Pith Number

pith:YQ3SUG77

pith:2009:YQ3SUG77CMZ3L7KRNKFFV4IVRL

not attested not anchored not stored refs pending

Optimal Control of Underactuated Mechanical Systems: A Geometric Approach

D. Martin de Diego, L. Colombo, M. Zuccalli

arxiv:0912.2033 v1 · 2009-12-10 · math-ph · math.MP

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{YQ3SUG77CMZ3L7KRNKFFV4IVRL}

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	2026-05-18T02:10:24.771376Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c4372a1bff1333b5fd516a8a5af1158af9e3f3969ce3b1060dab6cbfc55dfc9e

Aliases

arxiv: 0912.2033 · arxiv_version: 0912.2033v1 · doi: 10.48550/arxiv.0912.2033 · pith_short_12: YQ3SUG77CMZ3 · pith_short_16: YQ3SUG77CMZ3L7KR · pith_short_8: YQ3SUG77

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/YQ3SUG77CMZ3L7KRNKFFV4IVRL \
  | 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: c4372a1bff1333b5fd516a8a5af1158af9e3f3969ce3b1060dab6cbfc55dfc9e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0572aa73da2979257f65fe50675fd5a860be161794e38c473fd42743381abc25",
    "cross_cats_sorted": [
      "math.MP"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math-ph",
    "submitted_at": "2009-12-10T16:09:05Z",
    "title_canon_sha256": "a7a235f122c9cfc0fb08030ba309a4a6270839237c9e6e83f4d21710d58c7daf"
  },
  "schema_version": "1.0",
  "source": {
    "id": "0912.2033",
    "kind": "arxiv",
    "version": 1
  }
}