id	sid	tid	token	lemma	pos
ajst-30908	1	1	academic	academic	ADJ
ajst-30908	1	2	journal	journal	NOUN
ajst-30908	1	3	of	of	ADP
ajst-30908	1	4	science	science	NOUN
ajst-30908	1	5	and	and	CCONJ
ajst-30908	1	6	technology	technology	NOUN
ajst-30908	1	7	issn	issn	NOUN
ajst-30908	1	8	:	:	PUNCT
ajst-30908	1	9	2771	2771	NUM
ajst-30908	1	10	-	-	SYM
ajst-30908	1	11	3032	3032	NUM
ajst-30908	1	12	|	|	NOUN
ajst-30908	1	13	vol	vol	NOUN
ajst-30908	1	14	.	.	PROPN
ajst-30908	1	15	15	15	NUM
ajst-30908	1	16	,	,	PUNCT
ajst-30908	1	17	no	no	INTJ
ajst-30908	1	18	.	.	NOUN
ajst-30908	1	19	2	2	NUM
ajst-30908	1	20	,	,	PUNCT
ajst-30908	1	21	2025	2025	NUM
ajst-30908	1	22	202	202	NUM
ajst-30908	1	23	research	research	NOUN
ajst-30908	1	24	on	on	ADP
ajst-30908	1	25	submersible	submersible	ADJ
ajst-30908	1	26	positioning	positioning	NOUN
ajst-30908	1	27	and	and	CCONJ
ajst-30908	1	28	equipment	equipment	NOUN
ajst-30908	1	29	optimization	optimization	NOUN
ajst-30908	1	30	for	for	ADP
ajst-30908	1	31	deep	deep	ADJ
ajst-30908	1	32	-	-	PUNCT
ajst-30908	1	33	sea	sea	NOUN
ajst-30908	1	34	rescue	rescue	NOUN
ajst-30908	1	35	based	base	VERB
ajst-30908	1	36	on	on	ADP
ajst-30908	1	37	hydrodynamic	hydrodynamic	ADJ
ajst-30908	1	38	modeling	modeling	NOUN
ajst-30908	1	39	and	and	CCONJ
ajst-30908	1	40	availability	availability	NOUN
ajst-30908	1	41	-	-	PUNCT
ajst-30908	1	42	efficiency	efficiency	NOUN
ajst-30908	1	43	evaluation	evaluation	NOUN
ajst-30908	1	44	shuwen	shuwen	NOUN
ajst-30908	1	45	qiu	qiu	PROPN
ajst-30908	1	46	*	*	PROPN
ajst-30908	1	47	,	,	PUNCT
ajst-30908	1	48	yuzhen	yuzhen	PROPN
ajst-30908	1	49	zhuang	zhuang	PROPN
ajst-30908	1	50	,	,	PUNCT
ajst-30908	1	51	fengheng	fengheng	PROPN
ajst-30908	1	52	le	le	X
ajst-30908	1	53	college	college	PROPN
ajst-30908	1	54	of	of	ADP
ajst-30908	1	55	mathematics	mathematics	PROPN
ajst-30908	1	56	,	,	PUNCT
ajst-30908	1	57	hangzhou	hangzhou	PROPN
ajst-30908	1	58	normal	normal	PROPN
ajst-30908	1	59	university	university	PROPN
ajst-30908	1	60	,	,	PUNCT
ajst-30908	1	61	hangzhou	hangzhou	PROPN
ajst-30908	1	62	,	,	PUNCT
ajst-30908	1	63	310000	310000	NUM
ajst-30908	1	64	,	,	PUNCT
ajst-30908	1	65	china	china	PROPN
ajst-30908	1	66	*	*	PUNCT
ajst-30908	1	67	corresponding	correspond	VERB
ajst-30908	1	68	author	author	NOUN
ajst-30908	1	69	:	:	PUNCT
ajst-30908	1	70	19106826092@163.com	19106826092@163.com	NUM
ajst-30908	1	71	abstract	abstract	NOUN
ajst-30908	1	72	:	:	PUNCT
ajst-30908	1	73	this	this	DET
ajst-30908	1	74	study	study	NOUN
ajst-30908	1	75	addresses	address	VERB
ajst-30908	1	76	the	the	DET
ajst-30908	1	77	critical	critical	ADJ
ajst-30908	1	78	challenges	challenge	NOUN
ajst-30908	1	79	of	of	ADP
ajst-30908	1	80	submersible	submersible	ADJ
ajst-30908	1	81	positioning	positioning	NOUN
ajst-30908	1	82	and	and	CCONJ
ajst-30908	1	83	equipment	equipment	NOUN
ajst-30908	1	84	optimization	optimization	NOUN
ajst-30908	1	85	in	in	ADP
ajst-30908	1	86	deep	deep	ADJ
ajst-30908	1	87	-	-	PUNCT
ajst-30908	1	88	sea	sea	NOUN
ajst-30908	1	89	rescue	rescue	NOUN
ajst-30908	1	90	operations	operation	NOUN
ajst-30908	1	91	.	.	PUNCT
ajst-30908	2	1	a	a	DET
ajst-30908	2	2	digital	digital	ADJ
ajst-30908	2	3	elevation	elevation	NOUN
ajst-30908	2	4	model	model	NOUN
ajst-30908	2	5	(	(	PUNCT
ajst-30908	2	6	dem	dem	NOUN
ajst-30908	2	7	)	)	PUNCT
ajst-30908	2	8	of	of	ADP
ajst-30908	2	9	the	the	DET
ajst-30908	2	10	ionian	ionian	PROPN
ajst-30908	2	11	sea	sea	NOUN
ajst-30908	2	12	was	be	AUX
ajst-30908	2	13	developed	develop	VERB
ajst-30908	2	14	to	to	PART
ajst-30908	2	15	analyze	analyze	VERB
ajst-30908	2	16	submersible	submersible	ADJ
ajst-30908	2	17	dynamics	dynamic	NOUN
ajst-30908	2	18	,	,	PUNCT
ajst-30908	2	19	integrating	integrate	VERB
ajst-30908	2	20	vertical	vertical	ADJ
ajst-30908	2	21	descent	descent	NOUN
ajst-30908	2	22	modeling	modeling	NOUN
ajst-30908	2	23	with	with	ADP
ajst-30908	2	24	horizontal	horizontal	ADJ
ajst-30908	2	25	displacement	displacement	ADJ
ajst-30908	2	26	calculations	calculation	NOUN
ajst-30908	2	27	through	through	ADP
ajst-30908	2	28	ocean	ocean	NOUN
ajst-30908	2	29	current	current	ADJ
ajst-30908	2	30	differential	differential	NOUN
ajst-30908	2	31	equations	equation	NOUN
ajst-30908	2	32	,	,	PUNCT
ajst-30908	2	33	enabling	enable	VERB
ajst-30908	2	34	accurate	accurate	ADJ
ajst-30908	2	35	3d	3d	PROPN
ajst-30908	2	36	trajectory	trajectory	NOUN
ajst-30908	2	37	prediction	prediction	NOUN
ajst-30908	2	38	.	.	PUNCT
ajst-30908	3	1	for	for	ADP
ajst-30908	3	2	equipment	equipment	NOUN
ajst-30908	3	3	configuration	configuration	NOUN
ajst-30908	3	4	,	,	PUNCT
ajst-30908	3	5	an	an	DET
ajst-30908	3	6	availability	availability	NOUN
ajst-30908	3	7	-	-	PUNCT
ajst-30908	3	8	efficiency	efficiency	NOUN
ajst-30908	3	9	evaluation	evaluation	NOUN
ajst-30908	3	10	method	method	NOUN
ajst-30908	3	11	was	be	AUX
ajst-30908	3	12	proposed	propose	VERB
ajst-30908	3	13	,	,	PUNCT
ajst-30908	3	14	establishing	establish	VERB
ajst-30908	3	15	an	an	DET
ajst-30908	3	16	optimization	optimization	NOUN
ajst-30908	3	17	model	model	NOUN
ajst-30908	3	18	constrained	constrain	VERB
ajst-30908	3	19	by	by	ADP
ajst-30908	3	20	rescue	rescue	NOUN
ajst-30908	3	21	efficiency	efficiency	NOUN
ajst-30908	3	22	and	and	CCONJ
ajst-30908	3	23	cost	cost	NOUN
ajst-30908	3	24	.	.	PUNCT
ajst-30908	4	1	results	result	NOUN
ajst-30908	4	2	demonstrate	demonstrate	VERB
ajst-30908	4	3	that	that	SCONJ
ajst-30908	4	4	the	the	DET
ajst-30908	4	5	optimal	optimal	ADJ
ajst-30908	4	6	configuration	configuration	NOUN
ajst-30908	4	7	combines	combine	VERB
ajst-30908	4	8	underwater	underwater	ADJ
ajst-30908	4	9	positioning	positioning	NOUN
ajst-30908	4	10	systems	system	NOUN
ajst-30908	4	11	and	and	CCONJ
ajst-30908	4	12	multibeam	multibeam	PROPN
ajst-30908	4	13	detection	detection	NOUN
ajst-30908	4	14	systems	system	NOUN
ajst-30908	4	15	,	,	PUNCT
ajst-30908	4	16	supplemented	supplement	VERB
ajst-30908	4	17	by	by	ADP
ajst-30908	4	18	intelligent	intelligent	ADJ
ajst-30908	4	19	robots	robot	NOUN
ajst-30908	4	20	to	to	PART
ajst-30908	4	21	maximize	maximize	VERB
ajst-30908	4	22	operational	operational	ADJ
ajst-30908	4	23	effectiveness	effectiveness	NOUN
ajst-30908	4	24	.	.	PUNCT
ajst-30908	5	1	the	the	DET
ajst-30908	5	2	research	research	NOUN
ajst-30908	5	3	provides	provide	VERB
ajst-30908	5	4	:	:	PUNCT
ajst-30908	5	5	a	a	DET
ajst-30908	5	6	high	high	ADJ
ajst-30908	5	7	-	-	PUNCT
ajst-30908	5	8	precision	precision	NOUN
ajst-30908	5	9	positioning	positioning	NOUN
ajst-30908	5	10	methodology	methodology	NOUN
ajst-30908	5	11	accounting	account	VERB
ajst-30908	5	12	for	for	ADP
ajst-30908	5	13	hydrodynamic	hydrodynamic	ADJ
ajst-30908	5	14	factors	factor	NOUN
ajst-30908	5	15	,	,	PUNCT
ajst-30908	5	16	and	and	CCONJ
ajst-30908	5	17	a	a	DET
ajst-30908	5	18	scientifically	scientifically	ADV
ajst-30908	5	19	validated	validate	VERB
ajst-30908	5	20	equipment	equipment	NOUN
ajst-30908	5	21	allocation	allocation	NOUN
ajst-30908	5	22	framework	framework	NOUN
ajst-30908	5	23	.	.	PUNCT
ajst-30908	6	1	experimental	experimental	ADJ
ajst-30908	6	2	verification	verification	NOUN
ajst-30908	6	3	confirmed	confirm	VERB
ajst-30908	6	4	the	the	DET
ajst-30908	6	5	model	model	NOUN
ajst-30908	6	6	's	's	PART
ajst-30908	6	7	reliability	reliability	NOUN
ajst-30908	6	8	,	,	PUNCT
ajst-30908	6	9	achieving	achieve	VERB
ajst-30908	6	10	92.3	92.3	NUM
ajst-30908	6	11	%	%	NOUN
ajst-30908	6	12	positioning	positioning	NOUN
ajst-30908	6	13	accuracy	accuracy	NOUN
ajst-30908	6	14	in	in	ADP
ajst-30908	6	15	simulated	simulated	ADJ
ajst-30908	6	16	rescue	rescue	NOUN
ajst-30908	6	17	scenarios	scenario	NOUN
ajst-30908	6	18	while	while	SCONJ
ajst-30908	6	19	reducing	reduce	VERB
ajst-30908	6	20	equipment	equipment	NOUN
ajst-30908	6	21	costs	cost	NOUN
ajst-30908	6	22	by	by	ADP
ajst-30908	6	23	18.7	18.7	NUM
ajst-30908	6	24	%	%	NOUN
ajst-30908	6	25	compared	compare	VERB
ajst-30908	6	26	to	to	ADP
ajst-30908	6	27	conventional	conventional	ADJ
ajst-30908	6	28	setups	setup	NOUN
ajst-30908	6	29	.	.	PUNCT
ajst-30908	7	1	these	these	DET
ajst-30908	7	2	findings	finding	NOUN
ajst-30908	7	3	offer	offer	VERB
ajst-30908	7	4	practical	practical	ADJ
ajst-30908	7	5	solutions	solution	NOUN
ajst-30908	7	6	for	for	ADP
ajst-30908	7	7	enhancing	enhance	VERB
ajst-30908	7	8	deep	deep	ADJ
ajst-30908	7	9	-	-	PUNCT
ajst-30908	7	10	sea	sea	NOUN
ajst-30908	7	11	rescue	rescue	NOUN
ajst-30908	7	12	missions	mission	NOUN
ajst-30908	7	13	through	through	ADP
ajst-30908	7	14	datadriven	datadriven	ADJ
ajst-30908	7	15	decision	decision	NOUN
ajst-30908	7	16	-	-	PUNCT
ajst-30908	7	17	making	making	NOUN
ajst-30908	7	18	.	.	PUNCT
ajst-30908	8	1	keywords	keyword	NOUN
ajst-30908	8	2	:	:	PUNCT
ajst-30908	8	3	deep	deep	ADJ
ajst-30908	8	4	-	-	PUNCT
ajst-30908	8	5	sea	sea	NOUN
ajst-30908	8	6	rescue	rescue	NOUN
ajst-30908	8	7	,	,	PUNCT
ajst-30908	8	8	submersible	submersible	ADJ
ajst-30908	8	9	positioning	positioning	NOUN
ajst-30908	8	10	,	,	PUNCT
ajst-30908	8	11	equipment	equipment	NOUN
ajst-30908	8	12	,	,	PUNCT
ajst-30908	8	13	optimization	optimization	NOUN
ajst-30908	8	14	,	,	PUNCT
ajst-30908	8	15	availability	availability	NOUN
ajst-30908	8	16	-	-	PUNCT
ajst-30908	8	17	efficiency	efficiency	NOUN
ajst-30908	8	18	evaluation	evaluation	NOUN
ajst-30908	8	19	.	.	PUNCT
ajst-30908	9	1	1	1	X
ajst-30908	9	2	.	.	X
ajst-30908	9	3	introduction	introduction	NOUN
ajst-30908	9	4	at	at	ADP
ajst-30908	9	5	present	present	ADJ
ajst-30908	9	6	,	,	PUNCT
ajst-30908	9	7	there	there	PRON
ajst-30908	9	8	is	be	VERB
ajst-30908	9	9	a	a	DET
ajst-30908	9	10	growing	grow	VERB
ajst-30908	9	11	body	body	NOUN
ajst-30908	9	12	of	of	ADP
ajst-30908	9	13	research	research	NOUN
ajst-30908	9	14	on	on	ADP
ajst-30908	9	15	underwater	underwater	ADJ
ajst-30908	9	16	positioning	positioning	NOUN
ajst-30908	9	17	and	and	CCONJ
ajst-30908	9	18	the	the	DET
ajst-30908	9	19	deployment	deployment	NOUN
ajst-30908	9	20	of	of	ADP
ajst-30908	9	21	deep	deep	ADJ
ajst-30908	9	22	-	-	PUNCT
ajst-30908	9	23	sea	sea	NOUN
ajst-30908	9	24	rescue	rescue	NOUN
ajst-30908	9	25	equipment	equipment	NOUN
ajst-30908	9	26	.	.	PUNCT
ajst-30908	10	1	however	however	ADV
ajst-30908	10	2	,	,	PUNCT
ajst-30908	10	3	much	much	ADJ
ajst-30908	10	4	of	of	ADP
ajst-30908	10	5	this	this	DET
ajst-30908	10	6	work	work	NOUN
ajst-30908	10	7	remains	remain	VERB
ajst-30908	10	8	limited	limited	ADJ
ajst-30908	10	9	in	in	ADP
ajst-30908	10	10	scope	scope	NOUN
ajst-30908	10	11	and	and	CCONJ
ajst-30908	10	12	lacks	lack	VERB
ajst-30908	10	13	a	a	DET
ajst-30908	10	14	comprehensive	comprehensive	ADJ
ajst-30908	10	15	approach	approach	NOUN
ajst-30908	10	16	to	to	ADP
ajst-30908	10	17	equipment	equipment	NOUN
ajst-30908	10	18	combination	combination	NOUN
ajst-30908	10	19	optimization	optimization	NOUN
ajst-30908	10	20	under	under	ADP
ajst-30908	10	21	actual	actual	ADJ
ajst-30908	10	22	rescue	rescue	NOUN
ajst-30908	10	23	scenarios	scenario	NOUN
ajst-30908	10	24	.	.	PUNCT
ajst-30908	11	1	for	for	ADP
ajst-30908	11	2	example	example	NOUN
ajst-30908	11	3	,	,	PUNCT
ajst-30908	11	4	zhu	zhu	PROPN
ajst-30908	11	5	shouren[1	shouren[1	PROPN
ajst-30908	11	6	]	]	PUNCT
ajst-30908	11	7	has	have	AUX
ajst-30908	11	8	examined	examine	VERB
ajst-30908	11	9	the	the	DET
ajst-30908	11	10	positioning	positioning	NOUN
ajst-30908	11	11	technologies	technology	NOUN
ajst-30908	11	12	of	of	ADP
ajst-30908	11	13	unmanned	unmanned	ADJ
ajst-30908	11	14	remotely	remotely	ADV
ajst-30908	11	15	operated	operate	VERB
ajst-30908	11	16	vehicles	vehicle	NOUN
ajst-30908	11	17	(	(	PUNCT
ajst-30908	11	18	rovs	rovs	NOUN
ajst-30908	11	19	)	)	PUNCT
ajst-30908	11	20	,	,	PUNCT
ajst-30908	11	21	providing	provide	VERB
ajst-30908	11	22	a	a	DET
ajst-30908	11	23	technical	technical	ADJ
ajst-30908	11	24	foundation	foundation	NOUN
ajst-30908	11	25	.	.	PUNCT
ajst-30908	12	1	yet	yet	ADV
ajst-30908	12	2	,	,	PUNCT
ajst-30908	12	3	his	his	PRON
ajst-30908	12	4	research	research	NOUN
ajst-30908	12	5	does	do	AUX
ajst-30908	12	6	not	not	PART
ajst-30908	12	7	delve	delve	VERB
ajst-30908	12	8	into	into	ADP
ajst-30908	12	9	positioning	positioning	NOUN
ajst-30908	12	10	models	model	NOUN
ajst-30908	12	11	tailored	tailor	VERB
ajst-30908	12	12	for	for	ADP
ajst-30908	12	13	complex	complex	ADJ
ajst-30908	12	14	deep	deep	ADJ
ajst-30908	12	15	-	-	PUNCT
ajst-30908	12	16	sea	sea	NOUN
ajst-30908	12	17	rescue	rescue	NOUN
ajst-30908	12	18	environments	environment	NOUN
ajst-30908	12	19	,	,	PUNCT
ajst-30908	12	20	nor	nor	CCONJ
ajst-30908	12	21	does	do	AUX
ajst-30908	12	22	it	it	PRON
ajst-30908	12	23	address	address	VERB
ajst-30908	12	24	how	how	SCONJ
ajst-30908	12	25	to	to	PART
ajst-30908	12	26	optimize	optimize	VERB
ajst-30908	12	27	equipment	equipment	NOUN
ajst-30908	12	28	combinations	combination	NOUN
ajst-30908	12	29	in	in	ADP
ajst-30908	12	30	such	such	ADJ
ajst-30908	12	31	contexts	context	NOUN
ajst-30908	12	32	.	.	PUNCT
ajst-30908	13	1	wang	wang	PROPN
ajst-30908	13	2	ke[2	ke[2	PROPN
ajst-30908	13	3	]	]	PUNCT
ajst-30908	13	4	discussed	discuss	VERB
ajst-30908	13	5	the	the	DET
ajst-30908	13	6	application	application	NOUN
ajst-30908	13	7	of	of	ADP
ajst-30908	13	8	underwater	underwater	ADJ
ajst-30908	13	9	navigation	navigation	NOUN
ajst-30908	13	10	and	and	CCONJ
ajst-30908	13	11	positioning	positioning	NOUN
ajst-30908	13	12	technologies	technology	NOUN
ajst-30908	13	13	in	in	ADP
ajst-30908	13	14	oceanographic	oceanographic	ADJ
ajst-30908	13	15	research	research	NOUN
ajst-30908	13	16	.	.	PUNCT
ajst-30908	14	1	his	his	PRON
ajst-30908	14	2	work	work	NOUN
ajst-30908	14	3	contributes	contribute	VERB
ajst-30908	14	4	to	to	ADP
ajst-30908	14	5	understanding	understand	VERB
ajst-30908	14	6	basic	basic	ADJ
ajst-30908	14	7	positioning	positioning	NOUN
ajst-30908	14	8	principles	principle	NOUN
ajst-30908	14	9	but	but	CCONJ
ajst-30908	14	10	focuses	focus	VERB
ajst-30908	14	11	more	more	ADJ
ajst-30908	14	12	on	on	ADP
ajst-30908	14	13	scientific	scientific	ADJ
ajst-30908	14	14	exploration	exploration	NOUN
ajst-30908	14	15	rather	rather	ADV
ajst-30908	14	16	than	than	ADP
ajst-30908	14	17	emergency	emergency	NOUN
ajst-30908	14	18	applications	application	NOUN
ajst-30908	14	19	.	.	PUNCT
ajst-30908	15	1	it	it	PRON
ajst-30908	15	2	offers	offer	VERB
ajst-30908	15	3	limited	limited	ADJ
ajst-30908	15	4	guidance	guidance	NOUN
ajst-30908	15	5	on	on	ADP
ajst-30908	15	6	how	how	SCONJ
ajst-30908	15	7	to	to	PART
ajst-30908	15	8	integrate	integrate	VERB
ajst-30908	15	9	and	and	CCONJ
ajst-30908	15	10	optimize	optimize	VERB
ajst-30908	15	11	various	various	ADJ
ajst-30908	15	12	types	type	NOUN
ajst-30908	15	13	of	of	ADP
ajst-30908	15	14	rescue	rescue	NOUN
ajst-30908	15	15	equipment	equipment	NOUN
ajst-30908	15	16	for	for	ADP
ajst-30908	15	17	operational	operational	ADJ
ajst-30908	15	18	effectiveness	effectiveness	NOUN
ajst-30908	15	19	.	.	PUNCT
ajst-30908	16	1	xie	xie	PROPN
ajst-30908	16	2	zhihua[3	zhihua[3	PROPN
ajst-30908	16	3	]	]	PUNCT
ajst-30908	16	4	investigated	investigate	VERB
ajst-30908	16	5	target	target	NOUN
ajst-30908	16	6	positioning	positioning	NOUN
ajst-30908	16	7	and	and	CCONJ
ajst-30908	16	8	tracking	tracking	NOUN
ajst-30908	16	9	methods	method	NOUN
ajst-30908	16	10	based	base	VERB
ajst-30908	16	11	on	on	ADP
ajst-30908	16	12	multiple	multiple	ADJ
ajst-30908	16	13	submersibles	submersible	NOUN
ajst-30908	16	14	,	,	PUNCT
ajst-30908	16	15	which	which	PRON
ajst-30908	16	16	helps	help	VERB
ajst-30908	16	17	improve	improve	VERB
ajst-30908	16	18	tracking	tracking	NOUN
ajst-30908	16	19	accuracy	accuracy	NOUN
ajst-30908	16	20	.	.	PUNCT
ajst-30908	17	1	however	however	ADV
ajst-30908	17	2	,	,	PUNCT
ajst-30908	17	3	his	his	PRON
ajst-30908	17	4	study	study	NOUN
ajst-30908	17	5	is	be	AUX
ajst-30908	17	6	largely	largely	ADV
ajst-30908	17	7	confined	confine	VERB
ajst-30908	17	8	to	to	ADP
ajst-30908	17	9	technical	technical	ADJ
ajst-30908	17	10	algorithms	algorithm	NOUN
ajst-30908	17	11	and	and	CCONJ
ajst-30908	17	12	lacks	lack	VERB
ajst-30908	17	13	a	a	DET
ajst-30908	17	14	system	system	NOUN
ajst-30908	17	15	-	-	PUNCT
ajst-30908	17	16	level	level	NOUN
ajst-30908	17	17	view	view	NOUN
ajst-30908	17	18	of	of	ADP
ajst-30908	17	19	equipment	equipment	NOUN
ajst-30908	17	20	combination	combination	NOUN
ajst-30908	17	21	strategies	strategy	NOUN
ajst-30908	17	22	that	that	PRON
ajst-30908	17	23	consider	consider	VERB
ajst-30908	17	24	availability	availability	NOUN
ajst-30908	17	25	,	,	PUNCT
ajst-30908	17	26	efficiency	efficiency	NOUN
ajst-30908	17	27	,	,	PUNCT
ajst-30908	17	28	and	and	CCONJ
ajst-30908	17	29	adaptability	adaptability	NOUN
ajst-30908	17	30	under	under	ADP
ajst-30908	17	31	different	different	ADJ
ajst-30908	17	32	rescue	rescue	NOUN
ajst-30908	17	33	conditions	condition	NOUN
ajst-30908	17	34	.	.	PUNCT
ajst-30908	18	1	in	in	ADP
ajst-30908	18	2	contrast	contrast	NOUN
ajst-30908	18	3	,	,	PUNCT
ajst-30908	18	4	this	this	DET
ajst-30908	18	5	paper	paper	NOUN
ajst-30908	18	6	constructs	construct	VERB
ajst-30908	18	7	a	a	DET
ajst-30908	18	8	multi	multi	ADJ
ajst-30908	18	9	-	-	ADJ
ajst-30908	18	10	factor	factor	ADJ
ajst-30908	18	11	underwater	underwater	ADJ
ajst-30908	18	12	positioning	positioning	NOUN
ajst-30908	18	13	model	model	NOUN
ajst-30908	18	14	and	and	CCONJ
ajst-30908	18	15	proposes	propose	VERB
ajst-30908	18	16	an	an	DET
ajst-30908	18	17	equipment	equipment	NOUN
ajst-30908	18	18	combination	combination	NOUN
ajst-30908	18	19	optimization	optimization	NOUN
ajst-30908	18	20	method	method	NOUN
ajst-30908	18	21	grounded	ground	VERB
ajst-30908	18	22	in	in	ADP
ajst-30908	18	23	availability	availability	NOUN
ajst-30908	18	24	-	-	PUNCT
ajst-30908	18	25	efficiency	efficiency	NOUN
ajst-30908	18	26	assessment	assessment	NOUN
ajst-30908	18	27	.	.	PUNCT
ajst-30908	19	1	by	by	ADP
ajst-30908	19	2	validating	validate	VERB
ajst-30908	19	3	the	the	DET
ajst-30908	19	4	model	model	NOUN
ajst-30908	19	5	through	through	ADP
ajst-30908	19	6	experimental	experimental	ADJ
ajst-30908	19	7	analysis	analysis	NOUN
ajst-30908	19	8	,	,	PUNCT
ajst-30908	19	9	this	this	DET
ajst-30908	19	10	study	study	NOUN
ajst-30908	19	11	offers	offer	VERB
ajst-30908	19	12	a	a	DET
ajst-30908	19	13	more	more	ADV
ajst-30908	19	14	integrated	integrated	ADJ
ajst-30908	19	15	and	and	CCONJ
ajst-30908	19	16	practical	practical	ADJ
ajst-30908	19	17	solution	solution	NOUN
ajst-30908	19	18	to	to	ADP
ajst-30908	19	19	deep	deep	ADJ
ajst-30908	19	20	-	-	PUNCT
ajst-30908	19	21	sea	sea	NOUN
ajst-30908	19	22	rescue	rescue	NOUN
ajst-30908	19	23	operations	operation	NOUN
ajst-30908	19	24	.	.	PUNCT
ajst-30908	20	1	it	it	PRON
ajst-30908	20	2	not	not	PART
ajst-30908	20	3	only	only	ADV
ajst-30908	20	4	enhances	enhance	VERB
ajst-30908	20	5	positioning	positioning	NOUN
ajst-30908	20	6	accuracy	accuracy	NOUN
ajst-30908	20	7	but	but	CCONJ
ajst-30908	20	8	also	also	ADV
ajst-30908	20	9	supports	support	VERB
ajst-30908	20	10	strategic	strategic	ADJ
ajst-30908	20	11	decisionmaking	decisionmaking	NOUN
ajst-30908	20	12	in	in	ADP
ajst-30908	20	13	equipment	equipment	NOUN
ajst-30908	20	14	deployment	deployment	NOUN
ajst-30908	20	15	.	.	PUNCT
ajst-30908	21	1	this	this	DET
ajst-30908	21	2	research	research	NOUN
ajst-30908	21	3	thus	thus	ADV
ajst-30908	21	4	contributes	contribute	VERB
ajst-30908	21	5	to	to	ADP
ajst-30908	21	6	advancing	advance	VERB
ajst-30908	21	7	the	the	DET
ajst-30908	21	8	technological	technological	ADJ
ajst-30908	21	9	capabilities	capability	NOUN
ajst-30908	21	10	and	and	CCONJ
ajst-30908	21	11	application	application	NOUN
ajst-30908	21	12	strategies	strategy	NOUN
ajst-30908	21	13	in	in	ADP
ajst-30908	21	14	the	the	DET
ajst-30908	21	15	field	field	NOUN
ajst-30908	21	16	of	of	ADP
ajst-30908	21	17	underwater	underwater	ADJ
ajst-30908	21	18	rescue	rescue	NOUN
ajst-30908	21	19	.	.	PUNCT
ajst-30908	22	1	2	2	X
ajst-30908	22	2	.	.	X
ajst-30908	22	3	introduction	introduction	NOUN
ajst-30908	22	4	to	to	ADP
ajst-30908	22	5	the	the	DET
ajst-30908	22	6	method	method	NOUN
ajst-30908	22	7	of	of	ADP
ajst-30908	22	8	determining	determine	VERB
ajst-30908	22	9	the	the	DET
ajst-30908	22	10	position	position	NOUN
ajst-30908	22	11	of	of	ADP
ajst-30908	22	12	the	the	DET
ajst-30908	22	13	submersible	submersible	ADJ
ajst-30908	22	14	2.1	2.1	NUM
ajst-30908	22	15	.	.	PUNCT
ajst-30908	22	16	determine	determine	VERB
ajst-30908	22	17	the	the	DET
ajst-30908	22	18	location	location	NOUN
ajst-30908	22	19	of	of	ADP
ajst-30908	22	20	the	the	DET
ajst-30908	22	21	submersible	submersible	ADJ
ajst-30908	22	22	first	first	ADV
ajst-30908	22	23	,	,	PUNCT
ajst-30908	22	24	by	by	ADP
ajst-30908	22	25	querying	query	VERB
ajst-30908	22	26	the	the	DET
ajst-30908	22	27	parameters	parameter	NOUN
ajst-30908	22	28	of	of	ADP
ajst-30908	22	29	most	most	ADJ
ajst-30908	22	30	manned	manned	ADJ
ajst-30908	22	31	submersibles	submersible	NOUN
ajst-30908	22	32	on	on	ADP
ajst-30908	22	33	the	the	DET
ajst-30908	22	34	market	market	NOUN
ajst-30908	22	35	,	,	PUNCT
ajst-30908	22	36	this	this	DET
ajst-30908	22	37	paper	paper	NOUN
ajst-30908	22	38	obtains	obtain	VERB
ajst-30908	22	39	the	the	DET
ajst-30908	22	40	standard	standard	ADJ
ajst-30908	22	41	parameters	parameter	NOUN
ajst-30908	22	42	and	and	CCONJ
ajst-30908	22	43	basic	basic	ADJ
ajst-30908	22	44	data	datum	NOUN
ajst-30908	22	45	of	of	ADP
ajst-30908	22	46	the	the	DET
ajst-30908	22	47	submersible[4	submersible[4	NOUN
ajst-30908	22	48	]	]	X
ajst-30908	22	49	.	.	PUNCT
ajst-30908	23	1	then	then	ADV
ajst-30908	23	2	,	,	PUNCT
ajst-30908	23	3	the	the	DET
ajst-30908	23	4	water	water	NOUN
ajst-30908	23	5	depth	depth	NOUN
ajst-30908	23	6	of	of	ADP
ajst-30908	23	7	each	each	DET
ajst-30908	23	8	part	part	NOUN
ajst-30908	23	9	of	of	ADP
ajst-30908	23	10	the	the	DET
ajst-30908	23	11	ionian	ionian	PROPN
ajst-30908	23	12	sea	sea	NOUN
ajst-30908	23	13	is	be	AUX
ajst-30908	23	14	queried	query	VERB
ajst-30908	23	15	,	,	PUNCT
ajst-30908	23	16	and	and	CCONJ
ajst-30908	23	17	this	this	DET
ajst-30908	23	18	sea	sea	NOUN
ajst-30908	23	19	is	be	AUX
ajst-30908	23	20	divided	divide	VERB
ajst-30908	23	21	into	into	ADP
ajst-30908	23	22	many	many	ADJ
ajst-30908	23	23	small	small	ADJ
ajst-30908	23	24	areas	area	NOUN
ajst-30908	23	25	of	of	ADP
ajst-30908	23	26	equal	equal	ADJ
ajst-30908	23	27	volume	volume	NOUN
ajst-30908	23	28	,	,	PUNCT
ajst-30908	23	29	and	and	CCONJ
ajst-30908	23	30	one	one	NUM
ajst-30908	23	31	small	small	ADJ
ajst-30908	23	32	area	area	NOUN
ajst-30908	23	33	of	of	ADP
ajst-30908	23	34	each	each	DET
ajst-30908	23	35	region	region	NOUN
ajst-30908	23	36	on	on	ADP
ajst-30908	23	37	the	the	DET
ajst-30908	23	38	sea	sea	NOUN
ajst-30908	23	39	surface	surface	NOUN
ajst-30908	23	40	is	be	AUX
ajst-30908	23	41	approximated	approximate	VERB
ajst-30908	23	42	as	as	ADP
ajst-30908	23	43	a	a	DET
ajst-30908	23	44	point[5	point[5	NOUN
ajst-30908	23	45	]	]	PUNCT
ajst-30908	23	46	,	,	PUNCT
ajst-30908	23	47	i.e.	i.e.	X
ajst-30908	23	48	...	...	PUNCT
ajst-30908	23	49	3,2,1	3,2,1	NUM
ajst-30908	23	50	)	)	PUNCT
ajst-30908	23	51	,	,	PUNCT
ajst-30908	23	52	,	,	PUNCT
ajst-30908	23	53	,	,	PUNCT
ajst-30908	23	54	(	(	PUNCT
ajst-30908	23	55	izyx	izyx	PUNCT
ajst-30908	23	56	iii	iii	X
ajst-30908	23	57	where	where	SCONJ
ajst-30908	23	58	ix	ix	ADV
ajst-30908	23	59	,	,	PUNCT
ajst-30908	23	60	iy	iy	PROPN
ajst-30908	23	61	represent	represent	VERB
ajst-30908	23	62	the	the	DET
ajst-30908	23	63	longitude	longitude	NOUN
ajst-30908	23	64	and	and	CCONJ
ajst-30908	23	65	latitude	latitude	NOUN
ajst-30908	23	66	,	,	PUNCT
ajst-30908	23	67	respectively	respectively	ADV
ajst-30908	23	68	,	,	PUNCT
ajst-30908	23	69	of	of	ADP
ajst-30908	23	70	the	the	DET
ajst-30908	23	71	center	center	ADJ
ajst-30908	23	72	point	point	NOUN
ajst-30908	23	73	of	of	ADP
ajst-30908	23	74	the	the	DET
ajst-30908	23	75	region	region	NOUN
ajst-30908	23	76	,	,	PUNCT
ajst-30908	23	77	which	which	PRON
ajst-30908	23	78	is	be	AUX
ajst-30908	23	79	the	the	DET
ajst-30908	23	80	sea	sea	NOUN
ajst-30908	23	81	level	level	NOUN
ajst-30908	23	82	height	height	NOUN
ajst-30908	23	83	at	at	ADP
ajst-30908	23	84	the	the	DET
ajst-30908	23	85	center	center	NOUN
ajst-30908	23	86	of	of	ADP
ajst-30908	23	87	the	the	DET
ajst-30908	23	88	region	region	NOUN
ajst-30908	23	89	.	.	PUNCT
ajst-30908	24	1	we	we	PRON
ajst-30908	24	2	used	use	VERB
ajst-30908	24	3	arcscene	arcscene	PROPN
ajst-30908	24	4	to	to	PART
ajst-30908	24	5	create	create	VERB
ajst-30908	24	6	a	a	DET
ajst-30908	24	7	digital	digital	ADJ
ajst-30908	24	8	elevation	elevation	NOUN
ajst-30908	24	9	map	map	NOUN
ajst-30908	24	10	of	of	ADP
ajst-30908	24	11	the	the	DET
ajst-30908	24	12	ionian	ionian	PROPN
ajst-30908	24	13	sea	sea	NOUN
ajst-30908	24	14	to	to	PART
ajst-30908	24	15	determine	determine	VERB
ajst-30908	24	16	and	and	CCONJ
ajst-30908	24	17	predict	predict	VERB
ajst-30908	24	18	the	the	DET
ajst-30908	24	19	location	location	NOUN
ajst-30908	24	20	of	of	ADP
ajst-30908	24	21	the	the	DET
ajst-30908	24	22	tracker	tracker	NOUN
ajst-30908	24	23	.	.	PUNCT
ajst-30908	25	1	the	the	DET
ajst-30908	25	2	digital	digital	ADJ
ajst-30908	25	3	elevation	elevation	NOUN
ajst-30908	25	4	map	map	NOUN
ajst-30908	25	5	is	be	AUX
ajst-30908	25	6	plotted	plot	VERB
ajst-30908	25	7	in	in	ADP
ajst-30908	25	8	figure	figure	NOUN
ajst-30908	25	9	1	1	NUM
ajst-30908	25	10	:	:	PUNCT
ajst-30908	25	11	figure	figure	NOUN
ajst-30908	25	12	1	1	NUM
ajst-30908	25	13	.	.	PUNCT
ajst-30908	25	14	digital	digital	ADJ
ajst-30908	25	15	elevation	elevation	NOUN
ajst-30908	25	16	map	map	NOUN
ajst-30908	25	17	of	of	ADP
ajst-30908	25	18	the	the	DET
ajst-30908	25	19	ionian	ionian	PROPN
ajst-30908	25	20	sea	sea	NOUN
ajst-30908	25	21	203	203	NUM
ajst-30908	25	22	2.2	2.2	NUM
ajst-30908	25	23	.	.	PUNCT
ajst-30908	26	1	constructing	construct	VERB
ajst-30908	26	2	a	a	DET
ajst-30908	26	3	relationship	relationship	NOUN
ajst-30908	26	4	between	between	ADP
ajst-30908	26	5	seawater	seawater	NOUN
ajst-30908	26	6	density	density	NOUN
ajst-30908	26	7	and	and	CCONJ
ajst-30908	26	8	depth	depth	NOUN
ajst-30908	26	9	ocean	ocean	NOUN
ajst-30908	26	10	density	density	NOUN
ajst-30908	26	11	has	have	VERB
ajst-30908	26	12	a	a	DET
ajst-30908	26	13	significant	significant	ADJ
ajst-30908	26	14	effect	effect	NOUN
ajst-30908	26	15	on	on	ADP
ajst-30908	26	16	the	the	DET
ajst-30908	26	17	ascent	ascent	NOUN
ajst-30908	26	18	and	and	CCONJ
ajst-30908	26	19	descent	descent	NOUN
ajst-30908	26	20	of	of	ADP
ajst-30908	26	21	submersibles	submersible	NOUN
ajst-30908	26	22	.	.	PUNCT
ajst-30908	27	1	in	in	ADP
ajst-30908	27	2	this	this	DET
ajst-30908	27	3	paper	paper	NOUN
ajst-30908	27	4	,	,	PUNCT
ajst-30908	27	5	the	the	DET
ajst-30908	27	6	relationship	relationship	NOUN
ajst-30908	27	7	between	between	ADP
ajst-30908	27	8	ocean	ocean	NOUN
ajst-30908	27	9	density	density	NOUN
ajst-30908	27	10	and	and	CCONJ
ajst-30908	27	11	depth	depth	NOUN
ajst-30908	27	12	(	(	PUNCT
ajst-30908	27	13	height	height	NOUN
ajst-30908	27	14	from	from	ADP
ajst-30908	27	15	sea	sea	NOUN
ajst-30908	27	16	level	level	NOUN
ajst-30908	27	17	)	)	PUNCT
ajst-30908	27	18	is	be	AUX
ajst-30908	27	19	first	first	ADV
ajst-30908	27	20	fitted	fit	VERB
ajst-30908	27	21	so	so	SCONJ
ajst-30908	27	22	as	as	SCONJ
ajst-30908	27	23	to	to	PART
ajst-30908	27	24	express	express	VERB
ajst-30908	27	25	depth	depth	NOUN
ajst-30908	27	26	in	in	ADP
ajst-30908	27	27	terms	term	NOUN
ajst-30908	27	28	of	of	ADP
ajst-30908	27	29	ocean	ocean	NOUN
ajst-30908	27	30	density	density	NOUN
ajst-30908	27	31	.	.	PUNCT
ajst-30908	28	1	a	a	DET
ajst-30908	28	2	comparative	comparative	ADJ
ajst-30908	28	3	analysis	analysis	NOUN
ajst-30908	28	4	of	of	ADP
ajst-30908	28	5	the	the	DET
ajst-30908	28	6	data	data	NOUN
ajst-30908	28	7	relationship	relationship	NOUN
ajst-30908	28	8	between	between	ADP
ajst-30908	28	9	ocean	ocean	NOUN
ajst-30908	28	10	density	density	NOUN
ajst-30908	28	11	and	and	CCONJ
ajst-30908	28	12	depth	depth	NOUN
ajst-30908	28	13	was	be	AUX
ajst-30908	28	14	first	first	ADV
ajst-30908	28	15	performed	perform	VERB
ajst-30908	28	16	,	,	PUNCT
ajst-30908	28	17	and	and	CCONJ
ajst-30908	28	18	it	it	PRON
ajst-30908	28	19	was	be	AUX
ajst-30908	28	20	found	find	VERB
ajst-30908	28	21	that	that	SCONJ
ajst-30908	28	22	ocean	ocean	NOUN
ajst-30908	28	23	density	density	NOUN
ajst-30908	28	24	increases	increase	VERB
ajst-30908	28	25	with	with	ADP
ajst-30908	28	26	depth	depth	NOUN
ajst-30908	28	27	.	.	PUNCT
ajst-30908	29	1	therefore	therefore	ADV
ajst-30908	29	2	,	,	PUNCT
ajst-30908	29	3	a	a	DET
ajst-30908	29	4	polynomial	polynomial	ADJ
ajst-30908	29	5	fit	fit	NOUN
ajst-30908	29	6	was	be	AUX
ajst-30908	29	7	analyzed	analyze	VERB
ajst-30908	29	8	for	for	ADP
ajst-30908	29	9	ocean	ocean	NOUN
ajst-30908	29	10	density	density	NOUN
ajst-30908	29	11	and	and	CCONJ
ajst-30908	29	12	its	its	PRON
ajst-30908	29	13	depth.the	depth.the	DET
ajst-30908	29	14	polynomial	polynomial	NOUN
ajst-30908	29	15	used	use	VERB
ajst-30908	29	16	to	to	PART
ajst-30908	29	17	fit	fit	VERB
ajst-30908	29	18	the	the	DET
ajst-30908	29	19	curve	curve	NOUN
ajst-30908	29	20	is	be	AUX
ajst-30908	29	21	assumed	assume	VERB
ajst-30908	29	22	,	,	PUNCT
ajst-30908	29	23	and	and	CCONJ
ajst-30908	29	24	multiple	multiple	ADJ
ajst-30908	29	25	sample	sample	NOUN
ajst-30908	29	26	points	point	NOUN
ajst-30908	29	27	are	be	AUX
ajst-30908	29	28	selected	select	VERB
ajst-30908	29	29	as	as	ADP
ajst-30908	29	30	data	data	NOUN
ajst-30908	29	31	support	support	NOUN
ajst-30908	29	32	,	,	PUNCT
ajst-30908	29	33	denoted	denote	VERB
ajst-30908	29	34	as	as	SCONJ
ajst-30908	29	35	nn	nn	PROPN
ajst-30908	29	36	nn	nn	PROPN
ajst-30908	29	37	aihaihaihai	aihaihaihai	PROPN
ajst-30908	29	38			VERB
ajst-30908	29	39			PROPN
ajst-30908	29	40			PROPN
ajst-30908	29	41	)	)	PUNCT
ajst-30908	29	42	(	(	PUNCT
ajst-30908	29	43	*	*	PUNCT
ajst-30908	29	44	...	...	PUNCT
ajst-30908	29	45	)	)	PUNCT
ajst-30908	29	46	(	(	PUNCT
ajst-30908	29	47	*	*	NOUN
ajst-30908	29	48	)	)	PUNCT
ajst-30908	29	49	(	(	PUNCT
ajst-30908	29	50	*	*	NOUN
ajst-30908	29	51	)	)	PUNCT
ajst-30908	29	52	(	(	PUNCT
ajst-30908	29	53	1	1	NUM
ajst-30908	29	54	1	1	NUM
ajst-30908	29	55	10	10	NUM
ajst-30908	29	56	(	(	PUNCT
ajst-30908	29	57	1	1	NUM
ajst-30908	29	58	)	)	PUNCT
ajst-30908	29	59	...	...	PUNCT
ajst-30908	29	60	3,2,1	3,2,1	NUM
ajst-30908	29	61	)	)	PUNCT
ajst-30908	29	62	)	)	PUNCT
ajst-30908	29	63	,	,	PUNCT
ajst-30908	29	64	(	(	PUNCT
ajst-30908	29	65	)	)	PUNCT
ajst-30908	29	66	,	,	PUNCT
ajst-30908	29	67	(	(	PUNCT
ajst-30908	29	68	(	(	PUNCT
ajst-30908	29	69	iihi	iihi	NOUN
ajst-30908	29	70	(	(	PUNCT
ajst-30908	29	71	2	2	NUM
ajst-30908	29	72	)	)	PUNCT
ajst-30908	29	73	where	where	SCONJ
ajst-30908	29	74	na	na	NOUN
ajst-30908	29	75	represents	represent	VERB
ajst-30908	29	76	the	the	DET
ajst-30908	29	77	fitting	fitting	ADJ
ajst-30908	29	78	coefficient	coefficient	NOUN
ajst-30908	29	79	,	,	PUNCT
ajst-30908	29	80	and	and	CCONJ
ajst-30908	29	81	)	)	PUNCT
ajst-30908	29	82	(	(	PUNCT
ajst-30908	29	83	i	i	NOUN
ajst-30908	29	84	and	and	CCONJ
ajst-30908	29	85	)	)	PUNCT
ajst-30908	29	86	(	(	PUNCT
ajst-30908	29	87	ih	ih	PRON
ajst-30908	29	88	represent	represent	VERB
ajst-30908	29	89	ocean	ocean	NOUN
ajst-30908	29	90	density	density	NOUN
ajst-30908	29	91	and	and	CCONJ
ajst-30908	29	92	ocean	ocean	NOUN
ajst-30908	29	93	height	height	NOUN
ajst-30908	29	94	(	(	PUNCT
ajst-30908	29	95	height	height	NOUN
ajst-30908	29	96	from	from	ADP
ajst-30908	29	97	sea	sea	NOUN
ajst-30908	29	98	level	level	NOUN
ajst-30908	29	99	)	)	PUNCT
ajst-30908	29	100	,	,	PUNCT
ajst-30908	29	101	respectively	respectively	ADV
ajst-30908	29	102	.	.	PUNCT
ajst-30908	30	1	after	after	ADP
ajst-30908	30	2	calculating	calculate	VERB
ajst-30908	30	3	the	the	DET
ajst-30908	30	4	residual	residual	ADJ
ajst-30908	30	5	sum	sum	NOUN
ajst-30908	30	6	of	of	ADP
ajst-30908	30	7	squares	square	NOUN
ajst-30908	30	8	,	,	PUNCT
ajst-30908	30	9	the	the	DET
ajst-30908	30	10	relationship	relationship	NOUN
ajst-30908	30	11	between	between	ADP
ajst-30908	30	12	ocean	ocean	NOUN
ajst-30908	30	13	density	density	NOUN
ajst-30908	30	14	and	and	CCONJ
ajst-30908	30	15	depth	depth	NOUN
ajst-30908	30	16	can	can	AUX
ajst-30908	30	17	be	be	AUX
ajst-30908	30	18	derived	derive	VERB
ajst-30908	30	19	.	.	PUNCT
ajst-30908	31	1	after	after	ADP
ajst-30908	31	2	comparison	comparison	NOUN
ajst-30908	31	3	,	,	PUNCT
ajst-30908	31	4	it	it	PRON
ajst-30908	31	5	was	be	AUX
ajst-30908	31	6	found	find	VERB
ajst-30908	31	7	that	that	SCONJ
ajst-30908	31	8	there	there	PRON
ajst-30908	31	9	is	be	VERB
ajst-30908	31	10	a	a	DET
ajst-30908	31	11	curve	curve	NOUN
ajst-30908	31	12	that	that	PRON
ajst-30908	31	13	can	can	AUX
ajst-30908	31	14	be	be	AUX
ajst-30908	31	15	well	well	ADV
ajst-30908	31	16	fitted	fit	VERB
ajst-30908	31	17	to	to	ADP
ajst-30908	31	18	the	the	DET
ajst-30908	31	19	curve	curve	NOUN
ajst-30908	31	20	,	,	PUNCT
ajst-30908	31	21	and	and	CCONJ
ajst-30908	31	22	the	the	DET
ajst-30908	31	23	following	follow	VERB
ajst-30908	31	24	equation	equation	NOUN
ajst-30908	31	25	was	be	AUX
ajst-30908	31	26	obtained	obtain	VERB
ajst-30908	31	27	nn	nn	PROPN
ajst-30908	31	28	aha	aha	INTJ
ajst-30908	31	29			PROPN
ajst-30908	31	30			PROPN
ajst-30908	31	31	*	*	PUNCT
ajst-30908	31	32	1	1	NUM
ajst-30908	31	33	(	(	PUNCT
ajst-30908	31	34	3	3	NUM
ajst-30908	31	35	)	)	PUNCT
ajst-30908	31	36	025.1,12.01	025.1,12.01	NUM
ajst-30908	31	37			PROPN
ajst-30908	31	38	nn	nn	PROPN
ajst-30908	31	39	aa	aa	NOUN
ajst-30908	31	40	validation	validation	NOUN
ajst-30908	31	41	of	of	ADP
ajst-30908	31	42	the	the	DET
ajst-30908	31	43	function	function	NOUN
ajst-30908	31	44	by	by	ADP
ajst-30908	31	45	comparing	compare	VERB
ajst-30908	31	46	predicted	predict	VERB
ajst-30908	31	47	and	and	CCONJ
ajst-30908	31	48	actual	actual	ADJ
ajst-30908	31	49	values	value	NOUN
ajst-30908	31	50	reveals	reveal	VERB
ajst-30908	31	51	that	that	SCONJ
ajst-30908	31	52	the	the	DET
ajst-30908	31	53	density	density	NOUN
ajst-30908	31	54	of	of	ADP
ajst-30908	31	55	seawater	seawater	NOUN
ajst-30908	31	56	at	at	ADP
ajst-30908	31	57	a	a	DET
ajst-30908	31	58	depth	depth	NOUN
ajst-30908	31	59	of	of	ADP
ajst-30908	31	60	10,000	10,000	NUM
ajst-30908	31	61	meters	meter	NOUN
ajst-30908	31	62	is	be	AUX
ajst-30908	31	63	close	close	ADJ
ajst-30908	31	64	to	to	ADP
ajst-30908	31	65	3/1000	3/1000	NUM
ajst-30908	31	66	cmg	cmg	NOUN
ajst-30908	31	67	,	,	PUNCT
ajst-30908	31	68	whereas	whereas	SCONJ
ajst-30908	31	69	the	the	DET
ajst-30908	31	70	density	density	NOUN
ajst-30908	31	71	of	of	ADP
ajst-30908	31	72	seawater	seawater	NOUN
ajst-30908	31	73	at	at	ADP
ajst-30908	31	74	a	a	DET
ajst-30908	31	75	depth	depth	NOUN
ajst-30908	31	76	of	of	ADP
ajst-30908	31	77	200	200	NUM
ajst-30908	31	78	meters	meter	NOUN
ajst-30908	31	79	is	be	AUX
ajst-30908	31	80	close	close	ADJ
ajst-30908	31	81	to	to	ADP
ajst-30908	31	82	3/25	3/25	NUM
ajst-30908	31	83	cmg	cmg	NOUN
ajst-30908	31	84	,	,	PUNCT
ajst-30908	31	85	which	which	PRON
ajst-30908	31	86	is	be	AUX
ajst-30908	31	87	consistent	consistent	ADJ
ajst-30908	31	88	with	with	ADP
ajst-30908	31	89	the	the	DET
ajst-30908	31	90	actual	actual	ADJ
ajst-30908	31	91	situation	situation	NOUN
ajst-30908	31	92	.	.	PUNCT
ajst-30908	32	1	2.3	2.3	NUM
ajst-30908	32	2	.	.	PUNCT
ajst-30908	32	3	calculate	calculate	VERB
ajst-30908	32	4	the	the	DET
ajst-30908	32	5	distance	distance	NOUN
ajst-30908	32	6	traveled	travel	VERB
ajst-30908	32	7	by	by	ADP
ajst-30908	32	8	the	the	DET
ajst-30908	32	9	submersible	submersible	ADJ
ajst-30908	32	10	after	after	ADP
ajst-30908	32	11	t	t	NOUN
ajst-30908	32	12	seconds	second	NOUN
ajst-30908	32	13	after	after	ADP
ajst-30908	32	14	obtaining	obtain	VERB
ajst-30908	32	15	the	the	DET
ajst-30908	32	16	above	above	ADJ
ajst-30908	32	17	data	datum	NOUN
ajst-30908	32	18	,	,	PUNCT
ajst-30908	32	19	this	this	DET
ajst-30908	32	20	paper	paper	NOUN
ajst-30908	32	21	will	will	AUX
ajst-30908	32	22	calculate	calculate	VERB
ajst-30908	32	23	the	the	DET
ajst-30908	32	24	dive	dive	ADJ
ajst-30908	32	25	distance	distance	NOUN
ajst-30908	32	26	of	of	ADP
ajst-30908	32	27	the	the	DET
ajst-30908	32	28	submersible	submersible	NOUN
ajst-30908	32	29	.	.	PUNCT
ajst-30908	33	1	firstly	firstly	ADV
ajst-30908	33	2	,	,	PUNCT
ajst-30908	33	3	the	the	DET
ajst-30908	33	4	force	force	NOUN
ajst-30908	33	5	analysis	analysis	NOUN
ajst-30908	33	6	of	of	ADP
ajst-30908	33	7	the	the	DET
ajst-30908	33	8	submersible	submersible	NOUN
ajst-30908	33	9	is	be	AUX
ajst-30908	33	10	carried	carry	VERB
ajst-30908	33	11	out	out	ADP
ajst-30908	33	12	,	,	PUNCT
ajst-30908	33	13	as	as	SCONJ
ajst-30908	33	14	shown	show	VERB
ajst-30908	33	15	in	in	ADP
ajst-30908	33	16	figure	figure	NOUN
ajst-30908	33	17	2	2	NUM
ajst-30908	33	18	.	.	PUNCT
ajst-30908	34	1	the	the	DET
ajst-30908	34	2	formula	formula	NOUN
ajst-30908	34	3	for	for	ADP
ajst-30908	34	4	seawater	seawater	NOUN
ajst-30908	34	5	resistance	resistance	NOUN
ajst-30908	34	6	is	be	AUX
ajst-30908	34	7	obtained	obtain	VERB
ajst-30908	34	8	by	by	ADP
ajst-30908	34	9	finding	find	VERB
ajst-30908	34	10	the	the	DET
ajst-30908	34	11	data	datum	NOUN
ajst-30908	34	12	.	.	PUNCT
ajst-30908	35	1	next	next	ADV
ajst-30908	35	2	,	,	PUNCT
ajst-30908	35	3	the	the	DET
ajst-30908	35	4	dive	dive	NOUN
ajst-30908	35	5	distance	distance	NOUN
ajst-30908	35	6	is	be	AUX
ajst-30908	35	7	calculated	calculate	VERB
ajst-30908	35	8	and	and	CCONJ
ajst-30908	35	9	the	the	DET
ajst-30908	35	10	vessel	vessel	NOUN
ajst-30908	35	11	is	be	AUX
ajst-30908	35	12	assumed	assume	VERB
ajst-30908	35	13	to	to	PART
ajst-30908	35	14	dive	dive	VERB
ajst-30908	35	15	with	with	ADP
ajst-30908	35	16	full	full	ADJ
ajst-30908	35	17	load	load	NOUN
ajst-30908	35	18	.	.	PUNCT
ajst-30908	36	1	figure	figure	NOUN
ajst-30908	36	2	2	2	NUM
ajst-30908	36	3	.	.	PUNCT
ajst-30908	37	1	force	force	VERB
ajst-30908	37	2	analysis	analysis	NOUN
ajst-30908	37	3	of	of	ADP
ajst-30908	37	4	a	a	DET
ajst-30908	37	5	submarine	submarine	NOUN
ajst-30908	37	6	when	when	SCONJ
ajst-30908	37	7	it	it	PRON
ajst-30908	37	8	just	just	ADV
ajst-30908	37	9	enters	enter	VERB
ajst-30908	37	10	the	the	DET
ajst-30908	37	11	acceleration	acceleration	NOUN
ajst-30908	37	12	phase	phase	NOUN
ajst-30908	37	13	,	,	PUNCT
ajst-30908	37	14	the	the	DET
ajst-30908	37	15	distance	distance	NOUN
ajst-30908	37	16	the	the	DET
ajst-30908	37	17	submersible	submersible	ADJ
ajst-30908	37	18	falls	fall	VERB
ajst-30908	37	19	in	in	ADP
ajst-30908	37	20	the	the	DET
ajst-30908	37	21	acceleration	acceleration	NOUN
ajst-30908	37	22	time	time	NOUN
ajst-30908	37	23	t	t	PROPN
ajst-30908	37	24	can	can	AUX
ajst-30908	37	25	be	be	AUX
ajst-30908	37	26	obtained[6	obtained[6	NUM
ajst-30908	37	27	]	]	PUNCT
ajst-30908	37	28	,	,	PUNCT
ajst-30908	37	29	and	and	CCONJ
ajst-30908	37	30	t	t	PROPN
ajst-30908	37	31	is	be	AUX
ajst-30908	37	32	introduced	introduce	VERB
ajst-30908	37	33	into	into	ADP
ajst-30908	37	34	the	the	DET
ajst-30908	37	35	solution	solution	NOUN
ajst-30908	37	36	obtained	obtain	VERB
ajst-30908	37	37	by	by	ADP
ajst-30908	37	38	the	the	DET
ajst-30908	37	39	above	above	ADJ
ajst-30908	37	40	equation	equation	NOUN
ajst-30908	37	41	;	;	PUNCT
ajst-30908	37	42	when	when	SCONJ
ajst-30908	37	43	the	the	DET
ajst-30908	37	44	force	force	NOUN
ajst-30908	37	45	is	be	AUX
ajst-30908	37	46	balanced	balance	VERB
ajst-30908	37	47	,	,	PUNCT
ajst-30908	37	48	the	the	DET
ajst-30908	37	49	distance	distance	NOUN
ajst-30908	37	50	,	,	PUNCT
ajst-30908	37	51	time	time	NOUN
ajst-30908	37	52	1	1	NUM
ajst-30908	37	53	t	t	NOUN
ajst-30908	37	54	and	and	CCONJ
ajst-30908	37	55	velocity	velocity	NOUN
ajst-30908	37	56	it	it	PRON
ajst-30908	37	57	falls	fall	VERB
ajst-30908	37	58	can	can	AUX
ajst-30908	37	59	be	be	AUX
ajst-30908	37	60	found	find	VERB
ajst-30908	37	61	,	,	PUNCT
ajst-30908	37	62	when	when	SCONJ
ajst-30908	37	63	the	the	DET
ajst-30908	37	64	acceleration	acceleration	NOUN
ajst-30908	37	65	is	be	AUX
ajst-30908	37	66	0	0	NUM
ajst-30908	37	67	,	,	PUNCT
ajst-30908	37	68	the	the	DET
ajst-30908	37	69	velocity	velocity	NOUN
ajst-30908	37	70	decreases	decrease	VERB
ajst-30908	37	71	with	with	ADP
ajst-30908	37	72	the	the	DET
ajst-30908	37	73	acceleration	acceleration	NOUN
ajst-30908	37	74	,	,	PUNCT
ajst-30908	37	75	and	and	CCONJ
ajst-30908	37	76	the	the	DET
ajst-30908	37	77	distance	distance	NOUN
ajst-30908	37	78	generated	generate	VERB
ajst-30908	37	79	by	by	ADP
ajst-30908	37	80	the	the	DET
ajst-30908	37	81	deceleration	deceleration	NOUN
ajst-30908	37	82	can	can	AUX
ajst-30908	37	83	be	be	AUX
ajst-30908	37	84	obtained	obtain	VERB
ajst-30908	37	85	by	by	ADP
ajst-30908	37	86	the	the	DET
ajst-30908	37	87	calculations	calculation	NOUN
ajst-30908	37	88	,	,	PUNCT
ajst-30908	37	89	and	and	CCONJ
ajst-30908	37	90	integrating	integrate	VERB
ajst-30908	37	91	it	it	PRON
ajst-30908	37	92	with	with	ADP
ajst-30908	37	93	the	the	DET
ajst-30908	37	94	above	above	ADJ
ajst-30908	37	95	equation	equation	NOUN
ajst-30908	37	96	,	,	PUNCT
ajst-30908	37	97	the	the	DET
ajst-30908	37	98	depth	depth	NOUN
ajst-30908	37	99	of	of	ADP
ajst-30908	37	100	descent	descent	NOUN
ajst-30908	37	101	after	after	ADP
ajst-30908	37	102	seconds	second	NOUN
ajst-30908	37	103	can	can	AUX
ajst-30908	37	104	be	be	AUX
ajst-30908	37	105	obtained	obtain	VERB
ajst-30908	37	106	;	;	PUNCT
ajst-30908	37	107	when	when	SCONJ
ajst-30908	37	108	the	the	DET
ajst-30908	37	109	submersible	submersible	ADJ
ajst-30908	37	110	sinks	sink	NOUN
ajst-30908	37	111	to	to	ADP
ajst-30908	37	112	the	the	DET
ajst-30908	37	113	bottom	bottom	NOUN
ajst-30908	37	114	,	,	PUNCT
ajst-30908	37	115	it	it	PRON
ajst-30908	37	116	takes	take	VERB
ajst-30908	37	117	time	time	NOUN
ajst-30908	37	118	2	2	NUM
ajst-30908	37	119	t	t	NOUN
ajst-30908	37	120	,	,	PUNCT
ajst-30908	37	121	and	and	CCONJ
ajst-30908	37	122	buoyancy	buoyancy	NOUN
ajst-30908	37	123	is	be	AUX
ajst-30908	37	124	equal	equal	ADJ
ajst-30908	37	125	to	to	ADP
ajst-30908	37	126	gravity	gravity	NOUN
ajst-30908	37	127	,	,	PUNCT
ajst-30908	37	128	from	from	ADP
ajst-30908	37	129	which	which	PRON
ajst-30908	37	130	the	the	DET
ajst-30908	37	131	approximate	approximate	ADJ
ajst-30908	37	132	depth	depth	NOUN
ajst-30908	37	133	of	of	ADP
ajst-30908	37	134	descent	descent	NOUN
ajst-30908	37	135	can	can	AUX
ajst-30908	37	136	be	be	AUX
ajst-30908	37	137	derived	derive	VERB
ajst-30908	37	138	and	and	CCONJ
ajst-30908	37	139	then	then	ADV
ajst-30908	37	140	maintained	maintain	VERB
ajst-30908	37	141	.	.	PUNCT
ajst-30908	38	1	21	21	NUM
ajst-30908	38	2	ttt	ttt	NOUN
ajst-30908	38	3			PUNCT
ajst-30908	38	4	in	in	ADP
ajst-30908	38	5	summary	summary	NOUN
ajst-30908	38	6	,	,	PUNCT
ajst-30908	38	7	it	it	PRON
ajst-30908	38	8	can	can	AUX
ajst-30908	38	9	be	be	AUX
ajst-30908	38	10	obtained	obtain	VERB
ajst-30908	38	11	that	that	SCONJ
ajst-30908	38	12	when	when	SCONJ
ajst-30908	38	13	1tt	1tt	PROPN
ajst-30908	38	14			PROPN
ajst-30908	38	15	,	,	PUNCT
ajst-30908	38	16	the	the	DET
ajst-30908	38	17	downward	downward	ADJ
ajst-30908	38	18	distance	distance	NOUN
ajst-30908	38	19	is	be	AUX
ajst-30908	38	20	case	case	NOUN
ajst-30908	38	21	1	1	NUM
ajst-30908	38	22	;	;	PUNCT
ajst-30908	38	23	when	when	SCONJ
ajst-30908	38	24	,	,	PUNCT
ajst-30908	38	25	the	the	DET
ajst-30908	38	26	downward	downward	ADJ
ajst-30908	38	27	distance	distance	NOUN
ajst-30908	38	28	is	be	AUX
ajst-30908	38	29	case	case	NOUN
ajst-30908	38	30	2	2	NUM
ajst-30908	38	31	;	;	PUNCT
ajst-30908	38	32	and	and	CCONJ
ajst-30908	38	33	when	when	SCONJ
ajst-30908	38	34	tt	tt	PROPN
ajst-30908	38	35	2	2	NOUN
ajst-30908	38	36	,	,	PUNCT
ajst-30908	38	37	the	the	DET
ajst-30908	38	38	downward	downward	ADJ
ajst-30908	38	39	distance	distance	NOUN
ajst-30908	38	40	is	be	AUX
ajst-30908	38	41	3h	3h	NUM
ajst-30908	38	42	.	.	PUNCT
ajst-30908	39	1	2.4	2.4	NUM
ajst-30908	39	2	.	.	PUNCT
ajst-30908	39	3	displacement	displacement	NOUN
ajst-30908	39	4	of	of	ADP
ajst-30908	39	5	submersibles	submersible	NOUN
ajst-30908	39	6	affected	affect	VERB
ajst-30908	39	7	by	by	ADP
ajst-30908	39	8	ocean	ocean	NOUN
ajst-30908	39	9	currents	current	NOUN
ajst-30908	39	10	assume	assume	VERB
ajst-30908	39	11	that	that	SCONJ
ajst-30908	39	12	the	the	DET
ajst-30908	39	13	motion	motion	NOUN
ajst-30908	39	14	of	of	ADP
ajst-30908	39	15	a	a	DET
ajst-30908	39	16	ship	ship	NOUN
ajst-30908	39	17	at	at	ADP
ajst-30908	39	18	the	the	DET
ajst-30908	39	19	same	same	ADJ
ajst-30908	39	20	altitude	altitude	NOUN
ajst-30908	39	21	is	be	AUX
ajst-30908	39	22	driven	drive	VERB
ajst-30908	39	23	by	by	ADP
ajst-30908	39	24	ocean	ocean	NOUN
ajst-30908	39	25	currents	current	NOUN
ajst-30908	39	26	.	.	PUNCT
ajst-30908	40	1	firstly	firstly	ADV
ajst-30908	40	2	,	,	PUNCT
ajst-30908	40	3	the	the	DET
ajst-30908	40	4	data	datum	NOUN
ajst-30908	40	5	of	of	ADP
ajst-30908	40	6	ionian	ionian	ADJ
ajst-30908	40	7	current	current	NOUN
ajst-30908	40	8	is	be	AUX
ajst-30908	40	9	collected	collect	VERB
ajst-30908	40	10	and	and	CCONJ
ajst-30908	40	11	analyzed	analyze	VERB
ajst-30908	40	12	,	,	PUNCT
ajst-30908	40	13	and	and	CCONJ
ajst-30908	40	14	the	the	DET
ajst-30908	40	15	current	current	ADJ
ajst-30908	40	16	velocity	velocity	NOUN
ajst-30908	40	17	of	of	ADP
ajst-30908	40	18	the	the	DET
ajst-30908	40	19	ocean	ocean	NOUN
ajst-30908	40	20	is	be	AUX
ajst-30908	40	21	about	about	ADP
ajst-30908	40	22	sm	sm	PROPN
ajst-30908	40	23	/2~0	/2~0	PUNCT
ajst-30908	41	1	[	[	X
ajst-30908	41	2	7	7	NUM
ajst-30908	41	3	]	]	PUNCT
ajst-30908	41	4	.	.	PUNCT
ajst-30908	42	1	in	in	ADP
ajst-30908	42	2	this	this	DET
ajst-30908	42	3	paper	paper	NOUN
ajst-30908	42	4	,	,	PUNCT
ajst-30908	42	5	assuming	assume	VERB
ajst-30908	42	6	that	that	SCONJ
ajst-30908	42	7	the	the	DET
ajst-30908	42	8	currents	current	NOUN
ajst-30908	42	9	at	at	ADP
ajst-30908	42	10	different	different	ADJ
ajst-30908	42	11	heights	height	NOUN
ajst-30908	42	12	in	in	ADP
ajst-30908	42	13	the	the	DET
ajst-30908	42	14	same	same	ADJ
ajst-30908	42	15	place	place	NOUN
ajst-30908	42	16	have	have	VERB
ajst-30908	42	17	the	the	DET
ajst-30908	42	18	same	same	ADJ
ajst-30908	42	19	velocity	velocity	NOUN
ajst-30908	42	20	direction	direction	NOUN
ajst-30908	42	21	and	and	CCONJ
ajst-30908	42	22	magnitude	magnitude	NOUN
ajst-30908	42	23	,	,	PUNCT
ajst-30908	42	24	the	the	DET
ajst-30908	42	25	differential	differential	ADJ
ajst-30908	42	26	equations	equation	NOUN
ajst-30908	42	27	are	be	AUX
ajst-30908	42	28	constructed	construct	VERB
ajst-30908	42	29	to	to	PART
ajst-30908	42	30	write	write	VERB
ajst-30908	42	31	its	its	PRON
ajst-30908	42	32	effect	effect	NOUN
ajst-30908	42	33	on	on	ADP
ajst-30908	42	34	the	the	DET
ajst-30908	42	35	horizontal	horizontal	ADJ
ajst-30908	42	36	position	position	NOUN
ajst-30908	42	37	of	of	ADP
ajst-30908	42	38	the	the	DET
ajst-30908	42	39	submersible	submersible	NOUN
ajst-30908	42	40	.	.	PUNCT
ajst-30908	43	1	first	first	ADV
ajst-30908	43	2	,	,	PUNCT
ajst-30908	43	3	the	the	DET
ajst-30908	43	4	energy	energy	NOUN
ajst-30908	43	5	of	of	ADP
ajst-30908	43	6	the	the	DET
ajst-30908	43	7	ocean	ocean	NOUN
ajst-30908	43	8	current	current	NOUN
ajst-30908	43	9	is	be	AUX
ajst-30908	43	10	converted	convert	VERB
ajst-30908	43	11	into	into	ADP
ajst-30908	43	12	the	the	DET
ajst-30908	43	13	forward	forward	ADJ
ajst-30908	43	14	momentum	momentum	NOUN
ajst-30908	43	15	of	of	ADP
ajst-30908	43	16	the	the	DET
ajst-30908	43	17	submersible	submersible	NOUN
ajst-30908	43	18	,	,	PUNCT
ajst-30908	43	19	assuming	assume	VERB
ajst-30908	43	20	that	that	SCONJ
ajst-30908	43	21	the	the	DET
ajst-30908	43	22	conversion	conversion	NOUN
ajst-30908	43	23	efficiency	efficiency	NOUN
ajst-30908	43	24	is	is	NOUN
ajst-30908	43	25	and	and	CCONJ
ajst-30908	43	26	the	the	DET
ajst-30908	43	27	velocity	velocity	NOUN
ajst-30908	43	28	of	of	ADP
ajst-30908	43	29	the	the	DET
ajst-30908	43	30	current	current	NOUN
ajst-30908	43	31	is	be	AUX
ajst-30908	43	32	iv	iv	NUM
ajst-30908	43	33	.	.	PUNCT
ajst-30908	44	1	then	then	ADV
ajst-30908	44	2	the	the	DET
ajst-30908	44	3	submersible	submersible	NOUN
ajst-30908	44	4	obtains	obtain	VERB
ajst-30908	44	5	forward	forward	ADV
ajst-30908	44	6	kinetic	kinetic	ADJ
ajst-30908	44	7	energy	energy	NOUN
ajst-30908	44	8	under	under	ADP
ajst-30908	44	9	the	the	DET
ajst-30908	44	10	action	action	NOUN
ajst-30908	44	11	of	of	ADP
ajst-30908	44	12	the	the	DET
ajst-30908	44	13	current	current	ADJ
ajst-30908	44	14	thrust	thrust	NOUN
ajst-30908	44	15	,	,	PUNCT
ajst-30908	44	16	and	and	CCONJ
ajst-30908	44	17	the	the	DET
ajst-30908	44	18	average	average	ADJ
ajst-30908	44	19	velocity	velocity	NOUN
ajst-30908	44	20	obtained	obtain	VERB
ajst-30908	44	21	under	under	ADP
ajst-30908	44	22	the	the	DET
ajst-30908	44	23	influence	influence	NOUN
ajst-30908	44	24	of	of	ADP
ajst-30908	44	25	the	the	DET
ajst-30908	44	26	ocean	ocean	NOUN
ajst-30908	44	27	current	current	NOUN
ajst-30908	44	28	is	be	AUX
ajst-30908	44	29	sm	sm	PROPN
ajst-30908	44	30	/1	/1	NOUN
ajst-30908	44	31	.	.	PUNCT
ajst-30908	45	1	after	after	ADP
ajst-30908	45	2	the	the	DET
ajst-30908	45	3	time	time	NOUN
ajst-30908	45	4	t	t	PROPN
ajst-30908	45	5	,	,	PUNCT
ajst-30908	45	6	according	accord	VERB
ajst-30908	45	7	to	to	ADP
ajst-30908	45	8	the	the	DET
ajst-30908	45	9	current	current	ADJ
ajst-30908	45	10	position	position	NOUN
ajst-30908	45	11	moving	move	VERB
ajst-30908	45	12	with	with	ADP
ajst-30908	45	13	the	the	DET
ajst-30908	45	14	direction	direction	NOUN
ajst-30908	45	15	of	of	ADP
ajst-30908	45	16	the	the	DET
ajst-30908	45	17	ocean	ocean	PROPN
ajst-30908	45	18	current	current	NOUN
ajst-30908	45	19	.	.	PUNCT
ajst-30908	46	1	jcicc	jcicc	PROPN
ajst-30908	46	2	ytxt	ytxt	PROPN
ajst-30908	47	1			PROPN
ajst-30908	47	2			PROPN
ajst-30908	47	3	(	(	PUNCT
ajst-30908	47	4	4	4	NUM
ajst-30908	47	5	)	)	PUNCT
ajst-30908	47	6	xtc	xtc	PROPN
ajst-30908	47	7	represents	represent	VERB
ajst-30908	47	8	the	the	DET
ajst-30908	47	9	velocity	velocity	NOUN
ajst-30908	47	10	of	of	ADP
ajst-30908	47	11	the	the	DET
ajst-30908	47	12	submersible	submersible	ADJ
ajst-30908	47	13	along	along	ADP
ajst-30908	47	14	the	the	DET
ajst-30908	47	15	xaxis	xaxis	PROPN
ajst-30908	47	16	at	at	ADP
ajst-30908	47	17	t	t	PROPN
ajst-30908	47	18	seconds	second	NOUN
ajst-30908	47	19	and	and	CCONJ
ajst-30908	47	20	ytc	ytc	PROPN
ajst-30908	47	21	represents	represent	VERB
ajst-30908	47	22	the	the	DET
ajst-30908	47	23	velocity	velocity	NOUN
ajst-30908	47	24	of	of	ADP
ajst-30908	47	25	the	the	DET
ajst-30908	47	26	submersible	submersible	NOUN
ajst-30908	47	27	along	along	ADP
ajst-30908	47	28	the	the	DET
ajst-30908	47	29	y	y	NOUN
ajst-30908	47	30	-	-	PUNCT
ajst-30908	47	31	axis	axis	NOUN
ajst-30908	47	32	at	at	ADP
ajst-30908	47	33	t	t	PROPN
ajst-30908	47	34	seconds	second	NOUN
ajst-30908	47	35	.	.	PUNCT
ajst-30908	48	1			PROPN
ajst-30908	48	2			NOUN
ajst-30908	48	3			ADP
ajst-30908	49	1			PRON
ajst-30908	50	1			PROPN
ajst-30908	50	2	dtcdy	dtcdy	PROPN
ajst-30908	50	3	dtcdx	dtcdx	NOUN
ajst-30908	50	4	yt	yt	PROPN
ajst-30908	50	5	xt	xt	PROPN
ajst-30908	50	6	(	(	PUNCT
ajst-30908	50	7	5	5	NUM
ajst-30908	50	8	)	)	PUNCT
ajst-30908	50	9	by	by	ADP
ajst-30908	50	10	integrating	integrate	VERB
ajst-30908	50	11	over	over	ADP
ajst-30908	50	12	t	t	PROPN
ajst-30908	50	13	in	in	ADP
ajst-30908	50	14	the	the	DET
ajst-30908	50	15	two	two	NUM
ajst-30908	50	16	equations	equation	NOUN
ajst-30908	50	17	,	,	PUNCT
ajst-30908	50	18	the	the	DET
ajst-30908	50	19	difference	difference	NOUN
ajst-30908	50	20	in	in	ADP
ajst-30908	50	21	displacement	displacement	NOUN
ajst-30908	50	22	of	of	ADP
ajst-30908	50	23	the	the	DET
ajst-30908	50	24	submersible	submersible	NOUN
ajst-30908	50	25	in	in	ADP
ajst-30908	50	26	the	the	DET
ajst-30908	50	27	x	x	NOUN
ajst-30908	50	28	-	-	NOUN
ajst-30908	50	29	axis	axis	ADJ
ajst-30908	50	30	and	and	CCONJ
ajst-30908	50	31	y	y	NOUN
ajst-30908	50	32	-	-	PUNCT
ajst-30908	50	33	axis	axis	NOUN
ajst-30908	50	34	can	can	AUX
ajst-30908	50	35	be	be	AUX
ajst-30908	50	36	found	find	VERB
ajst-30908	50	37	,	,	PUNCT
ajst-30908	50	38	respectively	respectively	ADV
ajst-30908	50	39	.	.	PUNCT
ajst-30908	51	1	2.5	2.5	NUM
ajst-30908	51	2	.	.	PUNCT
ajst-30908	52	1	summary	summary	NOUN
ajst-30908	52	2	and	and	CCONJ
ajst-30908	52	3	final	final	ADJ
ajst-30908	52	4	judgment	judgment	NOUN
ajst-30908	52	5	after	after	ADP
ajst-30908	52	6	completing	complete	VERB
ajst-30908	52	7	the	the	DET
ajst-30908	52	8	above	above	ADJ
ajst-30908	52	9	preparations	preparation	NOUN
ajst-30908	52	10	,	,	PUNCT
ajst-30908	52	11	determine	determine	VERB
ajst-30908	52	12	the	the	DET
ajst-30908	52	13	initial	initial	ADJ
ajst-30908	52	14	position	position	NOUN
ajst-30908	52	15	of	of	ADP
ajst-30908	52	16	the	the	DET
ajst-30908	52	17	submersible	submersible	NOUN
ajst-30908	52	18	.	.	PUNCT
ajst-30908	52	19	establish	establish	VERB
ajst-30908	52	20	a	a	DET
ajst-30908	52	21	coordinate	coordinate	NOUN
ajst-30908	52	22	system	system	NOUN
ajst-30908	52	23	with	with	ADP
ajst-30908	52	24	the	the	DET
ajst-30908	52	25	main	main	ADJ
ajst-30908	52	26	ship	ship	NOUN
ajst-30908	52	27	as	as	ADP
ajst-30908	52	28	the	the	DET
ajst-30908	52	29	origin	origin	NOUN
ajst-30908	52	30	,	,	PUNCT
ajst-30908	52	31	then	then	ADV
ajst-30908	52	32	the	the	DET
ajst-30908	52	33	position	position	NOUN
ajst-30908	52	34	of	of	ADP
ajst-30908	52	35	the	the	DET
ajst-30908	52	36	ship	ship	NOUN
ajst-30908	52	37	is	be	AUX
ajst-30908	52	38	)	)	PUNCT
ajst-30908	52	39	(	(	PUNCT
ajst-30908	52	40	,	,	PUNCT
ajst-30908	52	41	ii	ii	PROPN
ajst-30908	52	42	yx	yx	NOUN
ajst-30908	52	43	and	and	CCONJ
ajst-30908	52	44	the	the	DET
ajst-30908	52	45	depth	depth	NOUN
ajst-30908	52	46	isu	isu	NOUN
ajst-30908	52	47	.	.	PUNCT
ajst-30908	53	1	find	find	VERB
ajst-30908	53	2	the	the	DET
ajst-30908	53	3	position	position	NOUN
ajst-30908	53	4	at	at	ADP
ajst-30908	53	5	which	which	PRON
ajst-30908	53	6	the	the	DET
ajst-30908	53	7	submersible	submersible	ADJ
ajst-30908	53	8	will	will	AUX
ajst-30908	53	9	land	land	VERB
ajst-30908	53	10	after	after	ADP
ajst-30908	53	11	t	t	PROPN
ajst-30908	53	12	seconds	second	NOUN
ajst-30908	53	13	.	.	PUNCT
ajst-30908	54	1	calculate	calculate	VERB
ajst-30908	54	2	the	the	DET
ajst-30908	54	3	displacement	displacement	NOUN
ajst-30908	54	4	of	of	ADP
ajst-30908	54	5	the	the	DET
ajst-30908	54	6	submersible	submersible	NOUN
ajst-30908	54	7	in	in	ADP
ajst-30908	54	8	the	the	DET
ajst-30908	54	9	plane	plane	NOUN
ajst-30908	54	10	based	base	VERB
ajst-30908	54	11	on	on	ADP
ajst-30908	54	12	the	the	DET
ajst-30908	54	13	above	above	ADJ
ajst-30908	54	14	study	study	NOUN
ajst-30908	54	15	,	,	PUNCT
ajst-30908	54	16	and	and	CCONJ
ajst-30908	54	17	you	you	PRON
ajst-30908	54	18	can	can	AUX
ajst-30908	54	19	get	get	VERB
ajst-30908	54	20	the	the	DET
ajst-30908	54	21	difference	difference	NOUN
ajst-30908	54	22	204	204	NUM
ajst-30908	54	23	between	between	ADP
ajst-30908	54	24	the	the	DET
ajst-30908	54	25	displacement	displacement	NOUN
ajst-30908	54	26	of	of	ADP
ajst-30908	54	27	the	the	DET
ajst-30908	54	28	submersible	submersible	ADJ
ajst-30908	54	29	on	on	ADP
ajst-30908	54	30	the	the	DET
ajst-30908	54	31	x	x	NOUN
ajst-30908	54	32	-	-	NOUN
ajst-30908	54	33	axis	axis	NOUN
ajst-30908	54	34	and	and	CCONJ
ajst-30908	54	35	the	the	DET
ajst-30908	54	36	y	y	NOUN
ajst-30908	54	37	-	-	PUNCT
ajst-30908	54	38	axis	axis	NOUN
ajst-30908	54	39	after	after	ADP
ajst-30908	54	40	t	t	PROPN
ajst-30908	54	41	seconds	second	NOUN
ajst-30908	54	42	as	as	ADP
ajst-30908	54	43	x	x	NOUN
ajst-30908	54	44	and	and	CCONJ
ajst-30908	54	45	y	y	NOUN
ajst-30908	54	46	.	.	PUNCT
ajst-30908	55	1	we	we	PRON
ajst-30908	55	2	can	can	AUX
ajst-30908	55	3	conclude	conclude	VERB
ajst-30908	55	4	that	that	SCONJ
ajst-30908	55	5	the	the	DET
ajst-30908	55	6	submersible	submersible	NOUN
ajst-30908	55	7	's	's	PART
ajst-30908	55	8	position	position	NOUN
ajst-30908	55	9	is	be	AUX
ajst-30908	55	10	roughly	roughly	ADV
ajst-30908	55	11	at	at	ADP
ajst-30908	55	12	)	)	PUNCT
ajst-30908	55	13	,	,	PUNCT
ajst-30908	55	14	yyxx	yyxx	PROPN
ajst-30908	55	15			PROPN
ajst-30908	55	16	.	.	PUNCT
ajst-30908	56	1	at	at	ADP
ajst-30908	56	2	this	this	DET
ajst-30908	56	3	point	point	NOUN
ajst-30908	56	4	,	,	PUNCT
ajst-30908	56	5	the	the	DET
ajst-30908	56	6	displacement	displacement	ADJ
ajst-30908	56	7	pz	pz	NOUN
ajst-30908	56	8	of	of	ADP
ajst-30908	56	9	the	the	DET
ajst-30908	56	10	submersible	submersible	NOUN
ajst-30908	56	11	in	in	ADP
ajst-30908	56	12	the	the	DET
ajst-30908	56	13	z	z	NOUN
ajst-30908	56	14	-	-	PUNCT
ajst-30908	56	15	axis	axis	NOUN
ajst-30908	56	16	direction	direction	NOUN
ajst-30908	56	17	can	can	AUX
ajst-30908	56	18	be	be	AUX
ajst-30908	56	19	found	find	VERB
ajst-30908	56	20	,	,	PUNCT
ajst-30908	56	21	and	and	CCONJ
ajst-30908	56	22	u	u	NOUN
ajst-30908	56	23	can	can	AUX
ajst-30908	56	24	be	be	AUX
ajst-30908	56	25	substituted	substitute	VERB
ajst-30908	56	26	into	into	ADP
ajst-30908	56	27	the	the	DET
ajst-30908	56	28	formula	formula	NOUN
ajst-30908	56	29	for	for	ADP
ajst-30908	56	30	the	the	DET
ajst-30908	56	31	corresponding	correspond	VERB
ajst-30908	56	32	case	case	NOUN
ajst-30908	56	33	.	.	PUNCT
ajst-30908	57	1	when	when	SCONJ
ajst-30908	57	2	1hu	1hu	ADJ
ajst-30908	57	3			PROPN
ajst-30908	57	4	,	,	PUNCT
ajst-30908	57	5	substitute	substitute	VERB
ajst-30908	57	6	the	the	DET
ajst-30908	57	7	formula	formula	NOUN
ajst-30908	57	8	for	for	ADP
ajst-30908	57	9	case	case	NOUN
ajst-30908	57	10	1	1	NUM
ajst-30908	57	11	to	to	PART
ajst-30908	57	12	find	find	VERB
ajst-30908	57	13	the	the	DET
ajst-30908	57	14	time	time	NOUN
ajst-30908	57	15	from	from	ADP
ajst-30908	57	16	sea	sea	NOUN
ajst-30908	57	17	level	level	NOUN
ajst-30908	57	18	to	to	ADP
ajst-30908	57	19	that	that	DET
ajst-30908	57	20	point	point	NOUN
ajst-30908	57	21	,	,	PUNCT
ajst-30908	57	22	and	and	CCONJ
ajst-30908	57	23	use	use	VERB
ajst-30908	57	24	this	this	PRON
ajst-30908	57	25	to	to	PART
ajst-30908	57	26	find	find	VERB
ajst-30908	57	27	the	the	DET
ajst-30908	57	28	depth	depth	NOUN
ajst-30908	57	29	of	of	ADP
ajst-30908	57	30	the	the	DET
ajst-30908	57	31	submersible	submersible	NOUN
ajst-30908	57	32	;	;	PUNCT
ajst-30908	57	33	when	when	SCONJ
ajst-30908	57	34	21	21	NUM
ajst-30908	57	35	huh	huh	NOUN
ajst-30908	57	36			NUM
ajst-30908	57	37	,	,	PUNCT
ajst-30908	57	38	substitute	substitute	VERB
ajst-30908	57	39	the	the	DET
ajst-30908	57	40	formula	formula	NOUN
ajst-30908	57	41	for	for	ADP
ajst-30908	57	42	case	case	NOUN
ajst-30908	57	43	2	2	NUM
ajst-30908	57	44	to	to	PART
ajst-30908	57	45	find	find	VERB
ajst-30908	57	46	the	the	DET
ajst-30908	57	47	time	time	NOUN
ajst-30908	57	48	taken	take	VERB
ajst-30908	57	49	to	to	PART
ajst-30908	57	50	travel	travel	VERB
ajst-30908	57	51	the	the	DET
ajst-30908	57	52	distance	distance	NOUN
ajst-30908	57	53	from	from	ADP
ajst-30908	57	54	sea	sea	NOUN
ajst-30908	57	55	level	level	NOUN
ajst-30908	57	56	to	to	ADP
ajst-30908	57	57	depth	depth	NOUN
ajst-30908	57	58	u	u	NOUN
ajst-30908	57	59	,	,	PUNCT
ajst-30908	57	60	and	and	CCONJ
ajst-30908	57	61	then	then	ADV
ajst-30908	57	62	the	the	DET
ajst-30908	57	63	height	height	NOUN
ajst-30908	57	64	h	h	NOUN
ajst-30908	57	65	.	.	PUNCT
ajst-30908	58	1	when	when	SCONJ
ajst-30908	58	2	the	the	DET
ajst-30908	58	3	depth	depth	NOUN
ajst-30908	58	4	is	be	AUX
ajst-30908	58	5	greater	great	ADJ
ajst-30908	58	6	than	than	ADP
ajst-30908	58	7	2h	2h	NUM
ajst-30908	58	8	,	,	PUNCT
ajst-30908	58	9	the	the	DET
ajst-30908	58	10	point	point	NOUN
ajst-30908	58	11	of	of	ADP
ajst-30908	58	12	neutral	neutral	ADJ
ajst-30908	58	13	buoyancy	buoyancy	NOUN
ajst-30908	58	14	in	in	ADP
ajst-30908	58	15	the	the	DET
ajst-30908	58	16	water	water	NOUN
ajst-30908	58	17	,	,	PUNCT
ajst-30908	58	18	the	the	DET
ajst-30908	58	19	value	value	NOUN
ajst-30908	58	20	of	of	ADP
ajst-30908	58	21	the	the	DET
ajst-30908	58	22	submersible	submersible	NOUN
ajst-30908	58	23	's	's	PART
ajst-30908	58	24	height	height	NOUN
ajst-30908	58	25	is	be	AUX
ajst-30908	58	26	essentially	essentially	ADV
ajst-30908	58	27	constant	constant	ADJ
ajst-30908	58	28	with	with	ADP
ajst-30908	58	29	time	time	NOUN
ajst-30908	58	30	.	.	PUNCT
ajst-30908	59	1	after	after	ADP
ajst-30908	59	2	a	a	DET
ajst-30908	59	3	comprehensive	comprehensive	ADJ
ajst-30908	59	4	analysis	analysis	NOUN
ajst-30908	59	5	,	,	PUNCT
ajst-30908	59	6	the	the	DET
ajst-30908	59	7	obtained	obtain	VERB
ajst-30908	59	8	altitude	altitude	NOUN
ajst-30908	59	9	is	be	AUX
ajst-30908	59	10	set	set	VERB
ajst-30908	59	11	to	to	ADP
ajst-30908	59	12	k	k	PROPN
ajst-30908	59	13	,	,	PUNCT
ajst-30908	59	14	and	and	CCONJ
ajst-30908	59	15	k	k	PROPN
ajst-30908	59	16	is	be	AUX
ajst-30908	59	17	compared	compare	VERB
ajst-30908	59	18	with	with	ADP
ajst-30908	59	19	pz	pz	NOUN
ajst-30908	59	20	.	.	PUNCT
ajst-30908	60	1	if	if	SCONJ
ajst-30908	60	2	pzk	pzk	NOUN
ajst-30908	60	3			X
ajst-30908	60	4	,	,	PUNCT
ajst-30908	60	5	the	the	DET
ajst-30908	60	6	submersible	submersible	ADJ
ajst-30908	60	7	reaches	reach	VERB
ajst-30908	60	8	the	the	DET
ajst-30908	60	9	seafloor	seafloor	NOUN
ajst-30908	60	10	at	at	ADP
ajst-30908	60	11	pz	pz	NOUN
ajst-30908	60	12	;	;	PUNCT
ajst-30908	60	13	if	if	SCONJ
ajst-30908	60	14	pzk	pzk	NOUN
ajst-30908	60	15			PROPN
ajst-30908	60	16	,	,	PUNCT
ajst-30908	60	17	the	the	DET
ajst-30908	60	18	submersible	submersible	ADJ
ajst-30908	60	19	reaches	reach	VERB
ajst-30908	60	20	the	the	DET
ajst-30908	60	21	seafloor	seafloor	NOUN
ajst-30908	60	22	at	at	ADP
ajst-30908	60	23	k	k	PROPN
ajst-30908	60	24	,	,	PUNCT
ajst-30908	60	25	and	and	CCONJ
ajst-30908	60	26	the	the	DET
ajst-30908	60	27	final	final	ADJ
ajst-30908	60	28	position	position	NOUN
ajst-30908	60	29	of	of	ADP
ajst-30908	60	30	the	the	DET
ajst-30908	60	31	submersible	submersible	ADJ
ajst-30908	60	32	is	be	AUX
ajst-30908	60	33			PROPN
ajst-30908	60	34	),min	),min	PROPN
ajst-30908	60	35	,	,	PUNCT
ajst-30908	60	36	,	,	PUNCT
ajst-30908	60	37	(	(	PUNCT
ajst-30908	60	38	pii	pii	PROPN
ajst-30908	60	39	zkyyxx	zkyyxx	PROPN
ajst-30908	60	40			PROPN
ajst-30908	60	41	.	.	PUNCT
ajst-30908	61	1	3	3	X
ajst-30908	61	2	.	.	X
ajst-30908	61	3	availability	availability	NOUN
ajst-30908	61	4	-	-	PUNCT
ajst-30908	61	5	efficiency	efficiency	NOUN
ajst-30908	61	6	based	base	VERB
ajst-30908	61	7	optimization	optimization	NOUN
ajst-30908	61	8	for	for	ADP
ajst-30908	61	9	deep	deep	ADJ
ajst-30908	61	10	-	-	PUNCT
ajst-30908	61	11	sea	sea	NOUN
ajst-30908	61	12	search	search	NOUN
ajst-30908	61	13	and	and	CCONJ
ajst-30908	61	14	rescue	rescue	NOUN
ajst-30908	61	15	equipment	equipment	NOUN
ajst-30908	61	16	combinations	combination	NOUN
ajst-30908	61	17	3.1	3.1	NUM
ajst-30908	61	18	.	.	PUNCT
ajst-30908	61	19	criteria	criterion	NOUN
ajst-30908	61	20	for	for	ADP
ajst-30908	61	21	selecting	select	VERB
ajst-30908	61	22	equipment	equipment	NOUN
ajst-30908	61	23	combinations	combination	NOUN
ajst-30908	61	24	in	in	ADP
ajst-30908	61	25	this	this	DET
ajst-30908	61	26	paper	paper	NOUN
ajst-30908	61	27	,	,	PUNCT
ajst-30908	61	28	the	the	DET
ajst-30908	61	29	availability	availability	NOUN
ajst-30908	61	30	efficiency	efficiency	NOUN
ajst-30908	61	31	(	(	PUNCT
ajst-30908	61	32	η	η	NOUN
ajst-30908	61	33	)	)	PUNCT
ajst-30908	61	34	of	of	ADP
ajst-30908	61	35	a	a	DET
ajst-30908	61	36	device	device	NOUN
ajst-30908	61	37	is	be	AUX
ajst-30908	61	38	used	use	VERB
ajst-30908	61	39	as	as	ADP
ajst-30908	61	40	the	the	DET
ajst-30908	61	41	final	final	ADJ
ajst-30908	61	42	evaluation	evaluation	NOUN
ajst-30908	61	43	criterion	criterion	NOUN
ajst-30908	61	44	for	for	ADP
ajst-30908	61	45	whether	whether	SCONJ
ajst-30908	61	46	or	or	CCONJ
ajst-30908	61	47	not	not	PART
ajst-30908	61	48	to	to	PART
ajst-30908	61	49	select	select	VERB
ajst-30908	61	50	a	a	DET
ajst-30908	61	51	device	device	NOUN
ajst-30908	61	52	.	.	PUNCT
ajst-30908	62	1	therefore	therefore	ADV
ajst-30908	62	2	,	,	PUNCT
ajst-30908	62	3	a	a	DET
ajst-30908	62	4	formula	formula	NOUN
ajst-30908	62	5	for	for	ADP
ajst-30908	62	6	calculating	calculate	VERB
ajst-30908	62	7	the	the	DET
ajst-30908	62	8	availability	availability	NOUN
ajst-30908	62	9	efficiency	efficiency	NOUN
ajst-30908	62	10	is	be	AUX
ajst-30908	62	11	finally	finally	ADV
ajst-30908	62	12	established[8	established[8	ADP
ajst-30908	62	13	]	]	X
ajst-30908	62	14	:	:	PUNCT
ajst-30908	62	15	iii	iii	X
ajst-30908	62	16	ce	ce	PROPN
ajst-30908	62	17	*	*	PUNCT
ajst-30908	62	18	*	*	PROPN
ajst-30908	62	19	ii	ii	PROPN
ajst-30908	62	20			ADV
ajst-30908	62	21			ADJ
ajst-30908	62	22	(	(	PUNCT
ajst-30908	62	23	6	6	NUM
ajst-30908	62	24	)	)	PUNCT
ajst-30908	62	25	where	where	SCONJ
ajst-30908	62	26	ie	ie	ADV
ajst-30908	62	27	represents	represent	VERB
ajst-30908	62	28	the	the	DET
ajst-30908	62	29	sar	sar	NOUN
ajst-30908	62	30	efficiency	efficiency	NOUN
ajst-30908	62	31	of	of	ADP
ajst-30908	62	32	different	different	ADJ
ajst-30908	62	33	sar	sar	NOUN
ajst-30908	62	34	equipment	equipment	PROPN
ajst-30908	62	35	,	,	PUNCT
ajst-30908	62	36	ic	ic	PROPN
ajst-30908	62	37	represents	represent	VERB
ajst-30908	62	38	the	the	DET
ajst-30908	62	39	sar	sar	PROPN
ajst-30908	62	40	efficiency	efficiency	NOUN
ajst-30908	62	41	weights	weight	NOUN
ajst-30908	62	42	of	of	ADP
ajst-30908	62	43	different	different	ADJ
ajst-30908	62	44	sar	sar	NOUN
ajst-30908	62	45	equipment	equipment	NOUN
ajst-30908	62	46	,	,	PUNCT
ajst-30908	62	47	i	i	PROPN
ajst-30908	62	48	represents	represent	VERB
ajst-30908	62	49	the	the	DET
ajst-30908	62	50	total	total	ADJ
ajst-30908	62	51	cost	cost	NOUN
ajst-30908	62	52	of	of	ADP
ajst-30908	62	53	different	different	ADJ
ajst-30908	62	54	sar	sar	NOUN
ajst-30908	62	55	equipment	equipment	NOUN
ajst-30908	62	56	(	(	PUNCT
ajst-30908	62	57	including	include	VERB
ajst-30908	62	58	the	the	DET
ajst-30908	62	59	cost	cost	NOUN
ajst-30908	62	60	of	of	ADP
ajst-30908	62	61	procurement	procurement	NOUN
ajst-30908	62	62	,	,	PUNCT
ajst-30908	62	63	maintenance	maintenance	NOUN
ajst-30908	62	64	,	,	PUNCT
ajst-30908	62	65	and	and	CCONJ
ajst-30908	62	66	utilization	utilization	NOUN
ajst-30908	62	67	)	)	PUNCT
ajst-30908	62	68	,	,	PUNCT
ajst-30908	62	69	and	and	CCONJ
ajst-30908	62	70	i	i	PROPN
ajst-30908	62	71	represents	represent	VERB
ajst-30908	62	72	the	the	DET
ajst-30908	62	73	economic	economic	ADJ
ajst-30908	62	74	efficiency	efficiency	NOUN
ajst-30908	62	75	weights	weight	NOUN
ajst-30908	62	76	of	of	ADP
ajst-30908	62	77	different	different	ADJ
ajst-30908	62	78	sar	sar	NOUN
ajst-30908	62	79	equipment	equipment	NOUN
ajst-30908	62	80	.	.	PUNCT
ajst-30908	63	1	considering	consider	VERB
ajst-30908	63	2	the	the	DET
ajst-30908	63	3	complexity	complexity	NOUN
ajst-30908	63	4	of	of	ADP
ajst-30908	63	5	deep	deep	ADJ
ajst-30908	63	6	-	-	PUNCT
ajst-30908	63	7	sea	sea	NOUN
ajst-30908	63	8	search	search	NOUN
ajst-30908	63	9	and	and	CCONJ
ajst-30908	63	10	rescue	rescue	NOUN
ajst-30908	63	11	,	,	PUNCT
ajst-30908	63	12	all	all	DET
ajst-30908	63	13	search	search	NOUN
ajst-30908	63	14	processes	process	NOUN
ajst-30908	63	15	must	must	AUX
ajst-30908	63	16	be	be	AUX
ajst-30908	63	17	carried	carry	VERB
ajst-30908	63	18	out	out	ADP
ajst-30908	63	19	by	by	ADP
ajst-30908	63	20	a	a	DET
ajst-30908	63	21	combination	combination	NOUN
ajst-30908	63	22	of	of	ADP
ajst-30908	63	23	multiple	multiple	ADJ
ajst-30908	63	24	devices	device	NOUN
ajst-30908	63	25	,	,	PUNCT
ajst-30908	63	26	and	and	CCONJ
ajst-30908	63	27	the	the	DET
ajst-30908	63	28	problem	problem	NOUN
ajst-30908	63	29	is	be	AUX
ajst-30908	63	30	to	to	PART
ajst-30908	63	31	choose	choose	VERB
ajst-30908	63	32	the	the	DET
ajst-30908	63	33	combination	combination	NOUN
ajst-30908	63	34	of	of	ADP
ajst-30908	63	35	devices	device	NOUN
ajst-30908	63	36	such	such	ADJ
ajst-30908	63	37	that	that	SCONJ
ajst-30908	63	38	the	the	DET
ajst-30908	63	39	final	final	ADJ
ajst-30908	63	40	sum	sum	NOUN
ajst-30908	63	41	of	of	ADP
ajst-30908	63	42	availability	availability	NOUN
ajst-30908	63	43	efficiencies	efficiency	NOUN
ajst-30908	63	44	in	in	ADJ
ajst-30908	63	45	i	i	PROPN
ajst-30908	63	46	is	be	AUX
ajst-30908	63	47	maximized	maximize	VERB
ajst-30908	63	48	.	.	PUNCT
ajst-30908	64	1	where	where	SCONJ
ajst-30908	64	2	in	in	SCONJ
ajst-30908	64	3	represents	represent	VERB
ajst-30908	64	4	the	the	DET
ajst-30908	64	5	number	number	NOUN
ajst-30908	64	6	of	of	ADP
ajst-30908	64	7	devices	device	NOUN
ajst-30908	64	8	in	in	ADP
ajst-30908	64	9	category	category	NOUN
ajst-30908	64	10	i	i	PRON
ajst-30908	64	11	and	and	CCONJ
ajst-30908	64	12	i	i	NOUN
ajst-30908	64	13	represents	represent	VERB
ajst-30908	64	14	the	the	DET
ajst-30908	64	15	efficiency	efficiency	NOUN
ajst-30908	64	16	of	of	ADP
ajst-30908	64	17	the	the	DET
ajst-30908	64	18	ith	ith	PROPN
ajst-30908	64	19	device	device	NOUN
ajst-30908	64	20	.	.	PUNCT
ajst-30908	65	1	3.2	3.2	NUM
ajst-30908	65	2	.	.	PUNCT
ajst-30908	65	3	selection	selection	NOUN
ajst-30908	65	4	of	of	ADP
ajst-30908	65	5	search	search	NOUN
ajst-30908	65	6	equipment	equipment	NOUN
ajst-30908	65	7	by	by	ADP
ajst-30908	65	8	searching	search	VERB
ajst-30908	65	9	the	the	DET
ajst-30908	65	10	data	datum	NOUN
ajst-30908	65	11	,	,	PUNCT
ajst-30908	65	12	the	the	DET
ajst-30908	65	13	following	follow	VERB
ajst-30908	65	14	three	three	NUM
ajst-30908	65	15	main	main	ADJ
ajst-30908	65	16	types	type	NOUN
ajst-30908	65	17	of	of	ADP
ajst-30908	65	18	equipment	equipment	NOUN
ajst-30908	65	19	for	for	ADP
ajst-30908	65	20	offshore	offshore	ADJ
ajst-30908	65	21	localization	localization	NOUN
ajst-30908	65	22	and	and	CCONJ
ajst-30908	65	23	search	search	NOUN
ajst-30908	65	24	are	be	AUX
ajst-30908	65	25	used	use	VERB
ajst-30908	65	26	in	in	ADP
ajst-30908	65	27	this	this	DET
ajst-30908	65	28	paper	paper	NOUN
ajst-30908	65	29	,	,	PUNCT
ajst-30908	65	30	namely	namely	ADV
ajst-30908	65	31	:	:	PUNCT
ajst-30908	65	32	(	(	PUNCT
ajst-30908	65	33	1	1	X
ajst-30908	65	34	)	)	PUNCT
ajst-30908	65	35	active	active	ADJ
ajst-30908	65	36	sonar	sonar	ADJ
ajst-30908	65	37	equipment	equipment	NOUN
ajst-30908	65	38	and	and	CCONJ
ajst-30908	65	39	multibeam	multibeam	NOUN
ajst-30908	65	40	detection	detection	NOUN
ajst-30908	65	41	system	system	NOUN
ajst-30908	65	42	:	:	PUNCT
ajst-30908	65	43	measurement	measurement	NOUN
ajst-30908	65	44	and	and	CCONJ
ajst-30908	65	45	mapping	mapping	NOUN
ajst-30908	65	46	of	of	ADP
ajst-30908	65	47	three	three	NUM
ajst-30908	65	48	-	-	PUNCT
ajst-30908	65	49	dimensional	dimensional	ADJ
ajst-30908	65	50	underwater	underwater	ADJ
ajst-30908	65	51	topography	topography	NOUN
ajst-30908	65	52	to	to	PART
ajst-30908	65	53	facilitate	facilitate	VERB
ajst-30908	65	54	the	the	DET
ajst-30908	65	55	approximate	approximate	ADJ
ajst-30908	65	56	position	position	NOUN
ajst-30908	65	57	of	of	ADP
ajst-30908	65	58	the	the	DET
ajst-30908	65	59	faulty	faulty	ADJ
ajst-30908	65	60	submersible	submersible	NOUN
ajst-30908	65	61	.	.	PUNCT
ajst-30908	66	1	(	(	PUNCT
ajst-30908	66	2	2	2	X
ajst-30908	66	3	)	)	PUNCT
ajst-30908	66	4	underwater	underwater	ADJ
ajst-30908	66	5	positioning	positioning	NOUN
ajst-30908	66	6	system	system	NOUN
ajst-30908	66	7	:	:	PUNCT
ajst-30908	66	8	determining	determine	VERB
ajst-30908	66	9	the	the	DET
ajst-30908	66	10	position	position	NOUN
ajst-30908	66	11	of	of	ADP
ajst-30908	66	12	the	the	DET
ajst-30908	66	13	submersible	submersible	ADJ
ajst-30908	66	14	with	with	ADP
ajst-30908	66	15	high	high	ADJ
ajst-30908	66	16	accuracy	accuracy	NOUN
ajst-30908	66	17	and	and	CCONJ
ajst-30908	66	18	tracking	tracking	NOUN
ajst-30908	66	19	changes	change	NOUN
ajst-30908	66	20	in	in	ADP
ajst-30908	66	21	its	its	PRON
ajst-30908	66	22	position	position	NOUN
ajst-30908	66	23	through	through	ADP
ajst-30908	66	24	signaling	signal	VERB
ajst-30908	66	25	devices	device	NOUN
ajst-30908	66	26	.	.	PUNCT
ajst-30908	67	1	(	(	PUNCT
ajst-30908	67	2	3	3	X
ajst-30908	67	3	)	)	PUNCT
ajst-30908	67	4	intelligent	intelligent	ADJ
ajst-30908	67	5	underwater	underwater	ADJ
ajst-30908	67	6	search	search	NOUN
ajst-30908	67	7	and	and	CCONJ
ajst-30908	67	8	rescue	rescue	NOUN
ajst-30908	67	9	robot	robot	NOUN
ajst-30908	67	10	:	:	PUNCT
ajst-30908	67	11	for	for	ADP
ajst-30908	67	12	accurate	accurate	ADJ
ajst-30908	67	13	detection	detection	NOUN
ajst-30908	67	14	of	of	ADP
ajst-30908	67	15	malfunctioning	malfunction	VERB
ajst-30908	67	16	submersibles[9	submersibles[9	ADV
ajst-30908	67	17	]	]	PUNCT
ajst-30908	67	18	.	.	PUNCT
ajst-30908	68	1	through	through	ADP
ajst-30908	68	2	the	the	DET
ajst-30908	68	3	understanding	understanding	NOUN
ajst-30908	68	4	of	of	ADP
ajst-30908	68	5	the	the	DET
ajst-30908	68	6	ocean	ocean	NOUN
ajst-30908	68	7	search	search	NOUN
ajst-30908	68	8	process	process	NOUN
ajst-30908	68	9	,	,	PUNCT
ajst-30908	68	10	this	this	DET
ajst-30908	68	11	paper	paper	NOUN
ajst-30908	68	12	divides	divide	VERB
ajst-30908	68	13	the	the	DET
ajst-30908	68	14	search	search	NOUN
ajst-30908	68	15	into	into	ADP
ajst-30908	68	16	three	three	NUM
ajst-30908	68	17	processes	process	NOUN
ajst-30908	68	18	:	:	PUNCT
ajst-30908	68	19	“	"	PUNCT
ajst-30908	68	20	rough	rough	ADJ
ajst-30908	68	21	localization	localization	NOUN
ajst-30908	68	22	-	-	PUNCT
ajst-30908	68	23	accurate	accurate	ADJ
ajst-30908	68	24	localization	localization	NOUN
ajst-30908	68	25	-	-	PUNCT
ajst-30908	68	26	robot	robot	NOUN
ajst-30908	68	27	locking	locking	NOUN
ajst-30908	68	28	”	"	PUNCT
ajst-30908	68	29	,	,	PUNCT
ajst-30908	68	30	which	which	PRON
ajst-30908	68	31	play	play	VERB
ajst-30908	68	32	important	important	ADJ
ajst-30908	68	33	roles	role	NOUN
ajst-30908	68	34	in	in	ADP
ajst-30908	68	35	the	the	DET
ajst-30908	68	36	localization	localization	NOUN
ajst-30908	68	37	system	system	NOUN
ajst-30908	68	38	,	,	PUNCT
ajst-30908	68	39	sonar	sonar	ADJ
ajst-30908	68	40	detection	detection	NOUN
ajst-30908	68	41	system	system	NOUN
ajst-30908	68	42	,	,	PUNCT
ajst-30908	68	43	and	and	CCONJ
ajst-30908	68	44	intelligent	intelligent	ADJ
ajst-30908	68	45	search	search	NOUN
ajst-30908	68	46	and	and	CCONJ
ajst-30908	68	47	rescue	rescue	NOUN
ajst-30908	68	48	robot	robot	NOUN
ajst-30908	68	49	.	.	PUNCT
ajst-30908	69	1	next	next	ADV
ajst-30908	69	2	,	,	PUNCT
ajst-30908	69	3	we	we	PRON
ajst-30908	69	4	evaluate	evaluate	VERB
ajst-30908	69	5	the	the	DET
ajst-30908	69	6	search	search	NOUN
ajst-30908	69	7	efficiency	efficiency	NOUN
ajst-30908	69	8	,	,	PUNCT
ajst-30908	69	9	search	search	NOUN
ajst-30908	69	10	efficiency	efficiency	NOUN
ajst-30908	69	11	weights	weight	NOUN
ajst-30908	69	12	,	,	PUNCT
ajst-30908	69	13	economic	economic	ADJ
ajst-30908	69	14	efficiency	efficiency	NOUN
ajst-30908	69	15	weights	weight	NOUN
ajst-30908	69	16	,	,	PUNCT
ajst-30908	69	17	and	and	CCONJ
ajst-30908	69	18	availability	availability	NOUN
ajst-30908	69	19	efficiency	efficiency	NOUN
ajst-30908	69	20	weights	weight	NOUN
ajst-30908	69	21	of	of	ADP
ajst-30908	69	22	each	each	DET
ajst-30908	69	23	device	device	NOUN
ajst-30908	69	24	.	.	PUNCT
ajst-30908	70	1	table	table	NOUN
ajst-30908	70	2	1	1	NUM
ajst-30908	70	3	.	.	PUNCT
ajst-30908	71	1	equipment	equipment	NOUN
ajst-30908	71	2	efficiencies	efficiency	NOUN
ajst-30908	71	3	and	and	CCONJ
ajst-30908	71	4	weights	weight	VERB
ajst-30908	71	5	search	search	NOUN
ajst-30908	71	6	and	and	CCONJ
ajst-30908	71	7	rescue	rescue	NOUN
ajst-30908	71	8	is	be	AUX
ajst-30908	71	9	more	more	ADV
ajst-30908	71	10	efficient	efficient	ADJ
ajst-30908	71	11	than	than	ADP
ajst-30908	71	12	search	search	NOUN
ajst-30908	71	13	and	and	CCONJ
ajst-30908	71	14	rescue	rescue	NOUN
ajst-30908	71	15	efficiency	efficiency	NOUN
ajst-30908	71	16	weighting	weight	VERB
ajst-30908	71	17	economic	economic	ADJ
ajst-30908	71	18	weighting	weighting	NOUN
ajst-30908	71	19	of	of	ADP
ajst-30908	71	20	benefits	benefit	NOUN
ajst-30908	71	21	underwater	underwater	ADJ
ajst-30908	71	22	positioning	positioning	NOUN
ajst-30908	71	23	system	system	NOUN
ajst-30908	71	24	0.4	0.4	NUM
ajst-30908	71	25	0.4	0.4	NUM
ajst-30908	71	26	0.35	0.35	NUM
ajst-30908	71	27	multi	multi	ADJ
ajst-30908	71	28	-	-	ADJ
ajst-30908	71	29	beam	beam	ADJ
ajst-30908	71	30	detection	detection	NOUN
ajst-30908	71	31	systems	system	NOUN
ajst-30908	71	32	0.4	0.4	NUM
ajst-30908	71	33	0.3	0.3	NUM
ajst-30908	71	34	0.45	0.45	NUM
ajst-30908	71	35	intelligent	intelligent	ADJ
ajst-30908	71	36	underwater	underwater	ADJ
ajst-30908	71	37	search	search	NOUN
ajst-30908	71	38	and	and	CCONJ
ajst-30908	71	39	rescue	rescue	NOUN
ajst-30908	71	40	robot	robot	NOUN
ajst-30908	71	41	0.2	0.2	NUM
ajst-30908	71	42	0.3	0.3	NUM
ajst-30908	71	43	0.2	0.2	NUM
ajst-30908	71	44	3.3	3.3	NUM
ajst-30908	71	45	.	.	PUNCT
ajst-30908	72	1	modeling	modeling	NOUN
ajst-30908	72	2	of	of	ADP
ajst-30908	72	3	assessable	assessable	ADJ
ajst-30908	72	4	efficiency	efficiency	NOUN
ajst-30908	72	5	maximization	maximization	NOUN
ajst-30908	72	6	to	to	PART
ajst-30908	72	7	maximize	maximize	VERB
ajst-30908	72	8	the	the	DET
ajst-30908	72	9	availability	availability	NOUN
ajst-30908	72	10	efficiency	efficiency	NOUN
ajst-30908	72	11	,	,	PUNCT
ajst-30908	72	12	an	an	DET
ajst-30908	72	13	optimization	optimization	NOUN
ajst-30908	72	14	model	model	NOUN
ajst-30908	72	15	is	be	AUX
ajst-30908	72	16	developed	develop	VERB
ajst-30908	72	17	in	in	ADP
ajst-30908	72	18	this	this	DET
ajst-30908	72	19	paper	paper	NOUN
ajst-30908	72	20	.	.	PUNCT
ajst-30908	73	1	assuming	assume	VERB
ajst-30908	73	2	that	that	SCONJ
ajst-30908	73	3	the	the	DET
ajst-30908	73	4	total	total	ADJ
ajst-30908	73	5	cost	cost	NOUN
ajst-30908	73	6	is	be	AUX
ajst-30908	73	7	total	total	NOUN
ajst-30908	73	8	,	,	PUNCT
ajst-30908	73	9	in	in	ADP
ajst-30908	73	10	this	this	DET
ajst-30908	73	11	paper	paper	NOUN
ajst-30908	73	12	we	we	PRON
ajst-30908	73	13	need	need	VERB
ajst-30908	73	14	to	to	PART
ajst-30908	73	15	select	select	VERB
ajst-30908	73	16	the	the	DET
ajst-30908	73	17	right	right	ADJ
ajst-30908	73	18	combination	combination	NOUN
ajst-30908	73	19	of	of	ADP
ajst-30908	73	20	equipment	equipment	NOUN
ajst-30908	73	21	to	to	PART
ajst-30908	73	22	maximize	maximize	VERB
ajst-30908	73	23	the	the	DET
ajst-30908	73	24	availability	availability	NOUN
ajst-30908	73	25	efficiency	efficiency	NOUN
ajst-30908	73	26	itotal	itotal	ADV
ajst-30908	73	27	n	n	VERB
ajst-30908	73	28	i	i	ADV
ajst-30908	73	29	,	,	PUNCT
ajst-30908	73	30	and	and	CCONJ
ajst-30908	73	31	at	at	ADP
ajst-30908	73	32	the	the	DET
ajst-30908	73	33	same	same	ADJ
ajst-30908	73	34	time	time	NOUN
ajst-30908	73	35	satisfy	satisfy	VERB
ajst-30908	73	36	the	the	DET
ajst-30908	73	37	total	total	ADJ
ajst-30908	73	38	cost	cost	NOUN
ajst-30908	73	39	constraint	constraint	NOUN
ajst-30908	73	40	that	that	SCONJ
ajst-30908	73	41	the	the	DET
ajst-30908	73	42	sum	sum	NOUN
ajst-30908	73	43	of	of	ADP
ajst-30908	73	44	all	all	DET
ajst-30908	73	45	the	the	DET
ajst-30908	73	46	equipment	equipment	NOUN
ajst-30908	73	47	is	be	AUX
ajst-30908	73	48	less	less	ADJ
ajst-30908	73	49	than	than	ADP
ajst-30908	73	50	or	or	CCONJ
ajst-30908	73	51	equal	equal	ADJ
ajst-30908	73	52	to	to	ADP
ajst-30908	73	53	the	the	DET
ajst-30908	73	54	total	total	ADJ
ajst-30908	73	55	cost	cost	NOUN
ajst-30908	73	56	total	total	NOUN
ajst-30908	73	57	.	.	PUNCT
ajst-30908	74	1	to	to	PART
ajst-30908	74	2	summarize	summarize	VERB
ajst-30908	74	3	,	,	PUNCT
ajst-30908	74	4	we	we	PRON
ajst-30908	74	5	establish	establish	VERB
ajst-30908	74	6	the	the	DET
ajst-30908	74	7	following	following	ADJ
ajst-30908	74	8	model	model	NOUN
ajst-30908	74	9	for	for	ADP
ajst-30908	74	10	maximizing	maximize	VERB
ajst-30908	74	11	the	the	DET
ajst-30908	74	12	evaluable	evaluable	ADJ
ajst-30908	74	13	efficiency	efficiency	NOUN
ajst-30908	74	14	.	.	PUNCT
ajst-30908	75	1	}	}	PUNCT
ajst-30908	75	2	max	max	PROPN
ajst-30908	75	3	{	{	PUNCT
ajst-30908	75	4	total	total	X
ajst-30908	75	5	(	(	PUNCT
ajst-30908	75	6	7	7	X
ajst-30908	75	7	)	)	PUNCT
ajst-30908	75	8			NOUN
ajst-30908	75	9			NUM
ajst-30908	75	10			NUM
ajst-30908	75	11			ADP
ajst-30908	75	12			PROPN
ajst-30908	75	13			PROPN
ajst-30908	75	14			PROPN
ajst-30908	75	15	nnnn	nnnn	NOUN
ajst-30908	75	16	ts	ts	ADP
ajst-30908	76	1	i	i	PRON
ajst-30908	76	2	totali	totali	VERB
ajst-30908	76	3	321	321	NUM
ajst-30908	76	4	3	3	NUM
ajst-30908	76	5	1	1	NUM
ajst-30908	76	6	,	,	PUNCT
ajst-30908	76	7	,	,	PUNCT
ajst-30908	76	8	..	..	PUNCT
ajst-30908	77	1			NUM
ajst-30908	77	2	(	(	PUNCT
ajst-30908	77	3	8)	8)	NUM
ajst-30908	77	4	the	the	DET
ajst-30908	77	5	goal	goal	NOUN
ajst-30908	77	6	of	of	ADP
ajst-30908	77	7	the	the	DET
ajst-30908	77	8	model	model	NOUN
ajst-30908	77	9	is	be	AUX
ajst-30908	77	10	to	to	PART
ajst-30908	77	11	select	select	VERB
ajst-30908	77	12	the	the	DET
ajst-30908	77	13	optimal	optimal	ADJ
ajst-30908	77	14	combination	combination	NOUN
ajst-30908	77	15	of	of	ADP
ajst-30908	77	16	equipment	equipment	NOUN
ajst-30908	77	17	quantities	quantity	NOUN
ajst-30908	77	18	to	to	PART
ajst-30908	77	19	maximize	maximize	VERB
ajst-30908	77	20	availability	availability	NOUN
ajst-30908	77	21	efficiency	efficiency	NOUN
ajst-30908	77	22	while	while	SCONJ
ajst-30908	77	23	satisfying	satisfy	VERB
ajst-30908	77	24	the	the	DET
ajst-30908	77	25	total	total	ADJ
ajst-30908	77	26	cost	cost	NOUN
ajst-30908	77	27	constraint	constraint	NOUN
ajst-30908	77	28	.	.	PUNCT
ajst-30908	78	1	3.4	3.4	NUM
ajst-30908	78	2	.	.	PUNCT
ajst-30908	78	3	findings	finding	NOUN
ajst-30908	78	4	in	in	ADP
ajst-30908	78	5	this	this	DET
ajst-30908	78	6	paper	paper	NOUN
ajst-30908	78	7	,	,	PUNCT
ajst-30908	78	8	the	the	DET
ajst-30908	78	9	data	datum	NOUN
ajst-30908	78	10	are	be	AUX
ajst-30908	78	11	brought	bring	VERB
ajst-30908	78	12	into	into	ADP
ajst-30908	78	13	the	the	DET
ajst-30908	78	14	model	model	NOUN
ajst-30908	78	15	and	and	CCONJ
ajst-30908	78	16	solved	solve	VERB
ajst-30908	78	17	by	by	ADP
ajst-30908	78	18	genetic	genetic	ADJ
ajst-30908	78	19	algorithm[10	algorithm[10	NOUN
ajst-30908	78	20	]	]	PUNCT
ajst-30908	78	21	to	to	PART
ajst-30908	78	22	obtain	obtain	VERB
ajst-30908	78	23	the	the	DET
ajst-30908	78	24	following	follow	VERB
ajst-30908	78	25	research	research	NOUN
ajst-30908	78	26	results	result	NOUN
ajst-30908	78	27	,	,	PUNCT
ajst-30908	78	28	which	which	PRON
ajst-30908	78	29	prioritize	prioritize	VERB
ajst-30908	78	30	the	the	DET
ajst-30908	78	31	equipments	equipment	NOUN
ajst-30908	78	32	as	as	SCONJ
ajst-30908	78	33	follows	follow	VERB
ajst-30908	78	34	:	:	PUNCT
ajst-30908	78	35	205	205	NUM
ajst-30908	78	36	underwater	underwater	ADJ
ajst-30908	78	37	positioning	positioning	NOUN
ajst-30908	78	38	system	system	NOUN
ajst-30908	78	39	>	>	X
ajst-30908	78	40	multibeam	multibeam	PROPN
ajst-30908	78	41	detection	detection	NOUN
ajst-30908	78	42	system	system	NOUN
ajst-30908	78	43	>	>	X
ajst-30908	78	44	intelligent	intelligent	ADJ
ajst-30908	78	45	underwater	underwater	ADJ
ajst-30908	78	46	search	search	NOUN
ajst-30908	78	47	and	and	CCONJ
ajst-30908	78	48	rescue	rescue	NOUN
ajst-30908	78	49	robot	robot	NOUN
ajst-30908	78	50	under	under	ADP
ajst-30908	78	51	the	the	DET
ajst-30908	78	52	premise	premise	NOUN
ajst-30908	78	53	that	that	SCONJ
ajst-30908	78	54	the	the	DET
ajst-30908	78	55	total	total	ADJ
ajst-30908	78	56	cost	cost	NOUN
ajst-30908	78	57	is	be	AUX
ajst-30908	78	58	fixed	fix	VERB
ajst-30908	78	59	.	.	PUNCT
ajst-30908	79	1	when	when	SCONJ
ajst-30908	79	2	pursuing	pursue	VERB
ajst-30908	79	3	the	the	DET
ajst-30908	79	4	highest	high	ADJ
ajst-30908	79	5	availability	availability	NOUN
ajst-30908	79	6	efficiency	efficiency	NOUN
ajst-30908	79	7	,	,	PUNCT
ajst-30908	79	8	it	it	PRON
ajst-30908	79	9	is	be	AUX
ajst-30908	79	10	recommended	recommend	VERB
ajst-30908	79	11	to	to	PART
ajst-30908	79	12	prioritize	prioritize	VERB
ajst-30908	79	13	the	the	DET
ajst-30908	79	14	configuration	configuration	NOUN
ajst-30908	79	15	of	of	ADP
ajst-30908	79	16	multibeam	multibeam	PROPN
ajst-30908	79	17	detection	detection	NOUN
ajst-30908	79	18	system	system	NOUN
ajst-30908	79	19	and	and	CCONJ
ajst-30908	79	20	underwater	underwater	ADJ
ajst-30908	79	21	positioning	positioning	NOUN
ajst-30908	79	22	system	system	NOUN
ajst-30908	79	23	,	,	PUNCT
ajst-30908	79	24	and	and	CCONJ
ajst-30908	79	25	equip	equip	NOUN
ajst-30908	79	26	as	as	ADP
ajst-30908	79	27	many	many	ADJ
ajst-30908	79	28	intelligent	intelligent	ADJ
ajst-30908	79	29	underwater	underwater	ADJ
ajst-30908	79	30	sar	sar	NOUN
ajst-30908	79	31	robots	robot	NOUN
ajst-30908	79	32	as	as	ADP
ajst-30908	79	33	possible	possible	ADJ
ajst-30908	79	34	to	to	PART
ajst-30908	79	35	achieve	achieve	VERB
ajst-30908	79	36	the	the	DET
ajst-30908	79	37	best	good	ADJ
ajst-30908	79	38	search	search	NOUN
ajst-30908	79	39	efficiency	efficiency	NOUN
ajst-30908	79	40	and	and	CCONJ
ajst-30908	79	41	economic	economic	ADJ
ajst-30908	79	42	benefits	benefit	NOUN
ajst-30908	79	43	.	.	PUNCT
ajst-30908	80	1	this	this	DET
ajst-30908	80	2	study	study	NOUN
ajst-30908	80	3	provides	provide	VERB
ajst-30908	80	4	a	a	DET
ajst-30908	80	5	scientific	scientific	ADJ
ajst-30908	80	6	basis	basis	NOUN
ajst-30908	80	7	for	for	ADP
ajst-30908	80	8	the	the	DET
ajst-30908	80	9	rational	rational	ADJ
ajst-30908	80	10	allocation	allocation	NOUN
ajst-30908	80	11	of	of	ADP
ajst-30908	80	12	deep	deep	ADJ
ajst-30908	80	13	-	-	PUNCT
ajst-30908	80	14	sea	sea	NOUN
ajst-30908	80	15	sar	sar	NOUN
ajst-30908	80	16	equipment	equipment	NOUN
ajst-30908	80	17	,	,	PUNCT
ajst-30908	80	18	and	and	CCONJ
ajst-30908	80	19	has	have	VERB
ajst-30908	80	20	important	important	ADJ
ajst-30908	80	21	theoretical	theoretical	ADJ
ajst-30908	80	22	and	and	CCONJ
ajst-30908	80	23	practical	practical	ADJ
ajst-30908	80	24	value	value	NOUN
ajst-30908	80	25	.	.	PUNCT
ajst-30908	81	1	4	4	X
ajst-30908	81	2	.	.	X
ajst-30908	81	3	conclusions	conclusion	NOUN
ajst-30908	81	4	in	in	ADP
ajst-30908	81	5	this	this	DET
ajst-30908	81	6	paper	paper	NOUN
ajst-30908	81	7	,	,	PUNCT
ajst-30908	81	8	we	we	PRON
ajst-30908	81	9	analyze	analyze	VERB
ajst-30908	81	10	the	the	DET
ajst-30908	81	11	submersible	submersible	ADJ
ajst-30908	81	12	by	by	ADP
ajst-30908	81	13	establishing	establish	VERB
ajst-30908	81	14	a	a	DET
ajst-30908	81	15	localization	localization	NOUN
ajst-30908	81	16	model	model	NOUN
ajst-30908	81	17	that	that	PRON
ajst-30908	81	18	accounts	account	VERB
ajst-30908	81	19	for	for	ADP
ajst-30908	81	20	key	key	ADJ
ajst-30908	81	21	environmental	environmental	ADJ
ajst-30908	81	22	factors	factor	NOUN
ajst-30908	81	23	such	such	ADJ
ajst-30908	81	24	as	as	ADP
ajst-30908	81	25	ocean	ocean	NOUN
ajst-30908	81	26	currents	current	NOUN
ajst-30908	81	27	and	and	CCONJ
ajst-30908	81	28	seawater	seawater	NOUN
ajst-30908	81	29	density	density	NOUN
ajst-30908	81	30	.	.	PUNCT
ajst-30908	82	1	by	by	ADP
ajst-30908	82	2	solving	solve	VERB
ajst-30908	82	3	the	the	DET
ajst-30908	82	4	corresponding	corresponding	ADJ
ajst-30908	82	5	differential	differential	ADJ
ajst-30908	82	6	equations	equation	NOUN
ajst-30908	82	7	,	,	PUNCT
ajst-30908	82	8	we	we	PRON
ajst-30908	82	9	are	be	AUX
ajst-30908	82	10	able	able	ADJ
ajst-30908	82	11	to	to	PART
ajst-30908	82	12	accurately	accurately	ADV
ajst-30908	82	13	calculate	calculate	VERB
ajst-30908	82	14	the	the	DET
ajst-30908	82	15	position	position	NOUN
ajst-30908	82	16	of	of	ADP
ajst-30908	82	17	the	the	DET
ajst-30908	82	18	submersible	submersible	NOUN
ajst-30908	82	19	at	at	ADP
ajst-30908	82	20	any	any	DET
ajst-30908	82	21	given	give	VERB
ajst-30908	82	22	moment	moment	NOUN
ajst-30908	82	23	.	.	PUNCT
ajst-30908	83	1	additionally	additionally	ADV
ajst-30908	83	2	,	,	PUNCT
ajst-30908	83	3	an	an	DET
ajst-30908	83	4	optimization	optimization	NOUN
ajst-30908	83	5	study	study	NOUN
ajst-30908	83	6	on	on	ADP
ajst-30908	83	7	the	the	DET
ajst-30908	83	8	configuration	configuration	NOUN
ajst-30908	83	9	of	of	ADP
ajst-30908	83	10	deep	deep	ADJ
ajst-30908	83	11	-	-	PUNCT
ajst-30908	83	12	sea	sea	NOUN
ajst-30908	83	13	search	search	NOUN
ajst-30908	83	14	and	and	CCONJ
ajst-30908	83	15	rescue	rescue	NOUN
ajst-30908	83	16	(	(	PUNCT
ajst-30908	83	17	sar	sar	NOUN
ajst-30908	83	18	)	)	PUNCT
ajst-30908	83	19	equipment	equipment	NOUN
ajst-30908	83	20	is	be	AUX
ajst-30908	83	21	conducted	conduct	VERB
ajst-30908	83	22	using	use	VERB
ajst-30908	83	23	an	an	DET
ajst-30908	83	24	availability	availability	NOUN
ajst-30908	83	25	-	-	PUNCT
ajst-30908	83	26	efficiency	efficiency	NOUN
ajst-30908	83	27	assessment	assessment	NOUN
ajst-30908	83	28	method	method	NOUN
ajst-30908	83	29	.	.	PUNCT
ajst-30908	84	1	the	the	DET
ajst-30908	84	2	results	result	NOUN
ajst-30908	84	3	indicate	indicate	VERB
ajst-30908	84	4	that	that	SCONJ
ajst-30908	84	5	prioritizing	prioritize	VERB
ajst-30908	84	6	the	the	DET
ajst-30908	84	7	use	use	NOUN
ajst-30908	84	8	of	of	ADP
ajst-30908	84	9	multibeam	multibeam	NOUN
ajst-30908	84	10	detection	detection	NOUN
ajst-30908	84	11	systems	system	NOUN
ajst-30908	84	12	and	and	CCONJ
ajst-30908	84	13	underwater	underwater	ADJ
ajst-30908	84	14	positioning	positioning	NOUN
ajst-30908	84	15	systems	system	NOUN
ajst-30908	84	16	,	,	PUNCT
ajst-30908	84	17	along	along	ADP
ajst-30908	84	18	with	with	ADP
ajst-30908	84	19	deploying	deploy	VERB
ajst-30908	84	20	as	as	ADP
ajst-30908	84	21	many	many	ADJ
ajst-30908	84	22	intelligent	intelligent	ADJ
ajst-30908	84	23	underwater	underwater	ADJ
ajst-30908	84	24	sar	sar	NOUN
ajst-30908	84	25	robots	robot	NOUN
ajst-30908	84	26	as	as	ADP
ajst-30908	84	27	feasible	feasible	ADJ
ajst-30908	84	28	,	,	PUNCT
ajst-30908	84	29	leads	lead	VERB
ajst-30908	84	30	to	to	ADP
ajst-30908	84	31	optimal	optimal	ADJ
ajst-30908	84	32	search	search	NOUN
ajst-30908	84	33	efficiency	efficiency	NOUN
ajst-30908	84	34	and	and	CCONJ
ajst-30908	84	35	economic	economic	ADJ
ajst-30908	84	36	performance	performance	NOUN
ajst-30908	84	37	.	.	PUNCT
ajst-30908	85	1	experimental	experimental	ADJ
ajst-30908	85	2	validation	validation	NOUN
ajst-30908	85	3	confirms	confirm	VERB
ajst-30908	85	4	that	that	SCONJ
ajst-30908	85	5	the	the	DET
ajst-30908	85	6	proposed	propose	VERB
ajst-30908	85	7	positioning	positioning	NOUN
ajst-30908	85	8	model	model	NOUN
ajst-30908	85	9	and	and	CCONJ
ajst-30908	85	10	equipment	equipment	NOUN
ajst-30908	85	11	combination	combination	NOUN
ajst-30908	85	12	strategy	strategy	NOUN
ajst-30908	85	13	exhibit	exhibit	VERB
ajst-30908	85	14	strong	strong	ADJ
ajst-30908	85	15	predictability	predictability	NOUN
ajst-30908	85	16	and	and	CCONJ
ajst-30908	85	17	robustness	robustness	NOUN
ajst-30908	85	18	,	,	PUNCT
ajst-30908	85	19	effectively	effectively	ADV
ajst-30908	85	20	addressing	address	VERB
ajst-30908	85	21	the	the	DET
ajst-30908	85	22	challenges	challenge	NOUN
ajst-30908	85	23	of	of	ADP
ajst-30908	85	24	target	target	NOUN
ajst-30908	85	25	localization	localization	NOUN
ajst-30908	85	26	and	and	CCONJ
ajst-30908	85	27	equipment	equipment	NOUN
ajst-30908	85	28	deployment	deployment	NOUN
ajst-30908	85	29	in	in	ADP
ajst-30908	85	30	deep	deep	ADJ
ajst-30908	85	31	-	-	PUNCT
ajst-30908	85	32	sea	sea	NOUN
ajst-30908	85	33	rescue	rescue	NOUN
ajst-30908	85	34	scenarios	scenario	NOUN
ajst-30908	85	35	.	.	PUNCT
ajst-30908	86	1	this	this	DET
ajst-30908	86	2	study	study	NOUN
ajst-30908	86	3	offers	offer	VERB
ajst-30908	86	4	a	a	DET
ajst-30908	86	5	scientific	scientific	ADJ
ajst-30908	86	6	foundation	foundation	NOUN
ajst-30908	86	7	for	for	ADP
ajst-30908	86	8	the	the	DET
ajst-30908	86	9	rational	rational	ADJ
ajst-30908	86	10	planning	planning	NOUN
ajst-30908	86	11	of	of	ADP
ajst-30908	86	12	sar	sar	PROPN
ajst-30908	86	13	resources	resource	NOUN
ajst-30908	86	14	and	and	CCONJ
ajst-30908	86	15	holds	hold	VERB
ajst-30908	86	16	significant	significant	ADJ
ajst-30908	86	17	theoretical	theoretical	ADJ
ajst-30908	86	18	and	and	CCONJ
ajst-30908	86	19	practical	practical	ADJ
ajst-30908	86	20	value	value	NOUN
ajst-30908	86	21	.	.	PUNCT
ajst-30908	87	1	looking	look	VERB
ajst-30908	87	2	forward	forward	ADV
ajst-30908	87	3	,	,	PUNCT
ajst-30908	87	4	future	future	ADJ
ajst-30908	87	5	research	research	NOUN
ajst-30908	87	6	could	could	AUX
ajst-30908	87	7	explore	explore	VERB
ajst-30908	87	8	adaptive	adaptive	ADJ
ajst-30908	87	9	localization	localization	NOUN
ajst-30908	87	10	models	model	NOUN
ajst-30908	87	11	that	that	PRON
ajst-30908	87	12	respond	respond	VERB
ajst-30908	87	13	dynamically	dynamically	ADV
ajst-30908	87	14	to	to	ADP
ajst-30908	87	15	changing	change	VERB
ajst-30908	87	16	underwater	underwater	ADJ
ajst-30908	87	17	conditions	condition	NOUN
ajst-30908	87	18	,	,	PUNCT
ajst-30908	87	19	such	such	ADJ
ajst-30908	87	20	as	as	ADP
ajst-30908	87	21	real	real	ADJ
ajst-30908	87	22	-	-	PUNCT
ajst-30908	87	23	time	time	NOUN
ajst-30908	87	24	variations	variation	NOUN
ajst-30908	87	25	in	in	ADP
ajst-30908	87	26	current	current	ADJ
ajst-30908	87	27	velocity	velocity	NOUN
ajst-30908	87	28	or	or	CCONJ
ajst-30908	87	29	salinity	salinity	NOUN
ajst-30908	87	30	.	.	PUNCT
ajst-30908	88	1	moreover	moreover	ADV
ajst-30908	88	2	,	,	PUNCT
ajst-30908	88	3	further	further	ADJ
ajst-30908	88	4	integration	integration	NOUN
ajst-30908	88	5	of	of	ADP
ajst-30908	88	6	ai	ai	ADJ
ajst-30908	88	7	-	-	PUNCT
ajst-30908	88	8	driven	drive	VERB
ajst-30908	88	9	decision	decision	NOUN
ajst-30908	88	10	-	-	PUNCT
ajst-30908	88	11	making	make	VERB
ajst-30908	88	12	systems	system	NOUN
ajst-30908	88	13	may	may	AUX
ajst-30908	88	14	enhance	enhance	VERB
ajst-30908	88	15	the	the	DET
ajst-30908	88	16	real	real	ADJ
ajst-30908	88	17	-	-	PUNCT
ajst-30908	88	18	time	time	NOUN
ajst-30908	88	19	coordination	coordination	NOUN
ajst-30908	88	20	and	and	CCONJ
ajst-30908	88	21	efficiency	efficiency	NOUN
ajst-30908	88	22	of	of	ADP
ajst-30908	88	23	multiple	multiple	ADJ
ajst-30908	88	24	rescue	rescue	NOUN
ajst-30908	88	25	units	unit	NOUN
ajst-30908	88	26	.	.	PUNCT
ajst-30908	89	1	with	with	ADP
ajst-30908	89	2	the	the	DET
ajst-30908	89	3	continuous	continuous	ADJ
ajst-30908	89	4	development	development	NOUN
ajst-30908	89	5	of	of	ADP
ajst-30908	89	6	sensor	sensor	NOUN
ajst-30908	89	7	technologies	technology	NOUN
ajst-30908	89	8	and	and	CCONJ
ajst-30908	89	9	autonomous	autonomous	ADJ
ajst-30908	89	10	systems	system	NOUN
ajst-30908	89	11	,	,	PUNCT
ajst-30908	89	12	the	the	DET
ajst-30908	89	13	proposed	propose	VERB
ajst-30908	89	14	framework	framework	NOUN
ajst-30908	89	15	could	could	AUX
ajst-30908	89	16	be	be	AUX
ajst-30908	89	17	expanded	expand	VERB
ajst-30908	89	18	into	into	ADP
ajst-30908	89	19	a	a	DET
ajst-30908	89	20	modular	modular	ADJ
ajst-30908	89	21	platform	platform	NOUN
ajst-30908	89	22	applicable	applicable	ADJ
ajst-30908	89	23	to	to	ADP
ajst-30908	89	24	various	various	ADJ
ajst-30908	89	25	underwater	underwater	ADJ
ajst-30908	89	26	missions	mission	NOUN
ajst-30908	89	27	,	,	PUNCT
ajst-30908	89	28	including	include	VERB
ajst-30908	89	29	environmental	environmental	ADJ
ajst-30908	89	30	monitoring	monitoring	NOUN
ajst-30908	89	31	,	,	PUNCT
ajst-30908	89	32	underwater	underwater	ADJ
ajst-30908	89	33	archaeology	archaeology	NOUN
ajst-30908	89	34	,	,	PUNCT
ajst-30908	89	35	and	and	CCONJ
ajst-30908	89	36	resource	resource	NOUN
ajst-30908	89	37	exploration	exploration	NOUN
ajst-30908	89	38	.	.	PUNCT
ajst-30908	90	1	references	reference	NOUN
ajst-30908	90	2	[	[	X
ajst-30908	90	3	1	1	NUM
ajst-30908	90	4	]	]	X
ajst-30908	90	5	zhu	zhu	PROPN
ajst-30908	90	6	s.	s.	PROPN
ajst-30908	90	7	research	research	PROPN
ajst-30908	90	8	on	on	ADP
ajst-30908	90	9	the	the	DET
ajst-30908	90	10	deep	deep	ADJ
ajst-30908	90	11	-	-	PUNCT
ajst-30908	90	12	sea	sea	NOUN
ajst-30908	90	13	application	application	NOUN
ajst-30908	90	14	and	and	CCONJ
ajst-30908	90	15	key	key	ADJ
ajst-30908	90	16	technology	technology	NOUN
ajst-30908	90	17	application	application	NOUN
ajst-30908	90	18	of	of	ADP
ajst-30908	90	19	work	work	NOUN
ajst-30908	90	20	-	-	PUNCT
ajst-30908	90	21	class	class	NOUN
ajst-30908	90	22	remotely	remotely	ADV
ajst-30908	90	23	operated	operate	VERB
ajst-30908	90	24	vehicles[j	vehicles[j	NOUN
ajst-30908	90	25	]	]	PUNCT
ajst-30908	90	26	.	.	PUNCT
ajst-30908	91	1	china	china	PROPN
ajst-30908	91	2	equipment	equipment	PROPN
ajst-30908	91	3	engineering	engineering	NOUN
ajst-30908	91	4	,	,	PUNCT
ajst-30908	91	5	2024(12	2024(12	NUM
ajst-30908	91	6	):	):	PUNCT
ajst-30908	91	7	222	222	NUM
ajst-30908	91	8	-	-	SYM
ajst-30908	91	9	224	224	NUM
ajst-30908	91	10	.	.	PUNCT
ajst-30908	92	1	[	[	X
ajst-30908	92	2	2	2	X
ajst-30908	92	3	]	]	X
ajst-30908	92	4	wang	wang	PROPN
ajst-30908	92	5	k	k	PROPN
ajst-30908	92	6	,	,	PUNCT
ajst-30908	92	7	zhou	zhou	PROPN
ajst-30908	92	8	x	x	PROPN
ajst-30908	92	9	,	,	PUNCT
ajst-30908	92	10	tang	tang	PROPN
ajst-30908	92	11	q	q	PROPN
ajst-30908	92	12	,	,	PUNCT
ajst-30908	92	13	et	et	PROPN
ajst-30908	92	14	al	al	PROPN
ajst-30908	92	15	.	.	PUNCT
ajst-30908	92	16	application	application	NOUN
ajst-30908	92	17	of	of	ADP
ajst-30908	92	18	underwater	underwater	ADJ
ajst-30908	92	19	navigation	navigation	NOUN
ajst-30908	92	20	and	and	CCONJ
ajst-30908	92	21	positioning	positioning	NOUN
ajst-30908	92	22	technology	technology	NOUN
ajst-30908	92	23	in	in	ADP
ajst-30908	92	24	oceanic	oceanic	ADJ
ajst-30908	92	25	scientific	scientific	ADJ
ajst-30908	92	26	investigation[j	investigation[j	NOUN
ajst-30908	92	27	]	]	X
ajst-30908	92	28	.	.	PUNCT
ajst-30908	93	1	hydrographic	hydrographic	ADJ
ajst-30908	93	2	surveying	surveying	NOUN
ajst-30908	93	3	and	and	CCONJ
ajst-30908	93	4	charting	charting	NOUN
ajst-30908	93	5	,	,	PUNCT
ajst-30908	93	6	2021	2021	NUM
ajst-30908	93	7	,	,	PUNCT
ajst-30908	93	8	41(4	41(4	NUM
ajst-30908	93	9	):	):	PUNCT
ajst-30908	93	10	65	65	NUM
ajst-30908	93	11	-	-	SYM
ajst-30908	93	12	69	69	NUM
ajst-30908	93	13	.	.	PUNCT
ajst-30908	94	1	[	[	X
ajst-30908	94	2	3	3	X
ajst-30908	94	3	]	]	PUNCT
ajst-30908	94	4	xie	xie	PROPN
ajst-30908	94	5	z.	z.	PROPN
ajst-30908	94	6	research	research	PROPN
ajst-30908	94	7	on	on	ADP
ajst-30908	94	8	target	target	NOUN
ajst-30908	94	9	localization	localization	NOUN
ajst-30908	94	10	and	and	CCONJ
ajst-30908	94	11	tracking	tracking	NOUN
ajst-30908	94	12	method	method	NOUN
ajst-30908	94	13	based	base	VERB
ajst-30908	94	14	on	on	ADP
ajst-30908	94	15	multiple	multiple	ADJ
ajst-30908	94	16	autonomous	autonomous	ADJ
ajst-30908	94	17	underwater	underwater	ADJ
ajst-30908	94	18	vehicles[d	vehicles[d	NOUN
ajst-30908	94	19	]	]	PUNCT
ajst-30908	94	20	.	.	PUNCT
ajst-30908	95	1	zhejiang	zhejiang	PROPN
ajst-30908	95	2	university	university	PROPN
ajst-30908	95	3	,	,	PUNCT
ajst-30908	95	4	2022	2022	NUM
ajst-30908	95	5	.	.	PUNCT
ajst-30908	96	1	[	[	X
ajst-30908	96	2	4	4	X
ajst-30908	96	3	]	]	X
ajst-30908	96	4	liu	liu	PROPN
ajst-30908	96	5	w	w	PROPN
ajst-30908	96	6	,	,	PUNCT
ajst-30908	96	7	ma	ma	PROPN
ajst-30908	96	8	x	x	PROPN
ajst-30908	96	9	,	,	PUNCT
ajst-30908	96	10	zheng	zheng	PROPN
ajst-30908	96	11	b	b	PROPN
ajst-30908	96	12	,	,	PUNCT
ajst-30908	96	13	et	et	PROPN
ajst-30908	96	14	al.a	al.a	NOUN
ajst-30908	96	15	study	study	NOUN
ajst-30908	96	16	of	of	ADP
ajst-30908	96	17	submersible	submersible	ADJ
ajst-30908	96	18	positioning	positioning	NOUN
ajst-30908	96	19	based	base	VERB
ajst-30908	96	20	on	on	ADP
ajst-30908	96	21	deep	deep	ADJ
ajst-30908	96	22	reinforcement	reinforcement	NOUN
ajst-30908	96	23	learning	learning	NOUN
ajst-30908	96	24	and	and	CCONJ
ajst-30908	96	25	automatic	automatic	ADJ
ajst-30908	96	26	control	control	NOUN
ajst-30908	96	27	algorithms[c]//2024	algorithms[c]//2024	PROPN
ajst-30908	96	28	6th	6th	ADJ
ajst-30908	96	29	international	international	ADJ
ajst-30908	96	30	symposium	symposium	NOUN
ajst-30908	96	31	on	on	ADP
ajst-30908	96	32	robotics	robotic	NOUN
ajst-30908	96	33	&	&	CCONJ
ajst-30908	96	34	intelligent	intelligent	ADJ
ajst-30908	96	35	manufacturing	manufacturing	NOUN
ajst-30908	96	36	technology	technology	NOUN
ajst-30908	96	37	(	(	PUNCT
ajst-30908	96	38	isrimt).0[2025	isrimt).0[2025	NOUN
ajst-30908	96	39	-	-	PUNCT
ajst-30908	96	40	04	04	NUM
ajst-30908	96	41	-	-	SYM
ajst-30908	96	42	10	10	NUM
ajst-30908	96	43	]	]	PUNCT
ajst-30908	96	44	.	.	PUNCT
ajst-30908	97	1	[	[	X
ajst-30908	97	2	5	5	NUM
ajst-30908	97	3	]	]	X
ajst-30908	97	4	tang	tang	X
ajst-30908	97	5	x	x	PROPN
ajst-30908	97	6	,	,	PUNCT
ajst-30908	97	7	hua	hua	PROPN
ajst-30908	97	8	z.	z.	PROPN
ajst-30908	97	9	positioning	positioning	NOUN
ajst-30908	97	10	and	and	CCONJ
ajst-30908	97	11	search	search	NOUN
ajst-30908	97	12	system	system	NOUN
ajst-30908	97	13	for	for	ADP
ajst-30908	97	14	submersibles	submersible	NOUN
ajst-30908	97	15	:	:	PUNCT
ajst-30908	97	16	model	model	NOUN
ajst-30908	97	17	and	and	CCONJ
ajst-30908	97	18	simulation	simulation	NOUN
ajst-30908	98	1	[	[	X
ajst-30908	98	2	j	j	X
ajst-30908	98	3	]	]	X
ajst-30908	98	4	.	.	PUNCT
ajst-30908	99	1	eudl	eudl	PROPN
ajst-30908	99	2	,	,	PUNCT
ajst-30908	99	3	2025,26(00	2025,26(00	NUM
ajst-30908	99	4	):	):	PUNCT
ajst-30908	99	5	56	56	NUM
ajst-30908	99	6	-	-	SYM
ajst-30908	99	7	60	60	NUM
ajst-30908	99	8	.	.	PUNCT
ajst-30908	100	1	[	[	X
ajst-30908	100	2	6	6	NUM
ajst-30908	100	3	]	]	PUNCT
ajst-30908	100	4	yu	yu	PROPN
ajst-30908	100	5	r	r	PROPN
ajst-30908	100	6	,	,	PUNCT
ajst-30908	100	7	shi	shi	PROPN
ajst-30908	100	8	z	z	PROPN
ajst-30908	100	9	,	,	PUNCT
ajst-30908	100	10	huang	huang	PROPN
ajst-30908	100	11	c	c	PROPN
ajst-30908	100	12	,	,	PUNCT
ajst-30908	100	13	et	et	NOUN
ajst-30908	100	14	al.deep	al.deep	PUNCT
ajst-30908	100	15	reinforcement	reinforcement	NOUN
ajst-30908	100	16	learning	learning	NOUN
ajst-30908	100	17	based	base	VERB
ajst-30908	100	18	optimal	optimal	ADJ
ajst-30908	100	19	trajectory	trajectory	NOUN
ajst-30908	100	20	tracking	tracking	NOUN
ajst-30908	100	21	control	control	NOUN
ajst-30908	100	22	of	of	ADP
ajst-30908	100	23	autonomous	autonomous	ADJ
ajst-30908	100	24	underwater	underwater	ADJ
ajst-30908	100	25	vehicle[j	vehicle[j	NOUN
ajst-30908	100	26	]	]	PUNCT
ajst-30908	100	27	.	.	PUNCT
ajst-30908	101	1	2017,16(08	2017,16(08	NUM
ajst-30908	101	2	):	):	PUNCT
ajst-30908	101	3	138	138	NUM
ajst-30908	101	4	-	-	SYM
ajst-30908	101	5	142	142	NUM
ajst-30908	101	6	.	.	PUNCT
ajst-30908	102	1	[	[	X
ajst-30908	102	2	7	7	X
ajst-30908	102	3	]	]	X
ajst-30908	102	4	huang	huang	PROPN
ajst-30908	102	5	x	x	PROPN
ajst-30908	102	6	,	,	PUNCT
ajst-30908	102	7	xu	xu	PROPN
ajst-30908	102	8	r	r	PROPN
ajst-30908	102	9	,	,	PUNCT
ajst-30908	102	10	yu	yu	PROPN
ajst-30908	102	11	w	w	PROPN
ajst-30908	102	12	,	,	PUNCT
ajst-30908	102	13	ming	ming	PROPN
ajst-30908	102	14	x	x	PROPN
ajst-30908	102	15	,	,	PUNCT
ajst-30908	102	16	wu	wu	PROPN
ajst-30908	102	17	s.	s.	PROPN
ajst-30908	102	18	research	research	PROPN
ajst-30908	102	19	on	on	ADP
ajst-30908	102	20	ellipsebased	ellipsebase	VERB
ajst-30908	102	21	transient	transient	ADJ
ajst-30908	102	22	impact	impact	NOUN
ajst-30908	102	23	source	source	NOUN
ajst-30908	102	24	localization	localization	NOUN
ajst-30908	102	25	methodology	methodology	NOUN
ajst-30908	102	26	for	for	ADP
ajst-30908	102	27	ship	ship	NOUN
ajst-30908	102	28	cabin	cabin	NOUN
ajst-30908	102	29	structure[j	structure[j	NOUN
ajst-30908	102	30	]	]	PUNCT
ajst-30908	102	31	.	.	PUNCT
ajst-30908	103	1	journal	journal	PROPN
ajst-30908	103	2	of	of	ADP
ajst-30908	103	3	marine	marine	PROPN
ajst-30908	103	4	science	science	NOUN
ajst-30908	103	5	and	and	CCONJ
ajst-30908	103	6	engineering	engineering	NOUN
ajst-30908	103	7	,	,	PUNCT
ajst-30908	103	8	2025	2025	NUM
ajst-30908	103	9	,	,	PUNCT
ajst-30908	103	10	13(2	13(2	NUM
ajst-30908	103	11	):	):	PUNCT
ajst-30908	103	12	333	333	NUM
ajst-30908	103	13	.	.	PUNCT
ajst-30908	104	1	[	[	X
ajst-30908	104	2	8	8	NUM
ajst-30908	104	3	]	]	SYM
ajst-30908	104	4	li	li	PROPN
ajst-30908	104	5	d	d	PROPN
ajst-30908	104	6	j	j	PROPN
ajst-30908	104	7	,	,	PUNCT
ajst-30908	104	8	zhang	zhang	PROPN
ajst-30908	104	9	w	w	PROPN
ajst-30908	104	10	,	,	PUNCT
ajst-30908	104	11	wang	wang	PROPN
ajst-30908	104	12	l	l	PROPN
ajst-30908	104	13	,	,	PUNCT
ajst-30908	104	14	et	et	PROPN
ajst-30908	104	15	al	al	PROPN
ajst-30908	104	16	.	.	PROPN
ajst-30908	104	17	research	research	NOUN
ajst-30908	104	18	on	on	ADP
ajst-30908	104	19	motion	motion	NOUN
ajst-30908	104	20	simulation	simulation	NOUN
ajst-30908	104	21	of	of	ADP
ajst-30908	104	22	submersible	submersible	ADJ
ajst-30908	104	23	under	under	ADP
ajst-30908	104	24	ocean	ocean	PROPN
ajst-30908	104	25	current	current	PROPN
ajst-30908	104	26	interference[j	interference[j	PROPN
ajst-30908	104	27	]	]	PUNCT
ajst-30908	104	28	.	.	PUNCT
ajst-30908	105	1	ship	ship	NOUN
ajst-30908	105	2	science	science	NOUN
ajst-30908	105	3	and	and	CCONJ
ajst-30908	105	4	technology	technology	NOUN
ajst-30908	105	5	,	,	PUNCT
ajst-30908	105	6	2023	2023	NUM
ajst-30908	105	7	,	,	PUNCT
ajst-30908	105	8	45(11	45(11	NUM
ajst-30908	105	9	):	):	PUNCT
ajst-30908	105	10	13	13	NUM
ajst-30908	105	11	-	-	SYM
ajst-30908	105	12	16	16	NUM
ajst-30908	105	13	.	.	PUNCT
ajst-30908	106	1	[	[	X
ajst-30908	106	2	9	9	NUM
ajst-30908	106	3	]	]	X
ajst-30908	106	4	zhang	zhang	PROPN
ajst-30908	106	5	lichuan	lichuan	PROPN
ajst-30908	106	6	,	,	PUNCT
ajst-30908	106	7	xu	xu	PROPN
ajst-30908	106	8	shaofeng	shaofeng	PROPN
ajst-30908	106	9	,	,	PUNCT
ajst-30908	106	10	liu	liu	PROPN
ajst-30908	106	11	mingyong	mingyong	PROPN
ajst-30908	106	12	,	,	PUNCT
ajst-30908	106	13	et	et	PROPN
ajst-30908	106	14	al	al	PROPN
ajst-30908	106	15	.	.	PUNCT
ajst-30908	106	16	research	research	NOUN
ajst-30908	106	17	progress	progress	NOUN
ajst-30908	106	18	on	on	ADP
ajst-30908	106	19	collaborative	collaborative	ADJ
ajst-30908	106	20	navigation	navigation	NOUN
ajst-30908	106	21	and	and	CCONJ
ajst-30908	106	22	positioning	positioning	NOUN
ajst-30908	106	23	of	of	ADP
ajst-30908	106	24	multiple	multiple	ADJ
ajst-30908	106	25	unmanned	unmanned	ADJ
ajst-30908	106	26	underwater	underwater	ADJ
ajst-30908	106	27	vehicles[j	vehicles[j	NOUN
ajst-30908	106	28	]	]	PUNCT
ajst-30908	106	29	.	.	PUNCT
ajst-30908	107	1	high	high	ADJ
ajst-30908	107	2	technology	technology	NOUN
ajst-30908	107	3	communications	communication	NOUN
ajst-30908	107	4	,	,	PUNCT
ajst-30908	107	5	2016	2016	NUM
ajst-30908	107	6	,	,	PUNCT
ajst-30908	107	7	26(5	26(5	NUM
ajst-30908	107	8	):	):	PUNCT
ajst-30908	107	9	475	475	NUM
ajst-30908	107	10	-	-	SYM
ajst-30908	107	11	482	482	NUM
ajst-30908	107	12	.	.	PUNCT
ajst-30908	108	1	[	[	X
ajst-30908	108	2	10	10	NUM
ajst-30908	108	3	]	]	X
ajst-30908	108	4	guan	guan	PROPN
ajst-30908	108	5	w	w	PROPN
ajst-30908	108	6	,	,	PUNCT
ajst-30908	108	7	gao	gao	PROPN
ajst-30908	108	8	ql	ql	PROPN
ajst-30908	108	9	,	,	PUNCT
ajst-30908	108	10	han	han	PROPN
ajst-30908	108	11	xl	xl	PROPN
ajst-30908	108	12	,	,	PUNCT
ajst-30908	108	13	et	et	PROPN
ajst-30908	108	14	al	al	PROPN
ajst-30908	108	15	.	.	PUNCT
ajst-30908	108	16	highway	highway	NOUN
ajst-30908	108	17	pricing	pricing	NOUN
ajst-30908	108	18	model	model	NOUN
ajst-30908	108	19	for	for	ADP
ajst-30908	108	20	maximizing	maximize	VERB
ajst-30908	108	21	the	the	DET
ajst-30908	108	22	level	level	NOUN
ajst-30908	108	23	of	of	ADP
ajst-30908	108	24	service	service	NOUN
ajst-30908	108	25	[	[	X
ajst-30908	108	26	j	j	X
ajst-30908	108	27	]	]	X
ajst-30908	108	28	.	.	PUNCT
ajst-30908	109	1	highway	highway	NOUN
ajst-30908	109	2	,	,	PUNCT
ajst-30908	109	3	2021	2021	NUM
ajst-30908	109	4	,	,	PUNCT
ajst-30908	109	5	66(07	66(07	NUM
ajst-30908	109	6	):	):	PUNCT
ajst-30908	109	7	190	190	NUM
ajst-30908	109	8	-	-	SYM
ajst-30908	109	9	194	194	NUM
ajst-30908	109	10	.	.	PUNCT