{"entities":{"Q6089757":{"pageid":13224064,"ns":120,"title":"Item:Q6089757","lastrevid":55512229,"modified":"2026-02-17T17:59:52Z","type":"item","id":"Q6089757","labels":{"en":{"language":"en","value":"Anti\u2010Swing control of the Pendubot using damper and spring with positive or negative stiffness"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7764180"}},"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":"Q6089757$467323DA-8276-4A52-8067-66DD6275AF15","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"a188f7e51cfaf53d64c6d72a580107f5406256b0","datavalue":{"value":{"text":"Anti\u2010Swing control of the Pendubot using damper and spring with positive or negative stiffness","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6089757$40A0A8BE-77B6-4AEE-A1DA-A4A4261439DE","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"76daa5b93beb1d4e6ac2cb6aa5ecf43df2ac4a2c","datavalue":{"value":"1526.93179","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6089757$CD66732B-7382-4AA1-ADFB-2F7B41DD1FBB","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"0039f162457bebe9e9168bca2142daeb137ebeba","datavalue":{"value":{"entity-type":"item","numeric-id":242637,"id":"Q242637"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$0FD30D66-F26E-4FF9-9DDF-76C30AEE28A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"03696ccf7737fbfa61e8d9dfc34271e2345d4a39","datavalue":{"value":{"entity-type":"item","numeric-id":6089756,"id":"Q6089756"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$589BC873-1DF7-4FF7-9B0D-E9196B70A683","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"59f189dda415355b4170bf32fd8b6a081c830db3","datavalue":{"value":{"entity-type":"item","numeric-id":313289,"id":"Q313289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$9BAA70A8-BA55-428A-ACC1-18C49D2F55C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"efd8e2064e5118fb0f7db1cf9c1deb25796e0250","datavalue":{"value":{"entity-type":"item","numeric-id":1036662,"id":"Q1036662"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$C79CFCF3-B608-4BDC-BBB7-855793704A72","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6f8254592bb5d87337ee2a48b5bfca8bad9a4537","datavalue":{"value":{"entity-type":"item","numeric-id":437285,"id":"Q437285"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$60B57124-BE3F-4912-8B22-4A139094C2E6","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":"Q6089757$9376AD48-F722-47E1-8640-2561CEF0C1CB","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"42ed0c57ac390f46a926333fbce8dfcfda708bf7","datavalue":{"value":{"time":"+2023-11-13T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6089757$651E3F95-EF34-4479-B82B-A825B1F2C1A2","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6089757$53CF789C-9A90-453A-A334-1001BB78904E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b2650696ed3935a49b70cc972e8bc0c67a8cd2c3","datavalue":{"value":"93D05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6089757$85F6DF52-3D79-48C9-BF36-8E215027C800","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6089757$051A9574-C0F7-4C2F-A38F-B2E6023C2720","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"bea01baddac2189dcd81f24a1455faee596e4f09","datavalue":{"value":"7764180","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6089757$CF2DF34B-02F8-4917-8EDE-DB99B09A4788","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"90e90b880f7e9d472fa3205eac7301205f9323eb","datavalue":{"value":"anti-swing control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6089757$FCE94E2C-139F-47AF-9E14-BC1884D23AB3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"331498d73b8f163f353a1536cf91dc0e8cea759a","datavalue":{"value":"linear or nonlinear spring","type":"string"},"datatype":"string"},"type":"statement","id":"Q6089757$7F89BB4F-C670-47B3-9890-1D64A1400E3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1c32f28bcd3e331eb1b4e5986196aac83854b47b","datavalue":{"value":"Lyapunov stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q6089757$1924D337-A3E6-479A-BEEB-4E23D613F79E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a07df9d78115e418aea2e6992166c70f6ed9ab8b","datavalue":{"value":"negative stiffness","type":"string"},"datatype":"string"},"type":"statement","id":"Q6089757$3BD28A54-FA3D-4C7C-98EA-F104DE7EC6C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1099d3774835e99f71b0be7ad3c7400fded8078a","datavalue":{"value":"nonlinear control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6089757$888C8E0C-04C5-4089-8FB0-05FE3E2ED7CD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9babb75892d14bccc280c5c6ba5ffedf2f051d98","datavalue":{"value":"passivity","type":"string"},"datatype":"string"},"type":"statement","id":"Q6089757$7D8C206C-5A8E-40C0-9E9F-F1FBC0BC3C0A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"dc7483d217fc2150d2450fa3cac07049eab196b7","datavalue":{"value":"Pendubot","type":"string"},"datatype":"string"},"type":"statement","id":"Q6089757$2C282DB5-75F6-44B8-AF5B-B240B1CB8837","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1313e81ec853c453b6816353ece60b57a1f2af57","datavalue":{"value":"underactuated mechanical systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q6089757$BCAD39B5-9713-4F25-8F79-C980C4301756","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":"Q6089757$F77A3AB3-FF78-4483-94E4-ABED7622E4FA","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"8454578228ec826325ab1f53ba7885ed676f32a7","datavalue":{"value":"https://doi.org/10.1002/rnc.5472","type":"string"},"datatype":"url"},"type":"statement","id":"Q6089757$37527CA8-2922-4DA2-BD98-DACF0AEE71CE","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"e26aeecff0ae6cbac3bfeaa193d2df3dbf601d0a","datavalue":{"value":"W3135419405","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6089757$15D468C2-CD0F-446B-8D2A-F2C2830A6F54","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"23ad2f10513a1d0e2283e94f630fe5b980ac22d4","datavalue":{"value":{"entity-type":"item","numeric-id":1962010,"id":"Q1962010"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$CA989170-C02D-45C9-9091-3F312D15F1CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"487f95e6cdec1a3a4e4794a4678c685b3db88042","datavalue":{"value":{"entity-type":"item","numeric-id":5223456,"id":"Q5223456"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$8F891E69-1849-496C-B188-5D0D21F7995F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1e7bb8c19ddd44ecd9b149a100b82c55d7ee9ef9","datavalue":{"value":{"entity-type":"item","numeric-id":4966627,"id":"Q4966627"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$DB1684BF-4092-4B4D-86E1-839D63DA6E70","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"306aa94db10a1dbde63da29c27156e90ca0393d3","datavalue":{"value":{"entity-type":"item","numeric-id":4507123,"id":"Q4507123"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$3343F0FD-B70A-4DB7-8006-DFA8188096CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"df4284e23359a8e70fab9bbb16f0bf0aba9a25c1","datavalue":{"value":{"entity-type":"item","numeric-id":2925103,"id":"Q2925103"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$06AEA9BB-3EE1-4D2C-B22F-B67476D1708A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$C49AB852-E733-4530-8307-99E9CC90B7DC","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":"Q6089757$826D35D6-C8F7-4415-B65B-D0D92B38F6D6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"95c549599c89704316ed1f755dacb90b0a558390","datavalue":{"value":{"entity-type":"item","numeric-id":4978305,"id":"Q4978305"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6089757$534989E7-7C46-4476-85AD-081590CFE816","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"68ac7b4f62f8bc636602b5176310cea4efeb74fe","datavalue":{"value":"10.1002/RNC.5472","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6089757$8F2F174A-E0FA-422D-88E9-E2E562233525","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bcef7b2aac3110a621d80fe366d49b47a7db3cf3","datavalue":{"value":{"entity-type":"item","numeric-id":4507123,"id":"Q4507123"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dd161d68cbbb2e9ae727082f830e902bbc32509a","datavalue":{"value":{"amount":"+0.7488977313041687","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6089757$BC317797-1B2A-4B52-B646-91D560C8D54A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"25e11875eb308dacada0db2c55c19013abfd284a","datavalue":{"value":{"entity-type":"item","numeric-id":617337,"id":"Q617337"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"15c693f58e35fcedb6e76d6d825390b533a0ff00","datavalue":{"value":{"amount":"+0.7327097654342651","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":"Q6089757$8B2E625E-BED3-4587-91B4-20464792F6A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0a2eda55389e743f7f97c8eb743ceaa34b38a706","datavalue":{"value":{"entity-type":"item","numeric-id":6563305,"id":"Q6563305"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"96214572f6358dc3033b9fd54eebf2cb99a43840","datavalue":{"value":{"amount":"+0.7205423712730408","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":"Q6089757$26F339C0-2CF0-411E-A022-9A40BFE4F84B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"16258333e5ea5b4c1de80de5e8978434d8dcea8b","datavalue":{"value":{"entity-type":"item","numeric-id":3527008,"id":"Q3527008"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"13daf6ee9e5431058bd1a693d660761c8aff6604","datavalue":{"value":{"amount":"+0.7087146043777466","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":"Q6089757$0E7439D2-58F3-41F4-B2EF-A25BE0BFF003","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"de37cfa7dbf6ccc35d786f2027d06d37ca519a9d","datavalue":{"value":{"entity-type":"item","numeric-id":6161328,"id":"Q6161328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c394bc203815b443a37cb6aee0005be3a9a38c51","datavalue":{"value":{"amount":"+0.706504762172699","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6089757$AE027AB1-B7F9-4785-A769-D3655C1E49A1","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6089757","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6089757"}}}}}