{"entities":{"Q2938625":{"pageid":2949345,"ns":120,"title":"Item:Q2938625","lastrevid":85374788,"modified":"2026-06-03T07:30:19Z","type":"item","id":"Q2938625","labels":{"en":{"language":"en","value":"Modelling and adaptive tracking control for flexible joint robots with random noises"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6386674"}},"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":"Q2938625$27102A4C-877A-4D2E-9792-5B875CBDB631","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"06ee28928a78b7204aea077b230ec9d1714b4780","datavalue":{"value":{"text":"Modelling and adaptive tracking control for flexible joint robots with random noises","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2938625$ED170EDA-2868-4B61-8CA7-FE0DE15BF6D0","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"46a6d85b4e90c0e3c667b7eaa6ff30f34c31476f","datavalue":{"value":"1308.93198","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2938625$4454A91F-3F87-46F9-8EFE-47111E996D5D","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b8a255967e97d61e95db71948dd12856c5142f56","datavalue":{"value":"10.1080/00207179.2014.929746","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2938625$8478B159-5BDB-428D-90F5-8D1C502DEB67","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"27034ccec9b470976f7a6fd0cb35aaf30eaa713c","datavalue":{"value":{"entity-type":"item","numeric-id":682812,"id":"Q682812"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$B613757D-38FB-49DF-A9C1-E8465F857230","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"05a195aaeebca7e05e50c2193e3e3c51fc833392","datavalue":{"value":{"entity-type":"item","numeric-id":1640251,"id":"Q1640251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$7C3F39C3-D01F-4B7B-B136-B0ACBE04144A","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8fd1f09f03b2151af9bae64b3990df459d820d19","datavalue":{"value":{"entity-type":"item","numeric-id":159993,"id":"Q159993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$98B3D9CE-2A39-48B5-B8CF-B153A0EF8696","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"263261338df616964a138c38a6f0c5b7f36f1f12","datavalue":{"value":{"time":"+2015-01-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2938625$B1F3C11A-D034-4626-88E9-85119B0E0395","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"b1a9a20c16e14977aabce86aca077afc2aca3644","datavalue":{"value":"93E03","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2938625$080D21E3-1953-48AB-81F3-8019F060EF6C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2938625$7776C8A9-800F-4B0F-BC49-5622E48CE73C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6594fb8580241c64ce14f9f29fc602ba2f0f06fe","datavalue":{"value":"93A30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2938625$F80FB63D-DEAD-44D7-A462-2D8DCAD1AEE0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2938625$F14E5192-F374-476C-B685-88A40819614B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"58fa75a014b5dc5fd087c1a96188d6d736f399bd","datavalue":{"value":"6386674","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2938625$648299EA-A249-436F-B9F1-D86B6E05EF90","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cb6d2f29f1272ad105e54e0e69f1ae0b52e64086","datavalue":{"value":"flexible joint robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q2938625$CD01A527-6EC8-4D52-B242-D12FD0C69A66","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e1062e61a28551b30d767b14c3c4f30e441f7841","datavalue":{"value":"random noises","type":"string"},"datatype":"string"},"type":"statement","id":"Q2938625$F9E3C88F-6446-4707-BE09-6C9CAFE9E0FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c9717bb42afc0193381e08367f9a084833059fe9","datavalue":{"value":"adaptive dynamic surface control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2938625$81154FC1-5820-4E9D-B3E2-A66F163FD9DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"341153683e9f714eb4371ecda339b8c4f74c5db0","datavalue":{"value":"position tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q2938625$67187D58-48E7-4E21-94DE-BF4C80D66EBB","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":"Q2938625$9AEE0718-4D6C-4839-808E-6F289C66B9F9","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"81398cf51eaac42d342019b48f7e96e02d36a205","datavalue":{"value":"https://doi.org/10.1080/00207179.2014.929746","type":"string"},"datatype":"url"},"type":"statement","id":"Q2938625$82896937-212D-4A24-BB4B-EC98F5CDF414","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"d54958824d8b7c270cdd4727a23d8709d64337e6","datavalue":{"value":"W2145438028","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2938625$36F5ED72-A87F-4BB1-A70C-98803ED799DF","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"887f78e931e8bab492553fe01cce650972b96c63","datavalue":{"value":{"entity-type":"item","numeric-id":5353241,"id":"Q5353241"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$0B9776BF-0D70-4E41-B7EB-ED2EAEEAF973","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"04c2babd65bfd698ad66f9962790bdb4344745ee","datavalue":{"value":{"entity-type":"item","numeric-id":357554,"id":"Q357554"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$76DBED8B-B116-418E-9D89-405EAEDD0038","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0c1ffa8c7eb1fa47deeae6703759fbf97241ab88","datavalue":{"value":{"entity-type":"item","numeric-id":4506674,"id":"Q4506674"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$83DEA3E7-166F-439B-9F10-27B39EDA60B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb2f3a03b951b4164ec7aea7a6175d05ea038e6e","datavalue":{"value":{"entity-type":"item","numeric-id":4844685,"id":"Q4844685"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$C4045068-13DF-4A55-BFA1-81398B7D4FFE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9e25af1b91a9cc1e6e476e058c2b7657fe689da3","datavalue":{"value":{"entity-type":"item","numeric-id":1911265,"id":"Q1911265"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$2CB82181-686B-4FCB-915E-735F52982122","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"628b897af6661bdb631e0a8083b49d77f1db4434","datavalue":{"value":{"entity-type":"item","numeric-id":5281771,"id":"Q5281771"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$8EA943D6-E2E7-448E-84BD-5859F4B2E90A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2ccd4b896260b927b08bf0d4f1cfd51265f20bce","datavalue":{"value":{"entity-type":"item","numeric-id":3022710,"id":"Q3022710"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$0C4C1581-12D7-4A8D-ABC3-ACC700C17244","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4eab64603f3a0b37d95b3316c5f53a399c73285e","datavalue":{"value":{"entity-type":"item","numeric-id":4837468,"id":"Q4837468"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$0040A154-2F2D-4198-9F5A-1FEDEA6AF3D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"22297f9b4ffee7defba4364bf1babccbdeb30dcd","datavalue":{"value":{"entity-type":"item","numeric-id":3543051,"id":"Q3543051"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$22C0C663-AE54-4D83-BC61-8CB6D2721545","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"14e3934040aafcfedd6a748daad1ff522395fa1b","datavalue":{"value":{"entity-type":"item","numeric-id":985284,"id":"Q985284"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$13F2DF89-A1F4-4FA9-8970-51C08F4B7DDF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0bbe5a4671a7ffcae07ede3475d81d643ae6ca4e","datavalue":{"value":{"entity-type":"item","numeric-id":4540427,"id":"Q4540427"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$998D7883-42BF-4271-BFC6-AE0CAB2D7E06","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"25f57b39a56ea1ac27ba24709c00d069bb3e31cd","datavalue":{"value":{"entity-type":"item","numeric-id":3804564,"id":"Q3804564"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$BC1FD749-464D-4908-A69B-518972EC5248","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dbc60c4c55f364b089cd5664e7c0d6f7f1b87ee3","datavalue":{"value":{"entity-type":"item","numeric-id":2871757,"id":"Q2871757"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$450B8EC2-D00D-423F-891D-C4ABDE30D397","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d00f785508f12a9505b779f7b724491c8945e717","datavalue":{"value":{"entity-type":"item","numeric-id":4307434,"id":"Q4307434"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$27394EA1-A7C8-4308-A82B-88579466CD25","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"49f34ca345411867a3438ba65648a6e272382e88","datavalue":{"value":{"entity-type":"item","numeric-id":5282321,"id":"Q5282321"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$5A9B3BE1-7E46-4ACD-B93C-FA3FD03D3AEF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1b85945b6b02fcf9fbfc2f44bcb819177b0586da","datavalue":{"value":{"entity-type":"item","numeric-id":1428118,"id":"Q1428118"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$A4984B15-4779-4797-B7C4-6268DD102408","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c07e1eabc4de5c40e435e7dbc66c6f32dd82ea82","datavalue":{"value":{"entity-type":"item","numeric-id":958293,"id":"Q958293"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2938625$7C00F14B-92AD-4D79-8337-383338176E60","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4d948351de091dd3086602e03634f16a365ad611","datavalue":{"value":{"entity-type":"item","numeric-id":4307434,"id":"Q4307434"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"41c6750c91ebbf492691f8983c821ff1f30e5ce1","datavalue":{"value":{"amount":"+0.9320106","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$ACF2C0A8-B679-441C-AED0-95CB999564F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7ed5972a34cf1a94755f5aa3e3a9f30a9efe4e7f","datavalue":{"value":{"entity-type":"item","numeric-id":6065985,"id":"Q6065985"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"84de8d37a3b4be6dde5b163fca20828069714e0b","datavalue":{"value":{"amount":"+0.9289855","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$AC02AE6C-B1BC-4B53-9CCC-C9B5FEE231DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e1ead2db0918dccef2459aa1a2db14ad945b36bb","datavalue":{"value":{"entity-type":"item","numeric-id":4847331,"id":"Q4847331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ca3ff03a72c90711281496fda78aea0cdb8c0c16","datavalue":{"value":{"amount":"+0.9100617","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$A32EDF6D-BDFB-442D-AE50-7E674BE0C16A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4416eb119c94f92c8eca0bd40773f74f276f1f83","datavalue":{"value":{"entity-type":"item","numeric-id":5281867,"id":"Q5281867"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d0235ed09ffed58dc03b1f9e4edc063abffc8dca","datavalue":{"value":{"amount":"+0.9092965","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$61FE6407-35F2-4842-A704-92C2FBE0B5D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0dc01acd09a9f7410b4a5926ccf2afea997c9bd4","datavalue":{"value":{"entity-type":"item","numeric-id":1194904,"id":"Q1194904"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b7a436b5f6b32106df663fb3ff9508847453ffed","datavalue":{"value":{"amount":"+0.9091933","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$F595E05D-892A-4DE4-997E-1741BB2EB452","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cd64158f100e19d60f54009704e189146f51ba69","datavalue":{"value":{"entity-type":"item","numeric-id":1298266,"id":"Q1298266"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2d15d582db7e01f275d408e1ccdedb1cce4c7ad7","datavalue":{"value":{"amount":"+0.90913904","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$FCFFD46F-F49A-4ACB-B41D-3E8DD7E230C9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9163b8d776c8458cb06cb3e4b87f0004b9d095d3","datavalue":{"value":{"entity-type":"item","numeric-id":3022710,"id":"Q3022710"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5be006332179ea90670f3473b3f63e848c3ccabd","datavalue":{"value":{"amount":"+0.9090507","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$8211D103-CD45-4E12-AABF-BE1EF735426C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"43e6f9a5b08c441d4ae1599ae6996400f416ae49","datavalue":{"value":{"entity-type":"item","numeric-id":3840674,"id":"Q3840674"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5bff2d9a77bbd2b12da38f913359aa513e2b2510","datavalue":{"value":{"amount":"+0.90690744","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$F7258760-786B-4F05-8E74-99F4CE0E525A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"43090348c721c0d4ddf356c02e494ab62b1869fe","datavalue":{"value":{"entity-type":"item","numeric-id":2334158,"id":"Q2334158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"367984a0114685d95c05b6e2dd4ac46be47f458b","datavalue":{"value":{"amount":"+0.9066626","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$5D26006C-60B5-4381-A688-6553E37B30F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f076e823f7d7db911dcbbac8034bdd99afc800d6","datavalue":{"value":{"entity-type":"item","numeric-id":3989592,"id":"Q3989592"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0605855b7560883c75e766998d9791893db4e124","datavalue":{"value":{"amount":"+0.9056305","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2938625$7F3A77C2-D6A3-47D7-80E2-C0A324516802","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Modelling and adaptive tracking control for flexible joint robots with random noises","badges":[]}}}}}