{"entities":{"Q5000723":{"pageid":7030300,"ns":120,"title":"Item:Q5000723","lastrevid":98452832,"modified":"2026-06-05T17:34:37Z","type":"item","id":"Q5000723","labels":{"en":{"language":"en","value":"Hierarchical structure\u2010based adaptive fault\u2010tolerant consensus control for multiple 3\u2010DOF laboratory helicopters"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7371960"}},"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":"Q5000723$DED2A6AF-D14A-4A03-8244-0B31A5706F7F","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"7110924c2211cac3a24224af6282fd97d476543d","datavalue":{"value":{"text":"Hierarchical structure\u2010based adaptive fault\u2010tolerant consensus control for multiple 3\u2010DOF laboratory helicopters","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5000723$A71E3A1D-3859-4635-967B-676FE484562F","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"0d94b5241f9f132586fe932c2c8ab242d8bcdbd4","datavalue":{"value":"1467.93176","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5000723$95F55CAD-3F21-42AE-9862-1B6E80671C4D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f04cb5192e0298209c19e3aa9156aad5d5bc92b8","datavalue":{"value":{"entity-type":"item","numeric-id":303234,"id":"Q303234"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$19A146C7-B7D5-4588-8EFC-CE7B97B84736","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d841dad9f6899c80aff706e0f98143fec12397c3","datavalue":{"value":{"entity-type":"item","numeric-id":318206,"id":"Q318206"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$245EE26F-EF7C-47C3-B04D-D128B8ECB681","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"bc26c6c91d2047acea36a7f754516b4d9d6cbf7d","datavalue":{"value":{"entity-type":"item","numeric-id":286239,"id":"Q286239"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$15570A99-1B4D-4BD9-9780-A3C198B65D33","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e2b63f35a1e2af127b2f9d4ea61355baccff72c7","datavalue":{"value":{"entity-type":"item","numeric-id":298629,"id":"Q298629"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$0E9F5C4C-FB98-4346-9F9D-412C5F1E5D01","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"2b88f9f48ca2368cf07a2a6899216440a4f7b5cc","datavalue":{"value":{"entity-type":"item","numeric-id":90646,"id":"Q90646"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$5AC6F8A1-E592-402E-AA5C-BE69255A617B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"043a80bda4ea353aeb514b4ee1c31830cd602019","datavalue":{"value":{"time":"+2021-07-15T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5000723$29AB8F8A-8AEA-423D-9AD4-1E2CA6D457C9","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5000723$04828994-ADD7-4BDF-A656-13D14FFD09E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a1d1ec306e6072f89861e74f12dba9e600d6764c","datavalue":{"value":"93A13","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5000723$74AFB13C-A233-4F77-9BFF-2B20E85EC662","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"1bcfd8a147b9234ab18f11b7435125332c54d836","datavalue":{"value":"93D50","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5000723$DEE26539-7CDD-4AB5-8307-F69A21E9A2CD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5000723$5D33B0E4-8E14-4DEF-9263-A6E432934229","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"77599e47c9f6e0c6713964e7984fa3e6bb141045","datavalue":{"value":"7371960","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5000723$DEE10A07-2F7D-4A11-97DE-EAF61CDBA0AF","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"06bce5ace10821bf2229bfadb7bf678778cb148e","datavalue":{"value":"actuator faults","type":"string"},"datatype":"string"},"type":"statement","id":"Q5000723$3FEB7DF4-7723-42E7-80FB-843734A8908D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b253d7d94b74404330dfb928accbc7530cbafcd3","datavalue":{"value":"adaptive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5000723$2CBDABBA-F14C-4565-863C-3EBC15BB1A6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b54d34714f77793805512ad857105cc08b42ce3a","datavalue":{"value":"fault detection","type":"string"},"datatype":"string"},"type":"statement","id":"Q5000723$5C7F6A27-31DF-4EB7-8295-124E0DD42B3F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"86f5ffbd0963150dd3d005f4429ce0b0a52522bb","datavalue":{"value":"fault-tolerant consensus control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5000723$4EC78B3D-4B30-4DF9-A423-D29FA0997A20","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8bfdd08962f11257b44afef8a03c3a20c5938aad","datavalue":{"value":"hierarchical structure","type":"string"},"datatype":"string"},"type":"statement","id":"Q5000723$8D051B5C-B5E0-418D-9726-FB8ADC7E4292","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"701e119a44f4634496816ceb85eb10a98431ace5","datavalue":{"value":"multiple 3-DOF helicopters","type":"string"},"datatype":"string"},"type":"statement","id":"Q5000723$3484DA9A-5E22-4B26-A001-49D4CBF39C7E","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":"Q5000723$401C99CB-148F-4EBA-9659-3EC106021CF7","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"422f694d1b7aef17cbf5596fbc3cc6816bd82b5e","datavalue":{"value":"https://doi.org/10.1002/acs.3120","type":"string"},"datatype":"url"},"type":"statement","id":"Q5000723$1548FE89-6858-46A9-95B6-9DC1BB2324F9","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"bb182b7ee88815e98b538fe6c81bc5dbc8770686","datavalue":{"value":"W3038033020","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5000723$77B6C267-9A27-4FA3-9C34-1FEE6D68B707","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"0bb279a3c9b51e5b2d8d3fb49f0cd4910b1aae0c","datavalue":{"value":{"entity-type":"item","numeric-id":1660591,"id":"Q1660591"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$6355A4B9-2370-422E-B0C0-8209F6630847","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"929e481f1c674218524ac52997d62f25b0bf2264","datavalue":{"value":{"entity-type":"item","numeric-id":290843,"id":"Q290843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$8C42DD49-27C5-4027-87B5-030A5EF03FD8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0714c4264a4e7ee111187058b38d3db64ba8c4d9","datavalue":{"value":{"entity-type":"item","numeric-id":2409417,"id":"Q2409417"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$F85D3B96-1F66-4AE9-90CE-2288285484CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4280265462452c90851cb02e947f0d7b5ac3d856","datavalue":{"value":{"entity-type":"item","numeric-id":2399046,"id":"Q2399046"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$325F8527-5F62-4013-BDF5-F441C09BCF0C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e68b67291315fd88c1d3cf3b9aa52eebe154911c","datavalue":{"value":{"entity-type":"item","numeric-id":5347753,"id":"Q5347753"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$911BB22A-1D80-4DC4-ABD2-A66847A1B84E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b57cc3e07de4e838dd99e3c0d527e91d583af7f5","datavalue":{"value":{"entity-type":"item","numeric-id":490812,"id":"Q490812"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$3040EF90-E592-46FB-B500-27F4BFE094C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"101fef37986be7c29dc2bf5f8930f76b0660875c","datavalue":{"value":{"entity-type":"item","numeric-id":491284,"id":"Q491284"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$0EDDA471-07FE-46E0-B05B-1AF4BCEB1D26","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ad1e4c1766aa7924212cc781c68f13ce6c8e66b0","datavalue":{"value":{"entity-type":"item","numeric-id":5010680,"id":"Q5010680"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$250A6839-ECF4-47F1-8305-CCDD11260E7D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1597af1e9b8674e1f19708c5d584709fbca9a87f","datavalue":{"value":{"entity-type":"item","numeric-id":1680902,"id":"Q1680902"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$2D7FADCB-DE54-45F9-AC97-88157052056D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9a44000f282eb7f2999e45526819aa06c3a4fab6","datavalue":{"value":{"entity-type":"item","numeric-id":1659443,"id":"Q1659443"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$61AF1091-CE6B-483F-8A30-9FFA0A3827A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"51927d0ed50c85a72e43552d29cba4206f993458","datavalue":{"value":{"entity-type":"item","numeric-id":5353269,"id":"Q5353269"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$55C2B076-4385-49EF-BD29-3619F8DA583A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a0e60535767b53e0a8e140563676ab98a6149858","datavalue":{"value":{"entity-type":"item","numeric-id":4556406,"id":"Q4556406"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$C36FA040-4547-4971-8BEA-734506758766","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d1372b5bae841ddc06bc8e80b62acb0866bac832","datavalue":{"value":{"entity-type":"item","numeric-id":4685868,"id":"Q4685868"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$BA6353F5-C8C9-4B67-B0AF-D70371A533F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"12a5a765997f5e73786916db7f104aae301b53a3","datavalue":{"value":{"entity-type":"item","numeric-id":5266207,"id":"Q5266207"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$5B48447D-C4E5-438E-A294-74C3CBA5C389","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5cfe41cedfd3d102493bd13c1b298b57cc4a4c78","datavalue":{"value":{"entity-type":"item","numeric-id":5007159,"id":"Q5007159"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$3F73764C-95B1-4C11-B14D-7361904B1FEE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a3532a593a6d4e8451fcbdea21f7d2f30231644a","datavalue":{"value":{"entity-type":"item","numeric-id":901227,"id":"Q901227"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$D6CDE633-B003-4A53-B693-54BB071CC37B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0daf875658e20709826cec9e3a52416a44342442","datavalue":{"value":{"entity-type":"item","numeric-id":1797905,"id":"Q1797905"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$627A6E70-0418-42F7-9B34-337E6B7BF9E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bc16cb98b9a1bd6a6072b5357a1e23e85d97d4be","datavalue":{"value":{"entity-type":"item","numeric-id":1660648,"id":"Q1660648"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$14F0561E-7196-428E-98E0-50F860300687","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6d26146f43cd17086ce33f5a2fe05f3ad97e3713","datavalue":{"value":{"entity-type":"item","numeric-id":4625253,"id":"Q4625253"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$3D6D6726-43DE-4424-A06D-2C0F35FF4C17","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7768f35fede7546fe6c5181ee21c4f54580f6e9b","datavalue":{"value":{"entity-type":"item","numeric-id":665213,"id":"Q665213"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5000723$6FA94D32-54CC-468D-B66E-55CB84A8F21E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a6878844923cac87fdb9c7ca7c63e44aabba64ab","datavalue":{"value":"10.1002/ACS.3120","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5000723$A2BE982D-82C1-4BB0-A728-6988D15782EA","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"177018e2889d0e3b512b4ac0f778bc87dbfbed21","datavalue":{"value":{"entity-type":"item","numeric-id":398361,"id":"Q398361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fdb7c3f17cffe7fb53140a33784cc40bd1ab935e","datavalue":{"value":{"amount":"+0.9010196","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5000723$3AE8799D-C093-41A0-A4BA-B6724C55658D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ddc4519d2ff3c0b2062805fd510490695f6a037e","datavalue":{"value":{"entity-type":"item","numeric-id":1660591,"id":"Q1660591"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b1b61b4c6453be7a1934be136d66cfaf77f83e4a","datavalue":{"value":{"amount":"+0.8925754","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5000723$577EDC58-3B89-481B-9B1F-9EA19AD61A77","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"23adee427b8443019e08aaff31b9562e55d14b70","datavalue":{"value":{"entity-type":"item","numeric-id":5129571,"id":"Q5129571"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d2e077027da5215a77e8c5a8bd9e761d7faf1065","datavalue":{"value":{"amount":"+0.8694429","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5000723$86D23BAB-2DA7-478C-A9A8-ED0ECEC4EA7C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"54e3345b081e9451595c13bb438efa860e195394","datavalue":{"value":{"entity-type":"item","numeric-id":892538,"id":"Q892538"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bddc8e0e38823a37124c4e172bcc3311cc74d69c","datavalue":{"value":{"amount":"+0.8687866","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5000723$71B9D72E-408F-49D4-A0B5-BFC4C0DAE731","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"379ce83c5ed84adf936e8dcd237e427f4813d46f","datavalue":{"value":{"entity-type":"item","numeric-id":6110277,"id":"Q6110277"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7b708d91a65ca855c58f22a1d3310514e0de595c","datavalue":{"value":{"amount":"+0.8674769","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5000723$39753FE4-F382-44A8-B088-4706BD10110C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"46cd6fdbbcec7c1c0df7735efe8318871673ace0","datavalue":{"value":{"entity-type":"item","numeric-id":6040973,"id":"Q6040973"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"83a9597ee8df974357bd3cd07fce0e737ee53721","datavalue":{"value":{"amount":"+0.8659561","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5000723$2D2F74F3-454D-4467-88BD-D1DC53726753","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b8cde36839e6486e2022e63d69beecb3b6acfd3e","datavalue":{"value":{"entity-type":"item","numeric-id":328136,"id":"Q328136"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"54a8cbbe69f154b2decbe15c0236f5b25afde896","datavalue":{"value":{"amount":"+0.8652218","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5000723$84B06467-033A-4C55-809F-1702D5FD8F96","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4545622443f1fba7ef91abab9b4de24895356b44","datavalue":{"value":{"entity-type":"item","numeric-id":473015,"id":"Q473015"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a358b60f6ccc17fe66d87b8d467789e7b8bb871a","datavalue":{"value":{"amount":"+0.8648336","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5000723$B9160748-D43F-451A-A7DA-E3DBB9D34AAC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"29e92d3fdf2269e5c1880f624c463bd2db5c6cf5","datavalue":{"value":{"entity-type":"item","numeric-id":1664636,"id":"Q1664636"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"61a7f1d6f45864a19310fc5075676939f88f9bb6","datavalue":{"value":{"amount":"+0.86441076","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5000723$C9E414D8-9C10-4215-9176-D6650FDEE836","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Hierarchical structure\u2010based adaptive fault\u2010tolerant consensus control for multiple 3\u2010DOF laboratory helicopters","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Hierarchical_structure%E2%80%90based_adaptive_fault%E2%80%90tolerant_consensus_control_for_multiple_3%E2%80%90DOF_laboratory_helicopters"}}}}}