{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:YH23UT643HTB4VYN3PS6AYTRGL","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":"ca86bc2415d2e35bedd754542dc82c4a759abe292f4abd53513760bd9da44154","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2026-07-02T13:36:32Z","title_canon_sha256":"e755ba1d2bb81bd9c9c121a0b9f38fcf8a83dbc39c088cda3e4a08188ce48d07"},"schema_version":"1.0","source":{"id":"2607.02167","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.02167","created_at":"2026-07-03T01:17:43Z"},{"alias_kind":"arxiv_version","alias_value":"2607.02167v1","created_at":"2026-07-03T01:17:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.02167","created_at":"2026-07-03T01:17:43Z"},{"alias_kind":"pith_short_12","alias_value":"YH23UT643HTB","created_at":"2026-07-03T01:17:43Z"},{"alias_kind":"pith_short_16","alias_value":"YH23UT643HTB4VYN","created_at":"2026-07-03T01:17:43Z"},{"alias_kind":"pith_short_8","alias_value":"YH23UT64","created_at":"2026-07-03T01:17:43Z"}],"graph_snapshots":[{"event_id":"sha256:1196a01c839c26f7ae46c5e56eaee37d32c30b5c9fbb8f2d7186190a3d186ac8","target":"graph","created_at":"2026-07-03T01:17:43Z","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/2607.02167/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents an intelligent control framework for trajectory tracking of robotic manipulators using radial basis function (RBF) neural networks for online disturbance estimation. The proposed control structure combines model-based nonlinear control with an adaptive neural approximator that compensates for parametric uncertainties, friction, and unmodeled dynamics. A Lyapunov-based adaptation law with projection guarantees boundedness of the closed-loop signals and convergence of the tracking error to a compact region. The primary objective of this work is to investigate how the choice o","authors_text":"Gabriel da Silva Lima, Kimmo Paldanius, Wallace Moreira Bessa","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2026-07-02T13:36:32Z","title":"Influence of Radial Basis Activation Functions on Intelligent Controller for Robotic Manipulators"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.02167","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:db2ff7effbe482bb44fae1a467cd4d73d45e410ef45440b88110a870d9e6e6d6","target":"record","created_at":"2026-07-03T01:17:43Z","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":"ca86bc2415d2e35bedd754542dc82c4a759abe292f4abd53513760bd9da44154","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2026-07-02T13:36:32Z","title_canon_sha256":"e755ba1d2bb81bd9c9c121a0b9f38fcf8a83dbc39c088cda3e4a08188ce48d07"},"schema_version":"1.0","source":{"id":"2607.02167","kind":"arxiv","version":1}},"canonical_sha256":"c1f5ba4fdcd9e61e570ddbe5e0627132cbdc1760db3de960616b15c1b9a2fb22","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c1f5ba4fdcd9e61e570ddbe5e0627132cbdc1760db3de960616b15c1b9a2fb22","first_computed_at":"2026-07-03T01:17:43.864203Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-03T01:17:43.864203Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"v0sP3tNpZJ2tUFi7LFQmcUiIUjQPFbPiDBh4iFM2A7GsT561fdK2byuhJW9DteKaHmsBtvJ6t2h2Lom4ghDTCQ==","signature_status":"signed_v1","signed_at":"2026-07-03T01:17:43.864639Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.02167","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:db2ff7effbe482bb44fae1a467cd4d73d45e410ef45440b88110a870d9e6e6d6","sha256:1196a01c839c26f7ae46c5e56eaee37d32c30b5c9fbb8f2d7186190a3d186ac8"],"state_sha256":"0e8362b33fec0210239e903582ba1c2b99030af54bdbb542bd8eec2a11431661"}