{"entities":{"Q2412844":{"pageid":2423587,"ns":120,"title":"Item:Q2412844","lastrevid":52945883,"modified":"2026-01-23T21:13:04Z","type":"item","id":"Q2412844","labels":{"en":{"language":"en","value":"On the minimum-time control problem for differential drive robots with bearing constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6800629"}},"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":"Q2412844$765EE2C0-9A2C-4E01-ACE1-5DF4207A7369","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"929c8ad963a07b0bf928bf33170eef587868657c","datavalue":{"value":{"text":"On the minimum-time control problem for differential drive robots with bearing constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2412844$C4B92A3F-D8F9-4DF0-8643-CCA7DC8988DD","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"11e99c53d9632bd787afd29de1c711efe5406520","datavalue":{"value":"1379.49002","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2412844$89DF0E0E-C0BB-4AF8-93F7-CF6A58D4C9D5","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1f46718255b55bdb795a327de3d0ebfbddc1e303","datavalue":{"value":{"entity-type":"item","numeric-id":344653,"id":"Q344653"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$62CA4086-2823-4A2A-A3C0-4A712FC903CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c93e0fe7a38ddc8bff991ecf52a40ac8600ea4e6","datavalue":{"value":{"entity-type":"item","numeric-id":2412842,"id":"Q2412842"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$006ECDCD-6D7F-4747-BB6B-74728F1F5135","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3f40df4b40344bcef3d5194efbc2263728e4e6d2","datavalue":{"value":{"entity-type":"item","numeric-id":2412843,"id":"Q2412843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$255F64E5-5C4A-4FAC-8FD5-C0C817F8CF05","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"28ddaefd7f97d3e79759636e39c6913acc55e9c0","datavalue":{"value":{"entity-type":"item","numeric-id":202235,"id":"Q202235"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$FB54861A-996F-4989-ABA7-549CF77589BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"849af1535a0dbff602242ed196a11d366b24969d","datavalue":{"value":{"entity-type":"item","numeric-id":534363,"id":"Q534363"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$8203F6B9-3B07-41AD-95C4-4925F5E1BE63","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a3c8bf4d8569c126380a9fc42f55609089e776fb","datavalue":{"value":{"entity-type":"item","numeric-id":82026,"id":"Q82026"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$D594BD43-348F-42A6-8F05-7F83B355359C","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"8feeb1cca2d914464752fa09fbf4f8c1020610b0","datavalue":{"value":{"time":"+2017-10-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2412844$97041C19-7402-4A3F-B5DC-3658749F790B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"0241b2262e390f54bef771f6ad6dce9f2b0c08e8","datavalue":{"value":"http://hdl.handle.net/11568/855645","type":"string"},"datatype":"url"},"type":"statement","id":"Q2412844$367384D4-3D67-41ED-AC3D-AC8CC85F2F1A","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"46f6f97ad6bf74faa2be6629aac320ad56ec94a7","datavalue":{"value":"49J15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2412844$5A642CEB-9AFC-47BB-9EA9-F842ECCF91DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"18d3ff98a6b36ff583aa8db8acc5f9669058d6c6","datavalue":{"value":"49K15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2412844$4ACB3635-CB6F-4EF0-8D66-CB3C1D40994F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5a5c91b710d921e9ace398f00d49e0f96aacd6c6","datavalue":{"value":"34H05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2412844$65601469-B94E-4BBE-A43E-702DA69F1BDC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"f30799c21701258dafeb17cd8823046cb70591e1","datavalue":{"value":"37J60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2412844$33BFF955-BF4C-43A4-A20E-147EFB9A0AD6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2412844$564E7538-F793-4D25-8EA3-A1627639CE81","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"540db656aef0ee8953bd5eb8faab684a1e1488ac","datavalue":{"value":"6800629","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2412844$D4FE8FF8-5869-4115-9E05-00D78EA8EFD5","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"60dbeeb63b164488615143b62453560736027f69","datavalue":{"value":"time-optimal paths","type":"string"},"datatype":"string"},"type":"statement","id":"Q2412844$F927A57D-BB92-4B99-AECD-3527A094133E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"01f5b14f14446a0b0f0ab9f4db2fb0e2e371d30f","datavalue":{"value":"nonholonomic dynamical systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2412844$7FD77ADA-4C54-42B8-AC59-E9BB6CC4A221","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0c840ddcf52c3614b697343b514da9a6757dc6b1","datavalue":{"value":"bearing constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q2412844$B3D3C29B-CA0E-4C1C-91B7-EF2C1FF93BA3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"68856325bce5c157ea878abd12493555d70b147a","datavalue":{"value":"differential drive vehicles","type":"string"},"datatype":"string"},"type":"statement","id":"Q2412844$FFC9ABB0-4FED-4C06-BEB8-BE97DCE84A1D","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":"Q2412844$934CB399-2446-4BB4-8C39-A55A4D59C580","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"084d1b4deb2fbfe7795c78d5d8bd91cffabd65fb","datavalue":{"value":"W2606090999","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2412844$5511C949-1EBE-463A-BF7F-02D4FF5EF3DE","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"57e76df3134f8793fc6b1f04912d2bd021612459","datavalue":{"value":{"entity-type":"item","numeric-id":5281901,"id":"Q5281901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$4CA18198-9203-4F7D-9734-71F4D4266827","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4d9eb6089e027977267aa0e1ba42ca75239e433d","datavalue":{"value":{"entity-type":"item","numeric-id":3593012,"id":"Q3593012"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$3816C265-9094-421F-A5F2-FB275D403B7D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"caeafa75a41cb337cbfddbe5516be6c12d4163b8","datavalue":{"value":{"entity-type":"item","numeric-id":4537801,"id":"Q4537801"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$2167A989-4C63-42CC-9816-5AF4E85298F0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1b9756af3659ea99e8c3a9e0d55cdc5820e6d3c3","datavalue":{"value":{"entity-type":"item","numeric-id":4376162,"id":"Q4376162"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$2CAA8CF8-7CEC-4CD9-8B93-8049417C849D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fb7f463159411c61b2769b5d97eebb655f1fac1f","datavalue":{"value":{"entity-type":"item","numeric-id":4014550,"id":"Q4014550"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$4166853E-2A1A-4280-9D8E-DDB9C605C835","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"97424f7e160c32cdc3f1fa47d67764ff8f97a70c","datavalue":{"value":{"entity-type":"item","numeric-id":4388887,"id":"Q4388887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$0DB29F6C-2873-4BFF-A733-244CE7DB01E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fb0bd37e033bf4a683f04056ef85331d34b14e51","datavalue":{"value":{"entity-type":"item","numeric-id":4316312,"id":"Q4316312"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$D02F551F-2745-458A-82EF-63C2853E3ACA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"487304d991d030b6ebd45754f0f670d5a1dd779c","datavalue":{"value":{"entity-type":"item","numeric-id":2172519,"id":"Q2172519"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$F4578A20-9B6F-4083-81A8-C981AFDFFF1F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8e18920cd7f22271c8004f08ff64e033ab8ac2ed","datavalue":{"value":{"entity-type":"item","numeric-id":4884777,"id":"Q4884777"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$7EE229B9-EB1F-4E9D-AD2E-788C5CC30C5E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"21d0085b7ac7cdf5250c0a220267ed0a7edd2c2d","datavalue":{"value":{"entity-type":"item","numeric-id":4222033,"id":"Q4222033"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$1038F709-61DC-475B-A208-06301538EB74","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"443013b6cd2afc0af3f2644f3cc7b4111fdfbcf1","datavalue":{"value":{"entity-type":"item","numeric-id":2982732,"id":"Q2982732"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$351A3AA0-6DD6-456C-82E1-DD76826C894A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2dbb23e0072b14bb546754949d3a9cdbe54eb7c4","datavalue":{"value":{"entity-type":"item","numeric-id":3557930,"id":"Q3557930"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$FDC688CB-A9AC-4DEC-B02A-DC18B4B52E15","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6f1075d48ef12909818377e813a377939c126fef","datavalue":{"value":{"entity-type":"item","numeric-id":3278730,"id":"Q3278730"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$A7AB8903-0308-43EC-8764-EEEC0D91D10B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"42fedfde57b34ba27e3a126f205a50da7753cc5b","datavalue":{"value":{"entity-type":"item","numeric-id":2412844,"id":"Q2412844"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$ABFC9D12-36BA-46E7-83F4-0179A94D9E42","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7b39d86a717ecf184a45de5e3abf04d75ddd4401","datavalue":{"value":{"entity-type":"item","numeric-id":3544219,"id":"Q3544219"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$B1E3014F-D4DA-4D56-8DD0-5F7B5E5114D4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8ee452ecda61a92252a2c8c8b604029d00abf8c8","datavalue":{"value":{"entity-type":"item","numeric-id":4827414,"id":"Q4827414"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$1E6C961A-D339-44A1-96FC-B8123F55C8AA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f284721756395a52244d64a513ec86d64a40741a","datavalue":{"value":{"entity-type":"item","numeric-id":4842458,"id":"Q4842458"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$C957DF49-D947-40E1-B11A-C1AD22DA6A45","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5e844311409f7862e35e4b4fd75739a8481974b2","datavalue":{"value":{"entity-type":"item","numeric-id":3765995,"id":"Q3765995"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$95AC73F1-5378-405F-98CF-7DE9704A0DC4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9b6871c4887510d68927ef75367fffd5005af1da","datavalue":{"value":{"entity-type":"item","numeric-id":2911594,"id":"Q2911594"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$EF3F69A0-7E9C-43C2-BDAF-373359E58913","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f9199777ae466f741d355e6b5000f4819637964c","datavalue":{"value":{"entity-type":"item","numeric-id":5518003,"id":"Q5518003"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$28D52120-A81C-4102-9BAF-6943CB13B11A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"39e5ce8dbec6ed5f37ab6a1db55074ee42858a31","datavalue":{"value":{"entity-type":"item","numeric-id":4130591,"id":"Q4130591"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$9C953D65-B2FA-41A3-B772-733FA01298BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ed3cda1c898249964348a682756d662ac2e9c02a","datavalue":{"value":{"entity-type":"item","numeric-id":1810764,"id":"Q1810764"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$C6F88BB1-0DD6-4BB9-972C-42B61FC4DE64","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"990ce42e840c2b5dc1aecd19043d0694b6c59908","datavalue":{"value":{"entity-type":"item","numeric-id":3143704,"id":"Q3143704"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2412844$29621C31-638E-4B86-9037-E0C56213D401","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"339183221a0dcdbfbd30c662b2f31cef8e8e6dde","datavalue":{"value":"10.1007/S10957-017-1110-7","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2412844$00968F8C-B2CA-4F30-9165-11A77E504390","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fe02f59ef3500ab0ece64d4099990f839f741bde","datavalue":{"value":{"entity-type":"item","numeric-id":2749812,"id":"Q2749812"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c87c07c3b65de0deece2e0b345d6f206e0b18b44","datavalue":{"value":{"amount":"+0.8070066571235657","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":"Q2412844$5053D222-A21C-4FD2-9C48-D0CC1F9B377B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7d13826b2e7d2c00fc3c01827762f2e0849a427c","datavalue":{"value":{"entity-type":"item","numeric-id":5319713,"id":"Q5319713"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8a7e955d58bab0ddee34dcf421becebe678f307a","datavalue":{"value":{"amount":"+0.7685067057609558","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":"Q2412844$524C162A-08BE-4F7B-B06C-23FB3826EB65","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3fc01efee70c36dceabd4e348530c46286bc1a78","datavalue":{"value":{"entity-type":"item","numeric-id":444762,"id":"Q444762"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e57be9b3d147b81850aee7f44fd118d93917ce50","datavalue":{"value":{"amount":"+0.766369640827179","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":"Q2412844$768E94F2-93CD-4569-AF2C-FC875EF637A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"45fed5d7344549b704b9b8b2104af9444ec6fa31","datavalue":{"value":{"entity-type":"item","numeric-id":2030966,"id":"Q2030966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"43b13691c9a7b612b336e96947d20d1211d7b2a6","datavalue":{"value":{"amount":"+0.7537459135055542","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":"Q2412844$4735E386-2CA8-4B0C-B68F-32F0E29BBCE3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"896e489c02276c567207a5a1a0def8cfd0b3e4cd","datavalue":{"value":{"entity-type":"item","numeric-id":1301125,"id":"Q1301125"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6b6faaf67d28934e3e9344f20aac3233cb393920","datavalue":{"value":{"amount":"+0.737175464630127","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2412844$D3256A55-D8A7-4568-AB53-858A5449B501","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2412844","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2412844"}}}}}