{"entities":{"Q5209667":{"pageid":7239238,"ns":120,"title":"Item:Q5209667","lastrevid":91565375,"modified":"2026-06-04T23:29:54Z","type":"item","id":"Q5209667","labels":{"en":{"language":"en","value":"Control method for arc-welding robot with trajectory tracking based on RBF neural network"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7156117"}},"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":"Q5209667$1DAD221B-159B-4F69-A72F-4070052E828B","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"645a5e38ce78a6479a9bb75c3e1f2453f025ca02","datavalue":{"value":"1449.93202","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5209667$8BABA758-6A95-42BB-9A75-56DEF62628AB","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"4f6f6d8cc75c1f4b053cbc399bff119c39f41232","datavalue":{"value":{"entity-type":"item","numeric-id":5209666,"id":"Q5209666"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5209667$1D406BFD-3220-4B3D-8A0C-5C9835548EAC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f2e2a84860074c7c597edcaf8e21feb753373e0f","datavalue":{"value":{"entity-type":"item","numeric-id":613838,"id":"Q613838"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5209667$D82F6FF0-2B16-4B55-8D0A-C52327B60F8A","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"db0c076b272b350be02382ed0bfa3a4836080ec5","datavalue":{"value":{"time":"+2020-01-22T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5209667$BC1B7CCF-1546-47E0-9B6F-46ABCABBABBF","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5209667$6BDB0EFE-F619-4C1A-8835-EF8F3470899D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c4c39d960485a30c03d0629c92318a40487035c0","datavalue":{"value":"93D30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5209667$45A486C2-A0E1-4DF4-8520-ED5955F791AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"9be69d27a1a4e690818d0cc7f6b162d87e0db988","datavalue":{"value":"93-08","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5209667$01DD83E8-CAA9-416E-BFDE-4A1BE68DE8B0","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"b80a1172b54b960438b3a224a913addc73f4547c","datavalue":{"value":"7156117","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5209667$A3B4C441-BAF5-48C4-958B-F74A164FD1B0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"316f08c3c732a6560a3872d4e6c2d3d22a763fff","datavalue":{"value":"arc-welding robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q5209667$343A2A90-516F-455E-9F80-1FFCF8BE3446","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0ff0dbe179137cd876c98fb613040b625d8ac30d","datavalue":{"value":"trajectory tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q5209667$8BF5285E-4E7A-42BD-B687-31B507BBDD8C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"24afadc247271244323186735b985ae60ba01f9b","datavalue":{"value":"control algorithms","type":"string"},"datatype":"string"},"type":"statement","id":"Q5209667$A9E338E4-4852-4220-A854-87ADBB3E6C3A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d91b9b23b631016df9e59d464898bd15d42b3be8","datavalue":{"value":"RBF neural network","type":"string"},"datatype":"string"},"type":"statement","id":"Q5209667$51C4408F-AF31-474E-924F-51BF8ED51313","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5446197bee81fc5bd0a310c928640f6a2503b59d","datavalue":{"value":"HJI theorem","type":"string"},"datatype":"string"},"type":"statement","id":"Q5209667$2805C742-F555-4C60-B4CA-CCD27932BC8B","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":"Q5209667$8A20F757-B4A5-45E6-AB65-81D0514CE21E","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6f09365165677dce362c32be3c053fd296bbf3ba","datavalue":{"value":{"entity-type":"item","numeric-id":2992741,"id":"Q2992741"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"22c6a0db3df241bef54f15587dab2cb3b1a8637d","datavalue":{"value":{"amount":"+0.7670988440513611","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5209667$B7B83518-0B0D-48FE-B492-CCF9F3A1C723","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"75e82f3277c5ef329cdef77e4d0a206a26379739","datavalue":{"value":{"entity-type":"item","numeric-id":3436321,"id":"Q3436321"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b451aa998688c30e0d1065b567d42d54f38582a2","datavalue":{"value":{"amount":"+0.7420774698257446","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":"Q5209667$3C7EAE1B-A14F-4924-BD73-7BB2E6767403","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3f93b1f9129b2725317914b3d528b2d1036d07c0","datavalue":{"value":{"entity-type":"item","numeric-id":1644539,"id":"Q1644539"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"354508a2a6a642960ec9c6e85c4bebc1b4087133","datavalue":{"value":{"amount":"+0.7342237830162048","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":"Q5209667$52364FEE-060C-4E21-87C2-139246957222","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bdd4b46f85b50bb83a5560c4ddc06a62bfade09b","datavalue":{"value":{"entity-type":"item","numeric-id":988414,"id":"Q988414"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e3c0d0587ad53708b39534302f6e5360b95744ee","datavalue":{"value":{"amount":"+0.7108782529830933","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":"Q5209667$77533432-1410-477C-847C-BA75E02E9860","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"effd8f76c3fabd5b4e72da8ab25ada271b6fdc46","datavalue":{"value":{"entity-type":"item","numeric-id":2725161,"id":"Q2725161"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fab051375a1d3bbcbf76c098bdfa6a6c73485218","datavalue":{"value":{"amount":"+0.707308828830719","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":"Q5209667$1DC6AD0F-DB21-48D6-A2E7-57CDD319743C","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Control method for arc-welding robot with trajectory tracking based on RBF neural network","badges":[]}}}}}