{"entities":{"Q6060817":{"pageid":13194972,"ns":120,"title":"Item:Q6060817","lastrevid":93862598,"modified":"2026-06-05T05:18:27Z","type":"item","id":"Q6060817","labels":{"en":{"language":"en","value":"Bounded inputs total energy shaping for a class of underactuated mechanical systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7772137"}},"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":"Q6060817$32D326E4-60BD-4AD6-B8F8-8DC8036D1ED8","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b6d3cc5f6f8b101276d59c0e28d955e93f204501","datavalue":{"value":{"text":"Bounded inputs total energy shaping for a class of underactuated mechanical systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6060817$E76D774F-322D-4A93-839A-BEECC44121D3","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"f377a49b1f7b7fc3bb6e66a486d0a7f56203a3ae","datavalue":{"value":"1527.93181","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6060817$334E4206-4E83-4A3F-994D-8D12DF5DEDBD","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"0889413977be8c14fd037e2c5d33bc7c42c851cf","datavalue":{"value":{"entity-type":"item","numeric-id":2235455,"id":"Q2235455"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$7A75FEF4-D9A9-4BC2-85A1-FCFE565B73BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"73bf3f96f11afc64737da2a496232ec2d14129de","datavalue":{"value":{"entity-type":"item","numeric-id":341695,"id":"Q341695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$1BC29DE9-77F2-4B24-9155-B669D3E88926","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"fd3fa6786c354a2083b0dc4646d8f5a361b962b6","datavalue":{"value":{"entity-type":"item","numeric-id":2118675,"id":"Q2118675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$1262A553-8469-4787-83AD-00052B6DD46A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"cf7a75dd87809d9cfa475790b7cfa87649dcc5eb","datavalue":{"value":{"entity-type":"item","numeric-id":450680,"id":"Q450680"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$66D4E2D6-8E83-4274-B00D-237BB71E9B35","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"50b8674a675fb6cb1ce5f58b071e4afdb153e2c6","datavalue":{"value":{"entity-type":"item","numeric-id":2710025,"id":"Q2710025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$F5DC863E-32F0-4089-A832-B4FA44E1CECC","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"01631c854630ed714e7bde5f01c31cef10bc1d8d","datavalue":{"value":{"time":"+2023-11-29T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6060817$889A6F23-34FB-45AC-AAAF-CE16DAC0F9C6","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"15510652446e95999e4ef0ae5f07adb4b5d14b96","datavalue":{"value":"https://arxiv.org/abs/2104.02337","type":"string"},"datatype":"url"},"type":"statement","id":"Q6060817$6E39817E-7509-43B1-A400-59A3FB2B63F0","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6060817$A445982E-BA5C-4519-9821-97E056FE544F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6060817$18906BEB-43D2-4674-A3AF-331919C53654","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"7c8a01be64086b4f9d696f5bbe119510bca42f9a","datavalue":{"value":"7772137","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6060817$0310613B-7A3F-4DDF-BF9F-452E1C498B2C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8e319a25c3d4d6fcd62a03f4e38a5d43c1e85f63","datavalue":{"value":"actuator saturation","type":"string"},"datatype":"string"},"type":"statement","id":"Q6060817$279D2674-F2F7-43C0-A70C-F3D37460ACE3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0c7ce95da52a83a9c97305e8413c0738205ab229","datavalue":{"value":"bounded input","type":"string"},"datatype":"string"},"type":"statement","id":"Q6060817$49F3E2D6-6173-4D36-B063-F95ACFDB337B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2462ad2c95a027acdf456b24d4883daf25aa7877","datavalue":{"value":"total energy shaping","type":"string"},"datatype":"string"},"type":"statement","id":"Q6060817$8359FF1A-F6B0-4841-860A-1FD887CB3F51","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1313e81ec853c453b6816353ece60b57a1f2af57","datavalue":{"value":"underactuated mechanical systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q6060817$EF326BC4-6D9E-44A2-853F-1925BAAF9184","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f66d4af2b38c5a1a5041f265dd1649ae6322d193","datavalue":{"value":"velocity bounds","type":"string"},"datatype":"string"},"type":"statement","id":"Q6060817$B71F0742-6FA0-4343-9B17-0E20CF8189BC","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$DE7C1AA1-952F-4FA5-BD92-99A82CAEDF3E","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"b76f8f6a11cd10c2d1dee0f2e4dbaca0ec90e22e","datavalue":{"value":{"entity-type":"item","numeric-id":5293158,"id":"Q5293158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$BFAA3A32-6967-452C-9D44-2F9F5B39A543","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d136eadcb890cff94830566ce569c9a6e4d9adf9","datavalue":{"value":{"entity-type":"item","numeric-id":2476228,"id":"Q2476228"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$50A2068A-7234-44FE-8416-6C505ECE2841","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"78e2d939e1e794a361b3c98c3e3b972cfe681aa2","datavalue":{"value":{"entity-type":"item","numeric-id":910372,"id":"Q910372"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$B9D070AF-12FE-4C32-96E7-3916310A168D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2146437f7fe10ea99f27930aff2f397bf658311","datavalue":{"value":{"entity-type":"item","numeric-id":5267101,"id":"Q5267101"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$CC23E38E-45BB-4481-BFCF-B9035F21F64A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3f41691a5ecb1c79e5c8aa0dc482a85d957498b2","datavalue":{"value":{"entity-type":"item","numeric-id":3929603,"id":"Q3929603"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$AE7FFE07-D8AD-48CE-B843-727D5BB997A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4d82928864423c75ccdd368024713544c5b26fee","datavalue":{"value":{"entity-type":"item","numeric-id":5348665,"id":"Q5348665"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$B48775DB-9B29-44D0-B0CF-CFDFF4E2DDE2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2947eaef3a0461313a29ec7cf2630de22f73ac41","datavalue":{"value":{"entity-type":"item","numeric-id":6054869,"id":"Q6054869"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$FA3A81FE-BC4D-4257-9EB3-A1BA72B1B87C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ee48178f394856a78c665172b3b2ca7a0a09c8a1","datavalue":{"value":{"entity-type":"item","numeric-id":5227233,"id":"Q5227233"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$0EF050F3-9FEA-4399-AB0A-974EB1DA3D4A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fb62506706733fec9368112ea07ffd81683927b7","datavalue":{"value":{"entity-type":"item","numeric-id":313305,"id":"Q313305"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$C400E51D-8418-4FB6-97DF-D39B420F32EC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e591328f01f1a010a55d01bc0651109c5b28b2ce","datavalue":{"value":{"entity-type":"item","numeric-id":2980292,"id":"Q2980292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$D2C0D537-3047-46F7-920E-9A1FD564E5D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1f60060a3595dc2385729c453fbf13bd1c42d8cd","datavalue":{"value":{"entity-type":"item","numeric-id":3727813,"id":"Q3727813"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$22F7824C-58ED-4B02-831A-FB66F3C863C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"795e07d550f383722d2035f379c4e69c46307d27","datavalue":{"value":{"entity-type":"item","numeric-id":2511927,"id":"Q2511927"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$F366B847-5D55-4D07-9646-17A6708D5CEF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4760d704cee17801e6a9d4fad7335da86b3e7b69","datavalue":{"value":{"entity-type":"item","numeric-id":5274235,"id":"Q5274235"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$2EC9D4EF-53B8-4C47-A7BB-8B7C701B122D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6307aa830a99376e4e24c1229b102fe41741c4de","datavalue":{"value":{"entity-type":"item","numeric-id":5294645,"id":"Q5294645"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$05DC7930-7E56-43A3-A9A6-BAD9965D966B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"612785a8452b25734eddbd581eb0dc4c899ac7f7","datavalue":{"value":{"entity-type":"item","numeric-id":4357991,"id":"Q4357991"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$7ABC6FEA-E18D-419F-A572-0BFC301DAF76","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$C4F9D81E-555B-4293-9B24-8B37214CC591","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$F4D7BCB0-D729-44F6-B8B7-51183DE51C1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"adc9ebe1c03126818aa8c408d9d5749b591b6597","datavalue":{"value":{"entity-type":"item","numeric-id":2374479,"id":"Q2374479"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6060817$684E9646-3547-4463-AFD3-F0B10219496A","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"387d80468a06ddc639fa41c3dca902c9decb4a44","datavalue":{"value":"10.1002/RNC.5765","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6060817$71A9962A-088C-49F2-8127-AE090C1CED73","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"319ccf01ff413bf700b7cd66fd497a75f63e2b50","datavalue":{"value":{"entity-type":"item","numeric-id":6173505,"id":"Q6173505"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"aa540b63077144dc208dae2b4e55df222a043b01","datavalue":{"value":{"amount":"+0.902938","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":"Q6060817$1CF3243E-A351-4AC5-96C4-FC2B8AE45CB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3593c170bbe4ffdd9175d8883d3cde64b601a4c6","datavalue":{"value":{"entity-type":"item","numeric-id":2840122,"id":"Q2840122"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"81fc9b59b21449cd957e57e0e5a1d54c06b0116b","datavalue":{"value":{"amount":"+0.89869356","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6060817$C959E0C7-B715-474F-910B-C287F0A06056","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b518f45bf897a301980dfe32168c0ffea19a5be2","datavalue":{"value":{"entity-type":"item","numeric-id":5282153,"id":"Q5282153"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"529c4838fddcd2f254efa4e6bfe058d9b3ff079d","datavalue":{"value":{"amount":"+0.8952052","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":"Q6060817$99E8B57F-CC30-4BA7-8930-BAE63D8119BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"332ff739e7e63e73ad1970b3cb125b55d86dd913","datavalue":{"value":{"entity-type":"item","numeric-id":5436768,"id":"Q5436768"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"529c4838fddcd2f254efa4e6bfe058d9b3ff079d","datavalue":{"value":{"amount":"+0.8952052","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":"Q6060817$7D83A326-43EC-4747-A288-10E730C7AF1A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"609d8d1c4b4ef72dc8d764ca5e323296291147f6","datavalue":{"value":{"entity-type":"item","numeric-id":2637595,"id":"Q2637595"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"76d4e5476171d6f29ce5602940ed1265162c87d2","datavalue":{"value":{"amount":"+0.8852222","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":"Q6060817$36E2CCBB-281B-4C3A-852C-76F7F2F154B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9cab5cf6bc1955463aa699bea1cae8a8efe9ce90","datavalue":{"value":{"entity-type":"item","numeric-id":2797649,"id":"Q2797649"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4289e34143006db1731964d72c6737dc02be09ec","datavalue":{"value":{"amount":"+0.87942004","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":"Q6060817$165EB549-1ED7-435B-8E60-7CF3A7B1C1C9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7ec8e0a5100ca34ea5540a8dd39ab7ab68feee00","datavalue":{"value":{"entity-type":"item","numeric-id":6085137,"id":"Q6085137"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"62ab9027d63c32257daeb191a14311cbfcf65c81","datavalue":{"value":{"amount":"+0.8785597","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":"Q6060817$76089CB9-0E82-43E6-BA60-3FB6E8723CF4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cad700e2be864bce05a96473f349714fcd5fb4da","datavalue":{"value":{"entity-type":"item","numeric-id":6180519,"id":"Q6180519"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d9dc10c33df57f35a20118841fd5f80ff6cef384","datavalue":{"value":{"amount":"+0.8764119","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":"Q6060817$115ED113-5FA7-4D7F-B26F-04E46203DAC8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"903d81efc93547ffac0c01cb831f41d59c91b2a9","datavalue":{"value":{"entity-type":"item","numeric-id":1660545,"id":"Q1660545"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bf1d91b53b83010629a933303e66c0ddbc9cbe9e","datavalue":{"value":{"amount":"+0.8694042","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":"Q6060817$67604236-769E-40BE-8BF1-90E9CE5C52B2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7d470400ca538a15f7d9145c6201ff35192f7a2c","datavalue":{"value":{"entity-type":"item","numeric-id":1003512,"id":"Q1003512"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3b33a479b40de7fb101571b961619908eb2dd31c","datavalue":{"value":{"amount":"+0.8638835","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6060817$E7DF63E1-50EC-4B54-915D-980B1D935EB3","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Bounded inputs total energy shaping for a class of underactuated mechanical systems","badges":[]}}}}}