{"entities":{"Q6139608":{"pageid":13273915,"ns":120,"title":"Item:Q6139608","lastrevid":94025174,"modified":"2026-06-05T05:41:48Z","type":"item","id":"Q6139608","labels":{"en":{"language":"en","value":"Improved SSA\u2010RBF neural network\u2010based dynamic 3\u2010D trajectory tracking model predictive control of autonomous underwater vehicles with external disturbances"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7791492"}},"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":"Q6139608$4E563662-FA44-4141-887F-4830BB77297C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"8f783851142176bab4ee5a11647499aa96687b6e","datavalue":{"value":{"text":"Improved SSA\u2010RBF neural network\u2010based dynamic 3\u2010D trajectory tracking model predictive control of autonomous underwater vehicles with external disturbances","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6139608$93371F3E-99EC-4B33-94D3-8B98F4263FBE","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1f7124a17f46aab04cb8d02b5d59e311a3b71ac6","datavalue":{"value":{"entity-type":"item","numeric-id":782243,"id":"Q782243"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$88A66313-6C54-4F6F-B3E8-0607A1E9CB7B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d9a79c4f26116bf52491e12c45e1072ff50b0565","datavalue":{"value":{"entity-type":"item","numeric-id":412872,"id":"Q412872"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$7C3CBF79-F159-43C6-A631-5678544E6A85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"44e70a650534c3777a31cbcf7048b293c38f57ab","datavalue":{"value":{"entity-type":"item","numeric-id":315098,"id":"Q315098"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$184FEF9C-8F4B-4469-BBB8-2F6083E619EA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c91eeea891826b76cb87877342f41a3790a622e2","datavalue":{"value":{"time":"+2024-01-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6139608$0610EB86-7466-4881-A9D0-A4E9AAC2A840","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"91a21f0be6001e0c739fe66fa082153cd1a98aa8","datavalue":{"value":"93B45","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139608$DB9A2C2C-B62A-4CC0-AC6B-13A183A4E4F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"86ef24f5c9e2aac48660aa2e36054c8246d3fc97","datavalue":{"value":"68T07","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139608$DB35AC1E-295F-44EB-B21D-1BDC302C76C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139608$046E9B36-D734-47D2-B6A9-716BA33FADA8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"8d42ae7884b9335550c4d21f090798ce9c56a9bf","datavalue":{"value":"90C59","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139608$BF6CF7E6-CF73-4D1C-A331-C1D934837D88","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"44356a647fec32e2ce651bfd844c17c9bf9e7997","datavalue":{"value":"7791492","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139608$155C7A49-32D4-4FC8-8B5F-D44941BB4FEC","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"12784d21e129f563149239cd83a835bc1b458510","datavalue":{"value":"autonomous underwater vehicles","type":"string"},"datatype":"string"},"type":"statement","id":"Q6139608$11007B35-570C-4DA3-8489-C888C8FFF96B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7a02c65432606c45f584f21c55cebc43d22b7fce","datavalue":{"value":"chaotic sparrow search algorithm","type":"string"},"datatype":"string"},"type":"statement","id":"Q6139608$6B3EF99B-92F0-4E5B-8801-C180F0796A63","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a676eed2045b791f06a3babf3451a28a80e8b312","datavalue":{"value":"model predictive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6139608$4776230A-8CD9-4429-B85C-31D66EC68042","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"694eecdc2f71e4a898283c6db5c2b7894fc662da","datavalue":{"value":"neural network","type":"string"},"datatype":"string"},"type":"statement","id":"Q6139608$D8F39829-51DA-429F-8245-3E9BBA7015B6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0ff0dbe179137cd876c98fb613040b625d8ac30d","datavalue":{"value":"trajectory tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q6139608$E937D096-13C3-4057-AA0F-D1E962E6136D","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":"Q6139608$0697822C-5D7E-4DAD-9D0F-77DCECFEBA7A","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"bf217f727c10d20fe5321cc2a571b6864056c91b","datavalue":{"value":"https://doi.org/10.1002/oca.3050","type":"string"},"datatype":"url"},"type":"statement","id":"Q6139608$38468E5C-C2F8-43F8-A02D-52BEC8A6F7D8","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"351adfe3523fb005ad7b5ef320e438f654524170","datavalue":{"value":"W4386625884","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139608$69DBAD14-0D93-4B46-97A6-33BAF55C0474","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"fb7ea52cde3b463c65a798eaaa1068cc68adadb1","datavalue":{"value":{"entity-type":"item","numeric-id":3386579,"id":"Q3386579"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$15BC84FF-5D72-4ED5-9AEF-1E3A134B1E51","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4fcdcb345c2287e8d51709b37dd2070e8aee4fff","datavalue":{"value":{"entity-type":"item","numeric-id":4599858,"id":"Q4599858"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$79CA2ABF-85BD-4289-8FCD-C3614D246A3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7baac88f344ff48a8215f289043aef1fa00ee75b","datavalue":{"value":{"entity-type":"item","numeric-id":5742545,"id":"Q5742545"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$5BA72F3A-29B6-4932-A42F-2CD66B50A57F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bc20d81b5e2c11323174f7bfa6eb3d0b03bcc4df","datavalue":{"value":{"entity-type":"item","numeric-id":2307547,"id":"Q2307547"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$430AF6E0-92D8-4A6F-BF9B-46A25133A7BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"62920260540f7695cdaf57db1e9b29b5c7801bde","datavalue":{"value":{"entity-type":"item","numeric-id":5241033,"id":"Q5241033"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$EE3AF521-CC1D-4D83-B7C4-6B0340E9BDA7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"42fb262e9ff4eb9da6e26d1e9466af4ca58bc589","datavalue":{"value":{"entity-type":"item","numeric-id":1805797,"id":"Q1805797"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$190CEB78-7152-4AF0-BE60-6F696E982956","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"89fc78769525c1fe66a5b40c10161eaa300f10c4","datavalue":{"value":"10.1002/OCA.3050","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139608$F2F1A7CA-32A0-4BED-91FD-43938B51F535","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b1e837aa73e761e8390992d747975f8b081c50ab","datavalue":{"value":{"entity-type":"item","numeric-id":6565686,"id":"Q6565686"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139608$7BC5E70E-0C3D-457F-A5EA-AEF55FED48E9","rank":"normal"}],"P1643":[{"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":"e05a613f8755e03dc77675a2a7c8823db847b6a2","datavalue":{"value":{"amount":"+0.7913975715637207","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":"Q6139608$618EBCA1-5932-466B-BD9E-FDBB01BA675F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"79a84dbb02c05f017a6c9474088589a3a35f9740","datavalue":{"value":{"entity-type":"item","numeric-id":2130369,"id":"Q2130369"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"66f42b5bb49a562844a3f3313e8c086f8c867e7d","datavalue":{"value":{"amount":"+0.7776690721511841","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6139608$A82E5000-8547-4B90-B17D-CE0264B010F6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6b69b12f885aa62b8ce20a73ee4f6186cde94b34","datavalue":{"value":{"entity-type":"item","numeric-id":5241763,"id":"Q5241763"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e46ad4a5e31de1552e91452d63e380aac3ebdc99","datavalue":{"value":{"amount":"+0.7732847332954407","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":"Q6139608$817D7092-8BFC-4F3D-8F41-2F4BB068CFCC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2db958304efe2e0b060ddaf2bba308b453f20e62","datavalue":{"value":{"entity-type":"item","numeric-id":4688259,"id":"Q4688259"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"454ac795df1bb17c724fb61d9a21f61794b07449","datavalue":{"value":{"amount":"+0.7675394415855408","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":"Q6139608$9DCBEC59-65F1-4399-8932-E94B5808D4ED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1ad349d5a8e7a5f731079070d0ae6fac20641828","datavalue":{"value":{"entity-type":"item","numeric-id":3386579,"id":"Q3386579"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a2a9332b5e2342e3adc6ec0f13af9ccbeb497765","datavalue":{"value":{"amount":"+0.7628805041313171","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":"Q6139608$55158BC6-0E6B-4FC8-9FFD-12947022B5E1","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Improved SSA\u2010RBF neural network\u2010based dynamic 3\u2010D trajectory tracking model predictive control of autonomous underwater vehicles with external disturbances","badges":[]}}}}}