id	sid	eid	entity	type
ajst-1532	1	1	academic journal of science and technology issn	ORG
ajst-1532	1	2	2771-3032	CARDINAL
ajst-1532	2	1	2	CARDINAL
ajst-1532	2	2	3	CARDINAL
ajst-1532	2	3	2022	CARDINAL
ajst-1532	2	4	liang zhang1	PERSON
ajst-1532	2	5	lei shi1	PERSON
ajst-1532	2	6	guofang li1	PERSON
ajst-1532	2	7	jingjing yu1	GPE
ajst-1532	2	8	yan shi2	PERSON
ajst-1532	2	9	1college	DATE
ajst-1532	2	10	hebei normal university of science and technology	ORG
ajst-1532	2	11	qinhuangdao 066004	DATE
ajst-1532	2	12	2hebei	CARDINAL
ajst-1532	2	13	hebei university of water resources	ORG
ajst-1532	2	14	061001	DATE
ajst-1532	2	15	china	GPE
ajst-1532	2	16	5r	CARDINAL
ajst-1532	3	1	two-degree-of-freedom	QUANTITY
ajst-1532	4	1	jacobian	NORP
ajst-1532	7	1	1	CARDINAL
ajst-1532	7	2	1	CARDINAL
ajst-1532	8	1	first	ORDINAL
ajst-1532	9	1	4	CARDINAL
ajst-1532	13	1	two-degree-of-freedom	QUANTITY
ajst-1532	15	1	2	CARDINAL
ajst-1532	15	2	2.1	CARDINAL
ajst-1532	17	1	1	CARDINAL
ajst-1532	18	1	two-degree-of	QUANTITY
ajst-1532	19	1	1	CARDINAL
ajst-1532	19	2	2.2	CARDINAL
ajst-1532	20	1	5r	CARDINAL
ajst-1532	20	2	two	CARDINAL
ajst-1532	22	1	5r	CARDINAL
ajst-1532	23	1	5r	CARDINAL
ajst-1532	23	2	2	CARDINAL
ajst-1532	25	1	two	CARDINAL
ajst-1532	25	2	one	CARDINAL
ajst-1532	26	1	95	CARDINAL
ajst-1532	27	1	2moving	CARDINAL
ajst-1532	27	2	3	CARDINAL
ajst-1532	27	3	4ring	CARDINAL
ajst-1532	27	4	rod5	NORP
ajst-1532	27	5	6driving	CARDINAL
ajst-1532	27	6	7	CARDINAL
ajst-1532	27	7	2	CARDINAL
ajst-1532	27	8	3	CARDINAL
ajst-1532	27	9	2	CARDINAL
ajst-1532	27	10	5r	CARDINAL
ajst-1532	28	1	3	CARDINAL
ajst-1532	28	2	two	CARDINAL
ajst-1532	29	1	1wu	ORDINAL
ajst-1532	29	2	1wv	ORDINAL
ajst-1532	29	3	3wv	DATE
ajst-1532	29	4	3ww	ORG
ajst-1532	29	5	3ww	ORG
ajst-1532	29	6	3wu	CARDINAL
ajst-1532	29	7	1wv	ORDINAL
ajst-1532	29	8	3wv	ORDINAL
ajst-1532	30	1	five	CARDINAL
ajst-1532	31	1	6	CARDINAL
ajst-1532	32	1	1	CARDINAL
ajst-1532	32	2	2	CARDINAL
ajst-1532	32	3	3	CARDINAL
ajst-1532	32	4	4	CARDINAL
ajst-1532	32	5	5	CARDINAL
ajst-1532	32	6	3	CARDINAL
ajst-1532	32	7	3	CARDINAL
ajst-1532	33	1	1wu	ORDINAL
ajst-1532	33	2	3wu	CARDINAL
ajst-1532	34	1	3wv	ORDINAL
ajst-1532	34	2	1wv	ORDINAL
ajst-1532	35	1	3	CARDINAL
ajst-1532	37	1	1w1w	CARDINAL
ajst-1532	37	2	53w	CARDINAL
ajst-1532	37	3	33w	CARDINAL
ajst-1532	37	4	w	GPE
ajst-1532	37	5	21w	GPE
ajst-1532	37	6	43w	DATE
ajst-1532	37	7	2	CARDINAL
ajst-1532	37	8	euler	PERSON
ajst-1532	38	1	 cos sin 0 ,	PERSON
ajst-1532	38	2	cos sin cos cos	ORG
ajst-1532	39	1		DATE
ajst-1532	39	2		PERSON
ajst-1532	39	3	1	CARDINAL
ajst-1532	39	4	w	ORG
ajst-1532	40	1	96 3.1	CARDINAL
ajst-1532	41	1	1	CARDINAL
ajst-1532	41	2	2	CARDINAL
ajst-1532	42	1	w w w	EVENT
ajst-1532	42	2	sin cos	ORG
ajst-1532	42	3	3	CARDINAL
ajst-1532	42	4	4	CARDINAL
ajst-1532	43	1	5	CARDINAL
ajst-1532	43	2	eqs	ORG
ajst-1532	44	1	2)-(5	CARDINAL
ajst-1532	45	1	6	CARDINAL
ajst-1532	46	1	7	CARDINAL
ajst-1532	47	1	6 7	DATE
ajst-1532	47	2	w w w 	ORG
ajst-1532	47	3	  	PERSON
ajst-1532	47	4	6	CARDINAL
ajst-1532	47	5	w w 	ORG
ajst-1532	49	1	 	PERSON
ajst-1532	50	1	7	CARDINAL
ajst-1532	50	2	3.2	CARDINAL
ajst-1532	51	1	1	CARDINAL
ajst-1532	51	2	6max	CARDINAL
ajst-1532	51	3	6min	CARDINAL
ajst-1532	51	4	1wu	ORDINAL
ajst-1532	51	5	7max	CARDINAL
ajst-1532	51	6	7min	CARDINAL
ajst-1532	51	7	3wu	CARDINAL
ajst-1532	51	8	6 6max	CARDINAL
ajst-1532	51	9	7 7max 	ORG
ajst-1532	52	1	 	PRODUCT
ajst-1532	53	1	8)	CARDINAL
ajst-1532	53	2	2	CARDINAL
ajst-1532	53	3	  	PRODUCT
ajst-1532	53	4	9	CARDINAL
ajst-1532	53	5	3	CARDINAL
ajst-1532	53	6	two	CARDINAL
ajst-1532	53	7	10	CARDINAL
ajst-1532	53	8	1	CARDINAL
ajst-1532	55	1	eqs	CARDINAL
ajst-1532	56	1	10)-(12	CARDINAL
ajst-1532	57	1	60 60w   	QUANTITY
ajst-1532	57	2	45 45w   	QUANTITY
ajst-1532	57	3	5w	CARDINAL
ajst-1532	59	1	three	CARDINAL
ajst-1532	60	1	fig.	DATE
ajst-1532	61	1	45	CARDINAL
ajst-1532	63	1	1	CARDINAL
ajst-1532	63	2	1	CARDINAL
ajst-1532	63	3	20	CARDINAL
ajst-1532	63	4	2	CARDINAL
ajst-1532	63	5	35	CARDINAL
ajst-1532	63	6	wd e length	ORG
ajst-1532	63	7	3	CARDINAL
ajst-1532	63	8	30	CARDINAL
ajst-1532	64	1	3	CARDINAL
ajst-1532	64	2	30	CARDINAL
ajst-1532	64	3	4	CARDINAL
ajst-1532	64	4	35	CARDINAL
ajst-1532	64	5	w wf g length	PERSON
ajst-1532	64	6	5	CARDINAL
ajst-1532	64	7	20	CARDINAL
ajst-1532	66	1	60/-60	CARDINAL
ajst-1532	66	2	4	CARDINAL
ajst-1532	66	3	three	CARDINAL
ajst-1532	66	4	-20 0	FAC
ajst-1532	66	5	97	CARDINAL
ajst-1532	66	6	5	CARDINAL
ajst-1532	66	7	5	CARDINAL
ajst-1532	66	8	two-degree-of-freedom	QUANTITY
ajst-1532	68	1	hebei	GPE
ajst-1532	68	2	2021al02，and	CARDINAL
ajst-1532	68	3	hebei normal university of science and technology	ORG
ajst-1532	68	4	hebei	GPE
ajst-1532	68	5	hebei industrial manipulator	ORG
ajst-1532	68	6	hebei university of water	ORG
ajst-1532	68	7	jxkf2108	PERSON
ajst-1532	68	8	jxkf2107	PERSON
ajst-1532	69	1	1	CARDINAL
ajst-1532	69	2	wang	GPE
ajst-1532	69	3	yong tao	PERSON
ajst-1532	70	1	chinese	NORP
ajst-1532	72	1	2014	DATE
ajst-1532	72	2	50(9	DATE
ajst-1532	72	3	1-13	DATE
ajst-1532	73	1	chinese	NORP
ajst-1532	74	1	2	CARDINAL
ajst-1532	75	1	beijing	GPE
ajst-1532	76	1	china	GPE
ajst-1532	76	2	2010	DATE
ajst-1532	77	1	3	CARDINAL
ajst-1532	77	2	norrlöf m. closed	PERSON
ajst-1532	78	1	control engineering practice	ORG
ajst-1532	78	2	2003	DATE
ajst-1532	78	3	11(3	CARDINAL
ajst-1532	78	4	291-300	CARDINAL
ajst-1532	79	1	4	CARDINAL
ajst-1532	79	2	dongchao yang	PERSON
ajst-1532	79	3	zhao	PERSON
ajst-1532	79	4	ken chen	PERSON
ajst-1532	80	1	j].china	TIME
ajst-1532	80	2	2003	DATE
ajst-1532	80	3	14(6	DATE
ajst-1532	80	4	453	CARDINAL
ajst-1532	81	1	chinese	NORP
ajst-1532	82	1	5	CARDINAL
ajst-1532	82	2	shimin wei	PERSON
ajst-1532	82	3	qizheng liao	PERSON
ajst-1532	85	1	2009	DATE
ajst-1532	85	2	45(3	DATE
ajst-1532	85	3	71	CARDINAL
ajst-1532	86	1	chinese	NORP
ajst-1532	87	1	6	CARDINAL
ajst-1532	87	2	artermiadis p k	PERSON
ajst-1532	87	3	kyriakopoulos k j.	PERSON
ajst-1532	88	1	2010	DATE
ajst-1532	88	2	29(3	CARDINAL
ajst-1532	88	3	293	CARDINAL
ajst-1532	89	1	schmidt f	PERSON
ajst-1532	89	2	rollin	PERSON
ajst-1532	90	1	2011	DATE
ajst-1532	90	2	shanghai	GPE
ajst-1532	90	3	china	GPE
ajst-1532	90	4	2011：3443-3444	DATE
ajst-1532	91	1	8	CARDINAL
ajst-1532	91	2	jing zhao	PERSON
ajst-1532	91	3	bin du	PERSON
ajst-1532	93	1	2013	DATE
ajst-1532	93	2	49(11	DATE
ajst-1532	93	3	16-21	DATE
ajst-1532	94	1	chinese	NORP
ajst-1532	95	1	9	CARDINAL
ajst-1532	95	2	j p. parallel	PERSON
ajst-1532	96	1	springer netherlands	GPE
ajst-1532	96	2	2014	DATE
ajst-1532	97	1	10	CARDINAL
ajst-1532	97	2	kai zhang	PERSON
ajst-1532	98	1	zero	CARDINAL
ajst-1532	100	1	11	CARDINAL
ajst-1532	100	2	zhen huang	PERSON
ajst-1532	100	3	yongsheng zhao	PERSON
ajst-1532	100	4	tieshi zhao	PERSON
ajst-1532	102	1	china	GPE
ajst-1532	102	2	2006	DATE
ajst-1532	103	1	chinese	NORP
ajst-1532	104	1	12	CARDINAL
ajst-1532	104	2	youlun xiong	PERSON
ajst-1532	104	3	han	NORP
ajst-1532	104	4	encang liu	PERSON
ajst-1532	106	1	beijing	GPE
ajst-1532	107	1	china	GPE
ajst-1532	107	2	1992	DATE