{"entities":{"Q4546935":{"pageid":6576527,"ns":120,"title":"Item:Q4546935","lastrevid":97312649,"modified":"2026-06-05T13:56:21Z","type":"item","id":"Q4546935","labels":{"en":{"language":"en","value":"Global attitude/position regulation for underwater vehicles"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1785188"}},"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":"Q4546935$81558890-8880-454B-AEDF-B4D8C84203C9","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"dc91c850a7d629561721ad6396104225ec6409a3","datavalue":{"value":{"text":"Global attitude/position regulation for underwater vehicles","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4546935$E2DC1609-1602-4629-99C3-107F7B90F461","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"bf65b75c488a60749aa9c488dd83b56942883254","datavalue":{"value":"1090.93544","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4546935$18E60935-48B9-4A40-8CB4-815C25F4CCB2","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"78e6aedb6d1a95741d9f7ee147c7d286cd7e8043","datavalue":{"value":"10.1080/002077299291822","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4546935$4F524536-7801-4836-8948-733177129C75","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"faa05dca440d08ebceb6b0dfa96851f12a5c8951","datavalue":{"value":{"entity-type":"item","numeric-id":215222,"id":"Q215222"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4546935$EAEBFF6A-5B58-4199-A005-E905670DE9C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8dd0695c71b689d5c5bef8cd06ac82f9a9aaa135","datavalue":{"value":{"entity-type":"item","numeric-id":161683,"id":"Q161683"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4546935$CF789E4E-2001-47AC-9330-2BBF84168D5F","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"4807edd6e640ad656e01e00a44b61d620e873df6","datavalue":{"value":{"time":"+1999-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4546935$B930B2F6-B37A-462E-A751-2107D14C0BAA","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4546935$E7BE2CCB-681A-4507-9FB2-8FAD7AFF4FE9","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"417c3ef75f1824b7c3d1387a9247f54adf77e763","datavalue":{"value":"1785188","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4546935$B973D611-6D3B-4062-B72F-D2A2C65A0F66","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"388a95f646e72e993c7eb7f3107b65bc63f62adf","datavalue":{"value":"Q59622089","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4546935$6ECF4AF1-517C-482C-9134-45F096F7AC17","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4546935$CCDF1736-097C-478B-B6B0-992D321E58B0","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"8f06352f1cf862049400b40b8e9d2b09f96f410d","datavalue":{"value":"https://doi.org/10.1080/002077299291822","type":"string"},"datatype":"url"},"type":"statement","id":"Q4546935$10F3B56B-13BF-419F-9273-84672AE31249","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"6615771d37e8091e462ee0be283b22455ddef6aa","datavalue":{"value":"W2028300695","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4546935$40A00568-3318-42C5-8D14-56B1A9344513","rank":"normal"}],"P1635":[{"mainsnak":{"snaktype":"value","property":"P1635","hash":"d18a086dd9fa4bcbe3a387990ca4c7fdf5a96518","datavalue":{"value":"journals/ijsysc/BoskovicK99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4546935$D5B6E05A-A91C-4F82-9194-48283A0FBBED","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"7d28953bd0f0c2d8508713f8e55254124cfc990d","datavalue":{"value":{"entity-type":"item","numeric-id":6544798,"id":"Q6544798"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4546935$B7CC4C6B-972E-47B8-B5BD-D60365F9F028","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"32eb1de7c7ad3bd9851ed562867551e36d7032d7","datavalue":{"value":{"entity-type":"item","numeric-id":2638343,"id":"Q2638343"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eb9197489a207d82000d97bc40b624b5d35f3f2c","datavalue":{"value":{"amount":"+0.7740774154663086","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":"Q4546935$8499BC6C-DB83-4450-8560-05D7A65DFCB3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4032bc59926be2e05c82df0271dc1cbec61ecb8e","datavalue":{"value":{"entity-type":"item","numeric-id":2993773,"id":"Q2993773"},"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":"Q4546935$72C978DF-2561-4CD8-BF33-FCF063B2A5CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"86660b9ed3cc2c11ed12eba93cc0f292cb0e1b0a","datavalue":{"value":{"entity-type":"item","numeric-id":1426273,"id":"Q1426273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2f5b1c61a0723045a89113454a82bb4a5682b981","datavalue":{"value":{"amount":"+0.7618427276611328","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":"Q4546935$45F41273-EF29-43D3-B62A-4196DB386211","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5216c569ba8a9f6472e4602258c10667632c7775","datavalue":{"value":{"entity-type":"item","numeric-id":5439868,"id":"Q5439868"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"29d568c95a98b210741c7eb4f6249558bc079d96","datavalue":{"value":{"amount":"+0.7615862488746643","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4546935$C3ABFDEE-FF8F-4CEB-A092-7301B2661D3C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e3047acfad212c81c3911846df5fedd688943e28","datavalue":{"value":{"entity-type":"item","numeric-id":3133895,"id":"Q3133895"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"84ebd9187cd3aa4c6487d1f0510aaf6b0b2cd15c","datavalue":{"value":{"amount":"+0.757649302482605","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":"Q4546935$042127AD-CA5C-4B5D-8017-AC35DC9F4C39","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Global attitude/position regulation for underwater vehicles","badges":[]}}}}}