{"entities":{"Q6140585":{"pageid":13274892,"ns":120,"title":"Item:Q6140585","lastrevid":102620297,"modified":"2026-06-06T04:56:21Z","type":"item","id":"Q6140585","labels":{"en":{"language":"en","value":"Balancing Control of a Self-driving Bicycle"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7782279"}},"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":"Q6140585$E1811633-077F-448D-93D9-6E66519BD521","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"2a06eac26969cdd93789717ba175f266424e52b0","datavalue":{"value":{"text":"Balancing Control of a Self-driving Bicycle","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6140585$1E42F186-142D-44AD-83B9-93FD3B4F16C2","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"193c22eecf8232b56c197aee0ff352cb149393a7","datavalue":{"value":"10.5220/0007810600340041","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140585$8361EEAE-922D-446B-A86D-FEABAE29269D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c03c2cea59aa8717019da60e1248aa8da137f1c5","datavalue":{"value":{"entity-type":"item","numeric-id":193876,"id":"Q193876"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6140585$9D4CC275-959E-408C-BEFB-43B9FC2F3360","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c4334c7702f9646ffdcf5c42831d00c2da084549","datavalue":{"value":{"entity-type":"item","numeric-id":6140583,"id":"Q6140583"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6140585$FC73014C-31A6-4E3B-8294-DCD65D146744","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"40be12e234c692ed2af12d710ae5cab2ea7a4d72","datavalue":{"value":{"entity-type":"item","numeric-id":6140584,"id":"Q6140584"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6140585$9CFC724C-9022-4396-9322-D5F57768827B","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"017d5db7d9c33ec42cb53f23ff8d44b28e06179b","datavalue":{"value":{"entity-type":"item","numeric-id":6140498,"id":"Q6140498"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6140585$FD8AC4C6-6E98-4370-AB2B-82419BAA9B4A","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7dbce25b8d1882e8b51894ac817f5ec3044e7cff","datavalue":{"value":{"time":"+2024-01-02T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6140585$41D21471-C555-4F94-947B-2F7F63B8CD83","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140585$7F9B13B7-B9FE-4559-A2E7-C57A9A780B02","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140585$623E7AE2-4DEF-4AB3-B1A6-C1C18285AA9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"4cb03dec90fe525e8b9b675a14b72707c9af90a3","datavalue":{"value":"93D23","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140585$DE8580C3-2F64-4CD9-923B-705F16EC8847","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"0b002ddd70a3595718621d467ace11bc5fc128c3","datavalue":{"value":"7782279","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140585$737C737D-D14F-4D40-8E33-49ACCFD0D960","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f4fd3e9fbb18f1d10b5b744c51b793215dbb8b3e","datavalue":{"value":"balancing control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140585$76194C1E-6589-4909-90F5-07E788A6039C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7d21cb81828ed37be716246179143d7abf8ed3ed","datavalue":{"value":"bicycle","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140585$C645871F-5A42-4AFA-AD3F-BE3C8BAA22E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"357ed12a1e9fcb4dc2266baa490a1d90c8c965ce","datavalue":{"value":"convex combination","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140585$ECED0BAF-D9DC-4605-A422-F70143D6BFB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fce389f8829bacb679ba2d50e4248132ac5c4d09","datavalue":{"value":"linear matrix inequality","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140585$F45C7B57-F1D5-4B3F-95A3-F3561131973B","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":"Q6140585$720A8675-DFD0-4103-A089-3D88F286F23A","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"62f649dc7056cd24b15a04f7050fea456cd7ae7a","datavalue":{"value":"https://doi.org/10.5220/0007810600340041","type":"string"},"datatype":"url"},"type":"statement","id":"Q6140585$3D3975F4-CD37-48ED-B097-363FD938894A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"38d2a1f67474e53fd9e97ce4972f18c909512f2c","datavalue":{"value":"W2968171118","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140585$F521255D-5213-4258-936E-D7AA17D8A275","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b4ebce91462576ef49ba0c3ec8871afccbe25571","datavalue":{"value":{"entity-type":"item","numeric-id":2193390,"id":"Q2193390"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5458f48a07d589886879847d927ab1afb0fa9c6d","datavalue":{"value":{"amount":"+0.9076843","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":"Q6140585$CBAA57CC-3BCD-496C-952C-F30B7BDCE79F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"37ce9201e0233ab821aa8060139c16b4e901248c","datavalue":{"value":{"entity-type":"item","numeric-id":4487437,"id":"Q4487437"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f1489d1b0bf03acdc2d0b84f9c86179441f0b696","datavalue":{"value":{"amount":"+0.90438133","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":"Q6140585$14F1C41A-29DC-47CF-9596-3DE91FB7DED1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8c56e272aa7114b9eda715170adf32131c83045e","datavalue":{"value":{"entity-type":"item","numeric-id":1299273,"id":"Q1299273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"576a6d7eaa23d39bfbb2790ea8f39b2ff7199253","datavalue":{"value":{"amount":"+0.8932831","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":"Q6140585$9D27DACA-2589-4755-9CD7-F61EEF9C0646","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6168b3afb2b59e511e58b0c93e16b03301e9513e","datavalue":{"value":{"entity-type":"item","numeric-id":478936,"id":"Q478936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"16d41bc938e2447b9d9dfe5a4931c0c38eccd002","datavalue":{"value":{"amount":"+0.8918473","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6140585$D9C605C2-FD46-43A9-BE49-63A4B8F41567","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"776cef8ed85289aeaecc1d25198ccaef8761fb1e","datavalue":{"value":{"entity-type":"item","numeric-id":2628498,"id":"Q2628498"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e5cd3e7412815c146201dc0966fcc0669f5ee0c3","datavalue":{"value":{"amount":"+0.88141435","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":"Q6140585$80321C6A-151B-4506-8FC0-F9230E85F431","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4f88c4a949f23ad5cb14b27056a339d63c8b4dea","datavalue":{"value":{"entity-type":"item","numeric-id":3018563,"id":"Q3018563"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d9f7e7f37dd8ee8d4713390b13509df01bc30b20","datavalue":{"value":{"amount":"+0.87326187","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":"Q6140585$8F484D49-8CED-430E-8937-6B5A7394B613","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"55a0f3542a2a7a8debfe58801527f6e519dab3c8","datavalue":{"value":{"entity-type":"item","numeric-id":1976184,"id":"Q1976184"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"721b17b326b3fd80bbc3d577e626fa89ce7b8b01","datavalue":{"value":{"amount":"+0.87227523","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6140585$EC6B5F60-775B-4618-8708-520C003B9B75","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c8d24a89230e91b4d07a03431f3249d0092f18e8","datavalue":{"value":{"entity-type":"item","numeric-id":814106,"id":"Q814106"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a247012f5108d9b0941121dec05ba0938097da1f","datavalue":{"value":{"amount":"+0.8630725","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":"Q6140585$5E89E784-B997-4F51-8D08-FAE8F89D6B5E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2000f1f032852efdac5396bf3bb88ad32217b7c9","datavalue":{"value":{"entity-type":"item","numeric-id":441432,"id":"Q441432"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9334e8266197f075a2ae2cf634bd3810e2614641","datavalue":{"value":{"amount":"+0.85642487","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6140585$C098EE18-C018-418E-B8B6-A2A10CF2F676","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Balancing Control of a Self-driving Bicycle","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Balancing_Control_of_a_Self-driving_Bicycle"}}}}}