{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_02c54df20cb77ac713fefc9a2a9d1c625e65e0d4d149630931b6a926d19a61ad","bitcoin_anchor":{"bitcoin_attestations":[],"calendar_attestations":[],"ots_url":"","stamped_at":"","status":"pending_next_stamp"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_02c54df20cb77ac713fefc9a2a9d1c625e65e0d4d149630931b6a926d19a61ad","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"649d921526f8bb2705f6e31f5e18b40c44d4dcac436082bd7325ce519e904756","published":"Fri, 24 Jul 2026 00:00:00 -0400","receipt_hash":"649d921526f8bb2705f6e31f5e18b40c44d4dcac436082bd7325ce519e904756","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"649d921526f8bb2705f6e31f5e18b40c44d4dcac436082bd7325ce519e904756","observed_at":"2026-07-24T04:43:08.456021Z","parent_run_hash":"b018378f86139a28e6209ec008b31c1282cd1b5c1632dbd43b054c17aa88ab96","published":"Fri, 24 Jul 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2607.20939v1 Announce Type: cross \nAbstract: Safe steerable catheter control is fundamentally a problem of interaction dynamics: the tip must follow a planned motion, remain compliant against moving tissue, reject friction and hysteresis, and respect a clinically meaningful never-exceed contact-force bound. We formulate catheter--tissue interaction dynamics in the scalar tip-normal coordinate of a single-segment single-tendon catheter. A partial-physics feedforward cancels only the reliable nominal bending dynamics, exposing a configuration-invariant linear interaction-dynamics model whose input gain varies through the scalar catheter inertia. A predictive optimizer then regulates this interaction state subject to hard contact-force, tendon-force, and curvature constraints. An augmented Kalman filter compresses contact, friction, and modeling error into one sensor-free disturbance state, giving nominal offset-free regulation in free space while leaving force safety to the explici","title":"Interaction Dynamics Modeling and Predictive Control for Safe Steerable Catheter--Tissue Interaction","url":"https://arxiv.org/abs/2607.20939","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.20939v1 Announce Type: cross \nAbstract: Safe steerable catheter control is fundamentally a problem of interaction dynamics: the tip must follow a planned motion, remain compliant against moving tissue, reject friction and hysteresis, and respect a clinically meaningful never-exceed contact-force bound. We formulate catheter--tissue interaction dynamics in the scalar tip-normal coordinate of a single-segment single-tendon catheter. A partial-physics feedforward cancels only the reliable nominal bending dynamics, exposing a configuration-invariant linear interaction-dynamics model whose input gain varies through the scalar catheter inertia. A predictive optimizer then regulates this interaction state subject to hard contact-force, tendon-force, and curvature constraints. An augmented Kalman filter compresses contact, friction, and modeling error into one sensor-free disturbance state, giving nominal offset-free regulation in free space while leaving force safety to the explici","title":"Interaction Dynamics Modeling and Predictive Control for Safe Steerable Catheter--Tissue Interaction","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-24T04:43:08Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.20939"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:27812b02c5fa24263f9a83d4463b236974b0b69ed8c07af499d413a1d285468604aa5c46fc166590eb016836c71af3bd43316173c0ab9373350543c4c74f4c0d","signer":"crovia.substrate","subject":{"observed_at":"2026-07-24T04:43:08Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.20939"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"29d2b210b3bd2a561b6f654f0f52201c3eca45173d195817a5ab83eecbce11e6","leaf_index":347147,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"5367e0682fe585aba174172cc44525e79344ec6098084ffb11c0a1656e644153","side":"left"},{"sibling":"a9d9930579916ed8c8dd3aa4cde5e791bd13c623dbd28e4a5c7c0449c6f1c145","side":"left"},{"sibling":"9150088fded46dcd83d294986dedd7958d761fd60459a2dcdb7362d71794552f","side":"right"},{"sibling":"e561fcb5e4badab02bfbc10212cf5cf09f625a1dec6174db58e93fbc0c147e71","side":"left"},{"sibling":"77f024840bcbce32d8754b6f8043a4ff3cebc0c4f10b635793e29afd0315eb63","side":"right"},{"sibling":"b6debb6f2e4bf22e2169ef83d8bddaa57a78351013d058637030f185562dd879","side":"right"},{"sibling":"174e185d067a50aecc913edd90ba49fd072a31a09e0b3a18c0687f362c61e57b","side":"right"},{"sibling":"aa4b293ba10895bb7f8b28f0f04360b53a8fc5a7523d9a560dbb7b29d003643e","side":"right"},{"sibling":"759f431c97765cb7fb12d38ee64fd6a87076abf1b63c87d7c8c172d57b29084d","side":"right"},{"sibling":"b9cb83ecb59812b3b9270c365951fa79dead288c3923b6cf1f83ffb911b27405","side":"right"},{"sibling":"e6c9083cd0939b38f691f619de2054068654e9c77f7c7ab051e0d48b77339e5d","side":"left"},{"sibling":"d3139af8c5ce235438e1c69e4b7afa44ba09129fd86674968434f23e546f423e","side":"left"},{"sibling":"cb89775a838ee16d10fc8da3213420c2012b4d96e8d55cd49939b0887a4b92d3","side":"right"},{"sibling":"252d30ea8052c3bb6b40bc5cc29fc9b9725343d212f84c08fbbae4215a125b00","side":"right"},{"sibling":"f3e45bceed774d2402fa45d41ff5190f295823bd2f216eb90157884150034693","side":"left"},{"sibling":"3cfa2102c0224815c6f3bf73e6710e24103f43f7bf5da1ca2abad1416d9c0890","side":"right"},{"sibling":"77025bcb374a7ad74f520643e20a8ae1205a7ee78507b0beb93117760f1c29d3","side":"left"},{"sibling":"e871fd7edf9b2ad89bce1609a028f5225eea4d14372169bac242420830f86530","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":347413,"merkle_root":"9efe042c5dd6583dfd3b6a58fbfc289807f60bcf2bd2927f10488a54a8ba11fc","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260724T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-24T05:38:42Z","sig_algorithm":"ed25519","signature":"8633c55f558d42994850505218b2862c6134bad2b1c80d4b80736c2fd3ea7a19690ca3498727a8adbdc47791176128a8d64bef0883b888db809f0477355bd00c","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_02c54df20cb77ac713fefc9a2a9d1c625e65e0d4d149630931b6a926d19a61ad"}}