{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:MVJTRMKTCJV6TPY5FT77MMDMOX","short_pith_number":"pith:MVJTRMKT","canonical_record":{"source":{"id":"2003.09041","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-19T22:56:11Z","cross_cats_sorted":[],"title_canon_sha256":"8848dddb54781d77126e7e671abdf32306818f0e609e266ebfdf9de62b96179c","abstract_canon_sha256":"180409d02881048da9aa23dcbc0c4b84487a362d6d8fb574b614c0133ffb2f05"},"schema_version":"1.0"},"canonical_sha256":"655338b153126be9bf1d2cfff6306c75c711410e896c645c617c3af0c12a9186","source":{"kind":"arxiv","id":"2003.09041","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.09041","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"arxiv_version","alias_value":"2003.09041v1","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.09041","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"pith_short_12","alias_value":"MVJTRMKTCJV6","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"pith_short_16","alias_value":"MVJTRMKTCJV6TPY5","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"pith_short_8","alias_value":"MVJTRMKT","created_at":"2026-07-05T00:49:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:MVJTRMKTCJV6TPY5FT77MMDMOX","target":"record","payload":{"canonical_record":{"source":{"id":"2003.09041","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-19T22:56:11Z","cross_cats_sorted":[],"title_canon_sha256":"8848dddb54781d77126e7e671abdf32306818f0e609e266ebfdf9de62b96179c","abstract_canon_sha256":"180409d02881048da9aa23dcbc0c4b84487a362d6d8fb574b614c0133ffb2f05"},"schema_version":"1.0"},"canonical_sha256":"655338b153126be9bf1d2cfff6306c75c711410e896c645c617c3af0c12a9186","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:49:28.813853Z","signature_b64":"udkSCuxctOpBFVZKsgCz3lZuPYtxwFsxR5KJpOv/53Jfbj+r1t0KasGGQPHNpygokH2DSBpSoIF0nv+qZth6Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"655338b153126be9bf1d2cfff6306c75c711410e896c645c617c3af0c12a9186","last_reissued_at":"2026-07-05T00:49:28.813361Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:49:28.813361Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2003.09041","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":"2026-07-05T00:49:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ld5pujrWXA5qjGeYIG58gBePLs5j2s1HJN6n+HnQFClkDZJBxYt7yIc8WDnYZAwzma6fQIY2hjU73z3o2BD/Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T15:30:57.320913Z"},"content_sha256":"7d221f76eb350792ba2a67b8877fb5c0af988b044ce53a073e54298a7eb67431","schema_version":"1.0","event_id":"sha256:7d221f76eb350792ba2a67b8877fb5c0af988b044ce53a073e54298a7eb67431"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:MVJTRMKTCJV6TPY5FT77MMDMOX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Berik Kallevig, Chelsey Edge, Corey Knutson, Hunter Bashaw, Jiawei Mo, Junaed Sattar, Jungseok Hong, Kevin Orpen, Kimberly Barthelemy, Michael Fulton, Sadman Sakib Enan","submitted_at":"2020-03-19T22:56:11Z","abstract_excerpt":"In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this underwater robot, as well as the design of a simulator in Gazebo. Additionally, we explore the platform's preliminary local motion control and state estimation abilities, which enable it to perform maneuvers autonomously. In order to demonstrate its usefulness for a variety of tasks, we implement a variety of our previously presented human-robot interaction cap"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.09041","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/2003.09041/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":"2026-07-05T00:49:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jgg50J/sFz4YeaqoE6L27yZnz3iB+DjEb42LodVrFupkMTTrKfuXAe7nst1V4edTaUTpSDOjtT25/9w5/ILJAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T15:30:57.322435Z"},"content_sha256":"5cd2a263457fd053ee34883bd502db76c290e9a83f47f425487d6179f8a4e880","schema_version":"1.0","event_id":"sha256:5cd2a263457fd053ee34883bd502db76c290e9a83f47f425487d6179f8a4e880"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MVJTRMKTCJV6TPY5FT77MMDMOX/bundle.json","state_url":"https://pith.science/pith/MVJTRMKTCJV6TPY5FT77MMDMOX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MVJTRMKTCJV6TPY5FT77MMDMOX/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":"2026-08-18T15:30:57Z","links":{"resolver":"https://pith.science/pith/MVJTRMKTCJV6TPY5FT77MMDMOX","bundle":"https://pith.science/pith/MVJTRMKTCJV6TPY5FT77MMDMOX/bundle.json","state":"https://pith.science/pith/MVJTRMKTCJV6TPY5FT77MMDMOX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MVJTRMKTCJV6TPY5FT77MMDMOX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:MVJTRMKTCJV6TPY5FT77MMDMOX","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":"180409d02881048da9aa23dcbc0c4b84487a362d6d8fb574b614c0133ffb2f05","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-19T22:56:11Z","title_canon_sha256":"8848dddb54781d77126e7e671abdf32306818f0e609e266ebfdf9de62b96179c"},"schema_version":"1.0","source":{"id":"2003.09041","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.09041","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"arxiv_version","alias_value":"2003.09041v1","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.09041","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"pith_short_12","alias_value":"MVJTRMKTCJV6","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"pith_short_16","alias_value":"MVJTRMKTCJV6TPY5","created_at":"2026-07-05T00:49:28Z"},{"alias_kind":"pith_short_8","alias_value":"MVJTRMKT","created_at":"2026-07-05T00:49:28Z"}],"graph_snapshots":[{"event_id":"sha256:5cd2a263457fd053ee34883bd502db76c290e9a83f47f425487d6179f8a4e880","target":"graph","created_at":"2026-07-05T00:49:28Z","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/2003.09041/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this underwater robot, as well as the design of a simulator in Gazebo. Additionally, we explore the platform's preliminary local motion control and state estimation abilities, which enable it to perform maneuvers autonomously. In order to demonstrate its usefulness for a variety of tasks, we implement a variety of our previously presented human-robot interaction cap","authors_text":"Berik Kallevig, Chelsey Edge, Corey Knutson, Hunter Bashaw, Jiawei Mo, Junaed Sattar, Jungseok Hong, Kevin Orpen, Kimberly Barthelemy, Michael Fulton, Sadman Sakib Enan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-19T22:56:11Z","title":"Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.09041","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":"sha256:7d221f76eb350792ba2a67b8877fb5c0af988b044ce53a073e54298a7eb67431","target":"record","created_at":"2026-07-05T00:49:28Z","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":"180409d02881048da9aa23dcbc0c4b84487a362d6d8fb574b614c0133ffb2f05","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-19T22:56:11Z","title_canon_sha256":"8848dddb54781d77126e7e671abdf32306818f0e609e266ebfdf9de62b96179c"},"schema_version":"1.0","source":{"id":"2003.09041","kind":"arxiv","version":1}},"canonical_sha256":"655338b153126be9bf1d2cfff6306c75c711410e896c645c617c3af0c12a9186","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"655338b153126be9bf1d2cfff6306c75c711410e896c645c617c3af0c12a9186","first_computed_at":"2026-07-05T00:49:28.813361Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:49:28.813361Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"udkSCuxctOpBFVZKsgCz3lZuPYtxwFsxR5KJpOv/53Jfbj+r1t0KasGGQPHNpygokH2DSBpSoIF0nv+qZth6Bg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:49:28.813853Z","signed_message":"canonical_sha256_bytes"},"source_id":"2003.09041","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7d221f76eb350792ba2a67b8877fb5c0af988b044ce53a073e54298a7eb67431","sha256:5cd2a263457fd053ee34883bd502db76c290e9a83f47f425487d6179f8a4e880"],"state_sha256":"c43fd74907c7092ad3bc0b758b7f51a6c40c4ab7a686641d8e1cf2555ce55e90"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2GOJTv4JZEF7l9kgW1zM5aaKGWJV5NoOpecNq92//a4aYqUDFRUpexF/RbLhtsBMHatChET3PxzGrERqqovqAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T15:30:57.334459Z","bundle_sha256":"7ad66a4c6d1303a0c3646760249aa77f0277664ecee2a96989296cf64c3e773e"}}