id	sid	tid	token	lemma	pos
ajst-2914	1	1	academic	academic	ADJ
ajst-2914	1	2	journal	journal	NOUN
ajst-2914	1	3	of	of	ADP
ajst-2914	1	4	science	science	NOUN
ajst-2914	1	5	and	and	CCONJ
ajst-2914	1	6	technology	technology	NOUN
ajst-2914	1	7	issn	issn	NOUN
ajst-2914	1	8	:	:	PUNCT
ajst-2914	1	9	2771	2771	NUM
ajst-2914	1	10	-	-	SYM
ajst-2914	1	11	3032	3032	NUM
ajst-2914	1	12	|	|	NOUN
ajst-2914	1	13	vol	vol	NOUN
ajst-2914	1	14	.	.	PROPN
ajst-2914	2	1	3	3	NUM
ajst-2914	2	2	,	,	PUNCT
ajst-2914	2	3	no	no	INTJ
ajst-2914	2	4	.	.	NOUN
ajst-2914	2	5	3	3	NUM
ajst-2914	2	6	,	,	PUNCT
ajst-2914	2	7	2022	2022	NUM
ajst-2914	2	8	134	134	NUM
ajst-2914	2	9	research	research	NOUN
ajst-2914	2	10	status	status	NOUN
ajst-2914	2	11	and	and	CCONJ
ajst-2914	2	12	development	development	NOUN
ajst-2914	2	13	trend	trend	NOUN
ajst-2914	2	14	of	of	ADP
ajst-2914	2	15	oil	oil	NOUN
ajst-2914	2	16	and	and	CCONJ
ajst-2914	2	17	gas	gas	NOUN
ajst-2914	2	18	pipeline	pipeline	NOUN
ajst-2914	2	19	robot	robot	NOUN
ajst-2914	2	20	zhen	zhen	PROPN
ajst-2914	2	21	song	song	PROPN
ajst-2914	2	22	,	,	PUNCT
ajst-2914	2	23	yunli	yunli	PROPN
ajst-2914	2	24	luo	luo	PROPN
ajst-2914	2	25	school	school	PROPN
ajst-2914	2	26	of	of	ADP
ajst-2914	2	27	mechanical	mechanical	ADJ
ajst-2914	2	28	and	and	CCONJ
ajst-2914	2	29	electrical	electrical	ADJ
ajst-2914	2	30	engineering	engineering	NOUN
ajst-2914	2	31	,	,	PUNCT
ajst-2914	2	32	southwest	southwest	ADJ
ajst-2914	2	33	petroleum	petroleum	PROPN
ajst-2914	2	34	university	university	PROPN
ajst-2914	2	35	,	,	PUNCT
ajst-2914	2	36	chengdu	chengdu	PROPN
ajst-2914	2	37	610000	610000	NUM
ajst-2914	2	38	,	,	PUNCT
ajst-2914	2	39	china	china	PROPN
ajst-2914	2	40	abstract	abstract	NOUN
ajst-2914	2	41	:	:	PUNCT
ajst-2914	2	42	the	the	DET
ajst-2914	2	43	oil	oil	NOUN
ajst-2914	2	44	and	and	CCONJ
ajst-2914	2	45	gas	gas	NOUN
ajst-2914	2	46	pipeline	pipeline	NOUN
ajst-2914	2	47	will	will	AUX
ajst-2914	2	48	have	have	VERB
ajst-2914	2	49	defects	defect	NOUN
ajst-2914	2	50	such	such	ADJ
ajst-2914	2	51	as	as	ADP
ajst-2914	2	52	wear	wear	NOUN
ajst-2914	2	53	,	,	PUNCT
ajst-2914	2	54	cracks	crack	NOUN
ajst-2914	2	55	,	,	PUNCT
ajst-2914	2	56	corrosion	corrosion	NOUN
ajst-2914	2	57	,	,	PUNCT
ajst-2914	2	58	aging	aging	NOUN
ajst-2914	2	59	and	and	CCONJ
ajst-2914	2	60	mechanical	mechanical	ADJ
ajst-2914	2	61	damage	damage	NOUN
ajst-2914	2	62	in	in	ADP
ajst-2914	2	63	the	the	DET
ajst-2914	2	64	working	working	NOUN
ajst-2914	2	65	process	process	NOUN
ajst-2914	2	66	,	,	PUNCT
ajst-2914	2	67	which	which	PRON
ajst-2914	2	68	need	need	VERB
ajst-2914	2	69	to	to	PART
ajst-2914	2	70	be	be	AUX
ajst-2914	2	71	detected	detect	VERB
ajst-2914	2	72	and	and	CCONJ
ajst-2914	2	73	repaired	repair	VERB
ajst-2914	2	74	in	in	ADP
ajst-2914	2	75	time	time	NOUN
ajst-2914	2	76	.	.	PUNCT
ajst-2914	3	1	at	at	ADP
ajst-2914	3	2	present	present	ADJ
ajst-2914	3	3	,	,	PUNCT
ajst-2914	3	4	there	there	PRON
ajst-2914	3	5	are	be	VERB
ajst-2914	3	6	various	various	ADJ
ajst-2914	3	7	types	type	NOUN
ajst-2914	3	8	of	of	ADP
ajst-2914	3	9	robots	robot	NOUN
ajst-2914	3	10	in	in	ADP
ajst-2914	3	11	the	the	DET
ajst-2914	3	12	field	field	NOUN
ajst-2914	3	13	of	of	ADP
ajst-2914	3	14	pipeline	pipeline	NOUN
ajst-2914	3	15	inspection	inspection	NOUN
ajst-2914	3	16	,	,	PUNCT
ajst-2914	3	17	including	include	VERB
ajst-2914	3	18	wheeled	wheel	VERB
ajst-2914	3	19	robots	robot	NOUN
ajst-2914	3	20	,	,	PUNCT
ajst-2914	3	21	tracked	track	VERB
ajst-2914	3	22	robots	robot	NOUN
ajst-2914	3	23	,	,	PUNCT
ajst-2914	3	24	pig	pig	NOUN
ajst-2914	3	25	robots	robot	NOUN
ajst-2914	3	26	,	,	PUNCT
ajst-2914	3	27	screw	screw	VERB
ajst-2914	3	28	driven	drive	VERB
ajst-2914	3	29	robots	robot	NOUN
ajst-2914	3	30	,	,	PUNCT
ajst-2914	3	31	walking	walk	VERB
ajst-2914	3	32	robots	robot	NOUN
ajst-2914	3	33	,	,	PUNCT
ajst-2914	3	34	and	and	CCONJ
ajst-2914	3	35	inchworm	inchworm	NOUN
ajst-2914	3	36	robots	robot	NOUN
ajst-2914	3	37	.	.	PUNCT
ajst-2914	4	1	in	in	ADP
ajst-2914	4	2	this	this	DET
ajst-2914	4	3	paper	paper	NOUN
ajst-2914	4	4	,	,	PUNCT
ajst-2914	4	5	the	the	DET
ajst-2914	4	6	specifications	specification	NOUN
ajst-2914	4	7	,	,	PUNCT
ajst-2914	4	8	design	design	NOUN
ajst-2914	4	9	and	and	CCONJ
ajst-2914	4	10	performance	performance	NOUN
ajst-2914	4	11	of	of	ADP
ajst-2914	4	12	different	different	ADJ
ajst-2914	4	13	types	type	NOUN
ajst-2914	4	14	of	of	ADP
ajst-2914	4	15	in	in	ADP
ajst-2914	4	16	pipe	pipe	NOUN
ajst-2914	4	17	inspection	inspection	NOUN
ajst-2914	4	18	robots	robot	NOUN
ajst-2914	4	19	are	be	AUX
ajst-2914	4	20	reviewed	review	VERB
ajst-2914	4	21	.	.	PUNCT
ajst-2914	5	1	finally	finally	ADV
ajst-2914	5	2	,	,	PUNCT
ajst-2914	5	3	a	a	DET
ajst-2914	5	4	summary	summary	NOUN
ajst-2914	5	5	and	and	CCONJ
ajst-2914	5	6	prospect	prospect	NOUN
ajst-2914	5	7	are	be	AUX
ajst-2914	5	8	made	make	VERB
ajst-2914	5	9	to	to	PART
ajst-2914	5	10	provide	provide	VERB
ajst-2914	5	11	a	a	DET
ajst-2914	5	12	theoretical	theoretical	ADJ
ajst-2914	5	13	basis	basis	NOUN
ajst-2914	5	14	for	for	ADP
ajst-2914	5	15	the	the	DET
ajst-2914	5	16	design	design	NOUN
ajst-2914	5	17	and	and	CCONJ
ajst-2914	5	18	research	research	NOUN
ajst-2914	5	19	of	of	ADP
ajst-2914	5	20	robots	robot	NOUN
ajst-2914	5	21	in	in	ADP
ajst-2914	5	22	this	this	DET
ajst-2914	5	23	field	field	NOUN
ajst-2914	5	24	.	.	PUNCT
ajst-2914	6	1	keywords	keyword	NOUN
ajst-2914	6	2	:	:	PUNCT
ajst-2914	6	3	oil	oil	NOUN
ajst-2914	6	4	and	and	CCONJ
ajst-2914	6	5	gas	gas	NOUN
ajst-2914	6	6	pipeline	pipeline	NOUN
ajst-2914	6	7	,	,	PUNCT
ajst-2914	6	8	pipeline	pipeline	NOUN
ajst-2914	6	9	robot	robot	NOUN
ajst-2914	6	10	,	,	PUNCT
ajst-2914	6	11	defect	defect	ADJ
ajst-2914	6	12	detection	detection	NOUN
ajst-2914	6	13	,	,	PUNCT
ajst-2914	6	14	development	development	NOUN
ajst-2914	6	15	trend	trend	NOUN
ajst-2914	6	16	.	.	PUNCT
ajst-2914	7	1	1	1	X
ajst-2914	7	2	.	.	X
ajst-2914	7	3	introduction	introduction	NOUN
ajst-2914	7	4	with	with	ADP
ajst-2914	7	5	the	the	DET
ajst-2914	7	6	continuous	continuous	ADJ
ajst-2914	7	7	progress	progress	NOUN
ajst-2914	7	8	of	of	ADP
ajst-2914	7	9	science	science	NOUN
ajst-2914	7	10	and	and	CCONJ
ajst-2914	7	11	technology	technology	NOUN
ajst-2914	7	12	and	and	CCONJ
ajst-2914	7	13	increasing	increase	VERB
ajst-2914	7	14	energy	energy	NOUN
ajst-2914	7	15	demand	demand	NOUN
ajst-2914	7	16	,	,	PUNCT
ajst-2914	7	17	pipeline	pipeline	NOUN
ajst-2914	7	18	transportation	transportation	NOUN
ajst-2914	7	19	technology	technology	NOUN
ajst-2914	7	20	has	have	AUX
ajst-2914	7	21	made	make	VERB
ajst-2914	7	22	great	great	ADJ
ajst-2914	7	23	progress	progress	NOUN
ajst-2914	7	24	and	and	CCONJ
ajst-2914	7	25	is	be	AUX
ajst-2914	7	26	widely	widely	ADV
ajst-2914	7	27	used	use	VERB
ajst-2914	7	28	in	in	ADP
ajst-2914	7	29	the	the	DET
ajst-2914	7	30	field	field	NOUN
ajst-2914	7	31	of	of	ADP
ajst-2914	7	32	oil	oil	NOUN
ajst-2914	7	33	and	and	CCONJ
ajst-2914	7	34	natural	natural	ADJ
ajst-2914	7	35	gas	gas	NOUN
ajst-2914	7	36	.	.	PUNCT
ajst-2914	8	1	pipeline	pipeline	NOUN
ajst-2914	8	2	transportation	transportation	NOUN
ajst-2914	8	3	is	be	AUX
ajst-2914	8	4	one	one	NUM
ajst-2914	8	5	of	of	ADP
ajst-2914	8	6	the	the	DET
ajst-2914	8	7	safest	safe	ADJ
ajst-2914	8	8	and	and	CCONJ
ajst-2914	8	9	most	most	ADV
ajst-2914	8	10	economical	economical	ADJ
ajst-2914	8	11	ways	way	NOUN
ajst-2914	8	12	to	to	PART
ajst-2914	8	13	transport	transport	VERB
ajst-2914	8	14	oil	oil	NOUN
ajst-2914	8	15	,	,	PUNCT
ajst-2914	8	16	liquid	liquid	NOUN
ajst-2914	8	17	,	,	PUNCT
ajst-2914	8	18	gas	gas	NOUN
ajst-2914	8	19	,	,	PUNCT
ajst-2914	8	20	chemicals	chemical	NOUN
ajst-2914	8	21	and	and	CCONJ
ajst-2914	8	22	other	other	ADJ
ajst-2914	8	23	fluids	fluid	NOUN
ajst-2914	8	24	[	[	X
ajst-2914	8	25	1	1	NUM
ajst-2914	8	26	]	]	PUNCT
ajst-2914	8	27	.	.	PUNCT
ajst-2914	9	1	as	as	SCONJ
ajst-2914	9	2	the	the	DET
ajst-2914	9	3	service	service	NOUN
ajst-2914	9	4	time	time	NOUN
ajst-2914	9	5	goes	go	VERB
ajst-2914	9	6	by	by	ADV
ajst-2914	9	7	,	,	PUNCT
ajst-2914	9	8	the	the	DET
ajst-2914	9	9	pipeline	pipeline	NOUN
ajst-2914	9	10	will	will	AUX
ajst-2914	9	11	have	have	VERB
ajst-2914	9	12	problems	problem	NOUN
ajst-2914	9	13	such	such	ADJ
ajst-2914	9	14	as	as	ADP
ajst-2914	9	15	wear	wear	NOUN
ajst-2914	9	16	,	,	PUNCT
ajst-2914	9	17	cracks	crack	NOUN
ajst-2914	9	18	,	,	PUNCT
ajst-2914	9	19	corrosion	corrosion	NOUN
ajst-2914	9	20	,	,	PUNCT
ajst-2914	9	21	aging	aging	NOUN
ajst-2914	9	22	and	and	CCONJ
ajst-2914	9	23	mechanical	mechanical	ADJ
ajst-2914	9	24	damage	damage	NOUN
ajst-2914	9	25	.	.	PUNCT
ajst-2914	10	1	as	as	SCONJ
ajst-2914	10	2	the	the	DET
ajst-2914	10	3	liquid	liquid	ADJ
ajst-2914	10	4	gas	gas	NOUN
ajst-2914	10	5	transported	transport	VERB
ajst-2914	10	6	by	by	ADP
ajst-2914	10	7	the	the	DET
ajst-2914	10	8	oil	oil	NOUN
ajst-2914	10	9	and	and	CCONJ
ajst-2914	10	10	gas	gas	NOUN
ajst-2914	10	11	pipeline	pipeline	NOUN
ajst-2914	10	12	is	be	AUX
ajst-2914	10	13	flammable	flammable	ADJ
ajst-2914	10	14	and	and	CCONJ
ajst-2914	10	15	explosive	explosive	ADJ
ajst-2914	10	16	,	,	PUNCT
ajst-2914	10	17	once	once	SCONJ
ajst-2914	10	18	the	the	DET
ajst-2914	10	19	oil	oil	NOUN
ajst-2914	10	20	and	and	CCONJ
ajst-2914	10	21	gas	gas	NOUN
ajst-2914	10	22	pipeline	pipeline	NOUN
ajst-2914	10	23	fails	fail	VERB
ajst-2914	10	24	,	,	PUNCT
ajst-2914	10	25	it	it	PRON
ajst-2914	10	26	is	be	AUX
ajst-2914	10	27	very	very	ADV
ajst-2914	10	28	easy	easy	ADJ
ajst-2914	10	29	to	to	PART
ajst-2914	10	30	cause	cause	VERB
ajst-2914	10	31	major	major	ADJ
ajst-2914	10	32	safety	safety	NOUN
ajst-2914	10	33	accidents	accident	NOUN
ajst-2914	10	34	,	,	PUNCT
ajst-2914	10	35	seriously	seriously	ADV
ajst-2914	10	36	endanger	endanger	VERB
ajst-2914	10	37	the	the	DET
ajst-2914	10	38	safety	safety	NOUN
ajst-2914	10	39	of	of	ADP
ajst-2914	10	40	local	local	ADJ
ajst-2914	10	41	people	people	NOUN
ajst-2914	10	42	's	's	PART
ajst-2914	10	43	lives	life	NOUN
ajst-2914	10	44	and	and	CCONJ
ajst-2914	10	45	property	property	NOUN
ajst-2914	10	46	,	,	PUNCT
ajst-2914	10	47	and	and	CCONJ
ajst-2914	10	48	may	may	AUX
ajst-2914	10	49	cause	cause	VERB
ajst-2914	10	50	catastrophic	catastrophic	ADJ
ajst-2914	10	51	consequences	consequence	NOUN
ajst-2914	10	52	to	to	ADP
ajst-2914	10	53	the	the	DET
ajst-2914	10	54	local	local	ADJ
ajst-2914	10	55	ecological	ecological	ADJ
ajst-2914	10	56	environment	environment	NOUN
ajst-2914	10	57	.	.	PUNCT
ajst-2914	11	1	therefore	therefore	ADV
ajst-2914	11	2	,	,	PUNCT
ajst-2914	11	3	it	it	PRON
ajst-2914	11	4	is	be	AUX
ajst-2914	11	5	of	of	ADP
ajst-2914	11	6	great	great	ADJ
ajst-2914	11	7	practical	practical	ADJ
ajst-2914	11	8	significance	significance	NOUN
ajst-2914	11	9	to	to	PART
ajst-2914	11	10	develop	develop	VERB
ajst-2914	11	11	an	an	DET
ajst-2914	11	12	efficient	efficient	ADJ
ajst-2914	11	13	pipeline	pipeline	NOUN
ajst-2914	11	14	repair	repair	NOUN
ajst-2914	11	15	,	,	PUNCT
ajst-2914	11	16	cleaning	cleaning	NOUN
ajst-2914	11	17	and	and	CCONJ
ajst-2914	11	18	maintenance	maintenance	NOUN
ajst-2914	11	19	robot	robot	NOUN
ajst-2914	11	20	[	[	X
ajst-2914	11	21	2	2	NUM
ajst-2914	11	22	]	]	PUNCT
ajst-2914	11	23	.	.	PUNCT
ajst-2914	12	1	most	most	ADJ
ajst-2914	12	2	oil	oil	NOUN
ajst-2914	12	3	and	and	CCONJ
ajst-2914	12	4	gas	gas	NOUN
ajst-2914	12	5	pipelines	pipeline	NOUN
ajst-2914	12	6	are	be	AUX
ajst-2914	12	7	buried	bury	VERB
ajst-2914	12	8	underground	underground	ADV
ajst-2914	12	9	,	,	PUNCT
ajst-2914	12	10	and	and	CCONJ
ajst-2914	12	11	the	the	DET
ajst-2914	12	12	detection	detection	NOUN
ajst-2914	12	13	environment	environment	NOUN
ajst-2914	12	14	is	be	AUX
ajst-2914	12	15	relatively	relatively	ADV
ajst-2914	12	16	complex	complex	ADJ
ajst-2914	12	17	,	,	PUNCT
ajst-2914	12	18	so	so	CCONJ
ajst-2914	12	19	it	it	PRON
ajst-2914	12	20	is	be	AUX
ajst-2914	12	21	impossible	impossible	ADJ
ajst-2914	12	22	to	to	PART
ajst-2914	12	23	directly	directly	ADV
ajst-2914	12	24	detect	detect	VERB
ajst-2914	12	25	the	the	DET
ajst-2914	12	26	underground	underground	ADJ
ajst-2914	12	27	pipeline	pipeline	NOUN
ajst-2914	12	28	when	when	SCONJ
ajst-2914	12	29	conducting	conduct	VERB
ajst-2914	12	30	pipeline	pipeline	NOUN
ajst-2914	12	31	leakage	leakage	NOUN
ajst-2914	12	32	detection	detection	NOUN
ajst-2914	12	33	.	.	PUNCT
ajst-2914	13	1	limited	limit	VERB
ajst-2914	13	2	by	by	ADP
ajst-2914	13	3	technology	technology	NOUN
ajst-2914	13	4	and	and	CCONJ
ajst-2914	13	5	detection	detection	NOUN
ajst-2914	13	6	methods	method	NOUN
ajst-2914	13	7	,	,	PUNCT
ajst-2914	13	8	the	the	DET
ajst-2914	13	9	detection	detection	NOUN
ajst-2914	13	10	and	and	CCONJ
ajst-2914	13	11	maintenance	maintenance	NOUN
ajst-2914	13	12	of	of	ADP
ajst-2914	13	13	oil	oil	NOUN
ajst-2914	13	14	and	and	CCONJ
ajst-2914	13	15	gas	gas	NOUN
ajst-2914	13	16	pipelines	pipeline	NOUN
ajst-2914	13	17	are	be	AUX
ajst-2914	13	18	difficult	difficult	ADJ
ajst-2914	13	19	.	.	PUNCT
ajst-2914	14	1	in	in	ADP
ajst-2914	14	2	order	order	NOUN
ajst-2914	14	3	to	to	PART
ajst-2914	14	4	ensure	ensure	VERB
ajst-2914	14	5	the	the	DET
ajst-2914	14	6	safety	safety	NOUN
ajst-2914	14	7	of	of	ADP
ajst-2914	14	8	oil	oil	NOUN
ajst-2914	14	9	and	and	CCONJ
ajst-2914	14	10	gas	gas	NOUN
ajst-2914	14	11	pipelines	pipeline	NOUN
ajst-2914	14	12	,	,	PUNCT
ajst-2914	14	13	the	the	DET
ajst-2914	14	14	methods	method	NOUN
ajst-2914	14	15	of	of	ADP
ajst-2914	14	16	manual	manual	ADJ
ajst-2914	14	17	excavation	excavation	NOUN
ajst-2914	14	18	and	and	CCONJ
ajst-2914	14	19	patrol	patrol	NOUN
ajst-2914	14	20	inspection	inspection	NOUN
ajst-2914	14	21	were	be	AUX
ajst-2914	14	22	usually	usually	ADV
ajst-2914	14	23	used	use	VERB
ajst-2914	14	24	in	in	ADP
ajst-2914	14	25	the	the	DET
ajst-2914	14	26	past	past	NOUN
ajst-2914	14	27	to	to	PART
ajst-2914	14	28	complete	complete	VERB
ajst-2914	14	29	the	the	DET
ajst-2914	14	30	regular	regular	ADJ
ajst-2914	14	31	inspection	inspection	NOUN
ajst-2914	14	32	or	or	CCONJ
ajst-2914	14	33	early	early	ADJ
ajst-2914	14	34	scrapping	scrapping	NOUN
ajst-2914	14	35	of	of	ADP
ajst-2914	14	36	oil	oil	NOUN
ajst-2914	14	37	and	and	CCONJ
ajst-2914	14	38	gas	gas	NOUN
ajst-2914	14	39	pipelines	pipeline	NOUN
ajst-2914	14	40	.	.	PUNCT
ajst-2914	15	1	these	these	DET
ajst-2914	15	2	methods	method	NOUN
ajst-2914	15	3	will	will	AUX
ajst-2914	15	4	cause	cause	VERB
ajst-2914	15	5	a	a	DET
ajst-2914	15	6	lot	lot	NOUN
ajst-2914	15	7	of	of	ADP
ajst-2914	15	8	economic	economic	ADJ
ajst-2914	15	9	losses	loss	NOUN
ajst-2914	15	10	,	,	PUNCT
ajst-2914	15	11	and	and	CCONJ
ajst-2914	15	12	the	the	DET
ajst-2914	15	13	rate	rate	NOUN
ajst-2914	15	14	of	of	ADP
ajst-2914	15	15	missing	miss	VERB
ajst-2914	15	16	inspection	inspection	NOUN
ajst-2914	15	17	is	be	AUX
ajst-2914	15	18	high	high	ADJ
ajst-2914	15	19	,	,	PUNCT
ajst-2914	15	20	and	and	CCONJ
ajst-2914	15	21	the	the	DET
ajst-2914	15	22	work	work	NOUN
ajst-2914	15	23	efficiency	efficiency	NOUN
ajst-2914	15	24	is	be	AUX
ajst-2914	15	25	low	low	ADJ
ajst-2914	15	26	.	.	PUNCT
ajst-2914	16	1	in	in	ADP
ajst-2914	16	2	the	the	DET
ajst-2914	16	3	process	process	NOUN
ajst-2914	16	4	of	of	ADP
ajst-2914	16	5	data	datum	NOUN
ajst-2914	16	6	acquisition	acquisition	NOUN
ajst-2914	16	7	,	,	PUNCT
ajst-2914	16	8	the	the	DET
ajst-2914	16	9	pipeline	pipeline	NOUN
ajst-2914	16	10	robot	robot	NOUN
ajst-2914	16	11	is	be	AUX
ajst-2914	16	12	affected	affect	VERB
ajst-2914	16	13	by	by	ADP
ajst-2914	16	14	the	the	DET
ajst-2914	16	15	surrounding	surround	VERB
ajst-2914	16	16	environment	environment	NOUN
ajst-2914	16	17	,	,	PUNCT
ajst-2914	16	18	and	and	CCONJ
ajst-2914	16	19	there	there	PRON
ajst-2914	16	20	is	be	VERB
ajst-2914	16	21	also	also	ADV
ajst-2914	16	22	a	a	DET
ajst-2914	16	23	large	large	ADJ
ajst-2914	16	24	noise	noise	NOUN
ajst-2914	16	25	interference	interference	NOUN
ajst-2914	16	26	.	.	PUNCT
ajst-2914	17	1	the	the	DET
ajst-2914	17	2	superposition	superposition	NOUN
ajst-2914	17	3	of	of	ADP
ajst-2914	17	4	many	many	ADJ
ajst-2914	17	5	interference	interference	NOUN
ajst-2914	17	6	factors	factor	NOUN
ajst-2914	17	7	may	may	AUX
ajst-2914	17	8	lead	lead	VERB
ajst-2914	17	9	to	to	ADP
ajst-2914	17	10	false	false	ADJ
ajst-2914	17	11	alarm	alarm	NOUN
ajst-2914	17	12	,	,	PUNCT
ajst-2914	17	13	missing	miss	VERB
ajst-2914	17	14	alarm	alarm	NOUN
ajst-2914	17	15	and	and	CCONJ
ajst-2914	17	16	other	other	ADJ
ajst-2914	17	17	situations	situation	NOUN
ajst-2914	17	18	in	in	ADP
ajst-2914	17	19	pipeline	pipeline	NOUN
ajst-2914	17	20	leakage	leakage	NOUN
ajst-2914	17	21	detection	detection	NOUN
ajst-2914	17	22	.	.	PUNCT
ajst-2914	18	1	therefore	therefore	ADV
ajst-2914	18	2	,	,	PUNCT
ajst-2914	18	3	how	how	SCONJ
ajst-2914	18	4	to	to	PART
ajst-2914	18	5	accurately	accurately	ADV
ajst-2914	18	6	identify	identify	VERB
ajst-2914	18	7	and	and	CCONJ
ajst-2914	18	8	locate	locate	ADJ
ajst-2914	18	9	pipeline	pipeline	NOUN
ajst-2914	18	10	defects	defect	NOUN
ajst-2914	18	11	and	and	CCONJ
ajst-2914	18	12	timely	timely	ADJ
ajst-2914	18	13	repair	repair	VERB
ajst-2914	18	14	them	they	PRON
ajst-2914	18	15	under	under	ADP
ajst-2914	18	16	complex	complex	ADJ
ajst-2914	18	17	working	working	NOUN
ajst-2914	18	18	conditions	condition	NOUN
ajst-2914	18	19	and	and	CCONJ
ajst-2914	18	20	environments	environment	NOUN
ajst-2914	18	21	is	be	AUX
ajst-2914	18	22	the	the	DET
ajst-2914	18	23	key	key	ADJ
ajst-2914	18	24	point	point	NOUN
ajst-2914	18	25	in	in	ADP
ajst-2914	18	26	this	this	DET
ajst-2914	18	27	field	field	NOUN
ajst-2914	18	28	.	.	PUNCT
ajst-2914	19	1	the	the	DET
ajst-2914	19	2	pipeline	pipeline	NOUN
ajst-2914	19	3	robot	robot	NOUN
ajst-2914	19	4	is	be	AUX
ajst-2914	19	5	mainly	mainly	ADV
ajst-2914	19	6	a	a	DET
ajst-2914	19	7	special	special	ADJ
ajst-2914	19	8	robot	robot	NOUN
ajst-2914	19	9	developed	develop	VERB
ajst-2914	19	10	for	for	ADP
ajst-2914	19	11	inspection	inspection	NOUN
ajst-2914	19	12	,	,	PUNCT
ajst-2914	19	13	spraying	spraying	NOUN
ajst-2914	19	14	,	,	PUNCT
ajst-2914	19	15	interface	interface	NOUN
ajst-2914	19	16	welding	welding	NOUN
ajst-2914	19	17	,	,	PUNCT
ajst-2914	19	18	foreign	foreign	ADJ
ajst-2914	19	19	matter	matter	NOUN
ajst-2914	19	20	cleaning	cleaning	NOUN
ajst-2914	19	21	and	and	CCONJ
ajst-2914	19	22	other	other	ADJ
ajst-2914	19	23	maintenance	maintenance	NOUN
ajst-2914	19	24	operations	operation	NOUN
ajst-2914	19	25	of	of	ADP
ajst-2914	19	26	oil	oil	NOUN
ajst-2914	19	27	and	and	CCONJ
ajst-2914	19	28	gas	gas	NOUN
ajst-2914	19	29	pipelines	pipeline	NOUN
ajst-2914	19	30	.	.	PUNCT
ajst-2914	20	1	it	it	PRON
ajst-2914	20	2	integrates	integrate	VERB
ajst-2914	20	3	intelligent	intelligent	ADJ
ajst-2914	20	4	mobile	mobile	ADJ
ajst-2914	20	5	carrier	carrier	NOUN
ajst-2914	20	6	technology	technology	NOUN
ajst-2914	20	7	and	and	CCONJ
ajst-2914	20	8	pipeline	pipeline	NOUN
ajst-2914	20	9	defect	defect	VERB
ajst-2914	20	10	nondestructive	nondestructive	ADJ
ajst-2914	20	11	testing	testing	NOUN
ajst-2914	20	12	technology	technology	NOUN
ajst-2914	20	13	.	.	PUNCT
ajst-2914	21	1	the	the	DET
ajst-2914	21	2	pipeline	pipeline	NOUN
ajst-2914	21	3	inspection	inspection	NOUN
ajst-2914	21	4	robot	robot	NOUN
ajst-2914	21	5	must	must	AUX
ajst-2914	21	6	have	have	VERB
ajst-2914	21	7	high	high	ADJ
ajst-2914	21	8	working	working	NOUN
ajst-2914	21	9	efficiency	efficiency	NOUN
ajst-2914	21	10	,	,	PUNCT
ajst-2914	21	11	good	good	ADJ
ajst-2914	21	12	mobility	mobility	NOUN
ajst-2914	21	13	,	,	PUNCT
ajst-2914	21	14	stability	stability	NOUN
ajst-2914	21	15	and	and	CCONJ
ajst-2914	21	16	reliability	reliability	NOUN
ajst-2914	21	17	,	,	PUNCT
ajst-2914	21	18	and	and	CCONJ
ajst-2914	21	19	be	be	AUX
ajst-2914	21	20	able	able	ADJ
ajst-2914	21	21	to	to	PART
ajst-2914	21	22	adapt	adapt	VERB
ajst-2914	21	23	to	to	ADP
ajst-2914	21	24	various	various	ADJ
ajst-2914	21	25	pipeline	pipeline	NOUN
ajst-2914	21	26	sizes	size	NOUN
ajst-2914	21	27	.	.	PUNCT
ajst-2914	22	1	this	this	DET
ajst-2914	22	2	kind	kind	NOUN
ajst-2914	22	3	of	of	ADP
ajst-2914	22	4	pipeline	pipeline	NOUN
ajst-2914	22	5	inspection	inspection	NOUN
ajst-2914	22	6	robot	robot	NOUN
ajst-2914	22	7	can	can	AUX
ajst-2914	22	8	reduce	reduce	VERB
ajst-2914	22	9	human	human	ADJ
ajst-2914	22	10	intervention	intervention	NOUN
ajst-2914	22	11	,	,	PUNCT
ajst-2914	22	12	avoid	avoid	VERB
ajst-2914	22	13	dangerous	dangerous	ADJ
ajst-2914	22	14	environments	environment	NOUN
ajst-2914	22	15	,	,	PUNCT
ajst-2914	22	16	and	and	CCONJ
ajst-2914	22	17	enter	enter	VERB
ajst-2914	22	18	places	place	NOUN
ajst-2914	22	19	that	that	PRON
ajst-2914	22	20	are	be	AUX
ajst-2914	22	21	usually	usually	ADV
ajst-2914	22	22	impossible	impossible	ADJ
ajst-2914	22	23	for	for	SCONJ
ajst-2914	22	24	humans	human	NOUN
ajst-2914	22	25	to	to	PART
ajst-2914	22	26	enter	enter	VERB
ajst-2914	22	27	,	,	PUNCT
ajst-2914	22	28	making	make	VERB
ajst-2914	22	29	inspection	inspection	NOUN
ajst-2914	22	30	easier	easy	ADJ
ajst-2914	22	31	and	and	CCONJ
ajst-2914	22	32	more	more	ADV
ajst-2914	22	33	economical	economical	ADJ
ajst-2914	22	34	[	[	X
ajst-2914	22	35	3	3	NUM
ajst-2914	22	36	]	]	PUNCT
ajst-2914	22	37	.	.	PUNCT
ajst-2914	23	1	this	this	DET
ajst-2914	23	2	paper	paper	NOUN
ajst-2914	23	3	will	will	AUX
ajst-2914	23	4	consider	consider	VERB
ajst-2914	23	5	the	the	DET
ajst-2914	23	6	size	size	NOUN
ajst-2914	23	7	and	and	CCONJ
ajst-2914	23	8	shape	shape	NOUN
ajst-2914	23	9	,	,	PUNCT
ajst-2914	23	10	adaptability	adaptability	NOUN
ajst-2914	23	11	,	,	PUNCT
ajst-2914	23	12	operability	operability	NOUN
ajst-2914	23	13	,	,	PUNCT
ajst-2914	23	14	types	type	NOUN
ajst-2914	23	15	of	of	ADP
ajst-2914	23	16	inspection	inspection	NOUN
ajst-2914	23	17	methods	method	NOUN
ajst-2914	23	18	,	,	PUNCT
ajst-2914	23	19	loaded	load	VERB
ajst-2914	23	20	equipment	equipment	NOUN
ajst-2914	23	21	and	and	CCONJ
ajst-2914	23	22	other	other	ADJ
ajst-2914	23	23	parameters	parameter	NOUN
ajst-2914	23	24	of	of	ADP
ajst-2914	23	25	the	the	DET
ajst-2914	23	26	pipeline	pipeline	NOUN
ajst-2914	23	27	in	in	ADP
ajst-2914	23	28	the	the	DET
ajst-2914	23	29	design	design	NOUN
ajst-2914	23	30	process	process	NOUN
ajst-2914	23	31	,	,	PUNCT
ajst-2914	23	32	classify	classify	VERB
ajst-2914	23	33	the	the	DET
ajst-2914	23	34	pipeline	pipeline	NOUN
ajst-2914	23	35	robots	robot	NOUN
ajst-2914	23	36	with	with	ADP
ajst-2914	23	37	different	different	ADJ
ajst-2914	23	38	motion	motion	NOUN
ajst-2914	23	39	forms	form	NOUN
ajst-2914	23	40	,	,	PUNCT
ajst-2914	23	41	discuss	discuss	VERB
ajst-2914	23	42	the	the	DET
ajst-2914	23	43	advantages	advantage	NOUN
ajst-2914	23	44	and	and	CCONJ
ajst-2914	23	45	limitations	limitation	NOUN
ajst-2914	23	46	of	of	ADP
ajst-2914	23	47	the	the	DET
ajst-2914	23	48	design	design	NOUN
ajst-2914	23	49	concept	concept	NOUN
ajst-2914	23	50	of	of	ADP
ajst-2914	23	51	each	each	DET
ajst-2914	23	52	pipeline	pipeline	NOUN
ajst-2914	23	53	inspection	inspection	NOUN
ajst-2914	23	54	robot	robot	NOUN
ajst-2914	23	55	,	,	PUNCT
ajst-2914	23	56	and	and	CCONJ
ajst-2914	23	57	provide	provide	VERB
ajst-2914	23	58	a	a	DET
ajst-2914	23	59	theoretical	theoretical	ADJ
ajst-2914	23	60	basis	basis	NOUN
ajst-2914	23	61	for	for	ADP
ajst-2914	23	62	the	the	DET
ajst-2914	23	63	design	design	NOUN
ajst-2914	23	64	,	,	PUNCT
ajst-2914	23	65	selection	selection	NOUN
ajst-2914	23	66	and	and	CCONJ
ajst-2914	23	67	research	research	NOUN
ajst-2914	23	68	of	of	ADP
ajst-2914	23	69	robots	robot	NOUN
ajst-2914	23	70	in	in	ADP
ajst-2914	23	71	this	this	DET
ajst-2914	23	72	field	field	NOUN
ajst-2914	23	73	.	.	PUNCT
ajst-2914	24	1	2	2	X
ajst-2914	24	2	.	.	X
ajst-2914	24	3	classification	classification	NOUN
ajst-2914	24	4	of	of	ADP
ajst-2914	24	5	pipeline	pipeline	NOUN
ajst-2914	24	6	inspection	inspection	NOUN
ajst-2914	24	7	robots	robot	NOUN
ajst-2914	24	8	the	the	DET
ajst-2914	24	9	oil	oil	NOUN
ajst-2914	24	10	and	and	CCONJ
ajst-2914	24	11	gas	gas	NOUN
ajst-2914	24	12	pipeline	pipeline	NOUN
ajst-2914	24	13	robot	robot	NOUN
ajst-2914	24	14	is	be	AUX
ajst-2914	24	15	a	a	DET
ajst-2914	24	16	complex	complex	NOUN
ajst-2914	24	17	of	of	ADP
ajst-2914	24	18	advanced	advanced	ADJ
ajst-2914	24	19	technologies	technology	NOUN
ajst-2914	24	20	such	such	ADJ
ajst-2914	24	21	as	as	ADP
ajst-2914	24	22	detection	detection	NOUN
ajst-2914	24	23	technology	technology	NOUN
ajst-2914	24	24	,	,	PUNCT
ajst-2914	24	25	mechanicalelectrical	mechanicalelectrical	ADJ
ajst-2914	24	26	integration	integration	NOUN
ajst-2914	24	27	technology	technology	NOUN
ajst-2914	24	28	,	,	PUNCT
ajst-2914	24	29	intelligent	intelligent	ADJ
ajst-2914	24	30	mobile	mobile	ADJ
ajst-2914	24	31	technology	technology	NOUN
ajst-2914	24	32	,	,	PUNCT
ajst-2914	24	33	etc	etc	X
ajst-2914	24	34	.	.	X
ajst-2914	24	35	according	accord	VERB
ajst-2914	24	36	to	to	ADP
ajst-2914	24	37	the	the	DET
ajst-2914	24	38	working	work	VERB
ajst-2914	24	39	environment	environment	NOUN
ajst-2914	24	40	of	of	ADP
ajst-2914	24	41	pipeline	pipeline	NOUN
ajst-2914	24	42	,	,	PUNCT
ajst-2914	24	43	it	it	PRON
ajst-2914	24	44	can	can	AUX
ajst-2914	24	45	be	be	AUX
ajst-2914	24	46	divided	divide	VERB
ajst-2914	24	47	into	into	ADP
ajst-2914	24	48	in	in	ADP
ajst-2914	24	49	pipe	pipe	NOUN
ajst-2914	24	50	robot	robot	NOUN
ajst-2914	24	51	and	and	CCONJ
ajst-2914	24	52	out	out	ADP
ajst-2914	24	53	pipe	pipe	NOUN
ajst-2914	24	54	robot	robot	NOUN
ajst-2914	24	55	;	;	PUNCT
ajst-2914	24	56	according	accord	VERB
ajst-2914	24	57	to	to	ADP
ajst-2914	24	58	the	the	DET
ajst-2914	24	59	motion	motion	NOUN
ajst-2914	24	60	mode	mode	NOUN
ajst-2914	24	61	,	,	PUNCT
ajst-2914	24	62	it	it	PRON
ajst-2914	24	63	can	can	AUX
ajst-2914	24	64	be	be	AUX
ajst-2914	24	65	divided	divide	VERB
ajst-2914	24	66	into	into	ADP
ajst-2914	24	67	active	active	ADJ
ajst-2914	24	68	motion	motion	NOUN
ajst-2914	24	69	mode	mode	NOUN
ajst-2914	24	70	and	and	CCONJ
ajst-2914	24	71	passive	passive	ADJ
ajst-2914	24	72	motion	motion	NOUN
ajst-2914	24	73	mode	mode	NOUN
ajst-2914	24	74	;	;	PUNCT
ajst-2914	24	75	according	accord	VERB
ajst-2914	24	76	to	to	ADP
ajst-2914	24	77	the	the	DET
ajst-2914	24	78	difference	difference	NOUN
ajst-2914	24	79	of	of	ADP
ajst-2914	24	80	mechanical	mechanical	ADJ
ajst-2914	24	81	structure	structure	NOUN
ajst-2914	24	82	and	and	CCONJ
ajst-2914	24	83	other	other	ADJ
ajst-2914	24	84	characteristics	characteristic	NOUN
ajst-2914	24	85	,	,	PUNCT
ajst-2914	24	86	it	it	PRON
ajst-2914	24	87	can	can	AUX
ajst-2914	24	88	be	be	AUX
ajst-2914	24	89	divided	divide	VERB
ajst-2914	24	90	into	into	ADP
ajst-2914	24	91	bionic	bionic	ADJ
ajst-2914	24	92	type	type	NOUN
ajst-2914	24	93	,	,	PUNCT
ajst-2914	24	94	vehicle	vehicle	NOUN
ajst-2914	24	95	type	type	NOUN
ajst-2914	24	96	,	,	PUNCT
ajst-2914	24	97	support	support	NOUN
ajst-2914	24	98	wheel	wheel	NOUN
ajst-2914	24	99	type	type	NOUN
ajst-2914	24	100	,	,	PUNCT
ajst-2914	24	101	crawler	crawler	NOUN
ajst-2914	24	102	type	type	NOUN
ajst-2914	24	103	,	,	PUNCT
ajst-2914	24	104	and	and	CCONJ
ajst-2914	24	105	screw	screw	VERB
ajst-2914	24	106	driven	drive	VERB
ajst-2914	24	107	type	type	NOUN
ajst-2914	24	108	.	.	PUNCT
ajst-2914	25	1	combining	combine	VERB
ajst-2914	25	2	the	the	DET
ajst-2914	25	3	motion	motion	NOUN
ajst-2914	25	4	mode	mode	NOUN
ajst-2914	25	5	and	and	CCONJ
ajst-2914	25	6	mechanical	mechanical	ADJ
ajst-2914	25	7	structure	structure	NOUN
ajst-2914	25	8	,	,	PUNCT
ajst-2914	25	9	the	the	DET
ajst-2914	25	10	pipeline	pipeline	NOUN
ajst-2914	25	11	inspection	inspection	NOUN
ajst-2914	25	12	robot	robot	NOUN
ajst-2914	25	13	can	can	AUX
ajst-2914	25	14	be	be	AUX
ajst-2914	25	15	further	far	ADV
ajst-2914	25	16	classified	classify	VERB
ajst-2914	25	17	into	into	ADP
ajst-2914	25	18	:	:	PUNCT
ajst-2914	25	19	wheel	wheel	NOUN
ajst-2914	25	20	driven	drive	VERB
ajst-2914	25	21	robot	robot	NOUN
ajst-2914	25	22	,	,	PUNCT
ajst-2914	25	23	tracked	track	VERB
ajst-2914	25	24	robot	robot	NOUN
ajst-2914	25	25	,	,	PUNCT
ajst-2914	25	26	pig	pig	NOUN
ajst-2914	25	27	robot	robot	NOUN
ajst-2914	25	28	,	,	PUNCT
ajst-2914	25	29	screw	screw	VERB
ajst-2914	25	30	driven	drive	VERB
ajst-2914	25	31	robot	robot	NOUN
ajst-2914	25	32	,	,	PUNCT
ajst-2914	25	33	walking	walking	NOUN
ajst-2914	25	34	robot	robot	NOUN
ajst-2914	25	35	,	,	PUNCT
ajst-2914	25	36	inchworm	inchworm	NOUN
ajst-2914	25	37	robot	robot	NOUN
ajst-2914	25	38	[	[	X
ajst-2914	25	39	4	4	NUM
ajst-2914	25	40	]	]	PUNCT
ajst-2914	25	41	,	,	PUNCT
ajst-2914	25	42	as	as	SCONJ
ajst-2914	25	43	shown	show	VERB
ajst-2914	25	44	in	in	ADP
ajst-2914	25	45	figure	figure	NOUN
ajst-2914	25	46	1	1	NUM
ajst-2914	25	47	.	.	SYM
ajst-2914	25	48	135	135	NUM
ajst-2914	25	49	figure	figure	NOUN
ajst-2914	25	50	1	1	NUM
ajst-2914	25	51	.	.	PUNCT
ajst-2914	26	1	classification	classification	NOUN
ajst-2914	26	2	of	of	ADP
ajst-2914	26	3	pipeline	pipeline	NOUN
ajst-2914	26	4	inspection	inspection	NOUN
ajst-2914	26	5	robots	robot	NOUN
ajst-2914	26	6	2.1	2.1	NUM
ajst-2914	26	7	.	.	PUNCT
ajst-2914	26	8	wheel	wheel	NOUN
ajst-2914	26	9	driven	drive	VERB
ajst-2914	26	10	robot	robot	NOUN
ajst-2914	26	11	the	the	DET
ajst-2914	26	12	wheel	wheel	NOUN
ajst-2914	26	13	driven	drive	VERB
ajst-2914	26	14	robot	robot	NOUN
ajst-2914	26	15	is	be	AUX
ajst-2914	26	16	similar	similar	ADJ
ajst-2914	26	17	to	to	ADP
ajst-2914	26	18	a	a	DET
ajst-2914	26	19	flat	flat	ADJ
ajst-2914	26	20	car	car	NOUN
ajst-2914	26	21	,	,	PUNCT
ajst-2914	26	22	which	which	PRON
ajst-2914	26	23	is	be	AUX
ajst-2914	26	24	widely	widely	ADV
ajst-2914	26	25	used	use	VERB
ajst-2914	26	26	in	in	ADP
ajst-2914	26	27	the	the	DET
ajst-2914	26	28	pipeline	pipeline	NOUN
ajst-2914	26	29	inspection	inspection	NOUN
ajst-2914	26	30	.	.	PUNCT
ajst-2914	27	1	its	its	PRON
ajst-2914	27	2	working	work	VERB
ajst-2914	27	3	principle	principle	NOUN
ajst-2914	27	4	is	be	AUX
ajst-2914	27	5	to	to	PART
ajst-2914	27	6	push	push	VERB
ajst-2914	27	7	the	the	DET
ajst-2914	27	8	robot	robot	NOUN
ajst-2914	27	9	forward	forward	ADV
ajst-2914	27	10	by	by	ADP
ajst-2914	27	11	driving	drive	VERB
ajst-2914	27	12	motor	motor	NOUN
ajst-2914	27	13	.	.	PUNCT
ajst-2914	28	1	most	most	ADJ
ajst-2914	28	2	wheel	wheel	NOUN
ajst-2914	28	3	driven	drive	VERB
ajst-2914	28	4	robots	robot	NOUN
ajst-2914	28	5	have	have	VERB
ajst-2914	28	6	an	an	DET
ajst-2914	28	7	environment	environment	NOUN
ajst-2914	28	8	adaptation	adaptation	NOUN
ajst-2914	28	9	mechanism	mechanism	NOUN
ajst-2914	28	10	,	,	PUNCT
ajst-2914	28	11	which	which	PRON
ajst-2914	28	12	enables	enable	VERB
ajst-2914	28	13	their	their	PRON
ajst-2914	28	14	wheels	wheel	NOUN
ajst-2914	28	15	to	to	PART
ajst-2914	28	16	ensure	ensure	VERB
ajst-2914	28	17	continuous	continuous	ADJ
ajst-2914	28	18	traction	traction	NOUN
ajst-2914	28	19	[	[	X
ajst-2914	28	20	5	5	NUM
ajst-2914	28	21	]	]	PUNCT
ajst-2914	28	22	.	.	PUNCT
ajst-2914	29	1	these	these	DET
ajst-2914	29	2	robots	robot	NOUN
ajst-2914	29	3	are	be	AUX
ajst-2914	29	4	equipped	equip	VERB
ajst-2914	29	5	with	with	ADP
ajst-2914	29	6	some	some	DET
ajst-2914	29	7	detection	detection	NOUN
ajst-2914	29	8	sensors	sensor	NOUN
ajst-2914	29	9	to	to	PART
ajst-2914	29	10	enter	enter	VERB
ajst-2914	29	11	the	the	DET
ajst-2914	29	12	pipeline	pipeline	NOUN
ajst-2914	29	13	for	for	ADP
ajst-2914	29	14	detection	detection	NOUN
ajst-2914	29	15	.	.	PUNCT
ajst-2914	30	1	simple	simple	ADJ
ajst-2914	30	2	type	type	NOUN
ajst-2914	30	3	of	of	ADP
ajst-2914	30	4	wheel	wheel	NOUN
ajst-2914	30	5	driven	drive	VERB
ajst-2914	30	6	pipe	pipe	NOUN
ajst-2914	30	7	robot	robot	NOUN
ajst-2914	30	8	,	,	PUNCT
ajst-2914	30	9	only	only	ADV
ajst-2914	30	10	used	use	VERB
ajst-2914	30	11	for	for	ADP
ajst-2914	30	12	horizontal	horizontal	ADJ
ajst-2914	30	13	movement	movement	NOUN
ajst-2914	30	14	.	.	PUNCT
ajst-2914	31	1	the	the	DET
ajst-2914	31	2	wheeled	wheel	VERB
ajst-2914	31	3	robot	robot	NOUN
ajst-2914	31	4	has	have	VERB
ajst-2914	31	5	simple	simple	ADJ
ajst-2914	31	6	design	design	NOUN
ajst-2914	31	7	,	,	PUNCT
ajst-2914	31	8	good	good	ADJ
ajst-2914	31	9	mobility	mobility	NOUN
ajst-2914	31	10	and	and	CCONJ
ajst-2914	31	11	high	high	ADJ
ajst-2914	31	12	efficiency	efficiency	NOUN
ajst-2914	31	13	in	in	ADP
ajst-2914	31	14	operation	operation	NOUN
ajst-2914	31	15	,	,	PUNCT
ajst-2914	31	16	and	and	CCONJ
ajst-2914	31	17	is	be	AUX
ajst-2914	31	18	widely	widely	ADV
ajst-2914	31	19	used	use	VERB
ajst-2914	31	20	in	in	ADP
ajst-2914	31	21	oil	oil	NOUN
ajst-2914	31	22	and	and	CCONJ
ajst-2914	31	23	gas	gas	NOUN
ajst-2914	31	24	pipeline	pipeline	NOUN
ajst-2914	31	25	inspection	inspection	NOUN
ajst-2914	31	26	.	.	PUNCT
ajst-2914	32	1	although	although	SCONJ
ajst-2914	32	2	a	a	DET
ajst-2914	32	3	lot	lot	NOUN
ajst-2914	32	4	of	of	ADP
ajst-2914	32	5	research	research	NOUN
ajst-2914	32	6	has	have	AUX
ajst-2914	32	7	been	be	AUX
ajst-2914	32	8	carried	carry	VERB
ajst-2914	32	9	out	out	ADP
ajst-2914	32	10	on	on	ADP
ajst-2914	32	11	wheeled	wheeled	ADJ
ajst-2914	32	12	inspection	inspection	NOUN
ajst-2914	32	13	robots	robot	NOUN
ajst-2914	32	14	,	,	PUNCT
ajst-2914	32	15	there	there	PRON
ajst-2914	32	16	are	be	VERB
ajst-2914	32	17	still	still	ADV
ajst-2914	32	18	great	great	ADJ
ajst-2914	32	19	difficulties	difficulty	NOUN
ajst-2914	32	20	in	in	ADP
ajst-2914	32	21	moving	move	VERB
ajst-2914	32	22	in	in	ADP
ajst-2914	32	23	bent	bent	ADJ
ajst-2914	32	24	pipes	pipe	NOUN
ajst-2914	32	25	or	or	CCONJ
ajst-2914	32	26	right	right	ADJ
ajst-2914	32	27	angle	angle	NOUN
ajst-2914	32	28	pipes	pipe	NOUN
ajst-2914	32	29	[	[	X
ajst-2914	32	30	6	6	NUM
ajst-2914	32	31	]	]	PUNCT
ajst-2914	32	32	.	.	PUNCT
ajst-2914	33	1	in	in	ADP
ajst-2914	33	2	order	order	NOUN
ajst-2914	33	3	to	to	PART
ajst-2914	33	4	effectively	effectively	ADV
ajst-2914	33	5	detect	detect	VERB
ajst-2914	33	6	pipeline	pipeline	NOUN
ajst-2914	33	7	defects	defect	NOUN
ajst-2914	33	8	,	,	PUNCT
ajst-2914	33	9	mohammed	mohammed	PROPN
ajst-2914	33	10	mn	mn	PROPN
ajst-2914	33	11	et	et	PROPN
ajst-2914	33	12	al	al	PROPN
ajst-2914	33	13	.	.	PUNCT
ajst-2914	34	1	[	[	X
ajst-2914	34	2	7],developed	7],developed	NUM
ajst-2914	34	3	an	an	DET
ajst-2914	34	4	autonomous	autonomous	ADJ
ajst-2914	34	5	mobile	mobile	ADJ
ajst-2914	34	6	robot	robot	NOUN
ajst-2914	34	7	with	with	ADP
ajst-2914	34	8	ultrasonic	ultrasonic	ADJ
ajst-2914	34	9	sensors	sensor	NOUN
ajst-2914	34	10	,	,	PUNCT
ajst-2914	34	11	and	and	CCONJ
ajst-2914	34	12	communicated	communicate	VERB
ajst-2914	34	13	through	through	ADP
ajst-2914	34	14	gsm	gsm	NOUN
ajst-2914	34	15	and	and	CCONJ
ajst-2914	34	16	gps	gps	PROPN
ajst-2914	34	17	.	.	PUNCT
ajst-2914	35	1	the	the	DET
ajst-2914	35	2	robot	robot	NOUN
ajst-2914	35	3	integrates	integrate	VERB
ajst-2914	35	4	wireless	wireless	ADJ
ajst-2914	35	5	functions	function	NOUN
ajst-2914	35	6	to	to	PART
ajst-2914	35	7	facilitate	facilitate	VERB
ajst-2914	35	8	viewing	view	VERB
ajst-2914	35	9	of	of	ADP
ajst-2914	35	10	collected	collect	VERB
ajst-2914	35	11	data	datum	NOUN
ajst-2914	35	12	and	and	CCONJ
ajst-2914	35	13	images	image	NOUN
ajst-2914	35	14	.	.	PUNCT
ajst-2914	36	1	the	the	DET
ajst-2914	36	2	robot	robot	NOUN
ajst-2914	36	3	's	's	PART
ajst-2914	36	4	ip	ip	NOUN
ajst-2914	36	5	camera	camera	NOUN
ajst-2914	36	6	is	be	AUX
ajst-2914	36	7	also	also	ADV
ajst-2914	36	8	used	use	VERB
ajst-2914	36	9	for	for	ADP
ajst-2914	36	10	visual	visual	ADJ
ajst-2914	36	11	inspection	inspection	NOUN
ajst-2914	36	12	,	,	PUNCT
ajst-2914	36	13	integrated	integrate	VERB
ajst-2914	36	14	with	with	ADP
ajst-2914	36	15	wireless	wireless	ADJ
ajst-2914	36	16	functions	function	NOUN
ajst-2914	36	17	,	,	PUNCT
ajst-2914	36	18	and	and	CCONJ
ajst-2914	36	19	easy	easy	ADJ
ajst-2914	36	20	to	to	PART
ajst-2914	36	21	view	view	VERB
ajst-2914	36	22	the	the	DET
ajst-2914	36	23	acquired	acquire	VERB
ajst-2914	36	24	data	datum	NOUN
ajst-2914	36	25	and	and	CCONJ
ajst-2914	36	26	images	image	NOUN
ajst-2914	36	27	.	.	PUNCT
ajst-2914	37	1	the	the	DET
ajst-2914	37	2	system	system	NOUN
ajst-2914	37	3	can	can	AUX
ajst-2914	37	4	effectively	effectively	ADV
ajst-2914	37	5	observe	observe	VERB
ajst-2914	37	6	,	,	PUNCT
ajst-2914	37	7	detect	detect	NOUN
ajst-2914	37	8	,	,	PUNCT
ajst-2914	37	9	quickly	quickly	ADV
ajst-2914	37	10	analyze	analyze	VERB
ajst-2914	37	11	and	and	CCONJ
ajst-2914	37	12	diagnose	diagnose	NOUN
ajst-2914	37	13	,	,	PUNCT
ajst-2914	37	14	and	and	CCONJ
ajst-2914	37	15	work	work	VERB
ajst-2914	37	16	reliably	reliably	ADV
ajst-2914	37	17	in	in	ADP
ajst-2914	37	18	a	a	DET
ajst-2914	37	19	closed	closed	ADJ
ajst-2914	37	20	and	and	CCONJ
ajst-2914	37	21	dark	dark	ADJ
ajst-2914	37	22	environment	environment	NOUN
ajst-2914	37	23	.	.	PUNCT
ajst-2914	38	1	aras	aras	PROPN
ajst-2914	38	2	et	et	PROPN
ajst-2914	38	3	al	al	PROPN
ajst-2914	38	4	.	.	PUNCT
ajst-2914	39	1	[	[	X
ajst-2914	39	2	8	8	NUM
ajst-2914	39	3	]	]	PUNCT
ajst-2914	39	4	,	,	PUNCT
ajst-2914	39	5	put	put	VERB
ajst-2914	39	6	forward	forward	ADV
ajst-2914	39	7	a	a	DET
ajst-2914	39	8	model	model	NOUN
ajst-2914	39	9	of	of	ADP
ajst-2914	39	10	three	three	NUM
ajst-2914	39	11	pressure	pressure	NOUN
ajst-2914	39	12	wall	wall	NOUN
ajst-2914	39	13	sprockets	sprocket	NOUN
ajst-2914	39	14	,	,	PUNCT
ajst-2914	39	15	used	use	VERB
ajst-2914	39	16	solidworks	solidworks	PROPN
ajst-2914	39	17	software	software	NOUN
ajst-2914	39	18	for	for	ADP
ajst-2914	39	19	modeling	modeling	NOUN
ajst-2914	39	20	,	,	PUNCT
ajst-2914	39	21	and	and	CCONJ
ajst-2914	39	22	carried	carry	VERB
ajst-2914	39	23	out	out	ADP
ajst-2914	39	24	stress	stress	NOUN
ajst-2914	39	25	and	and	CCONJ
ajst-2914	39	26	strain	strain	VERB
ajst-2914	39	27	analysis	analysis	NOUN
ajst-2914	39	28	and	and	CCONJ
ajst-2914	39	29	other	other	ADJ
ajst-2914	39	30	simulation	simulation	NOUN
ajst-2914	39	31	.	.	PUNCT
ajst-2914	40	1	the	the	DET
ajst-2914	40	2	robot	robot	NOUN
ajst-2914	40	3	adopts	adopt	VERB
ajst-2914	40	4	an	an	DET
ajst-2914	40	5	adaptive	adaptive	ADJ
ajst-2914	40	6	diameter	diameter	NOUN
ajst-2914	40	7	changing	change	VERB
ajst-2914	40	8	mechanism	mechanism	NOUN
ajst-2914	40	9	,	,	PUNCT
ajst-2914	40	10	which	which	PRON
ajst-2914	40	11	enables	enable	VERB
ajst-2914	40	12	the	the	DET
ajst-2914	40	13	robot	robot	NOUN
ajst-2914	40	14	to	to	PART
ajst-2914	40	15	adapt	adapt	VERB
ajst-2914	40	16	to	to	ADP
ajst-2914	40	17	the	the	DET
ajst-2914	40	18	change	change	NOUN
ajst-2914	40	19	of	of	ADP
ajst-2914	40	20	pipe	pipe	NOUN
ajst-2914	40	21	diameter	diameter	NOUN
ajst-2914	40	22	.	.	PUNCT
ajst-2914	41	1	the	the	DET
ajst-2914	41	2	experiment	experiment	NOUN
ajst-2914	41	3	proves	prove	VERB
ajst-2914	41	4	that	that	SCONJ
ajst-2914	41	5	the	the	DET
ajst-2914	41	6	average	average	ADJ
ajst-2914	41	7	speed	speed	NOUN
ajst-2914	41	8	of	of	ADP
ajst-2914	41	9	the	the	DET
ajst-2914	41	10	robot	robot	NOUN
ajst-2914	41	11	in	in	ADP
ajst-2914	41	12	the	the	DET
ajst-2914	41	13	pipeline	pipeline	NOUN
ajst-2914	41	14	is	be	AUX
ajst-2914	41	15	0.0096	0.0096	NUM
ajst-2914	41	16	m	m	NOUN
ajst-2914	41	17	/	/	SYM
ajst-2914	41	18	s	s	PROPN
ajst-2914	41	19	,	,	PUNCT
ajst-2914	41	20	and	and	CCONJ
ajst-2914	41	21	the	the	DET
ajst-2914	41	22	robot	robot	NOUN
ajst-2914	41	23	can	can	AUX
ajst-2914	41	24	accurately	accurately	ADV
ajst-2914	41	25	move	move	VERB
ajst-2914	41	26	in	in	ADP
ajst-2914	41	27	a	a	DET
ajst-2914	41	28	straight	straight	ADJ
ajst-2914	41	29	line	line	NOUN
ajst-2914	41	30	in	in	ADP
ajst-2914	41	31	the	the	DET
ajst-2914	41	32	pipeline	pipeline	NOUN
ajst-2914	41	33	.	.	PUNCT
ajst-2914	42	1	atsushi	atsushi	PROPN
ajst-2914	42	2	kakogawa	kakogawa	PROPN
ajst-2914	42	3	et	et	PROPN
ajst-2914	42	4	al	al	PROPN
ajst-2914	42	5	.	.	PUNCT
ajst-2914	43	1	[	[	X
ajst-2914	43	2	9	9	NUM
ajst-2914	43	3	]	]	PUNCT
ajst-2914	43	4	,	,	PUNCT
ajst-2914	43	5	developed	develop	VERB
ajst-2914	43	6	a	a	DET
ajst-2914	43	7	multi	multi	ADJ
ajst-2914	43	8	link	link	NOUN
ajst-2914	43	9	articulated	articulated	ADJ
ajst-2914	43	10	wheeled	wheel	VERB
ajst-2914	43	11	pipeline	pipeline	NOUN
ajst-2914	43	12	robot	robot	NOUN
ajst-2914	43	13	,	,	PUNCT
ajst-2914	43	14	as	as	SCONJ
ajst-2914	43	15	shown	show	VERB
ajst-2914	43	16	in	in	ADP
ajst-2914	43	17	figure	figure	NOUN
ajst-2914	43	18	2	2	NUM
ajst-2914	43	19	.	.	PUNCT
ajst-2914	44	1	the	the	DET
ajst-2914	44	2	robot	robot	NOUN
ajst-2914	44	3	is	be	AUX
ajst-2914	44	4	composed	compose	VERB
ajst-2914	44	5	of	of	ADP
ajst-2914	44	6	four	four	NUM
ajst-2914	44	7	links	link	NOUN
ajst-2914	44	8	connecting	connect	VERB
ajst-2914	44	9	their	their	PRON
ajst-2914	44	10	joints	joint	NOUN
ajst-2914	44	11	,	,	PUNCT
ajst-2914	44	12	and	and	CCONJ
ajst-2914	44	13	moves	move	VERB
ajst-2914	44	14	back	back	ADV
ajst-2914	44	15	and	and	CCONJ
ajst-2914	44	16	forth	forth	ADV
ajst-2914	44	17	through	through	ADP
ajst-2914	44	18	the	the	DET
ajst-2914	44	19	driving	drive	VERB
ajst-2914	44	20	wheels	wheel	NOUN
ajst-2914	44	21	on	on	ADP
ajst-2914	44	22	each	each	DET
ajst-2914	44	23	joint	joint	ADJ
ajst-2914	44	24	axis	axis	NOUN
ajst-2914	44	25	.	.	PUNCT
ajst-2914	45	1	the	the	DET
ajst-2914	45	2	torsion	torsion	NOUN
ajst-2914	45	3	coil	coil	NOUN
ajst-2914	45	4	spring	spring	NOUN
ajst-2914	45	5	presses	press	NOUN
ajst-2914	45	6	the	the	DET
ajst-2914	45	7	wheel	wheel	NOUN
ajst-2914	45	8	onto	onto	ADP
ajst-2914	45	9	the	the	DET
ajst-2914	45	10	inner	inner	ADJ
ajst-2914	45	11	wall	wall	NOUN
ajst-2914	45	12	of	of	ADP
ajst-2914	45	13	the	the	DET
ajst-2914	45	14	pipe	pipe	NOUN
ajst-2914	45	15	,	,	PUNCT
ajst-2914	45	16	making	make	VERB
ajst-2914	45	17	the	the	DET
ajst-2914	45	18	robot	robot	NOUN
ajst-2914	45	19	move	move	VERB
ajst-2914	45	20	upward	upward	ADV
ajst-2914	45	21	in	in	ADP
ajst-2914	45	22	the	the	DET
ajst-2914	45	23	vertical	vertical	ADJ
ajst-2914	45	24	pipe	pipe	NOUN
ajst-2914	45	25	.	.	PUNCT
ajst-2914	46	1	when	when	SCONJ
ajst-2914	46	2	the	the	DET
ajst-2914	46	3	robot	robot	NOUN
ajst-2914	46	4	enters	enter	VERB
ajst-2914	46	5	the	the	DET
ajst-2914	46	6	bend	bend	NOUN
ajst-2914	46	7	,	,	PUNCT
ajst-2914	46	8	the	the	DET
ajst-2914	46	9	joint	joint	NOUN
ajst-2914	46	10	can	can	AUX
ajst-2914	46	11	be	be	AUX
ajst-2914	46	12	opened	open	VERB
ajst-2914	46	13	and	and	CCONJ
ajst-2914	46	14	closed	close	VERB
ajst-2914	46	15	according	accord	VERB
ajst-2914	46	16	to	to	ADP
ajst-2914	46	17	the	the	DET
ajst-2914	46	18	shape	shape	NOUN
ajst-2914	46	19	of	of	ADP
ajst-2914	46	20	the	the	DET
ajst-2914	46	21	bend	bend	NOUN
ajst-2914	46	22	,	,	PUNCT
ajst-2914	46	23	so	so	SCONJ
ajst-2914	46	24	that	that	SCONJ
ajst-2914	46	25	the	the	DET
ajst-2914	46	26	robot	robot	NOUN
ajst-2914	46	27	can	can	AUX
ajst-2914	46	28	easily	easily	ADV
ajst-2914	46	29	pass	pass	VERB
ajst-2914	46	30	through	through	ADP
ajst-2914	46	31	the	the	DET
ajst-2914	46	32	bend	bend	NOUN
ajst-2914	46	33	pipe	pipe	NOUN
ajst-2914	46	34	.	.	PUNCT
ajst-2914	47	1	figure	figure	NOUN
ajst-2914	47	2	2	2	NUM
ajst-2914	47	3	.	.	PUNCT
ajst-2914	47	4	multi	multi	PROPN
ajst-2914	47	5	link	link	PROPN
ajst-2914	47	6	articulated	articulate	VERB
ajst-2914	47	7	wheeled	wheel	VERB
ajst-2914	47	8	pipeline	pipeline	NOUN
ajst-2914	47	9	robot	robot	NOUN
ajst-2914	47	10	hadi	hadi	PROPN
ajst-2914	47	11	et	et	PROPN
ajst-2914	47	12	al	al	PROPN
ajst-2914	47	13	.	.	PUNCT
ajst-2914	48	1	[	[	X
ajst-2914	48	2	10	10	NUM
ajst-2914	48	3	]	]	PUNCT
ajst-2914	48	4	,	,	PUNCT
ajst-2914	48	5	designed	design	VERB
ajst-2914	48	6	a	a	DET
ajst-2914	48	7	small	small	ADJ
ajst-2914	48	8	inspection	inspection	NOUN
ajst-2914	48	9	robot	robot	NOUN
ajst-2914	48	10	that	that	PRON
ajst-2914	48	11	can	can	AUX
ajst-2914	48	12	move	move	VERB
ajst-2914	48	13	in	in	ADP
ajst-2914	48	14	inclined	inclined	ADJ
ajst-2914	48	15	,	,	PUNCT
ajst-2914	48	16	vertical	vertical	ADJ
ajst-2914	48	17	and	and	CCONJ
ajst-2914	48	18	curved	curved	ADJ
ajst-2914	48	19	pipes	pipe	NOUN
ajst-2914	48	20	.	.	PUNCT
ajst-2914	49	1	the	the	DET
ajst-2914	49	2	robot	robot	NOUN
ajst-2914	49	3	uses	use	VERB
ajst-2914	49	4	shape	shape	NOUN
ajst-2914	49	5	memory	memory	NOUN
ajst-2914	49	6	alloy	alloy	NOUN
ajst-2914	49	7	spring	spring	NOUN
ajst-2914	49	8	as	as	ADP
ajst-2914	49	9	the	the	DET
ajst-2914	49	10	actuator	actuator	NOUN
ajst-2914	49	11	of	of	ADP
ajst-2914	49	12	the	the	DET
ajst-2914	49	13	adaptive	adaptive	ADJ
ajst-2914	49	14	arm	arm	NOUN
ajst-2914	49	15	.	.	PUNCT
ajst-2914	50	1	the	the	DET
ajst-2914	50	2	author	author	NOUN
ajst-2914	50	3	establishes	establish	VERB
ajst-2914	50	4	a	a	DET
ajst-2914	50	5	cad	cad	NOUN
ajst-2914	50	6	model	model	NOUN
ajst-2914	50	7	on	on	ADP
ajst-2914	50	8	solidworks	solidworks	PROPN
ajst-2914	50	9	,	,	PUNCT
ajst-2914	50	10	carries	carry	VERB
ajst-2914	50	11	out	out	ADP
ajst-2914	50	12	dynamic	dynamic	ADJ
ajst-2914	50	13	simulation	simulation	NOUN
ajst-2914	50	14	on	on	ADP
ajst-2914	50	15	adams	adam	NOUN
ajst-2914	50	16	,	,	PUNCT
ajst-2914	50	17	and	and	CCONJ
ajst-2914	50	18	carries	carry	VERB
ajst-2914	50	19	out	out	ADP
ajst-2914	50	20	simulation	simulation	NOUN
ajst-2914	50	21	in	in	ADP
ajst-2914	50	22	matlab	matlab	PROPN
ajst-2914	50	23	simulink	simulink	PROPN
ajst-2914	50	24	software	software	PROPN
ajst-2914	50	25	.	.	PUNCT
ajst-2914	51	1	the	the	DET
ajst-2914	51	2	experimental	experimental	ADJ
ajst-2914	51	3	results	result	NOUN
ajst-2914	51	4	prove	prove	VERB
ajst-2914	51	5	the	the	DET
ajst-2914	51	6	adaptability	adaptability	NOUN
ajst-2914	51	7	of	of	ADP
ajst-2914	51	8	the	the	DET
ajst-2914	51	9	robot	robot	NOUN
ajst-2914	51	10	to	to	ADP
ajst-2914	51	11	the	the	DET
ajst-2914	51	12	environment	environment	NOUN
ajst-2914	51	13	and	and	CCONJ
ajst-2914	51	14	its	its	PRON
ajst-2914	51	15	ability	ability	NOUN
ajst-2914	51	16	to	to	PART
ajst-2914	51	17	move	move	VERB
ajst-2914	51	18	in	in	ADP
ajst-2914	51	19	inclined	inclined	ADJ
ajst-2914	51	20	,	,	PUNCT
ajst-2914	51	21	vertical	vertical	ADJ
ajst-2914	51	22	and	and	CCONJ
ajst-2914	51	23	curved	curved	ADJ
ajst-2914	51	24	pipes	pipe	NOUN
ajst-2914	51	25	.	.	PUNCT
ajst-2914	52	1	li	li	PROPN
ajst-2914	52	2	et	et	PROPN
ajst-2914	52	3	al	al	PROPN
ajst-2914	52	4	.	.	PUNCT
ajst-2914	53	1	[	[	X
ajst-2914	53	2	11	11	NUM
ajst-2914	53	3	]	]	PUNCT
ajst-2914	53	4	,	,	PUNCT
ajst-2914	53	5	developed	develop	VERB
ajst-2914	53	6	a	a	DET
ajst-2914	53	7	pipeline	pipeline	NOUN
ajst-2914	53	8	robot	robot	NOUN
ajst-2914	53	9	composed	compose	VERB
ajst-2914	53	10	of	of	ADP
ajst-2914	53	11	six	six	NUM
ajst-2914	53	12	symmetrical	symmetrical	ADJ
ajst-2914	53	13	supporting	support	VERB
ajst-2914	53	14	wheels	wheel	NOUN
ajst-2914	53	15	,	,	PUNCT
ajst-2914	53	16	motors	motor	NOUN
ajst-2914	53	17	and	and	CCONJ
ajst-2914	53	18	advanced	advanced	ADJ
ajst-2914	53	19	control	control	NOUN
ajst-2914	53	20	systems	system	NOUN
ajst-2914	53	21	,	,	PUNCT
ajst-2914	53	22	which	which	PRON
ajst-2914	53	23	is	be	AUX
ajst-2914	53	24	specially	specially	ADV
ajst-2914	53	25	used	use	VERB
ajst-2914	53	26	for	for	ADP
ajst-2914	53	27	oil	oil	NOUN
ajst-2914	53	28	pipelines	pipeline	NOUN
ajst-2914	53	29	with	with	ADP
ajst-2914	53	30	diameters	diameter	NOUN
ajst-2914	53	31	ranging	range	VERB
ajst-2914	53	32	from	from	ADP
ajst-2914	53	33	1219	1219	NUM
ajst-2914	53	34	mm	mm	NOUN
ajst-2914	53	35	to	to	ADP
ajst-2914	53	36	1440	1440	NUM
ajst-2914	53	37	mm	mm	NOUN
ajst-2914	53	38	,	,	PUNCT
ajst-2914	53	39	as	as	SCONJ
ajst-2914	53	40	shown	show	VERB
ajst-2914	53	41	in	in	ADP
ajst-2914	53	42	figure	figure	NOUN
ajst-2914	53	43	3	3	NUM
ajst-2914	53	44	.	.	PUNCT
ajst-2914	54	1	after	after	ADP
ajst-2914	54	2	several	several	ADJ
ajst-2914	54	3	months	month	NOUN
ajst-2914	54	4	of	of	ADP
ajst-2914	54	5	actual	actual	ADJ
ajst-2914	54	6	testing	testing	NOUN
ajst-2914	54	7	,	,	PUNCT
ajst-2914	54	8	the	the	DET
ajst-2914	54	9	robot	robot	NOUN
ajst-2914	54	10	has	have	AUX
ajst-2914	54	11	achieved	achieve	VERB
ajst-2914	54	12	good	good	ADJ
ajst-2914	54	13	results	result	NOUN
ajst-2914	54	14	in	in	ADP
ajst-2914	54	15	traction	traction	NOUN
ajst-2914	54	16	,	,	PUNCT
ajst-2914	54	17	climbing	climbing	NOUN
ajst-2914	54	18	ability	ability	NOUN
ajst-2914	54	19	,	,	PUNCT
ajst-2914	54	20	obstacle	obstacle	NOUN
ajst-2914	54	21	avoidance	avoidance	NOUN
ajst-2914	54	22	ability	ability	NOUN
ajst-2914	54	23	,	,	PUNCT
ajst-2914	54	24	running	run	VERB
ajst-2914	54	25	endurance	endurance	NOUN
ajst-2914	54	26	,	,	PUNCT
ajst-2914	54	27	etc	etc	X
ajst-2914	54	28	.	.	X
ajst-2914	55	1	the	the	DET
ajst-2914	55	2	test	test	NOUN
ajst-2914	55	3	results	result	NOUN
ajst-2914	55	4	show	show	VERB
ajst-2914	55	5	that	that	SCONJ
ajst-2914	55	6	the	the	DET
ajst-2914	55	7	inspection	inspection	NOUN
ajst-2914	55	8	robot	robot	NOUN
ajst-2914	55	9	can	can	AUX
ajst-2914	55	10	meet	meet	VERB
ajst-2914	55	11	the	the	DET
ajst-2914	55	12	requirements	requirement	NOUN
ajst-2914	55	13	of	of	ADP
ajst-2914	55	14	cnpc	cnpc	NOUN
ajst-2914	55	15	.	.	PUNCT
ajst-2914	56	1	figure	figure	NOUN
ajst-2914	56	2	3	3	NUM
ajst-2914	56	3	.	.	PUNCT
ajst-2914	56	4	multi	multi	PROPN
ajst-2914	56	5	link	link	PROPN
ajst-2914	56	6	articulated	articulate	VERB
ajst-2914	56	7	wheeled	wheel	VERB
ajst-2914	56	8	pipeline	pipeline	NOUN
ajst-2914	56	9	robot	robot	NOUN
ajst-2914	56	10	aras	aras	PROPN
ajst-2914	56	11	et	et	PROPN
ajst-2914	56	12	al	al	PROPN
ajst-2914	56	13	.	.	PUNCT
ajst-2914	57	1	[	[	X
ajst-2914	57	2	12	12	NUM
ajst-2914	57	3	]	]	PUNCT
ajst-2914	57	4	,	,	PUNCT
ajst-2914	57	5	developed	develop	VERB
ajst-2914	57	6	a	a	DET
ajst-2914	57	7	pipe	pipe	NOUN
ajst-2914	57	8	inspection	inspection	NOUN
ajst-2914	57	9	robot	robot	NOUN
ajst-2914	57	10	,	,	PUNCT
ajst-2914	57	11	which	which	PRON
ajst-2914	57	12	has	have	VERB
ajst-2914	57	13	an	an	DET
ajst-2914	57	14	adaptive	adaptive	ADJ
ajst-2914	57	15	mechanism	mechanism	NOUN
ajst-2914	57	16	controlled	control	VERB
ajst-2914	57	17	by	by	ADP
ajst-2914	57	18	a	a	DET
ajst-2914	57	19	microcontroller	microcontroller	NOUN
ajst-2914	57	20	and	and	CCONJ
ajst-2914	57	21	can	can	AUX
ajst-2914	57	22	monitor	monitor	VERB
ajst-2914	57	23	and	and	CCONJ
ajst-2914	57	24	inspect	inspect	VERB
ajst-2914	57	25	pipes	pipe	NOUN
ajst-2914	57	26	with	with	ADP
ajst-2914	57	27	diameters	diameter	NOUN
ajst-2914	57	28	ranging	range	VERB
ajst-2914	57	29	from	from	ADP
ajst-2914	57	30	215	215	NUM
ajst-2914	57	31	mm	mm	NOUN
ajst-2914	57	32	to	to	ADP
ajst-2914	57	33	280	280	NUM
ajst-2914	57	34	mm	mm	NOUN
ajst-2914	57	35	.	.	PUNCT
ajst-2914	58	1	the	the	DET
ajst-2914	58	2	performance	performance	NOUN
ajst-2914	58	3	evaluation	evaluation	NOUN
ajst-2914	58	4	results	result	VERB
ajst-2914	58	5	136	136	NUM
ajst-2914	58	6	of	of	ADP
ajst-2914	58	7	the	the	DET
ajst-2914	58	8	robot	robot	NOUN
ajst-2914	58	9	show	show	VERB
ajst-2914	58	10	that	that	SCONJ
ajst-2914	58	11	it	it	PRON
ajst-2914	58	12	can	can	AUX
ajst-2914	58	13	navigate	navigate	VERB
ajst-2914	58	14	accurately	accurately	ADV
ajst-2914	58	15	along	along	ADP
ajst-2914	58	16	the	the	DET
ajst-2914	58	17	straight	straight	ADJ
ajst-2914	58	18	path	path	NOUN
ajst-2914	58	19	in	in	ADP
ajst-2914	58	20	the	the	DET
ajst-2914	58	21	pipeline	pipeline	NOUN
ajst-2914	58	22	.	.	PUNCT
ajst-2914	59	1	2.2	2.2	NUM
ajst-2914	59	2	.	.	PUNCT
ajst-2914	60	1	tracked	track	VERB
ajst-2914	60	2	robot	robot	NOUN
ajst-2914	60	3	tracked	track	VERB
ajst-2914	60	4	robot	robot	NOUN
ajst-2914	60	5	is	be	AUX
ajst-2914	60	6	evolved	evolve	VERB
ajst-2914	60	7	from	from	ADP
ajst-2914	60	8	wheeled	wheel	VERB
ajst-2914	60	9	pipeline	pipeline	NOUN
ajst-2914	60	10	robot	robot	NOUN
ajst-2914	60	11	.	.	PUNCT
ajst-2914	61	1	this	this	DET
ajst-2914	61	2	kind	kind	NOUN
ajst-2914	61	3	of	of	ADP
ajst-2914	61	4	robot	robot	NOUN
ajst-2914	61	5	uses	use	VERB
ajst-2914	61	6	crawlers	crawler	NOUN
ajst-2914	61	7	to	to	PART
ajst-2914	61	8	drive	drive	VERB
ajst-2914	61	9	instead	instead	ADV
ajst-2914	61	10	of	of	ADP
ajst-2914	61	11	wheels.crawler	wheels.crawler	PROPN
ajst-2914	61	12	robot	robot	NOUN
ajst-2914	61	13	provides	provide	VERB
ajst-2914	61	14	sufficient	sufficient	ADJ
ajst-2914	61	15	traction	traction	NOUN
ajst-2914	61	16	,	,	PUNCT
ajst-2914	61	17	good	good	ADJ
ajst-2914	61	18	stability	stability	NOUN
ajst-2914	61	19	and	and	CCONJ
ajst-2914	61	20	obstacle	obstacle	VERB
ajst-2914	61	21	surmounting	surmount	VERB
ajst-2914	61	22	ability	ability	NOUN
ajst-2914	61	23	.	.	PUNCT
ajst-2914	62	1	crawler	crawler	NOUN
ajst-2914	62	2	robot	robot	NOUN
ajst-2914	62	3	has	have	VERB
ajst-2914	62	4	complex	complex	ADJ
ajst-2914	62	5	structure	structure	NOUN
ajst-2914	62	6	,	,	PUNCT
ajst-2914	62	7	high	high	ADJ
ajst-2914	62	8	power	power	NOUN
ajst-2914	62	9	consumption	consumption	NOUN
ajst-2914	62	10	and	and	CCONJ
ajst-2914	62	11	strong	strong	ADJ
ajst-2914	62	12	bearing	bearing	NOUN
ajst-2914	62	13	capacity	capacity	NOUN
ajst-2914	62	14	.	.	PUNCT
ajst-2914	63	1	it	it	PRON
ajst-2914	63	2	consists	consist	VERB
ajst-2914	63	3	of	of	ADP
ajst-2914	63	4	three	three	NUM
ajst-2914	63	5	key	key	ADJ
ajst-2914	63	6	components	component	NOUN
ajst-2914	63	7	:	:	PUNCT
ajst-2914	63	8	center	center	NOUN
ajst-2914	63	9	body	body	NOUN
ajst-2914	63	10	,	,	PUNCT
ajst-2914	63	11	track	track	NOUN
ajst-2914	63	12	and	and	CCONJ
ajst-2914	63	13	pantograph	pantograph	NOUN
ajst-2914	63	14	mechanism	mechanism	NOUN
ajst-2914	63	15	.	.	PUNCT
ajst-2914	64	1	however	however	ADV
ajst-2914	64	2	,	,	PUNCT
ajst-2914	64	3	robots	robot	NOUN
ajst-2914	64	4	also	also	ADV
ajst-2914	64	5	face	face	VERB
ajst-2914	64	6	some	some	DET
ajst-2914	64	7	challenges	challenge	NOUN
ajst-2914	64	8	,	,	PUNCT
ajst-2914	64	9	including	include	VERB
ajst-2914	64	10	poor	poor	ADJ
ajst-2914	64	11	mobility	mobility	NOUN
ajst-2914	64	12	,	,	PUNCT
ajst-2914	64	13	slow	slow	ADJ
ajst-2914	64	14	speed	speed	NOUN
ajst-2914	64	15	and	and	CCONJ
ajst-2914	64	16	difficult	difficult	ADJ
ajst-2914	64	17	driving	driving	NOUN
ajst-2914	64	18	[	[	X
ajst-2914	64	19	13	13	NUM
ajst-2914	64	20	]	]	PUNCT
ajst-2914	64	21	.	.	PUNCT
ajst-2914	65	1	chang	chang	PROPN
ajst-2914	65	2	sheng	sheng	PROPN
ajst-2914	65	3	et	et	PROPN
ajst-2914	65	4	al	al	PROPN
ajst-2914	65	5	.	.	PUNCT
ajst-2914	66	1	[	[	X
ajst-2914	66	2	14	14	NUM
ajst-2914	66	3	]	]	PUNCT
ajst-2914	66	4	,	,	PUNCT
ajst-2914	66	5	proposed	propose	VERB
ajst-2914	66	6	a	a	DET
ajst-2914	66	7	tracked	track	VERB
ajst-2914	66	8	robot	robot	NOUN
ajst-2914	66	9	that	that	PRON
ajst-2914	66	10	can	can	AUX
ajst-2914	66	11	adapt	adapt	VERB
ajst-2914	66	12	to	to	ADP
ajst-2914	66	13	different	different	ADJ
ajst-2914	66	14	pipe	pipe	NOUN
ajst-2914	66	15	diameters	diameter	NOUN
ajst-2914	66	16	in	in	ADP
ajst-2914	66	17	view	view	NOUN
ajst-2914	66	18	of	of	ADP
ajst-2914	66	19	corrosion	corrosion	NOUN
ajst-2914	66	20	,	,	PUNCT
ajst-2914	66	21	fracture	fracture	NOUN
ajst-2914	66	22	,	,	PUNCT
ajst-2914	66	23	etc	etc	X
ajst-2914	66	24	.	.	X
ajst-2914	66	25	of	of	ADP
ajst-2914	66	26	pipes	pipe	NOUN
ajst-2914	66	27	and	and	CCONJ
ajst-2914	66	28	in	in	ADP
ajst-2914	66	29	combination	combination	NOUN
ajst-2914	66	30	with	with	ADP
ajst-2914	66	31	the	the	DET
ajst-2914	66	32	pipe	pipe	NOUN
ajst-2914	66	33	inner	inner	ADJ
ajst-2914	66	34	diameter	diameter	NOUN
ajst-2914	66	35	adaptive	adaptive	ADJ
ajst-2914	66	36	problem	problem	NOUN
ajst-2914	66	37	of	of	ADP
ajst-2914	66	38	current	current	ADJ
ajst-2914	66	39	market	market	NOUN
ajst-2914	66	40	pipe	pipe	NOUN
ajst-2914	66	41	robots	robot	NOUN
ajst-2914	66	42	.	.	PUNCT
ajst-2914	67	1	through	through	ADP
ajst-2914	67	2	solidworks	solidworks	PROPN
ajst-2914	67	3	modeling	modeling	NOUN
ajst-2914	67	4	and	and	CCONJ
ajst-2914	67	5	design	design	NOUN
ajst-2914	67	6	analysis	analysis	NOUN
ajst-2914	67	7	,	,	PUNCT
ajst-2914	67	8	the	the	DET
ajst-2914	67	9	robot	robot	NOUN
ajst-2914	67	10	can	can	AUX
ajst-2914	67	11	perform	perform	VERB
ajst-2914	67	12	tasks	task	NOUN
ajst-2914	67	13	in	in	ADP
ajst-2914	67	14	pipes	pipe	NOUN
ajst-2914	67	15	with	with	ADP
ajst-2914	67	16	diameters	diameter	NOUN
ajst-2914	67	17	ranging	range	VERB
ajst-2914	67	18	from	from	ADP
ajst-2914	67	19	300	300	NUM
ajst-2914	67	20	mm	mm	NOUN
ajst-2914	67	21	to	to	ADP
ajst-2914	67	22	350	350	NUM
ajst-2914	67	23	mm	mm	NOUN
ajst-2914	67	24	,	,	PUNCT
ajst-2914	67	25	and	and	CCONJ
ajst-2914	67	26	has	have	VERB
ajst-2914	67	27	strong	strong	ADJ
ajst-2914	67	28	adaptability	adaptability	NOUN
ajst-2914	67	29	to	to	ADP
ajst-2914	67	30	pipes	pipe	NOUN
ajst-2914	67	31	with	with	ADP
ajst-2914	67	32	different	different	ADJ
ajst-2914	67	33	diameters	diameter	NOUN
ajst-2914	67	34	and	and	CCONJ
ajst-2914	67	35	flexible	flexible	ADJ
ajst-2914	67	36	diameter	diameter	NOUN
ajst-2914	67	37	change	change	NOUN
ajst-2914	67	38	.	.	PUNCT
ajst-2914	68	1	zhao	zhao	PROPN
ajst-2914	68	2	et	et	PROPN
ajst-2914	68	3	al	al	PROPN
ajst-2914	68	4	.	.	PUNCT
ajst-2914	69	1	[	[	X
ajst-2914	69	2	15	15	NUM
ajst-2914	69	3	]	]	PUNCT
ajst-2914	69	4	,	,	PUNCT
ajst-2914	69	5	proposed	propose	VERB
ajst-2914	69	6	a	a	DET
ajst-2914	69	7	tracked	track	VERB
ajst-2914	69	8	robot	robot	NOUN
ajst-2914	69	9	,	,	PUNCT
ajst-2914	69	10	which	which	PRON
ajst-2914	69	11	has	have	VERB
ajst-2914	69	12	three	three	NUM
ajst-2914	69	13	tracks	track	NOUN
ajst-2914	69	14	,	,	PUNCT
ajst-2914	69	15	and	and	CCONJ
ajst-2914	69	16	the	the	DET
ajst-2914	69	17	angle	angle	NOUN
ajst-2914	69	18	between	between	ADP
ajst-2914	69	19	tracks	track	NOUN
ajst-2914	69	20	is	be	AUX
ajst-2914	69	21	120	120	NUM
ajst-2914	69	22	degrees	degree	NOUN
ajst-2914	69	23	,	,	PUNCT
ajst-2914	69	24	as	as	SCONJ
ajst-2914	69	25	shown	show	VERB
ajst-2914	69	26	in	in	ADP
ajst-2914	69	27	figure	figure	NOUN
ajst-2914	69	28	4	4	NUM
ajst-2914	69	29	.	.	PUNCT
ajst-2914	70	1	it	it	PRON
ajst-2914	70	2	can	can	AUX
ajst-2914	70	3	be	be	AUX
ajst-2914	70	4	adjusted	adjust	VERB
ajst-2914	70	5	independently	independently	ADV
ajst-2914	70	6	by	by	ADP
ajst-2914	70	7	electric	electric	ADJ
ajst-2914	70	8	push	push	NOUN
ajst-2914	70	9	rod	rod	NOUN
ajst-2914	70	10	to	to	PART
ajst-2914	70	11	adapt	adapt	VERB
ajst-2914	70	12	to	to	ADP
ajst-2914	70	13	the	the	DET
ajst-2914	70	14	radius	radius	NOUN
ajst-2914	70	15	of	of	ADP
ajst-2914	70	16	the	the	DET
ajst-2914	70	17	track	track	NOUN
ajst-2914	70	18	.	.	PUNCT
ajst-2914	71	1	the	the	DET
ajst-2914	71	2	robot	robot	NOUN
ajst-2914	71	3	is	be	AUX
ajst-2914	71	4	equipped	equip	VERB
ajst-2914	71	5	with	with	ADP
ajst-2914	71	6	a	a	DET
ajst-2914	71	7	pressure	pressure	NOUN
ajst-2914	71	8	sensor	sensor	NOUN
ajst-2914	71	9	to	to	PART
ajst-2914	71	10	check	check	VERB
ajst-2914	71	11	the	the	DET
ajst-2914	71	12	traction	traction	NOUN
ajst-2914	71	13	;	;	PUNCT
ajst-2914	71	14	the	the	DET
ajst-2914	71	15	encoder	encoder	NOUN
ajst-2914	71	16	sensor	sensor	NOUN
ajst-2914	71	17	obtains	obtain	VERB
ajst-2914	71	18	the	the	DET
ajst-2914	71	19	actual	actual	ADJ
ajst-2914	71	20	speed	speed	NOUN
ajst-2914	71	21	of	of	ADP
ajst-2914	71	22	the	the	DET
ajst-2914	71	23	robot	robot	NOUN
ajst-2914	71	24	,	,	PUNCT
ajst-2914	71	25	the	the	DET
ajst-2914	71	26	laser	laser	NOUN
ajst-2914	71	27	radar	radar	NOUN
ajst-2914	71	28	sensor	sensor	NOUN
ajst-2914	71	29	is	be	AUX
ajst-2914	71	30	installed	instal	VERB
ajst-2914	71	31	in	in	ADP
ajst-2914	71	32	front	front	NOUN
ajst-2914	71	33	of	of	ADP
ajst-2914	71	34	the	the	DET
ajst-2914	71	35	robot	robot	NOUN
ajst-2914	71	36	to	to	PART
ajst-2914	71	37	obtain	obtain	VERB
ajst-2914	71	38	information	information	NOUN
ajst-2914	71	39	about	about	ADP
ajst-2914	71	40	changes	change	NOUN
ajst-2914	71	41	in	in	ADP
ajst-2914	71	42	pipe	pipe	NOUN
ajst-2914	71	43	diameter	diameter	NOUN
ajst-2914	71	44	,	,	PUNCT
ajst-2914	71	45	irregular	irregular	ADJ
ajst-2914	71	46	obstacles	obstacle	NOUN
ajst-2914	71	47	or	or	CCONJ
ajst-2914	71	48	joints	joint	NOUN
ajst-2914	71	49	,	,	PUNCT
ajst-2914	71	50	and	and	CCONJ
ajst-2914	71	51	the	the	DET
ajst-2914	71	52	accelerometer	accelerometer	NOUN
ajst-2914	71	53	tracks	track	VERB
ajst-2914	71	54	whether	whether	SCONJ
ajst-2914	71	55	the	the	DET
ajst-2914	71	56	attitude	attitude	NOUN
ajst-2914	71	57	is	be	AUX
ajst-2914	71	58	balanced	balanced	ADJ
ajst-2914	71	59	.	.	PUNCT
ajst-2914	72	1	figure	figure	VERB
ajst-2914	72	2	4	4	NUM
ajst-2914	72	3	.	.	PUNCT
ajst-2914	72	4	multi	multi	PROPN
ajst-2914	72	5	link	link	PROPN
ajst-2914	72	6	articulated	articulate	VERB
ajst-2914	72	7	wheeled	wheel	VERB
ajst-2914	72	8	pipeline	pipeline	NOUN
ajst-2914	72	9	robot	robot	NOUN
ajst-2914	72	10	kwon	kwon	VERB
ajst-2914	72	11	et	et	PROPN
ajst-2914	72	12	al	al	PROPN
ajst-2914	72	13	.	.	PUNCT
ajst-2914	73	1	[	[	X
ajst-2914	73	2	16	16	NUM
ajst-2914	73	3	]	]	PUNCT
ajst-2914	73	4	,	,	PUNCT
ajst-2914	73	5	designed	design	VERB
ajst-2914	73	6	a	a	DET
ajst-2914	73	7	caterpillar	caterpillar	ADJ
ajst-2914	73	8	robot	robot	NOUN
ajst-2914	73	9	with	with	ADP
ajst-2914	73	10	three	three	NUM
ajst-2914	73	11	caterpillar	caterpillar	ADJ
ajst-2914	73	12	chains	chain	NOUN
ajst-2914	73	13	for	for	ADP
ajst-2914	73	14	small	small	ADJ
ajst-2914	73	15	pipes	pipe	NOUN
ajst-2914	73	16	,	,	PUNCT
ajst-2914	73	17	which	which	PRON
ajst-2914	73	18	can	can	AUX
ajst-2914	73	19	adapt	adapt	VERB
ajst-2914	73	20	to	to	ADP
ajst-2914	73	21	diameters	diameter	NOUN
ajst-2914	73	22	of	of	ADP
ajst-2914	73	23	80	80	NUM
ajst-2914	73	24	mm	mm	NOUN
ajst-2914	73	25	to	to	ADP
ajst-2914	73	26	100	100	NUM
ajst-2914	73	27	mm	mm	NOUN
ajst-2914	73	28	,	,	PUNCT
ajst-2914	73	29	as	as	SCONJ
ajst-2914	73	30	shown	show	VERB
ajst-2914	73	31	in	in	ADP
ajst-2914	73	32	figure	figure	NOUN
ajst-2914	73	33	5	5	NUM
ajst-2914	73	34	.	.	PUNCT
ajst-2914	74	1	the	the	DET
ajst-2914	74	2	robot	robot	NOUN
ajst-2914	74	3	can	can	AUX
ajst-2914	74	4	steer	steer	VERB
ajst-2914	74	5	by	by	ADP
ajst-2914	74	6	independently	independently	ADV
ajst-2914	74	7	controlling	control	VERB
ajst-2914	74	8	the	the	DET
ajst-2914	74	9	speed	speed	NOUN
ajst-2914	74	10	of	of	ADP
ajst-2914	74	11	each	each	DET
ajst-2914	74	12	track	track	NOUN
ajst-2914	74	13	wheel	wheel	NOUN
ajst-2914	74	14	.	.	PUNCT
ajst-2914	75	1	the	the	DET
ajst-2914	75	2	unique	unique	ADJ
ajst-2914	75	3	connection	connection	NOUN
ajst-2914	75	4	between	between	ADP
ajst-2914	75	5	the	the	DET
ajst-2914	75	6	two	two	NUM
ajst-2914	75	7	robot	robot	NOUN
ajst-2914	75	8	modules	module	NOUN
ajst-2914	75	9	is	be	AUX
ajst-2914	75	10	a	a	DET
ajst-2914	75	11	spring	spring	NOUN
ajst-2914	75	12	for	for	ADP
ajst-2914	75	13	easy	easy	ADJ
ajst-2914	75	14	navigation	navigation	NOUN
ajst-2914	75	15	.	.	PUNCT
ajst-2914	76	1	the	the	DET
ajst-2914	76	2	robot	robot	NOUN
ajst-2914	76	3	uses	use	VERB
ajst-2914	76	4	two	two	NUM
ajst-2914	76	5	modules	module	NOUN
ajst-2914	76	6	to	to	PART
ajst-2914	76	7	control	control	VERB
ajst-2914	76	8	independently	independently	ADV
ajst-2914	76	9	in	in	ADP
ajst-2914	76	10	order	order	NOUN
ajst-2914	76	11	to	to	PART
ajst-2914	76	12	turn	turn	VERB
ajst-2914	76	13	the	the	DET
ajst-2914	76	14	t	t	NOUN
ajst-2914	76	15	-	-	PUNCT
ajst-2914	76	16	tube	tube	NOUN
ajst-2914	76	17	.	.	PUNCT
ajst-2914	77	1	figure	figure	NOUN
ajst-2914	77	2	5	5	NUM
ajst-2914	77	3	.	.	PUNCT
ajst-2914	77	4	small	small	ADJ
ajst-2914	77	5	tracked	track	VERB
ajst-2914	77	6	robot	robot	NOUN
ajst-2914	77	7	2.3	2.3	NUM
ajst-2914	77	8	.	.	PUNCT
ajst-2914	78	1	pig	pig	NOUN
ajst-2914	78	2	robot	robot	NOUN
ajst-2914	78	3	pig	pig	PROPN
ajst-2914	78	4	is	be	AUX
ajst-2914	78	5	one	one	NUM
ajst-2914	78	6	of	of	ADP
ajst-2914	78	7	the	the	DET
ajst-2914	78	8	commonly	commonly	ADV
ajst-2914	78	9	used	use	VERB
ajst-2914	78	10	inspection	inspection	NOUN
ajst-2914	78	11	robots	robot	NOUN
ajst-2914	78	12	at	at	ADP
ajst-2914	78	13	present	present	ADJ
ajst-2914	78	14	.	.	PUNCT
ajst-2914	79	1	it	it	PRON
ajst-2914	79	2	uses	use	VERB
ajst-2914	79	3	the	the	DET
ajst-2914	79	4	flowing	flow	VERB
ajst-2914	79	5	pressure	pressure	NOUN
ajst-2914	79	6	of	of	ADP
ajst-2914	79	7	water	water	NOUN
ajst-2914	79	8	to	to	PART
ajst-2914	79	9	work	work	VERB
ajst-2914	79	10	to	to	PART
ajst-2914	79	11	clean	clean	VERB
ajst-2914	79	12	or	or	CCONJ
ajst-2914	79	13	monitor	monitor	VERB
ajst-2914	79	14	the	the	DET
ajst-2914	79	15	pipeline	pipeline	NOUN
ajst-2914	79	16	.	.	PUNCT
ajst-2914	80	1	use	use	VERB
ajst-2914	80	2	pig	pig	NOUN
ajst-2914	80	3	transmitter	transmitter	NOUN
ajst-2914	80	4	to	to	PART
ajst-2914	80	5	launch	launch	VERB
ajst-2914	80	6	pig	pig	NOUN
ajst-2914	80	7	into	into	ADP
ajst-2914	80	8	the	the	DET
ajst-2914	80	9	pipe	pipe	NOUN
ajst-2914	80	10	,	,	PUNCT
ajst-2914	80	11	and	and	CCONJ
ajst-2914	80	12	use	use	VERB
ajst-2914	80	13	the	the	DET
ajst-2914	80	14	pressure	pressure	NOUN
ajst-2914	80	15	of	of	ADP
ajst-2914	80	16	fluid	fluid	NOUN
ajst-2914	80	17	in	in	ADP
ajst-2914	80	18	the	the	DET
ajst-2914	80	19	pipe	pipe	NOUN
ajst-2914	80	20	to	to	PART
ajst-2914	80	21	convert	convert	VERB
ajst-2914	80	22	it	it	PRON
ajst-2914	80	23	into	into	ADP
ajst-2914	80	24	the	the	DET
ajst-2914	80	25	power	power	NOUN
ajst-2914	80	26	of	of	ADP
ajst-2914	80	27	robot	robot	NOUN
ajst-2914	80	28	motion	motion	NOUN
ajst-2914	80	29	,	,	PUNCT
ajst-2914	80	30	which	which	PRON
ajst-2914	80	31	can	can	AUX
ajst-2914	80	32	accurately	accurately	ADV
ajst-2914	80	33	control	control	VERB
ajst-2914	80	34	its	its	PRON
ajst-2914	80	35	speed	speed	NOUN
ajst-2914	80	36	,	,	PUNCT
ajst-2914	80	37	and	and	CCONJ
ajst-2914	80	38	the	the	DET
ajst-2914	80	39	robot	robot	NOUN
ajst-2914	80	40	can	can	AUX
ajst-2914	80	41	operate	operate	VERB
ajst-2914	80	42	very	very	ADV
ajst-2914	80	43	stably	stably	ADV
ajst-2914	80	44	[	[	X
ajst-2914	80	45	17	17	NUM
ajst-2914	80	46	]	]	PUNCT
ajst-2914	80	47	.	.	PUNCT
ajst-2914	81	1	however	however	ADV
ajst-2914	81	2	,	,	PUNCT
ajst-2914	81	3	because	because	SCONJ
ajst-2914	81	4	the	the	DET
ajst-2914	81	5	pressure	pressure	NOUN
ajst-2914	81	6	of	of	ADP
ajst-2914	81	7	fluid	fluid	NOUN
ajst-2914	81	8	is	be	AUX
ajst-2914	81	9	used	use	VERB
ajst-2914	81	10	as	as	ADP
ajst-2914	81	11	the	the	DET
ajst-2914	81	12	driving	driving	NOUN
ajst-2914	81	13	source	source	NOUN
ajst-2914	81	14	,	,	PUNCT
ajst-2914	81	15	the	the	DET
ajst-2914	81	16	motion	motion	NOUN
ajst-2914	81	17	of	of	ADP
ajst-2914	81	18	pig	pig	NOUN
ajst-2914	81	19	robot	robot	NOUN
ajst-2914	81	20	is	be	AUX
ajst-2914	81	21	limited	limit	VERB
ajst-2914	81	22	to	to	ADP
ajst-2914	81	23	the	the	DET
ajst-2914	81	24	large	large	ADJ
ajst-2914	81	25	diameter	diameter	NOUN
ajst-2914	81	26	pipeline	pipeline	NOUN
ajst-2914	81	27	with	with	ADP
ajst-2914	81	28	sufficient	sufficient	ADJ
ajst-2914	81	29	pressure	pressure	NOUN
ajst-2914	81	30	conditions	condition	NOUN
ajst-2914	81	31	.	.	PUNCT
ajst-2914	82	1	the	the	DET
ajst-2914	82	2	problems	problem	NOUN
ajst-2914	82	3	of	of	ADP
ajst-2914	82	4	traditional	traditional	ADJ
ajst-2914	82	5	pig	pig	NOUN
ajst-2914	82	6	are	be	AUX
ajst-2914	82	7	mainly	mainly	ADV
ajst-2914	82	8	due	due	ADP
ajst-2914	82	9	to	to	ADP
ajst-2914	82	10	the	the	DET
ajst-2914	82	11	lack	lack	NOUN
ajst-2914	82	12	of	of	ADP
ajst-2914	82	13	failure	failure	NOUN
ajst-2914	82	14	activity	activity	NOUN
ajst-2914	82	15	caused	cause	VERB
ajst-2914	82	16	by	by	ADP
ajst-2914	82	17	the	the	DET
ajst-2914	82	18	change	change	NOUN
ajst-2914	82	19	of	of	ADP
ajst-2914	82	20	pipe	pipe	NOUN
ajst-2914	82	21	diameter	diameter	NOUN
ajst-2914	82	22	and	and	CCONJ
ajst-2914	82	23	sharp	sharp	ADJ
ajst-2914	82	24	turns	turn	NOUN
ajst-2914	82	25	.	.	PUNCT
ajst-2914	83	1	the	the	DET
ajst-2914	83	2	quick	quick	ADJ
ajst-2914	83	3	opening	opening	NOUN
ajst-2914	83	4	and	and	CCONJ
ajst-2914	83	5	closing	closing	NOUN
ajst-2914	83	6	of	of	ADP
ajst-2914	83	7	valves	valve	NOUN
ajst-2914	83	8	inevitably	inevitably	ADV
ajst-2914	83	9	produce	produce	VERB
ajst-2914	83	10	liquid	liquid	ADJ
ajst-2914	83	11	hammer	hammer	NOUN
ajst-2914	83	12	,	,	PUNCT
ajst-2914	83	13	which	which	PRON
ajst-2914	83	14	generates	generate	VERB
ajst-2914	83	15	pressure	pressure	NOUN
ajst-2914	83	16	in	in	ADP
ajst-2914	83	17	the	the	DET
ajst-2914	83	18	pipeline	pipeline	NOUN
ajst-2914	83	19	and	and	CCONJ
ajst-2914	83	20	reduces	reduce	VERB
ajst-2914	83	21	the	the	DET
ajst-2914	83	22	operation	operation	NOUN
ajst-2914	83	23	efficiency	efficiency	NOUN
ajst-2914	83	24	.	.	PUNCT
ajst-2914	84	1	the	the	DET
ajst-2914	84	2	wireless	wireless	ADJ
ajst-2914	84	3	communication	communication	NOUN
ajst-2914	84	4	remote	remote	ADJ
ajst-2914	84	5	control	control	NOUN
ajst-2914	84	6	adjustable	adjustable	ADJ
ajst-2914	84	7	structure	structure	NOUN
ajst-2914	84	8	improves	improve	VERB
ajst-2914	84	9	the	the	DET
ajst-2914	84	10	flexibility	flexibility	NOUN
ajst-2914	84	11	and	and	CCONJ
ajst-2914	84	12	mobility	mobility	NOUN
ajst-2914	84	13	of	of	ADP
ajst-2914	84	14	passing	pass	VERB
ajst-2914	84	15	through	through	ADP
ajst-2914	84	16	bends	bend	NOUN
ajst-2914	84	17	and	and	CCONJ
ajst-2914	84	18	branches	branch	NOUN
ajst-2914	84	19	by	by	ADP
ajst-2914	84	20	changing	change	VERB
ajst-2914	84	21	the	the	DET
ajst-2914	84	22	pipe	pipe	NOUN
ajst-2914	84	23	diameter	diameter	NOUN
ajst-2914	84	24	,	,	PUNCT
ajst-2914	84	25	and	and	CCONJ
ajst-2914	84	26	reduces	reduce	VERB
ajst-2914	84	27	the	the	DET
ajst-2914	84	28	impact	impact	NOUN
ajst-2914	84	29	of	of	ADP
ajst-2914	84	30	the	the	DET
ajst-2914	84	31	hydraulic	hydraulic	ADJ
ajst-2914	84	32	hammer	hammer	NOUN
ajst-2914	84	33	[	[	X
ajst-2914	84	34	18	18	NUM
ajst-2914	84	35	]	]	PUNCT
ajst-2914	84	36	.	.	PUNCT
ajst-2914	85	1	in	in	ADP
ajst-2914	85	2	order	order	NOUN
ajst-2914	85	3	to	to	PART
ajst-2914	85	4	improve	improve	VERB
ajst-2914	85	5	the	the	DET
ajst-2914	85	6	flexibility	flexibility	NOUN
ajst-2914	85	7	of	of	ADP
ajst-2914	85	8	pig	pig	NOUN
ajst-2914	85	9	robot	robot	NOUN
ajst-2914	85	10	through	through	ADP
ajst-2914	85	11	bending	bend	VERB
ajst-2914	85	12	pipes	pipe	NOUN
ajst-2914	85	13	,	,	PUNCT
ajst-2914	85	14	ramirez	ramirez	PROPN
ajst-2914	85	15	martinez	martinez	PROPN
ajst-2914	85	16	et	et	PROPN
ajst-2914	85	17	al	al	PROPN
ajst-2914	85	18	.	.	PUNCT
ajst-2914	86	1	[	[	X
ajst-2914	86	2	19	19	NUM
ajst-2914	86	3	]	]	PUNCT
ajst-2914	86	4	,	,	PUNCT
ajst-2914	86	5	developed	develop	VERB
ajst-2914	86	6	a	a	DET
ajst-2914	86	7	geometrically	geometrically	ADV
ajst-2914	86	8	adjusted	adjust	VERB
ajst-2914	86	9	pig	pig	NOUN
ajst-2914	86	10	robot	robot	NOUN
ajst-2914	86	11	,	,	PUNCT
ajst-2914	86	12	which	which	PRON
ajst-2914	86	13	can	can	AUX
ajst-2914	86	14	improve	improve	VERB
ajst-2914	86	15	the	the	DET
ajst-2914	86	16	detection	detection	NOUN
ajst-2914	86	17	accuracy	accuracy	NOUN
ajst-2914	86	18	by	by	ADP
ajst-2914	86	19	carrying	carry	VERB
ajst-2914	86	20	ultrasonic	ultrasonic	ADJ
ajst-2914	86	21	sensors	sensor	NOUN
ajst-2914	86	22	through	through	ADP
ajst-2914	86	23	concave	concave	NOUN
ajst-2914	86	24	and	and	CCONJ
ajst-2914	86	25	convex	convex	ADJ
ajst-2914	86	26	pipes	pipe	NOUN
ajst-2914	86	27	.	.	PUNCT
ajst-2914	87	1	the	the	DET
ajst-2914	87	2	system	system	NOUN
ajst-2914	87	3	reduces	reduce	VERB
ajst-2914	87	4	the	the	DET
ajst-2914	87	5	risk	risk	NOUN
ajst-2914	87	6	of	of	ADP
ajst-2914	87	7	pig	pig	NOUN
ajst-2914	87	8	robot	robot	NOUN
ajst-2914	87	9	being	be	AUX
ajst-2914	87	10	stuck	stick	VERB
ajst-2914	87	11	in	in	ADP
ajst-2914	87	12	the	the	DET
ajst-2914	87	13	pipeline	pipeline	NOUN
ajst-2914	87	14	,	,	PUNCT
ajst-2914	87	15	and	and	CCONJ
ajst-2914	87	16	has	have	VERB
ajst-2914	87	17	a	a	DET
ajst-2914	87	18	joint	joint	ADJ
ajst-2914	87	19	drive	drive	NOUN
ajst-2914	87	20	system	system	NOUN
ajst-2914	87	21	,	,	PUNCT
ajst-2914	87	22	which	which	PRON
ajst-2914	87	23	can	can	AUX
ajst-2914	87	24	reduce	reduce	VERB
ajst-2914	87	25	the	the	DET
ajst-2914	87	26	energy	energy	NOUN
ajst-2914	87	27	consumption	consumption	NOUN
ajst-2914	87	28	of	of	ADP
ajst-2914	87	29	the	the	DET
ajst-2914	87	30	system	system	NOUN
ajst-2914	87	31	.	.	PUNCT
ajst-2914	88	1	the	the	DET
ajst-2914	88	2	increase	increase	NOUN
ajst-2914	88	3	of	of	ADP
ajst-2914	88	4	the	the	DET
ajst-2914	88	5	pressure	pressure	NOUN
ajst-2914	88	6	in	in	ADP
ajst-2914	88	7	the	the	DET
ajst-2914	88	8	pipe	pipe	NOUN
ajst-2914	88	9	will	will	AUX
ajst-2914	88	10	lead	lead	VERB
ajst-2914	88	11	to	to	ADP
ajst-2914	88	12	the	the	DET
ajst-2914	88	13	increase	increase	NOUN
ajst-2914	88	14	of	of	ADP
ajst-2914	88	15	the	the	DET
ajst-2914	88	16	robot	robot	NOUN
ajst-2914	88	17	's	's	PART
ajst-2914	88	18	motion	motion	NOUN
ajst-2914	88	19	speed	speed	NOUN
ajst-2914	88	20	,	,	PUNCT
ajst-2914	88	21	which	which	PRON
ajst-2914	88	22	will	will	AUX
ajst-2914	88	23	cause	cause	VERB
ajst-2914	88	24	wear	wear	VERB
ajst-2914	88	25	to	to	ADP
ajst-2914	88	26	the	the	DET
ajst-2914	88	27	pipe	pipe	NOUN
ajst-2914	88	28	wall	wall	NOUN
ajst-2914	88	29	and	and	CCONJ
ajst-2914	88	30	damage	damage	NOUN
ajst-2914	88	31	to	to	ADP
ajst-2914	88	32	the	the	DET
ajst-2914	88	33	robot	robot	NOUN
ajst-2914	88	34	itself	itself	PRON
ajst-2914	88	35	.	.	PUNCT
ajst-2914	89	1	in	in	ADP
ajst-2914	89	2	this	this	DET
ajst-2914	89	3	regard	regard	NOUN
ajst-2914	89	4	,	,	PUNCT
ajst-2914	89	5	mishra	mishra	PROPN
ajst-2914	89	6	et	et	PROPN
ajst-2914	89	7	al	al	PROPN
ajst-2914	89	8	.	.	PUNCT
ajst-2914	90	1	[	[	X
ajst-2914	90	2	20]	20]	NUM
ajst-2914	90	3	�	�	NOUN
ajst-2914	90	4	proposed	propose	VERB
ajst-2914	90	5	a	a	DET
ajst-2914	90	6	pipeline	pipeline	NOUN
ajst-2914	90	7	inspection	inspection	NOUN
ajst-2914	90	8	robot	robot	NOUN
ajst-2914	90	9	based	base	VERB
ajst-2914	90	10	on	on	ADP
ajst-2914	90	11	the	the	DET
ajst-2914	90	12	kinematics	kinematics	NOUN
ajst-2914	90	13	model	model	NOUN
ajst-2914	90	14	that	that	PRON
ajst-2914	90	15	predicts	predict	VERB
ajst-2914	90	16	the	the	DET
ajst-2914	90	17	position	position	NOUN
ajst-2914	90	18	of	of	ADP
ajst-2914	90	19	the	the	DET
ajst-2914	90	20	robot	robot	NOUN
ajst-2914	90	21	in	in	ADP
ajst-2914	90	22	the	the	DET
ajst-2914	90	23	pipeline	pipeline	NOUN
ajst-2914	90	24	.	.	PUNCT
ajst-2914	91	1	the	the	DET
ajst-2914	91	2	robot	robot	NOUN
ajst-2914	91	3	is	be	AUX
ajst-2914	91	4	equipped	equip	VERB
ajst-2914	91	5	with	with	ADP
ajst-2914	91	6	a	a	DET
ajst-2914	91	7	variety	variety	NOUN
ajst-2914	91	8	of	of	ADP
ajst-2914	91	9	sensors	sensor	NOUN
ajst-2914	91	10	,	,	PUNCT
ajst-2914	91	11	which	which	PRON
ajst-2914	91	12	are	be	AUX
ajst-2914	91	13	used	use	VERB
ajst-2914	91	14	to	to	PART
ajst-2914	91	15	cross	cross	VERB
ajst-2914	91	16	the	the	DET
ajst-2914	91	17	crude	crude	ADJ
ajst-2914	91	18	oil	oil	NOUN
ajst-2914	91	19	pipeline	pipeline	NOUN
ajst-2914	91	20	to	to	PART
ajst-2914	91	21	achieve	achieve	VERB
ajst-2914	91	22	pipeline	pipeline	NOUN
ajst-2914	91	23	cleaning	cleaning	NOUN
ajst-2914	91	24	and	and	CCONJ
ajst-2914	91	25	leakage	leakage	NOUN
ajst-2914	91	26	detection	detection	NOUN
ajst-2914	91	27	,	,	PUNCT
ajst-2914	91	28	as	as	SCONJ
ajst-2914	91	29	shown	show	VERB
ajst-2914	91	30	in	in	ADP
ajst-2914	91	31	figure	figure	NOUN
ajst-2914	91	32	6	6	NUM
ajst-2914	91	33	.	.	PUNCT
ajst-2914	92	1	the	the	DET
ajst-2914	92	2	pipeline	pipeline	NOUN
ajst-2914	92	3	robot	robot	NOUN
ajst-2914	92	4	can	can	AUX
ajst-2914	92	5	keep	keep	VERB
ajst-2914	92	6	the	the	DET
ajst-2914	92	7	speed	speed	NOUN
ajst-2914	92	8	unchanged	unchanged	ADJ
ajst-2914	92	9	during	during	ADP
ajst-2914	92	10	operation	operation	NOUN
ajst-2914	92	11	,	,	PUNCT
ajst-2914	92	12	and	and	CCONJ
ajst-2914	92	13	has	have	VERB
ajst-2914	92	14	no	no	DET
ajst-2914	92	15	damage	damage	NOUN
ajst-2914	92	16	to	to	ADP
ajst-2914	92	17	the	the	DET
ajst-2914	92	18	pipe	pipe	NOUN
ajst-2914	92	19	wall	wall	NOUN
ajst-2914	92	20	during	during	ADP
ajst-2914	92	21	operation	operation	NOUN
ajst-2914	92	22	.	.	PUNCT
ajst-2914	93	1	figure	figure	NOUN
ajst-2914	93	2	6	6	NUM
ajst-2914	93	3	.	.	PUNCT
ajst-2914	94	1	pig	pig	NOUN
ajst-2914	94	2	robot	robot	NOUN
ajst-2914	94	3	pasha	pasha	PROPN
ajst-2914	94	4	et	et	PROPN
ajst-2914	94	5	al	al	PROPN
ajst-2914	94	6	.	.	PUNCT
ajst-2914	95	1	[	[	X
ajst-2914	95	2	21	21	NUM
ajst-2914	95	3	]	]	PUNCT
ajst-2914	95	4	,	,	PUNCT
ajst-2914	95	5	proposed	propose	VERB
ajst-2914	95	6	a	a	DET
ajst-2914	95	7	low	low	ADJ
ajst-2914	95	8	-	-	PUNCT
ajst-2914	95	9	cost	cost	NOUN
ajst-2914	95	10	pipeline	pipeline	NOUN
ajst-2914	95	11	nondestructive	nondestructive	ADJ
ajst-2914	95	12	testing	testing	NOUN
ajst-2914	95	13	robot	robot	NOUN
ajst-2914	95	14	based	base	VERB
ajst-2914	95	15	on	on	ADP
ajst-2914	95	16	magnetic	magnetic	ADJ
ajst-2914	95	17	flux	flux	NOUN
ajst-2914	95	18	leakage	leakage	NOUN
ajst-2914	95	19	testing	testing	NOUN
ajst-2914	95	20	technology	technology	NOUN
ajst-2914	95	21	.	.	PUNCT
ajst-2914	96	1	the	the	DET
ajst-2914	96	2	robot	robot	NOUN
ajst-2914	96	3	consists	consist	VERB
ajst-2914	96	4	of	of	ADP
ajst-2914	96	5	a	a	DET
ajst-2914	96	6	circular	circular	ADJ
ajst-2914	96	7	ceramic	ceramic	ADJ
ajst-2914	96	8	disk	disk	NOUN
ajst-2914	96	9	.	.	PUNCT
ajst-2914	97	1	this	this	DET
ajst-2914	97	2	disc	disc	NOUN
ajst-2914	97	3	helps	help	VERB
ajst-2914	97	4	to	to	PART
ajst-2914	97	5	produce	produce	VERB
ajst-2914	97	6	and	and	CCONJ
ajst-2914	97	7	distribute	distribute	VERB
ajst-2914	97	8	magnetic	magnetic	ADJ
ajst-2914	97	9	flux	flux	NOUN
ajst-2914	97	10	uniformly	uniformly	ADV
ajst-2914	97	11	throughout	throughout	ADP
ajst-2914	97	12	the	the	DET
ajst-2914	97	13	pipe	pipe	NOUN
ajst-2914	97	14	.	.	PUNCT
ajst-2914	98	1	the	the	DET
ajst-2914	98	2	magnetic	magnetic	PROPN
ajst-2914	98	3	flux	flux	PROPN
ajst-2914	98	4	generated	generate	VERB
ajst-2914	98	5	is	be	AUX
ajst-2914	98	6	determined	determine	VERB
ajst-2914	98	7	by	by	ADP
ajst-2914	98	8	mag3110	mag3110	NOUN
ajst-2914	98	9	tmr	tmr	PROPN
ajst-2914	98	10	sensor	sensor	NOUN
ajst-2914	98	11	and	and	CCONJ
ajst-2914	98	12	hmc5380	hmc5380	ADJ
ajst-2914	98	13	amr	amr	NOUN
ajst-2914	98	14	sensor	sensor	NOUN
ajst-2914	98	15	.	.	PUNCT
ajst-2914	99	1	the	the	DET
ajst-2914	99	2	experimental	experimental	ADJ
ajst-2914	99	3	results	result	NOUN
ajst-2914	99	4	show	show	VERB
ajst-2914	99	5	that	that	SCONJ
ajst-2914	99	6	amr	amr	PROPN
ajst-2914	99	7	and	and	CCONJ
ajst-2914	99	8	tmr	tmr	NUM
ajst-2914	99	9	magnetometers	magnetometer	NOUN
ajst-2914	99	10	combined	combine	VERB
ajst-2914	99	11	with	with	ADP
ajst-2914	99	12	permanent	permanent	ADJ
ajst-2914	99	13	magnets	magnet	NOUN
ajst-2914	99	14	can	can	AUX
ajst-2914	99	15	detect	detect	VERB
ajst-2914	99	16	defects	defect	NOUN
ajst-2914	99	17	in	in	ADP
ajst-2914	99	18	ferromagnetic	ferromagnetic	ADJ
ajst-2914	99	19	pipes	pipe	NOUN
ajst-2914	99	20	.	.	PUNCT
ajst-2914	100	1	tan	tan	PROPN
ajst-2914	100	2	et	et	PROPN
ajst-2914	100	3	al.[22	al.[22	PROPN
ajst-2914	100	4	]	]	PUNCT
ajst-2914	100	5	,	,	PUNCT
ajst-2914	100	6	designed	design	VERB
ajst-2914	100	7	a	a	DET
ajst-2914	100	8	speed	speed	NOUN
ajst-2914	100	9	regulating	regulate	VERB
ajst-2914	100	10	pig	pig	NOUN
ajst-2914	100	11	robot	robot	NOUN
ajst-2914	100	12	based	base	VERB
ajst-2914	100	13	on	on	ADP
ajst-2914	100	14	butterfly	butterfly	NOUN
ajst-2914	100	15	bypass	bypass	NOUN
ajst-2914	100	16	valve	valve	NOUN
ajst-2914	100	17	,	,	PUNCT
ajst-2914	100	18	as	as	SCONJ
ajst-2914	100	19	shown	show	VERB
ajst-2914	100	20	in	in	ADP
ajst-2914	100	21	figure	figure	NOUN
ajst-2914	100	22	7	7	NUM
ajst-2914	100	23	.	.	PUNCT
ajst-2914	101	1	it	it	PRON
ajst-2914	101	2	consists	consist	VERB
ajst-2914	101	3	of	of	ADP
ajst-2914	101	4	pig	pig	NOUN
ajst-2914	101	5	main	main	ADJ
ajst-2914	101	6	body	body	NOUN
ajst-2914	101	7	,	,	PUNCT
ajst-2914	101	8	control	control	NOUN
ajst-2914	101	9	unit	unit	NOUN
ajst-2914	101	10	,	,	PUNCT
ajst-2914	101	11	execution	execution	NOUN
ajst-2914	101	12	unit	unit	NOUN
ajst-2914	101	13	and	and	CCONJ
ajst-2914	101	14	speed	speed	NOUN
ajst-2914	101	15	acquisition	acquisition	NOUN
ajst-2914	101	16	unit	unit	NOUN
ajst-2914	101	17	.	.	PUNCT
ajst-2914	102	1	the	the	DET
ajst-2914	102	2	valve	valve	NOUN
ajst-2914	102	3	structure	structure	NOUN
ajst-2914	102	4	includes	include	VERB
ajst-2914	102	5	a	a	DET
ajst-2914	102	6	slider	slider	NOUN
ajst-2914	102	7	crank	crank	NOUN
ajst-2914	102	8	mechanism	mechanism	NOUN
ajst-2914	102	9	to	to	PART
ajst-2914	102	10	drive	drive	VERB
ajst-2914	102	11	the	the	DET
ajst-2914	102	12	butterfly	butterfly	NOUN
ajst-2914	102	13	valve	valve	NOUN
ajst-2914	102	14	and	and	CCONJ
ajst-2914	102	15	regulate	regulate	VERB
ajst-2914	102	16	the	the	DET
ajst-2914	102	17	flow	flow	NOUN
ajst-2914	102	18	and	and	CCONJ
ajst-2914	102	19	speed	speed	NOUN
ajst-2914	102	20	of	of	ADP
ajst-2914	102	21	the	the	DET
ajst-2914	102	22	pig	pig	NOUN
ajst-2914	102	23	robot	robot	NOUN
ajst-2914	102	24	.	.	PUNCT
ajst-2914	103	1	the	the	DET
ajst-2914	103	2	butterfly	butterfly	NOUN
ajst-2914	103	3	valve	valve	NOUN
ajst-2914	103	4	bypass	bypass	NOUN
ajst-2914	103	5	valve	valve	NOUN
ajst-2914	103	6	is	be	AUX
ajst-2914	103	7	composed	compose	VERB
ajst-2914	103	8	of	of	ADP
ajst-2914	103	9	valve	valve	NOUN
ajst-2914	103	10	disc	disc	NOUN
ajst-2914	103	11	,	,	PUNCT
ajst-2914	103	12	push	push	VERB
ajst-2914	103	13	rod	rod	NOUN
ajst-2914	103	14	and	and	CCONJ
ajst-2914	103	15	bearing	bear	VERB
ajst-2914	103	16	seat	seat	NOUN
ajst-2914	103	17	above	above	ADP
ajst-2914	103	18	137	137	NUM
ajst-2914	103	19	the	the	DET
ajst-2914	103	20	support	support	NOUN
ajst-2914	103	21	valve	valve	NOUN
ajst-2914	103	22	disc	disc	NOUN
ajst-2914	103	23	.	.	PUNCT
ajst-2914	104	1	in	in	ADP
ajst-2914	104	2	addition	addition	NOUN
ajst-2914	104	3	,	,	PUNCT
ajst-2914	104	4	three	three	NUM
ajst-2914	104	5	odometer	odometer	NOUN
ajst-2914	104	6	wheels	wheel	NOUN
ajst-2914	104	7	are	be	AUX
ajst-2914	104	8	located	locate	VERB
ajst-2914	104	9	at	at	ADP
ajst-2914	104	10	the	the	DET
ajst-2914	104	11	rear	rear	NOUN
ajst-2914	104	12	of	of	ADP
ajst-2914	104	13	the	the	DET
ajst-2914	104	14	robot	robot	NOUN
ajst-2914	104	15	,	,	PUNCT
ajst-2914	104	16	which	which	PRON
ajst-2914	104	17	provides	provide	VERB
ajst-2914	104	18	the	the	DET
ajst-2914	104	19	speed	speed	NOUN
ajst-2914	104	20	and	and	CCONJ
ajst-2914	104	21	position	position	NOUN
ajst-2914	104	22	of	of	ADP
ajst-2914	104	23	pig	pig	NOUN
ajst-2914	104	24	in	in	ADP
ajst-2914	104	25	the	the	DET
ajst-2914	104	26	pipeline	pipeline	NOUN
ajst-2914	104	27	.	.	PUNCT
ajst-2914	105	1	figure	figure	VERB
ajst-2914	105	2	7	7	NUM
ajst-2914	105	3	.	.	PUNCT
ajst-2914	106	1	the	the	DET
ajst-2914	106	2	structure	structure	NOUN
ajst-2914	106	3	of	of	ADP
ajst-2914	106	4	butterfly	butterfly	NOUN
ajst-2914	106	5	bypass	bypass	NOUN
ajst-2914	106	6	valve	valve	NOUN
ajst-2914	106	7	speed	speed	NOUN
ajst-2914	106	8	regulating	regulating	NOUN
ajst-2914	106	9	robot	robot	NOUN
ajst-2914	106	10	dacon	dacon	NOUN
ajst-2914	106	11	inspection	inspection	PROPN
ajst-2914	106	12	services	services	PROPN
ajst-2914	106	13	co.	co.	PROPN
ajst-2914	106	14	,	,	PUNCT
ajst-2914	106	15	ltd	ltd	PROPN
ajst-2914	106	16	.	.	PROPN
ajst-2914	106	17	has	have	AUX
ajst-2914	106	18	designed	design	VERB
ajst-2914	106	19	an	an	DET
ajst-2914	106	20	in	in	ADP
ajst-2914	106	21	pipe	pipe	NOUN
ajst-2914	106	22	inspection	inspection	NOUN
ajst-2914	106	23	robot	robot	NOUN
ajst-2914	106	24	system	system	NOUN
ajst-2914	106	25	that	that	PRON
ajst-2914	106	26	can	can	AUX
ajst-2914	106	27	inspect	inspect	VERB
ajst-2914	106	28	90	90	NUM
ajst-2914	106	29	degrees	degree	NOUN
ajst-2914	106	30	bends	bend	NOUN
ajst-2914	106	31	.	.	PUNCT
ajst-2914	107	1	seesnake	seesnake	NOUN
ajst-2914	107	2	,	,	PUNCT
ajst-2914	107	3	a	a	DET
ajst-2914	107	4	flexible	flexible	ADJ
ajst-2914	107	5	pipeline	pipeline	NOUN
ajst-2914	107	6	robot	robot	NOUN
ajst-2914	107	7	system	system	NOUN
ajst-2914	107	8	developed	develop	VERB
ajst-2914	107	9	by	by	ADP
ajst-2914	107	10	the	the	DET
ajst-2914	107	11	company	company	NOUN
ajst-2914	107	12	,	,	PUNCT
ajst-2914	107	13	is	be	AUX
ajst-2914	107	14	equipped	equip	VERB
ajst-2914	107	15	with	with	ADP
ajst-2914	107	16	mfl	mfl	PROPN
ajst-2914	107	17	sensors	sensor	NOUN
ajst-2914	107	18	to	to	PART
ajst-2914	107	19	detect	detect	VERB
ajst-2914	107	20	and	and	CCONJ
ajst-2914	107	21	measure	measure	NOUN
ajst-2914	107	22	wax	wax	NOUN
ajst-2914	107	23	,	,	PUNCT
ajst-2914	107	24	scale	scale	NOUN
ajst-2914	107	25	and	and	CCONJ
ajst-2914	107	26	non	non	ADJ
ajst-2914	107	27	-	-	ADJ
ajst-2914	107	28	magnetic	magnetic	ADJ
ajst-2914	107	29	gaskets	gasket	NOUN
ajst-2914	107	30	in	in	ADP
ajst-2914	107	31	the	the	DET
ajst-2914	107	32	pipeline	pipeline	NOUN
ajst-2914	108	1	[	[	X
ajst-2914	108	2	23	23	NUM
ajst-2914	108	3	]	]	PUNCT
ajst-2914	108	4	.	.	PUNCT
ajst-2914	109	1	many	many	ADJ
ajst-2914	109	2	robots	robot	NOUN
ajst-2914	109	3	developed	develop	VERB
ajst-2914	109	4	by	by	ADP
ajst-2914	109	5	rosen	rosen	PROPN
ajst-2914	109	6	group	group	PROPN
ajst-2914	109	7	are	be	AUX
ajst-2914	109	8	used	use	VERB
ajst-2914	109	9	for	for	ADP
ajst-2914	109	10	pipeline	pipeline	NOUN
ajst-2914	109	11	cleaning	cleaning	NOUN
ajst-2914	109	12	and	and	CCONJ
ajst-2914	109	13	inspection	inspection	NOUN
ajst-2914	109	14	.	.	PUNCT
ajst-2914	110	1	in	in	ADP
ajst-2914	110	2	the	the	DET
ajst-2914	110	3	pipeline	pipeline	NOUN
ajst-2914	110	4	,	,	PUNCT
ajst-2914	110	5	there	there	PRON
ajst-2914	110	6	are	be	VERB
ajst-2914	110	7	several	several	ADJ
ajst-2914	110	8	wheels	wheel	NOUN
ajst-2914	110	9	in	in	ADP
ajst-2914	110	10	front	front	NOUN
ajst-2914	110	11	of	of	ADP
ajst-2914	110	12	and	and	CCONJ
ajst-2914	110	13	behind	behind	ADP
ajst-2914	110	14	the	the	DET
ajst-2914	110	15	robot	robot	NOUN
ajst-2914	110	16	,	,	PUNCT
ajst-2914	110	17	and	and	CCONJ
ajst-2914	110	18	the	the	DET
ajst-2914	110	19	center	center	NOUN
ajst-2914	110	20	is	be	AUX
ajst-2914	110	21	supported	support	VERB
ajst-2914	110	22	by	by	ADP
ajst-2914	110	23	a	a	DET
ajst-2914	110	24	cup	cup	NOUN
ajst-2914	110	25	or	or	CCONJ
ajst-2914	110	26	disk	disk	NOUN
ajst-2914	110	27	.	.	PUNCT
ajst-2914	111	1	the	the	DET
ajst-2914	111	2	robot	robot	NOUN
ajst-2914	111	3	system	system	NOUN
ajst-2914	111	4	is	be	AUX
ajst-2914	111	5	developed	develop	VERB
ajst-2914	111	6	for	for	ADP
ajst-2914	111	7	cleaning	clean	VERB
ajst-2914	111	8	with	with	ADP
ajst-2914	111	9	brush	brush	NOUN
ajst-2914	111	10	magnet	magnet	NOUN
ajst-2914	111	11	.	.	PUNCT
ajst-2914	112	1	the	the	DET
ajst-2914	112	2	system	system	NOUN
ajst-2914	112	3	is	be	AUX
ajst-2914	112	4	called	call	VERB
ajst-2914	112	5	rocombo	rocombo	PROPN
ajst-2914	112	6	mfl	mfl	PROPN
ajst-2914	112	7	-	-	PROPN
ajst-2914	112	8	a	a	PROPN
ajst-2914	112	9	/	/	SYM
ajst-2914	112	10	xt	xt	NOUN
ajst-2914	112	11	in	in	ADP
ajst-2914	112	12	line	line	NOUN
ajst-2914	112	13	service	service	NOUN
ajst-2914	112	14	and	and	CCONJ
ajst-2914	112	15	is	be	AUX
ajst-2914	112	16	used	use	VERB
ajst-2914	112	17	to	to	PART
ajst-2914	112	18	detect	detect	VERB
ajst-2914	112	19	metal	metal	NOUN
ajst-2914	112	20	loss	loss	NOUN
ajst-2914	112	21	and	and	CCONJ
ajst-2914	112	22	abnormality	abnormality	NOUN
ajst-2914	112	23	in	in	ADP
ajst-2914	112	24	the	the	DET
ajst-2914	112	25	pipeline	pipeline	NOUN
ajst-2914	112	26	.	.	PUNCT
ajst-2914	113	1	rocombo	rocombo	PROPN
ajst-2914	113	2	mfla	mfla	PROPN
ajst-2914	113	3	/	/	SYM
ajst-2914	113	4	xt	xt	PROPN
ajst-2914	113	5	,	,	PUNCT
ajst-2914	113	6	rocombo	rocombo	PROPN
ajst-2914	113	7	mfl	mfl	PROPN
ajst-2914	113	8	c	c	AUX
ajst-2914	113	9	/	/	SYM
ajst-2914	113	10	xt	xt	PROPN
ajst-2914	113	11	and	and	CCONJ
ajst-2914	113	12	rocombo	rocombo	PROPN
ajst-2914	113	13	mfl	mfl	PROPN
ajst-2914	113	14	-	-	PUNCT
ajst-2914	113	15	a	a	PRON
ajst-2914	113	16	require	require	NOUN
ajst-2914	113	17	a	a	DET
ajst-2914	113	18	minimum	minimum	ADJ
ajst-2914	113	19	turning	turning	NOUN
ajst-2914	113	20	radius	radius	NOUN
ajst-2914	113	21	or	or	CCONJ
ajst-2914	113	22	bending	bend	VERB
ajst-2914	113	23	radius	radius	NOUN
ajst-2914	113	24	of	of	ADP
ajst-2914	113	25	1.5	1.5	NUM
ajst-2914	113	26	times	time	NOUN
ajst-2914	113	27	the	the	DET
ajst-2914	113	28	pipe	pipe	NOUN
ajst-2914	113	29	diameter	diameter	NOUN
ajst-2914	114	1	[	[	X
ajst-2914	114	2	24	24	NUM
ajst-2914	114	3	]	]	PUNCT
ajst-2914	114	4	.	.	PUNCT
ajst-2914	115	1	2.4	2.4	NUM
ajst-2914	115	2	.	.	PUNCT
ajst-2914	115	3	screw	screw	VERB
ajst-2914	115	4	driven	drive	VERB
ajst-2914	115	5	robot	robot	NOUN
ajst-2914	115	6	the	the	DET
ajst-2914	115	7	front	front	ADJ
ajst-2914	115	8	wheels	wheel	NOUN
ajst-2914	115	9	of	of	ADP
ajst-2914	115	10	the	the	DET
ajst-2914	115	11	screw	screw	NOUN
ajst-2914	115	12	driven	drive	VERB
ajst-2914	115	13	pipe	pipe	NOUN
ajst-2914	115	14	inspection	inspection	NOUN
ajst-2914	115	15	robot	robot	NOUN
ajst-2914	115	16	incline	incline	NOUN
ajst-2914	115	17	at	at	ADP
ajst-2914	115	18	a	a	DET
ajst-2914	115	19	certain	certain	ADJ
ajst-2914	115	20	angle	angle	NOUN
ajst-2914	115	21	to	to	PART
ajst-2914	115	22	control	control	VERB
ajst-2914	115	23	the	the	DET
ajst-2914	115	24	circular	circular	ADJ
ajst-2914	115	25	motion	motion	NOUN
ajst-2914	115	26	of	of	ADP
ajst-2914	115	27	the	the	DET
ajst-2914	115	28	robot	robot	NOUN
ajst-2914	115	29	.	.	PUNCT
ajst-2914	116	1	therefore	therefore	ADV
ajst-2914	116	2	,	,	PUNCT
ajst-2914	116	3	in	in	ADP
ajst-2914	116	4	the	the	DET
ajst-2914	116	5	process	process	NOUN
ajst-2914	116	6	of	of	ADP
ajst-2914	116	7	driving	drive	VERB
ajst-2914	116	8	motion	motion	NOUN
ajst-2914	116	9	,	,	PUNCT
ajst-2914	116	10	the	the	DET
ajst-2914	116	11	robot	robot	NOUN
ajst-2914	116	12	has	have	VERB
ajst-2914	116	13	both	both	CCONJ
ajst-2914	116	14	rotary	rotary	ADJ
ajst-2914	116	15	motion	motion	NOUN
ajst-2914	116	16	and	and	CCONJ
ajst-2914	116	17	translational	translational	ADJ
ajst-2914	116	18	motion	motion	NOUN
ajst-2914	116	19	[	[	X
ajst-2914	116	20	25	25	NUM
ajst-2914	116	21	]	]	PUNCT
ajst-2914	116	22	.	.	PUNCT
ajst-2914	117	1	these	these	DET
ajst-2914	117	2	robots	robot	NOUN
ajst-2914	117	3	use	use	VERB
ajst-2914	117	4	fewer	few	ADJ
ajst-2914	117	5	actuators	actuator	NOUN
ajst-2914	117	6	,	,	PUNCT
ajst-2914	117	7	which	which	PRON
ajst-2914	117	8	is	be	AUX
ajst-2914	117	9	conducive	conducive	ADJ
ajst-2914	117	10	to	to	ADP
ajst-2914	117	11	reducing	reduce	VERB
ajst-2914	117	12	weight	weight	NOUN
ajst-2914	117	13	,	,	PUNCT
ajst-2914	117	14	power	power	NOUN
ajst-2914	117	15	consumption	consumption	NOUN
ajst-2914	117	16	,	,	PUNCT
ajst-2914	117	17	and	and	CCONJ
ajst-2914	117	18	production	production	NOUN
ajst-2914	117	19	and	and	CCONJ
ajst-2914	117	20	maintenance	maintenance	NOUN
ajst-2914	117	21	costs	cost	NOUN
ajst-2914	117	22	.	.	PUNCT
ajst-2914	118	1	the	the	DET
ajst-2914	118	2	screw	screw	NOUN
ajst-2914	118	3	driven	drive	VERB
ajst-2914	118	4	robot	robot	NOUN
ajst-2914	118	5	is	be	AUX
ajst-2914	118	6	very	very	ADV
ajst-2914	118	7	flexible	flexible	ADJ
ajst-2914	118	8	and	and	CCONJ
ajst-2914	118	9	can	can	AUX
ajst-2914	118	10	adapt	adapt	VERB
ajst-2914	118	11	to	to	ADP
ajst-2914	118	12	pipes	pipe	NOUN
ajst-2914	118	13	of	of	ADP
ajst-2914	118	14	different	different	ADJ
ajst-2914	118	15	diameters	diameter	NOUN
ajst-2914	118	16	.	.	PUNCT
ajst-2914	119	1	kurata	kurata	PROPN
ajst-2914	119	2	et	et	PROPN
ajst-2914	119	3	al	al	PROPN
ajst-2914	119	4	.	.	PUNCT
ajst-2914	120	1	[	[	X
ajst-2914	120	2	26	26	NUM
ajst-2914	120	3	]	]	PUNCT
ajst-2914	120	4	,	,	PUNCT
ajst-2914	120	5	proposed	propose	VERB
ajst-2914	120	6	a	a	DET
ajst-2914	120	7	spiral	spiral	ADJ
ajst-2914	120	8	rotating	rotate	VERB
ajst-2914	120	9	inspection	inspection	NOUN
ajst-2914	120	10	robot	robot	NOUN
ajst-2914	120	11	for	for	ADP
ajst-2914	120	12	flexible	flexible	ADJ
ajst-2914	120	13	pipes	pipe	NOUN
ajst-2914	120	14	.	.	PUNCT
ajst-2914	121	1	the	the	DET
ajst-2914	121	2	whole	whole	ADJ
ajst-2914	121	3	body	body	NOUN
ajst-2914	121	4	of	of	ADP
ajst-2914	121	5	this	this	DET
ajst-2914	121	6	type	type	NOUN
ajst-2914	121	7	of	of	ADP
ajst-2914	121	8	robot	robot	NOUN
ajst-2914	121	9	is	be	AUX
ajst-2914	121	10	in	in	ADP
ajst-2914	121	11	spiral	spiral	ADJ
ajst-2914	121	12	motion	motion	NOUN
ajst-2914	121	13	,	,	PUNCT
ajst-2914	121	14	and	and	CCONJ
ajst-2914	121	15	the	the	DET
ajst-2914	121	16	body	body	NOUN
ajst-2914	121	17	will	will	AUX
ajst-2914	121	18	not	not	PART
ajst-2914	121	19	drag	drag	VERB
ajst-2914	121	20	along	along	ADP
ajst-2914	121	21	the	the	DET
ajst-2914	121	22	pipe	pipe	NOUN
ajst-2914	121	23	wall	wall	NOUN
ajst-2914	121	24	,	,	PUNCT
ajst-2914	121	25	so	so	SCONJ
ajst-2914	121	26	it	it	PRON
ajst-2914	121	27	will	will	AUX
ajst-2914	121	28	not	not	PART
ajst-2914	121	29	harm	harm	VERB
ajst-2914	121	30	the	the	DET
ajst-2914	121	31	pipe	pipe	NOUN
ajst-2914	121	32	wall	wall	NOUN
ajst-2914	121	33	,	,	PUNCT
ajst-2914	121	34	and	and	CCONJ
ajst-2914	121	35	it	it	PRON
ajst-2914	121	36	will	will	AUX
ajst-2914	121	37	not	not	PART
ajst-2914	121	38	hinder	hinder	VERB
ajst-2914	121	39	the	the	DET
ajst-2914	121	40	flow	flow	NOUN
ajst-2914	121	41	of	of	ADP
ajst-2914	121	42	liquid	liquid	NOUN
ajst-2914	121	43	.	.	PUNCT
ajst-2914	122	1	the	the	DET
ajst-2914	122	2	spiral	spiral	ADJ
ajst-2914	122	3	motion	motion	NOUN
ajst-2914	122	4	of	of	ADP
ajst-2914	122	5	the	the	DET
ajst-2914	122	6	robot	robot	NOUN
ajst-2914	122	7	is	be	AUX
ajst-2914	122	8	realized	realize	VERB
ajst-2914	122	9	by	by	ADP
ajst-2914	122	10	manipulating	manipulate	VERB
ajst-2914	122	11	4	4	NUM
ajst-2914	122	12	pipe	pipe	NOUN
ajst-2914	122	13	columns	column	NOUN
ajst-2914	122	14	with	with	ADP
ajst-2914	122	15	4	4	NUM
ajst-2914	122	16	drivers	driver	NOUN
ajst-2914	122	17	.	.	PUNCT
ajst-2914	123	1	the	the	DET
ajst-2914	123	2	screw	screw	NOUN
ajst-2914	123	3	driven	drive	VERB
ajst-2914	123	4	pipeline	pipeline	NOUN
ajst-2914	123	5	inspection	inspection	NOUN
ajst-2914	123	6	robot	robot	NOUN
ajst-2914	123	7	is	be	AUX
ajst-2914	123	8	faced	face	VERB
ajst-2914	123	9	with	with	ADP
ajst-2914	123	10	the	the	DET
ajst-2914	123	11	problems	problem	NOUN
ajst-2914	123	12	of	of	ADP
ajst-2914	123	13	passing	pass	VERB
ajst-2914	123	14	through	through	ADP
ajst-2914	123	15	bends	bend	NOUN
ajst-2914	123	16	,	,	PUNCT
ajst-2914	123	17	branches	branch	NOUN
ajst-2914	123	18	and	and	CCONJ
ajst-2914	123	19	vertical	vertical	ADJ
ajst-2914	123	20	pipelines	pipeline	NOUN
ajst-2914	123	21	.	.	PUNCT
ajst-2914	124	1	li	li	PROPN
ajst-2914	124	2	peng	peng	PROPN
ajst-2914	124	3	et	et	PROPN
ajst-2914	124	4	al	al	PROPN
ajst-2914	124	5	.	.	PUNCT
ajst-2914	125	1	[	[	X
ajst-2914	125	2	27	27	NUM
ajst-2914	125	3	]	]	PUNCT
ajst-2914	125	4	,	,	PUNCT
ajst-2914	125	5	designed	design	VERB
ajst-2914	125	6	a	a	DET
ajst-2914	125	7	pipe	pipe	NOUN
ajst-2914	125	8	detection	detection	NOUN
ajst-2914	125	9	robot	robot	NOUN
ajst-2914	125	10	,	,	PUNCT
ajst-2914	125	11	which	which	PRON
ajst-2914	125	12	can	can	AUX
ajst-2914	125	13	not	not	PART
ajst-2914	125	14	only	only	ADV
ajst-2914	125	15	pass	pass	VERB
ajst-2914	125	16	obstacles	obstacle	NOUN
ajst-2914	125	17	,	,	PUNCT
ajst-2914	125	18	but	but	CCONJ
ajst-2914	125	19	also	also	ADV
ajst-2914	125	20	turn	turn	VERB
ajst-2914	125	21	in	in	ADP
ajst-2914	125	22	branches	branch	NOUN
ajst-2914	125	23	,	,	PUNCT
ajst-2914	125	24	and	and	CCONJ
ajst-2914	125	25	also	also	ADV
ajst-2914	125	26	adapt	adapt	VERB
ajst-2914	125	27	to	to	ADP
ajst-2914	125	28	changes	change	NOUN
ajst-2914	125	29	in	in	ADP
ajst-2914	125	30	pipe	pipe	NOUN
ajst-2914	125	31	structure	structure	NOUN
ajst-2914	125	32	,	,	PUNCT
ajst-2914	125	33	such	such	ADJ
ajst-2914	125	34	as	as	ADP
ajst-2914	125	35	moving	move	VERB
ajst-2914	125	36	in	in	ADP
ajst-2914	125	37	circular	circular	ADJ
ajst-2914	125	38	and	and	CCONJ
ajst-2914	125	39	square	square	ADJ
ajst-2914	125	40	pipes	pipe	NOUN
ajst-2914	125	41	.	.	PUNCT
ajst-2914	126	1	its	its	PRON
ajst-2914	126	2	motion	motion	NOUN
ajst-2914	126	3	mode	mode	NOUN
ajst-2914	126	4	is	be	AUX
ajst-2914	126	5	shown	show	VERB
ajst-2914	126	6	in	in	ADP
ajst-2914	126	7	figure	figure	NOUN
ajst-2914	126	8	8	8	NUM
ajst-2914	126	9	.	.	PUNCT
ajst-2914	127	1	figure	figure	VERB
ajst-2914	127	2	8	8	NUM
ajst-2914	127	3	multi	multi	NOUN
ajst-2914	127	4	motion	motion	NOUN
ajst-2914	127	5	mode	mode	NOUN
ajst-2914	127	6	of	of	ADP
ajst-2914	127	7	screw	screw	NOUN
ajst-2914	127	8	driven	drive	VERB
ajst-2914	127	9	robot	robot	NOUN
ajst-2914	127	10	li	li	PROPN
ajst-2914	127	11	tao	tao	PROPN
ajst-2914	127	12	et	et	PROPN
ajst-2914	127	13	al	al	PROPN
ajst-2914	127	14	.	.	PUNCT
ajst-2914	128	1	[	[	X
ajst-2914	128	2	28	28	NUM
ajst-2914	128	3	]	]	PUNCT
ajst-2914	128	4	,	,	PUNCT
ajst-2914	128	5	proposed	propose	VERB
ajst-2914	128	6	a	a	DET
ajst-2914	128	7	parametric	parametric	ADJ
ajst-2914	128	8	simulation	simulation	NOUN
ajst-2914	128	9	system	system	NOUN
ajst-2914	128	10	based	base	VERB
ajst-2914	128	11	on	on	ADP
ajst-2914	128	12	adams	adams	PROPN
ajst-2914	128	13	secondary	secondary	PROPN
ajst-2914	128	14	development	development	PROPN
ajst-2914	128	15	technology	technology	NOUN
ajst-2914	128	16	and	and	CCONJ
ajst-2914	128	17	a	a	DET
ajst-2914	128	18	simple	simple	ADJ
ajst-2914	128	19	design	design	NOUN
ajst-2914	128	20	strategy	strategy	NOUN
ajst-2914	128	21	to	to	PART
ajst-2914	128	22	solve	solve	VERB
ajst-2914	128	23	the	the	DET
ajst-2914	128	24	problem	problem	NOUN
ajst-2914	128	25	of	of	ADP
ajst-2914	128	26	rapid	rapid	ADJ
ajst-2914	128	27	design	design	NOUN
ajst-2914	128	28	of	of	ADP
ajst-2914	128	29	screw	screw	NOUN
ajst-2914	128	30	driven	drive	VERB
ajst-2914	128	31	pipe	pipe	NOUN
ajst-2914	128	32	robot	robot	NOUN
ajst-2914	128	33	.	.	PUNCT
ajst-2914	129	1	a	a	DET
ajst-2914	129	2	simple	simple	ADJ
ajst-2914	129	3	design	design	NOUN
ajst-2914	129	4	strategy	strategy	NOUN
ajst-2914	129	5	is	be	AUX
ajst-2914	129	6	put	put	VERB
ajst-2914	129	7	forward	forward	ADV
ajst-2914	129	8	,	,	PUNCT
ajst-2914	129	9	and	and	CCONJ
ajst-2914	129	10	the	the	DET
ajst-2914	129	11	design	design	NOUN
ajst-2914	129	12	application	application	NOUN
ajst-2914	129	13	of	of	ADP
ajst-2914	129	14	225	225	NUM
ajst-2914	129	15	mm	mm	NOUN
ajst-2914	129	16	pipe	pipe	NOUN
ajst-2914	129	17	is	be	AUX
ajst-2914	129	18	studied	study	VERB
ajst-2914	129	19	.	.	PUNCT
ajst-2914	130	1	the	the	DET
ajst-2914	130	2	results	result	NOUN
ajst-2914	130	3	show	show	VERB
ajst-2914	130	4	that	that	SCONJ
ajst-2914	130	5	the	the	DET
ajst-2914	130	6	parameterized	parameterized	ADJ
ajst-2914	130	7	simulation	simulation	NOUN
ajst-2914	130	8	system	system	NOUN
ajst-2914	130	9	can	can	AUX
ajst-2914	130	10	quickly	quickly	ADV
ajst-2914	130	11	establish	establish	VERB
ajst-2914	130	12	and	and	CCONJ
ajst-2914	130	13	test	test	VERB
ajst-2914	130	14	various	various	ADJ
ajst-2914	130	15	spiral	spiral	ADJ
ajst-2914	130	16	driven	drive	VERB
ajst-2914	130	17	pipe	pipe	NOUN
ajst-2914	130	18	robot	robot	NOUN
ajst-2914	130	19	models	model	NOUN
ajst-2914	130	20	by	by	ADP
ajst-2914	130	21	inputting	inputte	VERB
ajst-2914	130	22	only	only	ADV
ajst-2914	130	23	some	some	DET
ajst-2914	130	24	design	design	NOUN
ajst-2914	130	25	parameters	parameter	NOUN
ajst-2914	130	26	.	.	PUNCT
ajst-2914	131	1	shan	shan	ADJ
ajst-2914	131	2	yanxia	yanxia	PROPN
ajst-2914	131	3	et	et	PROPN
ajst-2914	131	4	al.[29	al.[29	PROPN
ajst-2914	131	5	]	]	PUNCT
ajst-2914	131	6	,	,	PUNCT
ajst-2914	131	7	proposed	propose	VERB
ajst-2914	131	8	a	a	DET
ajst-2914	131	9	dual	dual	ADJ
ajst-2914	131	10	drive	drive	ADJ
ajst-2914	131	11	pipeline	pipeline	NOUN
ajst-2914	131	12	robot	robot	NOUN
ajst-2914	131	13	suitable	suitable	ADJ
ajst-2914	131	14	for	for	ADP
ajst-2914	131	15	medium	medium	ADJ
ajst-2914	131	16	pipelines	pipeline	NOUN
ajst-2914	131	17	based	base	VERB
ajst-2914	131	18	on	on	ADP
ajst-2914	131	19	the	the	DET
ajst-2914	131	20	characteristics	characteristic	NOUN
ajst-2914	131	21	of	of	ADP
ajst-2914	131	22	the	the	DET
ajst-2914	131	23	new	new	ADJ
ajst-2914	131	24	3	3	NUM
ajst-2914	131	25	-	-	PUNCT
ajst-2914	131	26	upu	upu	ADJ
ajst-2914	131	27	parallel	parallel	ADJ
ajst-2914	131	28	mechanism	mechanism	NOUN
ajst-2914	131	29	with	with	ADP
ajst-2914	131	30	strong	strong	ADJ
ajst-2914	131	31	load	load	NOUN
ajst-2914	131	32	capacity	capacity	NOUN
ajst-2914	131	33	and	and	CCONJ
ajst-2914	131	34	simple	simple	ADJ
ajst-2914	131	35	internal	internal	ADJ
ajst-2914	131	36	structure	structure	NOUN
ajst-2914	131	37	.	.	PUNCT
ajst-2914	132	1	the	the	DET
ajst-2914	132	2	robot	robot	NOUN
ajst-2914	132	3	uses	use	VERB
ajst-2914	132	4	parallel	parallel	ADJ
ajst-2914	132	5	mechanism	mechanism	NOUN
ajst-2914	132	6	as	as	ADP
ajst-2914	132	7	the	the	DET
ajst-2914	132	8	supporting	support	VERB
ajst-2914	132	9	driving	driving	NOUN
ajst-2914	132	10	mechanism	mechanism	NOUN
ajst-2914	132	11	to	to	PART
ajst-2914	132	12	realize	realize	VERB
ajst-2914	132	13	the	the	DET
ajst-2914	132	14	supporting	support	VERB
ajst-2914	132	15	motion	motion	NOUN
ajst-2914	132	16	mode	mode	NOUN
ajst-2914	132	17	,	,	PUNCT
ajst-2914	132	18	including	include	VERB
ajst-2914	132	19	turning	turn	VERB
ajst-2914	132	20	motion	motion	NOUN
ajst-2914	132	21	and	and	CCONJ
ajst-2914	132	22	walking	walk	VERB
ajst-2914	132	23	in	in	ADP
ajst-2914	132	24	non	non	ADJ
ajst-2914	132	25	cylindrical	cylindrical	ADJ
ajst-2914	132	26	pipes	pipe	NOUN
ajst-2914	132	27	,	,	PUNCT
ajst-2914	132	28	and	and	CCONJ
ajst-2914	132	29	has	have	VERB
ajst-2914	132	30	good	good	ADJ
ajst-2914	132	31	turning	turning	NOUN
ajst-2914	132	32	performance	performance	NOUN
ajst-2914	132	33	.	.	PUNCT
ajst-2914	133	1	the	the	DET
ajst-2914	133	2	robot	robot	NOUN
ajst-2914	133	3	has	have	VERB
ajst-2914	133	4	high	high	ADJ
ajst-2914	133	5	operation	operation	NOUN
ajst-2914	133	6	efficiency	efficiency	NOUN
ajst-2914	133	7	,	,	PUNCT
ajst-2914	133	8	compact	compact	ADJ
ajst-2914	133	9	structure	structure	NOUN
ajst-2914	133	10	and	and	CCONJ
ajst-2914	133	11	good	good	ADJ
ajst-2914	133	12	stability	stability	NOUN
ajst-2914	133	13	when	when	SCONJ
ajst-2914	133	14	working	work	VERB
ajst-2914	133	15	,	,	PUNCT
ajst-2914	133	16	and	and	CCONJ
ajst-2914	133	17	can	can	AUX
ajst-2914	133	18	well	well	ADV
ajst-2914	133	19	meet	meet	VERB
ajst-2914	133	20	the	the	DET
ajst-2914	133	21	tasks	task	NOUN
ajst-2914	133	22	of	of	ADP
ajst-2914	133	23	detection	detection	NOUN
ajst-2914	133	24	,	,	PUNCT
ajst-2914	133	25	obstacle	obstacle	NOUN
ajst-2914	133	26	crossing	crossing	NOUN
ajst-2914	133	27	and	and	CCONJ
ajst-2914	133	28	turning	turn	VERB
ajst-2914	133	29	.	.	PUNCT
ajst-2914	134	1	nishimura	nishimura	PROPN
ajst-2914	134	2	et	et	PROPN
ajst-2914	134	3	al	al	PROPN
ajst-2914	134	4	.	.	PUNCT
ajst-2914	135	1	[	[	X
ajst-2914	135	2	30	30	NUM
ajst-2914	135	3	]	]	PUNCT
ajst-2914	135	4	,	,	PUNCT
ajst-2914	135	5	proposed	propose	VERB
ajst-2914	135	6	a	a	DET
ajst-2914	135	7	spiral	spiral	ADJ
ajst-2914	135	8	adaptive	adaptive	ADJ
ajst-2914	135	9	robot	robot	NOUN
ajst-2914	135	10	,	,	PUNCT
ajst-2914	135	11	which	which	PRON
ajst-2914	135	12	is	be	AUX
ajst-2914	135	13	composed	compose	VERB
ajst-2914	135	14	of	of	ADP
ajst-2914	135	15	only	only	ADV
ajst-2914	135	16	two	two	NUM
ajst-2914	135	17	motor	motor	NOUN
ajst-2914	135	18	drivers	driver	NOUN
ajst-2914	135	19	and	and	CCONJ
ajst-2914	135	20	has	have	VERB
ajst-2914	135	21	the	the	DET
ajst-2914	135	22	ability	ability	NOUN
ajst-2914	135	23	of	of	ADP
ajst-2914	135	24	path	path	NOUN
ajst-2914	135	25	selection	selection	NOUN
ajst-2914	135	26	.	.	PUNCT
ajst-2914	136	1	the	the	DET
ajst-2914	136	2	robot	robot	NOUN
ajst-2914	136	3	has	have	VERB
ajst-2914	136	4	three	three	NUM
ajst-2914	136	5	motion	motion	NOUN
ajst-2914	136	6	modes	mode	NOUN
ajst-2914	136	7	,	,	PUNCT
ajst-2914	136	8	which	which	PRON
ajst-2914	136	9	can	can	AUX
ajst-2914	136	10	be	be	AUX
ajst-2914	136	11	easily	easily	ADV
ajst-2914	136	12	navigated	navigate	VERB
ajst-2914	136	13	through	through	ADP
ajst-2914	136	14	elbows	elbow	NOUN
ajst-2914	136	15	and	and	CCONJ
ajst-2914	136	16	branches	branch	NOUN
ajst-2914	136	17	.	.	PUNCT
ajst-2914	137	1	the	the	DET
ajst-2914	137	2	robot	robot	NOUN
ajst-2914	137	3	is	be	AUX
ajst-2914	137	4	driven	drive	VERB
ajst-2914	137	5	by	by	ADP
ajst-2914	137	6	a	a	DET
ajst-2914	137	7	screw	screw	NOUN
ajst-2914	137	8	and	and	CCONJ
ajst-2914	137	9	has	have	AUX
ajst-2914	137	10	steering	steer	VERB
ajst-2914	137	11	and	and	CCONJ
ajst-2914	137	12	rolling	rolling	ADJ
ajst-2914	137	13	modes	mode	NOUN
ajst-2914	137	14	;	;	PUNCT
ajst-2914	137	15	it	it	PRON
ajst-2914	137	16	has	have	VERB
ajst-2914	137	17	good	good	ADJ
ajst-2914	137	18	adaptability	adaptability	NOUN
ajst-2914	137	19	,	,	PUNCT
ajst-2914	137	20	can	can	AUX
ajst-2914	137	21	work	work	VERB
ajst-2914	137	22	in	in	ADP
ajst-2914	137	23	pipe	pipe	NOUN
ajst-2914	137	24	diameters	diameter	NOUN
ajst-2914	137	25	ranging	range	VERB
ajst-2914	137	26	from	from	ADP
ajst-2914	137	27	109	109	NUM
ajst-2914	137	28	mm	mm	NOUN
ajst-2914	137	29	to	to	ADP
ajst-2914	137	30	129	129	NUM
ajst-2914	137	31	mm	mm	NOUN
ajst-2914	137	32	,	,	PUNCT
ajst-2914	137	33	and	and	CCONJ
ajst-2914	137	34	can	can	AUX
ajst-2914	137	35	pass	pass	VERB
ajst-2914	137	36	through	through	ADP
ajst-2914	137	37	various	various	ADJ
ajst-2914	137	38	elbows	elbow	NOUN
ajst-2914	137	39	and	and	CCONJ
ajst-2914	137	40	horizontal	horizontal	ADJ
ajst-2914	137	41	t	t	PROPN
ajst-2914	137	42	-	-	PUNCT
ajst-2914	137	43	joints	joint	NOUN
ajst-2914	137	44	.	.	PUNCT
ajst-2914	138	1	nayak	nayak	PROPN
ajst-2914	138	2	et	et	PROPN
ajst-2914	138	3	al	al	PROPN
ajst-2914	138	4	.	.	PUNCT
ajst-2914	139	1	[	[	X
ajst-2914	139	2	31	31	NUM
ajst-2914	139	3	]	]	PUNCT
ajst-2914	139	4	,	,	PUNCT
ajst-2914	139	5	developed	develop	VERB
ajst-2914	139	6	a	a	DET
ajst-2914	139	7	wall	wall	NOUN
ajst-2914	139	8	pressure	pressure	NOUN
ajst-2914	139	9	spiral	spiral	ADJ
ajst-2914	139	10	robot	robot	NOUN
ajst-2914	139	11	,	,	PUNCT
ajst-2914	139	12	which	which	PRON
ajst-2914	139	13	includes	include	VERB
ajst-2914	139	14	three	three	NUM
ajst-2914	139	15	modules	module	NOUN
ajst-2914	139	16	rotor	rotor	NOUN
ajst-2914	139	17	,	,	PUNCT
ajst-2914	139	18	stator	stator	NOUN
ajst-2914	139	19	and	and	CCONJ
ajst-2914	139	20	control	control	NOUN
ajst-2914	139	21	unit	unit	NOUN
ajst-2914	139	22	.	.	PUNCT
ajst-2914	140	1	the	the	DET
ajst-2914	140	2	rotor	rotor	NOUN
ajst-2914	140	3	module	module	NOUN
ajst-2914	140	4	has	have	VERB
ajst-2914	140	5	three	three	NUM
ajst-2914	140	6	wheels	wheel	NOUN
ajst-2914	140	7	mounted	mount	VERB
ajst-2914	140	8	on	on	ADP
ajst-2914	140	9	the	the	DET
ajst-2914	140	10	periphery	periphery	NOUN
ajst-2914	140	11	with	with	ADP
ajst-2914	140	12	a	a	DET
ajst-2914	140	13	helix	helix	ADJ
ajst-2914	140	14	angle	angle	NOUN
ajst-2914	140	15	of	of	ADP
ajst-2914	140	16	15	15	NUM
ajst-2914	140	17	degrees	degree	NOUN
ajst-2914	140	18	.	.	PUNCT
ajst-2914	141	1	the	the	DET
ajst-2914	141	2	wheel	wheel	NOUN
ajst-2914	141	3	of	of	ADP
ajst-2914	141	4	the	the	DET
ajst-2914	141	5	rotor	rotor	NOUN
ajst-2914	141	6	moves	move	VERB
ajst-2914	141	7	longitudinally	longitudinally	ADV
ajst-2914	141	8	in	in	ADP
ajst-2914	141	9	the	the	DET
ajst-2914	141	10	pipe	pipe	NOUN
ajst-2914	141	11	along	along	ADP
ajst-2914	141	12	the	the	DET
ajst-2914	141	13	spiral	spiral	ADJ
ajst-2914	141	14	path	path	NOUN
ajst-2914	141	15	on	on	ADP
ajst-2914	141	16	the	the	DET
ajst-2914	141	17	inner	inner	ADJ
ajst-2914	141	18	surface	surface	NOUN
ajst-2914	141	19	of	of	ADP
ajst-2914	141	20	the	the	DET
ajst-2914	141	21	pipe	pipe	NOUN
ajst-2914	141	22	.	.	PUNCT
ajst-2914	142	1	the	the	DET
ajst-2914	142	2	robot	robot	NOUN
ajst-2914	142	3	is	be	AUX
ajst-2914	142	4	applicable	applicable	ADJ
ajst-2914	142	5	to	to	ADP
ajst-2914	142	6	the	the	DET
ajst-2914	142	7	inspection	inspection	NOUN
ajst-2914	142	8	of	of	ADP
ajst-2914	142	9	pipes	pipe	NOUN
ajst-2914	142	10	with	with	ADP
ajst-2914	142	11	inner	inner	ADJ
ajst-2914	142	12	diameter	diameter	NOUN
ajst-2914	142	13	between	between	ADP
ajst-2914	142	14	127	127	NUM
ajst-2914	142	15	mm	mm	NOUN
ajst-2914	142	16	and	and	CCONJ
ajst-2914	142	17	152	152	NUM
ajst-2914	142	18	mm	mm	NOUN
ajst-2914	142	19	,	,	PUNCT
ajst-2914	142	20	as	as	SCONJ
ajst-2914	142	21	shown	show	VERB
ajst-2914	142	22	in	in	ADP
ajst-2914	142	23	fig	fig	NOUN
ajst-2914	142	24	.	.	PUNCT
ajst-2914	143	1	9	9	X
ajst-2914	143	2	.	.	X
ajst-2914	143	3	it	it	PRON
ajst-2914	143	4	can	can	AUX
ajst-2914	143	5	pass	pass	VERB
ajst-2914	143	6	through	through	ADP
ajst-2914	143	7	vertical	vertical	ADJ
ajst-2914	143	8	and	and	CCONJ
ajst-2914	143	9	horizontal	horizontal	ADJ
ajst-2914	143	10	pipes	pipe	NOUN
ajst-2914	143	11	,	,	PUNCT
ajst-2914	143	12	and	and	CCONJ
ajst-2914	143	13	can	can	AUX
ajst-2914	143	14	easily	easily	ADV
ajst-2914	143	15	pass	pass	VERB
ajst-2914	143	16	through	through	ADP
ajst-2914	143	17	the	the	DET
ajst-2914	143	18	elbow	elbow	NOUN
ajst-2914	143	19	of	of	ADP
ajst-2914	143	20	pipes	pipe	NOUN
ajst-2914	143	21	.	.	PUNCT
ajst-2914	144	1	figure	figure	NOUN
ajst-2914	144	2	9	9	NUM
ajst-2914	144	3	.	.	PUNCT
ajst-2914	144	4	wall	wall	PROPN
ajst-2914	144	5	pressure	pressure	PROPN
ajst-2914	144	6	spiral	spiral	ADJ
ajst-2914	144	7	robot	robot	NOUN
ajst-2914	144	8	2.5	2.5	NUM
ajst-2914	144	9	.	.	PUNCT
ajst-2914	145	1	walking	walk	VERB
ajst-2914	145	2	robot	robot	NOUN
ajst-2914	145	3	walking	walk	VERB
ajst-2914	145	4	pipe	pipe	NOUN
ajst-2914	145	5	robot	robot	NOUN
ajst-2914	145	6	is	be	AUX
ajst-2914	145	7	driven	drive	VERB
ajst-2914	145	8	by	by	ADP
ajst-2914	145	9	walking	walk	VERB
ajst-2914	145	10	legs	leg	NOUN
ajst-2914	145	11	with	with	ADP
ajst-2914	145	12	multiple	multiple	ADJ
ajst-2914	145	13	degrees	degree	NOUN
ajst-2914	145	14	of	of	ADP
ajst-2914	145	15	freedom	freedom	NOUN
ajst-2914	145	16	.	.	PUNCT
ajst-2914	146	1	it	it	PRON
ajst-2914	146	2	can	can	AUX
ajst-2914	146	3	crawl	crawl	VERB
ajst-2914	146	4	in	in	ADP
ajst-2914	146	5	the	the	DET
ajst-2914	146	6	pipe	pipe	NOUN
ajst-2914	146	7	and	and	CCONJ
ajst-2914	146	8	cross	cross	VERB
ajst-2914	146	9	obstacles	obstacle	NOUN
ajst-2914	146	10	encountered	encounter	VERB
ajst-2914	146	11	in	in	ADP
ajst-2914	146	12	the	the	DET
ajst-2914	146	13	process	process	NOUN
ajst-2914	146	14	of	of	ADP
ajst-2914	146	15	movement	movement	NOUN
ajst-2914	146	16	.	.	PUNCT
ajst-2914	147	1	in	in	ADP
ajst-2914	147	2	order	order	NOUN
ajst-2914	147	3	to	to	PART
ajst-2914	147	4	enable	enable	VERB
ajst-2914	147	5	the	the	DET
ajst-2914	147	6	robot	robot	NOUN
ajst-2914	147	7	to	to	PART
ajst-2914	147	8	detect	detect	VERB
ajst-2914	147	9	in	in	ADP
ajst-2914	147	10	the	the	DET
ajst-2914	147	11	pipe	pipe	NOUN
ajst-2914	147	12	,	,	PUNCT
ajst-2914	147	13	it	it	PRON
ajst-2914	147	14	is	be	AUX
ajst-2914	147	15	necessary	necessary	ADJ
ajst-2914	147	16	to	to	PART
ajst-2914	147	17	design	design	VERB
ajst-2914	147	18	extremely	extremely	ADV
ajst-2914	147	19	complex	complex	ADJ
ajst-2914	147	20	mechanical	mechanical	ADJ
ajst-2914	147	21	structures	structure	NOUN
ajst-2914	147	22	and	and	CCONJ
ajst-2914	147	23	many	many	ADJ
ajst-2914	147	24	drivers	driver	NOUN
ajst-2914	147	25	,	,	PUNCT
ajst-2914	147	26	which	which	PRON
ajst-2914	147	27	makes	make	VERB
ajst-2914	147	28	the	the	DET
ajst-2914	147	29	system	system	NOUN
ajst-2914	147	30	bulky	bulky	ADJ
ajst-2914	147	31	and	and	CCONJ
ajst-2914	147	32	faces	face	VERB
ajst-2914	147	33	challenges	challenge	NOUN
ajst-2914	147	34	such	such	ADJ
ajst-2914	147	35	as	as	ADP
ajst-2914	147	36	manufacturing	manufacture	VERB
ajst-2914	147	37	difficulties	difficulty	NOUN
ajst-2914	147	38	,	,	PUNCT
ajst-2914	147	39	trajectory	trajectory	NOUN
ajst-2914	147	40	generation	generation	NOUN
ajst-2914	147	41	,	,	PUNCT
ajst-2914	147	42	inverse	inverse	NOUN
ajst-2914	147	43	kinematics	kinematic	NOUN
ajst-2914	147	44	,	,	PUNCT
ajst-2914	147	45	and	and	CCONJ
ajst-2914	147	46	system	system	NOUN
ajst-2914	147	47	control	control	NOUN
ajst-2914	147	48	[	[	X
ajst-2914	147	49	32	32	NUM
ajst-2914	147	50	]	]	PUNCT
ajst-2914	147	51	.	.	PUNCT
ajst-2914	148	1	savin	savin	NOUN
ajst-2914	148	2	et	et	PROPN
ajst-2914	148	3	al	al	PROPN
ajst-2914	148	4	.	.	PUNCT
ajst-2914	149	1	[	[	X
ajst-2914	149	2	33	33	NUM
ajst-2914	149	3	]	]	PUNCT
ajst-2914	149	4	,	,	PUNCT
ajst-2914	149	5	proposed	propose	VERB
ajst-2914	149	6	a	a	DET
ajst-2914	149	7	walking	walk	VERB
ajst-2914	149	8	robot	robot	NOUN
ajst-2914	149	9	based	base	VERB
ajst-2914	149	10	on	on	ADP
ajst-2914	149	11	state	state	NOUN
ajst-2914	149	12	observation	observation	NOUN
ajst-2914	149	13	of	of	ADP
ajst-2914	149	14	riccati	riccati	PROPN
ajst-2914	149	15	equation	equation	NOUN
ajst-2914	149	16	,	,	PUNCT
ajst-2914	149	17	as	as	SCONJ
ajst-2914	149	18	shown	show	VERB
ajst-2914	149	19	in	in	ADP
ajst-2914	149	20	figure	figure	NOUN
ajst-2914	149	21	10	10	NUM
ajst-2914	149	22	.	.	PUNCT
ajst-2914	150	1	this	this	DET
ajst-2914	150	2	state	state	NOUN
ajst-2914	150	3	observer	observer	NOUN
ajst-2914	150	4	helps	help	VERB
ajst-2914	150	5	to	to	PART
ajst-2914	150	6	control	control	VERB
ajst-2914	150	7	the	the	DET
ajst-2914	150	8	connection	connection	NOUN
ajst-2914	150	9	of	of	ADP
ajst-2914	150	10	the	the	DET
ajst-2914	150	11	robot	robot	NOUN
ajst-2914	150	12	smoothly	smoothly	ADV
ajst-2914	150	13	.	.	PUNCT
ajst-2914	151	1	the	the	DET
ajst-2914	151	2	author	author	NOUN
ajst-2914	151	3	shows	show	VERB
ajst-2914	151	4	how	how	SCONJ
ajst-2914	151	5	to	to	PART
ajst-2914	151	6	generate	generate	VERB
ajst-2914	151	7	motion	motion	NOUN
ajst-2914	151	8	trajectories	trajectory	NOUN
ajst-2914	151	9	for	for	ADP
ajst-2914	151	10	robots	robot	NOUN
ajst-2914	151	11	.	.	PUNCT
ajst-2914	152	1	the	the	DET
ajst-2914	152	2	trajectory	trajectory	NOUN
ajst-2914	152	3	generation	generation	NOUN
ajst-2914	152	4	requires	require	VERB
ajst-2914	152	5	the	the	DET
ajst-2914	152	6	position	position	NOUN
ajst-2914	152	7	and	and	CCONJ
ajst-2914	152	8	direction	direction	NOUN
ajst-2914	152	9	of	of	ADP
ajst-2914	152	10	the	the	DET
ajst-2914	152	11	robot	robot	NOUN
ajst-2914	152	12	.	.	PUNCT
ajst-2914	153	1	the	the	DET
ajst-2914	153	2	author	author	NOUN
ajst-2914	153	3	uses	use	VERB
ajst-2914	153	4	a	a	DET
ajst-2914	153	5	heuristic	heuristic	ADJ
ajst-2914	153	6	method	method	NOUN
ajst-2914	153	7	,	,	PUNCT
ajst-2914	153	8	that	that	ADV
ajst-2914	153	9	is	is	ADV
ajst-2914	153	10	,	,	PUNCT
ajst-2914	153	11	the	the	DET
ajst-2914	153	12	direction	direction	NOUN
ajst-2914	153	13	vector	vector	NOUN
ajst-2914	153	14	,	,	PUNCT
ajst-2914	153	15	to	to	PART
ajst-2914	153	16	get	get	VERB
ajst-2914	153	17	the	the	DET
ajst-2914	153	18	direction	direction	NOUN
ajst-2914	153	19	of	of	ADP
ajst-2914	153	20	the	the	DET
ajst-2914	153	21	robot	robot	NOUN
ajst-2914	153	22	.	.	PUNCT
ajst-2914	154	1	the	the	DET
ajst-2914	154	2	trajectory	trajectory	NOUN
ajst-2914	154	3	generation	generation	NOUN
ajst-2914	154	4	requires	require	VERB
ajst-2914	154	5	multiple	multiple	ADJ
ajst-2914	154	6	iterations	iteration	NOUN
ajst-2914	154	7	,	,	PUNCT
ajst-2914	154	8	138	138	NUM
ajst-2914	155	1	and	and	CCONJ
ajst-2914	155	2	it	it	PRON
ajst-2914	155	3	is	be	AUX
ajst-2914	155	4	not	not	PART
ajst-2914	155	5	necessary	necessary	ADJ
ajst-2914	155	6	to	to	PART
ajst-2914	155	7	provide	provide	VERB
ajst-2914	155	8	an	an	DET
ajst-2914	155	9	accurate	accurate	ADJ
ajst-2914	155	10	direction	direction	NOUN
ajst-2914	155	11	for	for	ADP
ajst-2914	155	12	the	the	DET
ajst-2914	155	13	algorithm	algorithm	NOUN
ajst-2914	155	14	at	at	ADP
ajst-2914	155	15	the	the	DET
ajst-2914	155	16	initial	initial	ADJ
ajst-2914	155	17	stage	stage	NOUN
ajst-2914	155	18	[	[	X
ajst-2914	155	19	34	34	NUM
ajst-2914	155	20	]	]	PUNCT
ajst-2914	155	21	.	.	PUNCT
ajst-2914	156	1	subsequently	subsequently	ADV
ajst-2914	156	2	,	,	PUNCT
ajst-2914	156	3	savin	savin	PROPN
ajst-2914	156	4	et	et	PROPN
ajst-2914	156	5	al	al	PROPN
ajst-2914	156	6	.	.	PUNCT
ajst-2914	157	1	[	[	X
ajst-2914	157	2	35	35	NUM
ajst-2914	157	3	]	]	PUNCT
ajst-2914	157	4	,	,	PUNCT
ajst-2914	157	5	studied	study	VERB
ajst-2914	157	6	the	the	DET
ajst-2914	157	7	motion	motion	NOUN
ajst-2914	157	8	planning	planning	NOUN
ajst-2914	157	9	algorithm	algorithm	NOUN
ajst-2914	157	10	based	base	VERB
ajst-2914	157	11	on	on	ADP
ajst-2914	157	12	random	random	ADJ
ajst-2914	157	13	search	search	NOUN
ajst-2914	157	14	random	random	ADJ
ajst-2914	157	15	tree	tree	NOUN
ajst-2914	157	16	,	,	PUNCT
ajst-2914	157	17	namely	namely	ADV
ajst-2914	157	18	rrt	rrt	NOUN
ajst-2914	157	19	algorithm	algorithm	NOUN
ajst-2914	157	20	.	.	PUNCT
ajst-2914	158	1	the	the	DET
ajst-2914	158	2	algorithm	algorithm	NOUN
ajst-2914	158	3	represents	represent	VERB
ajst-2914	158	4	the	the	DET
ajst-2914	158	5	pipe	pipe	NOUN
ajst-2914	158	6	as	as	ADP
ajst-2914	158	7	a	a	DET
ajst-2914	158	8	point	point	NOUN
ajst-2914	158	9	cloud	cloud	NOUN
ajst-2914	158	10	.	.	PUNCT
ajst-2914	159	1	this	this	DET
ajst-2914	159	2	representation	representation	NOUN
ajst-2914	159	3	is	be	AUX
ajst-2914	159	4	realized	realize	VERB
ajst-2914	159	5	by	by	ADP
ajst-2914	159	6	using	use	VERB
ajst-2914	159	7	some	some	DET
ajst-2914	159	8	distance	distance	NOUN
ajst-2914	159	9	detection	detection	NOUN
ajst-2914	159	10	sensors	sensor	NOUN
ajst-2914	159	11	,	,	PUNCT
ajst-2914	159	12	namely	namely	ADV
ajst-2914	159	13	,	,	PUNCT
ajst-2914	159	14	laser	laser	NOUN
ajst-2914	159	15	radar	radar	NOUN
ajst-2914	159	16	and	and	CCONJ
ajst-2914	159	17	stereo	stereo	ADJ
ajst-2914	159	18	camera	camera	NOUN
ajst-2914	159	19	system	system	NOUN
ajst-2914	159	20	.	.	PUNCT
ajst-2914	160	1	figure	figure	NOUN
ajst-2914	160	2	10	10	NUM
ajst-2914	160	3	.	.	PUNCT
ajst-2914	161	1	walking	walk	VERB
ajst-2914	161	2	robot	robot	NOUN
ajst-2914	161	3	based	base	VERB
ajst-2914	161	4	on	on	ADP
ajst-2914	161	5	state	state	NOUN
ajst-2914	161	6	observation	observation	NOUN
ajst-2914	161	7	of	of	ADP
ajst-2914	161	8	riccati	riccati	PROPN
ajst-2914	161	9	equation	equation	NOUN
ajst-2914	161	10	2.6	2.6	NUM
ajst-2914	161	11	.	.	PUNCT
ajst-2914	162	1	inchworm	inchworm	NOUN
ajst-2914	162	2	robot	robot	NOUN
ajst-2914	162	3	inchworm	inchworm	NOUN
ajst-2914	162	4	robot	robot	NOUN
ajst-2914	162	5	is	be	AUX
ajst-2914	162	6	a	a	DET
ajst-2914	162	7	kind	kind	NOUN
ajst-2914	162	8	of	of	ADP
ajst-2914	162	9	bionic	bionic	ADJ
ajst-2914	162	10	robot	robot	NOUN
ajst-2914	162	11	.	.	PUNCT
ajst-2914	163	1	the	the	DET
ajst-2914	163	2	robot	robot	NOUN
ajst-2914	163	3	pushes	push	VERB
ajst-2914	163	4	itself	itself	PRON
ajst-2914	163	5	through	through	ADP
ajst-2914	163	6	repeated	repeat	VERB
ajst-2914	163	7	contraction	contraction	NOUN
ajst-2914	163	8	and	and	CCONJ
ajst-2914	163	9	expansion	expansion	NOUN
ajst-2914	163	10	.	.	PUNCT
ajst-2914	164	1	in	in	ADP
ajst-2914	164	2	the	the	DET
ajst-2914	164	3	process	process	NOUN
ajst-2914	164	4	of	of	ADP
ajst-2914	164	5	movement	movement	NOUN
ajst-2914	164	6	,	,	PUNCT
ajst-2914	164	7	the	the	DET
ajst-2914	164	8	robot	robot	NOUN
ajst-2914	164	9	has	have	VERB
ajst-2914	164	10	less	less	ADJ
ajst-2914	164	11	friction	friction	NOUN
ajst-2914	164	12	with	with	ADP
ajst-2914	164	13	the	the	DET
ajst-2914	164	14	pipe	pipe	NOUN
ajst-2914	164	15	wall	wall	NOUN
ajst-2914	164	16	and	and	CCONJ
ajst-2914	164	17	better	well	ADJ
ajst-2914	164	18	obstacle	obstacle	VERB
ajst-2914	164	19	surmounting	surmount	VERB
ajst-2914	164	20	ability	ability	NOUN
ajst-2914	164	21	.	.	PUNCT
ajst-2914	165	1	however	however	ADV
ajst-2914	165	2	,	,	PUNCT
ajst-2914	165	3	due	due	ADP
ajst-2914	165	4	to	to	ADP
ajst-2914	165	5	its	its	PRON
ajst-2914	165	6	limited	limited	ADJ
ajst-2914	165	7	traction	traction	NOUN
ajst-2914	165	8	capacity	capacity	NOUN
ajst-2914	165	9	,	,	PUNCT
ajst-2914	165	10	slow	slow	ADJ
ajst-2914	165	11	moving	move	VERB
ajst-2914	165	12	speed	speed	NOUN
ajst-2914	165	13	and	and	CCONJ
ajst-2914	165	14	large	large	ADJ
ajst-2914	165	15	energy	energy	NOUN
ajst-2914	165	16	loss	loss	NOUN
ajst-2914	165	17	,	,	PUNCT
ajst-2914	165	18	the	the	DET
ajst-2914	165	19	robot	robot	NOUN
ajst-2914	165	20	is	be	AUX
ajst-2914	165	21	only	only	ADV
ajst-2914	165	22	suitable	suitable	ADJ
ajst-2914	165	23	for	for	ADP
ajst-2914	165	24	small	small	ADJ
ajst-2914	165	25	pipes	pipe	NOUN
ajst-2914	165	26	and	and	CCONJ
ajst-2914	165	27	pipes	pipe	NOUN
ajst-2914	165	28	with	with	ADP
ajst-2914	165	29	short	short	ADJ
ajst-2914	165	30	distance	distance	NOUN
ajst-2914	165	31	[	[	X
ajst-2914	165	32	36	36	NUM
ajst-2914	165	33	]	]	PUNCT
ajst-2914	165	34	.	.	PUNCT
ajst-2914	166	1	the	the	DET
ajst-2914	166	2	inchworm	inchworm	NOUN
ajst-2914	166	3	robot	robot	NOUN
ajst-2914	166	4	has	have	AUX
ajst-2914	166	5	effectively	effectively	ADV
ajst-2914	166	6	overcome	overcome	VERB
ajst-2914	166	7	the	the	DET
ajst-2914	166	8	problem	problem	NOUN
ajst-2914	166	9	that	that	SCONJ
ajst-2914	166	10	the	the	DET
ajst-2914	166	11	wheeled	wheel	VERB
ajst-2914	166	12	robot	robot	NOUN
ajst-2914	166	13	wears	wear	VERB
ajst-2914	166	14	the	the	DET
ajst-2914	166	15	pipe	pipe	NOUN
ajst-2914	166	16	wall	wall	NOUN
ajst-2914	166	17	seriously	seriously	ADV
ajst-2914	166	18	,	,	PUNCT
ajst-2914	166	19	and	and	CCONJ
ajst-2914	166	20	has	have	AUX
ajst-2914	166	21	also	also	ADV
ajst-2914	166	22	surpassed	surpass	VERB
ajst-2914	166	23	the	the	DET
ajst-2914	166	24	wheeled	wheel	VERB
ajst-2914	166	25	robot	robot	NOUN
ajst-2914	166	26	in	in	ADP
ajst-2914	166	27	obstacle	obstacle	NOUN
ajst-2914	166	28	surmounting	surmount	VERB
ajst-2914	166	29	,	,	PUNCT
ajst-2914	166	30	so	so	CCONJ
ajst-2914	166	31	it	it	PRON
ajst-2914	166	32	is	be	AUX
ajst-2914	166	33	widely	widely	ADV
ajst-2914	166	34	used	use	VERB
ajst-2914	166	35	in	in	ADP
ajst-2914	166	36	small	small	ADJ
ajst-2914	166	37	pipe	pipe	NOUN
ajst-2914	166	38	diameter	diameter	NOUN
ajst-2914	166	39	and	and	CCONJ
ajst-2914	166	40	short	short	ADJ
ajst-2914	166	41	distance	distance	NOUN
ajst-2914	166	42	tasks	task	NOUN
ajst-2914	166	43	.	.	PUNCT
ajst-2914	167	1	qiao	qiao	PROPN
ajst-2914	167	2	j	j	PROPN
ajst-2914	167	3	et	et	PROPN
ajst-2914	167	4	al	al	PROPN
ajst-2914	167	5	.	.	PUNCT
ajst-2914	168	1	[	[	X
ajst-2914	168	2	37	37	NUM
ajst-2914	168	3	]	]	PUNCT
ajst-2914	168	4	,	,	PUNCT
ajst-2914	168	5	proposed	propose	VERB
ajst-2914	168	6	an	an	DET
ajst-2914	168	7	inchworm	inchworm	NOUN
ajst-2914	168	8	robot	robot	NOUN
ajst-2914	168	9	with	with	ADP
ajst-2914	168	10	selflocking	selflocke	VERB
ajst-2914	168	11	mechanism	mechanism	NOUN
ajst-2914	168	12	to	to	PART
ajst-2914	168	13	improve	improve	VERB
ajst-2914	168	14	the	the	DET
ajst-2914	168	15	traction	traction	NOUN
ajst-2914	168	16	ability	ability	NOUN
ajst-2914	168	17	of	of	ADP
ajst-2914	168	18	the	the	DET
ajst-2914	168	19	pipeline	pipeline	NOUN
ajst-2914	168	20	robot	robot	NOUN
ajst-2914	168	21	and	and	CCONJ
ajst-2914	168	22	avoid	avoid	VERB
ajst-2914	168	23	its	its	PRON
ajst-2914	168	24	traditional	traditional	ADJ
ajst-2914	168	25	limitations	limitation	NOUN
ajst-2914	168	26	.	.	PUNCT
ajst-2914	169	1	the	the	DET
ajst-2914	169	2	robot	robot	NOUN
ajst-2914	169	3	's	's	PART
ajst-2914	169	4	traction	traction	NOUN
ajst-2914	169	5	ability	ability	NOUN
ajst-2914	169	6	is	be	AUX
ajst-2914	169	7	increased	increase	VERB
ajst-2914	169	8	through	through	ADP
ajst-2914	169	9	the	the	DET
ajst-2914	169	10	spiral	spiral	ADJ
ajst-2914	169	11	link	link	NOUN
ajst-2914	169	12	and	and	CCONJ
ajst-2914	169	13	spring	spring	NOUN
ajst-2914	169	14	link	link	NOUN
ajst-2914	169	15	.	.	PUNCT
ajst-2914	170	1	the	the	DET
ajst-2914	170	2	test	test	NOUN
ajst-2914	170	3	results	result	NOUN
ajst-2914	170	4	show	show	VERB
ajst-2914	170	5	that	that	SCONJ
ajst-2914	170	6	the	the	DET
ajst-2914	170	7	static	static	ADJ
ajst-2914	170	8	force	force	NOUN
ajst-2914	170	9	measured	measure	VERB
ajst-2914	170	10	by	by	ADP
ajst-2914	170	11	the	the	DET
ajst-2914	170	12	robot	robot	NOUN
ajst-2914	170	13	is	be	AUX
ajst-2914	170	14	15.2	15.2	NUM
ajst-2914	170	15	n	n	NOUN
ajst-2914	170	16	,	,	PUNCT
ajst-2914	170	17	which	which	PRON
ajst-2914	170	18	is	be	AUX
ajst-2914	170	19	43	43	NUM
ajst-2914	170	20	times	time	NOUN
ajst-2914	170	21	higher	high	ADJ
ajst-2914	170	22	than	than	ADP
ajst-2914	170	23	the	the	DET
ajst-2914	170	24	traditional	traditional	ADJ
ajst-2914	170	25	static	static	ADJ
ajst-2914	170	26	force	force	NOUN
ajst-2914	170	27	0.35	0.35	NUM
ajst-2914	170	28	n.	n.	NOUN
ajst-2914	170	29	chablat	chablat	PROPN
ajst-2914	170	30	et	et	PROPN
ajst-2914	170	31	al	al	PROPN
ajst-2914	170	32	.	.	PUNCT
ajst-2914	171	1	[	[	X
ajst-2914	171	2	38	38	NUM
ajst-2914	171	3	]	]	PUNCT
ajst-2914	171	4	,	,	PUNCT
ajst-2914	171	5	designed	design	VERB
ajst-2914	171	6	a	a	DET
ajst-2914	171	7	bionic	bionic	ADJ
ajst-2914	171	8	robot	robot	NOUN
ajst-2914	171	9	by	by	ADP
ajst-2914	171	10	imitating	imitate	VERB
ajst-2914	171	11	the	the	DET
ajst-2914	171	12	movement	movement	NOUN
ajst-2914	171	13	of	of	ADP
ajst-2914	171	14	worms	worm	NOUN
ajst-2914	171	15	.	.	PUNCT
ajst-2914	172	1	the	the	DET
ajst-2914	172	2	robot	robot	NOUN
ajst-2914	172	3	is	be	AUX
ajst-2914	172	4	composed	compose	VERB
ajst-2914	172	5	of	of	ADP
ajst-2914	172	6	two	two	NUM
ajst-2914	172	7	parts	part	NOUN
ajst-2914	172	8	:	:	PUNCT
ajst-2914	172	9	one	one	NUM
ajst-2914	172	10	is	be	AUX
ajst-2914	172	11	the	the	DET
ajst-2914	172	12	movement	movement	NOUN
ajst-2914	172	13	part	part	NOUN
ajst-2914	172	14	,	,	PUNCT
ajst-2914	172	15	and	and	CCONJ
ajst-2914	172	16	the	the	DET
ajst-2914	172	17	other	other	ADJ
ajst-2914	172	18	is	be	AUX
ajst-2914	172	19	the	the	DET
ajst-2914	172	20	part	part	NOUN
ajst-2914	172	21	with	with	ADP
ajst-2914	172	22	outriggers	outrigger	NOUN
ajst-2914	172	23	.	.	PUNCT
ajst-2914	173	1	three	three	NUM
ajst-2914	173	2	legs	leg	NOUN
ajst-2914	173	3	with	with	ADP
ajst-2914	173	4	grooved	groove	VERB
ajst-2914	173	5	follower	follower	NOUN
ajst-2914	173	6	are	be	AUX
ajst-2914	173	7	used	use	VERB
ajst-2914	173	8	to	to	PART
ajst-2914	173	9	realize	realize	VERB
ajst-2914	173	10	the	the	DET
ajst-2914	173	11	movement	movement	NOUN
ajst-2914	173	12	of	of	ADP
ajst-2914	173	13	the	the	DET
ajst-2914	173	14	track	track	NOUN
ajst-2914	173	15	.	.	PUNCT
ajst-2914	174	1	at	at	ADP
ajst-2914	174	2	the	the	DET
ajst-2914	174	3	same	same	ADJ
ajst-2914	174	4	time	time	NOUN
ajst-2914	174	5	,	,	PUNCT
ajst-2914	174	6	the	the	DET
ajst-2914	174	7	author	author	NOUN
ajst-2914	174	8	also	also	ADV
ajst-2914	174	9	discussed	discuss	VERB
ajst-2914	174	10	the	the	DET
ajst-2914	174	11	static	static	ADJ
ajst-2914	174	12	algorithm	algorithm	NOUN
ajst-2914	174	13	in	in	ADP
ajst-2914	174	14	the	the	DET
ajst-2914	174	15	clamping	clamp	VERB
ajst-2914	174	16	process	process	NOUN
ajst-2914	174	17	,	,	PUNCT
ajst-2914	174	18	and	and	CCONJ
ajst-2914	174	19	deduced	deduce	VERB
ajst-2914	174	20	the	the	DET
ajst-2914	174	21	relationship	relationship	NOUN
ajst-2914	174	22	between	between	ADP
ajst-2914	174	23	the	the	DET
ajst-2914	174	24	contact	contact	NOUN
ajst-2914	174	25	force	force	NOUN
ajst-2914	174	26	between	between	ADP
ajst-2914	174	27	the	the	DET
ajst-2914	174	28	pipe	pipe	NOUN
ajst-2914	174	29	and	and	CCONJ
ajst-2914	174	30	the	the	DET
ajst-2914	174	31	leg	leg	NOUN
ajst-2914	174	32	by	by	ADP
ajst-2914	174	33	using	use	VERB
ajst-2914	174	34	the	the	DET
ajst-2914	174	35	bending	bend	VERB
ajst-2914	174	36	moment	moment	NOUN
ajst-2914	174	37	equation	equation	NOUN
ajst-2914	174	38	and	and	CCONJ
ajst-2914	174	39	coulomb	coulomb	NOUN
ajst-2914	174	40	friction	friction	NOUN
ajst-2914	174	41	law	law	NOUN
ajst-2914	174	42	.	.	PUNCT
ajst-2914	175	1	the	the	DET
ajst-2914	175	2	prototype	prototype	NOUN
ajst-2914	175	3	of	of	ADP
ajst-2914	175	4	the	the	DET
ajst-2914	175	5	robot	robot	NOUN
ajst-2914	175	6	is	be	AUX
ajst-2914	175	7	shown	show	VERB
ajst-2914	175	8	in	in	ADP
ajst-2914	175	9	the	the	DET
ajst-2914	175	10	fig	fig	NOUN
ajst-2914	175	11	.	.	PUNCT
ajst-2914	176	1	11	11	NUM
ajst-2914	176	2	.	.	PUNCT
ajst-2914	177	1	figure	figure	VERB
ajst-2914	177	2	11	11	NUM
ajst-2914	177	3	.	.	PUNCT
ajst-2914	178	1	prototype	prototype	NOUN
ajst-2914	178	2	of	of	ADP
ajst-2914	178	3	inchworm	inchworm	NOUN
ajst-2914	178	4	robot	robot	NOUN
ajst-2914	178	5	takagi	takagi	PROPN
ajst-2914	178	6	et	et	PROPN
ajst-2914	178	7	al	al	PROPN
ajst-2914	178	8	.	.	PUNCT
ajst-2914	179	1	[	[	X
ajst-2914	179	2	39	39	NUM
ajst-2914	179	3	]	]	PUNCT
ajst-2914	179	4	,	,	PUNCT
ajst-2914	179	5	studied	study	VERB
ajst-2914	179	6	and	and	CCONJ
ajst-2914	179	7	made	make	VERB
ajst-2914	179	8	a	a	DET
ajst-2914	179	9	mobile	mobile	ADJ
ajst-2914	179	10	inchworm	inchworm	NOUN
ajst-2914	179	11	robot	robot	NOUN
ajst-2914	179	12	prototype	prototype	NOUN
ajst-2914	179	13	suitable	suitable	ADJ
ajst-2914	179	14	for	for	ADP
ajst-2914	179	15	narrow	narrow	ADJ
ajst-2914	179	16	spaces	space	NOUN
ajst-2914	179	17	,	,	PUNCT
ajst-2914	179	18	as	as	SCONJ
ajst-2914	179	19	shown	show	VERB
ajst-2914	179	20	in	in	ADP
ajst-2914	179	21	figure	figure	NOUN
ajst-2914	179	22	12	12	NUM
ajst-2914	179	23	.	.	PUNCT
ajst-2914	180	1	the	the	DET
ajst-2914	180	2	prototype	prototype	NOUN
ajst-2914	180	3	uses	use	VERB
ajst-2914	180	4	double	double	ADJ
ajst-2914	180	5	network	network	NOUN
ajst-2914	180	6	hydrogel	hydrogel	NOUN
ajst-2914	180	7	on	on	ADP
ajst-2914	180	8	the	the	DET
ajst-2914	180	9	foot	foot	NOUN
ajst-2914	180	10	of	of	ADP
ajst-2914	180	11	inchworm	inchworm	NOUN
ajst-2914	180	12	robot	robot	NOUN
ajst-2914	180	13	to	to	PART
ajst-2914	180	14	enhance	enhance	VERB
ajst-2914	180	15	the	the	DET
ajst-2914	180	16	friction	friction	NOUN
ajst-2914	180	17	performance	performance	NOUN
ajst-2914	180	18	of	of	ADP
ajst-2914	180	19	the	the	DET
ajst-2914	180	20	robot	robot	NOUN
ajst-2914	180	21	.	.	PUNCT
ajst-2914	181	1	by	by	ADP
ajst-2914	181	2	applying	apply	VERB
ajst-2914	181	3	current	current	NOUN
ajst-2914	181	4	to	to	ADP
ajst-2914	181	5	dn	dn	PROPN
ajst-2914	181	6	gel	gel	PROPN
ajst-2914	181	7	,	,	PUNCT
ajst-2914	181	8	the	the	DET
ajst-2914	181	9	friction	friction	NOUN
ajst-2914	181	10	coefficient	coefficient	NOUN
ajst-2914	181	11	can	can	AUX
ajst-2914	181	12	be	be	AUX
ajst-2914	181	13	reduced	reduce	VERB
ajst-2914	181	14	from	from	ADP
ajst-2914	181	15	0.04	0.04	NUM
ajst-2914	181	16	0.07	0.07	NUM
ajst-2914	181	17	to	to	ADP
ajst-2914	181	18	0.02	0.02	NUM
ajst-2914	181	19	.	.	PUNCT
ajst-2914	182	1	the	the	DET
ajst-2914	182	2	author	author	NOUN
ajst-2914	182	3	discusses	discuss	VERB
ajst-2914	182	4	the	the	DET
ajst-2914	182	5	physical	physical	ADJ
ajst-2914	182	6	principle	principle	NOUN
ajst-2914	182	7	of	of	ADP
ajst-2914	182	8	the	the	DET
ajst-2914	182	9	inchworm	inchworm	NOUN
ajst-2914	182	10	search	search	NOUN
ajst-2914	182	11	robot	robot	NOUN
ajst-2914	182	12	's	's	PART
ajst-2914	182	13	walking	walking	NOUN
ajst-2914	182	14	motion	motion	NOUN
ajst-2914	182	15	and	and	CCONJ
ajst-2914	182	16	the	the	DET
ajst-2914	182	17	actual	actual	ADJ
ajst-2914	182	18	mechanism	mechanism	NOUN
ajst-2914	182	19	of	of	ADP
ajst-2914	182	20	providing	provide	VERB
ajst-2914	182	21	thrust	thrust	NOUN
ajst-2914	182	22	for	for	ADP
ajst-2914	182	23	the	the	DET
ajst-2914	182	24	walking	walk	VERB
ajst-2914	182	25	motion	motion	NOUN
ajst-2914	182	26	.	.	PUNCT
ajst-2914	183	1	the	the	DET
ajst-2914	183	2	model	model	NOUN
ajst-2914	183	3	realizes	realize	VERB
ajst-2914	183	4	a	a	DET
ajst-2914	183	5	single	single	ADJ
ajst-2914	183	6	step	step	NOUN
ajst-2914	183	7	of	of	ADP
ajst-2914	183	8	40	40	NUM
ajst-2914	183	9	seconds	second	NOUN
ajst-2914	183	10	and	and	CCONJ
ajst-2914	183	11	a	a	DET
ajst-2914	183	12	travel	travel	NOUN
ajst-2914	183	13	distance	distance	NOUN
ajst-2914	183	14	of	of	ADP
ajst-2914	183	15	28.4	28.4	NUM
ajst-2914	183	16	mm	mm	NOUN
ajst-2914	183	17	,	,	PUNCT
ajst-2914	183	18	so	so	SCONJ
ajst-2914	183	19	there	there	PRON
ajst-2914	183	20	is	be	VERB
ajst-2914	183	21	much	much	ADJ
ajst-2914	183	22	room	room	NOUN
ajst-2914	183	23	for	for	ADP
ajst-2914	183	24	improvement	improvement	NOUN
ajst-2914	183	25	in	in	ADP
ajst-2914	183	26	driving	drive	VERB
ajst-2914	183	27	speed	speed	NOUN
ajst-2914	183	28	and	and	CCONJ
ajst-2914	183	29	flexibility	flexibility	NOUN
ajst-2914	183	30	.	.	PUNCT
ajst-2914	184	1	figure	figure	NOUN
ajst-2914	184	2	12	12	NUM
ajst-2914	184	3	.	.	PUNCT
ajst-2914	185	1	inchworm	inchworm	NOUN
ajst-2914	185	2	robot	robot	NOUN
ajst-2914	185	3	xu	xu	PROPN
ajst-2914	186	1	hongtao	hongtao	PROPN
ajst-2914	187	1	[	[	X
ajst-2914	187	2	40	40	NUM
ajst-2914	187	3	]	]	PUNCT
ajst-2914	187	4	,	,	PUNCT
ajst-2914	187	5	considered	consider	VERB
ajst-2914	187	6	the	the	DET
ajst-2914	187	7	limitations	limitation	NOUN
ajst-2914	187	8	of	of	ADP
ajst-2914	187	9	traditional	traditional	ADJ
ajst-2914	187	10	robots	robot	NOUN
ajst-2914	187	11	that	that	PRON
ajst-2914	187	12	rely	rely	VERB
ajst-2914	187	13	on	on	SCONJ
ajst-2914	187	14	media	medium	NOUN
ajst-2914	187	15	to	to	PART
ajst-2914	187	16	work	work	VERB
ajst-2914	187	17	in	in	ADP
ajst-2914	187	18	pipelines	pipeline	NOUN
ajst-2914	187	19	,	,	PUNCT
ajst-2914	187	20	designed	design	VERB
ajst-2914	187	21	a	a	DET
ajst-2914	187	22	peristaltic	peristaltic	ADJ
ajst-2914	187	23	electromagnetic	electromagnetic	NOUN
ajst-2914	187	24	driven	drive	VERB
ajst-2914	187	25	pipeline	pipeline	NOUN
ajst-2914	187	26	traction	traction	NOUN
ajst-2914	187	27	robot	robot	NOUN
ajst-2914	187	28	that	that	PRON
ajst-2914	187	29	can	can	AUX
ajst-2914	187	30	adapt	adapt	VERB
ajst-2914	187	31	to	to	ADP
ajst-2914	187	32	non	non	PRON
ajst-2914	187	33	fluid	fluid	ADJ
ajst-2914	187	34	and	and	CCONJ
ajst-2914	187	35	unconventional	unconventional	ADJ
ajst-2914	187	36	fluid	fluid	ADJ
ajst-2914	187	37	pipelines	pipeline	NOUN
ajst-2914	187	38	,	,	PUNCT
ajst-2914	187	39	and	and	CCONJ
ajst-2914	187	40	simulated	simulate	VERB
ajst-2914	187	41	the	the	DET
ajst-2914	187	42	model	model	NOUN
ajst-2914	187	43	in	in	ADP
ajst-2914	187	44	adams	adams	PROPN
ajst-2914	187	45	software	software	PROPN
ajst-2914	187	46	.	.	PUNCT
ajst-2914	188	1	the	the	DET
ajst-2914	188	2	experimental	experimental	ADJ
ajst-2914	188	3	results	result	NOUN
ajst-2914	188	4	show	show	VERB
ajst-2914	188	5	that	that	SCONJ
ajst-2914	188	6	the	the	DET
ajst-2914	188	7	robot	robot	NOUN
ajst-2914	188	8	can	can	AUX
ajst-2914	188	9	work	work	VERB
ajst-2914	188	10	normally	normally	ADV
ajst-2914	188	11	in	in	ADP
ajst-2914	188	12	the	the	DET
ajst-2914	188	13	pipeline	pipeline	NOUN
ajst-2914	188	14	,	,	PUNCT
ajst-2914	188	15	and	and	CCONJ
ajst-2914	188	16	can	can	AUX
ajst-2914	188	17	meet	meet	VERB
ajst-2914	188	18	the	the	DET
ajst-2914	188	19	special	special	ADJ
ajst-2914	188	20	working	working	NOUN
ajst-2914	188	21	conditions	condition	NOUN
ajst-2914	188	22	,	,	PUNCT
ajst-2914	188	23	at	at	ADP
ajst-2914	188	24	the	the	DET
ajst-2914	188	25	same	same	ADJ
ajst-2914	188	26	time	time	NOUN
ajst-2914	188	27	,	,	PUNCT
ajst-2914	188	28	it	it	PRON
ajst-2914	188	29	has	have	VERB
ajst-2914	188	30	a	a	DET
ajst-2914	188	31	certain	certain	ADJ
ajst-2914	188	32	obstacle	obstacle	NOUN
ajst-2914	188	33	avoidance	avoidance	NOUN
ajst-2914	188	34	ability	ability	NOUN
ajst-2914	188	35	,	,	PUNCT
ajst-2914	188	36	which	which	PRON
ajst-2914	188	37	provides	provide	VERB
ajst-2914	188	38	a	a	DET
ajst-2914	188	39	new	new	ADJ
ajst-2914	188	40	solution	solution	NOUN
ajst-2914	188	41	for	for	ADP
ajst-2914	188	42	the	the	DET
ajst-2914	188	43	inspection	inspection	NOUN
ajst-2914	188	44	and	and	CCONJ
ajst-2914	188	45	maintenance	maintenance	NOUN
ajst-2914	188	46	of	of	ADP
ajst-2914	188	47	conventional	conventional	ADJ
ajst-2914	188	48	or	or	CCONJ
ajst-2914	188	49	special	special	ADJ
ajst-2914	188	50	oil	oil	NOUN
ajst-2914	188	51	and	and	CCONJ
ajst-2914	188	52	gas	gas	NOUN
ajst-2914	188	53	pipelines	pipeline	NOUN
ajst-2914	188	54	.	.	PUNCT
ajst-2914	189	1	hayashi	hayashi	PROPN
ajst-2914	189	2	et	et	PROPN
ajst-2914	189	3	al	al	PROPN
ajst-2914	189	4	.	.	PUNCT
ajst-2914	190	1	[	[	X
ajst-2914	190	2	41	41	NUM
ajst-2914	190	3	]	]	PUNCT
ajst-2914	190	4	,	,	PUNCT
ajst-2914	190	5	studied	study	VERB
ajst-2914	190	6	and	and	CCONJ
ajst-2914	190	7	developed	develop	VERB
ajst-2914	190	8	a	a	DET
ajst-2914	190	9	walking	walking	NOUN
ajst-2914	190	10	robot	robot	NOUN
ajst-2914	190	11	with	with	ADP
ajst-2914	190	12	dual	dual	ADJ
ajst-2914	190	13	network	network	NOUN
ajst-2914	190	14	friction	friction	NOUN
ajst-2914	190	15	control	control	NOUN
ajst-2914	190	16	,	,	PUNCT
ajst-2914	190	17	as	as	SCONJ
ajst-2914	190	18	shown	show	VERB
ajst-2914	190	19	in	in	ADP
ajst-2914	190	20	figure	figure	NOUN
ajst-2914	190	21	13	13	NUM
ajst-2914	190	22	.	.	PUNCT
ajst-2914	191	1	the	the	DET
ajst-2914	191	2	robot	robot	NOUN
ajst-2914	191	3	is	be	AUX
ajst-2914	191	4	equipped	equip	VERB
ajst-2914	191	5	with	with	ADP
ajst-2914	191	6	an	an	DET
ajst-2914	191	7	annular	annular	ADJ
ajst-2914	191	8	tube	tube	NOUN
ajst-2914	191	9	on	on	ADP
ajst-2914	191	10	the	the	DET
ajst-2914	191	11	end	end	NOUN
ajst-2914	191	12	node	node	NOUN
ajst-2914	191	13	,	,	PUNCT
ajst-2914	191	14	and	and	CCONJ
ajst-2914	191	15	the	the	DET
ajst-2914	191	16	clamping	clamp	VERB
ajst-2914	191	17	mechanism	mechanism	NOUN
ajst-2914	191	18	is	be	AUX
ajst-2914	191	19	improved	improve	VERB
ajst-2914	191	20	,	,	PUNCT
ajst-2914	191	21	which	which	PRON
ajst-2914	191	22	can	can	AUX
ajst-2914	191	23	withstand	withstand	VERB
ajst-2914	191	24	a	a	DET
ajst-2914	191	25	clamping	clamp	VERB
ajst-2914	191	26	force	force	NOUN
ajst-2914	191	27	of	of	ADP
ajst-2914	191	28	160n	160n	PROPN
ajst-2914	191	29	.	.	PUNCT
ajst-2914	192	1	the	the	DET
ajst-2914	192	2	retaining	retain	VERB
ajst-2914	192	3	mechanism	mechanism	NOUN
ajst-2914	192	4	has	have	VERB
ajst-2914	192	5	a	a	DET
ajst-2914	192	6	structure	structure	NOUN
ajst-2914	192	7	similar	similar	ADJ
ajst-2914	192	8	to	to	ADP
ajst-2914	192	9	that	that	PRON
ajst-2914	192	10	of	of	ADP
ajst-2914	192	11	a	a	DET
ajst-2914	192	12	car	car	NOUN
ajst-2914	192	13	tire	tire	NOUN
ajst-2914	192	14	wheel	wheel	NOUN
ajst-2914	192	15	,	,	PUNCT
ajst-2914	192	16	which	which	PRON
ajst-2914	192	17	can	can	AUX
ajst-2914	192	18	help	help	VERB
ajst-2914	192	19	reduce	reduce	VERB
ajst-2914	192	20	the	the	DET
ajst-2914	192	21	volume	volume	NOUN
ajst-2914	192	22	size	size	NOUN
ajst-2914	192	23	.	.	PUNCT
ajst-2914	193	1	the	the	DET
ajst-2914	193	2	robot	robot	NOUN
ajst-2914	193	3	can	can	AUX
ajst-2914	193	4	turn	turn	VERB
ajst-2914	193	5	in	in	ADP
ajst-2914	193	6	six	six	NUM
ajst-2914	193	7	directions	direction	NOUN
ajst-2914	193	8	by	by	ADP
ajst-2914	193	9	operating	operate	VERB
ajst-2914	193	10	the	the	DET
ajst-2914	193	11	efpa	efpa	ADJ
ajst-2914	193	12	unit	unit	NOUN
ajst-2914	193	13	.	.	PUNCT
ajst-2914	194	1	the	the	DET
ajst-2914	194	2	robot	robot	NOUN
ajst-2914	194	3	is	be	AUX
ajst-2914	194	4	suitable	suitable	ADJ
ajst-2914	194	5	for	for	ADP
ajst-2914	194	6	pipes	pipe	NOUN
ajst-2914	194	7	with	with	ADP
ajst-2914	194	8	a	a	DET
ajst-2914	194	9	diameter	diameter	NOUN
ajst-2914	194	10	of	of	ADP
ajst-2914	194	11	55mm~75	55mm~75	NUM
ajst-2914	194	12	mm	mm	NOUN
ajst-2914	194	13	.	.	PUNCT
ajst-2914	195	1	experiments	experiment	NOUN
ajst-2914	195	2	show	show	VERB
ajst-2914	195	3	that	that	SCONJ
ajst-2914	195	4	the	the	DET
ajst-2914	195	5	inchworm	inchworm	NOUN
ajst-2914	195	6	walking	walking	NOUN
ajst-2914	195	7	robot	robot	NOUN
ajst-2914	195	8	can	can	AUX
ajst-2914	195	9	achieve	achieve	VERB
ajst-2914	195	10	high	high	ADJ
ajst-2914	195	11	-	-	PUNCT
ajst-2914	195	12	speed	speed	NOUN
ajst-2914	195	13	pipeline	pipeline	NOUN
ajst-2914	195	14	detection	detection	NOUN
ajst-2914	195	15	by	by	ADP
ajst-2914	195	16	properly	properly	ADV
ajst-2914	195	17	controlling	control	VERB
ajst-2914	195	18	the	the	DET
ajst-2914	195	19	friction	friction	NOUN
ajst-2914	195	20	of	of	ADP
ajst-2914	195	21	dn	dn	PROPN
ajst-2914	195	22	gel	gel	PROPN
ajst-2914	195	23	.	.	PUNCT
ajst-2914	196	1	figure	figure	NOUN
ajst-2914	196	2	13	13	NUM
ajst-2914	196	3	.	.	PUNCT
ajst-2914	197	1	flexible	flexible	ADJ
ajst-2914	197	2	pneumatic	pneumatic	ADJ
ajst-2914	197	3	robot	robot	NOUN
ajst-2914	197	4	3	3	NUM
ajst-2914	197	5	.	.	NOUN
ajst-2914	197	6	results	result	NOUN
ajst-2914	197	7	and	and	CCONJ
ajst-2914	197	8	discussion	discussion	NOUN
ajst-2914	197	9	it	it	PRON
ajst-2914	197	10	can	can	AUX
ajst-2914	197	11	be	be	AUX
ajst-2914	197	12	seen	see	VERB
ajst-2914	197	13	from	from	ADP
ajst-2914	197	14	table	table	NOUN
ajst-2914	197	15	1	1	NUM
ajst-2914	197	16	that	that	SCONJ
ajst-2914	197	17	different	different	ADJ
ajst-2914	197	18	types	type	NOUN
ajst-2914	197	19	of	of	ADP
ajst-2914	197	20	pipeline	pipeline	NOUN
ajst-2914	197	21	inspection	inspection	NOUN
ajst-2914	197	22	robots	robot	NOUN
ajst-2914	197	23	have	have	VERB
ajst-2914	197	24	their	their	PRON
ajst-2914	197	25	own	own	ADJ
ajst-2914	197	26	advantages	advantage	NOUN
ajst-2914	197	27	and	and	CCONJ
ajst-2914	197	28	disadvantages	disadvantage	NOUN
ajst-2914	197	29	.	.	PUNCT
ajst-2914	198	1	the	the	DET
ajst-2914	198	2	wheeled	wheel	VERB
ajst-2914	198	3	wall	wall	NOUN
ajst-2914	198	4	pressing	press	VERB
ajst-2914	198	5	robot	robot	NOUN
ajst-2914	198	6	can	can	AUX
ajst-2914	198	7	be	be	AUX
ajst-2914	198	8	used	use	VERB
ajst-2914	198	9	in	in	ADP
ajst-2914	198	10	most	most	ADJ
ajst-2914	198	11	places	place	NOUN
ajst-2914	198	12	.	.	PUNCT
ajst-2914	199	1	most	most	ADJ
ajst-2914	199	2	wheeled	wheel	VERB
ajst-2914	199	3	robots	robot	NOUN
ajst-2914	199	4	are	be	AUX
ajst-2914	199	5	equipped	equip	VERB
ajst-2914	199	6	with	with	ADP
ajst-2914	199	7	fourbar	fourbar	NOUN
ajst-2914	199	8	linkage	linkage	NOUN
ajst-2914	199	9	adaptive	adaptive	ADJ
ajst-2914	199	10	mechanisms	mechanism	NOUN
ajst-2914	199	11	,	,	PUNCT
ajst-2914	199	12	but	but	CCONJ
ajst-2914	199	13	the	the	DET
ajst-2914	199	14	steering	steering	NOUN
ajst-2914	199	15	ability	ability	NOUN
ajst-2914	199	16	and	and	CCONJ
ajst-2914	199	17	driving	drive	VERB
ajst-2914	199	18	ability	ability	NOUN
ajst-2914	199	19	need	need	VERB
ajst-2914	199	20	to	to	PART
ajst-2914	199	21	be	be	AUX
ajst-2914	199	22	improved	improve	VERB
ajst-2914	199	23	.	.	PUNCT
ajst-2914	200	1	crawler	crawler	NOUN
ajst-2914	200	2	type	type	NOUN
ajst-2914	200	3	robots	robot	NOUN
ajst-2914	200	4	can	can	AUX
ajst-2914	200	5	be	be	AUX
ajst-2914	200	6	used	use	VERB
ajst-2914	200	7	in	in	ADP
ajst-2914	200	8	situations	situation	NOUN
ajst-2914	200	9	that	that	PRON
ajst-2914	200	10	require	require	VERB
ajst-2914	200	11	greater	great	ADJ
ajst-2914	200	12	traction	traction	NOUN
ajst-2914	200	13	.	.	PUNCT
ajst-2914	201	1	they	they	PRON
ajst-2914	201	2	have	have	VERB
ajst-2914	201	3	greater	great	ADJ
ajst-2914	201	4	stability	stability	NOUN
ajst-2914	201	5	and	and	CCONJ
ajst-2914	201	6	traction	traction	NOUN
ajst-2914	201	7	,	,	PUNCT
ajst-2914	201	8	strong	strong	ADJ
ajst-2914	201	9	obstacle	obstacle	NOUN
ajst-2914	201	10	surmounting	surmount	VERB
ajst-2914	201	11	ability	ability	NOUN
ajst-2914	201	12	,	,	PUNCT
ajst-2914	201	13	and	and	CCONJ
ajst-2914	201	14	can	can	AUX
ajst-2914	201	15	carry	carry	VERB
ajst-2914	201	16	inspection	inspection	NOUN
ajst-2914	201	17	tools	tool	NOUN
ajst-2914	201	18	.	.	PUNCT
ajst-2914	202	1	pig	pig	NOUN
ajst-2914	202	2	robot	robot	NOUN
ajst-2914	202	3	is	be	AUX
ajst-2914	202	4	suitable	suitable	ADJ
ajst-2914	202	5	for	for	ADP
ajst-2914	202	6	long	long	ADJ
ajst-2914	202	7	-	-	PUNCT
ajst-2914	202	8	distance	distance	NOUN
ajst-2914	202	9	pipeline	pipeline	NOUN
ajst-2914	202	10	detection	detection	NOUN
ajst-2914	202	11	,	,	PUNCT
ajst-2914	202	12	but	but	CCONJ
ajst-2914	202	13	it	it	PRON
ajst-2914	202	14	is	be	AUX
ajst-2914	202	15	difficult	difficult	ADJ
ajst-2914	202	16	to	to	PART
ajst-2914	202	17	pass	pass	VERB
ajst-2914	202	18	through	through	ADP
ajst-2914	202	19	pipes	pipe	NOUN
ajst-2914	202	20	of	of	ADP
ajst-2914	202	21	different	different	ADJ
ajst-2914	202	22	diameters	diameter	NOUN
ajst-2914	202	23	,	,	PUNCT
ajst-2914	202	24	and	and	CCONJ
ajst-2914	202	25	it	it	PRON
ajst-2914	202	26	is	be	AUX
ajst-2914	202	27	also	also	ADV
ajst-2914	202	28	difficult	difficult	ADJ
ajst-2914	202	29	to	to	PART
ajst-2914	202	30	make	make	VERB
ajst-2914	202	31	sharp	sharp	ADJ
ajst-2914	202	32	turns	turn	NOUN
ajst-2914	202	33	in	in	ADP
ajst-2914	202	34	pipes	pipe	NOUN
ajst-2914	202	35	.	.	PUNCT
ajst-2914	203	1	the	the	DET
ajst-2914	203	2	steering	steering	NOUN
ajst-2914	203	3	and	and	CCONJ
ajst-2914	203	4	backward	backward	ADV
ajst-2914	203	5	driving	drive	VERB
ajst-2914	203	6	139	139	NUM
ajst-2914	203	7	ability	ability	NOUN
ajst-2914	203	8	of	of	ADP
ajst-2914	203	9	the	the	DET
ajst-2914	203	10	screw	screw	NOUN
ajst-2914	203	11	driven	drive	VERB
ajst-2914	203	12	pipeline	pipeline	NOUN
ajst-2914	203	13	inspection	inspection	NOUN
ajst-2914	203	14	robot	robot	NOUN
ajst-2914	203	15	needs	need	VERB
ajst-2914	203	16	to	to	PART
ajst-2914	203	17	be	be	AUX
ajst-2914	203	18	improved	improve	VERB
ajst-2914	203	19	.	.	PUNCT
ajst-2914	204	1	the	the	DET
ajst-2914	204	2	structure	structure	NOUN
ajst-2914	204	3	of	of	ADP
ajst-2914	204	4	walking	walk	VERB
ajst-2914	204	5	pipeline	pipeline	NOUN
ajst-2914	204	6	inspection	inspection	NOUN
ajst-2914	204	7	robot	robot	NOUN
ajst-2914	204	8	is	be	AUX
ajst-2914	204	9	complex	complex	ADJ
ajst-2914	204	10	and	and	CCONJ
ajst-2914	204	11	has	have	VERB
ajst-2914	204	12	great	great	ADJ
ajst-2914	204	13	development	development	NOUN
ajst-2914	204	14	space	space	NOUN
ajst-2914	204	15	.	.	PUNCT
ajst-2914	205	1	the	the	DET
ajst-2914	205	2	inchworm	inchworm	NOUN
ajst-2914	205	3	robot	robot	NOUN
ajst-2914	205	4	has	have	VERB
ajst-2914	205	5	weak	weak	ADJ
ajst-2914	205	6	traction	traction	NOUN
ajst-2914	205	7	ability	ability	NOUN
ajst-2914	205	8	and	and	CCONJ
ajst-2914	205	9	slow	slow	ADJ
ajst-2914	205	10	movement	movement	NOUN
ajst-2914	205	11	speed	speed	NOUN
ajst-2914	205	12	,	,	PUNCT
ajst-2914	205	13	which	which	PRON
ajst-2914	205	14	will	will	AUX
ajst-2914	205	15	cause	cause	VERB
ajst-2914	205	16	certain	certain	ADJ
ajst-2914	205	17	wear	wear	NOUN
ajst-2914	205	18	on	on	ADP
ajst-2914	205	19	the	the	DET
ajst-2914	205	20	inner	inner	ADJ
ajst-2914	205	21	wall	wall	NOUN
ajst-2914	205	22	of	of	ADP
ajst-2914	205	23	the	the	DET
ajst-2914	205	24	pipe	pipe	NOUN
ajst-2914	205	25	,	,	PUNCT
ajst-2914	205	26	but	but	CCONJ
ajst-2914	205	27	it	it	PRON
ajst-2914	205	28	can	can	AUX
ajst-2914	205	29	move	move	VERB
ajst-2914	205	30	flexibly	flexibly	ADV
ajst-2914	205	31	in	in	ADP
ajst-2914	205	32	complex	complex	ADJ
ajst-2914	205	33	pipes	pipe	NOUN
ajst-2914	205	34	.	.	PUNCT
ajst-2914	206	1	table	table	NOUN
ajst-2914	206	2	1	1	NUM
ajst-2914	206	3	.	.	PUNCT
ajst-2914	207	1	performance	performance	NOUN
ajst-2914	207	2	comparison	comparison	NOUN
ajst-2914	207	3	of	of	ADP
ajst-2914	207	4	pipeline	pipeline	NOUN
ajst-2914	207	5	inspection	inspection	NOUN
ajst-2914	207	6	robots	robot	NOUN
ajst-2914	207	7	motion	motion	NOUN
ajst-2914	207	8	mode	mode	NOUN
ajst-2914	207	9	driving	drive	VERB
ajst-2914	207	10	speed	speed	NOUN
ajst-2914	207	11	obstacle	obstacle	NOUN
ajst-2914	207	12	surmounting	surmount	VERB
ajst-2914	207	13	active	active	ADJ
ajst-2914	207	14	steering	steering	NOUN
ajst-2914	207	15	motion	motion	NOUN
ajst-2914	207	16	reliability	reliability	NOUN
ajst-2914	207	17	pipe	pipe	NOUN
ajst-2914	207	18	diameter	diameter	NOUN
ajst-2914	207	19	adaptability	adaptability	NOUN
ajst-2914	207	20	robot	robot	NOUN
ajst-2914	207	21	structure	structure	NOUN
ajst-2914	207	22	wheel	wheel	VERB
ajst-2914	207	23	excellent	excellent	ADJ
ajst-2914	207	24	average	average	ADJ
ajst-2914	207	25	good	good	ADJ
ajst-2914	207	26	good	good	ADJ
ajst-2914	207	27	excellent	excellent	ADJ
ajst-2914	207	28	excellent	excellent	ADJ
ajst-2914	207	29	track	track	NOUN
ajst-2914	208	1	good	good	ADJ
ajst-2914	208	2	excellent	excellent	ADJ
ajst-2914	208	3	average	average	ADJ
ajst-2914	208	4	excellent	excellent	ADJ
ajst-2914	208	5	excellent	excellent	ADJ
ajst-2914	208	6	good	good	ADJ
ajst-2914	208	7	pig	pig	NOUN
ajst-2914	208	8	average	average	ADJ
ajst-2914	208	9	average	average	ADJ
ajst-2914	208	10	average	average	ADJ
ajst-2914	208	11	excellent	excellent	ADJ
ajst-2914	208	12	poor	poor	ADJ
ajst-2914	208	13	good	good	ADJ
ajst-2914	208	14	screw	screw	VERB
ajst-2914	208	15	good	good	ADJ
ajst-2914	208	16	average	average	ADJ
ajst-2914	208	17	average	average	ADJ
ajst-2914	208	18	good	good	ADJ
ajst-2914	208	19	good	good	ADJ
ajst-2914	208	20	good	good	ADJ
ajst-2914	208	21	walking	walk	VERB
ajst-2914	208	22	average	average	ADJ
ajst-2914	208	23	good	good	ADJ
ajst-2914	208	24	excellent	excellent	ADJ
ajst-2914	208	25	good	good	ADJ
ajst-2914	208	26	good	good	ADJ
ajst-2914	208	27	poor	poor	ADJ
ajst-2914	208	28	inchworm	inchworm	NOUN
ajst-2914	209	1	poor	poor	ADJ
ajst-2914	209	2	average	average	ADJ
ajst-2914	209	3	good	good	ADJ
ajst-2914	209	4	average	average	ADJ
ajst-2914	209	5	average	average	ADJ
ajst-2914	209	6	good	good	ADJ
ajst-2914	209	7	4	4	NUM
ajst-2914	209	8	.	.	PUNCT
ajst-2914	210	1	summary	summary	NOUN
ajst-2914	210	2	and	and	CCONJ
ajst-2914	210	3	outlook	outlook	NOUN
ajst-2914	210	4	there	there	PRON
ajst-2914	210	5	are	be	VERB
ajst-2914	210	6	various	various	ADJ
ajst-2914	210	7	types	type	NOUN
ajst-2914	210	8	of	of	ADP
ajst-2914	210	9	robots	robot	NOUN
ajst-2914	210	10	in	in	ADP
ajst-2914	210	11	the	the	DET
ajst-2914	210	12	field	field	NOUN
ajst-2914	210	13	of	of	ADP
ajst-2914	210	14	pipeline	pipeline	NOUN
ajst-2914	210	15	inspection	inspection	NOUN
ajst-2914	210	16	,	,	PUNCT
ajst-2914	210	17	including	include	VERB
ajst-2914	210	18	wheeled	wheel	VERB
ajst-2914	210	19	robots	robot	NOUN
ajst-2914	210	20	,	,	PUNCT
ajst-2914	210	21	caterpillar	caterpillar	ADJ
ajst-2914	210	22	robots	robot	NOUN
ajst-2914	210	23	,	,	PUNCT
ajst-2914	210	24	pig	pig	NOUN
ajst-2914	210	25	robots	robot	NOUN
ajst-2914	210	26	,	,	PUNCT
ajst-2914	210	27	screw	screw	VERB
ajst-2914	210	28	driven	drive	VERB
ajst-2914	210	29	robots	robot	NOUN
ajst-2914	210	30	,	,	PUNCT
ajst-2914	210	31	walking	walk	VERB
ajst-2914	210	32	robots	robot	NOUN
ajst-2914	210	33	,	,	PUNCT
ajst-2914	210	34	and	and	CCONJ
ajst-2914	210	35	inchworm	inchworm	NOUN
ajst-2914	210	36	robots	robot	NOUN
ajst-2914	210	37	,	,	PUNCT
ajst-2914	210	38	which	which	PRON
ajst-2914	210	39	are	be	AUX
ajst-2914	210	40	reviewed	review	VERB
ajst-2914	210	41	in	in	ADP
ajst-2914	210	42	this	this	DET
ajst-2914	210	43	paper	paper	NOUN
ajst-2914	210	44	.	.	PUNCT
ajst-2914	211	1	we	we	PRON
ajst-2914	211	2	analyze	analyze	VERB
ajst-2914	211	3	and	and	CCONJ
ajst-2914	211	4	prospect	prospect	VERB
ajst-2914	211	5	the	the	DET
ajst-2914	211	6	specifications	specification	NOUN
ajst-2914	211	7	,	,	PUNCT
ajst-2914	211	8	design	design	NOUN
ajst-2914	211	9	and	and	CCONJ
ajst-2914	211	10	performance	performance	NOUN
ajst-2914	211	11	of	of	ADP
ajst-2914	211	12	different	different	ADJ
ajst-2914	211	13	types	type	NOUN
ajst-2914	211	14	of	of	ADP
ajst-2914	211	15	in	in	ADP
ajst-2914	211	16	pipe	pipe	NOUN
ajst-2914	211	17	inspection	inspection	NOUN
ajst-2914	211	18	robots.with	robots.with	ADP
ajst-2914	211	19	the	the	DET
ajst-2914	211	20	development	development	NOUN
ajst-2914	211	21	of	of	ADP
ajst-2914	211	22	science	science	NOUN
ajst-2914	211	23	and	and	CCONJ
ajst-2914	211	24	technology	technology	NOUN
ajst-2914	211	25	and	and	CCONJ
ajst-2914	211	26	more	more	ADJ
ajst-2914	211	27	and	and	CCONJ
ajst-2914	211	28	more	more	ADJ
ajst-2914	211	29	researchers	researcher	NOUN
ajst-2914	211	30	'	'	PART
ajst-2914	211	31	attention	attention	NOUN
ajst-2914	211	32	to	to	ADP
ajst-2914	211	33	the	the	DET
ajst-2914	211	34	oil	oil	NOUN
ajst-2914	211	35	and	and	CCONJ
ajst-2914	211	36	gas	gas	NOUN
ajst-2914	211	37	pipeline	pipeline	NOUN
ajst-2914	211	38	robot	robot	NOUN
ajst-2914	211	39	,	,	PUNCT
ajst-2914	211	40	the	the	DET
ajst-2914	211	41	future	future	ADJ
ajst-2914	211	42	research	research	NOUN
ajst-2914	211	43	on	on	ADP
ajst-2914	211	44	the	the	DET
ajst-2914	211	45	oil	oil	NOUN
ajst-2914	211	46	and	and	CCONJ
ajst-2914	211	47	gas	gas	NOUN
ajst-2914	211	48	pipeline	pipeline	NOUN
ajst-2914	211	49	robot	robot	NOUN
ajst-2914	211	50	will	will	AUX
ajst-2914	211	51	mainly	mainly	ADV
ajst-2914	211	52	focus	focus	VERB
ajst-2914	211	53	on	on	ADP
ajst-2914	211	54	the	the	DET
ajst-2914	211	55	following	follow	VERB
ajst-2914	211	56	aspects	aspect	NOUN
ajst-2914	211	57	.	.	PUNCT
ajst-2914	212	1	flexible	flexible	ADJ
ajst-2914	212	2	and	and	CCONJ
ajst-2914	212	3	stable	stable	ADJ
ajst-2914	212	4	mechanical	mechanical	ADJ
ajst-2914	212	5	structure	structure	NOUN
ajst-2914	212	6	.	.	PUNCT
ajst-2914	213	1	the	the	DET
ajst-2914	213	2	future	future	ADJ
ajst-2914	213	3	oil	oil	NOUN
ajst-2914	213	4	and	and	CCONJ
ajst-2914	213	5	gas	gas	NOUN
ajst-2914	213	6	pipeline	pipeline	NOUN
ajst-2914	213	7	inspection	inspection	NOUN
ajst-2914	213	8	robot	robot	NOUN
ajst-2914	213	9	will	will	AUX
ajst-2914	213	10	tend	tend	VERB
ajst-2914	213	11	to	to	PART
ajst-2914	213	12	be	be	AUX
ajst-2914	213	13	multifunctional	multifunctional	ADJ
ajst-2914	213	14	and	and	CCONJ
ajst-2914	213	15	modular	modular	ADJ
ajst-2914	213	16	in	in	ADP
ajst-2914	213	17	structure	structure	NOUN
ajst-2914	213	18	,	,	PUNCT
ajst-2914	213	19	integrating	integrate	VERB
ajst-2914	213	20	functions	function	NOUN
ajst-2914	213	21	such	such	ADJ
ajst-2914	213	22	as	as	ADP
ajst-2914	213	23	cleaning	cleaning	NOUN
ajst-2914	213	24	,	,	PUNCT
ajst-2914	213	25	inspection	inspection	NOUN
ajst-2914	213	26	,	,	PUNCT
ajst-2914	213	27	cutting	cut	VERB
ajst-2914	213	28	,	,	PUNCT
ajst-2914	213	29	spraying	spray	VERB
ajst-2914	213	30	and	and	CCONJ
ajst-2914	213	31	welding	welding	NOUN
ajst-2914	213	32	.	.	PUNCT
ajst-2914	214	1	at	at	ADP
ajst-2914	214	2	the	the	DET
ajst-2914	214	3	same	same	ADJ
ajst-2914	214	4	time	time	NOUN
ajst-2914	214	5	,	,	PUNCT
ajst-2914	214	6	robots	robot	NOUN
ajst-2914	214	7	can	can	AUX
ajst-2914	214	8	still	still	ADV
ajst-2914	214	9	maintain	maintain	VERB
ajst-2914	214	10	good	good	ADJ
ajst-2914	214	11	trafficability	trafficability	NOUN
ajst-2914	214	12	and	and	CCONJ
ajst-2914	214	13	adaptability	adaptability	NOUN
ajst-2914	214	14	in	in	ADP
ajst-2914	214	15	oil	oil	NOUN
ajst-2914	214	16	and	and	CCONJ
ajst-2914	214	17	gas	gas	NOUN
ajst-2914	214	18	pipelines	pipeline	NOUN
ajst-2914	214	19	with	with	ADP
ajst-2914	214	20	special	special	ADJ
ajst-2914	214	21	forms	form	NOUN
ajst-2914	214	22	such	such	ADJ
ajst-2914	214	23	as	as	ADP
ajst-2914	214	24	downhole	downhole	NOUN
ajst-2914	214	25	operations	operation	NOUN
ajst-2914	214	26	,	,	PUNCT
ajst-2914	214	27	curves	curve	NOUN
ajst-2914	214	28	and	and	CCONJ
ajst-2914	214	29	variable	variable	ADJ
ajst-2914	214	30	diameter	diameter	NOUN
ajst-2914	214	31	pipelines	pipeline	NOUN
ajst-2914	214	32	.	.	PUNCT
ajst-2914	215	1	walk	walk	VERB
ajst-2914	215	2	intelligently	intelligently	ADV
ajst-2914	215	3	.	.	PUNCT
ajst-2914	216	1	the	the	DET
ajst-2914	216	2	rapid	rapid	ADJ
ajst-2914	216	3	development	development	NOUN
ajst-2914	216	4	of	of	ADP
ajst-2914	216	5	artificial	artificial	ADJ
ajst-2914	216	6	intelligence	intelligence	NOUN
ajst-2914	216	7	technology	technology	NOUN
ajst-2914	216	8	has	have	AUX
ajst-2914	216	9	promoted	promote	VERB
ajst-2914	216	10	the	the	DET
ajst-2914	216	11	rapid	rapid	ADJ
ajst-2914	216	12	development	development	NOUN
ajst-2914	216	13	of	of	ADP
ajst-2914	216	14	intelligent	intelligent	ADJ
ajst-2914	216	15	robots	robot	NOUN
ajst-2914	216	16	in	in	ADP
ajst-2914	216	17	defect	defect	ADJ
ajst-2914	216	18	detection	detection	NOUN
ajst-2914	216	19	.	.	PUNCT
ajst-2914	217	1	in	in	ADP
ajst-2914	217	2	the	the	DET
ajst-2914	217	3	context	context	NOUN
ajst-2914	217	4	of	of	ADP
ajst-2914	217	5	today	today	NOUN
ajst-2914	217	6	's	's	PART
ajst-2914	217	7	advanced	advance	VERB
ajst-2914	217	8	intelligent	intelligent	ADJ
ajst-2914	217	9	control	control	NOUN
ajst-2914	217	10	algorithms	algorithm	NOUN
ajst-2914	217	11	,	,	PUNCT
ajst-2914	217	12	the	the	DET
ajst-2914	217	13	path	path	NOUN
ajst-2914	217	14	planning	planning	NOUN
ajst-2914	217	15	and	and	CCONJ
ajst-2914	217	16	walking	walk	VERB
ajst-2914	217	17	decisions	decision	NOUN
ajst-2914	217	18	of	of	ADP
ajst-2914	217	19	robots	robot	NOUN
ajst-2914	217	20	in	in	ADP
ajst-2914	217	21	pipelines	pipeline	NOUN
ajst-2914	217	22	in	in	ADP
ajst-2914	217	23	complex	complex	ADJ
ajst-2914	217	24	environments	environment	NOUN
ajst-2914	217	25	are	be	AUX
ajst-2914	217	26	constantly	constantly	ADV
ajst-2914	217	27	optimized	optimize	VERB
ajst-2914	217	28	,	,	PUNCT
ajst-2914	217	29	and	and	CCONJ
ajst-2914	217	30	the	the	DET
ajst-2914	217	31	efficiency	efficiency	NOUN
ajst-2914	217	32	and	and	CCONJ
ajst-2914	217	33	quality	quality	NOUN
ajst-2914	217	34	of	of	ADP
ajst-2914	217	35	pipeline	pipeline	NOUN
ajst-2914	217	36	detection	detection	NOUN
ajst-2914	217	37	will	will	AUX
ajst-2914	217	38	also	also	ADV
ajst-2914	217	39	be	be	AUX
ajst-2914	217	40	continuously	continuously	ADV
ajst-2914	217	41	improved	improve	VERB
ajst-2914	217	42	.	.	PUNCT
ajst-2914	218	1	intelligent	intelligent	ADJ
ajst-2914	218	2	detection	detection	NOUN
ajst-2914	218	3	.	.	PUNCT
ajst-2914	219	1	with	with	ADP
ajst-2914	219	2	the	the	DET
ajst-2914	219	3	development	development	NOUN
ajst-2914	219	4	of	of	ADP
ajst-2914	219	5	some	some	DET
ajst-2914	219	6	intelligent	intelligent	ADJ
ajst-2914	219	7	technologies	technology	NOUN
ajst-2914	219	8	such	such	ADJ
ajst-2914	219	9	as	as	ADP
ajst-2914	219	10	deep	deep	ADJ
ajst-2914	219	11	learning	learning	NOUN
ajst-2914	219	12	and	and	CCONJ
ajst-2914	219	13	artificial	artificial	ADJ
ajst-2914	219	14	neural	neural	ADJ
ajst-2914	219	15	network	network	NOUN
ajst-2914	219	16	,	,	PUNCT
ajst-2914	219	17	combined	combine	VERB
ajst-2914	219	18	with	with	ADP
ajst-2914	219	19	intelligent	intelligent	ADJ
ajst-2914	219	20	image	image	NOUN
ajst-2914	219	21	processing	processing	NOUN
ajst-2914	219	22	technology	technology	NOUN
ajst-2914	219	23	,	,	PUNCT
ajst-2914	219	24	the	the	DET
ajst-2914	219	25	robot	robot	NOUN
ajst-2914	219	26	can	can	AUX
ajst-2914	219	27	quickly	quickly	ADV
ajst-2914	219	28	identify	identify	VERB
ajst-2914	219	29	obstacles	obstacle	NOUN
ajst-2914	219	30	ahead	ahead	ADV
ajst-2914	219	31	and	and	CCONJ
ajst-2914	219	32	defects	defect	NOUN
ajst-2914	219	33	in	in	ADP
ajst-2914	219	34	the	the	DET
ajst-2914	219	35	pipeline	pipeline	NOUN
ajst-2914	219	36	,	,	PUNCT
ajst-2914	219	37	and	and	CCONJ
ajst-2914	219	38	its	its	PRON
ajst-2914	219	39	defect	defect	NOUN
ajst-2914	219	40	detection	detection	NOUN
ajst-2914	219	41	capability	capability	NOUN
ajst-2914	219	42	and	and	CCONJ
ajst-2914	219	43	efficiency	efficiency	NOUN
ajst-2914	219	44	are	be	AUX
ajst-2914	219	45	further	far	ADV
ajst-2914	219	46	improved	improve	VERB
ajst-2914	219	47	.	.	PUNCT
ajst-2914	220	1	energy	energy	NOUN
ajst-2914	220	2	optimization	optimization	NOUN
ajst-2914	220	3	.	.	PUNCT
ajst-2914	221	1	when	when	SCONJ
ajst-2914	221	2	the	the	DET
ajst-2914	221	3	robot	robot	NOUN
ajst-2914	221	4	works	work	VERB
ajst-2914	221	5	in	in	ADP
ajst-2914	221	6	a	a	DET
ajst-2914	221	7	long	long	ADJ
ajst-2914	221	8	distance	distance	NOUN
ajst-2914	221	9	,	,	PUNCT
ajst-2914	221	10	it	it	PRON
ajst-2914	221	11	generally	generally	ADV
ajst-2914	221	12	adopts	adopt	VERB
ajst-2914	221	13	the	the	DET
ajst-2914	221	14	form	form	NOUN
ajst-2914	221	15	of	of	ADP
ajst-2914	221	16	streamer	streamer	NOUN
ajst-2914	221	17	power	power	NOUN
ajst-2914	221	18	supply	supply	NOUN
ajst-2914	221	19	,	,	PUNCT
ajst-2914	221	20	which	which	PRON
ajst-2914	221	21	has	have	VERB
ajst-2914	221	22	certain	certain	ADJ
ajst-2914	221	23	requirements	requirement	NOUN
ajst-2914	221	24	on	on	ADP
ajst-2914	221	25	the	the	DET
ajst-2914	221	26	load	load	NOUN
ajst-2914	221	27	capacity	capacity	NOUN
ajst-2914	221	28	of	of	ADP
ajst-2914	221	29	the	the	DET
ajst-2914	221	30	robot	robot	NOUN
ajst-2914	221	31	.	.	PUNCT
ajst-2914	222	1	the	the	DET
ajst-2914	222	2	cable	cable	NOUN
ajst-2914	222	3	free	free	ADJ
ajst-2914	222	4	mode	mode	NOUN
ajst-2914	222	5	reduces	reduce	VERB
ajst-2914	222	6	the	the	DET
ajst-2914	222	7	load	load	NOUN
ajst-2914	222	8	constraint	constraint	NOUN
ajst-2914	222	9	of	of	ADP
ajst-2914	222	10	the	the	DET
ajst-2914	222	11	robot	robot	NOUN
ajst-2914	222	12	,	,	PUNCT
ajst-2914	222	13	but	but	CCONJ
ajst-2914	222	14	in	in	ADP
ajst-2914	222	15	some	some	DET
ajst-2914	222	16	cases	case	NOUN
ajst-2914	222	17	,	,	PUNCT
ajst-2914	222	18	the	the	DET
ajst-2914	222	19	power	power	NOUN
ajst-2914	222	20	supply	supply	NOUN
ajst-2914	222	21	performance	performance	NOUN
ajst-2914	222	22	will	will	AUX
ajst-2914	222	23	decline	decline	VERB
ajst-2914	222	24	sharply	sharply	ADV
ajst-2914	222	25	,	,	PUNCT
ajst-2914	222	26	which	which	PRON
ajst-2914	222	27	restricts	restrict	VERB
ajst-2914	222	28	the	the	DET
ajst-2914	222	29	inspection	inspection	NOUN
ajst-2914	222	30	work	work	NOUN
ajst-2914	222	31	and	and	CCONJ
ajst-2914	222	32	motion	motion	NOUN
ajst-2914	222	33	characteristics	characteristic	NOUN
ajst-2914	222	34	of	of	ADP
ajst-2914	222	35	the	the	DET
ajst-2914	222	36	pipeline	pipeline	NOUN
ajst-2914	222	37	robot	robot	NOUN
ajst-2914	222	38	,	,	PUNCT
ajst-2914	222	39	and	and	CCONJ
ajst-2914	222	40	its	its	PRON
ajst-2914	222	41	motion	motion	NOUN
ajst-2914	222	42	distance	distance	NOUN
ajst-2914	222	43	is	be	AUX
ajst-2914	222	44	limited	limit	VERB
ajst-2914	222	45	to	to	ADP
ajst-2914	222	46	a	a	DET
ajst-2914	222	47	large	large	ADJ
ajst-2914	222	48	extent	extent	NOUN
ajst-2914	222	49	.	.	PUNCT
ajst-2914	223	1	in	in	ADP
ajst-2914	223	2	the	the	DET
ajst-2914	223	3	future	future	NOUN
ajst-2914	223	4	,	,	PUNCT
ajst-2914	223	5	there	there	PRON
ajst-2914	223	6	may	may	AUX
ajst-2914	223	7	be	be	AUX
ajst-2914	223	8	few	few	ADJ
ajst-2914	223	9	or	or	CCONJ
ajst-2914	223	10	no	no	PRON
ajst-2914	223	11	cables	cable	NOUN
ajst-2914	223	12	for	for	ADP
ajst-2914	223	13	energy	energy	NOUN
ajst-2914	223	14	optimization	optimization	NOUN
ajst-2914	223	15	,	,	PUNCT
ajst-2914	223	16	so	so	SCONJ
ajst-2914	223	17	it	it	PRON
ajst-2914	223	18	will	will	AUX
ajst-2914	223	19	become	become	VERB
ajst-2914	223	20	a	a	DET
ajst-2914	223	21	new	new	ADJ
ajst-2914	223	22	trend	trend	NOUN
ajst-2914	223	23	to	to	PART
ajst-2914	223	24	use	use	VERB
ajst-2914	223	25	the	the	DET
ajst-2914	223	26	energy	energy	NOUN
ajst-2914	223	27	of	of	ADP
ajst-2914	223	28	fluid	fluid	ADJ
ajst-2914	223	29	or	or	CCONJ
ajst-2914	223	30	differential	differential	ADJ
ajst-2914	223	31	pressure	pressure	NOUN
ajst-2914	223	32	drive	drive	NOUN
ajst-2914	223	33	,	,	PUNCT
ajst-2914	223	34	electromagnetic	electromagnetic	ADJ
ajst-2914	223	35	drive	drive	NOUN
ajst-2914	223	36	and	and	CCONJ
ajst-2914	223	37	other	other	ADJ
ajst-2914	223	38	off	off	ADJ
ajst-2914	223	39	-	-	PUNCT
ajst-2914	223	40	site	site	NOUN
ajst-2914	223	41	energy	energy	NOUN
ajst-2914	223	42	supply	supply	NOUN
ajst-2914	223	43	.	.	PUNCT
ajst-2914	224	1	references	reference	NOUN
ajst-2914	224	2	[	[	X
ajst-2914	224	3	1	1	NUM
ajst-2914	224	4	]	]	X
ajst-2914	224	5	guo	guo	PROPN
ajst-2914	224	6	shaozhong	shaozhong	PROPN
ajst-2914	224	7	,	,	PUNCT
ajst-2914	224	8	zhu	zhu	PROPN
ajst-2914	224	9	rongjun	rongjun	PROPN
ajst-2914	224	10	,	,	PUNCT
ajst-2914	224	11	liu	liu	PROPN
ajst-2914	224	12	hui	hui	PROPN
ajst-2914	224	13	,	,	PUNCT
ajst-2914	224	14	etc	etc	X
ajst-2914	224	15	.	.	X
ajst-2914	224	16	research	research	NOUN
ajst-2914	224	17	on	on	ADP
ajst-2914	224	18	leak	leak	NOUN
ajst-2914	224	19	detection	detection	NOUN
ajst-2914	224	20	technology	technology	NOUN
ajst-2914	224	21	for	for	ADP
ajst-2914	224	22	oil	oil	NOUN
ajst-2914	224	23	and	and	CCONJ
ajst-2914	224	24	gas	gas	NOUN
ajst-2914	224	25	pipeline	pipeline	NOUN
ajst-2914	224	26	transportation	transportation	NOUN
ajst-2914	225	1	[	[	X
ajst-2914	225	2	j	j	X
ajst-2914	225	3	]	]	X
ajst-2914	225	4	.	.	PUNCT
ajst-2914	226	1	chemical	chemical	PROPN
ajst-2914	226	2	management	management	NOUN
ajst-2914	226	3	.	.	PUNCT
ajst-2914	227	1	vol.22	vol.22	PROPN
ajst-2914	227	2	.	.	PUNCT
ajst-2914	227	3	(	(	PUNCT
ajst-2914	227	4	2017)no.1	2017)no.1	NUM
ajst-2914	227	5	,	,	PUNCT
ajst-2914	227	6	p.	p.	NOUN
ajst-2914	227	7	86	86	NUM
ajst-2914	227	8	.	.	PUNCT
ajst-2914	228	1	[	[	X
ajst-2914	228	2	2	2	NUM
ajst-2914	228	3	]	]	X
ajst-2914	228	4	pu	pu	PROPN
ajst-2914	228	5	shiquan	shiquan	PROPN
ajst-2914	228	6	.	.	PUNCT
ajst-2914	229	1	research	research	NOUN
ajst-2914	229	2	on	on	ADP
ajst-2914	229	3	safety	safety	NOUN
ajst-2914	229	4	management	management	NOUN
ajst-2914	229	5	of	of	ADP
ajst-2914	229	6	oil	oil	NOUN
ajst-2914	229	7	and	and	CCONJ
ajst-2914	229	8	gas	gas	NOUN
ajst-2914	229	9	pipeline	pipeline	NOUN
ajst-2914	229	10	storage	storage	NOUN
ajst-2914	229	11	and	and	CCONJ
ajst-2914	229	12	transportation	transportation	NOUN
ajst-2914	230	1	[	[	X
ajst-2914	230	2	j	j	X
ajst-2914	230	3	]	]	X
ajst-2914	230	4	.	.	PUNCT
ajst-2914	231	1	chemical	chemical	PROPN
ajst-2914	231	2	management	management	NOUN
ajst-2914	231	3	,	,	PUNCT
ajst-2914	231	4	2020	2020	NUM
ajst-2914	231	5	(	(	PUNCT
ajst-2914	231	6	02	02	NUM
ajst-2914	231	7	)	)	PUNCT
ajst-2914	231	8	,	,	PUNCT
ajst-2914	231	9	p.	p.	NOUN
ajst-2914	231	10	73	73	NUM
ajst-2914	231	11	-	-	SYM
ajst-2914	231	12	74	74	NUM
ajst-2914	231	13	.	.	PUNCT
ajst-2914	232	1	[	[	X
ajst-2914	232	2	3	3	X
ajst-2914	232	3	]	]	X
ajst-2914	232	4	j.g	j.g	PROPN
ajst-2914	232	5	.	.	PROPN
ajst-2914	232	6	mooney	mooney	PROPN
ajst-2914	232	7	,	,	PUNCT
ajst-2914	232	8	e.n	e.n	PROPN
ajst-2914	232	9	.	.	PROPN
ajst-2914	232	10	johnson	johnson	PROPN
ajst-2914	232	11	.	.	PUNCT
ajst-2914	233	1	a	a	DET
ajst-2914	233	2	comparison	comparison	NOUN
ajst-2914	233	3	of	of	ADP
ajst-2914	233	4	automatic	automatic	ADJ
ajst-2914	233	5	napof	napof	ADJ
ajst-2914	233	6	-	-	PUNCT
ajst-2914	233	7	the	the	DET
ajst-2914	233	8	-	-	PUNCT
ajst-2914	233	9	earth	earth	NOUN
ajst-2914	233	10	guidance	guidance	NOUN
ajst-2914	233	11	strategies	strategy	NOUN
ajst-2914	233	12	for	for	ADP
ajst-2914	233	13	helicopters[j	helicopters[j	NOUN
ajst-2914	233	14	]	]	PUNCT
ajst-2914	233	15	,	,	PUNCT
ajst-2914	233	16	j.	j.	PROPN
ajst-2914	233	17	f.	f.	PROPN
ajst-2914	233	18	robot.vol	robot.vol	PROPN
ajst-2914	233	19	.	.	PROPN
ajst-2914	233	20	33	33	NUM
ajst-2914	233	21	(	(	PUNCT
ajst-2914	233	22	2014	2014	NUM
ajst-2914	233	23	)	)	PUNCT
ajst-2914	233	24	,	,	PUNCT
ajst-2914	233	25	p.	p.	NOUN
ajst-2914	233	26	1	1	NUM
ajst-2914	233	27	-	-	SYM
ajst-2914	233	28	17	17	NUM
ajst-2914	233	29	.	.	PUNCT
ajst-2914	234	1	[	[	X
ajst-2914	234	2	4	4	X
ajst-2914	234	3	]	]	X
ajst-2914	234	4	liu	liu	PROPN
ajst-2914	234	5	qingyou	qingyou	PROPN
ajst-2914	234	6	.	.	PUNCT
ajst-2914	235	1	current	current	ADJ
ajst-2914	235	2	situation	situation	NOUN
ajst-2914	235	3	and	and	CCONJ
ajst-2914	235	4	development	development	NOUN
ajst-2914	235	5	trend	trend	NOUN
ajst-2914	235	6	of	of	ADP
ajst-2914	235	7	oil	oil	NOUN
ajst-2914	235	8	and	and	CCONJ
ajst-2914	235	9	gas	gas	NOUN
ajst-2914	235	10	pipeline	pipeline	NOUN
ajst-2914	235	11	robot	robot	NOUN
ajst-2914	235	12	technology	technology	NOUN
ajst-2914	236	1	[	[	X
ajst-2914	236	2	j	j	X
ajst-2914	236	3	]	]	X
ajst-2914	236	4	.	.	PUNCT
ajst-2914	237	1	journal	journal	PROPN
ajst-2914	237	2	of	of	ADP
ajst-2914	237	3	xihua	xihua	PROPN
ajst-2914	237	4	university	university	PROPN
ajst-2914	237	5	(	(	PUNCT
ajst-2914	237	6	natural	natural	ADJ
ajst-2914	237	7	science	science	NOUN
ajst-2914	237	8	edition	edition	NOUN
ajst-2914	237	9	)	)	PUNCT
ajst-2914	237	10	,	,	PUNCT
ajst-2914	237	11	vol.35	vol.35	NOUN
ajst-2914	237	12	(	(	PUNCT
ajst-2914	237	13	2016	2016	NUM
ajst-2914	237	14	)	)	PUNCT
ajst-2914	237	15	,	,	PUNCT
ajst-2914	238	1	p.	p.	NOUN
ajst-2914	238	2	1	1	NUM
ajst-2914	238	3	-	-	SYM
ajst-2914	238	4	6	6	NUM
ajst-2914	238	5	.	.	PUNCT
ajst-2914	239	1	[	[	X
ajst-2914	239	2	5	5	X
ajst-2914	239	3	]	]	X
ajst-2914	239	4	ismail	ismail	NOUN
ajst-2914	239	5	in	in	ADP
ajst-2914	239	6	,	,	PUNCT
ajst-2914	239	7	anuar	anuar	PROPN
ajst-2914	239	8	a	a	PROPN
ajst-2914	239	9	,	,	PUNCT
ajst-2914	239	10	sahari	sahari	PROPN
ajst-2914	239	11	ks	ks	PROPN
ajst-2914	239	12	,	,	PUNCT
ajst-2914	239	13	etc	etc	X
ajst-2914	239	14	.	.	X
ajst-2914	239	15	development	development	NOUN
ajst-2914	239	16	of	of	ADP
ajst-2914	239	17	in	in	ADP
ajst-2914	239	18	-	-	PUNCT
ajst-2914	239	19	pipe	pipe	NOUN
ajst-2914	239	20	inspection	inspection	NOUN
ajst-2914	239	21	robot	robot	NOUN
ajst-2914	239	22	:	:	PUNCT
ajst-2914	239	23	a	a	DET
ajst-2914	239	24	review[c].sustainable	review[c].sustainable	ADJ
ajst-2914	239	25	utilization	utilization	NOUN
ajst-2914	239	26	and	and	CCONJ
ajst-2914	239	27	development	development	NOUN
ajst-2914	239	28	in	in	ADP
ajst-2914	239	29	engineering	engineering	NOUN
ajst-2914	239	30	and	and	CCONJ
ajst-2914	239	31	technology	technology	NOUN
ajst-2914	239	32	,	,	PUNCT
ajst-2914	239	33	2012	2012	NUM
ajst-2914	239	34	oct	oct	NOUN
ajst-2914	239	35	6	6	NUM
ajst-2914	239	36	,	,	PUNCT
ajst-2914	239	37	p.	p.	NOUN
ajst-2914	239	38	310	310	NUM
ajst-2914	239	39	-	-	SYM
ajst-2914	239	40	315	315	NUM
ajst-2914	239	41	.	.	PUNCT
ajst-2914	240	1	[	[	X
ajst-2914	240	2	6	6	NUM
ajst-2914	240	3	]	]	X
ajst-2914	240	4	yan	yan	PROPN
ajst-2914	240	5	hongwei	hongwei	PROPN
ajst-2914	240	6	,	,	PUNCT
ajst-2914	240	7	wang	wang	PROPN
ajst-2914	240	8	yang	yang	PROPN
ajst-2914	240	9	,	,	PUNCT
ajst-2914	240	10	ma	ma	PROPN
ajst-2914	240	11	jianqiang	jianqiang	PROPN
ajst-2914	240	12	,	,	PUNCT
ajst-2914	240	13	etc	etc	X
ajst-2914	240	14	.	.	NOUN
ajst-2914	240	15	analysis	analysis	NOUN
ajst-2914	240	16	of	of	ADP
ajst-2914	240	17	dynamic	dynamic	ADJ
ajst-2914	240	18	characteristics	characteristic	NOUN
ajst-2914	240	19	of	of	ADP
ajst-2914	240	20	wheeled	wheel	VERB
ajst-2914	240	21	pipe	pipe	NOUN
ajst-2914	240	22	robot	robot	NOUN
ajst-2914	240	23	in	in	ADP
ajst-2914	240	24	bending	bend	VERB
ajst-2914	240	25	[	[	X
ajst-2914	240	26	j	j	X
ajst-2914	240	27	]	]	X
ajst-2914	240	28	.	.	PUNCT
ajst-2914	241	1	journal	journal	PROPN
ajst-2914	241	2	of	of	ADP
ajst-2914	241	3	xi'an	xi'an	PROPN
ajst-2914	241	4	jiaotong	jiaotong	PROPN
ajst-2914	241	5	university.vol.52	university.vol.52	PROPN
ajst-2914	241	6	(	(	PUNCT
ajst-2914	241	7	2018	2018	NUM
ajst-2914	241	8	)	)	PUNCT
ajst-2914	241	9	,	,	PUNCT
ajst-2914	242	1	p.	p.	NOUN
ajst-2914	242	2	87	87	NUM
ajst-2914	242	3	-	-	SYM
ajst-2914	242	4	94	94	NUM
ajst-2914	242	5	.	.	PUNCT
ajst-2914	243	1	[	[	X
ajst-2914	243	2	7	7	X
ajst-2914	243	3	]	]	X
ajst-2914	243	4	mohammed	mohammed	PROPN
ajst-2914	243	5	mn	mn	PROPN
ajst-2914	243	6	,	,	PUNCT
ajst-2914	243	7	nadarajah	nadarajah	PROPN
ajst-2914	243	8	vs	vs	ADP
ajst-2914	243	9	,	,	PUNCT
ajst-2914	243	10	lazim	lazim	PROPN
ajst-2914	243	11	nf	nf	PROPN
ajst-2914	243	12	,	,	PUNCT
ajst-2914	243	13	etc	etc	X
ajst-2914	243	14	.	.	X
ajst-2914	243	15	design	design	NOUN
ajst-2914	243	16	and	and	CCONJ
ajst-2914	243	17	development	development	NOUN
ajst-2914	243	18	of	of	ADP
ajst-2914	243	19	pipeline	pipeline	NOUN
ajst-2914	243	20	inspection	inspection	NOUN
ajst-2914	243	21	robot	robot	NOUN
ajst-2914	243	22	for	for	ADP
ajst-2914	243	23	crack	crack	NOUN
ajst-2914	243	24	and	and	CCONJ
ajst-2914	243	25	corrosion	corrosion	NOUN
ajst-2914	243	26	detection[j].systems	detection[j].system	NOUN
ajst-2914	243	27	,	,	PUNCT
ajst-2914	243	28	process	process	NOUN
ajst-2914	243	29	and	and	CCONJ
ajst-2914	243	30	control	control	NOUN
ajst-2914	243	31	(	(	PUNCT
ajst-2914	243	32	icspc	icspc	NOUN
ajst-2914	243	33	)	)	PUNCT
ajst-2914	243	34	2018	2018	NUM
ajst-2914	243	35	dec	dec	PROPN
ajst-2914	243	36	14	14	NUM
ajst-2914	243	37	,	,	PUNCT
ajst-2914	243	38	p.	p.	NOUN
ajst-2914	243	39	29	29	NUM
ajst-2914	243	40	-	-	SYM
ajst-2914	243	41	32	32	NUM
ajst-2914	243	42	.	.	PUNCT
ajst-2914	244	1	[	[	X
ajst-2914	244	2	8	8	NUM
ajst-2914	244	3	]	]	X
ajst-2914	244	4	m.s	m.s	PROPN
ajst-2914	244	5	.	.	PUNCT
ajst-2914	244	6	mohd	mohd	PROPN
ajst-2914	244	7	aras	aras	PROPN
ajst-2914	244	8	,	,	PUNCT
ajst-2914	244	9	z.	z.	PROPN
ajst-2914	244	10	md	md	PROPN
ajst-2914	244	11	zain	zain	PROPN
ajst-2914	244	12	,	,	PUNCT
ajst-2914	244	13	a.f	a.f	PROPN
ajst-2914	244	14	.	.	PROPN
ajst-2914	244	15	kamaruzaman	kamaruzaman	PROPN
ajst-2914	244	16	,	,	PUNCT
ajst-2914	244	17	etc	etc	X
ajst-2914	244	18	.	.	X
ajst-2914	244	19	design	design	NOUN
ajst-2914	244	20	and	and	CCONJ
ajst-2914	244	21	development	development	NOUN
ajst-2914	244	22	of	of	ADP
ajst-2914	244	23	remotely	remotely	ADV
ajst-2914	244	24	operated	operate	VERB
ajst-2914	244	25	pipeline	pipeline	NOUN
ajst-2914	244	26	inspection	inspection	NOUN
ajst-2914	244	27	robot	robot	NOUN
ajst-2914	244	28	.	.	PUNCT
ajst-2914	245	1	springer	springer	NOUN
ajst-2914	245	2	,	,	PUNCT
ajst-2914	245	3	singapore(2021	singapore(2021	NOUN
ajst-2914	245	4	)	)	PUNCT
ajst-2914	245	5	,	,	PUNCT
ajst-2914	245	6	p.	p.	NOUN
ajst-2914	245	7	15	15	NUM
ajst-2914	245	8	-	-	SYM
ajst-2914	245	9	23	23	NUM
ajst-2914	245	10	.	.	PUNCT
ajst-2914	246	1	[	[	X
ajst-2914	246	2	9	9	NUM
ajst-2914	246	3	]	]	X
ajst-2914	246	4	kakogawa	kakogawa	NOUN
ajst-2914	246	5	,	,	PUNCT
ajst-2914	246	6	and	and	CCONJ
ajst-2914	246	7	s.	s.	PROPN
ajst-2914	246	8	ma	ma	PROPN
ajst-2914	246	9	,	,	PUNCT
ajst-2914	246	10	robotic	robotic	ADJ
ajst-2914	246	11	search	search	NOUN
ajst-2914	246	12	and	and	CCONJ
ajst-2914	246	13	rescue	rescue	NOUN
ajst-2914	246	14	through	through	ADP
ajst-2914	246	15	inpipe	inpipe	NOUN
ajst-2914	246	16	movement	movement	NOUN
ajst-2914	246	17	.	.	PUNCT
ajst-2914	247	1	unmanned	unmanned	ADJ
ajst-2914	247	2	robotic	robotic	ADJ
ajst-2914	247	3	systems	system	NOUN
ajst-2914	247	4	and	and	CCONJ
ajst-2914	247	5	applications	application	NOUN
ajst-2914	247	6	.	.	PUNCT
ajst-2914	248	1	london	london	PROPN
ajst-2914	248	2	,	,	PUNCT
ajst-2914	248	3	united	united	ADJ
ajst-2914	248	4	kingdom	kingdom	PROPN
ajst-2914	248	5	:	:	PUNCT
ajst-2914	248	6	intechopen	intechopen	ADJ
ajst-2914	248	7	,	,	PUNCT
ajst-2914	248	8	2019	2019	NUM
ajst-2914	248	9	aug	aug	PROPN
ajst-2914	248	10	12	12	NUM
ajst-2914	248	11	.	.	PUNCT
ajst-2914	249	1	[	[	X
ajst-2914	249	2	10	10	NUM
ajst-2914	249	3	]	]	X
ajst-2914	249	4	alireza	alireza	PROPN
ajst-2914	249	5	hadi	hadi	PROPN
ajst-2914	249	6	,	,	PUNCT
ajst-2914	249	7	azadeh	azadeh	PROPN
ajst-2914	249	8	hassani	hassani	PROPN
ajst-2914	249	9	,	,	PUNCT
ajst-2914	249	10	khalil	khalil	PROPN
ajst-2914	249	11	alipour	alipour	PROPN
ajst-2914	249	12	,	,	PUNCT
ajst-2914	249	13	etc	etc	X
ajst-2914	249	14	.	.	X
ajst-2914	249	15	developing	develop	VERB
ajst-2914	249	16	an	an	DET
ajst-2914	249	17	adaptable	adaptable	ADJ
ajst-2914	249	18	pipe	pipe	NOUN
ajst-2914	249	19	inspection	inspection	NOUN
ajst-2914	249	20	robot	robot	NOUN
ajst-2914	249	21	using	use	VERB
ajst-2914	249	22	shape	shape	NOUN
ajst-2914	249	23	memory	memory	NOUN
ajst-2914	249	24	alloy	alloy	NOUN
ajst-2914	249	25	actuators,[j	actuators,[j	NOUN
ajst-2914	249	26	]	]	PUNCT
ajst-2914	249	27	.	.	PUNCT
ajst-2914	250	1	intell	intell	PROPN
ajst-2914	250	2	.	.	PUNCT
ajst-2914	251	1	mater	mater	PROPN
ajst-2914	251	2	.	.	PUNCT
ajst-2914	252	1	syst	syst	PROPN
ajst-2914	252	2	.	.	PUNCT
ajst-2914	252	3	struct	struct	NOUN
ajst-2914	252	4	.	.	PUNCT
ajst-2914	253	1	vol.31	vol.31	NOUN
ajst-2914	253	2	(	(	PUNCT
ajst-2914	253	3	2020	2020	NUM
ajst-2914	253	4	)	)	PUNCT
ajst-2914	253	5	,	,	PUNCT
ajst-2914	253	6	p.	p.	NOUN
ajst-2914	253	7	632647	632647	NUM
ajst-2914	253	8	.	.	PUNCT
ajst-2914	254	1	[	[	X
ajst-2914	254	2	11	11	NUM
ajst-2914	254	3	]	]	X
ajst-2914	254	4	hui	hui	PROPN
ajst-2914	254	5	li	li	PROPN
ajst-2914	254	6	,	,	PUNCT
ajst-2914	254	7	ruiqin	ruiqin	PROPN
ajst-2914	254	8	li	li	PROPN
ajst-2914	254	9	,	,	PUNCT
ajst-2914	254	10	jianwei	jianwei	PROPN
ajst-2914	254	11	zhang	zhang	PROPN
ajst-2914	254	12	,	,	PUNCT
ajst-2914	254	13	etc	etc	X
ajst-2914	254	14	.	.	X
ajst-2914	254	15	development	development	NOUN
ajst-2914	254	16	of	of	ADP
ajst-2914	254	17	a	a	DET
ajst-2914	254	18	pipeline	pipeline	NOUN
ajst-2914	254	19	inspection	inspection	NOUN
ajst-2914	254	20	robot	robot	NOUN
ajst-2914	254	21	for	for	ADP
ajst-2914	254	22	the	the	DET
ajst-2914	254	23	standard	standard	ADJ
ajst-2914	254	24	oil	oil	NOUN
ajst-2914	254	25	pipeline	pipeline	NOUN
ajst-2914	254	26	of	of	ADP
ajst-2914	254	27	china	china	PROPN
ajst-2914	254	28	national	national	PROPN
ajst-2914	254	29	petroleum	petroleum	PROPN
ajst-2914	254	30	corporation	corporation	PROPN
ajst-2914	254	31	,	,	PUNCT
ajst-2914	254	32	appl	appl	PROPN
ajst-2914	254	33	.	.	PUNCT
ajst-2914	254	34	sci	sci	PROPN
ajst-2914	254	35	.	.	PUNCT
ajst-2914	254	36	vol.10	vol.10	PROPN
ajst-2914	254	37	(	(	PUNCT
ajst-2914	254	38	2020	2020	NUM
ajst-2914	254	39	)	)	PUNCT
ajst-2914	254	40	p.	p.	NOUN
ajst-2914	254	41	2853	2853	NUM
ajst-2914	254	42	.	.	PUNCT
ajst-2914	255	1	[	[	X
ajst-2914	255	2	12	12	NUM
ajst-2914	255	3	]	]	PUNCT
ajst-2914	255	4	aras	ara	NOUN
ajst-2914	255	5	,	,	PUNCT
ajst-2914	255	6	m.s.m	m.s.m	PROPN
ajst-2914	255	7	.	.	PROPN
ajst-2914	255	8	,	,	PUNCT
ajst-2914	255	9	zain	zain	PROPN
ajst-2914	255	10	,	,	PUNCT
ajst-2914	255	11	etc	etc	X
ajst-2914	255	12	.	.	X
ajst-2914	255	13	design	design	NOUN
ajst-2914	255	14	and	and	CCONJ
ajst-2914	255	15	development	development	NOUN
ajst-2914	255	16	of	of	ADP
ajst-2914	255	17	remotely	remotely	ADV
ajst-2914	255	18	operated	operate	VERB
ajst-2914	255	19	pipeline	pipeline	NOUN
ajst-2914	255	20	inspection	inspection	NOUN
ajst-2914	255	21	robot	robot	NOUN
ajst-2914	255	22	,	,	PUNCT
ajst-2914	255	23	in	in	ADP
ajst-2914	255	24	md	md	PROPN
ajst-2914	255	25	zain	zain	PROPN
ajst-2914	255	26	z.	z.	PROPN
ajst-2914	255	27	(	(	PUNCT
ajst-2914	255	28	eds	eds	PROPN
ajst-2914	255	29	)	)	PUNCT
ajst-2914	255	30	,	,	PUNCT
ajst-2914	255	31	proceedings	proceeding	NOUN
ajst-2914	255	32	of	of	ADP
ajst-2914	255	33	the	the	DET
ajst-2914	255	34	11th	11th	ADJ
ajst-2914	255	35	national	national	ADJ
ajst-2914	255	36	technical	technical	ADJ
ajst-2914	255	37	seminar	seminar	NOUN
ajst-2914	255	38	on	on	ADP
ajst-2914	255	39	unmanned	unmanned	ADJ
ajst-2914	255	40	system	system	NOUN
ajst-2914	255	41	technology	technology	NOUN
ajst-2914	255	42	2019	2019	NUM
ajst-2914	255	43	.	.	PUNCT
ajst-2914	256	1	lecture	lecture	NOUN
ajst-2914	256	2	notes	note	NOUN
ajst-2914	256	3	in	in	ADP
ajst-2914	256	4	electrical	electrical	ADJ
ajst-2914	256	5	engineering	engineering	NOUN
ajst-2914	256	6	,	,	PUNCT
ajst-2914	256	7	vol.666(2019	vol.666(2019	PROPN
ajst-2914	256	8	)	)	PUNCT
ajst-2914	256	9	,	,	PUNCT
ajst-2914	256	10	p.	p.	NOUN
ajst-2914	256	11	15	15	NUM
ajst-2914	256	12	-	-	SYM
ajst-2914	256	13	23	23	NUM
ajst-2914	256	14	.	.	PUNCT
ajst-2914	257	1	[	[	X
ajst-2914	257	2	13	13	NUM
ajst-2914	257	3	]	]	X
ajst-2914	257	4	liu	liu	PROPN
ajst-2914	257	5	zenghui	zenghui	PROPN
ajst-2914	257	6	,	,	PUNCT
ajst-2914	257	7	ma	ma	PROPN
ajst-2914	257	8	zhengkuo	zhengkuo	PROPN
ajst-2914	257	9	,	,	PUNCT
ajst-2914	257	10	peng	peng	PROPN
ajst-2914	257	11	lei	lei	PROPN
ajst-2914	257	12	research	research	PROPN
ajst-2914	257	13	on	on	ADP
ajst-2914	257	14	anti	anti	NOUN
ajst-2914	257	15	roll	roll	NOUN
ajst-2914	257	16	mechanism	mechanism	NOUN
ajst-2914	257	17	of	of	ADP
ajst-2914	257	18	two	two	NUM
ajst-2914	257	19	wheeled	wheel	VERB
ajst-2914	257	20	tracked	track	VERB
ajst-2914	257	21	pipeline	pipeline	NOUN
ajst-2914	257	22	robot	robot	NOUN
ajst-2914	257	23	[	[	X
ajst-2914	257	24	j	j	X
ajst-2914	257	25	]	]	X
ajst-2914	257	26	.	.	PUNCT
ajst-2914	258	1	machinery	machinery	NOUN
ajst-2914	258	2	manufacturing	manufacturing	NOUN
ajst-2914	258	3	and	and	CCONJ
ajst-2914	258	4	automation	automation	NOUN
ajst-2914	258	5	.	.	PUNCT
ajst-2914	259	1	2020	2020	NUM
ajst-2914	259	2	,	,	PUNCT
ajst-2914	259	3	vol.49no.5	vol.49no.5	PROPN
ajst-2914	259	4	,	,	PUNCT
ajst-2914	259	5	p.	p.	NOUN
ajst-2914	259	6	142	142	NUM
ajst-2914	259	7	-	-	SYM
ajst-2914	259	8	145	145	NUM
ajst-2914	259	9	.	.	PUNCT
ajst-2914	260	1	140	140	NUM
ajst-2914	261	1	[	[	X
ajst-2914	261	2	14	14	NUM
ajst-2914	261	3	]	]	X
ajst-2914	261	4	chang	chang	PROPN
ajst-2914	261	5	sheng	sheng	PROPN
ajst-2914	261	6	,	,	PUNCT
ajst-2914	261	7	liu	liu	PROPN
ajst-2914	261	8	yuliang	yuliang	PROPN
ajst-2914	261	9	,	,	PUNCT
ajst-2914	261	10	wang	wang	PROPN
ajst-2914	261	11	zhongchao	zhongchao	PROPN
ajst-2914	261	12	.	.	PUNCT
ajst-2914	262	1	design	design	NOUN
ajst-2914	262	2	of	of	ADP
ajst-2914	262	3	a	a	DET
ajst-2914	262	4	new	new	ADJ
ajst-2914	262	5	variable	variable	ADJ
ajst-2914	262	6	diameter	diameter	NOUN
ajst-2914	262	7	pipeline	pipeline	NOUN
ajst-2914	262	8	robot	robot	NOUN
ajst-2914	262	9	[	[	X
ajst-2914	262	10	j	j	X
ajst-2914	262	11	]	]	X
ajst-2914	262	12	.	.	PUNCT
ajst-2914	263	1	mechanical	mechanical	ADJ
ajst-2914	263	2	engineer	engineer	NOUN
ajst-2914	263	3	.	.	PUNCT
ajst-2914	264	1	2021	2021	NUM
ajst-2914	264	2	(	(	PUNCT
ajst-2914	264	3	11	11	NUM
ajst-2914	264	4	)	)	PUNCT
ajst-2914	264	5	,	,	PUNCT
ajst-2914	264	6	p.	p.	NOUN
ajst-2914	264	7	64	64	NUM
ajst-2914	264	8	-	-	SYM
ajst-2914	264	9	65	65	NUM
ajst-2914	264	10	.	.	PUNCT
ajst-2914	265	1	[	[	X
ajst-2914	265	2	15	15	NUM
ajst-2914	265	3	]	]	X
ajst-2914	265	4	w.	w.	PROPN
ajst-2914	265	5	zhao	zhao	PROPN
ajst-2914	265	6	,	,	PUNCT
ajst-2914	265	7	l.	l.	PROPN
ajst-2914	265	8	zhang	zhang	PROPN
ajst-2914	265	9	,	,	PUNCT
ajst-2914	265	10	j.	j.	PROPN
ajst-2914	265	11	kim	kim	PROPN
ajst-2914	265	12	,	,	PUNCT
ajst-2914	265	13	design	design	NOUN
ajst-2914	265	14	and	and	CCONJ
ajst-2914	265	15	analysis	analysis	NOUN
ajst-2914	265	16	of	of	ADP
ajst-2914	265	17	independently	independently	ADV
ajst-2914	265	18	adjustable	adjustable	ADJ
ajst-2914	265	19	large	large	ADJ
ajst-2914	265	20	in	in	ADP
ajst-2914	265	21	-	-	PUNCT
ajst-2914	265	22	pipe	pipe	NOUN
ajst-2914	265	23	robot	robot	NOUN
ajst-2914	265	24	for	for	ADP
ajst-2914	265	25	the	the	DET
ajst-2914	265	26	longdistance	longdistance	NOUN
ajst-2914	265	27	pipeline	pipeline	NOUN
ajst-2914	265	28	,	,	PUNCT
ajst-2914	265	29	appl	appl	PROPN
ajst-2914	265	30	.	.	PUNCT
ajst-2914	266	1	sci	sci	PROPN
ajst-2914	266	2	.	.	PROPN
ajst-2914	267	1	10	10	NUM
ajst-2914	267	2	(	(	PUNCT
ajst-2914	267	3	2020	2020	NUM
ajst-2914	267	4	)	)	PUNCT
ajst-2914	267	5	.	.	PUNCT
ajst-2914	268	1	[	[	X
ajst-2914	268	2	16	16	NUM
ajst-2914	268	3	]	]	X
ajst-2914	268	4	y.	y.	PROPN
ajst-2914	268	5	kwon	kwon	PROPN
ajst-2914	268	6	,	,	PUNCT
ajst-2914	268	7	b.	b.	PROPN
ajst-2914	268	8	yi	yi	PROPN
ajst-2914	268	9	,	,	PUNCT
ajst-2914	268	10	design	design	NOUN
ajst-2914	268	11	and	and	CCONJ
ajst-2914	268	12	motion	motion	NOUN
ajst-2914	268	13	planning	planning	NOUN
ajst-2914	268	14	of	of	ADP
ajst-2914	268	15	a	a	DET
ajst-2914	268	16	two	two	NUM
ajst-2914	268	17	-	-	PUNCT
ajst-2914	268	18	module	module	NOUN
ajst-2914	268	19	.	.	PUNCT
ajst-2914	269	1	ieee	ieee	NOUN
ajst-2914	269	2	transactions	transaction	NOUN
ajst-2914	269	3	on	on	ADP
ajst-2914	269	4	robotics.vol.28(2012	robotics.vol.28(2012	NOUN
ajst-2914	269	5	)	)	PUNCT
ajst-2914	269	6	,	,	PUNCT
ajst-2914	269	7	p.681	p.681	X
ajst-2914	269	8	-	-	NOUN
ajst-2914	269	9	696	696	NUM
ajst-2914	269	10	.	.	PUNCT
ajst-2914	270	1	[	[	X
ajst-2914	270	2	17	17	NUM
ajst-2914	270	3	]	]	X
ajst-2914	270	4	zang	zang	PROPN
ajst-2914	270	5	yanxu	yanxu	PROPN
ajst-2914	270	6	,	,	PUNCT
ajst-2914	270	7	ruan	ruan	PROPN
ajst-2914	270	8	xiangyang	xiangyang	PROPN
ajst-2914	270	9	,	,	PUNCT
ajst-2914	270	10	zhao	zhao	PROPN
ajst-2914	270	11	xuan	xuan	PROPN
ajst-2914	270	12	,	,	PUNCT
ajst-2914	270	13	et	et	NOUN
ajst-2914	270	14	al.probe	al.probe	ADV
ajst-2914	270	15	structure	structure	NOUN
ajst-2914	270	16	design	design	NOUN
ajst-2914	270	17	of	of	ADP
ajst-2914	270	18	fluid	fluid	NOUN
ajst-2914	270	19	driven	drive	VERB
ajst-2914	270	20	pipeline	pipeline	NOUN
ajst-2914	270	21	crack	crack	NOUN
ajst-2914	270	22	detection	detection	NOUN
ajst-2914	270	23	robot[j].machine	robot[j].machine	NOUN
ajst-2914	270	24	tools	tool	NOUN
ajst-2914	270	25	and	and	CCONJ
ajst-2914	270	26	hydraulics	hydraulic	NOUN
ajst-2914	270	27	,	,	PUNCT
ajst-2914	270	28	vol.44no.11(2016	vol.44no.11(2016	PROPN
ajst-2914	270	29	)	)	PUNCT
ajst-2914	270	30	,	,	PUNCT
ajst-2914	270	31	p.50	p.50	PROPN
ajst-2914	270	32	-	-	X
ajst-2914	270	33	53	53	NUM
ajst-2914	270	34	.	.	PUNCT
ajst-2914	271	1	[	[	X
ajst-2914	271	2	18	18	NUM
ajst-2914	271	3	]	]	X
ajst-2914	271	4	alnaimi	alnaimi	PROPN
ajst-2914	271	5	fb	fb	PROPN
ajst-2914	271	6	,	,	PUNCT
ajst-2914	271	7	mazraeh	mazraeh	NOUN
ajst-2914	271	8	aa	aa	PROPN
ajst-2914	271	9	,	,	PUNCT
ajst-2914	271	10	sahari	sahari	PROPN
ajst-2914	271	11	ks	ks	PROPN
ajst-2914	271	12	,	,	PUNCT
ajst-2914	271	13	etc	etc	X
ajst-2914	271	14	.	.	X
ajst-2914	272	1	design	design	NOUN
ajst-2914	272	2	of	of	ADP
ajst-2914	272	3	a	a	DET
ajst-2914	272	4	multidiameter	multidiameter	NOUN
ajst-2914	272	5	in	in	ADP
ajst-2914	272	6	-	-	PUNCT
ajst-2914	272	7	line	line	NOUN
ajst-2914	272	8	cleaning	cleaning	NOUN
ajst-2914	272	9	and	and	CCONJ
ajst-2914	272	10	fault	fault	VERB
ajst-2914	272	11	detection	detection	NOUN
ajst-2914	272	12	pipe	pipe	NOUN
ajst-2914	272	13	pigging	pig	VERB
ajst-2914	272	14	device	device	NOUN
ajst-2914	272	15	.	.	PUNCT
ajst-2914	273	1	in	in	ADP
ajst-2914	273	2	2015	2015	NUM
ajst-2914	273	3	ieee	ieee	NOUN
ajst-2914	273	4	international	international	ADJ
ajst-2914	273	5	symposium	symposium	NOUN
ajst-2914	273	6	on	on	ADP
ajst-2914	273	7	robotics	robotic	NOUN
ajst-2914	273	8	and	and	CCONJ
ajst-2914	273	9	intelligent	intelligent	ADJ
ajst-2914	273	10	sensors	sensor	NOUN
ajst-2914	273	11	(	(	PUNCT
ajst-2914	273	12	iris	iris	NOUN
ajst-2914	273	13	)	)	PUNCT
ajst-2914	273	14	,	,	PUNCT
ajst-2914	273	15	2015	2015	NUM
ajst-2914	273	16	oct	oct	NOUN
ajst-2914	273	17	18,p.258	18,p.258	PROPN
ajst-2914	273	18	-	-	SYM
ajst-2914	273	19	265	265	NUM
ajst-2914	273	20	.	.	PUNCT
ajst-2914	274	1	[	[	X
ajst-2914	274	2	19	19	NUM
ajst-2914	274	3	]	]	X
ajst-2914	274	4	ramirez	ramirez	PROPN
ajst-2914	274	5	-	-	PUNCT
ajst-2914	274	6	martinez	martinez	PROPN
ajst-2914	274	7	a	a	PRON
ajst-2914	274	8	,	,	PUNCT
ajst-2914	274	9	rodríguez	rodríguez	NOUN
ajst-2914	274	10	-	-	PUNCT
ajst-2914	274	11	olivares	olivare	NOUN
ajst-2914	274	12	na	na	NOUN
ajst-2914	274	13	,	,	PUNCT
ajst-2914	274	14	torres	torre	NOUN
ajst-2914	274	15	-	-	PUNCT
ajst-2914	274	16	torres	torre	NOUN
ajst-2914	274	17	s	s	PART
ajst-2914	274	18	,	,	PUNCT
ajst-2914	274	19	ronquillo	ronquillo	NOUN
ajst-2914	274	20	-	-	PUNCT
ajst-2914	274	21	lomelí	lomelí	NOUN
ajst-2914	274	22	g	g	PROPN
ajst-2914	274	23	,	,	PUNCT
ajst-2914	274	24	soto	soto	NOUN
ajst-2914	274	25	-	-	PUNCT
ajst-2914	274	26	cajiga	cajiga	PROPN
ajst-2914	274	27	ja	ja	PROPN
ajst-2914	274	28	.	.	PUNCT
ajst-2914	274	29	design	design	NOUN
ajst-2914	274	30	and	and	CCONJ
ajst-2914	274	31	validation	validation	NOUN
ajst-2914	274	32	of	of	ADP
ajst-2914	274	33	an	an	DET
ajst-2914	274	34	articulated	articulated	ADJ
ajst-2914	274	35	sensor	sensor	NOUN
ajst-2914	274	36	carrier	carrier	NOUN
ajst-2914	274	37	to	to	PART
ajst-2914	274	38	improve	improve	VERB
ajst-2914	274	39	the	the	DET
ajst-2914	274	40	automatic	automatic	ADJ
ajst-2914	274	41	pipeline	pipeline	NOUN
ajst-2914	274	42	inspection	inspection	NOUN
ajst-2914	274	43	.	.	PUNCT
ajst-2914	275	1	sensors	sensor	NOUN
ajst-2914	275	2	.	.	PUNCT
ajst-2914	276	1	vol.19no.6(2019	vol.19no.6(2019	PROPN
ajst-2914	276	2	)	)	PUNCT
ajst-2914	276	3	,	,	PUNCT
ajst-2914	276	4	p.1394	p.1394	NOUN
ajst-2914	276	5	.	.	PUNCT
ajst-2914	277	1	[	[	X
ajst-2914	277	2	20	20	NUM
ajst-2914	277	3	]	]	X
ajst-2914	277	4	d.	d.	PROPN
ajst-2914	277	5	mishra	mishra	PROPN
ajst-2914	277	6	,	,	PUNCT
ajst-2914	277	7	k.k	k.k	PROPN
ajst-2914	277	8	.	.	PROPN
ajst-2914	277	9	agrawal	agrawal	PROPN
ajst-2914	277	10	,	,	PUNCT
ajst-2914	277	11	a.	a.	NOUN
ajst-2914	277	12	abbas	abbas	PROPN
ajst-2914	277	13	,	,	PUNCT
ajst-2914	277	14	etc	etc	X
ajst-2914	277	15	.	.	X
ajst-2914	277	16	an	an	DET
ajst-2914	277	17	artificial	artificial	ADJ
ajst-2914	277	18	dustman	dustman	NOUN
ajst-2914	277	19	for	for	ADP
ajst-2914	277	20	cross	cross	NOUN
ajst-2914	277	21	country	country	NOUN
ajst-2914	277	22	pipelines	pipeline	NOUN
ajst-2914	277	23	,	,	PUNCT
ajst-2914	277	24	procedia	procedia	PROPN
ajst-2914	277	25	comput.sci.152(2019	comput.sci.152(2019	NOUN
ajst-2914	277	26	)	)	PUNCT
ajst-2914	277	27	,	,	PUNCT
ajst-2914	277	28	p.333	p.333	NOUN
ajst-2914	277	29	-	-	SYM
ajst-2914	277	30	340	340	NUM
ajst-2914	277	31	.	.	PUNCT
ajst-2914	278	1	[	[	X
ajst-2914	278	2	21	21	NUM
ajst-2914	278	3	]	]	X
ajst-2914	278	4	m.a	m.a	PROPN
ajst-2914	278	5	.	.	PROPN
ajst-2914	278	6	pasha	pasha	PROPN
ajst-2914	278	7	,	,	PUNCT
ajst-2914	278	8	t.m	t.m	PROPN
ajst-2914	278	9	.	.	PROPN
ajst-2914	278	10	khan	khan	PROPN
ajst-2914	278	11	.	.	PUNCT
ajst-2914	279	1	a	a	DET
ajst-2914	279	2	pipeline	pipeline	NOUN
ajst-2914	279	3	inspection	inspection	NOUN
ajst-2914	279	4	gauge	gauge	NOUN
ajst-2914	279	5	based	base	VERB
ajst-2914	279	6	on	on	ADP
ajst-2914	279	7	low	low	ADJ
ajst-2914	279	8	-	-	PUNCT
ajst-2914	279	9	cost	cost	NOUN
ajst-2914	279	10	magnetic	magnetic	ADJ
ajst-2914	279	11	flux	flux	NOUN
ajst-2914	279	12	leakage	leakage	NOUN
ajst-2914	279	13	sensing	sense	VERB
ajst-2914	279	14	magnetometers	magnetometer	NOUN
ajst-2914	279	15	for	for	ADP
ajst-2914	279	16	non	non	ADJ
ajst-2914	279	17	-	-	ADJ
ajst-2914	279	18	destructive	destructive	ADJ
ajst-2914	279	19	testing	testing	NOUN
ajst-2914	279	20	of	of	ADP
ajst-2914	279	21	pipelines	pipeline	NOUN
ajst-2914	279	22	.	.	PUNCT
ajst-2914	280	1	conf	conf	PROPN
ajst-2914	280	2	.	.	PUNCT
ajst-2914	281	1	emerg	emerg	PROPN
ajst-2914	281	2	.	.	PUNCT
ajst-2914	282	1	technol.2017,p.1	technol.2017,p.1	PROPN
ajst-2914	282	2	-	-	PUNCT
ajst-2914	282	3	5	5	NUM
ajst-2914	282	4	.	.	PUNCT
ajst-2914	283	1	[	[	X
ajst-2914	283	2	22	22	NUM
ajst-2914	283	3	]	]	PUNCT
ajst-2914	283	4	g.	g.	PROPN
ajst-2914	283	5	bin	bin	PROPN
ajst-2914	283	6	tan	tan	PROPN
ajst-2914	283	7	,	,	PUNCT
ajst-2914	283	8	s.m	s.m	PROPN
ajst-2914	283	9	.	.	PROPN
ajst-2914	283	10	zhang	zhang	PROPN
ajst-2914	283	11	,	,	PUNCT
ajst-2914	283	12	zhu	zhu	PROPN
ajst-2914	283	13	,	,	PUNCT
ajst-2914	283	14	etc.design	etc.design	NOUN
ajst-2914	283	15	of	of	ADP
ajst-2914	283	16	the	the	DET
ajst-2914	283	17	speed	speed	NOUN
ajst-2914	283	18	regulating	regulate	VERB
ajst-2914	283	19	pig	pig	NOUN
ajst-2914	283	20	with	with	ADP
ajst-2914	283	21	butterfly	butterfly	NOUN
ajst-2914	283	22	bypass-valve.adv	bypass-valve.adv	NOUN
ajst-2914	283	23	.	.	PUNCT
ajst-2914	284	1	mater	mater	NOUN
ajst-2914	284	2	.	.	PUNCT
ajst-2914	285	1	res.201	res.201	NOUN
ajst-2914	285	2	-	-	PUNCT
ajst-2914	285	3	203(2011),p.429	203(2011),p.429	NUM
ajst-2914	285	4	-	-	PUNCT
ajst-2914	285	5	432	432	NUM
ajst-2914	285	6	.	.	PUNCT
ajst-2914	286	1	[	[	X
ajst-2914	286	2	23	23	NUM
ajst-2914	286	3	]	]	PUNCT
ajst-2914	286	4	information	information	NOUN
ajst-2914	286	5	on	on	ADP
ajst-2914	286	6	:	:	PUNCT
ajst-2914	286	7	www.dacon	www.dacon	NOUN
ajst-2914	286	8	-	-	PUNCT
ajst-2914	286	9	inspection.com	inspection.com	X
ajst-2914	286	10	.	.	PUNCT
ajst-2914	287	1	[	[	X
ajst-2914	287	2	24	24	NUM
ajst-2914	287	3	]	]	PUNCT
ajst-2914	287	4	information	information	NOUN
ajst-2914	287	5	on	on	ADP
ajst-2914	287	6	:	:	PUNCT
ajst-2914	287	7	www.rosen	www.rosen	PUNCT
ajst-2914	287	8	group.com/global/solutions/products/cleaning-tools	group.com/global/solutions/products/cleaning-tool	NOUN
ajst-2914	287	9	.	.	PUNCT
ajst-2914	288	1	[	[	X
ajst-2914	288	2	25	25	NUM
ajst-2914	288	3	]	]	X
ajst-2914	288	4	liu	liu	PROPN
ajst-2914	288	5	qingyou	qingyou	PROPN
ajst-2914	288	6	,	,	PUNCT
ajst-2914	288	7	li	li	PROPN
ajst-2914	288	8	yujia	yujia	PROPN
ajst-2914	288	9	,	,	PUNCT
ajst-2914	288	10	ren	ren	PROPN
ajst-2914	288	11	tao	tao	PROPN
ajst-2914	288	12	,	,	PUNCT
ajst-2914	288	13	et	et	PROPN
ajst-2914	288	14	al	al	PROPN
ajst-2914	288	15	.	.	PUNCT
ajst-2914	289	1	active	active	PROPN
ajst-2914	289	2	screw	screw	ADJ
ajst-2914	289	3	driven	drive	VERB
ajst-2914	289	4	pipeline	pipeline	NOUN
ajst-2914	289	5	robot[j	robot[j	NOUN
ajst-2914	289	6	]	]	PUNCT
ajst-2914	289	7	.	.	PUNCT
ajst-2914	290	1	robot	robot	NOUN
ajst-2914	290	2	,	,	PUNCT
ajst-2914	290	3	2014	2014	NUM
ajst-2914	290	4	,	,	PUNCT
ajst-2914	290	5	36(6),p.711	36(6),p.711	NOUN
ajst-2914	290	6	.	.	PUNCT
ajst-2914	291	1	[	[	X
ajst-2914	291	2	26	26	NUM
ajst-2914	291	3	]	]	PUNCT
ajst-2914	291	4	m.	m.	NOUN
ajst-2914	291	5	kurata	kurata	PROPN
ajst-2914	291	6	,	,	PUNCT
ajst-2914	291	7	t.	t.	PROPN
ajst-2914	291	8	takayama	takayama	PROPN
ajst-2914	291	9	,	,	PUNCT
ajst-2914	291	10	t.	t.	PROPN
ajst-2914	291	11	omata	omata	PROPN
ajst-2914	291	12	.	.	PUNCT
ajst-2914	292	1	helical	helical	ADJ
ajst-2914	292	2	rotation	rotation	NOUN
ajst-2914	292	3	in	in	ADP
ajst-2914	292	4	-	-	PUNCT
ajst-2914	292	5	pipe	pipe	NOUN
ajst-2914	292	6	mobile	mobile	NOUN
ajst-2914	292	7	robot.2010	robot.2010	PROPN
ajst-2914	292	8	3rd	3rd	PROPN
ajst-2914	292	9	ieee	ieee	NOUN
ajst-2914	292	10	ras	ras	PROPN
ajst-2914	292	11	embs	embs	PROPN
ajst-2914	292	12	int	int	PROPN
ajst-2914	292	13	.	.	PUNCT
ajst-2914	293	1	conf	conf	PROPN
ajst-2914	293	2	.	.	PUNCT
ajst-2914	293	3	biomed	biome	VERB
ajst-2914	293	4	.	.	PUNCT
ajst-2914	294	1	robot	robot	NOUN
ajst-2914	294	2	.	.	PUNCT
ajst-2914	294	3	biomechatronis	biomechatronis	PROPN
ajst-2914	294	4	,	,	PUNCT
ajst-2914	294	5	biorob,2010,p.313	biorob,2010,p.313	X
ajst-2914	294	6	-	-	SYM
ajst-2914	294	7	318	318	NUM
ajst-2914	294	8	.	.	PUNCT
ajst-2914	295	1	[	[	X
ajst-2914	295	2	27	27	NUM
ajst-2914	295	3	]	]	X
ajst-2914	295	4	li	li	PROPN
ajst-2914	295	5	p	p	PROPN
ajst-2914	295	6	,	,	PUNCT
ajst-2914	295	7	tang	tang	PROPN
ajst-2914	295	8	m	m	PROPN
ajst-2914	295	9	,	,	PUNCT
ajst-2914	295	10	lyu	lyu	PROPN
ajst-2914	295	11	cet	cet	PROPN
ajst-2914	295	12	al	al	PROPN
ajst-2914	295	13	.	.	PROPN
ajst-2914	295	14	design	design	NOUN
ajst-2914	295	15	and	and	CCONJ
ajst-2914	295	16	analysis	analysis	NOUN
ajst-2914	295	17	of	of	ADP
ajst-2914	295	18	a	a	DET
ajst-2914	295	19	novel	novel	ADJ
ajst-2914	295	20	active	active	ADJ
ajst-2914	295	21	screw	screw	ADJ
ajst-2914	295	22	-	-	PUNCT
ajst-2914	295	23	drive	drive	NOUN
ajst-2914	295	24	pipe	pipe	NOUN
ajst-2914	295	25	robot	robot	NOUN
ajst-2914	295	26	.	.	PUNCT
ajst-2914	296	1	advances	advance	NOUN
ajst-2914	296	2	in	in	ADP
ajst-2914	296	3	mechanical	mechanical	ADJ
ajst-2914	296	4	engineering	engineering	NOUN
ajst-2914	296	5	.	.	PUNCT
ajst-2914	297	1	2018	2018	NUM
ajst-2914	297	2	oct;10(10	oct;10(10	NOUN
ajst-2914	297	3	)	)	PUNCT
ajst-2914	298	1	[	[	X
ajst-2914	298	2	28	28	NUM
ajst-2914	298	3	]	]	X
ajst-2914	298	4	li	li	PROPN
ajst-2914	298	5	t	t	PROPN
ajst-2914	298	6	,	,	PUNCT
ajst-2914	298	7	liu	liu	PROPN
ajst-2914	298	8	k	k	PROPN
ajst-2914	298	9	,	,	PUNCT
ajst-2914	298	10	liu	liu	PROPN
ajst-2914	298	11	h	h	PROPN
ajst-2914	298	12	,	,	PUNCT
ajst-2914	298	13	et	et	PROPN
ajst-2914	298	14	al	al	PROPN
ajst-2914	298	15	.	.	PROPN
ajst-2914	299	1	rapid	rapid	ADJ
ajst-2914	299	2	design	design	NOUN
ajst-2914	299	3	of	of	ADP
ajst-2914	299	4	a	a	DET
ajst-2914	299	5	screwdrive	screwdrive	NOUN
ajst-2914	299	6	in	in	ADP
ajst-2914	299	7	-	-	PUNCT
ajst-2914	299	8	pipe	pipe	NOUN
ajst-2914	299	9	robot	robot	NOUN
ajst-2914	299	10	based	base	VERB
ajst-2914	299	11	on	on	ADP
ajst-2914	299	12	parameterized	parameterized	ADJ
ajst-2914	299	13	simulation	simulation	NOUN
ajst-2914	299	14	technology	technology	NOUN
ajst-2914	299	15	.	.	PUNCT
ajst-2914	300	1	simulation	simulation	NOUN
ajst-2914	300	2	.	.	PUNCT
ajst-2914	301	1	2019	2019	NUM
ajst-2914	301	2	jul;95(7),p.659	jul;95(7),p.659	NOUN
ajst-2914	301	3	-	-	PUNCT
ajst-2914	301	4	700	700	NUM
ajst-2914	301	5	.	.	PUNCT
ajst-2914	302	1	[	[	X
ajst-2914	302	2	29	29	NUM
ajst-2914	302	3	]	]	X
ajst-2914	302	4	shan	shan	ADJ
ajst-2914	302	5	yanxia	yanxia	PROPN
ajst-2914	302	6	,	,	PUNCT
ajst-2914	302	7	fu	fu	PROPN
ajst-2914	302	8	bingshuang	bingshuang	PROPN
ajst-2914	302	9	,	,	PUNCT
ajst-2914	302	10	li	li	PROPN
ajst-2914	302	11	ruosong	ruosong	PROPN
ajst-2914	302	12	,	,	PUNCT
ajst-2914	302	13	et	et	PROPN
ajst-2914	302	14	al	al	PROPN
ajst-2914	302	15	.	.	PROPN
ajst-2914	302	16	design	design	NOUN
ajst-2914	302	17	and	and	CCONJ
ajst-2914	302	18	research	research	NOUN
ajst-2914	302	19	of	of	ADP
ajst-2914	302	20	dual	dual	ADJ
ajst-2914	302	21	drive	drive	ADJ
ajst-2914	302	22	pipeline	pipeline	NOUN
ajst-2914	302	23	robot	robot	NOUN
ajst-2914	302	24	based	base	VERB
ajst-2914	302	25	on	on	ADP
ajst-2914	302	26	parallel	parallel	ADJ
ajst-2914	302	27	mechanism	mechanism	NOUN
ajst-2914	302	28	[	[	X
ajst-2914	302	29	j	j	X
ajst-2914	302	30	]	]	X
ajst-2914	302	31	.	.	PUNCT
ajst-2914	303	1	mechanical	mechanical	ADJ
ajst-2914	303	2	design	design	NOUN
ajst-2914	303	3	,	,	PUNCT
ajst-2914	303	4	2020,37	2020,37	NUM
ajst-2914	303	5	(	(	PUNCT
ajst-2914	303	6	06	06	NUM
ajst-2914	303	7	)	)	PUNCT
ajst-2914	303	8	,	,	PUNCT
ajst-2914	303	9	p.17	p.17	PROPN
ajst-2914	303	10	-	-	PROPN
ajst-2914	303	11	23	23	NUM
ajst-2914	303	12	.	.	PUNCT
ajst-2914	304	1	[	[	X
ajst-2914	304	2	30	30	NUM
ajst-2914	304	3	]	]	PUNCT
ajst-2914	304	4	m.	m.	NOUN
ajst-2914	304	5	kurata	kurata	PROPN
ajst-2914	304	6	,	,	PUNCT
ajst-2914	304	7	t.	t.	PROPN
ajst-2914	304	8	takayama	takayama	PROPN
ajst-2914	304	9	,	,	PUNCT
ajst-2914	304	10	t.	t.	PROPN
ajst-2914	304	11	omata	omata	PROPN
ajst-2914	304	12	.	.	PUNCT
ajst-2914	305	1	helical	helical	ADJ
ajst-2914	305	2	rotation	rotation	NOUN
ajst-2914	305	3	in	in	ADP
ajst-2914	305	4	-	-	PUNCT
ajst-2914	305	5	pipe	pipe	NOUN
ajst-2914	305	6	mobile	mobile	NOUN
ajst-2914	305	7	robot	robot	NOUN
ajst-2914	305	8	,	,	PUNCT
ajst-2914	305	9	in:2010	in:2010	PRON
ajst-2914	305	10	3rd	3rd	PROPN
ajst-2914	305	11	ieee	ieee	PROPN
ajst-2914	305	12	ras	ras	PROPN
ajst-2914	305	13	embs	embs	PROPN
ajst-2914	305	14	int	int	PROPN
ajst-2914	305	15	.	.	PUNCT
ajst-2914	306	1	conf	conf	PROPN
ajst-2914	306	2	.	.	PUNCT
ajst-2914	306	3	biomed	biome	VERB
ajst-2914	306	4	.	.	PUNCT
ajst-2914	307	1	robot	robot	NOUN
ajst-2914	307	2	.	.	PUNCT
ajst-2914	308	1	biomechatronics	biomechatronic	NOUN
ajst-2914	308	2	,	,	PUNCT
ajst-2914	308	3	biorob2010	biorob2010	PROPN
ajst-2914	308	4	,	,	PUNCT
ajst-2914	308	5	p.313	p.313	PROPN
ajst-2914	308	6	-	-	SYM
ajst-2914	308	7	318	318	NUM
ajst-2914	308	8	.	.	PUNCT
ajst-2914	309	1	[	[	X
ajst-2914	309	2	31	31	NUM
ajst-2914	309	3	]	]	PUNCT
ajst-2914	309	4	a.	a.	PROPN
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ajst-2914	309	6	,	,	PUNCT
ajst-2914	309	7	s.k	s.k	PROPN
ajst-2914	309	8	.	.	PROPN
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ajst-2914	309	10	of	of	ADP
ajst-2914	309	11	a	a	DET
ajst-2914	309	12	new	new	ADJ
ajst-2914	309	13	in	in	ADP
ajst-2914	309	14	-	-	PUNCT
ajst-2914	309	15	pipe	pipe	NOUN
ajst-2914	309	16	inspection	inspection	NOUN
ajst-2914	309	17	robot	robot	NOUN
ajst-2914	309	18	.	.	PUNCT
ajst-2914	310	1	procedia	procedia	PROPN
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ajst-2914	310	3	(	(	PUNCT
ajst-2914	310	4	2014	2014	NUM
ajst-2914	310	5	)	)	PUNCT
ajst-2914	310	6	,	,	PUNCT
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ajst-2914	310	8	-	-	PUNCT
ajst-2914	310	9	2091	2091	NUM
ajst-2914	310	10	.	.	PUNCT
ajst-2914	311	1	[	[	X
ajst-2914	311	2	32	32	NUM
ajst-2914	311	3	]	]	X
ajst-2914	311	4	cheng	cheng	PROPN
ajst-2914	311	5	hang	hang	PROPN
ajst-2914	311	6	,	,	PUNCT
ajst-2914	311	7	yu	yu	PROPN
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ajst-2914	311	9	,	,	PUNCT
ajst-2914	311	10	dai	dai	PROPN
ajst-2914	311	11	yaonan	yaonan	PROPN
ajst-2914	311	12	,	,	PUNCT
ajst-2914	311	13	et	et	PROPN
ajst-2914	311	14	al	al	PROPN
ajst-2914	311	15	.	.	PROPN
ajst-2914	311	16	status	status	PROPN
ajst-2914	311	17	quo	quo	PROPN
ajst-2914	311	18	and	and	CCONJ
ajst-2914	311	19	prospect	prospect	NOUN
ajst-2914	311	20	of	of	ADP
ajst-2914	311	21	oil	oil	NOUN
ajst-2914	311	22	gas	gas	NOUN
ajst-2914	311	23	pipeline	pipeline	NOUN
ajst-2914	311	24	inspection	inspection	NOUN
ajst-2914	311	25	robot	robot	NOUN
ajst-2914	311	26	technology	technology	NOUN
ajst-2914	312	1	[	[	X
ajst-2914	312	2	j	j	X
ajst-2914	312	3	]	]	X
ajst-2914	312	4	.	.	PUNCT
ajst-2914	313	1	journal	journal	PROPN
ajst-2914	313	2	of	of	ADP
ajst-2914	313	3	wuhan	wuhan	PROPN
ajst-2914	313	4	university	university	PROPN
ajst-2914	313	5	of	of	ADP
ajst-2914	313	6	engineering	engineering	PROPN
ajst-2914	313	7	.	.	PUNCT
ajst-2914	314	1	vol	vol	NOUN
ajst-2914	314	2	.	.	PUNCT
ajst-2914	315	1	43	43	NUM
ajst-2914	315	2	(	(	PUNCT
ajst-2914	315	3	2021	2021	NUM
ajst-2914	315	4	)	)	PUNCT
ajst-2914	315	5	no.03	no.03	NOUN
ajst-2914	315	6	,	,	PUNCT
ajst-2914	315	7	p.324	p.324	NOUN
ajst-2914	315	8	-	-	PUNCT
ajst-2914	315	9	333	333	NUM
ajst-2914	315	10	.	.	PUNCT
ajst-2914	316	1	[	[	X
ajst-2914	316	2	33	33	NUM
ajst-2914	316	3	]	]	X
ajst-2914	316	4	sergei	sergei	PROPN
ajst-2914	316	5	savin	savin	PROPN
ajst-2914	316	6	,	,	PUNCT
ajst-2914	316	7	sergey	sergey	PROPN
ajst-2914	316	8	jatsun	jatsun	PROPN
ajst-2914	316	9	,	,	PUNCT
ajst-2914	316	10	ludmila	ludmila	PROPN
ajst-2914	316	11	vorochaeva	vorochaeva	PROPN
ajst-2914	316	12	,	,	PUNCT
ajst-2914	316	13	et	et	NOUN
ajst-2914	316	14	al.state	al.state	NOUN
ajst-2914	316	15	observer	observer	NOUN
ajst-2914	316	16	design	design	NOUN
ajst-2914	316	17	for	for	ADP
ajst-2914	316	18	a	a	DET
ajst-2914	316	19	walking	walking	NOUN
ajst-2914	316	20	in	in	ADP
ajst-2914	316	21	-	-	PUNCT
ajst-2914	316	22	pipe	pipe	NOUN
ajst-2914	316	23	robot	robot	NOUN
ajst-2914	316	24	,	,	PUNCT
ajst-2914	316	25	matec	matec	ADJ
ajst-2914	316	26	web	web	NOUN
ajst-2914	316	27	conf.161(2018	conf.161(2018	NOUN
ajst-2914	316	28	)	)	PUNCT
ajst-2914	316	29	,	,	PUNCT
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ajst-2914	316	31	.	.	PUNCT
ajst-2914	317	1	[	[	X
ajst-2914	317	2	34	34	NUM
ajst-2914	317	3	]	]	X
ajst-2914	317	4	sergei	sergei	PROPN
ajst-2914	317	5	savin	savin	PROPN
ajst-2914	317	6	,	,	PUNCT
ajst-2914	317	7	sergey	sergey	PROPN
ajst-2914	317	8	jatsun	jatsun	PROPN
ajst-2914	317	9	,	,	PUNCT
ajst-2914	317	10	lyudmila	lyudmila	PROPN
ajst-2914	317	11	vorochaeva	vorochaeva	PROPN
ajst-2914	317	12	,	,	PUNCT
ajst-2914	317	13	et	et	NOUN
ajst-2914	317	14	al.trajectory	al.trajectory	NOUN
ajst-2914	317	15	generation	generation	NOUN
ajst-2914	317	16	for	for	ADP
ajst-2914	317	17	a	a	DET
ajst-2914	317	18	walking	walking	NOUN
ajst-2914	317	19	in	in	ADP
ajst-2914	317	20	-	-	PUNCT
ajst-2914	317	21	pipe	pipe	NOUN
ajst-2914	317	22	robot	robot	NOUN
ajst-2914	317	23	moving	move	VERB
ajst-2914	317	24	through	through	ADP
ajst-2914	317	25	spatially	spatially	ADV
ajst-2914	317	26	curved	curve	VERB
ajst-2914	317	27	pipes	pipe	NOUN
ajst-2914	317	28	,	,	PUNCT
ajst-2914	317	29	matec	matec	ADJ
ajst-2914	317	30	web	web	NOUN
ajst-2914	317	31	conf	conf	NOUN
ajst-2914	317	32	.	.	PUNCT
ajst-2914	317	33	113	113	NUM
ajst-2914	317	34	(	(	PUNCT
ajst-2914	317	35	2017	2017	NUM
ajst-2914	317	36	)	)	PUNCT
ajst-2914	317	37	,	,	PUNCT
ajst-2914	317	38	p.5	p.5	X
ajst-2914	317	39	.	.	PUNCT
ajst-2914	318	1	[	[	X
ajst-2914	318	2	35	35	NUM
ajst-2914	318	3	]	]	X
ajst-2914	318	4	s.	s.	PROPN
ajst-2914	318	5	savin	savin	PROPN
ajst-2914	318	6	,	,	PUNCT
ajst-2914	318	7	rrt	rrt	NOUN
ajst-2914	318	8	-	-	PUNCT
ajst-2914	318	9	based	base	VERB
ajst-2914	318	10	motion	motion	NOUN
ajst-2914	318	11	planning	planning	NOUN
ajst-2914	318	12	for	for	ADP
ajst-2914	318	13	in	in	ADP
ajst-2914	318	14	-	-	PUNCT
ajst-2914	318	15	pipe	pipe	NOUN
ajst-2914	318	16	walking	walking	NOUN
ajst-2914	318	17	robots.12th	robots.12th	PROPN
ajst-2914	318	18	int.sci	int.sci	PRON
ajst-2914	318	19	.	.	PUNCT
ajst-2914	318	20	tech	tech	NOUN
ajst-2914	318	21	.	.	PUNCT
ajst-2914	318	22	conf	conf	PROPN
ajst-2914	318	23	.	.	PUNCT
ajst-2914	319	1	dynamics	dynamic	NOUN
ajst-2914	319	2	syst	syst	PROPN
ajst-2914	319	3	.	.	PUNCT
ajst-2914	320	1	mech	mech	PROPN
ajst-2914	320	2	.	.	PUNCT
ajst-2914	321	1	mach	mach	PROPN
ajst-2914	321	2	.	.	PUNCT
ajst-2914	322	1	dyn	dyn	PROPN
ajst-2914	322	2	.	.	PUNCT
ajst-2914	323	1	2018(2019	2018(2019	NUM
ajst-2914	323	2	)	)	PUNCT
ajst-2914	324	1	,	,	PUNCT
ajst-2914	324	2	p.1	p.1	NOUN
ajst-2914	324	3	-	-	SYM
ajst-2914	324	4	6	6	NUM
ajst-2914	324	5	.	.	PUNCT
ajst-2914	325	1	[	[	X
ajst-2914	325	2	36	36	NUM
ajst-2914	325	3	]	]	X
ajst-2914	325	4	liu	liu	PROPN
ajst-2914	325	5	qingyou	qingyou	PROPN
ajst-2914	325	6	.	.	PUNCT
ajst-2914	326	1	current	current	ADJ
ajst-2914	326	2	situation	situation	NOUN
ajst-2914	326	3	and	and	CCONJ
ajst-2914	326	4	development	development	NOUN
ajst-2914	326	5	trend	trend	NOUN
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ajst-2914	326	7	oil	oil	NOUN
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ajst-2914	326	9	gas	gas	NOUN
ajst-2914	326	10	pipeline	pipeline	NOUN
ajst-2914	326	11	robot	robot	NOUN
ajst-2914	326	12	technology[j	technology[j	PROPN
ajst-2914	326	13	]	]	PUNCT
ajst-2914	326	14	.	.	PUNCT
ajst-2914	327	1	journal	journal	PROPN
ajst-2914	327	2	of	of	ADP
ajst-2914	327	3	xihua	xihua	PROPN
ajst-2914	327	4	university	university	PROPN
ajst-2914	327	5	(	(	PUNCT
ajst-2914	327	6	natural	natural	ADJ
ajst-2914	327	7	science	science	NOUN
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ajst-2914	327	9	)	)	PUNCT
ajst-2914	327	10	,	,	PUNCT
ajst-2914	327	11	p.16	p.16	PROPN
ajst-2914	327	12	.	.	PUNCT
ajst-2914	328	1	[	[	X
ajst-2914	328	2	37	37	NUM
ajst-2914	328	3	]	]	PUNCT
ajst-2914	328	4	qiao	qiao	PROPN
ajst-2914	328	5	j	j	PROPN
ajst-2914	328	6	,	,	PUNCT
ajst-2914	328	7	shang	shang	PROPN
ajst-2914	328	8	j	j	PROPN
ajst-2914	328	9	,	,	PUNCT
ajst-2914	328	10	goldenberg	goldenberg	PROPN
ajst-2914	328	11	a.	a.	NOUN
ajst-2914	328	12	development	development	NOUN
ajst-2914	328	13	of	of	ADP
ajst-2914	328	14	inchworm	inchworm	ADJ
ajst-2914	328	15	inpipe	inpipe	NOUN
ajst-2914	328	16	robot	robot	NOUN
ajst-2914	328	17	based	base	VERB
ajst-2914	328	18	on	on	ADP
ajst-2914	328	19	self	self	NOUN
ajst-2914	328	20	-	-	PUNCT
ajst-2914	328	21	locking	lock	VERB
ajst-2914	328	22	mechanism	mechanism	NOUN
ajst-2914	328	23	.	.	PUNCT
ajst-2914	329	1	ieee	ieee	PROPN
ajst-2914	329	2	/	/	SYM
ajst-2914	329	3	asme	asme	PROPN
ajst-2914	329	4	transactions	transaction	NOUN
ajst-2914	329	5	on	on	ADP
ajst-2914	329	6	mechatronics	mechatronic	NOUN
ajst-2914	329	7	.	.	PUNCT
ajst-2914	330	1	2012	2012	NUM
ajst-2914	330	2	feb	feb	PROPN
ajst-2914	330	3	23;18(2),p.799	23;18(2),p.799	NUM
ajst-2914	330	4	-	-	SYM
ajst-2914	330	5	806	806	NUM
ajst-2914	330	6	.	.	PUNCT
ajst-2914	331	1	[	[	X
ajst-2914	331	2	38	38	NUM
ajst-2914	331	3	]	]	X
ajst-2914	331	4	d.	d.	PROPN
ajst-2914	331	5	chablat	chablat	PROPN
ajst-2914	331	6	,	,	PUNCT
ajst-2914	331	7	s.	s.	PROPN
ajst-2914	331	8	venkateswaran	venkateswaran	VERB
ajst-2914	331	9	,	,	PUNCT
ajst-2914	331	10	f.	f.	PROPN
ajst-2914	331	11	boyer	boyer	PROPN
ajst-2914	331	12	.	.	PUNCT
ajst-2914	332	1	mechanical	mechanical	ADJ
ajst-2914	332	2	design	design	NOUN
ajst-2914	332	3	optimization	optimization	NOUN
ajst-2914	332	4	of	of	ADP
ajst-2914	332	5	a	a	DET
ajst-2914	332	6	piping	piping	NOUN
ajst-2914	332	7	inspection	inspection	NOUN
ajst-2914	332	8	robot	robot	NOUN
ajst-2914	332	9	,	,	PUNCT
ajst-2914	332	10	procedia	procedia	NOUN
ajst-2914	332	11	cirp	cirp	NOUN
ajst-2914	332	12	.	.	PUNCT
ajst-2914	333	1	vol.70	vol.70	PRON
ajst-2914	333	2	(	(	PUNCT
ajst-2914	333	3	2018),p.307	2018),p.307	NUM
ajst-2914	333	4	-	-	SYM
ajst-2914	333	5	312	312	NUM
ajst-2914	333	6	.	.	PUNCT
ajst-2914	334	1	[	[	X
ajst-2914	334	2	39	39	NUM
ajst-2914	334	3	]	]	PUNCT
ajst-2914	334	4	m.	m.	NOUN
ajst-2914	334	5	takagi	takagi	PROPN
ajst-2914	334	6	,	,	PUNCT
ajst-2914	334	7	k.	k.	PROPN
ajst-2914	334	8	yoshida	yoshida	PROPN
ajst-2914	334	9	,	,	PUNCT
ajst-2914	334	10	h.	h.	PROPN
ajst-2914	334	11	hoshino	hoshino	PROPN
ajst-2914	334	12	,	,	PUNCT
ajst-2914	334	13	r.	r.	PROPN
ajst-2914	334	14	tadakuma	tadakuma	PROPN
ajst-2914	334	15	,	,	PUNCT
ajst-2914	334	16	sliding	slide	VERB
ajst-2914	334	17	walk	walk	NOUN
ajst-2914	334	18	with	with	ADP
ajst-2914	334	19	friction	friction	NOUN
ajst-2914	334	20	control	control	NOUN
ajst-2914	334	21	of	of	ADP
ajst-2914	334	22	double	double	ADJ
ajst-2914	334	23	-	-	PUNCT
ajst-2914	334	24	network	network	NOUN
ajst-2914	334	25	gel	gel	NOUN
ajst-2914	334	26	on	on	ADP
ajst-2914	334	27	feet	foot	NOUN
ajst-2914	334	28	of	of	ADP
ajst-2914	334	29	inchworm	inchworm	NOUN
ajst-2914	334	30	robot	robot	NOUN
ajst-2914	334	31	.	.	PUNCT
ajst-2914	335	1	vol.5(2019),p.1	vol.5(2019),p.1	ADV
ajst-2914	335	2	-	-	PUNCT
ajst-2914	335	3	8	8	NUM
ajst-2914	335	4	.	.	PUNCT
ajst-2914	336	1	[	[	X
ajst-2914	336	2	40	40	NUM
ajst-2914	336	3	]	]	PUNCT
ajst-2914	336	4	xu	xu	PROPN
ajst-2914	336	5	hongtao	hongtao	PROPN
ajst-2914	336	6	.	.	PUNCT
ajst-2914	337	1	design	design	NOUN
ajst-2914	337	2	and	and	CCONJ
ajst-2914	337	3	simulation	simulation	NOUN
ajst-2914	337	4	of	of	ADP
ajst-2914	337	5	oil	oil	NOUN
ajst-2914	337	6	and	and	CCONJ
ajst-2914	337	7	gas	gas	NOUN
ajst-2914	337	8	pipeline	pipeline	NOUN
ajst-2914	337	9	traction	traction	NOUN
ajst-2914	337	10	robot	robot	NOUN
ajst-2914	337	11	[	[	X
ajst-2914	337	12	j	j	X
ajst-2914	337	13	]	]	X
ajst-2914	337	14	.	.	PUNCT
ajst-2914	338	1	pipeline	pipeline	NOUN
ajst-2914	338	2	technology	technology	NOUN
ajst-2914	338	3	and	and	CCONJ
ajst-2914	338	4	equipment	equipment	NOUN
ajst-2914	338	5	.	.	PUNCT
ajst-2914	339	1	2021	2021	NUM
ajst-2914	339	2	(	(	PUNCT
ajst-2914	339	3	01).p.37	01).p.37	NUM
ajst-2914	339	4	-	-	PUNCT
ajst-2914	339	5	41	41	NUM
ajst-2914	339	6	.	.	PUNCT
ajst-2914	340	1	[	[	X
ajst-2914	340	2	41	41	NUM
ajst-2914	340	3	]	]	PUNCT
ajst-2914	340	4	k.	k.	PROPN
ajst-2914	340	5	hayashi	hayashi	PROPN
ajst-2914	340	6	,	,	PUNCT
ajst-2914	340	7	t.	t.	PROPN
ajst-2914	340	8	akagi	akagi	PROPN
ajst-2914	340	9	,	,	PUNCT
ajst-2914	340	10	s.	s.	PROPN
ajst-2914	340	11	dohta	dohta	PROPN
ajst-2914	340	12	,	,	PUNCT
ajst-2914	340	13	w.et	w.et	VERB
ajst-2914	340	14	al.improvement	al.improvement	ADP
ajst-2914	340	15	of	of	ADP
ajst-2914	340	16	pipe	pipe	NOUN
ajst-2914	340	17	holding	holding	NOUN
ajst-2914	340	18	mechanism	mechanism	NOUN
ajst-2914	340	19	and	and	CCONJ
ajst-2914	340	20	inchworm	inchworm	NOUN
ajst-2914	340	21	type	type	NOUN
ajst-2914	340	22	flexible	flexible	ADJ
ajst-2914	340	23	pipe	pipe	NOUN
ajst-2914	340	24	inspection	inspection	NOUN
ajst-2914	340	25	robot	robot	NOUN
ajst-2914	340	26	,	,	PUNCT
ajst-2914	340	27	int	int	NOUN
ajst-2914	340	28	.	.	PUNCT
ajst-2914	341	1	j.	j.	PROPN
ajst-2914	341	2	mech	mech	PROPN
ajst-2914	341	3	.	.	PUNCT
ajst-2914	342	1	eng	eng	PROPN
ajst-2914	342	2	.	.	PROPN
ajst-2914	342	3	robot	robot	PROPN
ajst-2914	342	4	.	.	PUNCT
ajst-2914	343	1	res	re	NOUN
ajst-2914	343	2	.	.	PUNCT
ajst-2914	344	1	vol.9	vol.9	PROPN
ajst-2914	344	2	(	(	PUNCT
ajst-2914	344	3	2020),p	2020),p	NUM
ajst-2914	344	4	.	.	PUNCT
ajst-2914	344	5	894	894	NUM
ajst-2914	344	6	-	-	SYM
ajst-2914	344	7	899	899	NUM
ajst-2914	344	8	.	.	PUNCT