{"entities":{"Q4653671":{"pageid":6683252,"ns":120,"title":"Item:Q4653671","lastrevid":41838236,"modified":"2025-05-08T22:00:19Z","type":"item","id":"Q4653671","labels":{"en":{"language":"en","value":"Stabilization of Multiple Constraints in Multibody Dynamics Using Optimization and a Pseudo-inverse Matrix"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 2141483"}},"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":"Q4653671$86D34006-BDED-46A6-A4A2-EF76828795DD","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"7dc3784ae293b4b227c07e7653b60c4e7e85c3f6","datavalue":{"value":{"text":"Stabilization of Multiple Constraints in Multibody Dynamics Using Optimization and a Pseudo-inverse Matrix","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4653671$53FC4527-9586-41AB-9B4D-C5EF92C88139","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"c2b60fc285c18d2b8f8ec8a8dc057858b0b5bf5d","datavalue":{"value":"1083.93048","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4653671$6B5A75A2-9082-4378-9E43-A8DAC99EE176","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1770c404e308b19f58d0b9f79c4c4f522edf44ce","datavalue":{"value":{"entity-type":"item","numeric-id":2709983,"id":"Q2709983"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4653671$EEFD520C-2A00-46E0-BC33-A817A68BF954","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"626dd502a2833fa0710133a8ecb4bd32858b94f0","datavalue":{"value":{"time":"+2005-03-07T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4653671$4C18BBA5-85FE-4030-8C7F-12BEFAA805BD","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"3fa095bb3bf66596c03e919c1fadee64a694f5be","datavalue":{"value":"http://hdl.handle.net/10.1076/mcmd.9.4.417.27898","type":"string"},"datatype":"url"},"type":"statement","id":"Q4653671$923C539E-E14A-4897-B00A-203133E214A0","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"406c80d213b264ba577b5aab979b8ac352491ba7","datavalue":{"value":"93D15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4653671$0B86CB41-38CA-47D6-98D1-BF61E3FBC8C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4653671$A3831F6A-4727-445C-A75A-640B98195BF4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"2fe80f99e8c18bd4fd8b01ba9d118d0847fb1a9a","datavalue":{"value":"70E50","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4653671$A7444058-3FB2-4EFC-9D8D-6E5F170BDE79","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"53b71bd65d6a4dd0dba5dae1fe54746b9bdd1051","datavalue":{"value":"70E55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4653671$592009FE-36D2-4A68-A30A-CD9460416EC3","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c8fd040f79222825d98a3a5d7a82bfdbb816a41b","datavalue":{"value":"2141483","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4653671$CD0B0F13-8C38-40EB-9EE0-C154EF950FB8","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"08398e5087ee5b3f228d5fdfd666cc3b84b2141a","datavalue":{"value":"Multibody systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q4653671$99CED408-BD2A-43B5-B629-B248985B0762","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bd27e46592f130330ebc1251c159880402faa66b","datavalue":{"value":"dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q4653671$4331BD78-2CE6-494D-A5B6-DB111EBB1A4E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"74b63b086da7b1823f2c96215fbb87ca9fd6792c","datavalue":{"value":"constraint stabilization","type":"string"},"datatype":"string"},"type":"statement","id":"Q4653671$1C927C7C-BF3C-4A26-85F5-A6F33CF0712F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c27024bc3112e6fbf1cca0a9a4aacb8e7e4a77e0","datavalue":{"value":"optimization","type":"string"},"datatype":"string"},"type":"statement","id":"Q4653671$146505E3-5D83-4688-AAF3-CC74A4126A20","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e2227ccebddf5bf9a2b06884aace9f57abc7a7cf","datavalue":{"value":"pseudoinverse","type":"string"},"datatype":"string"},"type":"statement","id":"Q4653671$55A89ABD-5148-4924-9935-5BCB550D18CD","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"e1a70106f8dea773e4e2bb42b81110437a69900d","datavalue":{"value":{"entity-type":"item","numeric-id":1826409,"id":"Q1826409"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4653671$739DF164-5FB0-4107-A320-FDEDAF755E3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"91f6a2aad2cf5f7a67acad42e744b7001f20736c","datavalue":{"value":{"entity-type":"item","numeric-id":1301010,"id":"Q1301010"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4653671$076081A9-CA4D-4EA8-AFFF-0FD8C4DAD98C","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":"Q4653671$74B4C519-6DA0-4CCD-B741-B4B079EE835C","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"c77f093891de75e53174aa48002756b4f1f4599d","datavalue":{"value":"W2086546889","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4653671$20FACF1E-9CD1-40B0-AF24-3C8F1209A16E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"7a9430abd82bbe96bcee1ca132a592ab44b5a7c2","datavalue":{"value":"10.1076/MCMD.9.4.417.27898","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4653671$5B06A030-E3FE-48B9-8683-B489CA18EF6B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"45d1d67a4f164a900820576b1a470991703789c4","datavalue":{"value":{"entity-type":"item","numeric-id":5699634,"id":"Q5699634"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5c48cdf603f9cdf696a74c5eaf64d05d6d8852c0","datavalue":{"value":{"amount":"+0.9027529","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":"Q4653671$0677B4B5-CF43-4132-93D7-648DAE1E9FC3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4ae19ce499f73566027f329412ff45bda1e96813","datavalue":{"value":{"entity-type":"item","numeric-id":6168643,"id":"Q6168643"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"843c89394d3cfd0f1551585f67abaa692beb8ae7","datavalue":{"value":{"amount":"+0.9017113","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4653671$AFC11A11-9E93-48C5-A1F1-8E3AE00CCE78","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":"c602410ea071272c1fca18d8371bcbe965e33c7c","datavalue":{"value":{"amount":"+0.89598113","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":"Q4653671$43FBB4B0-81BF-4CA5-910F-B45E2CD85299","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"919b82b32594b65b6f9fed3f3f2e978d0640a33f","datavalue":{"value":{"entity-type":"item","numeric-id":1422945,"id":"Q1422945"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a8dc44dd9737cc69d7fe7015dc5a6ce8525130f0","datavalue":{"value":{"amount":"+0.89480054","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4653671$B51094D5-DE58-4DE3-B42C-1470A49BD40A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3234286d0a499d568a0c9880f78cee531f01a07b","datavalue":{"value":{"entity-type":"item","numeric-id":753512,"id":"Q753512"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5e01b82c1e446741c7792f6b5dcf46a4167607c5","datavalue":{"value":{"amount":"+0.8928092","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":"Q4653671$E41ADA79-888A-4ACC-9B84-F44E04089FB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"73d349de68a1e9416c23bae244012ffd798b754b","datavalue":{"value":{"entity-type":"item","numeric-id":2639651,"id":"Q2639651"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8db1c51371967d85a7654ec34845ce87c4ff691d","datavalue":{"value":{"amount":"+0.89138687","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":"Q4653671$0C4A41C0-CF94-4488-AE14-402D2B5E1A02","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f8133374db84648412308a9958321a8718a3526d","datavalue":{"value":{"entity-type":"item","numeric-id":3623394,"id":"Q3623394"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9de513c11c6f08112d83694f258a16ca9090588d","datavalue":{"value":{"amount":"+0.890954","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":"Q4653671$3C483735-0C8E-4C6F-BEDC-588AF2DFA618","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"19993d3bd3c2c45fce2e96d16281bedb5fcd4aa6","datavalue":{"value":{"entity-type":"item","numeric-id":4026269,"id":"Q4026269"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8a1f343d98f91f22543c33b0eac3da0a14430c31","datavalue":{"value":{"amount":"+0.8907651","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":"Q4653671$34FCB85D-10A9-438A-AF18-0A2B02400F62","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a7da2b86873129d2014babbd6595404af8185b75","datavalue":{"value":{"entity-type":"item","numeric-id":2781023,"id":"Q2781023"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"06cbd11180d7c2720b8af566a0fc48f268d86700","datavalue":{"value":{"amount":"+0.8906251","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4653671$A1CCD337-F009-4A7B-B0C3-105F1368C394","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4653671","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4653671"}}}}}