id	sid	tid	token	lemma	pos
ajst-30187	1	1	academic	academic	ADJ
ajst-30187	1	2	journal	journal	NOUN
ajst-30187	1	3	of	of	ADP
ajst-30187	1	4	science	science	NOUN
ajst-30187	1	5	and	and	CCONJ
ajst-30187	1	6	technology	technology	NOUN
ajst-30187	1	7	issn	issn	NOUN
ajst-30187	1	8	:	:	PUNCT
ajst-30187	1	9	2771	2771	NUM
ajst-30187	1	10	-	-	SYM
ajst-30187	1	11	3032	3032	NUM
ajst-30187	1	12	|	|	NOUN
ajst-30187	1	13	vol	vol	NOUN
ajst-30187	1	14	.	.	PUNCT
ajst-30187	2	1	14	14	NUM
ajst-30187	2	2	,	,	PUNCT
ajst-30187	2	3	no	no	INTJ
ajst-30187	2	4	.	.	NOUN
ajst-30187	2	5	3	3	NUM
ajst-30187	2	6	,	,	PUNCT
ajst-30187	2	7	2025	2025	NUM
ajst-30187	2	8	117	117	NUM
ajst-30187	2	9	design	design	NOUN
ajst-30187	2	10	and	and	CCONJ
ajst-30187	2	11	analysis	analysis	NOUN
ajst-30187	2	12	of	of	ADP
ajst-30187	2	13	the	the	DET
ajst-30187	2	14	pipe	pipe	NOUN
ajst-30187	2	15	handling	handling	NOUN
ajst-30187	2	16	manipulator	manipulator	NOUN
ajst-30187	2	17	for	for	SCONJ
ajst-30187	2	18	workover	workover	PROPN
ajst-30187	2	19	rigs	rig	VERB
ajst-30187	2	20	yaru	yaru	PROPN
ajst-30187	2	21	dang	dang	PROPN
ajst-30187	2	22	*	*	PROPN
ajst-30187	2	23	,	,	PUNCT
ajst-30187	2	24	jun	jun	PROPN
ajst-30187	2	25	shao	shao	PROPN
ajst-30187	2	26	,	,	PUNCT
ajst-30187	2	27	kangyou	kangyou	PROPN
ajst-30187	2	28	dou	dou	PROPN
ajst-30187	2	29	,	,	PUNCT
ajst-30187	2	30	xiang	xiang	PROPN
ajst-30187	2	31	zhang	zhang	PROPN
ajst-30187	2	32	,	,	PUNCT
ajst-30187	2	33	you	you	PRON
ajst-30187	2	34	yang	yang	PROPN
ajst-30187	2	35	,	,	PUNCT
ajst-30187	2	36	xudong	xudong	PROPN
ajst-30187	2	37	zhang	zhang	PROPN
ajst-30187	2	38	,	,	PUNCT
ajst-30187	2	39	pengfei	pengfei	PROPN
ajst-30187	2	40	zhang	zhang	PROPN
ajst-30187	2	41	mechanical	mechanical	PROPN
ajst-30187	2	42	engineering	engineering	PROPN
ajst-30187	2	43	college	college	PROPN
ajst-30187	2	44	,	,	PUNCT
ajst-30187	2	45	xi’an	xi’an	PROPN
ajst-30187	2	46	shiyou	shiyou	PROPN
ajst-30187	2	47	university	university	PROPN
ajst-30187	2	48	,	,	PUNCT
ajst-30187	2	49	xi’an	xi’an	PROPN
ajst-30187	2	50	710065	710065	NUM
ajst-30187	2	51	,	,	PUNCT
ajst-30187	2	52	china	china	PROPN
ajst-30187	2	53	*	*	PUNCT
ajst-30187	2	54	corresponding	correspond	VERB
ajst-30187	2	55	author	author	NOUN
ajst-30187	2	56	:	:	PUNCT
ajst-30187	3	1	yaru	yaru	PROPN
ajst-30187	3	2	dang	dang	INTJ
ajst-30187	3	3	(	(	PUNCT
ajst-30187	3	4	email	email	NOUN
ajst-30187	3	5	:	:	PUNCT
ajst-30187	3	6	dangyaru629@163.com	dangyaru629@163.com	ADJ
ajst-30187	3	7	)	)	PUNCT
ajst-30187	3	8	abstract	abstract	NOUN
ajst-30187	3	9	:	:	PUNCT
ajst-30187	3	10	aiming	aim	VERB
ajst-30187	3	11	at	at	ADP
ajst-30187	3	12	the	the	DET
ajst-30187	3	13	problems	problem	NOUN
ajst-30187	3	14	of	of	ADP
ajst-30187	3	15	high	high	ADJ
ajst-30187	3	16	labor	labor	NOUN
ajst-30187	3	17	intensity	intensity	NOUN
ajst-30187	3	18	,	,	PUNCT
ajst-30187	3	19	low	low	ADJ
ajst-30187	3	20	efficiency	efficiency	NOUN
ajst-30187	3	21	and	and	CCONJ
ajst-30187	3	22	poor	poor	ADJ
ajst-30187	3	23	safety	safety	NOUN
ajst-30187	3	24	of	of	ADP
ajst-30187	3	25	manual	manual	ADJ
ajst-30187	3	26	operation	operation	NOUN
ajst-30187	3	27	in	in	ADP
ajst-30187	3	28	oilfield	oilfield	NOUN
ajst-30187	3	29	well	well	ADV
ajst-30187	3	30	repairing	repair	VERB
ajst-30187	3	31	operation	operation	NOUN
ajst-30187	3	32	,	,	PUNCT
ajst-30187	3	33	a	a	DET
ajst-30187	3	34	new	new	ADJ
ajst-30187	3	35	type	type	NOUN
ajst-30187	3	36	of	of	ADP
ajst-30187	3	37	tubing	tubing	NOUN
ajst-30187	3	38	grasping	grasp	VERB
ajst-30187	3	39	robotic	robotic	ADJ
ajst-30187	3	40	arm	arm	NOUN
ajst-30187	3	41	of	of	ADP
ajst-30187	3	42	well	well	ADV
ajst-30187	3	43	repairing	repair	VERB
ajst-30187	3	44	machine	machine	NOUN
ajst-30187	3	45	is	be	AUX
ajst-30187	3	46	designed	design	VERB
ajst-30187	3	47	,	,	PUNCT
ajst-30187	3	48	which	which	PRON
ajst-30187	3	49	aims	aim	VERB
ajst-30187	3	50	at	at	ADP
ajst-30187	3	51	realizing	realize	VERB
ajst-30187	3	52	the	the	DET
ajst-30187	3	53	automation	automation	NOUN
ajst-30187	3	54	of	of	ADP
ajst-30187	3	55	tubing	tubing	NOUN
ajst-30187	3	56	lifting	lifting	NOUN
ajst-30187	3	57	and	and	CCONJ
ajst-30187	3	58	lowering	lower	VERB
ajst-30187	3	59	operation	operation	NOUN
ajst-30187	3	60	.	.	PUNCT
ajst-30187	4	1	the	the	DET
ajst-30187	4	2	arm	arm	NOUN
ajst-30187	4	3	is	be	AUX
ajst-30187	4	4	suitable	suitable	ADJ
ajst-30187	4	5	for	for	ADP
ajst-30187	4	6	both	both	CCONJ
ajst-30187	4	7	straight	straight	ADJ
ajst-30187	4	8	and	and	CCONJ
ajst-30187	4	9	inclined	inclined	ADJ
ajst-30187	4	10	well	well	ADJ
ajst-30187	4	11	workover	workover	PROPN
ajst-30187	4	12	operations	operation	NOUN
ajst-30187	4	13	,	,	PUNCT
ajst-30187	4	14	and	and	CCONJ
ajst-30187	4	15	is	be	AUX
ajst-30187	4	16	capable	capable	ADJ
ajst-30187	4	17	of	of	ADP
ajst-30187	4	18	completing	complete	VERB
ajst-30187	4	19	such	such	ADJ
ajst-30187	4	20	actions	action	NOUN
ajst-30187	4	21	as	as	ADP
ajst-30187	4	22	grabbing	grab	VERB
ajst-30187	4	23	,	,	PUNCT
ajst-30187	4	24	moving	move	VERB
ajst-30187	4	25	,	,	PUNCT
ajst-30187	4	26	centering	center	VERB
ajst-30187	4	27	and	and	CCONJ
ajst-30187	4	28	discharging	discharge	VERB
ajst-30187	4	29	the	the	DET
ajst-30187	4	30	tubing	tubing	NOUN
ajst-30187	4	31	.	.	PUNCT
ajst-30187	5	1	the	the	DET
ajst-30187	5	2	article	article	NOUN
ajst-30187	5	3	elaborates	elaborate	VERB
ajst-30187	5	4	the	the	DET
ajst-30187	5	5	structural	structural	ADJ
ajst-30187	5	6	design	design	NOUN
ajst-30187	5	7	of	of	ADP
ajst-30187	5	8	the	the	DET
ajst-30187	5	9	robotic	robotic	ADJ
ajst-30187	5	10	arm	arm	NOUN
ajst-30187	5	11	,	,	PUNCT
ajst-30187	5	12	including	include	VERB
ajst-30187	5	13	the	the	DET
ajst-30187	5	14	key	key	ADJ
ajst-30187	5	15	components	component	NOUN
ajst-30187	5	16	such	such	ADJ
ajst-30187	5	17	as	as	ADP
ajst-30187	5	18	bottom	bottom	NOUN
ajst-30187	5	19	rotating	rotate	VERB
ajst-30187	5	20	hydraulic	hydraulic	ADJ
ajst-30187	5	21	cylinder	cylinder	NOUN
ajst-30187	5	22	,	,	PUNCT
ajst-30187	5	23	big	big	ADJ
ajst-30187	5	24	arm	arm	NOUN
ajst-30187	5	25	,	,	PUNCT
ajst-30187	5	26	small	small	ADJ
ajst-30187	5	27	arm	arm	NOUN
ajst-30187	5	28	,	,	PUNCT
ajst-30187	5	29	gripping	grip	VERB
ajst-30187	5	30	arm	arm	NOUN
ajst-30187	5	31	and	and	CCONJ
ajst-30187	5	32	gripper	gripper	NOUN
ajst-30187	5	33	,	,	PUNCT
ajst-30187	5	34	and	and	CCONJ
ajst-30187	5	35	realizes	realize	VERB
ajst-30187	5	36	the	the	DET
ajst-30187	5	37	precise	precise	ADJ
ajst-30187	5	38	control	control	NOUN
ajst-30187	5	39	of	of	ADP
ajst-30187	5	40	each	each	DET
ajst-30187	5	41	part	part	NOUN
ajst-30187	5	42	through	through	ADP
ajst-30187	5	43	the	the	DET
ajst-30187	5	44	hydraulic	hydraulic	ADJ
ajst-30187	5	45	system	system	NOUN
ajst-30187	5	46	drive	drive	NOUN
ajst-30187	5	47	.	.	PUNCT
ajst-30187	6	1	in	in	ADP
ajst-30187	6	2	addition	addition	NOUN
ajst-30187	6	3	,	,	PUNCT
ajst-30187	6	4	the	the	DET
ajst-30187	6	5	article	article	NOUN
ajst-30187	6	6	carries	carry	VERB
ajst-30187	6	7	out	out	ADP
ajst-30187	6	8	an	an	DET
ajst-30187	6	9	in	in	ADP
ajst-30187	6	10	-	-	PUNCT
ajst-30187	6	11	depth	depth	NOUN
ajst-30187	6	12	analysis	analysis	NOUN
ajst-30187	6	13	of	of	ADP
ajst-30187	6	14	the	the	DET
ajst-30187	6	15	kinematics	kinematic	NOUN
ajst-30187	6	16	and	and	CCONJ
ajst-30187	6	17	dynamics	dynamic	NOUN
ajst-30187	6	18	of	of	ADP
ajst-30187	6	19	the	the	DET
ajst-30187	6	20	robotic	robotic	ADJ
ajst-30187	6	21	arm	arm	NOUN
ajst-30187	6	22	,	,	PUNCT
ajst-30187	6	23	establishes	establish	VERB
ajst-30187	6	24	the	the	DET
ajst-30187	6	25	forward	forward	ADJ
ajst-30187	6	26	and	and	CCONJ
ajst-30187	6	27	reverse	reverse	ADJ
ajst-30187	6	28	kinematics	kinematic	NOUN
ajst-30187	6	29	model	model	NOUN
ajst-30187	6	30	of	of	ADP
ajst-30187	6	31	the	the	DET
ajst-30187	6	32	robotic	robotic	ADJ
ajst-30187	6	33	arm	arm	NOUN
ajst-30187	6	34	by	by	ADP
ajst-30187	6	35	using	use	VERB
ajst-30187	6	36	the	the	DET
ajst-30187	6	37	d	d	PROPN
ajst-30187	6	38	-	-	ADJ
ajst-30187	6	39	h	h	ADJ
ajst-30187	6	40	parametric	parametric	ADJ
ajst-30187	6	41	method	method	NOUN
ajst-30187	6	42	,	,	PUNCT
ajst-30187	6	43	and	and	CCONJ
ajst-30187	6	44	verifies	verifie	NOUN
ajst-30187	6	45	the	the	DET
ajst-30187	6	46	workspace	workspace	NOUN
ajst-30187	6	47	and	and	CCONJ
ajst-30187	6	48	kinematic	kinematic	ADJ
ajst-30187	6	49	performance	performance	NOUN
ajst-30187	6	50	of	of	ADP
ajst-30187	6	51	the	the	DET
ajst-30187	6	52	robotic	robotic	ADJ
ajst-30187	6	53	arm	arm	NOUN
ajst-30187	6	54	through	through	ADP
ajst-30187	6	55	matlab	matlab	PROPN
ajst-30187	6	56	.	.	PUNCT
ajst-30187	7	1	the	the	DET
ajst-30187	7	2	results	result	NOUN
ajst-30187	7	3	show	show	VERB
ajst-30187	7	4	that	that	SCONJ
ajst-30187	7	5	the	the	DET
ajst-30187	7	6	robotic	robotic	ADJ
ajst-30187	7	7	arm	arm	NOUN
ajst-30187	7	8	can	can	AUX
ajst-30187	7	9	significantly	significantly	ADV
ajst-30187	7	10	improve	improve	VERB
ajst-30187	7	11	the	the	DET
ajst-30187	7	12	efficiency	efficiency	NOUN
ajst-30187	7	13	of	of	ADP
ajst-30187	7	14	well	well	ADJ
ajst-30187	7	15	repair	repair	NOUN
ajst-30187	7	16	operations	operation	NOUN
ajst-30187	7	17	,	,	PUNCT
ajst-30187	7	18	reduce	reduce	VERB
ajst-30187	7	19	the	the	DET
ajst-30187	7	20	labor	labor	NOUN
ajst-30187	7	21	intensity	intensity	NOUN
ajst-30187	7	22	of	of	ADP
ajst-30187	7	23	workers	worker	NOUN
ajst-30187	7	24	,	,	PUNCT
ajst-30187	7	25	and	and	CCONJ
ajst-30187	7	26	enhance	enhance	VERB
ajst-30187	7	27	the	the	DET
ajst-30187	7	28	safety	safety	NOUN
ajst-30187	7	29	of	of	ADP
ajst-30187	7	30	operations	operation	NOUN
ajst-30187	7	31	,	,	PUNCT
ajst-30187	7	32	providing	provide	VERB
ajst-30187	7	33	technical	technical	ADJ
ajst-30187	7	34	support	support	NOUN
ajst-30187	7	35	for	for	ADP
ajst-30187	7	36	the	the	DET
ajst-30187	7	37	development	development	NOUN
ajst-30187	7	38	of	of	ADP
ajst-30187	7	39	automation	automation	NOUN
ajst-30187	7	40	of	of	ADP
ajst-30187	7	41	oilfield	oilfield	NOUN
ajst-30187	7	42	well	well	ADJ
ajst-30187	7	43	repair	repair	NOUN
ajst-30187	7	44	operations	operation	NOUN
ajst-30187	7	45	.	.	PUNCT
ajst-30187	8	1	keywords	keyword	NOUN
ajst-30187	8	2	:	:	PUNCT
ajst-30187	8	3	workover	workover	PROPN
ajst-30187	8	4	rig	rig	VERB
ajst-30187	8	5	,	,	PUNCT
ajst-30187	8	6	pipe	pipe	NOUN
ajst-30187	8	7	handling	handling	NOUN
ajst-30187	8	8	manipulator	manipulator	NOUN
ajst-30187	8	9	,	,	PUNCT
ajst-30187	8	10	hydraulic	hydraulic	ADJ
ajst-30187	8	11	system	system	NOUN
ajst-30187	8	12	,	,	PUNCT
ajst-30187	8	13	kinematic	kinematic	ADJ
ajst-30187	8	14	analysis	analysis	NOUN
ajst-30187	8	15	,	,	PUNCT
ajst-30187	8	16	tubing	tubing	NOUN
ajst-30187	8	17	transfer	transfer	NOUN
ajst-30187	8	18	.	.	PUNCT
ajst-30187	9	1	1	1	X
ajst-30187	9	2	.	.	X
ajst-30187	9	3	introduction	introduction	NOUN
ajst-30187	9	4	at	at	ADP
ajst-30187	9	5	present	present	ADJ
ajst-30187	9	6	,	,	PUNCT
ajst-30187	9	7	many	many	ADJ
ajst-30187	9	8	oilfields	oilfield	NOUN
ajst-30187	9	9	have	have	AUX
ajst-30187	9	10	entered	enter	VERB
ajst-30187	9	11	into	into	ADP
ajst-30187	9	12	the	the	DET
ajst-30187	9	13	middle	middle	ADJ
ajst-30187	9	14	and	and	CCONJ
ajst-30187	9	15	later	later	ADJ
ajst-30187	9	16	stages	stage	NOUN
ajst-30187	9	17	of	of	ADP
ajst-30187	9	18	development	development	NOUN
ajst-30187	9	19	,	,	PUNCT
ajst-30187	9	20	the	the	DET
ajst-30187	9	21	implementation	implementation	NOUN
ajst-30187	9	22	of	of	ADP
ajst-30187	9	23	oil	oil	NOUN
ajst-30187	9	24	recovery	recovery	NOUN
ajst-30187	9	25	operations	operation	NOUN
ajst-30187	9	26	has	have	AUX
ajst-30187	9	27	become	become	VERB
ajst-30187	9	28	more	more	ADV
ajst-30187	9	29	difficult	difficult	ADJ
ajst-30187	9	30	,	,	PUNCT
ajst-30187	9	31	and	and	CCONJ
ajst-30187	9	32	the	the	DET
ajst-30187	9	33	process	process	NOUN
ajst-30187	9	34	of	of	ADP
ajst-30187	9	35	well	well	ADJ
ajst-30187	9	36	condition	condition	NOUN
ajst-30187	9	37	has	have	AUX
ajst-30187	9	38	become	become	VERB
ajst-30187	9	39	more	more	ADV
ajst-30187	9	40	complex	complex	ADJ
ajst-30187	9	41	,	,	PUNCT
ajst-30187	9	42	in	in	ADP
ajst-30187	9	43	the	the	DET
ajst-30187	9	44	process	process	NOUN
ajst-30187	9	45	of	of	ADP
ajst-30187	9	46	oil	oil	NOUN
ajst-30187	9	47	recovery	recovery	NOUN
ajst-30187	9	48	often	often	ADV
ajst-30187	9	49	occurs	occur	VERB
ajst-30187	9	50	some	some	PRON
ajst-30187	9	51	of	of	ADP
ajst-30187	9	52	the	the	DET
ajst-30187	9	53	wells	well	NOUN
ajst-30187	9	54	internal	internal	ADJ
ajst-30187	9	55	or	or	CCONJ
ajst-30187	9	56	equipment	equipment	NOUN
ajst-30187	9	57	failures	failure	NOUN
ajst-30187	9	58	,	,	PUNCT
ajst-30187	9	59	resulting	result	VERB
ajst-30187	9	60	in	in	ADP
ajst-30187	9	61	wells	well	NOUN
ajst-30187	9	62	to	to	PART
ajst-30187	9	63	reduce	reduce	VERB
ajst-30187	9	64	production	production	NOUN
ajst-30187	9	65	,	,	PUNCT
ajst-30187	9	66	or	or	CCONJ
ajst-30187	9	67	even	even	ADV
ajst-30187	9	68	stop	stop	VERB
ajst-30187	9	69	[	[	X
ajst-30187	9	70	1	1	NUM
ajst-30187	9	71	]	]	PUNCT
ajst-30187	9	72	.	.	PUNCT
ajst-30187	10	1	in	in	ADP
ajst-30187	10	2	order	order	NOUN
ajst-30187	10	3	to	to	PART
ajst-30187	10	4	ensure	ensure	VERB
ajst-30187	10	5	the	the	DET
ajst-30187	10	6	normal	normal	ADJ
ajst-30187	10	7	production	production	NOUN
ajst-30187	10	8	of	of	ADP
ajst-30187	10	9	oil	oil	NOUN
ajst-30187	10	10	wells	well	NOUN
ajst-30187	10	11	,	,	PUNCT
ajst-30187	10	12	it	it	PRON
ajst-30187	10	13	is	be	AUX
ajst-30187	10	14	necessary	necessary	ADJ
ajst-30187	10	15	to	to	PART
ajst-30187	10	16	take	take	VERB
ajst-30187	10	17	corresponding	corresponding	ADJ
ajst-30187	10	18	measures	measure	NOUN
ajst-30187	10	19	to	to	PART
ajst-30187	10	20	eliminate	eliminate	VERB
ajst-30187	10	21	the	the	DET
ajst-30187	10	22	faults	fault	NOUN
ajst-30187	10	23	,	,	PUNCT
ajst-30187	10	24	resulting	result	VERB
ajst-30187	10	25	in	in	ADP
ajst-30187	10	26	a	a	DET
ajst-30187	10	27	continuous	continuous	ADJ
ajst-30187	10	28	increase	increase	NOUN
ajst-30187	10	29	in	in	ADP
ajst-30187	10	30	the	the	DET
ajst-30187	10	31	workload	workload	NOUN
ajst-30187	10	32	of	of	ADP
ajst-30187	10	33	well	well	ADJ
ajst-30187	10	34	repair	repair	NOUN
ajst-30187	10	35	[	[	X
ajst-30187	10	36	2	2	NUM
ajst-30187	10	37	]	]	PUNCT
ajst-30187	10	38	.	.	PUNCT
ajst-30187	11	1	in	in	ADP
ajst-30187	11	2	the	the	DET
ajst-30187	11	3	process	process	NOUN
ajst-30187	11	4	of	of	ADP
ajst-30187	11	5	lifting	lift	VERB
ajst-30187	11	6	and	and	CCONJ
ajst-30187	11	7	lowering	lower	VERB
ajst-30187	11	8	the	the	DET
ajst-30187	11	9	pipe	pipe	NOUN
ajst-30187	11	10	column	column	NOUN
ajst-30187	11	11	by	by	ADP
ajst-30187	11	12	the	the	DET
ajst-30187	11	13	well	well	ADV
ajst-30187	11	14	dressing	dress	VERB
ajst-30187	11	15	machine	machine	NOUN
ajst-30187	11	16	,	,	PUNCT
ajst-30187	11	17	it	it	PRON
ajst-30187	11	18	can	can	AUX
ajst-30187	11	19	only	only	ADV
ajst-30187	11	20	work	work	VERB
ajst-30187	11	21	while	while	SCONJ
ajst-30187	11	22	releasing	release	VERB
ajst-30187	11	23	the	the	DET
ajst-30187	11	24	spray	spray	NOUN
ajst-30187	11	25	,	,	PUNCT
ajst-30187	11	26	and	and	CCONJ
ajst-30187	11	27	the	the	DET
ajst-30187	11	28	labor	labor	NOUN
ajst-30187	11	29	intensity	intensity	NOUN
ajst-30187	11	30	of	of	ADP
ajst-30187	11	31	the	the	DET
ajst-30187	11	32	operator	operator	NOUN
ajst-30187	11	33	is	be	AUX
ajst-30187	11	34	high	high	ADJ
ajst-30187	11	35	,	,	PUNCT
ajst-30187	11	36	timeconsuming	timeconsuming	NOUN
ajst-30187	11	37	and	and	CCONJ
ajst-30187	11	38	inefficient	inefficient	ADJ
ajst-30187	11	39	.	.	PUNCT
ajst-30187	12	1	moreover	moreover	ADV
ajst-30187	12	2	,	,	PUNCT
ajst-30187	12	3	the	the	DET
ajst-30187	12	4	winch	winch	NOUN
ajst-30187	12	5	wire	wire	NOUN
ajst-30187	12	6	rope	rope	NOUN
ajst-30187	12	7	lifting	lifting	NOUN
ajst-30187	12	8	,	,	PUNCT
ajst-30187	12	9	not	not	PART
ajst-30187	12	10	to	to	PART
ajst-30187	12	11	mention	mention	VERB
ajst-30187	12	12	the	the	DET
ajst-30187	12	13	downward	downward	ADJ
ajst-30187	12	14	pressure	pressure	NOUN
ajst-30187	12	15	on	on	ADP
ajst-30187	12	16	the	the	DET
ajst-30187	12	17	tubular	tubular	ADJ
ajst-30187	12	18	column	column	NOUN
ajst-30187	12	19	,	,	PUNCT
ajst-30187	12	20	the	the	DET
ajst-30187	12	21	lifting	lifting	NOUN
ajst-30187	12	22	and	and	CCONJ
ajst-30187	12	23	lowering	lower	VERB
ajst-30187	12	24	operation	operation	NOUN
ajst-30187	12	25	process	process	NOUN
ajst-30187	12	26	is	be	AUX
ajst-30187	12	27	easy	easy	ADJ
ajst-30187	12	28	to	to	PART
ajst-30187	12	29	induce	induce	VERB
ajst-30187	12	30	well	well	ADV
ajst-30187	12	31	surge	surge	NOUN
ajst-30187	12	32	,	,	PUNCT
ajst-30187	12	33	blowout	blowout	NOUN
ajst-30187	12	34	and	and	CCONJ
ajst-30187	12	35	other	other	ADJ
ajst-30187	12	36	accidents	accident	NOUN
ajst-30187	12	37	,	,	PUNCT
ajst-30187	12	38	low	low	ADJ
ajst-30187	12	39	safety	safety	NOUN
ajst-30187	12	40	[	[	X
ajst-30187	12	41	3	3	NUM
ajst-30187	12	42	]	]	PUNCT
ajst-30187	12	43	.	.	PUNCT
ajst-30187	13	1	at	at	ADP
ajst-30187	13	2	the	the	DET
ajst-30187	13	3	same	same	ADJ
ajst-30187	13	4	time	time	NOUN
ajst-30187	13	5	,	,	PUNCT
ajst-30187	13	6	the	the	DET
ajst-30187	13	7	well	well	ADV
ajst-30187	13	8	repairing	repair	VERB
ajst-30187	13	9	operation	operation	NOUN
ajst-30187	13	10	needs	need	VERB
ajst-30187	13	11	mutual	mutual	ADJ
ajst-30187	13	12	cooperation	cooperation	NOUN
ajst-30187	13	13	and	and	CCONJ
ajst-30187	13	14	exchange	exchange	NOUN
ajst-30187	13	15	between	between	ADP
ajst-30187	13	16	the	the	DET
ajst-30187	13	17	staff	staff	NOUN
ajst-30187	13	18	in	in	ADP
ajst-30187	13	19	turn	turn	NOUN
ajst-30187	13	20	,	,	PUNCT
ajst-30187	13	21	which	which	PRON
ajst-30187	13	22	requires	require	VERB
ajst-30187	13	23	high	high	ADJ
ajst-30187	13	24	technical	technical	ADJ
ajst-30187	13	25	level	level	NOUN
ajst-30187	13	26	of	of	ADP
ajst-30187	13	27	the	the	DET
ajst-30187	13	28	staff	staff	NOUN
ajst-30187	13	29	,	,	PUNCT
ajst-30187	13	30	and	and	CCONJ
ajst-30187	13	31	in	in	ADP
ajst-30187	13	32	the	the	DET
ajst-30187	13	33	harsh	harsh	ADJ
ajst-30187	13	34	working	working	NOUN
ajst-30187	13	35	environment	environment	NOUN
ajst-30187	13	36	,	,	PUNCT
ajst-30187	13	37	the	the	DET
ajst-30187	13	38	staff	staff	NOUN
ajst-30187	13	39	not	not	PART
ajst-30187	13	40	only	only	ADV
ajst-30187	13	41	have	have	VERB
ajst-30187	13	42	to	to	PART
ajst-30187	13	43	face	face	VERB
ajst-30187	13	44	high	high	ADJ
ajst-30187	13	45	intensity	intensity	NOUN
ajst-30187	13	46	labor	labor	NOUN
ajst-30187	13	47	,	,	PUNCT
ajst-30187	13	48	but	but	CCONJ
ajst-30187	13	49	also	also	ADV
ajst-30187	13	50	have	have	VERB
ajst-30187	13	51	to	to	PART
ajst-30187	13	52	deal	deal	VERB
ajst-30187	13	53	with	with	ADP
ajst-30187	13	54	high	high	ADJ
ajst-30187	13	55	danger	danger	NOUN
ajst-30187	14	1	[	[	X
ajst-30187	14	2	4	4	NUM
ajst-30187	14	3	-	-	SYM
ajst-30187	14	4	6	6	NUM
ajst-30187	14	5	]	]	PUNCT
ajst-30187	14	6	.	.	PUNCT
ajst-30187	15	1	therefore	therefore	ADV
ajst-30187	15	2	,	,	PUNCT
ajst-30187	15	3	the	the	DET
ajst-30187	15	4	automated	automate	VERB
ajst-30187	15	5	operation	operation	NOUN
ajst-30187	15	6	equipment	equipment	NOUN
ajst-30187	15	7	for	for	ADP
ajst-30187	15	8	lifting	lift	VERB
ajst-30187	15	9	and	and	CCONJ
ajst-30187	15	10	lowering	lower	VERB
ajst-30187	15	11	pipe	pipe	NOUN
ajst-30187	15	12	columns	column	NOUN
ajst-30187	15	13	with	with	ADP
ajst-30187	15	14	high	high	ADJ
ajst-30187	15	15	efficiency	efficiency	NOUN
ajst-30187	15	16	and	and	CCONJ
ajst-30187	15	17	fast	fast	ADJ
ajst-30187	15	18	transportation	transportation	NOUN
ajst-30187	15	19	can	can	AUX
ajst-30187	15	20	reduce	reduce	VERB
ajst-30187	15	21	the	the	DET
ajst-30187	15	22	number	number	NOUN
ajst-30187	15	23	of	of	ADP
ajst-30187	15	24	actual	actual	ADJ
ajst-30187	15	25	operators	operator	NOUN
ajst-30187	15	26	,	,	PUNCT
ajst-30187	15	27	lower	low	ADJ
ajst-30187	15	28	the	the	DET
ajst-30187	15	29	labor	labor	NOUN
ajst-30187	15	30	intensity	intensity	NOUN
ajst-30187	15	31	of	of	ADP
ajst-30187	15	32	workers	worker	NOUN
ajst-30187	15	33	,	,	PUNCT
ajst-30187	15	34	improve	improve	VERB
ajst-30187	15	35	the	the	DET
ajst-30187	15	36	efficiency	efficiency	NOUN
ajst-30187	15	37	of	of	ADP
ajst-30187	15	38	the	the	DET
ajst-30187	15	39	overall	overall	ADJ
ajst-30187	15	40	operation	operation	NOUN
ajst-30187	15	41	,	,	PUNCT
ajst-30187	15	42	and	and	CCONJ
ajst-30187	15	43	safeguard	safeguard	VERB
ajst-30187	15	44	the	the	DET
ajst-30187	15	45	personal	personal	ADJ
ajst-30187	15	46	safety	safety	NOUN
ajst-30187	15	47	of	of	ADP
ajst-30187	15	48	the	the	DET
ajst-30187	15	49	operators	operator	NOUN
ajst-30187	15	50	[	[	X
ajst-30187	15	51	7	7	NUM
ajst-30187	15	52	-	-	SYM
ajst-30187	15	53	9	9	NUM
ajst-30187	15	54	]	]	PUNCT
ajst-30187	15	55	.	.	PUNCT
ajst-30187	16	1	in	in	ADP
ajst-30187	16	2	order	order	NOUN
ajst-30187	16	3	to	to	PART
ajst-30187	16	4	reduce	reduce	VERB
ajst-30187	16	5	the	the	DET
ajst-30187	16	6	labor	labor	NOUN
ajst-30187	16	7	intensity	intensity	NOUN
ajst-30187	16	8	of	of	ADP
ajst-30187	16	9	workers	worker	NOUN
ajst-30187	16	10	,	,	PUNCT
ajst-30187	16	11	improve	improve	VERB
ajst-30187	16	12	the	the	DET
ajst-30187	16	13	safe	safe	ADJ
ajst-30187	16	14	operation	operation	NOUN
ajst-30187	16	15	level	level	NOUN
ajst-30187	16	16	of	of	ADP
ajst-30187	16	17	well	well	ADV
ajst-30187	16	18	repairing	repair	VERB
ajst-30187	16	19	operation	operation	NOUN
ajst-30187	16	20	,	,	PUNCT
ajst-30187	16	21	realize	realize	VERB
ajst-30187	16	22	automatic	automatic	ADJ
ajst-30187	16	23	control	control	NOUN
ajst-30187	16	24	of	of	ADP
ajst-30187	16	25	lifting	lift	VERB
ajst-30187	16	26	and	and	CCONJ
ajst-30187	16	27	lowering	lower	VERB
ajst-30187	16	28	tubular	tubular	ADJ
ajst-30187	16	29	column	column	NOUN
ajst-30187	16	30	instead	instead	ADV
ajst-30187	16	31	of	of	ADP
ajst-30187	16	32	manual	manual	ADJ
ajst-30187	16	33	wellhead	wellhead	NOUN
ajst-30187	16	34	operation	operation	NOUN
ajst-30187	16	35	,	,	PUNCT
ajst-30187	16	36	and	and	CCONJ
ajst-30187	16	37	realize	realize	VERB
ajst-30187	16	38	a	a	DET
ajst-30187	16	39	series	series	NOUN
ajst-30187	16	40	of	of	ADP
ajst-30187	16	41	actions	action	NOUN
ajst-30187	16	42	such	such	ADJ
ajst-30187	16	43	as	as	ADP
ajst-30187	16	44	grasping	grasp	VERB
ajst-30187	16	45	and	and	CCONJ
ajst-30187	16	46	releasing	release	VERB
ajst-30187	16	47	tubular	tubular	ADJ
ajst-30187	16	48	column	column	NOUN
ajst-30187	16	49	and	and	CCONJ
ajst-30187	16	50	tubular	tubular	ADJ
ajst-30187	16	51	column	column	NOUN
ajst-30187	16	52	alignment	alignment	NOUN
ajst-30187	16	53	.	.	PUNCT
ajst-30187	17	1	therefore	therefore	ADV
ajst-30187	17	2	,	,	PUNCT
ajst-30187	17	3	in	in	ADP
ajst-30187	17	4	this	this	DET
ajst-30187	17	5	paper	paper	NOUN
ajst-30187	17	6	,	,	PUNCT
ajst-30187	17	7	a	a	DET
ajst-30187	17	8	new	new	ADJ
ajst-30187	17	9	type	type	NOUN
ajst-30187	17	10	of	of	ADP
ajst-30187	17	11	pipe	pipe	NOUN
ajst-30187	17	12	grabbing	grab	VERB
ajst-30187	17	13	mechanical	mechanical	ADJ
ajst-30187	17	14	arm	arm	NOUN
ajst-30187	17	15	for	for	ADP
ajst-30187	17	16	well	well	ADV
ajst-30187	17	17	dressing	dressing	NOUN
ajst-30187	17	18	machine	machine	NOUN
ajst-30187	17	19	is	be	AUX
ajst-30187	17	20	designed	design	VERB
ajst-30187	17	21	,	,	PUNCT
ajst-30187	17	22	the	the	DET
ajst-30187	17	23	motion	motion	NOUN
ajst-30187	17	24	simulation	simulation	NOUN
ajst-30187	17	25	of	of	ADP
ajst-30187	17	26	the	the	DET
ajst-30187	17	27	mechanical	mechanical	ADJ
ajst-30187	17	28	arm	arm	NOUN
ajst-30187	17	29	under	under	ADP
ajst-30187	17	30	different	different	ADJ
ajst-30187	17	31	working	work	VERB
ajst-30187	17	32	conditions	condition	NOUN
ajst-30187	17	33	is	be	AUX
ajst-30187	17	34	carried	carry	VERB
ajst-30187	17	35	out	out	ADP
ajst-30187	17	36	,	,	PUNCT
ajst-30187	17	37	and	and	CCONJ
ajst-30187	17	38	the	the	DET
ajst-30187	17	39	mechanism	mechanism	NOUN
ajst-30187	17	40	parameters	parameter	NOUN
ajst-30187	17	41	or	or	CCONJ
ajst-30187	17	42	structure	structure	NOUN
ajst-30187	17	43	of	of	ADP
ajst-30187	17	44	the	the	DET
ajst-30187	17	45	mechanical	mechanical	ADJ
ajst-30187	17	46	arm	arm	NOUN
ajst-30187	17	47	are	be	AUX
ajst-30187	17	48	optimized	optimize	VERB
ajst-30187	17	49	to	to	PART
ajst-30187	17	50	realize	realize	VERB
ajst-30187	17	51	the	the	DET
ajst-30187	17	52	high	high	ADJ
ajst-30187	17	53	efficiency	efficiency	NOUN
ajst-30187	17	54	and	and	CCONJ
ajst-30187	17	55	accuracy	accuracy	NOUN
ajst-30187	17	56	of	of	ADP
ajst-30187	17	57	lifting	lift	VERB
ajst-30187	17	58	and	and	CCONJ
ajst-30187	17	59	lowering	lower	VERB
ajst-30187	17	60	the	the	DET
ajst-30187	17	61	pipe	pipe	NOUN
ajst-30187	17	62	column	column	NOUN
ajst-30187	17	63	.	.	PUNCT
ajst-30187	18	1	2	2	X
ajst-30187	18	2	.	.	X
ajst-30187	18	3	structural	structural	ADJ
ajst-30187	18	4	design	design	NOUN
ajst-30187	18	5	2.1	2.1	NUM
ajst-30187	18	6	.	.	PUNCT
ajst-30187	19	1	program	program	NOUN
ajst-30187	19	2	design	design	NOUN
ajst-30187	19	3	2.1.1	2.1.1	NUM
ajst-30187	19	4	.	.	PUNCT
ajst-30187	20	1	overall	overall	ADJ
ajst-30187	20	2	program	program	NOUN
ajst-30187	20	3	design	design	NOUN
ajst-30187	20	4	according	accord	VERB
ajst-30187	20	5	to	to	ADP
ajst-30187	20	6	the	the	DET
ajst-30187	20	7	workflow	workflow	NOUN
ajst-30187	20	8	of	of	ADP
ajst-30187	20	9	the	the	DET
ajst-30187	20	10	well	well	ADV
ajst-30187	20	11	dressing	dress	VERB
ajst-30187	20	12	machine	machine	NOUN
ajst-30187	20	13	,	,	PUNCT
ajst-30187	20	14	combined	combine	VERB
ajst-30187	20	15	with	with	ADP
ajst-30187	20	16	the	the	DET
ajst-30187	20	17	analysis	analysis	NOUN
ajst-30187	20	18	of	of	ADP
ajst-30187	20	19	the	the	DET
ajst-30187	20	20	function	function	NOUN
ajst-30187	20	21	of	of	ADP
ajst-30187	20	22	,	,	PUNCT
ajst-30187	20	23	according	accord	VERB
ajst-30187	20	24	to	to	ADP
ajst-30187	20	25	the	the	DET
ajst-30187	20	26	design	design	NOUN
ajst-30187	20	27	requirements	requirement	NOUN
ajst-30187	20	28	,	,	PUNCT
ajst-30187	20	29	the	the	DET
ajst-30187	20	30	research	research	NOUN
ajst-30187	20	31	and	and	CCONJ
ajst-30187	20	32	design	design	NOUN
ajst-30187	20	33	of	of	ADP
ajst-30187	20	34	the	the	DET
ajst-30187	20	35	final	final	ADJ
ajst-30187	20	36	scheme	scheme	NOUN
ajst-30187	20	37	of	of	ADP
ajst-30187	20	38	the	the	DET
ajst-30187	20	39	work	work	NOUN
ajst-30187	20	40	of	of	ADP
ajst-30187	20	41	the	the	DET
ajst-30187	20	42	well	well	ADV
ajst-30187	20	43	dressing	dress	VERB
ajst-30187	20	44	machine	machine	NOUN
ajst-30187	20	45	rotary	rotary	NOUN
ajst-30187	20	46	arm	arm	NOUN
ajst-30187	20	47	type	type	NOUN
ajst-30187	20	48	pipe	pipe	NOUN
ajst-30187	20	49	grasping	grasp	VERB
ajst-30187	20	50	mechanical	mechanical	ADJ
ajst-30187	20	51	arm	arm	NOUN
ajst-30187	20	52	,	,	PUNCT
ajst-30187	20	53	and	and	CCONJ
ajst-30187	20	54	create	create	VERB
ajst-30187	20	55	a	a	DET
ajst-30187	20	56	threedimensional	threedimensional	ADJ
ajst-30187	20	57	model	model	NOUN
ajst-30187	20	58	of	of	ADP
ajst-30187	20	59	the	the	DET
ajst-30187	20	60	whole	whole	ADJ
ajst-30187	20	61	machine	machine	NOUN
ajst-30187	20	62	.	.	PUNCT
ajst-30187	21	1	the	the	DET
ajst-30187	21	2	well	well	ADV
ajst-30187	21	3	dressing	dress	VERB
ajst-30187	21	4	machine	machine	NOUN
ajst-30187	21	5	pipe	pipe	NOUN
ajst-30187	21	6	grasping	grasp	VERB
ajst-30187	21	7	mechanical	mechanical	ADJ
ajst-30187	21	8	arm	arm	NOUN
ajst-30187	21	9	.	.	PUNCT
ajst-30187	22	1	as	as	SCONJ
ajst-30187	22	2	shown	show	VERB
ajst-30187	22	3	in	in	ADP
ajst-30187	22	4	,	,	PUNCT
ajst-30187	22	5	it	it	PRON
ajst-30187	22	6	is	be	AUX
ajst-30187	22	7	the	the	DET
ajst-30187	22	8	pipe	pipe	NOUN
ajst-30187	22	9	grabbing	grab	VERB
ajst-30187	22	10	mechanical	mechanical	ADJ
ajst-30187	22	11	arm	arm	NOUN
ajst-30187	22	12	of	of	ADP
ajst-30187	22	13	the	the	DET
ajst-30187	22	14	well	well	ADV
ajst-30187	22	15	dressing	dress	VERB
ajst-30187	22	16	machine	machine	NOUN
ajst-30187	22	17	table	table	NOUN
ajst-30187	22	18	1	1	NUM
ajst-30187	22	19	technical	technical	ADJ
ajst-30187	22	20	parameters	parameter	NOUN
ajst-30187	22	21	of	of	ADP
ajst-30187	22	22	.	.	PUNCT
ajst-30187	23	1	as	as	ADP
ajst-30187	23	2	fig.1	fig.1	PROPN
ajst-30187	23	3	shown	show	VERB
ajst-30187	23	4	in	in	ADP
ajst-30187	23	5	,	,	PUNCT
ajst-30187	23	6	the	the	DET
ajst-30187	23	7	overall	overall	ADJ
ajst-30187	23	8	structure	structure	NOUN
ajst-30187	23	9	of	of	ADP
ajst-30187	23	10	the	the	PRON
ajst-30187	23	11	is	be	AUX
ajst-30187	23	12	schematic	schematic	ADJ
ajst-30187	23	13	,	,	PUNCT
ajst-30187	23	14	and	and	CCONJ
ajst-30187	23	15	the	the	DET
ajst-30187	23	16	device	device	NOUN
ajst-30187	23	17	is	be	AUX
ajst-30187	23	18	composed	compose	VERB
ajst-30187	23	19	of	of	ADP
ajst-30187	23	20	tubing	tubing	NOUN
ajst-30187	23	21	grabbing	grab	VERB
ajst-30187	23	22	robot	robot	NOUN
ajst-30187	23	23	arm	arm	NOUN
ajst-30187	23	24	of	of	ADP
ajst-30187	23	25	the	the	DET
ajst-30187	23	26	well	well	ADV
ajst-30187	23	27	dressing	dress	VERB
ajst-30187	23	28	machine	machine	NOUN
ajst-30187	23	29	robot	robot	NOUN
ajst-30187	23	30	arm	arm	NOUN
ajst-30187	23	31	system	system	NOUN
ajst-30187	23	32	and	and	CCONJ
ajst-30187	23	33	tubing	tubing	NOUN
ajst-30187	23	34	grabbing	grab	VERB
ajst-30187	23	35	device	device	NOUN
ajst-30187	23	36	.	.	PUNCT
ajst-30187	24	1	the	the	DET
ajst-30187	24	2	gripping	gripping	ADJ
ajst-30187	24	3	device	device	NOUN
ajst-30187	24	4	is	be	AUX
ajst-30187	24	5	the	the	DET
ajst-30187	24	6	core	core	NOUN
ajst-30187	24	7	component	component	NOUN
ajst-30187	24	8	of	of	ADP
ajst-30187	24	9	the	the	DET
ajst-30187	24	10	tubing	tubing	NOUN
ajst-30187	24	11	transfer	transfer	NOUN
ajst-30187	24	12	system	system	NOUN
ajst-30187	24	13	,	,	PUNCT
ajst-30187	24	14	and	and	CCONJ
ajst-30187	24	15	the	the	DET
ajst-30187	24	16	tubing	tubing	NOUN
ajst-30187	24	17	column	column	NOUN
ajst-30187	24	18	also	also	ADV
ajst-30187	24	19	plays	play	VERB
ajst-30187	24	20	the	the	DET
ajst-30187	24	21	role	role	NOUN
ajst-30187	24	22	of	of	ADP
ajst-30187	24	23	supporting	support	VERB
ajst-30187	24	24	when	when	SCONJ
ajst-30187	24	25	the	the	DET
ajst-30187	24	26	wellhead	wellhead	NOUN
ajst-30187	24	27	carries	carry	VERB
ajst-30187	24	28	out	out	ADP
ajst-30187	24	29	the	the	DET
ajst-30187	24	30	action	action	NOUN
ajst-30187	24	31	of	of	ADP
ajst-30187	24	32	upper	upper	ADJ
ajst-30187	24	33	unloading	unloading	NOUN
ajst-30187	24	34	buckle	buckle	NOUN
ajst-30187	24	35	.	.	PUNCT
ajst-30187	25	1	the	the	DET
ajst-30187	25	2	tubing	tubing	NOUN
ajst-30187	25	3	gripping	grip	VERB
ajst-30187	25	4	arm	arm	NOUN
ajst-30187	25	5	of	of	ADP
ajst-30187	25	6	the	the	DET
ajst-30187	25	7	well	well	ADV
ajst-30187	25	8	dressing	dress	VERB
ajst-30187	25	9	machine	machine	NOUN
ajst-30187	25	10	mainly	mainly	ADV
ajst-30187	25	11	includes	include	VERB
ajst-30187	25	12	the	the	DET
ajst-30187	25	13	bottom	bottom	NOUN
ajst-30187	25	14	rotating	rotate	VERB
ajst-30187	25	15	hydraulic	hydraulic	ADJ
ajst-30187	25	16	cylinder	cylinder	NOUN
ajst-30187	25	17	,	,	PUNCT
ajst-30187	25	18	support	support	NOUN
ajst-30187	25	19	base	base	NOUN
ajst-30187	25	20	,	,	PUNCT
ajst-30187	25	21	big	big	ADJ
ajst-30187	25	22	arm	arm	NOUN
ajst-30187	25	23	,	,	PUNCT
ajst-30187	25	24	big	big	ADJ
ajst-30187	25	25	arm	arm	NOUN
ajst-30187	25	26	hydraulic	hydraulic	ADJ
ajst-30187	25	27	cylinder	cylinder	NOUN
ajst-30187	25	28	,	,	PUNCT
ajst-30187	25	29	small	small	ADJ
ajst-30187	25	30	arm	arm	NOUN
ajst-30187	25	31	,	,	PUNCT
ajst-30187	25	32	small	small	ADJ
ajst-30187	25	33	arm	arm	NOUN
ajst-30187	25	34	hydraulic	hydraulic	ADJ
ajst-30187	25	35	cylinder	cylinder	NOUN
ajst-30187	25	36	,	,	PUNCT
ajst-30187	25	37	gripping	grip	VERB
ajst-30187	25	38	griping	gripe	VERB
ajst-30187	25	39	arm	arm	NOUN
ajst-30187	25	40	gripping	grip	VERB
ajst-30187	25	41	arm	arm	NOUN
ajst-30187	25	42	hydraulic	hydraulic	ADJ
ajst-30187	25	43	cylinder	cylinder	NOUN
ajst-30187	25	44	,	,	PUNCT
ajst-30187	25	45	hand	hand	NOUN
ajst-30187	25	46	and	and	CCONJ
ajst-30187	25	47	other	other	ADJ
ajst-30187	25	48	institutions	institution	NOUN
ajst-30187	25	49	,	,	PUNCT
ajst-30187	25	50	as	as	ADV
ajst-30187	25	51	well	well	ADV
ajst-30187	25	52	as	as	ADP
ajst-30187	25	53	fine	fine	ADV
ajst-30187	25	54	-	-	PUNCT
ajst-30187	25	55	tuning	tune	VERB
ajst-30187	25	56	device	device	NOUN
ajst-30187	25	57	and	and	CCONJ
ajst-30187	25	58	locking	lock	VERB
ajst-30187	25	59	device	device	NOUN
ajst-30187	25	60	between	between	ADP
ajst-30187	25	61	.	.	PUNCT
ajst-30187	26	1	the	the	DET
ajst-30187	26	2	functions	function	NOUN
ajst-30187	26	3	of	of	ADP
ajst-30187	26	4	the	the	DET
ajst-30187	26	5	fine	fine	ADJ
ajst-30187	26	6	adjustment	adjustment	NOUN
ajst-30187	26	7	device	device	NOUN
ajst-30187	26	8	and	and	CCONJ
ajst-30187	26	9	the	the	DET
ajst-30187	26	10	locking	locking	NOUN
ajst-30187	26	11	device	device	NOUN
ajst-30187	26	12	are	be	AUX
ajst-30187	26	13	to	to	PART
ajst-30187	26	14	ensure	ensure	VERB
ajst-30187	26	15	the	the	DET
ajst-30187	26	16	precise	precise	ADJ
ajst-30187	26	17	positioning	positioning	NOUN
ajst-30187	26	18	of	of	ADP
ajst-30187	26	19	the	the	DET
ajst-30187	26	20	tubing	tubing	NOUN
ajst-30187	26	21	delivery	delivery	NOUN
ajst-30187	26	22	and	and	CCONJ
ajst-30187	26	23	delivery	delivery	NOUN
ajst-30187	26	24	;	;	PUNCT
ajst-30187	26	25	at	at	ADP
ajst-30187	26	26	the	the	DET
ajst-30187	26	27	same	same	ADJ
ajst-30187	26	28	time	time	NOUN
ajst-30187	26	29	,	,	PUNCT
ajst-30187	26	30	a	a	DET
ajst-30187	26	31	positioning	positioning	NOUN
ajst-30187	26	32	device	device	NOUN
ajst-30187	26	33	is	be	AUX
ajst-30187	26	34	also	also	ADV
ajst-30187	26	35	set	set	VERB
ajst-30187	26	36	up	up	ADP
ajst-30187	26	37	to	to	PART
ajst-30187	26	38	ensure	ensure	VERB
ajst-30187	26	39	the	the	DET
ajst-30187	26	40	precise	precise	ADJ
ajst-30187	26	41	positioning	positioning	NOUN
ajst-30187	26	42	of	of	ADP
ajst-30187	26	43	the	the	DET
ajst-30187	26	44	tubing	tubing	NOUN
ajst-30187	26	45	column	column	NOUN
ajst-30187	26	46	during	during	ADP
ajst-30187	26	47	the	the	DET
ajst-30187	26	48	workover	workover	PROPN
ajst-30187	26	49	operation	operation	NOUN
ajst-30187	26	50	.	.	PUNCT
ajst-30187	27	1	the	the	DET
ajst-30187	27	2	connecting	connect	VERB
ajst-30187	27	3	parts	part	NOUN
ajst-30187	27	4	of	of	ADP
ajst-30187	27	5	each	each	DET
ajst-30187	27	6	institution	institution	NOUN
ajst-30187	27	7	.	.	PUNCT
ajst-30187	28	1	118	118	NUM
ajst-30187	28	2	table	table	NOUN
ajst-30187	28	3	1	1	NUM
ajst-30187	28	4	.	.	PUNCT
ajst-30187	28	5	technical	technical	ADJ
ajst-30187	28	6	parameters	parameter	NOUN
ajst-30187	28	7	of	of	ADP
ajst-30187	28	8	gripper	gripper	NOUN
ajst-30187	28	9	arm	arm	NOUN
ajst-30187	28	10	for	for	ADP
ajst-30187	28	11	well	well	ADJ
ajst-30187	28	12	repair	repair	NOUN
ajst-30187	28	13	machine	machine	NOUN
ajst-30187	28	14	technical	technical	ADJ
ajst-30187	28	15	name	name	NOUN
ajst-30187	28	16	parameters	parameter	NOUN
ajst-30187	28	17	lifting	lift	VERB
ajst-30187	28	18	height	height	NOUN
ajst-30187	28	19	6300	6300	NUM
ajst-30187	28	20	mm	mm	NOUN
ajst-30187	28	21	number	number	NOUN
ajst-30187	28	22	of	of	ADP
ajst-30187	28	23	tubes	tube	NOUN
ajst-30187	28	24	transported	transport	VERB
ajst-30187	28	25	per	per	ADP
ajst-30187	28	26	hour	hour	NOUN
ajst-30187	28	27	>	>	PUNCT
ajst-30187	28	28	forty	forty	NUM
ajst-30187	28	29	maximum	maximum	ADJ
ajst-30187	28	30	lifting	lifting	NOUN
ajst-30187	28	31	weight	weight	NOUN
ajst-30187	28	32	200	200	NUM
ajst-30187	28	33	kg	kg	NOUN
ajst-30187	28	34	tube	tube	NOUN
ajst-30187	28	35	o.d	o.d	PROPN
ajst-30187	28	36	.	.	PROPN
ajst-30187	28	37	range	range	PROPN
ajst-30187	28	38	φ60~89	φ60~89	NUM
ajst-30187	28	39	mm	mm	NOUN
ajst-30187	28	40	rating	rating	NOUN
ajst-30187	28	41	15kw	15kw	ADJ
ajst-30187	28	42	weight	weight	NOUN
ajst-30187	28	43	<	<	X
ajst-30187	28	44	4	4	NUM
ajst-30187	28	45	t	t	NOUN
ajst-30187	28	46	rated	rate	VERB
ajst-30187	28	47	pressure	pressure	NOUN
ajst-30187	28	48	10mpa	10mpa	PROPN
ajst-30187	28	49	electric	electric	PROPN
ajst-30187	28	50	power	power	PROPN
ajst-30187	28	51	source	source	NOUN
ajst-30187	28	52	15kw380vac	15kw380vac	PRON
ajst-30187	28	53	arm	arm	NOUN
ajst-30187	28	54	length	length	NOUN
ajst-30187	28	55	3500	3500	NUM
ajst-30187	28	56	mm	mm	NOUN
ajst-30187	28	57	length	length	NOUN
ajst-30187	28	58	of	of	ADP
ajst-30187	28	59	small	small	ADJ
ajst-30187	28	60	arm	arm	NOUN
ajst-30187	28	61	3500	3500	NUM
ajst-30187	28	62	mm	mm	NOUN
ajst-30187	28	63	grab	grab	NOUN
ajst-30187	28	64	arm	arm	NOUN
ajst-30187	28	65	length	length	NOUN
ajst-30187	28	66	4000	4000	NUM
ajst-30187	28	67	mm	mm	NOUN
ajst-30187	28	68	tube	tube	NOUN
ajst-30187	28	69	length	length	NOUN
ajst-30187	28	70	9500	9500	NUM
ajst-30187	28	71	mm	mm	PROPN
ajst-30187	28	72	1	1	NUM
ajst-30187	28	73	-	-	PUNCT
ajst-30187	28	74	bottom	bottom	NOUN
ajst-30187	28	75	rotating	rotate	VERB
ajst-30187	28	76	hydraulic	hydraulic	ADJ
ajst-30187	28	77	cylinder	cylinder	NOUN
ajst-30187	28	78	;	;	PUNCT
ajst-30187	28	79	2	2	NUM
ajst-30187	28	80	-	-	PUNCT
ajst-30187	28	81	support	support	NOUN
ajst-30187	28	82	base	base	NOUN
ajst-30187	28	83	;	;	PUNCT
ajst-30187	28	84	3large	3large	NUM
ajst-30187	28	85	arm	arm	NOUN
ajst-30187	28	86	;	;	PUNCT
ajst-30187	28	87	4	4	NUM
ajst-30187	28	88	-	-	PUNCT
ajst-30187	28	89	large	large	ADJ
ajst-30187	28	90	arm	arm	NOUN
ajst-30187	28	91	hydraulic	hydraulic	ADJ
ajst-30187	28	92	cylinder	cylinder	NOUN
ajst-30187	28	93	;	;	PUNCT
ajst-30187	28	94	5	5	NUM
ajst-30187	28	95	-	-	PUNCT
ajst-30187	28	96	small	small	ADJ
ajst-30187	28	97	arm	arm	NOUN
ajst-30187	28	98	;	;	PUNCT
ajst-30187	28	99	6small	6small	NUM
ajst-30187	28	100	arm	arm	NOUN
ajst-30187	28	101	hydraulic	hydraulic	ADJ
ajst-30187	28	102	cylinder	cylinder	NOUN
ajst-30187	28	103	;	;	PUNCT
ajst-30187	28	104	7	7	NUM
ajst-30187	28	105	-	-	PUNCT
ajst-30187	28	106	grabbing	grab	VERB
ajst-30187	28	107	arm	arm	NOUN
ajst-30187	28	108	hydraulic	hydraulic	ADJ
ajst-30187	28	109	cylinder	cylinder	NOUN
ajst-30187	28	110	;	;	PUNCT
ajst-30187	28	111	8	8	NUM
ajst-30187	28	112	-	-	PUNCT
ajst-30187	28	113	grabbing	grab	VERB
ajst-30187	28	114	arm	arm	NOUN
ajst-30187	28	115	;	;	PUNCT
ajst-30187	28	116	9	9	NUM
ajst-30187	28	117	-	-	PUNCT
ajst-30187	28	118	gripping	grip	VERB
ajst-30187	28	119	hand	hand	NOUN
ajst-30187	28	120	figure	figure	NOUN
ajst-30187	28	121	1	1	NUM
ajst-30187	28	122	.	.	PUNCT
ajst-30187	28	123	schematic	schematic	ADJ
ajst-30187	28	124	diagram	diagram	NOUN
ajst-30187	28	125	of	of	ADP
ajst-30187	28	126	the	the	DET
ajst-30187	28	127	overall	overall	ADJ
ajst-30187	28	128	structure	structure	NOUN
ajst-30187	28	129	of	of	ADP
ajst-30187	28	130	the	the	DET
ajst-30187	28	131	pipe	pipe	NOUN
ajst-30187	28	132	-	-	PUNCT
ajst-30187	28	133	gripping	grip	VERB
ajst-30187	28	134	arm	arm	NOUN
ajst-30187	28	135	of	of	ADP
ajst-30187	28	136	the	the	DET
ajst-30187	28	137	well	well	ADV
ajst-30187	28	138	dressing	dress	VERB
ajst-30187	28	139	machine	machine	NOUN
ajst-30187	28	140	2.1.2	2.1.2	PROPN
ajst-30187	28	141	.	.	PUNCT
ajst-30187	28	142	operational	operational	ADJ
ajst-30187	28	143	processes	process	VERB
ajst-30187	28	144	the	the	DET
ajst-30187	28	145	pipe	pipe	NOUN
ajst-30187	28	146	grasping	grasp	VERB
ajst-30187	28	147	robot	robot	NOUN
ajst-30187	28	148	arm	arm	NOUN
ajst-30187	28	149	of	of	ADP
ajst-30187	28	150	the	the	DET
ajst-30187	28	151	well	well	ADV
ajst-30187	28	152	dressing	dress	VERB
ajst-30187	28	153	machine	machine	NOUN
ajst-30187	28	154	can	can	AUX
ajst-30187	28	155	work	work	VERB
ajst-30187	28	156	with	with	ADP
ajst-30187	28	157	the	the	DET
ajst-30187	28	158	inclined	inclined	ADJ
ajst-30187	28	159	well	well	NOUN
ajst-30187	28	160	and	and	CCONJ
ajst-30187	28	161	straight	straight	ADV
ajst-30187	28	162	well	well	ADV
ajst-30187	28	163	dressing	dress	VERB
ajst-30187	28	164	machine	machine	NOUN
ajst-30187	28	165	,	,	PUNCT
ajst-30187	28	166	and	and	CCONJ
ajst-30187	28	167	the	the	DET
ajst-30187	28	168	following	follow	VERB
ajst-30187	28	169	is	be	AUX
ajst-30187	28	170	an	an	DET
ajst-30187	28	171	example	example	NOUN
ajst-30187	28	172	of	of	ADP
ajst-30187	28	173	the	the	DET
ajst-30187	28	174	process	process	NOUN
ajst-30187	28	175	of	of	ADP
ajst-30187	28	176	working	work	VERB
ajst-30187	28	177	with	with	ADP
ajst-30187	28	178	the	the	DET
ajst-30187	28	179	straight	straight	ADJ
ajst-30187	28	180	well	well	ADV
ajst-30187	28	181	dressing	dress	VERB
ajst-30187	28	182	machine	machine	NOUN
ajst-30187	28	183	,	,	PUNCT
ajst-30187	28	184	which	which	PRON
ajst-30187	28	185	is	be	AUX
ajst-30187	28	186	mainly	mainly	ADV
ajst-30187	28	187	divided	divide	VERB
ajst-30187	28	188	into	into	ADP
ajst-30187	28	189	two	two	NUM
ajst-30187	28	190	work	work	NOUN
ajst-30187	28	191	processes	process	NOUN
ajst-30187	28	192	of	of	ADP
ajst-30187	28	193	starting	start	VERB
ajst-30187	28	194	and	and	CCONJ
ajst-30187	28	195	lowering	lower	VERB
ajst-30187	28	196	the	the	DET
ajst-30187	28	197	pipe	pipe	NOUN
ajst-30187	28	198	:	:	PUNCT
ajst-30187	28	199	(	(	PUNCT
ajst-30187	28	200	1	1	X
ajst-30187	28	201	)	)	PUNCT
ajst-30187	28	202	pipe	pipe	NOUN
ajst-30187	28	203	up	up	ADP
ajst-30187	28	204	operation	operation	NOUN
ajst-30187	28	205	before	before	ADP
ajst-30187	28	206	performing	perform	VERB
ajst-30187	28	207	the	the	DET
ajst-30187	28	208	tubing	tubing	NOUN
ajst-30187	28	209	up	up	ADP
ajst-30187	28	210	operation	operation	NOUN
ajst-30187	28	211	,	,	PUNCT
ajst-30187	28	212	the	the	DET
ajst-30187	28	213	unit	unit	NOUN
ajst-30187	28	214	needs	need	VERB
ajst-30187	28	215	to	to	PART
ajst-30187	28	216	be	be	AUX
ajst-30187	28	217	centered	center	VERB
ajst-30187	28	218	with	with	ADP
ajst-30187	28	219	the	the	DET
ajst-30187	28	220	wellhead	wellhead	NOUN
ajst-30187	28	221	.	.	PUNCT
ajst-30187	29	1	when	when	SCONJ
ajst-30187	29	2	the	the	DET
ajst-30187	29	3	tubing	tubing	NOUN
ajst-30187	29	4	comes	come	VERB
ajst-30187	29	5	out	out	ADP
ajst-30187	29	6	of	of	ADP
ajst-30187	29	7	the	the	DET
ajst-30187	29	8	well	well	NOUN
ajst-30187	29	9	,	,	PUNCT
ajst-30187	29	10	the	the	DET
ajst-30187	29	11	swimming	swimming	NOUN
ajst-30187	29	12	chuck	chuck	NOUN
ajst-30187	29	13	chucks	chuck	VERB
ajst-30187	29	14	the	the	DET
ajst-30187	29	15	tubing	tubing	NOUN
ajst-30187	29	16	upward	upward	ADV
ajst-30187	29	17	and	and	CCONJ
ajst-30187	29	18	lifts	lift	VERB
ajst-30187	29	19	the	the	DET
ajst-30187	29	20	column	column	NOUN
ajst-30187	29	21	,	,	PUNCT
ajst-30187	29	22	stopping	stop	VERB
ajst-30187	29	23	the	the	DET
ajst-30187	29	24	upward	upward	ADJ
ajst-30187	29	25	movement	movement	NOUN
ajst-30187	29	26	when	when	SCONJ
ajst-30187	29	27	the	the	DET
ajst-30187	29	28	tubing	tubing	NOUN
ajst-30187	29	29	head	head	NOUN
ajst-30187	29	30	joint	joint	ADJ
ajst-30187	29	31	hoop	hoop	NOUN
ajst-30187	29	32	of	of	ADP
ajst-30187	29	33	the	the	DET
ajst-30187	29	34	next	next	ADJ
ajst-30187	29	35	tubing	tubing	NOUN
ajst-30187	29	36	is	be	AUX
ajst-30187	29	37	exposed	expose	VERB
ajst-30187	29	38	for	for	ADP
ajst-30187	29	39	a	a	DET
ajst-30187	29	40	certain	certain	ADJ
ajst-30187	29	41	length	length	NOUN
ajst-30187	29	42	.	.	PUNCT
ajst-30187	30	1	the	the	DET
ajst-30187	30	2	pipe	pipe	NOUN
ajst-30187	30	3	grabbing	grab	VERB
ajst-30187	30	4	arm	arm	NOUN
ajst-30187	30	5	is	be	AUX
ajst-30187	30	6	rotated	rotate	VERB
ajst-30187	30	7	from	from	ADP
ajst-30187	30	8	horizontal	horizontal	ADJ
ajst-30187	30	9	to	to	ADP
ajst-30187	30	10	vertical	vertical	ADJ
ajst-30187	30	11	,	,	PUNCT
ajst-30187	30	12	and	and	CCONJ
ajst-30187	30	13	then	then	ADV
ajst-30187	30	14	the	the	DET
ajst-30187	30	15	big	big	ADJ
ajst-30187	30	16	arm	arm	NOUN
ajst-30187	30	17	and	and	CCONJ
ajst-30187	30	18	small	small	ADJ
ajst-30187	30	19	arm	arm	NOUN
ajst-30187	30	20	cooperate	cooperate	VERB
ajst-30187	30	21	to	to	PART
ajst-30187	30	22	drive	drive	VERB
ajst-30187	30	23	the	the	DET
ajst-30187	30	24	pipe	pipe	NOUN
ajst-30187	30	25	grabbing	grab	VERB
ajst-30187	30	26	system	system	NOUN
ajst-30187	30	27	to	to	PART
ajst-30187	30	28	rotate	rotate	VERB
ajst-30187	30	29	to	to	ADP
ajst-30187	30	30	the	the	DET
ajst-30187	30	31	parallel	parallel	ADJ
ajst-30187	30	32	position	position	NOUN
ajst-30187	30	33	with	with	ADP
ajst-30187	30	34	the	the	DET
ajst-30187	30	35	wellhead	wellhead	NOUN
ajst-30187	30	36	,	,	PUNCT
ajst-30187	30	37	check	check	VERB
ajst-30187	30	38	whether	whether	SCONJ
ajst-30187	30	39	it	it	PRON
ajst-30187	30	40	can	can	AUX
ajst-30187	30	41	be	be	AUX
ajst-30187	30	42	centered	center	VERB
ajst-30187	30	43	,	,	PUNCT
ajst-30187	30	44	i.e.	i.e.	X
ajst-30187	30	45	,	,	PUNCT
ajst-30187	30	46	check	check	VERB
ajst-30187	30	47	whether	whether	SCONJ
ajst-30187	30	48	the	the	DET
ajst-30187	30	49	axes	axis	NOUN
ajst-30187	30	50	of	of	ADP
ajst-30187	30	51	the	the	PRON
ajst-30187	30	52	and	and	CCONJ
ajst-30187	30	53	the	the	DET
ajst-30187	30	54	axes	axis	NOUN
ajst-30187	30	55	of	of	ADP
ajst-30187	30	56	the	the	DET
ajst-30187	30	57	tubing	tubing	NOUN
ajst-30187	30	58	are	be	AUX
ajst-30187	30	59	coaxial	coaxial	ADJ
ajst-30187	30	60	or	or	CCONJ
ajst-30187	30	61	not	not	PART
ajst-30187	30	62	.	.	PUNCT
ajst-30187	31	1	if	if	SCONJ
ajst-30187	31	2	not	not	PART
ajst-30187	31	3	,	,	PUNCT
ajst-30187	31	4	grabbing	grab	VERB
ajst-30187	31	5	hand	hand	NOUN
ajst-30187	31	6	adjust	adjust	VERB
ajst-30187	31	7	the	the	DET
ajst-30187	31	8	big	big	ADJ
ajst-30187	31	9	the	the	DET
ajst-30187	31	10	relative	relative	ADJ
ajst-30187	31	11	positions	position	NOUN
ajst-30187	31	12	of	of	ADP
ajst-30187	31	13	and	and	CCONJ
ajst-30187	31	14	small	small	ADJ
ajst-30187	31	15	arm	arm	NOUN
ajst-30187	31	16	to	to	PART
ajst-30187	31	17	ensure	ensure	VERB
ajst-30187	31	18	that	that	SCONJ
ajst-30187	31	19	the	the	DET
ajst-30187	31	20	center	center	NOUN
ajst-30187	31	21	of	of	ADP
ajst-30187	31	22	the	the	PRON
ajst-30187	31	23	and	and	CCONJ
ajst-30187	31	24	the	the	DET
ajst-30187	31	25	center	center	NOUN
ajst-30187	31	26	of	of	ADP
ajst-30187	31	27	the	the	DET
ajst-30187	31	28	tubing	tubing	NOUN
ajst-30187	31	29	coincide	coincide	NOUN
ajst-30187	31	30	gripper	gripper	NOUN
ajst-30187	31	31	to	to	PART
ajst-30187	31	32	ensure	ensure	VERB
ajst-30187	31	33	the	the	DET
ajst-30187	31	34	accurate	accurate	ADJ
ajst-30187	31	35	positioning	positioning	NOUN
ajst-30187	31	36	of	of	ADP
ajst-30187	31	37	the	the	DET
ajst-30187	31	38	tubing	tubing	NOUN
ajst-30187	31	39	and	and	CCONJ
ajst-30187	31	40	increase	increase	VERB
ajst-30187	31	41	the	the	DET
ajst-30187	31	42	rigidity	rigidity	NOUN
ajst-30187	31	43	of	of	ADP
ajst-30187	31	44	the	the	DET
ajst-30187	31	45	system	system	NOUN
ajst-30187	31	46	to	to	PART
ajst-30187	31	47	ensure	ensure	VERB
ajst-30187	31	48	safety	safety	NOUN
ajst-30187	31	49	.	.	PUNCT
ajst-30187	32	1	after	after	ADP
ajst-30187	32	2	completing	complete	VERB
ajst-30187	32	3	the	the	DET
ajst-30187	32	4	above	above	ADJ
ajst-30187	32	5	checking	check	VERB
ajst-30187	32	6	action	action	NOUN
ajst-30187	32	7	,	,	PUNCT
ajst-30187	32	8	the	the	DET
ajst-30187	32	9	relative	relative	ADJ
ajst-30187	32	10	position	position	NOUN
ajst-30187	32	11	of	of	ADP
ajst-30187	32	12	each	each	DET
ajst-30187	32	13	part	part	NOUN
ajst-30187	32	14	of	of	ADP
ajst-30187	32	15	the	the	DET
ajst-30187	32	16	robotic	robotic	ADJ
ajst-30187	32	17	arm	arm	NOUN
ajst-30187	32	18	and	and	CCONJ
ajst-30187	32	19	the	the	DET
ajst-30187	32	20	control	control	NOUN
ajst-30187	32	21	data	datum	NOUN
ajst-30187	32	22	of	of	ADP
ajst-30187	32	23	the	the	DET
ajst-30187	32	24	hydraulic	hydraulic	ADJ
ajst-30187	32	25	cylinder	cylinder	NOUN
ajst-30187	32	26	are	be	AUX
ajst-30187	32	27	recorded	record	VERB
ajst-30187	32	28	.	.	PUNCT
ajst-30187	33	1	according	accord	VERB
ajst-30187	33	2	to	to	ADP
ajst-30187	33	3	the	the	DET
ajst-30187	33	4	alignment	alignment	NOUN
ajst-30187	33	5	data	datum	NOUN
ajst-30187	33	6	,	,	PUNCT
ajst-30187	33	7	when	when	SCONJ
ajst-30187	33	8	the	the	DET
ajst-30187	33	9	oil	oil	NOUN
ajst-30187	33	10	pipe	pipe	NOUN
ajst-30187	33	11	is	be	AUX
ajst-30187	33	12	lifted	lift	VERB
ajst-30187	33	13	by	by	ADP
ajst-30187	33	14	the	the	DET
ajst-30187	33	15	large	large	ADJ
ajst-30187	33	16	hook	hook	NOUN
ajst-30187	33	17	of	of	ADP
ajst-30187	33	18	the	the	DET
ajst-30187	33	19	tanker	tanker	NOUN
ajst-30187	33	20	,	,	PUNCT
ajst-30187	33	21	the	the	DET
ajst-30187	33	22	hydraulic	hydraulic	ADJ
ajst-30187	33	23	cylinder	cylinder	NOUN
ajst-30187	33	24	of	of	ADP
ajst-30187	33	25	the	the	DET
ajst-30187	33	26	gripping	grip	VERB
ajst-30187	33	27	arm	arm	NOUN
ajst-30187	33	28	controls	control	VERB
ajst-30187	33	29	the	the	DET
ajst-30187	33	30	gripping	gripping	ADJ
ajst-30187	33	31	arm	arm	NOUN
ajst-30187	33	32	to	to	PART
ajst-30187	33	33	turn	turn	VERB
ajst-30187	33	34	from	from	ADP
ajst-30187	33	35	the	the	DET
ajst-30187	33	36	horizontal	horizontal	ADJ
ajst-30187	33	37	state	state	NOUN
ajst-30187	33	38	to	to	ADP
ajst-30187	33	39	the	the	DET
ajst-30187	33	40	vertical	vertical	ADJ
ajst-30187	33	41	state	state	NOUN
ajst-30187	33	42	,	,	PUNCT
ajst-30187	33	43	the	the	DET
ajst-30187	33	44	hydraulic	hydraulic	ADJ
ajst-30187	33	45	cylinder	cylinder	NOUN
ajst-30187	33	46	of	of	ADP
ajst-30187	33	47	the	the	DET
ajst-30187	33	48	large	large	ADJ
ajst-30187	33	49	arm	arm	NOUN
ajst-30187	33	50	and	and	CCONJ
ajst-30187	33	51	the	the	DET
ajst-30187	33	52	hydraulic	hydraulic	ADJ
ajst-30187	33	53	cylinder	cylinder	NOUN
ajst-30187	33	54	of	of	ADP
ajst-30187	33	55	the	the	DET
ajst-30187	33	56	small	small	ADJ
ajst-30187	33	57	arm	arm	NOUN
ajst-30187	33	58	control	control	VERB
ajst-30187	33	59	the	the	DET
ajst-30187	33	60	large	large	ADJ
ajst-30187	33	61	arm	arm	NOUN
ajst-30187	33	62	and	and	CCONJ
ajst-30187	33	63	the	the	DET
ajst-30187	33	64	small	small	ADJ
ajst-30187	33	65	arm	arm	NOUN
ajst-30187	33	66	to	to	PART
ajst-30187	33	67	transport	transport	VERB
ajst-30187	33	68	the	the	DET
ajst-30187	33	69	gripping	gripping	ADJ
ajst-30187	33	70	arm	arm	NOUN
ajst-30187	33	71	to	to	ADP
ajst-30187	33	72	the	the	DET
ajst-30187	33	73	vicinity	vicinity	NOUN
ajst-30187	33	74	of	of	ADP
ajst-30187	33	75	the	the	DET
ajst-30187	33	76	oil	oil	NOUN
ajst-30187	33	77	pipe	pipe	NOUN
ajst-30187	33	78	and	and	CCONJ
ajst-30187	33	79	the	the	DET
ajst-30187	33	80	gripping	gripping	ADJ
ajst-30187	33	81	arm	arm	NOUN
ajst-30187	33	82	is	be	AUX
ajst-30187	33	83	in	in	ADP
ajst-30187	33	84	the	the	DET
ajst-30187	33	85	middle	middle	NOUN
ajst-30187	33	86	of	of	ADP
ajst-30187	33	87	the	the	DET
ajst-30187	33	88	oil	oil	NOUN
ajst-30187	33	89	pipe	pipe	NOUN
ajst-30187	33	90	,	,	PUNCT
ajst-30187	33	91	the	the	DET
ajst-30187	33	92	hydraulic	hydraulic	ADJ
ajst-30187	33	93	cylinder	cylinder	NOUN
ajst-30187	33	94	of	of	ADP
ajst-30187	33	95	the	the	DET
ajst-30187	33	96	gripper	gripper	NOUN
ajst-30187	33	97	controls	control	VERB
ajst-30187	33	98	the	the	DET
ajst-30187	33	99	gripping	gripping	ADJ
ajst-30187	33	100	hand	hand	NOUN
ajst-30187	33	101	to	to	PART
ajst-30187	33	102	open	open	VERB
ajst-30187	33	103	,	,	PUNCT
ajst-30187	33	104	the	the	DET
ajst-30187	33	105	hydraulic	hydraulic	ADJ
ajst-30187	33	106	cylinder	cylinder	NOUN
ajst-30187	33	107	of	of	ADP
ajst-30187	33	108	the	the	DET
ajst-30187	33	109	large	large	ADJ
ajst-30187	33	110	arm	arm	NOUN
ajst-30187	33	111	and	and	CCONJ
ajst-30187	33	112	the	the	DET
ajst-30187	33	113	hydraulic	hydraulic	ADJ
ajst-30187	33	114	cylinder	cylinder	NOUN
ajst-30187	33	115	of	of	ADP
ajst-30187	33	116	the	the	DET
ajst-30187	33	117	small	small	ADJ
ajst-30187	33	118	arm	arm	NOUN
ajst-30187	33	119	control	control	VERB
ajst-30187	33	120	the	the	DET
ajst-30187	33	121	large	large	ADJ
ajst-30187	33	122	arm	arm	NOUN
ajst-30187	33	123	and	and	CCONJ
ajst-30187	33	124	the	the	DET
ajst-30187	33	125	small	small	ADJ
ajst-30187	33	126	arm	arm	NOUN
ajst-30187	33	127	to	to	PART
ajst-30187	33	128	move	move	VERB
ajst-30187	33	129	the	the	DET
ajst-30187	33	130	gripping	gripping	ADJ
ajst-30187	33	131	arm	arm	NOUN
ajst-30187	33	132	to	to	PART
ajst-30187	33	133	make	make	VERB
ajst-30187	33	134	the	the	DET
ajst-30187	33	135	oil	oil	NOUN
ajst-30187	33	136	pipe	pipe	NOUN
ajst-30187	33	137	axis	axis	NOUN
ajst-30187	33	138	and	and	CCONJ
ajst-30187	33	139	the	the	DET
ajst-30187	33	140	gripper	gripper	NOUN
ajst-30187	33	141	axis	axis	NOUN
ajst-30187	33	142	coincides	coincide	VERB
ajst-30187	33	143	,	,	PUNCT
ajst-30187	33	144	the	the	DET
ajst-30187	33	145	gripper	gripper	NOUN
ajst-30187	33	146	hydraulic	hydraulic	NOUN
ajst-30187	33	147	cylinder	cylinder	NOUN
ajst-30187	33	148	controls	control	VERB
ajst-30187	33	149	the	the	DET
ajst-30187	33	150	gripper	gripper	NOUN
ajst-30187	33	151	to	to	PART
ajst-30187	33	152	tighten	tighten	VERB
ajst-30187	33	153	,	,	PUNCT
ajst-30187	33	154	the	the	DET
ajst-30187	33	155	sensor	sensor	NOUN
ajst-30187	33	156	accepts	accept	VERB
ajst-30187	33	157	the	the	DET
ajst-30187	33	158	gripper	gripper	NOUN
ajst-30187	33	159	pipe	pipe	NOUN
ajst-30187	33	160	completion	completion	NOUN
ajst-30187	33	161	signal	signal	NOUN
ajst-30187	33	162	,	,	PUNCT
ajst-30187	33	163	the	the	DET
ajst-30187	33	164	bottom	bottom	NOUN
ajst-30187	33	165	of	of	ADP
ajst-30187	33	166	the	the	DET
ajst-30187	33	167	rotary	rotary	ADJ
ajst-30187	33	168	hydraulic	hydraulic	ADJ
ajst-30187	33	169	cylinder	cylinder	NOUN
ajst-30187	33	170	to	to	PART
ajst-30187	33	171	adjust	adjust	VERB
ajst-30187	33	172	the	the	DET
ajst-30187	33	173	direction	direction	NOUN
ajst-30187	33	174	of	of	ADP
ajst-30187	33	175	movement	movement	NOUN
ajst-30187	33	176	of	of	ADP
ajst-30187	33	177	the	the	DET
ajst-30187	33	178	robot	robot	NOUN
ajst-30187	33	179	arm	arm	NOUN
ajst-30187	33	180	,	,	PUNCT
ajst-30187	33	181	the	the	DET
ajst-30187	33	182	big	big	ADJ
ajst-30187	33	183	arm	arm	NOUN
ajst-30187	33	184	hydraulic	hydraulic	ADJ
ajst-30187	33	185	cylinder	cylinder	NOUN
ajst-30187	33	186	and	and	CCONJ
ajst-30187	33	187	small	small	ADJ
ajst-30187	33	188	arm	arm	NOUN
ajst-30187	33	189	hydraulic	hydraulic	ADJ
ajst-30187	33	190	cylinder	cylinder	NOUN
ajst-30187	33	191	controls	control	VERB
ajst-30187	33	192	the	the	DET
ajst-30187	33	193	big	big	ADJ
ajst-30187	33	194	arm	arm	NOUN
ajst-30187	33	195	and	and	CCONJ
ajst-30187	33	196	small	small	ADJ
ajst-30187	33	197	arm	arm	NOUN
ajst-30187	33	198	to	to	PART
ajst-30187	33	199	move	move	VERB
ajst-30187	33	200	the	the	DET
ajst-30187	33	201	gripper	gripper	NOUN
ajst-30187	33	202	arm	arm	NOUN
ajst-30187	33	203	to	to	PART
ajst-30187	33	204	make	make	VERB
ajst-30187	33	205	the	the	DET
ajst-30187	33	206	gripper	gripper	NOUN
ajst-30187	33	207	arm	arm	NOUN
ajst-30187	33	208	close	close	ADV
ajst-30187	33	209	to	to	ADP
ajst-30187	33	210	the	the	DET
ajst-30187	33	211	horizontal	horizontal	ADJ
ajst-30187	33	212	pipeline	pipeline	NOUN
ajst-30187	33	213	rack	rack	NOUN
ajst-30187	33	214	,	,	PUNCT
ajst-30187	33	215	at	at	ADP
ajst-30187	33	216	the	the	DET
ajst-30187	33	217	same	same	ADJ
ajst-30187	33	218	time	time	NOUN
ajst-30187	33	219	gripping	grip	VERB
ajst-30187	33	220	the	the	DET
ajst-30187	33	221	arm	arm	NOUN
ajst-30187	33	222	hydraulic	hydraulic	ADJ
ajst-30187	33	223	cylinder	cylinder	NOUN
ajst-30187	33	224	controls	control	VERB
ajst-30187	33	225	the	the	DET
ajst-30187	33	226	gripper	gripper	NOUN
ajst-30187	33	227	arm	arm	NOUN
ajst-30187	33	228	to	to	PART
ajst-30187	33	229	turn	turn	VERB
ajst-30187	33	230	the	the	DET
ajst-30187	33	231	arm	arm	NOUN
ajst-30187	33	232	from	from	ADP
ajst-30187	33	233	the	the	DET
ajst-30187	33	234	vertical	vertical	ADJ
ajst-30187	33	235	state	state	NOUN
ajst-30187	33	236	to	to	ADP
ajst-30187	33	237	the	the	DET
ajst-30187	33	238	horizontal	horizontal	ADJ
ajst-30187	33	239	state	state	NOUN
ajst-30187	33	240	,	,	PUNCT
ajst-30187	33	241	the	the	DET
ajst-30187	33	242	oil	oil	NOUN
ajst-30187	33	243	pipe	pipe	NOUN
ajst-30187	33	244	arrives	arrive	VERB
ajst-30187	33	245	at	at	ADP
ajst-30187	33	246	the	the	DET
ajst-30187	33	247	pipeline	pipeline	NOUN
ajst-30187	33	248	rack	rack	NOUN
ajst-30187	33	249	on	on	ADP
ajst-30187	33	250	the	the	DET
ajst-30187	33	251	oil	oil	NOUN
ajst-30187	33	252	pipe	pipe	NOUN
ajst-30187	33	253	discharge	discharge	NOUN
ajst-30187	33	254	position	position	NOUN
ajst-30187	33	255	axis	axis	NOUN
ajst-30187	33	256	of	of	ADP
ajst-30187	33	257	the	the	DET
ajst-30187	33	258	oil	oil	NOUN
ajst-30187	33	259	pipe	pipe	NOUN
ajst-30187	33	260	the	the	DET
ajst-30187	33	261	oil	oil	NOUN
ajst-30187	33	262	pipe	pipe	NOUN
ajst-30187	33	263	reaches	reach	VERB
ajst-30187	33	264	the	the	DET
ajst-30187	33	265	upper	upper	ADJ
ajst-30187	33	266	part	part	NOUN
ajst-30187	33	267	of	of	ADP
ajst-30187	33	268	the	the	DET
ajst-30187	33	269	oil	oil	NOUN
ajst-30187	33	270	pipe	pipe	NOUN
ajst-30187	33	271	discharge	discharge	NOUN
ajst-30187	33	272	position	position	NOUN
ajst-30187	33	273	axis	axis	NOUN
ajst-30187	33	274	on	on	ADP
ajst-30187	33	275	the	the	DET
ajst-30187	33	276	pipe	pipe	NOUN
ajst-30187	33	277	discharge	discharge	NOUN
ajst-30187	33	278	rack	rack	NOUN
ajst-30187	33	279	,	,	PUNCT
ajst-30187	33	280	so	so	SCONJ
ajst-30187	33	281	that	that	SCONJ
ajst-30187	33	282	the	the	DET
ajst-30187	33	283	oil	oil	NOUN
ajst-30187	33	284	pipe	pipe	NOUN
ajst-30187	33	285	axis	axis	NOUN
ajst-30187	33	286	is	be	AUX
ajst-30187	33	287	parallel	parallel	ADJ
ajst-30187	33	288	to	to	ADP
ajst-30187	33	289	the	the	DET
ajst-30187	33	290	oil	oil	NOUN
ajst-30187	33	291	pipe	pipe	NOUN
ajst-30187	33	292	discharge	discharge	NOUN
ajst-30187	33	293	position	position	NOUN
ajst-30187	33	294	axis	axis	NOUN
ajst-30187	33	295	,	,	PUNCT
ajst-30187	33	296	the	the	DET
ajst-30187	33	297	mechanical	mechanical	ADJ
ajst-30187	33	298	arm	arm	NOUN
ajst-30187	33	299	cooperates	cooperate	VERB
ajst-30187	33	300	with	with	ADP
ajst-30187	33	301	the	the	DET
ajst-30187	33	302	pipe	pipe	NOUN
ajst-30187	33	303	discharge	discharge	NOUN
ajst-30187	33	304	rack	rack	NOUN
ajst-30187	33	305	,	,	PUNCT
ajst-30187	33	306	and	and	CCONJ
ajst-30187	33	307	the	the	DET
ajst-30187	33	308	gripping	gripping	ADJ
ajst-30187	33	309	arm	arm	NOUN
ajst-30187	33	310	loosens	loosen	VERB
ajst-30187	33	311	the	the	DET
ajst-30187	33	312	oil	oil	NOUN
ajst-30187	33	313	pipe	pipe	NOUN
ajst-30187	33	314	,	,	PUNCT
ajst-30187	33	315	and	and	CCONJ
ajst-30187	33	316	puts	put	VERB
ajst-30187	33	317	the	the	DET
ajst-30187	33	318	oil	oil	NOUN
ajst-30187	33	319	pipe	pipe	NOUN
ajst-30187	33	320	on	on	ADP
ajst-30187	33	321	the	the	DET
ajst-30187	33	322	pipe	pipe	NOUN
ajst-30187	33	323	discharge	discharge	NOUN
ajst-30187	33	324	rack	rack	NOUN
ajst-30187	33	325	.	.	PUNCT
ajst-30187	34	1	the	the	DET
ajst-30187	34	2	discharge	discharge	NOUN
ajst-30187	34	3	pipe	pipe	NOUN
ajst-30187	34	4	rack	rack	NOUN
ajst-30187	34	5	will	will	AUX
ajst-30187	34	6	slowly	slowly	ADV
ajst-30187	34	7	roll	roll	VERB
ajst-30187	34	8	the	the	DET
ajst-30187	34	9	oil	oil	NOUN
ajst-30187	34	10	pipe	pipe	NOUN
ajst-30187	34	11	along	along	ADP
ajst-30187	34	12	the	the	DET
ajst-30187	34	13	discharge	discharge	NOUN
ajst-30187	34	14	rack	rack	NOUN
ajst-30187	34	15	to	to	ADP
ajst-30187	34	16	the	the	DET
ajst-30187	34	17	outer	outer	ADJ
ajst-30187	34	18	row	row	NOUN
ajst-30187	34	19	.	.	PUNCT
ajst-30187	35	1	by	by	ADP
ajst-30187	35	2	repeating	repeat	VERB
ajst-30187	35	3	this	this	DET
ajst-30187	35	4	procedure	procedure	NOUN
ajst-30187	35	5	,	,	PUNCT
ajst-30187	35	6	the	the	DET
ajst-30187	35	7	operation	operation	NOUN
ajst-30187	35	8	of	of	ADP
ajst-30187	35	9	starting	start	VERB
ajst-30187	35	10	and	and	CCONJ
ajst-30187	35	11	discharging	discharge	VERB
ajst-30187	35	12	all	all	DET
ajst-30187	35	13	the	the	DET
ajst-30187	35	14	oil	oil	NOUN
ajst-30187	35	15	pipes	pipe	NOUN
ajst-30187	35	16	can	can	AUX
ajst-30187	35	17	be	be	AUX
ajst-30187	35	18	completed	complete	VERB
ajst-30187	35	19	.	.	PUNCT
ajst-30187	36	1	during	during	ADP
ajst-30187	36	2	the	the	DET
ajst-30187	36	3	whole	whole	ADJ
ajst-30187	36	4	working	working	NOUN
ajst-30187	36	5	process	process	NOUN
ajst-30187	36	6	of	of	ADP
ajst-30187	36	7	the	the	DET
ajst-30187	36	8	pipe	pipe	NOUN
ajst-30187	36	9	column	column	NOUN
ajst-30187	36	10	handling	handle	VERB
ajst-30187	36	11	device	device	NOUN
ajst-30187	36	12	,	,	PUNCT
ajst-30187	36	13	the	the	DET
ajst-30187	36	14	center	center	ADJ
ajst-30187	36	15	lines	line	NOUN
ajst-30187	36	16	of	of	ADP
ajst-30187	36	17	the	the	DET
ajst-30187	36	18	two	two	NUM
ajst-30187	36	19	hydraulic	hydraulic	ADJ
ajst-30187	36	20	grippers	gripper	NOUN
ajst-30187	36	21	are	be	AUX
ajst-30187	36	22	always	always	ADV
ajst-30187	36	23	parallel	parallel	ADJ
ajst-30187	36	24	to	to	ADP
ajst-30187	36	25	the	the	DET
ajst-30187	36	26	pipe	pipe	NOUN
ajst-30187	36	27	grabbing	grab	VERB
ajst-30187	36	28	arms	arm	NOUN
ajst-30187	36	29	to	to	PART
ajst-30187	36	30	ensure	ensure	VERB
ajst-30187	36	31	that	that	SCONJ
ajst-30187	36	32	no	no	DET
ajst-30187	36	33	collision	collision	NOUN
ajst-30187	36	34	occurs	occur	VERB
ajst-30187	36	35	when	when	SCONJ
ajst-30187	36	36	the	the	DET
ajst-30187	36	37	oil	oil	NOUN
ajst-30187	36	38	pipes	pipe	NOUN
ajst-30187	36	39	are	be	AUX
ajst-30187	36	40	being	be	AUX
ajst-30187	36	41	grabbed	grab	VERB
ajst-30187	36	42	and	and	CCONJ
ajst-30187	36	43	transported	transport	VERB
ajst-30187	36	44	.	.	PUNCT
ajst-30187	37	1	(	(	PUNCT
ajst-30187	37	2	2	2	X
ajst-30187	37	3	)	)	PUNCT
ajst-30187	37	4	down	down	ADP
ajst-30187	37	5	-	-	PUNCT
ajst-30187	37	6	pipe	pipe	NOUN
ajst-30187	37	7	operation	operation	NOUN
ajst-30187	37	8	similarly	similarly	ADV
ajst-30187	37	9	,	,	PUNCT
ajst-30187	37	10	before	before	ADP
ajst-30187	37	11	carrying	carry	VERB
ajst-30187	37	12	out	out	ADP
ajst-30187	37	13	the	the	DET
ajst-30187	37	14	tubing	tubing	NOUN
ajst-30187	37	15	lowering	lower	VERB
ajst-30187	37	16	operation	operation	NOUN
ajst-30187	37	17	,	,	PUNCT
ajst-30187	37	18	the	the	DET
ajst-30187	37	19	device	device	NOUN
ajst-30187	37	20	needs	need	VERB
ajst-30187	37	21	to	to	PART
ajst-30187	37	22	be	be	AUX
ajst-30187	37	23	centered	center	VERB
ajst-30187	37	24	with	with	ADP
ajst-30187	37	25	the	the	DET
ajst-30187	37	26	wellhead	wellhead	NOUN
ajst-30187	37	27	.	.	PUNCT
ajst-30187	38	1	after	after	SCONJ
ajst-30187	38	2	the	the	DET
ajst-30187	38	3	gripper	gripper	NOUN
ajst-30187	38	4	clamps	clamp	VERB
ajst-30187	38	5	the	the	DET
ajst-30187	38	6	tubing	tubing	NOUN
ajst-30187	38	7	,	,	PUNCT
ajst-30187	38	8	the	the	DET
ajst-30187	38	9	gripper	gripper	NOUN
ajst-30187	38	10	arm	arm	NOUN
ajst-30187	38	11	is	be	AUX
ajst-30187	38	12	rotated	rotate	VERB
ajst-30187	38	13	from	from	ADP
ajst-30187	38	14	horizontal	horizontal	ADJ
ajst-30187	38	15	to	to	ADP
ajst-30187	38	16	vertical	vertical	ADJ
ajst-30187	38	17	,	,	PUNCT
ajst-30187	38	18	and	and	CCONJ
ajst-30187	38	19	then	then	ADV
ajst-30187	38	20	the	the	DET
ajst-30187	38	21	big	big	ADJ
ajst-30187	38	22	arm	arm	NOUN
ajst-30187	38	23	and	and	CCONJ
ajst-30187	38	24	small	small	ADJ
ajst-30187	38	25	arm	arm	NOUN
ajst-30187	38	26	drive	drive	VERB
ajst-30187	38	27	the	the	DET
ajst-30187	38	28	gripper	gripper	NOUN
ajst-30187	38	29	system	system	NOUN
ajst-30187	38	30	to	to	PART
ajst-30187	38	31	rotate	rotate	VERB
ajst-30187	38	32	to	to	ADP
ajst-30187	38	33	a	a	DET
ajst-30187	38	34	position	position	NOUN
ajst-30187	38	35	parallel	parallel	ADJ
ajst-30187	38	36	to	to	ADP
ajst-30187	38	37	the	the	DET
ajst-30187	38	38	wellhead	wellhead	NOUN
ajst-30187	38	39	,	,	PUNCT
ajst-30187	38	40	to	to	PART
ajst-30187	38	41	check	check	VERB
ajst-30187	38	42	whether	whether	SCONJ
ajst-30187	38	43	it	it	PRON
ajst-30187	38	44	can	can	AUX
ajst-30187	38	45	be	be	AUX
ajst-30187	38	46	aligned	align	VERB
ajst-30187	38	47	,	,	PUNCT
ajst-30187	38	48	i.e.	i.e.	X
ajst-30187	38	49	,	,	PUNCT
ajst-30187	38	50	to	to	PART
ajst-30187	38	51	check	check	VERB
ajst-30187	38	52	whether	whether	SCONJ
ajst-30187	38	53	the	the	DET
ajst-30187	38	54	axis	axis	NOUN
ajst-30187	38	55	of	of	ADP
ajst-30187	38	56	the	the	DET
ajst-30187	38	57	tubing	tubing	NOUN
ajst-30187	38	58	is	be	AUX
ajst-30187	38	59	coaxial	coaxial	ADJ
ajst-30187	38	60	with	with	ADP
ajst-30187	38	61	the	the	DET
ajst-30187	38	62	center	center	NOUN
ajst-30187	38	63	of	of	ADP
ajst-30187	38	64	the	the	DET
ajst-30187	38	65	wellhead	wellhead	NOUN
ajst-30187	38	66	.	.	PUNCT
ajst-30187	39	1	if	if	SCONJ
ajst-30187	39	2	not	not	PART
ajst-30187	39	3	,	,	PUNCT
ajst-30187	39	4	adjust	adjust	VERB
ajst-30187	39	5	the	the	DET
ajst-30187	39	6	relative	relative	ADJ
ajst-30187	39	7	positions	position	NOUN
ajst-30187	39	8	of	of	ADP
ajst-30187	39	9	the	the	DET
ajst-30187	39	10	big	big	ADJ
ajst-30187	39	11	arm	arm	NOUN
ajst-30187	39	12	and	and	CCONJ
ajst-30187	39	13	small	small	ADJ
ajst-30187	39	14	arm	arm	NOUN
ajst-30187	39	15	to	to	PART
ajst-30187	39	16	ensure	ensure	VERB
ajst-30187	39	17	that	that	SCONJ
ajst-30187	39	18	the	the	DET
ajst-30187	39	19	center	center	NOUN
ajst-30187	39	20	of	of	ADP
ajst-30187	39	21	the	the	DET
ajst-30187	39	22	tubing	tubing	NOUN
ajst-30187	39	23	is	be	AUX
ajst-30187	39	24	coincident	coincident	ADJ
ajst-30187	39	25	with	with	ADP
ajst-30187	39	26	the	the	DET
ajst-30187	39	27	center	center	NOUN
ajst-30187	39	28	of	of	ADP
ajst-30187	39	29	the	the	DET
ajst-30187	39	30	wellhead	wellhead	NOUN
ajst-30187	39	31	.	.	PUNCT
ajst-30187	40	1	after	after	ADP
ajst-30187	40	2	completing	complete	VERB
ajst-30187	40	3	the	the	DET
ajst-30187	40	4	above	above	ADJ
ajst-30187	40	5	checking	check	VERB
ajst-30187	40	6	action	action	NOUN
ajst-30187	40	7	,	,	PUNCT
ajst-30187	40	8	the	the	DET
ajst-30187	40	9	horizontal	horizontal	ADJ
ajst-30187	40	10	pipe	pipe	NOUN
ajst-30187	40	11	rack	rack	NOUN
ajst-30187	40	12	transports	transport	VERB
ajst-30187	40	13	the	the	DET
ajst-30187	40	14	oil	oil	NOUN
ajst-30187	40	15	pipe	pipe	NOUN
ajst-30187	40	16	to	to	ADP
ajst-30187	40	17	the	the	DET
ajst-30187	40	18	position	position	NOUN
ajst-30187	40	19	of	of	ADP
ajst-30187	40	20	grabbing	grab	VERB
ajst-30187	40	21	pipe	pipe	NOUN
ajst-30187	40	22	,	,	PUNCT
ajst-30187	40	23	the	the	DET
ajst-30187	40	24	big	big	ADJ
ajst-30187	40	25	arm	arm	NOUN
ajst-30187	40	26	and	and	CCONJ
ajst-30187	40	27	the	the	DET
ajst-30187	40	28	small	small	ADJ
ajst-30187	40	29	arm	arm	NOUN
ajst-30187	40	30	control	control	VERB
ajst-30187	40	31	the	the	DET
ajst-30187	40	32	grabbing	grab	VERB
ajst-30187	40	33	arm	arm	NOUN
ajst-30187	40	34	to	to	PART
ajst-30187	40	35	reach	reach	VERB
ajst-30187	40	36	the	the	DET
ajst-30187	40	37	position	position	NOUN
ajst-30187	40	38	of	of	ADP
ajst-30187	40	39	grabbing	grab	VERB
ajst-30187	40	40	pipe	pipe	NOUN
ajst-30187	40	41	,	,	PUNCT
ajst-30187	40	42	the	the	DET
ajst-30187	40	43	hydraulic	hydraulic	ADJ
ajst-30187	40	44	cylinder	cylinder	NOUN
ajst-30187	40	45	of	of	ADP
ajst-30187	40	46	grabbing	grab	VERB
ajst-30187	40	47	arm	arm	NOUN
ajst-30187	40	48	rotates	rotate	VERB
ajst-30187	40	49	the	the	DET
ajst-30187	40	50	grabbing	grab	VERB
ajst-30187	40	51	arm	arm	NOUN
ajst-30187	40	52	to	to	PART
ajst-30187	40	53	be	be	AUX
ajst-30187	40	54	parallel	parallel	ADJ
ajst-30187	40	55	to	to	ADP
ajst-30187	40	56	the	the	DET
ajst-30187	40	57	axis	axis	NOUN
ajst-30187	40	58	of	of	ADP
ajst-30187	40	59	the	the	DET
ajst-30187	40	60	oil	oil	NOUN
ajst-30187	40	61	pipe	pipe	NOUN
ajst-30187	40	62	,	,	PUNCT
ajst-30187	40	63	the	the	DET
ajst-30187	40	64	grabbing	grab	VERB
ajst-30187	40	65	arm	arm	NOUN
ajst-30187	40	66	is	be	AUX
ajst-30187	40	67	located	locate	VERB
ajst-30187	40	68	directly	directly	ADV
ajst-30187	40	69	above	above	ADP
ajst-30187	40	70	the	the	DET
ajst-30187	40	71	oil	oil	NOUN
ajst-30187	40	72	pipe	pipe	NOUN
ajst-30187	40	73	,	,	PUNCT
ajst-30187	40	74	and	and	CCONJ
ajst-30187	40	75	the	the	DET
ajst-30187	40	76	grabbing	grab	VERB
ajst-30187	40	77	arm	arm	NOUN
ajst-30187	40	78	is	be	AUX
ajst-30187	40	79	controlled	control	VERB
ajst-30187	40	80	to	to	PART
ajst-30187	40	81	be	be	AUX
ajst-30187	40	82	open	open	ADJ
ajst-30187	40	83	,	,	PUNCT
ajst-30187	40	84	and	and	CCONJ
ajst-30187	40	85	the	the	DET
ajst-30187	40	86	position	position	NOUN
ajst-30187	40	87	of	of	ADP
ajst-30187	40	88	the	the	DET
ajst-30187	40	89	grabbing	grab	VERB
ajst-30187	40	90	arm	arm	NOUN
ajst-30187	40	91	is	be	AUX
ajst-30187	40	92	fine	fine	ADV
ajst-30187	40	93	-	-	PUNCT
ajst-30187	40	94	tuned	tune	VERB
ajst-30187	40	95	so	so	SCONJ
ajst-30187	40	96	that	that	SCONJ
ajst-30187	40	97	the	the	DET
ajst-30187	40	98	axis	axis	NOUN
ajst-30187	40	99	of	of	ADP
ajst-30187	40	100	the	the	DET
ajst-30187	40	101	grabbing	grab	VERB
ajst-30187	40	102	arm	arm	NOUN
ajst-30187	40	103	is	be	AUX
ajst-30187	40	104	overlapped	overlap	VERB
ajst-30187	40	105	with	with	ADP
ajst-30187	40	106	the	the	DET
ajst-30187	40	107	axis	axis	NOUN
ajst-30187	40	108	of	of	ADP
ajst-30187	40	109	the	the	DET
ajst-30187	40	110	oil	oil	NOUN
ajst-30187	40	111	pipe	pipe	NOUN
ajst-30187	40	112	and	and	CCONJ
ajst-30187	40	113	the	the	DET
ajst-30187	40	114	grabbing	grab	VERB
ajst-30187	40	115	arm	arm	NOUN
ajst-30187	40	116	is	be	AUX
ajst-30187	40	117	tightened	tighten	VERB
ajst-30187	40	118	.	.	PUNCT
ajst-30187	41	1	gripper	gripper	NOUN
ajst-30187	41	2	tightened	tighten	VERB
ajst-30187	41	3	,	,	PUNCT
ajst-30187	41	4	the	the	DET
ajst-30187	41	5	bottom	bottom	NOUN
ajst-30187	41	6	of	of	ADP
ajst-30187	41	7	the	the	DET
ajst-30187	41	8	rotary	rotary	ADJ
ajst-30187	41	9	hydraulic	hydraulic	ADJ
ajst-30187	41	10	cylinder	cylinder	NOUN
ajst-30187	41	11	to	to	PART
ajst-30187	41	12	change	change	VERB
ajst-30187	41	13	the	the	DET
ajst-30187	41	14	direction	direction	NOUN
ajst-30187	41	15	of	of	ADP
ajst-30187	41	16	movement	movement	NOUN
ajst-30187	41	17	of	of	ADP
ajst-30187	41	18	the	the	DET
ajst-30187	41	19	mechanical	mechanical	ADJ
ajst-30187	41	20	arm	arm	NOUN
ajst-30187	41	21	,	,	PUNCT
ajst-30187	41	22	the	the	DET
ajst-30187	41	23	mechanical	mechanical	ADJ
ajst-30187	41	24	arm	arm	NOUN
ajst-30187	41	25	to	to	ADP
ajst-30187	41	26	the	the	DET
ajst-30187	41	27	wellhead	wellhead	NOUN
ajst-30187	41	28	position	position	NOUN
ajst-30187	41	29	,	,	PUNCT
ajst-30187	41	30	the	the	DET
ajst-30187	41	31	big	big	ADJ
ajst-30187	41	32	arm	arm	NOUN
ajst-30187	41	33	,	,	PUNCT
ajst-30187	41	34	the	the	DET
ajst-30187	41	35	small	small	ADJ
ajst-30187	41	36	arm	arm	NOUN
ajst-30187	41	37	driven	drive	VERB
ajst-30187	41	38	by	by	ADP
ajst-30187	41	39	the	the	DET
ajst-30187	41	40	grasping	grasp	VERB
ajst-30187	41	41	arm	arm	NOUN
ajst-30187	41	42	to	to	PART
ajst-30187	41	43	move	move	VERB
ajst-30187	41	44	,	,	PUNCT
ajst-30187	41	45	the	the	DET
ajst-30187	41	46	grasping	grasp	VERB
ajst-30187	41	47	arm	arm	NOUN
ajst-30187	41	48	hydraulic	hydraulic	ADJ
ajst-30187	41	49	cylinder	cylinder	NOUN
ajst-30187	41	50	to	to	PART
ajst-30187	41	51	make	make	VERB
ajst-30187	41	52	the	the	DET
ajst-30187	41	53	grasping	grasp	VERB
ajst-30187	41	54	arm	arm	NOUN
ajst-30187	41	55	rotated	rotate	VERB
ajst-30187	41	56	to	to	ADP
ajst-30187	41	57	the	the	DET
ajst-30187	41	58	vertical	vertical	ADJ
ajst-30187	41	59	state	state	NOUN
ajst-30187	41	60	,	,	PUNCT
ajst-30187	41	61	to	to	PART
ajst-30187	41	62	transport	transport	VERB
ajst-30187	41	63	the	the	DET
ajst-30187	41	64	tubing	tubing	NOUN
ajst-30187	41	65	to	to	PART
ajst-30187	41	66	reach	reach	VERB
ajst-30187	41	67	the	the	DET
ajst-30187	41	68	wellhead	wellhead	NOUN
ajst-30187	41	69	position	position	NOUN
ajst-30187	41	70	,	,	PUNCT
ajst-30187	41	71	waiting	wait	VERB
ajst-30187	41	72	119	119	NUM
ajst-30187	41	73	for	for	ADP
ajst-30187	41	74	the	the	DET
ajst-30187	41	75	swimming	swimming	NOUN
ajst-30187	41	76	kawa	kawa	PROPN
ajst-30187	41	77	card	card	NOUN
ajst-30187	41	78	to	to	PART
ajst-30187	41	79	hold	hold	VERB
ajst-30187	41	80	the	the	DET
ajst-30187	41	81	head	head	NOUN
ajst-30187	41	82	of	of	ADP
ajst-30187	41	83	the	the	DET
ajst-30187	41	84	tubing	tubing	NOUN
ajst-30187	41	85	,	,	PUNCT
ajst-30187	41	86	the	the	DET
ajst-30187	41	87	hydraulic	hydraulic	ADJ
ajst-30187	41	88	gripper	gripper	NOUN
ajst-30187	41	89	for	for	ADP
ajst-30187	41	90	the	the	DET
ajst-30187	41	91	action	action	NOUN
ajst-30187	41	92	of	of	ADP
ajst-30187	41	93	the	the	DET
ajst-30187	41	94	release	release	NOUN
ajst-30187	41	95	,	,	PUNCT
ajst-30187	41	96	the	the	DET
ajst-30187	41	97	oil	oil	NOUN
ajst-30187	41	98	pipeline	pipeline	NOUN
ajst-30187	41	99	downward	downward	ADV
ajst-30187	41	100	centering	center	VERB
ajst-30187	41	101	by	by	ADP
ajst-30187	41	102	the	the	DET
ajst-30187	41	103	hydraulic	hydraulic	ADJ
ajst-30187	41	104	tongs	tong	NOUN
ajst-30187	41	105	on	on	ADP
ajst-30187	41	106	the	the	DET
ajst-30187	41	107	buckles	buckle	NOUN
ajst-30187	41	108	and	and	CCONJ
ajst-30187	41	109	tightened	tighten	VERB
ajst-30187	41	110	,	,	PUNCT
ajst-30187	41	111	the	the	DET
ajst-30187	41	112	device	device	NOUN
ajst-30187	41	113	is	be	AUX
ajst-30187	41	114	rotated	rotate	VERB
ajst-30187	41	115	to	to	ADP
ajst-30187	41	116	the	the	DET
ajst-30187	41	117	horizontal	horizontal	ADJ
ajst-30187	41	118	position	position	NOUN
ajst-30187	41	119	,	,	PUNCT
ajst-30187	41	120	ready	ready	ADJ
ajst-30187	41	121	for	for	ADP
ajst-30187	41	122	the	the	DET
ajst-30187	41	123	next	next	ADJ
ajst-30187	41	124	the	the	DET
ajst-30187	41	125	device	device	NOUN
ajst-30187	41	126	is	be	AUX
ajst-30187	41	127	rotated	rotate	VERB
ajst-30187	41	128	to	to	ADP
ajst-30187	41	129	horizontal	horizontal	ADJ
ajst-30187	41	130	position	position	NOUN
ajst-30187	41	131	,	,	PUNCT
ajst-30187	41	132	ready	ready	ADJ
ajst-30187	41	133	for	for	ADP
ajst-30187	41	134	the	the	DET
ajst-30187	41	135	next	next	ADJ
ajst-30187	41	136	tubing	tubing	NOUN
ajst-30187	41	137	to	to	PART
ajst-30187	41	138	be	be	AUX
ajst-30187	41	139	lowered	lower	VERB
ajst-30187	41	140	into	into	ADP
ajst-30187	41	141	the	the	DET
ajst-30187	41	142	well	well	NOUN
ajst-30187	41	143	.	.	PUNCT
ajst-30187	42	1	repeat	repeat	VERB
ajst-30187	42	2	this	this	PRON
ajst-30187	42	3	to	to	PART
ajst-30187	42	4	complete	complete	VERB
ajst-30187	42	5	the	the	DET
ajst-30187	42	6	lowering	lowering	NOUN
ajst-30187	42	7	of	of	ADP
ajst-30187	42	8	all	all	DET
ajst-30187	42	9	fuel	fuel	NOUN
ajst-30187	42	10	lines	line	NOUN
ajst-30187	42	11	.	.	PUNCT
ajst-30187	43	1	in	in	ADP
ajst-30187	43	2	the	the	DET
ajst-30187	43	3	whole	whole	ADJ
ajst-30187	43	4	process	process	NOUN
ajst-30187	43	5	of	of	ADP
ajst-30187	43	6	lifting	lift	VERB
ajst-30187	43	7	and	and	CCONJ
ajst-30187	43	8	lowering	lower	VERB
ajst-30187	43	9	the	the	DET
ajst-30187	43	10	oil	oil	NOUN
ajst-30187	43	11	pipe	pipe	NOUN
ajst-30187	43	12	by	by	ADP
ajst-30187	43	13	the	the	PRON
ajst-30187	43	14	,	,	PUNCT
ajst-30187	43	15	all	all	DET
ajst-30187	43	16	the	the	DET
ajst-30187	43	17	mechanisms	mechanism	NOUN
ajst-30187	43	18	are	be	AUX
ajst-30187	43	19	driven	drive	VERB
ajst-30187	43	20	by	by	ADP
ajst-30187	43	21	hydraulic	hydraulic	ADJ
ajst-30187	43	22	pressure	pressure	NOUN
ajst-30187	43	23	,	,	PUNCT
ajst-30187	43	24	which	which	PRON
ajst-30187	43	25	significantly	significantly	ADV
ajst-30187	43	26	improves	improve	VERB
ajst-30187	43	27	the	the	DET
ajst-30187	43	28	efficiency	efficiency	NOUN
ajst-30187	43	29	of	of	ADP
ajst-30187	43	30	the	the	DET
ajst-30187	43	31	pipe	pipe	NOUN
ajst-30187	43	32	column	column	NOUN
ajst-30187	43	33	picking	picking	NOUN
ajst-30187	43	34	and	and	CCONJ
ajst-30187	43	35	dropping	dropping	NOUN
ajst-30187	43	36	and	and	CCONJ
ajst-30187	43	37	the	the	DET
ajst-30187	43	38	reliability	reliability	NOUN
ajst-30187	43	39	of	of	ADP
ajst-30187	43	40	the	the	DET
ajst-30187	43	41	device	device	NOUN
ajst-30187	43	42	's	's	PART
ajst-30187	43	43	performance	performance	NOUN
ajst-30187	43	44	in	in	ADP
ajst-30187	43	45	the	the	DET
ajst-30187	43	46	process	process	NOUN
ajst-30187	43	47	of	of	ADP
ajst-30187	43	48	operation	operation	NOUN
ajst-30187	43	49	pipe	pipe	NOUN
ajst-30187	43	50	grabbing	grab	VERB
ajst-30187	43	51	robotic	robotic	ADJ
ajst-30187	43	52	arm	arm	NOUN
ajst-30187	43	53	the	the	DET
ajst-30187	43	54	whole	whole	ADJ
ajst-30187	43	55	structure	structure	NOUN
ajst-30187	43	56	of	of	ADP
ajst-30187	43	57	the	the	DET
ajst-30187	43	58	machine	machine	NOUN
ajst-30187	43	59	is	be	AUX
ajst-30187	43	60	made	make	VERB
ajst-30187	43	61	of	of	ADP
ajst-30187	43	62	material	material	NOUN
ajst-30187	43	63	q355b	q355b	PROPN
ajst-30187	43	64	steel	steel	PROPN
ajst-30187	43	65	.	.	PUNCT
ajst-30187	44	1	2.2	2.2	NUM
ajst-30187	44	2	.	.	PUNCT
ajst-30187	44	3	structural	structural	ADJ
ajst-30187	44	4	design	design	NOUN
ajst-30187	44	5	and	and	CCONJ
ajst-30187	44	6	analysis	analysis	NOUN
ajst-30187	44	7	2.2.1	2.2.1	NUM
ajst-30187	44	8	.	.	PUNCT
ajst-30187	45	1	overall	overall	ADJ
ajst-30187	45	2	structural	structural	ADJ
ajst-30187	45	3	design	design	NOUN
ajst-30187	45	4	as	as	ADP
ajst-30187	45	5	fig.2	fig.2	NOUN
ajst-30187	45	6	shown	show	VERB
ajst-30187	45	7	in	in	ADP
ajst-30187	45	8	,	,	PUNCT
ajst-30187	45	9	the	the	DET
ajst-30187	45	10	three	three	NUM
ajst-30187	45	11	-	-	PUNCT
ajst-30187	45	12	dimensional	dimensional	ADJ
ajst-30187	45	13	structure	structure	NOUN
ajst-30187	45	14	schematic	schematic	ADJ
ajst-30187	45	15	diagram	diagram	NOUN
ajst-30187	45	16	of	of	ADP
ajst-30187	45	17	the	the	DET
ajst-30187	45	18	pipe	pipe	NOUN
ajst-30187	45	19	grabbing	grab	VERB
ajst-30187	45	20	mechanical	mechanical	ADJ
ajst-30187	45	21	arm	arm	NOUN
ajst-30187	45	22	of	of	ADP
ajst-30187	45	23	the	the	DET
ajst-30187	45	24	well	well	ADV
ajst-30187	45	25	dressing	dress	VERB
ajst-30187	45	26	machine	machine	NOUN
ajst-30187	45	27	.	.	PUNCT
ajst-30187	46	1	the	the	DET
ajst-30187	46	2	dimensions	dimension	NOUN
ajst-30187	46	3	of	of	ADP
ajst-30187	46	4	the	the	DET
ajst-30187	46	5	whole	whole	ADJ
ajst-30187	46	6	machine	machine	NOUN
ajst-30187	46	7	are	be	AUX
ajst-30187	46	8	:	:	PUNCT
ajst-30187	46	9	length	length	NOUN
ajst-30187	46	10	3500	3500	NUM
ajst-30187	46	11	mm	mm	NOUN
ajst-30187	46	12	,	,	PUNCT
ajst-30187	46	13	width	width	VERB
ajst-30187	46	14	375	375	NUM
ajst-30187	46	15	mm	mm	NOUN
ajst-30187	46	16	,	,	PUNCT
ajst-30187	46	17	height	height	NOUN
ajst-30187	46	18	3500	3500	NUM
ajst-30187	46	19	mm	mm	NOUN
ajst-30187	46	20	.	.	PUNCT
ajst-30187	47	1	figure	figure	NOUN
ajst-30187	47	2	2	2	NUM
ajst-30187	47	3	.	.	PUNCT
ajst-30187	47	4	schematic	schematic	ADJ
ajst-30187	47	5	structure	structure	NOUN
ajst-30187	47	6	of	of	ADP
ajst-30187	47	7	diagram	diagram	NOUN
ajst-30187	47	8	of	of	ADP
ajst-30187	47	9	the	the	DET
ajst-30187	47	10	threedimensional	threedimensional	NOUN
ajst-30187	47	11	the	the	DET
ajst-30187	47	12	well	well	ADV
ajst-30187	47	13	dressing	dress	VERB
ajst-30187	47	14	machine	machine	NOUN
ajst-30187	47	15	's	's	PART
ajst-30187	47	16	pipe	pipe	NOUN
ajst-30187	47	17	-	-	PUNCT
ajst-30187	47	18	gripping	grip	VERB
ajst-30187	47	19	robot	robot	NOUN
ajst-30187	47	20	arm	arm	NOUN
ajst-30187	47	21	(	(	PUNCT
ajst-30187	47	22	1	1	X
ajst-30187	47	23	)	)	PUNCT
ajst-30187	47	24	carrying	carry	VERB
ajst-30187	47	25	capacity	capacity	NOUN
ajst-30187	47	26	:	:	PUNCT
ajst-30187	48	1	each	each	DET
ajst-30187	48	2	time	time	NOUN
ajst-30187	48	3	the	the	DET
ajst-30187	48	4	tube	tube	NOUN
ajst-30187	48	5	column	column	NOUN
ajst-30187	48	6	is	be	AUX
ajst-30187	48	7	taken	take	VERB
ajst-30187	48	8	out	out	ADP
ajst-30187	48	9	about	about	ADP
ajst-30187	48	10	9.5	9.5	NUM
ajst-30187	48	11	m	m	NOUN
ajst-30187	48	12	,	,	PUNCT
ajst-30187	48	13	its	its	PRON
ajst-30187	48	14	weight	weight	NOUN
ajst-30187	48	15	is	be	AUX
ajst-30187	48	16	about	about	ADV
ajst-30187	48	17	130	130	NUM
ajst-30187	48	18	kg	kg	NOUN
ajst-30187	48	19	,	,	PUNCT
ajst-30187	48	20	so	so	ADV
ajst-30187	48	21	the	the	DET
ajst-30187	48	22	carrying	carry	VERB
ajst-30187	48	23	capacity	capacity	NOUN
ajst-30187	48	24	of	of	ADP
ajst-30187	48	25	the	the	DET
ajst-30187	48	26	robotic	robotic	ADJ
ajst-30187	48	27	arm	arm	NOUN
ajst-30187	48	28	is	be	AUX
ajst-30187	48	29	moderate	moderate	ADJ
ajst-30187	48	30	.	.	PUNCT
ajst-30187	49	1	(	(	PUNCT
ajst-30187	49	2	2	2	X
ajst-30187	49	3	)	)	PUNCT
ajst-30187	49	4	scope	scope	NOUN
ajst-30187	49	5	of	of	ADP
ajst-30187	49	6	work	work	NOUN
ajst-30187	49	7	:	:	PUNCT
ajst-30187	49	8	the	the	DET
ajst-30187	49	9	well	well	ADV
ajst-30187	49	10	dressing	dress	VERB
ajst-30187	49	11	machine	machine	NOUN
ajst-30187	49	12	pipe	pipe	NOUN
ajst-30187	49	13	grabbing	grab	VERB
ajst-30187	49	14	mechanical	mechanical	ADJ
ajst-30187	49	15	arm	arm	NOUN
ajst-30187	49	16	realizes	realize	VERB
ajst-30187	49	17	the	the	DET
ajst-30187	49	18	transportation	transportation	NOUN
ajst-30187	49	19	of	of	ADP
ajst-30187	49	20	oil	oil	NOUN
ajst-30187	49	21	pipe	pipe	NOUN
ajst-30187	49	22	from	from	ADP
ajst-30187	49	23	the	the	DET
ajst-30187	49	24	pipe	pipe	NOUN
ajst-30187	49	25	rack	rack	NOUN
ajst-30187	49	26	to	to	ADP
ajst-30187	49	27	the	the	DET
ajst-30187	49	28	wellhead	wellhead	NOUN
ajst-30187	49	29	and	and	CCONJ
ajst-30187	49	30	from	from	ADP
ajst-30187	49	31	the	the	DET
ajst-30187	49	32	wellhead	wellhead	NOUN
ajst-30187	49	33	to	to	ADP
ajst-30187	49	34	the	the	DET
ajst-30187	49	35	pipe	pipe	NOUN
ajst-30187	49	36	rack	rack	NOUN
ajst-30187	49	37	.	.	PUNCT
ajst-30187	50	1	(	(	PUNCT
ajst-30187	50	2	3	3	X
ajst-30187	50	3	)	)	PUNCT
ajst-30187	50	4	degrees	degree	NOUN
ajst-30187	50	5	of	of	ADP
ajst-30187	50	6	freedom	freedom	NOUN
ajst-30187	50	7	:	:	PUNCT
ajst-30187	50	8	four	four	NUM
ajst-30187	50	9	degrees	degree	NOUN
ajst-30187	50	10	of	of	ADP
ajst-30187	50	11	freedom	freedom	NOUN
ajst-30187	50	12	.	.	PUNCT
ajst-30187	51	1	this	this	PRON
ajst-30187	51	2	includes	include	VERB
ajst-30187	51	3	the	the	DET
ajst-30187	51	4	degrees	degree	NOUN
ajst-30187	51	5	of	of	ADP
ajst-30187	51	6	freedom	freedom	NOUN
ajst-30187	51	7	to	to	PART
ajst-30187	51	8	move	move	VERB
ajst-30187	51	9	in	in	ADP
ajst-30187	51	10	the	the	DET
ajst-30187	51	11	direction	direction	NOUN
ajst-30187	51	12	of	of	ADP
ajst-30187	51	13	the	the	DET
ajst-30187	51	14	right	right	ADJ
ajst-30187	51	15	-	-	PUNCT
ajst-30187	51	16	angle	angle	NOUN
ajst-30187	51	17	coordinate	coordinate	NOUN
ajst-30187	51	18	axes	axis	NOUN
ajst-30187	51	19	and	and	CCONJ
ajst-30187	51	20	around	around	ADP
ajst-30187	51	21	x	x	SYM
ajst-30187	51	22	,	,	PUNCT
ajst-30187	51	23	y	y	PROPN
ajst-30187	51	24	,	,	PUNCT
ajst-30187	51	25	and	and	CCONJ
ajst-30187	51	26	z	z	NOUN
ajst-30187	51	27	the	the	DET
ajst-30187	51	28	degrees	degree	NOUN
ajst-30187	51	29	of	of	ADP
ajst-30187	51	30	freedom	freedom	NOUN
ajst-30187	51	31	to	to	PART
ajst-30187	51	32	rotate	rotate	VERB
ajst-30187	51	33	the	the	DET
ajst-30187	51	34	z	z	NOUN
ajst-30187	51	35	-	-	PUNCT
ajst-30187	51	36	axis	axis	NOUN
ajst-30187	51	37	.	.	PUNCT
ajst-30187	52	1	the	the	DET
ajst-30187	52	2	combination	combination	NOUN
ajst-30187	52	3	of	of	ADP
ajst-30187	52	4	these	these	DET
ajst-30187	52	5	four	four	NUM
ajst-30187	52	6	degrees	degree	NOUN
ajst-30187	52	7	of	of	ADP
ajst-30187	52	8	freedom	freedom	NOUN
ajst-30187	52	9	enables	enable	VERB
ajst-30187	52	10	the	the	DET
ajst-30187	52	11	object	object	NOUN
ajst-30187	52	12	to	to	PART
ajst-30187	52	13	realize	realize	VERB
ajst-30187	52	14	the	the	DET
ajst-30187	52	15	movement	movement	NOUN
ajst-30187	52	16	and	and	CCONJ
ajst-30187	52	17	attitude	attitude	NOUN
ajst-30187	52	18	transformation	transformation	NOUN
ajst-30187	52	19	that	that	PRON
ajst-30187	52	20	satisfies	satisfy	VERB
ajst-30187	52	21	the	the	DET
ajst-30187	52	22	movement	movement	NOUN
ajst-30187	52	23	of	of	ADP
ajst-30187	52	24	the	the	DET
ajst-30187	52	25	tubing	tubing	NOUN
ajst-30187	52	26	column	column	NOUN
ajst-30187	52	27	between	between	ADP
ajst-30187	52	28	the	the	DET
ajst-30187	52	29	wellhead	wellhead	NOUN
ajst-30187	52	30	and	and	CCONJ
ajst-30187	52	31	the	the	DET
ajst-30187	52	32	row	row	NOUN
ajst-30187	52	33	of	of	ADP
ajst-30187	52	34	tubing	tubing	NOUN
ajst-30187	52	35	racks	rack	NOUN
ajst-30187	52	36	.	.	PUNCT
ajst-30187	53	1	(	(	PUNCT
ajst-30187	53	2	4	4	X
ajst-30187	53	3	)	)	PUNCT
ajst-30187	53	4	flexibility	flexibility	NOUN
ajst-30187	53	5	:	:	PUNCT
ajst-30187	53	6	high	high	ADJ
ajst-30187	53	7	flexibility	flexibility	NOUN
ajst-30187	53	8	,	,	PUNCT
ajst-30187	53	9	fast	fast	ADJ
ajst-30187	53	10	discharge	discharge	NOUN
ajst-30187	53	11	action	action	NOUN
ajst-30187	53	12	and	and	CCONJ
ajst-30187	53	13	high	high	ADJ
ajst-30187	53	14	efficiency	efficiency	NOUN
ajst-30187	53	15	.	.	PUNCT
ajst-30187	54	1	positional	positional	ADJ
ajst-30187	54	2	accuracy	accuracy	NOUN
ajst-30187	54	3	:	:	PUNCT
ajst-30187	54	4	when	when	SCONJ
ajst-30187	54	5	the	the	DET
ajst-30187	54	6	pipe	pipe	NOUN
ajst-30187	54	7	column	column	NOUN
ajst-30187	54	8	is	be	AUX
ajst-30187	54	9	moved	move	VERB
ajst-30187	54	10	and	and	CCONJ
ajst-30187	54	11	transported	transport	VERB
ajst-30187	54	12	to	to	ADP
ajst-30187	54	13	the	the	DET
ajst-30187	54	14	wellhead	wellhead	NOUN
ajst-30187	54	15	,	,	PUNCT
ajst-30187	54	16	it	it	PRON
ajst-30187	54	17	needs	need	VERB
ajst-30187	54	18	to	to	PART
ajst-30187	54	19	be	be	AUX
ajst-30187	54	20	aligned	align	VERB
ajst-30187	54	21	with	with	ADP
ajst-30187	54	22	the	the	DET
ajst-30187	54	23	wellhead	wellhead	NOUN
ajst-30187	54	24	to	to	PART
ajst-30187	54	25	be	be	AUX
ajst-30187	54	26	buckled	buckle	VERB
ajst-30187	54	27	,	,	PUNCT
ajst-30187	54	28	so	so	CCONJ
ajst-30187	54	29	the	the	DET
ajst-30187	54	30	positional	positional	ADJ
ajst-30187	54	31	accuracy	accuracy	NOUN
ajst-30187	54	32	of	of	ADP
ajst-30187	54	33	this	this	DET
ajst-30187	54	34	pipe	pipe	NOUN
ajst-30187	54	35	-	-	PUNCT
ajst-30187	54	36	gripping	grip	VERB
ajst-30187	54	37	robotic	robotic	ADJ
ajst-30187	54	38	arm	arm	NOUN
ajst-30187	54	39	is	be	AUX
ajst-30187	54	40	required	require	VERB
ajst-30187	54	41	to	to	PART
ajst-30187	54	42	be	be	AUX
ajst-30187	54	43	high	high	ADJ
ajst-30187	54	44	.	.	PUNCT
ajst-30187	55	1	2.2.2	2.2.2	X
ajst-30187	55	2	.	.	PUNCT
ajst-30187	55	3	base	base	NOUN
ajst-30187	55	4	design	design	NOUN
ajst-30187	55	5	and	and	CCONJ
ajst-30187	55	6	analysis	analysis	NOUN
ajst-30187	55	7	as	as	ADP
ajst-30187	55	8	fig.3	fig.3	PROPN
ajst-30187	55	9	shown	show	VERB
ajst-30187	55	10	in	in	ADP
ajst-30187	55	11	,	,	PUNCT
ajst-30187	55	12	the	the	DET
ajst-30187	55	13	hydraulic	hydraulic	ADJ
ajst-30187	55	14	base	base	NOUN
ajst-30187	55	15	structure	structure	NOUN
ajst-30187	55	16	of	of	ADP
ajst-30187	55	17	the	the	DET
ajst-30187	55	18	well	well	ADV
ajst-30187	55	19	dressing	dress	VERB
ajst-30187	55	20	machine	machine	NOUN
ajst-30187	55	21	pipe	pipe	NOUN
ajst-30187	55	22	grabbing	grab	VERB
ajst-30187	55	23	robot	robot	NOUN
ajst-30187	55	24	arm	arm	NOUN
ajst-30187	55	25	is	be	AUX
ajst-30187	55	26	schematic	schematic	ADJ
ajst-30187	55	27	.	.	PUNCT
ajst-30187	56	1	as	as	ADP
ajst-30187	56	2	the	the	DET
ajst-30187	56	3	carrier	carrier	NOUN
ajst-30187	56	4	of	of	ADP
ajst-30187	56	5	the	the	DET
ajst-30187	56	6	whole	whole	ADJ
ajst-30187	56	7	device	device	NOUN
ajst-30187	56	8	,	,	PUNCT
ajst-30187	56	9	the	the	DET
ajst-30187	56	10	base	base	NOUN
ajst-30187	56	11	must	must	AUX
ajst-30187	56	12	be	be	AUX
ajst-30187	56	13	designed	design	VERB
ajst-30187	56	14	to	to	PART
ajst-30187	56	15	ensure	ensure	VERB
ajst-30187	56	16	its	its	PRON
ajst-30187	56	17	stability	stability	NOUN
ajst-30187	56	18	,	,	PUNCT
ajst-30187	56	19	functionality	functionality	NOUN
ajst-30187	56	20	and	and	CCONJ
ajst-30187	56	21	safety	safety	NOUN
ajst-30187	56	22	.	.	PUNCT
ajst-30187	57	1	the	the	DET
ajst-30187	57	2	base	base	NOUN
ajst-30187	57	3	of	of	ADP
ajst-30187	57	4	this	this	DET
ajst-30187	57	5	device	device	NOUN
ajst-30187	57	6	adopts	adopt	VERB
ajst-30187	57	7	a	a	DET
ajst-30187	57	8	turntable	turntable	ADJ
ajst-30187	57	9	type	type	NOUN
ajst-30187	57	10	base	base	NOUN
ajst-30187	57	11	,	,	PUNCT
ajst-30187	57	12	which	which	PRON
ajst-30187	57	13	is	be	AUX
ajst-30187	57	14	convenient	convenient	ADJ
ajst-30187	57	15	for	for	ADP
ajst-30187	57	16	the	the	DET
ajst-30187	57	17	movement	movement	NOUN
ajst-30187	57	18	of	of	ADP
ajst-30187	57	19	the	the	DET
ajst-30187	57	20	device	device	NOUN
ajst-30187	57	21	,	,	PUNCT
ajst-30187	57	22	making	make	VERB
ajst-30187	57	23	it	it	PRON
ajst-30187	57	24	easy	easy	ADJ
ajst-30187	57	25	to	to	PART
ajst-30187	57	26	carry	carry	VERB
ajst-30187	57	27	and	and	CCONJ
ajst-30187	57	28	install	install	VERB
ajst-30187	57	29	,	,	PUNCT
ajst-30187	57	30	and	and	CCONJ
ajst-30187	57	31	the	the	DET
ajst-30187	57	32	overall	overall	ADJ
ajst-30187	57	33	structure	structure	NOUN
ajst-30187	57	34	of	of	ADP
ajst-30187	57	35	the	the	DET
ajst-30187	57	36	base	base	NOUN
ajst-30187	57	37	is	be	AUX
ajst-30187	57	38	material23composed	material23compose	VERB
ajst-30187	57	39	of	of	ADP
ajst-30187	57	40	hydraulic	hydraulic	ADJ
ajst-30187	57	41	cylinders	cylinder	NOUN
ajst-30187	57	42	,	,	PUNCT
ajst-30187	57	43	which	which	PRON
ajst-30187	57	44	makes	make	VERB
ajst-30187	57	45	the	the	DET
ajst-30187	57	46	overall	overall	ADJ
ajst-30187	57	47	structure	structure	NOUN
ajst-30187	57	48	stable	stable	ADJ
ajst-30187	57	49	.	.	PUNCT
ajst-30187	58	1	as	as	SCONJ
ajst-30187	58	2	table	table	NOUN
ajst-30187	58	3	made	make	VERB
ajst-30187	58	4	of	of	ADP
ajst-30187	58	5	q335	q335	PROPN
ajst-30187	58	6	shown	show	VERB
ajst-30187	58	7	in	in	ADP
ajst-30187	58	8	,	,	PUNCT
ajst-30187	58	9	the	the	DET
ajst-30187	58	10	basic	basic	ADJ
ajst-30187	58	11	dimensions	dimension	NOUN
ajst-30187	58	12	of	of	ADP
ajst-30187	58	13	the	the	DET
ajst-30187	58	14	hydraulic	hydraulic	ADJ
ajst-30187	58	15	base	base	NOUN
ajst-30187	58	16	.	.	PUNCT
ajst-30187	59	1	the	the	DET
ajst-30187	59	2	base	base	NOUN
ajst-30187	59	3	is	be	AUX
ajst-30187	59	4	installed	instal	VERB
ajst-30187	59	5	with	with	ADP
ajst-30187	59	6	rotatable	rotatable	ADJ
ajst-30187	59	7	feet	foot	NOUN
ajst-30187	59	8	,	,	PUNCT
ajst-30187	59	9	in	in	ADP
ajst-30187	59	10	the	the	DET
ajst-30187	59	11	complex	complex	ADJ
ajst-30187	59	12	terrain	terrain	NOUN
ajst-30187	59	13	of	of	ADP
ajst-30187	59	14	the	the	DET
ajst-30187	59	15	wellsite	wellsite	ADJ
ajst-30187	59	16	work	work	NOUN
ajst-30187	59	17	can	can	AUX
ajst-30187	59	18	be	be	AUX
ajst-30187	59	19	supported	support	VERB
ajst-30187	59	20	feet	foot	NOUN
ajst-30187	59	21	,	,	PUNCT
ajst-30187	59	22	to	to	PART
ajst-30187	59	23	ensure	ensure	VERB
ajst-30187	59	24	that	that	SCONJ
ajst-30187	59	25	the	the	DET
ajst-30187	59	26	device	device	NOUN
ajst-30187	59	27	can	can	AUX
ajst-30187	59	28	work	work	VERB
ajst-30187	59	29	smoothly	smoothly	ADV
ajst-30187	59	30	;	;	PUNCT
ajst-30187	59	31	the	the	DET
ajst-30187	59	32	base	base	NOUN
ajst-30187	59	33	is	be	AUX
ajst-30187	59	34	also	also	ADV
ajst-30187	59	35	welded	weld	VERB
ajst-30187	59	36	with	with	ADP
ajst-30187	59	37	the	the	DET
ajst-30187	59	38	main	main	ADJ
ajst-30187	59	39	beam	beam	NOUN
ajst-30187	59	40	hinge	hinge	NOUN
ajst-30187	59	41	seat	seat	NOUN
ajst-30187	59	42	and	and	CCONJ
ajst-30187	59	43	lifting	lift	VERB
ajst-30187	59	44	hinge	hinge	NOUN
ajst-30187	59	45	seat	seat	NOUN
ajst-30187	59	46	,	,	PUNCT
ajst-30187	59	47	respectively	respectively	ADV
ajst-30187	59	48	,	,	PUNCT
ajst-30187	59	49	with	with	ADP
ajst-30187	59	50	the	the	DET
ajst-30187	59	51	intermediate	intermediate	ADJ
ajst-30187	59	52	beam	beam	NOUN
ajst-30187	59	53	and	and	CCONJ
ajst-30187	59	54	lifting	lift	VERB
ajst-30187	59	55	the	the	DET
ajst-30187	59	56	hydraulic	hydraulic	ADJ
ajst-30187	59	57	cylinder	cylinder	NOUN
ajst-30187	59	58	hinged	hinge	VERB
ajst-30187	59	59	;	;	PUNCT
ajst-30187	59	60	in	in	ADP
ajst-30187	59	61	the	the	DET
ajst-30187	59	62	end	end	NOUN
ajst-30187	59	63	of	of	ADP
ajst-30187	59	64	the	the	DET
ajst-30187	59	65	base	base	NOUN
ajst-30187	59	66	is	be	AUX
ajst-30187	59	67	installed	instal	VERB
ajst-30187	59	68	with	with	ADP
ajst-30187	59	69	a	a	DET
ajst-30187	59	70	buffer	buffer	NOUN
ajst-30187	59	71	spring	spring	NOUN
ajst-30187	59	72	,	,	PUNCT
ajst-30187	59	73	which	which	PRON
ajst-30187	59	74	can	can	AUX
ajst-30187	59	75	buffer	buffer	VERB
ajst-30187	59	76	the	the	DET
ajst-30187	59	77	intermediate	intermediate	ADJ
ajst-30187	59	78	beam	beam	NOUN
ajst-30187	59	79	in	in	ADP
ajst-30187	59	80	the	the	DET
ajst-30187	59	81	lifting	lifting	NOUN
ajst-30187	59	82	the	the	DET
ajst-30187	59	83	hydraulic	hydraulic	ADJ
ajst-30187	59	84	cylinder	cylinder	NOUN
ajst-30187	59	85	when	when	SCONJ
ajst-30187	59	86	the	the	DET
ajst-30187	59	87	impact	impact	NOUN
ajst-30187	59	88	of	of	ADP
ajst-30187	59	89	the	the	DET
ajst-30187	59	90	lowering	lowering	NOUN
ajst-30187	59	91	to	to	PART
ajst-30187	59	92	reduce	reduce	VERB
ajst-30187	59	93	the	the	DET
ajst-30187	59	94	force	force	NOUN
ajst-30187	59	95	on	on	ADP
ajst-30187	59	96	the	the	DET
ajst-30187	59	97	base	base	NOUN
ajst-30187	59	98	table	table	NOUN
ajst-30187	59	99	2	2	NUM
ajst-30187	59	100	.	.	PUNCT
ajst-30187	59	101	figure	figure	NOUN
ajst-30187	59	102	3	3	NUM
ajst-30187	59	103	.	.	PUNCT
ajst-30187	59	104	schematic	schematic	ADJ
ajst-30187	59	105	structure	structure	NOUN
ajst-30187	59	106	of	of	ADP
ajst-30187	59	107	diagram	diagram	NOUN
ajst-30187	59	108	of	of	ADP
ajst-30187	59	109	the	the	DET
ajst-30187	59	110	threedimensional	threedimensional	NOUN
ajst-30187	59	111	the	the	DET
ajst-30187	59	112	hydraulic	hydraulic	ADJ
ajst-30187	59	113	base	base	NOUN
ajst-30187	59	114	table	table	NOUN
ajst-30187	59	115	2	2	NUM
ajst-30187	59	116	.	.	PUNCT
ajst-30187	59	117	basic	basic	ADJ
ajst-30187	59	118	dimensions	dimension	NOUN
ajst-30187	59	119	for	for	ADP
ajst-30187	59	120	hydraulic	hydraulic	ADJ
ajst-30187	59	121	bases	basis	NOUN
ajst-30187	59	122	size	size	NOUN
ajst-30187	59	123	type	type	NOUN
ajst-30187	59	124	size	size	NOUN
ajst-30187	59	125	maximum	maximum	PROPN
ajst-30187	59	126	diameter	diameter	NOUN
ajst-30187	59	127	900	900	NUM
ajst-30187	59	128	mm	mm	NOUN
ajst-30187	59	129	high	high	ADJ
ajst-30187	59	130	degree	degree	NOUN
ajst-30187	59	131	479.5	479.5	NUM
ajst-30187	59	132	mm	mm	NOUN
ajst-30187	59	133	oil	oil	NOUN
ajst-30187	59	134	chamber	chamber	NOUN
ajst-30187	59	135	volume	volume	NOUN
ajst-30187	59	136	63153439mm3	63153439mm3	NUM
ajst-30187	59	137	2.2.3	2.2.3	NUM
ajst-30187	59	138	.	.	PUNCT
ajst-30187	60	1	arm	arm	NOUN
ajst-30187	60	2	design	design	NOUN
ajst-30187	60	3	and	and	CCONJ
ajst-30187	60	4	analysis	analysis	NOUN
ajst-30187	60	5	the	the	DET
ajst-30187	60	6	arm	arm	NOUN
ajst-30187	60	7	structure	structure	NOUN
ajst-30187	60	8	consists	consist	VERB
ajst-30187	60	9	of	of	ADP
ajst-30187	60	10	a	a	DET
ajst-30187	60	11	large	large	ADJ
ajst-30187	60	12	arm	arm	NOUN
ajst-30187	60	13	and	and	CCONJ
ajst-30187	60	14	a	a	DET
ajst-30187	60	15	small	small	ADJ
ajst-30187	60	16	arm	arm	NOUN
ajst-30187	60	17	,	,	PUNCT
ajst-30187	60	18	the	the	DET
ajst-30187	60	19	large	large	ADJ
ajst-30187	60	20	arm	arm	NOUN
ajst-30187	60	21	supporting	support	VERB
ajst-30187	60	22	the	the	DET
ajst-30187	60	23	large	large	ADJ
ajst-30187	60	24	arm	arm	NOUN
ajst-30187	60	25	hydraulic	hydraulic	ADJ
ajst-30187	60	26	cylinder	cylinder	NOUN
ajst-30187	60	27	,	,	PUNCT
ajst-30187	60	28	the	the	DET
ajst-30187	60	29	small	small	ADJ
ajst-30187	60	30	arm	arm	NOUN
ajst-30187	60	31	supporting	support	VERB
ajst-30187	60	32	the	the	DET
ajst-30187	60	33	small	small	ADJ
ajst-30187	60	34	arm	arm	NOUN
ajst-30187	60	35	hydraulic	hydraulic	ADJ
ajst-30187	60	36	cylinder	cylinder	NOUN
ajst-30187	60	37	,	,	PUNCT
ajst-30187	60	38	the	the	DET
ajst-30187	60	39	large	large	ADJ
ajst-30187	60	40	arm	arm	NOUN
ajst-30187	60	41	and	and	CCONJ
ajst-30187	60	42	the	the	DET
ajst-30187	60	43	small	small	ADJ
ajst-30187	60	44	arm	arm	NOUN
ajst-30187	60	45	in	in	ADP
ajst-30187	60	46	the	the	DET
ajst-30187	60	47	mechanical	mechanical	ADJ
ajst-30187	60	48	structure	structure	NOUN
ajst-30187	60	49	of	of	ADP
ajst-30187	60	50	the	the	DET
ajst-30187	60	51	two	two	NUM
ajst-30187	60	52	crank	crank	NOUN
ajst-30187	60	53	-	-	PUNCT
ajst-30187	60	54	slider	slider	NOUN
ajst-30187	60	55	mechanism	mechanism	NOUN
ajst-30187	60	56	,	,	PUNCT
ajst-30187	60	57	to	to	PART
ajst-30187	60	58	ensure	ensure	VERB
ajst-30187	60	59	that	that	SCONJ
ajst-30187	60	60	the	the	DET
ajst-30187	60	61	arm	arm	NOUN
ajst-30187	60	62	part	part	NOUN
ajst-30187	60	63	of	of	ADP
ajst-30187	60	64	the	the	DET
ajst-30187	60	65	stability	stability	NOUN
ajst-30187	60	66	of	of	ADP
ajst-30187	60	67	the	the	DET
ajst-30187	60	68	operation	operation	NOUN
ajst-30187	60	69	process	process	NOUN
ajst-30187	60	70	.	.	PUNCT
ajst-30187	61	1	as	as	ADP
ajst-30187	61	2	figure	figure	NOUN
ajst-30187	61	3	shown	show	VERB
ajst-30187	61	4	in	in	ADP
ajst-30187	61	5	,	,	PUNCT
ajst-30187	61	6	for	for	ADP
ajst-30187	61	7	the	the	DET
ajst-30187	61	8	well	well	ADV
ajst-30187	61	9	dressing	dress	VERB
ajst-30187	61	10	machine	machine	NOUN
ajst-30187	61	11	grab	grab	NOUN
ajst-30187	61	12	pipe	pipe	NOUN
ajst-30187	61	13	mechanical	mechanical	ADJ
ajst-30187	61	14	arm	arm	NOUN
ajst-30187	61	15	mechanism	mechanism	NOUN
ajst-30187	61	16	movement	movement	NOUN
ajst-30187	61	17	sketch	sketch	VERB
ajst-30187	61	18	fig.4	fig.4	PROPN
ajst-30187	61	19	.	.	PUNCT
ajst-30187	62	1	figure	figure	NOUN
ajst-30187	62	2	4	4	NUM
ajst-30187	62	3	.	.	PUNCT
ajst-30187	62	4	sketch	sketch	NOUN
ajst-30187	62	5	of	of	ADP
ajst-30187	62	6	the	the	DET
ajst-30187	62	7	movement	movement	NOUN
ajst-30187	62	8	of	of	ADP
ajst-30187	62	9	the	the	DET
ajst-30187	62	10	mechanismwell	mechanismwell	NOUN
ajst-30187	62	11	dressing	dress	VERB
ajst-30187	62	12	machine	machine	NOUN
ajst-30187	62	13	's	's	PART
ajst-30187	62	14	pipe	pipe	NOUN
ajst-30187	62	15	grasping	grasp	VERB
ajst-30187	62	16	robot	robot	NOUN
ajst-30187	62	17	arm	arm	NOUN
ajst-30187	62	18	120	120	NUM
ajst-30187	62	19	(	(	PUNCT
ajst-30187	62	20	1	1	NUM
ajst-30187	62	21	)	)	PUNCT
ajst-30187	62	22	calculation	calculation	NOUN
ajst-30187	62	23	of	of	ADP
ajst-30187	62	24	the	the	DET
ajst-30187	62	25	limit	limit	NOUN
ajst-30187	62	26	position	position	NOUN
ajst-30187	62	27	of	of	ADP
ajst-30187	62	28	the	the	DET
ajst-30187	62	29	boom	boom	NOUN
ajst-30187	62	30	hydraulic	hydraulic	ADJ
ajst-30187	62	31	cylinder	cylinder	NOUN
ajst-30187	62	32	figure	figure	NOUN
ajst-30187	62	33	5	5	NUM
ajst-30187	62	34	.	.	PUNCT
ajst-30187	62	35	schematic	schematic	ADJ
ajst-30187	62	36	diagram	diagram	NOUN
ajst-30187	62	37	of	of	ADP
ajst-30187	62	38	the	the	DET
ajst-30187	62	39	position	position	NOUN
ajst-30187	62	40	of	of	ADP
ajst-30187	62	41	the	the	DET
ajst-30187	62	42	hydraulic	hydraulic	ADJ
ajst-30187	62	43	cylinder	cylinder	NOUN
ajst-30187	62	44	of	of	ADP
ajst-30187	62	45	the	the	DET
ajst-30187	62	46	big	big	ADJ
ajst-30187	62	47	arm	arm	NOUN
ajst-30187	62	48	in	in	ADP
ajst-30187	62	49	,	,	PUNCT
ajst-30187	62	50	fig.5	fig.5	PROPN
ajst-30187	62	51	l1	l1	PROPN
ajst-30187	62	52	=	=	PUNCT
ajst-30187	63	1	794	794	NUM
ajst-30187	63	2	mm	mm	NOUN
ajst-30187	63	3	,	,	PUNCT
ajst-30187	63	4	l2	l2	NOUN
ajst-30187	63	5	=	=	SYM
ajst-30187	63	6	2475	2475	NUM
ajst-30187	63	7	mm	mm	NUM
ajst-30187	63	8	,	,	PUNCT
ajst-30187	63	9	and	and	CCONJ
ajst-30187	63	10	according	accord	VERB
ajst-30187	63	11	to	to	ADP
ajst-30187	63	12	the	the	DET
ajst-30187	63	13	triangle	triangle	NOUN
ajst-30187	63	14	principle	principle	NOUN
ajst-30187	63	15	1681mm＜l3＜3267	1681mm＜l3＜3267	NUM
ajst-30187	63	16	mm	mm	NOUN
ajst-30187	63	17	.	.	PUNCT
ajst-30187	64	1	the	the	DET
ajst-30187	64	2	length	length	NOUN
ajst-30187	64	3	of	of	ADP
ajst-30187	64	4	the	the	DET
ajst-30187	64	5	jib	jib	NOUN
ajst-30187	64	6	hydraulic	hydraulic	ADJ
ajst-30187	64	7	cylinder	cylinder	NOUN
ajst-30187	64	8	is	be	AUX
ajst-30187	64	9	1930mm~3930	1930mm~3930	NUM
ajst-30187	64	10	mm	mm	NOUN
ajst-30187	64	11	,	,	PUNCT
ajst-30187	64	12	then	then	ADV
ajst-30187	64	13	1930mm＜l3＜3267	1930mm＜l3＜3267	NUM
ajst-30187	64	14	mm	mm	NOUN
ajst-30187	64	15	.	.	PUNCT
ajst-30187	65	1	(	(	PUNCT
ajst-30187	65	2	2	2	X
ajst-30187	65	3	)	)	PUNCT
ajst-30187	65	4	calculation	calculation	NOUN
ajst-30187	65	5	of	of	ADP
ajst-30187	65	6	the	the	DET
ajst-30187	65	7	limit	limit	NOUN
ajst-30187	65	8	position	position	NOUN
ajst-30187	65	9	of	of	ADP
ajst-30187	65	10	the	the	DET
ajst-30187	65	11	hydraulic	hydraulic	ADJ
ajst-30187	65	12	cylinder	cylinder	NOUN
ajst-30187	65	13	of	of	ADP
ajst-30187	65	14	the	the	DET
ajst-30187	65	15	small	small	ADJ
ajst-30187	65	16	arm	arm	NOUN
ajst-30187	65	17	figure	figure	NOUN
ajst-30187	65	18	6	6	NUM
ajst-30187	65	19	.	.	PUNCT
ajst-30187	66	1	schematic	schematic	ADJ
ajst-30187	66	2	diagram	diagram	NOUN
ajst-30187	66	3	of	of	ADP
ajst-30187	66	4	the	the	DET
ajst-30187	66	5	position	position	NOUN
ajst-30187	66	6	of	of	ADP
ajst-30187	66	7	the	the	DET
ajst-30187	66	8	hydraulic	hydraulic	ADJ
ajst-30187	66	9	cylinder	cylinder	NOUN
ajst-30187	66	10	of	of	ADP
ajst-30187	66	11	the	the	DET
ajst-30187	66	12	small	small	ADJ
ajst-30187	66	13	arm	arm	NOUN
ajst-30187	66	14	in	in	ADP
ajst-30187	66	15	,	,	PUNCT
ajst-30187	66	16	fig.6	fig.6	PROPN
ajst-30187	66	17	l4	l4	PROPN
ajst-30187	66	18	=	=	PROPN
ajst-30187	66	19	1461	1461	NUM
ajst-30187	66	20	mm	mm	NOUN
ajst-30187	66	21	and	and	CCONJ
ajst-30187	66	22	l5	l5	PROPN
ajst-30187	66	23	=	=	SYM
ajst-30187	66	24	2237	2237	NUM
ajst-30187	66	25	mm	mm	NOUN
ajst-30187	66	26	,	,	PUNCT
ajst-30187	66	27	according	accord	VERB
ajst-30187	66	28	to	to	ADP
ajst-30187	66	29	the	the	DET
ajst-30187	66	30	triangle	triangle	NOUN
ajst-30187	66	31	principle	principle	NOUN
ajst-30187	66	32	776	776	NUM
ajst-30187	66	33	mm＜l6＜3698	mm＜l6＜3698	PROPN
ajst-30187	66	34	mm	mm	INTJ
ajst-30187	66	35	.	.	PUNCT
ajst-30187	67	1	the	the	DET
ajst-30187	67	2	length	length	NOUN
ajst-30187	67	3	of	of	ADP
ajst-30187	67	4	the	the	DET
ajst-30187	67	5	small	small	ADJ
ajst-30187	67	6	arm	arm	NOUN
ajst-30187	67	7	hydraulic	hydraulic	ADJ
ajst-30187	67	8	cylinder	cylinder	NOUN
ajst-30187	67	9	is	be	AUX
ajst-30187	67	10	1930mm~3930	1930mm~3930	NUM
ajst-30187	67	11	mm	mm	NOUN
ajst-30187	67	12	,	,	PUNCT
ajst-30187	67	13	then	then	ADV
ajst-30187	67	14	1930mm＜l3＜3698	1930mm＜l3＜3698	NUM
ajst-30187	67	15	mm	mm	NOUN
ajst-30187	67	16	.	.	PROPN
ajst-30187	68	1	2.2.4	2.2.4	NUM
ajst-30187	68	2	.	.	NOUN
ajst-30187	68	3	end	end	NOUN
ajst-30187	68	4	-	-	PUNCT
ajst-30187	68	5	effector	effector	NOUN
ajst-30187	68	6	design	design	NOUN
ajst-30187	68	7	and	and	CCONJ
ajst-30187	68	8	analysis	analysis	NOUN
ajst-30187	68	9	the	the	DET
ajst-30187	68	10	end	end	NOUN
ajst-30187	68	11	-	-	PUNCT
ajst-30187	68	12	effector	effector	NOUN
ajst-30187	68	13	of	of	ADP
ajst-30187	68	14	the	the	DET
ajst-30187	68	15	pipe	pipe	NOUN
ajst-30187	68	16	-	-	PUNCT
ajst-30187	68	17	grabbing	grab	VERB
ajst-30187	68	18	mechanical	mechanical	ADJ
ajst-30187	68	19	arm	arm	NOUN
ajst-30187	68	20	of	of	ADP
ajst-30187	68	21	the	the	DET
ajst-30187	68	22	well	well	ADV
ajst-30187	68	23	dressing	dress	VERB
ajst-30187	68	24	machine	machine	NOUN
ajst-30187	68	25	consists	consist	VERB
ajst-30187	68	26	of	of	ADP
ajst-30187	68	27	a	a	DET
ajst-30187	68	28	pipe	pipe	NOUN
ajst-30187	68	29	-	-	PUNCT
ajst-30187	68	30	grabbing	grab	VERB
ajst-30187	68	31	arm	arm	NOUN
ajst-30187	68	32	and	and	CCONJ
ajst-30187	68	33	two	two	NUM
ajst-30187	68	34	hydraulic	hydraulic	ADJ
ajst-30187	68	35	grippers	gripper	NOUN
ajst-30187	68	36	,	,	PUNCT
ajst-30187	68	37	which	which	PRON
ajst-30187	68	38	ensures	ensure	VERB
ajst-30187	68	39	the	the	DET
ajst-30187	68	40	stability	stability	NOUN
ajst-30187	68	41	of	of	ADP
ajst-30187	68	42	the	the	DET
ajst-30187	68	43	pipe	pipe	NOUN
ajst-30187	68	44	column	column	NOUN
ajst-30187	68	45	running	run	VERB
ajst-30187	68	46	in	in	ADP
ajst-30187	68	47	the	the	DET
ajst-30187	68	48	air	air	NOUN
ajst-30187	68	49	and	and	CCONJ
ajst-30187	68	50	prevents	prevent	VERB
ajst-30187	68	51	the	the	DET
ajst-30187	68	52	bending	bending	NOUN
ajst-30187	68	53	of	of	ADP
ajst-30187	68	54	the	the	DET
ajst-30187	68	55	column	column	NOUN
ajst-30187	68	56	.	.	PUNCT
ajst-30187	69	1	as	as	ADP
ajst-30187	69	2	figs.7	figs.7	NOUN
ajst-30187	69	3	shown	show	VERB
ajst-30187	69	4	in	in	ADP
ajst-30187	69	5	,	,	PUNCT
ajst-30187	69	6	a	a	DET
ajst-30187	69	7	three	three	NUM
ajst-30187	69	8	-	-	PUNCT
ajst-30187	69	9	dimensional	dimensional	ADJ
ajst-30187	69	10	structural	structural	ADJ
ajst-30187	69	11	schematic	schematic	ADJ
ajst-30187	69	12	diagram	diagram	NOUN
ajst-30187	69	13	of	of	ADP
ajst-30187	69	14	the	the	DET
ajst-30187	69	15	gripper	gripper	NOUN
ajst-30187	69	16	structure	structure	NOUN
ajst-30187	69	17	of	of	ADP
ajst-30187	69	18	the	the	DET
ajst-30187	69	19	pipe	pipe	NOUN
ajst-30187	69	20	grabbing	grab	VERB
ajst-30187	69	21	mechanical	mechanical	ADJ
ajst-30187	69	22	arm	arm	NOUN
ajst-30187	69	23	of	of	ADP
ajst-30187	69	24	the	the	DET
ajst-30187	69	25	well	well	ADV
ajst-30187	69	26	dressing	dress	VERB
ajst-30187	69	27	machine	machine	NOUN
ajst-30187	69	28	.	.	PUNCT
ajst-30187	70	1	figure	figure	VERB
ajst-30187	70	2	7	7	NUM
ajst-30187	70	3	.	.	PUNCT
ajst-30187	70	4	schematic	schematic	ADJ
ajst-30187	70	5	diagram	diagram	NOUN
ajst-30187	70	6	of	of	ADP
ajst-30187	70	7	the	the	DET
ajst-30187	70	8	three	three	NUM
ajst-30187	70	9	-	-	PUNCT
ajst-30187	70	10	dimensional	dimensional	ADJ
ajst-30187	70	11	structure	structure	NOUN
ajst-30187	70	12	of	of	ADP
ajst-30187	70	13	the	the	DET
ajst-30187	70	14	gripper	gripper	NOUN
ajst-30187	70	15	structure	structure	NOUN
ajst-30187	70	16	figure	figure	NOUN
ajst-30187	70	17	8	8	NUM
ajst-30187	70	18	.	.	PUNCT
ajst-30187	71	1	schematic	schematic	ADJ
ajst-30187	71	2	diagram	diagram	NOUN
ajst-30187	71	3	of	of	ADP
ajst-30187	71	4	oil	oil	NOUN
ajst-30187	71	5	pipe	pipe	NOUN
ajst-30187	71	6	force	force	NOUN
ajst-30187	71	7	analysis	analysis	NOUN
ajst-30187	71	8	figure	figure	NOUN
ajst-30187	71	9	9	9	NUM
ajst-30187	71	10	.	.	PUNCT
ajst-30187	72	1	schematic	schematic	ADJ
ajst-30187	72	2	diagram	diagram	NOUN
ajst-30187	72	3	of	of	ADP
ajst-30187	72	4	force	force	NOUN
ajst-30187	72	5	analysis	analysis	NOUN
ajst-30187	72	6	of	of	ADP
ajst-30187	72	7	gripper	gripper	NOUN
ajst-30187	72	8	structure	structure	NOUN
ajst-30187	72	9	this	this	DET
ajst-30187	72	10	device	device	NOUN
ajst-30187	72	11	is	be	AUX
ajst-30187	72	12	suitable	suitable	ADJ
ajst-30187	72	13	for	for	ADP
ajst-30187	72	14	transporting	transport	VERB
ajst-30187	72	15	oil	oil	NOUN
ajst-30187	72	16	pipe	pipe	NOUN
ajst-30187	72	17	diameter	diameter	NOUN
ajst-30187	72	18	range	range	NOUN
ajst-30187	72	19	of	of	ADP
ajst-30187	72	20	62~89	62~89	ADJ
ajst-30187	72	21	mm	mm	PROPN
ajst-30187	72	22	,	,	PUNCT
ajst-30187	72	23	the	the	DET
ajst-30187	72	24	mechanical	mechanical	ADJ
ajst-30187	72	25	gripper	gripper	NOUN
ajst-30187	72	26	was	be	AUX
ajst-30187	72	27	symmetrically	symmetrically	ADV
ajst-30187	72	28	distributed	distribute	VERB
ajst-30187	72	29	,	,	PUNCT
ajst-30187	72	30	the	the	DET
ajst-30187	72	31	mechanical	mechanical	ADJ
ajst-30187	72	32	gripper	gripper	NOUN
ajst-30187	72	33	hydraulic	hydraulic	ADJ
ajst-30187	72	34	cylinder	cylinder	NOUN
ajst-30187	72	35	piston	piston	NOUN
ajst-30187	72	36	rod	rod	NOUN
ajst-30187	72	37	expansion	expansion	NOUN
ajst-30187	72	38	and	and	CCONJ
ajst-30187	72	39	contraction	contraction	NOUN
ajst-30187	72	40	pushes	push	VERB
ajst-30187	72	41	the	the	DET
ajst-30187	72	42	gripper	gripper	NOUN
ajst-30187	72	43	on	on	ADP
ajst-30187	72	44	both	both	DET
ajst-30187	72	45	sides	side	NOUN
ajst-30187	72	46	,	,	PUNCT
ajst-30187	72	47	which	which	PRON
ajst-30187	72	48	drives	drive	VERB
ajst-30187	72	49	the	the	DET
ajst-30187	72	50	mechanical	mechanical	ADJ
ajst-30187	72	51	claw	claw	NOUN
ajst-30187	72	52	around	around	ADP
ajst-30187	72	53	the	the	DET
ajst-30187	72	54	center	center	NOUN
ajst-30187	72	55	of	of	ADP
ajst-30187	72	56	rotation	rotation	NOUN
ajst-30187	72	57	,	,	PUNCT
ajst-30187	72	58	so	so	SCONJ
ajst-30187	72	59	as	as	SCONJ
ajst-30187	72	60	to	to	PART
ajst-30187	72	61	achieve	achieve	VERB
ajst-30187	72	62	the	the	DET
ajst-30187	72	63	opening	opening	NOUN
ajst-30187	72	64	and	and	CCONJ
ajst-30187	72	65	closing	closing	NOUN
ajst-30187	72	66	of	of	ADP
ajst-30187	72	67	the	the	DET
ajst-30187	72	68	mechanical	mechanical	ADJ
ajst-30187	72	69	gripper	gripper	NOUN
ajst-30187	72	70	.	.	PUNCT
ajst-30187	73	1	after	after	SCONJ
ajst-30187	73	2	the	the	DET
ajst-30187	73	3	mechanical	mechanical	ADJ
ajst-30187	73	4	gripper	gripper	NOUN
ajst-30187	73	5	grasps	grasp	VERB
ajst-30187	73	6	the	the	DET
ajst-30187	73	7	oil	oil	NOUN
ajst-30187	73	8	pipe	pipe	NOUN
ajst-30187	73	9	,	,	PUNCT
ajst-30187	73	10	as	as	ADP
ajst-30187	73	11	figure	figure	NOUN
ajst-30187	73	12	shown	show	VERB
ajst-30187	73	13	in	in	ADP
ajst-30187	73	14	,	,	PUNCT
ajst-30187	73	15	the	the	DET
ajst-30187	73	16	oil	oil	NOUN
ajst-30187	73	17	pipe	pipe	NOUN
ajst-30187	73	18	and	and	CCONJ
ajst-30187	73	19	gripper	gripper	NOUN
ajst-30187	73	20	force	force	NOUN
ajst-30187	73	21	analysis	analysis	NOUN
ajst-30187	73	22	schematic	schematic	ADJ
ajst-30187	73	23	diagram	diagram	NOUN
ajst-30187	73	24	of	of	ADP
ajst-30187	73	25	the	the	DET
ajst-30187	73	26	well	well	ADV
ajst-30187	73	27	dressing	dress	VERB
ajst-30187	73	28	machine	machine	NOUN
ajst-30187	73	29	gripping	grip	VERB
ajst-30187	73	30	mechanical	mechanical	ADJ
ajst-30187	73	31	arm	arm	NOUN
ajst-30187	73	32	.	.	PUNCT
ajst-30187	74	1	in	in	ADP
ajst-30187	74	2	the	the	DET
ajst-30187	74	3	mechanical	mechanical	ADJ
ajst-30187	74	4	gripper	gripper	NOUN
ajst-30187	74	5	to	to	PART
ajst-30187	74	6	grab	grab	VERB
ajst-30187	74	7	fig.8	fig.8	PROPN
ajst-30187	74	8	and	and	CCONJ
ajst-30187	74	9	fig.9	fig.9	NUM
ajst-30187	74	10	89	89	NUM
ajst-30187	74	11	mm	mm	NOUN
ajst-30187	74	12	of	of	ADP
ajst-30187	74	13	oil	oil	NOUN
ajst-30187	74	14	pipe	pipe	NOUN
ajst-30187	74	15	,	,	PUNCT
ajst-30187	74	16	the	the	DET
ajst-30187	74	17	claw	claw	NOUN
ajst-30187	74	18	to	to	PART
ajst-30187	74	19	open	open	VERB
ajst-30187	74	20	to	to	ADP
ajst-30187	74	21	the	the	DET
ajst-30187	74	22	claw	claw	NOUN
ajst-30187	74	23	's	's	PART
ajst-30187	74	24	fingertips	fingertip	NOUN
ajst-30187	74	25	can	can	AUX
ajst-30187	74	26	avoid	avoid	VERB
ajst-30187	74	27	the	the	DET
ajst-30187	74	28	oil	oil	NOUN
ajst-30187	74	29	pipe	pipe	NOUN
ajst-30187	74	30	,	,	PUNCT
ajst-30187	74	31	this	this	DET
ajst-30187	74	32	time	time	NOUN
ajst-30187	74	33	the	the	DET
ajst-30187	74	34	mechanical	mechanical	ADJ
ajst-30187	74	35	gripper	gripper	NOUN
ajst-30187	74	36	hydraulic	hydraulic	ADJ
ajst-30187	74	37	cylinder	cylinder	NOUN
ajst-30187	74	38	piston	piston	NOUN
ajst-30187	74	39	rod	rod	NOUN
ajst-30187	74	40	elongation	elongation	NOUN
ajst-30187	74	41	is	be	AUX
ajst-30187	74	42	the	the	DET
ajst-30187	74	43	largest	large	ADJ
ajst-30187	74	44	,	,	PUNCT
ajst-30187	74	45	for	for	ADP
ajst-30187	74	46	72	72	NUM
ajst-30187	74	47	mm	mm	NOUN
ajst-30187	74	48	.	.	PUNCT
ajst-30187	75	1	in	in	ADP
ajst-30187	75	2	the	the	DET
ajst-30187	75	3	mechanical	mechanical	ADJ
ajst-30187	75	4	gripper	gripper	NOUN
ajst-30187	75	5	clamped	clamp	VERB
ajst-30187	75	6	the	the	DET
ajst-30187	75	7	pumping	pumping	NOUN
ajst-30187	75	8	rod	rod	NOUN
ajst-30187	75	9	,	,	PUNCT
ajst-30187	75	10	due	due	ADP
ajst-30187	75	11	to	to	ADP
ajst-30187	75	12	the	the	DET
ajst-30187	75	13	small	small	ADJ
ajst-30187	75	14	diameter	diameter	NOUN
ajst-30187	75	15	of	of	ADP
ajst-30187	75	16	the	the	DET
ajst-30187	75	17	pumping	pumping	NOUN
ajst-30187	75	18	rod	rod	NOUN
ajst-30187	75	19	so	so	SCONJ
ajst-30187	75	20	that	that	SCONJ
ajst-30187	75	21	the	the	DET
ajst-30187	75	22	piston	piston	NOUN
ajst-30187	75	23	rod	rod	NOUN
ajst-30187	75	24	should	should	AUX
ajst-30187	75	25	be	be	AUX
ajst-30187	75	26	income	income	NOUN
ajst-30187	75	27	in	in	ADP
ajst-30187	75	28	the	the	DET
ajst-30187	75	29	hydraulic	hydraulic	ADJ
ajst-30187	75	30	cylinder	cylinder	NOUN
ajst-30187	75	31	,	,	PUNCT
ajst-30187	75	32	this	this	DET
ajst-30187	75	33	time	time	NOUN
ajst-30187	75	34	the	the	DET
ajst-30187	75	35	piston	piston	NOUN
ajst-30187	75	36	rod	rod	NOUN
ajst-30187	75	37	elongation	elongation	NOUN
ajst-30187	75	38	of	of	ADP
ajst-30187	75	39	10	10	NUM
ajst-30187	75	40	mm	mm	NOUN
ajst-30187	75	41	,	,	PUNCT
ajst-30187	75	42	so	so	ADV
ajst-30187	75	43	the	the	DET
ajst-30187	75	44	mechanical	mechanical	ADJ
ajst-30187	75	45	gripper	gripper	NOUN
ajst-30187	75	46	hydraulic	hydraulic	ADJ
ajst-30187	75	47	cylinder	cylinder	NOUN
ajst-30187	75	48	stroke	stroke	NOUN
ajst-30187	75	49	is	be	AUX
ajst-30187	75	50	62	62	NUM
ajst-30187	75	51	mm	mm	NOUN
ajst-30187	75	52	.	.	PUNCT
ajst-30187	76	1	from	from	ADP
ajst-30187	76	2	fig.8	fig.8	PROPN
ajst-30187	76	3	of	of	ADP
ajst-30187	76	4	the	the	DET
ajst-30187	76	5	mechanical	mechanical	ADJ
ajst-30187	76	6	gripper	gripper	NOUN
ajst-30187	76	7	in	in	ADP
ajst-30187	76	8	the	the	DET
ajst-30187	76	9	clamping	clamping	NOUN
ajst-30187	76	10	of	of	ADP
ajst-30187	76	11	the	the	DET
ajst-30187	76	12	oil	oil	NOUN
ajst-30187	76	13	pipe	pipe	NOUN
ajst-30187	76	14	when	when	SCONJ
ajst-30187	76	15	the	the	DET
ajst-30187	76	16	oil	oil	NOUN
ajst-30187	76	17	pipe	pipe	NOUN
ajst-30187	76	18	force	force	NOUN
ajst-30187	76	19	analysis	analysis	NOUN
ajst-30187	76	20	diagram	diagram	NOUN
ajst-30187	76	21	can	can	AUX
ajst-30187	76	22	be	be	AUX
ajst-30187	76	23	seen	see	VERB
ajst-30187	76	24	,	,	PUNCT
ajst-30187	76	25	in	in	ADP
ajst-30187	76	26	the	the	DET
ajst-30187	76	27	mechanical	mechanical	ADJ
ajst-30187	76	28	gripper	gripper	NOUN
ajst-30187	76	29	clamping	clamp	VERB
ajst-30187	76	30	the	the	DET
ajst-30187	76	31	oil	oil	NOUN
ajst-30187	76	32	pipe	pipe	NOUN
ajst-30187	76	33	by	by	ADP
ajst-30187	76	34	the	the	DET
ajst-30187	76	35	two	two	NUM
ajst-30187	76	36	sides	side	NOUN
ajst-30187	76	37	of	of	ADP
ajst-30187	76	38	the	the	DET
ajst-30187	76	39	mechanical	mechanical	ADJ
ajst-30187	76	40	claw	claw	NOUN
ajst-30187	76	41	together	together	ADV
ajst-30187	76	42	to	to	PART
ajst-30187	76	43	clamp	clamp	VERB
ajst-30187	76	44	the	the	DET
ajst-30187	76	45	oil	oil	NOUN
ajst-30187	76	46	pipe	pipe	NOUN
ajst-30187	76	47	,	,	PUNCT
ajst-30187	76	48	in	in	ADP
ajst-30187	76	49	order	order	NOUN
ajst-30187	76	50	to	to	PART
ajst-30187	76	51	prevent	prevent	VERB
ajst-30187	76	52	the	the	DET
ajst-30187	76	53	oil	oil	NOUN
ajst-30187	76	54	pipe	pipe	NOUN
ajst-30187	76	55	sliding	slide	VERB
ajst-30187	76	56	under	under	ADP
ajst-30187	76	57	the	the	DET
ajst-30187	76	58	action	action	NOUN
ajst-30187	76	59	of	of	ADP
ajst-30187	76	60	gravity	gravity	NOUN
ajst-30187	76	61	,	,	PUNCT
ajst-30187	76	62	the	the	DET
ajst-30187	76	63	need	need	NOUN
ajst-30187	76	64	for	for	ADP
ajst-30187	76	65	mechanical	mechanical	ADJ
ajst-30187	76	66	gripper	gripper	NOUN
ajst-30187	76	67	hydraulic	hydraulic	ADJ
ajst-30187	76	68	cylinder	cylinder	NOUN
ajst-30187	76	69	thrust	thrust	NOUN
ajst-30187	76	70	design	design	NOUN
ajst-30187	76	71	.	.	PUNCT
ajst-30187	77	1	as	as	SCONJ
ajst-30187	77	2	a	a	DET
ajst-30187	77	3	fuel	fuel	NOUN
ajst-30187	77	4	pipe	pipe	NOUN
ajst-30187	77	5	has	have	VERB
ajst-30187	77	6	two	two	NUM
ajst-30187	77	7	mechanical	mechanical	ADJ
ajst-30187	77	8	grippers	gripper	NOUN
ajst-30187	77	9	to	to	PART
ajst-30187	77	10	grasp	grasp	VERB
ajst-30187	77	11	,	,	PUNCT
ajst-30187	77	12	so	so	CCONJ
ajst-30187	77	13	a	a	DET
ajst-30187	77	14	single	single	ADJ
ajst-30187	77	15	mechanical	mechanical	ADJ
ajst-30187	77	16	gripper	gripper	NOUN
ajst-30187	77	17	only	only	ADV
ajst-30187	77	18	need	need	VERB
ajst-30187	77	19	to	to	PART
ajst-30187	77	20	grasp	grasp	VERB
ajst-30187	77	21	up	up	ADP
ajst-30187	77	22	to	to	ADP
ajst-30187	77	23	one	one	NUM
ajst-30187	77	24	-	-	PUNCT
ajst-30187	77	25	half	half	NOUN
ajst-30187	77	26	of	of	ADP
ajst-30187	77	27	the	the	DET
ajst-30187	77	28	weight	weight	NOUN
ajst-30187	77	29	of	of	ADP
ajst-30187	77	30	the	the	DET
ajst-30187	77	31	fuel	fuel	NOUN
ajst-30187	77	32	pipe	pipe	NOUN
ajst-30187	77	33	,	,	PUNCT
ajst-30187	77	34	by	by	ADP
ajst-30187	77	35	newton	newton	PROPN
ajst-30187	77	36	's	's	PART
ajst-30187	77	37	third	third	ADJ
ajst-30187	77	38	law	law	NOUN
ajst-30187	77	39	,	,	PUNCT
ajst-30187	77	40	the	the	DET
ajst-30187	77	41	fuel	fuel	NOUN
ajst-30187	77	42	pipe	pipe	NOUN
ajst-30187	77	43	column	column	NOUN
ajst-30187	77	44	balance	balance	NOUN
ajst-30187	77	45	equation	equation	NOUN
ajst-30187	77	46	:	:	PUNCT
ajst-30187	77	47	121	121	NUM
ajst-30187	77	48			NOUN
ajst-30187	77	49	1	1	NOUN
ajst-30187	77	50	2	2	NUM
ajst-30187	77	51	3	3	NUM
ajst-30187	77	52	2	2	NUM
ajst-30187	77	53	mg	mg	NOUN
ajst-30187	77	54	n	n	CCONJ
ajst-30187	77	55	n	n	ADV
ajst-30187	77	56	n	n	NUM
ajst-30187	77	57			ADV
ajst-30187	77	58			PUNCT
ajst-30187	77	59			PROPN
ajst-30187	77	60	(	(	PUNCT
ajst-30187	77	61	1	1	NUM
ajst-30187	77	62	)	)	PUNCT
ajst-30187	77	63	as	as	SCONJ
ajst-30187	77	64	can	can	AUX
ajst-30187	77	65	be	be	AUX
ajst-30187	77	66	seen	see	VERB
ajst-30187	77	67	analysis	analysis	NOUN
ajst-30187	77	68	in	in	ADP
ajst-30187	77	69	,	,	PUNCT
ajst-30187	77	70	due	due	ADP
ajst-30187	77	71	to	to	ADP
ajst-30187	77	72	the	the	DET
ajst-30187	77	73	symmetrical	symmetrical	ADJ
ajst-30187	77	74	arrangement	arrangement	NOUN
ajst-30187	77	75	of	of	ADP
ajst-30187	77	76	the	the	DET
ajst-30187	77	77	mechanical	mechanical	ADJ
ajst-30187	77	78	gripper	gripper	NOUN
ajst-30187	77	79	structure	structure	NOUN
ajst-30187	77	80	,	,	PUNCT
ajst-30187	77	81	from	from	ADP
ajst-30187	77	82	the	the	DET
ajst-30187	77	83	fig.8	fig.8	PROPN
ajst-30187	77	84	,	,	PUNCT
ajst-30187	77	85	the	the	DET
ajst-30187	77	86	balance	balance	NOUN
ajst-30187	77	87	equation	equation	NOUN
ajst-30187	77	88	is	be	AUX
ajst-30187	77	89	again	again	ADV
ajst-30187	77	90	made	make	VERB
ajst-30187	77	91	for	for	ADP
ajst-30187	77	92	it	it	PRON
ajst-30187	77	93	:	:	PUNCT
ajst-30187	77	94			NOUN
ajst-30187	77	95	1	1	NOUN
ajst-30187	77	96	2	2	NUM
ajst-30187	77	97	1	1	NUM
ajst-30187	77	98	3cosn	3cosn	NUM
ajst-30187	77	99	n	n	NOUN
ajst-30187	77	100	n	n	NUM
ajst-30187	78	1			NUM
ajst-30187	78	2	(	(	PUNCT
ajst-30187	78	3	2	2	NUM
ajst-30187	78	4	)	)	PUNCT
ajst-30187	78	5	requirements	requirement	NOUN
ajst-30187	78	6	for	for	ADP
ajst-30187	78	7	the	the	DET
ajst-30187	78	8	maximum	maximum	ADJ
ajst-30187	78	9	thrust	thrust	NOUN
ajst-30187	78	10	of	of	ADP
ajst-30187	78	11	the	the	DET
ajst-30187	78	12	hydraulic	hydraulic	ADJ
ajst-30187	78	13	cylinder	cylinder	NOUN
ajst-30187	78	14	,	,	PUNCT
ajst-30187	78	15	it	it	PRON
ajst-30187	78	16	is	be	AUX
ajst-30187	78	17	necessary	necessary	ADJ
ajst-30187	78	18	to	to	ADP
ajst-30187	78	19	mechanical	mechanical	ADJ
ajst-30187	78	20	gripper	gripper	NOUN
ajst-30187	78	21	force	force	NOUN
ajst-30187	78	22	analysis	analysis	NOUN
ajst-30187	78	23	,	,	PUNCT
ajst-30187	78	24	force	force	VERB
ajst-30187	78	25	analysis	analysis	NOUN
ajst-30187	78	26	shown	show	VERB
ajst-30187	78	27	in	in	ADP
ajst-30187	78	28	figure	figure	NOUN
ajst-30187	78	29	8	8	NUM
ajst-30187	78	30	.	.	PUNCT
ajst-30187	79	1	at	at	ADP
ajst-30187	79	2	point	point	NOUN
ajst-30187	79	3	the	the	DET
ajst-30187	79	4	balance	balance	NOUN
ajst-30187	79	5	equation	equation	NOUN
ajst-30187	79	6	of	of	ADP
ajst-30187	79	7	the	the	DET
ajst-30187	79	8	moment	moment	NOUN
ajst-30187	79	9	is	be	AUX
ajst-30187	79	10	listed	list	VERB
ajst-30187	79	11	:	:	PUNCT
ajst-30187	79	12	a	a	DET
ajst-30187	79	13	1	1	NUM
ajst-30187	79	14	1	1	NUM
ajst-30187	79	15	3	3	NUM
ajst-30187	79	16	2f	2f	NUM
ajst-30187	79	17	l	l	NOUN
ajst-30187	79	18	n	n	ADP
ajst-30187	79	19	l	l	NOUN
ajst-30187	79	20	(	(	PUNCT
ajst-30187	79	21	3	3	NUM
ajst-30187	79	22	)	)	SYM
ajst-30187	79	23	1	1	NUM
ajst-30187	79	24	185f	185f	NUM
ajst-30187	79	25	n	n	PROPN
ajst-30187	79	26	the	the	DET
ajst-30187	79	27	magnitude	magnitude	NOUN
ajst-30187	79	28	of	of	ADP
ajst-30187	79	29	the	the	DET
ajst-30187	79	30	thrust	thrust	NOUN
ajst-30187	79	31	in	in	ADP
ajst-30187	79	32	the	the	DET
ajst-30187	79	33	direction	direction	NOUN
ajst-30187	79	34	of	of	ADP
ajst-30187	79	35	the	the	DET
ajst-30187	79	36	hydraulic	hydraulic	ADJ
ajst-30187	79	37	cylinder	cylinder	NOUN
ajst-30187	79	38	is	be	AUX
ajst-30187	79	39	:	:	PUNCT
ajst-30187	79	40	1	1	NUM
ajst-30187	79	41	3	3	NUM
ajst-30187	79	42	276.5	276.5	NUM
ajst-30187	79	43	sin	sin	NOUN
ajst-30187	80	1	f	f	PROPN
ajst-30187	80	2	f	f	PROPN
ajst-30187	80	3	n	n	ADV
ajst-30187	80	4			PROPN
ajst-30187	80	5			NUM
ajst-30187	80	6			NOUN
ajst-30187	80	7	(	(	PUNCT
ajst-30187	80	8	4	4	NUM
ajst-30187	80	9	)	)	PUNCT
ajst-30187	80	10	considering	consider	VERB
ajst-30187	80	11	the	the	DET
ajst-30187	80	12	possible	possible	ADJ
ajst-30187	80	13	inertia	inertia	NOUN
ajst-30187	80	14	force	force	NOUN
ajst-30187	80	15	of	of	ADP
ajst-30187	80	16	the	the	DET
ajst-30187	80	17	oil	oil	NOUN
ajst-30187	80	18	pipe	pipe	NOUN
ajst-30187	80	19	in	in	ADP
ajst-30187	80	20	the	the	DET
ajst-30187	80	21	process	process	NOUN
ajst-30187	80	22	of	of	ADP
ajst-30187	80	23	gripping	grip	VERB
ajst-30187	80	24	and	and	CCONJ
ajst-30187	80	25	moving	move	VERB
ajst-30187	80	26	,	,	PUNCT
ajst-30187	80	27	the	the	DET
ajst-30187	80	28	vibration	vibration	NOUN
ajst-30187	80	29	generated	generate	VERB
ajst-30187	80	30	and	and	CCONJ
ajst-30187	80	31	mechanical	mechanical	ADJ
ajst-30187	80	32	efficiency	efficiency	NOUN
ajst-30187	80	33	and	and	CCONJ
ajst-30187	80	34	other	other	ADJ
ajst-30187	80	35	factors	factor	NOUN
ajst-30187	80	36	affecting	affect	VERB
ajst-30187	80	37	the	the	DET
ajst-30187	80	38	mechanical	mechanical	ADJ
ajst-30187	80	39	gripper	gripper	NOUN
ajst-30187	80	40	hydraulic	hydraulic	NOUN
ajst-30187	80	41	cylinders	cylinder	NOUN
ajst-30187	80	42	,	,	PUNCT
ajst-30187	80	43	then	then	ADV
ajst-30187	80	44	the	the	DET
ajst-30187	80	45	actual	actual	ADJ
ajst-30187	80	46	size	size	NOUN
ajst-30187	80	47	of	of	ADP
ajst-30187	80	48	the	the	DET
ajst-30187	80	49	thrust	thrust	NOUN
ajst-30187	80	50	produced	produce	VERB
ajst-30187	80	51	by	by	ADP
ajst-30187	80	52	the	the	DET
ajst-30187	80	53	mechanical	mechanical	ADJ
ajst-30187	80	54	gripper	gripper	NOUN
ajst-30187	80	55	hydraulic	hydraulic	NOUN
ajst-30187	80	56	cylinders	cylinder	NOUN
ajst-30187	80	57	:	:	PUNCT
ajst-30187	80	58	'	'	PUNCT
ajst-30187	80	59	1	1	NUM
ajst-30187	80	60	2	2	NUM
ajst-30187	80	61	1048	1048	NUM
ajst-30187	80	62	k	k	NOUN
ajst-30187	81	1	k	k	PROPN
ajst-30187	81	2	f	f	PROPN
ajst-30187	81	3	f	f	PROPN
ajst-30187	81	4	n	n	CCONJ
ajst-30187	81	5			NUM
ajst-30187	81	6			NUM
ajst-30187	81	7			NOUN
ajst-30187	81	8	(	(	PUNCT
ajst-30187	81	9	5	5	NUM
ajst-30187	81	10	)	)	PUNCT
ajst-30187	81	11	3	3	NUM
ajst-30187	81	12	.	.	PUNCT
ajst-30187	81	13	hydraulic	hydraulic	ADJ
ajst-30187	81	14	system	system	NOUN
ajst-30187	81	15	design	design	VERB
ajst-30187	81	16	3.1	3.1	NUM
ajst-30187	81	17	.	.	PUNCT
ajst-30187	81	18	hydraulic	hydraulic	ADJ
ajst-30187	81	19	system	system	NOUN
ajst-30187	81	20	design	design	NOUN
ajst-30187	81	21	requirements	requirement	NOUN
ajst-30187	81	22	the	the	DET
ajst-30187	81	23	overall	overall	ADJ
ajst-30187	81	24	requirements	requirement	NOUN
ajst-30187	81	25	of	of	ADP
ajst-30187	81	26	the	the	DET
ajst-30187	81	27	hydraulic	hydraulic	ADJ
ajst-30187	81	28	system	system	NOUN
ajst-30187	81	29	design	design	NOUN
ajst-30187	81	30	is	be	AUX
ajst-30187	81	31	to	to	PART
ajst-30187	81	32	make	make	VERB
ajst-30187	81	33	the	the	DET
ajst-30187	81	34	hydraulic	hydraulic	ADJ
ajst-30187	81	35	system	system	NOUN
ajst-30187	81	36	can	can	AUX
ajst-30187	81	37	complete	complete	VERB
ajst-30187	81	38	the	the	DET
ajst-30187	81	39	established	establish	VERB
ajst-30187	81	40	work	work	NOUN
ajst-30187	81	41	content	content	NOUN
ajst-30187	81	42	,	,	PUNCT
ajst-30187	81	43	according	accord	VERB
ajst-30187	81	44	to	to	ADP
ajst-30187	81	45	the	the	DET
ajst-30187	81	46	analysis	analysis	NOUN
ajst-30187	81	47	of	of	ADP
ajst-30187	81	48	the	the	DET
ajst-30187	81	49	second	second	ADJ
ajst-30187	81	50	chapter	chapter	NOUN
ajst-30187	81	51	of	of	ADP
ajst-30187	81	52	the	the	DET
ajst-30187	81	53	pipeline	pipeline	NOUN
ajst-30187	81	54	process	process	NOUN
ajst-30187	81	55	,	,	PUNCT
ajst-30187	81	56	the	the	DET
ajst-30187	81	57	hydraulic	hydraulic	ADJ
ajst-30187	81	58	system	system	NOUN
ajst-30187	81	59	puts	put	VERB
ajst-30187	81	60	forward	forward	ADV
ajst-30187	81	61	the	the	DET
ajst-30187	81	62	following	follow	VERB
ajst-30187	81	63	requirements	requirement	NOUN
ajst-30187	81	64	:	:	PUNCT
ajst-30187	81	65	(	(	PUNCT
ajst-30187	81	66	1	1	X
ajst-30187	81	67	)	)	PUNCT
ajst-30187	81	68	it	it	PRON
ajst-30187	81	69	is	be	AUX
ajst-30187	81	70	capable	capable	ADJ
ajst-30187	81	71	of	of	ADP
ajst-30187	81	72	smoothly	smoothly	ADV
ajst-30187	81	73	completing	complete	VERB
ajst-30187	81	74	the	the	DET
ajst-30187	81	75	pipe	pipe	NOUN
ajst-30187	81	76	column	column	NOUN
ajst-30187	81	77	discharge	discharge	NOUN
ajst-30187	81	78	action	action	NOUN
ajst-30187	81	79	,	,	PUNCT
ajst-30187	81	80	including	include	VERB
ajst-30187	81	81	hand	hand	NOUN
ajst-30187	81	82	gripping	gripping	ADJ
ajst-30187	81	83	,	,	PUNCT
ajst-30187	81	84	base	base	NOUN
ajst-30187	81	85	rotation	rotation	NOUN
ajst-30187	81	86	,	,	PUNCT
ajst-30187	81	87	and	and	CCONJ
ajst-30187	81	88	movement	movement	NOUN
ajst-30187	81	89	of	of	ADP
ajst-30187	81	90	the	the	DET
ajst-30187	81	91	robotic	robotic	ADJ
ajst-30187	81	92	arm	arm	NOUN
ajst-30187	81	93	,	,	PUNCT
ajst-30187	81	94	etc	etc	X
ajst-30187	81	95	.	.	X
ajst-30187	81	96	,	,	PUNCT
ajst-30187	81	97	and	and	CCONJ
ajst-30187	81	98	is	be	AUX
ajst-30187	81	99	able	able	ADJ
ajst-30187	81	100	to	to	PART
ajst-30187	81	101	realize	realize	VERB
ajst-30187	81	102	the	the	DET
ajst-30187	81	103	pipe	pipe	NOUN
ajst-30187	81	104	discharge	discharge	NOUN
ajst-30187	81	105	action	action	NOUN
ajst-30187	81	106	in	in	ADP
ajst-30187	81	107	accordance	accordance	NOUN
ajst-30187	81	108	with	with	ADP
ajst-30187	81	109	the	the	DET
ajst-30187	81	110	established	establish	VERB
ajst-30187	81	111	process	process	NOUN
ajst-30187	81	112	flow	flow	NOUN
ajst-30187	81	113	;	;	PUNCT
ajst-30187	81	114	(	(	PUNCT
ajst-30187	81	115	2	2	X
ajst-30187	81	116	)	)	PUNCT
ajst-30187	81	117	ensure	ensure	VERB
ajst-30187	81	118	the	the	DET
ajst-30187	81	119	reliability	reliability	NOUN
ajst-30187	81	120	of	of	ADP
ajst-30187	81	121	hand	hand	NOUN
ajst-30187	81	122	clamping	clamp	VERB
ajst-30187	81	123	to	to	PART
ajst-30187	81	124	avoid	avoid	VERB
ajst-30187	81	125	slippage	slippage	NOUN
ajst-30187	81	126	due	due	ADJ
ajst-30187	81	127	to	to	ADP
ajst-30187	81	128	unstable	unstable	ADJ
ajst-30187	81	129	clamping	clamping	NOUN
ajst-30187	81	130	caused	cause	VERB
ajst-30187	81	131	by	by	ADP
ajst-30187	81	132	the	the	DET
ajst-30187	81	133	influence	influence	NOUN
ajst-30187	81	134	of	of	ADP
ajst-30187	81	135	oil	oil	NOUN
ajst-30187	81	136	on	on	ADP
ajst-30187	81	137	the	the	DET
ajst-30187	81	138	surface	surface	NOUN
ajst-30187	81	139	of	of	ADP
ajst-30187	81	140	the	the	DET
ajst-30187	81	141	pipe	pipe	NOUN
ajst-30187	81	142	column	column	NOUN
ajst-30187	81	143	;	;	PUNCT
ajst-30187	81	144	(	(	PUNCT
ajst-30187	81	145	3	3	X
ajst-30187	81	146	)	)	PUNCT
ajst-30187	81	147	ensure	ensure	VERB
ajst-30187	81	148	the	the	DET
ajst-30187	81	149	stability	stability	NOUN
ajst-30187	81	150	of	of	ADP
ajst-30187	81	151	the	the	DET
ajst-30187	81	152	whole	whole	ADJ
ajst-30187	81	153	machine	machine	NOUN
ajst-30187	81	154	during	during	ADP
ajst-30187	81	155	the	the	DET
ajst-30187	81	156	rotation	rotation	NOUN
ajst-30187	81	157	of	of	ADP
ajst-30187	81	158	the	the	DET
ajst-30187	81	159	base	base	NOUN
ajst-30187	81	160	;	;	PUNCT
ajst-30187	81	161	(	(	PUNCT
ajst-30187	81	162	4	4	X
ajst-30187	81	163	)	)	PUNCT
ajst-30187	81	164	since	since	SCONJ
ajst-30187	81	165	this	this	DET
ajst-30187	81	166	device	device	NOUN
ajst-30187	81	167	is	be	AUX
ajst-30187	81	168	an	an	DET
ajst-30187	81	169	auxiliary	auxiliary	NOUN
ajst-30187	81	170	working	work	VERB
ajst-30187	81	171	part	part	NOUN
ajst-30187	81	172	for	for	ADP
ajst-30187	81	173	the	the	DET
ajst-30187	81	174	vehicle	vehicle	NOUN
ajst-30187	81	175	-	-	PUNCT
ajst-30187	81	176	mounted	mount	VERB
ajst-30187	81	177	well	well	ADV
ajst-30187	81	178	dressing	dressing	NOUN
ajst-30187	81	179	machine	machine	NOUN
ajst-30187	81	180	,	,	PUNCT
ajst-30187	81	181	its	its	PRON
ajst-30187	81	182	hydraulic	hydraulic	ADJ
ajst-30187	81	183	system	system	NOUN
ajst-30187	81	184	should	should	AUX
ajst-30187	81	185	be	be	AUX
ajst-30187	81	186	designed	design	VERB
ajst-30187	81	187	to	to	PART
ajst-30187	81	188	match	match	VERB
ajst-30187	81	189	the	the	DET
ajst-30187	81	190	whole	whole	ADJ
ajst-30187	81	191	machine	machine	NOUN
ajst-30187	81	192	;	;	PUNCT
ajst-30187	81	193	(	(	PUNCT
ajst-30187	81	194	5	5	X
ajst-30187	81	195	)	)	PUNCT
ajst-30187	81	196	design	design	VERB
ajst-30187	81	197	the	the	DET
ajst-30187	81	198	rotation	rotation	NOUN
ajst-30187	81	199	of	of	ADP
ajst-30187	81	200	the	the	DET
ajst-30187	81	201	system	system	NOUN
ajst-30187	81	202	to	to	PART
ajst-30187	81	203	avoid	avoid	VERB
ajst-30187	81	204	large	large	ADJ
ajst-30187	81	205	vibration	vibration	NOUN
ajst-30187	81	206	noise	noise	NOUN
ajst-30187	81	207	;	;	PUNCT
ajst-30187	81	208	(	(	PUNCT
ajst-30187	81	209	6	6	X
ajst-30187	81	210	)	)	PUNCT
ajst-30187	81	211	the	the	DET
ajst-30187	81	212	selection	selection	NOUN
ajst-30187	81	213	of	of	ADP
ajst-30187	81	214	hydraulic	hydraulic	ADJ
ajst-30187	81	215	devices	device	NOUN
ajst-30187	81	216	should	should	AUX
ajst-30187	81	217	give	give	VERB
ajst-30187	81	218	full	full	ADJ
ajst-30187	81	219	consideration	consideration	NOUN
ajst-30187	81	220	to	to	ADP
ajst-30187	81	221	the	the	DET
ajst-30187	81	222	economy	economy	NOUN
ajst-30187	81	223	.	.	PUNCT
ajst-30187	82	1	3.2	3.2	NUM
ajst-30187	82	2	.	.	PUNCT
ajst-30187	82	3	hydraulic	hydraulic	ADJ
ajst-30187	82	4	system	system	NOUN
ajst-30187	82	5	design	design	NOUN
ajst-30187	82	6	analysis	analysis	NOUN
ajst-30187	82	7	connect	connect	VERB
ajst-30187	82	8	the	the	DET
ajst-30187	82	9	previously	previously	ADV
ajst-30187	82	10	designed	design	VERB
ajst-30187	82	11	components	component	NOUN
ajst-30187	82	12	in	in	ADP
ajst-30187	82	13	the	the	DET
ajst-30187	82	14	hydraulic	hydraulic	ADJ
ajst-30187	82	15	pipeline	pipeline	NOUN
ajst-30187	82	16	,	,	PUNCT
ajst-30187	82	17	and	and	CCONJ
ajst-30187	82	18	configure	configure	VERB
ajst-30187	82	19	the	the	DET
ajst-30187	82	20	relevant	relevant	ADJ
ajst-30187	82	21	instrumentation	instrumentation	NOUN
ajst-30187	82	22	to	to	PART
ajst-30187	82	23	draw	draw	VERB
ajst-30187	82	24	the	the	DET
ajst-30187	82	25	working	work	VERB
ajst-30187	82	26	principle	principle	ADJ
ajst-30187	82	27	diagram	diagram	NOUN
ajst-30187	82	28	of	of	ADP
ajst-30187	82	29	the	the	DET
ajst-30187	82	30	hydraulic	hydraulic	ADJ
ajst-30187	82	31	system	system	NOUN
ajst-30187	82	32	of	of	ADP
ajst-30187	82	33	the	the	DET
ajst-30187	82	34	well	well	ADV
ajst-30187	82	35	dressing	dress	VERB
ajst-30187	82	36	machine	machine	NOUN
ajst-30187	82	37	pipe	pipe	NOUN
ajst-30187	82	38	grabbing	grab	VERB
ajst-30187	82	39	mechanical	mechanical	ADJ
ajst-30187	82	40	arm	arm	NOUN
ajst-30187	82	41	,	,	PUNCT
ajst-30187	82	42	as	as	ADP
ajst-30187	82	43	fig.10	fig.10	PRON
ajst-30187	82	44	shown	show	VERB
ajst-30187	82	45	in	in	ADP
ajst-30187	82	46	.	.	PUNCT
ajst-30187	83	1	1	1	NUM
ajst-30187	83	2	-	-	PUNCT
ajst-30187	83	3	system	system	NOUN
ajst-30187	83	4	hydraulic	hydraulic	ADJ
ajst-30187	83	5	pump	pump	NOUN
ajst-30187	83	6	;	;	PUNCT
ajst-30187	83	7	2	2	NUM
ajst-30187	83	8	-	-	PUNCT
ajst-30187	83	9	pressure	pressure	NOUN
ajst-30187	83	10	relay	relay	NOUN
ajst-30187	83	11	;	;	PUNCT
ajst-30187	83	12	3	3	NUM
ajst-30187	83	13	-	-	PUNCT
ajst-30187	83	14	pressure	pressure	NOUN
ajst-30187	83	15	gauge	gauge	NOUN
ajst-30187	83	16	;	;	PUNCT
ajst-30187	83	17	4	4	NUM
ajst-30187	83	18	-	-	PUNCT
ajst-30187	83	19	relief	relief	NOUN
ajst-30187	83	20	valve	valve	NOUN
ajst-30187	83	21	;	;	PUNCT
ajst-30187	83	22	5	5	NUM
ajst-30187	83	23	-	-	PUNCT
ajst-30187	83	24	pressure	pressure	NOUN
ajst-30187	83	25	reducing	reduce	VERB
ajst-30187	83	26	valve	valve	NOUN
ajst-30187	83	27	;	;	PUNCT
ajst-30187	83	28	6	6	NUM
ajst-30187	83	29	-	-	PUNCT
ajst-30187	83	30	gripper	gripper	NOUN
ajst-30187	83	31	liquid	liquid	ADJ
ajst-30187	83	32	line	line	NOUN
ajst-30187	83	33	throttle	throttle	NOUN
ajst-30187	83	34	valve	valve	NOUN
ajst-30187	83	35	;	;	PUNCT
ajst-30187	83	36	7gripper	7gripper	NUM
ajst-30187	83	37	liquid	liquid	ADJ
ajst-30187	83	38	line	line	NOUN
ajst-30187	83	39	electrohydraulic	electrohydraulic	NOUN
ajst-30187	83	40	proportional	proportional	ADJ
ajst-30187	83	41	reversing	reversing	NOUN
ajst-30187	83	42	valve	valve	NOUN
ajst-30187	83	43	;	;	PUNCT
ajst-30187	83	44	8gripper	8gripper	NUM
ajst-30187	83	45	liquid	liquid	ADJ
ajst-30187	83	46	line	line	NOUN
ajst-30187	83	47	bi	bi	ADJ
ajst-30187	83	48	-	-	ADJ
ajst-30187	83	49	directional	directional	ADJ
ajst-30187	83	50	unlocking	unlocking	NOUN
ajst-30187	83	51	;	;	PUNCT
ajst-30187	83	52	9	9	NUM
ajst-30187	83	53	-	-	PUNCT
ajst-30187	83	54	gripper	gripper	NOUN
ajst-30187	83	55	hydraulic	hydraulic	ADJ
ajst-30187	83	56	cylinder	cylinder	NOUN
ajst-30187	83	57	;	;	PUNCT
ajst-30187	83	58	10reducing	10reduce	VERB
ajst-30187	83	59	valve	valve	NOUN
ajst-30187	83	60	;	;	PUNCT
ajst-30187	83	61	11	11	NUM
ajst-30187	83	62	-	-	PUNCT
ajst-30187	83	63	bottom	bottom	NOUN
ajst-30187	83	64	rotary	rotary	ADJ
ajst-30187	83	65	hydraulic	hydraulic	ADJ
ajst-30187	83	66	cylinder	cylinder	NOUN
ajst-30187	83	67	liquid	liquid	ADJ
ajst-30187	83	68	line	line	NOUN
ajst-30187	83	69	throttle	throttle	NOUN
ajst-30187	83	70	valve	valve	NOUN
ajst-30187	83	71	;	;	PUNCT
ajst-30187	83	72	12	12	NUM
ajst-30187	83	73	-	-	PUNCT
ajst-30187	83	74	bottom	bottom	NOUN
ajst-30187	83	75	rotary	rotary	ADJ
ajst-30187	83	76	hydraulic	hydraulic	ADJ
ajst-30187	83	77	cylinder	cylinder	NOUN
ajst-30187	83	78	liquid	liquid	NOUN
ajst-30187	83	79	line	line	NOUN
ajst-30187	83	80	electro	electro	NOUN
ajst-30187	83	81	-	-	PUNCT
ajst-30187	83	82	hydraulic	hydraulic	NOUN
ajst-30187	83	83	proportional	proportional	ADJ
ajst-30187	83	84	reversing	reversing	NOUN
ajst-30187	83	85	valve	valve	NOUN
ajst-30187	83	86	;	;	PUNCT
ajst-30187	83	87	13	13	NUM
ajst-30187	83	88	-	-	PUNCT
ajst-30187	83	89	bottom	bottom	NOUN
ajst-30187	83	90	rotary	rotary	ADJ
ajst-30187	83	91	hydraulic	hydraulic	ADJ
ajst-30187	83	92	cylinder	cylinder	NOUN
ajst-30187	83	93	liquid	liquid	ADJ
ajst-30187	83	94	line	line	NOUN
ajst-30187	83	95	two	two	NUM
ajst-30187	83	96	-	-	PUNCT
ajst-30187	83	97	way	way	NOUN
ajst-30187	83	98	hydraulic	hydraulic	ADJ
ajst-30187	83	99	lock	lock	NOUN
ajst-30187	83	100	;	;	PUNCT
ajst-30187	83	101	14	14	NUM
ajst-30187	83	102	-	-	PUNCT
ajst-30187	83	103	bottom	bottom	NOUN
ajst-30187	83	104	rotary	rotary	ADJ
ajst-30187	83	105	hydraulic	hydraulic	ADJ
ajst-30187	83	106	motor	motor	NOUN
ajst-30187	83	107	;	;	PUNCT
ajst-30187	83	108	15big	15big	ADJ
ajst-30187	83	109	arm	arm	NOUN
ajst-30187	83	110	liquid	liquid	ADJ
ajst-30187	83	111	line	line	NOUN
ajst-30187	83	112	throttle	throttle	NOUN
ajst-30187	83	113	valve	valve	NOUN
ajst-30187	83	114	;	;	PUNCT
ajst-30187	83	115	16	16	NUM
ajst-30187	83	116	-	-	PUNCT
ajst-30187	83	117	large	large	ADJ
ajst-30187	83	118	arm	arm	NOUN
ajst-30187	83	119	liquid	liquid	NOUN
ajst-30187	83	120	line	line	NOUN
ajst-30187	83	121	electro	electro	NOUN
ajst-30187	83	122	-	-	PUNCT
ajst-30187	83	123	hydraulic	hydraulic	NOUN
ajst-30187	83	124	proportional	proportional	ADJ
ajst-30187	83	125	reversing	reversing	NOUN
ajst-30187	83	126	valve	valve	NOUN
ajst-30187	83	127	;	;	PUNCT
ajst-30187	83	128	17	17	NUM
ajst-30187	83	129	-	-	PUNCT
ajst-30187	83	130	large	large	ADJ
ajst-30187	83	131	arm	arm	NOUN
ajst-30187	83	132	liquid	liquid	NOUN
ajst-30187	83	133	line	line	NOUN
ajst-30187	83	134	two	two	NUM
ajst-30187	83	135	-	-	PUNCT
ajst-30187	83	136	way	way	NOUN
ajst-30187	83	137	hydraulic	hydraulic	ADJ
ajst-30187	83	138	lock	lock	NOUN
ajst-30187	83	139	;	;	PUNCT
ajst-30187	83	140	18	18	NUM
ajst-30187	83	141	-	-	PUNCT
ajst-30187	83	142	large	large	ADJ
ajst-30187	83	143	arm	arm	NOUN
ajst-30187	83	144	hydraulic	hydraulic	ADJ
ajst-30187	83	145	cylinder	cylinder	NOUN
ajst-30187	83	146	;	;	PUNCT
ajst-30187	83	147	19	19	NUM
ajst-30187	83	148	-	-	PUNCT
ajst-30187	83	149	small	small	ADJ
ajst-30187	83	150	arm	arm	NOUN
ajst-30187	83	151	liquid	liquid	ADJ
ajst-30187	83	152	line	line	NOUN
ajst-30187	83	153	throttle	throttle	NOUN
ajst-30187	83	154	valve	valve	NOUN
ajst-30187	83	155	;	;	PUNCT
ajst-30187	83	156	20	20	NUM
ajst-30187	83	157	-	-	PUNCT
ajst-30187	83	158	small	small	ADJ
ajst-30187	83	159	arm	arm	NOUN
ajst-30187	83	160	liquid	liquid	NOUN
ajst-30187	83	161	line	line	NOUN
ajst-30187	83	162	electro	electro	NOUN
ajst-30187	83	163	-	-	PUNCT
ajst-30187	83	164	hydraulic	hydraulic	NOUN
ajst-30187	83	165	proportional	proportional	ADJ
ajst-30187	83	166	reversing	reversing	NOUN
ajst-30187	83	167	valve	valve	NOUN
ajst-30187	83	168	;	;	PUNCT
ajst-30187	83	169	21	21	NUM
ajst-30187	83	170	-	-	PUNCT
ajst-30187	83	171	small	small	ADJ
ajst-30187	83	172	arm	arm	NOUN
ajst-30187	83	173	liquid	liquid	NOUN
ajst-30187	83	174	line	line	NOUN
ajst-30187	83	175	two	two	NUM
ajst-30187	83	176	-	-	PUNCT
ajst-30187	83	177	way	way	NOUN
ajst-30187	83	178	hydraulic	hydraulic	ADJ
ajst-30187	83	179	lock	lock	NOUN
ajst-30187	83	180	;	;	PUNCT
ajst-30187	83	181	22small	22small	NUM
ajst-30187	83	182	arm	arm	NOUN
ajst-30187	83	183	hydraulic	hydraulic	ADJ
ajst-30187	83	184	cylinder	cylinder	NOUN
ajst-30187	83	185	;	;	PUNCT
ajst-30187	83	186	23	23	NUM
ajst-30187	83	187	-	-	PUNCT
ajst-30187	83	188	gripping	grip	VERB
ajst-30187	83	189	arm	arm	NOUN
ajst-30187	83	190	hydraulic	hydraulic	ADJ
ajst-30187	83	191	cylinder	cylinder	NOUN
ajst-30187	83	192	liquid	liquid	ADJ
ajst-30187	83	193	line	line	NOUN
ajst-30187	83	194	throttle	throttle	NOUN
ajst-30187	83	195	valve	valve	NOUN
ajst-30187	83	196	;	;	PUNCT
ajst-30187	83	197	24	24	NUM
ajst-30187	83	198	-	-	PUNCT
ajst-30187	83	199	gripping	grip	VERB
ajst-30187	83	200	arm	arm	NOUN
ajst-30187	83	201	liquid	liquid	ADJ
ajst-30187	83	202	line	line	NOUN
ajst-30187	83	203	electro	electro	NOUN
ajst-30187	83	204	-	-	PUNCT
ajst-30187	83	205	hydraulic	hydraulic	NOUN
ajst-30187	83	206	proportional	proportional	ADJ
ajst-30187	83	207	reversing	reversing	NOUN
ajst-30187	83	208	valve	valve	NOUN
ajst-30187	83	209	;	;	PUNCT
ajst-30187	83	210	25gripping	25grippe	VERB
ajst-30187	83	211	arm	arm	NOUN
ajst-30187	83	212	hydraulic	hydraulic	ADJ
ajst-30187	83	213	cylinder	cylinder	NOUN
ajst-30187	83	214	liquid	liquid	ADJ
ajst-30187	83	215	line	line	NOUN
ajst-30187	83	216	two	two	NUM
ajst-30187	83	217	-	-	PUNCT
ajst-30187	83	218	way	way	NOUN
ajst-30187	83	219	hydraulic	hydraulic	ADJ
ajst-30187	83	220	lock	lock	NOUN
ajst-30187	83	221	;	;	PUNCT
ajst-30187	83	222	26	26	NUM
ajst-30187	83	223	-	-	PUNCT
ajst-30187	83	224	gripping	grip	VERB
ajst-30187	83	225	arm	arm	NOUN
ajst-30187	83	226	rotary	rotary	ADJ
ajst-30187	83	227	hydraulic	hydraulic	ADJ
ajst-30187	83	228	motor	motor	NOUN
ajst-30187	83	229	figure	figure	NOUN
ajst-30187	83	230	10	10	NUM
ajst-30187	83	231	.	.	PUNCT
ajst-30187	84	1	hydraulic	hydraulic	ADJ
ajst-30187	84	2	circuit	circuit	PROPN
ajst-30187	84	3	schematic	schematic	ADJ
ajst-30187	84	4	diagram	diagram	NOUN
ajst-30187	84	5	of	of	ADP
ajst-30187	84	6	well	well	ADV
ajst-30187	84	7	dressing	dress	VERB
ajst-30187	84	8	machine	machine	NOUN
ajst-30187	84	9	pipe	pipe	NOUN
ajst-30187	84	10	grabbing	grab	VERB
ajst-30187	84	11	robot	robot	NOUN
ajst-30187	84	12	arm	arm	NOUN
ajst-30187	84	13	this	this	DET
ajst-30187	84	14	hydraulic	hydraulic	ADJ
ajst-30187	84	15	system	system	NOUN
ajst-30187	84	16	is	be	AUX
ajst-30187	84	17	a	a	DET
ajst-30187	84	18	single	single	ADJ
ajst-30187	84	19	hydraulic	hydraulic	ADJ
ajst-30187	84	20	pump	pump	NOUN
ajst-30187	84	21	system	system	NOUN
ajst-30187	84	22	,	,	PUNCT
ajst-30187	84	23	the	the	DET
ajst-30187	84	24	pipeline	pipeline	NOUN
ajst-30187	84	25	oil	oil	NOUN
ajst-30187	84	26	are	be	AUX
ajst-30187	84	27	by	by	ADP
ajst-30187	84	28	the	the	DET
ajst-30187	84	29	hydraulic	hydraulic	ADJ
ajst-30187	84	30	pump	pump	NOUN
ajst-30187	84	31	supplied	supply	VERB
ajst-30187	84	32	,	,	PUNCT
ajst-30187	84	33	in	in	ADP
ajst-30187	84	34	the	the	DET
ajst-30187	84	35	inlet	inlet	NOUN
ajst-30187	84	36	of	of	ADP
ajst-30187	84	37	the	the	DET
ajst-30187	84	38	oil	oil	NOUN
ajst-30187	84	39	pump	pump	NOUN
ajst-30187	84	40	is	be	AUX
ajst-30187	84	41	equipped	equip	VERB
ajst-30187	84	42	with	with	ADP
ajst-30187	84	43	suction	suction	NOUN
ajst-30187	84	44	filter	filter	NOUN
ajst-30187	84	45	to	to	PART
ajst-30187	84	46	protect	protect	VERB
ajst-30187	84	47	the	the	DET
ajst-30187	84	48	hydraulic	hydraulic	ADJ
ajst-30187	84	49	oil	oil	NOUN
ajst-30187	84	50	pump	pump	NOUN
ajst-30187	84	51	.	.	PUNCT
ajst-30187	85	1	gripper	gripper	NOUN
ajst-30187	85	2	hydraulic	hydraulic	ADJ
ajst-30187	85	3	end	end	NOUN
ajst-30187	85	4	of	of	ADP
ajst-30187	85	5	the	the	DET
ajst-30187	85	6	liquid	liquid	ADJ
ajst-30187	85	7	pressure	pressure	NOUN
ajst-30187	85	8	and	and	CCONJ
ajst-30187	85	9	the	the	DET
ajst-30187	85	10	pressure	pressure	NOUN
ajst-30187	85	11	required	require	VERB
ajst-30187	85	12	by	by	ADP
ajst-30187	85	13	the	the	DET
ajst-30187	85	14	rest	rest	NOUN
ajst-30187	85	15	of	of	ADP
ajst-30187	85	16	the	the	DET
ajst-30187	85	17	components	component	NOUN
ajst-30187	85	18	are	be	AUX
ajst-30187	85	19	different	different	ADJ
ajst-30187	85	20	,	,	PUNCT
ajst-30187	85	21	so	so	SCONJ
ajst-30187	85	22	it	it	PRON
ajst-30187	85	23	will	will	AUX
ajst-30187	85	24	be	be	AUX
ajst-30187	85	25	configured	configure	VERB
ajst-30187	85	26	in	in	ADP
ajst-30187	85	27	two	two	NUM
ajst-30187	85	28	separate	separate	ADJ
ajst-30187	85	29	liquid	liquid	ADJ
ajst-30187	85	30	circuit	circuit	NOUN
ajst-30187	85	31	,	,	PUNCT
ajst-30187	85	32	and	and	CCONJ
ajst-30187	85	33	respectively	respectively	ADV
ajst-30187	85	34	set	set	VERB
ajst-30187	85	35	up	up	ADP
ajst-30187	85	36	a	a	DET
ajst-30187	85	37	pressure	pressure	NOUN
ajst-30187	85	38	reducing	reduce	VERB
ajst-30187	85	39	valve	valve	NOUN
ajst-30187	85	40	.	.	PUNCT
ajst-30187	86	1	the	the	PRON
ajst-30187	86	2	of	of	ADP
ajst-30187	86	3	this	this	DET
ajst-30187	86	4	pipe	pipe	NOUN
ajst-30187	86	5	gripping	grip	VERB
ajst-30187	86	6	robotic	robotic	ADJ
ajst-30187	86	7	arm	arm	NOUN
ajst-30187	86	8	1five	1five	NUM
ajst-30187	86	9	behavioral	behavioral	ADJ
ajst-30187	86	10	actions	action	NOUN
ajst-30187	86	11	by	by	ADP
ajst-30187	86	12	the	the	DET
ajst-30187	86	13	gripper	gripper	NOUN
ajst-30187	86	14	hydraulic	hydraulic	ADJ
ajst-30187	86	15	cylinder	cylinder	NOUN
ajst-30187	86	16	are	be	AUX
ajst-30187	86	17	driven	drive	VERB
ajst-30187	86	18	.	.	PUNCT
ajst-30187	87	1	in	in	ADP
ajst-30187	87	2	these	these	DET
ajst-30187	87	3	actions	action	NOUN
ajst-30187	87	4	,	,	PUNCT
ajst-30187	87	5	due	due	ADP
ajst-30187	87	6	to	to	ADP
ajst-30187	87	7	the	the	DET
ajst-30187	87	8	clamping	clamp	VERB
ajst-30187	87	9	end	end	NOUN
ajst-30187	87	10	of	of	ADP
ajst-30187	87	11	the	the	DET
ajst-30187	87	12	hydraulic	hydraulic	ADJ
ajst-30187	87	13	cylinder	cylinder	NOUN
ajst-30187	87	14	in	in	ADP
ajst-30187	87	15	the	the	DET
ajst-30187	87	16	opening	opening	NOUN
ajst-30187	87	17	and	and	CCONJ
ajst-30187	87	18	closing	closing	NOUN
ajst-30187	87	19	,	,	PUNCT
ajst-30187	87	20	the	the	DET
ajst-30187	87	21	piston	piston	NOUN
ajst-30187	87	22	rod	rod	NOUN
ajst-30187	87	23	are	be	AUX
ajst-30187	87	24	in	in	ADP
ajst-30187	87	25	the	the	DET
ajst-30187	87	26	limit	limit	NOUN
ajst-30187	87	27	position	position	NOUN
ajst-30187	87	28	,	,	PUNCT
ajst-30187	87	29	so	so	CCONJ
ajst-30187	87	30	its	its	PRON
ajst-30187	87	31	work	work	NOUN
ajst-30187	87	32	only	only	ADV
ajst-30187	87	33	two	two	NUM
ajst-30187	87	34	working	work	VERB
ajst-30187	87	35	forms	form	NOUN
ajst-30187	87	36	,	,	PUNCT
ajst-30187	87	37	so	so	SCONJ
ajst-30187	87	38	this	this	PRON
ajst-30187	87	39	to	to	ADP
ajst-30187	87	40	the	the	DET
ajst-30187	87	41	liquid	liquid	ADJ
ajst-30187	87	42	circuit	circuit	NOUN
ajst-30187	87	43	,	,	PUNCT
ajst-30187	87	44	the	the	DET
ajst-30187	87	45	flow	flow	NOUN
ajst-30187	87	46	requirements	requirement	NOUN
ajst-30187	87	47	are	be	AUX
ajst-30187	87	48	not	not	PART
ajst-30187	87	49	high	high	ADJ
ajst-30187	87	50	,	,	PUNCT
ajst-30187	87	51	so	so	CCONJ
ajst-30187	87	52	in	in	ADP
ajst-30187	87	53	addition	addition	NOUN
ajst-30187	87	54	to	to	ADP
ajst-30187	87	55	the	the	DET
ajst-30187	87	56	clamping	clamping	NOUN
ajst-30187	87	57	end	end	NOUN
ajst-30187	87	58	is	be	AUX
ajst-30187	87	59	not	not	PART
ajst-30187	87	60	set	set	VERB
ajst-30187	87	61	throttle	throttle	NOUN
ajst-30187	87	62	valve	valve	NOUN
ajst-30187	87	63	,	,	PUNCT
ajst-30187	87	64	the	the	DET
ajst-30187	87	65	rest	rest	NOUN
ajst-30187	87	66	of	of	ADP
ajst-30187	87	67	the	the	DET
ajst-30187	87	68	operating	operate	VERB
ajst-30187	87	69	cylinder	cylinder	NOUN
ajst-30187	87	70	are	be	AUX
ajst-30187	87	71	set	set	VERB
ajst-30187	87	72	with	with	ADP
ajst-30187	87	73	a	a	DET
ajst-30187	87	74	throttle	throttle	NOUN
ajst-30187	87	75	valve	valve	NOUN
ajst-30187	87	76	member	member	NOUN
ajst-30187	87	77	.	.	PUNCT
ajst-30187	88	1	pressure	pressure	NOUN
ajst-30187	88	2	relay	relay	NOUN
ajst-30187	88	3	9	9	NUM
ajst-30187	88	4	,	,	PUNCT
ajst-30187	88	5	the	the	DET
ajst-30187	88	6	bottom	bottom	ADJ
ajst-30187	88	7	slewing	slewing	NOUN
ajst-30187	88	8	hydraulic	hydraulic	ADJ
ajst-30187	88	9	motor	motor	NOUN
ajst-30187	88	10	14	14	NUM
ajst-30187	88	11	,	,	PUNCT
ajst-30187	88	12	the	the	DET
ajst-30187	88	13	big	big	ADJ
ajst-30187	88	14	arm	arm	NOUN
ajst-30187	88	15	hydraulic	hydraulic	ADJ
ajst-30187	88	16	cylinder	cylinder	NOUN
ajst-30187	88	17	18	18	NUM
ajst-30187	88	18	,	,	PUNCT
ajst-30187	88	19	the	the	DET
ajst-30187	88	20	small	small	ADJ
ajst-30187	88	21	arm	arm	NOUN
ajst-30187	88	22	hydraulic	hydraulic	ADJ
ajst-30187	88	23	cylinder	cylinder	NOUN
ajst-30187	88	24	22	22	NUM
ajst-30187	88	25	,	,	PUNCT
ajst-30187	88	26	and	and	CCONJ
ajst-30187	88	27	the	the	DET
ajst-30187	88	28	gripper	gripper	NOUN
ajst-30187	88	29	arm	arm	NOUN
ajst-30187	88	30	slewing	slew	VERB
ajst-30187	88	31	hydraulic	hydraulic	ADJ
ajst-30187	88	32	motor	motor	NOUN
ajst-30187	88	33	26	26	NUM
ajst-30187	88	34	is	be	AUX
ajst-30187	88	35	used	use	VERB
ajst-30187	88	36	for	for	ADP
ajst-30187	88	37	overload	overload	NOUN
ajst-30187	88	38	protection	protection	NOUN
ajst-30187	88	39	of	of	ADP
ajst-30187	88	40	the	the	DET
ajst-30187	88	41	liquid	liquid	ADJ
ajst-30187	88	42	circuit	circuit	NOUN
ajst-30187	88	43	system	system	NOUN
ajst-30187	88	44	,	,	PUNCT
ajst-30187	88	45	122	122	NUM
ajst-30187	88	46	when	when	SCONJ
ajst-30187	88	47	the	the	DET
ajst-30187	88	48	pressure	pressure	NOUN
ajst-30187	88	49	in	in	ADP
ajst-30187	88	50	the	the	DET
ajst-30187	88	51	liquid	liquid	ADJ
ajst-30187	88	52	circuit	circuit	NOUN
ajst-30187	88	53	is	be	AUX
ajst-30187	88	54	too	too	ADV
ajst-30187	88	55	high	high	ADJ
ajst-30187	88	56	,	,	PUNCT
ajst-30187	88	57	an	an	DET
ajst-30187	88	58	electric	electric	ADJ
ajst-30187	88	59	signal	signal	NOUN
ajst-30187	88	60	will	will	AUX
ajst-30187	88	61	be	be	AUX
ajst-30187	88	62	sent	send	VERB
ajst-30187	88	63	to	to	PART
ajst-30187	88	64	drive	drive	VERB
ajst-30187	88	65	the	the	DET
ajst-30187	88	66	relief	relief	NOUN
ajst-30187	88	67	valve	valve	NOUN
ajst-30187	88	68	4	4	NUM
ajst-30187	88	69	,	,	PUNCT
ajst-30187	88	70	so	so	SCONJ
ajst-30187	88	71	that	that	SCONJ
ajst-30187	88	72	the	the	DET
ajst-30187	88	73	hydraulic	hydraulic	ADJ
ajst-30187	88	74	pump	pump	VERB
ajst-30187	88	75	1	1	NUM
ajst-30187	88	76	for	for	ADP
ajst-30187	88	77	unloading	unloading	NOUN
ajst-30187	88	78	.	.	PUNCT
ajst-30187	89	1	the	the	DET
ajst-30187	89	2	bottom	bottom	ADJ
ajst-30187	89	3	rotary	rotary	ADJ
ajst-30187	89	4	hydraulic	hydraulic	ADJ
ajst-30187	89	5	cylinder	cylinder	NOUN
ajst-30187	89	6	the	the	DET
ajst-30187	89	7	bottom	bottom	ADJ
ajst-30187	89	8	rotary	rotary	ADJ
ajst-30187	89	9	hydraulic	hydraulic	ADJ
ajst-30187	89	10	motor	motor	NOUN
ajst-30187	89	11	carries	carry	VERB
ajst-30187	89	12	out	out	ADP
ajst-30187	89	13	the	the	DET
ajst-30187	89	14	rotary	rotary	ADJ
ajst-30187	89	15	action	action	NOUN
ajst-30187	89	16	under	under	ADP
ajst-30187	89	17	the	the	DET
ajst-30187	89	18	drive	drive	NOUN
ajst-30187	89	19	of	of	ADP
ajst-30187	89	20	,	,	PUNCT
ajst-30187	89	21	and	and	CCONJ
ajst-30187	89	22	its	its	PRON
ajst-30187	89	23	maximum	maximum	ADJ
ajst-30187	89	24	angle	angle	NOUN
ajst-30187	89	25	of	of	ADP
ajst-30187	89	26	rotation	rotation	NOUN
ajst-30187	89	27	is	be	AUX
ajst-30187	89	28	14	14	NUM
ajst-30187	89	29	of	of	ADP
ajst-30187	89	30	360	360	NUM
ajst-30187	89	31	°	°	NOUN
ajst-30187	89	32	,	,	PUNCT
ajst-30187	89	33	and	and	CCONJ
ajst-30187	89	34	when	when	SCONJ
ajst-30187	89	35	the	the	DET
ajst-30187	89	36	rotation	rotation	NOUN
ajst-30187	89	37	is	be	AUX
ajst-30187	89	38	in	in	ADP
ajst-30187	89	39	place	place	NOUN
ajst-30187	89	40	,	,	PUNCT
ajst-30187	89	41	the	the	DET
ajst-30187	89	42	positioning	positioning	NOUN
ajst-30187	89	43	of	of	ADP
ajst-30187	89	44	its	its	PRON
ajst-30187	89	45	angle	angle	NOUN
ajst-30187	89	46	is	be	AUX
ajst-30187	89	47	by	by	ADP
ajst-30187	89	48	the	the	DET
ajst-30187	89	49	two	two	NUM
ajst-30187	89	50	-	-	PUNCT
ajst-30187	89	51	way	way	NOUN
ajst-30187	89	52	hydraulic	hydraulic	ADJ
ajst-30187	89	53	lock	lock	NOUN
ajst-30187	89	54	ensured	ensure	VERB
ajst-30187	89	55	.	.	PUNCT
ajst-30187	90	1	the	the	DET
ajst-30187	90	2	big	big	ADJ
ajst-30187	90	3	arm	arm	NOUN
ajst-30187	90	4	swings	swing	VERB
ajst-30187	90	5	big	big	ADJ
ajst-30187	90	6	arm	arm	NOUN
ajst-30187	90	7	hydraulic	hydraulic	ADJ
ajst-30187	90	8	cylinder	cylinder	NOUN
ajst-30187	90	9	13	13	NUM
ajst-30187	90	10	around	around	ADP
ajst-30187	90	11	the	the	DET
ajst-30187	90	12	base	base	NOUN
ajst-30187	90	13	under	under	ADP
ajst-30187	90	14	the	the	DET
ajst-30187	90	15	drive	drive	NOUN
ajst-30187	90	16	of	of	ADP
ajst-30187	90	17	the	the	PRON
ajst-30187	90	18	,	,	PUNCT
ajst-30187	90	19	with	with	ADP
ajst-30187	90	20	a	a	DET
ajst-30187	90	21	maximum	maximum	ADJ
ajst-30187	90	22	swing	swing	NOUN
ajst-30187	90	23	angle	angle	NOUN
ajst-30187	90	24	of	of	ADP
ajst-30187	90	25	18	18	NUM
ajst-30187	90	26	of	of	ADP
ajst-30187	90	27	90	90	NUM
ajst-30187	90	28	°	°	NUM
ajst-30187	90	29	and	and	CCONJ
ajst-30187	90	30	a	a	DET
ajst-30187	90	31	maximum	maximum	ADJ
ajst-30187	90	32	stroke	stroke	NOUN
ajst-30187	90	33	of	of	ADP
ajst-30187	90	34	1337	1337	NUM
ajst-30187	90	35	mm	mm	PROPN
ajst-30187	90	36	,	,	PUNCT
ajst-30187	90	37	and	and	CCONJ
ajst-30187	90	38	when	when	SCONJ
ajst-30187	90	39	swung	swing	VERB
ajst-30187	90	40	into	into	ADP
ajst-30187	90	41	place	place	NOUN
ajst-30187	90	42	,	,	PUNCT
ajst-30187	90	43	its	its	PRON
ajst-30187	90	44	angular	angular	ADJ
ajst-30187	90	45	positioning	positioning	NOUN
ajst-30187	90	46	is	be	AUX
ajst-30187	90	47	ensured	ensure	VERB
ajst-30187	90	48	by	by	ADP
ajst-30187	90	49	the	the	DET
ajst-30187	90	50	two	two	NUM
ajst-30187	90	51	-	-	PUNCT
ajst-30187	90	52	way	way	NOUN
ajst-30187	90	53	hydraulic	hydraulic	ADJ
ajst-30187	90	54	lock	lock	NOUN
ajst-30187	90	55	17	17	NUM
ajst-30187	90	56	.	.	PUNCT
ajst-30187	91	1	the	the	DET
ajst-30187	91	2	small	small	ADJ
ajst-30187	91	3	arm	arm	NOUN
ajst-30187	91	4	small	small	ADJ
ajst-30187	91	5	arm	arm	NOUN
ajst-30187	91	6	hydraulic	hydraulic	ADJ
ajst-30187	91	7	cylinder	cylinder	NOUN
ajst-30187	91	8	swings	swing	NOUN
ajst-30187	91	9	around	around	ADP
ajst-30187	91	10	the	the	DET
ajst-30187	91	11	big	big	ADJ
ajst-30187	91	12	arm	arm	NOUN
ajst-30187	91	13	under	under	ADP
ajst-30187	91	14	the	the	DET
ajst-30187	91	15	drive	drive	NOUN
ajst-30187	91	16	of	of	ADP
ajst-30187	91	17	the	the	PRON
ajst-30187	91	18	,	,	PUNCT
ajst-30187	91	19	with	with	ADP
ajst-30187	91	20	a	a	DET
ajst-30187	91	21	maximum	maximum	ADJ
ajst-30187	91	22	swing	swing	NOUN
ajst-30187	91	23	angle	angle	NOUN
ajst-30187	91	24	of	of	ADP
ajst-30187	91	25	22	22	NUM
ajst-30187	91	26	of	of	ADP
ajst-30187	91	27	90	90	NUM
ajst-30187	91	28	°	°	NUM
ajst-30187	91	29	and	and	CCONJ
ajst-30187	91	30	a	a	DET
ajst-30187	91	31	maximum	maximum	ADJ
ajst-30187	91	32	stroke	stroke	NOUN
ajst-30187	91	33	of	of	ADP
ajst-30187	91	34	1768	1768	NUM
ajst-30187	91	35	mm	mm	PROPN
ajst-30187	91	36	,	,	PUNCT
ajst-30187	91	37	and	and	CCONJ
ajst-30187	91	38	its	its	PRON
ajst-30187	91	39	angular	angular	ADJ
ajst-30187	91	40	positioning	positioning	NOUN
ajst-30187	91	41	is	be	AUX
ajst-30187	91	42	ensured	ensure	VERB
ajst-30187	91	43	by	by	ADP
ajst-30187	91	44	the	the	DET
ajst-30187	91	45	bidirectional	bidirectional	ADJ
ajst-30187	91	46	hydraulic	hydraulic	ADJ
ajst-30187	91	47	lock	lock	NOUN
ajst-30187	91	48	when	when	SCONJ
ajst-30187	91	49	it	it	PRON
ajst-30187	91	50	swings	swing	VERB
ajst-30187	91	51	into	into	ADP
ajst-30187	91	52	place	place	NOUN
ajst-30187	91	53	21	21	NUM
ajst-30187	91	54	.	.	PUNCT
ajst-30187	92	1	the	the	DET
ajst-30187	92	2	hydraulic	hydraulic	ADJ
ajst-30187	92	3	cylinder	cylinder	NOUN
ajst-30187	92	4	of	of	ADP
ajst-30187	92	5	the	the	DET
ajst-30187	92	6	gripping	grip	VERB
ajst-30187	92	7	arm	arm	NOUN
ajst-30187	92	8	rotates	rotate	VERB
ajst-30187	92	9	hydraulic	hydraulic	ADJ
ajst-30187	92	10	motor	motor	NOUN
ajst-30187	92	11	the	the	DET
ajst-30187	92	12	gripping	gripping	ADJ
ajst-30187	92	13	arm	arm	NOUN
ajst-30187	92	14	slewing	slew	VERB
ajst-30187	92	15	the	the	DET
ajst-30187	92	16	drive	drive	NOUN
ajst-30187	92	17	of	of	ADP
ajst-30187	92	18	the	the	PRON
ajst-30187	92	19	,	,	PUNCT
ajst-30187	92	20	and	and	CCONJ
ajst-30187	92	21	its	its	PRON
ajst-30187	92	22	maximum	maximum	ADJ
ajst-30187	92	23	angle	angle	NOUN
ajst-30187	92	24	of	of	ADP
ajst-30187	92	25	rotation	rotation	NOUN
ajst-30187	92	26	is	be	AUX
ajst-30187	92	27	26	26	NUM
ajst-30187	92	28	of	of	ADP
ajst-30187	92	29	360	360	NUM
ajst-30187	92	30	°	°	NOUN
ajst-30187	92	31	,	,	PUNCT
ajst-30187	92	32	and	and	CCONJ
ajst-30187	92	33	when	when	SCONJ
ajst-30187	92	34	it	it	PRON
ajst-30187	92	35	rotates	rotate	VERB
ajst-30187	92	36	in	in	ADP
ajst-30187	92	37	place	place	NOUN
ajst-30187	92	38	,	,	PUNCT
ajst-30187	92	39	the	the	DET
ajst-30187	92	40	positioning	positioning	NOUN
ajst-30187	92	41	of	of	ADP
ajst-30187	92	42	its	its	PRON
ajst-30187	92	43	angle	angle	NOUN
ajst-30187	92	44	is	be	AUX
ajst-30187	92	45	ensured	ensure	VERB
ajst-30187	92	46	by	by	ADP
ajst-30187	92	47	the	the	DET
ajst-30187	92	48	two	two	NUM
ajst-30187	92	49	-	-	PUNCT
ajst-30187	92	50	way	way	NOUN
ajst-30187	92	51	hydraulic	hydraulic	ADJ
ajst-30187	92	52	lock	lock	NOUN
ajst-30187	92	53	25	25	NUM
ajst-30187	92	54	.	.	PUNCT
ajst-30187	93	1	each	each	PRON
ajst-30187	93	2	of	of	ADP
ajst-30187	93	3	the	the	DET
ajst-30187	93	4	above	above	ADJ
ajst-30187	93	5	actuating	actuate	VERB
ajst-30187	93	6	elements	element	NOUN
ajst-30187	93	7	has	have	VERB
ajst-30187	93	8	a	a	DET
ajst-30187	93	9	throttle	throttle	NOUN
ajst-30187	93	10	valve	valve	NOUN
ajst-30187	93	11	member	member	NOUN
ajst-30187	93	12	,	,	PUNCT
ajst-30187	93	13	these	these	DET
ajst-30187	93	14	throttle	throttle	NOUN
ajst-30187	93	15	valves	valve	NOUN
ajst-30187	93	16	can	can	AUX
ajst-30187	93	17	be	be	AUX
ajst-30187	93	18	controlled	control	VERB
ajst-30187	93	19	by	by	ADP
ajst-30187	93	20	electromagnetic	electromagnetic	ADJ
ajst-30187	93	21	control	control	NOUN
ajst-30187	93	22	,	,	PUNCT
ajst-30187	93	23	in	in	ADP
ajst-30187	93	24	order	order	NOUN
ajst-30187	93	25	to	to	PART
ajst-30187	93	26	achieve	achieve	VERB
ajst-30187	93	27	remote	remote	ADJ
ajst-30187	93	28	control	control	NOUN
ajst-30187	93	29	of	of	ADP
ajst-30187	93	30	the	the	DET
ajst-30187	93	31	size	size	NOUN
ajst-30187	93	32	of	of	ADP
ajst-30187	93	33	the	the	DET
ajst-30187	93	34	flow	flow	NOUN
ajst-30187	93	35	rate	rate	NOUN
ajst-30187	93	36	,	,	PUNCT
ajst-30187	93	37	so	so	SCONJ
ajst-30187	93	38	as	as	SCONJ
ajst-30187	93	39	to	to	PART
ajst-30187	93	40	make	make	VERB
ajst-30187	93	41	the	the	DET
ajst-30187	93	42	action	action	NOUN
ajst-30187	93	43	of	of	ADP
ajst-30187	93	44	the	the	DET
ajst-30187	93	45	drive	drive	ADJ
ajst-30187	93	46	fluid	fluid	ADJ
ajst-30187	93	47	cylinder	cylinder	NOUN
ajst-30187	93	48	is	be	AUX
ajst-30187	93	49	controlled	control	VERB
ajst-30187	93	50	.	.	PUNCT
ajst-30187	94	1	4	4	X
ajst-30187	94	2	.	.	X
ajst-30187	94	3	kinematics	kinematic	NOUN
ajst-30187	94	4	and	and	CCONJ
ajst-30187	94	5	dynamics	dynamic	NOUN
ajst-30187	94	6	analysis	analysis	NOUN
ajst-30187	94	7	4.1	4.1	NUM
ajst-30187	94	8	.	.	PUNCT
ajst-30187	95	1	kinematic	kinematic	ADJ
ajst-30187	95	2	analysis	analysis	NOUN
ajst-30187	95	3	4.1.1	4.1.1	NUM
ajst-30187	95	4	.	.	PUNCT
ajst-30187	96	1	forward	forward	ADJ
ajst-30187	96	2	kinematics	kinematic	NOUN
ajst-30187	96	3	in	in	ADP
ajst-30187	96	4	order	order	NOUN
ajst-30187	96	5	to	to	PART
ajst-30187	96	6	establish	establish	VERB
ajst-30187	96	7	the	the	DET
ajst-30187	96	8	forward	forward	ADJ
ajst-30187	96	9	kinematic	kinematic	ADJ
ajst-30187	96	10	equations	equation	NOUN
ajst-30187	96	11	of	of	ADP
ajst-30187	96	12	the	the	DET
ajst-30187	96	13	four	four	NUM
ajst-30187	96	14	-	-	PUNCT
ajst-30187	96	15	degree	degree	NOUN
ajst-30187	96	16	-	-	PUNCT
ajst-30187	96	17	of	of	ADP
ajst-30187	96	18	-	-	PUNCT
ajst-30187	96	19	freedom	freedom	NOUN
ajst-30187	96	20	well	well	ADV
ajst-30187	96	21	dressing	dress	VERB
ajst-30187	96	22	machine	machine	NOUN
ajst-30187	96	23	robotic	robotic	ADJ
ajst-30187	96	24	arm	arm	NOUN
ajst-30187	96	25	,	,	PUNCT
ajst-30187	96	26	the	the	DET
ajst-30187	96	27	improved	improved	NOUN
ajst-30187	96	28	is	be	AUX
ajst-30187	96	29	used	use	VERB
ajst-30187	96	30	d	d	ADJ
ajst-30187	96	31	-	-	ADJ
ajst-30187	96	32	h	h	ADJ
ajst-30187	96	33	parametric	parametric	ADJ
ajst-30187	96	34	method	method	NOUN
ajst-30187	96	35	,	,	PUNCT
ajst-30187	96	36	and	and	CCONJ
ajst-30187	96	37	the	the	DET
ajst-30187	96	38	robotic	robotic	ADJ
ajst-30187	96	39	arm	arm	NOUN
ajst-30187	96	40	consists	consist	VERB
ajst-30187	96	41	of	of	ADP
ajst-30187	96	42	four	four	NUM
ajst-30187	96	43	rotary	rotary	ADJ
ajst-30187	96	44	joints	joint	NOUN
ajst-30187	96	45	,	,	PUNCT
ajst-30187	96	46	and	and	CCONJ
ajst-30187	96	47	the	the	DET
ajst-30187	96	48	structure	structure	NOUN
ajst-30187	96	49	includes	include	VERB
ajst-30187	96	50	the	the	DET
ajst-30187	96	51	base	base	NOUN
ajst-30187	96	52	rotation	rotation	NOUN
ajst-30187	96	53	,	,	PUNCT
ajst-30187	96	54	shoulder	shoulder	NOUN
ajst-30187	96	55	,	,	PUNCT
ajst-30187	96	56	elbow	elbow	NOUN
ajst-30187	96	57	and	and	CCONJ
ajst-30187	96	58	wrist	wrist	NOUN
ajst-30187	96	59	joints	joint	NOUN
ajst-30187	96	60	.	.	PUNCT
ajst-30187	97	1	fig.11	fig.11	PROPN
ajst-30187	97	2	shows	show	VERB
ajst-30187	97	3	the	the	DET
ajst-30187	97	4	schematic	schematic	ADJ
ajst-30187	97	5	diagram	diagram	NOUN
ajst-30187	97	6	of	of	ADP
ajst-30187	97	7	the	the	DET
ajst-30187	97	8	coordinate	coordinate	NOUN
ajst-30187	97	9	system	system	NOUN
ajst-30187	97	10	for	for	ADP
ajst-30187	97	11	the	the	DET
ajst-30187	97	12	motion	motion	NOUN
ajst-30187	97	13	analysis	analysis	NOUN
ajst-30187	97	14	of	of	ADP
ajst-30187	97	15	the	the	DET
ajst-30187	97	16	mechanical	mechanical	ADJ
ajst-30187	97	17	arm	arm	NOUN
ajst-30187	97	18	.	.	PUNCT
ajst-30187	98	1	figure	figure	NOUN
ajst-30187	98	2	11	11	NUM
ajst-30187	98	3	.	.	PUNCT
ajst-30187	99	1	schematic	schematic	ADJ
ajst-30187	99	2	diagram	diagram	NOUN
ajst-30187	99	3	of	of	ADP
ajst-30187	99	4	the	the	DET
ajst-30187	99	5	coordinate	coordinate	NOUN
ajst-30187	99	6	system	system	NOUN
ajst-30187	99	7	for	for	ADP
ajst-30187	99	8	robotic	robotic	ADJ
ajst-30187	99	9	arm	arm	NOUN
ajst-30187	99	10	motion	motion	NOUN
ajst-30187	99	11	analysis	analysis	NOUN
ajst-30187	99	12	total	total	ADJ
ajst-30187	99	13	transformation	transformation	NOUN
ajst-30187	99	14	matrix	matrix	NOUN
ajst-30187	99	15	and	and	CCONJ
ajst-30187	99	16	end	end	NOUN
ajst-30187	99	17	position	position	NOUN
ajst-30187	99	18	:	:	PUNCT
ajst-30187	99	19			NOUN
ajst-30187	100	1			SYM
ajst-30187	100	2			NOUN
ajst-30187	100	3			SYM
ajst-30187	100	4			NOUN
ajst-30187	100	5			SYM
ajst-30187	100	6			NOUN
ajst-30187	100	7			SYM
ajst-30187	100	8			NOUN
ajst-30187	100	9			PUNCT
ajst-30187	100	10			NOUN
ajst-30187	100	11			NOUN
ajst-30187	100	12	1	1	NUM
ajst-30187	100	13	1	1	NUM
ajst-30187	100	14	2	2	NUM
ajst-30187	100	15	2	2	NUM
ajst-30187	100	16	2	2	NUM
ajst-30187	100	17	3	3	NUM
ajst-30187	100	18	3	3	NUM
ajst-30187	100	19	2	2	NUM
ajst-30187	100	20	3	3	NUM
ajst-30187	100	21	4	4	NUM
ajst-30187	100	22	1	1	NUM
ajst-30187	100	23	1	1	NUM
ajst-30187	100	24	2	2	NUM
ajst-30187	100	25	2	2	NUM
ajst-30187	100	26	2	2	NUM
ajst-30187	100	27	3	3	NUM
ajst-30187	100	28	3	3	NUM
ajst-30187	100	29	2	2	NUM
ajst-30187	100	30	3	3	NUM
ajst-30187	100	31	4	4	NUM
ajst-30187	100	32	1	1	NUM
ajst-30187	100	33	1	1	NUM
ajst-30187	100	34	2	2	NUM
ajst-30187	100	35	2	2	NUM
ajst-30187	100	36	2	2	NUM
ajst-30187	100	37	3	3	NUM
ajst-30187	100	38	3	3	NUM
ajst-30187	100	39	2	2	NUM
ajst-30187	100	40	3	3	NUM
ajst-30187	100	41	4	4	NUM
ajst-30187	100	42	cos	cos	PROPN
ajst-30187	100	43	cos	cos	PROPN
ajst-30187	100	44	cos	cos	PROPN
ajst-30187	100	45	cos	cos	PROPN
ajst-30187	100	46	sin	sin	PROPN
ajst-30187	100	47	cos	cos	PROPN
ajst-30187	100	48	cos	cos	PROPN
ajst-30187	100	49	cos	cos	PROPN
ajst-30187	100	50	sin	sin	PROPN
ajst-30187	100	51	sin	sin	NOUN
ajst-30187	100	52	sin	sin	NOUN
ajst-30187	100	53	x	x	X
ajst-30187	100	54	l	l	NOUN
ajst-30187	100	55	l	l	X
ajst-30187	100	56	l	l	X
ajst-30187	101	1	y	y	NOUN
ajst-30187	101	2	l	l	NOUN
ajst-30187	101	3	l	l	X
ajst-30187	101	4	l	l	NOUN
ajst-30187	101	5	z	z	PUNCT
ajst-30187	101	6	d	d	NOUN
ajst-30187	101	7	l	l	NOUN
ajst-30187	101	8	l	l	X
ajst-30187	101	9	l	l	X
ajst-30187	101	10			X
ajst-30187	102	1			X
ajst-30187	102	2			PROPN
ajst-30187	102	3			PROPN
ajst-30187	102	4			X
ajst-30187	102	5			X
ajst-30187	102	6			X
ajst-30187	102	7			X
ajst-30187	102	8			X
ajst-30187	102	9			X
ajst-30187	102	10			X
ajst-30187	102	11			X
ajst-30187	102	12			X
ajst-30187	102	13			X
ajst-30187	102	14			X
ajst-30187	102	15			X
ajst-30187	102	16			X
ajst-30187	102	17			X
ajst-30187	102	18			PROPN
ajst-30187	102	19			PROPN
ajst-30187	102	20			X
ajst-30187	102	21			PROPN
ajst-30187	102	22			ADV
ajst-30187	102	23			PUNCT
ajst-30187	102	24			PUNCT
ajst-30187	102	25			PUNCT
ajst-30187	102	26			PROPN
ajst-30187	102	27			PROPN
ajst-30187	102	28			PROPN
ajst-30187	102	29			PROPN
ajst-30187	102	30			ADV
ajst-30187	102	31			PUNCT
ajst-30187	102	32			PUNCT
ajst-30187	102	33			PUNCT
ajst-30187	102	34			NUM
ajst-30187	102	35			PROPN
ajst-30187	102	36			PROPN
ajst-30187	102	37			PROPN
ajst-30187	102	38			NUM
ajst-30187	102	39			PROPN
ajst-30187	102	40			PROPN
ajst-30187	102	41			PUNCT
ajst-30187	102	42			PROPN
ajst-30187	102	43			PUNCT
ajst-30187	102	44			PUNCT
ajst-30187	102	45			PROPN
ajst-30187	102	46	(	(	PUNCT
ajst-30187	102	47	6	6	NUM
ajst-30187	102	48	)	)	PUNCT
ajst-30187	102	49	using	use	VERB
ajst-30187	102	50	matlab	matlab	PROPN
ajst-30187	102	51	to	to	PART
ajst-30187	102	52	solve	solve	VERB
ajst-30187	102	53	,	,	PUNCT
ajst-30187	102	54	the	the	DET
ajst-30187	102	55	as	as	ADP
ajst-30187	102	56	fig.12	fig.12	NOUN
ajst-30187	102	57	is	be	AUX
ajst-30187	102	58	obtained	obtain	VERB
ajst-30187	102	59	working	work	VERB
ajst-30187	102	60	space	space	NOUN
ajst-30187	102	61	schematic	schematic	ADJ
ajst-30187	102	62	of	of	ADP
ajst-30187	102	63	the	the	DET
ajst-30187	102	64	robotic	robotic	ADJ
ajst-30187	102	65	arm	arm	NOUN
ajst-30187	102	66	shown	show	VERB
ajst-30187	102	67	in	in	ADP
ajst-30187	102	68	,	,	PUNCT
ajst-30187	102	69	and	and	CCONJ
ajst-30187	102	70	the	the	DET
ajst-30187	102	71	limit	limit	NOUN
ajst-30187	102	72	position	position	NOUN
ajst-30187	102	73	of	of	ADP
ajst-30187	102	74	the	the	DET
ajst-30187	102	75	robotic	robotic	ADJ
ajst-30187	102	76	arm	arm	NOUN
ajst-30187	102	77	working	work	VERB
ajst-30187	102	78	is	be	AUX
ajst-30187	102	79	located	locate	VERB
ajst-30187	102	80	at	at	ADP
ajst-30187	102	81	x=0	x=0	PROPN
ajst-30187	102	82	mm	mm	PROPN
ajst-30187	102	83	,	,	PUNCT
ajst-30187	102	84	y=0	y=0	X
ajst-30187	102	85	mm	mm	PROPN
ajst-30187	102	86	,	,	PUNCT
ajst-30187	102	87	z=7000	z=7000	PROPN
ajst-30187	102	88	mm	mm	PROPN
ajst-30187	102	89	.	.	PUNCT
ajst-30187	102	90	figure	figure	NOUN
ajst-30187	102	91	12	12	NUM
ajst-30187	102	92	.	.	PUNCT
ajst-30187	103	1	schematic	schematic	ADJ
ajst-30187	103	2	diagram	diagram	NOUN
ajst-30187	103	3	of	of	ADP
ajst-30187	103	4	robotic	robotic	ADJ
ajst-30187	103	5	arm	arm	NOUN
ajst-30187	103	6	workspace	workspace	NOUN
ajst-30187	103	7	4.1.2	4.1.2	NUM
ajst-30187	103	8	.	.	PUNCT
ajst-30187	103	9	reverse	reverse	ADJ
ajst-30187	103	10	kinematics	kinematic	NOUN
ajst-30187	103	11	reverse	reverse	PROPN
ajst-30187	103	12	kinematics	kinematic	NOUN
ajst-30187	103	13	equations	equation	NOUN
ajst-30187	103	14	:	:	PUNCT
ajst-30187	103	15			NOUN
ajst-30187	103	16			SYM
ajst-30187	103	17			NOUN
ajst-30187	103	18			NOUN
ajst-30187	103	19	1	1	NUM
ajst-30187	103	20	2	2	NUM
ajst-30187	103	21	3	3	NUM
ajst-30187	103	22	2	2	NUM
ajst-30187	103	23	1	1	NUM
ajst-30187	103	24	2	2	NUM
ajst-30187	103	25	2	2	NUM
ajst-30187	103	26	2	2	NUM
ajst-30187	103	27	2	2	NUM
ajst-30187	103	28	2	2	NUM
ajst-30187	103	29	1	1	NUM
ajst-30187	103	30	2	2	NUM
ajst-30187	103	31	3	3	NUM
ajst-30187	103	32	1	1	NUM
ajst-30187	103	33	2	2	NUM
ajst-30187	103	34	'	'	NUM
ajst-30187	103	35	4	4	NUM
ajst-30187	103	36	2	2	NUM
ajst-30187	103	37	3	3	NUM
ajst-30187	103	38	arctan	arctan	PROPN
ajst-30187	103	39	2	2	NUM
ajst-30187	103	40	,	,	PUNCT
ajst-30187	103	41	sin	sin	PROPN
ajst-30187	103	42	arctan	arctan	PROPN
ajst-30187	103	43	cos	cos	PROPN
ajst-30187	103	44	arccos	arccos	PROPN
ajst-30187	103	45	2	2	NUM
ajst-30187	103	46	arctan	arctan	PROPN
ajst-30187	103	47	y	y	PROPN
ajst-30187	103	48	x	x	PUNCT
ajst-30187	103	49	l	l	NOUN
ajst-30187	103	50	l	l	X
ajst-30187	103	51	l	l	PUNCT
ajst-30187	103	52	d	d	X
ajst-30187	103	53	l	l	NOUN
ajst-30187	103	54	l	l	NOUN
ajst-30187	103	55	l	l	X
ajst-30187	103	56	l	l	NOUN
ajst-30187	103	57	z	z	NOUN
ajst-30187	103	58	r	r	NOUN
ajst-30187	103	59			NOUN
ajst-30187	103	60			NOUN
ajst-30187	103	61			NOUN
ajst-30187	103	62			X
ajst-30187	103	63			X
ajst-30187	103	64			PROPN
ajst-30187	103	65			PROPN
ajst-30187	103	66			PROPN
ajst-30187	103	67			PROPN
ajst-30187	103	68			NUM
ajst-30187	103	69			NOUN
ajst-30187	103	70			VERB
ajst-30187	104	1			NUM
ajst-30187	104	2			PROPN
ajst-30187	104	3			PROPN
ajst-30187	104	4			NUM
ajst-30187	104	5			CCONJ
ajst-30187	104	6			PROPN
ajst-30187	104	7			NUM
ajst-30187	104	8			NOUN
ajst-30187	104	9			ADJ
ajst-30187	104	10			PROPN
ajst-30187	104	11			NOUN
ajst-30187	104	12			PROPN
ajst-30187	104	13			PROPN
ajst-30187	105	1			ADV
ajst-30187	105	2			ADJ
ajst-30187	105	3			NUM
ajst-30187	105	4			NUM
ajst-30187	105	5			PROPN
ajst-30187	105	6			PROPN
ajst-30187	105	7			PROPN
ajst-30187	105	8			PROPN
ajst-30187	105	9	(	(	PUNCT
ajst-30187	105	10	7	7	X
ajst-30187	105	11	)	)	PUNCT
ajst-30187	105	12	using	use	VERB
ajst-30187	105	13	matlab	matlab	PROPN
ajst-30187	105	14	to	to	PART
ajst-30187	105	15	solve	solve	VERB
ajst-30187	105	16	the	the	DET
ajst-30187	105	17	problem	problem	NOUN
ajst-30187	105	18	,	,	PUNCT
ajst-30187	105	19	with	with	ADP
ajst-30187	105	20	the	the	DET
ajst-30187	105	21	robotic	robotic	ADJ
ajst-30187	105	22	arm	arm	NOUN
ajst-30187	105	23	working	work	VERB
ajst-30187	105	24	at	at	ADP
ajst-30187	105	25	the	the	DET
ajst-30187	105	26	limit	limit	NOUN
ajst-30187	105	27	positions	position	NOUN
ajst-30187	105	28	x=0	x=0	PROPN
ajst-30187	105	29	mm	mm	PROPN
ajst-30187	105	30	,	,	PUNCT
ajst-30187	105	31	y=0	y=0	NOUN
ajst-30187	105	32	mm	mm	PROPN
ajst-30187	105	33	,	,	PUNCT
ajst-30187	105	34	and	and	CCONJ
ajst-30187	105	35	z=7000	z=7000	NUM
ajst-30187	105	36	mm	mm	NOUN
ajst-30187	105	37	with	with	ADP
ajst-30187	105	38	the	the	DET
ajst-30187	105	39	joint	joint	ADJ
ajst-30187	105	40	angles	angle	NOUN
ajst-30187	105	41	1	1	NUM
ajst-30187	105	42	0	0	NOUN
ajst-30187	106	1			NUM
ajst-30187	107	1			PROPN
ajst-30187	107	2	,	,	PUNCT
ajst-30187	107	3	2	2	NUM
ajst-30187	107	4	0	0	NOUN
ajst-30187	108	1			NUM
ajst-30187	108	2			PROPN
ajst-30187	108	3	,	,	PUNCT
ajst-30187	108	4	3	3	NUM
ajst-30187	108	5	0	0	NOUN
ajst-30187	109	1			NUM
ajst-30187	109	2			PROPN
ajst-30187	109	3	,	,	PUNCT
ajst-30187	109	4	and	and	CCONJ
ajst-30187	109	5	4	4	NUM
ajst-30187	109	6	0	0	NOUN
ajst-30187	110	1			NUM
ajst-30187	111	1			PROPN
ajst-30187	111	2	.	.	PUNCT
ajst-30187	112	1	modify	modify	VERB
ajst-30187	112	2	the	the	DET
ajst-30187	112	3	target	target	NOUN
ajst-30187	112	4	position	position	NOUN
ajst-30187	112	5	for	for	ADP
ajst-30187	112	6	sensitivity	sensitivity	NOUN
ajst-30187	112	7	analysis	analysis	NOUN
ajst-30187	112	8	,	,	PUNCT
ajst-30187	112	9	input	input	NOUN
ajst-30187	112	10	when	when	SCONJ
ajst-30187	112	11	,	,	PUNCT
ajst-30187	112	12	we	we	PRON
ajst-30187	112	13	get	get	VERB
ajst-30187	112	14	the	the	PRON
ajst-30187	112	15	as	as	ADP
ajst-30187	112	16	fig.13	fig.13	VERB
ajst-30187	112	17	at	at	ADP
ajst-30187	112	18	x=10	x=10	PROPN
ajst-30187	112	19	mm	mm	PROPN
ajst-30187	112	20	,	,	PUNCT
ajst-30187	112	21	y=10	y=10	PROPN
ajst-30187	112	22	mm	mm	PROPN
ajst-30187	112	23	,	,	PUNCT
ajst-30187	112	24	z=6990	z=6990	NOUN
ajst-30187	112	25	mm	mm	NUM
ajst-30187	112	26	reverse	reverse	ADJ
ajst-30187	112	27	kinematics	kinematic	NOUN
ajst-30187	112	28	sensitivity	sensitivity	NOUN
ajst-30187	112	29	analysis	analysis	NOUN
ajst-30187	112	30	schematic	schematic	ADJ
ajst-30187	112	31	of	of	ADP
ajst-30187	112	32	the	the	DET
ajst-30187	112	33	robotic	robotic	ADJ
ajst-30187	112	34	arm	arm	NOUN
ajst-30187	112	35	shown	show	VERB
ajst-30187	112	36	in	in	ADP
ajst-30187	112	37	,	,	PUNCT
ajst-30187	112	38	with	with	ADP
ajst-30187	112	39	the	the	DET
ajst-30187	112	40	joint	joint	ADJ
ajst-30187	112	41	angles	angle	NOUN
ajst-30187	112	42	of	of	ADP
ajst-30187	112	43	respectively	respectively	ADV
ajst-30187	112	44	1	1	NUM
ajst-30187	112	45	45	45	NUM
ajst-30187	113	1			NUM
ajst-30187	113	2			X
ajst-30187	113	3	,	,	PUNCT
ajst-30187	113	4	2	2	NUM
ajst-30187	113	5	79.9	79.9	NUM
ajst-30187	113	6			NUM
ajst-30187	113	7			PROPN
ajst-30187	113	8	,	,	PUNCT
ajst-30187	113	9	3	3	NUM
ajst-30187	113	10	4.4	4.4	NUM
ajst-30187	113	11			NOUN
ajst-30187	113	12			NOUN
ajst-30187	113	13	,	,	PUNCT
ajst-30187	113	14	4	4	NUM
ajst-30187	113	15	9.9	9.9	NUM
ajst-30187	113	16			NUM
ajst-30187	113	17			PROPN
ajst-30187	113	18	.	.	PUNCT
ajst-30187	114	1	figure	figure	VERB
ajst-30187	114	2	13	13	NUM
ajst-30187	114	3	.	.	PUNCT
ajst-30187	115	1	schematic	schematic	ADJ
ajst-30187	115	2	diagram	diagram	NOUN
ajst-30187	115	3	of	of	ADP
ajst-30187	115	4	reverse	reverse	ADJ
ajst-30187	115	5	kinematics	kinematic	NOUN
ajst-30187	115	6	sensitivity	sensitivity	NOUN
ajst-30187	115	7	analysis	analysis	NOUN
ajst-30187	115	8	of	of	ADP
ajst-30187	115	9	the	the	DET
ajst-30187	115	10	robotic	robotic	ADJ
ajst-30187	115	11	arm	arm	NOUN
ajst-30187	115	12	4.2	4.2	NUM
ajst-30187	115	13	.	.	PUNCT
ajst-30187	116	1	dynamics	dynamic	NOUN
ajst-30187	116	2	analysis	analysis	NOUN
ajst-30187	116	3	establishing	establish	VERB
ajst-30187	116	4	the	the	DET
ajst-30187	116	5	kinetic	kinetic	ADJ
ajst-30187	116	6	equations	equation	NOUN
ajst-30187	116	7	of	of	ADP
ajst-30187	116	8	a	a	DET
ajst-30187	116	9	well	well	ADV
ajst-30187	116	10	dressing	dress	VERB
ajst-30187	116	11	machine	machine	NOUN
ajst-30187	116	12	's	's	PART
ajst-30187	116	13	robotic	robotic	ADJ
ajst-30187	116	14	arm	arm	NOUN
ajst-30187	116	15	requires	require	VERB
ajst-30187	116	16	describing	describe	VERB
ajst-30187	116	17	the	the	DET
ajst-30187	116	18	relationship	relationship	NOUN
ajst-30187	116	19	123	123	NUM
ajst-30187	116	20	between	between	ADP
ajst-30187	116	21	the	the	DET
ajst-30187	116	22	joint	joint	ADJ
ajst-30187	116	23	moments	moment	NOUN
ajst-30187	116	24	and	and	CCONJ
ajst-30187	116	25	the	the	DET
ajst-30187	116	26	motion	motion	NOUN
ajst-30187	116	27	(	(	PUNCT
ajst-30187	116	28	position	position	NOUN
ajst-30187	116	29	,	,	PUNCT
ajst-30187	116	30	velocity	velocity	NOUN
ajst-30187	116	31	,	,	PUNCT
ajst-30187	116	32	acceleration	acceleration	NOUN
ajst-30187	116	33	)	)	PUNCT
ajst-30187	116	34	of	of	ADP
ajst-30187	116	35	the	the	DET
ajst-30187	116	36	robotic	robotic	ADJ
ajst-30187	116	37	arm	arm	NOUN
ajst-30187	116	38	,	,	PUNCT
ajst-30187	116	39	which	which	PRON
ajst-30187	116	40	is	be	AUX
ajst-30187	116	41	usually	usually	ADV
ajst-30187	116	42	done	do	VERB
ajst-30187	116	43	by	by	ADP
ajst-30187	116	44	using	use	VERB
ajst-30187	116	45	either	either	CCONJ
ajst-30187	116	46	the	the	DET
ajst-30187	116	47	joseph	joseph	PROPN
ajst-30187	116	48	-	-	PUNCT
ajst-30187	116	49	louis	louis	PROPN
ajst-30187	116	50	lagrange	lagrange	NOUN
ajst-30187	116	51	method	method	NOUN
ajst-30187	116	52	or	or	CCONJ
ajst-30187	116	53	the	the	DET
ajst-30187	116	54	newton	newton	PROPN
ajst-30187	116	55	-	-	PUNCT
ajst-30187	116	56	euler	euler	NOUN
ajst-30187	116	57	method	method	NOUN
ajst-30187	116	58	.	.	PUNCT
ajst-30187	117	1	the	the	DET
ajst-30187	117	2	following	follow	VERB
ajst-30187	117	3	detailed	detailed	ADJ
ajst-30187	117	4	derivation	derivation	NOUN
ajst-30187	117	5	procedure	procedure	NOUN
ajst-30187	117	6	is	be	AUX
ajst-30187	117	7	based	base	VERB
ajst-30187	117	8	on	on	ADP
ajst-30187	117	9	the	the	DET
ajst-30187	117	10	joseph	joseph	PROPN
ajst-30187	117	11	-	-	PUNCT
ajst-30187	117	12	louis	louis	PROPN
ajst-30187	117	13	lagrange	lagrange	NOUN
ajst-30187	117	14	method	method	NOUN
ajst-30187	117	15	:	:	PUNCT
ajst-30187	117	16	for	for	ADP
ajst-30187	117	17	the	the	DET
ajst-30187	117	18	robotic	robotic	ADJ
ajst-30187	117	19	arm	arm	NOUN
ajst-30187	117	20	,	,	PUNCT
ajst-30187	117	21	the	the	DET
ajst-30187	117	22	equation	equation	NOUN
ajst-30187	117	23	takes	take	VERB
ajst-30187	117	24	the	the	DET
ajst-30187	117	25	form	form	NOUN
ajst-30187	117	26	:	:	PUNCT
ajst-30187	117	27	1	1	NUM
ajst-30187	117	28	11	11	NUM
ajst-30187	117	29	12	12	NUM
ajst-30187	117	30	13	13	NUM
ajst-30187	117	31	141	141	NUM
ajst-30187	117	32	1	1	NUM
ajst-30187	117	33	1	1	NUM
ajst-30187	117	34	21	21	NUM
ajst-30187	117	35	22	22	NUM
ajst-30187	117	36	23	23	NUM
ajst-30187	117	37	242	242	NUM
ajst-30187	117	38	2	2	NUM
ajst-30187	117	39	2	2	NUM
ajst-30187	117	40	2	2	NUM
ajst-30187	117	41	31	31	NUM
ajst-30187	117	42	32	32	NUM
ajst-30187	117	43	33	33	NUM
ajst-30187	117	44	343	343	NUM
ajst-30187	117	45	3	3	NUM
ajst-30187	117	46	3	3	NUM
ajst-30187	117	47	3	3	NUM
ajst-30187	117	48	41	41	NUM
ajst-30187	117	49	42	42	NUM
ajst-30187	117	50	43	43	NUM
ajst-30187	117	51	444	444	NUM
ajst-30187	117	52	4	4	NUM
ajst-30187	117	53	4	4	NUM
ajst-30187	117	54	4	4	NUM
ajst-30187	117	55	m	m	NOUN
ajst-30187	117	56	m	m	VERB
ajst-30187	117	57	m	m	VERB
ajst-30187	117	58	m	m	VERB
ajst-30187	117	59	c	c	NOUN
ajst-30187	117	60	g	g	PROPN
ajst-30187	117	61	m	m	PROPN
ajst-30187	117	62	m	m	VERB
ajst-30187	117	63	m	m	VERB
ajst-30187	117	64	m	m	VERB
ajst-30187	117	65	c	c	NOUN
ajst-30187	117	66	g	g	PROPN
ajst-30187	117	67	m	m	PROPN
ajst-30187	117	68	m	m	VERB
ajst-30187	117	69	m	m	VERB
ajst-30187	117	70	m	m	VERB
ajst-30187	117	71	c	c	NOUN
ajst-30187	117	72	g	g	PROPN
ajst-30187	117	73	m	m	PROPN
ajst-30187	117	74	m	m	VERB
ajst-30187	117	75	m	m	VERB
ajst-30187	117	76	m	m	VERB
ajst-30187	117	77	c	c	NOUN
ajst-30187	117	78	g	g	ADP
ajst-30187	117	79			PROPN
ajst-30187	117	80			PROPN
ajst-30187	117	81			PROPN
ajst-30187	117	82			PROPN
ajst-30187	117	83			PROPN
ajst-30187	117	84			PROPN
ajst-30187	117	85			PROPN
ajst-30187	117	86			PROPN
ajst-30187	117	87			ADJ
ajst-30187	117	88			X
ajst-30187	117	89			PROPN
ajst-30187	117	90			PROPN
ajst-30187	117	91			INTJ
ajst-30187	117	92			PROPN
ajst-30187	117	93			ADJ
ajst-30187	117	94			PROPN
ajst-30187	117	95			ADJ
ajst-30187	117	96			NOUN
ajst-30187	117	97			PROPN
ajst-30187	117	98			PROPN
ajst-30187	117	99			PROPN
ajst-30187	117	100			PROPN
ajst-30187	117	101			NOUN
ajst-30187	117	102			NOUN
ajst-30187	117	103			NOUN
ajst-30187	117	104			NOUN
ajst-30187	117	105			NOUN
ajst-30187	117	106			NOUN
ajst-30187	117	107			PROPN
ajst-30187	117	108			PROPN
ajst-30187	117	109			PROPN
ajst-30187	117	110			NOUN
ajst-30187	117	111			PROPN
ajst-30187	117	112			ADV
ajst-30187	117	113			PROPN
ajst-30187	117	114			PROPN
ajst-30187	117	115			NOUN
ajst-30187	117	116			PROPN
ajst-30187	117	117			NOUN
ajst-30187	117	118			NOUN
ajst-30187	117	119			NOUN
ajst-30187	117	120			NOUN
ajst-30187	117	121			NOUN
ajst-30187	117	122			NOUN
ajst-30187	117	123			NOUN
ajst-30187	117	124			PROPN
ajst-30187	117	125			PROPN
ajst-30187	117	126			NOUN
ajst-30187	117	127			NOUN
ajst-30187	117	128			NOUN
ajst-30187	117	129			NOUN
ajst-30187	117	130			PROPN
ajst-30187	117	131			PROPN
ajst-30187	117	132			VERB
ajst-30187	117	133			PROPN
ajst-30187	117	134			VERB
ajst-30187	117	135			PROPN
ajst-30187	117	136			PROPN
ajst-30187	117	137			NOUN
ajst-30187	117	138			PROPN
ajst-30187	117	139			PROPN
ajst-30187	117	140			PUNCT
ajst-30187	117	141			PRON
ajst-30187	117	142			PRON
ajst-30187	117	143			PRON
ajst-30187	117	144	(	(	PUNCT
ajst-30187	117	145	8)	8)	NUM
ajst-30187	117	146	the	the	DET
ajst-30187	117	147	complete	complete	ADJ
ajst-30187	117	148	dynamic	dynamic	ADJ
ajst-30187	117	149	equations	equation	NOUN
ajst-30187	117	150	of	of	ADP
ajst-30187	117	151	the	the	DET
ajst-30187	117	152	mechanical	mechanical	ADJ
ajst-30187	117	153	arm	arm	NOUN
ajst-30187	117	154	of	of	ADP
ajst-30187	117	155	the	the	DET
ajst-30187	117	156	well	well	ADV
ajst-30187	117	157	dressing	dress	VERB
ajst-30187	117	158	machine	machine	NOUN
ajst-30187	117	159	were	be	AUX
ajst-30187	117	160	established	establish	VERB
ajst-30187	117	161	by	by	ADP
ajst-30187	117	162	the	the	DET
ajst-30187	117	163	josephlouis	josephlouis	PROPN
ajst-30187	117	164	lagrange	lagrange	PROPN
ajst-30187	117	165	method	method	NOUN
ajst-30187	117	166	,	,	PUNCT
ajst-30187	117	167	revealing	reveal	VERB
ajst-30187	117	168	the	the	DET
ajst-30187	117	169	nonlinear	nonlinear	ADJ
ajst-30187	117	170	relationship	relationship	NOUN
ajst-30187	117	171	between	between	ADP
ajst-30187	117	172	the	the	DET
ajst-30187	117	173	joint	joint	ADJ
ajst-30187	117	174	moments	moment	NOUN
ajst-30187	117	175	and	and	CCONJ
ajst-30187	117	176	the	the	DET
ajst-30187	117	177	state	state	NOUN
ajst-30187	117	178	of	of	ADP
ajst-30187	117	179	motion	motion	NOUN
ajst-30187	117	180	.	.	PUNCT
ajst-30187	118	1	figure	figure	NOUN
ajst-30187	118	2	14	14	NUM
ajst-30187	118	3	.	.	PUNCT
ajst-30187	119	1	schematic	schematic	ADJ
ajst-30187	119	2	diagram	diagram	NOUN
ajst-30187	119	3	of	of	ADP
ajst-30187	119	4	robotic	robotic	ADJ
ajst-30187	119	5	arm	arm	NOUN
ajst-30187	119	6	dynamics	dynamic	NOUN
ajst-30187	119	7	moment	moment	VERB
ajst-30187	119	8	analysis	analysis	NOUN
ajst-30187	119	9	5	5	NUM
ajst-30187	119	10	.	.	PUNCT
ajst-30187	120	1	conclusion	conclusion	NOUN
ajst-30187	120	2	(	(	PUNCT
ajst-30187	120	3	1	1	X
ajst-30187	120	4	)	)	PUNCT
ajst-30187	120	5	the	the	DET
ajst-30187	120	6	well	well	ADV
ajst-30187	120	7	trimmer	trimmer	NOUN
ajst-30187	120	8	tubing	tubing	NOUN
ajst-30187	120	9	grabber	grabber	NOUN
ajst-30187	120	10	arm	arm	NOUN
ajst-30187	120	11	meets	meet	VERB
ajst-30187	120	12	the	the	DET
ajst-30187	120	13	structural	structural	ADJ
ajst-30187	120	14	feature	feature	NOUN
ajst-30187	120	15	requirements	requirement	NOUN
ajst-30187	120	16	of	of	ADP
ajst-30187	120	17	a	a	DET
ajst-30187	120	18	vehicle	vehicle	NOUN
ajst-30187	120	19	-	-	PUNCT
ajst-30187	120	20	mounted	mount	VERB
ajst-30187	120	21	well	well	NOUN
ajst-30187	120	22	trimmer	trimmer	NOUN
ajst-30187	120	23	and	and	CCONJ
ajst-30187	120	24	is	be	AUX
ajst-30187	120	25	mounted	mount	VERB
ajst-30187	120	26	as	as	ADP
ajst-30187	120	27	an	an	DET
ajst-30187	120	28	assembly	assembly	NOUN
ajst-30187	120	29	on	on	ADP
ajst-30187	120	30	the	the	DET
ajst-30187	120	31	well	well	NOUN
ajst-30187	120	32	trimmer	trimmer	NOUN
ajst-30187	120	33	derrick	derrick	PROPN
ajst-30187	120	34	.	.	PUNCT
ajst-30187	121	1	(	(	PUNCT
ajst-30187	121	2	2	2	X
ajst-30187	121	3	)	)	PUNCT
ajst-30187	121	4	the	the	DET
ajst-30187	121	5	well	well	ADV
ajst-30187	121	6	dressing	dress	VERB
ajst-30187	121	7	machine	machine	NOUN
ajst-30187	121	8	gripping	grip	VERB
ajst-30187	121	9	mechanical	mechanical	ADJ
ajst-30187	121	10	arm	arm	NOUN
ajst-30187	121	11	cooperates	cooperate	VERB
ajst-30187	121	12	with	with	ADP
ajst-30187	121	13	the	the	DET
ajst-30187	121	14	automated	automate	VERB
ajst-30187	121	15	pipe	pipe	NOUN
ajst-30187	121	16	rack	rack	NOUN
ajst-30187	121	17	,	,	PUNCT
ajst-30187	121	18	which	which	PRON
ajst-30187	121	19	improves	improve	VERB
ajst-30187	121	20	the	the	DET
ajst-30187	121	21	efficiency	efficiency	NOUN
ajst-30187	121	22	of	of	ADP
ajst-30187	121	23	the	the	DET
ajst-30187	121	24	well	well	ADV
ajst-30187	121	25	dressing	dressing	NOUN
ajst-30187	121	26	operation	operation	NOUN
ajst-30187	121	27	,	,	PUNCT
ajst-30187	121	28	reduces	reduce	VERB
ajst-30187	121	29	the	the	DET
ajst-30187	121	30	labor	labor	NOUN
ajst-30187	121	31	intensity	intensity	NOUN
ajst-30187	121	32	of	of	ADP
ajst-30187	121	33	the	the	DET
ajst-30187	121	34	workers	worker	NOUN
ajst-30187	121	35	,	,	PUNCT
ajst-30187	121	36	and	and	CCONJ
ajst-30187	121	37	improves	improve	VERB
ajst-30187	121	38	the	the	DET
ajst-30187	121	39	safety	safety	NOUN
ajst-30187	121	40	of	of	ADP
ajst-30187	121	41	the	the	DET
ajst-30187	121	42	field	field	NOUN
ajst-30187	121	43	operation	operation	NOUN
ajst-30187	121	44	;	;	PUNCT
ajst-30187	121	45	(	(	PUNCT
ajst-30187	121	46	3	3	X
ajst-30187	121	47	)	)	PUNCT
ajst-30187	121	48	the	the	DET
ajst-30187	121	49	device	device	NOUN
ajst-30187	121	50	is	be	AUX
ajst-30187	121	51	driven	drive	VERB
ajst-30187	121	52	by	by	ADP
ajst-30187	121	53	a	a	DET
ajst-30187	121	54	hydraulic	hydraulic	ADJ
ajst-30187	121	55	system	system	NOUN
ajst-30187	121	56	,	,	PUNCT
ajst-30187	121	57	directly	directly	ADV
ajst-30187	121	58	connected	connect	VERB
ajst-30187	121	59	to	to	ADP
ajst-30187	121	60	the	the	DET
ajst-30187	121	61	hydraulic	hydraulic	ADJ
ajst-30187	121	62	station	station	NOUN
ajst-30187	121	63	of	of	ADP
ajst-30187	121	64	the	the	DET
ajst-30187	121	65	well	well	ADV
ajst-30187	121	66	dressing	dress	VERB
ajst-30187	121	67	machine	machine	NOUN
ajst-30187	121	68	,	,	PUNCT
ajst-30187	121	69	and	and	CCONJ
ajst-30187	121	70	with	with	ADP
ajst-30187	121	71	the	the	DET
ajst-30187	121	72	hydraulic	hydraulic	ADJ
ajst-30187	121	73	sensor	sensor	NOUN
ajst-30187	121	74	,	,	PUNCT
ajst-30187	121	75	the	the	DET
ajst-30187	121	76	centering	centering	NOUN
ajst-30187	121	77	is	be	AUX
ajst-30187	121	78	accurate	accurate	ADJ
ajst-30187	121	79	,	,	PUNCT
ajst-30187	121	80	fast	fast	ADJ
ajst-30187	121	81	and	and	CCONJ
ajst-30187	121	82	stable	stable	ADJ
ajst-30187	121	83	during	during	ADP
ajst-30187	121	84	operation	operation	NOUN
ajst-30187	121	85	;	;	PUNCT
ajst-30187	121	86	(	(	PUNCT
ajst-30187	121	87	4	4	X
ajst-30187	121	88	)	)	PUNCT
ajst-30187	121	89	the	the	DET
ajst-30187	121	90	design	design	NOUN
ajst-30187	121	91	of	of	ADP
ajst-30187	121	92	the	the	DET
ajst-30187	121	93	tubing	tubing	NOUN
ajst-30187	121	94	grasping	grasp	VERB
ajst-30187	121	95	mechanical	mechanical	ADJ
ajst-30187	121	96	arm	arm	NOUN
ajst-30187	121	97	of	of	ADP
ajst-30187	121	98	the	the	DET
ajst-30187	121	99	well	well	ADV
ajst-30187	121	100	dressing	dress	VERB
ajst-30187	121	101	machine	machine	NOUN
ajst-30187	121	102	provides	provide	VERB
ajst-30187	121	103	technical	technical	ADJ
ajst-30187	121	104	support	support	NOUN
ajst-30187	121	105	for	for	ADP
ajst-30187	121	106	the	the	DET
ajst-30187	121	107	design	design	NOUN
ajst-30187	121	108	and	and	CCONJ
ajst-30187	121	109	application	application	NOUN
ajst-30187	121	110	of	of	ADP
ajst-30187	121	111	the	the	DET
ajst-30187	121	112	automated	automate	VERB
ajst-30187	121	113	and	and	CCONJ
ajst-30187	121	114	intelligent	intelligent	ADJ
ajst-30187	121	115	well	well	ADV
ajst-30187	121	116	dressing	dress	VERB
ajst-30187	121	117	machine	machine	NOUN
ajst-30187	121	118	.	.	PUNCT
ajst-30187	122	1	references	reference	NOUN
ajst-30187	122	2	[	[	X
ajst-30187	122	3	1	1	X
ajst-30187	122	4	]	]	X
ajst-30187	122	5	liu	liu	PROPN
ajst-30187	122	6	xingbang	xingbang	PROPN
ajst-30187	122	7	,	,	PUNCT
ajst-30187	122	8	zhang	zhang	PROPN
ajst-30187	122	9	hengcheng	hengcheng	PROPN
ajst-30187	122	10	,	,	PUNCT
ajst-30187	122	11	wang	wang	PROPN
ajst-30187	122	12	shikui	shikui	PROPN
ajst-30187	122	13	,	,	PUNCT
ajst-30187	122	14	et	et	PROPN
ajst-30187	122	15	al	al	PROPN
ajst-30187	122	16	.	.	PUNCT
ajst-30187	123	1	future	future	ADJ
ajst-30187	123	2	development	development	NOUN
ajst-30187	123	3	trend	trend	NOUN
ajst-30187	123	4	of	of	ADP
ajst-30187	123	5	onshore	onshore	NOUN
ajst-30187	123	6	well	well	ADV
ajst-30187	123	7	dressing	dress	VERB
ajst-30187	123	8	machine[j	machine[j	NOUN
ajst-30187	123	9	]	]	PUNCT
ajst-30187	123	10	.	.	PUNCT
ajst-30187	124	1	china	china	PROPN
ajst-30187	124	2	petroleum	petroleum	PROPN
ajst-30187	124	3	and	and	CCONJ
ajst-30187	124	4	chemical	chemical	NOUN
ajst-30187	124	5	standards	standard	NOUN
ajst-30187	124	6	and	and	CCONJ
ajst-30187	124	7	quality	quality	NOUN
ajst-30187	124	8	,	,	PUNCT
ajst-30187	124	9	2023	2023	NUM
ajst-30187	124	10	,	,	PUNCT
ajst-30187	124	11	43(6	43(6	NOUN
ajst-30187	124	12	):	):	PUNCT
ajst-30187	124	13	71	71	NUM
ajst-30187	124	14	-	-	SYM
ajst-30187	124	15	73	73	NUM
ajst-30187	124	16	.	.	PUNCT
ajst-30187	125	1	[	[	X
ajst-30187	125	2	2	2	NUM
ajst-30187	125	3	]	]	PUNCT
ajst-30187	125	4	wang	wang	PROPN
ajst-30187	125	5	shusen	shusen	PROPN
ajst-30187	125	6	,	,	PUNCT
ajst-30187	125	7	tian	tian	PROPN
ajst-30187	125	8	yan	yan	PROPN
ajst-30187	125	9	,	,	PUNCT
ajst-30187	125	10	zhu	zhu	PROPN
ajst-30187	125	11	jianxiang	jianxiang	PROPN
ajst-30187	125	12	.	.	PUNCT
ajst-30187	126	1	analysis	analysis	NOUN
ajst-30187	126	2	and	and	CCONJ
ajst-30187	126	3	research	research	NOUN
ajst-30187	126	4	on	on	ADP
ajst-30187	126	5	the	the	DET
ajst-30187	126	6	future	future	ADJ
ajst-30187	126	7	development	development	NOUN
ajst-30187	126	8	of	of	ADP
ajst-30187	126	9	vehicle	vehicle	NOUN
ajst-30187	126	10	-	-	PUNCT
ajst-30187	126	11	mounted	mount	VERB
ajst-30187	126	12	well	well	ADV
ajst-30187	126	13	dressing	dress	VERB
ajst-30187	126	14	machine[j	machine[j	NOUN
ajst-30187	126	15	]	]	PUNCT
ajst-30187	126	16	.	.	PUNCT
ajst-30187	127	1	china	china	PROPN
ajst-30187	127	2	equipment	equipment	PROPN
ajst-30187	127	3	engineering	engineering	NOUN
ajst-30187	127	4	,	,	PUNCT
ajst-30187	127	5	2021(11	2021(11	NUM
ajst-30187	127	6	):	):	PUNCT
ajst-30187	127	7	39	39	NUM
ajst-30187	127	8	-	-	SYM
ajst-30187	127	9	42	42	NUM
ajst-30187	127	10	.	.	PUNCT
ajst-30187	128	1	[	[	X
ajst-30187	128	2	3	3	X
ajst-30187	128	3	]	]	X
ajst-30187	128	4	li	li	PROPN
ajst-30187	128	5	long	long	ADJ
ajst-30187	128	6	.	.	PUNCT
ajst-30187	129	1	analysis	analysis	NOUN
ajst-30187	129	2	of	of	ADP
ajst-30187	129	3	the	the	DET
ajst-30187	129	4	status	status	NOUN
ajst-30187	129	5	quo	quo	NOUN
ajst-30187	129	6	and	and	CCONJ
ajst-30187	129	7	development	development	NOUN
ajst-30187	129	8	trend	trend	NOUN
ajst-30187	129	9	of	of	ADP
ajst-30187	129	10	automated	automate	VERB
ajst-30187	129	11	well	well	ADV
ajst-30187	129	12	dressing	dress	VERB
ajst-30187	129	13	machine[j	machine[j	NOUN
ajst-30187	129	14	/	/	SYM
ajst-30187	129	15	ol	ol	PROPN
ajst-30187	129	16	]	]	PUNCT
ajst-30187	129	17	.	.	PUNCT
ajst-30187	130	1	equipment	equipment	NOUN
ajst-30187	130	2	management	management	NOUN
ajst-30187	130	3	and	and	CCONJ
ajst-30187	130	4	maintenance	maintenance	NOUN
ajst-30187	130	5	,	,	PUNCT
ajst-30187	130	6	2020(9	2020(9	NUM
ajst-30187	130	7	):	):	PUNCT
ajst-30187	130	8	127	127	NUM
ajst-30187	130	9	-	-	SYM
ajst-30187	130	10	129	129	NUM
ajst-30187	130	11	.	.	PUNCT
ajst-30187	131	1	[	[	X
ajst-30187	131	2	4	4	NUM
ajst-30187	131	3	]	]	X
ajst-30187	131	4	meng	meng	PROPN
ajst-30187	131	5	linlin	linlin	PROPN
ajst-30187	131	6	.	.	PUNCT
ajst-30187	131	7	current	current	ADJ
ajst-30187	131	8	status	status	NOUN
ajst-30187	131	9	and	and	CCONJ
ajst-30187	131	10	development	development	NOUN
ajst-30187	131	11	trend	trend	NOUN
ajst-30187	131	12	of	of	ADP
ajst-30187	131	13	automated	automate	VERB
ajst-30187	131	14	well	well	ADV
ajst-30187	131	15	dressing	dress	VERB
ajst-30187	131	16	machine[j	machine[j	NOUN
ajst-30187	131	17	]	]	PUNCT
ajst-30187	131	18	.	.	PUNCT
ajst-30187	132	1	petrochemical	petrochemical	NOUN
ajst-30187	132	2	technology	technology	NOUN
ajst-30187	132	3	,	,	PUNCT
ajst-30187	132	4	2019	2019	NUM
ajst-30187	132	5	,	,	PUNCT
ajst-30187	132	6	26(7	26(7	NUM
ajst-30187	132	7	):	):	PUNCT
ajst-30187	132	8	4	4	NUM
ajst-30187	132	9	-	-	SYM
ajst-30187	132	10	5	5	NUM
ajst-30187	132	11	.	.	PUNCT
ajst-30187	133	1	[	[	X
ajst-30187	133	2	5	5	NUM
ajst-30187	133	3	]	]	PUNCT
ajst-30187	133	4	song	song	NOUN
ajst-30187	133	5	yi	yi	PROPN
ajst-30187	133	6	,	,	PUNCT
ajst-30187	133	7	guan	guan	PROPN
ajst-30187	133	8	feng	feng	PROPN
ajst-30187	133	9	.	.	PUNCT
ajst-30187	134	1	current	current	ADJ
ajst-30187	134	2	status	status	NOUN
ajst-30187	134	3	and	and	CCONJ
ajst-30187	134	4	outlook	outlook	NOUN
ajst-30187	134	5	of	of	ADP
ajst-30187	134	6	automation	automation	NOUN
ajst-30187	134	7	technology	technology	NOUN
ajst-30187	134	8	for	for	ADP
ajst-30187	134	9	minor	minor	ADJ
ajst-30187	134	10	repair	repair	NOUN
ajst-30187	134	11	work[j	work[j	NOUN
ajst-30187	134	12	/	/	SYM
ajst-30187	134	13	ol	ol	PROPN
ajst-30187	134	14	]	]	PUNCT
ajst-30187	134	15	.	.	PUNCT
ajst-30187	135	1	chemical	chemical	NOUN
ajst-30187	135	2	engineering	engineering	NOUN
ajst-30187	135	3	and	and	CCONJ
ajst-30187	135	4	equipment	equipment	NOUN
ajst-30187	135	5	,	,	PUNCT
ajst-30187	135	6	2020(6	2020(6	NUM
ajst-30187	135	7	):	):	PUNCT
ajst-30187	135	8	40	40	NUM
ajst-30187	135	9	-	-	SYM
ajst-30187	135	10	42	42	NUM
ajst-30187	135	11	.	.	PUNCT
ajst-30187	136	1	[	[	X
ajst-30187	136	2	6	6	NUM
ajst-30187	136	3	]	]	PUNCT
ajst-30187	136	4	xie	xie	PROPN
ajst-30187	136	5	yongjin	yongjin	PROPN
ajst-30187	136	6	.	.	PUNCT
ajst-30187	137	1	technical	technical	ADJ
ajst-30187	137	2	status	status	NOUN
ajst-30187	137	3	and	and	CCONJ
ajst-30187	137	4	prospect	prospect	NOUN
ajst-30187	137	5	of	of	ADP
ajst-30187	137	6	well	well	ADJ
ajst-30187	137	7	repair	repair	NOUN
ajst-30187	137	8	machine	machine	NOUN
ajst-30187	137	9	development	development	NOUN
ajst-30187	137	10	in	in	ADP
ajst-30187	137	11	china[j	china[j	PROPN
ajst-30187	137	12	]	]	PUNCT
ajst-30187	137	13	.	.	PUNCT
ajst-30187	138	1	petroleum	petroleum	NOUN
ajst-30187	138	2	machinery	machinery	NOUN
ajst-30187	138	3	,	,	PUNCT
ajst-30187	138	4	2005(10	2005(10	NUM
ajst-30187	138	5	):	):	PUNCT
ajst-30187	138	6	72	72	NUM
ajst-30187	138	7	-	-	SYM
ajst-30187	138	8	75	75	NUM
ajst-30187	138	9	.	.	PUNCT
ajst-30187	139	1	[	[	X
ajst-30187	139	2	7	7	NUM
ajst-30187	139	3	]	]	X
ajst-30187	139	4	li	li	PROPN
ajst-30187	139	5	wei	wei	PROPN
ajst-30187	139	6	,	,	PUNCT
ajst-30187	139	7	sun	sun	PROPN
ajst-30187	139	8	lianhui	lianhui	PROPN
ajst-30187	139	9	,	,	PUNCT
ajst-30187	139	10	chen	chen	PROPN
ajst-30187	139	11	hui	hui	PROPN
ajst-30187	139	12	.	.	PUNCT
ajst-30187	139	13	research	research	NOUN
ajst-30187	139	14	on	on	ADP
ajst-30187	139	15	a	a	DET
ajst-30187	139	16	new	new	ADJ
ajst-30187	139	17	type	type	NOUN
ajst-30187	139	18	of	of	ADP
ajst-30187	139	19	supporting	support	VERB
ajst-30187	139	20	device	device	NOUN
ajst-30187	139	21	for	for	ADP
ajst-30187	139	22	automated	automate	VERB
ajst-30187	139	23	well	well	PROPN
ajst-30187	139	24	workover	workover	PROPN
ajst-30187	139	25	process[j	process[j	PROPN
ajst-30187	139	26	/	/	SYM
ajst-30187	139	27	ol	ol	PROPN
ajst-30187	139	28	]	]	PUNCT
ajst-30187	139	29	.	.	PUNCT
ajst-30187	140	1	petroleum	petroleum	NOUN
ajst-30187	140	2	machinery	machinery	NOUN
ajst-30187	140	3	,	,	PUNCT
ajst-30187	140	4	2021	2021	NUM
ajst-30187	140	5	,	,	PUNCT
ajst-30187	140	6	49(3	49(3	NUM
ajst-30187	140	7	):	):	PUNCT
ajst-30187	140	8	125	125	NUM
ajst-30187	140	9	-	-	SYM
ajst-30187	140	10	131	131	NUM
ajst-30187	140	11	.	.	PUNCT
ajst-30187	141	1	[	[	X
ajst-30187	141	2	8	8	NUM
ajst-30187	141	3	]	]	X
ajst-30187	141	4	yu	yu	PROPN
ajst-30187	141	5	dawei	dawei	PROPN
ajst-30187	141	6	.	.	PUNCT
ajst-30187	142	1	development	development	NOUN
ajst-30187	142	2	and	and	CCONJ
ajst-30187	142	3	application	application	NOUN
ajst-30187	142	4	of	of	ADP
ajst-30187	142	5	offshore	offshore	ADJ
ajst-30187	142	6	hydraulic	hydraulic	ADJ
ajst-30187	142	7	well	well	ADV
ajst-30187	142	8	dressing	dress	VERB
ajst-30187	142	9	machine[j	machine[j	NOUN
ajst-30187	142	10	/	/	SYM
ajst-30187	142	11	ol	ol	PROPN
ajst-30187	142	12	]	]	PUNCT
ajst-30187	142	13	.	.	PUNCT
ajst-30187	143	1	petroleum	petroleum	NOUN
ajst-30187	143	2	machinery	machinery	NOUN
ajst-30187	143	3	,	,	PUNCT
ajst-30187	143	4	2018	2018	NUM
ajst-30187	143	5	,	,	PUNCT
ajst-30187	143	6	46(9	46(9	NUM
ajst-30187	143	7	):	):	PUNCT
ajst-30187	143	8	53	53	NUM
ajst-30187	143	9	-	-	SYM
ajst-30187	143	10	57	57	NUM
ajst-30187	143	11	.	.	PUNCT
ajst-30187	144	1	[	[	X
ajst-30187	144	2	9	9	NUM
ajst-30187	144	3	]	]	X
ajst-30187	144	4	chang	chang	PROPN
ajst-30187	144	5	yulian	yulian	PROPN
ajst-30187	144	6	,	,	PUNCT
ajst-30187	144	7	wei	wei	PROPN
ajst-30187	144	8	jing	jing	PROPN
ajst-30187	144	9	,	,	PUNCT
ajst-30187	144	10	gao	gao	PROPN
ajst-30187	144	11	sheng	sheng	PROPN
ajst-30187	144	12	,	,	PUNCT
ajst-30187	144	13	et	et	PROPN
ajst-30187	144	14	al	al	PROPN
ajst-30187	144	15	.	.	PUNCT
ajst-30187	144	16	technological	technological	ADJ
ajst-30187	144	17	development	development	NOUN
ajst-30187	144	18	of	of	ADP
ajst-30187	144	19	stand	stand	VERB
ajst-30187	144	20	-	-	PUNCT
ajst-30187	144	21	alone	alone	ADV
ajst-30187	144	22	non	non	ADJ
ajst-30187	144	23	-	-	ADJ
ajst-30187	144	24	pressurized	pressurized	ADJ
ajst-30187	144	25	well	well	NOUN
ajst-30187	144	26	operation	operation	NOUN
ajst-30187	144	27	equipment[j	equipment[j	NOUN
ajst-30187	144	28	]	]	X
ajst-30187	144	29	.	.	PUNCT
ajst-30187	144	30	petroleum	petroleum	NOUN
ajst-30187	144	31	mining	mining	NOUN
ajst-30187	144	32	machinery	machinery	NOUN
ajst-30187	144	33	,	,	PUNCT
ajst-30187	144	34	2011	2011	NUM
ajst-30187	144	35	,	,	PUNCT
ajst-30187	144	36	40(4	40(4	NUM
ajst-30187	144	37	):	):	PUNCT
ajst-30187	144	38	1216	1216	NUM
ajst-30187	144	39	.	.	PUNCT