id	sid	tid	token	lemma	pos
ajst-16792	1	1	academic	academic	ADJ
ajst-16792	1	2	journal	journal	NOUN
ajst-16792	1	3	of	of	ADP
ajst-16792	1	4	science	science	NOUN
ajst-16792	1	5	and	and	CCONJ
ajst-16792	1	6	technology	technology	NOUN
ajst-16792	1	7	issn	issn	NOUN
ajst-16792	1	8	:	:	PUNCT
ajst-16792	1	9	2771	2771	NUM
ajst-16792	1	10	-	-	SYM
ajst-16792	1	11	3032	3032	NUM
ajst-16792	1	12	|	|	NOUN
ajst-16792	1	13	vol	vol	NOUN
ajst-16792	1	14	.	.	PROPN
ajst-16792	2	1	9	9	NUM
ajst-16792	2	2	,	,	PUNCT
ajst-16792	2	3	no	no	INTJ
ajst-16792	2	4	.	.	NOUN
ajst-16792	2	5	1	1	NUM
ajst-16792	2	6	,	,	PUNCT
ajst-16792	2	7	2024	2024	NUM
ajst-16792	2	8	208	208	NUM
ajst-16792	2	9	overview	overview	NOUN
ajst-16792	2	10	of	of	ADP
ajst-16792	2	11	pipeline	pipeline	NOUN
ajst-16792	2	12	inspection	inspection	NOUN
ajst-16792	2	13	robots	robot	NOUN
ajst-16792	2	14	jingtao	jingtao	PROPN
ajst-16792	2	15	tan	tan	PROPN
ajst-16792	2	16	,	,	PUNCT
ajst-16792	2	17	yuan	yuan	PROPN
ajst-16792	2	18	yang	yang	PROPN
ajst-16792	2	19	,	,	PUNCT
ajst-16792	2	20	zixuan	zixuan	PROPN
ajst-16792	2	21	fan	fan	PROPN
ajst-16792	2	22	,	,	PUNCT
ajst-16792	2	23	yifei	yifei	PROPN
ajst-16792	2	24	wang	wang	PROPN
ajst-16792	2	25	,	,	PUNCT
ajst-16792	2	26	qiandi	qiandi	PROPN
ajst-16792	2	27	zhou	zhou	PROPN
ajst-16792	2	28	and	and	CCONJ
ajst-16792	2	29	zhiwen	zhiwen	PROPN
ajst-16792	2	30	wang	wang	PROPN
ajst-16792	2	31	school	school	PROPN
ajst-16792	2	32	of	of	ADP
ajst-16792	2	33	mechanical	mechanical	ADJ
ajst-16792	2	34	and	and	CCONJ
ajst-16792	2	35	electrical	electrical	ADJ
ajst-16792	2	36	engineering	engineering	NOUN
ajst-16792	2	37	,	,	PUNCT
ajst-16792	2	38	southwest	southwest	ADJ
ajst-16792	2	39	petroleum	petroleum	PROPN
ajst-16792	2	40	university	university	PROPN
ajst-16792	2	41	,	,	PUNCT
ajst-16792	2	42	chengdu	chengdu	PROPN
ajst-16792	2	43	637001	637001	NUM
ajst-16792	2	44	,	,	PUNCT
ajst-16792	2	45	china	china	PROPN
ajst-16792	2	46	abstract	abstract	NOUN
ajst-16792	2	47	:	:	PUNCT
ajst-16792	2	48	pipelines	pipeline	NOUN
ajst-16792	2	49	are	be	AUX
ajst-16792	2	50	widely	widely	ADV
ajst-16792	2	51	used	use	VERB
ajst-16792	2	52	in	in	ADP
ajst-16792	2	53	our	our	PRON
ajst-16792	2	54	daily	daily	ADJ
ajst-16792	2	55	life	life	NOUN
ajst-16792	2	56	and	and	CCONJ
ajst-16792	2	57	industrial	industrial	ADJ
ajst-16792	2	58	production	production	NOUN
ajst-16792	2	59	,	,	PUNCT
ajst-16792	2	60	in	in	ADP
ajst-16792	2	61	order	order	NOUN
ajst-16792	2	62	to	to	PART
ajst-16792	2	63	solve	solve	VERB
ajst-16792	2	64	the	the	DET
ajst-16792	2	65	ensuring	ensuring	NOUN
ajst-16792	2	66	problem	problem	NOUN
ajst-16792	2	67	of	of	ADP
ajst-16792	2	68	pipeline	pipeline	NOUN
ajst-16792	2	69	failure	failure	NOUN
ajst-16792	2	70	,	,	PUNCT
ajst-16792	2	71	many	many	ADJ
ajst-16792	2	72	kinds	kind	NOUN
ajst-16792	2	73	of	of	ADP
ajst-16792	2	74	pipeline	pipeline	NOUN
ajst-16792	2	75	inspection	inspection	NOUN
ajst-16792	2	76	robots	robot	NOUN
ajst-16792	2	77	have	have	AUX
ajst-16792	2	78	appeared	appear	VERB
ajst-16792	2	79	,	,	PUNCT
ajst-16792	2	80	and	and	CCONJ
ajst-16792	2	81	nowadays	nowadays	ADV
ajst-16792	2	82	,	,	PUNCT
ajst-16792	2	83	pipeline	pipeline	NOUN
ajst-16792	2	84	robots	robot	NOUN
ajst-16792	2	85	have	have	AUX
ajst-16792	2	86	been	be	AUX
ajst-16792	2	87	widely	widely	ADV
ajst-16792	2	88	used	use	VERB
ajst-16792	2	89	in	in	ADP
ajst-16792	2	90	various	various	ADJ
ajst-16792	2	91	pipeline	pipeline	NOUN
ajst-16792	2	92	inspection	inspection	NOUN
ajst-16792	2	93	and	and	CCONJ
ajst-16792	2	94	repair	repair	NOUN
ajst-16792	2	95	.	.	PUNCT
ajst-16792	3	1	this	this	DET
ajst-16792	3	2	paper	paper	NOUN
ajst-16792	3	3	mainly	mainly	ADV
ajst-16792	3	4	discusses	discuss	VERB
ajst-16792	3	5	the	the	DET
ajst-16792	3	6	importance	importance	NOUN
ajst-16792	3	7	of	of	ADP
ajst-16792	3	8	pipeline	pipeline	NOUN
ajst-16792	3	9	inspection	inspection	NOUN
ajst-16792	3	10	robots	robot	NOUN
ajst-16792	3	11	in	in	ADP
ajst-16792	3	12	various	various	ADJ
ajst-16792	3	13	pipeline	pipeline	NOUN
ajst-16792	3	14	fields	field	NOUN
ajst-16792	3	15	,	,	PUNCT
ajst-16792	3	16	describes	describe	VERB
ajst-16792	3	17	the	the	DET
ajst-16792	3	18	technical	technical	ADJ
ajst-16792	3	19	characteristics	characteristic	NOUN
ajst-16792	3	20	of	of	ADP
ajst-16792	3	21	pipeline	pipeline	NOUN
ajst-16792	3	22	robots	robot	NOUN
ajst-16792	3	23	at	at	ADP
ajst-16792	3	24	home	home	ADV
ajst-16792	3	25	and	and	CCONJ
ajst-16792	3	26	abroad	abroad	ADV
ajst-16792	3	27	in	in	ADP
ajst-16792	3	28	recent	recent	ADJ
ajst-16792	3	29	years	year	NOUN
ajst-16792	3	30	,	,	PUNCT
ajst-16792	3	31	and	and	CCONJ
ajst-16792	3	32	puts	put	VERB
ajst-16792	3	33	forward	forward	ADP
ajst-16792	3	34	suggestions	suggestion	NOUN
ajst-16792	3	35	for	for	ADP
ajst-16792	3	36	the	the	DET
ajst-16792	3	37	future	future	ADJ
ajst-16792	3	38	development	development	NOUN
ajst-16792	3	39	of	of	ADP
ajst-16792	3	40	pipeline	pipeline	NOUN
ajst-16792	3	41	robots	robot	NOUN
ajst-16792	3	42	in	in	ADP
ajst-16792	3	43	view	view	NOUN
ajst-16792	3	44	of	of	ADP
ajst-16792	3	45	the	the	DET
ajst-16792	3	46	existing	exist	VERB
ajst-16792	3	47	problems	problem	NOUN
ajst-16792	3	48	,	,	PUNCT
ajst-16792	3	49	which	which	PRON
ajst-16792	3	50	is	be	AUX
ajst-16792	3	51	of	of	ADP
ajst-16792	3	52	reference	reference	NOUN
ajst-16792	3	53	significance	significance	NOUN
ajst-16792	3	54	for	for	ADP
ajst-16792	3	55	the	the	DET
ajst-16792	3	56	future	future	ADJ
ajst-16792	3	57	development	development	NOUN
ajst-16792	3	58	.	.	PUNCT
ajst-16792	4	1	keywords	keyword	NOUN
ajst-16792	4	2	:	:	PUNCT
ajst-16792	4	3	a	a	DET
ajst-16792	4	4	plumbing	plumbing	NOUN
ajst-16792	4	5	robot	robot	NOUN
ajst-16792	4	6	;	;	PUNCT
ajst-16792	4	7	tube	tube	NOUN
ajst-16792	4	8	inspection	inspection	NOUN
ajst-16792	4	9	;	;	PUNCT
ajst-16792	4	10	developing	develop	VERB
ajst-16792	4	11	the	the	DET
ajst-16792	4	12	status	status	NOUN
ajst-16792	4	13	.	.	PUNCT
ajst-16792	5	1	1	1	X
ajst-16792	5	2	.	.	X
ajst-16792	5	3	introduction	introduction	NOUN
ajst-16792	5	4	in	in	ADP
ajst-16792	5	5	modern	modern	ADJ
ajst-16792	5	6	society	society	NOUN
ajst-16792	5	7	,	,	PUNCT
ajst-16792	5	8	pipelines	pipeline	NOUN
ajst-16792	5	9	have	have	AUX
ajst-16792	5	10	penetrated	penetrate	VERB
ajst-16792	5	11	into	into	ADP
ajst-16792	5	12	many	many	ADJ
ajst-16792	5	13	corners	corner	NOUN
ajst-16792	5	14	of	of	ADP
ajst-16792	5	15	our	our	PRON
ajst-16792	5	16	lives	life	NOUN
ajst-16792	5	17	,	,	PUNCT
ajst-16792	5	18	providing	provide	VERB
ajst-16792	5	19	convenience	convenience	NOUN
ajst-16792	5	20	for	for	ADP
ajst-16792	5	21	the	the	DET
ajst-16792	5	22	transmission	transmission	NOUN
ajst-16792	5	23	of	of	ADP
ajst-16792	5	24	energy	energy	NOUN
ajst-16792	5	25	and	and	CCONJ
ajst-16792	5	26	materials	material	NOUN
ajst-16792	5	27	and	and	CCONJ
ajst-16792	5	28	bringing	bring	VERB
ajst-16792	5	29	great	great	ADJ
ajst-16792	5	30	economic	economic	ADJ
ajst-16792	5	31	benefits	benefit	NOUN
ajst-16792	5	32	.	.	PUNCT
ajst-16792	6	1	however	however	ADV
ajst-16792	6	2	,	,	PUNCT
ajst-16792	6	3	at	at	ADP
ajst-16792	6	4	the	the	DET
ajst-16792	6	5	same	same	ADJ
ajst-16792	6	6	time	time	NOUN
ajst-16792	6	7	,	,	PUNCT
ajst-16792	6	8	problems	problem	NOUN
ajst-16792	6	9	such	such	ADJ
ajst-16792	6	10	as	as	ADP
ajst-16792	6	11	aging	age	VERB
ajst-16792	6	12	,	,	PUNCT
ajst-16792	6	13	corrosion	corrosion	NOUN
ajst-16792	6	14	and	and	CCONJ
ajst-16792	6	15	clogging	clogging	NOUN
ajst-16792	6	16	of	of	ADP
ajst-16792	6	17	pipelines	pipeline	NOUN
ajst-16792	6	18	also	also	ADV
ajst-16792	6	19	come	come	VERB
ajst-16792	6	20	along	along	ADP
ajst-16792	6	21	.	.	PUNCT
ajst-16792	7	1	due	due	ADP
ajst-16792	7	2	to	to	ADP
ajst-16792	7	3	the	the	DET
ajst-16792	7	4	special	special	ADJ
ajst-16792	7	5	location	location	NOUN
ajst-16792	7	6	of	of	ADP
ajst-16792	7	7	many	many	ADJ
ajst-16792	7	8	pipelines	pipeline	NOUN
ajst-16792	7	9	,	,	PUNCT
ajst-16792	7	10	human	human	ADJ
ajst-16792	7	11	beings	being	NOUN
ajst-16792	7	12	can	can	AUX
ajst-16792	7	13	not	not	PART
ajst-16792	7	14	have	have	VERB
ajst-16792	7	15	direct	direct	ADJ
ajst-16792	7	16	access	access	NOUN
ajst-16792	7	17	to	to	ADP
ajst-16792	7	18	them	they	PRON
ajst-16792	7	19	,	,	PUNCT
ajst-16792	7	20	which	which	PRON
ajst-16792	7	21	brings	bring	VERB
ajst-16792	7	22	great	great	ADJ
ajst-16792	7	23	challenges	challenge	NOUN
ajst-16792	7	24	to	to	ADP
ajst-16792	7	25	pipeline	pipeline	NOUN
ajst-16792	7	26	inspection	inspection	NOUN
ajst-16792	7	27	and	and	CCONJ
ajst-16792	7	28	maintenance	maintenance	NOUN
ajst-16792	7	29	work	work	NOUN
ajst-16792	7	30	.	.	PUNCT
ajst-16792	8	1	traditional	traditional	ADJ
ajst-16792	8	2	inspection	inspection	NOUN
ajst-16792	8	3	and	and	CCONJ
ajst-16792	8	4	maintenance	maintenance	NOUN
ajst-16792	8	5	methods	method	NOUN
ajst-16792	8	6	,	,	PUNCT
ajst-16792	8	7	such	such	ADJ
ajst-16792	8	8	as	as	ADP
ajst-16792	8	9	excavation	excavation	NOUN
ajst-16792	8	10	and	and	CCONJ
ajst-16792	8	11	random	random	ADJ
ajst-16792	8	12	sampling	sampling	NOUN
ajst-16792	8	13	,	,	PUNCT
ajst-16792	8	14	are	be	AUX
ajst-16792	8	15	not	not	PART
ajst-16792	8	16	only	only	ADV
ajst-16792	8	17	labor	labor	NOUN
ajst-16792	8	18	intensive	intensive	ADJ
ajst-16792	8	19	but	but	CCONJ
ajst-16792	8	20	also	also	ADV
ajst-16792	8	21	inefficient	inefficient	ADJ
ajst-16792	8	22	.	.	PUNCT
ajst-16792	9	1	since	since	SCONJ
ajst-16792	9	2	the	the	DET
ajst-16792	9	3	beginning	beginning	NOUN
ajst-16792	9	4	of	of	ADP
ajst-16792	9	5	the	the	DET
ajst-16792	9	6	1950s	1950	NOUN
ajst-16792	9	7	,	,	PUNCT
ajst-16792	9	8	since	since	SCONJ
ajst-16792	9	9	the	the	DET
ajst-16792	9	10	domestic	domestic	ADJ
ajst-16792	9	11	and	and	CCONJ
ajst-16792	9	12	foreign	foreign	ADJ
ajst-16792	9	13	research	research	NOUN
ajst-16792	9	14	on	on	ADP
ajst-16792	9	15	pipeline	pipeline	NOUN
ajst-16792	9	16	robots	robot	NOUN
ajst-16792	9	17	,	,	PUNCT
ajst-16792	9	18	pipeline	pipeline	NOUN
ajst-16792	9	19	robots	robot	NOUN
ajst-16792	9	20	have	have	AUX
ajst-16792	9	21	begun	begin	VERB
ajst-16792	9	22	a	a	DET
ajst-16792	9	23	rapid	rapid	ADJ
ajst-16792	9	24	development	development	NOUN
ajst-16792	9	25	,	,	PUNCT
ajst-16792	9	26	and	and	CCONJ
ajst-16792	9	27	now	now	ADV
ajst-16792	9	28	pipeline	pipeline	NOUN
ajst-16792	9	29	robots	robot	NOUN
ajst-16792	9	30	have	have	AUX
ajst-16792	9	31	been	be	AUX
ajst-16792	9	32	widely	widely	ADV
ajst-16792	9	33	used	use	VERB
ajst-16792	9	34	in	in	ADP
ajst-16792	9	35	gas	gas	NOUN
ajst-16792	9	36	transmission	transmission	NOUN
ajst-16792	9	37	,	,	PUNCT
ajst-16792	9	38	water	water	NOUN
ajst-16792	9	39	diversion	diversion	NOUN
ajst-16792	9	40	,	,	PUNCT
ajst-16792	9	41	petrochemical	petrochemical	NOUN
ajst-16792	9	42	and	and	CCONJ
ajst-16792	9	43	thermoelectric	thermoelectric	ADJ
ajst-16792	9	44	steam	steam	NOUN
ajst-16792	9	45	transmission	transmission	NOUN
ajst-16792	9	46	and	and	CCONJ
ajst-16792	9	47	other	other	ADJ
ajst-16792	9	48	areas	area	NOUN
ajst-16792	9	49	of	of	ADP
ajst-16792	9	50	pipeline	pipeline	NOUN
ajst-16792	9	51	inspection	inspection	NOUN
ajst-16792	9	52	and	and	CCONJ
ajst-16792	9	53	maintenance	maintenance	NOUN
ajst-16792	9	54	.	.	PUNCT
ajst-16792	10	1	the	the	DET
ajst-16792	10	2	research	research	NOUN
ajst-16792	10	3	and	and	CCONJ
ajst-16792	10	4	application	application	NOUN
ajst-16792	10	5	of	of	ADP
ajst-16792	10	6	pipeline	pipeline	NOUN
ajst-16792	10	7	robots	robot	NOUN
ajst-16792	10	8	can	can	AUX
ajst-16792	10	9	not	not	PART
ajst-16792	10	10	only	only	ADV
ajst-16792	10	11	greatly	greatly	ADV
ajst-16792	10	12	reduce	reduce	VERB
ajst-16792	10	13	the	the	DET
ajst-16792	10	14	workload	workload	NOUN
ajst-16792	10	15	of	of	ADP
ajst-16792	10	16	pipeline	pipeline	NOUN
ajst-16792	10	17	inspection	inspection	NOUN
ajst-16792	10	18	and	and	CCONJ
ajst-16792	10	19	maintenance	maintenance	NOUN
ajst-16792	10	20	,	,	PUNCT
ajst-16792	10	21	reduce	reduce	VERB
ajst-16792	10	22	the	the	DET
ajst-16792	10	23	labor	labor	NOUN
ajst-16792	10	24	intensity	intensity	NOUN
ajst-16792	10	25	of	of	ADP
ajst-16792	10	26	workers	worker	NOUN
ajst-16792	10	27	,	,	PUNCT
ajst-16792	10	28	improve	improve	VERB
ajst-16792	10	29	the	the	DET
ajst-16792	10	30	efficiency	efficiency	NOUN
ajst-16792	10	31	of	of	ADP
ajst-16792	10	32	pipeline	pipeline	NOUN
ajst-16792	10	33	inspection	inspection	NOUN
ajst-16792	10	34	and	and	CCONJ
ajst-16792	10	35	maintenance	maintenance	NOUN
ajst-16792	10	36	,	,	PUNCT
ajst-16792	10	37	but	but	CCONJ
ajst-16792	10	38	also	also	ADV
ajst-16792	10	39	reduce	reduce	VERB
ajst-16792	10	40	the	the	DET
ajst-16792	10	41	cost	cost	NOUN
ajst-16792	10	42	of	of	ADP
ajst-16792	10	43	inspection	inspection	NOUN
ajst-16792	10	44	and	and	CCONJ
ajst-16792	10	45	maintenance	maintenance	NOUN
ajst-16792	10	46	.	.	PUNCT
ajst-16792	11	1	2	2	X
ajst-16792	11	2	.	.	X
ajst-16792	11	3	classification	classification	NOUN
ajst-16792	11	4	of	of	ADP
ajst-16792	11	5	pipeline	pipeline	NOUN
ajst-16792	11	6	robots	robot	NOUN
ajst-16792	11	7	according	accord	VERB
ajst-16792	11	8	to	to	ADP
ajst-16792	11	9	the	the	DET
ajst-16792	11	10	moving	move	VERB
ajst-16792	11	11	mechanism	mechanism	NOUN
ajst-16792	11	12	,	,	PUNCT
ajst-16792	11	13	the	the	DET
ajst-16792	11	14	pipeline	pipeline	NOUN
ajst-16792	11	15	robots	robot	NOUN
ajst-16792	11	16	can	can	AUX
ajst-16792	11	17	be	be	AUX
ajst-16792	11	18	divided	divide	VERB
ajst-16792	11	19	into	into	ADP
ajst-16792	11	20	roller	roller	NOUN
ajst-16792	11	21	mobile	mobile	NOUN
ajst-16792	11	22	,	,	PUNCT
ajst-16792	11	23	tracked	track	VERB
ajst-16792	11	24	mobile	mobile	ADJ
ajst-16792	11	25	,	,	PUNCT
ajst-16792	11	26	peristaltic	peristaltic	ADJ
ajst-16792	11	27	mobile	mobile	NOUN
ajst-16792	11	28	,	,	PUNCT
ajst-16792	11	29	and	and	CCONJ
ajst-16792	11	30	liquid	liquid	NOUN
ajst-16792	11	31	-	-	PUNCT
ajst-16792	11	32	driven	drive	VERB
ajst-16792	11	33	,	,	PUNCT
ajst-16792	11	34	etc	etc	X
ajst-16792	12	1	[	[	X
ajst-16792	12	2	1	1	NUM
ajst-16792	12	3	]	]	PUNCT
ajst-16792	12	4	.	.	PUNCT
ajst-16792	13	1	2.1	2.1	NUM
ajst-16792	13	2	.	.	PUNCT
ajst-16792	14	1	roller	roller	NOUN
ajst-16792	14	2	mobile	mobile	ADJ
ajst-16792	14	3	pipeline	pipeline	NOUN
ajst-16792	14	4	robot	robot	NOUN
ajst-16792	14	5	roller	roller	PROPN
ajst-16792	14	6	mobile	mobile	ADJ
ajst-16792	14	7	pipeline	pipeline	NOUN
ajst-16792	14	8	robots	robot	NOUN
ajst-16792	14	9	use	use	VERB
ajst-16792	14	10	rollers	roller	NOUN
ajst-16792	14	11	as	as	ADP
ajst-16792	14	12	a	a	DET
ajst-16792	14	13	driving	driving	NOUN
ajst-16792	14	14	mechanism	mechanism	NOUN
ajst-16792	14	15	and	and	CCONJ
ajst-16792	14	16	move	move	VERB
ajst-16792	14	17	by	by	ADP
ajst-16792	14	18	motor	motor	NOUN
ajst-16792	14	19	.	.	PUNCT
ajst-16792	15	1	roller	roller	NOUN
ajst-16792	15	2	drive	drive	NOUN
ajst-16792	15	3	has	have	VERB
ajst-16792	15	4	advantages	advantage	NOUN
ajst-16792	15	5	such	such	ADJ
ajst-16792	15	6	as	as	ADP
ajst-16792	15	7	high	high	ADJ
ajst-16792	15	8	power	power	NOUN
ajst-16792	15	9	transmission	transmission	NOUN
ajst-16792	15	10	efficiency	efficiency	NOUN
ajst-16792	15	11	and	and	CCONJ
ajst-16792	15	12	stability	stability	NOUN
ajst-16792	15	13	of	of	ADP
ajst-16792	15	14	operation	operation	NOUN
ajst-16792	15	15	,	,	PUNCT
ajst-16792	15	16	which	which	PRON
ajst-16792	15	17	has	have	AUX
ajst-16792	15	18	become	become	VERB
ajst-16792	15	19	the	the	DET
ajst-16792	15	20	main	main	ADJ
ajst-16792	15	21	driving	drive	VERB
ajst-16792	15	22	mode	mode	NOUN
ajst-16792	15	23	of	of	ADP
ajst-16792	15	24	pipeline	pipeline	NOUN
ajst-16792	15	25	robot	robot	NOUN
ajst-16792	15	26	[	[	X
ajst-16792	15	27	2	2	NUM
ajst-16792	15	28	]	]	PUNCT
ajst-16792	15	29	.	.	PUNCT
ajst-16792	16	1	roller	roller	NOUN
ajst-16792	16	2	mobile	mobile	ADJ
ajst-16792	16	3	pipeline	pipeline	NOUN
ajst-16792	16	4	robots	robot	NOUN
ajst-16792	16	5	are	be	AUX
ajst-16792	16	6	supported	support	VERB
ajst-16792	16	7	straight	straight	ADJ
ajst-16792	16	8	-	-	PUNCT
ajst-16792	16	9	in	in	NOUN
ajst-16792	16	10	type	type	NOUN
ajst-16792	16	11	and	and	CCONJ
ajst-16792	16	12	screw	screw	NOUN
ajst-16792	16	13	-	-	PUNCT
ajst-16792	16	14	driven	drive	VERB
ajst-16792	16	15	type	type	NOUN
ajst-16792	16	16	.	.	PUNCT
ajst-16792	17	1	supported	support	VERB
ajst-16792	17	2	straight	straight	ADJ
ajst-16792	17	3	-	-	PUNCT
ajst-16792	17	4	in	in	NOUN
ajst-16792	17	5	pipeline	pipeline	NOUN
ajst-16792	17	6	robot	robot	NOUN
ajst-16792	17	7	,	,	PUNCT
ajst-16792	17	8	as	as	SCONJ
ajst-16792	17	9	shown	show	VERB
ajst-16792	17	10	in	in	ADP
ajst-16792	17	11	fig	fig	NOUN
ajst-16792	17	12	.	.	PUNCT
ajst-16792	18	1	1	1	NUM
ajst-16792	18	2	,	,	PUNCT
ajst-16792	18	3	the	the	DET
ajst-16792	18	4	axis	axis	NOUN
ajst-16792	18	5	of	of	ADP
ajst-16792	18	6	the	the	DET
ajst-16792	18	7	pipeline	pipeline	NOUN
ajst-16792	18	8	robot	robot	NOUN
ajst-16792	18	9	roller	roller	NOUN
ajst-16792	18	10	is	be	AUX
ajst-16792	18	11	perpendicular	perpendicular	ADJ
ajst-16792	18	12	to	to	ADP
ajst-16792	18	13	the	the	DET
ajst-16792	18	14	centerline	centerline	NOUN
ajst-16792	18	15	of	of	ADP
ajst-16792	18	16	the	the	DET
ajst-16792	18	17	pipeline	pipeline	NOUN
ajst-16792	18	18	,	,	PUNCT
ajst-16792	18	19	the	the	DET
ajst-16792	18	20	forward	forward	ADJ
ajst-16792	18	21	direction	direction	NOUN
ajst-16792	18	22	of	of	ADP
ajst-16792	18	23	the	the	DET
ajst-16792	18	24	roller	roller	NOUN
ajst-16792	18	25	is	be	AUX
ajst-16792	18	26	the	the	DET
ajst-16792	18	27	same	same	ADJ
ajst-16792	18	28	as	as	ADP
ajst-16792	18	29	the	the	DET
ajst-16792	18	30	direction	direction	NOUN
ajst-16792	18	31	of	of	ADP
ajst-16792	18	32	the	the	DET
ajst-16792	18	33	pipeline	pipeline	NOUN
ajst-16792	18	34	,	,	PUNCT
ajst-16792	18	35	and	and	CCONJ
ajst-16792	18	36	it	it	PRON
ajst-16792	18	37	moves	move	VERB
ajst-16792	18	38	along	along	ADP
ajst-16792	18	39	the	the	DET
ajst-16792	18	40	axis	axis	NOUN
ajst-16792	18	41	of	of	ADP
ajst-16792	18	42	the	the	DET
ajst-16792	18	43	pipeline	pipeline	NOUN
ajst-16792	18	44	under	under	ADP
ajst-16792	18	45	the	the	DET
ajst-16792	18	46	action	action	NOUN
ajst-16792	18	47	of	of	ADP
ajst-16792	18	48	the	the	DET
ajst-16792	18	49	driver	driver	NOUN
ajst-16792	18	50	[	[	X
ajst-16792	18	51	3	3	NUM
ajst-16792	18	52	]	]	PUNCT
ajst-16792	18	53	.	.	PUNCT
ajst-16792	19	1	figure	figure	NOUN
ajst-16792	19	2	1	1	NUM
ajst-16792	19	3	.	.	PUNCT
ajst-16792	19	4	supported	support	VERB
ajst-16792	19	5	straight	straight	ADJ
ajst-16792	19	6	-	-	PUNCT
ajst-16792	19	7	in	in	NOUN
ajst-16792	19	8	pipeline	pipeline	NOUN
ajst-16792	19	9	robot	robot	NOUN
ajst-16792	19	10	spiral	spiral	NOUN
ajst-16792	19	11	-	-	PUNCT
ajst-16792	19	12	driven	drive	VERB
ajst-16792	19	13	pipeline	pipeline	NOUN
ajst-16792	19	14	robot	robot	NOUN
ajst-16792	19	15	,	,	PUNCT
ajst-16792	19	16	as	as	SCONJ
ajst-16792	19	17	shown	show	VERB
ajst-16792	19	18	in	in	ADP
ajst-16792	19	19	fig	fig	NOUN
ajst-16792	19	20	.	.	PUNCT
ajst-16792	20	1	2	2	NUM
ajst-16792	20	2	,	,	PUNCT
ajst-16792	20	3	the	the	DET
ajst-16792	20	4	axis	axis	NOUN
ajst-16792	20	5	of	of	ADP
ajst-16792	20	6	the	the	DET
ajst-16792	20	7	robot	robot	NOUN
ajst-16792	20	8	's	's	PART
ajst-16792	20	9	rollers	roller	NOUN
ajst-16792	20	10	is	be	AUX
ajst-16792	20	11	not	not	PART
ajst-16792	20	12	perpendicular	perpendicular	ADJ
ajst-16792	20	13	to	to	ADP
ajst-16792	20	14	the	the	DET
ajst-16792	20	15	axis	axis	NOUN
ajst-16792	20	16	of	of	ADP
ajst-16792	20	17	the	the	DET
ajst-16792	20	18	pipeline	pipeline	NOUN
ajst-16792	20	19	,	,	PUNCT
ajst-16792	20	20	and	and	CCONJ
ajst-16792	20	21	there	there	PRON
ajst-16792	20	22	exists	exist	VERB
ajst-16792	20	23	a	a	DET
ajst-16792	20	24	certain	certain	ADJ
ajst-16792	20	25	angle	angle	NOUN
ajst-16792	20	26	a	a	DET
ajst-16792	20	27	(	(	PUNCT
ajst-16792	20	28	helical	helical	ADJ
ajst-16792	20	29	climb	climb	NOUN
ajst-16792	20	30	angle	angle	NOUN
ajst-16792	20	31	,	,	PUNCT
ajst-16792	20	32	0	0	NUM
ajst-16792	20	33	<	<	X
ajst-16792	20	34	a<90	a<90	NOUN
ajst-16792	20	35	°	°	NUM
ajst-16792	20	36	)	)	PUNCT
ajst-16792	20	37	,	,	PUNCT
ajst-16792	20	38	the	the	DET
ajst-16792	20	39	helical	helical	ADJ
ajst-16792	20	40	climb	climb	NOUN
ajst-16792	20	41	angle	angle	NOUN
ajst-16792	20	42	provides	provide	VERB
ajst-16792	20	43	axial	axial	ADJ
ajst-16792	20	44	and	and	CCONJ
ajst-16792	20	45	circumferential	circumferential	ADJ
ajst-16792	20	46	partial	partial	ADJ
ajst-16792	20	47	velocity	velocity	NOUN
ajst-16792	20	48	for	for	ADP
ajst-16792	20	49	the	the	DET
ajst-16792	20	50	robot	robot	NOUN
ajst-16792	20	51	to	to	PART
ajst-16792	20	52	move	move	VERB
ajst-16792	20	53	forward	forward	ADV
ajst-16792	20	54	,	,	PUNCT
ajst-16792	20	55	and	and	CCONJ
ajst-16792	20	56	it	it	PRON
ajst-16792	20	57	advances	advance	VERB
ajst-16792	20	58	along	along	ADP
ajst-16792	20	59	the	the	DET
ajst-16792	20	60	pipeline	pipeline	NOUN
ajst-16792	20	61	in	in	ADP
ajst-16792	20	62	the	the	DET
ajst-16792	20	63	putative	putative	ADJ
ajst-16792	20	64	form	form	NOUN
ajst-16792	20	65	of	of	ADP
ajst-16792	20	66	a	a	DET
ajst-16792	20	67	helix	helix	NOUN
ajst-16792	20	68	under	under	ADP
ajst-16792	20	69	the	the	DET
ajst-16792	20	70	action	action	NOUN
ajst-16792	20	71	of	of	ADP
ajst-16792	20	72	the	the	DET
ajst-16792	20	73	actuator	actuator	NOUN
ajst-16792	21	1	[	[	X
ajst-16792	21	2	3	3	NUM
ajst-16792	21	3	]	]	PUNCT
ajst-16792	21	4	.	.	PUNCT
ajst-16792	22	1	figure	figure	NOUN
ajst-16792	22	2	2	2	NUM
ajst-16792	22	3	.	.	PUNCT
ajst-16792	22	4	screw	screw	NOUN
ajst-16792	22	5	-	-	PUNCT
ajst-16792	22	6	driven	drive	VERB
ajst-16792	22	7	pipeline	pipeline	NOUN
ajst-16792	22	8	robot	robot	NOUN
ajst-16792	22	9	2.2	2.2	NUM
ajst-16792	22	10	.	.	PUNCT
ajst-16792	23	1	tracked	track	VERB
ajst-16792	23	2	mobile	mobile	ADJ
ajst-16792	23	3	pipeline	pipeline	NOUN
ajst-16792	23	4	robot	robot	NOUN
ajst-16792	23	5	a	a	DET
ajst-16792	23	6	tracked	track	VERB
ajst-16792	23	7	mobile	mobile	ADJ
ajst-16792	23	8	pipeline	pipeline	NOUN
ajst-16792	23	9	robot	robot	NOUN
ajst-16792	23	10	uses	use	VERB
ajst-16792	23	11	tracks	track	NOUN
ajst-16792	23	12	as	as	ADP
ajst-16792	23	13	its	its	PRON
ajst-16792	23	14	traveling	travel	VERB
ajst-16792	23	15	mechanism	mechanism	NOUN
ajst-16792	23	16	and	and	CCONJ
ajst-16792	23	17	moves	move	NOUN
ajst-16792	23	18	using	use	VERB
ajst-16792	23	19	motor	motor	NOUN
ajst-16792	23	20	drives	drive	NOUN
ajst-16792	23	21	.	.	PUNCT
ajst-16792	24	1	tracks	track	NOUN
ajst-16792	24	2	provide	provide	VERB
ajst-16792	24	3	stable	stable	ADJ
ajst-16792	24	4	support	support	NOUN
ajst-16792	24	5	for	for	ADP
ajst-16792	24	6	the	the	DET
ajst-16792	24	7	robot	robot	NOUN
ajst-16792	24	8	and	and	CCONJ
ajst-16792	24	9	increase	increase	VERB
ajst-16792	24	10	the	the	DET
ajst-16792	24	11	robot	robot	NOUN
ajst-16792	24	12	's	's	PART
ajst-16792	24	13	ability	ability	NOUN
ajst-16792	24	14	to	to	PART
ajst-16792	24	15	pass	pass	VERB
ajst-16792	24	16	.	.	PUNCT
ajst-16792	25	1	commonly	commonly	ADV
ajst-16792	25	2	,	,	PUNCT
ajst-16792	25	3	tracked	track	VERB
ajst-16792	25	4	pipeline	pipeline	NOUN
ajst-16792	25	5	robots	robot	NOUN
ajst-16792	25	6	can	can	AUX
ajst-16792	25	7	be	be	AUX
ajst-16792	25	8	categorized	categorize	VERB
ajst-16792	25	9	into	into	ADP
ajst-16792	25	10	double	double	ADJ
ajst-16792	25	11	-	-	PUNCT
ajst-16792	25	12	tracked	track	VERB
ajst-16792	25	13	and	and	CCONJ
ajst-16792	25	14	triple	triple	ADJ
ajst-16792	25	15	-	-	PUNCT
ajst-16792	25	16	tracked	track	VERB
ajst-16792	25	17	depending	depend	VERB
ajst-16792	25	18	on	on	ADP
ajst-16792	25	19	the	the	DET
ajst-16792	25	20	number	number	NOUN
ajst-16792	25	21	of	of	ADP
ajst-16792	25	22	tracks	track	NOUN
ajst-16792	25	23	.	.	PUNCT
ajst-16792	26	1	dual	dual	ADJ
ajst-16792	26	2	-	-	PUNCT
ajst-16792	26	3	tracked	track	VERB
ajst-16792	26	4	pipeline	pipeline	NOUN
ajst-16792	26	5	robot	robot	NOUN
ajst-16792	26	6	,	,	PUNCT
ajst-16792	26	7	as	as	SCONJ
ajst-16792	26	8	shown	show	VERB
ajst-16792	26	9	in	in	ADP
ajst-16792	26	10	fig	fig	NOUN
ajst-16792	26	11	.	.	PUNCT
ajst-16792	27	1	3	3	X
ajst-16792	27	2	.	.	X
ajst-16792	27	3	the	the	DET
ajst-16792	27	4	double	double	ADJ
ajst-16792	27	5	-	-	PUNCT
ajst-16792	27	6	tracked	track	VERB
ajst-16792	27	7	pipeline	pipeline	NOUN
ajst-16792	27	8	robot	robot	NOUN
ajst-16792	27	9	has	have	VERB
ajst-16792	27	10	a	a	DET
ajst-16792	27	11	smaller	small	ADJ
ajst-16792	27	12	structure	structure	NOUN
ajst-16792	27	13	and	and	CCONJ
ajst-16792	27	14	better	well	ADJ
ajst-16792	27	15	flexibility	flexibility	NOUN
ajst-16792	27	16	,	,	PUNCT
ajst-16792	27	17	but	but	CCONJ
ajst-16792	27	18	it	it	PRON
ajst-16792	27	19	ca	can	AUX
ajst-16792	27	20	n't	not	PART
ajst-16792	27	21	stick	stick	VERB
ajst-16792	27	22	to	to	ADP
ajst-16792	27	23	the	the	DET
ajst-16792	27	24	inner	inner	ADJ
ajst-16792	27	25	wall	wall	NOUN
ajst-16792	27	26	of	of	ADP
ajst-16792	27	27	the	the	DET
ajst-16792	27	28	pipeline	pipeline	NOUN
ajst-16792	27	29	,	,	PUNCT
ajst-16792	27	30	and	and	CCONJ
ajst-16792	27	31	its	its	PRON
ajst-16792	27	32	movement	movement	NOUN
ajst-16792	27	33	in	in	ADP
ajst-16792	27	34	the	the	DET
ajst-16792	27	35	pipeline	pipeline	NOUN
ajst-16792	27	36	is	be	AUX
ajst-16792	27	37	unstable	unstable	ADJ
ajst-16792	27	38	and	and	CCONJ
ajst-16792	27	39	prone	prone	ADJ
ajst-16792	27	40	to	to	ADP
ajst-16792	27	41	tilting	tilting	NOUN
ajst-16792	27	42	,	,	PUNCT
ajst-16792	27	43	and	and	CCONJ
ajst-16792	27	44	it	it	PRON
ajst-16792	27	45	's	be	AUX
ajst-16792	27	46	not	not	PART
ajst-16792	27	47	suitable	suitable	ADJ
ajst-16792	27	48	for	for	ADP
ajst-16792	27	49	occasions	occasion	NOUN
ajst-16792	27	50	where	where	SCONJ
ajst-16792	27	51	the	the	DET
ajst-16792	27	52	209	209	NUM
ajst-16792	27	53	slope	slope	NOUN
ajst-16792	27	54	of	of	ADP
ajst-16792	27	55	the	the	DET
ajst-16792	27	56	pipeline	pipeline	NOUN
ajst-16792	27	57	is	be	AUX
ajst-16792	27	58	large	large	ADJ
ajst-16792	28	1	[	[	X
ajst-16792	28	2	4	4	NUM
ajst-16792	28	3	]	]	PUNCT
ajst-16792	28	4	.	.	PUNCT
ajst-16792	29	1	figure	figure	NOUN
ajst-16792	29	2	3	3	NUM
ajst-16792	29	3	.	.	PUNCT
ajst-16792	30	1	dual	dual	ADJ
ajst-16792	30	2	tracked	track	VERB
ajst-16792	30	3	pipeline	pipeline	NOUN
ajst-16792	30	4	robot	robot	NOUN
ajst-16792	30	5	a	a	DET
ajst-16792	30	6	three	three	NUM
ajst-16792	30	7	-	-	PUNCT
ajst-16792	30	8	track	track	NOUN
ajst-16792	30	9	pipeline	pipeline	NOUN
ajst-16792	30	10	robot	robot	NOUN
ajst-16792	30	11	,	,	PUNCT
ajst-16792	30	12	as	as	SCONJ
ajst-16792	30	13	shown	show	VERB
ajst-16792	30	14	in	in	ADP
ajst-16792	30	15	fig	fig	NOUN
ajst-16792	30	16	.	.	PUNCT
ajst-16792	31	1	4	4	X
ajst-16792	31	2	.	.	X
ajst-16792	31	3	the	the	DET
ajst-16792	31	4	threetrack	threetrack	NOUN
ajst-16792	31	5	robot	robot	NOUN
ajst-16792	31	6	can	can	AUX
ajst-16792	31	7	adapt	adapt	VERB
ajst-16792	31	8	itself	itself	PRON
ajst-16792	31	9	to	to	ADP
ajst-16792	31	10	the	the	DET
ajst-16792	31	11	size	size	NOUN
ajst-16792	31	12	of	of	ADP
ajst-16792	31	13	the	the	DET
ajst-16792	31	14	pipeline	pipeline	NOUN
ajst-16792	31	15	by	by	ADP
ajst-16792	31	16	adjusting	adjust	VERB
ajst-16792	31	17	the	the	DET
ajst-16792	31	18	device	device	NOUN
ajst-16792	31	19	,	,	PUNCT
ajst-16792	31	20	so	so	SCONJ
ajst-16792	31	21	that	that	SCONJ
ajst-16792	31	22	the	the	DET
ajst-16792	31	23	three	three	NUM
ajst-16792	31	24	tracks	track	NOUN
ajst-16792	31	25	closely	closely	ADV
ajst-16792	31	26	fit	fit	VERB
ajst-16792	31	27	the	the	DET
ajst-16792	31	28	inner	inner	ADJ
ajst-16792	31	29	wall	wall	NOUN
ajst-16792	31	30	of	of	ADP
ajst-16792	31	31	the	the	DET
ajst-16792	31	32	pipeline	pipeline	NOUN
ajst-16792	31	33	to	to	PART
ajst-16792	31	34	generate	generate	VERB
ajst-16792	31	35	a	a	DET
ajst-16792	31	36	large	large	ADJ
ajst-16792	31	37	enough	enough	ADJ
ajst-16792	31	38	adhesion	adhesion	NOUN
ajst-16792	31	39	force	force	NOUN
ajst-16792	31	40	,	,	PUNCT
ajst-16792	31	41	and	and	CCONJ
ajst-16792	31	42	ultimately	ultimately	ADV
ajst-16792	31	43	provide	provide	VERB
ajst-16792	31	44	greater	great	ADJ
ajst-16792	31	45	forward	forward	ADJ
ajst-16792	31	46	momentum	momentum	NOUN
ajst-16792	31	47	for	for	ADP
ajst-16792	31	48	the	the	DET
ajst-16792	31	49	robot	robot	NOUN
ajst-16792	31	50	movement	movement	NOUN
ajst-16792	31	51	under	under	ADP
ajst-16792	31	52	the	the	DET
ajst-16792	31	53	action	action	NOUN
ajst-16792	31	54	of	of	ADP
ajst-16792	31	55	the	the	DET
ajst-16792	31	56	actuator	actuator	NOUN
ajst-16792	32	1	[	[	X
ajst-16792	32	2	5	5	NUM
ajst-16792	32	3	]	]	PUNCT
ajst-16792	32	4	.	.	PUNCT
ajst-16792	33	1	figure	figure	NOUN
ajst-16792	33	2	4	4	NUM
ajst-16792	33	3	.	.	PUNCT
ajst-16792	34	1	three	three	NUM
ajst-16792	34	2	tracked	track	VERB
ajst-16792	34	3	pipeline	pipeline	NOUN
ajst-16792	34	4	robot	robot	NOUN
ajst-16792	34	5	2.3	2.3	NUM
ajst-16792	34	6	.	.	PUNCT
ajst-16792	35	1	peristaltic	peristaltic	ADJ
ajst-16792	35	2	mobile	mobile	ADJ
ajst-16792	35	3	pipeline	pipeline	NOUN
ajst-16792	35	4	robot	robot	NOUN
ajst-16792	35	5	peristaltic	peristaltic	ADJ
ajst-16792	35	6	mobile	mobile	ADJ
ajst-16792	35	7	pipeline	pipeline	NOUN
ajst-16792	35	8	robots	robot	NOUN
ajst-16792	35	9	are	be	AUX
ajst-16792	35	10	modeled	model	VERB
ajst-16792	35	11	after	after	ADP
ajst-16792	35	12	the	the	DET
ajst-16792	35	13	peristaltic	peristaltic	ADJ
ajst-16792	35	14	forward	forward	ADV
ajst-16792	35	15	and	and	CCONJ
ajst-16792	35	16	backward	backward	ADJ
ajst-16792	35	17	movements	movement	NOUN
ajst-16792	35	18	of	of	ADP
ajst-16792	35	19	reptiles	reptile	NOUN
ajst-16792	35	20	crawling	crawl	VERB
ajst-16792	35	21	on	on	ADP
ajst-16792	35	22	the	the	DET
ajst-16792	35	23	ground	ground	NOUN
ajst-16792	35	24	.	.	PUNCT
ajst-16792	36	1	peristaltic	peristaltic	ADJ
ajst-16792	36	2	pipeline	pipeline	NOUN
ajst-16792	36	3	robots	robot	NOUN
ajst-16792	36	4	are	be	AUX
ajst-16792	36	5	highly	highly	ADV
ajst-16792	36	6	redundant	redundant	ADJ
ajst-16792	36	7	degrees	degree	NOUN
ajst-16792	36	8	of	of	ADP
ajst-16792	36	9	freedom	freedom	NOUN
ajst-16792	36	10	motion	motion	NOUN
ajst-16792	36	11	robots	robot	NOUN
ajst-16792	36	12	that	that	PRON
ajst-16792	36	13	avoid	avoid	VERB
ajst-16792	36	14	the	the	DET
ajst-16792	36	15	disadvantage	disadvantage	NOUN
ajst-16792	36	16	of	of	ADP
ajst-16792	36	17	wheeled	wheeled	ADJ
ajst-16792	36	18	or	or	CCONJ
ajst-16792	36	19	tracked	track	VERB
ajst-16792	36	20	robots	robot	NOUN
ajst-16792	36	21	that	that	PRON
ajst-16792	36	22	can	can	AUX
ajst-16792	36	23	not	not	PART
ajst-16792	36	24	continue	continue	VERB
ajst-16792	36	25	working	work	VERB
ajst-16792	36	26	after	after	SCONJ
ajst-16792	36	27	they	they	PRON
ajst-16792	36	28	have	have	AUX
ajst-16792	36	29	rolled	roll	VERB
ajst-16792	36	30	over	over	ADP
ajst-16792	36	31	on	on	ADP
ajst-16792	36	32	their	their	PRON
ajst-16792	36	33	side	side	NOUN
ajst-16792	36	34	[	[	X
ajst-16792	36	35	6	6	NUM
ajst-16792	36	36	]	]	PUNCT
ajst-16792	36	37	.	.	PUNCT
ajst-16792	37	1	2.4	2.4	NUM
ajst-16792	37	2	.	.	PUNCT
ajst-16792	37	3	liquid	liquid	NOUN
ajst-16792	37	4	-	-	PUNCT
ajst-16792	37	5	driven	drive	VERB
ajst-16792	37	6	pipeline	pipeline	NOUN
ajst-16792	37	7	robot	robot	NOUN
ajst-16792	37	8	fluid	fluid	NOUN
ajst-16792	37	9	-	-	PUNCT
ajst-16792	37	10	driven	drive	VERB
ajst-16792	37	11	pipeline	pipeline	NOUN
ajst-16792	37	12	robots	robot	NOUN
ajst-16792	37	13	utilize	utilize	VERB
ajst-16792	37	14	the	the	DET
ajst-16792	37	15	pressure	pressure	NOUN
ajst-16792	37	16	difference	difference	NOUN
ajst-16792	37	17	drive	drive	NOUN
ajst-16792	37	18	of	of	ADP
ajst-16792	37	19	the	the	DET
ajst-16792	37	20	fluid	fluid	NOUN
ajst-16792	37	21	to	to	PART
ajst-16792	37	22	achieve	achieve	VERB
ajst-16792	37	23	motion	motion	NOUN
ajst-16792	37	24	in	in	ADP
ajst-16792	37	25	a	a	DET
ajst-16792	37	26	pipeline	pipeline	NOUN
ajst-16792	37	27	filled	fill	VERB
ajst-16792	37	28	with	with	ADP
ajst-16792	37	29	a	a	DET
ajst-16792	37	30	medium	medium	NOUN
ajst-16792	37	31	,	,	PUNCT
ajst-16792	37	32	as	as	SCONJ
ajst-16792	37	33	shown	show	VERB
ajst-16792	37	34	in	in	ADP
ajst-16792	37	35	fig	fig	NOUN
ajst-16792	37	36	.	.	PUNCT
ajst-16792	38	1	5	5	X
ajst-16792	38	2	.	.	X
ajst-16792	38	3	roller	roller	NOUN
ajst-16792	38	4	-	-	PUNCT
ajst-16792	38	5	type	type	NOUN
ajst-16792	38	6	and	and	CCONJ
ajst-16792	38	7	crawler	crawler	NOUN
ajst-16792	38	8	-	-	PUNCT
ajst-16792	38	9	type	type	NOUN
ajst-16792	38	10	pipeline	pipeline	NOUN
ajst-16792	38	11	robots	robot	NOUN
ajst-16792	38	12	are	be	AUX
ajst-16792	38	13	more	more	ADV
ajst-16792	38	14	difficult	difficult	ADJ
ajst-16792	38	15	to	to	PART
ajst-16792	38	16	control	control	VERB
ajst-16792	38	17	the	the	DET
ajst-16792	38	18	traveling	travel	VERB
ajst-16792	38	19	speed	speed	NOUN
ajst-16792	38	20	and	and	CCONJ
ajst-16792	38	21	are	be	AUX
ajst-16792	38	22	prone	prone	ADJ
ajst-16792	38	23	to	to	ADP
ajst-16792	38	24	large	large	ADJ
ajst-16792	38	25	fluctuations	fluctuation	NOUN
ajst-16792	38	26	.	.	PUNCT
ajst-16792	39	1	in	in	ADP
ajst-16792	39	2	addition	addition	NOUN
ajst-16792	39	3	,	,	PUNCT
ajst-16792	39	4	they	they	PRON
ajst-16792	39	5	are	be	AUX
ajst-16792	39	6	limited	limit	VERB
ajst-16792	39	7	in	in	ADP
ajst-16792	39	8	carrying	carry	VERB
ajst-16792	39	9	energy	energy	NOUN
ajst-16792	39	10	,	,	PUNCT
ajst-16792	39	11	making	make	VERB
ajst-16792	39	12	it	it	PRON
ajst-16792	39	13	difficult	difficult	ADJ
ajst-16792	39	14	to	to	PART
ajst-16792	39	15	work	work	VERB
ajst-16792	39	16	for	for	ADP
ajst-16792	39	17	long	long	ADJ
ajst-16792	39	18	periods	period	NOUN
ajst-16792	39	19	of	of	ADP
ajst-16792	39	20	time	time	NOUN
ajst-16792	39	21	inside	inside	ADP
ajst-16792	39	22	pipelines	pipeline	NOUN
ajst-16792	39	23	.	.	PUNCT
ajst-16792	40	1	these	these	DET
ajst-16792	40	2	problems	problem	NOUN
ajst-16792	40	3	severely	severely	ADV
ajst-16792	40	4	limit	limit	VERB
ajst-16792	40	5	the	the	DET
ajst-16792	40	6	working	working	NOUN
ajst-16792	40	7	time	time	NOUN
ajst-16792	40	8	and	and	CCONJ
ajst-16792	40	9	working	working	NOUN
ajst-16792	40	10	distance	distance	NOUN
ajst-16792	40	11	of	of	ADP
ajst-16792	40	12	pipeline	pipeline	NOUN
ajst-16792	40	13	robots	robot	NOUN
ajst-16792	40	14	.	.	PUNCT
ajst-16792	41	1	fluid	fluid	NOUN
ajst-16792	41	2	-	-	PUNCT
ajst-16792	41	3	driven	drive	VERB
ajst-16792	41	4	pipeline	pipeline	NOUN
ajst-16792	41	5	robots	robot	NOUN
ajst-16792	41	6	,	,	PUNCT
ajst-16792	41	7	on	on	ADP
ajst-16792	41	8	the	the	DET
ajst-16792	41	9	other	other	ADJ
ajst-16792	41	10	hand	hand	NOUN
ajst-16792	41	11	,	,	PUNCT
ajst-16792	41	12	utilize	utilize	VERB
ajst-16792	41	13	the	the	DET
ajst-16792	41	14	pressure	pressure	NOUN
ajst-16792	41	15	of	of	ADP
ajst-16792	41	16	the	the	DET
ajst-16792	41	17	fluid	fluid	NOUN
ajst-16792	41	18	to	to	PART
ajst-16792	41	19	achieve	achieve	VERB
ajst-16792	41	20	the	the	DET
ajst-16792	41	21	walking	walk	VERB
ajst-16792	41	22	function	function	NOUN
ajst-16792	41	23	.	.	PUNCT
ajst-16792	42	1	this	this	DET
ajst-16792	42	2	design	design	NOUN
ajst-16792	42	3	makes	make	VERB
ajst-16792	42	4	it	it	PRON
ajst-16792	42	5	easier	easy	ADJ
ajst-16792	42	6	to	to	PART
ajst-16792	42	7	accurately	accurately	ADV
ajst-16792	42	8	control	control	VERB
ajst-16792	42	9	its	its	PRON
ajst-16792	42	10	speed	speed	NOUN
ajst-16792	42	11	and	and	CCONJ
ajst-16792	42	12	enables	enable	VERB
ajst-16792	42	13	it	it	PRON
ajst-16792	42	14	to	to	PART
ajst-16792	42	15	travel	travel	VERB
ajst-16792	42	16	stably	stably	ADV
ajst-16792	42	17	,	,	PUNCT
ajst-16792	42	18	thus	thus	ADV
ajst-16792	42	19	improving	improve	VERB
ajst-16792	42	20	the	the	DET
ajst-16792	42	21	overall	overall	ADJ
ajst-16792	42	22	performance	performance	NOUN
ajst-16792	42	23	of	of	ADP
ajst-16792	42	24	pipeline	pipeline	NOUN
ajst-16792	42	25	robots	robot	NOUN
ajst-16792	42	26	[	[	X
ajst-16792	42	27	7	7	NUM
ajst-16792	42	28	]	]	PUNCT
ajst-16792	42	29	.	.	PUNCT
ajst-16792	43	1	figure	figure	NOUN
ajst-16792	43	2	5	5	NUM
ajst-16792	43	3	.	.	PUNCT
ajst-16792	44	1	liquid	liquid	NOUN
ajst-16792	44	2	-	-	PUNCT
ajst-16792	44	3	driven	drive	VERB
ajst-16792	44	4	pipeline	pipeline	NOUN
ajst-16792	44	5	robot	robot	NOUN
ajst-16792	44	6	3	3	NUM
ajst-16792	44	7	.	.	PUNCT
ajst-16792	44	8	current	current	ADJ
ajst-16792	44	9	status	status	NOUN
ajst-16792	44	10	of	of	ADP
ajst-16792	44	11	research	research	NOUN
ajst-16792	44	12	on	on	ADP
ajst-16792	44	13	pipeline	pipeline	NOUN
ajst-16792	44	14	robots	robot	NOUN
ajst-16792	44	15	3.1	3.1	NUM
ajst-16792	44	16	.	.	PUNCT
ajst-16792	45	1	current	current	ADJ
ajst-16792	45	2	status	status	NOUN
ajst-16792	45	3	of	of	ADP
ajst-16792	45	4	pipeline	pipeline	NOUN
ajst-16792	45	5	robot	robot	NOUN
ajst-16792	45	6	development	development	PROPN
ajst-16792	45	7	abroad	abroad	ADP
ajst-16792	45	8	foreign	foreign	ADJ
ajst-16792	45	9	research	research	NOUN
ajst-16792	45	10	on	on	ADP
ajst-16792	45	11	pipeline	pipeline	NOUN
ajst-16792	45	12	robots	robot	NOUN
ajst-16792	45	13	can	can	AUX
ajst-16792	45	14	be	be	AUX
ajst-16792	45	15	traced	trace	VERB
ajst-16792	45	16	back	back	ADV
ajst-16792	45	17	to	to	ADP
ajst-16792	45	18	the	the	DET
ajst-16792	45	19	1950s	1950s	NUM
ajst-16792	45	20	.	.	PUNCT
ajst-16792	46	1	with	with	ADP
ajst-16792	46	2	the	the	DET
ajst-16792	46	3	development	development	NOUN
ajst-16792	46	4	of	of	ADP
ajst-16792	46	5	industrialization	industrialization	NOUN
ajst-16792	46	6	in	in	ADP
ajst-16792	46	7	the	the	DET
ajst-16792	46	8	west	west	NOUN
ajst-16792	46	9	,	,	PUNCT
ajst-16792	46	10	the	the	DET
ajst-16792	46	11	demand	demand	NOUN
ajst-16792	46	12	for	for	ADP
ajst-16792	46	13	inspection	inspection	NOUN
ajst-16792	46	14	and	and	CCONJ
ajst-16792	46	15	maintenance	maintenance	NOUN
ajst-16792	46	16	of	of	ADP
ajst-16792	46	17	oil	oil	NOUN
ajst-16792	46	18	and	and	CCONJ
ajst-16792	46	19	gas	gas	NOUN
ajst-16792	46	20	pipelines	pipeline	NOUN
ajst-16792	46	21	gradually	gradually	ADV
ajst-16792	46	22	increased	increase	VERB
ajst-16792	46	23	,	,	PUNCT
ajst-16792	46	24	and	and	CCONJ
ajst-16792	46	25	the	the	DET
ajst-16792	46	26	demand	demand	NOUN
ajst-16792	46	27	for	for	ADP
ajst-16792	46	28	in	in	ADP
ajst-16792	46	29	-	-	PUNCT
ajst-16792	46	30	pipe	pipe	NOUN
ajst-16792	46	31	robots	robot	NOUN
ajst-16792	46	32	also	also	ADV
ajst-16792	46	33	grew	grow	VERB
ajst-16792	46	34	rapidly	rapidly	ADV
ajst-16792	46	35	.	.	PUNCT
ajst-16792	47	1	j.	j.	PROPN
ajst-16792	47	2	vertut	vertut	PROPN
ajst-16792	47	3	of	of	ADP
ajst-16792	47	4	france	france	PROPN
ajst-16792	47	5	developed	develop	VERB
ajst-16792	47	6	a	a	DET
ajst-16792	47	7	wheel	wheel	NOUN
ajst-16792	47	8	-	-	PUNCT
ajst-16792	47	9	legged	legged	ADJ
ajst-16792	47	10	in	in	ADP
ajst-16792	47	11	-	-	PUNCT
ajst-16792	47	12	pipe	pipe	NOUN
ajst-16792	47	13	walking	walking	NOUN
ajst-16792	47	14	mechanism	mechanism	NOUN
ajst-16792	47	15	model	model	NOUN
ajst-16792	47	16	ipriv	ipriv	PROPN
ajst-16792	47	17	in	in	ADP
ajst-16792	47	18	1978	1978	NUM
ajst-16792	47	19	,	,	PUNCT
ajst-16792	47	20	which	which	PRON
ajst-16792	47	21	realized	realize	VERB
ajst-16792	47	22	autonomous	autonomous	ADJ
ajst-16792	47	23	walking	walking	NOUN
ajst-16792	47	24	in	in	ADP
ajst-16792	47	25	the	the	DET
ajst-16792	47	26	pipeline	pipeline	NOUN
ajst-16792	47	27	despite	despite	SCONJ
ajst-16792	47	28	its	its	PRON
ajst-16792	47	29	simple	simple	ADJ
ajst-16792	47	30	structure	structure	NOUN
ajst-16792	47	31	and	and	CCONJ
ajst-16792	47	32	single	single	ADJ
ajst-16792	47	33	function	function	NOUN
ajst-16792	47	34	,	,	PUNCT
ajst-16792	47	35	and	and	CCONJ
ajst-16792	47	36	had	have	VERB
ajst-16792	47	37	a	a	DET
ajst-16792	47	38	profound	profound	ADJ
ajst-16792	47	39	impact	impact	NOUN
ajst-16792	47	40	on	on	ADP
ajst-16792	47	41	the	the	DET
ajst-16792	47	42	development	development	NOUN
ajst-16792	47	43	of	of	ADP
ajst-16792	47	44	pipeline	pipeline	NOUN
ajst-16792	47	45	robots	robot	NOUN
ajst-16792	47	46	.	.	PUNCT
ajst-16792	48	1	in	in	ADP
ajst-16792	48	2	the	the	DET
ajst-16792	48	3	1870s	1870	NOUN
ajst-16792	48	4	,	,	PUNCT
ajst-16792	48	5	the	the	DET
ajst-16792	48	6	united	united	PROPN
ajst-16792	48	7	states	states	PROPN
ajst-16792	48	8	rapid	rapid	ADJ
ajst-16792	48	9	development	development	NOUN
ajst-16792	48	10	of	of	ADP
ajst-16792	48	11	pipeline	pipeline	NOUN
ajst-16792	48	12	transportation	transportation	NOUN
ajst-16792	48	13	,	,	PUNCT
ajst-16792	48	14	greatly	greatly	ADV
ajst-16792	48	15	enhancing	enhance	VERB
ajst-16792	48	16	the	the	DET
ajst-16792	48	17	united	united	PROPN
ajst-16792	48	18	states	states	PROPN
ajst-16792	48	19	of	of	ADP
ajst-16792	48	20	america	america	PROPN
ajst-16792	48	21	on	on	ADP
ajst-16792	48	22	the	the	DET
ajst-16792	48	23	pipeline	pipeline	NOUN
ajst-16792	48	24	inspection	inspection	NOUN
ajst-16792	48	25	equipment	equipment	NOUN
ajst-16792	48	26	research	research	NOUN
ajst-16792	48	27	needs	need	NOUN
ajst-16792	48	28	.	.	PUNCT
ajst-16792	49	1	1962	1962	NUM
ajst-16792	49	2	,	,	PUNCT
ajst-16792	49	3	the	the	DET
ajst-16792	49	4	united	united	PROPN
ajst-16792	49	5	states	states	PROPN
ajst-16792	49	6	knapp	knapp	PROPN
ajst-16792	49	7	and	and	CCONJ
ajst-16792	49	8	girard	girard	PROPN
ajst-16792	49	9	developed	develop	VERB
ajst-16792	49	10	a	a	DET
ajst-16792	49	11	robot	robot	NOUN
ajst-16792	49	12	for	for	ADP
ajst-16792	49	13	pipeline	pipeline	NOUN
ajst-16792	49	14	cleaning	clean	VERB
ajst-16792	49	15	"	"	PUNCT
ajst-16792	49	16	pipeline	pipeline	NOUN
ajst-16792	49	17	pig	pig	NOUN
ajst-16792	49	18	"	"	PUNCT
ajst-16792	49	19	.	.	PUNCT
ajst-16792	50	1	pig	pig	NOUN
ajst-16792	50	2	is	be	AUX
ajst-16792	50	3	the	the	DET
ajst-16792	50	4	most	most	ADV
ajst-16792	50	5	representative	representative	NOUN
ajst-16792	50	6	of	of	ADP
ajst-16792	50	7	the	the	DET
ajst-16792	50	8	early	early	ADJ
ajst-16792	50	9	pipe	pipe	NOUN
ajst-16792	50	10	cleaning	cleaning	NOUN
ajst-16792	50	11	and	and	CCONJ
ajst-16792	50	12	inspection	inspection	NOUN
ajst-16792	50	13	equipment	equipment	NOUN
ajst-16792	50	14	,	,	PUNCT
ajst-16792	50	15	there	there	PRON
ajst-16792	50	16	is	be	VERB
ajst-16792	50	17	no	no	DET
ajst-16792	50	18	autonomous	autonomous	ADJ
ajst-16792	50	19	drive	drive	NOUN
ajst-16792	50	20	capability	capability	NOUN
ajst-16792	50	21	,	,	PUNCT
ajst-16792	50	22	its	its	PRON
ajst-16792	50	23	forward	forward	ADJ
ajst-16792	50	24	power	power	NOUN
ajst-16792	50	25	from	from	ADP
ajst-16792	50	26	the	the	DET
ajst-16792	50	27	head	head	NOUN
ajst-16792	50	28	and	and	CCONJ
ajst-16792	50	29	end	end	NOUN
ajst-16792	50	30	of	of	ADP
ajst-16792	50	31	the	the	DET
ajst-16792	50	32	fluid	fluid	ADJ
ajst-16792	50	33	pressure	pressure	NOUN
ajst-16792	50	34	difference	difference	NOUN
ajst-16792	50	35	,	,	PUNCT
ajst-16792	50	36	without	without	ADP
ajst-16792	50	37	the	the	DET
ajst-16792	50	38	need	need	NOUN
ajst-16792	50	39	for	for	ADP
ajst-16792	50	40	trailing	trail	VERB
ajst-16792	50	41	cables	cable	NOUN
ajst-16792	50	42	or	or	CCONJ
ajst-16792	50	43	carrying	carry	VERB
ajst-16792	50	44	batteries	battery	NOUN
ajst-16792	50	45	to	to	PART
ajst-16792	50	46	drive	drive	VERB
ajst-16792	50	47	,	,	PUNCT
ajst-16792	50	48	once	once	ADV
ajst-16792	50	49	can	can	AUX
ajst-16792	50	50	walk	walk	VERB
ajst-16792	50	51	several	several	ADJ
ajst-16792	50	52	hundred	hundred	NUM
ajst-16792	50	53	kilometers	kilometer	NOUN
ajst-16792	50	54	[	[	X
ajst-16792	50	55	8	8	NUM
ajst-16792	50	56	]	]	PUNCT
ajst-16792	50	57	.	.	PUNCT
ajst-16792	51	1	islas	islas	PROPN
ajst-16792	51	2	-	-	PUNCT
ajst-16792	51	3	garciaea	garciaea	PROPN
ajst-16792	51	4	et	et	PROPN
ajst-16792	51	5	al	al	PROPN
ajst-16792	51	6	.	.	PROPN
ajst-16792	52	1	at	at	ADP
ajst-16792	52	2	the	the	DET
ajst-16792	52	3	national	national	PROPN
ajst-16792	52	4	polytechnic	polytechnic	PROPN
ajst-16792	52	5	institute	institute	PROPN
ajst-16792	52	6	of	of	ADP
ajst-16792	52	7	mexico	mexico	PROPN
ajst-16792	52	8	developed	develop	VERB
ajst-16792	52	9	a	a	DET
ajst-16792	52	10	bionic	bionic	ADJ
ajst-16792	52	11	type	type	NOUN
ajst-16792	52	12	pipeline	pipeline	NOUN
ajst-16792	52	13	robot	robot	NOUN
ajst-16792	52	14	[	[	X
ajst-16792	52	15	9	9	NUM
ajst-16792	52	16	]	]	PUNCT
ajst-16792	52	17	,	,	PUNCT
ajst-16792	52	18	as	as	SCONJ
ajst-16792	52	19	shown	show	VERB
ajst-16792	52	20	in	in	ADP
ajst-16792	52	21	fig	fig	NOUN
ajst-16792	52	22	.	.	PUNCT
ajst-16792	53	1	6	6	NUM
ajst-16792	53	2	.	.	PUNCT
ajst-16792	53	3	the	the	DET
ajst-16792	53	4	robot	robot	NOUN
ajst-16792	53	5	uses	use	VERB
ajst-16792	53	6	rollers	roller	NOUN
ajst-16792	53	7	as	as	ADP
ajst-16792	53	8	a	a	DET
ajst-16792	53	9	walking	walking	NOUN
ajst-16792	53	10	mechanism	mechanism	NOUN
ajst-16792	53	11	and	and	CCONJ
ajst-16792	53	12	is	be	AUX
ajst-16792	53	13	mainly	mainly	ADV
ajst-16792	53	14	used	use	VERB
ajst-16792	53	15	to	to	PART
ajst-16792	53	16	detect	detect	VERB
ajst-16792	53	17	and	and	CCONJ
ajst-16792	53	18	analyze	analyze	VERB
ajst-16792	53	19	the	the	DET
ajst-16792	53	20	condition	condition	NOUN
ajst-16792	53	21	of	of	ADP
ajst-16792	53	22	underground	underground	ADJ
ajst-16792	53	23	drainage	drainage	NOUN
ajst-16792	53	24	pipes	pipe	NOUN
ajst-16792	53	25	in	in	ADP
ajst-16792	53	26	different	different	ADJ
ajst-16792	53	27	highways	highway	NOUN
ajst-16792	53	28	in	in	ADP
ajst-16792	53	29	mexico	mexico	PROPN
ajst-16792	53	30	.	.	PUNCT
ajst-16792	54	1	figure	figure	VERB
ajst-16792	54	2	6	6	NUM
ajst-16792	54	3	.	.	PUNCT
ajst-16792	54	4	roller	roller	NOUN
ajst-16792	54	5	mobile	mobile	ADJ
ajst-16792	54	6	pipeline	pipeline	NOUN
ajst-16792	54	7	robot	robot	NOUN
ajst-16792	54	8	a	a	DET
ajst-16792	54	9	peristaltic	peristaltic	ADJ
ajst-16792	54	10	drive	drive	NOUN
ajst-16792	54	11	mechanism	mechanism	NOUN
ajst-16792	54	12	for	for	ADP
ajst-16792	54	13	narrow	narrow	ADJ
ajst-16792	54	14	pipes	pipe	NOUN
ajst-16792	54	15	was	be	AUX
ajst-16792	54	16	designed	design	VERB
ajst-16792	54	17	by	by	ADP
ajst-16792	54	18	tomonari	tomonari	PROPN
ajst-16792	54	19	yamamoto	yamamoto	PROPN
ajst-16792	54	20	et	et	PROPN
ajst-16792	54	21	al	al	PROPN
ajst-16792	54	22	.	.	PROPN
ajst-16792	55	1	in	in	ADP
ajst-16792	55	2	japan	japan	PROPN
ajst-16792	55	3	,	,	PUNCT
ajst-16792	55	4	as	as	SCONJ
ajst-16792	55	5	shown	show	VERB
ajst-16792	55	6	in	in	ADP
ajst-16792	55	7	fig	fig	NOUN
ajst-16792	55	8	.	.	PUNCT
ajst-16792	56	1	7	7	X
ajst-16792	56	2	.	.	X
ajst-16792	56	3	the	the	DET
ajst-16792	56	4	robot	robot	NOUN
ajst-16792	56	5	achieves	achieve	VERB
ajst-16792	56	6	rapid	rapid	ADJ
ajst-16792	56	7	motion	motion	NOUN
ajst-16792	56	8	through	through	ADP
ajst-16792	56	9	narrow	narrow	ADJ
ajst-16792	56	10	ducts	duct	NOUN
ajst-16792	56	11	by	by	ADP
ajst-16792	56	12	a	a	DET
ajst-16792	56	13	unique	unique	ADJ
ajst-16792	56	14	dual	dual	ADJ
ajst-16792	56	15	-	-	PUNCT
ajst-16792	56	16	chamber	chamber	NOUN
ajst-16792	56	17	structure	structure	NOUN
ajst-16792	56	18	,	,	PUNCT
ajst-16792	56	19	and	and	CCONJ
ajst-16792	56	20	the	the	DET
ajst-16792	56	21	mechanism	mechanism	NOUN
ajst-16792	56	22	achieves	achieve	VERB
ajst-16792	56	23	smooth	smooth	ADJ
ajst-16792	56	24	bi	bi	ADJ
ajst-16792	56	25	-	-	ADJ
ajst-16792	56	26	directional	directional	ADJ
ajst-16792	56	27	peristaltic	peristaltic	ADJ
ajst-16792	56	28	motion	motion	NOUN
ajst-16792	56	29	by	by	ADP
ajst-16792	56	30	a	a	DET
ajst-16792	56	31	combination	combination	NOUN
ajst-16792	56	32	of	of	ADP
ajst-16792	56	33	expandable	expandable	ADJ
ajst-16792	56	34	silicone	silicone	NOUN
ajst-16792	56	35	rubber	rubber	NOUN
ajst-16792	56	36	and	and	CCONJ
ajst-16792	56	37	coil	coil	NOUN
ajst-16792	56	38	springs	spring	NOUN
ajst-16792	56	39	,	,	PUNCT
ajst-16792	56	40	which	which	PRON
ajst-16792	56	41	can	can	AUX
ajst-16792	56	42	be	be	AUX
ajst-16792	56	43	fully	fully	ADV
ajst-16792	56	44	controlled	control	VERB
ajst-16792	56	45	by	by	ADP
ajst-16792	56	46	only	only	ADV
ajst-16792	56	47	two	two	NUM
ajst-16792	56	48	air	air	NOUN
ajst-16792	56	49	supply	supply	NOUN
ajst-16792	56	50	lines	line	NOUN
ajst-16792	56	51	[	[	X
ajst-16792	56	52	10	10	NUM
ajst-16792	56	53	]	]	PUNCT
ajst-16792	56	54	.	.	PUNCT
ajst-16792	57	1	figure	figure	NOUN
ajst-16792	57	2	7	7	NUM
ajst-16792	57	3	.	.	PUNCT
ajst-16792	58	1	peristaltic	peristaltic	ADJ
ajst-16792	58	2	pipe	pipe	NOUN
ajst-16792	58	3	drive	drive	NOUN
ajst-16792	58	4	mechanism	mechanism	NOUN
ajst-16792	58	5	h.	h.	PROPN
ajst-16792	58	6	torajizadeh	torajizadeh	PROPN
ajst-16792	58	7	,	,	PUNCT
ajst-16792	58	8	et	et	PROPN
ajst-16792	58	9	al	al	PROPN
ajst-16792	58	10	.	.	PROPN
ajst-16792	59	1	at	at	ADP
ajst-16792	59	2	kharazmi	kharazmi	PROPN
ajst-16792	59	3	university	university	PROPN
ajst-16792	59	4	,	,	PUNCT
ajst-16792	59	5	iran	iran	PROPN
ajst-16792	59	6	,	,	PUNCT
ajst-16792	59	7	designed	design	VERB
ajst-16792	59	8	a	a	DET
ajst-16792	59	9	spiral	spiral	ADJ
ajst-16792	59	10	type	type	NOUN
ajst-16792	59	11	of	of	ADP
ajst-16792	59	12	pipeline	pipeline	NOUN
ajst-16792	59	13	robot	robot	NOUN
ajst-16792	59	14	as	as	SCONJ
ajst-16792	59	15	shown	show	VERB
ajst-16792	59	16	in	in	ADP
ajst-16792	59	17	fig	fig	NOUN
ajst-16792	59	18	.	.	PUNCT
ajst-16792	60	1	8	8	X
ajst-16792	60	2	.	.	PUNCT
ajst-16792	61	1	the	the	DET
ajst-16792	61	2	robot	robot	NOUN
ajst-16792	61	3	is	be	AUX
ajst-16792	61	4	capable	capable	ADJ
ajst-16792	61	5	of	of	ADP
ajst-16792	61	6	moving	move	VERB
ajst-16792	61	7	through	through	ADP
ajst-16792	61	8	any	any	DET
ajst-16792	61	9	pipe	pipe	NOUN
ajst-16792	61	10	in	in	ADP
ajst-16792	61	11	a	a	DET
ajst-16792	61	12	predefined	predefine	VERB
ajst-16792	61	13	range	range	NOUN
ajst-16792	61	14	of	of	ADP
ajst-16792	61	15	diameters	diameter	NOUN
ajst-16792	61	16	at	at	ADP
ajst-16792	61	17	a	a	DET
ajst-16792	61	18	variable	variable	ADJ
ajst-16792	61	19	helix	helix	NOUN
ajst-16792	61	20	angle	angle	NOUN
ajst-16792	61	21	and	and	CCONJ
ajst-16792	61	22	reporting	report	VERB
ajst-16792	61	23	any	any	DET
ajst-16792	61	24	required	require	VERB
ajst-16792	61	25	data	datum	NOUN
ajst-16792	61	26	inside	inside	ADP
ajst-16792	61	27	the	the	DET
ajst-16792	61	28	pipe	pipe	NOUN
ajst-16792	61	29	with	with	ADP
ajst-16792	61	30	the	the	DET
ajst-16792	61	31	help	help	NOUN
ajst-16792	61	32	of	of	ADP
ajst-16792	61	33	an	an	DET
ajst-16792	61	34	210	210	NUM
ajst-16792	61	35	installed	installed	ADJ
ajst-16792	61	36	camera	camera	NOUN
ajst-16792	62	1	[	[	X
ajst-16792	62	2	11	11	NUM
ajst-16792	62	3	]	]	PUNCT
ajst-16792	62	4	.	.	PUNCT
ajst-16792	63	1	figure	figure	NOUN
ajst-16792	63	2	8	8	NUM
ajst-16792	63	3	.	.	PUNCT
ajst-16792	63	4	spiral	spiral	ADJ
ajst-16792	63	5	pipeline	pipeline	NOUN
ajst-16792	63	6	robot	robot	NOUN
ajst-16792	63	7	3.2	3.2	NUM
ajst-16792	63	8	.	.	PUNCT
ajst-16792	64	1	current	current	ADJ
ajst-16792	64	2	status	status	NOUN
ajst-16792	64	3	of	of	ADP
ajst-16792	64	4	domestic	domestic	ADJ
ajst-16792	64	5	development	development	NOUN
ajst-16792	64	6	of	of	ADP
ajst-16792	64	7	pipeline	pipeline	NOUN
ajst-16792	64	8	robots	robot	NOUN
ajst-16792	64	9	domestic	domestic	ADJ
ajst-16792	64	10	research	research	NOUN
ajst-16792	64	11	on	on	ADP
ajst-16792	64	12	pipeline	pipeline	NOUN
ajst-16792	64	13	robots	robot	NOUN
ajst-16792	64	14	started	start	VERB
ajst-16792	64	15	late	late	ADV
ajst-16792	64	16	,	,	PUNCT
ajst-16792	64	17	and	and	CCONJ
ajst-16792	64	18	the	the	DET
ajst-16792	64	19	development	development	NOUN
ajst-16792	64	20	of	of	ADP
ajst-16792	64	21	pipeline	pipeline	NOUN
ajst-16792	64	22	robots	robot	NOUN
ajst-16792	64	23	still	still	ADV
ajst-16792	64	24	has	have	VERB
ajst-16792	64	25	a	a	DET
ajst-16792	64	26	certain	certain	ADJ
ajst-16792	64	27	gap	gap	NOUN
ajst-16792	64	28	compared	compare	VERB
ajst-16792	64	29	with	with	ADP
ajst-16792	64	30	developed	develop	VERB
ajst-16792	64	31	countries	country	NOUN
ajst-16792	64	32	.	.	PUNCT
ajst-16792	65	1	however	however	ADV
ajst-16792	65	2	,	,	PUNCT
ajst-16792	65	3	with	with	ADP
ajst-16792	65	4	the	the	DET
ajst-16792	65	5	rapid	rapid	ADJ
ajst-16792	65	6	development	development	NOUN
ajst-16792	65	7	of	of	ADP
ajst-16792	65	8	china	china	PROPN
ajst-16792	65	9	's	's	PART
ajst-16792	65	10	industry	industry	NOUN
ajst-16792	65	11	,	,	PUNCT
ajst-16792	65	12	as	as	ADV
ajst-16792	65	13	well	well	ADV
ajst-16792	65	14	as	as	ADP
ajst-16792	65	15	the	the	DET
ajst-16792	65	16	importance	importance	NOUN
ajst-16792	65	17	of	of	ADP
ajst-16792	65	18	the	the	DET
ajst-16792	65	19	field	field	NOUN
ajst-16792	65	20	,	,	PUNCT
ajst-16792	65	21	there	there	PRON
ajst-16792	65	22	has	have	AUX
ajst-16792	65	23	been	be	AUX
ajst-16792	65	24	considerable	considerable	ADJ
ajst-16792	65	25	progress	progress	NOUN
ajst-16792	65	26	.	.	PUNCT
ajst-16792	66	1	in	in	ADP
ajst-16792	66	2	1989	1989	NUM
ajst-16792	66	3	,	,	PUNCT
ajst-16792	66	4	deng	deng	PROPN
ajst-16792	66	5	zongquan	zongquan	PROPN
ajst-16792	66	6	and	and	CCONJ
ajst-16792	66	7	others	other	NOUN
ajst-16792	66	8	from	from	ADP
ajst-16792	66	9	harbin	harbin	PROPN
ajst-16792	66	10	institute	institute	PROPN
ajst-16792	66	11	of	of	ADP
ajst-16792	66	12	technology	technology	PROPN
ajst-16792	66	13	were	be	AUX
ajst-16792	66	14	the	the	DET
ajst-16792	66	15	first	first	ADJ
ajst-16792	66	16	to	to	PART
ajst-16792	66	17	carry	carry	VERB
ajst-16792	66	18	out	out	ADP
ajst-16792	66	19	research	research	NOUN
ajst-16792	66	20	on	on	ADP
ajst-16792	66	21	mobile	mobile	ADJ
ajst-16792	66	22	robots	robot	NOUN
ajst-16792	66	23	in	in	ADP
ajst-16792	66	24	the	the	DET
ajst-16792	66	25	pipeline	pipeline	NOUN
ajst-16792	66	26	,	,	PUNCT
ajst-16792	66	27	which	which	PRON
ajst-16792	66	28	was	be	AUX
ajst-16792	66	29	mainly	mainly	ADV
ajst-16792	66	30	used	use	VERB
ajst-16792	66	31	for	for	ADP
ajst-16792	66	32	automated	automate	VERB
ajst-16792	66	33	inspection	inspection	NOUN
ajst-16792	66	34	of	of	ADP
ajst-16792	66	35	large	large	ADJ
ajst-16792	66	36	-	-	PUNCT
ajst-16792	66	37	caliber	caliber	NOUN
ajst-16792	66	38	pipelines	pipeline	NOUN
ajst-16792	66	39	[	[	X
ajst-16792	66	40	7	7	NUM
ajst-16792	66	41	]	]	PUNCT
ajst-16792	66	42	.	.	PUNCT
ajst-16792	67	1	shanghai	shanghai	PROPN
ajst-16792	67	2	jiao	jiao	PROPN
ajst-16792	67	3	tong	tong	PROPN
ajst-16792	67	4	university	university	PROPN
ajst-16792	67	5	,	,	PUNCT
ajst-16792	67	6	shanghai	shanghai	PROPN
ajst-16792	67	7	university	university	PROPN
ajst-16792	67	8	and	and	CCONJ
ajst-16792	67	9	a	a	DET
ajst-16792	67	10	large	large	ADJ
ajst-16792	67	11	number	number	NOUN
ajst-16792	67	12	of	of	ADP
ajst-16792	67	13	colleges	college	NOUN
ajst-16792	67	14	and	and	CCONJ
ajst-16792	67	15	research	research	NOUN
ajst-16792	67	16	institutions	institution	NOUN
ajst-16792	67	17	in	in	ADP
ajst-16792	67	18	the	the	DET
ajst-16792	67	19	field	field	NOUN
ajst-16792	67	20	of	of	ADP
ajst-16792	67	21	pipeline	pipeline	NOUN
ajst-16792	67	22	robotics	robotic	NOUN
ajst-16792	67	23	also	also	ADV
ajst-16792	67	24	have	have	VERB
ajst-16792	67	25	more	more	ADJ
ajst-16792	67	26	research	research	NOUN
ajst-16792	67	27	results	result	NOUN
ajst-16792	67	28	.	.	PUNCT
ajst-16792	68	1	li	li	PROPN
ajst-16792	68	2	yin	yin	PROPN
ajst-16792	68	3	et	et	PROPN
ajst-16792	68	4	al	al	PROPN
ajst-16792	68	5	.	.	PROPN
ajst-16792	68	6	from	from	ADP
ajst-16792	68	7	shaoguan	shaoguan	PROPN
ajst-16792	68	8	college	college	PROPN
ajst-16792	68	9	designed	design	VERB
ajst-16792	68	10	a	a	DET
ajst-16792	68	11	snakeshaped	snakeshape	VERB
ajst-16792	68	12	pipeline	pipeline	NOUN
ajst-16792	68	13	robot	robot	NOUN
ajst-16792	68	14	[	[	X
ajst-16792	68	15	6	6	NUM
ajst-16792	68	16	]	]	PUNCT
ajst-16792	68	17	,	,	PUNCT
ajst-16792	68	18	as	as	SCONJ
ajst-16792	68	19	shown	show	VERB
ajst-16792	68	20	in	in	ADP
ajst-16792	68	21	fig	fig	NOUN
ajst-16792	68	22	.	.	PUNCT
ajst-16792	69	1	9	9	X
ajst-16792	69	2	.	.	X
ajst-16792	69	3	the	the	DET
ajst-16792	69	4	robot	robot	NOUN
ajst-16792	69	5	advances	advance	VERB
ajst-16792	69	6	through	through	ADP
ajst-16792	69	7	the	the	DET
ajst-16792	69	8	motion	motion	NOUN
ajst-16792	69	9	of	of	ADP
ajst-16792	69	10	peristalsis	peristalsis	NOUN
ajst-16792	69	11	,	,	PUNCT
ajst-16792	69	12	a	a	DET
ajst-16792	69	13	peristaltic	peristaltic	ADJ
ajst-16792	69	14	cycle	cycle	NOUN
ajst-16792	69	15	advances	advance	VERB
ajst-16792	69	16	0.145	0.145	NUM
ajst-16792	69	17	m	m	NOUN
ajst-16792	69	18	,	,	PUNCT
ajst-16792	69	19	while	while	SCONJ
ajst-16792	69	20	using	use	VERB
ajst-16792	69	21	57	57	NUM
ajst-16792	69	22	two	two	NUM
ajst-16792	69	23	-	-	PUNCT
ajst-16792	69	24	phase	phase	NOUN
ajst-16792	69	25	stepper	stepper	NOUN
ajst-16792	69	26	motors	motor	NOUN
ajst-16792	69	27	and	and	CCONJ
ajst-16792	69	28	stm32	stm32	PROPN
ajst-16792	69	29	control	control	PROPN
ajst-16792	69	30	,	,	PUNCT
ajst-16792	69	31	which	which	PRON
ajst-16792	69	32	is	be	AUX
ajst-16792	69	33	able	able	ADJ
ajst-16792	69	34	to	to	PART
ajst-16792	69	35	realize	realize	VERB
ajst-16792	69	36	the	the	DET
ajst-16792	69	37	pipeline	pipeline	NOUN
ajst-16792	69	38	detection	detection	NOUN
ajst-16792	69	39	and	and	CCONJ
ajst-16792	69	40	unclogging	unclogging	NOUN
ajst-16792	69	41	work	work	NOUN
ajst-16792	69	42	.	.	PUNCT
ajst-16792	70	1	figure	figure	NOUN
ajst-16792	70	2	9	9	NUM
ajst-16792	70	3	.	.	PUNCT
ajst-16792	70	4	snake	snake	NOUN
ajst-16792	70	5	pipeline	pipeline	PROPN
ajst-16792	70	6	robot	robot	NOUN
ajst-16792	70	7	a	a	DET
ajst-16792	70	8	fluid	fluid	NOUN
ajst-16792	70	9	-	-	PUNCT
ajst-16792	70	10	driven	drive	VERB
ajst-16792	70	11	pipeline	pipeline	NOUN
ajst-16792	70	12	robot	robot	NOUN
ajst-16792	70	13	was	be	AUX
ajst-16792	70	14	designed	design	VERB
ajst-16792	70	15	by	by	ADP
ajst-16792	70	16	tao	tao	PROPN
ajst-16792	70	17	shi	shi	PROPN
ajst-16792	70	18	et	et	PROPN
ajst-16792	70	19	al	al	PROPN
ajst-16792	70	20	.	.	PROPN
ajst-16792	71	1	from	from	ADP
ajst-16792	71	2	kunming	kunming	PROPN
ajst-16792	71	3	university	university	PROPN
ajst-16792	71	4	of	of	ADP
ajst-16792	71	5	science	science	NOUN
ajst-16792	71	6	and	and	CCONJ
ajst-16792	71	7	technology	technology	NOUN
ajst-16792	71	8	,	,	PUNCT
ajst-16792	71	9	as	as	SCONJ
ajst-16792	71	10	shown	show	VERB
ajst-16792	71	11	in	in	ADP
ajst-16792	71	12	fig	fig	NOUN
ajst-16792	71	13	.	.	PUNCT
ajst-16792	72	1	10	10	NUM
ajst-16792	72	2	.	.	PUNCT
ajst-16792	73	1	the	the	DET
ajst-16792	73	2	robot	robot	NOUN
ajst-16792	73	3	is	be	AUX
ajst-16792	73	4	a	a	DET
ajst-16792	73	5	modular	modular	ADJ
ajst-16792	73	6	chain	chain	NOUN
ajst-16792	73	7	pipeline	pipeline	NOUN
ajst-16792	73	8	robot	robot	NOUN
ajst-16792	73	9	,	,	PUNCT
ajst-16792	73	10	which	which	PRON
ajst-16792	73	11	solves	solve	VERB
ajst-16792	73	12	the	the	DET
ajst-16792	73	13	problems	problem	NOUN
ajst-16792	73	14	of	of	ADP
ajst-16792	73	15	traditional	traditional	ADJ
ajst-16792	73	16	fluid	fluid	NOUN
ajst-16792	73	17	-	-	PUNCT
ajst-16792	73	18	driven	drive	VERB
ajst-16792	73	19	robots	robot	NOUN
ajst-16792	73	20	with	with	ADP
ajst-16792	73	21	large	large	ADJ
ajst-16792	73	22	structural	structural	ADJ
ajst-16792	73	23	volume	volume	NOUN
ajst-16792	73	24	and	and	CCONJ
ajst-16792	73	25	unpredictable	unpredictable	ADJ
ajst-16792	73	26	friction	friction	NOUN
ajst-16792	73	27	main	main	ADJ
ajst-16792	73	28	force[12	force[12	NOUN
ajst-16792	73	29	]	]	PUNCT
ajst-16792	73	30	.	.	PUNCT
ajst-16792	74	1	figure	figure	NOUN
ajst-16792	74	2	10	10	NUM
ajst-16792	74	3	.	.	PUNCT
ajst-16792	75	1	fluid	fluid	NOUN
ajst-16792	75	2	-	-	PUNCT
ajst-16792	75	3	driven	drive	VERB
ajst-16792	75	4	pipeline	pipeline	NOUN
ajst-16792	75	5	robot	robot	NOUN
ajst-16792	75	6	liu	liu	PROPN
ajst-16792	75	7	qingyou	qingyou	PROPN
ajst-16792	75	8	et	et	PROPN
ajst-16792	75	9	al	al	PROPN
ajst-16792	75	10	.	.	PROPN
ajst-16792	76	1	from	from	ADP
ajst-16792	76	2	southwest	southwest	PROPN
ajst-16792	76	3	petroleum	petroleum	NOUN
ajst-16792	76	4	university	university	NOUN
ajst-16792	76	5	designed	design	VERB
ajst-16792	76	6	an	an	DET
ajst-16792	76	7	active	active	ADJ
ajst-16792	76	8	spiral	spiral	ADJ
ajst-16792	76	9	-	-	PUNCT
ajst-16792	76	10	driven	drive	VERB
ajst-16792	76	11	pipeline	pipeline	NOUN
ajst-16792	76	12	robot	robot	NOUN
ajst-16792	76	13	[	[	X
ajst-16792	76	14	13	13	NUM
ajst-16792	76	15	]	]	PUNCT
ajst-16792	76	16	,	,	PUNCT
ajst-16792	76	17	as	as	SCONJ
ajst-16792	76	18	shown	show	VERB
ajst-16792	76	19	in	in	ADP
ajst-16792	76	20	fig	fig	NOUN
ajst-16792	76	21	.	.	PUNCT
ajst-16792	77	1	11	11	NUM
ajst-16792	77	2	.	.	PUNCT
ajst-16792	78	1	the	the	DET
ajst-16792	78	2	robot	robot	NOUN
ajst-16792	78	3	consists	consist	VERB
ajst-16792	78	4	of	of	ADP
ajst-16792	78	5	guide	guide	ADJ
ajst-16792	78	6	wheels	wheel	NOUN
ajst-16792	78	7	,	,	PUNCT
ajst-16792	78	8	drive	drive	ADJ
ajst-16792	78	9	wheels	wheel	NOUN
ajst-16792	78	10	,	,	PUNCT
ajst-16792	78	11	planetary	planetary	ADJ
ajst-16792	78	12	gears	gear	NOUN
ajst-16792	78	13	,	,	PUNCT
ajst-16792	78	14	motors	motor	NOUN
ajst-16792	78	15	and	and	CCONJ
ajst-16792	78	16	other	other	ADJ
ajst-16792	78	17	components	component	NOUN
ajst-16792	78	18	,	,	PUNCT
ajst-16792	78	19	and	and	CCONJ
ajst-16792	78	20	stm32	stm32	PROPN
ajst-16792	78	21	is	be	AUX
ajst-16792	78	22	used	use	VERB
ajst-16792	78	23	as	as	ADP
ajst-16792	78	24	the	the	DET
ajst-16792	78	25	central	central	ADJ
ajst-16792	78	26	control	control	NOUN
ajst-16792	78	27	unit	unit	NOUN
ajst-16792	78	28	.	.	PUNCT
ajst-16792	79	1	this	this	DET
ajst-16792	79	2	pipeline	pipeline	NOUN
ajst-16792	79	3	robot	robot	NOUN
ajst-16792	79	4	solves	solve	VERB
ajst-16792	79	5	the	the	DET
ajst-16792	79	6	problems	problem	NOUN
ajst-16792	79	7	of	of	ADP
ajst-16792	79	8	passive	passive	ADJ
ajst-16792	79	9	spiral	spiral	ADJ
ajst-16792	79	10	pipeline	pipeline	NOUN
ajst-16792	79	11	robot	robot	NOUN
ajst-16792	79	12	's	's	PART
ajst-16792	79	13	small	small	ADJ
ajst-16792	79	14	traction	traction	NOUN
ajst-16792	79	15	force	force	NOUN
ajst-16792	79	16	and	and	CCONJ
ajst-16792	79	17	low	low	ADJ
ajst-16792	79	18	mechanical	mechanical	ADJ
ajst-16792	79	19	transmission	transmission	NOUN
ajst-16792	79	20	efficiency	efficiency	NOUN
ajst-16792	79	21	.	.	PUNCT
ajst-16792	80	1	figure	figure	VERB
ajst-16792	80	2	11	11	NUM
ajst-16792	80	3	.	.	PUNCT
ajst-16792	81	1	active	active	ADJ
ajst-16792	81	2	screw	screw	NOUN
ajst-16792	81	3	-	-	PUNCT
ajst-16792	81	4	driven	drive	VERB
ajst-16792	81	5	pipeline	pipeline	NOUN
ajst-16792	81	6	robot	robot	NOUN
ajst-16792	81	7	4	4	NUM
ajst-16792	81	8	.	.	PUNCT
ajst-16792	81	9	problems	problem	NOUN
ajst-16792	81	10	with	with	ADP
ajst-16792	81	11	pipeline	pipeline	NOUN
ajst-16792	81	12	robots	robot	NOUN
ajst-16792	81	13	1	1	NUM
ajst-16792	81	14	)	)	PUNCT
ajst-16792	81	15	adaptation	adaptation	NOUN
ajst-16792	81	16	and	and	CCONJ
ajst-16792	81	17	obstacle	obstacle	NOUN
ajst-16792	81	18	-	-	PUNCT
ajst-16792	81	19	crossing	crossing	NOUN
ajst-16792	81	20	ability	ability	NOUN
ajst-16792	81	21	problem	problem	NOUN
ajst-16792	81	22	.	.	PUNCT
ajst-16792	82	1	in	in	ADP
ajst-16792	82	2	reality	reality	NOUN
ajst-16792	82	3	,	,	PUNCT
ajst-16792	82	4	pipelines	pipeline	NOUN
ajst-16792	82	5	have	have	VERB
ajst-16792	82	6	various	various	ADJ
ajst-16792	82	7	shapes	shape	NOUN
ajst-16792	82	8	,	,	PUNCT
ajst-16792	82	9	such	such	ADJ
ajst-16792	82	10	as	as	ADP
ajst-16792	82	11	reducers	reducer	NOUN
ajst-16792	82	12	,	,	PUNCT
ajst-16792	82	13	bends	bend	NOUN
ajst-16792	82	14	,	,	PUNCT
ajst-16792	82	15	"	"	PUNCT
ajst-16792	82	16	t	t	NOUN
ajst-16792	82	17	"	"	PUNCT
ajst-16792	82	18	pipes	pipe	NOUN
ajst-16792	82	19	,	,	PUNCT
ajst-16792	82	20	etc	etc	X
ajst-16792	82	21	.	.	X
ajst-16792	83	1	at	at	ADP
ajst-16792	83	2	the	the	DET
ajst-16792	83	3	same	same	ADJ
ajst-16792	83	4	time	time	NOUN
ajst-16792	83	5	,	,	PUNCT
ajst-16792	83	6	there	there	PRON
ajst-16792	83	7	may	may	AUX
ajst-16792	83	8	be	be	AUX
ajst-16792	83	9	debris	debris	NOUN
ajst-16792	83	10	or	or	CCONJ
ajst-16792	83	11	defects	defect	NOUN
ajst-16792	83	12	in	in	ADP
ajst-16792	83	13	the	the	DET
ajst-16792	83	14	pipeline	pipeline	NOUN
ajst-16792	83	15	,	,	PUNCT
ajst-16792	83	16	which	which	PRON
ajst-16792	83	17	may	may	AUX
ajst-16792	83	18	affect	affect	VERB
ajst-16792	83	19	the	the	DET
ajst-16792	83	20	work	work	NOUN
ajst-16792	83	21	of	of	ADP
ajst-16792	83	22	pipeline	pipeline	NOUN
ajst-16792	83	23	robots	robot	NOUN
ajst-16792	83	24	.	.	PUNCT
ajst-16792	84	1	therefore	therefore	ADV
ajst-16792	84	2	,	,	PUNCT
ajst-16792	84	3	how	how	SCONJ
ajst-16792	84	4	to	to	PART
ajst-16792	84	5	improve	improve	VERB
ajst-16792	84	6	the	the	DET
ajst-16792	84	7	adaptability	adaptability	NOUN
ajst-16792	84	8	and	and	CCONJ
ajst-16792	84	9	passability	passability	NOUN
ajst-16792	84	10	of	of	ADP
ajst-16792	84	11	pipeline	pipeline	NOUN
ajst-16792	84	12	robots	robot	NOUN
ajst-16792	84	13	in	in	ADP
ajst-16792	84	14	various	various	ADJ
ajst-16792	84	15	complex	complex	ADJ
ajst-16792	84	16	pipeline	pipeline	NOUN
ajst-16792	84	17	environments	environment	NOUN
ajst-16792	84	18	is	be	AUX
ajst-16792	84	19	an	an	DET
ajst-16792	84	20	important	important	ADJ
ajst-16792	84	21	direction	direction	NOUN
ajst-16792	84	22	for	for	ADP
ajst-16792	84	23	current	current	ADJ
ajst-16792	84	24	and	and	CCONJ
ajst-16792	84	25	future	future	ADJ
ajst-16792	84	26	research	research	NOUN
ajst-16792	84	27	.	.	PUNCT
ajst-16792	85	1	2	2	X
ajst-16792	85	2	)	)	PUNCT
ajst-16792	85	3	energy	energy	NOUN
ajst-16792	85	4	supply	supply	NOUN
ajst-16792	85	5	problem	problem	NOUN
ajst-16792	85	6	.	.	PUNCT
ajst-16792	86	1	currently	currently	ADV
ajst-16792	86	2	,	,	PUNCT
ajst-16792	86	3	pipeline	pipeline	NOUN
ajst-16792	86	4	robots	robot	NOUN
ajst-16792	86	5	mainly	mainly	ADV
ajst-16792	86	6	use	use	VERB
ajst-16792	86	7	electricity	electricity	NOUN
ajst-16792	86	8	as	as	ADP
ajst-16792	86	9	their	their	PRON
ajst-16792	86	10	energy	energy	NOUN
ajst-16792	86	11	source	source	NOUN
ajst-16792	86	12	.	.	PUNCT
ajst-16792	87	1	for	for	ADP
ajst-16792	87	2	cabletrailing	cabletraile	VERB
ajst-16792	87	3	pipeline	pipeline	NOUN
ajst-16792	87	4	robots	robot	NOUN
ajst-16792	87	5	,	,	PUNCT
ajst-16792	87	6	when	when	SCONJ
ajst-16792	87	7	the	the	DET
ajst-16792	87	8	working	work	VERB
ajst-16792	87	9	distance	distance	NOUN
ajst-16792	87	10	is	be	AUX
ajst-16792	87	11	far	far	ADV
ajst-16792	87	12	away	away	ADV
ajst-16792	87	13	or	or	CCONJ
ajst-16792	87	14	the	the	DET
ajst-16792	87	15	internal	internal	ADJ
ajst-16792	87	16	environment	environment	NOUN
ajst-16792	87	17	of	of	ADP
ajst-16792	87	18	the	the	DET
ajst-16792	87	19	pipeline	pipeline	NOUN
ajst-16792	87	20	is	be	AUX
ajst-16792	87	21	uneven	uneven	ADJ
ajst-16792	87	22	,	,	PUNCT
ajst-16792	87	23	the	the	DET
ajst-16792	87	24	friction	friction	NOUN
ajst-16792	87	25	between	between	ADP
ajst-16792	87	26	the	the	DET
ajst-16792	87	27	cable	cable	NOUN
ajst-16792	87	28	and	and	CCONJ
ajst-16792	87	29	the	the	DET
ajst-16792	87	30	pipeline	pipeline	NOUN
ajst-16792	87	31	wall	wall	NOUN
ajst-16792	87	32	increases	increase	NOUN
ajst-16792	87	33	and	and	CCONJ
ajst-16792	87	34	the	the	DET
ajst-16792	87	35	length	length	NOUN
ajst-16792	87	36	of	of	ADP
ajst-16792	87	37	the	the	DET
ajst-16792	87	38	cable	cable	NOUN
ajst-16792	87	39	limits	limit	VERB
ajst-16792	87	40	the	the	DET
ajst-16792	87	41	working	work	VERB
ajst-16792	87	42	distance	distance	NOUN
ajst-16792	87	43	of	of	ADP
ajst-16792	87	44	the	the	DET
ajst-16792	87	45	robot	robot	NOUN
ajst-16792	87	46	.	.	PUNCT
ajst-16792	88	1	for	for	ADP
ajst-16792	88	2	cable	cable	NOUN
ajst-16792	88	3	-	-	PUNCT
ajst-16792	88	4	less	less	ADJ
ajst-16792	88	5	pipeline	pipeline	NOUN
ajst-16792	88	6	robots	robot	NOUN
ajst-16792	88	7	,	,	PUNCT
ajst-16792	88	8	batteries	battery	NOUN
ajst-16792	88	9	are	be	AUX
ajst-16792	88	10	generally	generally	ADV
ajst-16792	88	11	used	use	VERB
ajst-16792	88	12	as	as	ADP
ajst-16792	88	13	the	the	DET
ajst-16792	88	14	storage	storage	NOUN
ajst-16792	88	15	energy	energy	NOUN
ajst-16792	88	16	,	,	PUNCT
ajst-16792	88	17	which	which	PRON
ajst-16792	88	18	is	be	AUX
ajst-16792	88	19	limited	limit	VERB
ajst-16792	88	20	by	by	ADP
ajst-16792	88	21	the	the	DET
ajst-16792	88	22	size	size	NOUN
ajst-16792	88	23	of	of	ADP
ajst-16792	88	24	the	the	DET
ajst-16792	88	25	pipeline	pipeline	NOUN
ajst-16792	88	26	and	and	CCONJ
ajst-16792	88	27	the	the	DET
ajst-16792	88	28	machine	machine	NOUN
ajst-16792	88	29	itself	itself	PRON
ajst-16792	88	30	,	,	PUNCT
ajst-16792	88	31	the	the	DET
ajst-16792	88	32	energy	energy	NOUN
ajst-16792	88	33	it	it	PRON
ajst-16792	88	34	carries	carry	VERB
ajst-16792	88	35	is	be	AUX
ajst-16792	88	36	limited	limited	ADJ
ajst-16792	88	37	,	,	PUNCT
ajst-16792	88	38	also	also	ADV
ajst-16792	88	39	limiting	limit	VERB
ajst-16792	88	40	its	its	PRON
ajst-16792	88	41	working	working	NOUN
ajst-16792	88	42	distance	distance	NOUN
ajst-16792	88	43	.	.	PUNCT
ajst-16792	89	1	3	3	X
ajst-16792	89	2	)	)	PUNCT
ajst-16792	89	3	signal	signal	NOUN
ajst-16792	89	4	transmission	transmission	NOUN
ajst-16792	89	5	problem	problem	NOUN
ajst-16792	89	6	.	.	PUNCT
ajst-16792	90	1	pipeline	pipeline	NOUN
ajst-16792	90	2	robots	robot	NOUN
ajst-16792	90	3	in	in	ADP
ajst-16792	90	4	the	the	DET
ajst-16792	90	5	pipeline	pipeline	NOUN
ajst-16792	90	6	inspection	inspection	NOUN
ajst-16792	90	7	and	and	CCONJ
ajst-16792	90	8	maintenance	maintenance	NOUN
ajst-16792	90	9	need	need	VERB
ajst-16792	90	10	to	to	PART
ajst-16792	90	11	timely	timely	ADJ
ajst-16792	90	12	contact	contact	NOUN
ajst-16792	90	13	with	with	ADP
ajst-16792	90	14	the	the	DET
ajst-16792	90	15	outside	outside	ADJ
ajst-16792	90	16	world	world	NOUN
ajst-16792	90	17	,	,	PUNCT
ajst-16792	90	18	there	there	PRON
ajst-16792	90	19	are	be	VERB
ajst-16792	90	20	two	two	NUM
ajst-16792	90	21	main	main	ADJ
ajst-16792	90	22	signal	signal	NOUN
ajst-16792	90	23	transmission	transmission	NOUN
ajst-16792	90	24	methods	method	NOUN
ajst-16792	90	25	,	,	PUNCT
ajst-16792	90	26	one	one	PRON
ajst-16792	90	27	is	be	AUX
ajst-16792	90	28	dragging	drag	VERB
ajst-16792	90	29	the	the	DET
ajst-16792	90	30	communication	communication	NOUN
ajst-16792	90	31	cable	cable	NOUN
ajst-16792	90	32	,	,	PUNCT
ajst-16792	90	33	the	the	DET
ajst-16792	90	34	other	other	ADJ
ajst-16792	90	35	is	be	AUX
ajst-16792	90	36	wireless	wireless	ADJ
ajst-16792	90	37	signal	signal	NOUN
ajst-16792	90	38	transmission	transmission	NOUN
ajst-16792	90	39	.	.	PUNCT
ajst-16792	91	1	robot	robot	NOUN
ajst-16792	91	2	communication	communication	NOUN
ajst-16792	91	3	by	by	ADP
ajst-16792	91	4	dragging	drag	VERB
ajst-16792	91	5	the	the	DET
ajst-16792	91	6	communication	communication	NOUN
ajst-16792	91	7	cable	cable	NOUN
ajst-16792	91	8	in	in	ADP
ajst-16792	91	9	long	long	ADJ
ajst-16792	91	10	-	-	PUNCT
ajst-16792	91	11	distance	distance	NOUN
ajst-16792	91	12	operation	operation	NOUN
ajst-16792	91	13	cable	cable	NOUN
ajst-16792	91	14	in	in	ADP
ajst-16792	91	15	the	the	DET
ajst-16792	91	16	pipeline	pipeline	NOUN
ajst-16792	91	17	resistance	resistance	NOUN
ajst-16792	91	18	will	will	AUX
ajst-16792	91	19	become	become	VERB
ajst-16792	91	20	very	very	ADV
ajst-16792	91	21	large	large	ADJ
ajst-16792	91	22	,	,	PUNCT
ajst-16792	91	23	hindering	hinder	VERB
ajst-16792	91	24	the	the	DET
ajst-16792	91	25	work	work	NOUN
ajst-16792	91	26	of	of	ADP
ajst-16792	91	27	the	the	DET
ajst-16792	91	28	robot	robot	NOUN
ajst-16792	91	29	.	.	PUNCT
ajst-16792	92	1	the	the	DET
ajst-16792	92	2	wireless	wireless	ADJ
ajst-16792	92	3	communication	communication	NOUN
ajst-16792	92	4	method	method	NOUN
ajst-16792	92	5	is	be	AUX
ajst-16792	92	6	limited	limit	VERB
ajst-16792	92	7	by	by	ADP
ajst-16792	92	8	the	the	DET
ajst-16792	92	9	working	work	VERB
ajst-16792	92	10	environment	environment	NOUN
ajst-16792	92	11	of	of	ADP
ajst-16792	92	12	the	the	DET
ajst-16792	92	13	pipeline	pipeline	NOUN
ajst-16792	92	14	robot	robot	NOUN
ajst-16792	92	15	,	,	PUNCT
ajst-16792	92	16	and	and	CCONJ
ajst-16792	92	17	the	the	DET
ajst-16792	92	18	signal	signal	NOUN
ajst-16792	92	19	may	may	AUX
ajst-16792	92	20	be	be	AUX
ajst-16792	92	21	weakened	weaken	VERB
ajst-16792	92	22	by	by	ADP
ajst-16792	92	23	the	the	DET
ajst-16792	92	24	medium	medium	NOUN
ajst-16792	92	25	in	in	ADP
ajst-16792	92	26	the	the	DET
ajst-16792	92	27	pipeline	pipeline	NOUN
ajst-16792	92	28	,	,	PUNCT
ajst-16792	92	29	or	or	CCONJ
ajst-16792	92	30	by	by	ADP
ajst-16792	92	31	the	the	DET
ajst-16792	92	32	pipeline	pipeline	NOUN
ajst-16792	92	33	itself	itself	PRON
ajst-16792	92	34	,	,	PUNCT
ajst-16792	92	35	or	or	CCONJ
ajst-16792	92	36	by	by	ADP
ajst-16792	92	37	the	the	DET
ajst-16792	92	38	environment	environment	NOUN
ajst-16792	92	39	outside	outside	ADP
ajst-16792	92	40	the	the	DET
ajst-16792	92	41	pipeline	pipeline	NOUN
ajst-16792	92	42	.	.	PUNCT
ajst-16792	93	1	4	4	X
ajst-16792	93	2	)	)	PUNCT
ajst-16792	93	3	reliability	reliability	NOUN
ajst-16792	93	4	issues	issue	NOUN
ajst-16792	93	5	.	.	PUNCT
ajst-16792	94	1	pipeline	pipeline	NOUN
ajst-16792	94	2	robot	robot	NOUN
ajst-16792	94	3	due	due	ADP
ajst-16792	94	4	to	to	ADP
ajst-16792	94	5	its	its	PRON
ajst-16792	94	6	special	special	ADJ
ajst-16792	94	7	working	working	NOUN
ajst-16792	94	8	environment	environment	NOUN
ajst-16792	94	9	,	,	PUNCT
ajst-16792	94	10	if	if	SCONJ
ajst-16792	94	11	the	the	DET
ajst-16792	94	12	robot	robot	NOUN
ajst-16792	94	13	fails	fail	VERB
ajst-16792	94	14	in	in	ADP
ajst-16792	94	15	the	the	DET
ajst-16792	94	16	pipeline	pipeline	NOUN
ajst-16792	94	17	or	or	CCONJ
ajst-16792	94	18	gets	get	VERB
ajst-16792	94	19	stuck	stick	VERB
ajst-16792	94	20	in	in	ADP
ajst-16792	94	21	the	the	DET
ajst-16792	94	22	pipeline	pipeline	NOUN
ajst-16792	94	23	and	and	CCONJ
ajst-16792	94	24	clogs	clog	VERB
ajst-16792	94	25	the	the	DET
ajst-16792	94	26	pipeline	pipeline	NOUN
ajst-16792	94	27	,	,	PUNCT
ajst-16792	94	28	it	it	PRON
ajst-16792	94	29	may	may	AUX
ajst-16792	94	30	cause	cause	VERB
ajst-16792	94	31	greater	great	ADJ
ajst-16792	94	32	economic	economic	ADJ
ajst-16792	94	33	losses	loss	NOUN
ajst-16792	94	34	.	.	PUNCT
ajst-16792	95	1	5	5	X
ajst-16792	95	2	.	.	X
ajst-16792	95	3	conclusions	conclusion	NOUN
ajst-16792	95	4	after	after	ADP
ajst-16792	95	5	decades	decade	NOUN
ajst-16792	95	6	of	of	ADP
ajst-16792	95	7	development	development	NOUN
ajst-16792	95	8	,	,	PUNCT
ajst-16792	95	9	pipeline	pipeline	NOUN
ajst-16792	95	10	robotics	robotic	NOUN
ajst-16792	95	11	technology	technology	NOUN
ajst-16792	95	12	has	have	AUX
ajst-16792	95	13	gradually	gradually	ADV
ajst-16792	95	14	matured	mature	VERB
ajst-16792	95	15	and	and	CCONJ
ajst-16792	95	16	is	be	AUX
ajst-16792	95	17	transitioning	transition	VERB
ajst-16792	95	18	from	from	ADP
ajst-16792	95	19	experimental	experimental	ADJ
ajst-16792	95	20	research	research	NOUN
ajst-16792	95	21	to	to	ADP
ajst-16792	95	22	practical	practical	ADJ
ajst-16792	95	23	applications	application	NOUN
ajst-16792	95	24	.	.	PUNCT
ajst-16792	96	1	with	with	ADP
ajst-16792	96	2	the	the	DET
ajst-16792	96	3	continuous	continuous	ADJ
ajst-16792	96	4	progress	progress	NOUN
ajst-16792	96	5	of	of	ADP
ajst-16792	96	6	science	science	NOUN
ajst-16792	96	7	and	and	CCONJ
ajst-16792	96	8	technology	technology	NOUN
ajst-16792	96	9	,	,	PUNCT
ajst-16792	96	10	as	as	ADV
ajst-16792	96	11	well	well	ADV
ajst-16792	96	12	as	as	ADP
ajst-16792	96	13	more	more	ADJ
ajst-16792	96	14	and	and	CCONJ
ajst-16792	96	15	more	more	ADJ
ajst-16792	96	16	researchers	researcher	NOUN
ajst-16792	96	17	'	'	PART
ajst-16792	96	18	attention	attention	NOUN
ajst-16792	96	19	and	and	CCONJ
ajst-16792	96	20	investment	investment	NOUN
ajst-16792	96	21	in	in	ADP
ajst-16792	96	22	pipeline	pipeline	NOUN
ajst-16792	96	23	robotics	robotic	NOUN
ajst-16792	96	24	,	,	PUNCT
ajst-16792	96	25	future	future	ADJ
ajst-16792	96	26	pipeline	pipeline	NOUN
ajst-16792	96	27	robotics	robotic	NOUN
ajst-16792	96	28	research	research	NOUN
ajst-16792	96	29	will	will	AUX
ajst-16792	96	30	mainly	mainly	ADV
ajst-16792	96	31	focus	focus	VERB
ajst-16792	96	32	on	on	ADP
ajst-16792	96	33	the	the	DET
ajst-16792	96	34	following	follow	VERB
ajst-16792	96	35	aspects	aspect	NOUN
ajst-16792	96	36	:	:	PUNCT
ajst-16792	96	37	1	1	NUM
ajst-16792	96	38	)	)	PUNCT
ajst-16792	96	39	intelligent	intelligent	ADJ
ajst-16792	96	40	:	:	PUNCT
ajst-16792	96	41	future	future	ADJ
ajst-16792	96	42	pipeline	pipeline	NOUN
ajst-16792	96	43	robots	robot	NOUN
ajst-16792	96	44	will	will	AUX
ajst-16792	96	45	be	be	AUX
ajst-16792	96	46	more	more	ADJ
ajst-16792	96	47	211	211	NUM
ajst-16792	96	48	intelligent	intelligent	ADJ
ajst-16792	96	49	,	,	PUNCT
ajst-16792	96	50	capable	capable	ADJ
ajst-16792	96	51	of	of	ADP
ajst-16792	96	52	autonomous	autonomous	ADJ
ajst-16792	96	53	perception	perception	NOUN
ajst-16792	96	54	,	,	PUNCT
ajst-16792	96	55	decisionmaking	decisionmaking	NOUN
ajst-16792	96	56	and	and	CCONJ
ajst-16792	96	57	execution	execution	NOUN
ajst-16792	96	58	of	of	ADP
ajst-16792	96	59	tasks	task	NOUN
ajst-16792	96	60	,	,	PUNCT
ajst-16792	96	61	with	with	ADP
ajst-16792	96	62	greater	great	ADJ
ajst-16792	96	63	autonomy	autonomy	NOUN
ajst-16792	96	64	and	and	CCONJ
ajst-16792	96	65	adaptability	adaptability	NOUN
ajst-16792	96	66	.	.	PUNCT
ajst-16792	97	1	2	2	X
ajst-16792	97	2	)	)	PUNCT
ajst-16792	97	3	high	high	ADJ
ajst-16792	97	4	performance	performance	NOUN
ajst-16792	97	5	:	:	PUNCT
ajst-16792	97	6	in	in	ADP
ajst-16792	97	7	order	order	NOUN
ajst-16792	97	8	to	to	PART
ajst-16792	97	9	adapt	adapt	VERB
ajst-16792	97	10	to	to	ADP
ajst-16792	97	11	more	more	ADV
ajst-16792	97	12	complex	complex	ADJ
ajst-16792	97	13	and	and	CCONJ
ajst-16792	97	14	harsh	harsh	ADJ
ajst-16792	97	15	pipeline	pipeline	NOUN
ajst-16792	97	16	environments	environment	NOUN
ajst-16792	97	17	,	,	PUNCT
ajst-16792	97	18	pipeline	pipeline	NOUN
ajst-16792	97	19	robots	robot	NOUN
ajst-16792	97	20	need	need	VERB
ajst-16792	97	21	to	to	PART
ajst-16792	97	22	have	have	VERB
ajst-16792	97	23	higher	high	ADJ
ajst-16792	97	24	performance	performance	NOUN
ajst-16792	97	25	and	and	CCONJ
ajst-16792	97	26	greater	great	ADJ
ajst-16792	97	27	adaptability	adaptability	NOUN
ajst-16792	97	28	.	.	PUNCT
ajst-16792	98	1	future	future	ADJ
ajst-16792	98	2	pipeline	pipeline	NOUN
ajst-16792	98	3	robots	robot	NOUN
ajst-16792	98	4	will	will	AUX
ajst-16792	98	5	use	use	VERB
ajst-16792	98	6	more	more	ADV
ajst-16792	98	7	advanced	advanced	ADJ
ajst-16792	98	8	sensors	sensor	NOUN
ajst-16792	98	9	,	,	PUNCT
ajst-16792	98	10	controllers	controller	NOUN
ajst-16792	98	11	and	and	CCONJ
ajst-16792	98	12	actuators	actuator	NOUN
ajst-16792	98	13	to	to	PART
ajst-16792	98	14	achieve	achieve	VERB
ajst-16792	98	15	more	more	ADV
ajst-16792	98	16	efficient	efficient	ADJ
ajst-16792	98	17	and	and	CCONJ
ajst-16792	98	18	accurate	accurate	ADJ
ajst-16792	98	19	detection	detection	NOUN
ajst-16792	98	20	and	and	CCONJ
ajst-16792	98	21	operation	operation	NOUN
ajst-16792	98	22	.	.	PUNCT
ajst-16792	99	1	3	3	X
ajst-16792	99	2	)	)	PUNCT
ajst-16792	99	3	miniaturization	miniaturization	NOUN
ajst-16792	99	4	:	:	PUNCT
ajst-16792	99	5	in	in	ADP
ajst-16792	99	6	order	order	NOUN
ajst-16792	99	7	to	to	PART
ajst-16792	99	8	access	access	VERB
ajst-16792	99	9	smaller	small	ADJ
ajst-16792	99	10	pipelines	pipeline	NOUN
ajst-16792	99	11	,	,	PUNCT
ajst-16792	99	12	such	such	ADJ
ajst-16792	99	13	as	as	ADP
ajst-16792	99	14	urban	urban	ADJ
ajst-16792	99	15	drainage	drainage	NOUN
ajst-16792	99	16	pipes	pipe	NOUN
ajst-16792	99	17	and	and	CCONJ
ajst-16792	99	18	oil	oil	NOUN
ajst-16792	99	19	and	and	CCONJ
ajst-16792	99	20	gas	gas	NOUN
ajst-16792	99	21	pipelines	pipeline	NOUN
ajst-16792	99	22	,	,	PUNCT
ajst-16792	99	23	future	future	ADJ
ajst-16792	99	24	pipeline	pipeline	NOUN
ajst-16792	99	25	robots	robot	NOUN
ajst-16792	99	26	will	will	AUX
ajst-16792	99	27	be	be	AUX
ajst-16792	99	28	more	more	ADV
ajst-16792	99	29	miniaturized	miniaturized	ADJ
ajst-16792	99	30	.	.	PUNCT
ajst-16792	100	1	miniaturized	miniaturize	VERB
ajst-16792	100	2	pipeline	pipeline	NOUN
ajst-16792	100	3	robots	robot	NOUN
ajst-16792	100	4	can	can	AUX
ajst-16792	100	5	more	more	ADV
ajst-16792	100	6	easily	easily	ADV
ajst-16792	100	7	enter	enter	VERB
ajst-16792	100	8	small	small	ADJ
ajst-16792	100	9	spaces	space	NOUN
ajst-16792	100	10	for	for	ADP
ajst-16792	100	11	finer	fine	ADJ
ajst-16792	100	12	inspection	inspection	NOUN
ajst-16792	100	13	and	and	CCONJ
ajst-16792	100	14	maintenance	maintenance	NOUN
ajst-16792	100	15	.	.	PUNCT
ajst-16792	101	1	4	4	NUM
ajst-16792	101	2	)	)	PUNCT
ajst-16792	101	3	safety	safety	NOUN
ajst-16792	101	4	:	:	PUNCT
ajst-16792	101	5	the	the	DET
ajst-16792	101	6	safety	safety	NOUN
ajst-16792	101	7	of	of	ADP
ajst-16792	101	8	pipeline	pipeline	NOUN
ajst-16792	101	9	robots	robot	NOUN
ajst-16792	101	10	is	be	AUX
ajst-16792	101	11	an	an	DET
ajst-16792	101	12	important	important	ADJ
ajst-16792	101	13	area	area	NOUN
ajst-16792	101	14	for	for	ADP
ajst-16792	101	15	future	future	ADJ
ajst-16792	101	16	research	research	NOUN
ajst-16792	101	17	.	.	PUNCT
ajst-16792	102	1	future	future	ADJ
ajst-16792	102	2	pipeline	pipeline	NOUN
ajst-16792	102	3	robots	robot	NOUN
ajst-16792	102	4	will	will	AUX
ajst-16792	102	5	utilize	utilize	VERB
ajst-16792	102	6	safer	safe	ADJ
ajst-16792	102	7	and	and	CCONJ
ajst-16792	102	8	more	more	ADV
ajst-16792	102	9	reliable	reliable	ADJ
ajst-16792	102	10	designs	design	NOUN
ajst-16792	102	11	and	and	CCONJ
ajst-16792	102	12	technologies	technology	NOUN
ajst-16792	102	13	to	to	PART
ajst-16792	102	14	ensure	ensure	VERB
ajst-16792	102	15	that	that	SCONJ
ajst-16792	102	16	they	they	PRON
ajst-16792	102	17	perform	perform	VERB
ajst-16792	102	18	their	their	PRON
ajst-16792	102	19	tasks	task	NOUN
ajst-16792	102	20	without	without	ADP
ajst-16792	102	21	causing	cause	VERB
ajst-16792	102	22	damage	damage	NOUN
ajst-16792	102	23	to	to	ADP
ajst-16792	102	24	people	people	NOUN
ajst-16792	102	25	and	and	CCONJ
ajst-16792	102	26	the	the	DET
ajst-16792	102	27	environment	environment	NOUN
ajst-16792	102	28	.	.	PUNCT
ajst-16792	103	1	5	5	X
ajst-16792	103	2	)	)	PUNCT
ajst-16792	103	3	remote	remote	ADJ
ajst-16792	103	4	control	control	NOUN
ajst-16792	103	5	:	:	PUNCT
ajst-16792	103	6	future	future	ADJ
ajst-16792	103	7	pipeline	pipeline	NOUN
ajst-16792	103	8	robots	robot	NOUN
ajst-16792	103	9	will	will	AUX
ajst-16792	103	10	pay	pay	VERB
ajst-16792	103	11	more	more	ADJ
ajst-16792	103	12	attention	attention	NOUN
ajst-16792	103	13	to	to	ADP
ajst-16792	103	14	the	the	DET
ajst-16792	103	15	development	development	NOUN
ajst-16792	103	16	of	of	ADP
ajst-16792	103	17	remote	remote	ADJ
ajst-16792	103	18	control	control	NOUN
ajst-16792	103	19	technology	technology	NOUN
ajst-16792	103	20	.	.	PUNCT
ajst-16792	104	1	through	through	ADP
ajst-16792	104	2	remote	remote	ADJ
ajst-16792	104	3	control	control	NOUN
ajst-16792	104	4	technology	technology	NOUN
ajst-16792	104	5	,	,	PUNCT
ajst-16792	104	6	operators	operator	NOUN
ajst-16792	104	7	can	can	AUX
ajst-16792	104	8	control	control	VERB
ajst-16792	104	9	pipeline	pipeline	NOUN
ajst-16792	104	10	robots	robot	NOUN
ajst-16792	104	11	in	in	ADP
ajst-16792	104	12	a	a	DET
ajst-16792	104	13	safe	safe	ADJ
ajst-16792	104	14	and	and	CCONJ
ajst-16792	104	15	comfortable	comfortable	ADJ
ajst-16792	104	16	environment	environment	NOUN
ajst-16792	104	17	,	,	PUNCT
ajst-16792	104	18	realizing	realize	VERB
ajst-16792	104	19	more	more	ADV
ajst-16792	104	20	efficient	efficient	ADJ
ajst-16792	104	21	and	and	CCONJ
ajst-16792	104	22	safer	safe	ADJ
ajst-16792	104	23	operations	operation	NOUN
ajst-16792	104	24	.	.	PUNCT
ajst-16792	105	1	references	reference	NOUN
ajst-16792	105	2	[	[	X
ajst-16792	105	3	1	1	NUM
ajst-16792	105	4	]	]	X
ajst-16792	105	5	yi	yi	NOUN
ajst-16792	105	6	ding	ding	NOUN
ajst-16792	105	7	,	,	PUNCT
ajst-16792	105	8	ruhong	ruhong	PROPN
ajst-16792	105	9	wang	wang	PROPN
ajst-16792	105	10	,	,	PUNCT
ajst-16792	105	11	chenying	chenying	PROPN
ajst-16792	105	12	jiang	jiang	PROPN
ajst-16792	105	13	.	.	PUNCT
ajst-16792	106	1	the	the	DET
ajst-16792	106	2	development	development	NOUN
ajst-16792	106	3	of	of	ADP
ajst-16792	106	4	the	the	DET
ajst-16792	106	5	pipeline	pipeline	NOUN
ajst-16792	106	6	robot	robot	NOUN
ajst-16792	106	7	and	and	CCONJ
ajst-16792	106	8	its	its	PRON
ajst-16792	106	9	application	application	NOUN
ajst-16792	106	10	in	in	ADP
ajst-16792	106	11	packaging	packaging	NOUN
ajst-16792	106	12	area	area	NOUN
ajst-16792	106	13	.	.	PUNCT
ajst-16792	107	1	packaging	packaging	NOUN
ajst-16792	107	2	and	and	CCONJ
ajst-16792	107	3	food	food	NOUN
ajst-16792	107	4	machinery	machinery	NOUN
ajst-16792	107	5	,	,	PUNCT
ajst-16792	107	6	vol	vol	NOUN
ajst-16792	107	7	.	.	PROPN
ajst-16792	107	8	27	27	NUM
ajst-16792	107	9	(	(	PUNCT
ajst-16792	107	10	2009	2009	NUM
ajst-16792	107	11	)	)	PUNCT
ajst-16792	108	1	no	no	INTJ
ajst-16792	108	2	.	.	NOUN
ajst-16792	108	3	5	5	NUM
ajst-16792	108	4	,	,	PUNCT
ajst-16792	108	5	p.	p.	NOUN
ajst-16792	108	6	128130	128130	NUM
ajst-16792	108	7	.	.	PUNCT
ajst-16792	109	1	[	[	X
ajst-16792	109	2	2	2	NUM
ajst-16792	109	3	]	]	X
ajst-16792	109	4	hongwei	hongwei	PROPN
ajst-16792	109	5	yan	yan	PROPN
ajst-16792	109	6	,	,	PUNCT
ajst-16792	109	7	yang	yang	PROPN
ajst-16792	109	8	wang	wang	PROPN
ajst-16792	109	9	,	,	PUNCT
ajst-16792	109	10	jianqiang	jianqiang	PROPN
ajst-16792	109	11	ma	ma	PROPN
ajst-16792	109	12	,	,	PUNCT
ajst-16792	109	13	et	et	PROPN
ajst-16792	109	14	al	al	PROPN
ajst-16792	109	15	.	.	PUNCT
ajst-16792	109	16	analysis	analysis	NOUN
ajst-16792	109	17	for	for	ADP
ajst-16792	109	18	dynamic	dynamic	ADJ
ajst-16792	109	19	characteristics	characteristic	NOUN
ajst-16792	109	20	of	of	ADP
ajst-16792	109	21	wheeled	wheel	VERB
ajst-16792	109	22	pipe	pipe	NOUN
ajst-16792	109	23	robot	robot	NOUN
ajst-16792	109	24	in	in	ADP
ajst-16792	109	25	elbow	elbow	PROPN
ajst-16792	109	26	.	.	PUNCT
ajst-16792	110	1	journal	journal	PROPN
ajst-16792	110	2	of	of	ADP
ajst-16792	110	3	xi	xi	PROPN
ajst-16792	110	4	'	'	PUNCT
ajst-16792	110	5	an	an	DET
ajst-16792	110	6	jiaotong	jiaotong	ADJ
ajst-16792	110	7	university	university	NOUN
ajst-16792	110	8	,	,	PUNCT
ajst-16792	110	9	vol	vol	NOUN
ajst-16792	110	10	.	.	PROPN
ajst-16792	110	11	52	52	NUM
ajst-16792	110	12	(	(	PUNCT
ajst-16792	110	13	2009	2009	NUM
ajst-16792	110	14	)	)	PUNCT
ajst-16792	111	1	no	no	INTJ
ajst-16792	111	2	.	.	NOUN
ajst-16792	111	3	8	8	NUM
ajst-16792	111	4	,	,	PUNCT
ajst-16792	111	5	p.	p.	NOUN
ajst-16792	111	6	87	87	NUM
ajst-16792	111	7	-	-	SYM
ajst-16792	111	8	94	94	NUM
ajst-16792	111	9	.	.	PUNCT
ajst-16792	112	1	[	[	X
ajst-16792	112	2	3	3	X
ajst-16792	112	3	]	]	X
ajst-16792	112	4	zheng	zheng	PROPN
ajst-16792	112	5	zhang	zhang	PROPN
ajst-16792	112	6	,	,	PUNCT
ajst-16792	112	7	xin	xin	PROPN
ajst-16792	112	8	wang	wang	PROPN
ajst-16792	112	9	,	,	PUNCT
ajst-16792	112	10	tianxiang	tianxiang	PROPN
ajst-16792	112	11	jiang	jiang	PROPN
ajst-16792	112	12	,	,	PUNCT
ajst-16792	112	13	et	et	PROPN
ajst-16792	112	14	al	al	PROPN
ajst-16792	112	15	.	.	PROPN
ajst-16792	112	16	research	research	PROPN
ajst-16792	112	17	and	and	CCONJ
ajst-16792	112	18	simulation	simulation	NOUN
ajst-16792	112	19	of	of	ADP
ajst-16792	112	20	key	key	ADJ
ajst-16792	112	21	parameters	parameter	NOUN
ajst-16792	112	22	for	for	ADP
ajst-16792	112	23	wheeled	wheeled	ADJ
ajst-16792	112	24	pipeline	pipeline	NOUN
ajst-16792	112	25	robot	robot	NOUN
ajst-16792	112	26	in	in	ADP
ajst-16792	112	27	elbow	elbow	PROPN
ajst-16792	112	28	.	.	PUNCT
ajst-16792	113	1	machinery	machinery	NOUN
ajst-16792	113	2	design	design	NOUN
ajst-16792	113	3	&	&	CCONJ
ajst-16792	113	4	manufacture	manufacture	PROPN
ajst-16792	113	5	,	,	PUNCT
ajst-16792	113	6	vol	vol	NOUN
ajst-16792	113	7	.	.	PROPN
ajst-16792	113	8	30	30	NUM
ajst-16792	113	9	(	(	PUNCT
ajst-16792	113	10	2023	2023	NUM
ajst-16792	113	11	)	)	PUNCT
ajst-16792	113	12	no	no	NOUN
ajst-16792	113	13	.	.	NOUN
ajst-16792	113	14	4	4	NUM
ajst-16792	113	15	,	,	PUNCT
ajst-16792	113	16	p.	p.	NOUN
ajst-16792	113	17	90	90	NUM
ajst-16792	113	18	-	-	SYM
ajst-16792	113	19	95	95	NUM
ajst-16792	113	20	.	.	PUNCT
ajst-16792	114	1	[	[	X
ajst-16792	114	2	4	4	NUM
ajst-16792	114	3	]	]	PUNCT
ajst-16792	114	4	zenghui	zenghui	PROPN
ajst-16792	114	5	liu	liu	PROPN
ajst-16792	114	6	,	,	PUNCT
ajst-16792	114	7	zhengkuo	zhengkuo	PROPN
ajst-16792	114	8	ma	ma	PROPN
ajst-16792	114	9	,	,	PUNCT
ajst-16792	114	10	lei	lei	PROPN
ajst-16792	114	11	peng	peng	PROPN
ajst-16792	114	12	.	.	PUNCT
ajst-16792	115	1	research	research	NOUN
ajst-16792	115	2	on	on	ADP
ajst-16792	115	3	anti	anti	ADJ
ajst-16792	115	4	-	-	ADJ
ajst-16792	115	5	roll	roll	ADJ
ajst-16792	115	6	mechanism	mechanism	NOUN
ajst-16792	115	7	of	of	ADP
ajst-16792	115	8	double	double	ADJ
ajst-16792	115	9	-	-	PUNCT
ajst-16792	115	10	wheel	wheel	NOUN
ajst-16792	115	11	crawler	crawler	NOUN
ajst-16792	115	12	pipeline	pipeline	NOUN
ajst-16792	115	13	robot	robot	NOUN
ajst-16792	115	14	.	.	PUNCT
ajst-16792	116	1	mechanical	mechanical	ADJ
ajst-16792	116	2	manufacturing	manufacturing	NOUN
ajst-16792	116	3	and	and	CCONJ
ajst-16792	116	4	automation	automation	NOUN
ajst-16792	116	5	,	,	PUNCT
ajst-16792	116	6	vol	vol	NOUN
ajst-16792	116	7	.	.	PROPN
ajst-16792	116	8	49	49	NUM
ajst-16792	116	9	(	(	PUNCT
ajst-16792	116	10	2020	2020	NUM
ajst-16792	116	11	)	)	PUNCT
ajst-16792	116	12	no	no	INTJ
ajst-16792	116	13	.	.	NOUN
ajst-16792	116	14	5	5	NUM
ajst-16792	116	15	,	,	PUNCT
ajst-16792	116	16	p.	p.	NOUN
ajst-16792	116	17	142	142	NUM
ajst-16792	116	18	-	-	SYM
ajst-16792	116	19	145	145	NUM
ajst-16792	116	20	.	.	PUNCT
ajst-16792	117	1	[	[	X
ajst-16792	117	2	5	5	NUM
ajst-16792	117	3	]	]	PUNCT
ajst-16792	117	4	xianggui	xianggui	PROPN
ajst-16792	117	5	cui	cui	PROPN
ajst-16792	117	6	,	,	PUNCT
ajst-16792	117	7	jizhong	jizhong	PROPN
ajst-16792	117	8	zhang	zhang	PROPN
ajst-16792	117	9	,	,	PUNCT
ajst-16792	117	10	jinhua	jinhua	PROPN
ajst-16792	117	11	jiang	jiang	PROPN
ajst-16792	117	12	.	.	PUNCT
ajst-16792	118	1	simulation	simulation	NOUN
ajst-16792	118	2	analysis	analysis	NOUN
ajst-16792	118	3	and	and	CCONJ
ajst-16792	118	4	optimal	optimal	ADJ
ajst-16792	118	5	design	design	NOUN
ajst-16792	118	6	of	of	ADP
ajst-16792	118	7	diameter	diameter	NOUN
ajst-16792	118	8	-	-	PUNCT
ajst-16792	118	9	changing	change	VERB
ajst-16792	118	10	mechanism	mechanism	NOUN
ajst-16792	118	11	of	of	ADP
ajst-16792	118	12	tracked	track	VERB
ajst-16792	118	13	pipeline	pipeline	NOUN
ajst-16792	118	14	robot	robot	NOUN
ajst-16792	118	15	.	.	PUNCT
ajst-16792	119	1	journal	journal	PROPN
ajst-16792	119	2	of	of	ADP
ajst-16792	119	3	qingdao	qingdao	PROPN
ajst-16792	119	4	university	university	PROPN
ajst-16792	119	5	,	,	PUNCT
ajst-16792	119	6	vol	vol	NOUN
ajst-16792	119	7	.	.	PROPN
ajst-16792	119	8	36	36	NUM
ajst-16792	119	9	(	(	PUNCT
ajst-16792	119	10	2023	2023	NUM
ajst-16792	119	11	)	)	PUNCT
ajst-16792	119	12	no	no	INTJ
ajst-16792	119	13	.	.	NOUN
ajst-16792	119	14	2	2	NUM
ajst-16792	119	15	,	,	PUNCT
ajst-16792	119	16	p.	p.	NOUN
ajst-16792	119	17	79	79	NUM
ajst-16792	119	18	-	-	SYM
ajst-16792	119	19	83	83	NUM
ajst-16792	119	20	.	.	PUNCT
ajst-16792	120	1	[	[	X
ajst-16792	120	2	6	6	NUM
ajst-16792	120	3	]	]	X
ajst-16792	120	4	yin	yin	PROPN
ajst-16792	120	5	li	li	PROPN
ajst-16792	120	6	,	,	PUNCT
ajst-16792	120	7	yunlong	yunlong	PROPN
ajst-16792	120	8	miao	miao	PROPN
ajst-16792	120	9	,	,	PUNCT
ajst-16792	120	10	qi	qi	PROPN
ajst-16792	120	11	li	li	PROPN
ajst-16792	120	12	.	.	PROPN
ajst-16792	120	13	structural	structural	ADJ
ajst-16792	120	14	design	design	NOUN
ajst-16792	120	15	and	and	CCONJ
ajst-16792	120	16	motion	motion	NOUN
ajst-16792	120	17	analysis	analysis	NOUN
ajst-16792	120	18	of	of	ADP
ajst-16792	120	19	a	a	DET
ajst-16792	120	20	serpentine	serpentine	ADJ
ajst-16792	120	21	pipe	pipe	NOUN
ajst-16792	120	22	robot	robot	NOUN
ajst-16792	120	23	.	.	PUNCT
ajst-16792	121	1	robot	robot	NOUN
ajst-16792	121	2	technique	technique	NOUN
ajst-16792	121	3	and	and	CCONJ
ajst-16792	121	4	application	application	NOUN
ajst-16792	121	5	,	,	PUNCT
ajst-16792	121	6	vol	vol	NOUN
ajst-16792	121	7	.	.	PROPN
ajst-16792	121	8	20	20	NUM
ajst-16792	121	9	(	(	PUNCT
ajst-16792	121	10	2023	2023	NUM
ajst-16792	121	11	)	)	PUNCT
ajst-16792	121	12	no	no	INTJ
ajst-16792	121	13	.	.	NOUN
ajst-16792	121	14	5	5	NUM
ajst-16792	121	15	,	,	PUNCT
ajst-16792	121	16	p.	p.	NOUN
ajst-16792	121	17	30	30	NUM
ajst-16792	121	18	-	-	SYM
ajst-16792	121	19	35	35	NUM
ajst-16792	121	20	.	.	PUNCT
ajst-16792	122	1	[	[	X
ajst-16792	122	2	7	7	X
ajst-16792	122	3	]	]	SYM
ajst-16792	122	4	yingjie	yingjie	PROPN
ajst-16792	122	5	zhang	zhang	PROPN
ajst-16792	122	6	.	.	PUNCT
ajst-16792	123	1	a	a	DET
ajst-16792	123	2	survey	survey	NOUN
ajst-16792	123	3	of	of	ADP
ajst-16792	123	4	pipeline	pipeline	NOUN
ajst-16792	123	5	robot	robot	NOUN
ajst-16792	123	6	.	.	PUNCT
ajst-16792	124	1	equipment	equipment	NOUN
ajst-16792	124	2	manufacturing	manufacturing	NOUN
ajst-16792	124	3	technology	technology	NOUN
ajst-16792	124	4	,	,	PUNCT
ajst-16792	124	5	vol	vol	NOUN
ajst-16792	124	6	.	.	PROPN
ajst-16792	125	1	25	25	NUM
ajst-16792	125	2	(	(	PUNCT
ajst-16792	125	3	2021	2021	NUM
ajst-16792	125	4	)	)	PUNCT
ajst-16792	126	1	no	no	INTJ
ajst-16792	126	2	.	.	NOUN
ajst-16792	126	3	6	6	NUM
ajst-16792	126	4	,	,	PUNCT
ajst-16792	126	5	p.	p.	NOUN
ajst-16792	126	6	114	114	NUM
ajst-16792	126	7	-	-	SYM
ajst-16792	126	8	117	117	NUM
ajst-16792	126	9	.	.	PUNCT
ajst-16792	127	1	[	[	X
ajst-16792	127	2	8	8	NUM
ajst-16792	127	3	]	]	X
ajst-16792	127	4	dezhao	dezhao	PROPN
ajst-16792	127	5	qin	qin	PROPN
ajst-16792	127	6	,	,	PUNCT
ajst-16792	127	7	yanfeng	yanfeng	PROPN
ajst-16792	127	8	li	li	PROPN
ajst-16792	127	9	,	,	PUNCT
ajst-16792	127	10	yongzhi	yongzhi	PROPN
ajst-16792	127	11	zhang	zhang	PROPN
ajst-16792	127	12	.	.	PUNCT
ajst-16792	127	13	research	research	PROPN
ajst-16792	127	14	and	and	CCONJ
ajst-16792	127	15	development	development	NOUN
ajst-16792	127	16	trends	trend	NOUN
ajst-16792	127	17	of	of	ADP
ajst-16792	127	18	robots	robot	NOUN
ajst-16792	127	19	in	in	ADP
ajst-16792	127	20	tubes	tube	NOUN
ajst-16792	127	21	.	.	PUNCT
ajst-16792	128	1	industrial	industrial	ADJ
ajst-16792	128	2	control	control	PROPN
ajst-16792	128	3	computers	computer	NOUN
ajst-16792	128	4	.	.	PUNCT
ajst-16792	129	1	vol	vol	NOUN
ajst-16792	129	2	.	.	PUNCT
ajst-16792	130	1	34	34	NUM
ajst-16792	130	2	(	(	PUNCT
ajst-16792	130	3	2021	2021	NUM
ajst-16792	130	4	)	)	PUNCT
ajst-16792	131	1	no	no	INTJ
ajst-16792	131	2	.	.	NOUN
ajst-16792	131	3	7	7	NUM
ajst-16792	131	4	,	,	PUNCT
ajst-16792	131	5	p.	p.	NOUN
ajst-16792	131	6	31	31	NUM
ajst-16792	131	7	-	-	SYM
ajst-16792	131	8	35	35	NUM
ajst-16792	131	9	.	.	PUNCT
ajst-16792	132	1	[	[	X
ajst-16792	132	2	9	9	NUM
ajst-16792	132	3	]	]	X
ajst-16792	132	4	islas	islas	PROPN
ajst-16792	132	5	-	-	PUNCT
ajst-16792	132	6	garciae	garciae	NOUN
ajst-16792	132	7	,	,	PUNCT
ajst-16792	132	8	ceccarellim	ceccarellim	PROPN
ajst-16792	132	9	,	,	PUNCT
ajst-16792	132	10	tapia	tapia	PROPN
ajst-16792	132	11	-	-	PUNCT
ajst-16792	132	12	herrerar	herrerar	NOUN
ajst-16792	132	13	,	,	PUNCT
ajst-16792	132	14	et	et	PROPN
ajst-16792	133	1	al	al	PROPN
ajst-16792	133	2	.	.	PROPN
ajst-16792	133	3	pipeline	pipeline	NOUN
ajst-16792	133	4	inspection	inspection	NOUN
ajst-16792	133	5	tests	test	NOUN
ajst-16792	133	6	using	use	VERB
ajst-16792	133	7	a	a	DET
ajst-16792	133	8	biomimetic	biomimetic	ADJ
ajst-16792	133	9	robot	robot	NOUN
ajst-16792	133	10	.	.	PUNCT
ajst-16792	134	1	biomimetics	biomimetic	NOUN
ajst-16792	134	2	.	.	PUNCT
ajst-16792	135	1	vol	vol	NOUN
ajst-16792	135	2	.	.	PROPN
ajst-16792	135	3	6	6	NUM
ajst-16792	135	4	(	(	PUNCT
ajst-16792	135	5	2021	2021	NUM
ajst-16792	135	6	)	)	PUNCT
ajst-16792	136	1	no	no	INTJ
ajst-16792	136	2	.	.	NOUN
ajst-16792	136	3	1	1	NUM
ajst-16792	136	4	,	,	PUNCT
ajst-16792	136	5	p.	p.	NOUN
ajst-16792	136	6	17	17	NUM
ajst-16792	136	7	-	-	SYM
ajst-16792	136	8	21	21	NUM
ajst-16792	136	9	.	.	PUNCT
ajst-16792	137	1	[	[	X
ajst-16792	137	2	10	10	NUM
ajst-16792	137	3	]	]	X
ajst-16792	137	4	yamamotot	yamamotot	X
ajst-16792	137	5	,	,	PUNCT
ajst-16792	137	6	sakamas	sakama	NOUN
ajst-16792	137	7	,	,	PUNCT
ajst-16792	137	8	kamimura	kamimura	INTJ
ajst-16792	137	9	.	.	PROPN
ajst-16792	137	10	pneumatic	pneumatic	ADJ
ajst-16792	137	11	duplexchambered	duplexchambere	VERB
ajst-16792	137	12	inchworm	inchworm	NOUN
ajst-16792	137	13	mechanism	mechanism	NOUN
ajst-16792	137	14	for	for	ADP
ajst-16792	137	15	narrow	narrow	ADJ
ajst-16792	137	16	pipes	pipe	NOUN
ajst-16792	137	17	driven	drive	VERB
ajst-16792	137	18	by	by	ADP
ajst-16792	137	19	only	only	ADV
ajst-16792	137	20	two	two	NUM
ajst-16792	137	21	air	air	NOUN
ajst-16792	137	22	supply	supply	NOUN
ajst-16792	137	23	lines	line	NOUN
ajst-16792	137	24	.	.	PUNCT
ajst-16792	138	1	ieee	ieee	NOUN
ajst-16792	138	2	robotics	robotic	NOUN
ajst-16792	138	3	and	and	CCONJ
ajst-16792	138	4	automation	automation	NOUN
ajst-16792	138	5	letters	letter	NOUN
ajst-16792	138	6	,	,	PUNCT
ajst-16792	138	7	vol	vol	NOUN
ajst-16792	138	8	.	.	PROPN
ajst-16792	138	9	5	5	NUM
ajst-16792	138	10	(	(	PUNCT
ajst-16792	138	11	2020	2020	NUM
ajst-16792	138	12	)	)	PUNCT
ajst-16792	138	13	no	no	NOUN
ajst-16792	138	14	.	.	NOUN
ajst-16792	138	15	4	4	NUM
ajst-16792	138	16	,	,	PUNCT
ajst-16792	138	17	p.	p.	NOUN
ajst-16792	138	18	5034	5034	NUM
ajst-16792	138	19	-	-	SYM
ajst-16792	138	20	5042	5042	NUM
ajst-16792	138	21	.	.	PUNCT
ajst-16792	139	1	[	[	X
ajst-16792	139	2	11	11	NUM
ajst-16792	139	3	]	]	PUNCT
ajst-16792	139	4	torajizadeh	torajizadeh	NOUN
ajst-16792	139	5	,	,	PUNCT
ajst-16792	139	6	asadirad	asadirad	PROPN
ajst-16792	139	7	,	,	PUNCT
ajst-16792	139	8	mashayekhi	mashayekhi	PROPN
ajst-16792	139	9	et	et	PROPN
ajst-16792	139	10	al	al	PROPN
ajst-16792	139	11	.	.	PROPN
ajst-16792	139	12	design	design	NOUN
ajst-16792	139	13	and	and	CCONJ
ajst-16792	139	14	manufacturing	manufacture	VERB
ajst-16792	139	15	a	a	DET
ajst-16792	139	16	novel	novel	NOUN
ajst-16792	139	17	screw‐in‐pipe	screw‐in‐pipe	PROPN
ajst-16792	139	18	inspection	inspection	NOUN
ajst-16792	139	19	robot	robot	NOUN
ajst-16792	139	20	with	with	ADP
ajst-16792	139	21	steering	steering	NOUN
ajst-16792	139	22	capability	capability	NOUN
ajst-16792	139	23	.	.	PUNCT
ajst-16792	140	1	journal	journal	NOUN
ajst-16792	140	2	of	of	ADP
ajst-16792	140	3	field	field	NOUN
ajst-16792	140	4	robotics	robotic	NOUN
ajst-16792	140	5	.	.	PUNCT
ajst-16792	141	1	vol	vol	NOUN
ajst-16792	141	2	.	.	PROPN
ajst-16792	142	1	40	40	NUM
ajst-16792	142	2	(	(	PUNCT
ajst-16792	142	3	2023	2023	NUM
ajst-16792	142	4	)	)	PUNCT
ajst-16792	143	1	no	no	INTJ
ajst-16792	143	2	.	.	NOUN
ajst-16792	144	1	3	3	NUM
ajst-16792	144	2	,	,	PUNCT
ajst-16792	144	3	p.	p.	NOUN
ajst-16792	144	4	429	429	NUM
ajst-16792	144	5	-	-	SYM
ajst-16792	144	6	446	446	NUM
ajst-16792	144	7	.	.	PUNCT
ajst-16792	145	1	[	[	X
ajst-16792	145	2	12	12	NUM
ajst-16792	145	3	]	]	X
ajst-16792	145	4	tao	tao	PROPN
ajst-16792	145	5	shi	shi	PROPN
ajst-16792	145	6	,	,	PUNCT
ajst-16792	145	7	ruibo	ruibo	PROPN
ajst-16792	145	8	yuan	yuan	PROPN
ajst-16792	145	9	,	,	PUNCT
ajst-16792	145	10	yuran	yuran	PROPN
ajst-16792	145	11	shao	shao	PROPN
ajst-16792	145	12	,	,	PUNCT
ajst-16792	145	13	et	et	PROPN
ajst-16792	145	14	al	al	PROPN
ajst-16792	145	15	.	.	PUNCT
ajst-16792	146	1	the	the	DET
ajst-16792	146	2	invention	invention	NOUN
ajst-16792	146	3	relates	relate	VERB
ajst-16792	146	4	to	to	ADP
ajst-16792	146	5	the	the	DET
ajst-16792	146	6	structure	structure	NOUN
ajst-16792	146	7	of	of	ADP
ajst-16792	146	8	a	a	DET
ajst-16792	146	9	fluid	fluid	ADJ
ajst-16792	146	10	driven	drive	VERB
ajst-16792	146	11	pipeline	pipeline	NOUN
ajst-16792	146	12	robot	robot	NOUN
ajst-16792	146	13	optimization	optimization	NOUN
ajst-16792	146	14	design	design	NOUN
ajst-16792	146	15	and	and	CCONJ
ajst-16792	146	16	motion	motion	NOUN
ajst-16792	146	17	analysis	analysis	NOUN
ajst-16792	146	18	.	.	PUNCT
ajst-16792	147	1	journal	journal	NOUN
ajst-16792	147	2	of	of	ADP
ajst-16792	147	3	chongqing	chongqing	PROPN
ajst-16792	147	4	university	university	PROPN
ajst-16792	147	5	of	of	ADP
ajst-16792	147	6	technology	technology	NOUN
ajst-16792	147	7	.	.	PUNCT
ajst-16792	148	1	vol	vol	NOUN
ajst-16792	148	2	.	.	PUNCT
ajst-16792	149	1	37	37	NUM
ajst-16792	149	2	(	(	PUNCT
ajst-16792	149	3	2023	2023	NUM
ajst-16792	149	4	)	)	PUNCT
ajst-16792	150	1	no	no	INTJ
ajst-16792	150	2	.	.	NOUN
ajst-16792	150	3	9	9	NUM
ajst-16792	150	4	,	,	PUNCT
ajst-16792	150	5	p.	p.	NOUN
ajst-16792	150	6	322	322	NUM
ajst-16792	150	7	-	-	SYM
ajst-16792	150	8	331	331	NUM
ajst-16792	150	9	.	.	PUNCT
ajst-16792	151	1	[	[	X
ajst-16792	151	2	13	13	NUM
ajst-16792	151	3	]	]	X
ajst-16792	151	4	qingyou	qingyou	PROPN
ajst-16792	151	5	liu	liu	PROPN
ajst-16792	151	6	,	,	PUNCT
ajst-16792	151	7	yujia	yujia	PROPN
ajst-16792	151	8	li	li	PROPN
ajst-16792	151	9	,	,	PUNCT
ajst-16792	151	10	tao	tao	PROPN
ajst-16792	151	11	ren	ren	PROPN
ajst-16792	151	12	,	,	PUNCT
ajst-16792	151	13	et	et	PROPN
ajst-16792	151	14	al	al	PROPN
ajst-16792	151	15	.	.	PUNCT
ajst-16792	152	1	an	an	DET
ajst-16792	152	2	active	active	ADJ
ajst-16792	152	3	helical	helical	ADJ
ajst-16792	152	4	drive	drive	NOUN
ajst-16792	152	5	in	in	ADP
ajst-16792	152	6	-	-	PUNCT
ajst-16792	152	7	pipe	pipe	NOUN
ajst-16792	152	8	robot	robot	NOUN
ajst-16792	152	9	.	.	PUNCT
ajst-16792	153	1	robot	robot	NOUN
ajst-16792	153	2	.	.	PUNCT
ajst-16792	154	1	vol	vol	NOUN
ajst-16792	154	2	.	.	PROPN
ajst-16792	155	1	36	36	NUM
ajst-16792	155	2	(	(	PUNCT
ajst-16792	155	3	2014	2014	NUM
ajst-16792	155	4	)	)	PUNCT
ajst-16792	156	1	no	no	INTJ
ajst-16792	156	2	.	.	NOUN
ajst-16792	156	3	6	6	NUM
ajst-16792	156	4	,	,	PUNCT
ajst-16792	156	5	p.	p.	NOUN
ajst-16792	156	6	711	711	NUM
ajst-16792	156	7	-	-	SYM
ajst-16792	156	8	718	718	NUM
ajst-16792	156	9	.	.	PUNCT