id	sid	eid	entity	type
ispiv-39	1	1	14th	ORDINAL
ispiv-39	1	2	2021	CARDINAL
ispiv-39	1	3	2021	CARDINAL
ispiv-39	1	4	wenwu zhou	PERSON
ispiv-39	1	5	zhe ning	PERSON
ispiv-39	1	6	hui hu	PERSON
ispiv-39	1	7	1	CARDINAL
ispiv-39	1	8	iowa state university	ORG
ispiv-39	1	9	ames	GPE
ispiv-39	1	10	iowa	GPE
ispiv-39	1	11	50011	DATE
ispiv-39	3	1	two	CARDINAL
ispiv-39	3	2	3	CARDINAL
ispiv-39	7	1	~ 240%	PERCENT
ispiv-39	9	1	i. introduction	PERSON
ispiv-39	9	2	2007	DATE
ispiv-39	9	3	lucieer et al	PERSON
ispiv-39	9	4	2014	DATE
ispiv-39	9	5	2015	DATE
ispiv-39	13	1	6 degrees	QUANTITY
ispiv-39	13	2	2016	DATE
ispiv-39	15	1	less than half	CARDINAL
ispiv-39	17	1	one	CARDINAL
ispiv-39	19	1	bristeau et al	PERSON
ispiv-39	20	1	bristeau et al	PERSON
ispiv-39	20	2	2009	DATE
ispiv-39	20	3	uav	ORG
ispiv-39	21	1	first	ORDINAL
ispiv-39	21	2	russell et al	PERSON
ispiv-39	22	1	russell et al	PERSON
ispiv-39	22	2	2016	DATE
ispiv-39	22	3	five	CARDINAL
ispiv-39	23	1	brandt	PERSON
ispiv-39	23	2	brandt	PERSON
ispiv-39	23	3	2011	DATE
ispiv-39	23	4	miller	PERSON
ispiv-39	23	5	2006	DATE
ispiv-39	23	6	reynolds	PERSON
ispiv-39	24	1	2009	DATE
ispiv-39	25	1	2015	DATE
ispiv-39	26	1	leslie et al	PERSON
ispiv-39	27	1	leslie et al	PERSON
ispiv-39	27	2	uav	ORG
ispiv-39	28	1	2013	DATE
ispiv-39	28	2	two	CARDINAL
ispiv-39	28	3	uav	ORG
ispiv-39	28	4	two	CARDINAL
ispiv-39	29	1	two	CARDINAL
ispiv-39	31	1	yoon et al.(yoon	GPE
ispiv-39	31	2	al	ORG
ispiv-39	31	3	2016	DATE
ispiv-39	32	1	2016	DATE
ispiv-39	32	2	2 to 4	DATE
ispiv-39	34	1	two	CARDINAL
ispiv-39	34	2	two	CARDINAL
ispiv-39	35	1	0.04d	CARDINAL
ispiv-39	37	1	0.05d	CARDINAL
ispiv-39	37	2	0.1d	CARDINAL
ispiv-39	37	3	0.2d	CARDINAL
ispiv-39	37	4	1.0d	CARDINAL
ispiv-39	39	1	3-d	QUANTITY
ispiv-39	39	2	about 25 microns	QUANTITY
ispiv-39	41	1	1	CARDINAL
ispiv-39	41	2	240 mm	QUANTITY
ispiv-39	41	3	3	CARDINAL
ispiv-39	42	1	reynolds	PERSON
ispiv-39	43	1	3.0	CARDINAL
ispiv-39	43	2	newton	ORG
ispiv-39	43	3	4860	CARDINAL
ispiv-39	44	1	11 mm	QUANTITY
ispiv-39	44	2	tip to 30%	PERCENT
ispiv-39	44	3	𝐶𝑡𝑖𝑝	PERSON
ispiv-39	44	4	0.3	CARDINAL
ispiv-39	44	5	30%	PERCENT
ispiv-39	45	1	30% to 5%	PERCENT
ispiv-39	45	2	the 30%	PERCENT
ispiv-39	45	3	5%	PERCENT
ispiv-39	46	1	30%	PERCENT
ispiv-39	46	2	11.6°	QUANTITY
ispiv-39	46	3	26.3°	QUANTITY
ispiv-39	46	4	0.12	CARDINAL
ispiv-39	48	1	~400 mm	PERSON
ispiv-39	49	1	1	CARDINAL
ispiv-39	50	1	iowa state university	ORG
ispiv-39	51	1	2	CARDINAL
ispiv-39	51	2	8020	CARDINAL
ispiv-39	52	1	two	CARDINAL
ispiv-39	55	1	uav	ORG
ispiv-39	57	1	2	CARDINAL
ispiv-39	57	2	16 mm	QUANTITY
ispiv-39	58	1	three	CARDINAL
ispiv-39	59	1	±0.25%	PERCENT
ispiv-39	59	2	40 n	QUANTITY
ispiv-39	60	1	two	CARDINAL
ispiv-39	61	1	0.05d	CARDINAL
ispiv-39	61	2	uav	ORG
ispiv-39	62	1	jr3	PERSON
ispiv-39	62	2	3000	CARDINAL
ispiv-39	62	3	120s	ORG
ispiv-39	65	1	2	CARDINAL
ispiv-39	66	1	12×12×9 feet	QUANTITY
ispiv-39	66	2	20	CARDINAL
ispiv-39	67	1	6d	CARDINAL
ispiv-39	68	1	5	CARDINAL
ispiv-39	68	2	30	CARDINAL
ispiv-39	68	3	30	CARDINAL
ispiv-39	70	1	120s	ORG
ispiv-39	71	1	planar piv	PERSON
ispiv-39	72	1	2	CARDINAL
ispiv-39	73	1	fog	ORG
ispiv-39	73	2	rosco 1900	PERSON
ispiv-39	74	1	200	CARDINAL
ispiv-39	74	2	second	ORDINAL
ispiv-39	74	3	two	CARDINAL
ispiv-39	74	4	200	CARDINAL
ispiv-39	74	5	532	CARDINAL
ispiv-39	74	6	2	CARDINAL
ispiv-39	75	1	about 1.0 mm	QUANTITY
ispiv-39	83	1	300	CARDINAL
ispiv-39	85	1	90	CARDINAL
ispiv-39	86	1	two	CARDINAL
ispiv-39	86	2	ccd	PRODUCT
ispiv-39	86	3	pco2000, cooke corp.	ORG
ispiv-39	86	4	about 45 degrees	QUANTITY
ispiv-39	88	1	ccd	PRODUCT
ispiv-39	88	2	berkeley nucleonics	ORG
ispiv-39	88	3	565	CARDINAL
ispiv-39	90	1	~350	CARDINAL
ispiv-39	90	2	2 mm	QUANTITY
ispiv-39	90	3	8 mm	QUANTITY
ispiv-39	91	1	third	ORDINAL
ispiv-39	91	2	second	ORDINAL
ispiv-39	92	1	2	CARDINAL
ispiv-39	93	1	32	CARDINAL
ispiv-39	93	2	pixels ×	ORG
ispiv-39	93	3	32	CARDINAL
ispiv-39	94	1	50%	PERCENT
ispiv-39	94	2	2.4 mm	QUANTITY
ispiv-39	94	3	0.01d	CARDINAL
ispiv-39	96	1	2d	DATE
ispiv-39	96	2	three	CARDINAL
ispiv-39	97	1	w	GPE
ispiv-39	97	2	2 20.5	CARDINAL
ispiv-39	99	1	1,000	CARDINAL
ispiv-39	99	2	300	CARDINAL
ispiv-39	100	1	3%	PERCENT
ispiv-39	100	2	5%	PERCENT
ispiv-39	101	1	a. dynamic load	PERSON
ispiv-39	101	2	3	CARDINAL
ispiv-39	101	3	2	CARDINAL
ispiv-39	101	4	4	CARDINAL
ispiv-39	101	5	0.013	CARDINAL
ispiv-39	101	6	0.21	CARDINAL
ispiv-39	102	1	81hz	ORDINAL
ispiv-39	102	2	0.05	CARDINAL
ispiv-39	102	3	1.0	CARDINAL
ispiv-39	104	1	3	CARDINAL
ispiv-39	104	2	20	CARDINAL
ispiv-39	104	3	less than 2%	PERCENT
ispiv-39	106	1	yoon et al.(yoon	PERSON
ispiv-39	106	2	al	ORG
ispiv-39	106	3	2016	DATE
ispiv-39	108	1	1%	PERCENT
ispiv-39	110	1	0.05d	CARDINAL
ispiv-39	111	1	two	CARDINAL
ispiv-39	111	2	second	ORDINAL
ispiv-39	116	1	3	CARDINAL
ispiv-39	116	2	0.013 n and	QUANTITY
ispiv-39	118	1	iowa state university	ORG
ispiv-39	119	1	4	CARDINAL
ispiv-39	119	2	0.2d	CARDINAL
ispiv-39	120	1	five	CARDINAL
ispiv-39	120	2	60°	QUANTITY
ispiv-39	120	3	90°	TIME
ispiv-39	120	4	120°	QUANTITY
ispiv-39	120	5	150°	QUANTITY
ispiv-39	120	6	180°	QUANTITY
ispiv-39	120	7	6d	CARDINAL
ispiv-39	122	1	4	CARDINAL
ispiv-39	122	2	20	CARDINAL
ispiv-39	122	3	20,000	CARDINAL
ispiv-39	124	1	4	CARDINAL
ispiv-39	124	2	90° to 180°	QUANTITY
ispiv-39	125	1	blackstock 2000	PERSON
ispiv-39	126	1	0°, 180°	TIME
ispiv-39	126	2	90°	TIME
ispiv-39	126	3	270°	QUANTITY
ispiv-39	129	1	about 3	CARDINAL
ispiv-39	129	2	0.05d	CARDINAL
ispiv-39	129	3	180°	QUANTITY
ispiv-39	130	1	4	CARDINAL
ispiv-39	131	1	6d	CARDINAL
ispiv-39	133	1	5	CARDINAL
ispiv-39	133	2	120° and 180°	QUANTITY
ispiv-39	134	1	0.05d	CARDINAL
ispiv-39	134	2	uav	ORG
ispiv-39	135	1	blackstock 2000	LAW
ispiv-39	136	1	0.05d	CARDINAL
ispiv-39	137	1	3	CARDINAL
ispiv-39	138	1	≈ 20	CARDINAL
ispiv-39	139	1	0.05d	CARDINAL
ispiv-39	139	2	120°	QUANTITY
ispiv-39	139	3	180°	QUANTITY
ispiv-39	140	1	blackstock 2000	EVENT
ispiv-39	141	1	carolus et al	PERSON
ispiv-39	142	1	2007	DATE
ispiv-39	142	2	tke	ORG
ispiv-39	143	1	tke	ORG
ispiv-39	145	1	120	CARDINAL
ispiv-39	145	2	180	CARDINAL
ispiv-39	145	3	5	CARDINAL
ispiv-39	145	4	120	CARDINAL
ispiv-39	145	5	180	CARDINAL
ispiv-39	147	1	6	CARDINAL
ispiv-39	147	2	tke	ORG
ispiv-39	147	3	20.5	CARDINAL
ispiv-39	147	4	2tipu	CARDINAL
ispiv-39	147	5	61	CARDINAL
ispiv-39	148	1	6	CARDINAL
ispiv-39	153	1	coanda	ORG
ispiv-39	154	1	w	ORG
ispiv-39	155	1	fig	PERSON
ispiv-39	156	1	6	CARDINAL
ispiv-39	156	2	plane tke	PERSON
ispiv-39	157	1	tke	PERSON
ispiv-39	158	1	tke	PERSON
ispiv-39	158	2	half	CARDINAL
ispiv-39	159	1	two	CARDINAL
ispiv-39	159	2	only 0.05d	CARDINAL
ispiv-39	159	3	plane tke	PERSON
ispiv-39	162	1	3	CARDINAL
ispiv-39	163	1	5	CARDINAL
ispiv-39	164	1	6	CARDINAL
ispiv-39	167	1	2(a	CARDINAL
ispiv-39	169	1	7	CARDINAL
ispiv-39	169	2	two	CARDINAL
ispiv-39	169	3	0º	CARDINAL
ispiv-39	169	4	120º	PERSON
ispiv-39	171	1	0º.	DATE
ispiv-39	176	1	6	CARDINAL
ispiv-39	177	1	0º	CARDINAL
ispiv-39	178	1	0º	CARDINAL
ispiv-39	178	2	7	CARDINAL
ispiv-39	178	3	8	CARDINAL
ispiv-39	179	1	0.05d	CARDINAL
ispiv-39	181	1	# 1 5	MONEY
ispiv-39	181	2	#	CARDINAL
ispiv-39	182	1	two	CARDINAL
ispiv-39	183	1	0º.	DATE
ispiv-39	183	2	120º	CARDINAL
ispiv-39	183	3	8	CARDINAL
ispiv-39	185	1	3	MONEY
ispiv-39	185	2	0.7d	TIME
ispiv-39	186	1	1.0d	CARDINAL
ispiv-39	187	1	#	CARDINAL
ispiv-39	188	1	1	MONEY
ispiv-39	188	2	2	MONEY
ispiv-39	188	3	3	MONEY
ispiv-39	188	4	4	MONEY
ispiv-39	188	5	0.2	CARDINAL
ispiv-39	189	1	120°	QUANTITY
ispiv-39	189	2	# d	MONEY
ispiv-39	192	1	w	GPE
ispiv-39	193	1	leishman	PERSON
ispiv-39	193	2	2006	DATE
ispiv-39	194	1	e. stereoscopic piv measurement	PERSON
ispiv-39	195	1	9	CARDINAL
ispiv-39	196	1	fig	ORG
ispiv-39	197	1	9	CARDINAL
ispiv-39	198	1	10	CARDINAL
ispiv-39	198	2	0.1	CARDINAL
ispiv-39	198	3	1.0	CARDINAL
ispiv-39	200	1	w	ORG
ispiv-39	201	1	hu et al	PERSON
ispiv-39	201	2	2016	DATE
ispiv-39	201	3	wang et al	PERSON
ispiv-39	201	4	2016	DATE
ispiv-39	202	1	uav	ORG
ispiv-39	205	1	two	CARDINAL
ispiv-39	205	2	fig.	DATE
ispiv-39	207	1	1.0	CARDINAL
ispiv-39	208	1	10	CARDINAL
ispiv-39	209	1	0.1	CARDINAL
ispiv-39	212	1	coanda	ORG
ispiv-39	213	1	6	CARDINAL
ispiv-39	214	1	fig	ORG
ispiv-39	215	1	tke	ORG
ispiv-39	215	2	2	CARDINAL
ispiv-39	215	3	0.1	CARDINAL
ispiv-39	216	1	tke	ORG
ispiv-39	218	1	6	CARDINAL
ispiv-39	219	1	tke	PERSON
ispiv-39	220	1	3	CARDINAL
ispiv-39	221	1	5	CARDINAL
ispiv-39	222	1	tke	ORG
ispiv-39	223	1	tke	ORG
ispiv-39	223	2	1.0	CARDINAL
ispiv-39	224	1	10	CARDINAL
ispiv-39	225	1	tke	PERSON
ispiv-39	226	1	11	CARDINAL
ispiv-39	226	2	three	CARDINAL
ispiv-39	226	3	0.1	CARDINAL
ispiv-39	226	4	0.5	CARDINAL
ispiv-39	226	5	1.0	CARDINAL
ispiv-39	228	1	approximately 35°	TIME
ispiv-39	228	2	0.1	CARDINAL
ispiv-39	228	3	1.0	CARDINAL
ispiv-39	230	1	11	CARDINAL
ispiv-39	230	2	tke	ORG
ispiv-39	230	3	0.1	CARDINAL
ispiv-39	231	1	0.05	CARDINAL
ispiv-39	233	1	tke	ORG
ispiv-39	233	2	9	CARDINAL
ispiv-39	233	3	0.1	CARDINAL
ispiv-39	234	1	tke	ORG
ispiv-39	234	2	10	CARDINAL
ispiv-39	235	1	1.0	CARDINAL
ispiv-39	235	2	tke	ORG
ispiv-39	236	1	11	CARDINAL
ispiv-39	237	1	0.1	CARDINAL
ispiv-39	237	2	0.5	CARDINAL
ispiv-39	237	3	1.0	CARDINAL
ispiv-39	240	1	0.1d	CARDINAL
ispiv-39	240	2	0.2d	CARDINAL
ispiv-39	240	3	1.0d	CARDINAL
ispiv-39	241	1	2%	PERCENT
ispiv-39	244	1	90°	QUANTITY
ispiv-39	244	2	180°	QUANTITY
ispiv-39	245	1	0.05d	CARDINAL
ispiv-39	247	1	inplain tke	PERSON
ispiv-39	249	1	tke	ORG
ispiv-39	250	1	coanda	ORG
ispiv-39	254	1	usf) usa	ORG
ispiv-39	254	2	1438099	DATE
ispiv-39	255	1	blackstock	PERSON
ispiv-39	255	2	2000	DATE
ispiv-39	256	1	wiley	ORG
ispiv-39	256	2	becker m	PERSON
ispiv-39	256	3	2007	DATE
ispiv-39	258	1	autom	GPE
ispiv-39	258	2	14:88–98	CARDINAL
ispiv-39	259	1	brandt j	PERSON
ispiv-39	259	2	2011	DATE
ispiv-39	259	3	reynolds	PERSON
ispiv-39	260	1	49th aiaa aerospace sciences meeting	ORG
ispiv-39	261	1	american institute of aeronautics	ORG
ispiv-39	261	2	astronautics bristeau p	ORG
ispiv-39	261	3	martin p	PERSON
ispiv-39	261	4	2009	DATE
ispiv-39	261	5	uav	PRODUCT
ispiv-39	262	1	schneider m	PERSON
ispiv-39	262	2	reese h (	ORG
ispiv-39	262	3	2007	DATE
ispiv-39	263	1	300:50–70	CARDINAL
ispiv-39	264	1	vincent jb	PERSON
ispiv-39	264	2	werden lk	PERSON
ispiv-39	264	3	2015	DATE
ispiv-39	265	1	curr biol 25:2278–2283.	ORG
ispiv-39	266	1	perryman wl	PERSON
ispiv-39	266	2	hinke jt	PERSON
ispiv-39	266	3	2015	DATE
ispiv-39	268	1	gur o	PERSON
ispiv-39	268	2	rosen	PERSON
ispiv-39	268	3	2009	DATE
ispiv-39	269	1	25:717–728	CARDINAL
ispiv-39	270	1	hu	PERSON
ispiv-39	271	1	wei t	PERSON
ispiv-39	271	2	wang	ORG
ispiv-39	271	3	2016	DATE
ispiv-39	272	1	34th	ORDINAL
ispiv-39	272	2	alexander wn	PERSON
ispiv-39	272	3	devenport wj	PERSON
ispiv-39	272	4	2016	DATE
ispiv-39	272	5	quadcopter	ORG
ispiv-39	273	1	22nd	CARDINAL
ispiv-39	274	1	american institute of aeronautics	ORG
ispiv-39	274	2	astronautics	ORG
ispiv-39	274	3	reston	GPE
ispiv-39	274	4	virginia leishman g	PERSON
ispiv-39	274	5	2006	DATE
ispiv-39	275	1	cambridge university	ORG
ispiv-39	275	2	wong kc	PERSON
ispiv-39	275	3	2008	DATE
ispiv-39	276	1	14th	CARDINAL
ispiv-39	276	2	29th	ORDINAL
ispiv-39	277	1	american institute of aeronautics	ORG
ispiv-39	277	2	astronautics	ORG
ispiv-39	277	3	reston	GPE
ispiv-39	277	4	virigina lucieer	ORG
ispiv-39	277	5	robinson sa	PERSON
ispiv-39	278	1	2014	DATE
ispiv-39	278	2	uav	ORG
ispiv-39	279	1	27:53–62	CARDINAL
ispiv-39	280	1	miller	PERSON
ispiv-39	280	2	2006	DATE
ispiv-39	280	3	reynolds	ORG
ispiv-39	280	4	uav	ORG
ispiv-39	281	1	44th	ORDINAL
ispiv-39	281	2	aerospace sciences	ORG
ispiv-39	282	1	american institute of aeronautics	ORG
ispiv-39	282	2	astronautics	ORG
ispiv-39	282	3	reston	GPE
ispiv-39	282	4	otsuka h	ORG
ispiv-39	282	5	2016	DATE
ispiv-39	282	6	multirotor	ORG
ispiv-39	283	1	2016	CARDINAL
ispiv-39	284	1	3242–3248	CARDINAL
ispiv-39	284	2	jung j	PERSON
ispiv-39	284	3	2016	CARDINAL
ispiv-39	285	1	72nd	ORDINAL
ispiv-39	285	2	annual	DATE
ispiv-39	286	1	fl sinibaldi g	PERSON
ispiv-39	286	2	l (2013	DATE
ispiv-39	286	3	uav	ORG
ispiv-39	288	1	wang z	PERSON
ispiv-39	288	2	tian w	PERSON
ispiv-39	288	3	2016	DATE
ispiv-39	290	1	yoon s	PERSON
ispiv-39	290	2	lee hch	PERSON
ispiv-39	290	3	pulliam th	PERSON
ispiv-39	290	4	2016	CARDINAL
ispiv-39	291	1	54th	ORDINAL
ispiv-39	291	2	aerospace sciences meeting	ORG
ispiv-39	292	1	american institute of aeronautics	ORG
ispiv-39	292	2	astronautics	ORG
ispiv-39	292	3	reston	GPE
ispiv-39	292	4	virginia	GPE