id	sid	tid	token	lemma	pos
ajst-26754	1	1	academic	academic	ADJ
ajst-26754	1	2	journal	journal	NOUN
ajst-26754	1	3	of	of	ADP
ajst-26754	1	4	science	science	NOUN
ajst-26754	1	5	and	and	CCONJ
ajst-26754	1	6	technology	technology	NOUN
ajst-26754	1	7	issn	issn	NOUN
ajst-26754	1	8	:	:	PUNCT
ajst-26754	1	9	2771	2771	NUM
ajst-26754	1	10	-	-	SYM
ajst-26754	1	11	3032	3032	NUM
ajst-26754	1	12	|	|	NOUN
ajst-26754	1	13	vol	vol	NOUN
ajst-26754	1	14	.	.	PROPN
ajst-26754	1	15	13	13	NUM
ajst-26754	1	16	,	,	PUNCT
ajst-26754	1	17	no	no	INTJ
ajst-26754	1	18	.	.	NOUN
ajst-26754	1	19	1	1	NUM
ajst-26754	1	20	,	,	PUNCT
ajst-26754	1	21	2024	2024	NUM
ajst-26754	1	22	83	83	NUM
ajst-26754	1	23	research	research	NOUN
ajst-26754	1	24	on	on	ADP
ajst-26754	1	25	spiral	spiral	ADJ
ajst-26754	1	26	motion	motion	NOUN
ajst-26754	1	27	analysis	analysis	NOUN
ajst-26754	1	28	based	base	VERB
ajst-26754	1	29	on	on	ADP
ajst-26754	1	30	optimisation	optimisation	NOUN
ajst-26754	1	31	algorithm	algorithm	NOUN
ajst-26754	1	32	and	and	CCONJ
ajst-26754	1	33	neural	neural	ADJ
ajst-26754	1	34	networks	network	NOUN
ajst-26754	1	35	weishuai	weishuai	PROPN
ajst-26754	1	36	cui1	cui1	PROPN
ajst-26754	1	37	,	,	PUNCT
ajst-26754	1	38	†	†	PROPN
ajst-26754	1	39	,	,	PUNCT
ajst-26754	1	40	*	*	PROPN
ajst-26754	1	41	,	,	PUNCT
ajst-26754	1	42	xi	xi	ADP
ajst-26754	1	43	deng1	deng1	PROPN
ajst-26754	1	44	,	,	PUNCT
ajst-26754	1	45	†	†	PROPN
ajst-26754	1	46	,	,	PUNCT
ajst-26754	1	47	peiting	peite	VERB
ajst-26754	1	48	dong2	dong2	NOUN
ajst-26754	1	49	1naval	1naval	NUM
ajst-26754	1	50	architecture	architecture	NOUN
ajst-26754	1	51	and	and	CCONJ
ajst-26754	1	52	ocean	ocean	NOUN
ajst-26754	1	53	engineering	engineering	PROPN
ajst-26754	1	54	college	college	PROPN
ajst-26754	1	55	,	,	PUNCT
ajst-26754	1	56	dalian	dalian	PROPN
ajst-26754	1	57	maritime	maritime	PROPN
ajst-26754	1	58	university	university	PROPN
ajst-26754	1	59	,	,	PUNCT
ajst-26754	1	60	dalian	dalian	PROPN
ajst-26754	1	61	,	,	PUNCT
ajst-26754	1	62	china	china	PROPN
ajst-26754	1	63	2school	2school	NUM
ajst-26754	1	64	of	of	ADP
ajst-26754	1	65	maritime	maritime	ADJ
ajst-26754	1	66	economics	economic	NOUN
ajst-26754	1	67	and	and	CCONJ
ajst-26754	1	68	management	management	NOUN
ajst-26754	1	69	,	,	PUNCT
ajst-26754	1	70	dalian	dalian	PROPN
ajst-26754	1	71	maritime	maritime	PROPN
ajst-26754	1	72	university	university	PROPN
ajst-26754	1	73	,	,	PUNCT
ajst-26754	1	74	dalian	dalian	PROPN
ajst-26754	1	75	,	,	PUNCT
ajst-26754	1	76	china	china	PROPN
ajst-26754	1	77	†	†	PROPN
ajst-26754	2	1	these	these	DET
ajst-26754	2	2	authors	author	NOUN
ajst-26754	2	3	also	also	ADV
ajst-26754	2	4	contributed	contribute	VERB
ajst-26754	2	5	equally	equally	ADV
ajst-26754	2	6	to	to	ADP
ajst-26754	2	7	this	this	DET
ajst-26754	2	8	work	work	NOUN
ajst-26754	2	9	*	*	PUNCT
ajst-26754	2	10	corresponding	correspond	VERB
ajst-26754	2	11	author	author	NOUN
ajst-26754	2	12	:	:	PUNCT
ajst-26754	2	13	2167731367@qq.com	2167731367@qq.com	NUM
ajst-26754	2	14	abstract	abstract	NOUN
ajst-26754	2	15	:	:	PUNCT
ajst-26754	2	16	this	this	DET
ajst-26754	2	17	paper	paper	NOUN
ajst-26754	2	18	presents	present	VERB
ajst-26754	2	19	an	an	DET
ajst-26754	2	20	in	in	ADP
ajst-26754	2	21	-	-	PUNCT
ajst-26754	2	22	depth	depth	NOUN
ajst-26754	2	23	study	study	NOUN
ajst-26754	2	24	of	of	ADP
ajst-26754	2	25	motion	motion	NOUN
ajst-26754	2	26	problems	problem	NOUN
ajst-26754	2	27	involving	involve	VERB
ajst-26754	2	28	dynamical	dynamical	ADJ
ajst-26754	2	29	models	model	NOUN
ajst-26754	2	30	in	in	ADP
ajst-26754	2	31	spiral	spiral	ADJ
ajst-26754	2	32	paths	path	NOUN
ajst-26754	2	33	,	,	PUNCT
ajst-26754	2	34	with	with	ADP
ajst-26754	2	35	a	a	DET
ajst-26754	2	36	focus	focus	NOUN
ajst-26754	2	37	on	on	ADP
ajst-26754	2	38	computational	computational	ADJ
ajst-26754	2	39	techniques	technique	NOUN
ajst-26754	2	40	and	and	CCONJ
ajst-26754	2	41	algorithms	algorithm	NOUN
ajst-26754	2	42	.	.	PUNCT
ajst-26754	3	1	by	by	ADP
ajst-26754	3	2	utilising	utilise	VERB
ajst-26754	3	3	the	the	DET
ajst-26754	3	4	geometric	geometric	ADJ
ajst-26754	3	5	properties	property	NOUN
ajst-26754	3	6	of	of	ADP
ajst-26754	3	7	spirals	spiral	NOUN
ajst-26754	3	8	,	,	PUNCT
ajst-26754	3	9	we	we	PRON
ajst-26754	3	10	have	have	AUX
ajst-26754	3	11	developed	develop	VERB
ajst-26754	3	12	equations	equation	NOUN
ajst-26754	3	13	of	of	ADP
ajst-26754	3	14	motion	motion	NOUN
ajst-26754	3	15	for	for	ADP
ajst-26754	3	16	the	the	DET
ajst-26754	3	17	nodes	node	NOUN
ajst-26754	3	18	along	along	ADP
ajst-26754	3	19	the	the	DET
ajst-26754	3	20	path	path	NOUN
ajst-26754	4	1	[	[	X
ajst-26754	4	2	1	1	NUM
ajst-26754	4	3	]	]	PUNCT
ajst-26754	4	4	.	.	PUNCT
ajst-26754	5	1	the	the	DET
ajst-26754	5	2	dynamics	dynamic	NOUN
ajst-26754	5	3	of	of	ADP
ajst-26754	5	4	motion	motion	NOUN
ajst-26754	5	5	in	in	ADP
ajst-26754	5	6	the	the	DET
ajst-26754	5	7	spiral	spiral	ADJ
ajst-26754	5	8	path	path	NOUN
ajst-26754	5	9	are	be	AUX
ajst-26754	5	10	accurately	accurately	ADV
ajst-26754	5	11	described	describe	VERB
ajst-26754	5	12	using	use	VERB
ajst-26754	5	13	advanced	advanced	ADJ
ajst-26754	5	14	computational	computational	ADJ
ajst-26754	5	15	methods	method	NOUN
ajst-26754	5	16	.	.	PUNCT
ajst-26754	6	1	first	first	ADV
ajst-26754	6	2	,	,	PUNCT
ajst-26754	6	3	we	we	PRON
ajst-26754	6	4	developed	develop	VERB
ajst-26754	6	5	a	a	DET
ajst-26754	6	6	motion	motion	NOUN
ajst-26754	6	7	model	model	NOUN
ajst-26754	6	8	based	base	VERB
ajst-26754	6	9	on	on	ADP
ajst-26754	6	10	the	the	DET
ajst-26754	6	11	geometric	geometric	ADJ
ajst-26754	6	12	properties	property	NOUN
ajst-26754	6	13	of	of	ADP
ajst-26754	6	14	the	the	DET
ajst-26754	6	15	helix	helix	NOUN
ajst-26754	6	16	.	.	PUNCT
ajst-26754	7	1	the	the	DET
ajst-26754	7	2	complete	complete	ADJ
ajst-26754	7	3	motion	motion	NOUN
ajst-26754	7	4	trajectory	trajectory	NOUN
ajst-26754	7	5	is	be	AUX
ajst-26754	7	6	obtained	obtain	VERB
ajst-26754	7	7	by	by	ADP
ajst-26754	7	8	second	second	ADJ
ajst-26754	7	9	-	-	PUNCT
ajst-26754	7	10	by	by	ADP
ajst-26754	7	11	-	-	PUNCT
ajst-26754	7	12	second	second	NOUN
ajst-26754	7	13	enumeration	enumeration	NOUN
ajst-26754	7	14	using	use	VERB
ajst-26754	7	15	matlab	matlab	PROPN
ajst-26754	7	16	to	to	PART
ajst-26754	7	17	ensure	ensure	VERB
ajst-26754	7	18	accurate	accurate	ADJ
ajst-26754	7	19	computational	computational	ADJ
ajst-26754	7	20	precision	precision	NOUN
ajst-26754	7	21	.	.	PUNCT
ajst-26754	8	1	second	second	ADJ
ajst-26754	8	2	,	,	PUNCT
ajst-26754	8	3	a	a	DET
ajst-26754	8	4	collision	collision	NOUN
ajst-26754	8	5	detection	detection	NOUN
ajst-26754	8	6	model	model	NOUN
ajst-26754	8	7	is	be	AUX
ajst-26754	8	8	constructed	construct	VERB
ajst-26754	8	9	;	;	PUNCT
ajst-26754	8	10	using	use	VERB
ajst-26754	8	11	matlab	matlab	PROPN
ajst-26754	8	12	's	's	PART
ajst-26754	8	13	inpolygon	inpolygon	NOUN
ajst-26754	8	14	function	function	NOUN
ajst-26754	8	15	,	,	PUNCT
ajst-26754	8	16	we	we	PRON
ajst-26754	8	17	determine	determine	VERB
ajst-26754	8	18	that	that	SCONJ
ajst-26754	8	19	the	the	DET
ajst-26754	8	20	collision	collision	NOUN
ajst-26754	8	21	occurs	occur	VERB
ajst-26754	8	22	at	at	ADP
ajst-26754	8	23	412.5	412.5	NUM
ajst-26754	8	24	seconds	second	NOUN
ajst-26754	8	25	.	.	PUNCT
ajst-26754	9	1	finally	finally	ADV
ajst-26754	9	2	,	,	PUNCT
ajst-26754	9	3	we	we	PRON
ajst-26754	9	4	use	use	VERB
ajst-26754	9	5	advanced	advanced	ADJ
ajst-26754	9	6	algorithms	algorithm	NOUN
ajst-26754	9	7	to	to	PART
ajst-26754	9	8	optimise	optimise	VERB
ajst-26754	9	9	the	the	DET
ajst-26754	9	10	motion	motion	NOUN
ajst-26754	9	11	path	path	NOUN
ajst-26754	9	12	and	and	CCONJ
ajst-26754	9	13	velocity	velocity	NOUN
ajst-26754	9	14	.	.	PUNCT
ajst-26754	10	1	a	a	DET
ajst-26754	10	2	particle	particle	NOUN
ajst-26754	10	3	swarm	swarm	NOUN
ajst-26754	10	4	optimisation	optimisation	NOUN
ajst-26754	10	5	(	(	PUNCT
ajst-26754	10	6	pso	pso	NOUN
ajst-26754	10	7	)	)	PUNCT
ajst-26754	10	8	algorithm	algorithm	NOUN
ajst-26754	10	9	and	and	CCONJ
ajst-26754	10	10	a	a	DET
ajst-26754	10	11	feed	feed	NOUN
ajst-26754	10	12	-	-	PUNCT
ajst-26754	10	13	forward	forward	NOUN
ajst-26754	10	14	neural	neural	ADJ
ajst-26754	10	15	network	network	NOUN
ajst-26754	10	16	are	be	AUX
ajst-26754	10	17	used	use	VERB
ajst-26754	10	18	to	to	PART
ajst-26754	10	19	determine	determine	VERB
ajst-26754	10	20	the	the	DET
ajst-26754	10	21	minimum	minimum	ADJ
ajst-26754	10	22	pitch	pitch	NOUN
ajst-26754	10	23	angle	angle	NOUN
ajst-26754	10	24	,	,	PUNCT
ajst-26754	10	25	which	which	PRON
ajst-26754	10	26	is	be	AUX
ajst-26754	10	27	calculated	calculate	VERB
ajst-26754	10	28	to	to	PART
ajst-26754	10	29	be	be	AUX
ajst-26754	10	30	43.4	43.4	NUM
ajst-26754	10	31	cm	cm	NOUN
ajst-26754	10	32	[	[	X
ajst-26754	10	33	2,3	2,3	NUM
ajst-26754	10	34	]	]	PUNCT
ajst-26754	10	35	.	.	PUNCT
ajst-26754	11	1	in	in	ADP
ajst-26754	11	2	addition	addition	NOUN
ajst-26754	11	3	,	,	PUNCT
ajst-26754	11	4	the	the	DET
ajst-26754	11	5	maximum	maximum	ADJ
ajst-26754	11	6	velocity	velocity	NOUN
ajst-26754	11	7	that	that	PRON
ajst-26754	11	8	satisfies	satisfy	VERB
ajst-26754	11	9	the	the	DET
ajst-26754	11	10	velocity	velocity	NOUN
ajst-26754	11	11	constraint	constraint	NOUN
ajst-26754	11	12	is	be	AUX
ajst-26754	11	13	solved	solve	VERB
ajst-26754	11	14	by	by	ADP
ajst-26754	11	15	these	these	DET
ajst-26754	11	16	computational	computational	ADJ
ajst-26754	11	17	techniques	technique	NOUN
ajst-26754	11	18	.	.	PUNCT
ajst-26754	12	1	keywords	keyword	NOUN
ajst-26754	12	2	:	:	PUNCT
ajst-26754	12	3	spiral	spiral	ADJ
ajst-26754	12	4	path	path	NOUN
ajst-26754	12	5	,	,	PUNCT
ajst-26754	12	6	collision	collision	NOUN
ajst-26754	12	7	detection	detection	NOUN
ajst-26754	12	8	,	,	PUNCT
ajst-26754	12	9	motion	motion	NOUN
ajst-26754	12	10	optimization	optimization	NOUN
ajst-26754	12	11	,	,	PUNCT
ajst-26754	12	12	position	position	NOUN
ajst-26754	12	13	distribution	distribution	NOUN
ajst-26754	12	14	.	.	PUNCT
ajst-26754	13	1	1	1	X
ajst-26754	13	2	.	.	X
ajst-26754	13	3	introduction	introduction	NOUN
ajst-26754	13	4	modelling	modelling	NOUN
ajst-26754	13	5	and	and	CCONJ
ajst-26754	13	6	optimisation	optimisation	NOUN
ajst-26754	13	7	of	of	ADP
ajst-26754	13	8	complex	complex	ADJ
ajst-26754	13	9	motion	motion	NOUN
ajst-26754	13	10	systems	system	NOUN
ajst-26754	13	11	is	be	AUX
ajst-26754	13	12	an	an	DET
ajst-26754	13	13	important	important	ADJ
ajst-26754	13	14	research	research	NOUN
ajst-26754	13	15	direction	direction	NOUN
ajst-26754	13	16	in	in	ADP
ajst-26754	13	17	modern	modern	ADJ
ajst-26754	13	18	computer	computer	NOUN
ajst-26754	13	19	science	science	NOUN
ajst-26754	13	20	and	and	CCONJ
ajst-26754	13	21	engineering	engineering	NOUN
ajst-26754	13	22	.	.	PUNCT
ajst-26754	14	1	motion	motion	NOUN
ajst-26754	14	2	problems	problem	NOUN
ajst-26754	14	3	in	in	ADP
ajst-26754	14	4	spiral	spiral	ADJ
ajst-26754	14	5	paths	path	NOUN
ajst-26754	14	6	involve	involve	VERB
ajst-26754	14	7	multiple	multiple	ADJ
ajst-26754	14	8	disciplines	discipline	NOUN
ajst-26754	14	9	such	such	ADJ
ajst-26754	14	10	as	as	ADP
ajst-26754	14	11	geometry	geometry	NOUN
ajst-26754	14	12	,	,	PUNCT
ajst-26754	14	13	dynamics	dynamic	NOUN
ajst-26754	14	14	and	and	CCONJ
ajst-26754	14	15	algorithmic	algorithmic	ADJ
ajst-26754	14	16	optimisation	optimisation	NOUN
ajst-26754	14	17	,	,	PUNCT
ajst-26754	14	18	and	and	CCONJ
ajst-26754	14	19	are	be	AUX
ajst-26754	14	20	an	an	DET
ajst-26754	14	21	important	important	ADJ
ajst-26754	14	22	foundation	foundation	NOUN
ajst-26754	14	23	for	for	ADP
ajst-26754	14	24	understanding	understanding	NOUN
ajst-26754	14	25	and	and	CCONJ
ajst-26754	14	26	solving	solve	VERB
ajst-26754	14	27	practical	practical	ADJ
ajst-26754	14	28	engineering	engineering	NOUN
ajst-26754	14	29	problems	problem	NOUN
ajst-26754	14	30	.	.	PUNCT
ajst-26754	15	1	however	however	ADV
ajst-26754	15	2	,	,	PUNCT
ajst-26754	15	3	traditional	traditional	ADJ
ajst-26754	15	4	motion	motion	NOUN
ajst-26754	15	5	models	model	NOUN
ajst-26754	15	6	and	and	CCONJ
ajst-26754	15	7	algorithms	algorithm	NOUN
ajst-26754	15	8	often	often	ADV
ajst-26754	15	9	suffer	suffer	VERB
ajst-26754	15	10	from	from	ADP
ajst-26754	15	11	insufficient	insufficient	ADJ
ajst-26754	15	12	accuracy	accuracy	NOUN
ajst-26754	15	13	and	and	CCONJ
ajst-26754	15	14	inefficiency	inefficiency	NOUN
ajst-26754	15	15	when	when	SCONJ
ajst-26754	15	16	dealing	deal	VERB
ajst-26754	15	17	with	with	ADP
ajst-26754	15	18	complex	complex	ADJ
ajst-26754	15	19	paths	path	NOUN
ajst-26754	15	20	.	.	PUNCT
ajst-26754	16	1	therefore	therefore	ADV
ajst-26754	16	2	,	,	PUNCT
ajst-26754	16	3	it	it	PRON
ajst-26754	16	4	is	be	AUX
ajst-26754	16	5	of	of	ADP
ajst-26754	16	6	great	great	ADJ
ajst-26754	16	7	theoretical	theoretical	ADJ
ajst-26754	16	8	and	and	CCONJ
ajst-26754	16	9	practical	practical	ADJ
ajst-26754	16	10	significance	significance	NOUN
ajst-26754	16	11	to	to	PART
ajst-26754	16	12	improve	improve	VERB
ajst-26754	16	13	motion	motion	NOUN
ajst-26754	16	14	models	model	NOUN
ajst-26754	16	15	and	and	CCONJ
ajst-26754	16	16	optimisation	optimisation	NOUN
ajst-26754	16	17	algorithms	algorithm	NOUN
ajst-26754	16	18	using	use	VERB
ajst-26754	16	19	advanced	advanced	ADJ
ajst-26754	16	20	computational	computational	ADJ
ajst-26754	16	21	methods	method	NOUN
ajst-26754	16	22	and	and	CCONJ
ajst-26754	16	23	machine	machine	NOUN
ajst-26754	16	24	learning	learn	VERB
ajst-26754	16	25	techniques	technique	NOUN
ajst-26754	16	26	[	[	X
ajst-26754	16	27	4	4	NUM
ajst-26754	16	28	]	]	PUNCT
ajst-26754	16	29	.	.	PUNCT
ajst-26754	17	1	the	the	DET
ajst-26754	17	2	research	research	NOUN
ajst-26754	17	3	objective	objective	NOUN
ajst-26754	17	4	of	of	ADP
ajst-26754	17	5	this	this	DET
ajst-26754	17	6	paper	paper	NOUN
ajst-26754	17	7	is	be	AUX
ajst-26754	17	8	to	to	PART
ajst-26754	17	9	deeply	deeply	ADV
ajst-26754	17	10	explore	explore	VERB
ajst-26754	17	11	the	the	DET
ajst-26754	17	12	motion	motion	NOUN
ajst-26754	17	13	problem	problem	NOUN
ajst-26754	17	14	in	in	ADP
ajst-26754	17	15	spiral	spiral	ADJ
ajst-26754	17	16	paths	path	NOUN
ajst-26754	17	17	through	through	ADP
ajst-26754	17	18	geometric	geometric	ADJ
ajst-26754	17	19	characteristic	characteristic	ADJ
ajst-26754	17	20	analysis	analysis	NOUN
ajst-26754	17	21	,	,	PUNCT
ajst-26754	17	22	collision	collision	NOUN
ajst-26754	17	23	detection	detection	NOUN
ajst-26754	17	24	model	model	NOUN
ajst-26754	17	25	construction	construction	NOUN
ajst-26754	17	26	and	and	CCONJ
ajst-26754	17	27	path	path	NOUN
ajst-26754	17	28	optimisation	optimisation	NOUN
ajst-26754	17	29	based	base	VERB
ajst-26754	17	30	on	on	ADP
ajst-26754	17	31	particle	particle	NOUN
ajst-26754	17	32	swarm	swarm	NOUN
ajst-26754	17	33	optimisation	optimisation	NOUN
ajst-26754	17	34	algorithm	algorithm	NOUN
ajst-26754	17	35	and	and	CCONJ
ajst-26754	17	36	feed	feed	NOUN
ajst-26754	17	37	-	-	PUNCT
ajst-26754	17	38	forward	forward	NOUN
ajst-26754	17	39	neural	neural	ADJ
ajst-26754	17	40	network	network	NOUN
ajst-26754	17	41	.	.	PUNCT
ajst-26754	18	1	with	with	ADP
ajst-26754	18	2	accurate	accurate	ADJ
ajst-26754	18	3	simulation	simulation	NOUN
ajst-26754	18	4	and	and	CCONJ
ajst-26754	18	5	calculation	calculation	NOUN
ajst-26754	18	6	through	through	ADP
ajst-26754	18	7	matlab	matlab	PROPN
ajst-26754	18	8	,	,	PUNCT
ajst-26754	18	9	we	we	PRON
ajst-26754	18	10	can	can	AUX
ajst-26754	18	11	not	not	PART
ajst-26754	18	12	only	only	ADV
ajst-26754	18	13	accurately	accurately	ADV
ajst-26754	18	14	describe	describe	VERB
ajst-26754	18	15	the	the	DET
ajst-26754	18	16	motion	motion	NOUN
ajst-26754	18	17	trajectory	trajectory	NOUN
ajst-26754	18	18	,	,	PUNCT
ajst-26754	18	19	but	but	CCONJ
ajst-26754	18	20	also	also	ADV
ajst-26754	18	21	effectively	effectively	ADV
ajst-26754	18	22	avoid	avoid	VERB
ajst-26754	18	23	collision	collision	NOUN
ajst-26754	18	24	and	and	CCONJ
ajst-26754	18	25	optimise	optimise	VERB
ajst-26754	18	26	the	the	DET
ajst-26754	18	27	motion	motion	NOUN
ajst-26754	18	28	speed	speed	NOUN
ajst-26754	18	29	and	and	CCONJ
ajst-26754	18	30	path	path	NOUN
ajst-26754	19	1	[	[	X
ajst-26754	19	2	5	5	NUM
ajst-26754	19	3	]	]	PUNCT
ajst-26754	19	4	.	.	PUNCT
ajst-26754	20	1	the	the	DET
ajst-26754	20	2	research	research	NOUN
ajst-26754	20	3	results	result	VERB
ajst-26754	20	4	in	in	ADP
ajst-26754	20	5	this	this	DET
ajst-26754	20	6	paper	paper	NOUN
ajst-26754	20	7	not	not	PART
ajst-26754	20	8	only	only	ADV
ajst-26754	20	9	provide	provide	VERB
ajst-26754	20	10	new	new	ADJ
ajst-26754	20	11	solutions	solution	NOUN
ajst-26754	20	12	for	for	ADP
ajst-26754	20	13	motion	motion	NOUN
ajst-26754	20	14	problems	problem	NOUN
ajst-26754	20	15	in	in	ADP
ajst-26754	20	16	complex	complex	ADJ
ajst-26754	20	17	paths	path	NOUN
ajst-26754	20	18	,	,	PUNCT
ajst-26754	20	19	but	but	CCONJ
ajst-26754	20	20	also	also	ADV
ajst-26754	20	21	demonstrate	demonstrate	VERB
ajst-26754	20	22	the	the	DET
ajst-26754	20	23	great	great	ADJ
ajst-26754	20	24	potential	potential	NOUN
ajst-26754	20	25	of	of	ADP
ajst-26754	20	26	computer	computer	NOUN
ajst-26754	20	27	science	science	NOUN
ajst-26754	20	28	and	and	CCONJ
ajst-26754	20	29	technology	technology	NOUN
ajst-26754	20	30	in	in	ADP
ajst-26754	20	31	engineering	engineering	NOUN
ajst-26754	20	32	applications	application	NOUN
ajst-26754	20	33	.	.	PUNCT
ajst-26754	21	1	it	it	PRON
ajst-26754	21	2	is	be	AUX
ajst-26754	21	3	hoped	hope	VERB
ajst-26754	21	4	that	that	SCONJ
ajst-26754	21	5	this	this	DET
ajst-26754	21	6	research	research	NOUN
ajst-26754	21	7	can	can	AUX
ajst-26754	21	8	provide	provide	VERB
ajst-26754	21	9	valuable	valuable	ADJ
ajst-26754	21	10	references	reference	NOUN
ajst-26754	21	11	and	and	CCONJ
ajst-26754	21	12	lessons	lesson	NOUN
ajst-26754	21	13	for	for	ADP
ajst-26754	21	14	further	further	ADJ
ajst-26754	21	15	research	research	NOUN
ajst-26754	21	16	in	in	ADP
ajst-26754	21	17	related	related	ADJ
ajst-26754	21	18	fields	field	NOUN
ajst-26754	21	19	.	.	PUNCT
ajst-26754	22	1	2	2	X
ajst-26754	22	2	.	.	X
ajst-26754	22	3	helical	helical	ADJ
ajst-26754	22	4	motion	motion	NOUN
ajst-26754	22	5	modeling	model	VERB
ajst-26754	22	6	2.1	2.1	NUM
ajst-26754	22	7	.	.	PUNCT
ajst-26754	23	1	modeling	model	VERB
ajst-26754	23	2	the	the	DET
ajst-26754	23	3	dragon	dragon	NOUN
ajst-26754	23	4	dance	dance	NOUN
ajst-26754	23	5	team	team	NOUN
ajst-26754	23	6	coils	coil	NOUN
ajst-26754	23	7	in	in	ADP
ajst-26754	23	8	clockwise	clockwise	NOUN
ajst-26754	23	9	along	along	ADP
ajst-26754	23	10	an	an	DET
ajst-26754	23	11	isometric	isometric	ADJ
ajst-26754	23	12	screw	screw	NOUN
ajst-26754	23	13	thread	thread	NOUN
ajst-26754	23	14	with	with	ADP
ajst-26754	23	15	a	a	DET
ajst-26754	23	16	pitch	pitch	NOUN
ajst-26754	23	17	of	of	ADP
ajst-26754	23	18	55	55	NUM
ajst-26754	23	19	cm	cm	NOUN
ajst-26754	23	20	,	,	PUNCT
ajst-26754	23	21	and	and	CCONJ
ajst-26754	23	22	the	the	DET
ajst-26754	23	23	velocity	velocity	NOUN
ajst-26754	23	24	of	of	ADP
ajst-26754	23	25	the	the	DET
ajst-26754	23	26	handle	handle	NOUN
ajst-26754	23	27	in	in	ADP
ajst-26754	23	28	front	front	NOUN
ajst-26754	23	29	of	of	ADP
ajst-26754	23	30	the	the	DET
ajst-26754	23	31	dragon	dragon	NOUN
ajst-26754	23	32	head	head	NOUN
ajst-26754	23	33	is	be	AUX
ajst-26754	23	34	constant	constant	ADJ
ajst-26754	23	35	at	at	ADP
ajst-26754	23	36	1	1	NUM
ajst-26754	23	37	m	m	NOUN
ajst-26754	23	38	/	/	SYM
ajst-26754	23	39	s.	s.	PROPN
ajst-26754	23	40	since	since	SCONJ
ajst-26754	23	41	the	the	DET
ajst-26754	23	42	dragon	dragon	NOUN
ajst-26754	23	43	body	body	NOUN
ajst-26754	23	44	consists	consist	VERB
ajst-26754	23	45	of	of	ADP
ajst-26754	23	46	multiple	multiple	ADJ
ajst-26754	23	47	nodes	node	NOUN
ajst-26754	23	48	,	,	PUNCT
ajst-26754	23	49	the	the	DET
ajst-26754	23	50	velocity	velocity	NOUN
ajst-26754	23	51	and	and	CCONJ
ajst-26754	23	52	position	position	NOUN
ajst-26754	23	53	of	of	ADP
ajst-26754	23	54	the	the	DET
ajst-26754	23	55	nodes	node	NOUN
ajst-26754	23	56	change	change	VERB
ajst-26754	23	57	over	over	ADP
ajst-26754	23	58	time	time	NOUN
ajst-26754	23	59	and	and	CCONJ
ajst-26754	23	60	show	show	VERB
ajst-26754	23	61	complex	complex	ADJ
ajst-26754	23	62	behaviors	behavior	NOUN
ajst-26754	23	63	.	.	PUNCT
ajst-26754	24	1	for	for	ADP
ajst-26754	24	2	this	this	DET
ajst-26754	24	3	reason	reason	NOUN
ajst-26754	24	4	,	,	PUNCT
ajst-26754	24	5	a	a	DET
ajst-26754	24	6	model	model	NOUN
ajst-26754	24	7	needs	need	VERB
ajst-26754	24	8	to	to	PART
ajst-26754	24	9	be	be	AUX
ajst-26754	24	10	built	build	VERB
ajst-26754	24	11	to	to	PART
ajst-26754	24	12	calculate	calculate	VERB
ajst-26754	24	13	and	and	CCONJ
ajst-26754	24	14	record	record	VERB
ajst-26754	24	15	the	the	DET
ajst-26754	24	16	position	position	NOUN
ajst-26754	24	17	and	and	CCONJ
ajst-26754	24	18	velocity	velocity	NOUN
ajst-26754	24	19	of	of	ADP
ajst-26754	24	20	each	each	DET
ajst-26754	24	21	node	node	NOUN
ajst-26754	24	22	between	between	ADP
ajst-26754	24	23	0	0	NUM
ajst-26754	24	24	and	and	CCONJ
ajst-26754	24	25	300	300	NUM
ajst-26754	24	26	seconds	second	NOUN
ajst-26754	24	27	.	.	PUNCT
ajst-26754	25	1	the	the	DET
ajst-26754	25	2	motion	motion	NOUN
ajst-26754	25	3	of	of	ADP
ajst-26754	25	4	the	the	DET
ajst-26754	25	5	dragon	dragon	NOUN
ajst-26754	25	6	's	's	PART
ajst-26754	25	7	head	head	NOUN
ajst-26754	25	8	drives	drive	VERB
ajst-26754	25	9	the	the	DET
ajst-26754	25	10	entire	entire	ADJ
ajst-26754	25	11	dragon	dragon	NOUN
ajst-26754	25	12	body	body	NOUN
ajst-26754	25	13	,	,	PUNCT
ajst-26754	25	14	so	so	SCONJ
ajst-26754	25	15	the	the	DET
ajst-26754	25	16	analysis	analysis	NOUN
ajst-26754	25	17	needs	need	VERB
ajst-26754	25	18	to	to	PART
ajst-26754	25	19	consider	consider	VERB
ajst-26754	25	20	the	the	DET
ajst-26754	25	21	geometric	geometric	ADJ
ajst-26754	25	22	properties	property	NOUN
ajst-26754	25	23	of	of	ADP
ajst-26754	25	24	the	the	DET
ajst-26754	25	25	helix	helix	NOUN
ajst-26754	25	26	and	and	CCONJ
ajst-26754	25	27	the	the	DET
ajst-26754	25	28	interactions	interaction	NOUN
ajst-26754	25	29	between	between	ADP
ajst-26754	25	30	the	the	DET
ajst-26754	25	31	nodes	node	NOUN
ajst-26754	25	32	.	.	PUNCT
ajst-26754	26	1	specifically	specifically	ADV
ajst-26754	26	2	,	,	PUNCT
ajst-26754	26	3	the	the	DET
ajst-26754	26	4	motions	motion	NOUN
ajst-26754	26	5	of	of	ADP
ajst-26754	26	6	the	the	DET
ajst-26754	26	7	nodes	node	NOUN
ajst-26754	26	8	of	of	ADP
ajst-26754	26	9	the	the	DET
ajst-26754	26	10	dragon	dragon	NOUN
ajst-26754	26	11	body	body	NOUN
ajst-26754	26	12	should	should	AUX
ajst-26754	26	13	be	be	AUX
ajst-26754	26	14	derived	derive	VERB
ajst-26754	26	15	by	by	ADP
ajst-26754	26	16	recursive	recursive	ADJ
ajst-26754	26	17	equations	equation	NOUN
ajst-26754	26	18	,	,	PUNCT
ajst-26754	26	19	which	which	PRON
ajst-26754	26	20	use	use	VERB
ajst-26754	26	21	the	the	DET
ajst-26754	26	22	motion	motion	NOUN
ajst-26754	26	23	state	state	NOUN
ajst-26754	26	24	of	of	ADP
ajst-26754	26	25	the	the	DET
ajst-26754	26	26	dragon	dragon	NOUN
ajst-26754	26	27	head	head	NOUN
ajst-26754	26	28	as	as	ADP
ajst-26754	26	29	the	the	DET
ajst-26754	26	30	initial	initial	ADJ
ajst-26754	26	31	value	value	NOUN
ajst-26754	26	32	to	to	PART
ajst-26754	26	33	derive	derive	VERB
ajst-26754	26	34	the	the	DET
ajst-26754	26	35	motions	motion	NOUN
ajst-26754	26	36	of	of	ADP
ajst-26754	26	37	each	each	DET
ajst-26754	26	38	node	node	NOUN
ajst-26754	26	39	.	.	PUNCT
ajst-26754	27	1	the	the	DET
ajst-26754	27	2	model	model	NOUN
ajst-26754	27	3	aims	aim	VERB
ajst-26754	27	4	to	to	PART
ajst-26754	27	5	accurately	accurately	ADV
ajst-26754	27	6	describe	describe	VERB
ajst-26754	27	7	the	the	DET
ajst-26754	27	8	positions	position	NOUN
ajst-26754	27	9	and	and	CCONJ
ajst-26754	27	10	velocities	velocity	NOUN
ajst-26754	27	11	of	of	ADP
ajst-26754	27	12	the	the	DET
ajst-26754	27	13	dragon	dragon	NOUN
ajst-26754	27	14	head	head	NOUN
ajst-26754	27	15	,	,	PUNCT
ajst-26754	27	16	different	different	ADJ
ajst-26754	27	17	nodes	node	NOUN
ajst-26754	27	18	of	of	ADP
ajst-26754	27	19	the	the	DET
ajst-26754	27	20	dragon	dragon	NOUN
ajst-26754	27	21	body	body	NOUN
ajst-26754	27	22	and	and	CCONJ
ajst-26754	27	23	the	the	DET
ajst-26754	27	24	dragon	dragon	NOUN
ajst-26754	27	25	tail	tail	NOUN
ajst-26754	27	26	manages	manage	VERB
ajst-26754	27	27	at	at	ADP
ajst-26754	27	28	different	different	ADJ
ajst-26754	27	29	moments	moment	NOUN
ajst-26754	27	30	,	,	PUNCT
ajst-26754	27	31	to	to	PART
ajst-26754	27	32	comprehensively	comprehensively	ADV
ajst-26754	27	33	demonstrate	demonstrate	VERB
ajst-26754	27	34	the	the	DET
ajst-26754	27	35	motion	motion	NOUN
ajst-26754	27	36	characteristics	characteristic	NOUN
ajst-26754	27	37	of	of	ADP
ajst-26754	27	38	the	the	DET
ajst-26754	27	39	dragon	dragon	NOUN
ajst-26754	27	40	dance	dance	NOUN
ajst-26754	27	41	team	team	NOUN
ajst-26754	27	42	.	.	PUNCT
ajst-26754	28	1	a	a	DET
ajst-26754	28	2	helix	helix	NOUN
ajst-26754	28	3	is	be	AUX
ajst-26754	28	4	a	a	DET
ajst-26754	28	5	curve	curve	NOUN
ajst-26754	28	6	that	that	PRON
ajst-26754	28	7	is	be	AUX
ajst-26754	28	8	constantly	constantly	ADV
ajst-26754	28	9	circling	circle	VERB
ajst-26754	28	10	to	to	ADP
ajst-26754	28	11	the	the	DET
ajst-26754	28	12	center	center	NOUN
ajst-26754	28	13	and	and	CCONJ
ajst-26754	28	14	is	be	AUX
ajst-26754	28	15	characterized	characterize	VERB
ajst-26754	28	16	by	by	ADP
ajst-26754	28	17	equidistant	equidistant	ADJ
ajst-26754	28	18	circling	circling	NOUN
ajst-26754	28	19	,	,	PUNCT
ajst-26754	28	20	i.e.	i.e.	X
ajst-26754	28	21	,	,	PUNCT
ajst-26754	28	22	the	the	DET
ajst-26754	28	23	radial	radial	ADJ
ajst-26754	28	24	distance	distance	NOUN
ajst-26754	28	25	decreases	decrease	NOUN
ajst-26754	28	26	by	by	ADP
ajst-26754	28	27	a	a	DET
ajst-26754	28	28	certain	certain	ADJ
ajst-26754	28	29	amount	amount	NOUN
ajst-26754	28	30	for	for	ADP
ajst-26754	28	31	each	each	DET
ajst-26754	28	32	rotation	rotation	NOUN
ajst-26754	28	33	around	around	ADP
ajst-26754	28	34	the	the	DET
ajst-26754	28	35	center	center	NOUN
ajst-26754	28	36	.	.	PUNCT
ajst-26754	29	1	establish	establish	VERB
ajst-26754	29	2	the	the	DET
ajst-26754	29	3	coordinate	coordinate	NOUN
ajst-26754	29	4	system	system	NOUN
ajst-26754	29	5	shown	show	VERB
ajst-26754	29	6	in	in	ADP
ajst-26754	29	7	the	the	DET
ajst-26754	29	8	figure	figure	NOUN
ajst-26754	29	9	and	and	CCONJ
ajst-26754	29	10	describe	describe	VERB
ajst-26754	29	11	the	the	DET
ajst-26754	29	12	problem	problem	NOUN
ajst-26754	29	13	in	in	ADP
ajst-26754	29	14	different	different	ADJ
ajst-26754	29	15	coordinate	coordinate	NOUN
ajst-26754	29	16	forms	form	NOUN
ajst-26754	29	17	as	as	ADP
ajst-26754	29	18	in	in	ADP
ajst-26754	29	19	figure	figure	NOUN
ajst-26754	29	20	1	1	NUM
ajst-26754	29	21	.	.	PUNCT
ajst-26754	30	1	the	the	DET
ajst-26754	30	2	polar	polar	ADJ
ajst-26754	30	3	form	form	NOUN
ajst-26754	30	4	of	of	ADP
ajst-26754	30	5	the	the	DET
ajst-26754	30	6	helix	helix	NOUN
ajst-26754	30	7	is	be	AUX
ajst-26754	30	8	:	:	PUNCT
ajst-26754	30	9	(	(	PUNCT
ajst-26754	30	10	)	)	PUNCT
ajst-26754	30	11	2	2	NUM
ajst-26754	30	12	p	p	NOUN
ajst-26754	30	13	r	r	NOUN
ajst-26754	30	14			X
ajst-26754	30	15			X
ajst-26754	30	16			PROPN
ajst-26754	30	17			PROPN
ajst-26754	30	18	(	(	PUNCT
ajst-26754	30	19	1	1	NUM
ajst-26754	30	20	)	)	PUNCT
ajst-26754	30	21	the	the	DET
ajst-26754	30	22	cartesian	cartesian	ADJ
ajst-26754	30	23	coordinate	coordinate	NOUN
ajst-26754	30	24	form	form	NOUN
ajst-26754	30	25	of	of	ADP
ajst-26754	30	26	the	the	DET
ajst-26754	30	27	helix	helix	NOUN
ajst-26754	30	28	is	be	AUX
ajst-26754	30	29	:	:	PUNCT
ajst-26754	30	30	(	(	PUNCT
ajst-26754	30	31	)	)	PUNCT
ajst-26754	30	32	cos	cos	PROPN
ajst-26754	30	33	(	(	PUNCT
ajst-26754	30	34	)	)	PUNCT
ajst-26754	30	35	sin	sin	NOUN
ajst-26754	30	36	x	x	X
ajst-26754	30	37	r	r	NOUN
ajst-26754	30	38	y	y	NOUN
ajst-26754	30	39	r	r	NOUN
ajst-26754	30	40			X
ajst-26754	30	41			X
ajst-26754	30	42			PROPN
ajst-26754	30	43			PROPN
ajst-26754	30	44			VERB
ajst-26754	30	45			NUM
ajst-26754	30	46			NOUN
ajst-26754	30	47	(	(	PUNCT
ajst-26754	30	48	2	2	NUM
ajst-26754	30	49	)	)	PUNCT
ajst-26754	30	50	84	84	NUM
ajst-26754	30	51	figure	figure	NOUN
ajst-26754	30	52	1	1	NUM
ajst-26754	30	53	.	.	PUNCT
ajst-26754	30	54	schematic	schematic	ADJ
ajst-26754	30	55	diagram	diagram	NOUN
ajst-26754	30	56	of	of	ADP
ajst-26754	30	57	the	the	DET
ajst-26754	30	58	position	position	NOUN
ajst-26754	30	59	of	of	ADP
ajst-26754	30	60	the	the	DET
ajst-26754	30	61	bench	bench	NOUN
ajst-26754	30	62	dragon	dragon	NOUN
ajst-26754	30	63	2.2	2.2	NUM
ajst-26754	30	64	.	.	PUNCT
ajst-26754	31	1	solving	solve	VERB
ajst-26754	31	2	the	the	DET
ajst-26754	31	3	model	model	NOUN
ajst-26754	31	4	providing	provide	VERB
ajst-26754	31	5	that	that	SCONJ
ajst-26754	31	6	the	the	DET
ajst-26754	31	7	helix	helix	NOUN
ajst-26754	31	8	is	be	AUX
ajst-26754	31	9	positively	positively	ADV
ajst-26754	31	10	oriented	orient	VERB
ajst-26754	31	11	counterclockwise	counterclockwise	NOUN
ajst-26754	31	12	from	from	ADP
ajst-26754	31	13	the	the	DET
ajst-26754	31	14	center	center	NOUN
ajst-26754	31	15	,	,	PUNCT
ajst-26754	31	16	the	the	DET
ajst-26754	31	17	angle	angle	NOUN
ajst-26754	31	18	θ	θ	PROPN
ajst-26754	31	19	of	of	ADP
ajst-26754	31	20	the	the	DET
ajst-26754	31	21	handle	handle	NOUN
ajst-26754	31	22	in	in	ADP
ajst-26754	31	23	front	front	NOUN
ajst-26754	31	24	of	of	ADP
ajst-26754	31	25	the	the	DET
ajst-26754	31	26	actual	actual	ADJ
ajst-26754	31	27	problem	problem	NOUN
ajst-26754	31	28	faucet	faucet	NOUN
ajst-26754	31	29	:	:	PUNCT
ajst-26754	31	30	32𝜋	32𝜋	NUM
ajst-26754	31	31	→	→	SYM
ajst-26754	31	32	0	0	NUM
ajst-26754	31	33	.	.	PUNCT
ajst-26754	32	1	in	in	ADP
ajst-26754	32	2	polar	polar	ADJ
ajst-26754	32	3	coordinates	coordinate	NOUN
ajst-26754	32	4	,	,	PUNCT
ajst-26754	32	5	the	the	DET
ajst-26754	32	6	displacement	displacement	NOUN
ajst-26754	32	7	of	of	ADP
ajst-26754	32	8	the	the	DET
ajst-26754	32	9	faucet	faucet	NOUN
ajst-26754	32	10	handle𝑑𝑠	handle𝑑𝑠	PROPN
ajst-26754	32	11	is	be	AUX
ajst-26754	32	12	:	:	PUNCT
ajst-26754	32	13	2	2	NUM
ajst-26754	32	14	2	2	NUM
ajst-26754	32	15	2	2	NUM
ajst-26754	32	16	(	(	PUNCT
ajst-26754	32	17	)	)	PUNCT
ajst-26754	32	18	ds	ds	PROPN
ajst-26754	32	19	dr	dr	PROPN
ajst-26754	32	20	rd	rd	PROPN
ajst-26754	32	21			X
ajst-26754	32	22	(	(	PUNCT
ajst-26754	32	23	3	3	X
ajst-26754	32	24	)	)	PUNCT
ajst-26754	32	25	where	where	SCONJ
ajst-26754	32	26	𝑑𝑠	𝑑𝑠	PRON
ajst-26754	32	27	is	be	AUX
ajst-26754	32	28	the	the	DET
ajst-26754	32	29	microdisplacement	microdisplacement	NOUN
ajst-26754	32	30	along	along	ADP
ajst-26754	32	31	the	the	DET
ajst-26754	32	32	helix	helix	NOUN
ajst-26754	32	33	,	,	PUNCT
ajst-26754	32	34	and𝑑𝑟	and𝑑𝑟	NOUN
ajst-26754	32	35	is	be	AUX
ajst-26754	32	36	the	the	DET
ajst-26754	32	37	polar	polar	ADJ
ajst-26754	32	38	diameter	diameter	NOUN
ajst-26754	32	39	microelement	microelement	NOUN
ajst-26754	32	40	,	,	PUNCT
ajst-26754	32	41	and	and	CCONJ
ajst-26754	32	42	𝑟𝑑𝜃	𝑟𝑑𝜃	NOUN
ajst-26754	32	43	is	be	AUX
ajst-26754	32	44	the	the	DET
ajst-26754	32	45	polar	polar	ADJ
ajst-26754	32	46	angle	angle	NOUN
ajst-26754	32	47	microelement	microelement	NOUN
ajst-26754	32	48	.	.	PUNCT
ajst-26754	33	1	substituting	substitute	VERB
ajst-26754	33	2	(	(	PUNCT
ajst-26754	33	3	1	1	NUM
ajst-26754	33	4	)	)	PUNCT
ajst-26754	33	5	into	into	ADP
ajst-26754	33	6	(	(	PUNCT
ajst-26754	33	7	2	2	X
ajst-26754	33	8	)	)	PUNCT
ajst-26754	33	9	gives	give	VERB
ajst-26754	33	10	:	:	PUNCT
ajst-26754	33	11	2	2	NUM
ajst-26754	33	12	2	2	NUM
ajst-26754	33	13	2ds	2ds	NOUN
ajst-26754	33	14	k	k	PROPN
ajst-26754	33	15	k	k	PROPN
ajst-26754	33	16	d	d	PROPN
ajst-26754	33	17			NOUN
ajst-26754	33	18			PUNCT
ajst-26754	33	19	(	(	PUNCT
ajst-26754	33	20	4	4	X
ajst-26754	33	21	)	)	PUNCT
ajst-26754	33	22	deriving	derive	VERB
ajst-26754	33	23	expression	expression	NOUN
ajst-26754	33	24	(	(	PUNCT
ajst-26754	33	25	4	4	NUM
ajst-26754	33	26	)	)	PUNCT
ajst-26754	33	27	for	for	ADP
ajst-26754	33	28	time	time	NOUN
ajst-26754	33	29	t	t	PROPN
ajst-26754	33	30	yields	yield	VERB
ajst-26754	33	31	:	:	PUNCT
ajst-26754	34	1	2	2	NUM
ajst-26754	34	2	2	2	NUM
ajst-26754	34	3	2ds	2ds	NOUN
ajst-26754	34	4	d	d	X
ajst-26754	34	5	k	k	PROPN
ajst-26754	34	6	k	k	X
ajst-26754	34	7	dt	dt	X
ajst-26754	34	8	dt	dt	INTJ
ajst-26754	35	1			PROPN
ajst-26754	35	2			PROPN
ajst-26754	35	3			X
ajst-26754	35	4	(	(	PUNCT
ajst-26754	35	5	5	5	X
ajst-26754	35	6	)	)	PUNCT
ajst-26754	35	7	the	the	DET
ajst-26754	35	8	velocity	velocity	NOUN
ajst-26754	35	9	of	of	ADP
ajst-26754	35	10	the	the	DET
ajst-26754	35	11	faucet	faucet	NOUN
ajst-26754	35	12	is	be	AUX
ajst-26754	35	13	constant	constant	ADJ
ajst-26754	35	14	at	at	ADP
ajst-26754	35	15	1	1	NUM
ajst-26754	35	16	m	m	NOUN
ajst-26754	35	17	/	/	SYM
ajst-26754	35	18	s	s	PROPN
ajst-26754	35	19	,	,	PUNCT
ajst-26754	35	20	i.e.	i.e.	X
ajst-26754	35	21	,	,	PUNCT
ajst-26754	35	22	𝑑𝑠/𝑑𝑡	𝑑𝑠/𝑑𝑡	NUM
ajst-26754	35	23	1	1	NUM
ajst-26754	35	24	,	,	PUNCT
ajst-26754	35	25	and	and	CCONJ
ajst-26754	35	26	the	the	DET
ajst-26754	35	27	polar	polar	ADJ
ajst-26754	35	28	angle	angle	NOUN
ajst-26754	35	29	of	of	ADP
ajst-26754	35	30	the	the	DET
ajst-26754	35	31	faucet	faucet	NOUN
ajst-26754	35	32	is	be	AUX
ajst-26754	35	33	obtained	obtain	VERB
ajst-26754	35	34	by	by	ADP
ajst-26754	35	35	substituting	substitute	VERB
ajst-26754	35	36	𝜃	𝜃	NOUN
ajst-26754	35	37	into	into	ADP
ajst-26754	35	38	the	the	DET
ajst-26754	35	39	first	first	ADJ
ajst-26754	35	40	-	-	PUNCT
ajst-26754	35	41	order	order	NOUN
ajst-26754	35	42	constant	constant	ADJ
ajst-26754	35	43	coefficient	coefficient	NOUN
ajst-26754	35	44	differential	differential	NOUN
ajst-26754	35	45	equation	equation	NOUN
ajst-26754	35	46	with	with	ADP
ajst-26754	35	47	respect	respect	NOUN
ajst-26754	35	48	to	to	ADP
ajst-26754	35	49	time	time	NOUN
ajst-26754	35	50	𝑡.	𝑡.	NOUN
ajst-26754	35	51	2	2	NUM
ajst-26754	35	52	1	1	NUM
ajst-26754	35	53	1	1	NUM
ajst-26754	35	54	d	d	NOUN
ajst-26754	35	55	dt	dt	X
ajst-26754	36	1	k	k	X
ajst-26754	36	2			PROPN
ajst-26754	36	3			PROPN
ajst-26754	37	1			PROPN
ajst-26754	37	2			PUNCT
ajst-26754	37	3	(	(	PUNCT
ajst-26754	37	4	6	6	NUM
ajst-26754	37	5	)	)	PUNCT
ajst-26754	38	1	among	among	ADP
ajst-26754	38	2	them	they	PRON
ajst-26754	38	3	𝐾	𝐾	PROPN
ajst-26754	38	4	.	.	PUNCT
ajst-26754	39	1	after	after	ADP
ajst-26754	39	2	obtaining	obtain	VERB
ajst-26754	39	3	this	this	DET
ajst-26754	39	4	differential	differential	ADJ
ajst-26754	39	5	equation	equation	NOUN
ajst-26754	39	6	,	,	PUNCT
ajst-26754	39	7	solve	solve	VERB
ajst-26754	39	8	its	its	PRON
ajst-26754	39	9	analytical	analytical	ADJ
ajst-26754	39	10	solution	solution	NOUN
ajst-26754	39	11	to	to	PART
ajst-26754	39	12	get	get	VERB
ajst-26754	39	13	the	the	DET
ajst-26754	39	14	𝜃	𝜃	NOUN
ajst-26754	39	15	with	with	ADP
ajst-26754	39	16	time	time	NOUN
ajst-26754	39	17	𝑡	𝑡	ADP
ajst-26754	39	18	the	the	DET
ajst-26754	39	19	exact	exact	ADJ
ajst-26754	39	20	functional	functional	ADJ
ajst-26754	39	21	relationship	relationship	NOUN
ajst-26754	39	22	can	can	AUX
ajst-26754	39	23	be	be	AUX
ajst-26754	39	24	obtained	obtain	VERB
ajst-26754	39	25	.	.	PUNCT
ajst-26754	40	1	however	however	ADV
ajst-26754	40	2	,	,	PUNCT
ajst-26754	40	3	after	after	ADP
ajst-26754	40	4	trial	trial	NOUN
ajst-26754	40	5	calculations	calculation	NOUN
ajst-26754	40	6	,	,	PUNCT
ajst-26754	40	7	the	the	DET
ajst-26754	40	8	differential	differential	ADJ
ajst-26754	40	9	equation	equation	NOUN
ajst-26754	40	10	has	have	VERB
ajst-26754	40	11	no	no	DET
ajst-26754	40	12	analytical	analytical	ADJ
ajst-26754	40	13	solution	solution	NOUN
ajst-26754	40	14	,	,	PUNCT
ajst-26754	40	15	so	so	CCONJ
ajst-26754	40	16	only	only	ADV
ajst-26754	40	17	its	its	PRON
ajst-26754	40	18	numerical	numerical	ADJ
ajst-26754	40	19	solution	solution	NOUN
ajst-26754	40	20	can	can	AUX
ajst-26754	40	21	be	be	AUX
ajst-26754	40	22	obtained	obtain	VERB
ajst-26754	40	23	.	.	PUNCT
ajst-26754	41	1	ode45	ode45	NOUN
ajst-26754	41	2	is	be	AUX
ajst-26754	41	3	a	a	DET
ajst-26754	41	4	general	general	ADJ
ajst-26754	41	5	-	-	PUNCT
ajst-26754	41	6	purpose	purpose	NOUN
ajst-26754	41	7	ordinary	ordinary	ADJ
ajst-26754	41	8	differential	differential	ADJ
ajst-26754	41	9	equation	equation	NOUN
ajst-26754	41	10	solver	solver	VERB
ajst-26754	41	11	in	in	ADP
ajst-26754	41	12	matlab	matlab	PROPN
ajst-26754	41	13	,	,	PUNCT
ajst-26754	41	14	which	which	PRON
ajst-26754	41	15	is	be	AUX
ajst-26754	41	16	a	a	DET
ajst-26754	41	17	middle	middle	ADJ
ajst-26754	41	18	-	-	PUNCT
ajst-26754	41	19	order	order	NOUN
ajst-26754	41	20	,	,	PUNCT
ajst-26754	41	21	adaptive	adaptive	ADJ
ajst-26754	41	22	stepsize	stepsize	NOUN
ajst-26754	41	23	way	way	NOUN
ajst-26754	41	24	to	to	PART
ajst-26754	41	25	solve	solve	VERB
ajst-26754	41	26	non	non	ADJ
ajst-26754	41	27	-	-	ADJ
ajst-26754	41	28	rigid	rigid	ADJ
ajst-26754	41	29	ordinary	ordinary	ADJ
ajst-26754	41	30	differential	differential	ADJ
ajst-26754	41	31	equations	equation	NOUN
ajst-26754	41	32	.	.	PUNCT
ajst-26754	42	1	for	for	ADP
ajst-26754	42	2	equation	equation	NOUN
ajst-26754	42	3	(	(	PUNCT
ajst-26754	42	4	5	5	NUM
ajst-26754	42	5	)	)	PUNCT
ajst-26754	42	6	,	,	PUNCT
ajst-26754	42	7	code	code	VERB
ajst-26754	42	8	it	it	PRON
ajst-26754	42	9	and	and	CCONJ
ajst-26754	42	10	use	use	VERB
ajst-26754	42	11	ode45	ode45	NOUN
ajst-26754	42	12	to	to	PART
ajst-26754	42	13	solve	solve	VERB
ajst-26754	42	14	this	this	DET
ajst-26754	42	15	differential	differential	ADJ
ajst-26754	42	16	equation	equation	NOUN
ajst-26754	42	17	to	to	PART
ajst-26754	42	18	get	get	VERB
ajst-26754	42	19	the	the	DET
ajst-26754	42	20	dragon	dragon	NOUN
ajst-26754	42	21	head	head	PROPN
ajst-26754	42	22	pole	pole	NOUN
ajst-26754	42	23	angle	angle	NOUN
ajst-26754	43	1	𝜃	𝜃	NUM
ajst-26754	43	2	timedependent	timedependent	NOUN
ajst-26754	43	3	𝑡.	𝑡.	VERB
ajst-26754	43	4	the	the	DET
ajst-26754	43	5	variation	variation	NOUN
ajst-26754	43	6	curve	curve	NOUN
ajst-26754	43	7	of	of	ADP
ajst-26754	43	8	the	the	DET
ajst-26754	43	9	faucet	faucet	NOUN
ajst-26754	43	10	's	's	PART
ajst-26754	43	11	front	front	ADJ
ajst-26754	43	12	handle	handle	NOUN
ajst-26754	43	13	per	per	ADP
ajst-26754	43	14	second	second	ADJ
ajst-26754	43	15	,	,	PUNCT
ajst-26754	43	16	i.e.	i.e.	X
ajst-26754	43	17	,	,	PUNCT
ajst-26754	43	18	the	the	DET
ajst-26754	43	19	polar	polar	ADJ
ajst-26754	43	20	angle	angle	NOUN
ajst-26754	43	21	of	of	ADP
ajst-26754	43	22	the	the	DET
ajst-26754	43	23	faucet	faucet	NOUN
ajst-26754	43	24	's	's	PART
ajst-26754	43	25	front	front	ADJ
ajst-26754	43	26	handle	handle	NOUN
ajst-26754	43	27	per	per	ADP
ajst-26754	43	28	second	second	ADJ
ajst-26754	43	29	𝜃	𝜃	NOUN
ajst-26754	43	30	.	.	PUNCT
ajst-26754	44	1	visualization	visualization	NOUN
ajst-26754	44	2	of	of	ADP
ajst-26754	44	3	the	the	DET
ajst-26754	44	4	obtained	obtain	VERB
ajst-26754	44	5	results	result	NOUN
ajst-26754	44	6	for	for	ADP
ajst-26754	44	7	a	a	DET
ajst-26754	44	8	more	more	ADV
ajst-26754	44	9	intuitive	intuitive	ADJ
ajst-26754	44	10	presentation	presentation	NOUN
ajst-26754	44	11	𝜃	𝜃	VERB
ajst-26754	44	12	the	the	DET
ajst-26754	44	13	relationship	relationship	NOUN
ajst-26754	44	14	with	with	ADP
ajst-26754	44	15	𝑡	𝑡	ADP
ajst-26754	44	16	the	the	DET
ajst-26754	44	17	relationship	relationship	NOUN
ajst-26754	44	18	is	be	AUX
ajst-26754	44	19	shown	show	VERB
ajst-26754	44	20	in	in	ADP
ajst-26754	44	21	figure	figure	NOUN
ajst-26754	44	22	2	2	NUM
ajst-26754	44	23	:	:	PUNCT
ajst-26754	44	24	figure	figure	NOUN
ajst-26754	44	25	2	2	NUM
ajst-26754	44	26	.	.	PUNCT
ajst-26754	44	27	polar	polar	ADJ
ajst-26754	44	28	angle	angle	NOUN
ajst-26754	44	29	of	of	ADP
ajst-26754	44	30	the	the	DET
ajst-26754	44	31	faucet	faucet	NOUN
ajst-26754	44	32	as	as	ADP
ajst-26754	44	33	a	a	DET
ajst-26754	44	34	function	function	NOUN
ajst-26754	44	35	of	of	ADP
ajst-26754	44	36	time	time	NOUN
ajst-26754	44	37	.	.	PUNCT
ajst-26754	45	1	based	base	VERB
ajst-26754	45	2	on	on	ADP
ajst-26754	45	3	the	the	DET
ajst-26754	45	4	cosine	cosine	NOUN
ajst-26754	45	5	theorem	theorem	PROPN
ajst-26754	45	6	,	,	PUNCT
ajst-26754	45	7	a	a	DET
ajst-26754	45	8	recurrence	recurrence	NOUN
ajst-26754	45	9	relation	relation	NOUN
ajst-26754	45	10	for	for	ADP
ajst-26754	45	11	the	the	DET
ajst-26754	45	12	angles	angle	NOUN
ajst-26754	45	13	is	be	AUX
ajst-26754	45	14	derived	derive	VERB
ajst-26754	45	15	and	and	CCONJ
ajst-26754	45	16	the	the	DET
ajst-26754	45	17	position	position	NOUN
ajst-26754	45	18	of	of	ADP
ajst-26754	45	19	each	each	DET
ajst-26754	45	20	node	node	NOUN
ajst-26754	45	21	of	of	ADP
ajst-26754	45	22	the	the	DET
ajst-26754	45	23	dragon	dragon	NOUN
ajst-26754	45	24	's	's	PART
ajst-26754	45	25	body	body	NOUN
ajst-26754	45	26	and	and	CCONJ
ajst-26754	45	27	tail	tail	NOUN
ajst-26754	45	28	per	per	ADP
ajst-26754	45	29	second	second	ADJ
ajst-26754	45	30	is	be	AUX
ajst-26754	45	31	calculated	calculate	VERB
ajst-26754	45	32	by	by	ADP
ajst-26754	45	33	substituting	substitute	VERB
ajst-26754	45	34	the	the	DET
ajst-26754	45	35	angle	angle	NOUN
ajst-26754	45	36	per	per	ADP
ajst-26754	45	37	second	second	NOUN
ajst-26754	45	38	of	of	ADP
ajst-26754	45	39	the	the	DET
ajst-26754	45	40	handle	handle	NOUN
ajst-26754	45	41	in	in	ADP
ajst-26754	45	42	front	front	NOUN
ajst-26754	45	43	of	of	ADP
ajst-26754	45	44	the	the	DET
ajst-26754	45	45	dragon	dragon	NOUN
ajst-26754	45	46	's	's	PART
ajst-26754	45	47	head	head	NOUN
ajst-26754	45	48	.	.	PUNCT
ajst-26754	46	1	for	for	ADP
ajst-26754	46	2	the	the	DET
ajst-26754	46	3	speed	speed	NOUN
ajst-26754	46	4	of	of	ADP
ajst-26754	46	5	the	the	DET
ajst-26754	46	6	coiled	coil	VERB
ajst-26754	46	7	dragon	dragon	NOUN
ajst-26754	46	8	procession	procession	NOUN
ajst-26754	46	9	,	,	PUNCT
ajst-26754	46	10	the	the	DET
ajst-26754	46	11	instantaneous	instantaneous	ADJ
ajst-26754	46	12	speed	speed	NOUN
ajst-26754	46	13	of	of	ADP
ajst-26754	46	14	the	the	DET
ajst-26754	46	15	mass	mass	NOUN
ajst-26754	46	16	point	point	NOUN
ajst-26754	46	17	is	be	AUX
ajst-26754	46	18	approximated	approximate	VERB
ajst-26754	46	19	by	by	ADP
ajst-26754	46	20	the	the	DET
ajst-26754	46	21	difference	difference	NOUN
ajst-26754	46	22	method	method	NOUN
ajst-26754	46	23	.	.	PUNCT
ajst-26754	47	1	the	the	DET
ajst-26754	47	2	angles	angle	NOUN
ajst-26754	47	3	at	at	ADP
ajst-26754	47	4	different	different	ADJ
ajst-26754	47	5	points	point	NOUN
ajst-26754	47	6	in	in	ADP
ajst-26754	47	7	time	time	NOUN
ajst-26754	47	8	are	be	AUX
ajst-26754	47	9	selected	select	VERB
ajst-26754	47	10	to	to	PART
ajst-26754	47	11	determine	determine	VERB
ajst-26754	47	12	the	the	DET
ajst-26754	47	13	corresponding	corresponding	ADJ
ajst-26754	47	14	node	node	ADJ
ajst-26754	47	15	positions	position	NOUN
ajst-26754	47	16	and	and	CCONJ
ajst-26754	47	17	converted	convert	VERB
ajst-26754	47	18	into	into	ADP
ajst-26754	47	19	cartesian	cartesian	ADJ
ajst-26754	47	20	coordinate	coordinate	NOUN
ajst-26754	47	21	form	form	NOUN
ajst-26754	47	22	.	.	PUNCT
ajst-26754	48	1	the	the	DET
ajst-26754	48	2	velocities	velocity	NOUN
ajst-26754	48	3	at	at	ADP
ajst-26754	48	4	the	the	DET
ajst-26754	48	5	start	start	NOUN
ajst-26754	48	6	,	,	PUNCT
ajst-26754	48	7	end	end	NOUN
ajst-26754	48	8	and	and	CCONJ
ajst-26754	48	9	intermediate	intermediate	ADJ
ajst-26754	48	10	time	time	NOUN
ajst-26754	48	11	points	point	NOUN
ajst-26754	48	12	are	be	AUX
ajst-26754	48	13	calculated	calculate	VERB
ajst-26754	48	14	by	by	ADP
ajst-26754	48	15	the	the	DET
ajst-26754	48	16	forward	forward	ADJ
ajst-26754	48	17	,	,	PUNCT
ajst-26754	48	18	backward	backward	ADJ
ajst-26754	48	19	and	and	CCONJ
ajst-26754	48	20	center	center	ADJ
ajst-26754	48	21	difference	difference	NOUN
ajst-26754	48	22	methods	method	NOUN
ajst-26754	48	23	,	,	PUNCT
ajst-26754	48	24	respectively	respectively	ADV
ajst-26754	48	25	,	,	PUNCT
ajst-26754	48	26	to	to	PART
ajst-26754	48	27	solve	solve	VERB
ajst-26754	48	28	for	for	ADP
ajst-26754	48	29	the	the	DET
ajst-26754	48	30	velocity	velocity	NOUN
ajst-26754	48	31	of	of	ADP
ajst-26754	48	32	the	the	DET
ajst-26754	48	33	leading	lead	VERB
ajst-26754	48	34	forehandle	forehandle	NOUN
ajst-26754	48	35	at	at	ADP
ajst-26754	48	36	any	any	DET
ajst-26754	48	37	moment	moment	NOUN
ajst-26754	48	38	.	.	PUNCT
ajst-26754	49	1	this	this	DET
ajst-26754	49	2	method	method	NOUN
ajst-26754	49	3	is	be	AUX
ajst-26754	49	4	also	also	ADV
ajst-26754	49	5	suitable	suitable	ADJ
ajst-26754	49	6	for	for	ADP
ajst-26754	49	7	recursively	recursively	ADV
ajst-26754	49	8	calculating	calculate	VERB
ajst-26754	49	9	the	the	DET
ajst-26754	49	10	velocities	velocity	NOUN
ajst-26754	49	11	of	of	ADP
ajst-26754	49	12	each	each	DET
ajst-26754	49	13	node	node	NOUN
ajst-26754	49	14	of	of	ADP
ajst-26754	49	15	the	the	DET
ajst-26754	49	16	dragon	dragon	NOUN
ajst-26754	49	17	body	body	NOUN
ajst-26754	49	18	and	and	CCONJ
ajst-26754	49	19	dragon	dragon	NOUN
ajst-26754	49	20	tail	tail	NOUN
ajst-26754	49	21	per	per	ADP
ajst-26754	49	22	second	second	NOUN
ajst-26754	49	23	to	to	PART
ajst-26754	49	24	ensure	ensure	VERB
ajst-26754	49	25	the	the	DET
ajst-26754	49	26	coordination	coordination	NOUN
ajst-26754	49	27	and	and	CCONJ
ajst-26754	49	28	efficiency	efficiency	NOUN
ajst-26754	49	29	of	of	ADP
ajst-26754	49	30	the	the	DET
ajst-26754	49	31	overall	overall	ADJ
ajst-26754	49	32	movement	movement	NOUN
ajst-26754	49	33	.	.	PUNCT
ajst-26754	50	1	based	base	VERB
ajst-26754	50	2	on	on	ADP
ajst-26754	50	3	the	the	DET
ajst-26754	50	4	positional	positional	ADJ
ajst-26754	50	5	information	information	NOUN
ajst-26754	50	6	of	of	ADP
ajst-26754	50	7	the	the	DET
ajst-26754	50	8	panglong	panglong	NOUN
ajst-26754	50	9	team	team	NOUN
ajst-26754	50	10	per	per	ADP
ajst-26754	50	11	second	second	ADJ
ajst-26754	50	12	,	,	PUNCT
ajst-26754	50	13	the	the	DET
ajst-26754	50	14	visualization	visualization	NOUN
ajst-26754	50	15	of	of	ADP
ajst-26754	50	16	the	the	DET
ajst-26754	50	17	panglong	panglong	NOUN
ajst-26754	50	18	team	team	NOUN
ajst-26754	50	19	was	be	AUX
ajst-26754	50	20	realized	realize	VERB
ajst-26754	50	21	by	by	ADP
ajst-26754	50	22	using	use	VERB
ajst-26754	50	23	matlab	matlab	PROPN
ajst-26754	50	24	,	,	PUNCT
ajst-26754	50	25	as	as	SCONJ
ajst-26754	50	26	shown	show	VERB
ajst-26754	50	27	in	in	ADP
ajst-26754	50	28	figure	figure	NOUN
ajst-26754	50	29	3	3	NUM
ajst-26754	50	30	:	:	PUNCT
ajst-26754	50	31	figure	figure	NOUN
ajst-26754	50	32	3	3	NUM
ajst-26754	50	33	.	.	PUNCT
ajst-26754	51	1	position	position	NOUN
ajst-26754	51	2	of	of	ADP
ajst-26754	51	3	the	the	DET
ajst-26754	51	4	bench	bench	NOUN
ajst-26754	51	5	dragon	dragon	NOUN
ajst-26754	51	6	at	at	ADP
ajst-26754	51	7	different	different	ADJ
ajst-26754	51	8	moments	moment	NOUN
ajst-26754	51	9	3	3	NUM
ajst-26754	51	10	.	.	X
ajst-26754	51	11	calculation	calculation	NOUN
ajst-26754	51	12	of	of	ADP
ajst-26754	51	13	the	the	DET
ajst-26754	51	14	moment	moment	NOUN
ajst-26754	51	15	of	of	ADP
ajst-26754	51	16	termination	termination	NOUN
ajst-26754	51	17	of	of	ADP
ajst-26754	51	18	the	the	DET
ajst-26754	51	19	safe	safe	ADJ
ajst-26754	51	20	disk	disk	NOUN
ajst-26754	51	21	entry	entry	NOUN
ajst-26754	51	22	3.1	3.1	NUM
ajst-26754	51	23	.	.	PUNCT
ajst-26754	52	1	modeling	modeling	NOUN
ajst-26754	52	2	as	as	ADP
ajst-26754	52	3	the	the	DET
ajst-26754	52	4	dragon	dragon	NOUN
ajst-26754	52	5	dance	dance	NOUN
ajst-26754	52	6	team	team	NOUN
ajst-26754	52	7	coils	coil	NOUN
ajst-26754	52	8	in	in	ADP
ajst-26754	52	9	along	along	ADP
ajst-26754	52	10	the	the	DET
ajst-26754	52	11	spiral	spiral	NOUN
ajst-26754	52	12	,	,	PUNCT
ajst-26754	52	13	the	the	DET
ajst-26754	52	14	polar	polar	ADJ
ajst-26754	52	15	85	85	NUM
ajst-26754	52	16	diameter	diameter	NOUN
ajst-26754	52	17	gradually	gradually	ADV
ajst-26754	52	18	decreases	decrease	VERB
ajst-26754	52	19	,	,	PUNCT
ajst-26754	52	20	resulting	result	VERB
ajst-26754	52	21	in	in	ADP
ajst-26754	52	22	the	the	DET
ajst-26754	52	23	nodes	node	NOUN
ajst-26754	52	24	of	of	ADP
ajst-26754	52	25	the	the	DET
ajst-26754	52	26	dragon	dragon	NOUN
ajst-26754	52	27	body	body	NOUN
ajst-26754	52	28	gradually	gradually	ADV
ajst-26754	52	29	approaching	approach	VERB
ajst-26754	52	30	each	each	DET
ajst-26754	52	31	other	other	ADJ
ajst-26754	52	32	.	.	PUNCT
ajst-26754	53	1	it	it	PRON
ajst-26754	53	2	is	be	AUX
ajst-26754	53	3	necessary	necessary	ADJ
ajst-26754	53	4	to	to	PART
ajst-26754	53	5	determine	determine	VERB
ajst-26754	53	6	the	the	DET
ajst-26754	53	7	termination	termination	NOUN
ajst-26754	53	8	moment	moment	NOUN
ajst-26754	53	9	of	of	ADP
ajst-26754	53	10	the	the	DET
ajst-26754	53	11	dragon	dragon	NOUN
ajst-26754	53	12	team	team	NOUN
ajst-26754	53	13	without	without	ADP
ajst-26754	53	14	collision	collision	NOUN
ajst-26754	53	15	during	during	ADP
ajst-26754	53	16	the	the	DET
ajst-26754	53	17	coiling	coiling	NOUN
ajst-26754	53	18	process	process	NOUN
ajst-26754	53	19	,	,	PUNCT
ajst-26754	53	20	i.e.	i.e.	X
ajst-26754	53	21	,	,	PUNCT
ajst-26754	53	22	to	to	PART
ajst-26754	53	23	find	find	VERB
ajst-26754	53	24	the	the	DET
ajst-26754	53	25	moment	moment	NOUN
ajst-26754	53	26	when	when	SCONJ
ajst-26754	53	27	the	the	DET
ajst-26754	53	28	minimum	minimum	ADJ
ajst-26754	53	29	distance	distance	NOUN
ajst-26754	53	30	between	between	ADP
ajst-26754	53	31	the	the	DET
ajst-26754	53	32	nodes	node	NOUN
ajst-26754	53	33	reaches	reach	VERB
ajst-26754	53	34	a	a	DET
ajst-26754	53	35	critical	critical	ADJ
ajst-26754	53	36	value	value	NOUN
ajst-26754	53	37	.	.	PUNCT
ajst-26754	54	1	for	for	ADP
ajst-26754	54	2	this	this	DET
ajst-26754	54	3	purpose	purpose	NOUN
ajst-26754	54	4	,	,	PUNCT
ajst-26754	54	5	the	the	DET
ajst-26754	54	6	motion	motion	NOUN
ajst-26754	54	7	at	at	ADP
ajst-26754	54	8	each	each	DET
ajst-26754	54	9	moment	moment	NOUN
ajst-26754	54	10	must	must	AUX
ajst-26754	54	11	be	be	AUX
ajst-26754	54	12	accurately	accurately	ADV
ajst-26754	54	13	simulated	simulate	VERB
ajst-26754	54	14	,	,	PUNCT
ajst-26754	54	15	and	and	CCONJ
ajst-26754	54	16	the	the	DET
ajst-26754	54	17	length	length	NOUN
ajst-26754	54	18	and	and	CCONJ
ajst-26754	54	19	width	width	NOUN
ajst-26754	54	20	of	of	ADP
ajst-26754	54	21	the	the	DET
ajst-26754	54	22	benches	bench	NOUN
ajst-26754	54	23	and	and	CCONJ
ajst-26754	54	24	the	the	DET
ajst-26754	54	25	way	way	NOUN
ajst-26754	54	26	the	the	DET
ajst-26754	54	27	handles	handle	NOUN
ajst-26754	54	28	are	be	AUX
ajst-26754	54	29	connected	connect	VERB
ajst-26754	54	30	must	must	AUX
ajst-26754	54	31	be	be	AUX
ajst-26754	54	32	considered	consider	VERB
ajst-26754	54	33	to	to	PART
ajst-26754	54	34	ensure	ensure	VERB
ajst-26754	54	35	that	that	SCONJ
ajst-26754	54	36	the	the	DET
ajst-26754	54	37	dragon	dragon	NOUN
ajst-26754	54	38	bodies	body	NOUN
ajst-26754	54	39	do	do	AUX
ajst-26754	54	40	not	not	PART
ajst-26754	54	41	collide	collide	VERB
ajst-26754	54	42	with	with	ADP
ajst-26754	54	43	each	each	DET
ajst-26754	54	44	other	other	ADJ
ajst-26754	54	45	.	.	PUNCT
ajst-26754	55	1	calculations	calculation	NOUN
ajst-26754	55	2	are	be	AUX
ajst-26754	55	3	made	make	VERB
ajst-26754	55	4	to	to	PART
ajst-26754	55	5	derive	derive	VERB
ajst-26754	55	6	the	the	DET
ajst-26754	55	7	furthest	furth	ADJ
ajst-26754	55	8	distance	distance	NOUN
ajst-26754	55	9	and	and	CCONJ
ajst-26754	55	10	time	time	NOUN
ajst-26754	55	11	that	that	PRON
ajst-26754	55	12	the	the	DET
ajst-26754	55	13	dragon	dragon	NOUN
ajst-26754	55	14	dance	dance	NOUN
ajst-26754	55	15	team	team	NOUN
ajst-26754	55	16	can	can	AUX
ajst-26754	55	17	coil	coil	VERB
ajst-26754	55	18	in	in	ADP
ajst-26754	55	19	,	,	PUNCT
ajst-26754	55	20	and	and	CCONJ
ajst-26754	55	21	to	to	PART
ajst-26754	55	22	provide	provide	VERB
ajst-26754	55	23	the	the	DET
ajst-26754	55	24	positions	position	NOUN
ajst-26754	55	25	and	and	CCONJ
ajst-26754	55	26	velocities	velocity	NOUN
ajst-26754	55	27	of	of	ADP
ajst-26754	55	28	the	the	DET
ajst-26754	55	29	nodes	node	NOUN
ajst-26754	55	30	under	under	ADP
ajst-26754	55	31	the	the	DET
ajst-26754	55	32	termination	termination	NOUN
ajst-26754	55	33	moment	moment	NOUN
ajst-26754	55	34	.	.	PUNCT
ajst-26754	56	1	at	at	ADP
ajst-26754	56	2	the	the	DET
ajst-26754	56	3	end	end	NOUN
ajst-26754	56	4	of	of	ADP
ajst-26754	56	5	the	the	DET
ajst-26754	56	6	coiling	coiling	NOUN
ajst-26754	56	7	in	in	ADP
ajst-26754	56	8	,	,	PUNCT
ajst-26754	56	9	the	the	DET
ajst-26754	56	10	dragon	dragon	NOUN
ajst-26754	56	11	dance	dance	NOUN
ajst-26754	56	12	team	team	NOUN
ajst-26754	56	13	needs	need	VERB
ajst-26754	56	14	to	to	PART
ajst-26754	56	15	make	make	VERB
ajst-26754	56	16	a	a	DET
ajst-26754	56	17	turnaround	turnaround	NOUN
ajst-26754	56	18	to	to	PART
ajst-26754	56	19	coil	coil	VERB
ajst-26754	56	20	out	out	ADP
ajst-26754	56	21	counterclockwise	counterclockwise	NOUN
ajst-26754	56	22	.	.	PUNCT
ajst-26754	57	1	the	the	DET
ajst-26754	57	2	key	key	NOUN
ajst-26754	57	3	is	be	AUX
ajst-26754	57	4	to	to	PART
ajst-26754	57	5	determine	determine	VERB
ajst-26754	57	6	the	the	DET
ajst-26754	57	7	minimum	minimum	ADJ
ajst-26754	57	8	pitch	pitch	NOUN
ajst-26754	57	9	to	to	PART
ajst-26754	57	10	ensure	ensure	VERB
ajst-26754	57	11	that	that	SCONJ
ajst-26754	57	12	the	the	DET
ajst-26754	57	13	front	front	ADJ
ajst-26754	57	14	handle	handle	NOUN
ajst-26754	57	15	of	of	ADP
ajst-26754	57	16	the	the	DET
ajst-26754	57	17	dragon	dragon	NOUN
ajst-26754	57	18	head	head	NOUN
ajst-26754	57	19	can	can	AUX
ajst-26754	57	20	enter	enter	VERB
ajst-26754	57	21	the	the	DET
ajst-26754	57	22	turnaround	turnaround	NOUN
ajst-26754	57	23	space	space	NOUN
ajst-26754	57	24	with	with	ADP
ajst-26754	57	25	a	a	DET
ajst-26754	57	26	diameter	diameter	NOUN
ajst-26754	57	27	of	of	ADP
ajst-26754	57	28	nine	nine	NUM
ajst-26754	57	29	meters	meter	NOUN
ajst-26754	57	30	.	.	PUNCT
ajst-26754	58	1	the	the	PRON
ajst-26754	58	2	smaller	small	ADJ
ajst-26754	58	3	the	the	DET
ajst-26754	58	4	pitch	pitch	NOUN
ajst-26754	58	5	,	,	PUNCT
ajst-26754	58	6	the	the	PRON
ajst-26754	58	7	tighter	tight	ADJ
ajst-26754	58	8	the	the	DET
ajst-26754	58	9	coiling	coiling	NOUN
ajst-26754	58	10	path	path	NOUN
ajst-26754	58	11	and	and	CCONJ
ajst-26754	58	12	the	the	PRON
ajst-26754	58	13	more	more	ADV
ajst-26754	58	14	fully	fully	ADV
ajst-26754	58	15	the	the	DET
ajst-26754	58	16	turnaround	turnaround	NOUN
ajst-26754	58	17	space	space	NOUN
ajst-26754	58	18	is	be	AUX
ajst-26754	58	19	utilized	utilize	VERB
ajst-26754	58	20	.	.	PUNCT
ajst-26754	59	1	the	the	DET
ajst-26754	59	2	analysis	analysis	NOUN
ajst-26754	59	3	required	require	VERB
ajst-26754	59	4	the	the	DET
ajst-26754	59	5	construction	construction	NOUN
ajst-26754	59	6	of	of	ADP
ajst-26754	59	7	a	a	DET
ajst-26754	59	8	geometric	geometric	ADJ
ajst-26754	59	9	model	model	NOUN
ajst-26754	59	10	describing	describe	VERB
ajst-26754	59	11	the	the	DET
ajst-26754	59	12	faucet	faucet	NOUN
ajst-26754	59	13	's	's	PART
ajst-26754	59	14	travel	travel	NOUN
ajst-26754	59	15	along	along	ADP
ajst-26754	59	16	the	the	DET
ajst-26754	59	17	thread	thread	NOUN
ajst-26754	59	18	and	and	CCONJ
ajst-26754	59	19	into	into	ADP
ajst-26754	59	20	the	the	DET
ajst-26754	59	21	turnaround	turnaround	NOUN
ajst-26754	59	22	space	space	NOUN
ajst-26754	59	23	,	,	PUNCT
ajst-26754	59	24	which	which	PRON
ajst-26754	59	25	involved	involve	VERB
ajst-26754	59	26	an	an	DET
ajst-26754	59	27	in	in	ADP
ajst-26754	59	28	-	-	PUNCT
ajst-26754	59	29	depth	depth	NOUN
ajst-26754	59	30	understanding	understanding	NOUN
ajst-26754	59	31	of	of	ADP
ajst-26754	59	32	the	the	DET
ajst-26754	59	33	geometric	geometric	ADJ
ajst-26754	59	34	properties	property	NOUN
ajst-26754	59	35	of	of	ADP
ajst-26754	59	36	the	the	DET
ajst-26754	59	37	thread	thread	NOUN
ajst-26754	59	38	to	to	PART
ajst-26754	59	39	ensure	ensure	VERB
ajst-26754	59	40	that	that	SCONJ
ajst-26754	59	41	the	the	DET
ajst-26754	59	42	turnaround	turnaround	NOUN
ajst-26754	59	43	process	process	NOUN
ajst-26754	59	44	was	be	AUX
ajst-26754	59	45	completed	complete	VERB
ajst-26754	59	46	successfully	successfully	ADV
ajst-26754	59	47	.	.	PUNCT
ajst-26754	60	1	to	to	PART
ajst-26754	60	2	describe	describe	VERB
ajst-26754	60	3	the	the	DET
ajst-26754	60	4	time	time	NOUN
ajst-26754	60	5	problem	problem	NOUN
ajst-26754	60	6	of	of	ADP
ajst-26754	60	7	the	the	DET
ajst-26754	60	8	collision	collision	NOUN
ajst-26754	60	9	of	of	ADP
ajst-26754	60	10	the	the	DET
ajst-26754	60	11	bench	bench	NOUN
ajst-26754	60	12	dragons	dragon	NOUN
ajst-26754	60	13	,	,	PUNCT
ajst-26754	60	14	this	this	DET
ajst-26754	60	15	paper	paper	NOUN
ajst-26754	60	16	establishes	establish	VERB
ajst-26754	60	17	a	a	DET
ajst-26754	60	18	cartesian	cartesian	ADJ
ajst-26754	60	19	coordinate	coordinate	NOUN
ajst-26754	60	20	system	system	NOUN
ajst-26754	60	21	,	,	PUNCT
ajst-26754	60	22	and	and	CCONJ
ajst-26754	60	23	abstracts	abstract	VERB
ajst-26754	60	24	each	each	DET
ajst-26754	60	25	handle	handle	NOUN
ajst-26754	60	26	of	of	ADP
ajst-26754	60	27	the	the	DET
ajst-26754	60	28	bench	bench	NOUN
ajst-26754	60	29	dragons	dragon	NOUN
ajst-26754	60	30	as	as	ADP
ajst-26754	60	31	a	a	DET
ajst-26754	60	32	series	series	NOUN
ajst-26754	60	33	of	of	ADP
ajst-26754	60	34	points	point	NOUN
ajst-26754	60	35	,	,	PUNCT
ajst-26754	60	36	in	in	ADP
ajst-26754	60	37	which	which	PRON
ajst-26754	60	38	the	the	DET
ajst-26754	60	39	front	front	ADJ
ajst-26754	60	40	handle	handle	NOUN
ajst-26754	60	41	of	of	ADP
ajst-26754	60	42	the	the	DET
ajst-26754	60	43	dragon	dragon	NOUN
ajst-26754	60	44	's	's	PART
ajst-26754	60	45	head	head	NOUN
ajst-26754	60	46	is	be	AUX
ajst-26754	60	47	point	point	NOUN
ajst-26754	60	48	a.	a.	NOUN
ajst-26754	60	49	the	the	DET
ajst-26754	60	50	𝑗𝑡ℎ	𝑗𝑡ℎ	ADJ
ajst-26754	60	51	vertex	vertex	NOUN
ajst-26754	60	52	of	of	ADP
ajst-26754	60	53	the	the	DET
ajst-26754	60	54	𝑖𝑡ℎ	𝑖𝑡ℎ	ADJ
ajst-26754	60	55	bench	bench	NOUN
ajst-26754	60	56	is	be	AUX
ajst-26754	60	57	defined	define	VERB
ajst-26754	60	58	as	as	ADP
ajst-26754	60	59	𝑃	𝑃	NOUN
ajst-26754	60	60	.	.	PUNCT
ajst-26754	61	1	these	these	DET
ajst-26754	61	2	points	point	NOUN
ajst-26754	61	3	are	be	AUX
ajst-26754	61	4	connected	connect	VERB
ajst-26754	61	5	sequentially	sequentially	ADV
ajst-26754	61	6	to	to	PART
ajst-26754	61	7	form	form	VERB
ajst-26754	61	8	a	a	DET
ajst-26754	61	9	series	series	NOUN
ajst-26754	61	10	of	of	ADP
ajst-26754	61	11	vectors	vector	NOUN
ajst-26754	61	12	,	,	PUNCT
ajst-26754	61	13	and	and	CCONJ
ajst-26754	61	14	the	the	DET
ajst-26754	61	15	unit	unit	NOUN
ajst-26754	61	16	direction	direction	NOUN
ajst-26754	61	17	vector	vector	NOUN
ajst-26754	61	18	and	and	CCONJ
ajst-26754	61	19	unit	unit	NOUN
ajst-26754	61	20	normal	normal	ADJ
ajst-26754	61	21	vector	vector	NOUN
ajst-26754	61	22	are	be	AUX
ajst-26754	61	23	determined	determine	VERB
ajst-26754	61	24	for	for	ADP
ajst-26754	61	25	each	each	DET
ajst-26754	61	26	vector	vector	NOUN
ajst-26754	61	27	,	,	PUNCT
ajst-26754	61	28	which	which	PRON
ajst-26754	61	29	are	be	AUX
ajst-26754	61	30	used	use	VERB
ajst-26754	61	31	to	to	PART
ajst-26754	61	32	analyze	analyze	VERB
ajst-26754	61	33	the	the	DET
ajst-26754	61	34	motion	motion	NOUN
ajst-26754	61	35	characteristics	characteristic	NOUN
ajst-26754	61	36	of	of	ADP
ajst-26754	61	37	the	the	DET
ajst-26754	61	38	bench	bench	NOUN
ajst-26754	61	39	dragon	dragon	NOUN
ajst-26754	61	40	as	as	SCONJ
ajst-26754	61	41	shown	show	VERB
ajst-26754	61	42	in	in	ADP
ajst-26754	61	43	figure	figure	NOUN
ajst-26754	61	44	4	4	NUM
ajst-26754	61	45	and	and	CCONJ
ajst-26754	61	46	figure	figure	VERB
ajst-26754	61	47	5	5	NUM
ajst-26754	61	48	.	.	PUNCT
ajst-26754	61	49	figure	figure	VERB
ajst-26754	61	50	4	4	NUM
ajst-26754	61	51	.	.	PUNCT
ajst-26754	61	52	schematic	schematic	ADJ
ajst-26754	61	53	diagram	diagram	NOUN
ajst-26754	61	54	of	of	ADP
ajst-26754	61	55	the	the	DET
ajst-26754	61	56	collision	collision	NOUN
ajst-26754	61	57	of	of	ADP
ajst-26754	61	58	bench	bench	NOUN
ajst-26754	61	59	dragons	dragon	NOUN
ajst-26754	61	60	figure	figure	VERB
ajst-26754	61	61	5	5	NUM
ajst-26754	61	62	.	.	PUNCT
ajst-26754	61	63	schematic	schematic	ADJ
ajst-26754	61	64	diagram	diagram	NOUN
ajst-26754	61	65	of	of	ADP
ajst-26754	61	66	bench	bench	NOUN
ajst-26754	61	67	apexes	apex	NOUN
ajst-26754	61	68	let	let	VERB
ajst-26754	61	69	a	a	DET
ajst-26754	61	70	(	(	PUNCT
ajst-26754	61	71	𝑥	𝑥	PROPN
ajst-26754	61	72	,	,	PUNCT
ajst-26754	61	73	𝑦	𝑦	NOUN
ajst-26754	61	74	)	)	PUNCT
ajst-26754	61	75	,	,	PUNCT
ajst-26754	61	76	𝑂	𝑂	PROPN
ajst-26754	61	77	(	(	PUNCT
ajst-26754	61	78	𝑥	𝑥	INTJ
ajst-26754	61	79	,	,	PUNCT
ajst-26754	61	80	𝑦	𝑦	NOUN
ajst-26754	61	81	)	)	PUNCT
ajst-26754	61	82	,	,	PUNCT
ajst-26754	61	83	...	...	PUNCT
ajst-26754	61	84	,	,	PUNCT
ajst-26754	61	85	and	and	CCONJ
ajst-26754	61	86	𝑂	𝑂	PROPN
ajst-26754	61	87	(	(	PUNCT
ajst-26754	61	88	𝑥	𝑥	INTJ
ajst-26754	61	89	,	,	PUNCT
ajst-26754	61	90	𝑦	𝑦	NOUN
ajst-26754	61	91	)	)	PUNCT
ajst-26754	61	92	,	,	PUNCT
ajst-26754	61	93	then	then	ADV
ajst-26754	61	94	the	the	DET
ajst-26754	61	95	tangential	tangential	ADJ
ajst-26754	61	96	and	and	CCONJ
ajst-26754	61	97	normal	normal	ADJ
ajst-26754	61	98	unit	unit	NOUN
ajst-26754	61	99	vectors	vector	NOUN
ajst-26754	61	100	of	of	ADP
ajst-26754	61	101	the	the	DET
ajst-26754	61	102	faucet	faucet	PROPN
ajst-26754	61	103	stool	stool	NOUN
ajst-26754	61	104	are	be	AUX
ajst-26754	61	105	:	:	PUNCT
ajst-26754	61	106	0	0	NUM
ajst-26754	62	1	1	1	NUM
ajst-26754	62	2	0	0	NUM
ajst-26754	62	3	1	1	NUM
ajst-26754	62	4	1	1	NUM
ajst-26754	62	5	1	1	NUM
ajst-26754	62	6	1	1	NUM
ajst-26754	62	7	0	0	NUM
ajst-26754	62	8	1	1	NUM
ajst-26754	62	9	0	0	NUM
ajst-26754	62	10	1	1	NUM
ajst-26754	62	11	1	1	NUM
ajst-26754	62	12	1	1	NUM
ajst-26754	62	13	1	1	NUM
ajst-26754	62	14	,	,	PUNCT
ajst-26754	63	1	|	|	ADV
ajst-26754	63	2	|	|	ADV
ajst-26754	64	1	|	|	ADV
ajst-26754	64	2	|	|	ADV
ajst-26754	64	3	,	,	PUNCT
ajst-26754	65	1	|	|	ADV
ajst-26754	65	2	|	|	ADV
ajst-26754	66	1	|	|	ADV
ajst-26754	66	2	|	|	ADV
ajst-26754	66	3	x	x	X
ajst-26754	66	4	x	x	VERB
ajst-26754	66	5	y	y	VERB
ajst-26754	66	6	y	y	PROPN
ajst-26754	66	7	e	e	PROPN
ajst-26754	66	8	l	l	PROPN
ajst-26754	66	9	l	l	X
ajst-26754	66	10	y	y	NOUN
ajst-26754	66	11	y	y	PROPN
ajst-26754	66	12	x	x	PROPN
ajst-26754	66	13	x	x	VERB
ajst-26754	66	14	n	n	CCONJ
ajst-26754	66	15	n	n	CCONJ
ajst-26754	66	16	n	n	PRON
ajst-26754	66	17			NOUN
ajst-26754	66	18			ADJ
ajst-26754	66	19			PROPN
ajst-26754	66	20			PROPN
ajst-26754	66	21			PROPN
ajst-26754	66	22			NOUN
ajst-26754	67	1			PROPN
ajst-26754	68	1			PROPN
ajst-26754	68	2			PROPN
ajst-26754	68	3			NOUN
ajst-26754	68	4			VERB
ajst-26754	68	5			PROPN
ajst-26754	68	6			PROPN
ajst-26754	68	7			PROPN
ajst-26754	68	8			PROPN
ajst-26754	69	1			PROPN
ajst-26754	69	2			NOUN
ajst-26754	69	3			ADP
ajst-26754	69	4			ADP
ajst-26754	69	5			X
ajst-26754	69	6			X
ajst-26754	69	7			X
ajst-26754	69	8			X
ajst-26754	69	9	(	(	PUNCT
ajst-26754	69	10	7	7	X
ajst-26754	69	11	)	)	PUNCT
ajst-26754	69	12	the	the	DET
ajst-26754	69	13	tangential	tangential	ADJ
ajst-26754	69	14	and	and	CCONJ
ajst-26754	69	15	normal	normal	ADJ
ajst-26754	69	16	unit	unit	NOUN
ajst-26754	69	17	vectors	vector	NOUN
ajst-26754	69	18	of	of	ADP
ajst-26754	69	19	the	the	DET
ajst-26754	69	20	dragon	dragon	NOUN
ajst-26754	69	21	body	body	NOUN
ajst-26754	69	22	stool	stool	NOUN
ajst-26754	69	23	and	and	CCONJ
ajst-26754	69	24	the	the	DET
ajst-26754	69	25	dragon	dragon	NOUN
ajst-26754	69	26	tail	tail	PROPN
ajst-26754	69	27	stool	stool	NOUN
ajst-26754	69	28	are	be	AUX
ajst-26754	69	29	:	:	PUNCT
ajst-26754	69	30	1	1	NUM
ajst-26754	69	31	1	1	NUM
ajst-26754	69	32	1	1	NUM
ajst-26754	69	33	1	1	NUM
ajst-26754	69	34	,	,	PUNCT
ajst-26754	69	35	|	|	ADV
ajst-26754	70	1	|	|	ADV
ajst-26754	70	2	|	|	ADV
ajst-26754	71	1	|	|	ADV
ajst-26754	71	2	,	,	PUNCT
ajst-26754	72	1	|	|	ADV
ajst-26754	72	2	|	|	ADV
ajst-26754	73	1	|	|	ADV
ajst-26754	74	1	|	|	ADV
ajst-26754	74	2	i	i	PRON
ajst-26754	75	1	i	i	PRON
ajst-26754	75	2	i	i	PRON
ajst-26754	76	1	i	i	VERB
ajst-26754	76	2	l	l	VERB
ajst-26754	77	1	i	i	PRON
ajst-26754	77	2	i	i	PRON
ajst-26754	78	1	i	i	PRON
ajst-26754	78	2	i	i	PRON
ajst-26754	79	1	i	i	PRON
ajst-26754	80	1	i	i	VERB
ajst-26754	80	2	l	l	VERB
ajst-26754	81	1	i	i	PRON
ajst-26754	81	2	i	i	VERB
ajst-26754	81	3	x	x	VERB
ajst-26754	81	4	x	x	VERB
ajst-26754	82	1	y	y	VERB
ajst-26754	82	2	y	y	PROPN
ajst-26754	82	3	e	e	PROPN
ajst-26754	82	4	l	l	PROPN
ajst-26754	82	5	l	l	X
ajst-26754	82	6	y	y	NOUN
ajst-26754	82	7	y	y	PROPN
ajst-26754	82	8	x	x	PROPN
ajst-26754	82	9	x	x	VERB
ajst-26754	82	10	n	n	CCONJ
ajst-26754	82	11	n	n	CCONJ
ajst-26754	82	12	n	n	CCONJ
ajst-26754	82	13			PROPN
ajst-26754	82	14			PROPN
ajst-26754	82	15			PROPN
ajst-26754	82	16			PROPN
ajst-26754	82	17			NOUN
ajst-26754	82	18			ADP
ajst-26754	82	19			PROPN
ajst-26754	82	20			PROPN
ajst-26754	82	21			PROPN
ajst-26754	82	22			NOUN
ajst-26754	83	1			PROPN
ajst-26754	83	2			PROPN
ajst-26754	83	3			PROPN
ajst-26754	83	4			NOUN
ajst-26754	83	5			VERB
ajst-26754	83	6			PROPN
ajst-26754	84	1			PROPN
ajst-26754	84	2			PROPN
ajst-26754	84	3			PROPN
ajst-26754	85	1			ADJ
ajst-26754	85	2			NOUN
ajst-26754	85	3			ADP
ajst-26754	85	4			ADP
ajst-26754	85	5			X
ajst-26754	85	6			X
ajst-26754	85	7			X
ajst-26754	85	8			X
ajst-26754	85	9	(	(	PUNCT
ajst-26754	85	10	8)	8)	NUM
ajst-26754	85	11	where	where	SCONJ
ajst-26754	85	12	𝑙	𝑙	PROPN
ajst-26754	85	13	is	be	AUX
ajst-26754	85	14	the	the	DET
ajst-26754	85	15	distance	distance	NOUN
ajst-26754	85	16	between	between	ADP
ajst-26754	85	17	the	the	DET
ajst-26754	85	18	two	two	NUM
ajst-26754	85	19	handles	handle	NOUN
ajst-26754	85	20	of	of	ADP
ajst-26754	85	21	the	the	DET
ajst-26754	85	22	bench	bench	NOUN
ajst-26754	85	23	,	,	PUNCT
ajst-26754	85	24	the	the	DET
ajst-26754	85	25	dragon	dragon	NOUN
ajst-26754	85	26	head	head	NOUN
ajst-26754	85	27	bench	bench	NOUN
ajst-26754	85	28	is	be	AUX
ajst-26754	85	29	286	286	NUM
ajst-26754	85	30	cm	cm	NOUN
ajst-26754	85	31	,	,	PUNCT
ajst-26754	85	32	the	the	DET
ajst-26754	85	33	dragon	dragon	NOUN
ajst-26754	85	34	body	body	NOUN
ajst-26754	85	35	bench	bench	NOUN
ajst-26754	85	36	and	and	CCONJ
ajst-26754	85	37	the	the	DET
ajst-26754	85	38	dragon	dragon	NOUN
ajst-26754	85	39	tail	tail	NOUN
ajst-26754	85	40	bench	bench	NOUN
ajst-26754	85	41	are	be	AUX
ajst-26754	85	42	165	165	NUM
ajst-26754	85	43	cm	cm	NOUN
ajst-26754	85	44	.	.	PUNCT
ajst-26754	86	1	3.2	3.2	NUM
ajst-26754	86	2	.	.	PUNCT
ajst-26754	87	1	solving	solve	VERB
ajst-26754	87	2	the	the	DET
ajst-26754	87	3	model	model	NOUN
ajst-26754	87	4	the	the	DET
ajst-26754	87	5	four	four	NUM
ajst-26754	87	6	vertices	vertex	NOUN
ajst-26754	87	7	of	of	ADP
ajst-26754	87	8	the	the	DET
ajst-26754	87	9	𝑖𝑡ℎ	𝑖𝑡ℎ	ADJ
ajst-26754	87	10	bench	bench	NOUN
ajst-26754	87	11	𝑃	𝑃	NOUN
ajst-26754	87	12	(	(	PUNCT
ajst-26754	87	13	j=1,2,3,4	j=1,2,3,4	ADJ
ajst-26754	87	14	)	)	PUNCT
ajst-26754	87	15	have	have	AUX
ajst-26754	87	16	coordinates	coordinate	NOUN
ajst-26754	87	17	:	:	PUNCT
ajst-26754	87	18	1	1	NUM
ajst-26754	87	19	1	1	NUM
ajst-26754	87	20	2	2	NUM
ajst-26754	87	21	2	2	NUM
ajst-26754	87	22	3	3	NUM
ajst-26754	87	23	3	3	NUM
ajst-26754	87	24	1	1	NUM
ajst-26754	87	25	1	1	NUM
ajst-26754	87	26	1	1	NUM
ajst-26754	87	27	1	1	NUM
ajst-26754	87	28	4	4	NUM
ajst-26754	87	29	4	4	NUM
ajst-26754	87	30	1	1	NUM
ajst-26754	87	31	1	1	NUM
ajst-26754	87	32	1	1	NUM
ajst-26754	87	33	1	1	NUM
ajst-26754	87	34	(	(	PUNCT
ajst-26754	87	35	,	,	PUNCT
ajst-26754	87	36	)	)	PUNCT
ajst-26754	87	37	(	(	PUNCT
ajst-26754	87	38	,	,	PUNCT
ajst-26754	87	39	)	)	PUNCT
ajst-26754	87	40	0.275	0.275	NUM
ajst-26754	87	41	0.15	0.15	NUM
ajst-26754	87	42	,	,	PUNCT
ajst-26754	87	43	(	(	PUNCT
ajst-26754	87	44	,	,	PUNCT
ajst-26754	87	45	)	)	PUNCT
ajst-26754	87	46	(	(	PUNCT
ajst-26754	87	47	,	,	PUNCT
ajst-26754	87	48	)	)	PUNCT
ajst-26754	87	49	0.275	0.275	NUM
ajst-26754	87	50	0.15	0.15	NUM
ajst-26754	87	51	,	,	PUNCT
ajst-26754	87	52	(	(	PUNCT
ajst-26754	87	53	,	,	PUNCT
ajst-26754	87	54	)	)	PUNCT
ajst-26754	87	55	(	(	PUNCT
ajst-26754	87	56	,	,	PUNCT
ajst-26754	87	57	)	)	PUNCT
ajst-26754	87	58	0.275	0.275	NUM
ajst-26754	87	59	0.15	0.15	NUM
ajst-26754	87	60	,	,	PUNCT
ajst-26754	87	61	(	(	PUNCT
ajst-26754	87	62	,	,	PUNCT
ajst-26754	87	63	)	)	PUNCT
ajst-26754	87	64	(	(	PUNCT
ajst-26754	87	65	,	,	PUNCT
ajst-26754	87	66	)	)	PUNCT
ajst-26754	87	67	0.275	0.275	NUM
ajst-26754	87	68	0.15	0.15	NUM
ajst-26754	87	69	.	.	PUNCT
ajst-26754	88	1	i	i	PRON
ajst-26754	88	2	i	i	PRON
ajst-26754	89	1	i	i	PRON
ajst-26754	89	2	i	i	VERB
ajst-26754	89	3	l	l	VERB
ajst-26754	89	4	l	l	NOUN
ajst-26754	90	1	i	i	PRON
ajst-26754	90	2	i	i	PRON
ajst-26754	91	1	i	i	INTJ
ajst-26754	91	2	i	i	VERB
ajst-26754	91	3	l	l	VERB
ajst-26754	91	4	l	l	NOUN
ajst-26754	92	1	i	i	PRON
ajst-26754	92	2	i	i	PRON
ajst-26754	93	1	i	i	INTJ
ajst-26754	93	2	i	i	VERB
ajst-26754	93	3	l	l	VERB
ajst-26754	93	4	l	l	NOUN
ajst-26754	94	1	i	i	PRON
ajst-26754	94	2	i	i	PRON
ajst-26754	95	1	i	i	INTJ
ajst-26754	95	2	i	i	VERB
ajst-26754	95	3	l	l	VERB
ajst-26754	96	1	l	l	NOUN
ajst-26754	97	1	p	p	X
ajst-26754	97	2	x	x	X
ajst-26754	97	3	p	p	X
ajst-26754	97	4	y	y	NOUN
ajst-26754	97	5	o	o	NOUN
ajst-26754	97	6	x	x	X
ajst-26754	97	7	o	o	X
ajst-26754	97	8	y	y	PROPN
ajst-26754	97	9	e	e	PROPN
ajst-26754	97	10	n	n	CCONJ
ajst-26754	97	11	p	p	X
ajst-26754	97	12	x	x	X
ajst-26754	97	13	p	p	X
ajst-26754	97	14	y	y	NOUN
ajst-26754	97	15	o	o	NOUN
ajst-26754	97	16	x	x	X
ajst-26754	97	17	o	o	X
ajst-26754	97	18	y	y	PROPN
ajst-26754	97	19	e	e	PROPN
ajst-26754	97	20	n	n	CCONJ
ajst-26754	97	21	p	p	X
ajst-26754	97	22	x	x	X
ajst-26754	97	23	p	p	X
ajst-26754	97	24	y	y	NOUN
ajst-26754	97	25	o	o	NOUN
ajst-26754	97	26	x	x	X
ajst-26754	97	27	o	o	X
ajst-26754	97	28	y	y	PROPN
ajst-26754	97	29	e	e	PROPN
ajst-26754	97	30	n	n	CCONJ
ajst-26754	97	31	p	p	X
ajst-26754	97	32	x	x	X
ajst-26754	97	33	p	p	X
ajst-26754	97	34	y	y	NOUN
ajst-26754	97	35	o	o	NOUN
ajst-26754	97	36	x	x	X
ajst-26754	97	37	o	o	X
ajst-26754	97	38	y	y	PROPN
ajst-26754	97	39	e	e	PROPN
ajst-26754	97	40	n	n	PROPN
ajst-26754	97	41			ADV
ajst-26754	97	42			PUNCT
ajst-26754	97	43			PROPN
ajst-26754	97	44			PROPN
ajst-26754	97	45			PUNCT
ajst-26754	97	46			PUNCT
ajst-26754	97	47			PROPN
ajst-26754	97	48			PROPN
ajst-26754	97	49			PROPN
ajst-26754	97	50			ADV
ajst-26754	97	51			PUNCT
ajst-26754	97	52			PROPN
ajst-26754	97	53			ADV
ajst-26754	97	54			PROPN
ajst-26754	97	55			PROPN
ajst-26754	97	56			PROPN
ajst-26754	97	57			PART
ajst-26754	97	58			PROPN
ajst-26754	97	59			PROPN
ajst-26754	97	60			PROPN
ajst-26754	97	61			ADP
ajst-26754	97	62			ADP
ajst-26754	97	63			X
ajst-26754	97	64			X
ajst-26754	97	65			X
ajst-26754	97	66			X
ajst-26754	97	67			X
ajst-26754	97	68			X
ajst-26754	97	69	(	(	PUNCT
ajst-26754	97	70	9	9	X
ajst-26754	97	71	)	)	PUNCT
ajst-26754	97	72	the	the	DET
ajst-26754	97	73	matlab	matlab	PROPN
ajst-26754	97	74	inpolygon	inpolygon	NOUN
ajst-26754	97	75	function	function	NOUN
ajst-26754	97	76	can	can	AUX
ajst-26754	97	77	be	be	AUX
ajst-26754	97	78	realized	realize	VERB
ajst-26754	97	79	to	to	PART
ajst-26754	97	80	determine	determine	VERB
ajst-26754	97	81	whether	whether	SCONJ
ajst-26754	97	82	the	the	DET
ajst-26754	97	83	point	point	NOUN
ajst-26754	97	84	to	to	PART
ajst-26754	97	85	be	be	AUX
ajst-26754	97	86	measured	measure	VERB
ajst-26754	97	87	is	be	AUX
ajst-26754	97	88	within	within	ADP
ajst-26754	97	89	the	the	DET
ajst-26754	97	90	specified	specify	VERB
ajst-26754	97	91	polygon	polygon	NOUN
ajst-26754	97	92	.	.	PUNCT
ajst-26754	98	1	substitute	substitute	VERB
ajst-26754	98	2	the	the	DET
ajst-26754	98	3	four	four	NUM
ajst-26754	98	4	vertices	vertex	NOUN
ajst-26754	98	5	of	of	ADP
ajst-26754	98	6	the	the	DET
ajst-26754	98	7	bench	bench	NOUN
ajst-26754	98	8	𝑃	𝑃	NOUN
ajst-26754	98	9	，	，	PUNCT
ajst-26754	98	10	𝑃	𝑃	NOUN
ajst-26754	98	11	，	，	PUNCT
ajst-26754	98	12	𝑃	𝑃	NOUN
ajst-26754	98	13	，	，	PUNCT
ajst-26754	98	14	𝑃	𝑃	NOUN
ajst-26754	98	15	substitute	substitute	NOUN
ajst-26754	98	16	the	the	DET
ajst-26754	98	17	four	four	NUM
ajst-26754	98	18	vertices	vertex	NOUN
ajst-26754	98	19	of	of	ADP
ajst-26754	98	20	the	the	DET
ajst-26754	98	21	bench	bench	NOUN
ajst-26754	98	22	into	into	ADP
ajst-26754	98	23	the	the	DET
ajst-26754	98	24	function	function	NOUN
ajst-26754	98	25	to	to	PART
ajst-26754	98	26	form	form	VERB
ajst-26754	98	27	a	a	DET
ajst-26754	98	28	polygon	polygon	NOUN
ajst-26754	98	29	,	,	PUNCT
ajst-26754	98	30	and	and	CCONJ
ajst-26754	98	31	determine	determine	VERB
ajst-26754	98	32	whether	whether	SCONJ
ajst-26754	98	33	the	the	DET
ajst-26754	98	34	vertices	vertex	NOUN
ajst-26754	98	35	of	of	ADP
ajst-26754	98	36	the	the	DET
ajst-26754	98	37	dragon	dragon	NOUN
ajst-26754	98	38	's	's	PART
ajst-26754	98	39	head	head	NOUN
ajst-26754	98	40	bench	bench	NOUN
ajst-26754	98	41	𝑃	𝑃	NOUN
ajst-26754	98	42	，	，	ADJ
ajst-26754	98	43	𝑃	𝑃	NOUN
ajst-26754	98	44	are	be	AUX
ajst-26754	98	45	inside	inside	ADP
ajst-26754	98	46	the	the	DET
ajst-26754	98	47	polygon	polygon	NOUN
ajst-26754	98	48	,	,	PUNCT
ajst-26754	98	49	you	you	PRON
ajst-26754	98	50	can	can	AUX
ajst-26754	98	51	determine	determine	VERB
ajst-26754	98	52	whether	whether	SCONJ
ajst-26754	98	53	the	the	DET
ajst-26754	98	54	dragon	dragon	NOUN
ajst-26754	98	55	head	head	NOUN
ajst-26754	98	56	bench	bench	NOUN
ajst-26754	98	57	collides	collide	VERB
ajst-26754	98	58	with	with	ADP
ajst-26754	98	59	the	the	DET
ajst-26754	98	60	surrounding	surround	VERB
ajst-26754	98	61	dragon	dragon	NOUN
ajst-26754	98	62	body	body	NOUN
ajst-26754	98	63	benches	bench	NOUN
ajst-26754	98	64	.	.	PUNCT
ajst-26754	99	1	change	change	VERB
ajst-26754	99	2	the	the	DET
ajst-26754	99	3	time	time	NOUN
ajst-26754	99	4	traversal	traversal	NOUN
ajst-26754	99	5	step	step	NOUN
ajst-26754	99	6	to	to	ADP
ajst-26754	99	7	0.1	0.1	NUM
ajst-26754	99	8	seconds	second	NOUN
ajst-26754	99	9	,	,	PUNCT
ajst-26754	99	10	get	get	VERB
ajst-26754	99	11	the	the	DET
ajst-26754	99	12	positional	positional	ADJ
ajst-26754	99	13	coordinates	coordinate	NOUN
ajst-26754	99	14	of	of	ADP
ajst-26754	99	15	each	each	DET
ajst-26754	99	16	section	section	NOUN
ajst-26754	99	17	of	of	ADP
ajst-26754	99	18	the	the	DET
ajst-26754	99	19	dragon	dragon	NOUN
ajst-26754	99	20	body	body	NOUN
ajst-26754	99	21	and	and	CCONJ
ajst-26754	99	22	dragon	dragon	NOUN
ajst-26754	99	23	tail	tail	NOUN
ajst-26754	99	24	every	every	DET
ajst-26754	99	25	0.1	0.1	NUM
ajst-26754	99	26	seconds	second	NOUN
ajst-26754	99	27	,	,	PUNCT
ajst-26754	99	28	use	use	VERB
ajst-26754	99	29	the	the	DET
ajst-26754	99	30	above	above	ADJ
ajst-26754	99	31	algorithm	algorithm	NOUN
ajst-26754	99	32	to	to	PART
ajst-26754	99	33	calculate	calculate	VERB
ajst-26754	99	34	the	the	DET
ajst-26754	99	35	coordinates	coordinate	NOUN
ajst-26754	99	36	of	of	ADP
ajst-26754	99	37	the	the	DET
ajst-26754	99	38	four	four	NUM
ajst-26754	99	39	vertices	vertex	NOUN
ajst-26754	99	40	of	of	ADP
ajst-26754	99	41	each	each	DET
ajst-26754	99	42	bench	bench	NOUN
ajst-26754	99	43	around	around	ADP
ajst-26754	99	44	the	the	DET
ajst-26754	99	45	dragon	dragon	NOUN
ajst-26754	99	46	head	head	NOUN
ajst-26754	99	47	,	,	PUNCT
ajst-26754	99	48	and	and	CCONJ
ajst-26754	99	49	carry	carry	VERB
ajst-26754	99	50	out	out	ADP
ajst-26754	99	51	the	the	DET
ajst-26754	99	52	collision	collision	NOUN
ajst-26754	99	53	detection	detection	NOUN
ajst-26754	99	54	every	every	DET
ajst-26754	99	55	0.1s	0.1s	NOUN
ajst-26754	99	56	,	,	PUNCT
ajst-26754	99	57	that	that	ADV
ajst-26754	99	58	is	is	ADV
ajst-26754	99	59	,	,	PUNCT
ajst-26754	99	60	judge	judge	VERB
ajst-26754	99	61	the	the	DET
ajst-26754	99	62	point	point	NOUN
ajst-26754	99	63	to	to	PART
ajst-26754	99	64	be	be	AUX
ajst-26754	99	65	measured	measure	VERB
ajst-26754	99	66	every	every	DET
ajst-26754	99	67	0.1s	0.1s	NUM
ajst-26754	99	68	𝑃	𝑃	NOUN
ajst-26754	99	69	and	and	CCONJ
ajst-26754	99	70	𝑃	𝑃	VERB
ajst-26754	99	71	whether	whether	SCONJ
ajst-26754	99	72	it	it	PRON
ajst-26754	99	73	is	be	AUX
ajst-26754	99	74	in	in	ADP
ajst-26754	99	75	the	the	DET
ajst-26754	99	76	quadrilateral	quadrilateral	ADJ
ajst-26754	99	77	𝑃	𝑃	NOUN
ajst-26754	99	78	𝑃	𝑃	NOUN
ajst-26754	99	79	𝑃	𝑃	NOUN
ajst-26754	99	80	𝑃	𝑃	NOUN
ajst-26754	99	81	(	(	PUNCT
ajst-26754	99	82	𝑖=2,3	𝑖=2,3	NOUN
ajst-26754	99	83	,	,	PUNCT
ajst-26754	99	84	...	...	PUNCT
ajst-26754	99	85	)	)	PUNCT
ajst-26754	99	86	's	's	PART
ajst-26754	99	87	boundary	boundary	ADJ
ajst-26754	99	88	or	or	CCONJ
ajst-26754	99	89	interior	interior	ADJ
ajst-26754	99	90	.	.	PUNCT
ajst-26754	100	1	the	the	DET
ajst-26754	100	2	run	run	NOUN
ajst-26754	100	3	revealed	reveal	VERB
ajst-26754	100	4	a	a	DET
ajst-26754	100	5	collision	collision	NOUN
ajst-26754	100	6	at	at	ADP
ajst-26754	100	7	sec	sec	PROPN
ajst-26754	100	8	412.5	412.5	NUM
ajst-26754	100	9	.	.	PUNCT
ajst-26754	101	1	at	at	ADP
ajst-26754	101	2	time	time	NOUN
ajst-26754	101	3	point	point	NOUN
ajst-26754	101	4	412.5	412.5	NUM
ajst-26754	101	5	s	s	NOUN
ajst-26754	101	6	,	,	PUNCT
ajst-26754	101	7	the	the	DET
ajst-26754	101	8	positions	position	NOUN
ajst-26754	101	9	,	,	PUNCT
ajst-26754	101	10	and	and	CCONJ
ajst-26754	101	11	velocities	velocity	NOUN
ajst-26754	101	12	of	of	ADP
ajst-26754	101	13	the	the	DET
ajst-26754	101	14	front	front	ADJ
ajst-26754	101	15	handle	handle	NOUN
ajst-26754	101	16	of	of	ADP
ajst-26754	101	17	the	the	DET
ajst-26754	101	18	dragon	dragon	NOUN
ajst-26754	101	19	head	head	NOUN
ajst-26754	101	20	,	,	PUNCT
ajst-26754	101	21	the	the	DET
ajst-26754	101	22	front	front	ADJ
ajst-26754	101	23	handles	handle	NOUN
ajst-26754	101	24	of	of	ADP
ajst-26754	101	25	the	the	DET
ajst-26754	101	26	1st	1st	ADJ
ajst-26754	101	27	,	,	PUNCT
ajst-26754	101	28	51st	51st	ADJ
ajst-26754	101	29	,	,	PUNCT
ajst-26754	101	30	101st	101st	ADJ
ajst-26754	101	31	,	,	PUNCT
ajst-26754	101	32	151st	151st	NOUN
ajst-26754	101	33	,	,	PUNCT
ajst-26754	101	34	and	and	CCONJ
ajst-26754	101	35	201st	201st	PROPN
ajst-26754	101	36	dragon	dragon	NOUN
ajst-26754	101	37	-	-	PUNCT
ajst-26754	101	38	body	body	NOUN
ajst-26754	101	39	sections	section	NOUN
ajst-26754	101	40	after	after	ADP
ajst-26754	101	41	the	the	DET
ajst-26754	101	42	dragon	dragon	NOUN
ajst-26754	101	43	head	head	NOUN
ajst-26754	101	44	,	,	PUNCT
ajst-26754	101	45	and	and	CCONJ
ajst-26754	101	46	the	the	DET
ajst-26754	101	47	rear	rear	ADJ
ajst-26754	101	48	handle	handle	NOUN
ajst-26754	101	49	of	of	ADP
ajst-26754	101	50	the	the	DET
ajst-26754	101	51	dragon	dragon	NOUN
ajst-26754	101	52	's	's	PART
ajst-26754	101	53	tail	tail	NOUN
ajst-26754	101	54	are	be	AUX
ajst-26754	101	55	shown	show	VERB
ajst-26754	101	56	in	in	ADP
ajst-26754	101	57	the	the	DET
ajst-26754	101	58	table	table	NOUN
ajst-26754	101	59	.	.	PUNCT
ajst-26754	102	1	the	the	DET
ajst-26754	102	2	velocity	velocity	NOUN
ajst-26754	102	3	data	datum	NOUN
ajst-26754	102	4	show	show	VERB
ajst-26754	102	5	that	that	SCONJ
ajst-26754	102	6	the	the	DET
ajst-26754	102	7	velocity	velocity	NOUN
ajst-26754	102	8	of	of	ADP
ajst-26754	102	9	the	the	DET
ajst-26754	102	10	dragon	dragon	NOUN
ajst-26754	102	11	head	head	NOUN
ajst-26754	102	12	is	be	AUX
ajst-26754	102	13	0.9998	0.9998	NUM
ajst-26754	102	14	m	m	PROPN
ajst-26754	102	15	/	/	SYM
ajst-26754	102	16	s	s	PROPN
ajst-26754	102	17	,	,	PUNCT
ajst-26754	102	18	the	the	DET
ajst-26754	102	19	velocity	velocity	NOUN
ajst-26754	102	20	of	of	ADP
ajst-26754	102	21	the	the	DET
ajst-26754	102	22	1st	1st	ADJ
ajst-26754	102	23	dragon	dragon	NOUN
ajst-26754	102	24	body	body	NOUN
ajst-26754	102	25	is	be	AUX
ajst-26754	102	26	0.9913	0.9913	NUM
ajst-26754	102	27	m	m	NOUN
ajst-26754	102	28	/	/	SYM
ajst-26754	102	29	s	s	PROPN
ajst-26754	102	30	,	,	PUNCT
ajst-26754	102	31	the	the	DET
ajst-26754	102	32	velocity	velocity	NOUN
ajst-26754	102	33	of	of	ADP
ajst-26754	102	34	the	the	DET
ajst-26754	102	35	51st	51st	ADJ
ajst-26754	102	36	dragon	dragon	NOUN
ajst-26754	102	37	body	body	NOUN
ajst-26754	102	38	is	be	AUX
ajst-26754	102	39	0.9766	0.9766	NUM
ajst-26754	102	40	m	m	PROPN
ajst-26754	102	41	/	/	SYM
ajst-26754	102	42	s	s	PROPN
ajst-26754	102	43	,	,	PUNCT
ajst-26754	102	44	the	the	DET
ajst-26754	102	45	velocity	velocity	NOUN
ajst-26754	102	46	of	of	ADP
ajst-26754	102	47	the	the	DET
ajst-26754	102	48	101st	101st	ADJ
ajst-26754	102	49	dragon	dragon	NOUN
ajst-26754	102	50	body	body	NOUN
ajst-26754	102	51	is	be	AUX
ajst-26754	102	52	0.9743	0.9743	NUM
ajst-26754	102	53	m	m	PROPN
ajst-26754	102	54	/	/	SYM
ajst-26754	102	55	s	s	PROPN
ajst-26754	102	56	,	,	PUNCT
ajst-26754	102	57	the	the	DET
ajst-26754	102	58	velocity	velocity	NOUN
ajst-26754	102	59	of	of	ADP
ajst-26754	102	60	the	the	DET
ajst-26754	102	61	151st	151st	PROPN
ajst-26754	102	62	dragon	dragon	NOUN
ajst-26754	102	63	body	body	NOUN
ajst-26754	102	64	is	be	AUX
ajst-26754	102	65	0.9734	0.9734	NUM
ajst-26754	102	66	m	m	PROPN
ajst-26754	102	67	/	/	SYM
ajst-26754	102	68	s	s	PROPN
ajst-26754	102	69	,	,	PUNCT
ajst-26754	102	70	and	and	CCONJ
ajst-26754	102	71	the	the	DET
ajst-26754	102	72	velocity	velocity	NOUN
ajst-26754	102	73	of	of	ADP
ajst-26754	102	74	the	the	DET
ajst-26754	102	75	201st	201st	PROPN
ajst-26754	102	76	dragon	dragon	NOUN
ajst-26754	102	77	body	body	NOUN
ajst-26754	102	78	is	be	AUX
ajst-26754	102	79	0.9729	0.9729	NUM
ajst-26754	102	80	m	m	PRON
ajst-26754	102	81	/	/	SYM
ajst-26754	102	82	s.	s.	PROPN
ajst-26754	103	1	the	the	DET
ajst-26754	103	2	position	position	NOUN
ajst-26754	103	3	information	information	NOUN
ajst-26754	103	4	shows	show	VERB
ajst-26754	103	5	that	that	SCONJ
ajst-26754	103	6	the	the	DET
ajst-26754	103	7	coordinates	coordinate	NOUN
ajst-26754	103	8	of	of	ADP
ajst-26754	103	9	the	the	DET
ajst-26754	103	10	dragon	dragon	NOUN
ajst-26754	103	11	's	's	PART
ajst-26754	103	12	head	head	NOUN
ajst-26754	103	13	86	86	NUM
ajst-26754	103	14	are	be	AUX
ajst-26754	103	15	(	(	PUNCT
ajst-26754	103	16	1.2279	1.2279	NUM
ajst-26754	103	17	,	,	PUNCT
ajst-26754	103	18	1.9305	1.9305	NUM
ajst-26754	103	19	)	)	PUNCT
ajst-26754	103	20	,	,	PUNCT
ajst-26754	103	21	the	the	DET
ajst-26754	103	22	coordinates	coordinate	NOUN
ajst-26754	103	23	of	of	ADP
ajst-26754	103	24	the	the	DET
ajst-26754	103	25	1st	1st	ADJ
ajst-26754	103	26	section	section	NOUN
ajst-26754	103	27	of	of	ADP
ajst-26754	103	28	the	the	DET
ajst-26754	103	29	dragon	dragon	NOUN
ajst-26754	103	30	's	's	PART
ajst-26754	103	31	body	body	NOUN
ajst-26754	103	32	are	be	AUX
ajst-26754	103	33	(	(	PUNCT
ajst-26754	103	34	-1.6275	-1.6275	ADJ
ajst-26754	103	35	,	,	PUNCT
ajst-26754	103	36	1.7675	1.7675	NUM
ajst-26754	103	37	)	)	PUNCT
ajst-26754	103	38	,	,	PUNCT
ajst-26754	103	39	the	the	DET
ajst-26754	103	40	coordinates	coordinate	NOUN
ajst-26754	103	41	of	of	ADP
ajst-26754	103	42	the	the	DET
ajst-26754	103	43	51st	51st	ADJ
ajst-26754	103	44	section	section	NOUN
ajst-26754	103	45	of	of	ADP
ajst-26754	103	46	the	the	DET
ajst-26754	103	47	dragon	dragon	NOUN
ajst-26754	103	48	's	's	PART
ajst-26754	103	49	body	body	NOUN
ajst-26754	103	50	are	be	AUX
ajst-26754	103	51	(	(	PUNCT
ajst-26754	103	52	1.3014	1.3014	NUM
ajst-26754	103	53	,	,	PUNCT
ajst-26754	103	54	4.3201	4.3201	NUM
ajst-26754	103	55	)	)	PUNCT
ajst-26754	103	56	,	,	PUNCT
ajst-26754	103	57	the	the	DET
ajst-26754	103	58	coordinates	coordinate	NOUN
ajst-26754	103	59	of	of	ADP
ajst-26754	103	60	the	the	DET
ajst-26754	103	61	101st	101st	ADJ
ajst-26754	103	62	section	section	NOUN
ajst-26754	103	63	of	of	ADP
ajst-26754	103	64	the	the	DET
ajst-26754	103	65	dragon	dragon	NOUN
ajst-26754	103	66	's	's	PART
ajst-26754	103	67	body	body	NOUN
ajst-26754	103	68	are	be	AUX
ajst-26754	103	69	(	(	PUNCT
ajst-26754	103	70	0.5573	0.5573	NUM
ajst-26754	103	71	,	,	PUNCT
ajst-26754	103	72	-5.8779	-5.8779	PROPN
ajst-26754	103	73	)	)	PUNCT
ajst-26754	103	74	,	,	PUNCT
ajst-26754	103	75	the	the	DET
ajst-26754	103	76	coordinates	coordinate	NOUN
ajst-26754	103	77	of	of	ADP
ajst-26754	103	78	the	the	DET
ajst-26754	103	79	151st	151st	PROPN
ajst-26754	103	80	section	section	NOUN
ajst-26754	103	81	of	of	ADP
ajst-26754	103	82	the	the	DET
ajst-26754	103	83	dragon	dragon	NOUN
ajst-26754	103	84	's	's	PART
ajst-26754	103	85	body	body	NOUN
ajst-26754	103	86	are	be	AUX
ajst-26754	103	87	(	(	PUNCT
ajst-26754	103	88	0.9478	0.9478	NUM
ajst-26754	103	89	,	,	PUNCT
ajst-26754	103	90	6.9601	6.9601	NUM
ajst-26754	103	91	)	)	PUNCT
ajst-26754	103	92	,	,	PUNCT
ajst-26754	103	93	and	and	CCONJ
ajst-26754	103	94	the	the	DET
ajst-26754	103	95	coordinates	coordinate	NOUN
ajst-26754	103	96	of	of	ADP
ajst-26754	103	97	dragon	dragon	NOUN
ajst-26754	103	98	body	body	NOUN
ajst-26754	103	99	section	section	NOUN
ajst-26754	103	100	201	201	NUM
ajst-26754	103	101	are	be	AUX
ajst-26754	103	102	(	(	PUNCT
ajst-26754	103	103	-7.8962	-7.8962	ADJ
ajst-26754	103	104	,	,	PUNCT
ajst-26754	103	105	-1.2098	-1.2098	PROPN
ajst-26754	103	106	)	)	PUNCT
ajst-26754	103	107	.	.	PUNCT
ajst-26754	104	1	the	the	DET
ajst-26754	104	2	geometric	geometric	ADJ
ajst-26754	104	3	relations	relation	NOUN
ajst-26754	104	4	established	establish	VERB
ajst-26754	104	5	on	on	ADP
ajst-26754	104	6	this	this	DET
ajst-26754	104	7	basis	basis	NOUN
ajst-26754	104	8	are	be	AUX
ajst-26754	104	9	known	know	VERB
ajst-26754	104	10	:	:	PUNCT
ajst-26754	104	11	2	2	NUM
ajst-26754	104	12	2	2	NUM
ajst-26754	104	13	2	2	NUM
ajst-26754	104	14	1	1	NUM
ajst-26754	104	15	1	1	NUM
ajst-26754	104	16	12	12	NUM
ajst-26754	104	17	cos	cos	PROPN
ajst-26754	104	18	(	(	PUNCT
ajst-26754	104	19	)	)	PUNCT
ajst-26754	104	20	i	i	PRON
ajst-26754	105	1	i	i	PRON
ajst-26754	106	1	i	i	PRON
ajst-26754	107	1	i	i	PRON
ajst-26754	108	1	i	i	INTJ
ajst-26754	108	2	il	il	VERB
ajst-26754	108	3	r	r	NOUN
ajst-26754	108	4	r	r	NOUN
ajst-26754	108	5	r	r	NOUN
ajst-26754	108	6	r	r	NOUN
ajst-26754	108	7			X
ajst-26754	108	8			PROPN
ajst-26754	108	9			PROPN
ajst-26754	108	10			PROPN
ajst-26754	108	11			ADJ
ajst-26754	108	12			PROPN
ajst-26754	108	13			PROPN
ajst-26754	108	14			PROPN
ajst-26754	108	15	(	(	PUNCT
ajst-26754	108	16	10	10	NUM
ajst-26754	108	17	)	)	PUNCT
ajst-26754	108	18	substituting𝜃	substituting𝜃	PROPN
ajst-26754	108	19	𝑟	𝑟	PRON
ajst-26754	108	20	substitute	substitute	NOUN
ajst-26754	108	21	to	to	PART
ajst-26754	108	22	get	get	VERB
ajst-26754	108	23	:	:	PUNCT
ajst-26754	108	24	2	2	NUM
ajst-26754	108	25	2	2	NUM
ajst-26754	108	26	2	2	NUM
ajst-26754	108	27	1	1	NUM
ajst-26754	108	28	1	1	NUM
ajst-26754	108	29	1	1	NUM
ajst-26754	108	30	2	2	NUM
ajst-26754	108	31	2	2	NUM
ajst-26754	108	32	cos	cos	PROPN
ajst-26754	108	33	(	(	PUNCT
ajst-26754	108	34	)	)	PUNCT
ajst-26754	109	1	i	i	PRON
ajst-26754	109	2	i	i	PRON
ajst-26754	110	1	i	i	PRON
ajst-26754	110	2	i	i	PRON
ajst-26754	111	1	i	i	INTJ
ajst-26754	111	2	il	il	VERB
ajst-26754	111	3	r	r	NOUN
ajst-26754	111	4	r	r	NOUN
ajst-26754	111	5	r	r	NOUN
ajst-26754	111	6	r	r	NOUN
ajst-26754	111	7	r	r	NOUN
ajst-26754	111	8	r	r	NOUN
ajst-26754	111	9	p	p	X
ajst-26754	111	10			PROPN
ajst-26754	111	11			ADJ
ajst-26754	111	12			PUNCT
ajst-26754	111	13			PUNCT
ajst-26754	111	14			NOUN
ajst-26754	111	15			PROPN
ajst-26754	111	16			PROPN
ajst-26754	111	17			ADV
ajst-26754	111	18			PROPN
ajst-26754	111	19			PROPN
ajst-26754	111	20			PROPN
ajst-26754	111	21			PROPN
ajst-26754	112	1			PROPN
ajst-26754	112	2			NOUN
ajst-26754	112	3	(	(	PUNCT
ajst-26754	112	4	11	11	NUM
ajst-26754	112	5	)	)	PUNCT
ajst-26754	112	6	this	this	PRON
ajst-26754	112	7	is	be	AUX
ajst-26754	112	8	the	the	DET
ajst-26754	112	9	recursive	recursive	ADJ
ajst-26754	112	10	formula	formula	NOUN
ajst-26754	112	11	for	for	ADP
ajst-26754	112	12	the	the	DET
ajst-26754	112	13	polar	polar	ADJ
ajst-26754	112	14	diameter	diameter	NOUN
ajst-26754	112	15	of	of	ADP
ajst-26754	112	16	each	each	DET
ajst-26754	112	17	bench	bench	NOUN
ajst-26754	112	18	handle	handle	NOUN
ajst-26754	112	19	,	,	PUNCT
ajst-26754	112	20	whose	whose	DET
ajst-26754	112	21	initial	initial	ADJ
ajst-26754	112	22	value	value	NOUN
ajst-26754	112	23	𝑟	𝑟	X
ajst-26754	112	24	is	be	AUX
ajst-26754	112	25	the	the	DET
ajst-26754	112	26	front	front	ADJ
ajst-26754	112	27	handle	handle	NOUN
ajst-26754	112	28	pole	pole	NOUN
ajst-26754	112	29	diameter	diameter	NOUN
ajst-26754	112	30	when	when	SCONJ
ajst-26754	112	31	the	the	DET
ajst-26754	112	32	dragon	dragon	NOUN
ajst-26754	112	33	head	head	NOUN
ajst-26754	112	34	bench	bench	NOUN
ajst-26754	112	35	enters	enter	VERB
ajst-26754	112	36	the	the	DET
ajst-26754	112	37	turnaround	turnaround	NOUN
ajst-26754	112	38	space	space	NOUN
ajst-26754	112	39	,	,	PUNCT
ajst-26754	112	40	that	that	ADV
ajst-26754	112	41	is	is	ADV
ajst-26754	112	42	,	,	PUNCT
ajst-26754	112	43	the	the	DET
ajst-26754	112	44	radius	radius	NOUN
ajst-26754	112	45	of	of	ADP
ajst-26754	112	46	the	the	DET
ajst-26754	112	47	turnaround	turnaround	NOUN
ajst-26754	112	48	space	space	NOUN
ajst-26754	112	49	is	be	AUX
ajst-26754	112	50	4.5	4.5	NUM
ajst-26754	112	51	m.	m.	NOUN
ajst-26754	112	52	if	if	SCONJ
ajst-26754	112	53	the	the	DET
ajst-26754	112	54	dragon	dragon	NOUN
ajst-26754	112	55	head	head	NOUN
ajst-26754	112	56	can	can	AUX
ajst-26754	112	57	be	be	AUX
ajst-26754	112	58	smoothly	smoothly	ADV
ajst-26754	112	59	coiled	coil	VERB
ajst-26754	112	60	into	into	ADP
ajst-26754	112	61	the	the	DET
ajst-26754	112	62	turnaround	turnaround	NOUN
ajst-26754	112	63	space	space	NOUN
ajst-26754	112	64	,	,	PUNCT
ajst-26754	112	65	the	the	DET
ajst-26754	112	66	dragon	dragon	NOUN
ajst-26754	112	67	head	head	NOUN
ajst-26754	112	68	will	will	AUX
ajst-26754	112	69	not	not	PART
ajst-26754	112	70	collide	collide	VERB
ajst-26754	112	71	with	with	ADP
ajst-26754	112	72	the	the	DET
ajst-26754	112	73	surrounding	surround	VERB
ajst-26754	112	74	dragon	dragon	NOUN
ajst-26754	112	75	body	body	NOUN
ajst-26754	112	76	when	when	SCONJ
ajst-26754	112	77	the	the	DET
ajst-26754	112	78	front	front	ADJ
ajst-26754	112	79	handle	handle	NOUN
ajst-26754	112	80	of	of	ADP
ajst-26754	112	81	the	the	DET
ajst-26754	112	82	dragon	dragon	NOUN
ajst-26754	112	83	head	head	NOUN
ajst-26754	112	84	is	be	AUX
ajst-26754	112	85	equal	equal	ADJ
ajst-26754	112	86	to	to	ADP
ajst-26754	112	87	the	the	DET
ajst-26754	112	88	pole	pole	NOUN
ajst-26754	112	89	diameter	diameter	NOUN
ajst-26754	112	90	of	of	ADP
ajst-26754	112	91	4.5	4.5	NUM
ajst-26754	112	92	m.	m.	NOUN
ajst-26754	112	93	to	to	PART
ajst-26754	112	94	search	search	VERB
ajst-26754	112	95	for	for	ADP
ajst-26754	112	96	suitable	suitable	ADJ
ajst-26754	112	97	pitch	pitch	NOUN
ajst-26754	112	98	values	value	NOUN
ajst-26754	112	99	,	,	PUNCT
ajst-26754	112	100	the	the	DET
ajst-26754	112	101	upper	upper	ADJ
ajst-26754	112	102	bound	bind	VERB
ajst-26754	112	103	of	of	ADP
ajst-26754	112	104	pitch	pitch	NOUN
ajst-26754	112	105	values	value	NOUN
ajst-26754	112	106	is	be	AUX
ajst-26754	112	107	set	set	VERB
ajst-26754	112	108	to	to	ADP
ajst-26754	112	109	55	55	NUM
ajst-26754	112	110	cm	cm	NOUN
ajst-26754	112	111	and	and	CCONJ
ajst-26754	112	112	the	the	DET
ajst-26754	112	113	lower	lower	ADV
ajst-26754	112	114	bound	bind	VERB
ajst-26754	112	115	to	to	ADP
ajst-26754	112	116	30	30	NUM
ajst-26754	112	117	cm	cm	NOUN
ajst-26754	112	118	,	,	PUNCT
ajst-26754	112	119	and	and	CCONJ
ajst-26754	112	120	all	all	DET
ajst-26754	112	121	pitch	pitch	NOUN
ajst-26754	112	122	values	value	NOUN
ajst-26754	112	123	are	be	AUX
ajst-26754	112	124	traversed	traverse	VERB
ajst-26754	112	125	within	within	ADP
ajst-26754	112	126	this	this	DET
ajst-26754	112	127	range	range	NOUN
ajst-26754	112	128	in	in	ADP
ajst-26754	112	129	steps	step	NOUN
ajst-26754	112	130	of	of	ADP
ajst-26754	112	131	1	1	NUM
ajst-26754	112	132	mm	mm	NOUN
ajst-26754	112	133	.	.	PUNCT
ajst-26754	113	1	from	from	ADP
ajst-26754	113	2	the	the	DET
ajst-26754	113	3	recursive	recursive	ADJ
ajst-26754	113	4	formula	formula	NOUN
ajst-26754	113	5	,	,	PUNCT
ajst-26754	113	6	it	it	PRON
ajst-26754	113	7	can	can	AUX
ajst-26754	113	8	be	be	AUX
ajst-26754	113	9	seen	see	VERB
ajst-26754	113	10	that	that	SCONJ
ajst-26754	113	11	each	each	DET
ajst-26754	113	12	spacing	space	VERB
ajst-26754	113	13	value	value	NOUN
ajst-26754	113	14	corresponds	correspond	VERB
ajst-26754	113	15	to	to	ADP
ajst-26754	113	16	a	a	DET
ajst-26754	113	17	set	set	NOUN
ajst-26754	113	18	of	of	ADP
ajst-26754	113	19	bench	bench	NOUN
ajst-26754	113	20	dragon	dragon	NOUN
ajst-26754	113	21	's	's	PART
ajst-26754	113	22	position	position	NOUN
ajst-26754	113	23	information	information	NOUN
ajst-26754	113	24	,	,	PUNCT
ajst-26754	113	25	traversing	traverse	VERB
ajst-26754	113	26	the	the	DET
ajst-26754	113	27	spacing	space	VERB
ajst-26754	113	28	process	process	NOUN
ajst-26754	113	29	,	,	PUNCT
ajst-26754	113	30	the	the	DET
ajst-26754	113	31	introduction	introduction	NOUN
ajst-26754	113	32	of	of	ADP
ajst-26754	113	33	the	the	DET
ajst-26754	113	34	established	establish	VERB
ajst-26754	113	35	model	model	NOUN
ajst-26754	113	36	can	can	AUX
ajst-26754	113	37	get	get	VERB
ajst-26754	113	38	the	the	DET
ajst-26754	113	39	bench	bench	NOUN
ajst-26754	113	40	dragon	dragon	NOUN
ajst-26754	113	41	's	's	PART
ajst-26754	113	42	position	position	NOUN
ajst-26754	113	43	information	information	NOUN
ajst-26754	113	44	under	under	ADP
ajst-26754	113	45	different	different	ADJ
ajst-26754	113	46	spacings	spacing	NOUN
ajst-26754	113	47	of	of	ADP
ajst-26754	113	48	the	the	DET
ajst-26754	113	49	panlong	panlong	NOUN
ajst-26754	113	50	team	team	NOUN
ajst-26754	113	51	,	,	PUNCT
ajst-26754	113	52	and	and	CCONJ
ajst-26754	113	53	through	through	ADP
ajst-26754	113	54	the	the	DET
ajst-26754	113	55	introduction	introduction	NOUN
ajst-26754	113	56	of	of	ADP
ajst-26754	113	57	the	the	DET
ajst-26754	113	58	established	establish	VERB
ajst-26754	113	59	model	model	NOUN
ajst-26754	113	60	to	to	PART
ajst-26754	113	61	judge	judge	VERB
ajst-26754	113	62	whether	whether	SCONJ
ajst-26754	113	63	the	the	DET
ajst-26754	113	64	spacing	space	VERB
ajst-26754	113	65	value	value	NOUN
ajst-26754	113	66	will	will	AUX
ajst-26754	113	67	collide	collide	VERB
ajst-26754	113	68	with	with	ADP
ajst-26754	113	69	the	the	DET
ajst-26754	113	70	bench	bench	NOUN
ajst-26754	113	71	dragons	dragon	NOUN
ajst-26754	113	72	,	,	PUNCT
ajst-26754	113	73	and	and	CCONJ
ajst-26754	113	74	then	then	ADV
ajst-26754	113	75	to	to	PART
ajst-26754	113	76	get	get	VERB
ajst-26754	113	77	the	the	DET
ajst-26754	113	78	smallest	small	ADJ
ajst-26754	113	79	spacing	spacing	NOUN
ajst-26754	113	80	point	point	NOUN
ajst-26754	113	81	that	that	PRON
ajst-26754	113	82	can	can	AUX
ajst-26754	113	83	enter	enter	VERB
ajst-26754	113	84	the	the	DET
ajst-26754	113	85	headway	headway	NOUN
ajst-26754	113	86	space	space	NOUN
ajst-26754	113	87	without	without	ADP
ajst-26754	113	88	collision	collision	NOUN
ajst-26754	113	89	,	,	PUNCT
ajst-26754	113	90	and	and	CCONJ
ajst-26754	113	91	the	the	DET
ajst-26754	113	92	smallest	small	ADJ
ajst-26754	113	93	spacing	spacing	NOUN
ajst-26754	113	94	is	be	AUX
ajst-26754	113	95	43.4	43.4	NUM
ajst-26754	113	96	cm	cm	NOUN
ajst-26754	113	97	.	.	PUNCT
ajst-26754	114	1	4	4	NUM
ajst-26754	114	2	.	.	X
ajst-26754	114	3	turnaround	turnaround	NOUN
ajst-26754	114	4	curve	curve	NOUN
ajst-26754	114	5	optimization	optimization	NOUN
ajst-26754	114	6	4.1	4.1	NUM
ajst-26754	114	7	.	.	PUNCT
ajst-26754	115	1	modeling	model	VERB
ajst-26754	115	2	the	the	DET
ajst-26754	115	3	focus	focus	NOUN
ajst-26754	115	4	of	of	ADP
ajst-26754	115	5	the	the	DET
ajst-26754	115	6	study	study	NOUN
ajst-26754	115	7	was	be	AUX
ajst-26754	115	8	to	to	PART
ajst-26754	115	9	optimize	optimize	VERB
ajst-26754	115	10	the	the	DET
ajst-26754	115	11	turnaround	turnaround	NOUN
ajst-26754	115	12	curve	curve	NOUN
ajst-26754	115	13	to	to	PART
ajst-26754	115	14	make	make	VERB
ajst-26754	115	15	the	the	DET
ajst-26754	115	16	path	path	NOUN
ajst-26754	115	17	of	of	ADP
ajst-26754	115	18	the	the	DET
ajst-26754	115	19	dragon	dragon	NOUN
ajst-26754	115	20	dance	dance	NOUN
ajst-26754	115	21	team	team	NOUN
ajst-26754	115	22	shorter	short	ADJ
ajst-26754	115	23	.	.	PUNCT
ajst-26754	116	1	the	the	DET
ajst-26754	116	2	turnaround	turnaround	NOUN
ajst-26754	116	3	path	path	NOUN
ajst-26754	116	4	consists	consist	VERB
ajst-26754	116	5	of	of	ADP
ajst-26754	116	6	two	two	NUM
ajst-26754	116	7	tangent	tangent	ADJ
ajst-26754	116	8	arcs	arc	NOUN
ajst-26754	116	9	,	,	PUNCT
ajst-26754	116	10	with	with	ADP
ajst-26754	116	11	the	the	DET
ajst-26754	116	12	radius	radius	NOUN
ajst-26754	116	13	of	of	ADP
ajst-26754	116	14	the	the	DET
ajst-26754	116	15	first	first	ADJ
ajst-26754	116	16	arc	arc	NOUN
ajst-26754	116	17	being	be	AUX
ajst-26754	116	18	twice	twice	ADV
ajst-26754	116	19	that	that	PRON
ajst-26754	116	20	of	of	ADP
ajst-26754	116	21	the	the	DET
ajst-26754	116	22	second	second	NOUN
ajst-26754	116	23	.	.	PUNCT
ajst-26754	117	1	the	the	DET
ajst-26754	117	2	current	current	ADJ
ajst-26754	117	3	design	design	NOUN
ajst-26754	117	4	requires	require	VERB
ajst-26754	117	5	the	the	DET
ajst-26754	117	6	curves	curve	NOUN
ajst-26754	117	7	to	to	PART
ajst-26754	117	8	be	be	AUX
ajst-26754	117	9	tangent	tangent	ADJ
ajst-26754	117	10	to	to	ADP
ajst-26754	117	11	the	the	DET
ajst-26754	117	12	disk	disk	NOUN
ajst-26754	117	13	-	-	PUNCT
ajst-26754	117	14	in	in	NOUN
ajst-26754	117	15	and	and	CCONJ
ajst-26754	117	16	disk	disk	NOUN
ajst-26754	117	17	-	-	PUNCT
ajst-26754	117	18	out	out	ADP
ajst-26754	117	19	solenoids	solenoid	NOUN
ajst-26754	117	20	,	,	PUNCT
ajst-26754	117	21	and	and	CCONJ
ajst-26754	117	22	it	it	PRON
ajst-26754	117	23	is	be	AUX
ajst-26754	117	24	necessary	necessary	ADJ
ajst-26754	117	25	to	to	PART
ajst-26754	117	26	analyze	analyze	VERB
ajst-26754	117	27	whether	whether	SCONJ
ajst-26754	117	28	the	the	DET
ajst-26754	117	29	turnaround	turnaround	NOUN
ajst-26754	117	30	curve	curve	NOUN
ajst-26754	117	31	can	can	AUX
ajst-26754	117	32	be	be	AUX
ajst-26754	117	33	shortened	shorten	VERB
ajst-26754	117	34	while	while	SCONJ
ajst-26754	117	35	maintaining	maintain	VERB
ajst-26754	117	36	tangency	tangency	NOUN
ajst-26754	117	37	.	.	PUNCT
ajst-26754	118	1	through	through	ADP
ajst-26754	118	2	geometric	geometric	ADJ
ajst-26754	118	3	methods	method	NOUN
ajst-26754	118	4	and	and	CCONJ
ajst-26754	118	5	mathematical	mathematical	ADJ
ajst-26754	118	6	derivations	derivation	NOUN
ajst-26754	118	7	,	,	PUNCT
ajst-26754	118	8	the	the	DET
ajst-26754	118	9	existing	exist	VERB
ajst-26754	118	10	curve	curve	NOUN
ajst-26754	118	11	was	be	AUX
ajst-26754	118	12	adjusted	adjust	VERB
ajst-26754	118	13	to	to	PART
ajst-26754	118	14	design	design	VERB
ajst-26754	118	15	a	a	DET
ajst-26754	118	16	more	more	ADV
ajst-26754	118	17	compact	compact	ADJ
ajst-26754	118	18	turnaround	turnaround	NOUN
ajst-26754	118	19	path	path	NOUN
ajst-26754	118	20	.	.	PUNCT
ajst-26754	119	1	the	the	DET
ajst-26754	119	2	goal	goal	NOUN
ajst-26754	119	3	is	be	AUX
ajst-26754	119	4	to	to	PART
ajst-26754	119	5	improve	improve	VERB
ajst-26754	119	6	the	the	DET
ajst-26754	119	7	efficiency	efficiency	NOUN
ajst-26754	119	8	of	of	ADP
ajst-26754	119	9	the	the	DET
ajst-26754	119	10	turnaround	turnaround	NOUN
ajst-26754	119	11	process	process	NOUN
ajst-26754	119	12	and	and	CCONJ
ajst-26754	119	13	shorten	shorten	VERB
ajst-26754	119	14	the	the	DET
ajst-26754	119	15	path	path	NOUN
ajst-26754	119	16	within	within	ADP
ajst-26754	119	17	the	the	DET
ajst-26754	119	18	existing	exist	VERB
ajst-26754	119	19	constraints	constraint	NOUN
ajst-26754	119	20	.	.	PUNCT
ajst-26754	120	1	it	it	PRON
ajst-26754	120	2	is	be	AUX
ajst-26754	120	3	also	also	ADV
ajst-26754	120	4	necessary	necessary	ADJ
ajst-26754	120	5	to	to	PART
ajst-26754	120	6	determine	determine	VERB
ajst-26754	120	7	the	the	DET
ajst-26754	120	8	maximum	maximum	ADJ
ajst-26754	120	9	speed	speed	NOUN
ajst-26754	120	10	of	of	ADP
ajst-26754	120	11	the	the	DET
ajst-26754	120	12	front	front	ADJ
ajst-26754	120	13	handle	handle	NOUN
ajst-26754	120	14	of	of	ADP
ajst-26754	120	15	the	the	DET
ajst-26754	120	16	dragon	dragon	NOUN
ajst-26754	120	17	head	head	NOUN
ajst-26754	120	18	when	when	SCONJ
ajst-26754	120	19	the	the	DET
ajst-26754	120	20	dragon	dragon	NOUN
ajst-26754	120	21	dance	dance	NOUN
ajst-26754	120	22	team	team	NOUN
ajst-26754	120	23	is	be	AUX
ajst-26754	120	24	traveling	travel	VERB
ajst-26754	120	25	,	,	PUNCT
ajst-26754	120	26	while	while	SCONJ
ajst-26754	120	27	ensuring	ensure	VERB
ajst-26754	120	28	that	that	SCONJ
ajst-26754	120	29	the	the	DET
ajst-26754	120	30	speed	speed	NOUN
ajst-26754	120	31	of	of	ADP
ajst-26754	120	32	the	the	DET
ajst-26754	120	33	other	other	ADJ
ajst-26754	120	34	nodes	node	NOUN
ajst-26754	120	35	does	do	AUX
ajst-26754	120	36	not	not	PART
ajst-26754	120	37	exceed	exceed	VERB
ajst-26754	120	38	2	2	NUM
ajst-26754	120	39	m	m	NOUN
ajst-26754	120	40	/	/	SYM
ajst-26754	120	41	s.	s.	PROPN
ajst-26754	120	42	since	since	SCONJ
ajst-26754	120	43	the	the	DET
ajst-26754	120	44	speed	speed	NOUN
ajst-26754	120	45	of	of	ADP
ajst-26754	120	46	the	the	DET
ajst-26754	120	47	dragon	dragon	NOUN
ajst-26754	120	48	head	head	NOUN
ajst-26754	120	49	affects	affect	VERB
ajst-26754	120	50	the	the	DET
ajst-26754	120	51	speed	speed	NOUN
ajst-26754	120	52	of	of	ADP
ajst-26754	120	53	the	the	DET
ajst-26754	120	54	subsequent	subsequent	ADJ
ajst-26754	120	55	nodes	node	NOUN
ajst-26754	120	56	,	,	PUNCT
ajst-26754	120	57	a	a	DET
ajst-26754	120	58	model	model	NOUN
ajst-26754	120	59	needs	need	VERB
ajst-26754	120	60	to	to	PART
ajst-26754	120	61	be	be	AUX
ajst-26754	120	62	built	build	VERB
ajst-26754	120	63	to	to	PART
ajst-26754	120	64	simulate	simulate	VERB
ajst-26754	120	65	the	the	DET
ajst-26754	120	66	movement	movement	NOUN
ajst-26754	120	67	pattern	pattern	NOUN
ajst-26754	120	68	of	of	ADP
ajst-26754	120	69	the	the	DET
ajst-26754	120	70	dragon	dragon	NOUN
ajst-26754	120	71	dance	dance	NOUN
ajst-26754	120	72	team	team	NOUN
ajst-26754	120	73	to	to	PART
ajst-26754	120	74	ensure	ensure	VERB
ajst-26754	120	75	that	that	SCONJ
ajst-26754	120	76	the	the	DET
ajst-26754	120	77	speed	speed	NOUN
ajst-26754	120	78	of	of	ADP
ajst-26754	120	79	each	each	DET
ajst-26754	120	80	node	node	NOUN
ajst-26754	120	81	conforms	conform	VERB
ajst-26754	120	82	to	to	ADP
ajst-26754	120	83	the	the	DET
ajst-26754	120	84	constraints	constraint	NOUN
ajst-26754	120	85	.	.	PUNCT
ajst-26754	121	1	this	this	PRON
ajst-26754	121	2	requires	require	VERB
ajst-26754	121	3	an	an	DET
ajst-26754	121	4	in	in	ADP
ajst-26754	121	5	-	-	PUNCT
ajst-26754	121	6	depth	depth	NOUN
ajst-26754	121	7	study	study	NOUN
ajst-26754	121	8	of	of	ADP
ajst-26754	121	9	the	the	DET
ajst-26754	121	10	dynamic	dynamic	ADJ
ajst-26754	121	11	behavior	behavior	NOUN
ajst-26754	121	12	of	of	ADP
ajst-26754	121	13	the	the	DET
ajst-26754	121	14	dragon	dragon	NOUN
ajst-26754	121	15	body	body	NOUN
ajst-26754	121	16	,	,	PUNCT
ajst-26754	121	17	especially	especially	ADV
ajst-26754	121	18	when	when	SCONJ
ajst-26754	121	19	turning	turn	VERB
ajst-26754	121	20	the	the	DET
ajst-26754	121	21	head	head	NOUN
ajst-26754	121	22	and	and	CCONJ
ajst-26754	121	23	coiling	coil	VERB
ajst-26754	121	24	out	out	ADP
ajst-26754	121	25	,	,	PUNCT
ajst-26754	121	26	balancing	balance	VERB
ajst-26754	121	27	the	the	DET
ajst-26754	121	28	speed	speed	NOUN
ajst-26754	121	29	of	of	ADP
ajst-26754	121	30	the	the	DET
ajst-26754	121	31	dragon	dragon	NOUN
ajst-26754	121	32	head	head	NOUN
ajst-26754	121	33	with	with	ADP
ajst-26754	121	34	the	the	DET
ajst-26754	121	35	overall	overall	ADJ
ajst-26754	121	36	coordination	coordination	NOUN
ajst-26754	121	37	.	.	PUNCT
ajst-26754	122	1	through	through	ADP
ajst-26754	122	2	analysis	analysis	NOUN
ajst-26754	122	3	,	,	PUNCT
ajst-26754	122	4	the	the	DET
ajst-26754	122	5	maximum	maximum	ADJ
ajst-26754	122	6	traveling	travel	VERB
ajst-26754	122	7	speed	speed	NOUN
ajst-26754	122	8	of	of	ADP
ajst-26754	122	9	the	the	DET
ajst-26754	122	10	dragon	dragon	NOUN
ajst-26754	122	11	's	's	PART
ajst-26754	122	12	head	head	NOUN
ajst-26754	122	13	is	be	AUX
ajst-26754	122	14	derived	derive	VERB
ajst-26754	122	15	while	while	SCONJ
ajst-26754	122	16	meeting	meet	VERB
ajst-26754	122	17	the	the	DET
ajst-26754	122	18	overall	overall	ADJ
ajst-26754	122	19	safety	safety	NOUN
ajst-26754	122	20	requirements	requirement	NOUN
ajst-26754	122	21	.	.	PUNCT
ajst-26754	123	1	the	the	DET
ajst-26754	123	2	turnaround	turnaround	NOUN
ajst-26754	123	3	path	path	NOUN
ajst-26754	123	4	consists	consist	VERB
ajst-26754	123	5	of	of	ADP
ajst-26754	123	6	two	two	NUM
ajst-26754	123	7	tangent	tangent	ADJ
ajst-26754	123	8	arcs	arc	NOUN
ajst-26754	123	9	,	,	PUNCT
ajst-26754	123	10	and	and	CCONJ
ajst-26754	123	11	the	the	DET
ajst-26754	123	12	radius	radius	NOUN
ajst-26754	123	13	of	of	ADP
ajst-26754	123	14	the	the	DET
ajst-26754	123	15	first	first	ADJ
ajst-26754	123	16	arc	arc	NOUN
ajst-26754	123	17	is	be	AUX
ajst-26754	123	18	the	the	DET
ajst-26754	123	19	radius	radius	NOUN
ajst-26754	123	20	of	of	ADP
ajst-26754	123	21	the	the	DET
ajst-26754	123	22	second	second	ADJ
ajst-26754	123	23	arc	arc	NOUN
ajst-26754	123	24	.	.	PUNCT
ajst-26754	124	1	𝑟	𝑟	X
ajst-26754	124	2	is	be	AUX
ajst-26754	124	3	twice	twice	DET
ajst-26754	124	4	the	the	DET
ajst-26754	124	5	radius	radius	NOUN
ajst-26754	124	6	of	of	ADP
ajst-26754	124	7	the	the	DET
ajst-26754	124	8	latter	latter	ADJ
ajst-26754	124	9	arc	arc	NOUN
ajst-26754	124	10	𝑟	𝑟	NOUN
ajst-26754	124	11	is	be	AUX
ajst-26754	124	12	twice	twice	DET
ajst-26754	124	13	the	the	DET
ajst-26754	124	14	radius	radius	NOUN
ajst-26754	124	15	of	of	ADP
ajst-26754	124	16	the	the	DET
ajst-26754	124	17	latter	latter	ADJ
ajst-26754	124	18	arc	arc	NOUN
ajst-26754	124	19	,	,	PUNCT
ajst-26754	124	20	i.e.	i.e.	X
ajst-26754	124	21	,2𝑟	,2𝑟	PUNCT
ajst-26754	124	22	𝑟	𝑟	NOUN
ajst-26754	124	23	the	the	DET
ajst-26754	124	24	radius	radius	NOUN
ajst-26754	124	25	of	of	ADP
ajst-26754	124	26	the	the	DET
ajst-26754	124	27	first	first	ADJ
ajst-26754	124	28	arc	arc	NOUN
ajst-26754	124	29	is	be	AUX
ajst-26754	124	30	twice	twice	DET
ajst-26754	124	31	the	the	DET
ajst-26754	124	32	radius	radius	NOUN
ajst-26754	124	33	of	of	ADP
ajst-26754	124	34	the	the	DET
ajst-26754	124	35	second	second	ADJ
ajst-26754	124	36	arc	arc	NOUN
ajst-26754	124	37	,	,	PUNCT
ajst-26754	124	38	i.e.	i.e.	X
ajst-26754	124	39	these	these	DET
ajst-26754	124	40	arcs	arc	NOUN
ajst-26754	124	41	are	be	AUX
ajst-26754	124	42	tangent	tangent	ADJ
ajst-26754	124	43	to	to	ADP
ajst-26754	124	44	the	the	DET
ajst-26754	124	45	solenoidal	solenoidal	ADJ
ajst-26754	124	46	path	path	NOUN
ajst-26754	124	47	,	,	PUNCT
ajst-26754	124	48	so	so	SCONJ
ajst-26754	124	49	the	the	DET
ajst-26754	124	50	path	path	NOUN
ajst-26754	124	51	has	have	VERB
ajst-26754	124	52	good	good	ADJ
ajst-26754	124	53	geometric	geometric	ADJ
ajst-26754	124	54	continuity	continuity	NOUN
ajst-26754	124	55	.	.	PUNCT
ajst-26754	125	1	a	a	DET
ajst-26754	125	2	circular	circular	ADJ
ajst-26754	125	3	arc	arc	NOUN
ajst-26754	125	4	path	path	NOUN
ajst-26754	125	5	can	can	AUX
ajst-26754	125	6	be	be	AUX
ajst-26754	125	7	defined	define	VERB
ajst-26754	125	8	by	by	ADP
ajst-26754	125	9	its	its	PRON
ajst-26754	125	10	center	center	NOUN
ajst-26754	125	11	angle	angle	NOUN
ajst-26754	125	12	𝜃	𝜃	X
ajst-26754	125	13	and	and	CCONJ
ajst-26754	125	14	𝜃	𝜃	NOUN
ajst-26754	125	15	and	and	CCONJ
ajst-26754	125	16	the	the	DET
ajst-26754	125	17	corresponding	correspond	VERB
ajst-26754	125	18	radii	radius	NOUN
ajst-26754	125	19	𝑟	𝑟	NOUN
ajst-26754	125	20	and	and	CCONJ
ajst-26754	125	21	𝑟	𝑟	NOUN
ajst-26754	125	22	to	to	PART
ajst-26754	125	23	describe	describe	VERB
ajst-26754	125	24	it	it	PRON
ajst-26754	125	25	.	.	PUNCT
ajst-26754	126	1	according	accord	VERB
ajst-26754	126	2	to	to	ADP
ajst-26754	126	3	the	the	DET
ajst-26754	126	4	circular	circular	ADJ
ajst-26754	126	5	arc	arc	NOUN
ajst-26754	126	6	length	length	NOUN
ajst-26754	126	7	equation	equation	NOUN
ajst-26754	126	8	:	:	PUNCT
ajst-26754	126	9	1	1	NUM
ajst-26754	126	10	1	1	NUM
ajst-26754	126	11	2	2	NUM
ajst-26754	126	12	2l	2l	NOUN
ajst-26754	126	13	r	r	NOUN
ajst-26754	126	14	r	r	PROPN
ajst-26754	126	15			PROPN
ajst-26754	126	16			PUNCT
ajst-26754	126	17	(	(	PUNCT
ajst-26754	126	18	12	12	NUM
ajst-26754	126	19	)	)	PUNCT
ajst-26754	126	20	the	the	DET
ajst-26754	126	21	total	total	ADJ
ajst-26754	126	22	length	length	NOUN
ajst-26754	126	23	𝐿	𝐿	PROPN
ajst-26754	126	24	of	of	ADP
ajst-26754	126	25	the	the	DET
ajst-26754	126	26	header	header	NOUN
ajst-26754	126	27	path	path	NOUN
ajst-26754	126	28	can	can	AUX
ajst-26754	126	29	be	be	AUX
ajst-26754	126	30	expressed	express	VERB
ajst-26754	126	31	as	as	ADP
ajst-26754	126	32	the	the	DET
ajst-26754	126	33	sum	sum	NOUN
ajst-26754	126	34	of	of	ADP
ajst-26754	126	35	the	the	DET
ajst-26754	126	36	lengths	length	NOUN
ajst-26754	126	37	of	of	ADP
ajst-26754	126	38	the	the	DET
ajst-26754	126	39	two	two	NUM
ajst-26754	126	40	arc	arc	NOUN
ajst-26754	126	41	segments	segment	NOUN
ajst-26754	126	42	.	.	PUNCT
ajst-26754	127	1	objective	objective	ADJ
ajst-26754	127	2	optimization	optimization	NOUN
ajst-26754	127	3	equation	equation	NOUN
ajst-26754	127	4	our	our	PRON
ajst-26754	127	5	goal	goal	NOUN
ajst-26754	127	6	is	be	AUX
ajst-26754	127	7	to	to	PART
ajst-26754	127	8	minimize	minimize	VERB
ajst-26754	127	9	the	the	DET
ajst-26754	127	10	length	length	NOUN
ajst-26754	127	11	of	of	ADP
ajst-26754	127	12	the	the	DET
ajst-26754	127	13	turnaround	turnaround	NOUN
ajst-26754	127	14	path	path	NOUN
ajst-26754	127	15	𝐿.	𝐿.	VERB
ajst-26754	127	16	to	to	PART
ajst-26754	127	17	do	do	VERB
ajst-26754	127	18	this	this	PRON
ajst-26754	127	19	,	,	PUNCT
ajst-26754	127	20	we	we	PRON
ajst-26754	127	21	need	need	VERB
ajst-26754	127	22	to	to	PART
ajst-26754	127	23	determine	determine	VERB
ajst-26754	127	24	the	the	DET
ajst-26754	127	25	radius	radius	NOUN
ajst-26754	127	26	of	of	ADP
ajst-26754	127	27	each	each	DET
ajst-26754	127	28	arc	arc	NOUN
ajst-26754	127	29	𝑟	𝑟	NOUN
ajst-26754	127	30	and	and	CCONJ
ajst-26754	127	31	the	the	DET
ajst-26754	127	32	angle	angle	NOUN
ajst-26754	127	33	of	of	ADP
ajst-26754	127	34	the	the	DET
ajst-26754	127	35	center	center	NOUN
ajst-26754	127	36	of	of	ADP
ajst-26754	127	37	the	the	DET
ajst-26754	127	38	circle	circle	PROPN
ajst-26754	127	39	𝜃	𝜃	NOUN
ajst-26754	127	40	,	,	PUNCT
ajst-26754	127	41	and	and	CCONJ
ajst-26754	127	42	construct	construct	VERB
ajst-26754	127	43	the	the	DET
ajst-26754	127	44	objective	objective	ADJ
ajst-26754	127	45	function	function	NOUN
ajst-26754	127	46	using	use	VERB
ajst-26754	127	47	these	these	PRON
ajst-26754	127	48	as	as	ADP
ajst-26754	127	49	optimization	optimization	NOUN
ajst-26754	127	50	variables	variable	NOUN
ajst-26754	127	51	:	:	PUNCT
ajst-26754	127	52	2	2	NUM
ajst-26754	127	53	2	2	NUM
ajst-26754	127	54	2	2	NUM
ajst-26754	127	55	1	1	NUM
ajst-26754	127	56	2	2	NUM
ajst-26754	127	57	2min	2min	NUM
ajst-26754	127	58	(	(	PUNCT
ajst-26754	127	59	,	,	PUNCT
ajst-26754	127	60	)	)	PUNCT
ajst-26754	127	61	2f	2f	NUM
ajst-26754	127	62	r	r	NOUN
ajst-26754	127	63	r	r	NOUN
ajst-26754	127	64	r	r	PROPN
ajst-26754	127	65			PROPN
ajst-26754	127	66			PROPN
ajst-26754	127	67			PROPN
ajst-26754	127	68	(	(	PUNCT
ajst-26754	127	69	13	13	NUM
ajst-26754	127	70	)	)	PUNCT
ajst-26754	127	71	which	which	PRON
ajst-26754	127	72	𝜃	𝜃	NUM
ajst-26754	127	73	2𝜃	2𝜃	NUM
ajst-26754	127	74	,	,	PUNCT
ajst-26754	127	75	by	by	ADP
ajst-26754	127	76	optimizing	optimize	VERB
ajst-26754	127	77	𝑟	𝑟	NOUN
ajst-26754	127	78	and	and	CCONJ
ajst-26754	127	79	𝜃	𝜃	PRON
ajst-26754	127	80	to	to	PART
ajst-26754	127	81	minimize	minimize	VERB
ajst-26754	127	82	the	the	DET
ajst-26754	127	83	path	path	NOUN
ajst-26754	127	84	length	length	NOUN
ajst-26754	127	85	.	.	PUNCT
ajst-26754	128	1	4.2	4.2	NUM
ajst-26754	128	2	.	.	PUNCT
ajst-26754	129	1	solving	solve	VERB
ajst-26754	129	2	the	the	DET
ajst-26754	129	3	model	model	NOUN
ajst-26754	129	4	before	before	ADP
ajst-26754	129	5	proceeding	proceed	VERB
ajst-26754	129	6	to	to	ADP
ajst-26754	129	7	the	the	DET
ajst-26754	129	8	complex	complex	ADJ
ajst-26754	129	9	optimization	optimization	NOUN
ajst-26754	129	10	,	,	PUNCT
ajst-26754	129	11	this	this	DET
ajst-26754	129	12	paper	paper	NOUN
ajst-26754	129	13	uses	use	VERB
ajst-26754	129	14	traditional	traditional	ADJ
ajst-26754	129	15	optimization	optimization	NOUN
ajst-26754	129	16	methods	method	NOUN
ajst-26754	129	17	such	such	ADJ
ajst-26754	129	18	as	as	ADP
ajst-26754	129	19	gradient	gradient	ADJ
ajst-26754	129	20	descent	descent	NOUN
ajst-26754	129	21	and	and	CCONJ
ajst-26754	129	22	newton	newton	PROPN
ajst-26754	129	23	's	's	PART
ajst-26754	129	24	method	method	NOUN
ajst-26754	129	25	to	to	PART
ajst-26754	129	26	solve	solve	VERB
ajst-26754	129	27	the	the	DET
ajst-26754	129	28	initial	initial	ADJ
ajst-26754	129	29	optimization	optimization	NOUN
ajst-26754	129	30	problem	problem	NOUN
ajst-26754	129	31	[	[	X
ajst-26754	129	32	6	6	NUM
ajst-26754	129	33	]	]	PUNCT
ajst-26754	129	34	.	.	PUNCT
ajst-26754	130	1	the	the	DET
ajst-26754	130	2	initial	initial	ADJ
ajst-26754	130	3	parameters	parameter	NOUN
ajst-26754	130	4	of	of	ADP
ajst-26754	130	5	the	the	DET
ajst-26754	130	6	turnaround	turnaround	NOUN
ajst-26754	130	7	path	path	NOUN
ajst-26754	130	8	are	be	AUX
ajst-26754	130	9	obtained	obtain	VERB
ajst-26754	130	10	by	by	ADP
ajst-26754	130	11	deriving	derive	VERB
ajst-26754	130	12	the	the	DET
ajst-26754	130	13	objective	objective	ADJ
ajst-26754	130	14	function	function	NOUN
ajst-26754	130	15	𝑓	𝑓	ADP
ajst-26754	130	16	𝑟	𝑟	X
ajst-26754	130	17	,	,	PUNCT
ajst-26754	130	18	𝜃	𝜃	X
ajst-26754	130	19	.	.	PUNCT
ajst-26754	131	1	to	to	PART
ajst-26754	131	2	further	far	ADV
ajst-26754	131	3	optimize	optimize	VERB
ajst-26754	131	4	the	the	DET
ajst-26754	131	5	length	length	NOUN
ajst-26754	131	6	of	of	ADP
ajst-26754	131	7	the	the	DET
ajst-26754	131	8	turnaround	turnaround	NOUN
ajst-26754	131	9	curve	curve	NOUN
ajst-26754	131	10	,	,	PUNCT
ajst-26754	131	11	feedforward	feedforward	ADJ
ajst-26754	131	12	neural	neural	ADJ
ajst-26754	131	13	network	network	NOUN
ajst-26754	131	14	(	(	PUNCT
ajst-26754	131	15	fnn	fnn	PROPN
ajst-26754	131	16	)	)	PUNCT
ajst-26754	131	17	is	be	AUX
ajst-26754	131	18	introduced	introduce	VERB
ajst-26754	131	19	for	for	ADP
ajst-26754	131	20	iterative	iterative	NOUN
ajst-26754	131	21	solution	solution	NOUN
ajst-26754	131	22	.	.	PUNCT
ajst-26754	132	1	the	the	DET
ajst-26754	132	2	specific	specific	ADJ
ajst-26754	132	3	process	process	NOUN
ajst-26754	132	4	includes	include	VERB
ajst-26754	132	5	:	:	PUNCT
ajst-26754	132	6	the	the	DET
ajst-26754	132	7	input	input	NOUN
ajst-26754	132	8	layer	layer	NOUN
ajst-26754	132	9	receives	receive	VERB
ajst-26754	132	10	the	the	DET
ajst-26754	132	11	initial	initial	ADJ
ajst-26754	132	12	parameters	parameter	NOUN
ajst-26754	132	13	of	of	ADP
ajst-26754	132	14	the	the	DET
ajst-26754	132	15	turnaround	turnaround	NOUN
ajst-26754	132	16	curve	curve	NOUN
ajst-26754	132	17	(	(	PUNCT
ajst-26754	132	18	arc	arc	NOUN
ajst-26754	132	19	radius	radius	NOUN
ajst-26754	132	20	𝑟	𝑟	NOUN
ajst-26754	132	21	,	,	PUNCT
ajst-26754	132	22	centroid	centroid	PROPN
ajst-26754	132	23	angle	angle	PROPN
ajst-26754	132	24	𝜃	𝜃	PROPN
ajst-26754	132	25	)	)	PUNCT
ajst-26754	132	26	;	;	PUNCT
ajst-26754	132	27	the	the	DET
ajst-26754	132	28	hidden	hide	VERB
ajst-26754	132	29	layer	layer	NOUN
ajst-26754	132	30	gradually	gradually	ADV
ajst-26754	132	31	adjusts	adjust	VERB
ajst-26754	132	32	the	the	DET
ajst-26754	132	33	path	path	NOUN
ajst-26754	132	34	parameters	parameter	NOUN
ajst-26754	132	35	through	through	ADP
ajst-26754	132	36	the	the	DET
ajst-26754	132	37	nonlinear	nonlinear	ADJ
ajst-26754	132	38	transformations	transformation	NOUN
ajst-26754	132	39	of	of	ADP
ajst-26754	132	40	each	each	DET
ajst-26754	132	41	layer	layer	NOUN
ajst-26754	132	42	;	;	PUNCT
ajst-26754	132	43	and	and	CCONJ
ajst-26754	132	44	the	the	DET
ajst-26754	132	45	output	output	NOUN
ajst-26754	132	46	layer	layer	NOUN
ajst-26754	132	47	provides	provide	VERB
ajst-26754	132	48	the	the	DET
ajst-26754	132	49	optimized	optimize	VERB
ajst-26754	132	50	arc	arc	NOUN
ajst-26754	132	51	radius	radius	NOUN
ajst-26754	132	52	and	and	CCONJ
ajst-26754	132	53	angle	angle	NOUN
ajst-26754	132	54	.	.	PUNCT
ajst-26754	133	1	the	the	DET
ajst-26754	133	2	loss	loss	NOUN
ajst-26754	133	3	function	function	NOUN
ajst-26754	133	4	is	be	AUX
ajst-26754	133	5	defined	define	VERB
ajst-26754	133	6	as	as	ADP
ajst-26754	133	7	the	the	DET
ajst-26754	133	8	total	total	ADJ
ajst-26754	133	9	length	length	NOUN
ajst-26754	133	10	of	of	ADP
ajst-26754	133	11	the	the	DET
ajst-26754	133	12	turnaround	turnaround	NOUN
ajst-26754	133	13	curve	curve	NOUN
ajst-26754	133	14	,	,	PUNCT
ajst-26754	133	15	and	and	CCONJ
ajst-26754	133	16	the	the	DET
ajst-26754	133	17	goal	goal	NOUN
ajst-26754	133	18	is	be	AUX
ajst-26754	133	19	to	to	PART
ajst-26754	133	20	minimize	minimize	VERB
ajst-26754	133	21	this	this	DET
ajst-26754	133	22	length	length	NOUN
ajst-26754	133	23	,	,	PUNCT
ajst-26754	133	24	and	and	CCONJ
ajst-26754	133	25	the	the	DET
ajst-26754	133	26	network	network	NOUN
ajst-26754	133	27	weights	weight	NOUN
ajst-26754	133	28	and	and	CCONJ
ajst-26754	133	29	parameters	parameter	NOUN
ajst-26754	133	30	are	be	AUX
ajst-26754	133	31	adjusted	adjust	VERB
ajst-26754	133	32	by	by	ADP
ajst-26754	133	33	the	the	DET
ajst-26754	133	34	back	back	ADJ
ajst-26754	133	35	-	-	PUNCT
ajst-26754	133	36	propagation	propagation	NOUN
ajst-26754	133	37	algorithm	algorithm	NOUN
ajst-26754	133	38	to	to	PART
ajst-26754	133	39	achieve	achieve	VERB
ajst-26754	133	40	gradual	gradual	ADJ
ajst-26754	133	41	convergence	convergence	NOUN
ajst-26754	133	42	to	to	ADP
ajst-26754	133	43	the	the	DET
ajst-26754	133	44	optimal	optimal	ADJ
ajst-26754	133	45	solution	solution	NOUN
ajst-26754	133	46	.	.	PUNCT
ajst-26754	134	1	after	after	ADP
ajst-26754	134	2	obtaining	obtain	VERB
ajst-26754	134	3	the	the	DET
ajst-26754	134	4	optimal	optimal	ADJ
ajst-26754	134	5	head	head	NOUN
ajst-26754	134	6	-	-	PUNCT
ajst-26754	134	7	turning	turn	VERB
ajst-26754	134	8	path	path	NOUN
ajst-26754	134	9	,	,	PUNCT
ajst-26754	134	10	the	the	DET
ajst-26754	134	11	overall	overall	ADJ
ajst-26754	134	12	trajectory	trajectory	NOUN
ajst-26754	134	13	of	of	ADP
ajst-26754	134	14	the	the	DET
ajst-26754	134	15	bench	bench	NOUN
ajst-26754	134	16	dragon	dragon	NOUN
ajst-26754	134	17	is	be	AUX
ajst-26754	134	18	described	describe	VERB
ajst-26754	134	19	in	in	ADP
ajst-26754	134	20	conjunction	conjunction	NOUN
ajst-26754	134	21	with	with	ADP
ajst-26754	134	22	the	the	DET
ajst-26754	134	23	solenoidal	solenoidal	ADJ
ajst-26754	134	24	motion	motion	NOUN
ajst-26754	134	25	equation	equation	NOUN
ajst-26754	134	26	.	.	PUNCT
ajst-26754	135	1	the	the	DET
ajst-26754	135	2	spiral	spiral	ADJ
ajst-26754	135	3	motion	motion	NOUN
ajst-26754	135	4	is	be	AUX
ajst-26754	135	5	expressed	express	VERB
ajst-26754	135	6	by	by	ADP
ajst-26754	135	7	the	the	DET
ajst-26754	135	8	polar	polar	ADJ
ajst-26754	135	9	coordinate	coordinate	NOUN
ajst-26754	135	10	equation	equation	NOUN
ajst-26754	135	11	:	:	PUNCT
ajst-26754	135	12	𝑟	𝑟	X
ajst-26754	135	13	𝑎	𝑎	X
ajst-26754	135	14	𝑏	𝑏	NOUN
ajst-26754	135	15	,	,	PUNCT
ajst-26754	135	16	where	where	SCONJ
ajst-26754	135	17	𝑎	𝑎	NOUN
ajst-26754	135	18	and	and	CCONJ
ajst-26754	135	19	𝑏	𝑏	NOUN
ajst-26754	135	20	are	be	AUX
ajst-26754	135	21	the	the	DET
ajst-26754	135	22	spiral	spiral	ADJ
ajst-26754	135	23	parameters	parameter	NOUN
ajst-26754	135	24	.	.	PUNCT
ajst-26754	136	1	the	the	DET
ajst-26754	136	2	geometry	geometry	NOUN
ajst-26754	136	3	of	of	ADP
ajst-26754	136	4	the	the	DET
ajst-26754	136	5	turnaround	turnaround	NOUN
ajst-26754	136	6	curve	curve	NOUN
ajst-26754	136	7	needs	need	VERB
ajst-26754	136	8	to	to	PART
ajst-26754	136	9	be	be	AUX
ajst-26754	136	10	tangent	tangent	ADJ
ajst-26754	136	11	to	to	ADP
ajst-26754	136	12	the	the	DET
ajst-26754	136	13	solenoid	solenoid	NOUN
ajst-26754	136	14	,	,	PUNCT
ajst-26754	136	15	so	so	CCONJ
ajst-26754	136	16	the	the	DET
ajst-26754	136	17	solenoid	solenoid	ADJ
ajst-26754	136	18	parameters	parameter	NOUN
ajst-26754	136	19	are	be	AUX
ajst-26754	136	20	further	far	ADV
ajst-26754	136	21	adjusted	adjust	VERB
ajst-26754	136	22	according	accord	VERB
ajst-26754	136	23	to	to	ADP
ajst-26754	136	24	the	the	DET
ajst-26754	136	25	optimization	optimization	NOUN
ajst-26754	136	26	results	result	NOUN
ajst-26754	136	27	of	of	ADP
ajst-26754	136	28	the	the	DET
ajst-26754	136	29	turnaround	turnaround	NOUN
ajst-26754	136	30	path	path	NOUN
ajst-26754	136	31	.	.	PUNCT
ajst-26754	137	1	based	base	VERB
ajst-26754	137	2	on	on	ADP
ajst-26754	137	3	the	the	DET
ajst-26754	137	4	optimization	optimization	NOUN
ajst-26754	137	5	results	result	NOUN
ajst-26754	137	6	of	of	ADP
ajst-26754	137	7	the	the	DET
ajst-26754	137	8	head	head	NOUN
ajst-26754	137	9	-	-	PUNCT
ajst-26754	137	10	turning	turn	VERB
ajst-26754	137	11	curve	curve	NOUN
ajst-26754	137	12	and	and	CCONJ
ajst-26754	137	13	the	the	DET
ajst-26754	137	14	equations	equation	NOUN
ajst-26754	137	15	of	of	ADP
ajst-26754	137	16	motion	motion	NOUN
ajst-26754	137	17	of	of	ADP
ajst-26754	137	18	the	the	DET
ajst-26754	137	19	screw	screw	NOUN
ajst-26754	137	20	thread	thread	NOUN
ajst-26754	137	21	,	,	PUNCT
ajst-26754	137	22	the	the	DET
ajst-26754	137	23	specific	specific	ADJ
ajst-26754	137	24	positions	position	NOUN
ajst-26754	137	25	and	and	CCONJ
ajst-26754	137	26	velocities	velocity	NOUN
ajst-26754	137	27	of	of	ADP
ajst-26754	137	28	each	each	DET
ajst-26754	137	29	section	section	NOUN
ajst-26754	137	30	of	of	ADP
ajst-26754	137	31	the	the	DET
ajst-26754	137	32	body	body	NOUN
ajst-26754	137	33	of	of	ADP
ajst-26754	137	34	the	the	DET
ajst-26754	137	35	bench	bench	NOUN
ajst-26754	137	36	dragon	dragon	NOUN
ajst-26754	137	37	(	(	PUNCT
ajst-26754	137	38	including	include	VERB
ajst-26754	137	39	the	the	DET
ajst-26754	137	40	dragon	dragon	NOUN
ajst-26754	137	41	head	head	NOUN
ajst-26754	137	42	,	,	PUNCT
ajst-26754	137	43	body	body	NOUN
ajst-26754	137	44	and	and	CCONJ
ajst-26754	137	45	tail	tail	NOUN
ajst-26754	137	46	)	)	PUNCT
ajst-26754	137	47	,	,	PUNCT
ajst-26754	137	48	especially	especially	ADV
ajst-26754	137	49	the	the	DET
ajst-26754	137	50	key	key	ADJ
ajst-26754	137	51	positions	position	NOUN
ajst-26754	137	52	(	(	PUNCT
ajst-26754	137	53	such	such	ADJ
ajst-26754	137	54	as	as	ADP
ajst-26754	137	55	the	the	DET
ajst-26754	137	56	front	front	ADJ
ajst-26754	137	57	handles	handle	NOUN
ajst-26754	137	58	of	of	ADP
ajst-26754	137	59	the	the	DET
ajst-26754	137	60	body	body	NOUN
ajst-26754	137	61	and	and	CCONJ
ajst-26754	137	62	the	the	DET
ajst-26754	137	63	rear	rear	ADJ
ajst-26754	137	64	handles	handle	NOUN
ajst-26754	137	65	of	of	ADP
ajst-26754	137	66	the	the	DET
ajst-26754	137	67	tail	tail	NOUN
ajst-26754	137	68	of	of	ADP
ajst-26754	137	69	the	the	DET
ajst-26754	137	70	dragon	dragon	NOUN
ajst-26754	137	71	in	in	ADP
ajst-26754	137	72	the	the	DET
ajst-26754	137	73	1st	1st	ADJ
ajst-26754	137	74	,	,	PUNCT
ajst-26754	137	75	51st	51st	ADJ
ajst-26754	137	76	,	,	PUNCT
ajst-26754	137	77	101st	101st	ADJ
ajst-26754	137	78	,	,	PUNCT
ajst-26754	137	79	151st	151st	NOUN
ajst-26754	137	80	,	,	PUNCT
ajst-26754	137	81	and	and	CCONJ
ajst-26754	137	82	201th	201th	NOUN
ajst-26754	137	83	sections	section	NOUN
ajst-26754	137	84	behind	behind	ADP
ajst-26754	137	85	the	the	DET
ajst-26754	137	86	dragon	dragon	NOUN
ajst-26754	137	87	head	head	NOUN
ajst-26754	137	88	)	)	PUNCT
ajst-26754	137	89	are	be	AUX
ajst-26754	137	90	calculated	calculate	VERB
ajst-26754	137	91	step	step	NOUN
ajst-26754	137	92	by	by	ADP
ajst-26754	137	93	step	step	NOUN
ajst-26754	137	94	,	,	PUNCT
ajst-26754	137	95	and	and	CCONJ
ajst-26754	137	96	the	the	DET
ajst-26754	137	97	coordinates	coordinate	NOUN
ajst-26754	137	98	and	and	CCONJ
ajst-26754	137	99	velocities	velocity	NOUN
ajst-26754	137	100	of	of	ADP
ajst-26754	137	101	the	the	DET
ajst-26754	137	102	body	body	NOUN
ajst-26754	137	103	and	and	CCONJ
ajst-26754	137	104	tail	tail	NOUN
ajst-26754	137	105	of	of	ADP
ajst-26754	137	106	the	the	DET
ajst-26754	137	107	bench	bench	NOUN
ajst-26754	137	108	dragon	dragon	NOUN
ajst-26754	137	109	are	be	AUX
ajst-26754	137	110	calculated	calculate	VERB
ajst-26754	137	111	by	by	ADP
ajst-26754	137	112	numerical	numerical	ADJ
ajst-26754	137	113	methods	method	NOUN
ajst-26754	137	114	at	at	ADP
ajst-26754	137	115	each	each	DET
ajst-26754	137	116	moment	moment	NOUN
ajst-26754	137	117	.	.	PUNCT
ajst-26754	138	1	87	87	NUM
ajst-26754	138	2	in	in	ADP
ajst-26754	138	3	the	the	DET
ajst-26754	138	4	study	study	NOUN
ajst-26754	138	5	,	,	PUNCT
ajst-26754	138	6	the	the	DET
ajst-26754	138	7	maximum	maximum	ADJ
ajst-26754	138	8	travel	travel	NOUN
ajst-26754	138	9	speed	speed	NOUN
ajst-26754	138	10	of	of	ADP
ajst-26754	138	11	the	the	DET
ajst-26754	138	12	dragon	dragon	NOUN
ajst-26754	138	13	head	head	NOUN
ajst-26754	138	14	needs	need	VERB
ajst-26754	138	15	to	to	PART
ajst-26754	138	16	be	be	AUX
ajst-26754	138	17	determined	determine	VERB
ajst-26754	138	18	to	to	PART
ajst-26754	138	19	ensure	ensure	VERB
ajst-26754	138	20	that	that	SCONJ
ajst-26754	138	21	the	the	DET
ajst-26754	138	22	speed	speed	NOUN
ajst-26754	138	23	of	of	ADP
ajst-26754	138	24	all	all	DET
ajst-26754	138	25	sections	section	NOUN
ajst-26754	138	26	of	of	ADP
ajst-26754	138	27	the	the	DET
ajst-26754	138	28	bench	bench	NOUN
ajst-26754	138	29	dragon	dragon	NOUN
ajst-26754	138	30	body	body	NOUN
ajst-26754	138	31	does	do	AUX
ajst-26754	138	32	not	not	PART
ajst-26754	138	33	exceed	exceed	VERB
ajst-26754	138	34	2	2	NUM
ajst-26754	138	35	m	m	NOUN
ajst-26754	138	36	/	/	SYM
ajst-26754	138	37	s.	s.	PROPN
ajst-26754	138	38	this	this	DET
ajst-26754	138	39	problem	problem	NOUN
ajst-26754	138	40	is	be	AUX
ajst-26754	138	41	an	an	DET
ajst-26754	138	42	optimization	optimization	NOUN
ajst-26754	138	43	problem	problem	NOUN
ajst-26754	138	44	with	with	ADP
ajst-26754	138	45	constraints	constraint	NOUN
ajst-26754	138	46	,	,	PUNCT
ajst-26754	138	47	and	and	CCONJ
ajst-26754	138	48	the	the	DET
ajst-26754	138	49	optimal	optimal	ADJ
ajst-26754	138	50	solution	solution	NOUN
ajst-26754	138	51	is	be	AUX
ajst-26754	138	52	found	find	VERB
ajst-26754	138	53	by	by	ADP
ajst-26754	138	54	an	an	DET
ajst-26754	138	55	optimization	optimization	NOUN
ajst-26754	138	56	algorithm	algorithm	NOUN
ajst-26754	138	57	.	.	PUNCT
ajst-26754	139	1	the	the	DET
ajst-26754	139	2	objective	objective	NOUN
ajst-26754	139	3	is	be	AUX
ajst-26754	139	4	to	to	PART
ajst-26754	139	5	maximize	maximize	VERB
ajst-26754	139	6	the	the	DET
ajst-26754	139	7	velocity	velocity	NOUN
ajst-26754	139	8	of	of	ADP
ajst-26754	139	9	the	the	DET
ajst-26754	139	10	dragon	dragon	NOUN
ajst-26754	139	11	's	's	PART
ajst-26754	139	12	head	head	NOUN
ajst-26754	139	13	vhead	vhead	VERB
ajst-26754	139	14	so	so	SCONJ
ajst-26754	139	15	that	that	SCONJ
ajst-26754	139	16	the	the	DET
ajst-26754	139	17	velocity	velocity	NOUN
ajst-26754	139	18	of	of	ADP
ajst-26754	139	19	all	all	DET
ajst-26754	139	20	sections	section	NOUN
ajst-26754	139	21	of	of	ADP
ajst-26754	139	22	the	the	DET
ajst-26754	139	23	dragon	dragon	NOUN
ajst-26754	139	24	's	's	PART
ajst-26754	139	25	body	body	NOUN
ajst-26754	139	26	vn	vn	NOUN
ajst-26754	139	27	does	do	AUX
ajst-26754	139	28	not	not	PART
ajst-26754	139	29	exceed	exceed	VERB
ajst-26754	139	30	2	2	NUM
ajst-26754	139	31	m	m	NOUN
ajst-26754	139	32	/	/	SYM
ajst-26754	139	33	s.	s.	PROPN
ajst-26754	140	1	the	the	DET
ajst-26754	140	2	constraints	constraint	NOUN
ajst-26754	140	3	are	be	AUX
ajst-26754	140	4	that	that	SCONJ
ajst-26754	140	5	the	the	DET
ajst-26754	140	6	velocity	velocity	NOUN
ajst-26754	140	7	of	of	ADP
ajst-26754	140	8	each	each	DET
ajst-26754	140	9	section	section	NOUN
ajst-26754	140	10	of	of	ADP
ajst-26754	140	11	the	the	DET
ajst-26754	140	12	dragon	dragon	NOUN
ajst-26754	140	13	's	's	PART
ajst-26754	140	14	body	body	NOUN
ajst-26754	140	15	𝑣	𝑣	ADP
ajst-26754	140	16	≤	≤	ADV
ajst-26754	140	17	2	2	NUM
ajst-26754	140	18	m	m	NOUN
ajst-26754	140	19	/	/	SYM
ajst-26754	140	20	s.	s.	PROPN
ajst-26754	140	21	the	the	DET
ajst-26754	140	22	velocity	velocity	NOUN
ajst-26754	140	23	of	of	ADP
ajst-26754	140	24	the	the	DET
ajst-26754	140	25	dragon	dragon	NOUN
ajst-26754	140	26	's	's	PART
ajst-26754	140	27	head	head	NOUN
ajst-26754	140	28	,	,	PUNCT
ajst-26754	140	29	the	the	DET
ajst-26754	140	30	position	position	NOUN
ajst-26754	140	31	of	of	ADP
ajst-26754	140	32	each	each	DET
ajst-26754	140	33	section	section	NOUN
ajst-26754	140	34	of	of	ADP
ajst-26754	140	35	the	the	DET
ajst-26754	140	36	dragon	dragon	NOUN
ajst-26754	140	37	's	's	PART
ajst-26754	140	38	body	body	NOUN
ajst-26754	140	39	,	,	PUNCT
ajst-26754	140	40	and	and	CCONJ
ajst-26754	140	41	the	the	DET
ajst-26754	140	42	curvature	curvature	NOUN
ajst-26754	140	43	of	of	ADP
ajst-26754	140	44	the	the	DET
ajst-26754	140	45	turnaround	turnaround	NOUN
ajst-26754	140	46	path	path	NOUN
ajst-26754	140	47	affect	affect	VERB
ajst-26754	140	48	the	the	DET
ajst-26754	140	49	velocity	velocity	NOUN
ajst-26754	140	50	of	of	ADP
ajst-26754	140	51	the	the	DET
ajst-26754	140	52	dragon	dragon	NOUN
ajst-26754	140	53	's	's	PART
ajst-26754	140	54	body	body	NOUN
ajst-26754	140	55	,	,	PUNCT
ajst-26754	140	56	and	and	CCONJ
ajst-26754	140	57	the	the	DET
ajst-26754	140	58	change	change	NOUN
ajst-26754	140	59	of	of	ADP
ajst-26754	140	60	curvature	curvature	NOUN
ajst-26754	140	61	especially	especially	ADV
ajst-26754	140	62	in	in	ADP
ajst-26754	140	63	the	the	DET
ajst-26754	140	64	process	process	NOUN
ajst-26754	140	65	of	of	ADP
ajst-26754	140	66	turnaround	turnaround	NOUN
ajst-26754	140	67	leads	lead	VERB
ajst-26754	140	68	to	to	ADP
ajst-26754	140	69	the	the	DET
ajst-26754	140	70	fluctuation	fluctuation	NOUN
ajst-26754	140	71	of	of	ADP
ajst-26754	140	72	the	the	DET
ajst-26754	140	73	velocity	velocity	NOUN
ajst-26754	140	74	,	,	PUNCT
ajst-26754	140	75	therefore	therefore	ADV
ajst-26754	140	76	the	the	DET
ajst-26754	140	77	maximum	maximum	ADJ
ajst-26754	140	78	velocity	velocity	NOUN
ajst-26754	140	79	needs	need	VERB
ajst-26754	140	80	to	to	PART
ajst-26754	140	81	be	be	AUX
ajst-26754	140	82	accurately	accurately	ADV
ajst-26754	140	83	controlled	control	VERB
ajst-26754	140	84	.	.	PUNCT
ajst-26754	141	1	the	the	DET
ajst-26754	141	2	maximum	maximum	ADJ
ajst-26754	141	3	speed	speed	NOUN
ajst-26754	141	4	of	of	ADP
ajst-26754	141	5	the	the	DET
ajst-26754	141	6	dragon	dragon	NOUN
ajst-26754	141	7	head	head	NOUN
ajst-26754	141	8	needs	need	VERB
ajst-26754	141	9	to	to	PART
ajst-26754	141	10	be	be	AUX
ajst-26754	141	11	precisely	precisely	ADV
ajst-26754	141	12	controlled	control	VERB
ajst-26754	141	13	.	.	PUNCT
ajst-26754	142	1	the	the	DET
ajst-26754	142	2	goal	goal	NOUN
ajst-26754	142	3	of	of	ADP
ajst-26754	142	4	the	the	DET
ajst-26754	142	5	model	model	NOUN
ajst-26754	142	6	is	be	AUX
ajst-26754	142	7	to	to	PART
ajst-26754	142	8	find	find	VERB
ajst-26754	142	9	the	the	DET
ajst-26754	142	10	maximum	maximum	ADJ
ajst-26754	142	11	speed	speed	NOUN
ajst-26754	142	12	of	of	ADP
ajst-26754	142	13	the	the	DET
ajst-26754	142	14	dragon	dragon	NOUN
ajst-26754	142	15	head	head	NOUN
ajst-26754	142	16	vhead	vhead	VERB
ajst-26754	142	17	,	,	PUNCT
ajst-26754	142	18	so	so	SCONJ
ajst-26754	142	19	that	that	SCONJ
ajst-26754	142	20	the	the	DET
ajst-26754	142	21	speed	speed	NOUN
ajst-26754	142	22	of	of	ADP
ajst-26754	142	23	all	all	DET
ajst-26754	142	24	sections	section	NOUN
ajst-26754	142	25	of	of	ADP
ajst-26754	142	26	the	the	DET
ajst-26754	142	27	dragon	dragon	NOUN
ajst-26754	142	28	body	body	NOUN
ajst-26754	142	29	𝑣	𝑣	PRON
ajst-26754	142	30	meets	meet	VERB
ajst-26754	142	31	𝑣	𝑣	DET
ajst-26754	142	32	≤	≤	NUM
ajst-26754	142	33	2	2	NUM
ajst-26754	142	34	m/s	m/s	NOUN
ajst-26754	142	35	.	.	PUNCT
ajst-26754	143	1	the	the	DET
ajst-26754	143	2	fitness	fitness	NOUN
ajst-26754	143	3	function	function	NOUN
ajst-26754	143	4	𝑓	𝑓	PROPN
ajst-26754	143	5	(	(	PUNCT
ajst-26754	143	6	𝑣	𝑣	NOUN
ajst-26754	143	7	)	)	PUNCT
ajst-26754	143	8	is	be	AUX
ajst-26754	143	9	used	use	VERB
ajst-26754	143	10	to	to	PART
ajst-26754	143	11	measure	measure	VERB
ajst-26754	143	12	whether	whether	SCONJ
ajst-26754	143	13	the	the	DET
ajst-26754	143	14	speed	speed	NOUN
ajst-26754	143	15	of	of	ADP
ajst-26754	143	16	the	the	DET
ajst-26754	143	17	dragon	dragon	NOUN
ajst-26754	143	18	head	head	NOUN
ajst-26754	143	19	is	be	AUX
ajst-26754	143	20	in	in	ADP
ajst-26754	143	21	accordance	accordance	NOUN
ajst-26754	143	22	with	with	ADP
ajst-26754	143	23	the	the	DET
ajst-26754	143	24	speed	speed	NOUN
ajst-26754	143	25	limit	limit	NOUN
ajst-26754	143	26	of	of	ADP
ajst-26754	143	27	each	each	DET
ajst-26754	143	28	section	section	NOUN
ajst-26754	143	29	of	of	ADP
ajst-26754	143	30	the	the	DET
ajst-26754	143	31	dragon	dragon	NOUN
ajst-26754	143	32	body	body	NOUN
ajst-26754	143	33	,	,	PUNCT
ajst-26754	143	34	which	which	PRON
ajst-26754	143	35	is	be	AUX
ajst-26754	143	36	defined	define	VERB
ajst-26754	143	37	as	as	ADP
ajst-26754	143	38	:	:	PUNCT
ajst-26754	143	39			PROPN
ajst-26754	143	40	head	head	ADJ
ajst-26754	143	41	head	head	NOUN
ajst-26754	143	42	1	1	NUM
ajst-26754	143	43	(	(	PUNCT
ajst-26754	143	44	)	)	PUNCT
ajst-26754	143	45	max	max	PROPN
ajst-26754	143	46	0	0	NUM
ajst-26754	143	47	,	,	PUNCT
ajst-26754	143	48	(	(	PUNCT
ajst-26754	143	49	)	)	PUNCT
ajst-26754	143	50	2	2	NUM
ajst-26754	143	51	n	n	ADP
ajst-26754	143	52	n	n	CCONJ
ajst-26754	143	53	n	n	NOUN
ajst-26754	143	54	f	f	NOUN
ajst-26754	143	55	v	v	NOUN
ajst-26754	143	56	v	v	NOUN
ajst-26754	143	57	v	v	ADP
ajst-26754	143	58			NOUN
ajst-26754	143	59			NUM
ajst-26754	144	1			NOUN
ajst-26754	144	2	(	(	PUNCT
ajst-26754	144	3	14	14	NUM
ajst-26754	144	4	)	)	PUNCT
ajst-26754	144	5	when	when	SCONJ
ajst-26754	144	6	the	the	DET
ajst-26754	144	7	velocity	velocity	NOUN
ajst-26754	144	8	of	of	ADP
ajst-26754	144	9	a	a	DET
ajst-26754	144	10	section	section	NOUN
ajst-26754	144	11	of	of	ADP
ajst-26754	144	12	the	the	DET
ajst-26754	144	13	dragon	dragon	NOUN
ajst-26754	144	14	body	body	NOUN
ajst-26754	144	15	exceeds	exceed	VERB
ajst-26754	144	16	2	2	NUM
ajst-26754	144	17	m	m	NOUN
ajst-26754	144	18	/	/	SYM
ajst-26754	144	19	s	s	PROPN
ajst-26754	144	20	,	,	PUNCT
ajst-26754	144	21	the	the	DET
ajst-26754	144	22	value	value	NOUN
ajst-26754	144	23	of	of	ADP
ajst-26754	144	24	the	the	DET
ajst-26754	144	25	fitness	fitness	NOUN
ajst-26754	144	26	function	function	NOUN
ajst-26754	144	27	increases	increase	NOUN
ajst-26754	144	28	,	,	PUNCT
ajst-26754	144	29	indicating	indicate	VERB
ajst-26754	144	30	that	that	SCONJ
ajst-26754	144	31	the	the	DET
ajst-26754	144	32	solution	solution	NOUN
ajst-26754	144	33	is	be	AUX
ajst-26754	144	34	not	not	PART
ajst-26754	144	35	optimal	optimal	ADJ
ajst-26754	144	36	,	,	PUNCT
ajst-26754	144	37	and	and	CCONJ
ajst-26754	144	38	the	the	DET
ajst-26754	144	39	goal	goal	NOUN
ajst-26754	144	40	is	be	AUX
ajst-26754	144	41	to	to	PART
ajst-26754	144	42	minimize	minimize	VERB
ajst-26754	144	43	the	the	DET
ajst-26754	144	44	value	value	NOUN
ajst-26754	144	45	of	of	ADP
ajst-26754	144	46	the	the	DET
ajst-26754	144	47	function	function	NOUN
ajst-26754	144	48	to	to	PART
ajst-26754	144	49	find	find	VERB
ajst-26754	144	50	the	the	DET
ajst-26754	144	51	optimal	optimal	ADJ
ajst-26754	144	52	solution	solution	NOUN
ajst-26754	144	53	.	.	PUNCT
ajst-26754	145	1	in	in	ADP
ajst-26754	145	2	the	the	DET
ajst-26754	145	3	model	model	NOUN
ajst-26754	145	4	construction	construction	NOUN
ajst-26754	145	5	,	,	PUNCT
ajst-26754	145	6	the	the	DET
ajst-26754	145	7	constraint	constraint	NOUN
ajst-26754	145	8	𝑣	𝑣	ADP
ajst-26754	145	9	≤2	≤2	NOUN
ajst-26754	145	10	m/s	m/s	PROPN
ajst-26754	145	11	determines	determine	VERB
ajst-26754	145	12	the	the	DET
ajst-26754	145	13	upper	upper	ADJ
ajst-26754	145	14	limit	limit	NOUN
ajst-26754	145	15	of	of	ADP
ajst-26754	145	16	the	the	DET
ajst-26754	145	17	dragon	dragon	NOUN
ajst-26754	145	18	head	head	NOUN
ajst-26754	145	19	speed	speed	NOUN
ajst-26754	145	20	,	,	PUNCT
ajst-26754	145	21	and	and	CCONJ
ajst-26754	145	22	the	the	DET
ajst-26754	145	23	maximum	maximum	ADJ
ajst-26754	145	24	speed	speed	NOUN
ajst-26754	145	25	that	that	PRON
ajst-26754	145	26	satisfies	satisfy	VERB
ajst-26754	145	27	this	this	DET
ajst-26754	145	28	constraint	constraint	NOUN
ajst-26754	145	29	is	be	AUX
ajst-26754	145	30	gradually	gradually	ADV
ajst-26754	145	31	found	find	VERB
ajst-26754	145	32	by	by	ADP
ajst-26754	145	33	adjusting	adjust	VERB
ajst-26754	145	34	the	the	DET
ajst-26754	145	35	dragon	dragon	NOUN
ajst-26754	145	36	head	head	NOUN
ajst-26754	145	37	speed	speed	NOUN
ajst-26754	145	38	.	.	PUNCT
ajst-26754	146	1	to	to	PART
ajst-26754	146	2	solve	solve	VERB
ajst-26754	146	3	this	this	DET
ajst-26754	146	4	optimization	optimization	NOUN
ajst-26754	146	5	problem	problem	NOUN
ajst-26754	146	6	,	,	PUNCT
ajst-26754	146	7	particle	particle	NOUN
ajst-26754	146	8	swarm	swarm	NOUN
ajst-26754	146	9	optimization	optimization	NOUN
ajst-26754	146	10	(	(	PUNCT
ajst-26754	146	11	pso	pso	NOUN
ajst-26754	146	12	)	)	PUNCT
ajst-26754	146	13	algorithm	algorithm	NOUN
ajst-26754	146	14	is	be	AUX
ajst-26754	146	15	used	use	VERB
ajst-26754	146	16	with	with	ADP
ajst-26754	146	17	the	the	DET
ajst-26754	146	18	following	follow	VERB
ajst-26754	146	19	steps	step	NOUN
ajst-26754	146	20	:	:	PUNCT
ajst-26754	146	21	particle	particle	NOUN
ajst-26754	146	22	representation	representation	NOUN
ajst-26754	146	23	:	:	PUNCT
ajst-26754	146	24	each	each	DET
ajst-26754	146	25	particle	particle	NOUN
ajst-26754	146	26	represents	represent	VERB
ajst-26754	146	27	a	a	DET
ajst-26754	146	28	candidate	candidate	NOUN
ajst-26754	146	29	leading	lead	VERB
ajst-26754	146	30	velocity	velocity	NOUN
ajst-26754	146	31	𝑣	𝑣	PROPN
ajst-26754	146	32	.	.	PUNCT
ajst-26754	147	1	particle	particle	NOUN
ajst-26754	147	2	swarm	swarm	NOUN
ajst-26754	147	3	size	size	NOUN
ajst-26754	147	4	:	:	PUNCT
ajst-26754	147	5	set	set	VERB
ajst-26754	147	6	the	the	DET
ajst-26754	147	7	number	number	NOUN
ajst-26754	147	8	of	of	ADP
ajst-26754	147	9	particles	particle	NOUN
ajst-26754	147	10	𝑁.	𝑁.	PROPN
ajst-26754	147	11	each	each	DET
ajst-26754	147	12	particle	particle	NOUN
ajst-26754	147	13	has	have	VERB
ajst-26754	147	14	its	its	PRON
ajst-26754	147	15	own	own	ADJ
ajst-26754	147	16	position	position	NOUN
ajst-26754	147	17	(	(	PUNCT
ajst-26754	147	18	indicating	indicate	VERB
ajst-26754	147	19	the	the	DET
ajst-26754	147	20	leading	lead	VERB
ajst-26754	147	21	speed	speed	NOUN
ajst-26754	147	22	)	)	PUNCT
ajst-26754	147	23	and	and	CCONJ
ajst-26754	147	24	velocity	velocity	NOUN
ajst-26754	147	25	(	(	PUNCT
ajst-26754	147	26	indicating	indicate	VERB
ajst-26754	147	27	the	the	DET
ajst-26754	147	28	search	search	NOUN
ajst-26754	147	29	direction	direction	NOUN
ajst-26754	147	30	)	)	PUNCT
ajst-26754	147	31	.	.	PUNCT
ajst-26754	148	1	initialize	initialize	VERB
ajst-26754	148	2	velocity	velocity	NOUN
ajst-26754	148	3	and	and	CCONJ
ajst-26754	148	4	position	position	NOUN
ajst-26754	148	5	:	:	PUNCT
ajst-26754	148	6	randomly	randomly	ADV
ajst-26754	148	7	initialize	initialize	VERB
ajst-26754	148	8	the	the	DET
ajst-26754	148	9	velocity	velocity	NOUN
ajst-26754	148	10	and	and	CCONJ
ajst-26754	148	11	position	position	NOUN
ajst-26754	148	12	of	of	ADP
ajst-26754	148	13	each	each	DET
ajst-26754	148	14	particle	particle	NOUN
ajst-26754	148	15	,	,	PUNCT
ajst-26754	148	16	with	with	ADP
ajst-26754	148	17	the	the	DET
ajst-26754	148	18	initial	initial	ADJ
ajst-26754	148	19	faucet	faucet	ADJ
ajst-26754	148	20	velocity	velocity	NOUN
ajst-26754	148	21	in	in	ADP
ajst-26754	148	22	the	the	DET
ajst-26754	148	23	range	range	NOUN
ajst-26754	148	24	of	of	ADP
ajst-26754	148	25	0≤𝑣	0≤𝑣	NOUN
ajst-26754	148	26	≤2	≤2	NOUN
ajst-26754	148	27	m	m	PROPN
ajst-26754	148	28	/	/	SYM
ajst-26754	148	29	s.	s.	PROPN
ajst-26754	148	30	for	for	ADP
ajst-26754	148	31	each	each	DET
ajst-26754	148	32	particle	particle	NOUN
ajst-26754	148	33	(	(	PUNCT
ajst-26754	148	34	i.e.	i.e.	X
ajst-26754	148	35	,	,	PUNCT
ajst-26754	148	36	each	each	DET
ajst-26754	148	37	leading	lead	VERB
ajst-26754	148	38	velocity	velocity	NOUN
ajst-26754	148	39	candidate	candidate	NOUN
ajst-26754	148	40	)	)	PUNCT
ajst-26754	148	41	,	,	PUNCT
ajst-26754	148	42	calculate	calculate	VERB
ajst-26754	148	43	its	its	PRON
ajst-26754	148	44	corresponding	correspond	VERB
ajst-26754	148	45	fitness	fitness	NOUN
ajst-26754	148	46	value	value	NOUN
ajst-26754	148	47	.	.	PUNCT
ajst-26754	149	1	calculate	calculate	VERB
ajst-26754	149	2	the	the	DET
ajst-26754	149	3	speed	speed	NOUN
ajst-26754	149	4	of	of	ADP
ajst-26754	149	5	each	each	DET
ajst-26754	149	6	section	section	NOUN
ajst-26754	149	7	of	of	ADP
ajst-26754	149	8	the	the	DET
ajst-26754	149	9	dragon	dragon	NOUN
ajst-26754	149	10	's	's	PART
ajst-26754	149	11	body	body	NOUN
ajst-26754	149	12	𝑣	𝑣	X
ajst-26754	149	13	(	(	PUNCT
ajst-26754	149	14	𝑣	𝑣	PROPN
ajst-26754	149	15	)	)	PUNCT
ajst-26754	149	16	,	,	PUNCT
ajst-26754	149	17	if	if	SCONJ
ajst-26754	149	18	the	the	DET
ajst-26754	149	19	velocity	velocity	NOUN
ajst-26754	149	20	of	of	ADP
ajst-26754	149	21	a	a	DET
ajst-26754	149	22	section	section	NOUN
ajst-26754	149	23	of	of	ADP
ajst-26754	149	24	the	the	DET
ajst-26754	149	25	dragon	dragon	NOUN
ajst-26754	149	26	body	body	NOUN
ajst-26754	149	27	exceeds	exceed	VERB
ajst-26754	149	28	2	2	NUM
ajst-26754	149	29	m	m	NOUN
ajst-26754	149	30	/	/	SYM
ajst-26754	149	31	s	s	PROPN
ajst-26754	149	32	,	,	PUNCT
ajst-26754	149	33	the	the	DET
ajst-26754	149	34	value	value	NOUN
ajst-26754	149	35	of	of	ADP
ajst-26754	149	36	the	the	DET
ajst-26754	149	37	fitness	fitness	NOUN
ajst-26754	149	38	function	function	NOUN
ajst-26754	149	39	increases	increase	NOUN
ajst-26754	149	40	,	,	PUNCT
ajst-26754	149	41	indicating	indicate	VERB
ajst-26754	149	42	that	that	SCONJ
ajst-26754	149	43	the	the	DET
ajst-26754	149	44	solution	solution	NOUN
ajst-26754	149	45	is	be	AUX
ajst-26754	149	46	poor	poor	ADJ
ajst-26754	149	47	.	.	PUNCT
ajst-26754	150	1	update	update	NOUN
ajst-26754	150	2	particle	particle	NOUN
ajst-26754	150	3	velocity	velocity	NOUN
ajst-26754	150	4	and	and	CCONJ
ajst-26754	150	5	position	position	NOUN
ajst-26754	150	6	.	.	PUNCT
ajst-26754	151	1	particle	particle	NOUN
ajst-26754	151	2	velocity	velocity	NOUN
ajst-26754	151	3	update	update	NOUN
ajst-26754	151	4	:	:	PUNCT
ajst-26754	151	5	the	the	DET
ajst-26754	151	6	velocity	velocity	NOUN
ajst-26754	151	7	of	of	ADP
ajst-26754	151	8	the	the	DET
ajst-26754	151	9	particle	particle	NOUN
ajst-26754	151	10	is	be	AUX
ajst-26754	151	11	updated	update	VERB
ajst-26754	151	12	according	accord	VERB
ajst-26754	151	13	to	to	ADP
ajst-26754	151	14	the	the	DET
ajst-26754	151	15	following	follow	VERB
ajst-26754	151	16	formula	formula	NOUN
ajst-26754	151	17	:	:	PUNCT
ajst-26754	151	18	1	1	NUM
ajst-26754	151	19	1	1	NUM
ajst-26754	151	20	2	2	NUM
ajst-26754	151	21	2	2	NUM
ajst-26754	151	22	(	(	PUNCT
ajst-26754	151	23	1	1	NUM
ajst-26754	151	24	)	)	PUNCT
ajst-26754	151	25	(	(	PUNCT
ajst-26754	151	26	)	)	PUNCT
ajst-26754	151	27	(	(	PUNCT
ajst-26754	151	28	(	(	PUNCT
ajst-26754	151	29	)	)	PUNCT
ajst-26754	151	30	)	)	PUNCT
ajst-26754	151	31	(	(	PUNCT
ajst-26754	151	32	(	(	PUNCT
ajst-26754	151	33	)	)	PUNCT
ajst-26754	151	34	)	)	PUNCT
ajst-26754	152	1	i	i	PRON
ajst-26754	152	2	i	i	PRON
ajst-26754	153	1	i	i	PRON
ajst-26754	153	2	i	i	VERB
ajst-26754	153	3	iv	iv	VERB
ajst-26754	153	4	t	t	PROPN
ajst-26754	153	5	w	w	NOUN
ajst-26754	153	6	v	v	ADP
ajst-26754	153	7	t	t	NOUN
ajst-26754	153	8	c	c	NOUN
ajst-26754	153	9	r	r	NOUN
ajst-26754	153	10	p	p	NOUN
ajst-26754	153	11	x	x	X
ajst-26754	153	12	t	t	NOUN
ajst-26754	153	13	c	c	NOUN
ajst-26754	153	14	r	r	NOUN
ajst-26754	153	15	g	g	NOUN
ajst-26754	153	16	x	x	SYM
ajst-26754	153	17	t	t	PROPN
ajst-26754	153	18			ADJ
ajst-26754	153	19			PROPN
ajst-26754	153	20			ADJ
ajst-26754	153	21			ADJ
ajst-26754	153	22			ADJ
ajst-26754	153	23			NOUN
ajst-26754	153	24			VERB
ajst-26754	153	25			ADJ
ajst-26754	153	26			ADJ
ajst-26754	153	27			NOUN
ajst-26754	153	28	(	(	PUNCT
ajst-26754	153	29	15	15	NUM
ajst-26754	153	30	)	)	PUNCT
ajst-26754	153	31	where	where	SCONJ
ajst-26754	153	32	𝑤	𝑤	X
ajst-26754	153	33	is	be	AUX
ajst-26754	153	34	the	the	DET
ajst-26754	153	35	inertia	inertia	NOUN
ajst-26754	153	36	coefficient	coefficient	NOUN
ajst-26754	153	37	of	of	ADP
ajst-26754	153	38	𝑐	𝑐	PROPN
ajst-26754	153	39	and	and	CCONJ
ajst-26754	153	40	𝑐	𝑐	PROPN
ajst-26754	153	41	are	be	AUX
ajst-26754	153	42	the	the	DET
ajst-26754	153	43	acceleration	acceleration	NOUN
ajst-26754	153	44	constants	constant	NOUN
ajst-26754	153	45	,	,	PUNCT
ajst-26754	153	46	the	the	DET
ajst-26754	153	47	𝑟	𝑟	NOUN
ajst-26754	153	48	and	and	CCONJ
ajst-26754	153	49	𝑟	𝑟	NOUN
ajst-26754	153	50	are	be	AUX
ajst-26754	153	51	the	the	DET
ajst-26754	153	52	random	random	ADJ
ajst-26754	153	53	coefficients	coefficient	NOUN
ajst-26754	153	54	,	,	PUNCT
ajst-26754	153	55	and	and	CCONJ
ajst-26754	153	56	𝑝	𝑝	NOUN
ajst-26754	153	57	is	be	AUX
ajst-26754	153	58	the	the	DET
ajst-26754	153	59	historical	historical	ADJ
ajst-26754	153	60	best	good	ADJ
ajst-26754	153	61	position	position	NOUN
ajst-26754	153	62	of	of	ADP
ajst-26754	153	63	the	the	DET
ajst-26754	153	64	particle	particle	NOUN
ajst-26754	153	65	,	,	PUNCT
ajst-26754	153	66	and	and	CCONJ
ajst-26754	153	67	𝑔	𝑔	PROPN
ajst-26754	153	68	is	be	AUX
ajst-26754	153	69	the	the	DET
ajst-26754	153	70	global	global	ADJ
ajst-26754	153	71	best	good	ADJ
ajst-26754	153	72	position	position	NOUN
ajst-26754	153	73	of	of	ADP
ajst-26754	153	74	the	the	DET
ajst-26754	153	75	population	population	NOUN
ajst-26754	153	76	.	.	PUNCT
ajst-26754	154	1	particle	particle	NOUN
ajst-26754	154	2	position	position	NOUN
ajst-26754	154	3	update	update	NOUN
ajst-26754	154	4	:	:	PUNCT
ajst-26754	154	5	adjusts	adjust	VERB
ajst-26754	154	6	its	its	PRON
ajst-26754	154	7	leading	lead	VERB
ajst-26754	154	8	velocity	velocity	NOUN
ajst-26754	154	9	candidate	candidate	NOUN
ajst-26754	154	10	solution	solution	NOUN
ajst-26754	154	11	by	by	ADP
ajst-26754	154	12	updating	update	VERB
ajst-26754	154	13	the	the	DET
ajst-26754	154	14	particle	particle	NOUN
ajst-26754	154	15	's	's	PART
ajst-26754	154	16	velocity	velocity	NOUN
ajst-26754	154	17	:	:	PUNCT
ajst-26754	154	18	(	(	PUNCT
ajst-26754	154	19	1	1	X
ajst-26754	154	20	)	)	PUNCT
ajst-26754	154	21	(	(	PUNCT
ajst-26754	154	22	)	)	PUNCT
ajst-26754	154	23	(	(	PUNCT
ajst-26754	154	24	1)i	1)i	NUM
ajst-26754	154	25	i	i	PRON
ajst-26754	154	26	ix	ix	PROPN
ajst-26754	155	1	t	t	PROPN
ajst-26754	155	2	x	x	SYM
ajst-26754	155	3	t	t	PROPN
ajst-26754	155	4	v	v	NUM
ajst-26754	155	5	t	t	PROPN
ajst-26754	155	6			PROPN
ajst-26754	155	7			ADV
ajst-26754	155	8			X
ajst-26754	155	9	(	(	PUNCT
ajst-26754	155	10	16	16	NUM
ajst-26754	155	11	)	)	PUNCT
ajst-26754	155	12	the	the	DET
ajst-26754	155	13	particles	particle	NOUN
ajst-26754	155	14	gradually	gradually	ADV
ajst-26754	155	15	approach	approach	VERB
ajst-26754	155	16	the	the	DET
ajst-26754	155	17	optimal	optimal	ADJ
ajst-26754	155	18	solution	solution	NOUN
ajst-26754	155	19	.	.	PUNCT
ajst-26754	156	1	after	after	ADP
ajst-26754	156	2	each	each	DET
ajst-26754	156	3	iteration	iteration	NOUN
ajst-26754	156	4	,	,	PUNCT
ajst-26754	156	5	it	it	PRON
ajst-26754	156	6	is	be	AUX
ajst-26754	156	7	checked	check	VERB
ajst-26754	156	8	whether	whether	SCONJ
ajst-26754	156	9	the	the	DET
ajst-26754	156	10	velocity	velocity	NOUN
ajst-26754	156	11	of	of	ADP
ajst-26754	156	12	the	the	DET
ajst-26754	156	13	dragon	dragon	NOUN
ajst-26754	156	14	body	body	NOUN
ajst-26754	156	15	corresponding	correspond	VERB
ajst-26754	156	16	to	to	ADP
ajst-26754	156	17	the	the	DET
ajst-26754	156	18	current	current	ADJ
ajst-26754	156	19	particle	particle	NOUN
ajst-26754	156	20	exceeds	exceed	VERB
ajst-26754	156	21	2	2	NUM
ajst-26754	156	22	m	m	NOUN
ajst-26754	156	23	/	/	SYM
ajst-26754	156	24	s.	s.	PROPN
ajst-26754	156	25	if	if	SCONJ
ajst-26754	156	26	the	the	DET
ajst-26754	156	27	velocity	velocity	NOUN
ajst-26754	156	28	of	of	ADP
ajst-26754	156	29	a	a	DET
ajst-26754	156	30	section	section	NOUN
ajst-26754	156	31	of	of	ADP
ajst-26754	156	32	the	the	DET
ajst-26754	156	33	dragon	dragon	NOUN
ajst-26754	156	34	body	body	NOUN
ajst-26754	156	35	exceeds	exceed	VERB
ajst-26754	156	36	the	the	DET
ajst-26754	156	37	constraint	constraint	NOUN
ajst-26754	156	38	,	,	PUNCT
ajst-26754	156	39	the	the	DET
ajst-26754	156	40	fitness	fitness	NOUN
ajst-26754	156	41	value	value	NOUN
ajst-26754	156	42	is	be	AUX
ajst-26754	156	43	increased	increase	VERB
ajst-26754	156	44	,	,	PUNCT
ajst-26754	156	45	and	and	CCONJ
ajst-26754	156	46	the	the	DET
ajst-26754	156	47	particle	particle	NOUN
ajst-26754	156	48	is	be	AUX
ajst-26754	156	49	adapted	adapt	VERB
ajst-26754	156	50	to	to	ADP
ajst-26754	156	51	the	the	DET
ajst-26754	156	52	best	good	ADJ
ajst-26754	156	53	global	global	ADJ
ajst-26754	156	54	and	and	CCONJ
ajst-26754	156	55	individual	individual	ADJ
ajst-26754	156	56	solution	solution	NOUN
ajst-26754	156	57	.	.	PUNCT
ajst-26754	157	1	the	the	DET
ajst-26754	157	2	position	position	NOUN
ajst-26754	157	3	and	and	CCONJ
ajst-26754	157	4	velocity	velocity	NOUN
ajst-26754	157	5	of	of	ADP
ajst-26754	157	6	the	the	DET
ajst-26754	157	7	particles	particle	NOUN
ajst-26754	157	8	are	be	AUX
ajst-26754	157	9	updated	update	VERB
ajst-26754	157	10	iteratively	iteratively	ADV
ajst-26754	157	11	until	until	SCONJ
ajst-26754	157	12	the	the	DET
ajst-26754	157	13	maximum	maximum	ADJ
ajst-26754	157	14	number	number	NOUN
ajst-26754	157	15	of	of	ADP
ajst-26754	157	16	iterations	iteration	NOUN
ajst-26754	157	17	is	be	AUX
ajst-26754	157	18	satisfied	satisfied	ADJ
ajst-26754	157	19	or	or	CCONJ
ajst-26754	157	20	the	the	DET
ajst-26754	157	21	fitness	fitness	NOUN
ajst-26754	157	22	function	function	NOUN
ajst-26754	157	23	reaches	reach	VERB
ajst-26754	157	24	a	a	DET
ajst-26754	157	25	predefined	predefine	VERB
ajst-26754	157	26	optimal	optimal	ADJ
ajst-26754	157	27	value	value	NOUN
ajst-26754	157	28	.	.	PUNCT
ajst-26754	158	1	through	through	ADP
ajst-26754	158	2	many	many	ADJ
ajst-26754	158	3	iterations	iteration	NOUN
ajst-26754	158	4	,	,	PUNCT
ajst-26754	158	5	the	the	DET
ajst-26754	158	6	particle	particle	NOUN
ajst-26754	158	7	swarm	swarm	NOUN
ajst-26754	158	8	gradually	gradually	ADV
ajst-26754	158	9	converges	converge	VERB
ajst-26754	158	10	to	to	ADP
ajst-26754	158	11	the	the	DET
ajst-26754	158	12	optimal	optimal	ADJ
ajst-26754	158	13	solution	solution	NOUN
ajst-26754	158	14	,	,	PUNCT
ajst-26754	158	15	i.e.	i.e.	X
ajst-26754	158	16	,	,	PUNCT
ajst-26754	158	17	the	the	DET
ajst-26754	158	18	maximum	maximum	ADJ
ajst-26754	158	19	velocity	velocity	NOUN
ajst-26754	158	20	of	of	ADP
ajst-26754	158	21	the	the	DET
ajst-26754	158	22	faucet	faucet	NOUN
ajst-26754	158	23	.	.	PUNCT
ajst-26754	159	1	when	when	SCONJ
ajst-26754	159	2	the	the	DET
ajst-26754	159	3	particle	particle	NOUN
ajst-26754	159	4	swarm	swarm	NOUN
ajst-26754	159	5	optimization	optimization	NOUN
ajst-26754	159	6	converges	converge	VERB
ajst-26754	159	7	,	,	PUNCT
ajst-26754	159	8	output	output	VERB
ajst-26754	159	9	the	the	DET
ajst-26754	159	10	maximum	maximum	ADJ
ajst-26754	159	11	travel	travel	NOUN
ajst-26754	159	12	speed	speed	NOUN
ajst-26754	159	13	of	of	ADP
ajst-26754	159	14	the	the	DET
ajst-26754	159	15	dragon	dragon	NOUN
ajst-26754	159	16	head	head	NOUN
ajst-26754	159	17	𝑣	𝑣	PROPN
ajst-26754	159	18	and	and	CCONJ
ajst-26754	159	19	ensure	ensure	VERB
ajst-26754	159	20	that	that	SCONJ
ajst-26754	159	21	the	the	DET
ajst-26754	159	22	velocity	velocity	NOUN
ajst-26754	159	23	of	of	ADP
ajst-26754	159	24	all	all	DET
ajst-26754	159	25	the	the	DET
ajst-26754	159	26	nodes	node	NOUN
ajst-26754	159	27	of	of	ADP
ajst-26754	159	28	the	the	DET
ajst-26754	159	29	dragon	dragon	NOUN
ajst-26754	159	30	body	body	NOUN
ajst-26754	159	31	𝑣	𝑣	PART
ajst-26754	159	32	do	do	AUX
ajst-26754	159	33	not	not	PART
ajst-26754	159	34	exceed	exceed	VERB
ajst-26754	159	35	2	2	NUM
ajst-26754	159	36	m	m	NOUN
ajst-26754	159	37	/	/	SYM
ajst-26754	159	38	s.	s.	PROPN
ajst-26754	159	39	5	5	NUM
ajst-26754	159	40	.	.	PUNCT
ajst-26754	160	1	conclusion	conclusion	NOUN
ajst-26754	160	2	in	in	ADP
ajst-26754	160	3	this	this	DET
ajst-26754	160	4	paper	paper	NOUN
ajst-26754	160	5	,	,	PUNCT
ajst-26754	160	6	we	we	PRON
ajst-26754	160	7	successfully	successfully	ADV
ajst-26754	160	8	constructed	construct	VERB
ajst-26754	160	9	a	a	DET
ajst-26754	160	10	motion	motion	NOUN
ajst-26754	160	11	model	model	NOUN
ajst-26754	160	12	based	base	VERB
ajst-26754	160	13	on	on	ADP
ajst-26754	160	14	geometric	geometric	ADJ
ajst-26754	160	15	properties	property	NOUN
ajst-26754	160	16	by	by	ADP
ajst-26754	160	17	deeply	deeply	ADV
ajst-26754	160	18	studying	study	VERB
ajst-26754	160	19	the	the	DET
ajst-26754	160	20	motion	motion	NOUN
ajst-26754	160	21	problem	problem	NOUN
ajst-26754	160	22	in	in	ADP
ajst-26754	160	23	the	the	DET
ajst-26754	160	24	spiral	spiral	ADJ
ajst-26754	160	25	path	path	NOUN
ajst-26754	160	26	,	,	PUNCT
ajst-26754	160	27	and	and	CCONJ
ajst-26754	160	28	combined	combine	VERB
ajst-26754	160	29	the	the	DET
ajst-26754	160	30	particle	particle	NOUN
ajst-26754	160	31	swarm	swarm	NOUN
ajst-26754	160	32	optimisation	optimisation	NOUN
ajst-26754	160	33	algorithm	algorithm	NOUN
ajst-26754	160	34	and	and	CCONJ
ajst-26754	160	35	feed	feed	NOUN
ajst-26754	160	36	-	-	PUNCT
ajst-26754	160	37	forward	forward	NOUN
ajst-26754	160	38	neural	neural	ADJ
ajst-26754	160	39	network	network	NOUN
ajst-26754	160	40	to	to	PART
ajst-26754	160	41	achieve	achieve	VERB
ajst-26754	160	42	the	the	DET
ajst-26754	160	43	optimisation	optimisation	NOUN
ajst-26754	160	44	of	of	ADP
ajst-26754	160	45	the	the	DET
ajst-26754	160	46	path	path	NOUN
ajst-26754	160	47	and	and	CCONJ
ajst-26754	160	48	speed	speed	NOUN
ajst-26754	160	49	.	.	PUNCT
ajst-26754	161	1	through	through	ADP
ajst-26754	161	2	the	the	DET
ajst-26754	161	3	accurate	accurate	ADJ
ajst-26754	161	4	calculation	calculation	NOUN
ajst-26754	161	5	of	of	ADP
ajst-26754	161	6	matlab	matlab	PROPN
ajst-26754	161	7	,	,	PUNCT
ajst-26754	161	8	we	we	PRON
ajst-26754	161	9	not	not	PART
ajst-26754	161	10	only	only	ADV
ajst-26754	161	11	describe	describe	VERB
ajst-26754	161	12	the	the	DET
ajst-26754	161	13	motion	motion	NOUN
ajst-26754	161	14	trajectory	trajectory	NOUN
ajst-26754	161	15	in	in	ADP
ajst-26754	161	16	detail	detail	NOUN
ajst-26754	161	17	,	,	PUNCT
ajst-26754	161	18	but	but	CCONJ
ajst-26754	161	19	also	also	ADV
ajst-26754	161	20	solve	solve	VERB
ajst-26754	161	21	the	the	DET
ajst-26754	161	22	collision	collision	NOUN
ajst-26754	161	23	detection	detection	NOUN
ajst-26754	161	24	problem	problem	NOUN
ajst-26754	161	25	effectively	effectively	ADV
ajst-26754	161	26	,	,	PUNCT
ajst-26754	161	27	and	and	CCONJ
ajst-26754	161	28	finally	finally	ADV
ajst-26754	161	29	determine	determine	VERB
ajst-26754	161	30	the	the	DET
ajst-26754	161	31	minimum	minimum	ADJ
ajst-26754	161	32	pitch	pitch	NOUN
ajst-26754	161	33	and	and	CCONJ
ajst-26754	161	34	maximum	maximum	ADJ
ajst-26754	161	35	velocity	velocity	NOUN
ajst-26754	161	36	constraints	constraint	NOUN
ajst-26754	161	37	.	.	PUNCT
ajst-26754	162	1	it	it	PRON
ajst-26754	162	2	is	be	AUX
ajst-26754	162	3	shown	show	VERB
ajst-26754	162	4	that	that	SCONJ
ajst-26754	162	5	the	the	DET
ajst-26754	162	6	use	use	NOUN
ajst-26754	162	7	of	of	ADP
ajst-26754	162	8	advanced	advanced	ADJ
ajst-26754	162	9	computational	computational	ADJ
ajst-26754	162	10	techniques	technique	NOUN
ajst-26754	162	11	and	and	CCONJ
ajst-26754	162	12	machine	machine	NOUN
ajst-26754	162	13	learning	learn	VERB
ajst-26754	162	14	algorithms	algorithm	NOUN
ajst-26754	162	15	can	can	AUX
ajst-26754	162	16	significantly	significantly	ADV
ajst-26754	162	17	improve	improve	VERB
ajst-26754	162	18	the	the	DET
ajst-26754	162	19	modelling	modelling	NOUN
ajst-26754	162	20	accuracy	accuracy	NOUN
ajst-26754	162	21	and	and	CCONJ
ajst-26754	162	22	optimisation	optimisation	NOUN
ajst-26754	162	23	efficiency	efficiency	NOUN
ajst-26754	162	24	of	of	ADP
ajst-26754	162	25	complex	complex	ADJ
ajst-26754	162	26	motion	motion	NOUN
ajst-26754	162	27	systems	system	NOUN
ajst-26754	162	28	.	.	PUNCT
ajst-26754	163	1	this	this	DET
ajst-26754	163	2	study	study	NOUN
ajst-26754	163	3	not	not	PART
ajst-26754	163	4	only	only	ADV
ajst-26754	163	5	provides	provide	VERB
ajst-26754	163	6	an	an	DET
ajst-26754	163	7	effective	effective	ADJ
ajst-26754	163	8	solution	solution	NOUN
ajst-26754	163	9	to	to	ADP
ajst-26754	163	10	the	the	DET
ajst-26754	163	11	motion	motion	NOUN
ajst-26754	163	12	problem	problem	NOUN
ajst-26754	163	13	in	in	ADP
ajst-26754	163	14	spiral	spiral	ADJ
ajst-26754	163	15	paths	path	NOUN
ajst-26754	163	16	,	,	PUNCT
ajst-26754	163	17	but	but	CCONJ
ajst-26754	163	18	also	also	ADV
ajst-26754	163	19	demonstrates	demonstrate	VERB
ajst-26754	163	20	the	the	DET
ajst-26754	163	21	potential	potential	NOUN
ajst-26754	163	22	of	of	ADP
ajst-26754	163	23	computer	computer	NOUN
ajst-26754	163	24	science	science	NOUN
ajst-26754	163	25	and	and	CCONJ
ajst-26754	163	26	technology	technology	NOUN
ajst-26754	163	27	in	in	ADP
ajst-26754	163	28	the	the	DET
ajst-26754	163	29	application	application	NOUN
ajst-26754	163	30	of	of	ADP
ajst-26754	163	31	complex	complex	ADJ
ajst-26754	163	32	engineering	engineering	NOUN
ajst-26754	163	33	problems	problem	NOUN
ajst-26754	163	34	.	.	PUNCT
ajst-26754	164	1	future	future	ADJ
ajst-26754	164	2	research	research	NOUN
ajst-26754	164	3	can	can	AUX
ajst-26754	164	4	be	be	AUX
ajst-26754	164	5	further	far	ADV
ajst-26754	164	6	expanded	expand	VERB
ajst-26754	164	7	in	in	ADP
ajst-26754	164	8	the	the	DET
ajst-26754	164	9	following	follow	VERB
ajst-26754	164	10	aspects	aspect	NOUN
ajst-26754	164	11	:	:	PUNCT
ajst-26754	164	12	firstly	firstly	ADV
ajst-26754	164	13	,	,	PUNCT
ajst-26754	164	14	combining	combine	VERB
ajst-26754	164	15	more	more	ADJ
ajst-26754	164	16	machine	machine	NOUN
ajst-26754	164	17	learning	learn	VERB
ajst-26754	164	18	algorithms	algorithm	NOUN
ajst-26754	164	19	to	to	PART
ajst-26754	164	20	further	far	ADV
ajst-26754	164	21	improve	improve	VERB
ajst-26754	164	22	the	the	DET
ajst-26754	164	23	prediction	prediction	NOUN
ajst-26754	164	24	accuracy	accuracy	NOUN
ajst-26754	164	25	and	and	CCONJ
ajst-26754	164	26	real	real	ADJ
ajst-26754	164	27	-	-	PUNCT
ajst-26754	164	28	time	time	NOUN
ajst-26754	164	29	optimisation	optimisation	NOUN
ajst-26754	164	30	ability	ability	NOUN
ajst-26754	164	31	of	of	ADP
ajst-26754	164	32	the	the	DET
ajst-26754	164	33	model	model	NOUN
ajst-26754	164	34	;	;	PUNCT
ajst-26754	164	35	secondly	secondly	ADV
ajst-26754	164	36	,	,	PUNCT
ajst-26754	164	37	applying	apply	VERB
ajst-26754	164	38	the	the	DET
ajst-26754	164	39	research	research	NOUN
ajst-26754	164	40	results	result	NOUN
ajst-26754	164	41	to	to	ADP
ajst-26754	164	42	real	real	ADJ
ajst-26754	164	43	engineering	engineering	NOUN
ajst-26754	164	44	projects	project	NOUN
ajst-26754	164	45	,	,	PUNCT
ajst-26754	164	46	such	such	ADJ
ajst-26754	164	47	as	as	ADP
ajst-26754	164	48	robot	robot	NOUN
ajst-26754	164	49	path	path	NOUN
ajst-26754	164	50	planning	planning	NOUN
ajst-26754	164	51	and	and	CCONJ
ajst-26754	164	52	automatic	automatic	ADJ
ajst-26754	164	53	driving	driving	NOUN
ajst-26754	164	54	systems	system	NOUN
ajst-26754	164	55	,	,	PUNCT
ajst-26754	164	56	to	to	PART
ajst-26754	164	57	verify	verify	VERB
ajst-26754	164	58	their	their	PRON
ajst-26754	164	59	practical	practical	ADJ
ajst-26754	164	60	effects	effect	NOUN
ajst-26754	164	61	and	and	CCONJ
ajst-26754	164	62	application	application	NOUN
ajst-26754	164	63	value	value	NOUN
ajst-26754	164	64	.	.	PUNCT
ajst-26754	165	1	in	in	ADP
ajst-26754	165	2	summary	summary	NOUN
ajst-26754	165	3	,	,	PUNCT
ajst-26754	165	4	the	the	DET
ajst-26754	165	5	research	research	NOUN
ajst-26754	165	6	in	in	ADP
ajst-26754	165	7	this	this	DET
ajst-26754	165	8	paper	paper	NOUN
ajst-26754	165	9	provides	provide	VERB
ajst-26754	165	10	new	new	ADJ
ajst-26754	165	11	ideas	idea	NOUN
ajst-26754	165	12	and	and	CCONJ
ajst-26754	165	13	methods	method	NOUN
ajst-26754	165	14	for	for	ADP
ajst-26754	165	15	motion	motion	NOUN
ajst-26754	165	16	problems	problem	NOUN
ajst-26754	165	17	in	in	ADP
ajst-26754	165	18	complex	complex	ADJ
ajst-26754	165	19	paths	path	NOUN
ajst-26754	165	20	,	,	PUNCT
ajst-26754	165	21	which	which	PRON
ajst-26754	165	22	has	have	VERB
ajst-26754	165	23	important	important	ADJ
ajst-26754	165	24	theoretical	theoretical	ADJ
ajst-26754	165	25	significance	significance	NOUN
ajst-26754	165	26	and	and	CCONJ
ajst-26754	165	27	application	application	NOUN
ajst-26754	165	28	prospects	prospect	NOUN
ajst-26754	165	29	.	.	PUNCT
ajst-26754	166	1	references	reference	NOUN
ajst-26754	166	2	[	[	X
ajst-26754	166	3	1	1	NUM
ajst-26754	166	4	]	]	PUNCT
ajst-26754	166	5	tong	tong	PROPN
ajst-26754	166	6	zhenzhu	zhenzhu	PROPN
ajst-26754	166	7	,	,	PUNCT
ajst-26754	166	8	he	he	PRON
ajst-26754	166	9	yundong	yundong	VERB
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ajst-26754	166	11	guan	guan	PROPN
ajst-26754	166	12	jiahao	jiahao	PROPN
ajst-26754	166	13	,	,	PUNCT
ajst-26754	166	14	et	et	PROPN
ajst-26754	166	15	al	al	PROPN
ajst-26754	166	16	.	.	PROPN
ajst-26754	166	17	research	research	NOUN
ajst-26754	166	18	on	on	ADP
ajst-26754	166	19	broadband	broadband	NOUN
ajst-26754	166	20	frequency	frequency	NOUN
ajst-26754	166	21	doubler	doubler	NOUN
ajst-26754	166	22	based	base	VERB
ajst-26754	166	23	on	on	ADP
ajst-26754	166	24	archimedean	archimedean	ADJ
ajst-26754	166	25	helix	helix	ADJ
ajst-26754	166	26	superlattice	superlattice	NOUN
ajst-26754	166	27	structure[j	structure[j	NOUN
ajst-26754	166	28	/	/	SYM
ajst-26754	166	29	ol	ol	PROPN
ajst-26754	166	30	]	]	PUNCT
ajst-26754	166	31	.	.	PUNCT
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ajst-26754	167	2	applied	apply	VERB
ajst-26754	167	3	physics,110[2024	physics,110[2024	NOUN
ajst-26754	167	4	-	-	PUNCT
ajst-26754	167	5	10	10	NUM
ajst-26754	167	6	-	-	SYM
ajst-26754	167	7	10	10	NUM
ajst-26754	167	8	]	]	PUNCT
ajst-26754	167	9	.	.	PUNCT
ajst-26754	168	1	http	http	PROPN
ajst-26754	168	2	:	:	PUNCT
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ajst-26754	168	5	l.	l.	PROPN
ajst-26754	169	1	[	[	X
ajst-26754	169	2	2	2	NUM
ajst-26754	169	3	]	]	X
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ajst-26754	169	5	.	.	PROPN
ajst-26754	169	6	tang	tang	PROPN
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ajst-26754	169	9	.	.	PROPN
ajst-26754	169	10	hu	hu	PROPN
ajst-26754	169	11	,	,	PUNCT
ajst-26754	169	12	y.	y.	PROPN
ajst-26754	169	13	ma	ma	PROPN
ajst-26754	169	14	,	,	PUNCT
ajst-26754	169	15	et	et	PROPN
ajst-26754	169	16	al	al	PROPN
ajst-26754	169	17	.	.	PROPN
ajst-26754	169	18	landslide	landslide	PROPN
ajst-26754	169	19	displacement	displacement	ADJ
ajst-26754	169	20	prediction	prediction	NOUN
ajst-26754	169	21	method	method	NOUN
ajst-26754	169	22	based	base	VERB
ajst-26754	169	23	on	on	ADP
ajst-26754	169	24	particle	particle	NOUN
ajst-26754	169	25	swarm	swarm	NOUN
ajst-26754	169	26	optimisationsupport	optimisationsupport	NOUN
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ajst-26754	169	28	machine	machine	NOUN
ajst-26754	169	29	regression	regression	NOUN
ajst-26754	169	30	model	model	NOUN
ajst-26754	169	31	with	with	ADP
ajst-26754	169	32	recursive	recursive	ADJ
ajst-26754	169	33	feature	feature	NOUN
ajst-26754	169	34	elimination	elimination	NOUN
ajst-26754	169	35	selection[j	selection[j	PROPN
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ajst-26754	170	8	.	.	PUNCT
ajst-26754	171	1	http	http	PROPN
ajst-26754	171	2	:	:	PUNCT
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ajst-26754	171	4	kns	kns	PROPN
ajst-26754	171	5	.	.	PUNCT
ajst-26754	172	1	cnki	cnki	PROPN
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ajst-26754	173	1	net/	net/	PROPN
ajst-26754	173	2	kcms/	kcms/	PROPN
ajst-26754	173	3	detail/	detail/	NUM
ajst-26754	173	4	11	11	NUM
ajst-26754	173	5	.	.	PUNCT
ajst-26754	174	1	2068	2068	NUM
ajst-26754	174	2	.	.	PUNCT
ajst-26754	175	1	tu.20241008.1326.002.html	tu.20241008.1326.002.html	NOUN
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ajst-26754	176	1	88	88	NUM
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ajst-26754	177	5	suqing	suqing	PROPN
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ajst-26754	177	8	xuan	xuan	PROPN
ajst-26754	177	9	,	,	PUNCT
ajst-26754	177	10	guo	guo	PROPN
ajst-26754	177	11	jinbiao	jinbiao	PROPN
ajst-26754	177	12	,	,	PUNCT
ajst-26754	177	13	et	et	PROPN
ajst-26754	177	14	al	al	PROPN
ajst-26754	177	15	.	.	PROPN
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ajst-26754	177	17	on	on	ADP
ajst-26754	177	18	the	the	DET
ajst-26754	177	19	optimal	optimal	ADJ
ajst-26754	177	20	width	width	ADJ
ajst-26754	177	21	and	and	CCONJ
ajst-26754	177	22	depth	depth	NOUN
ajst-26754	177	23	model	model	NOUN
ajst-26754	177	24	for	for	ADP
ajst-26754	177	25	predicting	predict	VERB
ajst-26754	177	26	eye	eye	NOUN
ajst-26754	177	27	muscle	muscle	NOUN
ajst-26754	177	28	area	area	NOUN
ajst-26754	177	29	and	and	CCONJ
ajst-26754	177	30	backfat	backfat	NOUN
ajst-26754	177	31	thickness	thickness	NOUN
ajst-26754	177	32	in	in	ADP
ajst-26754	177	33	duroc	duroc	NOUN
ajst-26754	177	34	boars	boar	NOUN
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ajst-26754	177	36	on	on	ADP
ajst-26754	177	37	feedforward	feedforward	ADJ
ajst-26754	177	38	neural	neural	ADJ
ajst-26754	177	39	network[j	network[j	PROPN
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ajst-26754	178	10	-	-	SYM
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ajst-26754	178	13	.	.	PUNCT
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ajst-26754	180	3	.	.	PUNCT
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ajst-26754	182	2	4	4	NUM
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ajst-26754	182	5	weiyang	weiyang	PROPN
ajst-26754	182	6	.	.	PUNCT
ajst-26754	183	1	complex	complex	ADJ
ajst-26754	183	2	motion	motion	NOUN
ajst-26754	183	3	and	and	CCONJ
ajst-26754	183	4	time	time	NOUN
ajst-26754	183	5	-	-	PUNCT
ajst-26754	183	6	lag	lag	NOUN
ajst-26754	183	7	velocity	velocity	NOUN
ajst-26754	183	8	feedback	feedback	NOUN
ajst-26754	183	9	control	control	NOUN
ajst-26754	183	10	of	of	ADP
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ajst-26754	183	12	class	class	NOUN
ajst-26754	183	13	of	of	ADP
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ajst-26754	183	15	rotation	rotation	NOUN
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ajst-26754	183	17	]	]	PUNCT
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ajst-26754	185	2	5	5	NUM
ajst-26754	185	3	]	]	X
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ajst-26754	185	5	zhiguang	zhiguang	PROPN
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ajst-26754	185	7	qu	qu	PROPN
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ajst-26754	185	9	.	.	PUNCT
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ajst-26754	186	2	of	of	ADP
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ajst-26754	186	4	numerical	numerical	PROPN
ajst-26754	186	5	simulation	simulation	PROPN
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ajst-26754	186	8	teaching	teaching	NOUN
ajst-26754	186	9	of	of	ADP
ajst-26754	186	10	materials	material	NOUN
ajst-26754	186	11	engineering	engineering	NOUN
ajst-26754	186	12	fundamentals	fundamental	NOUN
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ajst-26754	186	15	three	three	NUM
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ajst-26754	186	20	process	process	NOUN
ajst-26754	186	21	of	of	ADP
ajst-26754	186	22	porous	porous	ADJ
ajst-26754	186	23	materials	material	NOUN
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ajst-26754	186	25	an	an	DET
ajst-26754	186	26	example[j	example[j	NOUN
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ajst-26754	188	2	6	6	NUM
ajst-26754	188	3	]	]	PUNCT
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ajst-26754	188	9	.	.	PUNCT
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ajst-26754	189	2	prediction	prediction	NOUN
ajst-26754	189	3	model	model	NOUN
ajst-26754	189	4	of	of	ADP
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ajst-26754	189	6	factors	factor	NOUN
ajst-26754	189	7	of	of	ADP
ajst-26754	189	8	drilling	drilling	NOUN
ajst-26754	189	9	accuracy	accuracy	NOUN
ajst-26754	189	10	based	base	VERB
ajst-26754	189	11	on	on	ADP
ajst-26754	189	12	feed	feed	NOUN
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ajst-26754	189	16	network[j	network[j	PROPN
ajst-26754	189	17	]	]	PUNCT
ajst-26754	189	18	.	.	PUNCT
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ajst-26754	190	2	manufacturing	manufacturing	NOUN
ajst-26754	190	3	technology	technology	NOUN
ajst-26754	190	4	,	,	PUNCT
ajst-26754	190	5	2024	2024	NUM
ajst-26754	190	6	,	,	PUNCT
ajst-26754	190	7	(	(	PUNCT
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ajst-26754	190	11	-	-	SYM
ajst-26754	190	12	19	19	NUM
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