{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:XRQEXNRZ66GV4YCMVJFPRTJWCX","short_pith_number":"pith:XRQEXNRZ","canonical_record":{"source":{"id":"1706.06203","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-19T23:02:10Z","cross_cats_sorted":[],"title_canon_sha256":"b9022a4079f1439a6bd78a271f6383d3b4e2e68d7b59bf352315b3b301af5c5f","abstract_canon_sha256":"c3de74f2a720ae86367ce16870d7e685ac821f1c511fdb0336ddb9bd15d967b2"},"schema_version":"1.0"},"canonical_sha256":"bc604bb639f78d5e604caa4af8cd3615c8e2065883cbe5e479adc4bd6bad2703","source":{"kind":"arxiv","id":"1706.06203","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1706.06203","created_at":"2026-05-18T00:42:03Z"},{"alias_kind":"arxiv_version","alias_value":"1706.06203v1","created_at":"2026-05-18T00:42:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.06203","created_at":"2026-05-18T00:42:03Z"},{"alias_kind":"pith_short_12","alias_value":"XRQEXNRZ66GV","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_16","alias_value":"XRQEXNRZ66GV4YCM","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_8","alias_value":"XRQEXNRZ","created_at":"2026-05-18T12:31:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:XRQEXNRZ66GV4YCMVJFPRTJWCX","target":"record","payload":{"canonical_record":{"source":{"id":"1706.06203","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-19T23:02:10Z","cross_cats_sorted":[],"title_canon_sha256":"b9022a4079f1439a6bd78a271f6383d3b4e2e68d7b59bf352315b3b301af5c5f","abstract_canon_sha256":"c3de74f2a720ae86367ce16870d7e685ac821f1c511fdb0336ddb9bd15d967b2"},"schema_version":"1.0"},"canonical_sha256":"bc604bb639f78d5e604caa4af8cd3615c8e2065883cbe5e479adc4bd6bad2703","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:42:03.944405Z","signature_b64":"3mPvv45DX0lTQKx00xUNzZMkHp7Eg7kQjcVv/AsSA+hbnRUFX7fD/81daNJCuuGpKj63KcZefIjUtbtg1puBAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bc604bb639f78d5e604caa4af8cd3615c8e2065883cbe5e479adc4bd6bad2703","last_reissued_at":"2026-05-18T00:42:03.943600Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:42:03.943600Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1706.06203","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":"2026-05-18T00:42:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"o+hech9gE3agDfqzdVY9nMgYbYJMe4QhWXM1AwKGxHrDtpYlWX/Gwjq3s60bzeWCjUYxx5iYROypairKL6DXBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T03:59:33.108844Z"},"content_sha256":"f5aa7feed9481c14ae3cd56b5d22ff01cb33ff5a1d959f27d08d7dc8568baeff","schema_version":"1.0","event_id":"sha256:f5aa7feed9481c14ae3cd56b5d22ff01cb33ff5a1d959f27d08d7dc8568baeff"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:XRQEXNRZ66GV4YCMVJFPRTJWCX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Lessons Learnt from Field Trials of a Robotic Sweet Pepper Harvester","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christopher Lehnert, Christopher Mccool, Tristan Perez","submitted_at":"2017-06-19T23:02:10Z","abstract_excerpt":"In this paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive potential solution to reducing labour costs while enabling more regular and selective harvesting, optimising crop quality, scheduling and therefore profit. Our approach combines effective vision algorithms with a novel end-effector design to enable successful harvesting of sweet peppers. We demonstrate a simple and effective vision-based algorithm for crop detecti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.06203","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":"2026-05-18T00:42:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZltqlN77zWT8KWtbowxcriutMUC1u7UXA86IXp6/NRybPNL+0kA/l7keiaEMgy4A8KPICjqe2ITVcVTO65jcCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T03:59:33.109512Z"},"content_sha256":"77246130a984eef1284d2cd918734c61957215bac4c5a76f7895637c5c7311cb","schema_version":"1.0","event_id":"sha256:77246130a984eef1284d2cd918734c61957215bac4c5a76f7895637c5c7311cb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XRQEXNRZ66GV4YCMVJFPRTJWCX/bundle.json","state_url":"https://pith.science/pith/XRQEXNRZ66GV4YCMVJFPRTJWCX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XRQEXNRZ66GV4YCMVJFPRTJWCX/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":"2026-05-27T03:59:33Z","links":{"resolver":"https://pith.science/pith/XRQEXNRZ66GV4YCMVJFPRTJWCX","bundle":"https://pith.science/pith/XRQEXNRZ66GV4YCMVJFPRTJWCX/bundle.json","state":"https://pith.science/pith/XRQEXNRZ66GV4YCMVJFPRTJWCX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XRQEXNRZ66GV4YCMVJFPRTJWCX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:XRQEXNRZ66GV4YCMVJFPRTJWCX","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":"c3de74f2a720ae86367ce16870d7e685ac821f1c511fdb0336ddb9bd15d967b2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-19T23:02:10Z","title_canon_sha256":"b9022a4079f1439a6bd78a271f6383d3b4e2e68d7b59bf352315b3b301af5c5f"},"schema_version":"1.0","source":{"id":"1706.06203","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1706.06203","created_at":"2026-05-18T00:42:03Z"},{"alias_kind":"arxiv_version","alias_value":"1706.06203v1","created_at":"2026-05-18T00:42:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.06203","created_at":"2026-05-18T00:42:03Z"},{"alias_kind":"pith_short_12","alias_value":"XRQEXNRZ66GV","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_16","alias_value":"XRQEXNRZ66GV4YCM","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_8","alias_value":"XRQEXNRZ","created_at":"2026-05-18T12:31:56Z"}],"graph_snapshots":[{"event_id":"sha256:77246130a984eef1284d2cd918734c61957215bac4c5a76f7895637c5c7311cb","target":"graph","created_at":"2026-05-18T00:42:03Z","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 paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive potential solution to reducing labour costs while enabling more regular and selective harvesting, optimising crop quality, scheduling and therefore profit. Our approach combines effective vision algorithms with a novel end-effector design to enable successful harvesting of sweet peppers. We demonstrate a simple and effective vision-based algorithm for crop detecti","authors_text":"Christopher Lehnert, Christopher Mccool, Tristan Perez","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-19T23:02:10Z","title":"Lessons Learnt from Field Trials of a Robotic Sweet Pepper Harvester"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.06203","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:f5aa7feed9481c14ae3cd56b5d22ff01cb33ff5a1d959f27d08d7dc8568baeff","target":"record","created_at":"2026-05-18T00:42:03Z","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":"c3de74f2a720ae86367ce16870d7e685ac821f1c511fdb0336ddb9bd15d967b2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-19T23:02:10Z","title_canon_sha256":"b9022a4079f1439a6bd78a271f6383d3b4e2e68d7b59bf352315b3b301af5c5f"},"schema_version":"1.0","source":{"id":"1706.06203","kind":"arxiv","version":1}},"canonical_sha256":"bc604bb639f78d5e604caa4af8cd3615c8e2065883cbe5e479adc4bd6bad2703","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bc604bb639f78d5e604caa4af8cd3615c8e2065883cbe5e479adc4bd6bad2703","first_computed_at":"2026-05-18T00:42:03.943600Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:42:03.943600Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3mPvv45DX0lTQKx00xUNzZMkHp7Eg7kQjcVv/AsSA+hbnRUFX7fD/81daNJCuuGpKj63KcZefIjUtbtg1puBAw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:42:03.944405Z","signed_message":"canonical_sha256_bytes"},"source_id":"1706.06203","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f5aa7feed9481c14ae3cd56b5d22ff01cb33ff5a1d959f27d08d7dc8568baeff","sha256:77246130a984eef1284d2cd918734c61957215bac4c5a76f7895637c5c7311cb"],"state_sha256":"0afce48b10b06ef9cc42e414832d36b863fa2d08858366fad71bb637b1d57cdc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QaV5rvNU+mGVEkGpVqlruaLufK+RJedt/iBW4yBLFPLufyoitc4N4hbOW4rGLMUd4yXahCFU81Aj+tI6thlVAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T03:59:33.113016Z","bundle_sha256":"9c887619632900737aa556296bed5f2797f9c6686da8a3fdc00f286e83c5fabf"}}