Pith Number

pith:IO66JRKF

pith:2026:IO66JRKFT6XDXWOPGDMQ5T5TYM

not attested not anchored not stored refs pending

Discrete Geometric Modeling and Extended State Estimation of Continuum Robots

Leander Pfeiffer, Maximilian Herrmann, Paul Kotyczka

arxiv:2606.21205 v1 · 2026-06-19 · eess.SY · cs.RO · cs.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{IO66JRKFT6XDXWOPGDMQ5T5TYM}

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	2026-06-23T01:12:33.324568Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

43bde4c5459fae3bd9cf30d90ecfb3c307797ee599099f58095407e8933b7cc5

Aliases

arxiv: 2606.21205 · arxiv_version: 2606.21205v1 · doi: 10.48550/arxiv.2606.21205 · pith_short_12: IO66JRKFT6XD · pith_short_16: IO66JRKFT6XDXWOP · pith_short_8: IO66JRKF

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/IO66JRKFT6XDXWOPGDMQ5T5TYM \
  | 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: 43bde4c5459fae3bd9cf30d90ecfb3c307797ee599099f58095407e8933b7cc5

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "477760ec905c30c7495f3a1c76020b748eb316bddba7e967279fb9c65bb3f425",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-06-19T08:17:32Z",
    "title_canon_sha256": "4bf8251f3d41e49f7bce10169bd43d406085019399814dd330a4a1618d068555"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.21205",
    "kind": "arxiv",
    "version": 1
  }
}