{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:BL7FGOCECQWRGL4IM37BYWORH2","short_pith_number":"pith:BL7FGOCE","canonical_record":{"source":{"id":"1801.06864","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-01-21T18:16:29Z","cross_cats_sorted":[],"title_canon_sha256":"0658de41ae0347f1d33d580359597c50467f61d8a79bc26b60abd0ce23280c47","abstract_canon_sha256":"1a20a5476629dbd1a55f4b26a046798b66ec918c9dd129a4d9eb18d6a98ab6e6"},"schema_version":"1.0"},"canonical_sha256":"0afe533844142d132f8866fe1c59d13eac4b621d1f53d3239757b192b77c1909","source":{"kind":"arxiv","id":"1801.06864","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.06864","created_at":"2026-05-18T00:25:22Z"},{"alias_kind":"arxiv_version","alias_value":"1801.06864v1","created_at":"2026-05-18T00:25:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.06864","created_at":"2026-05-18T00:25:22Z"},{"alias_kind":"pith_short_12","alias_value":"BL7FGOCECQWR","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"BL7FGOCECQWRGL4I","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"BL7FGOCE","created_at":"2026-05-18T12:32:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:BL7FGOCECQWRGL4IM37BYWORH2","target":"record","payload":{"canonical_record":{"source":{"id":"1801.06864","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-01-21T18:16:29Z","cross_cats_sorted":[],"title_canon_sha256":"0658de41ae0347f1d33d580359597c50467f61d8a79bc26b60abd0ce23280c47","abstract_canon_sha256":"1a20a5476629dbd1a55f4b26a046798b66ec918c9dd129a4d9eb18d6a98ab6e6"},"schema_version":"1.0"},"canonical_sha256":"0afe533844142d132f8866fe1c59d13eac4b621d1f53d3239757b192b77c1909","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:25:22.955106Z","signature_b64":"1ReSDU5shO7p0veB8pxw4AEP51uDvyonNL751YFwDzDcDi8Be/MbcvPAfxn0k+4gD/ez07BV0enq5GGDP2l6Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0afe533844142d132f8866fe1c59d13eac4b621d1f53d3239757b192b77c1909","last_reissued_at":"2026-05-18T00:25:22.954443Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:25:22.954443Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1801.06864","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":"2026-05-18T00:25:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rP9BP7yWPcdHcHkZENFs/kyU/DzPN3qLhKxqmx8vEwoVo7HpS4pmmX7QyVOZZbW0IMFYQjAuOqmbxhIJuXT5Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T19:56:40.492582Z"},"content_sha256":"b981977bc27f7f1dd5b90d1322c5948cb392477d86fa5fa4e74f50ae74742939","schema_version":"1.0","event_id":"sha256:b981977bc27f7f1dd5b90d1322c5948cb392477d86fa5fa4e74f50ae74742939"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:BL7FGOCECQWRGL4IM37BYWORH2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Convex Optimization Framework for Constrained Concurrent Motion Control of a Hybrid Redundant Surgical System","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Farshid Alambeigi, Mehran Armand, Shahriar Sefati","submitted_at":"2018-01-21T18:16:29Z","abstract_excerpt":"We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinematics model of a six Degrees-of-Freedom (DoF) robotic arm integrated with a one DoF continuum manipulator as well as a novel convex optimization redundancy resolution controller. To resolve the redundancy resolution problem, formulated as a constrained l2-regularized quadratic minimization, we study and evaluate the potential use of an optimally tuned alternating direction method of multipliers (ADMM) algorithm. To this"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.06864","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":"2026-05-18T00:25:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cvYfgjLSMwQ/XBs/7anksHdTK9q5AE6NZdBsHga/6r/IG0fygnw4rJx7l0thplTFuJkFpOfzIG4khly6ENwbAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T19:56:40.492922Z"},"content_sha256":"42c1b339a97944c58e70fdf25b90425d5cc2a94fa1b15495fa95014ccd0bb38d","schema_version":"1.0","event_id":"sha256:42c1b339a97944c58e70fdf25b90425d5cc2a94fa1b15495fa95014ccd0bb38d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BL7FGOCECQWRGL4IM37BYWORH2/bundle.json","state_url":"https://pith.science/pith/BL7FGOCECQWRGL4IM37BYWORH2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BL7FGOCECQWRGL4IM37BYWORH2/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":"2026-06-27T19:56:40Z","links":{"resolver":"https://pith.science/pith/BL7FGOCECQWRGL4IM37BYWORH2","bundle":"https://pith.science/pith/BL7FGOCECQWRGL4IM37BYWORH2/bundle.json","state":"https://pith.science/pith/BL7FGOCECQWRGL4IM37BYWORH2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BL7FGOCECQWRGL4IM37BYWORH2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:BL7FGOCECQWRGL4IM37BYWORH2","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":"1a20a5476629dbd1a55f4b26a046798b66ec918c9dd129a4d9eb18d6a98ab6e6","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-01-21T18:16:29Z","title_canon_sha256":"0658de41ae0347f1d33d580359597c50467f61d8a79bc26b60abd0ce23280c47"},"schema_version":"1.0","source":{"id":"1801.06864","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.06864","created_at":"2026-05-18T00:25:22Z"},{"alias_kind":"arxiv_version","alias_value":"1801.06864v1","created_at":"2026-05-18T00:25:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.06864","created_at":"2026-05-18T00:25:22Z"},{"alias_kind":"pith_short_12","alias_value":"BL7FGOCECQWR","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"BL7FGOCECQWRGL4I","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"BL7FGOCE","created_at":"2026-05-18T12:32:16Z"}],"graph_snapshots":[{"event_id":"sha256:42c1b339a97944c58e70fdf25b90425d5cc2a94fa1b15495fa95014ccd0bb38d","target":"graph","created_at":"2026-05-18T00:25:22Z","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":"We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinematics model of a six Degrees-of-Freedom (DoF) robotic arm integrated with a one DoF continuum manipulator as well as a novel convex optimization redundancy resolution controller. To resolve the redundancy resolution problem, formulated as a constrained l2-regularized quadratic minimization, we study and evaluate the potential use of an optimally tuned alternating direction method of multipliers (ADMM) algorithm. To this","authors_text":"Farshid Alambeigi, Mehran Armand, Shahriar Sefati","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-01-21T18:16:29Z","title":"A Convex Optimization Framework for Constrained Concurrent Motion Control of a Hybrid Redundant Surgical System"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.06864","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:b981977bc27f7f1dd5b90d1322c5948cb392477d86fa5fa4e74f50ae74742939","target":"record","created_at":"2026-05-18T00:25:22Z","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":"1a20a5476629dbd1a55f4b26a046798b66ec918c9dd129a4d9eb18d6a98ab6e6","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-01-21T18:16:29Z","title_canon_sha256":"0658de41ae0347f1d33d580359597c50467f61d8a79bc26b60abd0ce23280c47"},"schema_version":"1.0","source":{"id":"1801.06864","kind":"arxiv","version":1}},"canonical_sha256":"0afe533844142d132f8866fe1c59d13eac4b621d1f53d3239757b192b77c1909","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0afe533844142d132f8866fe1c59d13eac4b621d1f53d3239757b192b77c1909","first_computed_at":"2026-05-18T00:25:22.954443Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:25:22.954443Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1ReSDU5shO7p0veB8pxw4AEP51uDvyonNL751YFwDzDcDi8Be/MbcvPAfxn0k+4gD/ez07BV0enq5GGDP2l6Dw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:25:22.955106Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.06864","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b981977bc27f7f1dd5b90d1322c5948cb392477d86fa5fa4e74f50ae74742939","sha256:42c1b339a97944c58e70fdf25b90425d5cc2a94fa1b15495fa95014ccd0bb38d"],"state_sha256":"39a4d7f497c04a3f7d5c8f010e171bbf7c905fee420c7b2f3d88def1d4368495"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"M4KUwHCD0OvcXbKL+5LnXowK1zXuh8MjBgeffkERgZ2nQsRrTVexLXJcQLSKn/kTDUwZHeY69ijGqGuqheG3AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T19:56:40.494804Z","bundle_sha256":"cf7ea281179fb21c13fc4c933043338915050f5b551035d29e7b516541585f35"}}