Which one was published first, 'DFS: A Simple to Write Yet Difficult to Execute Benchmark' or 'A study about control for rolling objects and beam system'?
Between 'DFS: A Simple to Write Yet Difficult to Execute Benchmark' and 'A study about control for rolling objects and beam system', which paper was published earlier?
SELECT DISTINCT ?answer WHERE { <https://dblp.org/rec/conf/iiswc/MurphyBMHGL06> <https://dblp.org/rdf/schema#yearOfPublication> ?x . <https://dblp.org/rec/journals/alr/TakahashiSSY16> <https://dblp.org/rdf/schema#yearOfPublication> ?y . BIND(IF(?x < ?y, <https://dblp.org/rec/conf/iiswc/MurphyBMHGL06>, <https://dblp.org/rec/journals/alr/TakahashiSSY16>) AS ?answer) }
<https://dblp.org/rec/conf/iiswc/MurphyBMHGL06> <https://dblp.org/rec/journals/alr/TakahashiSSY16>