{"entities":{"Q375160":{"pageid":376927,"ns":120,"title":"Item:Q375160","lastrevid":51854222,"modified":"2026-01-20T09:33:24Z","type":"item","id":"Q375160","labels":{"en":{"language":"en","value":"Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6220483"}},"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":"Q375160$715A6E44-BBE2-40C9-87E3-9A87B6940DD4","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"75a499146692a5040ddcd475d05f81df3bfc6f23","datavalue":{"value":{"text":"Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q375160$01953970-97D2-415A-937D-C599B7BD48FD","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"549b19c6091ad335c74d5f29b4ee0201aab24e3b","datavalue":{"value":"1274.93100","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q375160$688CAC77-62E0-4E4B-AE3B-23FE9D748A2C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2970bcf6054ba9134c159b2dc99c41f3ce45fcaf","datavalue":{"value":{"entity-type":"item","numeric-id":375158,"id":"Q375158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$458F2E7A-FB2D-4F08-8E8A-1472E00DCD90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"bd9894423408effaabfe5bc3a7ef0f975a5eed61","datavalue":{"value":{"entity-type":"item","numeric-id":362347,"id":"Q362347"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$2249442C-D019-4667-B975-FAE2494BFCEE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"09ebaf36b1345329547ab837d1d7e07fe788c3bc","datavalue":{"value":{"entity-type":"item","numeric-id":375159,"id":"Q375159"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$484C5060-43D1-4EBD-A8B1-310055C93A3C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"adaede4d30d80731f86904b0d235817d0564cc04","datavalue":{"value":{"entity-type":"item","numeric-id":174757,"id":"Q174757"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$E0CB96E8-BDEE-490F-B767-D9B8BC08F527","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"ad31989710dc3c2a167cc95050bb6ea34e0bbe88","datavalue":{"value":{"time":"+2013-10-28T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q375160$5B3278E9-AD45-4CDC-AE7A-FCF05413FA04","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"8135cc66146c3fb484b62f739011d254a3e52252","datavalue":{"value":"https://orbi.uliege.be/handle/2268/148057","type":"string"},"datatype":"url"},"type":"statement","id":"Q375160$85B6E971-CD86-47DB-AD01-48270464AE64","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q375160$25000E71-A71F-4A27-BDCD-49CEDF589F09","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q375160$AD66DE01-AD47-459F-9325-CA8268C06F38","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"53b71bd65d6a4dd0dba5dae1fe54746b9bdd1051","datavalue":{"value":"70E55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q375160$656C41BE-AA42-40C1-88F9-6A13B68185C6","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a5e94db12f4a6abab05a1aab10ca744a9a1a2c8b","datavalue":{"value":"6220483","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q375160$58DD2334-6BD6-4132-83E7-5B6B6C7E50CD","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q375160$AA1E6E52-C170-4192-83AE-168DDA379867","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"76691e25f60de44dcff6e8e5be9aae98f221f76d","datavalue":{"value":"direct transcription","type":"string"},"datatype":"string"},"type":"statement","id":"Q375160$4D5C9026-804E-41CC-B679-E40F82394D3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"91037537d51708d8889c991b8678f8088bf1ca49","datavalue":{"value":"inverse dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q375160$C67AEC38-6CB1-4A75-B905-CCB922198AD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e61d6dafd32e2cf9b5ebb306948937a7fa7d82e0","datavalue":{"value":"multibody systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q375160$9075937B-35DF-440E-B197-2997EBBC71AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6964bc9dc16536ea0595c489256aa486837f985b","datavalue":{"value":"underactuated systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q375160$963A3C1A-E645-4E2E-883D-009510226B16","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0ff0dbe179137cd876c98fb613040b625d8ac30d","datavalue":{"value":"trajectory tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q375160$E55FD94D-E5E4-4EF7-A732-7FD0621AB061","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":"Q375160$E07E00F0-314B-4F2A-BD64-D8EA93501C1F","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"216ad106d95823cf936ccf10ce0c346a05ec9007","datavalue":{"value":"W2017210692","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q375160$0542C86E-8168-4120-A8D4-04C2470B20E0","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"9b85623ef3a62a3f01f3b31f627b874ccff80093","datavalue":{"value":{"entity-type":"item","numeric-id":2458273,"id":"Q2458273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$F12F570D-7E57-4595-A586-013CA3CA295B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ed3909269f6572bebb2b2c41424b67f6caa83e69","datavalue":{"value":{"entity-type":"item","numeric-id":2558668,"id":"Q2558668"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$17250459-5274-452D-A812-8CD3C68E66B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a858d983643049f14c3145bf56e72f36a063dd08","datavalue":{"value":{"entity-type":"item","numeric-id":5479631,"id":"Q5479631"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$9118F6B6-C983-46BD-B942-BB5C553C620C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"40fc937de09a78dc00d20e32c9c85f3ef596fc0c","datavalue":{"value":{"entity-type":"item","numeric-id":4420427,"id":"Q4420427"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$44EA5C2B-F39C-41C6-85DE-9FDBD31899A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cc4e2ee4e2f87927fdeffe46500cf7d5b8bf5d95","datavalue":{"value":{"entity-type":"item","numeric-id":3655529,"id":"Q3655529"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$A5D84032-E6A7-448A-B010-66551BA3971B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d6e83cee1c7a94eadc24d8a89ccd47dc40802dc9","datavalue":{"value":{"entity-type":"item","numeric-id":701940,"id":"Q701940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$FFBFA0D6-E129-41DF-843C-8C29ABFF6670","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e7fe8ca60ad86709163fe6e62c7d224220c718f8","datavalue":{"value":{"entity-type":"item","numeric-id":3590350,"id":"Q3590350"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$A24C5A96-2F72-4241-95D2-5943F1B43D40","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d431e99287024862dbe9f786c442f2d813c83a93","datavalue":{"value":{"entity-type":"item","numeric-id":1319141,"id":"Q1319141"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$B0D8D801-0CE7-4E17-8DCC-BA7880B32AD1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6ff3f0d2e4eab36ecbe143cfeade5a26610ccd1b","datavalue":{"value":{"entity-type":"item","numeric-id":3134437,"id":"Q3134437"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$EEE69A9E-9C88-4BA9-AD32-EFB02D026358","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c8714c1e366b1248acd69bce73ec2fe7b9ae2852","datavalue":{"value":{"entity-type":"item","numeric-id":4896754,"id":"Q4896754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$2C622FC1-0BE5-41C8-8A90-620EF0419E73","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"617a37f52d9d5a28b86837e32c724d01ba41eda2","datavalue":{"value":{"entity-type":"item","numeric-id":5248620,"id":"Q5248620"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$1A8552CC-BB96-45A4-8F51-23B4AC696B6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b5941ae8f480d584be72e9c4ce0b81f5db2a31bd","datavalue":{"value":{"entity-type":"item","numeric-id":4338697,"id":"Q4338697"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$DD602272-1D91-4987-944E-047442F2CEB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ff917c1aa4d45006c4ac3306894296400db9bcd7","datavalue":{"value":{"entity-type":"item","numeric-id":1364413,"id":"Q1364413"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$6C9D49F8-26BE-4454-9536-CEA9476FA2F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f47b0ee69b86c2afae9308960e58acca449aecc3","datavalue":{"value":{"entity-type":"item","numeric-id":4303037,"id":"Q4303037"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$4A4B9FCB-76B3-42E2-9B02-79C5F3866447","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"79c1d9efa32c1dc8f1417b00aba7f7ee322b04e8","datavalue":{"value":{"entity-type":"item","numeric-id":1294955,"id":"Q1294955"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$C501D86B-BB00-4A3F-AB9A-4539019AEC75","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3df075b432ac124cc3324addbe4d84e09e3a0490","datavalue":{"value":{"entity-type":"item","numeric-id":666575,"id":"Q666575"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$D3AD561A-6FE5-4CB3-8812-06845247C03E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4c79dc95b79328564347d936b2a384573e850365","datavalue":{"value":{"entity-type":"item","numeric-id":3565568,"id":"Q3565568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$6833B703-178E-40A4-A435-9EBF9631E63B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5a5a9a1d4c012c37c05546c162c67d8a0187b48f","datavalue":{"value":{"entity-type":"item","numeric-id":5267241,"id":"Q5267241"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q375160$37CC6EC5-2CC4-4F4D-A904-185949D000F3","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"ca49c650063ea6c46f33ca3c4e208076ba6e5b5c","datavalue":{"value":"10.1007/S11044-013-9361-Z","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q375160$38EB0669-D8C8-4161-B83F-660D4C37B413","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ca8032dbe7622b35799ef5d1cf1140e2b3a6e4d9","datavalue":{"value":{"entity-type":"item","numeric-id":4582098,"id":"Q4582098"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"61662950769d9217d35d00d32b3d53386b0c6328","datavalue":{"value":{"amount":"+0.8060919046401978","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q375160$A38B597D-36F8-48B7-BC9F-1F7C4E25E5E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2ebadb9dda486e3baf0b1a9b9f886c3460e86fcd","datavalue":{"value":{"entity-type":"item","numeric-id":4271504,"id":"Q4271504"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"365b5af87e7db71ae2ed8b64722a0ba354b63a8b","datavalue":{"value":{"amount":"+0.8059245347976685","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":"Q375160$E741303C-4747-4DCC-AE11-50B19E676F13","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"76dec5fa3f3985c705a0649ac70eadc09f4d5ee1","datavalue":{"value":{"entity-type":"item","numeric-id":1430301,"id":"Q1430301"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0991e2f9aa7b51771014c1f5236246022067927e","datavalue":{"value":{"amount":"+0.7934642434120178","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q375160$EC48D7AF-E198-4D48-B242-A1E0C1D3C1BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"da884a21e34e723404de047df02e6a3f5b632df7","datavalue":{"value":{"entity-type":"item","numeric-id":362348,"id":"Q362348"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e67f8fdfc95132770bb4bc36ef037a943a3a045c","datavalue":{"value":{"amount":"+0.7835612297058105","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":"Q375160$D2FE68B8-A56F-4F80-836C-314CA5DD19EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a7f20eef287acf546700dc66abcb1398d8cbfd72","datavalue":{"value":{"entity-type":"item","numeric-id":2936115,"id":"Q2936115"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"42ba5b3f8f792cd39e24100372d61c204ada96da","datavalue":{"value":{"amount":"+0.7811206579208374","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":"Q375160$788EFD9A-6E04-466D-8797-36E4A4D25E5D","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:375160","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:375160"}}}}}