id	sid	tid	token	lemma	pos
ajst-1492	1	1	academic	academic	ADJ
ajst-1492	1	2	journal	journal	NOUN
ajst-1492	1	3	of	of	ADP
ajst-1492	1	4	science	science	NOUN
ajst-1492	1	5	and	and	CCONJ
ajst-1492	1	6	technology	technology	NOUN
ajst-1492	1	7	issn	issn	NOUN
ajst-1492	1	8	:	:	PUNCT
ajst-1492	1	9	2771	2771	NUM
ajst-1492	1	10	-	-	SYM
ajst-1492	1	11	3032	3032	NUM
ajst-1492	1	12	|	|	NOUN
ajst-1492	1	13	vol	vol	NOUN
ajst-1492	1	14	.	.	PROPN
ajst-1492	2	1	2	2	NUM
ajst-1492	2	2	,	,	PUNCT
ajst-1492	2	3	no	no	INTJ
ajst-1492	2	4	.	.	NOUN
ajst-1492	2	5	3	3	NUM
ajst-1492	2	6	,	,	PUNCT
ajst-1492	2	7	2022	2022	NUM
ajst-1492	2	8	62	62	NUM
ajst-1492	2	9	research	research	NOUN
ajst-1492	2	10	and	and	CCONJ
ajst-1492	2	11	discussion	discussion	NOUN
ajst-1492	2	12	on	on	ADP
ajst-1492	2	13	machine	machine	NOUN
ajst-1492	2	14	cleaning	cleaning	NOUN
ajst-1492	2	15	method	method	NOUN
ajst-1492	2	16	on	on	ADP
ajst-1492	2	17	glass	glass	NOUN
ajst-1492	2	18	wall	wall	NOUN
ajst-1492	2	19	curtain	curtain	PROPN
ajst-1492	2	20	jing	jing	PROPN
ajst-1492	2	21	zhao1	zhao1	X
ajst-1492	2	22	,	,	PUNCT
ajst-1492	2	23	*	*	PUNCT
ajst-1492	3	1	1electrical	1electrical	NUM
ajst-1492	3	2	engineering	engineering	NOUN
ajst-1492	3	3	college	college	NOUN
ajst-1492	3	4	,	,	PUNCT
ajst-1492	3	5	shandong	shandong	PROPN
ajst-1492	3	6	huayu	huayu	PROPN
ajst-1492	3	7	university	university	PROPN
ajst-1492	3	8	of	of	ADP
ajst-1492	3	9	technology	technology	NOUN
ajst-1492	3	10	,	,	PUNCT
ajst-1492	3	11	dezhou	dezhou	NOUN
ajst-1492	3	12	,	,	PUNCT
ajst-1492	3	13	253034	253034	NUM
ajst-1492	3	14	,	,	PUNCT
ajst-1492	3	15	china	china	PROPN
ajst-1492	3	16	abstract	abstract	NOUN
ajst-1492	3	17	:	:	PUNCT
ajst-1492	3	18	with	with	ADP
ajst-1492	3	19	the	the	DET
ajst-1492	3	20	rapid	rapid	ADJ
ajst-1492	3	21	development	development	NOUN
ajst-1492	3	22	of	of	ADP
ajst-1492	3	23	science	science	NOUN
ajst-1492	3	24	and	and	CCONJ
ajst-1492	3	25	technology	technology	NOUN
ajst-1492	3	26	and	and	CCONJ
ajst-1492	3	27	the	the	DET
ajst-1492	3	28	cross	cross	NOUN
ajst-1492	3	29	penetration	penetration	NOUN
ajst-1492	3	30	and	and	CCONJ
ajst-1492	3	31	integration	integration	NOUN
ajst-1492	3	32	of	of	ADP
ajst-1492	3	33	various	various	ADJ
ajst-1492	3	34	disciplines	discipline	NOUN
ajst-1492	3	35	,	,	PUNCT
ajst-1492	3	36	the	the	DET
ajst-1492	3	37	glass	glass	NOUN
ajst-1492	3	38	curtain	curtain	NOUN
ajst-1492	3	39	wall	wall	NOUN
ajst-1492	3	40	cleaning	cleaning	NOUN
ajst-1492	3	41	robot	robot	NOUN
ajst-1492	3	42	has	have	AUX
ajst-1492	3	43	also	also	ADV
ajst-1492	3	44	developed	develop	VERB
ajst-1492	3	45	rapidly	rapidly	ADV
ajst-1492	3	46	,	,	PUNCT
ajst-1492	3	47	becoming	become	VERB
ajst-1492	3	48	a	a	DET
ajst-1492	3	49	high	high	ADJ
ajst-1492	3	50	-	-	PUNCT
ajst-1492	3	51	tech	tech	NOUN
ajst-1492	3	52	industry	industry	NOUN
ajst-1492	3	53	in	in	ADP
ajst-1492	3	54	the	the	DET
ajst-1492	3	55	field	field	NOUN
ajst-1492	3	56	of	of	ADP
ajst-1492	3	57	service	service	NOUN
ajst-1492	3	58	robots	robot	NOUN
ajst-1492	3	59	and	and	CCONJ
ajst-1492	3	60	a	a	DET
ajst-1492	3	61	key	key	ADJ
ajst-1492	3	62	research	research	NOUN
ajst-1492	3	63	topic	topic	NOUN
ajst-1492	3	64	in	in	ADP
ajst-1492	3	65	recent	recent	ADJ
ajst-1492	3	66	years	year	NOUN
ajst-1492	3	67	and	and	CCONJ
ajst-1492	3	68	the	the	DET
ajst-1492	3	69	future	future	NOUN
ajst-1492	3	70	.	.	PUNCT
ajst-1492	4	1	this	this	DET
ajst-1492	4	2	paper	paper	NOUN
ajst-1492	4	3	summarizes	summarize	VERB
ajst-1492	4	4	the	the	DET
ajst-1492	4	5	types	type	NOUN
ajst-1492	4	6	of	of	ADP
ajst-1492	4	7	glass	glass	NOUN
ajst-1492	4	8	curtain	curtain	NOUN
ajst-1492	4	9	wall	wall	NOUN
ajst-1492	4	10	cleaning	clean	VERB
ajst-1492	4	11	robots	robot	NOUN
ajst-1492	4	12	and	and	CCONJ
ajst-1492	4	13	the	the	DET
ajst-1492	4	14	research	research	NOUN
ajst-1492	4	15	status	status	NOUN
ajst-1492	4	16	of	of	ADP
ajst-1492	4	17	the	the	DET
ajst-1492	4	18	applied	apply	VERB
ajst-1492	4	19	technology	technology	NOUN
ajst-1492	4	20	from	from	ADP
ajst-1492	4	21	the	the	DET
ajst-1492	4	22	aspects	aspect	NOUN
ajst-1492	4	23	of	of	ADP
ajst-1492	4	24	adsorption	adsorption	NOUN
ajst-1492	4	25	mode	mode	NOUN
ajst-1492	4	26	,	,	PUNCT
ajst-1492	4	27	moving	move	VERB
ajst-1492	4	28	mechanism	mechanism	NOUN
ajst-1492	4	29	,	,	PUNCT
ajst-1492	4	30	cleaning	cleaning	NOUN
ajst-1492	4	31	mechanism	mechanism	NOUN
ajst-1492	4	32	and	and	CCONJ
ajst-1492	4	33	modern	modern	ADJ
ajst-1492	4	34	intelligent	intelligent	ADJ
ajst-1492	4	35	technology	technology	NOUN
ajst-1492	4	36	.	.	PUNCT
ajst-1492	5	1	at	at	ADP
ajst-1492	5	2	present	present	ADJ
ajst-1492	5	3	,	,	PUNCT
ajst-1492	5	4	there	there	PRON
ajst-1492	5	5	is	be	VERB
ajst-1492	5	6	still	still	ADV
ajst-1492	5	7	a	a	DET
ajst-1492	5	8	certain	certain	ADJ
ajst-1492	5	9	gap	gap	NOUN
ajst-1492	5	10	between	between	ADP
ajst-1492	5	11	the	the	DET
ajst-1492	5	12	glass	glass	NOUN
ajst-1492	5	13	curtain	curtain	NOUN
ajst-1492	5	14	wall	wall	NOUN
ajst-1492	5	15	cleaning	cleaning	NOUN
ajst-1492	5	16	robot	robot	NOUN
ajst-1492	5	17	and	and	CCONJ
ajst-1492	5	18	the	the	DET
ajst-1492	5	19	goal	goal	NOUN
ajst-1492	5	20	that	that	PRON
ajst-1492	5	21	people	people	NOUN
ajst-1492	5	22	are	be	AUX
ajst-1492	5	23	satisfied	satisfied	ADJ
ajst-1492	5	24	with	with	ADP
ajst-1492	5	25	.	.	PUNCT
ajst-1492	6	1	finally	finally	ADV
ajst-1492	6	2	,	,	PUNCT
ajst-1492	6	3	some	some	DET
ajst-1492	6	4	suggestions	suggestion	NOUN
ajst-1492	6	5	are	be	AUX
ajst-1492	6	6	put	put	VERB
ajst-1492	6	7	forward	forward	ADV
ajst-1492	6	8	for	for	ADP
ajst-1492	6	9	the	the	DET
ajst-1492	6	10	future	future	ADJ
ajst-1492	6	11	development	development	NOUN
ajst-1492	6	12	trend	trend	NOUN
ajst-1492	6	13	of	of	ADP
ajst-1492	6	14	glass	glass	NOUN
ajst-1492	6	15	curtain	curtain	NOUN
ajst-1492	6	16	wall	wall	NOUN
ajst-1492	6	17	cleaning	cleaning	NOUN
ajst-1492	6	18	robot	robot	NOUN
ajst-1492	6	19	.	.	PUNCT
ajst-1492	7	1	keywords	keyword	NOUN
ajst-1492	7	2	:	:	PUNCT
ajst-1492	7	3	glass	glass	NOUN
ajst-1492	7	4	cleaning	cleaning	NOUN
ajst-1492	7	5	,	,	PUNCT
ajst-1492	7	6	mobile	mobile	ADJ
ajst-1492	7	7	mechanism	mechanism	NOUN
ajst-1492	7	8	,	,	PUNCT
ajst-1492	7	9	glass	glass	NOUN
ajst-1492	7	10	screen	screen	NOUN
ajst-1492	7	11	wall	wall	NOUN
ajst-1492	7	12	,	,	PUNCT
ajst-1492	7	13	cleaning	clean	VERB
ajst-1492	7	14	function	function	NOUN
ajst-1492	7	15	.	.	PUNCT
ajst-1492	8	1	1	1	X
ajst-1492	8	2	.	.	X
ajst-1492	8	3	introduction	introduction	NOUN
ajst-1492	8	4	with	with	ADP
ajst-1492	8	5	the	the	DET
ajst-1492	8	6	development	development	NOUN
ajst-1492	8	7	of	of	ADP
ajst-1492	8	8	modernization	modernization	NOUN
ajst-1492	8	9	and	and	CCONJ
ajst-1492	8	10	the	the	DET
ajst-1492	8	11	updating	updating	NOUN
ajst-1492	8	12	of	of	ADP
ajst-1492	8	13	the	the	DET
ajst-1492	8	14	scientific	scientific	ADJ
ajst-1492	8	15	and	and	CCONJ
ajst-1492	8	16	technological	technological	ADJ
ajst-1492	8	17	level	level	NOUN
ajst-1492	8	18	,	,	PUNCT
ajst-1492	8	19	the	the	DET
ajst-1492	8	20	continuous	continuous	ADJ
ajst-1492	8	21	growth	growth	NOUN
ajst-1492	8	22	of	of	ADP
ajst-1492	8	23	the	the	DET
ajst-1492	8	24	population	population	NOUN
ajst-1492	8	25	has	have	AUX
ajst-1492	8	26	led	lead	VERB
ajst-1492	8	27	to	to	ADP
ajst-1492	8	28	the	the	DET
ajst-1492	8	29	increasingly	increasingly	ADV
ajst-1492	8	30	tense	tense	ADJ
ajst-1492	8	31	urban	urban	ADJ
ajst-1492	8	32	housing	housing	NOUN
ajst-1492	8	33	,	,	PUNCT
ajst-1492	8	34	so	so	SCONJ
ajst-1492	8	35	there	there	PRON
ajst-1492	8	36	are	be	VERB
ajst-1492	8	37	more	more	ADV
ajst-1492	8	38	and	and	CCONJ
ajst-1492	8	39	more	more	ADV
ajst-1492	8	40	high	high	ADJ
ajst-1492	8	41	-	-	PUNCT
ajst-1492	8	42	rise	rise	NOUN
ajst-1492	8	43	buildings[1	buildings[1	NOUN
ajst-1492	8	44	]	]	PUNCT
ajst-1492	8	45	.	.	PUNCT
ajst-1492	9	1	according	accord	VERB
ajst-1492	9	2	to	to	ADP
ajst-1492	9	3	the	the	DET
ajst-1492	9	4	data	datum	NOUN
ajst-1492	9	5	,	,	PUNCT
ajst-1492	9	6	90	90	NUM
ajst-1492	9	7	million	million	NUM
ajst-1492	9	8	square	square	ADJ
ajst-1492	9	9	meters	meter	NOUN
ajst-1492	9	10	of	of	ADP
ajst-1492	9	11	new	new	ADJ
ajst-1492	9	12	glass	glass	NOUN
ajst-1492	9	13	curtain	curtain	NOUN
ajst-1492	9	14	walls	wall	NOUN
ajst-1492	9	15	are	be	AUX
ajst-1492	9	16	built	build	VERB
ajst-1492	9	17	every	every	DET
ajst-1492	9	18	year	year	NOUN
ajst-1492	9	19	,	,	PUNCT
ajst-1492	9	20	so	so	CCONJ
ajst-1492	9	21	the	the	DET
ajst-1492	9	22	cleaning	clean	VERB
ajst-1492	9	23	market	market	NOUN
ajst-1492	9	24	is	be	AUX
ajst-1492	9	25	huge	huge	ADJ
ajst-1492	9	26	and	and	CCONJ
ajst-1492	9	27	high	high	ADJ
ajst-1492	9	28	cleaning	cleaning	NOUN
ajst-1492	9	29	costs	cost	NOUN
ajst-1492	9	30	can	can	AUX
ajst-1492	9	31	be	be	AUX
ajst-1492	9	32	obtained	obtain	VERB
ajst-1492	9	33	from	from	ADP
ajst-1492	9	34	it	it	PRON
ajst-1492	9	35	.	.	PUNCT
ajst-1492	10	1	with	with	ADP
ajst-1492	10	2	the	the	DET
ajst-1492	10	3	development	development	NOUN
ajst-1492	10	4	of	of	ADP
ajst-1492	10	5	mechanization	mechanization	NOUN
ajst-1492	10	6	and	and	CCONJ
ajst-1492	10	7	automation	automation	NOUN
ajst-1492	10	8	in	in	ADP
ajst-1492	10	9	all	all	DET
ajst-1492	10	10	aspects	aspect	NOUN
ajst-1492	10	11	of	of	ADP
ajst-1492	10	12	our	our	PRON
ajst-1492	10	13	country	country	NOUN
ajst-1492	10	14	,	,	PUNCT
ajst-1492	10	15	people	people	NOUN
ajst-1492	10	16	are	be	AUX
ajst-1492	10	17	eager	eager	ADJ
ajst-1492	10	18	to	to	PART
ajst-1492	10	19	replace	replace	VERB
ajst-1492	10	20	the	the	DET
ajst-1492	10	21	traditional	traditional	ADJ
ajst-1492	10	22	"	"	PUNCT
ajst-1492	10	23	spider	spider	NOUN
ajst-1492	10	24	man	man	NOUN
ajst-1492	10	25	"	"	PUNCT
ajst-1492	10	26	with	with	ADP
ajst-1492	10	27	a	a	DET
ajst-1492	10	28	new	new	ADJ
ajst-1492	10	29	cleaning	cleaning	NOUN
ajst-1492	10	30	robot	robot	NOUN
ajst-1492	10	31	to	to	PART
ajst-1492	10	32	clean	clean	VERB
ajst-1492	10	33	the	the	DET
ajst-1492	10	34	glass	glass	NOUN
ajst-1492	10	35	curtain	curtain	NOUN
ajst-1492	10	36	wall	wall	NOUN
ajst-1492	10	37	and	and	CCONJ
ajst-1492	10	38	free	free	VERB
ajst-1492	10	39	their	their	PRON
ajst-1492	10	40	hands	hand	NOUN
ajst-1492	10	41	.	.	PUNCT
ajst-1492	11	1	high	high	ADJ
ajst-1492	11	2	rise	rise	NOUN
ajst-1492	11	3	glass	glass	NOUN
ajst-1492	11	4	curtain	curtain	NOUN
ajst-1492	11	5	wall	wall	NOUN
ajst-1492	11	6	cleaning	cleaning	NOUN
ajst-1492	11	7	robot	robot	NOUN
ajst-1492	11	8	is	be	AUX
ajst-1492	11	9	a	a	DET
ajst-1492	11	10	new	new	ADJ
ajst-1492	11	11	modern	modern	ADJ
ajst-1492	11	12	service	service	NOUN
ajst-1492	11	13	industry	industry	NOUN
ajst-1492	11	14	based	base	VERB
ajst-1492	11	15	on	on	ADP
ajst-1492	11	16	wall	wall	NOUN
ajst-1492	11	17	climbing	climbing	NOUN
ajst-1492	11	18	robot	robot	NOUN
ajst-1492	11	19	integrated	integrate	VERB
ajst-1492	11	20	cleaning	cleaning	NOUN
ajst-1492	11	21	technology	technology	NOUN
ajst-1492	11	22	and	and	CCONJ
ajst-1492	11	23	modern	modern	ADJ
ajst-1492	11	24	intelligent	intelligent	ADJ
ajst-1492	11	25	sensor	sensor	NOUN
ajst-1492	11	26	control	control	VERB
ajst-1492	11	27	technology[2	technology[2	NOUN
ajst-1492	11	28	]	]	X
ajst-1492	11	29	.	.	PUNCT
ajst-1492	12	1	intelligent	intelligent	ADJ
ajst-1492	12	2	mechanized	mechanized	ADJ
ajst-1492	12	3	cleaning	cleaning	NOUN
ajst-1492	12	4	robot	robot	NOUN
ajst-1492	12	5	has	have	VERB
ajst-1492	12	6	the	the	DET
ajst-1492	12	7	characteristics	characteristic	NOUN
ajst-1492	12	8	of	of	ADP
ajst-1492	12	9	high	high	ADJ
ajst-1492	12	10	speed	speed	NOUN
ajst-1492	12	11	,	,	PUNCT
ajst-1492	12	12	high	high	ADJ
ajst-1492	12	13	safety	safety	NOUN
ajst-1492	12	14	and	and	CCONJ
ajst-1492	12	15	low	low	ADJ
ajst-1492	12	16	cost	cost	NOUN
ajst-1492	12	17	compared	compare	VERB
ajst-1492	12	18	with	with	ADP
ajst-1492	12	19	manual	manual	ADJ
ajst-1492	12	20	cleaning	cleaning	NOUN
ajst-1492	12	21	.	.	PUNCT
ajst-1492	13	1	in	in	ADP
ajst-1492	13	2	general	general	ADJ
ajst-1492	13	3	,	,	PUNCT
ajst-1492	13	4	whether	whether	SCONJ
ajst-1492	13	5	domestic	domestic	ADJ
ajst-1492	13	6	or	or	CCONJ
ajst-1492	13	7	foreign	foreign	ADJ
ajst-1492	13	8	glass	glass	NOUN
ajst-1492	13	9	curtain	curtain	NOUN
ajst-1492	13	10	wall	wall	NOUN
ajst-1492	13	11	cleaning	clean	VERB
ajst-1492	13	12	robots	robot	NOUN
ajst-1492	13	13	,	,	PUNCT
ajst-1492	13	14	there	there	PRON
ajst-1492	13	15	are	be	VERB
ajst-1492	13	16	still	still	ADV
ajst-1492	13	17	many	many	ADJ
ajst-1492	13	18	shortcomings	shortcoming	NOUN
ajst-1492	13	19	due	due	ADP
ajst-1492	13	20	to	to	ADP
ajst-1492	13	21	the	the	DET
ajst-1492	13	22	working	working	NOUN
ajst-1492	13	23	environment	environment	NOUN
ajst-1492	13	24	,	,	PUNCT
ajst-1492	13	25	stress	stress	NOUN
ajst-1492	13	26	state	state	NOUN
ajst-1492	13	27	and	and	CCONJ
ajst-1492	13	28	other	other	ADJ
ajst-1492	13	29	conditions	condition	NOUN
ajst-1492	13	30	.	.	PUNCT
ajst-1492	14	1	therefore	therefore	ADV
ajst-1492	14	2	,	,	PUNCT
ajst-1492	14	3	there	there	PRON
ajst-1492	14	4	is	be	VERB
ajst-1492	14	5	still	still	ADV
ajst-1492	14	6	a	a	DET
ajst-1492	14	7	lot	lot	NOUN
ajst-1492	14	8	of	of	ADP
ajst-1492	14	9	room	room	NOUN
ajst-1492	14	10	for	for	ADP
ajst-1492	14	11	development	development	NOUN
ajst-1492	14	12	in	in	ADP
ajst-1492	14	13	the	the	DET
ajst-1492	14	14	field	field	NOUN
ajst-1492	14	15	of	of	ADP
ajst-1492	14	16	glass	glass	NOUN
ajst-1492	14	17	curtain	curtain	NOUN
ajst-1492	14	18	wall	wall	NOUN
ajst-1492	14	19	cleaning	clean	VERB
ajst-1492	14	20	robots	robot	NOUN
ajst-1492	14	21	in	in	ADP
ajst-1492	14	22	the	the	DET
ajst-1492	14	23	future[3	future[3	NOUN
ajst-1492	14	24	]	]	PUNCT
ajst-1492	14	25	.	.	PUNCT
ajst-1492	15	1	2	2	X
ajst-1492	15	2	.	.	X
ajst-1492	15	3	research	research	NOUN
ajst-1492	15	4	progress	progress	VERB
ajst-1492	15	5	the	the	DET
ajst-1492	15	6	high	high	ADJ
ajst-1492	15	7	-	-	PUNCT
ajst-1492	15	8	rise	rise	NOUN
ajst-1492	15	9	glass	glass	NOUN
ajst-1492	15	10	curtain	curtain	NOUN
ajst-1492	15	11	wall	wall	NOUN
ajst-1492	15	12	cleaning	cleaning	NOUN
ajst-1492	15	13	robot	robot	NOUN
ajst-1492	15	14	can	can	AUX
ajst-1492	15	15	move	move	VERB
ajst-1492	15	16	freely	freely	ADV
ajst-1492	15	17	on	on	ADP
ajst-1492	15	18	the	the	DET
ajst-1492	15	19	high	high	ADJ
ajst-1492	15	20	-	-	PUNCT
ajst-1492	15	21	rise	rise	NOUN
ajst-1492	15	22	glass	glass	NOUN
ajst-1492	15	23	curtain	curtain	NOUN
ajst-1492	15	24	wall	wall	NOUN
ajst-1492	15	25	and	and	CCONJ
ajst-1492	15	26	complete	complete	VERB
ajst-1492	15	27	certain	certain	ADJ
ajst-1492	15	28	functions	function	NOUN
ajst-1492	15	29	.	.	PUNCT
ajst-1492	16	1	it	it	PRON
ajst-1492	16	2	needs	need	VERB
ajst-1492	16	3	to	to	PART
ajst-1492	16	4	have	have	VERB
ajst-1492	16	5	two	two	NUM
ajst-1492	16	6	basic	basic	ADJ
ajst-1492	16	7	capabilities	capability	NOUN
ajst-1492	16	8	:	:	PUNCT
ajst-1492	16	9	adsorption	adsorption	NOUN
ajst-1492	16	10	mode	mode	NOUN
ajst-1492	16	11	and	and	CCONJ
ajst-1492	16	12	moving	move	VERB
ajst-1492	16	13	mechanism[4	mechanism[4	PROPN
ajst-1492	16	14	]	]	PUNCT
ajst-1492	16	15	.	.	PUNCT
ajst-1492	17	1	the	the	DET
ajst-1492	17	2	adsorption	adsorption	NOUN
ajst-1492	17	3	technology	technology	NOUN
ajst-1492	17	4	can	can	AUX
ajst-1492	17	5	generally	generally	ADV
ajst-1492	17	6	be	be	AUX
ajst-1492	17	7	divided	divide	VERB
ajst-1492	17	8	into	into	ADP
ajst-1492	17	9	vacuum	vacuum	NOUN
ajst-1492	17	10	suction	suction	NOUN
ajst-1492	17	11	disk	disk	NOUN
ajst-1492	17	12	adsorption	adsorption	NOUN
ajst-1492	17	13	,	,	PUNCT
ajst-1492	17	14	magnetic	magnetic	ADJ
ajst-1492	17	15	adsorption	adsorption	NOUN
ajst-1492	17	16	and	and	CCONJ
ajst-1492	17	17	thrust	thrust	VERB
ajst-1492	17	18	adsorption	adsorption	NOUN
ajst-1492	17	19	,	,	PUNCT
ajst-1492	17	20	as	as	ADV
ajst-1492	17	21	well	well	ADV
ajst-1492	17	22	as	as	ADP
ajst-1492	17	23	the	the	DET
ajst-1492	17	24	adsorption	adsorption	NOUN
ajst-1492	17	25	methods	method	NOUN
ajst-1492	17	26	such	such	ADJ
ajst-1492	17	27	as	as	ADP
ajst-1492	17	28	glue	glue	NOUN
ajst-1492	17	29	adsorption	adsorption	NOUN
ajst-1492	17	30	,	,	PUNCT
ajst-1492	17	31	gecko	gecko	NOUN
ajst-1492	17	32	like	like	ADP
ajst-1492	17	33	foot	foot	NOUN
ajst-1492	17	34	dry	dry	ADJ
ajst-1492	17	35	adsorption	adsorption	NOUN
ajst-1492	17	36	and	and	CCONJ
ajst-1492	17	37	snail	snail	NOUN
ajst-1492	17	38	like	like	ADP
ajst-1492	17	39	wet	wet	ADJ
ajst-1492	17	40	adsorption	adsorption	NOUN
ajst-1492	17	41	in	in	ADP
ajst-1492	17	42	recent	recent	ADJ
ajst-1492	17	43	years	year	NOUN
ajst-1492	17	44	.	.	PUNCT
ajst-1492	18	1	2.1	2.1	NUM
ajst-1492	18	2	.	.	PUNCT
ajst-1492	18	3	adsorption	adsorption	NOUN
ajst-1492	18	4	mode	mode	NOUN
ajst-1492	18	5	of	of	ADP
ajst-1492	18	6	glass	glass	NOUN
ajst-1492	18	7	curtain	curtain	NOUN
ajst-1492	18	8	wall	wall	NOUN
ajst-1492	18	9	the	the	DET
ajst-1492	18	10	high	high	ADJ
ajst-1492	18	11	-	-	PUNCT
ajst-1492	18	12	rise	rise	NOUN
ajst-1492	18	13	glass	glass	NOUN
ajst-1492	18	14	curtain	curtain	NOUN
ajst-1492	18	15	wall	wall	NOUN
ajst-1492	18	16	cleaning	cleaning	NOUN
ajst-1492	18	17	robot	robot	NOUN
ajst-1492	18	18	needs	need	VERB
ajst-1492	18	19	to	to	PART
ajst-1492	18	20	work	work	VERB
ajst-1492	18	21	in	in	ADP
ajst-1492	18	22	a	a	DET
ajst-1492	18	23	steep	steep	ADJ
ajst-1492	18	24	or	or	CCONJ
ajst-1492	18	25	even	even	ADV
ajst-1492	18	26	vertical	vertical	ADJ
ajst-1492	18	27	environment	environment	NOUN
ajst-1492	18	28	.	.	PUNCT
ajst-1492	19	1	the	the	DET
ajst-1492	19	2	first	first	ADJ
ajst-1492	19	3	problem	problem	NOUN
ajst-1492	19	4	to	to	PART
ajst-1492	19	5	be	be	AUX
ajst-1492	19	6	solved	solve	VERB
ajst-1492	19	7	is	be	AUX
ajst-1492	19	8	to	to	PART
ajst-1492	19	9	overcome	overcome	VERB
ajst-1492	19	10	its	its	PRON
ajst-1492	19	11	own	own	ADJ
ajst-1492	19	12	gravity	gravity	NOUN
ajst-1492	19	13	,	,	PUNCT
ajst-1492	19	14	achieve	achieve	VERB
ajst-1492	19	15	its	its	PRON
ajst-1492	19	16	fixation	fixation	NOUN
ajst-1492	19	17	on	on	ADP
ajst-1492	19	18	the	the	DET
ajst-1492	19	19	working	working	NOUN
ajst-1492	19	20	surface	surface	NOUN
ajst-1492	19	21	,	,	PUNCT
ajst-1492	19	22	and	and	CCONJ
ajst-1492	19	23	ensure	ensure	VERB
ajst-1492	19	24	that	that	SCONJ
ajst-1492	19	25	it	it	PRON
ajst-1492	19	26	does	do	AUX
ajst-1492	19	27	not	not	PART
ajst-1492	19	28	fall	fall	VERB
ajst-1492	19	29	off	off	ADP
ajst-1492	19	30	during	during	ADP
ajst-1492	19	31	the	the	DET
ajst-1492	19	32	movement	movement	NOUN
ajst-1492	19	33	.	.	PUNCT
ajst-1492	20	1	the	the	DET
ajst-1492	20	2	adsorption	adsorption	NOUN
ajst-1492	20	3	method	method	NOUN
ajst-1492	20	4	plays	play	VERB
ajst-1492	20	5	a	a	DET
ajst-1492	20	6	vital	vital	ADJ
ajst-1492	20	7	role	role	NOUN
ajst-1492	20	8	.	.	PUNCT
ajst-1492	21	1	2.2	2.2	NUM
ajst-1492	21	2	.	.	PUNCT
ajst-1492	22	1	vacuum	vacuum	NOUN
ajst-1492	22	2	suction	suction	PROPN
ajst-1492	22	3	cup	cup	PROPN
ajst-1492	22	4	the	the	DET
ajst-1492	22	5	vacuum	vacuum	PROPN
ajst-1492	22	6	suction	suction	NOUN
ajst-1492	22	7	cup	cup	NOUN
ajst-1492	22	8	adsorption	adsorption	NOUN
ajst-1492	22	9	technology	technology	NOUN
ajst-1492	22	10	can	can	AUX
ajst-1492	22	11	be	be	AUX
ajst-1492	22	12	divided	divide	VERB
ajst-1492	22	13	into	into	ADP
ajst-1492	22	14	single	single	ADJ
ajst-1492	22	15	suction	suction	NOUN
ajst-1492	22	16	cup	cup	NOUN
ajst-1492	22	17	and	and	CCONJ
ajst-1492	22	18	multi	multi	ADJ
ajst-1492	22	19	suction	suction	NOUN
ajst-1492	22	20	cup	cup	NOUN
ajst-1492	22	21	adsorption	adsorption	NOUN
ajst-1492	22	22	.	.	PUNCT
ajst-1492	23	1	the	the	DET
ajst-1492	23	2	comparative	comparative	ADJ
ajst-1492	23	3	analysis	analysis	NOUN
ajst-1492	23	4	of	of	ADP
ajst-1492	23	5	the	the	DET
ajst-1492	23	6	two	two	NUM
ajst-1492	23	7	negative	negative	ADJ
ajst-1492	23	8	pressure	pressure	NOUN
ajst-1492	23	9	adsorption	adsorption	NOUN
ajst-1492	23	10	technologies	technology	NOUN
ajst-1492	23	11	is	be	AUX
ajst-1492	23	12	shown	show	VERB
ajst-1492	23	13	in	in	ADP
ajst-1492	23	14	table	table	NOUN
ajst-1492	23	15	1	1	NUM
ajst-1492	23	16	.	.	PUNCT
ajst-1492	24	1	the	the	DET
ajst-1492	24	2	suction	suction	NOUN
ajst-1492	24	3	cup	cup	PROPN
ajst-1492	24	4	robot	robot	NOUN
ajst-1492	24	5	suction	suction	NOUN
ajst-1492	24	6	device	device	NOUN
ajst-1492	24	7	is	be	AUX
ajst-1492	24	8	generally	generally	ADV
ajst-1492	24	9	composed	compose	VERB
ajst-1492	24	10	of	of	ADP
ajst-1492	24	11	vacuum	vacuum	PROPN
ajst-1492	24	12	generator	generator	PROPN
ajst-1492	24	13	,	,	PUNCT
ajst-1492	24	14	suction	suction	NOUN
ajst-1492	24	15	cup	cup	NOUN
ajst-1492	24	16	and	and	CCONJ
ajst-1492	24	17	sealing	seal	VERB
ajst-1492	24	18	device	device	NOUN
ajst-1492	24	19	.	.	PUNCT
ajst-1492	25	1	the	the	DET
ajst-1492	25	2	vacuum	vacuum	PROPN
ajst-1492	25	3	generator	generator	PROPN
ajst-1492	25	4	works	work	VERB
ajst-1492	25	5	to	to	PART
ajst-1492	25	6	form	form	VERB
ajst-1492	25	7	a	a	DET
ajst-1492	25	8	vacuum	vacuum	NOUN
ajst-1492	25	9	state	state	NOUN
ajst-1492	25	10	in	in	ADP
ajst-1492	25	11	the	the	DET
ajst-1492	25	12	negative	negative	ADJ
ajst-1492	25	13	pressure	pressure	NOUN
ajst-1492	25	14	chamber	chamber	NOUN
ajst-1492	25	15	so	so	SCONJ
ajst-1492	25	16	that	that	SCONJ
ajst-1492	25	17	the	the	DET
ajst-1492	25	18	suction	suction	NOUN
ajst-1492	25	19	cup	cup	NOUN
ajst-1492	25	20	is	be	AUX
ajst-1492	25	21	firmly	firmly	ADV
ajst-1492	25	22	adsorbed	adsorb	VERB
ajst-1492	25	23	on	on	ADP
ajst-1492	25	24	the	the	DET
ajst-1492	25	25	glass	glass	NOUN
ajst-1492	25	26	curtain	curtain	NOUN
ajst-1492	25	27	wall	wall	NOUN
ajst-1492	25	28	.	.	PUNCT
ajst-1492	25	29	table	table	NOUN
ajst-1492	25	30	1	1	NUM
ajst-1492	25	31	.	.	PUNCT
ajst-1492	25	32	comparison	comparison	NOUN
ajst-1492	25	33	and	and	CCONJ
ajst-1492	25	34	analysis	analysis	NOUN
ajst-1492	25	35	of	of	ADP
ajst-1492	25	36	two	two	NUM
ajst-1492	25	37	vacuum	vacuum	NOUN
ajst-1492	25	38	chuck	chuck	NOUN
ajst-1492	25	39	adsorption	adsorption	NOUN
ajst-1492	25	40	technologies	technology	NOUN
ajst-1492	25	41	vacuum	vacuum	PROPN
ajst-1492	25	42	chuck	chuck	PROPN
ajst-1492	25	43	adsorption	adsorption	NOUN
ajst-1492	25	44	single	single	ADJ
ajst-1492	25	45	suction	suction	NOUN
ajst-1492	25	46	cup	cup	NOUN
ajst-1492	25	47	adsorption	adsorption	NOUN
ajst-1492	25	48	multi	multi	NOUN
ajst-1492	25	49	sucker	sucker	NOUN
ajst-1492	25	50	adsorption	adsorption	NOUN
ajst-1492	25	51	damage	damage	NOUN
ajst-1492	25	52	to	to	ADP
ajst-1492	25	53	glass	glass	NOUN
ajst-1492	25	54	surface	surface	NOUN
ajst-1492	25	55	commonly	commonly	ADV
ajst-1492	25	56	small	small	ADJ
ajst-1492	25	57	operation	operation	NOUN
ajst-1492	25	58	speed	speed	NOUN
ajst-1492	25	59	slow	slow	ADJ
ajst-1492	25	60	fast	fast	ADJ
ajst-1492	25	61	safety	safety	NOUN
ajst-1492	25	62	performance	performance	NOUN
ajst-1492	25	63	difference	difference	NOUN
ajst-1492	25	64	good	good	ADJ
ajst-1492	25	65	wall	wall	NOUN
ajst-1492	25	66	adaptability	adaptability	PROPN
ajst-1492	25	67	low	low	ADV
ajst-1492	25	68	high	high	ADV
ajst-1492	25	69	most	most	ADJ
ajst-1492	25	70	of	of	ADP
ajst-1492	25	71	the	the	DET
ajst-1492	25	72	glass	glass	NOUN
ajst-1492	25	73	curtain	curtain	NOUN
ajst-1492	25	74	walls	wall	NOUN
ajst-1492	25	75	have	have	VERB
ajst-1492	25	76	obstacles	obstacle	NOUN
ajst-1492	25	77	such	such	ADJ
ajst-1492	25	78	as	as	ADP
ajst-1492	25	79	adhesive	adhesive	ADJ
ajst-1492	25	80	strips	strip	NOUN
ajst-1492	25	81	and	and	CCONJ
ajst-1492	25	82	joints	joint	NOUN
ajst-1492	25	83	.	.	PUNCT
ajst-1492	26	1	during	during	ADP
ajst-1492	26	2	the	the	DET
ajst-1492	26	3	movement	movement	NOUN
ajst-1492	26	4	of	of	ADP
ajst-1492	26	5	the	the	DET
ajst-1492	26	6	glass	glass	NOUN
ajst-1492	26	7	curtain	curtain	NOUN
ajst-1492	26	8	wall	wall	NOUN
ajst-1492	26	9	cleaning	cleaning	NOUN
ajst-1492	26	10	robot	robot	NOUN
ajst-1492	26	11	,	,	PUNCT
ajst-1492	26	12	the	the	DET
ajst-1492	26	13	suction	suction	NOUN
ajst-1492	26	14	cups	cup	NOUN
ajst-1492	26	15	adsorbed	adsorb	VERB
ajst-1492	26	16	on	on	ADP
ajst-1492	26	17	these	these	DET
ajst-1492	26	18	obstacles	obstacle	NOUN
ajst-1492	26	19	often	often	ADV
ajst-1492	26	20	lose	lose	VERB
ajst-1492	26	21	their	their	PRON
ajst-1492	26	22	adsorption	adsorption	NOUN
ajst-1492	26	23	force	force	NOUN
ajst-1492	26	24	due	due	ADP
ajst-1492	26	25	to	to	ADP
ajst-1492	26	26	air	air	NOUN
ajst-1492	26	27	leakage	leakage	NOUN
ajst-1492	26	28	.	.	PUNCT
ajst-1492	27	1	the	the	DET
ajst-1492	27	2	single	single	ADJ
ajst-1492	27	3	suction	suction	NOUN
ajst-1492	27	4	cup	cup	NOUN
ajst-1492	27	5	mainly	mainly	ADV
ajst-1492	27	6	relies	rely	VERB
ajst-1492	27	7	on	on	ADP
ajst-1492	27	8	the	the	DET
ajst-1492	27	9	device	device	NOUN
ajst-1492	27	10	to	to	PART
ajst-1492	27	11	maintain	maintain	VERB
ajst-1492	27	12	good	good	ADJ
ajst-1492	27	13	sealing	sealing	NOUN
ajst-1492	27	14	to	to	PART
ajst-1492	27	15	maintain	maintain	VERB
ajst-1492	27	16	its	its	PRON
ajst-1492	27	17	vacuum	vacuum	NOUN
ajst-1492	27	18	.	.	PUNCT
ajst-1492	28	1	when	when	SCONJ
ajst-1492	28	2	it	it	PRON
ajst-1492	28	3	crosses	cross	VERB
ajst-1492	28	4	these	these	DET
ajst-1492	28	5	obstacles	obstacle	NOUN
ajst-1492	28	6	,	,	PUNCT
ajst-1492	28	7	it	it	PRON
ajst-1492	28	8	will	will	AUX
ajst-1492	28	9	lead	lead	VERB
ajst-1492	28	10	to	to	ADP
ajst-1492	28	11	the	the	DET
ajst-1492	28	12	failure	failure	NOUN
ajst-1492	28	13	of	of	ADP
ajst-1492	28	14	the	the	DET
ajst-1492	28	15	adsorption	adsorption	NOUN
ajst-1492	28	16	connection	connection	NOUN
ajst-1492	28	17	.	.	PUNCT
ajst-1492	29	1	the	the	DET
ajst-1492	29	2	multiple	multiple	ADJ
ajst-1492	29	3	suction	suction	NOUN
ajst-1492	29	4	cups	cup	NOUN
ajst-1492	29	5	will	will	AUX
ajst-1492	29	6	63	63	NUM
ajst-1492	29	7	compensate	compensate	VERB
ajst-1492	29	8	for	for	ADP
ajst-1492	29	9	the	the	DET
ajst-1492	29	10	failure	failure	NOUN
ajst-1492	29	11	of	of	ADP
ajst-1492	29	12	the	the	DET
ajst-1492	29	13	adsorption	adsorption	NOUN
ajst-1492	29	14	connection	connection	NOUN
ajst-1492	29	15	caused	cause	VERB
ajst-1492	29	16	by	by	ADP
ajst-1492	29	17	the	the	DET
ajst-1492	29	18	obstacles	obstacle	NOUN
ajst-1492	29	19	to	to	ADP
ajst-1492	29	20	a	a	DET
ajst-1492	29	21	certain	certain	ADJ
ajst-1492	29	22	extent	extent	NOUN
ajst-1492	29	23	.	.	PUNCT
ajst-1492	30	1	therefore	therefore	ADV
ajst-1492	30	2	,	,	PUNCT
ajst-1492	30	3	in	in	ADP
ajst-1492	30	4	the	the	DET
ajst-1492	30	5	current	current	ADJ
ajst-1492	30	6	design	design	NOUN
ajst-1492	30	7	,	,	PUNCT
ajst-1492	30	8	most	most	ADJ
ajst-1492	30	9	of	of	ADP
ajst-1492	30	10	the	the	DET
ajst-1492	30	11	research	research	NOUN
ajst-1492	30	12	focuses	focus	VERB
ajst-1492	30	13	on	on	ADP
ajst-1492	30	14	the	the	DET
ajst-1492	30	15	multi	multi	ADJ
ajst-1492	30	16	suction	suction	NOUN
ajst-1492	30	17	cup	cup	NOUN
ajst-1492	30	18	adsorption	adsorption	NOUN
ajst-1492	30	19	mode	mode	NOUN
ajst-1492	30	20	.	.	PUNCT
ajst-1492	31	1	the	the	DET
ajst-1492	31	2	multi	multi	PROPN
ajst-1492	31	3	suction	suction	PROPN
ajst-1492	31	4	cup	cup	PROPN
ajst-1492	31	5	window	window	NOUN
ajst-1492	31	6	cleaning	cleaning	NOUN
ajst-1492	31	7	robot	robot	NOUN
ajst-1492	31	8	developed	develop	VERB
ajst-1492	31	9	by	by	ADP
ajst-1492	31	10	literature[5	literature[5	PROPN
ajst-1492	31	11	]	]	PUNCT
ajst-1492	31	12	consists	consist	VERB
ajst-1492	31	13	of	of	ADP
ajst-1492	31	14	12	12	NUM
ajst-1492	31	15	suction	suction	NOUN
ajst-1492	31	16	cups	cup	NOUN
ajst-1492	31	17	and	and	CCONJ
ajst-1492	31	18	12	12	NUM
ajst-1492	31	19	vacuum	vacuum	NOUN
ajst-1492	31	20	generators	generator	NOUN
ajst-1492	31	21	.	.	PUNCT
ajst-1492	32	1	in	in	ADP
ajst-1492	32	2	the	the	DET
ajst-1492	32	3	design	design	NOUN
ajst-1492	32	4	process	process	NOUN
ajst-1492	32	5	,	,	PUNCT
ajst-1492	32	6	in	in	ADP
ajst-1492	32	7	order	order	NOUN
ajst-1492	32	8	to	to	PART
ajst-1492	32	9	reduce	reduce	VERB
ajst-1492	32	10	the	the	DET
ajst-1492	32	11	axial	axial	ADJ
ajst-1492	32	12	force	force	NOUN
ajst-1492	32	13	of	of	ADP
ajst-1492	32	14	the	the	DET
ajst-1492	32	15	suction	suction	NOUN
ajst-1492	32	16	cups	cup	NOUN
ajst-1492	32	17	and	and	CCONJ
ajst-1492	32	18	reduce	reduce	VERB
ajst-1492	32	19	the	the	DET
ajst-1492	32	20	impact	impact	NOUN
ajst-1492	32	21	of	of	ADP
ajst-1492	32	22	obstacles	obstacle	NOUN
ajst-1492	32	23	,	,	PUNCT
ajst-1492	32	24	the	the	DET
ajst-1492	32	25	suction	suction	NOUN
ajst-1492	32	26	cups	cup	NOUN
ajst-1492	32	27	are	be	AUX
ajst-1492	32	28	divided	divide	VERB
ajst-1492	32	29	into	into	ADP
ajst-1492	32	30	three	three	NUM
ajst-1492	32	31	groups	group	NOUN
ajst-1492	32	32	and	and	CCONJ
ajst-1492	32	33	arranged	arrange	VERB
ajst-1492	32	34	longitudinally	longitudinally	ADV
ajst-1492	32	35	.	.	PUNCT
ajst-1492	33	1	when	when	SCONJ
ajst-1492	33	2	the	the	DET
ajst-1492	33	3	robot	robot	NOUN
ajst-1492	33	4	works	work	VERB
ajst-1492	33	5	,	,	PUNCT
ajst-1492	33	6	when	when	SCONJ
ajst-1492	33	7	the	the	DET
ajst-1492	33	8	longitudinal	longitudinal	ADJ
ajst-1492	33	9	cylinder	cylinder	NOUN
ajst-1492	33	10	suction	suction	NOUN
ajst-1492	33	11	cup	cup	NOUN
ajst-1492	33	12	group	group	NOUN
ajst-1492	33	13	completely	completely	ADV
ajst-1492	33	14	contacts	contact	VERB
ajst-1492	33	15	the	the	DET
ajst-1492	33	16	working	work	VERB
ajst-1492	33	17	surface	surface	NOUN
ajst-1492	33	18	and	and	CCONJ
ajst-1492	33	19	reaches	reach	VERB
ajst-1492	33	20	the	the	DET
ajst-1492	33	21	adsorption	adsorption	NOUN
ajst-1492	33	22	state	state	NOUN
ajst-1492	33	23	,	,	PUNCT
ajst-1492	33	24	the	the	DET
ajst-1492	33	25	corresponding	corresponding	ADJ
ajst-1492	33	26	electromagnetic	electromagnetic	ADJ
ajst-1492	33	27	valve	valve	NOUN
ajst-1492	33	28	is	be	AUX
ajst-1492	33	29	opened	open	VERB
ajst-1492	33	30	,	,	PUNCT
ajst-1492	33	31	the	the	DET
ajst-1492	33	32	vacuum	vacuum	NOUN
ajst-1492	33	33	generator	generator	PROPN
ajst-1492	33	34	works	work	VERB
ajst-1492	33	35	to	to	PART
ajst-1492	33	36	generate	generate	VERB
ajst-1492	33	37	vacuum	vacuum	NOUN
ajst-1492	33	38	,	,	PUNCT
ajst-1492	33	39	and	and	CCONJ
ajst-1492	33	40	the	the	DET
ajst-1492	33	41	suction	suction	NOUN
ajst-1492	33	42	cup	cup	NOUN
ajst-1492	33	43	is	be	AUX
ajst-1492	33	44	adsorbed	adsorb	VERB
ajst-1492	33	45	on	on	ADP
ajst-1492	33	46	the	the	DET
ajst-1492	33	47	working	working	NOUN
ajst-1492	33	48	surface	surface	NOUN
ajst-1492	33	49	.	.	PUNCT
ajst-1492	34	1	on	on	ADP
ajst-1492	34	2	the	the	DET
ajst-1492	34	3	contrary	contrary	NOUN
ajst-1492	34	4	,	,	PUNCT
ajst-1492	34	5	as	as	SCONJ
ajst-1492	34	6	the	the	DET
ajst-1492	34	7	robot	robot	NOUN
ajst-1492	34	8	advances	advance	VERB
ajst-1492	34	9	,	,	PUNCT
ajst-1492	34	10	when	when	SCONJ
ajst-1492	34	11	the	the	DET
ajst-1492	34	12	suction	suction	NOUN
ajst-1492	34	13	cup	cup	NOUN
ajst-1492	34	14	is	be	AUX
ajst-1492	34	15	about	about	ADJ
ajst-1492	34	16	to	to	PART
ajst-1492	34	17	leave	leave	VERB
ajst-1492	34	18	the	the	DET
ajst-1492	34	19	plane	plane	NOUN
ajst-1492	34	20	,	,	PUNCT
ajst-1492	34	21	the	the	DET
ajst-1492	34	22	corresponding	corresponding	ADJ
ajst-1492	34	23	solenoid	solenoid	NOUN
ajst-1492	34	24	valve	valve	NOUN
ajst-1492	34	25	is	be	AUX
ajst-1492	34	26	closed	close	VERB
ajst-1492	34	27	,	,	PUNCT
ajst-1492	34	28	and	and	CCONJ
ajst-1492	34	29	the	the	DET
ajst-1492	34	30	suction	suction	NOUN
ajst-1492	34	31	force	force	NOUN
ajst-1492	34	32	of	of	ADP
ajst-1492	34	33	the	the	DET
ajst-1492	34	34	suction	suction	NOUN
ajst-1492	34	35	cup	cup	NOUN
ajst-1492	34	36	gradually	gradually	ADV
ajst-1492	34	37	drops	drop	VERB
ajst-1492	34	38	to	to	ADP
ajst-1492	34	39	zero	zero	NUM
ajst-1492	34	40	,	,	PUNCT
ajst-1492	34	41	leaving	leave	VERB
ajst-1492	34	42	the	the	DET
ajst-1492	34	43	glass	glass	NOUN
ajst-1492	34	44	surface	surface	NOUN
ajst-1492	34	45	.	.	PUNCT
ajst-1492	35	1	literature[6	literature[6	VERB
ajst-1492	35	2	]	]	X
ajst-1492	36	1	a	a	DET
ajst-1492	36	2	portable	portable	ADJ
ajst-1492	36	3	automatic	automatic	ADJ
ajst-1492	36	4	window	window	NOUN
ajst-1492	36	5	cleaning	cleaning	NOUN
ajst-1492	36	6	robot	robot	NOUN
ajst-1492	36	7	jointly	jointly	ADV
ajst-1492	36	8	designed	design	VERB
ajst-1492	36	9	and	and	CCONJ
ajst-1492	36	10	developed	develop	VERB
ajst-1492	36	11	by	by	ADP
ajst-1492	36	12	sisoyo	sisoyo	NOUN
ajst-1492	36	13	of	of	ADP
ajst-1492	36	14	swinburne	swinburne	ADJ
ajst-1492	36	15	university	university	NOUN
ajst-1492	36	16	in	in	ADP
ajst-1492	36	17	malaysia	malaysia	PROPN
ajst-1492	36	18	.	.	PUNCT
ajst-1492	37	1	the	the	DET
ajst-1492	37	2	robot	robot	NOUN
ajst-1492	37	3	is	be	AUX
ajst-1492	37	4	a	a	DET
ajst-1492	37	5	37	37	NUM
ajst-1492	37	6	×	×	NOUN
ajst-1492	37	7	the	the	DET
ajst-1492	37	8	18	18	NUM
ajst-1492	37	9	cm	cm	NOUN
ajst-1492	37	10	rectangular	rectangular	ADJ
ajst-1492	37	11	device	device	NOUN
ajst-1492	37	12	weighs	weigh	VERB
ajst-1492	37	13	about	about	ADV
ajst-1492	37	14	3.5	3.5	NUM
ajst-1492	37	15	kg	kg	NOUN
ajst-1492	37	16	.	.	PUNCT
ajst-1492	38	1	the	the	DET
ajst-1492	38	2	adsorption	adsorption	NOUN
ajst-1492	38	3	device	device	NOUN
ajst-1492	38	4	has	have	VERB
ajst-1492	38	5	8	8	NUM
ajst-1492	38	6	suction	suction	NOUN
ajst-1492	38	7	cups	cup	NOUN
ajst-1492	38	8	,	,	PUNCT
ajst-1492	38	9	each	each	PRON
ajst-1492	38	10	in	in	ADP
ajst-1492	38	11	a	a	DET
ajst-1492	38	12	group	group	NOUN
ajst-1492	38	13	of	of	ADP
ajst-1492	38	14	4	4	NUM
ajst-1492	38	15	.	.	PUNCT
ajst-1492	39	1	it	it	PRON
ajst-1492	39	2	can	can	AUX
ajst-1492	39	3	be	be	AUX
ajst-1492	39	4	operated	operate	VERB
ajst-1492	39	5	in	in	ADP
ajst-1492	39	6	automatic	automatic	ADJ
ajst-1492	39	7	and	and	CCONJ
ajst-1492	39	8	manual	manual	ADJ
ajst-1492	39	9	modes	mode	NOUN
ajst-1492	39	10	.	.	PUNCT
ajst-1492	40	1	it	it	PRON
ajst-1492	40	2	drives	drive	VERB
ajst-1492	40	3	two	two	NUM
ajst-1492	40	4	groups	group	NOUN
ajst-1492	40	5	of	of	ADP
ajst-1492	40	6	suction	suction	NOUN
ajst-1492	40	7	cups	cup	NOUN
ajst-1492	40	8	by	by	ADP
ajst-1492	40	9	releasing	release	VERB
ajst-1492	40	10	gas	gas	NOUN
ajst-1492	40	11	alternately	alternately	ADV
ajst-1492	40	12	.	.	PUNCT
ajst-1492	41	1	at	at	ADP
ajst-1492	41	2	the	the	DET
ajst-1492	41	3	same	same	ADJ
ajst-1492	41	4	time	time	NOUN
ajst-1492	41	5	,	,	PUNCT
ajst-1492	41	6	under	under	ADP
ajst-1492	41	7	the	the	DET
ajst-1492	41	8	joint	joint	ADJ
ajst-1492	41	9	action	action	NOUN
ajst-1492	41	10	of	of	ADP
ajst-1492	41	11	rotating	rotate	VERB
ajst-1492	41	12	brake	brake	NOUN
ajst-1492	41	13	,	,	PUNCT
ajst-1492	41	14	belt	belt	NOUN
ajst-1492	41	15	and	and	CCONJ
ajst-1492	41	16	pulley	pulley	NOUN
ajst-1492	41	17	system	system	NOUN
ajst-1492	41	18	,	,	PUNCT
ajst-1492	41	19	it	it	PRON
ajst-1492	41	20	can	can	AUX
ajst-1492	41	21	propel	propel	VERB
ajst-1492	41	22	the	the	DET
ajst-1492	41	23	robot	robot	NOUN
ajst-1492	41	24	body	body	NOUN
ajst-1492	41	25	in	in	ADP
ajst-1492	41	26	a	a	DET
ajst-1492	41	27	pre	pre	ADJ
ajst-1492	41	28	programmed	program	VERB
ajst-1492	41	29	swing	swing	NOUN
ajst-1492	41	30	mode	mode	NOUN
ajst-1492	41	31	on	on	ADP
ajst-1492	41	32	the	the	DET
ajst-1492	41	33	2d	2d	NUM
ajst-1492	41	34	plane	plane	NOUN
ajst-1492	41	35	of	of	ADP
ajst-1492	41	36	the	the	DET
ajst-1492	41	37	glass	glass	NOUN
ajst-1492	41	38	curtain	curtain	NOUN
ajst-1492	41	39	wall	wall	NOUN
ajst-1492	41	40	.	.	PUNCT
ajst-1492	42	1	the	the	DET
ajst-1492	42	2	cleaning	cleaning	NOUN
ajst-1492	42	3	work	work	NOUN
ajst-1492	42	4	is	be	AUX
ajst-1492	42	5	completed	complete	VERB
ajst-1492	42	6	by	by	ADP
ajst-1492	42	7	a	a	DET
ajst-1492	42	8	pair	pair	NOUN
ajst-1492	42	9	of	of	ADP
ajst-1492	42	10	sponges	sponge	NOUN
ajst-1492	42	11	attached	attach	VERB
ajst-1492	42	12	on	on	ADP
ajst-1492	42	13	both	both	DET
ajst-1492	42	14	sides	side	NOUN
ajst-1492	42	15	,	,	PUNCT
ajst-1492	42	16	and	and	CCONJ
ajst-1492	42	17	a	a	DET
ajst-1492	42	18	group	group	NOUN
ajst-1492	42	19	of	of	ADP
ajst-1492	42	20	optical	optical	ADJ
ajst-1492	42	21	sensors	sensor	NOUN
ajst-1492	42	22	are	be	AUX
ajst-1492	42	23	used	use	VERB
ajst-1492	42	24	to	to	PART
ajst-1492	42	25	detect	detect	VERB
ajst-1492	42	26	the	the	DET
ajst-1492	42	27	window	window	NOUN
ajst-1492	42	28	frame	frame	NOUN
ajst-1492	42	29	.	.	PUNCT
ajst-1492	43	1	the	the	DET
ajst-1492	43	2	robot	robot	NOUN
ajst-1492	43	3	is	be	AUX
ajst-1492	43	4	light	light	ADJ
ajst-1492	43	5	in	in	ADP
ajst-1492	43	6	weight	weight	NOUN
ajst-1492	43	7	,	,	PUNCT
ajst-1492	43	8	small	small	ADJ
ajst-1492	43	9	in	in	ADP
ajst-1492	43	10	size	size	NOUN
ajst-1492	43	11	and	and	CCONJ
ajst-1492	43	12	cheap	cheap	ADJ
ajst-1492	43	13	in	in	ADP
ajst-1492	43	14	price	price	NOUN
ajst-1492	43	15	.	.	PUNCT
ajst-1492	44	1	the	the	DET
ajst-1492	44	2	portable	portable	ADJ
ajst-1492	44	3	automatic	automatic	ADJ
ajst-1492	44	4	window	window	NOUN
ajst-1492	44	5	cleaning	cleaning	NOUN
ajst-1492	44	6	robot	robot	NOUN
ajst-1492	44	7	is	be	AUX
ajst-1492	44	8	shown	show	VERB
ajst-1492	44	9	in	in	ADP
ajst-1492	44	10	figure	figure	NOUN
ajst-1492	44	11	1	1	NUM
ajst-1492	44	12	.	.	PUNCT
ajst-1492	45	1	figure	figure	NOUN
ajst-1492	45	2	1	1	NUM
ajst-1492	45	3	.	.	PUNCT
ajst-1492	46	1	portable	portable	ADJ
ajst-1492	46	2	automatic	automatic	ADJ
ajst-1492	46	3	window	window	NOUN
ajst-1492	46	4	cleaning	cleaning	NOUN
ajst-1492	46	5	robot	robot	NOUN
ajst-1492	46	6	3	3	NUM
ajst-1492	46	7	.	.	PUNCT
ajst-1492	46	8	thrust	thrust	VERB
ajst-1492	46	9	adsorption	adsorption	NOUN
ajst-1492	46	10	technology	technology	NOUN
ajst-1492	46	11	a	a	DET
ajst-1492	46	12	glass	glass	NOUN
ajst-1492	46	13	wall	wall	NOUN
ajst-1492	46	14	cleaning	cleaning	NOUN
ajst-1492	46	15	robot	robot	NOUN
ajst-1492	46	16	based	base	VERB
ajst-1492	46	17	on	on	ADP
ajst-1492	46	18	low	low	ADJ
ajst-1492	46	19	-	-	PUNCT
ajst-1492	46	20	noise	noise	NOUN
ajst-1492	46	21	centrifugal	centrifugal	ADJ
ajst-1492	46	22	fan	fan	NOUN
ajst-1492	46	23	adsorption	adsorption	NOUN
ajst-1492	46	24	system	system	NOUN
ajst-1492	46	25	was	be	AUX
ajst-1492	46	26	developed	develop	VERB
ajst-1492	46	27	by	by	ADP
ajst-1492	46	28	literature[7	literature[7	NOUN
ajst-1492	46	29	]	]	PUNCT
ajst-1492	46	30	.	.	PUNCT
ajst-1492	47	1	according	accord	VERB
ajst-1492	47	2	to	to	ADP
ajst-1492	47	3	bernoulli	bernoulli	PROPN
ajst-1492	47	4	's	's	PART
ajst-1492	47	5	principle	principle	NOUN
ajst-1492	47	6	,	,	PUNCT
ajst-1492	47	7	the	the	DET
ajst-1492	47	8	robot	robot	NOUN
ajst-1492	47	9	uses	use	VERB
ajst-1492	47	10	a	a	DET
ajst-1492	47	11	motor	motor	NOUN
ajst-1492	47	12	to	to	PART
ajst-1492	47	13	drive	drive	VERB
ajst-1492	47	14	a	a	DET
ajst-1492	47	15	centrifugal	centrifugal	ADJ
ajst-1492	47	16	fan	fan	NOUN
ajst-1492	47	17	to	to	PART
ajst-1492	47	18	rotate	rotate	VERB
ajst-1492	47	19	at	at	ADP
ajst-1492	47	20	high	high	ADJ
ajst-1492	47	21	speed	speed	NOUN
ajst-1492	47	22	.	.	PUNCT
ajst-1492	48	1	the	the	DET
ajst-1492	48	2	air	air	NOUN
ajst-1492	48	3	in	in	ADP
ajst-1492	48	4	the	the	DET
ajst-1492	48	5	negative	negative	ADJ
ajst-1492	48	6	pressure	pressure	NOUN
ajst-1492	48	7	chamber	chamber	NOUN
ajst-1492	48	8	is	be	AUX
ajst-1492	48	9	discharged	discharge	VERB
ajst-1492	48	10	through	through	ADP
ajst-1492	48	11	the	the	DET
ajst-1492	48	12	skirt	skirt	NOUN
ajst-1492	48	13	of	of	ADP
ajst-1492	48	14	the	the	DET
ajst-1492	48	15	negative	negative	ADJ
ajst-1492	48	16	pressure	pressure	NOUN
ajst-1492	48	17	chamber	chamber	NOUN
ajst-1492	48	18	,	,	PUNCT
ajst-1492	48	19	so	so	SCONJ
ajst-1492	48	20	that	that	SCONJ
ajst-1492	48	21	an	an	DET
ajst-1492	48	22	instantaneous	instantaneous	ADJ
ajst-1492	48	23	vacuum	vacuum	NOUN
ajst-1492	48	24	state	state	NOUN
ajst-1492	48	25	is	be	AUX
ajst-1492	48	26	formed	form	VERB
ajst-1492	48	27	in	in	ADP
ajst-1492	48	28	the	the	DET
ajst-1492	48	29	negative	negative	ADJ
ajst-1492	48	30	pressure	pressure	NOUN
ajst-1492	48	31	chamber	chamber	NOUN
ajst-1492	48	32	.	.	PUNCT
ajst-1492	49	1	by	by	ADP
ajst-1492	49	2	analyzing	analyze	VERB
ajst-1492	49	3	the	the	DET
ajst-1492	49	4	frequency	frequency	NOUN
ajst-1492	49	5	of	of	ADP
ajst-1492	49	6	rotating	rotate	VERB
ajst-1492	49	7	noise	noise	NOUN
ajst-1492	49	8	and	and	CCONJ
ajst-1492	49	9	eddy	eddy	PROPN
ajst-1492	49	10	current	current	ADJ
ajst-1492	49	11	noise	noise	NOUN
ajst-1492	49	12	,	,	PUNCT
ajst-1492	49	13	the	the	DET
ajst-1492	49	14	number	number	NOUN
ajst-1492	49	15	of	of	ADP
ajst-1492	49	16	rotations	rotation	NOUN
ajst-1492	49	17	of	of	ADP
ajst-1492	49	18	the	the	DET
ajst-1492	49	19	centrifugal	centrifugal	ADJ
ajst-1492	49	20	fan	fan	NOUN
ajst-1492	49	21	is	be	AUX
ajst-1492	49	22	reduced	reduce	VERB
ajst-1492	49	23	to	to	PART
ajst-1492	49	24	reduce	reduce	VERB
ajst-1492	49	25	the	the	DET
ajst-1492	49	26	noise	noise	NOUN
ajst-1492	49	27	of	of	ADP
ajst-1492	49	28	the	the	DET
ajst-1492	49	29	fan	fan	NOUN
ajst-1492	49	30	while	while	SCONJ
ajst-1492	49	31	ensuring	ensure	VERB
ajst-1492	49	32	that	that	SCONJ
ajst-1492	49	33	the	the	DET
ajst-1492	49	34	robot	robot	NOUN
ajst-1492	49	35	is	be	AUX
ajst-1492	49	36	safely	safely	ADV
ajst-1492	49	37	adsorbed	adsorb	VERB
ajst-1492	49	38	on	on	ADP
ajst-1492	49	39	the	the	DET
ajst-1492	49	40	glass	glass	NOUN
ajst-1492	49	41	;	;	PUNCT
ajst-1492	49	42	at	at	ADP
ajst-1492	49	43	the	the	DET
ajst-1492	49	44	same	same	ADJ
ajst-1492	49	45	time	time	NOUN
ajst-1492	49	46	,	,	PUNCT
ajst-1492	49	47	the	the	DET
ajst-1492	49	48	contact	contact	NOUN
ajst-1492	49	49	stress	stress	NOUN
ajst-1492	49	50	of	of	ADP
ajst-1492	49	51	the	the	DET
ajst-1492	49	52	moving	move	VERB
ajst-1492	49	53	wheel	wheel	NOUN
ajst-1492	49	54	is	be	AUX
ajst-1492	49	55	analyzed	analyze	VERB
ajst-1492	49	56	the	the	DET
ajst-1492	49	57	glass	glass	NOUN
ajst-1492	49	58	curtain	curtain	NOUN
ajst-1492	49	59	wall	wall	NOUN
ajst-1492	49	60	cleaning	cleaning	NOUN
ajst-1492	49	61	robot	robot	NOUN
ajst-1492	49	62	based	base	VERB
ajst-1492	49	63	on	on	ADP
ajst-1492	49	64	syringe	syringe	NOUN
ajst-1492	49	65	adsorption	adsorption	NOUN
ajst-1492	49	66	was	be	AUX
ajst-1492	49	67	jointly	jointly	ADV
ajst-1492	49	68	developed	develop	VERB
ajst-1492	49	69	by	by	ADP
ajst-1492	49	70	literature[8	literature[8	NOUN
ajst-1492	49	71	]	]	PUNCT
ajst-1492	49	72	.	.	PUNCT
ajst-1492	50	1	the	the	DET
ajst-1492	50	2	robot	robot	NOUN
ajst-1492	50	3	adsorption	adsorption	NOUN
ajst-1492	50	4	device	device	NOUN
ajst-1492	50	5	is	be	AUX
ajst-1492	50	6	composed	compose	VERB
ajst-1492	50	7	of	of	ADP
ajst-1492	50	8	a	a	DET
ajst-1492	50	9	vacuum	vacuum	NOUN
ajst-1492	50	10	suction	suction	NOUN
ajst-1492	50	11	cup	cup	NOUN
ajst-1492	50	12	,	,	PUNCT
ajst-1492	50	13	a	a	DET
ajst-1492	50	14	rubber	rubber	NOUN
ajst-1492	50	15	tube	tube	NOUN
ajst-1492	50	16	,	,	PUNCT
ajst-1492	50	17	a	a	DET
ajst-1492	50	18	20ml	20ml	ADJ
ajst-1492	50	19	syringe	syringe	NOUN
ajst-1492	50	20	,	,	PUNCT
ajst-1492	50	21	a	a	DET
ajst-1492	50	22	1	1	NUM
ajst-1492	50	23	mm	mm	NOUN
ajst-1492	50	24	building	building	NOUN
ajst-1492	50	25	string	string	NOUN
ajst-1492	50	26	and	and	CCONJ
ajst-1492	50	27	a	a	DET
ajst-1492	50	28	12v	12v	NUM
ajst-1492	50	29	decelerating	decelerate	VERB
ajst-1492	50	30	dc	dc	PROPN
ajst-1492	50	31	motor	motor	NOUN
ajst-1492	50	32	.	.	PUNCT
ajst-1492	51	1	in	in	ADP
ajst-1492	51	2	order	order	NOUN
ajst-1492	51	3	to	to	PART
ajst-1492	51	4	make	make	VERB
ajst-1492	51	5	the	the	DET
ajst-1492	51	6	syringe	syringe	NOUN
ajst-1492	51	7	tail	tail	NOUN
ajst-1492	51	8	move	move	NOUN
ajst-1492	51	9	to	to	ADP
ajst-1492	51	10	the	the	DET
ajst-1492	51	11	same	same	ADJ
ajst-1492	51	12	position	position	NOUN
ajst-1492	51	13	every	every	DET
ajst-1492	51	14	time	time	NOUN
ajst-1492	51	15	,	,	PUNCT
ajst-1492	51	16	a	a	DET
ajst-1492	51	17	mechanical	mechanical	ADJ
ajst-1492	51	18	switch	switch	NOUN
ajst-1492	51	19	k1	k1	NOUN
ajst-1492	51	20	is	be	AUX
ajst-1492	51	21	set	set	VERB
ajst-1492	51	22	at	at	ADP
ajst-1492	51	23	the	the	DET
ajst-1492	51	24	position	position	NOUN
ajst-1492	51	25	of	of	ADP
ajst-1492	51	26	the	the	DET
ajst-1492	51	27	maximum	maximum	ADJ
ajst-1492	51	28	movement	movement	NOUN
ajst-1492	51	29	of	of	ADP
ajst-1492	51	30	the	the	DET
ajst-1492	51	31	syringe	syringe	NOUN
ajst-1492	51	32	tail	tail	NOUN
ajst-1492	51	33	.	.	PUNCT
ajst-1492	52	1	when	when	SCONJ
ajst-1492	52	2	the	the	DET
ajst-1492	52	3	syringe	syringe	NOUN
ajst-1492	52	4	tail	tail	NOUN
ajst-1492	52	5	touches	touch	VERB
ajst-1492	52	6	k1	k1	NOUN
ajst-1492	52	7	,	,	PUNCT
ajst-1492	52	8	the	the	DET
ajst-1492	52	9	motor	motor	NOUN
ajst-1492	52	10	stops	stop	VERB
ajst-1492	52	11	rotating	rotate	VERB
ajst-1492	52	12	.	.	PUNCT
ajst-1492	53	1	the	the	DET
ajst-1492	53	2	structure	structure	NOUN
ajst-1492	53	3	of	of	ADP
ajst-1492	53	4	the	the	DET
ajst-1492	53	5	thrust	thrust	ADJ
ajst-1492	53	6	part	part	NOUN
ajst-1492	53	7	of	of	ADP
ajst-1492	53	8	the	the	DET
ajst-1492	53	9	glass	glass	NOUN
ajst-1492	53	10	curtain	curtain	NOUN
ajst-1492	53	11	wall	wall	NOUN
ajst-1492	53	12	cleaning	cleaning	NOUN
ajst-1492	53	13	robot	robot	NOUN
ajst-1492	53	14	adsorbed	adsorb	VERB
ajst-1492	53	15	by	by	ADP
ajst-1492	53	16	the	the	DET
ajst-1492	53	17	syringe	syringe	NOUN
ajst-1492	53	18	is	be	AUX
ajst-1492	53	19	shown	show	VERB
ajst-1492	53	20	in	in	ADP
ajst-1492	53	21	fig	fig	NOUN
ajst-1492	53	22	.	.	PUNCT
ajst-1492	54	1	2	2	X
ajst-1492	54	2	.	.	X
ajst-1492	54	3	after	after	ADP
ajst-1492	54	4	many	many	ADJ
ajst-1492	54	5	tests	test	NOUN
ajst-1492	54	6	,	,	PUNCT
ajst-1492	54	7	the	the	DET
ajst-1492	54	8	adsorption	adsorption	NOUN
ajst-1492	54	9	success	success	NOUN
ajst-1492	54	10	rate	rate	NOUN
ajst-1492	54	11	under	under	ADP
ajst-1492	54	12	static	static	ADJ
ajst-1492	54	13	,	,	PUNCT
ajst-1492	54	14	low	low	ADJ
ajst-1492	54	15	-	-	PUNCT
ajst-1492	54	16	speed	speed	NOUN
ajst-1492	54	17	and	and	CCONJ
ajst-1492	54	18	medium	medium	ADJ
ajst-1492	54	19	speed	speed	NOUN
ajst-1492	54	20	conditions	condition	NOUN
ajst-1492	54	21	is	be	AUX
ajst-1492	54	22	close	close	ADJ
ajst-1492	54	23	to	to	PART
ajst-1492	54	24	100	100	NUM
ajst-1492	54	25	%	%	NOUN
ajst-1492	54	26	,	,	PUNCT
ajst-1492	54	27	and	and	CCONJ
ajst-1492	54	28	the	the	DET
ajst-1492	54	29	moving	move	VERB
ajst-1492	54	30	adsorption	adsorption	NOUN
ajst-1492	54	31	rate	rate	NOUN
ajst-1492	54	32	at	at	ADP
ajst-1492	54	33	high	high	ADJ
ajst-1492	54	34	-	-	PUNCT
ajst-1492	54	35	speed	speed	NOUN
ajst-1492	54	36	is	be	AUX
ajst-1492	54	37	close	close	ADJ
ajst-1492	54	38	to	to	ADP
ajst-1492	54	39	95	95	NUM
ajst-1492	54	40	%	%	NOUN
ajst-1492	54	41	.	.	PUNCT
ajst-1492	55	1	3.1	3.1	NUM
ajst-1492	55	2	.	.	X
ajst-1492	55	3	leg	leg	NOUN
ajst-1492	55	4	and	and	CCONJ
ajst-1492	55	5	foot	foot	NOUN
ajst-1492	55	6	movement	movement	NOUN
ajst-1492	55	7	technology	technology	NOUN
ajst-1492	55	8	the	the	DET
ajst-1492	55	9	appearance	appearance	NOUN
ajst-1492	55	10	of	of	ADP
ajst-1492	55	11	legged	legged	ADJ
ajst-1492	55	12	mobile	mobile	ADJ
ajst-1492	55	13	technology	technology	NOUN
ajst-1492	55	14	has	have	AUX
ajst-1492	55	15	greatly	greatly	ADV
ajst-1492	55	16	improved	improve	VERB
ajst-1492	55	17	the	the	DET
ajst-1492	55	18	obstacle	obstacle	NOUN
ajst-1492	55	19	surmounting	surmount	VERB
ajst-1492	55	20	ability	ability	NOUN
ajst-1492	55	21	of	of	ADP
ajst-1492	55	22	glass	glass	NOUN
ajst-1492	55	23	curtain	curtain	NOUN
ajst-1492	55	24	wall	wall	NOUN
ajst-1492	55	25	cleaning	clean	VERB
ajst-1492	55	26	robot[9	robot[9	PROPN
ajst-1492	55	27	]	]	PUNCT
ajst-1492	55	28	.	.	PUNCT
ajst-1492	56	1	it	it	PRON
ajst-1492	56	2	is	be	AUX
ajst-1492	56	3	the	the	DET
ajst-1492	56	4	main	main	ADJ
ajst-1492	56	5	direction	direction	NOUN
ajst-1492	56	6	of	of	ADP
ajst-1492	56	7	the	the	DET
ajst-1492	56	8	research	research	NOUN
ajst-1492	56	9	on	on	ADP
ajst-1492	56	10	the	the	DET
ajst-1492	56	11	mobile	mobile	ADJ
ajst-1492	56	12	mechanism	mechanism	NOUN
ajst-1492	56	13	of	of	ADP
ajst-1492	56	14	glass	glass	NOUN
ajst-1492	56	15	curtain	curtain	NOUN
ajst-1492	56	16	wall	wall	NOUN
ajst-1492	56	17	cleaning	cleaning	NOUN
ajst-1492	56	18	robot	robot	NOUN
ajst-1492	56	19	at	at	ADP
ajst-1492	56	20	present	present	ADJ
ajst-1492	56	21	.	.	PUNCT
ajst-1492	57	1	there	there	PRON
ajst-1492	57	2	are	be	VERB
ajst-1492	57	3	two	two	NUM
ajst-1492	57	4	legs	leg	NOUN
ajst-1492	57	5	,	,	PUNCT
ajst-1492	57	6	four	four	NUM
ajst-1492	57	7	legs	leg	NOUN
ajst-1492	57	8	,	,	PUNCT
ajst-1492	57	9	six	six	NUM
ajst-1492	57	10	legs	leg	NOUN
ajst-1492	57	11	and	and	CCONJ
ajst-1492	57	12	even	even	ADV
ajst-1492	57	13	22	22	NUM
ajst-1492	57	14	legs	leg	NOUN
ajst-1492	57	15	.	.	PUNCT
ajst-1492	58	1	with	with	ADP
ajst-1492	58	2	the	the	DET
ajst-1492	58	3	increase	increase	NOUN
ajst-1492	58	4	of	of	ADP
ajst-1492	58	5	the	the	DET
ajst-1492	58	6	number	number	NOUN
ajst-1492	58	7	of	of	ADP
ajst-1492	58	8	feet	foot	NOUN
ajst-1492	58	9	,	,	PUNCT
ajst-1492	58	10	the	the	DET
ajst-1492	58	11	obstacle	obstacle	NOUN
ajst-1492	58	12	surmounting	surmount	VERB
ajst-1492	58	13	ability	ability	NOUN
ajst-1492	58	14	is	be	AUX
ajst-1492	58	15	improved	improve	VERB
ajst-1492	58	16	to	to	ADP
ajst-1492	58	17	a	a	DET
ajst-1492	58	18	certain	certain	ADJ
ajst-1492	58	19	extent	extent	NOUN
ajst-1492	58	20	,	,	PUNCT
ajst-1492	58	21	but	but	CCONJ
ajst-1492	58	22	the	the	DET
ajst-1492	58	23	structure	structure	NOUN
ajst-1492	58	24	is	be	AUX
ajst-1492	58	25	complex	complex	ADJ
ajst-1492	58	26	,	,	PUNCT
ajst-1492	58	27	the	the	DET
ajst-1492	58	28	control	control	NOUN
ajst-1492	58	29	difficulty	difficulty	NOUN
ajst-1492	58	30	is	be	AUX
ajst-1492	58	31	increased	increase	VERB
ajst-1492	58	32	,	,	PUNCT
ajst-1492	58	33	and	and	CCONJ
ajst-1492	58	34	the	the	DET
ajst-1492	58	35	manufacturing	manufacturing	NOUN
ajst-1492	58	36	cost	cost	NOUN
ajst-1492	58	37	is	be	AUX
ajst-1492	58	38	high	high	ADJ
ajst-1492	58	39	.	.	PUNCT
ajst-1492	59	1	a	a	DET
ajst-1492	59	2	quadruped	quadruped	NOUN
ajst-1492	59	3	wall	wall	NOUN
ajst-1492	59	4	climbing	climbing	NOUN
ajst-1492	59	5	robot	robot	NOUN
ajst-1492	59	6	has	have	AUX
ajst-1492	59	7	been	be	AUX
ajst-1492	59	8	developed	develop	VERB
ajst-1492	59	9	by	by	ADP
ajst-1492	59	10	naver	naver	NOUN
ajst-1492	59	11	o	o	PROPN
ajst-1492	59	12	and	and	CCONJ
ajst-1492	59	13	others	other	NOUN
ajst-1492	59	14	at	at	ADP
ajst-1492	59	15	carnegie	carnegie	PROPN
ajst-1492	59	16	mellon	mellon	PROPN
ajst-1492	59	17	university	university	PROPN
ajst-1492	59	18	.	.	PUNCT
ajst-1492	60	1	the	the	DET
ajst-1492	60	2	robot	robot	NOUN
ajst-1492	60	3	uses	use	VERB
ajst-1492	60	4	bionic	bionic	ADJ
ajst-1492	60	5	technology	technology	NOUN
ajst-1492	60	6	.	.	PUNCT
ajst-1492	61	1	its	its	PRON
ajst-1492	61	2	four	four	NUM
ajst-1492	61	3	legs	leg	NOUN
ajst-1492	61	4	are	be	AUX
ajst-1492	61	5	equipped	equip	VERB
ajst-1492	61	6	with	with	ADP
ajst-1492	61	7	a	a	DET
ajst-1492	61	8	new	new	ADJ
ajst-1492	61	9	peeling	peel	VERB
ajst-1492	61	10	mechanism	mechanism	NOUN
ajst-1492	61	11	suction	suction	NOUN
ajst-1492	61	12	cup	cup	NOUN
ajst-1492	61	13	with	with	ADP
ajst-1492	61	14	elastomer	elastomer	NOUN
ajst-1492	61	15	rubber	rubber	NOUN
ajst-1492	61	16	pads	pad	NOUN
ajst-1492	61	17	.	.	PUNCT
ajst-1492	62	1	its	its	PRON
ajst-1492	62	2	toes	toe	NOUN
ajst-1492	62	3	can	can	AUX
ajst-1492	62	4	be	be	AUX
ajst-1492	62	5	retracted	retract	VERB
ajst-1492	62	6	and	and	CCONJ
ajst-1492	62	7	turned	turn	VERB
ajst-1492	62	8	out	out	ADP
ajst-1492	62	9	.	.	PUNCT
ajst-1492	63	1	each	each	DET
ajst-1492	63	2	leg	leg	NOUN
ajst-1492	63	3	is	be	AUX
ajst-1492	63	4	driven	drive	VERB
ajst-1492	63	5	by	by	ADP
ajst-1492	63	6	the	the	DET
ajst-1492	63	7	steering	steering	NOUN
ajst-1492	63	8	gear	gear	NOUN
ajst-1492	63	9	.	.	PUNCT
ajst-1492	64	1	the	the	DET
ajst-1492	64	2	tail	tail	NOUN
ajst-1492	64	3	is	be	AUX
ajst-1492	64	4	equipped	equip	VERB
ajst-1492	64	5	with	with	ADP
ajst-1492	64	6	an	an	DET
ajst-1492	64	7	active	active	ADJ
ajst-1492	64	8	tail	tail	NOUN
ajst-1492	64	9	wing	wing	NOUN
ajst-1492	64	10	,	,	PUNCT
ajst-1492	64	11	which	which	PRON
ajst-1492	64	12	on	on	ADP
ajst-1492	64	13	the	the	DET
ajst-1492	64	14	one	one	NUM
ajst-1492	64	15	hand	hand	NOUN
ajst-1492	64	16	plays	play	VERB
ajst-1492	64	17	the	the	DET
ajst-1492	64	18	role	role	NOUN
ajst-1492	64	19	of	of	ADP
ajst-1492	64	20	turning	turn	VERB
ajst-1492	64	21	and	and	CCONJ
ajst-1492	64	22	stable	stable	ADJ
ajst-1492	64	23	climbing	climbing	NOUN
ajst-1492	64	24	of	of	ADP
ajst-1492	64	25	irregular	irregular	ADJ
ajst-1492	64	26	glass	glass	NOUN
ajst-1492	64	27	curtain	curtain	NOUN
ajst-1492	64	28	walls	wall	NOUN
ajst-1492	64	29	,	,	PUNCT
ajst-1492	64	30	and	and	CCONJ
ajst-1492	64	31	on	on	ADP
ajst-1492	64	32	the	the	DET
ajst-1492	64	33	other	other	ADJ
ajst-1492	64	34	hand	hand	NOUN
ajst-1492	64	35	plays	play	VERB
ajst-1492	64	36	the	the	DET
ajst-1492	64	37	role	role	NOUN
ajst-1492	64	38	of	of	ADP
ajst-1492	64	39	scraping	scrape	VERB
ajst-1492	64	40	,	,	PUNCT
ajst-1492	64	41	eliminating	eliminate	VERB
ajst-1492	64	42	the	the	DET
ajst-1492	64	43	water	water	NOUN
ajst-1492	64	44	marks	mark	NOUN
ajst-1492	64	45	left	leave	VERB
ajst-1492	64	46	by	by	ADP
ajst-1492	64	47	the	the	DET
ajst-1492	64	48	suction	suction	NOUN
ajst-1492	64	49	cup	cup	NOUN
ajst-1492	64	50	.	.	PUNCT
ajst-1492	65	1	the	the	DET
ajst-1492	65	2	movement	movement	NOUN
ajst-1492	65	3	process	process	NOUN
ajst-1492	65	4	is	be	AUX
ajst-1492	65	5	similar	similar	ADJ
ajst-1492	65	6	to	to	ADP
ajst-1492	65	7	the	the	DET
ajst-1492	65	8	climbing	climbing	NOUN
ajst-1492	65	9	gait	gait	NOUN
ajst-1492	65	10	of	of	ADP
ajst-1492	65	11	geckos	geckos	NOUN
ajst-1492	65	12	.	.	PUNCT
ajst-1492	66	1	the	the	DET
ajst-1492	66	2	experiment	experiment	NOUN
ajst-1492	66	3	shows	show	VERB
ajst-1492	66	4	that	that	SCONJ
ajst-1492	66	5	the	the	DET
ajst-1492	66	6	machine	machine	NOUN
ajst-1492	66	7	can	can	AUX
ajst-1492	66	8	crawl	crawl	VERB
ajst-1492	66	9	on	on	ADP
ajst-1492	66	10	an	an	DET
ajst-1492	66	11	85	85	NUM
ajst-1492	66	12	°	°	NUM
ajst-1492	66	13	slope	slope	NOUN
ajst-1492	66	14	,	,	PUNCT
ajst-1492	66	15	but	but	CCONJ
ajst-1492	66	16	it	it	PRON
ajst-1492	66	17	is	be	AUX
ajst-1492	66	18	not	not	PART
ajst-1492	66	19	suitable	suitable	ADJ
ajst-1492	66	20	for	for	ADP
ajst-1492	66	21	large	large	ADJ
ajst-1492	66	22	-	-	PUNCT
ajst-1492	66	23	scale	scale	NOUN
ajst-1492	66	24	and	and	CCONJ
ajst-1492	66	25	long	long	ADJ
ajst-1492	66	26	-	-	PUNCT
ajst-1492	66	27	time	time	NOUN
ajst-1492	66	28	operation	operation	NOUN
ajst-1492	66	29	due	due	ADP
ajst-1492	66	30	to	to	ADP
ajst-1492	66	31	its	its	PRON
ajst-1492	66	32	simple	simple	ADJ
ajst-1492	66	33	mechanical	mechanical	ADJ
ajst-1492	66	34	structure	structure	NOUN
ajst-1492	66	35	and	and	CCONJ
ajst-1492	66	36	small	small	ADJ
ajst-1492	66	37	load	load	NOUN
ajst-1492	66	38	-	-	PUNCT
ajst-1492	66	39	bearing	bear	VERB
ajst-1492	66	40	capacity	capacity	NOUN
ajst-1492	66	41	.	.	PUNCT
ajst-1492	67	1	literature[10	literature[10	NOUN
ajst-1492	67	2	]	]	PUNCT
ajst-1492	67	3	climbing	climbing	NOUN
ajst-1492	67	4	cleaning	clean	VERB
ajst-1492	67	5	robot	robot	NOUN
ajst-1492	67	6	for	for	ADP
ajst-1492	67	7	cleaning	clean	VERB
ajst-1492	67	8	glass	glass	NOUN
ajst-1492	67	9	curtain	curtain	NOUN
ajst-1492	67	10	walls	wall	NOUN
ajst-1492	67	11	of	of	ADP
ajst-1492	67	12	high	high	ADJ
ajst-1492	67	13	-	-	PUNCT
ajst-1492	67	14	rise	rise	NOUN
ajst-1492	67	15	buildings	building	NOUN
ajst-1492	67	16	.	.	PUNCT
ajst-1492	68	1	the	the	DET
ajst-1492	68	2	robot	robot	NOUN
ajst-1492	68	3	is	be	AUX
ajst-1492	68	4	composed	compose	VERB
ajst-1492	68	5	of	of	ADP
ajst-1492	68	6	1	1	NUM
ajst-1492	68	7	main	main	ADJ
ajst-1492	68	8	body	body	NOUN
ajst-1492	68	9	and	and	CCONJ
ajst-1492	68	10	6	6	NUM
ajst-1492	68	11	symmetrical	symmetrical	ADJ
ajst-1492	68	12	mechanical	mechanical	ADJ
ajst-1492	68	13	legs	leg	NOUN
ajst-1492	68	14	.	.	PUNCT
ajst-1492	69	1	the	the	DET
ajst-1492	69	2	robot	robot	NOUN
ajst-1492	69	3	is	be	AUX
ajst-1492	69	4	simple	simple	ADJ
ajst-1492	69	5	in	in	ADP
ajst-1492	69	6	structure	structure	NOUN
ajst-1492	69	7	,	,	PUNCT
ajst-1492	69	8	with	with	ADP
ajst-1492	69	9	18	18	NUM
ajst-1492	69	10	rotating	rotate	VERB
ajst-1492	69	11	joints	joint	NOUN
ajst-1492	69	12	driven	drive	VERB
ajst-1492	69	13	by	by	ADP
ajst-1492	69	14	the	the	DET
ajst-1492	69	15	steering	steering	NOUN
ajst-1492	69	16	gear	gear	NOUN
ajst-1492	69	17	in	in	ADP
ajst-1492	69	18	the	the	DET
ajst-1492	69	19	overall	overall	ADJ
ajst-1492	69	20	structure	structure	NOUN
ajst-1492	69	21	.	.	PUNCT
ajst-1492	70	1	it	it	PRON
ajst-1492	70	2	can	can	AUX
ajst-1492	70	3	move	move	VERB
ajst-1492	70	4	flexibly	flexibly	ADV
ajst-1492	70	5	,	,	PUNCT
ajst-1492	70	6	and	and	CCONJ
ajst-1492	70	7	can	can	AUX
ajst-1492	70	8	realize	realize	VERB
ajst-1492	70	9	straight	straight	ADJ
ajst-1492	70	10	-	-	PUNCT
ajst-1492	70	11	line	line	NOUN
ajst-1492	70	12	triangular	triangular	NOUN
ajst-1492	70	13	gait	gait	NOUN
ajst-1492	70	14	walking	walking	NOUN
ajst-1492	70	15	,	,	PUNCT
ajst-1492	70	16	plane	plane	NOUN
ajst-1492	70	17	turning	turning	NOUN
ajst-1492	70	18	,	,	PUNCT
ajst-1492	70	19	cleaning	clean	VERB
ajst-1492	70	20	action	action	NOUN
ajst-1492	70	21	and	and	CCONJ
ajst-1492	70	22	crossing	crossing	NOUN
ajst-1492	70	23	obstacles	obstacle	NOUN
ajst-1492	70	24	.	.	PUNCT
ajst-1492	71	1	figure	figure	NOUN
ajst-1492	71	2	2	2	NUM
ajst-1492	71	3	.	.	NOUN
ajst-1492	71	4	four	four	NUM
ajst-1492	71	5	legged	legged	ADJ
ajst-1492	71	6	wall	wall	NOUN
ajst-1492	71	7	climbing	climbing	NOUN
ajst-1492	71	8	robot	robot	NOUN
ajst-1492	71	9	of	of	ADP
ajst-1492	71	10	carnegie	carnegie	PROPN
ajst-1492	71	11	mellon	mellon	PROPN
ajst-1492	71	12	university	university	PROPN
ajst-1492	71	13	3.2	3.2	NUM
ajst-1492	71	14	.	.	PUNCT
ajst-1492	72	1	other	other	ADJ
ajst-1492	72	2	mobile	mobile	ADJ
ajst-1492	72	3	technologies	technology	NOUN
ajst-1492	72	4	literature[11	literature[11	PROPN
ajst-1492	72	5	]	]	PUNCT
ajst-1492	72	6	proposed	propose	VERB
ajst-1492	72	7	a	a	DET
ajst-1492	72	8	double	double	ADJ
ajst-1492	72	9	cavity	cavity	NOUN
ajst-1492	72	10	negative	negative	ADJ
ajst-1492	72	11	pressure	pressure	NOUN
ajst-1492	72	12	wall	wall	NOUN
ajst-1492	72	13	climbing	climbing	NOUN
ajst-1492	72	14	robot	robot	NOUN
ajst-1492	72	15	.	.	PUNCT
ajst-1492	73	1	the	the	DET
ajst-1492	73	2	robot	robot	NOUN
ajst-1492	73	3	adopts	adopt	VERB
ajst-1492	73	4	a	a	DET
ajst-1492	73	5	four	four	NUM
ajst-1492	73	6	-	-	PUNCT
ajst-1492	73	7	wheel	wheel	NOUN
ajst-1492	73	8	drive	drive	NOUN
ajst-1492	73	9	moving	moving	NOUN
ajst-1492	73	10	mechanism	mechanism	NOUN
ajst-1492	73	11	.	.	PUNCT
ajst-1492	74	1	the	the	DET
ajst-1492	74	2	active	active	ADJ
ajst-1492	74	3	gear	gear	NOUN
ajst-1492	74	4	train	train	NOUN
ajst-1492	74	5	and	and	CCONJ
ajst-1492	74	6	the	the	DET
ajst-1492	74	7	passive	passive	ADJ
ajst-1492	74	8	gear	gear	NOUN
ajst-1492	74	9	train	train	NOUN
ajst-1492	74	10	are	be	AUX
ajst-1492	74	11	installed	instal	VERB
ajst-1492	74	12	on	on	ADP
ajst-1492	74	13	the	the	DET
ajst-1492	74	14	aluminum	aluminum	NOUN
ajst-1492	74	15	alloy	alloy	NOUN
ajst-1492	74	16	framework	framework	NOUN
ajst-1492	74	17	.	.	PUNCT
ajst-1492	75	1	the	the	DET
ajst-1492	75	2	two	two	NUM
ajst-1492	75	3	active	active	ADJ
ajst-1492	75	4	wheels	wheel	NOUN
ajst-1492	75	5	are	be	AUX
ajst-1492	75	6	driven	drive	VERB
ajst-1492	75	7	by	by	ADP
ajst-1492	75	8	a	a	DET
ajst-1492	75	9	dc	dc	PROPN
ajst-1492	75	10	motor	motor	NOUN
ajst-1492	75	11	and	and	CCONJ
ajst-1492	75	12	driven	drive	VERB
ajst-1492	75	13	by	by	ADP
ajst-1492	75	14	a	a	DET
ajst-1492	75	15	synchronous	synchronous	ADJ
ajst-1492	75	16	belt	belt	NOUN
ajst-1492	75	17	to	to	PART
ajst-1492	75	18	move	move	VERB
ajst-1492	75	19	on	on	ADP
ajst-1492	75	20	the	the	DET
ajst-1492	75	21	glass	glass	NOUN
ajst-1492	75	22	curtain	curtain	NOUN
ajst-1492	75	23	wall	wall	NOUN
ajst-1492	75	24	.	.	PUNCT
ajst-1492	76	1	through	through	ADP
ajst-1492	76	2	the	the	DET
ajst-1492	76	3	curtain	curtain	NOUN
ajst-1492	76	4	wall	wall	NOUN
ajst-1492	76	5	cleaning	cleaning	PROPN
ajst-1492	76	6	test	test	NOUN
ajst-1492	76	7	,	,	PUNCT
ajst-1492	76	8	the	the	DET
ajst-1492	76	9	robot	robot	NOUN
ajst-1492	76	10	can	can	AUX
ajst-1492	76	11	turn	turn	VERB
ajst-1492	76	12	90	90	NUM
ajst-1492	76	13	°	°	NOUN
ajst-1492	76	14	clockwise	clockwise	NOUN
ajst-1492	76	15	in	in	ADP
ajst-1492	76	16	place	place	NOUN
ajst-1492	76	17	,	,	PUNCT
ajst-1492	76	18	but	but	CCONJ
ajst-1492	76	19	the	the	DET
ajst-1492	76	20	process	process	NOUN
ajst-1492	76	21	produces	produce	VERB
ajst-1492	76	22	a	a	DET
ajst-1492	76	23	small	small	ADJ
ajst-1492	76	24	downward	downward	ADJ
ajst-1492	76	25	slip	slip	NOUN
ajst-1492	76	26	,	,	PUNCT
ajst-1492	76	27	and	and	CCONJ
ajst-1492	76	28	can	can	AUX
ajst-1492	76	29	span	span	VERB
ajst-1492	76	30	a	a	DET
ajst-1492	76	31	20	20	NUM
ajst-1492	76	32	mm	mm	NOUN
ajst-1492	76	33	groove	groove	NOUN
ajst-1492	76	34	.	.	PUNCT
ajst-1492	77	1	the	the	DET
ajst-1492	77	2	robot	robot	NOUN
ajst-1492	77	3	64	64	NUM
ajst-1492	77	4	adopts	adopt	VERB
ajst-1492	77	5	a	a	DET
ajst-1492	77	6	crawler	crawler	NOUN
ajst-1492	77	7	type	type	NOUN
ajst-1492	77	8	moving	move	VERB
ajst-1492	77	9	mechanism	mechanism	NOUN
ajst-1492	77	10	.	.	PUNCT
ajst-1492	78	1	the	the	DET
ajst-1492	78	2	traction	traction	NOUN
ajst-1492	78	3	device	device	NOUN
ajst-1492	78	4	is	be	AUX
ajst-1492	78	5	composed	compose	VERB
ajst-1492	78	6	of	of	ADP
ajst-1492	78	7	four	four	NUM
ajst-1492	78	8	independently	independently	ADV
ajst-1492	78	9	driven	drive	VERB
ajst-1492	78	10	crawlers	crawler	NOUN
ajst-1492	78	11	,	,	PUNCT
ajst-1492	78	12	each	each	PRON
ajst-1492	78	13	of	of	ADP
ajst-1492	78	14	which	which	PRON
ajst-1492	78	15	is	be	AUX
ajst-1492	78	16	about	about	ADV
ajst-1492	78	17	400	400	NUM
ajst-1492	78	18	mm	mm	NUM
ajst-1492	78	19	long	long	ADJ
ajst-1492	78	20	and	and	CCONJ
ajst-1492	78	21	50	50	NUM
ajst-1492	78	22	mm	mm	NOUN
ajst-1492	78	23	wide	wide	ADV
ajst-1492	78	24	.	.	PUNCT
ajst-1492	79	1	the	the	DET
ajst-1492	79	2	tracks	track	NOUN
ajst-1492	79	3	are	be	AUX
ajst-1492	79	4	placed	place	VERB
ajst-1492	79	5	at	at	ADP
ajst-1492	79	6	the	the	DET
ajst-1492	79	7	bottom	bottom	NOUN
ajst-1492	79	8	of	of	ADP
ajst-1492	79	9	the	the	DET
ajst-1492	79	10	robot	robot	NOUN
ajst-1492	79	11	in	in	ADP
ajst-1492	79	12	pairs	pair	NOUN
ajst-1492	79	13	.	.	PUNCT
ajst-1492	80	1	literature[12	literature[12	NOUN
ajst-1492	80	2	]	]	PUNCT
ajst-1492	80	3	studied	study	VERB
ajst-1492	80	4	the	the	DET
ajst-1492	80	5	wall	wall	PROPN
ajst-1492	80	6	surface	surface	NOUN
ajst-1492	80	7	adaptability	adaptability	NOUN
ajst-1492	80	8	of	of	ADP
ajst-1492	80	9	tracked	track	VERB
ajst-1492	80	10	magnetic	magnetic	ADJ
ajst-1492	80	11	adsorption	adsorption	NOUN
ajst-1492	80	12	wall	wall	NOUN
ajst-1492	80	13	climbing	climbing	NOUN
ajst-1492	80	14	robot	robot	NOUN
ajst-1492	80	15	.	.	PUNCT
ajst-1492	81	1	the	the	DET
ajst-1492	81	2	research	research	NOUN
ajst-1492	81	3	shows	show	VERB
ajst-1492	81	4	that	that	SCONJ
ajst-1492	81	5	the	the	DET
ajst-1492	81	6	adhesion	adhesion	NOUN
ajst-1492	81	7	coefficient	coefficient	NOUN
ajst-1492	81	8	between	between	ADP
ajst-1492	81	9	the	the	DET
ajst-1492	81	10	track	track	NOUN
ajst-1492	81	11	and	and	CCONJ
ajst-1492	81	12	the	the	DET
ajst-1492	81	13	wall	wall	NOUN
ajst-1492	81	14	and	and	CCONJ
ajst-1492	81	15	the	the	DET
ajst-1492	81	16	load	load	NOUN
ajst-1492	81	17	dispersion	dispersion	NOUN
ajst-1492	81	18	coefficient	coefficient	NOUN
ajst-1492	81	19	directly	directly	ADV
ajst-1492	81	20	affect	affect	VERB
ajst-1492	81	21	the	the	DET
ajst-1492	81	22	adaptability	adaptability	NOUN
ajst-1492	81	23	of	of	ADP
ajst-1492	81	24	the	the	DET
ajst-1492	81	25	robot	robot	NOUN
ajst-1492	81	26	to	to	ADP
ajst-1492	81	27	the	the	DET
ajst-1492	81	28	wall	wall	NOUN
ajst-1492	81	29	.	.	PUNCT
ajst-1492	82	1	the	the	DET
ajst-1492	82	2	extended	extended	ADJ
ajst-1492	82	3	tension	tension	NOUN
ajst-1492	82	4	track	track	NOUN
ajst-1492	82	5	and	and	CCONJ
ajst-1492	82	6	flexible	flexible	ADJ
ajst-1492	82	7	track	track	NOUN
ajst-1492	82	8	with	with	ADP
ajst-1492	82	9	rear	rear	ADJ
ajst-1492	82	10	wheel	wheel	NOUN
ajst-1492	82	11	drive	drive	NOUN
ajst-1492	82	12	and	and	CCONJ
ajst-1492	82	13	front	front	ADJ
ajst-1492	82	14	wheel	wheel	NOUN
ajst-1492	82	15	floating	float	VERB
ajst-1492	82	16	support	support	NOUN
ajst-1492	82	17	can	can	AUX
ajst-1492	82	18	greatly	greatly	ADV
ajst-1492	82	19	improve	improve	VERB
ajst-1492	82	20	the	the	DET
ajst-1492	82	21	adaptability	adaptability	NOUN
ajst-1492	82	22	of	of	ADP
ajst-1492	82	23	the	the	DET
ajst-1492	82	24	robot	robot	NOUN
ajst-1492	82	25	.	.	PUNCT
ajst-1492	83	1	this	this	DET
ajst-1492	83	2	magnetic	magnetic	ADJ
ajst-1492	83	3	adsorption	adsorption	NOUN
ajst-1492	83	4	is	be	AUX
ajst-1492	83	5	limited	limit	VERB
ajst-1492	83	6	by	by	ADP
ajst-1492	83	7	the	the	DET
ajst-1492	83	8	surface	surface	NOUN
ajst-1492	83	9	material	material	NOUN
ajst-1492	83	10	of	of	ADP
ajst-1492	83	11	the	the	DET
ajst-1492	83	12	working	work	VERB
ajst-1492	83	13	environment	environment	NOUN
ajst-1492	83	14	and	and	CCONJ
ajst-1492	83	15	is	be	AUX
ajst-1492	83	16	not	not	PART
ajst-1492	83	17	suitable	suitable	ADJ
ajst-1492	83	18	for	for	ADP
ajst-1492	83	19	promotion	promotion	NOUN
ajst-1492	83	20	and	and	CCONJ
ajst-1492	83	21	application	application	NOUN
ajst-1492	83	22	in	in	ADP
ajst-1492	83	23	the	the	DET
ajst-1492	83	24	field	field	NOUN
ajst-1492	83	25	of	of	ADP
ajst-1492	83	26	glass	glass	NOUN
ajst-1492	83	27	cleaning	cleaning	NOUN
ajst-1492	83	28	.	.	PUNCT
ajst-1492	84	1	4	4	X
ajst-1492	84	2	.	.	X
ajst-1492	84	3	single	single	ADJ
ajst-1492	84	4	cleaning	cleaning	NOUN
ajst-1492	84	5	technology	technology	NOUN
ajst-1492	84	6	literature[13	literature[13	PROPN
ajst-1492	84	7	]	]	PUNCT
ajst-1492	84	8	developed	develop	VERB
ajst-1492	84	9	a	a	DET
ajst-1492	84	10	window	window	NOUN
ajst-1492	84	11	cleaning	cleaning	NOUN
ajst-1492	84	12	robot	robot	NOUN
ajst-1492	84	13	.	.	PUNCT
ajst-1492	85	1	the	the	DET
ajst-1492	85	2	robot	robot	NOUN
ajst-1492	85	3	adopts	adopt	VERB
ajst-1492	85	4	a	a	DET
ajst-1492	85	5	single	single	ADJ
ajst-1492	85	6	cleaning	cleaning	NOUN
ajst-1492	85	7	form	form	NOUN
ajst-1492	85	8	of	of	ADP
ajst-1492	85	9	roller	roller	NOUN
ajst-1492	85	10	brush	brush	NOUN
ajst-1492	85	11	,	,	PUNCT
ajst-1492	85	12	and	and	CCONJ
ajst-1492	85	13	the	the	DET
ajst-1492	85	14	roller	roller	NOUN
ajst-1492	85	15	brush	brush	NOUN
ajst-1492	85	16	rotates	rotate	VERB
ajst-1492	85	17	at	at	ADP
ajst-1492	85	18	a	a	DET
ajst-1492	85	19	speed	speed	NOUN
ajst-1492	85	20	of	of	ADP
ajst-1492	85	21	60r	60r	NOUN
ajst-1492	85	22	/	/	SYM
ajst-1492	85	23	min	min	NOUN
ajst-1492	85	24	by	by	ADP
ajst-1492	85	25	an	an	DET
ajst-1492	85	26	ac	ac	PROPN
ajst-1492	85	27	motor	motor	NOUN
ajst-1492	85	28	.	.	PUNCT
ajst-1492	86	1	the	the	DET
ajst-1492	86	2	robot	robot	NOUN
ajst-1492	86	3	is	be	AUX
ajst-1492	86	4	equipped	equip	VERB
ajst-1492	86	5	with	with	ADP
ajst-1492	86	6	four	four	NUM
ajst-1492	86	7	spray	spray	NOUN
ajst-1492	86	8	heads	head	NOUN
ajst-1492	86	9	.	.	PUNCT
ajst-1492	87	1	the	the	DET
ajst-1492	87	2	spray	spray	NOUN
ajst-1492	87	3	heads	head	NOUN
ajst-1492	87	4	spray	spray	VERB
ajst-1492	87	5	soapy	soapy	ADJ
ajst-1492	87	6	water	water	NOUN
ajst-1492	87	7	to	to	ADP
ajst-1492	87	8	the	the	DET
ajst-1492	87	9	roller	roller	NOUN
ajst-1492	87	10	brush	brush	NOUN
ajst-1492	87	11	at	at	ADP
ajst-1492	87	12	a	a	DET
ajst-1492	87	13	45	45	NUM
ajst-1492	87	14	°	°	PROPN
ajst-1492	87	15	angle	angle	NOUN
ajst-1492	87	16	.	.	PUNCT
ajst-1492	88	1	the	the	DET
ajst-1492	88	2	continuous	continuous	ADJ
ajst-1492	88	3	spraying	spraying	NOUN
ajst-1492	88	4	amount	amount	NOUN
ajst-1492	88	5	is	be	AUX
ajst-1492	88	6	5s	5s	NUM
ajst-1492	88	7	,	,	PUNCT
ajst-1492	88	8	stop	stop	VERB
ajst-1492	88	9	for	for	ADP
ajst-1492	88	10	10s	10	NOUN
ajst-1492	88	11	,	,	PUNCT
ajst-1492	88	12	and	and	CCONJ
ajst-1492	88	13	then	then	ADV
ajst-1492	88	14	spray	spray	VERB
ajst-1492	88	15	for	for	ADP
ajst-1492	88	16	5s	5s	NUM
ajst-1492	88	17	to	to	PART
ajst-1492	88	18	make	make	VERB
ajst-1492	88	19	the	the	DET
ajst-1492	88	20	whole	whole	ADJ
ajst-1492	88	21	brush	brush	NOUN
ajst-1492	88	22	obtain	obtain	VERB
ajst-1492	88	23	soapy	soapy	ADJ
ajst-1492	88	24	water	water	NOUN
ajst-1492	88	25	for	for	ADP
ajst-1492	88	26	glass	glass	NOUN
ajst-1492	88	27	cleaning	cleaning	NOUN
ajst-1492	88	28	.	.	PUNCT
ajst-1492	89	1	in	in	ADP
ajst-1492	89	2	addition	addition	NOUN
ajst-1492	89	3	,	,	PUNCT
ajst-1492	89	4	the	the	DET
ajst-1492	89	5	robot	robot	NOUN
ajst-1492	89	6	is	be	AUX
ajst-1492	89	7	equipped	equip	VERB
ajst-1492	89	8	with	with	ADP
ajst-1492	89	9	photoelectric	photoelectric	ADJ
ajst-1492	89	10	sensors	sensor	NOUN
ajst-1492	89	11	to	to	PART
ajst-1492	89	12	check	check	VERB
ajst-1492	89	13	whether	whether	SCONJ
ajst-1492	89	14	it	it	PRON
ajst-1492	89	15	is	be	AUX
ajst-1492	89	16	clean	clean	ADJ
ajst-1492	89	17	.	.	PUNCT
ajst-1492	90	1	it	it	PRON
ajst-1492	90	2	has	have	VERB
ajst-1492	90	3	simple	simple	ADJ
ajst-1492	90	4	structure	structure	NOUN
ajst-1492	90	5	and	and	CCONJ
ajst-1492	90	6	can	can	AUX
ajst-1492	90	7	be	be	AUX
ajst-1492	90	8	used	use	VERB
ajst-1492	90	9	for	for	ADP
ajst-1492	90	10	cleaning	clean	VERB
ajst-1492	90	11	glass	glass	NOUN
ajst-1492	90	12	and	and	CCONJ
ajst-1492	90	13	floor	floor	NOUN
ajst-1492	90	14	.	.	PUNCT
ajst-1492	91	1	5	5	X
ajst-1492	91	2	.	.	X
ajst-1492	91	3	development	development	NOUN
ajst-1492	91	4	trend	trend	NOUN
ajst-1492	91	5	multiple	multiple	ADJ
ajst-1492	91	6	machines	machine	NOUN
ajst-1492	91	7	work	work	VERB
ajst-1492	91	8	together	together	ADV
ajst-1492	91	9	.	.	PUNCT
ajst-1492	92	1	the	the	DET
ajst-1492	92	2	collaborative	collaborative	ADJ
ajst-1492	92	3	operation	operation	NOUN
ajst-1492	92	4	of	of	ADP
ajst-1492	92	5	multiple	multiple	ADJ
ajst-1492	92	6	cleaning	cleaning	NOUN
ajst-1492	92	7	robots	robot	NOUN
ajst-1492	92	8	reduces	reduce	VERB
ajst-1492	92	9	the	the	DET
ajst-1492	92	10	calculation	calculation	NOUN
ajst-1492	92	11	amount	amount	NOUN
ajst-1492	92	12	and	and	CCONJ
ajst-1492	92	13	work	work	NOUN
ajst-1492	92	14	area	area	NOUN
ajst-1492	92	15	of	of	ADP
ajst-1492	92	16	a	a	DET
ajst-1492	92	17	single	single	ADJ
ajst-1492	92	18	machine	machine	NOUN
ajst-1492	92	19	,	,	PUNCT
ajst-1492	92	20	facilitates	facilitate	VERB
ajst-1492	92	21	the	the	DET
ajst-1492	92	22	optimization	optimization	NOUN
ajst-1492	92	23	of	of	ADP
ajst-1492	92	24	work	work	NOUN
ajst-1492	92	25	path	path	NOUN
ajst-1492	92	26	navigation	navigation	NOUN
ajst-1492	92	27	,	,	PUNCT
ajst-1492	92	28	and	and	CCONJ
ajst-1492	92	29	improves	improve	VERB
ajst-1492	92	30	work	work	NOUN
ajst-1492	92	31	efficiency	efficiency	NOUN
ajst-1492	92	32	,	,	PUNCT
ajst-1492	92	33	accuracy	accuracy	NOUN
ajst-1492	92	34	and	and	CCONJ
ajst-1492	92	35	cleaning	cleaning	NOUN
ajst-1492	92	36	effect	effect	NOUN
ajst-1492	92	37	.	.	PUNCT
ajst-1492	93	1	multi	multi	ADJ
ajst-1492	93	2	technology	technology	NOUN
ajst-1492	93	3	integration	integration	NOUN
ajst-1492	93	4	.	.	PUNCT
ajst-1492	94	1	integrate	integrate	VERB
ajst-1492	94	2	a	a	DET
ajst-1492	94	3	variety	variety	NOUN
ajst-1492	94	4	of	of	ADP
ajst-1492	94	5	advanced	advanced	ADJ
ajst-1492	94	6	technologies	technology	NOUN
ajst-1492	94	7	with	with	ADP
ajst-1492	94	8	the	the	DET
ajst-1492	94	9	glass	glass	NOUN
ajst-1492	94	10	curtain	curtain	NOUN
ajst-1492	94	11	wall	wall	NOUN
ajst-1492	94	12	cleaning	clean	VERB
ajst-1492	94	13	robot	robot	NOUN
ajst-1492	94	14	to	to	PART
ajst-1492	94	15	make	make	VERB
ajst-1492	94	16	up	up	ADP
ajst-1492	94	17	for	for	ADP
ajst-1492	94	18	the	the	DET
ajst-1492	94	19	shortcomings	shortcoming	NOUN
ajst-1492	94	20	and	and	CCONJ
ajst-1492	94	21	functional	functional	ADJ
ajst-1492	94	22	defects	defect	NOUN
ajst-1492	94	23	brought	bring	VERB
ajst-1492	94	24	by	by	ADP
ajst-1492	94	25	a	a	DET
ajst-1492	94	26	single	single	ADJ
ajst-1492	94	27	technology	technology	NOUN
ajst-1492	94	28	,	,	PUNCT
ajst-1492	94	29	so	so	SCONJ
ajst-1492	94	30	as	as	SCONJ
ajst-1492	94	31	to	to	PART
ajst-1492	94	32	achieve	achieve	VERB
ajst-1492	94	33	the	the	DET
ajst-1492	94	34	goal	goal	NOUN
ajst-1492	94	35	of	of	ADP
ajst-1492	94	36	informatization	informatization	NOUN
ajst-1492	94	37	and	and	CCONJ
ajst-1492	94	38	intellectualization	intellectualization	NOUN
ajst-1492	94	39	of	of	ADP
ajst-1492	94	40	modern	modern	ADJ
ajst-1492	94	41	glass	glass	NOUN
ajst-1492	94	42	curtain	curtain	NOUN
ajst-1492	94	43	wall	wall	NOUN
ajst-1492	94	44	cleaning	cleaning	NOUN
ajst-1492	94	45	robot	robot	NOUN
ajst-1492	94	46	.	.	PUNCT
ajst-1492	95	1	miniaturization	miniaturization	NOUN
ajst-1492	95	2	and	and	CCONJ
ajst-1492	95	3	lightweight	lightweight	NOUN
ajst-1492	95	4	.	.	PUNCT
ajst-1492	96	1	the	the	DET
ajst-1492	96	2	glass	glass	NOUN
ajst-1492	96	3	curtain	curtain	NOUN
ajst-1492	96	4	wall	wall	NOUN
ajst-1492	96	5	cleaning	cleaning	NOUN
ajst-1492	96	6	robot	robot	NOUN
ajst-1492	96	7	is	be	AUX
ajst-1492	96	8	miniaturized	miniaturize	VERB
ajst-1492	96	9	and	and	CCONJ
ajst-1492	96	10	lightweight	lightweight	ADJ
ajst-1492	96	11	.	.	PUNCT
ajst-1492	97	1	on	on	ADP
ajst-1492	97	2	the	the	DET
ajst-1492	97	3	one	one	NUM
ajst-1492	97	4	hand	hand	NOUN
ajst-1492	97	5	,	,	PUNCT
ajst-1492	97	6	it	it	PRON
ajst-1492	97	7	can	can	AUX
ajst-1492	97	8	be	be	AUX
ajst-1492	97	9	portable	portable	ADJ
ajst-1492	97	10	,	,	PUNCT
ajst-1492	97	11	easy	easy	ADJ
ajst-1492	97	12	to	to	PART
ajst-1492	97	13	store	store	VERB
ajst-1492	97	14	and	and	CCONJ
ajst-1492	97	15	has	have	VERB
ajst-1492	97	16	little	little	ADJ
ajst-1492	97	17	impact	impact	NOUN
ajst-1492	97	18	on	on	ADP
ajst-1492	97	19	people	people	NOUN
ajst-1492	97	20	's	's	PART
ajst-1492	97	21	life	life	NOUN
ajst-1492	97	22	and	and	CCONJ
ajst-1492	97	23	work	work	NOUN
ajst-1492	97	24	;	;	PUNCT
ajst-1492	97	25	on	on	ADP
ajst-1492	97	26	the	the	DET
ajst-1492	97	27	other	other	ADJ
ajst-1492	97	28	hand	hand	NOUN
ajst-1492	97	29	,	,	PUNCT
ajst-1492	97	30	a	a	DET
ajst-1492	97	31	large	large	ADJ
ajst-1492	97	32	number	number	NOUN
ajst-1492	97	33	of	of	ADP
ajst-1492	97	34	basic	basic	ADJ
ajst-1492	97	35	research	research	NOUN
ajst-1492	97	36	needs	need	VERB
ajst-1492	97	37	to	to	PART
ajst-1492	97	38	be	be	AUX
ajst-1492	97	39	solved	solve	VERB
ajst-1492	97	40	,	,	PUNCT
ajst-1492	97	41	such	such	ADJ
ajst-1492	97	42	as	as	ADP
ajst-1492	97	43	the	the	DET
ajst-1492	97	44	coordinated	coordinated	ADJ
ajst-1492	97	45	development	development	NOUN
ajst-1492	97	46	of	of	ADP
ajst-1492	97	47	battery	battery	NOUN
ajst-1492	97	48	endurance	endurance	NOUN
ajst-1492	97	49	,	,	PUNCT
ajst-1492	97	50	material	material	NOUN
ajst-1492	97	51	selection	selection	NOUN
ajst-1492	97	52	,	,	PUNCT
ajst-1492	97	53	structural	structural	ADJ
ajst-1492	97	54	design	design	NOUN
ajst-1492	97	55	and	and	CCONJ
ajst-1492	97	56	other	other	ADJ
ajst-1492	97	57	aspects	aspect	NOUN
ajst-1492	97	58	.	.	PUNCT
ajst-1492	98	1	however	however	ADV
ajst-1492	98	2	,	,	PUNCT
ajst-1492	98	3	the	the	DET
ajst-1492	98	4	miniaturization	miniaturization	NOUN
ajst-1492	98	5	and	and	CCONJ
ajst-1492	98	6	lightweight	lightweight	NOUN
ajst-1492	98	7	of	of	ADP
ajst-1492	98	8	glass	glass	NOUN
ajst-1492	98	9	curtain	curtain	NOUN
ajst-1492	98	10	wall	wall	NOUN
ajst-1492	98	11	cleaning	cleaning	NOUN
ajst-1492	98	12	robot	robot	NOUN
ajst-1492	98	13	is	be	AUX
ajst-1492	98	14	bound	bind	VERB
ajst-1492	98	15	to	to	PART
ajst-1492	98	16	be	be	AUX
ajst-1492	98	17	an	an	DET
ajst-1492	98	18	important	important	ADJ
ajst-1492	98	19	development	development	NOUN
ajst-1492	98	20	trend	trend	NOUN
ajst-1492	98	21	in	in	ADP
ajst-1492	98	22	the	the	DET
ajst-1492	98	23	future	future	NOUN
ajst-1492	98	24	.	.	PUNCT
ajst-1492	99	1	acknowledgment	acknowledgment	NOUN
ajst-1492	99	2	thanks	thank	NOUN
ajst-1492	99	3	the	the	DET
ajst-1492	99	4	following	follow	VERB
ajst-1492	99	5	funds	fund	NOUN
ajst-1492	99	6	for	for	ADP
ajst-1492	99	7	their	their	PRON
ajst-1492	99	8	support	support	NOUN
ajst-1492	99	9	:	:	PUNCT
ajst-1492	99	10	2020	2020	NUM
ajst-1492	99	11	school	school	NOUN
ajst-1492	99	12	level	level	NOUN
ajst-1492	99	13	science	science	NOUN
ajst-1492	99	14	and	and	CCONJ
ajst-1492	99	15	technology	technology	NOUN
ajst-1492	99	16	plan	plan	NOUN
ajst-1492	99	17	project	project	NOUN
ajst-1492	99	18	,	,	PUNCT
ajst-1492	99	19	fund	fund	NOUN
ajst-1492	99	20	no	no	INTJ
ajst-1492	99	21	.	.	PUNCT
ajst-1492	100	1	:	:	PUNCT
ajst-1492	100	2	2020kj02	2020kj02	X
ajst-1492	100	3	.	.	PUNCT
ajst-1492	101	1	references	reference	NOUN
ajst-1492	101	2	[	[	X
ajst-1492	101	3	1	1	NUM
ajst-1492	101	4	]	]	X
ajst-1492	101	5	szolomicki	szolomicki	PROPN
ajst-1492	101	6	,	,	PUNCT
ajst-1492	101	7	j.	j.	PROPN
ajst-1492	101	8	,	,	PUNCT
ajst-1492	101	9	&	&	CCONJ
ajst-1492	101	10	golasz	golasz	PROPN
ajst-1492	101	11	-	-	PUNCT
ajst-1492	101	12	szolomicka	szolomicka	PROPN
ajst-1492	101	13	,	,	PUNCT
ajst-1492	101	14	h.	h.	PROPN
ajst-1492	101	15	(	(	PUNCT
ajst-1492	101	16	2019	2019	NUM
ajst-1492	101	17	)	)	PUNCT
ajst-1492	101	18	.	.	PUNCT
ajst-1492	102	1	technological	technological	ADJ
ajst-1492	102	2	advances	advance	NOUN
ajst-1492	102	3	and	and	CCONJ
ajst-1492	102	4	trends	trend	NOUN
ajst-1492	102	5	in	in	ADP
ajst-1492	102	6	modern	modern	ADJ
ajst-1492	102	7	high	high	ADJ
ajst-1492	102	8	-	-	PUNCT
ajst-1492	102	9	rise	rise	NOUN
ajst-1492	102	10	buildings	building	NOUN
ajst-1492	102	11	.	.	PUNCT
ajst-1492	103	1	buildings	building	NOUN
ajst-1492	103	2	,	,	PUNCT
ajst-1492	103	3	9(9	9(9	NUM
ajst-1492	103	4	)	)	PUNCT
ajst-1492	103	5	,	,	PUNCT
ajst-1492	103	6	193	193	NUM
ajst-1492	103	7	.	.	PUNCT
ajst-1492	104	1	[	[	X
ajst-1492	104	2	2	2	X
ajst-1492	104	3	]	]	PUNCT
ajst-1492	104	4	do	do	AUX
ajst-1492	104	5	,	,	PUNCT
ajst-1492	104	6	h.	h.	PROPN
ajst-1492	104	7	m.	m.	PROPN
ajst-1492	104	8	,	,	PUNCT
ajst-1492	104	9	pham	pham	PROPN
ajst-1492	104	10	,	,	PUNCT
ajst-1492	104	11	m.	m.	NOUN
ajst-1492	104	12	,	,	PUNCT
ajst-1492	104	13	sheng	sheng	PROPN
ajst-1492	104	14	,	,	PUNCT
ajst-1492	104	15	w.	w.	PROPN
ajst-1492	104	16	,	,	PUNCT
ajst-1492	104	17	yang	yang	PROPN
ajst-1492	104	18	,	,	PUNCT
ajst-1492	104	19	d.	d.	PROPN
ajst-1492	104	20	,	,	PUNCT
ajst-1492	104	21	&	&	CCONJ
ajst-1492	104	22	liu	liu	PROPN
ajst-1492	104	23	,	,	PUNCT
ajst-1492	104	24	m.	m.	NOUN
ajst-1492	104	25	(	(	PUNCT
ajst-1492	104	26	2018	2018	NUM
ajst-1492	104	27	)	)	PUNCT
ajst-1492	104	28	.	.	PUNCT
ajst-1492	105	1	rish	rish	VERB
ajst-1492	105	2	:	:	PUNCT
ajst-1492	105	3	a	a	DET
ajst-1492	105	4	robot	robot	NOUN
ajst-1492	105	5	-	-	PUNCT
ajst-1492	105	6	integrated	integrate	VERB
ajst-1492	105	7	smart	smart	ADJ
ajst-1492	105	8	home	home	NOUN
ajst-1492	105	9	for	for	ADP
ajst-1492	105	10	elderly	elderly	ADJ
ajst-1492	105	11	care	care	NOUN
ajst-1492	105	12	.	.	PUNCT
ajst-1492	106	1	robotics	robotic	NOUN
ajst-1492	106	2	and	and	CCONJ
ajst-1492	106	3	autonomous	autonomous	ADJ
ajst-1492	106	4	systems	system	NOUN
ajst-1492	106	5	,	,	PUNCT
ajst-1492	106	6	101	101	NUM
ajst-1492	106	7	,	,	PUNCT
ajst-1492	106	8	74	74	NUM
ajst-1492	106	9	-	-	SYM
ajst-1492	106	10	92	92	NUM
ajst-1492	106	11	.	.	PUNCT
ajst-1492	107	1	[	[	X
ajst-1492	107	2	3	3	NUM
ajst-1492	107	3	]	]	X
ajst-1492	107	4	seo	seo	NOUN
ajst-1492	107	5	,	,	PUNCT
ajst-1492	107	6	t.	t.	PROPN
ajst-1492	107	7	,	,	PUNCT
ajst-1492	107	8	jeon	jeon	PROPN
ajst-1492	107	9	,	,	PUNCT
ajst-1492	107	10	y.	y.	PROPN
ajst-1492	107	11	,	,	PUNCT
ajst-1492	107	12	park	park	NOUN
ajst-1492	107	13	,	,	PUNCT
ajst-1492	107	14	c.	c.	PROPN
ajst-1492	107	15	,	,	PUNCT
ajst-1492	107	16	&	&	CCONJ
ajst-1492	107	17	kim	kim	PROPN
ajst-1492	107	18	,	,	PUNCT
ajst-1492	107	19	j.	j.	PROPN
ajst-1492	107	20	(	(	PUNCT
ajst-1492	107	21	2019	2019	NUM
ajst-1492	107	22	)	)	PUNCT
ajst-1492	107	23	.	.	PUNCT
ajst-1492	108	1	survey	survey	NOUN
ajst-1492	108	2	on	on	ADP
ajst-1492	108	3	glass	glass	NOUN
ajst-1492	108	4	and	and	CCONJ
ajst-1492	108	5	façade	façade	NOUN
ajst-1492	108	6	-	-	PUNCT
ajst-1492	108	7	cleaning	clean	VERB
ajst-1492	108	8	robots	robot	NOUN
ajst-1492	108	9	:	:	PUNCT
ajst-1492	108	10	climbing	climb	VERB
ajst-1492	108	11	mechanisms	mechanism	NOUN
ajst-1492	108	12	,	,	PUNCT
ajst-1492	108	13	cleaning	cleaning	NOUN
ajst-1492	108	14	methods	method	NOUN
ajst-1492	108	15	,	,	PUNCT
ajst-1492	108	16	and	and	CCONJ
ajst-1492	108	17	applications	application	NOUN
ajst-1492	108	18	.	.	PUNCT
ajst-1492	109	1	international	international	ADJ
ajst-1492	109	2	journal	journal	PROPN
ajst-1492	109	3	of	of	ADP
ajst-1492	109	4	precision	precision	NOUN
ajst-1492	109	5	engineering	engineering	NOUN
ajst-1492	109	6	and	and	CCONJ
ajst-1492	109	7	manufacturing	manufacturing	NOUN
ajst-1492	109	8	-	-	PUNCT
ajst-1492	109	9	green	green	ADJ
ajst-1492	109	10	technology	technology	NOUN
ajst-1492	109	11	,	,	PUNCT
ajst-1492	109	12	6(2	6(2	NUM
ajst-1492	109	13	)	)	PUNCT
ajst-1492	109	14	,	,	PUNCT
ajst-1492	109	15	367376	367376	NUM
ajst-1492	109	16	.	.	PUNCT
ajst-1492	110	1	[	[	X
ajst-1492	110	2	4	4	NUM
ajst-1492	110	3	]	]	X
ajst-1492	110	4	wang	wang	PROPN
ajst-1492	110	5	,	,	PUNCT
ajst-1492	110	6	h.	h.	PROPN
ajst-1492	110	7	,	,	PUNCT
ajst-1492	110	8	jia	jia	PROPN
ajst-1492	110	9	,	,	PUNCT
ajst-1492	110	10	q.	q.	PROPN
ajst-1492	110	11	,	,	PUNCT
ajst-1492	110	12	fleck	fleck	PROPN
ajst-1492	110	13	,	,	PUNCT
ajst-1492	110	14	d.	d.	PROPN
ajst-1492	110	15	,	,	PUNCT
ajst-1492	110	16	powell	powell	PROPN
ajst-1492	110	17	,	,	PUNCT
ajst-1492	110	18	w.	w.	PROPN
ajst-1492	110	19	,	,	PUNCT
ajst-1492	110	20	li	li	PROPN
ajst-1492	110	21	,	,	PUNCT
ajst-1492	110	22	f.	f.	PROPN
ajst-1492	110	23	,	,	PUNCT
ajst-1492	110	24	&	&	CCONJ
ajst-1492	110	25	stavrou	stavrou	PROPN
ajst-1492	110	26	,	,	PUNCT
ajst-1492	110	27	a.	a.	NOUN
ajst-1492	110	28	(	(	PUNCT
ajst-1492	110	29	2014	2014	NUM
ajst-1492	110	30	)	)	PUNCT
ajst-1492	110	31	.	.	PUNCT
ajst-1492	111	1	a	a	DET
ajst-1492	111	2	moving	move	VERB
ajst-1492	111	3	target	target	NOUN
ajst-1492	111	4	ddos	ddo	NOUN
ajst-1492	111	5	defense	defense	NOUN
ajst-1492	111	6	mechanism	mechanism	NOUN
ajst-1492	111	7	.	.	PUNCT
ajst-1492	112	1	computer	computer	NOUN
ajst-1492	112	2	communications	communication	NOUN
ajst-1492	112	3	,	,	PUNCT
ajst-1492	112	4	46	46	NUM
ajst-1492	112	5	,	,	PUNCT
ajst-1492	112	6	10	10	NUM
ajst-1492	112	7	-	-	SYM
ajst-1492	112	8	21	21	NUM
ajst-1492	112	9	.	.	PUNCT
ajst-1492	113	1	[	[	X
ajst-1492	113	2	5	5	NUM
ajst-1492	113	3	]	]	PUNCT
ajst-1492	113	4	kuolt	kuolt	NOUN
ajst-1492	113	5	,	,	PUNCT
ajst-1492	113	6	i.	i.	PROPN
ajst-1492	113	7	h.	h.	PROPN
ajst-1492	113	8	,	,	PUNCT
ajst-1492	113	9	gauß	gauß	PROPN
ajst-1492	113	10	,	,	PUNCT
ajst-1492	113	11	b.	b.	PROPN
ajst-1492	113	12	e.	e.	PROPN
ajst-1492	113	13	j.	j.	PROPN
ajst-1492	113	14	,	,	PUNCT
ajst-1492	113	15	schaaf	schaaf	PROPN
ajst-1492	113	16	,	,	PUNCT
ajst-1492	113	17	i.	i.	PROPN
ajst-1492	113	18	w.	w.	PROPN
ajst-1492	113	19	,	,	PUNCT
ajst-1492	113	20	&	&	CCONJ
ajst-1492	113	21	winter	winter	PROPN
ajst-1492	113	22	,	,	PUNCT
ajst-1492	113	23	d.	d.	PROPN
ajst-1492	113	24	i.	i.	PROPN
ajst-1492	113	25	a.	a.	PROPN
ajst-1492	113	26	(	(	PUNCT
ajst-1492	113	27	2016	2016	NUM
ajst-1492	113	28	)	)	PUNCT
ajst-1492	113	29	.	.	PUNCT
ajst-1492	114	1	optimization	optimization	NOUN
ajst-1492	114	2	of	of	ADP
ajst-1492	114	3	pneumatic	pneumatic	ADJ
ajst-1492	114	4	vacuum	vacuum	NOUN
ajst-1492	114	5	generators	generator	NOUN
ajst-1492	114	6	–	–	PUNCT
ajst-1492	114	7	heading	head	VERB
ajst-1492	114	8	for	for	ADP
ajst-1492	114	9	energy	energy	NOUN
ajst-1492	114	10	-	-	PUNCT
ajst-1492	114	11	efficient	efficient	ADJ
ajst-1492	114	12	handling	handling	NOUN
ajst-1492	114	13	processes	process	NOUN
ajst-1492	114	14	.	.	PUNCT
ajst-1492	115	1	[	[	X
ajst-1492	115	2	6	6	NUM
ajst-1492	115	3	]	]	SYM
ajst-1492	115	4	krajnik	krajnik	X
ajst-1492	115	5	,	,	PUNCT
ajst-1492	115	6	m.	m.	NOUN
ajst-1492	115	7	,	,	PUNCT
ajst-1492	115	8	damps	damps	VERB
ajst-1492	115	9	-	-	PUNCT
ajst-1492	115	10	konstanska	konstanska	NOUN
ajst-1492	115	11	,	,	PUNCT
ajst-1492	115	12	i.	i.	NOUN
ajst-1492	115	13	,	,	PUNCT
ajst-1492	115	14	gorska	gorska	PROPN
ajst-1492	115	15	,	,	PUNCT
ajst-1492	115	16	l.	l.	PROPN
ajst-1492	115	17	,	,	PUNCT
ajst-1492	115	18	&	&	CCONJ
ajst-1492	115	19	jassem	jassem	PROPN
ajst-1492	115	20	,	,	PUNCT
ajst-1492	115	21	e.	e.	PROPN
ajst-1492	115	22	(	(	PUNCT
ajst-1492	115	23	2010	2010	NUM
ajst-1492	115	24	)	)	PUNCT
ajst-1492	115	25	.	.	PUNCT
ajst-1492	116	1	a	a	DET
ajst-1492	116	2	portable	portable	ADJ
ajst-1492	116	3	automatic	automatic	ADJ
ajst-1492	116	4	cough	cough	NOUN
ajst-1492	116	5	analyser	analyser	NOUN
ajst-1492	116	6	in	in	ADP
ajst-1492	116	7	the	the	DET
ajst-1492	116	8	ambulatory	ambulatory	ADJ
ajst-1492	116	9	assessment	assessment	NOUN
ajst-1492	116	10	of	of	ADP
ajst-1492	116	11	cough	cough	NOUN
ajst-1492	116	12	.	.	PUNCT
ajst-1492	117	1	biomedical	biomedical	ADJ
ajst-1492	117	2	engineering	engineering	PROPN
ajst-1492	117	3	online	online	NOUN
ajst-1492	117	4	,	,	PUNCT
ajst-1492	117	5	9(1	9(1	NUM
ajst-1492	117	6	)	)	PUNCT
ajst-1492	117	7	,	,	PUNCT
ajst-1492	117	8	1	1	NUM
ajst-1492	117	9	-	-	SYM
ajst-1492	117	10	11	11	NUM
ajst-1492	117	11	.	.	PUNCT
ajst-1492	118	1	[	[	X
ajst-1492	118	2	7	7	NUM
ajst-1492	118	3	]	]	X
ajst-1492	118	4	ueno	ueno	PROPN
ajst-1492	118	5	,	,	PUNCT
ajst-1492	118	6	y.	y.	PROPN
ajst-1492	118	7	,	,	PUNCT
ajst-1492	118	8	horiuchi	horiuchi	PROPN
ajst-1492	118	9	,	,	PUNCT
ajst-1492	118	10	t.	t.	PROPN
ajst-1492	118	11	,	,	PUNCT
ajst-1492	118	12	niwa	niwa	PROPN
ajst-1492	118	13	,	,	PUNCT
ajst-1492	118	14	o.	o.	PROPN
ajst-1492	118	15	,	,	PUNCT
ajst-1492	118	16	zhou	zhou	PROPN
ajst-1492	118	17	,	,	PUNCT
ajst-1492	118	18	h.	h.	PROPN
ajst-1492	118	19	s.	s.	PROPN
ajst-1492	118	20	,	,	PUNCT
ajst-1492	118	21	yamada	yamada	PROPN
ajst-1492	118	22	,	,	PUNCT
ajst-1492	118	23	t.	t.	PROPN
ajst-1492	118	24	,	,	PUNCT
ajst-1492	118	25	&	&	CCONJ
ajst-1492	118	26	honma	honma	PROPN
ajst-1492	118	27	,	,	PUNCT
ajst-1492	118	28	i.	i.	PROPN
ajst-1492	118	29	(	(	PUNCT
ajst-1492	118	30	2003	2003	NUM
ajst-1492	118	31	)	)	PUNCT
ajst-1492	118	32	.	.	PUNCT
ajst-1492	119	1	portable	portable	ADJ
ajst-1492	119	2	automatic	automatic	ADJ
ajst-1492	119	3	btx	btx	NOUN
ajst-1492	119	4	measurement	measurement	NOUN
ajst-1492	119	5	system	system	NOUN
ajst-1492	119	6	with	with	ADP
ajst-1492	119	7	microfluidic	microfluidic	ADJ
ajst-1492	119	8	device	device	NOUN
ajst-1492	119	9	using	use	VERB
ajst-1492	119	10	mesoporous	mesoporous	ADJ
ajst-1492	119	11	silicate	silicate	ADJ
ajst-1492	119	12	adsorbent	adsorbent	NOUN
ajst-1492	119	13	with	with	ADP
ajst-1492	119	14	nano	nano	NOUN
ajst-1492	119	15	-	-	PUNCT
ajst-1492	119	16	sized	sized	ADJ
ajst-1492	119	17	pores	pore	NOUN
ajst-1492	119	18	.	.	PUNCT
ajst-1492	120	1	sensors	sensor	NOUN
ajst-1492	120	2	and	and	CCONJ
ajst-1492	120	3	actuators	actuator	NOUN
ajst-1492	120	4	b	b	X
ajst-1492	120	5	:	:	PUNCT
ajst-1492	120	6	chemical	chemical	NOUN
ajst-1492	120	7	,	,	PUNCT
ajst-1492	120	8	95(1	95(1	NOUN
ajst-1492	120	9	-	-	SYM
ajst-1492	120	10	3	3	NUM
ajst-1492	120	11	)	)	PUNCT
ajst-1492	120	12	,	,	PUNCT
ajst-1492	120	13	282	282	NUM
ajst-1492	120	14	-	-	SYM
ajst-1492	120	15	286	286	NUM
ajst-1492	120	16	.	.	PUNCT
ajst-1492	121	1	[	[	X
ajst-1492	121	2	8	8	NUM
ajst-1492	121	3	]	]	X
ajst-1492	121	4	godby	godby	ADJ
ajst-1492	121	5	,	,	PUNCT
ajst-1492	121	6	n.	n.	NOUN
ajst-1492	121	7	,	,	PUNCT
ajst-1492	121	8	&	&	CCONJ
ajst-1492	121	9	conklin	conklin	PROPN
ajst-1492	121	10	,	,	PUNCT
ajst-1492	121	11	a.	a.	NOUN
ajst-1492	121	12	(	(	PUNCT
ajst-1492	121	13	2017	2017	NUM
ajst-1492	121	14	)	)	PUNCT
ajst-1492	121	15	.	.	PUNCT
ajst-1492	122	1	comparing	compare	VERB
ajst-1492	122	2	adsorption	adsorption	NOUN
ajst-1492	122	3	of	of	ADP
ajst-1492	122	4	bisphenol	bisphenol	NOUN
ajst-1492	122	5	a	a	DET
ajst-1492	122	6	and	and	CCONJ
ajst-1492	122	7	similar	similar	ADJ
ajst-1492	122	8	compounds	compound	NOUN
ajst-1492	122	9	in	in	ADP
ajst-1492	122	10	aqueous	aqueous	ADJ
ajst-1492	122	11	solution	solution	NOUN
ajst-1492	122	12	by	by	ADP
ajst-1492	122	13	syringe	syringe	NOUN
ajst-1492	122	14	filters	filter	NOUN
ajst-1492	122	15	.	.	PUNCT
ajst-1492	123	1	adsorption	adsorption	NOUN
ajst-1492	123	2	science	science	NOUN
ajst-1492	123	3	&	&	CCONJ
ajst-1492	123	4	technology	technology	PROPN
ajst-1492	123	5	,	,	PUNCT
ajst-1492	123	6	35(1	35(1	NOUN
ajst-1492	123	7	-	-	PUNCT
ajst-1492	123	8	2	2	NUM
ajst-1492	123	9	)	)	PUNCT
ajst-1492	123	10	,	,	PUNCT
ajst-1492	123	11	153	153	NUM
ajst-1492	123	12	-	-	SYM
ajst-1492	123	13	161	161	NUM
ajst-1492	123	14	.	.	PUNCT
ajst-1492	124	1	[	[	X
ajst-1492	124	2	9	9	NUM
ajst-1492	124	3	]	]	SYM
ajst-1492	124	4	mohammed	mohammed	PROPN
ajst-1492	124	5	,	,	PUNCT
ajst-1492	124	6	m.	m.	NOUN
ajst-1492	124	7	n.	n.	PROPN
ajst-1492	124	8	,	,	PUNCT
ajst-1492	124	9	al	al	PROPN
ajst-1492	124	10	-	-	PUNCT
ajst-1492	124	11	zubaidi	zubaidi	PROPN
ajst-1492	124	12	,	,	PUNCT
ajst-1492	124	13	s.	s.	PROPN
ajst-1492	124	14	,	,	PUNCT
ajst-1492	124	15	bahrain	bahrain	PROPN
ajst-1492	124	16	,	,	PUNCT
ajst-1492	124	17	s.	s.	PROPN
ajst-1492	124	18	h.	h.	PROPN
ajst-1492	124	19	k.	k.	PROPN
ajst-1492	124	20	,	,	PUNCT
ajst-1492	124	21	zaenudin	zaenudin	PROPN
ajst-1492	124	22	,	,	PUNCT
ajst-1492	124	23	m.	m.	NOUN
ajst-1492	124	24	,	,	PUNCT
ajst-1492	124	25	&	&	CCONJ
ajst-1492	124	26	abdullah	abdullah	PROPN
ajst-1492	124	27	,	,	PUNCT
ajst-1492	124	28	m.	m.	NOUN
ajst-1492	124	29	i.	i.	PROPN
ajst-1492	124	30	(	(	PUNCT
ajst-1492	124	31	2020	2020	NUM
ajst-1492	124	32	,	,	PUNCT
ajst-1492	124	33	february	february	PROPN
ajst-1492	124	34	)	)	PUNCT
ajst-1492	124	35	.	.	PUNCT
ajst-1492	125	1	design	design	NOUN
ajst-1492	125	2	and	and	CCONJ
ajst-1492	125	3	development	development	NOUN
ajst-1492	125	4	of	of	ADP
ajst-1492	125	5	river	river	NOUN
ajst-1492	125	6	cleaning	cleaning	NOUN
ajst-1492	125	7	robot	robot	NOUN
ajst-1492	125	8	using	use	VERB
ajst-1492	125	9	iot	iot	ADJ
ajst-1492	125	10	technology	technology	NOUN
ajst-1492	125	11	.	.	PUNCT
ajst-1492	126	1	in	in	ADP
ajst-1492	126	2	2020	2020	NUM
ajst-1492	126	3	16th	16th	ADJ
ajst-1492	126	4	ieee	ieee	NOUN
ajst-1492	126	5	international	international	ADJ
ajst-1492	126	6	colloquium	colloquium	NOUN
ajst-1492	126	7	on	on	ADP
ajst-1492	126	8	signal	signal	NOUN
ajst-1492	126	9	processing	processing	NOUN
ajst-1492	126	10	&	&	CCONJ
ajst-1492	126	11	its	its	PRON
ajst-1492	126	12	applications	application	NOUN
ajst-1492	126	13	(	(	PUNCT
ajst-1492	126	14	cspa	cspa	NOUN
ajst-1492	126	15	)	)	PUNCT
ajst-1492	126	16	(	(	PUNCT
ajst-1492	126	17	pp	pp	X
ajst-1492	126	18	.	.	PUNCT
ajst-1492	127	1	84	84	NUM
ajst-1492	127	2	-	-	SYM
ajst-1492	127	3	87	87	NUM
ajst-1492	127	4	)	)	PUNCT
ajst-1492	127	5	.	.	PUNCT
ajst-1492	128	1	ieee	ieee	PROPN
ajst-1492	128	2	.	.	PUNCT
ajst-1492	129	1	[	[	X
ajst-1492	129	2	10	10	NUM
ajst-1492	129	3	]	]	SYM
ajst-1492	129	4	le	le	X
ajst-1492	129	5	,	,	PUNCT
ajst-1492	129	6	a.	a.	PROPN
ajst-1492	129	7	v.	v.	PROPN
ajst-1492	129	8	,	,	PUNCT
ajst-1492	129	9	veerajagadheswar	veerajagadheswar	PROPN
ajst-1492	129	10	,	,	PUNCT
ajst-1492	129	11	p.	p.	PROPN
ajst-1492	129	12	,	,	PUNCT
ajst-1492	129	13	kyaw	kyaw	PROPN
ajst-1492	129	14	,	,	PUNCT
ajst-1492	129	15	p.	p.	PROPN
ajst-1492	129	16	t.	t.	PROPN
ajst-1492	129	17	,	,	PUNCT
ajst-1492	129	18	muthugala	muthugala	PROPN
ajst-1492	129	19	,	,	PUNCT
ajst-1492	129	20	m.	m.	NOUN
ajst-1492	129	21	v.	v.	PROPN
ajst-1492	129	22	j.	j.	PROPN
ajst-1492	129	23	,	,	PUNCT
ajst-1492	129	24	elara	elara	PROPN
ajst-1492	129	25	,	,	PUNCT
ajst-1492	129	26	m.	m.	PROPN
ajst-1492	129	27	r.	r.	PROPN
ajst-1492	129	28	,	,	PUNCT
ajst-1492	129	29	kuma	kuma	NOUN
ajst-1492	129	30	,	,	PUNCT
ajst-1492	129	31	m.	m.	NOUN
ajst-1492	129	32	,	,	PUNCT
ajst-1492	129	33	&	&	CCONJ
ajst-1492	129	34	nhan	nhan	PROPN
ajst-1492	129	35	,	,	PUNCT
ajst-1492	129	36	n.	n.	PROPN
ajst-1492	129	37	h.	h.	PROPN
ajst-1492	129	38	k.	k.	PROPN
ajst-1492	129	39	(	(	PUNCT
ajst-1492	129	40	2021	2021	NUM
ajst-1492	129	41	)	)	PUNCT
ajst-1492	129	42	.	.	PUNCT
ajst-1492	130	1	towards	towards	ADP
ajst-1492	130	2	optimal	optimal	ADJ
ajst-1492	130	3	hydro	hydro	NOUN
ajst-1492	130	4	-	-	PUNCT
ajst-1492	130	5	blasting	blasting	NOUN
ajst-1492	130	6	in	in	ADP
ajst-1492	130	7	reconfigurable	reconfigurable	ADJ
ajst-1492	130	8	climbing	climbing	NOUN
ajst-1492	130	9	system	system	NOUN
ajst-1492	130	10	for	for	ADP
ajst-1492	130	11	corroded	corroded	ADJ
ajst-1492	130	12	ship	ship	NOUN
ajst-1492	130	13	hull	hull	NOUN
ajst-1492	130	14	cleaning	cleaning	NOUN
ajst-1492	130	15	and	and	CCONJ
ajst-1492	130	16	maintenance	maintenance	NOUN
ajst-1492	130	17	.	.	PUNCT
ajst-1492	131	1	expert	expert	NOUN
ajst-1492	131	2	systems	system	NOUN
ajst-1492	131	3	with	with	ADP
ajst-1492	131	4	applications	application	NOUN
ajst-1492	131	5	,	,	PUNCT
ajst-1492	131	6	170	170	NUM
ajst-1492	131	7	,	,	PUNCT
ajst-1492	131	8	114519	114519	NUM
ajst-1492	131	9	.	.	PUNCT
ajst-1492	132	1	[	[	X
ajst-1492	132	2	11	11	NUM
ajst-1492	132	3	]	]	X
ajst-1492	132	4	chu	chu	PROPN
ajst-1492	132	5	,	,	PUNCT
ajst-1492	132	6	b.	b.	PROPN
ajst-1492	132	7	,	,	PUNCT
ajst-1492	132	8	jung	jung	PROPN
ajst-1492	132	9	,	,	PUNCT
ajst-1492	132	10	k.	k.	PROPN
ajst-1492	132	11	,	,	PUNCT
ajst-1492	132	12	han	han	PROPN
ajst-1492	132	13	,	,	PUNCT
ajst-1492	132	14	c.	c.	PROPN
ajst-1492	132	15	s.	s.	PROPN
ajst-1492	132	16	,	,	PUNCT
ajst-1492	132	17	&	&	CCONJ
ajst-1492	132	18	hong	hong	PROPN
ajst-1492	132	19	,	,	PUNCT
ajst-1492	132	20	d.	d.	PROPN
ajst-1492	132	21	(	(	PUNCT
ajst-1492	132	22	2010	2010	NUM
ajst-1492	132	23	)	)	PUNCT
ajst-1492	132	24	.	.	PUNCT
ajst-1492	133	1	a	a	DET
ajst-1492	133	2	survey	survey	NOUN
ajst-1492	133	3	of	of	ADP
ajst-1492	133	4	climbing	climb	VERB
ajst-1492	133	5	robots	robot	NOUN
ajst-1492	133	6	:	:	PUNCT
ajst-1492	133	7	locomotion	locomotion	NOUN
ajst-1492	133	8	and	and	CCONJ
ajst-1492	133	9	adhesion	adhesion	NOUN
ajst-1492	133	10	.	.	PUNCT
ajst-1492	134	1	international	international	ADJ
ajst-1492	134	2	journal	journal	PROPN
ajst-1492	134	3	of	of	ADP
ajst-1492	134	4	precision	precision	NOUN
ajst-1492	134	5	engineering	engineering	NOUN
ajst-1492	134	6	and	and	CCONJ
ajst-1492	134	7	manufacturing	manufacturing	NOUN
ajst-1492	134	8	,	,	PUNCT
ajst-1492	134	9	11(4	11(4	NUM
ajst-1492	134	10	)	)	PUNCT
ajst-1492	134	11	,	,	PUNCT
ajst-1492	134	12	633	633	NUM
ajst-1492	134	13	-	-	SYM
ajst-1492	134	14	647	647	NUM
ajst-1492	134	15	.	.	PUNCT
ajst-1492	135	1	[	[	X
ajst-1492	135	2	12	12	NUM
ajst-1492	135	3	]	]	X
ajst-1492	135	4	azari	azari	PROPN
ajst-1492	135	5	,	,	PUNCT
ajst-1492	135	6	a.	a.	NOUN
ajst-1492	135	7	,	,	PUNCT
ajst-1492	135	8	yeganeh	yeganeh	NOUN
ajst-1492	135	9	,	,	PUNCT
ajst-1492	135	10	m.	m.	NOUN
ajst-1492	135	11	,	,	PUNCT
ajst-1492	135	12	gholami	gholami	NOUN
ajst-1492	135	13	,	,	PUNCT
ajst-1492	135	14	m.	m.	NOUN
ajst-1492	135	15	,	,	PUNCT
ajst-1492	135	16	&	&	CCONJ
ajst-1492	135	17	salari	salari	ADJ
ajst-1492	135	18	,	,	PUNCT
ajst-1492	135	19	m.	m.	NOUN
ajst-1492	135	20	(	(	PUNCT
ajst-1492	135	21	2021	2021	NUM
ajst-1492	135	22	)	)	PUNCT
ajst-1492	135	23	.	.	PUNCT
ajst-1492	136	1	the	the	DET
ajst-1492	136	2	superior	superior	ADJ
ajst-1492	136	3	adsorption	adsorption	NOUN
ajst-1492	136	4	capacity	capacity	NOUN
ajst-1492	136	5	of	of	ADP
ajst-1492	136	6	2	2	NUM
ajst-1492	136	7	,	,	PUNCT
ajst-1492	136	8	4	4	NUM
ajst-1492	136	9	-	-	NOUN
ajst-1492	136	10	dinitrophenol	dinitrophenol	NOUN
ajst-1492	136	11	under	under	ADP
ajst-1492	136	12	ultrasound	ultrasound	NOUN
ajst-1492	136	13	-	-	PUNCT
ajst-1492	136	14	assisted	assist	VERB
ajst-1492	136	15	magnetic	magnetic	ADJ
ajst-1492	136	16	adsorption	adsorption	NOUN
ajst-1492	136	17	system	system	NOUN
ajst-1492	136	18	:	:	PUNCT
ajst-1492	136	19	modeling	modeling	NOUN
ajst-1492	136	20	and	and	CCONJ
ajst-1492	136	21	process	process	NOUN
ajst-1492	136	22	optimization	optimization	NOUN
ajst-1492	136	23	by	by	ADP
ajst-1492	136	24	central	central	ADJ
ajst-1492	136	25	composite	composite	ADJ
ajst-1492	136	26	design	design	NOUN
ajst-1492	136	27	.	.	PUNCT
ajst-1492	137	1	journal	journal	NOUN
ajst-1492	137	2	of	of	ADP
ajst-1492	137	3	hazardous	hazardous	ADJ
ajst-1492	137	4	materials	material	NOUN
ajst-1492	137	5	,	,	PUNCT
ajst-1492	137	6	418	418	NUM
ajst-1492	137	7	,	,	PUNCT
ajst-1492	137	8	126348	126348	NUM
ajst-1492	137	9	.	.	PUNCT
ajst-1492	138	1	[	[	X
ajst-1492	138	2	13	13	NUM
ajst-1492	138	3	]	]	PUNCT
ajst-1492	138	4	fink	fink	PROPN
ajst-1492	138	5	,	,	PUNCT
ajst-1492	138	6	j.	j.	PROPN
ajst-1492	138	7	,	,	PUNCT
ajst-1492	138	8	bauwens	bauwen	NOUN
ajst-1492	138	9	,	,	PUNCT
ajst-1492	138	10	v.	v.	PROPN
ajst-1492	138	11	,	,	PUNCT
ajst-1492	138	12	kaplan	kaplan	PROPN
ajst-1492	138	13	,	,	PUNCT
ajst-1492	138	14	f.	f.	PROPN
ajst-1492	138	15	,	,	PUNCT
ajst-1492	138	16	&	&	CCONJ
ajst-1492	138	17	dillenbourg	dillenbourg	PROPN
ajst-1492	138	18	,	,	PUNCT
ajst-1492	138	19	p.	p.	NOUN
ajst-1492	138	20	(	(	PUNCT
ajst-1492	138	21	2013	2013	NUM
ajst-1492	138	22	)	)	PUNCT
ajst-1492	138	23	.	.	PUNCT
ajst-1492	139	1	living	live	VERB
ajst-1492	139	2	with	with	ADP
ajst-1492	139	3	a	a	DET
ajst-1492	139	4	vacuum	vacuum	NOUN
ajst-1492	139	5	cleaning	cleaning	NOUN
ajst-1492	139	6	robot	robot	NOUN
ajst-1492	139	7	.	.	PUNCT
ajst-1492	140	1	international	international	ADJ
ajst-1492	140	2	journal	journal	NOUN
ajst-1492	140	3	of	of	ADP
ajst-1492	140	4	social	social	ADJ
ajst-1492	140	5	robotics	robotic	NOUN
ajst-1492	140	6	,	,	PUNCT
ajst-1492	140	7	5(3	5(3	NUM
ajst-1492	140	8	)	)	PUNCT
ajst-1492	140	9	,	,	PUNCT
ajst-1492	140	10	389	389	NUM
ajst-1492	140	11	-	-	SYM
ajst-1492	140	12	408	408	NUM
ajst-1492	140	13	.	.	PUNCT