id	sid	tid	token	lemma	pos
ajst-17384	1	1	academic	academic	ADJ
ajst-17384	1	2	journal	journal	NOUN
ajst-17384	1	3	of	of	ADP
ajst-17384	1	4	science	science	NOUN
ajst-17384	1	5	and	and	CCONJ
ajst-17384	1	6	technology	technology	NOUN
ajst-17384	1	7	issn	issn	NOUN
ajst-17384	1	8	:	:	PUNCT
ajst-17384	1	9	2771	2771	NUM
ajst-17384	1	10	-	-	SYM
ajst-17384	1	11	3032	3032	NUM
ajst-17384	1	12	|	|	NOUN
ajst-17384	1	13	vol	vol	NOUN
ajst-17384	1	14	.	.	PROPN
ajst-17384	2	1	9	9	NUM
ajst-17384	2	2	,	,	PUNCT
ajst-17384	2	3	no	no	INTJ
ajst-17384	2	4	.	.	NOUN
ajst-17384	2	5	2	2	NUM
ajst-17384	2	6	,	,	PUNCT
ajst-17384	2	7	2024	2024	NUM
ajst-17384	2	8	39	39	NUM
ajst-17384	2	9	research	research	NOUN
ajst-17384	2	10	on	on	ADP
ajst-17384	2	11	maintenance	maintenance	NOUN
ajst-17384	2	12	and	and	CCONJ
ajst-17384	2	13	replacement	replacement	NOUN
ajst-17384	2	14	technology	technology	NOUN
ajst-17384	2	15	of	of	ADP
ajst-17384	2	16	space	space	NOUN
ajst-17384	2	17	mechanical	mechanical	ADJ
ajst-17384	2	18	arm	arm	NOUN
ajst-17384	2	19	yuhang	yuhang	PROPN
ajst-17384	2	20	xing1	xing1	PROPN
ajst-17384	2	21	,	,	PUNCT
ajst-17384	2	22	*	*	PROPN
ajst-17384	2	23	1university	1university	NUM
ajst-17384	2	24	of	of	ADP
ajst-17384	2	25	electronic	electronic	ADJ
ajst-17384	2	26	science	science	NOUN
ajst-17384	2	27	and	and	CCONJ
ajst-17384	2	28	technology	technology	NOUN
ajst-17384	2	29	of	of	ADP
ajst-17384	2	30	china	china	PROPN
ajst-17384	2	31	,	,	PUNCT
ajst-17384	2	32	chengdu	chengdu	PROPN
ajst-17384	2	33	,	,	PUNCT
ajst-17384	2	34	sichuan	sichuan	PROPN
ajst-17384	2	35	,	,	PUNCT
ajst-17384	2	36	611731	611731	NUM
ajst-17384	2	37	,	,	PUNCT
ajst-17384	2	38	china	china	PROPN
ajst-17384	2	39	*	*	PUNCT
ajst-17384	2	40	corresponding	correspond	VERB
ajst-17384	2	41	author	author	NOUN
ajst-17384	2	42	’s	’s	PART
ajst-17384	2	43	email	email	NOUN
ajst-17384	2	44	:	:	PUNCT
ajst-17384	2	45	xyh15081054830@163.com	xyh15081054830@163.com	X
ajst-17384	2	46	abstract	abstract	NOUN
ajst-17384	2	47	:	:	PUNCT
ajst-17384	2	48	this	this	DET
ajst-17384	2	49	paper	paper	NOUN
ajst-17384	2	50	presents	present	VERB
ajst-17384	2	51	the	the	DET
ajst-17384	2	52	station	station	NOUN
ajst-17384	2	53	arm	arm	VERB
ajst-17384	2	54	structural	structural	ADJ
ajst-17384	2	55	components	component	NOUN
ajst-17384	2	56	and	and	CCONJ
ajst-17384	2	57	discusses	discuss	VERB
ajst-17384	2	58	the	the	DET
ajst-17384	2	59	importance	importance	NOUN
ajst-17384	2	60	and	and	CCONJ
ajst-17384	2	61	challenge	challenge	NOUN
ajst-17384	2	62	of	of	ADP
ajst-17384	2	63	station	station	NOUN
ajst-17384	2	64	arm	arm	NOUN
ajst-17384	2	65	maintenance	maintenance	NOUN
ajst-17384	2	66	.	.	PUNCT
ajst-17384	3	1	the	the	DET
ajst-17384	3	2	article	article	NOUN
ajst-17384	3	3	provides	provide	VERB
ajst-17384	3	4	the	the	DET
ajst-17384	3	5	main	main	ADJ
ajst-17384	3	6	process	process	NOUN
ajst-17384	3	7	of	of	ADP
ajst-17384	3	8	the	the	DET
ajst-17384	3	9	maintenance	maintenance	NOUN
ajst-17384	3	10	of	of	ADP
ajst-17384	3	11	the	the	DET
ajst-17384	3	12	space	space	NOUN
ajst-17384	3	13	station	station	NOUN
ajst-17384	3	14	robotic	robotic	ADJ
ajst-17384	3	15	arm	arm	NOUN
ajst-17384	3	16	,	,	PUNCT
ajst-17384	3	17	including	include	VERB
ajst-17384	3	18	the	the	DET
ajst-17384	3	19	troubleshooting	troubleshooting	NOUN
ajst-17384	3	20	,	,	PUNCT
ajst-17384	3	21	the	the	DET
ajst-17384	3	22	replacement	replacement	NOUN
ajst-17384	3	23	and	and	CCONJ
ajst-17384	3	24	maintenance	maintenance	NOUN
ajst-17384	3	25	of	of	ADP
ajst-17384	3	26	parts	part	NOUN
ajst-17384	3	27	,	,	PUNCT
ajst-17384	3	28	and	and	CCONJ
ajst-17384	3	29	the	the	DET
ajst-17384	3	30	calibration	calibration	NOUN
ajst-17384	3	31	and	and	CCONJ
ajst-17384	3	32	testing	testing	NOUN
ajst-17384	3	33	of	of	ADP
ajst-17384	3	34	the	the	DET
ajst-17384	3	35	system	system	NOUN
ajst-17384	3	36	.	.	PUNCT
ajst-17384	4	1	at	at	ADP
ajst-17384	4	2	the	the	DET
ajst-17384	4	3	same	same	ADJ
ajst-17384	4	4	time	time	NOUN
ajst-17384	4	5	,	,	PUNCT
ajst-17384	4	6	the	the	DET
ajst-17384	4	7	article	article	NOUN
ajst-17384	4	8	also	also	ADV
ajst-17384	4	9	points	point	VERB
ajst-17384	4	10	out	out	ADP
ajst-17384	4	11	that	that	SCONJ
ajst-17384	4	12	the	the	DET
ajst-17384	4	13	mechanical	mechanical	ADJ
ajst-17384	4	14	arm	arm	NOUN
ajst-17384	4	15	failure	failure	NOUN
ajst-17384	4	16	may	may	AUX
ajst-17384	4	17	be	be	AUX
ajst-17384	4	18	caused	cause	VERB
ajst-17384	4	19	by	by	ADP
ajst-17384	4	20	a	a	DET
ajst-17384	4	21	variety	variety	NOUN
ajst-17384	4	22	of	of	ADP
ajst-17384	4	23	factors	factor	NOUN
ajst-17384	4	24	,	,	PUNCT
ajst-17384	4	25	including	include	VERB
ajst-17384	4	26	electrical	electrical	ADJ
ajst-17384	4	27	failure	failure	NOUN
ajst-17384	4	28	,	,	PUNCT
ajst-17384	4	29	mechanical	mechanical	ADJ
ajst-17384	4	30	failure	failure	NOUN
ajst-17384	4	31	and	and	CCONJ
ajst-17384	4	32	environmental	environmental	ADJ
ajst-17384	4	33	failure	failure	NOUN
ajst-17384	4	34	,	,	PUNCT
ajst-17384	4	35	and	and	CCONJ
ajst-17384	4	36	shows	show	VERB
ajst-17384	4	37	some	some	DET
ajst-17384	4	38	classic	classic	ADJ
ajst-17384	4	39	cases	case	NOUN
ajst-17384	4	40	and	and	CCONJ
ajst-17384	4	41	summarizes	summarize	VERB
ajst-17384	4	42	the	the	DET
ajst-17384	4	43	experience	experience	NOUN
ajst-17384	4	44	.	.	PUNCT
ajst-17384	5	1	this	this	DET
ajst-17384	5	2	paper	paper	NOUN
ajst-17384	5	3	shows	show	VERB
ajst-17384	5	4	the	the	DET
ajst-17384	5	5	development	development	NOUN
ajst-17384	5	6	process	process	NOUN
ajst-17384	5	7	of	of	ADP
ajst-17384	5	8	maintenance	maintenance	NOUN
ajst-17384	5	9	technology	technology	NOUN
ajst-17384	5	10	and	and	CCONJ
ajst-17384	5	11	the	the	DET
ajst-17384	5	12	current	current	ADJ
ajst-17384	5	13	research	research	NOUN
ajst-17384	5	14	status	status	NOUN
ajst-17384	5	15	quo	quo	NOUN
ajst-17384	5	16	.	.	PUNCT
ajst-17384	6	1	finally	finally	ADV
ajst-17384	6	2	,	,	PUNCT
ajst-17384	6	3	it	it	PRON
ajst-17384	6	4	is	be	AUX
ajst-17384	6	5	pointed	point	VERB
ajst-17384	6	6	out	out	ADP
ajst-17384	6	7	that	that	SCONJ
ajst-17384	6	8	the	the	DET
ajst-17384	6	9	maintenance	maintenance	NOUN
ajst-17384	6	10	of	of	ADP
ajst-17384	6	11	the	the	DET
ajst-17384	6	12	space	space	NOUN
ajst-17384	6	13	station	station	NOUN
ajst-17384	6	14	robotic	robotic	ADJ
ajst-17384	6	15	arm	arm	NOUN
ajst-17384	6	16	still	still	ADV
ajst-17384	6	17	faces	face	VERB
ajst-17384	6	18	many	many	ADJ
ajst-17384	6	19	difficulties	difficulty	NOUN
ajst-17384	6	20	and	and	CCONJ
ajst-17384	6	21	risks	risk	NOUN
ajst-17384	6	22	,	,	PUNCT
ajst-17384	6	23	which	which	PRON
ajst-17384	6	24	need	need	VERB
ajst-17384	6	25	further	further	ADJ
ajst-17384	6	26	research	research	NOUN
ajst-17384	6	27	and	and	CCONJ
ajst-17384	6	28	improvement	improvement	NOUN
ajst-17384	6	29	.	.	PUNCT
ajst-17384	7	1	keywords	keyword	NOUN
ajst-17384	7	2	:	:	PUNCT
ajst-17384	7	3	maintenance	maintenance	NOUN
ajst-17384	7	4	;	;	PUNCT
ajst-17384	7	5	fault	fault	VERB
ajst-17384	7	6	diagnosis	diagnosis	NOUN
ajst-17384	7	7	;	;	PUNCT
ajst-17384	7	8	parts	part	NOUN
ajst-17384	7	9	replacement	replacement	NOUN
ajst-17384	7	10	;	;	PUNCT
ajst-17384	7	11	system	system	NOUN
ajst-17384	7	12	test	test	NOUN
ajst-17384	7	13	;	;	PUNCT
ajst-17384	7	14	space	space	NOUN
ajst-17384	7	15	mechanical	mechanical	ADJ
ajst-17384	7	16	arm	arm	NOUN
ajst-17384	7	17	.	.	PUNCT
ajst-17384	8	1	1	1	X
ajst-17384	8	2	.	.	X
ajst-17384	8	3	introduction	introduction	NOUN
ajst-17384	8	4	in	in	ADP
ajst-17384	8	5	the	the	DET
ajst-17384	8	6	endless	endless	ADJ
ajst-17384	8	7	journey	journey	NOUN
ajst-17384	8	8	to	to	PART
ajst-17384	8	9	explore	explore	VERB
ajst-17384	8	10	the	the	DET
ajst-17384	8	11	universe	universe	NOUN
ajst-17384	8	12	,	,	PUNCT
ajst-17384	8	13	humans	human	NOUN
ajst-17384	8	14	have	have	AUX
ajst-17384	8	15	been	be	AUX
ajst-17384	8	16	looking	look	VERB
ajst-17384	8	17	for	for	ADP
ajst-17384	8	18	new	new	ADJ
ajst-17384	8	19	methods	method	NOUN
ajst-17384	8	20	and	and	CCONJ
ajst-17384	8	21	technologies	technology	NOUN
ajst-17384	8	22	to	to	PART
ajst-17384	8	23	better	well	ADV
ajst-17384	8	24	understand	understand	VERB
ajst-17384	8	25	our	our	PRON
ajst-17384	8	26	universe	universe	NOUN
ajst-17384	8	27	,	,	PUNCT
ajst-17384	8	28	where	where	SCONJ
ajst-17384	8	29	the	the	DET
ajst-17384	8	30	space	space	NOUN
ajst-17384	8	31	robotic	robotic	ADJ
ajst-17384	8	32	arm	arm	NOUN
ajst-17384	8	33	is	be	AUX
ajst-17384	8	34	the	the	DET
ajst-17384	8	35	key	key	ADJ
ajst-17384	8	36	device	device	NOUN
ajst-17384	8	37	that	that	PRON
ajst-17384	8	38	plays	play	VERB
ajst-17384	8	39	a	a	DET
ajst-17384	8	40	vital	vital	ADJ
ajst-17384	8	41	role	role	NOUN
ajst-17384	8	42	in	in	ADP
ajst-17384	8	43	space	space	NOUN
ajst-17384	8	44	exploration	exploration	NOUN
ajst-17384	8	45	and	and	CCONJ
ajst-17384	8	46	missions	mission	NOUN
ajst-17384	8	47	.	.	PUNCT
ajst-17384	9	1	they	they	PRON
ajst-17384	9	2	are	be	AUX
ajst-17384	9	3	highly	highly	ADV
ajst-17384	9	4	flexible	flexible	ADJ
ajst-17384	9	5	and	and	CCONJ
ajst-17384	9	6	accurate	accurate	ADJ
ajst-17384	9	7	,	,	PUNCT
ajst-17384	9	8	capable	capable	ADJ
ajst-17384	9	9	of	of	ADP
ajst-17384	9	10	performing	perform	VERB
ajst-17384	9	11	various	various	ADJ
ajst-17384	9	12	missions	mission	NOUN
ajst-17384	9	13	in	in	ADP
ajst-17384	9	14	extreme	extreme	ADJ
ajst-17384	9	15	environments	environment	NOUN
ajst-17384	9	16	,	,	PUNCT
ajst-17384	9	17	such	such	ADJ
ajst-17384	9	18	as	as	ADP
ajst-17384	9	19	repairing	repair	VERB
ajst-17384	9	20	,	,	PUNCT
ajst-17384	9	21	replacing	replace	VERB
ajst-17384	9	22	and	and	CCONJ
ajst-17384	9	23	installing	instal	VERB
ajst-17384	9	24	space	space	NOUN
ajst-17384	9	25	station	station	NOUN
ajst-17384	9	26	equipment	equipment	NOUN
ajst-17384	9	27	,	,	PUNCT
ajst-17384	9	28	and	and	CCONJ
ajst-17384	9	29	conducting	conduct	VERB
ajst-17384	9	30	scientific	scientific	ADJ
ajst-17384	9	31	experiments	experiment	NOUN
ajst-17384	9	32	.	.	PUNCT
ajst-17384	10	1	however	however	ADV
ajst-17384	10	2	,	,	PUNCT
ajst-17384	10	3	due	due	ADP
ajst-17384	10	4	to	to	ADP
ajst-17384	10	5	the	the	DET
ajst-17384	10	6	long	long	ADJ
ajst-17384	10	7	-	-	PUNCT
ajst-17384	10	8	term	term	NOUN
ajst-17384	10	9	operation	operation	NOUN
ajst-17384	10	10	in	in	ADP
ajst-17384	10	11	space	space	NOUN
ajst-17384	10	12	and	and	CCONJ
ajst-17384	10	13	affected	affect	VERB
ajst-17384	10	14	by	by	ADP
ajst-17384	10	15	external	external	ADJ
ajst-17384	10	16	factors	factor	NOUN
ajst-17384	10	17	,	,	PUNCT
ajst-17384	10	18	the	the	DET
ajst-17384	10	19	robotic	robotic	ADJ
ajst-17384	10	20	arm	arm	NOUN
ajst-17384	10	21	may	may	AUX
ajst-17384	10	22	fail	fail	VERB
ajst-17384	10	23	or	or	CCONJ
ajst-17384	10	24	need	need	VERB
ajst-17384	10	25	component	component	NOUN
ajst-17384	10	26	replacement	replacement	NOUN
ajst-17384	10	27	and	and	CCONJ
ajst-17384	10	28	repair	repair	NOUN
ajst-17384	10	29	.	.	PUNCT
ajst-17384	11	1	this	this	DET
ajst-17384	11	2	paper	paper	NOUN
ajst-17384	11	3	aims	aim	VERB
ajst-17384	11	4	to	to	PART
ajst-17384	11	5	introduce	introduce	VERB
ajst-17384	11	6	and	and	CCONJ
ajst-17384	11	7	discuss	discuss	VERB
ajst-17384	11	8	the	the	DET
ajst-17384	11	9	key	key	ADJ
ajst-17384	11	10	technologies	technology	NOUN
ajst-17384	11	11	for	for	ADP
ajst-17384	11	12	maintenance	maintenance	NOUN
ajst-17384	11	13	and	and	CCONJ
ajst-17384	11	14	replacement	replacement	NOUN
ajst-17384	11	15	of	of	ADP
ajst-17384	11	16	space	space	NOUN
ajst-17384	11	17	robotic	robotic	ADJ
ajst-17384	11	18	arms	arm	NOUN
ajst-17384	11	19	,	,	PUNCT
ajst-17384	11	20	which	which	PRON
ajst-17384	11	21	will	will	AUX
ajst-17384	11	22	deeply	deeply	ADV
ajst-17384	11	23	explore	explore	VERB
ajst-17384	11	24	the	the	DET
ajst-17384	11	25	basic	basic	ADJ
ajst-17384	11	26	composition	composition	NOUN
ajst-17384	11	27	,	,	PUNCT
ajst-17384	11	28	maintenance	maintenance	NOUN
ajst-17384	11	29	process	process	NOUN
ajst-17384	11	30	,	,	PUNCT
ajst-17384	11	31	and	and	CCONJ
ajst-17384	11	32	technical	technical	ADJ
ajst-17384	11	33	development	development	NOUN
ajst-17384	11	34	and	and	CCONJ
ajst-17384	11	35	trends	trend	NOUN
ajst-17384	11	36	.	.	PUNCT
ajst-17384	12	1	by	by	ADP
ajst-17384	12	2	learning	learn	VERB
ajst-17384	12	3	this	this	PRON
ajst-17384	12	4	,	,	PUNCT
ajst-17384	12	5	the	the	DET
ajst-17384	12	6	reader	reader	NOUN
ajst-17384	12	7	will	will	AUX
ajst-17384	12	8	be	be	AUX
ajst-17384	12	9	able	able	ADJ
ajst-17384	12	10	to	to	PART
ajst-17384	12	11	understand	understand	VERB
ajst-17384	12	12	how	how	SCONJ
ajst-17384	12	13	to	to	PART
ajst-17384	12	14	effectively	effectively	ADV
ajst-17384	12	15	diagnose	diagnose	VERB
ajst-17384	12	16	and	and	CCONJ
ajst-17384	12	17	troubleshoot	troubleshoot	VERB
ajst-17384	12	18	the	the	DET
ajst-17384	12	19	robotic	robotic	ADJ
ajst-17384	12	20	arm	arm	NOUN
ajst-17384	12	21	,	,	PUNCT
ajst-17384	12	22	and	and	CCONJ
ajst-17384	12	23	to	to	PART
ajst-17384	12	24	master	master	VERB
ajst-17384	12	25	the	the	DET
ajst-17384	12	26	correct	correct	ADJ
ajst-17384	12	27	parts	part	NOUN
ajst-17384	12	28	replacement	replacement	NOUN
ajst-17384	12	29	and	and	CCONJ
ajst-17384	12	30	maintenance	maintenance	NOUN
ajst-17384	12	31	methods	method	NOUN
ajst-17384	12	32	.	.	PUNCT
ajst-17384	13	1	this	this	DET
ajst-17384	13	2	paper	paper	NOUN
ajst-17384	13	3	will	will	AUX
ajst-17384	13	4	also	also	ADV
ajst-17384	13	5	share	share	VERB
ajst-17384	13	6	some	some	DET
ajst-17384	13	7	solutions	solution	NOUN
ajst-17384	13	8	to	to	ADP
ajst-17384	13	9	common	common	ADJ
ajst-17384	13	10	faults	fault	NOUN
ajst-17384	13	11	and	and	CCONJ
ajst-17384	13	12	successful	successful	ADJ
ajst-17384	13	13	maintenance	maintenance	NOUN
ajst-17384	13	14	cases	case	NOUN
ajst-17384	13	15	through	through	ADP
ajst-17384	13	16	case	case	NOUN
ajst-17384	13	17	analysis	analysis	NOUN
ajst-17384	13	18	and	and	CCONJ
ajst-17384	13	19	experience	experience	NOUN
ajst-17384	13	20	summary	summary	NOUN
ajst-17384	13	21	.	.	PUNCT
ajst-17384	14	1	this	this	PRON
ajst-17384	14	2	will	will	AUX
ajst-17384	14	3	help	help	VERB
ajst-17384	14	4	readers	reader	NOUN
ajst-17384	14	5	to	to	PART
ajst-17384	14	6	better	well	ADV
ajst-17384	14	7	cope	cope	VERB
ajst-17384	14	8	with	with	ADP
ajst-17384	14	9	the	the	DET
ajst-17384	14	10	actual	actual	ADJ
ajst-17384	14	11	situation	situation	NOUN
ajst-17384	14	12	,	,	PUNCT
ajst-17384	14	13	improve	improve	VERB
ajst-17384	14	14	the	the	DET
ajst-17384	14	15	maintenance	maintenance	NOUN
ajst-17384	14	16	efficiency	efficiency	NOUN
ajst-17384	14	17	and	and	CCONJ
ajst-17384	14	18	success	success	NOUN
ajst-17384	14	19	rate	rate	NOUN
ajst-17384	14	20	.	.	PUNCT
ajst-17384	15	1	finally	finally	ADV
ajst-17384	15	2	,	,	PUNCT
ajst-17384	15	3	we	we	PRON
ajst-17384	15	4	will	will	AUX
ajst-17384	15	5	look	look	VERB
ajst-17384	15	6	to	to	ADP
ajst-17384	15	7	the	the	DET
ajst-17384	15	8	future	future	ADJ
ajst-17384	15	9	direction	direction	NOUN
ajst-17384	15	10	and	and	CCONJ
ajst-17384	15	11	challenges	challenge	NOUN
ajst-17384	15	12	of	of	ADP
ajst-17384	15	13	space	space	NOUN
ajst-17384	15	14	arm	arm	NOUN
ajst-17384	15	15	repair	repair	NOUN
ajst-17384	15	16	and	and	CCONJ
ajst-17384	15	17	replacement	replacement	NOUN
ajst-17384	15	18	technology	technology	NOUN
ajst-17384	15	19	.	.	PUNCT
ajst-17384	16	1	as	as	SCONJ
ajst-17384	16	2	space	space	NOUN
ajst-17384	16	3	exploration	exploration	NOUN
ajst-17384	16	4	continues	continue	VERB
ajst-17384	16	5	to	to	PART
ajst-17384	16	6	deepen	deepen	VERB
ajst-17384	16	7	and	and	CCONJ
ajst-17384	16	8	mission	mission	NOUN
ajst-17384	16	9	complexity	complexity	NOUN
ajst-17384	16	10	increases	increase	NOUN
ajst-17384	16	11	,	,	PUNCT
ajst-17384	16	12	the	the	DET
ajst-17384	16	13	requirements	requirement	NOUN
ajst-17384	16	14	for	for	ADP
ajst-17384	16	15	robotic	robotic	ADJ
ajst-17384	16	16	arm	arm	NOUN
ajst-17384	16	17	maintenance	maintenance	NOUN
ajst-17384	16	18	technology	technology	NOUN
ajst-17384	16	19	will	will	AUX
ajst-17384	16	20	also	also	ADV
ajst-17384	16	21	increase	increase	VERB
ajst-17384	16	22	.	.	PUNCT
ajst-17384	17	1	we	we	PRON
ajst-17384	17	2	believe	believe	VERB
ajst-17384	17	3	that	that	SCONJ
ajst-17384	17	4	through	through	ADP
ajst-17384	17	5	continuous	continuous	ADJ
ajst-17384	17	6	research	research	NOUN
ajst-17384	17	7	and	and	CCONJ
ajst-17384	17	8	innovation	innovation	NOUN
ajst-17384	17	9	,	,	PUNCT
ajst-17384	17	10	the	the	DET
ajst-17384	17	11	space	space	NOUN
ajst-17384	17	12	robotic	robotic	ADJ
ajst-17384	17	13	arm	arm	NOUN
ajst-17384	17	14	repair	repair	NOUN
ajst-17384	17	15	and	and	CCONJ
ajst-17384	17	16	replacement	replacement	NOUN
ajst-17384	17	17	technology	technology	NOUN
ajst-17384	17	18	will	will	AUX
ajst-17384	17	19	play	play	VERB
ajst-17384	17	20	a	a	DET
ajst-17384	17	21	more	more	ADV
ajst-17384	17	22	important	important	ADJ
ajst-17384	17	23	role	role	NOUN
ajst-17384	17	24	in	in	ADP
ajst-17384	17	25	the	the	DET
ajst-17384	17	26	future	future	NOUN
ajst-17384	17	27	,	,	PUNCT
ajst-17384	17	28	and	and	CCONJ
ajst-17384	17	29	make	make	VERB
ajst-17384	17	30	a	a	DET
ajst-17384	17	31	greater	great	ADJ
ajst-17384	17	32	contribution	contribution	NOUN
ajst-17384	17	33	to	to	ADP
ajst-17384	17	34	the	the	DET
ajst-17384	17	35	cause	cause	NOUN
ajst-17384	17	36	of	of	ADP
ajst-17384	17	37	human	human	ADJ
ajst-17384	17	38	space	space	NOUN
ajst-17384	17	39	exploration	exploration	NOUN
ajst-17384	17	40	.	.	PUNCT
ajst-17384	18	1	2	2	X
ajst-17384	18	2	.	.	X
ajst-17384	18	3	space	space	NOUN
ajst-17384	18	4	mechanical	mechanical	ADJ
ajst-17384	18	5	arm	arm	NOUN
ajst-17384	18	6	space	space	NOUN
ajst-17384	18	7	mechanical	mechanical	ADJ
ajst-17384	18	8	arm	arm	NOUN
ajst-17384	18	9	itself	itself	PRON
ajst-17384	18	10	is	be	AUX
ajst-17384	18	11	an	an	DET
ajst-17384	18	12	intelligent	intelligent	ADJ
ajst-17384	18	13	robot	robot	NOUN
ajst-17384	18	14	,	,	PUNCT
ajst-17384	18	15	with	with	ADP
ajst-17384	18	16	accurate	accurate	ADJ
ajst-17384	18	17	operation	operation	NOUN
ajst-17384	18	18	ability	ability	NOUN
ajst-17384	18	19	and	and	CCONJ
ajst-17384	18	20	visual	visual	ADJ
ajst-17384	18	21	recognition	recognition	NOUN
ajst-17384	18	22	ability	ability	NOUN
ajst-17384	18	23	,	,	PUNCT
ajst-17384	18	24	both	both	DET
ajst-17384	18	25	autonomous	autonomous	ADJ
ajst-17384	18	26	analysis	analysis	NOUN
ajst-17384	18	27	ability	ability	NOUN
ajst-17384	18	28	can	can	AUX
ajst-17384	18	29	also	also	ADV
ajst-17384	18	30	be	be	AUX
ajst-17384	18	31	remote	remote	ADJ
ajst-17384	18	32	control	control	NOUN
ajst-17384	18	33	by	by	ADP
ajst-17384	18	34	the	the	DET
ajst-17384	18	35	astronauts	astronaut	NOUN
ajst-17384	18	36	,	,	PUNCT
ajst-17384	18	37	is	be	AUX
ajst-17384	18	38	a	a	DET
ajst-17384	18	39	set	set	NOUN
ajst-17384	18	40	of	of	ADP
ajst-17384	18	41	mechanical	mechanical	ADJ
ajst-17384	18	42	,	,	PUNCT
ajst-17384	18	43	visual	visual	ADJ
ajst-17384	18	44	,	,	PUNCT
ajst-17384	18	45	dynamics	dynamic	NOUN
ajst-17384	18	46	,	,	PUNCT
ajst-17384	18	47	electronic	electronic	ADJ
ajst-17384	18	48	and	and	CCONJ
ajst-17384	18	49	control	control	NOUN
ajst-17384	18	50	disciplines	discipline	NOUN
ajst-17384	18	51	for	for	ADP
ajst-17384	18	52	the	the	DET
ajst-17384	18	53	integration	integration	NOUN
ajst-17384	18	54	of	of	ADP
ajst-17384	18	55	high	high	ADJ
ajst-17384	18	56	-	-	PUNCT
ajst-17384	18	57	end	end	NOUN
ajst-17384	18	58	space	space	NOUN
ajst-17384	18	59	equipment	equipment	NOUN
ajst-17384	18	60	,	,	PUNCT
ajst-17384	18	61	is	be	AUX
ajst-17384	18	62	a	a	DET
ajst-17384	18	63	space	space	NOUN
ajst-17384	18	64	space	space	NOUN
ajst-17384	18	65	development	development	NOUN
ajst-17384	18	66	direction	direction	NOUN
ajst-17384	18	67	.	.	PUNCT
ajst-17384	19	1	with	with	ADP
ajst-17384	19	2	the	the	DET
ajst-17384	19	3	rapid	rapid	ADJ
ajst-17384	19	4	development	development	NOUN
ajst-17384	19	5	of	of	ADP
ajst-17384	19	6	space	space	NOUN
ajst-17384	19	7	technology	technology	NOUN
ajst-17384	19	8	,	,	PUNCT
ajst-17384	19	9	especially	especially	ADV
ajst-17384	19	10	the	the	DET
ajst-17384	19	11	birth	birth	NOUN
ajst-17384	19	12	and	and	CCONJ
ajst-17384	19	13	successful	successful	ADJ
ajst-17384	19	14	application	application	NOUN
ajst-17384	19	15	of	of	ADP
ajst-17384	19	16	space	space	NOUN
ajst-17384	19	17	station	station	NOUN
ajst-17384	19	18	,	,	PUNCT
ajst-17384	19	19	space	space	NOUN
ajst-17384	19	20	shuttle	shuttle	NOUN
ajst-17384	19	21	,	,	PUNCT
ajst-17384	19	22	space	space	NOUN
ajst-17384	19	23	robots	robot	NOUN
ajst-17384	19	24	,	,	PUNCT
ajst-17384	19	25	etc	etc	X
ajst-17384	19	26	.	.	X
ajst-17384	19	27	,	,	PUNCT
ajst-17384	19	28	the	the	DET
ajst-17384	19	29	space	space	NOUN
ajst-17384	19	30	robotic	robotic	ADJ
ajst-17384	19	31	arm	arm	NOUN
ajst-17384	19	32	,	,	PUNCT
ajst-17384	19	33	as	as	ADP
ajst-17384	19	34	a	a	DET
ajst-17384	19	35	key	key	ADJ
ajst-17384	19	36	technology	technology	NOUN
ajst-17384	19	37	of	of	ADP
ajst-17384	19	38	in	in	ADP
ajst-17384	19	39	-	-	PUNCT
ajst-17384	19	40	orbit	orbit	NOUN
ajst-17384	19	41	support	support	NOUN
ajst-17384	19	42	and	and	CCONJ
ajst-17384	19	43	service	service	NOUN
ajst-17384	19	44	,	,	PUNCT
ajst-17384	19	45	has	have	AUX
ajst-17384	19	46	entered	enter	VERB
ajst-17384	19	47	the	the	DET
ajst-17384	19	48	space	space	NOUN
ajst-17384	19	49	,	,	PUNCT
ajst-17384	19	50	and	and	CCONJ
ajst-17384	19	51	has	have	AUX
ajst-17384	19	52	attracted	attract	VERB
ajst-17384	19	53	more	more	ADJ
ajst-17384	19	54	and	and	CCONJ
ajst-17384	19	55	more	more	ADJ
ajst-17384	19	56	people	people	NOUN
ajst-17384	19	57	's	's	PART
ajst-17384	19	58	attention	attention	NOUN
ajst-17384	19	59	.	.	PUNCT
ajst-17384	20	1	through	through	ADP
ajst-17384	20	2	the	the	DET
ajst-17384	20	3	actual	actual	ADJ
ajst-17384	20	4	use	use	NOUN
ajst-17384	20	5	of	of	ADP
ajst-17384	20	6	the	the	DET
ajst-17384	20	7	space	space	NOUN
ajst-17384	20	8	shuttle	shuttle	NOUN
ajst-17384	20	9	and	and	CCONJ
ajst-17384	20	10	the	the	DET
ajst-17384	20	11	international	international	ADJ
ajst-17384	20	12	space	space	NOUN
ajst-17384	20	13	station	station	NOUN
ajst-17384	20	14	,	,	PUNCT
ajst-17384	20	15	the	the	DET
ajst-17384	20	16	space	space	NOUN
ajst-17384	20	17	robotic	robotic	ADJ
ajst-17384	20	18	arm	arm	NOUN
ajst-17384	20	19	has	have	AUX
ajst-17384	20	20	shown	show	VERB
ajst-17384	20	21	strong	strong	ADJ
ajst-17384	20	22	application	application	NOUN
ajst-17384	20	23	capabilities	capability	NOUN
ajst-17384	20	24	and	and	CCONJ
ajst-17384	20	25	broad	broad	ADJ
ajst-17384	20	26	application	application	NOUN
ajst-17384	20	27	prospects	prospect	NOUN
ajst-17384	20	28	,	,	PUNCT
ajst-17384	20	29	and	and	CCONJ
ajst-17384	20	30	played	play	VERB
ajst-17384	20	31	a	a	DET
ajst-17384	20	32	great	great	ADJ
ajst-17384	20	33	driving	drive	VERB
ajst-17384	20	34	role	role	NOUN
ajst-17384	20	35	in	in	ADP
ajst-17384	20	36	the	the	DET
ajst-17384	20	37	development	development	NOUN
ajst-17384	20	38	of	of	ADP
ajst-17384	20	39	space	space	NOUN
ajst-17384	20	40	science	science	NOUN
ajst-17384	20	41	and	and	CCONJ
ajst-17384	20	42	application	application	NOUN
ajst-17384	20	43	.	.	PUNCT
ajst-17384	21	1	it	it	PRON
ajst-17384	21	2	can	can	AUX
ajst-17384	21	3	be	be	AUX
ajst-17384	21	4	said	say	VERB
ajst-17384	21	5	that	that	SCONJ
ajst-17384	21	6	it	it	PRON
ajst-17384	21	7	is	be	AUX
ajst-17384	21	8	the	the	DET
ajst-17384	21	9	product	product	NOUN
ajst-17384	21	10	of	of	ADP
ajst-17384	21	11	the	the	DET
ajst-17384	21	12	increasing	increase	VERB
ajst-17384	21	13	human	human	ADJ
ajst-17384	21	14	space	space	NOUN
ajst-17384	21	15	activities	activity	NOUN
ajst-17384	21	16	and	and	CCONJ
ajst-17384	21	17	the	the	DET
ajst-17384	21	18	expanding	expand	VERB
ajst-17384	21	19	scale	scale	NOUN
ajst-17384	21	20	of	of	ADP
ajst-17384	21	21	activities	activity	NOUN
ajst-17384	21	22	.	.	PUNCT
ajst-17384	22	1	2.1	2.1	NUM
ajst-17384	22	2	.	.	PUNCT
ajst-17384	22	3	structure	structure	NOUN
ajst-17384	22	4	and	and	CCONJ
ajst-17384	22	5	components	component	NOUN
ajst-17384	22	6	of	of	ADP
ajst-17384	22	7	the	the	DET
ajst-17384	22	8	spatial	spatial	ADJ
ajst-17384	22	9	robotic	robotic	ADJ
ajst-17384	22	10	arm	arm	NOUN
ajst-17384	22	11	the	the	DET
ajst-17384	22	12	space	space	NOUN
ajst-17384	22	13	robotic	robotic	ADJ
ajst-17384	22	14	arm	arm	NOUN
ajst-17384	22	15	is	be	AUX
ajst-17384	22	16	a	a	DET
ajst-17384	22	17	complex	complex	ADJ
ajst-17384	22	18	and	and	CCONJ
ajst-17384	22	19	highly	highly	ADV
ajst-17384	22	20	automated	automate	VERB
ajst-17384	22	21	mechanical	mechanical	ADJ
ajst-17384	22	22	system	system	NOUN
ajst-17384	22	23	,	,	PUNCT
ajst-17384	22	24	including	include	VERB
ajst-17384	22	25	sensors	sensor	NOUN
ajst-17384	22	26	,	,	PUNCT
ajst-17384	22	27	control	control	NOUN
ajst-17384	22	28	system	system	NOUN
ajst-17384	22	29	and	and	CCONJ
ajst-17384	22	30	power	power	NOUN
ajst-17384	22	31	supply	supply	NOUN
ajst-17384	22	32	.	.	PUNCT
ajst-17384	23	1	the	the	DET
ajst-17384	23	2	joint	joint	NOUN
ajst-17384	23	3	is	be	AUX
ajst-17384	23	4	usually	usually	ADV
ajst-17384	23	5	driven	drive	VERB
ajst-17384	23	6	by	by	ADP
ajst-17384	23	7	the	the	DET
ajst-17384	23	8	motor	motor	NOUN
ajst-17384	23	9	,	,	PUNCT
ajst-17384	23	10	the	the	DET
ajst-17384	23	11	actuator	actuator	NOUN
ajst-17384	23	12	is	be	AUX
ajst-17384	23	13	the	the	DET
ajst-17384	23	14	key	key	ADJ
ajst-17384	23	15	element	element	NOUN
ajst-17384	23	16	of	of	ADP
ajst-17384	23	17	the	the	DET
ajst-17384	23	18	mechanical	mechanical	ADJ
ajst-17384	23	19	arm	arm	NOUN
ajst-17384	23	20	movement	movement	NOUN
ajst-17384	23	21	,	,	PUNCT
ajst-17384	23	22	used	use	VERB
ajst-17384	23	23	to	to	PART
ajst-17384	23	24	control	control	VERB
ajst-17384	23	25	the	the	DET
ajst-17384	23	26	mechanical	mechanical	ADJ
ajst-17384	23	27	arm	arm	NOUN
ajst-17384	23	28	movement	movement	NOUN
ajst-17384	23	29	,	,	PUNCT
ajst-17384	23	30	the	the	DET
ajst-17384	23	31	claw	claw	NOUN
ajst-17384	23	32	is	be	AUX
ajst-17384	23	33	used	use	VERB
ajst-17384	23	34	to	to	PART
ajst-17384	23	35	grasp	grasp	VERB
ajst-17384	23	36	and	and	CCONJ
ajst-17384	23	37	release	release	VERB
ajst-17384	23	38	the	the	DET
ajst-17384	23	39	load	load	NOUN
ajst-17384	23	40	,	,	PUNCT
ajst-17384	23	41	the	the	DET
ajst-17384	23	42	load	load	NOUN
ajst-17384	23	43	sensor	sensor	NOUN
ajst-17384	23	44	and	and	CCONJ
ajst-17384	23	45	hinge	hinge	NOUN
ajst-17384	23	46	and	and	CCONJ
ajst-17384	23	47	gearbox	gearbox	ADV
ajst-17384	23	48	play	play	VERB
ajst-17384	23	49	a	a	DET
ajst-17384	23	50	central	central	ADJ
ajst-17384	23	51	role	role	NOUN
ajst-17384	23	52	in	in	ADP
ajst-17384	23	53	the	the	DET
ajst-17384	23	54	movement	movement	NOUN
ajst-17384	23	55	and	and	CCONJ
ajst-17384	23	56	control	control	NOUN
ajst-17384	23	57	of	of	ADP
ajst-17384	23	58	the	the	DET
ajst-17384	23	59	mechanical	mechanical	ADJ
ajst-17384	23	60	arm	arm	NOUN
ajst-17384	23	61	.	.	PUNCT
ajst-17384	24	1	overall	overall	ADJ
ajst-17384	24	2	,	,	PUNCT
ajst-17384	24	3	only	only	ADV
ajst-17384	24	4	the	the	DET
ajst-17384	24	5	synergy	synergy	NOUN
ajst-17384	24	6	of	of	ADP
ajst-17384	24	7	the	the	DET
ajst-17384	24	8	various	various	ADJ
ajst-17384	24	9	parts	part	NOUN
ajst-17384	24	10	can	can	AUX
ajst-17384	24	11	ensure	ensure	VERB
ajst-17384	24	12	that	that	SCONJ
ajst-17384	24	13	the	the	DET
ajst-17384	24	14	robotic	robotic	ADJ
ajst-17384	24	15	arm	arm	NOUN
ajst-17384	24	16	can	can	AUX
ajst-17384	24	17	accurately	accurately	ADV
ajst-17384	24	18	and	and	CCONJ
ajst-17384	24	19	stably	stably	ADV
ajst-17384	24	20	complete	complete	VERB
ajst-17384	24	21	various	various	ADJ
ajst-17384	24	22	tasks	task	NOUN
ajst-17384	24	23	and	and	CCONJ
ajst-17384	24	24	play	play	VERB
ajst-17384	24	25	its	its	PRON
ajst-17384	24	26	important	important	ADJ
ajst-17384	24	27	role	role	NOUN
ajst-17384	24	28	in	in	ADP
ajst-17384	24	29	the	the	DET
ajst-17384	24	30	space	space	NOUN
ajst-17384	24	31	station	station	NOUN
ajst-17384	24	32	.	.	PUNCT
ajst-17384	25	1	2.1.1	2.1.1	X
ajst-17384	25	2	.	.	PUNCT
ajst-17384	25	3	mechanical	mechanical	ADJ
ajst-17384	25	4	structure	structure	NOUN
ajst-17384	25	5	the	the	DET
ajst-17384	25	6	space	space	NOUN
ajst-17384	25	7	station	station	NOUN
ajst-17384	25	8	robotic	robotic	ADJ
ajst-17384	25	9	arm	arm	NOUN
ajst-17384	25	10	is	be	AUX
ajst-17384	25	11	one	one	NUM
ajst-17384	25	12	of	of	ADP
ajst-17384	25	13	the	the	DET
ajst-17384	25	14	key	key	ADJ
ajst-17384	25	15	equipment	equipment	NOUN
ajst-17384	25	16	for	for	ADP
ajst-17384	25	17	the	the	DET
ajst-17384	25	18	construction	construction	NOUN
ajst-17384	25	19	,	,	PUNCT
ajst-17384	25	20	operation	operation	NOUN
ajst-17384	25	21	,	,	PUNCT
ajst-17384	25	22	maintenance	maintenance	NOUN
ajst-17384	25	23	and	and	CCONJ
ajst-17384	25	24	expansion	expansion	NOUN
ajst-17384	25	25	of	of	ADP
ajst-17384	25	26	china	china	PROPN
ajst-17384	25	27	's	's	PART
ajst-17384	25	28	space	space	NOUN
ajst-17384	25	29	station	station	NOUN
ajst-17384	25	30	.	.	PUNCT
ajst-17384	26	1	the	the	DET
ajst-17384	26	2	core	core	NOUN
ajst-17384	26	3	cabin	cabin	NOUN
ajst-17384	26	4	mechanical	mechanical	ADJ
ajst-17384	26	5	arm	arm	NOUN
ajst-17384	26	6	is	be	AUX
ajst-17384	26	7	composed	compose	VERB
ajst-17384	26	8	of	of	ADP
ajst-17384	26	9	the	the	DET
ajst-17384	26	10	inside	inside	ADJ
ajst-17384	26	11	part	part	NOUN
ajst-17384	26	12	and	and	CCONJ
ajst-17384	26	13	the	the	DET
ajst-17384	26	14	outside	outside	ADJ
ajst-17384	26	15	part	part	NOUN
ajst-17384	26	16	.	.	PUNCT
ajst-17384	27	1	the	the	DET
ajst-17384	27	2	cabin	cabin	NOUN
ajst-17384	27	3	part	part	NOUN
ajst-17384	27	4	is	be	AUX
ajst-17384	27	5	composed	compose	VERB
ajst-17384	27	6	of	of	ADP
ajst-17384	27	7	the	the	DET
ajst-17384	27	8	interface	interface	NOUN
ajst-17384	27	9	provided	provide	VERB
ajst-17384	27	10	by	by	ADP
ajst-17384	27	11	the	the	DET
ajst-17384	27	12	manipulator	manipulator	NOUN
ajst-17384	27	13	operating	operating	NOUN
ajst-17384	27	14	station	station	NOUN
ajst-17384	27	15	and	and	CCONJ
ajst-17384	27	16	the	the	DET
ajst-17384	27	17	space	space	NOUN
ajst-17384	27	18	station	station	NOUN
ajst-17384	27	19	for	for	ADP
ajst-17384	27	20	the	the	DET
ajst-17384	27	21	robotic	robotic	ADJ
ajst-17384	27	22	arm	arm	NOUN
ajst-17384	27	23	,	,	PUNCT
ajst-17384	27	24	which	which	PRON
ajst-17384	27	25	provides	provide	VERB
ajst-17384	27	26	the	the	DET
ajst-17384	27	27	guarantee	guarantee	NOUN
ajst-17384	27	28	of	of	ADP
ajst-17384	27	29	power	power	NOUN
ajst-17384	27	30	supply	supply	NOUN
ajst-17384	27	31	,	,	PUNCT
ajst-17384	27	32	data	datum	NOUN
ajst-17384	27	33	,	,	PUNCT
ajst-17384	27	34	instructions	instruction	NOUN
ajst-17384	27	35	and	and	CCONJ
ajst-17384	27	36	operation	operation	NOUN
ajst-17384	27	37	control	control	NOUN
ajst-17384	27	38	for	for	ADP
ajst-17384	27	39	the	the	DET
ajst-17384	27	40	robotic	robotic	ADJ
ajst-17384	27	41	arm	arm	NOUN
ajst-17384	27	42	.	.	PUNCT
ajst-17384	28	1	the	the	DET
ajst-17384	28	2	extravehicular	extravehicular	ADJ
ajst-17384	28	3	part	part	NOUN
ajst-17384	28	4	refers	refer	VERB
ajst-17384	28	5	to	to	ADP
ajst-17384	28	6	the	the	DET
ajst-17384	28	7	mechanical	mechanical	ADJ
ajst-17384	28	8	arm	arm	NOUN
ajst-17384	28	9	body	body	NOUN
ajst-17384	28	10	,	,	PUNCT
ajst-17384	28	11	including	include	VERB
ajst-17384	28	12	joint	joint	ADJ
ajst-17384	28	13	,	,	PUNCT
ajst-17384	28	14	end	end	NOUN
ajst-17384	28	15	effector	effector	NOUN
ajst-17384	28	16	,	,	PUNCT
ajst-17384	28	17	arm	arm	NOUN
ajst-17384	28	18	rod	rod	NOUN
ajst-17384	28	19	,	,	PUNCT
ajst-17384	28	20	central	central	ADJ
ajst-17384	28	21	controller	controller	NOUN
ajst-17384	28	22	and	and	CCONJ
ajst-17384	28	23	visual	visual	ADJ
ajst-17384	28	24	system	system	NOUN
ajst-17384	28	25	.	.	PUNCT
ajst-17384	29	1	2.1.2	2.1.2	X
ajst-17384	29	2	.	.	X
ajst-17384	29	3	sensor	sensor	VERB
ajst-17384	29	4	the	the	DET
ajst-17384	29	5	space	space	NOUN
ajst-17384	29	6	station	station	NOUN
ajst-17384	29	7	's	's	PART
ajst-17384	29	8	robotic	robotic	ADJ
ajst-17384	29	9	arm	arm	NOUN
ajst-17384	29	10	is	be	AUX
ajst-17384	29	11	also	also	ADV
ajst-17384	29	12	equipped	equip	VERB
ajst-17384	29	13	with	with	ADP
ajst-17384	29	14	40	40	NUM
ajst-17384	29	15	various	various	ADJ
ajst-17384	29	16	sensors	sensor	NOUN
ajst-17384	29	17	,	,	PUNCT
ajst-17384	29	18	such	such	ADJ
ajst-17384	29	19	as	as	ADP
ajst-17384	29	20	force	force	NOUN
ajst-17384	29	21	sensors	sensor	NOUN
ajst-17384	29	22	,	,	PUNCT
ajst-17384	29	23	position	position	NOUN
ajst-17384	29	24	sensors	sensor	NOUN
ajst-17384	29	25	,	,	PUNCT
ajst-17384	29	26	and	and	CCONJ
ajst-17384	29	27	attitude	attitude	NOUN
ajst-17384	29	28	sensors	sensor	NOUN
ajst-17384	29	29	.	.	PUNCT
ajst-17384	30	1	these	these	DET
ajst-17384	30	2	sensors	sensor	NOUN
ajst-17384	30	3	measure	measure	VERB
ajst-17384	30	4	the	the	DET
ajst-17384	30	5	force	force	NOUN
ajst-17384	30	6	,	,	PUNCT
ajst-17384	30	7	position	position	NOUN
ajst-17384	30	8	and	and	CCONJ
ajst-17384	30	9	attitude	attitude	NOUN
ajst-17384	30	10	of	of	ADP
ajst-17384	30	11	the	the	DET
ajst-17384	30	12	arm	arm	NOUN
ajst-17384	30	13	to	to	PART
ajst-17384	30	14	adjust	adjust	VERB
ajst-17384	30	15	and	and	CCONJ
ajst-17384	30	16	control	control	VERB
ajst-17384	30	17	the	the	DET
ajst-17384	30	18	arm	arm	NOUN
ajst-17384	30	19	according	accord	VERB
ajst-17384	30	20	to	to	ADP
ajst-17384	30	21	the	the	DET
ajst-17384	30	22	real	real	ADJ
ajst-17384	30	23	-	-	PUNCT
ajst-17384	30	24	time	time	NOUN
ajst-17384	30	25	data	datum	NOUN
ajst-17384	30	26	.	.	PUNCT
ajst-17384	31	1	2.1.3	2.1.3	NUM
ajst-17384	31	2	.	.	PUNCT
ajst-17384	31	3	control	control	NOUN
ajst-17384	31	4	system	system	NOUN
ajst-17384	31	5	movement	movement	NOUN
ajst-17384	31	6	control	control	NOUN
ajst-17384	31	7	of	of	ADP
ajst-17384	31	8	the	the	DET
ajst-17384	31	9	robotic	robotic	ADJ
ajst-17384	31	10	arm	arm	NOUN
ajst-17384	31	11	is	be	AUX
ajst-17384	31	12	achieved	achieve	VERB
ajst-17384	31	13	through	through	ADP
ajst-17384	31	14	a	a	DET
ajst-17384	31	15	control	control	NOUN
ajst-17384	31	16	system	system	NOUN
ajst-17384	31	17	.	.	PUNCT
ajst-17384	32	1	the	the	DET
ajst-17384	32	2	control	control	NOUN
ajst-17384	32	3	system	system	NOUN
ajst-17384	32	4	of	of	ADP
ajst-17384	32	5	the	the	DET
ajst-17384	32	6	space	space	NOUN
ajst-17384	32	7	station	station	NOUN
ajst-17384	32	8	manipulator	manipulator	NOUN
ajst-17384	32	9	usually	usually	ADV
ajst-17384	32	10	includes	include	VERB
ajst-17384	32	11	a	a	DET
ajst-17384	32	12	central	central	ADJ
ajst-17384	32	13	controller	controller	NOUN
ajst-17384	32	14	,	,	PUNCT
ajst-17384	32	15	actuator	actuator	NOUN
ajst-17384	32	16	control	control	NOUN
ajst-17384	32	17	circuit	circuit	PROPN
ajst-17384	32	18	and	and	CCONJ
ajst-17384	32	19	feedback	feedback	NOUN
ajst-17384	32	20	control	control	NOUN
ajst-17384	32	21	circuit	circuit	NOUN
ajst-17384	32	22	.	.	PUNCT
ajst-17384	33	1	these	these	DET
ajst-17384	33	2	parts	part	NOUN
ajst-17384	33	3	work	work	VERB
ajst-17384	33	4	together	together	ADV
ajst-17384	33	5	to	to	PART
ajst-17384	33	6	perform	perform	VERB
ajst-17384	33	7	various	various	ADJ
ajst-17384	33	8	tasks	task	NOUN
ajst-17384	33	9	by	by	ADP
ajst-17384	33	10	controlling	control	VERB
ajst-17384	33	11	the	the	DET
ajst-17384	33	12	movement	movement	NOUN
ajst-17384	33	13	of	of	ADP
ajst-17384	33	14	the	the	DET
ajst-17384	33	15	robotic	robotic	ADJ
ajst-17384	33	16	arm	arm	NOUN
ajst-17384	33	17	and	and	CCONJ
ajst-17384	33	18	performing	perform	VERB
ajst-17384	33	19	the	the	DET
ajst-17384	33	20	movements	movement	NOUN
ajst-17384	33	21	.	.	PUNCT
ajst-17384	34	1	2.1.4	2.1.4	NUM
ajst-17384	34	2	.	.	PUNCT
ajst-17384	34	3	power	power	NOUN
ajst-17384	34	4	supply	supply	NOUN
ajst-17384	34	5	the	the	DET
ajst-17384	34	6	station	station	NOUN
ajst-17384	34	7	arm	arm	NOUN
ajst-17384	34	8	comes	come	VERB
ajst-17384	34	9	from	from	ADP
ajst-17384	34	10	solar	solar	ADJ
ajst-17384	34	11	panels	panel	NOUN
ajst-17384	34	12	and	and	CCONJ
ajst-17384	34	13	is	be	AUX
ajst-17384	34	14	stored	store	VERB
ajst-17384	34	15	and	and	CCONJ
ajst-17384	34	16	distributed	distribute	VERB
ajst-17384	34	17	through	through	ADP
ajst-17384	34	18	power	power	NOUN
ajst-17384	34	19	converters	converter	NOUN
ajst-17384	34	20	and	and	CCONJ
ajst-17384	34	21	battery	battery	NOUN
ajst-17384	34	22	packs	pack	NOUN
ajst-17384	34	23	.	.	PUNCT
ajst-17384	35	1	power	power	NOUN
ajst-17384	35	2	supply	supply	NOUN
ajst-17384	35	3	is	be	AUX
ajst-17384	35	4	the	the	DET
ajst-17384	35	5	basic	basic	ADJ
ajst-17384	35	6	guarantee	guarantee	NOUN
ajst-17384	35	7	of	of	ADP
ajst-17384	35	8	the	the	DET
ajst-17384	35	9	mechanical	mechanical	ADJ
ajst-17384	35	10	arm	arm	NOUN
ajst-17384	35	11	,	,	PUNCT
ajst-17384	35	12	but	but	CCONJ
ajst-17384	35	13	also	also	ADV
ajst-17384	35	14	the	the	DET
ajst-17384	35	15	prerequisite	prerequisite	NOUN
ajst-17384	35	16	of	of	ADP
ajst-17384	35	17	its	its	PRON
ajst-17384	35	18	normal	normal	ADJ
ajst-17384	35	19	operation	operation	NOUN
ajst-17384	35	20	.	.	PUNCT
ajst-17384	36	1	2.2	2.2	NUM
ajst-17384	36	2	.	.	PUNCT
ajst-17384	37	1	the	the	DET
ajst-17384	37	2	significance	significance	NOUN
ajst-17384	37	3	of	of	ADP
ajst-17384	37	4	space	space	NOUN
ajst-17384	37	5	robotic	robotic	ADJ
ajst-17384	37	6	arm	arm	NOUN
ajst-17384	37	7	maintenance	maintenance	VERB
ajst-17384	37	8	the	the	DET
ajst-17384	37	9	maintenance	maintenance	NOUN
ajst-17384	37	10	of	of	ADP
ajst-17384	37	11	the	the	DET
ajst-17384	37	12	space	space	NOUN
ajst-17384	37	13	mechanical	mechanical	ADJ
ajst-17384	37	14	arm	arm	NOUN
ajst-17384	37	15	is	be	AUX
ajst-17384	37	16	of	of	ADP
ajst-17384	37	17	great	great	ADJ
ajst-17384	37	18	significance	significance	NOUN
ajst-17384	37	19	.	.	PUNCT
ajst-17384	38	1	first	first	ADV
ajst-17384	38	2	of	of	ADP
ajst-17384	38	3	all	all	PRON
ajst-17384	38	4	,	,	PUNCT
ajst-17384	38	5	the	the	DET
ajst-17384	38	6	robotic	robotic	ADJ
ajst-17384	38	7	space	space	NOUN
ajst-17384	38	8	arm	arm	NOUN
ajst-17384	38	9	is	be	AUX
ajst-17384	38	10	an	an	DET
ajst-17384	38	11	indispensable	indispensable	ADJ
ajst-17384	38	12	tool	tool	NOUN
ajst-17384	38	13	in	in	ADP
ajst-17384	38	14	space	space	NOUN
ajst-17384	38	15	missions	mission	NOUN
ajst-17384	38	16	,	,	PUNCT
ajst-17384	38	17	responsible	responsible	ADJ
ajst-17384	38	18	for	for	ADP
ajst-17384	38	19	material	material	NOUN
ajst-17384	38	20	handling	handling	NOUN
ajst-17384	38	21	,	,	PUNCT
ajst-17384	38	22	maintenance	maintenance	NOUN
ajst-17384	38	23	tasks	task	NOUN
ajst-17384	38	24	,	,	PUNCT
ajst-17384	38	25	scientific	scientific	ADJ
ajst-17384	38	26	experiments	experiment	NOUN
ajst-17384	38	27	and	and	CCONJ
ajst-17384	38	28	other	other	ADJ
ajst-17384	38	29	work	work	NOUN
ajst-17384	38	30	.	.	PUNCT
ajst-17384	39	1	if	if	SCONJ
ajst-17384	39	2	the	the	DET
ajst-17384	39	3	mechanical	mechanical	ADJ
ajst-17384	39	4	arm	arm	NOUN
ajst-17384	39	5	fails	fail	VERB
ajst-17384	39	6	,	,	PUNCT
ajst-17384	39	7	it	it	PRON
ajst-17384	39	8	will	will	AUX
ajst-17384	39	9	directly	directly	ADV
ajst-17384	39	10	affect	affect	VERB
ajst-17384	39	11	the	the	DET
ajst-17384	39	12	execution	execution	NOUN
ajst-17384	39	13	and	and	CCONJ
ajst-17384	39	14	implementation	implementation	NOUN
ajst-17384	39	15	of	of	ADP
ajst-17384	39	16	the	the	DET
ajst-17384	39	17	task	task	NOUN
ajst-17384	39	18	.	.	PUNCT
ajst-17384	40	1	therefore	therefore	ADV
ajst-17384	40	2	,	,	PUNCT
ajst-17384	40	3	the	the	DET
ajst-17384	40	4	maintenance	maintenance	NOUN
ajst-17384	40	5	of	of	ADP
ajst-17384	40	6	the	the	DET
ajst-17384	40	7	space	space	NOUN
ajst-17384	40	8	mechanical	mechanical	ADJ
ajst-17384	40	9	arm	arm	NOUN
ajst-17384	40	10	is	be	AUX
ajst-17384	40	11	not	not	PART
ajst-17384	40	12	only	only	ADV
ajst-17384	40	13	of	of	ADP
ajst-17384	40	14	great	great	ADJ
ajst-17384	40	15	significance	significance	NOUN
ajst-17384	40	16	to	to	ADP
ajst-17384	40	17	the	the	DET
ajst-17384	40	18	reliability	reliability	NOUN
ajst-17384	40	19	and	and	CCONJ
ajst-17384	40	20	long	long	ADJ
ajst-17384	40	21	life	life	NOUN
ajst-17384	40	22	of	of	ADP
ajst-17384	40	23	the	the	DET
ajst-17384	40	24	mechanical	mechanical	ADJ
ajst-17384	40	25	arm	arm	NOUN
ajst-17384	40	26	,	,	PUNCT
ajst-17384	40	27	but	but	CCONJ
ajst-17384	40	28	more	more	ADV
ajst-17384	40	29	importantly	importantly	ADV
ajst-17384	40	30	,	,	PUNCT
ajst-17384	40	31	it	it	PRON
ajst-17384	40	32	can	can	AUX
ajst-17384	40	33	ensure	ensure	VERB
ajst-17384	40	34	the	the	DET
ajst-17384	40	35	smooth	smooth	ADJ
ajst-17384	40	36	progress	progress	NOUN
ajst-17384	40	37	of	of	ADP
ajst-17384	40	38	the	the	DET
ajst-17384	40	39	mission	mission	NOUN
ajst-17384	40	40	and	and	CCONJ
ajst-17384	40	41	ensure	ensure	VERB
ajst-17384	40	42	the	the	DET
ajst-17384	40	43	normal	normal	ADJ
ajst-17384	40	44	operation	operation	NOUN
ajst-17384	40	45	of	of	ADP
ajst-17384	40	46	the	the	DET
ajst-17384	40	47	spacecraft	spacecraft	NOUN
ajst-17384	40	48	.	.	PUNCT
ajst-17384	41	1	secondly	secondly	ADV
ajst-17384	41	2	,	,	PUNCT
ajst-17384	41	3	repairing	repair	VERB
ajst-17384	41	4	the	the	DET
ajst-17384	41	5	space	space	NOUN
ajst-17384	41	6	robotic	robotic	ADJ
ajst-17384	41	7	arm	arm	NOUN
ajst-17384	41	8	can	can	AUX
ajst-17384	41	9	save	save	VERB
ajst-17384	41	10	costs	cost	NOUN
ajst-17384	41	11	.	.	PUNCT
ajst-17384	42	1	the	the	DET
ajst-17384	42	2	cost	cost	NOUN
ajst-17384	42	3	of	of	ADP
ajst-17384	42	4	a	a	DET
ajst-17384	42	5	space	space	NOUN
ajst-17384	42	6	mission	mission	NOUN
ajst-17384	42	7	is	be	AUX
ajst-17384	42	8	very	very	ADV
ajst-17384	42	9	high	high	ADJ
ajst-17384	42	10	.	.	PUNCT
ajst-17384	43	1	if	if	SCONJ
ajst-17384	43	2	the	the	DET
ajst-17384	43	3	mission	mission	NOUN
ajst-17384	43	4	fails	fail	VERB
ajst-17384	43	5	due	due	ADJ
ajst-17384	43	6	to	to	ADP
ajst-17384	43	7	the	the	DET
ajst-17384	43	8	failure	failure	NOUN
ajst-17384	43	9	of	of	ADP
ajst-17384	43	10	the	the	DET
ajst-17384	43	11	mechanical	mechanical	ADJ
ajst-17384	43	12	arm	arm	NOUN
ajst-17384	43	13	,	,	PUNCT
ajst-17384	43	14	it	it	PRON
ajst-17384	43	15	will	will	AUX
ajst-17384	43	16	not	not	PART
ajst-17384	43	17	only	only	ADV
ajst-17384	43	18	mean	mean	VERB
ajst-17384	43	19	a	a	DET
ajst-17384	43	20	waste	waste	NOUN
ajst-17384	43	21	of	of	ADP
ajst-17384	43	22	money	money	NOUN
ajst-17384	43	23	invested	invest	VERB
ajst-17384	43	24	in	in	ADP
ajst-17384	43	25	the	the	DET
ajst-17384	43	26	early	early	ADJ
ajst-17384	43	27	stage	stage	NOUN
ajst-17384	43	28	,	,	PUNCT
ajst-17384	43	29	but	but	CCONJ
ajst-17384	43	30	also	also	ADV
ajst-17384	43	31	need	need	VERB
ajst-17384	43	32	to	to	PART
ajst-17384	43	33	plan	plan	VERB
ajst-17384	43	34	and	and	CCONJ
ajst-17384	43	35	prepare	prepare	VERB
ajst-17384	43	36	the	the	DET
ajst-17384	43	37	mission	mission	NOUN
ajst-17384	43	38	,	,	PUNCT
ajst-17384	43	39	which	which	PRON
ajst-17384	43	40	consumes	consume	VERB
ajst-17384	43	41	more	more	ADJ
ajst-17384	43	42	resources	resource	NOUN
ajst-17384	43	43	and	and	CCONJ
ajst-17384	43	44	time	time	NOUN
ajst-17384	43	45	.	.	PUNCT
ajst-17384	44	1	through	through	ADP
ajst-17384	44	2	timely	timely	ADJ
ajst-17384	44	3	maintenance	maintenance	NOUN
ajst-17384	44	4	of	of	ADP
ajst-17384	44	5	the	the	DET
ajst-17384	44	6	robotic	robotic	ADJ
ajst-17384	44	7	arm	arm	NOUN
ajst-17384	44	8	,	,	PUNCT
ajst-17384	44	9	the	the	DET
ajst-17384	44	10	risk	risk	NOUN
ajst-17384	44	11	of	of	ADP
ajst-17384	44	12	task	task	NOUN
ajst-17384	44	13	failure	failure	NOUN
ajst-17384	44	14	can	can	AUX
ajst-17384	44	15	be	be	AUX
ajst-17384	44	16	reduced	reduce	VERB
ajst-17384	44	17	and	and	CCONJ
ajst-17384	44	18	the	the	DET
ajst-17384	44	19	cost	cost	NOUN
ajst-17384	44	20	waste	waste	NOUN
ajst-17384	44	21	can	can	AUX
ajst-17384	44	22	be	be	AUX
ajst-17384	44	23	reduced	reduce	VERB
ajst-17384	44	24	.	.	PUNCT
ajst-17384	45	1	in	in	ADP
ajst-17384	45	2	addition	addition	NOUN
ajst-17384	45	3	,	,	PUNCT
ajst-17384	45	4	the	the	DET
ajst-17384	45	5	maintenance	maintenance	NOUN
ajst-17384	45	6	of	of	ADP
ajst-17384	45	7	the	the	DET
ajst-17384	45	8	mechanical	mechanical	ADJ
ajst-17384	45	9	arm	arm	NOUN
ajst-17384	45	10	can	can	AUX
ajst-17384	45	11	also	also	ADV
ajst-17384	45	12	improve	improve	VERB
ajst-17384	45	13	the	the	DET
ajst-17384	45	14	technical	technical	ADJ
ajst-17384	45	15	level	level	NOUN
ajst-17384	45	16	.	.	PUNCT
ajst-17384	46	1	through	through	ADP
ajst-17384	46	2	the	the	DET
ajst-17384	46	3	fault	fault	NOUN
ajst-17384	46	4	analysis	analysis	NOUN
ajst-17384	46	5	and	and	CCONJ
ajst-17384	46	6	repair	repair	NOUN
ajst-17384	46	7	of	of	ADP
ajst-17384	46	8	the	the	DET
ajst-17384	46	9	robotic	robotic	ADJ
ajst-17384	46	10	arm	arm	NOUN
ajst-17384	46	11	,	,	PUNCT
ajst-17384	46	12	engineers	engineer	NOUN
ajst-17384	46	13	can	can	AUX
ajst-17384	46	14	learn	learn	VERB
ajst-17384	46	15	more	more	ADJ
ajst-17384	46	16	about	about	ADP
ajst-17384	46	17	the	the	DET
ajst-17384	46	18	structure	structure	NOUN
ajst-17384	46	19	and	and	CCONJ
ajst-17384	46	20	working	working	NOUN
ajst-17384	46	21	principle	principle	NOUN
ajst-17384	46	22	of	of	ADP
ajst-17384	46	23	the	the	DET
ajst-17384	46	24	robotic	robotic	ADJ
ajst-17384	46	25	arm	arm	NOUN
ajst-17384	46	26	,	,	PUNCT
ajst-17384	46	27	and	and	CCONJ
ajst-17384	46	28	accumulate	accumulate	VERB
ajst-17384	46	29	more	more	ADJ
ajst-17384	46	30	experience	experience	NOUN
ajst-17384	46	31	and	and	CCONJ
ajst-17384	46	32	knowledge	knowledge	NOUN
ajst-17384	46	33	.	.	PUNCT
ajst-17384	47	1	this	this	PRON
ajst-17384	47	2	will	will	AUX
ajst-17384	47	3	help	help	VERB
ajst-17384	47	4	to	to	PART
ajst-17384	47	5	improve	improve	VERB
ajst-17384	47	6	the	the	DET
ajst-17384	47	7	technology	technology	NOUN
ajst-17384	47	8	level	level	NOUN
ajst-17384	47	9	of	of	ADP
ajst-17384	47	10	related	relate	VERB
ajst-17384	47	11	fields	field	NOUN
ajst-17384	47	12	and	and	CCONJ
ajst-17384	47	13	promote	promote	VERB
ajst-17384	47	14	the	the	DET
ajst-17384	47	15	development	development	NOUN
ajst-17384	47	16	of	of	ADP
ajst-17384	47	17	space	space	NOUN
ajst-17384	47	18	technology	technology	NOUN
ajst-17384	47	19	.	.	PUNCT
ajst-17384	48	1	3	3	X
ajst-17384	48	2	.	.	X
ajst-17384	48	3	maintenance	maintenance	NOUN
ajst-17384	48	4	process	process	NOUN
ajst-17384	48	5	in	in	ADP
ajst-17384	48	6	space	space	NOUN
ajst-17384	48	7	missions	mission	NOUN
ajst-17384	48	8	,	,	PUNCT
ajst-17384	48	9	the	the	DET
ajst-17384	48	10	space	space	NOUN
ajst-17384	48	11	robotic	robotic	ADJ
ajst-17384	48	12	arm	arm	NOUN
ajst-17384	48	13	is	be	AUX
ajst-17384	48	14	often	often	ADV
ajst-17384	48	15	used	use	VERB
ajst-17384	48	16	to	to	PART
ajst-17384	48	17	assist	assist	VERB
ajst-17384	48	18	astronauts	astronaut	NOUN
ajst-17384	48	19	in	in	ADP
ajst-17384	48	20	a	a	DET
ajst-17384	48	21	complex	complex	ADJ
ajst-17384	48	22	series	series	NOUN
ajst-17384	48	23	of	of	ADP
ajst-17384	48	24	operational	operational	ADJ
ajst-17384	48	25	missions	mission	NOUN
ajst-17384	48	26	,	,	PUNCT
ajst-17384	48	27	such	such	ADJ
ajst-17384	48	28	as	as	ADP
ajst-17384	48	29	that	that	DET
ajst-17384	48	30	capture	capture	NOUN
ajst-17384	48	31	aircraft	aircraft	NOUN
ajst-17384	48	32	,	,	PUNCT
ajst-17384	48	33	transfer	transfer	NOUN
ajst-17384	48	34	payloads	payload	NOUN
ajst-17384	48	35	,	,	PUNCT
ajst-17384	48	36	and	and	CCONJ
ajst-17384	48	37	assemble	assemble	VERB
ajst-17384	48	38	modules[1,2	modules[1,2	PROPN
ajst-17384	48	39	]	]	PUNCT
ajst-17384	48	40	.	.	PUNCT
ajst-17384	49	1	however	however	ADV
ajst-17384	49	2	,	,	PUNCT
ajst-17384	49	3	due	due	ADP
ajst-17384	49	4	to	to	ADP
ajst-17384	49	5	the	the	DET
ajst-17384	49	6	harsh	harsh	ADJ
ajst-17384	49	7	space	space	NOUN
ajst-17384	49	8	environment	environment	NOUN
ajst-17384	49	9	,	,	PUNCT
ajst-17384	49	10	heavy	heavy	ADJ
ajst-17384	49	11	operation	operation	NOUN
ajst-17384	49	12	tasks	task	NOUN
ajst-17384	49	13	and	and	CCONJ
ajst-17384	49	14	the	the	DET
ajst-17384	49	15	complex	complex	ADJ
ajst-17384	49	16	structure	structure	NOUN
ajst-17384	49	17	of	of	ADP
ajst-17384	49	18	the	the	DET
ajst-17384	49	19	robotic	robotic	ADJ
ajst-17384	49	20	arm	arm	NOUN
ajst-17384	49	21	itself	itself	PRON
ajst-17384	49	22	,	,	PUNCT
ajst-17384	49	23	its	its	PRON
ajst-17384	49	24	joints	joint	NOUN
ajst-17384	49	25	are	be	AUX
ajst-17384	49	26	prone	prone	ADJ
ajst-17384	49	27	to	to	ADP
ajst-17384	49	28	failure	failure	NOUN
ajst-17384	49	29	.	.	PUNCT
ajst-17384	50	1	at	at	ADP
ajst-17384	50	2	this	this	DET
ajst-17384	50	3	time	time	NOUN
ajst-17384	50	4	,	,	PUNCT
ajst-17384	50	5	if	if	SCONJ
ajst-17384	50	6	the	the	DET
ajst-17384	50	7	joint	joint	ADJ
ajst-17384	50	8	fault	fault	NOUN
ajst-17384	50	9	is	be	AUX
ajst-17384	50	10	diagnosed	diagnose	VERB
ajst-17384	50	11	and	and	CCONJ
ajst-17384	50	12	the	the	DET
ajst-17384	50	13	relevant	relevant	ADJ
ajst-17384	50	14	information	information	NOUN
ajst-17384	50	15	is	be	AUX
ajst-17384	50	16	not	not	PART
ajst-17384	50	17	obtained	obtain	VERB
ajst-17384	50	18	in	in	ADP
ajst-17384	50	19	time	time	NOUN
ajst-17384	50	20	,	,	PUNCT
ajst-17384	50	21	not	not	PART
ajst-17384	50	22	only	only	ADV
ajst-17384	50	23	will	will	AUX
ajst-17384	50	24	the	the	DET
ajst-17384	50	25	mechanical	mechanical	ADJ
ajst-17384	50	26	arm	arm	NOUN
ajst-17384	50	27	fail	fail	VERB
ajst-17384	50	28	to	to	PART
ajst-17384	50	29	complete	complete	VERB
ajst-17384	50	30	the	the	DET
ajst-17384	50	31	predetermined	predetermined	ADJ
ajst-17384	50	32	task	task	NOUN
ajst-17384	50	33	,	,	PUNCT
ajst-17384	50	34	but	but	CCONJ
ajst-17384	50	35	also	also	ADV
ajst-17384	50	36	may	may	AUX
ajst-17384	50	37	expand	expand	VERB
ajst-17384	50	38	the	the	DET
ajst-17384	50	39	impact	impact	NOUN
ajst-17384	50	40	of	of	ADP
ajst-17384	50	41	the	the	DET
ajst-17384	50	42	fault	fault	NOUN
ajst-17384	50	43	and	and	CCONJ
ajst-17384	50	44	endanger	endanger	VERB
ajst-17384	50	45	the	the	DET
ajst-17384	50	46	safe	safe	ADJ
ajst-17384	50	47	operation	operation	NOUN
ajst-17384	50	48	of	of	ADP
ajst-17384	50	49	the	the	DET
ajst-17384	50	50	mechanical	mechanical	ADJ
ajst-17384	50	51	arm	arm	NOUN
ajst-17384	50	52	.	.	PUNCT
ajst-17384	51	1	therefore	therefore	ADV
ajst-17384	51	2	,	,	PUNCT
ajst-17384	51	3	it	it	PRON
ajst-17384	51	4	is	be	AUX
ajst-17384	51	5	necessary	necessary	ADJ
ajst-17384	51	6	to	to	PART
ajst-17384	51	7	diagnose	diagnose	VERB
ajst-17384	51	8	and	and	CCONJ
ajst-17384	51	9	troubleshoothe	troubleshoothe	DET
ajst-17384	51	10	space	space	NOUN
ajst-17384	51	11	arm	arm	NOUN
ajst-17384	51	12	joint	joint	NOUN
ajst-17384	51	13	,	,	PUNCT
ajst-17384	51	14	complete	complete	ADJ
ajst-17384	51	15	parts	part	NOUN
ajst-17384	51	16	replacement	replacement	NOUN
ajst-17384	51	17	and	and	CCONJ
ajst-17384	51	18	maintenance	maintenance	NOUN
ajst-17384	51	19	,	,	PUNCT
ajst-17384	51	20	and	and	CCONJ
ajst-17384	51	21	conduct	conduct	VERB
ajst-17384	51	22	system	system	NOUN
ajst-17384	51	23	calibration	calibration	NOUN
ajst-17384	51	24	and	and	CCONJ
ajst-17384	51	25	testing	testing	NOUN
ajst-17384	51	26	.	.	PUNCT
ajst-17384	52	1	3.1	3.1	NUM
ajst-17384	52	2	.	.	PUNCT
ajst-17384	53	1	fault	fault	VERB
ajst-17384	53	2	diagnosis	diagnosis	NOUN
ajst-17384	53	3	and	and	CCONJ
ajst-17384	53	4	remove	remove	VERB
ajst-17384	53	5	among	among	ADP
ajst-17384	53	6	various	various	ADJ
ajst-17384	53	7	fault	fault	NOUN
ajst-17384	53	8	diagnosis	diagnosis	NOUN
ajst-17384	53	9	techniques	technique	NOUN
ajst-17384	53	10	,	,	PUNCT
ajst-17384	53	11	the	the	DET
ajst-17384	53	12	method	method	NOUN
ajst-17384	53	13	based	base	VERB
ajst-17384	53	14	on	on	ADP
ajst-17384	53	15	analytical	analytical	ADJ
ajst-17384	53	16	model	model	NOUN
ajst-17384	53	17	is	be	AUX
ajst-17384	53	18	one	one	NUM
ajst-17384	53	19	of	of	ADP
ajst-17384	53	20	the	the	DET
ajst-17384	53	21	common	common	ADJ
ajst-17384	53	22	methods	method	NOUN
ajst-17384	53	23	,	,	PUNCT
ajst-17384	53	24	which	which	PRON
ajst-17384	53	25	can	can	AUX
ajst-17384	53	26	be	be	AUX
ajst-17384	53	27	divided	divide	VERB
ajst-17384	53	28	into	into	ADP
ajst-17384	53	29	two	two	NUM
ajst-17384	53	30	steps	step	NOUN
ajst-17384	53	31	:	:	PUNCT
ajst-17384	53	32	residue	residue	NOUN
ajst-17384	53	33	generation	generation	NOUN
ajst-17384	53	34	and	and	CCONJ
ajst-17384	53	35	diagnostic	diagnostic	ADJ
ajst-17384	53	36	decision[3	decision[3	PROPN
ajst-17384	53	37	]	]	PUNCT
ajst-17384	53	38	.	.	PUNCT
ajst-17384	54	1	the	the	DET
ajst-17384	54	2	residual	residual	ADJ
ajst-17384	54	3	is	be	AUX
ajst-17384	54	4	used	use	VERB
ajst-17384	54	5	to	to	PART
ajst-17384	54	6	reflect	reflect	VERB
ajst-17384	54	7	the	the	DET
ajst-17384	54	8	status	status	NOUN
ajst-17384	54	9	of	of	ADP
ajst-17384	54	10	the	the	DET
ajst-17384	54	11	diagnosed	diagnose	VERB
ajst-17384	54	12	system	system	NOUN
ajst-17384	54	13	,	,	PUNCT
ajst-17384	54	14	which	which	PRON
ajst-17384	54	15	is	be	AUX
ajst-17384	54	16	close	close	ADJ
ajst-17384	54	17	to	to	ADP
ajst-17384	54	18	zero	zero	NUM
ajst-17384	54	19	when	when	SCONJ
ajst-17384	54	20	the	the	DET
ajst-17384	54	21	system	system	NOUN
ajst-17384	54	22	fails	fail	VERB
ajst-17384	54	23	;	;	PUNCT
ajst-17384	54	24	when	when	SCONJ
ajst-17384	54	25	the	the	DET
ajst-17384	54	26	system	system	NOUN
ajst-17384	54	27	fails	fail	VERB
ajst-17384	54	28	,	,	PUNCT
ajst-17384	54	29	the	the	DET
ajst-17384	54	30	residual	residual	ADJ
ajst-17384	54	31	will	will	AUX
ajst-17384	54	32	deviate	deviate	VERB
ajst-17384	54	33	from	from	ADP
ajst-17384	54	34	the	the	DET
ajst-17384	54	35	zero	zero	NUM
ajst-17384	54	36	value	value	NOUN
ajst-17384	54	37	.	.	PUNCT
ajst-17384	55	1	existing	exist	VERB
ajst-17384	55	2	studies	study	NOUN
ajst-17384	55	3	often	often	ADV
ajst-17384	55	4	use	use	VERB
ajst-17384	55	5	state	state	NOUN
ajst-17384	55	6	estimation	estimation	NOUN
ajst-17384	55	7	method	method	NOUN
ajst-17384	55	8	to	to	PART
ajst-17384	55	9	generate	generate	VERB
ajst-17384	55	10	residuals	residual	NOUN
ajst-17384	55	11	,	,	PUNCT
ajst-17384	55	12	such	such	ADJ
ajst-17384	55	13	as	as	ADP
ajst-17384	55	14	using	use	VERB
ajst-17384	55	15	state	state	NOUN
ajst-17384	55	16	observer	observer	NOUN
ajst-17384	55	17	method	method	NOUN
ajst-17384	55	18	,	,	PUNCT
ajst-17384	55	19	particle	particle	NOUN
ajst-17384	55	20	filter	filter	NOUN
ajst-17384	55	21	method	method	NOUN
ajst-17384	55	22	,	,	PUNCT
ajst-17384	55	23	kalman	kalman	NOUN
ajst-17384	55	24	filter	filter	NOUN
ajst-17384	55	25	method[4	method[4	PROPN
ajst-17384	55	26	-	-	SYM
ajst-17384	55	27	6	6	NUM
ajst-17384	55	28	]	]	PUNCT
ajst-17384	55	29	,	,	PUNCT
ajst-17384	55	30	etc	etc	X
ajst-17384	55	31	.	.	X
ajst-17384	56	1	the	the	DET
ajst-17384	56	2	basic	basic	ADJ
ajst-17384	56	3	idea	idea	NOUN
ajst-17384	56	4	of	of	ADP
ajst-17384	56	5	these	these	DET
ajst-17384	56	6	methods	method	NOUN
ajst-17384	56	7	is	be	AUX
ajst-17384	56	8	to	to	PART
ajst-17384	56	9	form	form	VERB
ajst-17384	56	10	the	the	DET
ajst-17384	56	11	residuals	residual	NOUN
ajst-17384	56	12	by	by	ADP
ajst-17384	56	13	comparing	compare	VERB
ajst-17384	56	14	the	the	DET
ajst-17384	56	15	outputs	output	NOUN
ajst-17384	56	16	of	of	ADP
ajst-17384	56	17	the	the	DET
ajst-17384	56	18	actual	actual	ADJ
ajst-17384	56	19	system	system	NOUN
ajst-17384	56	20	with	with	ADP
ajst-17384	56	21	the	the	DET
ajst-17384	56	22	estimated	estimate	VERB
ajst-17384	56	23	outputs	output	NOUN
ajst-17384	56	24	of	of	ADP
ajst-17384	56	25	the	the	DET
ajst-17384	56	26	observer	observer	NOUN
ajst-17384	56	27	or	or	CCONJ
ajst-17384	56	28	filter	filter	NOUN
ajst-17384	56	29	.	.	PUNCT
ajst-17384	57	1	however	however	ADV
ajst-17384	57	2	,	,	PUNCT
ajst-17384	57	3	the	the	DET
ajst-17384	57	4	space	space	NOUN
ajst-17384	57	5	robotic	robotic	ADJ
ajst-17384	57	6	arm	arm	NOUN
ajst-17384	57	7	is	be	AUX
ajst-17384	57	8	affected	affect	VERB
ajst-17384	57	9	by	by	ADP
ajst-17384	57	10	a	a	DET
ajst-17384	57	11	series	series	NOUN
ajst-17384	57	12	of	of	ADP
ajst-17384	57	13	external	external	ADJ
ajst-17384	57	14	disturbances	disturbance	NOUN
ajst-17384	57	15	,	,	PUNCT
ajst-17384	57	16	including	include	VERB
ajst-17384	57	17	high	high	ADJ
ajst-17384	57	18	-	-	PUNCT
ajst-17384	57	19	energy	energy	NOUN
ajst-17384	57	20	particles	particle	NOUN
ajst-17384	57	21	in	in	ADP
ajst-17384	57	22	space	space	NOUN
ajst-17384	57	23	,	,	PUNCT
ajst-17384	57	24	the	the	DET
ajst-17384	57	25	upper	upper	ADJ
ajst-17384	57	26	atmosphere	atmosphere	NOUN
ajst-17384	57	27	and	and	CCONJ
ajst-17384	57	28	the	the	DET
ajst-17384	57	29	vibration	vibration	NOUN
ajst-17384	57	30	of	of	ADP
ajst-17384	57	31	the	the	DET
ajst-17384	57	32	spacecraft	spacecraft	NOUN
ajst-17384	57	33	.	.	PUNCT
ajst-17384	58	1	these	these	DET
ajst-17384	58	2	perturbations	perturbation	NOUN
ajst-17384	58	3	cause	cause	VERB
ajst-17384	58	4	the	the	DET
ajst-17384	58	5	residual	residual	NOUN
ajst-17384	58	6	of	of	ADP
ajst-17384	58	7	the	the	DET
ajst-17384	58	8	arm	arm	NOUN
ajst-17384	58	9	to	to	PART
ajst-17384	58	10	fluctuate	fluctuate	VERB
ajst-17384	58	11	around	around	ADP
ajst-17384	58	12	the	the	DET
ajst-17384	58	13	zero	zero	NUM
ajst-17384	58	14	value	value	NOUN
ajst-17384	58	15	,	,	PUNCT
ajst-17384	58	16	but	but	CCONJ
ajst-17384	58	17	do	do	AUX
ajst-17384	58	18	not	not	PART
ajst-17384	58	19	mean	mean	VERB
ajst-17384	58	20	that	that	SCONJ
ajst-17384	58	21	the	the	DET
ajst-17384	58	22	arm	arm	NOUN
ajst-17384	58	23	joint	joint	NOUN
ajst-17384	58	24	fails	fail	VERB
ajst-17384	58	25	at	at	ADP
ajst-17384	58	26	this	this	DET
ajst-17384	58	27	time	time	NOUN
ajst-17384	58	28	.	.	PUNCT
ajst-17384	59	1	to	to	PART
ajst-17384	59	2	solve	solve	VERB
ajst-17384	59	3	this	this	DET
ajst-17384	59	4	problem	problem	NOUN
ajst-17384	59	5	,	,	PUNCT
ajst-17384	59	6	a	a	DET
ajst-17384	59	7	prior	prior	ADJ
ajst-17384	59	8	threshold	threshold	NOUN
ajst-17384	59	9	of	of	ADP
ajst-17384	59	10	the	the	DET
ajst-17384	59	11	residue	residue	NOUN
ajst-17384	59	12	sequence	sequence	NOUN
ajst-17384	59	13	should	should	AUX
ajst-17384	59	14	be	be	AUX
ajst-17384	59	15	addressed	address	VERB
ajst-17384	59	16	.	.	PUNCT
ajst-17384	60	1	in	in	ADP
ajst-17384	60	2	order	order	NOUN
ajst-17384	60	3	to	to	PART
ajst-17384	60	4	eliminate	eliminate	VERB
ajst-17384	60	5	the	the	DET
ajst-17384	60	6	influence	influence	NOUN
ajst-17384	60	7	of	of	ADP
ajst-17384	60	8	external	external	ADJ
ajst-17384	60	9	perturbations	perturbation	NOUN
ajst-17384	60	10	on	on	ADP
ajst-17384	60	11	the	the	DET
ajst-17384	60	12	residuals	residual	NOUN
ajst-17384	60	13	,	,	PUNCT
ajst-17384	60	14	many	many	ADJ
ajst-17384	60	15	scholars	scholar	NOUN
ajst-17384	60	16	have	have	AUX
ajst-17384	60	17	adopted	adopt	VERB
ajst-17384	60	18	various	various	ADJ
ajst-17384	60	19	methods	method	NOUN
ajst-17384	60	20	,	,	PUNCT
ajst-17384	60	21	such	such	ADJ
ajst-17384	60	22	as	as	ADP
ajst-17384	60	23	neural	neural	ADJ
ajst-17384	60	24	network	network	NOUN
ajst-17384	60	25	,	,	PUNCT
ajst-17384	60	26	set	set	VERB
ajst-17384	60	27	theory	theory	NOUN
ajst-17384	60	28	and	and	CCONJ
ajst-17384	60	29	feature	feature	NOUN
ajst-17384	60	30	structure	structure	NOUN
ajst-17384	60	31	configuration[7	configuration[7	NOUN
ajst-17384	60	32	-	-	PUNCT
ajst-17384	60	33	9	9	NUM
ajst-17384	60	34	]	]	PUNCT
ajst-17384	60	35	,	,	PUNCT
ajst-17384	60	36	to	to	PART
ajst-17384	60	37	disrupt	disrupt	VERB
ajst-17384	60	38	and	and	CCONJ
ajst-17384	60	39	decoupling	decouple	VERB
ajst-17384	60	40	the	the	DET
ajst-17384	60	41	state	state	NOUN
ajst-17384	60	42	observer	observer	NOUN
ajst-17384	60	43	,	,	PUNCT
ajst-17384	60	44	so	so	SCONJ
ajst-17384	60	45	that	that	SCONJ
ajst-17384	60	46	the	the	DET
ajst-17384	60	47	residuals	residual	NOUN
ajst-17384	60	48	are	be	AUX
ajst-17384	60	49	only	only	ADV
ajst-17384	60	50	sensitive	sensitive	ADJ
ajst-17384	60	51	to	to	ADP
ajst-17384	60	52	the	the	DET
ajst-17384	60	53	fault	fault	NOUN
ajst-17384	60	54	signal	signal	NOUN
ajst-17384	60	55	.	.	PUNCT
ajst-17384	61	1	after	after	ADP
ajst-17384	61	2	the	the	DET
ajst-17384	61	3	realization	realization	NOUN
ajst-17384	61	4	of	of	ADP
ajst-17384	61	5	fault	fault	NOUN
ajst-17384	61	6	detection	detection	NOUN
ajst-17384	61	7	,	,	PUNCT
ajst-17384	61	8	it	it	PRON
ajst-17384	61	9	is	be	AUX
ajst-17384	61	10	necessary	necessary	ADJ
ajst-17384	61	11	to	to	PART
ajst-17384	61	12	analyze	analyze	VERB
ajst-17384	61	13	the	the	DET
ajst-17384	61	14	fault	fault	NOUN
ajst-17384	61	15	residual	residual	ADJ
ajst-17384	61	16	information	information	NOUN
ajst-17384	61	17	,	,	PUNCT
ajst-17384	61	18	and	and	CCONJ
ajst-17384	61	19	identify	identify	VERB
ajst-17384	61	20	the	the	DET
ajst-17384	61	21	fault	fault	NOUN
ajst-17384	61	22	mode	mode	NOUN
ajst-17384	61	23	(	(	PUNCT
ajst-17384	61	24	including	include	VERB
ajst-17384	61	25	the	the	DET
ajst-17384	61	26	fault	fault	NOUN
ajst-17384	61	27	location	location	NOUN
ajst-17384	61	28	and	and	CCONJ
ajst-17384	61	29	fault	fault	VERB
ajst-17384	61	30	degree	degree	NOUN
ajst-17384	61	31	)	)	PUNCT
ajst-17384	61	32	,	,	PUNCT
ajst-17384	61	33	so	so	SCONJ
ajst-17384	61	34	as	as	SCONJ
ajst-17384	61	35	to	to	PART
ajst-17384	61	36	realize	realize	VERB
ajst-17384	61	37	the	the	DET
ajst-17384	61	38	fault	fault	NOUN
ajst-17384	61	39	system	system	NOUN
ajst-17384	61	40	recovery	recovery	NOUN
ajst-17384	61	41	or	or	CCONJ
ajst-17384	61	42	fault	fault	VERB
ajst-17384	61	43	tolerance	tolerance	NOUN
ajst-17384	61	44	control	control	NOUN
ajst-17384	61	45	,	,	PUNCT
ajst-17384	61	46	so	so	SCONJ
ajst-17384	61	47	as	as	SCONJ
ajst-17384	61	48	to	to	PART
ajst-17384	61	49	realize	realize	VERB
ajst-17384	61	50	the	the	DET
ajst-17384	61	51	fault	fault	NOUN
ajst-17384	61	52	troubleshooting	troubleshoot	VERB
ajst-17384	61	53	.	.	PUNCT
ajst-17384	62	1	the	the	DET
ajst-17384	62	2	common	common	ADJ
ajst-17384	62	3	methods	method	NOUN
ajst-17384	62	4	of	of	ADP
ajst-17384	62	5	fault	fault	VERB
ajst-17384	62	6	residual	residual	ADJ
ajst-17384	62	7	analysis	analysis	NOUN
ajst-17384	62	8	are	be	AUX
ajst-17384	62	9	neural	neural	ADJ
ajst-17384	62	10	network	network	NOUN
ajst-17384	62	11	method	method	NOUN
ajst-17384	62	12	,	,	PUNCT
ajst-17384	62	13	fuzzy	fuzzy	ADJ
ajst-17384	62	14	inference	inference	NOUN
ajst-17384	62	15	method	method	NOUN
ajst-17384	62	16	,	,	PUNCT
ajst-17384	62	17	statistical	statistical	ADJ
ajst-17384	62	18	decision	decision	NOUN
ajst-17384	62	19	method	method	NOUN
ajst-17384	62	20	and	and	CCONJ
ajst-17384	62	21	so	so	ADV
ajst-17384	62	22	on	on	ADV
ajst-17384	62	23	.	.	PROPN
ajst-17384	63	1	3.2	3.2	NUM
ajst-17384	63	2	.	.	PUNCT
ajst-17384	64	1	parts	part	NOUN
ajst-17384	64	2	replacement	replacement	NOUN
ajst-17384	64	3	and	and	CCONJ
ajst-17384	64	4	maintenance	maintenance	NOUN
ajst-17384	64	5	in	in	ADP
ajst-17384	64	6	order	order	NOUN
ajst-17384	64	7	to	to	PART
ajst-17384	64	8	repair	repair	VERB
ajst-17384	64	9	the	the	DET
ajst-17384	64	10	specified	specify	VERB
ajst-17384	64	11	product	product	NOUN
ajst-17384	64	12	,	,	PUNCT
ajst-17384	64	13	corresponding	corresponding	ADJ
ajst-17384	64	14	interfaces	interface	NOUN
ajst-17384	64	15	,	,	PUNCT
ajst-17384	64	16	including	include	VERB
ajst-17384	64	17	mechanical	mechanical	ADJ
ajst-17384	64	18	and	and	CCONJ
ajst-17384	64	19	electrical	electrical	ADJ
ajst-17384	64	20	interfaces	interface	NOUN
ajst-17384	64	21	,	,	PUNCT
ajst-17384	64	22	need	need	VERB
ajst-17384	64	23	to	to	PART
ajst-17384	64	24	be	be	AUX
ajst-17384	64	25	designed	design	VERB
ajst-17384	64	26	to	to	PART
ajst-17384	64	27	ensure	ensure	VERB
ajst-17384	64	28	that	that	SCONJ
ajst-17384	64	29	various	various	ADJ
ajst-17384	64	30	components	component	NOUN
ajst-17384	64	31	of	of	ADP
ajst-17384	64	32	the	the	DET
ajst-17384	64	33	repaired	repair	VERB
ajst-17384	64	34	arm	arm	NOUN
ajst-17384	64	35	can	can	AUX
ajst-17384	64	36	be	be	AUX
ajst-17384	64	37	connected	connect	VERB
ajst-17384	64	38	by	by	ADP
ajst-17384	64	39	the	the	DET
ajst-17384	64	40	quick	quick	ADJ
ajst-17384	64	41	connection	connection	NOUN
ajst-17384	64	42	device	device	NOUN
ajst-17384	64	43	.	.	PUNCT
ajst-17384	65	1	in	in	ADP
ajst-17384	65	2	joint	joint	ADJ
ajst-17384	65	3	design	design	NOUN
ajst-17384	65	4	,	,	PUNCT
ajst-17384	65	5	the	the	DET
ajst-17384	65	6	hand	hand	NOUN
ajst-17384	65	7	drive	drive	NOUN
ajst-17384	65	8	interface	interface	NOUN
ajst-17384	65	9	needs	need	VERB
ajst-17384	65	10	to	to	PART
ajst-17384	65	11	be	be	AUX
ajst-17384	65	12	reserved	reserve	VERB
ajst-17384	65	13	and	and	CCONJ
ajst-17384	65	14	the	the	DET
ajst-17384	65	15	hand	hand	NOUN
ajst-17384	65	16	drive	drive	NOUN
ajst-17384	65	17	tool	tool	NOUN
ajst-17384	65	18	design	design	NOUN
ajst-17384	65	19	should	should	AUX
ajst-17384	65	20	be	be	AUX
ajst-17384	65	21	carried	carry	VERB
ajst-17384	65	22	out	out	ADP
ajst-17384	65	23	to	to	PART
ajst-17384	65	24	ensure	ensure	VERB
ajst-17384	65	25	that	that	SCONJ
ajst-17384	65	26	a	a	DET
ajst-17384	65	27	uniform	uniform	ADJ
ajst-17384	65	28	mechanical	mechanical	ADJ
ajst-17384	65	29	arm	arm	NOUN
ajst-17384	65	30	maintenance	maintenance	NOUN
ajst-17384	65	31	configuration	configuration	NOUN
ajst-17384	65	32	can	can	AUX
ajst-17384	65	33	be	be	AUX
ajst-17384	65	34	adopted	adopt	VERB
ajst-17384	65	35	in	in	ADP
ajst-17384	65	36	joint	joint	ADJ
ajst-17384	65	37	failure	failure	NOUN
ajst-17384	65	38	to	to	PART
ajst-17384	65	39	facilitate	facilitate	VERB
ajst-17384	65	40	the	the	DET
ajst-17384	65	41	on	on	ADP
ajst-17384	65	42	-	-	PUNCT
ajst-17384	65	43	track	track	NOUN
ajst-17384	65	44	maintenance	maintenance	NOUN
ajst-17384	65	45	and	and	CCONJ
ajst-17384	65	46	replacement	replacement	NOUN
ajst-17384	65	47	of	of	ADP
ajst-17384	65	48	the	the	DET
ajst-17384	65	49	mechanical	mechanical	ADJ
ajst-17384	65	50	arm	arm	NOUN
ajst-17384	65	51	.	.	PUNCT
ajst-17384	66	1	in	in	ADP
ajst-17384	66	2	addition	addition	NOUN
ajst-17384	66	3	,	,	PUNCT
ajst-17384	66	4	it	it	PRON
ajst-17384	66	5	is	be	AUX
ajst-17384	66	6	also	also	ADV
ajst-17384	66	7	necessary	necessary	ADJ
ajst-17384	66	8	to	to	PART
ajst-17384	66	9	unify	unify	VERB
ajst-17384	66	10	the	the	DET
ajst-17384	66	11	joint	joint	ADJ
ajst-17384	66	12	and	and	CCONJ
ajst-17384	66	13	end	end	VERB
ajst-17384	66	14	replacement	replacement	NOUN
ajst-17384	66	15	tooling	tooling	NOUN
ajst-17384	66	16	,	,	PUNCT
ajst-17384	66	17	and	and	CCONJ
ajst-17384	66	18	design	design	VERB
ajst-17384	66	19	a	a	DET
ajst-17384	66	20	common	common	ADJ
ajst-17384	66	21	tooling	tooling	NOUN
ajst-17384	66	22	installation	installation	NOUN
ajst-17384	66	23	interface	interface	NOUN
ajst-17384	66	24	on	on	ADP
ajst-17384	66	25	the	the	DET
ajst-17384	66	26	fast	fast	ADJ
ajst-17384	66	27	connection	connection	NOUN
ajst-17384	66	28	device	device	NOUN
ajst-17384	66	29	,	,	PUNCT
ajst-17384	66	30	in	in	ADP
ajst-17384	66	31	order	order	NOUN
ajst-17384	66	32	to	to	PART
ajst-17384	66	33	fix	fix	VERB
ajst-17384	66	34	the	the	DET
ajst-17384	66	35	special	special	ADJ
ajst-17384	66	36	tooling	tooling	NOUN
ajst-17384	66	37	on	on	ADP
ajst-17384	66	38	the	the	DET
ajst-17384	66	39	fast	fast	ADJ
ajst-17384	66	40	connection	connection	NOUN
ajst-17384	66	41	device	device	NOUN
ajst-17384	66	42	,	,	PUNCT
ajst-17384	66	43	and	and	CCONJ
ajst-17384	66	44	realize	realize	VERB
ajst-17384	66	45	the	the	DET
ajst-17384	66	46	replacement	replacement	NOUN
ajst-17384	66	47	of	of	ADP
ajst-17384	66	48	the	the	DET
ajst-17384	66	49	mechanical	mechanical	ADJ
ajst-17384	66	50	arm	arm	NOUN
ajst-17384	66	51	in	in	ADP
ajst-17384	66	52	any	any	DET
ajst-17384	66	53	configuration	configuration	NOUN
ajst-17384	66	54	and	and	CCONJ
ajst-17384	66	55	any	any	DET
ajst-17384	66	56	interface.[10	interface.[10	NUM
ajst-17384	66	57	]	]	PUNCT
ajst-17384	66	58	in	in	ADP
ajst-17384	66	59	order	order	NOUN
ajst-17384	66	60	to	to	PART
ajst-17384	66	61	assist	assist	VERB
ajst-17384	66	62	the	the	DET
ajst-17384	66	63	astronauts	astronaut	NOUN
ajst-17384	66	64	in	in	ADP
ajst-17384	66	65	the	the	DET
ajst-17384	66	66	disassembly	disassembly	NOUN
ajst-17384	66	67	of	of	ADP
ajst-17384	66	68	the	the	DET
ajst-17384	66	69	faulty	faulty	ADJ
ajst-17384	66	70	parts	part	NOUN
ajst-17384	66	71	and	and	CCONJ
ajst-17384	66	72	the	the	DET
ajst-17384	66	73	installation	installation	NOUN
ajst-17384	66	74	of	of	ADP
ajst-17384	66	75	the	the	DET
ajst-17384	66	76	new	new	ADJ
ajst-17384	66	77	parts	part	NOUN
ajst-17384	66	78	,	,	PUNCT
ajst-17384	66	79	and	and	CCONJ
ajst-17384	66	80	to	to	PART
ajst-17384	66	81	maintain	maintain	VERB
ajst-17384	66	82	the	the	DET
ajst-17384	66	83	overall	overall	ADJ
ajst-17384	66	84	posture	posture	NOUN
ajst-17384	66	85	of	of	ADP
ajst-17384	66	86	the	the	DET
ajst-17384	66	87	mechanical	mechanical	ADJ
ajst-17384	66	88	arm	arm	NOUN
ajst-17384	66	89	during	during	ADP
ajst-17384	66	90	the	the	DET
ajst-17384	66	91	maintenance	maintenance	NOUN
ajst-17384	66	92	process	process	NOUN
ajst-17384	66	93	,	,	PUNCT
ajst-17384	66	94	the	the	DET
ajst-17384	66	95	maintenance	maintenance	NOUN
ajst-17384	66	96	tools	tool	NOUN
ajst-17384	66	97	need	need	VERB
ajst-17384	66	98	to	to	PART
ajst-17384	66	99	be	be	AUX
ajst-17384	66	100	designed	design	VERB
ajst-17384	66	101	.	.	PUNCT
ajst-17384	67	1	maintenance	maintenance	NOUN
ajst-17384	67	2	tools	tool	NOUN
ajst-17384	67	3	are	be	AUX
ajst-17384	67	4	mainly	mainly	ADV
ajst-17384	67	5	divided	divide	VERB
ajst-17384	67	6	into	into	ADP
ajst-17384	67	7	special	special	ADJ
ajst-17384	67	8	maintenance	maintenance	NOUN
ajst-17384	67	9	devices	device	NOUN
ajst-17384	67	10	and	and	CCONJ
ajst-17384	67	11	special	special	ADJ
ajst-17384	67	12	disassembly	disassembly	NOUN
ajst-17384	67	13	tools	tool	NOUN
ajst-17384	67	14	.	.	PUNCT
ajst-17384	68	1	the	the	DET
ajst-17384	68	2	special	special	ADJ
ajst-17384	68	3	maintenance	maintenance	NOUN
ajst-17384	68	4	device	device	NOUN
ajst-17384	68	5	adopts	adopt	VERB
ajst-17384	68	6	the	the	DET
ajst-17384	68	7	modular	modular	ADJ
ajst-17384	68	8	design	design	NOUN
ajst-17384	68	9	,	,	PUNCT
ajst-17384	68	10	and	and	CCONJ
ajst-17384	68	11	uses	use	VERB
ajst-17384	68	12	the	the	DET
ajst-17384	68	13	maintenance	maintenance	NOUN
ajst-17384	68	14	interface	interface	NOUN
ajst-17384	68	15	for	for	ADP
ajst-17384	68	16	different	different	ADJ
ajst-17384	68	17	types	type	NOUN
ajst-17384	68	18	of	of	ADP
ajst-17384	68	19	oru	oru	PROPN
ajst-17384	68	20	(	(	PUNCT
ajst-17384	68	21	on	on	ADP
ajst-17384	68	22	-	-	PUNCT
ajst-17384	68	23	orbit	orbit	NOUN
ajst-17384	68	24	replaceable	replaceable	ADJ
ajst-17384	68	25	unit	unit	NOUN
ajst-17384	68	26	)	)	PUNCT
ajst-17384	68	27	,	,	PUNCT
ajst-17384	68	28	mainly	mainly	ADV
ajst-17384	68	29	including	include	VERB
ajst-17384	68	30	the	the	DET
ajst-17384	68	31	separation	separation	NOUN
ajst-17384	68	32	mechanism	mechanism	NOUN
ajst-17384	68	33	and	and	CCONJ
ajst-17384	68	34	the	the	DET
ajst-17384	68	35	follower	follower	NOUN
ajst-17384	68	36	mechanism	mechanism	NOUN
ajst-17384	68	37	,	,	PUNCT
ajst-17384	68	38	which	which	PRON
ajst-17384	68	39	can	can	AUX
ajst-17384	68	40	realize	realize	VERB
ajst-17384	68	41	the	the	DET
ajst-17384	68	42	separation	separation	NOUN
ajst-17384	68	43	and	and	CCONJ
ajst-17384	68	44	docking	docking	NOUN
ajst-17384	68	45	of	of	ADP
ajst-17384	68	46	the	the	DET
ajst-17384	68	47	fault	fault	NOUN
ajst-17384	68	48	oru	oru	NOUN
ajst-17384	68	49	in	in	ADP
ajst-17384	68	50	the	the	DET
ajst-17384	68	51	vertical	vertical	ADJ
ajst-17384	68	52	direction	direction	NOUN
ajst-17384	68	53	.	.	PUNCT
ajst-17384	69	1	special	special	ADJ
ajst-17384	69	2	disassembly	disassembly	NOUN
ajst-17384	69	3	tools	tool	NOUN
ajst-17384	69	4	mainly	mainly	ADV
ajst-17384	69	5	include	include	VERB
ajst-17384	69	6	expansion	expansion	NOUN
ajst-17384	69	7	bolt	bolt	NOUN
ajst-17384	69	8	disassembly	disassembly	NOUN
ajst-17384	69	9	tools	tool	NOUN
ajst-17384	69	10	and	and	CCONJ
ajst-17384	69	11	loose	loose	ADJ
ajst-17384	69	12	disassembly	disassembly	NOUN
ajst-17384	69	13	tools	tool	NOUN
ajst-17384	69	14	.	.	PUNCT
ajst-17384	70	1	the	the	DET
ajst-17384	70	2	maintenance	maintenance	NOUN
ajst-17384	70	3	tools	tool	NOUN
ajst-17384	70	4	are	be	AUX
ajst-17384	70	5	designed	design	VERB
ajst-17384	70	6	to	to	PART
ajst-17384	70	7	effectively	effectively	ADV
ajst-17384	70	8	support	support	VERB
ajst-17384	70	9	the	the	DET
ajst-17384	70	10	astronauts	astronaut	NOUN
ajst-17384	70	11	in	in	ADP
ajst-17384	70	12	the	the	DET
ajst-17384	70	13	maintenance	maintenance	NOUN
ajst-17384	70	14	work	work	NOUN
ajst-17384	70	15	of	of	ADP
ajst-17384	70	16	the	the	DET
ajst-17384	70	17	mechanical	mechanical	ADJ
ajst-17384	70	18	arm	arm	NOUN
ajst-17384	70	19	,	,	PUNCT
ajst-17384	70	20	and	and	CCONJ
ajst-17384	70	21	to	to	PART
ajst-17384	70	22	achieve	achieve	VERB
ajst-17384	70	23	the	the	DET
ajst-17384	70	24	required	require	VERB
ajst-17384	70	25	disassembly	disassembly	NOUN
ajst-17384	70	26	and	and	CCONJ
ajst-17384	70	27	installation	installation	NOUN
ajst-17384	70	28	tasks	task	NOUN
ajst-17384	70	29	.	.	PUNCT
ajst-17384	71	1	41	41	NUM
ajst-17384	71	2	3.3	3.3	NUM
ajst-17384	71	3	.	.	PUNCT
ajst-17384	72	1	system	system	NOUN
ajst-17384	72	2	calibration	calibration	NOUN
ajst-17384	72	3	and	and	CCONJ
ajst-17384	72	4	testing	testing	NOUN
ajst-17384	72	5	after	after	ADP
ajst-17384	72	6	completing	complete	VERB
ajst-17384	72	7	the	the	DET
ajst-17384	72	8	overall	overall	ADJ
ajst-17384	72	9	design	design	NOUN
ajst-17384	72	10	of	of	ADP
ajst-17384	72	11	the	the	DET
ajst-17384	72	12	in	in	ADP
ajst-17384	72	13	-	-	PUNCT
ajst-17384	72	14	orbit	orbit	NOUN
ajst-17384	72	15	maintenance	maintenance	NOUN
ajst-17384	72	16	scheme	scheme	NOUN
ajst-17384	72	17	of	of	ADP
ajst-17384	72	18	the	the	DET
ajst-17384	72	19	space	space	NOUN
ajst-17384	72	20	mechanical	mechanical	ADJ
ajst-17384	72	21	arm	arm	NOUN
ajst-17384	72	22	,	,	PUNCT
ajst-17384	72	23	it	it	PRON
ajst-17384	72	24	is	be	AUX
ajst-17384	72	25	necessary	necessary	ADJ
ajst-17384	72	26	to	to	PART
ajst-17384	72	27	verify	verify	VERB
ajst-17384	72	28	its	its	PRON
ajst-17384	72	29	correctness	correctness	NOUN
ajst-17384	72	30	,	,	PUNCT
ajst-17384	72	31	the	the	DET
ajst-17384	72	32	rationality	rationality	NOUN
ajst-17384	72	33	of	of	ADP
ajst-17384	72	34	the	the	DET
ajst-17384	72	35	maintenance	maintenance	NOUN
ajst-17384	72	36	process	process	NOUN
ajst-17384	72	37	,	,	PUNCT
ajst-17384	72	38	the	the	DET
ajst-17384	72	39	feasibility	feasibility	NOUN
ajst-17384	72	40	of	of	ADP
ajst-17384	72	41	the	the	DET
ajst-17384	72	42	maintenance	maintenance	NOUN
ajst-17384	72	43	device	device	NOUN
ajst-17384	72	44	,	,	PUNCT
ajst-17384	72	45	and	and	CCONJ
ajst-17384	72	46	the	the	DET
ajst-17384	72	47	man	man	NOUN
ajst-17384	72	48	-	-	PUNCT
ajst-17384	72	49	machine	machine	NOUN
ajst-17384	72	50	working	work	VERB
ajst-17384	72	51	performance	performance	NOUN
ajst-17384	72	52	in	in	ADP
ajst-17384	72	53	the	the	DET
ajst-17384	72	54	maintenance	maintenance	NOUN
ajst-17384	72	55	process	process	NOUN
ajst-17384	72	56	.	.	PUNCT
ajst-17384	73	1	in	in	ADP
ajst-17384	73	2	order	order	NOUN
ajst-17384	73	3	to	to	PART
ajst-17384	73	4	obtain	obtain	VERB
ajst-17384	73	5	the	the	DET
ajst-17384	73	6	important	important	ADJ
ajst-17384	73	7	data	datum	NOUN
ajst-17384	73	8	of	of	ADP
ajst-17384	73	9	the	the	DET
ajst-17384	73	10	maintenance	maintenance	NOUN
ajst-17384	73	11	process	process	NOUN
ajst-17384	73	12	,	,	PUNCT
ajst-17384	73	13	it	it	PRON
ajst-17384	73	14	is	be	AUX
ajst-17384	73	15	necessary	necessary	ADJ
ajst-17384	73	16	to	to	PART
ajst-17384	73	17	carry	carry	VERB
ajst-17384	73	18	out	out	ADP
ajst-17384	73	19	the	the	DET
ajst-17384	73	20	corresponding	corresponding	ADJ
ajst-17384	73	21	ground	ground	NOUN
ajst-17384	73	22	maintenance	maintenance	NOUN
ajst-17384	73	23	test	test	NOUN
ajst-17384	73	24	verification	verification	NOUN
ajst-17384	73	25	,	,	PUNCT
ajst-17384	73	26	including	include	VERB
ajst-17384	73	27	maintenance	maintenance	NOUN
ajst-17384	73	28	simulation	simulation	NOUN
ajst-17384	73	29	verification	verification	NOUN
ajst-17384	73	30	,	,	PUNCT
ajst-17384	73	31	air	air	NOUN
ajst-17384	73	32	float	float	NOUN
ajst-17384	73	33	and	and	CCONJ
ajst-17384	73	34	suspension	suspension	NOUN
ajst-17384	73	35	zero	zero	NUM
ajst-17384	73	36	gravity	gravity	NOUN
ajst-17384	73	37	verification	verification	NOUN
ajst-17384	73	38	,	,	PUNCT
ajst-17384	73	39	maintenance	maintenance	NOUN
ajst-17384	73	40	service	service	NOUN
ajst-17384	73	41	verification	verification	NOUN
ajst-17384	73	42	,	,	PUNCT
ajst-17384	73	43	neutral	neutral	ADJ
ajst-17384	73	44	tank	tank	NOUN
ajst-17384	73	45	test	test	NOUN
ajst-17384	73	46	and	and	CCONJ
ajst-17384	73	47	on	on	ADP
ajst-17384	73	48	-	-	PUNCT
ajst-17384	73	49	orbit	orbit	NOUN
ajst-17384	73	50	maintenance	maintenance	NOUN
ajst-17384	73	51	verification	verification	NOUN
ajst-17384	73	52	.	.	PUNCT
ajst-17384	74	1	the	the	DET
ajst-17384	74	2	specific	specific	ADJ
ajst-17384	74	3	experiment	experiment	NOUN
ajst-17384	74	4	contents	content	NOUN
ajst-17384	74	5	are	be	AUX
ajst-17384	74	6	shown	show	VERB
ajst-17384	74	7	in	in	ADP
ajst-17384	74	8	table	table	NOUN
ajst-17384	74	9	1	1	NUM
ajst-17384	74	10	[	[	X
ajst-17384	74	11	10	10	NUM
ajst-17384	74	12	]	]	PUNCT
ajst-17384	74	13	.	.	PUNCT
ajst-17384	75	1	table	table	NOUN
ajst-17384	75	2	1	1	NUM
ajst-17384	75	3	.	.	PUNCT
ajst-17384	75	4	reptainability	reptainability	NOUN
ajst-17384	75	5	verification	verification	NOUN
ajst-17384	75	6	planning	planning	NOUN
ajst-17384	75	7	of	of	ADP
ajst-17384	75	8	space	space	NOUN
ajst-17384	75	9	robotic	robotic	ADJ
ajst-17384	75	10	arm	arm	NOUN
ajst-17384	75	11	maintenance	maintenance	NOUN
ajst-17384	75	12	link	link	NOUN
ajst-17384	75	13	repair	repair	PROPN
ajst-17384	75	14	simulation	simulation	NOUN
ajst-17384	75	15	validation	validation	NOUN
ajst-17384	75	16	of	of	ADP
ajst-17384	75	17	air	air	NOUN
ajst-17384	75	18	floating	float	VERB
ajst-17384	75	19	suspension	suspension	NOUN
ajst-17384	75	20	served	serve	VERB
ajst-17384	75	21	to	to	PART
ajst-17384	75	22	verify	verify	VERB
ajst-17384	75	23	neutral	neutral	ADJ
ajst-17384	75	24	tank	tank	NOUN
ajst-17384	75	25	test	test	NOUN
ajst-17384	75	26	on	on	ADP
ajst-17384	75	27	-	-	PUNCT
ajst-17384	75	28	orbit	orbit	NOUN
ajst-17384	75	29	verification	verification	NOUN
ajst-17384	75	30	upside	upside	ADJ
ajst-17384	75	31	/	/	SYM
ajst-17384	75	32	assembly	assembly	NOUN
ajst-17384	75	33	of	of	ADP
ajst-17384	75	34	spare	spare	ADJ
ajst-17384	75	35	parts	part	NOUN
ajst-17384	75	36	×	×	NOUN
ajst-17384	75	37	×	×	NOUN
ajst-17384	75	38	√	√	NUM
ajst-17384	75	39	×	×	NOUN
ajst-17384	75	40	√	√	PROPN
ajst-17384	75	41	astronaut	astronaut	NOUN
ajst-17384	75	42	/	/	SYM
ajst-17384	75	43	spare	spare	ADJ
ajst-17384	75	44	parts	part	NOUN
ajst-17384	75	45	exit	exit	VERB
ajst-17384	75	46	the	the	DET
ajst-17384	75	47	module	module	NOUN
ajst-17384	76	1	√	√	PROPN
ajst-17384	76	2	×	×	NOUN
ajst-17384	76	3	×	×	NOUN
ajst-17384	76	4	√	√	CCONJ
ajst-17384	76	5	√	√	NUM
ajst-17384	76	6	maintenance	maintenance	NOUN
ajst-17384	76	7	drill	drill	NOUN
ajst-17384	76	8	√	√	PROPN
ajst-17384	77	1	×	×	PROPN
ajst-17384	77	2	×	×	NOUN
ajst-17384	77	3	√	√	CCONJ
ajst-17384	77	4	√	√	NUM
ajst-17384	77	5	maintenance	maintenance	NOUN
ajst-17384	77	6	operation	operation	NOUN
ajst-17384	77	7	√	√	NOUN
ajst-17384	77	8	√	√	CCONJ
ajst-17384	77	9	√	√	NUM
ajst-17384	77	10	√	√	NUM
ajst-17384	77	11	√	√	NUM
ajst-17384	77	12	fault	fault	NOUN
ajst-17384	77	13	parts	part	NOUN
ajst-17384	77	14	/	/	SYM
ajst-17384	77	15	tool	tool	NOUN
ajst-17384	77	16	return	return	NOUN
ajst-17384	77	17	module	module	NOUN
ajst-17384	77	18	√	√	PROPN
ajst-17384	77	19	×	×	NOUN
ajst-17384	77	20	×	×	NOUN
ajst-17384	77	21	√	√	NOUN
ajst-17384	77	22	√	√	PROPN
ajst-17384	77	23	in	in	ADP
ajst-17384	77	24	addition	addition	NOUN
ajst-17384	77	25	,	,	PUNCT
ajst-17384	77	26	with	with	ADP
ajst-17384	77	27	the	the	DET
ajst-17384	77	28	continuous	continuous	ADJ
ajst-17384	77	29	development	development	NOUN
ajst-17384	77	30	of	of	ADP
ajst-17384	77	31	industrial	industrial	ADJ
ajst-17384	77	32	software	software	NOUN
ajst-17384	77	33	,	,	PUNCT
ajst-17384	77	34	the	the	DET
ajst-17384	77	35	three	three	NUM
ajst-17384	77	36	-	-	PUNCT
ajst-17384	77	37	dimensional	dimensional	ADJ
ajst-17384	77	38	simulation	simulation	NOUN
ajst-17384	77	39	environment	environment	NOUN
ajst-17384	77	40	can	can	AUX
ajst-17384	77	41	be	be	AUX
ajst-17384	77	42	used	use	VERB
ajst-17384	77	43	to	to	PART
ajst-17384	77	44	control	control	VERB
ajst-17384	77	45	the	the	DET
ajst-17384	77	46	range	range	NOUN
ajst-17384	77	47	of	of	ADP
ajst-17384	77	48	motion	motion	NOUN
ajst-17384	77	49	and	and	CCONJ
ajst-17384	77	50	operation	operation	NOUN
ajst-17384	77	51	action	action	NOUN
ajst-17384	77	52	of	of	ADP
ajst-17384	77	53	the	the	DET
ajst-17384	77	54	astronauts	astronaut	NOUN
ajst-17384	77	55	,	,	PUNCT
ajst-17384	77	56	to	to	PART
ajst-17384	77	57	simulate	simulate	VERB
ajst-17384	77	58	the	the	DET
ajst-17384	77	59	whole	whole	ADJ
ajst-17384	77	60	maintenance	maintenance	NOUN
ajst-17384	77	61	process	process	NOUN
ajst-17384	77	62	,	,	PUNCT
ajst-17384	77	63	and	and	CCONJ
ajst-17384	77	64	visually	visually	ADV
ajst-17384	77	65	reflect	reflect	VERB
ajst-17384	77	66	the	the	DET
ajst-17384	77	67	performance	performance	NOUN
ajst-17384	77	68	of	of	ADP
ajst-17384	77	69	the	the	DET
ajst-17384	77	70	maintenance	maintenance	NOUN
ajst-17384	77	71	scheme.for	scheme.for	ADP
ajst-17384	77	72	instance	instance	NOUN
ajst-17384	77	73	,	,	PUNCT
ajst-17384	77	74	build	build	VERB
ajst-17384	77	75	a	a	DET
ajst-17384	77	76	maintenance	maintenance	NOUN
ajst-17384	77	77	environment	environment	NOUN
ajst-17384	77	78	on	on	ADP
ajst-17384	77	79	the	the	DET
ajst-17384	77	80	ground	ground	NOUN
ajst-17384	77	81	by	by	ADP
ajst-17384	77	82	means	mean	NOUN
ajst-17384	77	83	of	of	ADP
ajst-17384	77	84	air	air	NOUN
ajst-17384	77	85	floating	float	VERB
ajst-17384	77	86	tooling	tooling	NOUN
ajst-17384	77	87	and	and	CCONJ
ajst-17384	77	88	suspension	suspension	NOUN
ajst-17384	77	89	zero	zero	NUM
ajst-17384	77	90	gravity	gravity	NOUN
ajst-17384	77	91	,	,	PUNCT
ajst-17384	77	92	carry	carry	VERB
ajst-17384	77	93	out	out	ADP
ajst-17384	77	94	the	the	DET
ajst-17384	77	95	corresponding	corresponding	ADJ
ajst-17384	77	96	ground	ground	NOUN
ajst-17384	77	97	maintenance	maintenance	NOUN
ajst-17384	77	98	test	test	NOUN
ajst-17384	77	99	according	accord	VERB
ajst-17384	77	100	to	to	ADP
ajst-17384	77	101	the	the	DET
ajst-17384	77	102	maintenance	maintenance	NOUN
ajst-17384	77	103	process	process	NOUN
ajst-17384	77	104	,	,	PUNCT
ajst-17384	77	105	can	can	AUX
ajst-17384	77	106	simulate	simulate	VERB
ajst-17384	77	107	the	the	DET
ajst-17384	77	108	human	human	ADJ
ajst-17384	77	109	-	-	PUNCT
ajst-17384	77	110	machine	machine	NOUN
ajst-17384	77	111	ergonomics	ergonomic	NOUN
ajst-17384	77	112	of	of	ADP
ajst-17384	77	113	astronauts	astronaut	NOUN
ajst-17384	77	114	;	;	PUNCT
ajst-17384	77	115	using	use	VERB
ajst-17384	77	116	the	the	DET
ajst-17384	77	117	spacesuit	spacesuit	NOUN
ajst-17384	77	118	verification	verification	NOUN
ajst-17384	77	119	test	test	NOUN
ajst-17384	77	120	,	,	PUNCT
ajst-17384	77	121	operating	operate	VERB
ajst-17384	77	122	the	the	DET
ajst-17384	77	123	robotic	robotic	ADJ
ajst-17384	77	124	arm	arm	NOUN
ajst-17384	77	125	fault	fault	VERB
ajst-17384	77	126	oru	oru	NOUN
ajst-17384	77	127	in	in	ADP
ajst-17384	77	128	the	the	DET
ajst-17384	77	129	case	case	NOUN
ajst-17384	77	130	of	of	ADP
ajst-17384	77	131	simulated	simulated	ADJ
ajst-17384	77	132	astronaut	astronaut	NOUN
ajst-17384	77	133	service	service	PROPN
ajst-17384	77	134	,	,	PUNCT
ajst-17384	77	135	it	it	PRON
ajst-17384	77	136	can	can	AUX
ajst-17384	77	137	verify	verify	VERB
ajst-17384	77	138	the	the	DET
ajst-17384	77	139	accessibility	accessibility	NOUN
ajst-17384	77	140	,	,	PUNCT
ajst-17384	77	141	operation	operation	NOUN
ajst-17384	77	142	power	power	NOUN
ajst-17384	77	143	,	,	PUNCT
ajst-17384	77	144	operation	operation	NOUN
ajst-17384	77	145	space	space	NOUN
ajst-17384	77	146	,	,	PUNCT
ajst-17384	77	147	visibility	visibility	NOUN
ajst-17384	77	148	,	,	PUNCT
ajst-17384	77	149	operation	operation	NOUN
ajst-17384	77	150	feedback	feedback	NOUN
ajst-17384	77	151	,	,	PUNCT
ajst-17384	77	152	anti	anti	ADJ
ajst-17384	77	153	-	-	ADJ
ajst-17384	77	154	drift	drift	ADJ
ajst-17384	77	155	,	,	PUNCT
ajst-17384	77	156	anti	anti	NOUN
ajst-17384	77	157	-	-	NOUN
ajst-17384	77	158	error	error	NOUN
ajst-17384	77	159	,	,	PUNCT
ajst-17384	77	160	operation	operation	NOUN
ajst-17384	77	161	identification	identification	NOUN
ajst-17384	77	162	and	and	CCONJ
ajst-17384	77	163	other	other	ADJ
ajst-17384	77	164	indicators	indicator	NOUN
ajst-17384	77	165	;	;	PUNCT
ajst-17384	77	166	using	use	VERB
ajst-17384	77	167	the	the	DET
ajst-17384	77	168	in	in	ADP
ajst-17384	77	169	-	-	PUNCT
ajst-17384	77	170	orbit	orbit	NOUN
ajst-17384	77	171	verification	verification	NOUN
ajst-17384	77	172	test	test	NOUN
ajst-17384	77	173	,	,	PUNCT
ajst-17384	77	174	ensure	ensure	VERB
ajst-17384	77	175	that	that	SCONJ
ajst-17384	77	176	special	special	ADJ
ajst-17384	77	177	tests	test	NOUN
ajst-17384	77	178	are	be	AUX
ajst-17384	77	179	organized	organize	VERB
ajst-17384	77	180	for	for	ADP
ajst-17384	77	181	verification	verification	NOUN
ajst-17384	77	182	after	after	ADP
ajst-17384	77	183	the	the	DET
ajst-17384	77	184	rail	rail	NOUN
ajst-17384	77	185	,	,	PUNCT
ajst-17384	77	186	mainly	mainly	ADV
ajst-17384	77	187	for	for	ADP
ajst-17384	77	188	the	the	DET
ajst-17384	77	189	typical	typical	ADJ
ajst-17384	77	190	operation	operation	NOUN
ajst-17384	77	191	and	and	CCONJ
ajst-17384	77	192	key	key	ADJ
ajst-17384	77	193	link	link	NOUN
ajst-17384	77	194	of	of	ADP
ajst-17384	77	195	mechanical	mechanical	ADJ
ajst-17384	77	196	arm	arm	NOUN
ajst-17384	77	197	maintenance	maintenance	NOUN
ajst-17384	77	198	,	,	PUNCT
ajst-17384	77	199	further	far	ADV
ajst-17384	77	200	verify	verify	VERB
ajst-17384	77	201	the	the	DET
ajst-17384	77	202	correctness	correctness	NOUN
ajst-17384	77	203	of	of	ADP
ajst-17384	77	204	the	the	DET
ajst-17384	77	205	maintenance	maintenance	NOUN
ajst-17384	77	206	design[10	design[10	NOUN
ajst-17384	77	207	]	]	PUNCT
ajst-17384	77	208	.	.	PUNCT
ajst-17384	78	1	4	4	X
ajst-17384	78	2	.	.	X
ajst-17384	78	3	maintenance	maintenance	NOUN
ajst-17384	78	4	case	case	NOUN
ajst-17384	78	5	analysis	analysis	NOUN
ajst-17384	78	6	4.1	4.1	NUM
ajst-17384	78	7	.	.	PUNCT
ajst-17384	78	8	common	common	ADJ
ajst-17384	78	9	faults	fault	NOUN
ajst-17384	78	10	and	and	CCONJ
ajst-17384	78	11	solutions	solution	NOUN
ajst-17384	78	12	in	in	ADP
ajst-17384	78	13	december	december	PROPN
ajst-17384	78	14	2017	2017	NUM
ajst-17384	78	15	,	,	PUNCT
ajst-17384	78	16	the	the	DET
ajst-17384	78	17	data	datum	NOUN
ajst-17384	78	18	from	from	ADP
ajst-17384	78	19	the	the	DET
ajst-17384	78	20	ministry	ministry	PROPN
ajst-17384	78	21	of	of	ADP
ajst-17384	78	22	communications	communication	NOUN
ajst-17384	78	23	of	of	ADP
ajst-17384	78	24	china	china	PROPN
ajst-17384	78	25	showed	show	VERB
ajst-17384	78	26	that	that	SCONJ
ajst-17384	78	27	there	there	PRON
ajst-17384	78	28	were	be	VERB
ajst-17384	78	29	77	77	NUM
ajst-17384	78	30	shared	share	VERB
ajst-17384	78	31	bicycle	bicycle	NOUN
ajst-17384	78	32	companies	company	NOUN
ajst-17384	78	33	had	have	AUX
ajst-17384	78	34	entered	enter	VERB
ajst-17384	78	35	the	the	DET
ajst-17384	78	36	market	market	NOUN
ajst-17384	78	37	,	,	PUNCT
ajst-17384	78	38	with	with	ADP
ajst-17384	78	39	23	23	NUM
ajst-17384	78	40	million	million	NUM
ajst-17384	78	41	shared	share	VERB
ajst-17384	78	42	bicycles	bicycle	NOUN
ajst-17384	78	43	in	in	ADP
ajst-17384	78	44	total	total	NOUN
ajst-17384	78	45	.	.	PUNCT
ajst-17384	79	1	the	the	DET
ajst-17384	79	2	domestic	domestic	ADJ
ajst-17384	79	3	users	user	NOUN
ajst-17384	79	4	were	be	AUX
ajst-17384	79	5	nearly	nearly	ADV
ajst-17384	79	6	221	221	NUM
ajst-17384	79	7	million	million	NUM
ajst-17384	79	8	,	,	PUNCT
ajst-17384	79	9	accounting	account	VERB
ajst-17384	79	10	for	for	ADP
ajst-17384	79	11	28.6	28.6	NUM
ajst-17384	79	12	%	%	NOUN
ajst-17384	79	13	of	of	ADP
ajst-17384	79	14	the	the	DET
ajst-17384	79	15	total	total	ADJ
ajst-17384	79	16	number	number	NOUN
ajst-17384	79	17	of	of	ADP
ajst-17384	79	18	netizens.according	netizens.accorde	VERB
ajst-17384	79	19	to	to	ADP
ajst-17384	79	20	the	the	DET
ajst-17384	79	21	2017	2017	NUM
ajst-17384	79	22	entrepreneurship	entrepreneurship	NOUN
ajst-17384	79	23	valuation	valuation	NOUN
ajst-17384	79	24	rankings	ranking	NOUN
ajst-17384	79	25	,	,	PUNCT
ajst-17384	79	26	ofo	ofo	NOUN
ajst-17384	79	27	ranked	rank	VERB
ajst-17384	79	28	43rd	43rd	NOUN
ajst-17384	79	29	with	with	ADP
ajst-17384	79	30	a	a	DET
ajst-17384	79	31	valuation	valuation	NOUN
ajst-17384	79	32	of	of	ADP
ajst-17384	79	33	13.8	13.8	NUM
ajst-17384	79	34	billion	billion	NUM
ajst-17384	79	35	yuan	yuan	NOUN
ajst-17384	79	36	,	,	PUNCT
ajst-17384	79	37	and	and	CCONJ
ajst-17384	79	38	mobike	mobike	INTJ
ajst-17384	79	39	ranked	rank	VERB
ajst-17384	79	40	52nd	52nd	NOUN
ajst-17384	79	41	with	with	ADP
ajst-17384	79	42	a	a	DET
ajst-17384	79	43	valuation	valuation	NOUN
ajst-17384	79	44	of	of	ADP
ajst-17384	79	45	10.5	10.5	NUM
ajst-17384	79	46	billion	billion	NUM
ajst-17384	79	47	.	.	PUNCT
ajst-17384	80	1	ofo	ofo	NOUN
ajst-17384	80	2	and	and	CCONJ
ajst-17384	80	3	mobike	mobike	NOUN
ajst-17384	80	4	stood	stand	VERB
ajst-17384	80	5	out	out	ADP
ajst-17384	80	6	among	among	ADP
ajst-17384	80	7	shared	share	VERB
ajst-17384	80	8	bicycle	bicycle	NOUN
ajst-17384	80	9	companies[11	companies[11	PROPN
ajst-17384	80	10	]	]	PUNCT
ajst-17384	80	11	.	.	PUNCT
ajst-17384	81	1	4.1.1	4.1.1	X
ajst-17384	81	2	.	.	PUNCT
ajst-17384	81	3	electrical	electrical	ADJ
ajst-17384	81	4	accident	accident	NOUN
ajst-17384	81	5	this	this	DET
ajst-17384	81	6	kind	kind	NOUN
ajst-17384	81	7	of	of	ADP
ajst-17384	81	8	fault	fault	NOUN
ajst-17384	81	9	is	be	AUX
ajst-17384	81	10	mainly	mainly	ADV
ajst-17384	81	11	caused	cause	VERB
ajst-17384	81	12	by	by	ADP
ajst-17384	81	13	the	the	DET
ajst-17384	81	14	damage	damage	NOUN
ajst-17384	81	15	or	or	CCONJ
ajst-17384	81	16	abnormality	abnormality	NOUN
ajst-17384	81	17	of	of	ADP
ajst-17384	81	18	electrical	electrical	ADJ
ajst-17384	81	19	components	component	NOUN
ajst-17384	81	20	such	such	ADJ
ajst-17384	81	21	as	as	ADP
ajst-17384	81	22	circuit	circuit	NOUN
ajst-17384	81	23	,	,	PUNCT
ajst-17384	81	24	power	power	NOUN
ajst-17384	81	25	supply	supply	NOUN
ajst-17384	81	26	,	,	PUNCT
ajst-17384	81	27	sensors	sensor	NOUN
ajst-17384	81	28	or	or	CCONJ
ajst-17384	81	29	controllers	controller	NOUN
ajst-17384	81	30	.	.	PUNCT
ajst-17384	82	1	for	for	ADP
ajst-17384	82	2	example	example	NOUN
ajst-17384	82	3	,	,	PUNCT
ajst-17384	82	4	the	the	DET
ajst-17384	82	5	power	power	NOUN
ajst-17384	82	6	supply	supply	NOUN
ajst-17384	82	7	voltage	voltage	NOUN
ajst-17384	82	8	is	be	AUX
ajst-17384	82	9	too	too	ADV
ajst-17384	82	10	high	high	ADJ
ajst-17384	82	11	or	or	CCONJ
ajst-17384	82	12	too	too	ADV
ajst-17384	82	13	low	low	ADJ
ajst-17384	82	14	,	,	PUNCT
ajst-17384	82	15	the	the	DET
ajst-17384	82	16	circuit	circuit	NOUN
ajst-17384	82	17	short	short	ADJ
ajst-17384	82	18	circuit	circuit	NOUN
ajst-17384	82	19	or	or	CCONJ
ajst-17384	82	20	open	open	ADJ
ajst-17384	82	21	circuit	circuit	NOUN
ajst-17384	82	22	,	,	PUNCT
ajst-17384	82	23	the	the	DET
ajst-17384	82	24	sensor	sensor	NOUN
ajst-17384	82	25	signal	signal	NOUN
ajst-17384	82	26	distortion	distortion	NOUN
ajst-17384	82	27	or	or	CCONJ
ajst-17384	82	28	loss	loss	NOUN
ajst-17384	82	29	,	,	PUNCT
ajst-17384	82	30	the	the	DET
ajst-17384	82	31	controller	controller	NOUN
ajst-17384	82	32	software	software	NOUN
ajst-17384	82	33	crash	crash	NOUN
ajst-17384	82	34	or	or	CCONJ
ajst-17384	82	35	crash	crash	NOUN
ajst-17384	82	36	,	,	PUNCT
ajst-17384	82	37	etc	etc	X
ajst-17384	82	38	.	.	X
ajst-17384	83	1	the	the	DET
ajst-17384	83	2	methods	method	NOUN
ajst-17384	83	3	to	to	PART
ajst-17384	83	4	solve	solve	VERB
ajst-17384	83	5	this	this	DET
ajst-17384	83	6	kind	kind	NOUN
ajst-17384	83	7	of	of	ADP
ajst-17384	83	8	fault	fault	NOUN
ajst-17384	83	9	are	be	AUX
ajst-17384	83	10	:	:	PUNCT
ajst-17384	83	11	checking	check	VERB
ajst-17384	83	12	and	and	CCONJ
ajst-17384	83	13	replacing	replace	VERB
ajst-17384	83	14	the	the	DET
ajst-17384	83	15	damaged	damage	VERB
ajst-17384	83	16	electrical	electrical	ADJ
ajst-17384	83	17	components	component	NOUN
ajst-17384	83	18	,	,	PUNCT
ajst-17384	83	19	adjusting	adjust	VERB
ajst-17384	83	20	and	and	CCONJ
ajst-17384	83	21	stabilizing	stabilize	VERB
ajst-17384	83	22	the	the	DET
ajst-17384	83	23	power	power	NOUN
ajst-17384	83	24	supply	supply	NOUN
ajst-17384	83	25	voltage	voltage	NOUN
ajst-17384	83	26	,	,	PUNCT
ajst-17384	83	27	detecting	detect	VERB
ajst-17384	83	28	and	and	CCONJ
ajst-17384	83	29	repairing	repair	VERB
ajst-17384	83	30	circuit	circuit	NOUN
ajst-17384	83	31	connections	connection	NOUN
ajst-17384	83	32	,	,	PUNCT
ajst-17384	83	33	restart	restart	NOUN
ajst-17384	83	34	or	or	CCONJ
ajst-17384	83	35	updating	update	VERB
ajst-17384	83	36	the	the	DET
ajst-17384	83	37	controller	controller	NOUN
ajst-17384	83	38	software	software	NOUN
ajst-17384	83	39	,	,	PUNCT
ajst-17384	83	40	etc	etc	X
ajst-17384	83	41	.	.	X
ajst-17384	84	1	4.1.2	4.1.2	X
ajst-17384	84	2	.	.	NOUN
ajst-17384	84	3	mechanical	mechanical	ADJ
ajst-17384	84	4	failure	failure	NOUN
ajst-17384	84	5	this	this	DET
ajst-17384	84	6	kind	kind	NOUN
ajst-17384	84	7	of	of	ADP
ajst-17384	84	8	failure	failure	NOUN
ajst-17384	84	9	is	be	AUX
ajst-17384	84	10	mainly	mainly	ADV
ajst-17384	84	11	caused	cause	VERB
ajst-17384	84	12	by	by	ADP
ajst-17384	84	13	the	the	DET
ajst-17384	84	14	wear	wear	NOUN
ajst-17384	84	15	or	or	CCONJ
ajst-17384	84	16	damage	damage	NOUN
ajst-17384	84	17	of	of	ADP
ajst-17384	84	18	mechanical	mechanical	ADJ
ajst-17384	84	19	factors	factor	NOUN
ajst-17384	84	20	such	such	ADJ
ajst-17384	84	21	as	as	ADP
ajst-17384	84	22	mechanical	mechanical	ADJ
ajst-17384	84	23	structures	structure	NOUN
ajst-17384	84	24	,	,	PUNCT
ajst-17384	84	25	mechanical	mechanical	ADJ
ajst-17384	84	26	components	component	NOUN
ajst-17384	84	27	,	,	PUNCT
ajst-17384	84	28	and	and	CCONJ
ajst-17384	84	29	mechanical	mechanical	ADJ
ajst-17384	84	30	connections	connection	NOUN
ajst-17384	84	31	.	.	PUNCT
ajst-17384	85	1	for	for	ADP
ajst-17384	85	2	example	example	NOUN
ajst-17384	85	3	,	,	PUNCT
ajst-17384	85	4	mechanical	mechanical	ADJ
ajst-17384	85	5	arm	arm	NOUN
ajst-17384	85	6	joint	joint	NOUN
ajst-17384	85	7	stuck	stuck	ADJ
ajst-17384	85	8	or	or	CCONJ
ajst-17384	85	9	loose	loose	ADJ
ajst-17384	85	10	,	,	PUNCT
ajst-17384	85	11	mechanical	mechanical	ADJ
ajst-17384	85	12	parts	part	NOUN
ajst-17384	85	13	deformation	deformation	NOUN
ajst-17384	85	14	or	or	CCONJ
ajst-17384	85	15	fracture	fracture	NOUN
ajst-17384	85	16	,	,	PUNCT
ajst-17384	85	17	mechanical	mechanical	ADJ
ajst-17384	85	18	connection	connection	NOUN
ajst-17384	85	19	loose	loose	ADJ
ajst-17384	85	20	or	or	CCONJ
ajst-17384	85	21	off	off	ADV
ajst-17384	85	22	,	,	PUNCT
ajst-17384	85	23	etc	etc	X
ajst-17384	85	24	.	.	X
ajst-17384	86	1	the	the	DET
ajst-17384	86	2	methods	method	NOUN
ajst-17384	86	3	to	to	PART
ajst-17384	86	4	solve	solve	VERB
ajst-17384	86	5	this	this	DET
ajst-17384	86	6	kind	kind	NOUN
ajst-17384	86	7	of	of	ADP
ajst-17384	86	8	failure	failure	NOUN
ajst-17384	86	9	are	be	AUX
ajst-17384	86	10	:	:	PUNCT
ajst-17384	86	11	lubrication	lubrication	NOUN
ajst-17384	86	12	and	and	CCONJ
ajst-17384	86	13	adjust	adjust	VERB
ajst-17384	86	14	the	the	DET
ajst-17384	86	15	mechanical	mechanical	ADJ
ajst-17384	86	16	arm	arm	NOUN
ajst-17384	86	17	joints	joint	NOUN
ajst-17384	86	18	,	,	PUNCT
ajst-17384	86	19	replace	replace	VERB
ajst-17384	86	20	and	and	CCONJ
ajst-17384	86	21	repair	repair	VERB
ajst-17384	86	22	mechanical	mechanical	ADJ
ajst-17384	86	23	parts	part	NOUN
ajst-17384	86	24	,	,	PUNCT
ajst-17384	86	25	fastening	fastening	NOUN
ajst-17384	86	26	and	and	CCONJ
ajst-17384	86	27	connecting	connect	VERB
ajst-17384	86	28	mechanical	mechanical	ADJ
ajst-17384	86	29	connections	connection	NOUN
ajst-17384	86	30	,	,	PUNCT
ajst-17384	86	31	etc	etc	X
ajst-17384	86	32	.	.	X
ajst-17384	87	1	4.1.3	4.1.3	X
ajst-17384	87	2	.	.	PUNCT
ajst-17384	87	3	environmental	environmental	ADJ
ajst-17384	87	4	failure	failure	NOUN
ajst-17384	87	5	this	this	DET
ajst-17384	87	6	kind	kind	NOUN
ajst-17384	87	7	of	of	ADP
ajst-17384	87	8	fault	fault	NOUN
ajst-17384	87	9	is	be	AUX
ajst-17384	87	10	mainly	mainly	ADV
ajst-17384	87	11	caused	cause	VERB
ajst-17384	87	12	by	by	ADP
ajst-17384	87	13	the	the	DET
ajst-17384	87	14	influence	influence	NOUN
ajst-17384	87	15	of	of	ADP
ajst-17384	87	16	temperature	temperature	NOUN
ajst-17384	87	17	,	,	PUNCT
ajst-17384	87	18	radiation	radiation	NOUN
ajst-17384	87	19	,	,	PUNCT
ajst-17384	87	20	microgravity	microgravity	NOUN
ajst-17384	87	21	and	and	CCONJ
ajst-17384	87	22	other	other	ADJ
ajst-17384	87	23	factors	factor	NOUN
ajst-17384	87	24	in	in	ADP
ajst-17384	87	25	the	the	DET
ajst-17384	87	26	space	space	NOUN
ajst-17384	87	27	environment	environment	NOUN
ajst-17384	87	28	on	on	ADP
ajst-17384	87	29	the	the	DET
ajst-17384	87	30	space	space	NOUN
ajst-17384	87	31	mechanical	mechanical	ADJ
ajst-17384	87	32	arm	arm	NOUN
ajst-17384	87	33	.	.	PUNCT
ajst-17384	88	1	for	for	ADP
ajst-17384	88	2	example	example	NOUN
ajst-17384	88	3	,	,	PUNCT
ajst-17384	88	4	too	too	ADV
ajst-17384	88	5	high	high	ADJ
ajst-17384	88	6	or	or	CCONJ
ajst-17384	88	7	too	too	ADV
ajst-17384	88	8	low	low	ADJ
ajst-17384	88	9	temperature	temperature	NOUN
ajst-17384	88	10	leads	lead	VERB
ajst-17384	88	11	to	to	PART
ajst-17384	88	12	change	change	VERB
ajst-17384	88	13	or	or	CCONJ
ajst-17384	88	14	damage	damage	NOUN
ajst-17384	88	15	of	of	ADP
ajst-17384	88	16	material	material	NOUN
ajst-17384	88	17	properties	property	NOUN
ajst-17384	88	18	,	,	PUNCT
ajst-17384	88	19	aging	aging	NOUN
ajst-17384	88	20	or	or	CCONJ
ajst-17384	88	21	failure	failure	NOUN
ajst-17384	88	22	of	of	ADP
ajst-17384	88	23	electronic	electronic	ADJ
ajst-17384	88	24	components	component	NOUN
ajst-17384	88	25	due	due	ADP
ajst-17384	88	26	to	to	ADP
ajst-17384	88	27	radiation	radiation	NOUN
ajst-17384	88	28	,	,	PUNCT
ajst-17384	88	29	change	change	NOUN
ajst-17384	88	30	or	or	CCONJ
ajst-17384	88	31	instability	instability	NOUN
ajst-17384	88	32	of	of	ADP
ajst-17384	88	33	kinetic	kinetic	ADJ
ajst-17384	88	34	parameters	parameter	NOUN
ajst-17384	88	35	caused	cause	VERB
ajst-17384	88	36	by	by	ADP
ajst-17384	88	37	microgravity	microgravity	NOUN
ajst-17384	88	38	,	,	PUNCT
ajst-17384	88	39	etc	etc	X
ajst-17384	88	40	.	.	X
ajst-17384	89	1	the	the	DET
ajst-17384	89	2	methods	method	NOUN
ajst-17384	89	3	to	to	PART
ajst-17384	89	4	solve	solve	VERB
ajst-17384	89	5	this	this	DET
ajst-17384	89	6	kind	kind	NOUN
ajst-17384	89	7	of	of	ADP
ajst-17384	89	8	fault	fault	NOUN
ajst-17384	89	9	include	include	VERB
ajst-17384	89	10	:	:	PUNCT
ajst-17384	89	11	the	the	DET
ajst-17384	89	12	use	use	NOUN
ajst-17384	89	13	of	of	ADP
ajst-17384	89	14	high	high	ADJ
ajst-17384	89	15	and	and	CCONJ
ajst-17384	89	16	low	low	ADJ
ajst-17384	89	17	temperature	temperature	NOUN
ajst-17384	89	18	and	and	CCONJ
ajst-17384	89	19	radiation	radiation	NOUN
ajst-17384	89	20	resistant	resistant	ADJ
ajst-17384	89	21	materials	material	NOUN
ajst-17384	89	22	and	and	CCONJ
ajst-17384	89	23	components	component	NOUN
ajst-17384	89	24	,	,	PUNCT
ajst-17384	89	25	the	the	DET
ajst-17384	89	26	design	design	NOUN
ajst-17384	89	27	of	of	ADP
ajst-17384	89	28	reasonable	reasonable	ADJ
ajst-17384	89	29	thermal	thermal	ADJ
ajst-17384	89	30	control	control	NOUN
ajst-17384	89	31	system	system	NOUN
ajst-17384	89	32	and	and	CCONJ
ajst-17384	89	33	shielding	shielding	NOUN
ajst-17384	89	34	system	system	NOUN
ajst-17384	89	35	,	,	PUNCT
ajst-17384	89	36	considering	consider	VERB
ajst-17384	89	37	the	the	DET
ajst-17384	89	38	impact	impact	NOUN
ajst-17384	89	39	of	of	ADP
ajst-17384	89	40	microgravity	microgravity	NOUN
ajst-17384	89	41	on	on	ADP
ajst-17384	89	42	motion	motion	NOUN
ajst-17384	89	43	control	control	NOUN
ajst-17384	89	44	and	and	CCONJ
ajst-17384	89	45	compensation	compensation	NOUN
ajst-17384	89	46	.	.	PUNCT
ajst-17384	90	1	4.2	4.2	NUM
ajst-17384	90	2	.	.	PUNCT
ajst-17384	91	1	successful	successful	ADJ
ajst-17384	91	2	case	case	NOUN
ajst-17384	91	3	sharing	sharing	NOUN
ajst-17384	91	4	(	(	PUNCT
ajst-17384	91	5	1	1	NUM
ajst-17384	91	6	)	)	PUNCT
ajst-17384	91	7	the	the	DET
ajst-17384	91	8	robotic	robotic	ADJ
ajst-17384	91	9	arm	arm	NOUN
ajst-17384	91	10	of	of	ADP
ajst-17384	91	11	the	the	DET
ajst-17384	91	12	us	us	PROPN
ajst-17384	91	13	space	space	NOUN
ajst-17384	91	14	shuttle	shuttle	NOUN
ajst-17384	91	15	has	have	AUX
ajst-17384	91	16	failed	fail	VERB
ajst-17384	91	17	in	in	ADP
ajst-17384	91	18	october	october	PROPN
ajst-17384	91	19	1985	1985	NUM
ajst-17384	91	20	,	,	PUNCT
ajst-17384	91	21	the	the	DET
ajst-17384	91	22	space	space	NOUN
ajst-17384	91	23	shuttle	shuttle	NOUN
ajst-17384	91	24	challenger	challenger	NOUN
ajst-17384	91	25	(	(	PUNCT
ajst-17384	91	26	challenger	challenger	NOUN
ajst-17384	91	27	)	)	PUNCT
ajst-17384	91	28	was	be	AUX
ajst-17384	91	29	the	the	DET
ajst-17384	91	30	sts-51	sts-51	NOUN
ajst-17384	91	31	-	-	PUNCT
ajst-17384	91	32	j	j	NOUN
ajst-17384	91	33	mission	mission	NOUN
ajst-17384	91	34	.	.	PUNCT
ajst-17384	92	1	the	the	DET
ajst-17384	92	2	reason	reason	NOUN
ajst-17384	92	3	is	be	AUX
ajst-17384	92	4	that	that	SCONJ
ajst-17384	92	5	the	the	DET
ajst-17384	92	6	power	power	NOUN
ajst-17384	92	7	line	line	NOUN
ajst-17384	92	8	of	of	ADP
ajst-17384	92	9	the	the	DET
ajst-17384	92	10	arm	arm	NOUN
ajst-17384	92	11	was	be	AUX
ajst-17384	92	12	damaged	damage	VERB
ajst-17384	92	13	during	during	ADP
ajst-17384	92	14	the	the	DET
ajst-17384	92	15	launch	launch	NOUN
ajst-17384	92	16	process	process	NOUN
ajst-17384	92	17	,	,	PUNCT
ajst-17384	92	18	resulting	result	VERB
ajst-17384	92	19	in	in	ADP
ajst-17384	92	20	the	the	DET
ajst-17384	92	21	arm	arm	NOUN
ajst-17384	92	22	can	can	AUX
ajst-17384	92	23	not	not	PART
ajst-17384	92	24	work	work	VERB
ajst-17384	92	25	normally	normally	ADV
ajst-17384	92	26	.	.	PUNCT
ajst-17384	93	1	to	to	PART
ajst-17384	93	2	fix	fix	VERB
ajst-17384	93	3	the	the	DET
ajst-17384	93	4	problem	problem	NOUN
ajst-17384	93	5	,	,	PUNCT
ajst-17384	93	6	the	the	DET
ajst-17384	93	7	astronauts	astronaut	NOUN
ajst-17384	93	8	carried	carry	VERB
ajst-17384	93	9	out	out	ADP
ajst-17384	93	10	emergency	emergency	NOUN
ajst-17384	93	11	repairs	repair	NOUN
ajst-17384	93	12	in	in	ADP
ajst-17384	93	13	the	the	DET
ajst-17384	93	14	cabin	cabin	NOUN
ajst-17384	93	15	,	,	PUNCT
ajst-17384	93	16	connected	connect	VERB
ajst-17384	93	17	the	the	DET
ajst-17384	93	18	backup	backup	ADJ
ajst-17384	93	19	power	power	NOUN
ajst-17384	93	20	line	line	NOUN
ajst-17384	93	21	to	to	ADP
ajst-17384	93	22	the	the	DET
ajst-17384	93	23	robotic	robotic	ADJ
ajst-17384	93	24	arm	arm	NOUN
ajst-17384	93	25	,	,	PUNCT
ajst-17384	93	26	and	and	CCONJ
ajst-17384	93	27	successfully	successfully	ADV
ajst-17384	93	28	completed	complete	VERB
ajst-17384	93	29	the	the	DET
ajst-17384	93	30	mission.[11	mission.[11	PROPN
ajst-17384	93	31	]	]	PUNCT
ajst-17384	93	32	(	(	PUNCT
ajst-17384	93	33	2	2	X
ajst-17384	93	34	)	)	PUNCT
ajst-17384	93	35	the	the	DET
ajst-17384	93	36	mechanical	mechanical	ADJ
ajst-17384	93	37	arm	arm	NOUN
ajst-17384	93	38	of	of	ADP
ajst-17384	93	39	the	the	DET
ajst-17384	93	40	experimental	experimental	ADJ
ajst-17384	93	41	chamber	chamber	NOUN
ajst-17384	93	42	is	be	AUX
ajst-17384	93	43	stuck	stick	VERB
ajst-17384	93	44	in	in	ADP
ajst-17384	93	45	march	march	PROPN
ajst-17384	93	46	2008	2008	NUM
ajst-17384	93	47	,	,	PUNCT
ajst-17384	93	48	the	the	DET
ajst-17384	93	49	small	small	ADJ
ajst-17384	93	50	robotic	robotic	ADJ
ajst-17384	93	51	arm	arm	NOUN
ajst-17384	93	52	of	of	ADP
ajst-17384	93	53	the	the	DET
ajst-17384	93	54	japanese	japanese	ADJ
ajst-17384	93	55	laboratory	laboratory	NOUN
ajst-17384	93	56	module	module	NOUN
ajst-17384	93	57	(	(	PUNCT
ajst-17384	93	58	kibo	kibo	PROPN
ajst-17384	93	59	)	)	PUNCT
ajst-17384	93	60	on	on	ADP
ajst-17384	93	61	the	the	DET
ajst-17384	93	62	international	international	ADJ
ajst-17384	93	63	space	space	NOUN
ajst-17384	93	64	station	station	NOUN
ajst-17384	93	65	got	get	AUX
ajst-17384	93	66	stuck	stick	VERB
ajst-17384	93	67	during	during	ADP
ajst-17384	93	68	tests	test	NOUN
ajst-17384	93	69	.	.	PUNCT
ajst-17384	94	1	the	the	DET
ajst-17384	94	2	reason	reason	NOUN
ajst-17384	94	3	is	be	AUX
ajst-17384	94	4	that	that	SCONJ
ajst-17384	94	5	one	one	NUM
ajst-17384	94	6	of	of	ADP
ajst-17384	94	7	the	the	DET
ajst-17384	94	8	sensors	sensor	NOUN
ajst-17384	94	9	of	of	ADP
ajst-17384	94	10	the	the	DET
ajst-17384	94	11	arm	arm	NOUN
ajst-17384	94	12	fails	fail	VERB
ajst-17384	94	13	,	,	PUNCT
ajst-17384	94	14	causing	cause	VERB
ajst-17384	94	15	the	the	DET
ajst-17384	94	16	arm	arm	NOUN
ajst-17384	94	17	to	to	PART
ajst-17384	94	18	move	move	VERB
ajst-17384	94	19	normally	normally	ADV
ajst-17384	94	20	.	.	PUNCT
ajst-17384	95	1	to	to	PART
ajst-17384	95	2	solve	solve	VERB
ajst-17384	95	3	this	this	DET
ajst-17384	95	4	problem	problem	NOUN
ajst-17384	95	5	,	,	PUNCT
ajst-17384	95	6	the	the	DET
ajst-17384	95	7	astronauts	astronaut	NOUN
ajst-17384	95	8	performed	perform	VERB
ajst-17384	95	9	manual	manual	ADJ
ajst-17384	95	10	operations	operation	NOUN
ajst-17384	95	11	outside	outside	ADP
ajst-17384	95	12	the	the	DET
ajst-17384	95	13	cabin	cabin	NOUN
ajst-17384	95	14	,	,	PUNCT
ajst-17384	95	15	liberating	liberate	VERB
ajst-17384	95	16	the	the	DET
ajst-17384	95	17	mechanical	mechanical	ADJ
ajst-17384	95	18	arm	arm	NOUN
ajst-17384	95	19	from	from	ADP
ajst-17384	95	20	the	the	DET
ajst-17384	95	21	stuck	stuck	ADJ
ajst-17384	95	22	position	position	NOUN
ajst-17384	95	23	,	,	PUNCT
ajst-17384	95	24	and	and	CCONJ
ajst-17384	95	25	successfully	successfully	ADV
ajst-17384	95	26	completed	complete	VERB
ajst-17384	95	27	the	the	DET
ajst-17384	95	28	task	task	NOUN
ajst-17384	95	29	.	.	PUNCT
ajst-17384	96	1	the	the	DET
ajst-17384	96	2	manual	manual	ADJ
ajst-17384	96	3	operation	operation	NOUN
ajst-17384	96	4	took	take	VERB
ajst-17384	96	5	about	about	ADV
ajst-17384	96	6	40	40	NUM
ajst-17384	96	7	minutes	minute	NOUN
ajst-17384	96	8	,	,	PUNCT
ajst-17384	96	9	longer	long	ADV
ajst-17384	96	10	than	than	SCONJ
ajst-17384	96	11	expected	expect	VERB
ajst-17384	96	12	.	.	PUNCT
ajst-17384	97	1	(	(	PUNCT
ajst-17384	97	2	3	3	X
ajst-17384	97	3	)	)	PUNCT
ajst-17384	97	4	the	the	DET
ajst-17384	97	5	international	international	ADJ
ajst-17384	97	6	space	space	NOUN
ajst-17384	97	7	station	station	NOUN
ajst-17384	97	8	's	's	PART
ajst-17384	97	9	robotic	robotic	ADJ
ajst-17384	97	10	arm	arm	NOUN
ajst-17384	97	11	will	will	AUX
ajst-17384	97	12	impact	impact	VERB
ajst-17384	97	13	42	42	NUM
ajst-17384	97	14	in	in	ADP
ajst-17384	97	15	may	may	PROPN
ajst-17384	97	16	2021	2021	NUM
ajst-17384	97	17	,	,	PUNCT
ajst-17384	97	18	the	the	DET
ajst-17384	97	19	canadian	canadian	ADJ
ajst-17384	97	20	arm	arm	NOUN
ajst-17384	97	21	2	2	NUM
ajst-17384	97	22	(	(	PUNCT
ajst-17384	97	23	canadarm2	canadarm2	PROPN
ajst-17384	97	24	)	)	PUNCT
ajst-17384	97	25	of	of	ADP
ajst-17384	97	26	the	the	DET
ajst-17384	97	27	international	international	ADJ
ajst-17384	97	28	space	space	NOUN
ajst-17384	97	29	station	station	NOUN
ajst-17384	97	30	found	find	VERB
ajst-17384	97	31	a	a	DET
ajst-17384	97	32	small	small	ADJ
ajst-17384	97	33	hole	hole	NOUN
ajst-17384	97	34	hit	hit	VERB
ajst-17384	97	35	by	by	ADP
ajst-17384	97	36	space	space	NOUN
ajst-17384	97	37	junk	junk	NOUN
ajst-17384	97	38	,	,	PUNCT
ajst-17384	97	39	damaging	damage	VERB
ajst-17384	97	40	the	the	DET
ajst-17384	97	41	arm	arm	NOUN
ajst-17384	97	42	bar	bar	NOUN
ajst-17384	97	43	and	and	CCONJ
ajst-17384	97	44	insulation	insulation	NOUN
ajst-17384	97	45	.	.	PUNCT
ajst-17384	98	1	this	this	PRON
ajst-17384	98	2	was	be	AUX
ajst-17384	98	3	a	a	DET
ajst-17384	98	4	"	"	PUNCT
ajst-17384	98	5	lucky	lucky	ADJ
ajst-17384	98	6	impact	impact	NOUN
ajst-17384	98	7	"	"	PUNCT
ajst-17384	98	8	because	because	SCONJ
ajst-17384	98	9	the	the	DET
ajst-17384	98	10	function	function	NOUN
ajst-17384	98	11	of	of	ADP
ajst-17384	98	12	the	the	DET
ajst-17384	98	13	robotic	robotic	ADJ
ajst-17384	98	14	arm	arm	NOUN
ajst-17384	98	15	was	be	AUX
ajst-17384	98	16	not	not	PART
ajst-17384	98	17	affected	affect	VERB
ajst-17384	98	18	.	.	PUNCT
ajst-17384	99	1	to	to	PART
ajst-17384	99	2	fix	fix	VERB
ajst-17384	99	3	this	this	DET
ajst-17384	99	4	problem	problem	NOUN
ajst-17384	99	5	,	,	PUNCT
ajst-17384	99	6	the	the	DET
ajst-17384	99	7	astronauts	astronaut	NOUN
ajst-17384	99	8	plan	plan	VERB
ajst-17384	99	9	to	to	PART
ajst-17384	99	10	inspect	inspect	VERB
ajst-17384	99	11	and	and	CCONJ
ajst-17384	99	12	repair	repair	VERB
ajst-17384	99	13	the	the	PRON
ajst-17384	99	14	of	of	ADP
ajst-17384	99	15	the	the	DET
ajst-17384	99	16	robotic	robotic	ADJ
ajst-17384	99	17	arm	arm	NOUN
ajst-17384	99	18	during	during	ADP
ajst-17384	99	19	future	future	ADJ
ajst-17384	99	20	cabin	cabin	NOUN
ajst-17384	99	21	exit	exit	NOUN
ajst-17384	99	22	activities.[12	activities.[12	NOUN
ajst-17384	99	23	]	]	PUNCT
ajst-17384	99	24	(	(	PUNCT
ajst-17384	99	25	4	4	X
ajst-17384	99	26	)	)	PUNCT
ajst-17384	99	27	mechanical	mechanical	ADJ
ajst-17384	99	28	arm	arm	NOUN
ajst-17384	99	29	failure	failure	NOUN
ajst-17384	99	30	drill	drill	NOUN
ajst-17384	99	31	of	of	ADP
ajst-17384	99	32	the	the	DET
ajst-17384	99	33	chinese	chinese	ADJ
ajst-17384	99	34	space	space	NOUN
ajst-17384	99	35	station	station	NOUN
ajst-17384	99	36	in	in	ADP
ajst-17384	99	37	june	june	PROPN
ajst-17384	99	38	2021	2021	NUM
ajst-17384	99	39	,	,	PUNCT
ajst-17384	99	40	the	the	DET
ajst-17384	99	41	large	large	ADJ
ajst-17384	99	42	robotic	robotic	ADJ
ajst-17384	99	43	arm	arm	NOUN
ajst-17384	99	44	of	of	ADP
ajst-17384	99	45	the	the	DET
ajst-17384	99	46	chinese	chinese	ADJ
ajst-17384	99	47	space	space	NOUN
ajst-17384	99	48	station	station	NOUN
ajst-17384	99	49	conducted	conduct	VERB
ajst-17384	99	50	a	a	DET
ajst-17384	99	51	fault	fault	NOUN
ajst-17384	99	52	drill	drill	NOUN
ajst-17384	99	53	,	,	PUNCT
ajst-17384	99	54	simulating	simulate	VERB
ajst-17384	99	55	in	in	ADP
ajst-17384	99	56	-	-	PUNCT
ajst-17384	99	57	orbit	orbit	NOUN
ajst-17384	99	58	maintenance	maintenance	NOUN
ajst-17384	99	59	and	and	CCONJ
ajst-17384	99	60	emergency	emergency	NOUN
ajst-17384	99	61	response	response	NOUN
ajst-17384	99	62	.	.	PUNCT
ajst-17384	100	1	during	during	ADP
ajst-17384	100	2	the	the	DET
ajst-17384	100	3	drill	drill	NOUN
ajst-17384	100	4	,	,	PUNCT
ajst-17384	100	5	the	the	DET
ajst-17384	100	6	flight	flight	NOUN
ajst-17384	100	7	control	control	NOUN
ajst-17384	100	8	personnel	personnel	NOUN
ajst-17384	100	9	and	and	CCONJ
ajst-17384	100	10	astronauts	astronaut	NOUN
ajst-17384	100	11	worked	work	VERB
ajst-17384	100	12	closely	closely	ADV
ajst-17384	100	13	to	to	PART
ajst-17384	100	14	carry	carry	VERB
ajst-17384	100	15	out	out	ADP
ajst-17384	100	16	a	a	DET
ajst-17384	100	17	variety	variety	NOUN
ajst-17384	100	18	of	of	ADP
ajst-17384	100	19	fault	fault	NOUN
ajst-17384	100	20	diagnosis	diagnosis	NOUN
ajst-17384	100	21	and	and	CCONJ
ajst-17384	100	22	processing	processing	NOUN
ajst-17384	100	23	of	of	ADP
ajst-17384	100	24	the	the	DET
ajst-17384	100	25	arm	arm	NOUN
ajst-17384	100	26	,	,	PUNCT
ajst-17384	100	27	and	and	CCONJ
ajst-17384	100	28	verified	verify	VERB
ajst-17384	100	29	the	the	DET
ajst-17384	100	30	reliability	reliability	NOUN
ajst-17384	100	31	and	and	CCONJ
ajst-17384	100	32	safety	safety	NOUN
ajst-17384	100	33	of	of	ADP
ajst-17384	100	34	the	the	DET
ajst-17384	100	35	arm.[13	arm.[13	NOUN
ajst-17384	100	36	]	]	X
ajst-17384	100	37	5	5	X
ajst-17384	100	38	.	.	PUNCT
ajst-17384	100	39	technological	technological	ADJ
ajst-17384	100	40	developments	development	NOUN
ajst-17384	100	41	and	and	CCONJ
ajst-17384	100	42	trends	trend	NOUN
ajst-17384	100	43	5.1	5.1	NUM
ajst-17384	100	44	.	.	PUNCT
ajst-17384	101	1	development	development	NOUN
ajst-17384	101	2	process	process	NOUN
ajst-17384	101	3	of	of	ADP
ajst-17384	101	4	space	space	NOUN
ajst-17384	101	5	mechanical	mechanical	ADJ
ajst-17384	101	6	arm	arm	NOUN
ajst-17384	101	7	maintenance	maintenance	NOUN
ajst-17384	101	8	technology	technology	NOUN
ajst-17384	101	9	the	the	DET
ajst-17384	101	10	development	development	NOUN
ajst-17384	101	11	of	of	ADP
ajst-17384	101	12	the	the	DET
ajst-17384	101	13	space	space	NOUN
ajst-17384	101	14	robotic	robotic	ADJ
ajst-17384	101	15	arm	arm	NOUN
ajst-17384	101	16	can	can	AUX
ajst-17384	101	17	go	go	VERB
ajst-17384	101	18	back	back	ADV
ajst-17384	101	19	to	to	ADP
ajst-17384	101	20	the	the	DET
ajst-17384	101	21	1950s	1950	NOUN
ajst-17384	101	22	,	,	PUNCT
ajst-17384	101	23	when	when	SCONJ
ajst-17384	101	24	the	the	DET
ajst-17384	101	25	american	american	PROPN
ajst-17384	101	26	aerospace	aerospace	NOUN
ajst-17384	101	27	industry	industry	NOUN
ajst-17384	101	28	began	begin	VERB
ajst-17384	101	29	studying	study	VERB
ajst-17384	101	30	robotic	robotic	ADJ
ajst-17384	101	31	arm	arm	NOUN
ajst-17384	101	32	technology	technology	NOUN
ajst-17384	101	33	for	for	ADP
ajst-17384	101	34	the	the	DET
ajst-17384	101	35	assembly	assembly	NOUN
ajst-17384	101	36	and	and	CCONJ
ajst-17384	101	37	maintenance	maintenance	NOUN
ajst-17384	101	38	of	of	ADP
ajst-17384	101	39	satellites	satellite	NOUN
ajst-17384	101	40	.	.	PUNCT
ajst-17384	102	1	nowadays	nowadays	ADV
ajst-17384	102	2	,	,	PUNCT
ajst-17384	102	3	the	the	DET
ajst-17384	102	4	maintenance	maintenance	NOUN
ajst-17384	102	5	and	and	CCONJ
ajst-17384	102	6	replacement	replacement	NOUN
ajst-17384	102	7	technology	technology	NOUN
ajst-17384	102	8	of	of	ADP
ajst-17384	102	9	the	the	DET
ajst-17384	102	10	space	space	NOUN
ajst-17384	102	11	mechanical	mechanical	ADJ
ajst-17384	102	12	arm	arm	NOUN
ajst-17384	102	13	has	have	AUX
ajst-17384	102	14	made	make	VERB
ajst-17384	102	15	significant	significant	ADJ
ajst-17384	102	16	progress	progress	NOUN
ajst-17384	102	17	.	.	PUNCT
ajst-17384	103	1	early	early	ADJ
ajst-17384	103	2	studies	study	NOUN
ajst-17384	103	3	focused	focus	VERB
ajst-17384	103	4	on	on	ADP
ajst-17384	103	5	the	the	DET
ajst-17384	103	6	design	design	NOUN
ajst-17384	103	7	of	of	ADP
ajst-17384	103	8	rapidly	rapidly	ADV
ajst-17384	103	9	replaceable	replaceable	ADJ
ajst-17384	103	10	end	end	NOUN
ajst-17384	103	11	actor	actor	NOUN
ajst-17384	103	12	for	for	ADP
ajst-17384	103	13	lightweight	lightweight	ADJ
ajst-17384	103	14	robotic	robotic	ADJ
ajst-17384	103	15	arms	arm	NOUN
ajst-17384	103	16	[	[	X
ajst-17384	103	17	14	14	NUM
ajst-17384	103	18	]	]	PUNCT
ajst-17384	103	19	.	.	PUNCT
ajst-17384	104	1	with	with	ADP
ajst-17384	104	2	the	the	DET
ajst-17384	104	3	development	development	NOUN
ajst-17384	104	4	of	of	ADP
ajst-17384	104	5	technology	technology	NOUN
ajst-17384	104	6	,	,	PUNCT
ajst-17384	104	7	researchers	researcher	NOUN
ajst-17384	104	8	began	begin	VERB
ajst-17384	104	9	to	to	PART
ajst-17384	104	10	focus	focus	VERB
ajst-17384	104	11	on	on	ADP
ajst-17384	104	12	how	how	SCONJ
ajst-17384	104	13	to	to	PART
ajst-17384	104	14	design	design	VERB
ajst-17384	104	15	and	and	CCONJ
ajst-17384	104	16	study	study	VERB
ajst-17384	104	17	the	the	DET
ajst-17384	104	18	rapid	rapid	ADJ
ajst-17384	104	19	replacement	replacement	NOUN
ajst-17384	104	20	interface	interface	NOUN
ajst-17384	104	21	of	of	ADP
ajst-17384	104	22	the	the	DET
ajst-17384	104	23	mechanical	mechanical	ADJ
ajst-17384	104	24	arm	arm	NOUN
ajst-17384	104	25	joint	joint	NOUN
ajst-17384	104	26	in	in	ADP
ajst-17384	104	27	the	the	DET
ajst-17384	104	28	laboratory	laboratory	NOUN
ajst-17384	104	29	chamber[15	chamber[15	NOUN
ajst-17384	104	30	-	-	PUNCT
ajst-17384	104	31	17	17	NUM
ajst-17384	104	32	]	]	PUNCT
ajst-17384	104	33	.	.	PUNCT
ajst-17384	105	1	these	these	DET
ajst-17384	105	2	studies	study	NOUN
ajst-17384	105	3	lay	lie	VERB
ajst-17384	105	4	the	the	DET
ajst-17384	105	5	foundation	foundation	NOUN
ajst-17384	105	6	for	for	ADP
ajst-17384	105	7	the	the	DET
ajst-17384	105	8	development	development	NOUN
ajst-17384	105	9	of	of	ADP
ajst-17384	105	10	automatic	automatic	ADJ
ajst-17384	105	11	hand	hand	NOUN
ajst-17384	105	12	claw	claw	NOUN
ajst-17384	105	13	replacement	replacement	NOUN
ajst-17384	105	14	devices	device	NOUN
ajst-17384	105	15	for	for	ADP
ajst-17384	105	16	space	space	NOUN
ajst-17384	105	17	robots	robot	NOUN
ajst-17384	105	18	.	.	PUNCT
ajst-17384	106	1	in	in	ADP
ajst-17384	106	2	order	order	NOUN
ajst-17384	106	3	to	to	PART
ajst-17384	106	4	improve	improve	VERB
ajst-17384	106	5	the	the	DET
ajst-17384	106	6	maintenance	maintenance	NOUN
ajst-17384	106	7	efficiency	efficiency	NOUN
ajst-17384	106	8	,	,	PUNCT
ajst-17384	106	9	some	some	DET
ajst-17384	106	10	scholars	scholar	NOUN
ajst-17384	106	11	put	put	VERB
ajst-17384	106	12	forward	forward	ADV
ajst-17384	106	13	the	the	DET
ajst-17384	106	14	idea	idea	NOUN
ajst-17384	106	15	of	of	ADP
ajst-17384	106	16	modular	modular	ADJ
ajst-17384	106	17	design	design	NOUN
ajst-17384	106	18	of	of	ADP
ajst-17384	106	19	the	the	DET
ajst-17384	106	20	joint	joint	ADJ
ajst-17384	106	21	part	part	NOUN
ajst-17384	106	22	and	and	CCONJ
ajst-17384	106	23	the	the	DET
ajst-17384	106	24	center	center	ADJ
ajst-17384	106	25	hole	hole	NOUN
ajst-17384	106	26	of	of	ADP
ajst-17384	106	27	the	the	DET
ajst-17384	106	28	joint	joint	NOUN
ajst-17384	106	29	,	,	PUNCT
ajst-17384	106	30	the	the	DET
ajst-17384	106	31	connection	connection	NOUN
ajst-17384	106	32	of	of	ADP
ajst-17384	106	33	the	the	DET
ajst-17384	106	34	joint	joint	NOUN
ajst-17384	106	35	,	,	PUNCT
ajst-17384	106	36	the	the	DET
ajst-17384	106	37	end	end	NOUN
ajst-17384	106	38	actuator	actuator	NOUN
ajst-17384	106	39	,	,	PUNCT
ajst-17384	106	40	the	the	DET
ajst-17384	106	41	arm	arm	NOUN
ajst-17384	106	42	rod	rod	NOUN
ajst-17384	106	43	,	,	PUNCT
ajst-17384	106	44	the	the	DET
ajst-17384	106	45	central	central	ADJ
ajst-17384	106	46	controller	controller	NOUN
ajst-17384	106	47	are	be	AUX
ajst-17384	106	48	using	use	VERB
ajst-17384	106	49	the	the	DET
ajst-17384	106	50	fast	fast	ADJ
ajst-17384	106	51	connection	connection	NOUN
ajst-17384	106	52	device	device	NOUN
ajst-17384	106	53	,	,	PUNCT
ajst-17384	106	54	the	the	DET
ajst-17384	106	55	interface	interface	NOUN
ajst-17384	106	56	standard	standard	NOUN
ajst-17384	106	57	is	be	AUX
ajst-17384	106	58	unified	unify	VERB
ajst-17384	106	59	,	,	PUNCT
ajst-17384	106	60	to	to	PART
ajst-17384	106	61	facilitate	facilitate	VERB
ajst-17384	106	62	the	the	DET
ajst-17384	106	63	maintenance[18	maintenance[18	NOUN
ajst-17384	106	64	]	]	PUNCT
ajst-17384	106	65	.	.	PUNCT
ajst-17384	107	1	the	the	DET
ajst-17384	107	2	mechanical	mechanical	ADJ
ajst-17384	107	3	arm	arm	NOUN
ajst-17384	107	4	joint	joint	NOUN
ajst-17384	107	5	adopts	adopt	VERB
ajst-17384	107	6	modular	modular	ADJ
ajst-17384	107	7	design	design	NOUN
ajst-17384	107	8	,	,	PUNCT
ajst-17384	107	9	that	that	ADV
ajst-17384	107	10	is	is	ADV
ajst-17384	107	11	,	,	PUNCT
ajst-17384	107	12	the	the	DET
ajst-17384	107	13	mechanical	mechanical	ADJ
ajst-17384	107	14	components	component	NOUN
ajst-17384	107	15	of	of	ADP
ajst-17384	107	16	the	the	DET
ajst-17384	107	17	seven	seven	NUM
ajst-17384	107	18	joints	joint	NOUN
ajst-17384	107	19	forming	form	VERB
ajst-17384	107	20	the	the	DET
ajst-17384	107	21	robotic	robotic	ADJ
ajst-17384	107	22	arm	arm	NOUN
ajst-17384	107	23	are	be	AUX
ajst-17384	107	24	exactly	exactly	ADV
ajst-17384	107	25	the	the	DET
ajst-17384	107	26	same	same	ADJ
ajst-17384	107	27	as	as	ADP
ajst-17384	107	28	the	the	DET
ajst-17384	107	29	drive	drive	NOUN
ajst-17384	107	30	control	control	NOUN
ajst-17384	107	31	system	system	NOUN
ajst-17384	107	32	,	,	PUNCT
ajst-17384	107	33	and	and	CCONJ
ajst-17384	107	34	are	be	AUX
ajst-17384	107	35	designed	design	VERB
ajst-17384	107	36	according	accord	VERB
ajst-17384	107	37	to	to	ADP
ajst-17384	107	38	the	the	DET
ajst-17384	107	39	maximum	maximum	ADJ
ajst-17384	107	40	load	load	NOUN
ajst-17384	107	41	conditions	condition	NOUN
ajst-17384	107	42	,	,	PUNCT
ajst-17384	107	43	and	and	CCONJ
ajst-17384	107	44	each	each	DET
ajst-17384	107	45	joint	joint	NOUN
ajst-17384	107	46	can	can	AUX
ajst-17384	107	47	be	be	AUX
ajst-17384	107	48	interchangeable	interchangeable	ADJ
ajst-17384	107	49	.	.	PUNCT
ajst-17384	108	1	a	a	DET
ajst-17384	108	2	single	single	ADJ
ajst-17384	108	3	joint	joint	NOUN
ajst-17384	108	4	adopts	adopt	VERB
ajst-17384	108	5	the	the	DET
ajst-17384	108	6	design	design	NOUN
ajst-17384	108	7	concept	concept	NOUN
ajst-17384	108	8	of	of	ADP
ajst-17384	108	9	mechatronics	mechatronic	NOUN
ajst-17384	108	10	,	,	PUNCT
ajst-17384	108	11	which	which	PRON
ajst-17384	108	12	is	be	AUX
ajst-17384	108	13	a	a	DET
ajst-17384	108	14	highly	highly	ADV
ajst-17384	108	15	integrated	integrate	VERB
ajst-17384	108	16	electromechanical	electromechanical	ADJ
ajst-17384	108	17	component	component	NOUN
ajst-17384	108	18	,	,	PUNCT
ajst-17384	108	19	which	which	PRON
ajst-17384	108	20	makes	make	VERB
ajst-17384	108	21	it	it	PRON
ajst-17384	108	22	easier	easy	ADJ
ajst-17384	108	23	to	to	PART
ajst-17384	108	24	replace	replace	VERB
ajst-17384	108	25	and	and	CCONJ
ajst-17384	108	26	upgrade[19	upgrade[19	NOUN
ajst-17384	108	27	]	]	X
ajst-17384	108	28	.	.	PUNCT
ajst-17384	109	1	for	for	ADP
ajst-17384	109	2	example	example	NOUN
ajst-17384	109	3	,	,	PUNCT
ajst-17384	109	4	in	in	ADP
ajst-17384	109	5	1984	1984	NUM
ajst-17384	109	6	,	,	PUNCT
ajst-17384	109	7	the	the	DET
ajst-17384	109	8	astronauts	astronaut	NOUN
ajst-17384	109	9	on	on	ADP
ajst-17384	109	10	the	the	DET
ajst-17384	109	11	space	space	NOUN
ajst-17384	109	12	shuttle	shuttle	NOUN
ajst-17384	109	13	sts-41c	sts-41c	NUM
ajst-17384	109	14	mission	mission	NOUN
ajst-17384	109	15	successfully	successfully	ADV
ajst-17384	109	16	removed	remove	VERB
ajst-17384	109	17	and	and	CCONJ
ajst-17384	109	18	replaced	replace	VERB
ajst-17384	109	19	the	the	DET
ajst-17384	109	20	attitude	attitude	NOUN
ajst-17384	109	21	control	control	NOUN
ajst-17384	109	22	system	system	NOUN
ajst-17384	109	23	fault	fault	NOUN
ajst-17384	109	24	module	module	NOUN
ajst-17384	109	25	in	in	ADP
ajst-17384	109	26	orbit	orbit	NOUN
ajst-17384	109	27	.	.	PUNCT
ajst-17384	110	1	the	the	DET
ajst-17384	110	2	maintenance	maintenance	NOUN
ajst-17384	110	3	of	of	ADP
ajst-17384	110	4	the	the	DET
ajst-17384	110	5	mechanical	mechanical	ADJ
ajst-17384	110	6	arm	arm	NOUN
ajst-17384	110	7	joint	joint	NOUN
ajst-17384	110	8	mainly	mainly	ADV
ajst-17384	110	9	works	work	VERB
ajst-17384	110	10	through	through	ADP
ajst-17384	110	11	the	the	DET
ajst-17384	110	12	special	special	ADJ
ajst-17384	110	13	maintenance	maintenance	NOUN
ajst-17384	110	14	tools	tool	NOUN
ajst-17384	110	15	of	of	ADP
ajst-17384	110	16	the	the	DET
ajst-17384	110	17	astronauts	astronaut	NOUN
ajst-17384	110	18	,	,	PUNCT
ajst-17384	110	19	which	which	PRON
ajst-17384	110	20	greatly	greatly	ADV
ajst-17384	110	21	tests	test	VERB
ajst-17384	110	22	the	the	DET
ajst-17384	110	23	functional	functional	ADJ
ajst-17384	110	24	performance	performance	NOUN
ajst-17384	110	25	of	of	ADP
ajst-17384	110	26	the	the	DET
ajst-17384	110	27	tools	tool	NOUN
ajst-17384	110	28	and	and	CCONJ
ajst-17384	110	29	the	the	DET
ajst-17384	110	30	reliability	reliability	NOUN
ajst-17384	110	31	of	of	ADP
ajst-17384	110	32	the	the	DET
ajst-17384	110	33	in	in	ADP
ajst-17384	110	34	-	-	PUNCT
ajst-17384	110	35	orbit	orbit	NOUN
ajst-17384	110	36	work	work	NOUN
ajst-17384	110	37	.	.	PUNCT
ajst-17384	111	1	5.2	5.2	NUM
ajst-17384	111	2	.	.	PUNCT
ajst-17384	112	1	current	current	ADJ
ajst-17384	112	2	research	research	NOUN
ajst-17384	112	3	and	and	CCONJ
ajst-17384	112	4	application	application	NOUN
ajst-17384	112	5	fields	field	NOUN
ajst-17384	112	6	at	at	ADP
ajst-17384	112	7	present	present	ADJ
ajst-17384	112	8	,	,	PUNCT
ajst-17384	112	9	the	the	DET
ajst-17384	112	10	research	research	NOUN
ajst-17384	112	11	and	and	CCONJ
ajst-17384	112	12	application	application	NOUN
ajst-17384	112	13	fields	field	NOUN
ajst-17384	112	14	of	of	ADP
ajst-17384	112	15	space	space	NOUN
ajst-17384	112	16	mechanical	mechanical	ADJ
ajst-17384	112	17	arm	arm	NOUN
ajst-17384	112	18	maintenance	maintenance	NOUN
ajst-17384	112	19	and	and	CCONJ
ajst-17384	112	20	replacement	replacement	NOUN
ajst-17384	112	21	are	be	AUX
ajst-17384	112	22	very	very	ADV
ajst-17384	112	23	wide	wide	ADJ
ajst-17384	112	24	.	.	PUNCT
ajst-17384	113	1	space	space	NOUN
ajst-17384	113	2	mechanical	mechanical	ADJ
ajst-17384	113	3	arm	arm	NOUN
ajst-17384	113	4	maintenance	maintenance	NOUN
ajst-17384	113	5	research	research	NOUN
ajst-17384	113	6	mainly	mainly	ADV
ajst-17384	113	7	focuses	focus	VERB
ajst-17384	113	8	on	on	ADP
ajst-17384	113	9	the	the	DET
ajst-17384	113	10	joint	joint	NOUN
ajst-17384	113	11	using	use	VERB
ajst-17384	113	12	modular	modular	ADJ
ajst-17384	113	13	design	design	NOUN
ajst-17384	113	14	,	,	PUNCT
ajst-17384	113	15	the	the	DET
ajst-17384	113	16	design	design	NOUN
ajst-17384	113	17	of	of	ADP
ajst-17384	113	18	space	space	NOUN
ajst-17384	113	19	mechanical	mechanical	ADJ
ajst-17384	113	20	arm	arm	NOUN
ajst-17384	113	21	joint	joint	ADJ
ajst-17384	113	22	rapid	rapid	ADJ
ajst-17384	113	23	replacement	replacement	NOUN
ajst-17384	113	24	interface	interface	NOUN
ajst-17384	113	25	,	,	PUNCT
ajst-17384	113	26	and	and	CCONJ
ajst-17384	113	27	design	design	VERB
ajst-17384	113	28	on	on	ADP
ajst-17384	113	29	the	the	DET
ajst-17384	113	30	quick	quick	ADJ
ajst-17384	113	31	connection	connection	NOUN
ajst-17384	113	32	device	device	NOUN
ajst-17384	113	33	general	general	ADJ
ajst-17384	113	34	tooling	tooling	NOUN
ajst-17384	113	35	installation	installation	NOUN
ajst-17384	113	36	interface	interface	NOUN
ajst-17384	113	37	,	,	PUNCT
ajst-17384	113	38	the	the	DET
ajst-17384	113	39	special	special	ADJ
ajst-17384	113	40	tooling	tooling	NOUN
ajst-17384	113	41	fixed	fix	VERB
ajst-17384	113	42	on	on	ADP
ajst-17384	113	43	the	the	DET
ajst-17384	113	44	fast	fast	ADJ
ajst-17384	113	45	connection	connection	NOUN
ajst-17384	113	46	device	device	NOUN
ajst-17384	113	47	,	,	PUNCT
ajst-17384	113	48	in	in	ADP
ajst-17384	113	49	order	order	NOUN
ajst-17384	113	50	to	to	PART
ajst-17384	113	51	realize	realize	VERB
ajst-17384	113	52	the	the	DET
ajst-17384	113	53	mechanical	mechanical	ADJ
ajst-17384	113	54	arm	arm	NOUN
ajst-17384	113	55	any	any	DET
ajst-17384	113	56	configuration	configuration	NOUN
ajst-17384	113	57	,	,	PUNCT
ajst-17384	113	58	any	any	DET
ajst-17384	113	59	interface	interface	NOUN
ajst-17384	113	60	replacement	replacement	NOUN
ajst-17384	113	61	.	.	PUNCT
ajst-17384	114	1	at	at	ADP
ajst-17384	114	2	present	present	ADJ
ajst-17384	114	3	,	,	PUNCT
ajst-17384	114	4	foreign	foreign	ADJ
ajst-17384	114	5	research	research	NOUN
ajst-17384	114	6	on	on	ADP
ajst-17384	114	7	the	the	DET
ajst-17384	114	8	mechatronics	mechatronic	NOUN
ajst-17384	114	9	technology	technology	NOUN
ajst-17384	114	10	of	of	ADP
ajst-17384	114	11	space	space	NOUN
ajst-17384	114	12	robotic	robotic	ADJ
ajst-17384	114	13	arm	arm	NOUN
ajst-17384	114	14	is	be	AUX
ajst-17384	114	15	mainly	mainly	ADV
ajst-17384	114	16	led	lead	VERB
ajst-17384	114	17	by	by	ADP
ajst-17384	114	18	the	the	DET
ajst-17384	114	19	international	international	ADJ
ajst-17384	114	20	space	space	NOUN
ajst-17384	114	21	station	station	NOUN
ajst-17384	114	22	,	,	PUNCT
ajst-17384	114	23	german	german	ADJ
ajst-17384	114	24	aerospace	aerospace	NOUN
ajst-17384	114	25	center	center	NOUN
ajst-17384	114	26	and	and	CCONJ
ajst-17384	114	27	nasa	nasa	PROPN
ajst-17384	114	28	,	,	PUNCT
ajst-17384	114	29	such	such	ADJ
ajst-17384	114	30	as	as	ADP
ajst-17384	114	31	canadian	canadian	ADJ
ajst-17384	114	32	arm	arm	NOUN
ajst-17384	114	33	2	2	NUM
ajst-17384	114	34	,	,	PUNCT
ajst-17384	114	35	japanese	japanese	ADJ
ajst-17384	114	36	remote	remote	ADJ
ajst-17384	114	37	control	control	NOUN
ajst-17384	114	38	robotic	robotic	ADJ
ajst-17384	114	39	arm	arm	NOUN
ajst-17384	114	40	system	system	NOUN
ajst-17384	114	41	,	,	PUNCT
ajst-17384	114	42	european	european	ADJ
ajst-17384	114	43	space	space	NOUN
ajst-17384	114	44	robotic	robotic	ADJ
ajst-17384	114	45	arm	arm	NOUN
ajst-17384	114	46	,	,	PUNCT
ajst-17384	114	47	german	german	ADJ
ajst-17384	114	48	aerospace	aerospace	NOUN
ajst-17384	114	49	robotic	robotic	ADJ
ajst-17384	114	50	arm	arm	NOUN
ajst-17384	114	51	,	,	PUNCT
ajst-17384	114	52	nasa	nasa	PROPN
ajst-17384	114	53	rover	rover	NOUN
ajst-17384	114	54	robotic	robotic	ADJ
ajst-17384	114	55	arm	arm	NOUN
ajst-17384	114	56	.	.	PUNCT
ajst-17384	115	1	the	the	DET
ajst-17384	115	2	domestic	domestic	ADJ
ajst-17384	115	3	research	research	NOUN
ajst-17384	115	4	is	be	AUX
ajst-17384	115	5	mainly	mainly	ADV
ajst-17384	115	6	represented	represent	VERB
ajst-17384	115	7	by	by	ADP
ajst-17384	115	8	the	the	DET
ajst-17384	115	9	lunar	lunar	ADJ
ajst-17384	115	10	rover	rover	NOUN
ajst-17384	115	11	arm	arm	NOUN
ajst-17384	115	12	,	,	PUNCT
ajst-17384	115	13	xx-4	xx-4	PROPN
ajst-17384	115	14	arm	arm	NOUN
ajst-17384	115	15	and	and	CCONJ
ajst-17384	115	16	integrated	integrated	ADJ
ajst-17384	115	17	arm	arm	NOUN
ajst-17384	115	18	.	.	PUNCT
ajst-17384	116	1	these	these	DET
ajst-17384	116	2	mechanical	mechanical	ADJ
ajst-17384	116	3	arms	arm	NOUN
ajst-17384	116	4	all	all	PRON
ajst-17384	116	5	use	use	VERB
ajst-17384	116	6	mechatronics	mechatronic	NOUN
ajst-17384	116	7	,	,	PUNCT
ajst-17384	116	8	with	with	ADP
ajst-17384	116	9	standard	standard	ADJ
ajst-17384	116	10	electrical	electrical	ADJ
ajst-17384	116	11	and	and	CCONJ
ajst-17384	116	12	mechanical	mechanical	ADJ
ajst-17384	116	13	interface	interface	NOUN
ajst-17384	116	14	modular	modular	ADJ
ajst-17384	116	15	joints	joint	NOUN
ajst-17384	116	16	,	,	PUNCT
ajst-17384	116	17	which	which	PRON
ajst-17384	116	18	not	not	PART
ajst-17384	116	19	only	only	ADV
ajst-17384	116	20	meets	meet	VERB
ajst-17384	116	21	the	the	DET
ajst-17384	116	22	requirements	requirement	NOUN
ajst-17384	116	23	of	of	ADP
ajst-17384	116	24	large	large	ADJ
ajst-17384	116	25	load	load	NOUN
ajst-17384	116	26	,	,	PUNCT
ajst-17384	116	27	high	high	ADJ
ajst-17384	116	28	precision	precision	NOUN
ajst-17384	116	29	,	,	PUNCT
ajst-17384	116	30	repairability	repairability	NOUN
ajst-17384	116	31	,	,	PUNCT
ajst-17384	116	32	easy	easy	ADJ
ajst-17384	116	33	to	to	PART
ajst-17384	116	34	replace	replace	VERB
ajst-17384	116	35	the	the	DET
ajst-17384	116	36	space	space	NOUN
ajst-17384	116	37	arm	arm	NOUN
ajst-17384	116	38	,	,	PUNCT
ajst-17384	116	39	but	but	CCONJ
ajst-17384	116	40	also	also	ADV
ajst-17384	116	41	makes	make	VERB
ajst-17384	116	42	the	the	DET
ajst-17384	116	43	research	research	NOUN
ajst-17384	116	44	and	and	CCONJ
ajst-17384	116	45	development	development	NOUN
ajst-17384	116	46	of	of	ADP
ajst-17384	116	47	the	the	DET
ajst-17384	116	48	space	space	NOUN
ajst-17384	116	49	arm	arm	NOUN
ajst-17384	116	50	more	more	ADV
ajst-17384	116	51	standardized	standardized	ADJ
ajst-17384	116	52	,	,	PUNCT
ajst-17384	116	53	the	the	DET
ajst-17384	116	54	standard	standard	NOUN
ajst-17384	116	55	more	more	ADV
ajst-17384	116	56	unified	unified	ADJ
ajst-17384	116	57	.	.	PUNCT
ajst-17384	117	1	at	at	ADP
ajst-17384	117	2	present	present	ADJ
ajst-17384	117	3	,	,	PUNCT
ajst-17384	117	4	some	some	DET
ajst-17384	117	5	domestic	domestic	ADJ
ajst-17384	117	6	scholars	scholar	NOUN
ajst-17384	117	7	are	be	AUX
ajst-17384	117	8	studying	study	VERB
ajst-17384	117	9	the	the	DET
ajst-17384	117	10	maintenance	maintenance	NOUN
ajst-17384	117	11	system	system	NOUN
ajst-17384	117	12	of	of	ADP
ajst-17384	117	13	the	the	DET
ajst-17384	117	14	end	end	NOUN
ajst-17384	117	15	effector	effector	NOUN
ajst-17384	117	16	of	of	ADP
ajst-17384	117	17	the	the	DET
ajst-17384	117	18	space	space	NOUN
ajst-17384	117	19	robotic	robotic	ADJ
ajst-17384	117	20	arm	arm	NOUN
ajst-17384	117	21	.	.	PUNCT
ajst-17384	118	1	he	he	PRON
ajst-17384	118	2	proposed	propose	VERB
ajst-17384	118	3	a	a	DET
ajst-17384	118	4	joint	joint	ADJ
ajst-17384	118	5	maintenance	maintenance	NOUN
ajst-17384	118	6	scheme	scheme	NOUN
ajst-17384	118	7	of	of	ADP
ajst-17384	118	8	the	the	DET
ajst-17384	118	9	robotic	robotic	ADJ
ajst-17384	118	10	arm	arm	NOUN
ajst-17384	118	11	for	for	ADP
ajst-17384	118	12	three	three	NUM
ajst-17384	118	13	times	time	NOUN
ajst-17384	118	14	.	.	PUNCT
ajst-17384	119	1	when	when	SCONJ
ajst-17384	119	2	the	the	DET
ajst-17384	119	3	end	end	NOUN
ajst-17384	119	4	actuator	actuator	NOUN
ajst-17384	119	5	of	of	ADP
ajst-17384	119	6	the	the	DET
ajst-17384	119	7	space	space	NOUN
ajst-17384	119	8	mechanical	mechanical	ADJ
ajst-17384	119	9	arm	arm	NOUN
ajst-17384	119	10	fails	fail	VERB
ajst-17384	119	11	,	,	PUNCT
ajst-17384	119	12	the	the	DET
ajst-17384	119	13	first	first	ADJ
ajst-17384	119	14	exit	exit	NOUN
ajst-17384	119	15	mission	mission	NOUN
ajst-17384	119	16	requires	require	VERB
ajst-17384	119	17	the	the	DET
ajst-17384	119	18	astronauts	astronaut	NOUN
ajst-17384	119	19	to	to	PART
ajst-17384	119	20	carry	carry	VERB
ajst-17384	119	21	maintenance	maintenance	NOUN
ajst-17384	119	22	tools	tool	NOUN
ajst-17384	119	23	and	and	CCONJ
ajst-17384	119	24	maintenance	maintenance	NOUN
ajst-17384	119	25	spare	spare	ADJ
ajst-17384	119	26	parts	part	NOUN
ajst-17384	119	27	,	,	PUNCT
ajst-17384	119	28	and	and	CCONJ
ajst-17384	119	29	complete	complete	VERB
ajst-17384	119	30	the	the	DET
ajst-17384	119	31	construction	construction	NOUN
ajst-17384	119	32	of	of	ADP
ajst-17384	119	33	the	the	DET
ajst-17384	119	34	maintenance	maintenance	NOUN
ajst-17384	119	35	scene	scene	NOUN
ajst-17384	119	36	at	at	ADP
ajst-17384	119	37	the	the	DET
ajst-17384	119	38	fault	fault	NOUN
ajst-17384	119	39	place	place	NOUN
ajst-17384	119	40	.	.	PUNCT
ajst-17384	120	1	the	the	DET
ajst-17384	120	2	second	second	ADJ
ajst-17384	120	3	exit	exit	NOUN
ajst-17384	120	4	mission	mission	NOUN
ajst-17384	120	5	requires	require	VERB
ajst-17384	120	6	the	the	DET
ajst-17384	120	7	astronauts	astronaut	NOUN
ajst-17384	120	8	to	to	PART
ajst-17384	120	9	use	use	VERB
ajst-17384	120	10	the	the	DET
ajst-17384	120	11	small	small	ADJ
ajst-17384	120	12	robotic	robotic	ADJ
ajst-17384	120	13	arm	arm	NOUN
ajst-17384	120	14	to	to	PART
ajst-17384	120	15	go	go	VERB
ajst-17384	120	16	to	to	ADP
ajst-17384	120	17	the	the	DET
ajst-17384	120	18	designated	designate	VERB
ajst-17384	120	19	maintenance	maintenance	NOUN
ajst-17384	120	20	point	point	NOUN
ajst-17384	120	21	,	,	PUNCT
ajst-17384	120	22	and	and	CCONJ
ajst-17384	120	23	remove	remove	VERB
ajst-17384	120	24	the	the	DET
ajst-17384	120	25	faulty	faulty	ADJ
ajst-17384	120	26	parts	part	NOUN
ajst-17384	120	27	of	of	ADP
ajst-17384	120	28	the	the	DET
ajst-17384	120	29	end	end	NOUN
ajst-17384	120	30	actuator	actuator	NOUN
ajst-17384	120	31	before	before	ADP
ajst-17384	120	32	installing	instal	VERB
ajst-17384	120	33	spare	spare	ADJ
ajst-17384	120	34	parts	part	NOUN
ajst-17384	120	35	.	.	PUNCT
ajst-17384	121	1	the	the	DET
ajst-17384	121	2	third	third	ADJ
ajst-17384	121	3	exit	exit	NOUN
ajst-17384	121	4	mission	mission	NOUN
ajst-17384	121	5	requires	require	VERB
ajst-17384	121	6	the	the	DET
ajst-17384	121	7	astronauts	astronaut	NOUN
ajst-17384	121	8	to	to	PART
ajst-17384	121	9	dismantle	dismantle	VERB
ajst-17384	121	10	the	the	DET
ajst-17384	121	11	maintenance	maintenance	NOUN
ajst-17384	121	12	scene	scene	NOUN
ajst-17384	121	13	and	and	CCONJ
ajst-17384	121	14	bring	bring	VERB
ajst-17384	121	15	the	the	DET
ajst-17384	121	16	faulty	faulty	ADJ
ajst-17384	121	17	parts	part	NOUN
ajst-17384	121	18	and	and	CCONJ
ajst-17384	121	19	maintenance	maintenance	NOUN
ajst-17384	121	20	tools	tool	NOUN
ajst-17384	121	21	back	back	ADV
ajst-17384	121	22	to	to	ADP
ajst-17384	121	23	the	the	DET
ajst-17384	121	24	cabin	cabin	NOUN
ajst-17384	121	25	.	.	PUNCT
ajst-17384	122	1	this	this	DET
ajst-17384	122	2	maintenance	maintenance	NOUN
ajst-17384	122	3	scheme	scheme	NOUN
ajst-17384	122	4	requires	require	VERB
ajst-17384	122	5	a	a	DET
ajst-17384	122	6	unified	unified	ADJ
ajst-17384	122	7	design	design	NOUN
ajst-17384	122	8	of	of	ADP
ajst-17384	122	9	the	the	DET
ajst-17384	122	10	maintenance	maintenance	NOUN
ajst-17384	122	11	interface	interface	NOUN
ajst-17384	122	12	,	,	PUNCT
ajst-17384	122	13	using	use	VERB
ajst-17384	122	14	special	special	ADJ
ajst-17384	122	15	maintenance	maintenance	NOUN
ajst-17384	122	16	tools	tool	NOUN
ajst-17384	122	17	,	,	PUNCT
ajst-17384	122	18	and	and	CCONJ
ajst-17384	122	19	taking	take	VERB
ajst-17384	122	20	thermal	thermal	ADJ
ajst-17384	122	21	control	control	NOUN
ajst-17384	122	22	measures	measure	NOUN
ajst-17384	122	23	to	to	PART
ajst-17384	122	24	ensure	ensure	VERB
ajst-17384	122	25	that	that	SCONJ
ajst-17384	122	26	the	the	DET
ajst-17384	122	27	maintenance	maintenance	NOUN
ajst-17384	122	28	spare	spare	ADJ
ajst-17384	122	29	parts	part	NOUN
ajst-17384	122	30	can	can	AUX
ajst-17384	122	31	be	be	AUX
ajst-17384	122	32	maintained	maintain	VERB
ajst-17384	122	33	at	at	ADP
ajst-17384	122	34	a	a	DET
ajst-17384	122	35	working	work	VERB
ajst-17384	122	36	temperature	temperature	NOUN
ajst-17384	122	37	of	of	ADP
ajst-17384	122	38	for	for	ADP
ajst-17384	122	39	at	at	ADV
ajst-17384	122	40	least	least	ADV
ajst-17384	122	41	three	three	NUM
ajst-17384	122	42	days	day	NOUN
ajst-17384	122	43	after	after	ADP
ajst-17384	122	44	leaving	leave	VERB
ajst-17384	122	45	the	the	DET
ajst-17384	122	46	cabin[20	cabin[20	NOUN
ajst-17384	122	47	]	]	PUNCT
ajst-17384	122	48	.	.	PUNCT
ajst-17384	123	1	5.3	5.3	NUM
ajst-17384	123	2	.	.	PUNCT
ajst-17384	124	1	future	future	ADJ
ajst-17384	124	2	development	development	NOUN
ajst-17384	124	3	direction	direction	NOUN
ajst-17384	124	4	and	and	CCONJ
ajst-17384	124	5	challenges	challenge	NOUN
ajst-17384	124	6	although	although	SCONJ
ajst-17384	124	7	the	the	DET
ajst-17384	124	8	space	space	NOUN
ajst-17384	124	9	robotic	robotic	ADJ
ajst-17384	124	10	arm	arm	NOUN
ajst-17384	124	11	has	have	AUX
ajst-17384	124	12	made	make	VERB
ajst-17384	124	13	remarkable	remarkable	ADJ
ajst-17384	124	14	progress	progress	NOUN
ajst-17384	124	15	,	,	PUNCT
ajst-17384	124	16	it	it	PRON
ajst-17384	124	17	faces	face	VERB
ajst-17384	124	18	many	many	ADJ
ajst-17384	124	19	challenges	challenge	NOUN
ajst-17384	124	20	due	due	ADP
ajst-17384	124	21	to	to	ADP
ajst-17384	124	22	the	the	DET
ajst-17384	124	23	requirements	requirement	NOUN
ajst-17384	124	24	of	of	ADP
ajst-17384	124	25	its	its	PRON
ajst-17384	124	26	future	future	ADJ
ajst-17384	124	27	development	development	NOUN
ajst-17384	124	28	trend	trend	NOUN
ajst-17384	124	29	.	.	PUNCT
ajst-17384	125	1	first	first	ADV
ajst-17384	125	2	,	,	PUNCT
ajst-17384	125	3	the	the	DET
ajst-17384	125	4	joint	joint	ADJ
ajst-17384	125	5	maintenance	maintenance	NOUN
ajst-17384	125	6	of	of	ADP
ajst-17384	125	7	the	the	DET
ajst-17384	125	8	robotic	robotic	ADJ
ajst-17384	125	9	arm	arm	NOUN
ajst-17384	125	10	needs	need	VERB
ajst-17384	125	11	to	to	PART
ajst-17384	125	12	consider	consider	VERB
ajst-17384	125	13	the	the	DET
ajst-17384	125	14	constraints	constraint	NOUN
ajst-17384	125	15	of	of	ADP
ajst-17384	125	16	the	the	DET
ajst-17384	125	17	astronauts	astronaut	NOUN
ajst-17384	125	18	,	,	PUNCT
ajst-17384	125	19	such	such	ADJ
ajst-17384	125	20	as	as	ADP
ajst-17384	125	21	the	the	DET
ajst-17384	125	22	continuous	continuous	ADJ
ajst-17384	125	23	operation	operation	NOUN
ajst-17384	125	24	length	length	NOUN
ajst-17384	125	25	,	,	PUNCT
ajst-17384	125	26	maximum	maximum	ADJ
ajst-17384	125	27	output	output	NOUN
ajst-17384	125	28	torque	torque	NOUN
ajst-17384	125	29	,	,	PUNCT
ajst-17384	125	30	accessible	accessible	ADJ
ajst-17384	125	31	operation	operation	NOUN
ajst-17384	125	32	range	range	NOUN
ajst-17384	125	33	,	,	PUNCT
ajst-17384	125	34	visibility	visibility	NOUN
ajst-17384	125	35	,	,	PUNCT
ajst-17384	125	36	etc	etc	X
ajst-17384	125	37	.	.	X
ajst-17384	125	38	;	;	PUNCT
ajst-17384	125	39	second	second	X
ajst-17384	125	40	,	,	PUNCT
ajst-17384	125	41	the	the	DET
ajst-17384	125	42	implementation	implementation	NOUN
ajst-17384	125	43	of	of	ADP
ajst-17384	125	44	joint	joint	ADJ
ajst-17384	125	45	maintenance	maintenance	NOUN
ajst-17384	125	46	needs	need	VERB
ajst-17384	125	47	to	to	PART
ajst-17384	125	48	consider	consider	VERB
ajst-17384	125	49	the	the	DET
ajst-17384	125	50	constraints	constraint	NOUN
ajst-17384	125	51	of	of	ADP
ajst-17384	125	52	robotic	robotic	ADJ
ajst-17384	125	53	arm	arm	NOUN
ajst-17384	125	54	configuration	configuration	NOUN
ajst-17384	125	55	,	,	PUNCT
ajst-17384	125	56	space	space	NOUN
ajst-17384	125	57	station	station	NOUN
ajst-17384	125	58	attitude	attitude	NOUN
ajst-17384	125	59	,	,	PUNCT
ajst-17384	125	60	astronaut	astronaut	NOUN
ajst-17384	125	61	coordination	coordination	NOUN
ajst-17384	125	62	operation	operation	NOUN
ajst-17384	125	63	and	and	CCONJ
ajst-17384	125	64	the	the	DET
ajst-17384	125	65	challenge	challenge	NOUN
ajst-17384	125	66	of	of	ADP
ajst-17384	125	67	maintenance	maintenance	NOUN
ajst-17384	125	68	test	test	NOUN
ajst-17384	125	69	,	,	PUNCT
ajst-17384	125	70	including	include	VERB
ajst-17384	125	71	simulation	simulation	NOUN
ajst-17384	125	72	test	test	NOUN
ajst-17384	125	73	,	,	PUNCT
ajst-17384	125	74	air	air	NOUN
ajst-17384	125	75	float	float	NOUN
ajst-17384	125	76	and	and	CCONJ
ajst-17384	125	77	suspension	suspension	NOUN
ajst-17384	125	78	zero	zero	NUM
ajst-17384	125	79	gravity	gravity	NOUN
ajst-17384	125	80	verification	verification	NOUN
ajst-17384	125	81	,	,	PUNCT
ajst-17384	125	82	maintenance	maintenance	NOUN
ajst-17384	125	83	simulation	simulation	NOUN
ajst-17384	125	84	verification	verification	NOUN
ajst-17384	125	85	,	,	PUNCT
ajst-17384	125	86	service	service	NOUN
ajst-17384	125	87	verification	verification	NOUN
ajst-17384	125	88	and	and	CCONJ
ajst-17384	125	89	neutral	neutral	ADJ
ajst-17384	125	90	buoyancy	buoyancy	NOUN
ajst-17384	125	91	tank	tank	NOUN
ajst-17384	125	92	test	test	NOUN
ajst-17384	125	93	.	.	PUNCT
ajst-17384	126	1	6	6	X
ajst-17384	126	2	.	.	X
ajst-17384	126	3	conclusion	conclusion	NOUN
ajst-17384	126	4	space	space	NOUN
ajst-17384	126	5	station	station	NOUN
ajst-17384	126	6	robotic	robotic	ADJ
ajst-17384	126	7	arm	arm	NOUN
ajst-17384	126	8	maintenance	maintenance	NOUN
ajst-17384	126	9	is	be	AUX
ajst-17384	126	10	an	an	DET
ajst-17384	126	11	important	important	ADJ
ajst-17384	126	12	and	and	CCONJ
ajst-17384	126	13	challenging	challenging	ADJ
ajst-17384	126	14	task	task	NOUN
ajst-17384	126	15	.	.	PUNCT
ajst-17384	127	1	this	this	DET
ajst-17384	127	2	paper	paper	NOUN
ajst-17384	127	3	analyzes	analyze	VERB
ajst-17384	127	4	and	and	CCONJ
ajst-17384	127	5	discusses	discuss	VERB
ajst-17384	127	6	the	the	DET
ajst-17384	127	7	structure	structure	NOUN
ajst-17384	127	8	,	,	PUNCT
ajst-17384	127	9	function	function	NOUN
ajst-17384	127	10	,	,	PUNCT
ajst-17384	127	11	cause	cause	NOUN
ajst-17384	127	12	of	of	ADP
ajst-17384	127	13	failure	failure	NOUN
ajst-17384	127	14	and	and	CCONJ
ajst-17384	127	15	maintenance	maintenance	NOUN
ajst-17384	127	16	methods	method	NOUN
ajst-17384	127	17	of	of	ADP
ajst-17384	127	18	the	the	DET
ajst-17384	127	19	space	space	NOUN
ajst-17384	127	20	station	station	NOUN
ajst-17384	127	21	manipulator	manipulator	NOUN
ajst-17384	127	22	,	,	PUNCT
ajst-17384	127	23	and	and	CCONJ
ajst-17384	127	24	aims	aim	VERB
ajst-17384	127	25	to	to	PART
ajst-17384	127	26	provide	provide	VERB
ajst-17384	127	27	some	some	DET
ajst-17384	127	28	references	reference	NOUN
ajst-17384	127	29	and	and	CCONJ
ajst-17384	127	30	suggestions	suggestion	NOUN
ajst-17384	127	31	for	for	ADP
ajst-17384	127	32	the	the	DET
ajst-17384	127	33	operation	operation	NOUN
ajst-17384	127	34	and	and	CCONJ
ajst-17384	127	35	management	management	NOUN
ajst-17384	127	36	of	of	ADP
ajst-17384	127	37	the	the	DET
ajst-17384	127	38	space	space	NOUN
ajst-17384	127	39	station	station	NOUN
ajst-17384	127	40	manipulator	manipulator	NOUN
ajst-17384	127	41	.	.	PUNCT
ajst-17384	128	1	mechanical	mechanical	ADJ
ajst-17384	128	2	arm	arm	NOUN
ajst-17384	128	3	failure	failure	NOUN
ajst-17384	128	4	may	may	AUX
ajst-17384	128	5	be	be	AUX
ajst-17384	128	6	caused	cause	VERB
ajst-17384	128	7	by	by	ADP
ajst-17384	128	8	multiple	multiple	ADJ
ajst-17384	128	9	factors	factor	NOUN
ajst-17384	128	10	,	,	PUNCT
ajst-17384	128	11	and	and	CCONJ
ajst-17384	128	12	common	common	ADJ
ajst-17384	128	13	faults	fault	NOUN
ajst-17384	128	14	include	include	VERB
ajst-17384	128	15	electrical	electrical	ADJ
ajst-17384	128	16	fault	fault	NOUN
ajst-17384	128	17	,	,	PUNCT
ajst-17384	128	18	mechanical	mechanical	ADJ
ajst-17384	128	19	fault	fault	NOUN
ajst-17384	128	20	,	,	PUNCT
ajst-17384	128	21	environmental	environmental	ADJ
ajst-17384	128	22	fault	fault	NOUN
ajst-17384	128	23	,	,	PUNCT
ajst-17384	128	24	etc	etc	X
ajst-17384	128	25	.	.	X
ajst-17384	129	1	in	in	ADP
ajst-17384	129	2	order	order	NOUN
ajst-17384	129	3	to	to	PART
ajst-17384	129	4	realize	realize	VERB
ajst-17384	129	5	fault	fault	NOUN
ajst-17384	129	6	detection	detection	NOUN
ajst-17384	129	7	and	and	CCONJ
ajst-17384	129	8	elimination	elimination	NOUN
ajst-17384	129	9	,	,	PUNCT
ajst-17384	129	10	the	the	DET
ajst-17384	129	11	analytical	analytical	ADJ
ajst-17384	129	12	model	model	NOUN
ajst-17384	129	13	-	-	PUNCT
ajst-17384	129	14	based	base	VERB
ajst-17384	129	15	method	method	NOUN
ajst-17384	129	16	can	can	AUX
ajst-17384	129	17	be	be	AUX
ajst-17384	129	18	adopted	adopt	VERB
ajst-17384	129	19	to	to	PART
ajst-17384	129	20	reflect	reflect	VERB
ajst-17384	129	21	the	the	DET
ajst-17384	129	22	status	status	NOUN
ajst-17384	129	23	of	of	ADP
ajst-17384	129	24	the	the	DET
ajst-17384	129	25	diagnosed	diagnose	VERB
ajst-17384	129	26	system	system	NOUN
ajst-17384	129	27	through	through	ADP
ajst-17384	129	28	residual	residual	ADJ
ajst-17384	129	29	difference	difference	NOUN
ajst-17384	129	30	generation	generation	NOUN
ajst-17384	129	31	and	and	CCONJ
ajst-17384	129	32	diagnosis	diagnosis	NOUN
ajst-17384	129	33	decision	decision	NOUN
ajst-17384	129	34	.	.	PUNCT
ajst-17384	130	1	moreover	moreover	ADV
ajst-17384	130	2	,	,	PUNCT
ajst-17384	130	3	neural	neural	ADJ
ajst-17384	130	4	network	network	NOUN
ajst-17384	130	5	,	,	PUNCT
ajst-17384	130	6	set	set	VERB
ajst-17384	130	7	theory	theory	NOUN
ajst-17384	130	8	43	43	NUM
ajst-17384	130	9	and	and	CCONJ
ajst-17384	130	10	feature	feature	NOUN
ajst-17384	130	11	structure	structure	NOUN
ajst-17384	130	12	configuration	configuration	NOUN
ajst-17384	130	13	are	be	AUX
ajst-17384	130	14	used	use	VERB
ajst-17384	130	15	to	to	PART
ajst-17384	130	16	interfere	interfere	VERB
ajst-17384	130	17	and	and	CCONJ
ajst-17384	130	18	decouple	decouple	VERB
ajst-17384	130	19	the	the	DET
ajst-17384	130	20	state	state	NOUN
ajst-17384	130	21	observer	observer	NOUN
ajst-17384	130	22	,	,	PUNCT
ajst-17384	130	23	so	so	SCONJ
ajst-17384	130	24	that	that	SCONJ
ajst-17384	130	25	the	the	DET
ajst-17384	130	26	residual	residual	ADJ
ajst-17384	130	27	is	be	AUX
ajst-17384	130	28	only	only	ADV
ajst-17384	130	29	sensitive	sensitive	ADJ
ajst-17384	130	30	to	to	ADP
ajst-17384	130	31	the	the	DET
ajst-17384	130	32	fault	fault	NOUN
ajst-17384	130	33	signal	signal	NOUN
ajst-17384	130	34	.	.	PUNCT
ajst-17384	131	1	finally	finally	ADV
ajst-17384	131	2	,	,	PUNCT
ajst-17384	131	3	the	the	DET
ajst-17384	131	4	neural	neural	ADJ
ajst-17384	131	5	network	network	NOUN
ajst-17384	131	6	method	method	NOUN
ajst-17384	131	7	,	,	PUNCT
ajst-17384	131	8	fuzzy	fuzzy	ADJ
ajst-17384	131	9	inference	inference	NOUN
ajst-17384	131	10	method	method	NOUN
ajst-17384	131	11	,	,	PUNCT
ajst-17384	131	12	statistical	statistical	ADJ
ajst-17384	131	13	decision	decision	NOUN
ajst-17384	131	14	method	method	NOUN
ajst-17384	131	15	and	and	CCONJ
ajst-17384	131	16	other	other	ADJ
ajst-17384	131	17	fault	fault	VERB
ajst-17384	131	18	residual	residual	ADJ
ajst-17384	131	19	analysis	analysis	NOUN
ajst-17384	131	20	methods	method	NOUN
ajst-17384	131	21	are	be	AUX
ajst-17384	131	22	used	use	VERB
ajst-17384	131	23	to	to	PART
ajst-17384	131	24	achieve	achieve	VERB
ajst-17384	131	25	the	the	DET
ajst-17384	131	26	troubleshooting	troubleshooting	NOUN
ajst-17384	131	27	.	.	PUNCT
ajst-17384	132	1	today	today	NOUN
ajst-17384	132	2	,	,	PUNCT
ajst-17384	132	3	the	the	DET
ajst-17384	132	4	space	space	NOUN
ajst-17384	132	5	station	station	NOUN
ajst-17384	132	6	robotic	robotic	ADJ
ajst-17384	132	7	arm	arm	NOUN
ajst-17384	132	8	maintenance	maintenance	NOUN
ajst-17384	132	9	still	still	ADV
ajst-17384	132	10	faces	face	VERB
ajst-17384	132	11	many	many	ADJ
ajst-17384	132	12	difficulties	difficulty	NOUN
ajst-17384	132	13	and	and	CCONJ
ajst-17384	132	14	risks	risk	NOUN
ajst-17384	132	15	,	,	PUNCT
ajst-17384	132	16	such	such	ADJ
ajst-17384	132	17	as	as	ADP
ajst-17384	132	18	technical	technical	ADJ
ajst-17384	132	19	complexity	complexity	NOUN
ajst-17384	132	20	,	,	PUNCT
ajst-17384	132	21	personnel	personnel	NOUN
ajst-17384	132	22	constraints	constraint	NOUN
ajst-17384	132	23	,	,	PUNCT
ajst-17384	132	24	time	time	NOUN
ajst-17384	132	25	constraints	constraint	NOUN
ajst-17384	132	26	,	,	PUNCT
ajst-17384	132	27	high	high	ADJ
ajst-17384	132	28	costs	cost	NOUN
ajst-17384	132	29	and	and	CCONJ
ajst-17384	132	30	so	so	ADV
ajst-17384	132	31	on	on	ADV
ajst-17384	132	32	.	.	PUNCT
ajst-17384	133	1	therefore	therefore	ADV
ajst-17384	133	2	,	,	PUNCT
ajst-17384	133	3	some	some	DET
ajst-17384	133	4	measures	measure	NOUN
ajst-17384	133	5	need	need	VERB
ajst-17384	133	6	to	to	PART
ajst-17384	133	7	be	be	AUX
ajst-17384	133	8	taken	take	VERB
ajst-17384	133	9	to	to	PART
ajst-17384	133	10	improve	improve	VERB
ajst-17384	133	11	the	the	DET
ajst-17384	133	12	efficiency	efficiency	NOUN
ajst-17384	133	13	and	and	CCONJ
ajst-17384	133	14	safety	safety	NOUN
ajst-17384	133	15	of	of	ADP
ajst-17384	133	16	the	the	DET
ajst-17384	133	17	space	space	NOUN
ajst-17384	133	18	station	station	NOUN
ajst-17384	133	19	robotic	robotic	ADJ
ajst-17384	133	20	arm	arm	NOUN
ajst-17384	133	21	maintenance	maintenance	NOUN
ajst-17384	133	22	,	,	PUNCT
ajst-17384	133	23	such	such	ADJ
ajst-17384	133	24	as	as	ADP
ajst-17384	133	25	optimizing	optimize	VERB
ajst-17384	133	26	design	design	NOUN
ajst-17384	133	27	,	,	PUNCT
ajst-17384	133	28	improving	improve	VERB
ajst-17384	133	29	quality	quality	NOUN
ajst-17384	133	30	,	,	PUNCT
ajst-17384	133	31	enhancing	enhance	VERB
ajst-17384	133	32	training	training	NOUN
ajst-17384	133	33	,	,	PUNCT
ajst-17384	133	34	improving	improve	VERB
ajst-17384	133	35	planning	planning	NOUN
ajst-17384	133	36	,	,	PUNCT
ajst-17384	133	37	etc	etc	X
ajst-17384	133	38	.	.	X
ajst-17384	133	39	in	in	ADP
ajst-17384	133	40	this	this	DET
ajst-17384	133	41	paper	paper	NOUN
ajst-17384	133	42	,	,	PUNCT
ajst-17384	133	43	the	the	DET
ajst-17384	133	44	problem	problem	NOUN
ajst-17384	133	45	of	of	ADP
ajst-17384	133	46	mechanical	mechanical	ADJ
ajst-17384	133	47	arm	arm	NOUN
ajst-17384	133	48	maintenance	maintenance	NOUN
ajst-17384	133	49	of	of	ADP
ajst-17384	133	50	the	the	DET
ajst-17384	133	51	space	space	NOUN
ajst-17384	133	52	station	station	NOUN
ajst-17384	133	53	is	be	AUX
ajst-17384	133	54	preliminarily	preliminarily	ADV
ajst-17384	133	55	discussed	discuss	VERB
ajst-17384	133	56	,	,	PUNCT
ajst-17384	133	57	and	and	CCONJ
ajst-17384	133	58	many	many	ADJ
ajst-17384	133	59	aspects	aspect	NOUN
ajst-17384	133	60	need	need	VERB
ajst-17384	133	61	further	further	ADJ
ajst-17384	133	62	research	research	NOUN
ajst-17384	133	63	and	and	CCONJ
ajst-17384	133	64	improvement	improvement	NOUN
ajst-17384	133	65	.	.	PUNCT
ajst-17384	134	1	it	it	PRON
ajst-17384	134	2	is	be	AUX
ajst-17384	134	3	hoped	hope	VERB
ajst-17384	134	4	that	that	SCONJ
ajst-17384	134	5	this	this	DET
ajst-17384	134	6	paper	paper	NOUN
ajst-17384	134	7	can	can	AUX
ajst-17384	134	8	provide	provide	VERB
ajst-17384	134	9	some	some	DET
ajst-17384	134	10	enlightenment	enlightenment	NOUN
ajst-17384	134	11	and	and	CCONJ
ajst-17384	134	12	help	help	NOUN
ajst-17384	134	13	for	for	ADP
ajst-17384	134	14	the	the	DET
ajst-17384	134	15	theoretical	theoretical	ADJ
ajst-17384	134	16	research	research	NOUN
ajst-17384	134	17	and	and	CCONJ
ajst-17384	134	18	practical	practical	ADJ
ajst-17384	134	19	application	application	NOUN
ajst-17384	134	20	of	of	ADP
ajst-17384	134	21	space	space	NOUN
ajst-17384	134	22	station	station	NOUN
ajst-17384	134	23	robotic	robotic	ADJ
ajst-17384	134	24	arm	arm	NOUN
ajst-17384	134	25	maintenance	maintenance	NOUN
ajst-17384	134	26	.	.	PUNCT
ajst-17384	135	1	references	reference	NOUN
ajst-17384	135	2	[	[	X
ajst-17384	135	3	1	1	NUM
ajst-17384	135	4	]	]	X
ajst-17384	135	5	wen	wen	PROPN
ajst-17384	135	6	,	,	PUNCT
ajst-17384	135	7	z.	z.	PROPN
ajst-17384	135	8	,	,	PUNCT
ajst-17384	135	9	wang	wang	PROPN
ajst-17384	135	10	,	,	PUNCT
ajst-17384	135	11	y.	y.	PROPN
ajst-17384	135	12	,	,	PUNCT
ajst-17384	135	13	di	di	PROPN
ajst-17384	135	14	,	,	PUNCT
ajst-17384	135	15	n.	n.	NOUN
ajst-17384	135	16	,	,	PUNCT
ajst-17384	135	17	etc	etc	X
ajst-17384	135	18	.	.	X
ajst-17384	135	19	(	(	PUNCT
ajst-17384	135	20	2015	2015	NUM
ajst-17384	135	21	)	)	PUNCT
ajst-17384	135	22	rapid	rapid	ADJ
ajst-17384	135	23	identification	identification	NOUN
ajst-17384	135	24	of	of	ADP
ajst-17384	135	25	cooperative	cooperative	ADJ
ajst-17384	135	26	targets	target	NOUN
ajst-17384	135	27	in	in	ADP
ajst-17384	135	28	space	space	NOUN
ajst-17384	135	29	station	station	NOUN
ajst-17384	135	30	robotic	robotic	ADJ
ajst-17384	135	31	arm	arm	NOUN
ajst-17384	135	32	pose	pose	VERB
ajst-17384	135	33	measurements	measurement	NOUN
ajst-17384	135	34	.	.	PUNCT
ajst-17384	136	1	journal	journal	PROPN
ajst-17384	136	2	of	of	ADP
ajst-17384	136	3	aeronautical	aeronautical	NOUN
ajst-17384	136	4	,	,	PUNCT
ajst-17384	136	5	36(04):1330	36(04):1330	NUM
ajst-17384	136	6	-	-	SYM
ajst-17384	136	7	1338	1338	NUM
ajst-17384	136	8	.	.	PUNCT
ajst-17384	137	1	[	[	X
ajst-17384	137	2	2	2	NUM
ajst-17384	137	3	]	]	X
ajst-17384	137	4	jiao	jiao	PROPN
ajst-17384	137	5	,	,	PUNCT
ajst-17384	137	6	j.	j.	PROPN
ajst-17384	137	7	,	,	PUNCT
ajst-17384	137	8	ying	ying	PROPN
ajst-17384	137	9	,	,	PUNCT
ajst-17384	137	10	j.	j.	PROPN
ajst-17384	137	11	,	,	PUNCT
ajst-17384	137	12	shi	shi	PROPN
ajst-17384	137	13	,	,	PUNCT
ajst-17384	137	14	s.	s.	PROPN
ajst-17384	137	15	(	(	PUNCT
ajst-17384	137	16	2018	2018	NUM
ajst-17384	137	17	)	)	PUNCT
ajst-17384	137	18	preliminary	preliminary	ADJ
ajst-17384	137	19	design	design	NOUN
ajst-17384	137	20	and	and	CCONJ
ajst-17384	137	21	development	development	NOUN
ajst-17384	137	22	of	of	ADP
ajst-17384	137	23	an	an	DET
ajst-17384	137	24	active	active	ADJ
ajst-17384	137	25	suspension	suspension	NOUN
ajst-17384	137	26	gravity	gravity	NOUN
ajst-17384	137	27	compensation	compensation	NOUN
ajst-17384	137	28	system	system	NOUN
ajst-17384	137	29	for	for	ADP
ajst-17384	137	30	ground	ground	NOUN
ajst-17384	137	31	verification	verification	NOUN
ajst-17384	137	32	.	.	PUNCT
ajst-17384	138	1	mechanism	mechanism	NOUN
ajst-17384	138	2	and	and	CCONJ
ajst-17384	138	3	machine	machine	NOUN
ajst-17384	138	4	theory	theory	NOUN
ajst-17384	138	5	,	,	PUNCT
ajst-17384	138	6	128	128	NUM
ajst-17384	138	7	.	.	PUNCT
ajst-17384	139	1	[	[	X
ajst-17384	139	2	3	3	NUM
ajst-17384	139	3	]	]	X
ajst-17384	139	4	jiang	jiang	PROPN
ajst-17384	139	5	,	,	PUNCT
ajst-17384	139	6	b.	b.	PROPN
ajst-17384	139	7	,	,	PUNCT
ajst-17384	139	8	wang	wang	PROPN
ajst-17384	139	9	,	,	PUNCT
ajst-17384	139	10	j.	j.	PROPN
ajst-17384	139	11	,	,	PUNCT
ajst-17384	139	12	soh	soh	PROPN
ajst-17384	139	13	,	,	PUNCT
ajst-17384	139	14	y.c	y.c	PROPN
ajst-17384	139	15	.	.	PROPN
ajst-17384	139	16	(	(	PUNCT
ajst-17384	139	17	2002	2002	NUM
ajst-17384	139	18	)	)	PUNCT
ajst-17384	139	19	an	an	DET
ajst-17384	139	20	adaptive	adaptive	ADJ
ajst-17384	139	21	technique	technique	NOUN
ajst-17384	139	22	for	for	ADP
ajst-17384	139	23	robust	robust	ADJ
ajst-17384	139	24	diagnosis	diagnosis	NOUN
ajst-17384	139	25	of	of	ADP
ajst-17384	139	26	faults	fault	NOUN
ajst-17384	139	27	with	with	ADP
ajst-17384	139	28	independent	independent	ADJ
ajst-17384	139	29	effects	effect	NOUN
ajst-17384	139	30	on	on	ADP
ajst-17384	139	31	system	system	NOUN
ajst-17384	139	32	outputs	output	NOUN
ajst-17384	139	33	.	.	PUNCT
ajst-17384	140	1	international	international	ADJ
ajst-17384	140	2	journal	journal	PROPN
ajst-17384	140	3	of	of	ADP
ajst-17384	140	4	control	control	NOUN
ajst-17384	140	5	,	,	PUNCT
ajst-17384	140	6	75(11	75(11	NUM
ajst-17384	140	7	):	):	PUNCT
ajst-17384	140	8	792802	792802	NUM
ajst-17384	140	9	[	[	X
ajst-17384	140	10	4	4	NUM
ajst-17384	140	11	]	]	X
ajst-17384	140	12	jia	jia	PROPN
ajst-17384	140	13	,	,	PUNCT
ajst-17384	140	14	q.	q.	PROPN
ajst-17384	140	15	,	,	PUNCT
ajst-17384	140	16	fu	fu	PROPN
ajst-17384	140	17	,	,	PUNCT
ajst-17384	140	18	y.	y.	PROPN
ajst-17384	140	19	,	,	PUNCT
ajst-17384	140	20	chen	chen	PROPN
ajst-17384	140	21	,	,	PUNCT
ajst-17384	140	22	g.	g.	PROPN
ajst-17384	140	23	,	,	PUNCT
ajst-17384	140	24	etc	etc	X
ajst-17384	140	25	.	.	X
ajst-17384	140	26	(	(	PUNCT
ajst-17384	140	27	2021	2021	NUM
ajst-17384	140	28	)	)	PUNCT
ajst-17384	140	29	space	space	NOUN
ajst-17384	140	30	robotic	robotic	ADJ
ajst-17384	140	31	arm	arm	NOUN
ajst-17384	140	32	joint	joint	ADJ
ajst-17384	140	33	fault	fault	NOUN
ajst-17384	140	34	diagnosis	diagnosis	NOUN
ajst-17384	140	35	based	base	VERB
ajst-17384	140	36	on	on	ADP
ajst-17384	140	37	a	a	DET
ajst-17384	140	38	state	state	NOUN
ajst-17384	140	39	observer	observer	NOUN
ajst-17384	140	40	.	.	PUNCT
ajst-17384	141	1	journal	journal	PROPN
ajst-17384	141	2	of	of	ADP
ajst-17384	141	3	aeronautical	aeronautical	PROPN
ajst-17384	141	4	,	,	PUNCT
ajst-17384	141	5	42(01):165	42(01):165	NUM
ajst-17384	141	6	-	-	SYM
ajst-17384	141	7	175	175	NUM
ajst-17384	141	8	.	.	PUNCT
ajst-17384	142	1	[	[	X
ajst-17384	142	2	5	5	NUM
ajst-17384	142	3	]	]	X
ajst-17384	142	4	gao	gao	PROPN
ajst-17384	142	5	,	,	PUNCT
ajst-17384	142	6	x.	x.	PROPN
ajst-17384	142	7	,	,	PUNCT
ajst-17384	142	8	wang	wang	PROPN
ajst-17384	142	9	,	,	PUNCT
ajst-17384	142	10	y.	y.	PROPN
ajst-17384	142	11	,	,	PUNCT
ajst-17384	142	12	sun	sun	PROPN
ajst-17384	142	13	,	,	PUNCT
ajst-17384	142	14	h.	h.	PROPN
ajst-17384	142	15	,	,	PUNCT
ajst-17384	142	16	jia	jia	PROPN
ajst-17384	142	17	,	,	PUNCT
ajst-17384	142	18	q.	q.	PROPN
ajst-17384	142	19	,	,	PUNCT
ajst-17384	142	20	yang	yang	PROPN
ajst-17384	142	21	,	,	PUNCT
ajst-17384	142	22	x.	x.	PROPN
ajst-17384	142	23	,	,	PUNCT
ajst-17384	142	24	&	&	CCONJ
ajst-17384	142	25	du	du	PROPN
ajst-17384	142	26	,	,	PUNCT
ajst-17384	142	27	m.	m.	NOUN
ajst-17384	142	28	,	,	PUNCT
ajst-17384	142	29	et	et	PROPN
ajst-17384	142	30	al	al	PROPN
ajst-17384	142	31	.	.	PUNCT
ajst-17384	142	32	(	(	PUNCT
ajst-17384	142	33	2015	2015	NUM
ajst-17384	142	34	)	)	PUNCT
ajst-17384	142	35	.	.	PUNCT
ajst-17384	143	1	research	research	NOUN
ajst-17384	143	2	on	on	ADP
ajst-17384	143	3	construction	construction	NOUN
ajst-17384	143	4	method	method	NOUN
ajst-17384	143	5	of	of	ADP
ajst-17384	143	6	operational	operational	ADJ
ajst-17384	143	7	reliability	reliability	NOUN
ajst-17384	143	8	control	control	NOUN
ajst-17384	143	9	model	model	NOUN
ajst-17384	143	10	for	for	ADP
ajst-17384	143	11	space	space	NOUN
ajst-17384	143	12	manipulator	manipulator	NOUN
ajst-17384	143	13	based	base	VERB
ajst-17384	143	14	on	on	ADP
ajst-17384	143	15	particle	particle	NOUN
ajst-17384	143	16	filter	filter	NOUN
ajst-17384	143	17	.	.	PUNCT
ajst-17384	144	1	mathematical	mathematical	ADJ
ajst-17384	144	2	problems	problem	NOUN
ajst-17384	144	3	in	in	ADP
ajst-17384	144	4	engineering	engineering	NOUN
ajst-17384	144	5	,	,	PUNCT
ajst-17384	144	6	pt.23	pt.23	NOUN
ajst-17384	144	7	:	:	PUNCT
ajst-17384	144	8	111	111	NUM
ajst-17384	144	9	.	.	PUNCT
ajst-17384	145	1	[	[	X
ajst-17384	145	2	6	6	NUM
ajst-17384	145	3	]	]	X
ajst-17384	145	4	zheng	zheng	PROPN
ajst-17384	145	5	,	,	PUNCT
ajst-17384	145	6	p.	p.	PROPN
ajst-17384	145	7	,	,	PUNCT
ajst-17384	145	8	bao	bao	PROPN
ajst-17384	145	9	,	,	PUNCT
ajst-17384	145	10	s.	s.	PROPN
ajst-17384	145	11	,	,	PUNCT
ajst-17384	145	12	zong	zong	PROPN
ajst-17384	145	13	,	,	PUNCT
ajst-17384	145	14	w.	w.	PROPN
ajst-17384	145	15	,	,	PUNCT
ajst-17384	145	16	et	et	PROPN
ajst-17384	145	17	al	al	PROPN
ajst-17384	145	18	.	.	PROPN
ajst-17384	145	19	(	(	PUNCT
ajst-17384	145	20	2023	2023	NUM
ajst-17384	145	21	)	)	PUNCT
ajst-17384	145	22	kinematic	kinematic	ADJ
ajst-17384	145	23	calibration	calibration	NOUN
ajst-17384	145	24	of	of	ADP
ajst-17384	145	25	a	a	DET
ajst-17384	145	26	space	space	NOUN
ajst-17384	145	27	manipulator	manipulator	NOUN
ajst-17384	145	28	based	base	VERB
ajst-17384	145	29	on	on	ADP
ajst-17384	145	30	visual	visual	ADJ
ajst-17384	145	31	measurement	measurement	NOUN
ajst-17384	145	32	system	system	NOUN
ajst-17384	145	33	with	with	ADP
ajst-17384	145	34	extended	extended	ADJ
ajst-17384	145	35	kalman	kalman	NOUN
ajst-17384	145	36	filter	filter	NOUN
ajst-17384	145	37	.	.	PUNCT
ajst-17384	146	1	machines	machine	NOUN
ajst-17384	146	2	,	,	PUNCT
ajst-17384	146	3	11(3	11(3	NUM
ajst-17384	146	4	)	)	PUNCT
ajst-17384	146	5	.	.	PUNCT
ajst-17384	147	1	[	[	X
ajst-17384	147	2	7	7	NUM
ajst-17384	147	3	]	]	X
ajst-17384	147	4	mohammadhosein	mohammadhosein	ADJ
ajst-17384	147	5	,	,	PUNCT
ajst-17384	147	6	b.	b.	PROPN
ajst-17384	147	7	,	,	PUNCT
ajst-17384	147	8	meysam	meysam	PROPN
ajst-17384	147	9	,	,	PUNCT
ajst-17384	147	10	y.	y.	PROPN
ajst-17384	147	11	,	,	PUNCT
ajst-17384	147	12	nader	nader	NOUN
ajst-17384	147	13	,	,	PUNCT
ajst-17384	147	14	m.	m.	NOUN
ajst-17384	147	15	(	(	PUNCT
ajst-17384	147	16	2022	2022	NUM
ajst-17384	147	17	)	)	PUNCT
ajst-17384	147	18	datadriven	datadriven	ADJ
ajst-17384	147	19	fault	fault	NOUN
ajst-17384	147	20	detection	detection	NOUN
ajst-17384	147	21	and	and	CCONJ
ajst-17384	147	22	isolation	isolation	NOUN
ajst-17384	147	23	of	of	ADP
ajst-17384	147	24	nonlinear	nonlinear	ADJ
ajst-17384	147	25	systems	system	NOUN
ajst-17384	147	26	using	use	VERB
ajst-17384	147	27	deep	deep	ADJ
ajst-17384	147	28	learning	learning	NOUN
ajst-17384	147	29	for	for	ADP
ajst-17384	147	30	koopman	koopman	NOUN
ajst-17384	147	31	operator	operator	NOUN
ajst-17384	147	32	.	.	PUNCT
ajst-17384	147	33	isa	isa	NOUN
ajst-17384	147	34	transactions	transaction	NOUN
ajst-17384	147	35	,	,	PUNCT
ajst-17384	147	36	134	134	NUM
ajst-17384	147	37	.	.	PUNCT
ajst-17384	148	1	[	[	X
ajst-17384	148	2	8	8	NUM
ajst-17384	148	3	]	]	X
ajst-17384	148	4	meslem	meslem	NOUN
ajst-17384	148	5	,	,	PUNCT
ajst-17384	148	6	n.	n.	NOUN
ajst-17384	148	7	,	,	PUNCT
ajst-17384	148	8	loukkas	loukkas	PROPN
ajst-17384	148	9	,	,	PUNCT
ajst-17384	148	10	n.	n.	PROPN
ajst-17384	148	11	,	,	PUNCT
ajst-17384	148	12	martinez	martinez	PROPN
ajst-17384	148	13	,	,	PUNCT
ajst-17384	148	14	j.	j.	PROPN
ajst-17384	148	15	(	(	PUNCT
ajst-17384	148	16	2018	2018	NUM
ajst-17384	148	17	)	)	PUNCT
ajst-17384	148	18	using	use	VERB
ajst-17384	148	19	set	set	ADJ
ajst-17384	148	20	invariance	invariance	NOUN
ajst-17384	148	21	to	to	PART
ajst-17384	148	22	design	design	VERB
ajst-17384	148	23	robust	robust	ADJ
ajst-17384	148	24	interval	interval	NOUN
ajst-17384	148	25	observers	observer	NOUN
ajst-17384	148	26	for	for	ADP
ajst-17384	148	27	discrete‐time	discrete‐time	NOUN
ajst-17384	148	28	linear	linear	PROPN
ajst-17384	148	29	systems	system	NOUN
ajst-17384	148	30	.	.	PUNCT
ajst-17384	149	1	international	international	ADJ
ajst-17384	149	2	journal	journal	PROPN
ajst-17384	149	3	of	of	ADP
ajst-17384	149	4	robust	robust	ADJ
ajst-17384	149	5	and	and	CCONJ
ajst-17384	149	6	nonlinear	nonlinear	ADJ
ajst-17384	149	7	control	control	NOUN
ajst-17384	149	8	,	,	PUNCT
ajst-17384	149	9	28(11	28(11	NUM
ajst-17384	149	10	)	)	PUNCT
ajst-17384	149	11	.	.	PUNCT
ajst-17384	150	1	[	[	X
ajst-17384	150	2	9	9	NUM
ajst-17384	150	3	]	]	SYM
ajst-17384	150	4	zhang	zhang	PROPN
ajst-17384	150	5	,	,	PUNCT
ajst-17384	150	6	j.	j.	PROPN
ajst-17384	150	7	,	,	PUNCT
ajst-17384	150	8	lin	lin	PROPN
ajst-17384	150	9	,	,	PUNCT
ajst-17384	150	10	f.	f.	PROPN
ajst-17384	150	11	(	(	PUNCT
ajst-17384	150	12	2012	2012	NUM
ajst-17384	150	13	)	)	PUNCT
ajst-17384	150	14	robust	robust	ADJ
ajst-17384	150	15	detection	detection	NOUN
ajst-17384	150	16	method	method	NOUN
ajst-17384	150	17	of	of	ADP
ajst-17384	150	18	aviation	aviation	NOUN
ajst-17384	150	19	engine	engine	NOUN
ajst-17384	150	20	sensor	sensor	NOUN
ajst-17384	150	21	fault	fault	NOUN
ajst-17384	150	22	.	.	PUNCT
ajst-17384	150	23	computer	computer	NOUN
ajst-17384	150	24	simulation	simulation	NOUN
ajst-17384	150	25	,	,	PUNCT
ajst-17384	150	26	29(02):32	29(02):32	NOUN
ajst-17384	150	27	-	-	SYM
ajst-17384	150	28	35	35	NUM
ajst-17384	150	29	.	.	PUNCT
ajst-17384	151	1	[	[	X
ajst-17384	151	2	10	10	NUM
ajst-17384	151	3	]	]	SYM
ajst-17384	151	4	hu	hu	PROPN
ajst-17384	151	5	,	,	PUNCT
ajst-17384	151	6	c.	c.	PROPN
ajst-17384	151	7	,	,	PUNCT
ajst-17384	151	8	gao	gao	PROPN
ajst-17384	151	9	,	,	PUNCT
ajst-17384	151	10	s.	s.	PROPN
ajst-17384	151	11	,	,	PUNCT
ajst-17384	151	12	xiong	xiong	PROPN
ajst-17384	151	13	,	,	PUNCT
ajst-17384	151	14	m.	m.	NOUN
ajst-17384	151	15	,	,	PUNCT
ajst-17384	151	16	etc	etc	X
ajst-17384	151	17	.	.	X
ajst-17384	151	18	(	(	PUNCT
ajst-17384	151	19	2022	2022	NUM
ajst-17384	151	20	)	)	PUNCT
ajst-17384	151	21	key	key	ADJ
ajst-17384	151	22	technology	technology	NOUN
ajst-17384	151	23	of	of	ADP
ajst-17384	151	24	the	the	DET
ajst-17384	151	25	space	space	NOUN
ajst-17384	151	26	station	station	NOUN
ajst-17384	151	27	core	core	NOUN
ajst-17384	151	28	module	module	NOUN
ajst-17384	151	29	manipulator	manipulator	NOUN
ajst-17384	151	30	.	.	PUNCT
ajst-17384	152	1	chinese	chinese	ADJ
ajst-17384	152	2	science	science	NOUN
ajst-17384	152	3	:	:	PUNCT
ajst-17384	152	4	technical	technical	ADJ
ajst-17384	152	5	science	science	NOUN
ajst-17384	152	6	,	,	PUNCT
ajst-17384	152	7	52(09):1299	52(09):1299	NUM
ajst-17384	152	8	-	-	SYM
ajst-17384	152	9	1331	1331	NUM
ajst-17384	152	10	.	.	PUNCT
ajst-17384	153	1	[	[	X
ajst-17384	153	2	11	11	NUM
ajst-17384	153	3	]	]	X
ajst-17384	153	4	meng	meng	PROPN
ajst-17384	153	5	,	,	PUNCT
ajst-17384	153	6	g.	g.	PROPN
ajst-17384	153	7	,	,	PUNCT
ajst-17384	153	8	liu	liu	PROPN
ajst-17384	153	9	,	,	PUNCT
ajst-17384	153	10	c.	c.	PROPN
ajst-17384	153	11	,	,	PUNCT
ajst-17384	153	12	yang	yang	PROPN
ajst-17384	153	13	,	,	PUNCT
ajst-17384	153	14	d.	d.	PROPN
ajst-17384	153	15	,	,	PUNCT
ajst-17384	153	16	etc	etc	X
ajst-17384	153	17	.	.	X
ajst-17384	153	18	(	(	PUNCT
ajst-17384	153	19	2013	2013	NUM
ajst-17384	153	20	)	)	PUNCT
ajst-17384	153	21	analysis	analysis	NOUN
ajst-17384	153	22	of	of	ADP
ajst-17384	153	23	the	the	DET
ajst-17384	153	24	first	first	ADJ
ajst-17384	153	25	flight	flight	NOUN
ajst-17384	153	26	of	of	ADP
ajst-17384	153	27	the	the	DET
ajst-17384	153	28	ship	ship	NOUN
ajst-17384	153	29	and	and	CCONJ
ajst-17384	153	30	enlightenment	enlightenment	NOUN
ajst-17384	153	31	and	and	CCONJ
ajst-17384	153	32	suggestions	suggestion	NOUN
ajst-17384	153	33	for	for	ADP
ajst-17384	153	34	the	the	DET
ajst-17384	153	35	development	development	NOUN
ajst-17384	153	36	of	of	ADP
ajst-17384	153	37	china	china	PROPN
ajst-17384	153	38	's	's	PART
ajst-17384	153	39	space	space	NOUN
ajst-17384	153	40	industry	industry	NOUN
ajst-17384	153	41	.	.	PUNCT
ajst-17384	154	1	acta	acta	PROPN
ajst-17384	154	2	aeronautica	aeronautica	PROPN
ajst-17384	154	3	et	et	PROPN
ajst-17384	154	4	astronautica	astronautica	PROPN
ajst-17384	154	5	sinica	sinica	PROPN
ajst-17384	154	6	,	,	PUNCT
ajst-17384	154	7	15	15	NUM
ajst-17384	154	8	.	.	PUNCT
ajst-17384	155	1	[	[	X
ajst-17384	155	2	12	12	NUM
ajst-17384	155	3	]	]	X
ajst-17384	155	4	late	late	ADJ
ajst-17384	155	5	confusion	confusion	NOUN
ajst-17384	155	6	.	.	PUNCT
ajst-17384	156	1	(	(	PUNCT
ajst-17384	156	2	2022	2022	NUM
ajst-17384	156	3	)	)	PUNCT
ajst-17384	156	4	world	world	NOUN
ajst-17384	156	5	aerospace	aerospace	NOUN
ajst-17384	156	6	:	:	PUNCT
ajst-17384	156	7	a	a	DET
ajst-17384	156	8	ray	ray	NOUN
ajst-17384	156	9	of	of	ADP
ajst-17384	156	10	sunshine	sunshine	NOUN
ajst-17384	156	11	under	under	ADP
ajst-17384	156	12	the	the	DET
ajst-17384	156	13	haze	haze	NOUN
ajst-17384	156	14	of	of	ADP
ajst-17384	156	15	the	the	DET
ajst-17384	156	16	epidemic	epidemic	NOUN
ajst-17384	156	17	.	.	PUNCT
ajst-17384	157	1	space	space	NOUN
ajst-17384	157	2	exploration	exploration	NOUN
ajst-17384	157	3	,	,	PUNCT
ajst-17384	157	4	01:20	01:20	NUM
ajst-17384	157	5	-	-	SYM
ajst-17384	157	6	33	33	NUM
ajst-17384	157	7	.	.	PUNCT
ajst-17384	158	1	[	[	X
ajst-17384	158	2	13	13	NUM
ajst-17384	158	3	]	]	X
ajst-17384	158	4	liu	liu	PROPN
ajst-17384	158	5	,	,	PUNCT
ajst-17384	158	6	y.	y.	PROPN
ajst-17384	158	7	(	(	PUNCT
ajst-17384	158	8	2022	2022	NUM
ajst-17384	158	9	)	)	PUNCT
ajst-17384	158	10	on	on	ADP
ajst-17384	158	11	-	-	PUNCT
ajst-17384	158	12	orbit	orbit	NOUN
ajst-17384	158	13	maintenance	maintenance	NOUN
ajst-17384	158	14	dynamics	dynamic	NOUN
ajst-17384	158	15	and	and	CCONJ
ajst-17384	158	16	control	control	NOUN
ajst-17384	158	17	of	of	ADP
ajst-17384	158	18	space	space	NOUN
ajst-17384	158	19	robotic	robotic	ADJ
ajst-17384	158	20	arms	arm	NOUN
ajst-17384	158	21	facing	face	VERB
ajst-17384	158	22	a	a	DET
ajst-17384	158	23	maintainable	maintainable	ADJ
ajst-17384	158	24	spacecraft	spacecraft	NOUN
ajst-17384	158	25	.	.	PUNCT
ajst-17384	159	1	thesis	thesis	NOUN
ajst-17384	159	2	of	of	ADP
ajst-17384	159	3	harbin	harbin	PROPN
ajst-17384	159	4	institute	institute	PROPN
ajst-17384	159	5	of	of	ADP
ajst-17384	159	6	technology	technology	PROPN
ajst-17384	159	7	.	.	PUNCT
ajst-17384	160	1	[	[	X
ajst-17384	160	2	14	14	NUM
ajst-17384	160	3	]	]	X
ajst-17384	160	4	feng	feng	PROPN
ajst-17384	160	5	,	,	PUNCT
ajst-17384	160	6	b.	b.	PROPN
ajst-17384	160	7	(	(	PUNCT
ajst-17384	160	8	2022	2022	NUM
ajst-17384	160	9	)	)	PUNCT
ajst-17384	160	10	research	research	NOUN
ajst-17384	160	11	on	on	ADP
ajst-17384	160	12	quick	quick	ADJ
ajst-17384	160	13	replacement	replacement	NOUN
ajst-17384	160	14	end	end	NOUN
ajst-17384	160	15	actor	actor	NOUN
ajst-17384	160	16	tors	tor	NOUN
ajst-17384	160	17	for	for	ADP
ajst-17384	160	18	light	light	ADJ
ajst-17384	160	19	robotic	robotic	ADJ
ajst-17384	160	20	arm	arm	NOUN
ajst-17384	160	21	.	.	PUNCT
ajst-17384	161	1	thesis	thesis	NOUN
ajst-17384	161	2	of	of	ADP
ajst-17384	161	3	harbin	harbin	PROPN
ajst-17384	161	4	institute	institute	PROPN
ajst-17384	161	5	of	of	ADP
ajst-17384	161	6	technology	technology	PROPN
ajst-17384	161	7	.	.	PUNCT
ajst-17384	162	1	[	[	X
ajst-17384	162	2	15	15	NUM
ajst-17384	162	3	]	]	X
ajst-17384	162	4	he	he	PRON
ajst-17384	162	5	,	,	PUNCT
ajst-17384	162	6	y.	y.	PROPN
ajst-17384	162	7	(	(	PUNCT
ajst-17384	162	8	2016	2016	NUM
ajst-17384	162	9	)	)	PUNCT
ajst-17384	162	10	design	design	NOUN
ajst-17384	162	11	and	and	CCONJ
ajst-17384	162	12	study	study	NOUN
ajst-17384	162	13	of	of	ADP
ajst-17384	162	14	quick	quick	ADJ
ajst-17384	162	15	change	change	NOUN
ajst-17384	162	16	interface	interface	NOUN
ajst-17384	162	17	of	of	ADP
ajst-17384	162	18	robotic	robotic	ADJ
ajst-17384	162	19	arm	arm	NOUN
ajst-17384	162	20	in	in	ADP
ajst-17384	162	21	laboratory	laboratory	NOUN
ajst-17384	162	22	chamber	chamber	PROPN
ajst-17384	162	23	.	.	PUNCT
ajst-17384	163	1	thesis	thesis	NOUN
ajst-17384	163	2	of	of	ADP
ajst-17384	163	3	harbin	harbin	PROPN
ajst-17384	163	4	institute	institute	PROPN
ajst-17384	163	5	of	of	ADP
ajst-17384	163	6	technology	technology	PROPN
ajst-17384	163	7	.	.	PUNCT
ajst-17384	164	1	[	[	X
ajst-17384	164	2	16	16	NUM
ajst-17384	164	3	]	]	PUNCT
ajst-17384	164	4	xu	xu	PROPN
ajst-17384	164	5	,	,	PUNCT
ajst-17384	164	6	j.	j.	PROPN
ajst-17384	164	7	,	,	PUNCT
ajst-17384	164	8	mei	mei	PROPN
ajst-17384	164	9	,	,	PUNCT
ajst-17384	164	10	t.	t.	PROPN
ajst-17384	164	11	,	,	PUNCT
ajst-17384	164	12	luo	luo	PROPN
ajst-17384	164	13	,	,	PUNCT
ajst-17384	164	14	m.	m.	NOUN
ajst-17384	164	15	(	(	PUNCT
ajst-17384	164	16	2006	2006	NUM
ajst-17384	164	17	)	)	PUNCT
ajst-17384	164	18	development	development	NOUN
ajst-17384	164	19	of	of	ADP
ajst-17384	164	20	an	an	DET
ajst-17384	164	21	automatic	automatic	ADJ
ajst-17384	164	22	hand	hand	NOUN
ajst-17384	164	23	claw	claw	NOUN
ajst-17384	164	24	replacement	replacement	NOUN
ajst-17384	164	25	device	device	NOUN
ajst-17384	164	26	for	for	ADP
ajst-17384	164	27	a	a	DET
ajst-17384	164	28	space	space	NOUN
ajst-17384	164	29	robot	robot	NOUN
ajst-17384	164	30	.	.	PUNCT
ajst-17384	165	1	industrial	industrial	ADJ
ajst-17384	165	2	instruments	instrument	NOUN
ajst-17384	165	3	and	and	CCONJ
ajst-17384	165	4	automation	automation	NOUN
ajst-17384	165	5	devices	device	NOUN
ajst-17384	165	6	,	,	PUNCT
ajst-17384	165	7	04:13	04:13	NUM
ajst-17384	165	8	-	-	SYM
ajst-17384	165	9	16	16	NUM
ajst-17384	165	10	.	.	PUNCT
ajst-17384	166	1	[	[	X
ajst-17384	166	2	17	17	NUM
ajst-17384	166	3	]	]	X
ajst-17384	166	4	liu	liu	PROPN
ajst-17384	166	5	,	,	PUNCT
ajst-17384	166	6	q.	q.	PROPN
ajst-17384	166	7	(	(	PUNCT
ajst-17384	166	8	2012	2012	NUM
ajst-17384	166	9	)	)	PUNCT
ajst-17384	166	10	research	research	NOUN
ajst-17384	166	11	on	on	ADP
ajst-17384	166	12	the	the	DET
ajst-17384	166	13	end	end	NOUN
ajst-17384	166	14	-	-	PUNCT
ajst-17384	166	15	tool	tool	NOUN
ajst-17384	166	16	replacement	replacement	NOUN
ajst-17384	166	17	device	device	NOUN
ajst-17384	166	18	in	in	ADP
ajst-17384	166	19	the	the	DET
ajst-17384	166	20	space	space	NOUN
ajst-17384	166	21	robot	robot	NOUN
ajst-17384	166	22	.	.	PUNCT
ajst-17384	167	1	thesis	thesis	NOUN
ajst-17384	167	2	of	of	ADP
ajst-17384	167	3	harbin	harbin	PROPN
ajst-17384	167	4	institute	institute	PROPN
ajst-17384	167	5	of	of	ADP
ajst-17384	167	6	technology	technology	PROPN
ajst-17384	167	7	.	.	PUNCT
ajst-17384	168	1	[	[	X
ajst-17384	168	2	18	18	NUM
ajst-17384	168	3	]	]	SYM
ajst-17384	168	4	li	li	PROPN
ajst-17384	168	5	,	,	PUNCT
ajst-17384	168	6	d.	d.	PROPN
ajst-17384	168	7	,	,	PUNCT
ajst-17384	168	8	zhu	zhu	PROPN
ajst-17384	168	9	,	,	PUNCT
ajst-17384	168	10	c.	c.	PROPN
ajst-17384	168	11	,	,	PUNCT
ajst-17384	168	12	zhang	zhang	PROPN
ajst-17384	168	13	,	,	PUNCT
ajst-17384	168	14	y.	y.	PROPN
ajst-17384	168	15	,	,	PUNCT
ajst-17384	168	16	et	et	PROPN
ajst-17384	168	17	al	al	PROPN
ajst-17384	168	18	.	.	PROPN
ajst-17384	168	19	(	(	PUNCT
ajst-17384	168	20	2022	2022	NUM
ajst-17384	168	21	)	)	PUNCT
ajst-17384	168	22	design	design	NOUN
ajst-17384	168	23	and	and	CCONJ
ajst-17384	168	24	test	test	NOUN
ajst-17384	168	25	verification	verification	NOUN
ajst-17384	168	26	of	of	ADP
ajst-17384	168	27	space	space	NOUN
ajst-17384	168	28	station	station	NOUN
ajst-17384	168	29	robotic	robotic	ADJ
ajst-17384	168	30	arm	arm	NOUN
ajst-17384	168	31	.	.	PUNCT
ajst-17384	169	1	manned	man	VERB
ajst-17384	169	2	space	space	NOUN
ajst-17384	169	3	flight	flight	NOUN
ajst-17384	169	4	,	,	PUNCT
ajst-17384	169	5	28(5):666	28(5):666	NUM
ajst-17384	169	6	-	-	PUNCT
ajst-17384	169	7	674	674	NUM
ajst-17384	169	8	.	.	PUNCT
ajst-17384	170	1	[	[	X
ajst-17384	170	2	19	19	NUM
ajst-17384	170	3	]	]	SYM
ajst-17384	170	4	li	li	PROPN
ajst-17384	170	5	,	,	PUNCT
ajst-17384	170	6	j.	j.	PROPN
ajst-17384	170	7	(	(	PUNCT
ajst-17384	170	8	2012	2012	NUM
ajst-17384	170	9	)	)	PUNCT
ajst-17384	170	10	design	design	NOUN
ajst-17384	170	11	and	and	CCONJ
ajst-17384	170	12	control	control	NOUN
ajst-17384	170	13	of	of	ADP
ajst-17384	170	14	space	space	NOUN
ajst-17384	170	15	mechanical	mechanical	ADJ
ajst-17384	170	16	arm	arm	NOUN
ajst-17384	170	17	.	.	PUNCT
ajst-17384	171	1	thesis	thesis	NOUN
ajst-17384	171	2	of	of	ADP
ajst-17384	171	3	shanghai	shanghai	PROPN
ajst-17384	171	4	jiao	jiao	PROPN
ajst-17384	171	5	tong	tong	PROPN
ajst-17384	171	6	university	university	PROPN
ajst-17384	171	7	.	.	PUNCT
ajst-17384	172	1	[	[	X
ajst-17384	172	2	20	20	NUM
ajst-17384	172	3	]	]	X
ajst-17384	172	4	zhu	zhu	PROPN
ajst-17384	172	5	,	,	PUNCT
ajst-17384	172	6	c.	c.	PROPN
ajst-17384	172	7	,	,	PUNCT
ajst-17384	172	8	zhang	zhang	PROPN
ajst-17384	172	9	,	,	PUNCT
ajst-17384	172	10	w.	w.	PROPN
ajst-17384	172	11	,	,	PUNCT
ajst-17384	172	12	hu	hu	PROPN
ajst-17384	172	13	,	,	PUNCT
ajst-17384	172	14	c.	c.	PROPN
ajst-17384	172	15	,	,	PUNCT
ajst-17384	172	16	et	et	PROPN
ajst-17384	172	17	al	al	PROPN
ajst-17384	172	18	.	.	PROPN
ajst-17384	172	19	(	(	PUNCT
ajst-17384	172	20	2023	2023	NUM
ajst-17384	172	21	)	)	PUNCT
ajst-17384	172	22	design	design	NOUN
ajst-17384	172	23	and	and	CCONJ
ajst-17384	172	24	verification	verification	NOUN
ajst-17384	172	25	of	of	ADP
ajst-17384	172	26	space	space	NOUN
ajst-17384	172	27	station	station	NOUN
ajst-17384	172	28	mechanical	mechanical	ADJ
ajst-17384	172	29	arm	arm	NOUN
ajst-17384	172	30	end	end	VERB
ajst-17384	172	31	actuator	actuator	NOUN
ajst-17384	172	32	maintenance	maintenance	NOUN
ajst-17384	172	33	system	system	NOUN
ajst-17384	172	34	.	.	PUNCT
ajst-17384	173	1	national	national	ADJ
ajst-17384	173	2	space	space	NOUN
ajst-17384	173	3	science	science	NOUN
ajst-17384	173	4	and	and	CCONJ
ajst-17384	173	5	technology	technology	NOUN
ajst-17384	173	6	,	,	PUNCT
ajst-17384	173	7	43(5):79	43(5):79	NOUN
ajst-17384	173	8	-	-	SYM
ajst-17384	173	9	86	86	NUM
ajst-17384	173	10	.	.	PUNCT