Pith Number

pith:HZ5P2TFM

pith:2021:HZ5P2TFMZYLLQUZRKIMZD2MIMX

not attested not anchored not stored refs pending

A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Real Quantifier Elimination based on Comprehensive Gr\"obner Systems

Akira Terui, Masahiko Mikawa, Shuto Otaki

arxiv:2111.00384 v2 · 2021-10-31 · cs.RO · cs.SC · math.AC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{HZ5P2TFMZYLLQUZRKIMZD2MIMX}

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	2026-07-05T06:03:06.499617Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3e7afd4cacce16b85331521991e98865e1f5882d32750250366af32d48527f46

Aliases

arxiv: 2111.00384 · arxiv_version: 2111.00384v2 · doi: 10.48550/arxiv.2111.00384 · pith_short_12: HZ5P2TFMZYLL · pith_short_16: HZ5P2TFMZYLLQUZR · pith_short_8: HZ5P2TFM

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/HZ5P2TFMZYLLQUZRKIMZD2MIMX \
  | 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: 3e7afd4cacce16b85331521991e98865e1f5882d32750250366af32d48527f46

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "172ee394995866f91486595f0ed55128596a319990d00743fd123dabb3bc9503",
    "cross_cats_sorted": [
      "cs.SC",
      "math.AC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-31T02:36:52Z",
    "title_canon_sha256": "6f9957a3da54d1607921e71a46385f77a11a0793cb8df50b64a89c82e28ae622"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.00384",
    "kind": "arxiv",
    "version": 2
  }
}