{"entities":{"Q3072340":{"pageid":3083056,"ns":120,"title":"Item:Q3072340","lastrevid":51177347,"modified":"2026-01-17T02:30:14Z","type":"item","id":"Q3072340","labels":{"en":{"language":"en","value":"Modelling of the robotic Powerball\\(^\\circledR \\): a nonholonomic, underactuated and variable structure-type system"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5844548"}},"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":"Q3072340$3D3193F5-ACCE-4523-A34C-7204AC0B2735","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d7dcf7425156a2dd09bf8c4478e293c61a253f22","datavalue":{"value":{"text":"Modelling of the robotic Powerball\u00ae: a nonholonomic, underactuated and variable structure-type system","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3072340$D57377E6-24FB-4759-B11D-6A1E8CD1DC54","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"3d42403a2e8637d6f114698d65a6eca0df1fe152","datavalue":{"value":"1237.37068","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$75198C33-1307-4895-BFD8-6CBDE11B5FCC","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"0c854e78ca6f76dd26a95653d9066427f5b63170","datavalue":{"value":"10.1080/13873954.2010.484237","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$66EBE909-D5A4-4134-98F9-4B88D343CA1A","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2f2540450c18e98bb6f2c9070b643e8dc012bbc1","datavalue":{"value":{"entity-type":"item","numeric-id":3072338,"id":"Q3072338"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3072340$15F1CC87-0624-4440-9CE9-541583EC138F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"fb7f9d3451387ed303501fbb2e19d4044ae89e2c","datavalue":{"value":{"entity-type":"item","numeric-id":3072339,"id":"Q3072339"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3072340$B87915EC-393D-4FA0-9A57-218ED95F517E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"460989c7423a6509ccfc8384ee5dfad149389d28","datavalue":{"value":{"entity-type":"item","numeric-id":694831,"id":"Q694831"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3072340$B540001C-DDF1-4759-AA03-F0AD514D6A14","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"b90cd2cd75fcfceb24cfe7c7be13ff0478f84499","datavalue":{"value":{"entity-type":"item","numeric-id":1009995,"id":"Q1009995"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3072340$4FBC2E9C-7FA6-47FE-835C-3628B8D5A7AA","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1770c404e308b19f58d0b9f79c4c4f522edf44ce","datavalue":{"value":{"entity-type":"item","numeric-id":2709983,"id":"Q2709983"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3072340$BB930B7C-0CFA-429E-9A11-CCB4D94981BA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"d00e3a9eccfe5d0e74245ac3c66cd13d7e27c78b","datavalue":{"value":{"time":"+2011-02-03T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3072340$A74AD5B9-4107-4A56-8445-458EEFC66248","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"42643a847715044fe25eadbccf68db3899d24bc4","datavalue":{"value":"http://hdl.handle.net/10.1080/13873954.2010.484237","type":"string"},"datatype":"url"},"type":"statement","id":"Q3072340$B7F4A443-0C02-4A16-8E50-C4C1E46206BA","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"fbbc9a6d1d4c10cc63a859f24d88ebce2fa5f470","datavalue":{"value":"37N35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$9BF1C24C-45F0-4E3B-9B2C-EC48A4B604D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$56247AB5-8BFD-4A90-B302-D605C4B2F636","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"f30799c21701258dafeb17cd8823046cb70591e1","datavalue":{"value":"37J60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$E4149816-10CA-449F-B07D-C3A6DE627A54","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"53b71bd65d6a4dd0dba5dae1fe54746b9bdd1051","datavalue":{"value":"70E55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$0E3DE6EB-596E-437F-94DC-5EB17A710C4C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$15048613-10F8-4B69-9414-433C193A89F1","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"52798fd0b4d094c9542a9961e4b006188d72cc9a","datavalue":{"value":"5844548","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$09246C94-70D0-48BA-A40A-FA70CFCD205A","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c9731d1560ce7e1aa7c642e5a0f1e4ca27e65acb","datavalue":{"value":"dynamic system","type":"string"},"datatype":"string"},"type":"statement","id":"Q3072340$14047AD9-01D4-4295-ABB3-228999A01AB3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a9778e1c50ad040fdbd47bced21cb9b0823eb5ce","datavalue":{"value":"modelling","type":"string"},"datatype":"string"},"type":"statement","id":"Q3072340$2E16A7E2-0CF5-4B45-AB33-DB45EB7A55C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5b3eb2df70e299fe2aa27b757386ee16429965b1","datavalue":{"value":"gyroscopic device","type":"string"},"datatype":"string"},"type":"statement","id":"Q3072340$02DB7A7C-1FE5-4C76-AEC3-EB8E50E194DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e6c68d627de362b02826c73f2bacf0616977cf15","datavalue":{"value":"nonholonomic load","type":"string"},"datatype":"string"},"type":"statement","id":"Q3072340$FB6EA0F5-CDDE-43AE-B758-682873D0D2AA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ed54fd0b3c5fb2e46865facc11692a89b4c2566b","datavalue":{"value":"rhythmic motion","type":"string"},"datatype":"string"},"type":"statement","id":"Q3072340$710FA2D3-1290-45FA-AA3F-3746919D6549","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"66b17733768413dbcb8a67875aa9e844b9c6d3bb","datavalue":{"value":"dynamical analysis","type":"string"},"datatype":"string"},"type":"statement","id":"Q3072340$52773078-FE65-4E83-83AC-847123CFDFE0","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"1a992e8328035e305472c49e4a043f31dda09d77","datavalue":{"value":"Q61661789","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$7CA4BF33-0EC8-441A-BAE7-AC4A34270FF2","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3072340$BADF454C-22EC-47EA-B7D3-51D7E3EF248B","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f03a1c1d972debaabf57453c37b6cd434e648746","datavalue":{"value":"W2008566708","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3072340$98C5CB0B-26DB-453D-ACFE-4B7247369F49","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"09734272976997356c3240f37345faae87d9989b","datavalue":{"value":{"entity-type":"item","numeric-id":3443415,"id":"Q3443415"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3072340$A737EA1D-7C50-4437-9EE3-9BA5E44680E0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8a736fc6b8ce027f2f8a56962748e8ff3cee9ffb","datavalue":{"value":{"entity-type":"item","numeric-id":3403961,"id":"Q3403961"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3072340$833E6AE0-93D4-4177-82E1-202BC3646BD1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1f54e0a251ce0c798b5f99405427a1af1342b860","datavalue":{"value":{"entity-type":"item","numeric-id":1129669,"id":"Q1129669"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3072340$F7A1BFCE-8992-4BB6-934A-170CABF281DB","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"409773a04c9aef6757b316f8c1faaaff4283380b","datavalue":{"value":{"entity-type":"item","numeric-id":2305014,"id":"Q2305014"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"218b8c87979441c14fbce2cdcbbef9e75595527f","datavalue":{"value":{"amount":"+0.6765859723091125","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":"Q3072340$A8A5FA4B-F81F-4EFC-92B9-316218C9B49E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"13f2d89a73729a52b012fb873449f56b74003adf","datavalue":{"value":{"entity-type":"item","numeric-id":4646216,"id":"Q4646216"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a6732892685149c43af5ce9a493613939a05a909","datavalue":{"value":{"amount":"+0.6747887134552002","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3072340$AE15CC30-E60F-4DA5-BF2C-9AFE70456C94","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b9d8c6d60dd213de4c2bc310703d69c45da73290","datavalue":{"value":{"entity-type":"item","numeric-id":521548,"id":"Q521548"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5198d944537d276a109c7aace549641f841b6076","datavalue":{"value":{"amount":"+0.6725534200668335","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":"Q3072340$115074E7-0F38-49A4-92B0-7FC215D917EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5e31ddf382c207705bf503b0528bb2310b205245","datavalue":{"value":{"entity-type":"item","numeric-id":5057911,"id":"Q5057911"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f3c266daa2f27368ed7f9bdfdad5e90e43413088","datavalue":{"value":{"amount":"+0.6702402830123901","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":"Q3072340$715856A5-7E5C-4A79-9B77-6A6B00AD00B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"21301655832f6ff95c329d823a28c6e3a1151518","datavalue":{"value":{"entity-type":"item","numeric-id":3187879,"id":"Q3187879"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f9a7d634ab914fa793bd74b03bd3a82932d0aeeb","datavalue":{"value":{"amount":"+0.6687917113304138","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":"Q3072340$49CB89B9-D60B-466B-956E-C728DFECC287","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:3072340","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:3072340"}}}}}