6b7de8253d835d6ba"],"state_sha256":"1edbc66070265102672fac32837bd278e81adeea5ebd4947efa84216aca433ca"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JfxLhxjkDPbdMVLdtc49O57J098Yfax094nThifWpNW4OHPjZ5feHHKQnVUnoPcC9s85ItHgeEqXPtZKwQ2SBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-17T01:27:21.169560Z","bundle_sha256":"6d59386d4b55b12682280535b25bf02f1950266ca2b292fee0136e599a5eef7a"}}