id	sid	tid	token	lemma	pos
ajst-13413	1	1	academic	academic	ADJ
ajst-13413	1	2	journal	journal	NOUN
ajst-13413	1	3	of	of	ADP
ajst-13413	1	4	science	science	NOUN
ajst-13413	1	5	and	and	CCONJ
ajst-13413	1	6	technology	technology	NOUN
ajst-13413	1	7	issn	issn	NOUN
ajst-13413	1	8	:	:	PUNCT
ajst-13413	1	9	2771	2771	NUM
ajst-13413	1	10	-	-	SYM
ajst-13413	1	11	3032	3032	NUM
ajst-13413	1	12	|	|	NOUN
ajst-13413	1	13	vol	vol	NOUN
ajst-13413	1	14	.	.	PROPN
ajst-13413	2	1	7	7	NUM
ajst-13413	2	2	,	,	PUNCT
ajst-13413	2	3	no	no	INTJ
ajst-13413	2	4	.	.	NOUN
ajst-13413	2	5	3	3	NUM
ajst-13413	2	6	,	,	PUNCT
ajst-13413	2	7	2023	2023	NUM
ajst-13413	2	8	274	274	NUM
ajst-13413	2	9	design	design	NOUN
ajst-13413	2	10	of	of	ADP
ajst-13413	2	11	dual	dual	ADJ
ajst-13413	2	12	-	-	PUNCT
ajst-13413	2	13	tiltable	tiltable	NOUN
ajst-13413	2	14	ducted	ducte	VERB
ajst-13413	2	15	-	-	PUNCT
ajst-13413	2	16	fan	fan	NOUN
ajst-13413	2	17	aircraft	aircraft	NOUN
ajst-13413	2	18	based	base	VERB
ajst-13413	2	19	on	on	ADP
ajst-13413	2	20	cross	cross	ADJ
ajst-13413	2	21	-	-	ADJ
ajst-13413	2	22	coupling	coupling	ADJ
ajst-13413	2	23	network	network	NOUN
ajst-13413	2	24	control	control	NOUN
ajst-13413	2	25	xinchao	xinchao	PROPN
ajst-13413	2	26	liu	liu	PROPN
ajst-13413	2	27	,	,	PUNCT
ajst-13413	2	28	zeqing	zeqing	PROPN
ajst-13413	2	29	chen	chen	PROPN
ajst-13413	2	30	,	,	PUNCT
ajst-13413	2	31	ronghao	ronghao	ADJ
ajst-13413	2	32	guo	guo	PROPN
ajst-13413	2	33	school	school	NOUN
ajst-13413	2	34	of	of	ADP
ajst-13413	2	35	electronics	electronic	NOUN
ajst-13413	2	36	and	and	CCONJ
ajst-13413	2	37	information	information	NOUN
ajst-13413	2	38	engineering	engineering	NOUN
ajst-13413	2	39	,	,	PUNCT
ajst-13413	2	40	xi'an	xi'an	PROPN
ajst-13413	2	41	technological	technological	PROPN
ajst-13413	2	42	university	university	PROPN
ajst-13413	2	43	,	,	PUNCT
ajst-13413	2	44	xi'an	xi'an	PROPN
ajst-13413	2	45	710021	710021	NUM
ajst-13413	2	46	,	,	PUNCT
ajst-13413	2	47	china	china	PROPN
ajst-13413	2	48	abstract	abstract	PROPN
ajst-13413	2	49	:	:	PUNCT
ajst-13413	2	50	in	in	ADP
ajst-13413	2	51	recent	recent	ADJ
ajst-13413	2	52	years	year	NOUN
ajst-13413	2	53	,	,	PUNCT
ajst-13413	2	54	with	with	ADP
ajst-13413	2	55	the	the	DET
ajst-13413	2	56	rapid	rapid	ADJ
ajst-13413	2	57	development	development	NOUN
ajst-13413	2	58	of	of	ADP
ajst-13413	2	59	drone	drone	NOUN
ajst-13413	2	60	technology	technology	NOUN
ajst-13413	2	61	,	,	PUNCT
ajst-13413	2	62	unmanned	unmanned	ADJ
ajst-13413	2	63	aerial	aerial	ADJ
ajst-13413	2	64	systems	system	NOUN
ajst-13413	2	65	have	have	AUX
ajst-13413	2	66	been	be	AUX
ajst-13413	2	67	widely	widely	ADV
ajst-13413	2	68	applied	apply	VERB
ajst-13413	2	69	in	in	ADP
ajst-13413	2	70	various	various	ADJ
ajst-13413	2	71	fields	field	NOUN
ajst-13413	2	72	.	.	PUNCT
ajst-13413	3	1	although	although	SCONJ
ajst-13413	3	2	the	the	DET
ajst-13413	3	3	flight	flight	NOUN
ajst-13413	3	4	control	control	NOUN
ajst-13413	3	5	and	and	CCONJ
ajst-13413	3	6	airframe	airframe	ADJ
ajst-13413	3	7	structure	structure	NOUN
ajst-13413	3	8	of	of	ADP
ajst-13413	3	9	traditional	traditional	ADJ
ajst-13413	3	10	multirotor	multirotor	NOUN
ajst-13413	3	11	aircraft	aircraft	NOUN
ajst-13413	3	12	are	be	AUX
ajst-13413	3	13	fairly	fairly	ADV
ajst-13413	3	14	mature	mature	ADJ
ajst-13413	3	15	,	,	PUNCT
ajst-13413	3	16	they	they	PRON
ajst-13413	3	17	still	still	ADV
ajst-13413	3	18	face	face	VERB
ajst-13413	3	19	challenges	challenge	NOUN
ajst-13413	3	20	such	such	ADJ
ajst-13413	3	21	as	as	ADP
ajst-13413	3	22	low	low	ADJ
ajst-13413	3	23	aerodynamic	aerodynamic	ADJ
ajst-13413	3	24	efficiency	efficiency	NOUN
ajst-13413	3	25	,	,	PUNCT
ajst-13413	3	26	low	low	ADJ
ajst-13413	3	27	safety	safety	NOUN
ajst-13413	3	28	,	,	PUNCT
ajst-13413	3	29	and	and	CCONJ
ajst-13413	3	30	complex	complex	ADJ
ajst-13413	3	31	structure	structure	NOUN
ajst-13413	3	32	.	.	PUNCT
ajst-13413	4	1	in	in	ADP
ajst-13413	4	2	order	order	NOUN
ajst-13413	4	3	to	to	PART
ajst-13413	4	4	solve	solve	VERB
ajst-13413	4	5	these	these	DET
ajst-13413	4	6	issues	issue	NOUN
ajst-13413	4	7	,	,	PUNCT
ajst-13413	4	8	a	a	DET
ajst-13413	4	9	dualtiltable	dualtiltable	NOUN
ajst-13413	4	10	-	-	PUNCT
ajst-13413	4	11	ducted	ducte	VERB
ajst-13413	4	12	-	-	PUNCT
ajst-13413	4	13	fan	fan	NOUN
ajst-13413	4	14	aircraft	aircraft	NOUN
ajst-13413	4	15	system	system	NOUN
ajst-13413	4	16	is	be	AUX
ajst-13413	4	17	designed	design	VERB
ajst-13413	4	18	.	.	PUNCT
ajst-13413	5	1	the	the	DET
ajst-13413	5	2	system	system	NOUN
ajst-13413	5	3	is	be	AUX
ajst-13413	5	4	equipped	equip	VERB
ajst-13413	5	5	with	with	ADP
ajst-13413	5	6	an	an	DET
ajst-13413	5	7	stm32f407	stm32f407	NOUN
ajst-13413	5	8	processor	processor	NOUN
ajst-13413	5	9	as	as	ADP
ajst-13413	5	10	the	the	DET
ajst-13413	5	11	main	main	ADJ
ajst-13413	5	12	controller	controller	NOUN
ajst-13413	5	13	,	,	PUNCT
ajst-13413	5	14	which	which	PRON
ajst-13413	5	15	receives	receive	VERB
ajst-13413	5	16	motion	motion	NOUN
ajst-13413	5	17	control	control	NOUN
ajst-13413	5	18	information	information	NOUN
ajst-13413	5	19	from	from	ADP
ajst-13413	5	20	the	the	DET
ajst-13413	5	21	remote	remote	ADJ
ajst-13413	5	22	control	control	NOUN
ajst-13413	5	23	module	module	NOUN
ajst-13413	5	24	.	.	PUNCT
ajst-13413	6	1	by	by	ADP
ajst-13413	6	2	employing	employ	VERB
ajst-13413	6	3	cross	cross	ADJ
ajst-13413	6	4	-	-	ADJ
ajst-13413	6	5	coupling	coupling	ADJ
ajst-13413	6	6	network	network	NOUN
ajst-13413	6	7	control	control	NOUN
ajst-13413	6	8	methods	method	NOUN
ajst-13413	6	9	,	,	PUNCT
ajst-13413	6	10	it	it	PRON
ajst-13413	6	11	coordinates	coordinate	VERB
ajst-13413	6	12	the	the	DET
ajst-13413	6	13	output	output	NOUN
ajst-13413	6	14	values	value	NOUN
ajst-13413	6	15	and	and	CCONJ
ajst-13413	6	16	tilt	tilt	NOUN
ajst-13413	6	17	angles	angle	NOUN
ajst-13413	6	18	of	of	ADP
ajst-13413	6	19	the	the	DET
ajst-13413	6	20	two	two	NUM
ajst-13413	6	21	channeling	channel	VERB
ajst-13413	6	22	fans	fan	NOUN
ajst-13413	6	23	to	to	PART
ajst-13413	6	24	achieve	achieve	VERB
ajst-13413	6	25	stable	stable	ADJ
ajst-13413	6	26	control	control	NOUN
ajst-13413	6	27	of	of	ADP
ajst-13413	6	28	the	the	DET
ajst-13413	6	29	aircraft	aircraft	NOUN
ajst-13413	6	30	's	's	PART
ajst-13413	6	31	flight	flight	NOUN
ajst-13413	6	32	attitude	attitude	NOUN
ajst-13413	6	33	.	.	PUNCT
ajst-13413	7	1	keywords	keyword	NOUN
ajst-13413	7	2	:	:	PUNCT
ajst-13413	7	3	cross	cross	ADJ
ajst-13413	7	4	-	-	ADJ
ajst-13413	7	5	coupling	coupling	ADJ
ajst-13413	7	6	network	network	NOUN
ajst-13413	7	7	,	,	PUNCT
ajst-13413	7	8	tilt	tilt	NOUN
ajst-13413	7	9	angle	angle	NOUN
ajst-13413	7	10	,	,	PUNCT
ajst-13413	7	11	ducted	ducte	VERB
ajst-13413	7	12	fan	fan	NOUN
ajst-13413	7	13	,	,	PUNCT
ajst-13413	7	14	aircraft	aircraft	NOUN
ajst-13413	7	15	.	.	PUNCT
ajst-13413	8	1	1	1	X
ajst-13413	8	2	.	.	X
ajst-13413	8	3	introduction	introduction	NOUN
ajst-13413	8	4	unlike	unlike	ADP
ajst-13413	8	5	common	common	ADJ
ajst-13413	8	6	quad	quad	ADJ
ajst-13413	8	7	-	-	PUNCT
ajst-13413	8	8	copters	copter	NOUN
ajst-13413	8	9	or	or	CCONJ
ajst-13413	8	10	hexa	hexa	NOUN
ajst-13413	8	11	-	-	PUNCT
ajst-13413	8	12	copters	copter	NOUN
ajst-13413	8	13	,	,	PUNCT
ajst-13413	8	14	traditional	traditional	ADJ
ajst-13413	8	15	unmanned	unmanned	ADJ
ajst-13413	8	16	aircraft	aircraft	NOUN
ajst-13413	8	17	have	have	VERB
ajst-13413	8	18	limited	limit	VERB
ajst-13413	8	19	response	response	NOUN
ajst-13413	8	20	speed	speed	NOUN
ajst-13413	8	21	and	and	CCONJ
ajst-13413	8	22	agility	agility	NOUN
ajst-13413	8	23	in	in	ADP
ajst-13413	8	24	flight	flight	NOUN
ajst-13413	8	25	due	due	ADP
ajst-13413	8	26	to	to	ADP
ajst-13413	8	27	their	their	PRON
ajst-13413	8	28	fixed	fix	VERB
ajst-13413	8	29	-	-	PUNCT
ajst-13413	8	30	angle	angle	NOUN
ajst-13413	8	31	rotors	rotor	NOUN
ajst-13413	8	32	,	,	PUNCT
ajst-13413	8	33	which	which	PRON
ajst-13413	8	34	can	can	AUX
ajst-13413	8	35	only	only	ADV
ajst-13413	8	36	change	change	VERB
ajst-13413	8	37	the	the	DET
ajst-13413	8	38	aircraft	aircraft	NOUN
ajst-13413	8	39	's	's	PART
ajst-13413	8	40	attitude	attitude	NOUN
ajst-13413	8	41	and	and	CCONJ
ajst-13413	8	42	motion	motion	NOUN
ajst-13413	8	43	through	through	ADP
ajst-13413	8	44	rotor	rotor	NOUN
ajst-13413	8	45	power	power	NOUN
ajst-13413	8	46	output	output	NOUN
ajst-13413	8	47	methods	method	NOUN
ajst-13413	8	48	.	.	PUNCT
ajst-13413	9	1	the	the	DET
ajst-13413	9	2	power	power	NOUN
ajst-13413	9	3	of	of	ADP
ajst-13413	9	4	the	the	DET
ajst-13413	9	5	vectored	vectore	VERB
ajst-13413	9	6	thrust	thrust	VERB
ajst-13413	9	7	dual	dual	ADJ
ajst-13413	9	8	-	-	PUNCT
ajst-13413	9	9	rotor	rotor	NOUN
ajst-13413	9	10	aircraft	aircraft	NOUN
ajst-13413	9	11	is	be	AUX
ajst-13413	9	12	weak	weak	ADJ
ajst-13413	9	13	,	,	PUNCT
ajst-13413	9	14	and	and	CCONJ
ajst-13413	9	15	the	the	DET
ajst-13413	9	16	efficiency	efficiency	NOUN
ajst-13413	9	17	of	of	ADP
ajst-13413	9	18	the	the	DET
ajst-13413	9	19	only	only	ADJ
ajst-13413	9	20	double	double	ADJ
ajst-13413	9	21	-	-	PUNCT
ajst-13413	9	22	ducted	ducte	VERB
ajst-13413	9	23	fan	fan	NOUN
ajst-13413	9	24	aircraft	aircraft	NOUN
ajst-13413	9	25	that	that	PRON
ajst-13413	9	26	exists	exist	VERB
ajst-13413	9	27	is	be	AUX
ajst-13413	9	28	also	also	ADV
ajst-13413	9	29	relatively	relatively	ADV
ajst-13413	9	30	low	low	ADJ
ajst-13413	9	31	since	since	SCONJ
ajst-13413	9	32	the	the	DET
ajst-13413	9	33	ducts	duct	NOUN
ajst-13413	9	34	are	be	AUX
ajst-13413	9	35	at	at	ADP
ajst-13413	9	36	a	a	DET
ajst-13413	9	37	fixed	fix	VERB
ajst-13413	9	38	angle	angle	NOUN
ajst-13413	9	39	and	and	CCONJ
ajst-13413	9	40	can	can	AUX
ajst-13413	9	41	only	only	ADV
ajst-13413	9	42	be	be	AUX
ajst-13413	9	43	controlled	control	VERB
ajst-13413	9	44	by	by	ADP
ajst-13413	9	45	grid	grid	NOUN
ajst-13413	9	46	fins	fin	NOUN
ajst-13413	9	47	or	or	CCONJ
ajst-13413	9	48	planar	planar	ADJ
ajst-13413	9	49	fins	fin	NOUN
ajst-13413	9	50	.	.	PUNCT
ajst-13413	10	1	dual	dual	ADJ
ajst-13413	10	2	-	-	PUNCT
ajst-13413	10	3	tiltable	tiltable	NOUN
ajst-13413	10	4	-	-	PUNCT
ajst-13413	10	5	ducted	ducte	VERB
ajst-13413	10	6	-	-	PUNCT
ajst-13413	10	7	fan	fan	NOUN
ajst-13413	10	8	aircraft	aircraft	NOUN
ajst-13413	10	9	combines	combine	VERB
ajst-13413	10	10	the	the	DET
ajst-13413	10	11	advantages	advantage	NOUN
ajst-13413	10	12	of	of	ADP
ajst-13413	10	13	tilt	tilt	NOUN
ajst-13413	10	14	-	-	PUNCT
ajst-13413	10	15	wing	wing	NOUN
ajst-13413	10	16	and	and	CCONJ
ajst-13413	10	17	ducted	ducte	VERB
ajst-13413	10	18	fan	fan	NOUN
ajst-13413	10	19	,	,	PUNCT
ajst-13413	10	20	allowing	allow	VERB
ajst-13413	10	21	it	it	PRON
ajst-13413	10	22	to	to	PART
ajst-13413	10	23	maintain	maintain	VERB
ajst-13413	10	24	high	high	ADJ
ajst-13413	10	25	agility	agility	NOUN
ajst-13413	10	26	while	while	SCONJ
ajst-13413	10	27	achieving	achieve	VERB
ajst-13413	10	28	high	high	ADJ
ajst-13413	10	29	thrust	thrust	NOUN
ajst-13413	10	30	.	.	PUNCT
ajst-13413	11	1	this	this	PRON
ajst-13413	11	2	makes	make	VERB
ajst-13413	11	3	it	it	PRON
ajst-13413	11	4	particularly	particularly	ADV
ajst-13413	11	5	suitable	suitable	ADJ
ajst-13413	11	6	for	for	ADP
ajst-13413	11	7	military	military	ADJ
ajst-13413	11	8	applications	application	NOUN
ajst-13413	11	9	with	with	ADP
ajst-13413	11	10	special	special	ADJ
ajst-13413	11	11	requirements	requirement	NOUN
ajst-13413	11	12	.	.	PUNCT
ajst-13413	12	1	however	however	ADV
ajst-13413	12	2	,	,	PUNCT
ajst-13413	12	3	this	this	DET
ajst-13413	12	4	type	type	NOUN
ajst-13413	12	5	of	of	ADP
ajst-13413	12	6	aircraft	aircraft	NOUN
ajst-13413	12	7	has	have	VERB
ajst-13413	12	8	multiple	multiple	ADJ
ajst-13413	12	9	control	control	NOUN
ajst-13413	12	10	axes	axis	NOUN
ajst-13413	12	11	and	and	CCONJ
ajst-13413	12	12	a	a	DET
ajst-13413	12	13	complex	complex	ADJ
ajst-13413	12	14	model	model	NOUN
ajst-13413	12	15	,	,	PUNCT
ajst-13413	12	16	making	make	VERB
ajst-13413	12	17	it	it	PRON
ajst-13413	12	18	difficult	difficult	ADJ
ajst-13413	12	19	to	to	PART
ajst-13413	12	20	deploy	deploy	VERB
ajst-13413	12	21	conventional	conventional	ADJ
ajst-13413	12	22	closed	close	VERB
ajst-13413	12	23	-	-	PUNCT
ajst-13413	12	24	loop	loop	NOUN
ajst-13413	12	25	control	control	NOUN
ajst-13413	12	26	systems	system	NOUN
ajst-13413	12	27	.	.	PUNCT
ajst-13413	13	1	by	by	ADP
ajst-13413	13	2	utilizing	utilize	VERB
ajst-13413	13	3	cross	cross	ADJ
ajst-13413	13	4	-	-	ADJ
ajst-13413	13	5	coupling	coupling	ADJ
ajst-13413	13	6	control	control	NOUN
ajst-13413	13	7	methods	method	NOUN
ajst-13413	13	8	and	and	CCONJ
ajst-13413	13	9	transforming	transform	VERB
ajst-13413	13	10	it	it	PRON
ajst-13413	13	11	into	into	ADP
ajst-13413	13	12	a	a	DET
ajst-13413	13	13	networked	networked	ADJ
ajst-13413	13	14	control	control	NOUN
ajst-13413	13	15	structure	structure	NOUN
ajst-13413	13	16	,	,	PUNCT
ajst-13413	13	17	the	the	DET
ajst-13413	13	18	control	control	NOUN
ajst-13413	13	19	logic	logic	NOUN
ajst-13413	13	20	can	can	AUX
ajst-13413	13	21	be	be	AUX
ajst-13413	13	22	simplified	simplify	VERB
ajst-13413	13	23	,	,	PUNCT
ajst-13413	13	24	leading	lead	VERB
ajst-13413	13	25	to	to	ADP
ajst-13413	13	26	improved	improved	ADJ
ajst-13413	13	27	control	control	NOUN
ajst-13413	13	28	effectiveness	effectiveness	NOUN
ajst-13413	13	29	.	.	PUNCT
ajst-13413	14	1	whether	whether	SCONJ
ajst-13413	14	2	it	it	PRON
ajst-13413	14	3	is	be	AUX
ajst-13413	14	4	single	single	ADJ
ajst-13413	14	5	-	-	PUNCT
ajst-13413	14	6	axis	axis	NOUN
ajst-13413	14	7	control	control	NOUN
ajst-13413	14	8	or	or	CCONJ
ajst-13413	14	9	multi	multi	ADJ
ajst-13413	14	10	-	-	ADJ
ajst-13413	14	11	axis	axis	ADJ
ajst-13413	14	12	control	control	NOUN
ajst-13413	14	13	,	,	PUNCT
ajst-13413	14	14	the	the	DET
ajst-13413	14	15	control	control	NOUN
ajst-13413	14	16	objective	objective	NOUN
ajst-13413	14	17	is	be	AUX
ajst-13413	14	18	to	to	PART
ajst-13413	14	19	eliminate	eliminate	VERB
ajst-13413	14	20	the	the	DET
ajst-13413	14	21	error	error	NOUN
ajst-13413	14	22	between	between	ADP
ajst-13413	14	23	the	the	DET
ajst-13413	14	24	actual	actual	ADJ
ajst-13413	14	25	position	position	NOUN
ajst-13413	14	26	and	and	CCONJ
ajst-13413	14	27	the	the	DET
ajst-13413	14	28	commanded	commanded	ADJ
ajst-13413	14	29	position	position	NOUN
ajst-13413	14	30	of	of	ADP
ajst-13413	14	31	each	each	DET
ajst-13413	14	32	individual	individual	ADJ
ajst-13413	14	33	motion	motion	NOUN
ajst-13413	14	34	axis	axis	NOUN
ajst-13413	14	35	,	,	PUNCT
ajst-13413	14	36	for	for	ADP
ajst-13413	14	37	example	example	NOUN
ajst-13413	14	38	,	,	PUNCT
ajst-13413	14	39	the	the	DET
ajst-13413	14	40	tracking	tracking	NOUN
ajst-13413	14	41	error	error	NOUN
ajst-13413	14	42	of	of	ADP
ajst-13413	14	43	each	each	DET
ajst-13413	14	44	independent	independent	ADJ
ajst-13413	14	45	motion	motion	NOUN
ajst-13413	14	46	axis	axis	NOUN
ajst-13413	14	47	.	.	PUNCT
ajst-13413	15	1	if	if	SCONJ
ajst-13413	15	2	only	only	ADV
ajst-13413	15	3	the	the	DET
ajst-13413	15	4	error	error	NOUN
ajst-13413	15	5	of	of	ADP
ajst-13413	15	6	a	a	DET
ajst-13413	15	7	single	single	ADJ
ajst-13413	15	8	axis	axis	NOUN
ajst-13413	15	9	is	be	AUX
ajst-13413	15	10	controlled	control	VERB
ajst-13413	15	11	without	without	ADP
ajst-13413	15	12	considering	consider	VERB
ajst-13413	15	13	the	the	DET
ajst-13413	15	14	errors	error	NOUN
ajst-13413	15	15	and	and	CCONJ
ajst-13413	15	16	motion	motion	NOUN
ajst-13413	15	17	conditions	condition	NOUN
ajst-13413	15	18	of	of	ADP
ajst-13413	15	19	other	other	ADJ
ajst-13413	15	20	motion	motion	NOUN
ajst-13413	15	21	axes	axis	NOUN
ajst-13413	15	22	,	,	PUNCT
ajst-13413	15	23	significant	significant	ADJ
ajst-13413	15	24	trajectory	trajectory	NOUN
ajst-13413	15	25	errors	error	NOUN
ajst-13413	15	26	may	may	AUX
ajst-13413	15	27	occur	occur	VERB
ajst-13413	15	28	,	,	PUNCT
ajst-13413	15	29	especially	especially	ADV
ajst-13413	15	30	during	during	ADP
ajst-13413	15	31	high	high	ADJ
ajst-13413	15	32	-	-	PUNCT
ajst-13413	15	33	speed	speed	NOUN
ajst-13413	15	34	movements	movement	NOUN
ajst-13413	15	35	or	or	CCONJ
ajst-13413	15	36	when	when	SCONJ
ajst-13413	15	37	there	there	PRON
ajst-13413	15	38	are	be	VERB
ajst-13413	15	39	differences	difference	NOUN
ajst-13413	15	40	in	in	ADP
ajst-13413	15	41	parameters	parameter	NOUN
ajst-13413	15	42	among	among	ADP
ajst-13413	15	43	the	the	DET
ajst-13413	15	44	motion	motion	NOUN
ajst-13413	15	45	axes	axis	NOUN
ajst-13413	15	46	.	.	PUNCT
ajst-13413	16	1	to	to	PART
ajst-13413	16	2	solve	solve	VERB
ajst-13413	16	3	these	these	DET
ajst-13413	16	4	issues	issue	NOUN
ajst-13413	16	5	,	,	PUNCT
ajst-13413	16	6	the	the	DET
ajst-13413	16	7	approach	approach	NOUN
ajst-13413	16	8	used	use	VERB
ajst-13413	16	9	in	in	ADP
ajst-13413	16	10	this	this	DET
ajst-13413	16	11	study	study	NOUN
ajst-13413	16	12	is	be	AUX
ajst-13413	16	13	for	for	SCONJ
ajst-13413	16	14	each	each	DET
ajst-13413	16	15	individual	individual	ADJ
ajst-13413	16	16	axis	axis	NOUN
ajst-13413	16	17	's	's	PART
ajst-13413	16	18	position	position	NOUN
ajst-13413	16	19	controller	controller	NOUN
ajst-13413	16	20	to	to	PART
ajst-13413	16	21	receive	receive	VERB
ajst-13413	16	22	not	not	PART
ajst-13413	16	23	only	only	ADV
ajst-13413	16	24	the	the	DET
ajst-13413	16	25	error	error	NOUN
ajst-13413	16	26	and	and	CCONJ
ajst-13413	16	27	motion	motion	NOUN
ajst-13413	16	28	information	information	NOUN
ajst-13413	16	29	from	from	ADP
ajst-13413	16	30	its	its	PRON
ajst-13413	16	31	own	own	ADJ
ajst-13413	16	32	axis	axis	NOUN
ajst-13413	16	33	but	but	CCONJ
ajst-13413	16	34	also	also	ADV
ajst-13413	16	35	the	the	DET
ajst-13413	16	36	error	error	NOUN
ajst-13413	16	37	and	and	CCONJ
ajst-13413	16	38	motion	motion	NOUN
ajst-13413	16	39	information	information	NOUN
ajst-13413	16	40	from	from	ADP
ajst-13413	16	41	other	other	ADJ
ajst-13413	16	42	motion	motion	NOUN
ajst-13413	16	43	axes	axis	NOUN
ajst-13413	16	44	.	.	PUNCT
ajst-13413	17	1	this	this	PRON
ajst-13413	17	2	allows	allow	VERB
ajst-13413	17	3	the	the	DET
ajst-13413	17	4	motion	motion	NOUN
ajst-13413	17	5	control	control	NOUN
ajst-13413	17	6	of	of	ADP
ajst-13413	17	7	each	each	DET
ajst-13413	17	8	axis	axis	NOUN
ajst-13413	17	9	to	to	PART
ajst-13413	17	10	be	be	AUX
ajst-13413	17	11	coordinated	coordinate	VERB
ajst-13413	17	12	with	with	ADP
ajst-13413	17	13	the	the	DET
ajst-13413	17	14	motion	motion	NOUN
ajst-13413	17	15	control	control	NOUN
ajst-13413	17	16	of	of	ADP
ajst-13413	17	17	other	other	ADJ
ajst-13413	17	18	axes	axis	NOUN
ajst-13413	17	19	,	,	PUNCT
ajst-13413	17	20	forming	form	VERB
ajst-13413	17	21	the	the	DET
ajst-13413	17	22	basic	basic	ADJ
ajst-13413	17	23	idea	idea	NOUN
ajst-13413	17	24	of	of	ADP
ajst-13413	17	25	multi	multi	ADJ
ajst-13413	17	26	-	-	ADJ
ajst-13413	17	27	axis	axis	ADJ
ajst-13413	17	28	cross	cross	ADJ
ajst-13413	17	29	-	-	ADJ
ajst-13413	17	30	coupling	coupling	ADJ
ajst-13413	17	31	network	network	NOUN
ajst-13413	17	32	control	control	NOUN
ajst-13413	17	33	.	.	PUNCT
ajst-13413	18	1	2	2	X
ajst-13413	18	2	.	.	X
ajst-13413	18	3	analysis	analysis	NOUN
ajst-13413	18	4	of	of	ADP
ajst-13413	18	5	the	the	DET
ajst-13413	18	6	mechanical	mechanical	ADJ
ajst-13413	18	7	model	model	NOUN
ajst-13413	18	8	of	of	ADP
ajst-13413	18	9	the	the	DET
ajst-13413	18	10	dual	dual	ADJ
ajst-13413	18	11	-	-	PUNCT
ajst-13413	18	12	tiltable	tiltable	NOUN
ajst-13413	18	13	-	-	PUNCT
ajst-13413	18	14	ducted	ducte	VERB
ajst-13413	18	15	-	-	PUNCT
ajst-13413	18	16	fan	fan	NOUN
ajst-13413	18	17	aircraft	aircraft	NOUN
ajst-13413	18	18	in	in	ADP
ajst-13413	18	19	order	order	NOUN
ajst-13413	18	20	to	to	PART
ajst-13413	18	21	study	study	VERB
ajst-13413	18	22	the	the	DET
ajst-13413	18	23	control	control	NOUN
ajst-13413	18	24	methods	method	NOUN
ajst-13413	18	25	of	of	ADP
ajst-13413	18	26	the	the	DET
ajst-13413	18	27	doublependulum	doublependulum	NOUN
ajst-13413	18	28	channeling	channel	VERB
ajst-13413	18	29	aircraft	aircraft	NOUN
ajst-13413	18	30	,	,	PUNCT
ajst-13413	18	31	it	it	PRON
ajst-13413	18	32	is	be	AUX
ajst-13413	18	33	necessary	necessary	ADJ
ajst-13413	18	34	to	to	PART
ajst-13413	18	35	construct	construct	VERB
ajst-13413	18	36	the	the	DET
ajst-13413	18	37	mechanical	mechanical	ADJ
ajst-13413	18	38	model	model	NOUN
ajst-13413	18	39	of	of	ADP
ajst-13413	18	40	the	the	DET
ajst-13413	18	41	aircraft	aircraft	NOUN
ajst-13413	18	42	and	and	CCONJ
ajst-13413	18	43	analyze	analyze	VERB
ajst-13413	18	44	it	it	PRON
ajst-13413	18	45	,	,	PUNCT
ajst-13413	18	46	in	in	ADP
ajst-13413	18	47	order	order	NOUN
ajst-13413	18	48	to	to	PART
ajst-13413	18	49	establish	establish	VERB
ajst-13413	18	50	the	the	DET
ajst-13413	18	51	model	model	NOUN
ajst-13413	18	52	framework	framework	NOUN
ajst-13413	18	53	that	that	PRON
ajst-13413	18	54	serves	serve	VERB
ajst-13413	18	55	as	as	ADP
ajst-13413	18	56	the	the	DET
ajst-13413	18	57	basis	basis	NOUN
ajst-13413	18	58	for	for	ADP
ajst-13413	18	59	system	system	NOUN
ajst-13413	18	60	research	research	NOUN
ajst-13413	18	61	.	.	PUNCT
ajst-13413	19	1	figure	figure	NOUN
ajst-13413	19	2	1	1	NUM
ajst-13413	19	3	shows	show	VERB
ajst-13413	19	4	the	the	DET
ajst-13413	19	5	force	force	NOUN
ajst-13413	19	6	situation	situation	NOUN
ajst-13413	19	7	of	of	ADP
ajst-13413	19	8	the	the	DET
ajst-13413	19	9	dual	dual	ADV
ajst-13413	19	10	-	-	PUNCT
ajst-13413	19	11	tiltableducted	tiltableducte	VERB
ajst-13413	19	12	-	-	PUNCT
ajst-13413	19	13	fan	fan	NOUN
ajst-13413	19	14	aircraft	aircraft	NOUN
ajst-13413	19	15	which	which	PRON
ajst-13413	19	16	has	have	VERB
ajst-13413	19	17	different	different	ADJ
ajst-13413	19	18	motion	motion	NOUN
ajst-13413	19	19	states	state	NOUN
ajst-13413	19	20	in	in	ADP
ajst-13413	19	21	the	the	DET
ajst-13413	19	22	case	case	NOUN
ajst-13413	19	23	of	of	ADP
ajst-13413	19	24	ideal	ideal	ADJ
ajst-13413	19	25	conditions	condition	NOUN
ajst-13413	19	26	.	.	PUNCT
ajst-13413	20	1	symbol	symbol	NOUN
ajst-13413	20	2	f1	f1	PROPN
ajst-13413	20	3	and	and	CCONJ
ajst-13413	20	4	f2	f2	PROPN
ajst-13413	20	5	represent	represent	VERB
ajst-13413	20	6	the	the	DET
ajst-13413	20	7	lift	lift	NOUN
ajst-13413	20	8	provided	provide	VERB
ajst-13413	20	9	by	by	ADP
ajst-13413	20	10	the	the	DET
ajst-13413	20	11	left	left	ADJ
ajst-13413	20	12	and	and	CCONJ
ajst-13413	20	13	right	right	ADJ
ajst-13413	20	14	electric	electric	ADJ
ajst-13413	20	15	ducts	duct	NOUN
ajst-13413	20	16	,	,	PUNCT
ajst-13413	20	17	respectively	respectively	ADV
ajst-13413	20	18	,	,	PUNCT
ajst-13413	20	19	where	where	SCONJ
ajst-13413	20	20	fi	fi	NOUN
ajst-13413	20	21	=	=	NOUN
ajst-13413	20	22	bω2i	bω2i	PROPN
ajst-13413	20	23	(	(	PUNCT
ajst-13413	20	24	b>0	b>0	ADJ
ajst-13413	20	25	,	,	PUNCT
ajst-13413	20	26	i=1,2	i=1,2	ADJ
ajst-13413	20	27	)	)	PUNCT
ajst-13413	20	28	.	.	PUNCT
ajst-13413	21	1	q1	q1	PROPN
ajst-13413	21	2	and	and	CCONJ
ajst-13413	21	3	q2	q2	NOUN
ajst-13413	21	4	are	be	AUX
ajst-13413	21	5	the	the	DET
ajst-13413	21	6	reverse	reverse	ADJ
ajst-13413	21	7	torques	torque	NOUN
ajst-13413	21	8	generated	generate	VERB
ajst-13413	21	9	by	by	ADP
ajst-13413	21	10	the	the	DET
ajst-13413	21	11	rotation	rotation	NOUN
ajst-13413	21	12	of	of	ADP
ajst-13413	21	13	the	the	DET
ajst-13413	21	14	left	left	ADJ
ajst-13413	21	15	and	and	CCONJ
ajst-13413	21	16	right	right	ADJ
ajst-13413	21	17	electric	electric	ADJ
ajst-13413	21	18	ducts	duct	NOUN
ajst-13413	21	19	,	,	PUNCT
ajst-13413	21	20	respectively	respectively	ADV
ajst-13413	21	21	.	.	PUNCT
ajst-13413	22	1	pithθ	pithθ	NOUN
ajst-13413	22	2	,	,	PUNCT
ajst-13413	22	3	ｒollφ	ｒollφ	NOUN
ajst-13413	22	4	,	,	PUNCT
ajst-13413	22	5	and	and	CCONJ
ajst-13413	22	6	yawψ	yawψ	ADV
ajst-13413	22	7	represent	represent	VERB
ajst-13413	22	8	the	the	DET
ajst-13413	22	9	pitch	pitch	PROPN
ajst-13413	22	10	angle	angle	NOUN
ajst-13413	22	11	,	,	PUNCT
ajst-13413	22	12	roll	roll	NOUN
ajst-13413	22	13	angle	angle	NOUN
ajst-13413	22	14	,	,	PUNCT
ajst-13413	22	15	and	and	CCONJ
ajst-13413	22	16	yaw	yaw	NOUN
ajst-13413	22	17	angle	angle	NOUN
ajst-13413	22	18	of	of	ADP
ajst-13413	22	19	the	the	DET
ajst-13413	22	20	aircraft	aircraft	NOUN
ajst-13413	22	21	,	,	PUNCT
ajst-13413	22	22	respectively	respectively	ADV
ajst-13413	22	23	.	.	PUNCT
ajst-13413	23	1	spinβ1	spinβ1	NOUN
ajst-13413	23	2	and	and	CCONJ
ajst-13413	23	3	spinβ2	spinβ2	PROPN
ajst-13413	23	4	are	be	AUX
ajst-13413	23	5	the	the	DET
ajst-13413	23	6	rotation	rotation	NOUN
ajst-13413	23	7	angles	angle	NOUN
ajst-13413	23	8	provided	provide	VERB
ajst-13413	23	9	by	by	ADP
ajst-13413	23	10	the	the	DET
ajst-13413	23	11	servo	servo	NOUN
ajst-13413	23	12	systems	system	NOUN
ajst-13413	23	13	on	on	ADP
ajst-13413	23	14	the	the	DET
ajst-13413	23	15	right	right	NOUN
ajst-13413	23	16	and	and	CCONJ
ajst-13413	23	17	left	leave	VERB
ajst-13413	23	18	sides	side	NOUN
ajst-13413	23	19	,	,	PUNCT
ajst-13413	23	20	respectively	respectively	ADV
ajst-13413	23	21	.	.	PUNCT
ajst-13413	24	1	e1	e1	PROPN
ajst-13413	24	2	,	,	PUNCT
ajst-13413	24	3	e2	e2	PROPN
ajst-13413	24	4	,	,	PUNCT
ajst-13413	24	5	and	and	CCONJ
ajst-13413	24	6	e3	e3	NOUN
ajst-13413	24	7	are	be	AUX
ajst-13413	24	8	unit	unit	NOUN
ajst-13413	24	9	vectors	vector	NOUN
ajst-13413	24	10	along	along	ADP
ajst-13413	24	11	the	the	DET
ajst-13413	24	12	ex	ex	NOUN
ajst-13413	24	13	-	-	NOUN
ajst-13413	24	14	axis	axis	ADJ
ajst-13413	24	15	,	,	PUNCT
ajst-13413	24	16	ey	ey	NOUN
ajst-13413	24	17	-	-	ADJ
ajst-13413	24	18	axis	axis	ADJ
ajst-13413	24	19	,	,	PUNCT
ajst-13413	24	20	and	and	CCONJ
ajst-13413	24	21	ez	ez	ADJ
ajst-13413	24	22	-	-	ADJ
ajst-13413	24	23	axis	axis	ADJ
ajst-13413	24	24	,	,	PUNCT
ajst-13413	24	25	respectively	respectively	ADV
ajst-13413	24	26	.	.	PUNCT
ajst-13413	25	1	figure	figure	NOUN
ajst-13413	25	2	1	1	NUM
ajst-13413	25	3	.	.	PUNCT
ajst-13413	26	1	force	force	NOUN
ajst-13413	26	2	situation	situation	NOUN
ajst-13413	26	3	of	of	ADP
ajst-13413	26	4	the	the	DET
ajst-13413	26	5	dual	dual	ADJ
ajst-13413	26	6	-	-	PUNCT
ajst-13413	26	7	tiltable	tiltable	NOUN
ajst-13413	26	8	-	-	PUNCT
ajst-13413	26	9	ducted	ducte	VERB
ajst-13413	26	10	-	-	PUNCT
ajst-13413	26	11	fan	fan	NOUN
ajst-13413	26	12	aircraft	aircraft	NOUN
ajst-13413	26	13	in	in	ADP
ajst-13413	26	14	the	the	DET
ajst-13413	26	15	case	case	NOUN
ajst-13413	26	16	of	of	ADP
ajst-13413	26	17	ideal	ideal	ADJ
ajst-13413	26	18	conditions	condition	NOUN
ajst-13413	26	19	.	.	PUNCT
ajst-13413	27	1	figure	figure	NOUN
ajst-13413	27	2	2	2	NUM
ajst-13413	27	3	shows	show	VERB
ajst-13413	27	4	a	a	DET
ajst-13413	27	5	schematic	schematic	NOUN
ajst-13413	27	6	of	of	ADP
ajst-13413	27	7	the	the	DET
ajst-13413	27	8	force	force	NOUN
ajst-13413	27	9	situation	situation	NOUN
ajst-13413	27	10	in	in	ADP
ajst-13413	27	11	the	the	DET
ajst-13413	27	12	case	case	NOUN
ajst-13413	27	13	of	of	ADP
ajst-13413	27	14	various	various	ADJ
ajst-13413	27	15	typical	typical	ADJ
ajst-13413	27	16	flight	flight	NOUN
ajst-13413	27	17	attitudes	attitude	NOUN
ajst-13413	27	18	of	of	ADP
ajst-13413	27	19	the	the	DET
ajst-13413	27	20	dual	dual	ADJ
ajst-13413	27	21	-	-	PUNCT
ajst-13413	27	22	tiltable	tiltable	NOUN
ajst-13413	27	23	-	-	PUNCT
ajst-13413	27	24	ductedfan	ductedfan	NOUN
ajst-13413	27	25	aircraft	aircraft	NOUN
ajst-13413	27	26	.	.	PUNCT
ajst-13413	28	1	based	base	VERB
ajst-13413	28	2	on	on	ADP
ajst-13413	28	3	figure	figure	NOUN
ajst-13413	28	4	1	1	NUM
ajst-13413	28	5	,	,	PUNCT
ajst-13413	28	6	l1	l1	PROPN
ajst-13413	28	7	represents	represent	VERB
ajst-13413	28	8	the	the	DET
ajst-13413	28	9	distance	distance	NOUN
ajst-13413	28	10	from	from	ADP
ajst-13413	28	11	the	the	DET
ajst-13413	28	12	center	center	NOUN
ajst-13413	28	13	of	of	ADP
ajst-13413	28	14	gravity	gravity	NOUN
ajst-13413	28	15	o	o	NOUN
ajst-13413	28	16	to	to	ADP
ajst-13413	28	17	the	the	DET
ajst-13413	28	18	axis	axis	NOUN
ajst-13413	28	19	o1	o1	NOUN
ajst-13413	28	20	of	of	ADP
ajst-13413	28	21	the	the	DET
ajst-13413	28	22	right	right	ADJ
ajst-13413	28	23	motor	motor	NOUN
ajst-13413	28	24	,	,	PUNCT
ajst-13413	28	25	and	and	CCONJ
ajst-13413	28	26	l2	l2	NOUN
ajst-13413	28	27	represents	represent	VERB
ajst-13413	28	28	the	the	DET
ajst-13413	28	29	distance	distance	NOUN
ajst-13413	28	30	from	from	ADP
ajst-13413	28	31	the	the	DET
ajst-13413	28	32	center	center	NOUN
ajst-13413	28	33	of	of	ADP
ajst-13413	28	34	gravity	gravity	NOUN
ajst-13413	28	35	o	o	NOUN
ajst-13413	28	36	to	to	ADP
ajst-13413	28	37	the	the	DET
ajst-13413	28	38	axis	axis	NOUN
ajst-13413	28	39	o2	o2	NOUN
ajst-13413	28	40	of	of	ADP
ajst-13413	28	41	the	the	DET
ajst-13413	28	42	left	left	ADJ
ajst-13413	28	43	motor	motor	NOUN
ajst-13413	28	44	.	.	PUNCT
ajst-13413	29	1	β1	β1	PROPN
ajst-13413	29	2	is	be	AUX
ajst-13413	29	3	the	the	DET
ajst-13413	29	4	angle	angle	NOUN
ajst-13413	29	5	of	of	ADP
ajst-13413	29	6	rotation	rotation	NOUN
ajst-13413	29	7	of	of	ADP
ajst-13413	29	8	the	the	DET
ajst-13413	29	9	right	right	ADJ
ajst-13413	29	10	arm	arm	NOUN
ajst-13413	29	11	controlled	control	VERB
ajst-13413	29	12	by	by	ADP
ajst-13413	29	13	the	the	DET
ajst-13413	29	14	servo	servo	NOUN
ajst-13413	29	15	motion	motion	NOUN
ajst-13413	29	16	control	control	NOUN
ajst-13413	29	17	system	system	NOUN
ajst-13413	29	18	on	on	ADP
ajst-13413	29	19	the	the	DET
ajst-13413	29	20	right	right	NOUN
ajst-13413	29	21	,	,	PUNCT
ajst-13413	29	22	and	and	CCONJ
ajst-13413	29	23	β2	β2	NOUN
ajst-13413	29	24	is	be	AUX
ajst-13413	29	25	the	the	DET
ajst-13413	29	26	angle	angle	NOUN
ajst-13413	29	27	of	of	ADP
ajst-13413	29	28	rotation	rotation	NOUN
ajst-13413	29	29	of	of	ADP
ajst-13413	29	30	the	the	DET
ajst-13413	29	31	left	left	ADJ
ajst-13413	29	32	arm	arm	NOUN
ajst-13413	29	33	controlled	control	VERB
ajst-13413	29	34	by	by	ADP
ajst-13413	29	35	the	the	DET
ajst-13413	29	36	servo	servo	NOUN
ajst-13413	29	37	motion	motion	NOUN
ajst-13413	29	38	control	control	NOUN
ajst-13413	29	39	system	system	NOUN
ajst-13413	29	40	on	on	ADP
ajst-13413	29	41	the	the	DET
ajst-13413	29	42	left	left	NOUN
ajst-13413	29	43	.	.	PUNCT
ajst-13413	30	1	275	275	NUM
ajst-13413	30	2	figure	figure	NOUN
ajst-13413	30	3	2	2	NUM
ajst-13413	30	4	.	.	PUNCT
ajst-13413	30	5	schematic	schematic	ADJ
ajst-13413	30	6	of	of	ADP
ajst-13413	30	7	the	the	DET
ajst-13413	30	8	force	force	NOUN
ajst-13413	30	9	situation	situation	NOUN
ajst-13413	30	10	in	in	ADP
ajst-13413	30	11	the	the	DET
ajst-13413	30	12	case	case	NOUN
ajst-13413	30	13	of	of	ADP
ajst-13413	30	14	various	various	ADJ
ajst-13413	30	15	typical	typical	ADJ
ajst-13413	30	16	flight	flight	NOUN
ajst-13413	30	17	attitudes	attitude	NOUN
ajst-13413	30	18	of	of	ADP
ajst-13413	30	19	the	the	DET
ajst-13413	30	20	dual	dual	ADJ
ajst-13413	30	21	-	-	PUNCT
ajst-13413	30	22	tiltable	tiltable	NOUN
ajst-13413	30	23	-	-	PUNCT
ajst-13413	30	24	ducted	ducte	VERB
ajst-13413	30	25	-	-	PUNCT
ajst-13413	30	26	fan	fan	NOUN
ajst-13413	30	27	aircraft	aircraft	NOUN
ajst-13413	30	28	3	3	NUM
ajst-13413	30	29	.	.	PUNCT
ajst-13413	30	30	design	design	NOUN
ajst-13413	30	31	and	and	CCONJ
ajst-13413	30	32	implementation	implementation	NOUN
ajst-13413	30	33	of	of	ADP
ajst-13413	30	34	the	the	DET
ajst-13413	30	35	experimental	experimental	ADJ
ajst-13413	30	36	prototype	prototype	NOUN
ajst-13413	30	37	of	of	ADP
ajst-13413	30	38	the	the	DET
ajst-13413	30	39	dualtiltable	dualtiltable	NOUN
ajst-13413	30	40	-	-	PUNCT
ajst-13413	30	41	ducted	ducte	VERB
ajst-13413	30	42	-	-	PUNCT
ajst-13413	30	43	fan	fan	NOUN
ajst-13413	30	44	aircraft	aircraft	NOUN
ajst-13413	30	45	3.1	3.1	NUM
ajst-13413	30	46	.	.	PUNCT
ajst-13413	31	1	design	design	NOUN
ajst-13413	31	2	of	of	ADP
ajst-13413	31	3	the	the	DET
ajst-13413	31	4	aircraft	aircraft	NOUN
ajst-13413	31	5	prototype	prototype	NOUN
ajst-13413	31	6	the	the	DET
ajst-13413	31	7	mechanical	mechanical	ADJ
ajst-13413	31	8	structure	structure	NOUN
ajst-13413	31	9	design	design	NOUN
ajst-13413	31	10	of	of	ADP
ajst-13413	31	11	the	the	DET
ajst-13413	31	12	aircraft	aircraft	NOUN
ajst-13413	31	13	is	be	AUX
ajst-13413	31	14	a	a	DET
ajst-13413	31	15	necessary	necessary	ADJ
ajst-13413	31	16	prerequisite	prerequisite	NOUN
ajst-13413	31	17	for	for	ADP
ajst-13413	31	18	flight	flight	NOUN
ajst-13413	31	19	.	.	PUNCT
ajst-13413	32	1	the	the	DET
ajst-13413	32	2	aircraft	aircraft	NOUN
ajst-13413	32	3	prototype	prototype	NOUN
ajst-13413	32	4	must	must	AUX
ajst-13413	32	5	have	have	VERB
ajst-13413	32	6	the	the	DET
ajst-13413	32	7	basic	basic	ADJ
ajst-13413	32	8	ability	ability	NOUN
ajst-13413	32	9	to	to	PART
ajst-13413	32	10	adjust	adjust	VERB
ajst-13413	32	11	pitch	pitch	NOUN
ajst-13413	32	12	,	,	PUNCT
ajst-13413	32	13	roll	roll	NOUN
ajst-13413	32	14	,	,	PUNCT
ajst-13413	32	15	and	and	CCONJ
ajst-13413	32	16	yaw	yaw	NOUN
ajst-13413	32	17	in	in	ADP
ajst-13413	32	18	its	its	PRON
ajst-13413	32	19	mechanical	mechanical	ADJ
ajst-13413	32	20	structure	structure	NOUN
ajst-13413	32	21	.	.	PUNCT
ajst-13413	33	1	at	at	ADP
ajst-13413	33	2	the	the	DET
ajst-13413	33	3	same	same	ADJ
ajst-13413	33	4	time	time	NOUN
ajst-13413	33	5	,	,	PUNCT
ajst-13413	33	6	while	while	SCONJ
ajst-13413	33	7	possessing	possess	VERB
ajst-13413	33	8	these	these	DET
ajst-13413	33	9	capabilities	capability	NOUN
ajst-13413	33	10	,	,	PUNCT
ajst-13413	33	11	the	the	DET
ajst-13413	33	12	structure	structure	NOUN
ajst-13413	33	13	should	should	AUX
ajst-13413	33	14	also	also	ADV
ajst-13413	33	15	be	be	AUX
ajst-13413	33	16	sufficiently	sufficiently	ADV
ajst-13413	33	17	simple	simple	ADJ
ajst-13413	33	18	.	.	PUNCT
ajst-13413	34	1	as	as	ADP
ajst-13413	34	2	figure	figure	NOUN
ajst-13413	34	3	3	3	NUM
ajst-13413	34	4	shows	show	NOUN
ajst-13413	34	5	,	,	PUNCT
ajst-13413	34	6	①	①	NUM
ajst-13413	34	7	aircraft	aircraft	NOUN
ajst-13413	34	8	rack	rack	VERB
ajst-13413	34	9	②ducted	②ducte	VERB
ajst-13413	34	10	-	-	PUNCT
ajst-13413	34	11	fan	fan	NOUN
ajst-13413	34	12	③tilting	③tilting	NOUN
ajst-13413	34	13	mechanism	mechanism	NOUN
ajst-13413	34	14	④crossbeam⑤titling	④crossbeam⑤title	VERB
ajst-13413	34	15	gear⑥servo	gear⑥servo	PROPN
ajst-13413	34	16	motor⑦supports	motor⑦support	NOUN
ajst-13413	34	17	of	of	ADP
ajst-13413	34	18	ducted	ducte	VERB
ajst-13413	34	19	-	-	PUNCT
ajst-13413	34	20	fan	fan	NOUN
ajst-13413	34	21	.	.	PUNCT
ajst-13413	35	1	figure	figure	NOUN
ajst-13413	35	2	3	3	NUM
ajst-13413	35	3	.	.	PUNCT
ajst-13413	35	4	mechanical	mechanical	ADJ
ajst-13413	35	5	structure	structure	NOUN
ajst-13413	35	6	design	design	NOUN
ajst-13413	35	7	of	of	ADP
ajst-13413	35	8	the	the	DET
ajst-13413	35	9	dual	dual	ADV
ajst-13413	35	10	-	-	PUNCT
ajst-13413	35	11	tiltableducted	tiltableducte	VERB
ajst-13413	35	12	-	-	PUNCT
ajst-13413	35	13	fan	fan	NOUN
ajst-13413	35	14	aircraft	aircraft	NOUN
ajst-13413	35	15	a	a	DET
ajst-13413	35	16	payload	payload	NOUN
ajst-13413	35	17	module	module	NOUN
ajst-13413	35	18	for	for	ADP
ajst-13413	35	19	the	the	DET
ajst-13413	35	20	unmanned	unmanned	ADJ
ajst-13413	35	21	aerial	aerial	ADJ
ajst-13413	35	22	vehicle	vehicle	NOUN
ajst-13413	35	23	(	(	PUNCT
ajst-13413	35	24	uav	uav	PROPN
ajst-13413	35	25	)	)	PUNCT
ajst-13413	35	26	was	be	AUX
ajst-13413	35	27	also	also	ADV
ajst-13413	35	28	designed	design	VERB
ajst-13413	35	29	.	.	PUNCT
ajst-13413	36	1	the	the	DET
ajst-13413	36	2	uav	uav	PROPN
ajst-13413	36	3	payload	payload	NOUN
ajst-13413	36	4	module	module	NOUN
ajst-13413	36	5	has	have	VERB
ajst-13413	36	6	the	the	DET
ajst-13413	36	7	capability	capability	NOUN
ajst-13413	36	8	to	to	PART
ajst-13413	36	9	deliver	deliver	VERB
ajst-13413	36	10	loads	load	NOUN
ajst-13413	36	11	and	and	CCONJ
ajst-13413	36	12	contains	contain	VERB
ajst-13413	36	13	compartments	compartment	NOUN
ajst-13413	36	14	for	for	ADP
ajst-13413	36	15	housing	housing	NOUN
ajst-13413	36	16	power	power	NOUN
ajst-13413	36	17	batteries	battery	NOUN
ajst-13413	36	18	.	.	PUNCT
ajst-13413	37	1	once	once	SCONJ
ajst-13413	37	2	the	the	DET
ajst-13413	37	3	power	power	NOUN
ajst-13413	37	4	batteries	battery	NOUN
ajst-13413	37	5	are	be	AUX
ajst-13413	37	6	loaded	load	VERB
ajst-13413	37	7	,	,	PUNCT
ajst-13413	37	8	the	the	DET
ajst-13413	37	9	payload	payload	NOUN
ajst-13413	37	10	module	module	NOUN
ajst-13413	37	11	ensures	ensure	VERB
ajst-13413	37	12	that	that	SCONJ
ajst-13413	37	13	the	the	DET
ajst-13413	37	14	center	center	NOUN
ajst-13413	37	15	of	of	ADP
ajst-13413	37	16	gravity	gravity	NOUN
ajst-13413	37	17	is	be	AUX
ajst-13413	37	18	below	below	ADP
ajst-13413	37	19	the	the	DET
ajst-13413	37	20	center	center	NOUN
ajst-13413	37	21	of	of	ADP
ajst-13413	37	22	lift	lift	NOUN
ajst-13413	37	23	,	,	PUNCT
ajst-13413	37	24	providing	provide	VERB
ajst-13413	37	25	static	static	ADJ
ajst-13413	37	26	stability	stability	NOUN
ajst-13413	37	27	.	.	PUNCT
ajst-13413	38	1	furthermore	furthermore	ADV
ajst-13413	38	2	,	,	PUNCT
ajst-13413	38	3	the	the	DET
ajst-13413	38	4	payload	payload	NOUN
ajst-13413	38	5	capacity	capacity	NOUN
ajst-13413	38	6	of	of	ADP
ajst-13413	38	7	the	the	DET
ajst-13413	38	8	module	module	NOUN
ajst-13413	38	9	does	do	AUX
ajst-13413	38	10	not	not	PART
ajst-13413	38	11	compromise	compromise	VERB
ajst-13413	38	12	the	the	DET
ajst-13413	38	13	system	system	NOUN
ajst-13413	38	14	stability	stability	NOUN
ajst-13413	38	15	;	;	PUNCT
ajst-13413	38	16	instead	instead	ADV
ajst-13413	38	17	,	,	PUNCT
ajst-13413	38	18	it	it	PRON
ajst-13413	38	19	enhances	enhance	VERB
ajst-13413	38	20	its	its	PRON
ajst-13413	38	21	resistance	resistance	NOUN
ajst-13413	38	22	to	to	ADP
ajst-13413	38	23	disturbances	disturbance	NOUN
ajst-13413	38	24	.	.	PUNCT
ajst-13413	39	1	figure	figure	NOUN
ajst-13413	39	2	4	4	NUM
ajst-13413	39	3	.	.	PUNCT
ajst-13413	40	1	mechanical	mechanical	ADJ
ajst-13413	40	2	structure	structure	NOUN
ajst-13413	40	3	design	design	NOUN
ajst-13413	40	4	of	of	ADP
ajst-13413	40	5	the	the	DET
ajst-13413	40	6	payload	payload	NOUN
ajst-13413	40	7	module	module	NOUN
ajst-13413	40	8	3.2	3.2	NUM
ajst-13413	40	9	.	.	PUNCT
ajst-13413	41	1	hardware	hardware	NOUN
ajst-13413	41	2	of	of	ADP
ajst-13413	41	3	the	the	DET
ajst-13413	41	4	control	control	NOUN
ajst-13413	41	5	system	system	NOUN
ajst-13413	41	6	3.2.1	3.2.1	NUM
ajst-13413	41	7	.	.	PUNCT
ajst-13413	42	1	main	main	ADJ
ajst-13413	42	2	controller	controller	NOUN
ajst-13413	42	3	:	:	PUNCT
ajst-13413	42	4	stm32f407	stm32f407	VERB
ajst-13413	42	5	the	the	DET
ajst-13413	42	6	stm32f407	stm32f407	NOUN
ajst-13413	42	7	is	be	AUX
ajst-13413	42	8	a	a	DET
ajst-13413	42	9	microcontroller	microcontroller	NOUN
ajst-13413	42	10	based	base	VERB
ajst-13413	42	11	on	on	ADP
ajst-13413	42	12	the	the	DET
ajst-13413	42	13	arm	arm	NOUN
ajst-13413	42	14	cortex	cortex	NOUN
ajst-13413	42	15	-	-	PUNCT
ajst-13413	42	16	m4	m4	PROPN
ajst-13413	42	17	core	core	NOUN
ajst-13413	42	18	,	,	PUNCT
ajst-13413	42	19	manufactured	manufacture	VERB
ajst-13413	42	20	by	by	ADP
ajst-13413	42	21	stmicroelectronics	stmicroelectronic	NOUN
ajst-13413	42	22	,	,	PUNCT
ajst-13413	42	23	a	a	DET
ajst-13413	42	24	european	european	ADJ
ajst-13413	42	25	semiconductor	semiconductor	NOUN
ajst-13413	42	26	company	company	NOUN
ajst-13413	42	27	.	.	PUNCT
ajst-13413	43	1	it	it	PRON
ajst-13413	43	2	is	be	AUX
ajst-13413	43	3	one	one	NUM
ajst-13413	43	4	of	of	ADP
ajst-13413	43	5	the	the	DET
ajst-13413	43	6	highestperforming	highestperforme	VERB
ajst-13413	43	7	products	product	NOUN
ajst-13413	43	8	in	in	ADP
ajst-13413	43	9	the	the	DET
ajst-13413	43	10	stm32	stm32	PROPN
ajst-13413	43	11	series	series	NOUN
ajst-13413	43	12	of	of	ADP
ajst-13413	43	13	microcontrollers	microcontroller	NOUN
ajst-13413	43	14	.	.	PUNCT
ajst-13413	44	1	its	its	PRON
ajst-13413	44	2	clock	clock	NOUN
ajst-13413	44	3	speed	speed	NOUN
ajst-13413	44	4	can	can	AUX
ajst-13413	44	5	reach	reach	VERB
ajst-13413	44	6	up	up	ADP
ajst-13413	44	7	to	to	PART
ajst-13413	44	8	168	168	NUM
ajst-13413	44	9	mhz	mhz	NOUN
ajst-13413	44	10	(	(	PUNCT
ajst-13413	44	11	capable	capable	ADJ
ajst-13413	44	12	of	of	ADP
ajst-13413	44	13	achieving	achieve	VERB
ajst-13413	44	14	a	a	DET
ajst-13413	44	15	running	run	VERB
ajst-13413	44	16	speed	speed	NOUN
ajst-13413	44	17	of	of	ADP
ajst-13413	44	18	210	210	NUM
ajst-13413	44	19	dmips	dmip	NOUN
ajst-13413	44	20	)	)	PUNCT
ajst-13413	44	21	,	,	PUNCT
ajst-13413	44	22	greatly	greatly	ADV
ajst-13413	44	23	improving	improve	VERB
ajst-13413	44	24	its	its	PRON
ajst-13413	44	25	ability	ability	NOUN
ajst-13413	44	26	to	to	PART
ajst-13413	44	27	perform	perform	VERB
ajst-13413	44	28	floating	float	VERB
ajst-13413	44	29	-	-	PUNCT
ajst-13413	44	30	point	point	NOUN
ajst-13413	44	31	operations	operation	NOUN
ajst-13413	44	32	or	or	CCONJ
ajst-13413	44	33	dsp	dsp	NOUN
ajst-13413	44	34	processing	processing	NOUN
ajst-13413	44	35	.	.	PUNCT
ajst-13413	45	1	the	the	DET
ajst-13413	45	2	stm32f4	stm32f4	PROPN
ajst-13413	45	3	has	have	AUX
ajst-13413	45	4	features	feature	NOUN
ajst-13413	45	5	such	such	ADJ
ajst-13413	45	6	as	as	ADP
ajst-13413	45	7	high	high	ADJ
ajst-13413	45	8	performance	performance	NOUN
ajst-13413	45	9	,	,	PUNCT
ajst-13413	45	10	low	low	ADJ
ajst-13413	45	11	power	power	NOUN
ajst-13413	45	12	consumption	consumption	NOUN
ajst-13413	45	13	,	,	PUNCT
ajst-13413	45	14	and	and	CCONJ
ajst-13413	45	15	rich	rich	ADJ
ajst-13413	45	16	peripheral	peripheral	ADJ
ajst-13413	45	17	interfaces	interface	NOUN
ajst-13413	45	18	,	,	PUNCT
ajst-13413	45	19	making	make	VERB
ajst-13413	45	20	it	it	PRON
ajst-13413	45	21	suitable	suitable	ADJ
ajst-13413	45	22	for	for	ADP
ajst-13413	45	23	a	a	DET
ajst-13413	45	24	wide	wide	ADJ
ajst-13413	45	25	range	range	NOUN
ajst-13413	45	26	of	of	ADP
ajst-13413	45	27	applications	application	NOUN
ajst-13413	45	28	.	.	PUNCT
ajst-13413	46	1	figure	figure	NOUN
ajst-13413	46	2	5	5	NUM
ajst-13413	46	3	.	.	PUNCT
ajst-13413	47	1	stm32f407	stm32f407	VERB
ajst-13413	47	2	micro	micro	ADJ
ajst-13413	47	3	controller	controller	PROPN
ajst-13413	47	4	3.2.2	3.2.2	NUM
ajst-13413	47	5	.	.	PUNCT
ajst-13413	48	1	communication	communication	NOUN
ajst-13413	48	2	module	module	NOUN
ajst-13413	48	3	:	:	PUNCT
ajst-13413	48	4	esp01	esp01	NOUN
ajst-13413	48	5	-	-	PUNCT
ajst-13413	48	6	s	s	VERB
ajst-13413	48	7	the	the	DET
ajst-13413	48	8	esp01	esp01	NOUN
ajst-13413	48	9	-	-	PUNCT
ajst-13413	48	10	s	s	NOUN
ajst-13413	48	11	module	module	NOUN
ajst-13413	48	12	is	be	AUX
ajst-13413	48	13	a	a	DET
ajst-13413	48	14	wifi	wifi	NOUN
ajst-13413	48	15	module	module	NOUN
ajst-13413	48	16	based	base	VERB
ajst-13413	48	17	on	on	ADP
ajst-13413	48	18	the	the	DET
ajst-13413	48	19	esp8266	esp8266	ADJ
ajst-13413	48	20	chip	chip	NOUN
ajst-13413	48	21	developed	develop	VERB
ajst-13413	48	22	by	by	ADP
ajst-13413	48	23	espressif	espressif	NOUN
ajst-13413	48	24	systems	system	NOUN
ajst-13413	48	25	.	.	PUNCT
ajst-13413	49	1	the	the	DET
ajst-13413	49	2	esp8266	esp8266	NOUN
ajst-13413	49	3	is	be	AUX
ajst-13413	49	4	a	a	DET
ajst-13413	49	5	wi	wi	PROPN
ajst-13413	49	6	-	-	PUNCT
ajst-13413	49	7	fi	fi	NOUN
ajst-13413	49	8	module	module	NOUN
ajst-13413	49	9	that	that	PRON
ajst-13413	49	10	integrates	integrate	VERB
ajst-13413	49	11	a	a	DET
ajst-13413	49	12	tcp	tcp	PROPN
ajst-13413	49	13	/	/	SYM
ajst-13413	49	14	ip	ip	NOUN
ajst-13413	49	15	protocol	protocol	NOUN
ajst-13413	49	16	stack	stack	NOUN
ajst-13413	49	17	,	,	PUNCT
ajst-13413	49	18	and	and	CCONJ
ajst-13413	49	19	users	user	NOUN
ajst-13413	49	20	can	can	AUX
ajst-13413	49	21	program	program	VERB
ajst-13413	49	22	it	it	PRON
ajst-13413	49	23	using	use	VERB
ajst-13413	49	24	at	at	ADP
ajst-13413	49	25	commands	command	NOUN
ajst-13413	49	26	to	to	PART
ajst-13413	49	27	enable	enable	VERB
ajst-13413	49	28	wifi	wifi	NOUN
ajst-13413	49	29	connectivity	connectivity	NOUN
ajst-13413	49	30	and	and	CCONJ
ajst-13413	49	31	data	datum	NOUN
ajst-13413	49	32	transmission	transmission	NOUN
ajst-13413	49	33	.	.	PUNCT
ajst-13413	50	1	in	in	ADP
ajst-13413	50	2	this	this	DET
ajst-13413	50	3	case	case	NOUN
ajst-13413	50	4	,	,	PUNCT
ajst-13413	50	5	the	the	DET
ajst-13413	50	6	module	module	NOUN
ajst-13413	50	7	will	will	AUX
ajst-13413	50	8	be	be	AUX
ajst-13413	50	9	used	use	VERB
ajst-13413	50	10	for	for	ADP
ajst-13413	50	11	wifi	wifi	NOUN
ajst-13413	50	12	transparent	transparent	ADJ
ajst-13413	50	13	transmission	transmission	NOUN
ajst-13413	50	14	using	use	VERB
ajst-13413	50	15	the	the	DET
ajst-13413	50	16	tcp	tcp	ADJ
ajst-13413	50	17	protocol	protocol	NOUN
ajst-13413	50	18	to	to	PART
ajst-13413	50	19	transmit	transmit	VERB
ajst-13413	50	20	a	a	DET
ajst-13413	50	21	large	large	ADJ
ajst-13413	50	22	amount	amount	NOUN
ajst-13413	50	23	of	of	ADP
ajst-13413	50	24	flight	flight	NOUN
ajst-13413	50	25	data	datum	NOUN
ajst-13413	50	26	.	.	PUNCT
ajst-13413	51	1	figure	figure	VERB
ajst-13413	51	2	6	6	NUM
ajst-13413	51	3	.	.	PUNCT
ajst-13413	52	1	esp01	esp01	NOUN
ajst-13413	52	2	-	-	PUNCT
ajst-13413	52	3	s	s	NOUN
ajst-13413	52	4	module	module	NOUN
ajst-13413	52	5	3.2.3	3.2.3	NUM
ajst-13413	52	6	.	.	PUNCT
ajst-13413	52	7	oled	ole	VERB
ajst-13413	52	8	screen	screen	NOUN
ajst-13413	52	9	this	this	DET
ajst-13413	52	10	system	system	NOUN
ajst-13413	52	11	utilizes	utilize	VERB
ajst-13413	52	12	a	a	DET
ajst-13413	52	13	0.9	0.9	NUM
ajst-13413	52	14	-	-	PUNCT
ajst-13413	52	15	inch	inch	NOUN
ajst-13413	52	16	oled	ole	VERB
ajst-13413	52	17	screen	screen	NOUN
ajst-13413	52	18	as	as	ADP
ajst-13413	52	19	the	the	DET
ajst-13413	52	20	information	information	NOUN
ajst-13413	52	21	display	display	NOUN
ajst-13413	52	22	module	module	NOUN
ajst-13413	52	23	.	.	PUNCT
ajst-13413	53	1	an	an	DET
ajst-13413	53	2	oled	ole	VERB
ajst-13413	53	3	screen	screen	NOUN
ajst-13413	53	4	is	be	AUX
ajst-13413	53	5	a	a	DET
ajst-13413	53	6	type	type	NOUN
ajst-13413	53	7	of	of	ADP
ajst-13413	53	8	display	display	NOUN
ajst-13413	53	9	screen	screen	NOUN
ajst-13413	53	10	that	that	PRON
ajst-13413	53	11	is	be	AUX
ajst-13413	53	12	made	make	VERB
ajst-13413	53	13	up	up	ADP
ajst-13413	53	14	of	of	ADP
ajst-13413	53	15	organic	organic	ADJ
ajst-13413	53	16	light	light	NOUN
ajst-13413	53	17	-	-	PUNCT
ajst-13413	53	18	emitting	emit	VERB
ajst-13413	53	19	diodes	diode	NOUN
ajst-13413	53	20	(	(	PUNCT
ajst-13413	53	21	oleds	oled	NOUN
ajst-13413	53	22	)	)	PUNCT
ajst-13413	53	23	.	.	PUNCT
ajst-13413	54	1	it	it	PRON
ajst-13413	54	2	has	have	VERB
ajst-13413	54	3	several	several	ADJ
ajst-13413	54	4	outstanding	outstanding	ADJ
ajst-13413	54	5	features	feature	NOUN
ajst-13413	54	6	,	,	PUNCT
ajst-13413	54	7	including	include	VERB
ajst-13413	54	8	selfemitting	selfemitte	VERB
ajst-13413	54	9	organic	organic	ADJ
ajst-13413	54	10	electroluminescent	electroluminescent	ADJ
ajst-13413	54	11	diodes	diode	NOUN
ajst-13413	54	12	,	,	PUNCT
ajst-13413	54	13	which	which	PRON
ajst-13413	54	14	eliminates	eliminate	VERB
ajst-13413	54	15	the	the	DET
ajst-13413	54	16	need	need	NOUN
ajst-13413	54	17	for	for	ADP
ajst-13413	54	18	a	a	DET
ajst-13413	54	19	backlight	backlight	ADJ
ajst-13413	54	20	source	source	NOUN
ajst-13413	54	21	.	.	PUNCT
ajst-13413	55	1	oled	ole	VERB
ajst-13413	55	2	screen	screen	NOUN
ajst-13413	55	3	offer	offer	VERB
ajst-13413	55	4	high	high	ADJ
ajst-13413	55	5	contrast	contrast	NOUN
ajst-13413	55	6	,	,	PUNCT
ajst-13413	55	7	thin	thin	ADJ
ajst-13413	55	8	thickness	thickness	NOUN
ajst-13413	55	9	,	,	PUNCT
ajst-13413	55	10	wide	wide	ADJ
ajst-13413	55	11	viewing	viewing	NOUN
ajst-13413	55	12	angles	angle	NOUN
ajst-13413	55	13	,	,	PUNCT
ajst-13413	55	14	fast	fast	ADJ
ajst-13413	55	15	response	response	NOUN
ajst-13413	55	16	times	time	NOUN
ajst-13413	55	17	,	,	PUNCT
ajst-13413	55	18	and	and	CCONJ
ajst-13413	55	19	can	can	AUX
ajst-13413	55	20	be	be	AUX
ajst-13413	55	21	used	use	VERB
ajst-13413	55	22	on	on	ADP
ajst-13413	55	23	flexible	flexible	ADJ
ajst-13413	55	24	panels	panel	NOUN
ajst-13413	55	25	.	.	PUNCT
ajst-13413	56	1	it	it	PRON
ajst-13413	56	2	also	also	ADV
ajst-13413	56	3	has	have	VERB
ajst-13413	56	4	a	a	DET
ajst-13413	56	5	wide	wide	ADJ
ajst-13413	56	6	operating	operate	VERB
ajst-13413	56	7	temperature	temperature	NOUN
ajst-13413	56	8	range	range	NOUN
ajst-13413	56	9	and	and	CCONJ
ajst-13413	56	10	a	a	DET
ajst-13413	56	11	relatively	relatively	ADV
ajst-13413	56	12	simple	simple	ADJ
ajst-13413	56	13	276	276	NUM
ajst-13413	56	14	construction	construction	NOUN
ajst-13413	56	15	and	and	CCONJ
ajst-13413	56	16	manufacturing	manufacturing	NOUN
ajst-13413	56	17	process	process	NOUN
ajst-13413	56	18	.	.	PUNCT
ajst-13413	57	1	figure	figure	VERB
ajst-13413	57	2	7	7	NUM
ajst-13413	57	3	.	.	NOUN
ajst-13413	57	4	0.9	0.9	NUM
ajst-13413	57	5	-	-	PUNCT
ajst-13413	57	6	inch	inch	NOUN
ajst-13413	57	7	oled	ole	VERB
ajst-13413	57	8	screen	screen	NOUN
ajst-13413	57	9	3.2.4	3.2.4	NUM
ajst-13413	57	10	.	.	PUNCT
ajst-13413	58	1	ducted	ducte	VERB
ajst-13413	58	2	-	-	PUNCT
ajst-13413	58	3	fan	fan	NOUN
ajst-13413	58	4	with	with	ADP
ajst-13413	58	5	bldc	bldc	PROPN
ajst-13413	58	6	a	a	DET
ajst-13413	58	7	ducted	ducte	VERB
ajst-13413	58	8	-	-	PUNCT
ajst-13413	58	9	fan	fan	NOUN
ajst-13413	58	10	is	be	AUX
ajst-13413	58	11	a	a	DET
ajst-13413	58	12	power	power	NOUN
ajst-13413	58	13	system	system	NOUN
ajst-13413	58	14	that	that	PRON
ajst-13413	58	15	surrounds	surround	VERB
ajst-13413	58	16	the	the	DET
ajst-13413	58	17	fan	fan	NOUN
ajst-13413	58	18	with	with	ADP
ajst-13413	58	19	an	an	DET
ajst-13413	58	20	annular	annular	ADJ
ajst-13413	58	21	duct	duct	NOUN
ajst-13413	58	22	.	.	PUNCT
ajst-13413	59	1	the	the	DET
ajst-13413	59	2	power	power	NOUN
ajst-13413	59	3	of	of	ADP
ajst-13413	59	4	the	the	DET
ajst-13413	59	5	ducted	ducte	VERB
ajst-13413	59	6	fan	fan	NOUN
ajst-13413	59	7	consists	consist	VERB
ajst-13413	59	8	of	of	ADP
ajst-13413	59	9	two	two	NUM
ajst-13413	59	10	parts	part	NOUN
ajst-13413	59	11	:	:	PUNCT
ajst-13413	59	12	one	one	NUM
ajst-13413	59	13	part	part	NOUN
ajst-13413	59	14	generated	generate	VERB
ajst-13413	59	15	by	by	ADP
ajst-13413	59	16	the	the	DET
ajst-13413	59	17	fan	fan	NOUN
ajst-13413	59	18	itself	itself	PRON
ajst-13413	59	19	,	,	PUNCT
ajst-13413	59	20	and	and	CCONJ
ajst-13413	59	21	the	the	DET
ajst-13413	59	22	other	other	ADJ
ajst-13413	59	23	part	part	NOUN
ajst-13413	59	24	generated	generate	VERB
ajst-13413	59	25	by	by	ADP
ajst-13413	59	26	the	the	DET
ajst-13413	59	27	annular	annular	ADJ
ajst-13413	59	28	duct	duct	NOUN
ajst-13413	59	29	.	.	PUNCT
ajst-13413	60	1	the	the	DET
ajst-13413	60	2	main	main	ADJ
ajst-13413	60	3	advantages	advantage	NOUN
ajst-13413	60	4	of	of	ADP
ajst-13413	60	5	a	a	DET
ajst-13413	60	6	ducted	ducte	VERB
ajst-13413	60	7	fan	fan	NOUN
ajst-13413	60	8	compared	compare	VERB
ajst-13413	60	9	to	to	ADP
ajst-13413	60	10	an	an	DET
ajst-13413	60	11	isolated	isolated	ADJ
ajst-13413	60	12	fan	fan	NOUN
ajst-13413	60	13	of	of	ADP
ajst-13413	60	14	the	the	DET
ajst-13413	60	15	same	same	ADJ
ajst-13413	60	16	diameter	diameter	NOUN
ajst-13413	60	17	are	be	AUX
ajst-13413	60	18	its	its	PRON
ajst-13413	60	19	ability	ability	NOUN
ajst-13413	60	20	to	to	PART
ajst-13413	60	21	generate	generate	VERB
ajst-13413	60	22	greater	great	ADJ
ajst-13413	60	23	lift	lift	NOUN
ajst-13413	60	24	and	and	CCONJ
ajst-13413	60	25	the	the	DET
ajst-13413	60	26	fact	fact	NOUN
ajst-13413	60	27	that	that	SCONJ
ajst-13413	60	28	the	the	DET
ajst-13413	60	29	fan	fan	NOUN
ajst-13413	60	30	is	be	AUX
ajst-13413	60	31	enclosed	enclose	VERB
ajst-13413	60	32	within	within	ADP
ajst-13413	60	33	the	the	DET
ajst-13413	60	34	annular	annular	ADJ
ajst-13413	60	35	duct	duct	NOUN
ajst-13413	60	36	.	.	PUNCT
ajst-13413	61	1	this	this	DET
ajst-13413	61	2	design	design	NOUN
ajst-13413	61	3	not	not	PART
ajst-13413	61	4	only	only	ADV
ajst-13413	61	5	blocks	block	VERB
ajst-13413	61	6	the	the	DET
ajst-13413	61	7	aerodynamic	aerodynamic	ADJ
ajst-13413	61	8	noise	noise	NOUN
ajst-13413	61	9	generated	generate	VERB
ajst-13413	61	10	by	by	ADP
ajst-13413	61	11	the	the	DET
ajst-13413	61	12	fan	fan	NOUN
ajst-13413	61	13	from	from	ADP
ajst-13413	61	14	propagating	propagate	VERB
ajst-13413	61	15	outward	outward	ADV
ajst-13413	61	16	but	but	CCONJ
ajst-13413	61	17	also	also	ADV
ajst-13413	61	18	provides	provide	VERB
ajst-13413	61	19	a	a	DET
ajst-13413	61	20	compact	compact	ADJ
ajst-13413	61	21	and	and	CCONJ
ajst-13413	61	22	high	high	ADJ
ajst-13413	61	23	level	level	NOUN
ajst-13413	61	24	of	of	ADP
ajst-13413	61	25	safety	safety	NOUN
ajst-13413	61	26	,	,	PUNCT
ajst-13413	61	27	protecting	protect	VERB
ajst-13413	61	28	the	the	DET
ajst-13413	61	29	rotating	rotate	VERB
ajst-13413	61	30	blades	blade	NOUN
ajst-13413	61	31	.	.	PUNCT
ajst-13413	62	1	figure	figure	NOUN
ajst-13413	62	2	8	8	NUM
ajst-13413	62	3	.	.	PUNCT
ajst-13413	63	1	ducted	ducte	VERB
ajst-13413	63	2	-	-	PUNCT
ajst-13413	63	3	fan	fan	NOUN
ajst-13413	63	4	with	with	ADP
ajst-13413	63	5	bldc	bldc	PROPN
ajst-13413	63	6	3.2.5	3.2.5	NUM
ajst-13413	63	7	.	.	PUNCT
ajst-13413	64	1	brushless	brushless	NOUN
ajst-13413	64	2	esc	esc	NOUN
ajst-13413	64	3	a	a	DET
ajst-13413	64	4	brushless	brushless	NOUN
ajst-13413	64	5	esc	esc	NOUN
ajst-13413	64	6	(	(	PUNCT
ajst-13413	64	7	electronic	electronic	ADJ
ajst-13413	64	8	speed	speed	NOUN
ajst-13413	64	9	controller	controller	NOUN
ajst-13413	64	10	)	)	PUNCT
ajst-13413	64	11	refers	refer	VERB
ajst-13413	64	12	to	to	ADP
ajst-13413	64	13	an	an	DET
ajst-13413	64	14	electronic	electronic	ADJ
ajst-13413	64	15	device	device	NOUN
ajst-13413	64	16	used	use	VERB
ajst-13413	64	17	to	to	PART
ajst-13413	64	18	control	control	VERB
ajst-13413	64	19	brushless	brushless	PROPN
ajst-13413	64	20	motors	motor	NOUN
ajst-13413	64	21	.	.	PUNCT
ajst-13413	65	1	its	its	PRON
ajst-13413	65	2	main	main	ADJ
ajst-13413	65	3	function	function	NOUN
ajst-13413	65	4	is	be	AUX
ajst-13413	65	5	to	to	PART
ajst-13413	65	6	adjust	adjust	VERB
ajst-13413	65	7	the	the	DET
ajst-13413	65	8	motor	motor	NOUN
ajst-13413	65	9	's	's	PART
ajst-13413	65	10	speed	speed	NOUN
ajst-13413	65	11	and	and	CCONJ
ajst-13413	65	12	direction	direction	NOUN
ajst-13413	65	13	,	,	PUNCT
ajst-13413	65	14	allowing	allow	VERB
ajst-13413	65	15	it	it	PRON
ajst-13413	65	16	to	to	PART
ajst-13413	65	17	adapt	adapt	VERB
ajst-13413	65	18	to	to	ADP
ajst-13413	65	19	various	various	ADJ
ajst-13413	65	20	working	work	VERB
ajst-13413	65	21	requirements	requirement	NOUN
ajst-13413	65	22	.	.	PUNCT
ajst-13413	66	1	during	during	ADP
ajst-13413	66	2	the	the	DET
ajst-13413	66	3	operation	operation	NOUN
ajst-13413	66	4	of	of	ADP
ajst-13413	66	5	a	a	DET
ajst-13413	66	6	brushless	brushless	NOUN
ajst-13413	66	7	motor	motor	NOUN
ajst-13413	66	8	,	,	PUNCT
ajst-13413	66	9	the	the	DET
ajst-13413	66	10	esc	esc	NOUN
ajst-13413	66	11	can	can	AUX
ajst-13413	66	12	detect	detect	VERB
ajst-13413	66	13	the	the	DET
ajst-13413	66	14	motor	motor	NOUN
ajst-13413	66	15	's	's	PART
ajst-13413	66	16	speed	speed	NOUN
ajst-13413	66	17	and	and	CCONJ
ajst-13413	66	18	load	load	NOUN
ajst-13413	66	19	conditions	condition	NOUN
ajst-13413	66	20	.	.	PUNCT
ajst-13413	67	1	by	by	ADP
ajst-13413	67	2	controlling	control	VERB
ajst-13413	67	3	the	the	DET
ajst-13413	67	4	current	current	ADJ
ajst-13413	67	5	and	and	CCONJ
ajst-13413	67	6	voltage	voltage	NOUN
ajst-13413	67	7	,	,	PUNCT
ajst-13413	67	8	it	it	PRON
ajst-13413	67	9	achieves	achieve	VERB
ajst-13413	67	10	precise	precise	ADJ
ajst-13413	67	11	speed	speed	NOUN
ajst-13413	67	12	regulation	regulation	NOUN
ajst-13413	67	13	and	and	CCONJ
ajst-13413	67	14	control	control	NOUN
ajst-13413	67	15	.	.	PUNCT
ajst-13413	68	1	the	the	DET
ajst-13413	68	2	esc	esc	NOUN
ajst-13413	68	3	used	use	VERB
ajst-13413	68	4	in	in	ADP
ajst-13413	68	5	this	this	DET
ajst-13413	68	6	system	system	NOUN
ajst-13413	68	7	utilizes	utilize	VERB
ajst-13413	68	8	pwm	pwm	NOUN
ajst-13413	68	9	(	(	PUNCT
ajst-13413	68	10	pulse	pulse	NOUN
ajst-13413	68	11	width	width	ADJ
ajst-13413	68	12	modulation	modulation	NOUN
ajst-13413	68	13	)	)	PUNCT
ajst-13413	68	14	for	for	ADP
ajst-13413	68	15	control	control	NOUN
ajst-13413	68	16	.	.	PUNCT
ajst-13413	69	1	figure	figure	NOUN
ajst-13413	69	2	9	9	NUM
ajst-13413	69	3	.	.	PUNCT
ajst-13413	70	1	brushless	brushless	NOUN
ajst-13413	70	2	esc	esc	NOUN
ajst-13413	70	3	3.2.6	3.2.6	NUM
ajst-13413	70	4	.	.	PUNCT
ajst-13413	71	1	digital	digital	ADJ
ajst-13413	71	2	servo	servo	NOUN
ajst-13413	71	3	motor	motor	NOUN
ajst-13413	71	4	this	this	DET
ajst-13413	71	5	system	system	NOUN
ajst-13413	71	6	utilizes	utilize	VERB
ajst-13413	71	7	the	the	DET
ajst-13413	71	8	es3054	es3054	NOUN
ajst-13413	71	9	metal	metal	NOUN
ajst-13413	71	10	gear	gear	NOUN
ajst-13413	71	11	digital	digital	ADJ
ajst-13413	71	12	servo	servo	NOUN
ajst-13413	71	13	,	,	PUNCT
ajst-13413	71	14	which	which	PRON
ajst-13413	71	15	can	can	AUX
ajst-13413	71	16	rotate	rotate	VERB
ajst-13413	71	17	within	within	ADP
ajst-13413	71	18	a	a	DET
ajst-13413	71	19	range	range	NOUN
ajst-13413	71	20	of	of	ADP
ajst-13413	71	21	0	0	NUM
ajst-13413	71	22	to	to	PART
ajst-13413	71	23	60	60	NUM
ajst-13413	71	24	degrees	degree	NOUN
ajst-13413	71	25	and	and	CCONJ
ajst-13413	71	26	provides	provide	VERB
ajst-13413	71	27	a	a	DET
ajst-13413	71	28	maximum	maximum	ADJ
ajst-13413	71	29	torque	torque	NOUN
ajst-13413	71	30	output	output	NOUN
ajst-13413	71	31	of	of	ADP
ajst-13413	71	32	3.5kgfcm	3.5kgfcm	NUM
ajst-13413	71	33	.	.	PUNCT
ajst-13413	72	1	with	with	ADP
ajst-13413	72	2	this	this	DET
ajst-13413	72	3	servo	servo	NOUN
ajst-13413	72	4	,	,	PUNCT
ajst-13413	72	5	the	the	DET
ajst-13413	72	6	desired	desire	VERB
ajst-13413	72	7	tilt	tilt	NOUN
ajst-13413	72	8	function	function	NOUN
ajst-13413	72	9	can	can	AUX
ajst-13413	72	10	be	be	AUX
ajst-13413	72	11	achieved	achieve	VERB
ajst-13413	72	12	.	.	PUNCT
ajst-13413	73	1	this	this	DET
ajst-13413	73	2	servo	servo	NOUN
ajst-13413	73	3	consists	consist	VERB
ajst-13413	73	4	of	of	ADP
ajst-13413	73	5	a	a	DET
ajst-13413	73	6	motor	motor	NOUN
ajst-13413	73	7	,	,	PUNCT
ajst-13413	73	8	reduction	reduction	NOUN
ajst-13413	73	9	gears	gear	NOUN
ajst-13413	73	10	,	,	PUNCT
ajst-13413	73	11	control	control	NOUN
ajst-13413	73	12	circuitry	circuitry	NOUN
ajst-13413	73	13	,	,	PUNCT
ajst-13413	73	14	and	and	CCONJ
ajst-13413	73	15	more	more	ADJ
ajst-13413	73	16	.	.	PUNCT
ajst-13413	74	1	it	it	PRON
ajst-13413	74	2	only	only	ADV
ajst-13413	74	3	requires	require	VERB
ajst-13413	74	4	sending	send	VERB
ajst-13413	74	5	a	a	DET
ajst-13413	74	6	single	single	ADJ
ajst-13413	74	7	pwm	pwm	NOUN
ajst-13413	74	8	signal	signal	NOUN
ajst-13413	74	9	to	to	PART
ajst-13413	74	10	maintain	maintain	VERB
ajst-13413	74	11	a	a	DET
ajst-13413	74	12	specified	specified	ADJ
ajst-13413	74	13	position	position	NOUN
ajst-13413	74	14	.	.	PUNCT
ajst-13413	75	1	it	it	PRON
ajst-13413	75	2	also	also	ADV
ajst-13413	75	3	has	have	VERB
ajst-13413	75	4	a	a	DET
ajst-13413	75	5	microprocessor	microprocessor	NOUN
ajst-13413	75	6	that	that	PRON
ajst-13413	75	7	performs	perform	VERB
ajst-13413	75	8	certain	certain	ADJ
ajst-13413	75	9	processing	processing	NOUN
ajst-13413	75	10	on	on	ADP
ajst-13413	75	11	the	the	DET
ajst-13413	75	12	input	input	NOUN
ajst-13413	75	13	signal	signal	NOUN
ajst-13413	75	14	based	base	VERB
ajst-13413	75	15	on	on	ADP
ajst-13413	75	16	the	the	DET
ajst-13413	75	17	set	set	NOUN
ajst-13413	75	18	parameters	parameter	NOUN
ajst-13413	75	19	before	before	ADP
ajst-13413	75	20	delivering	deliver	VERB
ajst-13413	75	21	power	power	NOUN
ajst-13413	75	22	pulses	pulse	NOUN
ajst-13413	75	23	to	to	ADP
ajst-13413	75	24	the	the	DET
ajst-13413	75	25	motor	motor	NOUN
ajst-13413	75	26	.	.	PUNCT
ajst-13413	76	1	additionally	additionally	ADV
ajst-13413	76	2	,	,	PUNCT
ajst-13413	76	3	it	it	PRON
ajst-13413	76	4	offers	offer	VERB
ajst-13413	76	5	higher	high	ADJ
ajst-13413	76	6	positional	positional	ADJ
ajst-13413	76	7	accuracy	accuracy	NOUN
ajst-13413	76	8	,	,	PUNCT
ajst-13413	76	9	allowing	allow	VERB
ajst-13413	76	10	for	for	ADP
ajst-13413	76	11	better	well	ADJ
ajst-13413	76	12	fulfillment	fulfillment	NOUN
ajst-13413	76	13	of	of	ADP
ajst-13413	76	14	tilt	tilt	NOUN
ajst-13413	76	15	requirements	requirement	NOUN
ajst-13413	76	16	.	.	PUNCT
ajst-13413	77	1	figure	figure	NOUN
ajst-13413	77	2	10	10	NUM
ajst-13413	77	3	.	.	PUNCT
ajst-13413	78	1	digital	digital	ADJ
ajst-13413	78	2	servo	servo	NOUN
ajst-13413	78	3	motor	motor	NOUN
ajst-13413	78	4	3.2.7	3.2.7	PROPN
ajst-13413	78	5	.	.	PUNCT
ajst-13413	79	1	mpu9250	mpu9250	PROPN
ajst-13413	79	2	the	the	DET
ajst-13413	79	3	mpu9250	mpu9250	NOUN
ajst-13413	79	4	is	be	AUX
ajst-13413	79	5	a	a	DET
ajst-13413	79	6	composite	composite	ADJ
ajst-13413	79	7	chip	chip	NOUN
ajst-13413	79	8	packaged	package	VERB
ajst-13413	79	9	in	in	ADP
ajst-13413	79	10	an	an	DET
ajst-13413	79	11	ofn	ofn	NOUN
ajst-13413	79	12	(	(	PUNCT
ajst-13413	79	13	oplow	oplow	NOUN
ajst-13413	79	14	-	-	PUNCT
ajst-13413	79	15	profile	profile	NOUN
ajst-13413	79	16	fine	fine	ADJ
ajst-13413	79	17	pitch	pitch	NOUN
ajst-13413	79	18	no	no	DET
ajst-13413	79	19	-	-	PUNCT
ajst-13413	79	20	lead	lead	NOUN
ajst-13413	79	21	)	)	PUNCT
ajst-13413	79	22	package	package	NOUN
ajst-13413	79	23	,	,	PUNCT
ajst-13413	79	24	consisting	consist	VERB
ajst-13413	79	25	of	of	ADP
ajst-13413	79	26	two	two	NUM
ajst-13413	79	27	parts	part	NOUN
ajst-13413	79	28	.	.	PUNCT
ajst-13413	80	1	one	one	NUM
ajst-13413	80	2	part	part	NOUN
ajst-13413	80	3	is	be	AUX
ajst-13413	80	4	a	a	DET
ajst-13413	80	5	3	3	NUM
ajst-13413	80	6	-	-	PUNCT
ajst-13413	80	7	axis	axis	NOUN
ajst-13413	80	8	accelerometer	accelerometer	NOUN
ajst-13413	80	9	and	and	CCONJ
ajst-13413	80	10	a	a	DET
ajst-13413	80	11	3	3	NUM
ajst-13413	80	12	-	-	PUNCT
ajst-13413	80	13	axis	axis	NOUN
ajst-13413	80	14	gyroscope	gyroscope	NOUN
ajst-13413	80	15	,	,	PUNCT
ajst-13413	80	16	while	while	SCONJ
ajst-13413	80	17	the	the	DET
ajst-13413	80	18	other	other	ADJ
ajst-13413	80	19	part	part	NOUN
ajst-13413	80	20	is	be	AUX
ajst-13413	80	21	the	the	DET
ajst-13413	80	22	ak8963	ak8963	ADJ
ajst-13413	80	23	3	3	NUM
ajst-13413	80	24	-	-	PUNCT
ajst-13413	80	25	axis	axis	NOUN
ajst-13413	80	26	magnetometer	magnetometer	NOUN
ajst-13413	80	27	from	from	ADP
ajst-13413	80	28	akm	akm	PROPN
ajst-13413	80	29	company	company	PROPN
ajst-13413	80	30	.	.	PUNCT
ajst-13413	81	1	therefore	therefore	ADV
ajst-13413	81	2	,	,	PUNCT
ajst-13413	81	3	the	the	DET
ajst-13413	81	4	mpu9250	mpu9250	NOUN
ajst-13413	81	5	is	be	AUX
ajst-13413	81	6	a	a	DET
ajst-13413	81	7	9	9	NUM
ajst-13413	81	8	-	-	PUNCT
ajst-13413	81	9	axis	axis	NOUN
ajst-13413	81	10	motion	motion	NOUN
ajst-13413	81	11	tracking	tracking	NOUN
ajst-13413	81	12	device	device	NOUN
ajst-13413	81	13	.	.	PUNCT
ajst-13413	82	1	the	the	DET
ajst-13413	82	2	focus	focus	NOUN
ajst-13413	82	3	of	of	ADP
ajst-13413	82	4	the	the	DET
ajst-13413	82	5	design	design	NOUN
ajst-13413	82	6	in	in	ADP
ajst-13413	82	7	this	this	DET
ajst-13413	82	8	system	system	NOUN
ajst-13413	82	9	lies	lie	VERB
ajst-13413	82	10	in	in	ADP
ajst-13413	82	11	the	the	DET
ajst-13413	82	12	closed	closed	ADJ
ajst-13413	82	13	-	-	PUNCT
ajst-13413	82	14	loop	loop	NOUN
ajst-13413	82	15	control	control	NOUN
ajst-13413	82	16	of	of	ADP
ajst-13413	82	17	the	the	DET
ajst-13413	82	18	attitude	attitude	NOUN
ajst-13413	82	19	or	or	CCONJ
ajst-13413	82	20	posture	posture	NOUN
ajst-13413	82	21	.	.	PUNCT
ajst-13413	83	1	figure	figure	NOUN
ajst-13413	83	2	11	11	NUM
ajst-13413	83	3	.	.	PUNCT
ajst-13413	83	4	mpu9250	mpu9250	PROPN
ajst-13413	83	5	motion	motion	NOUN
ajst-13413	83	6	sensor	sensor	NOUN
ajst-13413	83	7	module	module	NOUN
ajst-13413	83	8	3.2.8	3.2.8	NUM
ajst-13413	83	9	.	.	PUNCT
ajst-13413	84	1	s	s	NOUN
ajst-13413	84	2	-	-	PUNCT
ajst-13413	84	3	bus	bus	NOUN
ajst-13413	84	4	remote	remote	ADJ
ajst-13413	84	5	control	control	NOUN
ajst-13413	84	6	module	module	NOUN
ajst-13413	84	7	in	in	ADP
ajst-13413	84	8	aeromodelling	aeromodelle	VERB
ajst-13413	84	9	control	control	NOUN
ajst-13413	84	10	,	,	PUNCT
ajst-13413	84	11	common	common	ADJ
ajst-13413	84	12	remote	remote	ADJ
ajst-13413	84	13	control	control	NOUN
ajst-13413	84	14	methods	method	NOUN
ajst-13413	84	15	include	include	VERB
ajst-13413	84	16	pwm	pwm	NOUN
ajst-13413	84	17	control	control	NOUN
ajst-13413	84	18	,	,	PUNCT
ajst-13413	84	19	dshot	dshot	PROPN
ajst-13413	84	20	,	,	PUNCT
ajst-13413	84	21	sbus	sbus	NOUN
ajst-13413	84	22	,	,	PUNCT
ajst-13413	84	23	etc	etc	X
ajst-13413	84	24	.	.	X
ajst-13413	84	25	in	in	ADP
ajst-13413	84	26	this	this	DET
ajst-13413	84	27	design	design	NOUN
ajst-13413	84	28	,	,	PUNCT
ajst-13413	84	29	to	to	PART
ajst-13413	84	30	increase	increase	VERB
ajst-13413	84	31	stability	stability	NOUN
ajst-13413	84	32	,	,	PUNCT
ajst-13413	84	33	a	a	DET
ajst-13413	84	34	digital	digital	ADJ
ajst-13413	84	35	communication	communication	NOUN
ajst-13413	84	36	protocol	protocol	NOUN
ajst-13413	84	37	-	-	PUNCT
ajst-13413	84	38	based	base	VERB
ajst-13413	84	39	sbus	sbus	NOUN
ajst-13413	84	40	remote	remote	ADJ
ajst-13413	84	41	control	control	NOUN
ajst-13413	84	42	module	module	NOUN
ajst-13413	84	43	was	be	AUX
ajst-13413	84	44	selected	select	VERB
ajst-13413	84	45	.	.	PUNCT
ajst-13413	85	1	since	since	SCONJ
ajst-13413	85	2	data	data	NOUN
ajst-13413	85	3	packets	packet	NOUN
ajst-13413	85	4	are	be	AUX
ajst-13413	85	5	utilized	utilize	VERB
ajst-13413	85	6	,	,	PUNCT
ajst-13413	85	7	environmental	environmental	ADJ
ajst-13413	85	8	interference	interference	NOUN
ajst-13413	85	9	problems	problem	NOUN
ajst-13413	85	10	can	can	AUX
ajst-13413	85	11	be	be	AUX
ajst-13413	85	12	greatly	greatly	ADV
ajst-13413	85	13	reduced	reduce	VERB
ajst-13413	85	14	,	,	PUNCT
ajst-13413	85	15	ensuring	ensure	VERB
ajst-13413	85	16	the	the	DET
ajst-13413	85	17	accuracy	accuracy	NOUN
ajst-13413	85	18	of	of	ADP
ajst-13413	85	19	remote	remote	ADJ
ajst-13413	85	20	control	control	NOUN
ajst-13413	85	21	data	datum	NOUN
ajst-13413	85	22	.	.	PUNCT
ajst-13413	86	1	figure	figure	NOUN
ajst-13413	86	2	12	12	NUM
ajst-13413	86	3	.	.	PUNCT
ajst-13413	87	1	s	s	NOUN
ajst-13413	87	2	-	-	PUNCT
ajst-13413	87	3	bus	bus	NOUN
ajst-13413	87	4	remote	remote	ADJ
ajst-13413	87	5	controller	controller	NOUN
ajst-13413	87	6	and	and	CCONJ
ajst-13413	87	7	receiver	receiver	ADJ
ajst-13413	87	8	3.3	3.3	NUM
ajst-13413	87	9	.	.	PUNCT
ajst-13413	88	1	control	control	NOUN
ajst-13413	88	2	system	system	NOUN
ajst-13413	88	3	software	software	NOUN
ajst-13413	88	4	design	design	NOUN
ajst-13413	88	5	in	in	ADP
ajst-13413	88	6	terms	term	NOUN
ajst-13413	88	7	of	of	ADP
ajst-13413	88	8	program	program	NOUN
ajst-13413	88	9	design	design	NOUN
ajst-13413	88	10	,	,	PUNCT
ajst-13413	88	11	due	due	ADP
ajst-13413	88	12	to	to	ADP
ajst-13413	88	13	the	the	DET
ajst-13413	88	14	networked	networked	ADJ
ajst-13413	88	15	control	control	NOUN
ajst-13413	88	16	and	and	CCONJ
ajst-13413	88	17	high	high	ADJ
ajst-13413	88	18	coupling	coupling	NOUN
ajst-13413	88	19	,	,	PUNCT
ajst-13413	88	20	there	there	PRON
ajst-13413	88	21	are	be	VERB
ajst-13413	88	22	multiple	multiple	ADJ
ajst-13413	88	23	concurrent	concurrent	ADJ
ajst-13413	88	24	real	real	ADJ
ajst-13413	88	25	-	-	PUNCT
ajst-13413	88	26	time	time	NOUN
ajst-13413	88	27	tasks	task	NOUN
ajst-13413	88	28	.	.	PUNCT
ajst-13413	89	1	to	to	PART
ajst-13413	89	2	address	address	VERB
ajst-13413	89	3	this	this	DET
ajst-13413	89	4	issue	issue	NOUN
ajst-13413	89	5	,	,	PUNCT
ajst-13413	89	6	the	the	DET
ajst-13413	89	7	open	open	ADJ
ajst-13413	89	8	-	-	PUNCT
ajst-13413	89	9	source	source	NOUN
ajst-13413	89	10	and	and	CCONJ
ajst-13413	89	11	free	free	ADJ
ajst-13413	89	12	freertos	freertos	NOUN
ajst-13413	89	13	operating	operating	NOUN
ajst-13413	89	14	system	system	NOUN
ajst-13413	89	15	was	be	AUX
ajst-13413	89	16	used	use	VERB
ajst-13413	89	17	.	.	PUNCT
ajst-13413	90	1	during	during	ADP
ajst-13413	90	2	system	system	NOUN
ajst-13413	90	3	startup	startup	NOUN
ajst-13413	90	4	,	,	PUNCT
ajst-13413	90	5	all	all	PRON
ajst-13413	90	6	subprocesses	subprocesse	VERB
ajst-13413	90	7	first	first	ADV
ajst-13413	90	8	wait	wait	VERB
ajst-13413	90	9	for	for	SCONJ
ajst-13413	90	10	the	the	DET
ajst-13413	90	11	initialization	initialization	NOUN
ajst-13413	90	12	process	process	NOUN
ajst-13413	90	13	to	to	PART
ajst-13413	90	14	complete	complete	VERB
ajst-13413	90	15	.	.	PUNCT
ajst-13413	91	1	once	once	ADV
ajst-13413	91	2	initialization	initialization	NOUN
ajst-13413	91	3	is	be	AUX
ajst-13413	91	4	finished	finish	VERB
ajst-13413	91	5	,	,	PUNCT
ajst-13413	91	6	the	the	DET
ajst-13413	91	7	system	system	NOUN
ajst-13413	91	8	has	have	VERB
ajst-13413	91	9	access	access	NOUN
ajst-13413	91	10	to	to	ADP
ajst-13413	91	11	valid	valid	ADJ
ajst-13413	91	12	initialization	initialization	NOUN
ajst-13413	91	13	data	datum	NOUN
ajst-13413	91	14	,	,	PUNCT
ajst-13413	91	15	and	and	CCONJ
ajst-13413	91	16	the	the	DET
ajst-13413	91	17	initialization	initialization	NOUN
ajst-13413	91	18	program	program	NOUN
ajst-13413	91	19	terminates	terminate	VERB
ajst-13413	91	20	itself	itself	PRON
ajst-13413	91	21	.	.	PUNCT
ajst-13413	92	1	after	after	SCONJ
ajst-13413	92	2	the	the	DET
ajst-13413	92	3	program	program	NOUN
ajst-13413	92	4	begins	begin	VERB
ajst-13413	92	5	executing	execute	VERB
ajst-13413	92	6	concurrent	concurrent	ADJ
ajst-13413	92	7	tasks	task	NOUN
ajst-13413	92	8	,	,	PUNCT
ajst-13413	92	9	there	there	PRON
ajst-13413	92	10	is	be	VERB
ajst-13413	92	11	only	only	ADV
ajst-13413	92	12	coupling	couple	VERB
ajst-13413	92	13	between	between	ADP
ajst-13413	92	14	the	the	DET
ajst-13413	92	15	filter	filter	NOUN
ajst-13413	92	16	and	and	CCONJ
ajst-13413	92	17	mpu	mpu	NOUN
ajst-13413	92	18	data	data	PROPN
ajst-13413	92	19	conversion	conversion	NOUN
ajst-13413	92	20	tasks	task	NOUN
ajst-13413	92	21	.	.	PUNCT
ajst-13413	93	1	therefore	therefore	ADV
ajst-13413	93	2	,	,	PUNCT
ajst-13413	93	3	the	the	DET
ajst-13413	93	4	filter	filter	NOUN
ajst-13413	93	5	blocks	block	VERB
ajst-13413	93	6	the	the	DET
ajst-13413	93	7	mpu	mpu	NOUN
ajst-13413	93	8	task	task	NOUN
ajst-13413	93	9	before	before	ADP
ajst-13413	93	10	execution	execution	NOUN
ajst-13413	93	11	to	to	PART
ajst-13413	93	12	ensure	ensure	VERB
ajst-13413	93	13	that	that	SCONJ
ajst-13413	93	14	the	the	DET
ajst-13413	93	15	data	data	NOUN
ajst-13413	93	16	is	be	AUX
ajst-13413	93	17	from	from	ADP
ajst-13413	93	18	the	the	DET
ajst-13413	93	19	same	same	ADJ
ajst-13413	93	20	sampling	sampling	NOUN
ajst-13413	93	21	time	time	NOUN
ajst-13413	93	22	point	point	NOUN
ajst-13413	93	23	.	.	PUNCT
ajst-13413	94	1	after	after	ADP
ajst-13413	94	2	the	the	DET
ajst-13413	94	3	data	data	NOUN
ajst-13413	94	4	277	277	NUM
ajst-13413	94	5	filtering	filtering	NOUN
ajst-13413	94	6	and	and	CCONJ
ajst-13413	94	7	conversion	conversion	NOUN
ajst-13413	94	8	are	be	AUX
ajst-13413	94	9	completed	complete	VERB
ajst-13413	94	10	,	,	PUNCT
ajst-13413	94	11	the	the	DET
ajst-13413	94	12	mpu	mpu	NOUN
ajst-13413	94	13	task	task	PROPN
ajst-13413	94	14	is	be	AUX
ajst-13413	94	15	then	then	ADV
ajst-13413	94	16	enabled	enable	VERB
ajst-13413	94	17	,	,	PUNCT
ajst-13413	94	18	and	and	CCONJ
ajst-13413	94	19	this	this	DET
ajst-13413	94	20	cycle	cycle	NOUN
ajst-13413	94	21	continues	continue	VERB
ajst-13413	94	22	.	.	PUNCT
ajst-13413	95	1	within	within	ADP
ajst-13413	95	2	this	this	DET
ajst-13413	95	3	cycle	cycle	NOUN
ajst-13413	95	4	,	,	PUNCT
ajst-13413	95	5	the	the	DET
ajst-13413	95	6	interval	interval	NOUN
ajst-13413	95	7	between	between	ADP
ajst-13413	95	8	each	each	DET
ajst-13413	95	9	iteration	iteration	NOUN
ajst-13413	95	10	can	can	AUX
ajst-13413	95	11	be	be	AUX
ajst-13413	95	12	freely	freely	ADV
ajst-13413	95	13	set	set	VERB
ajst-13413	95	14	to	to	PART
ajst-13413	95	15	obtain	obtain	VERB
ajst-13413	95	16	a	a	DET
ajst-13413	95	17	suitable	suitable	ADJ
ajst-13413	95	18	and	and	CCONJ
ajst-13413	95	19	stable	stable	ADJ
ajst-13413	95	20	data	datum	NOUN
ajst-13413	95	21	flow	flow	NOUN
ajst-13413	95	22	.	.	PUNCT
ajst-13413	96	1	the	the	DET
ajst-13413	96	2	program	program	NOUN
ajst-13413	96	3	framework	framework	NOUN
ajst-13413	96	4	is	be	AUX
ajst-13413	96	5	illustrated	illustrate	VERB
ajst-13413	96	6	in	in	ADP
ajst-13413	96	7	figure	figure	NOUN
ajst-13413	96	8	13	13	NUM
ajst-13413	96	9	.	.	PUNCT
ajst-13413	97	1	task	task	NOUN
ajst-13413	97	2	manager	manager	NOUN
ajst-13413	97	3	s	s	NOUN
ajst-13413	97	4	-	-	NOUN
ajst-13413	97	5	bus	bus	NOUN
ajst-13413	97	6	(	(	PUNCT
ajst-13413	97	7	uart	uart	ADJ
ajst-13413	97	8	)	)	PUNCT
ajst-13413	97	9	oled	ole	VERB
ajst-13413	97	10	mpu	mpu	NOUN
ajst-13413	97	11	9250	9250	NUM
ajst-13413	97	12	servo	servo	PROPN
ajst-13413	97	13	motor	motor	PROPN
ajst-13413	97	14	bldc	bldc	PROPN
ajst-13413	97	15	hal	hal	PROPN
ajst-13413	97	16	library	library	PROPN
ajst-13413	97	17	driver	driver	NOUN
ajst-13413	97	18	functions	function	NOUN
ajst-13413	97	19	controller	controller	NOUN
ajst-13413	97	20	freertos	freertos	NOUN
ajst-13413	97	21	figure	figure	NOUN
ajst-13413	97	22	13	13	NUM
ajst-13413	97	23	.	.	PUNCT
ajst-13413	98	1	program	program	NOUN
ajst-13413	98	2	framework	framework	NOUN
ajst-13413	98	3	based	base	VERB
ajst-13413	98	4	on	on	ADP
ajst-13413	98	5	freertos	freertos	ADJ
ajst-13413	98	6	kernel	kernel	NOUN
ajst-13413	98	7	after	after	ADP
ajst-13413	98	8	obtaining	obtain	VERB
ajst-13413	98	9	the	the	DET
ajst-13413	98	10	latest	late	ADJ
ajst-13413	98	11	control	control	NOUN
ajst-13413	98	12	data	datum	NOUN
ajst-13413	98	13	output	output	NOUN
ajst-13413	98	14	,	,	PUNCT
ajst-13413	98	15	the	the	DET
ajst-13413	98	16	controller	controller	NOUN
ajst-13413	98	17	can	can	AUX
ajst-13413	98	18	internally	internally	ADV
ajst-13413	98	19	add	add	VERB
ajst-13413	98	20	up	up	ADP
ajst-13413	98	21	the	the	DET
ajst-13413	98	22	output	output	NOUN
ajst-13413	98	23	values	value	NOUN
ajst-13413	98	24	of	of	ADP
ajst-13413	98	25	multiple	multiple	ADJ
ajst-13413	98	26	channels	channel	NOUN
ajst-13413	98	27	in	in	ADP
ajst-13413	98	28	proportion	proportion	NOUN
ajst-13413	98	29	.	.	PUNCT
ajst-13413	99	1	the	the	DET
ajst-13413	99	2	summed	sum	VERB
ajst-13413	99	3	value	value	NOUN
ajst-13413	99	4	is	be	AUX
ajst-13413	99	5	finally	finally	ADV
ajst-13413	99	6	sent	send	VERB
ajst-13413	99	7	to	to	ADP
ajst-13413	99	8	two	two	NUM
ajst-13413	99	9	servos	servo	NOUN
ajst-13413	99	10	and	and	CCONJ
ajst-13413	99	11	two	two	NUM
ajst-13413	99	12	ducted	ducte	VERB
ajst-13413	99	13	fans	fan	NOUN
ajst-13413	99	14	.	.	PUNCT
ajst-13413	100	1	before	before	ADP
ajst-13413	100	2	sending	send	VERB
ajst-13413	100	3	,	,	PUNCT
ajst-13413	100	4	the	the	DET
ajst-13413	100	5	system	system	NOUN
ajst-13413	100	6	does	do	AUX
ajst-13413	100	7	not	not	PART
ajst-13413	100	8	correct	correct	VERB
ajst-13413	100	9	the	the	DET
ajst-13413	100	10	attitude	attitude	NOUN
ajst-13413	100	11	.	.	PUNCT
ajst-13413	101	1	since	since	SCONJ
ajst-13413	101	2	attitude	attitude	NOUN
ajst-13413	101	3	data	datum	NOUN
ajst-13413	101	4	is	be	AUX
ajst-13413	101	5	obtained	obtain	VERB
ajst-13413	101	6	serially	serially	ADV
ajst-13413	101	7	,	,	PUNCT
ajst-13413	101	8	it	it	PRON
ajst-13413	101	9	has	have	VERB
ajst-13413	101	10	a	a	DET
ajst-13413	101	11	certain	certain	ADJ
ajst-13413	101	12	delay	delay	NOUN
ajst-13413	101	13	and	and	CCONJ
ajst-13413	101	14	phase	phase	NOUN
ajst-13413	101	15	difference	difference	NOUN
ajst-13413	101	16	.	.	PUNCT
ajst-13413	102	1	if	if	SCONJ
ajst-13413	102	2	the	the	DET
ajst-13413	102	3	attitude	attitude	NOUN
ajst-13413	102	4	data	datum	NOUN
ajst-13413	102	5	is	be	AUX
ajst-13413	102	6	still	still	ADV
ajst-13413	102	7	not	not	PART
ajst-13413	102	8	blocked	block	VERB
ajst-13413	102	9	and	and	CCONJ
ajst-13413	102	10	directly	directly	ADV
ajst-13413	102	11	injected	inject	VERB
ajst-13413	102	12	into	into	ADP
ajst-13413	102	13	the	the	DET
ajst-13413	102	14	control	control	NOUN
ajst-13413	102	15	loop	loop	NOUN
ajst-13413	102	16	,	,	PUNCT
ajst-13413	102	17	it	it	PRON
ajst-13413	102	18	may	may	AUX
ajst-13413	102	19	cause	cause	VERB
ajst-13413	102	20	confusion	confusion	NOUN
ajst-13413	102	21	and	and	CCONJ
ajst-13413	102	22	coupling	couple	VERB
ajst-13413	102	23	errors	error	NOUN
ajst-13413	102	24	in	in	ADP
ajst-13413	102	25	the	the	DET
ajst-13413	102	26	system	system	NOUN
ajst-13413	102	27	.	.	PUNCT
ajst-13413	103	1	therefore	therefore	ADV
ajst-13413	103	2	,	,	PUNCT
ajst-13413	103	3	the	the	DET
ajst-13413	103	4	data	data	NOUN
ajst-13413	103	5	is	be	AUX
ajst-13413	103	6	packaged	package	VERB
ajst-13413	103	7	in	in	ADP
ajst-13413	103	8	a	a	DET
ajst-13413	103	9	blocking	blocking	NOUN
ajst-13413	103	10	manner	manner	NOUN
ajst-13413	103	11	and	and	CCONJ
ajst-13413	103	12	injected	inject	VERB
ajst-13413	103	13	into	into	ADP
ajst-13413	103	14	the	the	DET
ajst-13413	103	15	loop	loop	NOUN
ajst-13413	103	16	in	in	ADP
ajst-13413	103	17	a	a	DET
ajst-13413	103	18	time	time	NOUN
ajst-13413	103	19	-	-	PUNCT
ajst-13413	103	20	sliced	slice	VERB
ajst-13413	103	21	manner	manner	NOUN
ajst-13413	103	22	.	.	PUNCT
ajst-13413	104	1	this	this	PRON
ajst-13413	104	2	sacrifices	sacrifice	VERB
ajst-13413	104	3	some	some	DET
ajst-13413	104	4	immediacy	immediacy	NOUN
ajst-13413	104	5	to	to	PART
ajst-13413	104	6	ensure	ensure	VERB
ajst-13413	104	7	a	a	DET
ajst-13413	104	8	unified	unified	ADJ
ajst-13413	104	9	and	and	CCONJ
ajst-13413	104	10	organized	organized	ADJ
ajst-13413	104	11	data	data	NOUN
ajst-13413	104	12	flow	flow	NOUN
ajst-13413	104	13	.	.	PUNCT
ajst-13413	105	1	when	when	SCONJ
ajst-13413	105	2	dividing	divide	VERB
ajst-13413	105	3	the	the	DET
ajst-13413	105	4	weights	weight	NOUN
ajst-13413	105	5	internally	internally	ADV
ajst-13413	105	6	,	,	PUNCT
ajst-13413	105	7	the	the	DET
ajst-13413	105	8	conventional	conventional	ADJ
ajst-13413	105	9	double	double	ADJ
ajst-13413	105	10	-	-	PUNCT
ajst-13413	105	11	closed	close	VERB
ajst-13413	105	12	loop	loop	NOUN
ajst-13413	105	13	approach	approach	NOUN
ajst-13413	105	14	(	(	PUNCT
ajst-13413	105	15	stable	stable	ADJ
ajst-13413	105	16	loop	loop	NOUN
ajst-13413	105	17	and	and	CCONJ
ajst-13413	105	18	motion	motion	NOUN
ajst-13413	105	19	loop	loop	NOUN
ajst-13413	105	20	)	)	PUNCT
ajst-13413	105	21	is	be	AUX
ajst-13413	105	22	still	still	ADV
ajst-13413	105	23	used	use	VERB
ajst-13413	105	24	.	.	PUNCT
ajst-13413	106	1	firstly	firstly	ADV
ajst-13413	106	2	,	,	PUNCT
ajst-13413	106	3	the	the	DET
ajst-13413	106	4	basic	basic	ADJ
ajst-13413	106	5	control	control	NOUN
ajst-13413	106	6	quantity	quantity	NOUN
ajst-13413	106	7	for	for	ADP
ajst-13413	106	8	selfstabilization	selfstabilization	NOUN
ajst-13413	106	9	is	be	AUX
ajst-13413	106	10	formed	form	VERB
ajst-13413	106	11	for	for	ADP
ajst-13413	106	12	convergence	convergence	NOUN
ajst-13413	106	13	.	.	PUNCT
ajst-13413	107	1	the	the	DET
ajst-13413	107	2	motion	motion	NOUN
ajst-13413	107	3	loop	loop	NOUN
ajst-13413	107	4	is	be	AUX
ajst-13413	107	5	added	add	VERB
ajst-13413	107	6	before	before	ADP
ajst-13413	107	7	the	the	DET
ajst-13413	107	8	stable	stable	ADJ
ajst-13413	107	9	loop	loop	NOUN
ajst-13413	107	10	as	as	ADP
ajst-13413	107	11	a	a	DET
ajst-13413	107	12	sub	sub	NOUN
ajst-13413	107	13	-	-	NOUN
ajst-13413	107	14	loop	loop	NOUN
ajst-13413	107	15	,	,	PUNCT
ajst-13413	107	16	and	and	CCONJ
ajst-13413	107	17	the	the	DET
ajst-13413	107	18	motion	motion	NOUN
ajst-13413	107	19	loop	loop	NOUN
ajst-13413	107	20	does	do	AUX
ajst-13413	107	21	not	not	PART
ajst-13413	107	22	affect	affect	VERB
ajst-13413	107	23	the	the	DET
ajst-13413	107	24	convergence	convergence	NOUN
ajst-13413	107	25	effect	effect	NOUN
ajst-13413	107	26	of	of	ADP
ajst-13413	107	27	the	the	DET
ajst-13413	107	28	stable	stable	ADJ
ajst-13413	107	29	loop	loop	NOUN
ajst-13413	107	30	when	when	SCONJ
ajst-13413	107	31	it	it	PRON
ajst-13413	107	32	is	be	AUX
ajst-13413	107	33	not	not	PART
ajst-13413	107	34	enabled	enable	VERB
ajst-13413	107	35	or	or	CCONJ
ajst-13413	107	36	no	no	DET
ajst-13413	107	37	external	external	ADJ
ajst-13413	107	38	disturbances	disturbance	NOUN
ajst-13413	107	39	have	have	AUX
ajst-13413	107	40	been	be	AUX
ajst-13413	107	41	introduced	introduce	VERB
ajst-13413	107	42	.	.	PUNCT
ajst-13413	108	1	4	4	X
ajst-13413	108	2	.	.	X
ajst-13413	108	3	verification	verification	NOUN
ajst-13413	108	4	and	and	CCONJ
ajst-13413	108	5	analysis	analysis	NOUN
ajst-13413	108	6	4.1	4.1	NUM
ajst-13413	108	7	.	.	PUNCT
ajst-13413	108	8	introduction	introduction	NOUN
ajst-13413	108	9	to	to	PART
ajst-13413	108	10	test	test	NOUN
ajst-13413	108	11	environment	environment	NOUN
ajst-13413	108	12	to	to	PART
ajst-13413	108	13	ensure	ensure	VERB
ajst-13413	108	14	the	the	DET
ajst-13413	108	15	safety	safety	NOUN
ajst-13413	108	16	of	of	ADP
ajst-13413	108	17	testing	testing	NOUN
ajst-13413	108	18	experiments	experiment	NOUN
ajst-13413	108	19	,	,	PUNCT
ajst-13413	108	20	the	the	DET
ajst-13413	108	21	aircraft	aircraft	NOUN
ajst-13413	108	22	is	be	AUX
ajst-13413	108	23	suspended	suspend	VERB
ajst-13413	108	24	on	on	ADP
ajst-13413	108	25	a	a	DET
ajst-13413	108	26	test	test	NOUN
ajst-13413	108	27	rig	rig	NOUN
ajst-13413	108	28	for	for	ADP
ajst-13413	108	29	parameter	parameter	NOUN
ajst-13413	108	30	measurements	measurement	NOUN
ajst-13413	108	31	during	during	ADP
ajst-13413	108	32	the	the	DET
ajst-13413	108	33	tests	test	NOUN
ajst-13413	108	34	.	.	PUNCT
ajst-13413	109	1	in	in	ADP
ajst-13413	109	2	order	order	NOUN
ajst-13413	109	3	to	to	PART
ajst-13413	109	4	facilitate	facilitate	VERB
ajst-13413	109	5	the	the	DET
ajst-13413	109	6	testing	testing	NOUN
ajst-13413	109	7	process	process	NOUN
ajst-13413	109	8	,	,	PUNCT
ajst-13413	109	9	a	a	DET
ajst-13413	109	10	debugging	debugging	NOUN
ajst-13413	109	11	data	data	NOUN
ajst-13413	109	12	interface	interface	NOUN
ajst-13413	109	13	was	be	AUX
ajst-13413	109	14	reserved	reserve	VERB
ajst-13413	109	15	in	in	ADP
ajst-13413	109	16	the	the	DET
ajst-13413	109	17	system	system	NOUN
ajst-13413	109	18	design	design	NOUN
ajst-13413	109	19	to	to	PART
ajst-13413	109	20	transmit	transmit	VERB
ajst-13413	109	21	flight	flight	NOUN
ajst-13413	109	22	attitude	attitude	NOUN
ajst-13413	109	23	data	datum	NOUN
ajst-13413	109	24	to	to	ADP
ajst-13413	109	25	the	the	DET
ajst-13413	109	26	upper	upper	ADJ
ajst-13413	109	27	computer	computer	NOUN
ajst-13413	109	28	.	.	PUNCT
ajst-13413	110	1	it	it	PRON
ajst-13413	110	2	can	can	AUX
ajst-13413	110	3	also	also	ADV
ajst-13413	110	4	receive	receive	VERB
ajst-13413	110	5	real	real	ADJ
ajst-13413	110	6	-	-	PUNCT
ajst-13413	110	7	time	time	NOUN
ajst-13413	110	8	test	test	NOUN
ajst-13413	110	9	parameters	parameter	NOUN
ajst-13413	110	10	sent	send	VERB
ajst-13413	110	11	from	from	ADP
ajst-13413	110	12	the	the	DET
ajst-13413	110	13	upper	upper	ADJ
ajst-13413	110	14	computer	computer	NOUN
ajst-13413	110	15	,	,	PUNCT
ajst-13413	110	16	in	in	ADP
ajst-13413	110	17	order	order	NOUN
ajst-13413	110	18	to	to	PART
ajst-13413	110	19	do	do	AUX
ajst-13413	110	20	the	the	DET
ajst-13413	110	21	dynamic	dynamic	ADJ
ajst-13413	110	22	testing	testing	NOUN
ajst-13413	110	23	.	.	PUNCT
ajst-13413	111	1	figure	figure	NOUN
ajst-13413	111	2	14	14	NUM
ajst-13413	111	3	.	.	PUNCT
ajst-13413	112	1	dual	dual	ADJ
ajst-13413	112	2	-	-	PUNCT
ajst-13413	112	3	tiltable	tiltable	NOUN
ajst-13413	112	4	-	-	PUNCT
ajst-13413	112	5	ducted	ducte	VERB
ajst-13413	112	6	-	-	PUNCT
ajst-13413	112	7	fan	fan	NOUN
ajst-13413	112	8	aircraft	aircraft	NOUN
ajst-13413	112	9	on	on	ADP
ajst-13413	112	10	the	the	DET
ajst-13413	112	11	test	test	NOUN
ajst-13413	112	12	rig	rig	NOUN
ajst-13413	112	13	4.2	4.2	NUM
ajst-13413	112	14	.	.	PUNCT
ajst-13413	113	1	verification	verification	NOUN
ajst-13413	113	2	of	of	ADP
ajst-13413	113	3	yaw	yaw	PROPN
ajst-13413	113	4	loop	loop	PROPN
ajst-13413	113	5	convergence	convergence	NOUN
ajst-13413	113	6	test	test	NOUN
ajst-13413	113	7	during	during	ADP
ajst-13413	113	8	the	the	DET
ajst-13413	113	9	convergence	convergence	NOUN
ajst-13413	113	10	control	control	NOUN
ajst-13413	113	11	experiment	experiment	NOUN
ajst-13413	113	12	of	of	ADP
ajst-13413	113	13	the	the	DET
ajst-13413	113	14	yaw	yaw	PROPN
ajst-13413	113	15	loop	loop	PROPN
ajst-13413	113	16	,	,	PUNCT
ajst-13413	113	17	an	an	DET
ajst-13413	113	18	incremental	incremental	ADJ
ajst-13413	113	19	pid	pid	NOUN
ajst-13413	113	20	controller	controller	NOUN
ajst-13413	113	21	is	be	AUX
ajst-13413	113	22	used	use	VERB
ajst-13413	113	23	.	.	PUNCT
ajst-13413	114	1	due	due	ADP
ajst-13413	114	2	to	to	ADP
ajst-13413	114	3	the	the	DET
ajst-13413	114	4	lack	lack	NOUN
ajst-13413	114	5	of	of	ADP
ajst-13413	114	6	a	a	DET
ajst-13413	114	7	clear	clear	ADJ
ajst-13413	114	8	system	system	NOUN
ajst-13413	114	9	transfer	transfer	NOUN
ajst-13413	114	10	function	function	NOUN
ajst-13413	114	11	description	description	NOUN
ajst-13413	114	12	in	in	ADP
ajst-13413	114	13	the	the	DET
ajst-13413	114	14	manufacturing	manufacturing	NOUN
ajst-13413	114	15	process	process	NOUN
ajst-13413	114	16	of	of	ADP
ajst-13413	114	17	the	the	DET
ajst-13413	114	18	aircraft	aircraft	NOUN
ajst-13413	114	19	,	,	PUNCT
ajst-13413	114	20	a	a	DET
ajst-13413	114	21	trial	trial	NOUN
ajst-13413	114	22	-	-	PUNCT
ajst-13413	114	23	and	and	CCONJ
ajst-13413	114	24	-	-	PUNCT
ajst-13413	114	25	error	error	NOUN
ajst-13413	114	26	method	method	NOUN
ajst-13413	114	27	is	be	AUX
ajst-13413	114	28	used	use	VERB
ajst-13413	114	29	to	to	PART
ajst-13413	114	30	tune	tune	VERB
ajst-13413	114	31	and	and	CCONJ
ajst-13413	114	32	debug	debug	VERB
ajst-13413	114	33	the	the	DET
ajst-13413	114	34	pid	pid	NOUN
ajst-13413	114	35	parameters	parameter	NOUN
ajst-13413	114	36	,	,	PUNCT
ajst-13413	114	37	and	and	CCONJ
ajst-13413	114	38	the	the	DET
ajst-13413	114	39	debugging	debugging	NOUN
ajst-13413	114	40	data	datum	NOUN
ajst-13413	114	41	interface	interface	NOUN
ajst-13413	114	42	mentioned	mention	VERB
ajst-13413	114	43	above	above	ADV
ajst-13413	114	44	is	be	AUX
ajst-13413	114	45	used	use	VERB
ajst-13413	114	46	to	to	PART
ajst-13413	114	47	record	record	VERB
ajst-13413	114	48	data	datum	NOUN
ajst-13413	114	49	.	.	PUNCT
ajst-13413	115	1	the	the	DET
ajst-13413	115	2	following	follow	VERB
ajst-13413	115	3	table	table	NOUN
ajst-13413	115	4	shows	show	VERB
ajst-13413	115	5	some	some	DET
ajst-13413	115	6	test	test	NOUN
ajst-13413	115	7	parameters	parameter	NOUN
ajst-13413	115	8	during	during	ADP
ajst-13413	115	9	the	the	DET
ajst-13413	115	10	pid	pid	NOUN
ajst-13413	115	11	parameter	parameter	NOUN
ajst-13413	115	12	tuning	tuning	NOUN
ajst-13413	115	13	and	and	CCONJ
ajst-13413	115	14	debugging	debugging	NOUN
ajst-13413	115	15	process	process	NOUN
ajst-13413	115	16	.	.	PUNCT
ajst-13413	116	1	due	due	ADP
ajst-13413	116	2	to	to	ADP
ajst-13413	116	3	the	the	DET
ajst-13413	116	4	tedious	tedious	ADJ
ajst-13413	116	5	measurement	measurement	NOUN
ajst-13413	116	6	process	process	NOUN
ajst-13413	116	7	and	and	CCONJ
ajst-13413	116	8	the	the	DET
ajst-13413	116	9	large	large	ADJ
ajst-13413	116	10	amount	amount	NOUN
ajst-13413	116	11	of	of	ADP
ajst-13413	116	12	data	datum	NOUN
ajst-13413	116	13	,	,	PUNCT
ajst-13413	116	14	only	only	ADV
ajst-13413	116	15	a	a	DET
ajst-13413	116	16	portion	portion	NOUN
ajst-13413	116	17	of	of	ADP
ajst-13413	116	18	the	the	DET
ajst-13413	116	19	data	datum	NOUN
ajst-13413	116	20	is	be	AUX
ajst-13413	116	21	selected	select	VERB
ajst-13413	116	22	for	for	ADP
ajst-13413	116	23	demonstration	demonstration	NOUN
ajst-13413	116	24	.	.	PUNCT
ajst-13413	117	1	the	the	DET
ajst-13413	117	2	table	table	NOUN
ajst-13413	117	3	lists	list	VERB
ajst-13413	117	4	three	three	NUM
ajst-13413	117	5	sets	set	NOUN
ajst-13413	117	6	of	of	ADP
ajst-13413	117	7	test	test	NOUN
ajst-13413	117	8	parameters	parameter	NOUN
ajst-13413	117	9	:	:	PUNCT
ajst-13413	117	10	a	a	DET
ajst-13413	117	11	,	,	PUNCT
ajst-13413	117	12	b	b	NOUN
ajst-13413	117	13	,	,	PUNCT
ajst-13413	117	14	and	and	CCONJ
ajst-13413	117	15	c	c	X
ajst-13413	117	16	,	,	PUNCT
ajst-13413	117	17	representing	represent	VERB
ajst-13413	117	18	the	the	DET
ajst-13413	117	19	initial	initial	ADJ
ajst-13413	117	20	,	,	PUNCT
ajst-13413	117	21	middle	middle	ADJ
ajst-13413	117	22	,	,	PUNCT
ajst-13413	117	23	and	and	CCONJ
ajst-13413	117	24	final	final	ADJ
ajst-13413	117	25	stages	stage	NOUN
ajst-13413	117	26	of	of	ADP
ajst-13413	117	27	parameter	parameter	NOUN
ajst-13413	117	28	tuning	tuning	NOUN
ajst-13413	117	29	.	.	PUNCT
ajst-13413	118	1	it	it	PRON
ajst-13413	118	2	also	also	ADV
ajst-13413	118	3	includes	include	VERB
ajst-13413	118	4	the	the	DET
ajst-13413	118	5	number	number	NOUN
ajst-13413	118	6	of	of	ADP
ajst-13413	118	7	oscillations	oscillation	NOUN
ajst-13413	118	8	and	and	CCONJ
ajst-13413	118	9	convergence	convergence	NOUN
ajst-13413	118	10	time	time	NOUN
ajst-13413	118	11	of	of	ADP
ajst-13413	118	12	the	the	DET
ajst-13413	118	13	system	system	NOUN
ajst-13413	118	14	under	under	ADP
ajst-13413	118	15	these	these	DET
ajst-13413	118	16	parameter	parameter	NOUN
ajst-13413	118	17	conditions	condition	NOUN
ajst-13413	118	18	,	,	PUNCT
ajst-13413	118	19	facilitating	facilitate	VERB
ajst-13413	118	20	comparative	comparative	ADJ
ajst-13413	118	21	analysis	analysis	NOUN
ajst-13413	118	22	.	.	PUNCT
ajst-13413	119	1	table	table	NOUN
ajst-13413	119	2	1	1	NUM
ajst-13413	119	3	.	.	PUNCT
ajst-13413	119	4	data	datum	NOUN
ajst-13413	119	5	for	for	ADP
ajst-13413	119	6	pid	pid	NOUN
ajst-13413	119	7	parameter	parameter	NOUN
ajst-13413	119	8	tuning	tuning	NOUN
ajst-13413	119	9	and	and	CCONJ
ajst-13413	119	10	debugging	debugging	NOUN
ajst-13413	119	11	process	process	NOUN
ajst-13413	119	12	in	in	ADP
ajst-13413	119	13	yaw	yaw	PROPN
ajst-13413	119	14	loop	loop	NOUN
ajst-13413	119	15	(	(	PUNCT
ajst-13413	119	16	partial	partial	ADJ
ajst-13413	119	17	)	)	PUNCT
ajst-13413	119	18	sets	set	VERB
ajst-13413	119	19	kp	kp	PROPN
ajst-13413	119	20	ki	ki	PROPN
ajst-13413	119	21	kd	kd	PROPN
ajst-13413	119	22	number	number	NOUN
ajst-13413	119	23	of	of	ADP
ajst-13413	119	24	oscillations	oscillation	NOUN
ajst-13413	119	25	convergence	convergence	NOUN
ajst-13413	119	26	time	time	NOUN
ajst-13413	119	27	(	(	PUNCT
ajst-13413	119	28	ms	ms	NOUN
ajst-13413	119	29	)	)	PUNCT
ajst-13413	119	30	a	a	DET
ajst-13413	119	31	8.0	8.0	NUM
ajst-13413	119	32	0	0	NUM
ajst-13413	119	33	0	0	NUM
ajst-13413	119	34	--	--	PUNCT
ajst-13413	119	35	b	b	X
ajst-13413	119	36	3.0	3.0	NUM
ajst-13413	119	37	0	0	NUM
ajst-13413	119	38	0	0	NUM
ajst-13413	119	39	4	4	NUM
ajst-13413	119	40	2070	2070	NUM
ajst-13413	119	41	c	c	NOUN
ajst-13413	119	42	0.71	0.71	NUM
ajst-13413	119	43	0	0	NUM
ajst-13413	119	44	0	0	NUM
ajst-13413	119	45	0	0	NUM
ajst-13413	119	46	620	620	NUM
ajst-13413	119	47	by	by	ADP
ajst-13413	119	48	using	use	VERB
ajst-13413	119	49	the	the	DET
ajst-13413	119	50	debugging	debugging	NOUN
ajst-13413	119	51	data	data	NOUN
ajst-13413	119	52	interface	interface	NOUN
ajst-13413	119	53	,	,	PUNCT
ajst-13413	119	54	the	the	DET
ajst-13413	119	55	desired	desire	VERB
ajst-13413	119	56	value	value	NOUN
ajst-13413	119	57	,	,	PUNCT
ajst-13413	119	58	output	output	NOUN
ajst-13413	119	59	value	value	NOUN
ajst-13413	119	60	,	,	PUNCT
ajst-13413	119	61	and	and	CCONJ
ajst-13413	119	62	actual	actual	ADJ
ajst-13413	119	63	value	value	NOUN
ajst-13413	119	64	are	be	AUX
ajst-13413	119	65	obtained	obtain	VERB
ajst-13413	119	66	and	and	CCONJ
ajst-13413	119	67	plotted	plot	VERB
ajst-13413	119	68	on	on	ADP
ajst-13413	119	69	a	a	DET
ajst-13413	119	70	graph	graph	NOUN
ajst-13413	119	71	.	.	PUNCT
ajst-13413	120	1	the	the	DET
ajst-13413	120	2	green	green	ADJ
ajst-13413	120	3	line	line	NOUN
ajst-13413	120	4	represents	represent	VERB
ajst-13413	120	5	the	the	DET
ajst-13413	120	6	difference	difference	NOUN
ajst-13413	120	7	between	between	ADP
ajst-13413	120	8	the	the	DET
ajst-13413	120	9	desired	desire	VERB
ajst-13413	120	10	value	value	NOUN
ajst-13413	120	11	and	and	CCONJ
ajst-13413	120	12	the	the	DET
ajst-13413	120	13	actual	actual	ADJ
ajst-13413	120	14	value	value	NOUN
ajst-13413	120	15	,	,	PUNCT
ajst-13413	120	16	the	the	DET
ajst-13413	120	17	red	red	ADJ
ajst-13413	120	18	line	line	NOUN
ajst-13413	120	19	represents	represent	VERB
ajst-13413	120	20	the	the	DET
ajst-13413	120	21	pid	pid	NOUN
ajst-13413	120	22	output	output	NOUN
ajst-13413	120	23	adjustment	adjustment	NOUN
ajst-13413	120	24	value	value	NOUN
ajst-13413	120	25	,	,	PUNCT
ajst-13413	120	26	and	and	CCONJ
ajst-13413	120	27	the	the	DET
ajst-13413	120	28	blue	blue	ADJ
ajst-13413	120	29	line	line	NOUN
ajst-13413	120	30	represents	represent	VERB
ajst-13413	120	31	the	the	DET
ajst-13413	120	32	actual	actual	ADJ
ajst-13413	120	33	deviation	deviation	NOUN
ajst-13413	120	34	angle	angle	NOUN
ajst-13413	120	35	.	.	PUNCT
ajst-13413	121	1	the	the	DET
ajst-13413	121	2	actual	actual	ADJ
ajst-13413	121	3	test	test	NOUN
ajst-13413	121	4	data	datum	NOUN
ajst-13413	121	5	curve	curve	NOUN
ajst-13413	121	6	is	be	AUX
ajst-13413	121	7	shown	show	VERB
ajst-13413	121	8	in	in	ADP
ajst-13413	121	9	figure	figure	NOUN
ajst-13413	121	10	15	15	NUM
ajst-13413	121	11	.	.	NOUN
ajst-13413	122	1	278	278	NUM
ajst-13413	122	2	(	(	PUNCT
ajst-13413	122	3	a	a	NOUN
ajst-13413	122	4	)	)	PUNCT
ajst-13413	122	5	(	(	PUNCT
ajst-13413	122	6	b	b	X
ajst-13413	122	7	)	)	PUNCT
ajst-13413	122	8	(	(	PUNCT
ajst-13413	122	9	c	c	X
ajst-13413	122	10	)	)	PUNCT
ajst-13413	122	11	figure	figure	NOUN
ajst-13413	122	12	15	15	NUM
ajst-13413	122	13	.	.	PUNCT
ajst-13413	123	1	curve	curve	NOUN
ajst-13413	123	2	plot	plot	NOUN
ajst-13413	123	3	of	of	ADP
ajst-13413	123	4	pid	pid	NOUN
ajst-13413	123	5	parameter	parameter	NOUN
ajst-13413	123	6	tuning	tuning	NOUN
ajst-13413	123	7	and	and	CCONJ
ajst-13413	123	8	debugging	debugging	NOUN
ajst-13413	123	9	process	process	NOUN
ajst-13413	123	10	in	in	ADP
ajst-13413	123	11	yaw	yaw	PROPN
ajst-13413	123	12	loop	loop	NOUN
ajst-13413	123	13	during	during	ADP
ajst-13413	123	14	the	the	DET
ajst-13413	123	15	experiment	experiment	NOUN
ajst-13413	123	16	,	,	PUNCT
ajst-13413	123	17	it	it	PRON
ajst-13413	123	18	was	be	AUX
ajst-13413	123	19	found	find	VERB
ajst-13413	123	20	that	that	SCONJ
ajst-13413	123	21	the	the	DET
ajst-13413	123	22	system	system	NOUN
ajst-13413	123	23	had	have	AUX
ajst-13413	123	24	achieved	achieve	VERB
ajst-13413	123	25	good	good	ADJ
ajst-13413	123	26	convergence	convergence	NOUN
ajst-13413	123	27	characteristics	characteristic	NOUN
ajst-13413	123	28	without	without	ADP
ajst-13413	123	29	adding	add	VERB
ajst-13413	123	30	ki	ki	PROPN
ajst-13413	123	31	and	and	CCONJ
ajst-13413	123	32	kd	kd	PROPN
ajst-13413	123	33	values	value	NOUN
ajst-13413	123	34	.	.	PUNCT
ajst-13413	124	1	a	a	DET
ajst-13413	124	2	preliminary	preliminary	ADJ
ajst-13413	124	3	analysis	analysis	NOUN
ajst-13413	124	4	suggests	suggest	VERB
ajst-13413	124	5	that	that	SCONJ
ajst-13413	124	6	the	the	DET
ajst-13413	124	7	long	long	ADJ
ajst-13413	124	8	arm	arm	NOUN
ajst-13413	124	9	span	span	NOUN
ajst-13413	124	10	of	of	ADP
ajst-13413	124	11	the	the	DET
ajst-13413	124	12	aircraft	aircraft	NOUN
ajst-13413	124	13	and	and	CCONJ
ajst-13413	124	14	the	the	DET
ajst-13413	124	15	high	high	ADJ
ajst-13413	124	16	inertial	inertial	ADJ
ajst-13413	124	17	mass	mass	NOUN
ajst-13413	124	18	of	of	ADP
ajst-13413	124	19	the	the	DET
ajst-13413	124	20	engine	engine	NOUN
ajst-13413	124	21	provided	provide	VERB
ajst-13413	124	22	some	some	DET
ajst-13413	124	23	damping	damp	VERB
ajst-13413	124	24	value	value	NOUN
ajst-13413	124	25	to	to	ADP
ajst-13413	124	26	the	the	DET
ajst-13413	124	27	system	system	NOUN
ajst-13413	124	28	.	.	PUNCT
ajst-13413	125	1	in	in	ADP
ajst-13413	125	2	addition	addition	NOUN
ajst-13413	125	3	,	,	PUNCT
ajst-13413	125	4	the	the	DET
ajst-13413	125	5	mechanical	mechanical	ADJ
ajst-13413	125	6	structure	structure	NOUN
ajst-13413	125	7	design	design	NOUN
ajst-13413	125	8	aims	aim	VERB
ajst-13413	125	9	to	to	PART
ajst-13413	125	10	converge	converge	VERB
ajst-13413	125	11	the	the	DET
ajst-13413	125	12	center	center	NOUN
ajst-13413	125	13	as	as	ADV
ajst-13413	125	14	close	close	ADJ
ajst-13413	125	15	as	as	ADP
ajst-13413	125	16	possible	possible	ADJ
ajst-13413	125	17	to	to	ADP
ajst-13413	125	18	the	the	DET
ajst-13413	125	19	central	central	ADJ
ajst-13413	125	20	position	position	NOUN
ajst-13413	125	21	,	,	PUNCT
ajst-13413	125	22	minimizing	minimize	VERB
ajst-13413	125	23	the	the	DET
ajst-13413	125	24	eccentricity	eccentricity	NOUN
ajst-13413	125	25	of	of	ADP
ajst-13413	125	26	the	the	DET
ajst-13413	125	27	yaw	yaw	NOUN
ajst-13413	125	28	axis	axis	NOUN
ajst-13413	125	29	rotation	rotation	NOUN
ajst-13413	125	30	action	action	NOUN
ajst-13413	125	31	,	,	PUNCT
ajst-13413	125	32	making	make	VERB
ajst-13413	125	33	it	it	PRON
ajst-13413	125	34	easier	easy	ADJ
ajst-13413	125	35	to	to	PART
ajst-13413	125	36	achieve	achieve	VERB
ajst-13413	125	37	self	self	NOUN
ajst-13413	125	38	-	-	PUNCT
ajst-13413	125	39	stabilization	stabilization	NOUN
ajst-13413	125	40	.	.	PUNCT
ajst-13413	126	1	4.3	4.3	NUM
ajst-13413	126	2	.	.	PUNCT
ajst-13413	126	3	verification	verification	NOUN
ajst-13413	126	4	of	of	ADP
ajst-13413	126	5	roll	roll	NOUN
ajst-13413	126	6	loop	loop	NOUN
ajst-13413	126	7	convergence	convergence	NOUN
ajst-13413	126	8	test	test	NOUN
ajst-13413	126	9	based	base	VERB
ajst-13413	126	10	on	on	ADP
ajst-13413	126	11	the	the	DET
ajst-13413	126	12	convergence	convergence	NOUN
ajst-13413	126	13	of	of	ADP
ajst-13413	126	14	the	the	DET
ajst-13413	126	15	yaw	yaw	PROPN
ajst-13413	126	16	loop	loop	NOUN
ajst-13413	126	17	described	describe	VERB
ajst-13413	126	18	above	above	ADV
ajst-13413	126	19	,	,	PUNCT
ajst-13413	126	20	the	the	DET
ajst-13413	126	21	tuning	tuning	NOUN
ajst-13413	126	22	of	of	ADP
ajst-13413	126	23	the	the	DET
ajst-13413	126	24	roll	roll	NOUN
ajst-13413	126	25	loop	loop	NOUN
ajst-13413	126	26	is	be	AUX
ajst-13413	126	27	carried	carry	VERB
ajst-13413	126	28	out	out	ADP
ajst-13413	126	29	.	.	PUNCT
ajst-13413	127	1	the	the	DET
ajst-13413	127	2	convergence	convergence	NOUN
ajst-13413	127	3	tuning	tuning	NOUN
ajst-13413	127	4	process	process	NOUN
ajst-13413	127	5	of	of	ADP
ajst-13413	127	6	the	the	DET
ajst-13413	127	7	roll	roll	NOUN
ajst-13413	127	8	loop	loop	NOUN
ajst-13413	127	9	is	be	AUX
ajst-13413	127	10	similar	similar	ADJ
ajst-13413	127	11	to	to	ADP
ajst-13413	127	12	that	that	PRON
ajst-13413	127	13	of	of	ADP
ajst-13413	127	14	the	the	DET
ajst-13413	127	15	yaw	yaw	PROPN
ajst-13413	127	16	loop	loop	NOUN
ajst-13413	127	17	,	,	PUNCT
ajst-13413	127	18	but	but	CCONJ
ajst-13413	127	19	different	different	ADJ
ajst-13413	127	20	from	from	ADP
ajst-13413	127	21	the	the	DET
ajst-13413	127	22	angular	angular	ADJ
ajst-13413	127	23	velocity	velocity	NOUN
ajst-13413	127	24	quantity	quantity	NOUN
ajst-13413	127	25	of	of	ADP
ajst-13413	127	26	self	self	NOUN
ajst-13413	127	27	-	-	PUNCT
ajst-13413	127	28	rotation	rotation	NOUN
ajst-13413	127	29	in	in	ADP
ajst-13413	127	30	the	the	DET
ajst-13413	127	31	yaw	yaw	PROPN
ajst-13413	127	32	loop	loop	NOUN
ajst-13413	127	33	,	,	PUNCT
ajst-13413	127	34	there	there	PRON
ajst-13413	127	35	is	be	VERB
ajst-13413	127	36	a	a	DET
ajst-13413	127	37	coupling	couple	VERB
ajst-13413	127	38	relationship	relationship	NOUN
ajst-13413	127	39	between	between	ADP
ajst-13413	127	40	the	the	DET
ajst-13413	127	41	roll	roll	NOUN
ajst-13413	127	42	loop	loop	NOUN
ajst-13413	127	43	and	and	CCONJ
ajst-13413	127	44	gravity	gravity	NOUN
ajst-13413	127	45	.	.	PUNCT
ajst-13413	128	1	therefore	therefore	ADV
ajst-13413	128	2	,	,	PUNCT
ajst-13413	128	3	if	if	SCONJ
ajst-13413	128	4	only	only	ADV
ajst-13413	128	5	the	the	DET
ajst-13413	128	6	steady	steady	ADJ
ajst-13413	128	7	-	-	PUNCT
ajst-13413	128	8	state	state	NOUN
ajst-13413	128	9	angular	angular	ADJ
ajst-13413	128	10	velocity	velocity	NOUN
ajst-13413	128	11	of	of	ADP
ajst-13413	128	12	the	the	DET
ajst-13413	128	13	roll	roll	NOUN
ajst-13413	128	14	loop	loop	NOUN
ajst-13413	128	15	is	be	AUX
ajst-13413	128	16	ensured	ensure	VERB
ajst-13413	128	17	,	,	PUNCT
ajst-13413	128	18	the	the	DET
ajst-13413	128	19	uav	uav	PROPN
ajst-13413	128	20	can	can	AUX
ajst-13413	128	21	not	not	PART
ajst-13413	128	22	guarantee	guarantee	VERB
ajst-13413	128	23	stability	stability	NOUN
ajst-13413	128	24	in	in	ADP
ajst-13413	128	25	the	the	DET
ajst-13413	128	26	air	air	NOUN
ajst-13413	128	27	.	.	PUNCT
ajst-13413	129	1	therefore	therefore	ADV
ajst-13413	129	2	,	,	PUNCT
ajst-13413	129	3	in	in	ADP
ajst-13413	129	4	this	this	DET
ajst-13413	129	5	loop	loop	NOUN
ajst-13413	129	6	,	,	PUNCT
ajst-13413	129	7	axial	axial	ADJ
ajst-13413	129	8	acceleration	acceleration	NOUN
ajst-13413	129	9	and	and	CCONJ
ajst-13413	129	10	euler	euler	NOUN
ajst-13413	129	11	angle	angle	NOUN
ajst-13413	129	12	data	datum	NOUN
ajst-13413	129	13	fusion	fusion	NOUN
ajst-13413	129	14	need	need	VERB
ajst-13413	129	15	to	to	PART
ajst-13413	129	16	be	be	AUX
ajst-13413	129	17	added	add	VERB
ajst-13413	129	18	.	.	PUNCT
ajst-13413	130	1	the	the	DET
ajst-13413	130	2	following	follow	VERB
ajst-13413	130	3	table	table	NOUN
ajst-13413	130	4	presents	present	VERB
ajst-13413	130	5	the	the	DET
ajst-13413	130	6	pid	pid	NOUN
ajst-13413	130	7	parameter	parameter	NOUN
ajst-13413	130	8	tuning	tune	VERB
ajst-13413	130	9	data	datum	NOUN
ajst-13413	130	10	for	for	ADP
ajst-13413	130	11	the	the	DET
ajst-13413	130	12	roll	roll	NOUN
ajst-13413	130	13	loop	loop	NOUN
ajst-13413	130	14	.	.	PUNCT
ajst-13413	131	1	five	five	NUM
ajst-13413	131	2	sets	set	NOUN
ajst-13413	131	3	of	of	ADP
ajst-13413	131	4	pid	pid	NOUN
ajst-13413	131	5	parameters	parameter	NOUN
ajst-13413	131	6	were	be	AUX
ajst-13413	131	7	selected	select	VERB
ajst-13413	131	8	during	during	ADP
ajst-13413	131	9	the	the	DET
ajst-13413	131	10	early	early	ADJ
ajst-13413	131	11	stage	stage	NOUN
ajst-13413	131	12	,	,	PUNCT
ajst-13413	131	13	middle	middle	ADJ
ajst-13413	131	14	stage	stage	NOUN
ajst-13413	131	15	,	,	PUNCT
ajst-13413	131	16	and	and	CCONJ
ajst-13413	131	17	final	final	ADJ
ajst-13413	131	18	stage	stage	NOUN
ajst-13413	131	19	of	of	ADP
ajst-13413	131	20	parameter	parameter	NOUN
ajst-13413	131	21	tuning	tuning	NOUN
ajst-13413	131	22	.	.	PUNCT
ajst-13413	132	1	the	the	DET
ajst-13413	132	2	number	number	NOUN
ajst-13413	132	3	of	of	ADP
ajst-13413	132	4	oscillations	oscillation	NOUN
ajst-13413	132	5	and	and	CCONJ
ajst-13413	132	6	convergence	convergence	NOUN
ajst-13413	132	7	time	time	NOUN
ajst-13413	132	8	are	be	AUX
ajst-13413	132	9	provided	provide	VERB
ajst-13413	132	10	for	for	ADP
ajst-13413	132	11	each	each	DET
ajst-13413	132	12	set	set	NOUN
ajst-13413	132	13	of	of	ADP
ajst-13413	132	14	pid	pid	NOUN
ajst-13413	132	15	parameters	parameter	NOUN
ajst-13413	132	16	,	,	PUNCT
ajst-13413	132	17	allowing	allow	VERB
ajst-13413	132	18	for	for	ADP
ajst-13413	132	19	a	a	DET
ajst-13413	132	20	comparison	comparison	NOUN
ajst-13413	132	21	of	of	ADP
ajst-13413	132	22	their	their	PRON
ajst-13413	132	23	performance	performance	NOUN
ajst-13413	132	24	.	.	PUNCT
ajst-13413	133	1	table	table	NOUN
ajst-13413	133	2	2	2	NUM
ajst-13413	133	3	.	.	PUNCT
ajst-13413	133	4	pid	pid	NOUN
ajst-13413	133	5	parameter	parameter	NOUN
ajst-13413	133	6	tuning	tune	VERB
ajst-13413	133	7	data	datum	NOUN
ajst-13413	133	8	for	for	ADP
ajst-13413	133	9	roll	roll	NOUN
ajst-13413	133	10	loop	loop	NOUN
ajst-13413	133	11	sets	set	NOUN
ajst-13413	133	12	kp	kp	PROPN
ajst-13413	133	13	ki	ki	PROPN
ajst-13413	133	14	kd	kd	PROPN
ajst-13413	133	15	number	number	NOUN
ajst-13413	133	16	of	of	ADP
ajst-13413	133	17	oscillations	oscillation	NOUN
ajst-13413	133	18	convergence	convergence	NOUN
ajst-13413	133	19	time	time	NOUN
ajst-13413	133	20	(	(	PUNCT
ajst-13413	133	21	ms	ms	NOUN
ajst-13413	133	22	)	)	PUNCT
ajst-13413	133	23	a	a	PRON
ajst-13413	133	24	6	6	NUM
ajst-13413	133	25	0	0	NUM
ajst-13413	133	26	0	0	NUM
ajst-13413	133	27	--	--	PUNCT
ajst-13413	133	28	b	b	X
ajst-13413	133	29	3	3	NUM
ajst-13413	133	30	0	0	NUM
ajst-13413	133	31	2	2	NUM
ajst-13413	133	32	7	7	NUM
ajst-13413	133	33	1500	1500	NUM
ajst-13413	133	34	c	c	NOUN
ajst-13413	133	35	3	3	NUM
ajst-13413	133	36	0	0	NUM
ajst-13413	133	37	3	3	NUM
ajst-13413	133	38	--	--	PUNCT
ajst-13413	133	39	d	d	NOUN
ajst-13413	133	40	5	5	NUM
ajst-13413	133	41	0	0	NUM
ajst-13413	133	42	3	3	NUM
ajst-13413	133	43	--	--	PUNCT
ajst-13413	133	44	e	e	X
ajst-13413	133	45	5	5	NUM
ajst-13413	133	46	1	1	NUM
ajst-13413	133	47	3	3	NUM
ajst-13413	133	48	4	4	NUM
ajst-13413	133	49	1000	1000	NUM
ajst-13413	133	50	similarly	similarly	ADV
ajst-13413	133	51	,	,	PUNCT
ajst-13413	133	52	the	the	DET
ajst-13413	133	53	following	follow	VERB
ajst-13413	133	54	graph	graph	NOUN
ajst-13413	133	55	shows	show	VERB
ajst-13413	133	56	the	the	DET
ajst-13413	133	57	tuning	tuning	NOUN
ajst-13413	133	58	data	datum	NOUN
ajst-13413	133	59	of	of	ADP
ajst-13413	133	60	the	the	DET
ajst-13413	133	61	selected	select	VERB
ajst-13413	133	62	five	five	NUM
ajst-13413	133	63	sets	set	NOUN
ajst-13413	133	64	of	of	ADP
ajst-13413	133	65	pid	pid	NOUN
ajst-13413	133	66	parameters	parameter	NOUN
ajst-13413	133	67	for	for	ADP
ajst-13413	133	68	the	the	DET
ajst-13413	133	69	roll	roll	NOUN
ajst-13413	133	70	loop	loop	NOUN
ajst-13413	133	71	through	through	ADP
ajst-13413	133	72	plotted	plot	VERB
ajst-13413	133	73	curves	curve	NOUN
ajst-13413	133	74	.	.	PUNCT
ajst-13413	134	1	the	the	DET
ajst-13413	134	2	green	green	ADJ
ajst-13413	134	3	line	line	NOUN
ajst-13413	134	4	represents	represent	VERB
ajst-13413	134	5	the	the	DET
ajst-13413	134	6	expected	expect	VERB
ajst-13413	134	7	value	value	NOUN
ajst-13413	134	8	,	,	PUNCT
ajst-13413	134	9	while	while	SCONJ
ajst-13413	134	10	the	the	DET
ajst-13413	134	11	red	red	ADJ
ajst-13413	134	12	line	line	NOUN
ajst-13413	134	13	represents	represent	VERB
ajst-13413	134	14	the	the	DET
ajst-13413	134	15	actual	actual	ADJ
ajst-13413	134	16	attitude	attitude	NOUN
ajst-13413	134	17	value	value	NOUN
ajst-13413	134	18	.	.	PUNCT
ajst-13413	135	1	a	a	DET
ajst-13413	135	2	b	b	X
ajst-13413	135	3	c	c	NOUN
ajst-13413	135	4	d	d	NOUN
ajst-13413	135	5	figure	figure	NOUN
ajst-13413	135	6	15	15	NUM
ajst-13413	135	7	.	.	PUNCT
ajst-13413	136	1	curve	curve	NOUN
ajst-13413	136	2	plot	plot	NOUN
ajst-13413	136	3	of	of	ADP
ajst-13413	136	4	pid	pid	NOUN
ajst-13413	136	5	parameter	parameter	NOUN
ajst-13413	136	6	tuning	tuning	NOUN
ajst-13413	136	7	and	and	CCONJ
ajst-13413	136	8	debugging	debugging	NOUN
ajst-13413	136	9	process	process	NOUN
ajst-13413	136	10	in	in	ADP
ajst-13413	136	11	roll	roll	NOUN
ajst-13413	136	12	loop	loop	NOUN
ajst-13413	136	13	through	through	ADP
ajst-13413	136	14	the	the	DET
ajst-13413	136	15	tuning	tuning	NOUN
ajst-13413	136	16	and	and	CCONJ
ajst-13413	136	17	testing	testing	NOUN
ajst-13413	136	18	of	of	ADP
ajst-13413	136	19	pid	pid	NOUN
ajst-13413	136	20	parameters	parameter	NOUN
ajst-13413	136	21	,	,	PUNCT
ajst-13413	136	22	the	the	DET
ajst-13413	136	23	stability	stability	NOUN
ajst-13413	136	24	of	of	ADP
ajst-13413	136	25	the	the	DET
ajst-13413	136	26	roll	roll	NOUN
ajst-13413	136	27	axis	axis	NOUN
ajst-13413	136	28	has	have	AUX
ajst-13413	136	29	reached	reach	VERB
ajst-13413	136	30	the	the	DET
ajst-13413	136	31	expected	expect	VERB
ajst-13413	136	32	state	state	NOUN
ajst-13413	136	33	.	.	PUNCT
ajst-13413	137	1	however	however	ADV
ajst-13413	137	2	,	,	PUNCT
ajst-13413	137	3	the	the	DET
ajst-13413	137	4	convergence	convergence	NOUN
ajst-13413	137	5	curve	curve	NOUN
ajst-13413	137	6	is	be	AUX
ajst-13413	137	7	not	not	PART
ajst-13413	137	8	in	in	ADP
ajst-13413	137	9	an	an	DET
ajst-13413	137	10	ideal	ideal	ADJ
ajst-13413	137	11	state	state	NOUN
ajst-13413	137	12	.	.	PUNCT
ajst-13413	138	1	an	an	DET
ajst-13413	138	2	analysis	analysis	NOUN
ajst-13413	138	3	shows	show	VERB
ajst-13413	138	4	that	that	SCONJ
ajst-13413	138	5	this	this	PRON
ajst-13413	138	6	is	be	AUX
ajst-13413	138	7	due	due	ADJ
ajst-13413	138	8	to	to	ADP
ajst-13413	138	9	the	the	DET
ajst-13413	138	10	change	change	NOUN
ajst-13413	138	11	in	in	ADP
ajst-13413	138	12	the	the	DET
ajst-13413	138	13	actual	actual	ADJ
ajst-13413	138	14	mass	mass	ADJ
ajst-13413	138	15	distribution	distribution	NOUN
ajst-13413	138	16	of	of	ADP
ajst-13413	138	17	the	the	DET
ajst-13413	138	18	aircraft	aircraft	NOUN
ajst-13413	138	19	caused	cause	VERB
ajst-13413	138	20	by	by	ADP
ajst-13413	138	21	the	the	DET
ajst-13413	138	22	revised	revise	VERB
ajst-13413	138	23	measures	measure	NOUN
ajst-13413	138	24	for	for	ADP
ajst-13413	138	25	fixing	fix	VERB
ajst-13413	138	26	the	the	DET
ajst-13413	138	27	frame	frame	NOUN
ajst-13413	138	28	.	.	PUNCT
ajst-13413	139	1	this	this	PRON
ajst-13413	139	2	has	have	AUX
ajst-13413	139	3	resulted	result	VERB
ajst-13413	139	4	in	in	ADP
ajst-13413	139	5	a	a	DET
ajst-13413	139	6	shift	shift	NOUN
ajst-13413	139	7	in	in	ADP
ajst-13413	139	8	the	the	DET
ajst-13413	139	9	lower	low	ADJ
ajst-13413	139	10	and	and	CCONJ
ajst-13413	139	11	upper	upper	ADJ
ajst-13413	139	12	limits	limit	NOUN
ajst-13413	139	13	of	of	ADP
ajst-13413	139	14	the	the	DET
ajst-13413	139	15	oscillation	oscillation	NOUN
ajst-13413	139	16	curve	curve	NOUN
ajst-13413	139	17	position	position	NOUN
ajst-13413	139	18	shown	show	VERB
ajst-13413	139	19	in	in	ADP
ajst-13413	139	20	figure	figure	NOUN
ajst-13413	139	21	d.	d.	PROPN
ajst-13413	139	22	the	the	DET
ajst-13413	139	23	measured	measure	VERB
ajst-13413	139	24	parameters	parameter	NOUN
ajst-13413	139	25	can	can	AUX
ajst-13413	139	26	not	not	PART
ajst-13413	139	27	be	be	AUX
ajst-13413	139	28	used	use	VERB
ajst-13413	139	29	as	as	ADP
ajst-13413	139	30	the	the	DET
ajst-13413	139	31	actual	actual	ADJ
ajst-13413	139	32	parameters	parameter	NOUN
ajst-13413	139	33	.	.	PUNCT
ajst-13413	140	1	279	279	NUM
ajst-13413	140	2	5	5	NUM
ajst-13413	140	3	.	.	PUNCT
ajst-13413	140	4	conclusion	conclusion	NOUN
ajst-13413	140	5	after	after	ADP
ajst-13413	140	6	multiple	multiple	ADJ
ajst-13413	140	7	adjustments	adjustment	NOUN
ajst-13413	140	8	of	of	ADP
ajst-13413	140	9	the	the	DET
ajst-13413	140	10	system	system	NOUN
ajst-13413	140	11	parameters	parameter	NOUN
ajst-13413	140	12	,	,	PUNCT
ajst-13413	140	13	we	we	PRON
ajst-13413	140	14	finally	finally	ADV
ajst-13413	140	15	achieved	achieve	VERB
ajst-13413	140	16	a	a	DET
ajst-13413	140	17	relatively	relatively	ADV
ajst-13413	140	18	stable	stable	ADJ
ajst-13413	140	19	flight	flight	NOUN
ajst-13413	140	20	effect	effect	NOUN
ajst-13413	140	21	.	.	PUNCT
ajst-13413	141	1	the	the	DET
ajst-13413	141	2	system	system	NOUN
ajst-13413	141	3	can	can	AUX
ajst-13413	141	4	respond	respond	VERB
ajst-13413	141	5	to	to	ADP
ajst-13413	141	6	input	input	NOUN
ajst-13413	141	7	signals	signal	NOUN
ajst-13413	141	8	in	in	ADP
ajst-13413	141	9	real	real	ADJ
ajst-13413	141	10	time	time	NOUN
ajst-13413	141	11	,	,	PUNCT
ajst-13413	141	12	and	and	CCONJ
ajst-13413	141	13	there	there	PRON
ajst-13413	141	14	is	be	VERB
ajst-13413	141	15	coupling	couple	VERB
ajst-13413	141	16	between	between	ADP
ajst-13413	141	17	the	the	DET
ajst-13413	141	18	two	two	NUM
ajst-13413	141	19	controlled	control	VERB
ajst-13413	141	20	loops	loop	NOUN
ajst-13413	141	21	.	.	PUNCT
ajst-13413	142	1	for	for	ADP
ajst-13413	142	2	example	example	NOUN
ajst-13413	142	3	,	,	PUNCT
ajst-13413	142	4	when	when	SCONJ
ajst-13413	142	5	sending	send	VERB
ajst-13413	142	6	a	a	DET
ajst-13413	142	7	left	left	ADJ
ajst-13413	142	8	-	-	PUNCT
ajst-13413	142	9	rotation	rotation	NOUN
ajst-13413	142	10	instruction	instruction	NOUN
ajst-13413	142	11	,	,	PUNCT
ajst-13413	142	12	the	the	DET
ajst-13413	142	13	thrust	thrust	NOUN
ajst-13413	142	14	of	of	ADP
ajst-13413	142	15	the	the	DET
ajst-13413	142	16	flaps	flap	NOUN
ajst-13413	142	17	will	will	AUX
ajst-13413	142	18	be	be	AUX
ajst-13413	142	19	increased	increase	VERB
ajst-13413	142	20	as	as	SCONJ
ajst-13413	142	21	they	they	PRON
ajst-13413	142	22	deflect	deflect	VERB
ajst-13413	142	23	to	to	PART
ajst-13413	142	24	compensate	compensate	VERB
ajst-13413	142	25	for	for	ADP
ajst-13413	142	26	the	the	DET
ajst-13413	142	27	decrease	decrease	NOUN
ajst-13413	142	28	in	in	ADP
ajst-13413	142	29	upward	upward	ADJ
ajst-13413	142	30	thrust	thrust	NOUN
ajst-13413	142	31	caused	cause	VERB
ajst-13413	142	32	by	by	ADP
ajst-13413	142	33	the	the	DET
ajst-13413	142	34	tilt	tilt	NOUN
ajst-13413	142	35	,	,	PUNCT
ajst-13413	142	36	while	while	SCONJ
ajst-13413	142	37	maintaining	maintain	VERB
ajst-13413	142	38	stability	stability	NOUN
ajst-13413	142	39	of	of	ADP
ajst-13413	142	40	the	the	DET
ajst-13413	142	41	roll	roll	NOUN
ajst-13413	142	42	axis	axis	NOUN
ajst-13413	142	43	.	.	PUNCT
ajst-13413	143	1	however	however	ADV
ajst-13413	143	2	,	,	PUNCT
ajst-13413	143	3	the	the	DET
ajst-13413	143	4	response	response	NOUN
ajst-13413	143	5	speed	speed	NOUN
ajst-13413	143	6	of	of	ADP
ajst-13413	143	7	the	the	DET
ajst-13413	143	8	roll	roll	NOUN
ajst-13413	143	9	axis	axis	NOUN
ajst-13413	143	10	did	do	AUX
ajst-13413	143	11	not	not	PART
ajst-13413	143	12	reach	reach	VERB
ajst-13413	143	13	the	the	DET
ajst-13413	143	14	expected	expect	VERB
ajst-13413	143	15	level	level	NOUN
ajst-13413	143	16	,	,	PUNCT
ajst-13413	143	17	and	and	CCONJ
ajst-13413	143	18	there	there	PRON
ajst-13413	143	19	is	be	VERB
ajst-13413	143	20	significant	significant	ADJ
ajst-13413	143	21	lag	lag	NOUN
ajst-13413	143	22	in	in	ADP
ajst-13413	143	23	its	its	PRON
ajst-13413	143	24	response	response	NOUN
ajst-13413	143	25	.	.	PUNCT
ajst-13413	144	1	in	in	ADP
ajst-13413	144	2	addition	addition	NOUN
ajst-13413	144	3	,	,	PUNCT
ajst-13413	144	4	during	during	ADP
ajst-13413	144	5	the	the	DET
ajst-13413	144	6	experiment	experiment	NOUN
ajst-13413	144	7	,	,	PUNCT
ajst-13413	144	8	the	the	DET
ajst-13413	144	9	system	system	NOUN
ajst-13413	144	10	experienced	experience	VERB
ajst-13413	144	11	process	process	NOUN
ajst-13413	144	12	lagging	lag	VERB
ajst-13413	144	13	.	.	PUNCT
ajst-13413	145	1	moreover	moreover	ADV
ajst-13413	145	2	,	,	PUNCT
ajst-13413	145	3	since	since	SCONJ
ajst-13413	145	4	the	the	DET
ajst-13413	145	5	turning	turn	VERB
ajst-13413	145	6	transmission	transmission	NOUN
ajst-13413	145	7	mechanism	mechanism	NOUN
ajst-13413	145	8	of	of	ADP
ajst-13413	145	9	the	the	DET
ajst-13413	145	10	aircraft	aircraft	NOUN
ajst-13413	145	11	was	be	AUX
ajst-13413	145	12	manually	manually	ADV
ajst-13413	145	13	made	make	VERB
ajst-13413	145	14	,	,	PUNCT
ajst-13413	145	15	both	both	CCONJ
ajst-13413	145	16	the	the	DET
ajst-13413	145	17	machining	machining	NOUN
ajst-13413	145	18	accuracy	accuracy	NOUN
ajst-13413	145	19	and	and	CCONJ
ajst-13413	145	20	assembly	assembly	NOUN
ajst-13413	145	21	precision	precision	NOUN
ajst-13413	145	22	were	be	AUX
ajst-13413	145	23	not	not	PART
ajst-13413	145	24	ideal	ideal	ADJ
ajst-13413	145	25	.	.	PUNCT
ajst-13413	146	1	coupled	couple	VERB
ajst-13413	146	2	with	with	ADP
ajst-13413	146	3	limited	limited	ADJ
ajst-13413	146	4	testing	testing	NOUN
ajst-13413	146	5	conditions	condition	NOUN
ajst-13413	146	6	,	,	PUNCT
ajst-13413	146	7	the	the	DET
ajst-13413	146	8	actual	actual	ADJ
ajst-13413	146	9	control	control	NOUN
ajst-13413	146	10	effect	effect	NOUN
ajst-13413	146	11	still	still	ADV
ajst-13413	146	12	exhibits	exhibit	VERB
ajst-13413	146	13	noticeable	noticeable	ADJ
ajst-13413	146	14	vibrations	vibration	NOUN
ajst-13413	146	15	.	.	PUNCT
ajst-13413	147	1	if	if	SCONJ
ajst-13413	147	2	the	the	DET
ajst-13413	147	3	machining	machining	NOUN
ajst-13413	147	4	accuracy	accuracy	NOUN
ajst-13413	147	5	and	and	CCONJ
ajst-13413	147	6	structural	structural	ADJ
ajst-13413	147	7	design	design	NOUN
ajst-13413	147	8	of	of	ADP
ajst-13413	147	9	the	the	DET
ajst-13413	147	10	aircraft	aircraft	NOUN
ajst-13413	147	11	can	can	AUX
ajst-13413	147	12	be	be	AUX
ajst-13413	147	13	improved	improve	VERB
ajst-13413	147	14	,	,	PUNCT
ajst-13413	147	15	it	it	PRON
ajst-13413	147	16	is	be	AUX
ajst-13413	147	17	expected	expect	VERB
ajst-13413	147	18	to	to	PART
ajst-13413	147	19	greatly	greatly	ADV
ajst-13413	147	20	improve	improve	VERB
ajst-13413	147	21	its	its	PRON
ajst-13413	147	22	controllability	controllability	NOUN
ajst-13413	147	23	.	.	PUNCT
ajst-13413	148	1	acknowledgment	acknowledgment	NOUN
ajst-13413	148	2	this	this	DET
ajst-13413	148	3	work	work	NOUN
ajst-13413	148	4	is	be	AUX
ajst-13413	148	5	supported	support	VERB
ajst-13413	148	6	by	by	ADP
ajst-13413	148	7	national	national	ADJ
ajst-13413	148	8	undergraduate	undergraduate	NOUN
ajst-13413	148	9	innovation	innovation	NOUN
ajst-13413	148	10	and	and	CCONJ
ajst-13413	148	11	entrepreneurship	entrepreneurship	NOUN
ajst-13413	148	12	training	training	NOUN
ajst-13413	148	13	project	project	NOUN
ajst-13413	148	14	of	of	ADP
ajst-13413	148	15	china	china	PROPN
ajst-13413	148	16	(	(	PUNCT
ajst-13413	148	17	202210702060	202210702060	NUM
ajst-13413	148	18	)	)	PUNCT
ajst-13413	148	19	.	.	PUNCT
ajst-13413	149	1	references	reference	NOUN
ajst-13413	149	2	[	[	X
ajst-13413	149	3	1	1	NUM
ajst-13413	149	4	]	]	X
ajst-13413	149	5	liu	liu	PROPN
ajst-13413	149	6	,	,	PUNCT
ajst-13413	149	7	c.	c.	PROPN
ajst-13413	149	8	design	design	NOUN
ajst-13413	149	9	and	and	CCONJ
ajst-13413	149	10	implementation	implementation	NOUN
ajst-13413	149	11	of	of	ADP
ajst-13413	149	12	dual	dual	ADJ
ajst-13413	149	13	ducted	ducte	VERB
ajst-13413	149	14	fan	fan	PROPN
ajst-13413	149	15	vtol	vtol	PROPN
ajst-13413	149	16	aircraft	aircraft	NOUN
ajst-13413	149	17	.	.	PUNCT
ajst-13413	150	1	south	south	PROPN
ajst-13413	150	2	china	china	PROPN
ajst-13413	150	3	university	university	PROPN
ajst-13413	150	4	of	of	ADP
ajst-13413	150	5	technology	technology	NOUN
ajst-13413	150	6	,	,	PUNCT
ajst-13413	150	7	2015	2015	NUM
ajst-13413	150	8	.	.	PUNCT
ajst-13413	151	1	[	[	X
ajst-13413	151	2	2	2	NUM
ajst-13413	151	3	]	]	X
ajst-13413	151	4	zhang	zhang	PROPN
ajst-13413	151	5	,	,	PUNCT
ajst-13413	151	6	f.	f.	PROPN
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ajst-13413	151	10	of	of	ADP
ajst-13413	151	11	dual	dual	ADJ
ajst-13413	151	12	pmsm	pmsm	NOUN
ajst-13413	151	13	speed	speed	NOUN
ajst-13413	151	14	synchronization	synchronization	NOUN
ajst-13413	151	15	control	control	NOUN
ajst-13413	151	16	system	system	NOUN
ajst-13413	151	17	.	.	PUNCT
ajst-13413	152	1	[	[	X
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ajst-13413	152	3	on	on	ADP
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ajst-13413	152	5	14	14	NUM
ajst-13413	152	6	,	,	PUNCT
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ajst-13413	153	5	,	,	PUNCT
ajst-13413	153	6	s.	s.	PROPN
ajst-13413	153	7	,	,	PUNCT
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ajst-13413	153	9	,	,	PUNCT
ajst-13413	153	10	r.	r.	PROPN
ajst-13413	153	11	,	,	PUNCT
ajst-13413	153	12	&	&	CCONJ
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ajst-13413	153	14	,	,	PUNCT
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ajst-13413	153	21	dual	dual	ADJ
ajst-13413	153	22	ducted	ducte	VERB
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ajst-13413	153	24	vtol	vtol	NOUN
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ajst-13413	153	26	.	.	PUNCT
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ajst-13413	154	3	,	,	PUNCT
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ajst-13413	154	5	,	,	PUNCT
ajst-13413	154	6	35(1	35(1	NUM
ajst-13413	154	7	):	):	PUNCT
ajst-13413	154	8	6	6	NUM
ajst-13413	154	9	.	.	X
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ajst-13413	154	11	:	:	PUNCT
ajst-13413	154	12	cnki	cnki	ADJ
ajst-13413	154	13	:	:	PUNCT
ajst-13413	154	14	sun	sun	NOUN
ajst-13413	154	15	:	:	PUNCT
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ajst-13413	154	19	-	-	PUNCT
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ajst-13413	155	1	[	[	X
ajst-13413	155	2	4	4	NUM
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ajst-13413	155	5	,	,	PUNCT
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ajst-13413	155	12	-	-	PUNCT
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ajst-13413	155	14	-	-	PUNCT
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ajst-13413	155	16	-	-	PUNCT
ajst-13413	155	17	hover	hover	NOUN
ajst-13413	155	18	transition	transition	NOUN
ajst-13413	155	19	flight	flight	NOUN
ajst-13413	155	20	process	process	NOUN
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ajst-13413	155	22	ducted	ducte	VERB
ajst-13413	155	23	fan	fan	NOUN
ajst-13413	155	24	aircraft	aircraft	NOUN
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ajst-13413	156	1	south	south	PROPN
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ajst-13413	156	6	,	,	PUNCT
ajst-13413	156	7	2021	2021	NUM
ajst-13413	156	8	.	.	PUNCT
ajst-13413	157	1	[	[	X
ajst-13413	157	2	5	5	NUM
ajst-13413	157	3	]	]	PUNCT
ajst-13413	157	4	cong	cong	NOUN
ajst-13413	157	5	,	,	PUNCT
ajst-13413	157	6	s.	s.	PROPN
ajst-13413	157	7	,	,	PUNCT
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ajst-13413	157	10	,	,	PUNCT
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ajst-13413	157	14	coupling	coupling	ADJ
ajst-13413	157	15	control	control	NOUN
ajst-13413	157	16	in	in	ADP
ajst-13413	157	17	multi	multi	ADJ
ajst-13413	157	18	-	-	ADJ
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ajst-13413	158	1	machinery	machinery	NOUN
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ajst-13413	158	5	,	,	PUNCT
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ajst-13413	158	7	):	):	PUNCT
ajst-13413	158	8	3	3	NUM
ajst-13413	158	9	.	.	X
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ajst-13413	158	11	:	:	PUNCT
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ajst-13413	158	15	-	-	PUNCT
ajst-13413	158	16	3997.2006.10.069	3997.2006.10.069	NUM
ajst-13413	158	17	.	.	PUNCT