{"entities":{"Q2477696":{"pageid":2488439,"ns":120,"title":"Item:Q2477696","lastrevid":78871034,"modified":"2026-05-06T12:37:42Z","type":"item","id":"Q2477696","labels":{"en":{"language":"en","value":"Switched seesaw control for the stabilization of underactuated vehicles"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5249651"}},"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":"Q2477696$AAAF7274-4ACE-4B83-962A-39472AFDB28B","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"84e1f5931e2de8b5c032db442cfd6511f3ab0f65","datavalue":{"value":{"text":"Switched seesaw control for the stabilization of underactuated vehicles","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2477696$65A5BE1F-D1AD-457E-B75A-E3B9BE8EBA8C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"4f06931c50306115a7ae93b979b4226ae80c16eb","datavalue":{"value":"1138.93051","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$26D83262-56F4-4599-A1E1-C8A0A3740D45","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"e3473b2ce2a74b443e1642be66afec73555611e6","datavalue":{"value":{"entity-type":"item","numeric-id":273980,"id":"Q273980"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$81BFF1A7-AB3C-4A5C-9001-CCA8BB200E68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"05fee6cd848d9eb037d31977c224997e354c21bf","datavalue":{"value":{"entity-type":"item","numeric-id":473303,"id":"Q473303"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$A03B9ABE-F5B6-4F37-AC02-8E7D912931EC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"23aca91274f08b237c6fa3b30fbf7b261c836cd6","datavalue":{"value":{"entity-type":"item","numeric-id":450828,"id":"Q450828"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$DE7221A4-D450-4C95-A87E-7421B56EDA6A","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$5EF71D5D-B4AF-4056-97AF-E49875897E30","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"d80a5c8b6f628310cf811f48b9c17f65f1aa8a2b","datavalue":{"value":{"time":"+2008-03-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2477696$A1EFFD80-3342-4720-A43A-2D54CB426781","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"38d2487ee4b6d9d6363a0214eff40b18ba208076","datavalue":{"value":"93D25","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$F99AA93D-239F-43E6-BAFC-CAFB323FEB52","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"931f9bc6fe69aba6508703df7e266476edb87eb8","datavalue":{"value":"93B51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$12B09243-AB8B-47AB-AE18-2EBD4046B9D2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$4DFD4BC3-991B-43D5-9C69-790EA2032498","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$4F04F3B3-E51D-424D-8E12-571B2F136B93","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$E795E49A-1A1A-42B7-BC8A-B9AC78615480","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"fcd657ff660498473b5b183eb39e4afc8b4868d7","datavalue":{"value":"5249651","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$B801EB12-D7CC-4D17-B046-94EA2F79E7A0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c8f08d94ed7e2bdcd855f06f6d17a3525ec4cec0","datavalue":{"value":"switched systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2477696$24D1E71D-15C2-4173-AAA4-1EE8A46A1FFE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"74537d28edb1ffbe0587b889f28e4b6499b7b728","datavalue":{"value":"hybrid control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2477696$A0C2DC1A-D83C-494C-BFEE-98080F2A29DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"acad61b946c4ce6b7a43fb8f8ee86dccadec2404","datavalue":{"value":"stabilization","type":"string"},"datatype":"string"},"type":"statement","id":"Q2477696$81630706-7159-4829-8283-12E82288D70C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7da4268bdd0a2e7ef9be4c14ae67271057bb1b10","datavalue":{"value":"nonholonomic systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2477696$034B9649-B8E5-46B6-8450-A0664C8C463A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"12784d21e129f563149239cd83a835bc1b458510","datavalue":{"value":"autonomous underwater vehicles","type":"string"},"datatype":"string"},"type":"statement","id":"Q2477696$011B24D3-99DD-48BD-B8E3-C59E5FD61C32","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"c3eba352e281ef4aa09b7120a11a34babd3bc61b","datavalue":{"value":"Q59133367","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$5B5767A3-5F35-4115-8DAF-B0F93534B922","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":"Q2477696$0430D46E-FCD3-4EEA-9BEE-81611EF5FB7D","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"b8d2fcee344854b8a93640550b2be39f21d06184","datavalue":{"value":"https://doi.org/10.1016/j.automatica.2007.03.023","type":"string"},"datatype":"url"},"type":"statement","id":"Q2477696$B4B61D2F-58D1-42A6-94FD-6CB4B4163FB4","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"8f1a2ac4423db04af8777977decf0c92cb8270c7","datavalue":{"value":"W2022369950","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$8E29A258-E3A2-482E-9E4E-94C18A452CEC","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"7f2a87783ebab19efe036c4c062943abbc79133a","datavalue":{"value":{"entity-type":"item","numeric-id":1130308,"id":"Q1130308"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$A9ED0F57-C4B4-41F7-AE14-16E13036E2C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7098cdb7029f15592abef99510191acfd5a31b0c","datavalue":{"value":{"entity-type":"item","numeric-id":1350978,"id":"Q1350978"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$99E1CB57-DE65-4A42-BEEB-D0AA9D331FE6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fa7b9e8ccd5fbee1ff96136816cf3e2281296c7","datavalue":{"value":{"entity-type":"item","numeric-id":4031519,"id":"Q4031519"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$B0AB42E2-A847-4877-A457-341D0515F294","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$25C07A88-3A54-4DC7-B5F0-B48DEF72FB9B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e21be8859097ac0c135191a3d0b5b0bbf584603b","datavalue":{"value":{"entity-type":"item","numeric-id":4031531,"id":"Q4031531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$1FEEC6E6-BCBE-42F6-B966-75FE346EC9DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f136cdc8f4274e04027edbfe81cc6ad83b094800","datavalue":{"value":{"entity-type":"item","numeric-id":5925930,"id":"Q5925930"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$A4CDD11F-61BD-4FA4-9A23-D56738A97729","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d119b9be35a702bbef54ce7c744952696ad16fd4","datavalue":{"value":{"entity-type":"item","numeric-id":1426273,"id":"Q1426273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$48E5D063-7BF0-46C3-BD46-2D451D283E1B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d19be2f29fc86c673984f2549556c1051de66598","datavalue":{"value":{"entity-type":"item","numeric-id":4361136,"id":"Q4361136"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$BCFF2550-4631-4C6C-B758-6F97E9973E3F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"468f557a186e64825f76a9b47cb3109d8ed5a123","datavalue":{"value":{"entity-type":"item","numeric-id":2377975,"id":"Q2377975"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$CB3BB74B-5EF7-4FDF-8156-874D020D2959","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1c7e000f9f21e42121b3f4658c371eb4792cefdc","datavalue":{"value":{"entity-type":"item","numeric-id":1842526,"id":"Q1842526"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$065FCF13-F85F-486E-A19C-10B941A7C97E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a41e9518520ab1b16061e2430e49fe00f116188c","datavalue":{"value":{"entity-type":"item","numeric-id":5935479,"id":"Q5935479"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$5C11B54D-3337-453C-BD34-AB082B305373","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c46caa4711d14f1101edb5a0d0f90fc7a5c02c64","datavalue":{"value":{"entity-type":"item","numeric-id":4717197,"id":"Q4717197"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$80BB2CF2-950C-4AA1-B53C-D2DCCF18F96E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c090fe1b38ffcd772b08ec2baa6aeb6b3f749693","datavalue":{"value":{"entity-type":"item","numeric-id":1407764,"id":"Q1407764"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$870CF896-935E-4F93-8283-F883280C8FC1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6afdd5d8e62de6cf0e94cdee459883d99b3bb3af","datavalue":{"value":{"entity-type":"item","numeric-id":4652517,"id":"Q4652517"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$D01566DD-8B44-4A21-B64E-3FBBD2E6E6AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"38e36b4638546d1d7e5326a4bfa067121686d6a7","datavalue":{"value":{"entity-type":"item","numeric-id":4362292,"id":"Q4362292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$10F227D8-542E-4E93-A834-76B335D4C121","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"16b5b5ec39988f480666a00b73f4fe1a37158137","datavalue":{"value":{"entity-type":"item","numeric-id":4507018,"id":"Q4507018"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$267D41FC-8868-4099-AD75-52A3AAA4A20B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0031518868cc7f0d4164ef17389a52331552fa6f","datavalue":{"value":{"entity-type":"item","numeric-id":5266733,"id":"Q5266733"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$1EEE8F6D-140C-4268-92D4-A2939AA87A16","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0828ab799bf4ae8d879ce805ccf2e0d1d00666d2","datavalue":{"value":{"entity-type":"item","numeric-id":4273822,"id":"Q4273822"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$A5E81801-2E4F-40DB-A69B-BE0CC1D378A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e0d09410f43dab163b63ea7df34e0c4957ecbd7b","datavalue":{"value":{"entity-type":"item","numeric-id":4506650,"id":"Q4506650"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$B7FD1FE8-C592-44FE-BE2F-D8EC33180169","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c617ac8c522e193f1e114fab31e454de3f6252b3","datavalue":{"value":{"entity-type":"item","numeric-id":5266713,"id":"Q5266713"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$AEE81BF5-1CB9-4FC2-912C-14A70B9B1CD8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c8dbb7ef872bd12737d5a5fe5946c6e8026fc5b1","datavalue":{"value":{"entity-type":"item","numeric-id":4763763,"id":"Q4763763"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$77CD9102-460D-4E03-BCC3-E713CECE36C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7beaf0014514d7ef61bedbb4fdb8145c758eeec5","datavalue":{"value":{"entity-type":"item","numeric-id":4732388,"id":"Q4732388"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$B1CF7E85-5C53-425C-8FA8-406CE22246EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59aa25754f1139cd18e05b687ccb709736216eef","datavalue":{"value":{"entity-type":"item","numeric-id":1391874,"id":"Q1391874"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$604EB96E-028A-4B05-A547-D1AC13B22A58","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6b194dbd544b331a3e1fa94abc8d9579486983fd","datavalue":{"value":{"entity-type":"item","numeric-id":4855148,"id":"Q4855148"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$67838B35-4C52-47A8-9D40-E9557EE0C7FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cfc75f98dab04a32e9ec813391cce25fef95a5a0","datavalue":{"value":{"entity-type":"item","numeric-id":4393077,"id":"Q4393077"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2477696$BE14BAB7-60DC-4DE9-9FAD-7991FE920001","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"c817da4c6508a967fcd8ce0931849b97a92648e0","datavalue":{"value":"10.1016/J.AUTOMATICA.2007.03.023","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2477696$5016BF90-61A0-4DD8-B1A7-094E582A5447","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ea53728e69a206c61653c2c807aa5b491c30229b","datavalue":{"value":{"entity-type":"item","numeric-id":718799,"id":"Q718799"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c9260dfd3b543c9e3d321fe3bffce62ba12de52b","datavalue":{"value":{"amount":"+0.7988497614860535","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":"Q2477696$5F638288-4CAA-4442-99D1-B19ACD39D7C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1545ab2582c6687f06c70f6ce4368784d17b3a0b","datavalue":{"value":{"entity-type":"item","numeric-id":880418,"id":"Q880418"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"27abc1104c7e1f81d9b48571532379addd22b727","datavalue":{"value":{"amount":"+0.7777208089828491","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":"Q2477696$8A96AEF1-2BE8-4404-ABDE-99705F82058F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1154cbabfccbd4679118470ba6b36ddab6c50044","datavalue":{"value":{"entity-type":"item","numeric-id":1023388,"id":"Q1023388"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9a50c495c1f4d1d49d39365711790f20785c31c7","datavalue":{"value":{"amount":"+0.7751492261886597","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":"Q2477696$89CC534C-5F45-41DE-B040-03A7A5E07C47","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"342b6879841bbe2abd7bd81a194ac6b0a661dc5d","datavalue":{"value":{"entity-type":"item","numeric-id":3627990,"id":"Q3627990"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"be271550630b8143fc7a321989290b734f878057","datavalue":{"value":{"amount":"+0.7736707925796509","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":"Q2477696$056B9417-79A2-437C-8D69-C9038287DB57","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ae06b9d8e3fb5b31e6c5a5d94b076973303b0fc1","datavalue":{"value":{"entity-type":"item","numeric-id":3613011,"id":"Q3613011"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ea2b7e384911d9c44ded5ee1274607bb2ba281ff","datavalue":{"value":{"amount":"+0.7716350555419922","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":"Q2477696$30DC9E55-A500-4804-920A-6E2B69117FA1","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Switched seesaw control for the stabilization of underactuated vehicles","badges":[]}}}}}