Pith Number

pith:VR2DNQNG

pith:2025:VR2DNQNGGEEXXB22GMQB7REEAO

not attested not anchored not stored refs pending

A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators

Antonio Franchi, Camilla Rota, Federico Califano, Riccardo Zanella

arxiv:2512.14349 v2 · 2025-12-16 · eess.SY · cs.RO · cs.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{VR2DNQNGGEEXXB22GMQB7REEAO}

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	2026-06-23T01:11:59.444411Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ac7436c1a631097b875a33201fc48403991b97fe13e27a3855fca9f2d4db92b6

Aliases

arxiv: 2512.14349 · arxiv_version: 2512.14349v2 · doi: 10.48550/arxiv.2512.14349 · pith_short_12: VR2DNQNGGEEX · pith_short_16: VR2DNQNGGEEXXB22 · pith_short_8: VR2DNQNG

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/VR2DNQNGGEEXXB22GMQB7REEAO \
  | 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: ac7436c1a631097b875a33201fc48403991b97fe13e27a3855fca9f2d4db92b6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "13a3064a47ba5868915a4017b031ff7c7f3192aeab75a15ccd666375222ec9cf",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2025-12-16T12:24:07Z",
    "title_canon_sha256": "4dd4aca09539e48b286bb9e81bd56c4f3c0b722a5a6f7a865340f1ed478117a5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2512.14349",
    "kind": "arxiv",
    "version": 2
  }
}