{"entities":{"Q2222903":{"pageid":2233646,"ns":120,"title":"Item:Q2222903","lastrevid":57227070,"modified":"2026-03-27T13:27:21Z","type":"item","id":"Q2222903","labels":{"en":{"language":"en","value":"Fixed-time trajectory tracking control of autonomous surface vehicle with model uncertainties and disturbances"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7302586"}},"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":"Q2222903$8EDBD2E8-F396-498C-89E9-95E241DB9A2F","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d1bfd56f8e51fe2a8289eb38e42346424a8710b7","datavalue":{"value":{"text":"Fixed-time trajectory tracking control of autonomous surface vehicle with model uncertainties and disturbances","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2222903$0FC5AAF4-A67B-4747-A5D7-52F7B28BEDA5","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"9e87492a3e9b295c0a1bdcbf863be80867e5ad6e","datavalue":{"value":"1453.93157","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2222903$517C83FD-5B9A-4491-AF8C-4110EBEBAE65","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"6bb35fd047ea32803ab9edc74dedc7a98d3d1150","datavalue":{"value":"10.1155/2020/3281368","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2222903$F410C7EE-F147-4B30-9EB5-8A5FBB03968C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"46902e5e6c7cfe456c07502f462f474593f474d9","datavalue":{"value":{"entity-type":"item","numeric-id":2222902,"id":"Q2222902"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$497F83EE-BAFE-4A62-A762-B07415B80DFE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8e6a1ce30fa0ce68d189796d1da1daf574670fa6","datavalue":{"value":{"entity-type":"item","numeric-id":345604,"id":"Q345604"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$50051EDF-356C-4B1C-869F-5342C48EE590","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1dec05d6eca21826ddc25d78a5bfbbb3575f964c","datavalue":{"value":{"entity-type":"item","numeric-id":86231,"id":"Q86231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$09B11179-203E-4BFE-A429-E44AEFFF0089","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"16db392739645eae5da3f63d4e85c8dfbcc0da24","datavalue":{"value":{"time":"+2021-01-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2222903$89482322-817C-4FDC-A6CE-12B609B0E080","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"83835c65a822cc8e17544c9cdb93f33c938c6031","datavalue":{"value":"Summary: The issue of fixed-time trajectory tracking control for the autonomous surface vehicles (ASVs) system with model uncertainties and external disturbances is investigated in this paper. Particularly, convergence time does not depend on initial conditions. The major contributions include the following: (1) An integral sliding mode controller (ISMC) via integral sliding mode surface is first proposed, which can ensure that the system states can follow the desired trajectory within a fixed time. (2) Unknown external disturbances are absolutely estimated by means of designing a fixed-time disturbance observer (FTDO). By combining the FTDO and ISMC techniques, a new control scheme (FTDO-ISMC) is developed, which can achieve both disturbance compensation and chattering-free condition. (3) Aiming at reconstructing the unknown nonlinear dynamics and external disturbances, a fixed-time unknown observer (FTUO) is proposed, thus providing the FTUO-ISMC scheme that finally achieves trajectory tracking of ASVs with unknown parameters. Finally, simulation tests and detailed comparisons indicate the effectiveness of the proposed control scheme.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2222903$B166BAFB-C041-4F80-84ED-38E0CAF89CA5","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2222903$52370BDF-92E1-418D-AD9D-741217EA69B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2222903$F9BCC4A3-3268-45B9-BB49-CA0E181A281C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"62b95b6f7919542f12b1e12b0279617ef6dfa9f9","datavalue":{"value":"93C73","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2222903$291878E7-91DF-4599-BB42-7A360A9C4186","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"79e481fc5200f21d228cb0f66e5c6ab71d12e951","datavalue":{"value":"7302586","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2222903$A262413E-96EF-45B0-B9C4-12A99D5A0764","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":"Q2222903$E4108852-88C2-45CD-B58A-DD08A5FBA405","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"4900bc87260510f5fddd2a2d840b03421c607a79","datavalue":{"value":"https://doi.org/10.1155/2020/3281368","type":"string"},"datatype":"url"},"type":"statement","id":"Q2222903$8B5691F9-B4DD-4B36-9318-BAF105D8D54B","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"ff4ada3c9ba47b7f208783fc59928a6879b0be40","datavalue":{"value":"W3093372512","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2222903$60E43EF6-EB82-4700-B52F-10CE363DB86F","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"fa18a3b597809026c9ff0b5dabc8710d12b08614","datavalue":{"value":{"entity-type":"item","numeric-id":5282196,"id":"Q5282196"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$81A689CB-68CE-45AF-AF09-B29706D098D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9ababdc33513be41d7c1af5df015e5ed07d66d24","datavalue":{"value":{"entity-type":"item","numeric-id":5267232,"id":"Q5267232"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$3517A958-4B08-47FB-8ADB-2D2F0C20C105","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"75b054839a73afb3c3d5e882f504294f01710e89","datavalue":{"value":{"entity-type":"item","numeric-id":1652328,"id":"Q1652328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$42ECE025-F4BA-4896-B6E1-2926F138E25A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"03f4ad8c4e27399fa49e30f5d6859396a2dcb675","datavalue":{"value":{"entity-type":"item","numeric-id":2658066,"id":"Q2658066"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$D2FD3579-636A-436C-AAA8-8DD85D9A3CB6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8cf93c182749b08a9b2105436633e5113a77c38e","datavalue":{"value":{"entity-type":"item","numeric-id":6061309,"id":"Q6061309"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$2C6A3A81-335A-41F9-92C1-FADDA2C53F22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0fe4537f9afd9ed64bb260712043f7a2549e3dc9","datavalue":{"value":{"entity-type":"item","numeric-id":2008022,"id":"Q2008022"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$3C457042-D0FC-496B-AC22-AF9458712867","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59ef372cb2b80b1bb7fa0bd3d122b4072f664b1a","datavalue":{"value":{"entity-type":"item","numeric-id":2573940,"id":"Q2573940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$67627BC0-A10E-40FC-8A0C-B770427CE864","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b57cc3e07de4e838dd99e3c0d527e91d583af7f5","datavalue":{"value":{"entity-type":"item","numeric-id":490812,"id":"Q490812"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$AD807A9C-5180-4DAA-8F47-939B05FA7153","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2355c165fa29f989791b6aa98ae05ecca87df3ad","datavalue":{"value":{"entity-type":"item","numeric-id":4968226,"id":"Q4968226"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$47B4181F-CA12-4423-8953-F2217022908B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"760b6d07af6c6183e37c1a9638f123809414d117","datavalue":{"value":{"entity-type":"item","numeric-id":2327618,"id":"Q2327618"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$557A00B0-E6FD-4DB2-BA7B-5B39D920C8DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ff25f5afc21f41650059bcc3bb41cb9fdd7ddfe7","datavalue":{"value":{"entity-type":"item","numeric-id":1800933,"id":"Q1800933"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$D121CA53-309F-41F7-82DA-A8DBC1846F33","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7108af04aaf8df784870fe7d8ef3a8394b55f345","datavalue":{"value":{"entity-type":"item","numeric-id":2205501,"id":"Q2205501"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$9FA24EE7-10FC-4D7D-9AB3-A3B98D4FA6B7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e01b50376f70c6228e6563c6a234a7055533b3af","datavalue":{"value":{"entity-type":"item","numeric-id":5208267,"id":"Q5208267"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$5F06C223-9FD2-4741-8641-ED08CB7457A9","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":"Q2222903$92FC0F64-4EA6-4596-80A5-119D27076D0F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6b05b386be00b8614efe13d4d314ef6053cd6c94","datavalue":{"value":{"entity-type":"item","numeric-id":5352922,"id":"Q5352922"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$AF7992F1-E7FB-4133-82F6-FB92C3D10254","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1577f551301b0c31699bea5f2bd8efa5bf613fe5","datavalue":{"value":{"entity-type":"item","numeric-id":2954082,"id":"Q2954082"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$EAB83D21-16AF-4A6B-9311-76B1F3994A9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3d69cad1993030cb0404c6c08a45b83e8e3287b","datavalue":{"value":{"entity-type":"item","numeric-id":1764048,"id":"Q1764048"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$71993977-4D16-4CD5-A9F8-F70CD6E6AB51","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a3e155b40af4756388901f4092b1d392c9085493","datavalue":{"value":{"entity-type":"item","numeric-id":5863695,"id":"Q5863695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4110aa3b577a70e900692557f176b1f59af85c15","datavalue":{"value":{"amount":"+0.9668784","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2222903$F49C9D86-91B6-4BCA-9AB2-DB713C112442","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"705c98e61fb2a42213e8938cbc1b2d4decd95b07","datavalue":{"value":{"entity-type":"item","numeric-id":2205501,"id":"Q2205501"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3ec3325a755c5e22b7469aa3d428793a73ac027d","datavalue":{"value":{"amount":"+0.9452096","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":"Q2222903$D13F87CE-8F5C-48C3-ABEF-696A6CE31C32","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fe4374be30d6fdbf71313194206eb0d8f0c359c7","datavalue":{"value":{"entity-type":"item","numeric-id":2205521,"id":"Q2205521"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b01434b08fbfca84bcc97a79a60edfedb2b129ca","datavalue":{"value":{"amount":"+0.9334364","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2222903$BA417639-AD94-45E0-ADD3-6E00854B7DC4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0dd65b05276d2f528b6bbad740d7948c2072033c","datavalue":{"value":{"entity-type":"item","numeric-id":6168843,"id":"Q6168843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"69fa150f2e9bcdda577ab94efbf5fbd0df3f7d70","datavalue":{"value":{"amount":"+0.9238932","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":"Q2222903$0C443E3E-16D4-44CF-B47E-A3DA9D8268B7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c2112f3b53613e322718538291ad33fb79d032db","datavalue":{"value":{"entity-type":"item","numeric-id":5867058,"id":"Q5867058"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ac575be2b191bcde251b7fdf1363c3b84cdafca1","datavalue":{"value":{"amount":"+0.9237423","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":"Q2222903$1257EB37-70FA-4091-8F14-C1AF791DA32B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d9eac8b267d8faeb55df3cbfce6377977aafc1db","datavalue":{"value":{"entity-type":"item","numeric-id":5241744,"id":"Q5241744"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0e01d1ce66672646032cdc1d3a90dc349e23ce27","datavalue":{"value":{"amount":"+0.91974556","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2222903$C783E472-A18D-4F77-8DE6-94DF11DC510E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c0902f37d371a7a7664ddf2ed4ad9b0a5f4472f0","datavalue":{"value":{"entity-type":"item","numeric-id":3131508,"id":"Q3131508"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"723a922f38c6452ade5c37fad495139d93148a56","datavalue":{"value":{"amount":"+0.91802907","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":"Q2222903$C1BE7278-DD6A-4209-8897-650EED3A1A59","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ba7e5aff044b2374d4d75980972b4c8d31354e61","datavalue":{"value":{"entity-type":"item","numeric-id":6068522,"id":"Q6068522"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"967275e4f38f32ffccea8e30066db2630cb25fe0","datavalue":{"value":{"amount":"+0.90659046","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2222903$FDF268F4-8FFB-4005-BFFF-CC18F01E11CD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d73f7df0f3569437b0323fd3d6d8618d69122a98","datavalue":{"value":{"entity-type":"item","numeric-id":6061336,"id":"Q6061336"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4e0c0a151aeb6f9d8312759ea1af0d8b65f30cf4","datavalue":{"value":{"amount":"+0.8934491","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":"Q2222903$2127CE1D-6B80-4746-A8B1-C6E702CAA301","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"efd75f074a06fbb5241199e63b805cb290508ca5","datavalue":{"value":{"entity-type":"item","numeric-id":2280724,"id":"Q2280724"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"759168d041c78554b8f4517a2bece1e670597ffa","datavalue":{"value":{"amount":"+0.8919221","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2222903$B6D2153D-4545-4859-A81F-2ED2061104ED","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2222903$4F714B61-4B1C-4D37-9FBB-D70ACA7C2C19","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2222903","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2222903"}}}}}