{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:YGQ7SKHVPGBWX5LJ3KDIJLOIDL","short_pith_number":"pith:YGQ7SKHV","canonical_record":{"source":{"id":"1904.00235","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2019-03-30T15:37:31Z","cross_cats_sorted":["math.DG","math.MP"],"title_canon_sha256":"3f7f5bdfe275b79e62240362b17316229b97d3a313edce99289c82de44af78aa","abstract_canon_sha256":"0977ad0fac72cd9f807a9b29402efbf0a2bdea824db6399f50d7278b0a26068a"},"schema_version":"1.0"},"canonical_sha256":"c1a1f928f579836bf569da8684adc81ad2cc294da586836c85660a5b73718287","source":{"kind":"arxiv","id":"1904.00235","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.00235","created_at":"2026-05-17T23:49:49Z"},{"alias_kind":"arxiv_version","alias_value":"1904.00235v1","created_at":"2026-05-17T23:49:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.00235","created_at":"2026-05-17T23:49:49Z"},{"alias_kind":"pith_short_12","alias_value":"YGQ7SKHVPGBW","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"YGQ7SKHVPGBWX5LJ","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"YGQ7SKHV","created_at":"2026-05-18T12:33:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:YGQ7SKHVPGBWX5LJ3KDIJLOIDL","target":"record","payload":{"canonical_record":{"source":{"id":"1904.00235","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2019-03-30T15:37:31Z","cross_cats_sorted":["math.DG","math.MP"],"title_canon_sha256":"3f7f5bdfe275b79e62240362b17316229b97d3a313edce99289c82de44af78aa","abstract_canon_sha256":"0977ad0fac72cd9f807a9b29402efbf0a2bdea824db6399f50d7278b0a26068a"},"schema_version":"1.0"},"canonical_sha256":"c1a1f928f579836bf569da8684adc81ad2cc294da586836c85660a5b73718287","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:49:49.040463Z","signature_b64":"xhxUd81kHY19fpLJ92inta/eub/NXFlCzoFVqESZrdSPG12YO1So8WNBeDCcmvsXSBdUgcKJGxZqRQ2V9at5Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c1a1f928f579836bf569da8684adc81ad2cc294da586836c85660a5b73718287","last_reissued_at":"2026-05-17T23:49:49.039657Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:49:49.039657Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1904.00235","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":"2026-05-17T23:49:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HKOoz4ewbhj8iExxxnuNrXoW6qYFSzOUd+B6FgLUoB+qG5zIjpNJ2JnWY5N1MfTruFYMu86Dx2a+i7JeekkXAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-09T07:06:57.440603Z"},"content_sha256":"4625498684c428d638dfc78fd394b62a17f1cb8725fe2878c22b16fc8b4db039","schema_version":"1.0","event_id":"sha256:4625498684c428d638dfc78fd394b62a17f1cb8725fe2878c22b16fc8b4db039"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:YGQ7SKHVPGBWX5LJ3KDIJLOIDL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Conserved quantities and Hamiltonization of nonholonomic systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.DG","math.MP"],"primary_cat":"math-ph","authors_text":"Luis P. Yapu, Paula Balseiro","submitted_at":"2019-03-30T15:37:31Z","abstract_excerpt":"This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic bracket gives rise to a new bracket on the reduced space codifying the nonholonomic dynamics and carrying an almost symplectic foliation (determined by the common level sets of the first integrals). In appropriate coordinates, this 2-form is shown to agree with the one previously introduced locally in [34]. We use our coordinate-free viewpoint to study various g"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.00235","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":"2026-05-17T23:49:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1MEdUM8LD1OO0fULPz3ZE41+UhfW27lxfIWRYKcRLMzHgJ8vknToNBOvbw7s4lTaWHV5cmgrymnyK7TpKtLLDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-09T07:06:57.441346Z"},"content_sha256":"f99b20a45d7efd2ce777ed9c2b38abff2044481ebf4b3d5324a5df76f4e407f7","schema_version":"1.0","event_id":"sha256:f99b20a45d7efd2ce777ed9c2b38abff2044481ebf4b3d5324a5df76f4e407f7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YGQ7SKHVPGBWX5LJ3KDIJLOIDL/bundle.json","state_url":"https://pith.science/pith/YGQ7SKHVPGBWX5LJ3KDIJLOIDL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YGQ7SKHVPGBWX5LJ3KDIJLOIDL/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":"2026-06-09T07:06:57Z","links":{"resolver":"https://pith.science/pith/YGQ7SKHVPGBWX5LJ3KDIJLOIDL","bundle":"https://pith.science/pith/YGQ7SKHVPGBWX5LJ3KDIJLOIDL/bundle.json","state":"https://pith.science/pith/YGQ7SKHVPGBWX5LJ3KDIJLOIDL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YGQ7SKHVPGBWX5LJ3KDIJLOIDL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:YGQ7SKHVPGBWX5LJ3KDIJLOIDL","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":"0977ad0fac72cd9f807a9b29402efbf0a2bdea824db6399f50d7278b0a26068a","cross_cats_sorted":["math.DG","math.MP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2019-03-30T15:37:31Z","title_canon_sha256":"3f7f5bdfe275b79e62240362b17316229b97d3a313edce99289c82de44af78aa"},"schema_version":"1.0","source":{"id":"1904.00235","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.00235","created_at":"2026-05-17T23:49:49Z"},{"alias_kind":"arxiv_version","alias_value":"1904.00235v1","created_at":"2026-05-17T23:49:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.00235","created_at":"2026-05-17T23:49:49Z"},{"alias_kind":"pith_short_12","alias_value":"YGQ7SKHVPGBW","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"YGQ7SKHVPGBWX5LJ","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"YGQ7SKHV","created_at":"2026-05-18T12:33:33Z"}],"graph_snapshots":[{"event_id":"sha256:f99b20a45d7efd2ce777ed9c2b38abff2044481ebf4b3d5324a5df76f4e407f7","target":"graph","created_at":"2026-05-17T23:49:49Z","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":"This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic bracket gives rise to a new bracket on the reduced space codifying the nonholonomic dynamics and carrying an almost symplectic foliation (determined by the common level sets of the first integrals). In appropriate coordinates, this 2-form is shown to agree with the one previously introduced locally in [34]. We use our coordinate-free viewpoint to study various g","authors_text":"Luis P. Yapu, Paula Balseiro","cross_cats":["math.DG","math.MP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2019-03-30T15:37:31Z","title":"Conserved quantities and Hamiltonization of nonholonomic systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.00235","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":"sha256:4625498684c428d638dfc78fd394b62a17f1cb8725fe2878c22b16fc8b4db039","target":"record","created_at":"2026-05-17T23:49:49Z","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":"0977ad0fac72cd9f807a9b29402efbf0a2bdea824db6399f50d7278b0a26068a","cross_cats_sorted":["math.DG","math.MP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2019-03-30T15:37:31Z","title_canon_sha256":"3f7f5bdfe275b79e62240362b17316229b97d3a313edce99289c82de44af78aa"},"schema_version":"1.0","source":{"id":"1904.00235","kind":"arxiv","version":1}},"canonical_sha256":"c1a1f928f579836bf569da8684adc81ad2cc294da586836c85660a5b73718287","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c1a1f928f579836bf569da8684adc81ad2cc294da586836c85660a5b73718287","first_computed_at":"2026-05-17T23:49:49.039657Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:49:49.039657Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xhxUd81kHY19fpLJ92inta/eub/NXFlCzoFVqESZrdSPG12YO1So8WNBeDCcmvsXSBdUgcKJGxZqRQ2V9at5Aw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:49:49.040463Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.00235","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4625498684c428d638dfc78fd394b62a17f1cb8725fe2878c22b16fc8b4db039","sha256:f99b20a45d7efd2ce777ed9c2b38abff2044481ebf4b3d5324a5df76f4e407f7"],"state_sha256":"5e363eef5c639ae9f43be2af3a509b6996684ccbdf74acb5548743fb00969047"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BT31pje40PQc9S/WN52/V+kho0+JRZOy7n++j7m/HQhV96qhTa3L+9zMPzZyMUfeyf7wt/n1G3umvGrSXPj6Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-09T07:06:57.445796Z","bundle_sha256":"5586fbe2015e1848d0588eccf153c2b7b051af794f4eb8dff5b3d8be772285db"}}