{"entities":{"Q3084172":{"pageid":3094887,"ns":120,"title":"Item:Q3084172","lastrevid":58106934,"modified":"2026-04-03T20:13:56Z","type":"item","id":"Q3084172","labels":{"en":{"language":"en","value":"The Boltzmann--Hamel equations for the optimal control of mechanical systems with nonholonomic constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5866157"}},"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":"Q3084172$5917197F-53C4-471C-A2F1-401FB75A7903","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e05491b3b92284cba35a0bddf22fa18cdc3d5f28","datavalue":{"value":{"text":"The Boltzmann-Hamel equations for the optimal control of mechanical systems with nonholonomic constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3084172$59565E08-C7F4-4E9E-898D-805669B7963B","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"68f8bbb7eb92f675d42bab1cea18e3e2fe317f4b","datavalue":{"value":"1213.49029","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3084172$311886E7-1518-4A9F-A9EF-C144B431AC53","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1dbcba99d8a97c5f56207e1ef077e568da12ecda","datavalue":{"value":{"entity-type":"item","numeric-id":642398,"id":"Q642398"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$A3BEB469-25DD-41C4-98D2-60D271A8CF80","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2c6159ac337d70b1f1e513b889af174a47f82be8","datavalue":{"value":{"entity-type":"item","numeric-id":481236,"id":"Q481236"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$559B995D-B363-4B48-93BA-89123E551CB8","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"50b8674a675fb6cb1ce5f58b071e4afdb153e2c6","datavalue":{"value":{"entity-type":"item","numeric-id":2710025,"id":"Q2710025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$2600D463-9DCF-464C-8F65-AF9C64916BAD","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"20a3fd8631e7e1ecb89e57b7989bf12d8e312b72","datavalue":{"value":{"time":"+2011-03-15T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3084172$B798A23A-DBD7-4E1C-AF37-DADEAD7C8622","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"bee62c10f09ed71f0ed70ac5ecdd96145eda80b8","datavalue":{"value":"https://arxiv.org/abs/0707.0027","type":"string"},"datatype":"url"},"type":"statement","id":"Q3084172$8D6F13CC-88BB-45E2-80FD-1077A7A320D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P205","hash":"7f1a02330a915f8a6dc71a4444960e91cb0e1eef","datavalue":{"value":"http://hdl.handle.net/2027.42/79427","type":"string"},"datatype":"url"},"type":"statement","id":"Q3084172$3B3C429A-ACDA-495A-8F60-14333531BCCD","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"18d3ff98a6b36ff583aa8db8acc5f9669058d6c6","datavalue":{"value":"49K15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3084172$04D0ECEA-5890-4ED8-A944-C1173B4C6961","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3084172$F1E91649-E065-47A7-8181-B7058F63C3E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5a5c91b710d921e9ace398f00d49e0f96aacd6c6","datavalue":{"value":"34H05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3084172$D94C4B99-E6CC-4FF7-AC70-EA1AC7FCE3A9","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"555ae41e2e911d72270825c613c501acaf168251","datavalue":{"value":"5866157","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3084172$321BDB69-28F4-4B69-843B-CF440795BB2E","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7c41b953ffaf5fed52d51dd3361db06d02b4c5ca","datavalue":{"value":"nonholonomic constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q3084172$638803DA-59F3-45D2-AFAE-4AF8B8566B4F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q3084172$E3CDBAE9-8989-48EA-AFAA-CBEE4C2180C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"12e6f5390b78d0abacaf5012261ff2b916a2df2f","datavalue":{"value":"variational principles","type":"string"},"datatype":"string"},"type":"statement","id":"Q3084172$3DB8D559-87F4-4609-84F4-DEB03E5C3C24","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ed1fea4b9177bfae8661f1cd017bf751ae018b56","datavalue":{"value":"Boltzmann--Hamel equations","type":"string"},"datatype":"string"},"type":"statement","id":"Q3084172$70B963D3-BBFD-499E-9417-B1C992FBC737","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d4da91011b938d089df4f3189984e0b99b560aed","datavalue":{"value":"quasi-velocities","type":"string"},"datatype":"string"},"type":"statement","id":"Q3084172$5C67F567-D62D-4B5D-B968-865B801E830F","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":"Q3084172$2861D186-E6E7-48D7-9BFC-1736BC4A83ED","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"c5f1ee584b86babbf1d555f2218934ad78dd4cf9","datavalue":{"value":"W2145364805","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3084172$56A1C88A-6196-4E4F-84EF-AC7B364B2422","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"7f06c584d60bf10e05d4220e30acbac29209a369","datavalue":{"value":{"entity-type":"item","numeric-id":1912607,"id":"Q1912607"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$A536A993-8F92-41E6-A6C8-2C1E1CEB2E52","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c28c2177e714056c6d01bbbccd583e2db0da6c6","datavalue":{"value":{"entity-type":"item","numeric-id":4337744,"id":"Q4337744"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$283247CD-5964-41E7-95D7-54ADB2925182","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e4b45b0516cbf8cf3b3a1af7b022255ed06bb110","datavalue":{"value":{"entity-type":"item","numeric-id":5943190,"id":"Q5943190"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$F03FE804-CA8B-4868-A68D-7C1C4C54B871","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb668a9ee836cb382fcd317f73577a474cdb4630","datavalue":{"value":{"entity-type":"item","numeric-id":1810402,"id":"Q1810402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$FD4C8878-4E15-43D8-B130-A4FDFB62570F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"16dc8f36288073797d353c5bd9138577053e4a71","datavalue":{"value":{"entity-type":"item","numeric-id":3476023,"id":"Q3476023"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$D2F15BFC-9706-44CB-818E-1C3A23D198F7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f09bb0410c6c0105f44f183f7b970017b1d69757","datavalue":{"value":{"entity-type":"item","numeric-id":3289546,"id":"Q3289546"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$247B2FD4-C2A4-4C15-ADC8-2976A4EAE024","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6b0233dbb687bf56786c6dda03f2535d60222366","datavalue":{"value":{"entity-type":"item","numeric-id":2365370,"id":"Q2365370"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$66BB8B8E-5A63-4009-BA38-81F975EAB59F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"99c5eae5f4e7dc41f5b37fda36cc6c14cbab1f9b","datavalue":{"value":{"entity-type":"item","numeric-id":1972688,"id":"Q1972688"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3084172$FBCAE877-6438-4517-8E71-ACDFFC6E63AC","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b2ba2c9f0ce9392553a95fcdb3b172e07b1484e6","datavalue":{"value":"10.1002/RNC.1598","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3084172$BD4709AB-86E6-41D1-866B-7BBF5E4EBC6F","rank":"normal"}],"P1643":[{"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":"45c73410a63cb9d054fb8f4a37a10635297fdb16","datavalue":{"value":{"amount":"+0.8221453428268433","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":"Q3084172$09D95858-2CFE-4F94-B860-B048887DF227","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cd3b43acaabdc1bbd24c30bea4f15dee9f292fbc","datavalue":{"value":{"entity-type":"item","numeric-id":3984819,"id":"Q3984819"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1d52589d74f3e8cfbce5c194894634bdc8e3dfe0","datavalue":{"value":{"amount":"+0.8104707598686218","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3084172$AB3029B7-2382-4E31-ADE6-9C0A332DB307","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"03d8975679db395d0374c234d6bf9014aa9fff42","datavalue":{"value":{"entity-type":"item","numeric-id":3779811,"id":"Q3779811"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ae61ab25148b427e967e6cd71740a255794bb125","datavalue":{"value":{"amount":"+0.7955209612846375","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":"Q3084172$17AEA6E6-76BC-4B69-8D61-4476C37E461A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b2cf1421fc2c0ce394ffc5c1e1a42c7794ad31c5","datavalue":{"value":{"entity-type":"item","numeric-id":3300784,"id":"Q3300784"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e7f4c9a87b1aa24234f9c42627090d80292e3cc9","datavalue":{"value":{"amount":"+0.7815081477165222","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3084172$EDD8A5EC-ED10-48A8-9899-C4D1AE0C0FD8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e753881e5182fd2713cb8cdd0b42efda23956a2f","datavalue":{"value":{"entity-type":"item","numeric-id":3467039,"id":"Q3467039"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"86b852b617b5342f2f837cc864cac0887ff9ef12","datavalue":{"value":{"amount":"+0.7796359658241272","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":"Q3084172$83FEF3EA-D728-4C2E-8D45-1694502C42EF","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:3084172","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:3084172"}}}}}