{"entities":{"Q6140632":{"pageid":13274939,"ns":120,"title":"Item:Q6140632","lastrevid":102635759,"modified":"2026-06-06T04:59:01Z","type":"item","id":"Q6140632","labels":{"en":{"language":"en","value":"An Improved APFM for Autonomous Navigation and Obstacle Avoidance of USVs"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7782323"}},"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":"Q6140632$15FFF50A-7CE6-4D97-A8B5-0E25EDE01EB4","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e1b08f669a7de61f1cb18e2f3d82d5e355729565","datavalue":{"value":{"text":"An Improved APFM for Autonomous Navigation and Obstacle Avoidance of USVs","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6140632$A3DBEA33-5E58-498F-866B-A66EC6B99FE1","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"7e78c2c7f2e48e7413c360ddaa5f802fe1c80db4","datavalue":{"value":"10.5220/0007922904010408","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140632$D0B2FCF0-7799-4A90-9CF1-A81A5EA571E1","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":"Q6140632$176896B1-6638-4D91-8671-9D387D4BEA28","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7dbce25b8d1882e8b51894ac817f5ec3044e7cff","datavalue":{"value":{"time":"+2024-01-02T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6140632$EE9923F3-8559-4267-9229-20C50AB12DC9","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140632$306BF65F-8D5A-4850-AC34-C15F243985B6","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c86b48230db899ebb12dcb2ff0671be40db3fafc","datavalue":{"value":"7782323","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140632$36FB2451-D94A-4755-81BF-723F28964782","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a0555e679c283718625b50c2abea3e6c527da7b8","datavalue":{"value":"autonomous navigation","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140632$7EBA472F-054B-4BDA-8BD4-B9DBFE4FDE99","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9e1b98c64c0dfc3bec7cff093f965649ff45b97d","datavalue":{"value":"obstacle avoidance","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140632$9F45EEBE-E5C8-4415-89F9-8F63FA506BF2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"855977839e1d3ead65e20bf067ff6225eee8a723","datavalue":{"value":"improved APFM","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140632$31884B8D-090B-465A-841E-4D0CA301A47B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2fe63257b788866df1a18bf417653dd12118adea","datavalue":{"value":"USVs","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140632$420EC203-5351-470B-8359-390F6A097E51","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d61fef7286eebacc07c69244aa95476ac8326cf2","datavalue":{"value":"water quality monitoring","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140632$AC7B38A9-2A53-4BB9-98EC-84CF6AC329F8","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":"Q6140632$6BD95A12-336F-4E45-805F-6C3AA337074A","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6e7418f12590bc98880b8db62b8bf977eda2f829","datavalue":{"value":{"entity-type":"item","numeric-id":5348640,"id":"Q5348640"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d35260f8bd069ab873e1be27392f95929b67f66d","datavalue":{"value":{"amount":"+0.7543613910675049","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6140632$B5B14DC5-2AFE-40DD-8B5D-43AD48E28530","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"12ac826bd954b04d3dae7d6f6f958a2f9454ce22","datavalue":{"value":{"entity-type":"item","numeric-id":2179133,"id":"Q2179133"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8bdde7570028f828c2b9e597beea305c50507bc8","datavalue":{"value":{"amount":"+0.7534407377243042","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":"Q6140632$062704FD-8C0C-4359-B46C-3AE56388678B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"811480d4459c4db1361fdab18d961aac062bf7be","datavalue":{"value":{"entity-type":"item","numeric-id":6579233,"id":"Q6579233"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f99dce24cecd032f210157311b2ff886700fe441","datavalue":{"value":{"amount":"+0.7351439595222473","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6140632$CB03681F-9151-4AE6-AD20-7CB8012D2BA4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"26f641e38c3f71068dc71e7724caa658a9ebe098","datavalue":{"value":{"entity-type":"item","numeric-id":2299200,"id":"Q2299200"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d53cbc2dcbaccc8d84941b2622a20b47de78b29b","datavalue":{"value":{"amount":"+0.7337089776992798","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":"Q6140632$2240DB92-84EB-4767-A0B7-405E6AFF1B1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7f7430f97ef896eeea2af5f9cdae117fceda0fb2","datavalue":{"value":{"entity-type":"item","numeric-id":5282688,"id":"Q5282688"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8d391689469dcb936ab807920e2bbd74d01c9306","datavalue":{"value":{"amount":"+0.7316656112670898","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":"Q6140632$06E5D9D0-109A-4D92-AB49-65EFFB0A624E","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"An Improved APFM for Autonomous Navigation and Obstacle Avoidance of USVs","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/An_Improved_APFM_for_Autonomous_Navigation_and_Obstacle_Avoidance_of_USVs"}}}}}