Pith Number

pith:EF2D3RM6

pith:2022:EF2D3RM63PMAY5NWMQ533TKZNO

not attested not anchored not stored refs pending

A Miniature 3-DoF Flexible Parallel Robotic Wrist Using NiTi Wires for Gastrointestinal Endoscopic Surgery

Hongliang Ren, Huxin Gao, Tao Zhang, Xiao Xiao, Xiaoxiao Yang, Xiuli Zuo, Yanqing Li

arxiv:2207.04735 v1 · 2022-07-11 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{EF2D3RM63PMAY5NWMQ533TKZNO}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T04:42:37.256548Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

21743dc59edbd80c75b6643bbdcd596b9252c54b8fd0800cabc0262589cccf41

Aliases

arxiv: 2207.04735 · arxiv_version: 2207.04735v1 · doi: 10.48550/arxiv.2207.04735 · pith_short_12: EF2D3RM63PMA · pith_short_16: EF2D3RM63PMAY5NW · pith_short_8: EF2D3RM6

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/EF2D3RM63PMAY5NWMQ533TKZNO \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 21743dc59edbd80c75b6643bbdcd596b9252c54b8fd0800cabc0262589cccf41

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0cd98e1fadc11b26c7b68ae641a0319aa461b3b94b71d65c78b9d4f42fd2662c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-07-11T09:35:38Z",
    "title_canon_sha256": "970626b846431e6f69957667e96e6424f4abc081bc32d9c2b04d01989f1e2e12"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2207.04735",
    "kind": "arxiv",
    "version": 1
  }
}