{"entities":{"Q553548":{"pageid":555315,"ns":120,"title":"Item:Q553548","lastrevid":62823750,"modified":"2026-04-11T08:37:54Z","type":"item","id":"Q553548","labels":{"en":{"language":"en","value":"Cascade design for formation control of nonholonomic systems in chained form"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5933193"}},"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":"Q553548$DFAA1509-8094-4357-A3F3-681F7F8BEAEC","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d7a34ae0883c2e42839bc74841501988bad57877","datavalue":{"value":{"text":"Cascade design for formation control of nonholonomic systems in chained form","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q553548$32233D1D-DCC0-4DD0-BA3F-09C27348954A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"188c056fec0ef8ae9bd4d5c1fc3a5bc3bbe4dd5e","datavalue":{"value":"1222.93154","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q553548$DF361A97-CA03-4C29-AE48-53402A898852","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c8a03f07059e92dcfa12f86ebc7b2966e181762a","datavalue":{"value":{"entity-type":"item","numeric-id":553544,"id":"Q553544"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$BF65C534-82E6-47D8-A762-D25AC30DB646","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3565d7b7fe36e5f7a680bc0dc647059c636652c1","datavalue":{"value":{"entity-type":"item","numeric-id":553545,"id":"Q553545"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$7D971C9A-8E77-42F7-988E-07028353FFE7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3def3bb35ff1481ca651a3eaa8f7a6f24445f74d","datavalue":{"value":{"entity-type":"item","numeric-id":553546,"id":"Q553546"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$B4E0A035-436A-4322-A5BA-A3B1339C623E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d584d121ce8357bc849d5d4667296cef4a318fc3","datavalue":{"value":{"entity-type":"item","numeric-id":553547,"id":"Q553547"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$657D3968-4F2D-4E09-BBB6-EF716E98DE47","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$A19C9EB2-3F30-40CD-BD71-047482C017B5","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"6e389d84f8899d4fd416867a29608c3150f7b747","datavalue":{"value":{"time":"+2011-07-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q553548$AE8B03B4-B7AB-4DB6-A8DD-3F4668BF679C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q553548$61C394C7-B948-4A64-9644-DDB61CEAC71A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"931f9bc6fe69aba6508703df7e266476edb87eb8","datavalue":{"value":"93B51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q553548$7447064B-0E6E-42C1-8E88-F7564A24E6D4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q553548$9F555C63-CC7F-4B3E-820C-B4541512317A","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c53360a2f38d9848d205851dab6c07d0e1f514ef","datavalue":{"value":"5933193","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q553548$54029285-B14A-4442-9E22-3E70D7298FCD","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$E8A009BE-90E3-4560-AA52-E8A3DA2395EE","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"33deaf277530d16ea99bb725a76e2e17ad128a16","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2011.03.008","type":"string"},"datatype":"url"},"type":"statement","id":"Q553548$7A63B5B4-866E-473E-9A3E-5F60CC8275FC","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"ebb6156d665521a08b55f6a4e86962e950ecb61b","datavalue":{"value":"W2080294529","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q553548$446D8CCD-C9E4-4D80-ABF6-5FCB96C832A9","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"7d4aaea2ff881979aedc8e5c9ab193cc7680bdd8","datavalue":{"value":{"entity-type":"item","numeric-id":5926833,"id":"Q5926833"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$71DE98DB-5235-47D4-A4A6-BBACF13AC436","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"234147e1cde467169de6e5be9c447034eba707d0","datavalue":{"value":{"entity-type":"item","numeric-id":2271572,"id":"Q2271572"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$AA06867A-4902-4135-B092-0F3CFD95A1A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"73c1ae47afa5bd008ba53509875f880bdaa6d25f","datavalue":{"value":{"entity-type":"item","numeric-id":468210,"id":"Q468210"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$E8128988-7DA2-4319-B46A-92857B142841","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f14a57427523304d13bb9e19fd942664ea18d913","datavalue":{"value":{"entity-type":"item","numeric-id":5274053,"id":"Q5274053"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$241C1E50-CCBF-4F1B-AE46-8FAED4EA6583","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c13ceb32dd5cccb062bcc020bf66598221f009f1","datavalue":{"value":{"entity-type":"item","numeric-id":2643471,"id":"Q2643471"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$E6345565-1D6A-4DFD-8CE4-519EF27935DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8b8df6db62d882f3d258170e1c6e7035f42321df","datavalue":{"value":{"entity-type":"item","numeric-id":4974269,"id":"Q4974269"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$3C3B07F3-FFF1-46BB-92D9-E8BF5C7A8916","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"15e567106e437345a91b4f498825df4d538698ea","datavalue":{"value":{"entity-type":"item","numeric-id":630893,"id":"Q630893"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$EA0E5CAC-734A-4F92-8D88-D3910414084E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1dbfe056399bd520f2c9958875bb93bf3fd0b7fe","datavalue":{"value":{"entity-type":"item","numeric-id":3016419,"id":"Q3016419"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$1BD1CD96-5024-4037-A8B4-9928F1F8A9FE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59266fe878dd4576b4386b85f2419f62bd3745f6","datavalue":{"value":{"entity-type":"item","numeric-id":4974333,"id":"Q4974333"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$1B3B4746-74CB-490A-9485-B4FDEF949F8D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"72962891ea70532e296ec0ffd6089c58beb5f3a6","datavalue":{"value":{"entity-type":"item","numeric-id":2440731,"id":"Q2440731"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$8FAF4C01-8AD1-4886-8329-D25AA90F3FE7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"355dbc3d1f9a453210c0013003c5c2f699680224","datavalue":{"value":{"entity-type":"item","numeric-id":984746,"id":"Q984746"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$3ED1DA1C-1193-48BF-BD46-880EAAD6B426","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dd6a84bc88c78f715cb00f260e0ecb7b645ea1dd","datavalue":{"value":{"entity-type":"item","numeric-id":5281778,"id":"Q5281778"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$90A3551F-EF72-47EE-AC51-78C2DA0743D5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7bf825e1f831c39f233c832099b2a9549d7b30f0","datavalue":{"value":{"entity-type":"item","numeric-id":5273866,"id":"Q5273866"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$45AB0D9F-EE6E-4605-99A6-CA0E4601AF80","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7d6dff975986919c14cb1dd99440a9369373c6b0","datavalue":{"value":{"entity-type":"item","numeric-id":4599262,"id":"Q4599262"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$5560BD3B-D49C-4555-B714-7C758C3BE09E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"944db1e61f53f2ffc08ba3f195068b0632170299","datavalue":{"value":{"entity-type":"item","numeric-id":2426592,"id":"Q2426592"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$28F844D9-637E-4D55-B1DE-B8F5D9A4DE48","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d3a1590bffc0fc7d104aca736198a6d2d81288d8","datavalue":{"value":{"entity-type":"item","numeric-id":1030733,"id":"Q1030733"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$8AAA079E-8C94-4EDD-B1C3-E1C4A5D3EB9B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c8066b09f85b325216d2687c189129df7aa311f7","datavalue":{"value":{"entity-type":"item","numeric-id":1023134,"id":"Q1023134"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$0409C599-EAA3-4ACB-8BC5-0062FECE2226","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"70d30acfac94de651659ba24cabe46f91373c0c1","datavalue":{"value":{"entity-type":"item","numeric-id":4974262,"id":"Q4974262"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$92C817BC-9EDE-4168-B07D-12752BE50631","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2fd68c1e15d6ee107ec9adb7c8a9335853a19b51","datavalue":{"value":{"entity-type":"item","numeric-id":2390560,"id":"Q2390560"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$73E01EB6-9EBE-4165-BB1B-F9805BE3FF7C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"155ae4ec5d30f3ee83663fc40c6fa1d5b36ca4c7","datavalue":{"value":{"entity-type":"item","numeric-id":868413,"id":"Q868413"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$34493E5B-E093-48B1-9436-967FD2873BFD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"08fd8f04a0025a4fbc553d5d7afd4bfcd1630dc1","datavalue":{"value":{"entity-type":"item","numeric-id":4954326,"id":"Q4954326"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$8D6341FB-B3E4-444B-AA3B-19E8F36888F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c22b6a3e2313afc0fa66ea92ed41666235cc0e0f","datavalue":{"value":{"entity-type":"item","numeric-id":1128544,"id":"Q1128544"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$9F89040C-C63B-4793-BA7C-69E3C1407D40","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"539b7ac8717a445669cbaa1be7cf24daa47495e0","datavalue":{"value":{"entity-type":"item","numeric-id":1049149,"id":"Q1049149"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$F6ABA936-0782-45A0-B852-D71AC26D604A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b6d27dacc5c86087ff2495c99b8279b01d00250f","datavalue":{"value":{"entity-type":"item","numeric-id":2716030,"id":"Q2716030"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$FF3585DA-A3D9-459F-9039-3151A9F3342E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"28accbdfa2eaea93e065b04842e9258bbb3292b1","datavalue":{"value":{"entity-type":"item","numeric-id":5282197,"id":"Q5282197"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$CDDA8D12-E328-424A-A6DF-3BB43D833ABD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a21943649233640cfd92cdffbffc65787f3f1826","datavalue":{"value":{"entity-type":"item","numeric-id":5444236,"id":"Q5444236"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$3DF2FF26-1958-414F-A879-337B35ACA56C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"350aa0d61f62afc2e63c4929aaea997b43b969b4","datavalue":{"value":{"entity-type":"item","numeric-id":3029380,"id":"Q3029380"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$616809EF-AC5D-4E70-8B2D-F9DCD49E83AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"08893006aa586b44701b176d0611148fb8bbc98e","datavalue":{"value":{"entity-type":"item","numeric-id":2503508,"id":"Q2503508"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$485F9FA9-90CB-403F-AC89-0E9C218DDFC7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8b5c4acca41d7e54cc1874a4e89c47e13e483453","datavalue":{"value":{"entity-type":"item","numeric-id":1978306,"id":"Q1978306"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$625F4C08-7E9B-4BDB-8ECA-DA42AEE34380","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8d465fbad6797690c0eaaaa7304d64510e78f7d7","datavalue":{"value":{"entity-type":"item","numeric-id":4955089,"id":"Q4955089"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$24930833-436B-488F-BFFF-C4EA28022357","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$A5A0C4EA-CA73-4FEB-8118-93F006AC3ECB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"07ff9ef3aab76c57c6f789f2bdc6a22992a4af6d","datavalue":{"value":{"entity-type":"item","numeric-id":1367203,"id":"Q1367203"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$66E5FD42-B2CA-4A45-B4E2-1BF6452A0362","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52081aa161c8d1d8d2c6f83af16e9f654fa7c3a0","datavalue":{"value":{"entity-type":"item","numeric-id":4506664,"id":"Q4506664"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$9048CE4A-6066-42FD-811A-007BD16DBC1C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"06beddfbaa71438e52a3103854e59226aaca1265","datavalue":{"value":{"entity-type":"item","numeric-id":1923055,"id":"Q1923055"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$472C1793-8F66-4487-8199-99FACF87460D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b56fa6f5e93e74394ae5e2f6b317f47e9ac1d676","datavalue":{"value":{"entity-type":"item","numeric-id":697801,"id":"Q697801"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$9D63DED5-D892-4A8D-8718-98AA23874676","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"aeae2184d26e677c45ad992f3921f14d31c9c047","datavalue":{"value":{"entity-type":"item","numeric-id":2706777,"id":"Q2706777"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$0805C248-42D8-4A64-BD9A-05AA03A21067","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7a797dc4af36f5f5a7da396005c4844eab2ab798","datavalue":{"value":{"entity-type":"item","numeric-id":1310798,"id":"Q1310798"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q553548$363EAAB7-3C8F-4231-8643-123B7BF1B2AF","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"643cb34ba10d495cbef4fe998030da64e5aba071","datavalue":{"value":"10.1016/J.JFRANKLIN.2011.03.008","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q553548$F30930EE-7519-4D70-8A0C-B8F5AD2E74F8","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4535481d5518ea75a881a3f15ff973115acb9e88","datavalue":{"value":{"entity-type":"item","numeric-id":2792887,"id":"Q2792887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"13d8f57c08c9734a26ee04571eb541d983141e70","datavalue":{"value":{"amount":"+0.8585692048072815","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":"Q553548$88B14B98-62EB-45E3-85D2-51A291040EB7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"24e5adbe9a3a045592c910623a7fbf3761333d82","datavalue":{"value":{"entity-type":"item","numeric-id":5252987,"id":"Q5252987"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5d7994a434f6eadbb5067fa9b108cf733fa0ca53","datavalue":{"value":{"amount":"+0.7935970425605774","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":"Q553548$903A8A53-F72D-4FD7-AC62-EBE50214C072","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"057cdab16d2a7ce693e5aac8e77012afd97b6a89","datavalue":{"value":{"entity-type":"item","numeric-id":2873461,"id":"Q2873461"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3482b5cc184d397e6e3bef31f6ef369ab47ee559","datavalue":{"value":{"amount":"+0.7932057976722717","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q553548$D56EDC16-66F1-4E6F-A9B0-47870DDDE618","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"64a93c0a27cfeb81a68daba4c4e7ebed51eef7b0","datavalue":{"value":{"entity-type":"item","numeric-id":2203051,"id":"Q2203051"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"96d7b058675f9a771e9569ee2212cc087cdc3694","datavalue":{"value":{"amount":"+0.7845162749290466","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":"Q553548$B866D8A2-1E7E-40D6-9D48-9FC4C757CCB4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fb54679885d8586827adb313cc56bd5d949dff51","datavalue":{"value":{"entity-type":"item","numeric-id":465551,"id":"Q465551"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b6fdc7922f18bbbefb9abe47e5bc7c52a04580e5","datavalue":{"value":{"amount":"+0.7812815308570862","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":"Q553548$20E5907A-9704-42A7-9745-CE7E02A19568","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Cascade design for formation control of nonholonomic systems in chained form","badges":[]}}}}}