id	sid	tid	token	lemma	pos
ajst-32563	1	1	186	186	NUM
ajst-32563	1	2	application	application	NOUN
ajst-32563	1	3	and	and	CCONJ
ajst-32563	1	4	principle	principle	NOUN
ajst-32563	1	5	of	of	ADP
ajst-32563	1	6	quadcopters	quadcopters	PROPN
ajst-32563	1	7	gary	gary	PROPN
ajst-32563	1	8	tan	tan	PROPN
ajst-32563	1	9	1	1	NUM
ajst-32563	1	10	,	,	PUNCT
ajst-32563	1	11	*	*	PUNCT
ajst-32563	1	12	,	,	PUNCT
ajst-32563	1	13	yuhan	yuhan	ADP
ajst-32563	1	14	jin	jin	NOUN
ajst-32563	1	15	2	2	NUM
ajst-32563	1	16	,	,	PUNCT
ajst-32563	1	17	a	a	DET
ajst-32563	1	18	1	1	NUM
ajst-32563	1	19	wellington	wellington	PROPN
ajst-32563	1	20	college	college	PROPN
ajst-32563	1	21	international	international	PROPN
ajst-32563	1	22	shanghai	shanghai	PROPN
ajst-32563	1	23	,	,	PUNCT
ajst-32563	1	24	shanghai	shanghai	PROPN
ajst-32563	1	25	,	,	PUNCT
ajst-32563	1	26	china	china	PROPN
ajst-32563	1	27	2	2	NUM
ajst-32563	1	28	banz	banz	PROPN
ajst-32563	1	29	global	global	PROPN
ajst-32563	1	30	campus	campus	PROPN
ajst-32563	1	31	,	,	PUNCT
ajst-32563	1	32	shanghai	shanghai	PROPN
ajst-32563	1	33	,	,	PUNCT
ajst-32563	1	34	china	china	PROPN
ajst-32563	1	35	*	*	PUNCT
ajst-32563	1	36	corresponding	correspond	VERB
ajst-32563	1	37	author	author	NOUN
ajst-32563	1	38	:	:	PUNCT
ajst-32563	1	39	gary	gary	PROPN
ajst-32563	1	40	tan	tan	PROPN
ajst-32563	1	41	(	(	PUNCT
ajst-32563	1	42	email	email	NOUN
ajst-32563	1	43	:	:	PUNCT
ajst-32563	1	44	vivienne_sheng@163.com	vivienne_sheng@163.com	X
ajst-32563	1	45	)	)	PUNCT
ajst-32563	1	46	,	,	PUNCT
ajst-32563	1	47	a	a	DET
ajst-32563	1	48	2123588647@qq.com	2123588647@qq.com	NUM
ajst-32563	1	49	abstract	abstract	NOUN
ajst-32563	1	50	.	.	PUNCT
ajst-32563	2	1	in	in	ADP
ajst-32563	2	2	an	an	DET
ajst-32563	2	3	era	era	NOUN
ajst-32563	2	4	of	of	ADP
ajst-32563	2	5	rapid	rapid	ADJ
ajst-32563	2	6	growth	growth	NOUN
ajst-32563	2	7	in	in	ADP
ajst-32563	2	8	unmanned	unmanned	ADJ
ajst-32563	2	9	aerial	aerial	ADJ
ajst-32563	2	10	vehicles	vehicle	NOUN
ajst-32563	2	11	(	(	PUNCT
ajst-32563	2	12	uavs	uavs	NOUN
ajst-32563	2	13	)	)	PUNCT
ajst-32563	2	14	and	and	CCONJ
ajst-32563	2	15	robotic	robotic	ADJ
ajst-32563	2	16	systems	system	NOUN
ajst-32563	2	17	,	,	PUNCT
ajst-32563	2	18	understanding	understand	VERB
ajst-32563	2	19	the	the	DET
ajst-32563	2	20	fundamental	fundamental	ADJ
ajst-32563	2	21	hardware	hardware	NOUN
ajst-32563	2	22	and	and	CCONJ
ajst-32563	2	23	software	software	NOUN
ajst-32563	2	24	architecture	architecture	NOUN
ajst-32563	2	25	of	of	ADP
ajst-32563	2	26	quadcopters	quadcopter	NOUN
ajst-32563	2	27	is	be	AUX
ajst-32563	2	28	crucial	crucial	ADJ
ajst-32563	2	29	for	for	ADP
ajst-32563	2	30	both	both	CCONJ
ajst-32563	2	31	academic	academic	ADJ
ajst-32563	2	32	research	research	NOUN
ajst-32563	2	33	and	and	CCONJ
ajst-32563	2	34	practical	practical	ADJ
ajst-32563	2	35	applications	application	NOUN
ajst-32563	2	36	.	.	PUNCT
ajst-32563	3	1	this	this	DET
ajst-32563	3	2	paper	paper	NOUN
ajst-32563	3	3	provided	provide	VERB
ajst-32563	3	4	a	a	DET
ajst-32563	3	5	comprehensive	comprehensive	ADJ
ajst-32563	3	6	overview	overview	NOUN
ajst-32563	3	7	of	of	ADP
ajst-32563	3	8	the	the	DET
ajst-32563	3	9	various	various	ADJ
ajst-32563	3	10	components	component	NOUN
ajst-32563	3	11	of	of	ADP
ajst-32563	3	12	a	a	DET
ajst-32563	3	13	quadcopter	quadcopter	NOUN
ajst-32563	3	14	,	,	PUNCT
ajst-32563	3	15	in	in	ADP
ajst-32563	3	16	the	the	DET
ajst-32563	3	17	spirit	spirit	NOUN
ajst-32563	3	18	of	of	ADP
ajst-32563	3	19	answering	answer	VERB
ajst-32563	3	20	such	such	ADJ
ajst-32563	3	21	demand	demand	NOUN
ajst-32563	3	22	in	in	ADP
ajst-32563	3	23	this	this	DET
ajst-32563	3	24	era	era	NOUN
ajst-32563	3	25	where	where	SCONJ
ajst-32563	3	26	the	the	DET
ajst-32563	3	27	usage	usage	NOUN
ajst-32563	3	28	of	of	ADP
ajst-32563	3	29	quadcopters	quadcopter	NOUN
ajst-32563	3	30	,	,	PUNCT
ajst-32563	3	31	and	and	CCONJ
ajst-32563	3	32	robotic	robotic	ADJ
ajst-32563	3	33	systems	system	NOUN
ajst-32563	3	34	in	in	ADP
ajst-32563	3	35	general	general	ADJ
ajst-32563	3	36	,	,	PUNCT
ajst-32563	3	37	is	be	AUX
ajst-32563	3	38	growing	grow	VERB
ajst-32563	3	39	at	at	ADP
ajst-32563	3	40	an	an	DET
ajst-32563	3	41	exponential	exponential	ADJ
ajst-32563	3	42	rate	rate	NOUN
ajst-32563	3	43	.	.	PUNCT
ajst-32563	4	1	this	this	DET
ajst-32563	4	2	paper	paper	NOUN
ajst-32563	4	3	summarizes	summarize	VERB
ajst-32563	4	4	information	information	NOUN
ajst-32563	4	5	from	from	ADP
ajst-32563	4	6	numerous	numerous	ADJ
ajst-32563	4	7	sources	source	NOUN
ajst-32563	4	8	to	to	PART
ajst-32563	4	9	create	create	VERB
ajst-32563	4	10	a	a	DET
ajst-32563	4	11	top	top	ADJ
ajst-32563	4	12	-	-	PUNCT
ajst-32563	4	13	level	level	NOUN
ajst-32563	4	14	excursion	excursion	NOUN
ajst-32563	4	15	into	into	ADP
ajst-32563	4	16	the	the	DET
ajst-32563	4	17	subject	subject	NOUN
ajst-32563	4	18	.	.	PUNCT
ajst-32563	5	1	this	this	DET
ajst-32563	5	2	review	review	NOUN
ajst-32563	5	3	systematically	systematically	ADV
ajst-32563	5	4	introduces	introduce	VERB
ajst-32563	5	5	core	core	NOUN
ajst-32563	5	6	modules	module	NOUN
ajst-32563	5	7	,	,	PUNCT
ajst-32563	5	8	and	and	CCONJ
ajst-32563	5	9	elucidates	elucidate	VERB
ajst-32563	5	10	their	their	PRON
ajst-32563	5	11	roles	role	NOUN
ajst-32563	5	12	in	in	ADP
ajst-32563	5	13	achieving	achieve	VERB
ajst-32563	5	14	stable	stable	ADJ
ajst-32563	5	15	flight	flight	NOUN
ajst-32563	5	16	control	control	NOUN
ajst-32563	5	17	.	.	PUNCT
ajst-32563	6	1	furthermore	furthermore	ADV
ajst-32563	6	2	,	,	PUNCT
ajst-32563	6	3	this	this	DET
ajst-32563	6	4	paper	paper	NOUN
ajst-32563	6	5	delves	delve	VERB
ajst-32563	6	6	into	into	ADP
ajst-32563	6	7	algorithms	algorithm	NOUN
ajst-32563	6	8	such	such	ADJ
ajst-32563	6	9	as	as	ADP
ajst-32563	6	10	kalman	kalman	NOUN
ajst-32563	6	11	filtering	filtering	NOUN
ajst-32563	6	12	and	and	CCONJ
ajst-32563	6	13	pid	pid	NOUN
ajst-32563	6	14	control	control	NOUN
ajst-32563	6	15	to	to	PART
ajst-32563	6	16	illustrate	illustrate	VERB
ajst-32563	6	17	how	how	SCONJ
ajst-32563	6	18	data	datum	NOUN
ajst-32563	6	19	fusion	fusion	NOUN
ajst-32563	6	20	and	and	CCONJ
ajst-32563	6	21	feedback	feedback	NOUN
ajst-32563	6	22	mechanisms	mechanism	NOUN
ajst-32563	6	23	improve	improve	VERB
ajst-32563	6	24	accuracy	accuracy	NOUN
ajst-32563	6	25	,	,	PUNCT
ajst-32563	6	26	response	response	NOUN
ajst-32563	6	27	speed	speed	NOUN
ajst-32563	6	28	,	,	PUNCT
ajst-32563	6	29	and	and	CCONJ
ajst-32563	6	30	stability	stability	NOUN
ajst-32563	6	31	.	.	PUNCT
ajst-32563	7	1	this	this	DET
ajst-32563	7	2	paper	paper	NOUN
ajst-32563	7	3	not	not	PART
ajst-32563	7	4	only	only	ADV
ajst-32563	7	5	summarizes	summarize	VERB
ajst-32563	7	6	the	the	DET
ajst-32563	7	7	structural	structural	ADJ
ajst-32563	7	8	and	and	CCONJ
ajst-32563	7	9	functional	functional	ADJ
ajst-32563	7	10	design	design	NOUN
ajst-32563	7	11	of	of	ADP
ajst-32563	7	12	quadcopters	quadcopter	NOUN
ajst-32563	7	13	but	but	CCONJ
ajst-32563	7	14	also	also	ADV
ajst-32563	7	15	provides	provide	VERB
ajst-32563	7	16	a	a	DET
ajst-32563	7	17	theoretical	theoretical	ADJ
ajst-32563	7	18	foundation	foundation	NOUN
ajst-32563	7	19	for	for	ADP
ajst-32563	7	20	further	further	ADJ
ajst-32563	7	21	optimization	optimization	NOUN
ajst-32563	7	22	of	of	ADP
ajst-32563	7	23	uav	uav	PROPN
ajst-32563	7	24	autonomy	autonomy	NOUN
ajst-32563	7	25	,	,	PUNCT
ajst-32563	7	26	sensor	sensor	NOUN
ajst-32563	7	27	fusion	fusion	NOUN
ajst-32563	7	28	,	,	PUNCT
ajst-32563	7	29	and	and	CCONJ
ajst-32563	7	30	intelligent	intelligent	ADJ
ajst-32563	7	31	flight	flight	NOUN
ajst-32563	7	32	control	control	NOUN
ajst-32563	7	33	.	.	PUNCT
ajst-32563	8	1	keywords	keyword	NOUN
ajst-32563	8	2	:	:	PUNCT
ajst-32563	8	3	quadcopters	quadcopter	NOUN
ajst-32563	8	4	;	;	PUNCT
ajst-32563	8	5	robotic	robotic	ADJ
ajst-32563	8	6	systems	system	NOUN
ajst-32563	8	7	;	;	PUNCT
ajst-32563	8	8	uav	uav	PROPN
ajst-32563	8	9	systems	system	NOUN
ajst-32563	8	10	.	.	PUNCT
ajst-32563	9	1	1	1	X
ajst-32563	9	2	.	.	X
ajst-32563	9	3	introduction	introduction	NOUN
ajst-32563	9	4	a	a	DET
ajst-32563	9	5	drone	drone	NOUN
ajst-32563	9	6	,	,	PUNCT
ajst-32563	9	7	or	or	CCONJ
ajst-32563	9	8	formally	formally	ADV
ajst-32563	9	9	unmanned	unmanned	ADJ
ajst-32563	9	10	aerial	aerial	ADJ
ajst-32563	9	11	vehicle	vehicle	NOUN
ajst-32563	9	12	(	(	PUNCT
ajst-32563	9	13	uav	uav	PROPN
ajst-32563	9	14	)	)	PUNCT
ajst-32563	9	15	,	,	PUNCT
ajst-32563	9	16	is	be	AUX
ajst-32563	9	17	an	an	DET
ajst-32563	9	18	aircraft	aircraft	NOUN
ajst-32563	9	19	with	with	ADP
ajst-32563	9	20	no	no	DET
ajst-32563	9	21	human	human	ADJ
ajst-32563	9	22	onboard	onboard	NOUN
ajst-32563	9	23	and	and	CCONJ
ajst-32563	9	24	is	be	AUX
ajst-32563	9	25	remotely	remotely	ADV
ajst-32563	9	26	controlled	control	VERB
ajst-32563	9	27	or	or	CCONJ
ajst-32563	9	28	autonomous	autonomous	ADJ
ajst-32563	9	29	[	[	X
ajst-32563	9	30	1	1	NUM
ajst-32563	9	31	]	]	PUNCT
ajst-32563	9	32	.	.	PUNCT
ajst-32563	10	1	their	their	PRON
ajst-32563	10	2	history	history	NOUN
ajst-32563	10	3	can	can	AUX
ajst-32563	10	4	be	be	AUX
ajst-32563	10	5	traced	trace	VERB
ajst-32563	10	6	as	as	ADV
ajst-32563	10	7	far	far	ADV
ajst-32563	10	8	back	back	ADV
ajst-32563	10	9	as	as	ADP
ajst-32563	10	10	when	when	SCONJ
ajst-32563	10	11	the	the	DET
ajst-32563	10	12	montgolfier	montgolfier	NOUN
ajst-32563	10	13	brothers	brother	NOUN
ajst-32563	10	14	hoisted	hoist	VERB
ajst-32563	10	15	livestock	livestock	NOUN
ajst-32563	10	16	aloft	aloft	ADV
ajst-32563	10	17	in	in	ADP
ajst-32563	10	18	unmanned	unmanned	ADJ
ajst-32563	10	19	balloons	balloon	NOUN
ajst-32563	10	20	in	in	ADP
ajst-32563	10	21	the	the	DET
ajst-32563	10	22	late	late	ADJ
ajst-32563	10	23	18th	18th	ADJ
ajst-32563	10	24	century	century	NOUN
ajst-32563	10	25	.	.	PUNCT
ajst-32563	11	1	the	the	DET
ajst-32563	11	2	first	first	ADJ
ajst-32563	11	3	record	record	NOUN
ajst-32563	11	4	of	of	ADP
ajst-32563	11	5	drones	drone	NOUN
ajst-32563	11	6	being	be	AUX
ajst-32563	11	7	used	use	VERB
ajst-32563	11	8	in	in	ADP
ajst-32563	11	9	war	war	NOUN
ajst-32563	11	10	dated	date	VERB
ajst-32563	11	11	to	to	ADP
ajst-32563	11	12	1,849	1,849	NUM
ajst-32563	11	13	,	,	PUNCT
ajst-32563	11	14	when	when	SCONJ
ajst-32563	11	15	the	the	DET
ajst-32563	11	16	austrian	austrian	ADJ
ajst-32563	11	17	army	army	NOUN
ajst-32563	11	18	launched	launch	VERB
ajst-32563	11	19	a	a	DET
ajst-32563	11	20	fleet	fleet	NOUN
ajst-32563	11	21	of	of	ADP
ajst-32563	11	22	explosive	explosive	NOUN
ajst-32563	11	23	-	-	PUNCT
ajst-32563	11	24	loaded	load	VERB
ajst-32563	11	25	unmanned	unmanned	ADJ
ajst-32563	11	26	balloons	balloon	NOUN
ajst-32563	11	27	over	over	ADP
ajst-32563	11	28	the	the	DET
ajst-32563	11	29	city	city	NOUN
ajst-32563	11	30	of	of	ADP
ajst-32563	11	31	venice	venice	PROPN
ajst-32563	11	32	as	as	ADP
ajst-32563	11	33	a	a	DET
ajst-32563	11	34	punishment	punishment	NOUN
ajst-32563	11	35	for	for	ADP
ajst-32563	11	36	its	its	PRON
ajst-32563	11	37	citizens	citizen	NOUN
ajst-32563	11	38	’	’	PART
ajst-32563	11	39	revolt	revolt	NOUN
ajst-32563	11	40	[	[	X
ajst-32563	11	41	2	2	NUM
ajst-32563	11	42	]	]	PUNCT
ajst-32563	11	43	.	.	PUNCT
ajst-32563	12	1	however	however	ADV
ajst-32563	12	2	,	,	PUNCT
ajst-32563	12	3	the	the	DET
ajst-32563	12	4	electronic	electronic	ADJ
ajst-32563	12	5	system	system	NOUN
ajst-32563	12	6	that	that	PRON
ajst-32563	12	7	constitutes	constitute	VERB
ajst-32563	12	8	a	a	DET
ajst-32563	12	9	drone	drone	NOUN
ajst-32563	12	10	nowadays	nowadays	ADV
ajst-32563	12	11	is	be	AUX
ajst-32563	12	12	dramatically	dramatically	ADV
ajst-32563	12	13	more	more	ADV
ajst-32563	12	14	advanced	advanced	ADJ
ajst-32563	12	15	and	and	CCONJ
ajst-32563	12	16	sophisticated	sophisticated	ADJ
ajst-32563	12	17	then	then	ADV
ajst-32563	12	18	the	the	DET
ajst-32563	12	19	humble	humble	ADJ
ajst-32563	12	20	balloons	balloon	NOUN
ajst-32563	12	21	centuries	century	NOUN
ajst-32563	12	22	ago	ago	ADV
ajst-32563	12	23	.	.	PUNCT
ajst-32563	13	1	combining	combine	VERB
ajst-32563	13	2	with	with	ADP
ajst-32563	13	3	advancements	advancement	NOUN
ajst-32563	13	4	in	in	ADP
ajst-32563	13	5	battery	battery	NOUN
ajst-32563	13	6	,	,	PUNCT
ajst-32563	13	7	camera	camera	NOUN
ajst-32563	13	8	,	,	PUNCT
ajst-32563	13	9	and	and	CCONJ
ajst-32563	13	10	artificial	artificial	ADJ
ajst-32563	13	11	intelligence	intelligence	NOUN
ajst-32563	13	12	technologies	technology	NOUN
ajst-32563	13	13	,	,	PUNCT
ajst-32563	13	14	a	a	DET
ajst-32563	13	15	generation	generation	NOUN
ajst-32563	13	16	of	of	ADP
ajst-32563	13	17	powerful	powerful	ADJ
ajst-32563	13	18	and	and	CCONJ
ajst-32563	13	19	versatile	versatile	ADJ
ajst-32563	13	20	drones	drone	NOUN
ajst-32563	13	21	are	be	AUX
ajst-32563	13	22	born	bear	VERB
ajst-32563	13	23	,	,	PUNCT
ajst-32563	13	24	proving	prove	VERB
ajst-32563	13	25	to	to	PART
ajst-32563	13	26	be	be	AUX
ajst-32563	13	27	useful	useful	ADJ
ajst-32563	13	28	in	in	ADP
ajst-32563	13	29	various	various	ADJ
ajst-32563	13	30	fields	field	NOUN
ajst-32563	13	31	,	,	PUNCT
ajst-32563	13	32	including	include	VERB
ajst-32563	13	33	aerial	aerial	ADJ
ajst-32563	13	34	photography	photography	NOUN
ajst-32563	13	35	,	,	PUNCT
ajst-32563	13	36	agriculture	agriculture	NOUN
ajst-32563	13	37	,	,	PUNCT
ajst-32563	13	38	emergency	emergency	NOUN
ajst-32563	13	39	response	response	NOUN
ajst-32563	13	40	,	,	PUNCT
ajst-32563	13	41	delivery	delivery	NOUN
ajst-32563	13	42	,	,	PUNCT
ajst-32563	13	43	3d	3d	PROPN
ajst-32563	13	44	mapping	mapping	NOUN
ajst-32563	13	45	,	,	PUNCT
ajst-32563	13	46	military	military	NOUN
ajst-32563	13	47	,	,	PUNCT
ajst-32563	13	48	and	and	CCONJ
ajst-32563	13	49	many	many	ADJ
ajst-32563	13	50	more	more	ADJ
ajst-32563	13	51	[	[	X
ajst-32563	13	52	3	3	NUM
ajst-32563	13	53	-	-	SYM
ajst-32563	13	54	6	6	NUM
ajst-32563	13	55	]	]	PUNCT
ajst-32563	13	56	.	.	PUNCT
ajst-32563	14	1	there	there	PRON
ajst-32563	14	2	are	be	VERB
ajst-32563	14	3	multiple	multiple	ADJ
ajst-32563	14	4	flavors	flavor	NOUN
ajst-32563	14	5	of	of	ADP
ajst-32563	14	6	drones	drone	NOUN
ajst-32563	14	7	,	,	PUNCT
ajst-32563	14	8	categorized	categorize	VERB
ajst-32563	14	9	by	by	ADP
ajst-32563	14	10	their	their	PRON
ajst-32563	14	11	rotor	rotor	NOUN
ajst-32563	14	12	configuration	configuration	NOUN
ajst-32563	14	13	:	:	PUNCT
ajst-32563	14	14	multi	multi	ADJ
ajst-32563	14	15	-	-	ADJ
ajst-32563	14	16	rotor	rotor	ADJ
ajst-32563	14	17	drones	drone	NOUN
ajst-32563	14	18	:	:	PUNCT
ajst-32563	14	19	these	these	PRON
ajst-32563	14	20	are	be	AUX
ajst-32563	14	21	hoverable	hoverable	ADJ
ajst-32563	14	22	drones	drone	NOUN
ajst-32563	14	23	with	with	ADP
ajst-32563	14	24	a	a	DET
ajst-32563	14	25	shorter	short	ADJ
ajst-32563	14	26	flight	flight	NOUN
ajst-32563	14	27	time	time	NOUN
ajst-32563	14	28	,	,	PUNCT
ajst-32563	14	29	including	include	VERB
ajst-32563	14	30	the	the	DET
ajst-32563	14	31	quadcopters	quadcopter	NOUN
ajst-32563	14	32	that	that	PRON
ajst-32563	14	33	the	the	DET
ajst-32563	14	34	average	average	ADJ
ajst-32563	14	35	hobbyist	hobbyist	NOUN
ajst-32563	14	36	and	and	CCONJ
ajst-32563	14	37	photographer	photographer	NOUN
ajst-32563	14	38	would	would	AUX
ajst-32563	14	39	have	have	VERB
ajst-32563	14	40	,	,	PUNCT
ajst-32563	14	41	as	as	SCONJ
ajst-32563	14	42	it	it	PRON
ajst-32563	14	43	has	have	VERB
ajst-32563	14	44	a	a	DET
ajst-32563	14	45	relatively	relatively	ADV
ajst-32563	14	46	friendly	friendly	ADJ
ajst-32563	14	47	pricing	pricing	NOUN
ajst-32563	14	48	.	.	PUNCT
ajst-32563	15	1	fixed	fix	VERB
ajst-32563	15	2	-	-	PUNCT
ajst-32563	15	3	wing	wing	NOUN
ajst-32563	15	4	drones	drone	NOUN
ajst-32563	15	5	:	:	PUNCT
ajst-32563	15	6	this	this	DET
ajst-32563	15	7	kind	kind	NOUN
ajst-32563	15	8	of	of	ADP
ajst-32563	15	9	drone	drone	NOUN
ajst-32563	15	10	looks	look	VERB
ajst-32563	15	11	like	like	ADP
ajst-32563	15	12	an	an	DET
ajst-32563	15	13	airplane	airplane	NOUN
ajst-32563	15	14	,	,	PUNCT
ajst-32563	15	15	requiring	require	VERB
ajst-32563	15	16	a	a	DET
ajst-32563	15	17	runway	runway	NOUN
ajst-32563	15	18	or	or	CCONJ
ajst-32563	15	19	catapult	catapult	NOUN
ajst-32563	15	20	for	for	ADP
ajst-32563	15	21	takeoff	takeoff	NOUN
ajst-32563	15	22	.	.	PUNCT
ajst-32563	16	1	it	it	PRON
ajst-32563	16	2	is	be	AUX
ajst-32563	16	3	used	use	VERB
ajst-32563	16	4	for	for	ADP
ajst-32563	16	5	mapping	mapping	NOUN
ajst-32563	16	6	,	,	PUNCT
ajst-32563	16	7	surveying	surveying	NOUN
ajst-32563	16	8	,	,	PUNCT
ajst-32563	16	9	long	long	ADJ
ajst-32563	16	10	-	-	PUNCT
ajst-32563	16	11	range	range	NOUN
ajst-32563	16	12	monitoring	monitoring	NOUN
ajst-32563	16	13	,	,	PUNCT
ajst-32563	16	14	and	and	CCONJ
ajst-32563	16	15	military	military	ADJ
ajst-32563	16	16	purposes	purpose	NOUN
ajst-32563	16	17	due	due	ADP
ajst-32563	16	18	to	to	ADP
ajst-32563	16	19	its	its	PRON
ajst-32563	16	20	energy	energy	NOUN
ajst-32563	16	21	efficiency	efficiency	NOUN
ajst-32563	16	22	(	(	PUNCT
ajst-32563	16	23	hence	hence	ADV
ajst-32563	16	24	long	long	ADJ
ajst-32563	16	25	flight	flight	NOUN
ajst-32563	16	26	range	range	NOUN
ajst-32563	16	27	)	)	PUNCT
ajst-32563	16	28	.	.	PUNCT
ajst-32563	17	1	the	the	DET
ajst-32563	17	2	swarm	swarm	NOUN
ajst-32563	17	3	tactics	tactic	NOUN
ajst-32563	17	4	drones	drone	NOUN
ajst-32563	17	5	seen	see	VERB
ajst-32563	17	6	in	in	ADP
ajst-32563	17	7	the	the	DET
ajst-32563	17	8	russia	russia	PROPN
ajst-32563	17	9	-	-	PUNCT
ajst-32563	17	10	ukraine	ukraine	PROPN
ajst-32563	17	11	conflict	conflict	NOUN
ajst-32563	17	12	belongs	belong	VERB
ajst-32563	17	13	to	to	ADP
ajst-32563	17	14	this	this	DET
ajst-32563	17	15	category	category	NOUN
ajst-32563	17	16	.	.	PUNCT
ajst-32563	18	1	single	single	ADJ
ajst-32563	18	2	-	-	PUNCT
ajst-32563	18	3	rotor	rotor	NOUN
ajst-32563	18	4	helicopter	helicopter	NOUN
ajst-32563	18	5	drones	drone	NOUN
ajst-32563	18	6	:	:	PUNCT
ajst-32563	18	7	these	these	DET
ajst-32563	18	8	drones	drone	NOUN
ajst-32563	18	9	resemble	resemble	VERB
ajst-32563	18	10	a	a	DET
ajst-32563	18	11	typical	typical	ADJ
ajst-32563	18	12	helicopter	helicopter	NOUN
ajst-32563	18	13	,	,	PUNCT
ajst-32563	18	14	with	with	ADP
ajst-32563	18	15	a	a	DET
ajst-32563	18	16	single	single	ADJ
ajst-32563	18	17	large	large	ADJ
ajst-32563	18	18	rotor	rotor	NOUN
ajst-32563	18	19	,	,	PUNCT
ajst-32563	18	20	enabling	enable	VERB
ajst-32563	18	21	it	it	PRON
ajst-32563	18	22	to	to	PART
ajst-32563	18	23	transport	transport	VERB
ajst-32563	18	24	a	a	DET
ajst-32563	18	25	heavy	heavy	ADJ
ajst-32563	18	26	payload	payload	NOUN
ajst-32563	18	27	.	.	PUNCT
ajst-32563	19	1	thus	thus	ADV
ajst-32563	19	2	,	,	PUNCT
ajst-32563	19	3	it	it	PRON
ajst-32563	19	4	finds	find	VERB
ajst-32563	19	5	usage	usage	NOUN
ajst-32563	19	6	in	in	ADP
ajst-32563	19	7	delivery	delivery	NOUN
ajst-32563	19	8	and	and	CCONJ
ajst-32563	19	9	military	military	ADJ
ajst-32563	19	10	contexts	contexts	NOUN
ajst-32563	19	11	.	.	PUNCT
ajst-32563	20	1	fixed	fix	VERB
ajst-32563	20	2	-	-	PUNCT
ajst-32563	20	3	wing	wing	NOUN
ajst-32563	20	4	hybrid	hybrid	ADJ
ajst-32563	20	5	vtol	vtol	NOUN
ajst-32563	20	6	drones	drone	NOUN
ajst-32563	20	7	:	:	PUNCT
ajst-32563	20	8	combining	combine	VERB
ajst-32563	20	9	the	the	DET
ajst-32563	20	10	merits	merit	NOUN
ajst-32563	20	11	of	of	ADP
ajst-32563	20	12	multi	multi	ADJ
ajst-32563	20	13	-	-	ADJ
ajst-32563	20	14	rotor	rotor	NOUN
ajst-32563	20	15	and	and	CCONJ
ajst-32563	20	16	fixed	fix	VERB
ajst-32563	20	17	-	-	PUNCT
ajst-32563	20	18	wing	wing	NOUN
ajst-32563	20	19	drones	drone	NOUN
ajst-32563	20	20	,	,	PUNCT
ajst-32563	20	21	these	these	PRON
ajst-32563	20	22	are	be	AUX
ajst-32563	20	23	capable	capable	ADJ
ajst-32563	20	24	of	of	ADP
ajst-32563	20	25	both	both	CCONJ
ajst-32563	20	26	vertical	vertical	ADJ
ajst-32563	20	27	takeoff	takeoff	NOUN
ajst-32563	20	28	&	&	CCONJ
ajst-32563	20	29	landing	landing	NOUN
ajst-32563	20	30	and	and	CCONJ
ajst-32563	20	31	efficient	efficient	ADJ
ajst-32563	20	32	forward	forward	ADJ
ajst-32563	20	33	flight	flight	NOUN
ajst-32563	20	34	,	,	PUNCT
ajst-32563	20	35	making	make	VERB
ajst-32563	20	36	them	they	PRON
ajst-32563	20	37	useful	useful	ADJ
ajst-32563	20	38	for	for	ADP
ajst-32563	20	39	surveying	surveying	NOUN
ajst-32563	20	40	,	,	PUNCT
ajst-32563	20	41	mapping	mapping	NOUN
ajst-32563	20	42	,	,	PUNCT
ajst-32563	20	43	and	and	CCONJ
ajst-32563	20	44	search	search	NOUN
ajst-32563	20	45	and	and	CCONJ
ajst-32563	20	46	rescue	rescue	NOUN
ajst-32563	20	47	[	[	X
ajst-32563	20	48	7	7	NUM
ajst-32563	20	49	]	]	PUNCT
ajst-32563	20	50	.	.	PUNCT
ajst-32563	21	1	187	187	NUM
ajst-32563	21	2	2	2	NUM
ajst-32563	21	3	.	.	PUNCT
ajst-32563	21	4	system	system	NOUN
ajst-32563	21	5	design	design	VERB
ajst-32563	21	6	the	the	DET
ajst-32563	21	7	key	key	ADJ
ajst-32563	21	8	components	component	NOUN
ajst-32563	21	9	of	of	ADP
ajst-32563	21	10	a	a	DET
ajst-32563	21	11	quadcopter	quadcopter	NOUN
ajst-32563	21	12	include	include	VERB
ajst-32563	21	13	the	the	DET
ajst-32563	21	14	frame	frame	NOUN
ajst-32563	21	15	,	,	PUNCT
ajst-32563	21	16	battery	battery	NOUN
ajst-32563	21	17	,	,	PUNCT
ajst-32563	21	18	flight	flight	NOUN
ajst-32563	21	19	controllers	controller	NOUN
ajst-32563	21	20	,	,	PUNCT
ajst-32563	21	21	sensors	sensor	NOUN
ajst-32563	21	22	,	,	PUNCT
ajst-32563	21	23	and	and	CCONJ
ajst-32563	21	24	motors	motor	NOUN
ajst-32563	21	25	and	and	CCONJ
ajst-32563	21	26	propellers	propeller	NOUN
ajst-32563	21	27	.	.	PUNCT
ajst-32563	22	1	utilizing	utilize	VERB
ajst-32563	22	2	the	the	DET
ajst-32563	22	3	principle	principle	NOUN
ajst-32563	22	4	of	of	ADP
ajst-32563	22	5	conservation	conservation	NOUN
ajst-32563	22	6	of	of	ADP
ajst-32563	22	7	energy	energy	NOUN
ajst-32563	22	8	in	in	ADP
ajst-32563	22	9	fluid	fluid	ADJ
ajst-32563	22	10	flow	flow	NOUN
ajst-32563	22	11	(	(	PUNCT
ajst-32563	22	12	bernoulli	bernoulli	PROPN
ajst-32563	22	13	’s	’s	PART
ajst-32563	22	14	principle	principle	NOUN
ajst-32563	22	15	)	)	PUNCT
ajst-32563	22	16	,	,	PUNCT
ajst-32563	22	17	the	the	DET
ajst-32563	22	18	spinning	spin	VERB
ajst-32563	22	19	propellers	propeller	NOUN
ajst-32563	22	20	produce	produce	VERB
ajst-32563	22	21	a	a	DET
ajst-32563	22	22	lifting	lift	VERB
ajst-32563	22	23	force	force	NOUN
ajst-32563	22	24	that	that	PRON
ajst-32563	22	25	allows	allow	VERB
ajst-32563	22	26	the	the	DET
ajst-32563	22	27	drone	drone	NOUN
ajst-32563	22	28	to	to	PART
ajst-32563	22	29	stay	stay	VERB
ajst-32563	22	30	in	in	ADP
ajst-32563	22	31	air	air	NOUN
ajst-32563	22	32	.	.	PUNCT
ajst-32563	23	1	the	the	DET
ajst-32563	23	2	quadcopter	quadcopter	NOUN
ajst-32563	23	3	is	be	AUX
ajst-32563	23	4	controlled	control	VERB
ajst-32563	23	5	by	by	ADP
ajst-32563	23	6	the	the	DET
ajst-32563	23	7	flight	flight	NOUN
ajst-32563	23	8	control	control	NOUN
ajst-32563	23	9	module	module	NOUN
ajst-32563	23	10	,	,	PUNCT
ajst-32563	23	11	which	which	PRON
ajst-32563	23	12	consists	consist	VERB
ajst-32563	23	13	of	of	ADP
ajst-32563	23	14	the	the	DET
ajst-32563	23	15	microcontroller	microcontroller	NOUN
ajst-32563	23	16	unit	unit	NOUN
ajst-32563	23	17	(	(	PUNCT
ajst-32563	23	18	mcu	mcu	PROPN
ajst-32563	23	19	)	)	PUNCT
ajst-32563	23	20	,	,	PUNCT
ajst-32563	23	21	sensors	sensor	NOUN
ajst-32563	23	22	,	,	PUNCT
ajst-32563	23	23	power	power	NOUN
ajst-32563	23	24	management	management	NOUN
ajst-32563	23	25	,	,	PUNCT
ajst-32563	23	26	communication	communication	NOUN
ajst-32563	23	27	(	(	PUNCT
ajst-32563	23	28	including	include	VERB
ajst-32563	23	29	usart	usart	ADJ
ajst-32563	23	30	and	and	CCONJ
ajst-32563	23	31	i²c	i²c	NOUN
ajst-32563	23	32	)	)	PUNCT
ajst-32563	23	33	,	,	PUNCT
ajst-32563	23	34	and	and	CCONJ
ajst-32563	23	35	memory	memory	NOUN
ajst-32563	23	36	[	[	X
ajst-32563	23	37	8	8	NUM
ajst-32563	23	38	]	]	PUNCT
ajst-32563	23	39	.	.	PUNCT
ajst-32563	24	1	the	the	DET
ajst-32563	24	2	following	follow	VERB
ajst-32563	24	3	section	section	NOUN
ajst-32563	24	4	is	be	AUX
ajst-32563	24	5	about	about	ADP
ajst-32563	24	6	various	various	ADJ
ajst-32563	24	7	aspects	aspect	NOUN
ajst-32563	24	8	of	of	ADP
ajst-32563	24	9	the	the	DET
ajst-32563	24	10	flight	flight	NOUN
ajst-32563	24	11	control	control	NOUN
ajst-32563	24	12	module	module	NOUN
ajst-32563	24	13	that	that	PRON
ajst-32563	24	14	enable	enable	VERB
ajst-32563	24	15	it	it	PRON
ajst-32563	24	16	to	to	PART
ajst-32563	24	17	function	function	VERB
ajst-32563	24	18	.	.	PUNCT
ajst-32563	25	1	2.1	2.1	NUM
ajst-32563	25	2	stm32f103c8t6	stm32f103c8t6	X
ajst-32563	25	3	(	(	PUNCT
ajst-32563	25	4	the	the	DET
ajst-32563	25	5	mcu	mcu	PROPN
ajst-32563	25	6	)	)	PUNCT
ajst-32563	25	7	the	the	DET
ajst-32563	25	8	mcu	mcu	PROPN
ajst-32563	25	9	is	be	AUX
ajst-32563	25	10	the	the	DET
ajst-32563	25	11	“	"	PUNCT
ajst-32563	25	12	brain	brain	NOUN
ajst-32563	25	13	”	"	PUNCT
ajst-32563	25	14	of	of	ADP
ajst-32563	25	15	the	the	DET
ajst-32563	25	16	drone	drone	NOUN
ajst-32563	25	17	,	,	PUNCT
ajst-32563	25	18	performing	perform	VERB
ajst-32563	25	19	data	datum	NOUN
ajst-32563	25	20	processing	processing	NOUN
ajst-32563	25	21	and	and	CCONJ
ajst-32563	25	22	controlling	control	VERB
ajst-32563	25	23	its	its	PRON
ajst-32563	25	24	other	other	ADJ
ajst-32563	25	25	components	component	NOUN
ajst-32563	25	26	.	.	PUNCT
ajst-32563	26	1	the	the	DET
ajst-32563	26	2	stm32f103c8t6	stm32f103c8t6	PROPN
ajst-32563	26	3	is	be	AUX
ajst-32563	26	4	from	from	ADP
ajst-32563	26	5	the	the	DET
ajst-32563	26	6	stm32f1	stm32f1	NOUN
ajst-32563	26	7	family	family	NOUN
ajst-32563	26	8	produced	produce	VERB
ajst-32563	26	9	by	by	ADP
ajst-32563	26	10	stmicroelectronics	stmicroelectronic	NOUN
ajst-32563	26	11	.	.	PUNCT
ajst-32563	27	1	it	it	PRON
ajst-32563	27	2	is	be	AUX
ajst-32563	27	3	based	base	VERB
ajst-32563	27	4	on	on	ADP
ajst-32563	27	5	the	the	DET
ajst-32563	27	6	arm	arm	NOUN
ajst-32563	27	7	cortex‑m3	cortex‑m3	ADJ
ajst-32563	27	8	core	core	NOUN
ajst-32563	27	9	,	,	PUNCT
ajst-32563	27	10	which	which	PRON
ajst-32563	27	11	is	be	AUX
ajst-32563	27	12	a	a	DET
ajst-32563	27	13	32‑bit	32‑bit	PROPN
ajst-32563	27	14	processor	processor	NOUN
ajst-32563	27	15	running	run	VERB
ajst-32563	27	16	at	at	ADP
ajst-32563	27	17	up	up	ADP
ajst-32563	27	18	to	to	PART
ajst-32563	27	19	72	72	NUM
ajst-32563	27	20	 	 	SPACE
ajst-32563	27	21	mhz	mhz	NOUN
ajst-32563	27	22	.	.	PUNCT
ajst-32563	28	1	this	this	PRON
ajst-32563	28	2	gives	give	VERB
ajst-32563	28	3	it	it	PRON
ajst-32563	28	4	good	good	ADJ
ajst-32563	28	5	performance	performance	NOUN
ajst-32563	28	6	while	while	SCONJ
ajst-32563	28	7	keeping	keep	VERB
ajst-32563	28	8	power	power	NOUN
ajst-32563	28	9	use	use	NOUN
ajst-32563	28	10	low	low	ADJ
ajst-32563	28	11	.	.	PUNCT
ajst-32563	29	1	it	it	PRON
ajst-32563	29	2	also	also	ADV
ajst-32563	29	3	has	have	VERB
ajst-32563	29	4	many	many	ADJ
ajst-32563	29	5	input	input	NOUN
ajst-32563	29	6	/	/	SYM
ajst-32563	29	7	output	output	NOUN
ajst-32563	29	8	(	(	PUNCT
ajst-32563	29	9	i	i	NOUN
ajst-32563	29	10	/	/	SYM
ajst-32563	29	11	o	o	NOUN
ajst-32563	29	12	)	)	PUNCT
ajst-32563	29	13	options	option	NOUN
ajst-32563	29	14	and	and	CCONJ
ajst-32563	29	15	built‑in	built‑in	NOUN
ajst-32563	29	16	peripherals	peripheral	NOUN
ajst-32563	29	17	,	,	PUNCT
ajst-32563	29	18	which	which	PRON
ajst-32563	29	19	made	make	VERB
ajst-32563	29	20	it	it	PRON
ajst-32563	29	21	a	a	DET
ajst-32563	29	22	good	good	ADJ
ajst-32563	29	23	choice	choice	NOUN
ajst-32563	29	24	for	for	ADP
ajst-32563	29	25	the	the	DET
ajst-32563	29	26	project	project	NOUN
ajst-32563	29	27	[	[	X
ajst-32563	29	28	9	9	NUM
ajst-32563	29	29	]	]	PUNCT
ajst-32563	29	30	.	.	PUNCT
ajst-32563	30	1	the	the	DET
ajst-32563	30	2	stm32f103c8t6	stm32f103c8t6	PROPN
ajst-32563	30	3	is	be	AUX
ajst-32563	30	4	packaged	package	VERB
ajst-32563	30	5	with	with	ADP
ajst-32563	30	6	48	48	NUM
ajst-32563	30	7	pins	pin	NOUN
ajst-32563	30	8	,	,	PUNCT
ajst-32563	30	9	with	with	ADP
ajst-32563	30	10	each	each	DET
ajst-32563	30	11	pin	pin	NOUN
ajst-32563	30	12	able	able	ADJ
ajst-32563	30	13	to	to	PART
ajst-32563	30	14	work	work	VERB
ajst-32563	30	15	as	as	ADP
ajst-32563	30	16	a	a	DET
ajst-32563	30	17	general	general	ADJ
ajst-32563	30	18	i	i	NOUN
ajst-32563	30	19	/	/	SYM
ajst-32563	30	20	o	o	X
ajst-32563	30	21	or	or	CCONJ
ajst-32563	30	22	for	for	ADP
ajst-32563	30	23	special	special	ADJ
ajst-32563	30	24	functions	function	NOUN
ajst-32563	30	25	.	.	PUNCT
ajst-32563	31	1	internally	internally	ADV
ajst-32563	31	2	,	,	PUNCT
ajst-32563	31	3	it	it	PRON
ajst-32563	31	4	has	have	VERB
ajst-32563	31	5	a	a	DET
ajst-32563	31	6	64	64	NUM
ajst-32563	31	7	 	 	SPACE
ajst-32563	31	8	kb	kb	PROPN
ajst-32563	31	9	flash	flash	NOUN
ajst-32563	31	10	memory	memory	NOUN
ajst-32563	31	11	,	,	PUNCT
ajst-32563	31	12	a	a	DET
ajst-32563	31	13	20	20	NUM
ajst-32563	31	14	 	 	SPACE
ajst-32563	31	15	kb	kb	PROPN
ajst-32563	31	16	sram	sram	PROPN
ajst-32563	31	17	,	,	PUNCT
ajst-32563	31	18	a	a	DET
ajst-32563	31	19	clock	clock	NOUN
ajst-32563	31	20	system	system	NOUN
ajst-32563	31	21	(	(	PUNCT
ajst-32563	31	22	with	with	ADP
ajst-32563	31	23	both	both	CCONJ
ajst-32563	31	24	an	an	DET
ajst-32563	31	25	internal	internal	ADJ
ajst-32563	31	26	rc	rc	PROPN
ajst-32563	31	27	oscillator	oscillator	NOUN
ajst-32563	31	28	and	and	CCONJ
ajst-32563	31	29	support	support	NOUN
ajst-32563	31	30	for	for	ADP
ajst-32563	31	31	external	external	ADJ
ajst-32563	31	32	crystals	crystal	NOUN
ajst-32563	31	33	)	)	PUNCT
ajst-32563	31	34	,	,	PUNCT
ajst-32563	31	35	and	and	CCONJ
ajst-32563	31	36	buses	bus	NOUN
ajst-32563	31	37	for	for	ADP
ajst-32563	31	38	connecting	connect	VERB
ajst-32563	31	39	components	component	NOUN
ajst-32563	31	40	(	(	PUNCT
ajst-32563	31	41	ahb	ahb	NOUN
ajst-32563	31	42	for	for	ADP
ajst-32563	31	43	high‑speed	high‑speed	NOUN
ajst-32563	31	44	access	access	NOUN
ajst-32563	31	45	and	and	CCONJ
ajst-32563	31	46	apb	apb	NOUN
ajst-32563	31	47	for	for	ADP
ajst-32563	31	48	peripherals	peripheral	NOUN
ajst-32563	31	49	)	)	PUNCT
ajst-32563	31	50	.	.	PUNCT
ajst-32563	32	1	its	its	PRON
ajst-32563	32	2	peripherals	peripheral	NOUN
ajst-32563	32	3	include	include	VERB
ajst-32563	32	4	gpio	gpio	NOUN
ajst-32563	32	5	(	(	PUNCT
ajst-32563	32	6	for	for	ADP
ajst-32563	32	7	digital	digital	ADJ
ajst-32563	32	8	input	input	NOUN
ajst-32563	32	9	/	/	SYM
ajst-32563	32	10	output	output	NOUN
ajst-32563	32	11	)	)	PUNCT
ajst-32563	32	12	,	,	PUNCT
ajst-32563	32	13	as	as	ADV
ajst-32563	32	14	well	well	ADV
ajst-32563	32	15	as	as	ADP
ajst-32563	32	16	several	several	ADJ
ajst-32563	32	17	communication	communication	NOUN
ajst-32563	32	18	interfaces	interface	NOUN
ajst-32563	32	19	like	like	ADP
ajst-32563	32	20	usart	usart	ADJ
ajst-32563	32	21	,	,	PUNCT
ajst-32563	32	22	i²c	i²c	CCONJ
ajst-32563	32	23	,	,	PUNCT
ajst-32563	32	24	spi	spi	NOUN
ajst-32563	32	25	,	,	PUNCT
ajst-32563	32	26	and	and	CCONJ
ajst-32563	32	27	usb	usb	PRON
ajst-32563	33	1	[	[	X
ajst-32563	33	2	10	10	NUM
ajst-32563	33	3	]	]	PUNCT
ajst-32563	33	4	.	.	PUNCT
ajst-32563	34	1	2.2	2.2	NUM
ajst-32563	34	2	pulse	pulse	NOUN
ajst-32563	34	3	width	width	ADJ
ajst-32563	34	4	modulation	modulation	NOUN
ajst-32563	34	5	(	(	PUNCT
ajst-32563	34	6	pwm	pwm	NOUN
ajst-32563	34	7	)	)	PUNCT
ajst-32563	34	8	the	the	DET
ajst-32563	34	9	lift	lift	NOUN
ajst-32563	34	10	of	of	ADP
ajst-32563	34	11	the	the	DET
ajst-32563	34	12	quadcopter	quadcopter	NOUN
ajst-32563	34	13	depends	depend	VERB
ajst-32563	34	14	on	on	ADP
ajst-32563	34	15	the	the	DET
ajst-32563	34	16	rotation	rotation	NOUN
ajst-32563	34	17	of	of	ADP
ajst-32563	34	18	the	the	DET
ajst-32563	34	19	propellers	propeller	NOUN
ajst-32563	34	20	[	[	X
ajst-32563	34	21	11	11	NUM
ajst-32563	34	22	]	]	PUNCT
ajst-32563	34	23	.	.	PUNCT
ajst-32563	35	1	to	to	PART
ajst-32563	35	2	control	control	VERB
ajst-32563	35	3	the	the	DET
ajst-32563	35	4	position	position	NOUN
ajst-32563	35	5	of	of	ADP
ajst-32563	35	6	the	the	DET
ajst-32563	35	7	quadcopter	quadcopter	NOUN
ajst-32563	35	8	,	,	PUNCT
ajst-32563	35	9	namely	namely	ADV
ajst-32563	35	10	the	the	DET
ajst-32563	35	11	rate	rate	NOUN
ajst-32563	35	12	of	of	ADP
ajst-32563	35	13	rotation	rotation	NOUN
ajst-32563	35	14	of	of	ADP
ajst-32563	35	15	the	the	DET
ajst-32563	35	16	four	four	NUM
ajst-32563	35	17	propellers	propeller	NOUN
ajst-32563	35	18	,	,	PUNCT
ajst-32563	35	19	a	a	DET
ajst-32563	35	20	technology	technology	NOUN
ajst-32563	35	21	named	name	VERB
ajst-32563	35	22	pulse	pulse	NOUN
ajst-32563	35	23	width	width	ADJ
ajst-32563	35	24	modulation	modulation	NOUN
ajst-32563	35	25	(	(	PUNCT
ajst-32563	35	26	pwm	pwm	NOUN
ajst-32563	35	27	)	)	PUNCT
ajst-32563	35	28	is	be	AUX
ajst-32563	35	29	utilized	utilize	VERB
ajst-32563	35	30	.	.	PUNCT
ajst-32563	36	1	it	it	PRON
ajst-32563	36	2	controls	control	VERB
ajst-32563	36	3	how	how	SCONJ
ajst-32563	36	4	much	much	ADJ
ajst-32563	36	5	power	power	NOUN
ajst-32563	36	6	is	be	AUX
ajst-32563	36	7	delivered	deliver	VERB
ajst-32563	36	8	to	to	ADP
ajst-32563	36	9	a	a	DET
ajst-32563	36	10	device	device	NOUN
ajst-32563	36	11	by	by	ADP
ajst-32563	36	12	turning	turn	VERB
ajst-32563	36	13	the	the	DET
ajst-32563	36	14	input	input	NOUN
ajst-32563	36	15	signal	signal	NOUN
ajst-32563	36	16	to	to	ADP
ajst-32563	36	17	that	that	DET
ajst-32563	36	18	device	device	NOUN
ajst-32563	36	19	on	on	ADP
ajst-32563	36	20	and	and	CCONJ
ajst-32563	36	21	off	off	ADV
ajst-32563	36	22	very	very	ADV
ajst-32563	36	23	quickly	quickly	ADV
ajst-32563	36	24	.	.	PUNCT
ajst-32563	37	1	instead	instead	ADV
ajst-32563	37	2	of	of	ADP
ajst-32563	37	3	trying	try	VERB
ajst-32563	37	4	to	to	PART
ajst-32563	37	5	make	make	VERB
ajst-32563	37	6	adjustments	adjustment	NOUN
ajst-32563	37	7	to	to	ADP
ajst-32563	37	8	the	the	DET
ajst-32563	37	9	magnitude	magnitude	NOUN
ajst-32563	37	10	of	of	ADP
ajst-32563	37	11	the	the	DET
ajst-32563	37	12	voltage	voltage	NOUN
ajst-32563	37	13	of	of	ADP
ajst-32563	37	14	the	the	DET
ajst-32563	37	15	signal	signal	NOUN
ajst-32563	37	16	,	,	PUNCT
ajst-32563	37	17	pwm	pwm	NOUN
ajst-32563	37	18	alternates	alternate	NOUN
ajst-32563	37	19	between	between	ADP
ajst-32563	37	20	fully	fully	ADV
ajst-32563	37	21	on	on	ADP
ajst-32563	37	22	(	(	PUNCT
ajst-32563	37	23	high	high	ADJ
ajst-32563	37	24	voltage	voltage	NOUN
ajst-32563	37	25	)	)	PUNCT
ajst-32563	37	26	and	and	CCONJ
ajst-32563	37	27	fully	fully	ADV
ajst-32563	37	28	off	off	ADV
ajst-32563	37	29	(	(	PUNCT
ajst-32563	37	30	low	low	ADJ
ajst-32563	37	31	voltage	voltage	NOUN
ajst-32563	37	32	)	)	PUNCT
ajst-32563	37	33	.	.	PUNCT
ajst-32563	38	1	by	by	ADP
ajst-32563	38	2	changing	change	VERB
ajst-32563	38	3	the	the	DET
ajst-32563	38	4	proportion	proportion	NOUN
ajst-32563	38	5	of	of	ADP
ajst-32563	38	6	the	the	DET
ajst-32563	38	7	amount	amount	NOUN
ajst-32563	38	8	of	of	ADP
ajst-32563	38	9	time	time	NOUN
ajst-32563	38	10	the	the	DET
ajst-32563	38	11	signal	signal	NOUN
ajst-32563	38	12	stays	stay	VERB
ajst-32563	38	13	on	on	ADP
ajst-32563	38	14	against	against	ADP
ajst-32563	38	15	the	the	DET
ajst-32563	38	16	time	time	NOUN
ajst-32563	38	17	it	it	PRON
ajst-32563	38	18	stays	stay	VERB
ajst-32563	38	19	off	off	ADP
ajst-32563	38	20	,	,	PUNCT
ajst-32563	38	21	the	the	DET
ajst-32563	38	22	average	average	ADJ
ajst-32563	38	23	power	power	NOUN
ajst-32563	38	24	is	be	AUX
ajst-32563	38	25	adjusted	adjust	VERB
ajst-32563	38	26	[	[	X
ajst-32563	38	27	12	12	NUM
ajst-32563	38	28	]	]	PUNCT
ajst-32563	38	29	.	.	PUNCT
ajst-32563	39	1	the	the	DET
ajst-32563	39	2	electronic	electronic	ADJ
ajst-32563	39	3	speed	speed	NOUN
ajst-32563	39	4	controller	controller	NOUN
ajst-32563	39	5	(	(	PUNCT
ajst-32563	39	6	esc	esc	NOUN
ajst-32563	39	7	)	)	PUNCT
ajst-32563	39	8	creates	create	VERB
ajst-32563	39	9	the	the	DET
ajst-32563	39	10	pwm	pwm	NOUN
ajst-32563	39	11	signal	signal	NOUN
ajst-32563	39	12	for	for	ADP
ajst-32563	39	13	motor	motor	NOUN
ajst-32563	39	14	control	control	NOUN
ajst-32563	39	15	.	.	PUNCT
ajst-32563	40	1	it	it	PRON
ajst-32563	40	2	consists	consist	VERB
ajst-32563	40	3	of	of	ADP
ajst-32563	40	4	two	two	NUM
ajst-32563	40	5	components	component	NOUN
ajst-32563	40	6	:	:	PUNCT
ajst-32563	40	7	the	the	DET
ajst-32563	40	8	time	time	NOUN
ajst-32563	40	9	-	-	PUNCT
ajst-32563	40	10	base	base	NOUN
ajst-32563	40	11	unit	unit	NOUN
ajst-32563	40	12	and	and	CCONJ
ajst-32563	40	13	the	the	DET
ajst-32563	40	14	output	output	NOUN
ajst-32563	40	15	compare	compare	NOUN
ajst-32563	40	16	unit	unit	NOUN
ajst-32563	40	17	[	[	X
ajst-32563	40	18	13	13	NUM
ajst-32563	40	19	]	]	PUNCT
ajst-32563	40	20	.	.	PUNCT
ajst-32563	41	1	the	the	DET
ajst-32563	41	2	time	time	NOUN
ajst-32563	41	3	-	-	PUNCT
ajst-32563	41	4	base	base	NOUN
ajst-32563	41	5	unit	unit	NOUN
ajst-32563	41	6	consists	consist	VERB
ajst-32563	41	7	of	of	ADP
ajst-32563	41	8	three	three	NUM
ajst-32563	41	9	parts	part	NOUN
ajst-32563	41	10	:	:	PUNCT
ajst-32563	41	11	the	the	DET
ajst-32563	41	12	prescaler	prescaler	ADJ
ajst-32563	41	13	(	(	PUNCT
ajst-32563	41	14	psc	psc	PROPN
ajst-32563	41	15	)	)	PUNCT
ajst-32563	41	16	,	,	PUNCT
ajst-32563	41	17	counter	counter	X
ajst-32563	41	18	(	(	PUNCT
ajst-32563	41	19	cnt	cnt	PROPN
ajst-32563	41	20	)	)	PUNCT
ajst-32563	41	21	,	,	PUNCT
ajst-32563	41	22	and	and	CCONJ
ajst-32563	41	23	auto	auto	NOUN
ajst-32563	41	24	-	-	PUNCT
ajst-32563	41	25	reload	reload	NOUN
ajst-32563	41	26	register	register	NOUN
ajst-32563	41	27	(	(	PUNCT
ajst-32563	41	28	arr	arr	NOUN
ajst-32563	41	29	)	)	PUNCT
ajst-32563	41	30	.	.	PUNCT
ajst-32563	42	1	the	the	DET
ajst-32563	42	2	prescaler	prescaler	NOUN
ajst-32563	42	3	divides	divide	VERB
ajst-32563	42	4	the	the	DET
ajst-32563	42	5	system	system	NOUN
ajst-32563	42	6	clock	clock	NOUN
ajst-32563	42	7	frequency	frequency	NOUN
ajst-32563	42	8	(	(	PUNCT
ajst-32563	42	9	72mhz	72mhz	ADJ
ajst-32563	42	10	in	in	ADP
ajst-32563	42	11	the	the	DET
ajst-32563	42	12	project	project	NOUN
ajst-32563	42	13	)	)	PUNCT
ajst-32563	42	14	,	,	PUNCT
ajst-32563	42	15	lowering	lower	VERB
ajst-32563	42	16	it	it	PRON
ajst-32563	42	17	to	to	ADP
ajst-32563	42	18	f1	f1	VERB
ajst-32563	42	19	:	:	PUNCT
ajst-32563	42	20	𝑓	𝑓	PRON
ajst-32563	42	21	𝑓	𝑓	DET
ajst-32563	42	22	𝑃𝑆𝐶	𝑃𝑆𝐶	PROPN
ajst-32563	42	23	1	1	NUM
ajst-32563	42	24	|	|	ADV
ajst-32563	42	25	for	for	ADP
ajst-32563	42	26	example	example	NOUN
ajst-32563	42	27	,	,	PUNCT
ajst-32563	42	28	if	if	SCONJ
ajst-32563	42	29	psc	psc	PROPN
ajst-32563	42	30	=	=	SYM
ajst-32563	42	31	71	71	NUM
ajst-32563	42	32	,	,	PUNCT
ajst-32563	42	33	𝑓	𝑓	PRON
ajst-32563	42	34	=	=	ADJ
ajst-32563	42	35	1mhz	1mhz	NUM
ajst-32563	42	36	.	.	PUNCT
ajst-32563	43	1	note	note	VERB
ajst-32563	43	2	that	that	SCONJ
ajst-32563	43	3	for	for	ADP
ajst-32563	43	4	all	all	DET
ajst-32563	43	5	equations	equation	NOUN
ajst-32563	43	6	in	in	ADP
ajst-32563	43	7	this	this	DET
ajst-32563	43	8	section	section	NOUN
ajst-32563	43	9	,	,	PUNCT
ajst-32563	43	10	a	a	DET
ajst-32563	43	11	component	component	NOUN
ajst-32563	43	12	’s	’s	PART
ajst-32563	43	13	name	name	NOUN
ajst-32563	43	14	denotes	denote	VERB
ajst-32563	43	15	its	its	PRON
ajst-32563	43	16	value	value	NOUN
ajst-32563	43	17	.	.	PUNCT
ajst-32563	44	1	this	this	PRON
ajst-32563	44	2	prepares	prepare	VERB
ajst-32563	44	3	the	the	DET
ajst-32563	44	4	signal	signal	NOUN
ajst-32563	44	5	for	for	ADP
ajst-32563	44	6	further	further	ADJ
ajst-32563	44	7	processing	processing	NOUN
ajst-32563	44	8	.	.	PUNCT
ajst-32563	45	1	the	the	DET
ajst-32563	45	2	prescaler	prescaler	NOUN
ajst-32563	45	3	is	be	AUX
ajst-32563	45	4	necessary	necessary	ADJ
ajst-32563	45	5	because	because	SCONJ
ajst-32563	45	6	an	an	DET
ajst-32563	45	7	unreasonably	unreasonably	ADV
ajst-32563	45	8	huge	huge	ADJ
ajst-32563	45	9	arr	arr	NOUN
ajst-32563	45	10	value	value	NOUN
ajst-32563	45	11	will	will	AUX
ajst-32563	45	12	be	be	AUX
ajst-32563	45	13	needed	need	VERB
ajst-32563	45	14	otherwise	otherwise	ADV
ajst-32563	45	15	.	.	PUNCT
ajst-32563	46	1	the	the	DET
ajst-32563	46	2	new	new	ADJ
ajst-32563	46	3	signal	signal	NOUN
ajst-32563	46	4	with	with	ADP
ajst-32563	46	5	frequency	frequency	NOUN
ajst-32563	46	6	f1	f1	NOUN
ajst-32563	46	7	goes	go	VERB
ajst-32563	46	8	into	into	ADP
ajst-32563	46	9	the	the	DET
ajst-32563	46	10	cnt	cnt	NOUN
ajst-32563	46	11	,	,	PUNCT
ajst-32563	46	12	which	which	PRON
ajst-32563	46	13	counts	count	VERB
ajst-32563	46	14	up	up	ADP
ajst-32563	46	15	from	from	ADP
ajst-32563	46	16	0	0	NUM
ajst-32563	46	17	until	until	SCONJ
ajst-32563	46	18	it	it	PRON
ajst-32563	46	19	reaches	reach	VERB
ajst-32563	46	20	the	the	DET
ajst-32563	46	21	arr	arr	NOUN
ajst-32563	46	22	value	value	NOUN
ajst-32563	46	23	(	(	PUNCT
ajst-32563	46	24	i.e.	i.e.	X
ajst-32563	46	25	the	the	DET
ajst-32563	46	26	upper	upper	ADJ
ajst-32563	46	27	limit	limit	NOUN
ajst-32563	46	28	)	)	PUNCT
ajst-32563	46	29	.	.	PUNCT
ajst-32563	47	1	then	then	ADV
ajst-32563	47	2	,	,	PUNCT
ajst-32563	47	3	cnt	cnt	PROPN
ajst-32563	47	4	resets	reset	VERB
ajst-32563	47	5	to	to	ADP
ajst-32563	47	6	0	0	NUM
ajst-32563	47	7	and	and	CCONJ
ajst-32563	47	8	starts	starts	AUX
ajst-32563	47	9	counting	count	VERB
ajst-32563	47	10	again	again	ADV
ajst-32563	47	11	[	[	X
ajst-32563	47	12	14	14	NUM
ajst-32563	47	13	]	]	PUNCT
ajst-32563	47	14	.	.	PUNCT
ajst-32563	48	1	this	this	PRON
ajst-32563	48	2	creates	create	VERB
ajst-32563	48	3	a	a	DET
ajst-32563	48	4	cycle	cycle	NOUN
ajst-32563	48	5	,	,	PUNCT
ajst-32563	48	6	effectively	effectively	ADV
ajst-32563	48	7	dividing	divide	VERB
ajst-32563	48	8	the	the	DET
ajst-32563	48	9	signal	signal	NOUN
ajst-32563	48	10	again	again	ADV
ajst-32563	48	11	to	to	PART
ajst-32563	48	12	produce	produce	VERB
ajst-32563	48	13	a	a	DET
ajst-32563	48	14	new	new	ADJ
ajst-32563	48	15	signal	signal	NOUN
ajst-32563	48	16	with	with	ADP
ajst-32563	48	17	arr+1	arr+1	PROPN
ajst-32563	48	18	times	time	NOUN
ajst-32563	48	19	the	the	DET
ajst-32563	48	20	original	original	ADJ
ajst-32563	48	21	period	period	NOUN
ajst-32563	48	22	:	:	PUNCT
ajst-32563	48	23	𝑓	𝑓	DET
ajst-32563	48	24	𝑓	𝑓	DET
ajst-32563	48	25	𝐴𝑅𝑅	𝐴𝑅𝑅	PROPN
ajst-32563	48	26	1	1	NUM
ajst-32563	48	27	for	for	ADP
ajst-32563	48	28	example	example	NOUN
ajst-32563	48	29	,	,	PUNCT
ajst-32563	48	30	if	if	SCONJ
ajst-32563	48	31	f1	f1	NOUN
ajst-32563	48	32	=	=	SYM
ajst-32563	48	33	1mhz	1mhz	NUM
ajst-32563	48	34	,	,	PUNCT
ajst-32563	48	35	and	and	CCONJ
ajst-32563	48	36	the	the	DET
ajst-32563	48	37	target	target	NOUN
ajst-32563	48	38	ffinal	ffinal	ADJ
ajst-32563	48	39	is	be	AUX
ajst-32563	48	40	1khz	1khz	NUM
ajst-32563	48	41	,	,	PUNCT
ajst-32563	48	42	then	then	ADV
ajst-32563	48	43	the	the	DET
ajst-32563	48	44	arr	arr	NOUN
ajst-32563	48	45	value	value	NOUN
ajst-32563	48	46	should	should	AUX
ajst-32563	48	47	be	be	AUX
ajst-32563	48	48	adjusted	adjust	VERB
ajst-32563	48	49	to	to	ADP
ajst-32563	48	50	999	999	NUM
ajst-32563	48	51	.	.	PUNCT
ajst-32563	49	1	the	the	DET
ajst-32563	49	2	output	output	NOUN
ajst-32563	49	3	compare	compare	NOUN
ajst-32563	49	4	unit	unit	NOUN
ajst-32563	49	5	is	be	AUX
ajst-32563	49	6	necessary	necessary	ADJ
ajst-32563	49	7	to	to	PART
ajst-32563	49	8	produce	produce	VERB
ajst-32563	49	9	a	a	DET
ajst-32563	49	10	pwm	pwm	NOUN
ajst-32563	49	11	signal	signal	NOUN
ajst-32563	49	12	with	with	ADP
ajst-32563	49	13	the	the	DET
ajst-32563	49	14	desired	desire	VERB
ajst-32563	49	15	duty	duty	NOUN
ajst-32563	49	16	cycle	cycle	NOUN
ajst-32563	49	17	,	,	PUNCT
ajst-32563	49	18	which	which	PRON
ajst-32563	49	19	is	be	AUX
ajst-32563	49	20	the	the	DET
ajst-32563	49	21	proportion	proportion	NOUN
ajst-32563	49	22	of	of	ADP
ajst-32563	49	23	the	the	DET
ajst-32563	49	24	pulse	pulse	NOUN
ajst-32563	49	25	width	width	NOUN
ajst-32563	49	26	(	(	PUNCT
ajst-32563	49	27	length	length	NOUN
ajst-32563	49	28	of	of	ADP
ajst-32563	49	29	on	on	ADP
ajst-32563	49	30	signal	signal	NOUN
ajst-32563	49	31	)	)	PUNCT
ajst-32563	49	32	to	to	ADP
ajst-32563	49	33	the	the	DET
ajst-32563	49	34	length	length	NOUN
ajst-32563	49	35	of	of	ADP
ajst-32563	49	36	one	one	NUM
ajst-32563	49	37	period	period	NOUN
ajst-32563	49	38	:	:	PUNCT
ajst-32563	49	39	𝑇	𝑇	PROPN
ajst-32563	49	40	𝑇	𝑇	PROPN
ajst-32563	49	41	𝑇	𝑇	PROPN
ajst-32563	49	42	𝑑𝑢𝑡𝑦	𝑑𝑢𝑡𝑦	NOUN
ajst-32563	49	43	𝑐𝑦𝑐𝑙𝑒	𝑐𝑦𝑐𝑙𝑒	VERB
ajst-32563	49	44	𝑇	𝑇	PROPN
ajst-32563	49	45	𝑇	𝑇	PROPN
ajst-32563	49	46	𝐶𝐶𝑅	𝐶𝐶𝑅	PROPN
ajst-32563	49	47	𝐴𝑅𝑅	𝐴𝑅𝑅	PROPN
ajst-32563	49	48	1	1	NUM
ajst-32563	49	49	188	188	NUM
ajst-32563	49	50	it	it	PRON
ajst-32563	49	51	contains	contain	VERB
ajst-32563	49	52	the	the	DET
ajst-32563	49	53	capture	capture	NOUN
ajst-32563	49	54	/	/	SYM
ajst-32563	49	55	compare	compare	NOUN
ajst-32563	49	56	register	register	NOUN
ajst-32563	49	57	(	(	PUNCT
ajst-32563	49	58	ccr	ccr	PROPN
ajst-32563	49	59	)	)	PUNCT
ajst-32563	49	60	,	,	PUNCT
ajst-32563	49	61	which	which	PRON
ajst-32563	49	62	holds	hold	VERB
ajst-32563	49	63	a	a	DET
ajst-32563	49	64	value	value	NOUN
ajst-32563	49	65	between	between	ADP
ajst-32563	49	66	0	0	NUM
ajst-32563	49	67	and	and	CCONJ
ajst-32563	49	68	arr	arr	NOUN
ajst-32563	50	1	[	[	X
ajst-32563	50	2	15	15	NUM
ajst-32563	50	3	]	]	PUNCT
ajst-32563	50	4	.	.	PUNCT
ajst-32563	51	1	for	for	ADP
ajst-32563	51	2	the	the	DET
ajst-32563	51	3	normal	normal	ADJ
ajst-32563	51	4	configuration	configuration	NOUN
ajst-32563	51	5	,	,	PUNCT
ajst-32563	51	6	when	when	SCONJ
ajst-32563	51	7	cnt	cnt	PROPN
ajst-32563	51	8	is	be	AUX
ajst-32563	51	9	less	less	ADJ
ajst-32563	51	10	than	than	ADP
ajst-32563	51	11	ccr	ccr	PROPN
ajst-32563	51	12	,	,	PUNCT
ajst-32563	51	13	the	the	DET
ajst-32563	51	14	output	output	NOUN
ajst-32563	51	15	signal	signal	NOUN
ajst-32563	51	16	is	be	AUX
ajst-32563	51	17	high	high	ADJ
ajst-32563	51	18	and	and	CCONJ
ajst-32563	51	19	otherwise	otherwise	ADV
ajst-32563	51	20	is	be	AUX
ajst-32563	51	21	low	low	ADJ
ajst-32563	51	22	.	.	PUNCT
ajst-32563	52	1	this	this	DET
ajst-32563	52	2	switching	switching	NOUN
ajst-32563	52	3	creates	create	VERB
ajst-32563	52	4	the	the	DET
ajst-32563	52	5	pwn	pwn	NOUN
ajst-32563	52	6	signal	signal	NOUN
ajst-32563	52	7	,	,	PUNCT
ajst-32563	52	8	enabling	enable	VERB
ajst-32563	52	9	the	the	DET
ajst-32563	52	10	adjustment	adjustment	NOUN
ajst-32563	52	11	of	of	ADP
ajst-32563	52	12	the	the	DET
ajst-32563	52	13	duty	duty	NOUN
ajst-32563	52	14	cycle	cycle	NOUN
ajst-32563	52	15	via	via	ADP
ajst-32563	52	16	the	the	DET
ajst-32563	52	17	ccr	ccr	PROPN
ajst-32563	52	18	value	value	NOUN
ajst-32563	52	19	,	,	PUNCT
ajst-32563	52	20	and	and	CCONJ
ajst-32563	52	21	hence	hence	ADV
ajst-32563	52	22	the	the	DET
ajst-32563	52	23	output	output	NOUN
ajst-32563	52	24	power	power	NOUN
ajst-32563	52	25	[	[	X
ajst-32563	52	26	16	16	NUM
ajst-32563	52	27	]	]	PUNCT
ajst-32563	52	28	.	.	PUNCT
ajst-32563	53	1	the	the	DET
ajst-32563	53	2	ccr	ccr	PROPN
ajst-32563	53	3	value	value	NOUN
ajst-32563	53	4	can	can	AUX
ajst-32563	53	5	be	be	AUX
ajst-32563	53	6	determined	determine	VERB
ajst-32563	53	7	by	by	ADP
ajst-32563	53	8	:	:	PUNCT
ajst-32563	53	9	𝐶𝐶𝑅	𝐶𝐶𝑅	NOUN
ajst-32563	53	10	𝐴𝑅𝑅	𝐴𝑅𝑅	PROPN
ajst-32563	53	11	1	1	NUM
ajst-32563	53	12	𝑑𝑢𝑡𝑦	𝑑𝑢𝑡𝑦	NOUN
ajst-32563	53	13	𝑐𝑦𝑐𝑙𝑒	𝑐𝑦𝑐𝑙𝑒	NOUN
ajst-32563	53	14	for	for	ADP
ajst-32563	53	15	example	example	NOUN
ajst-32563	53	16	,	,	PUNCT
ajst-32563	53	17	if	if	SCONJ
ajst-32563	53	18	arr	arr	X
ajst-32563	53	19	=	=	SYM
ajst-32563	53	20	999	999	NUM
ajst-32563	53	21	and	and	CCONJ
ajst-32563	53	22	the	the	DET
ajst-32563	53	23	desired	desire	VERB
ajst-32563	53	24	duty	duty	NOUN
ajst-32563	53	25	cycle	cycle	NOUN
ajst-32563	53	26	is	be	AUX
ajst-32563	53	27	30	30	NUM
ajst-32563	53	28	%	%	NOUN
ajst-32563	53	29	,	,	PUNCT
ajst-32563	53	30	ccr	ccr	PROPN
ajst-32563	54	1	=	=	SYM
ajst-32563	54	2	300	300	NUM
ajst-32563	54	3	.	.	PUNCT
ajst-32563	55	1	if	if	SCONJ
ajst-32563	55	2	there	there	PRON
ajst-32563	55	3	comes	come	VERB
ajst-32563	55	4	the	the	DET
ajst-32563	55	5	need	need	NOUN
ajst-32563	55	6	to	to	PART
ajst-32563	55	7	double	double	VERB
ajst-32563	55	8	the	the	DET
ajst-32563	55	9	output	output	NOUN
ajst-32563	55	10	power	power	NOUN
ajst-32563	55	11	,	,	PUNCT
ajst-32563	55	12	this	this	PRON
ajst-32563	55	13	can	can	AUX
ajst-32563	55	14	be	be	AUX
ajst-32563	55	15	achieved	achieve	VERB
ajst-32563	55	16	by	by	ADP
ajst-32563	55	17	doubling	double	VERB
ajst-32563	55	18	the	the	DET
ajst-32563	55	19	duty	duty	NOUN
ajst-32563	55	20	cycle	cycle	NOUN
ajst-32563	55	21	to	to	ADP
ajst-32563	55	22	60	60	NUM
ajst-32563	55	23	%	%	NOUN
ajst-32563	55	24	by	by	ADP
ajst-32563	55	25	changing	change	VERB
ajst-32563	55	26	ccr	ccr	PROPN
ajst-32563	55	27	to	to	ADP
ajst-32563	55	28	600	600	NUM
ajst-32563	55	29	.	.	PUNCT
ajst-32563	56	1	figure	figure	NOUN
ajst-32563	56	2	1	1	NUM
ajst-32563	56	3	shows	show	VERB
ajst-32563	56	4	the	the	DET
ajst-32563	56	5	output	output	NOUN
ajst-32563	56	6	signal	signal	NOUN
ajst-32563	56	7	being	be	AUX
ajst-32563	56	8	produced	produce	VERB
ajst-32563	56	9	as	as	ADP
ajst-32563	56	10	cnt	cnt	PROPN
ajst-32563	56	11	changes	change	NOUN
ajst-32563	56	12	using	use	VERB
ajst-32563	56	13	values	value	NOUN
ajst-32563	56	14	from	from	ADP
ajst-32563	56	15	the	the	DET
ajst-32563	56	16	previous	previous	ADJ
ajst-32563	56	17	example	example	NOUN
ajst-32563	56	18	.	.	PUNCT
ajst-32563	57	1	figure	figure	NOUN
ajst-32563	57	2	1	1	NUM
ajst-32563	57	3	.	.	PUNCT
ajst-32563	58	1	output	output	NOUN
ajst-32563	58	2	signal	signal	NOUN
ajst-32563	58	3	generated	generate	VERB
ajst-32563	58	4	by	by	ADP
ajst-32563	58	5	the	the	DET
ajst-32563	58	6	change	change	NOUN
ajst-32563	58	7	of	of	ADP
ajst-32563	58	8	cnt	cnt	PROPN
ajst-32563	58	9	there	there	PRON
ajst-32563	58	10	are	be	VERB
ajst-32563	58	11	3	3	NUM
ajst-32563	58	12	main	main	ADJ
ajst-32563	58	13	advantages	advantage	NOUN
ajst-32563	58	14	to	to	ADP
ajst-32563	58	15	the	the	DET
ajst-32563	58	16	usage	usage	NOUN
ajst-32563	58	17	of	of	ADP
ajst-32563	58	18	pwm	pwm	NOUN
ajst-32563	58	19	:	:	PUNCT
ajst-32563	58	20	efficiency	efficiency	NOUN
ajst-32563	58	21	:	:	PUNCT
ajst-32563	58	22	pwm	pwm	NOUN
ajst-32563	58	23	adjusts	adjust	VERB
ajst-32563	58	24	the	the	DET
ajst-32563	58	25	power	power	NOUN
ajst-32563	58	26	output	output	NOUN
ajst-32563	58	27	via	via	ADP
ajst-32563	58	28	the	the	DET
ajst-32563	58	29	duty	duty	NOUN
ajst-32563	58	30	cycle	cycle	NOUN
ajst-32563	58	31	.	.	PUNCT
ajst-32563	59	1	relatively	relatively	ADV
ajst-32563	59	2	less	less	ADJ
ajst-32563	59	3	energy	energy	NOUN
ajst-32563	59	4	is	be	AUX
ajst-32563	59	5	wasted	waste	VERB
ajst-32563	59	6	in	in	ADP
ajst-32563	59	7	this	this	DET
ajst-32563	59	8	process	process	NOUN
ajst-32563	59	9	in	in	ADP
ajst-32563	59	10	comparison	comparison	NOUN
ajst-32563	59	11	to	to	ADP
ajst-32563	59	12	adjusting	adjust	VERB
ajst-32563	59	13	the	the	DET
ajst-32563	59	14	dc	dc	PROPN
ajst-32563	59	15	voltage	voltage	NOUN
ajst-32563	59	16	with	with	ADP
ajst-32563	59	17	variable	variable	ADJ
ajst-32563	59	18	resistors	resistor	NOUN
ajst-32563	59	19	,	,	PUNCT
ajst-32563	59	20	where	where	SCONJ
ajst-32563	59	21	a	a	DET
ajst-32563	59	22	considerable	considerable	ADJ
ajst-32563	59	23	amount	amount	NOUN
ajst-32563	59	24	of	of	ADP
ajst-32563	59	25	the	the	DET
ajst-32563	59	26	input	input	NOUN
ajst-32563	59	27	is	be	AUX
ajst-32563	59	28	dissipated	dissipate	VERB
ajst-32563	59	29	as	as	ADP
ajst-32563	59	30	thermal	thermal	ADJ
ajst-32563	59	31	energy	energy	NOUN
ajst-32563	60	1	[	[	X
ajst-32563	60	2	17	17	NUM
ajst-32563	60	3	]	]	PUNCT
ajst-32563	60	4	.	.	PUNCT
ajst-32563	61	1	stability	stability	NOUN
ajst-32563	61	2	:	:	PUNCT
ajst-32563	61	3	high	high	ADJ
ajst-32563	61	4	-	-	PUNCT
ajst-32563	61	5	frequency	frequency	NOUN
ajst-32563	61	6	switching	switching	NOUN
ajst-32563	61	7	makes	make	VERB
ajst-32563	61	8	the	the	DET
ajst-32563	61	9	output	output	NOUN
ajst-32563	61	10	smooth	smooth	ADJ
ajst-32563	61	11	and	and	CCONJ
ajst-32563	61	12	stable	stable	ADJ
ajst-32563	61	13	.	.	PUNCT
ajst-32563	62	1	responsiveness	responsiveness	NOUN
ajst-32563	62	2	:	:	PUNCT
ajst-32563	62	3	changing	change	VERB
ajst-32563	62	4	duty	duty	NOUN
ajst-32563	62	5	cycle	cycle	NOUN
ajst-32563	62	6	adjusts	adjust	VERB
ajst-32563	62	7	motor	motor	NOUN
ajst-32563	62	8	speed	speed	NOUN
ajst-32563	62	9	faster	fast	ADV
ajst-32563	62	10	than	than	ADP
ajst-32563	62	11	changing	change	VERB
ajst-32563	62	12	dc	dc	PROPN
ajst-32563	62	13	voltage	voltage	NOUN
ajst-32563	62	14	directly	directly	ADV
ajst-32563	62	15	[	[	X
ajst-32563	62	16	18	18	NUM
ajst-32563	62	17	]	]	PUNCT
ajst-32563	62	18	.	.	PUNCT
ajst-32563	63	1	2.3	2.3	NUM
ajst-32563	63	2	universal	universal	ADJ
ajst-32563	63	3	synchronous	synchronous	ADJ
ajst-32563	63	4	/	/	SYM
ajst-32563	63	5	asynchronous	asynchronous	ADJ
ajst-32563	63	6	receiver	receiver	NOUN
ajst-32563	63	7	/	/	SYM
ajst-32563	63	8	transmitter	transmitter	NOUN
ajst-32563	63	9	(	(	PUNCT
ajst-32563	63	10	usart	usart	ADJ
ajst-32563	63	11	)	)	PUNCT
ajst-32563	63	12	usart	usart	PROPN
ajst-32563	63	13	is	be	AUX
ajst-32563	63	14	a	a	DET
ajst-32563	63	15	transceiver	transceiver	NOUN
ajst-32563	63	16	in	in	ADP
ajst-32563	63	17	stm32	stm32	PROPN
ajst-32563	63	18	for	for	ADP
ajst-32563	63	19	external	external	ADJ
ajst-32563	63	20	communication	communication	NOUN
ajst-32563	63	21	[	[	X
ajst-32563	63	22	21	21	NUM
ajst-32563	63	23	]	]	PUNCT
ajst-32563	63	24	.	.	PUNCT
ajst-32563	64	1	it	it	PRON
ajst-32563	64	2	is	be	AUX
ajst-32563	64	3	an	an	DET
ajst-32563	64	4	asynchronous	asynchronous	ADJ
ajst-32563	64	5	,	,	PUNCT
ajst-32563	64	6	serial	serial	ADJ
ajst-32563	64	7	communication	communication	NOUN
ajst-32563	64	8	interface	interface	NOUN
ajst-32563	64	9	widely	widely	ADV
ajst-32563	64	10	found	find	VERB
ajst-32563	64	11	in	in	ADP
ajst-32563	64	12	embedded	embed	VERB
ajst-32563	64	13	systems	system	NOUN
ajst-32563	64	14	,	,	PUNCT
ajst-32563	64	15	industrial	industrial	ADJ
ajst-32563	64	16	equipment	equipment	NOUN
ajst-32563	64	17	,	,	PUNCT
ajst-32563	64	18	and	and	CCONJ
ajst-32563	64	19	for	for	ADP
ajst-32563	64	20	connecting	connect	VERB
ajst-32563	64	21	microcontrollers	microcontroller	NOUN
ajst-32563	64	22	to	to	ADP
ajst-32563	64	23	computers	computer	NOUN
ajst-32563	64	24	for	for	ADP
ajst-32563	64	25	tasks	task	NOUN
ajst-32563	64	26	like	like	ADP
ajst-32563	64	27	debugging	debugging	NOUN
ajst-32563	64	28	or	or	CCONJ
ajst-32563	64	29	data	datum	NOUN
ajst-32563	64	30	logging	log	VERB
ajst-32563	64	31	[	[	PUNCT
ajst-32563	64	32	22	22	NUM
ajst-32563	64	33	]	]	PUNCT
ajst-32563	64	34	.	.	PUNCT
ajst-32563	65	1	usart	usart	PROPN
ajst-32563	65	2	supports	support	VERB
ajst-32563	65	3	full	full	ADJ
ajst-32563	65	4	-	-	PUNCT
ajst-32563	65	5	duplex	duplex	NOUN
ajst-32563	65	6	data	datum	NOUN
ajst-32563	65	7	transmission	transmission	NOUN
ajst-32563	65	8	,	,	PUNCT
ajst-32563	65	9	consequently	consequently	ADV
ajst-32563	65	10	it	it	PRON
ajst-32563	65	11	requires	require	VERB
ajst-32563	65	12	two	two	NUM
ajst-32563	65	13	data	datum	NOUN
ajst-32563	65	14	transmission	transmission	NOUN
ajst-32563	65	15	pathways	pathway	NOUN
ajst-32563	65	16	,	,	PUNCT
ajst-32563	65	17	as	as	SCONJ
ajst-32563	65	18	shown	show	VERB
ajst-32563	65	19	on	on	ADP
ajst-32563	65	20	figure	figure	NOUN
ajst-32563	65	21	2	2	NUM
ajst-32563	65	22	.	.	PUNCT
ajst-32563	65	23	for	for	ADP
ajst-32563	65	24	each	each	DET
ajst-32563	65	25	device	device	NOUN
ajst-32563	65	26	,	,	PUNCT
ajst-32563	65	27	the	the	DET
ajst-32563	65	28	tx	tx	PROPN
ajst-32563	65	29	pin	pin	PROPN
ajst-32563	65	30	is	be	AUX
ajst-32563	65	31	for	for	ADP
ajst-32563	65	32	data	data	NOUN
ajst-32563	65	33	transmission	transmission	NOUN
ajst-32563	65	34	,	,	PUNCT
ajst-32563	65	35	and	and	CCONJ
ajst-32563	65	36	rx	rx	VERB
ajst-32563	65	37	is	be	AUX
ajst-32563	65	38	for	for	ADP
ajst-32563	65	39	data	data	NOUN
ajst-32563	65	40	reception	reception	NOUN
ajst-32563	65	41	[	[	X
ajst-32563	65	42	23	23	NUM
ajst-32563	65	43	]	]	PUNCT
ajst-32563	65	44	.	.	PUNCT
ajst-32563	66	1	the	the	DET
ajst-32563	66	2	ground	ground	NOUN
ajst-32563	66	3	wire	wire	NOUN
ajst-32563	66	4	(	(	PUNCT
ajst-32563	66	5	gnd	gnd	PROPN
ajst-32563	66	6	)	)	PUNCT
ajst-32563	66	7	is	be	AUX
ajst-32563	66	8	connected	connect	VERB
ajst-32563	66	9	between	between	ADP
ajst-32563	66	10	the	the	DET
ajst-32563	66	11	two	two	NUM
ajst-32563	66	12	devices	device	NOUN
ajst-32563	66	13	to	to	PART
ajst-32563	66	14	let	let	VERB
ajst-32563	66	15	them	they	PRON
ajst-32563	66	16	share	share	VERB
ajst-32563	66	17	a	a	DET
ajst-32563	66	18	common	common	ADJ
ajst-32563	66	19	reference	reference	NOUN
ajst-32563	66	20	voltage	voltage	NOUN
ajst-32563	66	21	.	.	PUNCT
ajst-32563	67	1	the	the	DET
ajst-32563	67	2	voltage	voltage	NOUN
ajst-32563	67	3	at	at	ADP
ajst-32563	67	4	common	common	ADJ
ajst-32563	67	5	collector	collector	NOUN
ajst-32563	67	6	(	(	PUNCT
ajst-32563	67	7	vcc	vcc	NOUN
ajst-32563	67	8	)	)	PUNCT
ajst-32563	67	9	is	be	AUX
ajst-32563	67	10	the	the	DET
ajst-32563	67	11	positive	positive	ADJ
ajst-32563	67	12	power	power	NOUN
ajst-32563	67	13	supply	supply	NOUN
ajst-32563	67	14	that	that	PRON
ajst-32563	67	15	must	must	AUX
ajst-32563	67	16	be	be	AUX
ajst-32563	67	17	supplied	supply	VERB
ajst-32563	67	18	to	to	ADP
ajst-32563	67	19	the	the	DET
ajst-32563	67	20	devices	device	NOUN
ajst-32563	67	21	in	in	ADP
ajst-32563	67	22	order	order	NOUN
ajst-32563	67	23	for	for	SCONJ
ajst-32563	67	24	them	they	PRON
ajst-32563	67	25	to	to	PART
ajst-32563	67	26	function	function	VERB
ajst-32563	67	27	.	.	PUNCT
ajst-32563	68	1	this	this	DET
ajst-32563	68	2	structure	structure	NOUN
ajst-32563	68	3	dictates	dictate	VERB
ajst-32563	68	4	that	that	PRON
ajst-32563	68	5	usart	usart	ADJ
ajst-32563	68	6	is	be	AUX
ajst-32563	68	7	a	a	DET
ajst-32563	68	8	one	one	NUM
ajst-32563	68	9	-	-	PUNCT
ajst-32563	68	10	to	to	ADP
ajst-32563	68	11	-	-	PUNCT
ajst-32563	68	12	one	one	NUM
ajst-32563	68	13	transmission	transmission	NOUN
ajst-32563	68	14	method	method	NOUN
ajst-32563	68	15	[	[	X
ajst-32563	68	16	24	24	NUM
ajst-32563	68	17	]	]	PUNCT
ajst-32563	68	18	.	.	PUNCT
ajst-32563	69	1	figure	figure	NOUN
ajst-32563	69	2	2	2	NUM
ajst-32563	69	3	.	.	PUNCT
ajst-32563	70	1	usart	usart	ADJ
ajst-32563	70	2	full	full	ADJ
ajst-32563	70	3	-	-	PUNCT
ajst-32563	70	4	duplex	duplex	NOUN
ajst-32563	70	5	data	data	NOUN
ajst-32563	70	6	transmission	transmission	NOUN
ajst-32563	70	7	path	path	NOUN
ajst-32563	70	8	as	as	SCONJ
ajst-32563	70	9	its	its	PRON
ajst-32563	70	10	name	name	NOUN
ajst-32563	70	11	suggests	suggest	VERB
ajst-32563	70	12	,	,	PUNCT
ajst-32563	70	13	usart	usart	PROPN
ajst-32563	70	14	supports	support	VERB
ajst-32563	70	15	both	both	CCONJ
ajst-32563	70	16	synchronous	synchronous	ADJ
ajst-32563	70	17	and	and	CCONJ
ajst-32563	70	18	asynchronous	asynchronous	ADJ
ajst-32563	70	19	transmission	transmission	NOUN
ajst-32563	70	20	modes	mode	NOUN
ajst-32563	70	21	,	,	PUNCT
ajst-32563	70	22	though	though	SCONJ
ajst-32563	70	23	the	the	DET
ajst-32563	70	24	latter	latter	NOUN
ajst-32563	70	25	has	have	VERB
ajst-32563	70	26	a	a	DET
ajst-32563	70	27	significantly	significantly	ADV
ajst-32563	70	28	wider	wide	ADJ
ajst-32563	70	29	application	application	NOUN
ajst-32563	70	30	in	in	ADP
ajst-32563	70	31	practical	practical	ADJ
ajst-32563	70	32	situations	situation	NOUN
ajst-32563	70	33	.	.	PUNCT
ajst-32563	71	1	to	to	PART
ajst-32563	71	2	support	support	VERB
ajst-32563	71	3	synchronous	synchronous	ADJ
ajst-32563	71	4	189	189	NUM
ajst-32563	71	5	mode	mode	NOUN
ajst-32563	71	6	,	,	PUNCT
ajst-32563	71	7	an	an	DET
ajst-32563	71	8	additional	additional	ADJ
ajst-32563	71	9	clock	clock	NOUN
ajst-32563	71	10	line	line	NOUN
ajst-32563	71	11	is	be	AUX
ajst-32563	71	12	required	require	VERB
ajst-32563	71	13	,	,	PUNCT
ajst-32563	71	14	with	with	ADP
ajst-32563	71	15	one	one	NUM
ajst-32563	71	16	device	device	NOUN
ajst-32563	71	17	acting	act	VERB
ajst-32563	71	18	as	as	SCONJ
ajst-32563	71	19	the	the	DET
ajst-32563	71	20	master	master	NOUN
ajst-32563	71	21	to	to	PART
ajst-32563	71	22	provide	provide	VERB
ajst-32563	71	23	clock	clock	NOUN
ajst-32563	71	24	signal	signal	NOUN
ajst-32563	71	25	to	to	ADP
ajst-32563	71	26	the	the	DET
ajst-32563	71	27	other	other	ADJ
ajst-32563	71	28	device	device	NOUN
ajst-32563	71	29	(	(	PUNCT
ajst-32563	71	30	slave	slave	NOUN
ajst-32563	71	31	)	)	PUNCT
ajst-32563	71	32	.	.	PUNCT
ajst-32563	72	1	in	in	ADP
ajst-32563	72	2	the	the	DET
ajst-32563	72	3	case	case	NOUN
ajst-32563	72	4	of	of	ADP
ajst-32563	72	5	communication	communication	NOUN
ajst-32563	72	6	between	between	ADP
ajst-32563	72	7	the	the	DET
ajst-32563	72	8	mcu	mcu	NOUN
ajst-32563	72	9	and	and	CCONJ
ajst-32563	72	10	a	a	DET
ajst-32563	72	11	peripheral	peripheral	NOUN
ajst-32563	72	12	,	,	PUNCT
ajst-32563	72	13	the	the	DET
ajst-32563	72	14	master	master	NOUN
ajst-32563	72	15	device	device	NOUN
ajst-32563	72	16	will	will	AUX
ajst-32563	72	17	be	be	AUX
ajst-32563	72	18	the	the	DET
ajst-32563	72	19	former	former	ADJ
ajst-32563	72	20	[	[	X
ajst-32563	72	21	25	25	NUM
ajst-32563	72	22	]	]	PUNCT
ajst-32563	72	23	.	.	PUNCT
ajst-32563	73	1	however	however	ADV
ajst-32563	73	2	,	,	PUNCT
ajst-32563	73	3	this	this	DET
ajst-32563	73	4	mode	mode	NOUN
ajst-32563	73	5	of	of	ADP
ajst-32563	73	6	transmission	transmission	NOUN
ajst-32563	73	7	was	be	AUX
ajst-32563	73	8	never	never	ADV
ajst-32563	73	9	used	use	VERB
ajst-32563	73	10	in	in	ADP
ajst-32563	73	11	the	the	DET
ajst-32563	73	12	project	project	NOUN
ajst-32563	73	13	.	.	PUNCT
ajst-32563	74	1	for	for	ADP
ajst-32563	74	2	asynchronous	asynchronous	ADJ
ajst-32563	74	3	transmission	transmission	NOUN
ajst-32563	74	4	,	,	PUNCT
ajst-32563	74	5	the	the	DET
ajst-32563	74	6	devices	device	NOUN
ajst-32563	74	7	will	will	AUX
ajst-32563	74	8	agree	agree	VERB
ajst-32563	74	9	upon	upon	SCONJ
ajst-32563	74	10	a	a	DET
ajst-32563	74	11	baud	baud	NOUN
ajst-32563	74	12	rate	rate	NOUN
ajst-32563	74	13	,	,	PUNCT
ajst-32563	74	14	which	which	PRON
ajst-32563	74	15	is	be	AUX
ajst-32563	74	16	the	the	DET
ajst-32563	74	17	number	number	NOUN
ajst-32563	74	18	of	of	ADP
ajst-32563	74	19	symbol	symbol	NOUN
ajst-32563	74	20	units	unit	NOUN
ajst-32563	74	21	transferred	transfer	VERB
ajst-32563	74	22	per	per	ADP
ajst-32563	74	23	second	second	NOUN
ajst-32563	74	24	.	.	PUNCT
ajst-32563	75	1	in	in	ADP
ajst-32563	75	2	the	the	DET
ajst-32563	75	3	case	case	NOUN
ajst-32563	75	4	of	of	ADP
ajst-32563	75	5	usart	usart	ADJ
ajst-32563	75	6	,	,	PUNCT
ajst-32563	75	7	one	one	NUM
ajst-32563	75	8	symbol	symbol	NOUN
ajst-32563	75	9	is	be	AUX
ajst-32563	75	10	one	one	NUM
ajst-32563	75	11	bit	bit	NOUN
ajst-32563	75	12	,	,	PUNCT
ajst-32563	75	13	so	so	CCONJ
ajst-32563	75	14	the	the	DET
ajst-32563	75	15	baud	baud	NOUN
ajst-32563	75	16	rate	rate	NOUN
ajst-32563	75	17	can	can	AUX
ajst-32563	75	18	be	be	AUX
ajst-32563	75	19	seen	see	VERB
ajst-32563	75	20	as	as	ADP
ajst-32563	75	21	the	the	DET
ajst-32563	75	22	number	number	NOUN
ajst-32563	75	23	of	of	ADP
ajst-32563	75	24	bits	bit	NOUN
ajst-32563	75	25	transferred	transfer	VERB
ajst-32563	75	26	per	per	ADP
ajst-32563	75	27	second	second	NOUN
ajst-32563	75	28	[	[	X
ajst-32563	75	29	26	26	NUM
ajst-32563	75	30	]	]	PUNCT
ajst-32563	75	31	.	.	PUNCT
ajst-32563	76	1	in	in	ADP
ajst-32563	76	2	usart	usart	PROPN
ajst-32563	76	3	,	,	PUNCT
ajst-32563	76	4	data	datum	NOUN
ajst-32563	76	5	is	be	AUX
ajst-32563	76	6	transmitted	transmit	VERB
ajst-32563	76	7	as	as	ADP
ajst-32563	76	8	frames	frame	NOUN
ajst-32563	76	9	.	.	PUNCT
ajst-32563	77	1	a	a	DET
ajst-32563	77	2	single	single	ADJ
ajst-32563	77	3	frame	frame	NOUN
ajst-32563	77	4	consists	consist	VERB
ajst-32563	77	5	of	of	ADP
ajst-32563	77	6	,	,	PUNCT
ajst-32563	77	7	in	in	ADP
ajst-32563	77	8	order	order	NOUN
ajst-32563	77	9	,	,	PUNCT
ajst-32563	77	10	a	a	DET
ajst-32563	77	11	start	start	NOUN
ajst-32563	77	12	bit	bit	NOUN
ajst-32563	77	13	,	,	PUNCT
ajst-32563	77	14	data	data	NOUN
ajst-32563	77	15	bits	bit	NOUN
ajst-32563	77	16	(	(	PUNCT
ajst-32563	77	17	5	5	NUM
ajst-32563	77	18	-	-	SYM
ajst-32563	77	19	9	9	NUM
ajst-32563	77	20	bits	bit	NOUN
ajst-32563	77	21	,	,	PUNCT
ajst-32563	77	22	usually	usually	ADV
ajst-32563	77	23	8	8	NUM
ajst-32563	77	24	for	for	ADP
ajst-32563	77	25	easier	easy	ADJ
ajst-32563	77	26	processing	processing	NOUN
ajst-32563	77	27	)	)	PUNCT
ajst-32563	77	28	,	,	PUNCT
ajst-32563	77	29	an	an	DET
ajst-32563	77	30	optional	optional	ADJ
ajst-32563	77	31	parity	parity	NOUN
ajst-32563	77	32	bit	bit	NOUN
ajst-32563	77	33	,	,	PUNCT
ajst-32563	77	34	and	and	CCONJ
ajst-32563	77	35	a	a	DET
ajst-32563	77	36	stop	stop	NOUN
ajst-32563	77	37	bit	bit	NOUN
ajst-32563	77	38	(	(	PUNCT
ajst-32563	77	39	the	the	DET
ajst-32563	77	40	stop	stop	NOUN
ajst-32563	77	41	bit	bit	NOUN
ajst-32563	77	42	can	can	AUX
ajst-32563	77	43	be	be	AUX
ajst-32563	77	44	12	12	NUM
ajst-32563	77	45	bits	bit	NOUN
ajst-32563	77	46	)	)	PUNCT
ajst-32563	78	1	[	[	X
ajst-32563	78	2	27	27	NUM
ajst-32563	78	3	]	]	PUNCT
ajst-32563	78	4	.	.	PUNCT
ajst-32563	79	1	the	the	DET
ajst-32563	79	2	start	start	NOUN
ajst-32563	79	3	bit	bit	NOUN
ajst-32563	79	4	is	be	AUX
ajst-32563	79	5	a	a	DET
ajst-32563	79	6	low	low	ADJ
ajst-32563	79	7	signal	signal	NOUN
ajst-32563	79	8	,	,	PUNCT
ajst-32563	79	9	signifying	signify	VERB
ajst-32563	79	10	the	the	DET
ajst-32563	79	11	start	start	NOUN
ajst-32563	79	12	the	the	PRON
ajst-32563	79	13	of	of	ADP
ajst-32563	79	14	frame	frame	NOUN
ajst-32563	79	15	.	.	PUNCT
ajst-32563	80	1	the	the	DET
ajst-32563	80	2	end	end	NOUN
ajst-32563	80	3	bit	bit	NOUN
ajst-32563	80	4	is	be	AUX
ajst-32563	80	5	a	a	DET
ajst-32563	80	6	high	high	ADJ
ajst-32563	80	7	,	,	PUNCT
ajst-32563	80	8	bringing	bring	VERB
ajst-32563	80	9	the	the	DET
ajst-32563	80	10	signal	signal	NOUN
ajst-32563	80	11	back	back	ADV
ajst-32563	80	12	up	up	ADP
ajst-32563	80	13	so	so	SCONJ
ajst-32563	80	14	that	that	SCONJ
ajst-32563	80	15	the	the	DET
ajst-32563	80	16	start	start	ADJ
ajst-32563	80	17	bit	bit	NOUN
ajst-32563	80	18	of	of	ADP
ajst-32563	80	19	the	the	DET
ajst-32563	80	20	next	next	ADJ
ajst-32563	80	21	frame	frame	NOUN
ajst-32563	80	22	can	can	AUX
ajst-32563	80	23	turn	turn	VERB
ajst-32563	80	24	it	it	PRON
ajst-32563	80	25	low	low	ADV
ajst-32563	80	26	again	again	ADV
ajst-32563	80	27	.	.	PUNCT
ajst-32563	81	1	in	in	ADP
ajst-32563	81	2	the	the	DET
ajst-32563	81	3	data	data	NOUN
ajst-32563	81	4	bits	bit	NOUN
ajst-32563	81	5	,	,	PUNCT
ajst-32563	81	6	there	there	PRON
ajst-32563	81	7	are	be	VERB
ajst-32563	81	8	highs	high	NOUN
ajst-32563	81	9	and	and	CCONJ
ajst-32563	81	10	lows	low	NOUN
ajst-32563	81	11	representing	represent	VERB
ajst-32563	81	12	1s	1	NOUN
ajst-32563	81	13	and	and	CCONJ
ajst-32563	81	14	0s	0s	NOUN
ajst-32563	81	15	.	.	PUNCT
ajst-32563	82	1	the	the	DET
ajst-32563	82	2	least	least	ADV
ajst-32563	82	3	significant	significant	ADJ
ajst-32563	82	4	bit	bit	NOUN
ajst-32563	82	5	(	(	PUNCT
ajst-32563	82	6	lsb	lsb	PROPN
ajst-32563	82	7	)	)	PUNCT
ajst-32563	82	8	is	be	AUX
ajst-32563	82	9	transmitted	transmit	VERB
ajst-32563	82	10	first	first	ADV
ajst-32563	82	11	,	,	PUNCT
ajst-32563	82	12	and	and	CCONJ
ajst-32563	82	13	the	the	DET
ajst-32563	82	14	most	most	ADV
ajst-32563	82	15	significant	significant	ADJ
ajst-32563	82	16	bit	bit	NOUN
ajst-32563	82	17	(	(	PUNCT
ajst-32563	82	18	msb	msb	PROPN
ajst-32563	82	19	)	)	PUNCT
ajst-32563	82	20	is	be	AUX
ajst-32563	82	21	transmitted	transmit	VERB
ajst-32563	82	22	last	last	ADV
ajst-32563	82	23	.	.	PUNCT
ajst-32563	83	1	hence	hence	ADV
ajst-32563	83	2	,	,	PUNCT
ajst-32563	83	3	the	the	DET
ajst-32563	83	4	order	order	NOUN
ajst-32563	83	5	that	that	SCONJ
ajst-32563	83	6	the	the	DET
ajst-32563	83	7	data	data	NOUN
ajst-32563	83	8	bits	bit	NOUN
ajst-32563	83	9	are	be	AUX
ajst-32563	83	10	sent	send	VERB
ajst-32563	83	11	is	be	AUX
ajst-32563	83	12	actually	actually	ADV
ajst-32563	83	13	in	in	ADP
ajst-32563	83	14	reverse	reverse	NOUN
ajst-32563	83	15	with	with	ADP
ajst-32563	83	16	the	the	DET
ajst-32563	83	17	order	order	NOUN
ajst-32563	83	18	which	which	PRON
ajst-32563	83	19	the	the	DET
ajst-32563	83	20	byte	byte	NOUN
ajst-32563	83	21	is	be	AUX
ajst-32563	83	22	commonly	commonly	ADV
ajst-32563	83	23	written	write	VERB
ajst-32563	83	24	[	[	X
ajst-32563	83	25	28	28	NUM
ajst-32563	83	26	]	]	PUNCT
ajst-32563	83	27	.	.	PUNCT
ajst-32563	84	1	the	the	DET
ajst-32563	84	2	optional	optional	ADJ
ajst-32563	84	3	parity	parity	NOUN
ajst-32563	84	4	bit	bit	NOUN
ajst-32563	84	5	enables	enable	VERB
ajst-32563	84	6	the	the	DET
ajst-32563	84	7	performance	performance	NOUN
ajst-32563	84	8	of	of	ADP
ajst-32563	84	9	a	a	DET
ajst-32563	84	10	parity	parity	NOUN
ajst-32563	84	11	check	check	NOUN
ajst-32563	84	12	.	.	PUNCT
ajst-32563	85	1	this	this	PRON
ajst-32563	85	2	is	be	AUX
ajst-32563	85	3	to	to	PART
ajst-32563	85	4	detect	detect	VERB
ajst-32563	85	5	any	any	DET
ajst-32563	85	6	distortion	distortion	NOUN
ajst-32563	85	7	that	that	PRON
ajst-32563	85	8	might	might	AUX
ajst-32563	85	9	occur	occur	VERB
ajst-32563	85	10	to	to	ADP
ajst-32563	85	11	the	the	DET
ajst-32563	85	12	data	datum	NOUN
ajst-32563	85	13	during	during	ADP
ajst-32563	85	14	the	the	DET
ajst-32563	85	15	transmission	transmission	NOUN
ajst-32563	85	16	process	process	NOUN
ajst-32563	85	17	.	.	PUNCT
ajst-32563	86	1	the	the	DET
ajst-32563	86	2	parity	parity	NOUN
ajst-32563	86	3	check	check	NOUN
ajst-32563	86	4	can	can	AUX
ajst-32563	86	5	either	either	CCONJ
ajst-32563	86	6	be	be	AUX
ajst-32563	86	7	odd	odd	ADJ
ajst-32563	86	8	or	or	CCONJ
ajst-32563	86	9	even	even	ADV
ajst-32563	86	10	,	,	PUNCT
ajst-32563	86	11	as	as	SCONJ
ajst-32563	86	12	agreed	agree	VERB
ajst-32563	86	13	beforehand	beforehand	ADV
ajst-32563	86	14	by	by	ADP
ajst-32563	86	15	the	the	DET
ajst-32563	86	16	communicating	communicate	VERB
ajst-32563	86	17	devices	device	NOUN
ajst-32563	86	18	.	.	PUNCT
ajst-32563	87	1	the	the	DET
ajst-32563	87	2	transmitting	transmit	VERB
ajst-32563	87	3	device	device	NOUN
ajst-32563	87	4	will	will	AUX
ajst-32563	87	5	add	add	VERB
ajst-32563	87	6	the	the	DET
ajst-32563	87	7	parity	parity	NOUN
ajst-32563	87	8	bit	bit	NOUN
ajst-32563	87	9	that	that	PRON
ajst-32563	87	10	ensures	ensure	VERB
ajst-32563	87	11	the	the	DET
ajst-32563	87	12	total	total	ADJ
ajst-32563	87	13	number	number	NOUN
ajst-32563	87	14	of	of	ADP
ajst-32563	87	15	1s	1s	NUM
ajst-32563	87	16	in	in	ADP
ajst-32563	87	17	the	the	DET
ajst-32563	87	18	data	datum	NOUN
ajst-32563	87	19	(	(	PUNCT
ajst-32563	87	20	parity	parity	NOUN
ajst-32563	87	21	bit	bit	NOUN
ajst-32563	87	22	and	and	CCONJ
ajst-32563	87	23	data	datum	NOUN
ajst-32563	87	24	bits	bit	NOUN
ajst-32563	87	25	)	)	PUNCT
ajst-32563	87	26	is	be	AUX
ajst-32563	87	27	odd	odd	ADJ
ajst-32563	87	28	or	or	CCONJ
ajst-32563	87	29	even	even	ADV
ajst-32563	87	30	,	,	PUNCT
ajst-32563	87	31	depending	depend	VERB
ajst-32563	87	32	on	on	ADP
ajst-32563	87	33	the	the	DET
ajst-32563	87	34	type	type	NOUN
ajst-32563	87	35	of	of	ADP
ajst-32563	87	36	parity	parity	NOUN
ajst-32563	87	37	used	use	VERB
ajst-32563	87	38	.	.	PUNCT
ajst-32563	88	1	the	the	DET
ajst-32563	88	2	receiving	receive	VERB
ajst-32563	88	3	device	device	NOUN
ajst-32563	88	4	will	will	AUX
ajst-32563	88	5	check	check	VERB
ajst-32563	88	6	the	the	DET
ajst-32563	88	7	parity	parity	NOUN
ajst-32563	88	8	upon	upon	SCONJ
ajst-32563	88	9	receiving	receive	VERB
ajst-32563	88	10	,	,	PUNCT
ajst-32563	88	11	and	and	CCONJ
ajst-32563	88	12	if	if	SCONJ
ajst-32563	88	13	the	the	DET
ajst-32563	88	14	parity	parity	NOUN
ajst-32563	88	15	is	be	AUX
ajst-32563	88	16	mismatched	mismatch	VERB
ajst-32563	88	17	it	it	PRON
ajst-32563	88	18	knows	know	VERB
ajst-32563	88	19	that	that	SCONJ
ajst-32563	88	20	an	an	DET
ajst-32563	88	21	error	error	NOUN
ajst-32563	88	22	has	have	AUX
ajst-32563	88	23	occurred	occur	VERB
ajst-32563	88	24	[	[	PUNCT
ajst-32563	88	25	29	29	NUM
ajst-32563	88	26	]	]	PUNCT
ajst-32563	88	27	.	.	PUNCT
ajst-32563	89	1	in	in	SCONJ
ajst-32563	89	2	the	the	DET
ajst-32563	89	3	quadcopter	quadcopter	NOUN
ajst-32563	89	4	built	build	VERB
ajst-32563	89	5	,	,	PUNCT
ajst-32563	89	6	usart	usart	ADJ
ajst-32563	89	7	communication	communication	NOUN
ajst-32563	89	8	has	have	VERB
ajst-32563	89	9	two	two	NUM
ajst-32563	89	10	main	main	ADJ
ajst-32563	89	11	usages	usage	NOUN
ajst-32563	89	12	.	.	PUNCT
ajst-32563	90	1	serial	serial	ADJ
ajst-32563	90	2	debug	debug	NOUN
ajst-32563	90	3	output	output	NOUN
ajst-32563	90	4	:	:	PUNCT
ajst-32563	90	5	it	it	PRON
ajst-32563	90	6	enables	enable	VERB
ajst-32563	90	7	communication	communication	NOUN
ajst-32563	90	8	with	with	ADP
ajst-32563	90	9	the	the	DET
ajst-32563	90	10	host	host	NOUN
ajst-32563	90	11	computer	computer	NOUN
ajst-32563	90	12	during	during	ADP
ajst-32563	90	13	the	the	DET
ajst-32563	90	14	development	development	NOUN
ajst-32563	90	15	phase	phase	NOUN
ajst-32563	90	16	.	.	PUNCT
ajst-32563	91	1	this	this	PRON
ajst-32563	91	2	is	be	AUX
ajst-32563	91	3	useful	useful	ADJ
ajst-32563	91	4	for	for	ADP
ajst-32563	91	5	logging	log	VERB
ajst-32563	91	6	information	information	NOUN
ajst-32563	91	7	,	,	PUNCT
ajst-32563	91	8	such	such	ADJ
ajst-32563	91	9	as	as	ADP
ajst-32563	91	10	variable	variable	ADJ
ajst-32563	91	11	values	value	NOUN
ajst-32563	91	12	and	and	CCONJ
ajst-32563	91	13	error	error	NOUN
ajst-32563	91	14	messages	message	NOUN
ajst-32563	91	15	,	,	PUNCT
ajst-32563	91	16	on	on	ADP
ajst-32563	91	17	the	the	DET
ajst-32563	91	18	screen	screen	NOUN
ajst-32563	91	19	,	,	PUNCT
ajst-32563	91	20	making	make	VERB
ajst-32563	91	21	it	it	PRON
ajst-32563	91	22	more	more	ADV
ajst-32563	91	23	convenient	convenient	ADJ
ajst-32563	91	24	for	for	SCONJ
ajst-32563	91	25	the	the	DET
ajst-32563	91	26	programmer	programmer	NOUN
ajst-32563	91	27	to	to	PART
ajst-32563	91	28	develop	develop	VERB
ajst-32563	91	29	and	and	CCONJ
ajst-32563	91	30	debug	debug	NOUN
ajst-32563	91	31	.	.	PUNCT
ajst-32563	92	1	note	note	VERB
ajst-32563	92	2	that	that	SCONJ
ajst-32563	92	3	a	a	DET
ajst-32563	92	4	usb	usb	NOUN
ajst-32563	92	5	to	to	PART
ajst-32563	92	6	usart	usart	ADJ
ajst-32563	92	7	converter	converter	NOUN
ajst-32563	92	8	is	be	AUX
ajst-32563	92	9	needed	need	VERB
ajst-32563	92	10	due	due	ADP
ajst-32563	92	11	to	to	ADP
ajst-32563	92	12	the	the	DET
ajst-32563	92	13	computer	computer	NOUN
ajst-32563	92	14	’s	’s	PART
ajst-32563	92	15	inability	inability	NOUN
ajst-32563	92	16	to	to	PART
ajst-32563	92	17	parse	parse	VERB
ajst-32563	92	18	usart	usart	ADJ
ajst-32563	92	19	signals	signal	NOUN
ajst-32563	92	20	directly	directly	ADV
ajst-32563	92	21	[	[	X
ajst-32563	92	22	30	30	NUM
ajst-32563	92	23	]	]	PUNCT
ajst-32563	92	24	.	.	PUNCT
ajst-32563	93	1	wireless	wireless	ADJ
ajst-32563	93	2	communication	communication	NOUN
ajst-32563	93	3	module	module	NOUN
ajst-32563	93	4	connection	connection	NOUN
ajst-32563	93	5	:	:	PUNCT
ajst-32563	93	6	it	it	PRON
ajst-32563	93	7	is	be	AUX
ajst-32563	93	8	used	use	VERB
ajst-32563	93	9	to	to	PART
ajst-32563	93	10	establish	establish	VERB
ajst-32563	93	11	connection	connection	NOUN
ajst-32563	93	12	with	with	ADP
ajst-32563	93	13	ad	ad	NOUN
ajst-32563	93	14	-	-	PUNCT
ajst-32563	93	15	on	on	ADP
ajst-32563	93	16	wireless	wireless	ADJ
ajst-32563	93	17	communication	communication	NOUN
ajst-32563	93	18	modules	module	NOUN
ajst-32563	93	19	,	,	PUNCT
ajst-32563	93	20	such	such	ADJ
ajst-32563	93	21	as	as	ADP
ajst-32563	93	22	the	the	DET
ajst-32563	93	23	hc-05	hc-05	PUNCT
ajst-32563	93	24	bluetooth	bluetooth	NOUN
ajst-32563	93	25	module	module	NOUN
ajst-32563	93	26	used	use	VERB
ajst-32563	93	27	on	on	ADP
ajst-32563	93	28	the	the	DET
ajst-32563	93	29	quadcopter	quadcopter	NOUN
ajst-32563	93	30	in	in	ADP
ajst-32563	93	31	the	the	DET
ajst-32563	93	32	project	project	NOUN
ajst-32563	93	33	.	.	PUNCT
ajst-32563	94	1	this	this	PRON
ajst-32563	94	2	enables	enable	VERB
ajst-32563	94	3	wireless	wireless	ADJ
ajst-32563	94	4	communication	communication	NOUN
ajst-32563	94	5	with	with	ADP
ajst-32563	94	6	the	the	DET
ajst-32563	94	7	controller	controller	NOUN
ajst-32563	94	8	and/or	and/or	CCONJ
ajst-32563	94	9	computer	computer	NOUN
ajst-32563	94	10	.	.	PUNCT
ajst-32563	95	1	2.4	2.4	NUM
ajst-32563	95	2	inter	inter	ADJ
ajst-32563	95	3	-	-	ADJ
ajst-32563	95	4	integrated	integrated	ADJ
ajst-32563	95	5	circuit	circuit	NOUN
ajst-32563	95	6	(	(	PUNCT
ajst-32563	95	7	i²c	i²c	CCONJ
ajst-32563	95	8	)	)	PUNCT
ajst-32563	95	9	and	and	CCONJ
ajst-32563	95	10	mpu6050	mpu6050	PROPN
ajst-32563	95	11	(	(	PUNCT
ajst-32563	95	12	inertial	inertial	ADJ
ajst-32563	95	13	measurement	measurement	NOUN
ajst-32563	95	14	unit	unit	NOUN
ajst-32563	95	15	(	(	PUNCT
ajst-32563	95	16	imu	imu	NOUN
ajst-32563	95	17	)	)	PUNCT
ajst-32563	95	18	)	)	PUNCT
ajst-32563	95	19	inter	inter	ADJ
ajst-32563	95	20	-	-	ADJ
ajst-32563	95	21	integrated	integrated	ADJ
ajst-32563	95	22	circuit	circuit	NOUN
ajst-32563	95	23	(	(	PUNCT
ajst-32563	95	24	i²c	i²c	CCONJ
ajst-32563	95	25	,	,	PUNCT
ajst-32563	95	26	also	also	ADV
ajst-32563	95	27	written	write	VERB
ajst-32563	95	28	as	as	ADP
ajst-32563	95	29	iic	iic	PROPN
ajst-32563	95	30	and	and	CCONJ
ajst-32563	95	31	i2c	i2c	NOUN
ajst-32563	95	32	)	)	PUNCT
ajst-32563	95	33	,	,	PUNCT
ajst-32563	95	34	is	be	AUX
ajst-32563	95	35	a	a	DET
ajst-32563	95	36	small	small	ADJ
ajst-32563	95	37	-	-	PUNCT
ajst-32563	95	38	distance	distance	NOUN
ajst-32563	95	39	serial	serial	ADJ
ajst-32563	95	40	communication	communication	NOUN
ajst-32563	95	41	tool	tool	NOUN
ajst-32563	95	42	invented	invent	VERB
ajst-32563	95	43	and	and	CCONJ
ajst-32563	95	44	enhanced	enhance	VERB
ajst-32563	95	45	by	by	ADP
ajst-32563	95	46	philips	philip	NOUN
ajst-32563	95	47	at	at	ADP
ajst-32563	95	48	around	around	ADP
ajst-32563	95	49	the	the	DET
ajst-32563	95	50	1800s	1800	NOUN
ajst-32563	95	51	,	,	PUNCT
ajst-32563	95	52	designed	design	VERB
ajst-32563	95	53	to	to	PART
ajst-32563	95	54	allow	allow	VERB
ajst-32563	95	55	low	low	ADJ
ajst-32563	95	56	-	-	PUNCT
ajst-32563	95	57	speed	speed	NOUN
ajst-32563	95	58	data	datum	NOUN
ajst-32563	95	59	exchange	exchange	NOUN
ajst-32563	95	60	between	between	ADP
ajst-32563	95	61	integrated	integrate	VERB
ajst-32563	95	62	circuits	circuit	NOUN
ajst-32563	95	63	(	(	PUNCT
ajst-32563	95	64	ics	ics	NOUN
ajst-32563	95	65	)	)	PUNCT
ajst-32563	95	66	within	within	ADP
ajst-32563	95	67	electronic	electronic	ADJ
ajst-32563	95	68	systems	system	NOUN
ajst-32563	95	69	to	to	PART
ajst-32563	95	70	be	be	AUX
ajst-32563	95	71	possible	possible	ADJ
ajst-32563	95	72	.	.	PUNCT
ajst-32563	96	1	its	its	PRON
ajst-32563	96	2	broad	broad	ADJ
ajst-32563	96	3	adoption	adoption	NOUN
ajst-32563	96	4	stems	stem	VERB
ajst-32563	96	5	are	be	AUX
ajst-32563	96	6	simple	simple	ADJ
ajst-32563	96	7	,	,	PUNCT
ajst-32563	96	8	only	only	ADV
ajst-32563	96	9	using	use	VERB
ajst-32563	96	10	two	two	NUM
ajst-32563	96	11	bidirectional	bidirectional	ADJ
ajst-32563	96	12	wires	wire	NOUN
ajst-32563	96	13	:	:	PUNCT
ajst-32563	96	14	sda	sda	NOUN
ajst-32563	96	15	(	(	PUNCT
ajst-32563	96	16	serial	serial	ADJ
ajst-32563	96	17	data	data	NOUN
ajst-32563	96	18	line	line	NOUN
ajst-32563	96	19	)	)	PUNCT
ajst-32563	96	20	for	for	ADP
ajst-32563	96	21	transmitting	transmit	VERB
ajst-32563	96	22	data	datum	NOUN
ajst-32563	96	23	and	and	CCONJ
ajst-32563	96	24	scl	scl	PROPN
ajst-32563	96	25	(	(	PUNCT
ajst-32563	96	26	serial	serial	ADJ
ajst-32563	96	27	clock	clock	NOUN
ajst-32563	96	28	line	line	NOUN
ajst-32563	96	29	)	)	PUNCT
ajst-32563	96	30	for	for	ADP
ajst-32563	96	31	synchronizing	synchronize	VERB
ajst-32563	96	32	timing	timing	NOUN
ajst-32563	96	33	,	,	PUNCT
ajst-32563	96	34	making	make	VERB
ajst-32563	96	35	it	it	PRON
ajst-32563	96	36	perfect	perfect	ADJ
ajst-32563	96	37	for	for	ADP
ajst-32563	96	38	codes	code	NOUN
ajst-32563	96	39	with	with	ADP
ajst-32563	96	40	a	a	DET
ajst-32563	96	41	limited	limited	ADJ
ajst-32563	96	42	amount	amount	NOUN
ajst-32563	96	43	of	of	ADP
ajst-32563	96	44	pin	pin	NOUN
ajst-32563	96	45	availability	availability	NOUN
ajst-32563	96	46	,	,	PUNCT
ajst-32563	96	47	such	such	ADJ
ajst-32563	96	48	as	as	ADP
ajst-32563	96	49	embedded	embed	VERB
ajst-32563	96	50	systems	system	NOUN
ajst-32563	96	51	,	,	PUNCT
ajst-32563	96	52	microcontrollers	microcontroller	NOUN
ajst-32563	96	53	,	,	PUNCT
ajst-32563	96	54	and	and	CCONJ
ajst-32563	96	55	compact	compact	ADJ
ajst-32563	96	56	devices	device	NOUN
ajst-32563	96	57	.	.	PUNCT
ajst-32563	97	1	running	run	VERB
ajst-32563	97	2	on	on	ADP
ajst-32563	97	3	a	a	DET
ajst-32563	97	4	master	master	NOUN
ajst-32563	97	5	-	-	PUNCT
ajst-32563	97	6	slave	slave	NOUN
ajst-32563	97	7	structure	structure	NOUN
ajst-32563	97	8	allows	allow	VERB
ajst-32563	97	9	one	one	NUM
ajst-32563	97	10	or	or	CCONJ
ajst-32563	97	11	more	more	ADJ
ajst-32563	97	12	master	master	NOUN
ajst-32563	97	13	devices	device	NOUN
ajst-32563	97	14	to	to	PART
ajst-32563	97	15	start	start	VERB
ajst-32563	97	16	communication	communication	NOUN
ajst-32563	97	17	,	,	PUNCT
ajst-32563	97	18	while	while	SCONJ
ajst-32563	97	19	multiple	multiple	ADJ
ajst-32563	97	20	slave	slave	NOUN
ajst-32563	97	21	devices	device	NOUN
ajst-32563	97	22	respond	respond	VERB
ajst-32563	97	23	to	to	ADP
ajst-32563	97	24	commands	command	NOUN
ajst-32563	97	25	through	through	ADP
ajst-32563	97	26	a	a	DET
ajst-32563	97	27	unique	unique	ADJ
ajst-32563	97	28	7	7	NUM
ajst-32563	97	29	-	-	PUNCT
ajst-32563	97	30	bit	bit	NOUN
ajst-32563	97	31	or	or	CCONJ
ajst-32563	97	32	10	10	NUM
ajst-32563	97	33	-	-	PUNCT
ajst-32563	97	34	bit	bit	NOUN
ajst-32563	97	35	addresses	address	NOUN
ajst-32563	97	36	,	,	PUNCT
ajst-32563	97	37	enabling	enable	VERB
ajst-32563	97	38	the	the	DET
ajst-32563	97	39	coexistence	coexistence	NOUN
ajst-32563	97	40	of	of	ADP
ajst-32563	97	41	multiple	multiple	ADJ
ajst-32563	97	42	peripherals	peripheral	NOUN
ajst-32563	97	43	on	on	ADP
ajst-32563	97	44	a	a	DET
ajst-32563	97	45	single	single	ADJ
ajst-32563	97	46	bus	bus	NOUN
ajst-32563	97	47	.	.	PUNCT
ajst-32563	98	1	critical	critical	ADJ
ajst-32563	98	2	hardware	hardware	NOUN
ajst-32563	98	3	components	component	NOUN
ajst-32563	98	4	include	include	VERB
ajst-32563	98	5	the	the	DET
ajst-32563	98	6	master	master	NOUN
ajst-32563	98	7	and	and	CCONJ
ajst-32563	98	8	slave	slave	NOUN
ajst-32563	98	9	ics	ic	NOUN
ajst-32563	98	10	,	,	PUNCT
ajst-32563	98	11	along	along	ADP
ajst-32563	98	12	with	with	ADP
ajst-32563	98	13	pull	pull	NOUN
ajst-32563	98	14	-	-	PUNCT
ajst-32563	98	15	up	up	ADP
ajst-32563	98	16	resistors	resistor	NOUN
ajst-32563	98	17	(	(	PUNCT
ajst-32563	98	18	typically	typically	ADV
ajst-32563	98	19	2.2kω	2.2kω	NUM
ajst-32563	98	20	to	to	ADP
ajst-32563	98	21	10kω	10kω	NUM
ajst-32563	98	22	)	)	PUNCT
ajst-32563	98	23	on	on	ADP
ajst-32563	98	24	sda	sda	NOUN
ajst-32563	98	25	and	and	CCONJ
ajst-32563	98	26	scl	scl	NOUN
ajst-32563	98	27	lines	line	NOUN
ajst-32563	98	28	,	,	PUNCT
ajst-32563	98	29	which	which	PRON
ajst-32563	98	30	maintain	maintain	VERB
ajst-32563	98	31	high	high	ADJ
ajst-32563	98	32	logic	logic	NOUN
ajst-32563	98	33	levels	level	NOUN
ajst-32563	98	34	when	when	SCONJ
ajst-32563	98	35	no	no	DET
ajst-32563	98	36	device	device	NOUN
ajst-32563	98	37	is	be	AUX
ajst-32563	98	38	driving	drive	VERB
ajst-32563	98	39	the	the	DET
ajst-32563	98	40	lines	line	NOUN
ajst-32563	98	41	,	,	PUNCT
ajst-32563	98	42	preventing	prevent	VERB
ajst-32563	98	43	signal	signal	NOUN
ajst-32563	98	44	floating	float	VERB
ajst-32563	98	45	and	and	CCONJ
ajst-32563	98	46	ensuring	ensure	VERB
ajst-32563	98	47	reliability	reliability	NOUN
ajst-32563	98	48	;	;	PUNCT
ajst-32563	98	49	these	these	DET
ajst-32563	98	50	resistors	resistor	NOUN
ajst-32563	98	51	are	be	AUX
ajst-32563	98	52	crucial	crucial	ADJ
ajst-32563	98	53	for	for	ADP
ajst-32563	98	54	stable	stable	ADJ
ajst-32563	98	55	communication	communication	NOUN
ajst-32563	98	56	,	,	PUNCT
ajst-32563	98	57	as	as	SCONJ
ajst-32563	98	58	iic	iic	PROPN
ajst-32563	98	59	signals	signal	NOUN
ajst-32563	98	60	rely	rely	VERB
ajst-32563	98	61	on	on	ADP
ajst-32563	98	62	open	open	ADJ
ajst-32563	98	63	-	-	PUNCT
ajst-32563	98	64	drain	drain	NOUN
ajst-32563	98	65	or	or	CCONJ
ajst-32563	98	66	open	open	ADJ
ajst-32563	98	67	-	-	PUNCT
ajst-32563	98	68	collector	collector	NOUN
ajst-32563	98	69	outputs	output	NOUN
ajst-32563	98	70	that	that	PRON
ajst-32563	98	71	can	can	AUX
ajst-32563	98	72	only	only	ADV
ajst-32563	98	73	pull	pull	VERB
ajst-32563	98	74	lines	line	NOUN
ajst-32563	98	75	low	low	ADJ
ajst-32563	98	76	,	,	PUNCT
ajst-32563	98	77	requiring	require	VERB
ajst-32563	98	78	the	the	DET
ajst-32563	98	79	resistors	resistor	NOUN
ajst-32563	98	80	to	to	PART
ajst-32563	98	81	pull	pull	VERB
ajst-32563	98	82	them	they	PRON
ajst-32563	98	83	high	high	ADJ
ajst-32563	98	84	.	.	PUNCT
ajst-32563	99	1	this	this	DET
ajst-32563	99	2	combination	combination	NOUN
ajst-32563	99	3	of	of	ADP
ajst-32563	99	4	minimal	minimal	ADJ
ajst-32563	99	5	wiring	wiring	NOUN
ajst-32563	99	6	,	,	PUNCT
ajst-32563	99	7	flexible	flexible	ADJ
ajst-32563	99	8	addressing	addressing	NOUN
ajst-32563	99	9	,	,	PUNCT
ajst-32563	99	10	and	and	CCONJ
ajst-32563	99	11	simple	simple	ADJ
ajst-32563	99	12	hardware	hardware	NOUN
ajst-32563	99	13	has	have	AUX
ajst-32563	99	14	made	make	VERB
ajst-32563	99	15	iic	iic	PROPN
ajst-32563	99	16	a	a	DET
ajst-32563	99	17	staple	staple	NOUN
ajst-32563	99	18	in	in	ADP
ajst-32563	99	19	embedded	embed	VERB
ajst-32563	99	20	systems	system	NOUN
ajst-32563	99	21	,	,	PUNCT
ajst-32563	99	22	consumer	consumer	NOUN
ajst-32563	99	23	electronics	electronic	NOUN
ajst-32563	99	24	,	,	PUNCT
ajst-32563	99	25	and	and	CCONJ
ajst-32563	99	26	industrial	industrial	ADJ
ajst-32563	99	27	control	control	NOUN
ajst-32563	99	28	,	,	PUNCT
ajst-32563	99	29	where	where	SCONJ
ajst-32563	99	30	it	it	PRON
ajst-32563	99	31	efficiently	efficiently	ADV
ajst-32563	99	32	connects	connect	VERB
ajst-32563	99	33	microcontrollers	microcontroller	NOUN
ajst-32563	99	34	to	to	ADP
ajst-32563	99	35	peripherals	peripheral	NOUN
ajst-32563	99	36	with	with	ADP
ajst-32563	99	37	low	low	ADJ
ajst-32563	99	38	power	power	NOUN
ajst-32563	99	39	consumption	consumption	NOUN
ajst-32563	99	40	and	and	CCONJ
ajst-32563	99	41	straightforward	straightforward	ADJ
ajst-32563	99	42	implementation	implementation	NOUN
ajst-32563	99	43	.	.	PUNCT
ajst-32563	100	1	the	the	DET
ajst-32563	100	2	mpu6050	mpu6050	NOUN
ajst-32563	100	3	is	be	AUX
ajst-32563	100	4	the	the	DET
ajst-32563	100	5	inertial	inertial	ADJ
ajst-32563	100	6	measure	measure	NOUN
ajst-32563	100	7	unit	unit	NOUN
ajst-32563	100	8	(	(	PUNCT
ajst-32563	100	9	imu	imu	NOUN
ajst-32563	100	10	)	)	PUNCT
ajst-32563	100	11	used	use	VERB
ajst-32563	100	12	in	in	ADP
ajst-32563	100	13	the	the	DET
ajst-32563	100	14	quadcopter	quadcopter	NOUN
ajst-32563	100	15	project	project	NOUN
ajst-32563	100	16	.	.	PUNCT
ajst-32563	101	1	it	it	PRON
ajst-32563	101	2	is	be	AUX
ajst-32563	101	3	a	a	DET
ajst-32563	101	4	highly	highly	ADV
ajst-32563	101	5	combined	combine	VERB
ajst-32563	101	6	6	6	NUM
ajst-32563	101	7	-	-	PUNCT
ajst-32563	101	8	axis	axis	NOUN
ajst-32563	101	9	device	device	NOUN
ajst-32563	101	10	that	that	PRON
ajst-32563	101	11	tracks	track	VERB
ajst-32563	101	12	motion	motion	NOUN
ajst-32563	101	13	,	,	PUNCT
ajst-32563	101	14	broadly	broadly	ADV
ajst-32563	101	15	used	use	VERB
ajst-32563	101	16	in	in	ADP
ajst-32563	101	17	embedded	embed	VERB
ajst-32563	101	18	systems	system	NOUN
ajst-32563	101	19	,	,	PUNCT
ajst-32563	101	20	robotics	robotic	NOUN
ajst-32563	101	21	,	,	PUNCT
ajst-32563	101	22	and	and	CCONJ
ajst-32563	101	23	consumer	consumer	NOUN
ajst-32563	101	24	electronics	electronic	NOUN
ajst-32563	101	25	.	.	PUNCT
ajst-32563	102	1	developed	develop	VERB
ajst-32563	102	2	by	by	ADP
ajst-32563	102	3	invensense	invensense	NOUN
ajst-32563	102	4	,	,	PUNCT
ajst-32563	102	5	it	it	PRON
ajst-32563	102	6	integrates	integrate	VERB
ajst-32563	102	7	a	a	DET
ajst-32563	102	8	3	3	NUM
ajst-32563	102	9	-	-	PUNCT
ajst-32563	102	10	axis	axis	NOUN
ajst-32563	102	11	accelerometer	accelerometer	NOUN
ajst-32563	102	12	and	and	CCONJ
ajst-32563	102	13	a	a	DET
ajst-32563	102	14	3	3	NUM
ajst-32563	102	15	-	-	PUNCT
ajst-32563	102	16	axis	axis	NOUN
ajst-32563	102	17	190	190	NUM
ajst-32563	102	18	gyroscope	gyroscope	NOUN
ajst-32563	102	19	in	in	ADP
ajst-32563	102	20	a	a	DET
ajst-32563	102	21	single	single	ADJ
ajst-32563	102	22	compact	compact	ADJ
ajst-32563	102	23	package	package	NOUN
ajst-32563	102	24	,	,	PUNCT
ajst-32563	102	25	making	make	VERB
ajst-32563	102	26	it	it	PRON
ajst-32563	102	27	a	a	DET
ajst-32563	102	28	go	go	VERB
ajst-32563	102	29	-	-	PUNCT
ajst-32563	102	30	to	to	PART
ajst-32563	102	31	choice	choice	NOUN
ajst-32563	102	32	for	for	ADP
ajst-32563	102	33	applications	application	NOUN
ajst-32563	102	34	requiring	require	VERB
ajst-32563	102	35	precise	precise	ADJ
ajst-32563	102	36	motion	motion	NOUN
ajst-32563	102	37	sensing	sense	VERB
ajst-32563	102	38	.	.	PUNCT
ajst-32563	103	1	at	at	ADP
ajst-32563	103	2	its	its	PRON
ajst-32563	103	3	core	core	NOUN
ajst-32563	103	4	,	,	PUNCT
ajst-32563	103	5	the	the	DET
ajst-32563	103	6	accelerometer	accelerometer	NOUN
ajst-32563	103	7	measures	measure	NOUN
ajst-32563	103	8	linear	linear	ADJ
ajst-32563	103	9	acceleration	acceleration	NOUN
ajst-32563	103	10	along	along	ADP
ajst-32563	103	11	the	the	DET
ajst-32563	103	12	x	x	PROPN
ajst-32563	103	13	,	,	PUNCT
ajst-32563	103	14	y	y	PROPN
ajst-32563	103	15	,	,	PUNCT
ajst-32563	103	16	and	and	CCONJ
ajst-32563	103	17	z	z	NOUN
ajst-32563	103	18	axes	axis	NOUN
ajst-32563	103	19	,	,	PUNCT
ajst-32563	103	20	detecting	detect	VERB
ajst-32563	103	21	forces	force	NOUN
ajst-32563	103	22	like	like	ADP
ajst-32563	103	23	gravity	gravity	NOUN
ajst-32563	103	24	and	and	CCONJ
ajst-32563	103	25	movement	movement	NOUN
ajst-32563	103	26	,	,	PUNCT
ajst-32563	103	27	while	while	SCONJ
ajst-32563	103	28	the	the	DET
ajst-32563	103	29	gyroscope	gyroscope	NOUN
ajst-32563	103	30	tracks	track	VERB
ajst-32563	103	31	angular	angular	ADJ
ajst-32563	103	32	velocity	velocity	NOUN
ajst-32563	103	33	around	around	ADP
ajst-32563	103	34	the	the	DET
ajst-32563	103	35	same	same	ADJ
ajst-32563	103	36	axes	axis	NOUN
ajst-32563	103	37	,	,	PUNCT
ajst-32563	103	38	capturing	capture	VERB
ajst-32563	103	39	rotational	rotational	ADJ
ajst-32563	103	40	motion	motion	NOUN
ajst-32563	103	41	such	such	ADJ
ajst-32563	103	42	as	as	ADP
ajst-32563	103	43	tilting	tilting	NOUN
ajst-32563	103	44	,	,	PUNCT
ajst-32563	103	45	spinning	spinning	NOUN
ajst-32563	103	46	,	,	PUNCT
ajst-32563	103	47	or	or	CCONJ
ajst-32563	103	48	turning	turning	NOUN
ajst-32563	103	49	.	.	PUNCT
ajst-32563	104	1	this	this	DET
ajst-32563	104	2	dual	dual	ADJ
ajst-32563	104	3	functionality	functionality	NOUN
ajst-32563	104	4	allows	allow	VERB
ajst-32563	104	5	the	the	DET
ajst-32563	104	6	mpu6050	mpu6050	NOUN
ajst-32563	104	7	to	to	PART
ajst-32563	104	8	provide	provide	VERB
ajst-32563	104	9	comprehensive	comprehensive	ADJ
ajst-32563	104	10	data	datum	NOUN
ajst-32563	104	11	about	about	ADP
ajst-32563	104	12	an	an	DET
ajst-32563	104	13	object	object	NOUN
ajst-32563	104	14	’s	’s	PART
ajst-32563	104	15	orientation	orientation	NOUN
ajst-32563	104	16	,	,	PUNCT
ajst-32563	104	17	velocity	velocity	NOUN
ajst-32563	104	18	,	,	PUNCT
ajst-32563	104	19	and	and	CCONJ
ajst-32563	104	20	acceleration	acceleration	NOUN
ajst-32563	104	21	in	in	ADP
ajst-32563	104	22	3d	3d	NUM
ajst-32563	104	23	space	space	NOUN
ajst-32563	104	24	.	.	PUNCT
ajst-32563	105	1	a	a	DET
ajst-32563	105	2	key	key	ADJ
ajst-32563	105	3	feature	feature	NOUN
ajst-32563	105	4	of	of	ADP
ajst-32563	105	5	the	the	DET
ajst-32563	105	6	mpu6050	mpu6050	NOUN
ajst-32563	105	7	is	be	AUX
ajst-32563	105	8	its	its	PRON
ajst-32563	105	9	built	build	VERB
ajst-32563	105	10	-	-	PUNCT
ajst-32563	105	11	in	in	ADP
ajst-32563	105	12	digital	digital	ADJ
ajst-32563	105	13	motion	motion	NOUN
ajst-32563	105	14	processor	processor	NOUN
ajst-32563	105	15	(	(	PUNCT
ajst-32563	105	16	dmp	dmp	PROPN
ajst-32563	105	17	)	)	PUNCT
ajst-32563	105	18	,	,	PUNCT
ajst-32563	105	19	which	which	PRON
ajst-32563	105	20	offloads	offload	VERB
ajst-32563	105	21	complex	complex	ADJ
ajst-32563	105	22	motion	motion	NOUN
ajst-32563	105	23	processing	processing	NOUN
ajst-32563	105	24	tasks	task	NOUN
ajst-32563	105	25	—	—	PUNCT
ajst-32563	105	26	like	like	ADP
ajst-32563	105	27	fusing	fuse	VERB
ajst-32563	105	28	accelerometer	accelerometer	NOUN
ajst-32563	105	29	and	and	CCONJ
ajst-32563	105	30	gyroscope	gyroscope	NOUN
ajst-32563	105	31	data	datum	NOUN
ajst-32563	105	32	to	to	PART
ajst-32563	105	33	compute	compute	VERB
ajst-32563	105	34	orientation	orientation	NOUN
ajst-32563	105	35	angles	angle	NOUN
ajst-32563	105	36	(	(	PUNCT
ajst-32563	105	37	euler	euler	NOUN
ajst-32563	105	38	angles	angle	NOUN
ajst-32563	105	39	or	or	CCONJ
ajst-32563	105	40	quaternions)—from	quaternions)—from	ADP
ajst-32563	105	41	the	the	DET
ajst-32563	105	42	host	host	NOUN
ajst-32563	105	43	microcontroller	microcontroller	NOUN
ajst-32563	105	44	.	.	PUNCT
ajst-32563	106	1	this	this	PRON
ajst-32563	106	2	reduces	reduce	VERB
ajst-32563	106	3	the	the	DET
ajst-32563	106	4	computational	computational	ADJ
ajst-32563	106	5	burden	burden	NOUN
ajst-32563	106	6	on	on	ADP
ajst-32563	106	7	the	the	DET
ajst-32563	106	8	main	main	ADJ
ajst-32563	106	9	system	system	NOUN
ajst-32563	106	10	,	,	PUNCT
ajst-32563	106	11	enabling	enable	VERB
ajst-32563	106	12	real	real	ADJ
ajst-32563	106	13	-	-	PUNCT
ajst-32563	106	14	time	time	NOUN
ajst-32563	106	15	motion	motion	NOUN
ajst-32563	106	16	tracking	track	VERB
ajst-32563	106	17	with	with	ADP
ajst-32563	106	18	minimal	minimal	ADJ
ajst-32563	106	19	latency	latency	NOUN
ajst-32563	106	20	.	.	PUNCT
ajst-32563	107	1	the	the	DET
ajst-32563	107	2	device	device	NOUN
ajst-32563	107	3	communicates	communicate	VERB
ajst-32563	107	4	via	via	ADP
ajst-32563	107	5	the	the	DET
ajst-32563	107	6	i²c	i²c	NOUN
ajst-32563	107	7	protocol	protocol	NOUN
ajst-32563	107	8	,	,	PUNCT
ajst-32563	107	9	using	use	VERB
ajst-32563	107	10	two	two	NUM
ajst-32563	107	11	wires	wire	NOUN
ajst-32563	107	12	(	(	PUNCT
ajst-32563	107	13	sda	sda	NOUN
ajst-32563	107	14	for	for	ADP
ajst-32563	107	15	data	datum	NOUN
ajst-32563	107	16	,	,	PUNCT
ajst-32563	107	17	scl	scl	PROPN
ajst-32563	107	18	for	for	ADP
ajst-32563	107	19	clock	clock	NOUN
ajst-32563	107	20	)	)	PUNCT
ajst-32563	107	21	to	to	PART
ajst-32563	107	22	interface	interface	VERB
ajst-32563	107	23	with	with	ADP
ajst-32563	107	24	microcontrollers	microcontroller	NOUN
ajst-32563	107	25	such	such	ADJ
ajst-32563	107	26	as	as	ADP
ajst-32563	107	27	arduino	arduino	NOUN
ajst-32563	107	28	,	,	PUNCT
ajst-32563	107	29	raspberry	raspberry	NOUN
ajst-32563	107	30	pi	pi	NOUN
ajst-32563	107	31	,	,	PUNCT
ajst-32563	107	32	or	or	CCONJ
ajst-32563	107	33	stm32	stm32	NOUN
ajst-32563	107	34	.	.	PUNCT
ajst-32563	108	1	it	it	PRON
ajst-32563	108	2	operates	operate	VERB
ajst-32563	108	3	on	on	ADP
ajst-32563	108	4	a	a	DET
ajst-32563	108	5	low	low	ADJ
ajst-32563	108	6	voltage	voltage	NOUN
ajst-32563	108	7	(	(	PUNCT
ajst-32563	108	8	typically	typically	ADV
ajst-32563	108	9	3.3v	3.3v	NUM
ajst-32563	108	10	)	)	PUNCT
ajst-32563	108	11	and	and	CCONJ
ajst-32563	108	12	consumes	consume	VERB
ajst-32563	108	13	minimal	minimal	ADJ
ajst-32563	108	14	power	power	NOUN
ajst-32563	108	15	,	,	PUNCT
ajst-32563	108	16	making	make	VERB
ajst-32563	108	17	it	it	PRON
ajst-32563	108	18	suitable	suitable	ADJ
ajst-32563	108	19	for	for	ADP
ajst-32563	108	20	battery	battery	NOUN
ajst-32563	108	21	-	-	PUNCT
ajst-32563	108	22	powered	power	VERB
ajst-32563	108	23	devices	device	NOUN
ajst-32563	108	24	.	.	PUNCT
ajst-32563	109	1	additionally	additionally	ADV
ajst-32563	109	2	,	,	PUNCT
ajst-32563	109	3	it	it	PRON
ajst-32563	109	4	includes	include	VERB
ajst-32563	109	5	a	a	DET
ajst-32563	109	6	user	user	NOUN
ajst-32563	109	7	-	-	PUNCT
ajst-32563	109	8	programmable	programmable	ADJ
ajst-32563	109	9	interrupt	interrupt	ADJ
ajst-32563	109	10	pin	pin	NOUN
ajst-32563	109	11	,	,	PUNCT
ajst-32563	109	12	allowing	allow	VERB
ajst-32563	109	13	it	it	PRON
ajst-32563	109	14	to	to	AUX
ajst-32563	109	15	trigger	trigger	VERB
ajst-32563	109	16	actions	action	NOUN
ajst-32563	109	17	in	in	ADP
ajst-32563	109	18	the	the	DET
ajst-32563	109	19	host	host	NOUN
ajst-32563	109	20	system	system	NOUN
ajst-32563	109	21	based	base	VERB
ajst-32563	109	22	on	on	ADP
ajst-32563	109	23	predefined	predefine	VERB
ajst-32563	109	24	motion	motion	NOUN
ajst-32563	109	25	events	event	NOUN
ajst-32563	109	26	,	,	PUNCT
ajst-32563	109	27	such	such	ADJ
ajst-32563	109	28	as	as	ADP
ajst-32563	109	29	detecting	detect	VERB
ajst-32563	109	30	a	a	DET
ajst-32563	109	31	sudden	sudden	ADJ
ajst-32563	109	32	movement	movement	NOUN
ajst-32563	109	33	or	or	CCONJ
ajst-32563	109	34	a	a	DET
ajst-32563	109	35	specific	specific	ADJ
ajst-32563	109	36	orientation	orientation	NOUN
ajst-32563	109	37	.	.	PUNCT
ajst-32563	110	1	common	common	ADJ
ajst-32563	110	2	applications	application	NOUN
ajst-32563	110	3	include	include	VERB
ajst-32563	110	4	drones	drone	NOUN
ajst-32563	110	5	(	(	PUNCT
ajst-32563	110	6	for	for	ADP
ajst-32563	110	7	stability	stability	NOUN
ajst-32563	110	8	control	control	NOUN
ajst-32563	110	9	)	)	PUNCT
ajst-32563	110	10	,	,	PUNCT
ajst-32563	110	11	gaming	gaming	NOUN
ajst-32563	110	12	controllers	controller	NOUN
ajst-32563	110	13	(	(	PUNCT
ajst-32563	110	14	for	for	ADP
ajst-32563	110	15	motion	motion	NOUN
ajst-32563	110	16	input	input	NOUN
ajst-32563	110	17	)	)	PUNCT
ajst-32563	110	18	,	,	PUNCT
ajst-32563	110	19	smartphones	smartphone	NOUN
ajst-32563	110	20	(	(	PUNCT
ajst-32563	110	21	for	for	ADP
ajst-32563	110	22	screen	screen	NOUN
ajst-32563	110	23	rotation	rotation	NOUN
ajst-32563	110	24	)	)	PUNCT
ajst-32563	110	25	,	,	PUNCT
ajst-32563	110	26	and	and	CCONJ
ajst-32563	110	27	robotics	robotic	NOUN
ajst-32563	110	28	(	(	PUNCT
ajst-32563	110	29	for	for	ADP
ajst-32563	110	30	balance	balance	NOUN
ajst-32563	110	31	and	and	CCONJ
ajst-32563	110	32	navigation	navigation	NOUN
ajst-32563	110	33	)	)	PUNCT
ajst-32563	110	34	,	,	PUNCT
ajst-32563	110	35	highlighting	highlight	VERB
ajst-32563	110	36	its	its	PRON
ajst-32563	110	37	versatility	versatility	NOUN
ajst-32563	110	38	in	in	ADP
ajst-32563	110	39	bridging	bridge	VERB
ajst-32563	110	40	the	the	DET
ajst-32563	110	41	physical	physical	ADJ
ajst-32563	110	42	and	and	CCONJ
ajst-32563	110	43	digital	digital	ADJ
ajst-32563	110	44	worlds	world	NOUN
ajst-32563	110	45	through	through	ADP
ajst-32563	110	46	precise	precise	ADJ
ajst-32563	110	47	motion	motion	NOUN
ajst-32563	110	48	sensing	sense	VERB
ajst-32563	110	49	.	.	PUNCT
ajst-32563	111	1	2.5	2.5	NUM
ajst-32563	111	2	kalman	kalman	PROPN
ajst-32563	111	3	filter	filter	NOUN
ajst-32563	111	4	a	a	DET
ajst-32563	111	5	kalman	kalman	NOUN
ajst-32563	111	6	filter	filter	NOUN
ajst-32563	111	7	is	be	AUX
ajst-32563	111	8	an	an	DET
ajst-32563	111	9	algorithm	algorithm	NOUN
ajst-32563	111	10	that	that	PRON
ajst-32563	111	11	takes	take	VERB
ajst-32563	111	12	a	a	DET
ajst-32563	111	13	series	series	NOUN
ajst-32563	111	14	of	of	ADP
ajst-32563	111	15	measurements	measurement	NOUN
ajst-32563	111	16	collected	collect	VERB
ajst-32563	111	17	over	over	ADP
ajst-32563	111	18	time	time	NOUN
ajst-32563	111	19	,	,	PUNCT
ajst-32563	111	20	with	with	ADP
ajst-32563	111	21	has	have	AUX
ajst-32563	111	22	statistical	statistical	ADJ
ajst-32563	111	23	noise	noise	NOUN
ajst-32563	111	24	and	and	CCONJ
ajst-32563	111	25	other	other	ADJ
ajst-32563	111	26	inaccuracies	inaccuracy	NOUN
ajst-32563	111	27	,	,	PUNCT
ajst-32563	111	28	and	and	CCONJ
ajst-32563	111	29	incorporates	incorporate	VERB
ajst-32563	111	30	them	they	PRON
ajst-32563	111	31	into	into	ADP
ajst-32563	111	32	a	a	DET
ajst-32563	111	33	prediction	prediction	NOUN
ajst-32563	111	34	model	model	NOUN
ajst-32563	111	35	,	,	PUNCT
ajst-32563	111	36	producing	produce	VERB
ajst-32563	111	37	estimates	estimate	NOUN
ajst-32563	111	38	that	that	PRON
ajst-32563	111	39	inclines	incline	VERB
ajst-32563	111	40	to	to	PART
ajst-32563	111	41	be	be	AUX
ajst-32563	111	42	more	more	ADV
ajst-32563	111	43	precise	precise	ADJ
ajst-32563	111	44	comparing	compare	VERB
ajst-32563	111	45	to	to	ADP
ajst-32563	111	46	the	the	DET
ajst-32563	111	47	raw	raw	ADJ
ajst-32563	111	48	measurements	measurement	NOUN
ajst-32563	111	49	alone	alone	ADV
ajst-32563	111	50	.	.	PUNCT
ajst-32563	112	1	it	it	PRON
ajst-32563	112	2	is	be	AUX
ajst-32563	112	3	iterative	iterative	ADJ
ajst-32563	112	4	and	and	CCONJ
ajst-32563	112	5	recursive	recursive	ADJ
ajst-32563	112	6	,	,	PUNCT
ajst-32563	112	7	continuously	continuously	ADV
ajst-32563	112	8	producing	produce	VERB
ajst-32563	112	9	estimates	estimate	NOUN
ajst-32563	112	10	of	of	ADP
ajst-32563	112	11	the	the	DET
ajst-32563	112	12	state	state	NOUN
ajst-32563	112	13	of	of	ADP
ajst-32563	112	14	a	a	DET
ajst-32563	112	15	dynamic	dynamic	ADJ
ajst-32563	112	16	system	system	NOUN
ajst-32563	112	17	from	from	ADP
ajst-32563	112	18	a	a	DET
ajst-32563	112	19	series	series	NOUN
ajst-32563	112	20	of	of	ADP
ajst-32563	112	21	noisy	noisy	ADJ
ajst-32563	112	22	measurements	measurement	NOUN
ajst-32563	112	23	[	[	X
ajst-32563	112	24	19	19	NUM
ajst-32563	112	25	]	]	PUNCT
ajst-32563	112	26	.	.	PUNCT
ajst-32563	113	1	in	in	ADP
ajst-32563	113	2	the	the	DET
ajst-32563	113	3	quadcopter	quadcopter	NOUN
ajst-32563	113	4	project	project	NOUN
ajst-32563	113	5	,	,	PUNCT
ajst-32563	113	6	it	it	PRON
ajst-32563	113	7	is	be	AUX
ajst-32563	113	8	used	use	VERB
ajst-32563	113	9	to	to	PART
ajst-32563	113	10	filter	filter	VERB
ajst-32563	113	11	imu	imu	ADJ
ajst-32563	113	12	readings	reading	NOUN
ajst-32563	113	13	to	to	PART
ajst-32563	113	14	produce	produce	VERB
ajst-32563	113	15	more	more	ADV
ajst-32563	113	16	reliable	reliable	ADJ
ajst-32563	113	17	results	result	NOUN
ajst-32563	113	18	,	,	PUNCT
ajst-32563	113	19	and	and	CCONJ
ajst-32563	113	20	hence	hence	ADV
ajst-32563	113	21	a	a	DET
ajst-32563	113	22	more	more	ADV
ajst-32563	113	23	stable	stable	ADJ
ajst-32563	113	24	flight	flight	NOUN
ajst-32563	113	25	.	.	PUNCT
ajst-32563	114	1	it	it	PRON
ajst-32563	114	2	also	also	ADV
ajst-32563	114	3	blends	blend	VERB
ajst-32563	114	4	the	the	DET
ajst-32563	114	5	imu	imu	NOUN
ajst-32563	114	6	and	and	CCONJ
ajst-32563	114	7	gps	gps	PROPN
ajst-32563	114	8	readings	reading	NOUN
ajst-32563	114	9	to	to	PART
ajst-32563	114	10	obtain	obtain	VERB
ajst-32563	114	11	more	more	ADV
ajst-32563	114	12	precise	precise	ADJ
ajst-32563	114	13	information	information	NOUN
ajst-32563	114	14	about	about	ADP
ajst-32563	114	15	the	the	DET
ajst-32563	114	16	position	position	NOUN
ajst-32563	114	17	of	of	ADP
ajst-32563	114	18	the	the	DET
ajst-32563	114	19	drone	drone	NOUN
ajst-32563	114	20	.	.	PUNCT
ajst-32563	115	1	the	the	DET
ajst-32563	115	2	following	follow	VERB
ajst-32563	115	3	section	section	NOUN
ajst-32563	115	4	explains	explain	VERB
ajst-32563	115	5	the	the	DET
ajst-32563	115	6	principle	principle	NOUN
ajst-32563	115	7	of	of	ADP
ajst-32563	115	8	the	the	DET
ajst-32563	115	9	kalman	kalman	PROPN
ajst-32563	115	10	algorithm	algorithm	PROPN
ajst-32563	115	11	by	by	ADP
ajst-32563	115	12	considering	consider	VERB
ajst-32563	115	13	the	the	DET
ajst-32563	115	14	example	example	NOUN
ajst-32563	115	15	of	of	ADP
ajst-32563	115	16	getting	get	VERB
ajst-32563	115	17	the	the	DET
ajst-32563	115	18	acceleration	acceleration	NOUN
ajst-32563	115	19	from	from	ADP
ajst-32563	115	20	one	one	NUM
ajst-32563	115	21	of	of	ADP
ajst-32563	115	22	the	the	DET
ajst-32563	115	23	three	three	NUM
ajst-32563	115	24	accelerometers	accelerometer	NOUN
ajst-32563	115	25	in	in	ADP
ajst-32563	115	26	the	the	DET
ajst-32563	115	27	imu	imu	NOUN
ajst-32563	115	28	(	(	PUNCT
ajst-32563	115	29	each	each	PRON
ajst-32563	115	30	for	for	ADP
ajst-32563	115	31	a	a	DET
ajst-32563	115	32	distinct	distinct	ADJ
ajst-32563	115	33	axis	axis	NOUN
ajst-32563	115	34	)	)	PUNCT
ajst-32563	115	35	.	.	PUNCT
ajst-32563	116	1	the	the	DET
ajst-32563	116	2	accelerometer	accelerometer	NOUN
ajst-32563	116	3	provides	provide	VERB
ajst-32563	116	4	a	a	DET
ajst-32563	116	5	measurement	measurement	NOUN
ajst-32563	116	6	subject	subject	NOUN
ajst-32563	116	7	to	to	ADP
ajst-32563	116	8	noise	noise	NOUN
ajst-32563	116	9	,	,	PUNCT
ajst-32563	116	10	which	which	PRON
ajst-32563	116	11	can	can	AUX
ajst-32563	116	12	be	be	AUX
ajst-32563	116	13	modeled	model	VERB
ajst-32563	116	14	as	as	ADP
ajst-32563	116	15	a	a	DET
ajst-32563	116	16	gaussian	gaussian	ADJ
ajst-32563	116	17	distribution	distribution	NOUN
ajst-32563	116	18	.	.	PUNCT
ajst-32563	117	1	this	this	DET
ajst-32563	117	2	measurement	measurement	NOUN
ajst-32563	117	3	is	be	AUX
ajst-32563	117	4	denoted	denote	VERB
ajst-32563	117	5	as	as	ADP
ajst-32563	117	6	zn	zn	NOUN
ajst-32563	117	7	:	:	PUNCT
ajst-32563	117	8	𝑧	𝑧	PROPN
ajst-32563	117	9	~𝑁	~𝑁	PUNCT
ajst-32563	117	10	𝜇	𝜇	ADP
ajst-32563	117	11	,	,	PUNCT
ajst-32563	117	12	𝑟	𝑟	X
ajst-32563	117	13	where	where	SCONJ
ajst-32563	117	14	μn	μn	PROPN
ajst-32563	117	15	represents	represent	VERB
ajst-32563	117	16	the	the	DET
ajst-32563	117	17	actual	actual	ADJ
ajst-32563	117	18	accelerometer	accelerometer	NOUN
ajst-32563	117	19	reading	reading	NOUN
ajst-32563	117	20	,	,	PUNCT
ajst-32563	117	21	and	and	CCONJ
ajst-32563	117	22	rn	rn	PROPN
ajst-32563	117	23	denotes	denote	VERB
ajst-32563	117	24	the	the	DET
ajst-32563	117	25	variance	variance	NOUN
ajst-32563	117	26	,	,	PUNCT
ajst-32563	117	27	as	as	SCONJ
ajst-32563	117	28	specified	specify	VERB
ajst-32563	117	29	by	by	ADP
ajst-32563	117	30	the	the	DET
ajst-32563	117	31	manufacturer	manufacturer	NOUN
ajst-32563	117	32	for	for	ADP
ajst-32563	117	33	the	the	DET
ajst-32563	117	34	accelerometer	accelerometer	NOUN
ajst-32563	117	35	.	.	PUNCT
ajst-32563	118	1	the	the	DET
ajst-32563	118	2	subscript	subscript	NOUN
ajst-32563	118	3	n	n	PROPN
ajst-32563	118	4	denotes	denote	VERB
ajst-32563	118	5	a	a	DET
ajst-32563	118	6	specific	specific	ADJ
ajst-32563	118	7	point	point	NOUN
ajst-32563	118	8	in	in	ADP
ajst-32563	118	9	time	time	NOUN
ajst-32563	118	10	,	,	PUNCT
ajst-32563	118	11	n	n	CCONJ
ajst-32563	118	12	,	,	PUNCT
ajst-32563	118	13	that	that	SCONJ
ajst-32563	118	14	the	the	DET
ajst-32563	118	15	value	value	NOUN
ajst-32563	118	16	is	be	AUX
ajst-32563	118	17	taken	take	VERB
ajst-32563	118	18	.	.	PUNCT
ajst-32563	119	1	note	note	VERB
ajst-32563	119	2	that	that	SCONJ
ajst-32563	119	3	rn	rn	PROPN
ajst-32563	119	4	is	be	AUX
ajst-32563	119	5	used	use	VERB
ajst-32563	119	6	due	due	ADP
ajst-32563	119	7	to	to	ADP
ajst-32563	119	8	convention	convention	NOUN
ajst-32563	119	9	,	,	PUNCT
ajst-32563	119	10	though	though	SCONJ
ajst-32563	119	11	it	it	PRON
ajst-32563	119	12	is	be	AUX
ajst-32563	119	13	a	a	DET
ajst-32563	119	14	constant	constant	ADJ
ajst-32563	119	15	in	in	ADP
ajst-32563	119	16	this	this	DET
ajst-32563	119	17	particular	particular	ADJ
ajst-32563	119	18	case	case	NOUN
ajst-32563	119	19	.	.	PUNCT
ajst-32563	120	1	there	there	PRON
ajst-32563	120	2	is	be	VERB
ajst-32563	120	3	also	also	ADV
ajst-32563	120	4	a	a	DET
ajst-32563	120	5	prediction	prediction	NOUN
ajst-32563	120	6	model	model	NOUN
ajst-32563	120	7	that	that	PRON
ajst-32563	120	8	estimates	estimate	VERB
ajst-32563	120	9	the	the	DET
ajst-32563	120	10	value	value	NOUN
ajst-32563	120	11	of	of	ADP
ajst-32563	120	12	the	the	DET
ajst-32563	120	13	acceleration	acceleration	NOUN
ajst-32563	120	14	at	at	ADP
ajst-32563	120	15	time	time	NOUN
ajst-32563	120	16	n	n	CCONJ
ajst-32563	120	17	,	,	PUNCT
ajst-32563	120	18	xn	xn	PROPN
ajst-32563	120	19	,	,	PUNCT
ajst-32563	120	20	n	n	PROPN
ajst-32563	120	21	1	1	NUM
ajst-32563	120	22	:	:	PUNCT
ajst-32563	120	23	𝑥	𝑥	X
ajst-32563	120	24	,	,	PUNCT
ajst-32563	120	25	𝑥	𝑥	X
ajst-32563	120	26	,	,	PUNCT
ajst-32563	120	27	∆𝑎	∆𝑎	PRON
ajst-32563	120	28	where	where	SCONJ
ajst-32563	120	29	𝑥	𝑥	X
ajst-32563	120	30	,	,	PUNCT
ajst-32563	120	31	denotes	denote	VERB
ajst-32563	120	32	the	the	DET
ajst-32563	120	33	prediction	prediction	NOUN
ajst-32563	120	34	of	of	ADP
ajst-32563	120	35	the	the	DET
ajst-32563	120	36	acceleration	acceleration	NOUN
ajst-32563	120	37	𝑥	𝑥	NOUN
ajst-32563	120	38	at	at	ADP
ajst-32563	120	39	time	time	NOUN
ajst-32563	120	40	𝛼	𝛼	PRON
ajst-32563	120	41	made	make	VERB
ajst-32563	120	42	at	at	ADP
ajst-32563	120	43	time	time	NOUN
ajst-32563	120	44	𝛽.	𝛽.	NOUN
ajst-32563	120	45	note	note	NOUN
ajst-32563	120	46	that	that	SCONJ
ajst-32563	120	47	𝑥	𝑥	NOUN
ajst-32563	120	48	,	,	PUNCT
ajst-32563	120	49	and	and	CCONJ
ajst-32563	120	50	𝑥	𝑥	INTJ
ajst-32563	120	51	,	,	PUNCT
ajst-32563	120	52	are	be	AUX
ajst-32563	120	53	also	also	ADV
ajst-32563	120	54	modeled	model	VERB
ajst-32563	120	55	as	as	ADP
ajst-32563	120	56	gaussian	gaussian	ADJ
ajst-32563	120	57	distributions	distribution	NOUN
ajst-32563	120	58	,	,	PUNCT
ajst-32563	120	59	and	and	CCONJ
ajst-32563	120	60	𝑥	𝑥	INTJ
ajst-32563	120	61	,	,	PUNCT
ajst-32563	120	62	has	have	VERB
ajst-32563	120	63	variance	variance	NOUN
ajst-32563	120	64	𝑃	𝑃	NOUN
ajst-32563	120	65	,	,	PUNCT
ajst-32563	120	66	,	,	PUNCT
ajst-32563	120	67	which	which	PRON
ajst-32563	120	68	is	be	AUX
ajst-32563	120	69	a	a	DET
ajst-32563	120	70	predetermined	predetermine	VERB
ajst-32563	120	71	value	value	NOUN
ajst-32563	120	72	by	by	ADP
ajst-32563	120	73	test	test	NOUN
ajst-32563	120	74	-	-	PUNCT
ajst-32563	120	75	and	and	CCONJ
ajst-32563	120	76	-	-	PUNCT
ajst-32563	120	77	trial	trial	NOUN
ajst-32563	120	78	.	.	PUNCT
ajst-32563	121	1	more	more	ADV
ajst-32563	121	2	specifically	specifically	ADV
ajst-32563	121	3	,	,	PUNCT
ajst-32563	121	4	𝑥	𝑥	INTJ
ajst-32563	121	5	,	,	PUNCT
ajst-32563	121	6	is	be	AUX
ajst-32563	121	7	the	the	DET
ajst-32563	121	8	final	final	ADJ
ajst-32563	121	9	estimation	estimation	NOUN
ajst-32563	121	10	of	of	ADP
ajst-32563	121	11	the	the	DET
ajst-32563	121	12	kalman	kalman	PROPN
ajst-32563	121	13	algorithm	algorithm	PROPN
ajst-32563	121	14	at	at	ADP
ajst-32563	121	15	the	the	DET
ajst-32563	121	16	last	last	ADJ
ajst-32563	121	17	point	point	NOUN
ajst-32563	121	18	in	in	ADP
ajst-32563	121	19	time	time	NOUN
ajst-32563	121	20	,	,	PUNCT
ajst-32563	121	21	𝑛	𝑛	PRON
ajst-32563	121	22	1	1	NUM
ajst-32563	121	23	[	[	X
ajst-32563	121	24	20	20	NUM
ajst-32563	121	25	]	]	PUNCT
ajst-32563	121	26	.	.	PUNCT
ajst-32563	122	1	∆𝑎	∆𝑎	PRON
ajst-32563	122	2	denotes	denote	VERB
ajst-32563	122	3	the	the	DET
ajst-32563	122	4	expected	expect	VERB
ajst-32563	122	5	change	change	NOUN
ajst-32563	122	6	in	in	ADP
ajst-32563	122	7	acceleration	acceleration	NOUN
ajst-32563	122	8	over	over	ADP
ajst-32563	122	9	the	the	DET
ajst-32563	122	10	time	time	NOUN
ajst-32563	122	11	interval	interval	NOUN
ajst-32563	122	12	from	from	ADP
ajst-32563	122	13	𝑛	𝑛	DET
ajst-32563	122	14	1	1	NUM
ajst-32563	122	15	to	to	PART
ajst-32563	122	16	𝑛	𝑛	PROPN
ajst-32563	122	17	,	,	PUNCT
ajst-32563	122	18	derived	derive	VERB
ajst-32563	122	19	by	by	ADP
ajst-32563	122	20	a	a	DET
ajst-32563	122	21	mathematical	mathematical	ADJ
ajst-32563	122	22	model	model	NOUN
ajst-32563	122	23	which	which	DET
ajst-32563	122	24	detail	detail	NOUN
ajst-32563	122	25	will	will	AUX
ajst-32563	122	26	not	not	PART
ajst-32563	122	27	be	be	AUX
ajst-32563	122	28	discussed	discuss	VERB
ajst-32563	122	29	in	in	ADP
ajst-32563	122	30	this	this	DET
ajst-32563	122	31	paper	paper	NOUN
ajst-32563	122	32	.	.	PUNCT
ajst-32563	123	1	neither	neither	PRON
ajst-32563	123	2	of	of	ADP
ajst-32563	123	3	the	the	DET
ajst-32563	123	4	two	two	NUM
ajst-32563	123	5	models	model	NOUN
ajst-32563	123	6	,	,	PUNCT
ajst-32563	123	7	𝑧	𝑧	PROPN
ajst-32563	123	8	and	and	CCONJ
ajst-32563	123	9	𝑥	𝑥	X
ajst-32563	123	10	,	,	PUNCT
ajst-32563	123	11	,	,	PUNCT
ajst-32563	123	12	are	be	AUX
ajst-32563	123	13	of	of	ADP
ajst-32563	123	14	sufficient	sufficient	ADJ
ajst-32563	123	15	precision	precision	NOUN
ajst-32563	123	16	for	for	ADP
ajst-32563	123	17	a	a	DET
ajst-32563	123	18	reliable	reliable	ADJ
ajst-32563	123	19	output	output	NOUN
ajst-32563	123	20	.	.	PUNCT
ajst-32563	124	1	the	the	DET
ajst-32563	124	2	kalman	kalman	PROPN
ajst-32563	124	3	algorithm	algorithm	PROPN
ajst-32563	124	4	combines	combine	VERB
ajst-32563	124	5	them	they	PRON
ajst-32563	124	6	to	to	PART
ajst-32563	124	7	produce	produce	VERB
ajst-32563	124	8	a	a	DET
ajst-32563	124	9	more	more	ADV
ajst-32563	124	10	precise	precise	ADJ
ajst-32563	124	11	result	result	NOUN
ajst-32563	124	12	,	,	PUNCT
ajst-32563	124	13	𝑥	𝑥	X
ajst-32563	124	14	,	,	PUNCT
ajst-32563	124	15	:	:	PUNCT
ajst-32563	124	16	𝑥	𝑥	X
ajst-32563	124	17	,	,	PUNCT
ajst-32563	124	18	𝜔	𝜔	VERB
ajst-32563	124	19	𝑧	𝑧	ADP
ajst-32563	124	20	𝜔	𝜔	PART
ajst-32563	124	21	𝑥	𝑥	X
ajst-32563	124	22	,	,	PUNCT
ajst-32563	124	23	the	the	DET
ajst-32563	124	24	weights	weight	NOUN
ajst-32563	124	25	𝜔	𝜔	NOUN
ajst-32563	124	26	and	and	CCONJ
ajst-32563	124	27	𝜔	𝜔	PART
ajst-32563	124	28	sum	sum	NOUN
ajst-32563	124	29	to	to	ADP
ajst-32563	124	30	1	1	NUM
ajst-32563	124	31	,	,	PUNCT
ajst-32563	124	32	hence	hence	ADV
ajst-32563	124	33	:	:	PUNCT
ajst-32563	124	34	191	191	NUM
ajst-32563	124	35	𝜔	𝜔	SYM
ajst-32563	124	36	1	1	NUM
ajst-32563	124	37	𝜔	𝜔	ADP
ajst-32563	124	38	the	the	DET
ajst-32563	124	39	goal	goal	NOUN
ajst-32563	124	40	of	of	ADP
ajst-32563	124	41	the	the	DET
ajst-32563	124	42	algorithm	algorithm	NOUN
ajst-32563	124	43	is	be	AUX
ajst-32563	124	44	to	to	PART
ajst-32563	124	45	optimize	optimize	VERB
ajst-32563	124	46	the	the	DET
ajst-32563	124	47	variance	variance	NOUN
ajst-32563	124	48	of	of	ADP
ajst-32563	124	49	𝑥	𝑥	PRON
ajst-32563	124	50	,	,	PUNCT
ajst-32563	124	51	,	,	PUNCT
ajst-32563	124	52	and	and	CCONJ
ajst-32563	124	53	thus	thus	ADV
ajst-32563	124	54	make	make	VERB
ajst-32563	124	55	the	the	DET
ajst-32563	124	56	mean	mean	NOUN
ajst-32563	124	57	of	of	ADP
ajst-32563	124	58	𝑥	𝑥	NOUN
ajst-32563	124	59	,	,	PUNCT
ajst-32563	124	60	closer	close	ADV
ajst-32563	124	61	to	to	ADP
ajst-32563	124	62	the	the	DET
ajst-32563	124	63	real	real	ADJ
ajst-32563	124	64	value	value	NOUN
ajst-32563	124	65	(	(	PUNCT
ajst-32563	124	66	this	this	PRON
ajst-32563	124	67	is	be	AUX
ajst-32563	124	68	the	the	DET
ajst-32563	124	69	value	value	NOUN
ajst-32563	124	70	that	that	PRON
ajst-32563	124	71	will	will	AUX
ajst-32563	124	72	be	be	AUX
ajst-32563	124	73	used	use	VERB
ajst-32563	124	74	for	for	ADP
ajst-32563	124	75	flight	flight	NOUN
ajst-32563	124	76	control	control	NOUN
ajst-32563	124	77	calculations	calculation	NOUN
ajst-32563	124	78	):	):	PUNCT
ajst-32563	124	79	𝑉𝑎𝑟	𝑉𝑎𝑟	PROPN
ajst-32563	124	80	𝑥	𝑥	PRON
ajst-32563	124	81	,	,	PUNCT
ajst-32563	124	82	𝑉𝑎𝑟	𝑉𝑎𝑟	VERB
ajst-32563	124	83	𝜔	𝜔	SYM
ajst-32563	124	84	𝑧	𝑧	ADP
ajst-32563	124	85	𝜔	𝜔	PART
ajst-32563	124	86	𝑥	𝑥	NOUN
ajst-32563	124	87	,	,	PUNCT
ajst-32563	124	88	𝜔	𝜔	VERB
ajst-32563	124	89	𝑟	𝑟	PRON
ajst-32563	124	90	1	1	NUM
ajst-32563	124	91	𝜔	𝜔	NOUN
ajst-32563	124	92	𝑃	𝑃	NOUN
ajst-32563	124	93	,	,	PUNCT
ajst-32563	124	94	𝑓	𝑓	PRON
ajst-32563	124	95	𝜔	𝜔	X
ajst-32563	124	96	to	to	PART
ajst-32563	124	97	find	find	VERB
ajst-32563	124	98	the	the	DET
ajst-32563	124	99	value	value	NOUN
ajst-32563	124	100	of	of	ADP
ajst-32563	124	101	𝜔	𝜔	ADP
ajst-32563	124	102	that	that	PRON
ajst-32563	124	103	yields	yield	VERB
ajst-32563	124	104	the	the	DET
ajst-32563	124	105	minimum	minimum	NOUN
ajst-32563	124	106	of	of	ADP
ajst-32563	124	107	𝑓	𝑓	DET
ajst-32563	124	108	𝜔	𝜔	NOUN
ajst-32563	124	109	,	,	PUNCT
ajst-32563	124	110	it	it	PRON
ajst-32563	124	111	is	be	AUX
ajst-32563	124	112	necessary	necessary	ADJ
ajst-32563	124	113	to	to	PART
ajst-32563	124	114	calculate	calculate	VERB
ajst-32563	124	115	the	the	DET
ajst-32563	124	116	root	root	NOUN
ajst-32563	124	117	of	of	ADP
ajst-32563	124	118	the	the	DET
ajst-32563	124	119	derivative	derivative	NOUN
ajst-32563	124	120	of	of	ADP
ajst-32563	124	121	𝑓	𝑓	PRON
ajst-32563	124	122	𝜔	𝜔	NOUN
ajst-32563	124	123	:	:	PUNCT
ajst-32563	124	124	𝑓	𝑓	DET
ajst-32563	124	125	𝜔	𝜔	X
ajst-32563	124	126	2𝜔	2𝜔	NOUN
ajst-32563	124	127	𝑟	𝑟	NOUN
ajst-32563	124	128	2	2	NUM
ajst-32563	124	129	1	1	NUM
ajst-32563	124	130	𝜔	𝜔	NOUN
ajst-32563	124	131	𝑃	𝑃	NOUN
ajst-32563	124	132	,	,	PUNCT
ajst-32563	124	133	0	0	NUM
ajst-32563	124	134	𝜔	𝜔	PRON
ajst-32563	124	135	𝑃	𝑃	NOUN
ajst-32563	124	136	,	,	PUNCT
ajst-32563	124	137	𝑃	𝑃	NOUN
ajst-32563	124	138	,	,	PUNCT
ajst-32563	124	139	𝑟	𝑟	NOUN
ajst-32563	124	140	substituting	substitute	VERB
ajst-32563	124	141	this	this	PRON
ajst-32563	124	142	into	into	ADP
ajst-32563	124	143	the	the	DET
ajst-32563	124	144	formula	formula	NOUN
ajst-32563	124	145	for	for	ADP
ajst-32563	124	146	𝑥	𝑥	PRON
ajst-32563	124	147	,	,	PUNCT
ajst-32563	124	148	gives	give	VERB
ajst-32563	124	149	:	:	PUNCT
ajst-32563	124	150	𝑥	𝑥	X
ajst-32563	124	151	,	,	PUNCT
ajst-32563	124	152	𝑥	𝑥	X
ajst-32563	124	153	,	,	PUNCT
ajst-32563	124	154	𝑃	𝑃	NOUN
ajst-32563	124	155	,	,	PUNCT
ajst-32563	124	156	𝑃	𝑃	NOUN
ajst-32563	124	157	,	,	PUNCT
ajst-32563	124	158	𝑟	𝑟	X
ajst-32563	124	159	𝑧	𝑧	X
ajst-32563	124	160	𝑥	𝑥	X
ajst-32563	124	161	,	,	PUNCT
ajst-32563	124	162	which	which	PRON
ajst-32563	124	163	is	be	AUX
ajst-32563	124	164	the	the	DET
ajst-32563	124	165	formula	formula	NOUN
ajst-32563	124	166	to	to	PART
ajst-32563	124	167	calculate	calculate	VERB
ajst-32563	124	168	the	the	DET
ajst-32563	124	169	estimate	estimate	NOUN
ajst-32563	124	170	of	of	ADP
ajst-32563	124	171	𝑥	𝑥	PRON
ajst-32563	124	172	,	,	PUNCT
ajst-32563	124	173	at	at	ADP
ajst-32563	124	174	time	time	NOUN
ajst-32563	124	175	𝑛.	𝑛.	NOUN
ajst-32563	124	176	this	this	DET
ajst-32563	124	177	estimation	estimation	NOUN
ajst-32563	124	178	is	be	AUX
ajst-32563	124	179	performed	perform	VERB
ajst-32563	124	180	continuously	continuously	ADV
ajst-32563	124	181	at	at	ADP
ajst-32563	124	182	arbitrary	arbitrary	ADJ
ajst-32563	124	183	intervals	interval	NOUN
ajst-32563	124	184	(	(	PUNCT
ajst-32563	124	185	which	which	PRON
ajst-32563	124	186	is	be	AUX
ajst-32563	124	187	usually	usually	ADV
ajst-32563	124	188	consistent	consistent	ADJ
ajst-32563	124	189	with	with	ADP
ajst-32563	124	190	the	the	DET
ajst-32563	124	191	sensor	sensor	NOUN
ajst-32563	124	192	output	output	NOUN
ajst-32563	124	193	frequency	frequency	NOUN
ajst-32563	124	194	)	)	PUNCT
ajst-32563	124	195	in	in	ADP
ajst-32563	124	196	a	a	DET
ajst-32563	124	197	recursive	recursive	ADJ
ajst-32563	124	198	manner	manner	NOUN
ajst-32563	124	199	,	,	PUNCT
ajst-32563	124	200	continuously	continuously	ADV
ajst-32563	124	201	producing	produce	VERB
ajst-32563	124	202	a	a	DET
ajst-32563	124	203	more	more	ADV
ajst-32563	124	204	-	-	PUNCT
ajst-32563	124	205	precise	precise	ADJ
ajst-32563	124	206	reading	reading	NOUN
ajst-32563	124	207	that	that	PRON
ajst-32563	124	208	is	be	AUX
ajst-32563	124	209	critical	critical	ADJ
ajst-32563	124	210	for	for	ADP
ajst-32563	124	211	accurate	accurate	ADJ
ajst-32563	124	212	flight	flight	NOUN
ajst-32563	124	213	control	control	NOUN
ajst-32563	124	214	.	.	PUNCT
ajst-32563	125	1	2.6	2.6	NUM
ajst-32563	125	2	pid	pid	NOUN
ajst-32563	125	3	control	control	NOUN
ajst-32563	125	4	pid	pid	NOUN
ajst-32563	125	5	control	control	NOUN
ajst-32563	125	6	is	be	AUX
ajst-32563	125	7	the	the	DET
ajst-32563	125	8	most	most	ADV
ajst-32563	125	9	commonly	commonly	ADV
ajst-32563	125	10	used	use	VERB
ajst-32563	125	11	feedback	feedback	NOUN
ajst-32563	125	12	mechanism	mechanism	NOUN
ajst-32563	125	13	in	in	ADP
ajst-32563	125	14	industrial	industrial	ADJ
ajst-32563	125	15	and	and	CCONJ
ajst-32563	125	16	engineering	engineering	NOUN
ajst-32563	125	17	settings	setting	NOUN
ajst-32563	125	18	[	[	X
ajst-32563	125	19	31	31	NUM
ajst-32563	125	20	]	]	PUNCT
ajst-32563	125	21	.	.	PUNCT
ajst-32563	126	1	this	this	PRON
ajst-32563	126	2	is	be	AUX
ajst-32563	126	3	because	because	SCONJ
ajst-32563	126	4	of	of	ADP
ajst-32563	126	5	the	the	DET
ajst-32563	126	6	simplicity	simplicity	NOUN
ajst-32563	126	7	,	,	PUNCT
ajst-32563	126	8	efficiency	efficiency	NOUN
ajst-32563	126	9	,	,	PUNCT
ajst-32563	126	10	and	and	CCONJ
ajst-32563	126	11	effectiveness	effectiveness	NOUN
ajst-32563	126	12	nature	nature	NOUN
ajst-32563	126	13	of	of	ADP
ajst-32563	126	14	the	the	DET
ajst-32563	126	15	algorithm	algorithm	NOUN
ajst-32563	126	16	in	in	ADP
ajst-32563	126	17	comparison	comparison	NOUN
ajst-32563	126	18	to	to	ADP
ajst-32563	126	19	its	its	PRON
ajst-32563	126	20	alternatives	alternative	NOUN
ajst-32563	126	21	.	.	PUNCT
ajst-32563	127	1	pid	pid	NOUN
ajst-32563	127	2	technology	technology	NOUN
ajst-32563	127	3	is	be	AUX
ajst-32563	127	4	capable	capable	ADJ
ajst-32563	127	5	of	of	ADP
ajst-32563	127	6	adjusting	adjust	VERB
ajst-32563	127	7	the	the	DET
ajst-32563	127	8	state	state	NOUN
ajst-32563	127	9	of	of	ADP
ajst-32563	127	10	the	the	DET
ajst-32563	127	11	device	device	NOUN
ajst-32563	127	12	in	in	ADP
ajst-32563	127	13	real	real	ADJ
ajst-32563	127	14	time	time	NOUN
ajst-32563	127	15	via	via	ADP
ajst-32563	127	16	actuators	actuator	NOUN
ajst-32563	127	17	such	such	ADJ
ajst-32563	127	18	as	as	ADP
ajst-32563	127	19	motors	motor	NOUN
ajst-32563	127	20	.	.	PUNCT
ajst-32563	128	1	the	the	DET
ajst-32563	128	2	basic	basic	ADJ
ajst-32563	128	3	principle	principle	NOUN
ajst-32563	128	4	is	be	AUX
ajst-32563	128	5	that	that	SCONJ
ajst-32563	128	6	it	it	PRON
ajst-32563	128	7	continuously	continuously	ADV
ajst-32563	128	8	monitors	monitor	VERB
ajst-32563	128	9	the	the	DET
ajst-32563	128	10	error	error	NOUN
ajst-32563	128	11	between	between	ADP
ajst-32563	128	12	the	the	DET
ajst-32563	128	13	desired	desire	VERB
ajst-32563	128	14	setpoint	setpoint	NOUN
ajst-32563	128	15	and	and	CCONJ
ajst-32563	128	16	the	the	DET
ajst-32563	128	17	measured	measured	ADJ
ajst-32563	128	18	value	value	NOUN
ajst-32563	128	19	and	and	CCONJ
ajst-32563	128	20	trying	try	VERB
ajst-32563	128	21	to	to	PART
ajst-32563	128	22	eliminate	eliminate	VERB
ajst-32563	128	23	the	the	DET
ajst-32563	128	24	error	error	NOUN
ajst-32563	128	25	in	in	ADP
ajst-32563	128	26	an	an	DET
ajst-32563	128	27	optimized	optimize	VERB
ajst-32563	128	28	manner	manner	NOUN
ajst-32563	128	29	through	through	ADP
ajst-32563	128	30	proportional	proportional	ADJ
ajst-32563	128	31	,	,	PUNCT
ajst-32563	128	32	integral	integral	ADJ
ajst-32563	128	33	,	,	PUNCT
ajst-32563	128	34	and	and	CCONJ
ajst-32563	128	35	derivative	derivative	ADJ
ajst-32563	128	36	(	(	PUNCT
ajst-32563	128	37	pid	pid	NOUN
ajst-32563	128	38	)	)	PUNCT
ajst-32563	128	39	calculations	calculation	NOUN
ajst-32563	128	40	[	[	X
ajst-32563	128	41	32	32	NUM
ajst-32563	128	42	]	]	PUNCT
ajst-32563	128	43	.	.	PUNCT
ajst-32563	129	1	devices	device	NOUN
ajst-32563	129	2	uses	use	VERB
ajst-32563	129	3	closed	close	VERB
ajst-32563	129	4	loop	loop	NOUN
ajst-32563	129	5	systems	system	NOUN
ajst-32563	129	6	,	,	PUNCT
ajst-32563	129	7	such	such	ADJ
ajst-32563	129	8	as	as	ADP
ajst-32563	129	9	pid	pid	PROPN
ajst-32563	129	10	control	control	NOUN
ajst-32563	129	11	,	,	PUNCT
ajst-32563	129	12	to	to	PART
ajst-32563	129	13	automatically	automatically	ADV
ajst-32563	129	14	rectify	rectify	VERB
ajst-32563	129	15	its	its	PRON
ajst-32563	129	16	status	status	NOUN
ajst-32563	129	17	rather	rather	ADV
ajst-32563	129	18	than	than	ADP
ajst-32563	129	19	open	open	ADJ
ajst-32563	129	20	loop	loop	NOUN
ajst-32563	129	21	systems	system	NOUN
ajst-32563	129	22	,	,	PUNCT
ajst-32563	129	23	which	which	PRON
ajst-32563	129	24	requires	require	VERB
ajst-32563	129	25	manual	manual	ADJ
ajst-32563	129	26	handling	handling	NOUN
ajst-32563	129	27	.	.	PUNCT
ajst-32563	130	1	in	in	ADP
ajst-32563	130	2	the	the	DET
ajst-32563	130	3	case	case	NOUN
ajst-32563	130	4	of	of	ADP
ajst-32563	130	5	the	the	DET
ajst-32563	130	6	quadcopter	quadcopter	NOUN
ajst-32563	130	7	,	,	PUNCT
ajst-32563	130	8	the	the	DET
ajst-32563	130	9	error	error	NOUN
ajst-32563	130	10	to	to	PART
ajst-32563	130	11	be	be	AUX
ajst-32563	130	12	rectified	rectify	VERB
ajst-32563	130	13	during	during	ADP
ajst-32563	130	14	flight	flight	NOUN
ajst-32563	130	15	is	be	AUX
ajst-32563	130	16	air	air	NOUN
ajst-32563	130	17	turbulence	turbulence	NOUN
ajst-32563	130	18	.	.	PUNCT
ajst-32563	131	1	the	the	DET
ajst-32563	131	2	aim	aim	NOUN
ajst-32563	131	3	of	of	ADP
ajst-32563	131	4	pid	pid	NOUN
ajst-32563	131	5	control	control	NOUN
ajst-32563	131	6	(	(	PUNCT
ajst-32563	131	7	and	and	CCONJ
ajst-32563	131	8	any	any	DET
ajst-32563	131	9	other	other	ADJ
ajst-32563	131	10	closed	closed	ADJ
ajst-32563	131	11	loop	loop	NOUN
ajst-32563	131	12	systems	system	NOUN
ajst-32563	131	13	)	)	PUNCT
ajst-32563	131	14	is	be	AUX
ajst-32563	131	15	the	the	DET
ajst-32563	131	16	minimize	minimize	VERB
ajst-32563	131	17	the	the	DET
ajst-32563	131	18	error	error	NOUN
ajst-32563	131	19	between	between	ADP
ajst-32563	131	20	the	the	DET
ajst-32563	131	21	actual	actual	ADJ
ajst-32563	131	22	status	status	NOUN
ajst-32563	131	23	and	and	CCONJ
ajst-32563	131	24	the	the	DET
ajst-32563	131	25	desired	desire	VERB
ajst-32563	131	26	status	status	NOUN
ajst-32563	131	27	[	[	X
ajst-32563	131	28	33	33	NUM
ajst-32563	131	29	]	]	PUNCT
ajst-32563	131	30	.	.	PUNCT
ajst-32563	132	1	figure	figure	NOUN
ajst-32563	132	2	3	3	NUM
ajst-32563	132	3	shows	show	VERB
ajst-32563	132	4	how	how	SCONJ
ajst-32563	132	5	a	a	DET
ajst-32563	132	6	closed	closed	ADJ
ajst-32563	132	7	loop	loop	NOUN
ajst-32563	132	8	system	system	NOUN
ajst-32563	132	9	is	be	AUX
ajst-32563	132	10	used	use	VERB
ajst-32563	132	11	in	in	ADP
ajst-32563	132	12	the	the	DET
ajst-32563	132	13	quadcopter	quadcopter	NOUN
ajst-32563	132	14	.	.	PUNCT
ajst-32563	133	1	figure	figure	VERB
ajst-32563	133	2	3	3	NUM
ajst-32563	133	3	.	.	PUNCT
ajst-32563	133	4	closed	close	VERB
ajst-32563	133	5	-	-	PUNCT
ajst-32563	133	6	loop	loop	NOUN
ajst-32563	133	7	system	system	NOUN
ajst-32563	133	8	used	use	VERB
ajst-32563	133	9	in	in	ADP
ajst-32563	133	10	quadcopter	quadcopter	NOUN
ajst-32563	133	11	the	the	DET
ajst-32563	133	12	pid	pid	NOUN
ajst-32563	133	13	controller	controller	NOUN
ajst-32563	133	14	is	be	AUX
ajst-32563	133	15	favored	favor	VERB
ajst-32563	133	16	over	over	ADP
ajst-32563	133	17	the	the	DET
ajst-32563	133	18	simplistic	simplistic	ADJ
ajst-32563	133	19	on	on	ADP
ajst-32563	133	20	/	/	SYM
ajst-32563	133	21	off	off	ADP
ajst-32563	133	22	control	control	NOUN
ajst-32563	133	23	as	as	SCONJ
ajst-32563	133	24	it	it	PRON
ajst-32563	133	25	is	be	AUX
ajst-32563	133	26	capable	capable	ADJ
ajst-32563	133	27	of	of	ADP
ajst-32563	133	28	producing	produce	VERB
ajst-32563	133	29	a	a	DET
ajst-32563	133	30	smoother	smooth	ADJ
ajst-32563	133	31	and	and	CCONJ
ajst-32563	133	32	more	more	ADV
ajst-32563	133	33	precise	precise	ADJ
ajst-32563	133	34	control	control	NOUN
ajst-32563	133	35	,	,	PUNCT
ajst-32563	133	36	while	while	SCONJ
ajst-32563	133	37	the	the	DET
ajst-32563	133	38	latter	latter	ADJ
ajst-32563	133	39	results	result	NOUN
ajst-32563	133	40	in	in	ADP
ajst-32563	133	41	fluctuations	fluctuation	NOUN
ajst-32563	133	42	that	that	PRON
ajst-32563	133	43	is	be	AUX
ajst-32563	133	44	not	not	PART
ajst-32563	133	45	tolerable	tolerable	ADJ
ajst-32563	133	46	for	for	ADP
ajst-32563	133	47	the	the	DET
ajst-32563	133	48	purpose	purpose	NOUN
ajst-32563	133	49	of	of	ADP
ajst-32563	133	50	the	the	DET
ajst-32563	133	51	project	project	NOUN
ajst-32563	133	52	,	,	PUNCT
ajst-32563	133	53	as	as	SCONJ
ajst-32563	133	54	illustrated	illustrate	VERB
ajst-32563	133	55	in	in	ADP
ajst-32563	133	56	figure	figure	NOUN
ajst-32563	133	57	4	4	NUM
ajst-32563	133	58	[	[	X
ajst-32563	133	59	34	34	NUM
ajst-32563	133	60	]	]	PUNCT
ajst-32563	133	61	.	.	PUNCT
ajst-32563	134	1	figure	figure	NOUN
ajst-32563	134	2	4	4	NUM
ajst-32563	134	3	.	.	PUNCT
ajst-32563	135	1	the	the	DET
ajst-32563	135	2	issue	issue	NOUN
ajst-32563	135	3	of	of	ADP
ajst-32563	135	4	simplistic	simplistic	ADJ
ajst-32563	135	5	on	on	ADP
ajst-32563	135	6	/	/	SYM
ajst-32563	135	7	off	off	ADP
ajst-32563	135	8	control	control	NOUN
ajst-32563	135	9	192	192	NUM
ajst-32563	135	10	the	the	DET
ajst-32563	135	11	letters	letter	NOUN
ajst-32563	135	12	in	in	ADP
ajst-32563	135	13	pid	pid	NOUN
ajst-32563	135	14	stands	stand	VERB
ajst-32563	135	15	for	for	ADP
ajst-32563	135	16	proportional	proportional	ADJ
ajst-32563	135	17	,	,	PUNCT
ajst-32563	135	18	integral	integral	ADJ
ajst-32563	135	19	,	,	PUNCT
ajst-32563	135	20	and	and	CCONJ
ajst-32563	135	21	derivative	derivative	NOUN
ajst-32563	135	22	,	,	PUNCT
ajst-32563	135	23	which	which	PRON
ajst-32563	135	24	are	be	AUX
ajst-32563	135	25	the	the	DET
ajst-32563	135	26	core	core	ADJ
ajst-32563	135	27	components	component	NOUN
ajst-32563	135	28	in	in	ADP
ajst-32563	135	29	the	the	DET
ajst-32563	135	30	pid	pid	NOUN
ajst-32563	135	31	algorithm	algorithm	NOUN
ajst-32563	135	32	.	.	PUNCT
ajst-32563	136	1	these	these	DET
ajst-32563	136	2	components	component	NOUN
ajst-32563	136	3	are	be	AUX
ajst-32563	136	4	combined	combine	VERB
ajst-32563	136	5	to	to	PART
ajst-32563	136	6	produce	produce	VERB
ajst-32563	136	7	the	the	DET
ajst-32563	136	8	control	control	NOUN
ajst-32563	136	9	output	output	NOUN
ajst-32563	136	10	,	,	PUNCT
ajst-32563	136	11	𝑢	𝑢	PROPN
ajst-32563	136	12	𝑡	𝑡	PROPN
ajst-32563	136	13	,	,	PUNCT
ajst-32563	136	14	which	which	PRON
ajst-32563	136	15	is	be	AUX
ajst-32563	136	16	then	then	ADV
ajst-32563	136	17	used	use	VERB
ajst-32563	136	18	to	to	PART
ajst-32563	136	19	control	control	VERB
ajst-32563	136	20	the	the	DET
ajst-32563	136	21	actuators	actuator	NOUN
ajst-32563	136	22	to	to	PART
ajst-32563	136	23	adjust	adjust	VERB
ajst-32563	136	24	the	the	DET
ajst-32563	136	25	status	status	NOUN
ajst-32563	136	26	:	:	PUNCT
ajst-32563	136	27	𝑢	𝑢	NUM
ajst-32563	136	28	𝑡	𝑡	PROPN
ajst-32563	136	29	𝐾	𝐾	PROPN
ajst-32563	136	30	𝑒	𝑒	PROPN
ajst-32563	136	31	𝑡	𝑡	NOUN
ajst-32563	136	32	𝐾	𝐾	PROPN
ajst-32563	136	33	𝑒	𝑒	PROPN
ajst-32563	136	34	𝜏	𝜏	PRON
ajst-32563	136	35	𝑑𝜏	𝑑𝜏	NOUN
ajst-32563	136	36	𝐾	𝐾	PROPN
ajst-32563	136	37	𝑑𝑒	𝑑𝑒	PROPN
ajst-32563	136	38	𝑡	𝑡	PROPN
ajst-32563	136	39	𝑑𝑡	𝑑𝑡	ADP
ajst-32563	136	40	where	where	SCONJ
ajst-32563	136	41	𝑒	𝑒	PROPN
ajst-32563	136	42	𝑡	𝑡	PROPN
ajst-32563	136	43	is	be	AUX
ajst-32563	136	44	the	the	DET
ajst-32563	136	45	error	error	NOUN
ajst-32563	136	46	function	function	NOUN
ajst-32563	136	47	,	,	PUNCT
ajst-32563	136	48	that	that	ADV
ajst-32563	136	49	is	is	ADV
ajst-32563	136	50	,	,	PUNCT
ajst-32563	136	51	the	the	DET
ajst-32563	136	52	function	function	NOUN
ajst-32563	136	53	that	that	PRON
ajst-32563	136	54	outputs	output	VERB
ajst-32563	136	55	the	the	DET
ajst-32563	136	56	error	error	NOUN
ajst-32563	136	57	between	between	ADP
ajst-32563	136	58	the	the	DET
ajst-32563	136	59	reference	reference	NOUN
ajst-32563	136	60	(	(	PUNCT
ajst-32563	136	61	desired	desire	VERB
ajst-32563	136	62	status	status	NOUN
ajst-32563	136	63	)	)	PUNCT
ajst-32563	136	64	,	,	PUNCT
ajst-32563	136	65	𝑟	𝑟	DET
ajst-32563	136	66	𝑡	𝑡	PROPN
ajst-32563	136	67	,	,	PUNCT
ajst-32563	136	68	and	and	CCONJ
ajst-32563	136	69	the	the	DET
ajst-32563	136	70	output	output	NOUN
ajst-32563	136	71	(	(	PUNCT
ajst-32563	136	72	actual	actual	ADJ
ajst-32563	136	73	status	status	NOUN
ajst-32563	136	74	)	)	PUNCT
ajst-32563	136	75	,	,	PUNCT
ajst-32563	136	76	𝑦	𝑦	NOUN
ajst-32563	136	77	𝑡	𝑡	PROPN
ajst-32563	136	78	,	,	PUNCT
ajst-32563	136	79	with	with	ADP
ajst-32563	136	80	respect	respect	NOUN
ajst-32563	136	81	to	to	ADP
ajst-32563	136	82	time	time	NOUN
ajst-32563	136	83	𝑡	𝑡	PROPN
ajst-32563	136	84	:	:	PUNCT
ajst-32563	136	85	𝑒	𝑒	X
ajst-32563	136	86	𝑡	𝑡	DET
ajst-32563	136	87	𝑟	𝑟	NOUN
ajst-32563	136	88	𝑡	𝑡	X
ajst-32563	136	89	𝑦	𝑦	NUM
ajst-32563	136	90	𝑡	𝑡	X
ajst-32563	136	91	𝐾	𝐾	PROPN
ajst-32563	136	92	,	,	PUNCT
ajst-32563	136	93	𝐾	𝐾	PROPN
ajst-32563	136	94	,	,	PUNCT
ajst-32563	136	95	and	and	CCONJ
ajst-32563	136	96	𝐾	𝐾	PROPN
ajst-32563	136	97	are	be	AUX
ajst-32563	136	98	the	the	DET
ajst-32563	136	99	proportional	proportional	ADJ
ajst-32563	136	100	gain	gain	NOUN
ajst-32563	136	101	,	,	PUNCT
ajst-32563	136	102	derivative	derivative	ADJ
ajst-32563	136	103	gain	gain	NOUN
ajst-32563	136	104	,	,	PUNCT
ajst-32563	136	105	and	and	CCONJ
ajst-32563	136	106	integral	integral	ADJ
ajst-32563	136	107	gain	gain	NOUN
ajst-32563	136	108	respectively	respectively	ADV
ajst-32563	136	109	,	,	PUNCT
ajst-32563	136	110	in	in	ADP
ajst-32563	136	111	other	other	ADJ
ajst-32563	136	112	words	word	NOUN
ajst-32563	136	113	,	,	PUNCT
ajst-32563	136	114	constant	constant	ADJ
ajst-32563	136	115	coefficients	coefficient	NOUN
ajst-32563	136	116	set	set	VERB
ajst-32563	136	117	manually	manually	ADV
ajst-32563	136	118	during	during	ADP
ajst-32563	136	119	configuration	configuration	NOUN
ajst-32563	136	120	.	.	PUNCT
ajst-32563	137	1	these	these	PRON
ajst-32563	137	2	determine	determine	VERB
ajst-32563	137	3	the	the	DET
ajst-32563	137	4	significant	significant	NOUN
ajst-32563	137	5	of	of	ADP
ajst-32563	137	6	the	the	DET
ajst-32563	137	7	three	three	NUM
ajst-32563	137	8	components	component	NOUN
ajst-32563	137	9	,	,	PUNCT
ajst-32563	137	10	p	p	X
ajst-32563	137	11	,	,	PUNCT
ajst-32563	137	12	i	i	PRON
ajst-32563	137	13	,	,	PUNCT
ajst-32563	137	14	and	and	CCONJ
ajst-32563	137	15	d	d	NOUN
ajst-32563	137	16	:	:	PUNCT
ajst-32563	137	17	the	the	DET
ajst-32563	137	18	proportional	proportional	ADJ
ajst-32563	137	19	component	component	NOUN
ajst-32563	137	20	(	(	PUNCT
ajst-32563	137	21	p	p	NOUN
ajst-32563	137	22	)	)	PUNCT
ajst-32563	137	23	is	be	AUX
ajst-32563	137	24	simply	simply	ADV
ajst-32563	137	25	the	the	DET
ajst-32563	137	26	error	error	NOUN
ajst-32563	137	27	function	function	NOUN
ajst-32563	137	28	,	,	PUNCT
ajst-32563	137	29	𝑒	𝑒	PROPN
ajst-32563	137	30	𝑡	𝑡	PROPN
ajst-32563	137	31	.	.	PUNCT
ajst-32563	138	1	this	this	DET
ajst-32563	138	2	component	component	NOUN
ajst-32563	138	3	responds	respond	VERB
ajst-32563	138	4	rapidly	rapidly	ADV
ajst-32563	138	5	to	to	ADP
ajst-32563	138	6	error	error	NOUN
ajst-32563	138	7	,	,	PUNCT
ajst-32563	138	8	enabling	enable	VERB
ajst-32563	138	9	a	a	DET
ajst-32563	138	10	quick	quick	ADJ
ajst-32563	138	11	response	response	NOUN
ajst-32563	138	12	even	even	ADV
ajst-32563	138	13	for	for	ADP
ajst-32563	138	14	a	a	DET
ajst-32563	138	15	small	small	ADJ
ajst-32563	138	16	error	error	NOUN
ajst-32563	138	17	[	[	X
ajst-32563	138	18	35	35	NUM
ajst-32563	138	19	]	]	PUNCT
ajst-32563	138	20	.	.	PUNCT
ajst-32563	139	1	however	however	ADV
ajst-32563	139	2	,	,	PUNCT
ajst-32563	139	3	if	if	SCONJ
ajst-32563	139	4	used	use	VERB
ajst-32563	139	5	excessively	excessively	ADV
ajst-32563	139	6	,	,	PUNCT
ajst-32563	139	7	this	this	DET
ajst-32563	139	8	component	component	NOUN
ajst-32563	139	9	will	will	AUX
ajst-32563	139	10	also	also	ADV
ajst-32563	139	11	increase	increase	VERB
ajst-32563	139	12	the	the	DET
ajst-32563	139	13	overshoot	overshoot	NOUN
ajst-32563	139	14	,	,	PUNCT
ajst-32563	139	15	causing	cause	VERB
ajst-32563	139	16	the	the	DET
ajst-32563	139	17	drone	drone	NOUN
ajst-32563	139	18	to	to	PART
ajst-32563	139	19	be	be	AUX
ajst-32563	139	20	unstable	unstable	ADJ
ajst-32563	139	21	and	and	CCONJ
ajst-32563	139	22	sway	sway	VERB
ajst-32563	139	23	in	in	ADP
ajst-32563	139	24	the	the	DET
ajst-32563	139	25	air	air	NOUN
ajst-32563	139	26	in	in	ADP
ajst-32563	139	27	an	an	DET
ajst-32563	139	28	overresponse	overresponse	NOUN
ajst-32563	139	29	to	to	ADP
ajst-32563	139	30	the	the	DET
ajst-32563	139	31	error	error	NOUN
ajst-32563	139	32	.	.	PUNCT
ajst-32563	140	1	this	this	PRON
ajst-32563	140	2	is	be	AUX
ajst-32563	140	3	because	because	SCONJ
ajst-32563	140	4	the	the	DET
ajst-32563	140	5	drone	drone	NOUN
ajst-32563	140	6	’s	’s	PART
ajst-32563	140	7	inertia	inertia	NOUN
ajst-32563	140	8	is	be	AUX
ajst-32563	140	9	not	not	PART
ajst-32563	140	10	considered	consider	VERB
ajst-32563	140	11	in	in	ADP
ajst-32563	140	12	the	the	DET
ajst-32563	140	13	calculation	calculation	NOUN
ajst-32563	140	14	.	.	PUNCT
ajst-32563	141	1	the	the	DET
ajst-32563	141	2	derivative	derivative	ADJ
ajst-32563	141	3	component	component	NOUN
ajst-32563	141	4	(	(	PUNCT
ajst-32563	141	5	d	d	X
ajst-32563	141	6	)	)	PUNCT
ajst-32563	141	7	is	be	AUX
ajst-32563	141	8	𝑑𝑒	𝑑𝑒	PROPN
ajst-32563	141	9	𝑡	𝑡	PROPN
ajst-32563	141	10	𝑑𝑡⁄	𝑑𝑡⁄	PROPN
ajst-32563	141	11	,	,	PUNCT
ajst-32563	141	12	the	the	DET
ajst-32563	141	13	derivative	derivative	NOUN
ajst-32563	141	14	of	of	ADP
ajst-32563	141	15	e	e	NOUN
ajst-32563	141	16	𝑡	𝑡	PROPN
ajst-32563	141	17	with	with	ADP
ajst-32563	141	18	respect	respect	NOUN
ajst-32563	141	19	to	to	ADP
ajst-32563	141	20	𝑡	𝑡	PROPN
ajst-32563	141	21	.	.	PUNCT
ajst-32563	142	1	this	this	DET
ajst-32563	142	2	component	component	NOUN
ajst-32563	142	3	adjusts	adjust	VERB
ajst-32563	142	4	the	the	DET
ajst-32563	142	5	control	control	NOUN
ajst-32563	142	6	output	output	NOUN
ajst-32563	142	7	in	in	ADP
ajst-32563	142	8	accordance	accordance	NOUN
ajst-32563	142	9	with	with	ADP
ajst-32563	142	10	the	the	DET
ajst-32563	142	11	rate	rate	NOUN
ajst-32563	142	12	of	of	ADP
ajst-32563	142	13	change	change	NOUN
ajst-32563	142	14	of	of	ADP
ajst-32563	142	15	error	error	NOUN
ajst-32563	142	16	,	,	PUNCT
ajst-32563	142	17	which	which	PRON
ajst-32563	142	18	opposes	oppose	VERB
ajst-32563	142	19	the	the	DET
ajst-32563	142	20	proportional	proportional	ADJ
ajst-32563	142	21	component	component	NOUN
ajst-32563	142	22	,	,	PUNCT
ajst-32563	142	23	reducing	reduce	VERB
ajst-32563	142	24	the	the	DET
ajst-32563	142	25	instability	instability	NOUN
ajst-32563	142	26	it	it	PRON
ajst-32563	142	27	causes	cause	VERB
ajst-32563	142	28	[	[	X
ajst-32563	142	29	36	36	NUM
ajst-32563	142	30	]	]	PUNCT
ajst-32563	142	31	.	.	PUNCT
ajst-32563	143	1	the	the	DET
ajst-32563	143	2	integral	integral	ADJ
ajst-32563	143	3	component	component	NOUN
ajst-32563	143	4	(	(	PUNCT
ajst-32563	143	5	i	i	NOUN
ajst-32563	143	6	)	)	PUNCT
ajst-32563	143	7	is	be	AUX
ajst-32563	143	8	𝑒	𝑒	PROPN
ajst-32563	143	9	𝜏	𝜏	PRON
ajst-32563	143	10	𝑑𝜏	𝑑𝜏	NOUN
ajst-32563	143	11	,	,	PUNCT
ajst-32563	143	12	which	which	PRON
ajst-32563	143	13	is	be	AUX
ajst-32563	143	14	not	not	PART
ajst-32563	143	15	significant	significant	ADJ
ajst-32563	143	16	for	for	ADP
ajst-32563	143	17	the	the	DET
ajst-32563	143	18	quadcopter	quadcopter	NOUN
ajst-32563	143	19	project	project	NOUN
ajst-32563	143	20	.	.	PUNCT
ajst-32563	144	1	this	this	PRON
ajst-32563	144	2	is	be	AUX
ajst-32563	144	3	more	more	ADV
ajst-32563	144	4	useful	useful	ADJ
ajst-32563	144	5	when	when	SCONJ
ajst-32563	144	6	there	there	PRON
ajst-32563	144	7	is	be	VERB
ajst-32563	144	8	a	a	DET
ajst-32563	144	9	continuous	continuous	ADJ
ajst-32563	144	10	effect	effect	NOUN
ajst-32563	144	11	,	,	PUNCT
ajst-32563	144	12	as	as	SCONJ
ajst-32563	144	13	the	the	DET
ajst-32563	144	14	integral	integral	ADJ
ajst-32563	144	15	will	will	AUX
ajst-32563	144	16	build	build	VERB
ajst-32563	144	17	up	up	ADP
ajst-32563	144	18	as	as	SCONJ
ajst-32563	144	19	the	the	DET
ajst-32563	144	20	effect	effect	NOUN
ajst-32563	144	21	continues	continue	VERB
ajst-32563	144	22	in	in	ADP
ajst-32563	144	23	a	a	DET
ajst-32563	144	24	direction	direction	NOUN
ajst-32563	144	25	,	,	PUNCT
ajst-32563	144	26	such	such	ADJ
ajst-32563	144	27	as	as	ADP
ajst-32563	144	28	a	a	DET
ajst-32563	144	29	large	large	ADJ
ajst-32563	144	30	constant	constant	ADJ
ajst-32563	144	31	wind	wind	NOUN
ajst-32563	144	32	.	.	PUNCT
ajst-32563	145	1	however	however	ADV
ajst-32563	145	2	,	,	PUNCT
ajst-32563	145	3	it	it	PRON
ajst-32563	145	4	is	be	AUX
ajst-32563	145	5	not	not	PART
ajst-32563	145	6	particularly	particularly	ADV
ajst-32563	145	7	useful	useful	ADJ
ajst-32563	145	8	for	for	ADP
ajst-32563	145	9	the	the	DET
ajst-32563	145	10	random	random	ADJ
ajst-32563	145	11	gusts	gust	NOUN
ajst-32563	145	12	under	under	ADP
ajst-32563	145	13	normal	normal	ADJ
ajst-32563	145	14	circumstances	circumstance	NOUN
ajst-32563	145	15	encountered	encounter	VERB
ajst-32563	145	16	during	during	ADP
ajst-32563	145	17	flight	flight	NOUN
ajst-32563	145	18	[	[	X
ajst-32563	145	19	37	37	NUM
ajst-32563	145	20	]	]	SYM
ajst-32563	145	21	.	.	PUNCT
ajst-32563	146	1	3	3	X
ajst-32563	146	2	.	.	X
ajst-32563	146	3	discussion	discussion	NOUN
ajst-32563	146	4	to	to	PART
ajst-32563	146	5	evaluate	evaluate	VERB
ajst-32563	146	6	the	the	DET
ajst-32563	146	7	performance	performance	NOUN
ajst-32563	146	8	of	of	ADP
ajst-32563	146	9	the	the	DET
ajst-32563	146	10	designed	design	VERB
ajst-32563	146	11	quadcopter	quadcopter	NOUN
ajst-32563	146	12	system	system	NOUN
ajst-32563	146	13	and	and	CCONJ
ajst-32563	146	14	validate	validate	VERB
ajst-32563	146	15	the	the	DET
ajst-32563	146	16	effectiveness	effectiveness	NOUN
ajst-32563	146	17	of	of	ADP
ajst-32563	146	18	the	the	DET
ajst-32563	146	19	implemented	implement	VERB
ajst-32563	146	20	algorithms	algorithm	NOUN
ajst-32563	146	21	,	,	PUNCT
ajst-32563	146	22	several	several	ADJ
ajst-32563	146	23	experiments	experiment	NOUN
ajst-32563	146	24	were	be	AUX
ajst-32563	146	25	conducted	conduct	VERB
ajst-32563	146	26	focusing	focus	VERB
ajst-32563	146	27	on	on	ADP
ajst-32563	146	28	signal	signal	ADJ
ajst-32563	146	29	processing	processing	NOUN
ajst-32563	146	30	,	,	PUNCT
ajst-32563	146	31	communication	communication	NOUN
ajst-32563	146	32	,	,	PUNCT
ajst-32563	146	33	and	and	CCONJ
ajst-32563	146	34	motion	motion	NOUN
ajst-32563	146	35	sensing	sensing	NOUN
ajst-32563	146	36	.	.	PUNCT
ajst-32563	147	1	the	the	DET
ajst-32563	147	2	analysis	analysis	NOUN
ajst-32563	147	3	primarily	primarily	ADV
ajst-32563	147	4	investigates	investigate	VERB
ajst-32563	147	5	how	how	SCONJ
ajst-32563	147	6	kalman	kalman	PROPN
ajst-32563	147	7	filtering	filtering	PROPN
ajst-32563	147	8	,	,	PUNCT
ajst-32563	147	9	pid	pid	NOUN
ajst-32563	147	10	control	control	NOUN
ajst-32563	147	11	,	,	PUNCT
ajst-32563	147	12	and	and	CCONJ
ajst-32563	147	13	communication	communication	NOUN
ajst-32563	147	14	modules	module	NOUN
ajst-32563	147	15	contribute	contribute	VERB
ajst-32563	147	16	to	to	ADP
ajst-32563	147	17	the	the	DET
ajst-32563	147	18	overall	overall	ADJ
ajst-32563	147	19	system	system	NOUN
ajst-32563	147	20	stability	stability	NOUN
ajst-32563	147	21	and	and	CCONJ
ajst-32563	147	22	precision	precision	NOUN
ajst-32563	147	23	.	.	PUNCT
ajst-32563	148	1	figure	figure	NOUN
ajst-32563	148	2	5	5	NUM
ajst-32563	148	3	shows	show	VERB
ajst-32563	148	4	the	the	DET
ajst-32563	148	5	output	output	NOUN
ajst-32563	148	6	of	of	ADP
ajst-32563	148	7	acc_x	acc_x	PROPN
ajst-32563	148	8	without	without	ADP
ajst-32563	148	9	kalman	kalman	PROPN
ajst-32563	148	10	filtering	filtering	PROPN
ajst-32563	148	11	,	,	PUNCT
ajst-32563	148	12	and	and	CCONJ
ajst-32563	148	13	figure	figure	VERB
ajst-32563	148	14	6	6	NUM
ajst-32563	148	15	shows	show	VERB
ajst-32563	148	16	it	it	PRON
ajst-32563	148	17	with	with	ADP
ajst-32563	148	18	kalman	kalman	NOUN
ajst-32563	148	19	filtering	filtering	PROPN
ajst-32563	148	20	(	(	PUNCT
ajst-32563	148	21	not	not	PART
ajst-32563	148	22	recorded	record	VERB
ajst-32563	148	23	simultaneously	simultaneously	ADV
ajst-32563	148	24	)	)	PUNCT
ajst-32563	148	25	.	.	PUNCT
ajst-32563	149	1	it	it	PRON
ajst-32563	149	2	is	be	AUX
ajst-32563	149	3	noticeable	noticeable	ADJ
ajst-32563	149	4	that	that	SCONJ
ajst-32563	149	5	the	the	DET
ajst-32563	149	6	signal	signal	NOUN
ajst-32563	149	7	with	with	ADP
ajst-32563	149	8	filtering	filtering	NOUN
ajst-32563	149	9	is	be	AUX
ajst-32563	149	10	much	much	ADV
ajst-32563	149	11	smoother	smooth	ADJ
ajst-32563	149	12	than	than	ADP
ajst-32563	149	13	such	such	ADJ
ajst-32563	149	14	without	without	ADP
ajst-32563	149	15	filtering	filter	VERB
ajst-32563	149	16	.	.	PUNCT
ajst-32563	150	1	figure	figure	NOUN
ajst-32563	150	2	5	5	NUM
ajst-32563	150	3	.	.	PUNCT
ajst-32563	151	1	the	the	DET
ajst-32563	151	2	output	output	NOUN
ajst-32563	151	3	of	of	ADP
ajst-32563	151	4	acc_x	acc_x	PROPN
ajst-32563	151	5	without	without	ADP
ajst-32563	151	6	kalman	kalman	PROPN
ajst-32563	151	7	filtering	filtering	PROPN
ajst-32563	151	8	;	;	PUNCT
ajst-32563	151	9	figure	figure	NOUN
ajst-32563	151	10	6	6	NUM
ajst-32563	151	11	.	.	PUNCT
ajst-32563	152	1	the	the	DET
ajst-32563	152	2	output	output	NOUN
ajst-32563	152	3	of	of	ADP
ajst-32563	152	4	acc_x	acc_x	PROPN
ajst-32563	152	5	with	with	ADP
ajst-32563	152	6	kalman	kalman	PROPN
ajst-32563	152	7	filtering	filtering	PROPN
ajst-32563	152	8	figure	figure	NOUN
ajst-32563	152	9	7	7	NUM
ajst-32563	152	10	shows	show	VERB
ajst-32563	152	11	the	the	DET
ajst-32563	152	12	transmission	transmission	NOUN
ajst-32563	152	13	of	of	ADP
ajst-32563	152	14	the	the	DET
ajst-32563	152	15	string	string	NOUN
ajst-32563	152	16	“	"	PUNCT
ajst-32563	152	17	hello	hello	PROPN
ajst-32563	152	18	world!\r\n	world!\r\n	PROPN
ajst-32563	152	19	”	"	PUNCT
ajst-32563	152	20	via	via	ADP
ajst-32563	152	21	usart	usart	PROPN
ajst-32563	152	22	,	,	PUNCT
ajst-32563	152	23	and	and	CCONJ
ajst-32563	152	24	the	the	DET
ajst-32563	152	25	reception	reception	NOUN
ajst-32563	152	26	of	of	ADP
ajst-32563	152	27	it	it	PRON
ajst-32563	152	28	using	use	VERB
ajst-32563	152	29	an	an	DET
ajst-32563	152	30	open	open	ADJ
ajst-32563	152	31	-	-	PUNCT
ajst-32563	152	32	source	source	NOUN
ajst-32563	152	33	flight	flight	NOUN
ajst-32563	152	34	control	control	NOUN
ajst-32563	152	35	terminal	terminal	PROPN
ajst-32563	152	36	.	.	PUNCT
ajst-32563	153	1	figure	figure	NOUN
ajst-32563	153	2	8	8	NUM
ajst-32563	153	3	shows	show	VERB
ajst-32563	153	4	output	output	NOUN
ajst-32563	153	5	from	from	ADP
ajst-32563	153	6	mpu6050	mpu6050	PROPN
ajst-32563	153	7	about	about	ADP
ajst-32563	153	8	the	the	DET
ajst-32563	153	9	rotation	rotation	NOUN
ajst-32563	153	10	along	along	ADP
ajst-32563	153	11	the	the	DET
ajst-32563	153	12	x	x	NOUN
ajst-32563	153	13	axis	axis	NOUN
ajst-32563	153	14	,	,	PUNCT
ajst-32563	153	15	also	also	ADV
ajst-32563	153	16	transmitted	transmit	VERB
ajst-32563	153	17	to	to	ADP
ajst-32563	153	18	the	the	DET
ajst-32563	153	19	computer	computer	NOUN
ajst-32563	153	20	via	via	ADP
ajst-32563	153	21	usart	usart	PROPN
ajst-32563	153	22	.	.	PUNCT
ajst-32563	154	1	193	193	NUM
ajst-32563	154	2	figure	figure	NOUN
ajst-32563	154	3	7	7	NUM
ajst-32563	154	4	.	.	PUNCT
ajst-32563	154	5	figure	figure	VERB
ajst-32563	154	6	8	8	NUM
ajst-32563	154	7	related	relate	VERB
ajst-32563	154	8	code	code	NOUN
ajst-32563	154	9	diagram	diagram	NOUN
ajst-32563	154	10	overall	overall	ADV
ajst-32563	154	11	,	,	PUNCT
ajst-32563	154	12	the	the	DET
ajst-32563	154	13	experimental	experimental	ADJ
ajst-32563	154	14	results	result	NOUN
ajst-32563	154	15	validated	validate	VERB
ajst-32563	154	16	previous	previous	ADJ
ajst-32563	154	17	expectations	expectation	NOUN
ajst-32563	154	18	.	.	PUNCT
ajst-32563	155	1	4	4	X
ajst-32563	155	2	.	.	X
ajst-32563	155	3	conclusion	conclusion	NOUN
ajst-32563	155	4	this	this	DET
ajst-32563	155	5	paper	paper	NOUN
ajst-32563	155	6	provides	provide	VERB
ajst-32563	155	7	a	a	DET
ajst-32563	155	8	comprehensive	comprehensive	ADJ
ajst-32563	155	9	and	and	CCONJ
ajst-32563	155	10	top	top	ADJ
ajst-32563	155	11	-	-	PUNCT
ajst-32563	155	12	level	level	NOUN
ajst-32563	155	13	overview	overview	NOUN
ajst-32563	155	14	of	of	ADP
ajst-32563	155	15	the	the	DET
ajst-32563	155	16	various	various	ADJ
ajst-32563	155	17	components	component	NOUN
ajst-32563	155	18	in	in	ADP
ajst-32563	155	19	the	the	DET
ajst-32563	155	20	quadcopter	quadcopter	NOUN
ajst-32563	155	21	.	.	PUNCT
ajst-32563	156	1	this	this	DET
ajst-32563	156	2	review	review	NOUN
ajst-32563	156	3	has	have	AUX
ajst-32563	156	4	presented	present	VERB
ajst-32563	156	5	a	a	DET
ajst-32563	156	6	detailed	detailed	ADJ
ajst-32563	156	7	and	and	CCONJ
ajst-32563	156	8	systematic	systematic	ADJ
ajst-32563	156	9	examination	examination	NOUN
ajst-32563	156	10	of	of	ADP
ajst-32563	156	11	the	the	DET
ajst-32563	156	12	fundamental	fundamental	ADJ
ajst-32563	156	13	components	component	NOUN
ajst-32563	156	14	and	and	CCONJ
ajst-32563	156	15	control	control	NOUN
ajst-32563	156	16	principles	principle	NOUN
ajst-32563	156	17	underlying	underlie	VERB
ajst-32563	156	18	a	a	DET
ajst-32563	156	19	quadcopter	quadcopter	NOUN
ajst-32563	156	20	system	system	NOUN
ajst-32563	156	21	.	.	PUNCT
ajst-32563	157	1	by	by	ADP
ajst-32563	157	2	integrating	integrate	VERB
ajst-32563	157	3	electronic	electronic	ADJ
ajst-32563	157	4	modules	module	NOUN
ajst-32563	157	5	,	,	PUNCT
ajst-32563	157	6	the	the	DET
ajst-32563	157	7	study	study	NOUN
ajst-32563	157	8	illustrates	illustrate	VERB
ajst-32563	157	9	how	how	SCONJ
ajst-32563	157	10	modern	modern	ADJ
ajst-32563	157	11	quadcopters	quadcopter	NOUN
ajst-32563	157	12	achieve	achieve	VERB
ajst-32563	157	13	precise	precise	ADJ
ajst-32563	157	14	maneuverability	maneuverability	NOUN
ajst-32563	157	15	and	and	CCONJ
ajst-32563	157	16	stability	stability	NOUN
ajst-32563	157	17	.	.	PUNCT
ajst-32563	158	1	furthermore	furthermore	ADV
ajst-32563	158	2	,	,	PUNCT
ajst-32563	158	3	the	the	DET
ajst-32563	158	4	implementation	implementation	NOUN
ajst-32563	158	5	of	of	ADP
ajst-32563	158	6	kalman	kalman	PROPN
ajst-32563	158	7	filtering	filtering	PROPN
ajst-32563	158	8	and	and	CCONJ
ajst-32563	158	9	pid	pid	NOUN
ajst-32563	158	10	control	control	NOUN
ajst-32563	158	11	demonstrates	demonstrate	VERB
ajst-32563	158	12	the	the	DET
ajst-32563	158	13	critical	critical	ADJ
ajst-32563	158	14	role	role	NOUN
ajst-32563	158	15	of	of	ADP
ajst-32563	158	16	signal	signal	NOUN
ajst-32563	158	17	processing	processing	NOUN
ajst-32563	158	18	and	and	CCONJ
ajst-32563	158	19	feedback	feedback	NOUN
ajst-32563	158	20	regulation	regulation	NOUN
ajst-32563	158	21	in	in	ADP
ajst-32563	158	22	ensuring	ensure	VERB
ajst-32563	158	23	reliable	reliable	ADJ
ajst-32563	158	24	performance	performance	NOUN
ajst-32563	158	25	under	under	ADP
ajst-32563	158	26	dynamic	dynamic	ADJ
ajst-32563	158	27	flight	flight	NOUN
ajst-32563	158	28	conditions	condition	NOUN
ajst-32563	158	29	.	.	PUNCT
ajst-32563	159	1	future	future	ADJ
ajst-32563	159	2	work	work	NOUN
ajst-32563	159	3	may	may	AUX
ajst-32563	159	4	focus	focus	VERB
ajst-32563	159	5	on	on	ADP
ajst-32563	159	6	expanding	expand	VERB
ajst-32563	159	7	the	the	DET
ajst-32563	159	8	system	system	NOUN
ajst-32563	159	9	’s	’s	PART
ajst-32563	159	10	autonomy	autonomy	NOUN
ajst-32563	159	11	through	through	ADP
ajst-32563	159	12	adaptive	adaptive	ADJ
ajst-32563	159	13	control	control	NOUN
ajst-32563	159	14	,	,	PUNCT
ajst-32563	159	15	real	real	ADJ
ajst-32563	159	16	-	-	PUNCT
ajst-32563	159	17	time	time	NOUN
ajst-32563	159	18	path	path	NOUN
ajst-32563	159	19	planning	planning	NOUN
ajst-32563	159	20	,	,	PUNCT
ajst-32563	159	21	and	and	CCONJ
ajst-32563	159	22	the	the	DET
ajst-32563	159	23	integration	integration	NOUN
ajst-32563	159	24	of	of	ADP
ajst-32563	159	25	ai	ai	ADJ
ajst-32563	159	26	-	-	PUNCT
ajst-32563	159	27	driven	drive	VERB
ajst-32563	159	28	flight	flight	NOUN
ajst-32563	159	29	strategies	strategy	NOUN
ajst-32563	159	30	.	.	PUNCT
ajst-32563	160	1	additionally	additionally	ADV
ajst-32563	160	2	,	,	PUNCT
ajst-32563	160	3	enhancing	enhance	VERB
ajst-32563	160	4	communication	communication	NOUN
ajst-32563	160	5	reliability	reliability	NOUN
ajst-32563	160	6	,	,	PUNCT
ajst-32563	160	7	developing	develop	VERB
ajst-32563	160	8	energy	energy	NOUN
ajst-32563	160	9	-	-	PUNCT
ajst-32563	160	10	efficient	efficient	ADJ
ajst-32563	160	11	architectures	architecture	NOUN
ajst-32563	160	12	,	,	PUNCT
ajst-32563	160	13	and	and	CCONJ
ajst-32563	160	14	introducing	introduce	VERB
ajst-32563	160	15	swarm	swarm	NOUN
ajst-32563	160	16	coordination	coordination	NOUN
ajst-32563	160	17	could	could	AUX
ajst-32563	160	18	further	far	ADV
ajst-32563	160	19	broaden	broaden	VERB
ajst-32563	160	20	the	the	DET
ajst-32563	160	21	applications	application	NOUN
ajst-32563	160	22	of	of	ADP
ajst-32563	160	23	quadcopters	quadcopter	NOUN
ajst-32563	160	24	in	in	ADP
ajst-32563	160	25	areas	area	NOUN
ajst-32563	160	26	such	such	ADJ
ajst-32563	160	27	as	as	ADP
ajst-32563	160	28	environmental	environmental	ADJ
ajst-32563	160	29	monitoring	monitoring	NOUN
ajst-32563	160	30	,	,	PUNCT
ajst-32563	160	31	precision	precision	NOUN
ajst-32563	160	32	agriculture	agriculture	NOUN
ajst-32563	160	33	,	,	PUNCT
ajst-32563	160	34	and	and	CCONJ
ajst-32563	160	35	search	search	NOUN
ajst-32563	160	36	-	-	PUNCT
ajst-32563	160	37	and	and	CCONJ
ajst-32563	160	38	-	-	PUNCT
ajst-32563	160	39	rescue	rescue	NOUN
ajst-32563	160	40	operations	operation	NOUN
ajst-32563	160	41	.	.	PUNCT
ajst-32563	161	1	more	more	ADJ
ajst-32563	161	2	research	research	NOUN
ajst-32563	161	3	can	can	AUX
ajst-32563	161	4	be	be	AUX
ajst-32563	161	5	conducted	conduct	VERB
ajst-32563	161	6	with	with	ADP
ajst-32563	161	7	further	further	ADJ
ajst-32563	161	8	depth	depth	NOUN
ajst-32563	161	9	to	to	PART
ajst-32563	161	10	explore	explore	VERB
ajst-32563	161	11	these	these	DET
ajst-32563	161	12	fields	field	NOUN
ajst-32563	161	13	in	in	ADP
ajst-32563	161	14	greater	great	ADJ
ajst-32563	161	15	technical	technical	ADJ
ajst-32563	161	16	detail	detail	NOUN
ajst-32563	161	17	,	,	PUNCT
ajst-32563	161	18	forming	form	VERB
ajst-32563	161	19	an	an	DET
ajst-32563	161	20	overview	overview	NOUN
ajst-32563	161	21	that	that	PRON
ajst-32563	161	22	is	be	AUX
ajst-32563	161	23	suitable	suitable	ADJ
ajst-32563	161	24	for	for	ADP
ajst-32563	161	25	professionals	professional	NOUN
ajst-32563	161	26	in	in	ADP
ajst-32563	161	27	the	the	DET
ajst-32563	161	28	industry	industry	NOUN
ajst-32563	161	29	.	.	PUNCT
ajst-32563	162	1	overall	overall	ADV
ajst-32563	162	2	,	,	PUNCT
ajst-32563	162	3	the	the	DET
ajst-32563	162	4	research	research	NOUN
ajst-32563	162	5	lays	lay	VERB
ajst-32563	162	6	a	a	DET
ajst-32563	162	7	solid	solid	ADJ
ajst-32563	162	8	foundation	foundation	NOUN
ajst-32563	162	9	for	for	ADP
ajst-32563	162	10	understanding	understanding	NOUN
ajst-32563	162	11	and	and	CCONJ
ajst-32563	162	12	advancing	advance	VERB
ajst-32563	162	13	the	the	DET
ajst-32563	162	14	interdisciplinary	interdisciplinary	ADJ
ajst-32563	162	15	design	design	NOUN
ajst-32563	162	16	of	of	ADP
ajst-32563	162	17	modern	modern	ADJ
ajst-32563	162	18	uav	uav	PROPN
ajst-32563	162	19	platforms	platform	NOUN
ajst-32563	162	20	.	.	PUNCT
ajst-32563	163	1	references	reference	NOUN
ajst-32563	163	2	[	[	X
ajst-32563	163	3	1	1	NUM
ajst-32563	163	4	]	]	PUNCT
ajst-32563	163	5	wikipedia	wikipedia	PROPN
ajst-32563	163	6	contributors	contributors	PROPN
ajst-32563	163	7	.	.	PUNCT
ajst-32563	164	1	(	(	PUNCT
ajst-32563	164	2	2025	2025	NUM
ajst-32563	164	3	,	,	PUNCT
ajst-32563	164	4	july	july	PROPN
ajst-32563	164	5	22	22	NUM
ajst-32563	164	6	)	)	PUNCT
ajst-32563	164	7	.	.	PUNCT
ajst-32563	165	1	unmanned	unmanned	ADJ
ajst-32563	165	2	aerial	aerial	ADJ
ajst-32563	165	3	vehicle	vehicle	NOUN
ajst-32563	165	4	wikipedia	wikipedia	PROPN
ajst-32563	165	5	.	.	PUNCT
ajst-32563	166	1	https://	https://	PROPN
ajst-32563	166	2	en	en	PROPN
ajst-32563	166	3	.	.	PUNCT
ajst-32563	167	1	wikipedia.org/wiki/unmanned_aerial_vehicle	wikipedia.org/wiki/unmanned_aerial_vehicle	PROPN
ajst-32563	167	2	.	.	PUNCT
ajst-32563	168	1	[	[	X
ajst-32563	168	2	2	2	X
ajst-32563	168	3	]	]	PUNCT
ajst-32563	168	4	the	the	DET
ajst-32563	168	5	complete	complete	ADJ
ajst-32563	168	6	history	history	NOUN
ajst-32563	168	7	of	of	ADP
ajst-32563	168	8	drones	drone	NOUN
ajst-32563	168	9	for	for	ADP
ajst-32563	168	10	police	police	NOUN
ajst-32563	168	11	and	and	CCONJ
ajst-32563	168	12	law	law	NOUN
ajst-32563	168	13	enforcement	enforcement	NOUN
ajst-32563	168	14	.	.	PUNCT
ajst-32563	169	1	(	(	PUNCT
ajst-32563	169	2	n.d	n.d	PROPN
ajst-32563	169	3	.	.	PROPN
ajst-32563	169	4	)	)	PUNCT
ajst-32563	169	5	.	.	PUNCT
ajst-32563	170	1	axon	axon	PROPN
ajst-32563	170	2	.	.	PUNCT
ajst-32563	171	1	retrieved	retrieve	VERB
ajst-32563	171	2	july	july	PROPN
ajst-32563	171	3	23	23	NUM
ajst-32563	171	4	,	,	PUNCT
ajst-32563	171	5	2025	2025	NUM
ajst-32563	171	6	,	,	PUNCT
ajst-32563	171	7	from	from	ADP
ajst-32563	171	8	https://www.axon.com/resources/history-of-drones	https://www.axon.com/resources/history-of-drone	NOUN
ajst-32563	171	9	.	.	PUNCT
ajst-32563	172	1	[	[	X
ajst-32563	172	2	3	3	NUM
ajst-32563	172	3	]	]	PUNCT
ajst-32563	172	4	oxbow	oxbow	PROPN
ajst-32563	172	5	.	.	PUNCT
ajst-32563	173	1	(	(	PUNCT
ajst-32563	173	2	2024	2024	NUM
ajst-32563	173	3	,	,	PUNCT
ajst-32563	173	4	december	december	PROPN
ajst-32563	173	5	26	26	NUM
ajst-32563	173	6	)	)	PUNCT
ajst-32563	173	7	.	.	PUNCT
ajst-32563	174	1	top	top	ADJ
ajst-32563	174	2	5	5	NUM
ajst-32563	174	3	applications	application	NOUN
ajst-32563	174	4	of	of	ADP
ajst-32563	174	5	drone	drone	NOUN
ajst-32563	174	6	technology	technology	NOUN
ajst-32563	174	7	across	across	ADP
ajst-32563	174	8	modern	modern	ADJ
ajst-32563	174	9	industries	industry	NOUN
ajst-32563	174	10	.	.	PUNCT
ajst-32563	175	1	oxbow	oxbow	PROPN
ajst-32563	175	2	services	services	PROPN
ajst-32563	175	3	.	.	PUNCT
ajst-32563	176	1	https://oxbowintellect	https://oxbowintellect	PROPN
ajst-32563	176	2	.	.	PUNCT
ajst-32563	176	3	com	com	NOUN
ajst-32563	176	4	/	/	SYM
ajst-32563	176	5	blog	blog	NOUN
ajst-32563	176	6	/	/	SYM
ajst-32563	176	7	top-5	top-5	NOUN
ajst-32563	176	8	-	-	PUNCT
ajst-32563	176	9	applications	application	NOUN
ajst-32563	176	10	-	-	PUNCT
ajst-32563	176	11	of	of	ADP
ajst-32563	176	12	-	-	PUNCT
ajst-32563	176	13	drone	drone	NOUN
ajst-32563	176	14	-	-	PUNCT
ajst-32563	176	15	technology	technology	NOUN
ajst-32563	176	16	-	-	PUNCT
ajst-32563	176	17	across	across	ADP
ajst-32563	176	18	-	-	PUNCT
ajst-32563	176	19	modernindustries/	modernindustries/	NOUN
ajst-32563	176	20	#	#	NOUN
ajst-32563	176	21	:	:	PUNCT
ajst-32563	176	22	~	~	NOUN
ajst-32563	176	23	:	:	PUNCT
ajst-32563	176	24	text=	text=	NUM
ajst-32563	176	25	in%	in%	NUM
ajst-32563	176	26	20	20	NUM
ajst-32563	176	27	recent%20	recent%20	NOUN
ajst-32563	176	28	years%2c%	years%2c%	PROPN
ajst-32563	176	29	20drone%	20drone%	PROPN
ajst-32563	176	30	20technology	20technology	NUM
ajst-32563	176	31	,	,	PUNCT
ajst-32563	176	32	that%	that%	NUM
ajst-32563	176	33	20are%2	20are%2	NUM
ajst-32563	176	34	0revolutionizing	0revolutionizing	NUM
ajst-32563	176	35	%	%	NOUN
ajst-32563	176	36	20modern%20industries	20modern%20industrie	NOUN
ajst-32563	176	37	.	.	PUNCT
ajst-32563	177	1	[	[	X
ajst-32563	177	2	4	4	NUM
ajst-32563	177	3	]	]	X
ajst-32563	177	4	kenney	kenney	PROPN
ajst-32563	177	5	,	,	PUNCT
ajst-32563	177	6	m.	m.	NOUN
ajst-32563	177	7	(	(	PUNCT
ajst-32563	177	8	2024	2024	NUM
ajst-32563	177	9	,	,	PUNCT
ajst-32563	177	10	october	october	PROPN
ajst-32563	177	11	21	21	NUM
ajst-32563	177	12	)	)	PUNCT
ajst-32563	177	13	.	.	PUNCT
ajst-32563	178	1	drone	drone	NOUN
ajst-32563	178	2	technology	technology	NOUN
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ajst-32563	178	4	modern	modern	ADJ
ajst-32563	178	5	service	service	NOUN
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ajst-32563	182	4	https://www.techtarget.com/iotagenda/definition/drone#:~:text=drones%20can%20be%20equipped%20	https://www.techtarget.com/iotagenda/definition/drone#:~:text=drones%20can%20be%20equipped%20	PROPN
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ajst-32563	186	5	the	the	DET
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ajst-32563	186	8	unmanned	unmanned	ADJ
ajst-32563	186	9	flying	flying	NOUN
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ajst-32563	188	1	articleid=719#:~	articleid=719#:~	NOUN
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ajst-32563	188	7	2c%	2c%	NUM
ajst-32563	188	8	20drones%20monitor%20crop%20health%2c%20soil	20drones%20monitor%20crop%20health%2c%20soil	NUM
ajst-32563	188	9	,	,	PUNCT
ajst-32563	188	10	to%20improve%20yields%20and%20reduce%20	to%20improve%20yields%20and%20reduce%20	PRON
ajst-32563	188	11	resource%20consumption	resource%20consumption	NOUN
ajst-32563	188	12	.	.	PUNCT
ajst-32563	189	1	[	[	X
ajst-32563	189	2	7	7	NUM
ajst-32563	189	3	]	]	X
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ajst-32563	190	10	drone	drone	NOUN
ajst-32563	190	11	pilots	pilot	NOUN
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ajst-32563	191	2	pilot	pilot	NOUN
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ajst-32563	192	1	https://www.dronepilotgroundschool.com/drone-types/#:~:text=	https://www.dronepilotgroundschool.com/drone-types/#:~:text=	NOUN
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ajst-32563	226	7	65(4	65(4	PROPN
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ajst-32563	226	9	,	,	PUNCT
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ajst-32563	226	11	.	.	PUNCT
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ajst-32563	227	10	(	(	PUNCT
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ajst-32563	227	12	)	)	PUNCT
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ajst-32563	228	6	three	three	NUM
ajst-32563	228	7	-	-	PUNCT
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ajst-32563	228	10	.	.	PUNCT
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ajst-32563	229	13	.	.	PUNCT
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ajst-32563	230	3	.	.	PUNCT
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ajst-32563	231	2	.	.	PUNCT
ajst-32563	232	1	https://doi.org/10.1109/	https://doi.org/10.1109/	PROPN
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ajst-32563	233	14	.	.	PUNCT
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ajst-32563	234	11	.	.	PUNCT
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ajst-32563	235	2	transactions	transaction	NOUN
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ajst-32563	235	6	,	,	PUNCT
ajst-32563	235	7	17(3	17(3	NUM
ajst-32563	235	8	)	)	PUNCT
ajst-32563	235	9	,	,	PUNCT
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ajst-32563	235	11	.	.	PUNCT
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ajst-32563	235	13	.	.	PUNCT
ajst-32563	236	1	[	[	X
ajst-32563	236	2	18	18	NUM
ajst-32563	236	3	]	]	X
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ajst-32563	236	5	,	,	PUNCT
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ajst-32563	236	7	,	,	PUNCT
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ajst-32563	236	10	.	.	PUNCT
ajst-32563	236	11	(	(	PUNCT
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ajst-32563	236	14	.	.	PUNCT
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ajst-32563	237	10	.	.	PUNCT
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ajst-32563	238	10	(	(	PUNCT
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ajst-32563	239	3	.	.	PUNCT
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ajst-32563	240	2	.	.	PUNCT
ajst-32563	241	1	https://doi.org/10.1109/	https://doi.org/10.1109/	PROPN
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ajst-32563	241	3	.	.	PUNCT
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ajst-32563	241	5	.	.	PUNCT
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ajst-32563	242	2	.	.	PUNCT
ajst-32563	243	1	[	[	X
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ajst-32563	243	3	]	]	PUNCT
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ajst-32563	243	5	.	.	PUNCT
ajst-32563	244	1	(	(	PUNCT
ajst-32563	244	2	2020	2020	NUM
ajst-32563	244	3	,	,	PUNCT
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ajst-32563	244	7	.	.	PUNCT
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ajst-32563	245	3	.	.	PUNCT
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ajst-32563	246	2	.	.	PUNCT
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ajst-32563	248	3	]	]	PUNCT
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ajst-32563	248	9	.	.	PUNCT
ajst-32563	249	1	(	(	PUNCT
ajst-32563	249	2	n.d	n.d	PROPN
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ajst-32563	249	5	.	.	PUNCT
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ajst-32563	250	5	.	.	PUNCT
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ajst-32563	255	9	.	.	PUNCT
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ajst-32563	256	5	informatics	informatic	NOUN
ajst-32563	256	6	.	.	PUNCT
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ajst-32563	260	8	-	-	PUNCT
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ajst-32563	260	11	.	.	PUNCT
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ajst-32563	261	3	.	.	PUNCT
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ajst-32563	262	2	.	.	PUNCT
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ajst-32563	264	8	-	-	PUNCT
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ajst-32563	265	7	(	(	PUNCT
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ajst-32563	265	10	.	.	PUNCT
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ajst-32563	274	12	.	.	PUNCT
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ajst-32563	278	3	]	]	X
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ajst-32563	278	5	,	,	PUNCT
ajst-32563	278	6	m.	m.	NOUN
ajst-32563	278	7	,	,	PUNCT
ajst-32563	278	8	&	&	CCONJ
ajst-32563	278	9	smith	smith	PROPN
ajst-32563	278	10	,	,	PUNCT
ajst-32563	278	11	p.	p.	NOUN
ajst-32563	278	12	(	(	PUNCT
ajst-32563	278	13	2019	2019	NUM
ajst-32563	278	14	)	)	PUNCT
ajst-32563	278	15	.	.	PUNCT
ajst-32563	279	1	analysis	analysis	NOUN
ajst-32563	279	2	of	of	ADP
ajst-32563	279	3	baud	baud	NOUN
ajst-32563	279	4	rate	rate	NOUN
ajst-32563	279	5	tolerance	tolerance	NOUN
ajst-32563	279	6	in	in	ADP
ajst-32563	279	7	asynchronous	asynchronous	ADJ
ajst-32563	279	8	serial	serial	ADJ
ajst-32563	279	9	communication	communication	NOUN
ajst-32563	279	10	.	.	PUNCT
ajst-32563	280	1	ieee	ieee	NOUN
ajst-32563	280	2	transactions	transaction	NOUN
ajst-32563	280	3	on	on	ADP
ajst-32563	280	4	instrumentation	instrumentation	NOUN
ajst-32563	280	5	and	and	CCONJ
ajst-32563	280	6	measurement	measurement	NOUN
ajst-32563	280	7	.	.	PUNCT
ajst-32563	281	1	https://doi.org/10.1109/tim.2019.2944568	https://doi.org/10.1109/tim.2019.2944568	PROPN
ajst-32563	281	2	.	.	PUNCT
ajst-32563	282	1	[	[	X
ajst-32563	282	2	27	27	NUM
ajst-32563	282	3	]	]	X
ajst-32563	282	4	rodriguez	rodriguez	NOUN
ajst-32563	282	5	,	,	PUNCT
ajst-32563	282	6	m.	m.	NOUN
ajst-32563	282	7	,	,	PUNCT
ajst-32563	282	8	et	et	PROPN
ajst-32563	282	9	al	al	PROPN
ajst-32563	282	10	.	.	PROPN
ajst-32563	282	11	(	(	PUNCT
ajst-32563	282	12	2021	2021	NUM
ajst-32563	282	13	)	)	PUNCT
ajst-32563	282	14	.	.	PUNCT
ajst-32563	282	15	error	error	NOUN
ajst-32563	282	16	detection	detection	NOUN
ajst-32563	282	17	and	and	CCONJ
ajst-32563	282	18	correction	correction	NOUN
ajst-32563	282	19	in	in	ADP
ajst-32563	282	20	usart	usart	ADJ
ajst-32563	282	21	communication	communication	NOUN
ajst-32563	282	22	for	for	ADP
ajst-32563	282	23	industrial	industrial	ADJ
ajst-32563	282	24	applications	application	NOUN
ajst-32563	282	25	.	.	PUNCT
ajst-32563	283	1	ieee	ieee	PROPN
ajst-32563	283	2	international	international	ADJ
ajst-32563	283	3	symposium	symposium	NOUN
ajst-32563	283	4	on	on	ADP
ajst-32563	283	5	industrial	industrial	ADJ
ajst-32563	283	6	electronics	electronic	NOUN
ajst-32563	283	7	(	(	PUNCT
ajst-32563	283	8	isie	isie	NOUN
ajst-32563	283	9	)	)	PUNCT
ajst-32563	283	10	.	.	PUNCT
ajst-32563	284	1	https://doi.org/10.1109/	https://doi.org/10.1109/	PROPN
ajst-32563	284	2	isie45552.2021.9576231	isie45552.2021.9576231	PROPN
ajst-32563	284	3	.	.	PUNCT
ajst-32563	285	1	[	[	X
ajst-32563	285	2	28	28	NUM
ajst-32563	285	3	]	]	X
ajst-32563	285	4	müller	müller	PROPN
ajst-32563	285	5	,	,	PUNCT
ajst-32563	285	6	j.	j.	PROPN
ajst-32563	285	7	,	,	PUNCT
ajst-32563	285	8	et	et	PROPN
ajst-32563	285	9	al	al	PROPN
ajst-32563	285	10	.	.	PROPN
ajst-32563	285	11	(	(	PUNCT
ajst-32563	285	12	2020	2020	NUM
ajst-32563	285	13	)	)	PUNCT
ajst-32563	285	14	.	.	PUNCT
ajst-32563	286	1	inverted	invert	VERB
ajst-32563	286	2	usart	usart	ADJ
ajst-32563	286	3	signal	signal	PROPN
ajst-32563	286	4	handling	handling	NOUN
ajst-32563	286	5	in	in	ADP
ajst-32563	286	6	low	low	ADJ
ajst-32563	286	7	-	-	PUNCT
ajst-32563	286	8	voltage	voltage	NOUN
ajst-32563	286	9	embedded	embed	VERB
ajst-32563	286	10	systems	system	NOUN
ajst-32563	286	11	.	.	PUNCT
ajst-32563	287	1	ieee	ieee	NOUN
ajst-32563	287	2	transactions	transaction	NOUN
ajst-32563	287	3	on	on	ADP
ajst-32563	287	4	circuits	circuit	NOUN
ajst-32563	287	5	and	and	CCONJ
ajst-32563	287	6	systems	system	NOUN
ajst-32563	287	7	ii	ii	PROPN
ajst-32563	287	8	.	.	PUNCT
ajst-32563	288	1	https://doi.org/10.1109/tcsii.2020.3042996	https://doi.org/10.1109/tcsii.2020.3042996	X
ajst-32563	288	2	.	.	PUNCT
ajst-32563	289	1	[	[	X
ajst-32563	289	2	29	29	NUM
ajst-32563	289	3	]	]	X
ajst-32563	289	4	watson	watson	PROPN
ajst-32563	289	5	,	,	PUNCT
ajst-32563	289	6	d.	d.	PROPN
ajst-32563	289	7	,	,	PUNCT
ajst-32563	289	8	&	&	CCONJ
ajst-32563	289	9	williams	williams	PROPN
ajst-32563	289	10	,	,	PUNCT
ajst-32563	289	11	h.	h.	PROPN
ajst-32563	289	12	(	(	PUNCT
ajst-32563	289	13	2019	2019	NUM
ajst-32563	289	14	)	)	PUNCT
ajst-32563	289	15	.	.	PUNCT
ajst-32563	290	1	cambridge	cambridge	PROPN
ajst-32563	290	2	international	international	PROPN
ajst-32563	290	3	as	as	ADP
ajst-32563	290	4	&	&	CCONJ
ajst-32563	290	5	a	a	DET
ajst-32563	290	6	level	level	NOUN
ajst-32563	290	7	computer	computer	NOUN
ajst-32563	290	8	science	science	NOUN
ajst-32563	290	9	.	.	PUNCT
ajst-32563	291	1	hodder	hodder	NOUN
ajst-32563	291	2	education	education	NOUN
ajst-32563	291	3	.	.	PUNCT
ajst-32563	292	1	[	[	X
ajst-32563	292	2	30	30	NUM
ajst-32563	292	3	]	]	X
ajst-32563	292	4	deshpande	deshpande	PROPN
ajst-32563	292	5	,	,	PUNCT
ajst-32563	292	6	s.	s.	PROPN
ajst-32563	292	7	,	,	PUNCT
ajst-32563	292	8	et	et	PROPN
ajst-32563	292	9	al	al	PROPN
ajst-32563	292	10	.	.	PROPN
ajst-32563	292	11	(	(	PUNCT
ajst-32563	292	12	2022	2022	NUM
ajst-32563	292	13	)	)	PUNCT
ajst-32563	292	14	.	.	PUNCT
ajst-32563	293	1	baud	baud	PROPN
ajst-32563	293	2	rate	rate	VERB
ajst-32563	293	3	adaptive	adaptive	ADJ
ajst-32563	293	4	usart	usart	ADJ
ajst-32563	293	5	debugging	debugging	NOUN
ajst-32563	293	6	for	for	ADP
ajst-32563	293	7	heterogeneous	heterogeneous	ADJ
ajst-32563	293	8	embedded	embed	VERB
ajst-32563	293	9	networks	network	NOUN
ajst-32563	293	10	.	.	PUNCT
ajst-32563	294	1	journal	journal	NOUN
ajst-32563	294	2	of	of	ADP
ajst-32563	294	3	hardware	hardware	NOUN
ajst-32563	294	4	and	and	CCONJ
ajst-32563	294	5	systems	system	NOUN
ajst-32563	294	6	security	security	NOUN
ajst-32563	294	7	.	.	PUNCT
ajst-32563	295	1	https://doi.org/10.1007/s41635-022-00128-6	https://doi.org/10.1007/s41635-022-00128-6	NUM
ajst-32563	295	2	.	.	PUNCT
ajst-32563	296	1	[	[	X
ajst-32563	296	2	31	31	NUM
ajst-32563	296	3	]	]	PUNCT
ajst-32563	296	4	garcía	garcía	PROPN
ajst-32563	296	5	carrillo	carrillo	PROPN
ajst-32563	296	6	,	,	PUNCT
ajst-32563	296	7	l.	l.	PROPN
ajst-32563	296	8	r.	r.	PROPN
ajst-32563	296	9	,	,	PUNCT
ajst-32563	296	10	lópez	lópez	PROPN
ajst-32563	296	11	-	-	PUNCT
ajst-32563	296	12	estrada	estrada	PROPN
ajst-32563	296	13	,	,	PUNCT
ajst-32563	296	14	f.	f.	PROPN
ajst-32563	296	15	r.	r.	PROPN
ajst-32563	296	16	,	,	PUNCT
ajst-32563	296	17	lozano	lozano	PROPN
ajst-32563	296	18	,	,	PUNCT
ajst-32563	296	19	r.	r.	PROPN
ajst-32563	296	20	,	,	PUNCT
ajst-32563	296	21	&	&	CCONJ
ajst-32563	296	22	dzul	dzul	PROPN
ajst-32563	296	23	,	,	PUNCT
ajst-32563	296	24	a.	a.	PROPN
ajst-32563	296	25	e.	e.	PROPN
ajst-32563	296	26	(	(	PUNCT
ajst-32563	296	27	2020	2020	NUM
ajst-32563	296	28	)	)	PUNCT
ajst-32563	296	29	.	.	PUNCT
ajst-32563	297	1	pid	pid	PROPN
ajst-32563	297	2	control	control	NOUN
ajst-32563	297	3	of	of	ADP
ajst-32563	297	4	quadrotor	quadrotor	PROPN
ajst-32563	297	5	uavs	uavs	PROPN
ajst-32563	297	6	:	:	PUNCT
ajst-32563	297	7	a	a	DET
ajst-32563	297	8	systematic	systematic	ADJ
ajst-32563	297	9	review	review	NOUN
ajst-32563	297	10	.	.	PUNCT
ajst-32563	298	1	drones	drone	NOUN
ajst-32563	298	2	,	,	PUNCT
ajst-32563	298	3	4(3	4(3	NUM
ajst-32563	298	4	)	)	PUNCT
ajst-32563	298	5	,	,	PUNCT
ajst-32563	298	6	37	37	NUM
ajst-32563	298	7	.	.	PUNCT
ajst-32563	299	1	https://doi.org/10.3390/drones4030037	https://doi.org/10.3390/drones4030037	PROPN
ajst-32563	299	2	.	.	PUNCT
ajst-32563	300	1	[	[	X
ajst-32563	300	2	32	32	NUM
ajst-32563	300	3	]	]	SYM
ajst-32563	300	4	veronesi	veronesi	NOUN
ajst-32563	300	5	,	,	PUNCT
ajst-32563	300	6	m.	m.	NOUN
ajst-32563	300	7	,	,	PUNCT
ajst-32563	300	8	&	&	CCONJ
ajst-32563	300	9	visioli	visioli	PROPN
ajst-32563	300	10	,	,	PUNCT
ajst-32563	300	11	a.	a.	NOUN
ajst-32563	300	12	(	(	PUNCT
ajst-32563	300	13	2013	2013	NUM
ajst-32563	300	14	)	)	PUNCT
ajst-32563	300	15	.	.	PUNCT
ajst-32563	301	1	optimal	optimal	ADJ
ajst-32563	301	2	tuning	tuning	NOUN
ajst-32563	301	3	of	of	ADP
ajst-32563	301	4	pid	pid	NOUN
ajst-32563	301	5	controllers	controller	NOUN
ajst-32563	301	6	using	use	VERB
ajst-32563	301	7	iterative	iterative	NOUN
ajst-32563	301	8	learning	learning	NOUN
ajst-32563	301	9	approach	approach	NOUN
ajst-32563	301	10	.	.	PUNCT
ajst-32563	302	1	control	control	NOUN
ajst-32563	302	2	engineering	engineering	NOUN
ajst-32563	302	3	practice	practice	NOUN
ajst-32563	302	4	,	,	PUNCT
ajst-32563	302	5	21(1	21(1	NUM
ajst-32563	302	6	)	)	PUNCT
ajst-32563	302	7	,	,	PUNCT
ajst-32563	302	8	74–84	74–84	PROPN
ajst-32563	302	9	.	.	PUNCT
ajst-32563	303	1	https://doi.org/10.1016/j.conengprac.2012.10.007	https://doi.org/10.1016/j.conengprac.2012.10.007	PROPN
ajst-32563	303	2	.	.	PUNCT
ajst-32563	304	1	[	[	X
ajst-32563	304	2	33	33	NUM
ajst-32563	304	3	]	]	X
ajst-32563	304	4	franklin	franklin	PROPN
ajst-32563	304	5	,	,	PUNCT
ajst-32563	304	6	g.	g.	PROPN
ajst-32563	304	7	f.	f.	PROPN
ajst-32563	304	8	,	,	PUNCT
ajst-32563	304	9	powell	powell	PROPN
ajst-32563	304	10	,	,	PUNCT
ajst-32563	304	11	j.	j.	PROPN
ajst-32563	304	12	d.	d.	PROPN
ajst-32563	304	13	,	,	PUNCT
ajst-32563	304	14	&	&	CCONJ
ajst-32563	304	15	emami	emami	PROPN
ajst-32563	304	16	-	-	PUNCT
ajst-32563	304	17	naeini	naeini	PROPN
ajst-32563	304	18	,	,	PUNCT
ajst-32563	304	19	a.	a.	NOUN
ajst-32563	304	20	(	(	PUNCT
ajst-32563	304	21	2019	2019	NUM
ajst-32563	304	22	)	)	PUNCT
ajst-32563	304	23	.	.	PUNCT
ajst-32563	305	1	feedback	feedback	NOUN
ajst-32563	305	2	control	control	NOUN
ajst-32563	305	3	of	of	ADP
ajst-32563	305	4	dynamic	dynamic	ADJ
ajst-32563	305	5	systems	system	NOUN
ajst-32563	305	6	(	(	PUNCT
ajst-32563	305	7	8th	8th	ADJ
ajst-32563	305	8	ed	ed	NOUN
ajst-32563	305	9	.	.	PUNCT
ajst-32563	305	10	)	)	PUNCT
ajst-32563	305	11	.	.	PUNCT
ajst-32563	306	1	pearson	pearson	PROPN
ajst-32563	306	2	education	education	PROPN
ajst-32563	306	3	.	.	PUNCT
ajst-32563	307	1	https://doi.org/10.1002/9781119058218	https://doi.org/10.1002/9781119058218	NOUN
ajst-32563	307	2	.	.	PUNCT
ajst-32563	308	1	[	[	X
ajst-32563	308	2	34	34	NUM
ajst-32563	308	3	]	]	X
ajst-32563	308	4	visioli	visioli	PROPN
ajst-32563	308	5	,	,	PUNCT
ajst-32563	308	6	a.	a.	PROPN
ajst-32563	308	7	,	,	PUNCT
ajst-32563	308	8	&	&	CCONJ
ajst-32563	308	9	zhong	zhong	PROPN
ajst-32563	308	10	,	,	PUNCT
ajst-32563	308	11	q.-c	q.-c	PROPN
ajst-32563	308	12	.	.	PUNCT
ajst-32563	308	13	(	(	PUNCT
ajst-32563	308	14	2011	2011	NUM
ajst-32563	308	15	)	)	PUNCT
ajst-32563	308	16	.	.	PUNCT
ajst-32563	309	1	comparative	comparative	ADJ
ajst-32563	309	2	study	study	NOUN
ajst-32563	309	3	of	of	ADP
ajst-32563	309	4	pid	pid	NOUN
ajst-32563	309	5	and	and	CCONJ
ajst-32563	309	6	on	on	ADP
ajst-32563	309	7	/	/	SYM
ajst-32563	309	8	off	off	ADP
ajst-32563	309	9	control	control	NOUN
ajst-32563	309	10	in	in	ADP
ajst-32563	309	11	temperature	temperature	NOUN
ajst-32563	309	12	regulation	regulation	NOUN
ajst-32563	309	13	systems	system	NOUN
ajst-32563	309	14	.	.	PUNCT
ajst-32563	310	1	ieee	ieee	NOUN
ajst-32563	310	2	transactions	transaction	NOUN
ajst-32563	310	3	on	on	ADP
ajst-32563	310	4	control	control	NOUN
ajst-32563	310	5	systems	system	NOUN
ajst-32563	310	6	technology	technology	NOUN
ajst-32563	310	7	,	,	PUNCT
ajst-32563	310	8	19(5	19(5	NUM
ajst-32563	310	9	)	)	PUNCT
ajst-32563	310	10	,	,	PUNCT
ajst-32563	310	11	1276–1281	1276–1281	NUM
ajst-32563	310	12	.	.	PUNCT
ajst-32563	311	1	https://doi.org/10	https://doi.org/10	PROPN
ajst-32563	311	2	.	.	PUNCT
ajst-32563	312	1	1109	1109	NUM
ajst-32563	312	2	/	/	SYM
ajst-32563	312	3	tcst.2010.2043732	tcst.2010.2043732	PROPN
ajst-32563	312	4	.	.	PUNCT
ajst-32563	313	1	[	[	X
ajst-32563	313	2	35	35	NUM
ajst-32563	313	3	]	]	X
ajst-32563	313	4	skogestad	skogestad	NOUN
ajst-32563	313	5	,	,	PUNCT
ajst-32563	313	6	s.	s.	PROPN
ajst-32563	313	7	(	(	PUNCT
ajst-32563	313	8	2003	2003	NUM
ajst-32563	313	9	)	)	PUNCT
ajst-32563	313	10	.	.	PUNCT
ajst-32563	314	1	tuning	tune	VERB
ajst-32563	314	2	rules	rule	NOUN
ajst-32563	314	3	for	for	ADP
ajst-32563	314	4	optimal	optimal	ADJ
ajst-32563	314	5	proportional	proportional	ADJ
ajst-32563	314	6	gain	gain	NOUN
ajst-32563	314	7	selection	selection	NOUN
ajst-32563	314	8	in	in	ADP
ajst-32563	314	9	pid	pid	NOUN
ajst-32563	314	10	controllers	controller	NOUN
ajst-32563	314	11	.	.	PUNCT
ajst-32563	315	1	journal	journal	PROPN
ajst-32563	315	2	of	of	ADP
ajst-32563	315	3	process	process	NOUN
ajst-32563	315	4	control	control	NOUN
ajst-32563	315	5	,	,	PUNCT
ajst-32563	315	6	13(4	13(4	NUM
ajst-32563	315	7	)	)	PUNCT
ajst-32563	315	8	,	,	PUNCT
ajst-32563	315	9	291–309	291–309	NUM
ajst-32563	315	10	.	.	PUNCT
ajst-32563	316	1	https://doi.org/10.1016/s0959-1524(02)00062-8	https://doi.org/10.1016/s0959-1524(02)00062-8	NOUN
ajst-32563	316	2	.	.	PUNCT
ajst-32563	317	1	[	[	X
ajst-32563	317	2	36	36	NUM
ajst-32563	317	3	]	]	X
ajst-32563	317	4	åström	åström	NOUN
ajst-32563	317	5	,	,	PUNCT
ajst-32563	317	6	k.	k.	PROPN
ajst-32563	317	7	j.	j.	PROPN
ajst-32563	317	8	,	,	PUNCT
ajst-32563	317	9	&	&	CCONJ
ajst-32563	317	10	hägglund	hägglund	PROPN
ajst-32563	317	11	,	,	PUNCT
ajst-32563	317	12	t.	t.	PROPN
ajst-32563	317	13	(	(	PUNCT
ajst-32563	317	14	2002	2002	NUM
ajst-32563	317	15	)	)	PUNCT
ajst-32563	317	16	.	.	PUNCT
ajst-32563	318	1	the	the	DET
ajst-32563	318	2	effect	effect	NOUN
ajst-32563	318	3	of	of	ADP
ajst-32563	318	4	derivative	derivative	ADJ
ajst-32563	318	5	action	action	NOUN
ajst-32563	318	6	in	in	ADP
ajst-32563	318	7	pid	pid	NOUN
ajst-32563	318	8	controllers	controller	NOUN
ajst-32563	318	9	.	.	PUNCT
ajst-32563	319	1	automatica	automatica	PROPN
ajst-32563	319	2	,	,	PUNCT
ajst-32563	319	3	38(5	38(5	NUM
ajst-32563	319	4	)	)	PUNCT
ajst-32563	319	5	,	,	PUNCT
ajst-32563	319	6	703–709	703–709	NUM
ajst-32563	319	7	.	.	PUNCT
ajst-32563	320	1	https://doi.org/10.1016/s0005-1098(02)00021-4	https://doi.org/10.1016/s0005-1098(02)00021-4	NOUN
ajst-32563	320	2	.	.	PUNCT
ajst-32563	321	1	[	[	X
ajst-32563	321	2	37	37	NUM
ajst-32563	321	3	]	]	X
ajst-32563	321	4	visioli	visioli	NOUN
ajst-32563	321	5	,	,	PUNCT
ajst-32563	321	6	a.	a.	NOUN
ajst-32563	321	7	(	(	PUNCT
ajst-32563	321	8	2001	2001	NUM
ajst-32563	321	9	)	)	PUNCT
ajst-32563	321	10	.	.	PUNCT
ajst-32563	322	1	optimal	optimal	ADJ
ajst-32563	322	2	tuning	tuning	NOUN
ajst-32563	322	3	of	of	ADP
ajst-32563	322	4	integral	integral	ADJ
ajst-32563	322	5	gain	gain	NOUN
ajst-32563	322	6	for	for	ADP
ajst-32563	322	7	industrial	industrial	ADJ
ajst-32563	322	8	pid	pid	NOUN
ajst-32563	322	9	controllers	controller	NOUN
ajst-32563	322	10	.	.	PUNCT
ajst-32563	323	1	control	control	NOUN
ajst-32563	323	2	engineering	engineering	NOUN
ajst-32563	323	3	practice	practice	NOUN
ajst-32563	323	4	,	,	PUNCT
ajst-32563	323	5	9(10	9(10	NUM
ajst-32563	323	6	)	)	PUNCT
ajst-32563	323	7	,	,	PUNCT
ajst-32563	323	8	1195–1201	1195–1201	NUM
ajst-32563	323	9	.	.	PUNCT
ajst-32563	324	1	https://doi.org/10.1016/s0967-0661(01)00040-x	https://doi.org/10.1016/s0967-0661(01)00040-x	NOUN
ajst-32563	324	2	.	.	PUNCT