[ {
  "@graph" : [ {
    "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM",
    "@type" : [ "http://www.nanopub.org/nschema#Nanopublication" ],
    "http://www.nanopub.org/nschema#hasAssertion" : [ {
      "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#assertion"
    } ],
    "http://www.nanopub.org/nschema#hasProvenance" : [ {
      "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#provenance"
    } ],
    "http://www.nanopub.org/nschema#hasPublicationInfo" : [ {
      "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#pubinfo"
    } ]
  } ],
  "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#Head"
}, {
  "@graph" : [ {
    "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#spi",
    "@type" : [ "https://w3id.org/linkflows/superpattern/terms/SuperPatternInstance" ],
    "https://w3id.org/linkflows/superpattern/terms/hasContextClass" : [ {
      "@id" : "http://purl.org/np/RAgzrgrP-gMGgt56z7dsxX8GKPc-v-YgLjz7LH8LWRKuo#rigid-body-attitude-estimation"
    } ],
    "https://w3id.org/linkflows/superpattern/terms/hasObjectClass" : [ {
      "@id" : "http://purl.org/np/RAz7GoIr_torPzmg3E1B0iED89oxKgPJIjGEjCNllPBqw#human-motion-application"
    } ],
    "https://w3id.org/linkflows/superpattern/terms/hasQualifier" : [ {
      "@id" : "https://w3id.org/linkflows/superpattern/terms/canQualifier"
    } ],
    "https://w3id.org/linkflows/superpattern/terms/hasRelation" : [ {
      "@id" : "https://w3id.org/linkflows/superpattern/terms/contributesTo"
    } ],
    "https://w3id.org/linkflows/superpattern/terms/hasSubjectClass" : [ {
      "@id" : "http://purl.org/np/RAnEbMdKWObzYNQkE1JP24gk2NyGL8TlLnvouNML31Zgg#viable-quaternion-based-complementary-observers"
    } ]
  } ],
  "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#assertion"
}, {
  "@graph" : [ {
    "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#assertion",
    "http://www.w3.org/ns/prov#wasDerivedFrom" : [ {
      "@id" : "https://doi.org/10.1109/TMECH.2012.2225151"
    } ]
  } ],
  "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#provenance"
}, {
  "@graph" : [ {
    "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM",
    "http://purl.org/dc/terms/created" : [ {
      "@type" : "http://www.w3.org/2001/XMLSchema#dateTime",
      "@value" : "2021-01-25T15:44:04.302+02:00"
    } ],
    "http://purl.org/dc/terms/creator" : [ {
      "@id" : "https://orcid.org/0000-0002-7114-6459"
    } ],
    "http://purl.org/nanopub/x/introduces" : [ {
      "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#spi"
    } ],
    "https://w3id.org/np/o/ntemplate/wasCreatedFromProvenanceTemplate" : [ {
      "@id" : "http://purl.org/np/RAcTpoh5Ra0ssqmcpOgWdaZ_YiPE6demO6cpw-2RvSNs8"
    } ],
    "https://w3id.org/np/o/ntemplate/wasCreatedFromPubinfoTemplate" : [ {
      "@id" : "http://purl.org/np/RAA2MfqdBCzmz9yVWjKLXNbyfBNcwsMmOqcNUxkk1maIM"
    } ],
    "https://w3id.org/np/o/ntemplate/wasCreatedFromTemplate" : [ {
      "@id" : "http://purl.org/np/RANVK7g5HbE49j8O5eK_APNLziIn-rUXC6FgCqJtCKZlg"
    } ]
  }, {
    "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#sig",
    "http://purl.org/nanopub/x/hasAlgorithm" : [ {
      "@value" : "RSA"
    } ],
    "http://purl.org/nanopub/x/hasPublicKey" : [ {
      "@value" : "MIGfMA0GCSqGSIb3DQEBAQUAA4GNADCBiQKBgQCJlM78d80R+gFMoQB1IG3f7AbqqGOCIv4HmZd1cx1KgEWMUUpPsojFNvx84fC/TltcJ8F8JafnbhDXW2HM2MhdK4yC04ROEV1vIgSzjDicHfiqXvMqdPuMyQp4mmCEY7mUoeEW10mWZqjk+S9TnmiAQbFGcpExP8aosr2aTR7CSQIDAQAB"
    } ],
    "http://purl.org/nanopub/x/hasSignature" : [ {
      "@value" : "XB3OpCudNWhymUfk2EY/bGoEbWodfNjRP7rUeIlIWI8XWwZ0M9BqWKRPzYyVPZljVTcXQuvm6sES+oXYlPtJFRtkBoDiwR22hp3LmAKN7fIrD+SFGaXtIo3oqAzbL8i5NvArlQQlsSbBTv2CAE8kac6ntD8T8TNZlyW7DNlaDi4="
    } ],
    "http://purl.org/nanopub/x/hasSignatureTarget" : [ {
      "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM"
    } ]
  } ],
  "@id" : "http://purl.org/np/RAQumuR2E9YjZsNWcJ2g9lO-sbCQLRT6s6PYOUkuRf-lM#pubinfo"
} ]