{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:5QNH2FBOAVTY3RYQ7USEEAX6VZ","short_pith_number":"pith:5QNH2FBO","canonical_record":{"source":{"id":"1703.03941","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-03-11T10:13:25Z","cross_cats_sorted":[],"title_canon_sha256":"17b23b03767d4e4770786152e7bcf8fbf936d3ae16f972061df01bf585433a9b","abstract_canon_sha256":"a80707e574eeb4458c82a24c2629fa82addee0f6c570db615f6e3d4d684614c4"},"schema_version":"1.0"},"canonical_sha256":"ec1a7d142e05678dc710fd244202feae6dd91cd5030678eb168ee82ea7f236fe","source":{"kind":"arxiv","id":"1703.03941","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1703.03941","created_at":"2026-05-18T00:27:52Z"},{"alias_kind":"arxiv_version","alias_value":"1703.03941v1","created_at":"2026-05-18T00:27:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1703.03941","created_at":"2026-05-18T00:27:52Z"},{"alias_kind":"pith_short_12","alias_value":"5QNH2FBOAVTY","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_16","alias_value":"5QNH2FBOAVTY3RYQ","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_8","alias_value":"5QNH2FBO","created_at":"2026-05-18T12:31:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:5QNH2FBOAVTY3RYQ7USEEAX6VZ","target":"record","payload":{"canonical_record":{"source":{"id":"1703.03941","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-03-11T10:13:25Z","cross_cats_sorted":[],"title_canon_sha256":"17b23b03767d4e4770786152e7bcf8fbf936d3ae16f972061df01bf585433a9b","abstract_canon_sha256":"a80707e574eeb4458c82a24c2629fa82addee0f6c570db615f6e3d4d684614c4"},"schema_version":"1.0"},"canonical_sha256":"ec1a7d142e05678dc710fd244202feae6dd91cd5030678eb168ee82ea7f236fe","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:27:52.752994Z","signature_b64":"+YDc65fmF2bbbbJucHeeTiw37E8/KfrIvDG11R7OPQdqzWOqQdqG/6ZZqDSa6Vw0yvArfbcoLvhqjUGmpdBdDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ec1a7d142e05678dc710fd244202feae6dd91cd5030678eb168ee82ea7f236fe","last_reissued_at":"2026-05-18T00:27:52.752466Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:27:52.752466Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1703.03941","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":"2026-05-18T00:27:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xVodRXHnuYCMxeWqkGu36DwsGkT+B4ZqQ+JceOp2uiDLrY7BR8EP0G1bSLixUDO8q9aQ0rnozXuuf0VzHvJ1AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T10:23:47.682369Z"},"content_sha256":"a44211efa4de5b25b34923d5d6a3d264ff39c86a3215a16c288c6c4bddb474ff","schema_version":"1.0","event_id":"sha256:a44211efa4de5b25b34923d5d6a3d264ff39c86a3215a16c288c6c4bddb474ff"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:5QNH2FBOAVTY3RYQ7USEEAX6VZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Vision-based Scheme for Kinematic Model Construction of Re-configurable Modular Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Juan Rojas, Kewei Lin, Yisheng Guan","submitted_at":"2017-03-11T10:13:25Z","abstract_excerpt":"Re-configurable modular robotic (RMR) systems are advantageous for their reconfigurability and versatility. A new modular robot can be built for a specific task by using modules as building blocks. However, constructing a kinematic model for a newly conceived robot requires significant work. Due to the finite size of module-types, models of all module-types can be built individually and stored in a database beforehand. With this priori knowledge, the model construction process can be automated by detecting the modules and their corresponding interconnections. Previous literature proposed theor"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.03941","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:27:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A4qHZN+3Mlk/05W5Z6NlFXkw4IlU+OeU/845WmLlpyLsTLa5RWdffLwNCKmBJzPr9ecgJYytpcluBsgTaMzyBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T10:23:47.683135Z"},"content_sha256":"45c046aa17ba8ae852e50b0ec8e93a821f4c281927459a374350a4ca7ba3bfaf","schema_version":"1.0","event_id":"sha256:45c046aa17ba8ae852e50b0ec8e93a821f4c281927459a374350a4ca7ba3bfaf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5QNH2FBOAVTY3RYQ7USEEAX6VZ/bundle.json","state_url":"https://pith.science/pith/5QNH2FBOAVTY3RYQ7USEEAX6VZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5QNH2FBOAVTY3RYQ7USEEAX6VZ/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":"2026-07-05T10:23:47Z","links":{"resolver":"https://pith.science/pith/5QNH2FBOAVTY3RYQ7USEEAX6VZ","bundle":"https://pith.science/pith/5QNH2FBOAVTY3RYQ7USEEAX6VZ/bundle.json","state":"https://pith.science/pith/5QNH2FBOAVTY3RYQ7USEEAX6VZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5QNH2FBOAVTY3RYQ7USEEAX6VZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:5QNH2FBOAVTY3RYQ7USEEAX6VZ","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":"a80707e574eeb4458c82a24c2629fa82addee0f6c570db615f6e3d4d684614c4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-03-11T10:13:25Z","title_canon_sha256":"17b23b03767d4e4770786152e7bcf8fbf936d3ae16f972061df01bf585433a9b"},"schema_version":"1.0","source":{"id":"1703.03941","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1703.03941","created_at":"2026-05-18T00:27:52Z"},{"alias_kind":"arxiv_version","alias_value":"1703.03941v1","created_at":"2026-05-18T00:27:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1703.03941","created_at":"2026-05-18T00:27:52Z"},{"alias_kind":"pith_short_12","alias_value":"5QNH2FBOAVTY","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_16","alias_value":"5QNH2FBOAVTY3RYQ","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_8","alias_value":"5QNH2FBO","created_at":"2026-05-18T12:31:00Z"}],"graph_snapshots":[{"event_id":"sha256:45c046aa17ba8ae852e50b0ec8e93a821f4c281927459a374350a4ca7ba3bfaf","target":"graph","created_at":"2026-05-18T00:27:52Z","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":"Re-configurable modular robotic (RMR) systems are advantageous for their reconfigurability and versatility. A new modular robot can be built for a specific task by using modules as building blocks. However, constructing a kinematic model for a newly conceived robot requires significant work. Due to the finite size of module-types, models of all module-types can be built individually and stored in a database beforehand. With this priori knowledge, the model construction process can be automated by detecting the modules and their corresponding interconnections. Previous literature proposed theor","authors_text":"Juan Rojas, Kewei Lin, Yisheng Guan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-03-11T10:13:25Z","title":"A Vision-based Scheme for Kinematic Model Construction of Re-configurable Modular Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.03941","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:a44211efa4de5b25b34923d5d6a3d264ff39c86a3215a16c288c6c4bddb474ff","target":"record","created_at":"2026-05-18T00:27:52Z","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":"a80707e574eeb4458c82a24c2629fa82addee0f6c570db615f6e3d4d684614c4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-03-11T10:13:25Z","title_canon_sha256":"17b23b03767d4e4770786152e7bcf8fbf936d3ae16f972061df01bf585433a9b"},"schema_version":"1.0","source":{"id":"1703.03941","kind":"arxiv","version":1}},"canonical_sha256":"ec1a7d142e05678dc710fd244202feae6dd91cd5030678eb168ee82ea7f236fe","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ec1a7d142e05678dc710fd244202feae6dd91cd5030678eb168ee82ea7f236fe","first_computed_at":"2026-05-18T00:27:52.752466Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:27:52.752466Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+YDc65fmF2bbbbJucHeeTiw37E8/KfrIvDG11R7OPQdqzWOqQdqG/6ZZqDSa6Vw0yvArfbcoLvhqjUGmpdBdDw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:27:52.752994Z","signed_message":"canonical_sha256_bytes"},"source_id":"1703.03941","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a44211efa4de5b25b34923d5d6a3d264ff39c86a3215a16c288c6c4bddb474ff","sha256:45c046aa17ba8ae852e50b0ec8e93a821f4c281927459a374350a4ca7ba3bfaf"],"state_sha256":"871f6f62b8e7d16107c1673042751237062f8874e75d5e02b2d0b97a7dab2678"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"49drXPNwsP90V2OFzPNhklFnJ9hS8hdWuAN1OmqFdEOpHRyHOZX/TOaBVISiYrpG5JFVnbNq0cAXrB3SmObaBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T10:23:47.686987Z","bundle_sha256":"044672e8e4c78fdd1aef0c8d3cc6a256f84d41efa334abc30d3b2814f1973166"}}