{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:MNFVPHLOIZMCDU7YINLITTVWVX","short_pith_number":"pith:MNFVPHLO","canonical_record":{"source":{"id":"2206.06237","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-13T15:16:45Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c04cf4ef2132d106cb96646e271311c1d43bd2c38ae3ad0974dbffcef536c5a2","abstract_canon_sha256":"c84b67b54ece214cd4d3a3ac4e10478b1e9a0af1a210f3171a9cb6a02a8f7d4b"},"schema_version":"1.0"},"canonical_sha256":"634b579d6e465821d3f8435689ceb6adcf2ad1dea4cd575a514ea3bcaed0098d","source":{"kind":"arxiv","id":"2206.06237","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.06237","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"arxiv_version","alias_value":"2206.06237v1","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.06237","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"pith_short_12","alias_value":"MNFVPHLOIZMC","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"pith_short_16","alias_value":"MNFVPHLOIZMCDU7Y","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"pith_short_8","alias_value":"MNFVPHLO","created_at":"2026-07-05T04:31:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:MNFVPHLOIZMCDU7YINLITTVWVX","target":"record","payload":{"canonical_record":{"source":{"id":"2206.06237","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-13T15:16:45Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c04cf4ef2132d106cb96646e271311c1d43bd2c38ae3ad0974dbffcef536c5a2","abstract_canon_sha256":"c84b67b54ece214cd4d3a3ac4e10478b1e9a0af1a210f3171a9cb6a02a8f7d4b"},"schema_version":"1.0"},"canonical_sha256":"634b579d6e465821d3f8435689ceb6adcf2ad1dea4cd575a514ea3bcaed0098d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:31:17.043001Z","signature_b64":"eJJ2tCj8JhTLjKDkNaluNmlP6vLk61Xl4onZgkWsGpUQfDnpOttszV9pm0TjmbLMKgFxY6d4yOmh/NEmnjnMAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"634b579d6e465821d3f8435689ceb6adcf2ad1dea4cd575a514ea3bcaed0098d","last_reissued_at":"2026-07-05T04:31:17.042455Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:31:17.042455Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2206.06237","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":"2026-07-05T04:31:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WISn2gTayX6dzV+Z/mSjKffgVCR9uEkF/0LCgOpcH3cPfEhF+YB6ERaLPvrQ/CqRaRq/4ugniTDiEWqKUM1QDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T01:37:22.529953Z"},"content_sha256":"91a21223ac4d7a7938c69284f09114c8bfb687d188a138f241153160281f61a4","schema_version":"1.0","event_id":"sha256:91a21223ac4d7a7938c69284f09114c8bfb687d188a138f241153160281f61a4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:MNFVPHLOIZMCDU7YINLITTVWVX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Versatile Pseudo-Rigid Body Modeling Method","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Amir G. Aghdam, Amir Molaei, Javad Dargahi","submitted_at":"2022-06-13T15:16:45Z","abstract_excerpt":"A novel semi-analytical method is proposed to develop the pseudo-rigid-body~(PRB) model of robots made of highly flexible members (HFM), such as flexures and continuum robots, with no limit on the degrees of freedom of the PRB model. The proposed method has a simple formulation yet high precision. Furthermore, it can describe HFMs with variable curvature and stiffness along their length. The method offers a semi-analytical solution for the highly coupled nonlinear constrained optimization problem of PRB modeling and can be extended to variable-length robots comprised of HFM, such as catheter a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.06237","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2206.06237/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T04:31:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WIKFTa25upS/nfsccXPkHybELFlJNFqjCqigLFF8OZiOly+q6aYbzMvr9BpiBDxEo80ffNTSg1vhvEE8NisWCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T01:37:22.530451Z"},"content_sha256":"c2464099232b9250a2115b1e444bf730d1c75cf8d83e9614c378a12c1761dde0","schema_version":"1.0","event_id":"sha256:c2464099232b9250a2115b1e444bf730d1c75cf8d83e9614c378a12c1761dde0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MNFVPHLOIZMCDU7YINLITTVWVX/bundle.json","state_url":"https://pith.science/pith/MNFVPHLOIZMCDU7YINLITTVWVX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MNFVPHLOIZMCDU7YINLITTVWVX/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":"2026-08-18T01:37:22Z","links":{"resolver":"https://pith.science/pith/MNFVPHLOIZMCDU7YINLITTVWVX","bundle":"https://pith.science/pith/MNFVPHLOIZMCDU7YINLITTVWVX/bundle.json","state":"https://pith.science/pith/MNFVPHLOIZMCDU7YINLITTVWVX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MNFVPHLOIZMCDU7YINLITTVWVX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:MNFVPHLOIZMCDU7YINLITTVWVX","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":"c84b67b54ece214cd4d3a3ac4e10478b1e9a0af1a210f3171a9cb6a02a8f7d4b","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-13T15:16:45Z","title_canon_sha256":"c04cf4ef2132d106cb96646e271311c1d43bd2c38ae3ad0974dbffcef536c5a2"},"schema_version":"1.0","source":{"id":"2206.06237","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.06237","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"arxiv_version","alias_value":"2206.06237v1","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.06237","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"pith_short_12","alias_value":"MNFVPHLOIZMC","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"pith_short_16","alias_value":"MNFVPHLOIZMCDU7Y","created_at":"2026-07-05T04:31:17Z"},{"alias_kind":"pith_short_8","alias_value":"MNFVPHLO","created_at":"2026-07-05T04:31:17Z"}],"graph_snapshots":[{"event_id":"sha256:c2464099232b9250a2115b1e444bf730d1c75cf8d83e9614c378a12c1761dde0","target":"graph","created_at":"2026-07-05T04:31:17Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2206.06237/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A novel semi-analytical method is proposed to develop the pseudo-rigid-body~(PRB) model of robots made of highly flexible members (HFM), such as flexures and continuum robots, with no limit on the degrees of freedom of the PRB model. The proposed method has a simple formulation yet high precision. Furthermore, it can describe HFMs with variable curvature and stiffness along their length. The method offers a semi-analytical solution for the highly coupled nonlinear constrained optimization problem of PRB modeling and can be extended to variable-length robots comprised of HFM, such as catheter a","authors_text":"Amir G. Aghdam, Amir Molaei, Javad Dargahi","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-13T15:16:45Z","title":"A Versatile Pseudo-Rigid Body Modeling Method"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.06237","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":"sha256:91a21223ac4d7a7938c69284f09114c8bfb687d188a138f241153160281f61a4","target":"record","created_at":"2026-07-05T04:31:17Z","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":"c84b67b54ece214cd4d3a3ac4e10478b1e9a0af1a210f3171a9cb6a02a8f7d4b","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-13T15:16:45Z","title_canon_sha256":"c04cf4ef2132d106cb96646e271311c1d43bd2c38ae3ad0974dbffcef536c5a2"},"schema_version":"1.0","source":{"id":"2206.06237","kind":"arxiv","version":1}},"canonical_sha256":"634b579d6e465821d3f8435689ceb6adcf2ad1dea4cd575a514ea3bcaed0098d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"634b579d6e465821d3f8435689ceb6adcf2ad1dea4cd575a514ea3bcaed0098d","first_computed_at":"2026-07-05T04:31:17.042455Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:31:17.042455Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eJJ2tCj8JhTLjKDkNaluNmlP6vLk61Xl4onZgkWsGpUQfDnpOttszV9pm0TjmbLMKgFxY6d4yOmh/NEmnjnMAA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:31:17.043001Z","signed_message":"canonical_sha256_bytes"},"source_id":"2206.06237","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:91a21223ac4d7a7938c69284f09114c8bfb687d188a138f241153160281f61a4","sha256:c2464099232b9250a2115b1e444bf730d1c75cf8d83e9614c378a12c1761dde0"],"state_sha256":"c14ed7b75ee674312bd2abad91dde4f06f53ec51d305cfed382c90ef954e28d9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vBmAcpmVlIKrykFYs/OB9VnspMjZQe0v7H7MuIJ5Q5Z0SjsUTmGhURfewM091+bSqi47FFmPwW9kwhOGVeloCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T01:37:22.533890Z","bundle_sha256":"1fa6c1f6493d81445644560757cab887e53602a98b63d7fc61e4bde0a753ed4d"}}