Pith Number

pith:KJSTWGAK

pith:2022:KJSTWGAKRHLU6CCT5XIVGNAKXS

not attested not anchored not stored refs pending

Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments

Hsin Cheng, James C. Sturm, Minjie Chen, Naveen Verma, Prakhar Kumar, Sigurd Wagner, Yenan Chen, Zhiwu Zheng

arxiv:2203.15198 v1 · 2022-03-29 · cs.RO · cs.SY · eess.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{KJSTWGAKRHLU6CCT5XIVGNAKXS}

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	2026-07-05T04:19:57.047230Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

52653b180a89d74f0853edd153340abc8b66b22efb14821ed0eab44454c17b93

Aliases

arxiv: 2203.15198 · arxiv_version: 2203.15198v1 · doi: 10.48550/arxiv.2203.15198 · pith_short_12: KJSTWGAKRHLU · pith_short_16: KJSTWGAKRHLU6CCT · pith_short_8: KJSTWGAK

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/KJSTWGAKRHLU6CCT5XIVGNAKXS \
  | 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: 52653b180a89d74f0853edd153340abc8b66b22efb14821ed0eab44454c17b93

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "077e5dc1b13f21f8130d1f090c3cab4a72abe9963d03e59048c5f72ef6b6d747",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-03-29T02:35:57Z",
    "title_canon_sha256": "f3d8cfa99139c2611c43c4460c80d58bf5638693234234a9db4a12296967236b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2203.15198",
    "kind": "arxiv",
    "version": 1
  }
}