id	sid	tid	token	lemma	pos
ajst-352	1	1	academic	academic	ADJ
ajst-352	1	2	journal	journal	NOUN
ajst-352	1	3	of	of	ADP
ajst-352	1	4	science	science	NOUN
ajst-352	1	5	and	and	CCONJ
ajst-352	1	6	technology	technology	NOUN
ajst-352	1	7	issn	issn	NOUN
ajst-352	1	8	:	:	PUNCT
ajst-352	1	9	2771	2771	NUM
ajst-352	1	10	-	-	SYM
ajst-352	1	11	3032	3032	NUM
ajst-352	1	12	|	|	NOUN
ajst-352	1	13	vol	vol	NOUN
ajst-352	1	14	.	.	PROPN
ajst-352	2	1	1	1	NUM
ajst-352	2	2	,	,	PUNCT
ajst-352	2	3	no	no	INTJ
ajst-352	2	4	.	.	NOUN
ajst-352	2	5	2	2	NUM
ajst-352	2	6	,	,	PUNCT
ajst-352	2	7	2022	2022	NUM
ajst-352	2	8	76	76	NUM
ajst-352	2	9	design	design	NOUN
ajst-352	2	10	of	of	ADP
ajst-352	2	11	intelligent	intelligent	ADJ
ajst-352	2	12	wireless	wireless	ADJ
ajst-352	2	13	charging	charge	VERB
ajst-352	2	14	system	system	NOUN
ajst-352	2	15	for	for	ADP
ajst-352	2	16	electric	electric	ADJ
ajst-352	2	17	vehicle	vehicle	NOUN
ajst-352	2	18	lanqi	lanqi	PROPN
ajst-352	2	19	zhang1	zhang1	PROPN
ajst-352	2	20	,	,	PUNCT
ajst-352	2	21	a	a	PRON
ajst-352	2	22	,	,	PUNCT
ajst-352	2	23	likun	likun	NOUN
ajst-352	2	24	mei1	mei1	PROPN
ajst-352	2	25	1college	1college	PROPN
ajst-352	2	26	of	of	ADP
ajst-352	2	27	artificial	artificial	ADJ
ajst-352	2	28	intelligence	intelligence	NOUN
ajst-352	2	29	of	of	ADP
ajst-352	2	30	wuhan	wuhan	PROPN
ajst-352	2	31	technology	technology	PROPN
ajst-352	2	32	and	and	CCONJ
ajst-352	2	33	business	business	NOUN
ajst-352	2	34	university	university	PROPN
ajst-352	2	35	,	,	PUNCT
ajst-352	2	36	wuhan	wuhan	PROPN
ajst-352	2	37	,	,	PUNCT
ajst-352	2	38	430065	430065	NUM
ajst-352	2	39	,	,	PUNCT
ajst-352	2	40	china	china	PROPN
ajst-352	2	41	aemail	aemail	NOUN
ajst-352	2	42	:	:	PUNCT
ajst-352	2	43	123339165@qq.com	123339165@qq.com	NUM
ajst-352	2	44	abstract	abstract	NOUN
ajst-352	2	45	:	:	PUNCT
ajst-352	2	46	this	this	DET
ajst-352	2	47	design	design	NOUN
ajst-352	2	48	takes	take	VERB
ajst-352	2	49	stm32h743vit6	stm32h743vit6	NOUN
ajst-352	2	50	chip	chip	NOUN
ajst-352	2	51	in	in	ADP
ajst-352	2	52	stm32	stm32	PROPN
ajst-352	2	53	series	series	PROPN
ajst-352	2	54	mcu	mcu	PROPN
ajst-352	2	55	as	as	ADP
ajst-352	2	56	the	the	DET
ajst-352	2	57	core	core	NOUN
ajst-352	2	58	controller	controller	NOUN
ajst-352	2	59	of	of	ADP
ajst-352	2	60	the	the	DET
ajst-352	2	61	intelligent	intelligent	ADJ
ajst-352	2	62	wireless	wireless	ADJ
ajst-352	2	63	charging	charge	VERB
ajst-352	2	64	system	system	NOUN
ajst-352	2	65	.	.	PUNCT
ajst-352	3	1	the	the	DET
ajst-352	3	2	electric	electric	ADJ
ajst-352	3	3	vehicle	vehicle	NOUN
ajst-352	3	4	system	system	NOUN
ajst-352	3	5	is	be	AUX
ajst-352	3	6	composed	compose	VERB
ajst-352	3	7	of	of	ADP
ajst-352	3	8	wireless	wireless	ADJ
ajst-352	3	9	charging	charging	NOUN
ajst-352	3	10	module	module	NOUN
ajst-352	3	11	,	,	PUNCT
ajst-352	3	12	image	image	NOUN
ajst-352	3	13	processing	processing	NOUN
ajst-352	3	14	system	system	NOUN
ajst-352	3	15	and	and	CCONJ
ajst-352	3	16	intelligent	intelligent	ADJ
ajst-352	3	17	vehicle	vehicle	NOUN
ajst-352	3	18	driving	driving	NOUN
ajst-352	3	19	module	module	NOUN
ajst-352	3	20	.	.	PUNCT
ajst-352	4	1	it	it	PRON
ajst-352	4	2	can	can	AUX
ajst-352	4	3	realize	realize	VERB
ajst-352	4	4	the	the	DET
ajst-352	4	5	functions	function	NOUN
ajst-352	4	6	of	of	ADP
ajst-352	4	7	logistics	logistic	NOUN
ajst-352	4	8	transportation	transportation	NOUN
ajst-352	4	9	within	within	ADP
ajst-352	4	10	the	the	DET
ajst-352	4	11	set	set	NOUN
ajst-352	4	12	distance	distance	NOUN
ajst-352	4	13	,	,	PUNCT
ajst-352	4	14	wireless	wireless	ADJ
ajst-352	4	15	charging	charging	NOUN
ajst-352	4	16	at	at	ADP
ajst-352	4	17	the	the	DET
ajst-352	4	18	stop	stop	NOUN
ajst-352	4	19	,	,	PUNCT
ajst-352	4	20	returning	return	VERB
ajst-352	4	21	according	accord	VERB
ajst-352	4	22	to	to	ADP
ajst-352	4	23	the	the	DET
ajst-352	4	24	specified	specified	ADJ
ajst-352	4	25	route	route	NOUN
ajst-352	4	26	and	and	CCONJ
ajst-352	4	27	so	so	ADV
ajst-352	4	28	on	on	ADV
ajst-352	4	29	.	.	PUNCT
ajst-352	5	1	this	this	DET
ajst-352	5	2	design	design	NOUN
ajst-352	5	3	can	can	AUX
ajst-352	5	4	be	be	AUX
ajst-352	5	5	applied	apply	VERB
ajst-352	5	6	not	not	PART
ajst-352	5	7	only	only	ADV
ajst-352	5	8	in	in	ADP
ajst-352	5	9	daily	daily	ADJ
ajst-352	5	10	life	life	NOUN
ajst-352	5	11	,	,	PUNCT
ajst-352	5	12	but	but	CCONJ
ajst-352	5	13	also	also	ADV
ajst-352	5	14	in	in	ADP
ajst-352	5	15	shortdistance	shortdistance	NOUN
ajst-352	5	16	intelligent	intelligent	ADJ
ajst-352	5	17	logistics	logistic	NOUN
ajst-352	5	18	transportation	transportation	NOUN
ajst-352	5	19	environment	environment	NOUN
ajst-352	5	20	such	such	ADJ
ajst-352	5	21	as	as	ADP
ajst-352	5	22	agv	agv	NOUN
ajst-352	5	23	.	.	PUNCT
ajst-352	6	1	keywords	keyword	NOUN
ajst-352	6	2	:	:	PUNCT
ajst-352	6	3	wireless	wireless	ADJ
ajst-352	6	4	charging	charging	NOUN
ajst-352	6	5	,	,	PUNCT
ajst-352	6	6	stm32	stm32	PROPN
ajst-352	6	7	single	single	ADJ
ajst-352	6	8	chip	chip	NOUN
ajst-352	6	9	microcomputer	microcomputer	NOUN
ajst-352	6	10	,	,	PUNCT
ajst-352	6	11	image	image	NOUN
ajst-352	6	12	processing	processing	NOUN
ajst-352	6	13	,	,	PUNCT
ajst-352	6	14	openmv	openmv	PROPN
ajst-352	6	15	.	.	PUNCT
ajst-352	7	1	1	1	NUM
ajst-352	7	2	.	.	X
ajst-352	7	3	introduction	introduction	NOUN
ajst-352	7	4	with	with	ADP
ajst-352	7	5	the	the	DET
ajst-352	7	6	design	design	NOUN
ajst-352	7	7	concept	concept	NOUN
ajst-352	7	8	of	of	ADP
ajst-352	7	9	better	well	ADJ
ajst-352	7	10	service	service	NOUN
ajst-352	7	11	for	for	ADP
ajst-352	7	12	people	people	NOUN
ajst-352	7	13	,	,	PUNCT
ajst-352	7	14	artificial	artificial	ADJ
ajst-352	7	15	intelligence	intelligence	NOUN
ajst-352	7	16	has	have	AUX
ajst-352	7	17	given	give	VERB
ajst-352	7	18	birth	birth	NOUN
ajst-352	7	19	to	to	ADP
ajst-352	7	20	many	many	ADJ
ajst-352	7	21	disciplines	discipline	NOUN
ajst-352	7	22	and	and	CCONJ
ajst-352	7	23	directions	direction	NOUN
ajst-352	7	24	,	,	PUNCT
ajst-352	7	25	such	such	ADJ
ajst-352	7	26	as	as	ADP
ajst-352	7	27	biometrics	biometric	NOUN
ajst-352	7	28	,	,	PUNCT
ajst-352	7	29	assembly	assembly	NOUN
ajst-352	7	30	line	line	NOUN
ajst-352	7	31	automatic	automatic	ADJ
ajst-352	7	32	machines	machine	NOUN
ajst-352	7	33	,	,	PUNCT
ajst-352	7	34	smart	smart	ADJ
ajst-352	7	35	homes	home	NOUN
ajst-352	7	36	,	,	PUNCT
ajst-352	7	37	smart	smart	ADJ
ajst-352	7	38	appliances	appliance	NOUN
ajst-352	7	39	,	,	PUNCT
ajst-352	7	40	intelligent	intelligent	ADJ
ajst-352	7	41	robots	robot	NOUN
ajst-352	7	42	,	,	PUNCT
ajst-352	7	43	etc	etc	X
ajst-352	7	44	.	.	X
ajst-352	7	45	among	among	ADP
ajst-352	7	46	them	they	PRON
ajst-352	7	47	,	,	PUNCT
ajst-352	7	48	intelligent	intelligent	ADJ
ajst-352	7	49	robots	robot	NOUN
ajst-352	7	50	belong	belong	VERB
ajst-352	7	51	to	to	ADP
ajst-352	7	52	a	a	DET
ajst-352	7	53	major	major	ADJ
ajst-352	7	54	branch	branch	NOUN
ajst-352	7	55	of	of	ADP
ajst-352	7	56	artificial	artificial	ADJ
ajst-352	7	57	intelligence	intelligence	NOUN
ajst-352	8	1	[	[	X
ajst-352	8	2	1	1	NUM
ajst-352	8	3	-	-	SYM
ajst-352	8	4	2	2	NUM
ajst-352	8	5	]	]	PUNCT
ajst-352	8	6	.	.	PUNCT
ajst-352	9	1	this	this	DET
ajst-352	9	2	design	design	NOUN
ajst-352	9	3	uses	use	VERB
ajst-352	9	4	artificial	artificial	ADJ
ajst-352	9	5	intelligence	intelligence	NOUN
ajst-352	9	6	technology	technology	NOUN
ajst-352	9	7	to	to	PART
ajst-352	9	8	design	design	VERB
ajst-352	9	9	a	a	DET
ajst-352	9	10	wireless	wireless	NOUN
ajst-352	9	11	charging	charge	VERB
ajst-352	9	12	intelligent	intelligent	ADJ
ajst-352	9	13	vehicle	vehicle	NOUN
ajst-352	9	14	to	to	PART
ajst-352	9	15	realize	realize	VERB
ajst-352	9	16	"	"	PUNCT
ajst-352	9	17	intelligent	intelligent	ADJ
ajst-352	9	18	transportation	transportation	NOUN
ajst-352	9	19	"	"	PUNCT
ajst-352	9	20	and	and	CCONJ
ajst-352	9	21	"	"	PUNCT
ajst-352	9	22	intelligent	intelligent	ADJ
ajst-352	9	23	charging	charging	NOUN
ajst-352	9	24	"	"	PUNCT
ajst-352	9	25	.	.	PUNCT
ajst-352	10	1	it	it	PRON
ajst-352	10	2	can	can	AUX
ajst-352	10	3	greatly	greatly	ADV
ajst-352	10	4	reduce	reduce	VERB
ajst-352	10	5	human	human	ADJ
ajst-352	10	6	and	and	CCONJ
ajst-352	10	7	material	material	ADJ
ajst-352	10	8	resources	resource	NOUN
ajst-352	10	9	and	and	CCONJ
ajst-352	10	10	make	make	VERB
ajst-352	10	11	life	life	NOUN
ajst-352	10	12	more	more	ADV
ajst-352	10	13	intelligent	intelligent	ADJ
ajst-352	10	14	and	and	CCONJ
ajst-352	10	15	convenient	convenient	ADJ
ajst-352	10	16	[	[	X
ajst-352	10	17	3	3	NUM
ajst-352	10	18	]	]	PUNCT
ajst-352	10	19	.	.	PUNCT
ajst-352	11	1	2	2	X
ajst-352	11	2	.	.	X
ajst-352	11	3	scheme	scheme	NOUN
ajst-352	11	4	design	design	NOUN
ajst-352	11	5	2.1	2.1	NUM
ajst-352	11	6	.	.	PUNCT
ajst-352	12	1	overall	overall	ADJ
ajst-352	12	2	system	system	NOUN
ajst-352	12	3	design	design	VERB
ajst-352	12	4	the	the	DET
ajst-352	12	5	smart	smart	ADJ
ajst-352	12	6	car	car	NOUN
ajst-352	12	7	system	system	NOUN
ajst-352	12	8	is	be	AUX
ajst-352	12	9	composed	compose	VERB
ajst-352	12	10	of	of	ADP
ajst-352	12	11	openmv	openmv	ADJ
ajst-352	12	12	image	image	NOUN
ajst-352	12	13	processing	processing	NOUN
ajst-352	12	14	module	module	NOUN
ajst-352	12	15	,	,	PUNCT
ajst-352	12	16	mcnamu	mcnamu	NOUN
ajst-352	12	17	wheel	wheel	NOUN
ajst-352	12	18	,	,	PUNCT
ajst-352	12	19	motor	motor	NOUN
ajst-352	12	20	control	control	NOUN
ajst-352	12	21	module	module	NOUN
ajst-352	12	22	,	,	PUNCT
ajst-352	12	23	super	super	ADJ
ajst-352	12	24	capacitor	capacitor	NOUN
ajst-352	12	25	device	device	NOUN
ajst-352	12	26	and	and	CCONJ
ajst-352	12	27	wireless	wireless	ADJ
ajst-352	12	28	charging	charging	NOUN
ajst-352	12	29	module	module	NOUN
ajst-352	12	30	.	.	PUNCT
ajst-352	13	1	2.2	2.2	NUM
ajst-352	13	2	.	.	PUNCT
ajst-352	13	3	selection	selection	NOUN
ajst-352	13	4	of	of	ADP
ajst-352	13	5	control	control	NOUN
ajst-352	13	6	system	system	NOUN
ajst-352	13	7	scheme	scheme	NOUN
ajst-352	13	8	scheme	scheme	NOUN
ajst-352	13	9	1	1	NUM
ajst-352	13	10	:	:	PUNCT
ajst-352	13	11	adopt	adopt	VERB
ajst-352	13	12	the	the	DET
ajst-352	13	13	traditional	traditional	ADJ
ajst-352	13	14	51	51	NUM
ajst-352	13	15	series	series	NOUN
ajst-352	13	16	single	single	ADJ
ajst-352	13	17	chip	chip	NOUN
ajst-352	13	18	microcomputer	microcomputer	NOUN
ajst-352	13	19	.	.	PUNCT
ajst-352	14	1	at89c51	at89c51	PROPN
ajst-352	14	2	is	be	AUX
ajst-352	14	3	an	an	DET
ajst-352	14	4	efficient	efficient	ADJ
ajst-352	14	5	microprocessor	microprocessor	NOUN
ajst-352	14	6	.	.	PUNCT
ajst-352	15	1	it	it	PRON
ajst-352	15	2	is	be	AUX
ajst-352	15	3	cheap	cheap	ADJ
ajst-352	15	4	and	and	CCONJ
ajst-352	15	5	can	can	AUX
ajst-352	15	6	meet	meet	VERB
ajst-352	15	7	many	many	ADJ
ajst-352	15	8	basic	basic	ADJ
ajst-352	15	9	needs	need	NOUN
ajst-352	15	10	.	.	PUNCT
ajst-352	16	1	it	it	PRON
ajst-352	16	2	provides	provide	VERB
ajst-352	16	3	a	a	DET
ajst-352	16	4	flexible	flexible	ADJ
ajst-352	16	5	and	and	CCONJ
ajst-352	16	6	cheap	cheap	ADJ
ajst-352	16	7	scheme	scheme	NOUN
ajst-352	16	8	for	for	ADP
ajst-352	16	9	many	many	ADJ
ajst-352	16	10	embedded	embed	VERB
ajst-352	16	11	control	control	NOUN
ajst-352	16	12	systems	system	NOUN
ajst-352	16	13	.	.	PUNCT
ajst-352	17	1	scheme	scheme	NOUN
ajst-352	17	2	2	2	NUM
ajst-352	17	3	:	:	PUNCT
ajst-352	17	4	stm32	stm32	PROPN
ajst-352	17	5	series	series	PROPN
ajst-352	17	6	single	single	ADJ
ajst-352	17	7	chip	chip	NOUN
ajst-352	17	8	microcomputer	microcomputer	NOUN
ajst-352	17	9	is	be	AUX
ajst-352	17	10	adopted	adopt	VERB
ajst-352	17	11	.	.	PUNCT
ajst-352	18	1	stm32	stm32	PROPN
ajst-352	18	2	series	series	PROPN
ajst-352	18	3	single	single	ADJ
ajst-352	18	4	chip	chip	NOUN
ajst-352	18	5	microcomputer	microcomputer	NOUN
ajst-352	18	6	has	have	VERB
ajst-352	18	7	the	the	DET
ajst-352	18	8	characteristics	characteristic	NOUN
ajst-352	18	9	of	of	ADP
ajst-352	18	10	low	low	ADJ
ajst-352	18	11	power	power	NOUN
ajst-352	18	12	consumption	consumption	NOUN
ajst-352	18	13	,	,	PUNCT
ajst-352	18	14	low	low	ADJ
ajst-352	18	15	working	work	VERB
ajst-352	18	16	voltage	voltage	NOUN
ajst-352	18	17	and	and	CCONJ
ajst-352	18	18	strong	strong	ADJ
ajst-352	18	19	driving	driving	NOUN
ajst-352	18	20	ability	ability	NOUN
ajst-352	18	21	.	.	PUNCT
ajst-352	19	1	analysis	analysis	NOUN
ajst-352	19	2	and	and	CCONJ
ajst-352	19	3	comparison	comparison	NOUN
ajst-352	19	4	:	:	PUNCT
ajst-352	19	5	the	the	DET
ajst-352	19	6	car	car	NOUN
ajst-352	19	7	is	be	AUX
ajst-352	19	8	mainly	mainly	ADV
ajst-352	19	9	controlled	control	VERB
ajst-352	19	10	by	by	ADP
ajst-352	19	11	51	51	NUM
ajst-352	19	12	series	series	NOUN
ajst-352	19	13	single	single	ADJ
ajst-352	19	14	chip	chip	NOUN
ajst-352	19	15	microcomputer	microcomputer	NOUN
ajst-352	19	16	,	,	PUNCT
ajst-352	19	17	and	and	CCONJ
ajst-352	19	18	then	then	ADV
ajst-352	19	19	drives	drive	VERB
ajst-352	19	20	relevant	relevant	ADJ
ajst-352	19	21	modules	module	NOUN
ajst-352	19	22	to	to	PART
ajst-352	19	23	realize	realize	VERB
ajst-352	19	24	tracking	tracking	NOUN
ajst-352	19	25	and	and	CCONJ
ajst-352	19	26	ward	ward	NOUN
ajst-352	19	27	number	number	NOUN
ajst-352	19	28	recognition	recognition	NOUN
ajst-352	19	29	.	.	PUNCT
ajst-352	20	1	the	the	DET
ajst-352	20	2	operation	operation	NOUN
ajst-352	20	3	is	be	AUX
ajst-352	20	4	relatively	relatively	ADV
ajst-352	20	5	simple	simple	ADJ
ajst-352	20	6	,	,	PUNCT
ajst-352	20	7	but	but	CCONJ
ajst-352	20	8	it	it	PRON
ajst-352	20	9	has	have	VERB
ajst-352	20	10	great	great	ADJ
ajst-352	20	11	limitations	limitation	NOUN
ajst-352	20	12	and	and	CCONJ
ajst-352	20	13	can	can	AUX
ajst-352	20	14	not	not	PART
ajst-352	20	15	complete	complete	VERB
ajst-352	20	16	high	high	ADJ
ajst-352	20	17	demand	demand	NOUN
ajst-352	20	18	tasks	task	NOUN
ajst-352	20	19	such	such	ADJ
ajst-352	20	20	as	as	ADP
ajst-352	20	21	image	image	NOUN
ajst-352	20	22	processing	processing	NOUN
ajst-352	20	23	.	.	PUNCT
ajst-352	21	1	stm32h743vit6	stm32h743vit6	ADJ
ajst-352	21	2	chip	chip	NOUN
ajst-352	21	3	in	in	ADP
ajst-352	21	4	stm32	stm32	PROPN
ajst-352	21	5	series	series	NOUN
ajst-352	21	6	is	be	AUX
ajst-352	21	7	the	the	DET
ajst-352	21	8	main	main	ADJ
ajst-352	21	9	control	control	NOUN
ajst-352	21	10	chip	chip	NOUN
ajst-352	21	11	of	of	ADP
ajst-352	21	12	current	current	ADJ
ajst-352	21	13	mainstream	mainstream	NOUN
ajst-352	21	14	image	image	NOUN
ajst-352	21	15	processing	processing	NOUN
ajst-352	21	16	module	module	NOUN
ajst-352	21	17	openmv	openmv	NOUN
ajst-352	21	18	with	with	ADP
ajst-352	21	19	high	high	ADJ
ajst-352	21	20	reliability	reliability	NOUN
ajst-352	21	21	.	.	PUNCT
ajst-352	22	1	therefore	therefore	ADV
ajst-352	22	2	,	,	PUNCT
ajst-352	22	3	stm32h743vit6	stm32h743vit6	PROPN
ajst-352	22	4	is	be	AUX
ajst-352	22	5	selected	select	VERB
ajst-352	22	6	as	as	ADP
ajst-352	22	7	the	the	DET
ajst-352	22	8	main	main	ADJ
ajst-352	22	9	control	control	NOUN
ajst-352	22	10	chip	chip	NOUN
ajst-352	22	11	in	in	ADP
ajst-352	22	12	this	this	DET
ajst-352	22	13	design	design	NOUN
ajst-352	22	14	.	.	PUNCT
ajst-352	23	1	2.3	2.3	NUM
ajst-352	23	2	.	.	PUNCT
ajst-352	24	1	design	design	NOUN
ajst-352	24	2	of	of	ADP
ajst-352	24	3	wireless	wireless	ADJ
ajst-352	24	4	charging	charging	NOUN
ajst-352	24	5	system	system	NOUN
ajst-352	24	6	use	use	VERB
ajst-352	24	7	the	the	DET
ajst-352	24	8	wireless	wireless	NOUN
ajst-352	24	9	charging	charging	NOUN
ajst-352	24	10	module	module	NOUN
ajst-352	24	11	to	to	PART
ajst-352	24	12	charge	charge	VERB
ajst-352	24	13	the	the	DET
ajst-352	24	14	super	super	ADJ
ajst-352	24	15	capacitor	capacitor	NOUN
ajst-352	24	16	.	.	PUNCT
ajst-352	25	1	after	after	SCONJ
ajst-352	25	2	the	the	DET
ajst-352	25	3	timing	timing	NOUN
ajst-352	25	4	is	be	AUX
ajst-352	25	5	over	over	ADV
ajst-352	25	6	,	,	PUNCT
ajst-352	25	7	stop	stop	VERB
ajst-352	25	8	charging	charge	VERB
ajst-352	25	9	.	.	PUNCT
ajst-352	26	1	then	then	ADV
ajst-352	26	2	the	the	DET
ajst-352	26	3	super	super	ADJ
ajst-352	26	4	capacitor	capacitor	NOUN
ajst-352	26	5	discharges	discharge	NOUN
ajst-352	26	6	,	,	PUNCT
ajst-352	26	7	supplies	supply	VERB
ajst-352	26	8	power	power	NOUN
ajst-352	26	9	to	to	ADP
ajst-352	26	10	the	the	DET
ajst-352	26	11	motor	motor	NOUN
ajst-352	26	12	and	and	CCONJ
ajst-352	26	13	the	the	DET
ajst-352	26	14	main	main	ADJ
ajst-352	26	15	control	control	NOUN
ajst-352	26	16	circuit	circuit	NOUN
ajst-352	26	17	,	,	PUNCT
ajst-352	26	18	gives	give	VERB
ajst-352	26	19	the	the	DET
ajst-352	26	20	corresponding	correspond	VERB
ajst-352	26	21	signal	signal	NOUN
ajst-352	26	22	,	,	PUNCT
ajst-352	26	23	and	and	CCONJ
ajst-352	26	24	the	the	DET
ajst-352	26	25	trolley	trolley	NOUN
ajst-352	26	26	runs	run	VERB
ajst-352	26	27	according	accord	VERB
ajst-352	26	28	to	to	ADP
ajst-352	26	29	the	the	DET
ajst-352	26	30	predetermined	predetermine	VERB
ajst-352	26	31	program	program	NOUN
ajst-352	26	32	.	.	PUNCT
ajst-352	27	1	2.4	2.4	NUM
ajst-352	27	2	.	.	PUNCT
ajst-352	28	1	project	project	NOUN
ajst-352	28	2	implementation	implementation	NOUN
ajst-352	28	3	plan	plan	NOUN
ajst-352	28	4	scheme	scheme	NOUN
ajst-352	28	5	1	1	NUM
ajst-352	28	6	:	:	PUNCT
ajst-352	28	7	the	the	DET
ajst-352	28	8	electric	electric	ADJ
ajst-352	28	9	vehicle	vehicle	NOUN
ajst-352	28	10	automatically	automatically	ADV
ajst-352	28	11	plans	plan	VERB
ajst-352	28	12	the	the	DET
ajst-352	28	13	path	path	NOUN
ajst-352	28	14	and	and	CCONJ
ajst-352	28	15	charges	charge	NOUN
ajst-352	28	16	wirelessly	wirelessly	ADV
ajst-352	28	17	.	.	PUNCT
ajst-352	29	1	①	①	PUNCT
ajst-352	29	2	position	position	VERB
ajst-352	29	3	the	the	DET
ajst-352	29	4	electric	electric	ADJ
ajst-352	29	5	vehicle	vehicle	NOUN
ajst-352	29	6	.	.	PUNCT
ajst-352	30	1	several	several	ADJ
ajst-352	30	2	base	base	NOUN
ajst-352	30	3	stations	station	NOUN
ajst-352	30	4	are	be	AUX
ajst-352	30	5	placed	place	VERB
ajst-352	30	6	in	in	ADP
ajst-352	30	7	the	the	DET
ajst-352	30	8	parking	parking	NOUN
ajst-352	30	9	lot	lot	NOUN
ajst-352	30	10	area	area	NOUN
ajst-352	30	11	to	to	PART
ajst-352	30	12	transmit	transmit	VERB
ajst-352	30	13	signals	signal	NOUN
ajst-352	30	14	through	through	ADP
ajst-352	30	15	the	the	DET
ajst-352	30	16	base	base	NOUN
ajst-352	30	17	station	station	NOUN
ajst-352	30	18	.	.	PUNCT
ajst-352	31	1	at	at	ADP
ajst-352	31	2	the	the	DET
ajst-352	31	3	same	same	ADJ
ajst-352	31	4	time	time	NOUN
ajst-352	31	5	,	,	PUNCT
ajst-352	31	6	the	the	DET
ajst-352	31	7	signal	signal	NOUN
ajst-352	31	8	sent	send	VERB
ajst-352	31	9	by	by	ADP
ajst-352	31	10	the	the	DET
ajst-352	31	11	base	base	NOUN
ajst-352	31	12	station	station	NOUN
ajst-352	31	13	is	be	AUX
ajst-352	31	14	received	receive	VERB
ajst-352	31	15	by	by	ADP
ajst-352	31	16	the	the	DET
ajst-352	31	17	positioning	positioning	NOUN
ajst-352	31	18	module	module	NOUN
ajst-352	31	19	to	to	PART
ajst-352	31	20	convert	convert	VERB
ajst-352	31	21	the	the	DET
ajst-352	31	22	position	position	NOUN
ajst-352	31	23	of	of	ADP
ajst-352	31	24	the	the	DET
ajst-352	31	25	electric	electric	ADJ
ajst-352	31	26	vehicle	vehicle	NOUN
ajst-352	31	27	into	into	ADP
ajst-352	31	28	coordinates	coordinate	NOUN
ajst-352	31	29	and	and	CCONJ
ajst-352	31	30	store	store	VERB
ajst-352	31	31	it	it	PRON
ajst-352	31	32	.	.	PUNCT
ajst-352	32	1	②	②	NUM
ajst-352	32	2	conduct	conduct	NOUN
ajst-352	32	3	path	path	NOUN
ajst-352	32	4	planning	planning	NOUN
ajst-352	32	5	.	.	PUNCT
ajst-352	33	1	using	use	VERB
ajst-352	33	2	the	the	DET
ajst-352	33	3	algorithm	algorithm	NOUN
ajst-352	33	4	,	,	PUNCT
ajst-352	33	5	the	the	DET
ajst-352	33	6	starting	starting	NOUN
ajst-352	33	7	point	point	NOUN
ajst-352	33	8	and	and	CCONJ
ajst-352	33	9	parking	parking	NOUN
ajst-352	33	10	point	point	NOUN
ajst-352	33	11	are	be	AUX
ajst-352	33	12	planned	plan	VERB
ajst-352	33	13	,	,	PUNCT
ajst-352	33	14	and	and	CCONJ
ajst-352	33	15	the	the	DET
ajst-352	33	16	optimal	optimal	ADJ
ajst-352	33	17	path	path	NOUN
ajst-352	33	18	is	be	AUX
ajst-352	33	19	selected	select	VERB
ajst-352	33	20	from	from	ADP
ajst-352	33	21	many	many	ADJ
ajst-352	33	22	paths	path	NOUN
ajst-352	33	23	.	.	PUNCT
ajst-352	34	1	③	③	NUM
ajst-352	34	2	electric	electric	ADJ
ajst-352	34	3	vehicle	vehicle	NOUN
ajst-352	34	4	tracking	tracking	NOUN
ajst-352	34	5	.	.	PUNCT
ajst-352	35	1	the	the	DET
ajst-352	35	2	electric	electric	ADJ
ajst-352	35	3	vehicle	vehicle	NOUN
ajst-352	35	4	tracks	track	NOUN
ajst-352	35	5	according	accord	VERB
ajst-352	35	6	to	to	ADP
ajst-352	35	7	the	the	DET
ajst-352	35	8	planned	planned	ADJ
ajst-352	35	9	path	path	NOUN
ajst-352	35	10	,	,	PUNCT
ajst-352	35	11	that	that	ADV
ajst-352	35	12	is	is	ADV
ajst-352	35	13	,	,	PUNCT
ajst-352	35	14	the	the	DET
ajst-352	35	15	path	path	NOUN
ajst-352	35	16	is	be	AUX
ajst-352	35	17	transformed	transform	VERB
ajst-352	35	18	into	into	ADP
ajst-352	35	19	a	a	DET
ajst-352	35	20	series	series	NOUN
ajst-352	35	21	of	of	ADP
ajst-352	35	22	coordinates	coordinate	NOUN
ajst-352	35	23	.	.	PUNCT
ajst-352	36	1	by	by	ADP
ajst-352	36	2	looking	look	VERB
ajst-352	36	3	for	for	ADP
ajst-352	36	4	the	the	DET
ajst-352	36	5	next	next	ADJ
ajst-352	36	6	coordinates	coordinate	NOUN
ajst-352	36	7	,	,	PUNCT
ajst-352	36	8	it	it	PRON
ajst-352	36	9	reaches	reach	VERB
ajst-352	36	10	the	the	DET
ajst-352	36	11	parking	parking	NOUN
ajst-352	36	12	point	point	NOUN
ajst-352	36	13	.	.	PUNCT
ajst-352	37	1	④	④	NUM
ajst-352	37	2	after	after	ADP
ajst-352	37	3	arriving	arrive	VERB
ajst-352	37	4	at	at	ADP
ajst-352	37	5	the	the	DET
ajst-352	37	6	parking	parking	NOUN
ajst-352	37	7	point	point	NOUN
ajst-352	37	8	,	,	PUNCT
ajst-352	37	9	the	the	DET
ajst-352	37	10	car	car	NOUN
ajst-352	37	11	can	can	AUX
ajst-352	37	12	automatically	automatically	ADV
ajst-352	37	13	conduct	conduct	VERB
ajst-352	37	14	wireless	wireless	NOUN
ajst-352	37	15	charging	charging	NOUN
ajst-352	37	16	through	through	ADP
ajst-352	37	17	wireless	wireless	NOUN
ajst-352	37	18	charging	charge	VERB
ajst-352	37	19	technology	technology	NOUN
ajst-352	37	20	.	.	PUNCT
ajst-352	38	1	scheme	scheme	NOUN
ajst-352	38	2	2	2	NUM
ajst-352	38	3	:	:	PUNCT
ajst-352	38	4	the	the	DET
ajst-352	38	5	electric	electric	ADJ
ajst-352	38	6	vehicle	vehicle	NOUN
ajst-352	38	7	tracks	track	VERB
ajst-352	38	8	through	through	ADP
ajst-352	38	9	auxiliary	auxiliary	ADJ
ajst-352	38	10	signs	sign	NOUN
ajst-352	38	11	and	and	CCONJ
ajst-352	38	12	charges	charge	NOUN
ajst-352	38	13	wirelessly	wirelessly	ADV
ajst-352	38	14	.	.	PUNCT
ajst-352	39	1	①	①	PUNCT
ajst-352	39	2	auxiliary	auxiliary	ADJ
ajst-352	39	3	signs	sign	NOUN
ajst-352	39	4	that	that	PRON
ajst-352	39	5	can	can	AUX
ajst-352	39	6	be	be	AUX
ajst-352	39	7	controlled	control	VERB
ajst-352	39	8	freely	freely	ADV
ajst-352	39	9	shall	shall	AUX
ajst-352	39	10	be	be	AUX
ajst-352	39	11	installed	instal	VERB
ajst-352	39	12	on	on	ADP
ajst-352	39	13	the	the	DET
ajst-352	39	14	ground	ground	NOUN
ajst-352	39	15	of	of	ADP
ajst-352	39	16	the	the	DET
ajst-352	39	17	parking	parking	NOUN
ajst-352	39	18	lot	lot	NOUN
ajst-352	39	19	area	area	NOUN
ajst-352	39	20	in	in	ADP
ajst-352	39	21	advance	advance	NOUN
ajst-352	39	22	.	.	PUNCT
ajst-352	40	1	②	②	NUM
ajst-352	40	2	after	after	SCONJ
ajst-352	40	3	the	the	DET
ajst-352	40	4	electric	electric	ADJ
ajst-352	40	5	vehicle	vehicle	NOUN
ajst-352	40	6	enters	enter	VERB
ajst-352	40	7	the	the	DET
ajst-352	40	8	parking	parking	NOUN
ajst-352	40	9	lot	lot	NOUN
ajst-352	40	10	,	,	PUNCT
ajst-352	40	11	it	it	PRON
ajst-352	40	12	will	will	AUX
ajst-352	40	13	automatically	automatically	ADV
ajst-352	40	14	detect	detect	VERB
ajst-352	40	15	a	a	DET
ajst-352	40	16	vacancy	vacancy	NOUN
ajst-352	40	17	in	in	ADP
ajst-352	40	18	the	the	DET
ajst-352	40	19	parking	parking	NOUN
ajst-352	40	20	lot	lot	NOUN
ajst-352	40	21	,	,	PUNCT
ajst-352	40	22	and	and	CCONJ
ajst-352	40	23	the	the	DET
ajst-352	40	24	auxiliary	auxiliary	ADJ
ajst-352	40	25	sign	sign	NOUN
ajst-352	40	26	will	will	AUX
ajst-352	40	27	be	be	AUX
ajst-352	40	28	led	lead	VERB
ajst-352	40	29	to	to	ADP
ajst-352	40	30	the	the	DET
ajst-352	40	31	vacancy	vacancy	NOUN
ajst-352	40	32	.	.	PUNCT
ajst-352	41	1	③	③	NUM
ajst-352	42	1	the	the	DET
ajst-352	42	2	electric	electric	ADJ
ajst-352	42	3	vehicle	vehicle	NOUN
ajst-352	42	4	detects	detect	NOUN
ajst-352	42	5	the	the	DET
ajst-352	42	6	auxiliary	auxiliary	ADJ
ajst-352	42	7	signs	sign	NOUN
ajst-352	42	8	on	on	ADP
ajst-352	42	9	the	the	DET
ajst-352	42	10	ground	ground	NOUN
ajst-352	42	11	through	through	ADP
ajst-352	42	12	the	the	DET
ajst-352	42	13	sensor	sensor	NOUN
ajst-352	42	14	,	,	PUNCT
ajst-352	42	15	and	and	CCONJ
ajst-352	42	16	the	the	DET
ajst-352	42	17	auxiliary	auxiliary	ADJ
ajst-352	42	18	signs	sign	NOUN
ajst-352	42	19	are	be	AUX
ajst-352	42	20	guided	guide	VERB
ajst-352	42	21	to	to	ADP
ajst-352	42	22	the	the	DET
ajst-352	42	23	parking	parking	NOUN
ajst-352	42	24	space	space	NOUN
ajst-352	42	25	.	.	PUNCT
ajst-352	43	1	④	④	NUM
ajst-352	43	2	after	after	ADP
ajst-352	43	3	arriving	arrive	VERB
ajst-352	43	4	at	at	ADP
ajst-352	43	5	the	the	DET
ajst-352	43	6	parking	parking	NOUN
ajst-352	43	7	point	point	NOUN
ajst-352	43	8	,	,	PUNCT
ajst-352	43	9	the	the	DET
ajst-352	43	10	car	car	NOUN
ajst-352	43	11	can	can	AUX
ajst-352	43	12	automatically	automatically	ADV
ajst-352	43	13	conduct	conduct	VERB
ajst-352	43	14	wireless	wireless	NOUN
ajst-352	43	15	charging	charging	NOUN
ajst-352	43	16	through	through	ADP
ajst-352	43	17	wireless	wireless	NOUN
ajst-352	43	18	charging	charging	NOUN
ajst-352	43	19	technology	technology	NOUN
ajst-352	43	20	.	.	PUNCT
ajst-352	44	1	considering	consider	VERB
ajst-352	44	2	the	the	DET
ajst-352	44	3	complexity	complexity	NOUN
ajst-352	44	4	and	and	CCONJ
ajst-352	44	5	economic	economic	ADJ
ajst-352	44	6	cost	cost	NOUN
ajst-352	44	7	of	of	ADP
ajst-352	44	8	the	the	DET
ajst-352	44	9	project	project	NOUN
ajst-352	44	10	,	,	PUNCT
ajst-352	44	11	scheme	scheme	NOUN
ajst-352	44	12	ii	ii	PROPN
ajst-352	44	13	is	be	AUX
ajst-352	44	14	adopted	adopt	VERB
ajst-352	44	15	in	in	ADP
ajst-352	44	16	this	this	DET
ajst-352	44	17	design	design	NOUN
ajst-352	44	18	.	.	PUNCT
ajst-352	45	1	77	77	NUM
ajst-352	45	2	3	3	NUM
ajst-352	45	3	.	.	PUNCT
ajst-352	45	4	circuit	circuit	NOUN
ajst-352	45	5	and	and	CCONJ
ajst-352	45	6	program	program	NOUN
ajst-352	45	7	design	design	VERB
ajst-352	45	8	the	the	DET
ajst-352	45	9	program	program	NOUN
ajst-352	45	10	design	design	NOUN
ajst-352	45	11	of	of	ADP
ajst-352	45	12	this	this	DET
ajst-352	45	13	design	design	NOUN
ajst-352	45	14	is	be	AUX
ajst-352	45	15	developed	develop	VERB
ajst-352	45	16	based	base	VERB
ajst-352	45	17	on	on	ADP
ajst-352	45	18	oenmv	oenmv	NOUN
ajst-352	45	19	ide	ide	NOUN
ajst-352	45	20	platform	platform	NOUN
ajst-352	45	21	.	.	PUNCT
ajst-352	46	1	it	it	PRON
ajst-352	46	2	has	have	VERB
ajst-352	46	3	a	a	DET
ajst-352	46	4	powerful	powerful	ADJ
ajst-352	46	5	text	text	NOUN
ajst-352	46	6	editor	editor	NOUN
ajst-352	46	7	supported	support	VERB
ajst-352	46	8	by	by	ADP
ajst-352	46	9	qtcreator	qtcreator	NOUN
ajst-352	46	10	,	,	PUNCT
ajst-352	46	11	a	a	DET
ajst-352	46	12	frame	frame	NOUN
ajst-352	46	13	buffer	buffer	NOUN
ajst-352	46	14	,	,	PUNCT
ajst-352	46	15	a	a	DET
ajst-352	46	16	histogram	histogram	NOUN
ajst-352	46	17	display	display	NOUN
ajst-352	46	18	,	,	PUNCT
ajst-352	46	19	and	and	CCONJ
ajst-352	46	20	an	an	DET
ajst-352	46	21	integrated	integrate	VERB
ajst-352	46	22	serial	serial	ADJ
ajst-352	46	23	port	port	NOUN
ajst-352	46	24	terminal	terminal	NOUN
ajst-352	46	25	for	for	ADP
ajst-352	46	26	openmv	openmv	PROPN
ajst-352	46	27	debugging	debug	VERB
ajst-352	46	28	output	output	NOUN
ajst-352	46	29	.	.	PUNCT
ajst-352	47	1	3.1	3.1	NUM
ajst-352	47	2	.	.	PUNCT
ajst-352	47	3	image	image	NOUN
ajst-352	47	4	acquisition	acquisition	NOUN
ajst-352	47	5	module	module	NOUN
ajst-352	47	6	the	the	DET
ajst-352	47	7	image	image	NOUN
ajst-352	47	8	acquisition	acquisition	NOUN
ajst-352	47	9	and	and	CCONJ
ajst-352	47	10	processing	processing	NOUN
ajst-352	47	11	module	module	NOUN
ajst-352	47	12	selects	select	NOUN
ajst-352	47	13	stm32h743vit	stm32h743vit	ADJ
ajst-352	47	14	and	and	CCONJ
ajst-352	47	15	ov7725	ov7725	PROPN
ajst-352	47	16	to	to	PART
ajst-352	47	17	realize	realize	VERB
ajst-352	47	18	the	the	DET
ajst-352	47	19	function	function	NOUN
ajst-352	47	20	of	of	ADP
ajst-352	47	21	openmv	openmv	PROPN
ajst-352	47	22	.	.	PUNCT
ajst-352	48	1	the	the	DET
ajst-352	48	2	ov7725	ov7725	PROPN
ajst-352	48	3	has	have	VERB
ajst-352	48	4	a	a	DET
ajst-352	48	5	frame	frame	NOUN
ajst-352	48	6	frequency	frequency	NOUN
ajst-352	48	7	of	of	ADP
ajst-352	48	8	up	up	ADP
ajst-352	48	9	to	to	ADP
ajst-352	48	10	150hz	150hz	NOUN
ajst-352	48	11	and	and	CCONJ
ajst-352	48	12	can	can	AUX
ajst-352	48	13	be	be	AUX
ajst-352	48	14	hardware	hardware	NOUN
ajst-352	48	15	binarized	binarize	VERB
ajst-352	48	16	.	.	PUNCT
ajst-352	49	1	openmv	openmv	PROPN
ajst-352	49	2	is	be	AUX
ajst-352	49	3	an	an	DET
ajst-352	49	4	open	open	ADJ
ajst-352	49	5	source	source	NOUN
ajst-352	49	6	,	,	PUNCT
ajst-352	49	7	low	low	ADJ
ajst-352	49	8	-	-	PUNCT
ajst-352	49	9	cost	cost	NOUN
ajst-352	49	10	and	and	CCONJ
ajst-352	49	11	powerful	powerful	ADJ
ajst-352	49	12	machine	machine	NOUN
ajst-352	49	13	vision	vision	NOUN
ajst-352	49	14	module	module	NOUN
ajst-352	49	15	.	.	PUNCT
ajst-352	50	1	it	it	PRON
ajst-352	50	2	uses	use	VERB
ajst-352	50	3	it	it	PRON
ajst-352	50	4	to	to	PART
ajst-352	50	5	continuously	continuously	ADV
ajst-352	50	6	absorb	absorb	VERB
ajst-352	50	7	road	road	NOUN
ajst-352	50	8	markings	marking	NOUN
ajst-352	50	9	and	and	CCONJ
ajst-352	50	10	plan	plan	VERB
ajst-352	50	11	pre	pre	ADJ
ajst-352	51	1	travel	travel	NOUN
ajst-352	51	2	trajectories	trajectory	NOUN
ajst-352	51	3	to	to	PART
ajst-352	51	4	adjust	adjust	VERB
ajst-352	51	5	the	the	DET
ajst-352	51	6	travel	travel	NOUN
ajst-352	51	7	attitude	attitude	NOUN
ajst-352	51	8	of	of	ADP
ajst-352	51	9	the	the	DET
ajst-352	51	10	car	car	NOUN
ajst-352	51	11	.	.	PUNCT
ajst-352	52	1	figure	figure	NOUN
ajst-352	52	2	1	1	NUM
ajst-352	52	3	.	.	PUNCT
ajst-352	52	4	circuit	circuit	NOUN
ajst-352	52	5	design	design	NOUN
ajst-352	52	6	of	of	ADP
ajst-352	52	7	ov7725	ov7725	PROPN
ajst-352	52	8	camera	camera	NOUN
ajst-352	52	9	3.2	3.2	NUM
ajst-352	52	10	.	.	PUNCT
ajst-352	53	1	wireless	wireless	ADJ
ajst-352	53	2	charging	charging	NOUN
ajst-352	53	3	module	module	NOUN
ajst-352	53	4	the	the	DET
ajst-352	53	5	wireless	wireless	NOUN
ajst-352	53	6	charging	charging	NOUN
ajst-352	53	7	module	module	NOUN
ajst-352	53	8	is	be	AUX
ajst-352	53	9	composed	compose	VERB
ajst-352	53	10	of	of	ADP
ajst-352	53	11	the	the	DET
ajst-352	53	12	charging	charge	VERB
ajst-352	53	13	coil	coil	NOUN
ajst-352	53	14	at	at	ADP
ajst-352	53	15	the	the	DET
ajst-352	53	16	transmitting	transmit	VERB
ajst-352	53	17	end	end	NOUN
ajst-352	53	18	and	and	CCONJ
ajst-352	53	19	the	the	DET
ajst-352	53	20	charging	charge	VERB
ajst-352	53	21	coil	coil	NOUN
ajst-352	53	22	at	at	ADP
ajst-352	53	23	the	the	DET
ajst-352	53	24	receiving	receiving	NOUN
ajst-352	53	25	end	end	NOUN
ajst-352	53	26	.	.	PUNCT
ajst-352	54	1	in	in	ADP
ajst-352	54	2	order	order	NOUN
ajst-352	54	3	to	to	PART
ajst-352	54	4	make	make	VERB
ajst-352	54	5	the	the	DET
ajst-352	54	6	receiving	receive	VERB
ajst-352	54	7	coil	coil	NOUN
ajst-352	54	8	on	on	ADP
ajst-352	54	9	the	the	DET
ajst-352	54	10	trolley	trolley	NOUN
ajst-352	54	11	obtain	obtain	VERB
ajst-352	54	12	the	the	DET
ajst-352	54	13	rated	rate	VERB
ajst-352	54	14	voltage	voltage	NOUN
ajst-352	54	15	,	,	PUNCT
ajst-352	54	16	it	it	PRON
ajst-352	54	17	is	be	AUX
ajst-352	54	18	necessary	necessary	ADJ
ajst-352	54	19	to	to	PART
ajst-352	54	20	generate	generate	VERB
ajst-352	54	21	a	a	DET
ajst-352	54	22	high	high	ADJ
ajst-352	54	23	-	-	PUNCT
ajst-352	54	24	frequency	frequency	NOUN
ajst-352	54	25	wireless	wireless	ADJ
ajst-352	54	26	electromagnetic	electromagnetic	ADJ
ajst-352	54	27	wave	wave	NOUN
ajst-352	54	28	during	during	ADP
ajst-352	54	29	charging	charge	VERB
ajst-352	54	30	.	.	PUNCT
ajst-352	55	1	the	the	DET
ajst-352	55	2	coil	coil	NOUN
ajst-352	55	3	with	with	ADP
ajst-352	55	4	5v	5v	NOUN
ajst-352	55	5	,	,	PUNCT
ajst-352	55	6	1a	1a	NOUN
ajst-352	55	7	and	and	CCONJ
ajst-352	55	8	5	5	NUM
ajst-352	55	9	cm	cm	NOUN
ajst-352	55	10	diameter	diameter	NOUN
ajst-352	55	11	is	be	AUX
ajst-352	55	12	selected	select	VERB
ajst-352	55	13	to	to	PART
ajst-352	55	14	charge	charge	VERB
ajst-352	55	15	the	the	DET
ajst-352	55	16	wireless	wireless	NOUN
ajst-352	55	17	charging	charging	NOUN
ajst-352	55	18	module	module	NOUN
ajst-352	55	19	.	.	PUNCT
ajst-352	56	1	when	when	SCONJ
ajst-352	56	2	the	the	DET
ajst-352	56	3	trolley	trolley	NOUN
ajst-352	56	4	reaches	reach	VERB
ajst-352	56	5	the	the	DET
ajst-352	56	6	charging	charging	NOUN
ajst-352	56	7	point	point	NOUN
ajst-352	56	8	,	,	PUNCT
ajst-352	56	9	the	the	DET
ajst-352	56	10	5v	5v	NOUN
ajst-352	56	11	voltage	voltage	NOUN
ajst-352	56	12	of	of	ADP
ajst-352	56	13	the	the	DET
ajst-352	56	14	dc	dc	PROPN
ajst-352	56	15	regulated	regulate	VERB
ajst-352	56	16	power	power	NOUN
ajst-352	56	17	supply	supply	NOUN
ajst-352	56	18	is	be	AUX
ajst-352	56	19	transmitted	transmit	VERB
ajst-352	56	20	through	through	ADP
ajst-352	56	21	the	the	DET
ajst-352	56	22	transmitting	transmit	VERB
ajst-352	56	23	end	end	NOUN
ajst-352	56	24	of	of	ADP
ajst-352	56	25	the	the	DET
ajst-352	56	26	wireless	wireless	ADJ
ajst-352	56	27	charging	charging	NOUN
ajst-352	56	28	module	module	NOUN
ajst-352	56	29	,	,	PUNCT
ajst-352	56	30	and	and	CCONJ
ajst-352	56	31	then	then	ADV
ajst-352	56	32	received	receive	VERB
ajst-352	56	33	by	by	ADP
ajst-352	56	34	the	the	DET
ajst-352	56	35	receiving	receiving	NOUN
ajst-352	56	36	end	end	NOUN
ajst-352	56	37	of	of	ADP
ajst-352	56	38	the	the	DET
ajst-352	56	39	wireless	wireless	NOUN
ajst-352	56	40	charging	charging	NOUN
ajst-352	56	41	module	module	NOUN
ajst-352	56	42	.	.	PUNCT
ajst-352	57	1	the	the	DET
ajst-352	57	2	received	receive	VERB
ajst-352	57	3	electric	electric	ADJ
ajst-352	57	4	energy	energy	NOUN
ajst-352	57	5	is	be	AUX
ajst-352	57	6	stored	store	VERB
ajst-352	57	7	in	in	ADP
ajst-352	57	8	the	the	DET
ajst-352	57	9	super	super	ADJ
ajst-352	57	10	capacitor	capacitor	NOUN
ajst-352	57	11	,	,	PUNCT
ajst-352	57	12	and	and	CCONJ
ajst-352	57	13	then	then	ADV
ajst-352	57	14	the	the	DET
ajst-352	57	15	regulated	regulated	ADJ
ajst-352	57	16	power	power	NOUN
ajst-352	57	17	is	be	AUX
ajst-352	57	18	directly	directly	ADV
ajst-352	57	19	supplied	supply	VERB
ajst-352	57	20	to	to	ADP
ajst-352	57	21	the	the	DET
ajst-352	57	22	single	single	ADJ
ajst-352	57	23	chip	chip	NOUN
ajst-352	57	24	microcomputer	microcomputer	NOUN
ajst-352	57	25	system	system	NOUN
ajst-352	57	26	and	and	CCONJ
ajst-352	57	27	other	other	ADJ
ajst-352	57	28	modules	module	NOUN
ajst-352	57	29	.	.	PUNCT
ajst-352	58	1	3.3	3.3	NUM
ajst-352	58	2	.	.	PUNCT
ajst-352	59	1	drive	drive	NOUN
ajst-352	59	2	module	module	NOUN
ajst-352	59	3	the	the	DET
ajst-352	59	4	system	system	NOUN
ajst-352	59	5	uses	use	VERB
ajst-352	59	6	the	the	DET
ajst-352	59	7	encoding	encoding	NOUN
ajst-352	59	8	motor	motor	NOUN
ajst-352	59	9	and	and	CCONJ
ajst-352	59	10	mcnamu	mcnamu	NOUN
ajst-352	59	11	wheel	wheel	NOUN
ajst-352	59	12	as	as	ADP
ajst-352	59	13	the	the	DET
ajst-352	59	14	driving	driving	NOUN
ajst-352	59	15	of	of	ADP
ajst-352	59	16	the	the	DET
ajst-352	59	17	trolley	trolley	NOUN
ajst-352	59	18	.	.	PUNCT
ajst-352	60	1	the	the	DET
ajst-352	60	2	rotation	rotation	NOUN
ajst-352	60	3	angle	angle	NOUN
ajst-352	60	4	speed	speed	NOUN
ajst-352	60	5	of	of	ADP
ajst-352	60	6	mcnamu	mcnamu	PROPN
ajst-352	60	7	wheel	wheel	NOUN
ajst-352	60	8	is	be	AUX
ajst-352	60	9	directly	directly	ADV
ajst-352	60	10	proportional	proportional	ADJ
ajst-352	60	11	to	to	ADP
ajst-352	60	12	the	the	DET
ajst-352	60	13	speed	speed	NOUN
ajst-352	60	14	of	of	ADP
ajst-352	60	15	wheat	wheat	NOUN
ajst-352	60	16	wheel	wheel	NOUN
ajst-352	60	17	moving	move	VERB
ajst-352	60	18	along	along	ADP
ajst-352	60	19	the	the	DET
ajst-352	60	20	roller	roller	NOUN
ajst-352	60	21	axis	axis	NOUN
ajst-352	60	22	,	,	PUNCT
ajst-352	60	23	that	that	ADV
ajst-352	60	24	is	is	ADV
ajst-352	60	25	,	,	PUNCT
ajst-352	60	26	the	the	DET
ajst-352	60	27	actual	actual	ADJ
ajst-352	60	28	effective	effective	ADJ
ajst-352	60	29	speed	speed	NOUN
ajst-352	60	30	.	.	PUNCT
ajst-352	61	1	this	this	PRON
ajst-352	61	2	is	be	AUX
ajst-352	61	3	the	the	DET
ajst-352	61	4	basis	basis	NOUN
ajst-352	61	5	of	of	ADP
ajst-352	61	6	wheat	wheat	NOUN
ajst-352	61	7	wheel	wheel	NOUN
ajst-352	61	8	speed	speed	NOUN
ajst-352	61	9	decomposition	decomposition	NOUN
ajst-352	61	10	.	.	PUNCT
ajst-352	62	1	the	the	DET
ajst-352	62	2	test	test	NOUN
ajst-352	62	3	wheel	wheel	NOUN
ajst-352	62	4	moves	move	NOUN
ajst-352	62	5	in	in	ADP
ajst-352	62	6	all	all	DET
ajst-352	62	7	directions	direction	NOUN
ajst-352	62	8	without	without	ADP
ajst-352	62	9	track	track	NOUN
ajst-352	62	10	.	.	PUNCT
ajst-352	63	1	figure	figure	NOUN
ajst-352	63	2	2	2	NUM
ajst-352	63	3	.	.	PUNCT
ajst-352	63	4	motor	motor	NOUN
ajst-352	63	5	encoder	encoder	NOUN
ajst-352	63	6	and	and	CCONJ
ajst-352	63	7	drive	drive	VERB
ajst-352	63	8	circuit	circuit	NOUN
ajst-352	63	9	3.4	3.4	NUM
ajst-352	63	10	.	.	PUNCT
ajst-352	63	11	touch	touch	NOUN
ajst-352	63	12	screen	screen	NOUN
ajst-352	63	13	for	for	ADP
ajst-352	63	14	the	the	DET
ajst-352	63	15	display	display	NOUN
ajst-352	63	16	module	module	NOUN
ajst-352	63	17	of	of	ADP
ajst-352	63	18	the	the	DET
ajst-352	63	19	car	car	NOUN
ajst-352	63	20	,	,	PUNCT
ajst-352	63	21	our	our	PRON
ajst-352	63	22	system	system	NOUN
ajst-352	63	23	uses	use	VERB
ajst-352	63	24	a	a	DET
ajst-352	63	25	2.8inch	2.8inch	NUM
ajst-352	63	26	qvga	qvga	ADJ
ajst-352	63	27	touch	touch	NOUN
ajst-352	63	28	screen	screen	NOUN
ajst-352	63	29	with	with	ADP
ajst-352	63	30	a	a	DET
ajst-352	63	31	resolution	resolution	NOUN
ajst-352	63	32	of	of	ADP
ajst-352	63	33	240	240	NUM
ajst-352	63	34	*	*	SYM
ajst-352	63	35	320	320	NUM
ajst-352	63	36	as	as	ADP
ajst-352	63	37	the	the	DET
ajst-352	63	38	display	display	NOUN
ajst-352	63	39	module	module	NOUN
ajst-352	63	40	of	of	ADP
ajst-352	63	41	the	the	DET
ajst-352	63	42	car	car	NOUN
ajst-352	63	43	.	.	PUNCT
ajst-352	64	1	before	before	SCONJ
ajst-352	64	2	the	the	DET
ajst-352	64	3	trolley	trolley	NOUN
ajst-352	64	4	works	work	VERB
ajst-352	64	5	,	,	PUNCT
ajst-352	64	6	you	you	PRON
ajst-352	64	7	need	need	VERB
ajst-352	64	8	to	to	PART
ajst-352	64	9	press	press	VERB
ajst-352	64	10	the	the	DET
ajst-352	64	11	corresponding	corresponding	ADJ
ajst-352	64	12	button	button	NOUN
ajst-352	64	13	on	on	ADP
ajst-352	64	14	the	the	DET
ajst-352	64	15	touch	touch	NOUN
ajst-352	64	16	screen	screen	NOUN
ajst-352	64	17	to	to	PART
ajst-352	64	18	start	start	VERB
ajst-352	64	19	the	the	DET
ajst-352	64	20	program	program	NOUN
ajst-352	64	21	.	.	PUNCT
ajst-352	65	1	after	after	SCONJ
ajst-352	65	2	the	the	DET
ajst-352	65	3	program	program	NOUN
ajst-352	65	4	starts	start	VERB
ajst-352	65	5	,	,	PUNCT
ajst-352	65	6	the	the	DET
ajst-352	65	7	image	image	NOUN
ajst-352	65	8	collected	collect	VERB
ajst-352	65	9	by	by	ADP
ajst-352	65	10	openmv	openmv	PROPN
ajst-352	65	11	and	and	CCONJ
ajst-352	65	12	the	the	DET
ajst-352	65	13	track	track	NOUN
ajst-352	65	14	to	to	PART
ajst-352	65	15	be	be	AUX
ajst-352	65	16	driven	drive	VERB
ajst-352	65	17	after	after	SCONJ
ajst-352	65	18	path	path	NOUN
ajst-352	65	19	planning	planning	NOUN
ajst-352	65	20	will	will	AUX
ajst-352	65	21	be	be	AUX
ajst-352	65	22	displayed	display	VERB
ajst-352	65	23	on	on	ADP
ajst-352	65	24	the	the	DET
ajst-352	65	25	display	display	NOUN
ajst-352	65	26	screen	screen	NOUN
ajst-352	65	27	in	in	ADP
ajst-352	65	28	real	real	ADJ
ajst-352	65	29	time	time	NOUN
ajst-352	65	30	.	.	PUNCT
ajst-352	66	1	figure	figure	VERB
ajst-352	66	2	3	3	NUM
ajst-352	66	3	.	.	PUNCT
ajst-352	66	4	circuit	circuit	NOUN
ajst-352	66	5	design	design	NOUN
ajst-352	66	6	of	of	ADP
ajst-352	66	7	2.8	2.8	NUM
ajst-352	66	8	-	-	PUNCT
ajst-352	66	9	inch	inch	NOUN
ajst-352	66	10	qvga	qvga	ADJ
ajst-352	66	11	touch	touch	NOUN
ajst-352	66	12	screen	screen	NOUN
ajst-352	66	13	3.5	3.5	NUM
ajst-352	66	14	.	.	PUNCT
ajst-352	67	1	visual	visual	ADJ
ajst-352	67	2	tracking	track	VERB
ajst-352	67	3	visual	visual	ADJ
ajst-352	67	4	tracking	tracking	NOUN
ajst-352	67	5	is	be	AUX
ajst-352	67	6	to	to	PART
ajst-352	67	7	use	use	VERB
ajst-352	67	8	openmv	openmv	PROPN
ajst-352	67	9	to	to	PART
ajst-352	67	10	capture	capture	VERB
ajst-352	67	11	the	the	DET
ajst-352	67	12	road	road	NOUN
ajst-352	67	13	black	black	ADJ
ajst-352	67	14	line	line	NOUN
ajst-352	67	15	,	,	PUNCT
ajst-352	67	16	divide	divide	VERB
ajst-352	67	17	the	the	DET
ajst-352	67	18	black	black	ADJ
ajst-352	67	19	line	line	NOUN
ajst-352	67	20	into	into	ADP
ajst-352	67	21	5	5	NUM
ajst-352	67	22	blocks	block	NOUN
ajst-352	67	23	,	,	PUNCT
ajst-352	67	24	and	and	CCONJ
ajst-352	67	25	take	take	VERB
ajst-352	67	26	the	the	DET
ajst-352	67	27	midpoint	midpoint	NOUN
ajst-352	67	28	of	of	ADP
ajst-352	67	29	each	each	DET
ajst-352	67	30	block	block	NOUN
ajst-352	67	31	for	for	ADP
ajst-352	67	32	connection	connection	NOUN
ajst-352	67	33	.	.	PUNCT
ajst-352	68	1	the	the	DET
ajst-352	68	2	connection	connection	NOUN
ajst-352	68	3	of	of	ADP
ajst-352	68	4	the	the	DET
ajst-352	68	5	five	five	NUM
ajst-352	68	6	midpoint	midpoint	NOUN
ajst-352	68	7	is	be	AUX
ajst-352	68	8	the	the	DET
ajst-352	68	9	pre	pre	ADJ
ajst-352	68	10	driving	driving	NOUN
ajst-352	68	11	route	route	NOUN
ajst-352	68	12	planned	plan	VERB
ajst-352	68	13	by	by	ADP
ajst-352	68	14	the	the	DET
ajst-352	68	15	algorithm	algorithm	NOUN
ajst-352	68	16	.	.	PUNCT
ajst-352	69	1	in	in	ADP
ajst-352	69	2	the	the	DET
ajst-352	69	3	process	process	NOUN
ajst-352	69	4	of	of	ADP
ajst-352	69	5	trolley	trolley	NOUN
ajst-352	69	6	traveling	travel	VERB
ajst-352	69	7	,	,	PUNCT
ajst-352	69	8	pid	pid	DET
ajst-352	69	9	controller	controller	NOUN
ajst-352	69	10	is	be	AUX
ajst-352	69	11	used	use	VERB
ajst-352	69	12	to	to	PART
ajst-352	69	13	ensure	ensure	VERB
ajst-352	69	14	the	the	DET
ajst-352	69	15	stability	stability	NOUN
ajst-352	69	16	of	of	ADP
ajst-352	69	17	traveling	travel	VERB
ajst-352	69	18	.	.	PUNCT
ajst-352	70	1	the	the	DET
ajst-352	70	2	midpoint	midpoint	NOUN
ajst-352	70	3	of	of	ADP
ajst-352	70	4	each	each	DET
ajst-352	70	5	block	block	NOUN
ajst-352	70	6	is	be	AUX
ajst-352	70	7	used	use	VERB
ajst-352	70	8	for	for	ADP
ajst-352	70	9	longitudinal	longitudinal	ADJ
ajst-352	70	10	zoning	zoning	NOUN
ajst-352	70	11	.	.	PUNCT
ajst-352	71	1	black	black	ADJ
ajst-352	71	2	blocks	block	NOUN
ajst-352	71	3	are	be	AUX
ajst-352	71	4	identified	identify	VERB
ajst-352	71	5	in	in	ADP
ajst-352	71	6	each	each	DET
ajst-352	71	7	area	area	NOUN
ajst-352	71	8	.	.	PUNCT
ajst-352	72	1	the	the	DET
ajst-352	72	2	average	average	ADJ
ajst-352	72	3	value	value	NOUN
ajst-352	72	4	of	of	ADP
ajst-352	72	5	identification	identification	NOUN
ajst-352	72	6	points	point	NOUN
ajst-352	72	7	minus	minus	CCONJ
ajst-352	72	8	the	the	DET
ajst-352	72	9	center	center	NOUN
ajst-352	72	10	line	line	NOUN
ajst-352	72	11	is	be	AUX
ajst-352	72	12	used	use	VERB
ajst-352	72	13	to	to	PART
ajst-352	72	14	obtain	obtain	VERB
ajst-352	72	15	the	the	DET
ajst-352	72	16	deviation	deviation	NOUN
ajst-352	72	17	of	of	ADP
ajst-352	72	18	offset	offset	ADJ
ajst-352	72	19	loop	loop	NOUN
ajst-352	72	20	.	.	PUNCT
ajst-352	73	1	the	the	DET
ajst-352	73	2	deviation	deviation	NOUN
ajst-352	73	3	of	of	ADP
ajst-352	73	4	offset	offset	NOUN
ajst-352	73	5	loop	loop	NOUN
ajst-352	73	6	is	be	AUX
ajst-352	73	7	calculated	calculate	VERB
ajst-352	73	8	by	by	ADP
ajst-352	73	9	pid	pid	NOUN
ajst-352	73	10	controller	controller	NOUN
ajst-352	73	11	to	to	PART
ajst-352	73	12	obtain	obtain	VERB
ajst-352	73	13	the	the	DET
ajst-352	73	14	execution	execution	NOUN
ajst-352	73	15	amount	amount	NOUN
ajst-352	73	16	of	of	ADP
ajst-352	73	17	offset	offset	NOUN
ajst-352	73	18	loop	loop	NOUN
ajst-352	73	19	,	,	PUNCT
ajst-352	73	20	that	that	ADV
ajst-352	73	21	is	is	ADV
ajst-352	73	22	,	,	PUNCT
ajst-352	73	23	steering	steer	VERB
ajst-352	73	24	speed	speed	NOUN
ajst-352	73	25	.	.	PUNCT
ajst-352	74	1	the	the	DET
ajst-352	74	2	deviation	deviation	NOUN
ajst-352	74	3	of	of	ADP
ajst-352	74	4	the	the	DET
ajst-352	74	5	translation	translation	NOUN
ajst-352	74	6	loop	loop	NOUN
ajst-352	74	7	is	be	AUX
ajst-352	74	8	obtained	obtain	VERB
ajst-352	74	9	by	by	ADP
ajst-352	74	10	subtracting	subtract	VERB
ajst-352	74	11	the	the	DET
ajst-352	74	12	center	center	ADJ
ajst-352	74	13	line	line	NOUN
ajst-352	74	14	from	from	ADP
ajst-352	74	15	the	the	DET
ajst-352	74	16	black	black	ADJ
ajst-352	74	17	block	block	NOUN
ajst-352	74	18	in	in	ADP
ajst-352	74	19	the	the	DET
ajst-352	74	20	last	last	ADJ
ajst-352	74	21	area	area	NOUN
ajst-352	74	22	,	,	PUNCT
ajst-352	74	23	and	and	CCONJ
ajst-352	74	24	the	the	DET
ajst-352	74	25	execution	execution	NOUN
ajst-352	74	26	amount	amount	NOUN
ajst-352	74	27	of	of	ADP
ajst-352	74	28	the	the	DET
ajst-352	74	29	translation	translation	NOUN
ajst-352	74	30	loop	loop	NOUN
ajst-352	74	31	,	,	PUNCT
ajst-352	74	32	that	that	ADV
ajst-352	74	33	is	is	ADV
ajst-352	74	34	,	,	PUNCT
ajst-352	74	35	the	the	DET
ajst-352	74	36	translation	translation	NOUN
ajst-352	74	37	speed	speed	NOUN
ajst-352	74	38	,	,	PUNCT
ajst-352	74	39	is	be	AUX
ajst-352	74	40	calculated	calculate	VERB
ajst-352	74	41	by	by	ADP
ajst-352	74	42	the	the	DET
ajst-352	74	43	pid	pid	NOUN
ajst-352	74	44	controller	controller	NOUN
ajst-352	74	45	.	.	PUNCT
ajst-352	75	1	steering	steer	VERB
ajst-352	75	2	speed	speed	NOUN
ajst-352	75	3	plus	plus	CCONJ
ajst-352	75	4	translation	translation	NOUN
ajst-352	75	5	speed	speed	NOUN
ajst-352	75	6	plus	plus	CCONJ
ajst-352	75	7	straight	straight	ADV
ajst-352	75	8	ahead	ahead	ADV
ajst-352	75	9	speed	speed	NOUN
ajst-352	75	10	equals	equal	VERB
ajst-352	75	11	output	output	NOUN
ajst-352	75	12	.	.	PUNCT
ajst-352	76	1	4	4	X
ajst-352	76	2	.	.	X
ajst-352	76	3	system	system	NOUN
ajst-352	76	4	test	test	NOUN
ajst-352	76	5	4.1	4.1	NUM
ajst-352	76	6	.	.	PUNCT
ajst-352	77	1	test	test	NOUN
ajst-352	77	2	instrument	instrument	PROPN
ajst-352	77	3	①pc;②openmv	①pc;②openmv	AUX
ajst-352	77	4	ide；③simulated	ide；③simulate	VERB
ajst-352	77	5	runway	runway	NOUN
ajst-352	77	6	with	with	ADP
ajst-352	77	7	black	black	ADJ
ajst-352	77	8	78	78	NUM
ajst-352	77	9	line;④digital	line;④digital	PROPN
ajst-352	77	10	oscilloscope;⑤multimeter;⑥dc	oscilloscope;⑤multimeter;⑥dc	NUM
ajst-352	77	11	regulated	regulated	ADJ
ajst-352	77	12	power	power	NOUN
ajst-352	77	13	supply	supply	NOUN
ajst-352	77	14	.	.	PUNCT
ajst-352	78	1	4.2	4.2	NUM
ajst-352	78	2	.	.	X
ajst-352	79	1	charging	charge	VERB
ajst-352	79	2	function	function	NOUN
ajst-352	79	3	test	test	NOUN
ajst-352	79	4	①the	①the	DET
ajst-352	79	5	dc	dc	PROPN
ajst-352	79	6	regulated	regulate	VERB
ajst-352	79	7	power	power	NOUN
ajst-352	79	8	supply	supply	NOUN
ajst-352	79	9	is	be	AUX
ajst-352	79	10	set	set	VERB
ajst-352	79	11	to	to	ADP
ajst-352	79	12	5v	5v	NOUN
ajst-352	79	13	and	and	CCONJ
ajst-352	79	14	the	the	DET
ajst-352	79	15	charging	charge	VERB
ajst-352	79	16	current	current	NOUN
ajst-352	79	17	is	be	AUX
ajst-352	79	18	not	not	PART
ajst-352	79	19	greater	great	ADJ
ajst-352	79	20	than	than	ADP
ajst-352	79	21	1a	1a	NOUN
ajst-352	79	22	.	.	PUNCT
ajst-352	80	1	use	use	VERB
ajst-352	80	2	a	a	DET
ajst-352	80	3	voltmeter	voltmeter	NOUN
ajst-352	80	4	to	to	PART
ajst-352	80	5	measure	measure	VERB
ajst-352	80	6	the	the	DET
ajst-352	80	7	voltage	voltage	NOUN
ajst-352	80	8	at	at	ADP
ajst-352	80	9	both	both	DET
ajst-352	80	10	ends	end	NOUN
ajst-352	80	11	of	of	ADP
ajst-352	80	12	the	the	DET
ajst-352	80	13	capacitor	capacitor	NOUN
ajst-352	80	14	.	.	PUNCT
ajst-352	81	1	the	the	DET
ajst-352	81	2	voltage	voltage	NOUN
ajst-352	81	3	at	at	ADP
ajst-352	81	4	both	both	DET
ajst-352	81	5	ends	end	NOUN
ajst-352	81	6	of	of	ADP
ajst-352	81	7	the	the	DET
ajst-352	81	8	capacitor	capacitor	NOUN
ajst-352	81	9	increases	increase	VERB
ajst-352	81	10	steadily	steadily	ADV
ajst-352	81	11	with	with	ADP
ajst-352	81	12	the	the	DET
ajst-352	81	13	increase	increase	NOUN
ajst-352	81	14	of	of	ADP
ajst-352	81	15	charging	charge	VERB
ajst-352	81	16	time	time	NOUN
ajst-352	81	17	.	.	PUNCT
ajst-352	82	1	the	the	DET
ajst-352	82	2	test	test	NOUN
ajst-352	82	3	results	result	NOUN
ajst-352	82	4	are	be	AUX
ajst-352	82	5	shown	show	VERB
ajst-352	82	6	in	in	ADP
ajst-352	82	7	table	table	NOUN
ajst-352	82	8	1	1	NUM
ajst-352	82	9	:	:	PUNCT
ajst-352	82	10	table	table	NOUN
ajst-352	82	11	1	1	NUM
ajst-352	82	12	.	.	PUNCT
ajst-352	82	13	test	test	NOUN
ajst-352	82	14	of	of	ADP
ajst-352	82	15	relationship	relationship	NOUN
ajst-352	82	16	between	between	ADP
ajst-352	82	17	charging	charge	VERB
ajst-352	82	18	time	time	NOUN
ajst-352	82	19	and	and	CCONJ
ajst-352	82	20	capacitor	capacitor	NOUN
ajst-352	82	21	voltage	voltage	NOUN
ajst-352	82	22	test	test	NOUN
ajst-352	82	23	items	item	NOUN
ajst-352	82	24	test	test	NOUN
ajst-352	82	25	data	datum	NOUN
ajst-352	82	26	charging	charge	VERB
ajst-352	82	27	time	time	NOUN
ajst-352	82	28	/s	/s	SYM
ajst-352	82	29	15	15	NUM
ajst-352	82	30	30	30	NUM
ajst-352	82	31	45	45	NUM
ajst-352	82	32	55	55	NUM
ajst-352	82	33	60	60	NUM
ajst-352	82	34	capacitance	capacitance	NOUN
ajst-352	82	35	voltage	voltage	NOUN
ajst-352	82	36	/	/	SYM
ajst-352	82	37	v	v	NOUN
ajst-352	82	38	1.13	1.13	NUM
ajst-352	82	39	2.79	2.79	NUM
ajst-352	82	40	3.98	3.98	NUM
ajst-352	82	41	4.67	4.67	NUM
ajst-352	82	42	4.99	4.99	NUM
ajst-352	82	43	②when	②when	ADV
ajst-352	82	44	charging	charge	VERB
ajst-352	82	45	for	for	ADP
ajst-352	82	46	60s	60	NOUN
ajst-352	82	47	,	,	PUNCT
ajst-352	82	48	the	the	DET
ajst-352	82	49	trolley	trolley	NOUN
ajst-352	82	50	can	can	AUX
ajst-352	82	51	travel	travel	VERB
ajst-352	82	52	about	about	ADV
ajst-352	82	53	443	443	NUM
ajst-352	82	54	cm	cm	NOUN
ajst-352	82	55	on	on	ADP
ajst-352	82	56	the	the	DET
ajst-352	82	57	runway	runway	NOUN
ajst-352	82	58	.	.	PUNCT
ajst-352	83	1	③when	③when	ADV
ajst-352	83	2	the	the	DET
ajst-352	83	3	capacitance	capacitance	NOUN
ajst-352	83	4	remains	remain	VERB
ajst-352	83	5	unchanged	unchanged	ADJ
ajst-352	83	6	,	,	PUNCT
ajst-352	83	7	change	change	VERB
ajst-352	83	8	the	the	DET
ajst-352	83	9	distance	distance	NOUN
ajst-352	83	10	between	between	ADP
ajst-352	83	11	the	the	DET
ajst-352	83	12	transmitting	transmitting	NOUN
ajst-352	83	13	end	end	NOUN
ajst-352	83	14	and	and	CCONJ
ajst-352	83	15	the	the	DET
ajst-352	83	16	receiving	receiving	NOUN
ajst-352	83	17	end	end	NOUN
ajst-352	83	18	,	,	PUNCT
ajst-352	83	19	and	and	CCONJ
ajst-352	83	20	measure	measure	VERB
ajst-352	83	21	the	the	DET
ajst-352	83	22	traveling	travel	VERB
ajst-352	83	23	distance	distance	NOUN
ajst-352	83	24	of	of	ADP
ajst-352	83	25	the	the	DET
ajst-352	83	26	trolley	trolley	NOUN
ajst-352	83	27	.	.	PUNCT
ajst-352	84	1	the	the	DET
ajst-352	84	2	test	test	NOUN
ajst-352	84	3	results	result	NOUN
ajst-352	84	4	are	be	AUX
ajst-352	84	5	shown	show	VERB
ajst-352	84	6	in	in	ADP
ajst-352	84	7	table	table	NOUN
ajst-352	84	8	2	2	NUM
ajst-352	84	9	:	:	PUNCT
ajst-352	84	10	table	table	NOUN
ajst-352	84	11	2	2	NUM
ajst-352	84	12	.	.	X
ajst-352	84	13	relationship	relationship	NOUN
ajst-352	84	14	test	test	NOUN
ajst-352	84	15	between	between	ADP
ajst-352	84	16	charging	charge	VERB
ajst-352	84	17	coil	coil	NOUN
ajst-352	84	18	distance	distance	NOUN
ajst-352	84	19	and	and	CCONJ
ajst-352	84	20	trolley	trolley	NOUN
ajst-352	84	21	travel	travel	NOUN
ajst-352	84	22	distance	distance	NOUN
ajst-352	84	23	test	test	NOUN
ajst-352	84	24	items	item	NOUN
ajst-352	84	25	test	test	NOUN
ajst-352	84	26	data	datum	NOUN
ajst-352	84	27	distance	distance	NOUN
ajst-352	84	28	between	between	ADP
ajst-352	84	29	transmitting	transmit	VERB
ajst-352	84	30	end	end	NOUN
ajst-352	84	31	and	and	CCONJ
ajst-352	84	32	receiving	receive	VERB
ajst-352	84	33	end	end	NOUN
ajst-352	84	34	/	/	SYM
ajst-352	84	35	cm	cm	NOUN
ajst-352	84	36	1.5	1.5	NUM
ajst-352	84	37	1	1	NUM
ajst-352	84	38	0.5	0.5	NUM
ajst-352	84	39	0.1	0.1	NUM
ajst-352	84	40	capacitor	capacitor	NOUN
ajst-352	84	41	voltage	voltage	NOUN
ajst-352	84	42	after	after	ADP
ajst-352	84	43	charging	charge	VERB
ajst-352	84	44	for	for	ADP
ajst-352	84	45	60s	60	NOUN
ajst-352	84	46	/v	/v	PUNCT
ajst-352	84	47	2.97	2.97	NUM
ajst-352	84	48	3.77	3.77	NUM
ajst-352	84	49	4.32	4.32	NUM
ajst-352	84	50	4.98	4.98	NUM
ajst-352	84	51	traveling	travel	VERB
ajst-352	84	52	distance	distance	NOUN
ajst-352	84	53	of	of	ADP
ajst-352	84	54	trolley	trolley	NOUN
ajst-352	84	55	/	/	SYM
ajst-352	84	56	cm	cm	NOUN
ajst-352	84	57	53.4	53.4	NUM
ajst-352	84	58	223.4	223.4	NUM
ajst-352	84	59	356.7	356.7	NUM
ajst-352	84	60	445.3	445.3	NUM
ajst-352	84	61	4.3	4.3	NUM
ajst-352	84	62	.	.	PUNCT
ajst-352	85	1	visual	visual	ADJ
ajst-352	85	2	tracking	tracking	NOUN
ajst-352	85	3	reliability	reliability	NOUN
ajst-352	85	4	test	test	NOUN
ajst-352	85	5	use	use	NOUN
ajst-352	85	6	openmv	openmv	PROPN
ajst-352	85	7	ide	ide	NOUN
ajst-352	85	8	to	to	PART
ajst-352	85	9	run	run	VERB
ajst-352	85	10	visual	visual	ADJ
ajst-352	85	11	tracking	tracking	NOUN
ajst-352	85	12	code	code	NOUN
ajst-352	85	13	to	to	PART
ajst-352	85	14	test	test	VERB
ajst-352	85	15	the	the	DET
ajst-352	85	16	reliability	reliability	NOUN
ajst-352	85	17	of	of	ADP
ajst-352	85	18	visual	visual	ADJ
ajst-352	85	19	tracking	tracking	NOUN
ajst-352	85	20	.	.	PUNCT
ajst-352	86	1	the	the	DET
ajst-352	86	2	processing	processing	NOUN
ajst-352	86	3	results	result	NOUN
ajst-352	86	4	displayed	display	VERB
ajst-352	86	5	on	on	ADP
ajst-352	86	6	the	the	DET
ajst-352	86	7	display	display	NOUN
ajst-352	86	8	screen	screen	NOUN
ajst-352	86	9	are	be	AUX
ajst-352	86	10	shown	show	VERB
ajst-352	86	11	in	in	ADP
ajst-352	86	12	figure	figure	NOUN
ajst-352	86	13	4	4	NUM
ajst-352	86	14	.	.	PUNCT
ajst-352	86	15	figure	figure	VERB
ajst-352	86	16	4	4	NUM
ajst-352	86	17	.	.	PUNCT
ajst-352	86	18	visual	visual	ADJ
ajst-352	86	19	tracking	tracking	NOUN
ajst-352	86	20	test	test	NOUN
ajst-352	86	21	effect	effect	NOUN
ajst-352	86	22	after	after	ADP
ajst-352	86	23	testing	testing	NOUN
ajst-352	86	24	,	,	PUNCT
ajst-352	86	25	the	the	DET
ajst-352	86	26	visual	visual	ADJ
ajst-352	86	27	tracking	tracking	NOUN
ajst-352	86	28	is	be	AUX
ajst-352	86	29	normal	normal	ADJ
ajst-352	86	30	,	,	PUNCT
ajst-352	86	31	the	the	DET
ajst-352	86	32	touch	touch	NOUN
ajst-352	86	33	screen	screen	NOUN
ajst-352	86	34	display	display	NOUN
ajst-352	86	35	is	be	AUX
ajst-352	86	36	normal	normal	ADJ
ajst-352	86	37	,	,	PUNCT
ajst-352	86	38	and	and	CCONJ
ajst-352	86	39	the	the	DET
ajst-352	86	40	smart	smart	ADJ
ajst-352	86	41	car	car	NOUN
ajst-352	86	42	can	can	AUX
ajst-352	86	43	drive	drive	VERB
ajst-352	86	44	normally	normally	ADV
ajst-352	86	45	on	on	ADP
ajst-352	86	46	the	the	DET
ajst-352	86	47	runway	runway	NOUN
ajst-352	86	48	and	and	CCONJ
ajst-352	86	49	realize	realize	VERB
ajst-352	86	50	wireless	wireless	ADJ
ajst-352	86	51	charging	charging	NOUN
ajst-352	86	52	.	.	PUNCT
ajst-352	87	1	5	5	X
ajst-352	87	2	.	.	X
ajst-352	87	3	conclusion	conclusion	NOUN
ajst-352	87	4	this	this	DET
ajst-352	87	5	design	design	NOUN
ajst-352	87	6	can	can	AUX
ajst-352	87	7	realize	realize	VERB
ajst-352	87	8	the	the	DET
ajst-352	87	9	independent	independent	ADJ
ajst-352	87	10	tracking	tracking	NOUN
ajst-352	87	11	of	of	ADP
ajst-352	87	12	the	the	DET
ajst-352	87	13	electric	electric	ADJ
ajst-352	87	14	car	car	NOUN
ajst-352	87	15	to	to	ADP
ajst-352	87	16	the	the	DET
ajst-352	87	17	target	target	NOUN
ajst-352	87	18	point	point	NOUN
ajst-352	87	19	and	and	CCONJ
ajst-352	87	20	complete	complete	VERB
ajst-352	87	21	the	the	DET
ajst-352	87	22	wireless	wireless	ADJ
ajst-352	87	23	charging	charge	VERB
ajst-352	87	24	function	function	NOUN
ajst-352	87	25	.	.	PUNCT
ajst-352	88	1	at	at	ADP
ajst-352	88	2	the	the	DET
ajst-352	88	3	same	same	ADJ
ajst-352	88	4	time	time	NOUN
ajst-352	88	5	,	,	PUNCT
ajst-352	88	6	the	the	DET
ajst-352	88	7	system	system	NOUN
ajst-352	88	8	is	be	AUX
ajst-352	88	9	also	also	ADV
ajst-352	88	10	suitable	suitable	ADJ
ajst-352	88	11	for	for	ADP
ajst-352	88	12	the	the	DET
ajst-352	88	13	intelligent	intelligent	ADJ
ajst-352	88	14	logistics	logistic	NOUN
ajst-352	88	15	transportation	transportation	NOUN
ajst-352	88	16	environment	environment	NOUN
ajst-352	88	17	such	such	ADJ
ajst-352	88	18	as	as	ADP
ajst-352	88	19	agv	agv	NOUN
ajst-352	88	20	.	.	PUNCT
ajst-352	89	1	this	this	DET
ajst-352	89	2	design	design	NOUN
ajst-352	89	3	has	have	VERB
ajst-352	89	4	certain	certain	ADJ
ajst-352	89	5	reference	reference	NOUN
ajst-352	89	6	and	and	CCONJ
ajst-352	89	7	practical	practical	ADJ
ajst-352	89	8	value	value	NOUN
ajst-352	89	9	,	,	PUNCT
ajst-352	89	10	and	and	CCONJ
ajst-352	89	11	its	its	PRON
ajst-352	89	12	innovation	innovation	NOUN
ajst-352	89	13	is	be	AUX
ajst-352	89	14	mainly	mainly	ADV
ajst-352	89	15	reflected	reflect	VERB
ajst-352	89	16	in	in	ADP
ajst-352	89	17	:	:	PUNCT
ajst-352	89	18	(	(	PUNCT
ajst-352	89	19	1	1	X
ajst-352	89	20	)	)	PUNCT
ajst-352	89	21	the	the	DET
ajst-352	89	22	system	system	NOUN
ajst-352	89	23	uses	use	VERB
ajst-352	89	24	stm32h743vit6	stm32h743vit6	PROPN
ajst-352	89	25	as	as	ADP
ajst-352	89	26	the	the	DET
ajst-352	89	27	core	core	NOUN
ajst-352	89	28	controller	controller	NOUN
ajst-352	89	29	,	,	PUNCT
ajst-352	89	30	the	the	DET
ajst-352	89	31	data	datum	NOUN
ajst-352	89	32	collected	collect	VERB
ajst-352	89	33	by	by	ADP
ajst-352	89	34	openmv	openmv	PROPN
ajst-352	89	35	as	as	ADP
ajst-352	89	36	the	the	DET
ajst-352	89	37	car	car	NOUN
ajst-352	89	38	attitude	attitude	NOUN
ajst-352	89	39	detection	detection	NOUN
ajst-352	89	40	system	system	NOUN
ajst-352	89	41	,	,	PUNCT
ajst-352	89	42	uses	use	VERB
ajst-352	89	43	the	the	DET
ajst-352	89	44	driving	drive	VERB
ajst-352	89	45	circuit	circuit	NOUN
ajst-352	89	46	to	to	PART
ajst-352	89	47	control	control	VERB
ajst-352	89	48	the	the	DET
ajst-352	89	49	motor	motor	NOUN
ajst-352	89	50	,	,	PUNCT
ajst-352	89	51	and	and	CCONJ
ajst-352	89	52	realizes	realize	VERB
ajst-352	89	53	the	the	DET
ajst-352	89	54	closed	close	VERB
ajst-352	89	55	-	-	PUNCT
ajst-352	89	56	loop	loop	NOUN
ajst-352	89	57	control	control	NOUN
ajst-352	89	58	of	of	ADP
ajst-352	89	59	the	the	DET
ajst-352	89	60	car	car	NOUN
ajst-352	89	61	through	through	ADP
ajst-352	89	62	the	the	DET
ajst-352	89	63	encoder	encoder	NOUN
ajst-352	89	64	and	and	CCONJ
ajst-352	89	65	as	as	ADP
ajst-352	89	66	the	the	DET
ajst-352	89	67	feedback	feedback	NOUN
ajst-352	89	68	device	device	NOUN
ajst-352	89	69	.	.	PUNCT
ajst-352	90	1	(	(	PUNCT
ajst-352	90	2	2	2	X
ajst-352	90	3	)	)	PUNCT
ajst-352	90	4	the	the	DET
ajst-352	90	5	system	system	NOUN
ajst-352	90	6	elaborates	elaborate	VERB
ajst-352	90	7	the	the	DET
ajst-352	90	8	principle	principle	NOUN
ajst-352	90	9	of	of	ADP
ajst-352	90	10	pid	pid	PROPN
ajst-352	90	11	control	control	PROPN
ajst-352	90	12	,	,	PUNCT
ajst-352	90	13	visual	visual	ADJ
ajst-352	90	14	tracking	tracking	NOUN
ajst-352	90	15	and	and	CCONJ
ajst-352	90	16	the	the	DET
ajst-352	90	17	realization	realization	NOUN
ajst-352	90	18	of	of	ADP
ajst-352	90	19	wireless	wireless	ADJ
ajst-352	90	20	charging	charging	NOUN
ajst-352	90	21	.	.	PUNCT
ajst-352	91	1	through	through	ADP
ajst-352	91	2	the	the	DET
ajst-352	91	3	motion	motion	NOUN
ajst-352	91	4	modeling	modeling	NOUN
ajst-352	91	5	of	of	ADP
ajst-352	91	6	the	the	DET
ajst-352	91	7	car	car	NOUN
ajst-352	91	8	,	,	PUNCT
ajst-352	91	9	the	the	DET
ajst-352	91	10	pid	pid	NOUN
ajst-352	91	11	control	control	NOUN
ajst-352	91	12	algorithm	algorithm	NOUN
ajst-352	91	13	of	of	ADP
ajst-352	91	14	the	the	DET
ajst-352	91	15	car	car	NOUN
ajst-352	91	16	is	be	AUX
ajst-352	91	17	constructed	construct	VERB
ajst-352	91	18	.	.	PUNCT
ajst-352	92	1	the	the	DET
ajst-352	92	2	pid	pid	NOUN
ajst-352	92	3	parameters	parameter	NOUN
ajst-352	92	4	are	be	AUX
ajst-352	92	5	adjusted	adjust	VERB
ajst-352	92	6	through	through	ADP
ajst-352	92	7	the	the	DET
ajst-352	92	8	serial	serial	ADJ
ajst-352	92	9	terminal	terminal	NOUN
ajst-352	92	10	in	in	ADP
ajst-352	92	11	openmv	openmv	PROPN
ajst-352	92	12	ide	ide	NOUN
ajst-352	92	13	,	,	PUNCT
ajst-352	92	14	and	and	CCONJ
ajst-352	92	15	finally	finally	ADV
ajst-352	92	16	the	the	DET
ajst-352	92	17	system	system	NOUN
ajst-352	92	18	design	design	NOUN
ajst-352	92	19	of	of	ADP
ajst-352	92	20	the	the	DET
ajst-352	92	21	car	car	NOUN
ajst-352	92	22	is	be	AUX
ajst-352	92	23	realized	realize	VERB
ajst-352	92	24	.	.	PUNCT
ajst-352	93	1	acknowledgment	acknowledgment	NOUN
ajst-352	93	2	fund	fund	NOUN
ajst-352	93	3	project	project	NOUN
ajst-352	93	4	:	:	PUNCT
ajst-352	93	5	provincial	provincial	ADJ
ajst-352	93	6	college	college	NOUN
ajst-352	93	7	students	student	NOUN
ajst-352	93	8	'	'	PART
ajst-352	93	9	innovation	innovation	NOUN
ajst-352	93	10	and	and	CCONJ
ajst-352	93	11	entrepreneurship	entrepreneurship	NOUN
ajst-352	93	12	project	project	NOUN
ajst-352	93	13	of	of	ADP
ajst-352	93	14	wuhan	wuhan	PROPN
ajst-352	93	15	technology	technology	PROPN
ajst-352	93	16	and	and	CCONJ
ajst-352	93	17	business	business	NOUN
ajst-352	93	18	university	university	NOUN
ajst-352	93	19	(	(	PUNCT
ajst-352	93	20	s20211342011	s20211342011	PROPN
ajst-352	93	21	)	)	PUNCT
ajst-352	93	22	.	.	PUNCT
ajst-352	94	1	references	reference	NOUN
ajst-352	94	2	[	[	X
ajst-352	94	3	1	1	NUM
ajst-352	94	4	]	]	X
ajst-352	94	5	zhao	zhao	PROPN
ajst-352	94	6	lianqiang	lianqiang	PROPN
ajst-352	94	7	,	,	PUNCT
ajst-352	94	8	cui	cui	PROPN
ajst-352	94	9	meng	meng	PROPN
ajst-352	94	10	,	,	PUNCT
ajst-352	94	11	wang	wang	PROPN
ajst-352	94	12	shuai	shuai	PROPN
ajst-352	94	13	,	,	PUNCT
ajst-352	94	14	guo	guo	PROPN
ajst-352	94	15	haijie	haijie	PROPN
ajst-352	94	16	design	design	NOUN
ajst-352	94	17	of	of	ADP
ajst-352	94	18	navigation	navigation	NOUN
ajst-352	94	19	balance	balance	NOUN
ajst-352	94	20	vehicle	vehicle	NOUN
ajst-352	94	21	based	base	VERB
ajst-352	94	22	on	on	ADP
ajst-352	94	23	k60	k60	PROPN
ajst-352	94	24	camera	camera	NOUN
ajst-352	94	25	[	[	X
ajst-352	94	26	j	j	X
ajst-352	94	27	]	]	X
ajst-352	94	28	electronic	electronic	ADJ
ajst-352	94	29	testing	testing	NOUN
ajst-352	94	30	,	,	PUNCT
ajst-352	94	31	2020	2020	NUM
ajst-352	94	32	(	(	PUNCT
ajst-352	94	33	02	02	NUM
ajst-352	94	34	):	):	PUNCT
ajst-352	94	35	17	17	NUM
ajst-352	94	36	-	-	SYM
ajst-352	94	37	19	19	NUM
ajst-352	94	38	+	+	NUM
ajst-352	94	39	49	49	NUM
ajst-352	94	40	.	.	PUNCT
ajst-352	95	1	[	[	X
ajst-352	95	2	2	2	X
ajst-352	95	3	]	]	X
ajst-352	95	4	wang	wang	PROPN
ajst-352	95	5	kailiang	kailiang	PROPN
ajst-352	95	6	,	,	PUNCT
ajst-352	95	7	wang	wang	PROPN
ajst-352	95	8	qi	qi	PROPN
ajst-352	95	9	,	,	PUNCT
ajst-352	95	10	qin	qin	PROPN
ajst-352	95	11	haiting	haiting	PROPN
ajst-352	95	12	,	,	PUNCT
ajst-352	95	13	gao	gao	PROPN
ajst-352	95	14	jinke	jinke	PROPN
ajst-352	95	15	,	,	PUNCT
ajst-352	95	16	zhu	zhu	PROPN
ajst-352	95	17	yuhe	yuhe	PROPN
ajst-352	95	18	design	design	NOUN
ajst-352	95	19	and	and	CCONJ
ajst-352	95	20	implementation	implementation	NOUN
ajst-352	95	21	of	of	ADP
ajst-352	95	22	two	two	NUM
ajst-352	95	23	wheel	wheel	NOUN
ajst-352	95	24	self	self	NOUN
ajst-352	95	25	balancing	balance	VERB
ajst-352	95	26	trolley	trolley	NOUN
ajst-352	95	27	based	base	VERB
ajst-352	95	28	on	on	ADP
ajst-352	95	29	electromagnetic	electromagnetic	ADJ
ajst-352	95	30	tracing	tracing	PROPN
ajst-352	95	31	[	[	X
ajst-352	95	32	j	j	X
ajst-352	95	33	]	]	X
ajst-352	95	34	automation	automation	NOUN
ajst-352	95	35	and	and	CCONJ
ajst-352	95	36	instrumentation	instrumentation	NOUN
ajst-352	95	37	,	,	PUNCT
ajst-352	95	38	2020	2020	NUM
ajst-352	95	39	(	(	PUNCT
ajst-352	95	40	01	01	NUM
ajst-352	95	41	):	):	PUNCT
ajst-352	95	42	77	77	NUM
ajst-352	95	43	-	-	SYM
ajst-352	95	44	80	80	NUM
ajst-352	95	45	.	.	PUNCT
ajst-352	96	1	[	[	X
ajst-352	96	2	3	3	X
ajst-352	96	3	]	]	X
ajst-352	96	4	huang	huang	PROPN
ajst-352	96	5	qiang	qiang	PROPN
ajst-352	96	6	,	,	PUNCT
ajst-352	96	7	tang	tang	PROPN
ajst-352	96	8	jie	jie	PROPN
ajst-352	96	9	,	,	PUNCT
ajst-352	96	10	lin	lin	PROPN
ajst-352	96	11	li	li	PROPN
ajst-352	96	12	,	,	PUNCT
ajst-352	96	13	wang	wang	PROPN
ajst-352	96	14	yuanming	yuanming	PROPN
ajst-352	96	15	,	,	PUNCT
ajst-352	96	16	zhu	zhu	PROPN
ajst-352	96	17	qunfeng	qunfeng	PROPN
ajst-352	96	18	design	design	NOUN
ajst-352	96	19	and	and	CCONJ
ajst-352	96	20	implementation	implementation	NOUN
ajst-352	96	21	of	of	ADP
ajst-352	96	22	two	two	NUM
ajst-352	96	23	wheel	wheel	NOUN
ajst-352	96	24	balance	balance	NOUN
ajst-352	96	25	car	car	NOUN
ajst-352	96	26	with	with	ADP
ajst-352	96	27	double	double	ADJ
ajst-352	96	28	closed	close	VERB
ajst-352	96	29	loop	loop	NOUN
ajst-352	96	30	pid	pid	NOUN
ajst-352	96	31	control	control	NOUN
ajst-352	96	32	[	[	X
ajst-352	96	33	j	j	X
ajst-352	96	34	]	]	X
ajst-352	96	35	journal	journal	PROPN
ajst-352	96	36	of	of	ADP
ajst-352	96	37	shaoyang	shaoyang	PROPN
ajst-352	96	38	university	university	PROPN
ajst-352	96	39	(	(	PUNCT
ajst-352	96	40	natural	natural	ADJ
ajst-352	96	41	science	science	NOUN
ajst-352	96	42	edition	edition	NOUN
ajst-352	96	43	)	)	PUNCT
ajst-352	96	44	,	,	PUNCT
ajst-352	96	45	2020,17	2020,17	NUM
ajst-352	96	46	(	(	PUNCT
ajst-352	96	47	03	03	NUM
ajst-352	96	48	):	):	PUNCT
ajst-352	96	49	35	35	NUM
ajst-352	96	50	-	-	SYM
ajst-352	96	51	39	39	NUM
ajst-352	96	52	.	.	PUNCT