{"entities":{"Q2220264":{"pageid":2231007,"ns":120,"title":"Item:Q2220264","lastrevid":43710219,"modified":"2025-11-07T15:15:13Z","type":"item","id":"Q2220264","labels":{"en":{"language":"en","value":"Control of locomotion systems and dynamics in relative periodic orbits"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7300132"}},"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":"Q2220264$726E4155-9565-412C-8D9C-46384E7A590E","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"20d329f2c448a87047b196cd58472888d60bbbf1","datavalue":{"value":{"text":"Control of locomotion systems and dynamics in relative periodic orbits","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2220264$E4892083-B6A9-42BC-B03D-FF6C43B9B92A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"147d89ba68b5563a13916c225e44c33d3c51a7aa","datavalue":{"value":"1459.37092","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2220264$A79718C5-CEFE-48AF-A648-1B4EEF8009BF","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"7066f1859a5ba24d9d9111fc578eda7fda3bc704","datavalue":{"value":{"entity-type":"item","numeric-id":2220263,"id":"Q2220263"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$4AE2CEE7-08AC-4331-B128-643A952F240E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d19e30b2dbeda41681b6404a071ec6b2694c600b","datavalue":{"value":{"entity-type":"item","numeric-id":778078,"id":"Q778078"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$B8179684-6261-48A5-B442-7F05FA4DBDB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"b905ad74c546acb37edfbe83863a9d3c84cc8d16","datavalue":{"value":{"entity-type":"item","numeric-id":1006595,"id":"Q1006595"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$E48F8256-286D-49CD-91DD-655A38867462","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3652a60255143226527f0e51663287ad241ad8f1","datavalue":{"value":{"entity-type":"item","numeric-id":254833,"id":"Q254833"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$F8666F14-5A83-4269-BC0D-333E40D2F30D","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"e53f0ceda72590e448029088434c5467f2bd48af","datavalue":{"value":{"time":"+2021-01-22T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2220264$984CFF9B-FE82-425A-9E02-E21D0CCE663F","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"b24d9e561b400729e39414d7c7ac0adc2c387bdc","datavalue":{"value":"This article discusses the generation of trajectories for a class of drift-free control systems with Lie symmetry groups, known as (robotic) locomotion systems in terms of dynamic systems. The authors consider two features of the reconstruction process that are relevant to the construction of the trajectory. The first is that for a given non-compact group, one of two behaviors is possible -- either quasi-periodicity or drifting -- one of which can be predominant [\\textit{P. Ashwin} and \\textit{I. Melbourne}, Nonlinearity 10, No. 3, 595--616 (1997; Zbl 0912.35079);  \\textit{B. Fiedler} et al., Doc. Math. 1, 479--505 (1996; Zbl 0870.58014)].  This may be relevant for the trajectory generation with periodic control of locomotion systems: if the group is such that the predominant behavior is quasi-periodicity, then the choice of the periodic gait becomes important, because generic gaits will not produce a drift.  The second feature is that motions in a relative periodic orbit exhibit ``spiraling'' or ``meandering'' behaviors. This behavior is revealed by numerical integration and it has been investigated in a number of works especially for infinite-dimensional systems.  Since there is no quantitative description of meandering behavior for drifting motions, the authors investigate it for the class of Lie groups of interest for locomotions (semidirect products of a compact group and a normal vector space).  The authors illustrate their results using simple travel systems (car robots and micro-swimmers).","type":"string"},"datatype":"string"},"type":"statement","id":"Q2220264$AB51C491-3D51-4530-A6E9-B4EC9E0915D9","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"20136e68bc53d6cd8d1e4afb51ee5d9204386399","datavalue":{"value":{"entity-type":"item","numeric-id":589383,"id":"Q589383"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$F91681B4-7B38-4C82-B099-422AC36042F3","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"fbbc9a6d1d4c10cc63a859f24d88ebce2fa5f470","datavalue":{"value":"37N35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2220264$F891B151-9E4C-41BB-AF23-3BEDF9B2794A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5a5c91b710d921e9ace398f00d49e0f96aacd6c6","datavalue":{"value":"34H05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2220264$D3491AB6-29A1-4555-800C-DE162E99FB47","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2220264$B229273C-E4A6-4B90-BB1B-58A6B212E516","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2220264$C57AF2BC-85DE-4A3D-9E9D-3CDC3974E6F1","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"01b93498525464663f71bf9b35e98e3cff0168a4","datavalue":{"value":"7300132","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2220264$0D3326B4-B34E-4251-AA10-83A72C4DE9E0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1e3b3b13cc7728f5e54db7b60e4c960f2083f306","datavalue":{"value":"robotic locomotion systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2220264$EBC38862-0543-4388-AD4C-DDEEEA95E511","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"edc91aee6794f6cd386757f1bdc1acc66ab74398","datavalue":{"value":"relative periodic orbits","type":"string"},"datatype":"string"},"type":"statement","id":"Q2220264$293E037D-7352-4F2C-BACD-34D751BAE629","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"aa856e73ba6b979663094b982080ff28c22d0730","datavalue":{"value":"geometric phases","type":"string"},"datatype":"string"},"type":"statement","id":"Q2220264$656903EB-C2A1-47C2-8C72-FD4FA9AC4B2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"20cb5f900346d6218be2e7d1c87b3ca77a3b494d","datavalue":{"value":"reconstruction","type":"string"},"datatype":"string"},"type":"statement","id":"Q2220264$E8D23418-2568-4458-A5E3-DA4E833AA856","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4b6693fd71d05f68ec658431683418d888e4ec8f","datavalue":{"value":"equivariant dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q2220264$23CC9695-E547-4D4D-8F03-9C6FD664A2DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"799051fba4932474143aab0e912aeced0bb070e9","datavalue":{"value":"scallop theorem","type":"string"},"datatype":"string"},"type":"statement","id":"Q2220264$1D273789-5E25-47AC-AF2D-9FEB702CBE11","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fd55733c56568c424fb373186fc399b72a0d6bce","datavalue":{"value":"trajectory generation","type":"string"},"datatype":"string"},"type":"statement","id":"Q2220264$864E1922-4BD8-4B5F-B1FC-CE2A7FDEA644","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$A1491311-E8D2-470B-B97B-9E0903848D0F","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"f9a1b277696d9c65db5c7a0e22b01dcc2d63855d","datavalue":{"value":"https://doi.org/10.3934/jgm.2020022","type":"string"},"datatype":"url"},"type":"statement","id":"Q2220264$21CA1284-E8A8-4019-A9F9-6F54B8EFFA5C","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"4bf9cf2b83776c78bbe4389c5d58dd0ab84a5b34","datavalue":{"value":"W3045828722","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2220264$F9AAD2C5-A1A0-4E78-A4E7-EF509F6DFB29","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"18710648d7e6d1e2ef43c5630a053f8d3271fe2a","datavalue":{"value":{"entity-type":"item","numeric-id":1883272,"id":"Q1883272"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$A07D699F-2A2F-4DFA-B588-4DE9F6AE6D2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e6a27610da4d8df7eeda34e62f557d1b37a1ade2","datavalue":{"value":{"entity-type":"item","numeric-id":3841174,"id":"Q3841174"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$C3052294-DD3B-401E-BE12-088FFCB1AC7D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0372a55b7027c780a5b3f73dd3a4cf9bddf9a558","datavalue":{"value":{"entity-type":"item","numeric-id":928505,"id":"Q928505"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$CD820CDA-E2E5-4D57-967E-8290803BC0E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb668a9ee836cb382fcd317f73577a474cdb4630","datavalue":{"value":{"entity-type":"item","numeric-id":1810402,"id":"Q1810402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$11D28DA0-6BAF-42BC-93E8-BB3CC74E2A0E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a8e7570d979e5349bef7413ee09b1167dfca1416","datavalue":{"value":{"entity-type":"item","numeric-id":358454,"id":"Q358454"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$261A4D27-56FB-4446-ABC0-42507CBFF765","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"66de40bd782f54d217327747e811a964a207d790","datavalue":{"value":{"entity-type":"item","numeric-id":3704110,"id":"Q3704110"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$10882523-F6EB-40D7-BAEC-A5E7D4125175","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"71d946c4b81631119e0520e5c2a07efb996c34c6","datavalue":{"value":{"entity-type":"item","numeric-id":5650566,"id":"Q5650566"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$448BEE93-5D74-496F-9D02-0F95FA42EAD7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb462ff63161b0eae98a6c35320ab7ac24d444b0","datavalue":{"value":{"entity-type":"item","numeric-id":3155754,"id":"Q3155754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$801CABB6-B0F2-4845-97A4-6B8BE5339093","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e76662995112e0ac375399bffb136afb71a8f05d","datavalue":{"value":{"entity-type":"item","numeric-id":2479320,"id":"Q2479320"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$A0903B15-4846-41F7-AF9F-891601BEF650","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"308534ab99151b2e088df6aa09b826706c2705b5","datavalue":{"value":{"entity-type":"item","numeric-id":4905928,"id":"Q4905928"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$F54C445C-80DD-475F-85E3-90A2862DB024","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a46b33b816cc42dbb8a9023c3b2ef82f7a50132b","datavalue":{"value":{"entity-type":"item","numeric-id":1739775,"id":"Q1739775"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$2EAAA9B1-DB06-402F-9DBD-6C563C8C23B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"76600ce8e7fddb370f7da930ce755f7fc5ed11e2","datavalue":{"value":{"entity-type":"item","numeric-id":3647601,"id":"Q3647601"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$2E50DFF5-B97A-494E-BD9C-13BB8B351DEE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"aeaed4df34a72ac52975a807ae7358af368ff390","datavalue":{"value":{"entity-type":"item","numeric-id":5917963,"id":"Q5917963"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$53D7A7E1-1C5B-4BF3-A8F5-80EC54B24168","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"102fce292d24d310025843bf172cf50bc487f8f2","datavalue":{"value":{"entity-type":"item","numeric-id":2473448,"id":"Q2473448"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$1FC2B92F-7069-4105-91E2-F85FBB23E6DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2e594aa9a084b561431a5f4f746d7726aede91f","datavalue":{"value":{"entity-type":"item","numeric-id":3458810,"id":"Q3458810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$662E7E4E-92CB-45D8-9684-3492D5ED6EA9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d484425681af4bfe1df3654a385fbcb3d9f7e5b6","datavalue":{"value":{"entity-type":"item","numeric-id":2003406,"id":"Q2003406"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$C28F19EF-6212-4599-AA75-5B3E04CEAD1E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fc8aff2aeef5f98ef3f12519f5d40b5b740f4081","datavalue":{"value":{"entity-type":"item","numeric-id":1798857,"id":"Q1798857"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$F36528BE-F559-4228-9949-DE2E85625D86","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a225852f4dfd4e18bb4e3182f3f032d87858ea35","datavalue":{"value":{"entity-type":"item","numeric-id":379552,"id":"Q379552"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$5BD86873-347D-4546-AED4-CAA160FAA5B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4bb7116bd89cf6e3ad896a9b95f46777ced11883","datavalue":{"value":{"entity-type":"item","numeric-id":1355998,"id":"Q1355998"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$9962BC21-2389-401A-B89D-70741209305F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f8aa76d238506d023091c2cea7ffec5281942458","datavalue":{"value":{"entity-type":"item","numeric-id":1288797,"id":"Q1288797"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$D12EDDF2-C4CF-43C0-BD0D-84CFA42E832F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f5b23846cca72a4bf8bcafaac226acb641ae5f2d","datavalue":{"value":{"entity-type":"item","numeric-id":3893025,"id":"Q3893025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$8278F491-FEC1-4DB8-90D1-22CF1D5EF6C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6c224ac8e3514fc727a934394010c91d47ae4b3b","datavalue":{"value":{"entity-type":"item","numeric-id":3361590,"id":"Q3361590"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$A1751488-6984-44A8-85EA-DDF64F1E7D52","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5e5dd69626ee8b6c8254e1b82465437f57e19309","datavalue":{"value":{"entity-type":"item","numeric-id":1847957,"id":"Q1847957"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$E474EB3B-D2F9-4096-91C9-20F649692F17","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7c29a2ea1603b341e30ba9917b352d033feeadf1","datavalue":{"value":{"entity-type":"item","numeric-id":4844722,"id":"Q4844722"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$9C00FFC7-977B-44B4-B328-3C04569B2912","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"17115d264b4ee055f2d7b4bea5a8a17dba44504c","datavalue":{"value":{"entity-type":"item","numeric-id":2552833,"id":"Q2552833"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$70C5C354-BF51-4A41-B44C-F7CE8A89308A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f09ba38c072774fe4e9640da1fb791b3fc70e364","datavalue":{"value":{"entity-type":"item","numeric-id":4836092,"id":"Q4836092"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$D95538CA-5FB6-4B4B-8740-F0CD7D5DF8D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7821b2e988cc792686d34097c55850dea47db996","datavalue":{"value":{"entity-type":"item","numeric-id":3488181,"id":"Q3488181"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$866D73A0-CF26-4EB2-B324-FC0063B3511E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f06c19f56062085d0988e01800bad9c975eb37ae","datavalue":{"value":{"entity-type":"item","numeric-id":5404537,"id":"Q5404537"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$789DBF1C-01F7-410F-A500-EE1D65460D1C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"64602a22aa38e6050669077272e1eb62026b1acf","datavalue":{"value":{"entity-type":"item","numeric-id":4011298,"id":"Q4011298"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$EC1F5280-F54F-478B-8B79-7896DCCB1149","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ab9f798d824b79152735e0e21bb7c902dcdd71a1","datavalue":{"value":{"entity-type":"item","numeric-id":4249020,"id":"Q4249020"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$3FC87699-3727-4E0A-92AC-A3F866E0044D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"26c85c1da1e91c3b2975ca90e077bc2fc2cc617c","datavalue":{"value":{"entity-type":"item","numeric-id":3198584,"id":"Q3198584"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$D3F0DC72-8C03-4FB2-9515-23DD2E53F59F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3098f0bcc36648405e5612c8b7becc0d216147eb","datavalue":{"value":{"entity-type":"item","numeric-id":3140192,"id":"Q3140192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$E1DA3395-179E-4FA0-B3C5-01F199502946","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ae1ed0a00d6e078b9fe7be9ecdfec241f6ce0c97","datavalue":{"value":{"entity-type":"item","numeric-id":3829301,"id":"Q3829301"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$947C9814-5EB6-46B8-BF8A-E2398C91C639","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cc3b383e7ebfb613062ce3240c01f9a6d4f375c5","datavalue":{"value":{"entity-type":"item","numeric-id":5806460,"id":"Q5806460"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$2D563E59-79E0-4D03-AF54-D1C5EC228F5A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c05839d26a0e25a7611904548322a425a52388b6","datavalue":{"value":{"entity-type":"item","numeric-id":5107919,"id":"Q5107919"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2220264$ABE38EFD-E8D0-48F8-A768-D7D045A7B833","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"1bbcd31fa6deab2af78e16a1235071f9e97b535e","datavalue":{"value":"10.3934/JGM.2020022","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2220264$734480BD-A730-4436-981F-A37A63FE8F63","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ab9b0bc19c98a0ce43360e889eddceb3bcc21819","datavalue":{"value":{"entity-type":"item","numeric-id":3136885,"id":"Q3136885"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a9a527390380d06768e975fd6381a737b38867e3","datavalue":{"value":{"amount":"+0.76099944","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$4C4E4FC9-6D6F-4D93-9717-233BC3B4AF5D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0407a6b234ea1ec69cffc952f72aab184d4fb4b9","datavalue":{"value":{"entity-type":"item","numeric-id":1298223,"id":"Q1298223"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"76232f5b99c60fcf9fb2bad35b509e663d219680","datavalue":{"value":{"amount":"+0.75818455","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$9A2FD691-523D-4A49-9570-772D63E00CB3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"dbaddaf179f16d8e58b2f081fa934d84af2781ce","datavalue":{"value":{"entity-type":"item","numeric-id":3020395,"id":"Q3020395"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"031567cde532557c11222c54514ad33499a0dfe0","datavalue":{"value":{"amount":"+0.75668484","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$842C7591-F0AA-4FD3-88AD-ECCFBA51E475","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"48b019d4f7cc387cc9663b188ecb9c1c05cca834","datavalue":{"value":{"entity-type":"item","numeric-id":2185763,"id":"Q2185763"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f56855e45d67d40321d223adb1f3ab865ea45790","datavalue":{"value":{"amount":"+0.74507475","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$A96F70A7-1453-40C9-85D2-C8884B220D83","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"944343dd4e9e431e16cb1dc0f219f80b761c2224","datavalue":{"value":{"entity-type":"item","numeric-id":450638,"id":"Q450638"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"792f1068d6eebc34ac7b2f9ac5b9f3e156f870d0","datavalue":{"value":{"amount":"+0.74240386","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$75DC45C8-5FFB-4F03-9917-171898DCA80B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d0fa0180ba3a85f7316031116c127caa17ae3d92","datavalue":{"value":{"entity-type":"item","numeric-id":334623,"id":"Q334623"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1e2e90986f827a7edc7fd2ddda4b6eb84bbd64a9","datavalue":{"value":{"amount":"+0.7401104","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$E5FBB877-C554-4B77-9225-488A5AA2A082","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"62210c7e9062ce86637a680db34a1153cb44c221","datavalue":{"value":{"entity-type":"item","numeric-id":4499932,"id":"Q4499932"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e34de727cf1a05b5d6f0a8eaa99f1d4aa4137aa0","datavalue":{"value":{"amount":"+0.73952866","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$AC7810F2-C443-4B1B-BF59-28148B33FBE1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"42a45857b48c68443bb4d23604845c8ce336e01c","datavalue":{"value":{"entity-type":"item","numeric-id":517178,"id":"Q517178"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"be780fa3966c4aefacd5bb23409e8e6e3642e755","datavalue":{"value":{"amount":"+0.73892266","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$E442C8A5-9AA0-4481-8797-09669A25B378","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b82736d030fc8a59c3e4d1e0256faa61d4aa1824","datavalue":{"value":{"entity-type":"item","numeric-id":606939,"id":"Q606939"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"503daa87264663b15c6cc5881b51d558cea852c7","datavalue":{"value":{"amount":"+0.73685414","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$12371DBF-B880-494D-ABDB-0E5FD59C0E89","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bb2d965fc7bcab52d0c46bd51340d90da5c03a46","datavalue":{"value":{"entity-type":"item","numeric-id":3136884,"id":"Q3136884"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2f00f26052e8d6829643a83e5c1b013a32ec5bec","datavalue":{"value":{"amount":"+0.73313534","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2220264$2C5BB2DB-AA05-4F02-8099-17B25F228AF3","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2220264","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2220264"}}}}}