{"entities":{"Q2308129":{"pageid":2318872,"ns":120,"title":"Item:Q2308129","lastrevid":53694227,"modified":"2026-01-25T13:51:05Z","type":"item","id":"Q2308129","labels":{"en":{"language":"en","value":"Combined open-loop and funnel control for underactuated multibody systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7182368"}},"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":"Q2308129$44BB93DD-E885-4510-853B-E84E337EB9E0","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"97f2cb55c06e1ba439148cfb28d17b2c80985d9f","datavalue":{"value":{"text":"Combined open-loop and funnel control for underactuated multibody systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2308129$DE6D161F-2278-41E9-A267-1A5FDF2842CB","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"bf63008d6e6b2bcad3f27363d9a98e13d19f9a87","datavalue":{"value":"1432.93102","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2308129$602EBA6D-8EFF-410B-B91E-528F18B73D28","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"cc45e6b9322bed7360e4aac2a42f8c73614b44f3","datavalue":{"value":{"entity-type":"item","numeric-id":1787138,"id":"Q1787138"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$CD9F57E0-8D84-4588-857C-25C33EDE734B","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"d3b6540a5cd6a7f15bca174716bb7f991ed59bfa","datavalue":{"value":{"entity-type":"item","numeric-id":65804,"id":"Q65804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$A04B8556-7F03-45BF-ADB5-ADA716331641","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"1e1dc58417fff361a629180d2ec9efcfddd12ca3","datavalue":{"value":{"time":"+2020-03-25T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2308129$CAC03CCC-F7A9-4B54-93FB-B9F801882E8D","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2308129$3E2AE17D-91BD-436D-A0A0-CE16773873F6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2308129$CDD6F27F-325D-4D22-9480-C0E43A8EEBA3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2308129$E0604BA7-2EFA-44C0-9F25-2362357AF5CC","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"8916e8cdb8f35a7fc36273855027884c8c988e47","datavalue":{"value":"7182368","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2308129$94F03BE2-5923-48BE-83E6-AE04467BE05D","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"63fc0c7a892b65be42f4e1cf0ef94b25ebbbfe0a","datavalue":{"value":"multibody dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q2308129$C4CD28CE-491D-4303-A73B-FDAA726D9EBA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6964bc9dc16536ea0595c489256aa486837f985b","datavalue":{"value":"underactuated systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2308129$367A8E56-9988-4F43-82F0-D1DFB2B3EEB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"31c7155ac3a671c42755e5e16fd091c27b9677cb","datavalue":{"value":"servo-constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q2308129$581A7E6B-7745-43F4-96AE-A36C5125F648","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2778de504c19f69f7a469b0de57ab42d4a3f5e4c","datavalue":{"value":"feedforward control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2308129$A523925B-E2CD-4C68-9402-9578D67B81A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f268c15b6b145735cde774afb0ae2aef8e79e5ca","datavalue":{"value":"funnel control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2308129$F6B1559E-6FB0-45C0-B39A-7B80EAE07FD3","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"a0169e6f2fb5ae55c992e3758b191a2d1c97da9a","datavalue":{"value":{"entity-type":"item","numeric-id":16299,"id":"Q16299"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$5E30B8B9-2808-4A4B-ACE9-2693CE0A9094","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$A685E02D-C91F-495A-9BA4-D8A3608D1BED","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"b1394c4409a51e1cba9d6fa1b1c51fca23201c7d","datavalue":{"value":"https://doi.org/10.1007/s11071-018-4672-5","type":"string"},"datatype":"url"},"type":"statement","id":"Q2308129$61458E8C-BA29-4852-8950-8A7FE77F2B7D","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"94531edb1560bc7b9434d1e1ab8300df66247a63","datavalue":{"value":"W2902480056","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2308129$265465D0-F02A-43F2-BAC3-A0A0DA0A1E48","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"b14f6dacd52f47204c38bd12103900bc6cfd341f","datavalue":{"value":{"entity-type":"item","numeric-id":2629338,"id":"Q2629338"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$F6B12287-6235-4474-8C94-B6B92006AFD6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3957041258d2140624d125d2f3a0dcb9f04b73a6","datavalue":{"value":{"entity-type":"item","numeric-id":1699611,"id":"Q1699611"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$64843A21-A435-45F3-A960-14B244FADEDC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1a1d45bd5cd22cf275f0eb6575e62406043f2c6e","datavalue":{"value":{"entity-type":"item","numeric-id":1334589,"id":"Q1334589"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$98E60B2C-C6DA-46F0-841A-F22050910BD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9de41bd6693a2da4edc8c917cc89e833d4ebd69d","datavalue":{"value":{"entity-type":"item","numeric-id":680550,"id":"Q680550"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$0C9E05D9-2AEA-4FD2-A136-3013FA63F37F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a3d489c416fdeff0661fc5464ccc8d84f1d8c7bc","datavalue":{"value":{"entity-type":"item","numeric-id":2263948,"id":"Q2263948"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$716F87FD-E9A7-4A5A-899C-90E2D2A8350C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3f40e09970e9b47640269f75e388be0e59cedd4","datavalue":{"value":{"entity-type":"item","numeric-id":4682277,"id":"Q4682277"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$1EED10FA-F8D0-46C5-872A-E06038C413F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3f45b8a5f8df794fd8ffb41530af17ae3cc1a9ea","datavalue":{"value":{"entity-type":"item","numeric-id":4556470,"id":"Q4556470"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$51C22483-5DD4-4C4E-899C-ABFB11E59844","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"703cbddf30f46c05ffbb710ba1f0aadfc298d3ed","datavalue":{"value":{"entity-type":"item","numeric-id":4582094,"id":"Q4582094"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$32767ED3-0DC1-4F39-88BB-CA17C55C2EBE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"99ebed59e2b49f5bf6bc510d3b52100b4069f354","datavalue":{"value":{"entity-type":"item","numeric-id":1193141,"id":"Q1193141"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$5C7AA77B-11CD-4D5B-A918-70F0E7A63C77","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d6e83cee1c7a94eadc24d8a89ccd47dc40802dc9","datavalue":{"value":{"entity-type":"item","numeric-id":701940,"id":"Q701940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$B22A0F10-63DC-410B-A339-0115C1A3292B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a67e5eb4d8652020142d87b8b4a4200c981ac947","datavalue":{"value":{"entity-type":"item","numeric-id":3993493,"id":"Q3993493"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$AA73BFF0-2179-44E5-863C-6039365D30AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1c0c0fc0003dbd53c5b9d40f0632f45cd4fb980b","datavalue":{"value":{"entity-type":"item","numeric-id":4882223,"id":"Q4882223"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$3BC8D5E6-0571-498B-844D-3673B2CD79FA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c8714c1e366b1248acd69bce73ec2fe7b9ae2852","datavalue":{"value":{"entity-type":"item","numeric-id":4896754,"id":"Q4896754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$64DA2243-578D-4F29-B506-EDBAFD65CEA7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c20fe4847fde82c3ef89a0f8ed3b3a68f3d81f4f","datavalue":{"value":{"entity-type":"item","numeric-id":3777352,"id":"Q3777352"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$4F40BB7B-18F7-459E-9364-64E36855119F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"15d5e9a9304ecd903525d5e5cd705f3c1eeff5c2","datavalue":{"value":{"entity-type":"item","numeric-id":935546,"id":"Q935546"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$6C1577C2-466E-42C1-9A58-70A10CFEE548","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"48fb06f5111da62f05847e14a8d6079a9765c97d","datavalue":{"value":{"entity-type":"item","numeric-id":2406120,"id":"Q2406120"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$16E1B4F6-6469-42F6-9531-BF3F4DE258BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5d795714b0def6f81b03b07c57ee1496a5aac735","datavalue":{"value":{"entity-type":"item","numeric-id":4714145,"id":"Q4714145"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$C63B1B18-B248-4F55-8940-83EB87BF41AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7df9de08484ef45bd2aa8ad72445e09de93706d9","datavalue":{"value":{"entity-type":"item","numeric-id":5282113,"id":"Q5282113"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$543C3931-FB9B-4A54-837A-1100D6553B79","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de6371d89b84c8721fad42dc5244c474d58ac556","datavalue":{"value":{"entity-type":"item","numeric-id":3542477,"id":"Q3542477"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$11208953-22F9-40BE-A83B-25D4AC1DC8B6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"faf263aebce0accd1d15bb2cb677268879e2ee3a","datavalue":{"value":{"entity-type":"item","numeric-id":4420728,"id":"Q4420728"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$0F5CEA53-D0C2-4CF8-89E5-BA5D070ACAB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c08fb85dad322d4e11a26ec95ad70d69d4a12dd3","datavalue":{"value":{"entity-type":"item","numeric-id":2503677,"id":"Q2503677"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$A8E9C42F-92BB-45FA-9C56-C8E4F8E42AC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ff917c1aa4d45006c4ac3306894296400db9bcd7","datavalue":{"value":{"entity-type":"item","numeric-id":1364413,"id":"Q1364413"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$E1923B63-69F1-4624-9665-47EC8803AC54","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"784582424b25e5840dbbd2e12febcd656e184e74","datavalue":{"value":{"entity-type":"item","numeric-id":5708359,"id":"Q5708359"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$DC6BB414-1BD1-470C-9D70-095D77FC19E3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7370b1c2157e729d90ec3c851c086352f5ffb5c1","datavalue":{"value":{"entity-type":"item","numeric-id":5810363,"id":"Q5810363"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$842164FC-F49E-4D1E-A823-5DEDCE973AD9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0035afaf0744be7cbd053a93367d1af97e7e2152","datavalue":{"value":{"entity-type":"item","numeric-id":705681,"id":"Q705681"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$D634A274-590C-4476-A494-FDD928FCA0CE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f84605b682c269846bb1e7c01d027d1562720b4e","datavalue":{"value":{"entity-type":"item","numeric-id":3296420,"id":"Q3296420"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$5F645A50-25D0-4883-8446-96125BBA46D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9afab6a8388e767254c5fd9319741c1e25400c13","datavalue":{"value":{"entity-type":"item","numeric-id":1698675,"id":"Q1698675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$12507472-46D4-4300-8602-67AB794C64D5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2cdbad425c057b5d43064b73688817ca73ef7b74","datavalue":{"value":{"entity-type":"item","numeric-id":2922139,"id":"Q2922139"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$AF7473BA-8806-48EB-9E5B-9B3368A4DDB6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3df075b432ac124cc3324addbe4d84e09e3a0490","datavalue":{"value":{"entity-type":"item","numeric-id":666575,"id":"Q666575"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$42A5D777-8170-4E5B-9E7B-6BEC6CB2DC5C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5cb1ffbc67485cd0ec03e3190674316a8c0119fb","datavalue":{"value":{"entity-type":"item","numeric-id":4851723,"id":"Q4851723"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$B101744F-E077-459A-AA8A-CB274E030731","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7beaf0014514d7ef61bedbb4fdb8145c758eeec5","datavalue":{"value":{"entity-type":"item","numeric-id":4732388,"id":"Q4732388"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$38B13FF0-7070-43FF-9B7A-C8BD500F6107","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b4429efe269c58310f124ed8fb3336181f8f3a74","datavalue":{"value":{"entity-type":"item","numeric-id":1047461,"id":"Q1047461"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$F242628C-FC93-4AFE-94A3-F3DAEFBECD42","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"07e09e0965a007fcb2d4ffcdb0b592ac5ad99b17","datavalue":{"value":{"entity-type":"item","numeric-id":3838091,"id":"Q3838091"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2308129$B8EB6000-3324-4FF9-BB0B-ADCDFE45F3CB","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"9dd42f664c26bfeea70a6e823da6c943b65de990","datavalue":{"value":"10.1007/S11071-018-4672-5","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2308129$19A5EE39-B95E-4FEA-B95E-4C55286C5D02","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"eb5632cbcbf4a1bde978a6925b98f54ee79294cf","datavalue":{"value":{"entity-type":"item","numeric-id":666575,"id":"Q666575"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3d2a05e2ac812bd517c21cbb73303749fa4f2ac4","datavalue":{"value":{"amount":"+0.8009853959083557","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":"Q2308129$3AE9B920-A993-4F55-B572-DB32C415A507","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9d947f21c4a1b7211d4e28c792cf2676be259819","datavalue":{"value":{"entity-type":"item","numeric-id":3565568,"id":"Q3565568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1ab442c784325846f7d9c01c59563b22f27363c9","datavalue":{"value":{"amount":"+0.7756540775299072","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2308129$E4A106D3-15E1-4696-9D46-E3E13855E8A8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c3e09ef1a0e49d9a7caec88a356aa958437e50eb","datavalue":{"value":{"entity-type":"item","numeric-id":680550,"id":"Q680550"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"912af720cb04ae480f7a6271cf3f42ceadb01452","datavalue":{"value":{"amount":"+0.7645363211631775","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":"Q2308129$74D02283-44FD-4BAA-9BE5-24B5860F4F2C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c2cb329d903656ca289f77dc055c582b76d24308","datavalue":{"value":{"entity-type":"item","numeric-id":2840125,"id":"Q2840125"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c05d06090d0f2be43b3d4437ec58e9b2b861810b","datavalue":{"value":{"amount":"+0.7625998258590698","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":"Q2308129$43092018-A064-4AA5-AED0-FCC7590E2BEA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"094b6f105202d59312db2f30acd964b2979d6c44","datavalue":{"value":{"entity-type":"item","numeric-id":3296420,"id":"Q3296420"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"619aed0b3cef9c48a3c2bbd5eb203a968d46e4c4","datavalue":{"value":{"amount":"+0.7613388895988464","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":"Q2308129$2F0A6AA0-55E2-4F6A-A7BE-4D6348B13001","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2308129","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2308129"}}}}}