{"entities":{"Q2993773":{"pageid":3004497,"ns":120,"title":"Item:Q2993773","lastrevid":52593578,"modified":"2026-01-23T01:43:04Z","type":"item","id":"Q2993773","labels":{"en":{"language":"en","value":"Robust dynamic inversion attitude control for miniature underwater vehicle"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6612336"}},"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":"Q2993773$70B3F513-66B8-48A5-A290-6A495C57FC05","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"5c5ef3686b1852518ac743d800dc2706f654e56b","datavalue":{"value":"1349.93108","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$C4506599-D0ED-4852-9499-B1A9724B509A","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"de87645ca750d81e6dcb27b403c76c2f47580f70","datavalue":{"value":{"entity-type":"item","numeric-id":608680,"id":"Q608680"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2993773$52334300-2DA3-4B80-AC44-8A4B601026F4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3bb52506e65dd796feb0be3566e14d58dbe67689","datavalue":{"value":{"entity-type":"item","numeric-id":2993763,"id":"Q2993763"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2993773$7753FBC9-F2FA-4398-BB7A-2ACAF68CE946","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f9ad033c308a933743eded235b9288e02d9d1181","datavalue":{"value":{"entity-type":"item","numeric-id":2196910,"id":"Q2196910"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2993773$C227B584-1344-4FF8-88A8-BFB611016C58","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"763b46db975e2842c20ab186ca4945993a556fb6","datavalue":{"value":{"entity-type":"item","numeric-id":1582759,"id":"Q1582759"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2993773$C348A29D-0F12-4DF4-A279-43603796ADEA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"632762f18b1136ebfb5f13b4269afddfefdbe92e","datavalue":{"value":{"time":"+2016-08-10T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2993773$A0C7507D-513D-473B-A818-704FF1F59A36","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"30c44de7be251b06c724a821bfd07428e2a12118","datavalue":{"value":"93B35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$444E8F10-8917-4B31-9A9F-F99C1FDADE4D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"e134fa16ab2f5a6350ceac50979452dda7b0aefa","datavalue":{"value":"93B18","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$6ED4903F-7B8B-4F92-B556-ED3EED09D0A5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$1899FCDC-BFDE-4D9E-BA3C-4EBEC0EE61EC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$C9533C16-D88A-45F0-AEDB-363372E489B9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"2c05236ba6c6eb01728e5ef50a3d845c0afa0da1","datavalue":{"value":"93C41","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$BD28BDE3-B269-4D6D-B888-15D40D81B4FB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$36E10E69-0455-4D50-B3D3-CB1550FA992D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b2650696ed3935a49b70cc972e8bc0c67a8cd2c3","datavalue":{"value":"93D05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$5C0D82FE-FD45-485C-90E6-B847602A08B2","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"ab69ad1d9e6326cdebc649c7d53cb1e3a74c0a4e","datavalue":{"value":"6612336","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$65D1B5F5-4403-4863-822B-484099A78805","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2a17f906a7ea10ce383351085f0cfeac3ef8dcae","datavalue":{"value":"underwater vehicle","type":"string"},"datatype":"string"},"type":"statement","id":"Q2993773$0C2B1D17-CE31-4CD3-A06D-393FA216117B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b9a22c8c01407c28e1b8a343e4ebfc63861e4644","datavalue":{"value":"dynamic inversion","type":"string"},"datatype":"string"},"type":"statement","id":"Q2993773$60DA8382-A77E-4213-B751-BEF51E43F3D2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"41e38aac73f3c39004091444cf7e566d307b1874","datavalue":{"value":"robust control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2993773$2A0D47AD-BA9C-4237-A94D-0CFD7864BF70","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2283e65f502beebfdd5f5c63cb28823dd406682a","datavalue":{"value":"attitude control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2993773$BCD67E32-96D6-4311-B13B-577AC6B997B5","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":"Q2993773$4F3E9714-7C90-424B-A604-B8FC575F84AE","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"323405ec91fd21fc69f37ad48f46f5a1f3568279","datavalue":{"value":"10.15918/J.TBIT1001-0645.2015.12.010","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2993773$488B9F45-071E-4545-A418-3428C6DAB14F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"86c2cdddbf3facba5b4ff252f6c9c28be146757a","datavalue":{"value":{"entity-type":"item","numeric-id":5745558,"id":"Q5745558"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4bb0cec452bc9e88fdb273a471cd79bacd2868a0","datavalue":{"value":{"amount":"+0.7903950810432434","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":"Q2993773$790189AC-41EB-4AFA-980A-CF13AAC962D6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3c6159dd22bbf0701d0d750697deb071eb293ae5","datavalue":{"value":{"entity-type":"item","numeric-id":4546935,"id":"Q4546935"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"271fe65b16971f863f239ef47231fdaa31c422fa","datavalue":{"value":{"amount":"+0.7733673453330994","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":"Q2993773$1E6522EC-6C54-433D-8A8F-0AD5387FFA2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ce24f18266bbeb08029f63ee1dfedda230a86dae","datavalue":{"value":{"entity-type":"item","numeric-id":4574954,"id":"Q4574954"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"37decc2c9fa6b2693b12b2a8558645031df7ab02","datavalue":{"value":{"amount":"+0.7634584903717041","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":"Q2993773$814036F4-2ABC-4F25-9547-18D4C0B0A772","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2250a55183b8f764b07d6a4de5fd4534efaabd6e","datavalue":{"value":{"entity-type":"item","numeric-id":615362,"id":"Q615362"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"32992b33ddc6ea6866edcf7d48680fd7beffab2d","datavalue":{"value":{"amount":"+0.7619904279708862","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":"Q2993773$6ACF29AB-BE49-4F76-B6E0-6F708D96F4B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6b69b12f885aa62b8ce20a73ee4f6186cde94b34","datavalue":{"value":{"entity-type":"item","numeric-id":5241763,"id":"Q5241763"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"492a5fab667401a4ab58033d1f85d5aa4daef0ba","datavalue":{"value":{"amount":"+0.7588038444519043","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":"Q2993773$40779FE1-7AC2-4DB0-B09E-77CF2A3FDBCC","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2993773","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2993773"}}}}}