{"entities":{"Q3086738":{"pageid":3097453,"ns":120,"title":"Item:Q3086738","lastrevid":51217775,"modified":"2026-01-17T07:20:33Z","type":"item","id":"Q3086738","labels":{"en":{"language":"en","value":"Time scaling in motion planning and control of tree-like pendulum structures"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5872227"}},"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":"Q3086738$79D8FCC0-0AFF-418C-92AD-51E707526E52","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"7ef823275c138954d280bafa1140c4fb14842d05","datavalue":{"value":"1219.93078","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086738$730541AA-F6EF-4810-AF07-63558A07509B","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"a8e64cc5a49defae094d3e5672d9d5857d5e3b73","datavalue":{"value":{"entity-type":"item","numeric-id":778929,"id":"Q778929"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3086738$3528407A-F173-4314-B3AF-44E4E73B3251","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d648196fdb04807a3e426f8b1d9e1375bdb2f988","datavalue":{"value":{"entity-type":"item","numeric-id":267648,"id":"Q267648"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3086738$ED994512-A384-4390-B445-F4E8C53D9CCF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"48a557ca2ec5e3e93cc8a541a4c8b87d94a47861","datavalue":{"value":{"entity-type":"item","numeric-id":2068587,"id":"Q2068587"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3086738$1B6BD983-82E7-4C81-AF13-005D3B27AFFA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7689f7450ca45c5720e9af63718c2696a88f018d","datavalue":{"value":{"time":"+2011-03-30T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3086738$75BBCE06-E022-47A4-A8C1-C1BCD4F73F57","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086738$117BFCE0-9B4A-491C-BFC7-3479673145EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086738$C8530CAA-A74F-4787-90D5-EBBF8A85892C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086738$8C9916AD-C69B-43B3-88B1-B2B67167D45E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5a51013239e705dbb008583c85b92be535c924c0","datavalue":{"value":"93C20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086738$55A52FF1-0F05-4F92-9132-2932CF0930B5","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f99112ee6d43c1b8697d9af1deca01ec9a84d7fe","datavalue":{"value":"5872227","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086738$3E9C0182-EC8C-4B1E-89CC-E7F51FB7FA46","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"51cf6ff1954d0484c9998f2c3f14424e5fbee669","datavalue":{"value":"planar tree-like structures","type":"string"},"datatype":"string"},"type":"statement","id":"Q3086738$701881F4-4150-446A-B2B2-1FDB54F4C815","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"00e7a2a93c809860bf154deacd5badc9b9641a81","datavalue":{"value":"biped robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q3086738$FB6C6A14-CC4C-4843-842D-D9D7DFFD7884","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1f03756c74462967a8f57cd031609bf8a044aa7b","datavalue":{"value":"flatness-based methods","type":"string"},"datatype":"string"},"type":"statement","id":"Q3086738$A209D2B9-8413-4FF7-A8C7-F6AB7058DA5C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"64321175b6f96b8f8785a0996d494cd1eebb8b24","datavalue":{"value":"feedback design","type":"string"},"datatype":"string"},"type":"statement","id":"Q3086738$3B875AED-3C10-47A6-A38D-E0D8FA94A264","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":"Q3086738$666D1BA3-FCB9-45EF-BA15-72492968A8E4","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"57b7610158b6b9ff8bad2cea0b2108d10781d5d5","datavalue":{"value":{"entity-type":"item","numeric-id":4269728,"id":"Q4269728"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d866f2f18230e9a92fb6a575bd8dbd175d50e618","datavalue":{"value":{"amount":"+0.724284291267395","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":"Q3086738$04BE776D-258B-42D6-843F-F359C83D74EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cf138e1f15515544c6f80b1539d03e8c1d9ac509","datavalue":{"value":{"entity-type":"item","numeric-id":3447301,"id":"Q3447301"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"72963e271f99c9b031498361995f629c484e6835","datavalue":{"value":{"amount":"+0.6931159496307373","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3086738$B0A8E08C-6B86-4019-86A1-7B72CC00C558","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5d975a5b863124d33e3ce615520b93d1e4a7b647","datavalue":{"value":{"entity-type":"item","numeric-id":2709081,"id":"Q2709081"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4e1812898fc9af9b8333185cd83e971664be8f71","datavalue":{"value":{"amount":"+0.6866219639778137","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":"Q3086738$EF98C182-D4B5-4690-9C1C-6E4D6B1A557D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"460b11b6710fca2048fa448b21dab4b6862def25","datavalue":{"value":{"entity-type":"item","numeric-id":2716506,"id":"Q2716506"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a178f4390f80276a99a2217d1d48419c921ace1b","datavalue":{"value":{"amount":"+0.685539722442627","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3086738$CA282E0F-F94F-41E0-A2A4-C6BD2A1BA5B6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9c509b0214448171524da9a1badcf340b5c8851c","datavalue":{"value":{"entity-type":"item","numeric-id":2847231,"id":"Q2847231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fc1df90d79a2f460e7b51489b6b6170f6f9ae2ce","datavalue":{"value":{"amount":"+0.6723203659057617","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":"Q3086738$7626AC8E-93FF-4404-A984-36B782A84C58","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:3086738","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:3086738"}}}}}