{"entities":{"Q2210281":{"pageid":2221024,"ns":120,"title":"Item:Q2210281","lastrevid":57229038,"modified":"2026-03-27T13:39:20Z","type":"item","id":"Q2210281","labels":{"en":{"language":"en","value":"An exponential varying-parameter neural network for repetitive tracking of mobile manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7270733"}},"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":"Q2210281$F420F50C-1FA3-4C43-BB1A-95FE18A4240A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"550c7384fe9465a2260e65cf8547f23dfa5a8157","datavalue":{"value":{"text":"An exponential varying-parameter neural network for repetitive tracking of mobile manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2210281$32C812C0-EF41-409C-A82E-411A109FBF48","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"01d7478a365218352144540c45fe8ed0de7b3a36","datavalue":{"value":"1451.93255","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2210281$C9E63A0B-6549-4D5E-9391-7BBBC42ECFC6","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"287c12a63c9cf9419b951753ddd31f0ce77c7484","datavalue":{"value":"10.1155/2020/8520835","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2210281$F71699F7-9D0E-4AE0-8546-FC025F9D70F3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"b51ffe108ae14281c8e34528aa91633150fda561","datavalue":{"value":{"entity-type":"item","numeric-id":1739490,"id":"Q1739490"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$F0592A95-54CC-473E-B131-64A075592BC0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e27dd060daf1d2fe30244b012b340e182897bc5c","datavalue":{"value":{"entity-type":"item","numeric-id":2210279,"id":"Q2210279"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$71262617-9345-4756-82DD-3CBDD9038214","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8a6b41fab80f487927d65d5e29dc36706940371d","datavalue":{"value":{"entity-type":"item","numeric-id":1669598,"id":"Q1669598"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$9BEF1774-B281-467A-B701-D2F20F61C094","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1f0db818e8cd67b9ff9f5591c36846ee3da42ee2","datavalue":{"value":{"entity-type":"item","numeric-id":2210280,"id":"Q2210280"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$34F62FFB-A22D-4284-A137-41217527FCA7","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1dec05d6eca21826ddc25d78a5bfbbb3575f964c","datavalue":{"value":{"entity-type":"item","numeric-id":86231,"id":"Q86231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$21A8A2A3-3255-4456-80CA-70DDEAC025E4","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"0aa71f2549cafe88468a911374ac89171b141e84","datavalue":{"value":{"time":"+2020-11-05T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2210281$A11082F0-F88B-4E67-A6FC-B42E8EED148E","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"e0515766efbf842aa07660f6e874681668cd08bd","datavalue":{"value":"Summary: A novel exponential varying-parameter neural network (EVPNN) is presented and investigated to solve the inverse redundancy scheme of the mobile manipulators via quadratic programming (QP). To suspend the phenomenon of drifting free joints and guarantee high convergent precision of the end effector, the EVPNN model is applied to trajectory planning of mobile manipulators. Firstly, the repetitive motion scheme for mobile manipulators is formulated into a QP index. Secondly, the QP index is transformed into a time-varying matrix equation. Finally, the proposed EVPNN method is used to solve the QP index via the matrix equation. Theoretical analysis and simulations illustrate that the EVPNN solver has an exponential convergent speed and strong robustness in mobile manipulator applications. Comparative simulation results demonstrate that the EVPNN possesses a superior convergent rate and accuracy than the traditional ZNN solver in repetitive trajectory planning with a mobile manipulator.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2210281$4CC4ECCF-14C5-45AC-90E4-B336405EE2ED","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2210281$0845C0B3-6D74-485D-9EE2-22A1747D0383","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2210281$DF59D76F-840B-4986-B27A-31BB95C6F5A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2210281$2FF52A6B-0688-43FF-8D6A-8080606A6524","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2210281$BA41898E-F87B-4399-9EAE-554D2760806E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"b36189d2ef8ec7bb6bb203d6efae32a74775e937","datavalue":{"value":"7270733","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2210281$38F9EFD4-E309-4F69-85FA-5F8820B6CBF4","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$F7B06BCA-4F57-466D-B40B-A227A3B20113","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"488195b5b13a2bc359804532be8df81bdbc2b64a","datavalue":{"value":"https://doi.org/10.1155/2020/8520835","type":"string"},"datatype":"url"},"type":"statement","id":"Q2210281$BFFB50BC-E1B7-4ACC-B806-B9DAB5882403","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"22815a2402b7dbcbc3cca2acc302a1303c819a68","datavalue":{"value":"W3086453407","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2210281$548AAEF4-9B3F-455C-88E0-CDBC4A85D479","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"b7389425f1fc29ad06800631a53a2f8fe6df2f79","datavalue":{"value":"Q115521643","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2210281$AA9A271D-B7C1-49C0-9744-B6EFB1B8AA80","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"cfdc48cf16ab8ebc8681b83a668684781c5bd1e9","datavalue":{"value":{"entity-type":"item","numeric-id":5267124,"id":"Q5267124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$0D16FC1B-E89B-449B-86B0-D375E690DB6A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d062c9ec27e471bd046fd35555d62c3af7a93295","datavalue":{"value":{"entity-type":"item","numeric-id":4810925,"id":"Q4810925"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$18C88DEC-96FC-469E-A4A1-F1F2E44BDBE5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1c824987a54c0a6be554687bba5b875e1c0a5b5c","datavalue":{"value":{"entity-type":"item","numeric-id":2504633,"id":"Q2504633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$1CDE6E52-485D-4797-9610-E61D4EFAA173","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"234258dcf6d63a37916a00abb1f85b34fed5f247","datavalue":{"value":{"entity-type":"item","numeric-id":2179296,"id":"Q2179296"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$B20739AB-E47D-422E-AB2A-C923176E185F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ac7c2f935346d7dd2811aaa2a29fa86148d01f6b","datavalue":{"value":{"entity-type":"item","numeric-id":1696889,"id":"Q1696889"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$B2E4B745-E1ED-4402-B90F-7E9F0E866C37","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e8d06ae8912996a50d1d5c70d8447ca36b5da15a","datavalue":{"value":{"entity-type":"item","numeric-id":5707543,"id":"Q5707543"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0ba6a2e534dde744eb5f81539867a43bf485f703","datavalue":{"value":{"amount":"+0.709069550037384","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2210281$C2A5D1DC-E4CF-4D72-899F-431462C26C70","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"98f30d65f88baecd6a80eee6a0896fe620e1c373","datavalue":{"value":{"entity-type":"item","numeric-id":636475,"id":"Q636475"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8b3a81ceb0a6bc98e16d2ca639922cd4127dac96","datavalue":{"value":{"amount":"+0.6998376250267029","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":"Q2210281$69C7B91C-F82E-4B78-9173-7A79B79E3DA8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d1e5e61dee44758b81ee024dfd574b3ecf70d53e","datavalue":{"value":{"entity-type":"item","numeric-id":5453237,"id":"Q5453237"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3c78e7fd2760cccc2832117d66f60b04f63e72e1","datavalue":{"value":{"amount":"+0.6982097625732422","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":"Q2210281$4C349297-A01C-4355-BE94-ABDCCF275CF4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"69c9ddec913c415c6f99a0e83dc940579d01e0de","datavalue":{"value":{"entity-type":"item","numeric-id":557632,"id":"Q557632"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"56a471fca3189ed8ff6172c090348468b4e9ee3e","datavalue":{"value":{"amount":"+0.6905131936073303","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":"Q2210281$79ED2019-E257-4707-8395-85605213BEDB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f99a58705a0101e792d8dcc94abb50d1ba4f68bc","datavalue":{"value":{"entity-type":"item","numeric-id":3436633,"id":"Q3436633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"870fb32b8e1c981c6f8f4e7e671461776a81bad0","datavalue":{"value":{"amount":"+0.6884974241256714","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2210281$E917BCB9-A7C2-4B3A-BE8D-7AF703BA07F5","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2210281$20A1AF83-8E29-4D65-95E8-5F296AEC1201","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2210281","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2210281"}}}}}