Nanopublications

@prefix ns2: <http://purl.org/dc/terms/> .
@prefix this: <http://purl.org/np/RAKb1PFg9xU7BmrJIETEEz0rmJY0X1xrY19uuvG9ES4D4> .
@prefix sub: <http://purl.org/np/RAKb1PFg9xU7BmrJIETEEz0rmJY0X1xrY19uuvG9ES4D4#> .
@prefix np: <http://www.nanopub.org/nschema#> .
@prefix nt: <https://w3id.org/np/o/ntemplate/> .
@prefix npx: <http://purl.org/nanopub/x/> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .
@prefix orcid: <https://orcid.org/> .
@prefix prov: <http://www.w3.org/ns/prov#> .
@prefix sp: <https://w3id.org/linkflows/superpattern/terms/> .

sub:Head {
  this: np:hasAssertion sub:assertion ;
    np:hasProvenance sub:provenance ;
    np:hasPublicationInfo sub:pubinfo ;
    a np:Nanopublication .
}

sub:assertion {
  sub:spi a sp:SuperPatternInstance ;
    sp:hasContextClass <http://purl.org/np/RAgzrgrP-gMGgt56z7dsxX8GKPc-v-YgLjz7LH8LWRKuo#rigid-body-attitude-estimation> ;
    sp:hasObjectClass <http://purl.org/np/RAz7GoIr_torPzmg3E1B0iED89oxKgPJIjGEjCNllPBqw#human-motion-application> ;
    sp:hasQualifier sp:canQualifier ;
    sp:hasRelation sp:contributesTo ;
    sp:hasSubjectClass <http://purl.org/np/RAnEbMdKWObzYNQkE1JP24gk2NyGL8TlLnvouNML31Zgg#viable-quaternion-based-complementary-observers> .
}

sub:provenance {
sub:assertion prov:wasDerivedFrom <https://doi.org/10.1109/TMECH.2012.2225151> .
}

sub:pubinfo {
  sub:sig npx:hasAlgorithm "RSA" ;
    npx:hasPublicKey "MIGfMA0GCSqGSIb3DQEBAQUAA4GNADCBiQKBgQCJlM78d80R+gFMoQB1IG3f7AbqqGOCIv4HmZd1cx1KgEWMUUpPsojFNvx84fC/TltcJ8F8JafnbhDXW2HM2MhdK4yC04ROEV1vIgSzjDicHfiqXvMqdPuMyQp4mmCEY7mUoeEW10mWZqjk+S9TnmiAQbFGcpExP8aosr2aTR7CSQIDAQAB" ;
    npx:hasSignature "gw+zoywAqcogmmnKh1fa6j/7/z9Q6kGTUC5JEXQDZVUfPtFfHzt5n59+CisS77xSR8N3vpdS6FVc+etaWnjAZdfORyRdAD5QViP89v5irQIbRG+Yese8PJEIg2ZSTJKUar//42P7aHNnHTodtvwDWSrU+fydJ1sVinj6OleLUoA=" ;
    npx:hasSignatureTarget this: .
  this: ns2:created "2021-01-25T15:44:20.314+02:00"^^xsd:dateTime ;
    ns2:creator orcid:0000-0002-7114-6459 ;
    npx:introduces sub:spi ;
    nt:wasCreatedFromProvenanceTemplate <http://purl.org/np/RAcTpoh5Ra0ssqmcpOgWdaZ_YiPE6demO6cpw-2RvSNs8> ;
    nt:wasCreatedFromPubinfoTemplate <http://purl.org/np/RAA2MfqdBCzmz9yVWjKLXNbyfBNcwsMmOqcNUxkk1maIM> ;
    nt:wasCreatedFromTemplate <http://purl.org/np/RANVK7g5HbE49j8O5eK_APNLziIn-rUXC6FgCqJtCKZlg> .
}