{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:ZH6WE7H3DZOQ7TCTE6CP52IICV","short_pith_number":"pith:ZH6WE7H3","canonical_record":{"source":{"id":"2507.00166","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-30T18:15:12Z","cross_cats_sorted":[],"title_canon_sha256":"604c22e489d6396fb9f5031bf908a758726eb5fb2e310fafd00bd088fb7082b5","abstract_canon_sha256":"316a566f7090795348d7ae587673e6dd9eaa6dd5e0684308554fcf9d4a490607"},"schema_version":"1.0"},"canonical_sha256":"c9fd627cfb1e5d0fcc532784fee908155082a530b4724c3ef592d2ce843cdaa0","source":{"kind":"arxiv","id":"2507.00166","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.00166","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"arxiv_version","alias_value":"2507.00166v1","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.00166","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"pith_short_12","alias_value":"ZH6WE7H3DZOQ","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"pith_short_16","alias_value":"ZH6WE7H3DZOQ7TCT","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"pith_short_8","alias_value":"ZH6WE7H3","created_at":"2026-07-05T12:00:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:ZH6WE7H3DZOQ7TCTE6CP52IICV","target":"record","payload":{"canonical_record":{"source":{"id":"2507.00166","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-30T18:15:12Z","cross_cats_sorted":[],"title_canon_sha256":"604c22e489d6396fb9f5031bf908a758726eb5fb2e310fafd00bd088fb7082b5","abstract_canon_sha256":"316a566f7090795348d7ae587673e6dd9eaa6dd5e0684308554fcf9d4a490607"},"schema_version":"1.0"},"canonical_sha256":"c9fd627cfb1e5d0fcc532784fee908155082a530b4724c3ef592d2ce843cdaa0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:00:03.608832Z","signature_b64":"Z85NiHcDFZbXnt9gOn+lHIb7kXBYQT8C+66dlYEZxarUPxTQC/zpbUOY/x3hfxifivZgB0rFB6uHuy4gj1tRDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c9fd627cfb1e5d0fcc532784fee908155082a530b4724c3ef592d2ce843cdaa0","last_reissued_at":"2026-07-05T12:00:03.608352Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:00:03.608352Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.00166","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":"2026-07-05T12:00:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"t2Knc6o7bsDpoBPof9NIuBSjieXkuux20Pj25K3eigQ4LycdWZPymIii4hdvDsxqg5AC5LDdM+z2kI0mQcMxBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:35:47.207022Z"},"content_sha256":"89cc98af1c65185f9d4b92ea836f3a49c732171916b07113f129f68c9d686466","schema_version":"1.0","event_id":"sha256:89cc98af1c65185f9d4b92ea836f3a49c732171916b07113f129f68c9d686466"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:ZH6WE7H3DZOQ7TCTE6CP52IICV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Novel Design of 3D Printed Tumbling Microrobots for in vivo Targeted Drug Delivery","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aaron C. Davis, Adalyn Meeks, Craig J. Goergen, David J. Cappelleri, D. Ethan Kelley, Diya Sakhrani, Emma Caldwell, Luis Carlos Sanjuan Acosta, Luis Solorio, Siting Zhang","submitted_at":"2025-06-30T18:15:12Z","abstract_excerpt":"This paper presents innovative designs for 3D-printed tumbling microrobots, specifically engineered for targeted in vivo drug delivery applications. The microrobot designs, created using stereolithography 3D printing technologies, incorporate permanent micro-magnets to enable actuation via a rotating magnetic field actuator system. The experimental framework encompasses a series of locomotion characterization tests to evaluate microrobot performance under various conditions. Testing variables include variations in microrobot geometries, actuation frequencies, and environmental conditions, such"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.00166","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2507.00166/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":"2026-07-05T12:00:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZIC4b3MEVKGk+RCqLXng3RUQNUVXpzzrKpvEiGDBhoWBJG11+4FmFR2odqgouK8KytGHD5EIVE9VaJVMoBifDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:35:47.207547Z"},"content_sha256":"3d5c70a076b4bf43395025838b75d0366ec3634479c64ad402d7c0dca18f308d","schema_version":"1.0","event_id":"sha256:3d5c70a076b4bf43395025838b75d0366ec3634479c64ad402d7c0dca18f308d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZH6WE7H3DZOQ7TCTE6CP52IICV/bundle.json","state_url":"https://pith.science/pith/ZH6WE7H3DZOQ7TCTE6CP52IICV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZH6WE7H3DZOQ7TCTE6CP52IICV/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":"2026-08-03T15:35:47Z","links":{"resolver":"https://pith.science/pith/ZH6WE7H3DZOQ7TCTE6CP52IICV","bundle":"https://pith.science/pith/ZH6WE7H3DZOQ7TCTE6CP52IICV/bundle.json","state":"https://pith.science/pith/ZH6WE7H3DZOQ7TCTE6CP52IICV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZH6WE7H3DZOQ7TCTE6CP52IICV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:ZH6WE7H3DZOQ7TCTE6CP52IICV","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":"316a566f7090795348d7ae587673e6dd9eaa6dd5e0684308554fcf9d4a490607","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-30T18:15:12Z","title_canon_sha256":"604c22e489d6396fb9f5031bf908a758726eb5fb2e310fafd00bd088fb7082b5"},"schema_version":"1.0","source":{"id":"2507.00166","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.00166","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"arxiv_version","alias_value":"2507.00166v1","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.00166","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"pith_short_12","alias_value":"ZH6WE7H3DZOQ","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"pith_short_16","alias_value":"ZH6WE7H3DZOQ7TCT","created_at":"2026-07-05T12:00:03Z"},{"alias_kind":"pith_short_8","alias_value":"ZH6WE7H3","created_at":"2026-07-05T12:00:03Z"}],"graph_snapshots":[{"event_id":"sha256:3d5c70a076b4bf43395025838b75d0366ec3634479c64ad402d7c0dca18f308d","target":"graph","created_at":"2026-07-05T12:00:03Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2507.00166/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents innovative designs for 3D-printed tumbling microrobots, specifically engineered for targeted in vivo drug delivery applications. The microrobot designs, created using stereolithography 3D printing technologies, incorporate permanent micro-magnets to enable actuation via a rotating magnetic field actuator system. The experimental framework encompasses a series of locomotion characterization tests to evaluate microrobot performance under various conditions. Testing variables include variations in microrobot geometries, actuation frequencies, and environmental conditions, such","authors_text":"Aaron C. Davis, Adalyn Meeks, Craig J. Goergen, David J. Cappelleri, D. Ethan Kelley, Diya Sakhrani, Emma Caldwell, Luis Carlos Sanjuan Acosta, Luis Solorio, Siting Zhang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-30T18:15:12Z","title":"Novel Design of 3D Printed Tumbling Microrobots for in vivo Targeted Drug Delivery"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.00166","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":"sha256:89cc98af1c65185f9d4b92ea836f3a49c732171916b07113f129f68c9d686466","target":"record","created_at":"2026-07-05T12:00:03Z","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":"316a566f7090795348d7ae587673e6dd9eaa6dd5e0684308554fcf9d4a490607","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-30T18:15:12Z","title_canon_sha256":"604c22e489d6396fb9f5031bf908a758726eb5fb2e310fafd00bd088fb7082b5"},"schema_version":"1.0","source":{"id":"2507.00166","kind":"arxiv","version":1}},"canonical_sha256":"c9fd627cfb1e5d0fcc532784fee908155082a530b4724c3ef592d2ce843cdaa0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c9fd627cfb1e5d0fcc532784fee908155082a530b4724c3ef592d2ce843cdaa0","first_computed_at":"2026-07-05T12:00:03.608352Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:00:03.608352Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Z85NiHcDFZbXnt9gOn+lHIb7kXBYQT8C+66dlYEZxarUPxTQC/zpbUOY/x3hfxifivZgB0rFB6uHuy4gj1tRDA==","signature_status":"signed_v1","signed_at":"2026-07-05T12:00:03.608832Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.00166","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:89cc98af1c65185f9d4b92ea836f3a49c732171916b07113f129f68c9d686466","sha256:3d5c70a076b4bf43395025838b75d0366ec3634479c64ad402d7c0dca18f308d"],"state_sha256":"ac8e0552f04036762a7d57720b212e141d31c6dd3393295bbd00f43cfe299662"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IKIuroiQeNLD2QZol/3fT2WbrBcgH8k/GSYG/UHdJOrOxIgXgJA0BouMhi7u+8Z2Gzl0q+Wv1i9rf18rBvYUCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T15:35:47.215713Z","bundle_sha256":"818efc7b7fcf47af1b3ff2a57a257d4c9df23d6ab16535645f29598e45982d07"}}