{"entities":{"Q2137401":{"pageid":2148144,"ns":120,"title":"Item:Q2137401","lastrevid":54318875,"modified":"2026-01-26T15:24:04Z","type":"item","id":"Q2137401","labels":{"en":{"language":"en","value":"A symplectic direct method for motion-driven optimal control of mechanical systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7526869"}},"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":"Q2137401$8E08C377-7C7D-4523-9C14-43FAD6F2BAE9","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e8895d203c17fc1e11b864e19d4b3427ee0f5c9b","datavalue":{"value":{"text":"A symplectic direct method for motion-driven optimal control of mechanical systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2137401$FFFC43F5-CB33-40D9-B185-42D67F9B778D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"fdfe5a1ea68c53587e6d2bbe9c8f652ec91ec690","datavalue":{"value":"1490.49035","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2137401$3B633828-A144-4225-BBDD-B79F25B2DD52","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"02da4690c03fc4cf94321df1d107baf18b4629e5","datavalue":{"value":{"entity-type":"item","numeric-id":2137400,"id":"Q2137400"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$97F51EFF-89D8-4D64-94B3-EB2D0D9F2813","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c1a447f73aa8695d8e0e1993bc2bdac202fac8c9","datavalue":{"value":{"entity-type":"item","numeric-id":468568,"id":"Q468568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$D89CF941-72DF-4A48-A6D5-FA178BD7520C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5ec86544e4ec9079191b3ad611e6553778032f67","datavalue":{"value":{"entity-type":"item","numeric-id":509213,"id":"Q509213"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$FC31E259-D8C3-42DD-A934-FA364385397B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"44ed9b7e8afa9b13c7072558badae67de09e53ef","datavalue":{"value":{"entity-type":"item","numeric-id":468570,"id":"Q468570"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$C25156C9-53D5-40B0-9660-6D7323810279","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"808a8c67e6fa2e90fc8ccd13eadca038054e6a2e","datavalue":{"value":{"entity-type":"item","numeric-id":186646,"id":"Q186646"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$18FB0EC5-6473-42B5-BCB6-68ED8A593F69","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"cf2c65e2610039dd594d3eccc0f99fa0861d5c5f","datavalue":{"value":{"time":"+2022-05-16T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2137401$C91C09A4-0307-44B5-B871-942338FC3AE2","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"4de2df0b69afab23c60d6c04e16795a85069b4f1","datavalue":{"value":"49S05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2137401$4DE9C858-0664-479D-BC2A-CE6156CA31C4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"54120790ca3350b72bf1429818627e50f144c8f7","datavalue":{"value":"70G75","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2137401$D4A05D0D-F60A-4B20-89AA-30982D45F09F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a818bb620735b62f13ecf0a7235ee797aef242f3","datavalue":{"value":"70G60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2137401$7232003D-879E-425A-ACA8-A7B7BF7A411A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"79a05eaedf0943a824c1f97f1b15395f530d682f","datavalue":{"value":"49J05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2137401$1E12787D-0C91-4CBD-981E-88091B4DFD44","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"11a24d413908bbe17097c469a6c8292cf6985652","datavalue":{"value":"7526869","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2137401$881897E0-6B9E-4285-8B5E-C9270B0312D4","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bd27ab9f54fa826ffb315d8655269e3be2c03856","datavalue":{"value":"motion-driven constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q2137401$632F7687-F873-4CD8-B73C-C6BBB91E22AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"392f74062992143c1fa3ed77e3009a78b63c71a8","datavalue":{"value":"symplectic method","type":"string"},"datatype":"string"},"type":"statement","id":"Q2137401$FCFE1D86-ED17-49C4-AE2B-05E82C7ACB08","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2137401$9219A871-7020-4785-8A83-82034B512402","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b2048aee5da5d0b8b5b367afc2a94d23a886fbe5","datavalue":{"value":"mechanical systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2137401$DC1464E2-61B2-44C0-B05E-C5CC306B7B7D","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":"Q2137401$A214D6D7-CAB7-4539-99A8-C28B9B074262","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"a1524a5cd5cf4bd15cfa645f200fd319795f38aa","datavalue":{"value":"https://doi.org/10.1016/j.cnsns.2022.106501","type":"string"},"datatype":"url"},"type":"statement","id":"Q2137401$759B89AA-6579-4737-816A-7F8054447899","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"996ca79284ac759cd2493537af2a8b05c883b07e","datavalue":{"value":"W4226048158","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2137401$9DCD9E59-5335-413F-BC9A-F86D2ABE78B4","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"e88435d5fe3011168e70f2d0b2774a61b4c87ceb","datavalue":{"value":{"entity-type":"item","numeric-id":2025530,"id":"Q2025530"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$2F4D51C6-C8F3-4C79-B68B-9947A614CA7F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de94443cfd129bcfd835f82d0ccf52e2e3518c4d","datavalue":{"value":{"entity-type":"item","numeric-id":3084092,"id":"Q3084092"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$F3E9B024-8B27-48F6-B9DD-CF385EF0473F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6af46e126a99caf763ca6e2984ff8682e95df6bb","datavalue":{"value":{"entity-type":"item","numeric-id":4932385,"id":"Q4932385"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$F6896742-C9E3-4D3D-A586-1445A1C1A175","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de70df496b3375eeef40446c8bdd05d4e166ed01","datavalue":{"value":{"entity-type":"item","numeric-id":1858357,"id":"Q1858357"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$3055B07D-574F-4281-98C8-B0172D03E8AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"01c49bbf3a401502021b399a29cb08e3babb2af3","datavalue":{"value":{"entity-type":"item","numeric-id":1411238,"id":"Q1411238"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$F88AA509-BF88-4B8D-9D14-5E487366591A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"81b98779cf0a53e8960151b91af8fa51b08e31d7","datavalue":{"value":{"entity-type":"item","numeric-id":2718895,"id":"Q2718895"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$D48AC7D9-7B86-46F1-8C01-1F0756D7180A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"226adfe17530e40f525f227d479ad5d0e48a769f","datavalue":{"value":{"entity-type":"item","numeric-id":2295331,"id":"Q2295331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$AA5A9241-0E86-49F6-9BD9-6F1279E10AEF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"335f2e6ed70da8dc39a6f2943796ded5c61dff9d","datavalue":{"value":{"entity-type":"item","numeric-id":6089829,"id":"Q6089829"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$60C0235F-5752-4460-883D-3331A559B3AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ddb9a0277a1138b4d176f1924e73e57e58736104","datavalue":{"value":{"entity-type":"item","numeric-id":3623391,"id":"Q3623391"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$24F03A4B-1F86-46F7-8E70-0DF808378F48","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1568ff41603d206a197e4a325e30b1521554a309","datavalue":{"value":{"entity-type":"item","numeric-id":2458280,"id":"Q2458280"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$40A12669-4F58-4B9F-A91F-14FCA94E7039","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"93632ad138a88815081f1e6507b8853bc20cfe2c","datavalue":{"value":{"entity-type":"item","numeric-id":2184990,"id":"Q2184990"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$14EC8822-00FC-4517-ADCE-D58885AA71D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"22a0d7e3cc35ef5887ee8ded1bcd7b154658ef1f","datavalue":{"value":{"entity-type":"item","numeric-id":4692311,"id":"Q4692311"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$0731B11D-5584-475F-8A52-D8FECF64BCCA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"83ceaeade9230543384deccbc1843aa3728f67f0","datavalue":{"value":{"entity-type":"item","numeric-id":1764594,"id":"Q1764594"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$0364CEC0-A9BA-41FA-BD17-53E4514623B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"64c940a25bf5f5838da3e367a53f2a49ccefa7f6","datavalue":{"value":{"entity-type":"item","numeric-id":3647077,"id":"Q3647077"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$9F7F03CF-AD32-4AFF-8043-DE9319985BAB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ffebc75223da83a47ef65096cdc695f8412abae4","datavalue":{"value":{"entity-type":"item","numeric-id":5468872,"id":"Q5468872"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$FAD1AC7C-F587-4197-9ADD-BE2B1FDCBF77","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"68969e2588ce30cde5d938c909edccfd2e2f4e6e","datavalue":{"value":{"entity-type":"item","numeric-id":3413755,"id":"Q3413755"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$5A5E6CEA-D243-4E4F-9D54-80F756772471","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"be317494c5fbedff91450e32e87ef5757a0b591f","datavalue":{"value":{"entity-type":"item","numeric-id":2894907,"id":"Q2894907"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$8410732E-A4D0-47B1-A7AE-42CDBE5E0D07","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7a5400f1569de86220f975b4015b75155319c07b","datavalue":{"value":{"entity-type":"item","numeric-id":1300444,"id":"Q1300444"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$07D15256-B053-4859-8766-62F70714C241","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f8891aee7a78f4c44628dcf51cc7b0947b0268b9","datavalue":{"value":{"entity-type":"item","numeric-id":5936817,"id":"Q5936817"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$22D0C782-0D3A-4C1D-8CD1-1DB82522BFD4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6e05b2a018b444f0de7a6b69ce11f209d6a1efe2","datavalue":{"value":{"entity-type":"item","numeric-id":2446732,"id":"Q2446732"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$A4BF34DF-7AFC-43CC-B47B-AB9087105772","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7b2adc77e691b35d29fb734a6242dab89e3e746c","datavalue":{"value":{"entity-type":"item","numeric-id":5162740,"id":"Q5162740"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$2CF8896E-F189-4EA9-9BDF-EC951EE26978","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6e335b623e2a7ae3167167a2bac5719cb8d58aba","datavalue":{"value":{"entity-type":"item","numeric-id":2204468,"id":"Q2204468"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$387EB6F0-E00D-41FC-93E6-EBA182785751","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ebd7a4c4619e51b11f94c158332b6e60ec1cf8bd","datavalue":{"value":{"entity-type":"item","numeric-id":3131421,"id":"Q3131421"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$023BDAC8-82BE-4988-A6D6-6FE4596A6DA8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3c480856b3938fdc347b74dfd677ae5ab467ddc","datavalue":{"value":{"entity-type":"item","numeric-id":5205462,"id":"Q5205462"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2137401$D83DBAA3-D0DA-46DD-980C-764BA09BC42D","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"3c9ec0498c7cadd290138f4b4f197fc93028ecb3","datavalue":{"value":"10.1016/J.CNSNS.2022.106501","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2137401$C4781839-14FE-47AB-A075-0D2F631BB31C","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"210a52529c80bc4b230f44293d109b703ee31fda","datavalue":{"value":{"entity-type":"item","numeric-id":5205462,"id":"Q5205462"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"85bea7088e4b8e5846cdd2617c9d24d8d2a8050c","datavalue":{"value":{"amount":"+0.7922319173812866","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2137401$A1780CA7-9E12-4018-A496-1B6D826624A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a2a246348347ccc931d678d0eb59fadf165dee61","datavalue":{"value":{"entity-type":"item","numeric-id":3084092,"id":"Q3084092"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"baa82592b8a49ce653e4fc89aae12b61f16efad5","datavalue":{"value":{"amount":"+0.7897202968597412","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2137401$0E3C42C9-35F8-4A87-AFAA-55E0C1FDA01E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ccd311b28f489deb4566adaa7fadcd4b66711417","datavalue":{"value":{"entity-type":"item","numeric-id":3008424,"id":"Q3008424"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"581c917340ca4ddf3908792c1103cff04d4c7a57","datavalue":{"value":{"amount":"+0.7652427554130554","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2137401$A32EB685-F11C-4ABB-8CC7-2D6F0F80E0A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"09584048228005312f230e26278baac5fc35bcb2","datavalue":{"value":{"entity-type":"item","numeric-id":2704946,"id":"Q2704946"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2e2ae3a738bc9c3be9d9840881fc3a8043da1377","datavalue":{"value":{"amount":"+0.7509204149246216","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2137401$66663149-E571-4309-8821-F3B2E80D21A5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f21835d10bb456479a1f7fe0f09d0d68e7098e98","datavalue":{"value":{"entity-type":"item","numeric-id":2477189,"id":"Q2477189"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fda3b68f806c99aadc04dbef854f8d1e464a08b2","datavalue":{"value":{"amount":"+0.744608461856842","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2137401$0E852AB5-DE0C-43A8-97BD-2C53AA51091C","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2137401","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2137401"}}}}}