{"entities":{"Q446106":{"pageid":447873,"ns":120,"title":"Item:Q446106","lastrevid":61876749,"modified":"2026-04-11T02:15:43Z","type":"item","id":"Q446106","labels":{"en":{"language":"en","value":"Modeling and passivity analysis of nonholonomic Hamiltonian systems with rheonomous affine constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6073074"}},"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":"Q446106$D37D9292-0965-41B3-9C8B-94438E56CB0C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"471cf2185645042840ba4c269670ec711de6755e","datavalue":{"value":{"text":"Modeling and passivity analysis of nonholonomic Hamiltonian systems with rheonomous affine constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q446106$F8F2DAD8-FB53-41B9-AEE5-560C1AC0EA41","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"10bf6abdd8a02ffcb31316732bd23fabd0106321","datavalue":{"value":"1300.70011","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q446106$C3F28326-CE48-4269-963A-3AEA1302C934","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"40973b5ebde1e156472b6487b5b3846b8a377fdd","datavalue":{"value":{"entity-type":"item","numeric-id":314307,"id":"Q314307"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$DD3B9D66-07E6-41E9-B2F3-FD3F2C2B419E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"808a8c67e6fa2e90fc8ccd13eadca038054e6a2e","datavalue":{"value":{"entity-type":"item","numeric-id":186646,"id":"Q186646"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$55F9AD23-E781-4FAF-BC70-17B7FBEBF1AD","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"9c87e8274686d3493385f7df05f34c58739e4169","datavalue":{"value":{"time":"+2012-08-28T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q446106$85B37BD8-7EC2-47BC-B31F-9CCC87D5B265","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c41c3b48806f65b48642453f3d3ae9504dc0ea98","datavalue":{"value":"70F25","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q446106$107B2A05-6261-469F-9183-7ADFDEEA55D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6a257f095f44378ca7b473e42163109c57384d30","datavalue":{"value":"70H05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q446106$083470BE-7529-4CF0-8F3F-2E1D3A6D46B6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"2752ebf787e831e08ced1a3fb51d2dadffcfe4ae","datavalue":{"value":"70H45","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q446106$417B715B-8DDC-45F4-8999-3F695E0522A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"216a608e3fa79d664fb5f28a72edf15852141160","datavalue":{"value":"93B27","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q446106$5C2086A0-92F7-4351-8366-6504E8CB1ED9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q446106$CFBC91B4-BB73-443D-AAAB-215C7029E363","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"2b72eba80fe410c3b4282fc2b87796a468250430","datavalue":{"value":"6073074","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q446106$DBDFD99A-4B73-433D-8F25-3ADCDB213A67","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6a0cae18fee6b1b9b34f5cdbb0c52038948b1b55","datavalue":{"value":"rheonomous affine constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q446106$A3C5C465-4036-4E87-A153-F561502CC1BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"dcba57a772f19135610632beee95772bef3d4069","datavalue":{"value":"complete nonholonomicity","type":"string"},"datatype":"string"},"type":"statement","id":"Q446106$68E23029-B519-4F1E-8002-7F0F645E520F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d068ead07a8bbfbec4bf3b5ea7289d20248e31bf","datavalue":{"value":"nonlinear control systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q446106$ED96F16C-1225-47DD-9E35-B9AA666ADF0C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e22e233da321f9713a5b35f383c24bb510af6c6e","datavalue":{"value":"nonholonomic Hamiltonian systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q446106$DCCE20E3-5C55-4AA6-915A-107EDA89383F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9babb75892d14bccc280c5c6ba5ffedf2f051d98","datavalue":{"value":"passivity","type":"string"},"datatype":"string"},"type":"statement","id":"Q446106$EB04BCB9-8111-43B8-9D66-19486809A494","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"045f421024f33395b98aa7fc14c0defdb243edb2","datavalue":{"value":"a radius-variable ball on a rotating table with a time-varying angular velocity","type":"string"},"datatype":"string"},"type":"statement","id":"Q446106$D8BB0261-722F-44BC-A538-84B1BC78D089","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$A09FC15C-7970-4905-A93A-F8677D2969B6","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2c8d1cabbc75958377c1d158632ac6d2a655a3bc","datavalue":{"value":"https://doi.org/10.1016/j.cnsns.2011.12.019","type":"string"},"datatype":"url"},"type":"statement","id":"Q446106$2FCCDDC9-47C1-4738-BB80-9836264ED2D1","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"4a7ee701fdd5ea0c7c037a5df47d4507b317391a","datavalue":{"value":"W2016616137","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q446106$FA502978-B06B-4CF6-A57A-F80B00781BEC","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"ca6b9480034cd631c6efe0470f1cd8e401f5fe1f","datavalue":{"value":{"entity-type":"item","numeric-id":5657709,"id":"Q5657709"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$9BC55E17-732F-4F9C-9EB7-245BE18167A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1eb9ef47b2e3c6ed91176b58874406dd084d8905","datavalue":{"value":{"entity-type":"item","numeric-id":701225,"id":"Q701225"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$973B2199-002F-44EA-B160-8A1EA82C452B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb668a9ee836cb382fcd317f73577a474cdb4630","datavalue":{"value":{"entity-type":"item","numeric-id":1810402,"id":"Q1810402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$EA7E08CD-0F28-4A77-A752-E2BDFC48B209","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e21be8859097ac0c135191a3d0b5b0bbf584603b","datavalue":{"value":{"entity-type":"item","numeric-id":4031531,"id":"Q4031531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$0578FDDB-C107-4F66-8FB7-1EB1AE80B75A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3098f0bcc36648405e5612c8b7becc0d216147eb","datavalue":{"value":{"entity-type":"item","numeric-id":3140192,"id":"Q3140192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$032D8783-2A74-42CC-AC23-59C152C53EAB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3a8fafde3b101609b8451445bfcf4bc33a06e5eb","datavalue":{"value":{"entity-type":"item","numeric-id":4306693,"id":"Q4306693"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$87003479-499E-48C2-AECE-AB1AC3DD59BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ae1f017f3e6a2a9fcedb057db3ae0140706d03de","datavalue":{"value":{"entity-type":"item","numeric-id":1805291,"id":"Q1805291"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$64EA179C-1707-4E14-A983-0CFBC0EAE807","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6b56da2dba08034b0856b97058740fe2b330c5a9","datavalue":{"value":{"entity-type":"item","numeric-id":5940857,"id":"Q5940857"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$6143F1EE-E0A2-404C-93B6-CB701FA3E638","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"02b5e556944705547369b1000144958fcfda2508","datavalue":{"value":{"entity-type":"item","numeric-id":5958603,"id":"Q5958603"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$612237E6-501F-4663-83EC-49ED18F8E8D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7971b6fbcd3903ad34f561ee58dd6bac84461795","datavalue":{"value":{"entity-type":"item","numeric-id":693409,"id":"Q693409"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$7B713240-02CE-461E-906D-3C5A67BA35DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"962f933dc8e5048c4fe24cbb81ff4d640ea37ea1","datavalue":{"value":{"entity-type":"item","numeric-id":1954904,"id":"Q1954904"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$410FE3E2-3082-49AB-A0A2-A85562246E02","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ac296adc274234c8aef2bc32e786c602f04842fb","datavalue":{"value":{"entity-type":"item","numeric-id":1954682,"id":"Q1954682"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$6ECEE520-67CC-4464-AF9B-85C00242DF1B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ed658e7231383b1c034b90db423146c582b12fbf","datavalue":{"value":{"entity-type":"item","numeric-id":3996565,"id":"Q3996565"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$692DBE97-5315-4EBC-B9AB-01FFC7678F31","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"241fc9a7d47384c0c6e7904f3592647309ada017","datavalue":{"value":{"entity-type":"item","numeric-id":1061695,"id":"Q1061695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$2FE3511F-1198-4385-8737-7AC6F9D1EE8B","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":"Q446106$05FCD9AF-3F4C-403B-B30B-26CC20972388","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c2a13afd42547e93485cd4eec1ab73b4f7bbae8c","datavalue":{"value":{"entity-type":"item","numeric-id":4507726,"id":"Q4507726"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$84AB7E23-7982-435D-B202-A662E2F1FE6F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7187cdd6d20d1fc37859d84fa3bc627717489d38","datavalue":{"value":{"entity-type":"item","numeric-id":4660286,"id":"Q4660286"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$39E1C2B2-166D-4BFD-9AA4-9704A8E3EBA5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"95bf9f7470fef352af32b4f0594a4ccdc7f027f2","datavalue":{"value":{"entity-type":"item","numeric-id":5484452,"id":"Q5484452"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q446106$9B81FC83-96E4-4B27-8C08-59A255645DE7","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"cfe11d104c2f20767b971f3ad3d618f202f5ce2b","datavalue":{"value":"10.1016/J.CNSNS.2011.12.019","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q446106$2180ACBD-269A-4651-850D-3DFA2AF117E7","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f5e4a4dbfca0517cb994b077c37be4a89613041c","datavalue":{"value":{"entity-type":"item","numeric-id":2259610,"id":"Q2259610"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"56fd27dbad013263922cc7f06b8d37a535de2791","datavalue":{"value":{"amount":"+0.9525485","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":"Q446106$57F330C1-9C05-4529-ACB2-19A9D508656F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"323ab8b13397bbc20929d07dfa8c40ca71454f85","datavalue":{"value":{"entity-type":"item","numeric-id":693409,"id":"Q693409"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0fd1c82e25e08abf703adfe9030dd40358e6e572","datavalue":{"value":{"amount":"+0.9265354","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q446106$F0E8F31E-D019-4878-BCDF-F9D2FE3CDD1B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fed3837fdb1a2b955054c294885e3488d452acb9","datavalue":{"value":{"entity-type":"item","numeric-id":1932697,"id":"Q1932697"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"618117058d181d8e4e88d1c7931f6f3a01f59f04","datavalue":{"value":{"amount":"+0.9186299","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":"Q446106$7F4973D0-1337-4065-BBD4-9CFF93AE36F4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4c66b74a3d4d3cc18e981fd52f71fe7e45d006eb","datavalue":{"value":{"entity-type":"item","numeric-id":2640360,"id":"Q2640360"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c4a9540e5649b48ad40c901986d64d25afb7e302","datavalue":{"value":{"amount":"+0.8897103","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q446106$D6CAE922-8BCF-48C7-85D2-75D585DB26C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5977a2d309ef5e80df53da1926fc86fbf614d44c","datavalue":{"value":{"entity-type":"item","numeric-id":366734,"id":"Q366734"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eb63f8acf7c425071d9ca431ab01907f5a18c1e8","datavalue":{"value":{"amount":"+0.88322437","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":"Q446106$E3F662B9-753B-4B1D-A7EF-04D0D4D5B0F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"661fd22740b21984dbb8756a564953983bee7771","datavalue":{"value":{"entity-type":"item","numeric-id":2052470,"id":"Q2052470"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4269b234b958fca70f20f7800ec5c33c91c255c4","datavalue":{"value":{"amount":"+0.88299096","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":"Q446106$88EA355E-9BA4-490E-AAB8-84C3765B4786","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7c91910f0b74b9e42d84192bfca1a1c98cb22b72","datavalue":{"value":{"entity-type":"item","numeric-id":5440279,"id":"Q5440279"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f88392fb8e108a6cb13171cec72826c30ae78fe4","datavalue":{"value":{"amount":"+0.8805995","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":"Q446106$50BB35E7-56D2-4523-AF40-62AED0AA6310","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0a98162bdfe17ee6ed8ae050f6c7f04afd9df813","datavalue":{"value":{"entity-type":"item","numeric-id":805312,"id":"Q805312"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0912a9dfc2c022fe6bcccd9d35ae676d02e66ad4","datavalue":{"value":{"amount":"+0.87920713","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q446106$D289A24A-B441-416E-9EC1-87C060F62DD9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f529c11a3869feaa7805083ac247469cfd6b58dc","datavalue":{"value":{"entity-type":"item","numeric-id":1381949,"id":"Q1381949"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5e828f8f9b08d5bafca2e0e424937adee4bc0cc5","datavalue":{"value":{"amount":"+0.878032","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":"Q446106$39B5183D-B8FB-48F5-AA42-8F3214CDC7DF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"985678b6f87b56ecf18be69f66aecbb6a3bdb904","datavalue":{"value":{"entity-type":"item","numeric-id":1805291,"id":"Q1805291"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"675906ab190587bff515fe82e86e7ba0c37873cd","datavalue":{"value":{"amount":"+0.8759011","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q446106$DD937290-615C-48EE-8F33-F3F8AEEE5FB9","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Modeling and passivity analysis of nonholonomic Hamiltonian systems with rheonomous affine constraints","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Modeling_and_passivity_analysis_of_nonholonomic_Hamiltonian_systems_with_rheonomous_affine_constraints"}}}}}