{"entities":{"Q4652155":{"pageid":6681736,"ns":120,"title":"Item:Q4652155","lastrevid":48422032,"modified":"2026-01-04T16:47:43Z","type":"item","id":"Q4652155","labels":{"en":{"language":"en","value":"Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 2138368"}},"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":"Q4652155$2C0E02F9-2C43-4577-8D8A-BE8CB1658D60","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"278fa86d74486e84863dd2db8443d94ffdf88355","datavalue":{"value":{"text":"Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4652155$395A5D73-1E24-4853-9B5A-DB8115DBC1FA","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"b7a055f9a8f41d2e4a267753e86f022207d2741f","datavalue":{"value":"1096.93020","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4652155$30C3BE45-7DB0-44A9-BC54-4BE81D33D4EB","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"27b9265c9c77f1be1c662376dc14b4a3c0131cb6","datavalue":{"value":"10.1080/00207720410001684530","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4652155$99D376EB-F342-4870-BA08-755C4CF891FA","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"da4f7909c99c955cb8bfe2bd87109baa117c68ab","datavalue":{"value":{"entity-type":"item","numeric-id":1619941,"id":"Q1619941"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4652155$98D12598-8E8E-40E4-9C4C-8235B0F055FA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"bece211337b087938d1adfaf7c133bc8751405c4","datavalue":{"value":{"entity-type":"item","numeric-id":225246,"id":"Q225246"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4652155$74FB74CE-0C19-4AF6-8BFE-A15BC6E7BEDB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1833a13a243d8e83daf4371c1856706a9f430e32","datavalue":{"value":{"entity-type":"item","numeric-id":1347699,"id":"Q1347699"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4652155$4A6B5206-DB90-49F0-9E0A-052AAA0B896E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e541cf3675b18e5d815b84cc09ac7ed2ca282339","datavalue":{"value":{"entity-type":"item","numeric-id":816851,"id":"Q816851"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4652155$871C00F1-CF61-4019-BF66-EF93E3C62C04","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"acb9018679bc717a3868823379e1b5aa1d36ccf9","datavalue":{"value":{"time":"+2005-02-24T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4652155$670110C8-F53D-4F35-A065-B4CD1DC7FEBA","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4652155$B7D845F4-4E2B-40BF-9919-00A9B51C058A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4652155$D6FEC6DC-E44D-48E8-B5DE-5746F9B1C38E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"eeb29b6b06549ea4fd9cffd0aeae52fa51ba9c06","datavalue":{"value":"2138368","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4652155$0E883CF3-992B-49C2-B838-97075A32CCFA","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e4e1f28aa59bf0525c2288a0676cf1005d5bb481","datavalue":{"value":"automated systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q4652155$61739FA8-FE86-4C60-8C14-195FDB29CA1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"67292365a89ce803c3fb34be1f48a66f405d83f7","datavalue":{"value":"redundancy resolution","type":"string"},"datatype":"string"},"type":"statement","id":"Q4652155$DCB854CF-35F5-4BF4-BF52-B376A9CA5A2C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5d62b3db3ac0b7e14e5b55016987da8e40646a72","datavalue":{"value":"industrial robot manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q4652155$9380C201-0B2D-4D35-95C0-F2A2BA6FCFF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9e1b98c64c0dfc3bec7cff093f965649ff45b97d","datavalue":{"value":"obstacle avoidance","type":"string"},"datatype":"string"},"type":"statement","id":"Q4652155$1120BE26-12C2-4C3A-91F2-D0448565AF0D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1e6d6f0795a8e99ebbbe2351075b4394ac353935","datavalue":{"value":"constraints of the end effector","type":"string"},"datatype":"string"},"type":"statement","id":"Q4652155$012F87FC-C2F7-4D6C-8009-F3BEBB893500","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cf55ab9ef14020a6ab4bd720538e6c792bb570e5","datavalue":{"value":"Jacobian matrix","type":"string"},"datatype":"string"},"type":"statement","id":"Q4652155$152E3B61-A58E-4696-8227-53EECC1F2734","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"85bed1824638387e9bd1410223a9ef3eacaf0644","datavalue":{"value":"kinematic functions","type":"string"},"datatype":"string"},"type":"statement","id":"Q4652155$53B6F1E9-2FE1-42AF-9F55-F09931CD9E42","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4652155$DB840738-E2A5-45FA-8C39-6440358D7867","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"cb5689ab6c66394211445685cb40ddbba245f052","datavalue":{"value":"https://doi.org/10.1080/00207720410001684530","type":"string"},"datatype":"url"},"type":"statement","id":"Q4652155$46617058-7271-4D61-8E97-5E424D6CAC45","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"bd8506c41f818617502527d49216f30c679a471b","datavalue":{"value":"W2053355128","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4652155$9FAC106F-7A7A-4333-9326-EAB8AE210617","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"39fc6d8462a06ef3e376c980b4621c4cb0bc3639","datavalue":{"value":{"entity-type":"item","numeric-id":1584813,"id":"Q1584813"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4652155$8B159A21-1CB4-427D-BDB1-3D3E58AFD8DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3990268a440682aaba993351dc856627c09f520c","datavalue":{"value":{"entity-type":"item","numeric-id":5928381,"id":"Q5928381"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4652155$55BB30FB-D1A1-49B9-BC75-1A1749035F99","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"7d28953bd0f0c2d8508713f8e55254124cfc990d","datavalue":{"value":{"entity-type":"item","numeric-id":6544798,"id":"Q6544798"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4652155$F492E3D2-3433-4C72-AD5C-C855CF04AF4B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"037de6ac584a9aa21696d674748bc2a4687ffefc","datavalue":{"value":{"entity-type":"item","numeric-id":4267108,"id":"Q4267108"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0e0f4999197fca08c6e240f63c2291fc2da4f504","datavalue":{"value":{"amount":"+0.7834115624427795","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":"Q4652155$571D4C0D-1A19-4370-ABCB-CCE1E6768504","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c21bf43821091308b5efd2993aae99b50145a8d2","datavalue":{"value":{"entity-type":"item","numeric-id":3972480,"id":"Q3972480"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f6dfc5a123a7c04dba4bfed04feaa28222911c11","datavalue":{"value":{"amount":"+0.7584854960441589","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4652155$D66325B0-E8D6-4029-86C0-5EC3C2D36FAC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3d55eab2dd50a2c05bcc60db1a67ebaba66791cc","datavalue":{"value":{"entity-type":"item","numeric-id":892525,"id":"Q892525"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f6dfc5a123a7c04dba4bfed04feaa28222911c11","datavalue":{"value":{"amount":"+0.7584854960441589","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":"Q4652155$06C77A62-07A6-4AC8-81E8-5B34B7D48026","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5f3b9128d119726b7cf057fcf30ca5b9599927aa","datavalue":{"value":{"entity-type":"item","numeric-id":4805707,"id":"Q4805707"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1fb5d84f7bcf649d43af00471b3e37187f5a7fef","datavalue":{"value":{"amount":"+0.7538157105445862","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":"Q4652155$17C61E09-3FD7-464F-BEB4-6A19A024652D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ada7c0dda67de9994e4603acb547884be7599bcb","datavalue":{"value":{"entity-type":"item","numeric-id":4206439,"id":"Q4206439"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f19f0d80f0ff0b184b5aaff7265fe06dc833e477","datavalue":{"value":{"amount":"+0.7519468069076538","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":"Q4652155$5A94234B-7F5B-4ED0-81A6-573D7FC05068","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4652155","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4652155"}}}}}