{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:KLVYVIYK7FBGAZRI5EI2D5T6WY","short_pith_number":"pith:KLVYVIYK","canonical_record":{"source":{"id":"1903.07856","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-19T06:41:06Z","cross_cats_sorted":[],"title_canon_sha256":"8c9b37fa3ceec01df666845553b4d295c4a7b95d05ee6100fb1b4190a14f675a","abstract_canon_sha256":"2ce42d02341013ae2724852f844d20808b056772f0cd7f1f96bb9ad29de9484e"},"schema_version":"1.0"},"canonical_sha256":"52eb8aa30af942606628e911a1f67eb60bbcb4951a6fee43bb2d8868e5de26fa","source":{"kind":"arxiv","id":"1903.07856","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.07856","created_at":"2026-05-17T23:50:53Z"},{"alias_kind":"arxiv_version","alias_value":"1903.07856v1","created_at":"2026-05-17T23:50:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.07856","created_at":"2026-05-17T23:50:53Z"},{"alias_kind":"pith_short_12","alias_value":"KLVYVIYK7FBG","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"KLVYVIYK7FBGAZRI","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"KLVYVIYK","created_at":"2026-05-18T12:33:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:KLVYVIYK7FBGAZRI5EI2D5T6WY","target":"record","payload":{"canonical_record":{"source":{"id":"1903.07856","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-19T06:41:06Z","cross_cats_sorted":[],"title_canon_sha256":"8c9b37fa3ceec01df666845553b4d295c4a7b95d05ee6100fb1b4190a14f675a","abstract_canon_sha256":"2ce42d02341013ae2724852f844d20808b056772f0cd7f1f96bb9ad29de9484e"},"schema_version":"1.0"},"canonical_sha256":"52eb8aa30af942606628e911a1f67eb60bbcb4951a6fee43bb2d8868e5de26fa","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:50:53.666537Z","signature_b64":"573lDu7oLaLhMATgBkIUgCKzEPNmWrYM7Bgk9NM1J3lr4VMHLS+lMQKmVoy7LHylhJUjyPXeMGlOOTu39XVNCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"52eb8aa30af942606628e911a1f67eb60bbcb4951a6fee43bb2d8868e5de26fa","last_reissued_at":"2026-05-17T23:50:53.665937Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:50:53.665937Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1903.07856","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:50:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MDpGO9HJnMqBo6ZuFRHZygv7DQJnR0dIPAHcxewJiBeeRryhD2KIFad7JTw2V6+Bemz/EfylU9vxhuiFKjWRCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-23T09:16:44.154786Z"},"content_sha256":"10fcf1ba7baec8c0f34cdd6eeabcc3fef630be6b2c6d8d54d3db17404cb0c639","schema_version":"1.0","event_id":"sha256:10fcf1ba7baec8c0f34cdd6eeabcc3fef630be6b2c6d8d54d3db17404cb0c639"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:KLVYVIYK7FBGAZRI5EI2D5T6WY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Spring Propelled Extreme Environment Robot for Off-World Cave Exploration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jekan Thangavelautham, Leonard Vance, Steven Morad, Thomas Dailey","submitted_at":"2019-03-19T06:41:06Z","abstract_excerpt":"Pits on the Moon and Mars are intriguing geological formations that have yet to be explored. These geological formations can provide protection from harsh diurnal temperature variations, ionizing radiation, and meteorite impacts. Some have proposed that these underground formations are well-suited as human outposts. Some theorize that the Martian pits may harbor remnants of past life. Unfortunately, these geo-logical formations have been off-limits to conventional wheeled rovers and lander systems due to their collapsed ceiling or 'skylight' entrances. In this paper, a new low-cost method to e"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.07856","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:50:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dZ+tqJ8ZSCv002jUesBJWqRehbJeZHdhwKNLfIKKWvEEZbgBKUtAH6Jv04XDp9kdgO5EJYeiOt+CAW959MwDBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-23T09:16:44.155122Z"},"content_sha256":"94f41cad8e17e01393a7a59d9628a2b2cd785083724cfe2b0060b17c3e1719fd","schema_version":"1.0","event_id":"sha256:94f41cad8e17e01393a7a59d9628a2b2cd785083724cfe2b0060b17c3e1719fd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KLVYVIYK7FBGAZRI5EI2D5T6WY/bundle.json","state_url":"https://pith.science/pith/KLVYVIYK7FBGAZRI5EI2D5T6WY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KLVYVIYK7FBGAZRI5EI2D5T6WY/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-23T09:16:44Z","links":{"resolver":"https://pith.science/pith/KLVYVIYK7FBGAZRI5EI2D5T6WY","bundle":"https://pith.science/pith/KLVYVIYK7FBGAZRI5EI2D5T6WY/bundle.json","state":"https://pith.science/pith/KLVYVIYK7FBGAZRI5EI2D5T6WY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KLVYVIYK7FBGAZRI5EI2D5T6WY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:KLVYVIYK7FBGAZRI5EI2D5T6WY","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"2ce42d02341013ae2724852f844d20808b056772f0cd7f1f96bb9ad29de9484e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-19T06:41:06Z","title_canon_sha256":"8c9b37fa3ceec01df666845553b4d295c4a7b95d05ee6100fb1b4190a14f675a"},"schema_version":"1.0","source":{"id":"1903.07856","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.07856","created_at":"2026-05-17T23:50:53Z"},{"alias_kind":"arxiv_version","alias_value":"1903.07856v1","created_at":"2026-05-17T23:50:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.07856","created_at":"2026-05-17T23:50:53Z"},{"alias_kind":"pith_short_12","alias_value":"KLVYVIYK7FBG","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"KLVYVIYK7FBGAZRI","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"KLVYVIYK","created_at":"2026-05-18T12:33:21Z"}],"graph_snapshots":[{"event_id":"sha256:94f41cad8e17e01393a7a59d9628a2b2cd785083724cfe2b0060b17c3e1719fd","target":"graph","created_at":"2026-05-17T23:50:53Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"Pits on the Moon and Mars are intriguing geological formations that have yet to be explored. These geological formations can provide protection from harsh diurnal temperature variations, ionizing radiation, and meteorite impacts. Some have proposed that these underground formations are well-suited as human outposts. Some theorize that the Martian pits may harbor remnants of past life. Unfortunately, these geo-logical formations have been off-limits to conventional wheeled rovers and lander systems due to their collapsed ceiling or 'skylight' entrances. In this paper, a new low-cost method to e","authors_text":"Jekan Thangavelautham, Leonard Vance, Steven Morad, Thomas Dailey","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-19T06:41:06Z","title":"A Spring Propelled Extreme Environment Robot for Off-World Cave Exploration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.07856","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:10fcf1ba7baec8c0f34cdd6eeabcc3fef630be6b2c6d8d54d3db17404cb0c639","target":"record","created_at":"2026-05-17T23:50:53Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"2ce42d02341013ae2724852f844d20808b056772f0cd7f1f96bb9ad29de9484e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-19T06:41:06Z","title_canon_sha256":"8c9b37fa3ceec01df666845553b4d295c4a7b95d05ee6100fb1b4190a14f675a"},"schema_version":"1.0","source":{"id":"1903.07856","kind":"arxiv","version":1}},"canonical_sha256":"52eb8aa30af942606628e911a1f67eb60bbcb4951a6fee43bb2d8868e5de26fa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"52eb8aa30af942606628e911a1f67eb60bbcb4951a6fee43bb2d8868e5de26fa","first_computed_at":"2026-05-17T23:50:53.665937Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:50:53.665937Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"573lDu7oLaLhMATgBkIUgCKzEPNmWrYM7Bgk9NM1J3lr4VMHLS+lMQKmVoy7LHylhJUjyPXeMGlOOTu39XVNCQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:50:53.666537Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.07856","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:10fcf1ba7baec8c0f34cdd6eeabcc3fef630be6b2c6d8d54d3db17404cb0c639","sha256:94f41cad8e17e01393a7a59d9628a2b2cd785083724cfe2b0060b17c3e1719fd"],"state_sha256":"3037b5a28c51393decf948e8ab1ec3c91f75a702489b904433ad102eef79d2f8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6KBagJhH2K4BmXlyWuqbfDAxhk7nyStxY4vZUGP/cgWncxZPAxqqayAyAV6pYv2sVIlvWyAYE/HycS8gzv4iDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-23T09:16:44.157201Z","bundle_sha256":"04612aeb2987fed6736c447e157e1a5b0b68a059961185c1782b30b17166f27a"}}