{"entities":{"Q5231393":{"pageid":7260961,"ns":120,"title":"Item:Q5231393","lastrevid":53512109,"modified":"2026-01-25T02:48:03Z","type":"item","id":"Q5231393","labels":{"en":{"language":"en","value":"Stabilisation of a relative equilibrium of an underactuated AUV on \\(\\mathbf{SE}(3)\\)"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7098285"}},"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":"Q5231393$70648894-4F03-4D8B-9B58-A63A38D4A032","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d8629ec63e3bddbe1d2a7f858d00b83527bd405e","datavalue":{"value":{"text":"Stabilisation of a relative equilibrium of an underactuated AUV on <i>SE</i>(3)","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5231393$12AE05D7-2F99-4B5D-A7CB-87163D88952E","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"943c766f5e5480dc866052c29523bdc29886c908","datavalue":{"value":"1421.93093","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5231393$927CC716-BFF9-4DFA-B73A-0EE8B69E8AE5","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"121b6c1d4aaa70af49dce2aedc445ce565aa4f8d","datavalue":{"value":"10.1080/00207179.2017.1418908","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5231393$D0A09DC9-FF87-4CB1-AD96-E5D13629D25A","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2af2ffa916bcc51400047f9828b2f6f165815fd6","datavalue":{"value":{"entity-type":"item","numeric-id":5231392,"id":"Q5231392"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$819E9EE5-572F-4896-A90D-F48B35185287","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"092ddcc1469cd6ed895588019b938e6032eda8d9","datavalue":{"value":{"entity-type":"item","numeric-id":362905,"id":"Q362905"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$8F6B4AF2-0D20-4A1B-98B6-BD472A705B88","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8fd1f09f03b2151af9bae64b3990df459d820d19","datavalue":{"value":{"entity-type":"item","numeric-id":159993,"id":"Q159993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$CD633E8E-E558-4A85-8803-D97DB4CC681F","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"5330ccce69685b24a519c48e9ea69d50ce476908","datavalue":{"value":{"time":"+2019-08-26T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5231393$89A91CFD-C9CD-4A91-B6D7-737F01EF07DB","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5231393$F88B4BEF-440A-4538-AFEF-C70549C60DA4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7ae0a986d607d9b0c7df46eb597d9aa7ca19fc1f","datavalue":{"value":"93D20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5231393$4CC7207C-E626-4ADA-A89C-A538884BFD7C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5231393$1260B023-4720-4F9C-94CC-84C95D1A6B0C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c22c2a59af5f617e3bc78ee45a2708f72d489903","datavalue":{"value":"22E70","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5231393$6221FC12-7E2B-46DA-8E1D-9558D3659211","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"29e9db3c4cf54188f12e4a6a1c12ffcd732ea3b2","datavalue":{"value":"7098285","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5231393$3262DAD7-8548-4143-A263-738D6BD5178F","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ef06b0c5b069fa6c87dfb98179352b183e835e83","datavalue":{"value":"underactued AUV","type":"string"},"datatype":"string"},"type":"statement","id":"Q5231393$0B53BC5D-1292-4EE3-ACC7-7E438FDC485B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4fb43e721fb351e867c853ee348cf656be0ab219","datavalue":{"value":"relative equilibrium","type":"string"},"datatype":"string"},"type":"statement","id":"Q5231393$764055E4-0EE2-49E8-AD42-8DF90FA69313","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4f7b088fd44916de5d7abbef7a4a76fbd9fe40e5","datavalue":{"value":"IDA method","type":"string"},"datatype":"string"},"type":"statement","id":"Q5231393$A1287B01-A106-48D0-BE40-AC149FC32BAF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b253d7d94b74404330dfb928accbc7530cbafcd3","datavalue":{"value":"adaptive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5231393$EB5BA979-4ADD-4DC6-AB44-B92EBEFEF50D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"72d4b9dbc301a51b9f148f744d743e8f6763b9c4","datavalue":{"value":"reduction theory","type":"string"},"datatype":"string"},"type":"statement","id":"Q5231393$8B803BAC-BF10-43F2-A116-0E88BA07A8AC","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$A97AB53A-77E3-4751-AFDE-7AF904FEBD85","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"42aabc2ecc2e8336f6d58dce6b2fe218734754c7","datavalue":{"value":"https://doi.org/10.1080/00207179.2017.1418908","type":"string"},"datatype":"url"},"type":"statement","id":"Q5231393$85027609-A565-43A7-951E-203733954EB9","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"4af8f9cd3874ac6164297ae0a7c632ebc8861082","datavalue":{"value":"W2776448059","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5231393$88685FDA-8EAF-4043-AE7A-1E039D6E89E8","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1fd47fa1fa36ee3f76193c3d9b3130c84ee81a2f","datavalue":{"value":{"entity-type":"item","numeric-id":5958486,"id":"Q5958486"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$D631A3A6-7249-4638-AC13-2A33668DDE27","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2370667670caee455bf1970ab95578f30978e1b2","datavalue":{"value":{"entity-type":"item","numeric-id":1004101,"id":"Q1004101"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$822754AA-3AB0-4368-8053-E57B58503054","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ba289fff7afd2558dffdfbad7c2571157e930d98","datavalue":{"value":{"entity-type":"item","numeric-id":5323279,"id":"Q5323279"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$B226EDC3-EADC-4F21-98C6-1F541F800E4B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5603813c44e4bf82fc6ef6d5e0281d266a6ba498","datavalue":{"value":{"entity-type":"item","numeric-id":450675,"id":"Q450675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$95F22BB8-A338-493B-8543-F0819A7A4E82","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"481f25566b89f1baa40d3140536fb290254b5d93","datavalue":{"value":{"entity-type":"item","numeric-id":2628382,"id":"Q2628382"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$86B2B4BC-ED6D-4B0A-91C0-B17C249D8C2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"35cdae5cacf7d4f754ca7d402364a3593b9cf028","datavalue":{"value":{"entity-type":"item","numeric-id":4540212,"id":"Q4540212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$13ECB626-7968-4D24-AB51-BA4210B15912","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a0c946d69f92d0ff920a7d5d69e8c0ba887184ce","datavalue":{"value":{"entity-type":"item","numeric-id":2730320,"id":"Q2730320"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$F4C4552F-EDA5-4D4C-83AF-DB26C9AAD603","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5a217b50a3d98586cdf2485ce849863fde143515","datavalue":{"value":{"entity-type":"item","numeric-id":2730188,"id":"Q2730188"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$08A03CC5-DEC5-4DEC-BD8C-35A017F80D3A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c7c3b5ba38efb3ee0b0e4a46f3450103507deb2c","datavalue":{"value":{"entity-type":"item","numeric-id":963722,"id":"Q963722"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$D1A216C2-317D-40DD-8367-25F026EA3B38","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bc0b04efe5625208753e308ae2251aa5dd4a8046","datavalue":{"value":{"entity-type":"item","numeric-id":4421096,"id":"Q4421096"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$90DA59FA-D4C9-4075-831D-6DFADB9E3865","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5ad9b9d83fc434c7b9d57699f5463105524afc2b","datavalue":{"value":{"entity-type":"item","numeric-id":4841816,"id":"Q4841816"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$6363B84A-2207-45F2-9C0B-1A12EAFD02A9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"79b5ea7163bc32b0435614ae82a242b91329c72e","datavalue":{"value":{"entity-type":"item","numeric-id":3321927,"id":"Q3321927"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$89AB200C-1E45-46D1-BCCF-28F5BE6A2AE1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a1472fcd5e101da3b030109e718a9b30f18d4502","datavalue":{"value":{"entity-type":"item","numeric-id":963790,"id":"Q963790"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$15E5B81A-531A-4CBE-BEEF-E1E2AB37F10A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fb62506706733fec9368112ea07ffd81683927b7","datavalue":{"value":{"entity-type":"item","numeric-id":313305,"id":"Q313305"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$DFB2D712-5D5A-44B0-9DED-C62953BC9302","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1167fdbe8cdb291e5342b901122c3f2092845b9a","datavalue":{"value":{"entity-type":"item","numeric-id":992198,"id":"Q992198"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$57D408D5-7C00-4CA5-B9E7-F0A6D1698246","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c495e6fbd5bc64c7e648c99c93539735f21cc99","datavalue":{"value":{"entity-type":"item","numeric-id":3128877,"id":"Q3128877"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$DF9E3F35-A571-4D20-8AA4-33F75CFF5EE3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0e7a6e34498da8ae576f390bccc49d613a683718","datavalue":{"value":{"entity-type":"item","numeric-id":2799241,"id":"Q2799241"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$B7B96568-74CB-42ED-8A2B-FA94B3590C40","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2f932eaa2dc3d7d48f5835d6844495f0fa09bc3c","datavalue":{"value":{"entity-type":"item","numeric-id":1356133,"id":"Q1356133"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$36E82072-D8D1-45B5-833F-60D575F2CA08","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"76f445e21cddfe4937b56fafb5aeb0dc5508114e","datavalue":{"value":{"entity-type":"item","numeric-id":1963283,"id":"Q1963283"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$01E86915-136F-484A-BD57-915F9C835887","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bd82be7efef99f17f1fd6cc42ad413f5e157ec99","datavalue":{"value":{"entity-type":"item","numeric-id":2628608,"id":"Q2628608"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$79D161AD-48ED-40E7-BAA6-7FA042E708FA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1c647cd263b9b4c0ed3755b6128a4dac47e37375","datavalue":{"value":{"entity-type":"item","numeric-id":4003402,"id":"Q4003402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$BA92EF00-75E9-4E83-A18F-83D33E0E86DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c41da35ab03efa3684fd9f4dff753789d537cc6a","datavalue":{"value":{"entity-type":"item","numeric-id":2982584,"id":"Q2982584"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$517F75D9-D830-43F7-9FEA-332309D4C767","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4701cc1c11bee4308d6b002878e93a215277448d","datavalue":{"value":{"entity-type":"item","numeric-id":1613164,"id":"Q1613164"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$0284E222-338F-4B0D-B532-F8ECA40F97F7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0c6436f9fd829c228c73702927fb5a8edb554ad6","datavalue":{"value":{"entity-type":"item","numeric-id":1187360,"id":"Q1187360"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$88706415-C09B-4FDC-87DB-CA6D665D335E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"010b37d20136bb58ee6c711124550dfb8d5d2b6b","datavalue":{"value":{"entity-type":"item","numeric-id":1766894,"id":"Q1766894"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$2B9B685C-05CE-4072-8759-B37EC89F8CB7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9386b05243c1f97b9224ae862bd8c8ab72a40db4","datavalue":{"value":{"entity-type":"item","numeric-id":5265675,"id":"Q5265675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$D0A88D8D-07EC-4C45-9C7A-86C0B152810B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e0d09410f43dab163b63ea7df34e0c4957ecbd7b","datavalue":{"value":{"entity-type":"item","numeric-id":4506650,"id":"Q4506650"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$2BC19E49-B678-4215-88C7-293E7A151CB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"65ed29a59d058d9d8d49c123c5012ebf548e828a","datavalue":{"value":{"entity-type":"item","numeric-id":397508,"id":"Q397508"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$FAD83C71-A0F7-4C12-9074-F8674B00A4B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"48f5e75e3af24c5d9bb71b72837181f6a4b4917a","datavalue":{"value":{"entity-type":"item","numeric-id":893985,"id":"Q893985"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$A272E4EA-A2C2-4800-8222-D97E7A7F51E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3acf3ea378e0b5cc8f484d85418719e4d5480e77","datavalue":{"value":{"entity-type":"item","numeric-id":5348286,"id":"Q5348286"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5231393$FC2AAF33-237B-436C-907F-3C66E808F38B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"477a97a1301aa26d3b694471a626748697a8ab3e","datavalue":{"value":{"entity-type":"item","numeric-id":5958486,"id":"Q5958486"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bca0339a616628ad2062b5c7dda10596a8222222","datavalue":{"value":{"amount":"+0.8233423829078674","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":"Q5231393$D1123FC4-631A-4C5A-926C-4FE1F6610045","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b80b8cd0bdeba915c9bf7d2abd681b2b096c1aad","datavalue":{"value":{"entity-type":"item","numeric-id":1390845,"id":"Q1390845"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8dce84072b34f1be41bbea866757299956bb1a08","datavalue":{"value":{"amount":"+0.7677531242370605","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5231393$B3242969-16E9-4268-8601-F4D81042C1D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c1e5d3becac16f242dd9af61ffc2c7050cf79d40","datavalue":{"value":{"entity-type":"item","numeric-id":4506650,"id":"Q4506650"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d7d7c226e85d434274030fa1ab31393ddaf5368d","datavalue":{"value":{"amount":"+0.7621787190437317","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":"Q5231393$EDDC993F-E5BA-40FA-9D7F-1E5B5B9F6ADC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e9b9c115aae1a78e9848203e89db4b2e0957a37b","datavalue":{"value":{"entity-type":"item","numeric-id":362906,"id":"Q362906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"813b9e749ddada8e78ec14e70afe1e1397374f7e","datavalue":{"value":{"amount":"+0.75169837474823","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":"Q5231393$8BA6844D-A19F-4B6D-9676-74A5399B270D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8e7d2a6701a437419a2dad1df196cb614c1cbc1d","datavalue":{"value":{"entity-type":"item","numeric-id":3380918,"id":"Q3380918"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"559de3681d2ae23111279e6edaddb1aff482d16b","datavalue":{"value":{"amount":"+0.7485770583152771","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5231393$C72D16F4-593C-45C7-AE8E-EC1286E091FA","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:5231393","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:5231393"}}}}}