id	sid	tid	token	lemma	pos
ajst-19166	1	1	academic	academic	ADJ
ajst-19166	1	2	journal	journal	NOUN
ajst-19166	1	3	of	of	ADP
ajst-19166	1	4	science	science	NOUN
ajst-19166	1	5	and	and	CCONJ
ajst-19166	1	6	technology	technology	NOUN
ajst-19166	1	7	issn	issn	NOUN
ajst-19166	1	8	:	:	PUNCT
ajst-19166	1	9	2771	2771	NUM
ajst-19166	1	10	-	-	SYM
ajst-19166	1	11	3032	3032	NUM
ajst-19166	1	12	|	|	NOUN
ajst-19166	1	13	vol	vol	NOUN
ajst-19166	1	14	.	.	PROPN
ajst-19166	2	1	10	10	NUM
ajst-19166	2	2	,	,	PUNCT
ajst-19166	2	3	no	no	INTJ
ajst-19166	2	4	.	.	NOUN
ajst-19166	2	5	1	1	NUM
ajst-19166	2	6	,	,	PUNCT
ajst-19166	2	7	2024	2024	NUM
ajst-19166	2	8	146	146	NUM
ajst-19166	2	9	an	an	DET
ajst-19166	2	10	infrared	infrared	ADJ
ajst-19166	2	11	obstacle	obstacle	NOUN
ajst-19166	2	12	avoidance	avoidance	NOUN
ajst-19166	2	13	car	car	NOUN
ajst-19166	2	14	based	base	VERB
ajst-19166	2	15	on	on	ADP
ajst-19166	2	16	stm32	stm32	PROPN
ajst-19166	2	17	qiuli	qiuli	PROPN
ajst-19166	2	18	wang	wang	PROPN
ajst-19166	2	19	,	,	PUNCT
ajst-19166	2	20	jiying	jiye	VERB
ajst-19166	2	21	chen	chen	PROPN
ajst-19166	2	22	,	,	PUNCT
ajst-19166	3	1	zimo	zimo	VERB
ajst-19166	3	2	he	he	PRON
ajst-19166	3	3	,	,	PUNCT
ajst-19166	3	4	feiyang	feiyang	PROPN
ajst-19166	3	5	han	han	PROPN
ajst-19166	3	6	,	,	PUNCT
ajst-19166	3	7	jiayi	jiayi	PROPN
ajst-19166	3	8	liu	liu	PROPN
ajst-19166	3	9	school	school	PROPN
ajst-19166	3	10	of	of	ADP
ajst-19166	3	11	southwest	southwest	PROPN
ajst-19166	3	12	petroleum	petroleum	PROPN
ajst-19166	3	13	university	university	PROPN
ajst-19166	3	14	,	,	PUNCT
ajst-19166	3	15	chengdu	chengdu	PROPN
ajst-19166	3	16	610500	610500	NUM
ajst-19166	3	17	,	,	PUNCT
ajst-19166	3	18	china	china	PROPN
ajst-19166	3	19	abstract	abstract	PROPN
ajst-19166	3	20	:	:	PUNCT
ajst-19166	3	21	with	with	ADP
ajst-19166	3	22	the	the	DET
ajst-19166	3	23	rapid	rapid	ADJ
ajst-19166	3	24	development	development	NOUN
ajst-19166	3	25	and	and	CCONJ
ajst-19166	3	26	wide	wide	ADJ
ajst-19166	3	27	application	application	NOUN
ajst-19166	3	28	of	of	ADP
ajst-19166	3	29	artificial	artificial	ADJ
ajst-19166	3	30	intelligence	intelligence	NOUN
ajst-19166	3	31	technology	technology	NOUN
ajst-19166	3	32	,	,	PUNCT
ajst-19166	3	33	the	the	DET
ajst-19166	3	34	function	function	NOUN
ajst-19166	3	35	of	of	ADP
ajst-19166	3	36	intelligent	intelligent	ADJ
ajst-19166	3	37	obstacle	obstacle	NOUN
ajst-19166	3	38	avoidance	avoidance	NOUN
ajst-19166	3	39	vehicle	vehicle	NOUN
ajst-19166	3	40	is	be	AUX
ajst-19166	3	41	becoming	become	VERB
ajst-19166	3	42	increasingly	increasingly	ADV
ajst-19166	3	43	prominent	prominent	ADJ
ajst-19166	3	44	.	.	PUNCT
ajst-19166	4	1	this	this	DET
ajst-19166	4	2	article	article	NOUN
ajst-19166	4	3	presents	present	VERB
ajst-19166	4	4	a	a	DET
ajst-19166	4	5	design	design	NOUN
ajst-19166	4	6	and	and	CCONJ
ajst-19166	4	7	realization	realization	NOUN
ajst-19166	4	8	method	method	NOUN
ajst-19166	4	9	of	of	ADP
ajst-19166	4	10	infrared	infrared	ADJ
ajst-19166	4	11	obstacle	obstacle	NOUN
ajst-19166	4	12	avoidance	avoidance	NOUN
ajst-19166	4	13	intelligent	intelligent	ADJ
ajst-19166	4	14	car	car	NOUN
ajst-19166	4	15	based	base	VERB
ajst-19166	4	16	on	on	ADP
ajst-19166	4	17	stm32	stm32	PROPN
ajst-19166	4	18	mcu	mcu	PROPN
ajst-19166	4	19	.	.	PUNCT
ajst-19166	5	1	the	the	DET
ajst-19166	5	2	design	design	NOUN
ajst-19166	5	3	is	be	AUX
ajst-19166	5	4	driven	drive	VERB
ajst-19166	5	5	by	by	ADP
ajst-19166	5	6	two	two	NUM
ajst-19166	5	7	dc	dc	PROPN
ajst-19166	5	8	motors	motor	NOUN
ajst-19166	5	9	as	as	ADP
ajst-19166	5	10	main	main	ADJ
ajst-19166	5	11	power	power	NOUN
ajst-19166	5	12	sources	source	NOUN
ajst-19166	5	13	.	.	PUNCT
ajst-19166	6	1	the	the	DET
ajst-19166	6	2	motor	motor	PROPN
ajst-19166	6	3	drive	drive	PROPN
ajst-19166	6	4	circuit	circuit	NOUN
ajst-19166	6	5	adopts	adopt	VERB
ajst-19166	6	6	l298n	l298n	PROPN
ajst-19166	6	7	driver	driver	NOUN
ajst-19166	6	8	chip	chip	NOUN
ajst-19166	6	9	to	to	PART
ajst-19166	6	10	control	control	VERB
ajst-19166	6	11	the	the	DET
ajst-19166	6	12	dc	dc	PROPN
ajst-19166	6	13	motor	motor	NOUN
ajst-19166	6	14	to	to	PART
ajst-19166	6	15	achieve	achieve	VERB
ajst-19166	6	16	the	the	DET
ajst-19166	6	17	purpose	purpose	NOUN
ajst-19166	6	18	of	of	ADP
ajst-19166	6	19	controlling	control	VERB
ajst-19166	6	20	the	the	DET
ajst-19166	6	21	trolley	trolley	NOUN
ajst-19166	6	22	.	.	PUNCT
ajst-19166	7	1	the	the	DET
ajst-19166	7	2	infrared	infrared	ADJ
ajst-19166	7	3	obstacle	obstacle	NOUN
ajst-19166	7	4	-	-	PUNCT
ajst-19166	7	5	avoidance	avoidance	NOUN
ajst-19166	7	6	sensor	sensor	NOUN
ajst-19166	7	7	is	be	AUX
ajst-19166	7	8	used	use	VERB
ajst-19166	7	9	to	to	PART
ajst-19166	7	10	judge	judge	VERB
ajst-19166	7	11	obstacles	obstacle	NOUN
ajst-19166	7	12	and	and	CCONJ
ajst-19166	7	13	road	road	NOUN
ajst-19166	7	14	conditions	condition	NOUN
ajst-19166	7	15	,	,	PUNCT
ajst-19166	7	16	and	and	CCONJ
ajst-19166	7	17	the	the	DET
ajst-19166	7	18	distance	distance	NOUN
ajst-19166	7	19	between	between	ADP
ajst-19166	7	20	the	the	DET
ajst-19166	7	21	car	car	NOUN
ajst-19166	7	22	and	and	CCONJ
ajst-19166	7	23	obstacles	obstacle	NOUN
ajst-19166	7	24	is	be	AUX
ajst-19166	7	25	monitored	monitor	VERB
ajst-19166	7	26	in	in	ADP
ajst-19166	7	27	real	real	ADJ
ajst-19166	7	28	time	time	NOUN
ajst-19166	7	29	.	.	PUNCT
ajst-19166	8	1	the	the	DET
ajst-19166	8	2	error	error	NOUN
ajst-19166	8	3	caused	cause	VERB
ajst-19166	8	4	by	by	ADP
ajst-19166	8	5	external	external	ADJ
ajst-19166	8	6	physical	physical	ADJ
ajst-19166	8	7	condition	condition	NOUN
ajst-19166	8	8	can	can	AUX
ajst-19166	8	9	be	be	AUX
ajst-19166	8	10	eliminated	eliminate	VERB
ajst-19166	8	11	by	by	ADP
ajst-19166	8	12	the	the	DET
ajst-19166	8	13	calibration	calibration	NOUN
ajst-19166	8	14	and	and	CCONJ
ajst-19166	8	15	optimization	optimization	NOUN
ajst-19166	8	16	of	of	ADP
ajst-19166	8	17	the	the	DET
ajst-19166	8	18	infrared	infrared	ADJ
ajst-19166	8	19	obstacle	obstacle	NOUN
ajst-19166	8	20	avoidance	avoidance	NOUN
ajst-19166	8	21	module	module	NOUN
ajst-19166	8	22	and	and	CCONJ
ajst-19166	8	23	the	the	DET
ajst-19166	8	24	program	program	NOUN
ajst-19166	8	25	of	of	ADP
ajst-19166	8	26	the	the	DET
ajst-19166	8	27	single	single	ADJ
ajst-19166	8	28	-	-	PUNCT
ajst-19166	8	29	chip	chip	NOUN
ajst-19166	8	30	microcomputer	microcomputer	NOUN
ajst-19166	8	31	,	,	PUNCT
ajst-19166	8	32	so	so	SCONJ
ajst-19166	8	33	as	as	SCONJ
ajst-19166	8	34	to	to	PART
ajst-19166	8	35	achieve	achieve	VERB
ajst-19166	8	36	the	the	DET
ajst-19166	8	37	goal	goal	NOUN
ajst-19166	8	38	of	of	ADP
ajst-19166	8	39	accurate	accurate	ADJ
ajst-19166	8	40	location	location	NOUN
ajst-19166	8	41	of	of	ADP
ajst-19166	8	42	obstacles	obstacle	NOUN
ajst-19166	8	43	.	.	PUNCT
ajst-19166	9	1	keywords	keyword	NOUN
ajst-19166	9	2	:	:	PUNCT
ajst-19166	9	3	stm32	stm32	PROPN
ajst-19166	9	4	mcu	mcu	PROPN
ajst-19166	9	5	;	;	PUNCT
ajst-19166	9	6	infrared	infrared	ADJ
ajst-19166	9	7	sensor	sensor	NOUN
ajst-19166	9	8	;	;	PUNCT
ajst-19166	9	9	obstacle	obstacle	NOUN
ajst-19166	9	10	avoidance	avoidance	NOUN
ajst-19166	9	11	.	.	PUNCT
ajst-19166	10	1	1	1	X
ajst-19166	10	2	.	.	X
ajst-19166	10	3	introduction	introduction	NOUN
ajst-19166	10	4	in	in	ADP
ajst-19166	10	5	the	the	DET
ajst-19166	10	6	environment	environment	NOUN
ajst-19166	10	7	of	of	ADP
ajst-19166	10	8	the	the	DET
ajst-19166	10	9	rapid	rapid	ADJ
ajst-19166	10	10	development	development	NOUN
ajst-19166	10	11	of	of	ADP
ajst-19166	10	12	computer	computer	NOUN
ajst-19166	10	13	and	and	CCONJ
ajst-19166	10	14	internet	internet	NOUN
ajst-19166	10	15	of	of	ADP
ajst-19166	10	16	things	thing	NOUN
ajst-19166	10	17	technology	technology	NOUN
ajst-19166	10	18	,	,	PUNCT
ajst-19166	10	19	the	the	DET
ajst-19166	10	20	research	research	NOUN
ajst-19166	10	21	on	on	ADP
ajst-19166	10	22	automation	automation	NOUN
ajst-19166	10	23	technology	technology	NOUN
ajst-19166	10	24	is	be	AUX
ajst-19166	10	25	also	also	ADV
ajst-19166	10	26	continuously	continuously	ADV
ajst-19166	10	27	deepening	deepen	VERB
ajst-19166	10	28	.	.	PUNCT
ajst-19166	11	1	intelligent	intelligent	ADJ
ajst-19166	11	2	trolleys	trolley	NOUN
ajst-19166	11	3	are	be	AUX
ajst-19166	11	4	gradually	gradually	ADV
ajst-19166	11	5	emerging	emerge	VERB
ajst-19166	11	6	,	,	PUNCT
ajst-19166	11	7	which	which	PRON
ajst-19166	11	8	not	not	PART
ajst-19166	11	9	only	only	ADV
ajst-19166	11	10	become	become	VERB
ajst-19166	11	11	the	the	DET
ajst-19166	11	12	key	key	ADJ
ajst-19166	11	13	equipment	equipment	NOUN
ajst-19166	11	14	in	in	ADP
ajst-19166	11	15	the	the	DET
ajst-19166	11	16	fields	field	NOUN
ajst-19166	11	17	of	of	ADP
ajst-19166	11	18	automated	automate	VERB
ajst-19166	11	19	logistics	logistic	NOUN
ajst-19166	11	20	and	and	CCONJ
ajst-19166	11	21	transportation	transportation	NOUN
ajst-19166	11	22	,	,	PUNCT
ajst-19166	11	23	machinery	machinery	NOUN
ajst-19166	11	24	production	production	NOUN
ajst-19166	11	25	,	,	PUNCT
ajst-19166	11	26	but	but	CCONJ
ajst-19166	11	27	also	also	ADV
ajst-19166	11	28	can	can	AUX
ajst-19166	11	29	be	be	AUX
ajst-19166	11	30	widely	widely	ADV
ajst-19166	11	31	used	use	VERB
ajst-19166	11	32	in	in	ADP
ajst-19166	11	33	manufacturing	manufacturing	NOUN
ajst-19166	11	34	,	,	PUNCT
ajst-19166	11	35	military	military	NOUN
ajst-19166	11	36	,	,	PUNCT
ajst-19166	11	37	mining	mining	NOUN
ajst-19166	11	38	and	and	CCONJ
ajst-19166	11	39	other	other	ADJ
ajst-19166	11	40	fields	field	NOUN
ajst-19166	11	41	.	.	PUNCT
ajst-19166	12	1	under	under	ADP
ajst-19166	12	2	this	this	DET
ajst-19166	12	3	background	background	NOUN
ajst-19166	12	4	,	,	PUNCT
ajst-19166	12	5	this	this	DET
ajst-19166	12	6	paper	paper	NOUN
ajst-19166	12	7	designs	design	VERB
ajst-19166	12	8	an	an	DET
ajst-19166	12	9	intelligent	intelligent	ADJ
ajst-19166	12	10	infrared	infrared	ADJ
ajst-19166	12	11	obstacle	obstacle	NOUN
ajst-19166	12	12	avoidance	avoidance	NOUN
ajst-19166	12	13	car	car	NOUN
ajst-19166	12	14	,	,	PUNCT
ajst-19166	12	15	which	which	PRON
ajst-19166	12	16	is	be	AUX
ajst-19166	12	17	based	base	VERB
ajst-19166	12	18	on	on	ADP
ajst-19166	12	19	infrared	infrared	ADJ
ajst-19166	12	20	reflection	reflection	NOUN
ajst-19166	12	21	ranging	range	VERB
ajst-19166	12	22	algorithm	algorithm	NOUN
ajst-19166	12	23	to	to	PART
ajst-19166	12	24	avoid	avoid	VERB
ajst-19166	12	25	obstacles	obstacle	NOUN
ajst-19166	12	26	.	.	PUNCT
ajst-19166	13	1	after	after	ADP
ajst-19166	13	2	debugging	debugging	NOUN
ajst-19166	13	3	,	,	PUNCT
ajst-19166	13	4	the	the	DET
ajst-19166	13	5	obstacle	obstacle	NOUN
ajst-19166	13	6	avoidance	avoidance	NOUN
ajst-19166	13	7	trolley	trolley	NOUN
ajst-19166	13	8	can	can	AUX
ajst-19166	13	9	realize	realize	VERB
ajst-19166	13	10	the	the	DET
ajst-19166	13	11	function	function	NOUN
ajst-19166	13	12	of	of	ADP
ajst-19166	13	13	obstacle	obstacle	NOUN
ajst-19166	13	14	avoidance	avoidance	NOUN
ajst-19166	13	15	under	under	ADP
ajst-19166	13	16	various	various	ADJ
ajst-19166	13	17	road	road	NOUN
ajst-19166	13	18	conditions	condition	NOUN
ajst-19166	13	19	.	.	PUNCT
ajst-19166	14	1	2	2	X
ajst-19166	14	2	.	.	X
ajst-19166	14	3	the	the	DET
ajst-19166	14	4	overall	overall	ADJ
ajst-19166	14	5	design	design	NOUN
ajst-19166	14	6	the	the	DET
ajst-19166	14	7	intelligent	intelligent	ADJ
ajst-19166	14	8	obstacle	obstacle	NOUN
ajst-19166	14	9	avoidance	avoidance	NOUN
ajst-19166	14	10	trolley	trolley	NOUN
ajst-19166	14	11	system	system	NOUN
ajst-19166	14	12	based	base	VERB
ajst-19166	14	13	on	on	ADP
ajst-19166	14	14	stm32	stm32	PROPN
ajst-19166	14	15	is	be	AUX
ajst-19166	14	16	composed	compose	VERB
ajst-19166	14	17	of	of	ADP
ajst-19166	14	18	stm32	stm32	PROPN
ajst-19166	14	19	single	single	ADJ
ajst-19166	14	20	chip	chip	NOUN
ajst-19166	14	21	microcomputer	microcomputer	NOUN
ajst-19166	14	22	(	(	PUNCT
ajst-19166	14	23	stm32f103rct6	stm32f103rct6	PROPN
ajst-19166	14	24	)	)	PUNCT
ajst-19166	14	25	,	,	PUNCT
ajst-19166	14	26	infrared	infrare	VERB
ajst-19166	14	27	obstacle	obstacle	NOUN
ajst-19166	14	28	avoidance	avoidance	NOUN
ajst-19166	14	29	module	module	NOUN
ajst-19166	14	30	,	,	PUNCT
ajst-19166	14	31	dc	dc	PROPN
ajst-19166	14	32	motor	motor	NOUN
ajst-19166	14	33	module	module	NOUN
ajst-19166	14	34	,	,	PUNCT
ajst-19166	14	35	motor	motor	NOUN
ajst-19166	14	36	drive	drive	NOUN
ajst-19166	14	37	module	module	NOUN
ajst-19166	14	38	and	and	CCONJ
ajst-19166	14	39	power	power	NOUN
ajst-19166	14	40	module	module	NOUN
ajst-19166	14	41	.	.	PUNCT
ajst-19166	15	1	a	a	DET
ajst-19166	15	2	block	block	NOUN
ajst-19166	15	3	diagram	diagram	NOUN
ajst-19166	15	4	of	of	ADP
ajst-19166	15	5	the	the	DET
ajst-19166	15	6	system	system	NOUN
ajst-19166	15	7	is	be	AUX
ajst-19166	15	8	shown	show	VERB
ajst-19166	15	9	in	in	ADP
ajst-19166	15	10	fig	fig	NOUN
ajst-19166	15	11	.	.	PUNCT
ajst-19166	16	1	1	1	X
ajst-19166	16	2	.	.	X
ajst-19166	16	3	figure	figure	NOUN
ajst-19166	16	4	1	1	NUM
ajst-19166	16	5	.	.	PUNCT
ajst-19166	16	6	system	system	NOUN
ajst-19166	16	7	design	design	NOUN
ajst-19166	16	8	block	block	NOUN
ajst-19166	16	9	diagram	diagram	NOUN
ajst-19166	16	10	3	3	NUM
ajst-19166	16	11	.	.	PUNCT
ajst-19166	16	12	working	work	VERB
ajst-19166	16	13	principle	principle	ADJ
ajst-19166	16	14	infrared	infrared	ADJ
ajst-19166	16	15	sensors	sensor	NOUN
ajst-19166	16	16	are	be	AUX
ajst-19166	16	17	installed	instal	VERB
ajst-19166	16	18	on	on	ADP
ajst-19166	16	19	the	the	DET
ajst-19166	16	20	left	left	ADJ
ajst-19166	16	21	and	and	CCONJ
ajst-19166	16	22	right	right	ADJ
ajst-19166	16	23	sides	side	NOUN
ajst-19166	16	24	of	of	ADP
ajst-19166	16	25	the	the	DET
ajst-19166	16	26	front	front	NOUN
ajst-19166	16	27	of	of	ADP
ajst-19166	16	28	the	the	DET
ajst-19166	16	29	obstacle	obstacle	NOUN
ajst-19166	16	30	avoidance	avoidance	NOUN
ajst-19166	16	31	car	car	NOUN
ajst-19166	16	32	body	body	NOUN
ajst-19166	16	33	to	to	PART
ajst-19166	16	34	detect	detect	VERB
ajst-19166	16	35	obstacles	obstacle	NOUN
ajst-19166	16	36	in	in	ADP
ajst-19166	16	37	front	front	NOUN
ajst-19166	16	38	of	of	ADP
ajst-19166	16	39	it	it	PRON
ajst-19166	16	40	,	,	PUNCT
ajst-19166	16	41	which	which	PRON
ajst-19166	16	42	is	be	AUX
ajst-19166	16	43	used	use	VERB
ajst-19166	16	44	to	to	PART
ajst-19166	16	45	determine	determine	VERB
ajst-19166	16	46	whether	whether	SCONJ
ajst-19166	16	47	it	it	PRON
ajst-19166	16	48	is	be	AUX
ajst-19166	16	49	necessary	necessary	ADJ
ajst-19166	16	50	to	to	PART
ajst-19166	16	51	turn	turn	VERB
ajst-19166	16	52	and	and	CCONJ
ajst-19166	16	53	prevent	prevent	VERB
ajst-19166	16	54	the	the	DET
ajst-19166	16	55	car	car	NOUN
ajst-19166	16	56	from	from	ADP
ajst-19166	16	57	hitting	hit	VERB
ajst-19166	16	58	obstacles	obstacle	NOUN
ajst-19166	16	59	.	.	PUNCT
ajst-19166	17	1	the	the	DET
ajst-19166	17	2	single	single	ADJ
ajst-19166	17	3	chip	chip	NOUN
ajst-19166	17	4	microcomputer	microcomputer	NOUN
ajst-19166	17	5	receives	receive	VERB
ajst-19166	17	6	and	and	CCONJ
ajst-19166	17	7	processes	process	VERB
ajst-19166	17	8	the	the	DET
ajst-19166	17	9	input	input	NOUN
ajst-19166	17	10	information	information	NOUN
ajst-19166	17	11	,	,	PUNCT
ajst-19166	17	12	and	and	CCONJ
ajst-19166	17	13	outputs	output	VERB
ajst-19166	17	14	the	the	DET
ajst-19166	17	15	result	result	NOUN
ajst-19166	17	16	to	to	ADP
ajst-19166	17	17	the	the	DET
ajst-19166	17	18	motor	motor	NOUN
ajst-19166	17	19	drive	drive	NOUN
ajst-19166	17	20	module	module	NOUN
ajst-19166	17	21	to	to	PART
ajst-19166	17	22	control	control	VERB
ajst-19166	17	23	the	the	DET
ajst-19166	17	24	operation	operation	NOUN
ajst-19166	17	25	of	of	ADP
ajst-19166	17	26	the	the	DET
ajst-19166	17	27	dc	dc	PROPN
ajst-19166	17	28	motor	motor	NOUN
ajst-19166	17	29	.	.	PUNCT
ajst-19166	18	1	and	and	CCONJ
ajst-19166	18	2	by	by	ADP
ajst-19166	18	3	receiving	receive	VERB
ajst-19166	18	4	the	the	DET
ajst-19166	18	5	signal	signal	NOUN
ajst-19166	18	6	generated	generate	VERB
ajst-19166	18	7	by	by	ADP
ajst-19166	18	8	the	the	DET
ajst-19166	18	9	single	single	ADJ
ajst-19166	18	10	chip	chip	NOUN
ajst-19166	18	11	computer	computer	NOUN
ajst-19166	18	12	to	to	PART
ajst-19166	18	13	drive	drive	VERB
ajst-19166	18	14	the	the	DET
ajst-19166	18	15	motor	motor	NOUN
ajst-19166	18	16	operation	operation	NOUN
ajst-19166	18	17	,	,	PUNCT
ajst-19166	18	18	so	so	SCONJ
ajst-19166	18	19	as	as	SCONJ
ajst-19166	18	20	to	to	PART
ajst-19166	18	21	control	control	VERB
ajst-19166	18	22	the	the	DET
ajst-19166	18	23	direction	direction	NOUN
ajst-19166	18	24	and	and	CCONJ
ajst-19166	18	25	speed	speed	NOUN
ajst-19166	18	26	of	of	ADP
ajst-19166	18	27	the	the	DET
ajst-19166	18	28	car	car	NOUN
ajst-19166	18	29	.	.	PUNCT
ajst-19166	19	1	the	the	DET
ajst-19166	19	2	transmitter	transmitter	NOUN
ajst-19166	19	3	tube	tube	NOUN
ajst-19166	19	4	emits	emit	VERB
ajst-19166	19	5	infrared	infrare	VERB
ajst-19166	19	6	light	light	NOUN
ajst-19166	19	7	with	with	ADP
ajst-19166	19	8	a	a	DET
ajst-19166	19	9	wavelength	wavelength	NOUN
ajst-19166	19	10	of	of	ADP
ajst-19166	19	11	940	940	NUM
ajst-19166	19	12	nm	nm	NOUN
ajst-19166	19	13	.	.	PUNCT
ajst-19166	20	1	when	when	SCONJ
ajst-19166	20	2	an	an	DET
ajst-19166	20	3	obstacle	obstacle	NOUN
ajst-19166	20	4	(	(	PUNCT
ajst-19166	20	5	reflective	reflective	ADJ
ajst-19166	20	6	surface	surface	NOUN
ajst-19166	20	7	)	)	PUNCT
ajst-19166	20	8	is	be	AUX
ajst-19166	20	9	detected	detect	VERB
ajst-19166	20	10	in	in	ADP
ajst-19166	20	11	front	front	NOUN
ajst-19166	20	12	,	,	PUNCT
ajst-19166	20	13	the	the	DET
ajst-19166	20	14	infrared	infrared	ADJ
ajst-19166	20	15	light	light	NOUN
ajst-19166	20	16	is	be	AUX
ajst-19166	20	17	reflected	reflect	VERB
ajst-19166	20	18	back	back	ADV
ajst-19166	20	19	and	and	CCONJ
ajst-19166	20	20	received	receive	VERB
ajst-19166	20	21	by	by	ADP
ajst-19166	20	22	the	the	DET
ajst-19166	20	23	receiving	receive	VERB
ajst-19166	20	24	tube	tube	NOUN
ajst-19166	20	25	.	.	PUNCT
ajst-19166	21	1	after	after	ADP
ajst-19166	21	2	processing	process	VERB
ajst-19166	21	3	by	by	ADP
ajst-19166	21	4	the	the	DET
ajst-19166	21	5	comparison	comparison	NOUN
ajst-19166	21	6	circuit	circuit	NOUN
ajst-19166	21	7	,	,	PUNCT
ajst-19166	21	8	the	the	DET
ajst-19166	21	9	output	output	NOUN
ajst-19166	21	10	signal	signal	NOUN
ajst-19166	21	11	is	be	AUX
ajst-19166	21	12	sent	send	VERB
ajst-19166	21	13	to	to	ADP
ajst-19166	21	14	the	the	DET
ajst-19166	21	15	mcu	mcu	NOUN
ajst-19166	21	16	.	.	PUNCT
ajst-19166	22	1	the	the	DET
ajst-19166	22	2	single	single	ADJ
ajst-19166	22	3	-	-	PUNCT
ajst-19166	22	4	chip	chip	NOUN
ajst-19166	22	5	microcomputer	microcomputer	NOUN
ajst-19166	22	6	controls	control	VERB
ajst-19166	22	7	the	the	DET
ajst-19166	22	8	direction	direction	NOUN
ajst-19166	22	9	and	and	CCONJ
ajst-19166	22	10	speed	speed	NOUN
ajst-19166	22	11	of	of	ADP
ajst-19166	22	12	motor	motor	NOUN
ajst-19166	22	13	rotation	rotation	NOUN
ajst-19166	22	14	to	to	PART
ajst-19166	22	15	avoid	avoid	VERB
ajst-19166	22	16	obstacles	obstacle	NOUN
ajst-19166	22	17	.	.	PUNCT
ajst-19166	23	1	the	the	DET
ajst-19166	23	2	system	system	NOUN
ajst-19166	23	3	adopts	adopt	VERB
ajst-19166	23	4	12	12	NUM
ajst-19166	23	5	v	v	NOUN
ajst-19166	23	6	power	power	NOUN
ajst-19166	23	7	supply	supply	NOUN
ajst-19166	23	8	to	to	PART
ajst-19166	23	9	provide	provide	VERB
ajst-19166	23	10	a	a	DET
ajst-19166	23	11	large	large	ADJ
ajst-19166	23	12	current	current	NOUN
ajst-19166	23	13	for	for	ADP
ajst-19166	23	14	the	the	DET
ajst-19166	23	15	motor	motor	NOUN
ajst-19166	23	16	drive	drive	NOUN
ajst-19166	23	17	module	module	NOUN
ajst-19166	23	18	to	to	PART
ajst-19166	23	19	ensure	ensure	VERB
ajst-19166	23	20	the	the	DET
ajst-19166	23	21	normal	normal	ADJ
ajst-19166	23	22	operation	operation	NOUN
ajst-19166	23	23	of	of	ADP
ajst-19166	23	24	the	the	DET
ajst-19166	23	25	dc	dc	PROPN
ajst-19166	23	26	motor	motor	NOUN
ajst-19166	23	27	.	.	PUNCT
ajst-19166	24	1	4	4	X
ajst-19166	24	2	.	.	X
ajst-19166	24	3	hardware	hardware	NOUN
ajst-19166	24	4	design	design	NOUN
ajst-19166	24	5	4.1	4.1	NUM
ajst-19166	24	6	.	.	PUNCT
ajst-19166	25	1	main	main	ADJ
ajst-19166	25	2	control	control	NOUN
ajst-19166	25	3	circuit	circuit	NOUN
ajst-19166	25	4	stm32f103rct6	stm32f103rct6	PROPN
ajst-19166	25	5	is	be	AUX
ajst-19166	25	6	a	a	DET
ajst-19166	25	7	32	32	NUM
ajst-19166	25	8	-	-	PUNCT
ajst-19166	25	9	bit	bit	NOUN
ajst-19166	25	10	microcontroller	microcontroller	NOUN
ajst-19166	25	11	based	base	VERB
ajst-19166	25	12	on	on	ADP
ajst-19166	25	13	arm	arm	NOUN
ajst-19166	25	14	cortex	cortex	NOUN
ajst-19166	25	15	-	-	PUNCT
ajst-19166	25	16	m3	m3	PROPN
ajst-19166	25	17	kernel	kernel	NOUN
ajst-19166	25	18	,	,	PUNCT
ajst-19166	25	19	which	which	PRON
ajst-19166	25	20	has	have	VERB
ajst-19166	25	21	rich	rich	ADJ
ajst-19166	25	22	peripherals	peripheral	NOUN
ajst-19166	25	23	and	and	CCONJ
ajst-19166	25	24	high	high	ADJ
ajst-19166	25	25	performance	performance	NOUN
ajst-19166	25	26	processing	processing	NOUN
ajst-19166	25	27	capability	capability	NOUN
ajst-19166	25	28	.	.	PUNCT
ajst-19166	26	1	cooperate	cooperate	VERB
ajst-19166	26	2	with	with	ADP
ajst-19166	26	3	the	the	DET
ajst-19166	26	4	programming	programming	NOUN
ajst-19166	26	5	software	software	NOUN
ajst-19166	26	6	keil	keil	PROPN
ajst-19166	26	7	uvision5	uvision5	PROPN
ajst-19166	26	8	to	to	PART
ajst-19166	26	9	control	control	VERB
ajst-19166	26	10	the	the	DET
ajst-19166	26	11	power	power	NOUN
ajst-19166	26	12	supply	supply	NOUN
ajst-19166	26	13	burning	burn	VERB
ajst-19166	26	14	module	module	NOUN
ajst-19166	26	15	,	,	PUNCT
ajst-19166	26	16	power	power	NOUN
ajst-19166	26	17	supply	supply	NOUN
ajst-19166	26	18	module	module	NOUN
ajst-19166	26	19	,	,	PUNCT
ajst-19166	26	20	infrared	infrared	ADJ
ajst-19166	26	21	receiver	receiver	NOUN
ajst-19166	26	22	module	module	NOUN
ajst-19166	26	23	,	,	PUNCT
ajst-19166	26	24	motor	motor	NOUN
ajst-19166	26	25	drive	drive	NOUN
ajst-19166	26	26	module	module	NOUN
ajst-19166	26	27	and	and	CCONJ
ajst-19166	26	28	other	other	ADJ
ajst-19166	26	29	related	related	ADJ
ajst-19166	26	30	modules	module	NOUN
ajst-19166	26	31	.	.	PUNCT
ajst-19166	27	1	4.2	4.2	NUM
ajst-19166	27	2	.	.	PUNCT
ajst-19166	27	3	motor	motor	NOUN
ajst-19166	27	4	drive	drive	NOUN
ajst-19166	27	5	module	module	NOUN
ajst-19166	27	6	the	the	DET
ajst-19166	27	7	l298n	l298n	PROPN
ajst-19166	27	8	motor	motor	NOUN
ajst-19166	27	9	driver	driver	NOUN
ajst-19166	27	10	module	module	NOUN
ajst-19166	27	11	is	be	AUX
ajst-19166	27	12	a	a	DET
ajst-19166	27	13	double	double	ADJ
ajst-19166	27	14	h	h	NOUN
ajst-19166	27	15	-	-	PUNCT
ajst-19166	27	16	bridge	bridge	NOUN
ajst-19166	27	17	motor	motor	NOUN
ajst-19166	27	18	driver	driver	NOUN
ajst-19166	27	19	.	.	PUNCT
ajst-19166	28	1	the	the	DET
ajst-19166	28	2	working	work	VERB
ajst-19166	28	3	principle	principle	NOUN
ajst-19166	28	4	is	be	AUX
ajst-19166	28	5	to	to	PART
ajst-19166	28	6	control	control	VERB
ajst-19166	28	7	the	the	DET
ajst-19166	28	8	rotation	rotation	NOUN
ajst-19166	28	9	direction	direction	NOUN
ajst-19166	28	10	and	and	CCONJ
ajst-19166	28	11	speed	speed	NOUN
ajst-19166	28	12	of	of	ADP
ajst-19166	28	13	the	the	DET
ajst-19166	28	14	motor	motor	NOUN
ajst-19166	28	15	by	by	ADP
ajst-19166	28	16	controlling	control	VERB
ajst-19166	28	17	the	the	DET
ajst-19166	28	18	voltage	voltage	NOUN
ajst-19166	28	19	on	on	ADP
ajst-19166	28	20	the	the	DET
ajst-19166	28	21	h	h	NOUN
ajst-19166	28	22	-	-	PUNCT
ajst-19166	28	23	bridge	bridge	NOUN
ajst-19166	28	24	output	output	NOUN
ajst-19166	28	25	port	port	NOUN
ajst-19166	28	26	.	.	PUNCT
ajst-19166	29	1	when	when	SCONJ
ajst-19166	29	2	the	the	DET
ajst-19166	29	3	voltage	voltage	NOUN
ajst-19166	29	4	on	on	ADP
ajst-19166	29	5	the	the	DET
ajst-19166	29	6	output	output	NOUN
ajst-19166	29	7	port	port	NOUN
ajst-19166	29	8	is	be	AUX
ajst-19166	29	9	high	high	ADJ
ajst-19166	29	10	,	,	PUNCT
ajst-19166	29	11	a	a	DET
ajst-19166	29	12	switching	switch	VERB
ajst-19166	29	13	tube	tube	NOUN
ajst-19166	29	14	of	of	ADP
ajst-19166	29	15	the	the	DET
ajst-19166	29	16	h	h	NOUN
ajst-19166	29	17	-	-	PUNCT
ajst-19166	29	18	bridge	bridge	NOUN
ajst-19166	29	19	directs	direct	VERB
ajst-19166	29	20	the	the	DET
ajst-19166	29	21	current	current	NOUN
ajst-19166	29	22	to	to	ADP
ajst-19166	29	23	a	a	DET
ajst-19166	29	24	port	port	NOUN
ajst-19166	29	25	of	of	ADP
ajst-19166	29	26	the	the	DET
ajst-19166	29	27	motor	motor	NOUN
ajst-19166	29	28	.	.	PUNCT
ajst-19166	30	1	when	when	SCONJ
ajst-19166	30	2	the	the	DET
ajst-19166	30	3	current	current	NOUN
ajst-19166	30	4	on	on	ADP
ajst-19166	30	5	the	the	DET
ajst-19166	30	6	output	output	NOUN
ajst-19166	30	7	port	port	NOUN
ajst-19166	30	8	is	be	AUX
ajst-19166	30	9	low	low	ADJ
ajst-19166	30	10	,	,	PUNCT
ajst-19166	30	11	another	another	DET
ajst-19166	30	12	switching	switch	VERB
ajst-19166	30	13	tube	tube	NOUN
ajst-19166	30	14	of	of	ADP
ajst-19166	30	15	the	the	DET
ajst-19166	30	16	h	h	NOUN
ajst-19166	30	17	-	-	PUNCT
ajst-19166	30	18	bridge	bridge	NOUN
ajst-19166	30	19	will	will	AUX
ajst-19166	30	20	direct	direct	VERB
ajst-19166	30	21	the	the	DET
ajst-19166	30	22	current	current	NOUN
ajst-19166	30	23	to	to	ADP
ajst-19166	30	24	the	the	DET
ajst-19166	30	25	other	other	ADJ
ajst-19166	30	26	port	port	NOUN
ajst-19166	30	27	of	of	ADP
ajst-19166	30	28	the	the	DET
ajst-19166	30	29	motor	motor	NOUN
ajst-19166	30	30	.	.	PUNCT
ajst-19166	31	1	the	the	DET
ajst-19166	31	2	rotation	rotation	NOUN
ajst-19166	31	3	direction	direction	NOUN
ajst-19166	31	4	of	of	ADP
ajst-19166	31	5	the	the	DET
ajst-19166	31	6	147	147	NUM
ajst-19166	31	7	motor	motor	NOUN
ajst-19166	31	8	is	be	AUX
ajst-19166	31	9	controlled	control	VERB
ajst-19166	31	10	by	by	ADP
ajst-19166	31	11	alternating	alternate	VERB
ajst-19166	31	12	high	high	ADJ
ajst-19166	31	13	and	and	CCONJ
ajst-19166	31	14	low	low	ADJ
ajst-19166	31	15	voltage	voltage	NOUN
ajst-19166	31	16	output	output	NOUN
ajst-19166	31	17	.	.	PUNCT
ajst-19166	32	1	in	in	ADP
ajst-19166	32	2	order	order	NOUN
ajst-19166	32	3	to	to	PART
ajst-19166	32	4	control	control	VERB
ajst-19166	32	5	the	the	DET
ajst-19166	32	6	motor	motor	NOUN
ajst-19166	32	7	rotation	rotation	NOUN
ajst-19166	32	8	speed	speed	NOUN
ajst-19166	32	9	,	,	PUNCT
ajst-19166	32	10	the	the	DET
ajst-19166	32	11	motor	motor	NOUN
ajst-19166	32	12	drive	drive	NOUN
ajst-19166	32	13	module	module	NOUN
ajst-19166	32	14	uses	use	VERB
ajst-19166	32	15	pwm	pwm	NOUN
ajst-19166	32	16	(	(	PUNCT
ajst-19166	32	17	pulse	pulse	NOUN
ajst-19166	32	18	width	width	ADJ
ajst-19166	32	19	modulation	modulation	NOUN
ajst-19166	32	20	)	)	PUNCT
ajst-19166	32	21	technology	technology	NOUN
ajst-19166	32	22	.	.	PUNCT
ajst-19166	33	1	the	the	DET
ajst-19166	33	2	speed	speed	NOUN
ajst-19166	33	3	of	of	ADP
ajst-19166	33	4	the	the	DET
ajst-19166	33	5	motor	motor	NOUN
ajst-19166	33	6	is	be	AUX
ajst-19166	33	7	controlled	control	VERB
ajst-19166	33	8	by	by	ADP
ajst-19166	33	9	changing	change	VERB
ajst-19166	33	10	the	the	DET
ajst-19166	33	11	voltage	voltage	NOUN
ajst-19166	33	12	time	time	NOUN
ajst-19166	33	13	on	on	ADP
ajst-19166	33	14	the	the	DET
ajst-19166	33	15	output	output	NOUN
ajst-19166	33	16	port	port	NOUN
ajst-19166	33	17	.	.	PUNCT
ajst-19166	34	1	the	the	PRON
ajst-19166	34	2	longer	long	ADV
ajst-19166	34	3	the	the	DET
ajst-19166	34	4	time	time	NOUN
ajst-19166	34	5	on	on	ADP
ajst-19166	34	6	the	the	DET
ajst-19166	34	7	output	output	NOUN
ajst-19166	34	8	port	port	NOUN
ajst-19166	34	9	,	,	PUNCT
ajst-19166	34	10	the	the	PRON
ajst-19166	34	11	faster	fast	ADV
ajst-19166	34	12	the	the	DET
ajst-19166	34	13	motor	motor	NOUN
ajst-19166	34	14	speed	speed	NOUN
ajst-19166	34	15	.	.	PUNCT
ajst-19166	35	1	the	the	DET
ajst-19166	35	2	shorter	short	ADJ
ajst-19166	35	3	the	the	DET
ajst-19166	35	4	voltage	voltage	NOUN
ajst-19166	35	5	time	time	NOUN
ajst-19166	35	6	on	on	ADP
ajst-19166	35	7	the	the	DET
ajst-19166	35	8	output	output	NOUN
ajst-19166	35	9	port	port	NOUN
ajst-19166	35	10	,	,	PUNCT
ajst-19166	35	11	the	the	PRON
ajst-19166	35	12	slower	slow	ADJ
ajst-19166	35	13	the	the	DET
ajst-19166	35	14	motor	motor	NOUN
ajst-19166	35	15	speed	speed	NOUN
ajst-19166	35	16	will	will	AUX
ajst-19166	35	17	be	be	AUX
ajst-19166	35	18	.	.	PUNCT
ajst-19166	36	1	the	the	DET
ajst-19166	36	2	circuit	circuit	NOUN
ajst-19166	36	3	schematic	schematic	ADJ
ajst-19166	36	4	diagram	diagram	NOUN
ajst-19166	36	5	is	be	AUX
ajst-19166	36	6	shown	show	VERB
ajst-19166	36	7	in	in	ADP
ajst-19166	36	8	fig	fig	NOUN
ajst-19166	36	9	.	.	PUNCT
ajst-19166	37	1	2	2	X
ajst-19166	37	2	.	.	X
ajst-19166	37	3	figure	figure	NOUN
ajst-19166	37	4	2	2	NUM
ajst-19166	37	5	.	.	PUNCT
ajst-19166	37	6	schematic	schematic	ADJ
ajst-19166	37	7	diagram	diagram	NOUN
ajst-19166	37	8	of	of	ADP
ajst-19166	37	9	l298n	l298n	PROPN
ajst-19166	37	10	circuit	circuit	NOUN
ajst-19166	37	11	4.3	4.3	NUM
ajst-19166	37	12	.	.	PUNCT
ajst-19166	38	1	infrared	infrared	PROPN
ajst-19166	38	2	obstacle	obstacle	NOUN
ajst-19166	38	3	avoidance	avoidance	NOUN
ajst-19166	38	4	module	module	NOUN
ajst-19166	38	5	this	this	DET
ajst-19166	38	6	design	design	NOUN
ajst-19166	38	7	uses	use	VERB
ajst-19166	38	8	infrared	infrared	ADJ
ajst-19166	38	9	obstacle	obstacle	NOUN
ajst-19166	38	10	avoidance	avoidance	NOUN
ajst-19166	38	11	module	module	NOUN
ajst-19166	38	12	for	for	ADP
ajst-19166	38	13	obstacle	obstacle	NOUN
ajst-19166	38	14	avoidance	avoidance	NOUN
ajst-19166	38	15	,	,	PUNCT
ajst-19166	38	16	which	which	PRON
ajst-19166	38	17	has	have	VERB
ajst-19166	38	18	a	a	DET
ajst-19166	38	19	pair	pair	NOUN
ajst-19166	38	20	of	of	ADP
ajst-19166	38	21	infrared	infrared	ADJ
ajst-19166	38	22	transmitting	transmitting	NOUN
ajst-19166	38	23	and	and	CCONJ
ajst-19166	38	24	receiving	receive	VERB
ajst-19166	38	25	tubes	tube	NOUN
ajst-19166	38	26	.	.	PUNCT
ajst-19166	39	1	lm393	lm393	PROPN
ajst-19166	39	2	chip	chip	NOUN
ajst-19166	39	3	is	be	AUX
ajst-19166	39	4	used	use	VERB
ajst-19166	39	5	inside	inside	ADP
ajst-19166	39	6	the	the	DET
ajst-19166	39	7	module	module	NOUN
ajst-19166	39	8	,	,	PUNCT
ajst-19166	39	9	and	and	CCONJ
ajst-19166	39	10	the	the	DET
ajst-19166	39	11	internal	internal	ADJ
ajst-19166	39	12	circuit	circuit	NOUN
ajst-19166	39	13	diagram	diagram	NOUN
ajst-19166	39	14	is	be	AUX
ajst-19166	39	15	shown	show	VERB
ajst-19166	39	16	in	in	ADP
ajst-19166	39	17	fig	fig	NOUN
ajst-19166	39	18	.	.	PUNCT
ajst-19166	40	1	3	3	X
ajst-19166	40	2	.	.	X
ajst-19166	40	3	figure	figure	NOUN
ajst-19166	40	4	3	3	NUM
ajst-19166	40	5	.	.	PUNCT
ajst-19166	40	6	schematic	schematic	ADJ
ajst-19166	40	7	diagram	diagram	NOUN
ajst-19166	40	8	of	of	ADP
ajst-19166	40	9	infrared	infrared	ADJ
ajst-19166	40	10	obstacle	obstacle	NOUN
ajst-19166	40	11	avoidance	avoidance	NOUN
ajst-19166	40	12	circuit	circuit	NOUN
ajst-19166	40	13	the	the	DET
ajst-19166	40	14	working	work	VERB
ajst-19166	40	15	principle	principle	NOUN
ajst-19166	40	16	is	be	AUX
ajst-19166	40	17	that	that	SCONJ
ajst-19166	40	18	the	the	DET
ajst-19166	40	19	transmitter	transmitter	NOUN
ajst-19166	40	20	tube	tube	NOUN
ajst-19166	40	21	emits	emit	VERB
ajst-19166	40	22	infrared	infrare	VERB
ajst-19166	40	23	light	light	ADJ
ajst-19166	40	24	signal	signal	NOUN
ajst-19166	40	25	with	with	ADP
ajst-19166	40	26	wavelength	wavelength	NOUN
ajst-19166	40	27	of	of	ADP
ajst-19166	40	28	940	940	NUM
ajst-19166	40	29	nm	nm	NOUN
ajst-19166	40	30	,	,	PUNCT
ajst-19166	40	31	and	and	CCONJ
ajst-19166	40	32	when	when	SCONJ
ajst-19166	40	33	encountering	encounter	VERB
ajst-19166	40	34	obstacles	obstacle	NOUN
ajst-19166	40	35	,	,	PUNCT
ajst-19166	40	36	it	it	PRON
ajst-19166	40	37	will	will	AUX
ajst-19166	40	38	reflect	reflect	VERB
ajst-19166	40	39	back	back	ADP
ajst-19166	40	40	and	and	CCONJ
ajst-19166	40	41	receive	receive	VERB
ajst-19166	40	42	it	it	PRON
ajst-19166	40	43	through	through	ADP
ajst-19166	40	44	the	the	DET
ajst-19166	40	45	receiving	receive	VERB
ajst-19166	40	46	tube	tube	NOUN
ajst-19166	40	47	.	.	PUNCT
ajst-19166	41	1	after	after	ADP
ajst-19166	41	2	processing	process	VERB
ajst-19166	41	3	by	by	ADP
ajst-19166	41	4	the	the	DET
ajst-19166	41	5	comparator	comparator	NOUN
ajst-19166	41	6	circuit	circuit	NOUN
ajst-19166	41	7	,	,	PUNCT
ajst-19166	41	8	the	the	DET
ajst-19166	41	9	green	green	ADJ
ajst-19166	41	10	indicator	indicator	NOUN
ajst-19166	41	11	light	light	NOUN
ajst-19166	41	12	is	be	AUX
ajst-19166	41	13	on	on	ADV
ajst-19166	41	14	,	,	PUNCT
ajst-19166	41	15	and	and	CCONJ
ajst-19166	41	16	the	the	DET
ajst-19166	41	17	signal	signal	ADJ
ajst-19166	41	18	output	output	NOUN
ajst-19166	41	19	interface	interface	NOUN
ajst-19166	41	20	will	will	AUX
ajst-19166	41	21	output	output	VERB
ajst-19166	41	22	a	a	DET
ajst-19166	41	23	low	low	ADJ
ajst-19166	41	24	level	level	NOUN
ajst-19166	41	25	digital	digital	ADJ
ajst-19166	41	26	signal	signal	NOUN
ajst-19166	41	27	.	.	PUNCT
ajst-19166	42	1	if	if	SCONJ
ajst-19166	42	2	you	you	PRON
ajst-19166	42	3	want	want	VERB
ajst-19166	42	4	to	to	PART
ajst-19166	42	5	change	change	VERB
ajst-19166	42	6	the	the	DET
ajst-19166	42	7	detection	detection	NOUN
ajst-19166	42	8	distance	distance	NOUN
ajst-19166	42	9	of	of	ADP
ajst-19166	42	10	the	the	DET
ajst-19166	42	11	infrared	infrared	ADJ
ajst-19166	42	12	obstacle	obstacle	NOUN
ajst-19166	42	13	avoidance	avoidance	NOUN
ajst-19166	42	14	module	module	NOUN
ajst-19166	42	15	,	,	PUNCT
ajst-19166	42	16	it	it	PRON
ajst-19166	42	17	can	can	AUX
ajst-19166	42	18	be	be	AUX
ajst-19166	42	19	adjusted	adjust	VERB
ajst-19166	42	20	through	through	ADP
ajst-19166	42	21	the	the	DET
ajst-19166	42	22	potentiometer	potentiometer	NOUN
ajst-19166	42	23	knob	knob	NOUN
ajst-19166	42	24	,	,	PUNCT
ajst-19166	42	25	and	and	CCONJ
ajst-19166	42	26	the	the	DET
ajst-19166	42	27	effective	effective	ADJ
ajst-19166	42	28	detection	detection	NOUN
ajst-19166	42	29	distance	distance	NOUN
ajst-19166	42	30	range	range	NOUN
ajst-19166	42	31	is	be	AUX
ajst-19166	42	32	2	2	NUM
ajst-19166	42	33	~	~	SYM
ajst-19166	42	34	30	30	NUM
ajst-19166	42	35	cm	cm	NOUN
ajst-19166	42	36	.	.	PUNCT
ajst-19166	43	1	when	when	SCONJ
ajst-19166	43	2	the	the	DET
ajst-19166	43	3	emitted	emitted	ADJ
ajst-19166	43	4	infrared	infrared	NOUN
ajst-19166	43	5	is	be	AUX
ajst-19166	43	6	not	not	PART
ajst-19166	43	7	reflected	reflect	VERB
ajst-19166	43	8	back	back	ADV
ajst-19166	43	9	or	or	CCONJ
ajst-19166	43	10	is	be	AUX
ajst-19166	43	11	reflected	reflect	VERB
ajst-19166	43	12	back	back	ADV
ajst-19166	43	13	but	but	CCONJ
ajst-19166	43	14	the	the	DET
ajst-19166	43	15	intensity	intensity	NOUN
ajst-19166	43	16	is	be	AUX
ajst-19166	43	17	not	not	PART
ajst-19166	43	18	large	large	ADJ
ajst-19166	43	19	enough	enough	ADV
ajst-19166	43	20	,	,	PUNCT
ajst-19166	43	21	the	the	DET
ajst-19166	43	22	infrared	infrared	NOUN
ajst-19166	43	23	receiving	receive	VERB
ajst-19166	43	24	tube	tube	NOUN
ajst-19166	43	25	is	be	AUX
ajst-19166	43	26	always	always	ADV
ajst-19166	43	27	in	in	ADP
ajst-19166	43	28	the	the	DET
ajst-19166	43	29	off	off	ADJ
ajst-19166	43	30	state	state	NOUN
ajst-19166	43	31	,	,	PUNCT
ajst-19166	43	32	the	the	DET
ajst-19166	43	33	signal	signal	ADJ
ajst-19166	43	34	output	output	NOUN
ajst-19166	43	35	interface	interface	NOUN
ajst-19166	43	36	is	be	AUX
ajst-19166	43	37	a	a	DET
ajst-19166	43	38	high	high	ADJ
ajst-19166	43	39	level	level	NOUN
ajst-19166	43	40	of	of	ADP
ajst-19166	43	41	digital	digital	ADJ
ajst-19166	43	42	signal	signal	NOUN
ajst-19166	43	43	,	,	PUNCT
ajst-19166	43	44	and	and	CCONJ
ajst-19166	43	45	the	the	DET
ajst-19166	43	46	green	green	ADJ
ajst-19166	43	47	indicator	indicator	NOUN
ajst-19166	43	48	is	be	AUX
ajst-19166	43	49	extinguished	extinguish	VERB
ajst-19166	43	50	.	.	PUNCT
ajst-19166	44	1	the	the	DET
ajst-19166	44	2	sensor	sensor	NOUN
ajst-19166	44	3	module	module	NOUN
ajst-19166	44	4	has	have	VERB
ajst-19166	44	5	strong	strong	ADJ
ajst-19166	44	6	adaptability	adaptability	NOUN
ajst-19166	44	7	to	to	ADP
ajst-19166	44	8	environmental	environmental	ADJ
ajst-19166	44	9	light	light	NOUN
ajst-19166	44	10	,	,	PUNCT
ajst-19166	44	11	can	can	AUX
ajst-19166	44	12	be	be	AUX
ajst-19166	44	13	adjusted	adjust	VERB
ajst-19166	44	14	by	by	ADP
ajst-19166	44	15	potentiometer	potentiometer	NOUN
ajst-19166	44	16	,	,	PUNCT
ajst-19166	44	17	easy	easy	ADJ
ajst-19166	44	18	assembly	assembly	NOUN
ajst-19166	44	19	,	,	PUNCT
ajst-19166	44	20	easy	easy	ADJ
ajst-19166	44	21	to	to	PART
ajst-19166	44	22	use	use	VERB
ajst-19166	44	23	,	,	PUNCT
ajst-19166	44	24	etc	etc	X
ajst-19166	44	25	.	.	X
ajst-19166	45	1	it	it	PRON
ajst-19166	45	2	can	can	AUX
ajst-19166	45	3	be	be	AUX
ajst-19166	45	4	widely	widely	ADV
ajst-19166	45	5	used	use	VERB
ajst-19166	45	6	in	in	ADP
ajst-19166	45	7	many	many	ADJ
ajst-19166	45	8	occasions	occasion	NOUN
ajst-19166	45	9	such	such	ADJ
ajst-19166	45	10	as	as	ADP
ajst-19166	45	11	robot	robot	NOUN
ajst-19166	45	12	obstacle	obstacle	NOUN
ajst-19166	45	13	avoidance	avoidance	NOUN
ajst-19166	45	14	,	,	PUNCT
ajst-19166	45	15	obstacle	obstacle	NOUN
ajst-19166	45	16	avoidance	avoidance	NOUN
ajst-19166	45	17	car	car	NOUN
ajst-19166	45	18	,	,	PUNCT
ajst-19166	45	19	assembly	assembly	NOUN
ajst-19166	45	20	line	line	NOUN
ajst-19166	45	21	counting	counting	NOUN
ajst-19166	45	22	and	and	CCONJ
ajst-19166	45	23	black	black	ADJ
ajst-19166	45	24	and	and	CCONJ
ajst-19166	45	25	white	white	ADJ
ajst-19166	45	26	line	line	NOUN
ajst-19166	45	27	tracking	tracking	NOUN
ajst-19166	45	28	.	.	PUNCT
ajst-19166	46	1	the	the	DET
ajst-19166	46	2	working	work	VERB
ajst-19166	46	3	principle	principle	PROPN
ajst-19166	46	4	block	block	NOUN
ajst-19166	46	5	diagram	diagram	NOUN
ajst-19166	46	6	is	be	AUX
ajst-19166	46	7	shown	show	VERB
ajst-19166	46	8	in	in	ADP
ajst-19166	46	9	fig	fig	NOUN
ajst-19166	46	10	.	.	PUNCT
ajst-19166	47	1	4	4	X
ajst-19166	47	2	.	.	X
ajst-19166	47	3	figure	figure	NOUN
ajst-19166	47	4	4	4	NUM
ajst-19166	47	5	.	.	PUNCT
ajst-19166	48	1	working	work	VERB
ajst-19166	48	2	principle	principle	NOUN
ajst-19166	48	3	of	of	ADP
ajst-19166	48	4	infrared	infrared	ADJ
ajst-19166	48	5	sensor	sensor	NOUN
ajst-19166	48	6	5	5	NUM
ajst-19166	48	7	.	.	PUNCT
ajst-19166	48	8	software	software	VERB
ajst-19166	48	9	the	the	DET
ajst-19166	48	10	system	system	NOUN
ajst-19166	48	11	software	software	NOUN
ajst-19166	48	12	is	be	AUX
ajst-19166	48	13	programmed	program	VERB
ajst-19166	48	14	in	in	ADP
ajst-19166	48	15	c	c	NOUN
ajst-19166	48	16	language	language	NOUN
ajst-19166	48	17	and	and	CCONJ
ajst-19166	48	18	compiled	compile	VERB
ajst-19166	48	19	with	with	ADP
ajst-19166	48	20	keil	keil	PROPN
ajst-19166	48	21	μvision5	μvision5	PROPN
ajst-19166	48	22	.	.	PUNCT
ajst-19166	49	1	first	first	ADV
ajst-19166	49	2	of	of	ADP
ajst-19166	49	3	all	all	PRON
ajst-19166	49	4	,	,	PUNCT
ajst-19166	49	5	each	each	DET
ajst-19166	49	6	module	module	NOUN
ajst-19166	49	7	is	be	AUX
ajst-19166	49	8	initialized	initialize	VERB
ajst-19166	49	9	and	and	CCONJ
ajst-19166	49	10	the	the	DET
ajst-19166	49	11	data	datum	NOUN
ajst-19166	49	12	stored	store	VERB
ajst-19166	49	13	before	before	ADV
ajst-19166	49	14	is	be	AUX
ajst-19166	49	15	cleared	clear	VERB
ajst-19166	49	16	.	.	PUNCT
ajst-19166	50	1	then	then	ADV
ajst-19166	50	2	the	the	DET
ajst-19166	50	3	sensor	sensor	NOUN
ajst-19166	50	4	sends	send	VERB
ajst-19166	50	5	the	the	DET
ajst-19166	50	6	obtained	obtain	VERB
ajst-19166	50	7	information	information	NOUN
ajst-19166	50	8	to	to	ADP
ajst-19166	50	9	the	the	DET
ajst-19166	50	10	pin	pin	NOUN
ajst-19166	50	11	of	of	ADP
ajst-19166	50	12	the	the	DET
ajst-19166	50	13	single	single	ADJ
ajst-19166	50	14	chip	chip	NOUN
ajst-19166	50	15	microcomputer	microcomputer	NOUN
ajst-19166	50	16	.	.	PUNCT
ajst-19166	51	1	after	after	ADP
ajst-19166	51	2	judging	judge	VERB
ajst-19166	51	3	and	and	CCONJ
ajst-19166	51	4	processing	processing	NOUN
ajst-19166	51	5	,	,	PUNCT
ajst-19166	51	6	the	the	DET
ajst-19166	51	7	single	single	ADJ
ajst-19166	51	8	chip	chip	NOUN
ajst-19166	51	9	microcomputer	microcomputer	NOUN
ajst-19166	51	10	realizes	realize	VERB
ajst-19166	51	11	the	the	DET
ajst-19166	51	12	autonomous	autonomous	ADJ
ajst-19166	51	13	control	control	NOUN
ajst-19166	51	14	of	of	ADP
ajst-19166	51	15	the	the	DET
ajst-19166	51	16	car	car	NOUN
ajst-19166	51	17	.	.	PUNCT
ajst-19166	52	1	in	in	ADP
ajst-19166	52	2	this	this	DET
ajst-19166	52	3	design	design	NOUN
ajst-19166	52	4	,	,	PUNCT
ajst-19166	52	5	the	the	DET
ajst-19166	52	6	obstacle	obstacle	NOUN
ajst-19166	52	7	avoidance	avoidance	NOUN
ajst-19166	52	8	program	program	NOUN
ajst-19166	52	9	is	be	AUX
ajst-19166	52	10	the	the	DET
ajst-19166	52	11	basis	basis	NOUN
ajst-19166	52	12	of	of	ADP
ajst-19166	52	13	line	line	NOUN
ajst-19166	52	14	avoidance	avoidance	NOUN
ajst-19166	52	15	and	and	CCONJ
ajst-19166	52	16	inclined	inclined	ADJ
ajst-19166	52	17	plane	plane	NOUN
ajst-19166	52	18	obstacle	obstacle	NOUN
ajst-19166	52	19	avoidance	avoidance	NOUN
ajst-19166	52	20	.	.	PUNCT
ajst-19166	53	1	the	the	DET
ajst-19166	53	2	obstacle	obstacle	NOUN
ajst-19166	53	3	distance	distance	NOUN
ajst-19166	53	4	set	set	VERB
ajst-19166	53	5	in	in	ADP
ajst-19166	53	6	this	this	DET
ajst-19166	53	7	design	design	NOUN
ajst-19166	53	8	is	be	AUX
ajst-19166	53	9	15	15	NUM
ajst-19166	53	10	cm	cm	NOUN
ajst-19166	53	11	,	,	PUNCT
ajst-19166	53	12	that	that	ADV
ajst-19166	53	13	is	is	ADV
ajst-19166	53	14	,	,	PUNCT
ajst-19166	53	15	when	when	SCONJ
ajst-19166	53	16	the	the	DET
ajst-19166	53	17	distance	distance	NOUN
ajst-19166	53	18	between	between	ADP
ajst-19166	53	19	the	the	DET
ajst-19166	53	20	object	object	NOUN
ajst-19166	53	21	in	in	ADP
ajst-19166	53	22	front	front	NOUN
ajst-19166	53	23	and	and	CCONJ
ajst-19166	53	24	the	the	DET
ajst-19166	53	25	car	car	NOUN
ajst-19166	53	26	measured	measure	VERB
ajst-19166	53	27	by	by	ADP
ajst-19166	53	28	the	the	DET
ajst-19166	53	29	ultrasonic	ultrasonic	ADJ
ajst-19166	53	30	sensor	sensor	NOUN
ajst-19166	53	31	is	be	AUX
ajst-19166	53	32	no	no	DET
ajst-19166	53	33	more	more	ADJ
ajst-19166	53	34	than	than	ADP
ajst-19166	53	35	15	15	NUM
ajst-19166	53	36	cm	cm	NOUN
ajst-19166	53	37	,	,	PUNCT
ajst-19166	53	38	it	it	PRON
ajst-19166	53	39	will	will	AUX
ajst-19166	53	40	be	be	AUX
ajst-19166	53	41	considered	consider	VERB
ajst-19166	53	42	that	that	SCONJ
ajst-19166	53	43	there	there	PRON
ajst-19166	53	44	is	be	VERB
ajst-19166	53	45	an	an	DET
ajst-19166	53	46	obstacle	obstacle	NOUN
ajst-19166	53	47	in	in	ADP
ajst-19166	53	48	front	front	NOUN
ajst-19166	53	49	,	,	PUNCT
ajst-19166	53	50	and	and	CCONJ
ajst-19166	53	51	the	the	DET
ajst-19166	53	52	corresponding	correspond	VERB
ajst-19166	53	53	obstacle	obstacle	NOUN
ajst-19166	53	54	avoidance	avoidance	NOUN
ajst-19166	53	55	operation	operation	NOUN
ajst-19166	53	56	will	will	AUX
ajst-19166	53	57	be	be	AUX
ajst-19166	53	58	carried	carry	VERB
ajst-19166	53	59	out	out	ADP
ajst-19166	53	60	.	.	PUNCT
ajst-19166	54	1	the	the	DET
ajst-19166	54	2	flow	flow	NOUN
ajst-19166	54	3	of	of	ADP
ajst-19166	54	4	obstacle	obstacle	NOUN
ajst-19166	54	5	avoidance	avoidance	NOUN
ajst-19166	54	6	program	program	NOUN
ajst-19166	54	7	is	be	AUX
ajst-19166	54	8	shown	show	VERB
ajst-19166	54	9	in	in	ADP
ajst-19166	54	10	fig	fig	NOUN
ajst-19166	54	11	.	.	PUNCT
ajst-19166	55	1	5	5	X
ajst-19166	55	2	.	.	X
ajst-19166	55	3	figure	figure	NOUN
ajst-19166	55	4	5	5	NUM
ajst-19166	55	5	.	.	PUNCT
ajst-19166	56	1	flowchart	flowchart	NOUN
ajst-19166	56	2	of	of	ADP
ajst-19166	56	3	obstacle	obstacle	PROPN
ajst-19166	56	4	avoidance	avoidance	NOUN
ajst-19166	56	5	program	program	NOUN
ajst-19166	56	6	6	6	NUM
ajst-19166	56	7	.	.	PUNCT
ajst-19166	57	1	debug	debug	NOUN
ajst-19166	57	2	results	result	NOUN
ajst-19166	57	3	first	first	ADV
ajst-19166	58	1	,	,	PUNCT
ajst-19166	58	2	the	the	DET
ajst-19166	58	3	site	site	NOUN
ajst-19166	58	4	is	be	AUX
ajst-19166	58	5	cleared	clear	VERB
ajst-19166	58	6	to	to	PART
ajst-19166	58	7	ensure	ensure	VERB
ajst-19166	58	8	that	that	SCONJ
ajst-19166	58	9	there	there	PRON
ajst-19166	58	10	is	be	VERB
ajst-19166	58	11	enough	enough	ADJ
ajst-19166	58	12	space	space	NOUN
ajst-19166	58	13	for	for	SCONJ
ajst-19166	58	14	the	the	DET
ajst-19166	58	15	car	car	NOUN
ajst-19166	58	16	to	to	PART
ajst-19166	58	17	drive	drive	VERB
ajst-19166	58	18	,	,	PUNCT
ajst-19166	58	19	and	and	CCONJ
ajst-19166	58	20	then	then	ADV
ajst-19166	58	21	to	to	PART
ajst-19166	58	22	ensure	ensure	VERB
ajst-19166	58	23	that	that	SCONJ
ajst-19166	58	24	there	there	PRON
ajst-19166	58	25	are	be	VERB
ajst-19166	58	26	no	no	DET
ajst-19166	58	27	obstacles	obstacle	NOUN
ajst-19166	58	28	to	to	PART
ajst-19166	58	29	test	test	VERB
ajst-19166	58	30	the	the	DET
ajst-19166	58	31	forward	forward	ADJ
ajst-19166	58	32	or	or	CCONJ
ajst-19166	58	33	backward	backward	ADJ
ajst-19166	58	34	function	function	NOUN
ajst-19166	58	35	of	of	ADP
ajst-19166	58	36	the	the	DET
ajst-19166	58	37	car	car	NOUN
ajst-19166	58	38	.	.	PUNCT
ajst-19166	59	1	after	after	SCONJ
ajst-19166	59	2	the	the	DET
ajst-19166	59	3	car	car	NOUN
ajst-19166	59	4	moves	move	VERB
ajst-19166	59	5	forward	forward	ADV
ajst-19166	59	6	and	and	CCONJ
ajst-19166	59	7	backward	backward	ADJ
ajst-19166	59	8	without	without	ADP
ajst-19166	59	9	mistakes	mistake	NOUN
ajst-19166	59	10	or	or	CCONJ
ajst-19166	59	11	problems	problem	NOUN
ajst-19166	59	12	.	.	PUNCT
ajst-19166	60	1	randomly	randomly	ADV
ajst-19166	60	2	place	place	VERB
ajst-19166	60	3	obstacles	obstacle	NOUN
ajst-19166	60	4	.	.	PUNCT
ajst-19166	61	1	when	when	SCONJ
ajst-19166	61	2	the	the	DET
ajst-19166	61	3	obstacle	obstacle	NOUN
ajst-19166	61	4	avoidance	avoidance	NOUN
ajst-19166	61	5	car	car	NOUN
ajst-19166	61	6	encounters	encounter	VERB
ajst-19166	61	7	an	an	DET
ajst-19166	61	8	obstacle	obstacle	NOUN
ajst-19166	61	9	,	,	PUNCT
ajst-19166	61	10	when	when	SCONJ
ajst-19166	61	11	the	the	DET
ajst-19166	61	12	distance	distance	NOUN
ajst-19166	61	13	from	from	ADP
ajst-19166	61	14	the	the	DET
ajst-19166	61	15	obstacle	obstacle	NOUN
ajst-19166	61	16	is	be	AUX
ajst-19166	61	17	greater	great	ADJ
ajst-19166	61	18	than	than	ADP
ajst-19166	61	19	15	15	NUM
ajst-19166	61	20	cm	cm	NOUN
ajst-19166	61	21	,	,	PUNCT
ajst-19166	61	22	the	the	DET
ajst-19166	61	23	motor	motor	NOUN
ajst-19166	61	24	will	will	AUX
ajst-19166	61	25	be	be	AUX
ajst-19166	61	26	driven	drive	VERB
ajst-19166	61	27	to	to	PART
ajst-19166	61	28	control	control	VERB
ajst-19166	61	29	the	the	DET
ajst-19166	61	30	wheel	wheel	NOUN
ajst-19166	61	31	moving	move	VERB
ajst-19166	61	32	at	at	ADP
ajst-19166	61	33	a	a	DET
ajst-19166	61	34	constant	constant	ADJ
ajst-19166	61	35	speed	speed	NOUN
ajst-19166	61	36	.	.	PUNCT
ajst-19166	62	1	if	if	SCONJ
ajst-19166	62	2	the	the	DET
ajst-19166	62	3	obstacle	obstacle	NOUN
ajst-19166	62	4	is	be	AUX
ajst-19166	62	5	found	find	VERB
ajst-19166	62	6	to	to	PART
ajst-19166	62	7	be	be	AUX
ajst-19166	62	8	less	less	ADJ
ajst-19166	62	9	than	than	ADP
ajst-19166	62	10	10	10	NUM
ajst-19166	62	11	cm	cm	NOUN
ajst-19166	62	12	in	in	ADP
ajst-19166	62	13	the	the	DET
ajst-19166	62	14	left	left	ADJ
ajst-19166	62	15	front	front	NOUN
ajst-19166	62	16	,	,	PUNCT
ajst-19166	62	17	the	the	DET
ajst-19166	62	18	infrared	infrared	ADJ
ajst-19166	62	19	sensor	sensor	NOUN
ajst-19166	62	20	in	in	ADP
ajst-19166	62	21	the	the	DET
ajst-19166	62	22	left	left	ADJ
ajst-19166	62	23	front	front	NOUN
ajst-19166	62	24	will	will	AUX
ajst-19166	62	25	transmit	transmit	VERB
ajst-19166	62	26	the	the	DET
ajst-19166	62	27	signal	signal	NOUN
ajst-19166	62	28	to	to	ADP
ajst-19166	62	29	the	the	DET
ajst-19166	62	30	microcontroller	microcontroller	NOUN
ajst-19166	62	31	,	,	PUNCT
ajst-19166	62	32	and	and	CCONJ
ajst-19166	62	33	after	after	ADP
ajst-19166	62	34	processing	processing	NOUN
ajst-19166	62	35	,	,	PUNCT
ajst-19166	62	36	the	the	DET
ajst-19166	62	37	microcontroller	microcontroller	NOUN
ajst-19166	62	38	will	will	AUX
ajst-19166	62	39	148	148	NUM
ajst-19166	62	40	control	control	VERB
ajst-19166	62	41	the	the	DET
ajst-19166	62	42	car	car	NOUN
ajst-19166	62	43	to	to	PART
ajst-19166	62	44	step	step	VERB
ajst-19166	62	45	back	back	ADV
ajst-19166	62	46	and	and	CCONJ
ajst-19166	62	47	turn	turn	VERB
ajst-19166	62	48	to	to	ADP
ajst-19166	62	49	the	the	DET
ajst-19166	62	50	right	right	NOUN
ajst-19166	62	51	to	to	PART
ajst-19166	62	52	avoid	avoid	VERB
ajst-19166	62	53	the	the	DET
ajst-19166	62	54	obstacle	obstacle	NOUN
ajst-19166	62	55	.	.	PUNCT
ajst-19166	63	1	if	if	SCONJ
ajst-19166	63	2	the	the	DET
ajst-19166	63	3	obstacle	obstacle	NOUN
ajst-19166	63	4	is	be	AUX
ajst-19166	63	5	found	find	VERB
ajst-19166	63	6	in	in	ADP
ajst-19166	63	7	the	the	DET
ajst-19166	63	8	right	right	ADJ
ajst-19166	63	9	front	front	NOUN
ajst-19166	63	10	less	less	ADJ
ajst-19166	63	11	than	than	ADP
ajst-19166	63	12	10	10	NUM
ajst-19166	63	13	cm	cm	NOUN
ajst-19166	63	14	,	,	PUNCT
ajst-19166	63	15	the	the	DET
ajst-19166	63	16	infrared	infrared	ADJ
ajst-19166	63	17	sensor	sensor	NOUN
ajst-19166	63	18	in	in	ADP
ajst-19166	63	19	the	the	DET
ajst-19166	63	20	right	right	ADJ
ajst-19166	63	21	front	front	NOUN
ajst-19166	63	22	will	will	AUX
ajst-19166	63	23	send	send	VERB
ajst-19166	63	24	the	the	DET
ajst-19166	63	25	signal	signal	NOUN
ajst-19166	63	26	to	to	ADP
ajst-19166	63	27	the	the	DET
ajst-19166	63	28	single	single	ADJ
ajst-19166	63	29	chip	chip	NOUN
ajst-19166	63	30	microcomputer	microcomputer	NOUN
ajst-19166	63	31	,	,	PUNCT
ajst-19166	63	32	and	and	CCONJ
ajst-19166	63	33	after	after	ADP
ajst-19166	63	34	processing	processing	NOUN
ajst-19166	63	35	,	,	PUNCT
ajst-19166	63	36	the	the	DET
ajst-19166	63	37	single	single	ADJ
ajst-19166	63	38	chip	chip	NOUN
ajst-19166	63	39	microcomputer	microcomputer	NOUN
ajst-19166	63	40	will	will	AUX
ajst-19166	63	41	control	control	VERB
ajst-19166	63	42	the	the	DET
ajst-19166	63	43	car	car	NOUN
ajst-19166	63	44	to	to	PART
ajst-19166	63	45	retreat	retreat	VERB
ajst-19166	63	46	and	and	CCONJ
ajst-19166	63	47	turn	turn	VERB
ajst-19166	63	48	left	leave	VERB
ajst-19166	63	49	to	to	PART
ajst-19166	63	50	avoid	avoid	VERB
ajst-19166	63	51	the	the	DET
ajst-19166	63	52	obstacle	obstacle	NOUN
ajst-19166	63	53	.	.	PUNCT
ajst-19166	64	1	if	if	SCONJ
ajst-19166	64	2	the	the	DET
ajst-19166	64	3	obstacle	obstacle	NOUN
ajst-19166	64	4	is	be	AUX
ajst-19166	64	5	found	find	VERB
ajst-19166	64	6	in	in	ADP
ajst-19166	64	7	the	the	DET
ajst-19166	64	8	front	front	NOUN
ajst-19166	64	9	less	less	ADJ
ajst-19166	64	10	than	than	ADP
ajst-19166	64	11	10	10	NUM
ajst-19166	64	12	cm	cm	NOUN
ajst-19166	64	13	,	,	PUNCT
ajst-19166	64	14	the	the	DET
ajst-19166	64	15	two	two	NUM
ajst-19166	64	16	infrared	infrared	ADJ
ajst-19166	64	17	sensors	sensor	NOUN
ajst-19166	64	18	will	will	AUX
ajst-19166	64	19	send	send	VERB
ajst-19166	64	20	the	the	DET
ajst-19166	64	21	signal	signal	NOUN
ajst-19166	64	22	to	to	ADP
ajst-19166	64	23	the	the	DET
ajst-19166	64	24	single	single	ADJ
ajst-19166	64	25	chip	chip	NOUN
ajst-19166	64	26	microcomputer	microcomputer	NOUN
ajst-19166	64	27	,	,	PUNCT
ajst-19166	64	28	and	and	CCONJ
ajst-19166	64	29	after	after	ADP
ajst-19166	64	30	processing	processing	NOUN
ajst-19166	64	31	,	,	PUNCT
ajst-19166	64	32	the	the	DET
ajst-19166	64	33	single	single	ADJ
ajst-19166	64	34	chip	chip	NOUN
ajst-19166	64	35	microcomputer	microcomputer	NOUN
ajst-19166	64	36	will	will	AUX
ajst-19166	64	37	control	control	VERB
ajst-19166	64	38	the	the	DET
ajst-19166	64	39	car	car	NOUN
ajst-19166	64	40	to	to	PART
ajst-19166	64	41	retreat	retreat	VERB
ajst-19166	64	42	to	to	ADP
ajst-19166	64	43	the	the	DET
ajst-19166	64	44	appropriate	appropriate	ADJ
ajst-19166	64	45	distance	distance	NOUN
ajst-19166	64	46	.	.	PUNCT
ajst-19166	65	1	signals	signal	NOUN
ajst-19166	65	2	from	from	ADP
ajst-19166	65	3	infrared	infrared	ADJ
ajst-19166	65	4	sensors	sensor	NOUN
ajst-19166	65	5	determine	determine	VERB
ajst-19166	65	6	the	the	DET
ajst-19166	65	7	direction	direction	NOUN
ajst-19166	65	8	of	of	ADP
ajst-19166	65	9	the	the	DET
ajst-19166	65	10	turn	turn	NOUN
ajst-19166	65	11	to	to	PART
ajst-19166	65	12	avoid	avoid	VERB
ajst-19166	65	13	obstacles	obstacle	NOUN
ajst-19166	65	14	.	.	PUNCT
ajst-19166	66	1	the	the	DET
ajst-19166	66	2	real	real	ADJ
ajst-19166	66	3	picture	picture	NOUN
ajst-19166	66	4	is	be	AUX
ajst-19166	66	5	shown	show	VERB
ajst-19166	66	6	in	in	ADP
ajst-19166	66	7	fig	fig	NOUN
ajst-19166	66	8	.	.	PUNCT
ajst-19166	67	1	6	6	X
ajst-19166	67	2	.	.	X
ajst-19166	67	3	figure	figure	NOUN
ajst-19166	67	4	6	6	NUM
ajst-19166	67	5	.	.	PUNCT
ajst-19166	68	1	physical	physical	ADJ
ajst-19166	68	2	picture	picture	NOUN
ajst-19166	68	3	7	7	X
ajst-19166	68	4	.	.	X
ajst-19166	69	1	summary	summary	VERB
ajst-19166	69	2	the	the	DET
ajst-19166	69	3	obstacle	obstacle	NOUN
ajst-19166	69	4	avoidance	avoidance	NOUN
ajst-19166	69	5	system	system	NOUN
ajst-19166	69	6	designed	design	VERB
ajst-19166	69	7	in	in	ADP
ajst-19166	69	8	this	this	DET
ajst-19166	69	9	paper	paper	NOUN
ajst-19166	69	10	based	base	VERB
ajst-19166	69	11	on	on	ADP
ajst-19166	69	12	stm32	stm32	PROPN
ajst-19166	69	13	intelligent	intelligent	ADJ
ajst-19166	69	14	car	car	NOUN
ajst-19166	69	15	uses	use	VERB
ajst-19166	69	16	the	the	DET
ajst-19166	69	17	internet	internet	NOUN
ajst-19166	69	18	of	of	ADP
ajst-19166	69	19	things	thing	NOUN
ajst-19166	69	20	technology	technology	NOUN
ajst-19166	69	21	to	to	PART
ajst-19166	69	22	integrate	integrate	VERB
ajst-19166	69	23	high	high	ADJ
ajst-19166	69	24	-	-	PUNCT
ajst-19166	69	25	performance	performance	NOUN
ajst-19166	69	26	,	,	PUNCT
ajst-19166	69	27	low	low	ADJ
ajst-19166	69	28	-	-	PUNCT
ajst-19166	69	29	power	power	NOUN
ajst-19166	69	30	stm32	stm32	PROPN
ajst-19166	69	31	chip	chip	NOUN
ajst-19166	69	32	with	with	ADP
ajst-19166	69	33	a	a	DET
ajst-19166	69	34	variety	variety	NOUN
ajst-19166	69	35	of	of	ADP
ajst-19166	69	36	sensors	sensor	NOUN
ajst-19166	69	37	through	through	ADP
ajst-19166	69	38	software	software	NOUN
ajst-19166	69	39	programming	programming	NOUN
ajst-19166	69	40	to	to	PART
ajst-19166	69	41	detect	detect	VERB
ajst-19166	69	42	road	road	NOUN
ajst-19166	69	43	information	information	NOUN
ajst-19166	69	44	in	in	ADP
ajst-19166	69	45	real	real	ADJ
ajst-19166	69	46	time	time	NOUN
ajst-19166	69	47	,	,	PUNCT
ajst-19166	69	48	so	so	SCONJ
ajst-19166	69	49	that	that	SCONJ
ajst-19166	69	50	the	the	DET
ajst-19166	69	51	car	car	NOUN
ajst-19166	69	52	can	can	AUX
ajst-19166	69	53	complete	complete	VERB
ajst-19166	69	54	simple	simple	ADJ
ajst-19166	69	55	obstacle	obstacle	NOUN
ajst-19166	69	56	avoidance	avoidance	NOUN
ajst-19166	69	57	.	.	PUNCT
ajst-19166	70	1	at	at	ADP
ajst-19166	70	2	the	the	DET
ajst-19166	70	3	same	same	ADJ
ajst-19166	70	4	time	time	NOUN
ajst-19166	70	5	,	,	PUNCT
ajst-19166	70	6	the	the	DET
ajst-19166	70	7	whole	whole	ADJ
ajst-19166	70	8	car	car	NOUN
ajst-19166	70	9	adopts	adopt	VERB
ajst-19166	70	10	screws	screw	NOUN
ajst-19166	70	11	to	to	PART
ajst-19166	70	12	fix	fix	VERB
ajst-19166	70	13	each	each	DET
ajst-19166	70	14	module	module	NOUN
ajst-19166	70	15	on	on	ADP
ajst-19166	70	16	the	the	DET
ajst-19166	70	17	car	car	NOUN
ajst-19166	70	18	body	body	NOUN
ajst-19166	70	19	,	,	PUNCT
ajst-19166	70	20	which	which	PRON
ajst-19166	70	21	is	be	AUX
ajst-19166	70	22	simple	simple	ADJ
ajst-19166	70	23	in	in	ADP
ajst-19166	70	24	structure	structure	NOUN
ajst-19166	70	25	,	,	PUNCT
ajst-19166	70	26	easy	easy	ADJ
ajst-19166	70	27	to	to	PART
ajst-19166	70	28	install	install	VERB
ajst-19166	70	29	,	,	PUNCT
ajst-19166	70	30	easy	easy	ADJ
ajst-19166	70	31	to	to	PART
ajst-19166	70	32	operate	operate	VERB
ajst-19166	70	33	,	,	PUNCT
ajst-19166	70	34	and	and	CCONJ
ajst-19166	70	35	has	have	VERB
ajst-19166	70	36	strong	strong	ADJ
ajst-19166	70	37	practical	practical	ADJ
ajst-19166	70	38	significance	significance	NOUN
ajst-19166	70	39	.	.	PUNCT
ajst-19166	71	1	through	through	ADP
ajst-19166	71	2	the	the	DET
ajst-19166	71	3	design	design	NOUN
ajst-19166	71	4	of	of	ADP
ajst-19166	71	5	this	this	DET
ajst-19166	71	6	topic	topic	NOUN
ajst-19166	71	7	,	,	PUNCT
ajst-19166	71	8	the	the	DET
ajst-19166	71	9	related	related	ADJ
ajst-19166	71	10	knowledge	knowledge	NOUN
ajst-19166	71	11	of	of	ADP
ajst-19166	71	12	microcontroller	microcontroller	NOUN
ajst-19166	71	13	and	and	CCONJ
ajst-19166	71	14	sensor	sensor	NOUN
ajst-19166	71	15	has	have	VERB
ajst-19166	71	16	a	a	DET
ajst-19166	71	17	more	more	ADV
ajst-19166	71	18	comprehensive	comprehensive	ADJ
ajst-19166	71	19	and	and	CCONJ
ajst-19166	71	20	deeper	deep	ADJ
ajst-19166	71	21	understanding	understanding	NOUN
ajst-19166	71	22	,	,	PUNCT
ajst-19166	71	23	but	but	CCONJ
ajst-19166	71	24	also	also	ADV
ajst-19166	71	25	master	master	VERB
ajst-19166	71	26	the	the	DET
ajst-19166	71	27	principle	principle	NOUN
ajst-19166	71	28	of	of	ADP
ajst-19166	71	29	dc	dc	PROPN
ajst-19166	71	30	drive	drive	PROPN
ajst-19166	71	31	circuit	circuit	NOUN
ajst-19166	71	32	and	and	CCONJ
ajst-19166	71	33	pwm	pwm	NOUN
ajst-19166	71	34	speed	speed	NOUN
ajst-19166	71	35	regulation	regulation	NOUN
ajst-19166	71	36	circuit	circuit	NOUN
ajst-19166	71	37	.	.	PUNCT
ajst-19166	72	1	references	reference	NOUN
ajst-19166	72	2	[	[	X
ajst-19166	72	3	1	1	NUM
ajst-19166	72	4	]	]	PUNCT
ajst-19166	72	5	wang	wang	PROPN
ajst-19166	72	6	yanwen	yanwen	PROPN
ajst-19166	72	7	,	,	PUNCT
ajst-19166	72	8	wang	wang	PROPN
ajst-19166	72	9	ershen	ershen	PROPN
ajst-19166	72	10	,	,	PUNCT
ajst-19166	72	11	zhao	zhao	PROPN
ajst-19166	72	12	zhijie	zhijie	PROPN
ajst-19166	72	13	,	,	PUNCT
ajst-19166	72	14	et	et	PROPN
ajst-19166	72	15	al	al	PROPN
ajst-19166	72	16	.	.	PUNCT
ajst-19166	73	1	design	design	NOUN
ajst-19166	73	2	of	of	ADP
ajst-19166	73	3	multi	multi	ADJ
ajst-19166	73	4	-	-	ADJ
ajst-19166	73	5	function	function	ADJ
ajst-19166	73	6	measurement	measurement	NOUN
ajst-19166	73	7	system	system	NOUN
ajst-19166	73	8	based	base	VERB
ajst-19166	73	9	on	on	ADP
ajst-19166	73	10	intelligent	intelligent	ADJ
ajst-19166	73	11	car	car	NOUN
ajst-19166	74	1	[	[	X
ajst-19166	74	2	j	j	X
ajst-19166	74	3	]	]	X
ajst-19166	74	4	.	.	PUNCT
ajst-19166	75	1	and	and	CCONJ
ajst-19166	75	2	electronics	electronic	NOUN
ajst-19166	75	3	,	,	PUNCT
ajst-19166	75	4	2019	2019	NUM
ajst-19166	75	5	(	(	PUNCT
ajst-19166	75	6	1	1	NUM
ajst-19166	75	7	)	)	PUNCT
ajst-19166	75	8	:	:	PUNCT
ajst-19166	76	1	184	184	NUM
ajst-19166	76	2	-	-	SYM
ajst-19166	76	3	188	188	NUM
ajst-19166	76	4	.	.	PUNCT
ajst-19166	77	1	[	[	X
ajst-19166	77	2	2	2	NUM
ajst-19166	77	3	]	]	X
ajst-19166	77	4	lu	lu	PROPN
ajst-19166	77	5	wei	wei	PROPN
ajst-19166	77	6	.	.	PUNCT
ajst-19166	78	1	the	the	DET
ajst-19166	78	2	design	design	NOUN
ajst-19166	78	3	and	and	CCONJ
ajst-19166	78	4	implementation	implementation	NOUN
ajst-19166	78	5	of	of	ADP
ajst-19166	78	6	intelligent	intelligent	ADJ
ajst-19166	78	7	vehicle	vehicle	NOUN
ajst-19166	78	8	obstacle	obstacle	NOUN
ajst-19166	78	9	avoidance	avoidance	NOUN
ajst-19166	78	10	system	system	NOUN
ajst-19166	79	1	[	[	X
ajst-19166	79	2	d	d	X
ajst-19166	79	3	]	]	X
ajst-19166	79	4	.	.	PUNCT
ajst-19166	80	1	nanchang	nanchang	PROPN
ajst-19166	80	2	:	:	PUNCT
ajst-19166	80	3	nanchang	nanchang	PROPN
ajst-19166	80	4	university	university	PROPN
ajst-19166	80	5	,	,	PUNCT
ajst-19166	80	6	2012	2012	NUM
ajst-19166	80	7	.	.	PUNCT
ajst-19166	81	1	[	[	X
ajst-19166	81	2	3	3	NUM
ajst-19166	81	3	]	]	X
ajst-19166	81	4	li	li	PROPN
ajst-19166	81	5	lei	lei	PROPN
ajst-19166	81	6	,	,	PUNCT
ajst-19166	81	7	cao	cao	PROPN
ajst-19166	81	8	shenghui	shenghui	PROPN
ajst-19166	81	9	.	.	PUNCT
ajst-19166	82	1	the	the	DET
ajst-19166	82	2	realization	realization	NOUN
ajst-19166	82	3	of	of	ADP
ajst-19166	82	4	the	the	DET
ajst-19166	82	5	intelligent	intelligent	ADJ
ajst-19166	82	6	car	car	NOUN
ajst-19166	82	7	obstacle	obstacle	NOUN
ajst-19166	82	8	avoidance	avoidance	NOUN
ajst-19166	82	9	technology	technology	NOUN
ajst-19166	83	1	[	[	X
ajst-19166	83	2	j	j	X
ajst-19166	83	3	]	]	X
ajst-19166	83	4	.	.	PUNCT
ajst-19166	84	1	journal	journal	PROPN
ajst-19166	84	2	of	of	ADP
ajst-19166	84	3	micromotor	micromotor	NOUN
ajst-19166	84	4	,	,	PUNCT
ajst-19166	84	5	2011	2011	NUM
ajst-19166	84	6	,	,	PUNCT
ajst-19166	84	7	44	44	NUM
ajst-19166	84	8	(	(	PUNCT
ajst-19166	84	9	6	6	NUM
ajst-19166	84	10	)	)	PUNCT
ajst-19166	84	11	:	:	PUNCT
ajst-19166	84	12	109	109	NUM
ajst-19166	84	13	-	-	SYM
ajst-19166	84	14	111	111	NUM
ajst-19166	84	15	.	.	PUNCT
ajst-19166	85	1	[	[	X
ajst-19166	85	2	4	4	NUM
ajst-19166	85	3	]	]	X
ajst-19166	85	4	xue	xue	PROPN
ajst-19166	85	5	-	-	PUNCT
ajst-19166	85	6	hong	hong	PROPN
ajst-19166	85	7	lu	lu	PROPN
ajst-19166	85	8	,	,	PUNCT
ajst-19166	85	9	shao	shao	PROPN
ajst-19166	85	10	runner	runner	PROPN
ajst-19166	85	11	-	-	PUNCT
ajst-19166	85	12	up	up	NOUN
ajst-19166	85	13	.	.	PUNCT
ajst-19166	86	1	design	design	NOUN
ajst-19166	86	2	and	and	CCONJ
ajst-19166	86	3	function	function	NOUN
ajst-19166	86	4	realization	realization	NOUN
ajst-19166	86	5	of	of	ADP
ajst-19166	86	6	autonomous	autonomous	ADJ
ajst-19166	86	7	tracking	tracking	NOUN
ajst-19166	86	8	obstacle	obstacle	NOUN
ajst-19166	86	9	avoidance	avoidance	NOUN
ajst-19166	86	10	system	system	NOUN
ajst-19166	86	11	based	base	VERB
ajst-19166	86	12	on	on	ADP
ajst-19166	86	13	stm32	stm32	PROPN
ajst-19166	86	14	intelligent	intelligent	ADJ
ajst-19166	86	15	car	car	NOUN
ajst-19166	87	1	[	[	X
ajst-19166	87	2	j	j	X
ajst-19166	87	3	]	]	X
ajst-19166	87	4	.	.	PUNCT
ajst-19166	88	1	world	world	NOUN
ajst-19166	88	2	nonferrous	nonferrous	ADJ
ajst-19166	88	3	metals	metal	NOUN
ajst-19166	88	4	,	,	PUNCT
ajst-19166	88	5	2019	2019	NUM
ajst-19166	88	6	,	,	PUNCT
ajst-19166	88	7	36	36	NUM
ajst-19166	88	8	(	(	PUNCT
ajst-19166	88	9	22	22	NUM
ajst-19166	88	10	)	)	PUNCT
ajst-19166	88	11	:	:	PUNCT
ajst-19166	88	12	165	165	NUM
ajst-19166	88	13	-	-	SYM
ajst-19166	88	14	168	168	NUM
ajst-19166	88	15	.	.	PUNCT