{"entities":{"Q2994151":{"pageid":3004875,"ns":120,"title":"Item:Q2994151","lastrevid":52594148,"modified":"2026-01-23T01:43:49Z","type":"item","id":"Q2994151","labels":{"en":{"language":"en","value":"Decentralized integral sliding mode control for time varying constrained modular and reconfigurable robot based on harmonic drive transmission"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6612623"}},"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":"Q2994151$29504C11-4C2B-44A9-B073-F919D3258603","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"64cefd626a6a4d57f10960d67aaaa30377780a88","datavalue":{"value":"1349.68268","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2994151$7D28E36D-8FA3-45AB-8093-5E5453299730","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"5ee582a8cedf12be6b188290eee92eb526b8da2c","datavalue":{"value":{"entity-type":"item","numeric-id":283313,"id":"Q283313"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2994151$552E6BD0-7E3B-40F1-A532-0C1607E20E29","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ed8c2b8c9fa41f480a839f260752eb95de7df234","datavalue":{"value":{"entity-type":"item","numeric-id":1666057,"id":"Q1666057"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2994151$BBC16FBC-9210-4241-A67B-B28DBC71BF1C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7f2a7a955e6d102eabe6520af64fe1f975cf9a68","datavalue":{"value":{"entity-type":"item","numeric-id":460465,"id":"Q460465"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2994151$46CC8E71-D5D1-4A2A-9B32-48BE55F7CCAC","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":"Q2994151$9A164CDF-F64C-48EC-A010-707DAE9D437A","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2994151$252558BA-F439-41A9-89A2-7A16EAA2AA92","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2994151$C129DDE7-2C77-466C-9470-F43BFE34B413","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"2cdf5817811fbe1122af1dcaea9320b403e49cd2","datavalue":{"value":"6612623","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2994151$F6422729-9106-4A5C-8BA9-03316D3728F7","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b0e94c42980d1465e6571c7f1bc8b468569ff497","datavalue":{"value":"modular and reconfigurable robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q2994151$5D42959E-AEAF-4843-B8FA-2F9FFA52A19A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e0f3b1e172ca836638a9de989ca3e8756451097a","datavalue":{"value":"harmonic drive transmission","type":"string"},"datatype":"string"},"type":"statement","id":"Q2994151$B6221892-EBCF-48EF-812F-B565F55C03C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0ac4f5d3e65428399908ef1797dea7380dddc97b","datavalue":{"value":"decentralized control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2994151$336C2805-647B-4DC0-B4BB-780C0B78BBB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fd191867230f3c19c9716f7d9fb7ab89f3d647dc","datavalue":{"value":"integral sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2994151$3AB2EACD-85C6-4FB6-A581-F9AE9E2D9ABC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3860e7f2f6ce75ae389f5e46c54b8c39c926f459","datavalue":{"value":"joint torque feedback technique","type":"string"},"datatype":"string"},"type":"statement","id":"Q2994151$8ECC3505-1DCF-40A5-96B9-3662F60EEC61","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":"Q2994151$5F7C9D10-A9D8-4B6A-8D9A-2160C2296B46","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"1aa28058d583d2579c0466cc15ceeae56eeaf8fc","datavalue":{"value":"10.13195/J.KZYJC.2014.1757","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2994151$18FCE8CA-DF4F-419A-8395-28FA590DA48C","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"eb19e8c8109af13e428b0311a99451d79914748c","datavalue":{"value":{"entity-type":"item","numeric-id":2928312,"id":"Q2928312"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9b68d882ac1259008259704462608f17fa3861ca","datavalue":{"value":{"amount":"+0.7709442973136902","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":"Q2994151$246A0F6E-E3C4-4C6F-9589-B0F52A55C9F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7b42b7addd085b98affb7e73c5962c80c0743c08","datavalue":{"value":{"entity-type":"item","numeric-id":1367988,"id":"Q1367988"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a455c35136cd48271bb9c1b0620ec58d051e2deb","datavalue":{"value":{"amount":"+0.758094072341919","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2994151$DD20799A-9CEF-41A1-8262-39B52BF293FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8c0833e72c0c6dedf7695cee83e965c44f63c754","datavalue":{"value":{"entity-type":"item","numeric-id":1745234,"id":"Q1745234"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7a4e7ddc1bf956f0fdffb504d14cf3c5eab055ae","datavalue":{"value":{"amount":"+0.7490798234939575","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":"Q2994151$226994EE-775E-4DB5-B505-D9232252927A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e10e167ac1d1cc0c8d5a89099e4d0c45a63dde9a","datavalue":{"value":{"entity-type":"item","numeric-id":4506548,"id":"Q4506548"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2f7e036b8e31c9879aea2db74d5885ea8ffc3294","datavalue":{"value":{"amount":"+0.7333072423934937","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2994151$EAC71023-32FC-45EB-870B-6C11427CC273","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"acfd83558cf69d6b26f5b2701e2202e0bb2d1d4d","datavalue":{"value":{"entity-type":"item","numeric-id":3829129,"id":"Q3829129"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4c641272005d47eb65853cff95d4e2eb4518ae97","datavalue":{"value":{"amount":"+0.7282266616821289","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":"Q2994151$E9FF4A54-62F0-49CA-9C88-E72AC6E361AB","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2994151","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2994151"}}}}}