{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:54LL3MGKLMOFGPKTYAXKIKNZ2M","short_pith_number":"pith:54LL3MGK","schema_version":"1.0","canonical_sha256":"ef16bdb0ca5b1c533d53c02ea429b9d305354dacaaae8ee136c42849e7bf4bba","source":{"kind":"arxiv","id":"1702.04941","version":1},"attestation_state":"computed","paper":{"title":"Station-keeping control of an unmanned surface vehicle exposed to current and wind disturbances","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.SY","authors_text":"Edoardo I. Sarda, Huajin Qu, Ivan R. Bertaska, Karl D. von Ellenrieder","submitted_at":"2017-02-16T12:15:36Z","abstract_excerpt":"Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current. The USV has a twin hull configuration and a custom-designed propulsion system, which consists of two azimuthing thrusters, one for each hull. Nonlinear proportional derivative, backstepping and sliding mode feedback controllers were tested in winds of about 4-5 knots, with and without wind feedforward control. The controllers were tested when the longitudin"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1702.04941","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-02-16T12:15:36Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"320d2973a8a86b78c87f607414859a4047401657859d7668e1ddf60750ad0438","abstract_canon_sha256":"8200646c000f0d27e267c1368fd0e0f122a7a53f05dc811bfe536d638d4ace3b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:50:34.890267Z","signature_b64":"qhapCLn6ISVTWAbCnyuAxOVk6t6t2uncKfuPHG0tfjTC3XyJXjFDwrmu67yCDumVAc3Eb1PWOv+jzUqcFRkqAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ef16bdb0ca5b1c533d53c02ea429b9d305354dacaaae8ee136c42849e7bf4bba","last_reissued_at":"2026-05-18T00:50:34.889688Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:50:34.889688Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Station-keeping control of an unmanned surface vehicle exposed to current and wind disturbances","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.SY","authors_text":"Edoardo I. Sarda, Huajin Qu, Ivan R. Bertaska, Karl D. von Ellenrieder","submitted_at":"2017-02-16T12:15:36Z","abstract_excerpt":"Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current. The USV has a twin hull configuration and a custom-designed propulsion system, which consists of two azimuthing thrusters, one for each hull. Nonlinear proportional derivative, backstepping and sliding mode feedback controllers were tested in winds of about 4-5 knots, with and without wind feedforward control. The controllers were tested when the longitudin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.04941","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1702.04941","created_at":"2026-05-18T00:50:34.889768+00:00"},{"alias_kind":"arxiv_version","alias_value":"1702.04941v1","created_at":"2026-05-18T00:50:34.889768+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.04941","created_at":"2026-05-18T00:50:34.889768+00:00"},{"alias_kind":"pith_short_12","alias_value":"54LL3MGKLMOF","created_at":"2026-05-18T12:31:00.734936+00:00"},{"alias_kind":"pith_short_16","alias_value":"54LL3MGKLMOFGPKT","created_at":"2026-05-18T12:31:00.734936+00:00"},{"alias_kind":"pith_short_8","alias_value":"54LL3MGK","created_at":"2026-05-18T12:31:00.734936+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/54LL3MGKLMOFGPKTYAXKIKNZ2M","json":"https://pith.science/pith/54LL3MGKLMOFGPKTYAXKIKNZ2M.json","graph_json":"https://pith.science/api/pith-number/54LL3MGKLMOFGPKTYAXKIKNZ2M/graph.json","events_json":"https://pith.science/api/pith-number/54LL3MGKLMOFGPKTYAXKIKNZ2M/events.json","paper":"https://pith.science/paper/54LL3MGK"},"agent_actions":{"view_html":"https://pith.science/pith/54LL3MGKLMOFGPKTYAXKIKNZ2M","download_json":"https://pith.science/pith/54LL3MGKLMOFGPKTYAXKIKNZ2M.json","view_paper":"https://pith.science/paper/54LL3MGK","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1702.04941&json=true","fetch_graph":"https://pith.science/api/pith-number/54LL3MGKLMOFGPKTYAXKIKNZ2M/graph.json","fetch_events":"https://pith.science/api/pith-number/54LL3MGKLMOFGPKTYAXKIKNZ2M/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/54LL3MGKLMOFGPKTYAXKIKNZ2M/action/timestamp_anchor","attest_storage":"https://pith.science/pith/54LL3MGKLMOFGPKTYAXKIKNZ2M/action/storage_attestation","attest_author":"https://pith.science/pith/54LL3MGKLMOFGPKTYAXKIKNZ2M/action/author_attestation","sign_citation":"https://pith.science/pith/54LL3MGKLMOFGPKTYAXKIKNZ2M/action/citation_signature","submit_replication":"https://pith.science/pith/54LL3MGKLMOFGPKTYAXKIKNZ2M/action/replication_record"}},"created_at":"2026-05-18T00:50:34.889768+00:00","updated_at":"2026-05-18T00:50:34.889768+00:00"}