{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:YMOFOJLCHQONT4Q27PLA7HEUAQ","short_pith_number":"pith:YMOFOJLC","canonical_record":{"source":{"id":"2505.06787","kind":"arxiv","version":5},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-10T23:48:32Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"deb321625c368700958e7da91cdf831d835df9430e9b426d0e2b7bce3ebbba8a","abstract_canon_sha256":"c8dd786b95e29b2f7972e834e8948e310e0349528c71af259f1bf800987db0d5"},"schema_version":"1.0"},"canonical_sha256":"c31c5725623c1cd9f21afbd60f9c94041f9fc902109f020d62fac0be12f0e91f","source":{"kind":"arxiv","id":"2505.06787","version":5},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.06787","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"arxiv_version","alias_value":"2505.06787v5","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.06787","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"pith_short_12","alias_value":"YMOFOJLCHQON","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"pith_short_16","alias_value":"YMOFOJLCHQONT4Q2","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"pith_short_8","alias_value":"YMOFOJLC","created_at":"2026-07-21T00:19:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:YMOFOJLCHQONT4Q27PLA7HEUAQ","target":"record","payload":{"canonical_record":{"source":{"id":"2505.06787","kind":"arxiv","version":5},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-10T23:48:32Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"deb321625c368700958e7da91cdf831d835df9430e9b426d0e2b7bce3ebbba8a","abstract_canon_sha256":"c8dd786b95e29b2f7972e834e8948e310e0349528c71af259f1bf800987db0d5"},"schema_version":"1.0"},"canonical_sha256":"c31c5725623c1cd9f21afbd60f9c94041f9fc902109f020d62fac0be12f0e91f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-21T00:19:49.722217Z","signature_b64":"wwHNKCBOZeLk7p7y93UE6DeqOCiVk63AFriZI80JPEfbztJNZlSkz4q5oHbYJLZlKADfah9HX3vHXa/+vE1RAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c31c5725623c1cd9f21afbd60f9c94041f9fc902109f020d62fac0be12f0e91f","last_reissued_at":"2026-07-21T00:19:49.721214Z","signature_status":"signed_v1","first_computed_at":"2026-07-21T00:19:49.721214Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.06787","source_version":5,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-21T00:19:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EJKAKE+NO/igkg46HT5YtfFas1BWFKGsaO67rs7lGK9y8htci60K8+zN4AsTlTZRayT9qFKECUaetSL5wl6nBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T04:34:33.463325Z"},"content_sha256":"2a5313589ce2b9c42c9e413471cc8dd38a745e84a5a7fc3bb41d899287738f97","schema_version":"1.0","event_id":"sha256:2a5313589ce2b9c42c9e413471cc8dd38a745e84a5a7fc3bb41d899287738f97"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:YMOFOJLCHQONT4Q27PLA7HEUAQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Digital-physical testbed for ship autonomy studies in the Marine Cybernetics Laboratory basin","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Anders Sandneseng H{\\o}gden, Asgeir S{\\o}rensen, Dong Trong Nguyen, Emir Cem Gezer, Mael Korentin Ivan Moreau, Roger Skjetne","submitted_at":"2025-05-10T23:48:32Z","abstract_excerpt":"The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate risks, but they may not accurately represent real-world dynamics for the given tasks. Utilizing small-scale model ships and robotic vessels in conjunction with a laboratory basin provides an accessible testing environment for the early stages of validation processes. However, designing and developing a model vessel for a single test can be costly and cumbersome,"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.06787","kind":"arxiv","version":5},"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/2505.06787/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":"2026-07-21T00:19:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oVJGEYIObSxnZZOIOfUMX/+Xi2b/BAVTf2C424zEMnmdvkClGnbHHYTQEdShTsNyZZnNGAoDHKxbfIjmRNMrAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T04:34:33.464690Z"},"content_sha256":"bc6eb54679f9a66fe32c1556738fc6763be0f0b5811d72073e9ad109e4366330","schema_version":"1.0","event_id":"sha256:bc6eb54679f9a66fe32c1556738fc6763be0f0b5811d72073e9ad109e4366330"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YMOFOJLCHQONT4Q27PLA7HEUAQ/bundle.json","state_url":"https://pith.science/pith/YMOFOJLCHQONT4Q27PLA7HEUAQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YMOFOJLCHQONT4Q27PLA7HEUAQ/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":"2026-08-09T04:34:33Z","links":{"resolver":"https://pith.science/pith/YMOFOJLCHQONT4Q27PLA7HEUAQ","bundle":"https://pith.science/pith/YMOFOJLCHQONT4Q27PLA7HEUAQ/bundle.json","state":"https://pith.science/pith/YMOFOJLCHQONT4Q27PLA7HEUAQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YMOFOJLCHQONT4Q27PLA7HEUAQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:YMOFOJLCHQONT4Q27PLA7HEUAQ","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":"c8dd786b95e29b2f7972e834e8948e310e0349528c71af259f1bf800987db0d5","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-10T23:48:32Z","title_canon_sha256":"deb321625c368700958e7da91cdf831d835df9430e9b426d0e2b7bce3ebbba8a"},"schema_version":"1.0","source":{"id":"2505.06787","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.06787","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"arxiv_version","alias_value":"2505.06787v5","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.06787","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"pith_short_12","alias_value":"YMOFOJLCHQON","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"pith_short_16","alias_value":"YMOFOJLCHQONT4Q2","created_at":"2026-07-21T00:19:49Z"},{"alias_kind":"pith_short_8","alias_value":"YMOFOJLC","created_at":"2026-07-21T00:19:49Z"}],"graph_snapshots":[{"event_id":"sha256:bc6eb54679f9a66fe32c1556738fc6763be0f0b5811d72073e9ad109e4366330","target":"graph","created_at":"2026-07-21T00:19:49Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2505.06787/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate risks, but they may not accurately represent real-world dynamics for the given tasks. Utilizing small-scale model ships and robotic vessels in conjunction with a laboratory basin provides an accessible testing environment for the early stages of validation processes. However, designing and developing a model vessel for a single test can be costly and cumbersome,","authors_text":"Anders Sandneseng H{\\o}gden, Asgeir S{\\o}rensen, Dong Trong Nguyen, Emir Cem Gezer, Mael Korentin Ivan Moreau, Roger Skjetne","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-10T23:48:32Z","title":"Digital-physical testbed for ship autonomy studies in the Marine Cybernetics Laboratory basin"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.06787","kind":"arxiv","version":5},"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":"sha256:2a5313589ce2b9c42c9e413471cc8dd38a745e84a5a7fc3bb41d899287738f97","target":"record","created_at":"2026-07-21T00:19:49Z","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":"c8dd786b95e29b2f7972e834e8948e310e0349528c71af259f1bf800987db0d5","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-10T23:48:32Z","title_canon_sha256":"deb321625c368700958e7da91cdf831d835df9430e9b426d0e2b7bce3ebbba8a"},"schema_version":"1.0","source":{"id":"2505.06787","kind":"arxiv","version":5}},"canonical_sha256":"c31c5725623c1cd9f21afbd60f9c94041f9fc902109f020d62fac0be12f0e91f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c31c5725623c1cd9f21afbd60f9c94041f9fc902109f020d62fac0be12f0e91f","first_computed_at":"2026-07-21T00:19:49.721214Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-21T00:19:49.721214Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wwHNKCBOZeLk7p7y93UE6DeqOCiVk63AFriZI80JPEfbztJNZlSkz4q5oHbYJLZlKADfah9HX3vHXa/+vE1RAw==","signature_status":"signed_v1","signed_at":"2026-07-21T00:19:49.722217Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.06787","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2a5313589ce2b9c42c9e413471cc8dd38a745e84a5a7fc3bb41d899287738f97","sha256:bc6eb54679f9a66fe32c1556738fc6763be0f0b5811d72073e9ad109e4366330"],"state_sha256":"fdc6bea7f2b092aa40089842824fa5759379548932e27f820ae3d417adc5d1db"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ULITZJDmHnY8Bt9ecnRKbFfrSW6/KOuxWa55mdijv1RqsdoN73OPMO4pKjcvcVs3fxgm0fkgaBwP6Sjjj+/ZDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T04:34:33.469722Z","bundle_sha256":"83202edf1e39f4be5059e6395f317b97c26cfdd85123690256350a678698a9a6"}}