id	sid	tid	token	lemma	pos
ajst-15053	1	1	academic	academic	ADJ
ajst-15053	1	2	journal	journal	NOUN
ajst-15053	1	3	of	of	ADP
ajst-15053	1	4	science	science	NOUN
ajst-15053	1	5	and	and	CCONJ
ajst-15053	1	6	technology	technology	NOUN
ajst-15053	1	7	issn	issn	NOUN
ajst-15053	1	8	:	:	PUNCT
ajst-15053	1	9	2771	2771	NUM
ajst-15053	1	10	-	-	SYM
ajst-15053	1	11	3032	3032	NUM
ajst-15053	1	12	|	|	NOUN
ajst-15053	1	13	vol	vol	NOUN
ajst-15053	1	14	.	.	PROPN
ajst-15053	1	15	8	8	NUM
ajst-15053	1	16	,	,	PUNCT
ajst-15053	1	17	no	no	INTJ
ajst-15053	1	18	.	.	NOUN
ajst-15053	1	19	2	2	NUM
ajst-15053	1	20	,	,	PUNCT
ajst-15053	1	21	2023	2023	NUM
ajst-15053	1	22	121	121	NUM
ajst-15053	1	23	design	design	NOUN
ajst-15053	1	24	and	and	CCONJ
ajst-15053	1	25	optimization	optimization	NOUN
ajst-15053	1	26	analysis	analysis	NOUN
ajst-15053	1	27	of	of	ADP
ajst-15053	1	28	downhole	downhole	NOUN
ajst-15053	1	29	robot	robot	NOUN
ajst-15053	1	30	support	support	NOUN
ajst-15053	1	31	mechanism	mechanism	NOUN
ajst-15053	1	32	based	base	VERB
ajst-15053	1	33	on	on	ADP
ajst-15053	1	34	finite	finite	PROPN
ajst-15053	1	35	element	element	PROPN
ajst-15053	1	36	method	method	PROPN
ajst-15053	1	37	wei	wei	PROPN
ajst-15053	1	38	wu	wu	PROPN
ajst-15053	1	39	,	,	PUNCT
ajst-15053	1	40	xiaolin	xiaolin	PROPN
ajst-15053	1	41	ren	ren	PROPN
ajst-15053	1	42	,	,	PUNCT
ajst-15053	1	43	yijun	yijun	PROPN
ajst-15053	1	44	liu	liu	PROPN
ajst-15053	1	45	,	,	PUNCT
ajst-15053	1	46	pengpeng	pengpeng	PROPN
ajst-15053	1	47	zhang	zhang	PROPN
ajst-15053	1	48	,	,	PUNCT
ajst-15053	1	49	yu	yu	PROPN
ajst-15053	1	50	li	li	PROPN
ajst-15053	1	51	school	school	PROPN
ajst-15053	1	52	of	of	ADP
ajst-15053	1	53	mechanical	mechanical	ADJ
ajst-15053	1	54	engineering	engineering	NOUN
ajst-15053	1	55	,	,	PUNCT
ajst-15053	1	56	xi	xi	ADP
ajst-15053	1	57	'	'	PUNCT
ajst-15053	1	58	an	an	DET
ajst-15053	1	59	shiyou	shiyou	PROPN
ajst-15053	1	60	university	university	NOUN
ajst-15053	1	61	,	,	PUNCT
ajst-15053	1	62	xi	xi	ADP
ajst-15053	1	63	'	'	PUNCT
ajst-15053	1	64	an	an	DET
ajst-15053	1	65	710065	710065	NUM
ajst-15053	1	66	,	,	PUNCT
ajst-15053	1	67	china	china	PROPN
ajst-15053	1	68	abstract	abstract	NOUN
ajst-15053	1	69	:	:	PUNCT
ajst-15053	1	70	to	to	PART
ajst-15053	1	71	increase	increase	VERB
ajst-15053	1	72	the	the	DET
ajst-15053	1	73	traction	traction	ADJ
ajst-15053	1	74	force	force	NOUN
ajst-15053	1	75	of	of	ADP
ajst-15053	1	76	the	the	DET
ajst-15053	1	77	telescopic	telescopic	ADJ
ajst-15053	1	78	downhole	downhole	NOUN
ajst-15053	1	79	robot	robot	NOUN
ajst-15053	1	80	,	,	PUNCT
ajst-15053	1	81	the	the	DET
ajst-15053	1	82	support	support	NOUN
ajst-15053	1	83	mechanism	mechanism	NOUN
ajst-15053	1	84	of	of	ADP
ajst-15053	1	85	the	the	DET
ajst-15053	1	86	downhole	downhole	NOUN
ajst-15053	1	87	robot	robot	NOUN
ajst-15053	1	88	was	be	AUX
ajst-15053	1	89	optimized	optimize	VERB
ajst-15053	1	90	,	,	PUNCT
ajst-15053	1	91	and	and	CCONJ
ajst-15053	1	92	a	a	DET
ajst-15053	1	93	slider	slider	NOUN
ajst-15053	1	94	-	-	PUNCT
ajst-15053	1	95	spring	spring	NOUN
ajst-15053	1	96	transmission	transmission	NOUN
ajst-15053	1	97	mechanism	mechanism	NOUN
ajst-15053	1	98	was	be	AUX
ajst-15053	1	99	introduced	introduce	VERB
ajst-15053	1	100	to	to	PART
ajst-15053	1	101	solve	solve	VERB
ajst-15053	1	102	the	the	DET
ajst-15053	1	103	problem	problem	NOUN
ajst-15053	1	104	of	of	ADP
ajst-15053	1	105	jamming	jamming	NOUN
ajst-15053	1	106	.	.	PUNCT
ajst-15053	2	1	a	a	DET
ajst-15053	2	2	mathematical	mathematical	ADJ
ajst-15053	2	3	model	model	NOUN
ajst-15053	2	4	of	of	ADP
ajst-15053	2	5	the	the	DET
ajst-15053	2	6	support	support	NOUN
ajst-15053	2	7	mechanism	mechanism	NOUN
ajst-15053	2	8	was	be	AUX
ajst-15053	2	9	established	establish	VERB
ajst-15053	2	10	,	,	PUNCT
ajst-15053	2	11	covering	cover	VERB
ajst-15053	2	12	the	the	DET
ajst-15053	2	13	relationship	relationship	NOUN
ajst-15053	2	14	between	between	ADP
ajst-15053	2	15	the	the	DET
ajst-15053	2	16	contact	contact	NOUN
ajst-15053	2	17	normal	normal	ADJ
ajst-15053	2	18	pressure	pressure	NOUN
ajst-15053	2	19	and	and	CCONJ
ajst-15053	2	20	the	the	DET
ajst-15053	2	21	hydraulic	hydraulic	ADJ
ajst-15053	2	22	cylinder	cylinder	NOUN
ajst-15053	2	23	load	load	NOUN
ajst-15053	2	24	.	.	PUNCT
ajst-15053	3	1	the	the	DET
ajst-15053	3	2	finite	finite	PROPN
ajst-15053	3	3	element	element	PROPN
ajst-15053	3	4	simulation	simulation	NOUN
ajst-15053	3	5	model	model	NOUN
ajst-15053	3	6	of	of	ADP
ajst-15053	3	7	the	the	DET
ajst-15053	3	8	friction	friction	NOUN
ajst-15053	3	9	block	block	NOUN
ajst-15053	3	10	of	of	ADP
ajst-15053	3	11	the	the	DET
ajst-15053	3	12	support	support	NOUN
ajst-15053	3	13	mechanism	mechanism	NOUN
ajst-15053	3	14	was	be	AUX
ajst-15053	3	15	established	establish	VERB
ajst-15053	3	16	based	base	VERB
ajst-15053	3	17	on	on	ADP
ajst-15053	3	18	ansys	ansys	PROPN
ajst-15053	3	19	software	software	PROPN
ajst-15053	3	20	.	.	PUNCT
ajst-15053	4	1	stress	stress	VERB
ajst-15053	4	2	analysis	analysis	NOUN
ajst-15053	4	3	of	of	ADP
ajst-15053	4	4	the	the	DET
ajst-15053	4	5	casing	casing	NOUN
ajst-15053	4	6	under	under	ADP
ajst-15053	4	7	different	different	ADJ
ajst-15053	4	8	contact	contact	NOUN
ajst-15053	4	9	normal	normal	ADJ
ajst-15053	4	10	pressures	pressure	NOUN
ajst-15053	4	11	was	be	AUX
ajst-15053	4	12	carried	carry	VERB
ajst-15053	4	13	out	out	ADP
ajst-15053	4	14	,	,	PUNCT
ajst-15053	4	15	and	and	CCONJ
ajst-15053	4	16	the	the	DET
ajst-15053	4	17	frictional	frictional	ADJ
ajst-15053	4	18	characteristics	characteristic	NOUN
ajst-15053	4	19	of	of	ADP
ajst-15053	4	20	the	the	DET
ajst-15053	4	21	support	support	NOUN
ajst-15053	4	22	mechanism	mechanism	NOUN
ajst-15053	4	23	friction	friction	NOUN
ajst-15053	4	24	block	block	NOUN
ajst-15053	4	25	were	be	AUX
ajst-15053	4	26	obtained	obtain	VERB
ajst-15053	4	27	.	.	PUNCT
ajst-15053	5	1	the	the	DET
ajst-15053	5	2	results	result	NOUN
ajst-15053	5	3	show	show	VERB
ajst-15053	5	4	that	that	SCONJ
ajst-15053	5	5	the	the	DET
ajst-15053	5	6	support	support	NOUN
ajst-15053	5	7	mechanism	mechanism	NOUN
ajst-15053	5	8	composed	compose	VERB
ajst-15053	5	9	of	of	ADP
ajst-15053	5	10	four	four	NUM
ajst-15053	5	11	linkages	linkage	NOUN
ajst-15053	5	12	and	and	CCONJ
ajst-15053	5	13	friction	friction	NOUN
ajst-15053	5	14	locking	locking	NOUN
ajst-15053	5	15	blocks	block	NOUN
ajst-15053	5	16	proposed	propose	VERB
ajst-15053	5	17	in	in	ADP
ajst-15053	5	18	this	this	DET
ajst-15053	5	19	paper	paper	NOUN
ajst-15053	5	20	can	can	AUX
ajst-15053	5	21	adapt	adapt	VERB
ajst-15053	5	22	well	well	ADV
ajst-15053	5	23	to	to	ADP
ajst-15053	5	24	casing	case	VERB
ajst-15053	5	25	of	of	ADP
ajst-15053	5	26	different	different	ADJ
ajst-15053	5	27	diameters	diameter	NOUN
ajst-15053	5	28	.	.	PUNCT
ajst-15053	6	1	the	the	DET
ajst-15053	6	2	slider	slider	NOUN
ajst-15053	6	3	spring	spring	NOUN
ajst-15053	6	4	,	,	PUNCT
ajst-15053	6	5	as	as	ADP
ajst-15053	6	6	a	a	DET
ajst-15053	6	7	transmission	transmission	NOUN
ajst-15053	6	8	mechanism	mechanism	NOUN
ajst-15053	6	9	,	,	PUNCT
ajst-15053	6	10	has	have	VERB
ajst-15053	6	11	the	the	DET
ajst-15053	6	12	elasticity	elasticity	NOUN
ajst-15053	6	13	and	and	CCONJ
ajst-15053	6	14	buffering	buffering	NOUN
ajst-15053	6	15	effect	effect	NOUN
ajst-15053	6	16	,	,	PUNCT
ajst-15053	6	17	which	which	PRON
ajst-15053	6	18	makes	make	VERB
ajst-15053	6	19	the	the	DET
ajst-15053	6	20	support	support	NOUN
ajst-15053	6	21	mechanism	mechanism	NOUN
ajst-15053	6	22	have	have	VERB
ajst-15053	6	23	a	a	DET
ajst-15053	6	24	certain	certain	ADJ
ajst-15053	6	25	flexibility	flexibility	NOUN
ajst-15053	6	26	,	,	PUNCT
ajst-15053	6	27	alleviating	alleviate	VERB
ajst-15053	6	28	the	the	DET
ajst-15053	6	29	vibration	vibration	NOUN
ajst-15053	6	30	impact	impact	NOUN
ajst-15053	6	31	during	during	ADP
ajst-15053	6	32	obstacle	obstacle	NOUN
ajst-15053	6	33	crossing	cross	VERB
ajst-15053	6	34	and	and	CCONJ
ajst-15053	6	35	reducing	reduce	VERB
ajst-15053	6	36	the	the	DET
ajst-15053	6	37	impact	impact	NOUN
ajst-15053	6	38	on	on	ADP
ajst-15053	6	39	logging	log	VERB
ajst-15053	6	40	instruments	instrument	NOUN
ajst-15053	6	41	.	.	PUNCT
ajst-15053	7	1	it	it	PRON
ajst-15053	7	2	enables	enable	VERB
ajst-15053	7	3	the	the	DET
ajst-15053	7	4	robot	robot	NOUN
ajst-15053	7	5	to	to	PART
ajst-15053	7	6	passively	passively	ADV
ajst-15053	7	7	adjust	adjust	VERB
ajst-15053	7	8	during	during	ADP
ajst-15053	7	9	obstacle	obstacle	NOUN
ajst-15053	7	10	crossing	crossing	NOUN
ajst-15053	7	11	,	,	PUNCT
ajst-15053	7	12	effectively	effectively	ADV
ajst-15053	7	13	improving	improve	VERB
ajst-15053	7	14	the	the	DET
ajst-15053	7	15	traction	traction	NOUN
ajst-15053	7	16	capability	capability	NOUN
ajst-15053	7	17	of	of	ADP
ajst-15053	7	18	the	the	DET
ajst-15053	7	19	downhole	downhole	NOUN
ajst-15053	7	20	robot	robot	NOUN
ajst-15053	7	21	.	.	PUNCT
ajst-15053	8	1	through	through	ADP
ajst-15053	8	2	finite	finite	PROPN
ajst-15053	8	3	element	element	PROPN
ajst-15053	8	4	simulation	simulation	NOUN
ajst-15053	8	5	,	,	PUNCT
ajst-15053	8	6	it	it	PRON
ajst-15053	8	7	was	be	AUX
ajst-15053	8	8	found	find	VERB
ajst-15053	8	9	that	that	SCONJ
ajst-15053	8	10	the	the	DET
ajst-15053	8	11	depth	depth	NOUN
ajst-15053	8	12	of	of	ADP
ajst-15053	8	13	the	the	DET
ajst-15053	8	14	plow	plow	NOUN
ajst-15053	8	15	groove	groove	NOUN
ajst-15053	8	16	produced	produce	VERB
ajst-15053	8	17	by	by	ADP
ajst-15053	8	18	the	the	DET
ajst-15053	8	19	friction	friction	NOUN
ajst-15053	8	20	block	block	NOUN
ajst-15053	8	21	under	under	ADP
ajst-15053	8	22	normal	normal	ADJ
ajst-15053	8	23	pressure	pressure	NOUN
ajst-15053	8	24	is	be	AUX
ajst-15053	8	25	basically	basically	ADV
ajst-15053	8	26	proportional	proportional	ADJ
ajst-15053	8	27	to	to	ADP
ajst-15053	8	28	the	the	DET
ajst-15053	8	29	normal	normal	ADJ
ajst-15053	8	30	pressure	pressure	NOUN
ajst-15053	8	31	.	.	PUNCT
ajst-15053	9	1	the	the	PRON
ajst-15053	9	2	greater	great	ADJ
ajst-15053	9	3	the	the	DET
ajst-15053	9	4	normal	normal	ADJ
ajst-15053	9	5	pressure	pressure	NOUN
ajst-15053	9	6	,	,	PUNCT
ajst-15053	9	7	the	the	PRON
ajst-15053	9	8	deeper	deep	ADJ
ajst-15053	9	9	the	the	DET
ajst-15053	9	10	plow	plow	NOUN
ajst-15053	9	11	groove	groove	NOUN
ajst-15053	9	12	,	,	PUNCT
ajst-15053	9	13	and	and	CCONJ
ajst-15053	9	14	the	the	DET
ajst-15053	9	15	plow	plow	NOUN
ajst-15053	9	16	groove	groove	VERB
ajst-15053	9	17	friction	friction	NOUN
ajst-15053	9	18	coefficient	coefficient	NOUN
ajst-15053	9	19	increases	increase	VERB
ajst-15053	9	20	continuously	continuously	ADV
ajst-15053	9	21	with	with	ADP
ajst-15053	9	22	the	the	DET
ajst-15053	9	23	increase	increase	NOUN
ajst-15053	9	24	of	of	ADP
ajst-15053	9	25	normal	normal	ADJ
ajst-15053	9	26	pressure	pressure	NOUN
ajst-15053	9	27	,	,	PUNCT
ajst-15053	9	28	but	but	CCONJ
ajst-15053	9	29	the	the	DET
ajst-15053	9	30	change	change	NOUN
ajst-15053	9	31	in	in	ADP
ajst-15053	9	32	the	the	DET
ajst-15053	9	33	plow	plow	NOUN
ajst-15053	9	34	groove	groove	NOUN
ajst-15053	9	35	friction	friction	NOUN
ajst-15053	9	36	coefficient	coefficient	NOUN
ajst-15053	9	37	gradually	gradually	ADV
ajst-15053	9	38	decreases	decrease	VERB
ajst-15053	9	39	as	as	ADP
ajst-15053	9	40	the	the	DET
ajst-15053	9	41	pressure	pressure	NOUN
ajst-15053	9	42	increases	increase	NOUN
ajst-15053	9	43	.	.	PUNCT
ajst-15053	10	1	keywords	keyword	NOUN
ajst-15053	10	2	:	:	PUNCT
ajst-15053	10	3	downhole	downhole	NOUN
ajst-15053	10	4	robot	robot	NOUN
ajst-15053	10	5	;	;	PUNCT
ajst-15053	10	6	finite	finite	PROPN
ajst-15053	10	7	element	element	PROPN
ajst-15053	10	8	simulation	simulation	PROPN
ajst-15053	10	9	;	;	PUNCT
ajst-15053	10	10	optimization	optimization	NOUN
ajst-15053	10	11	design	design	NOUN
ajst-15053	10	12	;	;	PUNCT
ajst-15053	10	13	support	support	NOUN
ajst-15053	10	14	mechanism	mechanism	NOUN
ajst-15053	10	15	.	.	PUNCT
ajst-15053	11	1	1	1	X
ajst-15053	11	2	.	.	X
ajst-15053	11	3	introduction	introduction	NOUN
ajst-15053	11	4	the	the	DET
ajst-15053	11	5	telescopic	telescopic	ADJ
ajst-15053	11	6	downhole	downhole	NOUN
ajst-15053	11	7	robot	robot	NOUN
ajst-15053	11	8	is	be	AUX
ajst-15053	11	9	a	a	DET
ajst-15053	11	10	robot	robot	NOUN
ajst-15053	11	11	used	use	VERB
ajst-15053	11	12	for	for	ADP
ajst-15053	11	13	downhole	downhole	NOUN
ajst-15053	11	14	operations	operation	NOUN
ajst-15053	11	15	such	such	ADJ
ajst-15053	11	16	as	as	ADP
ajst-15053	11	17	horizontal	horizontal	ADJ
ajst-15053	11	18	well	well	NOUN
ajst-15053	11	19	drilling	drilling	NOUN
ajst-15053	11	20	and	and	CCONJ
ajst-15053	11	21	logging	log	VERB
ajst-15053	11	22	.	.	PUNCT
ajst-15053	12	1	it	it	PRON
ajst-15053	12	2	has	have	VERB
ajst-15053	12	3	a	a	DET
ajst-15053	12	4	large	large	ADJ
ajst-15053	12	5	traction	traction	NOUN
ajst-15053	12	6	force	force	NOUN
ajst-15053	12	7	and	and	CCONJ
ajst-15053	12	8	traction	traction	NOUN
ajst-15053	12	9	distance	distance	NOUN
ajst-15053	12	10	,	,	PUNCT
ajst-15053	12	11	which	which	PRON
ajst-15053	12	12	can	can	AUX
ajst-15053	12	13	solve	solve	VERB
ajst-15053	12	14	the	the	DET
ajst-15053	12	15	problem	problem	NOUN
ajst-15053	12	16	of	of	ADP
ajst-15053	12	17	insufficient	insufficient	ADJ
ajst-15053	12	18	traction	traction	NOUN
ajst-15053	12	19	force	force	NOUN
ajst-15053	12	20	of	of	ADP
ajst-15053	12	21	traditional	traditional	ADJ
ajst-15053	12	22	wheeled	wheel	VERB
ajst-15053	12	23	downhole	downhole	NOUN
ajst-15053	12	24	robots	robot	NOUN
ajst-15053	12	25	in	in	ADP
ajst-15053	12	26	conveying	convey	VERB
ajst-15053	12	27	continuous	continuous	ADJ
ajst-15053	12	28	oil	oil	NOUN
ajst-15053	12	29	pipes	pipe	NOUN
ajst-15053	12	30	and	and	CCONJ
ajst-15053	12	31	downhole	downhole	NOUN
ajst-15053	12	32	operation	operation	NOUN
ajst-15053	12	33	instruments	instrument	NOUN
ajst-15053	12	34	.	.	PUNCT
ajst-15053	13	1	however	however	ADV
ajst-15053	13	2	,	,	PUNCT
ajst-15053	13	3	the	the	DET
ajst-15053	13	4	control	control	NOUN
ajst-15053	13	5	system	system	NOUN
ajst-15053	13	6	of	of	ADP
ajst-15053	13	7	the	the	DET
ajst-15053	13	8	telescopic	telescopic	ADJ
ajst-15053	13	9	downhole	downhole	NOUN
ajst-15053	13	10	robot	robot	NOUN
ajst-15053	13	11	is	be	AUX
ajst-15053	13	12	one	one	NUM
ajst-15053	13	13	of	of	ADP
ajst-15053	13	14	the	the	DET
ajst-15053	13	15	key	key	ADJ
ajst-15053	13	16	technologies	technology	NOUN
ajst-15053	13	17	for	for	ADP
ajst-15053	13	18	its	its	PRON
ajst-15053	13	19	underground	underground	ADJ
ajst-15053	13	20	operation	operation	NOUN
ajst-15053	13	21	.	.	PUNCT
ajst-15053	14	1	currently	currently	ADV
ajst-15053	14	2	,	,	PUNCT
ajst-15053	14	3	existing	exist	VERB
ajst-15053	14	4	telescopic	telescopic	ADJ
ajst-15053	14	5	downhole	downhole	NOUN
ajst-15053	14	6	robots	robot	NOUN
ajst-15053	14	7	face	face	VERB
ajst-15053	14	8	challenges	challenge	NOUN
ajst-15053	14	9	such	such	ADJ
ajst-15053	14	10	as	as	ADP
ajst-15053	14	11	complex	complex	ADJ
ajst-15053	14	12	support	support	NOUN
ajst-15053	14	13	structure	structure	NOUN
ajst-15053	14	14	,	,	PUNCT
ajst-15053	14	15	jamming	jam	VERB
ajst-15053	14	16	problems	problem	NOUN
ajst-15053	14	17	,	,	PUNCT
ajst-15053	14	18	and	and	CCONJ
ajst-15053	14	19	low	low	ADJ
ajst-15053	14	20	control	control	NOUN
ajst-15053	14	21	accuracy	accuracy	NOUN
ajst-15053	14	22	,	,	PUNCT
ajst-15053	14	23	which	which	PRON
ajst-15053	14	24	restrict	restrict	VERB
ajst-15053	14	25	their	their	PRON
ajst-15053	14	26	response	response	NOUN
ajst-15053	14	27	speed	speed	NOUN
ajst-15053	14	28	and	and	CCONJ
ajst-15053	14	29	control	control	NOUN
ajst-15053	14	30	precision	precision	NOUN
ajst-15053	14	31	.	.	PUNCT
ajst-15053	15	1	however	however	ADV
ajst-15053	15	2	,	,	PUNCT
ajst-15053	15	3	due	due	ADP
ajst-15053	15	4	to	to	ADP
ajst-15053	15	5	the	the	DET
ajst-15053	15	6	confidentiality	confidentiality	NOUN
ajst-15053	15	7	measures	measure	NOUN
ajst-15053	15	8	and	and	CCONJ
ajst-15053	15	9	high	high	ADJ
ajst-15053	15	10	r&d	r&d	NOUN
ajst-15053	15	11	costs	cost	NOUN
ajst-15053	15	12	of	of	ADP
ajst-15053	15	13	hydraulic	hydraulic	ADJ
ajst-15053	15	14	telescopic	telescopic	ADJ
ajst-15053	15	15	downhole	downhole	NOUN
ajst-15053	15	16	robot	robot	NOUN
ajst-15053	15	17	technology	technology	NOUN
ajst-15053	15	18	,	,	PUNCT
ajst-15053	15	19	its	its	PRON
ajst-15053	15	20	development	development	NOUN
ajst-15053	15	21	in	in	ADP
ajst-15053	15	22	china	china	PROPN
ajst-15053	15	23	is	be	AUX
ajst-15053	15	24	relatively	relatively	ADV
ajst-15053	15	25	lagging	lag	VERB
ajst-15053	15	26	behind	behind	ADV
ajst-15053	15	27	.	.	PUNCT
ajst-15053	16	1	currently	currently	ADV
ajst-15053	16	2	,	,	PUNCT
ajst-15053	16	3	research	research	NOUN
ajst-15053	16	4	institutions	institution	NOUN
ajst-15053	16	5	and	and	CCONJ
ajst-15053	16	6	companies	company	NOUN
ajst-15053	16	7	at	at	ADP
ajst-15053	16	8	home	home	ADV
ajst-15053	16	9	and	and	CCONJ
ajst-15053	16	10	abroad	abroad	ADV
ajst-15053	16	11	are	be	AUX
ajst-15053	16	12	increasing	increase	VERB
ajst-15053	16	13	their	their	PRON
ajst-15053	16	14	research	research	NOUN
ajst-15053	16	15	and	and	CCONJ
ajst-15053	16	16	application	application	NOUN
ajst-15053	16	17	efforts	effort	NOUN
ajst-15053	16	18	on	on	ADP
ajst-15053	16	19	hydraulic	hydraulic	ADJ
ajst-15053	16	20	telescopic	telescopic	ADJ
ajst-15053	16	21	downhole	downhole	NOUN
ajst-15053	16	22	robots	robot	NOUN
ajst-15053	16	23	to	to	PART
ajst-15053	16	24	promote	promote	VERB
ajst-15053	16	25	further	further	ADJ
ajst-15053	16	26	breakthroughs	breakthrough	NOUN
ajst-15053	16	27	and	and	CCONJ
ajst-15053	16	28	applications	application	NOUN
ajst-15053	16	29	of	of	ADP
ajst-15053	16	30	this	this	DET
ajst-15053	16	31	technology	technology	NOUN
ajst-15053	16	32	.	.	PUNCT
ajst-15053	17	1	this	this	DET
ajst-15053	17	2	paper	paper	NOUN
ajst-15053	17	3	proposes	propose	VERB
ajst-15053	17	4	a	a	DET
ajst-15053	17	5	support	support	NOUN
ajst-15053	17	6	mechanism	mechanism	NOUN
ajst-15053	17	7	composed	compose	VERB
ajst-15053	17	8	of	of	ADP
ajst-15053	17	9	four	four	NUM
ajst-15053	17	10	linkages	linkage	NOUN
ajst-15053	17	11	and	and	CCONJ
ajst-15053	17	12	friction	friction	NOUN
ajst-15053	17	13	locking	locking	NOUN
ajst-15053	17	14	blocks	block	NOUN
ajst-15053	17	15	,	,	PUNCT
ajst-15053	17	16	which	which	PRON
ajst-15053	17	17	can	can	AUX
ajst-15053	17	18	adapt	adapt	VERB
ajst-15053	17	19	well	well	ADV
ajst-15053	17	20	to	to	ADP
ajst-15053	17	21	casing	case	VERB
ajst-15053	17	22	of	of	ADP
ajst-15053	17	23	different	different	ADJ
ajst-15053	17	24	diameters	diameter	NOUN
ajst-15053	17	25	.	.	PUNCT
ajst-15053	18	1	the	the	DET
ajst-15053	18	2	slider	slider	NOUN
ajst-15053	18	3	spring	spring	NOUN
ajst-15053	18	4	,	,	PUNCT
ajst-15053	18	5	as	as	ADP
ajst-15053	18	6	a	a	DET
ajst-15053	18	7	transmission	transmission	NOUN
ajst-15053	18	8	mechanism	mechanism	NOUN
ajst-15053	18	9	,	,	PUNCT
ajst-15053	18	10	has	have	VERB
ajst-15053	18	11	the	the	DET
ajst-15053	18	12	elasticity	elasticity	NOUN
ajst-15053	18	13	and	and	CCONJ
ajst-15053	18	14	buffering	buffering	NOUN
ajst-15053	18	15	effect	effect	NOUN
ajst-15053	18	16	,	,	PUNCT
ajst-15053	18	17	which	which	PRON
ajst-15053	18	18	makes	make	VERB
ajst-15053	18	19	the	the	DET
ajst-15053	18	20	support	support	NOUN
ajst-15053	18	21	mechanism	mechanism	NOUN
ajst-15053	18	22	have	have	VERB
ajst-15053	18	23	a	a	DET
ajst-15053	18	24	certain	certain	ADJ
ajst-15053	18	25	flexibility	flexibility	NOUN
ajst-15053	18	26	,	,	PUNCT
ajst-15053	18	27	alleviating	alleviate	VERB
ajst-15053	18	28	the	the	DET
ajst-15053	18	29	vibration	vibration	NOUN
ajst-15053	18	30	impact	impact	NOUN
ajst-15053	18	31	during	during	ADP
ajst-15053	18	32	obstacle	obstacle	NOUN
ajst-15053	18	33	crossing	cross	VERB
ajst-15053	18	34	and	and	CCONJ
ajst-15053	18	35	reducing	reduce	VERB
ajst-15053	18	36	the	the	DET
ajst-15053	18	37	impact	impact	NOUN
ajst-15053	18	38	on	on	ADP
ajst-15053	18	39	logging	log	VERB
ajst-15053	18	40	instruments	instrument	NOUN
ajst-15053	18	41	.	.	PUNCT
ajst-15053	19	1	it	it	PRON
ajst-15053	19	2	enables	enable	VERB
ajst-15053	19	3	the	the	DET
ajst-15053	19	4	robot	robot	NOUN
ajst-15053	19	5	to	to	PART
ajst-15053	19	6	passively	passively	ADV
ajst-15053	19	7	adjust	adjust	VERB
ajst-15053	19	8	during	during	ADP
ajst-15053	19	9	obstacle	obstacle	NOUN
ajst-15053	19	10	crossing	crossing	NOUN
ajst-15053	19	11	.	.	PUNCT
ajst-15053	20	1	the	the	DET
ajst-15053	20	2	frictional	frictional	ADJ
ajst-15053	20	3	characteristics	characteristic	NOUN
ajst-15053	20	4	of	of	ADP
ajst-15053	20	5	the	the	DET
ajst-15053	20	6	friction	friction	NOUN
ajst-15053	20	7	block	block	NOUN
ajst-15053	20	8	support	support	NOUN
ajst-15053	20	9	mechanism	mechanism	NOUN
ajst-15053	20	10	were	be	AUX
ajst-15053	20	11	obtained	obtain	VERB
ajst-15053	20	12	through	through	ADP
ajst-15053	20	13	finite	finite	PROPN
ajst-15053	20	14	element	element	PROPN
ajst-15053	20	15	simulation	simulation	NOUN
ajst-15053	20	16	.	.	PUNCT
ajst-15053	21	1	2	2	X
ajst-15053	21	2	.	.	X
ajst-15053	21	3	working	work	VERB
ajst-15053	21	4	principle	principle	NOUN
ajst-15053	21	5	of	of	ADP
ajst-15053	21	6	downhole	downhole	NOUN
ajst-15053	21	7	robot	robot	NOUN
ajst-15053	21	8	and	and	CCONJ
ajst-15053	21	9	supporting	support	VERB
ajst-15053	21	10	mechanism	mechanism	NOUN
ajst-15053	21	11	2.1	2.1	NUM
ajst-15053	21	12	.	.	PUNCT
ajst-15053	22	1	working	work	VERB
ajst-15053	22	2	principle	principle	NOUN
ajst-15053	22	3	of	of	ADP
ajst-15053	22	4	retractable	retractable	ADJ
ajst-15053	22	5	underground	underground	ADJ
ajst-15053	22	6	robot	robot	NOUN
ajst-15053	22	7	the	the	DET
ajst-15053	22	8	telescopic	telescopic	ADJ
ajst-15053	22	9	downhole	downhole	NOUN
ajst-15053	22	10	robot	robot	NOUN
ajst-15053	22	11	consists	consist	VERB
ajst-15053	22	12	of	of	ADP
ajst-15053	22	13	two	two	NUM
ajst-15053	22	14	parts	part	NOUN
ajst-15053	22	15	:	:	PUNCT
ajst-15053	22	16	the	the	DET
ajst-15053	22	17	front	front	ADJ
ajst-15053	22	18	working	working	NOUN
ajst-15053	22	19	section	section	NOUN
ajst-15053	22	20	and	and	CCONJ
ajst-15053	22	21	the	the	DET
ajst-15053	22	22	rear	rear	ADJ
ajst-15053	22	23	working	working	NOUN
ajst-15053	22	24	section	section	NOUN
ajst-15053	22	25	.	.	PUNCT
ajst-15053	23	1	these	these	DET
ajst-15053	23	2	two	two	NUM
ajst-15053	23	3	parts	part	NOUN
ajst-15053	23	4	work	work	VERB
ajst-15053	23	5	independently	independently	ADV
ajst-15053	23	6	and	and	CCONJ
ajst-15053	23	7	in	in	ADP
ajst-15053	23	8	coordination	coordination	NOUN
ajst-15053	23	9	with	with	ADP
ajst-15053	23	10	each	each	DET
ajst-15053	23	11	other	other	ADJ
ajst-15053	23	12	.	.	PUNCT
ajst-15053	24	1	the	the	DET
ajst-15053	24	2	working	work	VERB
ajst-15053	24	3	principle	principle	NOUN
ajst-15053	24	4	is	be	AUX
ajst-15053	24	5	as	as	SCONJ
ajst-15053	24	6	follows	follow	VERB
ajst-15053	24	7	:	:	PUNCT
ajst-15053	24	8	1	1	X
ajst-15053	24	9	.	.	X
ajst-15053	24	10	left	leave	VERB
ajst-15053	24	11	support	support	NOUN
ajst-15053	24	12	cylinder	cylinder	NOUN
ajst-15053	24	13	;	;	PUNCT
ajst-15053	24	14	2	2	X
ajst-15053	24	15	.	.	X
ajst-15053	24	16	left	leave	VERB
ajst-15053	24	17	support	support	NOUN
ajst-15053	24	18	mechanism	mechanism	NOUN
ajst-15053	24	19	;	;	PUNCT
ajst-15053	24	20	3	3	X
ajst-15053	24	21	.	.	X
ajst-15053	24	22	left	leave	VERB
ajst-15053	24	23	traction	traction	NOUN
ajst-15053	24	24	cylinder	cylinder	NOUN
ajst-15053	24	25	;	;	PUNCT
ajst-15053	24	26	4	4	X
ajst-15053	24	27	.	.	X
ajst-15053	24	28	control	control	NOUN
ajst-15053	24	29	system	system	NOUN
ajst-15053	24	30	;	;	PUNCT
ajst-15053	24	31	5	5	NUM
ajst-15053	24	32	.	.	X
ajst-15053	24	33	right	right	ADJ
ajst-15053	24	34	traction	traction	PROPN
ajst-15053	24	35	cylinder	cylinder	NOUN
ajst-15053	24	36	;	;	PUNCT
ajst-15053	24	37	6	6	NUM
ajst-15053	24	38	.	.	X
ajst-15053	24	39	right	right	ADJ
ajst-15053	24	40	support	support	NOUN
ajst-15053	24	41	mechanism	mechanism	NOUN
ajst-15053	24	42	;	;	PUNCT
ajst-15053	24	43	7	7	X
ajst-15053	24	44	.	.	X
ajst-15053	24	45	right	right	ADJ
ajst-15053	24	46	support	support	NOUN
ajst-15053	24	47	cylinder	cylinder	NOUN
ajst-15053	24	48	;	;	PUNCT
ajst-15053	24	49	8	8	NUM
ajst-15053	24	50	.	.	X
ajst-15053	24	51	directional	directional	ADJ
ajst-15053	24	52	casing	casing	NOUN
ajst-15053	24	53	;	;	PUNCT
ajst-15053	24	54	9	9	X
ajst-15053	24	55	.	.	X
ajst-15053	24	56	power	power	NOUN
ajst-15053	24	57	drilling	drilling	NOUN
ajst-15053	24	58	tool	tool	NOUN
ajst-15053	24	59	;	;	PUNCT
ajst-15053	24	60	10	10	NUM
ajst-15053	24	61	.	.	X
ajst-15053	24	62	drill	drill	NOUN
ajst-15053	24	63	bit	bit	NOUN
ajst-15053	24	64	.	.	PUNCT
ajst-15053	25	1	figure	figure	NOUN
ajst-15053	25	2	1	1	NUM
ajst-15053	25	3	.	.	PUNCT
ajst-15053	26	1	working	work	VERB
ajst-15053	26	2	principle	principle	NOUN
ajst-15053	26	3	of	of	ADP
ajst-15053	26	4	telescopic	telescopic	ADJ
ajst-15053	26	5	downhole	downhole	NOUN
ajst-15053	26	6	robot	robot	NOUN
ajst-15053	26	7	the	the	DET
ajst-15053	26	8	motion	motion	NOUN
ajst-15053	26	9	principle	principle	NOUN
ajst-15053	26	10	of	of	ADP
ajst-15053	26	11	the	the	DET
ajst-15053	26	12	telescopic	telescopic	ADJ
ajst-15053	26	13	downhole	downhole	NOUN
ajst-15053	26	14	robot	robot	NOUN
ajst-15053	26	15	is	be	AUX
ajst-15053	26	16	shown	show	VERB
ajst-15053	26	17	in	in	ADP
ajst-15053	26	18	fig	fig	NOUN
ajst-15053	26	19	.	.	PUNCT
ajst-15053	27	1	1	1	X
ajst-15053	27	2	.	.	X
ajst-15053	27	3	when	when	SCONJ
ajst-15053	27	4	crawling	crawl	VERB
ajst-15053	27	5	inside	inside	ADP
ajst-15053	27	6	the	the	DET
ajst-15053	27	7	wellbore	wellbore	NOUN
ajst-15053	27	8	or	or	CCONJ
ajst-15053	27	9	pipeline	pipeline	NOUN
ajst-15053	27	10	,	,	PUNCT
ajst-15053	27	11	the	the	DET
ajst-15053	27	12	left	left	ADJ
ajst-15053	27	13	and	and	CCONJ
ajst-15053	27	14	right	right	ADJ
ajst-15053	27	15	working	working	NOUN
ajst-15053	27	16	sections	section	NOUN
ajst-15053	27	17	alternate	alternate	VERB
ajst-15053	27	18	to	to	PART
ajst-15053	27	19	achieve	achieve	VERB
ajst-15053	27	20	telescopic	telescopic	NOUN
ajst-15053	27	21	crawling	crawl	VERB
ajst-15053	27	22	forward	forward	ADV
ajst-15053	27	23	.	.	PUNCT
ajst-15053	28	1	one	one	NUM
ajst-15053	28	2	motion	motion	NOUN
ajst-15053	28	3	cycle	cycle	NOUN
ajst-15053	28	4	can	can	AUX
ajst-15053	28	5	be	be	AUX
ajst-15053	28	6	divided	divide	VERB
ajst-15053	28	7	into	into	ADP
ajst-15053	28	8	7	7	NUM
ajst-15053	28	9	motion	motion	NOUN
ajst-15053	28	10	steps	step	NOUN
ajst-15053	28	11	.	.	PUNCT
ajst-15053	29	1	after	after	ADP
ajst-15053	29	2	completing	complete	VERB
ajst-15053	29	3	one	one	NUM
ajst-15053	29	4	cycle	cycle	NOUN
ajst-15053	29	5	of	of	ADP
ajst-15053	29	6	motion	motion	NOUN
ajst-15053	29	7	,	,	PUNCT
ajst-15053	29	8	the	the	DET
ajst-15053	29	9	robot	robot	NOUN
ajst-15053	29	10	moves	move	VERB
ajst-15053	29	11	forward	forward	ADV
ajst-15053	29	12	by	by	ADP
ajst-15053	29	13	the	the	DET
ajst-15053	29	14	stroke	stroke	NOUN
ajst-15053	29	15	of	of	ADP
ajst-15053	29	16	2	2	NUM
ajst-15053	29	17	telescopic	telescopic	NOUN
ajst-15053	29	18	122	122	NUM
ajst-15053	29	19	cylinders	cylinder	NOUN
ajst-15053	29	20	.	.	PUNCT
ajst-15053	30	1	2.2	2.2	NUM
ajst-15053	30	2	.	.	PUNCT
ajst-15053	31	1	working	work	VERB
ajst-15053	31	2	principle	principle	NOUN
ajst-15053	31	3	of	of	ADP
ajst-15053	31	4	the	the	DET
ajst-15053	31	5	support	support	NOUN
ajst-15053	31	6	mechanism	mechanism	NOUN
ajst-15053	31	7	the	the	DET
ajst-15053	31	8	friction	friction	NOUN
ajst-15053	31	9	locking	locking	NOUN
ajst-15053	31	10	block	block	NOUN
ajst-15053	31	11	is	be	AUX
ajst-15053	31	12	designed	design	VERB
ajst-15053	31	13	based	base	VERB
ajst-15053	31	14	on	on	ADP
ajst-15053	31	15	the	the	DET
ajst-15053	31	16	support	support	NOUN
ajst-15053	31	17	structure	structure	NOUN
ajst-15053	31	18	of	of	ADP
ajst-15053	31	19	multi	multi	ADJ
ajst-15053	31	20	-	-	ADJ
ajst-15053	31	21	link	link	ADJ
ajst-15053	31	22	and	and	CCONJ
ajst-15053	31	23	four	four	NUM
ajst-15053	31	24	-	-	PUNCT
ajst-15053	31	25	link	link	NOUN
ajst-15053	31	26	mechanisms	mechanism	NOUN
ajst-15053	31	27	with	with	ADP
ajst-15053	31	28	the	the	DET
ajst-15053	31	29	casing	casing	NOUN
ajst-15053	31	30	wall	wall	NOUN
ajst-15053	31	31	.	.	PUNCT
ajst-15053	32	1	according	accord	VERB
ajst-15053	32	2	to	to	ADP
ajst-15053	32	3	the	the	DET
ajst-15053	32	4	driving	drive	VERB
ajst-15053	32	5	principle	principle	NOUN
ajst-15053	32	6	of	of	ADP
ajst-15053	32	7	the	the	DET
ajst-15053	32	8	motordriven	motordriven	PROPN
ajst-15053	32	9	screw	screw	VERB
ajst-15053	32	10	nut	nut	NOUN
ajst-15053	32	11	in	in	ADP
ajst-15053	32	12	existing	exist	VERB
ajst-15053	32	13	downhole	downhole	NOUN
ajst-15053	32	14	robots	robot	NOUN
ajst-15053	32	15	,	,	PUNCT
ajst-15053	32	16	a	a	DET
ajst-15053	32	17	slider	slider	NOUN
ajst-15053	32	18	-	-	PUNCT
ajst-15053	32	19	spring	spring	NOUN
ajst-15053	32	20	transmission	transmission	NOUN
ajst-15053	32	21	mechanism	mechanism	NOUN
ajst-15053	32	22	driven	drive	VERB
ajst-15053	32	23	by	by	ADP
ajst-15053	32	24	a	a	DET
ajst-15053	32	25	hydraulic	hydraulic	ADJ
ajst-15053	32	26	cylinder	cylinder	NOUN
ajst-15053	32	27	is	be	AUX
ajst-15053	32	28	proposed	propose	VERB
ajst-15053	32	29	.	.	PUNCT
ajst-15053	33	1	the	the	DET
ajst-15053	33	2	support	support	NOUN
ajst-15053	33	3	mechanism	mechanism	NOUN
ajst-15053	33	4	is	be	AUX
ajst-15053	33	5	shown	show	VERB
ajst-15053	33	6	in	in	ADP
ajst-15053	33	7	figure	figure	NOUN
ajst-15053	33	8	2	2	NUM
ajst-15053	33	9	,	,	PUNCT
ajst-15053	33	10	and	and	CCONJ
ajst-15053	33	11	it	it	PRON
ajst-15053	33	12	includes	include	VERB
ajst-15053	33	13	two	two	NUM
ajst-15053	33	14	steps	step	NOUN
ajst-15053	33	15	:	:	PUNCT
ajst-15053	33	16	(	(	PUNCT
ajst-15053	33	17	1	1	X
ajst-15053	33	18	)	)	PUNCT
ajst-15053	33	19	support	support	NOUN
ajst-15053	33	20	action	action	NOUN
ajst-15053	33	21	:	:	PUNCT
ajst-15053	33	22	when	when	SCONJ
ajst-15053	33	23	the	the	DET
ajst-15053	33	24	servo	servo	NOUN
ajst-15053	33	25	valve	valve	NOUN
ajst-15053	33	26	receives	receive	VERB
ajst-15053	33	27	the	the	DET
ajst-15053	33	28	control	control	NOUN
ajst-15053	33	29	signal	signal	NOUN
ajst-15053	33	30	,	,	PUNCT
ajst-15053	33	31	it	it	PRON
ajst-15053	33	32	adjusts	adjust	VERB
ajst-15053	33	33	the	the	DET
ajst-15053	33	34	spool	spool	NOUN
ajst-15053	33	35	displacement	displacement	NOUN
ajst-15053	33	36	,	,	PUNCT
ajst-15053	33	37	causing	cause	VERB
ajst-15053	33	38	the	the	DET
ajst-15053	33	39	hydraulic	hydraulic	ADJ
ajst-15053	33	40	cylinder	cylinder	NOUN
ajst-15053	33	41	piston	piston	NOUN
ajst-15053	33	42	rod	rod	NOUN
ajst-15053	33	43	to	to	PART
ajst-15053	33	44	exert	exert	VERB
ajst-15053	33	45	an	an	DET
ajst-15053	33	46	output	output	NOUN
ajst-15053	33	47	force	force	NOUN
ajst-15053	33	48	f1	f1	NOUN
ajst-15053	33	49	,	,	PUNCT
ajst-15053	33	50	compressing	compress	VERB
ajst-15053	33	51	the	the	DET
ajst-15053	33	52	pressure	pressure	NOUN
ajst-15053	33	53	spring	spring	NOUN
ajst-15053	33	54	and	and	CCONJ
ajst-15053	33	55	pushing	push	VERB
ajst-15053	33	56	the	the	DET
ajst-15053	33	57	slider	slider	NOUN
ajst-15053	33	58	to	to	PART
ajst-15053	33	59	slide	slide	VERB
ajst-15053	33	60	in	in	ADP
ajst-15053	33	61	the	the	DET
ajst-15053	33	62	piston	piston	NOUN
ajst-15053	33	63	sleeve	sleeve	NOUN
ajst-15053	33	64	.	.	PUNCT
ajst-15053	34	1	at	at	ADP
ajst-15053	34	2	the	the	DET
ajst-15053	34	3	same	same	ADJ
ajst-15053	34	4	time	time	NOUN
ajst-15053	34	5	,	,	PUNCT
ajst-15053	34	6	the	the	DET
ajst-15053	34	7	return	return	NOUN
ajst-15053	34	8	spring	spring	NOUN
ajst-15053	34	9	is	be	AUX
ajst-15053	34	10	compressed	compress	VERB
ajst-15053	34	11	,	,	PUNCT
ajst-15053	34	12	driving	drive	VERB
ajst-15053	34	13	the	the	DET
ajst-15053	34	14	right	right	ADJ
ajst-15053	34	15	push	push	NOUN
ajst-15053	34	16	rod	rod	NOUN
ajst-15053	34	17	to	to	PART
ajst-15053	34	18	move	move	VERB
ajst-15053	34	19	to	to	ADP
ajst-15053	34	20	the	the	DET
ajst-15053	34	21	left	left	NOUN
ajst-15053	34	22	.	.	PUNCT
ajst-15053	35	1	this	this	PRON
ajst-15053	35	2	continues	continue	VERB
ajst-15053	35	3	until	until	SCONJ
ajst-15053	35	4	the	the	DET
ajst-15053	35	5	locking	locking	NOUN
ajst-15053	35	6	block	block	NOUN
ajst-15053	35	7	completely	completely	ADV
ajst-15053	35	8	contacts	contact	VERB
ajst-15053	35	9	the	the	DET
ajst-15053	35	10	casing	casing	NOUN
ajst-15053	35	11	wall	wall	NOUN
ajst-15053	35	12	,	,	PUNCT
ajst-15053	35	13	and	and	CCONJ
ajst-15053	35	14	the	the	DET
ajst-15053	35	15	return	return	NOUN
ajst-15053	35	16	spring	spring	NOUN
ajst-15053	35	17	is	be	AUX
ajst-15053	35	18	no	no	ADV
ajst-15053	35	19	longer	long	ADV
ajst-15053	35	20	compressed	compress	VERB
ajst-15053	35	21	.	.	PUNCT
ajst-15053	36	1	as	as	SCONJ
ajst-15053	36	2	the	the	DET
ajst-15053	36	3	piston	piston	NOUN
ajst-15053	36	4	rod	rod	NOUN
ajst-15053	36	5	continues	continue	VERB
ajst-15053	36	6	to	to	PART
ajst-15053	36	7	move	move	VERB
ajst-15053	36	8	,	,	PUNCT
ajst-15053	36	9	the	the	DET
ajst-15053	36	10	pressure	pressure	NOUN
ajst-15053	36	11	spring	spring	NOUN
ajst-15053	36	12	continues	continue	VERB
ajst-15053	36	13	to	to	PART
ajst-15053	36	14	compress	compress	VERB
ajst-15053	36	15	,	,	PUNCT
ajst-15053	36	16	providing	provide	VERB
ajst-15053	36	17	sufficient	sufficient	ADJ
ajst-15053	36	18	contact	contact	NOUN
ajst-15053	36	19	normal	normal	ADJ
ajst-15053	36	20	pressure	pressure	NOUN
ajst-15053	36	21	for	for	ADP
ajst-15053	36	22	traction	traction	NOUN
ajst-15053	36	23	until	until	SCONJ
ajst-15053	36	24	the	the	DET
ajst-15053	36	25	hydraulic	hydraulic	ADJ
ajst-15053	36	26	cylinder	cylinder	NOUN
ajst-15053	36	27	piston	piston	PROPN
ajst-15053	36	28	stroke	stroke	NOUN
ajst-15053	36	29	ends	end	VERB
ajst-15053	36	30	.	.	PUNCT
ajst-15053	37	1	(	(	PUNCT
ajst-15053	37	2	2	2	X
ajst-15053	37	3	)	)	PUNCT
ajst-15053	37	4	retraction	retraction	NOUN
ajst-15053	37	5	action	action	NOUN
ajst-15053	37	6	:	:	PUNCT
ajst-15053	37	7	when	when	SCONJ
ajst-15053	37	8	the	the	DET
ajst-15053	37	9	servo	servo	NOUN
ajst-15053	37	10	valve	valve	NOUN
ajst-15053	37	11	receives	receive	VERB
ajst-15053	37	12	the	the	DET
ajst-15053	37	13	control	control	NOUN
ajst-15053	37	14	signal	signal	NOUN
ajst-15053	37	15	,	,	PUNCT
ajst-15053	37	16	the	the	DET
ajst-15053	37	17	solenoid	solenoid	NOUN
ajst-15053	37	18	valve	valve	NOUN
ajst-15053	37	19	switches	switch	NOUN
ajst-15053	37	20	,	,	PUNCT
ajst-15053	37	21	causing	cause	VERB
ajst-15053	37	22	the	the	DET
ajst-15053	37	23	hydraulic	hydraulic	ADJ
ajst-15053	37	24	cylinder	cylinder	NOUN
ajst-15053	37	25	piston	piston	NOUN
ajst-15053	37	26	rod	rod	NOUN
ajst-15053	37	27	to	to	PART
ajst-15053	37	28	move	move	VERB
ajst-15053	37	29	in	in	ADP
ajst-15053	37	30	the	the	DET
ajst-15053	37	31	opposite	opposite	ADJ
ajst-15053	37	32	direction	direction	NOUN
ajst-15053	37	33	,	,	PUNCT
ajst-15053	37	34	driving	drive	VERB
ajst-15053	37	35	the	the	DET
ajst-15053	37	36	slider	slider	NOUN
ajst-15053	37	37	to	to	PART
ajst-15053	37	38	move	move	VERB
ajst-15053	37	39	the	the	DET
ajst-15053	37	40	right	right	ADJ
ajst-15053	37	41	push	push	NOUN
ajst-15053	37	42	rod	rod	NOUN
ajst-15053	37	43	to	to	ADP
ajst-15053	37	44	the	the	DET
ajst-15053	37	45	right	right	NOUN
ajst-15053	37	46	.	.	PUNCT
ajst-15053	38	1	the	the	DET
ajst-15053	38	2	return	return	NOUN
ajst-15053	38	3	spring	spring	NOUN
ajst-15053	38	4	and	and	CCONJ
ajst-15053	38	5	pressure	pressure	NOUN
ajst-15053	38	6	spring	spring	NOUN
ajst-15053	38	7	return	return	NOUN
ajst-15053	38	8	to	to	ADP
ajst-15053	38	9	their	their	PRON
ajst-15053	38	10	initial	initial	ADJ
ajst-15053	38	11	state	state	NOUN
ajst-15053	38	12	,	,	PUNCT
ajst-15053	38	13	and	and	CCONJ
ajst-15053	38	14	the	the	DET
ajst-15053	38	15	hydraulic	hydraulic	ADJ
ajst-15053	38	16	cylinder	cylinder	NOUN
ajst-15053	38	17	piston	piston	NOUN
ajst-15053	38	18	returns	return	NOUN
ajst-15053	38	19	to	to	ADP
ajst-15053	38	20	its	its	PRON
ajst-15053	38	21	initial	initial	ADJ
ajst-15053	38	22	position	position	NOUN
ajst-15053	38	23	.	.	PUNCT
ajst-15053	39	1	figure	figure	NOUN
ajst-15053	39	2	2	2	NUM
ajst-15053	39	3	.	.	X
ajst-15053	40	1	working	work	VERB
ajst-15053	40	2	principle	principle	NOUN
ajst-15053	40	3	of	of	ADP
ajst-15053	40	4	hydraulic	hydraulic	ADJ
ajst-15053	40	5	telescopic	telescopic	ADJ
ajst-15053	40	6	downhole	downhole	NOUN
ajst-15053	40	7	robot	robot	NOUN
ajst-15053	40	8	support	support	NOUN
ajst-15053	40	9	mechanism	mechanism	NOUN
ajst-15053	40	10	the	the	DET
ajst-15053	40	11	support	support	NOUN
ajst-15053	40	12	structure	structure	NOUN
ajst-15053	40	13	proposed	propose	VERB
ajst-15053	40	14	in	in	ADP
ajst-15053	40	15	this	this	DET
ajst-15053	40	16	article	article	NOUN
ajst-15053	40	17	,	,	PUNCT
ajst-15053	40	18	composed	compose	VERB
ajst-15053	40	19	of	of	ADP
ajst-15053	40	20	a	a	DET
ajst-15053	40	21	four	four	NUM
ajst-15053	40	22	-	-	PUNCT
ajst-15053	40	23	link	link	NOUN
ajst-15053	40	24	mechanism	mechanism	NOUN
ajst-15053	40	25	and	and	CCONJ
ajst-15053	40	26	a	a	DET
ajst-15053	40	27	friction	friction	NOUN
ajst-15053	40	28	locking	locking	NOUN
ajst-15053	40	29	block	block	NOUN
ajst-15053	40	30	,	,	PUNCT
ajst-15053	40	31	is	be	AUX
ajst-15053	40	32	able	able	ADJ
ajst-15053	40	33	to	to	PART
ajst-15053	40	34	adapt	adapt	VERB
ajst-15053	40	35	well	well	ADV
ajst-15053	40	36	to	to	ADP
ajst-15053	40	37	different	different	ADJ
ajst-15053	40	38	diameter	diameter	NOUN
ajst-15053	40	39	casings	casing	NOUN
ajst-15053	40	40	.	.	PUNCT
ajst-15053	41	1	the	the	DET
ajst-15053	41	2	slider	slider	NOUN
ajst-15053	41	3	spring	spring	NOUN
ajst-15053	41	4	,	,	PUNCT
ajst-15053	41	5	as	as	ADP
ajst-15053	41	6	a	a	DET
ajst-15053	41	7	transmission	transmission	NOUN
ajst-15053	41	8	mechanism	mechanism	NOUN
ajst-15053	41	9	,	,	PUNCT
ajst-15053	41	10	provides	provide	VERB
ajst-15053	41	11	the	the	DET
ajst-15053	41	12	support	support	NOUN
ajst-15053	41	13	structure	structure	NOUN
ajst-15053	41	14	with	with	ADP
ajst-15053	41	15	elasticity	elasticity	NOUN
ajst-15053	41	16	and	and	CCONJ
ajst-15053	41	17	a	a	DET
ajst-15053	41	18	cushioning	cushion	VERB
ajst-15053	41	19	effect	effect	NOUN
ajst-15053	41	20	,	,	PUNCT
ajst-15053	41	21	allowing	allow	VERB
ajst-15053	41	22	it	it	PRON
ajst-15053	41	23	to	to	PART
ajst-15053	41	24	have	have	VERB
ajst-15053	41	25	a	a	DET
ajst-15053	41	26	certain	certain	ADJ
ajst-15053	41	27	degree	degree	NOUN
ajst-15053	41	28	of	of	ADP
ajst-15053	41	29	flexibility	flexibility	NOUN
ajst-15053	41	30	.	.	PUNCT
ajst-15053	42	1	this	this	PRON
ajst-15053	42	2	helps	help	VERB
ajst-15053	42	3	to	to	PART
ajst-15053	42	4	alleviate	alleviate	VERB
ajst-15053	42	5	vibration	vibration	NOUN
ajst-15053	42	6	and	and	CCONJ
ajst-15053	42	7	impact	impact	NOUN
ajst-15053	42	8	during	during	ADP
ajst-15053	42	9	obstacle	obstacle	NOUN
ajst-15053	42	10	traversal	traversal	NOUN
ajst-15053	42	11	,	,	PUNCT
ajst-15053	42	12	reducing	reduce	VERB
ajst-15053	42	13	the	the	DET
ajst-15053	42	14	impact	impact	NOUN
ajst-15053	42	15	on	on	ADP
ajst-15053	42	16	logging	log	VERB
ajst-15053	42	17	instruments	instrument	NOUN
ajst-15053	42	18	.	.	PUNCT
ajst-15053	43	1	it	it	PRON
ajst-15053	43	2	enables	enable	VERB
ajst-15053	43	3	the	the	DET
ajst-15053	43	4	robot	robot	NOUN
ajst-15053	43	5	to	to	PART
ajst-15053	43	6	passively	passively	ADV
ajst-15053	43	7	adjust	adjust	VERB
ajst-15053	43	8	during	during	ADP
ajst-15053	43	9	the	the	DET
ajst-15053	43	10	obstacle	obstacle	NOUN
ajst-15053	43	11	traversal	traversal	NOUN
ajst-15053	43	12	process	process	NOUN
ajst-15053	43	13	.	.	PUNCT
ajst-15053	44	1	3	3	X
ajst-15053	44	2	.	.	X
ajst-15053	44	3	mechanical	mechanical	ADJ
ajst-15053	44	4	modeling	modeling	NOUN
ajst-15053	44	5	of	of	ADP
ajst-15053	44	6	support	support	NOUN
ajst-15053	44	7	mechanism	mechanism	NOUN
ajst-15053	44	8	3.1	3.1	NUM
ajst-15053	44	9	.	.	PUNCT
ajst-15053	45	1	mechanical	mechanical	ADJ
ajst-15053	45	2	model	model	NOUN
ajst-15053	45	3	of	of	ADP
ajst-15053	45	4	friction	friction	NOUN
ajst-15053	45	5	block	block	NOUN
ajst-15053	45	6	support	support	NOUN
ajst-15053	45	7	mechanism	mechanism	NOUN
ajst-15053	45	8	according	accord	VERB
ajst-15053	45	9	to	to	ADP
ajst-15053	45	10	the	the	DET
ajst-15053	45	11	working	working	ADJ
ajst-15053	45	12	principle	principle	NOUN
ajst-15053	45	13	of	of	ADP
ajst-15053	45	14	the	the	DET
ajst-15053	45	15	support	support	NOUN
ajst-15053	45	16	structure	structure	NOUN
ajst-15053	45	17	,	,	PUNCT
ajst-15053	45	18	the	the	DET
ajst-15053	45	19	model	model	NOUN
ajst-15053	45	20	is	be	AUX
ajst-15053	45	21	simplified	simplify	VERB
ajst-15053	45	22	to	to	PART
ajst-15053	45	23	reduce	reduce	VERB
ajst-15053	45	24	its	its	PRON
ajst-15053	45	25	complexity	complexity	NOUN
ajst-15053	45	26	,	,	PUNCT
ajst-15053	45	27	and	and	CCONJ
ajst-15053	45	28	a	a	DET
ajst-15053	45	29	mechanics	mechanic	NOUN
ajst-15053	45	30	analysis	analysis	NOUN
ajst-15053	45	31	is	be	AUX
ajst-15053	45	32	established	establish	VERB
ajst-15053	45	33	as	as	SCONJ
ajst-15053	45	34	shown	show	VERB
ajst-15053	45	35	in	in	ADP
ajst-15053	45	36	fig	fig	NOUN
ajst-15053	45	37	.	.	PUNCT
ajst-15053	46	1	3	3	X
ajst-15053	46	2	.	.	X
ajst-15053	46	3	a	a	DET
ajst-15053	46	4	coordinate	coordinate	NOUN
ajst-15053	46	5	system	system	NOUN
ajst-15053	46	6	,	,	PUNCT
ajst-15053	46	7	xoy	xoy	PROPN
ajst-15053	46	8	,	,	PUNCT
ajst-15053	46	9	is	be	AUX
ajst-15053	46	10	established	establish	VERB
ajst-15053	46	11	with	with	ADP
ajst-15053	46	12	the	the	DET
ajst-15053	46	13	fixed	fix	VERB
ajst-15053	46	14	hinge	hinge	NOUN
ajst-15053	46	15	of	of	ADP
ajst-15053	46	16	the	the	DET
ajst-15053	46	17	left	left	ADJ
ajst-15053	46	18	push	push	NOUN
ajst-15053	46	19	rod	rod	NOUN
ajst-15053	46	20	as	as	ADP
ajst-15053	46	21	the	the	DET
ajst-15053	46	22	origin	origin	NOUN
ajst-15053	46	23	,	,	PUNCT
ajst-15053	46	24	and	and	CCONJ
ajst-15053	46	25	the	the	DET
ajst-15053	46	26	principle	principle	NOUN
ajst-15053	46	27	of	of	ADP
ajst-15053	46	28	virtual	virtual	ADJ
ajst-15053	46	29	work	work	NOUN
ajst-15053	46	30	is	be	AUX
ajst-15053	46	31	applied	apply	VERB
ajst-15053	46	32	for	for	ADP
ajst-15053	46	33	the	the	DET
ajst-15053	46	34	mechanics	mechanic	NOUN
ajst-15053	46	35	analysis	analysis	NOUN
ajst-15053	46	36	.	.	PUNCT
ajst-15053	47	1	figure	figure	NOUN
ajst-15053	47	2	3	3	NUM
ajst-15053	47	3	.	.	PUNCT
ajst-15053	48	1	mechanical	mechanical	ADJ
ajst-15053	48	2	analysis	analysis	NOUN
ajst-15053	48	3	of	of	ADP
ajst-15053	48	4	friction	friction	NOUN
ajst-15053	48	5	block	block	NOUN
ajst-15053	48	6	support	support	NOUN
ajst-15053	48	7	mechanism	mechanism	NOUN
ajst-15053	48	8	where	where	SCONJ
ajst-15053	48	9	𝐿	𝐿	PROPN
ajst-15053	48	10	is	be	AUX
ajst-15053	48	11	the	the	DET
ajst-15053	48	12	length	length	NOUN
ajst-15053	48	13	of	of	ADP
ajst-15053	48	14	the	the	DET
ajst-15053	48	15	left	left	ADJ
ajst-15053	48	16	push	push	NOUN
ajst-15053	48	17	rod	rod	NOUN
ajst-15053	48	18	,	,	PUNCT
ajst-15053	48	19	𝐿	𝐿	PROPN
ajst-15053	48	20	is	be	AUX
ajst-15053	48	21	the	the	DET
ajst-15053	48	22	length	length	NOUN
ajst-15053	48	23	of	of	ADP
ajst-15053	48	24	the	the	DET
ajst-15053	48	25	support	support	NOUN
ajst-15053	48	26	rod	rod	NOUN
ajst-15053	48	27	,	,	PUNCT
ajst-15053	48	28	𝐿	𝐿	PROPN
ajst-15053	48	29	is	be	AUX
ajst-15053	48	30	the	the	DET
ajst-15053	48	31	length	length	NOUN
ajst-15053	48	32	of	of	ADP
ajst-15053	48	33	the	the	DET
ajst-15053	48	34	right	right	ADJ
ajst-15053	48	35	push	push	NOUN
ajst-15053	48	36	rod	rod	NOUN
ajst-15053	48	37	,	,	PUNCT
ajst-15053	48	38	𝐿	𝐿	PROPN
ajst-15053	48	39	is	be	AUX
ajst-15053	48	40	the	the	DET
ajst-15053	48	41	length	length	NOUN
ajst-15053	48	42	of	of	ADP
ajst-15053	48	43	the	the	DET
ajst-15053	48	44	parallel	parallel	ADJ
ajst-15053	48	45	rod	rod	NOUN
ajst-15053	48	46	,	,	PUNCT
ajst-15053	48	47	𝛼	𝛼	X
ajst-15053	48	48	is	be	AUX
ajst-15053	48	49	the	the	DET
ajst-15053	48	50	angle	angle	NOUN
ajst-15053	48	51	between	between	ADP
ajst-15053	48	52	the	the	DET
ajst-15053	48	53	left	left	ADJ
ajst-15053	48	54	push	push	NOUN
ajst-15053	48	55	rod	rod	NOUN
ajst-15053	48	56	and	and	CCONJ
ajst-15053	48	57	the	the	DET
ajst-15053	48	58	horizontal	horizontal	ADJ
ajst-15053	48	59	direction	direction	NOUN
ajst-15053	48	60	,	,	PUNCT
ajst-15053	48	61	𝛽	𝛽	NOUN
ajst-15053	48	62	is	be	AUX
ajst-15053	48	63	the	the	DET
ajst-15053	48	64	angle	angle	NOUN
ajst-15053	48	65	between	between	ADP
ajst-15053	48	66	the	the	DET
ajst-15053	48	67	right	right	ADJ
ajst-15053	48	68	push	push	NOUN
ajst-15053	48	69	rod	rod	NOUN
ajst-15053	48	70	and	and	CCONJ
ajst-15053	48	71	the	the	DET
ajst-15053	48	72	horizontal	horizontal	ADJ
ajst-15053	48	73	direction,𝛿	direction,𝛿	PROPN
ajst-15053	48	74	is	be	AUX
ajst-15053	48	75	the	the	DET
ajst-15053	48	76	thickness	thickness	NOUN
ajst-15053	48	77	of	of	ADP
ajst-15053	48	78	the	the	DET
ajst-15053	48	79	locking	locking	NOUN
ajst-15053	48	80	block	block	NOUN
ajst-15053	48	81	,	,	PUNCT
ajst-15053	48	82	d	d	X
ajst-15053	48	83	is	be	AUX
ajst-15053	48	84	the	the	DET
ajst-15053	48	85	inner	inner	ADJ
ajst-15053	48	86	diameter	diameter	NOUN
ajst-15053	48	87	of	of	ADP
ajst-15053	48	88	the	the	DET
ajst-15053	48	89	casing	casing	NOUN
ajst-15053	48	90	,	,	PUNCT
ajst-15053	48	91	d	d	PRON
ajst-15053	48	92	is	be	AUX
ajst-15053	48	93	the	the	DET
ajst-15053	48	94	diameter	diameter	NOUN
ajst-15053	48	95	of	of	ADP
ajst-15053	48	96	the	the	DET
ajst-15053	48	97	support	support	NOUN
ajst-15053	48	98	rod	rod	NOUN
ajst-15053	48	99	,	,	PUNCT
ajst-15053	48	100	h	h	NOUN
ajst-15053	48	101	is	be	AUX
ajst-15053	48	102	the	the	DET
ajst-15053	48	103	offset	offset	NOUN
ajst-15053	48	104	between	between	ADP
ajst-15053	48	105	the	the	DET
ajst-15053	48	106	right	right	ADJ
ajst-15053	48	107	push	push	NOUN
ajst-15053	48	108	rod	rod	NOUN
ajst-15053	48	109	and	and	CCONJ
ajst-15053	48	110	the	the	DET
ajst-15053	48	111	horizontal	horizontal	ADJ
ajst-15053	48	112	direction	direction	NOUN
ajst-15053	48	113	at	at	ADP
ajst-15053	48	114	the	the	DET
ajst-15053	48	115	hinge	hinge	NOUN
ajst-15053	48	116	connecting	connect	VERB
ajst-15053	48	117	the	the	DET
ajst-15053	48	118	slider	slider	NOUN
ajst-15053	48	119	,	,	PUNCT
ajst-15053	48	120	𝑘	𝑘	PROPN
ajst-15053	48	121	is	be	AUX
ajst-15053	48	122	the	the	DET
ajst-15053	48	123	spring	spring	NOUN
ajst-15053	48	124	stiffness	stiffness	NOUN
ajst-15053	48	125	of	of	ADP
ajst-15053	48	126	the	the	DET
ajst-15053	48	127	pressure	pressure	NOUN
ajst-15053	48	128	spring	spring	NOUN
ajst-15053	48	129	,	,	PUNCT
ajst-15053	48	130	𝑘	𝑘	PROPN
ajst-15053	48	131	is	be	AUX
ajst-15053	48	132	the	the	DET
ajst-15053	48	133	spring	spring	NOUN
ajst-15053	48	134	stiffness	stiffness	NOUN
ajst-15053	48	135	of	of	ADP
ajst-15053	48	136	the	the	DET
ajst-15053	48	137	reset	reset	ADJ
ajst-15053	48	138	spring	spring	NOUN
ajst-15053	48	139	,	,	PUNCT
ajst-15053	48	140	n	n	X
ajst-15053	48	141	is	be	AUX
ajst-15053	48	142	the	the	DET
ajst-15053	48	143	contact	contact	NOUN
ajst-15053	48	144	normal	normal	ADJ
ajst-15053	48	145	pressure	pressure	NOUN
ajst-15053	48	146	between	between	ADP
ajst-15053	48	147	the	the	DET
ajst-15053	48	148	support	support	NOUN
ajst-15053	48	149	structure	structure	NOUN
ajst-15053	48	150	and	and	CCONJ
ajst-15053	48	151	the	the	DET
ajst-15053	48	152	casing	casing	NOUN
ajst-15053	48	153	wall	wall	NOUN
ajst-15053	48	154	,	,	PUNCT
ajst-15053	48	155	𝐹	𝐹	PROPN
ajst-15053	48	156	is	be	AUX
ajst-15053	48	157	the	the	DET
ajst-15053	48	158	load	load	NOUN
ajst-15053	48	159	force	force	NOUN
ajst-15053	48	160	of	of	ADP
ajst-15053	48	161	the	the	DET
ajst-15053	48	162	hydraulic	hydraulic	ADJ
ajst-15053	48	163	cylinder	cylinder	NOUN
ajst-15053	48	164	,	,	PUNCT
ajst-15053	48	165	𝐹	𝐹	PROPN
ajst-15053	48	166	is	be	AUX
ajst-15053	48	167	the	the	DET
ajst-15053	48	168	horizontal	horizontal	ADJ
ajst-15053	48	169	pushing	push	VERB
ajst-15053	48	170	force	force	NOUN
ajst-15053	48	171	of	of	ADP
ajst-15053	48	172	the	the	DET
ajst-15053	48	173	right	right	ADJ
ajst-15053	48	174	push	push	NOUN
ajst-15053	48	175	rod	rod	NOUN
ajst-15053	48	176	,	,	PUNCT
ajst-15053	48	177	and	and	CCONJ
ajst-15053	48	178	f	f	PROPN
ajst-15053	48	179	is	be	AUX
ajst-15053	48	180	the	the	DET
ajst-15053	48	181	traction	traction	ADJ
ajst-15053	48	182	force	force	NOUN
ajst-15053	48	183	of	of	ADP
ajst-15053	48	184	the	the	DET
ajst-15053	48	185	support	support	NOUN
ajst-15053	48	186	structure	structure	NOUN
ajst-15053	48	187	.	.	PUNCT
ajst-15053	49	1	the	the	DET
ajst-15053	49	2	geometric	geometric	ADJ
ajst-15053	49	3	relationships	relationship	NOUN
ajst-15053	49	4	established	establish	VERB
ajst-15053	49	5	according	accord	VERB
ajst-15053	49	6	to	to	PART
ajst-15053	49	7	figure	figure	NOUN
ajst-15053	49	8	3	3	NUM
ajst-15053	49	9	are	be	AUX
ajst-15053	49	10	as	as	SCONJ
ajst-15053	49	11	follows	follow	VERB
ajst-15053	49	12	:	:	PUNCT
ajst-15053	49	13	(	(	PUNCT
ajst-15053	49	14	followed	follow	VERB
ajst-15053	49	15	by	by	ADP
ajst-15053	49	16	a	a	DET
ajst-15053	49	17	description	description	NOUN
ajst-15053	49	18	of	of	ADP
ajst-15053	49	19	the	the	DET
ajst-15053	49	20	geometric	geometric	ADJ
ajst-15053	49	21	relationships	relationship	NOUN
ajst-15053	49	22	)	)	PUNCT
ajst-15053	50	1	𝑆	𝑆	PROPN
ajst-15053	50	2	𝐿	𝐿	PROPN
ajst-15053	50	3	cos𝛼	cos𝛼	ADJ
ajst-15053	50	4	𝐿	𝐿	PROPN
ajst-15053	50	5	𝐿	𝐿	PROPN
ajst-15053	50	6	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
ajst-15053	50	7	𝛽	𝛽	PROPN
ajst-15053	50	8	𝑆	𝑆	PROPN
ajst-15053	50	9	𝐿	𝐿	PROPN
ajst-15053	50	10	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
ajst-15053	50	11	𝛼	𝛼	PROPN
ajst-15053	50	12	𝑑	𝑑	PROPN
ajst-15053	50	13	2⁄	2⁄	NUM
ajst-15053	50	14	𝛿	𝛿	DET
ajst-15053	50	15	𝐿	𝐿	PROPN
ajst-15053	50	16	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
ajst-15053	50	17	𝛼	𝛼	PART
ajst-15053	50	18	ℎ	ℎ	ADP
ajst-15053	50	19	𝐿	𝐿	PROPN
ajst-15053	50	20	𝑠𝑖𝑛	𝑠𝑖𝑛	ADJ
ajst-15053	50	21	𝛽	𝛽	PROPN
ajst-15053	50	22	(	(	PUNCT
ajst-15053	50	23	1	1	NUM
ajst-15053	50	24	)	)	PUNCT
ajst-15053	50	25	in	in	ADP
ajst-15053	50	26	the	the	DET
ajst-15053	50	27	formula	formula	NOUN
ajst-15053	50	28	(	(	PUNCT
ajst-15053	50	29	1	1	NUM
ajst-15053	50	30	)	)	PUNCT
ajst-15053	50	31	,	,	PUNCT
ajst-15053	50	32	𝑠𝑖𝑛𝛼	𝑠𝑖𝑛𝛼	NOUN
ajst-15053	50	33	𝑠𝑖𝑛𝛽	𝑠𝑖𝑛𝛽	NOUN
ajst-15053	50	34	(	(	PUNCT
ajst-15053	50	35	2	2	NUM
ajst-15053	50	36	)	)	PUNCT
ajst-15053	50	37	total	total	ADJ
ajst-15053	50	38	differentiation	differentiation	NOUN
ajst-15053	50	39	of	of	ADP
ajst-15053	50	40	the	the	DET
ajst-15053	50	41	equation	equation	NOUN
ajst-15053	50	42	(	(	PUNCT
ajst-15053	50	43	1	1	X
ajst-15053	50	44	)	)	PUNCT
ajst-15053	50	45	is	be	AUX
ajst-15053	50	46	obtained	obtain	VERB
ajst-15053	50	47	:	:	PUNCT
ajst-15053	50	48	𝑑𝑆	𝑑𝑆	ADJ
ajst-15053	50	49	𝐿	𝐿	PROPN
ajst-15053	50	50	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
ajst-15053	50	51	𝛼	𝛼	PART
ajst-15053	50	52	𝑑𝛼	𝑑𝛼	ADP
ajst-15053	50	53	𝐿	𝐿	PROPN
ajst-15053	50	54	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
ajst-15053	50	55	𝛽	𝛽	NOUN
ajst-15053	50	56	𝑑𝛽	𝑑𝛽	PRON
ajst-15053	50	57	𝑑𝑆	𝑑𝑆	PROPN
ajst-15053	50	58	𝐿	𝐿	PROPN
ajst-15053	50	59	cos	cos	ADP
ajst-15053	50	60	𝛼	𝛼	NOUN
ajst-15053	50	61	𝑑𝛼	𝑑𝛼	ADP
ajst-15053	50	62	𝐿	𝐿	NOUN
ajst-15053	50	63	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
ajst-15053	50	64	𝛼	𝛼	NOUN
ajst-15053	50	65	𝑑𝛼	𝑑𝛼	ADP
ajst-15053	50	66	𝐿	𝐿	PROPN
ajst-15053	50	67	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
ajst-15053	50	68	𝛽	𝛽	PROPN
ajst-15053	50	69	𝑑𝛽	𝑑𝛽	INTJ
ajst-15053	50	70	(	(	PUNCT
ajst-15053	50	71	3	3	NUM
ajst-15053	50	72	)	)	PUNCT
ajst-15053	50	73	according	accord	VERB
ajst-15053	50	74	to	to	ADP
ajst-15053	50	75	the	the	DET
ajst-15053	50	76	virtual	virtual	ADJ
ajst-15053	50	77	work	work	NOUN
ajst-15053	50	78	principle	principle	NOUN
ajst-15053	50	79	:	:	PUNCT
ajst-15053	50	80	𝑁𝑑𝑆	𝑁𝑑𝑆	PROPN
ajst-15053	50	81	𝐹	𝐹	PROPN
ajst-15053	50	82	𝑑𝑆	𝑑𝑆	PROPN
ajst-15053	50	83	0	0	NUM
ajst-15053	51	1	(	(	PUNCT
ajst-15053	51	2	4	4	X
ajst-15053	51	3	)	)	PUNCT
ajst-15053	51	4	simultaneous	simultaneous	ADJ
ajst-15053	51	5	(	(	PUNCT
ajst-15053	51	6	1	1	NUM
ajst-15053	51	7	)	)	PUNCT
ajst-15053	51	8	,	,	PUNCT
ajst-15053	51	9	(	(	PUNCT
ajst-15053	51	10	3	3	NUM
ajst-15053	51	11	)	)	PUNCT
ajst-15053	51	12	,	,	PUNCT
ajst-15053	51	13	(	(	PUNCT
ajst-15053	51	14	4	4	X
ajst-15053	51	15	)	)	PUNCT
ajst-15053	51	16	can	can	AUX
ajst-15053	51	17	be	be	AUX
ajst-15053	51	18	obtained	obtain	VERB
ajst-15053	51	19	:	:	PUNCT
ajst-15053	51	20	𝑁	𝑁	PROPN
ajst-15053	51	21	𝐹	𝐹	PROPN
ajst-15053	51	22	𝑡𝑎𝑛𝛼	𝑡𝑎𝑛𝛼	VERB
ajst-15053	51	23	𝑡𝑎𝑛𝛽	𝑡𝑎𝑛𝛽	ADV
ajst-15053	51	24	(	(	PUNCT
ajst-15053	51	25	5	5	NUM
ajst-15053	51	26	)	)	PUNCT
ajst-15053	51	27	in	in	ADP
ajst-15053	51	28	the	the	DET
ajst-15053	51	29	formula	formula	NOUN
ajst-15053	51	30	,	,	PUNCT
ajst-15053	51	31	⎩	⎩	NUM
ajst-15053	51	32	⎪	⎪	NOUN
ajst-15053	51	33	⎨	⎨	PROPN
ajst-15053	51	34	⎪	⎪	NOUN
ajst-15053	51	35	⎧𝑡𝑎𝑛𝛼	⎧𝑡𝑎𝑛𝛼	PUNCT
ajst-15053	51	36	𝑡𝑎𝑛𝛽	𝑡𝑎𝑛𝛽	ADV
ajst-15053	51	37	(	(	PUNCT
ajst-15053	51	38	6	6	NUM
ajst-15053	51	39	)	)	PUNCT
ajst-15053	51	40	the	the	DET
ajst-15053	51	41	thrust	thrust	NOUN
ajst-15053	51	42	of	of	ADP
ajst-15053	51	43	the	the	DET
ajst-15053	51	44	right	right	ADJ
ajst-15053	51	45	push	push	NOUN
ajst-15053	51	46	rod	rod	NOUN
ajst-15053	51	47	of	of	ADP
ajst-15053	51	48	the	the	DET
ajst-15053	51	49	support	support	NOUN
ajst-15053	51	50	mechanism	mechanism	NOUN
ajst-15053	51	51	is	be	AUX
ajst-15053	51	52	:	:	PUNCT
ajst-15053	51	53	123	123	NUM
ajst-15053	51	54	𝐹	𝐹	PROPN
ajst-15053	51	55	(	(	PUNCT
ajst-15053	51	56	7	7	NUM
ajst-15053	51	57	)	)	PUNCT
ajst-15053	51	58	therefore	therefore	ADV
ajst-15053	51	59	,	,	PUNCT
ajst-15053	51	60	the	the	DET
ajst-15053	51	61	tractive	tractive	ADJ
ajst-15053	51	62	force	force	NOUN
ajst-15053	51	63	is	be	AUX
ajst-15053	51	64	:	:	PUNCT
ajst-15053	51	65	𝑓	𝑓	DET
ajst-15053	51	66	𝜇𝐹	𝜇𝐹	PROPN
ajst-15053	51	67	𝑡𝑎𝑛𝛼	𝑡𝑎𝑛𝛼	X
ajst-15053	51	68	𝑡𝑎𝑛𝛽	𝑡𝑎𝑛𝛽	ADV
ajst-15053	51	69	(	(	PUNCT
ajst-15053	51	70	8)	8)	NUM
ajst-15053	51	71	according	accord	VERB
ajst-15053	51	72	to	to	ADP
ajst-15053	51	73	equation	equation	NOUN
ajst-15053	51	74	(	(	PUNCT
ajst-15053	51	75	8)	8)	NUM
ajst-15053	51	76	,	,	PUNCT
ajst-15053	51	77	it	it	PRON
ajst-15053	51	78	can	can	AUX
ajst-15053	51	79	be	be	AUX
ajst-15053	51	80	concluded	conclude	VERB
ajst-15053	51	81	that	that	SCONJ
ajst-15053	51	82	,	,	PUNCT
ajst-15053	51	83	under	under	ADP
ajst-15053	51	84	the	the	DET
ajst-15053	51	85	condition	condition	NOUN
ajst-15053	51	86	of	of	ADP
ajst-15053	51	87	determining	determine	VERB
ajst-15053	51	88	the	the	DET
ajst-15053	51	89	parameters	parameter	NOUN
ajst-15053	51	90	of	of	ADP
ajst-15053	51	91	the	the	DET
ajst-15053	51	92	linkage	linkage	NOUN
ajst-15053	51	93	,	,	PUNCT
ajst-15053	51	94	the	the	DET
ajst-15053	51	95	main	main	ADJ
ajst-15053	51	96	factor	factor	NOUN
ajst-15053	51	97	affecting	affect	VERB
ajst-15053	51	98	the	the	DET
ajst-15053	51	99	traction	traction	NOUN
ajst-15053	51	100	performance	performance	NOUN
ajst-15053	51	101	of	of	ADP
ajst-15053	51	102	the	the	DET
ajst-15053	51	103	underground	underground	ADJ
ajst-15053	51	104	robot	robot	NOUN
ajst-15053	51	105	is	be	AUX
ajst-15053	51	106	the	the	DET
ajst-15053	51	107	coefficient	coefficient	NOUN
ajst-15053	51	108	of	of	ADP
ajst-15053	51	109	friction	friction	NOUN
ajst-15053	51	110	,	,	PUNCT
ajst-15053	51	111	μ	μ	NOUN
ajst-15053	51	112	.	.	PUNCT
ajst-15053	52	1	neglecting	neglect	VERB
ajst-15053	52	2	the	the	DET
ajst-15053	52	3	frictional	frictional	ADJ
ajst-15053	52	4	force	force	NOUN
ajst-15053	52	5	of	of	ADP
ajst-15053	52	6	the	the	DET
ajst-15053	52	7	slider	slider	NOUN
ajst-15053	52	8	,	,	PUNCT
ajst-15053	52	9	the	the	DET
ajst-15053	52	10	load	load	NOUN
ajst-15053	52	11	force	force	NOUN
ajst-15053	52	12	of	of	ADP
ajst-15053	52	13	the	the	DET
ajst-15053	52	14	support	support	NOUN
ajst-15053	52	15	cylinder	cylinder	NOUN
ajst-15053	52	16	is	be	AUX
ajst-15053	52	17	given	give	VERB
ajst-15053	52	18	by	by	ADP
ajst-15053	52	19	:	:	PUNCT
ajst-15053	52	20	𝐹	𝐹	PROPN
ajst-15053	53	1	𝑘	𝑘	INTJ
ajst-15053	53	2	⋅	⋅	PROPN
ajst-15053	53	3	∆𝑥	∆𝑥	PROPN
ajst-15053	53	4	𝐹	𝐹	PROPN
ajst-15053	53	5	𝐹	𝐹	PROPN
ajst-15053	54	1	𝑘	𝑘	PRON
ajst-15053	54	2	⋅	⋅	PROPN
ajst-15053	54	3	𝛥𝑥	𝛥𝑥	PROPN
ajst-15053	54	4	𝐹	𝐹	PROPN
ajst-15053	54	5	(	(	PUNCT
ajst-15053	54	6	9	9	X
ajst-15053	54	7	)	)	PUNCT
ajst-15053	54	8	using	use	VERB
ajst-15053	54	9	formula	formula	NOUN
ajst-15053	54	10	(	(	PUNCT
ajst-15053	54	11	8)	8)	NUM
ajst-15053	54	12	,	,	PUNCT
ajst-15053	54	13	we	we	PRON
ajst-15053	54	14	can	can	AUX
ajst-15053	54	15	obtain	obtain	VERB
ajst-15053	54	16	:	:	PUNCT
ajst-15053	54	17	𝐹	𝐹	PROPN
ajst-15053	54	18	(	(	PUNCT
ajst-15053	54	19	10	10	NUM
ajst-15053	54	20	)	)	PUNCT
ajst-15053	54	21	therefore	therefore	ADV
ajst-15053	54	22	,	,	PUNCT
ajst-15053	54	23	the	the	DET
ajst-15053	54	24	hydraulic	hydraulic	ADJ
ajst-15053	54	25	cylinder	cylinder	NOUN
ajst-15053	54	26	load	load	NOUN
ajst-15053	54	27	is	be	AUX
ajst-15053	54	28	:	:	PUNCT
ajst-15053	54	29	𝐹	𝐹	PROPN
ajst-15053	54	30	𝑘	𝑘	PRON
ajst-15053	54	31	⋅	⋅	PROPN
ajst-15053	54	32	𝛥𝑥	𝛥𝑥	PROPN
ajst-15053	54	33	(	(	PUNCT
ajst-15053	54	34	11	11	NUM
ajst-15053	54	35	)	)	PUNCT
ajst-15053	54	36	from	from	ADP
ajst-15053	54	37	the	the	DET
ajst-15053	54	38	above	above	ADJ
ajst-15053	54	39	equation	equation	NOUN
ajst-15053	54	40	,	,	PUNCT
ajst-15053	54	41	it	it	PRON
ajst-15053	54	42	can	can	AUX
ajst-15053	54	43	be	be	AUX
ajst-15053	54	44	seen	see	VERB
ajst-15053	54	45	that	that	SCONJ
ajst-15053	54	46	the	the	DET
ajst-15053	54	47	locking	locking	NOUN
ajst-15053	54	48	of	of	ADP
ajst-15053	54	49	the	the	DET
ajst-15053	54	50	support	support	NOUN
ajst-15053	54	51	structure	structure	NOUN
ajst-15053	54	52	is	be	AUX
ajst-15053	54	53	related	relate	VERB
ajst-15053	54	54	to	to	ADP
ajst-15053	54	55	the	the	DET
ajst-15053	54	56	length	length	NOUN
ajst-15053	54	57	of	of	ADP
ajst-15053	54	58	the	the	DET
ajst-15053	54	59	support	support	NOUN
ajst-15053	54	60	structure	structure	NOUN
ajst-15053	54	61	push	push	NOUN
ajst-15053	54	62	rod	rod	NOUN
ajst-15053	54	63	,	,	PUNCT
ajst-15053	54	64	the	the	DET
ajst-15053	54	65	thickness	thickness	NOUN
ajst-15053	54	66	of	of	ADP
ajst-15053	54	67	the	the	DET
ajst-15053	54	68	locking	locking	NOUN
ajst-15053	54	69	block	block	NOUN
ajst-15053	54	70	,	,	PUNCT
ajst-15053	54	71	and	and	CCONJ
ajst-15053	54	72	the	the	DET
ajst-15053	54	73	diameter	diameter	NOUN
ajst-15053	54	74	of	of	ADP
ajst-15053	54	75	the	the	DET
ajst-15053	54	76	pipeline	pipeline	NOUN
ajst-15053	54	77	.	.	PUNCT
ajst-15053	55	1	increasing	increase	VERB
ajst-15053	55	2	the	the	DET
ajst-15053	55	3	spring	spring	NOUN
ajst-15053	55	4	force	force	NOUN
ajst-15053	55	5	can	can	AUX
ajst-15053	55	6	increase	increase	VERB
ajst-15053	55	7	the	the	DET
ajst-15053	55	8	load	load	NOUN
ajst-15053	55	9	force	force	NOUN
ajst-15053	55	10	of	of	ADP
ajst-15053	55	11	the	the	DET
ajst-15053	55	12	hydraulic	hydraulic	ADJ
ajst-15053	55	13	cylinder	cylinder	NOUN
ajst-15053	55	14	.	.	PUNCT
ajst-15053	56	1	under	under	ADP
ajst-15053	56	2	the	the	DET
ajst-15053	56	3	same	same	ADJ
ajst-15053	56	4	traction	traction	NOUN
ajst-15053	56	5	conditions	condition	NOUN
ajst-15053	56	6	and	and	CCONJ
ajst-15053	56	7	with	with	ADP
ajst-15053	56	8	a	a	DET
ajst-15053	56	9	constant	constant	ADJ
ajst-15053	56	10	spring	spring	NOUN
ajst-15053	56	11	force	force	NOUN
ajst-15053	56	12	,	,	PUNCT
ajst-15053	56	13	the	the	PRON
ajst-15053	56	14	larger	large	ADJ
ajst-15053	56	15	the	the	DET
ajst-15053	56	16	pipe	pipe	NOUN
ajst-15053	56	17	diameter	diameter	NOUN
ajst-15053	56	18	,	,	PUNCT
ajst-15053	56	19	the	the	PRON
ajst-15053	56	20	smaller	small	ADJ
ajst-15053	56	21	the	the	DET
ajst-15053	56	22	required	require	VERB
ajst-15053	56	23	load	load	NOUN
ajst-15053	56	24	force	force	NOUN
ajst-15053	56	25	of	of	ADP
ajst-15053	56	26	the	the	DET
ajst-15053	56	27	hydraulic	hydraulic	ADJ
ajst-15053	56	28	cylinder	cylinder	NOUN
ajst-15053	56	29	.	.	PUNCT
ajst-15053	57	1	if	if	SCONJ
ajst-15053	57	2	it	it	PRON
ajst-15053	57	3	is	be	AUX
ajst-15053	57	4	necessary	necessary	ADJ
ajst-15053	57	5	to	to	PART
ajst-15053	57	6	maintain	maintain	VERB
ajst-15053	57	7	a	a	DET
ajst-15053	57	8	constant	constant	ADJ
ajst-15053	57	9	load	load	NOUN
ajst-15053	57	10	force	force	NOUN
ajst-15053	57	11	,	,	PUNCT
ajst-15053	57	12	the	the	DET
ajst-15053	57	13	hydraulic	hydraulic	ADJ
ajst-15053	57	14	cylinder	cylinder	NOUN
ajst-15053	57	15	needs	need	VERB
ajst-15053	57	16	to	to	PART
ajst-15053	57	17	adjust	adjust	VERB
ajst-15053	57	18	the	the	DET
ajst-15053	57	19	compression	compression	NOUN
ajst-15053	57	20	amount	amount	NOUN
ajst-15053	57	21	of	of	ADP
ajst-15053	57	22	the	the	DET
ajst-15053	57	23	spring	spring	NOUN
ajst-15053	57	24	to	to	PART
ajst-15053	57	25	increase	increase	VERB
ajst-15053	57	26	the	the	DET
ajst-15053	57	27	spring	spring	NOUN
ajst-15053	57	28	force	force	NOUN
ajst-15053	57	29	.	.	PUNCT
ajst-15053	58	1	4	4	X
ajst-15053	58	2	.	.	X
ajst-15053	58	3	optimal	optimal	ADJ
ajst-15053	58	4	design	design	NOUN
ajst-15053	58	5	of	of	ADP
ajst-15053	58	6	support	support	NOUN
ajst-15053	58	7	mechanism	mechanism	NOUN
ajst-15053	58	8	according	accord	VERB
ajst-15053	58	9	to	to	ADP
ajst-15053	58	10	the	the	DET
ajst-15053	58	11	api	api	NOUN
ajst-15053	58	12	standard	standard	NOUN
ajst-15053	58	13	for	for	ADP
ajst-15053	58	14	oil	oil	NOUN
ajst-15053	58	15	casing	casing	NOUN
ajst-15053	58	16	,	,	PUNCT
ajst-15053	58	17	the	the	DET
ajst-15053	58	18	material	material	NOUN
ajst-15053	58	19	selected	select	VERB
ajst-15053	58	20	for	for	ADP
ajst-15053	58	21	the	the	DET
ajst-15053	58	22	study	study	NOUN
ajst-15053	58	23	is	be	AUX
ajst-15053	58	24	q235	q235	PROPN
ajst-15053	58	25	5"~7	5"~7	NUM
ajst-15053	58	26	"	"	PUNCT
ajst-15053	58	27	casing	casing	NOUN
ajst-15053	58	28	.	.	PUNCT
ajst-15053	59	1	this	this	PRON
ajst-15053	59	2	means	mean	VERB
ajst-15053	59	3	that	that	SCONJ
ajst-15053	59	4	it	it	PRON
ajst-15053	59	5	must	must	AUX
ajst-15053	59	6	satisfy	satisfy	VERB
ajst-15053	59	7	the	the	DET
ajst-15053	59	8	mechanical	mechanical	ADJ
ajst-15053	59	9	requirements	requirement	NOUN
ajst-15053	59	10	of	of	ADP
ajst-15053	59	11	the	the	DET
ajst-15053	59	12	minimum	minimum	ADJ
ajst-15053	59	13	casing	casing	NOUN
ajst-15053	59	14	inner	inner	ADJ
ajst-15053	59	15	diameter	diameter	NOUN
ajst-15053	59	16	for	for	ADP
ajst-15053	59	17	the	the	DET
ajst-15053	59	18	structure	structure	NOUN
ajst-15053	59	19	,	,	PUNCT
ajst-15053	59	20	as	as	ADV
ajst-15053	59	21	well	well	ADV
ajst-15053	59	22	as	as	ADP
ajst-15053	59	23	the	the	DET
ajst-15053	59	24	size	size	NOUN
ajst-15053	59	25	requirements	requirement	NOUN
ajst-15053	59	26	of	of	ADP
ajst-15053	59	27	the	the	DET
ajst-15053	59	28	maximum	maximum	ADJ
ajst-15053	59	29	casing	case	VERB
ajst-15053	59	30	inner	inner	ADJ
ajst-15053	59	31	diameter	diameter	NOUN
ajst-15053	59	32	for	for	ADP
ajst-15053	59	33	the	the	DET
ajst-15053	59	34	structure	structure	NOUN
ajst-15053	59	35	.	.	PUNCT
ajst-15053	60	1	therefore	therefore	ADV
ajst-15053	60	2	,	,	PUNCT
ajst-15053	60	3	the	the	DET
ajst-15053	60	4	support	support	NOUN
ajst-15053	60	5	structure	structure	NOUN
ajst-15053	60	6	designed	design	VERB
ajst-15053	60	7	in	in	ADP
ajst-15053	60	8	this	this	DET
ajst-15053	60	9	study	study	NOUN
ajst-15053	60	10	has	have	VERB
ajst-15053	60	11	an	an	DET
ajst-15053	60	12	adaptive	adaptive	ADJ
ajst-15053	60	13	adjustment	adjustment	NOUN
ajst-15053	60	14	function	function	NOUN
ajst-15053	60	15	for	for	ADP
ajst-15053	60	16	the	the	DET
ajst-15053	60	17	casing	case	VERB
ajst-15053	60	18	inner	inner	ADJ
ajst-15053	60	19	diameter	diameter	NOUN
ajst-15053	60	20	.	.	PUNCT
ajst-15053	61	1	for	for	ADP
ajst-15053	61	2	the	the	DET
ajst-15053	61	3	5"~7	5"~7	NUM
ajst-15053	61	4	"	"	PUNCT
ajst-15053	61	5	casing	case	VERB
ajst-15053	61	6	inner	inner	ADJ
ajst-15053	61	7	diameter	diameter	NOUN
ajst-15053	61	8	,	,	PUNCT
ajst-15053	61	9	the	the	DET
ajst-15053	61	10	maximum	maximum	ADJ
ajst-15053	61	11	traction	traction	PROPN
ajst-15053	61	12	force	force	NOUN
ajst-15053	61	13	f_max	f_max	ADV
ajst-15053	61	14	for	for	ADP
ajst-15053	61	15	the	the	DET
ajst-15053	61	16	telescopic	telescopic	ADJ
ajst-15053	61	17	downhole	downhole	NOUN
ajst-15053	61	18	machine	machine	NOUN
ajst-15053	61	19	is	be	AUX
ajst-15053	61	20	5000n	5000n	NUM
ajst-15053	61	21	.	.	PUNCT
ajst-15053	62	1	the	the	DET
ajst-15053	62	2	friction	friction	NOUN
ajst-15053	62	3	angle	angle	NOUN
ajst-15053	62	4	φ	φ	PROPN
ajst-15053	62	5	between	between	ADP
ajst-15053	62	6	the	the	DET
ajst-15053	62	7	locking	locking	NOUN
ajst-15053	62	8	block	block	NOUN
ajst-15053	62	9	and	and	CCONJ
ajst-15053	62	10	the	the	DET
ajst-15053	62	11	casing	case	VERB
ajst-15053	62	12	wall	wall	NOUN
ajst-15053	62	13	is	be	AUX
ajst-15053	62	14	35	35	NUM
ajst-15053	62	15	°	°	NOUN
ajst-15053	62	16	,	,	PUNCT
ajst-15053	62	17	and	and	CCONJ
ajst-15053	62	18	the	the	DET
ajst-15053	62	19	friction	friction	NOUN
ajst-15053	62	20	coefficient	coefficient	NOUN
ajst-15053	62	21	is	be	AUX
ajst-15053	62	22	μ=0.7	μ=0.7	VERB
ajst-15053	62	23	.	.	PUNCT
ajst-15053	63	1	taking	take	VERB
ajst-15053	63	2	the	the	DET
ajst-15053	63	3	example	example	NOUN
ajst-15053	63	4	of	of	ADP
ajst-15053	63	5	a	a	DET
ajst-15053	63	6	110	110	NUM
ajst-15053	63	7	mm	mm	NOUN
ajst-15053	63	8	pipeline	pipeline	NOUN
ajst-15053	63	9	inner	inner	ADJ
ajst-15053	63	10	diameter	diameter	NOUN
ajst-15053	63	11	,	,	PUNCT
ajst-15053	63	12	the	the	DET
ajst-15053	63	13	maximum	maximum	ADJ
ajst-15053	63	14	positive	positive	ADJ
ajst-15053	63	15	pressure	pressure	NOUN
ajst-15053	63	16	of	of	ADP
ajst-15053	63	17	the	the	DET
ajst-15053	63	18	support	support	NOUN
ajst-15053	63	19	structure	structure	NOUN
ajst-15053	63	20	is	be	AUX
ajst-15053	63	21	approximately	approximately	ADV
ajst-15053	63	22	7143n	7143n	NUM
ajst-15053	63	23	.	.	PUNCT
ajst-15053	64	1	therefore	therefore	ADV
ajst-15053	64	2	,	,	PUNCT
ajst-15053	64	3	the	the	DET
ajst-15053	64	4	positive	positive	ADJ
ajst-15053	64	5	pressure	pressure	NOUN
ajst-15053	64	6	n	n	CCONJ
ajst-15053	64	7	generated	generate	VERB
ajst-15053	64	8	between	between	ADP
ajst-15053	64	9	a	a	DET
ajst-15053	64	10	single	single	ADJ
ajst-15053	64	11	support	support	NOUN
ajst-15053	64	12	foot	foot	NOUN
ajst-15053	64	13	and	and	CCONJ
ajst-15053	64	14	the	the	DET
ajst-15053	64	15	pipeline	pipeline	NOUN
ajst-15053	64	16	should	should	AUX
ajst-15053	64	17	be	be	AUX
ajst-15053	64	18	greater	great	ADJ
ajst-15053	64	19	than	than	ADP
ajst-15053	64	20	3571.5n	3571.5n	NUM
ajst-15053	64	21	(	(	PUNCT
ajst-15053	64	22	assuming	assume	VERB
ajst-15053	64	23	two	two	NUM
ajst-15053	64	24	support	support	NOUN
ajst-15053	64	25	feet	foot	NOUN
ajst-15053	64	26	are	be	AUX
ajst-15053	64	27	symmetrically	symmetrically	ADV
ajst-15053	64	28	distributed	distribute	VERB
ajst-15053	64	29	)	)	PUNCT
ajst-15053	64	30	.	.	PUNCT
ajst-15053	65	1	4.1	4.1	NUM
ajst-15053	65	2	.	.	PUNCT
ajst-15053	66	1	support	support	NOUN
ajst-15053	66	2	structure	structure	NOUN
ajst-15053	66	3	optimization	optimization	NOUN
ajst-15053	66	4	design	design	NOUN
ajst-15053	66	5	to	to	PART
ajst-15053	66	6	use	use	VERB
ajst-15053	66	7	a	a	DET
ajst-15053	66	8	traction	traction	NOUN
ajst-15053	66	9	robot	robot	NOUN
ajst-15053	66	10	to	to	PART
ajst-15053	66	11	perform	perform	VERB
ajst-15053	66	12	horizontal	horizontal	ADJ
ajst-15053	66	13	well	well	ADJ
ajst-15053	66	14	testing	testing	NOUN
ajst-15053	66	15	,	,	PUNCT
ajst-15053	66	16	it	it	PRON
ajst-15053	66	17	is	be	AUX
ajst-15053	66	18	necessary	necessary	ADJ
ajst-15053	66	19	to	to	PART
ajst-15053	66	20	design	design	VERB
ajst-15053	66	21	a	a	DET
ajst-15053	66	22	structure	structure	NOUN
ajst-15053	66	23	with	with	ADP
ajst-15053	66	24	outer	outer	ADJ
ajst-15053	66	25	diameter	diameter	NOUN
ajst-15053	66	26	dimensions	dimension	NOUN
ajst-15053	66	27	and	and	CCONJ
ajst-15053	66	28	traction	traction	NOUN
ajst-15053	66	29	force	force	NOUN
ajst-15053	66	30	that	that	PRON
ajst-15053	66	31	meet	meet	VERB
ajst-15053	66	32	the	the	DET
ajst-15053	66	33	requirements	requirement	NOUN
ajst-15053	66	34	of	of	ADP
ajst-15053	66	35	horizontal	horizontal	ADJ
ajst-15053	66	36	well	well	ADJ
ajst-15053	66	37	testing	testing	NOUN
ajst-15053	66	38	.	.	PUNCT
ajst-15053	67	1	in	in	ADP
ajst-15053	67	2	order	order	NOUN
ajst-15053	67	3	to	to	PART
ajst-15053	67	4	meet	meet	VERB
ajst-15053	67	5	the	the	DET
ajst-15053	67	6	special	special	ADJ
ajst-15053	67	7	pipeline	pipeline	NOUN
ajst-15053	67	8	environment	environment	NOUN
ajst-15053	67	9	requirements	requirement	NOUN
ajst-15053	67	10	for	for	ADP
ajst-15053	67	11	the	the	DET
ajst-15053	67	12	robot	robot	NOUN
ajst-15053	67	13	in	in	ADP
ajst-15053	67	14	horizontal	horizontal	ADJ
ajst-15053	67	15	wells	well	NOUN
ajst-15053	67	16	,	,	PUNCT
ajst-15053	67	17	the	the	DET
ajst-15053	67	18	maximum	maximum	ADJ
ajst-15053	67	19	traction	traction	ADJ
ajst-15053	67	20	force	force	NOUN
ajst-15053	67	21	is	be	AUX
ajst-15053	67	22	achieved	achieve	VERB
ajst-15053	67	23	with	with	ADP
ajst-15053	67	24	the	the	DET
ajst-15053	67	25	shortest	short	ADJ
ajst-15053	67	26	axial	axial	ADJ
ajst-15053	67	27	length	length	NOUN
ajst-15053	67	28	and	and	CCONJ
ajst-15053	67	29	the	the	DET
ajst-15053	67	30	smallest	small	ADJ
ajst-15053	67	31	outer	outer	ADJ
ajst-15053	67	32	diameter	diameter	NOUN
ajst-15053	67	33	size	size	NOUN
ajst-15053	67	34	.	.	PUNCT
ajst-15053	68	1	the	the	DET
ajst-15053	68	2	structure	structure	NOUN
ajst-15053	68	3	of	of	ADP
ajst-15053	68	4	the	the	DET
ajst-15053	68	5	traction	traction	PROPN
ajst-15053	68	6	force	force	NOUN
ajst-15053	68	7	adjustment	adjustment	NOUN
ajst-15053	68	8	mechanism	mechanism	NOUN
ajst-15053	68	9	is	be	AUX
ajst-15053	68	10	complex	complex	ADJ
ajst-15053	68	11	,	,	PUNCT
ajst-15053	68	12	and	and	CCONJ
ajst-15053	68	13	in	in	ADP
ajst-15053	68	14	order	order	NOUN
ajst-15053	68	15	to	to	PART
ajst-15053	68	16	obtain	obtain	VERB
ajst-15053	68	17	the	the	DET
ajst-15053	68	18	best	good	ADJ
ajst-15053	68	19	combination	combination	NOUN
ajst-15053	68	20	of	of	ADP
ajst-15053	68	21	performance	performance	NOUN
ajst-15053	68	22	and	and	CCONJ
ajst-15053	68	23	structural	structural	ADJ
ajst-15053	68	24	parameters	parameter	NOUN
ajst-15053	68	25	,	,	PUNCT
ajst-15053	68	26	the	the	DET
ajst-15053	68	27	key	key	ADJ
ajst-15053	68	28	parameters	parameter	NOUN
ajst-15053	68	29	need	need	VERB
ajst-15053	68	30	to	to	PART
ajst-15053	68	31	be	be	AUX
ajst-15053	68	32	optimized	optimize	VERB
ajst-15053	68	33	.	.	PUNCT
ajst-15053	69	1	optimization	optimization	NOUN
ajst-15053	69	2	design	design	NOUN
ajst-15053	69	3	variables	variable	NOUN
ajst-15053	69	4	for	for	ADP
ajst-15053	69	5	the	the	DET
ajst-15053	69	6	multi	multi	ADJ
ajst-15053	69	7	-	-	ADJ
ajst-15053	69	8	variable	variable	ADJ
ajst-15053	69	9	function	function	NOUN
ajst-15053	69	10	with	with	ADP
ajst-15053	69	11	nonlinear	nonlinear	ADJ
ajst-15053	69	12	constraints	constraint	NOUN
ajst-15053	69	13	:	:	PUNCT
ajst-15053	70	1	[	[	X
ajst-15053	70	2	not	not	PART
ajst-15053	70	3	provided	provide	VERB
ajst-15053	70	4	in	in	ADP
ajst-15053	70	5	the	the	DET
ajst-15053	70	6	original	original	ADJ
ajst-15053	70	7	text	text	NOUN
ajst-15053	70	8	]	]	PUNCT
ajst-15053	70	9	𝑥	𝑥	X
ajst-15053	70	10	𝑥	𝑥	X
ajst-15053	70	11	,	,	PUNCT
ajst-15053	70	12	𝑥	𝑥	X
ajst-15053	70	13	,	,	PUNCT
ajst-15053	70	14	𝑥	𝑥	X
ajst-15053	70	15	,	,	PUNCT
ajst-15053	70	16	𝑥	𝑥	PROPN
ajst-15053	70	17	𝐿	𝐿	PROPN
ajst-15053	70	18	,	,	PUNCT
ajst-15053	70	19	𝐿	𝐿	PROPN
ajst-15053	70	20	,	,	PUNCT
ajst-15053	70	21	𝐿	𝐿	PROPN
ajst-15053	70	22	,	,	PUNCT
ajst-15053	70	23	ℎ	ℎ	PROPN
ajst-15053	70	24	(	(	PUNCT
ajst-15053	70	25	12	12	NUM
ajst-15053	70	26	)	)	PUNCT
ajst-15053	70	27	objective	objective	ADJ
ajst-15053	70	28	function	function	NOUN
ajst-15053	70	29	:	:	PUNCT
ajst-15053	70	30	𝑓	𝑓	PRON
ajst-15053	70	31	𝑥	𝑥	PROPN
ajst-15053	70	32	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
ajst-15053	70	33	𝑓	𝑓	PROPN
ajst-15053	70	34	(	(	PUNCT
ajst-15053	70	35	13	13	NUM
ajst-15053	70	36	)	)	PUNCT
ajst-15053	70	37	constraints	constraint	NOUN
ajst-15053	70	38	:	:	PUNCT
ajst-15053	70	39			NOUN
ajst-15053	70	40			SYM
ajst-15053	70	41	2	2	NUM
ajst-15053	70	42	2	2	NUM
ajst-15053	70	43	2	2	NUM
ajst-15053	70	44	2	2	NUM
ajst-15053	70	45	2	2	NUM
ajst-15053	70	46	2	2	NUM
ajst-15053	70	47	2	2	NUM
ajst-15053	70	48	3	3	NUM
ajst-15053	70	49	1	1	NUM
ajst-15053	70	50	2	2	NUM
ajst-15053	70	51	2	2	NUM
ajst-15053	70	52	2	2	NUM
ajst-15053	70	53	2	2	NUM
ajst-15053	70	54	2	2	NUM
ajst-15053	70	55	2	2	NUM
ajst-15053	70	56	2	2	NUM
ajst-15053	70	57	3	3	NUM
ajst-15053	70	58	1	1	NUM
ajst-15053	70	59	2	2	NUM
ajst-15053	70	60	2	2	NUM
ajst-15053	70	61	2	2	NUM
ajst-15053	70	62	2	2	NUM
ajst-15053	70	63	2	2	NUM
ajst-15053	70	64	2	2	NUM
ajst-15053	70	65	2	2	NUM
ajst-15053	70	66	2	2	NUM
ajst-15053	70	67	3	3	NUM
ajst-15053	70	68	1	1	NUM
ajst-15053	70	69	2	2	NUM
ajst-15053	70	70	1	1	NUM
ajst-15053	70	71	2	2	NUM
ajst-15053	70	72	2	2	NUM
ajst-15053	70	73	2	2	NUM
ajst-15053	70	74	3	3	NUM
ajst-15053	70	75	1	1	NUM
ajst-15053	70	76	2	2	NUM
ajst-15053	70	77	3	3	NUM
ajst-15053	70	78	2	2	NUM
ajst-15053	70	79	2	2	NUM
ajst-15053	70	80	2	2	NUM
ajst-15053	70	81	3	3	NUM
ajst-15053	70	82	(	(	PUNCT
ajst-15053	70	83	)	)	PUNCT
ajst-15053	70	84	(	(	PUNCT
ajst-15053	70	85	)	)	PUNCT
ajst-15053	70	86	2	2	NUM
ajst-15053	70	87	2	2	NUM
ajst-15053	70	88	(	(	PUNCT
ajst-15053	70	89	)	)	PUNCT
ajst-15053	70	90	(	(	PUNCT
ajst-15053	70	91	)	)	PUNCT
ajst-15053	70	92	0	0	NUM
ajst-15053	70	93	2	2	NUM
ajst-15053	70	94	2	2	NUM
ajst-15053	70	95	(	(	PUNCT
ajst-15053	70	96	)	)	PUNCT
ajst-15053	70	97	(	(	PUNCT
ajst-15053	70	98	)	)	PUNCT
ajst-15053	70	99	0	0	NUM
ajst-15053	70	100	2	2	NUM
ajst-15053	70	101	2	2	NUM
ajst-15053	70	102	(	(	PUNCT
ajst-15053	70	103	2	2	NUM
ajst-15053	70	104	0	0	NUM
ajst-15053	70	105	d	d	NOUN
ajst-15053	70	106	d	d	PROPN
ajst-15053	70	107	d	d	X
ajst-15053	71	1	d	d	NOUN
ajst-15053	71	2	h	h	NOUN
ajst-15053	71	3	l	l	NOUN
ajst-15053	71	4	l	l	NOUN
ajst-15053	71	5	l	l	NOUN
ajst-15053	71	6	h	h	NOUN
ajst-15053	72	1	d	d	NOUN
ajst-15053	72	2	d	d	PROPN
ajst-15053	73	1	d	d	X
ajst-15053	73	2	d	d	NOUN
ajst-15053	73	3	h	h	NOUN
ajst-15053	73	4	l	l	NOUN
ajst-15053	73	5	l	l	NOUN
ajst-15053	73	6	l	l	NOUN
ajst-15053	73	7	h	h	NOUN
ajst-15053	74	1	d	d	NOUN
ajst-15053	74	2	d	d	PROPN
ajst-15053	75	1	d	d	X
ajst-15053	75	2	d	d	NOUN
ajst-15053	75	3	h	h	NOUN
ajst-15053	75	4	l	l	NOUN
ajst-15053	75	5	l	l	NOUN
ajst-15053	75	6	l	l	NOUN
ajst-15053	75	7	h	h	NOUN
ajst-15053	76	1	d	d	NOUN
ajst-15053	76	2	d	d	NOUN
ajst-15053	76	3	h	h	NOUN
ajst-15053	76	4	l	l	NOUN
ajst-15053	76	5	l	l	NOUN
ajst-15053	76	6	l	l	X
ajst-15053	76	7	l	l	NOUN
ajst-15053	76	8	l	l	NOUN
ajst-15053	76	9	l	l	NOUN
ajst-15053	76	10	l	l	NOUN
ajst-15053	76	11	l	l	NOUN
ajst-15053	76	12			NUM
ajst-15053	76	13			NUM
ajst-15053	76	14			NUM
ajst-15053	76	15			NUM
ajst-15053	76	16			NUM
ajst-15053	76	17			NUM
ajst-15053	76	18			NOUN
ajst-15053	76	19			ADP
ajst-15053	76	20			PROPN
ajst-15053	76	21			PUNCT
ajst-15053	76	22			PUNCT
ajst-15053	76	23			PROPN
ajst-15053	76	24			PROPN
ajst-15053	76	25			PUNCT
ajst-15053	76	26			PROPN
ajst-15053	76	27			PROPN
ajst-15053	76	28			PROPN
ajst-15053	76	29			X
ajst-15053	77	1			PROPN
ajst-15053	77	2			PROPN
ajst-15053	77	3			PROPN
ajst-15053	77	4			NOUN
ajst-15053	77	5			ADP
ajst-15053	77	6			PROPN
ajst-15053	77	7			PUNCT
ajst-15053	77	8			PUNCT
ajst-15053	77	9			PROPN
ajst-15053	77	10			PROPN
ajst-15053	77	11			PUNCT
ajst-15053	77	12			PROPN
ajst-15053	77	13			PROPN
ajst-15053	77	14			PROPN
ajst-15053	77	15			PUNCT
ajst-15053	77	16			NOUN
ajst-15053	77	17			PROPN
ajst-15053	77	18			PROPN
ajst-15053	77	19			PROPN
ajst-15053	77	20			NOUN
ajst-15053	77	21			ADP
ajst-15053	77	22			PROPN
ajst-15053	77	23			PUNCT
ajst-15053	77	24			PUNCT
ajst-15053	77	25			PROPN
ajst-15053	77	26			PROPN
ajst-15053	77	27			PROPN
ajst-15053	77	28			ADJ
ajst-15053	77	29			PROPN
ajst-15053	77	30			NOUN
ajst-15053	77	31			VERB
ajst-15053	77	32			PROPN
ajst-15053	77	33			PROPN
ajst-15053	77	34			VERB
ajst-15053	77	35			PROPN
ajst-15053	77	36			PROPN
ajst-15053	77	37			PROPN
ajst-15053	77	38			INTJ
ajst-15053	77	39			PRON
ajst-15053	77	40			NOUN
ajst-15053	77	41			NOUN
ajst-15053	77	42			NOUN
ajst-15053	77	43			PROPN
ajst-15053	77	44			PROPN
ajst-15053	77	45			PROPN
ajst-15053	77	46			ADJ
ajst-15053	77	47			NOUN
ajst-15053	77	48			NOUN
ajst-15053	77	49			NOUN
ajst-15053	77	50			PROPN
ajst-15053	77	51			PROPN
ajst-15053	77	52			PROPN
ajst-15053	77	53			PROPN
ajst-15053	77	54			PUNCT
ajst-15053	77	55			PROPN
ajst-15053	77	56			PROPN
ajst-15053	77	57			PROPN
ajst-15053	77	58			PUNCT
ajst-15053	77	59			X
ajst-15053	78	1			PROPN
ajst-15053	78	2			NOUN
ajst-15053	78	3			NOUN
ajst-15053	78	4			PUNCT
ajst-15053	78	5			PUNCT
ajst-15053	78	6			NOUN
ajst-15053	78	7	2	2	NUM
ajst-15053	78	8	2	2	NUM
ajst-15053	78	9	2	2	NUM
ajst-15053	78	10	2	2	NUM
ajst-15053	78	11	1	1	NUM
ajst-15053	78	12	1	1	NUM
ajst-15053	78	13	3	3	NUM
ajst-15053	78	14	2	2	NUM
ajst-15053	78	15	4	4	NUM
ajst-15053	78	16	)	)	PUNCT
ajst-15053	78	17	(	(	PUNCT
ajst-15053	78	18	)	)	PUNCT
ajst-15053	78	19	0	0	NUM
ajst-15053	78	20	2	2	NUM
ajst-15053	78	21	10	10	NUM
ajst-15053	78	22	2	2	NUM
ajst-15053	78	23	d	d	NOUN
ajst-15053	78	24	d	d	NOUN
ajst-15053	78	25	l	l	NOUN
ajst-15053	78	26	h	h	NOUN
ajst-15053	79	1	d	d	NOUN
ajst-15053	79	2	h	h	NOUN
ajst-15053	79	3	l	l	NOUN
ajst-15053	79	4	l	l	NOUN
ajst-15053	79	5	l	l	X
ajst-15053	79	6	l	l	NOUN
ajst-15053	80	1			NUM
ajst-15053	80	2			NUM
ajst-15053	80	3			ADP
ajst-15053	80	4			NUM
ajst-15053	80	5			NUM
ajst-15053	80	6			NUM
ajst-15053	80	7			NUM
ajst-15053	80	8			NUM
ajst-15053	80	9			NUM
ajst-15053	80	10			NUM
ajst-15053	80	11			NUM
ajst-15053	80	12			NUM
ajst-15053	80	13			NUM
ajst-15053	80	14			NUM
ajst-15053	80	15			NUM
ajst-15053	80	16			NUM
ajst-15053	80	17			NOUN
ajst-15053	80	18			ADJ
ajst-15053	80	19			PROPN
ajst-15053	80	20			CCONJ
ajst-15053	80	21			PROPN
ajst-15053	80	22			PROPN
ajst-15053	80	23			PROPN
ajst-15053	80	24			PROPN
ajst-15053	80	25			PROPN
ajst-15053	80	26			X
ajst-15053	80	27			SYM
ajst-15053	80	28			ADJ
ajst-15053	80	29			NOUN
ajst-15053	80	30			NUM
ajst-15053	80	31			NUM
ajst-15053	80	32			PROPN
ajst-15053	80	33			PROPN
ajst-15053	80	34			PROPN
ajst-15053	80	35			PROPN
ajst-15053	80	36			PROPN
ajst-15053	81	1			PROPN
ajst-15053	81	2			NUM
ajst-15053	81	3			PROPN
ajst-15053	81	4			NOUN
ajst-15053	81	5			PROPN
ajst-15053	81	6			PROPN
ajst-15053	81	7			PROPN
ajst-15053	81	8			NOUN
ajst-15053	81	9			PROPN
ajst-15053	81	10			PROPN
ajst-15053	81	11	(	(	PUNCT
ajst-15053	81	12	14	14	NUM
ajst-15053	81	13	)	)	PUNCT
ajst-15053	81	14	in	in	ADP
ajst-15053	81	15	this	this	DET
ajst-15053	81	16	paper	paper	NOUN
ajst-15053	81	17	,	,	PUNCT
ajst-15053	81	18	the	the	DET
ajst-15053	81	19	angle	angle	NOUN
ajst-15053	81	20	𝛼	𝛼	VERB
ajst-15053	81	21	between	between	ADP
ajst-15053	81	22	the	the	DET
ajst-15053	81	23	support	support	NOUN
ajst-15053	81	24	arm	arm	NOUN
ajst-15053	81	25	and	and	CCONJ
ajst-15053	81	26	the	the	DET
ajst-15053	81	27	initial	initial	ADJ
ajst-15053	81	28	position	position	NOUN
ajst-15053	81	29	of	of	ADP
ajst-15053	81	30	the	the	DET
ajst-15053	81	31	horizontal	horizontal	ADJ
ajst-15053	81	32	axis	axis	NOUN
ajst-15053	81	33	is	be	AUX
ajst-15053	81	34	set	set	VERB
ajst-15053	81	35	to	to	ADP
ajst-15053	81	36	15	15	NUM
ajst-15053	81	37	°	°	NOUN
ajst-15053	81	38	.	.	PUNCT
ajst-15053	82	1	"	"	PUNCT
ajst-15053	82	2	through	through	ADP
ajst-15053	82	3	matlab	matlab	PROPN
ajst-15053	82	4	programming	programming	NOUN
ajst-15053	82	5	,	,	PUNCT
ajst-15053	82	6	fmincon	fmincon	NOUN
ajst-15053	82	7	(	(	PUNCT
ajst-15053	82	8	)	)	PUNCT
ajst-15053	82	9	function	function	NOUN
ajst-15053	82	10	toolbox	toolbox	NOUN
ajst-15053	82	11	is	be	AUX
ajst-15053	82	12	used	use	VERB
ajst-15053	82	13	to	to	PART
ajst-15053	82	14	optimize	optimize	VERB
ajst-15053	82	15	the	the	DET
ajst-15053	82	16	solution	solution	NOUN
ajst-15053	82	17	,	,	PUNCT
ajst-15053	82	18	and	and	CCONJ
ajst-15053	82	19	the	the	DET
ajst-15053	82	20	results	result	NOUN
ajst-15053	82	21	are	be	AUX
ajst-15053	82	22	as	as	SCONJ
ajst-15053	82	23	follows	follow	VERB
ajst-15053	82	24	:	:	PUNCT
ajst-15053	82	25	table	table	NOUN
ajst-15053	82	26	1	1	NUM
ajst-15053	82	27	.	.	PUNCT
ajst-15053	82	28	optimized	optimize	VERB
ajst-15053	82	29	parameters	parameter	NOUN
ajst-15053	82	30	of	of	ADP
ajst-15053	82	31	support	support	NOUN
ajst-15053	82	32	mechanism	mechanism	NOUN
ajst-15053	82	33	serial	serial	ADJ
ajst-15053	82	34	number	number	NOUN
ajst-15053	82	35	main	main	ADJ
ajst-15053	82	36	parameter	parameter	NOUN
ajst-15053	82	37	value	value	NOUN
ajst-15053	82	38	1	1	NUM
ajst-15053	82	39	l1	l1	PROPN
ajst-15053	82	40	/	/	SYM
ajst-15053	82	41	mm	mm	PROPN
ajst-15053	82	42	54	54	NUM
ajst-15053	82	43	2	2	NUM
ajst-15053	82	44	l2	l2	NOUN
ajst-15053	82	45	/	/	SYM
ajst-15053	82	46	mm	mm	PROPN
ajst-15053	82	47	85	85	NUM
ajst-15053	82	48	3	3	NUM
ajst-15053	82	49	l3	l3	NOUN
ajst-15053	82	50	/	/	SYM
ajst-15053	82	51	mm	mm	PROPN
ajst-15053	82	52	80	80	NUM
ajst-15053	82	53	4	4	NUM
ajst-15053	82	54	h	h	NOUN
ajst-15053	82	55	/	/	SYM
ajst-15053	82	56	mm	mm	PROPN
ajst-15053	82	57	10	10	NUM
ajst-15053	82	58	5	5	NUM
ajst-15053	82	59	d	d	NOUN
ajst-15053	82	60	/	/	SYM
ajst-15053	82	61	mm	mm	PROPN
ajst-15053	82	62	110	110	NUM
ajst-15053	82	63	-	-	SYM
ajst-15053	82	64	150	150	NUM
ajst-15053	82	65	6	6	NUM
ajst-15053	82	66	d	d	NOUN
ajst-15053	82	67	/	/	SYM
ajst-15053	82	68	mm	mm	PROPN
ajst-15053	82	69	10	10	NUM
ajst-15053	82	70	7	7	NUM
ajst-15053	82	71	𝛿/mm	𝛿/mm	ADP
ajst-15053	82	72	6	6	NUM
ajst-15053	82	73	8	8	NUM
ajst-15053	82	74	k1	k1	NOUN
ajst-15053	82	75	/	/	SYM
ajst-15053	82	76	kn	kn	PROPN
ajst-15053	82	77	/	/	PROPN
ajst-15053	82	78	m	m	PROPN
ajst-15053	82	79	10	10	NUM
ajst-15053	82	80	9	9	NUM
ajst-15053	82	81	k2	k2	PROPN
ajst-15053	82	82	/	/	SYM
ajst-15053	82	83	kn	kn	PROPN
ajst-15053	82	84	/	/	PROPN
ajst-15053	82	85	m	m	PROPN
ajst-15053	82	86	5	5	NUM
ajst-15053	82	87	4.2	4.2	NUM
ajst-15053	82	88	.	.	PUNCT
ajst-15053	83	1	mechanical	mechanical	ADJ
ajst-15053	83	2	analysis	analysis	NOUN
ajst-15053	83	3	of	of	ADP
ajst-15053	83	4	the	the	DET
ajst-15053	83	5	drive	drive	ADJ
ajst-15053	83	6	mechanism	mechanism	NOUN
ajst-15053	83	7	after	after	ADP
ajst-15053	83	8	optimization	optimization	NOUN
ajst-15053	83	9	after	after	SCONJ
ajst-15053	83	10	the	the	DET
ajst-15053	83	11	parameter	parameter	NOUN
ajst-15053	83	12	values	value	NOUN
ajst-15053	83	13	of	of	ADP
ajst-15053	83	14	the	the	DET
ajst-15053	83	15	drive	drive	ADJ
ajst-15053	83	16	mechanism	mechanism	NOUN
ajst-15053	83	17	are	be	AUX
ajst-15053	83	18	determined	determine	VERB
ajst-15053	83	19	,	,	PUNCT
ajst-15053	83	20	k	k	PROPN
ajst-15053	83	21	values	value	NOUN
ajst-15053	83	22	of	of	ADP
ajst-15053	83	23	the	the	DET
ajst-15053	83	24	optimized	optimize	VERB
ajst-15053	83	25	drive	drive	NOUN
ajst-15053	83	26	unit	unit	NOUN
ajst-15053	83	27	under	under	ADP
ajst-15053	83	28	different	different	ADJ
ajst-15053	83	29	pipe	pipe	NOUN
ajst-15053	83	30	diameters	diameter	NOUN
ajst-15053	83	31	are	be	AUX
ajst-15053	83	32	calculated	calculate	VERB
ajst-15053	83	33	,	,	PUNCT
ajst-15053	83	34	and	and	CCONJ
ajst-15053	83	35	cftool	cftool	NOUN
ajst-15053	83	36	toolbox	toolbox	NOUN
ajst-15053	83	37	in	in	ADP
ajst-15053	83	38	matlab	matlab	PROPN
ajst-15053	83	39	is	be	AUX
ajst-15053	83	40	used	use	VERB
ajst-15053	83	41	to	to	PART
ajst-15053	83	42	fit	fit	VERB
ajst-15053	83	43	them	they	PRON
ajst-15053	83	44	.	.	PUNCT
ajst-15053	84	1	the	the	DET
ajst-15053	84	2	fitting	fitting	ADJ
ajst-15053	84	3	results	result	NOUN
ajst-15053	84	4	are	be	AUX
ajst-15053	84	5	shown	show	VERB
ajst-15053	84	6	in	in	ADP
ajst-15053	84	7	fig.4	fig.4	PROPN
ajst-15053	84	8	.	.	PUNCT
ajst-15053	84	9	124	124	NUM
ajst-15053	84	10	figure	figure	NOUN
ajst-15053	84	11	4	4	NUM
ajst-15053	84	12	.	.	PUNCT
ajst-15053	84	13	polynomial	polynomial	ADJ
ajst-15053	84	14	curve	curve	NOUN
ajst-15053	84	15	fitting	fitting	ADJ
ajst-15053	84	16	results	result	NOUN
ajst-15053	84	17	the	the	DET
ajst-15053	84	18	fitting	fitting	ADJ
ajst-15053	84	19	degree	degree	NOUN
ajst-15053	84	20	is	be	AUX
ajst-15053	84	21	99.67	99.67	NUM
ajst-15053	84	22	%	%	NOUN
ajst-15053	84	23	,	,	PUNCT
ajst-15053	84	24	and	and	CCONJ
ajst-15053	84	25	the	the	DET
ajst-15053	84	26	function	function	NOUN
ajst-15053	84	27	expression	expression	NOUN
ajst-15053	84	28	of	of	ADP
ajst-15053	84	29	𝐹	𝐹	PROPN
ajst-15053	84	30	/𝑁	/𝑁	PUNCT
ajst-15053	84	31	and	and	CCONJ
ajst-15053	84	32	pipe	pipe	NOUN
ajst-15053	84	33	diameter	diameter	NOUN
ajst-15053	84	34	is	be	AUX
ajst-15053	84	35	0.0001623𝐷	0.0001623𝐷	NUM
ajst-15053	84	36	0.05599𝐷	0.05599𝐷	NUM
ajst-15053	84	37	5.048	5.048	NUM
ajst-15053	84	38	(	(	PUNCT
ajst-15053	84	39	15	15	NUM
ajst-15053	84	40	)	)	PUNCT
ajst-15053	84	41	the	the	DET
ajst-15053	84	42	relationship	relationship	NOUN
ajst-15053	84	43	between	between	ADP
ajst-15053	84	44	the	the	DET
ajst-15053	84	45	friction	friction	NOUN
ajst-15053	84	46	block	block	NOUN
ajst-15053	84	47	spring	spring	NOUN
ajst-15053	84	48	force	force	NOUN
ajst-15053	84	49	and	and	CCONJ
ajst-15053	84	50	the	the	DET
ajst-15053	84	51	positive	positive	ADJ
ajst-15053	84	52	pressure	pressure	NOUN
ajst-15053	84	53	can	can	AUX
ajst-15053	84	54	be	be	AUX
ajst-15053	84	55	expressed	express	VERB
ajst-15053	84	56	as	as	ADP
ajst-15053	84	57	𝐹	𝐹	PROPN
ajst-15053	84	58	0.0001623𝐷	0.0001623𝐷	X
ajst-15053	84	59	0.05599𝐷	0.05599𝐷	NUM
ajst-15053	84	60	5.048	5.048	NUM
ajst-15053	84	61	∙	∙	VERB
ajst-15053	84	62	𝑁	𝑁	PROPN
ajst-15053	84	63	(	(	PUNCT
ajst-15053	84	64	16	16	NUM
ajst-15053	84	65	)	)	PUNCT
ajst-15053	84	66	4.3	4.3	NUM
ajst-15053	84	67	.	.	PUNCT
ajst-15053	85	1	optimization	optimization	NOUN
ajst-15053	85	2	feasibility	feasibility	NOUN
ajst-15053	85	3	verification	verification	NOUN
ajst-15053	85	4	in	in	ADP
ajst-15053	85	5	order	order	NOUN
ajst-15053	85	6	to	to	PART
ajst-15053	85	7	achieve	achieve	VERB
ajst-15053	85	8	a	a	DET
ajst-15053	85	9	sufficiently	sufficiently	ADV
ajst-15053	85	10	large	large	ADJ
ajst-15053	85	11	traction	traction	NOUN
ajst-15053	85	12	force	force	NOUN
ajst-15053	85	13	,	,	PUNCT
ajst-15053	85	14	it	it	PRON
ajst-15053	85	15	is	be	AUX
ajst-15053	85	16	feasible	feasible	ADJ
ajst-15053	85	17	to	to	PART
ajst-15053	85	18	increase	increase	VERB
ajst-15053	85	19	the	the	DET
ajst-15053	85	20	normal	normal	ADJ
ajst-15053	85	21	pressure	pressure	NOUN
ajst-15053	85	22	between	between	ADP
ajst-15053	85	23	the	the	DET
ajst-15053	85	24	friction	friction	NOUN
ajst-15053	85	25	block	block	NOUN
ajst-15053	85	26	and	and	CCONJ
ajst-15053	85	27	the	the	DET
ajst-15053	85	28	pipe	pipe	NOUN
ajst-15053	85	29	wall	wall	NOUN
ajst-15053	85	30	,	,	PUNCT
ajst-15053	85	31	thereby	thereby	ADV
ajst-15053	85	32	generating	generate	VERB
ajst-15053	85	33	sufficient	sufficient	ADJ
ajst-15053	85	34	friction	friction	NOUN
ajst-15053	85	35	force	force	NOUN
ajst-15053	85	36	between	between	ADP
ajst-15053	85	37	the	the	DET
ajst-15053	85	38	support	support	NOUN
ajst-15053	85	39	structure	structure	NOUN
ajst-15053	85	40	and	and	CCONJ
ajst-15053	85	41	the	the	DET
ajst-15053	85	42	inner	inner	ADJ
ajst-15053	85	43	wall	wall	NOUN
ajst-15053	85	44	of	of	ADP
ajst-15053	85	45	the	the	DET
ajst-15053	85	46	oil	oil	NOUN
ajst-15053	85	47	pipe	pipe	NOUN
ajst-15053	85	48	.	.	PUNCT
ajst-15053	86	1	by	by	ADP
ajst-15053	86	2	combining	combine	VERB
ajst-15053	86	3	multiple	multiple	ADJ
ajst-15053	86	4	sets	set	NOUN
ajst-15053	86	5	of	of	ADP
ajst-15053	86	6	driving	drive	VERB
ajst-15053	86	7	short	short	ADJ
ajst-15053	86	8	sections	section	NOUN
ajst-15053	86	9	in	in	ADP
ajst-15053	86	10	a	a	DET
ajst-15053	86	11	certain	certain	ADJ
ajst-15053	86	12	way	way	NOUN
ajst-15053	86	13	,	,	PUNCT
ajst-15053	86	14	the	the	DET
ajst-15053	86	15	load	load	NOUN
ajst-15053	86	16	can	can	AUX
ajst-15053	86	17	be	be	AUX
ajst-15053	86	18	distributed	distribute	VERB
ajst-15053	86	19	to	to	ADP
ajst-15053	86	20	multiple	multiple	ADJ
ajst-15053	86	21	support	support	NOUN
ajst-15053	86	22	structures	structure	NOUN
ajst-15053	86	23	,	,	PUNCT
ajst-15053	86	24	achieving	achieve	VERB
ajst-15053	86	25	the	the	DET
ajst-15053	86	26	goal	goal	NOUN
ajst-15053	86	27	of	of	ADP
ajst-15053	86	28	making	make	VERB
ajst-15053	86	29	the	the	DET
ajst-15053	86	30	robot	robot	NOUN
ajst-15053	86	31	structure	structure	NOUN
ajst-15053	86	32	more	more	ADV
ajst-15053	86	33	compact	compact	ADJ
ajst-15053	86	34	.	.	PUNCT
ajst-15053	87	1	for	for	ADP
ajst-15053	87	2	downhole	downhole	NOUN
ajst-15053	87	3	robots	robot	NOUN
ajst-15053	87	4	,	,	PUNCT
ajst-15053	87	5	during	during	ADP
ajst-15053	87	6	formal	formal	ADJ
ajst-15053	87	7	downhole	downhole	NOUN
ajst-15053	87	8	operations	operation	NOUN
ajst-15053	87	9	,	,	PUNCT
ajst-15053	87	10	the	the	DET
ajst-15053	87	11	required	require	VERB
ajst-15053	87	12	instrument	instrument	NOUN
ajst-15053	87	13	string	string	NOUN
ajst-15053	87	14	weight	weight	NOUN
ajst-15053	87	15	can	can	AUX
ajst-15053	87	16	be	be	AUX
ajst-15053	87	17	achieved	achieve	VERB
ajst-15053	87	18	by	by	ADP
ajst-15053	87	19	increasing	increase	VERB
ajst-15053	87	20	the	the	DET
ajst-15053	87	21	number	number	NOUN
ajst-15053	87	22	of	of	ADP
ajst-15053	87	23	active	active	ADJ
ajst-15053	87	24	short	short	ADJ
ajst-15053	87	25	sections	section	NOUN
ajst-15053	87	26	.	.	PUNCT
ajst-15053	88	1	5	5	X
ajst-15053	88	2	.	.	X
ajst-15053	88	3	finite	finite	PROPN
ajst-15053	88	4	element	element	NOUN
ajst-15053	88	5	analysis	analysis	NOUN
ajst-15053	88	6	of	of	ADP
ajst-15053	88	7	support	support	NOUN
ajst-15053	88	8	mechanism	mechanism	NOUN
ajst-15053	88	9	friction	friction	NOUN
ajst-15053	88	10	blocks	block	VERB
ajst-15053	88	11	5.1	5.1	NUM
ajst-15053	88	12	.	.	PUNCT
ajst-15053	89	1	ploughing	plough	VERB
ajst-15053	89	2	effect	effect	NOUN
ajst-15053	89	3	the	the	DET
ajst-15053	89	4	traction	traction	ADJ
ajst-15053	89	5	force	force	NOUN
ajst-15053	89	6	of	of	ADP
ajst-15053	89	7	underground	underground	ADJ
ajst-15053	89	8	robots	robot	NOUN
ajst-15053	89	9	mainly	mainly	ADV
ajst-15053	89	10	depends	depend	VERB
ajst-15053	89	11	on	on	ADP
ajst-15053	89	12	the	the	DET
ajst-15053	89	13	coefficient	coefficient	NOUN
ajst-15053	89	14	of	of	ADP
ajst-15053	89	15	friction	friction	NOUN
ajst-15053	89	16	between	between	ADP
ajst-15053	89	17	the	the	DET
ajst-15053	89	18	friction	friction	NOUN
ajst-15053	89	19	blocks	block	NOUN
ajst-15053	89	20	and	and	CCONJ
ajst-15053	89	21	the	the	DET
ajst-15053	89	22	casing	casing	NOUN
ajst-15053	89	23	.	.	PUNCT
ajst-15053	90	1	there	there	PRON
ajst-15053	90	2	are	be	VERB
ajst-15053	90	3	many	many	ADJ
ajst-15053	90	4	factors	factor	NOUN
ajst-15053	90	5	that	that	PRON
ajst-15053	90	6	affect	affect	VERB
ajst-15053	90	7	the	the	DET
ajst-15053	90	8	friction	friction	NOUN
ajst-15053	90	9	coefficient	coefficient	NOUN
ajst-15053	90	10	between	between	ADP
ajst-15053	90	11	the	the	DET
ajst-15053	90	12	friction	friction	NOUN
ajst-15053	90	13	blocks	block	NOUN
ajst-15053	90	14	and	and	CCONJ
ajst-15053	90	15	the	the	DET
ajst-15053	90	16	casing	casing	NOUN
ajst-15053	90	17	.	.	PUNCT
ajst-15053	91	1	in	in	ADP
ajst-15053	91	2	order	order	NOUN
ajst-15053	91	3	to	to	PART
ajst-15053	91	4	increase	increase	VERB
ajst-15053	91	5	the	the	DET
ajst-15053	91	6	contact	contact	NOUN
ajst-15053	91	7	friction	friction	NOUN
ajst-15053	91	8	and	and	CCONJ
ajst-15053	91	9	improve	improve	VERB
ajst-15053	91	10	the	the	DET
ajst-15053	91	11	obstacle	obstacle	NOUN
ajst-15053	91	12	-	-	PUNCT
ajst-15053	91	13	surmounting	surmount	VERB
ajst-15053	91	14	ability	ability	NOUN
ajst-15053	91	15	,	,	PUNCT
ajst-15053	91	16	the	the	DET
ajst-15053	91	17	friction	friction	NOUN
ajst-15053	91	18	blocks	block	NOUN
ajst-15053	91	19	are	be	AUX
ajst-15053	91	20	often	often	ADV
ajst-15053	91	21	designed	design	VERB
ajst-15053	91	22	in	in	ADP
ajst-15053	91	23	a	a	DET
ajst-15053	91	24	gear	gear	NOUN
ajst-15053	91	25	shape	shape	NOUN
ajst-15053	91	26	.	.	PUNCT
ajst-15053	92	1	under	under	ADP
ajst-15053	92	2	a	a	DET
ajst-15053	92	3	large	large	ADJ
ajst-15053	92	4	positive	positive	ADJ
ajst-15053	92	5	pressure	pressure	NOUN
ajst-15053	92	6	,	,	PUNCT
ajst-15053	92	7	the	the	DET
ajst-15053	92	8	gear	gear	NOUN
ajst-15053	92	9	tips	tip	NOUN
ajst-15053	92	10	produce	produce	VERB
ajst-15053	92	11	slight	slight	ADJ
ajst-15053	92	12	plastic	plastic	ADJ
ajst-15053	92	13	deformation	deformation	NOUN
ajst-15053	92	14	on	on	ADP
ajst-15053	92	15	the	the	DET
ajst-15053	92	16	casing	casing	NOUN
ajst-15053	92	17	,	,	PUNCT
ajst-15053	92	18	resulting	result	VERB
ajst-15053	92	19	in	in	ADP
ajst-15053	92	20	very	very	ADV
ajst-15053	92	21	small	small	ADJ
ajst-15053	92	22	grooves	groove	NOUN
ajst-15053	92	23	on	on	ADP
ajst-15053	92	24	the	the	DET
ajst-15053	92	25	pipe	pipe	NOUN
ajst-15053	92	26	arm	arm	NOUN
ajst-15053	92	27	.	.	PUNCT
ajst-15053	93	1	therefore	therefore	ADV
ajst-15053	93	2	,	,	PUNCT
ajst-15053	93	3	traditional	traditional	ADJ
ajst-15053	93	4	methods	method	NOUN
ajst-15053	93	5	are	be	AUX
ajst-15053	93	6	not	not	PART
ajst-15053	93	7	suitable	suitable	ADJ
ajst-15053	93	8	for	for	ADP
ajst-15053	93	9	studying	study	VERB
ajst-15053	93	10	friction	friction	NOUN
ajst-15053	93	11	.	.	PUNCT
ajst-15053	94	1	the	the	DET
ajst-15053	94	2	ploughing	plough	VERB
ajst-15053	94	3	effect	effect	NOUN
ajst-15053	94	4	refers	refer	VERB
ajst-15053	94	5	to	to	ADP
ajst-15053	94	6	the	the	DET
ajst-15053	94	7	process	process	NOUN
ajst-15053	94	8	in	in	ADP
ajst-15053	94	9	which	which	PRON
ajst-15053	94	10	rough	rough	ADJ
ajst-15053	94	11	peaks	peak	NOUN
ajst-15053	94	12	of	of	ADP
ajst-15053	94	13	hard	hard	ADJ
ajst-15053	94	14	metal	metal	NOUN
ajst-15053	94	15	are	be	AUX
ajst-15053	94	16	embedded	embed	VERB
ajst-15053	94	17	into	into	ADP
ajst-15053	94	18	soft	soft	ADJ
ajst-15053	94	19	metal	metal	NOUN
ajst-15053	94	20	,	,	PUNCT
ajst-15053	94	21	causing	cause	VERB
ajst-15053	94	22	the	the	DET
ajst-15053	94	23	soft	soft	ADJ
ajst-15053	94	24	metal	metal	NOUN
ajst-15053	94	25	to	to	PART
ajst-15053	94	26	flow	flow	VERB
ajst-15053	94	27	and	and	CCONJ
ajst-15053	94	28	produce	produce	VERB
ajst-15053	94	29	a	a	DET
ajst-15053	94	30	groove	groove	NOUN
ajst-15053	94	31	.	.	PUNCT
ajst-15053	95	1	the	the	DET
ajst-15053	95	2	research	research	NOUN
ajst-15053	95	3	process	process	NOUN
ajst-15053	95	4	in	in	ADP
ajst-15053	95	5	this	this	DET
ajst-15053	95	6	paper	paper	NOUN
ajst-15053	95	7	uses	use	VERB
ajst-15053	95	8	a	a	DET
ajst-15053	95	9	hexahedral	hexahedral	ADJ
ajst-15053	95	10	tooth	tooth	NOUN
ajst-15053	95	11	shape	shape	NOUN
ajst-15053	95	12	,	,	PUNCT
ajst-15053	95	13	which	which	PRON
ajst-15053	95	14	has	have	VERB
ajst-15053	95	15	better	well	ADJ
ajst-15053	95	16	durability	durability	NOUN
ajst-15053	95	17	and	and	CCONJ
ajst-15053	95	18	stronger	strong	ADJ
ajst-15053	95	19	shear	shear	NOUN
ajst-15053	95	20	resistance	resistance	NOUN
ajst-15053	95	21	compared	compare	VERB
ajst-15053	95	22	to	to	ADP
ajst-15053	95	23	pointed	point	VERB
ajst-15053	95	24	teeth	tooth	NOUN
ajst-15053	95	25	,	,	PUNCT
ajst-15053	95	26	resulting	result	VERB
ajst-15053	95	27	in	in	ADP
ajst-15053	95	28	less	less	ADJ
ajst-15053	95	29	damage	damage	NOUN
ajst-15053	95	30	to	to	ADP
ajst-15053	95	31	the	the	DET
ajst-15053	95	32	casing	casing	NOUN
ajst-15053	95	33	.	.	PUNCT
ajst-15053	96	1	figure	figure	NOUN
ajst-15053	96	2	5	5	NUM
ajst-15053	96	3	.	.	PUNCT
ajst-15053	96	4	schematic	schematic	ADJ
ajst-15053	96	5	diagram	diagram	NOUN
ajst-15053	96	6	of	of	ADP
ajst-15053	96	7	friction	friction	NOUN
ajst-15053	96	8	performance	performance	NOUN
ajst-15053	96	9	analysis	analysis	NOUN
ajst-15053	96	10	of	of	ADP
ajst-15053	96	11	hexahedral	hexahedral	ADJ
ajst-15053	96	12	drive	drive	NOUN
ajst-15053	96	13	wheel	wheel	NOUN
ajst-15053	96	14	the	the	DET
ajst-15053	96	15	horizontal	horizontal	ADJ
ajst-15053	96	16	plane	plane	NOUN
ajst-15053	96	17	projection	projection	NOUN
ajst-15053	96	18	of	of	ADP
ajst-15053	96	19	the	the	DET
ajst-15053	96	20	trapezoidal	trapezoidal	ADJ
ajst-15053	96	21	tooth	tooth	NOUN
ajst-15053	96	22	contact	contact	NOUN
ajst-15053	96	23	surface	surface	NOUN
ajst-15053	96	24	of	of	ADP
ajst-15053	96	25	the	the	DET
ajst-15053	96	26	hexahedron	hexahedron	NOUN
ajst-15053	96	27	is	be	AUX
ajst-15053	96	28	a	a	DET
ajst-15053	96	29	trapezoid	trapezoid	NOUN
ajst-15053	96	30	,	,	PUNCT
ajst-15053	96	31	with	with	ADP
ajst-15053	96	32	the	the	DET
ajst-15053	96	33	length	length	NOUN
ajst-15053	96	34	of	of	ADP
ajst-15053	96	35	the	the	DET
ajst-15053	96	36	lower	low	ADJ
ajst-15053	96	37	side	side	NOUN
ajst-15053	96	38	of	of	ADP
ajst-15053	96	39	the	the	DET
ajst-15053	96	40	trapezoid	trapezoid	NOUN
ajst-15053	96	41	being	be	AUX
ajst-15053	96	42	𝐿	𝐿	PROPN
ajst-15053	96	43	,	,	PUNCT
ajst-15053	96	44	the	the	DET
ajst-15053	96	45	indentation	indentation	NOUN
ajst-15053	96	46	depth	depth	NOUN
ajst-15053	96	47	being	be	AUX
ajst-15053	96	48	h	h	NOUN
ajst-15053	96	49	,	,	PUNCT
ajst-15053	96	50	the	the	DET
ajst-15053	96	51	inclination	inclination	NOUN
ajst-15053	96	52	angle	angle	NOUN
ajst-15053	96	53	of	of	ADP
ajst-15053	96	54	the	the	DET
ajst-15053	96	55	friction	friction	NOUN
ajst-15053	96	56	block	block	NOUN
ajst-15053	96	57	tooth	tooth	NOUN
ajst-15053	96	58	being	be	AUX
ajst-15053	96	59	α	α	NOUN
ajst-15053	96	60	,	,	PUNCT
ajst-15053	96	61	the	the	DET
ajst-15053	96	62	top	top	ADJ
ajst-15053	96	63	angle	angle	NOUN
ajst-15053	96	64	of	of	ADP
ajst-15053	96	65	the	the	DET
ajst-15053	96	66	friction	friction	NOUN
ajst-15053	96	67	block	block	NOUN
ajst-15053	96	68	tooth	tooth	NOUN
ajst-15053	96	69	being	be	AUX
ajst-15053	96	70	β	β	NOUN
ajst-15053	96	71	,	,	PUNCT
ajst-15053	96	72	and	and	CCONJ
ajst-15053	96	73	the	the	DET
ajst-15053	96	74	friction	friction	NOUN
ajst-15053	96	75	force	force	NOUN
ajst-15053	96	76	of	of	ADP
ajst-15053	96	77	the	the	DET
ajst-15053	96	78	ploughing	plough	VERB
ajst-15053	96	79	effect	effect	NOUN
ajst-15053	96	80	being	be	AUX
ajst-15053	96	81	𝐹	𝐹	PROPN
ajst-15053	96	82	,	,	PUNCT
ajst-15053	96	83	then	then	ADV
ajst-15053	96	84	the	the	DET
ajst-15053	96	85	horizontal	horizontal	ADJ
ajst-15053	96	86	plane	plane	NOUN
ajst-15053	96	87	projection	projection	NOUN
ajst-15053	96	88	area	area	NOUN
ajst-15053	96	89	is	be	AUX
ajst-15053	96	90	:	:	PUNCT
ajst-15053	96	91	[	[	X
ajst-15053	96	92	the	the	DET
ajst-15053	96	93	rest	rest	NOUN
ajst-15053	96	94	of	of	ADP
ajst-15053	96	95	the	the	DET
ajst-15053	96	96	text	text	NOUN
ajst-15053	96	97	seems	seem	VERB
ajst-15053	96	98	to	to	PART
ajst-15053	96	99	be	be	AUX
ajst-15053	96	100	a	a	DET
ajst-15053	96	101	mathematical	mathematical	ADJ
ajst-15053	96	102	equation	equation	NOUN
ajst-15053	96	103	,	,	PUNCT
ajst-15053	96	104	which	which	PRON
ajst-15053	96	105	i	i	PRON
ajst-15053	96	106	can	can	AUX
ajst-15053	96	107	not	not	PART
ajst-15053	96	108	translate	translate	VERB
ajst-15053	96	109	accurately	accurately	ADV
ajst-15053	96	110	without	without	ADP
ajst-15053	96	111	the	the	DET
ajst-15053	96	112	specific	specific	ADJ
ajst-15053	96	113	symbols	symbol	NOUN
ajst-15053	96	114	and	and	CCONJ
ajst-15053	96	115	context	context	NOUN
ajst-15053	96	116	.	.	PUNCT
ajst-15053	96	117	]	]	PUNCT
ajst-15053	97	1	𝑆	𝑆	PROPN
ajst-15053	97	2	ℎ	ℎ	PROPN
ajst-15053	97	3	𝑡𝑎𝑛	𝑡𝑎𝑛	NOUN
ajst-15053	97	4	𝛽	𝛽	NOUN
ajst-15053	97	5	90∘	90∘	NOUN
ajst-15053	97	6	𝑙	𝑙	PART
ajst-15053	97	7	ℎ	ℎ	PROPN
ajst-15053	97	8	(	(	PUNCT
ajst-15053	97	9	17	17	NUM
ajst-15053	97	10	)	)	PUNCT
ajst-15053	97	11	the	the	DET
ajst-15053	97	12	contact	contact	NOUN
ajst-15053	97	13	area	area	NOUN
ajst-15053	97	14	is	be	AUX
ajst-15053	97	15	projected	project	VERB
ajst-15053	97	16	as	as	ADP
ajst-15053	97	17	:	:	PUNCT
ajst-15053	97	18	𝑆	𝑆	PROPN
ajst-15053	97	19	𝑙	𝑙	NOUN
ajst-15053	97	20	2ℎ	2ℎ	NUM
ajst-15053	97	21	𝑡𝑎𝑛	𝑡𝑎𝑛	X
ajst-15053	98	1	𝛽	𝛽	ADP
ajst-15053	98	2	90∘	90∘	NOUN
ajst-15053	98	3	ℎ	ℎ	ADP
ajst-15053	98	4	𝑡𝑎𝑛	𝑡𝑎𝑛	NOUN
ajst-15053	98	5	(	(	PUNCT
ajst-15053	98	6	18	18	NUM
ajst-15053	98	7	)	)	PUNCT
ajst-15053	98	8	suppose	suppose	VERB
ajst-15053	98	9	the	the	DET
ajst-15053	98	10	casing	casing	NOUN
ajst-15053	98	11	is	be	AUX
ajst-15053	98	12	an	an	DET
ajst-15053	98	13	isotropic	isotropic	ADJ
ajst-15053	98	14	material	material	NOUN
ajst-15053	98	15	and	and	CCONJ
ajst-15053	98	16	the	the	DET
ajst-15053	98	17	positive	positive	ADJ
ajst-15053	98	18	pressure	pressure	NOUN
ajst-15053	98	19	is	be	AUX
ajst-15053	98	20	:	:	PUNCT
ajst-15053	98	21	𝑁	𝑁	PROPN
ajst-15053	98	22	𝑆	𝑆	PROPN
ajst-15053	98	23	𝜏	𝜏	PROPN
ajst-15053	98	24	(	(	PUNCT
ajst-15053	98	25	19	19	NUM
ajst-15053	98	26	)	)	PUNCT
ajst-15053	98	27	in	in	ADP
ajst-15053	98	28	the	the	DET
ajst-15053	98	29	formula	formula	NOUN
ajst-15053	98	30	:	:	PUNCT
ajst-15053	98	31	𝜏	𝜏	X
ajst-15053	98	32	—	—	PUNCT
ajst-15053	98	33	embedded	embed	VERB
ajst-15053	98	34	shear	shear	NOUN
ajst-15053	98	35	force	force	NOUN
ajst-15053	98	36	,	,	PUNCT
ajst-15053	98	37	pa	pa	PROPN
ajst-15053	98	38	,	,	PUNCT
ajst-15053	98	39	the	the	DET
ajst-15053	98	40	value	value	NOUN
ajst-15053	98	41	is	be	AUX
ajst-15053	98	42	approximately	approximately	ADV
ajst-15053	98	43	equal	equal	ADJ
ajst-15053	98	44	to	to	ADP
ajst-15053	98	45	the	the	DET
ajst-15053	98	46	yield	yield	NOUN
ajst-15053	98	47	limit	limit	NOUN
ajst-15053	98	48	of	of	ADP
ajst-15053	98	49	the	the	DET
ajst-15053	98	50	casing	casing	NOUN
ajst-15053	98	51	material	material	NOUN
ajst-15053	98	52	.	.	PUNCT
ajst-15053	99	1	the	the	DET
ajst-15053	99	2	friction	friction	NOUN
ajst-15053	99	3	required	require	VERB
ajst-15053	99	4	for	for	ADP
ajst-15053	99	5	the	the	DET
ajst-15053	99	6	furrow	furrow	NOUN
ajst-15053	99	7	effect	effect	NOUN
ajst-15053	99	8	is	be	AUX
ajst-15053	99	9	:	:	PUNCT
ajst-15053	99	10	𝐹	𝐹	PROPN
ajst-15053	99	11	𝑆	𝑆	PROPN
ajst-15053	99	12	𝜎	𝜎	PROPN
ajst-15053	99	13	(	(	PUNCT
ajst-15053	99	14	20	20	NUM
ajst-15053	99	15	)	)	PUNCT
ajst-15053	99	16	in	in	ADP
ajst-15053	99	17	the	the	DET
ajst-15053	99	18	formula	formula	NOUN
ajst-15053	99	19	:	:	PUNCT
ajst-15053	99	20	𝐹	𝐹	PROPN
ajst-15053	99	21	—	—	PUNCT
ajst-15053	99	22	furrow	furrow	NOUN
ajst-15053	99	23	effect	effect	NOUN
ajst-15053	99	24	friction	friction	NOUN
ajst-15053	99	25	,	,	PUNCT
ajst-15053	99	26	n	n	CCONJ
ajst-15053	99	27	;	;	PUNCT
ajst-15053	99	28	𝜎	𝜎	X
ajst-15053	99	29	—	—	PUNCT
ajst-15053	99	30	yield	yield	NOUN
ajst-15053	99	31	strength	strength	NOUN
ajst-15053	99	32	of	of	ADP
ajst-15053	99	33	casing	casing	NOUN
ajst-15053	99	34	material	material	NOUN
ajst-15053	99	35	,	,	PUNCT
ajst-15053	99	36	pa	pa	PROPN
ajst-15053	99	37	.	.	PUNCT
ajst-15053	99	38	therefore	therefore	ADV
ajst-15053	99	39	,	,	PUNCT
ajst-15053	99	40	the	the	DET
ajst-15053	99	41	friction	friction	NOUN
ajst-15053	99	42	coefficient	coefficient	NOUN
ajst-15053	99	43	of	of	ADP
ajst-15053	99	44	the	the	DET
ajst-15053	99	45	furrow	furrow	NOUN
ajst-15053	99	46	effect	effect	NOUN
ajst-15053	99	47	is	be	AUX
ajst-15053	99	48	:	:	PUNCT
ajst-15053	99	49	𝜇	𝜇	X
ajst-15053	99	50	(	(	PUNCT
ajst-15053	99	51	21	21	NUM
ajst-15053	99	52	)	)	PUNCT
ajst-15053	99	53	coupling	coupling	NOUN
ajst-15053	99	54	(	(	PUNCT
ajst-15053	99	55	17	17	NUM
ajst-15053	99	56	)	)	PUNCT
ajst-15053	99	57	~	~	PUNCT
ajst-15053	99	58	(	(	PUNCT
ajst-15053	99	59	21	21	NUM
ajst-15053	99	60	)	)	PUNCT
ajst-15053	99	61	can	can	AUX
ajst-15053	99	62	obtain	obtain	VERB
ajst-15053	99	63	friction	friction	NOUN
ajst-15053	99	64	factors	factor	NOUN
ajst-15053	99	65	:	:	PUNCT
ajst-15053	99	66	𝜇	𝜇	SCONJ
ajst-15053	99	67	∘	∘	X
ajst-15053	99	68	∘	∘	X
ajst-15053	99	69	(	(	PUNCT
ajst-15053	99	70	22	22	NUM
ajst-15053	99	71	)	)	PUNCT
ajst-15053	99	72	the	the	DET
ajst-15053	99	73	equation	equation	NOUN
ajst-15053	99	74	shows	show	VERB
ajst-15053	99	75	that	that	SCONJ
ajst-15053	99	76	under	under	ADP
ajst-15053	99	77	the	the	DET
ajst-15053	99	78	ploughing	plough	VERB
ajst-15053	99	79	effect	effect	NOUN
ajst-15053	99	80	,	,	PUNCT
ajst-15053	99	81	the	the	DET
ajst-15053	99	82	friction	friction	NOUN
ajst-15053	99	83	coefficient	coefficient	NOUN
ajst-15053	99	84	between	between	ADP
ajst-15053	99	85	the	the	DET
ajst-15053	99	86	friction	friction	NOUN
ajst-15053	99	87	block	block	NOUN
ajst-15053	99	88	and	and	CCONJ
ajst-15053	99	89	the	the	DET
ajst-15053	99	90	casing	casing	NOUN
ajst-15053	99	91	is	be	AUX
ajst-15053	99	92	related	relate	VERB
ajst-15053	99	93	to	to	ADP
ajst-15053	99	94	the	the	DET
ajst-15053	99	95	top	top	ADJ
ajst-15053	99	96	angle	angle	NOUN
ajst-15053	99	97	and	and	CCONJ
ajst-15053	99	98	inclination	inclination	NOUN
ajst-15053	99	99	angle	angle	NOUN
ajst-15053	99	100	of	of	ADP
ajst-15053	99	101	the	the	DET
ajst-15053	99	102	friction	friction	NOUN
ajst-15053	99	103	block	block	NOUN
ajst-15053	99	104	tooth	tooth	NOUN
ajst-15053	99	105	,	,	PUNCT
ajst-15053	99	106	the	the	DET
ajst-15053	99	107	length	length	NOUN
ajst-15053	99	108	of	of	ADP
ajst-15053	99	109	the	the	DET
ajst-15053	99	110	lower	low	ADJ
ajst-15053	99	111	side	side	NOUN
ajst-15053	99	112	,	,	PUNCT
ajst-15053	99	113	and	and	CCONJ
ajst-15053	99	114	the	the	DET
ajst-15053	99	115	embedding	embed	VERB
ajst-15053	99	116	depth	depth	NOUN
ajst-15053	99	117	.	.	PUNCT
ajst-15053	100	1	125	125	NUM
ajst-15053	100	2	5.2	5.2	NUM
ajst-15053	100	3	.	.	PUNCT
ajst-15053	101	1	finite	finite	PROPN
ajst-15053	101	2	element	element	NOUN
ajst-15053	101	3	analysis	analysis	NOUN
ajst-15053	101	4	(	(	PUNCT
ajst-15053	101	5	1	1	X
ajst-15053	101	6	)	)	PUNCT
ajst-15053	101	7	simulation	simulation	NOUN
ajst-15053	101	8	model	model	NOUN
ajst-15053	101	9	establishment	establishment	NOUN
ajst-15053	101	10	and	and	CCONJ
ajst-15053	101	11	import	import	NOUN
ajst-15053	101	12	based	base	VERB
ajst-15053	101	13	on	on	ADP
ajst-15053	101	14	the	the	DET
ajst-15053	101	15	previous	previous	ADJ
ajst-15053	101	16	section	section	NOUN
ajst-15053	101	17	and	and	CCONJ
ajst-15053	101	18	referring	refer	VERB
ajst-15053	101	19	to	to	ADP
ajst-15053	101	20	the	the	DET
ajst-15053	101	21	simulation	simulation	NOUN
ajst-15053	101	22	conclusions	conclusion	NOUN
ajst-15053	101	23	of	of	ADP
ajst-15053	101	24	other	other	ADJ
ajst-15053	101	25	scholars	scholar	NOUN
ajst-15053	101	26	,	,	PUNCT
ajst-15053	101	27	this	this	DET
ajst-15053	101	28	paper	paper	NOUN
ajst-15053	101	29	establishes	establish	VERB
ajst-15053	101	30	a	a	DET
ajst-15053	101	31	simulation	simulation	NOUN
ajst-15053	101	32	analysis	analysis	NOUN
ajst-15053	101	33	of	of	ADP
ajst-15053	101	34	a	a	DET
ajst-15053	101	35	friction	friction	NOUN
ajst-15053	101	36	block	block	NOUN
ajst-15053	101	37	with	with	ADP
ajst-15053	101	38	𝑙	𝑙	NOUN
ajst-15053	101	39	=	=	SYM
ajst-15053	101	40	4	4	NUM
ajst-15053	101	41	mm	mm	NOUN
ajst-15053	101	42	,	,	PUNCT
ajst-15053	101	43	𝛼	𝛼	X
ajst-15053	101	44	=	=	NOUN
ajst-15053	101	45	60	60	NUM
ajst-15053	101	46	°	°	NOUN
ajst-15053	101	47	,	,	PUNCT
ajst-15053	101	48	𝛽	𝛽	NOUN
ajst-15053	101	49	=	=	PROPN
ajst-15053	101	50	120	120	NUM
ajst-15053	101	51	°	°	NOUN
ajst-15053	101	52	,	,	PUNCT
ajst-15053	101	53	𝑠	𝑠	PROPN
ajst-15053	101	54	=	=	NUM
ajst-15053	101	55	0.02	0.02	NUM
ajst-15053	101	56	mm	mm	NOUN
ajst-15053	101	57	.	.	PUNCT
ajst-15053	102	1	the	the	DET
ajst-15053	102	2	friction	friction	NOUN
ajst-15053	102	3	block	block	NOUN
ajst-15053	102	4	and	and	CCONJ
ajst-15053	102	5	pipeline	pipeline	NOUN
ajst-15053	102	6	models	model	NOUN
ajst-15053	102	7	are	be	AUX
ajst-15053	102	8	created	create	VERB
ajst-15053	102	9	in	in	ADP
ajst-15053	102	10	solidworks	solidwork	NOUN
ajst-15053	102	11	and	and	CCONJ
ajst-15053	102	12	saved	save	VERB
ajst-15053	102	13	in	in	ADP
ajst-15053	102	14	parasolid	parasolid	PROPN
ajst-15053	102	15	(	(	PUNCT
ajst-15053	102	16	*	*	PUNCT
ajst-15053	102	17	.x	.x	NOUN
ajst-15053	102	18	-	-	PUNCT
ajst-15053	102	19	t	t	PROPN
ajst-15053	102	20	)	)	PUNCT
ajst-15053	102	21	format	format	NOUN
ajst-15053	102	22	,	,	PUNCT
ajst-15053	102	23	then	then	ADV
ajst-15053	102	24	imported	import	VERB
ajst-15053	102	25	into	into	ADP
ajst-15053	102	26	the	the	DET
ajst-15053	102	27	workbench	workbench	NOUN
ajst-15053	102	28	finite	finite	PROPN
ajst-15053	102	29	element	element	NOUN
ajst-15053	102	30	software	software	NOUN
ajst-15053	102	31	.	.	PUNCT
ajst-15053	103	1	in	in	ADP
ajst-15053	103	2	figure	figure	NOUN
ajst-15053	103	3	6	6	NUM
ajst-15053	103	4	,	,	PUNCT
ajst-15053	103	5	(	(	PUNCT
ajst-15053	103	6	a	a	X
ajst-15053	103	7	)	)	PUNCT
ajst-15053	103	8	shows	show	VERB
ajst-15053	103	9	the	the	DET
ajst-15053	103	10	overall	overall	ADJ
ajst-15053	103	11	model	model	NOUN
ajst-15053	103	12	of	of	ADP
ajst-15053	103	13	the	the	DET
ajst-15053	103	14	friction	friction	NOUN
ajst-15053	103	15	block	block	NOUN
ajst-15053	103	16	,	,	PUNCT
ajst-15053	103	17	and	and	CCONJ
ajst-15053	103	18	(	(	PUNCT
ajst-15053	103	19	b	b	X
ajst-15053	103	20	)	)	PUNCT
ajst-15053	103	21	shows	show	VERB
ajst-15053	103	22	the	the	DET
ajst-15053	103	23	finite	finite	PROPN
ajst-15053	103	24	element	element	PROPN
ajst-15053	103	25	simulation	simulation	PROPN
ajst-15053	103	26	model	model	PROPN
ajst-15053	103	27	.	.	PUNCT
ajst-15053	104	1	the	the	DET
ajst-15053	104	2	finite	finite	PROPN
ajst-15053	104	3	element	element	PROPN
ajst-15053	104	4	simulation	simulation	PROPN
ajst-15053	104	5	model	model	NOUN
ajst-15053	104	6	simplifies	simplify	VERB
ajst-15053	104	7	the	the	DET
ajst-15053	104	8	friction	friction	NOUN
ajst-15053	104	9	block	block	NOUN
ajst-15053	104	10	to	to	ADP
ajst-15053	104	11	a	a	DET
ajst-15053	104	12	single	single	ADJ
ajst-15053	104	13	tooth	tooth	NOUN
ajst-15053	104	14	,	,	PUNCT
ajst-15053	104	15	allowing	allow	VERB
ajst-15053	104	16	for	for	ADP
ajst-15053	104	17	improved	improved	ADJ
ajst-15053	104	18	simulation	simulation	NOUN
ajst-15053	104	19	accuracy	accuracy	NOUN
ajst-15053	104	20	by	by	ADP
ajst-15053	104	21	increasing	increase	VERB
ajst-15053	104	22	mesh	mesh	NOUN
ajst-15053	104	23	density	density	NOUN
ajst-15053	104	24	while	while	SCONJ
ajst-15053	104	25	reducing	reduce	VERB
ajst-15053	104	26	computational	computational	ADJ
ajst-15053	104	27	simulation	simulation	NOUN
ajst-15053	104	28	time	time	NOUN
ajst-15053	104	29	to	to	PART
ajst-15053	104	30	enhance	enhance	VERB
ajst-15053	104	31	efficiency	efficiency	NOUN
ajst-15053	104	32	.	.	PUNCT
ajst-15053	105	1	(	(	PUNCT
ajst-15053	105	2	a	a	X
ajst-15053	105	3	)	)	PUNCT
ajst-15053	105	4	friction	friction	NOUN
ajst-15053	105	5	block	block	NOUN
ajst-15053	105	6	model	model	NOUN
ajst-15053	105	7	(	(	PUNCT
ajst-15053	105	8	b	b	NOUN
ajst-15053	105	9	)	)	PUNCT
ajst-15053	105	10	finite	finite	PROPN
ajst-15053	105	11	element	element	PROPN
ajst-15053	105	12	simulation	simulation	PROPN
ajst-15053	105	13	model	model	NOUN
ajst-15053	105	14	figure	figure	NOUN
ajst-15053	105	15	6	6	NUM
ajst-15053	105	16	.	.	PUNCT
ajst-15053	105	17	friction	friction	NOUN
ajst-15053	105	18	block	block	NOUN
ajst-15053	105	19	model	model	NOUN
ajst-15053	105	20	and	and	CCONJ
ajst-15053	105	21	simulation	simulation	NOUN
ajst-15053	105	22	modeldefine	modeldefine	PROPN
ajst-15053	105	23	material	material	PROPN
ajst-15053	105	24	propertiesdefine	propertiesdefine	NOUN
ajst-15053	105	25	material	material	NOUN
ajst-15053	105	26	properties	property	NOUN
ajst-15053	105	27	the	the	DET
ajst-15053	105	28	material	material	NOUN
ajst-15053	105	29	properties	property	NOUN
ajst-15053	105	30	are	be	AUX
ajst-15053	105	31	set	set	VERB
ajst-15053	105	32	in	in	ADP
ajst-15053	105	33	the	the	DET
ajst-15053	105	34	static	static	ADJ
ajst-15053	105	35	analysis	analysis	NOUN
ajst-15053	105	36	module	module	NOUN
ajst-15053	105	37	.	.	PUNCT
ajst-15053	106	1	the	the	DET
ajst-15053	106	2	friction	friction	NOUN
ajst-15053	106	3	block	block	NOUN
ajst-15053	106	4	material	material	NOUN
ajst-15053	106	5	is	be	AUX
ajst-15053	106	6	40crmoti	40crmoti	NUM
ajst-15053	106	7	and	and	CCONJ
ajst-15053	106	8	the	the	DET
ajst-15053	106	9	casing	casing	NOUN
ajst-15053	106	10	material	material	NOUN
ajst-15053	106	11	is	be	AUX
ajst-15053	106	12	j55	j55	NOUN
ajst-15053	106	13	(	(	PUNCT
ajst-15053	106	14	q235	q235	NUM
ajst-15053	106	15	)	)	PUNCT
ajst-15053	106	16	.	.	PUNCT
ajst-15053	107	1	the	the	DET
ajst-15053	107	2	corresponding	corresponding	ADJ
ajst-15053	107	3	material	material	NOUN
ajst-15053	107	4	performance	performance	NOUN
ajst-15053	107	5	parameters	parameter	NOUN
ajst-15053	107	6	[	[	X
ajst-15053	107	7	47	47	NUM
ajst-15053	107	8	]	]	PUNCT
ajst-15053	107	9	are	be	AUX
ajst-15053	107	10	shown	show	VERB
ajst-15053	107	11	in	in	ADP
ajst-15053	107	12	tab.2	tab.2	PROPN
ajst-15053	107	13	:	:	PUNCT
ajst-15053	107	14	table	table	NOUN
ajst-15053	107	15	2	2	NUM
ajst-15053	107	16	.	.	PUNCT
ajst-15053	107	17	mechanical	mechanical	ADJ
ajst-15053	107	18	properties	property	NOUN
ajst-15053	107	19	parameters	parameter	NOUN
ajst-15053	107	20	of	of	ADP
ajst-15053	107	21	driving	drive	VERB
ajst-15053	107	22	wheel	wheel	NOUN
ajst-15053	107	23	and	and	CCONJ
ajst-15053	107	24	casing	casing	NOUN
ajst-15053	107	25	materials	material	NOUN
ajst-15053	107	26	name	name	NOUN
ajst-15053	107	27	materials	material	NOUN
ajst-15053	107	28	density	density	NOUN
ajst-15053	107	29	/(kg	/(kg	SYM
ajst-15053	107	30	/	/	SYM
ajst-15053	107	31	m3	m3	PROPN
ajst-15053	107	32	)	)	PUNCT
ajst-15053	107	33	modulus	modulus	NOUN
ajst-15053	107	34	of	of	ADP
ajst-15053	107	35	elasticity	elasticity	NOUN
ajst-15053	107	36	/gpa	/gpa	VERB
ajst-15053	107	37	poisson	poisson	PROPN
ajst-15053	107	38	's	's	PART
ajst-15053	107	39	ratio	ratio	NOUN
ajst-15053	107	40	yield	yield	NOUN
ajst-15053	107	41	strength	strength	NOUN
ajst-15053	107	42	/mpa	/mpa	PUNCT
ajst-15053	107	43	friction	friction	NOUN
ajst-15053	107	44	block	block	NOUN
ajst-15053	107	45	40grmoti	40grmoti	NOUN
ajst-15053	107	46	7850	7850	NUM
ajst-15053	107	47	210	210	NUM
ajst-15053	107	48	0.3	0.3	NUM
ajst-15053	107	49	835	835	NUM
ajst-15053	107	50	cannula	cannula	NOUN
ajst-15053	107	51	j55	j55	NOUN
ajst-15053	107	52	(	(	PUNCT
ajst-15053	107	53	q235	q235	PROPN
ajst-15053	107	54	)	)	PUNCT
ajst-15053	107	55	7800	7800	NUM
ajst-15053	107	56	200	200	NUM
ajst-15053	107	57	0.28	0.28	NUM
ajst-15053	107	58	235	235	NUM
ajst-15053	107	59	(	(	PUNCT
ajst-15053	107	60	2	2	NUM
ajst-15053	107	61	)	)	PUNCT
ajst-15053	107	62	mesh	mesh	NOUN
ajst-15053	107	63	division	division	NOUN
ajst-15053	107	64	and	and	CCONJ
ajst-15053	107	65	boundary	boundary	ADJ
ajst-15053	107	66	condition	condition	NOUN
ajst-15053	107	67	settings	setting	NOUN
ajst-15053	107	68	in	in	ADP
ajst-15053	107	69	workbench	workbench	NOUN
ajst-15053	107	70	,	,	PUNCT
ajst-15053	107	71	a	a	DET
ajst-15053	107	72	hexahedral	hexahedral	ADJ
ajst-15053	107	73	mesh	mesh	NOUN
ajst-15053	107	74	is	be	AUX
ajst-15053	107	75	used	use	VERB
ajst-15053	107	76	with	with	ADP
ajst-15053	107	77	increased	increase	VERB
ajst-15053	107	78	mesh	mesh	NOUN
ajst-15053	107	79	density	density	NOUN
ajst-15053	107	80	on	on	ADP
ajst-15053	107	81	the	the	DET
ajst-15053	107	82	contact	contact	NOUN
ajst-15053	107	83	surface	surface	NOUN
ajst-15053	107	84	of	of	ADP
ajst-15053	107	85	the	the	DET
ajst-15053	107	86	tooth	tooth	NOUN
ajst-15053	107	87	,	,	PUNCT
ajst-15053	107	88	the	the	DET
ajst-15053	107	89	four	four	NUM
ajst-15053	107	90	lateral	lateral	ADJ
ajst-15053	107	91	surfaces	surface	NOUN
ajst-15053	107	92	,	,	PUNCT
ajst-15053	107	93	and	and	CCONJ
ajst-15053	107	94	the	the	DET
ajst-15053	107	95	pipe	pipe	NOUN
ajst-15053	107	96	surface	surface	NOUN
ajst-15053	107	97	to	to	PART
ajst-15053	107	98	improve	improve	VERB
ajst-15053	107	99	accuracy	accuracy	NOUN
ajst-15053	107	100	while	while	SCONJ
ajst-15053	107	101	reducing	reduce	VERB
ajst-15053	107	102	computation	computation	NOUN
ajst-15053	107	103	time	time	NOUN
ajst-15053	107	104	.	.	PUNCT
ajst-15053	108	1	the	the	DET
ajst-15053	108	2	mesh	mesh	NOUN
ajst-15053	108	3	size	size	NOUN
ajst-15053	108	4	is	be	AUX
ajst-15053	108	5	0.5	0.5	NUM
ajst-15053	108	6	mm	mm	NOUN
ajst-15053	108	7	,	,	PUNCT
ajst-15053	108	8	with	with	ADP
ajst-15053	108	9	a	a	DET
ajst-15053	108	10	refinement	refinement	ADJ
ajst-15053	108	11	level	level	NOUN
ajst-15053	108	12	of	of	ADP
ajst-15053	108	13	3	3	NUM
ajst-15053	108	14	.	.	PUNCT
ajst-15053	109	1	the	the	DET
ajst-15053	109	2	friction	friction	NOUN
ajst-15053	109	3	block	block	NOUN
ajst-15053	109	4	tooth	tooth	NOUN
ajst-15053	109	5	is	be	AUX
ajst-15053	109	6	set	set	VERB
ajst-15053	109	7	as	as	ADP
ajst-15053	109	8	the	the	DET
ajst-15053	109	9	contact	contact	NOUN
ajst-15053	109	10	surface	surface	NOUN
ajst-15053	109	11	,	,	PUNCT
ajst-15053	109	12	the	the	DET
ajst-15053	109	13	pipe	pipe	NOUN
ajst-15053	109	14	surface	surface	NOUN
ajst-15053	109	15	as	as	ADP
ajst-15053	109	16	the	the	DET
ajst-15053	109	17	target	target	NOUN
ajst-15053	109	18	surface	surface	NOUN
ajst-15053	109	19	,	,	PUNCT
ajst-15053	109	20	and	and	CCONJ
ajst-15053	109	21	a	a	DET
ajst-15053	109	22	fixed	fix	VERB
ajst-15053	109	23	constraint	constraint	NOUN
ajst-15053	109	24	is	be	AUX
ajst-15053	109	25	applied	apply	VERB
ajst-15053	109	26	to	to	ADP
ajst-15053	109	27	the	the	DET
ajst-15053	109	28	lower	low	ADJ
ajst-15053	109	29	surface	surface	NOUN
ajst-15053	109	30	of	of	ADP
ajst-15053	109	31	the	the	DET
ajst-15053	109	32	casing	casing	NOUN
ajst-15053	109	33	.	.	PUNCT
ajst-15053	110	1	the	the	DET
ajst-15053	110	2	friction	friction	NOUN
ajst-15053	110	3	block	block	NOUN
ajst-15053	110	4	is	be	AUX
ajst-15053	110	5	set	set	VERB
ajst-15053	110	6	to	to	PART
ajst-15053	110	7	move	move	VERB
ajst-15053	110	8	in	in	ADP
ajst-15053	110	9	the	the	DET
ajst-15053	110	10	vertical	vertical	ADJ
ajst-15053	110	11	direction	direction	NOUN
ajst-15053	110	12	and	and	CCONJ
ajst-15053	110	13	is	be	AUX
ajst-15053	110	14	fixed	fix	VERB
ajst-15053	110	15	in	in	ADP
ajst-15053	110	16	other	other	ADJ
ajst-15053	110	17	directions	direction	NOUN
ajst-15053	110	18	.	.	PUNCT
ajst-15053	111	1	a	a	DET
ajst-15053	111	2	vertical	vertical	ADJ
ajst-15053	111	3	downward	downward	ADJ
ajst-15053	111	4	pressure	pressure	NOUN
ajst-15053	111	5	is	be	AUX
ajst-15053	111	6	applied	apply	VERB
ajst-15053	111	7	to	to	ADP
ajst-15053	111	8	the	the	DET
ajst-15053	111	9	friction	friction	NOUN
ajst-15053	111	10	block	block	NOUN
ajst-15053	111	11	at	at	ADP
ajst-15053	111	12	values	value	NOUN
ajst-15053	111	13	of	of	ADP
ajst-15053	111	14	250n	250n	NOUN
ajst-15053	111	15	,	,	PUNCT
ajst-15053	111	16	500n	500n	PROPN
ajst-15053	111	17	,	,	PUNCT
ajst-15053	111	18	750n	750n	NOUN
ajst-15053	111	19	,	,	PUNCT
ajst-15053	111	20	1000n	1000n	NUM
ajst-15053	111	21	,	,	PUNCT
ajst-15053	111	22	1250n	1250n	NUM
ajst-15053	111	23	,	,	PUNCT
ajst-15053	111	24	1500n	1500n	NUM
ajst-15053	111	25	,	,	PUNCT
ajst-15053	111	26	1750n	1750n	NUM
ajst-15053	111	27	,	,	PUNCT
ajst-15053	111	28	2000n	2000n	NUM
ajst-15053	111	29	,	,	PUNCT
ajst-15053	111	30	2250n	2250n	NUM
ajst-15053	111	31	,	,	PUNCT
ajst-15053	111	32	2500n	2500n	NUM
ajst-15053	111	33	,	,	PUNCT
ajst-15053	111	34	2750n	2750n	NUM
ajst-15053	111	35	,	,	PUNCT
ajst-15053	111	36	and	and	CCONJ
ajst-15053	111	37	3000n	3000n	NUM
ajst-15053	111	38	,	,	PUNCT
ajst-15053	111	39	respectively	respectively	ADV
ajst-15053	111	40	,	,	PUNCT
ajst-15053	111	41	to	to	PART
ajst-15053	111	42	calculate	calculate	VERB
ajst-15053	111	43	the	the	DET
ajst-15053	111	44	deformation	deformation	NOUN
ajst-15053	111	45	of	of	ADP
ajst-15053	111	46	the	the	DET
ajst-15053	111	47	pipe	pipe	NOUN
ajst-15053	111	48	under	under	ADP
ajst-15053	111	49	the	the	DET
ajst-15053	111	50	corresponding	corresponding	ADJ
ajst-15053	111	51	pressures	pressure	NOUN
ajst-15053	111	52	.	.	PUNCT
ajst-15053	112	1	(	(	PUNCT
ajst-15053	112	2	3	3	X
ajst-15053	112	3	)	)	PUNCT
ajst-15053	112	4	simulation	simulation	NOUN
ajst-15053	112	5	results	result	NOUN
ajst-15053	112	6	and	and	CCONJ
ajst-15053	112	7	friction	friction	NOUN
ajst-15053	112	8	characteristics	characteristic	NOUN
ajst-15053	112	9	analysis	analysis	NOUN
ajst-15053	112	10	according	accord	VERB
ajst-15053	112	11	to	to	ADP
ajst-15053	112	12	the	the	DET
ajst-15053	112	13	simulation	simulation	NOUN
ajst-15053	112	14	results	result	NOUN
ajst-15053	112	15	,	,	PUNCT
ajst-15053	112	16	the	the	DET
ajst-15053	112	17	cloud	cloud	ADJ
ajst-15053	112	18	image	image	NOUN
ajst-15053	112	19	of	of	ADP
ajst-15053	112	20	pipeline	pipeline	NOUN
ajst-15053	112	21	deformation	deformation	NOUN
ajst-15053	112	22	under	under	ADP
ajst-15053	112	23	corresponding	correspond	VERB
ajst-15053	112	24	positive	positive	ADJ
ajst-15053	112	25	pressure	pressure	NOUN
ajst-15053	112	26	is	be	AUX
ajst-15053	112	27	shown	show	VERB
ajst-15053	112	28	in	in	ADP
ajst-15053	112	29	figure	figure	NOUN
ajst-15053	112	30	7	7	NUM
ajst-15053	112	31	.	.	PUNCT
ajst-15053	113	1	(	(	PUNCT
ajst-15053	113	2	a)250n	a)250n	X
ajst-15053	113	3	(	(	PUNCT
ajst-15053	113	4	b)500n	b)500n	NOUN
ajst-15053	113	5	126	126	NUM
ajst-15053	113	6	(	(	PUNCT
ajst-15053	113	7	c)750n	c)750n	PROPN
ajst-15053	113	8	(	(	PUNCT
ajst-15053	113	9	d)1000n	d)1000n	PROPN
ajst-15053	113	10	(	(	PUNCT
ajst-15053	113	11	e)1250n	e)1250n	PROPN
ajst-15053	113	12	(	(	PUNCT
ajst-15053	113	13	f)1500n	f)1500n	PROPN
ajst-15053	113	14	(	(	PUNCT
ajst-15053	113	15	g)1750n	g)1750n	PROPN
ajst-15053	113	16	(	(	PUNCT
ajst-15053	113	17	h)2000n	h)2000n	PROPN
ajst-15053	113	18	(	(	PUNCT
ajst-15053	113	19	i)2250n	i)2250n	PROPN
ajst-15053	113	20	(	(	PUNCT
ajst-15053	113	21	j)2500n	j)2500n	PROPN
ajst-15053	113	22	(	(	PUNCT
ajst-15053	113	23	k)2750n	k)2750n	PROPN
ajst-15053	113	24	(	(	PUNCT
ajst-15053	113	25	l)3000n	l)3000n	VERB
ajst-15053	113	26	figure	figure	NOUN
ajst-15053	113	27	7	7	NUM
ajst-15053	113	28	.	.	PUNCT
ajst-15053	113	29	cloud	cloud	ADJ
ajst-15053	113	30	image	image	NOUN
ajst-15053	113	31	of	of	ADP
ajst-15053	113	32	pipeline	pipeline	NOUN
ajst-15053	113	33	deformation	deformation	NOUN
ajst-15053	113	34	under	under	ADP
ajst-15053	113	35	positive	positive	ADJ
ajst-15053	113	36	pressure	pressure	NOUN
ajst-15053	113	37	according	accord	VERB
ajst-15053	113	38	to	to	ADP
ajst-15053	113	39	the	the	DET
ajst-15053	113	40	pipe	pipe	NOUN
ajst-15053	113	41	deformation	deformation	NOUN
ajst-15053	113	42	cloud	cloud	NOUN
ajst-15053	113	43	map	map	NOUN
ajst-15053	113	44	and	and	CCONJ
ajst-15053	113	45	equation	equation	NOUN
ajst-15053	113	46	(	(	PUNCT
ajst-15053	113	47	22	22	NUM
ajst-15053	113	48	)	)	PUNCT
ajst-15053	113	49	in	in	ADP
ajst-15053	113	50	figure	figure	NOUN
ajst-15053	113	51	6	6	NUM
ajst-15053	113	52	,	,	PUNCT
ajst-15053	113	53	the	the	DET
ajst-15053	113	54	furrow	furrow	NOUN
ajst-15053	113	55	friction	friction	NOUN
ajst-15053	113	56	coefficient	coefficient	NOUN
ajst-15053	113	57	of	of	ADP
ajst-15053	113	58	the	the	DET
ajst-15053	113	59	friction	friction	NOUN
ajst-15053	113	60	127	127	NUM
ajst-15053	113	61	block	block	NOUN
ajst-15053	113	62	under	under	ADP
ajst-15053	113	63	corresponding	correspond	VERB
ajst-15053	113	64	positive	positive	ADJ
ajst-15053	113	65	pressure	pressure	NOUN
ajst-15053	113	66	can	can	AUX
ajst-15053	113	67	be	be	AUX
ajst-15053	113	68	obtained	obtain	VERB
ajst-15053	113	69	,	,	PUNCT
ajst-15053	113	70	and	and	CCONJ
ajst-15053	113	71	the	the	DET
ajst-15053	113	72	specific	specific	ADJ
ajst-15053	113	73	value	value	NOUN
ajst-15053	113	74	is	be	AUX
ajst-15053	113	75	shown	show	VERB
ajst-15053	113	76	in	in	ADP
ajst-15053	113	77	tab	tab	NOUN
ajst-15053	113	78	.	.	PUNCT
ajst-15053	114	1	3	3	X
ajst-15053	114	2	.	.	NOUN
ajst-15053	114	3	table	table	NOUN
ajst-15053	114	4	3	3	NUM
ajst-15053	114	5	.	.	PUNCT
ajst-15053	114	6	pipeline	pipeline	NOUN
ajst-15053	114	7	deformation	deformation	NOUN
ajst-15053	114	8	and	and	CCONJ
ajst-15053	114	9	corresponding	corresponding	ADJ
ajst-15053	114	10	furrow	furrow	NOUN
ajst-15053	114	11	friction	friction	NOUN
ajst-15053	114	12	coefficient	coefficient	NOUN
ajst-15053	114	13	under	under	ADP
ajst-15053	114	14	positive	positive	ADJ
ajst-15053	114	15	pressure	pressure	NOUN
ajst-15053	114	16	of	of	ADP
ajst-15053	114	17	friction	friction	NOUN
ajst-15053	114	18	block	block	VERB
ajst-15053	114	19	positive	positive	ADJ
ajst-15053	114	20	pressure	pressure	NOUN
ajst-15053	114	21	/n	/n	PUNCT
ajst-15053	114	22	furrow	furrow	NOUN
ajst-15053	114	23	depth	depth	NOUN
ajst-15053	114	24	/mm	/mm	PUNCT
ajst-15053	114	25	friction	friction	NOUN
ajst-15053	114	26	coefficient	coefficient	NOUN
ajst-15053	114	27	of	of	ADP
ajst-15053	114	28	furrow	furrow	NOUN
ajst-15053	114	29	positive	positive	ADJ
ajst-15053	114	30	pressure	pressure	NOUN
ajst-15053	114	31	/n	/n	PUNCT
ajst-15053	114	32	furrow	furrow	NOUN
ajst-15053	114	33	depth	depth	NOUN
ajst-15053	114	34	/mm	/mm	PUNCT
ajst-15053	114	35	friction	friction	NOUN
ajst-15053	114	36	coefficient	coefficient	NOUN
ajst-15053	114	37	of	of	ADP
ajst-15053	114	38	furrow	furrow	NOUN
ajst-15053	114	39	250	250	NUM
ajst-15053	114	40	0.00067373	0.00067373	NUM
ajst-15053	114	41	0.2332	0.2332	NUM
ajst-15053	114	42	1750	1750	NUM
ajst-15053	114	43	0.0044571	0.0044571	NUM
ajst-15053	114	44	0.8780	0.8780	NUM
ajst-15053	114	45	500	500	NUM
ajst-15053	114	46	0.0012735	0.0012735	NUM
ajst-15053	114	47	0.3936	0.3936	NUM
ajst-15053	114	48	2000	2000	NUM
ajst-15053	114	49	0.0050938	0.0050938	NUM
ajst-15053	114	50	0.9335	0.9335	NUM
ajst-15053	114	51	750	750	NUM
ajst-15053	114	52	0.0019102	0.0019102	NUM
ajst-15053	114	53	0.5300	0.5300	NUM
ajst-15053	114	54	2250	2250	NUM
ajst-15053	114	55	0.0057306	0.0057306	NUM
ajst-15053	114	56	0.9858	0.9858	NUM
ajst-15053	114	57	1000	1000	NUM
ajst-15053	114	58	0.0025469	0.0025469	NUM
ajst-15053	114	59	0.6412	0.6412	NUM
ajst-15053	114	60	2500	2500	NUM
ajst-15053	114	61	0.0063673	0.0063673	NUM
ajst-15053	114	62	1.0300	1.0300	NUM
ajst-15053	114	63	1250	1250	NUM
ajst-15053	114	64	0.0031836	0.0031836	NUM
ajst-15053	114	65	0.7335	0.7335	NUM
ajst-15053	114	66	2750	2750	NUM
ajst-15053	114	67	0.0070040	0.0070040	NUM
ajst-15053	114	68	1.0693	1.0693	NUM
ajst-15053	114	69	1500	1500	NUM
ajst-15053	114	70	0.0035023	0.0035023	NUM
ajst-15053	114	71	0.7741	0.7741	NUM
ajst-15053	114	72	3000	3000	NUM
ajst-15053	114	73	0.0076407	0.0076407	NUM
ajst-15053	114	74	1.1043	1.1043	NUM
ajst-15053	115	1	according	accord	VERB
ajst-15053	115	2	to	to	ADP
ajst-15053	115	3	the	the	DET
ajst-15053	115	4	results	result	NOUN
ajst-15053	115	5	in	in	ADP
ajst-15053	115	6	table	table	NOUN
ajst-15053	115	7	3	3	NUM
ajst-15053	115	8	,	,	PUNCT
ajst-15053	115	9	it	it	PRON
ajst-15053	115	10	can	can	AUX
ajst-15053	115	11	be	be	AUX
ajst-15053	115	12	concluded	conclude	VERB
ajst-15053	115	13	that	that	SCONJ
ajst-15053	115	14	when	when	SCONJ
ajst-15053	115	15	the	the	DET
ajst-15053	115	16	friction	friction	NOUN
ajst-15053	115	17	block	block	NOUN
ajst-15053	115	18	is	be	AUX
ajst-15053	115	19	subjected	subject	VERB
ajst-15053	115	20	to	to	ADP
ajst-15053	115	21	pressure	pressure	NOUN
ajst-15053	115	22	in	in	ADP
ajst-15053	115	23	the	the	DET
ajst-15053	115	24	pipeline	pipeline	NOUN
ajst-15053	115	25	,	,	PUNCT
ajst-15053	115	26	the	the	PRON
ajst-15053	115	27	greater	great	ADJ
ajst-15053	115	28	the	the	DET
ajst-15053	115	29	pressure	pressure	NOUN
ajst-15053	115	30	value	value	NOUN
ajst-15053	115	31	,	,	PUNCT
ajst-15053	115	32	the	the	PRON
ajst-15053	115	33	deeper	deep	ADJ
ajst-15053	115	34	the	the	DET
ajst-15053	115	35	furrow	furrow	NOUN
ajst-15053	115	36	depth	depth	NOUN
ajst-15053	115	37	and	and	CCONJ
ajst-15053	115	38	the	the	PRON
ajst-15053	115	39	greater	great	ADJ
ajst-15053	115	40	the	the	DET
ajst-15053	115	41	friction	friction	NOUN
ajst-15053	115	42	coefficient	coefficient	NOUN
ajst-15053	115	43	of	of	ADP
ajst-15053	115	44	the	the	DET
ajst-15053	115	45	furrow	furrow	NOUN
ajst-15053	115	46	.	.	PUNCT
ajst-15053	116	1	the	the	DET
ajst-15053	116	2	relationship	relationship	NOUN
ajst-15053	116	3	between	between	ADP
ajst-15053	116	4	the	the	DET
ajst-15053	116	5	positive	positive	ADJ
ajst-15053	116	6	pressure	pressure	NOUN
ajst-15053	116	7	and	and	CCONJ
ajst-15053	116	8	the	the	DET
ajst-15053	116	9	furrow	furrow	NOUN
ajst-15053	116	10	depth	depth	NOUN
ajst-15053	116	11	-	-	PUNCT
ajst-15053	116	12	furrow	furrow	NOUN
ajst-15053	116	13	friction	friction	NOUN
ajst-15053	116	14	coefficient	coefficient	NOUN
ajst-15053	116	15	is	be	AUX
ajst-15053	116	16	shown	show	VERB
ajst-15053	116	17	in	in	ADP
ajst-15053	116	18	figure	figure	NOUN
ajst-15053	116	19	8	8	NUM
ajst-15053	116	20	.	.	PUNCT
ajst-15053	117	1	figure	figure	NOUN
ajst-15053	117	2	8	8	NUM
ajst-15053	117	3	.	.	PUNCT
ajst-15053	117	4	furrow	furrow	NOUN
ajst-15053	117	5	depth	depth	NOUN
ajst-15053	117	6	and	and	CCONJ
ajst-15053	117	7	furrow	furrow	NOUN
ajst-15053	117	8	friction	friction	NOUN
ajst-15053	117	9	coefficient	coefficient	NOUN
ajst-15053	117	10	generated	generate	VERB
ajst-15053	117	11	by	by	ADP
ajst-15053	117	12	friction	friction	NOUN
ajst-15053	117	13	block	block	NOUN
ajst-15053	117	14	under	under	ADP
ajst-15053	117	15	positive	positive	ADJ
ajst-15053	117	16	pressure	pressure	NOUN
ajst-15053	117	17	based	base	VERB
ajst-15053	117	18	on	on	ADP
ajst-15053	117	19	figure	figure	NOUN
ajst-15053	117	20	8	8	NUM
ajst-15053	117	21	,	,	PUNCT
ajst-15053	117	22	it	it	PRON
ajst-15053	117	23	can	can	AUX
ajst-15053	117	24	be	be	AUX
ajst-15053	117	25	concluded	conclude	VERB
ajst-15053	117	26	that	that	SCONJ
ajst-15053	117	27	the	the	DET
ajst-15053	117	28	depth	depth	NOUN
ajst-15053	117	29	of	of	ADP
ajst-15053	117	30	the	the	DET
ajst-15053	117	31	furrow	furrow	NOUN
ajst-15053	117	32	produced	produce	VERB
ajst-15053	117	33	by	by	ADP
ajst-15053	117	34	the	the	DET
ajst-15053	117	35	friction	friction	NOUN
ajst-15053	117	36	block	block	NOUN
ajst-15053	117	37	under	under	ADP
ajst-15053	117	38	positive	positive	ADJ
ajst-15053	117	39	pressure	pressure	NOUN
ajst-15053	117	40	is	be	AUX
ajst-15053	117	41	proportional	proportional	ADJ
ajst-15053	117	42	to	to	ADP
ajst-15053	117	43	the	the	DET
ajst-15053	117	44	magnitude	magnitude	NOUN
ajst-15053	117	45	of	of	ADP
ajst-15053	117	46	the	the	DET
ajst-15053	117	47	positive	positive	ADJ
ajst-15053	117	48	pressure	pressure	NOUN
ajst-15053	117	49	.	.	PUNCT
ajst-15053	118	1	the	the	PRON
ajst-15053	118	2	greater	great	ADJ
ajst-15053	118	3	the	the	DET
ajst-15053	118	4	positive	positive	ADJ
ajst-15053	118	5	pressure	pressure	NOUN
ajst-15053	118	6	,	,	PUNCT
ajst-15053	118	7	the	the	PRON
ajst-15053	118	8	deeper	deep	ADJ
ajst-15053	118	9	the	the	DET
ajst-15053	118	10	furrow	furrow	NOUN
ajst-15053	118	11	.	.	PUNCT
ajst-15053	119	1	the	the	DET
ajst-15053	119	2	friction	friction	NOUN
ajst-15053	119	3	coefficient	coefficient	NOUN
ajst-15053	119	4	of	of	ADP
ajst-15053	119	5	the	the	DET
ajst-15053	119	6	furrow	furrow	NOUN
ajst-15053	119	7	increases	increase	VERB
ajst-15053	119	8	continuously	continuously	ADV
ajst-15053	119	9	with	with	ADP
ajst-15053	119	10	the	the	DET
ajst-15053	119	11	increase	increase	NOUN
ajst-15053	119	12	of	of	ADP
ajst-15053	119	13	the	the	DET
ajst-15053	119	14	positive	positive	ADJ
ajst-15053	119	15	pressure	pressure	NOUN
ajst-15053	119	16	.	.	PUNCT
ajst-15053	120	1	however	however	ADV
ajst-15053	120	2	,	,	PUNCT
ajst-15053	120	3	as	as	ADP
ajst-15053	120	4	the	the	DET
ajst-15053	120	5	pressure	pressure	NOUN
ajst-15053	120	6	increases	increase	NOUN
ajst-15053	120	7	,	,	PUNCT
ajst-15053	120	8	the	the	DET
ajst-15053	120	9	magnitude	magnitude	NOUN
ajst-15053	120	10	of	of	ADP
ajst-15053	120	11	the	the	DET
ajst-15053	120	12	change	change	NOUN
ajst-15053	120	13	in	in	ADP
ajst-15053	120	14	the	the	DET
ajst-15053	120	15	friction	friction	NOUN
ajst-15053	120	16	coefficient	coefficient	NOUN
ajst-15053	120	17	of	of	ADP
ajst-15053	120	18	the	the	DET
ajst-15053	120	19	furrow	furrow	NOUN
ajst-15053	120	20	gradually	gradually	ADV
ajst-15053	120	21	decreases	decrease	VERB
ajst-15053	120	22	.	.	PUNCT
ajst-15053	121	1	6	6	X
ajst-15053	121	2	.	.	X
ajst-15053	121	3	conclusion	conclusion	NOUN
ajst-15053	121	4	a	a	DET
ajst-15053	121	5	simplified	simplified	ADJ
ajst-15053	121	6	mechanical	mechanical	ADJ
ajst-15053	121	7	model	model	NOUN
ajst-15053	121	8	of	of	ADP
ajst-15053	121	9	the	the	DET
ajst-15053	121	10	support	support	NOUN
ajst-15053	121	11	mechanism	mechanism	NOUN
ajst-15053	121	12	for	for	ADP
ajst-15053	121	13	the	the	DET
ajst-15053	121	14	telescopic	telescopic	ADJ
ajst-15053	121	15	downhole	downhole	NOUN
ajst-15053	121	16	robot	robot	NOUN
ajst-15053	121	17	was	be	AUX
ajst-15053	121	18	established	establish	VERB
ajst-15053	121	19	.	.	PUNCT
ajst-15053	122	1	through	through	ADP
ajst-15053	122	2	optimized	optimize	VERB
ajst-15053	122	3	design	design	NOUN
ajst-15053	122	4	,	,	PUNCT
ajst-15053	122	5	the	the	DET
ajst-15053	122	6	best	good	ADJ
ajst-15053	122	7	dimensions	dimension	NOUN
ajst-15053	122	8	for	for	ADP
ajst-15053	122	9	the	the	DET
ajst-15053	122	10	support	support	NOUN
ajst-15053	122	11	mechanism	mechanism	NOUN
ajst-15053	122	12	within	within	ADP
ajst-15053	122	13	the	the	DET
ajst-15053	122	14	5	5	NUM
ajst-15053	122	15	"	"	PUNCT
ajst-15053	122	16	to	to	ADP
ajst-15053	122	17	7	7	NUM
ajst-15053	122	18	"	"	PUNCT
ajst-15053	122	19	casing	casing	NOUN
ajst-15053	122	20	range	range	NOUN
ajst-15053	122	21	were	be	AUX
ajst-15053	122	22	obtained	obtain	VERB
ajst-15053	122	23	,	,	PUNCT
ajst-15053	122	24	requiring	require	VERB
ajst-15053	122	25	minimal	minimal	ADJ
ajst-15053	122	26	spring	spring	NOUN
ajst-15053	122	27	force	force	NOUN
ajst-15053	122	28	and	and	CCONJ
ajst-15053	122	29	achieving	achieve	VERB
ajst-15053	122	30	maximum	maximum	ADJ
ajst-15053	122	31	driving	driving	NOUN
ajst-15053	122	32	efficiency	efficiency	NOUN
ajst-15053	122	33	.	.	PUNCT
ajst-15053	123	1	the	the	DET
ajst-15053	123	2	values	value	NOUN
ajst-15053	123	3	for	for	ADP
ajst-15053	123	4	the	the	DET
ajst-15053	123	5	linkages𝐿	linkages𝐿	PROPN
ajst-15053	123	6	and	and	CCONJ
ajst-15053	123	7	𝐿	𝐿	PROPN
ajst-15053	123	8	were	be	AUX
ajst-15053	123	9	determined	determine	VERB
ajst-15053	123	10	to	to	PART
ajst-15053	123	11	maximize	maximize	VERB
ajst-15053	123	12	transmission	transmission	NOUN
ajst-15053	123	13	efficiency	efficiency	NOUN
ajst-15053	123	14	based	base	VERB
ajst-15053	123	15	on	on	ADP
ajst-15053	123	16	the	the	DET
ajst-15053	123	17	minimum	minimum	ADJ
ajst-15053	123	18	ratio	ratio	NOUN
ajst-15053	123	19	of	of	ADP
ajst-15053	123	20	spring	spring	NOUN
ajst-15053	123	21	force	force	NOUN
ajst-15053	123	22	to	to	ADP
ajst-15053	123	23	positive	positive	ADJ
ajst-15053	123	24	pressure	pressure	NOUN
ajst-15053	123	25	.	.	PUNCT
ajst-15053	124	1	by	by	ADP
ajst-15053	124	2	providing	provide	VERB
ajst-15053	124	3	the	the	DET
ajst-15053	124	4	functional	functional	ADJ
ajst-15053	124	5	relationship	relationship	NOUN
ajst-15053	124	6	between	between	ADP
ajst-15053	124	7	spring	spring	NOUN
ajst-15053	124	8	force	force	NOUN
ajst-15053	124	9	and	and	CCONJ
ajst-15053	124	10	positive	positive	ADJ
ajst-15053	124	11	pressure	pressure	NOUN
ajst-15053	124	12	,	,	PUNCT
ajst-15053	124	13	the	the	DET
ajst-15053	124	14	mechanical	mechanical	ADJ
ajst-15053	124	15	analysis	analysis	NOUN
ajst-15053	124	16	and	and	CCONJ
ajst-15053	124	17	calculation	calculation	NOUN
ajst-15053	124	18	of	of	ADP
ajst-15053	124	19	the	the	DET
ajst-15053	124	20	driving	drive	VERB
ajst-15053	124	21	structure	structure	NOUN
ajst-15053	124	22	were	be	AUX
ajst-15053	124	23	simplified	simplify	VERB
ajst-15053	124	24	.	.	PUNCT
ajst-15053	125	1	finally	finally	ADV
ajst-15053	125	2	,	,	PUNCT
ajst-15053	125	3	the	the	DET
ajst-15053	125	4	relationship	relationship	NOUN
ajst-15053	125	5	between	between	ADP
ajst-15053	125	6	the	the	DET
ajst-15053	125	7	depth	depth	NOUN
ajst-15053	125	8	of	of	ADP
ajst-15053	125	9	the	the	DET
ajst-15053	125	10	furrow	furrow	NOUN
ajst-15053	125	11	produced	produce	VERB
ajst-15053	125	12	by	by	ADP
ajst-15053	125	13	the	the	DET
ajst-15053	125	14	friction	friction	NOUN
ajst-15053	125	15	block	block	NOUN
ajst-15053	125	16	under	under	ADP
ajst-15053	125	17	positive	positive	ADJ
ajst-15053	125	18	pressure	pressure	NOUN
ajst-15053	125	19	and	and	CCONJ
ajst-15053	125	20	the	the	DET
ajst-15053	125	21	magnitude	magnitude	NOUN
ajst-15053	125	22	of	of	ADP
ajst-15053	125	23	the	the	DET
ajst-15053	125	24	positive	positive	ADJ
ajst-15053	125	25	pressure	pressure	NOUN
ajst-15053	125	26	was	be	AUX
ajst-15053	125	27	verified	verify	VERB
ajst-15053	125	28	.	.	PUNCT
ajst-15053	126	1	it	it	PRON
ajst-15053	126	2	was	be	AUX
ajst-15053	126	3	found	find	VERB
ajst-15053	126	4	that	that	SCONJ
ajst-15053	126	5	the	the	PRON
ajst-15053	126	6	greater	great	ADJ
ajst-15053	126	7	the	the	DET
ajst-15053	126	8	positive	positive	ADJ
ajst-15053	126	9	pressure	pressure	NOUN
ajst-15053	126	10	,	,	PUNCT
ajst-15053	126	11	the	the	PRON
ajst-15053	126	12	deeper	deep	ADJ
ajst-15053	126	13	the	the	DET
ajst-15053	126	14	furrow	furrow	NOUN
ajst-15053	126	15	,	,	PUNCT
ajst-15053	126	16	and	and	CCONJ
ajst-15053	126	17	the	the	DET
ajst-15053	126	18	friction	friction	NOUN
ajst-15053	126	19	coefficient	coefficient	NOUN
ajst-15053	126	20	of	of	ADP
ajst-15053	126	21	the	the	DET
ajst-15053	126	22	furrow	furrow	NOUN
ajst-15053	126	23	increases	increase	VERB
ajst-15053	126	24	continuously	continuously	ADV
ajst-15053	126	25	with	with	ADP
ajst-15053	126	26	the	the	DET
ajst-15053	126	27	increase	increase	NOUN
ajst-15053	126	28	of	of	ADP
ajst-15053	126	29	the	the	DET
ajst-15053	126	30	positive	positive	ADJ
ajst-15053	126	31	pressure	pressure	NOUN
ajst-15053	126	32	,	,	PUNCT
ajst-15053	126	33	but	but	CCONJ
ajst-15053	126	34	the	the	DET
ajst-15053	126	35	magnitude	magnitude	NOUN
ajst-15053	126	36	of	of	ADP
ajst-15053	126	37	the	the	DET
ajst-15053	126	38	change	change	NOUN
ajst-15053	126	39	in	in	ADP
ajst-15053	126	40	the	the	DET
ajst-15053	126	41	friction	friction	NOUN
ajst-15053	126	42	coefficient	coefficient	NOUN
ajst-15053	126	43	gradually	gradually	ADV
ajst-15053	126	44	decreases	decrease	VERB
ajst-15053	126	45	as	as	ADP
ajst-15053	126	46	the	the	DET
ajst-15053	126	47	pressure	pressure	NOUN
ajst-15053	126	48	increases	increase	NOUN
ajst-15053	126	49	.	.	PUNCT
ajst-15053	127	1	references	reference	NOUN
ajst-15053	127	2	[	[	X
ajst-15053	127	3	1	1	X
ajst-15053	127	4	]	]	PUNCT
ajst-15053	127	5	liu	liu	PROPN
ajst-15053	127	6	qingyou	qingyou	PROPN
ajst-15053	127	7	,	,	PUNCT
ajst-15053	127	8	dong	dong	PROPN
ajst-15053	127	9	run	run	PROPN
ajst-15053	127	10	,	,	PUNCT
ajst-15053	127	11	geng	geng	PROPN
ajst-15053	127	12	kai	kai	PROPN
ajst-15053	127	13	et	et	PROPN
ajst-15053	127	14	al	al	PROPN
ajst-15053	127	15	.	.	PROPN
ajst-15053	127	16	research	research	NOUN
ajst-15053	127	17	progress	progress	NOUN
ajst-15053	127	18	and	and	CCONJ
ajst-15053	127	19	application	application	NOUN
ajst-15053	127	20	prospect	prospect	NOUN
ajst-15053	127	21	of	of	ADP
ajst-15053	127	22	downhole	downhole	NOUN
ajst-15053	127	23	robot	robot	NOUN
ajst-15053	128	1	[	[	X
ajst-15053	128	2	j	j	X
ajst-15053	128	3	]	]	X
ajst-15053	128	4	.	.	PUNCT
ajst-15053	129	1	petroleum	petroleum	NOUN
ajst-15053	129	2	drilling	drill	VERB
ajst-15053	129	3	technology,2019,47	technology,2019,47	NOUN
ajst-15053	129	4	(	(	PUNCT
ajst-15053	129	5	03	03	NUM
ajst-15053	129	6	)	)	PUNCT
ajst-15053	129	7	:	:	PUNCT
ajst-15053	130	1	50	50	NUM
ajst-15053	130	2	-	-	SYM
ajst-15053	130	3	55	55	NUM
ajst-15053	130	4	.	.	PUNCT
ajst-15053	131	1	[	[	X
ajst-15053	131	2	2	2	NUM
ajst-15053	131	3	]	]	X
ajst-15053	131	4	zhou	zhou	PROPN
ajst-15053	131	5	liangliang	liangliang	PROPN
ajst-15053	131	6	.	.	PUNCT
ajst-15053	132	1	oil	oil	PROPN
ajst-15053	132	2	technology,2016,2:160	technology,2016,2:160	PROPN
ajst-15053	132	3	.	.	PUNCT
ajst-15053	133	1	[	[	X
ajst-15053	133	2	3	3	X
ajst-15053	133	3	]	]	PUNCT
ajst-15053	133	4	there	there	PRON
ajst-15053	133	5	are	be	VERB
ajst-15053	133	6	good	good	ADJ
ajst-15053	133	7	things	thing	NOUN
ajst-15053	133	8	in	in	ADP
ajst-15053	133	9	'	'	NOUN
ajst-15053	133	10	morning	morning	NOUN
ajst-15053	133	11	and	and	CCONJ
ajst-15053	133	12	night	night	NOUN
ajst-15053	133	13	'	'	PUNCT
ajst-15053	133	14	.	.	PUNCT
ajst-15053	134	1	application	application	NOUN
ajst-15053	134	2	and	and	CCONJ
ajst-15053	134	3	development	development	NOUN
ajst-15053	134	4	of	of	ADP
ajst-15053	134	5	horizontal	horizontal	ADJ
ajst-15053	134	6	well	well	ADV
ajst-15053	134	7	drilling	drilling	NOUN
ajst-15053	134	8	technology	technology	NOUN
ajst-15053	134	9	in	in	ADP
ajst-15053	134	10	petroleum	petroleum	NOUN
ajst-15053	134	11	exploration	exploration	NOUN
ajst-15053	134	12	and	and	CCONJ
ajst-15053	134	13	development	development	NOUN
ajst-15053	135	1	[	[	X
ajst-15053	135	2	j	j	X
ajst-15053	135	3	]	]	X
ajst-15053	135	4	.	.	PUNCT
ajst-15053	136	1	journal	journal	PROPN
ajst-15053	136	2	of	of	ADP
ajst-15053	136	3	shandong	shandong	PROPN
ajst-15053	136	4	university	university	PROPN
ajst-15053	136	5	of	of	ADP
ajst-15053	136	6	science	science	NOUN
ajst-15053	136	7	and	and	CCONJ
ajst-15053	136	8	technology	technology	NOUN
ajst-15053	136	9	(	(	PUNCT
ajst-15053	136	10	natural	natural	ADJ
ajst-15053	136	11	science	science	NOUN
ajst-15053	136	12	edition	edition	NOUN
ajst-15053	136	13	)	)	PUNCT
ajst-15053	136	14	,	,	PUNCT
ajst-15053	136	15	2000(02):117	2000(02):117	PROPN
ajst-15053	136	16	-	-	SYM
ajst-15053	136	17	119	119	NUM
ajst-15053	136	18	.	.	PUNCT
ajst-15053	137	1	[	[	X
ajst-15053	137	2	4	4	X
ajst-15053	137	3	]	]	X
ajst-15053	137	4	li	li	PROPN
ajst-15053	137	5	xiangtao	xiangtao	PROPN
ajst-15053	137	6	,	,	PUNCT
ajst-15053	137	7	qin	qin	PROPN
ajst-15053	137	8	yuqiao	yuqiao	PROPN
ajst-15053	137	9	,	,	PUNCT
ajst-15053	137	10	chen	chen	PROPN
ajst-15053	137	11	siping	siping	PROPN
ajst-15053	137	12	,	,	PUNCT
ajst-15053	137	13	et	et	PROPN
ajst-15053	137	14	al	al	PROPN
ajst-15053	137	15	.	.	PUNCT
ajst-15053	137	16	transportation	transportation	NOUN
ajst-15053	137	17	technology	technology	NOUN
ajst-15053	137	18	of	of	ADP
ajst-15053	137	19	horizontal	horizontal	ADJ
ajst-15053	137	20	well	well	ADV
ajst-15053	137	21	logging	log	VERB
ajst-15053	137	22	instrument	instrument	NOUN
ajst-15053	137	23	and	and	CCONJ
ajst-15053	137	24	its	its	PRON
ajst-15053	137	25	application	application	NOUN
ajst-15053	137	26	[	[	X
ajst-15053	137	27	j	j	X
ajst-15053	137	28	]	]	X
ajst-15053	137	29	.	.	PUNCT
ajst-15053	138	1	china	china	PROPN
ajst-15053	138	2	petroleum	petroleum	PROPN
ajst-15053	138	3	machinery	machinery	PROPN
ajst-15053	138	4	,	,	PUNCT
ajst-15053	138	5	2014,8:98	2014,8:98	NOUN
ajst-15053	138	6	-	-	SYM
ajst-15053	138	7	102	102	NUM
ajst-15053	138	8	.	.	PUNCT
ajst-15053	139	1	[	[	X
ajst-15053	139	2	5	5	X
ajst-15053	139	3	]	]	PUNCT
ajst-15053	139	4	xie	xie	PROPN
ajst-15053	139	5	huixiang	huixiang	PROPN
ajst-15053	139	6	.	.	PUNCT
ajst-15053	140	1	dynamics	dynamic	NOUN
ajst-15053	140	2	modeling	modeling	NOUN
ajst-15053	140	3	and	and	CCONJ
ajst-15053	140	4	control	control	NOUN
ajst-15053	140	5	system	system	NOUN
ajst-15053	140	6	design	design	NOUN
ajst-15053	140	7	of	of	ADP
ajst-15053	140	8	telescopic	telescopic	ADJ
ajst-15053	140	9	pipeline	pipeline	NOUN
ajst-15053	140	10	robot	robot	NOUN
ajst-15053	141	1	[	[	X
ajst-15053	141	2	d	d	X
ajst-15053	141	3	]	]	X
ajst-15053	141	4	.	.	PUNCT
ajst-15053	142	1	national	national	PROPN
ajst-15053	142	2	university	university	PROPN
ajst-15053	142	3	of	of	ADP
ajst-15053	142	4	defense	defense	PROPN
ajst-15053	142	5	technology	technology	NOUN
ajst-15053	142	6	,	,	PUNCT
ajst-15053	142	7	2009	2009	NUM
ajst-15053	142	8	.	.	PUNCT
ajst-15053	143	1	[	[	X
ajst-15053	143	2	6	6	X
ajst-15053	143	3	]	]	PUNCT
ajst-15053	143	4	liu	liu	PROPN
ajst-15053	143	5	qingyou	qingyou	PROPN
ajst-15053	143	6	.	.	PUNCT
ajst-15053	144	1	current	current	ADJ
ajst-15053	144	2	status	status	NOUN
ajst-15053	144	3	and	and	CCONJ
ajst-15053	144	4	development	development	NOUN
ajst-15053	144	5	trend	trend	NOUN
ajst-15053	144	6	of	of	ADP
ajst-15053	144	7	oil	oil	NOUN
ajst-15053	144	8	and	and	CCONJ
ajst-15053	144	9	gas	gas	NOUN
ajst-15053	144	10	pipeline	pipeline	NOUN
ajst-15053	144	11	robot	robot	NOUN
ajst-15053	144	12	technology	technology	NOUN
ajst-15053	145	1	[	[	X
ajst-15053	145	2	j	j	X
ajst-15053	145	3	]	]	X
ajst-15053	145	4	.	.	PUNCT
ajst-15053	146	1	journal	journal	PROPN
ajst-15053	146	2	of	of	ADP
ajst-15053	146	3	xihua	xihua	PROPN
ajst-15053	146	4	university	university	PROPN
ajst-15053	146	5	(	(	PUNCT
ajst-15053	146	6	natural	natural	ADJ
ajst-15053	146	7	science	science	NOUN
ajst-15053	146	8	edition),2016,35(01):1	edition),2016,35(01):1	NOUN
ajst-15053	146	9	-	-	PROPN
ajst-15053	146	10	6	6	NUM
ajst-15053	146	11	.	.	PUNCT
ajst-15053	147	1	[	[	X
ajst-15053	147	2	7	7	X
ajst-15053	147	3	]	]	X
ajst-15053	147	4	jiang	jiang	PROPN
ajst-15053	147	5	baoyan	baoyan	PROPN
ajst-15053	147	6	.	.	PUNCT
ajst-15053	148	1	discussion	discussion	NOUN
ajst-15053	148	2	on	on	ADP
ajst-15053	148	3	petroleum	petroleum	NOUN
ajst-15053	148	4	logging	log	VERB
ajst-15053	148	5	technology	technology	NOUN
ajst-15053	149	1	[	[	X
ajst-15053	149	2	j	j	X
ajst-15053	149	3	]	]	X
ajst-15053	149	4	.	.	PUNCT
ajst-15053	150	1	chemical	chemical	NOUN
ajst-15053	150	2	design	design	NOUN
ajst-15053	150	3	communication,2017,43(10):213	communication,2017,43(10):213	NOUN
ajst-15053	150	4	.	.	PUNCT
ajst-15053	151	1	[	[	X
ajst-15053	151	2	8	8	X
ajst-15053	151	3	]	]	X
ajst-15053	151	4	zeng	zeng	PROPN
ajst-15053	151	5	huajun	huajun	PROPN
ajst-15053	151	6	.	.	PUNCT
ajst-15053	152	1	research	research	NOUN
ajst-15053	152	2	on	on	ADP
ajst-15053	152	3	key	key	ADJ
ajst-15053	152	4	technologies	technology	NOUN
ajst-15053	152	5	of	of	ADP
ajst-15053	152	6	drive	drive	ADJ
ajst-15053	152	7	system	system	NOUN
ajst-15053	152	8	of	of	ADP
ajst-15053	152	9	horizontal	horizontal	ADJ
ajst-15053	152	10	well	well	INTJ
ajst-15053	152	11	tractor	tractor	NOUN
ajst-15053	153	1	[	[	X
ajst-15053	153	2	d	d	X
ajst-15053	153	3	]	]	X
ajst-15053	153	4	.	.	PUNCT
ajst-15053	154	1	harbin	harbin	PROPN
ajst-15053	154	2	institute	institute	PROPN
ajst-15053	154	3	of	of	ADP
ajst-15053	154	4	technology	technology	PROPN
ajst-15053	154	5	,	,	PUNCT
ajst-15053	154	6	2010	2010	NUM
ajst-15053	154	7	.	.	PUNCT
ajst-15053	155	1	[	[	X
ajst-15053	155	2	9	9	NUM
ajst-15053	155	3	]	]	X
ajst-15053	155	4	liu	liu	PROPN
ajst-15053	155	5	qingyou	qingyou	PROPN
ajst-15053	155	6	,	,	PUNCT
ajst-15053	155	7	li	li	PROPN
ajst-15053	155	8	weiguo	weiguo	PROPN
ajst-15053	155	9	.	.	PUNCT
ajst-15053	156	1	research	research	NOUN
ajst-15053	156	2	and	and	CCONJ
ajst-15053	156	3	application	application	NOUN
ajst-15053	156	4	of	of	ADP
ajst-15053	156	5	downhole	downhole	NOUN
ajst-15053	156	6	crawler	crawler	NOUN
ajst-15053	156	7	in	in	ADP
ajst-15053	156	8	sondex	sondex	PROPN
ajst-15053	156	9	horizontal	horizontal	PROPN
ajst-15053	156	10	wells	wells	PROPN
ajst-15053	157	1	[	[	X
ajst-15053	157	2	j	j	X
ajst-15053	157	3	]	]	X
ajst-15053	157	4	.	.	PUNCT
ajst-15053	158	1	oil	oil	NOUN
ajst-15053	158	2	drilling	drilling	NOUN
ajst-15053	158	3	and	and	CCONJ
ajst-15053	158	4	production	production	NOUN
ajst-15053	158	5	technology	technology	NOUN
ajst-15053	158	6	,	,	PUNCT
ajst-15053	158	7	2008(05):115	2008(05):115	NUM
ajst-15053	158	8	-	-	SYM
ajst-15053	158	9	117	117	NUM
ajst-15053	158	10	.	.	PUNCT
ajst-15053	159	1	[	[	X
ajst-15053	159	2	10	10	NUM
ajst-15053	159	3	]	]	X
ajst-15053	159	4	cao	cao	PROPN
ajst-15053	159	5	shuaiyuan	shuaiyuan	PROPN
ajst-15053	159	6	,	,	PUNCT
ajst-15053	159	7	chen	chen	PROPN
ajst-15053	159	8	xiaoqiao	xiaoqiao	PROPN
ajst-15053	159	9	,	,	PUNCT
ajst-15053	159	10	luo	luo	PROPN
ajst-15053	159	11	yihua	yihua	PROPN
ajst-15053	159	12	.	.	PUNCT
ajst-15053	160	1	discussion	discussion	NOUN
ajst-15053	160	2	on	on	ADP
ajst-15053	160	3	transportation	transportation	NOUN
ajst-15053	160	4	technology	technology	NOUN
ajst-15053	160	5	of	of	ADP
ajst-15053	160	6	production	production	NOUN
ajst-15053	160	7	logging	log	VERB
ajst-15053	160	8	instruments	instrument	NOUN
ajst-15053	160	9	in	in	ADP
ajst-15053	160	10	horizontal	horizontal	ADJ
ajst-15053	160	11	wells	well	NOUN
ajst-15053	161	1	[	[	X
ajst-15053	161	2	j	j	X
ajst-15053	161	3	]	]	X
ajst-15053	161	4	.	.	PUNCT
ajst-15053	162	1	science	science	NOUN
ajst-15053	162	2	and	and	CCONJ
ajst-15053	162	3	technology	technology	NOUN
ajst-15053	162	4	outlook	outlook	NOUN
ajst-15053	162	5	,	,	PUNCT
ajst-15053	162	6	2015	2015	NUM
ajst-15053	162	7	,	,	PUNCT
ajst-15053	162	8	25(28):153	25(28):153	NUM
ajst-15053	162	9	.	.	NOUN
ajst-15053	163	1	500	500	NUM
ajst-15053	163	2	1000	1000	NUM
ajst-15053	163	3	1500	1500	NUM
ajst-15053	163	4	2000	2000	NUM
ajst-15053	163	5	2500	2500	NUM
ajst-15053	163	6	3000	3000	NUM
ajst-15053	163	7	0	0	NUM
ajst-15053	163	8	1	1	NUM
ajst-15053	163	9	2	2	NUM
ajst-15053	163	10	3	3	NUM
ajst-15053	163	11	4	4	NUM
ajst-15053	163	12	5	5	NUM
ajst-15053	163	13	6	6	NUM
ajst-15053	163	14	7	7	NUM
ajst-15053	163	15	8	8	NUM
ajst-15053	163	16	犁沟深度	犁沟深度	NOUN
ajst-15053	163	17	犁沟摩擦系数	犁沟摩擦系数	VERB
ajst-15053	163	18	正压力	正压力	NOUN
ajst-15053	163	19	/	/	SYM
ajst-15053	163	20	n	n	CCONJ
ajst-15053	163	21	犁	犁	NOUN
ajst-15053	163	22	沟	沟	X
ajst-15053	163	23	深	深	PROPN
ajst-15053	163	24	度	度	NOUN
ajst-15053	163	25	/m	/m	NOUN
ajst-15053	163	26	m	m	VERB
ajst-15053	163	27	×10	×10	NOUN
ajst-15053	163	28	-	-	PUNCT
ajst-15053	163	29	3	3	NUM
ajst-15053	163	30	0.2	0.2	NUM
ajst-15053	163	31	0.4	0.4	NUM
ajst-15053	163	32	0.6	0.6	NUM
ajst-15053	163	33	0.8	0.8	NUM
ajst-15053	163	34	1.0	1.0	NUM
ajst-15053	163	35	1.2	1.2	NUM
ajst-15053	163	36	犁	犁	PROPN
ajst-15053	163	37	沟	沟	X
ajst-15053	163	38	摩	摩	X
ajst-15053	163	39	擦	擦	NOUN
ajst-15053	163	40	系	系	X
ajst-15053	163	41	数	数	NOUN