{"entities":{"Q2138676":{"pageid":2149419,"ns":120,"title":"Item:Q2138676","lastrevid":73479081,"modified":"2026-04-14T16:09:24Z","type":"item","id":"Q2138676","labels":{"en":{"language":"en","value":"A geometrically exact discrete elastic rod model based on improved discrete curvature"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7525989"}},"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":"Q2138676$B9574B42-945E-48B4-AE85-C39EF30BC87F","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d81743bb63e5d08188194438ef2371da25374c25","datavalue":{"value":{"text":"A geometrically exact discrete elastic rod model based on improved discrete curvature","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2138676$818FA097-3558-4539-A204-1D340903A849","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f2beb16ea0e441efbd6510c272ce82c6d3ea4823","datavalue":{"value":{"entity-type":"item","numeric-id":287406,"id":"Q287406"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$1A9E858B-414B-4C82-BA13-D73A7DBA4EDD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7536eca062273122dabd8eda1bdbc26294d15c9d","datavalue":{"value":{"entity-type":"item","numeric-id":2138675,"id":"Q2138675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$B1972A84-5186-425F-AB04-868B2836CA93","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"32522fda24f3b93f397a6a7b08131f225c3a30d0","datavalue":{"value":{"entity-type":"item","numeric-id":507470,"id":"Q507470"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$17459600-C49A-4240-BEB9-F0AFC99C2029","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8d99d5b3e3b4411be351a2e1d8fb351d749a0ba1","datavalue":{"value":{"entity-type":"item","numeric-id":168124,"id":"Q168124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$282DB4BE-D636-447D-83C9-678C3AC47347","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"08e3be17afd587c4497081d99b52e81a609dcb4b","datavalue":{"value":{"time":"+2022-05-12T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2138676$8E6FFEC7-8D61-471C-996A-DB8D69B5825F","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"0af2384f59d305b536c5167725f2ab9aa5f764a2","datavalue":{"value":"74K10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2138676$032ED207-A9F3-46D8-BDE2-5FFBF7E52BAA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"9b577faa54065d72efb79a9496aa13b27d27c284","datavalue":{"value":"53A70","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2138676$A8F6EF4B-D1BC-4876-AB0A-FDF1747A089F","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c434b697358188c4bc5ea8f86843902328229695","datavalue":{"value":"7525989","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2138676$5241EF72-726E-4652-BE0C-FDF7BEF5A864","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5c86953122655424e9f97750fdae2b1a50d6270d","datavalue":{"value":"nonlinear Kirchhoff-Love rod","type":"string"},"datatype":"string"},"type":"statement","id":"Q2138676$A09A726A-F945-4518-BD88-15EABD8DD101","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"859a597110caebd17bfde8ec37eb2cea9e53cee4","datavalue":{"value":"discrete curvatures","type":"string"},"datatype":"string"},"type":"statement","id":"Q2138676$66943BE7-F73C-4BEC-99C5-EDDD8CC08F57","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2f62dcd25be877bcfe296c649c98be218f5343b7","datavalue":{"value":"discrete elastic rod","type":"string"},"datatype":"string"},"type":"statement","id":"Q2138676$492608E6-396F-4E6A-858D-1B5B35796255","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"91ebc506b31302f247e249027bd54664ec114553","datavalue":{"value":"large rotations","type":"string"},"datatype":"string"},"type":"statement","id":"Q2138676$D44A96A3-513F-401D-8AFA-B5E12195A82D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"101ed87d3511f69763ef937f4102ab26dfa40962","datavalue":{"value":"parallel transport","type":"string"},"datatype":"string"},"type":"statement","id":"Q2138676$EB1EA8CE-789A-4248-B7D1-C72A6840B8ED","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$D2EB098B-8CB0-4020-84E8-F8FC541B6F22","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"288ae44452d9e581537d72b0a62448fb9cc3d1b7","datavalue":{"value":"https://doi.org/10.1016/j.cma.2022.114640","type":"string"},"datatype":"url"},"type":"statement","id":"Q2138676$C92C41F0-34A4-47FC-9AC1-D385CBA22725","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"504e17abf13484424536b2a74c6b21da1ccac9e9","datavalue":{"value":"W4213263722","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2138676$C08527C5-C71D-4F75-8710-8642ACE2ABEA","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d056e4a684fbcde65f6264e13b77c72ce4b656ac","datavalue":{"value":{"entity-type":"item","numeric-id":349959,"id":"Q349959"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$0A9F9E55-38B7-41A9-88F5-28CB3BEAB8F0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b8990b4b481770d92d953252802194cccda0a19c","datavalue":{"value":{"entity-type":"item","numeric-id":5844404,"id":"Q5844404"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$22F3A614-AC43-4288-AD25-6D3D9A0FDC5D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a59e98824b02231a8d44a59d848c4927b4c09ebb","datavalue":{"value":{"entity-type":"item","numeric-id":1069342,"id":"Q1069342"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$BDE5F60E-BF21-445C-8D3B-B0D91F431C74","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e52aedca9cdbe9148305781550fe290a40e99f12","datavalue":{"value":{"entity-type":"item","numeric-id":1086027,"id":"Q1086027"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$A8779895-6133-4519-B4B7-05122EBF737E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"898fe20b3f0a12f3cc7d88419473d38a35adc669","datavalue":{"value":{"entity-type":"item","numeric-id":3813398,"id":"Q3813398"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$4390F05A-6F69-4695-9E7D-391AECEB4853","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"acd57d511e9d938fd4961a68c2bc62ba65da156c","datavalue":{"value":{"entity-type":"item","numeric-id":1913256,"id":"Q1913256"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$C2BC335E-9481-4DCE-905B-B1E96CA92195","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6477c44ce2771d8de71bc49d65b2a444388236f7","datavalue":{"value":{"entity-type":"item","numeric-id":1026478,"id":"Q1026478"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$073F2A42-A8E3-4CA4-B239-78E504A4CBB6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"38224e22e86b8e354d22a91cec9f37dd18e94356","datavalue":{"value":{"entity-type":"item","numeric-id":2639700,"id":"Q2639700"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$A5D4F960-2907-42F8-8CA5-7A8186E94097","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"54cfebe4abd4cb1bf16462bf0a94a2ee60902b8f","datavalue":{"value":{"entity-type":"item","numeric-id":741937,"id":"Q741937"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$CE2B605B-35E1-4C9C-BC01-72257129B83E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fd8f3a67f9f6c4cdcf416002557dfb35b22c8741","datavalue":{"value":{"entity-type":"item","numeric-id":502539,"id":"Q502539"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$95F4E7EC-F932-4BF3-B423-8E10161CE908","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4cb8b203899361c175b74e60ffdfdbeab2f12769","datavalue":{"value":{"entity-type":"item","numeric-id":460996,"id":"Q460996"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$683BD384-48B7-411A-B3A5-E034F900668F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ffaecb065df464707fed6460b41705f5c685539a","datavalue":{"value":{"entity-type":"item","numeric-id":2631580,"id":"Q2631580"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$75385B20-0A0D-487F-9E0A-44A34299854A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fd2279d6142f32c99c0b6129c0db79f5a927bce4","datavalue":{"value":{"entity-type":"item","numeric-id":2629050,"id":"Q2629050"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$37259C0E-2B64-431C-8DA7-3C8E76749393","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"31f95fb94667982818b8e8c7c4375f8e006f8d2d","datavalue":{"value":{"entity-type":"item","numeric-id":1196496,"id":"Q1196496"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$0E2CAC5B-38C6-41B8-9D3F-BC8BEFFB64D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"20766890ebeaf76e7dcc77a74d72b8d7ff2a1576","datavalue":{"value":{"entity-type":"item","numeric-id":2417622,"id":"Q2417622"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$597ECB99-2A46-4C10-AA14-196BD3F24FBE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2929332a46c8ac66b9bbcb3d94cf752548fccc4","datavalue":{"value":{"entity-type":"item","numeric-id":2236939,"id":"Q2236939"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$B30E979B-E38B-43E3-A2D1-CEFD9FB87F7B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4b8053eff20a832b51c8e9484225deb011fa2877","datavalue":{"value":{"entity-type":"item","numeric-id":2246414,"id":"Q2246414"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$70958339-43FF-491C-9176-B8C823604272","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7425711c6492c57053bd8c35e2a214848ff402fb","datavalue":{"value":{"entity-type":"item","numeric-id":1667337,"id":"Q1667337"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$3B18F363-3CB1-478E-936B-227C6D823689","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6ad1689550d9b21c3f821e4cca4af1e4e17c10a6","datavalue":{"value":{"entity-type":"item","numeric-id":4259344,"id":"Q4259344"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$3C7EEEA7-6870-49A8-BF7F-CA0EF95D64B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"383c488b115611f52500823928d050d06b75a9d6","datavalue":{"value":{"entity-type":"item","numeric-id":1734474,"id":"Q1734474"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$C82057E1-E474-4366-B6FD-138B394DEF34","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c7cec28fe4b2bb182642af94dabf35f187dc11d5","datavalue":{"value":{"entity-type":"item","numeric-id":348091,"id":"Q348091"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$7AB44AE5-0586-4E3B-9A2E-CC97490E1956","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c07ebc2dc17ab8c2d39fc5ab89aa2f7bfee23315","datavalue":{"value":{"entity-type":"item","numeric-id":2176927,"id":"Q2176927"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$39C08018-E143-4C22-8125-CDDDEFF92FAA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4264ce5a3d23971e4a9b11afa2ea5df45e6a7025","datavalue":{"value":{"entity-type":"item","numeric-id":632154,"id":"Q632154"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$BD3D34BD-DD73-4364-B017-BB786562E5ED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0fa567e9fcfd4ef893fd34f391020f76827e5d76","datavalue":{"value":{"entity-type":"item","numeric-id":4338955,"id":"Q4338955"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$FAC466D9-4CD4-4FC7-A143-216E8A9E4AE8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7b15054ba40a142666546b56335b8d4dc2d127da","datavalue":{"value":{"entity-type":"item","numeric-id":1388444,"id":"Q1388444"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$CE69FADA-716E-4FE9-AFFA-2B3F0A2BBE6D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7bf0e24c9fbb34324202a13dff296ab7cb5a838d","datavalue":{"value":{"entity-type":"item","numeric-id":2176933,"id":"Q2176933"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$0516281B-718E-48D8-93F5-C629E430DC68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"154def4e1954a03b1f5684a89ee3413e20e270f9","datavalue":{"value":{"entity-type":"item","numeric-id":4304280,"id":"Q4304280"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2138676$85036CF2-FB04-4E77-8194-703086C3CB7D","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"7a9f763efe2c4595bc9e9392a43c6997cad697de","datavalue":{"value":"10.1016/J.CMA.2022.114640","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2138676$52AE3A03-B51D-4A6F-9989-7AAC0EEA4F56","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0287f62b72cd6ab791bc01ca10d453a59217f14a","datavalue":{"value":{"entity-type":"item","numeric-id":2175755,"id":"Q2175755"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3fcff4be0d1e235d6d1c9f3dbddea7c378b55862","datavalue":{"value":{"amount":"+0.7675570249557495","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":"Q2138676$0FA999FB-585A-4C90-A565-DBF0B95C2C37","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"af225e327b93a6dc28370674ffe7a973e418a45b","datavalue":{"value":{"entity-type":"item","numeric-id":450903,"id":"Q450903"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2ad447777852df33339aa665868d3656825c96c2","datavalue":{"value":{"amount":"+0.7636026740074158","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":"Q2138676$7A943F97-CF4D-48A7-92DE-DFCE0F582061","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"502be1f37b797ba26e44ab9a710ce778a27a7573","datavalue":{"value":{"entity-type":"item","numeric-id":5133793,"id":"Q5133793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3b15ebf696bd4a611be60afb08e12aaf36c273a1","datavalue":{"value":{"amount":"+0.759497880935669","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2138676$BCDA6EF4-E3A2-43F6-86C8-625D8F32DCD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"35106bf29f46699ae1d8a2c82a2d93b8f2068b8e","datavalue":{"value":{"entity-type":"item","numeric-id":1987618,"id":"Q1987618"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"df093590cee81d18c58ab0363c82ffa0d0ca42ad","datavalue":{"value":{"amount":"+0.7550945281982422","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":"Q2138676$A3E067B1-A3BC-440E-BBD3-6458EB383678","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3d5ca53cb6361bf63e305d5eaaa7349c5d562b5f","datavalue":{"value":{"entity-type":"item","numeric-id":2217867,"id":"Q2217867"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3c9bd9e2f590a502d3a9d03c7b87c97ce54ab805","datavalue":{"value":{"amount":"+0.7504662275314331","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2138676$FB4B28DB-CFB3-4378-828E-F69BE1744E7B","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A geometrically exact discrete elastic rod model based on improved discrete curvature","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/A_geometrically_exact_discrete_elastic_rod_model_based_on_improved_discrete_curvature"}}}}}