{"id":"https://openalex.org/W4387346452","doi":"https://doi.org/10.1145/3584371.3613040","title":"Numerically stable algorithm for Inverse Kinematics of 6R problem and its applications to macrocycles","display_name":"Numerically stable algorithm for Inverse Kinematics of 6R problem and its applications to macrocycles","publication_year":2023,"publication_date":"2023-09-03","ids":{"openalex":"https://openalex.org/W4387346452","doi":"https://doi.org/10.1145/3584371.3613040"},"language":"en","primary_location":{"id":"doi:10.1145/3584371.3613040","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3584371.3613040","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3584371.3613040","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 14th ACM International Conference on Bioinformatics, Computational Biology, and Health Informatics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3584371.3613040","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Xin Cao","orcid":"https://orcid.org/0000-0001-8787-594X"},"institutions":[{"id":"https://openalex.org/I1327163397","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08","country_code":"US","type":"education","lineage":["https://openalex.org/I1327163397"]},{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xin Cao","raw_affiliation_strings":["Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA"],"raw_orcid":"https://orcid.org/0000-0001-8787-594X","affiliations":[{"raw_affiliation_string":"Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526","https://openalex.org/I1327163397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035140890","display_name":"Mikhail Ignatov","orcid":"https://orcid.org/0000-0003-3719-9212"},"institutions":[{"id":"https://openalex.org/I1327163397","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08","country_code":"US","type":"education","lineage":["https://openalex.org/I1327163397"]},{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mikhail Ignatov","raw_affiliation_strings":["Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA"],"raw_orcid":"https://orcid.org/0000-0003-3719-9212","affiliations":[{"raw_affiliation_string":"Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526","https://openalex.org/I1327163397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050071373","display_name":"George Jones","orcid":"https://orcid.org/0000-0002-5028-2072"},"institutions":[{"id":"https://openalex.org/I1327163397","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08","country_code":"US","type":"education","lineage":["https://openalex.org/I1327163397"]},{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Jones","raw_affiliation_strings":["Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-5028-2072","affiliations":[{"raw_affiliation_string":"Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526","https://openalex.org/I1327163397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008374349","display_name":"Sara Pollock","orcid":"https://orcid.org/0000-0001-7896-350X"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sara Pollock","raw_affiliation_strings":["Department of Mathematics, University of Florida, Gainesville, FL, USA"],"raw_orcid":"https://orcid.org/0000-0001-7896-350X","affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076012363","display_name":"Evangelos A. Coutsias","orcid":"https://orcid.org/0000-0003-2910-9125"},"institutions":[{"id":"https://openalex.org/I1327163397","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08","country_code":"US","type":"education","lineage":["https://openalex.org/I1327163397"]},{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos Coutsias","raw_affiliation_strings":["Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA","Laufer Center for Physical and Quantitative Biology, State University of New York at Stony Brook, Stony Brook, NY, USA","Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA Laufer Center for Physical and Quantitative Biology, State University of New York at Stony Brook, Stony Brook, NY, USA"],"raw_orcid":"https://orcid.org/0000-0003-2910-9125","affiliations":[{"raw_affiliation_string":"Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526","https://openalex.org/I1327163397"]},{"raw_affiliation_string":"Laufer Center for Physical and Quantitative Biology, State University of New York at Stony Brook, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526","https://openalex.org/I1327163397"]},{"raw_affiliation_string":"Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA Laufer Center for Physical and Quantitative Biology, State University of New York at Stony Brook, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526","https://openalex.org/I1327163397"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060147489","display_name":"Dima Kozakov","orcid":"https://orcid.org/0000-0003-0464-4500"},"institutions":[{"id":"https://openalex.org/I1327163397","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08","country_code":"US","type":"education","lineage":["https://openalex.org/I1327163397"]},{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dima Kozakov","raw_affiliation_strings":["Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA","Laufer Center for Physical and Quantitative Biology, State University of New York at Stony Brook, Stony Brook, NY, USA","Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA Laufer Center for Physical and Quantitative Biology, State University of New York at Stony Brook, Stony Brook, NY, USA"],"raw_orcid":"https://orcid.org/0000-0003-0464-4500","affiliations":[{"raw_affiliation_string":"Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526","https://openalex.org/I1327163397"]},{"raw_affiliation_string":"Laufer Center for Physical and Quantitative Biology, State University of New York at Stony Brook, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526","https://openalex.org/I1327163397"]},{"raw_affiliation_string":"Department of Applied Mathematics and Statistics, State University of New York at Stony Brook, Stony Brook, NY, USA Laufer Center for Physical and Quantitative Biology, State University of New York at Stony Brook, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526","https://openalex.org/I1327163397"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1327163397","https://openalex.org/I59553526"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15160133,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.9692999720573425,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11032","display_name":"VLSI and Analog Circuit Testing","score":0.941100001335144,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7811058163642883},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6623698472976685},{"id":"https://openalex.org/keywords/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.6594679355621338},{"id":"https://openalex.org/keywords/singular-value-decomposition","display_name":"Singular value decomposition","score":0.6371899843215942},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.574954628944397},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5446675419807434},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5432953834533691},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4746863543987274},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.46212053298950195},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.44037970900535583},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43227237462997437},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4278988242149353},{"id":"https://openalex.org/keywords/generalized-coordinates","display_name":"Generalized coordinates","score":0.42270663380622864},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3458861708641052},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3398156464099884},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.28717517852783203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.28693410754203796},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19681519269943237},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14689496159553528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0872432291507721},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08601033687591553}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7811058163642883},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6623698472976685},{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.6594679355621338},{"id":"https://openalex.org/C22789450","wikidata":"https://www.wikidata.org/wiki/Q420904","display_name":"Singular value decomposition","level":2,"score":0.6371899843215942},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.574954628944397},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5446675419807434},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5432953834533691},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4746863543987274},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.46212053298950195},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.44037970900535583},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43227237462997437},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4278988242149353},{"id":"https://openalex.org/C105815890","wikidata":"https://www.wikidata.org/wiki/Q1057607","display_name":"Generalized coordinates","level":2,"score":0.42270663380622864},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3458861708641052},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3398156464099884},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28717517852783203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.28693410754203796},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19681519269943237},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14689496159553528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0872432291507721},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08601033687591553},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3584371.3613040","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3584371.3613040","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3584371.3613040","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 14th ACM International Conference on Bioinformatics, Computational Biology, and Health Informatics","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3584371.3613040","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3584371.3613040","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3584371.3613040","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 14th ACM International Conference on Bioinformatics, Computational Biology, and Health Informatics","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387346452.pdf","grobid_xml":"https://content.openalex.org/works/W4387346452.grobid-xml"},"referenced_works_count":1,"referenced_works":["https://openalex.org/W4380343373"],"related_works":["https://openalex.org/W2051747036","https://openalex.org/W2969153248","https://openalex.org/W2351331567","https://openalex.org/W2167179110","https://openalex.org/W2119405656","https://openalex.org/W2973854518","https://openalex.org/W2383683574","https://openalex.org/W1907244590","https://openalex.org/W4386631294","https://openalex.org/W2360537445"],"abstract_inverted_index":{"In":[0,72,181],"the":[1,9,15,24,32,49,64,87,105,128,146,177,186,191,205,260,285],"protein":[2,290],"loop":[3,10],"closure":[4,60,107],"problem,":[5],"two":[6,65],"ends":[7,66],"of":[8,86,91,99,115,122,125,155,190,282],"region":[11],"are":[12,137,174,237],"constrained":[13],"and":[14,55,219,262,277,289],"internal":[16,41],"parameters":[17,42],"need":[18,43,147],"to":[19,22,31,44,47,82,110,148,164,195,216],"be":[20,45],"specified":[21],"close":[23],"loop.":[25],"This":[26],"problem":[27,35,61,90],"is":[28,101,160,211,250,295],"geometrically":[29],"similar":[30],"Inverse":[33],"Kinematics":[34],"in":[36,70,199,252,284],"robotic":[37,50],"arms":[38],"where":[39,226,244],"several":[40,220],"determined":[46],"put":[48],"hand":[51],"at":[52,301],"specific":[53],"position":[54],"orientation.":[56],"The":[57,152,169,208,248,293],"analogous":[58],"ring":[59],"arises":[62],"when":[63],"coincide,":[67],"such":[68],"as":[69,240,242],"macrocycles.":[71],"this":[73,182],"poster,":[74],"we":[75,184],"present":[76],"a":[77,92,111,165,214,253],"numerically":[78],"stable":[79],"algorithm":[80,249],"R6B6[1]":[81],"compute":[83],"all":[84],"solutions":[85],"inverse":[88],"kinematics":[89],"6":[93],"revolute":[94],"manipulator":[95],"chain.":[96],"A":[97],"system":[98,114,154,192],"equations":[100,117,156,198],"constructed":[102],"based":[103],"on":[104],"fundamental":[106],"conditions,":[108],"leading":[109],"closed":[112],"algebraic":[113],"20":[116],"involving":[118,157],"16":[119],"quantities,":[120,201],"composed":[121],"trigonometric":[123],"functions":[124],"five":[126,136],"among":[127,134],"six":[129],"unknown":[130,172],"joint":[131,235],"angles.":[132],"Two":[133],"these":[135],"stably":[138],"eliminated":[139],"using":[140,176,273],"singular":[141],"value":[142],"decomposition":[143],"(SVD)":[144],"avoiding":[145],"consider":[149],"special":[150],"cases.":[151],"resulting":[153],"three":[158,171],"unknowns":[159],"solved":[161],"by":[162],"conversion":[163],"generalized":[166],"eigenvalue":[167],"problem.":[168],"remaining":[170],"angles":[173,236],"obtained":[175],"previously":[178],"computed":[179],"pseudoinverse.":[180],"formulation":[183],"exploit":[185],"inherently":[187],"complex":[188,197],"form":[189],"reducing":[193],"it":[194],"10":[196],"9":[200],"which":[202],"substantially":[203],"accelerates":[204],"SVD":[206],"computation.":[207],"method's":[209],"robustness":[210],"demonstrated":[212],"through":[213],"comparison":[215],"current":[217],"methods":[218],"examples":[221],"including":[222],"known":[223],"problematic":[224],"cases":[225,243],"some":[227,234],"axis":[228],"or":[229,233],"link":[230],"lengths":[231],"vanish,":[232],"180":[238],"degrees,":[239],"well":[241],"multiple":[245],"eigenvalues":[246],"arise.":[247],"incorporated":[251],"macromolecular":[254],"modeling":[255],"server":[256],"for":[257,266,298],"macrocycles,":[258],"combining":[259],"BRIKARD":[261],"ClusPro":[263],"LigTBM":[264],"suites":[265],"macrocycle":[267,270,291],"conformational":[268],"sampling,":[269],"structure":[271],"determination":[272],"NMR":[274],"distance":[275],"restraints":[276],"peak":[278,287],"data,":[279],"automatic":[280],"resolution":[281],"uncertainties":[283],"NOESY":[286],"assignment,":[288],"docking.":[292],"web-server":[294],"freely":[296],"available":[297],"noncommercial":[299],"purposes":[300],"https://brikard.cluspro.org.":[302]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}