{"entities":{"Q3609945":{"pageid":5639851,"ns":120,"title":"Item:Q3609945","lastrevid":50594426,"modified":"2026-01-14T12:25:44Z","type":"item","id":"Q3609945","labels":{"en":{"language":"en","value":"An approach of dynamics modeling of wheeled wall-climbing robot with wheel slip"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5524735"}},"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":"Q3609945$3CF6C512-871B-41E1-81FD-CB66A8418517","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"baf84861723b4411ecab6c65da9822e85aab16ef","datavalue":{"value":"1174.93637","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3609945$FA25464B-B01E-4EFB-9EE1-C39BCDC9E315","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"16438eeef42d3332f763352918f990634a3d5d48","datavalue":{"value":{"entity-type":"item","numeric-id":3609944,"id":"Q3609944"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3609945$E42EAB19-4E83-40DD-A2E7-857D9E73ED99","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"571bef7b436ab83dedebc4da34d92cddad184323","datavalue":{"value":{"entity-type":"item","numeric-id":2654270,"id":"Q2654270"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3609945$5A5662C0-B45A-488B-857B-32508103256C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ad47fbd74aeb643796b7ede147a3fb0d60a7490b","datavalue":{"value":{"entity-type":"item","numeric-id":2654272,"id":"Q2654272"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3609945$88C899B8-278C-41C8-AA32-80DD2AC96686","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"19a1026dd4f6172034494e7235e1c6afaf15c529","datavalue":{"value":{"time":"+2009-03-06T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3609945$21698B62-9630-4B90-899B-70C66A51D41F","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3609945$3D3C7EDC-E250-4488-8296-A6866B73F349","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3609945$C47CE4CD-F97F-4F42-8236-347B94E56C31","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"441f2ec8ceffc8f3a25423d46a6620d561f9e65d","datavalue":{"value":"5524735","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3609945$4E695652-7A8E-4767-BA03-0E9F0C0C3B92","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5c3504a85699ff8a7124ecbf5890e7f0108f266b","datavalue":{"value":"wheeled wall-climbing robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q3609945$1B278C8F-742F-4EF4-8276-D9C3AF165CAF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e53e9274af31b3f88e48540543b92481a42961a9","datavalue":{"value":"wheel slip","type":"string"},"datatype":"string"},"type":"statement","id":"Q3609945$55F45BF7-0CA9-4AA8-B5F2-DCC6A781E1EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bd27e46592f130330ebc1251c159880402faa66b","datavalue":{"value":"dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q3609945$6EF73729-158D-46FB-B4DD-3EDF606E5BD2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a6c9745722bbcb7c722d75753d5e3d0e60229f8a","datavalue":{"value":"slip ratio","type":"string"},"datatype":"string"},"type":"statement","id":"Q3609945$FF3CADAE-C7CC-4029-8271-902D2F337365","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":"Q3609945$4A772FC2-0D71-4F54-90BD-ECC619D8F00A","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f75aed0dc562a3cb45a8f5e09df37be328334e76","datavalue":{"value":{"entity-type":"item","numeric-id":3640454,"id":"Q3640454"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4b106c9831b46183711614f00a5ccdf7f9d6c13c","datavalue":{"value":{"amount":"+0.7437973618507385","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3609945$E3782D5C-B4C8-45A6-B6F1-7BD59E0319A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e5e89919b36ccef8ef8e486845c199a29b591a46","datavalue":{"value":{"entity-type":"item","numeric-id":396388,"id":"Q396388"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8c166ea8ed2045c3ce9724da498b0081ca84c14b","datavalue":{"value":{"amount":"+0.7278943657875061","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":"Q3609945$062011A9-DFBE-4491-BC4C-B3E6321DEB6B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f7708a9fa39ae386d38589fdfc44a5eac18efed5","datavalue":{"value":{"entity-type":"item","numeric-id":2656433,"id":"Q2656433"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"badbef65e3996645f35f4f0ec680c583f4d0d5a4","datavalue":{"value":{"amount":"+0.6988362073898315","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":"Q3609945$9594B548-CC02-473C-A3D8-623C80D5E594","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ebb31ef481a685611823a4ed38570b9078af1b22","datavalue":{"value":{"entity-type":"item","numeric-id":5199585,"id":"Q5199585"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"747b398001991359e6131ca240e68a02f7ff425a","datavalue":{"value":{"amount":"+0.6896051168441772","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":"Q3609945$1B1C3EB7-A41E-4CBD-A0F8-65486EA60D37","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"330839423ef1b082bf73cb7dfa89b4263b586d0c","datavalue":{"value":{"entity-type":"item","numeric-id":3179008,"id":"Q3179008"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f35d85e7645b70b9689803fe3631a7f3b0526a19","datavalue":{"value":{"amount":"+0.6863524913787842","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":"Q3609945$0E960780-C7D2-48F7-BB5F-11408F13A8AD","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:3609945","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:3609945"}}}}}