{"entities":{"Q2381315":{"pageid":2392058,"ns":120,"title":"Item:Q2381315","lastrevid":43998360,"modified":"2025-11-18T21:22:59Z","type":"item","id":"Q2381315","labels":{"en":{"language":"en","value":"A numerical algorithm for finding solution of sign-indefinite algebraic Riccati equations for general multiparameter singularly perturbed systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5191337"}},"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":"Q2381315$7EE7B0FA-FBFB-4B4B-AE17-7C6FA6B0436C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"f1148fada715ffea193a5a8a730b16f912fb0939","datavalue":{"value":{"text":"A numerical algorithm for finding solution of sign-indefinite algebraic Riccati equations for general multiparameter singularly perturbed systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2381315$9F13C532-E9B8-48A3-85B0-177850AB4416","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"3a3cd9308d7118733539a7461939bd1a63fa58a5","datavalue":{"value":"1122.93056","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381315$69384BA0-F202-447E-8BDF-CCA1FBA776A3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1159aef36489862f8a6a21bb9b42c00dfef0e31d","datavalue":{"value":{"entity-type":"item","numeric-id":240207,"id":"Q240207"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$07B0CE72-8FD2-4F1B-8965-7D0FDAD6EBDF","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"add6fb6b993c46c88f8cbd1c0026e2e785c9381d","datavalue":{"value":{"entity-type":"item","numeric-id":70476,"id":"Q70476"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$7F2D42FC-6090-45F3-BFE5-B3AB6C24840E","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"a9163577f23dfa5d7313f3cd3f09e1a8ac760922","datavalue":{"value":{"time":"+2007-09-17T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2381315$FE443647-4FCE-4569-BC7B-C09F70B27A73","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"0d5d2f01fbb3d495863c973a2fefcb3283d29a31","datavalue":{"value":"http://ir.lib.hiroshima-u.ac.jp/00026406","type":"string"},"datatype":"url"},"type":"statement","id":"Q2381315$6B489BD1-C4CD-4A69-B785-0479CCC3AF3C","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"1c23441ae14d57832d5d855df0e9d303c447c950","datavalue":{"value":"A linear time-invariant general multiparameter singularly perturbed system is considered. An \\(H_\\infty\\) filter to estimate system states is designed. Like \\textit{M.~T.~Lim} and \\textit{Z.~Gaji\u0107} [``Reduced-order \\(H_\\infty\\) optimal filtering for systems with slow and fast modes'', IEEE Trans. Circ. Syst. I, 47, No. 2, 250--254 (2000)], it yields a sign-indefinite general multiparameter algebraic Riccati equation; in a matrix form: \\(AX + XA^T - XSX + U = 0\\).  In this work such an equation is investigated. The main result is a new algorithm that combines the Newton's method with two fixed point algorithms; the quadratic convergence is shown. The author: ``\\dots it is shown that the uniqueness and positive semidefiniteness of the convergence solutions are guaranteed in the neighborhood of the initial conditions.'' Two computational examples are present.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381315$9E0FFCF1-64C8-4DC3-AD1B-F525FF7D9B16","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"ce22555fb5b8246459f5e7afd0df4871fa291b79","datavalue":{"value":"93C70","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381315$A05C76F9-1D90-472C-93D7-022DFD2C3143","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"e57e2977a9ed0e05339dd5f1673c9f0c9ab91235","datavalue":{"value":"65H10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381315$AA7382DC-1B1C-49D4-95A7-2EE6FA9A1906","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"10e7ae4f3272e1b3be03ffc40fe137c122ddd99d","datavalue":{"value":"93B40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381315$C2B8A4B5-DA02-453A-9B3E-EABBFFD9FF00","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"19887720c9f9a189dd61bc85aa051ea9f0a2325d","datavalue":{"value":"93E11","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381315$CE3D503B-D33B-4506-97C8-62FC66105E46","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"de3248834b22478f95726051ab3696f7abaf69f5","datavalue":{"value":"5191337","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381315$A16653F2-2DDD-4A86-A975-F714D4B77036","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fdab20299cda3fd244c9ebdd58430a327cecd006","datavalue":{"value":"general multiparameter singularly perturbed system (GMSPS)","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381315$9B0523BD-A645-42CA-B826-E9CD465960BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fe3aa0c67a1e8164e316f5de84930e1f0e94ec9c","datavalue":{"value":"sign-indefinite general multiparameter algebraic Riccati equation (SIGMARE)","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381315$A9CA12B3-65B7-43BB-B532-2E44A4277720","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a05c7f18ff5c73992e7d2f3f4770636d1d5c971a","datavalue":{"value":"\\(H_\\infty\\) filtering problem","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381315$B975194F-D9A2-468B-B808-09090C81C96B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1736cb68dc4e94b68b37018132c473552b61bdfc","datavalue":{"value":"Newton's method","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381315$A2F5D5E7-73E6-44BC-B3C2-ADC82440C660","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e0ae6129d6bed77aac8e91bc29cae021c1b5cbd0","datavalue":{"value":"fixed point algorithm","type":"string"},"datatype":"string"},"type":"statement","id":"Q2381315$9A15EE5A-EFF9-4975-A101-72CAA00D8D18","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":"Q2381315$40A844AA-A62F-40AE-B0C3-11B1F177B026","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f70a46e13344b5f44199db7bc63f137edad9ba21","datavalue":{"value":"W2030750512","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381315$EDE9061A-4F4B-46A6-A5C5-46FF9AF4013D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"89b507af3d29b856146a7a92362b664625d3855c","datavalue":{"value":{"entity-type":"item","numeric-id":4165209,"id":"Q4165209"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$0DE0BC21-C579-48F8-8305-CE0F081EEC94","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5247bd3cfff4ac89935f5054b6daa9a2b9134392","datavalue":{"value":{"entity-type":"item","numeric-id":1259566,"id":"Q1259566"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$A649EA8A-41D3-49CC-96A8-ED0D30C0A0C8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bb3e0997a1eb4f0d655a44fed1d9069f507d51c1","datavalue":{"value":{"entity-type":"item","numeric-id":3859186,"id":"Q3859186"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$E7B0A321-8AB5-4D45-A81E-E34FCB78AFF9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9dfc3171208c58795420771d048b33400d1a1b5b","datavalue":{"value":{"entity-type":"item","numeric-id":1085570,"id":"Q1085570"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$B7283C93-D824-48DD-B854-AFBD46827E09","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d5a92e89583f73ff5ce8c1f2a3452dee3adf58b","datavalue":{"value":{"entity-type":"item","numeric-id":3128879,"id":"Q3128879"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$C055443B-E59F-45BE-A001-036C8DF5AFA1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1081690a9c9bb895a78cd35b1a6436bc7fc7b0d9","datavalue":{"value":{"entity-type":"item","numeric-id":4231779,"id":"Q4231779"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$09A2F9B8-9226-4485-B5FA-300226A02F9A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0c3503fb374a17a5b34763538ef7f88b108476aa","datavalue":{"value":{"entity-type":"item","numeric-id":1801980,"id":"Q1801980"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$32273930-2CC2-4FB5-8E45-7F7BC62AB67D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb82ee0c9cd6f54dc17a12da6ae515612b9490a3","datavalue":{"value":{"entity-type":"item","numeric-id":5266997,"id":"Q5266997"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$D6ED41E6-583F-452B-8389-3CD9AF9E6022","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1c7fa89cd7577bdf3f1da283d54a3f277ee46789","datavalue":{"value":{"entity-type":"item","numeric-id":4652160,"id":"Q4652160"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$069845AE-592B-4988-976F-E65F10A1A693","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9f28aadd0e9199ca3d380b7019706c4012694df9","datavalue":{"value":{"entity-type":"item","numeric-id":3146334,"id":"Q3146334"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$B2BD08BC-7E12-4DA8-82B6-15EA6889BC06","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bfb438131e4e1b64e29227c95a991f0a67d311c7","datavalue":{"value":{"entity-type":"item","numeric-id":814012,"id":"Q814012"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2381315$0E497A1F-EFBE-4E5F-B6A3-6CEFCE853BB9","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"54664918709302c954a63606c6633800cd9da324","datavalue":{"value":"10.1016/J.AMC.2006.11.088","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2381315$9005244B-2A73-4F16-BA9D-3EEE039B51C8","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"59a5d7bfbfe0ac3012c252644e5d54f0c662ccfd","datavalue":{"value":{"entity-type":"item","numeric-id":1806600,"id":"Q1806600"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ec8db713538ff0c64224906c70baaa1a27984d97","datavalue":{"value":{"amount":"+0.94028497","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":"Q2381315$4F060C57-9E20-4E60-8436-C856106D80BB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"165fd0a7aa479f52c3d3906d580e15ef401e3058","datavalue":{"value":{"entity-type":"item","numeric-id":5314918,"id":"Q5314918"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3c916ddbab784c24f0a09e4abce6ac98827c5779","datavalue":{"value":{"amount":"+0.93735474","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":"Q2381315$62D56BE3-FE72-4D0C-A97E-8080C1DFBC35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9263f09f5ee54711d832e47c2da98a71ab067ab0","datavalue":{"value":{"entity-type":"item","numeric-id":5961162,"id":"Q5961162"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"02a3191e4fbdfd27c892dfb02059eba7cb9cc580","datavalue":{"value":{"amount":"+0.92570966","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":"Q2381315$571DF8C5-48E8-484A-9382-EEFD8222C956","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7e6e878a8fd05a4e830b8e04f59382859aa45395","datavalue":{"value":{"entity-type":"item","numeric-id":3731779,"id":"Q3731779"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"03fc427a590ee75e9a0ba3100ba817c59ec3bb6f","datavalue":{"value":{"amount":"+0.9170655","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":"Q2381315$9D591560-1980-4E81-A659-59593BA4B0F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4a103a6dff6c1a888948e238ef75f5fb436b090d","datavalue":{"value":{"entity-type":"item","numeric-id":4327453,"id":"Q4327453"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fd52346c33e7e125f158df32b95165af8b34fb85","datavalue":{"value":{"amount":"+0.9162012","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2381315$E1294AA6-55BE-4DF2-9BB0-5AFF3C1E4CD6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"581de0e107ec1cec2eab961fcfee9bd13227416d","datavalue":{"value":{"entity-type":"item","numeric-id":4376227,"id":"Q4376227"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"60d12a5aaf5475540152c9df667efaff6150d59c","datavalue":{"value":{"amount":"+0.9162009","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":"Q2381315$11191659-84AF-43EA-A626-6139D7C7CBAD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4d0489c38b24c60c67604b3f699681fbdd61e2c0","datavalue":{"value":{"entity-type":"item","numeric-id":5960326,"id":"Q5960326"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d1361f77537eb6e34bc9891030873aa07db8297c","datavalue":{"value":{"amount":"+0.9160768","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2381315$FE789E7D-A578-43C2-A8A2-F97C68C2F60E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b2acbdc8b1dee4f18acb379c20ebe68697f8268d","datavalue":{"value":{"entity-type":"item","numeric-id":1126566,"id":"Q1126566"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6da50e53fbbc81c5f346fee1198f89a614844ac4","datavalue":{"value":{"amount":"+0.91368","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":"Q2381315$70C3936A-5D2A-4438-8826-5FACF12C2D55","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"659bced8e459ca98fa8920cf2a7722e5a21ce660","datavalue":{"value":{"entity-type":"item","numeric-id":5294583,"id":"Q5294583"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fe2cf366587761cc196fcb22faaa02d750fa4855","datavalue":{"value":{"amount":"+0.908806","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":"Q2381315$728D6D02-7C3A-4F85-9C86-D53313C6F64A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3834f33de801f6a81e4ba59902c497ddd25b4fc6","datavalue":{"value":{"entity-type":"item","numeric-id":4410113,"id":"Q4410113"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b77791f7b9dd45c67c7327ebf620112f5c9b9cff","datavalue":{"value":{"amount":"+0.9084531","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":"Q2381315$2F2DAA84-0FCA-4EDE-BF6B-6828A1E8F808","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2381315","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2381315"}}}}}