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How do ARKs differ from DOIs, Handles, PURLs, and URNs?

Those They are all major kinds of persistent identifiers. The short answer is that ARKs are the the only mainstream, non-siloed, non-paywalled , actionable identifiers. Over 500 registered organizations have created an estimated 3.2 billion ARKs in the world, and no one has ever paid for the right to create them. 

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Superficially, these identifiers all have similar structure and purpose.

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I've heard of ORCIDs and UUIDs – where do they fit in?

Those are special kinds of persistent identifiers. ORCIDs identify researchers, and they link to research works using ARKs, DOIs, etc. ORCIDs look like

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