{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:NTOC6RKVHMHDTECTHMXATCQJ66","short_pith_number":"pith:NTOC6RKV","canonical_record":{"source":{"id":"1702.05314","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-02-17T12:01:03Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"8a3fdf5c4e2e74f0d3cfc161fae3e75760a553e060c9737cac00886b91694f92","abstract_canon_sha256":"859155f917746f7e267369fc5e633a865d47989e679a4f0c2d67431053ad494e"},"schema_version":"1.0"},"canonical_sha256":"6cdc2f45553b0e3990533b2e098a09f7b53b34f53dd2e47dce179fa75356f1a0","source":{"kind":"arxiv","id":"1702.05314","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1702.05314","created_at":"2026-05-18T00:50:32Z"},{"alias_kind":"arxiv_version","alias_value":"1702.05314v1","created_at":"2026-05-18T00:50:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.05314","created_at":"2026-05-18T00:50:32Z"},{"alias_kind":"pith_short_12","alias_value":"NTOC6RKVHMHD","created_at":"2026-05-18T12:31:34Z"},{"alias_kind":"pith_short_16","alias_value":"NTOC6RKVHMHDTECT","created_at":"2026-05-18T12:31:34Z"},{"alias_kind":"pith_short_8","alias_value":"NTOC6RKV","created_at":"2026-05-18T12:31:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:NTOC6RKVHMHDTECTHMXATCQJ66","target":"record","payload":{"canonical_record":{"source":{"id":"1702.05314","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-02-17T12:01:03Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"8a3fdf5c4e2e74f0d3cfc161fae3e75760a553e060c9737cac00886b91694f92","abstract_canon_sha256":"859155f917746f7e267369fc5e633a865d47989e679a4f0c2d67431053ad494e"},"schema_version":"1.0"},"canonical_sha256":"6cdc2f45553b0e3990533b2e098a09f7b53b34f53dd2e47dce179fa75356f1a0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:50:32.033386Z","signature_b64":"5FP89a8A8p0rvsMbWHzkUxk9uFEW494o9AUcP4xQ2rw4lHLpA4IG73LYkLCK5WdXsvCmD7sDWFNJG9vzNfrbBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6cdc2f45553b0e3990533b2e098a09f7b53b34f53dd2e47dce179fa75356f1a0","last_reissued_at":"2026-05-18T00:50:32.032751Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:50:32.032751Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1702.05314","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":"2026-05-18T00:50:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ltd4LL9+VOp+t6kmz0gwDTHaSapV3mn7xm/VW8dIT17GpGNgwX4Gu7hrD7daiY5K6XCPSGLMVpaPwnbsfih9Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T09:32:55.119635Z"},"content_sha256":"9e35b94df8b6cba6c715538d1719ea2070469290a505b8caeeeb646cd59b31a6","schema_version":"1.0","event_id":"sha256:9e35b94df8b6cba6c715538d1719ea2070469290a505b8caeeeb646cd59b31a6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:NTOC6RKVHMHDTECTHMXATCQJ66","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Control of an Unmanned Surface Vehicle with Uncertain Displacement and Drag","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.SY","authors_text":"Ivan R. Bertaska, Karl D. von Ellenrieder, Manhar R. Dhanak, Wilhelm B. Klinger","submitted_at":"2017-02-17T12:01:03Z","abstract_excerpt":"Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate the performance of two low-level controllers when displacement and drag properties are time-varying and uncertain. The USV is a 4.3 meter long, 150 kilogram wave adaptive modular vessel (WAM-V) with an inflatable twin hull configuration and waterjet propulsion. Open loop maneuvering tests were conducted to characterize the dynamics of the vehicle. The hydrodynamic coefficients of the vehicle were determined through system identification of the maneuvering data and were used for simulations during control s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.05314","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":"2026-05-18T00:50:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MBC1wTUrxEabMK1Yl+p1dyTH0N43P0J9W4lJl0vnkOp51NsgO3Scpm/qrfrkYzfT4KrKgK37gKOA68Trnxw/BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T09:32:55.119982Z"},"content_sha256":"24b019234a868a7eebf165f70e7cf1906efc5aced081f47d2c979663a25312d2","schema_version":"1.0","event_id":"sha256:24b019234a868a7eebf165f70e7cf1906efc5aced081f47d2c979663a25312d2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NTOC6RKVHMHDTECTHMXATCQJ66/bundle.json","state_url":"https://pith.science/pith/NTOC6RKVHMHDTECTHMXATCQJ66/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NTOC6RKVHMHDTECTHMXATCQJ66/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":"2026-06-30T09:32:55Z","links":{"resolver":"https://pith.science/pith/NTOC6RKVHMHDTECTHMXATCQJ66","bundle":"https://pith.science/pith/NTOC6RKVHMHDTECTHMXATCQJ66/bundle.json","state":"https://pith.science/pith/NTOC6RKVHMHDTECTHMXATCQJ66/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NTOC6RKVHMHDTECTHMXATCQJ66/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:NTOC6RKVHMHDTECTHMXATCQJ66","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":"859155f917746f7e267369fc5e633a865d47989e679a4f0c2d67431053ad494e","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-02-17T12:01:03Z","title_canon_sha256":"8a3fdf5c4e2e74f0d3cfc161fae3e75760a553e060c9737cac00886b91694f92"},"schema_version":"1.0","source":{"id":"1702.05314","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1702.05314","created_at":"2026-05-18T00:50:32Z"},{"alias_kind":"arxiv_version","alias_value":"1702.05314v1","created_at":"2026-05-18T00:50:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.05314","created_at":"2026-05-18T00:50:32Z"},{"alias_kind":"pith_short_12","alias_value":"NTOC6RKVHMHD","created_at":"2026-05-18T12:31:34Z"},{"alias_kind":"pith_short_16","alias_value":"NTOC6RKVHMHDTECT","created_at":"2026-05-18T12:31:34Z"},{"alias_kind":"pith_short_8","alias_value":"NTOC6RKV","created_at":"2026-05-18T12:31:34Z"}],"graph_snapshots":[{"event_id":"sha256:24b019234a868a7eebf165f70e7cf1906efc5aced081f47d2c979663a25312d2","target":"graph","created_at":"2026-05-18T00:50:32Z","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":"Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate the performance of two low-level controllers when displacement and drag properties are time-varying and uncertain. The USV is a 4.3 meter long, 150 kilogram wave adaptive modular vessel (WAM-V) with an inflatable twin hull configuration and waterjet propulsion. Open loop maneuvering tests were conducted to characterize the dynamics of the vehicle. The hydrodynamic coefficients of the vehicle were determined through system identification of the maneuvering data and were used for simulations during control s","authors_text":"Ivan R. Bertaska, Karl D. von Ellenrieder, Manhar R. Dhanak, Wilhelm B. Klinger","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-02-17T12:01:03Z","title":"Control of an Unmanned Surface Vehicle with Uncertain Displacement and Drag"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.05314","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":"sha256:9e35b94df8b6cba6c715538d1719ea2070469290a505b8caeeeb646cd59b31a6","target":"record","created_at":"2026-05-18T00:50:32Z","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":"859155f917746f7e267369fc5e633a865d47989e679a4f0c2d67431053ad494e","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-02-17T12:01:03Z","title_canon_sha256":"8a3fdf5c4e2e74f0d3cfc161fae3e75760a553e060c9737cac00886b91694f92"},"schema_version":"1.0","source":{"id":"1702.05314","kind":"arxiv","version":1}},"canonical_sha256":"6cdc2f45553b0e3990533b2e098a09f7b53b34f53dd2e47dce179fa75356f1a0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6cdc2f45553b0e3990533b2e098a09f7b53b34f53dd2e47dce179fa75356f1a0","first_computed_at":"2026-05-18T00:50:32.032751Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:50:32.032751Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5FP89a8A8p0rvsMbWHzkUxk9uFEW494o9AUcP4xQ2rw4lHLpA4IG73LYkLCK5WdXsvCmD7sDWFNJG9vzNfrbBg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:50:32.033386Z","signed_message":"canonical_sha256_bytes"},"source_id":"1702.05314","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9e35b94df8b6cba6c715538d1719ea2070469290a505b8caeeeb646cd59b31a6","sha256:24b019234a868a7eebf165f70e7cf1906efc5aced081f47d2c979663a25312d2"],"state_sha256":"88826520950e188f86f87bdc103c0147eb83555061fc88df8bbb17a4ff4685bd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Y/Vq3VWobl1Nkc0xtEOi6HCtLbxuhzQX5wrhfk1h9fhbHVgD5I2auoatD2qqOjzT1hitW9d1vrRdNrOktPEOBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-30T09:32:55.121847Z","bundle_sha256":"5edf10c4680dd26b29b50bb10b5626ebae66fbffa944027a200f34e6091ad633"}}