id	sid	tid	token	lemma	pos
ajst-2160	1	1	academic	academic	ADJ
ajst-2160	1	2	journal	journal	NOUN
ajst-2160	1	3	of	of	ADP
ajst-2160	1	4	science	science	NOUN
ajst-2160	1	5	and	and	CCONJ
ajst-2160	1	6	technology	technology	NOUN
ajst-2160	1	7	issn	issn	NOUN
ajst-2160	1	8	:	:	PUNCT
ajst-2160	1	9	2771	2771	NUM
ajst-2160	1	10	-	-	SYM
ajst-2160	1	11	3032	3032	NUM
ajst-2160	1	12	|	|	NOUN
ajst-2160	1	13	vol	vol	NOUN
ajst-2160	1	14	.	.	PROPN
ajst-2160	2	1	3	3	NUM
ajst-2160	2	2	,	,	PUNCT
ajst-2160	2	3	no	no	INTJ
ajst-2160	2	4	.	.	NOUN
ajst-2160	2	5	2	2	NUM
ajst-2160	2	6	,	,	PUNCT
ajst-2160	2	7	2022	2022	NUM
ajst-2160	2	8	153	153	NUM
ajst-2160	2	9	intelligent	intelligent	ADJ
ajst-2160	2	10	courier	courier	NOUN
ajst-2160	2	11	car	car	NOUN
ajst-2160	2	12	design	design	NOUN
ajst-2160	2	13	based	base	VERB
ajst-2160	2	14	on	on	ADP
ajst-2160	2	15	32	32	NUM
ajst-2160	2	16	microcontroller	microcontroller	NOUN
ajst-2160	2	17	chenyu	chenyu	ADJ
ajst-2160	2	18	zan	zan	PROPN
ajst-2160	2	19	,	,	PUNCT
ajst-2160	2	20	zi	zi	PROPN
ajst-2160	2	21	li	li	PROPN
ajst-2160	2	22	shenyang	shenyang	PROPN
ajst-2160	2	23	institute	institute	PROPN
ajst-2160	2	24	of	of	ADP
ajst-2160	2	25	technology	technology	PROPN
ajst-2160	2	26	,	,	PUNCT
ajst-2160	2	27	fushun	fushun	PROPN
ajst-2160	2	28	113122	113122	NUM
ajst-2160	2	29	,	,	PUNCT
ajst-2160	2	30	china	china	PROPN
ajst-2160	2	31	abstract	abstract	PROPN
ajst-2160	2	32	:	:	PUNCT
ajst-2160	2	33	with	with	ADP
ajst-2160	2	34	the	the	DET
ajst-2160	2	35	emergence	emergence	NOUN
ajst-2160	2	36	of	of	ADP
ajst-2160	2	37	e	e	NOUN
ajst-2160	2	38	-	-	NOUN
ajst-2160	2	39	commerce	commerce	NOUN
ajst-2160	2	40	,	,	PUNCT
ajst-2160	2	41	the	the	DET
ajst-2160	2	42	logistics	logistic	NOUN
ajst-2160	2	43	industry	industry	NOUN
ajst-2160	2	44	has	have	AUX
ajst-2160	2	45	grown	grow	VERB
ajst-2160	2	46	,	,	PUNCT
ajst-2160	2	47	and	and	CCONJ
ajst-2160	2	48	the	the	DET
ajst-2160	2	49	manual	manual	ADJ
ajst-2160	2	50	transport	transport	NOUN
ajst-2160	2	51	and	and	CCONJ
ajst-2160	2	52	sorting	sorting	NOUN
ajst-2160	2	53	of	of	ADP
ajst-2160	2	54	express	express	ADJ
ajst-2160	2	55	delivery	delivery	NOUN
ajst-2160	2	56	has	have	AUX
ajst-2160	2	57	gradually	gradually	ADV
ajst-2160	2	58	revealed	reveal	VERB
ajst-2160	2	59	its	its	PRON
ajst-2160	2	60	drawbacks	drawback	NOUN
ajst-2160	2	61	.	.	PUNCT
ajst-2160	3	1	this	this	DET
ajst-2160	3	2	system	system	NOUN
ajst-2160	3	3	is	be	AUX
ajst-2160	3	4	mainly	mainly	ADV
ajst-2160	3	5	applied	apply	VERB
ajst-2160	3	6	to	to	ADP
ajst-2160	3	7	the	the	DET
ajst-2160	3	8	machine	machine	NOUN
ajst-2160	3	9	sorting	sort	VERB
ajst-2160	3	10	work	work	NOUN
ajst-2160	3	11	in	in	ADP
ajst-2160	3	12	the	the	DET
ajst-2160	3	13	courier	courier	NOUN
ajst-2160	3	14	transfer	transfer	NOUN
ajst-2160	3	15	station	station	NOUN
ajst-2160	3	16	,	,	PUNCT
ajst-2160	3	17	which	which	PRON
ajst-2160	3	18	can	can	AUX
ajst-2160	3	19	realize	realize	VERB
ajst-2160	3	20	the	the	DET
ajst-2160	3	21	identification	identification	NOUN
ajst-2160	3	22	and	and	CCONJ
ajst-2160	3	23	positioning	positioning	NOUN
ajst-2160	3	24	of	of	ADP
ajst-2160	3	25	the	the	DET
ajst-2160	3	26	courier	courier	NOUN
ajst-2160	3	27	pieces	piece	NOUN
ajst-2160	3	28	through	through	ADP
ajst-2160	3	29	the	the	DET
ajst-2160	3	30	vision	vision	NOUN
ajst-2160	3	31	module	module	NOUN
ajst-2160	3	32	,	,	PUNCT
ajst-2160	3	33	sorting	sort	VERB
ajst-2160	3	34	through	through	ADP
ajst-2160	3	35	the	the	DET
ajst-2160	3	36	mechanical	mechanical	ADJ
ajst-2160	3	37	arm	arm	NOUN
ajst-2160	3	38	,	,	PUNCT
ajst-2160	3	39	transporting	transport	VERB
ajst-2160	3	40	through	through	ADP
ajst-2160	3	41	the	the	DET
ajst-2160	3	42	trolley	trolley	NOUN
ajst-2160	3	43	,	,	PUNCT
ajst-2160	3	44	and	and	CCONJ
ajst-2160	3	45	finally	finally	ADV
ajst-2160	3	46	putting	put	VERB
ajst-2160	3	47	into	into	ADP
ajst-2160	3	48	the	the	DET
ajst-2160	3	49	corresponding	corresponding	ADJ
ajst-2160	3	50	area	area	NOUN
ajst-2160	3	51	to	to	PART
ajst-2160	3	52	improve	improve	VERB
ajst-2160	3	53	the	the	DET
ajst-2160	3	54	speed	speed	NOUN
ajst-2160	3	55	and	and	CCONJ
ajst-2160	3	56	accuracy	accuracy	NOUN
ajst-2160	3	57	of	of	ADP
ajst-2160	3	58	courier	courier	NOUN
ajst-2160	3	59	sorting	sorting	NOUN
ajst-2160	3	60	.	.	PUNCT
ajst-2160	4	1	the	the	DET
ajst-2160	4	2	robot	robot	NOUN
ajst-2160	4	3	is	be	AUX
ajst-2160	4	4	designed	design	VERB
ajst-2160	4	5	to	to	PART
ajst-2160	4	6	improve	improve	VERB
ajst-2160	4	7	the	the	DET
ajst-2160	4	8	speed	speed	NOUN
ajst-2160	4	9	and	and	CCONJ
ajst-2160	4	10	accuracy	accuracy	NOUN
ajst-2160	4	11	of	of	ADP
ajst-2160	4	12	courier	courier	NOUN
ajst-2160	4	13	sorting	sorting	NOUN
ajst-2160	4	14	.	.	PUNCT
ajst-2160	5	1	the	the	DET
ajst-2160	5	2	design	design	NOUN
ajst-2160	5	3	of	of	ADP
ajst-2160	5	4	courier	courier	NOUN
ajst-2160	5	5	sorting	sort	VERB
ajst-2160	5	6	robot	robot	NOUN
ajst-2160	5	7	can	can	AUX
ajst-2160	5	8	greatly	greatly	ADV
ajst-2160	5	9	improve	improve	VERB
ajst-2160	5	10	the	the	DET
ajst-2160	5	11	development	development	NOUN
ajst-2160	5	12	of	of	ADP
ajst-2160	5	13	automation	automation	NOUN
ajst-2160	5	14	industry	industry	NOUN
ajst-2160	5	15	,	,	PUNCT
ajst-2160	5	16	solve	solve	VERB
ajst-2160	5	17	the	the	DET
ajst-2160	5	18	problem	problem	NOUN
ajst-2160	5	19	of	of	ADP
ajst-2160	5	20	labor	labor	NOUN
ajst-2160	5	21	shortage	shortage	NOUN
ajst-2160	5	22	and	and	CCONJ
ajst-2160	5	23	high	high	ADJ
ajst-2160	5	24	labor	labor	NOUN
ajst-2160	5	25	cost	cost	NOUN
ajst-2160	5	26	,	,	PUNCT
ajst-2160	5	27	and	and	CCONJ
ajst-2160	5	28	achieve	achieve	VERB
ajst-2160	5	29	the	the	DET
ajst-2160	5	30	purpose	purpose	NOUN
ajst-2160	5	31	of	of	ADP
ajst-2160	5	32	social	social	ADJ
ajst-2160	5	33	and	and	CCONJ
ajst-2160	5	34	technological	technological	ADJ
ajst-2160	5	35	progress	progress	NOUN
ajst-2160	5	36	.	.	PUNCT
ajst-2160	6	1	keywords	keyword	NOUN
ajst-2160	6	2	:	:	PUNCT
ajst-2160	6	3	courier	courier	NOUN
ajst-2160	6	4	,	,	PUNCT
ajst-2160	6	5	sorting	sorting	NOUN
ajst-2160	6	6	,	,	PUNCT
ajst-2160	6	7	courier	courier	NOUN
ajst-2160	6	8	truck	truck	NOUN
ajst-2160	6	9	.	.	PUNCT
ajst-2160	7	1	1	1	X
ajst-2160	7	2	.	.	X
ajst-2160	7	3	introduction	introduction	NOUN
ajst-2160	7	4	with	with	ADP
ajst-2160	7	5	the	the	DET
ajst-2160	7	6	rapid	rapid	ADJ
ajst-2160	7	7	development	development	NOUN
ajst-2160	7	8	of	of	ADP
ajst-2160	7	9	china	china	PROPN
ajst-2160	7	10	's	's	PART
ajst-2160	7	11	economy	economy	NOUN
ajst-2160	7	12	,	,	PUNCT
ajst-2160	7	13	the	the	DET
ajst-2160	7	14	ecommerce	ecommerce	NOUN
ajst-2160	7	15	industry	industry	NOUN
ajst-2160	7	16	is	be	AUX
ajst-2160	7	17	growing	grow	VERB
ajst-2160	7	18	rapidly	rapidly	ADV
ajst-2160	7	19	,	,	PUNCT
ajst-2160	7	20	and	and	CCONJ
ajst-2160	7	21	with	with	ADP
ajst-2160	7	22	it	it	PRON
ajst-2160	7	23	comes	come	VERB
ajst-2160	7	24	the	the	DET
ajst-2160	7	25	need	need	NOUN
ajst-2160	7	26	to	to	PART
ajst-2160	7	27	sort	sort	VERB
ajst-2160	7	28	and	and	CCONJ
ajst-2160	7	29	deliver	deliver	VERB
ajst-2160	7	30	large	large	ADJ
ajst-2160	7	31	volumes	volume	NOUN
ajst-2160	7	32	of	of	ADP
ajst-2160	7	33	express	express	ADJ
ajst-2160	7	34	shipments	shipment	NOUN
ajst-2160	7	35	.	.	PUNCT
ajst-2160	8	1	traditional	traditional	ADJ
ajst-2160	8	2	manual	manual	ADJ
ajst-2160	8	3	sorting	sorting	NOUN
ajst-2160	8	4	is	be	AUX
ajst-2160	8	5	inefficient	inefficient	ADJ
ajst-2160	8	6	and	and	CCONJ
ajst-2160	8	7	can	can	AUX
ajst-2160	8	8	no	no	ADV
ajst-2160	8	9	longer	long	ADV
ajst-2160	8	10	meet	meet	VERB
ajst-2160	8	11	the	the	DET
ajst-2160	8	12	requirements	requirement	NOUN
ajst-2160	8	13	.	.	PUNCT
ajst-2160	9	1	in	in	ADP
ajst-2160	9	2	some	some	DET
ajst-2160	9	3	large	large	ADJ
ajst-2160	9	4	storage	storage	NOUN
ajst-2160	9	5	centers	center	NOUN
ajst-2160	9	6	,	,	PUNCT
ajst-2160	9	7	although	although	SCONJ
ajst-2160	9	8	automated	automate	VERB
ajst-2160	9	9	sorting	sorting	NOUN
ajst-2160	9	10	of	of	ADP
ajst-2160	9	11	express	express	ADJ
ajst-2160	9	12	pieces	piece	NOUN
ajst-2160	9	13	has	have	AUX
ajst-2160	9	14	been	be	AUX
ajst-2160	9	15	achieved	achieve	VERB
ajst-2160	9	16	,	,	PUNCT
ajst-2160	9	17	the	the	DET
ajst-2160	9	18	complete	complete	ADJ
ajst-2160	9	19	sorting	sort	VERB
ajst-2160	9	20	system	system	NOUN
ajst-2160	9	21	is	be	AUX
ajst-2160	9	22	bulky	bulky	ADJ
ajst-2160	9	23	and	and	CCONJ
ajst-2160	9	24	expensive	expensive	ADJ
ajst-2160	9	25	.	.	PUNCT
ajst-2160	10	1	large	large	ADJ
ajst-2160	10	2	sorting	sort	VERB
ajst-2160	10	3	systems	system	NOUN
ajst-2160	10	4	are	be	AUX
ajst-2160	10	5	not	not	PART
ajst-2160	10	6	applicable	applicable	ADJ
ajst-2160	10	7	in	in	ADP
ajst-2160	10	8	small	small	ADJ
ajst-2160	10	9	and	and	CCONJ
ajst-2160	10	10	medium	medium	ADJ
ajst-2160	10	11	-	-	PUNCT
ajst-2160	10	12	sized	sized	ADJ
ajst-2160	10	13	sorting	sort	VERB
ajst-2160	10	14	stations	station	NOUN
ajst-2160	10	15	.	.	PUNCT
ajst-2160	11	1	in	in	ADP
ajst-2160	11	2	small	small	ADJ
ajst-2160	11	3	and	and	CCONJ
ajst-2160	11	4	medium	medium	ADJ
ajst-2160	11	5	-	-	PUNCT
ajst-2160	11	6	sized	sized	ADJ
ajst-2160	11	7	express	express	ADJ
ajst-2160	11	8	transit	transit	NOUN
ajst-2160	11	9	stations	station	NOUN
ajst-2160	11	10	,	,	PUNCT
ajst-2160	11	11	manual	manual	ADJ
ajst-2160	11	12	sorting	sorting	NOUN
ajst-2160	11	13	is	be	AUX
ajst-2160	11	14	still	still	ADV
ajst-2160	11	15	required	require	VERB
ajst-2160	11	16	,	,	PUNCT
ajst-2160	11	17	and	and	CCONJ
ajst-2160	11	18	the	the	DET
ajst-2160	11	19	huge	huge	ADJ
ajst-2160	11	20	volume	volume	NOUN
ajst-2160	11	21	of	of	ADP
ajst-2160	11	22	express	express	ADJ
ajst-2160	11	23	delivery	delivery	NOUN
ajst-2160	11	24	puts	put	VERB
ajst-2160	11	25	workers	worker	NOUN
ajst-2160	11	26	in	in	ADP
ajst-2160	11	27	heavy	heavy	ADJ
ajst-2160	11	28	labor	labor	NOUN
ajst-2160	11	29	.	.	PUNCT
ajst-2160	12	1	so	so	ADV
ajst-2160	12	2	we	we	PRON
ajst-2160	12	3	designed	design	VERB
ajst-2160	12	4	a	a	DET
ajst-2160	12	5	32	32	NUM
ajst-2160	12	6	mcu	mcu	NOUN
ajst-2160	12	7	based	base	VERB
ajst-2160	12	8	intelligent	intelligent	ADJ
ajst-2160	12	9	courier	courier	NOUN
ajst-2160	12	10	sorting	sort	VERB
ajst-2160	12	11	car	car	NOUN
ajst-2160	12	12	,	,	PUNCT
ajst-2160	12	13	our	our	PRON
ajst-2160	12	14	car	car	NOUN
ajst-2160	12	15	can	can	AUX
ajst-2160	12	16	sort	sort	VERB
ajst-2160	12	17	the	the	DET
ajst-2160	12	18	courier	courier	NOUN
ajst-2160	12	19	,	,	PUNCT
ajst-2160	12	20	such	such	ADJ
ajst-2160	12	21	as	as	ADP
ajst-2160	12	22	identifying	identify	VERB
ajst-2160	12	23	the	the	DET
ajst-2160	12	24	specified	specified	ADJ
ajst-2160	12	25	courier	courier	NOUN
ajst-2160	12	26	in	in	ADP
ajst-2160	12	27	multiple	multiple	ADJ
ajst-2160	12	28	couriers	courier	NOUN
ajst-2160	12	29	to	to	ADP
ajst-2160	12	30	the	the	DET
ajst-2160	12	31	specified	specified	ADJ
ajst-2160	12	32	location	location	NOUN
ajst-2160	12	33	,	,	PUNCT
ajst-2160	12	34	and	and	CCONJ
ajst-2160	12	35	return	return	VERB
ajst-2160	12	36	the	the	DET
ajst-2160	12	37	same	same	ADJ
ajst-2160	12	38	way	way	NOUN
ajst-2160	12	39	,	,	PUNCT
ajst-2160	12	40	and	and	CCONJ
ajst-2160	12	41	then	then	ADV
ajst-2160	12	42	the	the	DET
ajst-2160	12	43	next	next	ADJ
ajst-2160	12	44	sorting	sorting	NOUN
ajst-2160	12	45	,	,	PUNCT
ajst-2160	12	46	and	and	CCONJ
ajst-2160	12	47	multiple	multiple	ADJ
ajst-2160	12	48	carts	cart	NOUN
ajst-2160	12	49	for	for	ADP
ajst-2160	12	50	wfi	wfi	PROPN
ajst-2160	12	51	interconnection	interconnection	NOUN
ajst-2160	12	52	,	,	PUNCT
ajst-2160	12	53	multiple	multiple	ADJ
ajst-2160	12	54	carts	cart	NOUN
ajst-2160	12	55	working	work	VERB
ajst-2160	12	56	at	at	ADP
ajst-2160	12	57	the	the	DET
ajst-2160	12	58	same	same	ADJ
ajst-2160	12	59	time	time	NOUN
ajst-2160	12	60	will	will	AUX
ajst-2160	12	61	not	not	PART
ajst-2160	12	62	collide	collide	VERB
ajst-2160	12	63	with	with	ADP
ajst-2160	12	64	each	each	DET
ajst-2160	12	65	other	other	ADJ
ajst-2160	12	66	,	,	PUNCT
ajst-2160	12	67	and	and	CCONJ
ajst-2160	12	68	the	the	DET
ajst-2160	12	69	sorting	sort	VERB
ajst-2160	12	70	robot	robot	NOUN
ajst-2160	12	71	will	will	AUX
ajst-2160	12	72	take	take	VERB
ajst-2160	12	73	the	the	DET
ajst-2160	12	74	initiative	initiative	NOUN
ajst-2160	12	75	to	to	PART
ajst-2160	12	76	avoid	avoid	VERB
ajst-2160	12	77	other	other	ADJ
ajst-2160	12	78	robots	robot	NOUN
ajst-2160	12	79	,	,	PUNCT
ajst-2160	12	80	in	in	ADP
ajst-2160	12	81	the	the	DET
ajst-2160	12	82	case	case	NOUN
ajst-2160	12	83	of	of	ADP
ajst-2160	12	84	obstacles	obstacle	NOUN
ajst-2160	12	85	,	,	PUNCT
ajst-2160	12	86	the	the	DET
ajst-2160	12	87	carts	cart	NOUN
ajst-2160	12	88	will	will	AUX
ajst-2160	12	89	avoid	avoid	VERB
ajst-2160	12	90	and	and	CCONJ
ajst-2160	12	91	then	then	ADV
ajst-2160	12	92	work	work	VERB
ajst-2160	12	93	,	,	PUNCT
ajst-2160	12	94	or	or	CCONJ
ajst-2160	12	95	the	the	DET
ajst-2160	12	96	carts	cart	NOUN
ajst-2160	12	97	will	will	AUX
ajst-2160	12	98	move	move	VERB
ajst-2160	12	99	the	the	DET
ajst-2160	12	100	obstacles	obstacle	NOUN
ajst-2160	12	101	through	through	ADP
ajst-2160	12	102	the	the	DET
ajst-2160	12	103	robot	robot	NOUN
ajst-2160	12	104	arm	arm	NOUN
ajst-2160	12	105	and	and	CCONJ
ajst-2160	12	106	then	then	ADV
ajst-2160	12	107	work	work	VERB
ajst-2160	12	108	,	,	PUNCT
ajst-2160	12	109	and	and	CCONJ
ajst-2160	12	110	we	we	PRON
ajst-2160	12	111	have	have	AUX
ajst-2160	12	112	made	make	VERB
ajst-2160	12	113	a	a	DET
ajst-2160	12	114	prototype	prototype	NOUN
ajst-2160	12	115	machine	machine	NOUN
ajst-2160	12	116	,	,	PUNCT
ajst-2160	12	117	running	run	VERB
ajst-2160	12	118	well	well	ADV
ajst-2160	12	119	.	.	PUNCT
ajst-2160	13	1	2	2	X
ajst-2160	13	2	.	.	X
ajst-2160	13	3	system	system	NOUN
ajst-2160	13	4	design	design	VERB
ajst-2160	13	5	2.1	2.1	NUM
ajst-2160	13	6	.	.	PUNCT
ajst-2160	14	1	general	general	ADJ
ajst-2160	14	2	system	system	NOUN
ajst-2160	14	3	design	design	VERB
ajst-2160	14	4	the	the	DET
ajst-2160	14	5	system	system	NOUN
ajst-2160	14	6	framework	framework	NOUN
ajst-2160	14	7	structure	structure	NOUN
ajst-2160	14	8	consists	consist	VERB
ajst-2160	14	9	of	of	ADP
ajst-2160	14	10	32	32	NUM
ajst-2160	14	11	microcontroller	microcontroller	NOUN
ajst-2160	14	12	,	,	PUNCT
ajst-2160	14	13	infrared	infrared	ADJ
ajst-2160	14	14	module	module	NOUN
ajst-2160	14	15	,	,	PUNCT
ajst-2160	14	16	ultrasonic	ultrasonic	ADJ
ajst-2160	14	17	distance	distance	NOUN
ajst-2160	14	18	measurement	measurement	NOUN
ajst-2160	14	19	module	module	NOUN
ajst-2160	14	20	,	,	PUNCT
ajst-2160	14	21	iot	iot	ADJ
ajst-2160	14	22	communication	communication	NOUN
ajst-2160	14	23	module	module	NOUN
ajst-2160	14	24	,	,	PUNCT
ajst-2160	14	25	gray	gray	ADJ
ajst-2160	14	26	sensor	sensor	NOUN
ajst-2160	14	27	module	module	NOUN
ajst-2160	14	28	,	,	PUNCT
ajst-2160	14	29	vision	vision	NOUN
ajst-2160	14	30	module	module	NOUN
ajst-2160	14	31	,	,	PUNCT
ajst-2160	14	32	robot	robot	NOUN
ajst-2160	14	33	arm	arm	NOUN
ajst-2160	14	34	,	,	PUNCT
ajst-2160	14	35	cart	cart	NOUN
ajst-2160	14	36	body	body	NOUN
ajst-2160	14	37	and	and	CCONJ
ajst-2160	14	38	other	other	ADJ
ajst-2160	14	39	structures	structure	NOUN
ajst-2160	14	40	.	.	PUNCT
ajst-2160	15	1	stm32f103c8t6	stm32f103c8t6	PROPN
ajst-2160	15	2	is	be	AUX
ajst-2160	15	3	responsible	responsible	ADJ
ajst-2160	15	4	for	for	ADP
ajst-2160	15	5	the	the	DET
ajst-2160	15	6	normal	normal	ADJ
ajst-2160	15	7	operation	operation	NOUN
ajst-2160	15	8	of	of	ADP
ajst-2160	15	9	the	the	DET
ajst-2160	15	10	control	control	NOUN
ajst-2160	15	11	system	system	NOUN
ajst-2160	15	12	.	.	PUNCT
ajst-2160	16	1	the	the	DET
ajst-2160	16	2	workflow	workflow	NOUN
ajst-2160	16	3	of	of	ADP
ajst-2160	16	4	the	the	DET
ajst-2160	16	5	system	system	NOUN
ajst-2160	16	6	is	be	AUX
ajst-2160	16	7	shown	show	VERB
ajst-2160	16	8	in	in	ADP
ajst-2160	16	9	figure	figure	NOUN
ajst-2160	16	10	1	1	NUM
ajst-2160	16	11	.	.	PUNCT
ajst-2160	17	1	firstly	firstly	ADV
ajst-2160	17	2	,	,	PUNCT
ajst-2160	17	3	after	after	SCONJ
ajst-2160	17	4	the	the	DET
ajst-2160	17	5	vision	vision	NOUN
ajst-2160	17	6	module	module	NOUN
ajst-2160	17	7	identifies	identify	VERB
ajst-2160	17	8	the	the	DET
ajst-2160	17	9	corresponding	correspond	VERB
ajst-2160	17	10	courier	courier	NOUN
ajst-2160	17	11	,	,	PUNCT
ajst-2160	17	12	the	the	DET
ajst-2160	17	13	robot	robot	NOUN
ajst-2160	17	14	arm	arm	NOUN
ajst-2160	17	15	makes	make	VERB
ajst-2160	17	16	a	a	DET
ajst-2160	17	17	grab	grab	NOUN
ajst-2160	17	18	,	,	PUNCT
ajst-2160	17	19	secondly	secondly	ADV
ajst-2160	17	20	,	,	PUNCT
ajst-2160	17	21	the	the	DET
ajst-2160	17	22	trolley	trolley	NOUN
ajst-2160	17	23	walks	walk	VERB
ajst-2160	17	24	according	accord	VERB
ajst-2160	17	25	to	to	ADP
ajst-2160	17	26	the	the	DET
ajst-2160	17	27	corresponding	corresponding	ADJ
ajst-2160	17	28	route	route	NOUN
ajst-2160	17	29	,	,	PUNCT
ajst-2160	17	30	at	at	ADP
ajst-2160	17	31	this	this	DET
ajst-2160	17	32	time	time	NOUN
ajst-2160	17	33	,	,	PUNCT
ajst-2160	17	34	the	the	DET
ajst-2160	17	35	ultrasonic	ultrasonic	ADJ
ajst-2160	17	36	and	and	CCONJ
ajst-2160	17	37	infrared	infrared	ADJ
ajst-2160	17	38	modules	module	NOUN
ajst-2160	17	39	work	work	VERB
ajst-2160	17	40	continuously	continuously	ADV
ajst-2160	17	41	to	to	PART
ajst-2160	17	42	measure	measure	VERB
ajst-2160	17	43	the	the	DET
ajst-2160	17	44	distance	distance	NOUN
ajst-2160	17	45	of	of	ADP
ajst-2160	17	46	the	the	DET
ajst-2160	17	47	front	front	ADJ
ajst-2160	17	48	lot	lot	NOUN
ajst-2160	17	49	,	,	PUNCT
ajst-2160	17	50	if	if	SCONJ
ajst-2160	17	51	the	the	DET
ajst-2160	17	52	infrared	infrared	ADJ
ajst-2160	17	53	module	module	NOUN
ajst-2160	17	54	detects	detect	NOUN
ajst-2160	17	55	an	an	DET
ajst-2160	17	56	obstacle	obstacle	NOUN
ajst-2160	17	57	,	,	PUNCT
ajst-2160	17	58	the	the	DET
ajst-2160	17	59	data	data	NOUN
ajst-2160	17	60	is	be	AUX
ajst-2160	17	61	transmitted	transmit	VERB
ajst-2160	17	62	to	to	ADP
ajst-2160	17	63	the	the	DET
ajst-2160	17	64	microcontroller	microcontroller	NOUN
ajst-2160	17	65	,	,	PUNCT
ajst-2160	17	66	the	the	DET
ajst-2160	17	67	32	32	NUM
ajst-2160	17	68	microcontroller	microcontroller	NOUN
ajst-2160	17	69	issues	issue	NOUN
ajst-2160	17	70	a	a	DET
ajst-2160	17	71	command	command	NOUN
ajst-2160	17	72	to	to	ADP
ajst-2160	17	73	the	the	DET
ajst-2160	17	74	trolley	trolley	NOUN
ajst-2160	17	75	to	to	PART
ajst-2160	17	76	make	make	VERB
ajst-2160	17	77	a	a	DET
ajst-2160	17	78	turn	turn	NOUN
ajst-2160	17	79	to	to	PART
ajst-2160	17	80	avoid	avoid	VERB
ajst-2160	17	81	obstacles	obstacle	NOUN
ajst-2160	17	82	,	,	PUNCT
ajst-2160	17	83	at	at	ADP
ajst-2160	17	84	the	the	DET
ajst-2160	17	85	same	same	ADJ
ajst-2160	17	86	time	time	NOUN
ajst-2160	17	87	,	,	PUNCT
ajst-2160	17	88	the	the	DET
ajst-2160	17	89	trolley	trolley	NOUN
ajst-2160	17	90	issues	issue	VERB
ajst-2160	17	91	an	an	DET
ajst-2160	17	92	alarm	alarm	NOUN
ajst-2160	17	93	to	to	PART
ajst-2160	17	94	notify	notify	VERB
ajst-2160	17	95	the	the	DET
ajst-2160	17	96	administrator	administrator	NOUN
ajst-2160	17	97	to	to	PART
ajst-2160	17	98	clean	clean	VERB
ajst-2160	17	99	up	up	ADP
ajst-2160	17	100	,	,	PUNCT
ajst-2160	17	101	finally	finally	ADV
ajst-2160	17	102	,	,	PUNCT
ajst-2160	17	103	when	when	SCONJ
ajst-2160	17	104	the	the	DET
ajst-2160	17	105	trolley	trolley	NOUN
ajst-2160	17	106	reaches	reach	VERB
ajst-2160	17	107	the	the	DET
ajst-2160	17	108	destination	destination	NOUN
ajst-2160	17	109	,	,	PUNCT
ajst-2160	17	110	the	the	DET
ajst-2160	17	111	receiver	receiver	NOUN
ajst-2160	17	112	arm	arm	NOUN
ajst-2160	17	113	moves	move	VERB
ajst-2160	17	114	to	to	PART
ajst-2160	17	115	put	put	VERB
ajst-2160	17	116	the	the	DET
ajst-2160	17	117	object	object	NOUN
ajst-2160	17	118	and	and	CCONJ
ajst-2160	17	119	complete	complete	VERB
ajst-2160	17	120	the	the	DET
ajst-2160	17	121	sorting	sorting	NOUN
ajst-2160	17	122	,	,	PUNCT
ajst-2160	17	123	after	after	ADP
ajst-2160	17	124	which	which	PRON
ajst-2160	17	125	it	it	PRON
ajst-2160	17	126	returns	return	VERB
ajst-2160	17	127	to	to	ADP
ajst-2160	17	128	the	the	DET
ajst-2160	17	129	original	original	ADJ
ajst-2160	17	130	route	route	NOUN
ajst-2160	17	131	for	for	ADP
ajst-2160	17	132	the	the	DET
ajst-2160	17	133	next	next	ADJ
ajst-2160	17	134	work	work	NOUN
ajst-2160	17	135	.	.	PUNCT
ajst-2160	18	1	figure	figure	NOUN
ajst-2160	18	2	1	1	NUM
ajst-2160	18	3	.	.	PUNCT
ajst-2160	18	4	system	system	NOUN
ajst-2160	18	5	workflow	workflow	NOUN
ajst-2160	18	6	154	154	NUM
ajst-2160	18	7	2.2	2.2	NUM
ajst-2160	18	8	.	.	PUNCT
ajst-2160	19	1	system	system	NOUN
ajst-2160	19	2	operation	operation	NOUN
ajst-2160	19	3	principle	principle	NOUN
ajst-2160	19	4	2.2.1	2.2.1	NUM
ajst-2160	19	5	.	.	PUNCT
ajst-2160	20	1	microcontroller	microcontroller	NOUN
ajst-2160	20	2	operation	operation	NOUN
ajst-2160	20	3	principle	principle	NOUN
ajst-2160	20	4	this	this	DET
ajst-2160	20	5	system	system	NOUN
ajst-2160	20	6	uses	use	VERB
ajst-2160	20	7	stm32	stm32	PROPN
ajst-2160	20	8	microcontroller	microcontroller	NOUN
ajst-2160	20	9	,	,	PUNCT
ajst-2160	20	10	which	which	PRON
ajst-2160	20	11	has	have	VERB
ajst-2160	20	12	a	a	DET
ajst-2160	20	13	powerful	powerful	ADJ
ajst-2160	20	14	system	system	NOUN
ajst-2160	20	15	structure	structure	NOUN
ajst-2160	20	16	,	,	PUNCT
ajst-2160	20	17	easy	easy	ADJ
ajst-2160	20	18	to	to	PART
ajst-2160	20	19	use	use	VERB
ajst-2160	20	20	,	,	PUNCT
ajst-2160	20	21	modularization	modularization	NOUN
ajst-2160	20	22	and	and	CCONJ
ajst-2160	20	23	strong	strong	ADJ
ajst-2160	20	24	processing	processing	NOUN
ajst-2160	20	25	functions	function	NOUN
ajst-2160	20	26	,	,	PUNCT
ajst-2160	20	27	fast	fast	ADJ
ajst-2160	20	28	,	,	PUNCT
ajst-2160	20	29	low	low	ADJ
ajst-2160	20	30	voltage	voltage	NOUN
ajst-2160	20	31	,	,	PUNCT
ajst-2160	20	32	low	low	ADJ
ajst-2160	20	33	power	power	NOUN
ajst-2160	20	34	consumption	consumption	NOUN
ajst-2160	20	35	,	,	PUNCT
ajst-2160	20	36	easy	easy	ADJ
ajst-2160	20	37	to	to	PART
ajst-2160	20	38	produce	produce	VERB
ajst-2160	20	39	portable	portable	ADJ
ajst-2160	20	40	products	product	NOUN
ajst-2160	20	41	,	,	PUNCT
ajst-2160	20	42	strong	strong	ADJ
ajst-2160	20	43	control	control	NOUN
ajst-2160	20	44	functions	function	NOUN
ajst-2160	20	45	and	and	CCONJ
ajst-2160	20	46	other	other	ADJ
ajst-2160	20	47	significant	significant	ADJ
ajst-2160	20	48	features	feature	NOUN
ajst-2160	20	49	,	,	PUNCT
ajst-2160	20	50	so	so	CCONJ
ajst-2160	21	1	it	it	PRON
ajst-2160	21	2	is	be	AUX
ajst-2160	21	3	often	often	ADV
ajst-2160	21	4	used	use	VERB
ajst-2160	21	5	in	in	ADP
ajst-2160	21	6	the	the	DET
ajst-2160	21	7	control	control	NOUN
ajst-2160	21	8	of	of	ADP
ajst-2160	21	9	a	a	DET
ajst-2160	21	10	system	system	NOUN
ajst-2160	21	11	the	the	DET
ajst-2160	21	12	core	core	NOUN
ajst-2160	21	13	component	component	NOUN
ajst-2160	21	14	of	of	ADP
ajst-2160	21	15	a	a	DET
ajst-2160	21	16	system	system	NOUN
ajst-2160	21	17	.	.	PUNCT
ajst-2160	22	1	after	after	ADP
ajst-2160	22	2	receiving	receive	VERB
ajst-2160	22	3	the	the	DET
ajst-2160	22	4	circuit	circuit	NOUN
ajst-2160	22	5	stimulation	stimulation	NOUN
ajst-2160	22	6	signals	signal	NOUN
ajst-2160	22	7	from	from	ADP
ajst-2160	22	8	each	each	DET
ajst-2160	22	9	module	module	NOUN
ajst-2160	22	10	,	,	PUNCT
ajst-2160	22	11	the	the	DET
ajst-2160	22	12	microcontroller	microcontroller	NOUN
ajst-2160	22	13	controls	control	VERB
ajst-2160	22	14	the	the	DET
ajst-2160	22	15	robot	robot	NOUN
ajst-2160	22	16	arm	arm	NOUN
ajst-2160	22	17	and	and	CCONJ
ajst-2160	22	18	the	the	DET
ajst-2160	22	19	body	body	NOUN
ajst-2160	22	20	,	,	PUNCT
ajst-2160	22	21	and	and	CCONJ
ajst-2160	22	22	controls	control	VERB
ajst-2160	22	23	the	the	DET
ajst-2160	22	24	system	system	NOUN
ajst-2160	22	25	according	accord	VERB
ajst-2160	22	26	to	to	ADP
ajst-2160	22	27	the	the	DET
ajst-2160	22	28	originally	originally	ADV
ajst-2160	22	29	written	write	VERB
ajst-2160	22	30	program	program	NOUN
ajst-2160	22	31	.	.	PUNCT
ajst-2160	23	1	2.2.2	2.2.2	X
ajst-2160	23	2	.	.	PUNCT
ajst-2160	23	3	vision	vision	NOUN
ajst-2160	23	4	module	module	NOUN
ajst-2160	23	5	works	work	VERB
ajst-2160	23	6	in	in	ADP
ajst-2160	23	7	order	order	NOUN
ajst-2160	23	8	to	to	PART
ajst-2160	23	9	ensure	ensure	VERB
ajst-2160	23	10	the	the	DET
ajst-2160	23	11	accuracy	accuracy	NOUN
ajst-2160	23	12	of	of	ADP
ajst-2160	23	13	information	information	NOUN
ajst-2160	23	14	transmission	transmission	NOUN
ajst-2160	23	15	,	,	PUNCT
ajst-2160	23	16	the	the	DET
ajst-2160	23	17	transmission	transmission	NOUN
ajst-2160	23	18	protocol	protocol	NOUN
ajst-2160	23	19	needs	need	VERB
ajst-2160	23	20	to	to	PART
ajst-2160	23	21	be	be	AUX
ajst-2160	23	22	agreed	agree	VERB
ajst-2160	23	23	.	.	PUNCT
ajst-2160	24	1	according	accord	VERB
ajst-2160	24	2	to	to	ADP
ajst-2160	24	3	the	the	DET
ajst-2160	24	4	actual	actual	ADJ
ajst-2160	24	5	situation	situation	NOUN
ajst-2160	24	6	,	,	PUNCT
ajst-2160	24	7	it	it	PRON
ajst-2160	24	8	is	be	AUX
ajst-2160	24	9	agreed	agree	VERB
ajst-2160	24	10	that	that	SCONJ
ajst-2160	24	11	each	each	DET
ajst-2160	24	12	transmission	transmission	NOUN
ajst-2160	24	13	of	of	ADP
ajst-2160	24	14	five	five	NUM
ajst-2160	24	15	8	8	NUM
ajst-2160	24	16	bit	bit	NOUN
ajst-2160	24	17	binary	binary	ADJ
ajst-2160	24	18	numbers	number	NOUN
ajst-2160	24	19	,	,	PUNCT
ajst-2160	24	20	the	the	DET
ajst-2160	24	21	first	first	ADJ
ajst-2160	24	22	two	two	NUM
ajst-2160	24	23	bits	bit	NOUN
ajst-2160	24	24	are	be	AUX
ajst-2160	24	25	0xaa	0xaa	NOUN
ajst-2160	24	26	,	,	PUNCT
ajst-2160	24	27	that	that	ADV
ajst-2160	24	28	is	is	ADV
ajst-2160	24	29	,	,	PUNCT
ajst-2160	24	30	the	the	DET
ajst-2160	24	31	decimal	decimal	ADJ
ajst-2160	24	32	number	number	NOUN
ajst-2160	24	33	170	170	NUM
ajst-2160	24	34	.	.	PUNCT
ajst-2160	25	1	the	the	DET
ajst-2160	25	2	third	third	ADJ
ajst-2160	25	3	and	and	CCONJ
ajst-2160	25	4	fourth	fourth	ADJ
ajst-2160	25	5	bits	bit	NOUN
ajst-2160	25	6	are	be	AUX
ajst-2160	25	7	valid	valid	ADJ
ajst-2160	25	8	information	information	NOUN
ajst-2160	25	9	data	datum	NOUN
ajst-2160	25	10	.	.	PUNCT
ajst-2160	26	1	the	the	DET
ajst-2160	26	2	fifth	fifth	ADJ
ajst-2160	26	3	bit	bit	NOUN
ajst-2160	26	4	is	be	AUX
ajst-2160	26	5	0x55	0x55	ADJ
ajst-2160	26	6	,	,	PUNCT
ajst-2160	26	7	that	that	ADV
ajst-2160	26	8	is	is	ADV
ajst-2160	26	9	,	,	PUNCT
ajst-2160	26	10	the	the	DET
ajst-2160	26	11	decimal	decimal	ADJ
ajst-2160	26	12	number	number	NOUN
ajst-2160	26	13	85	85	NUM
ajst-2160	26	14	to	to	PART
ajst-2160	26	15	be	be	AUX
ajst-2160	26	16	effective	effective	ADJ
ajst-2160	26	17	,	,	PUNCT
ajst-2160	26	18	so	so	SCONJ
ajst-2160	26	19	that	that	SCONJ
ajst-2160	26	20	the	the	DET
ajst-2160	26	21	accuracy	accuracy	NOUN
ajst-2160	26	22	of	of	ADP
ajst-2160	26	23	transmission	transmission	NOUN
ajst-2160	26	24	can	can	AUX
ajst-2160	26	25	be	be	AUX
ajst-2160	26	26	greatly	greatly	ADV
ajst-2160	26	27	improved	improve	VERB
ajst-2160	26	28	.	.	PUNCT
ajst-2160	27	1	after	after	SCONJ
ajst-2160	27	2	the	the	DET
ajst-2160	27	3	intelligent	intelligent	ADJ
ajst-2160	27	4	courier	courier	NOUN
ajst-2160	27	5	vehicle	vehicle	NOUN
ajst-2160	27	6	arrives	arrive	VERB
ajst-2160	27	7	at	at	ADP
ajst-2160	27	8	the	the	DET
ajst-2160	27	9	recognition	recognition	NOUN
ajst-2160	27	10	area	area	NOUN
ajst-2160	27	11	,	,	PUNCT
ajst-2160	27	12	the	the	DET
ajst-2160	27	13	microcontroller	microcontroller	NOUN
ajst-2160	27	14	sends	send	VERB
ajst-2160	27	15	the	the	DET
ajst-2160	27	16	start	start	NOUN
ajst-2160	27	17	recognition	recognition	NOUN
ajst-2160	27	18	command	command	NOUN
ajst-2160	27	19	and	and	CCONJ
ajst-2160	27	20	the	the	DET
ajst-2160	27	21	machine	machine	NOUN
ajst-2160	27	22	vision	vision	NOUN
ajst-2160	27	23	module	module	NOUN
ajst-2160	27	24	starts	start	VERB
ajst-2160	27	25	the	the	DET
ajst-2160	27	26	contour	contour	NOUN
ajst-2160	27	27	recognition	recognition	NOUN
ajst-2160	27	28	.	.	PUNCT
ajst-2160	28	1	if	if	SCONJ
ajst-2160	28	2	there	there	PRON
ajst-2160	28	3	is	be	VERB
ajst-2160	28	4	an	an	DET
ajst-2160	28	5	express	express	ADJ
ajst-2160	28	6	piece	piece	NOUN
ajst-2160	28	7	,	,	PUNCT
ajst-2160	28	8	the	the	DET
ajst-2160	28	9	vision	vision	NOUN
ajst-2160	28	10	module	module	NOUN
ajst-2160	28	11	sends	send	VERB
ajst-2160	28	12	an	an	DET
ajst-2160	28	13	express	express	ADJ
ajst-2160	28	14	piece	piece	NOUN
ajst-2160	28	15	command	command	NOUN
ajst-2160	28	16	to	to	ADP
ajst-2160	28	17	the	the	DET
ajst-2160	28	18	microcontroller	microcontroller	NOUN
ajst-2160	28	19	.	.	PUNCT
ajst-2160	29	1	after	after	SCONJ
ajst-2160	29	2	the	the	DET
ajst-2160	29	3	microcontroller	microcontroller	NOUN
ajst-2160	29	4	receives	receive	VERB
ajst-2160	29	5	it	it	PRON
ajst-2160	29	6	,	,	PUNCT
ajst-2160	29	7	the	the	DET
ajst-2160	29	8	machine	machine	NOUN
ajst-2160	29	9	vision	vision	NOUN
ajst-2160	29	10	module	module	NOUN
ajst-2160	29	11	starts	start	VERB
ajst-2160	29	12	to	to	PART
ajst-2160	29	13	scan	scan	VERB
ajst-2160	29	14	the	the	DET
ajst-2160	29	15	code	code	NOUN
ajst-2160	29	16	and	and	CCONJ
ajst-2160	29	17	sends	send	VERB
ajst-2160	29	18	the	the	DET
ajst-2160	29	19	center	center	NOUN
ajst-2160	29	20	coordinates	coordinate	NOUN
ajst-2160	29	21	,	,	PUNCT
ajst-2160	29	22	path	path	NOUN
ajst-2160	29	23	information	information	NOUN
ajst-2160	29	24	,	,	PUNCT
ajst-2160	29	25	as	as	ADV
ajst-2160	29	26	well	well	ADV
ajst-2160	29	27	as	as	ADP
ajst-2160	29	28	the	the	DET
ajst-2160	29	29	category	category	NOUN
ajst-2160	29	30	and	and	CCONJ
ajst-2160	29	31	number	number	NOUN
ajst-2160	29	32	of	of	ADP
ajst-2160	29	33	express	express	ADJ
ajst-2160	29	34	pieces	piece	NOUN
ajst-2160	29	35	to	to	ADP
ajst-2160	29	36	the	the	DET
ajst-2160	29	37	microcontroller	microcontroller	NOUN
ajst-2160	29	38	.	.	PUNCT
ajst-2160	30	1	2.2.3	2.2.3	NUM
ajst-2160	30	2	.	.	PUNCT
ajst-2160	30	3	grayscale	grayscale	NOUN
ajst-2160	30	4	sensor	sensor	PROPN
ajst-2160	30	5	working	working	NOUN
ajst-2160	30	6	principle	principle	NOUN
ajst-2160	30	7	by	by	ADP
ajst-2160	30	8	installing	instal	VERB
ajst-2160	30	9	black	black	ADJ
ajst-2160	30	10	marking	mark	VERB
ajst-2160	30	11	lines	line	NOUN
ajst-2160	30	12	on	on	ADP
ajst-2160	30	13	the	the	DET
ajst-2160	30	14	ground	ground	NOUN
ajst-2160	30	15	of	of	ADP
ajst-2160	30	16	small	small	ADJ
ajst-2160	30	17	and	and	CCONJ
ajst-2160	30	18	medium	medium	ADJ
ajst-2160	30	19	-	-	PUNCT
ajst-2160	30	20	sized	sized	ADJ
ajst-2160	30	21	courier	courier	NOUN
ajst-2160	30	22	sites	site	NOUN
ajst-2160	30	23	as	as	ADP
ajst-2160	30	24	markers	marker	NOUN
ajst-2160	30	25	,	,	PUNCT
ajst-2160	30	26	and	and	CCONJ
ajst-2160	30	27	by	by	ADP
ajst-2160	30	28	using	use	VERB
ajst-2160	30	29	5	5	NUM
ajst-2160	30	30	groups	group	NOUN
ajst-2160	30	31	of	of	ADP
ajst-2160	30	32	photoelectric	photoelectric	ADJ
ajst-2160	30	33	sensors	sensor	NOUN
ajst-2160	30	34	for	for	ADP
ajst-2160	30	35	trajectory	trajectory	NOUN
ajst-2160	30	36	recognition	recognition	NOUN
ajst-2160	30	37	,	,	PUNCT
ajst-2160	30	38	different	different	ADJ
ajst-2160	30	39	markers	marker	NOUN
ajst-2160	30	40	are	be	AUX
ajst-2160	30	41	used	use	VERB
ajst-2160	30	42	to	to	PART
ajst-2160	30	43	determine	determine	VERB
ajst-2160	30	44	courier	courier	NOUN
ajst-2160	30	45	scanning	scanning	NOUN
ajst-2160	30	46	recognition	recognition	NOUN
ajst-2160	30	47	points	point	NOUN
ajst-2160	30	48	,	,	PUNCT
ajst-2160	30	49	parking	parking	NOUN
ajst-2160	30	50	points	point	NOUN
ajst-2160	30	51	,	,	PUNCT
ajst-2160	30	52	and	and	CCONJ
ajst-2160	30	53	trajectories	trajectory	NOUN
ajst-2160	30	54	.	.	PUNCT
ajst-2160	31	1	the	the	DET
ajst-2160	31	2	intelligent	intelligent	ADJ
ajst-2160	31	3	courier	courier	NOUN
ajst-2160	31	4	sorting	sort	VERB
ajst-2160	31	5	robot	robot	NOUN
ajst-2160	31	6	is	be	AUX
ajst-2160	31	7	driven	drive	VERB
ajst-2160	31	8	by	by	ADP
ajst-2160	31	9	four	four	NUM
ajst-2160	31	10	-	-	PUNCT
ajst-2160	31	11	wheel	wheel	NOUN
ajst-2160	31	12	independent	independent	ADJ
ajst-2160	31	13	drive	drive	NOUN
ajst-2160	31	14	,	,	PUNCT
ajst-2160	31	15	and	and	CCONJ
ajst-2160	31	16	turns	turn	VERB
ajst-2160	31	17	and	and	CCONJ
ajst-2160	31	18	turns	turn	VERB
ajst-2160	31	19	around	around	ADP
ajst-2160	31	20	by	by	ADP
ajst-2160	31	21	differential	differential	ADJ
ajst-2160	31	22	speed	speed	NOUN
ajst-2160	31	23	control	control	NOUN
ajst-2160	31	24	.	.	PUNCT
ajst-2160	32	1	the	the	DET
ajst-2160	32	2	arduino	arduino	NOUN
ajst-2160	32	3	mega2560	mega2560	PROPN
ajst-2160	32	4	is	be	AUX
ajst-2160	32	5	used	use	VERB
ajst-2160	32	6	as	as	ADP
ajst-2160	32	7	the	the	DET
ajst-2160	32	8	core	core	NOUN
ajst-2160	32	9	controller	controller	NOUN
ajst-2160	32	10	to	to	PART
ajst-2160	32	11	control	control	VERB
ajst-2160	32	12	five	five	NUM
ajst-2160	32	13	infrared	infrared	ADJ
ajst-2160	32	14	sensors	sensor	NOUN
ajst-2160	32	15	,	,	PUNCT
ajst-2160	32	16	which	which	PRON
ajst-2160	32	17	detect	detect	VERB
ajst-2160	32	18	five	five	NUM
ajst-2160	32	19	positions	position	NOUN
ajst-2160	32	20	:	:	PUNCT
ajst-2160	32	21	left	leave	VERB
ajst-2160	32	22	front	front	NOUN
ajst-2160	32	23	,	,	PUNCT
ajst-2160	32	24	left	left	ADJ
ajst-2160	32	25	center	center	NOUN
ajst-2160	32	26	,	,	PUNCT
ajst-2160	32	27	center	center	NOUN
ajst-2160	32	28	,	,	PUNCT
ajst-2160	32	29	right	right	ADJ
ajst-2160	32	30	center	center	NOUN
ajst-2160	32	31	,	,	PUNCT
ajst-2160	32	32	and	and	CCONJ
ajst-2160	32	33	right	right	ADJ
ajst-2160	32	34	front	front	NOUN
ajst-2160	32	35	,	,	PUNCT
ajst-2160	32	36	and	and	CCONJ
ajst-2160	32	37	control	control	VERB
ajst-2160	32	38	the	the	DET
ajst-2160	32	39	four	four	NUM
ajst-2160	32	40	-	-	PUNCT
ajst-2160	32	41	wheel	wheel	NOUN
ajst-2160	32	42	independent	independent	ADJ
ajst-2160	32	43	motors	motor	NOUN
ajst-2160	32	44	by	by	ADP
ajst-2160	32	45	the	the	DET
ajst-2160	32	46	position	position	NOUN
ajst-2160	32	47	signals	signal	NOUN
ajst-2160	32	48	returned	return	VERB
ajst-2160	32	49	from	from	ADP
ajst-2160	32	50	the	the	DET
ajst-2160	32	51	grayscale	grayscale	NOUN
ajst-2160	32	52	sensors	sensor	NOUN
ajst-2160	32	53	.	.	PUNCT
ajst-2160	33	1	2.2.4	2.2.4	X
ajst-2160	33	2	.	.	X
ajst-2160	33	3	working	work	VERB
ajst-2160	33	4	principle	principle	NOUN
ajst-2160	33	5	of	of	ADP
ajst-2160	33	6	the	the	DET
ajst-2160	33	7	robot	robot	NOUN
ajst-2160	33	8	arm	arm	VERB
ajst-2160	33	9	six	six	NUM
ajst-2160	33	10	-	-	PUNCT
ajst-2160	33	11	degree	degree	NOUN
ajst-2160	33	12	-	-	PUNCT
ajst-2160	33	13	of	of	ADP
ajst-2160	33	14	-	-	PUNCT
ajst-2160	33	15	freedom	freedom	NOUN
ajst-2160	33	16	robotic	robotic	ADJ
ajst-2160	33	17	arm	arm	NOUN
ajst-2160	33	18	this	this	DET
ajst-2160	33	19	type	type	NOUN
ajst-2160	33	20	of	of	ADP
ajst-2160	33	21	robotic	robotic	ADJ
ajst-2160	33	22	arm	arm	NOUN
ajst-2160	33	23	is	be	AUX
ajst-2160	33	24	more	more	ADV
ajst-2160	33	25	common	common	ADJ
ajst-2160	33	26	in	in	ADP
ajst-2160	33	27	industrial	industrial	ADJ
ajst-2160	33	28	applications	application	NOUN
ajst-2160	33	29	,	,	PUNCT
ajst-2160	33	30	commonly	commonly	ADV
ajst-2160	33	31	used	use	VERB
ajst-2160	33	32	in	in	ADP
ajst-2160	33	33	handling	handling	NOUN
ajst-2160	33	34	,	,	PUNCT
ajst-2160	33	35	assembly	assembly	NOUN
ajst-2160	33	36	,	,	PUNCT
ajst-2160	33	37	welding	welding	NOUN
ajst-2160	33	38	,	,	PUNCT
ajst-2160	33	39	painting	painting	NOUN
ajst-2160	33	40	and	and	CCONJ
ajst-2160	33	41	other	other	ADJ
ajst-2160	33	42	work	work	NOUN
ajst-2160	33	43	.	.	PUNCT
ajst-2160	34	1	it	it	PRON
ajst-2160	34	2	consists	consist	VERB
ajst-2160	34	3	of	of	ADP
ajst-2160	34	4	a	a	DET
ajst-2160	34	5	servo	servo	NOUN
ajst-2160	34	6	and	and	CCONJ
ajst-2160	34	7	a	a	DET
ajst-2160	34	8	claw	claw	NOUN
ajst-2160	34	9	,	,	PUNCT
ajst-2160	34	10	and	and	CCONJ
ajst-2160	34	11	uses	use	VERB
ajst-2160	34	12	a	a	DET
ajst-2160	34	13	master	master	NOUN
ajst-2160	34	14	-	-	PUNCT
ajst-2160	34	15	slave	slave	NOUN
ajst-2160	34	16	control	control	NOUN
ajst-2160	34	17	method	method	NOUN
ajst-2160	34	18	,	,	PUNCT
ajst-2160	34	19	with	with	ADP
ajst-2160	34	20	an	an	DET
ajst-2160	34	21	stm32	stm32	PROPN
ajst-2160	34	22	microcontroller	microcontroller	NOUN
ajst-2160	34	23	system	system	NOUN
ajst-2160	34	24	as	as	ADP
ajst-2160	34	25	the	the	DET
ajst-2160	34	26	control	control	NOUN
ajst-2160	34	27	core	core	NOUN
ajst-2160	34	28	,	,	PUNCT
ajst-2160	34	29	while	while	SCONJ
ajst-2160	34	30	connecting	connect	VERB
ajst-2160	34	31	a	a	DET
ajst-2160	34	32	camera	camera	NOUN
ajst-2160	34	33	and	and	CCONJ
ajst-2160	34	34	an	an	DET
ajst-2160	34	35	infrared	infrared	ADJ
ajst-2160	34	36	sensor	sensor	NOUN
ajst-2160	34	37	,	,	PUNCT
ajst-2160	34	38	and	and	CCONJ
ajst-2160	34	39	accessing	access	VERB
ajst-2160	34	40	wifi	wifi	NOUN
ajst-2160	34	41	to	to	PART
ajst-2160	34	42	connect	connect	VERB
ajst-2160	34	43	to	to	ADP
ajst-2160	34	44	a	a	DET
ajst-2160	34	45	third	third	ADJ
ajst-2160	34	46	platform	platform	NOUN
ajst-2160	34	47	to	to	PART
ajst-2160	34	48	form	form	VERB
ajst-2160	34	49	an	an	DET
ajst-2160	34	50	integrated	integrate	VERB
ajst-2160	34	51	vision	vision	NOUN
ajst-2160	34	52	system	system	NOUN
ajst-2160	34	53	and	and	CCONJ
ajst-2160	34	54	control	control	NOUN
ajst-2160	34	55	system	system	NOUN
ajst-2160	34	56	.	.	PUNCT
ajst-2160	35	1	the	the	DET
ajst-2160	35	2	maximum	maximum	PROPN
ajst-2160	35	3	control	control	NOUN
ajst-2160	35	4	can	can	AUX
ajst-2160	35	5	be	be	AUX
ajst-2160	35	6	achieved	achieve	VERB
ajst-2160	35	7	by	by	ADP
ajst-2160	35	8	the	the	DET
ajst-2160	35	9	following	follow	VERB
ajst-2160	35	10	two	two	NUM
ajst-2160	35	11	aspects	aspect	NOUN
ajst-2160	35	12	while	while	SCONJ
ajst-2160	35	13	improving	improve	VERB
ajst-2160	35	14	the	the	DET
ajst-2160	35	15	response	response	NOUN
ajst-2160	35	16	speed	speed	NOUN
ajst-2160	35	17	of	of	ADP
ajst-2160	35	18	the	the	DET
ajst-2160	35	19	rudder	rudder	NOUN
ajst-2160	35	20	:	:	PUNCT
ajst-2160	35	21	on	on	ADP
ajst-2160	35	22	the	the	DET
ajst-2160	35	23	one	one	NUM
ajst-2160	35	24	hand	hand	NOUN
ajst-2160	35	25	,	,	PUNCT
ajst-2160	35	26	the	the	DET
ajst-2160	35	27	control	control	NOUN
ajst-2160	35	28	mode	mode	NOUN
ajst-2160	35	29	of	of	ADP
ajst-2160	35	30	the	the	DET
ajst-2160	35	31	machinery	machinery	NOUN
ajst-2160	35	32	is	be	AUX
ajst-2160	35	33	changed	change	VERB
ajst-2160	35	34	,	,	PUNCT
ajst-2160	35	35	and	and	CCONJ
ajst-2160	35	36	the	the	DET
ajst-2160	35	37	output	output	NOUN
ajst-2160	35	38	torque	torque	NOUN
ajst-2160	35	39	margin	margin	NOUN
ajst-2160	35	40	of	of	ADP
ajst-2160	35	41	the	the	DET
ajst-2160	35	42	control	control	NOUN
ajst-2160	35	43	signal	signal	NOUN
ajst-2160	35	44	to	to	ADP
ajst-2160	35	45	the	the	DET
ajst-2160	35	46	rudder	rudder	NOUN
ajst-2160	35	47	is	be	AUX
ajst-2160	35	48	used	use	VERB
ajst-2160	35	49	to	to	PART
ajst-2160	35	50	increase	increase	VERB
ajst-2160	35	51	the	the	DET
ajst-2160	35	52	angular	angular	ADJ
ajst-2160	35	53	speed	speed	NOUN
ajst-2160	35	54	and	and	CCONJ
ajst-2160	35	55	duty	duty	NOUN
ajst-2160	35	56	cycle	cycle	NOUN
ajst-2160	35	57	of	of	ADP
ajst-2160	35	58	the	the	DET
ajst-2160	35	59	rudder	rudder	NOUN
ajst-2160	35	60	to	to	PART
ajst-2160	35	61	speed	speed	VERB
ajst-2160	35	62	up	up	ADP
ajst-2160	35	63	the	the	DET
ajst-2160	35	64	response	response	NOUN
ajst-2160	35	65	speed	speed	NOUN
ajst-2160	35	66	of	of	ADP
ajst-2160	35	67	the	the	DET
ajst-2160	35	68	rudder	rudder	NOUN
ajst-2160	35	69	;	;	PUNCT
ajst-2160	35	70	on	on	ADP
ajst-2160	35	71	the	the	DET
ajst-2160	35	72	other	other	ADJ
ajst-2160	35	73	hand	hand	NOUN
ajst-2160	35	74	,	,	PUNCT
ajst-2160	35	75	the	the	DET
ajst-2160	35	76	control	control	NOUN
ajst-2160	35	77	of	of	ADP
ajst-2160	35	78	the	the	DET
ajst-2160	35	79	control	control	NOUN
ajst-2160	35	80	frequency	frequency	NOUN
ajst-2160	35	81	signal	signal	NOUN
ajst-2160	35	82	of	of	ADP
ajst-2160	35	83	the	the	DET
ajst-2160	35	84	rudder	rudder	NOUN
ajst-2160	35	85	and	and	CCONJ
ajst-2160	35	86	the	the	DET
ajst-2160	35	87	increase	increase	NOUN
ajst-2160	35	88	of	of	ADP
ajst-2160	35	89	the	the	DET
ajst-2160	35	90	duty	duty	NOUN
ajst-2160	35	91	cycle	cycle	NOUN
ajst-2160	35	92	frequency	frequency	NOUN
ajst-2160	35	93	of	of	ADP
ajst-2160	35	94	the	the	DET
ajst-2160	35	95	pwm	pwm	NOUN
ajst-2160	35	96	waveform	waveform	NOUN
ajst-2160	35	97	are	be	AUX
ajst-2160	35	98	mainly	mainly	ADV
ajst-2160	35	99	used	use	VERB
ajst-2160	35	100	to	to	PART
ajst-2160	35	101	improve	improve	VERB
ajst-2160	35	102	the	the	DET
ajst-2160	35	103	response	response	NOUN
ajst-2160	35	104	speed	speed	NOUN
ajst-2160	35	105	.	.	PUNCT
ajst-2160	36	1	the	the	DET
ajst-2160	36	2	schematic	schematic	ADJ
ajst-2160	36	3	diagram	diagram	NOUN
ajst-2160	36	4	of	of	ADP
ajst-2160	36	5	the	the	DET
ajst-2160	36	6	arduino	arduino	NOUN
ajst-2160	36	7	mega2560	mega2560	PROPN
ajst-2160	36	8	mechanism	mechanism	NOUN
ajst-2160	36	9	that	that	PRON
ajst-2160	36	10	controls	control	VERB
ajst-2160	36	11	the	the	DET
ajst-2160	36	12	robot	robot	NOUN
ajst-2160	36	13	arm	arm	NOUN
ajst-2160	36	14	is	be	AUX
ajst-2160	36	15	shown	show	VERB
ajst-2160	36	16	in	in	ADP
ajst-2160	36	17	figure	figure	NOUN
ajst-2160	36	18	2	2	NUM
ajst-2160	36	19	.	.	PUNCT
ajst-2160	36	20	arduino	arduino	NOUN
ajst-2160	36	21	mega	mega	PROPN
ajst-2160	36	22	2560	2560	NUM
ajst-2160	36	23	vcc	vcc	PROPN
ajst-2160	36	24	gnd	gnd	PROPN
ajst-2160	36	25	pwm	pwm	PROPN
ajst-2160	36	26	output	output	NOUN
ajst-2160	36	27	electric	electric	PROPN
ajst-2160	36	28	machinery	machinery	PROPN
ajst-2160	36	29	a	a	DET
ajst-2160	36	30	electric	electric	ADJ
ajst-2160	36	31	machinery	machinery	PROPN
ajst-2160	36	32	b	b	PROPN
ajst-2160	36	33	electric	electric	ADJ
ajst-2160	36	34	machinery	machinery	NOUN
ajst-2160	36	35	c	c	PROPN
ajst-2160	36	36	electric	electric	PROPN
ajst-2160	36	37	machinery	machinery	PROPN
ajst-2160	36	38	d	d	PROPN
ajst-2160	36	39	electric	electric	ADJ
ajst-2160	36	40	machinery	machinery	NOUN
ajst-2160	36	41	e	e	PROPN
ajst-2160	36	42	electric	electric	ADJ
ajst-2160	36	43	machinery	machinery	NOUN
ajst-2160	36	44	f	f	PROPN
ajst-2160	36	45	chassis	chassis	NOUN
ajst-2160	36	46	rotation	rotation	NOUN
ajst-2160	36	47	boom	boom	NOUN
ajst-2160	36	48	swing	swing	NOUN
ajst-2160	36	49	jib	jib	NOUN
ajst-2160	36	50	swing	swing	NOUN
ajst-2160	36	51	paw	paw	PROPN
ajst-2160	36	52	swing	swing	NOUN
ajst-2160	36	53	paw	paw	PROPN
ajst-2160	36	54	rotation	rotation	NOUN
ajst-2160	36	55	claw	claw	NOUN
ajst-2160	36	56	opening	opening	NOUN
ajst-2160	36	57	and	and	CCONJ
ajst-2160	36	58	closing	closing	NOUN
ajst-2160	36	59	5v	5v	NOUN
ajst-2160	36	60	regulated	regulate	VERB
ajst-2160	36	61	dc	dc	PROPN
ajst-2160	36	62	power	power	NOUN
ajst-2160	36	63	supply	supply	NOUN
ajst-2160	36	64	figure	figure	NOUN
ajst-2160	36	65	2	2	NUM
ajst-2160	36	66	.	.	PUNCT
ajst-2160	36	67	hardware	hardware	NOUN
ajst-2160	36	68	connection	connection	NOUN
ajst-2160	36	69	diagram	diagram	NOUN
ajst-2160	36	70	of	of	ADP
ajst-2160	36	71	mechanical	mechanical	ADJ
ajst-2160	36	72	arm	arm	NOUN
ajst-2160	36	73	control	control	NOUN
ajst-2160	36	74	system	system	NOUN
ajst-2160	36	75	3	3	NUM
ajst-2160	36	76	.	.	PUNCT
ajst-2160	37	1	testing	testing	NOUN
ajst-2160	37	2	of	of	ADP
ajst-2160	37	3	intelligent	intelligent	ADJ
ajst-2160	37	4	delivery	delivery	NOUN
ajst-2160	37	5	vehicles	vehicle	NOUN
ajst-2160	37	6	this	this	DET
ajst-2160	37	7	intelligent	intelligent	ADJ
ajst-2160	37	8	courier	courier	NOUN
ajst-2160	37	9	vehicle	vehicle	NOUN
ajst-2160	37	10	is	be	AUX
ajst-2160	37	11	mainly	mainly	ADV
ajst-2160	37	12	for	for	ADP
ajst-2160	37	13	small	small	ADJ
ajst-2160	37	14	parcels	parcel	NOUN
ajst-2160	37	15	with	with	ADP
ajst-2160	37	16	length	length	NOUN
ajst-2160	37	17	not	not	PART
ajst-2160	37	18	exceeding	exceed	VERB
ajst-2160	37	19	50	50	NUM
ajst-2160	37	20	cm	cm	NOUN
ajst-2160	37	21	,	,	PUNCT
ajst-2160	37	22	width	width	VERB
ajst-2160	37	23	not	not	PART
ajst-2160	37	24	exceeding	exceed	VERB
ajst-2160	37	25	40	40	NUM
ajst-2160	37	26	cm	cm	NOUN
ajst-2160	37	27	,	,	PUNCT
ajst-2160	37	28	thickness	thickness	NOUN
ajst-2160	37	29	below	below	ADP
ajst-2160	37	30	6	6	NUM
ajst-2160	37	31	cm	cm	NOUN
ajst-2160	37	32	,	,	PUNCT
ajst-2160	37	33	and	and	CCONJ
ajst-2160	37	34	weight	weight	NOUN
ajst-2160	37	35	below	below	ADP
ajst-2160	37	36	5	5	NUM
ajst-2160	37	37	kg	kg	NOUN
ajst-2160	37	38	,	,	PUNCT
ajst-2160	37	39	with	with	ADP
ajst-2160	37	40	the	the	DET
ajst-2160	37	41	function	function	NOUN
ajst-2160	37	42	of	of	ADP
ajst-2160	37	43	scanning	scanning	NOUN
ajst-2160	37	44	,	,	PUNCT
ajst-2160	37	45	grabbing	grab	VERB
ajst-2160	37	46	,	,	PUNCT
ajst-2160	37	47	sorting	sort	VERB
ajst-2160	37	48	and	and	CCONJ
ajst-2160	37	49	distributing	distribute	VERB
ajst-2160	37	50	"	"	PUNCT
ajst-2160	37	51	four	four	NUM
ajst-2160	37	52	in	in	ADP
ajst-2160	37	53	one	one	NUM
ajst-2160	37	54	"	"	PUNCT
ajst-2160	37	55	.	.	PUNCT
ajst-2160	38	1	the	the	DET
ajst-2160	38	2	sorter	sorter	NOUN
ajst-2160	38	3	only	only	ADV
ajst-2160	38	4	needs	need	VERB
ajst-2160	38	5	to	to	PART
ajst-2160	38	6	put	put	VERB
ajst-2160	38	7	the	the	DET
ajst-2160	38	8	express	express	ADJ
ajst-2160	38	9	mail	mail	NOUN
ajst-2160	38	10	into	into	ADP
ajst-2160	38	11	the	the	DET
ajst-2160	38	12	identification	identification	NOUN
ajst-2160	38	13	area	area	NOUN
ajst-2160	38	14	,	,	PUNCT
ajst-2160	38	15	and	and	CCONJ
ajst-2160	38	16	the	the	DET
ajst-2160	38	17	robot	robot	NOUN
ajst-2160	38	18	can	can	AUX
ajst-2160	38	19	independently	independently	ADV
ajst-2160	38	20	complete	complete	VERB
ajst-2160	38	21	the	the	DET
ajst-2160	38	22	scanning	scan	VERB
ajst-2160	38	23	code	code	NOUN
ajst-2160	38	24	to	to	PART
ajst-2160	38	25	identify	identify	VERB
ajst-2160	38	26	the	the	DET
ajst-2160	38	27	information	information	NOUN
ajst-2160	38	28	on	on	ADP
ajst-2160	38	29	the	the	DET
ajst-2160	38	30	express	express	ADJ
ajst-2160	38	31	manifest	manifest	NOUN
ajst-2160	38	32	,	,	PUNCT
ajst-2160	38	33	and	and	CCONJ
ajst-2160	38	34	each	each	DET
ajst-2160	38	35	code	code	NOUN
ajst-2160	38	36	reading	reading	NOUN
ajst-2160	38	37	time	time	NOUN
ajst-2160	38	38	can	can	AUX
ajst-2160	38	39	be	be	AUX
ajst-2160	38	40	controlled	control	VERB
ajst-2160	38	41	within	within	ADP
ajst-2160	38	42	1	1	NUM
ajst-2160	38	43	second	second	ADJ
ajst-2160	38	44	,	,	PUNCT
ajst-2160	38	45	with	with	ADP
ajst-2160	38	46	an	an	DET
ajst-2160	38	47	accuracy	accuracy	NOUN
ajst-2160	38	48	rate	rate	NOUN
ajst-2160	38	49	higher	high	ADJ
ajst-2160	38	50	than	than	ADP
ajst-2160	38	51	99	99	NUM
ajst-2160	38	52	%	%	NOUN
ajst-2160	38	53	.	.	PUNCT
ajst-2160	39	1	after	after	ADP
ajst-2160	39	2	recognizing	recognize	VERB
ajst-2160	39	3	the	the	DET
ajst-2160	39	4	information	information	NOUN
ajst-2160	39	5	,	,	PUNCT
ajst-2160	39	6	the	the	DET
ajst-2160	39	7	robot	robot	NOUN
ajst-2160	39	8	can	can	AUX
ajst-2160	39	9	determine	determine	VERB
ajst-2160	39	10	the	the	DET
ajst-2160	39	11	picking	picking	NOUN
ajst-2160	39	12	and	and	CCONJ
ajst-2160	39	13	delivery	delivery	NOUN
ajst-2160	39	14	location	location	NOUN
ajst-2160	39	15	and	and	CCONJ
ajst-2160	39	16	automatically	automatically	ADV
ajst-2160	39	17	plan	plan	VERB
ajst-2160	39	18	the	the	DET
ajst-2160	39	19	optimal	optimal	ADJ
ajst-2160	39	20	route	route	NOUN
ajst-2160	39	21	for	for	ADP
ajst-2160	39	22	delivery	delivery	NOUN
ajst-2160	39	23	,	,	PUNCT
ajst-2160	39	24	running	run	VERB
ajst-2160	39	25	at	at	ADP
ajst-2160	39	26	a	a	DET
ajst-2160	39	27	speed	speed	NOUN
ajst-2160	39	28	of	of	ADP
ajst-2160	39	29	up	up	ADP
ajst-2160	39	30	to	to	PART
ajst-2160	39	31	2	2	NUM
ajst-2160	39	32	meters	meter	NOUN
ajst-2160	39	33	per	per	ADP
ajst-2160	39	34	second	second	NOUN
ajst-2160	39	35	.	.	PUNCT
ajst-2160	40	1	after	after	ADP
ajst-2160	40	2	reaching	reach	VERB
ajst-2160	40	3	the	the	DET
ajst-2160	40	4	designated	designate	VERB
ajst-2160	40	5	position	position	NOUN
ajst-2160	40	6	next	next	ADV
ajst-2160	40	7	to	to	ADP
ajst-2160	40	8	the	the	DET
ajst-2160	40	9	unloading	unloading	NOUN
ajst-2160	40	10	port	port	NOUN
ajst-2160	40	11	,	,	PUNCT
ajst-2160	40	12	the	the	DET
ajst-2160	40	13	robot	robot	NOUN
ajst-2160	40	14	arm	arm	NOUN
ajst-2160	40	15	moves	move	VERB
ajst-2160	40	16	to	to	PART
ajst-2160	40	17	put	put	VERB
ajst-2160	40	18	the	the	DET
ajst-2160	40	19	express	express	NOUN
ajst-2160	40	20	to	to	ADP
ajst-2160	40	21	the	the	DET
ajst-2160	40	22	unloading	unloading	NOUN
ajst-2160	40	23	port	port	NOUN
ajst-2160	40	24	,	,	PUNCT
ajst-2160	40	25	which	which	PRON
ajst-2160	40	26	is	be	AUX
ajst-2160	40	27	docked	dock	VERB
ajst-2160	40	28	to	to	ADP
ajst-2160	40	29	the	the	DET
ajst-2160	40	30	inclined	inclined	ADJ
ajst-2160	40	31	track	track	NOUN
ajst-2160	40	32	,	,	PUNCT
ajst-2160	40	33	and	and	CCONJ
ajst-2160	40	34	the	the	DET
ajst-2160	40	35	express	express	NOUN
ajst-2160	40	36	enters	enter	VERB
ajst-2160	40	37	the	the	DET
ajst-2160	40	38	parcel	parcel	NOUN
ajst-2160	40	39	staging	staging	NOUN
ajst-2160	40	40	area	area	NOUN
ajst-2160	40	41	through	through	ADP
ajst-2160	40	42	the	the	DET
ajst-2160	40	43	chute	chute	NOUN
ajst-2160	40	44	,	,	PUNCT
ajst-2160	40	45	which	which	PRON
ajst-2160	40	46	also	also	ADV
ajst-2160	40	47	greatly	greatly	ADV
ajst-2160	40	48	reduces	reduce	VERB
ajst-2160	40	49	the	the	DET
ajst-2160	40	50	accidental	accidental	ADJ
ajst-2160	40	51	damage	damage	NOUN
ajst-2160	40	52	caused	cause	VERB
ajst-2160	40	53	by	by	ADP
ajst-2160	40	54	the	the	DET
ajst-2160	40	55	parcel	parcel	NOUN
ajst-2160	40	56	in	in	ADP
ajst-2160	40	57	manual	manual	ADJ
ajst-2160	40	58	sorting	sorting	NOUN
ajst-2160	40	59	.	.	PUNCT
ajst-2160	41	1	in	in	ADP
ajst-2160	41	2	addition	addition	NOUN
ajst-2160	41	3	to	to	ADP
ajst-2160	41	4	the	the	DET
ajst-2160	41	5	basic	basic	ADJ
ajst-2160	41	6	sorting	sorting	NOUN
ajst-2160	41	7	function	function	NOUN
ajst-2160	41	8	,	,	PUNCT
ajst-2160	41	9	this	this	DET
ajst-2160	41	10	intelligent	intelligent	ADJ
ajst-2160	41	11	courier	courier	NOUN
ajst-2160	41	12	vehicle	vehicle	NOUN
ajst-2160	41	13	system	system	NOUN
ajst-2160	41	14	can	can	AUX
ajst-2160	41	15	customize	customize	VERB
ajst-2160	41	16	the	the	DET
ajst-2160	41	17	low	low	ADJ
ajst-2160	41	18	battery	battery	NOUN
ajst-2160	41	19	value	value	NOUN
ajst-2160	41	20	and	and	CCONJ
ajst-2160	41	21	the	the	DET
ajst-2160	41	22	working	work	VERB
ajst-2160	41	23	state	state	NOUN
ajst-2160	41	24	battery	battery	NOUN
ajst-2160	41	25	value	value	NOUN
ajst-2160	41	26	,	,	PUNCT
ajst-2160	41	27	charge	charge	NOUN
ajst-2160	41	28	at	at	ADP
ajst-2160	41	29	the	the	DET
ajst-2160	41	30	charging	charge	VERB
ajst-2160	41	31	area	area	NOUN
ajst-2160	41	32	when	when	SCONJ
ajst-2160	41	33	the	the	DET
ajst-2160	41	34	battery	battery	NOUN
ajst-2160	41	35	is	be	AUX
ajst-2160	41	36	low	low	ADJ
ajst-2160	41	37	,	,	PUNCT
ajst-2160	41	38	and	and	CCONJ
ajst-2160	41	39	return	return	VERB
ajst-2160	41	40	to	to	ADP
ajst-2160	41	41	work	work	NOUN
ajst-2160	41	42	after	after	ADP
ajst-2160	41	43	reaching	reach	VERB
ajst-2160	41	44	the	the	DET
ajst-2160	41	45	working	work	VERB
ajst-2160	41	46	battery	battery	NOUN
ajst-2160	41	47	value	value	NOUN
ajst-2160	41	48	,	,	PUNCT
ajst-2160	41	49	with	with	ADP
ajst-2160	41	50	each	each	DET
ajst-2160	41	51	charging	charge	VERB
ajst-2160	41	52	time	time	NOUN
ajst-2160	41	53	less	less	ADJ
ajst-2160	41	54	than	than	ADP
ajst-2160	41	55	1.5	1.5	NUM
ajst-2160	41	56	hours	hour	NOUN
ajst-2160	41	57	,	,	PUNCT
ajst-2160	41	58	and	and	CCONJ
ajst-2160	41	59	can	can	AUX
ajst-2160	41	60	work	work	VERB
ajst-2160	41	61	continuously	continuously	ADV
ajst-2160	41	62	for	for	ADP
ajst-2160	41	63	5	5	NUM
ajst-2160	41	64	hours	hour	NOUN
ajst-2160	41	65	;	;	PUNCT
ajst-2160	41	66	and	and	CCONJ
ajst-2160	41	67	it	it	PRON
ajst-2160	41	68	has	have	VERB
ajst-2160	41	69	multi	multi	ADJ
ajst-2160	41	70	-	-	ADJ
ajst-2160	41	71	level	level	ADJ
ajst-2160	41	72	safety	safety	NOUN
ajst-2160	41	73	protection	protection	NOUN
ajst-2160	41	74	such	such	ADJ
ajst-2160	41	75	as	as	ADP
ajst-2160	41	76	ultrasonic	ultrasonic	ADJ
ajst-2160	41	77	obstacle	obstacle	NOUN
ajst-2160	41	78	155	155	NUM
ajst-2160	41	79	avoidance	avoidance	NOUN
ajst-2160	41	80	detection	detection	NOUN
ajst-2160	41	81	and	and	CCONJ
ajst-2160	41	82	emergency	emergency	NOUN
ajst-2160	41	83	stop	stop	VERB
ajst-2160	41	84	button	button	NOUN
ajst-2160	41	85	to	to	PART
ajst-2160	41	86	realize	realize	VERB
ajst-2160	41	87	safe	safe	ADJ
ajst-2160	41	88	and	and	CCONJ
ajst-2160	41	89	reliable	reliable	ADJ
ajst-2160	41	90	motion	motion	NOUN
ajst-2160	41	91	control	control	NOUN
ajst-2160	41	92	.	.	PUNCT
ajst-2160	42	1	as	as	SCONJ
ajst-2160	42	2	shown	show	VERB
ajst-2160	42	3	in	in	ADP
ajst-2160	42	4	figure	figure	NOUN
ajst-2160	42	5	3	3	NUM
ajst-2160	42	6	,	,	PUNCT
ajst-2160	42	7	the	the	DET
ajst-2160	42	8	physical	physical	ADJ
ajst-2160	42	9	diagram	diagram	NOUN
ajst-2160	42	10	of	of	ADP
ajst-2160	42	11	our	our	PRON
ajst-2160	42	12	designed	design	VERB
ajst-2160	42	13	intelligent	intelligent	ADJ
ajst-2160	42	14	courier	courier	NOUN
ajst-2160	42	15	vehicle	vehicle	NOUN
ajst-2160	42	16	.	.	PUNCT
ajst-2160	43	1	figure	figure	VERB
ajst-2160	43	2	3	3	NUM
ajst-2160	43	3	.	.	PUNCT
ajst-2160	44	1	intelligent	intelligent	ADJ
ajst-2160	44	2	express	express	ADJ
ajst-2160	44	3	vehicle	vehicle	NOUN
ajst-2160	44	4	4	4	NUM
ajst-2160	44	5	.	.	PUNCT
ajst-2160	45	1	the	the	DET
ajst-2160	45	2	market	market	NOUN
ajst-2160	45	3	application	application	NOUN
ajst-2160	45	4	prospects	prospect	NOUN
ajst-2160	45	5	of	of	ADP
ajst-2160	45	6	intelligent	intelligent	ADJ
ajst-2160	45	7	delivery	delivery	NOUN
ajst-2160	45	8	vehicles	vehicle	NOUN
ajst-2160	45	9	this	this	DET
ajst-2160	45	10	intelligent	intelligent	ADJ
ajst-2160	45	11	sorting	sorting	NOUN
ajst-2160	45	12	system	system	NOUN
ajst-2160	45	13	makes	make	VERB
ajst-2160	45	14	express	express	VERB
ajst-2160	45	15	sorting	sort	VERB
ajst-2160	45	16	more	more	ADV
ajst-2160	45	17	efficient	efficient	ADJ
ajst-2160	45	18	,	,	PUNCT
ajst-2160	45	19	high	high	ADJ
ajst-2160	45	20	-	-	PUNCT
ajst-2160	45	21	speed	speed	NOUN
ajst-2160	45	22	and	and	CCONJ
ajst-2160	45	23	accurate	accurate	ADJ
ajst-2160	45	24	,	,	PUNCT
ajst-2160	45	25	saving	save	VERB
ajst-2160	45	26	manpower	manpower	NOUN
ajst-2160	45	27	,	,	PUNCT
ajst-2160	45	28	reducing	reduce	VERB
ajst-2160	45	29	costs	cost	NOUN
ajst-2160	45	30	and	and	CCONJ
ajst-2160	45	31	having	have	VERB
ajst-2160	45	32	a	a	DET
ajst-2160	45	33	low	low	ADJ
ajst-2160	45	34	error	error	NOUN
ajst-2160	45	35	rate	rate	NOUN
ajst-2160	45	36	.	.	PUNCT
ajst-2160	46	1	with	with	ADP
ajst-2160	46	2	the	the	DET
ajst-2160	46	3	introduction	introduction	NOUN
ajst-2160	46	4	of	of	ADP
ajst-2160	46	5	the	the	DET
ajst-2160	46	6	intelligent	intelligent	ADJ
ajst-2160	46	7	sorting	sort	VERB
ajst-2160	46	8	robots	robot	NOUN
ajst-2160	46	9	,	,	PUNCT
ajst-2160	46	10	each	each	DET
ajst-2160	46	11	courier	courier	NOUN
ajst-2160	46	12	truck	truck	NOUN
ajst-2160	46	13	can	can	AUX
ajst-2160	46	14	handle	handle	VERB
ajst-2160	46	15	up	up	ADP
ajst-2160	46	16	to	to	PART
ajst-2160	46	17	300	300	NUM
ajst-2160	46	18	packages	package	NOUN
ajst-2160	46	19	per	per	ADP
ajst-2160	46	20	hour	hour	NOUN
ajst-2160	46	21	,	,	PUNCT
ajst-2160	46	22	which	which	PRON
ajst-2160	46	23	is	be	AUX
ajst-2160	46	24	expected	expect	VERB
ajst-2160	46	25	to	to	PART
ajst-2160	46	26	reduce	reduce	VERB
ajst-2160	46	27	the	the	DET
ajst-2160	46	28	number	number	NOUN
ajst-2160	46	29	of	of	ADP
ajst-2160	46	30	daily	daily	ADJ
ajst-2160	46	31	warehouse	warehouse	NOUN
ajst-2160	46	32	operators	operator	NOUN
ajst-2160	46	33	by	by	ADP
ajst-2160	46	34	more	more	ADJ
ajst-2160	46	35	than	than	ADP
ajst-2160	46	36	80	80	NUM
ajst-2160	46	37	when	when	SCONJ
ajst-2160	46	38	fully	fully	ADV
ajst-2160	46	39	put	put	VERB
ajst-2160	46	40	into	into	ADP
ajst-2160	46	41	operation	operation	NOUN
ajst-2160	46	42	,	,	PUNCT
ajst-2160	46	43	and	and	CCONJ
ajst-2160	46	44	the	the	DET
ajst-2160	46	45	actual	actual	ADJ
ajst-2160	46	46	number	number	NOUN
ajst-2160	46	47	of	of	ADP
ajst-2160	46	48	robots	robot	NOUN
ajst-2160	46	49	operating	operate	VERB
ajst-2160	46	50	on	on	ADP
ajst-2160	46	51	site	site	NOUN
ajst-2160	46	52	can	can	AUX
ajst-2160	46	53	be	be	AUX
ajst-2160	46	54	flexibly	flexibly	ADV
ajst-2160	46	55	selected	select	VERB
ajst-2160	46	56	depending	depend	VERB
ajst-2160	46	57	on	on	ADP
ajst-2160	46	58	the	the	DET
ajst-2160	46	59	daily	daily	ADJ
ajst-2160	46	60	order	order	NOUN
ajst-2160	46	61	volume	volume	NOUN
ajst-2160	46	62	.	.	PUNCT
ajst-2160	47	1	the	the	DET
ajst-2160	47	2	use	use	NOUN
ajst-2160	47	3	of	of	ADP
ajst-2160	47	4	intelligent	intelligent	ADJ
ajst-2160	47	5	sorting	sort	VERB
ajst-2160	47	6	robots	robot	NOUN
ajst-2160	47	7	can	can	AUX
ajst-2160	47	8	save	save	VERB
ajst-2160	47	9	at	at	ADV
ajst-2160	47	10	least	least	ADJ
ajst-2160	47	11	half	half	NOUN
ajst-2160	47	12	of	of	ADP
ajst-2160	47	13	the	the	DET
ajst-2160	47	14	labor	labor	NOUN
ajst-2160	47	15	costs	cost	NOUN
ajst-2160	47	16	compared	compare	VERB
ajst-2160	47	17	to	to	ADP
ajst-2160	47	18	the	the	DET
ajst-2160	47	19	previous	previous	ADJ
ajst-2160	47	20	all	all	ADJ
ajst-2160	47	21	-	-	PUNCT
ajst-2160	47	22	manual	manual	ADJ
ajst-2160	47	23	sorting	sorting	NOUN
ajst-2160	47	24	.	.	PUNCT
ajst-2160	48	1	"	"	PUNCT
ajst-2160	48	2	previously	previously	ADV
ajst-2160	48	3	,	,	PUNCT
ajst-2160	48	4	manual	manual	ADJ
ajst-2160	48	5	picking	picking	NOUN
ajst-2160	48	6	was	be	AUX
ajst-2160	48	7	error	error	NOUN
ajst-2160	48	8	-	-	PUNCT
ajst-2160	48	9	prone	prone	ADJ
ajst-2160	48	10	,	,	PUNCT
ajst-2160	48	11	with	with	ADP
ajst-2160	48	12	delays	delay	NOUN
ajst-2160	48	13	of	of	ADP
ajst-2160	48	14	at	at	ADV
ajst-2160	48	15	least	least	ADV
ajst-2160	48	16	2	2	NUM
ajst-2160	48	17	days	day	NOUN
ajst-2160	48	18	if	if	SCONJ
ajst-2160	48	19	the	the	DET
ajst-2160	48	20	picking	picking	NOUN
ajst-2160	48	21	was	be	AUX
ajst-2160	48	22	wrong	wrong	ADJ
ajst-2160	48	23	,	,	PUNCT
ajst-2160	48	24	but	but	CCONJ
ajst-2160	48	25	the	the	DET
ajst-2160	48	26	error	error	NOUN
ajst-2160	48	27	rate	rate	NOUN
ajst-2160	48	28	of	of	ADP
ajst-2160	48	29	the	the	DET
ajst-2160	48	30	intelligent	intelligent	ADJ
ajst-2160	48	31	robots	robot	NOUN
ajst-2160	48	32	is	be	AUX
ajst-2160	48	33	almost	almost	ADV
ajst-2160	48	34	zero	zero	NUM
ajst-2160	48	35	,	,	PUNCT
ajst-2160	48	36	and	and	CCONJ
ajst-2160	48	37	it	it	PRON
ajst-2160	48	38	also	also	ADV
ajst-2160	48	39	reduces	reduce	VERB
ajst-2160	48	40	the	the	DET
ajst-2160	48	41	difficulty	difficulty	NOUN
ajst-2160	48	42	of	of	ADP
ajst-2160	48	43	building	building	NOUN
ajst-2160	48	44	packages	package	NOUN
ajst-2160	48	45	.	.	PUNCT
ajst-2160	48	46	"	"	PUNCT
ajst-2160	49	1	according	accord	VERB
ajst-2160	49	2	to	to	ADP
ajst-2160	49	3	our	our	PRON
ajst-2160	49	4	market	market	NOUN
ajst-2160	49	5	research	research	NOUN
ajst-2160	49	6	,	,	PUNCT
ajst-2160	49	7	last	last	ADJ
ajst-2160	49	8	year	year	NOUN
ajst-2160	49	9	,	,	PUNCT
ajst-2160	49	10	shentong	shentong	PROPN
ajst-2160	49	11	express	express	NOUN
ajst-2160	49	12	has	have	AUX
ajst-2160	49	13	activated	activate	VERB
ajst-2160	49	14	sorting	sort	VERB
ajst-2160	49	15	robots	robot	NOUN
ajst-2160	49	16	in	in	ADP
ajst-2160	49	17	yiwu	yiwu	PROPN
ajst-2160	49	18	and	and	CCONJ
ajst-2160	49	19	tianjin	tianjin	PROPN
ajst-2160	49	20	,	,	PUNCT
ajst-2160	49	21	and	and	CCONJ
ajst-2160	49	22	linyi	linyi	PROPN
ajst-2160	49	23	is	be	AUX
ajst-2160	49	24	the	the	DET
ajst-2160	49	25	third	third	ADJ
ajst-2160	49	26	one	one	NUM
ajst-2160	49	27	.	.	PUNCT
ajst-2160	50	1	a	a	DET
ajst-2160	50	2	number	number	NOUN
ajst-2160	50	3	of	of	ADP
ajst-2160	50	4	courier	courier	NOUN
ajst-2160	50	5	companies	company	NOUN
ajst-2160	50	6	have	have	AUX
ajst-2160	50	7	indicated	indicate	VERB
ajst-2160	50	8	that	that	SCONJ
ajst-2160	50	9	they	they	PRON
ajst-2160	50	10	will	will	AUX
ajst-2160	50	11	introduce	introduce	VERB
ajst-2160	50	12	this	this	DET
ajst-2160	50	13	series	series	NOUN
ajst-2160	50	14	of	of	ADP
ajst-2160	50	15	robots	robot	NOUN
ajst-2160	50	16	for	for	ADP
ajst-2160	50	17	national	national	ADJ
ajst-2160	50	18	promotion	promotion	NOUN
ajst-2160	50	19	,	,	PUNCT
ajst-2160	50	20	and	and	CCONJ
ajst-2160	50	21	2	2	NUM
ajst-2160	50	22	million	million	NUM
ajst-2160	50	23	intelligent	intelligent	ADJ
ajst-2160	50	24	sorting	sort	VERB
ajst-2160	50	25	robots	robot	NOUN
ajst-2160	50	26	will	will	AUX
ajst-2160	50	27	be	be	AUX
ajst-2160	50	28	put	put	VERB
ajst-2160	50	29	into	into	ADP
ajst-2160	50	30	use	use	NOUN
ajst-2160	50	31	in	in	ADP
ajst-2160	50	32	the	the	DET
ajst-2160	50	33	next	next	ADJ
ajst-2160	50	34	market	market	NOUN
ajst-2160	50	35	,	,	PUNCT
ajst-2160	50	36	which	which	PRON
ajst-2160	50	37	will	will	AUX
ajst-2160	50	38	further	far	ADV
ajst-2160	50	39	liberate	liberate	VERB
ajst-2160	50	40	the	the	DET
ajst-2160	50	41	labor	labor	NOUN
ajst-2160	50	42	force	force	NOUN
ajst-2160	50	43	.	.	PUNCT
ajst-2160	51	1	5	5	X
ajst-2160	51	2	.	.	X
ajst-2160	51	3	conclusion	conclusion	NOUN
ajst-2160	51	4	based	base	VERB
ajst-2160	51	5	on	on	ADP
ajst-2160	51	6	the	the	DET
ajst-2160	51	7	analysis	analysis	NOUN
ajst-2160	51	8	of	of	ADP
ajst-2160	51	9	current	current	ADJ
ajst-2160	51	10	domestic	domestic	ADJ
ajst-2160	51	11	and	and	CCONJ
ajst-2160	51	12	foreign	foreign	ADJ
ajst-2160	51	13	courier	courier	NOUN
ajst-2160	51	14	sorting	sort	VERB
ajst-2160	51	15	robots	robot	NOUN
ajst-2160	51	16	,	,	PUNCT
ajst-2160	51	17	an	an	DET
ajst-2160	51	18	intelligent	intelligent	ADJ
ajst-2160	51	19	courier	courier	NOUN
ajst-2160	51	20	vehicle	vehicle	NOUN
ajst-2160	51	21	control	control	NOUN
ajst-2160	51	22	system	system	NOUN
ajst-2160	51	23	was	be	AUX
ajst-2160	51	24	designed	design	VERB
ajst-2160	51	25	.	.	PUNCT
ajst-2160	52	1	according	accord	VERB
ajst-2160	52	2	to	to	ADP
ajst-2160	52	3	the	the	DET
ajst-2160	52	4	actual	actual	ADJ
ajst-2160	52	5	application	application	NOUN
ajst-2160	52	6	requirements	requirement	NOUN
ajst-2160	52	7	,	,	PUNCT
ajst-2160	52	8	machine	machine	NOUN
ajst-2160	52	9	vision	vision	NOUN
ajst-2160	52	10	technology	technology	NOUN
ajst-2160	52	11	was	be	AUX
ajst-2160	52	12	applied	apply	VERB
ajst-2160	52	13	to	to	ADP
ajst-2160	52	14	shaanxi	shaanxi	PROPN
ajst-2160	52	15	delivery	delivery	NOUN
ajst-2160	52	16	sorting	sorting	NOUN
ajst-2160	52	17	,	,	PUNCT
ajst-2160	52	18	and	and	CCONJ
ajst-2160	52	19	the	the	DET
ajst-2160	52	20	hardware	hardware	NOUN
ajst-2160	52	21	circuit	circuit	NOUN
ajst-2160	52	22	and	and	CCONJ
ajst-2160	52	23	software	software	NOUN
ajst-2160	52	24	program	program	NOUN
ajst-2160	52	25	were	be	AUX
ajst-2160	52	26	designed	design	VERB
ajst-2160	52	27	.	.	PUNCT
ajst-2160	53	1	the	the	DET
ajst-2160	53	2	prototype	prototype	NOUN
ajst-2160	53	3	courier	courier	NOUN
ajst-2160	53	4	sorting	sort	VERB
ajst-2160	53	5	robot	robot	NOUN
ajst-2160	53	6	met	meet	VERB
ajst-2160	53	7	the	the	DET
ajst-2160	53	8	expected	expect	VERB
ajst-2160	53	9	design	design	NOUN
ajst-2160	53	10	requirements	requirement	NOUN
ajst-2160	53	11	and	and	CCONJ
ajst-2160	53	12	was	be	AUX
ajst-2160	53	13	able	able	ADJ
ajst-2160	53	14	to	to	PART
ajst-2160	53	15	automatically	automatically	ADV
ajst-2160	53	16	sort	sort	VERB
ajst-2160	53	17	the	the	DET
ajst-2160	53	18	courier	courier	NOUN
ajst-2160	53	19	pieces	piece	NOUN
ajst-2160	53	20	placed	place	VERB
ajst-2160	53	21	on	on	ADP
ajst-2160	53	22	the	the	DET
ajst-2160	53	23	ground	ground	NOUN
ajst-2160	53	24	and	and	CCONJ
ajst-2160	53	25	successfully	successfully	ADV
ajst-2160	53	26	completed	complete	VERB
ajst-2160	53	27	courier	courier	NOUN
ajst-2160	53	28	sorting	sorting	NOUN
ajst-2160	53	29	,	,	PUNCT
ajst-2160	53	30	verifying	verify	VERB
ajst-2160	53	31	the	the	DET
ajst-2160	53	32	rationality	rationality	NOUN
ajst-2160	53	33	of	of	ADP
ajst-2160	53	34	the	the	DET
ajst-2160	53	35	control	control	NOUN
ajst-2160	53	36	system	system	NOUN
ajst-2160	53	37	design	design	NOUN
ajst-2160	53	38	.	.	PUNCT
ajst-2160	54	1	the	the	DET
ajst-2160	54	2	system	system	NOUN
ajst-2160	54	3	is	be	AUX
ajst-2160	54	4	designed	design	VERB
ajst-2160	54	5	to	to	PART
ajst-2160	54	6	combine	combine	VERB
ajst-2160	54	7	with	with	ADP
ajst-2160	54	8	the	the	DET
ajst-2160	54	9	existing	exist	VERB
ajst-2160	54	10	logistics	logistic	NOUN
ajst-2160	54	11	automation	automation	NOUN
ajst-2160	54	12	industry	industry	NOUN
ajst-2160	54	13	to	to	PART
ajst-2160	54	14	improve	improve	VERB
ajst-2160	54	15	the	the	DET
ajst-2160	54	16	efficiency	efficiency	NOUN
ajst-2160	54	17	of	of	ADP
ajst-2160	54	18	courier	courier	NOUN
ajst-2160	54	19	sorting	sorting	NOUN
ajst-2160	54	20	in	in	ADP
ajst-2160	54	21	logistics	logistic	NOUN
ajst-2160	54	22	and	and	CCONJ
ajst-2160	54	23	transportation	transportation	NOUN
ajst-2160	54	24	.	.	PUNCT
ajst-2160	55	1	with	with	ADP
ajst-2160	55	2	the	the	DET
ajst-2160	55	3	development	development	NOUN
ajst-2160	55	4	of	of	ADP
ajst-2160	55	5	technology	technology	NOUN
ajst-2160	55	6	,	,	PUNCT
ajst-2160	55	7	social	social	ADJ
ajst-2160	55	8	work	work	NOUN
ajst-2160	55	9	is	be	AUX
ajst-2160	55	10	becoming	become	VERB
ajst-2160	55	11	more	more	ADV
ajst-2160	55	12	and	and	CCONJ
ajst-2160	55	13	more	more	ADV
ajst-2160	55	14	intelligent	intelligent	ADJ
ajst-2160	55	15	and	and	CCONJ
ajst-2160	55	16	mechanized	mechanized	ADJ
ajst-2160	55	17	,	,	PUNCT
ajst-2160	55	18	and	and	CCONJ
ajst-2160	55	19	the	the	DET
ajst-2160	55	20	design	design	NOUN
ajst-2160	55	21	of	of	ADP
ajst-2160	55	22	robots	robot	NOUN
ajst-2160	55	23	has	have	VERB
ajst-2160	55	24	an	an	DET
ajst-2160	55	25	important	important	ADJ
ajst-2160	55	26	role	role	NOUN
ajst-2160	55	27	in	in	ADP
ajst-2160	55	28	the	the	DET
ajst-2160	55	29	logistics	logistic	NOUN
ajst-2160	55	30	sorting	sort	VERB
ajst-2160	55	31	industry	industry	NOUN
ajst-2160	55	32	.	.	PUNCT
ajst-2160	56	1	this	this	PRON
ajst-2160	56	2	enables	enable	VERB
ajst-2160	56	3	intelligent	intelligent	ADJ
ajst-2160	56	4	sorting	sorting	NOUN
ajst-2160	56	5	and	and	CCONJ
ajst-2160	56	6	handling	handling	NOUN
ajst-2160	56	7	by	by	ADP
ajst-2160	56	8	reducing	reduce	VERB
ajst-2160	56	9	costs	cost	NOUN
ajst-2160	56	10	.	.	PUNCT
ajst-2160	57	1	the	the	DET
ajst-2160	57	2	courier	courier	NOUN
ajst-2160	57	3	sorting	sort	VERB
ajst-2160	57	4	robot	robot	NOUN
ajst-2160	57	5	has	have	VERB
ajst-2160	57	6	the	the	DET
ajst-2160	57	7	advantage	advantage	NOUN
ajst-2160	57	8	of	of	ADP
ajst-2160	57	9	being	be	AUX
ajst-2160	57	10	efficient	efficient	ADJ
ajst-2160	57	11	,	,	PUNCT
ajst-2160	57	12	accurate	accurate	ADJ
ajst-2160	57	13	and	and	CCONJ
ajst-2160	57	14	able	able	ADJ
ajst-2160	57	15	to	to	PART
ajst-2160	57	16	operate	operate	VERB
ajst-2160	57	17	for	for	ADP
ajst-2160	57	18	long	long	ADJ
ajst-2160	57	19	periods	period	NOUN
ajst-2160	57	20	of	of	ADP
ajst-2160	57	21	time	time	NOUN
ajst-2160	57	22	compared	compare	VERB
ajst-2160	57	23	to	to	ADP
ajst-2160	57	24	manual	manual	ADJ
ajst-2160	57	25	sorting	sorting	NOUN
ajst-2160	57	26	,	,	PUNCT
ajst-2160	57	27	which	which	PRON
ajst-2160	57	28	has	have	VERB
ajst-2160	57	29	a	a	DET
ajst-2160	57	30	large	large	ADJ
ajst-2160	57	31	number	number	NOUN
ajst-2160	57	32	of	of	ADP
ajst-2160	57	33	shortcomings	shortcoming	NOUN
ajst-2160	57	34	that	that	PRON
ajst-2160	57	35	limit	limit	VERB
ajst-2160	57	36	the	the	DET
ajst-2160	57	37	progress	progress	NOUN
ajst-2160	57	38	of	of	ADP
ajst-2160	57	39	most	most	ADJ
ajst-2160	57	40	industrial	industrial	ADJ
ajst-2160	57	41	production	production	NOUN
ajst-2160	57	42	references	reference	NOUN
ajst-2160	57	43	[	[	X
ajst-2160	57	44	1	1	NUM
ajst-2160	57	45	]	]	PUNCT
ajst-2160	57	46	gu	gu	PROPN
ajst-2160	57	47	pengfei	pengfei	PROPN
ajst-2160	57	48	,	,	PUNCT
ajst-2160	57	49	yu	yu	PROPN
ajst-2160	57	50	pengcheng	pengcheng	PROPN
ajst-2160	57	51	,	,	PUNCT
ajst-2160	57	52	zhang	zhang	PROPN
ajst-2160	57	53	jinsheng	jinsheng	PROPN
ajst-2160	57	54	.	.	PUNCT
ajst-2160	58	1	stm32	stm32	PROPN
ajst-2160	58	2	-	-	PUNCT
ajst-2160	58	3	based	base	VERB
ajst-2160	58	4	intelligent	intelligent	ADJ
ajst-2160	58	5	logistics	logistic	NOUN
ajst-2160	58	6	sorting	sort	VERB
ajst-2160	58	7	robot	robot	NOUN
ajst-2160	58	8	design	design	NOUN
ajst-2160	58	9	.	.	PUNCT
ajst-2160	59	1	computer	computer	NOUN
ajst-2160	59	2	knowledge	knowledge	NOUN
ajst-2160	59	3	and	and	CCONJ
ajst-2160	59	4	technology	technology	NOUN
ajst-2160	59	5	.	.	PUNCT
ajst-2160	60	1	vol	vol	NOUN
ajst-2160	60	2	.	.	PROPN
ajst-2160	61	1	19	19	NUM
ajst-2160	61	2	(	(	PUNCT
ajst-2160	61	3	2020	2020	NUM
ajst-2160	61	4	)	)	PUNCT
ajst-2160	62	1	no	no	INTJ
ajst-2160	62	2	.	.	PUNCT
ajst-2160	62	3	16,p168169	16,p168169	NUM
ajst-2160	63	1	+	+	NOUN
ajst-2160	63	2	171	171	NUM
ajst-2160	63	3	.	.	PUNCT
ajst-2160	64	1	[	[	X
ajst-2160	64	2	2	2	X
ajst-2160	64	3	]	]	PUNCT
ajst-2160	64	4	he	he	PROPN
ajst-2160	64	5	liang	liang	PROPN
ajst-2160	64	6	,	,	PUNCT
ajst-2160	64	7	zhao	zhao	PROPN
ajst-2160	64	8	yanni	yanni	PROPN
ajst-2160	64	9	.	.	PUNCT
ajst-2160	65	1	intelligent	intelligent	ADJ
ajst-2160	65	2	robot	robot	NOUN
ajst-2160	65	3	sorting	sort	VERB
ajst-2160	65	4	system	system	NOUN
ajst-2160	65	5	for	for	ADP
ajst-2160	65	6	courier	courier	NOUN
ajst-2160	65	7	logistics	logistic	NOUN
ajst-2160	65	8	application	application	NOUN
ajst-2160	65	9	.	.	PUNCT
ajst-2160	66	1	electronic	electronic	ADJ
ajst-2160	66	2	technology	technology	NOUN
ajst-2160	66	3	and	and	CCONJ
ajst-2160	66	4	software	software	NOUN
ajst-2160	66	5	engineering	engineering	NOUN
ajst-2160	66	6	.	.	PUNCT
ajst-2160	67	1	vol	vol	NOUN
ajst-2160	67	2	.	.	PROPN
ajst-2160	67	3	15	15	NUM
ajst-2160	67	4	(	(	PUNCT
ajst-2160	67	5	2019	2019	NUM
ajst-2160	67	6	)	)	PUNCT
ajst-2160	68	1	no	no	INTJ
ajst-2160	68	2	.	.	NOUN
ajst-2160	68	3	15	15	NUM
ajst-2160	68	4	,	,	PUNCT
ajst-2160	68	5	p65	p65	NOUN
ajst-2160	68	6	-	-	PUNCT
ajst-2160	68	7	66	66	NUM
ajst-2160	68	8	.	.	PUNCT
ajst-2160	69	1	[	[	X
ajst-2160	69	2	3	3	X
ajst-2160	69	3	]	]	X
ajst-2160	69	4	wan	wan	PROPN
ajst-2160	69	5	hang	hang	PROPN
ajst-2160	69	6	.	.	PUNCT
ajst-2160	70	1	discussion	discussion	NOUN
ajst-2160	70	2	and	and	CCONJ
ajst-2160	70	3	innovation	innovation	NOUN
ajst-2160	70	4	analysis	analysis	NOUN
ajst-2160	70	5	of	of	ADP
ajst-2160	70	6	intelligent	intelligent	ADJ
ajst-2160	70	7	sorting	sorting	NOUN
ajst-2160	70	8	robot	robot	NOUN
ajst-2160	70	9	value	value	NOUN
ajst-2160	70	10	based	base	VERB
ajst-2160	70	11	on	on	ADP
ajst-2160	70	12	internet	internet	NOUN
ajst-2160	70	13	of	of	ADP
ajst-2160	70	14	things	thing	NOUN
ajst-2160	70	15	technology	technology	NOUN
ajst-2160	70	16	.	.	PUNCT
ajst-2160	71	1	science	science	NOUN
ajst-2160	71	2	and	and	CCONJ
ajst-2160	71	3	technology	technology	NOUN
ajst-2160	71	4	perspective	perspective	NOUN
ajst-2160	71	5	.	.	PUNCT
ajst-2160	72	1	vol	vol	NOUN
ajst-2160	72	2	.	.	PROPN
ajst-2160	73	1	07	07	NUM
ajst-2160	73	2	(	(	PUNCT
ajst-2160	73	3	2022	2022	NUM
ajst-2160	73	4	)	)	PUNCT
ajst-2160	74	1	no	no	NOUN
ajst-2160	74	2	.	.	NOUN
ajst-2160	74	3	07	07	NUM
ajst-2160	74	4	,	,	PUNCT
ajst-2160	74	5	p29	p29	NOUN
ajst-2160	74	6	-	-	PUNCT
ajst-2160	74	7	32	32	NUM
ajst-2160	74	8	.	.	PUNCT
ajst-2160	75	1	[	[	X
ajst-2160	75	2	4	4	NUM
ajst-2160	75	3	]	]	X
ajst-2160	75	4	meng	meng	PROPN
ajst-2160	75	5	deqiang	deqiang	PROPN
ajst-2160	75	6	,	,	PUNCT
ajst-2160	75	7	liu	liu	PROPN
ajst-2160	75	8	liang	liang	PROPN
ajst-2160	75	9	.	.	PUNCT
ajst-2160	76	1	design	design	NOUN
ajst-2160	76	2	and	and	CCONJ
ajst-2160	76	3	implementation	implementation	NOUN
ajst-2160	76	4	of	of	ADP
ajst-2160	76	5	intelligent	intelligent	ADJ
ajst-2160	76	6	courier	courier	NOUN
ajst-2160	76	7	vehicle	vehicle	NOUN
ajst-2160	76	8	obstacle	obstacle	NOUN
ajst-2160	76	9	avoidance	avoidance	NOUN
ajst-2160	76	10	path	path	NOUN
ajst-2160	76	11	planning	planning	NOUN
ajst-2160	76	12	system	system	NOUN
ajst-2160	76	13	.	.	PUNCT
ajst-2160	77	1	automotive	automotive	ADJ
ajst-2160	77	2	practical	practical	ADJ
ajst-2160	77	3	technology	technology	NOUN
ajst-2160	77	4	.vol	.vol	NOUN
ajst-2160	77	5	.	.	PUNCT
ajst-2160	78	1	09	09	NUM
ajst-2160	78	2	(	(	PUNCT
ajst-2160	78	3	2020	2020	NUM
ajst-2160	78	4	)	)	PUNCT
ajst-2160	79	1	no	no	INTJ
ajst-2160	79	2	.	.	NOUN
ajst-2160	79	3	09	09	NUM
ajst-2160	79	4	,	,	PUNCT
ajst-2160	79	5	p58	p58	NOUN
ajst-2160	79	6	-	-	PUNCT
ajst-2160	79	7	60	60	NUM
ajst-2160	79	8	.	.	PUNCT
ajst-2160	80	1	[	[	X
ajst-2160	80	2	5	5	X
ajst-2160	80	3	]	]	X
ajst-2160	80	4	ren	ren	PROPN
ajst-2160	80	5	fang	fang	X
ajst-2160	80	6	.	.	PUNCT
ajst-2160	81	1	intelligent	intelligent	ADJ
ajst-2160	81	2	express	express	ADJ
ajst-2160	81	3	vehicle	vehicle	NOUN
ajst-2160	81	4	technology	technology	NOUN
ajst-2160	81	5	development	development	NOUN
ajst-2160	81	6	and	and	CCONJ
ajst-2160	81	7	trend	trend	NOUN
ajst-2160	81	8	from	from	ADP
ajst-2160	81	9	jingdong	jingdong	ADP
ajst-2160	81	10	logistics	logistic	NOUN
ajst-2160	81	11	practice	practice	NOUN
ajst-2160	81	12	.	.	PUNCT
ajst-2160	82	1	logistics	logistic	NOUN
ajst-2160	82	2	technology	technology	NOUN
ajst-2160	82	3	and	and	CCONJ
ajst-2160	82	4	applications	application	NOUN
ajst-2160	82	5	.	.	PUNCT
ajst-2160	83	1	vol	vol	NOUN
ajst-2160	83	2	.	.	PROPN
ajst-2160	84	1	26	26	NUM
ajst-2160	84	2	(	(	PUNCT
ajst-2160	84	3	2021	2021	NUM
ajst-2160	84	4	)	)	PUNCT
ajst-2160	85	1	no	no	INTJ
ajst-2160	85	2	.	.	NOUN
ajst-2160	85	3	03	03	NUM
ajst-2160	85	4	,	,	PUNCT
ajst-2160	85	5	p126	p126	PROPN
ajst-2160	85	6	-	-	PUNCT
ajst-2160	85	7	128	128	NUM
ajst-2160	85	8	.	.	PUNCT