{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:YJISBRTWU7GLBVDI3GFJA5OSIU","short_pith_number":"pith:YJISBRTW","canonical_record":{"source":{"id":"2506.05741","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-06T04:55:12Z","cross_cats_sorted":[],"title_canon_sha256":"12f70727632a2041ff817412bbc487d561c04f8e9a24cf9e932bd1ce6364eebd","abstract_canon_sha256":"4a010a6df451c9a0af39e221bc2432fe9a2344f58b9994197c2def56740bb719"},"schema_version":"1.0"},"canonical_sha256":"c25120c676a7ccb0d468d98a9075d245159c8058c0a6c1d8419866e7916e6c9e","source":{"kind":"arxiv","id":"2506.05741","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.05741","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"arxiv_version","alias_value":"2506.05741v2","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.05741","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"pith_short_12","alias_value":"YJISBRTWU7GL","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"pith_short_16","alias_value":"YJISBRTWU7GLBVDI","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"pith_short_8","alias_value":"YJISBRTW","created_at":"2026-07-05T11:20:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:YJISBRTWU7GLBVDI3GFJA5OSIU","target":"record","payload":{"canonical_record":{"source":{"id":"2506.05741","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-06T04:55:12Z","cross_cats_sorted":[],"title_canon_sha256":"12f70727632a2041ff817412bbc487d561c04f8e9a24cf9e932bd1ce6364eebd","abstract_canon_sha256":"4a010a6df451c9a0af39e221bc2432fe9a2344f58b9994197c2def56740bb719"},"schema_version":"1.0"},"canonical_sha256":"c25120c676a7ccb0d468d98a9075d245159c8058c0a6c1d8419866e7916e6c9e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:20:55.172130Z","signature_b64":"/q/obP0cijThFPAYh88/iSzNA00eVsRqH8Z5oUM3TM+htctRyMqQnwG+/vOG1ozH4ObmZCi4j+OoIGRYFZckAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c25120c676a7ccb0d468d98a9075d245159c8058c0a6c1d8419866e7916e6c9e","last_reissued_at":"2026-07-05T11:20:55.171670Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:20:55.171670Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.05741","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:20:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N1slibtfD7nZs8CO2QzuFmuFfb2E77rTmtFjeVIk9x9XliqtPzGzv0DM4VMrrysgwtvGSOxrd6RzrSCSJh0oCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T06:11:53.303612Z"},"content_sha256":"a68a19d8890a417cc18e230addfd2729c94d8a731be629de87d14d7c88589e77","schema_version":"1.0","event_id":"sha256:a68a19d8890a417cc18e230addfd2729c94d8a731be629de87d14d7c88589e77"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:YJISBRTWU7GLBVDI3GFJA5OSIU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Soft Robotic Module with Pneumatic Actuation and Enhanced Controllability Using a Shape Memory Alloy Wire","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mohammadnavid Golchin","submitted_at":"2025-06-06T04:55:12Z","abstract_excerpt":"In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending module with a strain-limiting layer made of polypropylene was fabricated. The SMA wire was then placed in a silicon matrix, which was used as a new strain-limiting layer. A simple closed-loop control algorithm was used to regulate the bending angle of the soft robot within its workspace. A camera was utilized to measure the angular changes in the vertical plan"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.05741","kind":"arxiv","version":2},"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/2506.05741/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":"2026-07-05T11:20:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1pE8t9oPGnkLPEbTwVB4DxXC/8EOKQK/2JffmvKwEIXbTTut96KfUwYx7xYrJI3TJuoKg4MxZWBkYLK8brSwBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T06:11:53.304189Z"},"content_sha256":"e26c78ddd6fad62dd2a9dc61780a26ac5563eadea9dd52a908f5078b857f82d1","schema_version":"1.0","event_id":"sha256:e26c78ddd6fad62dd2a9dc61780a26ac5563eadea9dd52a908f5078b857f82d1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YJISBRTWU7GLBVDI3GFJA5OSIU/bundle.json","state_url":"https://pith.science/pith/YJISBRTWU7GLBVDI3GFJA5OSIU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YJISBRTWU7GLBVDI3GFJA5OSIU/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":"2026-08-09T06:11:53Z","links":{"resolver":"https://pith.science/pith/YJISBRTWU7GLBVDI3GFJA5OSIU","bundle":"https://pith.science/pith/YJISBRTWU7GLBVDI3GFJA5OSIU/bundle.json","state":"https://pith.science/pith/YJISBRTWU7GLBVDI3GFJA5OSIU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YJISBRTWU7GLBVDI3GFJA5OSIU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:YJISBRTWU7GLBVDI3GFJA5OSIU","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":"4a010a6df451c9a0af39e221bc2432fe9a2344f58b9994197c2def56740bb719","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-06T04:55:12Z","title_canon_sha256":"12f70727632a2041ff817412bbc487d561c04f8e9a24cf9e932bd1ce6364eebd"},"schema_version":"1.0","source":{"id":"2506.05741","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.05741","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"arxiv_version","alias_value":"2506.05741v2","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.05741","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"pith_short_12","alias_value":"YJISBRTWU7GL","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"pith_short_16","alias_value":"YJISBRTWU7GLBVDI","created_at":"2026-07-05T11:20:55Z"},{"alias_kind":"pith_short_8","alias_value":"YJISBRTW","created_at":"2026-07-05T11:20:55Z"}],"graph_snapshots":[{"event_id":"sha256:e26c78ddd6fad62dd2a9dc61780a26ac5563eadea9dd52a908f5078b857f82d1","target":"graph","created_at":"2026-07-05T11:20:55Z","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/2506.05741/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending module with a strain-limiting layer made of polypropylene was fabricated. The SMA wire was then placed in a silicon matrix, which was used as a new strain-limiting layer. A simple closed-loop control algorithm was used to regulate the bending angle of the soft robot within its workspace. A camera was utilized to measure the angular changes in the vertical plan","authors_text":"Mohammadnavid Golchin","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-06T04:55:12Z","title":"A Soft Robotic Module with Pneumatic Actuation and Enhanced Controllability Using a Shape Memory Alloy Wire"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.05741","kind":"arxiv","version":2},"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:a68a19d8890a417cc18e230addfd2729c94d8a731be629de87d14d7c88589e77","target":"record","created_at":"2026-07-05T11:20:55Z","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":"4a010a6df451c9a0af39e221bc2432fe9a2344f58b9994197c2def56740bb719","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-06T04:55:12Z","title_canon_sha256":"12f70727632a2041ff817412bbc487d561c04f8e9a24cf9e932bd1ce6364eebd"},"schema_version":"1.0","source":{"id":"2506.05741","kind":"arxiv","version":2}},"canonical_sha256":"c25120c676a7ccb0d468d98a9075d245159c8058c0a6c1d8419866e7916e6c9e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c25120c676a7ccb0d468d98a9075d245159c8058c0a6c1d8419866e7916e6c9e","first_computed_at":"2026-07-05T11:20:55.171670Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:20:55.171670Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/q/obP0cijThFPAYh88/iSzNA00eVsRqH8Z5oUM3TM+htctRyMqQnwG+/vOG1ozH4ObmZCi4j+OoIGRYFZckAA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:20:55.172130Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.05741","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a68a19d8890a417cc18e230addfd2729c94d8a731be629de87d14d7c88589e77","sha256:e26c78ddd6fad62dd2a9dc61780a26ac5563eadea9dd52a908f5078b857f82d1"],"state_sha256":"770d1a5304722ad8fe71b9969b8c540110545241a9c09872bb02e2827d5f18d9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"k3DMVpF4Src1Kb/nEoBtH5ezZ/iHYZcDY3cLEV1XV4FUKt00ZBlKLXIiitH+qcz3LXmN6LG8DhbWkoyDULv8Bw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T06:11:53.309424Z","bundle_sha256":"3d47c3e62d403f3e36c514956e28ec7699b0887ef2f925d39d8359beb76bb7f8"}}