id	sid	tid	token	lemma	pos
ajst-26201	1	1	academic	academic	ADJ
ajst-26201	1	2	journal	journal	NOUN
ajst-26201	1	3	of	of	ADP
ajst-26201	1	4	science	science	NOUN
ajst-26201	1	5	and	and	CCONJ
ajst-26201	1	6	technology	technology	NOUN
ajst-26201	1	7	issn	issn	NOUN
ajst-26201	1	8	:	:	PUNCT
ajst-26201	1	9	2771	2771	NUM
ajst-26201	1	10	-	-	SYM
ajst-26201	1	11	3032	3032	NUM
ajst-26201	1	12	|	|	NOUN
ajst-26201	1	13	vol	vol	NOUN
ajst-26201	1	14	.	.	PROPN
ajst-26201	2	1	12	12	NUM
ajst-26201	2	2	,	,	PUNCT
ajst-26201	2	3	no	no	INTJ
ajst-26201	2	4	.	.	NOUN
ajst-26201	2	5	3	3	NUM
ajst-26201	2	6	,	,	PUNCT
ajst-26201	2	7	2024	2024	NUM
ajst-26201	2	8	113	113	NUM
ajst-26201	2	9	research	research	NOUN
ajst-26201	2	10	on	on	ADP
ajst-26201	2	11	intelligent	intelligent	ADJ
ajst-26201	2	12	disinfection	disinfection	NOUN
ajst-26201	2	13	robot	robot	NOUN
ajst-26201	2	14	based	base	VERB
ajst-26201	2	15	on	on	ADP
ajst-26201	2	16	stc89c52	stc89c52	VERB
ajst-26201	2	17	microcontroller	microcontroller	NOUN
ajst-26201	2	18	control	control	NOUN
ajst-26201	2	19	system	system	NOUN
ajst-26201	2	20	youzhi	youzhi	PROPN
ajst-26201	2	21	wang1	wang1	PROPN
ajst-26201	2	22	,	,	PUNCT
ajst-26201	2	23	liqing	liqe	VERB
ajst-26201	2	24	su2	su2	PROPN
ajst-26201	2	25	and	and	CCONJ
ajst-26201	2	26	zhengrui	zhengrui	PROPN
ajst-26201	2	27	zhang1	zhang1	PROPN
ajst-26201	3	1	1management	1management	NUM
ajst-26201	3	2	school	school	NOUN
ajst-26201	3	3	,	,	PUNCT
ajst-26201	3	4	hainan	hainan	PROPN
ajst-26201	3	5	university	university	PROPN
ajst-26201	3	6	,	,	PUNCT
ajst-26201	3	7	haikou	haikou	PROPN
ajst-26201	3	8	570228	570228	NUM
ajst-26201	3	9	,	,	PUNCT
ajst-26201	3	10	china	china	PROPN
ajst-26201	3	11	2weihai	2weihai	NUM
ajst-26201	3	12	municipal	municipal	ADJ
ajst-26201	3	13	hospital	hospital	NOUN
ajst-26201	3	14	,	,	PUNCT
ajst-26201	3	15	weihai	weihai	PROPN
ajst-26201	3	16	264003	264003	NUM
ajst-26201	3	17	,	,	PUNCT
ajst-26201	3	18	china	china	PROPN
ajst-26201	3	19	abstract	abstract	PROPN
ajst-26201	3	20	:	:	PUNCT
ajst-26201	3	21	an	an	DET
ajst-26201	3	22	intelligent	intelligent	ADJ
ajst-26201	3	23	disinfection	disinfection	NOUN
ajst-26201	3	24	robot	robot	NOUN
ajst-26201	3	25	based	base	VERB
ajst-26201	3	26	on	on	ADP
ajst-26201	3	27	stc89c52	stc89c52	VERB
ajst-26201	3	28	microcontroller	microcontroller	NOUN
ajst-26201	3	29	as	as	SCONJ
ajst-26201	3	30	the	the	DET
ajst-26201	3	31	control	control	NOUN
ajst-26201	3	32	system	system	NOUN
ajst-26201	3	33	is	be	AUX
ajst-26201	3	34	proposed	propose	VERB
ajst-26201	3	35	to	to	PART
ajst-26201	3	36	address	address	VERB
ajst-26201	3	37	the	the	DET
ajst-26201	3	38	current	current	ADJ
ajst-26201	3	39	problems	problem	NOUN
ajst-26201	3	40	of	of	ADP
ajst-26201	3	41	high	high	ADJ
ajst-26201	3	42	cost	cost	NOUN
ajst-26201	3	43	,	,	PUNCT
ajst-26201	3	44	scene	scene	NOUN
ajst-26201	3	45	limitations	limitation	NOUN
ajst-26201	3	46	,	,	PUNCT
ajst-26201	3	47	and	and	CCONJ
ajst-26201	3	48	complex	complex	ADJ
ajst-26201	3	49	control	control	NOUN
ajst-26201	3	50	factors	factor	NOUN
ajst-26201	3	51	.	.	PUNCT
ajst-26201	4	1	with	with	ADP
ajst-26201	4	2	the	the	DET
ajst-26201	4	3	assistance	assistance	NOUN
ajst-26201	4	4	of	of	ADP
ajst-26201	4	5	software	software	NOUN
ajst-26201	4	6	development	development	NOUN
ajst-26201	4	7	,	,	PUNCT
ajst-26201	4	8	the	the	DET
ajst-26201	4	9	peripheral	peripheral	ADJ
ajst-26201	4	10	circuit	circuit	NOUN
ajst-26201	4	11	of	of	ADP
ajst-26201	4	12	the	the	DET
ajst-26201	4	13	chip	chip	NOUN
ajst-26201	4	14	is	be	AUX
ajst-26201	4	15	designed	design	VERB
ajst-26201	4	16	,	,	PUNCT
ajst-26201	4	17	and	and	CCONJ
ajst-26201	4	18	the	the	DET
ajst-26201	4	19	robot	robot	NOUN
ajst-26201	4	20	can	can	AUX
ajst-26201	4	21	dynamically	dynamically	ADV
ajst-26201	4	22	adjust	adjust	VERB
ajst-26201	4	23	its	its	PRON
ajst-26201	4	24	path	path	NOUN
ajst-26201	4	25	according	accord	VERB
ajst-26201	4	26	to	to	ADP
ajst-26201	4	27	its	its	PRON
ajst-26201	4	28	own	own	ADJ
ajst-26201	4	29	and	and	CCONJ
ajst-26201	4	30	surrounding	surround	VERB
ajst-26201	4	31	companions	companion	NOUN
ajst-26201	4	32	'	'	PART
ajst-26201	4	33	position	position	NOUN
ajst-26201	4	34	and	and	CCONJ
ajst-26201	4	35	motion	motion	NOUN
ajst-26201	4	36	status	status	NOUN
ajst-26201	4	37	.	.	PUNCT
ajst-26201	5	1	the	the	DET
ajst-26201	5	2	research	research	NOUN
ajst-26201	5	3	results	result	NOUN
ajst-26201	5	4	indicate	indicate	VERB
ajst-26201	5	5	that	that	SCONJ
ajst-26201	5	6	the	the	DET
ajst-26201	5	7	various	various	ADJ
ajst-26201	5	8	modules	module	NOUN
ajst-26201	5	9	of	of	ADP
ajst-26201	5	10	the	the	DET
ajst-26201	5	11	system	system	NOUN
ajst-26201	5	12	can	can	AUX
ajst-26201	5	13	work	work	VERB
ajst-26201	5	14	in	in	ADP
ajst-26201	5	15	coordination	coordination	NOUN
ajst-26201	5	16	,	,	PUNCT
ajst-26201	5	17	with	with	ADP
ajst-26201	5	18	high	high	ADJ
ajst-26201	5	19	accuracy	accuracy	NOUN
ajst-26201	5	20	in	in	ADP
ajst-26201	5	21	tracking	tracking	NOUN
ajst-26201	5	22	routes	route	NOUN
ajst-26201	5	23	,	,	PUNCT
ajst-26201	5	24	precise	precise	ADJ
ajst-26201	5	25	image	image	NOUN
ajst-26201	5	26	recognition	recognition	NOUN
ajst-26201	5	27	,	,	PUNCT
ajst-26201	5	28	timely	timely	ADJ
ajst-26201	5	29	obstacle	obstacle	NOUN
ajst-26201	5	30	avoidance	avoidance	NOUN
ajst-26201	5	31	,	,	PUNCT
ajst-26201	5	32	fast	fast	ADJ
ajst-26201	5	33	response	response	NOUN
ajst-26201	5	34	speed	speed	NOUN
ajst-26201	5	35	,	,	PUNCT
ajst-26201	5	36	and	and	CCONJ
ajst-26201	5	37	safe	safe	ADJ
ajst-26201	5	38	and	and	CCONJ
ajst-26201	5	39	reliable	reliable	ADJ
ajst-26201	5	40	system	system	NOUN
ajst-26201	5	41	operation	operation	NOUN
ajst-26201	5	42	.	.	PUNCT
ajst-26201	6	1	the	the	DET
ajst-26201	6	2	disinfection	disinfection	NOUN
ajst-26201	6	3	robot	robot	NOUN
ajst-26201	6	4	carried	carry	VERB
ajst-26201	6	5	out	out	ADP
ajst-26201	6	6	disinfection	disinfection	NOUN
ajst-26201	6	7	and	and	CCONJ
ajst-26201	6	8	sterilization	sterilization	NOUN
ajst-26201	6	9	test	test	NOUN
ajst-26201	6	10	on	on	ADP
ajst-26201	6	11	the	the	DET
ajst-26201	6	12	most	most	ADV
ajst-26201	6	13	common	common	ADJ
ajst-26201	6	14	staphylococcus	staphylococcus	NOUN
ajst-26201	6	15	aureus	aureus	NOUN
ajst-26201	6	16	and	and	CCONJ
ajst-26201	6	17	mold	mold	NOUN
ajst-26201	6	18	,	,	PUNCT
ajst-26201	6	19	and	and	CCONJ
ajst-26201	6	20	the	the	DET
ajst-26201	6	21	test	test	NOUN
ajst-26201	6	22	results	result	NOUN
ajst-26201	6	23	showed	show	VERB
ajst-26201	6	24	that	that	SCONJ
ajst-26201	6	25	the	the	DET
ajst-26201	6	26	pathogenic	pathogenic	ADJ
ajst-26201	6	27	bacteria	bacteria	NOUN
ajst-26201	6	28	decreased	decrease	VERB
ajst-26201	6	29	significantly	significantly	ADV
ajst-26201	6	30	after	after	ADP
ajst-26201	6	31	2	2	NUM
ajst-26201	6	32	min	min	NOUN
ajst-26201	6	33	,	,	PUNCT
ajst-26201	6	34	and	and	CCONJ
ajst-26201	6	35	all	all	DET
ajst-26201	6	36	bacteria	bacteria	NOUN
ajst-26201	6	37	were	be	AUX
ajst-26201	6	38	removed	remove	VERB
ajst-26201	6	39	after	after	ADP
ajst-26201	6	40	3	3	NUM
ajst-26201	6	41	min	min	NOUN
ajst-26201	6	42	,	,	PUNCT
ajst-26201	6	43	and	and	CCONJ
ajst-26201	6	44	the	the	DET
ajst-26201	6	45	killing	kill	VERB
ajst-26201	6	46	rate	rate	NOUN
ajst-26201	6	47	of	of	ADP
ajst-26201	6	48	bacteria	bacteria	NOUN
ajst-26201	6	49	was	be	AUX
ajst-26201	6	50	up	up	ADV
ajst-26201	6	51	to>96.0	to>96.0	NOUN
ajst-26201	6	52	%	%	NOUN
ajst-26201	6	53	.	.	PUNCT
ajst-26201	7	1	this	this	DET
ajst-26201	7	2	method	method	NOUN
ajst-26201	7	3	improves	improve	VERB
ajst-26201	7	4	the	the	DET
ajst-26201	7	5	obstacle	obstacle	NOUN
ajst-26201	7	6	avoidance	avoidance	NOUN
ajst-26201	7	7	ability	ability	NOUN
ajst-26201	7	8	and	and	CCONJ
ajst-26201	7	9	collaborative	collaborative	ADJ
ajst-26201	7	10	efficiency	efficiency	NOUN
ajst-26201	7	11	of	of	ADP
ajst-26201	7	12	robot	robot	NOUN
ajst-26201	7	13	systems	system	NOUN
ajst-26201	7	14	in	in	ADP
ajst-26201	7	15	complex	complex	ADJ
ajst-26201	7	16	environments	environment	NOUN
ajst-26201	7	17	,	,	PUNCT
ajst-26201	7	18	and	and	CCONJ
ajst-26201	7	19	can	can	AUX
ajst-26201	7	20	effectively	effectively	ADV
ajst-26201	7	21	respond	respond	VERB
ajst-26201	7	22	to	to	ADP
ajst-26201	7	23	various	various	ADJ
ajst-26201	7	24	unexpected	unexpected	ADJ
ajst-26201	7	25	situations	situation	NOUN
ajst-26201	7	26	.	.	PUNCT
ajst-26201	8	1	keywords	keyword	NOUN
ajst-26201	8	2	:	:	PUNCT
ajst-26201	8	3	intelligent	intelligent	ADJ
ajst-26201	8	4	disinfection	disinfection	NOUN
ajst-26201	8	5	robot	robot	NOUN
ajst-26201	8	6	,	,	PUNCT
ajst-26201	8	7	stc89c52	stc89c52	VERB
ajst-26201	8	8	microcontroller	microcontroller	NOUN
ajst-26201	8	9	,	,	PUNCT
ajst-26201	8	10	circuit	circuit	NOUN
ajst-26201	8	11	design	design	NOUN
ajst-26201	8	12	.	.	PUNCT
ajst-26201	9	1	1	1	X
ajst-26201	9	2	.	.	X
ajst-26201	9	3	introduction	introduction	NOUN
ajst-26201	9	4	in	in	ADP
ajst-26201	9	5	recent	recent	ADJ
ajst-26201	9	6	years	year	NOUN
ajst-26201	9	7	,	,	PUNCT
ajst-26201	9	8	the	the	DET
ajst-26201	9	9	research	research	NOUN
ajst-26201	9	10	and	and	CCONJ
ajst-26201	9	11	application	application	NOUN
ajst-26201	9	12	of	of	ADP
ajst-26201	9	13	intelligent	intelligent	ADJ
ajst-26201	9	14	disinfection	disinfection	NOUN
ajst-26201	9	15	robots	robot	NOUN
ajst-26201	9	16	have	have	AUX
ajst-26201	9	17	developed	develop	VERB
ajst-26201	9	18	rapidly	rapidly	ADV
ajst-26201	9	19	worldwide	worldwide	ADV
ajst-26201	9	20	.	.	PUNCT
ajst-26201	10	1	at	at	ADP
ajst-26201	10	2	present	present	ADJ
ajst-26201	10	3	,	,	PUNCT
ajst-26201	10	4	most	most	ADV
ajst-26201	10	5	intelligent	intelligent	ADJ
ajst-26201	10	6	disinfection	disinfection	NOUN
ajst-26201	10	7	robots	robot	NOUN
ajst-26201	10	8	on	on	ADP
ajst-26201	10	9	the	the	DET
ajst-26201	10	10	market	market	NOUN
ajst-26201	10	11	use	use	VERB
ajst-26201	10	12	ultraviolet	ultraviolet	ADJ
ajst-26201	10	13	disinfection	disinfection	NOUN
ajst-26201	10	14	,	,	PUNCT
ajst-26201	10	15	spray	spray	VERB
ajst-26201	10	16	disinfection	disinfection	NOUN
ajst-26201	10	17	,	,	PUNCT
ajst-26201	10	18	and	and	CCONJ
ajst-26201	10	19	multifunctional	multifunctional	ADJ
ajst-26201	10	20	disinfection	disinfection	NOUN
ajst-26201	10	21	methods	method	NOUN
ajst-26201	10	22	,	,	PUNCT
ajst-26201	10	23	which	which	PRON
ajst-26201	10	24	can	can	AUX
ajst-26201	10	25	effectively	effectively	ADV
ajst-26201	10	26	kill	kill	VERB
ajst-26201	10	27	viruses	virus	NOUN
ajst-26201	10	28	and	and	CCONJ
ajst-26201	10	29	bacteria	bacteria	NOUN
ajst-26201	10	30	in	in	ADP
ajst-26201	10	31	the	the	DET
ajst-26201	10	32	air	air	NOUN
ajst-26201	10	33	and	and	CCONJ
ajst-26201	10	34	on	on	ADP
ajst-26201	10	35	the	the	DET
ajst-26201	10	36	surface[1	surface[1	NOUN
ajst-26201	10	37	]	]	X
ajst-26201	10	38	.	.	PUNCT
ajst-26201	11	1	at	at	ADP
ajst-26201	11	2	the	the	DET
ajst-26201	11	3	same	same	ADJ
ajst-26201	11	4	time	time	NOUN
ajst-26201	11	5	,	,	PUNCT
ajst-26201	11	6	by	by	ADP
ajst-26201	11	7	equipping	equip	VERB
ajst-26201	11	8	advanced	advanced	ADJ
ajst-26201	11	9	sensors	sensor	NOUN
ajst-26201	11	10	and	and	CCONJ
ajst-26201	11	11	navigation	navigation	NOUN
ajst-26201	11	12	systems	system	NOUN
ajst-26201	11	13	,	,	PUNCT
ajst-26201	11	14	autonomous	autonomous	ADJ
ajst-26201	11	15	path	path	NOUN
ajst-26201	11	16	planning	planning	NOUN
ajst-26201	11	17	can	can	AUX
ajst-26201	11	18	be	be	AUX
ajst-26201	11	19	achieved	achieve	VERB
ajst-26201	11	20	,	,	PUNCT
ajst-26201	11	21	obstacles	obstacle	NOUN
ajst-26201	11	22	can	can	AUX
ajst-26201	11	23	be	be	AUX
ajst-26201	11	24	avoided	avoid	VERB
ajst-26201	11	25	,	,	PUNCT
ajst-26201	11	26	and	and	CCONJ
ajst-26201	11	27	efficient	efficient	ADJ
ajst-26201	11	28	and	and	CCONJ
ajst-26201	11	29	accurate	accurate	ADJ
ajst-26201	11	30	disinfection	disinfection	NOUN
ajst-26201	11	31	operations	operation	NOUN
ajst-26201	11	32	can	can	AUX
ajst-26201	11	33	be	be	AUX
ajst-26201	11	34	carried	carry	VERB
ajst-26201	11	35	out	out	ADP
ajst-26201	11	36	.	.	PUNCT
ajst-26201	12	1	ultraviolet	ultraviolet	ADJ
ajst-26201	12	2	disinfection	disinfection	NOUN
ajst-26201	12	3	robots	robot	NOUN
ajst-26201	12	4	use	use	VERB
ajst-26201	12	5	appropriate	appropriate	ADJ
ajst-26201	12	6	wavelengths	wavelength	NOUN
ajst-26201	12	7	of	of	ADP
ajst-26201	12	8	ultraviolet	ultraviolet	ADJ
ajst-26201	12	9	light	light	NOUN
ajst-26201	12	10	to	to	PART
ajst-26201	12	11	destroy	destroy	VERB
ajst-26201	12	12	the	the	DET
ajst-26201	12	13	substructures	substructure	NOUN
ajst-26201	12	14	of	of	ADP
ajst-26201	12	15	microbial	microbial	ADJ
ajst-26201	12	16	dna	dna	NOUN
ajst-26201	12	17	or	or	CCONJ
ajst-26201	12	18	rna	rna	NOUN
ajst-26201	12	19	,	,	PUNCT
ajst-26201	12	20	causing	cause	VERB
ajst-26201	12	21	cell	cell	NOUN
ajst-26201	12	22	death	death	NOUN
ajst-26201	12	23	and	and	CCONJ
ajst-26201	12	24	achieving	achieve	VERB
ajst-26201	12	25	the	the	DET
ajst-26201	12	26	characteristic	characteristic	NOUN
ajst-26201	12	27	of	of	ADP
ajst-26201	12	28	sterilization	sterilization	NOUN
ajst-26201	12	29	and	and	CCONJ
ajst-26201	12	30	disinfection	disinfection	NOUN
ajst-26201	12	31	for	for	ADP
ajst-26201	12	32	physical	physical	ADJ
ajst-26201	12	33	disinfection	disinfection	NOUN
ajst-26201	12	34	.	.	PUNCT
ajst-26201	13	1	moreover	moreover	ADV
ajst-26201	13	2	,	,	PUNCT
ajst-26201	13	3	ultraviolet	ultraviolet	ADJ
ajst-26201	13	4	light	light	NOUN
ajst-26201	13	5	is	be	AUX
ajst-26201	13	6	an	an	DET
ajst-26201	13	7	environmentally	environmentally	ADV
ajst-26201	13	8	friendly	friendly	ADJ
ajst-26201	13	9	disinfection	disinfection	NOUN
ajst-26201	13	10	method	method	NOUN
ajst-26201	13	11	that	that	PRON
ajst-26201	13	12	does	do	AUX
ajst-26201	13	13	not	not	PART
ajst-26201	13	14	leave	leave	VERB
ajst-26201	13	15	any	any	DET
ajst-26201	13	16	residue	residue	NOUN
ajst-26201	13	17	on	on	ADP
ajst-26201	13	18	the	the	DET
ajst-26201	13	19	surface	surface	NOUN
ajst-26201	13	20	.	.	PUNCT
ajst-26201	14	1	the	the	DET
ajst-26201	14	2	ultraviolet	ultraviolet	ADJ
ajst-26201	14	3	disinfection	disinfection	NOUN
ajst-26201	14	4	robot	robot	NOUN
ajst-26201	14	5	is	be	AUX
ajst-26201	14	6	achieved	achieve	VERB
ajst-26201	14	7	by	by	ADP
ajst-26201	14	8	installing	instal	VERB
ajst-26201	14	9	ultraviolet	ultraviolet	ADJ
ajst-26201	14	10	lamp	lamp	NOUN
ajst-26201	14	11	posts	post	NOUN
ajst-26201	14	12	on	on	ADP
ajst-26201	14	13	the	the	DET
ajst-26201	14	14	top	top	NOUN
ajst-26201	14	15	of	of	ADP
ajst-26201	14	16	the	the	DET
ajst-26201	14	17	mobile	mobile	NOUN
ajst-26201	14	18	robot	robot	NOUN
ajst-26201	14	19	,	,	PUNCT
ajst-26201	14	20	usually	usually	ADV
ajst-26201	14	21	integrated	integrate	VERB
ajst-26201	14	22	with	with	ADP
ajst-26201	14	23	various	various	ADJ
ajst-26201	14	24	sensors	sensor	NOUN
ajst-26201	14	25	used	use	VERB
ajst-26201	14	26	for	for	ADP
ajst-26201	14	27	navigation	navigation	NOUN
ajst-26201	14	28	and	and	CCONJ
ajst-26201	14	29	target	target	NOUN
ajst-26201	14	30	detection	detection	NOUN
ajst-26201	14	31	,	,	PUNCT
ajst-26201	14	32	such	such	ADJ
ajst-26201	14	33	as	as	ADP
ajst-26201	14	34	cameras	camera	NOUN
ajst-26201	14	35	,	,	PUNCT
ajst-26201	14	36	lidar	lidar	NOUN
ajst-26201	14	37	,	,	PUNCT
ajst-26201	14	38	and	and	CCONJ
ajst-26201	14	39	ultrasound	ultrasound	NOUN
ajst-26201	14	40	.	.	PUNCT
ajst-26201	15	1	disinfection	disinfection	NOUN
ajst-26201	15	2	robots	robot	NOUN
ajst-26201	15	3	mainly	mainly	ADV
ajst-26201	15	4	use	use	VERB
ajst-26201	15	5	ultraviolet	ultraviolet	ADJ
ajst-26201	15	6	disinfection	disinfection	NOUN
ajst-26201	15	7	methods	method	NOUN
ajst-26201	15	8	,	,	PUNCT
ajst-26201	15	9	represented	represent	VERB
ajst-26201	15	10	by	by	ADP
ajst-26201	15	11	uvd	uvd	NOUN
ajst-26201	15	12	robots	robot	NOUN
ajst-26201	15	13	and	and	CCONJ
ajst-26201	15	14	xenex	xenex	PROPN
ajst-26201	15	15	light	light	PROPN
ajst-26201	15	16	striker	striker	PROPN
ajst-26201	15	17	.	.	PUNCT
ajst-26201	16	1	uvd	uvd	PROPN
ajst-26201	16	2	robots	robot	NOUN
ajst-26201	16	3	are	be	AUX
ajst-26201	16	4	autonomous	autonomous	ADJ
ajst-26201	16	5	mobile	mobile	ADJ
ajst-26201	16	6	robots	robot	NOUN
ajst-26201	16	7	,	,	PUNCT
ajst-26201	16	8	measuring	measure	VERB
ajst-26201	16	9	178	178	NUM
ajst-26201	16	10	cm	cm	NOUN
ajst-26201	16	11	in	in	ADP
ajst-26201	16	12	height	height	NOUN
ajst-26201	16	13	and	and	CCONJ
ajst-26201	16	14	weighing	weigh	VERB
ajst-26201	16	15	120	120	NUM
ajst-26201	16	16	kg	kg	NOUN
ajst-26201	16	17	.	.	PUNCT
ajst-26201	17	1	their	their	PRON
ajst-26201	17	2	uv	uv	NOUN
ajst-26201	17	3	lamps	lamp	NOUN
ajst-26201	17	4	have	have	VERB
ajst-26201	17	5	a	a	DET
ajst-26201	17	6	lifespan	lifespan	NOUN
ajst-26201	17	7	of	of	ADP
ajst-26201	17	8	up	up	ADP
ajst-26201	17	9	to	to	PART
ajst-26201	17	10	12000	12000	NUM
ajst-26201	17	11	hours	hour	NOUN
ajst-26201	17	12	and	and	CCONJ
ajst-26201	17	13	can	can	AUX
ajst-26201	17	14	emit	emit	VERB
ajst-26201	17	15	254	254	NUM
ajst-26201	18	1	nm	nm	PRON
ajst-26201	18	2	ultraviolet	ultraviolet	ADJ
ajst-26201	18	3	light	light	NOUN
ajst-26201	18	4	,	,	PUNCT
ajst-26201	18	5	killing	kill	VERB
ajst-26201	18	6	99.99	99.99	NUM
ajst-26201	18	7	%	%	NOUN
ajst-26201	18	8	of	of	ADP
ajst-26201	18	9	bacteria	bacteria	NOUN
ajst-26201	18	10	within	within	ADP
ajst-26201	18	11	10	10	NUM
ajst-26201	18	12	minutes[2	minutes[2	NUM
ajst-26201	18	13	]	]	PUNCT
ajst-26201	18	14	.	.	PUNCT
ajst-26201	19	1	they	they	PRON
ajst-26201	19	2	can	can	AUX
ajst-26201	19	3	also	also	ADV
ajst-26201	19	4	automatically	automatically	ADV
ajst-26201	19	5	detect	detect	VERB
ajst-26201	19	6	the	the	DET
ajst-26201	19	7	presence	presence	NOUN
ajst-26201	19	8	of	of	ADP
ajst-26201	19	9	people	people	NOUN
ajst-26201	19	10	in	in	ADP
ajst-26201	19	11	the	the	DET
ajst-26201	19	12	disinfection	disinfection	NOUN
ajst-26201	19	13	area	area	NOUN
ajst-26201	19	14	during	during	ADP
ajst-26201	19	15	operation	operation	NOUN
ajst-26201	19	16	,	,	PUNCT
ajst-26201	19	17	avoiding	avoid	VERB
ajst-26201	19	18	harm	harm	NOUN
ajst-26201	19	19	to	to	ADP
ajst-26201	19	20	human	human	ADJ
ajst-26201	19	21	skin	skin	NOUN
ajst-26201	19	22	and	and	CCONJ
ajst-26201	19	23	eyes[3	eyes[3	NOUN
ajst-26201	19	24	]	]	X
ajst-26201	19	25	.	.	PUNCT
ajst-26201	20	1	xenex	xenex	PROPN
ajst-26201	20	2	lightstriker	lightstriker	PROPN
ajst-26201	20	3	uses	use	VERB
ajst-26201	20	4	a	a	DET
ajst-26201	20	5	high	high	ADJ
ajst-26201	20	6	-	-	PUNCT
ajst-26201	20	7	intensity	intensity	NOUN
ajst-26201	20	8	pulsed	pulse	VERB
ajst-26201	20	9	hernia	hernia	NOUN
ajst-26201	20	10	ultraviolet	ultraviolet	NOUN
ajst-26201	20	11	system	system	NOUN
ajst-26201	20	12	that	that	PRON
ajst-26201	20	13	can	can	AUX
ajst-26201	20	14	generate	generate	VERB
ajst-26201	20	15	ultraviolet	ultraviolet	ADJ
ajst-26201	20	16	radiation	radiation	NOUN
ajst-26201	20	17	throughout	throughout	ADP
ajst-26201	20	18	the	the	DET
ajst-26201	20	19	entire	entire	ADJ
ajst-26201	20	20	sterilization	sterilization	NOUN
ajst-26201	20	21	spectrum	spectrum	NOUN
ajst-26201	20	22	(	(	PUNCT
ajst-26201	20	23	200	200	NUM
ajst-26201	20	24	-	-	SYM
ajst-26201	20	25	315	315	NUM
ajst-26201	20	26	nm	nm	NOUN
ajst-26201	20	27	)	)	PUNCT
ajst-26201	20	28	,	,	PUNCT
ajst-26201	20	29	inactivating	inactivate	VERB
ajst-26201	20	30	pathogens	pathogen	NOUN
ajst-26201	20	31	at	at	ADP
ajst-26201	20	32	the	the	DET
ajst-26201	20	33	most	most	ADV
ajst-26201	20	34	susceptible	susceptible	ADJ
ajst-26201	20	35	wavelengths[4	wavelengths[4	NOUN
ajst-26201	20	36	]	]	PUNCT
ajst-26201	20	37	.	.	PUNCT
ajst-26201	21	1	however	however	ADV
ajst-26201	21	2	,	,	PUNCT
ajst-26201	21	3	due	due	ADP
ajst-26201	21	4	to	to	ADP
ajst-26201	21	5	the	the	DET
ajst-26201	21	6	strong	strong	ADJ
ajst-26201	21	7	enough	enough	ADJ
ajst-26201	21	8	ultraviolet	ultraviolet	ADJ
ajst-26201	21	9	light	light	NOUN
ajst-26201	21	10	to	to	PART
ajst-26201	21	11	cause	cause	VERB
ajst-26201	21	12	damage	damage	NOUN
ajst-26201	21	13	to	to	ADP
ajst-26201	21	14	human	human	ADJ
ajst-26201	21	15	skin	skin	NOUN
ajst-26201	21	16	and	and	CCONJ
ajst-26201	21	17	eyes	eye	NOUN
ajst-26201	21	18	,	,	PUNCT
ajst-26201	21	19	the	the	DET
ajst-26201	21	20	room	room	NOUN
ajst-26201	21	21	must	must	AUX
ajst-26201	21	22	be	be	AUX
ajst-26201	21	23	vacated	vacate	VERB
ajst-26201	21	24	during	during	ADP
ajst-26201	21	25	disinfection	disinfection	NOUN
ajst-26201	21	26	.	.	PUNCT
ajst-26201	22	1	to	to	PART
ajst-26201	22	2	overcome	overcome	VERB
ajst-26201	22	3	this	this	DET
ajst-26201	22	4	limitation	limitation	NOUN
ajst-26201	22	5	,	,	PUNCT
ajst-26201	22	6	moez	moez	NOUN
ajst-26201	22	7	guettari	guettari	PROPN
ajst-26201	22	8	et	et	PROPN
ajst-26201	22	9	al	al	PROPN
ajst-26201	22	10	.	.	PUNCT
ajst-26201	23	1	[	[	X
ajst-26201	23	2	5	5	NUM
ajst-26201	23	3	]	]	PUNCT
ajst-26201	23	4	added	added	PROPN
ajst-26201	23	5	uvc	uvc	PROPN
ajst-26201	23	6	reflective	reflective	PROPN
ajst-26201	23	7	shielding	shielding	NOUN
ajst-26201	23	8	to	to	PART
ajst-26201	23	9	surround	surround	VERB
ajst-26201	23	10	the	the	DET
ajst-26201	23	11	uvc	uvc	PROPN
ajst-26201	23	12	lamp	lamp	PROPN
ajst-26201	23	13	,	,	PUNCT
ajst-26201	23	14	which	which	PRON
ajst-26201	23	15	can	can	AUX
ajst-26201	23	16	reflect	reflect	VERB
ajst-26201	23	17	the	the	DET
ajst-26201	23	18	radiation	radiation	NOUN
ajst-26201	23	19	emitted	emit	VERB
ajst-26201	23	20	from	from	ADP
ajst-26201	23	21	behind	behind	ADP
ajst-26201	23	22	the	the	DET
ajst-26201	23	23	robot	robot	NOUN
ajst-26201	23	24	,	,	PUNCT
ajst-26201	23	25	giving	give	VERB
ajst-26201	23	26	the	the	DET
ajst-26201	23	27	robot	robot	NOUN
ajst-26201	23	28	the	the	DET
ajst-26201	23	29	potential	potential	NOUN
ajst-26201	23	30	to	to	PART
ajst-26201	23	31	work	work	VERB
ajst-26201	23	32	safely	safely	ADV
ajst-26201	23	33	with	with	ADP
ajst-26201	23	34	humans	human	NOUN
ajst-26201	23	35	.	.	PUNCT
ajst-26201	24	1	in	in	ADP
ajst-26201	24	2	2022	2022	NUM
ajst-26201	24	3	,	,	PUNCT
ajst-26201	24	4	conor	conor	PROPN
ajst-26201	24	5	mcginn	mcginn	PROPN
ajst-26201	24	6	et	et	PROPN
ajst-26201	24	7	al	al	PROPN
ajst-26201	24	8	.	.	PUNCT
ajst-26201	25	1	[	[	X
ajst-26201	25	2	6	6	NUM
ajst-26201	25	3	]	]	PUNCT
ajst-26201	25	4	used	use	VERB
ajst-26201	25	5	autonomous	autonomous	ADJ
ajst-26201	25	6	ultraviolet	ultraviolet	ADJ
ajst-26201	25	7	sterilization	sterilization	NOUN
ajst-26201	25	8	and	and	CCONJ
ajst-26201	25	9	irradiation	irradiation	NOUN
ajst-26201	25	10	robots	robot	NOUN
ajst-26201	25	11	to	to	PART
ajst-26201	25	12	rapidly	rapidly	ADV
ajst-26201	25	13	disinfect	disinfect	VERB
ajst-26201	25	14	radiation	radiation	NOUN
ajst-26201	25	15	therapy	therapy	NOUN
ajst-26201	25	16	rooms	room	NOUN
ajst-26201	25	17	,	,	PUNCT
ajst-26201	25	18	and	and	CCONJ
ajst-26201	25	19	evaluated	evaluate	VERB
ajst-26201	25	20	the	the	DET
ajst-26201	25	21	disinfection	disinfection	NOUN
ajst-26201	25	22	program	program	NOUN
ajst-26201	25	23	using	use	VERB
ajst-26201	25	24	autonomous	autonomous	PROPN
ajst-26201	25	25	uvc	uvc	PROPN
ajst-26201	25	26	robots	robot	NOUN
ajst-26201	25	27	.	.	PUNCT
ajst-26201	26	1	the	the	DET
ajst-26201	26	2	robot	robot	NOUN
ajst-26201	26	3	disinfection	disinfection	PROPN
ajst-26201	26	4	program	program	NOUN
ajst-26201	26	5	lasted	last	VERB
ajst-26201	26	6	less	less	ADJ
ajst-26201	26	7	than	than	ADP
ajst-26201	26	8	10	10	NUM
ajst-26201	26	9	minutes	minute	NOUN
ajst-26201	26	10	,	,	PUNCT
ajst-26201	26	11	and	and	CCONJ
ajst-26201	26	12	the	the	DET
ajst-26201	26	13	average	average	ADJ
ajst-26201	26	14	ultraviolet	ultraviolet	ADJ
ajst-26201	26	15	radiation	radiation	NOUN
ajst-26201	26	16	dose	dose	NOUN
ajst-26201	26	17	of	of	ADP
ajst-26201	26	18	the	the	DET
ajst-26201	26	19	samples	sample	NOUN
ajst-26201	26	20	was	be	AUX
ajst-26201	26	21	13.01	13.01	NUM
ajst-26201	26	22	±	±	NUM
ajst-26201	26	23	4.36	4.36	NUM
ajst-26201	26	24	mj	mj	PROPN
ajst-26201	26	25	/	/	SYM
ajst-26201	26	26	m2	m2	PROPN
ajst-26201	26	27	.	.	PROPN
ajst-26201	27	1	automated	automate	VERB
ajst-26201	27	2	disinfection	disinfection	NOUN
ajst-26201	27	3	programs	program	NOUN
ajst-26201	27	4	can	can	AUX
ajst-26201	27	5	shorten	shorten	VERB
ajst-26201	27	6	the	the	DET
ajst-26201	27	7	turnover	turnover	NOUN
ajst-26201	27	8	time	time	NOUN
ajst-26201	27	9	.	.	PUNCT
ajst-26201	28	1	in	in	ADP
ajst-26201	28	2	2023	2023	NUM
ajst-26201	28	3	,	,	PUNCT
ajst-26201	28	4	michael	michael	PROPN
ajst-26201	28	5	rodgers	rodger	VERB
ajst-26201	28	6	et	et	PROPN
ajst-26201	28	7	al	al	PROPN
ajst-26201	28	8	.	.	PUNCT
ajst-26201	29	1	[	[	X
ajst-26201	29	2	7	7	X
ajst-26201	29	3	]	]	PUNCT
ajst-26201	29	4	conducted	conduct	VERB
ajst-26201	29	5	a	a	DET
ajst-26201	29	6	disinfection	disinfection	NOUN
ajst-26201	29	7	experiment	experiment	NOUN
ajst-26201	29	8	using	use	VERB
ajst-26201	29	9	a	a	DET
ajst-26201	29	10	mobile	mobile	ADJ
ajst-26201	29	11	disinfection	disinfection	NOUN
ajst-26201	29	12	robot	robot	NOUN
ajst-26201	29	13	's	's	PART
ajst-26201	29	14	uv	uv	NOUN
ajst-26201	29	15	-	-	PUNCT
ajst-26201	29	16	c	c	NOUN
ajst-26201	29	17	(	(	PUNCT
ajst-26201	29	18	uv	uv	NOUN
ajst-26201	29	19	-	-	PUNCT
ajst-26201	29	20	c	c	NOUN
ajst-26201	29	21	)	)	PUNCT
ajst-26201	29	22	to	to	PART
ajst-26201	29	23	evaluate	evaluate	VERB
ajst-26201	29	24	its	its	PRON
ajst-26201	29	25	on	on	ADP
ajst-26201	29	26	-	-	PUNCT
ajst-26201	29	27	site	site	NOUN
ajst-26201	29	28	effectiveness	effectiveness	NOUN
ajst-26201	29	29	.	.	PUNCT
ajst-26201	30	1	the	the	DET
ajst-26201	30	2	results	result	NOUN
ajst-26201	30	3	showed	show	VERB
ajst-26201	30	4	that	that	SCONJ
ajst-26201	30	5	the	the	DET
ajst-26201	30	6	cfu	cfu	NOUN
ajst-26201	30	7	of	of	ADP
ajst-26201	30	8	five	five	NUM
ajst-26201	30	9	different	different	ADJ
ajst-26201	30	10	bacterial	bacterial	ADJ
ajst-26201	30	11	pathogens	pathogen	NOUN
ajst-26201	30	12	decreased	decrease	VERB
ajst-26201	30	13	by	by	ADP
ajst-26201	30	14	≥	≥	NOUN
ajst-26201	30	15	5	5	NUM
ajst-26201	30	16	logarithms	logarithm	NOUN
ajst-26201	30	17	in	in	ADP
ajst-26201	30	18	situ	situ	NOUN
ajst-26201	30	19	.	.	PUNCT
ajst-26201	31	1	among	among	ADP
ajst-26201	31	2	the	the	DET
ajst-26201	31	3	32	32	NUM
ajst-26201	31	4	plates	plate	NOUN
ajst-26201	31	5	placed	place	VERB
ajst-26201	31	6	on	on	ADP
ajst-26201	31	7	uv	uv	NOUN
ajst-26201	31	8	accessible	accessible	ADJ
ajst-26201	31	9	surfaces	surface	NOUN
ajst-26201	31	10	,	,	PUNCT
ajst-26201	31	11	31	31	NUM
ajst-26201	31	12	showed	show	VERB
ajst-26201	31	13	a	a	DET
ajst-26201	31	14	significant	significant	ADJ
ajst-26201	31	15	decrease	decrease	NOUN
ajst-26201	31	16	in	in	ADP
ajst-26201	31	17	cfu	cfu	PROPN
ajst-26201	31	18	≥	≥	NOUN
ajst-26201	31	19	5	5	NUM
ajst-26201	31	20	-	-	PUNCT
ajst-26201	31	21	log	log	NOUN
ajst-26201	31	22	.	.	PUNCT
ajst-26201	32	1	in	in	ADP
ajst-26201	32	2	2024	2024	NUM
ajst-26201	32	3	,	,	PUNCT
ajst-26201	32	4	r.	r.	PROPN
ajst-26201	32	5	mangeant	mangeant	PROPN
ajst-26201	32	6	et	et	PROPN
ajst-26201	32	7	al	al	PROPN
ajst-26201	32	8	.	.	PUNCT
ajst-26201	33	1	[	[	X
ajst-26201	33	2	8	8	NUM
ajst-26201	33	3	]	]	PUNCT
ajst-26201	33	4	determined	determine	VERB
ajst-26201	33	5	the	the	DET
ajst-26201	33	6	optimal	optimal	ADJ
ajst-26201	33	7	usage	usage	NOUN
ajst-26201	33	8	conditions	condition	NOUN
ajst-26201	33	9	for	for	ADP
ajst-26201	33	10	robots	robot	NOUN
ajst-26201	33	11	in	in	ADP
ajst-26201	33	12	static	static	ADJ
ajst-26201	33	13	or	or	CCONJ
ajst-26201	33	14	dynamic	dynamic	ADJ
ajst-26201	33	15	modes	mode	NOUN
ajst-26201	33	16	by	by	ADP
ajst-26201	33	17	evaluating	evaluate	VERB
ajst-26201	33	18	the	the	DET
ajst-26201	33	19	distribution	distribution	NOUN
ajst-26201	33	20	of	of	ADP
ajst-26201	33	21	uvc	uvc	PROPN
ajst-26201	33	22	light	light	NOUN
ajst-26201	33	23	emitted	emit	VERB
ajst-26201	33	24	by	by	ADP
ajst-26201	33	25	husky	husky	NOUN
ajst-26201	33	26	-	-	PUNCT
ajst-26201	33	27	uv	uv	NOUN
ajst-26201	33	28	on	on	ADP
ajst-26201	33	29	wall	wall	NOUN
ajst-26201	33	30	substrates	substrate	NOUN
ajst-26201	33	31	.	.	PUNCT
ajst-26201	34	1	with	with	ADP
ajst-26201	34	2	the	the	DET
ajst-26201	34	3	advancement	advancement	NOUN
ajst-26201	34	4	of	of	ADP
ajst-26201	34	5	artificial	artificial	ADJ
ajst-26201	34	6	intelligence	intelligence	NOUN
ajst-26201	34	7	technology	technology	NOUN
ajst-26201	34	8	,	,	PUNCT
ajst-26201	34	9	the	the	DET
ajst-26201	34	10	development	development	NOUN
ajst-26201	34	11	hotspot	hotspot	NOUN
ajst-26201	34	12	of	of	ADP
ajst-26201	34	13	intelligent	intelligent	ADJ
ajst-26201	34	14	disinfection	disinfection	NOUN
ajst-26201	34	15	robots	robot	NOUN
ajst-26201	34	16	is	be	AUX
ajst-26201	34	17	to	to	PART
ajst-26201	34	18	have	have	VERB
ajst-26201	34	19	stronger	strong	ADJ
ajst-26201	34	20	self	self	NOUN
ajst-26201	34	21	-	-	PUNCT
ajst-26201	34	22	learning	learn	VERB
ajst-26201	34	23	and	and	CCONJ
ajst-26201	34	24	adaptation	adaptation	NOUN
ajst-26201	34	25	capabilities	capability	NOUN
ajst-26201	34	26	,	,	PUNCT
ajst-26201	34	27	which	which	PRON
ajst-26201	34	28	can	can	AUX
ajst-26201	34	29	automatically	automatically	ADV
ajst-26201	34	30	adjust	adjust	VERB
ajst-26201	34	31	disinfection	disinfection	NOUN
ajst-26201	34	32	strategies	strategy	NOUN
ajst-26201	34	33	according	accord	VERB
ajst-26201	34	34	to	to	ADP
ajst-26201	34	35	environmental	environmental	ADJ
ajst-26201	34	36	changes	change	NOUN
ajst-26201	34	37	and	and	CCONJ
ajst-26201	34	38	improve	improve	VERB
ajst-26201	34	39	disinfection	disinfection	NOUN
ajst-26201	34	40	efficiency[9	efficiency[9	NOUN
ajst-26201	34	41	]	]	PUNCT
ajst-26201	34	42	.	.	PUNCT
ajst-26201	35	1	in	in	ADP
ajst-26201	35	2	2024	2024	NUM
ajst-26201	35	3	,	,	PUNCT
ajst-26201	35	4	zhengyi	zhengyi	PROPN
ajst-26201	35	5	chen	chen	PROPN
ajst-26201	35	6	et	et	PROPN
ajst-26201	35	7	al	al	PROPN
ajst-26201	35	8	.	.	PUNCT
ajst-26201	36	1	[	[	X
ajst-26201	36	2	10	10	NUM
ajst-26201	36	3	]	]	PUNCT
ajst-26201	36	4	optimized	optimize	VERB
ajst-26201	36	5	the	the	DET
ajst-26201	36	6	coverage	coverage	NOUN
ajst-26201	36	7	sequence	sequence	NOUN
ajst-26201	36	8	by	by	ADP
ajst-26201	36	9	solving	solve	VERB
ajst-26201	36	10	cgtsp	cgtsp	NOUN
ajst-26201	36	11	and	and	CCONJ
ajst-26201	36	12	proposed	propose	VERB
ajst-26201	36	13	a	a	DET
ajst-26201	36	14	rich	rich	ADJ
ajst-26201	36	15	bim	bim	NOUN
ajst-26201	36	16	scheme	scheme	NOUN
ajst-26201	36	17	for	for	ADP
ajst-26201	36	18	indoor	indoor	ADJ
ajst-26201	36	19	robot	robot	NOUN
ajst-26201	36	20	coverage	coverage	NOUN
ajst-26201	36	21	path	path	PROPN
ajst-26201	36	22	planning	planning	NOUN
ajst-26201	36	23	,	,	PUNCT
ajst-26201	36	24	with	with	ADP
ajst-26201	36	25	a	a	DET
ajst-26201	36	26	disinfection	disinfection	NOUN
ajst-26201	36	27	coverage	coverage	NOUN
ajst-26201	36	28	rate	rate	NOUN
ajst-26201	36	29	of	of	ADP
ajst-26201	36	30	97.56	97.56	NUM
ajst-26201	36	31	%	%	NOUN
ajst-26201	36	32	.	.	PUNCT
ajst-26201	37	1	in	in	ADP
ajst-26201	37	2	2024	2024	NUM
ajst-26201	37	3	,	,	PUNCT
ajst-26201	37	4	ziwei	ziwei	PROPN
ajst-26201	37	5	liu	liu	PROPN
ajst-26201	37	6	et	et	PROPN
ajst-26201	37	7	al	al	PROPN
ajst-26201	37	8	.	.	PUNCT
ajst-26201	38	1	[	[	X
ajst-26201	38	2	11	11	NUM
ajst-26201	38	3	]	]	PUNCT
ajst-26201	38	4	developed	develop	VERB
ajst-26201	38	5	a	a	DET
ajst-26201	38	6	surface	surface	NOUN
ajst-26201	38	7	coverage	coverage	NOUN
ajst-26201	38	8	planning	planning	NOUN
ajst-26201	38	9	algorithm	algorithm	NOUN
ajst-26201	38	10	for	for	ADP
ajst-26201	38	11	the	the	DET
ajst-26201	38	12	disinfection	disinfection	NOUN
ajst-26201	38	13	robot	robot	NOUN
ajst-26201	38	14	based	base	VERB
ajst-26201	38	15	on	on	ADP
ajst-26201	38	16	spray	spray	NOUN
ajst-26201	38	17	to	to	PART
ajst-26201	38	18	calculate	calculate	VERB
ajst-26201	38	19	the	the	DET
ajst-26201	38	20	path	path	NOUN
ajst-26201	38	21	of	of	ADP
ajst-26201	38	22	the	the	DET
ajst-26201	38	23	fully	fully	ADV
ajst-26201	38	24	disinfected	disinfect	VERB
ajst-26201	38	25	surface	surface	NOUN
ajst-26201	38	26	followed	follow	VERB
ajst-26201	38	27	by	by	ADP
ajst-26201	38	28	the	the	DET
ajst-26201	38	29	nozzle	nozzle	NOUN
ajst-26201	38	30	.	.	PUNCT
ajst-26201	39	1	by	by	ADP
ajst-26201	39	2	selecting	select	VERB
ajst-26201	39	3	the	the	DET
ajst-26201	39	4	area	area	NOUN
ajst-26201	39	5	to	to	PART
ajst-26201	39	6	be	be	AUX
ajst-26201	39	7	disinfected	disinfect	VERB
ajst-26201	39	8	,	,	PUNCT
ajst-26201	39	9	the	the	DET
ajst-26201	39	10	corresponding	corresponding	ADJ
ajst-26201	39	11	point	point	NOUN
ajst-26201	39	12	cloud	cloud	NOUN
ajst-26201	39	13	is	be	AUX
ajst-26201	39	14	extracted	extract	VERB
ajst-26201	39	15	for	for	ADP
ajst-26201	39	16	path	path	NOUN
ajst-26201	39	17	planning	planning	NOUN
ajst-26201	39	18	[	[	X
ajst-26201	39	19	12	12	NUM
ajst-26201	39	20	]	]	PUNCT
ajst-26201	39	21	.	.	PUNCT
ajst-26201	40	1	in	in	ADP
ajst-26201	40	2	terms	term	NOUN
ajst-26201	40	3	of	of	ADP
ajst-26201	40	4	sensor	sensor	NOUN
ajst-26201	40	5	integration	integration	NOUN
ajst-26201	40	6	technology	technology	NOUN
ajst-26201	40	7	,	,	PUNCT
ajst-26201	40	8	disinfection	disinfection	NOUN
ajst-26201	40	9	robots	robot	NOUN
ajst-26201	40	10	mainly	mainly	ADV
ajst-26201	40	11	integrate	integrate	VERB
ajst-26201	40	12	disinfection	disinfection	NOUN
ajst-26201	40	13	methods	method	NOUN
ajst-26201	40	14	such	such	ADJ
ajst-26201	40	15	as	as	ADP
ajst-26201	40	16	ultraviolet	ultraviolet	ADJ
ajst-26201	40	17	radiation	radiation	NOUN
ajst-26201	40	18	,	,	PUNCT
ajst-26201	40	19	ultra	ultra	ADJ
ajst-26201	40	20	dry	dry	ADJ
ajst-26201	40	21	atomized	atomize	VERB
ajst-26201	40	22	hydrogen	hydrogen	NOUN
ajst-26201	40	23	peroxide	peroxide	NOUN
ajst-26201	40	24	,	,	PUNCT
ajst-26201	40	25	air	air	NOUN
ajst-26201	40	26	filtration	filtration	NOUN
ajst-26201	40	27	,	,	PUNCT
ajst-26201	40	28	or	or	CCONJ
ajst-26201	40	29	plasma	plasma	NOUN
ajst-26201	40	30	disinfection	disinfection	NOUN
ajst-26201	40	31	,	,	PUNCT
ajst-26201	40	32	and	and	CCONJ
ajst-26201	40	33	can	can	AUX
ajst-26201	40	34	achieve	achieve	VERB
ajst-26201	40	35	autonomous	autonomous	ADJ
ajst-26201	40	36	navigation	navigation	NOUN
ajst-26201	40	37	,	,	PUNCT
ajst-26201	40	38	114	114	NUM
ajst-26201	40	39	movement	movement	NOUN
ajst-26201	40	40	,	,	PUNCT
ajst-26201	40	41	and	and	CCONJ
ajst-26201	40	42	obstacle	obstacle	NOUN
ajst-26201	40	43	avoidance	avoidance	NOUN
ajst-26201	40	44	in	in	ADP
ajst-26201	40	45	multiple	multiple	ADJ
ajst-26201	40	46	scenarios[13,14	scenarios[13,14	NOUN
ajst-26201	40	47	]	]	PUNCT
ajst-26201	40	48	.	.	PUNCT
ajst-26201	41	1	based	base	VERB
ajst-26201	41	2	on	on	ADP
ajst-26201	41	3	the	the	DET
ajst-26201	41	4	characteristics	characteristic	NOUN
ajst-26201	41	5	and	and	CCONJ
ajst-26201	41	6	area	area	NOUN
ajst-26201	41	7	of	of	ADP
ajst-26201	41	8	the	the	DET
ajst-26201	41	9	disinfection	disinfection	NOUN
ajst-26201	41	10	area	area	NOUN
ajst-26201	41	11	,	,	PUNCT
ajst-26201	41	12	different	different	ADJ
ajst-26201	41	13	disinfection	disinfection	NOUN
ajst-26201	41	14	methods	method	NOUN
ajst-26201	41	15	are	be	AUX
ajst-26201	41	16	triggered	trigger	VERB
ajst-26201	41	17	and	and	CCONJ
ajst-26201	41	18	the	the	DET
ajst-26201	41	19	disinfection	disinfection	NOUN
ajst-26201	41	20	time	time	NOUN
ajst-26201	41	21	is	be	AUX
ajst-26201	41	22	automatically	automatically	ADV
ajst-26201	41	23	calculated	calculate	VERB
ajst-26201	41	24	to	to	PART
ajst-26201	41	25	achieve	achieve	VERB
ajst-26201	41	26	quantitative	quantitative	ADJ
ajst-26201	41	27	management	management	NOUN
ajst-26201	41	28	of	of	ADP
ajst-26201	41	29	the	the	DET
ajst-26201	41	30	disinfection	disinfection	NOUN
ajst-26201	41	31	process	process	NOUN
ajst-26201	41	32	[	[	X
ajst-26201	41	33	15	15	NUM
ajst-26201	41	34	]	]	PUNCT
ajst-26201	41	35	.	.	PUNCT
ajst-26201	42	1	the	the	DET
ajst-26201	42	2	multifunctional	multifunctional	ADJ
ajst-26201	42	3	disinfection	disinfection	NOUN
ajst-26201	42	4	robot	robot	NOUN
ajst-26201	42	5	integrates	integrate	VERB
ajst-26201	42	6	multiple	multiple	ADJ
ajst-26201	42	7	disinfection	disinfection	NOUN
ajst-26201	42	8	methods	method	NOUN
ajst-26201	42	9	into	into	ADP
ajst-26201	42	10	one	one	NUM
ajst-26201	42	11	,	,	PUNCT
ajst-26201	42	12	which	which	PRON
ajst-26201	42	13	can	can	AUX
ajst-26201	42	14	be	be	AUX
ajst-26201	42	15	used	use	VERB
ajst-26201	42	16	individually	individually	ADV
ajst-26201	42	17	or	or	CCONJ
ajst-26201	42	18	in	in	ADP
ajst-26201	42	19	combination	combination	NOUN
ajst-26201	42	20	,	,	PUNCT
ajst-26201	42	21	and	and	CCONJ
ajst-26201	42	22	can	can	AUX
ajst-26201	42	23	play	play	VERB
ajst-26201	42	24	a	a	DET
ajst-26201	42	25	more	more	ADV
ajst-26201	42	26	powerful	powerful	ADJ
ajst-26201	42	27	role	role	NOUN
ajst-26201	42	28	in	in	ADP
ajst-26201	42	29	practical	practical	ADJ
ajst-26201	42	30	applications	application	NOUN
ajst-26201	42	31	.	.	PUNCT
ajst-26201	43	1	stc89c52	stc89c52	VERB
ajst-26201	43	2	microcontroller	microcontroller	NOUN
ajst-26201	43	3	is	be	AUX
ajst-26201	43	4	chosen	choose	VERB
ajst-26201	43	5	as	as	ADP
ajst-26201	43	6	the	the	DET
ajst-26201	43	7	control	control	NOUN
ajst-26201	43	8	platform	platform	NOUN
ajst-26201	43	9	for	for	ADP
ajst-26201	43	10	intelligent	intelligent	ADJ
ajst-26201	43	11	robots	robot	NOUN
ajst-26201	43	12	,	,	PUNCT
ajst-26201	43	13	and	and	CCONJ
ajst-26201	43	14	the	the	DET
ajst-26201	43	15	system	system	NOUN
ajst-26201	43	16	adopts	adopt	VERB
ajst-26201	43	17	a	a	DET
ajst-26201	43	18	signal	signal	ADJ
ajst-26201	43	19	detection	detection	NOUN
ajst-26201	43	20	circuit	circuit	NOUN
ajst-26201	43	21	composed	compose	VERB
ajst-26201	43	22	of	of	ADP
ajst-26201	43	23	infrared	infrared	ADJ
ajst-26201	43	24	sensors	sensor	NOUN
ajst-26201	43	25	to	to	PART
ajst-26201	43	26	monitor	monitor	VERB
ajst-26201	43	27	the	the	DET
ajst-26201	43	28	robot	robot	NOUN
ajst-26201	43	29	's	's	PART
ajst-26201	43	30	work	work	NOUN
ajst-26201	43	31	in	in	ADP
ajst-26201	43	32	real	real	ADJ
ajst-26201	43	33	time	time	NOUN
ajst-26201	43	34	.	.	PUNCT
ajst-26201	44	1	the	the	DET
ajst-26201	44	2	single	single	ADJ
ajst-26201	44	3	-	-	PUNCT
ajst-26201	44	4	chip	chip	NOUN
ajst-26201	44	5	microprocessor	microprocessor	NOUN
ajst-26201	44	6	receives	receive	VERB
ajst-26201	44	7	and	and	CCONJ
ajst-26201	44	8	completes	complete	VERB
ajst-26201	44	9	all	all	DET
ajst-26201	44	10	the	the	DET
ajst-26201	44	11	information	information	NOUN
ajst-26201	44	12	collected	collect	VERB
ajst-26201	44	13	by	by	ADP
ajst-26201	44	14	the	the	DET
ajst-26201	44	15	infrared	infrared	ADJ
ajst-26201	44	16	sensor	sensor	NOUN
ajst-26201	44	17	,	,	PUNCT
ajst-26201	44	18	and	and	CCONJ
ajst-26201	44	19	then	then	ADV
ajst-26201	44	20	the	the	DET
ajst-26201	44	21	microprocessor	microprocessor	NOUN
ajst-26201	44	22	operates	operate	VERB
ajst-26201	44	23	it	it	PRON
ajst-26201	44	24	as	as	SCONJ
ajst-26201	44	25	needed	need	VERB
ajst-26201	44	26	to	to	PART
ajst-26201	44	27	drive	drive	VERB
ajst-26201	44	28	the	the	DET
ajst-26201	44	29	motor	motor	NOUN
ajst-26201	44	30	to	to	PART
ajst-26201	44	31	rotate	rotate	VERB
ajst-26201	44	32	.	.	PUNCT
ajst-26201	45	1	through	through	ADP
ajst-26201	45	2	an	an	DET
ajst-26201	45	3	obstacle	obstacle	NOUN
ajst-26201	45	4	avoidance	avoidance	NOUN
ajst-26201	45	5	strategy	strategy	NOUN
ajst-26201	45	6	based	base	VERB
ajst-26201	45	7	on	on	ADP
ajst-26201	45	8	multi	multi	ADJ
ajst-26201	45	9	-	-	ADJ
ajst-26201	45	10	sensor	sensor	ADJ
ajst-26201	45	11	fusion	fusion	NOUN
ajst-26201	45	12	,	,	PUNCT
ajst-26201	45	13	it	it	PRON
ajst-26201	45	14	can	can	AUX
ajst-26201	45	15	achieve	achieve	VERB
ajst-26201	45	16	autonomous	autonomous	ADJ
ajst-26201	45	17	navigation	navigation	NOUN
ajst-26201	45	18	,	,	PUNCT
ajst-26201	45	19	movement	movement	NOUN
ajst-26201	45	20	,	,	PUNCT
ajst-26201	45	21	and	and	CCONJ
ajst-26201	45	22	obstacle	obstacle	NOUN
ajst-26201	45	23	avoidance	avoidance	NOUN
ajst-26201	45	24	in	in	ADP
ajst-26201	45	25	multiple	multiple	ADJ
ajst-26201	45	26	scenarios	scenario	NOUN
ajst-26201	45	27	.	.	PUNCT
ajst-26201	46	1	2	2	X
ajst-26201	46	2	.	.	X
ajst-26201	46	3	system	system	NOUN
ajst-26201	46	4	module	module	NOUN
ajst-26201	46	5	and	and	CCONJ
ajst-26201	46	6	circuit	circuit	NOUN
ajst-26201	46	7	design	design	NOUN
ajst-26201	46	8	2.1	2.1	NUM
ajst-26201	46	9	.	.	PUNCT
ajst-26201	47	1	functional	functional	ADJ
ajst-26201	47	2	modules	module	NOUN
ajst-26201	47	3	2.1.1	2.1.1	NUM
ajst-26201	47	4	.	.	PUNCT
ajst-26201	47	5	main	main	ADJ
ajst-26201	47	6	control	control	NOUN
ajst-26201	47	7	module	module	NOUN
ajst-26201	47	8	the	the	DET
ajst-26201	47	9	stc89c52	stc89c52	ADJ
ajst-26201	47	10	microcontroller	microcontroller	NOUN
ajst-26201	47	11	is	be	AUX
ajst-26201	47	12	chosen	choose	VERB
ajst-26201	47	13	as	as	ADP
ajst-26201	47	14	the	the	DET
ajst-26201	47	15	control	control	NOUN
ajst-26201	47	16	chip	chip	NOUN
ajst-26201	47	17	for	for	ADP
ajst-26201	47	18	the	the	DET
ajst-26201	47	19	robot	robot	NOUN
ajst-26201	47	20	.	.	PUNCT
ajst-26201	48	1	as	as	ADP
ajst-26201	48	2	a	a	DET
ajst-26201	48	3	microprocessor	microprocessor	NOUN
ajst-26201	48	4	with	with	ADP
ajst-26201	48	5	low	low	ADJ
ajst-26201	48	6	energy	energy	NOUN
ajst-26201	48	7	consumption	consumption	NOUN
ajst-26201	48	8	,	,	PUNCT
ajst-26201	48	9	high	high	ADJ
ajst-26201	48	10	compatibility	compatibility	NOUN
ajst-26201	48	11	,	,	PUNCT
ajst-26201	48	12	and	and	CCONJ
ajst-26201	48	13	high	high	ADJ
ajst-26201	48	14	performance	performance	NOUN
ajst-26201	48	15	,	,	PUNCT
ajst-26201	48	16	it	it	PRON
ajst-26201	48	17	has	have	VERB
ajst-26201	48	18	greater	great	ADJ
ajst-26201	48	19	flexibility	flexibility	NOUN
ajst-26201	48	20	and	and	CCONJ
ajst-26201	48	21	faster	fast	ADJ
ajst-26201	48	22	processing	processing	NOUN
ajst-26201	48	23	efficiency	efficiency	NOUN
ajst-26201	48	24	compared	compare	VERB
ajst-26201	48	25	to	to	ADP
ajst-26201	48	26	other	other	ADJ
ajst-26201	48	27	microcontrollers	microcontroller	NOUN
ajst-26201	48	28	.	.	PUNCT
ajst-26201	49	1	the	the	DET
ajst-26201	49	2	most	most	ADV
ajst-26201	49	3	important	important	ADJ
ajst-26201	49	4	point	point	NOUN
ajst-26201	49	5	is	be	AUX
ajst-26201	49	6	the	the	DET
ajst-26201	49	7	simplification	simplification	NOUN
ajst-26201	49	8	and	and	CCONJ
ajst-26201	49	9	reliability	reliability	NOUN
ajst-26201	49	10	of	of	ADP
ajst-26201	49	11	the	the	DET
ajst-26201	49	12	minimal	minimal	ADJ
ajst-26201	49	13	system	system	NOUN
ajst-26201	49	14	.	.	PUNCT
ajst-26201	50	1	the	the	DET
ajst-26201	50	2	whole	whole	ADJ
ajst-26201	50	3	machine	machine	NOUN
ajst-26201	50	4	consists	consist	VERB
ajst-26201	50	5	of	of	ADP
ajst-26201	50	6	main	main	ADJ
ajst-26201	50	7	modules	module	NOUN
ajst-26201	50	8	such	such	ADJ
ajst-26201	50	9	as	as	ADP
ajst-26201	50	10	tracking	tracking	NOUN
ajst-26201	50	11	,	,	PUNCT
ajst-26201	50	12	obstacle	obstacle	NOUN
ajst-26201	50	13	avoidance	avoidance	NOUN
ajst-26201	50	14	,	,	PUNCT
ajst-26201	50	15	driving	driving	NOUN
ajst-26201	50	16	,	,	PUNCT
ajst-26201	50	17	and	and	CCONJ
ajst-26201	50	18	disinfection	disinfection	NOUN
ajst-26201	50	19	.	.	PUNCT
ajst-26201	51	1	the	the	DET
ajst-26201	51	2	axle	axle	PROPN
ajst-26201	51	3	signal	signal	NOUN
ajst-26201	51	4	detected	detect	VERB
ajst-26201	51	5	by	by	ADP
ajst-26201	51	6	the	the	DET
ajst-26201	51	7	infrared	infrared	ADJ
ajst-26201	51	8	probe	probe	NOUN
ajst-26201	51	9	during	during	ADP
ajst-26201	51	10	driving	driving	NOUN
ajst-26201	51	11	is	be	AUX
ajst-26201	51	12	sent	send	VERB
ajst-26201	51	13	to	to	ADP
ajst-26201	51	14	the	the	DET
ajst-26201	51	15	main	main	ADJ
ajst-26201	51	16	chip	chip	NOUN
ajst-26201	51	17	,	,	PUNCT
ajst-26201	51	18	which	which	PRON
ajst-26201	51	19	processes	process	VERB
ajst-26201	51	20	the	the	DET
ajst-26201	51	21	signal	signal	NOUN
ajst-26201	51	22	to	to	PART
ajst-26201	51	23	drive	drive	VERB
ajst-26201	51	24	the	the	DET
ajst-26201	51	25	rotation	rotation	NOUN
ajst-26201	51	26	of	of	ADP
ajst-26201	51	27	the	the	DET
ajst-26201	51	28	motor	motor	NOUN
ajst-26201	51	29	,	,	PUNCT
ajst-26201	51	30	thereby	thereby	ADV
ajst-26201	51	31	accurately	accurately	ADV
ajst-26201	51	32	tracking	track	VERB
ajst-26201	51	33	and	and	CCONJ
ajst-26201	51	34	effectively	effectively	ADV
ajst-26201	51	35	avoiding	avoid	VERB
ajst-26201	51	36	obstacles	obstacle	NOUN
ajst-26201	51	37	.	.	PUNCT
ajst-26201	52	1	2.1.2	2.1.2	X
ajst-26201	52	2	.	.	X
ajst-26201	52	3	driver	driver	NOUN
ajst-26201	52	4	module	module	NOUN
ajst-26201	52	5	the	the	DET
ajst-26201	52	6	drive	drive	NOUN
ajst-26201	52	7	module	module	NOUN
ajst-26201	52	8	is	be	AUX
ajst-26201	52	9	mainly	mainly	ADV
ajst-26201	52	10	composed	compose	VERB
ajst-26201	52	11	of	of	ADP
ajst-26201	52	12	a	a	DET
ajst-26201	52	13	base	base	NOUN
ajst-26201	52	14	plate	plate	NOUN
ajst-26201	52	15	,	,	PUNCT
ajst-26201	52	16	a	a	DET
ajst-26201	52	17	motor	motor	NOUN
ajst-26201	52	18	,	,	PUNCT
ajst-26201	52	19	and	and	CCONJ
ajst-26201	52	20	wheels	wheel	NOUN
ajst-26201	52	21	.	.	PUNCT
ajst-26201	53	1	in	in	ADP
ajst-26201	53	2	automatic	automatic	ADJ
ajst-26201	53	3	driving	driving	NOUN
ajst-26201	53	4	,	,	PUNCT
ajst-26201	53	5	a	a	DET
ajst-26201	53	6	motor	motor	NOUN
ajst-26201	53	7	is	be	AUX
ajst-26201	53	8	required	require	VERB
ajst-26201	53	9	to	to	PART
ajst-26201	53	10	drive	drive	VERB
ajst-26201	53	11	the	the	DET
ajst-26201	53	12	two	two	NUM
ajst-26201	53	13	wheels	wheel	NOUN
ajst-26201	53	14	in	in	ADP
ajst-26201	53	15	front	front	NOUN
ajst-26201	53	16	to	to	PART
ajst-26201	53	17	provide	provide	VERB
ajst-26201	53	18	power	power	NOUN
ajst-26201	53	19	.	.	PUNCT
ajst-26201	54	1	the	the	DET
ajst-26201	54	2	microcontroller	microcontroller	NOUN
ajst-26201	54	3	uses	use	VERB
ajst-26201	54	4	the	the	DET
ajst-26201	54	5	path	path	NOUN
ajst-26201	54	6	information	information	NOUN
ajst-26201	54	7	provided	provide	VERB
ajst-26201	54	8	by	by	ADP
ajst-26201	54	9	the	the	DET
ajst-26201	54	10	infrared	infrared	ADJ
ajst-26201	54	11	tracking	tracking	NOUN
ajst-26201	54	12	probe	probe	NOUN
ajst-26201	54	13	and	and	CCONJ
ajst-26201	54	14	infrared	infrare	VERB
ajst-26201	54	15	obstacle	obstacle	NOUN
ajst-26201	54	16	avoidance	avoidance	NOUN
ajst-26201	54	17	probe	probe	NOUN
ajst-26201	54	18	to	to	PART
ajst-26201	54	19	send	send	VERB
ajst-26201	54	20	driving	driving	NOUN
ajst-26201	54	21	instructions	instruction	NOUN
ajst-26201	54	22	,	,	PUNCT
ajst-26201	54	23	and	and	CCONJ
ajst-26201	54	24	controls	control	VERB
ajst-26201	54	25	the	the	DET
ajst-26201	54	26	motor	motor	NOUN
ajst-26201	54	27	speed	speed	NOUN
ajst-26201	54	28	to	to	PART
ajst-26201	54	29	achieve	achieve	VERB
ajst-26201	54	30	intelligent	intelligent	ADJ
ajst-26201	54	31	tracking	tracking	NOUN
ajst-26201	54	32	and	and	CCONJ
ajst-26201	54	33	obstacle	obstacle	NOUN
ajst-26201	54	34	avoidance	avoidance	NOUN
ajst-26201	54	35	of	of	ADP
ajst-26201	54	36	the	the	DET
ajst-26201	54	37	robot	robot	NOUN
ajst-26201	54	38	.	.	PUNCT
ajst-26201	55	1	in	in	ADP
ajst-26201	55	2	order	order	NOUN
ajst-26201	55	3	to	to	PART
ajst-26201	55	4	provide	provide	VERB
ajst-26201	55	5	a	a	DET
ajst-26201	55	6	stable	stable	ADJ
ajst-26201	55	7	power	power	NOUN
ajst-26201	55	8	source	source	NOUN
ajst-26201	55	9	for	for	ADP
ajst-26201	55	10	the	the	DET
ajst-26201	55	11	robot	robot	NOUN
ajst-26201	55	12	during	during	ADP
ajst-26201	55	13	operation	operation	NOUN
ajst-26201	55	14	,	,	PUNCT
ajst-26201	55	15	this	this	DET
ajst-26201	55	16	scheme	scheme	NOUN
ajst-26201	55	17	uses	use	VERB
ajst-26201	55	18	four	four	NUM
ajst-26201	55	19	dry	dry	ADJ
ajst-26201	55	20	batteries	battery	NOUN
ajst-26201	55	21	as	as	ADP
ajst-26201	55	22	a	a	DET
ajst-26201	55	23	dry	dry	ADJ
ajst-26201	55	24	battery	battery	NOUN
ajst-26201	55	25	pack	pack	NOUN
ajst-26201	55	26	,	,	PUNCT
ajst-26201	55	27	reducing	reduce	VERB
ajst-26201	55	28	the	the	DET
ajst-26201	55	29	four	four	NUM
ajst-26201	55	30	dry	dry	ADJ
ajst-26201	55	31	battery	battery	NOUN
ajst-26201	55	32	packs	pack	NOUN
ajst-26201	55	33	to	to	ADP
ajst-26201	55	34	5v	5v	PROPN
ajst-26201	55	35	and	and	CCONJ
ajst-26201	55	36	then	then	ADV
ajst-26201	55	37	providing	provide	VERB
ajst-26201	55	38	power	power	NOUN
ajst-26201	55	39	to	to	ADP
ajst-26201	55	40	the	the	DET
ajst-26201	55	41	microcontroller	microcontroller	NOUN
ajst-26201	55	42	and	and	CCONJ
ajst-26201	55	43	other	other	ADJ
ajst-26201	55	44	components	component	NOUN
ajst-26201	55	45	.	.	PUNCT
ajst-26201	56	1	2.1.3	2.1.3	X
ajst-26201	56	2	.	.	PUNCT
ajst-26201	56	3	infrared	infrared	PROPN
ajst-26201	56	4	obstacle	obstacle	NOUN
ajst-26201	56	5	avoidance	avoidance	NOUN
ajst-26201	56	6	and	and	CCONJ
ajst-26201	56	7	tracking	tracking	NOUN
ajst-26201	56	8	module	module	NOUN
ajst-26201	56	9	the	the	DET
ajst-26201	56	10	infrared	infrared	ADJ
ajst-26201	56	11	wavelength	wavelength	NOUN
ajst-26201	56	12	is	be	AUX
ajst-26201	56	13	750	750	NUM
ajst-26201	56	14	nm-1	nm-1	NUM
ajst-26201	56	15	mm	mm	PROPN
ajst-26201	56	16	,	,	PUNCT
ajst-26201	56	17	with	with	ADP
ajst-26201	56	18	a	a	DET
ajst-26201	56	19	wavelength	wavelength	NOUN
ajst-26201	56	20	between	between	ADP
ajst-26201	56	21	microwave	microwave	NOUN
ajst-26201	56	22	and	and	CCONJ
ajst-26201	56	23	visible	visible	ADJ
ajst-26201	56	24	light	light	NOUN
ajst-26201	56	25	.	.	PUNCT
ajst-26201	57	1	the	the	DET
ajst-26201	57	2	infrared	infrared	NOUN
ajst-26201	57	3	emitted	emit	VERB
ajst-26201	57	4	by	by	ADP
ajst-26201	57	5	the	the	DET
ajst-26201	57	6	infrared	infrared	ADJ
ajst-26201	57	7	emitting	emit	VERB
ajst-26201	57	8	device	device	NOUN
ajst-26201	57	9	will	will	AUX
ajst-26201	57	10	be	be	AUX
ajst-26201	57	11	reflected	reflect	VERB
ajst-26201	57	12	by	by	ADP
ajst-26201	57	13	obstacles	obstacle	NOUN
ajst-26201	57	14	,	,	PUNCT
ajst-26201	57	15	and	and	CCONJ
ajst-26201	57	16	the	the	DET
ajst-26201	57	17	distance	distance	NOUN
ajst-26201	57	18	between	between	ADP
ajst-26201	57	19	the	the	DET
ajst-26201	57	20	robot	robot	NOUN
ajst-26201	57	21	and	and	CCONJ
ajst-26201	57	22	the	the	DET
ajst-26201	57	23	obstacle	obstacle	NOUN
ajst-26201	57	24	can	can	AUX
ajst-26201	57	25	be	be	AUX
ajst-26201	57	26	determined	determine	VERB
ajst-26201	57	27	by	by	ADP
ajst-26201	57	28	the	the	DET
ajst-26201	57	29	intensity	intensity	NOUN
ajst-26201	57	30	of	of	ADP
ajst-26201	57	31	the	the	DET
ajst-26201	57	32	infrared	infrared	NOUN
ajst-26201	57	33	.	.	PUNCT
ajst-26201	58	1	when	when	SCONJ
ajst-26201	58	2	the	the	DET
ajst-26201	58	3	robot	robot	NOUN
ajst-26201	58	4	is	be	AUX
ajst-26201	58	5	close	close	ADJ
ajst-26201	58	6	to	to	ADP
ajst-26201	58	7	obstacles	obstacle	NOUN
ajst-26201	58	8	,	,	PUNCT
ajst-26201	58	9	the	the	DET
ajst-26201	58	10	infrared	infrared	ADJ
ajst-26201	58	11	light	light	NOUN
ajst-26201	58	12	receiving	receive	VERB
ajst-26201	58	13	tube	tube	NOUN
ajst-26201	58	14	receives	receive	VERB
ajst-26201	58	15	stronger	strong	ADJ
ajst-26201	58	16	infrared	infrared	ADJ
ajst-26201	58	17	light	light	NOUN
ajst-26201	58	18	,	,	PUNCT
ajst-26201	58	19	and	and	CCONJ
ajst-26201	58	20	the	the	DET
ajst-26201	58	21	voltage	voltage	NOUN
ajst-26201	58	22	on	on	ADP
ajst-26201	58	23	the	the	DET
ajst-26201	58	24	infrared	infrared	ADJ
ajst-26201	58	25	light	light	NOUN
ajst-26201	58	26	receiving	receive	VERB
ajst-26201	58	27	tube	tube	NOUN
ajst-26201	58	28	is	be	AUX
ajst-26201	58	29	also	also	ADV
ajst-26201	58	30	smaller	small	ADJ
ajst-26201	58	31	.	.	PUNCT
ajst-26201	59	1	use	use	VERB
ajst-26201	59	2	the	the	DET
ajst-26201	59	3	reverse	reverse	ADJ
ajst-26201	59	4	input	input	NOUN
ajst-26201	59	5	terminal	terminal	NOUN
ajst-26201	59	6	of	of	ADP
ajst-26201	59	7	the	the	DET
ajst-26201	59	8	voltage	voltage	NOUN
ajst-26201	59	9	comparator	comparator	NOUN
ajst-26201	59	10	to	to	PART
ajst-26201	59	11	control	control	VERB
ajst-26201	59	12	the	the	DET
ajst-26201	59	13	adjustable	adjustable	ADJ
ajst-26201	59	14	potentiometer	potentiometer	NOUN
ajst-26201	59	15	and	and	CCONJ
ajst-26201	59	16	adjust	adjust	VERB
ajst-26201	59	17	the	the	DET
ajst-26201	59	18	sensitivity	sensitivity	NOUN
ajst-26201	59	19	of	of	ADP
ajst-26201	59	20	the	the	DET
ajst-26201	59	21	intelligent	intelligent	ADJ
ajst-26201	59	22	robot	robot	NOUN
ajst-26201	59	23	's	's	PART
ajst-26201	59	24	obstacle	obstacle	NOUN
ajst-26201	59	25	avoidance	avoidance	NOUN
ajst-26201	59	26	.	.	PUNCT
ajst-26201	60	1	the	the	DET
ajst-26201	60	2	obstacle	obstacle	NOUN
ajst-26201	60	3	avoidance	avoidance	NOUN
ajst-26201	60	4	system	system	NOUN
ajst-26201	60	5	of	of	ADP
ajst-26201	60	6	intelligent	intelligent	ADJ
ajst-26201	60	7	robots	robot	NOUN
ajst-26201	60	8	uses	use	VERB
ajst-26201	60	9	two	two	NUM
ajst-26201	60	10	pairs	pair	NOUN
ajst-26201	60	11	of	of	ADP
ajst-26201	60	12	infrared	infrared	ADJ
ajst-26201	60	13	receiving	receive	VERB
ajst-26201	60	14	tubes	tube	NOUN
ajst-26201	60	15	and	and	CCONJ
ajst-26201	60	16	infrared	infrare	VERB
ajst-26201	60	17	reflecting	reflect	VERB
ajst-26201	60	18	tubes	tube	NOUN
ajst-26201	60	19	on	on	ADP
ajst-26201	60	20	both	both	DET
ajst-26201	60	21	sides	side	NOUN
ajst-26201	60	22	of	of	ADP
ajst-26201	60	23	the	the	DET
ajst-26201	60	24	front	front	NOUN
ajst-26201	60	25	of	of	ADP
ajst-26201	60	26	the	the	DET
ajst-26201	60	27	vehicle	vehicle	NOUN
ajst-26201	60	28	to	to	PART
ajst-26201	60	29	receive	receive	VERB
ajst-26201	60	30	corresponding	correspond	VERB
ajst-26201	60	31	actual	actual	ADJ
ajst-26201	60	32	data	datum	NOUN
ajst-26201	60	33	,	,	PUNCT
ajst-26201	60	34	and	and	CCONJ
ajst-26201	60	35	then	then	ADV
ajst-26201	60	36	implements	implement	VERB
ajst-26201	60	37	the	the	DET
ajst-26201	60	38	robot	robot	NOUN
ajst-26201	60	39	's	's	PART
ajst-26201	60	40	obstacle	obstacle	NOUN
ajst-26201	60	41	avoidance	avoidance	NOUN
ajst-26201	60	42	function	function	NOUN
ajst-26201	60	43	through	through	ADP
ajst-26201	60	44	corresponding	correspond	VERB
ajst-26201	60	45	obstacle	obstacle	NOUN
ajst-26201	60	46	avoidance	avoidance	NOUN
ajst-26201	60	47	program	program	NOUN
ajst-26201	60	48	feedback	feedback	NOUN
ajst-26201	60	49	,	,	PUNCT
ajst-26201	60	50	which	which	PRON
ajst-26201	60	51	can	can	AUX
ajst-26201	60	52	also	also	ADV
ajst-26201	60	53	make	make	VERB
ajst-26201	60	54	the	the	DET
ajst-26201	60	55	robot	robot	NOUN
ajst-26201	60	56	follow	follow	VERB
ajst-26201	60	57	the	the	DET
ajst-26201	60	58	target	target	NOUN
ajst-26201	60	59	object	object	NOUN
ajst-26201	60	60	forward	forward	ADV
ajst-26201	60	61	.	.	PUNCT
ajst-26201	61	1	the	the	DET
ajst-26201	61	2	tracking	tracking	NOUN
ajst-26201	61	3	function	function	NOUN
ajst-26201	61	4	of	of	ADP
ajst-26201	61	5	robots	robot	NOUN
ajst-26201	61	6	is	be	AUX
ajst-26201	61	7	mainly	mainly	ADV
ajst-26201	61	8	achieved	achieve	VERB
ajst-26201	61	9	through	through	ADP
ajst-26201	61	10	the	the	DET
ajst-26201	61	11	different	different	ADJ
ajst-26201	61	12	degrees	degree	NOUN
ajst-26201	61	13	of	of	ADP
ajst-26201	61	14	infrared	infrared	ADJ
ajst-26201	61	15	light	light	ADJ
ajst-26201	61	16	reflection	reflection	NOUN
ajst-26201	61	17	in	in	ADP
ajst-26201	61	18	various	various	ADJ
ajst-26201	61	19	colors	color	NOUN
ajst-26201	61	20	.	.	PUNCT
ajst-26201	62	1	among	among	ADP
ajst-26201	62	2	various	various	ADJ
ajst-26201	62	3	colors	color	NOUN
ajst-26201	62	4	,	,	PUNCT
ajst-26201	62	5	black	black	NOUN
ajst-26201	62	6	has	have	VERB
ajst-26201	62	7	the	the	DET
ajst-26201	62	8	weakest	weak	ADJ
ajst-26201	62	9	reflection	reflection	NOUN
ajst-26201	62	10	of	of	ADP
ajst-26201	62	11	infrared	infrared	ADJ
ajst-26201	62	12	light	light	NOUN
ajst-26201	62	13	,	,	PUNCT
ajst-26201	62	14	while	while	SCONJ
ajst-26201	62	15	white	white	ADJ
ajst-26201	62	16	light	light	NOUN
ajst-26201	62	17	has	have	VERB
ajst-26201	62	18	the	the	DET
ajst-26201	62	19	strongest	strong	ADJ
ajst-26201	62	20	reflection	reflection	NOUN
ajst-26201	62	21	.	.	PUNCT
ajst-26201	63	1	the	the	DET
ajst-26201	63	2	tracking	tracking	NOUN
ajst-26201	63	3	module	module	NOUN
ajst-26201	63	4	of	of	ADP
ajst-26201	63	5	the	the	DET
ajst-26201	63	6	robot	robot	NOUN
ajst-26201	63	7	is	be	AUX
ajst-26201	63	8	achieved	achieve	VERB
ajst-26201	63	9	through	through	ADP
ajst-26201	63	10	the	the	DET
ajst-26201	63	11	use	use	NOUN
ajst-26201	63	12	of	of	ADP
ajst-26201	63	13	two	two	NUM
ajst-26201	63	14	photoelectric	photoelectric	ADJ
ajst-26201	63	15	sensors	sensor	NOUN
ajst-26201	63	16	,	,	PUNCT
ajst-26201	63	17	rpr220	rpr220	PROPN
ajst-26201	63	18	,	,	PUNCT
ajst-26201	63	19	which	which	PRON
ajst-26201	63	20	include	include	VERB
ajst-26201	63	21	a	a	DET
ajst-26201	63	22	set	set	NOUN
ajst-26201	63	23	of	of	ADP
ajst-26201	63	24	infrared	infrared	ADJ
ajst-26201	63	25	emitting	emit	VERB
ajst-26201	63	26	diodes	diode	NOUN
ajst-26201	63	27	and	and	CCONJ
ajst-26201	63	28	a	a	DET
ajst-26201	63	29	set	set	NOUN
ajst-26201	63	30	of	of	ADP
ajst-26201	63	31	infrared	infrared	ADJ
ajst-26201	63	32	receiving	receiving	NOUN
ajst-26201	63	33	transistors	transistor	NOUN
ajst-26201	63	34	.	.	PUNCT
ajst-26201	64	1	due	due	ADP
ajst-26201	64	2	to	to	ADP
ajst-26201	64	3	the	the	DET
ajst-26201	64	4	continuous	continuous	ADJ
ajst-26201	64	5	emission	emission	NOUN
ajst-26201	64	6	of	of	ADP
ajst-26201	64	7	infrared	infrared	ADJ
ajst-26201	64	8	light	light	NOUN
ajst-26201	64	9	by	by	ADP
ajst-26201	64	10	the	the	DET
ajst-26201	64	11	infrared	infrared	ADJ
ajst-26201	64	12	diode	diode	NOUN
ajst-26201	64	13	,	,	PUNCT
ajst-26201	64	14	when	when	SCONJ
ajst-26201	64	15	the	the	DET
ajst-26201	64	16	infrared	infrared	ADJ
ajst-26201	64	17	light	light	NOUN
ajst-26201	64	18	radiates	radiate	VERB
ajst-26201	64	19	onto	onto	ADP
ajst-26201	64	20	the	the	DET
ajst-26201	64	21	black	black	ADJ
ajst-26201	64	22	path	path	NOUN
ajst-26201	64	23	,	,	PUNCT
ajst-26201	64	24	it	it	PRON
ajst-26201	64	25	will	will	AUX
ajst-26201	64	26	produce	produce	VERB
ajst-26201	64	27	extremely	extremely	ADV
ajst-26201	64	28	weak	weak	ADJ
ajst-26201	64	29	reflection	reflection	NOUN
ajst-26201	64	30	.	.	PUNCT
ajst-26201	65	1	as	as	SCONJ
ajst-26201	65	2	the	the	DET
ajst-26201	65	3	infrared	infrared	NOUN
ajst-26201	65	4	receiving	receive	VERB
ajst-26201	65	5	transistor	transistor	NOUN
ajst-26201	65	6	does	do	AUX
ajst-26201	65	7	not	not	PART
ajst-26201	65	8	conduct	conduct	VERB
ajst-26201	65	9	,	,	PUNCT
ajst-26201	65	10	a	a	DET
ajst-26201	65	11	high	high	ADJ
ajst-26201	65	12	level	level	NOUN
ajst-26201	65	13	is	be	AUX
ajst-26201	65	14	formed	form	VERB
ajst-26201	65	15	at	at	ADP
ajst-26201	65	16	the	the	DET
ajst-26201	65	17	in	in	ADP
ajst-26201	65	18	-	-	PUNCT
ajst-26201	65	19	phase	phase	NOUN
ajst-26201	65	20	input	input	NOUN
ajst-26201	65	21	terminal	terminal	NOUN
ajst-26201	65	22	of	of	ADP
ajst-26201	65	23	the	the	DET
ajst-26201	65	24	comparator	comparator	NOUN
ajst-26201	65	25	.	.	PUNCT
ajst-26201	66	1	similarly	similarly	ADV
ajst-26201	66	2	,	,	PUNCT
ajst-26201	66	3	the	the	DET
ajst-26201	66	4	potentiometer	potentiometer	NOUN
ajst-26201	66	5	can	can	AUX
ajst-26201	66	6	obtain	obtain	VERB
ajst-26201	66	7	a	a	DET
ajst-26201	66	8	low	low	ADJ
ajst-26201	66	9	voltage	voltage	NOUN
ajst-26201	66	10	from	from	ADP
ajst-26201	66	11	the	the	DET
ajst-26201	66	12	inverting	invert	VERB
ajst-26201	66	13	input	input	NOUN
ajst-26201	66	14	of	of	ADP
ajst-26201	66	15	the	the	DET
ajst-26201	66	16	comparator	comparator	NOUN
ajst-26201	66	17	,	,	PUNCT
ajst-26201	66	18	so	so	SCONJ
ajst-26201	66	19	the	the	DET
ajst-26201	66	20	potentiometer	potentiometer	NOUN
ajst-26201	66	21	can	can	AUX
ajst-26201	66	22	adjust	adjust	VERB
ajst-26201	66	23	the	the	DET
ajst-26201	66	24	sensitivity	sensitivity	NOUN
ajst-26201	66	25	of	of	ADP
ajst-26201	66	26	the	the	DET
ajst-26201	66	27	tracking	tracking	NOUN
ajst-26201	66	28	.	.	PUNCT
ajst-26201	67	1	when	when	SCONJ
ajst-26201	67	2	the	the	DET
ajst-26201	67	3	sensor	sensor	NOUN
ajst-26201	67	4	of	of	ADP
ajst-26201	67	5	the	the	DET
ajst-26201	67	6	robot	robot	NOUN
ajst-26201	67	7	is	be	AUX
ajst-26201	67	8	located	locate	VERB
ajst-26201	67	9	on	on	ADP
ajst-26201	67	10	the	the	DET
ajst-26201	67	11	black	black	ADJ
ajst-26201	67	12	line	line	NOUN
ajst-26201	67	13	,	,	PUNCT
ajst-26201	67	14	the	the	DET
ajst-26201	67	15	comparator	comparator	NOUN
ajst-26201	67	16	generates	generate	VERB
ajst-26201	67	17	a	a	DET
ajst-26201	67	18	high	high	ADJ
ajst-26201	67	19	level	level	NOUN
ajst-26201	67	20	,	,	PUNCT
ajst-26201	67	21	which	which	PRON
ajst-26201	67	22	is	be	AUX
ajst-26201	67	23	sent	send	VERB
ajst-26201	67	24	to	to	ADP
ajst-26201	67	25	the	the	DET
ajst-26201	67	26	microcontroller	microcontroller	NOUN
ajst-26201	67	27	and	and	CCONJ
ajst-26201	67	28	controls	control	VERB
ajst-26201	67	29	the	the	DET
ajst-26201	67	30	corresponding	corresponding	ADJ
ajst-26201	67	31	indicator	indicator	NOUN
ajst-26201	67	32	diode	diode	NOUN
ajst-26201	67	33	.	.	PUNCT
ajst-26201	68	1	the	the	DET
ajst-26201	68	2	sensor	sensor	NOUN
ajst-26201	68	3	is	be	AUX
ajst-26201	68	4	located	locate	VERB
ajst-26201	68	5	below	below	ADP
ajst-26201	68	6	the	the	DET
ajst-26201	68	7	robot	robot	NOUN
ajst-26201	68	8	,	,	PUNCT
ajst-26201	68	9	above	above	ADP
ajst-26201	68	10	the	the	DET
ajst-26201	68	11	black	black	ADJ
ajst-26201	68	12	track	track	NOUN
ajst-26201	68	13	on	on	ADP
ajst-26201	68	14	the	the	DET
ajst-26201	68	15	ground	ground	NOUN
ajst-26201	68	16	.	.	PUNCT
ajst-26201	69	1	2.2	2.2	NUM
ajst-26201	69	2	.	.	PUNCT
ajst-26201	70	1	performance	performance	NOUN
ajst-26201	70	2	analysis	analysis	NOUN
ajst-26201	70	3	2.2.1	2.2.1	NUM
ajst-26201	70	4	.	.	PUNCT
ajst-26201	70	5	hardware	hardware	NOUN
ajst-26201	70	6	system	system	NOUN
ajst-26201	70	7	reliability	reliability	NOUN
ajst-26201	70	8	design	design	NOUN
ajst-26201	70	9	in	in	ADP
ajst-26201	70	10	the	the	DET
ajst-26201	70	11	hardware	hardware	NOUN
ajst-26201	70	12	application	application	NOUN
ajst-26201	70	13	of	of	ADP
ajst-26201	70	14	microcontrollers	microcontroller	NOUN
ajst-26201	70	15	,	,	PUNCT
ajst-26201	70	16	external	external	ADJ
ajst-26201	70	17	interference	interference	NOUN
ajst-26201	70	18	and	and	CCONJ
ajst-26201	70	19	internal	internal	ADJ
ajst-26201	70	20	circuit	circuit	NOUN
ajst-26201	70	21	noise	noise	NOUN
ajst-26201	70	22	may	may	AUX
ajst-26201	70	23	cause	cause	VERB
ajst-26201	70	24	abnormal	abnormal	ADJ
ajst-26201	70	25	address	address	NOUN
ajst-26201	70	26	bus	bus	NOUN
ajst-26201	70	27	and	and	CCONJ
ajst-26201	70	28	even	even	ADV
ajst-26201	70	29	change	change	VERB
ajst-26201	70	30	the	the	DET
ajst-26201	70	31	working	work	VERB
ajst-26201	70	32	state	state	NOUN
ajst-26201	70	33	of	of	ADP
ajst-26201	70	34	the	the	DET
ajst-26201	70	35	program	program	NOUN
ajst-26201	70	36	,	,	PUNCT
ajst-26201	70	37	resulting	result	VERB
ajst-26201	70	38	in	in	ADP
ajst-26201	70	39	faults	fault	NOUN
ajst-26201	70	40	.	.	PUNCT
ajst-26201	71	1	how	how	SCONJ
ajst-26201	71	2	to	to	PART
ajst-26201	71	3	take	take	VERB
ajst-26201	71	4	reasonable	reasonable	ADJ
ajst-26201	71	5	measures	measure	NOUN
ajst-26201	71	6	to	to	PART
ajst-26201	71	7	prevent	prevent	VERB
ajst-26201	71	8	external	external	ADJ
ajst-26201	71	9	interference	interference	NOUN
ajst-26201	71	10	and	and	CCONJ
ajst-26201	71	11	eliminate	eliminate	VERB
ajst-26201	71	12	internal	internal	ADJ
ajst-26201	71	13	circuit	circuit	NOUN
ajst-26201	71	14	noise	noise	NOUN
ajst-26201	71	15	is	be	AUX
ajst-26201	71	16	a	a	DET
ajst-26201	71	17	problem	problem	NOUN
ajst-26201	71	18	that	that	PRON
ajst-26201	71	19	needs	need	VERB
ajst-26201	71	20	to	to	PART
ajst-26201	71	21	be	be	AUX
ajst-26201	71	22	considered	consider	VERB
ajst-26201	71	23	to	to	PART
ajst-26201	71	24	ensure	ensure	VERB
ajst-26201	71	25	system	system	NOUN
ajst-26201	71	26	reliability	reliability	NOUN
ajst-26201	71	27	.	.	PUNCT
ajst-26201	72	1	although	although	SCONJ
ajst-26201	72	2	the	the	DET
ajst-26201	72	3	hardware	hardware	NOUN
ajst-26201	72	4	proactive	proactive	ADJ
ajst-26201	72	5	measures	measure	NOUN
ajst-26201	72	6	to	to	PART
ajst-26201	72	7	avoid	avoid	VERB
ajst-26201	72	8	and	and	CCONJ
ajst-26201	72	9	reduce	reduce	VERB
ajst-26201	72	10	interference	interference	NOUN
ajst-26201	72	11	mentioned	mention	VERB
ajst-26201	72	12	above	above	ADV
ajst-26201	72	13	are	be	AUX
ajst-26201	72	14	feasible	feasible	ADJ
ajst-26201	72	15	,	,	PUNCT
ajst-26201	72	16	they	they	PRON
ajst-26201	72	17	can	can	AUX
ajst-26201	72	18	not	not	PART
ajst-26201	72	19	fully	fully	ADV
ajst-26201	72	20	guarantee	guarantee	VERB
ajst-26201	72	21	the	the	DET
ajst-26201	72	22	normal	normal	ADJ
ajst-26201	72	23	operation	operation	NOUN
ajst-26201	72	24	of	of	ADP
ajst-26201	72	25	the	the	DET
ajst-26201	72	26	system	system	NOUN
ajst-26201	72	27	,	,	PUNCT
ajst-26201	72	28	and	and	CCONJ
ajst-26201	72	29	sometimes	sometimes	ADV
ajst-26201	72	30	it	it	PRON
ajst-26201	72	31	is	be	AUX
ajst-26201	72	32	necessary	necessary	ADJ
ajst-26201	72	33	to	to	PART
ajst-26201	72	34	face	face	VERB
ajst-26201	72	35	technical	technical	ADJ
ajst-26201	72	36	issues	issue	NOUN
ajst-26201	72	37	such	such	ADJ
ajst-26201	72	38	as	as	ADP
ajst-26201	72	39	monitoring	monitor	VERB
ajst-26201	72	40	work	work	NOUN
ajst-26201	72	41	conditions	condition	NOUN
ajst-26201	72	42	,	,	PUNCT
ajst-26201	72	43	managing	manage	VERB
ajst-26201	72	44	abnormal	abnormal	ADJ
ajst-26201	72	45	situations	situation	NOUN
ajst-26201	72	46	,	,	PUNCT
ajst-26201	72	47	and	and	CCONJ
ajst-26201	72	48	automatically	automatically	ADV
ajst-26201	72	49	repairing	repair	VERB
ajst-26201	72	50	faults	fault	NOUN
ajst-26201	72	51	after	after	ADP
ajst-26201	72	52	handling	handle	VERB
ajst-26201	72	53	them	they	PRON
ajst-26201	72	54	.	.	PUNCT
ajst-26201	73	1	the	the	DET
ajst-26201	73	2	most	most	ADV
ajst-26201	73	3	commonly	commonly	ADV
ajst-26201	73	4	used	use	VERB
ajst-26201	73	5	technology	technology	NOUN
ajst-26201	73	6	to	to	PART
ajst-26201	73	7	solve	solve	VERB
ajst-26201	73	8	the	the	DET
ajst-26201	73	9	above	above	ADJ
ajst-26201	73	10	problems	problem	NOUN
ajst-26201	73	11	is	be	AUX
ajst-26201	73	12	the	the	DET
ajst-26201	73	13	watch	watch	ADJ
ajst-26201	73	14	dog	dog	NOUN
ajst-26201	73	15	module	module	NOUN
ajst-26201	73	16	.	.	PUNCT
ajst-26201	74	1	the	the	DET
ajst-26201	74	2	watchdog	watchdog	NOUN
ajst-26201	74	3	system	system	NOUN
ajst-26201	74	4	is	be	AUX
ajst-26201	74	5	a	a	DET
ajst-26201	74	6	timer	timer	NOUN
ajst-26201	74	7	circuit	circuit	NOUN
ajst-26201	74	8	whose	whose	DET
ajst-26201	74	9	main	main	ADJ
ajst-26201	74	10	function	function	NOUN
ajst-26201	74	11	is	be	AUX
ajst-26201	74	12	to	to	PART
ajst-26201	74	13	ensure	ensure	VERB
ajst-26201	74	14	the	the	DET
ajst-26201	74	15	normal	normal	ADJ
ajst-26201	74	16	operation	operation	NOUN
ajst-26201	74	17	of	of	ADP
ajst-26201	74	18	the	the	DET
ajst-26201	74	19	system	system	NOUN
ajst-26201	74	20	and	and	CCONJ
ajst-26201	74	21	prevent	prevent	VERB
ajst-26201	74	22	the	the	DET
ajst-26201	74	23	generation	generation	NOUN
ajst-26201	74	24	of	of	ADP
ajst-26201	74	25	life	life	NOUN
ajst-26201	74	26	and	and	CCONJ
ajst-26201	74	27	death	death	NOUN
ajst-26201	74	28	loops	loop	NOUN
ajst-26201	74	29	during	during	ADP
ajst-26201	74	30	the	the	DET
ajst-26201	74	31	execution	execution	NOUN
ajst-26201	74	32	process	process	NOUN
ajst-26201	74	33	.	.	PUNCT
ajst-26201	75	1	when	when	SCONJ
ajst-26201	75	2	the	the	DET
ajst-26201	75	3	program	program	NOUN
ajst-26201	75	4	is	be	AUX
ajst-26201	75	5	working	work	VERB
ajst-26201	75	6	normally	normally	ADV
ajst-26201	75	7	,	,	PUNCT
ajst-26201	75	8	the	the	DET
ajst-26201	75	9	timer	timer	NOUN
ajst-26201	75	10	does	do	AUX
ajst-26201	75	11	not	not	PART
ajst-26201	75	12	overflow	overflow	VERB
ajst-26201	75	13	,	,	PUNCT
ajst-26201	75	14	so	so	SCONJ
ajst-26201	75	15	there	there	PRON
ajst-26201	75	16	will	will	AUX
ajst-26201	75	17	be	be	AUX
ajst-26201	75	18	no	no	DET
ajst-26201	75	19	reset	reset	NOUN
ajst-26201	75	20	signal	signal	NOUN
ajst-26201	75	21	.	.	PUNCT
ajst-26201	76	1	however	however	ADV
ajst-26201	76	2	,	,	PUNCT
ajst-26201	76	3	when	when	SCONJ
ajst-26201	76	4	the	the	DET
ajst-26201	76	5	system	system	NOUN
ajst-26201	76	6	malfunctions	malfunction	NOUN
ajst-26201	76	7	,	,	PUNCT
ajst-26201	76	8	the	the	DET
ajst-26201	76	9	reset	reset	NOUN
ajst-26201	76	10	signal	signal	NOUN
ajst-26201	76	11	will	will	AUX
ajst-26201	76	12	be	be	AUX
ajst-26201	76	13	analyzed	analyze	VERB
ajst-26201	76	14	and	and	CCONJ
ajst-26201	76	15	processed	process	VERB
ajst-26201	76	16	by	by	ADP
ajst-26201	76	17	the	the	DET
ajst-26201	76	18	system	system	NOUN
ajst-26201	76	19	before	before	ADP
ajst-26201	76	20	restarting	restart	VERB
ajst-26201	76	21	.	.	PUNCT
ajst-26201	77	1	2.2.2	2.2.2	X
ajst-26201	77	2	.	.	PUNCT
ajst-26201	77	3	software	software	NOUN
ajst-26201	77	4	system	system	NOUN
ajst-26201	77	5	reliability	reliability	NOUN
ajst-26201	77	6	analysis	analysis	NOUN
ajst-26201	77	7	to	to	PART
ajst-26201	77	8	pursue	pursue	VERB
ajst-26201	77	9	higher	high	ADJ
ajst-26201	77	10	stability	stability	NOUN
ajst-26201	77	11	,	,	PUNCT
ajst-26201	77	12	reliability	reliability	NOUN
ajst-26201	77	13	,	,	PUNCT
ajst-26201	77	14	and	and	CCONJ
ajst-26201	77	15	tracking	tracking	NOUN
ajst-26201	77	16	accuracy	accuracy	NOUN
ajst-26201	77	17	of	of	ADP
ajst-26201	77	18	intelligent	intelligent	ADJ
ajst-26201	77	19	robots	robot	NOUN
ajst-26201	77	20	in	in	ADP
ajst-26201	77	21	actual	actual	ADJ
ajst-26201	77	22	operation	operation	NOUN
ajst-26201	77	23	,	,	PUNCT
ajst-26201	77	24	using	use	VERB
ajst-26201	77	25	only	only	ADJ
ajst-26201	77	26	hardware	hardware	NOUN
ajst-26201	77	27	watchdogs	watchdog	NOUN
ajst-26201	77	28	is	be	AUX
ajst-26201	77	29	far	far	ADV
ajst-26201	77	30	from	from	ADP
ajst-26201	77	31	enough	enough	ADJ
ajst-26201	77	32	,	,	PUNCT
ajst-26201	77	33	and	and	CCONJ
ajst-26201	77	34	software	software	NOUN
ajst-26201	77	35	systems	system	NOUN
ajst-26201	77	36	should	should	AUX
ajst-26201	77	37	be	be	AUX
ajst-26201	77	38	added	add	VERB
ajst-26201	77	39	to	to	PART
ajst-26201	77	40	enhance	enhance	VERB
ajst-26201	77	41	anti	anti	ADJ
ajst-26201	77	42	-	-	ADJ
ajst-26201	77	43	interference	interference	ADJ
ajst-26201	77	44	performance	performance	NOUN
ajst-26201	77	45	.	.	PUNCT
ajst-26201	78	1	by	by	ADP
ajst-26201	78	2	combining	combine	VERB
ajst-26201	78	3	software	software	NOUN
ajst-26201	78	4	and	and	CCONJ
ajst-26201	78	5	hardware	hardware	NOUN
ajst-26201	78	6	,	,	PUNCT
ajst-26201	78	7	dual	dual	ADJ
ajst-26201	78	8	anti	anti	ADJ
ajst-26201	78	9	-	-	NOUN
ajst-26201	78	10	interference	interference	NOUN
ajst-26201	78	11	of	of	ADP
ajst-26201	78	12	the	the	DET
ajst-26201	78	13	microcontroller	microcontroller	NOUN
ajst-26201	78	14	can	can	AUX
ajst-26201	78	15	be	be	AUX
ajst-26201	78	16	achieved	achieve	VERB
ajst-26201	78	17	,	,	PUNCT
ajst-26201	78	18	greatly	greatly	ADV
ajst-26201	78	19	enhancing	enhance	VERB
ajst-26201	78	20	its	its	PRON
ajst-26201	78	21	stability	stability	NOUN
ajst-26201	78	22	.	.	PUNCT
ajst-26201	79	1	in	in	ADP
ajst-26201	79	2	software	software	NOUN
ajst-26201	79	3	,	,	PUNCT
ajst-26201	79	4	methods	method	NOUN
ajst-26201	79	5	such	such	ADJ
ajst-26201	79	6	as	as	ADP
ajst-26201	79	7	digital	digital	ADJ
ajst-26201	79	8	filtering	filtering	NOUN
ajst-26201	79	9	,	,	PUNCT
ajst-26201	79	10	trap	trap	NOUN
ajst-26201	79	11	setting	setting	NOUN
ajst-26201	79	12	,	,	PUNCT
ajst-26201	79	13	self	self	NOUN
ajst-26201	79	14	-	-	PUNCT
ajst-26201	79	15	detection	detection	NOUN
ajst-26201	79	16	,	,	PUNCT
ajst-26201	79	17	and	and	CCONJ
ajst-26201	79	18	self	self	NOUN
ajst-26201	79	19	-	-	PUNCT
ajst-26201	79	20	recovery	recovery	NOUN
ajst-26201	79	21	can	can	AUX
ajst-26201	79	22	be	be	AUX
ajst-26201	79	23	used	use	VERB
ajst-26201	79	24	to	to	PART
ajst-26201	79	25	achieve	achieve	VERB
ajst-26201	79	26	a	a	DET
ajst-26201	79	27	combination	combination	NOUN
ajst-26201	79	28	of	of	ADP
ajst-26201	79	29	software	software	NOUN
ajst-26201	79	30	and	and	CCONJ
ajst-26201	79	31	hardware	hardware	NOUN
ajst-26201	79	32	.	.	PUNCT
ajst-26201	80	1	2.3	2.3	NUM
ajst-26201	80	2	.	.	PUNCT
ajst-26201	81	1	circuit	circuit	NOUN
ajst-26201	81	2	design	design	PROPN
ajst-26201	81	3	2.3.1	2.3.1	NUM
ajst-26201	81	4	.	.	PUNCT
ajst-26201	81	5	main	main	ADJ
ajst-26201	81	6	control	control	NOUN
ajst-26201	81	7	circuit	circuit	NOUN
ajst-26201	81	8	design	design	NOUN
ajst-26201	81	9	stc89c52rc	stc89c52rc	NOUN
ajst-26201	81	10	is	be	AUX
ajst-26201	81	11	a	a	DET
ajst-26201	81	12	series	series	NOUN
ajst-26201	81	13	of	of	ADP
ajst-26201	81	14	microprocessors	microprocessor	NOUN
ajst-26201	81	15	from	from	ADP
ajst-26201	81	16	atmel	atmel	PROPN
ajst-26201	81	17	,	,	PUNCT
ajst-26201	81	18	which	which	PRON
ajst-26201	81	19	is	be	AUX
ajst-26201	81	20	an	an	DET
ajst-26201	81	21	eight	eight	NUM
ajst-26201	81	22	bit	bit	NOUN
ajst-26201	81	23	cmos	cmos	ADJ
ajst-26201	81	24	microcontroller	microcontroller	NOUN
ajst-26201	81	25	with	with	ADP
ajst-26201	81	26	low	low	ADJ
ajst-26201	81	27	voltage	voltage	NOUN
ajst-26201	81	28	and	and	CCONJ
ajst-26201	81	29	high	high	ADJ
ajst-26201	81	30	performance	performance	NOUN
ajst-26201	81	31	.	.	PUNCT
ajst-26201	82	1	its	its	PRON
ajst-26201	82	2	chip	chip	NOUN
ajst-26201	82	3	includes	include	VERB
ajst-26201	82	4	perom	perom	NOUN
ajst-26201	82	5	and	and	CCONJ
ajst-26201	82	6	ram	ram	NOUN
ajst-26201	82	7	.	.	PUNCT
ajst-26201	83	1	115	115	NUM
ajst-26201	83	2	stc89c52rc	stc89c52rc	NOUN
ajst-26201	83	3	is	be	AUX
ajst-26201	83	4	a	a	DET
ajst-26201	83	5	complex	complex	ADJ
ajst-26201	83	6	control	control	NOUN
ajst-26201	83	7	system	system	NOUN
ajst-26201	83	8	with	with	ADP
ajst-26201	83	9	stronger	strong	ADJ
ajst-26201	83	10	performance	performance	NOUN
ajst-26201	83	11	.	.	PUNCT
ajst-26201	84	1	the	the	DET
ajst-26201	84	2	stc89c52rc	stc89c52rc	NOUN
ajst-26201	84	3	has	have	VERB
ajst-26201	84	4	40	40	NUM
ajst-26201	84	5	external	external	ADJ
ajst-26201	84	6	pins	pin	NOUN
ajst-26201	84	7	and	and	CCONJ
ajst-26201	84	8	32	32	NUM
ajst-26201	84	9	external	external	ADJ
ajst-26201	84	10	bidirectional	bidirectional	ADJ
ajst-26201	84	11	input	input	NOUN
ajst-26201	84	12	/	/	SYM
ajst-26201	84	13	output	output	NOUN
ajst-26201	84	14	interfaces	interface	NOUN
ajst-26201	84	15	,	,	PUNCT
ajst-26201	84	16	with	with	ADP
ajst-26201	84	17	the	the	DET
ajst-26201	84	18	following	follow	VERB
ajst-26201	84	19	features	feature	NOUN
ajst-26201	84	20	:	:	PUNCT
ajst-26201	84	21	(	(	PUNCT
ajst-26201	84	22	1	1	X
ajst-26201	84	23	)	)	PUNCT
ajst-26201	84	24	8k	8k	PROPN
ajst-26201	84	25	flash	flash	PROPN
ajst-26201	84	26	rom	rom	PROPN
ajst-26201	84	27	,	,	PUNCT
ajst-26201	84	28	which	which	PRON
ajst-26201	84	29	can	can	AUX
ajst-26201	84	30	be	be	AUX
ajst-26201	84	31	reused	reuse	VERB
ajst-26201	84	32	thousands	thousand	NOUN
ajst-26201	84	33	of	of	ADP
ajst-26201	84	34	times	time	NOUN
ajst-26201	84	35	;	;	PUNCT
ajst-26201	84	36	(	(	PUNCT
ajst-26201	84	37	2	2	X
ajst-26201	84	38	)	)	PUNCT
ajst-26201	84	39	fully	fully	ADV
ajst-26201	84	40	compatible	compatible	ADJ
ajst-26201	84	41	with	with	ADP
ajst-26201	84	42	the	the	DET
ajst-26201	84	43	mcs51	mcs51	PROPN
ajst-26201	84	44	command	command	NOUN
ajst-26201	84	45	system	system	NOUN
ajst-26201	84	46	;	;	PUNCT
ajst-26201	84	47	(	(	PUNCT
ajst-26201	84	48	3	3	X
ajst-26201	84	49	)	)	PUNCT
ajst-26201	84	50	8	8	NUM
ajst-26201	84	51	interrupt	interrupt	ADJ
ajst-26201	84	52	sources	source	NOUN
ajst-26201	84	53	and	and	CCONJ
ajst-26201	84	54	2	2	NUM
ajst-26201	84	55	external	external	ADJ
ajst-26201	84	56	interrupt	interrupt	ADJ
ajst-26201	84	57	power	power	NOUN
ajst-26201	84	58	supplies	supply	NOUN
ajst-26201	84	59	;	;	PUNCT
ajst-26201	84	60	(	(	PUNCT
ajst-26201	84	61	4	4	X
ajst-26201	84	62	)	)	SYM
ajst-26201	84	63	8	8	NUM
ajst-26201	84	64	interrupt	interrupt	ADJ
ajst-26201	84	65	sources	source	NOUN
ajst-26201	84	66	and	and	CCONJ
ajst-26201	84	67	2	2	NUM
ajst-26201	84	68	readwrite	readwrite	ADJ
ajst-26201	84	69	interrupt	interrupt	ADJ
ajst-26201	84	70	lines	line	NOUN
ajst-26201	84	71	;	;	PUNCT
ajst-26201	84	72	(	(	PUNCT
ajst-26201	84	73	5	5	X
ajst-26201	84	74	)	)	PUNCT
ajst-26201	84	75	built	build	VERB
ajst-26201	84	76	in	in	ADP
ajst-26201	84	77	memory	memory	NOUN
ajst-26201	84	78	256x8bit	256x8bit	NUM
ajst-26201	84	79	;	;	PUNCT
ajst-26201	84	80	(	(	PUNCT
ajst-26201	84	81	6	6	X
ajst-26201	84	82	)	)	PUNCT
ajst-26201	84	83	three	three	NUM
ajst-26201	84	84	16	16	NUM
ajst-26201	84	85	bit	bit	NOUN
ajst-26201	84	86	programmable	programmable	ADJ
ajst-26201	84	87	timing	timing	NOUN
ajst-26201	84	88	/	/	SYM
ajst-26201	84	89	counting	counting	NOUN
ajst-26201	84	90	interrupts	interrupt	NOUN
ajst-26201	84	91	;	;	PUNCT
ajst-26201	84	92	(	(	PUNCT
ajst-26201	84	93	7	7	X
ajst-26201	84	94	)	)	PUNCT
ajst-26201	84	95	serial	serial	ADJ
ajst-26201	84	96	port	port	NOUN
ajst-26201	84	97	interrupts	interrupt	VERB
ajst-26201	84	98	:	:	PUNCT
ajst-26201	84	99	2	2	NUM
ajst-26201	84	100	,	,	PUNCT
ajst-26201	84	101	the	the	DET
ajst-26201	84	102	serial	serial	ADJ
ajst-26201	84	103	port	port	NOUN
ajst-26201	84	104	is	be	AUX
ajst-26201	84	105	a	a	DET
ajst-26201	84	106	programmable	programmable	ADJ
ajst-26201	84	107	uart	uart	NOUN
ajst-26201	84	108	;	;	PUNCT
ajst-26201	84	109	(	(	PUNCT
ajst-26201	84	110	8)	8)	NUM
ajst-26201	84	111	32	32	NUM
ajst-26201	84	112	bidirectional	bidirectional	ADJ
ajst-26201	84	113	input	input	NOUN
ajst-26201	84	114	/	/	SYM
ajst-26201	84	115	output	output	NOUN
ajst-26201	84	116	ports	port	NOUN
ajst-26201	84	117	;	;	PUNCT
ajst-26201	84	118	(	(	PUNCT
ajst-26201	84	119	9	9	X
ajst-26201	84	120	)	)	PUNCT
ajst-26201	84	121	adjustable	adjustable	ADJ
ajst-26201	84	122	clock	clock	NOUN
ajst-26201	84	123	from	from	ADP
ajst-26201	84	124	0	0	NUM
ajst-26201	84	125	-	-	SYM
ajst-26201	84	126	24	24	NUM
ajst-26201	84	127	mhz	mhz	NOUN
ajst-26201	84	128	;	;	PUNCT
ajst-26201	84	129	(	(	PUNCT
ajst-26201	84	130	10	10	X
ajst-26201	84	131	)	)	PUNCT
ajst-26201	84	132	multiple	multiple	ADJ
ajst-26201	84	133	packaging	packaging	NOUN
ajst-26201	84	134	types	type	NOUN
ajst-26201	84	135	,	,	PUNCT
ajst-26201	84	136	such	such	ADJ
ajst-26201	84	137	as	as	ADP
ajst-26201	84	138	plcc	plcc	NOUN
ajst-26201	84	139	,	,	PUNCT
ajst-26201	84	140	pdip	pdip	NOUN
ajst-26201	84	141	,	,	PUNCT
ajst-26201	84	142	pqfp	pqfp	PROPN
ajst-26201	84	143	,	,	PUNCT
ajst-26201	84	144	tqfp	tqfp	NOUN
ajst-26201	84	145	,	,	PUNCT
ajst-26201	84	146	etc	etc	X
ajst-26201	84	147	.	.	X
ajst-26201	84	148	,	,	PUNCT
ajst-26201	84	149	have	have	VERB
ajst-26201	84	150	good	good	ADJ
ajst-26201	84	151	adaptability	adaptability	NOUN
ajst-26201	84	152	and	and	CCONJ
ajst-26201	84	153	can	can	AUX
ajst-26201	84	154	meet	meet	VERB
ajst-26201	84	155	different	different	ADJ
ajst-26201	84	156	needs	need	NOUN
ajst-26201	84	157	.	.	PUNCT
ajst-26201	85	1	the	the	DET
ajst-26201	85	2	schematic	schematic	ADJ
ajst-26201	85	3	diagram	diagram	NOUN
ajst-26201	85	4	of	of	ADP
ajst-26201	85	5	the	the	DET
ajst-26201	85	6	disinfection	disinfection	NOUN
ajst-26201	85	7	robot	robot	NOUN
ajst-26201	85	8	control	control	NOUN
ajst-26201	85	9	system	system	NOUN
ajst-26201	85	10	is	be	AUX
ajst-26201	85	11	shown	show	VERB
ajst-26201	85	12	in	in	ADP
ajst-26201	85	13	figure	figure	NOUN
ajst-26201	85	14	1	1	NUM
ajst-26201	85	15	.	.	PUNCT
ajst-26201	85	16	figure	figure	NOUN
ajst-26201	85	17	1	1	NUM
ajst-26201	85	18	.	.	PUNCT
ajst-26201	85	19	schematic	schematic	ADJ
ajst-26201	85	20	diagram	diagram	NOUN
ajst-26201	85	21	of	of	ADP
ajst-26201	85	22	disinfection	disinfection	NOUN
ajst-26201	85	23	robot	robot	NOUN
ajst-26201	85	24	control	control	NOUN
ajst-26201	85	25	system	system	NOUN
ajst-26201	85	26	figure	figure	NOUN
ajst-26201	85	27	2	2	NUM
ajst-26201	85	28	.	.	PUNCT
ajst-26201	85	29	control	control	NOUN
ajst-26201	85	30	system	system	NOUN
ajst-26201	85	31	circuit	circuit	NOUN
ajst-26201	85	32	diagram	diagram	NOUN
ajst-26201	85	33	of	of	ADP
ajst-26201	85	34	disinfection	disinfection	NOUN
ajst-26201	85	35	robot	robot	NOUN
ajst-26201	85	36	the	the	DET
ajst-26201	85	37	control	control	NOUN
ajst-26201	85	38	system	system	NOUN
ajst-26201	85	39	circuit	circuit	NOUN
ajst-26201	85	40	of	of	ADP
ajst-26201	85	41	the	the	DET
ajst-26201	85	42	disinfection	disinfection	NOUN
ajst-26201	85	43	robot	robot	NOUN
ajst-26201	85	44	is	be	AUX
ajst-26201	85	45	shown	show	VERB
ajst-26201	85	46	in	in	ADP
ajst-26201	85	47	figure	figure	NOUN
ajst-26201	85	48	2	2	NUM
ajst-26201	85	49	.	.	PUNCT
ajst-26201	86	1	the	the	DET
ajst-26201	86	2	clock	clock	NOUN
ajst-26201	86	3	is	be	AUX
ajst-26201	86	4	an	an	DET
ajst-26201	86	5	important	important	ADJ
ajst-26201	86	6	part	part	NOUN
ajst-26201	86	7	of	of	ADP
ajst-26201	86	8	the	the	DET
ajst-26201	86	9	microcontroller	microcontroller	NOUN
ajst-26201	86	10	,	,	PUNCT
ajst-26201	86	11	which	which	PRON
ajst-26201	86	12	determines	determine	VERB
ajst-26201	86	13	the	the	DET
ajst-26201	86	14	working	work	VERB
ajst-26201	86	15	speed	speed	NOUN
ajst-26201	86	16	of	of	ADP
ajst-26201	86	17	the	the	DET
ajst-26201	86	18	entire	entire	ADJ
ajst-26201	86	19	microprocessor	microprocessor	NOUN
ajst-26201	86	20	and	and	CCONJ
ajst-26201	86	21	completes	complete	VERB
ajst-26201	86	22	various	various	ADJ
ajst-26201	86	23	instructions	instruction	NOUN
ajst-26201	86	24	through	through	ADP
ajst-26201	86	25	the	the	DET
ajst-26201	86	26	complex	complex	ADJ
ajst-26201	86	27	clock	clock	NOUN
ajst-26201	86	28	circuit	circuit	NOUN
ajst-26201	86	29	of	of	ADP
ajst-26201	86	30	the	the	DET
ajst-26201	86	31	cpu	cpu	NOUN
ajst-26201	86	32	.	.	PUNCT
ajst-26201	87	1	the	the	DET
ajst-26201	87	2	clock	clock	NOUN
ajst-26201	87	3	signal	signal	NOUN
ajst-26201	87	4	,	,	PUNCT
ajst-26201	87	5	on	on	ADP
ajst-26201	87	6	the	the	DET
ajst-26201	87	7	other	other	ADJ
ajst-26201	87	8	hand	hand	NOUN
ajst-26201	87	9	,	,	PUNCT
ajst-26201	87	10	has	have	VERB
ajst-26201	87	11	an	an	DET
ajst-26201	87	12	external	external	ADJ
ajst-26201	87	13	input	input	NOUN
ajst-26201	87	14	and	and	CCONJ
ajst-26201	87	15	relies	rely	VERB
ajst-26201	87	16	on	on	ADP
ajst-26201	87	17	116	116	NUM
ajst-26201	87	18	the	the	DET
ajst-26201	87	19	difference	difference	NOUN
ajst-26201	87	20	formed	form	VERB
ajst-26201	87	21	by	by	ADP
ajst-26201	87	22	the	the	DET
ajst-26201	87	23	oscillation	oscillation	NOUN
ajst-26201	87	24	circuit	circuit	NOUN
ajst-26201	87	25	inside	inside	ADP
ajst-26201	87	26	the	the	DET
ajst-26201	87	27	chip	chip	NOUN
ajst-26201	87	28	.	.	PUNCT
ajst-26201	88	1	the	the	DET
ajst-26201	88	2	reset	reset	NOUN
ajst-26201	88	3	circuit	circuit	NOUN
ajst-26201	88	4	is	be	AUX
ajst-26201	88	5	divided	divide	VERB
ajst-26201	88	6	into	into	ADP
ajst-26201	88	7	automatic	automatic	ADJ
ajst-26201	88	8	power	power	NOUN
ajst-26201	88	9	on	on	ADP
ajst-26201	88	10	reset	reset	NOUN
ajst-26201	88	11	and	and	CCONJ
ajst-26201	88	12	manual	manual	ADJ
ajst-26201	88	13	button	button	NOUN
ajst-26201	88	14	reset	reset	NOUN
ajst-26201	88	15	.	.	PUNCT
ajst-26201	89	1	the	the	DET
ajst-26201	89	2	manual	manual	ADJ
ajst-26201	89	3	reset	reset	NOUN
ajst-26201	89	4	of	of	ADP
ajst-26201	89	5	buttons	button	NOUN
ajst-26201	89	6	essentially	essentially	ADV
ajst-26201	89	7	includes	include	VERB
ajst-26201	89	8	two	two	NUM
ajst-26201	89	9	aspects	aspect	NOUN
ajst-26201	89	10	:	:	PUNCT
ajst-26201	89	11	automatic	automatic	ADJ
ajst-26201	89	12	reset	reset	NOUN
ajst-26201	89	13	when	when	SCONJ
ajst-26201	89	14	powered	power	VERB
ajst-26201	89	15	on	on	ADP
ajst-26201	89	16	and	and	CCONJ
ajst-26201	89	17	manual	manual	ADJ
ajst-26201	89	18	reset	reset	NOUN
ajst-26201	89	19	.	.	PUNCT
ajst-26201	90	1	if	if	SCONJ
ajst-26201	90	2	the	the	DET
ajst-26201	90	3	manual	manual	ADJ
ajst-26201	90	4	switch	switch	NOUN
ajst-26201	90	5	can	can	AUX
ajst-26201	90	6	not	not	PART
ajst-26201	90	7	be	be	AUX
ajst-26201	90	8	turned	turn	VERB
ajst-26201	90	9	off	off	ADP
ajst-26201	90	10	,	,	PUNCT
ajst-26201	90	11	it	it	PRON
ajst-26201	90	12	will	will	AUX
ajst-26201	90	13	automatically	automatically	ADV
ajst-26201	90	14	reset	reset	VERB
ajst-26201	90	15	when	when	SCONJ
ajst-26201	90	16	powered	power	VERB
ajst-26201	90	17	on	on	ADP
ajst-26201	90	18	.	.	PUNCT
ajst-26201	91	1	at	at	ADP
ajst-26201	91	2	this	this	DET
ajst-26201	91	3	point	point	NOUN
ajst-26201	91	4	,	,	PUNCT
ajst-26201	91	5	a	a	DET
ajst-26201	91	6	path	path	NOUN
ajst-26201	91	7	is	be	AUX
ajst-26201	91	8	formed	form	VERB
ajst-26201	91	9	between	between	ADP
ajst-26201	91	10	the	the	DET
ajst-26201	91	11	external	external	ADJ
ajst-26201	91	12	capacitor	capacitor	NOUN
ajst-26201	91	13	and	and	CCONJ
ajst-26201	91	14	resistor	resistor	NOUN
ajst-26201	91	15	and	and	CCONJ
ajst-26201	91	16	the	the	DET
ajst-26201	91	17	power	power	NOUN
ajst-26201	91	18	supply	supply	NOUN
ajst-26201	91	19	,	,	PUNCT
ajst-26201	91	20	allowing	allow	VERB
ajst-26201	91	21	the	the	DET
ajst-26201	91	22	capacitor	capacitor	NOUN
ajst-26201	91	23	to	to	PART
ajst-26201	91	24	automatically	automatically	ADV
ajst-26201	91	25	recover	recover	VERB
ajst-26201	91	26	after	after	ADP
ajst-26201	91	27	charging	charge	VERB
ajst-26201	91	28	.	.	PUNCT
ajst-26201	92	1	there	there	PRON
ajst-26201	92	2	are	be	VERB
ajst-26201	92	3	two	two	NUM
ajst-26201	92	4	types	type	NOUN
ajst-26201	92	5	of	of	ADP
ajst-26201	92	6	manual	manual	ADJ
ajst-26201	92	7	reset	reset	NOUN
ajst-26201	92	8	for	for	ADP
ajst-26201	92	9	buttons	button	NOUN
ajst-26201	92	10	:	:	PUNCT
ajst-26201	92	11	pulse	pulse	NOUN
ajst-26201	92	12	and	and	CCONJ
ajst-26201	92	13	level	level	NOUN
ajst-26201	92	14	.	.	PUNCT
ajst-26201	93	1	among	among	ADP
ajst-26201	93	2	them	they	PRON
ajst-26201	93	3	,	,	PUNCT
ajst-26201	93	4	the	the	DET
ajst-26201	93	5	level	level	NOUN
ajst-26201	93	6	reset	reset	NOUN
ajst-26201	93	7	mode	mode	NOUN
ajst-26201	93	8	is	be	AUX
ajst-26201	93	9	achieved	achieve	VERB
ajst-26201	93	10	by	by	ADP
ajst-26201	93	11	connecting	connect	VERB
ajst-26201	93	12	the	the	DET
ajst-26201	93	13	rst	rst	PROPN
ajst-26201	93	14	terminal	terminal	NOUN
ajst-26201	93	15	to	to	ADP
ajst-26201	93	16	the	the	DET
ajst-26201	93	17	vcc	vcc	PROPN
ajst-26201	93	18	power	power	NOUN
ajst-26201	93	19	supply	supply	NOUN
ajst-26201	93	20	.	.	PUNCT
ajst-26201	94	1	2.3.2	2.3.2	X
ajst-26201	94	2	.	.	PUNCT
ajst-26201	94	3	driver	driver	NOUN
ajst-26201	94	4	circuit	circuit	NOUN
ajst-26201	94	5	design	design	NOUN
ajst-26201	94	6	in	in	ADP
ajst-26201	94	7	general	general	ADJ
ajst-26201	94	8	,	,	PUNCT
ajst-26201	94	9	electric	electric	PROPN
ajst-26201	94	10	motors	motor	NOUN
ajst-26201	94	11	use	use	VERB
ajst-26201	94	12	h	h	ADJ
ajst-26201	94	13	-	-	PUNCT
ajst-26201	94	14	bridge	bridge	NOUN
ajst-26201	94	15	type	type	NOUN
ajst-26201	94	16	drive	drive	NOUN
ajst-26201	94	17	circuits	circuit	NOUN
ajst-26201	94	18	,	,	PUNCT
ajst-26201	94	19	but	but	CCONJ
ajst-26201	94	20	l28n	l28n	PROPN
ajst-26201	94	21	motors	motor	NOUN
ajst-26201	94	22	use	use	VERB
ajst-26201	94	23	h	h	ADJ
ajst-26201	94	24	-	-	PUNCT
ajst-26201	94	25	bridge	bridge	NOUN
ajst-26201	94	26	type	type	NOUN
ajst-26201	94	27	drive	drive	NOUN
ajst-26201	94	28	circuits	circuit	NOUN
ajst-26201	94	29	,	,	PUNCT
ajst-26201	94	30	which	which	PRON
ajst-26201	94	31	allows	allow	VERB
ajst-26201	94	32	the	the	DET
ajst-26201	94	33	l28n	l28n	ADJ
ajst-26201	94	34	circuit	circuit	NOUN
ajst-26201	94	35	to	to	PART
ajst-26201	94	36	drive	drive	VERB
ajst-26201	94	37	the	the	DET
ajst-26201	94	38	motor	motor	NOUN
ajst-26201	94	39	.	.	PUNCT
ajst-26201	95	1	by	by	ADP
ajst-26201	95	2	transmitting	transmit	VERB
ajst-26201	95	3	the	the	DET
ajst-26201	95	4	pwm	pwm	NOUN
ajst-26201	95	5	modulated	modulate	VERB
ajst-26201	95	6	pwm	pwm	NOUN
ajst-26201	95	7	signal	signal	NOUN
ajst-26201	95	8	to	to	ADP
ajst-26201	95	9	the	the	DET
ajst-26201	95	10	l28n	l28n	ADJ
ajst-26201	95	11	line	line	NOUN
ajst-26201	95	12	,	,	PUNCT
ajst-26201	95	13	the	the	DET
ajst-26201	95	14	control	control	NOUN
ajst-26201	95	15	of	of	ADP
ajst-26201	95	16	the	the	DET
ajst-26201	95	17	robot	robot	NOUN
ajst-26201	95	18	's	's	PART
ajst-26201	95	19	start	start	NOUN
ajst-26201	95	20	and	and	CCONJ
ajst-26201	95	21	stop	stop	NOUN
ajst-26201	95	22	has	have	AUX
ajst-26201	95	23	been	be	AUX
ajst-26201	95	24	achieved	achieve	VERB
ajst-26201	95	25	.	.	PUNCT
ajst-26201	96	1	this	this	DET
ajst-26201	96	2	scheme	scheme	NOUN
ajst-26201	96	3	uses	use	VERB
ajst-26201	96	4	a	a	DET
ajst-26201	96	5	four	four	NUM
ajst-26201	96	6	phase	phase	NOUN
ajst-26201	96	7	six	six	NUM
ajst-26201	96	8	wire	wire	NOUN
ajst-26201	96	9	stepper	stepper	NOUN
ajst-26201	96	10	motor	motor	NOUN
ajst-26201	96	11	with	with	ADP
ajst-26201	96	12	l297	l297	PROPN
ajst-26201	96	13	and	and	CCONJ
ajst-26201	96	14	l298n	l298n	PROPN
ajst-26201	96	15	as	as	ADP
ajst-26201	96	16	driving	drive	VERB
ajst-26201	96	17	transistors	transistor	NOUN
ajst-26201	96	18	.	.	PUNCT
ajst-26201	97	1	the	the	DET
ajst-26201	97	2	stc89c52rc	stc89c52rc	PROPN
ajst-26201	97	3	singlechip	singlechip	NOUN
ajst-26201	97	4	microcomputer	microcomputer	NOUN
ajst-26201	97	5	sends	send	VERB
ajst-26201	97	6	drive	drive	NOUN
ajst-26201	97	7	control	control	NOUN
ajst-26201	97	8	signals	signal	NOUN
ajst-26201	97	9	to	to	PART
ajst-26201	97	10	pins	pin	VERB
ajst-26201	97	11	17	17	NUM
ajst-26201	97	12	and	and	CCONJ
ajst-26201	97	13	18	18	NUM
ajst-26201	97	14	of	of	ADP
ajst-26201	97	15	l298n	l298n	PROPN
ajst-26201	97	16	through	through	ADP
ajst-26201	97	17	the	the	DET
ajst-26201	97	18	i	i	PROPN
ajst-26201	97	19	/	/	SYM
ajst-26201	97	20	o	o	NOUN
ajst-26201	97	21	port	port	NOUN
ajst-26201	97	22	,	,	PUNCT
ajst-26201	97	23	thereby	thereby	ADV
ajst-26201	97	24	controlling	control	VERB
ajst-26201	97	25	the	the	DET
ajst-26201	97	26	speed	speed	NOUN
ajst-26201	97	27	and	and	CCONJ
ajst-26201	97	28	direction	direction	NOUN
ajst-26201	97	29	of	of	ADP
ajst-26201	97	30	rotation	rotation	NOUN
ajst-26201	97	31	of	of	ADP
ajst-26201	97	32	the	the	DET
ajst-26201	97	33	propulsion	propulsion	NOUN
ajst-26201	97	34	motor	motor	NOUN
ajst-26201	97	35	.	.	PUNCT
ajst-26201	98	1	the	the	DET
ajst-26201	98	2	motor	motor	PROPN
ajst-26201	98	3	drive	drive	PROPN
ajst-26201	98	4	circuit	circuit	NOUN
ajst-26201	98	5	diagram	diagram	NOUN
ajst-26201	98	6	is	be	AUX
ajst-26201	98	7	shown	show	VERB
ajst-26201	98	8	in	in	ADP
ajst-26201	98	9	figure	figure	NOUN
ajst-26201	98	10	3	3	NUM
ajst-26201	98	11	.	.	PUNCT
ajst-26201	98	12	figure	figure	NOUN
ajst-26201	98	13	3	3	NUM
ajst-26201	98	14	.	.	PUNCT
ajst-26201	98	15	motor	motor	PROPN
ajst-26201	98	16	drive	drive	PROPN
ajst-26201	98	17	circuit	circuit	PROPN
ajst-26201	98	18	diagram	diagram	NOUN
ajst-26201	98	19	of	of	ADP
ajst-26201	98	20	intelligent	intelligent	ADJ
ajst-26201	98	21	disinfection	disinfection	NOUN
ajst-26201	98	22	robot	robot	NOUN
ajst-26201	98	23	2.3.3	2.3.3	NUM
ajst-26201	98	24	.	.	PUNCT
ajst-26201	99	1	design	design	NOUN
ajst-26201	99	2	of	of	ADP
ajst-26201	99	3	power	power	NOUN
ajst-26201	99	4	circuit	circuit	NOUN
ajst-26201	99	5	and	and	CCONJ
ajst-26201	99	6	light	light	NOUN
ajst-26201	99	7	seeking	seek	VERB
ajst-26201	99	8	circuit	circuit	NOUN
ajst-26201	99	9	all	all	DET
ajst-26201	99	10	chips	chip	NOUN
ajst-26201	99	11	in	in	ADP
ajst-26201	99	12	this	this	DET
ajst-26201	99	13	scheme	scheme	NOUN
ajst-26201	99	14	are	be	AUX
ajst-26201	99	15	at	at	ADP
ajst-26201	99	16	+5	+5	PROPN
ajst-26201	99	17	v	v	NOUN
ajst-26201	99	18	,	,	PUNCT
ajst-26201	99	19	with	with	ADP
ajst-26201	99	20	one	one	NUM
ajst-26201	99	21	section	section	NOUN
ajst-26201	99	22	at	at	ADP
ajst-26201	99	23	1.5	1.5	NUM
ajst-26201	99	24	v	v	NOUN
ajst-26201	99	25	and	and	CCONJ
ajst-26201	99	26	four	four	NUM
ajst-26201	99	27	sections	section	NOUN
ajst-26201	99	28	at	at	ADP
ajst-26201	99	29	6	6	NUM
ajst-26201	99	30	v	v	NOUN
ajst-26201	99	31	,	,	PUNCT
ajst-26201	99	32	which	which	PRON
ajst-26201	99	33	is	be	AUX
ajst-26201	99	34	6	6	NUM
ajst-26201	99	35	v	v	NOUN
ajst-26201	99	36	higher	high	ADJ
ajst-26201	99	37	than	than	ADP
ajst-26201	99	38	the	the	DET
ajst-26201	99	39	operating	operate	VERB
ajst-26201	99	40	voltage	voltage	NOUN
ajst-26201	99	41	of	of	ADP
ajst-26201	99	42	the	the	DET
ajst-26201	99	43	chips	chip	NOUN
ajst-26201	99	44	.	.	PUNCT
ajst-26201	100	1	therefore	therefore	ADV
ajst-26201	100	2	,	,	PUNCT
ajst-26201	100	3	a	a	DET
ajst-26201	100	4	7850	7850	NUM
ajst-26201	100	5	type	type	NOUN
ajst-26201	100	6	stabilizing	stabilize	VERB
ajst-26201	100	7	chip	chip	NOUN
ajst-26201	100	8	must	must	AUX
ajst-26201	100	9	be	be	AUX
ajst-26201	100	10	used	use	VERB
ajst-26201	100	11	to	to	PART
ajst-26201	100	12	reduce	reduce	VERB
ajst-26201	100	13	this	this	DET
ajst-26201	100	14	voltage	voltage	NOUN
ajst-26201	100	15	.	.	PUNCT
ajst-26201	101	1	the	the	DET
ajst-26201	101	2	output	output	NOUN
ajst-26201	101	3	voltage	voltage	NOUN
ajst-26201	101	4	of	of	ADP
ajst-26201	101	5	l7805	l7805	PROPN
ajst-26201	101	6	is	be	AUX
ajst-26201	101	7	below	below	ADP
ajst-26201	101	8	1.5	1.5	NUM
ajst-26201	101	9	a	a	NOUN
ajst-26201	101	10	,	,	PUNCT
ajst-26201	101	11	which	which	PRON
ajst-26201	101	12	is	be	AUX
ajst-26201	101	13	sufficient	sufficient	ADJ
ajst-26201	101	14	to	to	PART
ajst-26201	101	15	support	support	VERB
ajst-26201	101	16	the	the	DET
ajst-26201	101	17	operation	operation	NOUN
ajst-26201	101	18	of	of	ADP
ajst-26201	101	19	the	the	DET
ajst-26201	101	20	chip	chip	NOUN
ajst-26201	101	21	.	.	PUNCT
ajst-26201	102	1	due	due	ADP
ajst-26201	102	2	to	to	ADP
ajst-26201	102	3	the	the	DET
ajst-26201	102	4	high	high	ADJ
ajst-26201	102	5	rated	rate	VERB
ajst-26201	102	6	working	work	VERB
ajst-26201	102	7	voltage	voltage	NOUN
ajst-26201	102	8	and	and	CCONJ
ajst-26201	102	9	current	current	NOUN
ajst-26201	102	10	of	of	ADP
ajst-26201	102	11	dc	dc	PROPN
ajst-26201	102	12	motors	motors	PROPN
ajst-26201	102	13	,	,	PUNCT
ajst-26201	102	14	they	they	PRON
ajst-26201	102	15	can	can	AUX
ajst-26201	102	16	be	be	AUX
ajst-26201	102	17	powered	power	VERB
ajst-26201	102	18	by	by	ADP
ajst-26201	102	19	6v	6v	NOUN
ajst-26201	102	20	without	without	ADP
ajst-26201	102	21	voltage	voltage	NOUN
ajst-26201	102	22	reduction	reduction	NOUN
ajst-26201	102	23	.	.	PUNCT
ajst-26201	103	1	the	the	DET
ajst-26201	103	2	light	light	NOUN
ajst-26201	103	3	seeking	seek	VERB
ajst-26201	103	4	circuit	circuit	NOUN
ajst-26201	103	5	is	be	AUX
ajst-26201	103	6	shown	show	VERB
ajst-26201	103	7	in	in	ADP
ajst-26201	103	8	figure	figure	NOUN
ajst-26201	103	9	4	4	NUM
ajst-26201	103	10	.	.	PUNCT
ajst-26201	104	1	two	two	NUM
ajst-26201	104	2	photoresistors	photoresistor	NOUN
ajst-26201	104	3	are	be	AUX
ajst-26201	104	4	connected	connect	VERB
ajst-26201	104	5	in	in	ADP
ajst-26201	104	6	series	series	NOUN
ajst-26201	104	7	with	with	ADP
ajst-26201	104	8	a	a	DET
ajst-26201	104	9	10k	10k	ADJ
ajst-26201	104	10	ω	ω	NUM
ajst-26201	104	11	resistor	resistor	NOUN
ajst-26201	104	12	,	,	PUNCT
ajst-26201	104	13	and	and	CCONJ
ajst-26201	104	14	the	the	DET
ajst-26201	104	15	potential	potential	NOUN
ajst-26201	104	16	at	at	ADP
ajst-26201	104	17	the	the	DET
ajst-26201	104	18	connection	connection	NOUN
ajst-26201	104	19	point	point	NOUN
ajst-26201	104	20	is	be	AUX
ajst-26201	104	21	compared	compare	VERB
ajst-26201	104	22	.	.	PUNCT
ajst-26201	105	1	when	when	SCONJ
ajst-26201	105	2	the	the	DET
ajst-26201	105	3	direction	direction	NOUN
ajst-26201	105	4	of	of	ADP
ajst-26201	105	5	the	the	DET
ajst-26201	105	6	robot	robot	NOUN
ajst-26201	105	7	's	's	PART
ajst-26201	105	8	movement	movement	NOUN
ajst-26201	105	9	deviates	deviate	VERB
ajst-26201	105	10	to	to	ADP
ajst-26201	105	11	the	the	DET
ajst-26201	105	12	left	left	NOUN
ajst-26201	105	13	,	,	PUNCT
ajst-26201	105	14	the	the	DET
ajst-26201	105	15	right	right	ADJ
ajst-26201	105	16	end	end	NOUN
ajst-26201	105	17	experiences	experience	VERB
ajst-26201	105	18	a	a	DET
ajst-26201	105	19	higher	high	ADJ
ajst-26201	105	20	light	light	ADJ
ajst-26201	105	21	intensity	intensity	NOUN
ajst-26201	105	22	and	and	CCONJ
ajst-26201	105	23	a	a	DET
ajst-26201	105	24	lower	low	ADJ
ajst-26201	105	25	resistance	resistance	NOUN
ajst-26201	105	26	,	,	PUNCT
ajst-26201	105	27	resulting	result	VERB
ajst-26201	105	28	in	in	ADP
ajst-26201	105	29	a	a	DET
ajst-26201	105	30	lower	low	ADJ
ajst-26201	105	31	potential	potential	NOUN
ajst-26201	105	32	at	at	ADP
ajst-26201	105	33	the	the	DET
ajst-26201	105	34	positive	positive	ADJ
ajst-26201	105	35	end	end	NOUN
ajst-26201	105	36	of	of	ADP
ajst-26201	105	37	the	the	DET
ajst-26201	105	38	comparator	comparator	NOUN
ajst-26201	105	39	and	and	CCONJ
ajst-26201	105	40	a	a	DET
ajst-26201	105	41	low	low	ADJ
ajst-26201	105	42	circuit	circuit	NOUN
ajst-26201	105	43	output	output	NOUN
ajst-26201	105	44	;	;	PUNCT
ajst-26201	105	45	when	when	SCONJ
ajst-26201	105	46	the	the	DET
ajst-26201	105	47	direction	direction	NOUN
ajst-26201	105	48	of	of	ADP
ajst-26201	105	49	the	the	DET
ajst-26201	105	50	car	car	NOUN
ajst-26201	105	51	's	's	PART
ajst-26201	105	52	movement	movement	NOUN
ajst-26201	105	53	is	be	AUX
ajst-26201	105	54	to	to	ADP
ajst-26201	105	55	the	the	DET
ajst-26201	105	56	right	right	NOUN
ajst-26201	105	57	,	,	PUNCT
ajst-26201	105	58	the	the	DET
ajst-26201	105	59	left	left	ADJ
ajst-26201	105	60	end	end	NOUN
ajst-26201	105	61	experiences	experience	NOUN
ajst-26201	105	62	a	a	DET
ajst-26201	105	63	higher	high	ADJ
ajst-26201	105	64	intensity	intensity	NOUN
ajst-26201	105	65	of	of	ADP
ajst-26201	105	66	light	light	NOUN
ajst-26201	105	67	and	and	CCONJ
ajst-26201	105	68	a	a	DET
ajst-26201	105	69	lower	low	ADJ
ajst-26201	105	70	resistance	resistance	NOUN
ajst-26201	105	71	,	,	PUNCT
ajst-26201	105	72	resulting	result	VERB
ajst-26201	105	73	in	in	ADP
ajst-26201	105	74	a	a	DET
ajst-26201	105	75	lower	low	ADJ
ajst-26201	105	76	potential	potential	NOUN
ajst-26201	105	77	at	at	ADP
ajst-26201	105	78	the	the	DET
ajst-26201	105	79	negative	negative	ADJ
ajst-26201	105	80	end	end	NOUN
ajst-26201	105	81	of	of	ADP
ajst-26201	105	82	the	the	DET
ajst-26201	105	83	comparator	comparator	NOUN
ajst-26201	105	84	and	and	CCONJ
ajst-26201	105	85	a	a	DET
ajst-26201	105	86	high	high	ADJ
ajst-26201	105	87	-	-	PUNCT
ajst-26201	105	88	level	level	NOUN
ajst-26201	105	89	output	output	NOUN
ajst-26201	105	90	from	from	ADP
ajst-26201	105	91	the	the	DET
ajst-26201	105	92	circuit	circuit	NOUN
ajst-26201	105	93	.	.	PUNCT
ajst-26201	106	1	figure.4	figure.4	PROPN
ajst-26201	106	2	.	.	PUNCT
ajst-26201	106	3	design	design	NOUN
ajst-26201	106	4	of	of	ADP
ajst-26201	106	5	the	the	DET
ajst-26201	106	6	light	light	NOUN
ajst-26201	106	7	seeking	seek	VERB
ajst-26201	106	8	circuit	circuit	NOUN
ajst-26201	106	9	for	for	ADP
ajst-26201	106	10	the	the	DET
ajst-26201	106	11	intelligent	intelligent	ADJ
ajst-26201	106	12	disinfection	disinfection	NOUN
ajst-26201	106	13	robot	robot	NOUN
ajst-26201	106	14	117	117	NUM
ajst-26201	106	15	2.3.4	2.3.4	NUM
ajst-26201	106	16	.	.	PUNCT
ajst-26201	107	1	input	input	NOUN
ajst-26201	107	2	and	and	CCONJ
ajst-26201	107	3	output	output	NOUN
ajst-26201	107	4	channel	channel	NOUN
ajst-26201	107	5	design	design	VERB
ajst-26201	107	6	the	the	DET
ajst-26201	107	7	input	input	NOUN
ajst-26201	107	8	channel	channel	NOUN
ajst-26201	107	9	,	,	PUNCT
ajst-26201	107	10	also	also	ADV
ajst-26201	107	11	known	know	VERB
ajst-26201	107	12	as	as	ADP
ajst-26201	107	13	the	the	DET
ajst-26201	107	14	forward	forward	ADJ
ajst-26201	107	15	channel	channel	NOUN
ajst-26201	107	16	,	,	PUNCT
ajst-26201	107	17	is	be	AUX
ajst-26201	107	18	used	use	VERB
ajst-26201	107	19	to	to	PART
ajst-26201	107	20	collect	collect	VERB
ajst-26201	107	21	information	information	NOUN
ajst-26201	107	22	from	from	ADP
ajst-26201	107	23	different	different	ADJ
ajst-26201	107	24	sensors	sensor	NOUN
ajst-26201	107	25	;	;	PUNCT
ajst-26201	107	26	in	in	ADP
ajst-26201	107	27	microcontrollers	microcontroller	NOUN
ajst-26201	107	28	,	,	PUNCT
ajst-26201	107	29	the	the	DET
ajst-26201	107	30	information	information	NOUN
ajst-26201	107	31	channel	channel	NOUN
ajst-26201	107	32	used	use	VERB
ajst-26201	107	33	for	for	ADP
ajst-26201	107	34	monitoring	monitor	VERB
ajst-26201	107	35	and	and	CCONJ
ajst-26201	107	36	collecting	collect	VERB
ajst-26201	107	37	controlled	control	VERB
ajst-26201	107	38	targets	target	NOUN
ajst-26201	107	39	is	be	AUX
ajst-26201	107	40	called	call	VERB
ajst-26201	107	41	the	the	DET
ajst-26201	107	42	"	"	PUNCT
ajst-26201	107	43	forward	forward	ADJ
ajst-26201	107	44	channel	channel	NOUN
ajst-26201	107	45	"	"	PUNCT
ajst-26201	107	46	,	,	PUNCT
ajst-26201	107	47	which	which	PRON
ajst-26201	107	48	includes	include	VERB
ajst-26201	107	49	:	:	PUNCT
ajst-26201	107	50	when	when	SCONJ
ajst-26201	107	51	sensors	sensor	NOUN
ajst-26201	107	52	convert	convert	VERB
ajst-26201	107	53	measured	measure	VERB
ajst-26201	107	54	displacement	displacement	NOUN
ajst-26201	107	55	,	,	PUNCT
ajst-26201	107	56	position	position	NOUN
ajst-26201	107	57	,	,	PUNCT
ajst-26201	107	58	acceleration	acceleration	NOUN
ajst-26201	107	59	,	,	PUNCT
ajst-26201	107	60	pressure	pressure	NOUN
ajst-26201	107	61	and	and	CCONJ
ajst-26201	107	62	other	other	ADJ
ajst-26201	107	63	data	datum	NOUN
ajst-26201	107	64	into	into	ADP
ajst-26201	107	65	electrical	electrical	ADJ
ajst-26201	107	66	energy	energy	NOUN
ajst-26201	107	67	,	,	PUNCT
ajst-26201	107	68	and	and	CCONJ
ajst-26201	107	69	convert	convert	VERB
ajst-26201	107	70	it	it	PRON
ajst-26201	107	71	into	into	ADP
ajst-26201	107	72	digital	digital	ADJ
ajst-26201	107	73	signals	signal	NOUN
ajst-26201	107	74	(	(	PUNCT
ajst-26201	107	75	ad	ad	NOUN
ajst-26201	107	76	)	)	PUNCT
ajst-26201	107	77	;	;	PUNCT
ajst-26201	107	78	the	the	DET
ajst-26201	107	79	advantage	advantage	NOUN
ajst-26201	107	80	is	be	AUX
ajst-26201	107	81	that	that	SCONJ
ajst-26201	107	82	it	it	PRON
ajst-26201	107	83	can	can	AUX
ajst-26201	107	84	be	be	AUX
ajst-26201	107	85	converted	convert	VERB
ajst-26201	107	86	into	into	ADP
ajst-26201	107	87	numbers	number	NOUN
ajst-26201	107	88	,	,	PUNCT
ajst-26201	107	89	but	but	CCONJ
ajst-26201	107	90	it	it	PRON
ajst-26201	107	91	does	do	AUX
ajst-26201	107	92	not	not	PART
ajst-26201	107	93	match	match	VERB
ajst-26201	107	94	the	the	DET
ajst-26201	107	95	digital	digital	ADJ
ajst-26201	107	96	level	level	NOUN
ajst-26201	107	97	of	of	ADP
ajst-26201	107	98	the	the	DET
ajst-26201	107	99	microcontroller	microcontroller	NOUN
ajst-26201	107	100	and	and	CCONJ
ajst-26201	107	101	needs	need	VERB
ajst-26201	107	102	to	to	PART
ajst-26201	107	103	be	be	AUX
ajst-26201	107	104	converted	convert	VERB
ajst-26201	107	105	into	into	ADP
ajst-26201	107	106	ttl	ttl	PROPN
ajst-26201	107	107	digital	digital	ADJ
ajst-26201	107	108	signals	signal	NOUN
ajst-26201	107	109	received	receive	VERB
ajst-26201	107	110	by	by	ADP
ajst-26201	107	111	the	the	DET
ajst-26201	107	112	single	single	ADJ
ajst-26201	107	113	-	-	PUNCT
ajst-26201	107	114	chip	chip	NOUN
ajst-26201	107	115	function	function	NOUN
ajst-26201	107	116	.	.	PUNCT
ajst-26201	108	1	the	the	DET
ajst-26201	108	2	more	more	ADJ
ajst-26201	108	3	parameters	parameter	NOUN
ajst-26201	108	4	are	be	AUX
ajst-26201	108	5	measured	measure	VERB
ajst-26201	108	6	,	,	PUNCT
ajst-26201	108	7	the	the	PRON
ajst-26201	108	8	less	less	ADJ
ajst-26201	108	9	i	i	PRON
ajst-26201	108	10	/	/	SYM
ajst-26201	108	11	o.	o.	PROPN
ajst-26201	108	12	forward	forward	ADJ
ajst-26201	108	13	channel	channel	NOUN
ajst-26201	108	14	expansion	expansion	NOUN
ajst-26201	108	15	involves	involve	VERB
ajst-26201	108	16	two	two	NUM
ajst-26201	108	17	technical	technical	ADJ
ajst-26201	108	18	issues	issue	NOUN
ajst-26201	108	19	:	:	PUNCT
ajst-26201	108	20	one	one	NUM
ajst-26201	108	21	is	be	AUX
ajst-26201	108	22	to	to	PART
ajst-26201	108	23	transform	transform	VERB
ajst-26201	108	24	the	the	DET
ajst-26201	108	25	signal	signal	NOUN
ajst-26201	108	26	,	,	PUNCT
ajst-26201	108	27	and	and	CCONJ
ajst-26201	108	28	the	the	DET
ajst-26201	108	29	other	other	ADJ
ajst-26201	108	30	is	be	AUX
ajst-26201	108	31	to	to	PART
ajst-26201	108	32	increase	increase	VERB
ajst-26201	108	33	the	the	DET
ajst-26201	108	34	number	number	NOUN
ajst-26201	108	35	of	of	ADP
ajst-26201	108	36	input	input	NOUN
ajst-26201	108	37	signal	signal	NOUN
ajst-26201	108	38	channels	channel	NOUN
ajst-26201	108	39	.	.	PUNCT
ajst-26201	109	1	the	the	DET
ajst-26201	109	2	forward	forward	ADJ
ajst-26201	109	3	channel	channel	NOUN
ajst-26201	109	4	refers	refer	VERB
ajst-26201	109	5	to	to	ADP
ajst-26201	109	6	the	the	DET
ajst-26201	109	7	transmission	transmission	NOUN
ajst-26201	109	8	method	method	NOUN
ajst-26201	109	9	of	of	ADP
ajst-26201	109	10	all	all	DET
ajst-26201	109	11	input	input	NOUN
ajst-26201	109	12	and	and	CCONJ
ajst-26201	109	13	control	control	NOUN
ajst-26201	109	14	systems	system	NOUN
ajst-26201	109	15	,	,	PUNCT
ajst-26201	109	16	even	even	ADV
ajst-26201	109	17	microcontrollers	microcontroller	NOUN
ajst-26201	109	18	,	,	PUNCT
ajst-26201	109	19	which	which	PRON
ajst-26201	109	20	can	can	AUX
ajst-26201	109	21	be	be	AUX
ajst-26201	109	22	converted	convert	VERB
ajst-26201	109	23	through	through	ADP
ajst-26201	109	24	ad	ad	NOUN
ajst-26201	109	25	in	in	ADP
ajst-26201	109	26	most	most	ADJ
ajst-26201	109	27	cases	case	NOUN
ajst-26201	109	28	.	.	PUNCT
ajst-26201	110	1	according	accord	VERB
ajst-26201	110	2	to	to	ADP
ajst-26201	110	3	the	the	DET
ajst-26201	110	4	type	type	NOUN
ajst-26201	110	5	of	of	ADP
ajst-26201	110	6	signal	signal	NOUN
ajst-26201	110	7	being	be	AUX
ajst-26201	110	8	processed	process	VERB
ajst-26201	110	9	,	,	PUNCT
ajst-26201	110	10	the	the	DET
ajst-26201	110	11	input	input	NOUN
ajst-26201	110	12	channel	channel	NOUN
ajst-26201	110	13	can	can	AUX
ajst-26201	110	14	be	be	AUX
ajst-26201	110	15	divided	divide	VERB
ajst-26201	110	16	into	into	ADP
ajst-26201	110	17	digital	digital	ADJ
ajst-26201	110	18	input	input	NOUN
ajst-26201	110	19	channel	channel	NOUN
ajst-26201	110	20	and	and	CCONJ
ajst-26201	110	21	analog	analog	NOUN
ajst-26201	110	22	input	input	NOUN
ajst-26201	110	23	channel	channel	NOUN
ajst-26201	110	24	,	,	PUNCT
ajst-26201	110	25	while	while	SCONJ
ajst-26201	110	26	the	the	DET
ajst-26201	110	27	output	output	NOUN
ajst-26201	110	28	channel	channel	NOUN
ajst-26201	110	29	can	can	AUX
ajst-26201	110	30	be	be	AUX
ajst-26201	110	31	divided	divide	VERB
ajst-26201	110	32	into	into	ADP
ajst-26201	110	33	digital	digital	ADJ
ajst-26201	110	34	output	output	NOUN
ajst-26201	110	35	channel	channel	NOUN
ajst-26201	110	36	and	and	CCONJ
ajst-26201	110	37	analog	analog	NOUN
ajst-26201	110	38	-	-	PUNCT
ajst-26201	110	39	to	to	ADP
ajst-26201	110	40	-	-	PUNCT
ajst-26201	110	41	digital	digital	ADJ
ajst-26201	110	42	output	output	NOUN
ajst-26201	110	43	channel	channel	NOUN
ajst-26201	110	44	.	.	PUNCT
ajst-26201	111	1	the	the	DET
ajst-26201	111	2	output	output	NOUN
ajst-26201	111	3	channel	channel	NOUN
ajst-26201	111	4	is	be	AUX
ajst-26201	111	5	also	also	ADV
ajst-26201	111	6	known	know	VERB
ajst-26201	111	7	as	as	ADP
ajst-26201	111	8	the	the	DET
ajst-26201	111	9	backward	backward	ADJ
ajst-26201	111	10	channel	channel	NOUN
ajst-26201	111	11	.	.	PUNCT
ajst-26201	112	1	in	in	ADP
ajst-26201	112	2	the	the	DET
ajst-26201	112	3	design	design	NOUN
ajst-26201	112	4	of	of	ADP
ajst-26201	112	5	the	the	DET
ajst-26201	112	6	backward	backward	ADJ
ajst-26201	112	7	channel	channel	NOUN
ajst-26201	112	8	,	,	PUNCT
ajst-26201	112	9	the	the	DET
ajst-26201	112	10	interface	interface	NOUN
ajst-26201	112	11	problem	problem	NOUN
ajst-26201	112	12	between	between	ADP
ajst-26201	112	13	the	the	DET
ajst-26201	112	14	microcontroller	microcontroller	NOUN
ajst-26201	112	15	and	and	CCONJ
ajst-26201	112	16	the	the	DET
ajst-26201	112	17	driver	driver	NOUN
ajst-26201	112	18	module	module	NOUN
ajst-26201	112	19	needs	need	VERB
ajst-26201	112	20	to	to	PART
ajst-26201	112	21	be	be	AUX
ajst-26201	112	22	solved	solve	VERB
ajst-26201	112	23	.	.	PUNCT
ajst-26201	113	1	at	at	ADP
ajst-26201	113	2	this	this	DET
ajst-26201	113	3	time	time	NOUN
ajst-26201	113	4	,	,	PUNCT
ajst-26201	113	5	a	a	DET
ajst-26201	113	6	series	series	NOUN
ajst-26201	113	7	of	of	ADP
ajst-26201	113	8	problems	problem	NOUN
ajst-26201	113	9	such	such	ADJ
ajst-26201	113	10	as	as	ADP
ajst-26201	113	11	data	data	NOUN
ajst-26201	113	12	conversion	conversion	NOUN
ajst-26201	113	13	(	(	PUNCT
ajst-26201	113	14	due	due	ADP
ajst-26201	113	15	to	to	ADP
ajst-26201	113	16	being	be	AUX
ajst-26201	113	17	connected	connect	VERB
ajst-26201	113	18	to	to	ADP
ajst-26201	113	19	the	the	DET
ajst-26201	113	20	actuator	actuator	NOUN
ajst-26201	113	21	,	,	PUNCT
ajst-26201	113	22	digital	digital	ADJ
ajst-26201	113	23	signals	signal	NOUN
ajst-26201	113	24	need	need	VERB
ajst-26201	113	25	to	to	PART
ajst-26201	113	26	be	be	AUX
ajst-26201	113	27	converted	convert	VERB
ajst-26201	113	28	to	to	ADP
ajst-26201	113	29	analog	analog	NOUN
ajst-26201	113	30	signals	signal	NOUN
ajst-26201	113	31	for	for	ADP
ajst-26201	113	32	easy	easy	ADJ
ajst-26201	113	33	reception	reception	NOUN
ajst-26201	113	34	by	by	ADP
ajst-26201	113	35	the	the	DET
ajst-26201	113	36	actuator	actuator	NOUN
ajst-26201	113	37	,	,	PUNCT
ajst-26201	113	38	that	that	ADV
ajst-26201	113	39	is	is	ADV
ajst-26201	113	40	,	,	PUNCT
ajst-26201	113	41	da	da	PROPN
ajst-26201	113	42	conversion	conversion	NOUN
ajst-26201	113	43	)	)	PUNCT
ajst-26201	113	44	,	,	PUNCT
ajst-26201	113	45	isolation	isolation	NOUN
ajst-26201	113	46	,	,	PUNCT
ajst-26201	113	47	and	and	CCONJ
ajst-26201	113	48	output	output	NOUN
ajst-26201	113	49	channels	channel	NOUN
ajst-26201	113	50	are	be	AUX
ajst-26201	113	51	discovered	discover	VERB
ajst-26201	113	52	.	.	PUNCT
ajst-26201	114	1	simply	simply	ADV
ajst-26201	114	2	put	put	VERB
ajst-26201	114	3	,	,	PUNCT
ajst-26201	114	4	the	the	DET
ajst-26201	114	5	backward	backward	ADJ
ajst-26201	114	6	channel	channel	NOUN
ajst-26201	114	7	is	be	AUX
ajst-26201	114	8	a	a	DET
ajst-26201	114	9	signal	signal	ADJ
ajst-26201	114	10	input	input	NOUN
ajst-26201	114	11	to	to	ADP
ajst-26201	114	12	the	the	DET
ajst-26201	114	13	actuator	actuator	NOUN
ajst-26201	114	14	by	by	ADP
ajst-26201	114	15	a	a	DET
ajst-26201	114	16	numerical	numerical	ADJ
ajst-26201	114	17	microcontroller	microcontroller	NOUN
ajst-26201	114	18	and	and	CCONJ
ajst-26201	114	19	other	other	ADJ
ajst-26201	114	20	controllers	controller	NOUN
ajst-26201	114	21	.	.	PUNCT
ajst-26201	115	1	the	the	DET
ajst-26201	115	2	signal	signal	NOUN
ajst-26201	115	3	identified	identify	VERB
ajst-26201	115	4	by	by	ADP
ajst-26201	115	5	the	the	DET
ajst-26201	115	6	microcontroller	microcontroller	NOUN
ajst-26201	115	7	is	be	AUX
ajst-26201	115	8	converted	convert	VERB
ajst-26201	115	9	into	into	ADP
ajst-26201	115	10	a	a	DET
ajst-26201	115	11	voltage	voltage	NOUN
ajst-26201	115	12	or	or	CCONJ
ajst-26201	115	13	current	current	ADJ
ajst-26201	115	14	analog	analog	NOUN
ajst-26201	115	15	signal	signal	NOUN
ajst-26201	115	16	identified	identify	VERB
ajst-26201	115	17	by	by	ADP
ajst-26201	115	18	the	the	DET
ajst-26201	115	19	actuator	actuator	NOUN
ajst-26201	115	20	.	.	PUNCT
ajst-26201	116	1	3	3	X
ajst-26201	116	2	.	.	X
ajst-26201	116	3	design	design	NOUN
ajst-26201	116	4	of	of	ADP
ajst-26201	116	5	control	control	NOUN
ajst-26201	116	6	program	program	NOUN
ajst-26201	116	7	in	in	ADP
ajst-26201	116	8	the	the	DET
ajst-26201	116	9	design	design	NOUN
ajst-26201	116	10	of	of	ADP
ajst-26201	116	11	microcontroller	microcontroller	NOUN
ajst-26201	116	12	control	control	NOUN
ajst-26201	116	13	systems	system	NOUN
ajst-26201	116	14	,	,	PUNCT
ajst-26201	116	15	both	both	DET
ajst-26201	116	16	hardware	hardware	NOUN
ajst-26201	116	17	and	and	CCONJ
ajst-26201	116	18	software	software	NOUN
ajst-26201	116	19	design	design	NOUN
ajst-26201	116	20	should	should	AUX
ajst-26201	116	21	be	be	AUX
ajst-26201	116	22	considered	consider	VERB
ajst-26201	116	23	.	.	PUNCT
ajst-26201	117	1	as	as	ADP
ajst-26201	117	2	a	a	DET
ajst-26201	117	3	car	car	NOUN
ajst-26201	117	4	based	base	VERB
ajst-26201	117	5	on	on	ADP
ajst-26201	117	6	intelligent	intelligent	ADJ
ajst-26201	117	7	tracking	tracking	NOUN
ajst-26201	117	8	and	and	CCONJ
ajst-26201	117	9	obstacle	obstacle	NOUN
ajst-26201	117	10	avoidance	avoidance	NOUN
ajst-26201	117	11	,	,	PUNCT
ajst-26201	117	12	the	the	DET
ajst-26201	117	13	diversity	diversity	NOUN
ajst-26201	117	14	of	of	ADP
ajst-26201	117	15	its	its	PRON
ajst-26201	117	16	functions	function	NOUN
ajst-26201	117	17	is	be	AUX
ajst-26201	117	18	the	the	DET
ajst-26201	117	19	key	key	NOUN
ajst-26201	117	20	to	to	ADP
ajst-26201	117	21	its	its	PRON
ajst-26201	117	22	design	design	NOUN
ajst-26201	117	23	.	.	PUNCT
ajst-26201	118	1	the	the	DET
ajst-26201	118	2	two	two	NUM
ajst-26201	118	3	basic	basic	ADJ
ajst-26201	118	4	types	type	NOUN
ajst-26201	118	5	of	of	ADP
ajst-26201	118	6	software	software	NOUN
ajst-26201	118	7	design	design	NOUN
ajst-26201	118	8	systems	system	NOUN
ajst-26201	118	9	are	be	AUX
ajst-26201	118	10	data	datum	NOUN
ajst-26201	118	11	processing	processing	NOUN
ajst-26201	118	12	and	and	CCONJ
ajst-26201	118	13	process	process	NOUN
ajst-26201	118	14	control	control	NOUN
ajst-26201	118	15	.	.	PUNCT
ajst-26201	119	1	data	datum	NOUN
ajst-26201	119	2	collection	collection	NOUN
ajst-26201	119	3	,	,	PUNCT
ajst-26201	119	4	digital	digital	ADJ
ajst-26201	119	5	filtering	filtering	NOUN
ajst-26201	119	6	,	,	PUNCT
ajst-26201	119	7	and	and	CCONJ
ajst-26201	119	8	scaling	scale	VERB
ajst-26201	119	9	conversion	conversion	NOUN
ajst-26201	119	10	are	be	AUX
ajst-26201	119	11	all	all	PRON
ajst-26201	119	12	part	part	NOUN
ajst-26201	119	13	of	of	ADP
ajst-26201	119	14	data	datum	NOUN
ajst-26201	119	15	processing	processing	NOUN
ajst-26201	119	16	.	.	PUNCT
ajst-26201	120	1	process	process	NOUN
ajst-26201	120	2	control	control	NOUN
ajst-26201	120	3	refers	refer	VERB
ajst-26201	120	4	to	to	ADP
ajst-26201	120	5	the	the	DET
ajst-26201	120	6	operation	operation	NOUN
ajst-26201	120	7	and	and	CCONJ
ajst-26201	120	8	output	output	NOUN
ajst-26201	120	9	of	of	ADP
ajst-26201	120	10	a	a	DET
ajst-26201	120	11	microcontroller	microcontroller	NOUN
ajst-26201	120	12	based	base	VERB
ajst-26201	120	13	on	on	ADP
ajst-26201	120	14	existing	exist	VERB
ajst-26201	120	15	algorithms	algorithm	NOUN
ajst-26201	120	16	to	to	PART
ajst-26201	120	17	achieve	achieve	VERB
ajst-26201	120	18	production	production	NOUN
ajst-26201	120	19	control	control	NOUN
ajst-26201	120	20	.	.	PUNCT
ajst-26201	121	1	the	the	DET
ajst-26201	121	2	software	software	NOUN
ajst-26201	121	3	architecture	architecture	NOUN
ajst-26201	121	4	of	of	ADP
ajst-26201	121	5	the	the	DET
ajst-26201	121	6	control	control	NOUN
ajst-26201	121	7	system	system	NOUN
ajst-26201	121	8	adopts	adopt	VERB
ajst-26201	121	9	a	a	DET
ajst-26201	121	10	modular	modular	ADJ
ajst-26201	121	11	structure	structure	NOUN
ajst-26201	121	12	design	design	NOUN
ajst-26201	121	13	,	,	PUNCT
ajst-26201	121	14	consisting	consist	VERB
ajst-26201	121	15	of	of	ADP
ajst-26201	121	16	a	a	DET
ajst-26201	121	17	main	main	ADJ
ajst-26201	121	18	control	control	NOUN
ajst-26201	121	19	module	module	NOUN
ajst-26201	121	20	,	,	PUNCT
ajst-26201	121	21	a	a	DET
ajst-26201	121	22	motor	motor	NOUN
ajst-26201	121	23	drive	drive	NOUN
ajst-26201	121	24	speed	speed	NOUN
ajst-26201	121	25	regulation	regulation	NOUN
ajst-26201	121	26	module	module	NOUN
ajst-26201	121	27	,	,	PUNCT
ajst-26201	121	28	an	an	DET
ajst-26201	121	29	obstacle	obstacle	NOUN
ajst-26201	121	30	avoidance	avoidance	NOUN
ajst-26201	121	31	module	module	NOUN
ajst-26201	121	32	,	,	PUNCT
ajst-26201	121	33	a	a	DET
ajst-26201	121	34	tracking	tracking	NOUN
ajst-26201	121	35	module	module	NOUN
ajst-26201	121	36	,	,	PUNCT
ajst-26201	121	37	etc	etc	X
ajst-26201	121	38	.	.	X
ajst-26201	121	39	3.1	3.1	NUM
ajst-26201	121	40	.	.	PUNCT
ajst-26201	122	1	driver	driver	NOUN
ajst-26201	122	2	process	process	NOUN
ajst-26201	122	3	the	the	DET
ajst-26201	122	4	functions	function	NOUN
ajst-26201	122	5	that	that	PRON
ajst-26201	122	6	the	the	DET
ajst-26201	122	7	driving	drive	VERB
ajst-26201	122	8	module	module	NOUN
ajst-26201	122	9	needs	need	VERB
ajst-26201	122	10	to	to	PART
ajst-26201	122	11	implement	implement	VERB
ajst-26201	122	12	include	include	VERB
ajst-26201	122	13	:	:	PUNCT
ajst-26201	122	14	being	be	AUX
ajst-26201	122	15	able	able	ADJ
ajst-26201	122	16	to	to	PART
ajst-26201	122	17	receive	receive	VERB
ajst-26201	122	18	infrared	infrared	ADJ
ajst-26201	122	19	commands	command	NOUN
ajst-26201	122	20	from	from	ADP
ajst-26201	122	21	the	the	DET
ajst-26201	122	22	remote	remote	ADJ
ajst-26201	122	23	control	control	NOUN
ajst-26201	122	24	in	in	ADP
ajst-26201	122	25	remote	remote	ADJ
ajst-26201	122	26	control	control	NOUN
ajst-26201	122	27	mode	mode	NOUN
ajst-26201	122	28	,	,	PUNCT
ajst-26201	122	29	adjusting	adjust	VERB
ajst-26201	122	30	the	the	DET
ajst-26201	122	31	rotation	rotation	NOUN
ajst-26201	122	32	speed	speed	NOUN
ajst-26201	122	33	of	of	ADP
ajst-26201	122	34	the	the	DET
ajst-26201	122	35	left	left	ADJ
ajst-26201	122	36	and	and	CCONJ
ajst-26201	122	37	right	right	ADJ
ajst-26201	122	38	motors	motor	NOUN
ajst-26201	122	39	of	of	ADP
ajst-26201	122	40	the	the	DET
ajst-26201	122	41	robot	robot	NOUN
ajst-26201	122	42	through	through	ADP
ajst-26201	122	43	data	data	NOUN
ajst-26201	122	44	conversion	conversion	NOUN
ajst-26201	122	45	processing	processing	NOUN
ajst-26201	122	46	to	to	PART
ajst-26201	122	47	change	change	VERB
ajst-26201	122	48	the	the	DET
ajst-26201	122	49	operating	operate	VERB
ajst-26201	122	50	state	state	NOUN
ajst-26201	122	51	of	of	ADP
ajst-26201	122	52	the	the	DET
ajst-26201	122	53	robot	robot	NOUN
ajst-26201	122	54	,	,	PUNCT
ajst-26201	122	55	so	so	SCONJ
ajst-26201	122	56	as	as	SCONJ
ajst-26201	122	57	to	to	PART
ajst-26201	122	58	make	make	VERB
ajst-26201	122	59	straight	straight	ADJ
ajst-26201	122	60	,	,	PUNCT
ajst-26201	122	61	backward	backward	ADV
ajst-26201	122	62	,	,	PUNCT
ajst-26201	122	63	left	left	ADJ
ajst-26201	122	64	turn	turn	NOUN
ajst-26201	122	65	,	,	PUNCT
ajst-26201	122	66	and	and	CCONJ
ajst-26201	122	67	right	right	ADJ
ajst-26201	122	68	turn	turn	NOUN
ajst-26201	122	69	operations	operation	NOUN
ajst-26201	122	70	.	.	PUNCT
ajst-26201	123	1	in	in	ADP
ajst-26201	123	2	obstacle	obstacle	PROPN
ajst-26201	123	3	avoidance	avoidance	NOUN
ajst-26201	123	4	mode	mode	NOUN
ajst-26201	123	5	,	,	PUNCT
ajst-26201	123	6	the	the	DET
ajst-26201	123	7	robot	robot	NOUN
ajst-26201	123	8	travels	travel	VERB
ajst-26201	123	9	forward	forward	ADV
ajst-26201	123	10	and	and	CCONJ
ajst-26201	123	11	sends	send	VERB
ajst-26201	123	12	obstacle	obstacle	NOUN
ajst-26201	123	13	avoidance	avoidance	NOUN
ajst-26201	123	14	commands	command	NOUN
ajst-26201	123	15	when	when	SCONJ
ajst-26201	123	16	the	the	DET
ajst-26201	123	17	obstacle	obstacle	NOUN
ajst-26201	123	18	avoidance	avoidance	NOUN
ajst-26201	123	19	module	module	NOUN
ajst-26201	123	20	detects	detect	NOUN
ajst-26201	123	21	obstacles	obstacle	NOUN
ajst-26201	123	22	ahead	ahead	ADV
ajst-26201	123	23	.	.	PUNCT
ajst-26201	124	1	the	the	DET
ajst-26201	124	2	two	two	NUM
ajst-26201	124	3	drivers	driver	NOUN
ajst-26201	124	4	of	of	ADP
ajst-26201	124	5	the	the	DET
ajst-26201	124	6	robot	robot	NOUN
ajst-26201	124	7	change	change	VERB
ajst-26201	124	8	their	their	PRON
ajst-26201	124	9	speed	speed	NOUN
ajst-26201	124	10	to	to	PART
ajst-26201	124	11	achieve	achieve	VERB
ajst-26201	124	12	left	left	ADJ
ajst-26201	124	13	or	or	CCONJ
ajst-26201	124	14	right	right	ADJ
ajst-26201	124	15	turn	turn	NOUN
ajst-26201	124	16	obstacle	obstacle	VERB
ajst-26201	124	17	avoidance	avoidance	NOUN
ajst-26201	124	18	.	.	PUNCT
ajst-26201	125	1	in	in	ADP
ajst-26201	125	2	tracking	track	VERB
ajst-26201	125	3	mode	mode	NOUN
ajst-26201	125	4	,	,	PUNCT
ajst-26201	125	5	the	the	DET
ajst-26201	125	6	two	two	NUM
ajst-26201	125	7	motors	motor	NOUN
ajst-26201	125	8	are	be	AUX
ajst-26201	125	9	adjusted	adjust	VERB
ajst-26201	125	10	according	accord	VERB
ajst-26201	125	11	to	to	ADP
ajst-26201	125	12	the	the	DET
ajst-26201	125	13	instructions	instruction	NOUN
ajst-26201	125	14	sent	send	VERB
ajst-26201	125	15	by	by	ADP
ajst-26201	125	16	the	the	DET
ajst-26201	125	17	tracking	tracking	NOUN
ajst-26201	125	18	module	module	NOUN
ajst-26201	125	19	to	to	PART
ajst-26201	125	20	achieve	achieve	VERB
ajst-26201	125	21	the	the	DET
ajst-26201	125	22	purpose	purpose	NOUN
ajst-26201	125	23	of	of	ADP
ajst-26201	125	24	tracking	tracking	NOUN
ajst-26201	125	25	.	.	PUNCT
ajst-26201	126	1	3.2	3.2	NUM
ajst-26201	126	2	.	.	X
ajst-26201	127	1	tracking	track	VERB
ajst-26201	127	2	program	program	NOUN
ajst-26201	127	3	in	in	ADP
ajst-26201	127	4	the	the	DET
ajst-26201	127	5	application	application	NOUN
ajst-26201	127	6	of	of	ADP
ajst-26201	127	7	microcontrollers	microcontroller	NOUN
ajst-26201	127	8	,	,	PUNCT
ajst-26201	127	9	the	the	DET
ajst-26201	127	10	running	run	VERB
ajst-26201	127	11	software	software	NOUN
ajst-26201	127	12	of	of	ADP
ajst-26201	127	13	the	the	DET
ajst-26201	127	14	system	system	NOUN
ajst-26201	127	15	is	be	AUX
ajst-26201	127	16	likely	likely	ADJ
ajst-26201	127	17	to	to	PART
ajst-26201	127	18	be	be	AUX
ajst-26201	127	19	affected	affect	VERB
ajst-26201	127	20	by	by	ADP
ajst-26201	127	21	external	external	ADJ
ajst-26201	127	22	interference	interference	NOUN
ajst-26201	127	23	or	or	CCONJ
ajst-26201	127	24	internal	internal	ADJ
ajst-26201	127	25	circuit	circuit	NOUN
ajst-26201	127	26	noise	noise	NOUN
ajst-26201	127	27	indicators	indicator	NOUN
ajst-26201	127	28	,	,	PUNCT
ajst-26201	127	29	resulting	result	VERB
ajst-26201	127	30	in	in	ADP
ajst-26201	127	31	confusion	confusion	NOUN
ajst-26201	127	32	of	of	ADP
ajst-26201	127	33	the	the	DET
ajst-26201	127	34	address	address	NOUN
ajst-26201	127	35	bus	bus	NOUN
ajst-26201	127	36	and	and	CCONJ
ajst-26201	127	37	changes	change	NOUN
ajst-26201	127	38	in	in	ADP
ajst-26201	127	39	counting	count	VERB
ajst-26201	127	40	.	.	PUNCT
ajst-26201	128	1	in	in	ADP
ajst-26201	128	2	order	order	NOUN
ajst-26201	128	3	to	to	PART
ajst-26201	128	4	improve	improve	VERB
ajst-26201	128	5	the	the	DET
ajst-26201	128	6	stability	stability	NOUN
ajst-26201	128	7	of	of	ADP
ajst-26201	128	8	the	the	DET
ajst-26201	128	9	system	system	NOUN
ajst-26201	128	10	,	,	PUNCT
ajst-26201	128	11	it	it	PRON
ajst-26201	128	12	is	be	AUX
ajst-26201	128	13	necessary	necessary	ADJ
ajst-26201	128	14	to	to	PART
ajst-26201	128	15	effectively	effectively	ADV
ajst-26201	128	16	control	control	VERB
ajst-26201	128	17	the	the	DET
ajst-26201	128	18	noise	noise	NOUN
ajst-26201	128	19	of	of	ADP
ajst-26201	128	20	the	the	DET
ajst-26201	128	21	system	system	NOUN
ajst-26201	128	22	.	.	PUNCT
ajst-26201	129	1	in	in	ADP
ajst-26201	129	2	order	order	NOUN
ajst-26201	129	3	to	to	PART
ajst-26201	129	4	ensure	ensure	VERB
ajst-26201	129	5	the	the	DET
ajst-26201	129	6	stability	stability	NOUN
ajst-26201	129	7	of	of	ADP
ajst-26201	129	8	the	the	DET
ajst-26201	129	9	system	system	NOUN
ajst-26201	129	10	,	,	PUNCT
ajst-26201	129	11	it	it	PRON
ajst-26201	129	12	is	be	AUX
ajst-26201	129	13	necessary	necessary	ADJ
ajst-26201	129	14	to	to	PART
ajst-26201	129	15	avoid	avoid	VERB
ajst-26201	129	16	and	and	CCONJ
ajst-26201	129	17	reduce	reduce	VERB
ajst-26201	129	18	external	external	ADJ
ajst-26201	129	19	disturbances	disturbance	NOUN
ajst-26201	129	20	and	and	CCONJ
ajst-26201	129	21	built	build	VERB
ajst-26201	129	22	-	-	PUNCT
ajst-26201	129	23	in	in	ADP
ajst-26201	129	24	circuit	circuit	NOUN
ajst-26201	129	25	noise	noise	NOUN
ajst-26201	129	26	,	,	PUNCT
ajst-26201	129	27	as	as	ADV
ajst-26201	129	28	well	well	ADV
ajst-26201	129	29	as	as	ADP
ajst-26201	129	30	monitor	monitor	VERB
ajst-26201	129	31	the	the	DET
ajst-26201	129	32	system	system	NOUN
ajst-26201	129	33	's	's	PART
ajst-26201	129	34	working	work	VERB
ajst-26201	129	35	condition	condition	NOUN
ajst-26201	129	36	in	in	ADP
ajst-26201	129	37	real	real	ADJ
ajst-26201	129	38	time	time	NOUN
ajst-26201	129	39	,	,	PUNCT
ajst-26201	129	40	handle	handle	VERB
ajst-26201	129	41	abnormal	abnormal	ADJ
ajst-26201	129	42	situations	situation	NOUN
ajst-26201	129	43	,	,	PUNCT
ajst-26201	129	44	and	and	CCONJ
ajst-26201	129	45	address	address	VERB
ajst-26201	129	46	technical	technical	ADJ
ajst-26201	129	47	issues	issue	NOUN
ajst-26201	129	48	related	relate	VERB
ajst-26201	129	49	to	to	ADP
ajst-26201	129	50	automatic	automatic	ADJ
ajst-26201	129	51	fault	fault	NOUN
ajst-26201	129	52	repair	repair	NOUN
ajst-26201	129	53	.	.	PUNCT
ajst-26201	130	1	under	under	ADP
ajst-26201	130	2	this	this	DET
ajst-26201	130	3	requirement	requirement	NOUN
ajst-26201	130	4	,	,	PUNCT
ajst-26201	130	5	we	we	PRON
ajst-26201	130	6	can	can	AUX
ajst-26201	130	7	also	also	ADV
ajst-26201	130	8	use	use	VERB
ajst-26201	130	9	certain	certain	ADJ
ajst-26201	130	10	hardware	hardware	NOUN
ajst-26201	130	11	devices	device	NOUN
ajst-26201	130	12	to	to	PART
ajst-26201	130	13	assist	assist	VERB
ajst-26201	130	14	,	,	PUNCT
ajst-26201	130	15	and	and	CCONJ
ajst-26201	130	16	the	the	DET
ajst-26201	130	17	design	design	NOUN
ajst-26201	130	18	and	and	CCONJ
ajst-26201	130	19	use	use	NOUN
ajst-26201	130	20	of	of	ADP
ajst-26201	130	21	monitoring	monitor	VERB
ajst-26201	130	22	timers	timer	NOUN
ajst-26201	130	23	is	be	AUX
ajst-26201	130	24	currently	currently	ADV
ajst-26201	130	25	one	one	NUM
ajst-26201	130	26	of	of	ADP
ajst-26201	130	27	the	the	DET
ajst-26201	130	28	most	most	ADV
ajst-26201	130	29	common	common	ADJ
ajst-26201	130	30	and	and	CCONJ
ajst-26201	130	31	cost	cost	NOUN
ajst-26201	130	32	-	-	PUNCT
ajst-26201	130	33	effective	effective	ADJ
ajst-26201	130	34	ways	way	NOUN
ajst-26201	130	35	.	.	PUNCT
ajst-26201	131	1	the	the	DET
ajst-26201	131	2	monitoring	monitoring	NOUN
ajst-26201	131	3	timer	timer	NOUN
ajst-26201	131	4	is	be	AUX
ajst-26201	131	5	essentially	essentially	ADV
ajst-26201	131	6	a	a	DET
ajst-26201	131	7	dedicated	dedicated	ADJ
ajst-26201	131	8	timer	timer	NOUN
ajst-26201	131	9	,	,	PUNCT
ajst-26201	131	10	which	which	PRON
ajst-26201	131	11	always	always	ADV
ajst-26201	131	12	comes	come	VERB
ajst-26201	131	13	from	from	ADP
ajst-26201	131	14	the	the	DET
ajst-26201	131	15	inside	inside	NOUN
ajst-26201	131	16	and	and	CCONJ
ajst-26201	131	17	outside	outside	ADP
ajst-26201	131	18	of	of	ADP
ajst-26201	131	19	the	the	DET
ajst-26201	131	20	microcontroller	microcontroller	NOUN
ajst-26201	131	21	.	.	PUNCT
ajst-26201	132	1	through	through	ADP
ajst-26201	132	2	reasonable	reasonable	ADJ
ajst-26201	132	3	programming	programming	NOUN
ajst-26201	132	4	,	,	PUNCT
ajst-26201	132	5	it	it	PRON
ajst-26201	132	6	is	be	AUX
ajst-26201	132	7	ensured	ensure	VERB
ajst-26201	132	8	that	that	SCONJ
ajst-26201	132	9	a	a	DET
ajst-26201	132	10	large	large	ADJ
ajst-26201	132	11	amount	amount	NOUN
ajst-26201	132	12	of	of	ADP
ajst-26201	132	13	data	datum	NOUN
ajst-26201	132	14	will	will	AUX
ajst-26201	132	15	not	not	PART
ajst-26201	132	16	be	be	AUX
ajst-26201	132	17	generated	generate	VERB
ajst-26201	132	18	during	during	ADP
ajst-26201	132	19	operation	operation	NOUN
ajst-26201	132	20	.	.	PUNCT
ajst-26201	133	1	the	the	DET
ajst-26201	133	2	timer	timer	NOUN
ajst-26201	133	3	initializes	initialize	VERB
ajst-26201	133	4	it	it	PRON
ajst-26201	133	5	periodically	periodically	ADV
ajst-26201	133	6	.	.	PUNCT
ajst-26201	134	1	if	if	SCONJ
ajst-26201	134	2	something	something	PRON
ajst-26201	134	3	abnormal	abnormal	ADJ
ajst-26201	134	4	happens	happen	VERB
ajst-26201	134	5	in	in	ADP
ajst-26201	134	6	the	the	DET
ajst-26201	134	7	program	program	NOUN
ajst-26201	134	8	,	,	PUNCT
ajst-26201	134	9	it	it	PRON
ajst-26201	134	10	will	will	AUX
ajst-26201	134	11	cause	cause	VERB
ajst-26201	134	12	the	the	DET
ajst-26201	134	13	counter	counter	NOUN
ajst-26201	134	14	to	to	PART
ajst-26201	134	15	fail	fail	VERB
ajst-26201	134	16	to	to	PART
ajst-26201	134	17	clean	clean	VERB
ajst-26201	134	18	up	up	ADP
ajst-26201	134	19	in	in	ADP
ajst-26201	134	20	a	a	DET
ajst-26201	134	21	timely	timely	ADJ
ajst-26201	134	22	manner	manner	NOUN
ajst-26201	134	23	,	,	PUNCT
ajst-26201	134	24	resulting	result	VERB
ajst-26201	134	25	in	in	ADP
ajst-26201	134	26	overflow	overflow	NOUN
ajst-26201	134	27	of	of	ADP
ajst-26201	134	28	the	the	DET
ajst-26201	134	29	counter	counter	NOUN
ajst-26201	134	30	and	and	CCONJ
ajst-26201	134	31	causing	cause	VERB
ajst-26201	134	32	the	the	DET
ajst-26201	134	33	entire	entire	ADJ
ajst-26201	134	34	system	system	NOUN
ajst-26201	134	35	to	to	ADP
ajst-26201	134	36	malfunction	malfunction	NOUN
ajst-26201	134	37	.	.	PUNCT
ajst-26201	135	1	import	import	VERB
ajst-26201	135	2	the	the	DET
ajst-26201	135	3	cpu	cpu	NOUN
ajst-26201	135	4	into	into	ADP
ajst-26201	135	5	error	error	NOUN
ajst-26201	135	6	diagnosis	diagnosis	NOUN
ajst-26201	135	7	and	and	CCONJ
ajst-26201	135	8	processing	processing	NOUN
ajst-26201	135	9	,	,	PUNCT
ajst-26201	135	10	so	so	SCONJ
ajst-26201	135	11	that	that	SCONJ
ajst-26201	135	12	it	it	PRON
ajst-26201	135	13	can	can	AUX
ajst-26201	135	14	be	be	AUX
ajst-26201	135	15	restored	restore	VERB
ajst-26201	135	16	to	to	ADP
ajst-26201	135	17	normal	normal	ADJ
ajst-26201	135	18	working	working	NOUN
ajst-26201	135	19	state	state	NOUN
ajst-26201	135	20	.	.	PUNCT
ajst-26201	136	1	the	the	DET
ajst-26201	136	2	monitoring	monitoring	NOUN
ajst-26201	136	3	timer	timer	NOUN
ajst-26201	136	4	allows	allow	VERB
ajst-26201	136	5	it	it	PRON
ajst-26201	136	6	to	to	PART
ajst-26201	136	7	automatically	automatically	ADV
ajst-26201	136	8	repair	repair	VERB
ajst-26201	136	9	in	in	ADP
ajst-26201	136	10	case	case	NOUN
ajst-26201	136	11	of	of	ADP
ajst-26201	136	12	emergency	emergency	NOUN
ajst-26201	136	13	,	,	PUNCT
ajst-26201	136	14	and	and	CCONJ
ajst-26201	136	15	its	its	PRON
ajst-26201	136	16	software	software	NOUN
ajst-26201	136	17	and	and	CCONJ
ajst-26201	136	18	hardware	hardware	NOUN
ajst-26201	136	19	are	be	AUX
ajst-26201	136	20	easy	easy	ADJ
ajst-26201	136	21	to	to	PART
ajst-26201	136	22	implement	implement	VERB
ajst-26201	136	23	,	,	PUNCT
ajst-26201	136	24	so	so	CCONJ
ajst-26201	136	25	it	it	PRON
ajst-26201	136	26	is	be	AUX
ajst-26201	136	27	widely	widely	ADV
ajst-26201	136	28	used	use	VERB
ajst-26201	136	29	,	,	PUNCT
ajst-26201	136	30	and	and	CCONJ
ajst-26201	136	31	this	this	DET
ajst-26201	136	32	technology	technology	NOUN
ajst-26201	136	33	is	be	AUX
ajst-26201	136	34	also	also	ADV
ajst-26201	136	35	called	call	VERB
ajst-26201	136	36	watch	watch	ADJ
ajst-26201	136	37	dog	dog	NOUN
ajst-26201	136	38	[	[	X
ajst-26201	136	39	31	31	NUM
ajst-26201	136	40	]	]	PUNCT
ajst-26201	136	41	.	.	PUNCT
ajst-26201	137	1	generally	generally	ADV
ajst-26201	137	2	,	,	PUNCT
ajst-26201	137	3	the	the	DET
ajst-26201	137	4	following	follow	VERB
ajst-26201	137	5	methods	method	NOUN
ajst-26201	137	6	are	be	AUX
ajst-26201	137	7	used	use	VERB
ajst-26201	137	8	to	to	PART
ajst-26201	137	9	implement	implement	VERB
ajst-26201	137	10	a	a	DET
ajst-26201	137	11	hardware	hardware	NOUN
ajst-26201	137	12	"	"	PUNCT
ajst-26201	137	13	watchdog	watchdog	NOUN
ajst-26201	137	14	"	"	PUNCT
ajst-26201	137	15	:	:	PUNCT
ajst-26201	137	16	(	(	PUNCT
ajst-26201	137	17	1	1	X
ajst-26201	137	18	)	)	PUNCT
ajst-26201	137	19	using	use	VERB
ajst-26201	137	20	a	a	DET
ajst-26201	137	21	microprocessor	microprocessor	NOUN
ajst-26201	137	22	monitoring	monitoring	NOUN
ajst-26201	137	23	device	device	NOUN
ajst-26201	137	24	;	;	PUNCT
ajst-26201	137	25	(	(	PUNCT
ajst-26201	137	26	2	2	X
ajst-26201	137	27	)	)	PUNCT
ajst-26201	137	28	adopting	adopt	VERB
ajst-26201	137	29	monostable	monostable	NOUN
ajst-26201	137	30	74ls123	74ls123	NOUN
ajst-26201	137	31	;	;	PUNCT
ajst-26201	137	32	(	(	PUNCT
ajst-26201	137	33	3	3	X
ajst-26201	137	34	)	)	PUNCT
ajst-26201	137	35	use	use	VERB
ajst-26201	137	36	a	a	DET
ajst-26201	137	37	counting	counting	NOUN
ajst-26201	137	38	chip	chip	NOUN
ajst-26201	137	39	with	with	ADP
ajst-26201	137	40	a	a	DET
ajst-26201	137	41	built	build	VERB
ajst-26201	137	42	-	-	PUNCT
ajst-26201	137	43	in	in	ADP
ajst-26201	137	44	oscillator	oscillator	NOUN
ajst-26201	137	45	.	.	PUNCT
ajst-26201	138	1	3.3	3.3	NUM
ajst-26201	138	2	.	.	PUNCT
ajst-26201	139	1	obstacle	obstacle	NOUN
ajst-26201	139	2	avoidance	avoidance	NOUN
ajst-26201	139	3	procedure	procedure	NOUN
ajst-26201	139	4	to	to	PART
ajst-26201	139	5	make	make	VERB
ajst-26201	139	6	the	the	DET
ajst-26201	139	7	obstacle	obstacle	NOUN
ajst-26201	139	8	avoidance	avoidance	NOUN
ajst-26201	139	9	ability	ability	NOUN
ajst-26201	139	10	of	of	ADP
ajst-26201	139	11	intelligent	intelligent	ADJ
ajst-26201	139	12	robots	robot	NOUN
ajst-26201	139	13	more	more	ADV
ajst-26201	139	14	accurate	accurate	ADJ
ajst-26201	139	15	,	,	PUNCT
ajst-26201	139	16	there	there	PRON
ajst-26201	139	17	are	be	VERB
ajst-26201	139	18	six	six	NUM
ajst-26201	139	19	sensors	sensor	NOUN
ajst-26201	139	20	in	in	ADP
ajst-26201	139	21	the	the	DET
ajst-26201	139	22	obstacle	obstacle	NOUN
ajst-26201	139	23	avoidance	avoidance	NOUN
ajst-26201	139	24	circuit	circuit	NOUN
ajst-26201	139	25	,	,	PUNCT
ajst-26201	139	26	four	four	NUM
ajst-26201	139	27	of	of	ADP
ajst-26201	139	28	which	which	PRON
ajst-26201	139	29	are	be	AUX
ajst-26201	139	30	sensors	sensor	NOUN
ajst-26201	139	31	that	that	PRON
ajst-26201	139	32	can	can	AUX
ajst-26201	139	33	detect	detect	VERB
ajst-26201	139	34	close	close	ADJ
ajst-26201	139	35	range	range	NOUN
ajst-26201	139	36	at	at	ADP
ajst-26201	139	37	the	the	DET
ajst-26201	139	38	front	front	NOUN
ajst-26201	139	39	of	of	ADP
ajst-26201	139	40	the	the	DET
ajst-26201	139	41	car	car	NOUN
ajst-26201	139	42	,	,	PUNCT
ajst-26201	139	43	and	and	CCONJ
ajst-26201	139	44	the	the	DET
ajst-26201	139	45	other	other	ADJ
ajst-26201	139	46	two	two	NUM
ajst-26201	139	47	are	be	AUX
ajst-26201	139	48	used	use	VERB
ajst-26201	139	49	to	to	PART
ajst-26201	139	50	detect	detect	VERB
ajst-26201	139	51	obstacles	obstacle	NOUN
ajst-26201	139	52	farther	far	ADV
ajst-26201	139	53	away	away	ADV
ajst-26201	139	54	.	.	PUNCT
ajst-26201	140	1	this	this	DET
ajst-26201	140	2	design	design	NOUN
ajst-26201	140	3	uses	use	VERB
ajst-26201	140	4	four	four	NUM
ajst-26201	140	5	reflective	reflective	ADJ
ajst-26201	140	6	infrared	infrared	ADJ
ajst-26201	140	7	detectors	detector	NOUN
ajst-26201	140	8	jy043w	jy043w	PROPN
ajst-26201	140	9	to	to	PART
ajst-26201	140	10	reduce	reduce	VERB
ajst-26201	140	11	external	external	ADJ
ajst-26201	140	12	interference	interference	NOUN
ajst-26201	140	13	and	and	CCONJ
ajst-26201	140	14	ensure	ensure	VERB
ajst-26201	140	15	the	the	DET
ajst-26201	140	16	accuracy	accuracy	NOUN
ajst-26201	140	17	of	of	ADP
ajst-26201	140	18	the	the	DET
ajst-26201	140	19	robot	robot	NOUN
ajst-26201	140	20	's	's	PART
ajst-26201	140	21	evasion	evasion	NOUN
ajst-26201	140	22	.	.	PUNCT
ajst-26201	141	1	on	on	ADP
ajst-26201	141	2	this	this	DET
ajst-26201	141	3	basis	basis	NOUN
ajst-26201	141	4	,	,	PUNCT
ajst-26201	141	5	it	it	PRON
ajst-26201	141	6	can	can	AUX
ajst-26201	141	7	optimize	optimize	VERB
ajst-26201	141	8	the	the	DET
ajst-26201	141	9	detection	detection	NOUN
ajst-26201	141	10	circuit	circuit	NOUN
ajst-26201	141	11	and	and	CCONJ
ajst-26201	141	12	improve	improve	VERB
ajst-26201	141	13	the	the	DET
ajst-26201	141	14	signal	signal	ADJ
ajst-26201	141	15	processing	processing	NOUN
ajst-26201	141	16	speed	speed	NOUN
ajst-26201	141	17	.	.	PUNCT
ajst-26201	142	1	due	due	ADP
ajst-26201	142	2	to	to	ADP
ajst-26201	142	3	the	the	DET
ajst-26201	142	4	short	short	ADJ
ajst-26201	142	5	range	range	NOUN
ajst-26201	142	6	of	of	ADP
ajst-26201	142	7	lateral	lateral	ADJ
ajst-26201	142	8	obstacle	obstacle	NOUN
ajst-26201	142	9	detection	detection	NOUN
ajst-26201	142	10	and	and	CCONJ
ajst-26201	142	11	weak	weak	ADJ
ajst-26201	142	12	external	external	ADJ
ajst-26201	142	13	interference	interference	NOUN
ajst-26201	142	14	,	,	PUNCT
ajst-26201	142	15	direct	direct	ADJ
ajst-26201	142	16	current	current	ADJ
ajst-26201	142	17	drive	drive	NOUN
ajst-26201	142	18	is	be	AUX
ajst-26201	142	19	used	use	VERB
ajst-26201	142	20	.	.	PUNCT
ajst-26201	143	1	lm393	lm393	PROPN
ajst-26201	143	2	was	be	AUX
ajst-26201	143	3	compared	compare	VERB
ajst-26201	143	4	with	with	ADP
ajst-26201	143	5	an	an	DET
ajst-26201	143	6	external	external	ADJ
ajst-26201	143	7	circuit	circuit	NOUN
ajst-26201	143	8	with	with	ADP
ajst-26201	143	9	an	an	DET
ajst-26201	143	10	output	output	NOUN
ajst-26201	143	11	voltage	voltage	NOUN
ajst-26201	143	12	of	of	ADP
ajst-26201	143	13	25	25	NUM
ajst-26201	143	14	v/160	v/160	PROPN
ajst-26201	143	15	ω=0.156	ω=0.156	PROPN
ajst-26201	143	16	w.	w.	NOUN
ajst-26201	143	17	the	the	DET
ajst-26201	143	18	intermittent	intermittent	ADJ
ajst-26201	143	19	comparison	comparison	NOUN
ajst-26201	143	20	power	power	NOUN
ajst-26201	143	21	supply	supply	NOUN
ajst-26201	143	22	of	of	ADP
ajst-26201	143	23	lm393	lm393	PROPN
ajst-26201	143	24	was	be	AUX
ajst-26201	143	25	adjusted	adjust	VERB
ajst-26201	143	26	by	by	ADP
ajst-26201	143	27	an	an	DET
ajst-26201	143	28	r20	r20	NOUN
ajst-26201	143	29	potentiometer	potentiometer	NOUN
ajst-26201	143	30	.	.	PUNCT
ajst-26201	144	1	a	a	DET
ajst-26201	144	2	comparator	comparator	NOUN
ajst-26201	144	3	provides	provide	VERB
ajst-26201	144	4	a	a	DET
ajst-26201	144	5	voltage	voltage	NOUN
ajst-26201	144	6	of	of	ADP
ajst-26201	144	7	0	0	NUM
ajst-26201	144	8	-	-	PUNCT
ajst-26201	144	9	5v	5v	NOUN
ajst-26201	144	10	,	,	PUNCT
ajst-26201	144	11	which	which	PRON
ajst-26201	144	12	is	be	AUX
ajst-26201	144	13	read	read	VERB
ajst-26201	144	14	out	out	ADP
ajst-26201	144	15	through	through	ADP
ajst-26201	144	16	the	the	DET
ajst-26201	144	17	microcontroller	microcontroller	NOUN
ajst-26201	144	18	port	port	NOUN
ajst-26201	144	19	.	.	PUNCT
ajst-26201	145	1	the	the	DET
ajst-26201	145	2	i	i	PROPN
ajst-26201	145	3	/	/	SYM
ajst-26201	145	4	o	o	NOUN
ajst-26201	145	5	port	port	NOUN
ajst-26201	145	6	detects	detect	NOUN
ajst-26201	145	7	a	a	DET
ajst-26201	145	8	high	high	ADJ
ajst-26201	145	9	level	level	NOUN
ajst-26201	145	10	1	1	NUM
ajst-26201	145	11	indicating	indicate	VERB
ajst-26201	145	12	the	the	DET
ajst-26201	145	13	presence	presence	NOUN
ajst-26201	145	14	of	of	ADP
ajst-26201	145	15	a	a	DET
ajst-26201	145	16	signal	signal	NOUN
ajst-26201	145	17	(	(	PUNCT
ajst-26201	145	18	obstacle	obstacle	NOUN
ajst-26201	145	19	)	)	PUNCT
ajst-26201	145	20	,	,	PUNCT
ajst-26201	145	21	and	and	CCONJ
ajst-26201	145	22	0	0	NUM
ajst-26201	145	23	indicating	indicate	VERB
ajst-26201	145	24	the	the	DET
ajst-26201	145	25	absence	absence	NOUN
ajst-26201	145	26	of	of	ADP
ajst-26201	145	27	a	a	DET
ajst-26201	145	28	signal	signal	NOUN
ajst-26201	145	29	(	(	PUNCT
ajst-26201	145	30	obstacle	obstacle	NOUN
ajst-26201	145	31	)	)	PUNCT
ajst-26201	145	32	.	.	PUNCT
ajst-26201	146	1	when	when	SCONJ
ajst-26201	146	2	there	there	PRON
ajst-26201	146	3	are	be	VERB
ajst-26201	146	4	obstacles	obstacle	NOUN
ajst-26201	146	5	ahead	ahead	ADV
ajst-26201	146	6	,	,	PUNCT
ajst-26201	146	7	the	the	DET
ajst-26201	146	8	detection	detection	NOUN
ajst-26201	146	9	range	range	NOUN
ajst-26201	146	10	is	be	AUX
ajst-26201	146	11	relatively	relatively	ADV
ajst-26201	146	12	small	small	ADJ
ajst-26201	146	13	and	and	CCONJ
ajst-26201	146	14	may	may	AUX
ajst-26201	146	15	be	be	AUX
ajst-26201	146	16	interfered	interfere	VERB
ajst-26201	146	17	by	by	ADP
ajst-26201	146	18	surrounding	surround	VERB
ajst-26201	146	19	light	light	NOUN
ajst-26201	146	20	.	.	PUNCT
ajst-26201	147	1	therefore	therefore	ADV
ajst-26201	147	2	,	,	PUNCT
ajst-26201	147	3	it	it	PRON
ajst-26201	147	4	is	be	AUX
ajst-26201	147	5	necessary	necessary	ADJ
ajst-26201	147	6	to	to	PART
ajst-26201	147	7	use	use	VERB
ajst-26201	147	8	an	an	DET
ajst-26201	147	9	ac	ac	ADJ
ajst-26201	147	10	modulation	modulation	NOUN
ajst-26201	147	11	working	work	VERB
ajst-26201	147	12	party	party	NOUN
ajst-26201	147	13	with	with	ADP
ajst-26201	147	14	high	high	ADJ
ajst-26201	147	15	anti	anti	ADJ
ajst-26201	147	16	-	-	ADJ
ajst-26201	147	17	interference	interference	ADJ
ajst-26201	147	18	ability	ability	NOUN
ajst-26201	147	19	.	.	PUNCT
ajst-26201	148	1	by	by	ADP
ajst-26201	148	2	changing	change	VERB
ajst-26201	148	3	the	the	DET
ajst-26201	148	4	npn	npn	NOUN
ajst-26201	148	5	transistor	transistor	NOUN
ajst-26201	148	6	at	at	ADP
ajst-26201	148	7	the	the	DET
ajst-26201	148	8	transmitting	transmit	VERB
ajst-26201	148	9	end	end	NOUN
ajst-26201	148	10	,	,	PUNCT
ajst-26201	148	11	the	the	DET
ajst-26201	148	12	led	lead	VERB
ajst-26201	148	13	can	can	AUX
ajst-26201	148	14	output	output	VERB
ajst-26201	148	15	frequencies	frequency	NOUN
ajst-26201	148	16	ranging	range	VERB
ajst-26201	148	17	from	from	ADP
ajst-26201	148	18	50	50	NUM
ajst-26201	148	19	hz	hz	VERB
ajst-26201	148	20	to	to	ADP
ajst-26201	148	21	500	500	NUM
ajst-26201	148	22	hz	hz	NOUN
ajst-26201	148	23	.	.	PUNCT
ajst-26201	148	24	to	to	PART
ajst-26201	148	25	suppress	suppress	VERB
ajst-26201	148	26	the	the	DET
ajst-26201	148	27	interference	interference	NOUN
ajst-26201	148	28	of	of	ADP
ajst-26201	148	29	external	external	ADJ
ajst-26201	148	30	light	light	NOUN
ajst-26201	148	31	,	,	PUNCT
ajst-26201	148	32	a	a	DET
ajst-26201	148	33	0.01	0.01	NUM
ajst-26201	148	34	u	u	NOUN
ajst-26201	148	35	filter	filter	NOUN
ajst-26201	148	36	is	be	AUX
ajst-26201	148	37	introduced	introduce	VERB
ajst-26201	148	38	on	on	ADP
ajst-26201	148	39	the	the	DET
ajst-26201	148	40	receiver	receiver	NOUN
ajst-26201	148	41	.	.	PUNCT
ajst-26201	149	1	the	the	DET
ajst-26201	149	2	system	system	NOUN
ajst-26201	149	3	uses	use	VERB
ajst-26201	149	4	lm358	lm358	NOUN
ajst-26201	149	5	integrated	integrate	VERB
ajst-26201	149	6	operational	operational	ADJ
ajst-26201	149	7	118	118	NUM
ajst-26201	149	8	amplifier	amplifier	NOUN
ajst-26201	149	9	to	to	PART
ajst-26201	149	10	amplify	amplify	VERB
ajst-26201	149	11	the	the	DET
ajst-26201	149	12	output	output	NOUN
ajst-26201	149	13	,	,	PUNCT
ajst-26201	149	14	which	which	PRON
ajst-26201	149	15	is	be	AUX
ajst-26201	149	16	read	read	VERB
ajst-26201	149	17	out	out	ADP
ajst-26201	149	18	by	by	ADP
ajst-26201	149	19	the	the	DET
ajst-26201	149	20	data	data	PROPN
ajst-26201	149	21	acquisition	acquisition	NOUN
ajst-26201	149	22	port	port	NOUN
ajst-26201	149	23	of	of	ADP
ajst-26201	149	24	the	the	DET
ajst-26201	149	25	microcontroller	microcontroller	NOUN
ajst-26201	149	26	.	.	PUNCT
ajst-26201	150	1	4	4	X
ajst-26201	150	2	.	.	X
ajst-26201	150	3	system	system	NOUN
ajst-26201	150	4	function	function	NOUN
ajst-26201	150	5	testing	test	VERB
ajst-26201	150	6	4.1	4.1	NUM
ajst-26201	150	7	.	.	PUNCT
ajst-26201	151	1	control	control	NOUN
ajst-26201	151	2	system	system	NOUN
ajst-26201	151	3	testing	test	VERB
ajst-26201	151	4	necessary	necessary	ADJ
ajst-26201	151	5	experiments	experiment	NOUN
ajst-26201	151	6	are	be	AUX
ajst-26201	151	7	still	still	ADV
ajst-26201	151	8	required	require	VERB
ajst-26201	151	9	for	for	ADP
ajst-26201	151	10	the	the	DET
ajst-26201	151	11	completed	complete	VERB
ajst-26201	151	12	microcontroller	microcontroller	NOUN
ajst-26201	151	13	system	system	NOUN
ajst-26201	151	14	.	.	PUNCT
ajst-26201	152	1	at	at	ADP
ajst-26201	152	2	present	present	ADJ
ajst-26201	152	3	,	,	PUNCT
ajst-26201	152	4	various	various	ADJ
ajst-26201	152	5	microprocessors	microprocessor	NOUN
ajst-26201	152	6	need	need	VERB
ajst-26201	152	7	to	to	PART
ajst-26201	152	8	undergo	undergo	VERB
ajst-26201	152	9	the	the	DET
ajst-26201	152	10	following	follow	VERB
ajst-26201	152	11	tests	test	NOUN
ajst-26201	152	12	:	:	PUNCT
ajst-26201	152	13	(	(	PUNCT
ajst-26201	152	14	1	1	X
ajst-26201	152	15	)	)	PUNCT
ajst-26201	152	16	testing	test	VERB
ajst-26201	152	17	the	the	DET
ajst-26201	152	18	integrity	integrity	NOUN
ajst-26201	152	19	of	of	ADP
ajst-26201	152	20	software	software	NOUN
ajst-26201	152	21	functions	function	NOUN
ajst-26201	152	22	in	in	ADP
ajst-26201	152	23	the	the	DET
ajst-26201	152	24	microcontroller	microcontroller	NOUN
ajst-26201	152	25	system	system	NOUN
ajst-26201	152	26	:	:	PUNCT
ajst-26201	152	27	mainly	mainly	ADV
ajst-26201	152	28	testing	test	VERB
ajst-26201	152	29	whether	whether	SCONJ
ajst-26201	152	30	the	the	DET
ajst-26201	152	31	software	software	NOUN
ajst-26201	152	32	within	within	ADP
ajst-26201	152	33	the	the	DET
ajst-26201	152	34	microcontroller	microcontroller	NOUN
ajst-26201	152	35	system	system	NOUN
ajst-26201	152	36	is	be	AUX
ajst-26201	152	37	written	write	VERB
ajst-26201	152	38	correctly	correctly	ADV
ajst-26201	152	39	and	and	CCONJ
ajst-26201	152	40	completely	completely	ADV
ajst-26201	152	41	.	.	PUNCT
ajst-26201	153	1	(	(	PUNCT
ajst-26201	153	2	2	2	X
ajst-26201	153	3	)	)	PUNCT
ajst-26201	153	4	power	power	NOUN
ajst-26201	153	5	on	on	ADP
ajst-26201	153	6	and	and	CCONJ
ajst-26201	153	7	power	power	NOUN
ajst-26201	153	8	-	-	PUNCT
ajst-26201	153	9	off	off	ADP
ajst-26201	153	10	tests	test	NOUN
ajst-26201	153	11	:	:	PUNCT
ajst-26201	153	12	ensure	ensure	VERB
ajst-26201	153	13	the	the	DET
ajst-26201	153	14	reliability	reliability	NOUN
ajst-26201	153	15	of	of	ADP
ajst-26201	153	16	the	the	DET
ajst-26201	153	17	robot	robot	NOUN
ajst-26201	153	18	's	's	PART
ajst-26201	153	19	power	power	NOUN
ajst-26201	153	20	supply	supply	NOUN
ajst-26201	153	21	by	by	ADP
ajst-26201	153	22	repeatedly	repeatedly	ADV
ajst-26201	153	23	turning	turn	VERB
ajst-26201	153	24	on	on	ADP
ajst-26201	153	25	and	and	CCONJ
ajst-26201	153	26	off	off	ADP
ajst-26201	153	27	the	the	DET
ajst-26201	153	28	power	power	NOUN
ajst-26201	153	29	supply	supply	NOUN
ajst-26201	153	30	.	.	PUNCT
ajst-26201	154	1	(	(	PUNCT
ajst-26201	154	2	3	3	X
ajst-26201	154	3	)	)	PUNCT
ajst-26201	154	4	esd	esd	NOUN
ajst-26201	154	5	and	and	CCONJ
ajst-26201	154	6	eft	eft	PROPN
ajst-26201	154	7	testing	testing	NOUN
ajst-26201	154	8	:	:	PUNCT
ajst-26201	154	9	by	by	ADP
ajst-26201	154	10	using	use	VERB
ajst-26201	154	11	various	various	ADJ
ajst-26201	154	12	interference	interference	NOUN
ajst-26201	154	13	devices	device	NOUN
ajst-26201	154	14	to	to	PART
ajst-26201	154	15	simulate	simulate	VERB
ajst-26201	154	16	and	and	CCONJ
ajst-26201	154	17	generate	generate	VERB
ajst-26201	154	18	disturbance	disturbance	NOUN
ajst-26201	154	19	signals	signal	NOUN
ajst-26201	154	20	,	,	PUNCT
ajst-26201	154	21	which	which	PRON
ajst-26201	154	22	directly	directly	ADV
ajst-26201	154	23	affect	affect	VERB
ajst-26201	154	24	the	the	DET
ajst-26201	154	25	operation	operation	NOUN
ajst-26201	154	26	of	of	ADP
ajst-26201	154	27	the	the	DET
ajst-26201	154	28	microcontroller	microcontroller	NOUN
ajst-26201	154	29	system	system	NOUN
ajst-26201	154	30	,	,	PUNCT
ajst-26201	154	31	the	the	DET
ajst-26201	154	32	reliability	reliability	NOUN
ajst-26201	154	33	of	of	ADP
ajst-26201	154	34	the	the	DET
ajst-26201	154	35	microcontroller	microcontroller	NOUN
ajst-26201	154	36	system	system	NOUN
ajst-26201	154	37	can	can	AUX
ajst-26201	154	38	be	be	AUX
ajst-26201	154	39	tested	test	VERB
ajst-26201	154	40	.	.	PUNCT
ajst-26201	155	1	for	for	ADP
ajst-26201	155	2	example	example	NOUN
ajst-26201	155	3	,	,	PUNCT
ajst-26201	155	4	classical	classical	ADJ
ajst-26201	155	5	simulators	simulator	NOUN
ajst-26201	155	6	are	be	AUX
ajst-26201	155	7	used	use	VERB
ajst-26201	155	8	to	to	PART
ajst-26201	155	9	generate	generate	VERB
ajst-26201	155	10	interference	interference	NOUN
ajst-26201	155	11	signals	signal	NOUN
ajst-26201	155	12	when	when	SCONJ
ajst-26201	155	13	detecting	detect	VERB
ajst-26201	155	14	anti	anti	ADJ
ajst-26201	155	15	-	-	ADJ
ajst-26201	155	16	static	static	ADJ
ajst-26201	155	17	esd	esd	NOUN
ajst-26201	155	18	capabilities	capability	NOUN
ajst-26201	155	19	;	;	PUNCT
ajst-26201	155	20	detecting	detect	VERB
ajst-26201	155	21	eft	eft	NOUN
ajst-26201	155	22	through	through	ADP
ajst-26201	155	23	high	high	ADJ
ajst-26201	155	24	-	-	PUNCT
ajst-26201	155	25	speed	speed	NOUN
ajst-26201	155	26	antiinterference	antiinterference	NOUN
ajst-26201	155	27	will	will	AUX
ajst-26201	155	28	use	use	VERB
ajst-26201	155	29	spike	spike	ADJ
ajst-26201	155	30	noise	noise	NOUN
ajst-26201	155	31	simulation	simulation	NOUN
ajst-26201	155	32	to	to	PART
ajst-26201	155	33	generate	generate	VERB
ajst-26201	155	34	interference	interference	NOUN
ajst-26201	155	35	signals	signal	NOUN
ajst-26201	155	36	,	,	PUNCT
ajst-26201	155	37	etc	etc	X
ajst-26201	155	38	.	.	X
ajst-26201	156	1	(	(	PUNCT
ajst-26201	156	2	4	4	X
ajst-26201	156	3	)	)	PUNCT
ajst-26201	156	4	testing	testing	NOUN
ajst-26201	156	5	instruments	instrument	NOUN
ajst-26201	156	6	:	:	PUNCT
ajst-26201	156	7	measurements	measurement	NOUN
ajst-26201	156	8	are	be	AUX
ajst-26201	156	9	made	make	VERB
ajst-26201	156	10	using	use	VERB
ajst-26201	156	11	electronic	electronic	ADJ
ajst-26201	156	12	signal	signal	NOUN
ajst-26201	156	13	generators	generator	NOUN
ajst-26201	156	14	,	,	PUNCT
ajst-26201	156	15	multimeters	multimeter	NOUN
ajst-26201	156	16	,	,	PUNCT
ajst-26201	156	17	oscilloscopes	oscilloscope	NOUN
ajst-26201	156	18	,	,	PUNCT
ajst-26201	156	19	dc	dc	PROPN
ajst-26201	156	20	stabilized	stabilize	VERB
ajst-26201	156	21	power	power	NOUN
ajst-26201	156	22	supplies	supply	NOUN
ajst-26201	156	23	,	,	PUNCT
ajst-26201	156	24	and	and	CCONJ
ajst-26201	156	25	other	other	ADJ
ajst-26201	156	26	instruments	instrument	NOUN
ajst-26201	156	27	.	.	PUNCT
ajst-26201	157	1	(	(	PUNCT
ajst-26201	157	2	5	5	X
ajst-26201	157	3	)	)	PUNCT
ajst-26201	157	4	testing	testing	NOUN
ajst-26201	157	5	method	method	NOUN
ajst-26201	157	6	:	:	PUNCT
ajst-26201	157	7	use	use	VERB
ajst-26201	157	8	a	a	DET
ajst-26201	157	9	multimeter	multimeter	NOUN
ajst-26201	157	10	to	to	PART
ajst-26201	157	11	measure	measure	VERB
ajst-26201	157	12	parameters	parameter	NOUN
ajst-26201	157	13	such	such	ADJ
ajst-26201	157	14	as	as	ADP
ajst-26201	157	15	voltage	voltage	NOUN
ajst-26201	157	16	,	,	PUNCT
ajst-26201	157	17	current	current	ADJ
ajst-26201	157	18	,	,	PUNCT
ajst-26201	157	19	forward	forward	ADV
ajst-26201	157	20	and	and	CCONJ
ajst-26201	157	21	reverse	reverse	ADJ
ajst-26201	157	22	resistance	resistance	NOUN
ajst-26201	157	23	,	,	PUNCT
ajst-26201	157	24	and	and	CCONJ
ajst-26201	157	25	transistor	transistor	NOUN
ajst-26201	157	26	operating	operate	VERB
ajst-26201	157	27	status	status	NOUN
ajst-26201	157	28	of	of	ADP
ajst-26201	157	29	the	the	DET
ajst-26201	157	30	robot	robot	NOUN
ajst-26201	157	31	during	during	ADP
ajst-26201	157	32	operation	operation	NOUN
ajst-26201	157	33	;	;	PUNCT
ajst-26201	157	34	the	the	DET
ajst-26201	157	35	signal	signal	ADJ
ajst-26201	157	36	waveform	waveform	NOUN
ajst-26201	157	37	is	be	AUX
ajst-26201	157	38	tested	test	VERB
ajst-26201	157	39	using	use	VERB
ajst-26201	157	40	an	an	DET
ajst-26201	157	41	oscilloscope	oscilloscope	NOUN
ajst-26201	157	42	,	,	PUNCT
ajst-26201	157	43	and	and	CCONJ
ajst-26201	157	44	the	the	DET
ajst-26201	157	45	signal	signal	NOUN
ajst-26201	157	46	is	be	AUX
ajst-26201	157	47	generated	generate	VERB
ajst-26201	157	48	by	by	ADP
ajst-26201	157	49	a	a	DET
ajst-26201	157	50	signal	signal	ADJ
ajst-26201	157	51	generator	generator	NOUN
ajst-26201	157	52	to	to	PART
ajst-26201	157	53	simulate	simulate	VERB
ajst-26201	157	54	the	the	DET
ajst-26201	157	55	signals	signal	NOUN
ajst-26201	157	56	formed	form	VERB
ajst-26201	157	57	by	by	ADP
ajst-26201	157	58	various	various	ADJ
ajst-26201	157	59	hardware	hardware	NOUN
ajst-26201	157	60	circuits	circuit	NOUN
ajst-26201	157	61	and	and	CCONJ
ajst-26201	157	62	sensor	sensor	NOUN
ajst-26201	157	63	circuits	circuit	NOUN
ajst-26201	157	64	,	,	PUNCT
ajst-26201	157	65	or	or	CCONJ
ajst-26201	157	66	to	to	PART
ajst-26201	157	67	detect	detect	VERB
ajst-26201	157	68	the	the	DET
ajst-26201	157	69	signals	signal	NOUN
ajst-26201	157	70	formed	form	VERB
ajst-26201	157	71	by	by	ADP
ajst-26201	157	72	them	they	PRON
ajst-26201	157	73	;	;	PUNCT
ajst-26201	157	74	charge	charge	VERB
ajst-26201	157	75	each	each	DET
ajst-26201	157	76	system	system	NOUN
ajst-26201	157	77	under	under	ADP
ajst-26201	157	78	test	test	NOUN
ajst-26201	157	79	with	with	ADP
ajst-26201	157	80	a	a	DET
ajst-26201	157	81	dc	dc	PROPN
ajst-26201	157	82	stabilized	stabilize	VERB
ajst-26201	157	83	power	power	NOUN
ajst-26201	157	84	supply	supply	NOUN
ajst-26201	157	85	;	;	PUNCT
ajst-26201	157	86	detect	detect	VERB
ajst-26201	157	87	the	the	DET
ajst-26201	157	88	various	various	ADJ
ajst-26201	157	89	modules	module	NOUN
ajst-26201	157	90	of	of	ADP
ajst-26201	157	91	the	the	DET
ajst-26201	157	92	robot	robot	NOUN
ajst-26201	157	93	.	.	PUNCT
ajst-26201	158	1	the	the	DET
ajst-26201	158	2	battery	battery	NOUN
ajst-26201	158	3	voltage	voltage	NOUN
ajst-26201	158	4	detection	detection	NOUN
ajst-26201	158	5	uses	use	VERB
ajst-26201	158	6	keil	keil	PROPN
ajst-26201	158	7	software	software	NOUN
ajst-26201	158	8	to	to	PART
ajst-26201	158	9	start	start	VERB
ajst-26201	158	10	the	the	DET
ajst-26201	158	11	"	"	PUNCT
ajst-26201	158	12	check	check	NOUN
ajst-26201	158	13	"	"	PUNCT
ajst-26201	158	14	file	file	NOUN
ajst-26201	158	15	located	locate	VERB
ajst-26201	158	16	in	in	ADP
ajst-26201	158	17	the	the	DET
ajst-26201	158	18	"	"	PUNCT
ajst-26201	158	19	battery	battery	NOUN
ajst-26201	158	20	voltage	voltage	NOUN
ajst-26201	158	21	detection	detection	NOUN
ajst-26201	158	22	program	program	NOUN
ajst-26201	158	23	"	"	PUNCT
ajst-26201	158	24	and	and	CCONJ
ajst-26201	158	25	generate	generate	VERB
ajst-26201	158	26	a	a	DET
ajst-26201	158	27	check	check	NOUN
ajst-26201	158	28	.	.	PUNCT
ajst-26201	159	1	hex	hex	PROPN
ajst-26201	159	2	target	target	NOUN
ajst-26201	159	3	file	file	NOUN
ajst-26201	159	4	.	.	PUNCT
ajst-26201	160	1	turn	turn	VERB
ajst-26201	160	2	on	on	ADP
ajst-26201	160	3	the	the	DET
ajst-26201	160	4	power	power	NOUN
ajst-26201	160	5	control	control	NOUN
ajst-26201	160	6	switch	switch	NOUN
ajst-26201	160	7	of	of	ADP
ajst-26201	160	8	the	the	DET
ajst-26201	160	9	intelligent	intelligent	ADJ
ajst-26201	160	10	robot	robot	NOUN
ajst-26201	160	11	,	,	PUNCT
ajst-26201	160	12	supply	supply	NOUN
ajst-26201	160	13	power	power	NOUN
ajst-26201	160	14	to	to	ADP
ajst-26201	160	15	the	the	DET
ajst-26201	160	16	robot	robot	NOUN
ajst-26201	160	17	,	,	PUNCT
ajst-26201	160	18	and	and	CCONJ
ajst-26201	160	19	use	use	VERB
ajst-26201	160	20	stc	stc	NOUN
ajst-26201	160	21	download	download	NOUN
ajst-26201	160	22	software	software	NOUN
ajst-26201	160	23	to	to	PART
ajst-26201	160	24	download	download	VERB
ajst-26201	160	25	the	the	DET
ajst-26201	160	26	speed	speed	NOUN
ajst-26201	160	27	.	.	PUNCT
ajst-26201	161	1	hex	hex	PROPN
ajst-26201	161	2	file	file	NOUN
ajst-26201	161	3	to	to	ADP
ajst-26201	161	4	stc89c52rc	stc89c52rc	VERB
ajst-26201	161	5	.	.	PUNCT
ajst-26201	162	1	after	after	ADP
ajst-26201	162	2	downloading	download	VERB
ajst-26201	162	3	,	,	PUNCT
ajst-26201	162	4	let	let	VERB
ajst-26201	162	5	the	the	DET
ajst-26201	162	6	two	two	NUM
ajst-26201	162	7	wheels	wheel	NOUN
ajst-26201	162	8	of	of	ADP
ajst-26201	162	9	the	the	DET
ajst-26201	162	10	robot	robot	NOUN
ajst-26201	162	11	leave	leave	VERB
ajst-26201	162	12	the	the	DET
ajst-26201	162	13	ground	ground	NOUN
ajst-26201	162	14	,	,	PUNCT
ajst-26201	162	15	and	and	CCONJ
ajst-26201	162	16	after	after	ADP
ajst-26201	162	17	turning	turn	VERB
ajst-26201	162	18	on	on	ADP
ajst-26201	162	19	the	the	DET
ajst-26201	162	20	power	power	NOUN
ajst-26201	162	21	switch	switch	NOUN
ajst-26201	162	22	,	,	PUNCT
ajst-26201	162	23	observe	observe	VERB
ajst-26201	162	24	the	the	DET
ajst-26201	162	25	rotation	rotation	NOUN
ajst-26201	162	26	status	status	NOUN
ajst-26201	162	27	of	of	ADP
ajst-26201	162	28	the	the	DET
ajst-26201	162	29	robot	robot	NOUN
ajst-26201	162	30	's	's	PART
ajst-26201	162	31	wheels	wheel	NOUN
ajst-26201	162	32	.	.	PUNCT
ajst-26201	163	1	there	there	PRON
ajst-26201	163	2	is	be	VERB
ajst-26201	163	3	an	an	DET
ajst-26201	163	4	infrared	infrared	ADJ
ajst-26201	163	5	remote	remote	ADJ
ajst-26201	163	6	control	control	NOUN
ajst-26201	163	7	interface	interface	NOUN
ajst-26201	163	8	installed	instal	VERB
ajst-26201	163	9	above	above	ADP
ajst-26201	163	10	the	the	DET
ajst-26201	163	11	intelligent	intelligent	ADJ
ajst-26201	163	12	robot	robot	NOUN
ajst-26201	163	13	,	,	PUNCT
ajst-26201	163	14	which	which	PRON
ajst-26201	163	15	can	can	AUX
ajst-26201	163	16	receive	receive	VERB
ajst-26201	163	17	commands	command	NOUN
ajst-26201	163	18	from	from	ADP
ajst-26201	163	19	the	the	DET
ajst-26201	163	20	remote	remote	ADJ
ajst-26201	163	21	control	control	NOUN
ajst-26201	163	22	.	.	PUNCT
ajst-26201	164	1	when	when	SCONJ
ajst-26201	164	2	the	the	DET
ajst-26201	164	3	robot	robot	NOUN
ajst-26201	164	4	is	be	AUX
ajst-26201	164	5	adjusted	adjust	VERB
ajst-26201	164	6	to	to	PART
ajst-26201	164	7	mode	mode	VERB
ajst-26201	164	8	3	3	NUM
ajst-26201	164	9	,	,	PUNCT
ajst-26201	164	10	it	it	PRON
ajst-26201	164	11	is	be	AUX
ajst-26201	164	12	in	in	ADP
ajst-26201	164	13	remote	remote	ADJ
ajst-26201	164	14	control	control	NOUN
ajst-26201	164	15	mode	mode	NOUN
ajst-26201	164	16	and	and	CCONJ
ajst-26201	164	17	the	the	DET
ajst-26201	164	18	robot	robot	NOUN
ajst-26201	164	19	motor	motor	NOUN
ajst-26201	164	20	starts	start	VERB
ajst-26201	164	21	to	to	PART
ajst-26201	164	22	operate	operate	VERB
ajst-26201	164	23	.	.	PUNCT
ajst-26201	165	1	then	then	ADV
ajst-26201	165	2	start	start	VERB
ajst-26201	165	3	testing	test	VERB
ajst-26201	165	4	the	the	DET
ajst-26201	165	5	execution	execution	NOUN
ajst-26201	165	6	of	of	ADP
ajst-26201	165	7	the	the	DET
ajst-26201	165	8	robot	robot	NOUN
ajst-26201	165	9	's	's	PART
ajst-26201	165	10	four	four	NUM
ajst-26201	165	11	commands	command	NOUN
ajst-26201	165	12	:	:	PUNCT
ajst-26201	165	13	forward	forward	ADV
ajst-26201	165	14	,	,	PUNCT
ajst-26201	165	15	backward	backward	ADV
ajst-26201	165	16	,	,	PUNCT
ajst-26201	165	17	left	left	ADJ
ajst-26201	165	18	,	,	PUNCT
ajst-26201	165	19	and	and	CCONJ
ajst-26201	165	20	right	right	INTJ
ajst-26201	165	21	.	.	PUNCT
ajst-26201	166	1	adjust	adjust	VERB
ajst-26201	166	2	the	the	DET
ajst-26201	166	3	robot	robot	NOUN
ajst-26201	166	4	to	to	PART
ajst-26201	166	5	mode	mode	VERB
ajst-26201	166	6	3	3	NUM
ajst-26201	166	7	and	and	CCONJ
ajst-26201	166	8	perform	perform	VERB
ajst-26201	166	9	forward	forward	ADV
ajst-26201	166	10	,	,	PUNCT
ajst-26201	166	11	backward	backward	ADV
ajst-26201	166	12	,	,	PUNCT
ajst-26201	166	13	left	left	ADJ
ajst-26201	166	14	,	,	PUNCT
ajst-26201	166	15	and	and	CCONJ
ajst-26201	166	16	right	right	ADJ
ajst-26201	166	17	steering	steering	NOUN
ajst-26201	166	18	operations	operation	NOUN
ajst-26201	166	19	.	.	PUNCT
ajst-26201	167	1	4.2	4.2	NUM
ajst-26201	167	2	.	.	X
ajst-26201	167	3	tracking	tracking	NOUN
ajst-26201	167	4	and	and	CCONJ
ajst-26201	167	5	obstacle	obstacle	NOUN
ajst-26201	167	6	avoidance	avoidance	NOUN
ajst-26201	167	7	test	test	NOUN
ajst-26201	167	8	the	the	DET
ajst-26201	167	9	front	front	NOUN
ajst-26201	167	10	of	of	ADP
ajst-26201	167	11	the	the	DET
ajst-26201	167	12	intelligent	intelligent	ADJ
ajst-26201	167	13	robot	robot	NOUN
ajst-26201	167	14	is	be	AUX
ajst-26201	167	15	equipped	equip	VERB
ajst-26201	167	16	with	with	ADP
ajst-26201	167	17	an	an	DET
ajst-26201	167	18	infrared	infrared	ADJ
ajst-26201	167	19	tracking	tracking	NOUN
ajst-26201	167	20	module	module	NOUN
ajst-26201	167	21	.	.	PUNCT
ajst-26201	168	1	when	when	SCONJ
ajst-26201	168	2	the	the	DET
ajst-26201	168	3	control	control	NOUN
ajst-26201	168	4	mode	mode	NOUN
ajst-26201	168	5	of	of	ADP
ajst-26201	168	6	the	the	DET
ajst-26201	168	7	robot	robot	NOUN
ajst-26201	168	8	is	be	AUX
ajst-26201	168	9	adjusted	adjust	VERB
ajst-26201	168	10	to	to	ADP
ajst-26201	168	11	1	1	NUM
ajst-26201	168	12	,	,	PUNCT
ajst-26201	168	13	the	the	DET
ajst-26201	168	14	robot	robot	NOUN
ajst-26201	168	15	will	will	AUX
ajst-26201	168	16	automatically	automatically	ADV
ajst-26201	168	17	perform	perform	VERB
ajst-26201	168	18	tracking	tracking	NOUN
ajst-26201	168	19	.	.	PUNCT
ajst-26201	169	1	the	the	DET
ajst-26201	169	2	robot	robot	NOUN
ajst-26201	169	3	's	's	PART
ajst-26201	169	4	tracking	tracking	NOUN
ajst-26201	169	5	probe	probe	NOUN
ajst-26201	169	6	will	will	AUX
ajst-26201	169	7	automatically	automatically	ADV
ajst-26201	169	8	search	search	VERB
ajst-26201	169	9	for	for	ADP
ajst-26201	169	10	the	the	DET
ajst-26201	169	11	black	black	ADJ
ajst-26201	169	12	tracking	tracking	NOUN
ajst-26201	169	13	belt	belt	NOUN
ajst-26201	169	14	around	around	ADP
ajst-26201	169	15	the	the	DET
ajst-26201	169	16	robot	robot	NOUN
ajst-26201	169	17	and	and	CCONJ
ajst-26201	169	18	perform	perform	VERB
ajst-26201	169	19	tracking	track	VERB
ajst-26201	169	20	operations	operation	NOUN
ajst-26201	169	21	based	base	VERB
ajst-26201	169	22	on	on	ADP
ajst-26201	169	23	the	the	DET
ajst-26201	169	24	tracking	tracking	NOUN
ajst-26201	169	25	belt	belt	NOUN
ajst-26201	169	26	.	.	PUNCT
ajst-26201	170	1	place	place	VERB
ajst-26201	170	2	the	the	DET
ajst-26201	170	3	robot	robot	NOUN
ajst-26201	170	4	adjusted	adjust	VERB
ajst-26201	170	5	to	to	PART
ajst-26201	170	6	mode	mode	VERB
ajst-26201	170	7	1	1	NUM
ajst-26201	170	8	on	on	ADP
ajst-26201	170	9	the	the	DET
ajst-26201	170	10	black	black	ADJ
ajst-26201	170	11	tracking	tracking	NOUN
ajst-26201	170	12	belt	belt	NOUN
ajst-26201	170	13	and	and	CCONJ
ajst-26201	170	14	observe	observe	VERB
ajst-26201	170	15	whether	whether	SCONJ
ajst-26201	170	16	the	the	DET
ajst-26201	170	17	vehicle	vehicle	NOUN
ajst-26201	170	18	is	be	AUX
ajst-26201	170	19	performing	perform	VERB
ajst-26201	170	20	tracking	tracking	NOUN
ajst-26201	170	21	operations	operation	NOUN
ajst-26201	170	22	.	.	PUNCT
ajst-26201	171	1	adjust	adjust	VERB
ajst-26201	171	2	the	the	DET
ajst-26201	171	3	robot	robot	NOUN
ajst-26201	171	4	to	to	PART
ajst-26201	171	5	mode	mode	VERB
ajst-26201	171	6	1	1	NUM
ajst-26201	171	7	,	,	PUNCT
ajst-26201	171	8	place	place	VERB
ajst-26201	171	9	the	the	DET
ajst-26201	171	10	robot	robot	NOUN
ajst-26201	171	11	on	on	ADP
ajst-26201	171	12	the	the	DET
ajst-26201	171	13	tracking	tracking	NOUN
ajst-26201	171	14	belt	belt	NOUN
ajst-26201	171	15	,	,	PUNCT
ajst-26201	171	16	and	and	CCONJ
ajst-26201	171	17	conduct	conduct	VERB
ajst-26201	171	18	a	a	DET
ajst-26201	171	19	tracking	tracking	NOUN
ajst-26201	171	20	test	test	NOUN
ajst-26201	171	21	.	.	PUNCT
ajst-26201	172	1	there	there	PRON
ajst-26201	172	2	are	be	VERB
ajst-26201	172	3	four	four	NUM
ajst-26201	172	4	infrared	infrared	ADJ
ajst-26201	172	5	sensors	sensor	NOUN
ajst-26201	172	6	installed	instal	VERB
ajst-26201	172	7	on	on	ADP
ajst-26201	172	8	the	the	DET
ajst-26201	172	9	front	front	NOUN
ajst-26201	172	10	of	of	ADP
ajst-26201	172	11	the	the	DET
ajst-26201	172	12	intelligent	intelligent	ADJ
ajst-26201	172	13	tracking	tracking	NOUN
ajst-26201	172	14	robot	robot	NOUN
ajst-26201	172	15	.	.	PUNCT
ajst-26201	173	1	when	when	SCONJ
ajst-26201	173	2	the	the	DET
ajst-26201	173	3	robot	robot	NOUN
ajst-26201	173	4	is	be	AUX
ajst-26201	173	5	adjusted	adjust	VERB
ajst-26201	173	6	to	to	PART
ajst-26201	173	7	mode	mode	VERB
ajst-26201	173	8	2	2	NUM
ajst-26201	173	9	,	,	PUNCT
ajst-26201	173	10	it	it	PRON
ajst-26201	173	11	will	will	AUX
ajst-26201	173	12	automatically	automatically	ADV
ajst-26201	173	13	move	move	VERB
ajst-26201	173	14	forward	forward	ADV
ajst-26201	173	15	to	to	PART
ajst-26201	173	16	avoid	avoid	VERB
ajst-26201	173	17	obstacles	obstacle	NOUN
ajst-26201	173	18	.	.	PUNCT
ajst-26201	174	1	when	when	SCONJ
ajst-26201	174	2	the	the	DET
ajst-26201	174	3	robot	robot	NOUN
ajst-26201	174	4	is	be	AUX
ajst-26201	174	5	adjusted	adjust	VERB
ajst-26201	174	6	to	to	PART
ajst-26201	174	7	mode	mode	VERB
ajst-26201	174	8	2	2	NUM
ajst-26201	174	9	,	,	PUNCT
ajst-26201	174	10	it	it	PRON
ajst-26201	174	11	moves	move	VERB
ajst-26201	174	12	forward	forward	ADV
ajst-26201	174	13	and	and	CCONJ
ajst-26201	174	14	adds	add	VERB
ajst-26201	174	15	obstacles	obstacle	NOUN
ajst-26201	174	16	in	in	ADP
ajst-26201	174	17	front	front	NOUN
ajst-26201	174	18	of	of	ADP
ajst-26201	174	19	it	it	PRON
ajst-26201	174	20	to	to	PART
ajst-26201	174	21	observe	observe	VERB
ajst-26201	174	22	whether	whether	SCONJ
ajst-26201	174	23	the	the	DET
ajst-26201	174	24	robot	robot	NOUN
ajst-26201	174	25	can	can	AUX
ajst-26201	174	26	successfully	successfully	ADV
ajst-26201	174	27	avoid	avoid	VERB
ajst-26201	174	28	obstacles	obstacle	NOUN
ajst-26201	174	29	.	.	PUNCT
ajst-26201	175	1	adjust	adjust	VERB
ajst-26201	175	2	the	the	DET
ajst-26201	175	3	robot	robot	NOUN
ajst-26201	175	4	to	to	PART
ajst-26201	175	5	mode	mode	VERB
ajst-26201	175	6	2	2	NUM
ajst-26201	175	7	,	,	PUNCT
ajst-26201	175	8	prevent	prevent	VERB
ajst-26201	175	9	obstacles	obstacle	NOUN
ajst-26201	175	10	on	on	ADP
ajst-26201	175	11	the	the	DET
ajst-26201	175	12	robot	robot	NOUN
ajst-26201	175	13	's	's	PART
ajst-26201	175	14	path	path	NOUN
ajst-26201	175	15	,	,	PUNCT
ajst-26201	175	16	and	and	CCONJ
ajst-26201	175	17	conduct	conduct	VERB
ajst-26201	175	18	obstacle	obstacle	NOUN
ajst-26201	175	19	avoidance	avoidance	NOUN
ajst-26201	175	20	tests	test	NOUN
ajst-26201	175	21	.	.	PUNCT
ajst-26201	176	1	4.3	4.3	NUM
ajst-26201	176	2	.	.	PUNCT
ajst-26201	176	3	disinfection	disinfection	NOUN
ajst-26201	176	4	test	test	NOUN
ajst-26201	176	5	bacterial	bacterial	ADJ
ajst-26201	176	6	count	count	NOUN
ajst-26201	176	7	detected	detect	VERB
ajst-26201	176	8	after	after	ADP
ajst-26201	176	9	disinfection	disinfection	NOUN
ajst-26201	176	10	:	:	PUNCT
ajst-26201	176	11	immediately	immediately	ADV
ajst-26201	176	12	after	after	SCONJ
ajst-26201	176	13	disinfection	disinfection	NOUN
ajst-26201	176	14	is	be	AUX
ajst-26201	176	15	completed	complete	VERB
ajst-26201	176	16	,	,	PUNCT
ajst-26201	176	17	culture	culture	NOUN
ajst-26201	176	18	dishes	dish	NOUN
ajst-26201	176	19	are	be	AUX
ajst-26201	176	20	placed	place	VERB
ajst-26201	176	21	at	at	ADP
ajst-26201	176	22	the	the	DET
ajst-26201	176	23	monitoring	monitoring	NOUN
ajst-26201	176	24	desk	desk	NOUN
ajst-26201	176	25	,	,	PUNCT
ajst-26201	176	26	treatment	treatment	NOUN
ajst-26201	176	27	desk	desk	NOUN
ajst-26201	176	28	,	,	PUNCT
ajst-26201	176	29	and	and	CCONJ
ajst-26201	176	30	bedside	bedside	NOUN
ajst-26201	176	31	table	table	NOUN
ajst-26201	176	32	in	in	ADP
ajst-26201	176	33	each	each	DET
ajst-26201	176	34	ward	ward	NOUN
ajst-26201	176	35	for	for	ADP
ajst-26201	176	36	air	air	NOUN
ajst-26201	176	37	sampling	sampling	NOUN
ajst-26201	176	38	.	.	PUNCT
ajst-26201	177	1	after	after	ADP
ajst-26201	177	2	15	15	NUM
ajst-26201	177	3	minutes	minute	NOUN
ajst-26201	177	4	,	,	PUNCT
ajst-26201	177	5	they	they	PRON
ajst-26201	177	6	are	be	AUX
ajst-26201	177	7	collected	collect	VERB
ajst-26201	177	8	and	and	CCONJ
ajst-26201	177	9	sent	send	VERB
ajst-26201	177	10	for	for	ADP
ajst-26201	177	11	testing	testing	NOUN
ajst-26201	177	12	;	;	PUNCT
ajst-26201	177	13	three	three	NUM
ajst-26201	177	14	points	point	NOUN
ajst-26201	177	15	were	be	AUX
ajst-26201	177	16	randomly	randomly	ADV
ajst-26201	177	17	selected	select	VERB
ajst-26201	177	18	from	from	ADP
ajst-26201	177	19	the	the	DET
ajst-26201	177	20	monitoring	monitoring	NOUN
ajst-26201	177	21	desk	desk	NOUN
ajst-26201	177	22	,	,	PUNCT
ajst-26201	177	23	treatment	treatment	NOUN
ajst-26201	177	24	desk	desk	NOUN
ajst-26201	177	25	,	,	PUNCT
ajst-26201	177	26	hospital	hospital	NOUN
ajst-26201	177	27	bed	bed	NOUN
ajst-26201	177	28	,	,	PUNCT
ajst-26201	177	29	and	and	CCONJ
ajst-26201	177	30	bedside	bedside	NOUN
ajst-26201	177	31	table	table	NOUN
ajst-26201	177	32	in	in	ADP
ajst-26201	177	33	each	each	DET
ajst-26201	177	34	ward	ward	NOUN
ajst-26201	177	35	for	for	ADP
ajst-26201	177	36	surface	surface	NOUN
ajst-26201	177	37	sampling	sampling	NOUN
ajst-26201	177	38	using	use	VERB
ajst-26201	177	39	throat	throat	NOUN
ajst-26201	177	40	swab	swab	NOUN
ajst-26201	177	41	wiping	wipe	VERB
ajst-26201	177	42	.	.	PUNCT
ajst-26201	178	1	the	the	DET
ajst-26201	178	2	front	front	ADJ
ajst-26201	178	3	section	section	NOUN
ajst-26201	178	4	of	of	ADP
ajst-26201	178	5	the	the	DET
ajst-26201	178	6	throat	throat	NOUN
ajst-26201	178	7	swab	swab	NOUN
ajst-26201	178	8	was	be	AUX
ajst-26201	178	9	placed	place	VERB
ajst-26201	178	10	in	in	ADP
ajst-26201	178	11	nutrient	nutrient	ADJ
ajst-26201	178	12	broth	broth	NOUN
ajst-26201	178	13	and	and	CCONJ
ajst-26201	178	14	immediately	immediately	ADV
ajst-26201	178	15	sent	send	VERB
ajst-26201	178	16	for	for	ADP
ajst-26201	178	17	testing	testing	NOUN
ajst-26201	178	18	.	.	PUNCT
ajst-26201	179	1	the	the	DET
ajst-26201	179	2	disinfection	disinfection	NOUN
ajst-26201	179	3	qualification	qualification	NOUN
ajst-26201	179	4	rate	rate	NOUN
ajst-26201	179	5	is	be	AUX
ajst-26201	179	6	based	base	VERB
ajst-26201	179	7	on	on	ADP
ajst-26201	179	8	the	the	DET
ajst-26201	179	9	100000	100000	NUM
ajst-26201	179	10	level	level	NOUN
ajst-26201	179	11	purification	purification	NOUN
ajst-26201	179	12	standard	standard	NOUN
ajst-26201	179	13	,	,	PUNCT
ajst-26201	179	14	and	and	CCONJ
ajst-26201	179	15	the	the	DET
ajst-26201	179	16	air	air	NOUN
ajst-26201	179	17	monitoring	monitoring	NOUN
ajst-26201	179	18	qualification	qualification	NOUN
ajst-26201	179	19	standard	standard	NOUN
ajst-26201	179	20	is	be	AUX
ajst-26201	179	21	that	that	SCONJ
ajst-26201	179	22	the	the	DET
ajst-26201	179	23	bacterial	bacterial	ADJ
ajst-26201	179	24	count	count	NOUN
ajst-26201	179	25	is	be	AUX
ajst-26201	179	26	4	4	NUM
ajst-26201	179	27	cfu	cfu	NOUN
ajst-26201	179	28	;	;	PUNCT
ajst-26201	179	29	the	the	DET
ajst-26201	179	30	qualified	qualified	ADJ
ajst-26201	179	31	standard	standard	NOUN
ajst-26201	179	32	for	for	ADP
ajst-26201	179	33	surface	surface	NOUN
ajst-26201	179	34	disinfection	disinfection	NOUN
ajst-26201	179	35	of	of	ADP
ajst-26201	179	36	objects	object	NOUN
ajst-26201	179	37	is	be	AUX
ajst-26201	179	38	that	that	SCONJ
ajst-26201	179	39	the	the	DET
ajst-26201	179	40	total	total	ADJ
ajst-26201	179	41	number	number	NOUN
ajst-26201	179	42	of	of	ADP
ajst-26201	179	43	bacterial	bacterial	ADJ
ajst-26201	179	44	colonies	colony	NOUN
ajst-26201	179	45	should	should	AUX
ajst-26201	179	46	not	not	PART
ajst-26201	179	47	exceed	exceed	VERB
ajst-26201	179	48	5	5	NUM
ajst-26201	179	49	cfu·cm-2	cfu·cm-2	NOUN
ajst-26201	179	50	,	,	PUNCT
ajst-26201	179	51	and	and	CCONJ
ajst-26201	179	52	pathogenic	pathogenic	ADJ
ajst-26201	179	53	microorganisms	microorganism	NOUN
ajst-26201	179	54	should	should	AUX
ajst-26201	179	55	not	not	PART
ajst-26201	179	56	be	be	AUX
ajst-26201	179	57	detected	detect	VERB
ajst-26201	179	58	.	.	PUNCT
ajst-26201	180	1	statistical	statistical	ADJ
ajst-26201	180	2	methods	method	NOUN
ajst-26201	180	3	were	be	AUX
ajst-26201	180	4	used	use	VERB
ajst-26201	180	5	for	for	ADP
ajst-26201	180	6	data	datum	NOUN
ajst-26201	180	7	analysis	analysis	NOUN
ajst-26201	180	8	using	use	VERB
ajst-26201	180	9	spss	spss	PROPN
ajst-26201	180	10	22.0	22.0	NUM
ajst-26201	180	11	software	software	NOUN
ajst-26201	180	12	.	.	PUNCT
ajst-26201	181	1	quantitative	quantitative	ADJ
ajst-26201	181	2	data	datum	NOUN
ajst-26201	181	3	were	be	AUX
ajst-26201	181	4	expressed	express	VERB
ajst-26201	181	5	as	as	ADP
ajst-26201	181	6	mean	mean	NOUN
ajst-26201	181	7	±	±	NUM
ajst-26201	181	8	standard	standard	ADJ
ajst-26201	181	9	deviation	deviation	NOUN
ajst-26201	181	10	(	(	PUNCT
ajst-26201	181	11			NOUN
ajst-26201	181	12	±s	±s	NUM
ajst-26201	181	13	)	)	PUNCT
ajst-26201	181	14	and	and	CCONJ
ajst-26201	181	15	compared	compare	VERB
ajst-26201	181	16	using	use	VERB
ajst-26201	181	17	t	t	NOUN
ajst-26201	181	18	-	-	PUNCT
ajst-26201	181	19	test	test	NOUN
ajst-26201	181	20	;	;	PUNCT
ajst-26201	181	21	count	count	NOUN
ajst-26201	181	22	data	datum	NOUN
ajst-26201	181	23	is	be	AUX
ajst-26201	181	24	expressed	express	VERB
ajst-26201	181	25	in	in	ADP
ajst-26201	181	26	frequency	frequency	NOUN
ajst-26201	181	27	(	(	PUNCT
ajst-26201	181	28	n	n	CCONJ
ajst-26201	181	29	)	)	PUNCT
ajst-26201	181	30	and	and	CCONJ
ajst-26201	181	31	percentage	percentage	NOUN
ajst-26201	181	32	(	(	PUNCT
ajst-26201	181	33	%	%	NOUN
ajst-26201	181	34	)	)	PUNCT
ajst-26201	181	35	,	,	PUNCT
ajst-26201	181	36	and	and	CCONJ
ajst-26201	181	37	compared	compare	VERB
ajst-26201	181	38	using	use	VERB
ajst-26201	181	39	2x	2x	NUM
ajst-26201	181	40	tests	test	NOUN
ajst-26201	181	41	.	.	PUNCT
ajst-26201	182	1	p<0.05	p<0.05	NOUN
ajst-26201	182	2	indicates	indicate	VERB
ajst-26201	182	3	a	a	DET
ajst-26201	182	4	statistically	statistically	ADV
ajst-26201	182	5	significant	significant	ADJ
ajst-26201	182	6	difference	difference	NOUN
ajst-26201	182	7	.	.	PUNCT
ajst-26201	183	1	after	after	ADP
ajst-26201	183	2	disinfection	disinfection	NOUN
ajst-26201	183	3	using	use	VERB
ajst-26201	183	4	two	two	NUM
ajst-26201	183	5	different	different	ADJ
ajst-26201	183	6	methods	method	NOUN
ajst-26201	183	7	,	,	PUNCT
ajst-26201	183	8	the	the	DET
ajst-26201	183	9	surfaces	surface	NOUN
ajst-26201	183	10	and	and	CCONJ
ajst-26201	183	11	air	air	NOUN
ajst-26201	183	12	of	of	ADP
ajst-26201	183	13	two	two	NUM
ajst-26201	183	14	groups	group	NOUN
ajst-26201	183	15	of	of	ADP
ajst-26201	183	16	objects	object	NOUN
ajst-26201	183	17	were	be	AUX
ajst-26201	183	18	tested	test	VERB
ajst-26201	183	19	50	50	NUM
ajst-26201	183	20	times	time	NOUN
ajst-26201	183	21	each	each	PRON
ajst-26201	183	22	,	,	PUNCT
ajst-26201	183	23	with	with	ADP
ajst-26201	183	24	150	150	NUM
ajst-26201	183	25	samples	sample	NOUN
ajst-26201	183	26	collected	collect	VERB
ajst-26201	183	27	from	from	ADP
ajst-26201	183	28	each	each	DET
ajst-26201	183	29	group	group	NOUN
ajst-26201	183	30	.	.	PUNCT
ajst-26201	184	1	comparison	comparison	NOUN
ajst-26201	184	2	of	of	ADP
ajst-26201	184	3	disinfection	disinfection	NOUN
ajst-26201	184	4	results	result	NOUN
ajst-26201	184	5	between	between	ADP
ajst-26201	184	6	two	two	NUM
ajst-26201	184	7	disinfection	disinfection	NOUN
ajst-26201	184	8	methods	method	NOUN
ajst-26201	184	9	listed	list	VERB
ajst-26201	184	10	in	in	ADP
ajst-26201	184	11	table	table	NOUN
ajst-26201	184	12	1	1	NUM
ajst-26201	184	13	.	.	PUNCT
ajst-26201	185	1	the	the	DET
ajst-26201	185	2	qualified	qualified	ADJ
ajst-26201	185	3	disinfection	disinfection	NOUN
ajst-26201	185	4	rate	rate	NOUN
ajst-26201	185	5	of	of	ADP
ajst-26201	185	6	the	the	DET
ajst-26201	185	7	observation	observation	NOUN
ajst-26201	185	8	group	group	NOUN
ajst-26201	185	9	was	be	AUX
ajst-26201	185	10	higher	high	ADJ
ajst-26201	185	11	than	than	ADP
ajst-26201	185	12	that	that	PRON
ajst-26201	185	13	of	of	ADP
ajst-26201	185	14	the	the	DET
ajst-26201	185	15	control	control	NOUN
ajst-26201	185	16	group	group	NOUN
ajst-26201	185	17	,	,	PUNCT
ajst-26201	185	18	and	and	CCONJ
ajst-26201	185	19	the	the	DET
ajst-26201	185	20	difference	difference	NOUN
ajst-26201	185	21	was	be	AUX
ajst-26201	185	22	statistically	statistically	ADV
ajst-26201	185	23	significant	significant	ADJ
ajst-26201	185	24	(	(	PUNCT
ajst-26201	185	25	p<0.05	p<0.05	NOUN
ajst-26201	185	26	)	)	PUNCT
ajst-26201	185	27	.	.	PUNCT
ajst-26201	186	1	the	the	DET
ajst-26201	186	2	qualified	qualified	ADJ
ajst-26201	186	3	rate	rate	NOUN
ajst-26201	186	4	of	of	ADP
ajst-26201	186	5	air	air	NOUN
ajst-26201	186	6	disinfection	disinfection	NOUN
ajst-26201	186	7	in	in	ADP
ajst-26201	186	8	the	the	DET
ajst-26201	186	9	observation	observation	NOUN
ajst-26201	186	10	group	group	NOUN
ajst-26201	186	11	was	be	AUX
ajst-26201	186	12	higher	high	ADJ
ajst-26201	186	13	than	than	ADP
ajst-26201	186	14	that	that	PRON
ajst-26201	186	15	in	in	ADP
ajst-26201	186	16	the	the	DET
ajst-26201	186	17	control	control	NOUN
ajst-26201	186	18	group	group	NOUN
ajst-26201	186	19	,	,	PUNCT
ajst-26201	186	20	but	but	CCONJ
ajst-26201	186	21	the	the	DET
ajst-26201	186	22	difference	difference	NOUN
ajst-26201	186	23	was	be	AUX
ajst-26201	186	24	not	not	PART
ajst-26201	186	25	statistically	statistically	ADV
ajst-26201	186	26	significant	significant	ADJ
ajst-26201	186	27	(	(	PUNCT
ajst-26201	186	28	p=0.073	p=0.073	NOUN
ajst-26201	186	29	)	)	PUNCT
ajst-26201	186	30	.	.	PUNCT
ajst-26201	187	1	table	table	NOUN
ajst-26201	187	2	1	1	NUM
ajst-26201	187	3	.	.	PUNCT
ajst-26201	187	4	comparison	comparison	NOUN
ajst-26201	187	5	of	of	ADP
ajst-26201	187	6	disinfection	disinfection	NOUN
ajst-26201	187	7	results	result	NOUN
ajst-26201	187	8	between	between	ADP
ajst-26201	187	9	two	two	NUM
ajst-26201	187	10	disinfection	disinfection	NOUN
ajst-26201	187	11	methods	method	NOUN
ajst-26201	187	12	[	[	X
ajst-26201	187	13	n	n	X
ajst-26201	187	14	(	(	PUNCT
ajst-26201	187	15	%	%	NOUN
ajst-26201	187	16	)	)	PUNCT
ajst-26201	187	17	]	]	PUNCT
ajst-26201	187	18	group	group	NOUN
ajst-26201	187	19	number	number	NOUN
ajst-26201	187	20	of	of	ADP
ajst-26201	187	21	cases	case	NOUN
ajst-26201	187	22	qualified	qualified	ADJ
ajst-26201	187	23	rate	rate	NOUN
ajst-26201	187	24	of	of	ADP
ajst-26201	187	25	surface	surface	NOUN
ajst-26201	187	26	disinfection	disinfection	NOUN
ajst-26201	187	27	of	of	ADP
ajst-26201	187	28	objects	object	NOUN
ajst-26201	187	29	qualified	qualified	ADJ
ajst-26201	187	30	air	air	NOUN
ajst-26201	187	31	disinfection	disinfection	NOUN
ajst-26201	187	32	control	control	NOUN
ajst-26201	187	33	group	group	NOUN
ajst-26201	187	34	50	50	NUM
ajst-26201	187	35	46	46	NUM
ajst-26201	187	36	(	(	PUNCT
ajst-26201	187	37	92	92	NUM
ajst-26201	187	38	%	%	NOUN
ajst-26201	187	39	)	)	PUNCT
ajst-26201	187	40	47	47	NUM
ajst-26201	187	41	(	(	PUNCT
ajst-26201	187	42	94	94	NUM
ajst-26201	187	43	%	%	NOUN
ajst-26201	187	44	)	)	PUNCT
ajst-26201	187	45	observation	observation	NOUN
ajst-26201	187	46	group	group	NOUN
ajst-26201	187	47	50	50	NUM
ajst-26201	187	48	48	48	NUM
ajst-26201	187	49	(	(	PUNCT
ajst-26201	187	50	96	96	NUM
ajst-26201	187	51	%	%	NOUN
ajst-26201	187	52	)	)	PUNCT
ajst-26201	187	53	49	49	NUM
ajst-26201	187	54	(	(	PUNCT
ajst-26201	187	55	98	98	NUM
ajst-26201	187	56	%	%	NOUN
ajst-26201	187	57	)	)	PUNCT
ajst-26201	187	58	2x	2x	NUM
ajst-26201	187	59	63.12	63.12	NUM
ajst-26201	187	60	17.002	17.002	NUM
ajst-26201	187	61	p	p	X
ajst-26201	187	62	<	<	X
ajst-26201	187	63	0.001	0.001	NUM
ajst-26201	187	64	0.081	0.081	NUM
ajst-26201	187	65	119	119	NUM
ajst-26201	187	66	5	5	NUM
ajst-26201	187	67	.	.	PUNCT
ajst-26201	188	1	conclusion	conclusion	NOUN
ajst-26201	188	2	stc89c52rc	stc89c52rc	NOUN
ajst-26201	188	3	microcontroller	microcontroller	NOUN
ajst-26201	188	4	was	be	AUX
ajst-26201	188	5	selected	select	VERB
ajst-26201	188	6	in	in	ADP
ajst-26201	188	7	this	this	DET
ajst-26201	188	8	research	research	NOUN
ajst-26201	188	9	and	and	CCONJ
ajst-26201	188	10	infrared	infrared	ADJ
ajst-26201	188	11	tracking	tracking	NOUN
ajst-26201	188	12	and	and	CCONJ
ajst-26201	188	13	obstacle	obstacle	NOUN
ajst-26201	188	14	avoidance	avoidance	NOUN
ajst-26201	188	15	modules	module	NOUN
ajst-26201	188	16	were	be	AUX
ajst-26201	188	17	added	add	VERB
ajst-26201	188	18	to	to	ADP
ajst-26201	188	19	the	the	DET
ajst-26201	188	20	motherboard	motherboard	NOUN
ajst-26201	188	21	to	to	PART
ajst-26201	188	22	achieve	achieve	VERB
ajst-26201	188	23	robot	robot	NOUN
ajst-26201	188	24	tracking	tracking	NOUN
ajst-26201	188	25	and	and	CCONJ
ajst-26201	188	26	obstacle	obstacle	NOUN
ajst-26201	188	27	avoidance	avoidance	NOUN
ajst-26201	188	28	.	.	PUNCT
ajst-26201	189	1	adopting	adopt	VERB
ajst-26201	189	2	dual	dual	ADJ
ajst-26201	189	3	motor	motor	NOUN
ajst-26201	189	4	drive	drive	NOUN
ajst-26201	189	5	,	,	PUNCT
ajst-26201	189	6	the	the	DET
ajst-26201	189	7	robot	robot	NOUN
ajst-26201	189	8	can	can	AUX
ajst-26201	189	9	flexibly	flexibly	ADV
ajst-26201	189	10	perform	perform	VERB
ajst-26201	189	11	forward	forward	ADV
ajst-26201	189	12	,	,	PUNCT
ajst-26201	189	13	backward	backward	ADV
ajst-26201	189	14	,	,	PUNCT
ajst-26201	189	15	left	left	ADJ
ajst-26201	189	16	,	,	PUNCT
ajst-26201	189	17	and	and	CCONJ
ajst-26201	189	18	right	right	ADJ
ajst-26201	189	19	steering	steering	NOUN
ajst-26201	189	20	operations	operation	NOUN
ajst-26201	189	21	.	.	PUNCT
ajst-26201	190	1	the	the	DET
ajst-26201	190	2	robot	robot	NOUN
ajst-26201	190	3	program	program	NOUN
ajst-26201	190	4	is	be	AUX
ajst-26201	190	5	set	set	VERB
ajst-26201	190	6	with	with	ADP
ajst-26201	190	7	modes	mode	NOUN
ajst-26201	190	8	including	include	VERB
ajst-26201	190	9	remote	remote	ADJ
ajst-26201	190	10	control	control	NOUN
ajst-26201	190	11	,	,	PUNCT
ajst-26201	190	12	tracking	tracking	NOUN
ajst-26201	190	13	,	,	PUNCT
ajst-26201	190	14	obstacle	obstacle	NOUN
ajst-26201	190	15	avoidance	avoidance	NOUN
ajst-26201	190	16	,	,	PUNCT
ajst-26201	190	17	and	and	CCONJ
ajst-26201	190	18	disinfection	disinfection	NOUN
ajst-26201	190	19	.	.	PUNCT
ajst-26201	191	1	the	the	DET
ajst-26201	191	2	modes	mode	NOUN
ajst-26201	191	3	can	can	AUX
ajst-26201	191	4	be	be	AUX
ajst-26201	191	5	adjusted	adjust	VERB
ajst-26201	191	6	by	by	ADP
ajst-26201	191	7	pressing	press	VERB
ajst-26201	191	8	buttons	button	NOUN
ajst-26201	191	9	,	,	PUNCT
ajst-26201	191	10	and	and	CCONJ
ajst-26201	191	11	the	the	DET
ajst-26201	191	12	robot	robot	NOUN
ajst-26201	191	13	's	's	PART
ajst-26201	191	14	mode	mode	NOUN
ajst-26201	191	15	status	status	NOUN
ajst-26201	191	16	can	can	AUX
ajst-26201	191	17	be	be	AUX
ajst-26201	191	18	displayed	display	VERB
ajst-26201	191	19	through	through	ADP
ajst-26201	191	20	led	lead	VERB
ajst-26201	191	21	lights	light	NOUN
ajst-26201	191	22	.	.	PUNCT
ajst-26201	192	1	there	there	PRON
ajst-26201	192	2	are	be	VERB
ajst-26201	192	3	expansion	expansion	NOUN
ajst-26201	192	4	interfaces	interface	NOUN
ajst-26201	192	5	left	leave	VERB
ajst-26201	192	6	on	on	ADP
ajst-26201	192	7	the	the	DET
ajst-26201	192	8	robot	robot	NOUN
ajst-26201	192	9	motherboard	motherboard	NOUN
ajst-26201	192	10	,	,	PUNCT
ajst-26201	192	11	which	which	PRON
ajst-26201	192	12	can	can	AUX
ajst-26201	192	13	be	be	AUX
ajst-26201	192	14	installed	instal	VERB
ajst-26201	192	15	with	with	ADP
ajst-26201	192	16	corresponding	correspond	VERB
ajst-26201	192	17	modules	module	NOUN
ajst-26201	192	18	according	accord	VERB
ajst-26201	192	19	to	to	ADP
ajst-26201	192	20	the	the	DET
ajst-26201	192	21	requirements	requirement	NOUN
ajst-26201	192	22	of	of	ADP
ajst-26201	192	23	the	the	DET
ajst-26201	192	24	robot	robot	NOUN
ajst-26201	192	25	's	's	PART
ajst-26201	192	26	work	work	NOUN
ajst-26201	192	27	in	in	ADP
ajst-26201	192	28	the	the	DET
ajst-26201	192	29	future	future	NOUN
ajst-26201	192	30	.	.	PUNCT
ajst-26201	193	1	remote	remote	ADJ
ajst-26201	193	2	control	control	NOUN
ajst-26201	193	3	robots	robot	NOUN
ajst-26201	193	4	enter	enter	VERB
ajst-26201	193	5	the	the	DET
ajst-26201	193	6	ward	ward	NOUN
ajst-26201	193	7	for	for	ADP
ajst-26201	193	8	autonomous	autonomous	ADJ
ajst-26201	193	9	mobile	mobile	ADJ
ajst-26201	193	10	disinfection	disinfection	NOUN
ajst-26201	193	11	,	,	PUNCT
ajst-26201	193	12	which	which	PRON
ajst-26201	193	13	has	have	VERB
ajst-26201	193	14	a	a	DET
ajst-26201	193	15	good	good	ADJ
ajst-26201	193	16	disinfection	disinfection	NOUN
ajst-26201	193	17	effect	effect	NOUN
ajst-26201	193	18	on	on	ADP
ajst-26201	193	19	the	the	DET
ajst-26201	193	20	surface	surface	NOUN
ajst-26201	193	21	of	of	ADP
ajst-26201	193	22	objects	object	NOUN
ajst-26201	193	23	,	,	PUNCT
ajst-26201	193	24	can	can	AUX
ajst-26201	193	25	kill	kill	VERB
ajst-26201	193	26	pathogenic	pathogenic	ADJ
ajst-26201	193	27	microorganisms	microorganism	NOUN
ajst-26201	193	28	on	on	ADP
ajst-26201	193	29	the	the	DET
ajst-26201	193	30	surface	surface	NOUN
ajst-26201	193	31	of	of	ADP
ajst-26201	193	32	objects	object	NOUN
ajst-26201	193	33	,	,	PUNCT
ajst-26201	193	34	improve	improve	VERB
ajst-26201	193	35	the	the	DET
ajst-26201	193	36	quality	quality	NOUN
ajst-26201	193	37	of	of	ADP
ajst-26201	193	38	hospital	hospital	NOUN
ajst-26201	193	39	infection	infection	NOUN
ajst-26201	193	40	control	control	NOUN
ajst-26201	193	41	management	management	NOUN
ajst-26201	193	42	,	,	PUNCT
ajst-26201	193	43	and	and	CCONJ
ajst-26201	193	44	reduce	reduce	VERB
ajst-26201	193	45	the	the	DET
ajst-26201	193	46	workload	workload	NOUN
ajst-26201	193	47	of	of	ADP
ajst-26201	193	48	nurses	nurse	NOUN
ajst-26201	193	49	.	.	PUNCT
ajst-26201	194	1	it	it	PRON
ajst-26201	194	2	is	be	AUX
ajst-26201	194	3	worth	worth	ADJ
ajst-26201	194	4	further	far	ADV
ajst-26201	194	5	promoting	promote	VERB
ajst-26201	194	6	and	and	CCONJ
ajst-26201	194	7	applying	apply	VERB
ajst-26201	194	8	.	.	PUNCT
ajst-26201	195	1	acknowledgements	acknowledgement	NOUN
ajst-26201	195	2	this	this	DET
ajst-26201	195	3	work	work	NOUN
ajst-26201	195	4	was	be	AUX
ajst-26201	195	5	funded	fund	VERB
ajst-26201	195	6	by	by	ADP
ajst-26201	195	7	national	national	ADJ
ajst-26201	195	8	natural	natural	PROPN
ajst-26201	195	9	science	science	PROPN
ajst-26201	195	10	foundation	foundation	PROPN
ajst-26201	195	11	of	of	ADP
ajst-26201	195	12	china	china	PROPN
ajst-26201	195	13	(	(	PUNCT
ajst-26201	195	14	51609131	51609131	NUM
ajst-26201	195	15	)	)	PUNCT
ajst-26201	195	16	references	reference	NOUN
ajst-26201	195	17	[	[	X
ajst-26201	195	18	1	1	X
ajst-26201	195	19	]	]	PUNCT
ajst-26201	195	20	weisheng	weisheng	PROPN
ajst-26201	195	21	lu	lu	PROPN
ajst-26201	195	22	,	,	PUNCT
ajst-26201	195	23	junjie	junjie	PROPN
ajst-26201	195	24	chen	chen	PROPN
ajst-26201	195	25	,	,	PUNCT
ajst-26201	195	26	yonglin	yonglin	PROPN
ajst-26201	195	27	fu	fu	PROPN
ajst-26201	195	28	et	et	PROPN
ajst-26201	195	29	al	al	PROPN
ajst-26201	195	30	.	.	PROPN
ajst-26201	196	1	digital	digital	PROPN
ajst-26201	196	2	twinenabled	twinenable	VERB
ajst-26201	196	3	human	human	ADJ
ajst-26201	196	4	-	-	PUNCT
ajst-26201	196	5	robot	robot	NOUN
ajst-26201	196	6	collaborative	collaborative	NOUN
ajst-26201	196	7	teaming	teaming	NOUN
ajst-26201	196	8	towards	towards	ADP
ajst-26201	196	9	sustainable	sustainable	ADJ
ajst-26201	196	10	and	and	CCONJ
ajst-26201	196	11	healthy	healthy	ADJ
ajst-26201	196	12	built	build	VERB
ajst-26201	196	13	environments	environment	NOUN
ajst-26201	196	14	.	.	PUNCT
ajst-26201	197	1	journal	journal	NOUN
ajst-26201	197	2	of	of	ADP
ajst-26201	197	3	cleaner	clean	ADJ
ajst-26201	197	4	production	production	NOUN
ajst-26201	197	5	,	,	PUNCT
ajst-26201	197	6	vol	vol	NOUN
ajst-26201	197	7	.	.	PUNCT
ajst-26201	197	8	412(2023	412(2023	NUM
ajst-26201	197	9	)	)	PUNCT
ajst-26201	197	10	,	,	PUNCT
ajst-26201	197	11	137412.1	137412.1	NUM
ajst-26201	197	12	-	-	SYM
ajst-26201	197	13	13	13	NUM
ajst-26201	197	14	.	.	PUNCT
ajst-26201	198	1	[	[	X
ajst-26201	198	2	2	2	X
ajst-26201	198	3	]	]	PUNCT
ajst-26201	198	4	ishaan	ishaan	PROPN
ajst-26201	198	5	mehta	mehta	PROPN
ajst-26201	198	6	,	,	PUNCT
ajst-26201	198	7	hao	hao	PROPN
ajst-26201	198	8	-	-	PUNCT
ajst-26201	198	9	ya	ya	PROPN
ajst-26201	198	10	hsueh	hsueh	PROPN
ajst-26201	198	11	,	,	PUNCT
ajst-26201	198	12	sharareh	sharareh	NOUN
ajst-26201	198	13	taghipour	taghipour	VERB
ajst-26201	198	14	et	et	NOUN
ajst-26201	198	15	al	al	PROPN
ajst-26201	198	16	.	.	PUNCT
ajst-26201	199	1	uv	uv	NOUN
ajst-26201	199	2	disinfection	disinfection	NOUN
ajst-26201	199	3	robots	robot	NOUN
ajst-26201	199	4	:	:	PUNCT
ajst-26201	199	5	a	a	DET
ajst-26201	199	6	review	review	NOUN
ajst-26201	199	7	,	,	PUNCT
ajst-26201	199	8	robotics	robotic	NOUN
ajst-26201	199	9	and	and	CCONJ
ajst-26201	199	10	autonomous	autonomous	ADJ
ajst-26201	199	11	systems	system	NOUN
ajst-26201	199	12	,	,	PUNCT
ajst-26201	199	13	vol	vol	NOUN
ajst-26201	199	14	.	.	PUNCT
ajst-26201	199	15	161(2023	161(2023	NUM
ajst-26201	199	16	)	)	PUNCT
ajst-26201	199	17	,	,	PUNCT
ajst-26201	199	18	104332	104332	NUM
ajst-26201	199	19	-	-	SYM
ajst-26201	199	20	104345	104345	NUM
ajst-26201	199	21	.	.	PUNCT
ajst-26201	200	1	[	[	X
ajst-26201	200	2	3	3	X
ajst-26201	200	3	]	]	PUNCT
ajst-26201	200	4	k.	k.	PROPN
ajst-26201	200	5	thomsen	thomsen	PROPN
ajst-26201	200	6	,	,	PUNCT
ajst-26201	200	7	l.	l.	PROPN
ajst-26201	200	8	kyndi	kyndi	PROPN
ajst-26201	200	9	,	,	PUNCT
ajst-26201	200	10	h.k	h.k	PROPN
ajst-26201	200	11	.	.	PROPN
ajst-26201	200	12	johansen	johansen	PROPN
ajst-26201	200	13	et	et	PROPN
ajst-26201	200	14	al	al	PROPN
ajst-26201	200	15	.	.	PUNCT
ajst-26201	201	1	p141	p141	NUM
ajst-26201	201	2	microbiological	microbiological	ADJ
ajst-26201	201	3	evaluation	evaluation	NOUN
ajst-26201	201	4	of	of	ADP
ajst-26201	201	5	an	an	DET
ajst-26201	201	6	automated	automate	VERB
ajst-26201	201	7	uv	uv	NOUN
ajst-26201	201	8	-	-	PUNCT
ajst-26201	201	9	disinfection	disinfection	NOUN
ajst-26201	201	10	robot	robot	NOUN
ajst-26201	201	11	on	on	ADP
ajst-26201	201	12	cystic	cystic	ADJ
ajst-26201	201	13	fibrosis	fibrosis	NOUN
ajst-26201	201	14	-	-	PUNCT
ajst-26201	201	15	related	relate	VERB
ajst-26201	201	16	pathogens	pathogen	NOUN
ajst-26201	201	17	,	,	PUNCT
ajst-26201	201	18	journal	journal	NOUN
ajst-26201	201	19	of	of	ADP
ajst-26201	201	20	cystic	cystic	ADJ
ajst-26201	201	21	fibrosis	fibrosis	NOUN
ajst-26201	201	22	,	,	PUNCT
ajst-26201	201	23	vol	vol	NOUN
ajst-26201	201	24	.	.	PUNCT
ajst-26201	201	25	22(2023	22(2023	NUM
ajst-26201	201	26	)	)	PUNCT
ajst-26201	201	27	,	,	PUNCT
ajst-26201	201	28	107	107	NUM
ajst-26201	201	29	-	-	SYM
ajst-26201	201	30	118	118	NUM
ajst-26201	201	31	.	.	PUNCT
ajst-26201	202	1	[	[	X
ajst-26201	202	2	4	4	NUM
ajst-26201	202	3	]	]	PUNCT
ajst-26201	202	4	a.	a.	NOUN
ajst-26201	202	5	beal	beal	PROPN
ajst-26201	202	6	,	,	PUNCT
ajst-26201	202	7	n.	n.	PROPN
ajst-26201	202	8	mahida	mahida	PROPN
ajst-26201	202	9	,	,	PUNCT
ajst-26201	202	10	k.	k.	PROPN
ajst-26201	202	11	staniforth	staniforth	PROPN
ajst-26201	202	12	et	et	PROPN
ajst-26201	202	13	al	al	PROPN
ajst-26201	202	14	.	.	PROPN
ajst-26201	203	1	first	first	PROPN
ajst-26201	203	2	uk	uk	PROPN
ajst-26201	203	3	trial	trial	NOUN
ajst-26201	203	4	of	of	ADP
ajst-26201	203	5	xenex	xenex	PROPN
ajst-26201	203	6	px	px	PROPN
ajst-26201	203	7	-	-	PUNCT
ajst-26201	203	8	uv	uv	NOUN
ajst-26201	203	9	,	,	PUNCT
ajst-26201	203	10	an	an	DET
ajst-26201	203	11	automated	automate	VERB
ajst-26201	203	12	ultraviolet	ultraviolet	NOUN
ajst-26201	203	13	room	room	NOUN
ajst-26201	203	14	decontamination	decontamination	NOUN
ajst-26201	203	15	device	device	NOUN
ajst-26201	203	16	in	in	ADP
ajst-26201	203	17	a	a	DET
ajst-26201	203	18	clinical	clinical	ADJ
ajst-26201	203	19	haematology	haematology	NOUN
ajst-26201	203	20	and	and	CCONJ
ajst-26201	203	21	bone	bone	NOUN
ajst-26201	203	22	marrow	marrow	NOUN
ajst-26201	203	23	transplantation	transplantation	NOUN
ajst-26201	203	24	unit	unit	NOUN
ajst-26201	203	25	,	,	PUNCT
ajst-26201	203	26	journal	journal	NOUN
ajst-26201	203	27	of	of	ADP
ajst-26201	203	28	hospital	hospital	NOUN
ajst-26201	203	29	infection	infection	NOUN
ajst-26201	203	30	,	,	PUNCT
ajst-26201	203	31	vol	vol	NOUN
ajst-26201	203	32	.	.	PUNCT
ajst-26201	204	1	93(2016	93(2016	NUM
ajst-26201	204	2	)	)	PUNCT
ajst-26201	204	3	,	,	PUNCT
ajst-26201	204	4	164	164	NUM
ajst-26201	204	5	-	-	SYM
ajst-26201	204	6	168	168	NUM
ajst-26201	204	7	.	.	PUNCT
ajst-26201	205	1	[	[	X
ajst-26201	205	2	5	5	NUM
ajst-26201	205	3	]	]	X
ajst-26201	205	4	moez	moez	NOUN
ajst-26201	205	5	guettari	guettari	PROPN
ajst-26201	205	6	,	,	PUNCT
ajst-26201	205	7	ines	ines	PROPN
ajst-26201	205	8	gharbi	gharbi	PROPN
ajst-26201	205	9	,	,	PUNCT
ajst-26201	205	10	samir	samir	PROPN
ajst-26201	205	11	hamza.uvc	hamza.uvc	PROPN
ajst-26201	205	12	disinfection	disinfection	NOUN
ajst-26201	205	13	robot	robot	NOUN
ajst-26201	205	14	.	.	PUNCT
ajst-26201	206	1	environmental	environmental	ADJ
ajst-26201	206	2	science	science	NOUN
ajst-26201	206	3	and	and	CCONJ
ajst-26201	206	4	pollution	pollution	NOUN
ajst-26201	206	5	research	research	NOUN
ajst-26201	206	6	,	,	PUNCT
ajst-26201	206	7	vol	vol	NOUN
ajst-26201	206	8	.	.	PUNCT
ajst-26201	207	1	28(2021):40394	28(2021):40394	NUM
ajst-26201	207	2	-	-	SYM
ajst-26201	207	3	40399	40399	NUM
ajst-26201	207	4	.	.	PUNCT
ajst-26201	208	1	[	[	X
ajst-26201	208	2	6	6	NUM
ajst-26201	208	3	]	]	PUNCT
ajst-26201	208	4	conor	conor	PROPN
ajst-26201	208	5	mcginn	mcginn	PROPN
ajst-26201	208	6	,	,	PUNCT
ajst-26201	208	7	robert	robert	PROPN
ajst-26201	208	8	scott，cornelia	scott，cornelia	PROPN
ajst-26201	208	9	ryan	ryan	PROPN
ajst-26201	208	10	et	et	PROPN
ajst-26201	208	11	al	al	PROPN
ajst-26201	208	12	.	.	PROPN
ajst-26201	209	1	rapid	rapid	ADJ
ajst-26201	209	2	disinfection	disinfection	NOUN
ajst-26201	209	3	of	of	ADP
ajst-26201	209	4	radiology	radiology	NOUN
ajst-26201	209	5	treatment	treatment	NOUN
ajst-26201	209	6	rooms	room	NOUN
ajst-26201	209	7	using	use	VERB
ajst-26201	209	8	an	an	DET
ajst-26201	209	9	autonomous	autonomous	ADJ
ajst-26201	209	10	ultraviolet	ultraviolet	ADJ
ajst-26201	209	11	germicidal	germicidal	ADJ
ajst-26201	209	12	irradiation	irradiation	NOUN
ajst-26201	209	13	robot	robot	NOUN
ajst-26201	209	14	,	,	PUNCT
ajst-26201	209	15	american	american	PROPN
ajst-26201	209	16	journal	journal	PROPN
ajst-26201	209	17	of	of	ADP
ajst-26201	209	18	infection	infection	NOUN
ajst-26201	209	19	control	control	NOUN
ajst-26201	209	20	,	,	PUNCT
ajst-26201	209	21	vol	vol	NOUN
ajst-26201	209	22	.	.	PUNCT
ajst-26201	209	23	50(2022	50(2022	NOUN
ajst-26201	209	24	)	)	PUNCT
ajst-26201	209	25	,	,	PUNCT
ajst-26201	209	26	947	947	NUM
ajst-26201	209	27	-	-	SYM
ajst-26201	209	28	953	953	NUM
ajst-26201	209	29	.	.	PUNCT
ajst-26201	210	1	[	[	X
ajst-26201	210	2	7	7	X
ajst-26201	210	3	]	]	X
ajst-26201	210	4	michael	michael	PROPN
ajst-26201	210	5	rodgerssuzan	rodgerssuzan	PROPN
ajst-26201	210	6	cremersedmée	cremersedmée	VERB
ajst-26201	210	7	bowles	bowles	PROPN
ajst-26201	210	8	et	et	PROPN
ajst-26201	210	9	al	al	PROPN
ajst-26201	210	10	.	.	PROPN
ajst-26201	210	11	description	description	NOUN
ajst-26201	210	12	and	and	CCONJ
ajst-26201	210	13	results	result	NOUN
ajst-26201	210	14	of	of	ADP
ajst-26201	210	15	a	a	DET
ajst-26201	210	16	new	new	ADJ
ajst-26201	210	17	method	method	NOUN
ajst-26201	210	18	for	for	ADP
ajst-26201	210	19	assessing	assess	VERB
ajst-26201	210	20	real	real	ADJ
ajst-26201	210	21	-	-	PUNCT
ajst-26201	210	22	life	life	NOUN
ajst-26201	210	23	performance	performance	NOUN
ajst-26201	210	24	of	of	ADP
ajst-26201	210	25	a	a	DET
ajst-26201	210	26	uv	uv	NOUN
ajst-26201	210	27	-	-	PUNCT
ajst-26201	210	28	c	c	NOUN
ajst-26201	210	29	disinfection	disinfection	NOUN
ajst-26201	210	30	robot	robot	NOUN
ajst-26201	210	31	,	,	PUNCT
ajst-26201	210	32	infection	infection	NOUN
ajst-26201	210	33	prevention	prevention	NOUN
ajst-26201	210	34	in	in	ADP
ajst-26201	210	35	practice	practice	NOUN
ajst-26201	210	36	,	,	PUNCT
ajst-26201	210	37	vol	vol	NOUN
ajst-26201	210	38	.	.	PUNCT
ajst-26201	211	1	5(2023	5(2023	NUM
ajst-26201	211	2	)	)	PUNCT
ajst-26201	211	3	,	,	PUNCT
ajst-26201	211	4	100322	100322	NUM
ajst-26201	211	5	-	-	SYM
ajst-26201	211	6	100122	100122	NUM
ajst-26201	211	7	.	.	PUNCT
ajst-26201	212	1	[	[	X
ajst-26201	212	2	8	8	NUM
ajst-26201	212	3	]	]	X
ajst-26201	212	4	r.	r.	PROPN
ajst-26201	212	5	mangeant	mangeant	PROPN
ajst-26201	212	6	,	,	PUNCT
ajst-26201	212	7	c.	c.	PROPN
ajst-26201	212	8	chipoy	chipoy	PROPN
ajst-26201	212	9	,	,	PUNCT
ajst-26201	212	10	d.	d.	PROPN
ajst-26201	212	11	metten	metten	VERB
ajst-26201	212	12	et	et	PROPN
ajst-26201	212	13	al	al	PROPN
ajst-26201	212	14	.	.	PROPN
ajst-26201	213	1	luminous	luminous	ADJ
ajst-26201	213	2	intensity	intensity	NOUN
ajst-26201	213	3	and	and	CCONJ
ajst-26201	213	4	efficacy	efficacy	NOUN
ajst-26201	213	5	of	of	ADP
ajst-26201	213	6	the	the	DET
ajst-26201	213	7	husky	husky	NOUN
ajst-26201	213	8	-	-	PUNCT
ajst-26201	213	9	uv	uv	NOUN
ajst-26201	213	10	®	®	PROPN
ajst-26201	213	11	mobile	mobile	PROPN
ajst-26201	213	12	uvc	uvc	PROPN
ajst-26201	213	13	-	-	PUNCT
ajst-26201	213	14	emitting	emit	VERB
ajst-26201	213	15	robot	robot	NOUN
ajst-26201	213	16	:	:	PUNCT
ajst-26201	213	17	surface	surface	NOUN
ajst-26201	213	18	disinfection	disinfection	NOUN
ajst-26201	213	19	in	in	ADP
ajst-26201	213	20	the	the	DET
ajst-26201	213	21	hospital	hospital	NOUN
ajst-26201	213	22	setting	setting	NOUN
ajst-26201	213	23	applied	apply	VERB
ajst-26201	213	24	to	to	ADP
ajst-26201	213	25	the	the	DET
ajst-26201	213	26	sarscov-2	sarscov-2	NUM
ajst-26201	213	27	model	model	NOUN
ajst-26201	213	28	,	,	PUNCT
ajst-26201	213	29	journal	journal	NOUN
ajst-26201	213	30	of	of	ADP
ajst-26201	213	31	hospital	hospital	NOUN
ajst-26201	213	32	infection	infection	NOUN
ajst-26201	213	33	,	,	PUNCT
ajst-26201	213	34	vol	vol	NOUN
ajst-26201	213	35	.	.	PROPN
ajst-26201	213	36	12	12	NUM
ajst-26201	213	37	(	(	PUNCT
ajst-26201	213	38	2024	2024	NUM
ajst-26201	213	39	)	)	PUNCT
ajst-26201	213	40	,	,	PUNCT
ajst-26201	213	41	13	13	NUM
ajst-26201	213	42	.	.	PUNCT
ajst-26201	214	1	[	[	X
ajst-26201	214	2	9	9	NUM
ajst-26201	214	3	]	]	X
ajst-26201	214	4	alice	alice	PROPN
ajst-26201	214	5	melocchi	melocchi	PROPN
ajst-26201	214	6	,	,	PUNCT
ajst-26201	214	7	brigitte	brigitte	PROPN
ajst-26201	214	8	schmittlein	schmittlein	PROPN
ajst-26201	214	9	,	,	PUNCT
ajst-26201	214	10	alexis	alexis	PROPN
ajst-26201	214	11	l.	l.	PROPN
ajst-26201	214	12	jones	jones	PROPN
ajst-26201	214	13	et	et	PROPN
ajst-26201	214	14	al	al	PROPN
ajst-26201	214	15	.	.	PROPN
ajst-26201	214	16	development	development	NOUN
ajst-26201	214	17	of	of	ADP
ajst-26201	214	18	a	a	DET
ajst-26201	214	19	robotic	robotic	ADJ
ajst-26201	214	20	cluster	cluster	NOUN
ajst-26201	214	21	for	for	ADP
ajst-26201	214	22	automated	automate	VERB
ajst-26201	214	23	and	and	CCONJ
ajst-26201	214	24	scalable	scalable	ADJ
ajst-26201	214	25	cell	cell	NOUN
ajst-26201	214	26	therapy	therapy	NOUN
ajst-26201	214	27	manufacturing	manufacturing	NOUN
ajst-26201	214	28	,	,	PUNCT
ajst-26201	214	29	author	author	NOUN
ajst-26201	214	30	links	link	VERB
ajst-26201	214	31	open	open	ADJ
ajst-26201	214	32	overlay	overlay	NOUN
ajst-26201	214	33	panel	panel	NOUN
ajst-26201	214	34	,	,	PUNCT
ajst-26201	214	35	cytotherapy	cytotherapy	NOUN
ajst-26201	214	36	,	,	PUNCT
ajst-26201	214	37	vol	vol	NOUN
ajst-26201	214	38	.	.	PUNCT
ajst-26201	215	1	26（2024	26（2024	NUM
ajst-26201	215	2	）	）	PROPN
ajst-26201	215	3	,	,	PUNCT
ajst-26201	215	4	1095	1095	NUM
ajst-26201	215	5	-	-	SYM
ajst-26201	215	6	1104	1104	NUM
ajst-26201	215	7	.	.	PUNCT
ajst-26201	216	1	[	[	X
ajst-26201	216	2	10	10	NUM
ajst-26201	216	3	]	]	X
ajst-26201	216	4	zhengyi	zhengyi	PROPN
ajst-26201	216	5	chen	chen	PROPN
ajst-26201	216	6	,	,	PUNCT
ajst-26201	216	7	hao	hao	PROPN
ajst-26201	216	8	wang	wang	PROPN
ajst-26201	216	9	,	,	PUNCT
ajst-26201	216	10	keyu	keyu	VERB
ajst-26201	216	11	chen	chen	PROPN
ajst-26201	216	12	et	et	PROPN
ajst-26201	216	13	al	al	PROPN
ajst-26201	216	14	.	.	PROPN
ajst-26201	216	15	improved	improve	VERB
ajst-26201	216	16	coverage	coverage	NOUN
ajst-26201	216	17	path	path	NOUN
ajst-26201	216	18	planning	planning	NOUN
ajst-26201	216	19	for	for	ADP
ajst-26201	216	20	indoor	indoor	ADJ
ajst-26201	216	21	robots	robot	NOUN
ajst-26201	216	22	based	base	VERB
ajst-26201	216	23	on	on	ADP
ajst-26201	216	24	bim	bim	NOUN
ajst-26201	216	25	and	and	CCONJ
ajst-26201	216	26	robotic	robotic	ADJ
ajst-26201	216	27	configurations	configuration	NOUN
ajst-26201	216	28	,	,	PUNCT
ajst-26201	216	29	automation	automation	NOUN
ajst-26201	216	30	in	in	ADP
ajst-26201	216	31	construction	construction	NOUN
ajst-26201	216	32	,	,	PUNCT
ajst-26201	216	33	vol	vol	NOUN
ajst-26201	216	34	.	.	PUNCT
ajst-26201	216	35	158(2024	158(2024	NUM
ajst-26201	216	36	)	)	PUNCT
ajst-26201	216	37	,	,	PUNCT
ajst-26201	216	38	105160	105160	NUM
ajst-26201	216	39	-	-	SYM
ajst-26201	216	40	105170	105170	NUM
ajst-26201	216	41	.	.	PUNCT
ajst-26201	217	1	[	[	X
ajst-26201	217	2	11	11	NUM
ajst-26201	217	3	]	]	PUNCT
ajst-26201	217	4	ziwei	ziwei	PROPN
ajst-26201	217	5	liu	liu	PROPN
ajst-26201	217	6	,	,	PUNCT
ajst-26201	217	7	yifang	yifang	PROPN
ajst-26201	217	8	xu	xu	PROPN
ajst-26201	217	9	,	,	PUNCT
ajst-26201	217	10	mingzhou	mingzhou	PROPN
ajst-26201	217	11	jin	jin	PROPN
ajst-26201	217	12	et	et	PROPN
ajst-26201	217	13	al	al	PROPN
ajst-26201	217	14	.	.	PUNCT
ajst-26201	217	15	disinfection	disinfection	NOUN
ajst-26201	217	16	robots	robot	NOUN
ajst-26201	217	17	scheduling	scheduling	NOUN
ajst-26201	217	18	and	and	CCONJ
ajst-26201	217	19	routing	routing	NOUN
ajst-26201	217	20	problem	problem	NOUN
ajst-26201	217	21	for	for	ADP
ajst-26201	217	22	healthy	healthy	ADJ
ajst-26201	217	23	buildings	building	NOUN
ajst-26201	217	24	,	,	PUNCT
ajst-26201	217	25	journal	journal	NOUN
ajst-26201	217	26	of	of	ADP
ajst-26201	217	27	building	build	VERB
ajst-26201	217	28	engineering	engineering	NOUN
ajst-26201	217	29	,	,	PUNCT
ajst-26201	217	30	vol	vol	NOUN
ajst-26201	217	31	.	.	PROPN
ajst-26201	217	32	87(2024	87(2024	NUM
ajst-26201	217	33	)	)	PUNCT
ajst-26201	217	34	,	,	PUNCT
ajst-26201	217	35	108894	108894	NUM
ajst-26201	217	36	-	-	SYM
ajst-26201	217	37	108905	108905	NUM
ajst-26201	217	38	.	.	PUNCT
ajst-26201	218	1	[	[	X
ajst-26201	218	2	12	12	NUM
ajst-26201	218	3	]	]	X
ajst-26201	218	4	sedat	sedat	PROPN
ajst-26201	218	5	dogru	dogru	PROPN
ajst-26201	218	6	,	,	PUNCT
ajst-26201	218	7	lino	lino	PROPN
ajst-26201	218	8	marques	marques	PROPN
ajst-26201	218	9	.	.	PUNCT
ajst-26201	219	1	path	path	NOUN
ajst-26201	219	2	and	and	CCONJ
ajst-26201	219	3	trajectory	trajectory	NOUN
ajst-26201	219	4	planning	planning	NOUN
ajst-26201	219	5	for	for	ADP
ajst-26201	219	6	uv	uv	NOUN
ajst-26201	219	7	-	-	PUNCT
ajst-26201	219	8	c	c	NOUN
ajst-26201	219	9	disinfection	disinfection	NOUN
ajst-26201	219	10	robots	robot	NOUN
ajst-26201	219	11	.	.	PUNCT
ajst-26201	220	1	ieee	ieee	NOUN
ajst-26201	220	2	robotics	robotic	NOUN
ajst-26201	220	3	and	and	CCONJ
ajst-26201	220	4	automation	automation	NOUN
ajst-26201	220	5	letters	letter	NOUN
ajst-26201	220	6	,	,	PUNCT
ajst-26201	220	7	vol	vol	NOUN
ajst-26201	220	8	.	.	PUNCT
ajst-26201	220	9	8(2023	8(2023	NUM
ajst-26201	220	10	)	)	PUNCT
ajst-26201	220	11	,	,	PUNCT
ajst-26201	220	12	4099	4099	NUM
ajst-26201	220	13	-	-	SYM
ajst-26201	220	14	4106	4106	NUM
ajst-26201	220	15	.	.	PUNCT
ajst-26201	221	1	[	[	X
ajst-26201	221	2	13	13	NUM
ajst-26201	221	3	]	]	X
ajst-26201	221	4	daniel	daniel	PROPN
ajst-26201	221	5	vicente	vicente	PROPN
ajst-26201	221	6	rodrigo	rodrigo	PROPN
ajst-26201	221	7	,	,	PUNCT
ajst-26201	221	8	j.	j.	PROPN
ajst-26201	221	9	enrique	enrique	PROPN
ajst-26201	221	10	sierra	sierra	PROPN
ajst-26201	221	11	-	-	PUNCT
ajst-26201	221	12	garcía	garcía	PROPN
ajst-26201	221	13	,	,	PUNCT
ajst-26201	221	14	matilde	matilde	PROPN
ajst-26201	221	15	santos	santos	PROPN
ajst-26201	221	16	.	.	PUNCT
ajst-26201	222	1	glasius	glasius	PROPN
ajst-26201	222	2	bio	bio	PROPN
ajst-26201	222	3	-	-	PUNCT
ajst-26201	222	4	inspired	inspire	VERB
ajst-26201	222	5	neural	neural	ADJ
ajst-26201	222	6	networks	network	NOUN
ajst-26201	222	7	based	base	VERB
ajst-26201	222	8	uv	uv	NOUN
ajst-26201	222	9	-	-	PUNCT
ajst-26201	222	10	c	c	NOUN
ajst-26201	222	11	disinfection	disinfection	NOUN
ajst-26201	222	12	path	path	NOUN
ajst-26201	222	13	planning	planning	NOUN
ajst-26201	222	14	improved	improve	VERB
ajst-26201	222	15	by	by	ADP
ajst-26201	222	16	preventive	preventive	ADJ
ajst-26201	222	17	deadlock	deadlock	NOUN
ajst-26201	222	18	processing	processing	NOUN
ajst-26201	222	19	algorithm	algorithm	NOUN
ajst-26201	222	20	.	.	PUNCT
ajst-26201	223	1	advances	advance	NOUN
ajst-26201	223	2	in	in	ADP
ajst-26201	223	3	engineering	engineering	NOUN
ajst-26201	223	4	software	software	NOUN
ajst-26201	223	5	,	,	PUNCT
ajst-26201	223	6	1(2023	1(2023	NUM
ajst-26201	223	7	)	)	PUNCT
ajst-26201	223	8	,	,	PUNCT
ajst-26201	223	9	175103330	175103330	NUM
ajst-26201	223	10	-	-	SYM
ajst-26201	223	11	1	1	NUM
ajst-26201	223	12	-	-	PUNCT
ajst-26201	223	13	103330	103330	NUM
ajst-26201	223	14	-	-	SYM
ajst-26201	223	15	15	15	NUM
ajst-26201	223	16	.	.	PUNCT
ajst-26201	224	1	[	[	X
ajst-26201	224	2	14	14	NUM
ajst-26201	224	3	]	]	X
ajst-26201	224	4	moez	moez	NOUN
ajst-26201	224	5	guettari	guettari	PROPN
ajst-26201	224	6	,	,	PUNCT
ajst-26201	224	7	ines	ines	PROPN
ajst-26201	224	8	gharbi	gharbi	PROPN
ajst-26201	224	9	,	,	PUNCT
ajst-26201	224	10	samir	samir	PROPN
ajst-26201	224	11	hamza	hamza	PROPN
ajst-26201	224	12	.	.	PUNCT
ajst-26201	225	1	uvc	uvc	PROPN
ajst-26201	225	2	disinfection	disinfection	PROPN
ajst-26201	225	3	robot	robot	NOUN
ajst-26201	225	4	.	.	PUNCT
ajst-26201	226	1	environmental	environmental	ADJ
ajst-26201	226	2	science	science	NOUN
ajst-26201	226	3	and	and	CCONJ
ajst-26201	226	4	pollution	pollution	NOUN
ajst-26201	226	5	research	research	NOUN
ajst-26201	226	6	,	,	PUNCT
ajst-26201	226	7	vol	vol	NOUN
ajst-26201	226	8	.	.	PROPN
ajst-26201	226	9	28(2021	28(2021	NUM
ajst-26201	226	10	)	)	PUNCT
ajst-26201	226	11	,	,	PUNCT
ajst-26201	226	12	40394	40394	NUM
ajst-26201	226	13	-	-	SYM
ajst-26201	226	14	40399	40399	NUM
ajst-26201	226	15	.	.	PUNCT
ajst-26201	227	1	[	[	X
ajst-26201	227	2	15	15	NUM
ajst-26201	227	3	]	]	X
ajst-26201	227	4	sabina	sabina	PROPN
ajst-26201	227	5	herrera	herrera	PROPN
ajst-26201	227	6	,	,	PUNCT
ajst-26201	227	7	ignasi	ignasi	PROPN
ajst-26201	227	8	roca	roca	PROPN
ajst-26201	227	9	,	,	PUNCT
ajst-26201	227	10	ana	ana	PROPN
ajst-26201	227	11	del	del	PROPN
ajst-26201	227	12	río	río	PROPN
ajst-26201	227	13	et	et	PROPN
ajst-26201	227	14	al	al	PROPN
ajst-26201	227	15	.	.	PUNCT
ajst-26201	227	16	performance	performance	NOUN
ajst-26201	227	17	of	of	ADP
ajst-26201	227	18	an	an	DET
ajst-26201	227	19	autonomous	autonomous	ADJ
ajst-26201	227	20	sanitary	sanitary	NOUN
ajst-26201	227	21	sterilisation	sterilisation	NOUN
ajst-26201	227	22	ultraviolet	ultraviolet	NOUN
ajst-26201	227	23	machine	machine	NOUN
ajst-26201	227	24	(	(	PUNCT
ajst-26201	227	25	assum	assum	PROPN
ajst-26201	227	26	)	)	PUNCT
ajst-26201	227	27	on	on	ADP
ajst-26201	227	28	terminal	terminal	ADJ
ajst-26201	227	29	disinfection	disinfection	NOUN
ajst-26201	227	30	of	of	ADP
ajst-26201	227	31	surgical	surgical	ADJ
ajst-26201	227	32	theaters	theater	NOUN
ajst-26201	227	33	and	and	CCONJ
ajst-26201	227	34	rooms	room	NOUN
ajst-26201	227	35	of	of	ADP
ajst-26201	227	36	an	an	DET
ajst-26201	227	37	intensive	intensive	ADJ
ajst-26201	227	38	-	-	PUNCT
ajst-26201	227	39	intermediate	intermediate	ADJ
ajst-26201	227	40	care	care	NOUN
ajst-26201	227	41	unit	unit	NOUN
ajst-26201	227	42	,	,	PUNCT
ajst-26201	227	43	infection	infection	NOUN
ajst-26201	227	44	prevention	prevention	NOUN
ajst-26201	227	45	in	in	ADP
ajst-26201	227	46	practice	practice	NOUN
ajst-26201	227	47	,	,	PUNCT
ajst-26201	227	48	vol	vol	NOUN
ajst-26201	227	49	.	.	PUNCT
ajst-26201	227	50	29(2024	29(2024	NUM
ajst-26201	227	51	)	)	PUNCT
ajst-26201	227	52	,	,	PUNCT
ajst-26201	227	53	100396	100396	NUM
ajst-26201	227	54	-	-	SYM
ajst-26201	227	55	100406	100406	NUM
ajst-26201	227	56	.	.	PUNCT