{"entities":{"Q1412307":{"pageid":1423047,"ns":120,"title":"Item:Q1412307","lastrevid":68644041,"modified":"2026-04-13T01:08:45Z","type":"item","id":"Q1412307","labels":{"en":{"language":"en","value":"Equivalent control of constrained multibody systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 2002019"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1412307$90FDF88B-0B4A-4F25-B8EE-088667208E76","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e09697dd4a61706ea42947eb08811335e958e9da","datavalue":{"value":{"text":"Equivalent control of constrained multibody systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1412307$1D935B98-599F-4038-84A9-8FE1E7813DB9","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"967d66c885e1dfedae03e8188621beba925cbfa1","datavalue":{"value":"1037.70008","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1412307$B44DBC07-42DB-4B41-8763-3D2A4FC94D8A","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"ac33a39cac562752c06a3b7c45cb6a513db1791e","datavalue":{"value":"10.1023/A:1025997512070","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1412307$319875DB-2256-4D0D-89E4-72784B461BD4","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"3e8ca735896d8fd1610d4d740dab3fd7cadda6d4","datavalue":{"value":{"entity-type":"item","numeric-id":1380459,"id":"Q1380459"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1412307$EA5F2358-9CD3-4ABE-9E0A-81CB33EA3C49","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"adaede4d30d80731f86904b0d235817d0564cc04","datavalue":{"value":{"entity-type":"item","numeric-id":174757,"id":"Q174757"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1412307$E6F229F3-5189-420E-8113-28D06A7CFFF5","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"bdcbbe6751005b5a25abaf14031c72afec06c29d","datavalue":{"value":{"time":"+2003-11-10T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1412307$757C68DA-3F8D-45B8-ABAF-705294904AAA","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"53b71bd65d6a4dd0dba5dae1fe54746b9bdd1051","datavalue":{"value":"70E55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1412307$7BBEB3C2-AA5F-4549-AF1F-A1C993A4831C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1412307$ED117E77-44B2-4167-9A45-868D9CE2CB43","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"054fbf749d85f87d32849deaf714debbcedbd20d","datavalue":{"value":"2002019","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1412307$51DBBA69-1D4C-4609-9310-E84AE65DB6CC","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9a0ca33353cc68b799560dfcf8049f6944d0146a","datavalue":{"value":"constrained controlled triple pendulum","type":"string"},"datatype":"string"},"type":"statement","id":"Q1412307$DBE1EDFD-93EC-4E16-94E0-29F207CB793A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fa72319d43d11a0a82c09599c5b640febc8ab598","datavalue":{"value":"control force","type":"string"},"datatype":"string"},"type":"statement","id":"Q1412307$DB9D0448-D953-4DE9-BD93-2D14678D06FE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5de67557034f7e91c3a5b04aaafb64c680dbf154","datavalue":{"value":"moment input","type":"string"},"datatype":"string"},"type":"statement","id":"Q1412307$C17F99A2-EEDC-46E3-8A12-F17101CF6F49","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1412307$AFB4EE15-66B9-4751-A47A-30B71A9115AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3b23c28c6b12028ad1b74142b6a64e4f9207a543","datavalue":{"value":"redundant manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q1412307$AB734648-FDAE-4DF0-AAA8-6FD7663F71DA","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1412307$09297F14-003C-45A1-A7CB-AA477B6EC81E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"852adee8ea4889a8d682f033f2d6a3336b325346","datavalue":{"value":"https://doi.org/10.1023/a:1025997512070","type":"string"},"datatype":"url"},"type":"statement","id":"Q1412307$4D59A709-4D71-4072-B7FD-D5B5AB7566C1","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"3e3511e03ab24f87dd3694f85910e2b47a00b2bb","datavalue":{"value":"W100185721","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1412307$FD68FF01-5F26-46CD-8642-BBA075179334","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b15a5c1a974def240174d7d3cd388b16b89154bc","datavalue":{"value":{"entity-type":"item","numeric-id":1808134,"id":"Q1808134"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bab44139965a109d82c68ee8d7380b1ae38dc656","datavalue":{"value":{"amount":"+0.9494933","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$EC1FB5E2-7CA6-4C08-8C84-ABFE9197CDE2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5a263ed581b3dd277935d28092896f91ea14a348","datavalue":{"value":{"entity-type":"item","numeric-id":2499365,"id":"Q2499365"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2f752e08f3e922c76565ec939167f0dd3123462c","datavalue":{"value":{"amount":"+0.9421732","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$5FDA6C2F-8806-4ACC-A8CD-03B11F5CC8BB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"524064e671d47f54237aa46cda9f07f5fc2100d4","datavalue":{"value":{"entity-type":"item","numeric-id":2512139,"id":"Q2512139"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"49b653a2b2e26931d45d805e1fd0c15c035dbfb3","datavalue":{"value":{"amount":"+0.91573066","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$5C390E6D-938B-4DCB-8C20-78EEEAC5AE7B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"645626714b48d4865e021e0699f6d06d1893b22a","datavalue":{"value":{"entity-type":"item","numeric-id":871704,"id":"Q871704"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3c34ce9f862ed05dc9464ebb9eebd556a3058a64","datavalue":{"value":{"amount":"+0.914222","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$C56E0DD0-B2FE-4875-9BF8-FB1D3692788C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8f78553bc4f0d64cfb611d9df22587df3d618514","datavalue":{"value":{"entity-type":"item","numeric-id":1702995,"id":"Q1702995"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"26792731655ef860d34cb01a304353c310321356","datavalue":{"value":{"amount":"+0.91182107","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$1CF9F685-7D4D-460B-A7C2-809A46363219","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ee51830849d4852a30674f135480293d3faeddbf","datavalue":{"value":{"entity-type":"item","numeric-id":3766373,"id":"Q3766373"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"569efb45cf275e364832e6528472e760fbe2ec4c","datavalue":{"value":{"amount":"+0.90978616","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$C7A9FCE2-0BFF-4701-84AD-3DC93B2326E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5a1e111f3eb767f1a76dfb24b8c512d58eaa7fe5","datavalue":{"value":{"entity-type":"item","numeric-id":5700894,"id":"Q5700894"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a7f9532c8d1e8220512a37b0e19c679deed59a19","datavalue":{"value":{"amount":"+0.9079659","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$57C0F874-C0BA-42F0-B912-C063E377A0E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5cba74fc423c078f0461b1c51bb1544878953e3f","datavalue":{"value":{"entity-type":"item","numeric-id":5263879,"id":"Q5263879"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"169da2389d2bbbeb27a1a8dce896f736e6415468","datavalue":{"value":{"amount":"+0.90375954","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$B325A952-2D19-408B-BB4B-5A62DDF31E27","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2fe483545161c48f94ee73ee00692b2811b8bbfd","datavalue":{"value":{"entity-type":"item","numeric-id":4266981,"id":"Q4266981"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"584823b082c1aeb8cb87bb8fe9af1d906a2500bc","datavalue":{"value":{"amount":"+0.90286285","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$9D1562EE-66F9-4CF9-BE50-FA91D224AB12","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"11bb46fa3e026e7c2401662e22c8de5aff0a5cf8","datavalue":{"value":{"entity-type":"item","numeric-id":4230609,"id":"Q4230609"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6a68cdf0b4ad1c22adcb44caa13a7d75a304f5e2","datavalue":{"value":{"amount":"+0.9022117","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1412307$E9AA3F09-9AE9-4715-A1D3-D67F27620EE9","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Equivalent control of constrained multibody systems","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Equivalent_control_of_constrained_multibody_systems"}}}}}