{"entities":{"Q5953537":{"pageid":8130339,"ns":120,"title":"Item:Q5953537","lastrevid":41621757,"modified":"2025-05-06T11:38:00Z","type":"item","id":"Q5953537","labels":{"en":{"language":"en","value":"The explicit linear quadratic regulator for constrained systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1695128"}},"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":"Q5953537$BB8471CB-CC53-4887-A9AE-1D292E384669","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"04311d592b8ededca2a967ef918cff047547021b","datavalue":{"value":{"text":"The explicit linear quadratic regulator for constrained systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5953537$809E82BE-7B68-4C3D-97E5-09D70ECF575A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"5d4b6b948b46a8cb12f46c5a0cf6b5667937ebb9","datavalue":{"value":"0999.93018","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$90A8CB54-45A2-4AEC-A52B-6378586BA52F","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"bfe5d20260440f0db8fce8aa404bfe88c1035f84","datavalue":{"value":"10.1016/S0005-1098(01)00174-1","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$38582FBC-9BA4-4DCD-B64E-EDA228E68F97","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"5beb9a9ab688f5bdf78593f7906c4599721bfe2d","datavalue":{"value":{"entity-type":"item","numeric-id":225272,"id":"Q225272"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$7A93F2C6-A53E-4BB1-AD02-251830CE37DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"00b629bd364942ba6afff8f0c113fe447e227616","datavalue":{"value":{"entity-type":"item","numeric-id":212274,"id":"Q212274"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$3DB3872A-FBDF-451F-AC14-CDFC98F77A35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c1c38fd7bcf11beecfbc91a9cce2dff1912a67fe","datavalue":{"value":{"entity-type":"item","numeric-id":181229,"id":"Q181229"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$8FEEDCFC-2595-478A-B399-CE84FFD1B5E3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1a09073fbce611877967cca809155a480d34a381","datavalue":{"value":{"entity-type":"item","numeric-id":181230,"id":"Q181230"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$4DF3B5F0-A4A9-40A7-810A-F0F750F40587","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$7A329ECF-8205-4449-8B41-F745908E09CF","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"82ac30fadc544187fd268bb88e1da4be75a5ee8c","datavalue":{"value":{"time":"+2002-12-02T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5953537$EEFCF00E-B4D1-4CC5-AB2A-D2B00DAFB99A","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"a26fe862bb6caed6dcc8cdc30ca3750fe78ac3ba","datavalue":{"value":"A technique to compute the explicit state-feedback solution of a discrete-time linear quadratic control problem subject to state and input constraints is presented. First the quadratic program (QP), which must be solved to determine the optimal control action, is derived. The original QP is viewed as a multi-parametric QP (mp-QP). The properties of an mp-QP are analysed, and an efficient algorithm to solve it is developed. It is shown that the closed form solution is piecewise affine and continuous for both the finite horizon problem (model predictive control, MPC) and the usual infinite time measure (constrained linear quadratic regulation). The controller can be implemented with substantially reduced on-line calculations preserving all performance and stability properties of MPC. The special on-line QP solvers are no longer required, only the evaluation of an explicitly defined piecewise linear function must be performed on-line. The proposed technique is attractive for a wide range of practical problems in which the computational complexity of on-line optimization is prohibitive.","type":"string"},"datatype":"string"},"type":"statement","id":"Q5953537$55864298-F99E-4D48-9C24-AB660CD45330","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"6cc726c4869f2144a69bbac738256ca4c721f550","datavalue":{"value":{"entity-type":"item","numeric-id":586273,"id":"Q586273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$0DE16CB2-FB33-4870-8C61-C75FC4C1E08B","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"10e7ae4f3272e1b3be03ffc40fe137c122ddd99d","datavalue":{"value":"93B40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$00481620-64D9-482D-8A29-32175A754294","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"931f9bc6fe69aba6508703df7e266476edb87eb8","datavalue":{"value":"93B51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$F767222D-9CDF-4068-A80F-A994180BF96B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"39a0025ac480893a6c3723330b06364463bbd01f","datavalue":{"value":"93C55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$ADAADAAF-C40A-4531-8FFA-4288656E5F00","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"4f721dada163db24007458df43b355d3217a6e32","datavalue":{"value":"49N10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$ED4E3754-DCE6-462D-851A-5F2E73F6E5D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"355ea56a4f84d7973d94c70a8b1f92966ec83542","datavalue":{"value":"65Y20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$3C620DF2-5657-4959-B307-4F5205272503","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"5d4639c853317c768e9eb6876a3054d36876ee6a","datavalue":{"value":"1695128","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$2D8FCCAD-86E0-4231-A0E6-CA6A68B32401","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0808e6bc6288c9c495444362d6e4af5e64583f20","datavalue":{"value":"on-line computation","type":"string"},"datatype":"string"},"type":"statement","id":"Q5953537$C690A523-7B01-45B3-99EA-CE3433EEA0AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a676eed2045b791f06a3babf3451a28a80e8b312","datavalue":{"value":"model predictive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5953537$97896D7C-3E95-4894-BC3E-5190522CF36D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9be8a1d1ade9080ba85ffe43f57128acfe2a6f0d","datavalue":{"value":"discrete-time linear quadratic control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5953537$322FCC2B-203C-4F43-8900-0931B9BD17E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"551394baf4b9b70fef0fe82234bab7b8a2460bd0","datavalue":{"value":"state and input constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q5953537$9FA0F15C-7B13-4011-85F0-A640C1007B0B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9998dc41a40a1c3e381ecb3b2372c60892f8c7f9","datavalue":{"value":"quadratic program","type":"string"},"datatype":"string"},"type":"statement","id":"Q5953537$D604AF0D-E15D-4F84-B37B-7F28D3BE7573","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"763fef36ad9c182647d39c070ea93045e568edc7","datavalue":{"value":"Q55953465","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$737CD346-2B02-4CE4-9FC0-4A8C409B1321","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"4cb43e57ab6830566ad3c5185629cdb7915b643d","datavalue":{"value":{"entity-type":"item","numeric-id":12884,"id":"Q12884"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$2361CD84-D3DF-4C41-8CBE-E8492851F8AB","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$B741A162-C607-4475-A789-B27BA54C47A1","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"914e8d77e13cca624dfef80ff0839da39c6e882f","datavalue":{"value":{"entity-type":"item","numeric-id":1306463,"id":"Q1306463"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$C9952B72-E587-4A2D-8058-F2A4C71B8964","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"11f95e2966459d411003bb5c2078b8d5ac0a17ac","datavalue":{"value":{"entity-type":"item","numeric-id":3134873,"id":"Q3134873"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$CFF174EF-0EC2-47DA-8F5B-A5031D3FB6EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"692ec6b394644d886e9b1073ef4594789f55fd0b","datavalue":{"value":{"entity-type":"item","numeric-id":3286740,"id":"Q3286740"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$19EAAC13-8646-4A36-A512-607363ED8FEE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e0081e5d9382ccdfc0cb512e615bf0b1577a4df4","datavalue":{"value":{"entity-type":"item","numeric-id":1298294,"id":"Q1298294"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$09179DE8-9DF9-4570-8C81-F8B2917C1721","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1fb23698bc8e32b2787f7f268eca3660ad43b505","datavalue":{"value":{"entity-type":"item","numeric-id":5266988,"id":"Q5266988"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$216A8BE6-E458-4413-9A0A-810B4A95F4B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"51a9bb3ce1588f7a2807855c7618067b10ac210a","datavalue":{"value":{"entity-type":"item","numeric-id":4736577,"id":"Q4736577"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$1FDD1BBD-489E-4D92-9F9F-3228A09E0A6B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"435a1088dd79680da5f37839139ec764e512d037","datavalue":{"value":{"entity-type":"item","numeric-id":1344385,"id":"Q1344385"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$A1FA7717-D3E3-494B-B8B6-4ABBAF30324D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2bd1fd6579e25473abcbb03aae4d3efec6041364","datavalue":{"value":{"entity-type":"item","numeric-id":1411488,"id":"Q1411488"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$03F2C77F-4FB7-4ED3-838D-712538B0B00E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cb59f53a3e3f66a5d99c68568915e94b34cd9791","datavalue":{"value":{"entity-type":"item","numeric-id":5943314,"id":"Q5943314"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$CD409250-B201-4D7B-BE3A-AB4118E62B60","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"04fac0f2ab2d031a427d668c7048fa8b0093a1db","datavalue":{"value":{"entity-type":"item","numeric-id":4263638,"id":"Q4263638"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$273769ED-27CC-4B07-9B77-266A7B03C31A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"26c4fcaf3c90d249a64574192453d959a1639ede","datavalue":{"value":{"entity-type":"item","numeric-id":4953380,"id":"Q4953380"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$688D006E-A36E-452C-BAFB-2F048BD15B5B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"da84a4924b34d191fc74320ac4bd4a5f593da8e0","datavalue":{"value":{"entity-type":"item","numeric-id":4297274,"id":"Q4297274"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$B95B4D24-BD45-410B-89DF-3468DC422A2C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c09dc93c61ba13fee7f9886ccf907579690a8022","datavalue":{"value":{"entity-type":"item","numeric-id":3399252,"id":"Q3399252"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$86AC81F9-FB92-47CA-965B-8B592F4639F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5a23466ac38c7f9c220c6f35f51b65a448481d66","datavalue":{"value":{"entity-type":"item","numeric-id":597202,"id":"Q597202"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$486A5AFB-83F8-4D50-A283-8D1583C83FC5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"862b2937b81d1680ddaee7bf18ac999d50b27e54","datavalue":{"value":{"entity-type":"item","numeric-id":4485279,"id":"Q4485279"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$1A732794-0052-4289-A89A-2A2D8CD2944E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a5a32ad5f7c0612f70dc0ccdffd3e2adc1c550c9","datavalue":{"value":{"entity-type":"item","numeric-id":1350170,"id":"Q1350170"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$F8377E18-5EDE-49CB-8DCF-FA39818B13E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4eb434675581ab3c7f3cab02c88db9ca6215ec77","datavalue":{"value":{"entity-type":"item","numeric-id":5933832,"id":"Q5933832"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$A779151D-B480-43C2-954E-9B903DE94473","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c4f1e0fe3cc7be0dd25d6bbc069eac1a61f6f934","datavalue":{"value":{"entity-type":"item","numeric-id":4133431,"id":"Q4133431"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$1EA7EBF4-B1B6-4429-ABCA-47DED49F14D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ba457ace3b153e7180be4d2d3fdf33f3195cb2f5","datavalue":{"value":{"entity-type":"item","numeric-id":796451,"id":"Q796451"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$B91FFD9E-E56A-4D73-8B23-D60BCF16F88B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ef7f338d15390208933298b2ea06bb24546c0621","datavalue":{"value":{"entity-type":"item","numeric-id":3928936,"id":"Q3928936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$B370918C-3B99-4059-B2E0-D7EB189F86A2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"15eba0eb74965bba287b4a3647588ff9b1b59f02","datavalue":{"value":{"entity-type":"item","numeric-id":3987118,"id":"Q3987118"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$BD27170B-F981-4CCF-B818-1325AA215538","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"67fff2b819e8b634762e19e30f5ba370d64ec61d","datavalue":{"value":{"entity-type":"item","numeric-id":1084365,"id":"Q1084365"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$B21C9624-DE89-4AD2-88AD-B11AFB20FC5E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0ae499c78f1ec4138cff34922f475e3e2da6442b","datavalue":{"value":{"entity-type":"item","numeric-id":3718587,"id":"Q3718587"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$E9F6AEDB-561F-4176-B76B-E7D5A97265EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"db9d977be6bdd14b00a9b55e76bc24949ac150e5","datavalue":{"value":{"entity-type":"item","numeric-id":1091331,"id":"Q1091331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$7AC2DD18-B3C0-4E0F-B7CE-7C151EE3F3DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"63a87d81b620c8f28c1cd94c6fae2006de8ff72e","datavalue":{"value":{"entity-type":"item","numeric-id":1344363,"id":"Q1344363"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$4166FD00-8651-4D46-85CB-6BFF84CBD9B6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5830dd5c50904f4bc7a3a876a72095c25238c459","datavalue":{"value":{"entity-type":"item","numeric-id":1298236,"id":"Q1298236"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$D46F9DE4-A560-4641-8407-40F8B4960251","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ad12d98cfe62fe6538cbba6cd5fed83c374781a8","datavalue":{"value":{"entity-type":"item","numeric-id":5947650,"id":"Q5947650"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$C084E12E-BBF1-4338-861E-4EEB6F96E176","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a198bc0cb18af162b8ad3533b4cafbfee3682736","datavalue":{"value":{"entity-type":"item","numeric-id":4279994,"id":"Q4279994"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$3839B018-8CEB-438F-B80B-452C2F01FA08","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1e1b19f218b3f772744fb74905c40fcb20568d6c","datavalue":{"value":{"entity-type":"item","numeric-id":4506531,"id":"Q4506531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$AECA926B-5526-4B68-98D1-1B43C7609FCF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ae9aa5af935cc2086c7ba36a756908101e22ea4e","datavalue":{"value":{"entity-type":"item","numeric-id":3313695,"id":"Q3313695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$1F761A95-BA88-42CB-8563-67F6D8A24259","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1187a6314a6300678cd5e54f35ff7eea8e8c9281","datavalue":{"value":{"entity-type":"item","numeric-id":4315189,"id":"Q4315189"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$0B2600DB-1FD9-4082-960C-9220858A13B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a9154f4646a7c45953fb5691c251127938be1281","datavalue":{"value":{"entity-type":"item","numeric-id":4859726,"id":"Q4859726"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5953537$9EF5D907-CDA4-48CE-801E-14543C89B164","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"11f6ee12b9f9a86a5ceb9a3bde42d8da6cff3329","datavalue":{"value":"https://doi.org/10.1016/s0005-1098(01)00174-1","type":"string"},"datatype":"url"},"type":"statement","id":"Q5953537$885359E8-CB78-4122-815D-747932EFFA09","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"be8c8163afe66b079dae50463a1f7cd14669659f","datavalue":{"value":"W1993170675","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5953537$40F20965-80E0-47C8-B3E8-405F557DE932","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f8554749bb2b2466fc986719a997eb39e6101157","datavalue":{"value":{"entity-type":"item","numeric-id":4896758,"id":"Q4896758"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c149690989ac1e61afd7c4c8b91187e4ce847829","datavalue":{"value":{"amount":"+0.93956876","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5953537$C741BE58-A308-44CA-A7CB-BF4E5BFEA766","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0e8c677c423e54ca6db68c47f4cbe04aa3729f17","datavalue":{"value":{"entity-type":"item","numeric-id":2930456,"id":"Q2930456"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dd66038182b023965fa050aa367c74335b6ed32d","datavalue":{"value":{"amount":"+0.9364869","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":"Q5953537$830B7740-8665-4BB5-8A78-C3DED3E363FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ae6cab43068f74fdddba1fabf96007bf4994c8bb","datavalue":{"value":{"entity-type":"item","numeric-id":5266857,"id":"Q5266857"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5b4e13f1e530b67c2d4d0d1c8a18eea6c3885345","datavalue":{"value":{"amount":"+0.931085","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":"Q5953537$2ECCEA09-84BD-4ECA-BD14-02D264E25B5F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b59b7f1dc3dc7d0af99b2859d1afaf94399b16ab","datavalue":{"value":{"entity-type":"item","numeric-id":1614350,"id":"Q1614350"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d179cb00edfe492476915d9c4e69ad3688abc5f5","datavalue":{"value":{"amount":"+0.92904985","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":"Q5953537$78054F57-0104-49AD-8447-030093EEDBBD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"44164b272450bc54cbf52c2fd91ed90542f4b07a","datavalue":{"value":{"entity-type":"item","numeric-id":4506531,"id":"Q4506531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f75155c818c3f97db07ec6e8309354533266b587","datavalue":{"value":{"amount":"+0.92497885","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":"Q5953537$0BE61F35-9F13-428F-B407-E1F79E499285","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0297ee20fc8085ba95d95e49b3298f4a5bade807","datavalue":{"value":{"entity-type":"item","numeric-id":6080251,"id":"Q6080251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"979ab14cffbfed34434aa2372ff47c885937c348","datavalue":{"value":{"amount":"+0.92348444","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":"Q5953537$47996DF8-0D87-4D0D-827C-4981B14DD7B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6d96c2d4a347882085d9395b81781c3a49e85fc2","datavalue":{"value":{"entity-type":"item","numeric-id":3352952,"id":"Q3352952"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a28e917acfc11e19142fecb44d6ec424f92360da","datavalue":{"value":{"amount":"+0.9228969","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":"Q5953537$7A550195-07FE-47C1-B79B-9B35D7C08086","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7b6244853f7004e4b7ea5d2163219897396b8330","datavalue":{"value":{"entity-type":"item","numeric-id":5502975,"id":"Q5502975"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c458cd9029565ceecc6d5224691e1d235fd2b57b","datavalue":{"value":{"amount":"+0.92277586","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":"Q5953537$4AEB54D1-C9A3-475D-92D5-16690B98CD5B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d11a96fabe0dfb4a0087917d6b15e54db2562c7a","datavalue":{"value":{"entity-type":"item","numeric-id":5282119,"id":"Q5282119"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a65b104bae7d4e27cb97207dfc7238d12caf2de3","datavalue":{"value":{"amount":"+0.9203509","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5953537$C136A783-24AC-4DE2-A757-BAD75D249D71","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4e07f7415f48437bd19f388bb729a95128989fc3","datavalue":{"value":{"entity-type":"item","numeric-id":4978956,"id":"Q4978956"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"712e7279472277cf019b312566db501430066c24","datavalue":{"value":{"amount":"+0.919822","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":"Q5953537$D1B715A2-F9C6-484D-8590-A956107FB0FA","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:5953537","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:5953537"}}}}}