{"entities":{"Q6155315":{"pageid":13289752,"ns":120,"title":"Item:Q6155315","lastrevid":55455973,"modified":"2026-02-17T16:48:36Z","type":"item","id":"Q6155315","labels":{"en":{"language":"en","value":"Normality and second-order optimality conditions in state-constrained optimal control problems with bounded minimizers"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7694709"}},"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":"Q6155315$6934F3F1-0DC6-4C51-8F7A-7703451D65B8","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b546dff4624f53106100f00d88f96b2d9d1dab27","datavalue":{"value":{"text":"Normality and second-order optimality conditions in state-constrained optimal control problems with bounded minimizers","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6155315$D4D4FABD-934B-49C9-A110-27480578C90D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"fc0ae9a5fff6e7325a9cb715e6eaa855281b569d","datavalue":{"value":{"entity-type":"item","numeric-id":268025,"id":"Q268025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$F76D5AD2-6DCF-4FD2-9A8C-BD266832A4EE","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"dbc27535bfcb4e299a598bcfdfab0633ac07a0ef","datavalue":{"value":{"entity-type":"item","numeric-id":169790,"id":"Q169790"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$F9A59573-5E0C-4487-8E61-2EBA4FAAB4CB","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"0e4620bd86abefef837721d712e51cc457b512df","datavalue":{"value":{"time":"+2023-06-12T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6155315$BF7357CE-DCE1-4660-99C6-38A3D7803BBD","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"35d2cde9afd3f5826500e92b5d5d3d9eda7f0535","datavalue":{"value":"The author considers the optimal control problem: \\(\\varphi (p)\\rightarrow min \\), \\(\\overset{.}{x}(t)=f(x(t),u(t),t)\\) for a.a. \\(t\\), \\(e_{1}(p)\\leq 0\\), \\( e_{2}(p)=0\\), \\(u(t)\\in U(x(t),t)\\) for a.a. \\(t\\), \\(g(x(t),t)\\leq 0\\) for all \\(t\\) , where \\(p=(x_{0},x_{1})\\), \\(x_{0}=x(0)\\), \\(x_{1}=x(1)\\), \\(t\\in \\lbrack 0,1]\\), and \\(U(x,t)=\\{u\\in \\mathbb{R}^{m}:r(x,u,t)\\leq 0\\}\\), where the mappings \\( \\varphi :\\mathbb{R}^{2n}\\rightarrow \\mathbb{R}\\), \\(e_{i}:\\mathbb{R} ^{2n}\\rightarrow \\mathbb{R}^{k_{i}}\\), \\(f:\\mathbb{R}^{n}\\times \\mathbb{R} ^{m}\\times \\mathbb{R}\\rightarrow \\mathbb{R}^{n}\\), \\(r:\\mathbb{R}^{n}\\times \\mathbb{R}^{m}\\times \\mathbb{R}\\rightarrow \\mathbb{R}^{q}\\), and \\(g:\\mathbb{R} ^{n}\\times \\mathbb{R}\\rightarrow \\mathbb{R}\\) are such that \\(\\varphi ,e_{1},e_{2},f,r\\) are twice continuously differentiable and \\(g\\) is thrice continuously differentiable. The control process \\((\\overline{x},\\overline{u}) \\) is regular with respect to the constraints, if for all \\(t\\in \\lbrack 0,1]\\) and \\(u\\in \\mathcal{U}(t)\\), the closure of \\(\\overline{u}(\\cdot )\\) with respect to the Lebesgue measure, the system of active gradients \\( (r^{j})_{u}^{\\prime }(\\overline{x}(t),u,t)\\), \\(j\\in J(u,t)\\), the set of active indexes for mixed constraints, supplemented, for \\(t\\in T_{0}=\\{t\\in \\lbrack 0,1]:g(\\overline{x}(t),t)=0\\}\\), the active set for state constraints, with the gradient \\(\\Gamma _{u}^{\\prime }(\\overline{x}(t),u,t)\\), where \\(\\Gamma (x,u,t)=\\left\\langle g_{x}^{\\prime }(x,t),f(x,u,t)\\right\\rangle +g_{t}(x,t)\\), is linearly independent. The author proves properties of such regular control processes. The author introduces a notion of normality for this problem, which is based on the linearization of the control problem and the corresponding linearized differential system. The control process \\((\\overline{x},\\overline{u})\\) is normal if the rank of some controllability \\(k\\times k\\)-matrix \\(Q\\) is equal to \\(k\\). Given the reference control process \\((\\overline{x},\\overline{u})\\) and a pair \\((\\delta x_{0},\\delta u)\\in \\mathcal{X}\\), the author introduces appropriate spaces and operators and he proves continuity and surjectivity properties of these operators. The main result of the paper proves second-order necessary optimality conditions.\\ If \\((\\overline{x},\\overline{u} )\\) is an optimal control process which is regular with respect to the constraints and normal, the state constraints being compatible with the endpoint constraint, the set \\(\\Lambda (\\overline{x},\\overline{u})\\) of vectors \\(\\lambda \\in (\\mathbb{R}^{1+k_{1}+k_{2}})^{\\ast }\\) for which there exist \\(\\psi ,\\nu ,\\mu \\) such that the corresponding set of Lagrange multipliers \\((\\lambda ,\\psi ,\\nu ,\\mu )\\) generated by \\(\\lambda \\), satisfies the maximum principle, is non empty. The paper ends with an equivalence result concerning necessary optimality conditions.","type":"string"},"datatype":"string"},"type":"statement","id":"Q6155315$9DBB3895-B194-4882-B0F8-25EE2AE29DF0","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"ee19f59fe9c6e76362df4d3a667daf03171654d5","datavalue":{"value":{"entity-type":"item","numeric-id":536424,"id":"Q536424"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$6222E78E-BC12-4942-ACD0-0D2D161D2DB6","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"5b4b9ef49d358365755dc49c3ea8a7370ed28569","datavalue":{"value":"49K10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6155315$593500AC-8BB9-4713-BD55-F0C7BD67711D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"484eaf08775232cffaa1ce81f75027f82e88b5db","datavalue":{"value":"93B05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6155315$6082217E-5BB1-4493-89A8-615FE0757F59","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f887a438fea154b7c8157e14dd254ba53c49a38b","datavalue":{"value":"7694709","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6155315$1C815026-1C09-4775-9CD2-41F6E66DA7ED","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6155315$8EE552B1-D6EE-41DC-95E2-BE821A484D40","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3052ef78bc0df2dbd8657bfbea748c285301224d","datavalue":{"value":"state constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q6155315$90841872-C355-48E0-A0AF-C77673FFAE6D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ba9a30d06c4095d1c9a865734e7f14a4a6fb4338","datavalue":{"value":"normal maximum principle","type":"string"},"datatype":"string"},"type":"statement","id":"Q6155315$10AA0B3B-6077-47A1-BE4D-8ECD1BCAD76F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0d1eb98867e642fa2a026f60fc3eef871ac39938","datavalue":{"value":"second-order optimality conditions","type":"string"},"datatype":"string"},"type":"statement","id":"Q6155315$5754F463-FC00-4C7F-BE9C-3B04C790E30A","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":"Q6155315$4FC92CDB-C31A-4EB2-891D-A9216D72AF4E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"23801ede719988c48c2cd05fdf326cfca8a0ca1b","datavalue":{"value":"https://doi.org/10.1016/j.jde.2023.04.011","type":"string"},"datatype":"url"},"type":"statement","id":"Q6155315$EDD49FB3-97CC-4805-BA23-08D68D234068","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a69c2597fb31cad91c864bc0166eb648736843f1","datavalue":{"value":"W4366506490","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6155315$63AC131F-E62F-422C-8057-307252F9C504","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"dd73cb6a909f35ed76d51761a432fa1bd99a1f49","datavalue":{"value":{"entity-type":"item","numeric-id":4934071,"id":"Q4934071"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$EADAE685-BB15-4624-8DFE-983C1D71A80B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d8c9c3ccc2abc3e602783c5367b4019ae808ace9","datavalue":{"value":{"entity-type":"item","numeric-id":5619754,"id":"Q5619754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$697B9017-53A3-4832-904D-6EB074F1F126","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"87d74c909d5f38d03739b93edef12180905cc92e","datavalue":{"value":{"entity-type":"item","numeric-id":1211717,"id":"Q1211717"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$361BD4AE-C5BD-45A8-81EF-6669A66DB5EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"297aa13dcc3951135e63b2445954b9468028053d","datavalue":{"value":{"entity-type":"item","numeric-id":5552913,"id":"Q5552913"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$F89743A9-CEEA-41E0-8CA1-EE1F2BC89B35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"49bbbed701cf2f13dcaf982bdd6819b72d709e98","datavalue":{"value":{"entity-type":"item","numeric-id":4734367,"id":"Q4734367"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$57D7C842-0399-49F5-A1FE-5079F4C053CC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"caf1997eca6134277aea81d69123e29e227777d7","datavalue":{"value":{"entity-type":"item","numeric-id":3264994,"id":"Q3264994"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$E6F36C25-0BE2-490B-9FB5-70250B4605FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3b80291f5bdf44b1bdb76cbc75e13baab54e3e04","datavalue":{"value":{"entity-type":"item","numeric-id":637551,"id":"Q637551"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$1AA9C6CC-D28F-4C5C-84D5-2A76A5787C85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"75036df48dfa01b399a33e02c80ebc717e204913","datavalue":{"value":{"entity-type":"item","numeric-id":1730424,"id":"Q1730424"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$2E9ECAF2-047C-4901-B6DB-2E164033CE5A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"29e9d77a3dde5cbb4b94369c7a84c113f5a625aa","datavalue":{"value":{"entity-type":"item","numeric-id":5849795,"id":"Q5849795"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$1B7CABF6-31E5-4DE4-8AF7-3BBA712555E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fa43d899b4797f2a081c08e1d1337834cf166b9b","datavalue":{"value":{"entity-type":"item","numeric-id":2302824,"id":"Q2302824"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$842C4D98-47A9-4043-B21C-9CD372903AE5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4c841c9bfa5d58b04227aa1cf2dcb1e87d760e16","datavalue":{"value":{"entity-type":"item","numeric-id":2747318,"id":"Q2747318"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$CC900FE5-A968-4FD3-80D5-A2B77D1C9F81","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"403a34de0f8f5232dcaaeeb8534ff4280b18a9c2","datavalue":{"value":{"entity-type":"item","numeric-id":3738133,"id":"Q3738133"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$628ACA0A-75ED-4AC7-BF46-A56045F11C56","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a3c6f08627c457ec8be8d17790bfa60e984b90b4","datavalue":{"value":{"entity-type":"item","numeric-id":280083,"id":"Q280083"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$C34620A6-E3B4-439D-9BC3-A7316B4D8F47","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2bd639f722dda527730a6ba3d22bf6327259d91f","datavalue":{"value":{"entity-type":"item","numeric-id":3285814,"id":"Q3285814"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$BD5FD8D6-DF81-443D-B863-3F927F01A606","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dccdd41beb95a296873538d711c9bbf9d09572d7","datavalue":{"value":{"entity-type":"item","numeric-id":5337435,"id":"Q5337435"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$ACC732BE-AFFA-40F5-8073-51AB405A1BD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0a346f9b6c67ea167d951a77139b382dedac8b6a","datavalue":{"value":{"entity-type":"item","numeric-id":5541560,"id":"Q5541560"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$2FF2484D-1E96-4BBC-ABE4-19ACE0719A7F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dbedf9ed846bff6640a6d4f2e726c6e5c6410123","datavalue":{"value":{"entity-type":"item","numeric-id":5550624,"id":"Q5550624"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$4C0CF152-2C63-40DB-948A-ADAB4126002C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"304a6d4e5e8f02f54f171c179cbc256ef1efd8bf","datavalue":{"value":{"entity-type":"item","numeric-id":5559803,"id":"Q5559803"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$4756B89F-0264-48AB-B24F-27B042044502","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bf7140293362e2fa6543af62bfa663ba3d06f7f4","datavalue":{"value":{"entity-type":"item","numeric-id":803931,"id":"Q803931"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6155315$A12E6488-AE2F-4009-B826-90330FFDE0E9","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"485073c443fb8107a33a05e24a301c6f78336c23","datavalue":{"value":"10.1016/J.JDE.2023.04.011","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6155315$B73D6830-CCB2-4475-84CC-1D39451B12DA","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e6bf47836caa6a106ec26283a98d94cbbe1d813d","datavalue":{"value":{"entity-type":"item","numeric-id":6112461,"id":"Q6112461"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"617809ecbadabbd8fae39c84038e17458f03528c","datavalue":{"value":{"amount":"+0.8854964971542358","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6155315$A53C11DD-6C4A-4DC9-B22E-7E57F8C2BDC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0038780440873006f2019a670705f44e100cf092","datavalue":{"value":{"entity-type":"item","numeric-id":2238955,"id":"Q2238955"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0d357b4ede1e16fef9544d9ad556765ed7085e9c","datavalue":{"value":{"amount":"+0.8486731052398682","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":"Q6155315$1F6305F2-8C9A-4D47-A258-C37399BE3EBC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d251716c4a34715b489a25b26c33198b13799f0f","datavalue":{"value":{"entity-type":"item","numeric-id":4441960,"id":"Q4441960"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e32bce6a7c64feb70724f9ceb1bb587593eba374","datavalue":{"value":{"amount":"+0.8442856073379517","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":"Q6155315$75C28DE3-CF7A-4025-A4C0-FB45F4543DF5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a870113687aff41878008daca665e235ad695355","datavalue":{"value":{"entity-type":"item","numeric-id":1432213,"id":"Q1432213"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0209a903170147cafcafb27ab2686293cf161df3","datavalue":{"value":{"amount":"+0.843905508518219","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":"Q6155315$23BD56B2-7E86-4974-9647-E643724E5F34","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"adb1bc1fc9ffbbd4caa7804a2bb75ccdbdcc6063","datavalue":{"value":{"entity-type":"item","numeric-id":2441468,"id":"Q2441468"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d570a98f1a310227522d3f4cc1e7f35d92947a09","datavalue":{"value":{"amount":"+0.8434101939201355","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":"Q6155315$9A9F7077-6EF6-433E-A9CA-238981E9743C","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6155315","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6155315"}}}}}