{"entities":{"Q2109157":{"pageid":2119900,"ns":120,"title":"Item:Q2109157","lastrevid":73193634,"modified":"2026-04-14T14:55:38Z","type":"item","id":"Q2109157","labels":{"en":{"language":"en","value":"Fast fixed-time vertical plane motion control of autonomous underwater gliders in shallow water"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7635116"}},"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":"Q2109157$1EDA09D6-3ECD-44A7-A559-CD38BDA4BED2","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"eafbfbe5eaeb1970845983e0fde364f54be3c6f6","datavalue":{"value":{"text":"Fast fixed-time vertical plane motion control of autonomous underwater gliders in shallow water","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2109157$61E3C394-53A5-427C-8AE2-CCD399B502AF","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"2b6358e874e69ae9a783ebf208b2eb3bdd0d91da","datavalue":{"value":"1504.93268","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109157$607CC8B9-2379-49FA-AD4C-5B5FD7CCE841","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"e5708e8efefb2e9abf544d64bfcd681c6a093837","datavalue":{"value":{"entity-type":"item","numeric-id":1665311,"id":"Q1665311"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$E21F3DA5-2BC7-4CED-A185-6F0F9C1CA257","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"69d8856c85b83dccf298595fc0da23913033b152","datavalue":{"value":{"entity-type":"item","numeric-id":2109154,"id":"Q2109154"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$E26DDEC7-B286-4EA2-B7C5-37FE96A1C972","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2d4c3d1884d5ba89e53b3302640f913642185378","datavalue":{"value":{"entity-type":"item","numeric-id":2109155,"id":"Q2109155"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$84E14865-D345-4616-919B-B36092FC0EE5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ef38f1f8e5bf5e941216e241cbeee7970e614d87","datavalue":{"value":{"entity-type":"item","numeric-id":1672559,"id":"Q1672559"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$FBEC58FC-08EB-415D-A75E-DB3FFB4E34CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a53fff4f5d9d2b93c705435ccb26f2e699f8be66","datavalue":{"value":{"entity-type":"item","numeric-id":321726,"id":"Q321726"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$E6F0AEED-C20B-49E7-A1D9-9928825FA74B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"13df283c05801bc20007c6f7666c096546e88885","datavalue":{"value":{"entity-type":"item","numeric-id":2109156,"id":"Q2109156"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$390BFD4C-8D1E-459C-9CAA-C542D3B08F86","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$0D066415-D0FD-4403-B0B7-E63E88919186","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"354f8a07359c96bc03092e439a646dc8de328ac7","datavalue":{"value":{"time":"+2022-12-20T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2109157$A10E0F37-7D99-4242-9E01-78E326A45614","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109157$82AF315C-C6BB-4D3F-AE78-C6E79B43EB15","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"923c8bef102bb6ebd35f125cc10b56d21864b3aa","datavalue":{"value":"93B53","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109157$3B59B3C4-6E44-4938-A201-8025B43F751B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109157$4CAED95C-6763-45F9-A695-F5F8C8202E15","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"27e7f0084813628c25842afe8856cf61dabf4990","datavalue":{"value":"7635116","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109157$139E4B9D-6C11-4E68-93FC-3C5A4C875800","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b0a4d5fe2aaaeacb074dde3f09f25da7cf857e11","datavalue":{"value":"autonomous underwater gliders","type":"string"},"datatype":"string"},"type":"statement","id":"Q2109157$2D3A6E16-8F8D-4822-8488-F912BBB8DDBD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"de0814e9e917e60ce807cea3519e918a17c2f2ba","datavalue":{"value":"fixed-time vertical plane motion control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2109157$B3EA33AF-BBCB-4EAA-9CB3-19F6F457BA5F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"54d50ee4ad0da9448a1d5631c8d6fef43d4feeca","datavalue":{"value":"adaptive extended state observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q2109157$5CAC2C9B-FC93-45E9-9EF7-8162097098EF","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":"Q2109157$03AE78E3-2DDB-4B09-B25B-1B3F9C7E448B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"af000402c9d529e8f77ae2e59ed1a7d82b069bf6","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2022.09.036","type":"string"},"datatype":"url"},"type":"statement","id":"Q2109157$3808C977-E0B7-4603-8EF2-5CF514926689","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"825fbce9ef4116ac694fce27358564150897d6ac","datavalue":{"value":"W4297181235","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109157$ABE63363-BDA1-4160-817F-FF68811CD611","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"39c0fc6322d80af0d5501f0ed216988f173bfad7","datavalue":{"value":{"entity-type":"item","numeric-id":2224771,"id":"Q2224771"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$2E79A13A-5AFF-4221-8327-418109B0BD7C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f2d233280838c21e190cb00c1310fc9a6aaa0d8","datavalue":{"value":{"entity-type":"item","numeric-id":2280719,"id":"Q2280719"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$56B35C6E-77CC-49F2-AAF7-8076929812D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0ba42d0c2544fa7a056f2d4cd5b376c014c4f985","datavalue":{"value":{"entity-type":"item","numeric-id":2665408,"id":"Q2665408"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$2E86FB35-D041-4A1C-8B55-8E2EEEC40DCD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"94fda8321957e517d6903f60a6812f623eb14580","datavalue":{"value":{"entity-type":"item","numeric-id":776104,"id":"Q776104"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$A669726B-13B4-429B-9281-97213DF1798B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"36e36d001cfdff41fe133f41b26861191da9b3a1","datavalue":{"value":{"entity-type":"item","numeric-id":2288691,"id":"Q2288691"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$3A50A432-1218-4A9E-A7CB-BF934BFECFEB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6b05b386be00b8614efe13d4d314ef6053cd6c94","datavalue":{"value":{"entity-type":"item","numeric-id":5352922,"id":"Q5352922"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$4D3888ED-4511-4BC8-A61A-8CFA94A45667","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2a1d322bc9d1c53aec63d549c9deb9523bfe709b","datavalue":{"value":{"entity-type":"item","numeric-id":2407158,"id":"Q2407158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$93A3E759-9533-4AB2-8CC2-E139371C7A3C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"05c2ed1cdfd5a90e03600fbd73940f6e1505638e","datavalue":{"value":{"entity-type":"item","numeric-id":5265685,"id":"Q5265685"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$B0C7B388-755F-485E-AE34-C72B7B2B3087","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"65d7b35a451e80ff328061c3a6588d87fec91637","datavalue":{"value":{"entity-type":"item","numeric-id":1127399,"id":"Q1127399"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$59F1678C-9AB8-4FB1-9675-108914AB3690","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4df4d65ef5cf4d84adb8e12cfe83b694540cdaa4","datavalue":{"value":{"entity-type":"item","numeric-id":5002079,"id":"Q5002079"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109157$BABE74B1-D189-42C9-AB8B-73153906281D","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"402d0d1fa1f17c95d3b6ca5eaf0d00b18dd1b5d4","datavalue":{"value":"10.1016/J.JFRANKLIN.2022.09.036","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109157$F2C2953E-ED90-4306-8AB2-C83C94707541","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2250a55183b8f764b07d6a4de5fd4534efaabd6e","datavalue":{"value":{"entity-type":"item","numeric-id":615362,"id":"Q615362"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"faaa60c62dce6701c7431672c065a95e9940c362","datavalue":{"value":{"amount":"+0.8898564","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2109157$D33BB336-14C2-4397-A61A-0D400530574E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"19c9155ed3720179dc6f3472360bd17630f58eb7","datavalue":{"value":{"entity-type":"item","numeric-id":2241822,"id":"Q2241822"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0f56e86d3e783456dc899a913957d268a82193c9","datavalue":{"value":{"amount":"+0.8785175","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":"Q2109157$53507EB5-DF11-47F4-A258-E897FC35C518","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f3def72c8061308d8b7997e52e0c3654bdca945a","datavalue":{"value":{"entity-type":"item","numeric-id":415895,"id":"Q415895"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dddc969d8d3e50a2e068ed81f6da072ffaaf8524","datavalue":{"value":{"amount":"+0.8766664","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2109157$CC1D7042-8945-4276-A0CE-568EF2CDDDFE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4feb99048a3747e7736efb5829daed5bcb74680a","datavalue":{"value":{"entity-type":"item","numeric-id":2893161,"id":"Q2893161"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"28a0234a5c240bf9c1cff3b3f8c2de9e82f6968b","datavalue":{"value":{"amount":"+0.8720026","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":"Q2109157$6710CDC9-E2C8-4EBC-AB20-130C5EE21D6C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a31e41d87fe5059846b192a6107069513d86a1e9","datavalue":{"value":{"entity-type":"item","numeric-id":5157929,"id":"Q5157929"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ea4fd146557b409ef56c4534353de9d9c46fb44d","datavalue":{"value":{"amount":"+0.87194043","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":"Q2109157$3646EB62-370C-4A09-95BB-70F4B5725C53","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"272972d12e3eec5520f22f5accdf1dd2b6e22a0c","datavalue":{"value":{"entity-type":"item","numeric-id":4974661,"id":"Q4974661"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7685f08eb15c73e1a8c84307902c5e3bb3b9150a","datavalue":{"value":{"amount":"+0.8673926","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2109157$BAD8294C-0973-44AF-9B19-6051F84B03FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c968c17dc9fa63fb2b1dd12c82762e197b9df9bf","datavalue":{"value":{"entity-type":"item","numeric-id":1793194,"id":"Q1793194"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c76a415fe2581da5a45acbf0ec2fa8ead9b639f7","datavalue":{"value":{"amount":"+0.86706984","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":"Q2109157$7CEB9FBF-CF31-48A1-A057-94A20CE854AB","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Fast fixed-time vertical plane motion control of autonomous underwater gliders in shallow water","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Fast_fixed-time_vertical_plane_motion_control_of_autonomous_underwater_gliders_in_shallow_water"}}}}}