Pith Number

pith:FQTSJA7Z

pith:2019:FQTSJA7ZA6TNFYBRNLNVU45TN7

not attested not anchored not stored refs pending

Energy Management for Autonomous Underwater Vehicles Using Economic Model Predictive Control

Dongsik Chang, Jing Sun, Matthew Johnson-Roberson, Mohammad Reza Amini, Niankai Yang

arxiv:1906.08719 v1 · 2019-06-20 · eess.SY · cs.SY · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{FQTSJA7ZA6TNFYBRNLNVU45TN7}

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	2026-05-17T23:42:49.490969Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2c272483f907a6d2e0316adb5a73b36feb46ecdb809c170fb1ed334ea7556c8f

Aliases

arxiv: 1906.08719 · arxiv_version: 1906.08719v1 · doi: 10.48550/arxiv.1906.08719 · pith_short_12: FQTSJA7ZA6TN · pith_short_16: FQTSJA7ZA6TNFYBR · pith_short_8: FQTSJA7Z

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/FQTSJA7ZA6TNFYBRNLNVU45TN7 \
  | 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: 2c272483f907a6d2e0316adb5a73b36feb46ecdb809c170fb1ed334ea7556c8f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f13c8fd52d845dbeae0aa210ad686a8bd8cdaa40cff1bff8fed61660c23beda4",
    "cross_cats_sorted": [
      "cs.SY",
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2019-06-20T16:05:17Z",
    "title_canon_sha256": "3ef8baac197ebbff4c0f07d02139378ffbe09cdd21bc3d03c99020fba2d6353f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1906.08719",
    "kind": "arxiv",
    "version": 1
  }
}