{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:ZIF3IPLPLIEK2FLDJUR7C76IUO","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":"edac29fc9c7147038bdcae68cdac7476f4d4128db3b1e2b8bb604fc6ba94106b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-27T11:57:40Z","title_canon_sha256":"546360c5d0e945c4da25381211834ca578e67f03ec0c8ef7d13128ec668c8895"},"schema_version":"1.0","source":{"id":"1809.10470","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.10470","created_at":"2026-05-18T00:04:38Z"},{"alias_kind":"arxiv_version","alias_value":"1809.10470v1","created_at":"2026-05-18T00:04:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.10470","created_at":"2026-05-18T00:04:38Z"},{"alias_kind":"pith_short_12","alias_value":"ZIF3IPLPLIEK","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_16","alias_value":"ZIF3IPLPLIEK2FLD","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_8","alias_value":"ZIF3IPLP","created_at":"2026-05-18T12:33:07Z"}],"graph_snapshots":[{"event_id":"sha256:f9b267883a65d413821c1a61f9ee5b695b238b8301635d0ab8b208672436f0b3","target":"graph","created_at":"2026-05-18T00:04:38Z","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":"Automatic welding of tubular TKY joints is an important and challenging task for the marine and offshore industry. In this paper, a framework for tubular joint detection and motion planning is proposed. The pose of the real tubular joint is detected using RGB-D sensors, which is used to obtain a real-to-virtual mapping for positioning the workpiece in a virtual environment. For motion planning, a Bi-directional Transition based Rapidly exploring Random Tree (BiTRRT) algorithm is used to generate trajectories for reaching the desired goals. The complete framework is verified with experiments, a","authors_text":"Chee Khiang Pang, Chee Meng Chew, Gim Hee Lee, Syeda Mariam Ahmed, Yan Zhi Tan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-27T11:57:40Z","title":"Object Detection and Motion Planning for Automated Welding of Tubular Joints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.10470","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:c6141938f47998c120fb2ee850369f736377aa36a5a7d966f8280ee3e2b45ac5","target":"record","created_at":"2026-05-18T00:04:38Z","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":"edac29fc9c7147038bdcae68cdac7476f4d4128db3b1e2b8bb604fc6ba94106b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-27T11:57:40Z","title_canon_sha256":"546360c5d0e945c4da25381211834ca578e67f03ec0c8ef7d13128ec668c8895"},"schema_version":"1.0","source":{"id":"1809.10470","kind":"arxiv","version":1}},"canonical_sha256":"ca0bb43d6f5a08ad15634d23f17fc8a39cf2584529a0097d18b34dae3e3dbb52","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ca0bb43d6f5a08ad15634d23f17fc8a39cf2584529a0097d18b34dae3e3dbb52","first_computed_at":"2026-05-18T00:04:38.300847Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:04:38.300847Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wBTGzX8b6E/svCfB7J5DeYt8ibqpYclDeZhjhPVd91dVc0p5a/S6E7COVeh0ZwO6/kO5VpvzxSNi1lc2UbZaDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:04:38.301265Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.10470","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c6141938f47998c120fb2ee850369f736377aa36a5a7d966f8280ee3e2b45ac5","sha256:f9b267883a65d413821c1a61f9ee5b695b238b8301635d0ab8b208672436f0b3"],"state_sha256":"a640c1508c1a55a48c38d79dcbea66d868dbe815713699ec03ae5f4634fe77d9"}