id	sid	tid	token	lemma	pos
ajst-9873	1	1	academic	academic	ADJ
ajst-9873	1	2	journal	journal	NOUN
ajst-9873	1	3	of	of	ADP
ajst-9873	1	4	science	science	NOUN
ajst-9873	1	5	and	and	CCONJ
ajst-9873	1	6	technology	technology	NOUN
ajst-9873	1	7	issn	issn	NOUN
ajst-9873	1	8	:	:	PUNCT
ajst-9873	1	9	2771	2771	NUM
ajst-9873	1	10	-	-	SYM
ajst-9873	1	11	3032	3032	NUM
ajst-9873	1	12	|	|	NOUN
ajst-9873	1	13	vol	vol	NOUN
ajst-9873	1	14	.	.	PROPN
ajst-9873	2	1	6	6	NUM
ajst-9873	2	2	,	,	PUNCT
ajst-9873	2	3	no	no	INTJ
ajst-9873	2	4	.	.	NOUN
ajst-9873	2	5	2	2	NUM
ajst-9873	2	6	,	,	PUNCT
ajst-9873	2	7	2023	2023	NUM
ajst-9873	2	8	151	151	NUM
ajst-9873	2	9	research	research	NOUN
ajst-9873	2	10	summary	summary	NOUN
ajst-9873	2	11	of	of	ADP
ajst-9873	2	12	jacket	jacket	NOUN
ajst-9873	2	13	cleaning	cleaning	NOUN
ajst-9873	2	14	and	and	CCONJ
ajst-9873	2	15	detection	detection	NOUN
ajst-9873	2	16	robot	robot	NOUN
ajst-9873	2	17	zhizhong	zhizhong	PROPN
ajst-9873	2	18	lv	lv	PROPN
ajst-9873	2	19	,	,	PUNCT
ajst-9873	2	20	yawei	yawei	PROPN
ajst-9873	2	21	kang	kang	PROPN
ajst-9873	2	22	school	school	PROPN
ajst-9873	2	23	of	of	ADP
ajst-9873	2	24	mechanical	mechanical	ADJ
ajst-9873	2	25	and	and	CCONJ
ajst-9873	2	26	electrical	electrical	ADJ
ajst-9873	2	27	engineering	engineering	NOUN
ajst-9873	2	28	,	,	PUNCT
ajst-9873	2	29	southwest	southwest	ADJ
ajst-9873	2	30	petroleum	petroleum	PROPN
ajst-9873	2	31	university	university	PROPN
ajst-9873	2	32	,	,	PUNCT
ajst-9873	2	33	chengdu	chengdu	PROPN
ajst-9873	2	34	610500	610500	NUM
ajst-9873	2	35	,	,	PUNCT
ajst-9873	2	36	china	china	PROPN
ajst-9873	2	37	abstract	abstract	NOUN
ajst-9873	2	38	:	:	PUNCT
ajst-9873	2	39	in	in	ADP
ajst-9873	2	40	order	order	NOUN
ajst-9873	2	41	to	to	PART
ajst-9873	2	42	solve	solve	VERB
ajst-9873	2	43	the	the	DET
ajst-9873	2	44	jacket	jacket	NOUN
ajst-9873	2	45	platform	platform	NOUN
ajst-9873	2	46	in	in	ADP
ajst-9873	2	47	the	the	DET
ajst-9873	2	48	sea	sea	NOUN
ajst-9873	2	49	level	level	NOUN
ajst-9873	2	50	for	for	ADP
ajst-9873	2	51	a	a	DET
ajst-9873	2	52	long	long	ADJ
ajst-9873	2	53	time	time	NOUN
ajst-9873	2	54	by	by	ADP
ajst-9873	2	55	the	the	DET
ajst-9873	2	56	platform	platform	NOUN
ajst-9873	2	57	pressure	pressure	NOUN
ajst-9873	2	58	,	,	PUNCT
ajst-9873	2	59	seawater	seawater	NOUN
ajst-9873	2	60	erosion	erosion	NOUN
ajst-9873	2	61	,	,	PUNCT
ajst-9873	2	62	marine	marine	ADJ
ajst-9873	2	63	biological	biological	ADJ
ajst-9873	2	64	corrosion	corrosion	NOUN
ajst-9873	2	65	and	and	CCONJ
ajst-9873	2	66	other	other	ADJ
ajst-9873	2	67	factors	factor	NOUN
ajst-9873	2	68	and	and	CCONJ
ajst-9873	2	69	the	the	DET
ajst-9873	2	70	emergence	emergence	NOUN
ajst-9873	2	71	of	of	ADP
ajst-9873	2	72	weld	weld	NOUN
ajst-9873	2	73	cracks	crack	NOUN
ajst-9873	2	74	,	,	PUNCT
ajst-9873	2	75	depressions	depression	NOUN
ajst-9873	2	76	,	,	PUNCT
ajst-9873	2	77	deformation	deformation	NOUN
ajst-9873	2	78	,	,	PUNCT
ajst-9873	2	79	fracture	fracture	NOUN
ajst-9873	2	80	and	and	CCONJ
ajst-9873	2	81	other	other	ADJ
ajst-9873	2	82	defects	defect	NOUN
ajst-9873	2	83	,	,	PUNCT
ajst-9873	2	84	it	it	PRON
ajst-9873	2	85	is	be	AUX
ajst-9873	2	86	necessary	necessary	ADJ
ajst-9873	2	87	to	to	PART
ajst-9873	2	88	regularly	regularly	ADV
ajst-9873	2	89	carry	carry	VERB
ajst-9873	2	90	out	out	ADP
ajst-9873	2	91	cleaning	cleaning	NOUN
ajst-9873	2	92	and	and	CCONJ
ajst-9873	2	93	testing	testing	NOUN
ajst-9873	2	94	to	to	PART
ajst-9873	2	95	ensure	ensure	VERB
ajst-9873	2	96	the	the	DET
ajst-9873	2	97	stability	stability	NOUN
ajst-9873	2	98	of	of	ADP
ajst-9873	2	99	the	the	DET
ajst-9873	2	100	jacket	jacket	NOUN
ajst-9873	2	101	structure	structure	NOUN
ajst-9873	2	102	.	.	PUNCT
ajst-9873	3	1	at	at	ADP
ajst-9873	3	2	present	present	ADJ
ajst-9873	3	3	,	,	PUNCT
ajst-9873	3	4	the	the	DET
ajst-9873	3	5	cleaning	cleaning	NOUN
ajst-9873	3	6	and	and	CCONJ
ajst-9873	3	7	detection	detection	NOUN
ajst-9873	3	8	of	of	ADP
ajst-9873	3	9	offshore	offshore	ADJ
ajst-9873	3	10	platform	platform	NOUN
ajst-9873	3	11	jackets	jacket	NOUN
ajst-9873	3	12	are	be	AUX
ajst-9873	3	13	mostly	mostly	ADV
ajst-9873	3	14	carried	carry	VERB
ajst-9873	3	15	out	out	ADP
ajst-9873	3	16	by	by	ADP
ajst-9873	3	17	divers	diver	NOUN
ajst-9873	3	18	diving	diving	VERB
ajst-9873	3	19	into	into	ADP
ajst-9873	3	20	the	the	DET
ajst-9873	3	21	water	water	NOUN
ajst-9873	3	22	.	.	PUNCT
ajst-9873	4	1	the	the	DET
ajst-9873	4	2	operation	operation	NOUN
ajst-9873	4	3	is	be	AUX
ajst-9873	4	4	difficult	difficult	ADJ
ajst-9873	4	5	,	,	PUNCT
ajst-9873	4	6	inefficient	inefficient	ADJ
ajst-9873	4	7	,	,	PUNCT
ajst-9873	4	8	costly	costly	ADJ
ajst-9873	4	9	,	,	PUNCT
ajst-9873	4	10	and	and	CCONJ
ajst-9873	4	11	greatly	greatly	ADV
ajst-9873	4	12	affected	affect	VERB
ajst-9873	4	13	by	by	ADP
ajst-9873	4	14	the	the	DET
ajst-9873	4	15	weather	weather	NOUN
ajst-9873	4	16	.	.	PUNCT
ajst-9873	5	1	when	when	SCONJ
ajst-9873	5	2	cleaning	clean	VERB
ajst-9873	5	3	operations	operation	NOUN
ajst-9873	5	4	are	be	AUX
ajst-9873	5	5	carried	carry	VERB
ajst-9873	5	6	out	out	ADP
ajst-9873	5	7	in	in	ADP
ajst-9873	5	8	areas	area	NOUN
ajst-9873	5	9	with	with	ADP
ajst-9873	5	10	poor	poor	ADJ
ajst-9873	5	11	water	water	NOUN
ajst-9873	5	12	quality	quality	NOUN
ajst-9873	5	13	,	,	PUNCT
ajst-9873	5	14	it	it	PRON
ajst-9873	5	15	will	will	AUX
ajst-9873	5	16	pose	pose	VERB
ajst-9873	5	17	a	a	DET
ajst-9873	5	18	threat	threat	NOUN
ajst-9873	5	19	to	to	ADP
ajst-9873	5	20	the	the	DET
ajst-9873	5	21	lives	life	NOUN
ajst-9873	5	22	of	of	ADP
ajst-9873	5	23	divers	diver	NOUN
ajst-9873	5	24	.	.	PUNCT
ajst-9873	6	1	therefore	therefore	ADV
ajst-9873	6	2	,	,	PUNCT
ajst-9873	6	3	it	it	PRON
ajst-9873	6	4	is	be	AUX
ajst-9873	6	5	necessary	necessary	ADJ
ajst-9873	6	6	to	to	PART
ajst-9873	6	7	develop	develop	VERB
ajst-9873	6	8	a	a	DET
ajst-9873	6	9	new	new	ADJ
ajst-9873	6	10	type	type	NOUN
ajst-9873	6	11	of	of	ADP
ajst-9873	6	12	jacket	jacket	NOUN
ajst-9873	6	13	cleaning	cleaning	NOUN
ajst-9873	6	14	and	and	CCONJ
ajst-9873	6	15	detection	detection	NOUN
ajst-9873	6	16	robot	robot	NOUN
ajst-9873	6	17	structure	structure	NOUN
ajst-9873	6	18	that	that	PRON
ajst-9873	6	19	can	can	AUX
ajst-9873	6	20	carry	carry	VERB
ajst-9873	6	21	cleaning	cleaning	NOUN
ajst-9873	6	22	and	and	CCONJ
ajst-9873	6	23	detection	detection	NOUN
ajst-9873	6	24	devices	device	NOUN
ajst-9873	6	25	instead	instead	ADV
ajst-9873	6	26	of	of	ADP
ajst-9873	6	27	manual	manual	ADJ
ajst-9873	6	28	operation	operation	NOUN
ajst-9873	6	29	.	.	PUNCT
ajst-9873	7	1	keywords	keyword	NOUN
ajst-9873	7	2	:	:	PUNCT
ajst-9873	7	3	jacket	jacket	NOUN
ajst-9873	7	4	platform	platform	NOUN
ajst-9873	7	5	,	,	PUNCT
ajst-9873	7	6	cleaning	cleaning	NOUN
ajst-9873	7	7	,	,	PUNCT
ajst-9873	7	8	detection	detection	NOUN
ajst-9873	7	9	,	,	PUNCT
ajst-9873	7	10	robots	robot	NOUN
ajst-9873	7	11	.	.	PUNCT
ajst-9873	8	1	1	1	X
ajst-9873	8	2	.	.	X
ajst-9873	8	3	introduction	introduction	NOUN
ajst-9873	8	4	in	in	ADP
ajst-9873	8	5	the	the	DET
ajst-9873	8	6	process	process	NOUN
ajst-9873	8	7	of	of	ADP
ajst-9873	8	8	offshore	offshore	ADJ
ajst-9873	8	9	oil	oil	NOUN
ajst-9873	8	10	and	and	CCONJ
ajst-9873	8	11	gas	gas	NOUN
ajst-9873	8	12	development	development	NOUN
ajst-9873	8	13	,	,	PUNCT
ajst-9873	8	14	offshore	offshore	ADV
ajst-9873	8	15	drilling	drilling	NOUN
ajst-9873	8	16	and	and	CCONJ
ajst-9873	8	17	production	production	NOUN
ajst-9873	8	18	platform	platform	NOUN
ajst-9873	8	19	is	be	AUX
ajst-9873	8	20	an	an	DET
ajst-9873	8	21	important	important	ADJ
ajst-9873	8	22	equipment	equipment	NOUN
ajst-9873	8	23	to	to	PART
ajst-9873	8	24	support	support	VERB
ajst-9873	8	25	offshore	offshore	ADJ
ajst-9873	8	26	drilling	drilling	NOUN
ajst-9873	8	27	and	and	CCONJ
ajst-9873	8	28	production	production	NOUN
ajst-9873	8	29	equipment	equipment	NOUN
ajst-9873	8	30	.	.	PUNCT
ajst-9873	9	1	its	its	PRON
ajst-9873	9	2	quantity	quantity	NOUN
ajst-9873	9	3	is	be	AUX
ajst-9873	9	4	limited	limit	VERB
ajst-9873	9	5	.	.	PUNCT
ajst-9873	10	1	compared	compare	VERB
ajst-9873	10	2	with	with	ADP
ajst-9873	10	3	onshore	onshore	NOUN
ajst-9873	10	4	platform	platform	NOUN
ajst-9873	10	5	,	,	PUNCT
ajst-9873	10	6	offshore	offshore	ADV
ajst-9873	10	7	drilling	drilling	NOUN
ajst-9873	10	8	and	and	CCONJ
ajst-9873	10	9	production	production	NOUN
ajst-9873	10	10	platform	platform	NOUN
ajst-9873	10	11	has	have	VERB
ajst-9873	10	12	complex	complex	ADJ
ajst-9873	10	13	structure	structure	NOUN
ajst-9873	10	14	,	,	PUNCT
ajst-9873	10	15	large	large	ADJ
ajst-9873	10	16	size	size	NOUN
ajst-9873	10	17	and	and	CCONJ
ajst-9873	10	18	high	high	ADJ
ajst-9873	10	19	cost	cost	NOUN
ajst-9873	10	20	.	.	PUNCT
ajst-9873	11	1	offshore	offshore	ADJ
ajst-9873	11	2	drilling	drilling	NOUN
ajst-9873	11	3	platform	platform	NOUN
ajst-9873	11	4	can	can	AUX
ajst-9873	11	5	be	be	AUX
ajst-9873	11	6	divided	divide	VERB
ajst-9873	11	7	into	into	ADP
ajst-9873	11	8	fixed	fix	VERB
ajst-9873	11	9	type	type	NOUN
ajst-9873	11	10	and	and	CCONJ
ajst-9873	11	11	floating	float	VERB
ajst-9873	11	12	type	type	NOUN
ajst-9873	11	13	according	accord	VERB
ajst-9873	11	14	to	to	ADP
ajst-9873	11	15	the	the	DET
ajst-9873	11	16	way	way	NOUN
ajst-9873	11	17	of	of	ADP
ajst-9873	11	18	movement	movement	NOUN
ajst-9873	11	19	.	.	PUNCT
ajst-9873	12	1	in	in	ADP
ajst-9873	12	2	the	the	DET
ajst-9873	12	3	deep	deep	ADJ
ajst-9873	12	4	water	water	NOUN
ajst-9873	12	5	area	area	NOUN
ajst-9873	12	6	with	with	ADP
ajst-9873	12	7	a	a	DET
ajst-9873	12	8	working	work	VERB
ajst-9873	12	9	depth	depth	NOUN
ajst-9873	12	10	of	of	ADP
ajst-9873	12	11	more	more	ADJ
ajst-9873	12	12	than	than	ADP
ajst-9873	12	13	500	500	NUM
ajst-9873	12	14	m	m	NOUN
ajst-9873	12	15	,	,	PUNCT
ajst-9873	12	16	the	the	DET
ajst-9873	12	17	floating	float	VERB
ajst-9873	12	18	offshore	offshore	ADJ
ajst-9873	12	19	platform	platform	NOUN
ajst-9873	12	20	is	be	AUX
ajst-9873	12	21	positioned	position	VERB
ajst-9873	12	22	by	by	ADP
ajst-9873	12	23	mooring	mooring	NOUN
ajst-9873	12	24	system	system	NOUN
ajst-9873	12	25	or	or	CCONJ
ajst-9873	12	26	dynamic	dynamic	ADJ
ajst-9873	12	27	positioning	positioning	NOUN
ajst-9873	12	28	system	system	NOUN
ajst-9873	12	29	,	,	PUNCT
ajst-9873	12	30	which	which	PRON
ajst-9873	12	31	has	have	VERB
ajst-9873	12	32	more	more	ADJ
ajst-9873	12	33	advantages	advantage	NOUN
ajst-9873	12	34	than	than	ADP
ajst-9873	12	35	the	the	DET
ajst-9873	12	36	fixed	fix	VERB
ajst-9873	12	37	platform	platform	NOUN
ajst-9873	12	38	.	.	PUNCT
ajst-9873	13	1	fixed	fix	VERB
ajst-9873	13	2	jacket	jacket	NOUN
ajst-9873	13	3	platforms	platform	NOUN
ajst-9873	13	4	are	be	AUX
ajst-9873	13	5	mainly	mainly	ADV
ajst-9873	13	6	used	use	VERB
ajst-9873	13	7	in	in	ADP
ajst-9873	13	8	shallow	shallow	ADJ
ajst-9873	13	9	water	water	NOUN
ajst-9873	13	10	areas	area	NOUN
ajst-9873	13	11	with	with	ADP
ajst-9873	13	12	water	water	NOUN
ajst-9873	13	13	depth	depth	NOUN
ajst-9873	13	14	less	less	ADJ
ajst-9873	13	15	than	than	ADP
ajst-9873	13	16	200	200	NUM
ajst-9873	13	17	m[1	m[1	PROPN
ajst-9873	13	18	]	]	X
ajst-9873	13	19	.	.	PUNCT
ajst-9873	14	1	the	the	DET
ajst-9873	14	2	jacket	jacket	NOUN
ajst-9873	14	3	platform	platform	NOUN
ajst-9873	14	4	is	be	AUX
ajst-9873	14	5	on	on	ADP
ajst-9873	14	6	the	the	DET
ajst-9873	14	7	sea	sea	NOUN
ajst-9873	14	8	level	level	NOUN
ajst-9873	14	9	for	for	ADP
ajst-9873	14	10	a	a	DET
ajst-9873	14	11	long	long	ADJ
ajst-9873	14	12	time	time	NOUN
ajst-9873	14	13	.	.	PUNCT
ajst-9873	15	1	affected	affect	VERB
ajst-9873	15	2	by	by	ADP
ajst-9873	15	3	platform	platform	NOUN
ajst-9873	15	4	pressure	pressure	NOUN
ajst-9873	15	5	,	,	PUNCT
ajst-9873	15	6	seawater	seawater	NOUN
ajst-9873	15	7	erosion	erosion	NOUN
ajst-9873	15	8	,	,	PUNCT
ajst-9873	15	9	marine	marine	ADJ
ajst-9873	15	10	biological	biological	ADJ
ajst-9873	15	11	corrosion	corrosion	NOUN
ajst-9873	15	12	and	and	CCONJ
ajst-9873	15	13	other	other	ADJ
ajst-9873	15	14	factors	factor	NOUN
ajst-9873	15	15	,	,	PUNCT
ajst-9873	15	16	there	there	PRON
ajst-9873	15	17	will	will	AUX
ajst-9873	15	18	be	be	AUX
ajst-9873	15	19	weld	weld	NOUN
ajst-9873	15	20	cracks	crack	NOUN
ajst-9873	15	21	,	,	PUNCT
ajst-9873	15	22	depressions	depression	NOUN
ajst-9873	15	23	,	,	PUNCT
ajst-9873	15	24	deformation	deformation	NOUN
ajst-9873	15	25	,	,	PUNCT
ajst-9873	15	26	fracture	fracture	NOUN
ajst-9873	15	27	and	and	CCONJ
ajst-9873	15	28	other	other	ADJ
ajst-9873	15	29	defects	defect	NOUN
ajst-9873	15	30	[	[	X
ajst-9873	15	31	2	2	NUM
ajst-9873	15	32	,	,	PUNCT
ajst-9873	15	33	3	3	NUM
ajst-9873	15	34	]	]	PUNCT
ajst-9873	15	35	.	.	PUNCT
ajst-9873	16	1	the	the	DET
ajst-9873	16	2	economic	economic	ADJ
ajst-9873	16	3	losses	loss	NOUN
ajst-9873	16	4	caused	cause	VERB
ajst-9873	16	5	by	by	ADP
ajst-9873	16	6	these	these	DET
ajst-9873	16	7	problems	problem	NOUN
ajst-9873	16	8	are	be	AUX
ajst-9873	16	9	very	very	ADV
ajst-9873	16	10	large	large	ADJ
ajst-9873	16	11	.	.	PUNCT
ajst-9873	17	1	therefore	therefore	ADV
ajst-9873	17	2	,	,	PUNCT
ajst-9873	17	3	regular	regular	ADJ
ajst-9873	17	4	inspection	inspection	NOUN
ajst-9873	17	5	and	and	CCONJ
ajst-9873	17	6	cleaning	cleaning	NOUN
ajst-9873	17	7	are	be	AUX
ajst-9873	17	8	needed	need	VERB
ajst-9873	17	9	to	to	PART
ajst-9873	17	10	ensure	ensure	VERB
ajst-9873	17	11	the	the	DET
ajst-9873	17	12	stability	stability	NOUN
ajst-9873	17	13	of	of	ADP
ajst-9873	17	14	the	the	DET
ajst-9873	17	15	jacket	jacket	NOUN
ajst-9873	17	16	structure	structure	NOUN
ajst-9873	17	17	.	.	PUNCT
ajst-9873	18	1	however	however	ADV
ajst-9873	18	2	,	,	PUNCT
ajst-9873	18	3	due	due	ADP
ajst-9873	18	4	to	to	ADP
ajst-9873	18	5	the	the	DET
ajst-9873	18	6	particularity	particularity	NOUN
ajst-9873	18	7	of	of	ADP
ajst-9873	18	8	the	the	DET
ajst-9873	18	9	conditions	condition	NOUN
ajst-9873	18	10	in	in	ADP
ajst-9873	18	11	which	which	PRON
ajst-9873	18	12	the	the	DET
ajst-9873	18	13	jacket	jacket	NOUN
ajst-9873	18	14	is	be	AUX
ajst-9873	18	15	located	locate	VERB
ajst-9873	18	16	,	,	PUNCT
ajst-9873	18	17	the	the	DET
ajst-9873	18	18	use	use	NOUN
ajst-9873	18	19	of	of	ADP
ajst-9873	18	20	manpower	manpower	NOUN
ajst-9873	18	21	is	be	AUX
ajst-9873	18	22	time	time	NOUN
ajst-9873	18	23	-	-	PUNCT
ajst-9873	18	24	consuming	consume	VERB
ajst-9873	18	25	and	and	CCONJ
ajst-9873	18	26	laborious	laborious	ADJ
ajst-9873	18	27	,	,	PUNCT
ajst-9873	18	28	and	and	CCONJ
ajst-9873	18	29	the	the	DET
ajst-9873	18	30	cost	cost	NOUN
ajst-9873	18	31	is	be	AUX
ajst-9873	18	32	high	high	ADJ
ajst-9873	18	33	.	.	PUNCT
ajst-9873	19	1	it	it	PRON
ajst-9873	19	2	is	be	AUX
ajst-9873	19	3	also	also	ADV
ajst-9873	19	4	a	a	DET
ajst-9873	19	5	major	major	ADJ
ajst-9873	19	6	test	test	NOUN
ajst-9873	19	7	for	for	ADP
ajst-9873	19	8	the	the	DET
ajst-9873	19	9	safety	safety	NOUN
ajst-9873	19	10	of	of	ADP
ajst-9873	19	11	personnel	personnel	NOUN
ajst-9873	19	12	.	.	PUNCT
ajst-9873	20	1	therefore	therefore	ADV
ajst-9873	20	2	,	,	PUNCT
ajst-9873	20	3	it	it	PRON
ajst-9873	20	4	is	be	AUX
ajst-9873	20	5	necessary	necessary	ADJ
ajst-9873	20	6	to	to	PART
ajst-9873	20	7	study	study	VERB
ajst-9873	20	8	robots	robot	NOUN
ajst-9873	20	9	that	that	PRON
ajst-9873	20	10	can	can	AUX
ajst-9873	20	11	crawl	crawl	VERB
ajst-9873	20	12	on	on	ADP
ajst-9873	20	13	the	the	DET
ajst-9873	20	14	jacket	jacket	NOUN
ajst-9873	20	15	structure	structure	NOUN
ajst-9873	20	16	to	to	PART
ajst-9873	20	17	replace	replace	VERB
ajst-9873	20	18	manual	manual	ADJ
ajst-9873	20	19	inspection	inspection	NOUN
ajst-9873	20	20	and	and	CCONJ
ajst-9873	20	21	cleaning	cleaning	NOUN
ajst-9873	20	22	.	.	PUNCT
ajst-9873	21	1	at	at	ADP
ajst-9873	21	2	present	present	ADJ
ajst-9873	21	3	,	,	PUNCT
ajst-9873	21	4	the	the	DET
ajst-9873	21	5	cleaning	cleaning	NOUN
ajst-9873	21	6	and	and	CCONJ
ajst-9873	21	7	detection	detection	NOUN
ajst-9873	21	8	of	of	ADP
ajst-9873	21	9	offshore	offshore	ADJ
ajst-9873	21	10	platform	platform	NOUN
ajst-9873	21	11	jackets	jacket	NOUN
ajst-9873	21	12	are	be	AUX
ajst-9873	21	13	mostly	mostly	ADV
ajst-9873	21	14	carried	carry	VERB
ajst-9873	21	15	out	out	ADP
ajst-9873	21	16	by	by	ADP
ajst-9873	21	17	divers	diver	NOUN
ajst-9873	21	18	diving	diving	VERB
ajst-9873	21	19	into	into	ADP
ajst-9873	21	20	the	the	DET
ajst-9873	21	21	water	water	NOUN
ajst-9873	21	22	,	,	PUNCT
ajst-9873	21	23	which	which	PRON
ajst-9873	21	24	is	be	AUX
ajst-9873	21	25	difficult	difficult	ADJ
ajst-9873	21	26	,	,	PUNCT
ajst-9873	21	27	inefficient	inefficient	ADJ
ajst-9873	21	28	,	,	PUNCT
ajst-9873	21	29	costly	costly	ADJ
ajst-9873	21	30	,	,	PUNCT
ajst-9873	21	31	and	and	CCONJ
ajst-9873	21	32	greatly	greatly	ADV
ajst-9873	21	33	affected	affect	VERB
ajst-9873	21	34	by	by	ADP
ajst-9873	21	35	the	the	DET
ajst-9873	21	36	weather	weather	NOUN
ajst-9873	21	37	.	.	PUNCT
ajst-9873	22	1	when	when	SCONJ
ajst-9873	22	2	cleaning	clean	VERB
ajst-9873	22	3	operations	operation	NOUN
ajst-9873	22	4	are	be	AUX
ajst-9873	22	5	carried	carry	VERB
ajst-9873	22	6	out	out	ADP
ajst-9873	22	7	in	in	ADP
ajst-9873	22	8	areas	area	NOUN
ajst-9873	22	9	with	with	ADP
ajst-9873	22	10	poor	poor	ADJ
ajst-9873	22	11	water	water	NOUN
ajst-9873	22	12	quality	quality	NOUN
ajst-9873	22	13	,	,	PUNCT
ajst-9873	22	14	it	it	PRON
ajst-9873	22	15	will	will	AUX
ajst-9873	22	16	pose	pose	VERB
ajst-9873	22	17	a	a	DET
ajst-9873	22	18	certain	certain	ADJ
ajst-9873	22	19	threat	threat	NOUN
ajst-9873	22	20	to	to	ADP
ajst-9873	22	21	the	the	DET
ajst-9873	22	22	lives	life	NOUN
ajst-9873	22	23	of	of	ADP
ajst-9873	22	24	divers	diver	NOUN
ajst-9873	22	25	.	.	PUNCT
ajst-9873	23	1	due	due	ADP
ajst-9873	23	2	to	to	ADP
ajst-9873	23	3	the	the	DET
ajst-9873	23	4	particularity	particularity	NOUN
ajst-9873	23	5	of	of	ADP
ajst-9873	23	6	the	the	DET
ajst-9873	23	7	jacket	jacket	NOUN
ajst-9873	23	8	structure	structure	NOUN
ajst-9873	23	9	and	and	CCONJ
ajst-9873	23	10	the	the	DET
ajst-9873	23	11	complexity	complexity	NOUN
ajst-9873	23	12	of	of	ADP
ajst-9873	23	13	the	the	DET
ajst-9873	23	14	underwater	underwater	ADJ
ajst-9873	23	15	working	working	NOUN
ajst-9873	23	16	environment	environment	NOUN
ajst-9873	23	17	,	,	PUNCT
ajst-9873	23	18	it	it	PRON
ajst-9873	23	19	is	be	AUX
ajst-9873	23	20	necessary	necessary	ADJ
ajst-9873	23	21	to	to	PART
ajst-9873	23	22	replace	replace	VERB
ajst-9873	23	23	the	the	DET
ajst-9873	23	24	manual	manual	ADJ
ajst-9873	23	25	operation	operation	NOUN
ajst-9873	23	26	with	with	ADP
ajst-9873	23	27	the	the	DET
ajst-9873	23	28	automatic	automatic	ADJ
ajst-9873	23	29	underwater	underwater	ADJ
ajst-9873	23	30	detection	detection	NOUN
ajst-9873	23	31	and	and	CCONJ
ajst-9873	23	32	cleaning	cleaning	NOUN
ajst-9873	23	33	robot	robot	NOUN
ajst-9873	23	34	,	,	PUNCT
ajst-9873	23	35	which	which	PRON
ajst-9873	23	36	will	will	AUX
ajst-9873	23	37	improve	improve	VERB
ajst-9873	23	38	the	the	DET
ajst-9873	23	39	economic	economic	ADJ
ajst-9873	23	40	value	value	NOUN
ajst-9873	23	41	and	and	CCONJ
ajst-9873	23	42	practical	practical	ADJ
ajst-9873	23	43	value	value	NOUN
ajst-9873	23	44	of	of	ADP
ajst-9873	23	45	offshore	offshore	ADJ
ajst-9873	23	46	oil	oil	NOUN
ajst-9873	23	47	exploitation	exploitation	NOUN
ajst-9873	23	48	.	.	PUNCT
ajst-9873	24	1	the	the	DET
ajst-9873	24	2	underwater	underwater	ADJ
ajst-9873	24	3	vehicle	vehicle	NOUN
ajst-9873	24	4	is	be	AUX
ajst-9873	24	5	a	a	DET
ajst-9873	24	6	carrier	carrier	NOUN
ajst-9873	24	7	that	that	PRON
ajst-9873	24	8	can	can	AUX
ajst-9873	24	9	carry	carry	VERB
ajst-9873	24	10	various	various	ADJ
ajst-9873	24	11	observation	observation	NOUN
ajst-9873	24	12	devices	device	NOUN
ajst-9873	24	13	,	,	PUNCT
ajst-9873	24	14	sensors	sensor	NOUN
ajst-9873	24	15	,	,	PUNCT
ajst-9873	24	16	operating	operating	NOUN
ajst-9873	24	17	tools	tool	NOUN
ajst-9873	24	18	and	and	CCONJ
ajst-9873	24	19	control	control	NOUN
ajst-9873	24	20	systems	system	NOUN
ajst-9873	24	21	,	,	PUNCT
ajst-9873	24	22	and	and	CCONJ
ajst-9873	24	23	can	can	AUX
ajst-9873	24	24	move	move	VERB
ajst-9873	24	25	in	in	ADP
ajst-9873	24	26	underwater	underwater	ADJ
ajst-9873	24	27	space	space	NOUN
ajst-9873	24	28	and	and	CCONJ
ajst-9873	24	29	replace	replace	VERB
ajst-9873	24	30	manual	manual	ADJ
ajst-9873	24	31	completion	completion	NOUN
ajst-9873	24	32	of	of	ADP
ajst-9873	24	33	specific	specific	ADJ
ajst-9873	24	34	tasks	task	NOUN
ajst-9873	24	35	[	[	X
ajst-9873	24	36	4	4	NUM
ajst-9873	24	37	]	]	PUNCT
ajst-9873	24	38	.	.	PUNCT
ajst-9873	25	1	the	the	DET
ajst-9873	25	2	underwater	underwater	ADJ
ajst-9873	25	3	robot	robot	NOUN
ajst-9873	25	4	is	be	AUX
ajst-9873	25	5	not	not	PART
ajst-9873	25	6	only	only	ADV
ajst-9873	25	7	equipped	equip	VERB
ajst-9873	25	8	with	with	ADP
ajst-9873	25	9	manipulators	manipulator	NOUN
ajst-9873	25	10	,	,	PUNCT
ajst-9873	25	11	manipulators	manipulator	NOUN
ajst-9873	25	12	and	and	CCONJ
ajst-9873	25	13	other	other	ADJ
ajst-9873	25	14	actuators	actuator	NOUN
ajst-9873	25	15	to	to	PART
ajst-9873	25	16	perform	perform	VERB
ajst-9873	25	17	specific	specific	ADJ
ajst-9873	25	18	tasks	task	NOUN
ajst-9873	25	19	,	,	PUNCT
ajst-9873	25	20	but	but	CCONJ
ajst-9873	25	21	also	also	ADV
ajst-9873	25	22	can	can	AUX
ajst-9873	25	23	be	be	AUX
ajst-9873	25	24	equipped	equip	VERB
ajst-9873	25	25	with	with	ADP
ajst-9873	25	26	various	various	ADJ
ajst-9873	25	27	professional	professional	ADJ
ajst-9873	25	28	underwater	underwater	ADJ
ajst-9873	25	29	equipment	equipment	NOUN
ajst-9873	25	30	,	,	PUNCT
ajst-9873	25	31	such	such	ADJ
ajst-9873	25	32	as	as	ADP
ajst-9873	25	33	underwater	underwater	ADJ
ajst-9873	25	34	high	high	ADJ
ajst-9873	25	35	-	-	PUNCT
ajst-9873	25	36	definition	definition	NOUN
ajst-9873	25	37	cameras	camera	NOUN
ajst-9873	25	38	,	,	PUNCT
ajst-9873	25	39	underwater	underwater	ADJ
ajst-9873	25	40	infrared	infrared	ADJ
ajst-9873	25	41	induction	induction	NOUN
ajst-9873	25	42	devices	device	NOUN
ajst-9873	25	43	,	,	PUNCT
ajst-9873	25	44	optical	optical	ADJ
ajst-9873	25	45	fiber	fiber	NOUN
ajst-9873	25	46	compasses	compass	NOUN
ajst-9873	25	47	,	,	PUNCT
ajst-9873	25	48	highprecision	highprecision	NOUN
ajst-9873	25	49	depth	depth	NOUN
ajst-9873	25	50	meters	meter	NOUN
ajst-9873	25	51	,	,	PUNCT
ajst-9873	25	52	etc	etc	X
ajst-9873	25	53	.	.	X
ajst-9873	25	54	,	,	PUNCT
ajst-9873	25	55	to	to	PART
ajst-9873	25	56	jointly	jointly	ADV
ajst-9873	25	57	complete	complete	VERB
ajst-9873	25	58	the	the	DET
ajst-9873	25	59	relevant	relevant	ADJ
ajst-9873	25	60	underwater	underwater	ADJ
ajst-9873	25	61	operations	operation	NOUN
ajst-9873	25	62	.	.	PUNCT
ajst-9873	26	1	according	accord	VERB
ajst-9873	26	2	to	to	ADP
ajst-9873	26	3	the	the	DET
ajst-9873	26	4	structure	structure	NOUN
ajst-9873	26	5	,	,	PUNCT
ajst-9873	26	6	underwater	underwater	ADJ
ajst-9873	26	7	vehicles	vehicle	NOUN
ajst-9873	26	8	can	can	AUX
ajst-9873	26	9	be	be	AUX
ajst-9873	26	10	divided	divide	VERB
ajst-9873	26	11	into	into	ADP
ajst-9873	26	12	six	six	NUM
ajst-9873	26	13	types	type	NOUN
ajst-9873	26	14	:	:	PUNCT
ajst-9873	26	15	cabled	cable	VERB
ajst-9873	26	16	floating	float	VERB
ajst-9873	26	17	underwater	underwater	ADJ
ajst-9873	26	18	vehicles	vehicle	NOUN
ajst-9873	26	19	,	,	PUNCT
ajst-9873	26	20	towed	tow	VERB
ajst-9873	26	21	underwater	underwater	ADJ
ajst-9873	26	22	vehicles	vehicle	NOUN
ajst-9873	26	23	,	,	PUNCT
ajst-9873	26	24	submarine	submarine	NOUN
ajst-9873	26	25	crawling	crawl	VERB
ajst-9873	26	26	underwater	underwater	ADJ
ajst-9873	26	27	vehicles	vehicle	NOUN
ajst-9873	26	28	,	,	PUNCT
ajst-9873	26	29	attached	attach	VERB
ajst-9873	26	30	structural	structural	ADJ
ajst-9873	26	31	underwater	underwater	ADJ
ajst-9873	26	32	vehicles	vehicle	NOUN
ajst-9873	26	33	,	,	PUNCT
ajst-9873	26	34	cableless	cableless	ADJ
ajst-9873	26	35	underwater	underwater	ADJ
ajst-9873	26	36	vehicles	vehicle	NOUN
ajst-9873	26	37	and	and	CCONJ
ajst-9873	26	38	hybrid	hybrid	NOUN
ajst-9873	26	39	robots	robot	NOUN
ajst-9873	26	40	[	[	X
ajst-9873	26	41	5	5	NUM
ajst-9873	26	42	]	]	PUNCT
ajst-9873	26	43	.	.	PUNCT
ajst-9873	27	1	nowadays	nowadays	ADV
ajst-9873	27	2	,	,	PUNCT
ajst-9873	27	3	many	many	ADJ
ajst-9873	27	4	countries	country	NOUN
ajst-9873	27	5	are	be	AUX
ajst-9873	27	6	studying	study	VERB
ajst-9873	27	7	underwater	underwater	ADJ
ajst-9873	27	8	robots	robot	NOUN
ajst-9873	27	9	,	,	PUNCT
ajst-9873	27	10	which	which	PRON
ajst-9873	27	11	are	be	AUX
ajst-9873	27	12	used	use	VERB
ajst-9873	27	13	to	to	PART
ajst-9873	27	14	replace	replace	VERB
ajst-9873	27	15	manual	manual	ADJ
ajst-9873	27	16	completion	completion	NOUN
ajst-9873	27	17	of	of	ADP
ajst-9873	27	18	oil	oil	NOUN
ajst-9873	27	19	exploration	exploration	NOUN
ajst-9873	27	20	,	,	PUNCT
ajst-9873	27	21	underwater	underwater	ADJ
ajst-9873	27	22	shooting	shooting	NOUN
ajst-9873	27	23	,	,	PUNCT
ajst-9873	27	24	salvage	salvage	NOUN
ajst-9873	27	25	operations	operation	NOUN
ajst-9873	27	26	and	and	CCONJ
ajst-9873	27	27	even	even	ADV
ajst-9873	27	28	military	military	ADJ
ajst-9873	27	29	fields	field	NOUN
ajst-9873	27	30	.	.	PUNCT
ajst-9873	28	1	however	however	ADV
ajst-9873	28	2	,	,	PUNCT
ajst-9873	28	3	there	there	PRON
ajst-9873	28	4	are	be	VERB
ajst-9873	28	5	few	few	ADJ
ajst-9873	28	6	underwater	underwater	ADJ
ajst-9873	28	7	robot	robot	NOUN
ajst-9873	28	8	applications	application	NOUN
ajst-9873	28	9	for	for	ADP
ajst-9873	28	10	jacket	jacket	NOUN
ajst-9873	28	11	cleaning	cleaning	NOUN
ajst-9873	28	12	and	and	CCONJ
ajst-9873	28	13	detection	detection	NOUN
ajst-9873	28	14	.	.	PUNCT
ajst-9873	29	1	at	at	ADP
ajst-9873	29	2	present	present	ADJ
ajst-9873	29	3	,	,	PUNCT
ajst-9873	29	4	most	most	ADJ
ajst-9873	29	5	of	of	ADP
ajst-9873	29	6	the	the	DET
ajst-9873	29	7	jacket	jacket	NOUN
ajst-9873	29	8	cleaning	clean	VERB
ajst-9873	29	9	operations	operation	NOUN
ajst-9873	29	10	still	still	ADV
ajst-9873	29	11	need	need	VERB
ajst-9873	29	12	to	to	PART
ajst-9873	29	13	be	be	AUX
ajst-9873	29	14	completed	complete	VERB
ajst-9873	29	15	manually	manually	ADV
ajst-9873	29	16	.	.	PUNCT
ajst-9873	30	1	it	it	PRON
ajst-9873	30	2	is	be	AUX
ajst-9873	30	3	not	not	PART
ajst-9873	30	4	only	only	ADV
ajst-9873	30	5	necessary	necessary	ADJ
ajst-9873	30	6	to	to	PART
ajst-9873	30	7	consider	consider	VERB
ajst-9873	30	8	the	the	DET
ajst-9873	30	9	weather	weather	NOUN
ajst-9873	30	10	conditions	condition	NOUN
ajst-9873	30	11	,	,	PUNCT
ajst-9873	30	12	but	but	CCONJ
ajst-9873	30	13	also	also	ADV
ajst-9873	30	14	to	to	PART
ajst-9873	30	15	worry	worry	VERB
ajst-9873	30	16	about	about	ADP
ajst-9873	30	17	the	the	DET
ajst-9873	30	18	diver	diver	NOUN
ajst-9873	30	19	's	's	PART
ajst-9873	30	20	physical	physical	ADJ
ajst-9873	30	21	and	and	CCONJ
ajst-9873	30	22	safety	safety	NOUN
ajst-9873	30	23	issues	issue	NOUN
ajst-9873	30	24	.	.	PUNCT
ajst-9873	31	1	it	it	PRON
ajst-9873	31	2	is	be	AUX
ajst-9873	31	3	difficult	difficult	ADJ
ajst-9873	31	4	to	to	PART
ajst-9873	31	5	work	work	VERB
ajst-9873	31	6	for	for	ADP
ajst-9873	31	7	more	more	ADJ
ajst-9873	31	8	than	than	ADP
ajst-9873	31	9	10	10	NUM
ajst-9873	31	10	minutes	minute	NOUN
ajst-9873	31	11	at	at	ADP
ajst-9873	31	12	50	50	NUM
ajst-9873	31	13	m	m	NOUN
ajst-9873	31	14	underwater	underwater	NOUN
ajst-9873	31	15	for	for	ADP
ajst-9873	31	16	a	a	DET
ajst-9873	31	17	long	long	ADJ
ajst-9873	31	18	time	time	NOUN
ajst-9873	31	19	.	.	PUNCT
ajst-9873	32	1	the	the	DET
ajst-9873	32	2	purpose	purpose	NOUN
ajst-9873	32	3	of	of	ADP
ajst-9873	32	4	this	this	DET
ajst-9873	32	5	paper	paper	NOUN
ajst-9873	32	6	is	be	AUX
ajst-9873	32	7	to	to	PART
ajst-9873	32	8	study	study	VERB
ajst-9873	32	9	the	the	DET
ajst-9873	32	10	cleaning	cleaning	NOUN
ajst-9873	32	11	and	and	CCONJ
ajst-9873	32	12	detection	detection	NOUN
ajst-9873	32	13	robot	robot	NOUN
ajst-9873	32	14	,	,	PUNCT
ajst-9873	32	15	which	which	PRON
ajst-9873	32	16	can	can	AUX
ajst-9873	32	17	replace	replace	VERB
ajst-9873	32	18	the	the	DET
ajst-9873	32	19	manual	manual	ADJ
ajst-9873	32	20	cleaning	cleaning	NOUN
ajst-9873	32	21	and	and	CCONJ
ajst-9873	32	22	detection	detection	NOUN
ajst-9873	32	23	of	of	ADP
ajst-9873	32	24	the	the	DET
ajst-9873	32	25	jacket	jacket	NOUN
ajst-9873	32	26	platform	platform	NOUN
ajst-9873	32	27	.	.	PUNCT
ajst-9873	33	1	2	2	X
ajst-9873	33	2	.	.	X
ajst-9873	33	3	development	development	NOUN
ajst-9873	33	4	status	status	NOUN
ajst-9873	33	5	of	of	ADP
ajst-9873	33	6	underwater	underwater	ADJ
ajst-9873	33	7	cleaning	cleaning	NOUN
ajst-9873	33	8	technology	technology	NOUN
ajst-9873	33	9	the	the	DET
ajst-9873	33	10	underwater	underwater	ADJ
ajst-9873	33	11	cleaning	cleaning	NOUN
ajst-9873	33	12	technology	technology	NOUN
ajst-9873	33	13	is	be	AUX
ajst-9873	33	14	divided	divide	VERB
ajst-9873	33	15	into	into	ADP
ajst-9873	33	16	three	three	NUM
ajst-9873	33	17	stages	stage	NOUN
ajst-9873	33	18	.	.	PUNCT
ajst-9873	34	1	at	at	ADP
ajst-9873	34	2	first	first	ADV
ajst-9873	34	3	,	,	PUNCT
ajst-9873	34	4	it	it	PRON
ajst-9873	34	5	is	be	AUX
ajst-9873	34	6	mainly	mainly	ADV
ajst-9873	34	7	manual	manual	ADJ
ajst-9873	34	8	operation	operation	NOUN
ajst-9873	34	9	[	[	X
ajst-9873	34	10	6].it	6].it	NUM
ajst-9873	34	11	is	be	AUX
ajst-9873	34	12	mainly	mainly	ADV
ajst-9873	34	13	aimed	aim	VERB
ajst-9873	34	14	at	at	ADP
ajst-9873	34	15	the	the	DET
ajst-9873	34	16	aquatic	aquatic	ADJ
ajst-9873	34	17	organisms	organism	NOUN
ajst-9873	34	18	attached	attach	VERB
ajst-9873	34	19	to	to	ADP
ajst-9873	34	20	the	the	DET
ajst-9873	34	21	metal	metal	NOUN
ajst-9873	34	22	surface	surface	NOUN
ajst-9873	34	23	of	of	ADP
ajst-9873	34	24	small	small	ADJ
ajst-9873	34	25	equipment	equipment	NOUN
ajst-9873	34	26	.	.	PUNCT
ajst-9873	35	1	the	the	DET
ajst-9873	35	2	surface	surface	NOUN
ajst-9873	35	3	of	of	ADP
ajst-9873	35	4	the	the	DET
ajst-9873	35	5	equipment	equipment	NOUN
ajst-9873	35	6	is	be	AUX
ajst-9873	35	7	cleaned	clean	VERB
ajst-9873	35	8	by	by	ADP
ajst-9873	35	9	the	the	DET
ajst-9873	35	10	diver	diver	NOUN
ajst-9873	35	11	's	's	PART
ajst-9873	35	12	launching	launch	VERB
ajst-9873	35	13	operation	operation	NOUN
ajst-9873	35	14	cleaner	cleaner	NOUN
ajst-9873	35	15	.	.	PUNCT
ajst-9873	36	1	however	however	ADV
ajst-9873	36	2	,	,	PUNCT
ajst-9873	36	3	with	with	ADP
ajst-9873	36	4	the	the	DET
ajst-9873	36	5	emergence	emergence	NOUN
ajst-9873	36	6	of	of	ADP
ajst-9873	36	7	large	large	ADJ
ajst-9873	36	8	marine	marine	ADJ
ajst-9873	36	9	equipment	equipment	NOUN
ajst-9873	36	10	,	,	PUNCT
ajst-9873	36	11	it	it	PRON
ajst-9873	36	12	not	not	PART
ajst-9873	36	13	only	only	ADV
ajst-9873	36	14	increases	increase	VERB
ajst-9873	36	15	the	the	DET
ajst-9873	36	16	workload	workload	NOUN
ajst-9873	36	17	of	of	ADP
ajst-9873	36	18	divers	diver	NOUN
ajst-9873	36	19	,	,	PUNCT
ajst-9873	36	20	but	but	CCONJ
ajst-9873	36	21	also	also	ADV
ajst-9873	36	22	increases	increase	VERB
ajst-9873	36	23	the	the	DET
ajst-9873	36	24	water	water	NOUN
ajst-9873	36	25	depth	depth	NOUN
ajst-9873	36	26	and	and	CCONJ
ajst-9873	36	27	low	low	ADJ
ajst-9873	36	28	visibility	visibility	NOUN
ajst-9873	36	29	.	.	PUNCT
ajst-9873	37	1	the	the	DET
ajst-9873	37	2	difficulty	difficulty	NOUN
ajst-9873	37	3	of	of	ADP
ajst-9873	37	4	divers	diver	NOUN
ajst-9873	37	5	'	'	PART
ajst-9873	37	6	operation	operation	NOUN
ajst-9873	37	7	has	have	AUX
ajst-9873	37	8	also	also	ADV
ajst-9873	37	9	increased	increase	VERB
ajst-9873	37	10	significantly	significantly	ADV
ajst-9873	37	11	.	.	PUNCT
ajst-9873	38	1	in	in	ADP
ajst-9873	38	2	the	the	DET
ajst-9873	38	3	second	second	ADJ
ajst-9873	38	4	stage	stage	NOUN
ajst-9873	38	5	,	,	PUNCT
ajst-9873	38	6	it	it	PRON
ajst-9873	38	7	is	be	AUX
ajst-9873	38	8	mainly	mainly	ADV
ajst-9873	38	9	the	the	DET
ajst-9873	38	10	manual	manual	ADJ
ajst-9873	38	11	operation	operation	NOUN
ajst-9873	38	12	of	of	ADP
ajst-9873	38	13	mechanical	mechanical	ADJ
ajst-9873	38	14	cleaning	cleaning	NOUN
ajst-9873	38	15	stage	stage	NOUN
ajst-9873	38	16	[	[	X
ajst-9873	38	17	7].professionals	7].professional	NOUN
ajst-9873	38	18	operate	operate	VERB
ajst-9873	38	19	special	special	ADJ
ajst-9873	38	20	cleaners	cleaner	NOUN
ajst-9873	38	21	and	and	CCONJ
ajst-9873	38	22	large	large	ADJ
ajst-9873	38	23	coating	coat	VERB
ajst-9873	38	24	machines	machine	NOUN
ajst-9873	38	25	to	to	PART
ajst-9873	38	26	complete	complete	VERB
ajst-9873	38	27	the	the	DET
ajst-9873	38	28	cleaning	cleaning	NOUN
ajst-9873	38	29	of	of	ADP
ajst-9873	38	30	large	large	ADJ
ajst-9873	38	31	equipment	equipment	NOUN
ajst-9873	38	32	,	,	PUNCT
ajst-9873	38	33	which	which	PRON
ajst-9873	38	34	not	not	PART
ajst-9873	38	35	only	only	ADV
ajst-9873	38	36	has	have	VERB
ajst-9873	38	37	high	high	ADJ
ajst-9873	38	38	cleaning	cleaning	NOUN
ajst-9873	38	39	efficiency	efficiency	NOUN
ajst-9873	38	40	,	,	PUNCT
ajst-9873	38	41	but	but	CCONJ
ajst-9873	38	42	also	also	ADV
ajst-9873	38	43	has	have	VERB
ajst-9873	38	44	high	high	ADJ
ajst-9873	38	45	152	152	NUM
ajst-9873	38	46	cleanliness	cleanliness	NOUN
ajst-9873	38	47	.	.	PUNCT
ajst-9873	39	1	however	however	ADV
ajst-9873	39	2	,	,	PUNCT
ajst-9873	39	3	this	this	DET
ajst-9873	39	4	cleaning	cleaning	NOUN
ajst-9873	39	5	method	method	NOUN
ajst-9873	39	6	is	be	AUX
ajst-9873	39	7	suitable	suitable	ADJ
ajst-9873	39	8	for	for	ADP
ajst-9873	39	9	the	the	DET
ajst-9873	39	10	use	use	NOUN
ajst-9873	39	11	of	of	ADP
ajst-9873	39	12	equipment	equipment	NOUN
ajst-9873	39	13	when	when	SCONJ
ajst-9873	39	14	it	it	PRON
ajst-9873	39	15	is	be	AUX
ajst-9873	39	16	docked	dock	VERB
ajst-9873	39	17	in	in	ADP
ajst-9873	39	18	the	the	DET
ajst-9873	39	19	port	port	NOUN
ajst-9873	39	20	,	,	PUNCT
ajst-9873	39	21	which	which	PRON
ajst-9873	39	22	takes	take	VERB
ajst-9873	39	23	a	a	DET
ajst-9873	39	24	certain	certain	ADJ
ajst-9873	39	25	amount	amount	NOUN
ajst-9873	39	26	of	of	ADP
ajst-9873	39	27	time	time	NOUN
ajst-9873	39	28	.	.	PUNCT
ajst-9873	40	1	the	the	DET
ajst-9873	40	2	third	third	ADJ
ajst-9873	40	3	stage	stage	NOUN
ajst-9873	40	4	is	be	AUX
ajst-9873	40	5	the	the	DET
ajst-9873	40	6	stage	stage	NOUN
ajst-9873	40	7	of	of	ADP
ajst-9873	40	8	manual	manual	ADJ
ajst-9873	40	9	operation	operation	NOUN
ajst-9873	40	10	of	of	ADP
ajst-9873	40	11	robots	robot	NOUN
ajst-9873	40	12	,	,	PUNCT
ajst-9873	40	13	which	which	PRON
ajst-9873	40	14	is	be	AUX
ajst-9873	40	15	the	the	DET
ajst-9873	40	16	direction	direction	NOUN
ajst-9873	40	17	of	of	ADP
ajst-9873	40	18	current	current	ADJ
ajst-9873	40	19	and	and	CCONJ
ajst-9873	40	20	future	future	ADJ
ajst-9873	40	21	development	development	NOUN
ajst-9873	40	22	[	[	X
ajst-9873	40	23	8	8	NUM
ajst-9873	40	24	,	,	PUNCT
ajst-9873	40	25	9	9	NUM
ajst-9873	40	26	]	]	PUNCT
ajst-9873	40	27	.	.	PUNCT
ajst-9873	41	1	the	the	DET
ajst-9873	41	2	initial	initial	ADJ
ajst-9873	41	3	cleaning	cleaning	NOUN
ajst-9873	41	4	tool	tool	NOUN
ajst-9873	41	5	is	be	AUX
ajst-9873	41	6	that	that	SCONJ
ajst-9873	41	7	people	people	NOUN
ajst-9873	41	8	use	use	VERB
ajst-9873	41	9	manual	manual	ADJ
ajst-9873	41	10	removal	removal	NOUN
ajst-9873	41	11	of	of	ADP
ajst-9873	41	12	fouling	foul	VERB
ajst-9873	41	13	[	[	PUNCT
ajst-9873	41	14	10	10	NUM
ajst-9873	41	15	]	]	PUNCT
ajst-9873	41	16	,	,	PUNCT
ajst-9873	41	17	the	the	DET
ajst-9873	41	18	use	use	NOUN
ajst-9873	41	19	of	of	ADP
ajst-9873	41	20	some	some	DET
ajst-9873	41	21	chemical	chemical	ADJ
ajst-9873	41	22	agents	agent	NOUN
ajst-9873	41	23	on	on	ADP
ajst-9873	41	24	the	the	DET
ajst-9873	41	25	corrosion	corrosion	NOUN
ajst-9873	41	26	of	of	ADP
ajst-9873	41	27	attached	attached	ADJ
ajst-9873	41	28	organisms	organism	NOUN
ajst-9873	41	29	,	,	PUNCT
ajst-9873	41	30	with	with	ADP
ajst-9873	41	31	a	a	DET
ajst-9873	41	32	scraper	scraper	NOUN
ajst-9873	41	33	for	for	ADP
ajst-9873	41	34	cleaning	cleaning	NOUN
ajst-9873	41	35	,	,	PUNCT
ajst-9873	41	36	but	but	CCONJ
ajst-9873	41	37	this	this	DET
ajst-9873	41	38	cleaning	cleaning	NOUN
ajst-9873	41	39	method	method	NOUN
ajst-9873	41	40	is	be	AUX
ajst-9873	41	41	not	not	PART
ajst-9873	41	42	only	only	ADV
ajst-9873	41	43	difficult	difficult	ADJ
ajst-9873	41	44	to	to	PART
ajst-9873	41	45	clean	clean	VERB
ajst-9873	41	46	,	,	PUNCT
ajst-9873	41	47	but	but	CCONJ
ajst-9873	41	48	also	also	ADV
ajst-9873	41	49	easy	easy	ADJ
ajst-9873	41	50	to	to	PART
ajst-9873	41	51	cause	cause	VERB
ajst-9873	41	52	damage	damage	NOUN
ajst-9873	41	53	to	to	ADP
ajst-9873	41	54	the	the	DET
ajst-9873	41	55	equipment	equipment	NOUN
ajst-9873	41	56	itself	itself	PRON
ajst-9873	41	57	because	because	SCONJ
ajst-9873	41	58	of	of	ADP
ajst-9873	41	59	corrosive	corrosive	ADJ
ajst-9873	41	60	chemicals	chemical	NOUN
ajst-9873	41	61	.	.	PUNCT
ajst-9873	42	1	later	later	ADV
ajst-9873	42	2	,	,	PUNCT
ajst-9873	42	3	it	it	PRON
ajst-9873	42	4	was	be	AUX
ajst-9873	42	5	gradually	gradually	ADV
ajst-9873	42	6	replaced	replace	VERB
ajst-9873	42	7	by	by	ADP
ajst-9873	42	8	gas	gas	NOUN
ajst-9873	42	9	sandblasting	sandblasting	NOUN
ajst-9873	42	10	cleaning	cleaning	NOUN
ajst-9873	42	11	.	.	PUNCT
ajst-9873	43	1	this	this	DET
ajst-9873	43	2	method	method	NOUN
ajst-9873	43	3	mainly	mainly	ADV
ajst-9873	43	4	sprayed	spray	VERB
ajst-9873	43	5	the	the	DET
ajst-9873	43	6	preprepared	preprepare	VERB
ajst-9873	43	7	abrasive	abrasive	NOUN
ajst-9873	43	8	onto	onto	ADP
ajst-9873	43	9	the	the	DET
ajst-9873	43	10	surface	surface	NOUN
ajst-9873	43	11	of	of	ADP
ajst-9873	43	12	the	the	DET
ajst-9873	43	13	equipment	equipment	NOUN
ajst-9873	43	14	to	to	PART
ajst-9873	43	15	be	be	AUX
ajst-9873	43	16	cleaned	clean	VERB
ajst-9873	43	17	,	,	PUNCT
ajst-9873	43	18	and	and	CCONJ
ajst-9873	43	19	used	use	VERB
ajst-9873	43	20	the	the	DET
ajst-9873	43	21	high	high	ADJ
ajst-9873	43	22	-	-	PUNCT
ajst-9873	43	23	speed	speed	NOUN
ajst-9873	43	24	impact	impact	NOUN
ajst-9873	43	25	and	and	CCONJ
ajst-9873	43	26	friction	friction	NOUN
ajst-9873	43	27	of	of	ADP
ajst-9873	43	28	the	the	DET
ajst-9873	43	29	abrasive	abrasive	NOUN
ajst-9873	43	30	to	to	PART
ajst-9873	43	31	remove	remove	VERB
ajst-9873	43	32	the	the	DET
ajst-9873	43	33	waste	waste	NOUN
ajst-9873	43	34	coating	coating	NOUN
ajst-9873	43	35	on	on	ADP
ajst-9873	43	36	the	the	DET
ajst-9873	43	37	surface	surface	NOUN
ajst-9873	43	38	metal	metal	NOUN
ajst-9873	43	39	surface	surface	NOUN
ajst-9873	43	40	.	.	PUNCT
ajst-9873	44	1	however	however	ADV
ajst-9873	44	2	,	,	PUNCT
ajst-9873	44	3	this	this	DET
ajst-9873	44	4	method	method	NOUN
ajst-9873	44	5	is	be	AUX
ajst-9873	44	6	destructive	destructive	ADJ
ajst-9873	44	7	,	,	PUNCT
ajst-9873	44	8	difficult	difficult	ADJ
ajst-9873	44	9	to	to	PART
ajst-9873	44	10	control	control	VERB
ajst-9873	44	11	accurately	accurately	ADV
ajst-9873	44	12	,	,	PUNCT
ajst-9873	44	13	and	and	CCONJ
ajst-9873	44	14	easy	easy	ADJ
ajst-9873	44	15	to	to	PART
ajst-9873	44	16	pollute	pollute	VERB
ajst-9873	44	17	the	the	DET
ajst-9873	44	18	environment	environment	NOUN
ajst-9873	44	19	,	,	PUNCT
ajst-9873	44	20	which	which	PRON
ajst-9873	44	21	is	be	AUX
ajst-9873	44	22	harmful	harmful	ADJ
ajst-9873	44	23	.	.	PUNCT
ajst-9873	45	1	however	however	ADV
ajst-9873	45	2	,	,	PUNCT
ajst-9873	45	3	compared	compare	VERB
ajst-9873	45	4	with	with	ADP
ajst-9873	45	5	manual	manual	ADJ
ajst-9873	45	6	cleaning	cleaning	NOUN
ajst-9873	45	7	,	,	PUNCT
ajst-9873	45	8	its	its	PRON
ajst-9873	45	9	efficiency	efficiency	NOUN
ajst-9873	45	10	is	be	AUX
ajst-9873	45	11	still	still	ADV
ajst-9873	45	12	greatly	greatly	ADV
ajst-9873	45	13	improved	improve	VERB
ajst-9873	45	14	.	.	PUNCT
ajst-9873	46	1	with	with	ADP
ajst-9873	46	2	the	the	DET
ajst-9873	46	3	progress	progress	NOUN
ajst-9873	46	4	of	of	ADP
ajst-9873	46	5	science	science	NOUN
ajst-9873	46	6	and	and	CCONJ
ajst-9873	46	7	technology	technology	NOUN
ajst-9873	46	8	,	,	PUNCT
ajst-9873	46	9	the	the	DET
ajst-9873	46	10	use	use	NOUN
ajst-9873	46	11	of	of	ADP
ajst-9873	46	12	high	high	ADJ
ajst-9873	46	13	-	-	PUNCT
ajst-9873	46	14	pressure	pressure	NOUN
ajst-9873	46	15	water	water	NOUN
ajst-9873	46	16	cleaning	cleaning	NOUN
ajst-9873	46	17	technology	technology	NOUN
ajst-9873	46	18	has	have	AUX
ajst-9873	46	19	gradually	gradually	ADV
ajst-9873	46	20	developed	develop	VERB
ajst-9873	46	21	,	,	PUNCT
ajst-9873	46	22	high	high	ADJ
ajst-9873	46	23	-	-	PUNCT
ajst-9873	46	24	pressure	pressure	NOUN
ajst-9873	46	25	water	water	NOUN
ajst-9873	46	26	jet	jet	NOUN
ajst-9873	46	27	cleaning	cleaning	NOUN
ajst-9873	46	28	is	be	AUX
ajst-9873	46	29	now	now	ADV
ajst-9873	46	30	the	the	DET
ajst-9873	46	31	main	main	ADJ
ajst-9873	46	32	cleaning	cleaning	NOUN
ajst-9873	46	33	method	method	NOUN
ajst-9873	46	34	.	.	PUNCT
ajst-9873	47	1	cavitation	cavitation	NOUN
ajst-9873	47	2	jet	jet	NOUN
ajst-9873	47	3	underwater	underwater	NOUN
ajst-9873	47	4	cleaning	cleaning	NOUN
ajst-9873	47	5	technology	technology	NOUN
ajst-9873	47	6	is	be	AUX
ajst-9873	47	7	widely	widely	ADV
ajst-9873	47	8	used	use	VERB
ajst-9873	47	9	in	in	ADP
ajst-9873	47	10	various	various	ADJ
ajst-9873	47	11	underwater	underwater	ADJ
ajst-9873	47	12	cleaning	clean	VERB
ajst-9873	47	13	operations	operation	NOUN
ajst-9873	47	14	[	[	X
ajst-9873	47	15	11	11	NUM
ajst-9873	47	16	]	]	PUNCT
ajst-9873	47	17	,	,	PUNCT
ajst-9873	47	18	including	include	VERB
ajst-9873	47	19	civil	civil	ADJ
ajst-9873	47	20	ships	ship	NOUN
ajst-9873	47	21	,	,	PUNCT
ajst-9873	47	22	naval	naval	ADJ
ajst-9873	47	23	ships	ship	NOUN
ajst-9873	47	24	,	,	PUNCT
ajst-9873	47	25	offshore	offshore	ADJ
ajst-9873	47	26	oil	oil	NOUN
ajst-9873	47	27	platforms	platform	NOUN
ajst-9873	47	28	,	,	PUNCT
ajst-9873	47	29	and	and	CCONJ
ajst-9873	47	30	submarine	submarine	NOUN
ajst-9873	47	31	oil	oil	NOUN
ajst-9873	47	32	pipelines	pipeline	NOUN
ajst-9873	47	33	[	[	X
ajst-9873	47	34	12	12	NUM
ajst-9873	47	35	]	]	PUNCT
ajst-9873	47	36	,	,	PUNCT
ajst-9873	47	37	because	because	SCONJ
ajst-9873	47	38	it	it	PRON
ajst-9873	47	39	does	do	AUX
ajst-9873	47	40	not	not	PART
ajst-9873	47	41	harm	harm	VERB
ajst-9873	47	42	the	the	DET
ajst-9873	47	43	original	original	ADJ
ajst-9873	47	44	anticorrosive	anticorrosive	NOUN
ajst-9873	47	45	coating	coating	NOUN
ajst-9873	47	46	and	and	CCONJ
ajst-9873	47	47	does	do	AUX
ajst-9873	47	48	not	not	PART
ajst-9873	47	49	harm	harm	VERB
ajst-9873	47	50	the	the	DET
ajst-9873	47	51	diving	diving	ADJ
ajst-9873	47	52	construction	construction	NOUN
ajst-9873	47	53	personnel	personnel	NOUN
ajst-9873	47	54	.	.	PUNCT
ajst-9873	48	1	at	at	ADP
ajst-9873	48	2	present	present	ADJ
ajst-9873	48	3	,	,	PUNCT
ajst-9873	48	4	the	the	DET
ajst-9873	48	5	underwater	underwater	ADJ
ajst-9873	48	6	cleaning	cleaning	NOUN
ajst-9873	48	7	work	work	NOUN
ajst-9873	48	8	is	be	AUX
ajst-9873	48	9	still	still	ADV
ajst-9873	48	10	dominated	dominate	VERB
ajst-9873	48	11	by	by	ADP
ajst-9873	48	12	manual	manual	ADJ
ajst-9873	48	13	cleaning	cleaning	NOUN
ajst-9873	48	14	.	.	PUNCT
ajst-9873	49	1	when	when	SCONJ
ajst-9873	49	2	the	the	DET
ajst-9873	49	3	water	water	NOUN
ajst-9873	49	4	depth	depth	NOUN
ajst-9873	49	5	is	be	AUX
ajst-9873	49	6	deep	deep	ADJ
ajst-9873	49	7	,	,	PUNCT
ajst-9873	49	8	the	the	DET
ajst-9873	49	9	rov	rov	PROPN
ajst-9873	49	10	operation	operation	NOUN
ajst-9873	49	11	will	will	AUX
ajst-9873	49	12	be	be	AUX
ajst-9873	49	13	used	use	VERB
ajst-9873	49	14	instead	instead	ADV
ajst-9873	49	15	of	of	ADP
ajst-9873	49	16	manual	manual	ADJ
ajst-9873	49	17	operation	operation	NOUN
ajst-9873	49	18	.	.	PUNCT
ajst-9873	50	1	3	3	X
ajst-9873	50	2	.	.	X
ajst-9873	50	3	research	research	NOUN
ajst-9873	50	4	status	status	NOUN
ajst-9873	50	5	of	of	ADP
ajst-9873	50	6	jacket	jacket	NOUN
ajst-9873	50	7	cleaning	cleaning	NOUN
ajst-9873	50	8	and	and	CCONJ
ajst-9873	50	9	detection	detection	NOUN
ajst-9873	50	10	robot	robot	NOUN
ajst-9873	50	11	3.1	3.1	NUM
ajst-9873	50	12	.	.	PUNCT
ajst-9873	51	1	foreign	foreign	ADJ
ajst-9873	51	2	research	research	NOUN
ajst-9873	51	3	status	status	NOUN
ajst-9873	51	4	the	the	DET
ajst-9873	51	5	jacket	jacket	NOUN
ajst-9873	51	6	cleaning	cleaning	NOUN
ajst-9873	51	7	and	and	CCONJ
ajst-9873	51	8	inspection	inspection	NOUN
ajst-9873	51	9	robot	robot	NOUN
ajst-9873	51	10	has	have	AUX
ajst-9873	51	11	been	be	AUX
ajst-9873	51	12	developed	develop	VERB
ajst-9873	51	13	and	and	CCONJ
ajst-9873	51	14	used	use	VERB
ajst-9873	51	15	abroad	abroad	ADV
ajst-9873	51	16	for	for	ADP
ajst-9873	51	17	a	a	DET
ajst-9873	51	18	long	long	ADJ
ajst-9873	51	19	time	time	NOUN
ajst-9873	51	20	.	.	PUNCT
ajst-9873	52	1	it	it	PRON
ajst-9873	52	2	is	be	AUX
ajst-9873	52	3	mainly	mainly	ADV
ajst-9873	52	4	used	use	VERB
ajst-9873	52	5	for	for	ADP
ajst-9873	52	6	the	the	DET
ajst-9873	52	7	inspection	inspection	NOUN
ajst-9873	52	8	of	of	ADP
ajst-9873	52	9	the	the	DET
ajst-9873	52	10	jacket	jacket	NOUN
ajst-9873	52	11	steel	steel	NOUN
ajst-9873	52	12	structure	structure	NOUN
ajst-9873	52	13	and	and	CCONJ
ajst-9873	52	14	the	the	DET
ajst-9873	52	15	cleaning	cleaning	NOUN
ajst-9873	52	16	of	of	ADP
ajst-9873	52	17	marine	marine	ADJ
ajst-9873	52	18	organisms	organism	NOUN
ajst-9873	52	19	on	on	ADP
ajst-9873	52	20	the	the	DET
ajst-9873	52	21	jacket	jacket	NOUN
ajst-9873	52	22	surface	surface	NOUN
ajst-9873	52	23	.	.	PUNCT
ajst-9873	53	1	this	this	PRON
ajst-9873	53	2	is	be	AUX
ajst-9873	53	3	the	the	DET
ajst-9873	53	4	key	key	NOUN
ajst-9873	53	5	to	to	PART
ajst-9873	53	6	extend	extend	VERB
ajst-9873	53	7	the	the	DET
ajst-9873	53	8	service	service	NOUN
ajst-9873	53	9	life	life	NOUN
ajst-9873	53	10	of	of	ADP
ajst-9873	53	11	the	the	DET
ajst-9873	53	12	jacket	jacket	NOUN
ajst-9873	53	13	structure	structure	NOUN
ajst-9873	53	14	,	,	PUNCT
ajst-9873	53	15	especially	especially	ADV
ajst-9873	53	16	for	for	ADP
ajst-9873	53	17	offshore	offshore	ADJ
ajst-9873	53	18	wind	wind	NOUN
ajst-9873	53	19	turbines	turbine	NOUN
ajst-9873	53	20	and	and	CCONJ
ajst-9873	53	21	offshore	offshore	ADJ
ajst-9873	53	22	jacket	jacket	NOUN
ajst-9873	53	23	platforms	platform	NOUN
ajst-9873	53	24	.	.	PUNCT
ajst-9873	54	1	in	in	ADP
ajst-9873	54	2	the	the	DET
ajst-9873	54	3	1950	1950	NUM
ajst-9873	54	4	s	s	NOUN
ajst-9873	54	5	,	,	PUNCT
ajst-9873	54	6	the	the	DET
ajst-9873	54	7	americans	americans	PROPN
ajst-9873	54	8	developed	develop	VERB
ajst-9873	54	9	the	the	DET
ajst-9873	54	10	first	first	ADJ
ajst-9873	54	11	generation	generation	NOUN
ajst-9873	54	12	of	of	ADP
ajst-9873	54	13	underwater	underwater	ADJ
ajst-9873	54	14	robots	robot	NOUN
ajst-9873	54	15	to	to	PART
ajst-9873	54	16	complete	complete	VERB
ajst-9873	54	17	underwater	underwater	ADJ
ajst-9873	54	18	exploration	exploration	NOUN
ajst-9873	54	19	missions	mission	NOUN
ajst-9873	54	20	.	.	PUNCT
ajst-9873	55	1	this	this	PRON
ajst-9873	55	2	has	have	AUX
ajst-9873	55	3	also	also	ADV
ajst-9873	55	4	promoted	promote	VERB
ajst-9873	55	5	the	the	DET
ajst-9873	55	6	development	development	NOUN
ajst-9873	55	7	of	of	ADP
ajst-9873	55	8	modern	modern	ADJ
ajst-9873	55	9	underwater	underwater	ADJ
ajst-9873	55	10	robots	robot	NOUN
ajst-9873	55	11	and	and	CCONJ
ajst-9873	55	12	jacket	jacket	NOUN
ajst-9873	55	13	cleaning	cleaning	NOUN
ajst-9873	55	14	and	and	CCONJ
ajst-9873	55	15	inspection	inspection	NOUN
ajst-9873	55	16	robots	robot	NOUN
ajst-9873	55	17	.	.	PUNCT
ajst-9873	56	1	a	a	DET
ajst-9873	56	2	patent	patent	NOUN
ajst-9873	56	3	for	for	ADP
ajst-9873	56	4	a	a	DET
ajst-9873	56	5	u.s	u.s	PROPN
ajst-9873	56	6	.	.	PROPN
ajst-9873	56	7	jacket	jacket	NOUN
ajst-9873	56	8	cleaning	cleaning	NOUN
ajst-9873	56	9	robot	robot	NOUN
ajst-9873	56	10	uses	use	VERB
ajst-9873	56	11	a	a	DET
ajst-9873	56	12	semi	semi	ADJ
ajst-9873	56	13	-	-	ADJ
ajst-9873	56	14	enclosed	enclosed	ADJ
ajst-9873	56	15	mechanism	mechanism	NOUN
ajst-9873	56	16	[	[	X
ajst-9873	56	17	13	13	NUM
ajst-9873	56	18	]	]	PUNCT
ajst-9873	56	19	,	,	PUNCT
ajst-9873	56	20	and	and	CCONJ
ajst-9873	56	21	three	three	NUM
ajst-9873	56	22	sets	set	NOUN
ajst-9873	56	23	of	of	ADP
ajst-9873	56	24	rollers	roller	NOUN
ajst-9873	56	25	are	be	AUX
ajst-9873	56	26	distributed	distribute	VERB
ajst-9873	56	27	at	at	ADP
ajst-9873	56	28	three	three	NUM
ajst-9873	56	29	important	important	ADJ
ajst-9873	56	30	moving	move	VERB
ajst-9873	56	31	joints	joint	NOUN
ajst-9873	56	32	,	,	PUNCT
ajst-9873	56	33	which	which	PRON
ajst-9873	56	34	can	can	AUX
ajst-9873	56	35	move	move	VERB
ajst-9873	56	36	along	along	ADP
ajst-9873	56	37	the	the	DET
ajst-9873	56	38	circumferential	circumferential	ADJ
ajst-9873	56	39	direction	direction	NOUN
ajst-9873	56	40	of	of	ADP
ajst-9873	56	41	the	the	DET
ajst-9873	56	42	jacket	jacket	NOUN
ajst-9873	56	43	.	.	PUNCT
ajst-9873	57	1	as	as	SCONJ
ajst-9873	57	2	shown	show	VERB
ajst-9873	57	3	in	in	ADP
ajst-9873	57	4	fig	fig	NOUN
ajst-9873	57	5	1	1	NUM
ajst-9873	57	6	.	.	PUNCT
ajst-9873	57	7	figure	figure	NOUN
ajst-9873	57	8	1	1	NUM
ajst-9873	57	9	.	.	PUNCT
ajst-9873	58	1	u.s	u.s	PROPN
ajst-9873	58	2	.	.	PROPN
ajst-9873	58	3	patent	patent	NOUN
ajst-9873	58	4	structure	structure	NOUN
ajst-9873	58	5	in	in	ADP
ajst-9873	58	6	a	a	DET
ajst-9873	58	7	korean	korean	ADJ
ajst-9873	58	8	patent	patent	NOUN
ajst-9873	58	9	[	[	X
ajst-9873	58	10	14	14	NUM
ajst-9873	58	11	]	]	X
ajst-9873	58	12	,	,	PUNCT
ajst-9873	58	13	a	a	DET
ajst-9873	58	14	device	device	NOUN
ajst-9873	58	15	for	for	ADP
ajst-9873	58	16	cleaning	clean	VERB
ajst-9873	58	17	the	the	DET
ajst-9873	58	18	underwater	underwater	ADJ
ajst-9873	58	19	pipe	pipe	NOUN
ajst-9873	58	20	structure	structure	NOUN
ajst-9873	58	21	is	be	AUX
ajst-9873	58	22	proposed	propose	VERB
ajst-9873	58	23	.	.	PUNCT
ajst-9873	59	1	the	the	DET
ajst-9873	59	2	device	device	NOUN
ajst-9873	59	3	adopts	adopt	VERB
ajst-9873	59	4	an	an	DET
ajst-9873	59	5	equilateral	equilateral	ADJ
ajst-9873	59	6	triangle	triangle	NOUN
ajst-9873	59	7	surrounded	surround	VERB
ajst-9873	59	8	structure	structure	NOUN
ajst-9873	59	9	.	.	PUNCT
ajst-9873	60	1	each	each	PRON
ajst-9873	60	2	of	of	ADP
ajst-9873	60	3	the	the	DET
ajst-9873	60	4	three	three	NUM
ajst-9873	60	5	vertices	vertex	NOUN
ajst-9873	60	6	of	of	ADP
ajst-9873	60	7	the	the	DET
ajst-9873	60	8	triangle	triangle	NOUN
ajst-9873	60	9	has	have	VERB
ajst-9873	60	10	a	a	DET
ajst-9873	60	11	set	set	NOUN
ajst-9873	60	12	of	of	ADP
ajst-9873	60	13	magnetic	magnetic	ADJ
ajst-9873	60	14	suction	suction	NOUN
ajst-9873	60	15	wheels	wheel	NOUN
ajst-9873	60	16	,	,	PUNCT
ajst-9873	60	17	which	which	PRON
ajst-9873	60	18	can	can	AUX
ajst-9873	60	19	realize	realize	VERB
ajst-9873	60	20	360	360	NUM
ajst-9873	60	21	°	°	NOUN
ajst-9873	60	22	detection	detection	NOUN
ajst-9873	60	23	and	and	CCONJ
ajst-9873	60	24	cleaning	cleaning	NOUN
ajst-9873	60	25	of	of	ADP
ajst-9873	60	26	the	the	DET
ajst-9873	60	27	pipe	pipe	NOUN
ajst-9873	60	28	structure	structure	NOUN
ajst-9873	60	29	.	.	PUNCT
ajst-9873	61	1	as	as	SCONJ
ajst-9873	61	2	shown	show	VERB
ajst-9873	61	3	in	in	ADP
ajst-9873	61	4	fig	fig	NOUN
ajst-9873	61	5	2	2	NUM
ajst-9873	61	6	.	.	PUNCT
ajst-9873	61	7	figure	figure	NOUN
ajst-9873	61	8	2	2	NUM
ajst-9873	61	9	.	.	PUNCT
ajst-9873	61	10	korean	korean	ADJ
ajst-9873	61	11	patent	patent	NOUN
ajst-9873	61	12	structure	structure	NOUN
ajst-9873	61	13	3.2	3.2	NUM
ajst-9873	61	14	.	.	PUNCT
ajst-9873	62	1	domestic	domestic	ADJ
ajst-9873	62	2	research	research	NOUN
ajst-9873	62	3	status	status	NOUN
ajst-9873	62	4	harbin	harbin	PROPN
ajst-9873	62	5	engineering	engineering	PROPN
ajst-9873	62	6	university	university	PROPN
ajst-9873	62	7	has	have	AUX
ajst-9873	62	8	designed	design	VERB
ajst-9873	62	9	a	a	DET
ajst-9873	62	10	cleaning	clean	VERB
ajst-9873	62	11	robot	robot	NOUN
ajst-9873	62	12	with	with	ADP
ajst-9873	62	13	thrust	thrust	ADJ
ajst-9873	62	14	adsorption	adsorption	NOUN
ajst-9873	62	15	and	and	CCONJ
ajst-9873	62	16	propeller	propeller	NOUN
ajst-9873	62	17	propulsion	propulsion	NOUN
ajst-9873	62	18	,	,	PUNCT
ajst-9873	62	19	servo	servo	NOUN
ajst-9873	62	20	motor	motor	NOUN
ajst-9873	62	21	drive	drive	NOUN
ajst-9873	62	22	and	and	CCONJ
ajst-9873	62	23	mechanical	mechanical	ADJ
ajst-9873	62	24	arm	arm	NOUN
ajst-9873	62	25	cleaning	clean	VERB
ajst-9873	62	26	brush	brush	NOUN
ajst-9873	62	27	[	[	X
ajst-9873	62	28	15].this	15].this	NUM
ajst-9873	62	29	robot	robot	NOUN
ajst-9873	62	30	adopts	adopt	VERB
ajst-9873	62	31	the	the	DET
ajst-9873	62	32	method	method	NOUN
ajst-9873	62	33	of	of	ADP
ajst-9873	62	34	thrust	thrust	ADJ
ajst-9873	62	35	adsorption	adsorption	NOUN
ajst-9873	62	36	and	and	CCONJ
ajst-9873	62	37	propeller	propeller	NOUN
ajst-9873	62	38	propulsion	propulsion	NOUN
ajst-9873	62	39	,	,	PUNCT
ajst-9873	62	40	and	and	CCONJ
ajst-9873	62	41	adds	add	VERB
ajst-9873	62	42	a	a	DET
ajst-9873	62	43	holding	hold	VERB
ajst-9873	62	44	arm	arm	NOUN
ajst-9873	62	45	mechanism	mechanism	NOUN
ajst-9873	62	46	on	on	ADP
ajst-9873	62	47	both	both	DET
ajst-9873	62	48	sides	side	NOUN
ajst-9873	62	49	of	of	ADP
ajst-9873	62	50	the	the	DET
ajst-9873	62	51	robot	robot	NOUN
ajst-9873	62	52	.	.	PUNCT
ajst-9873	63	1	by	by	ADP
ajst-9873	63	2	means	mean	NOUN
ajst-9873	63	3	of	of	ADP
ajst-9873	63	4	high	high	ADJ
ajst-9873	63	5	-	-	PUNCT
ajst-9873	63	6	pressure	pressure	NOUN
ajst-9873	63	7	water	water	NOUN
ajst-9873	63	8	jet	jet	NOUN
ajst-9873	63	9	,	,	PUNCT
ajst-9873	63	10	the	the	DET
ajst-9873	63	11	cleaning	cleaning	NOUN
ajst-9873	63	12	and	and	CCONJ
ajst-9873	63	13	detection	detection	NOUN
ajst-9873	63	14	of	of	ADP
ajst-9873	63	15	steel	steel	NOUN
ajst-9873	63	16	structure	structure	NOUN
ajst-9873	63	17	can	can	AUX
ajst-9873	63	18	be	be	AUX
ajst-9873	63	19	carried	carry	VERB
ajst-9873	63	20	out	out	ADP
ajst-9873	63	21	in	in	ADP
ajst-9873	63	22	the	the	DET
ajst-9873	63	23	water	water	NOUN
ajst-9873	63	24	area	area	NOUN
ajst-9873	63	25	of	of	ADP
ajst-9873	63	26	4	4	NUM
ajst-9873	63	27	-	-	SYM
ajst-9873	63	28	5	5	NUM
ajst-9873	63	29	m	m	NOUN
ajst-9873	63	30	deep	deep	ADJ
ajst-9873	63	31	underwater	underwater	NOUN
ajst-9873	63	32	.	.	PUNCT
ajst-9873	64	1	as	as	SCONJ
ajst-9873	64	2	shown	show	VERB
ajst-9873	64	3	in	in	ADP
ajst-9873	64	4	fig	fig	NOUN
ajst-9873	64	5	3	3	NUM
ajst-9873	64	6	.	.	PUNCT
ajst-9873	64	7	figure	figure	VERB
ajst-9873	64	8	3	3	NUM
ajst-9873	64	9	.	.	PUNCT
ajst-9873	64	10	robot	robot	NOUN
ajst-9873	64	11	structure	structure	NOUN
ajst-9873	64	12	of	of	ADP
ajst-9873	64	13	harbin	harbin	PROPN
ajst-9873	64	14	engineering	engineering	PROPN
ajst-9873	64	15	university	university	PROPN
ajst-9873	64	16	zhejiang	zhejiang	PROPN
ajst-9873	64	17	university	university	PROPN
ajst-9873	64	18	has	have	AUX
ajst-9873	64	19	developed	develop	VERB
ajst-9873	64	20	an	an	DET
ajst-9873	64	21	underwater	underwater	ADJ
ajst-9873	64	22	robot	robot	NOUN
ajst-9873	64	23	'	'	PROPN
ajst-9873	64	24	hamm	hamm	PROPN
ajst-9873	64	25	(	(	PUNCT
ajst-9873	64	26	home	home	NOUN
ajst-9873	64	27	)	)	PUNCT
ajst-9873	64	28	marine	marine	ADJ
ajst-9873	64	29	organism	organism	NOUN
ajst-9873	64	30	'	'	PUNCT
ajst-9873	65	1	[	[	X
ajst-9873	65	2	16	16	NUM
ajst-9873	65	3	,	,	PUNCT
ajst-9873	65	4	17	17	NUM
ajst-9873	65	5	]	]	PUNCT
ajst-9873	65	6	with	with	ADP
ajst-9873	65	7	an	an	DET
ajst-9873	65	8	adaptive	adaptive	ADJ
ajst-9873	65	9	mechanism	mechanism	NOUN
ajst-9873	65	10	for	for	ADP
ajst-9873	65	11	cleaning	clean	VERB
ajst-9873	65	12	variable	variable	ADJ
ajst-9873	65	13	diameter	diameter	NOUN
ajst-9873	65	14	steel	steel	NOUN
ajst-9873	65	15	pipes	pipe	NOUN
ajst-9873	65	16	.	.	PUNCT
ajst-9873	66	1	the	the	DET
ajst-9873	66	2	robot	robot	NOUN
ajst-9873	66	3	uses	use	VERB
ajst-9873	66	4	four	four	NUM
ajst-9873	66	5	rockers	rocker	NOUN
ajst-9873	66	6	to	to	PART
ajst-9873	66	7	connect	connect	VERB
ajst-9873	66	8	the	the	DET
ajst-9873	66	9	rear	rear	ADJ
ajst-9873	66	10	axle	axle	NOUN
ajst-9873	66	11	to	to	ADP
ajst-9873	66	12	the	the	DET
ajst-9873	66	13	robot	robot	NOUN
ajst-9873	66	14	's	's	PART
ajst-9873	66	15	body	body	NOUN
ajst-9873	66	16	and	and	CCONJ
ajst-9873	66	17	absorber	absorber	VERB
ajst-9873	66	18	,	,	PUNCT
ajst-9873	66	19	ensuring	ensure	VERB
ajst-9873	66	20	that	that	SCONJ
ajst-9873	66	21	the	the	DET
ajst-9873	66	22	robot	robot	NOUN
ajst-9873	66	23	's	's	PART
ajst-9873	66	24	body	body	NOUN
ajst-9873	66	25	moves	move	VERB
ajst-9873	66	26	up	up	ADP
ajst-9873	66	27	and	and	CCONJ
ajst-9873	66	28	down	down	ADV
ajst-9873	66	29	to	to	PART
ajst-9873	66	30	maintain	maintain	VERB
ajst-9873	66	31	contact	contact	NOUN
ajst-9873	66	32	with	with	ADP
ajst-9873	66	33	the	the	DET
ajst-9873	66	34	pipe	pipe	NOUN
ajst-9873	66	35	surface	surface	NOUN
ajst-9873	66	36	,	,	PUNCT
ajst-9873	66	37	and	and	CCONJ
ajst-9873	66	38	is	be	AUX
ajst-9873	66	39	adsorbed	adsorb	VERB
ajst-9873	66	40	on	on	ADP
ajst-9873	66	41	the	the	DET
ajst-9873	66	42	surface	surface	NOUN
ajst-9873	66	43	of	of	ADP
ajst-9873	66	44	the	the	DET
ajst-9873	66	45	jacket	jacket	NOUN
ajst-9873	66	46	with	with	ADP
ajst-9873	66	47	a	a	DET
ajst-9873	66	48	magnetic	magnetic	ADJ
ajst-9873	66	49	suction	suction	NOUN
ajst-9873	66	50	wheel	wheel	NOUN
ajst-9873	66	51	.	.	PUNCT
ajst-9873	67	1	the	the	DET
ajst-9873	67	2	cleaning	cleaning	NOUN
ajst-9873	67	3	method	method	NOUN
ajst-9873	67	4	of	of	ADP
ajst-9873	67	5	cavitation	cavitation	NOUN
ajst-9873	67	6	water	water	NOUN
ajst-9873	67	7	jet	jet	NOUN
ajst-9873	67	8	can	can	AUX
ajst-9873	67	9	complete	complete	VERB
ajst-9873	67	10	the	the	DET
ajst-9873	67	11	cleaning	cleaning	NOUN
ajst-9873	67	12	of	of	ADP
ajst-9873	67	13	underwater	underwater	ADJ
ajst-9873	67	14	marine	marine	ADJ
ajst-9873	67	15	organisms	organism	NOUN
ajst-9873	67	16	and	and	CCONJ
ajst-9873	67	17	the	the	DET
ajst-9873	67	18	detection	detection	NOUN
ajst-9873	67	19	of	of	ADP
ajst-9873	67	20	jackets	jacket	NOUN
ajst-9873	67	21	.	.	PUNCT
ajst-9873	68	1	as	as	SCONJ
ajst-9873	68	2	shown	show	VERB
ajst-9873	68	3	in	in	ADP
ajst-9873	68	4	fig	fig	NOUN
ajst-9873	68	5	4	4	NUM
ajst-9873	68	6	.	.	PUNCT
ajst-9873	68	7	figure	figure	VERB
ajst-9873	68	8	4	4	NUM
ajst-9873	68	9	.	.	PUNCT
ajst-9873	69	1	hamm	hamm	PROPN
ajst-9873	69	2	(	(	PUNCT
ajst-9873	69	3	home	home	NOUN
ajst-9873	69	4	)	)	PUNCT
ajst-9873	69	5	sea	sea	NOUN
ajst-9873	69	6	bio	bio	NOUN
ajst-9873	69	7	-	-	NOUN
ajst-9873	69	8	robot	robot	NOUN
ajst-9873	69	9	153	153	NUM
ajst-9873	69	10	in	in	ADP
ajst-9873	69	11	2019	2019	NUM
ajst-9873	69	12	,	,	PUNCT
ajst-9873	69	13	cnooc	cnooc	PROPN
ajst-9873	69	14	energy	energy	NOUN
ajst-9873	69	15	equipment	equipment	PROPN
ajst-9873	69	16	technology	technology	PROPN
ajst-9873	69	17	co.	co.	PROPN
ajst-9873	69	18	,	,	PUNCT
ajst-9873	69	19	ltd.proposed	ltd.propose	VERB
ajst-9873	69	20	an	an	DET
ajst-9873	69	21	underwater	underwater	ADJ
ajst-9873	69	22	robot	robot	NOUN
ajst-9873	69	23	that	that	PRON
ajst-9873	69	24	can	can	AUX
ajst-9873	69	25	be	be	AUX
ajst-9873	69	26	used	use	VERB
ajst-9873	69	27	to	to	PART
ajst-9873	69	28	clean	clean	VERB
ajst-9873	69	29	and	and	CCONJ
ajst-9873	69	30	detect	detect	VERB
ajst-9873	69	31	the	the	DET
ajst-9873	69	32	jacket	jacket	NOUN
ajst-9873	69	33	platform	platform	NOUN
ajst-9873	69	34	structure	structure	NOUN
ajst-9873	69	35	[	[	X
ajst-9873	69	36	18].this	18].this	NUM
ajst-9873	69	37	robot	robot	NOUN
ajst-9873	69	38	combines	combine	VERB
ajst-9873	69	39	two	two	NUM
ajst-9873	69	40	sets	set	NOUN
ajst-9873	69	41	of	of	ADP
ajst-9873	69	42	permanent	permanent	ADJ
ajst-9873	69	43	magnet	magnet	NOUN
ajst-9873	69	44	adsorption	adsorption	NOUN
ajst-9873	69	45	wheels	wheel	NOUN
ajst-9873	69	46	in	in	ADP
ajst-9873	69	47	different	different	ADJ
ajst-9873	69	48	directions	direction	NOUN
ajst-9873	69	49	,	,	PUNCT
ajst-9873	69	50	and	and	CCONJ
ajst-9873	69	51	adopts	adopt	VERB
ajst-9873	69	52	a	a	DET
ajst-9873	69	53	combination	combination	NOUN
ajst-9873	69	54	of	of	ADP
ajst-9873	69	55	floating	float	VERB
ajst-9873	69	56	and	and	CCONJ
ajst-9873	69	57	magnetic	magnetic	ADJ
ajst-9873	69	58	crawling	crawling	NOUN
ajst-9873	69	59	.	.	PUNCT
ajst-9873	70	1	as	as	SCONJ
ajst-9873	70	2	shown	show	VERB
ajst-9873	70	3	in	in	ADP
ajst-9873	70	4	fig	fig	NOUN
ajst-9873	70	5	5	5	NUM
ajst-9873	70	6	.	.	PUNCT
ajst-9873	70	7	figure	figure	NOUN
ajst-9873	70	8	5	5	NUM
ajst-9873	70	9	.	.	PUNCT
ajst-9873	70	10	robot	robot	NOUN
ajst-9873	70	11	structure	structure	NOUN
ajst-9873	70	12	designed	design	VERB
ajst-9873	70	13	by	by	ADP
ajst-9873	70	14	cnooc	cnooc	PROPN
ajst-9873	70	15	a	a	DET
ajst-9873	70	16	company	company	NOUN
ajst-9873	70	17	in	in	ADP
ajst-9873	70	18	shenzhen	shenzhen	PROPN
ajst-9873	70	19	proposed	propose	VERB
ajst-9873	70	20	a	a	DET
ajst-9873	70	21	jacket	jacket	NOUN
ajst-9873	70	22	sea	sea	NOUN
ajst-9873	70	23	biological	biological	ADJ
ajst-9873	70	24	cleaning	cleaning	NOUN
ajst-9873	70	25	robot	robot	NOUN
ajst-9873	70	26	[	[	X
ajst-9873	70	27	19	19	NUM
ajst-9873	70	28	]	]	PUNCT
ajst-9873	70	29	.	.	PUNCT
ajst-9873	71	1	the	the	DET
ajst-9873	71	2	robot	robot	NOUN
ajst-9873	71	3	adopts	adopt	VERB
ajst-9873	71	4	the	the	DET
ajst-9873	71	5	combination	combination	NOUN
ajst-9873	71	6	of	of	ADP
ajst-9873	71	7	magnetic	magnetic	ADJ
ajst-9873	71	8	suction	suction	NOUN
ajst-9873	71	9	and	and	CCONJ
ajst-9873	71	10	mechanical	mechanical	ADJ
ajst-9873	71	11	leg	leg	NOUN
ajst-9873	71	12	.	.	PUNCT
ajst-9873	72	1	when	when	SCONJ
ajst-9873	72	2	working	work	VERB
ajst-9873	72	3	,	,	PUNCT
ajst-9873	72	4	the	the	DET
ajst-9873	72	5	magnetic	magnetic	ADJ
ajst-9873	72	6	suction	suction	NOUN
ajst-9873	72	7	mechanism	mechanism	NOUN
ajst-9873	72	8	leg	leg	NOUN
ajst-9873	72	9	realizes	realize	VERB
ajst-9873	72	10	the	the	DET
ajst-9873	72	11	walking	walking	NOUN
ajst-9873	72	12	and	and	CCONJ
ajst-9873	72	13	obstacle	obstacle	VERB
ajst-9873	72	14	surmounting	surmount	VERB
ajst-9873	72	15	on	on	ADP
ajst-9873	72	16	the	the	DET
ajst-9873	72	17	jacket	jacket	NOUN
ajst-9873	72	18	.	.	PUNCT
ajst-9873	73	1	during	during	ADP
ajst-9873	73	2	cleaning	cleaning	NOUN
ajst-9873	73	3	,	,	PUNCT
ajst-9873	73	4	the	the	DET
ajst-9873	73	5	large	large	ADJ
ajst-9873	73	6	suction	suction	NOUN
ajst-9873	73	7	cup	cup	NOUN
ajst-9873	73	8	adsorbs	adsorb	VERB
ajst-9873	73	9	the	the	DET
ajst-9873	73	10	entire	entire	ADJ
ajst-9873	73	11	robot	robot	NOUN
ajst-9873	73	12	on	on	ADP
ajst-9873	73	13	the	the	DET
ajst-9873	73	14	surface	surface	NOUN
ajst-9873	73	15	of	of	ADP
ajst-9873	73	16	the	the	DET
ajst-9873	73	17	jacket	jacket	NOUN
ajst-9873	73	18	steel	steel	NOUN
ajst-9873	73	19	structure	structure	NOUN
ajst-9873	73	20	to	to	PART
ajst-9873	73	21	complete	complete	VERB
ajst-9873	73	22	the	the	DET
ajst-9873	73	23	cleaning	cleaning	NOUN
ajst-9873	73	24	work	work	NOUN
ajst-9873	73	25	.	.	PUNCT
ajst-9873	74	1	as	as	SCONJ
ajst-9873	74	2	shown	show	VERB
ajst-9873	74	3	in	in	ADP
ajst-9873	74	4	fig	fig	NOUN
ajst-9873	74	5	6	6	NUM
ajst-9873	74	6	.	.	PUNCT
ajst-9873	74	7	figure	figure	VERB
ajst-9873	74	8	6	6	NUM
ajst-9873	74	9	.	.	PUNCT
ajst-9873	75	1	jacket	jacket	NOUN
ajst-9873	75	2	marine	marine	ADJ
ajst-9873	75	3	biological	biological	ADJ
ajst-9873	75	4	cleaning	cleaning	NOUN
ajst-9873	75	5	robot	robot	NOUN
ajst-9873	75	6	structure	structure	NOUN
ajst-9873	75	7	shandong	shandong	PROPN
ajst-9873	75	8	university	university	PROPN
ajst-9873	75	9	has	have	AUX
ajst-9873	75	10	developed	develop	VERB
ajst-9873	75	11	a	a	DET
ajst-9873	75	12	wheeled	wheel	VERB
ajst-9873	75	13	mobile	mobile	ADJ
ajst-9873	75	14	mechanism	mechanism	NOUN
ajst-9873	75	15	for	for	ADP
ajst-9873	75	16	offshore	offshore	ADJ
ajst-9873	75	17	oilfield	oilfield	NOUN
ajst-9873	75	18	wellhead	wellhead	NOUN
ajst-9873	75	19	platform	platform	NOUN
ajst-9873	75	20	jackets	jacket	NOUN
ajst-9873	75	21	.	.	PUNCT
ajst-9873	76	1	[	[	X
ajst-9873	76	2	20	20	NUM
ajst-9873	76	3	]	]	PUNCT
ajst-9873	76	4	the	the	DET
ajst-9873	76	5	robot	robot	NOUN
ajst-9873	76	6	consists	consist	VERB
ajst-9873	76	7	of	of	ADP
ajst-9873	76	8	two	two	NUM
ajst-9873	76	9	upper	upper	ADJ
ajst-9873	76	10	and	and	CCONJ
ajst-9873	76	11	lower	low	ADJ
ajst-9873	76	12	fuselages	fuselage	NOUN
ajst-9873	76	13	.	.	PUNCT
ajst-9873	77	1	each	each	DET
ajst-9873	77	2	fuselage	fuselage	NOUN
ajst-9873	77	3	is	be	AUX
ajst-9873	77	4	fixed	fix	VERB
ajst-9873	77	5	with	with	ADP
ajst-9873	77	6	a	a	DET
ajst-9873	77	7	clamping	clamp	VERB
ajst-9873	77	8	mechanism	mechanism	NOUN
ajst-9873	77	9	,	,	PUNCT
ajst-9873	77	10	and	and	CCONJ
ajst-9873	77	11	the	the	DET
ajst-9873	77	12	clamping	clamp	VERB
ajst-9873	77	13	mechanism	mechanism	NOUN
ajst-9873	77	14	is	be	AUX
ajst-9873	77	15	equipped	equip	VERB
ajst-9873	77	16	with	with	ADP
ajst-9873	77	17	two	two	NUM
ajst-9873	77	18	rows	row	NOUN
ajst-9873	77	19	of	of	ADP
ajst-9873	77	20	rollers	roller	NOUN
ajst-9873	77	21	and	and	CCONJ
ajst-9873	77	22	speed	speed	NOUN
ajst-9873	77	23	regulating	regulate	VERB
ajst-9873	77	24	motors	motor	NOUN
ajst-9873	77	25	.	.	PUNCT
ajst-9873	78	1	the	the	DET
ajst-9873	78	2	speed	speed	NOUN
ajst-9873	78	3	of	of	ADP
ajst-9873	78	4	the	the	DET
ajst-9873	78	5	motor	motor	NOUN
ajst-9873	78	6	can	can	AUX
ajst-9873	78	7	be	be	AUX
ajst-9873	78	8	adjusted	adjust	VERB
ajst-9873	78	9	to	to	PART
ajst-9873	78	10	control	control	VERB
ajst-9873	78	11	the	the	DET
ajst-9873	78	12	speed	speed	NOUN
ajst-9873	78	13	of	of	ADP
ajst-9873	78	14	the	the	DET
ajst-9873	78	15	movement	movement	NOUN
ajst-9873	78	16	,	,	PUNCT
ajst-9873	78	17	and	and	CCONJ
ajst-9873	78	18	the	the	DET
ajst-9873	78	19	cleaning	clean	VERB
ajst-9873	78	20	equipment	equipment	NOUN
ajst-9873	78	21	is	be	AUX
ajst-9873	78	22	carried	carry	VERB
ajst-9873	78	23	to	to	PART
ajst-9873	78	24	carry	carry	VERB
ajst-9873	78	25	out	out	ADP
ajst-9873	78	26	the	the	DET
ajst-9873	78	27	cleaning	clean	VERB
ajst-9873	78	28	operation	operation	NOUN
ajst-9873	78	29	of	of	ADP
ajst-9873	78	30	the	the	DET
ajst-9873	78	31	underwater	underwater	ADJ
ajst-9873	78	32	jacket	jacket	NOUN
ajst-9873	78	33	.	.	PUNCT
ajst-9873	79	1	as	as	SCONJ
ajst-9873	79	2	shown	show	VERB
ajst-9873	79	3	in	in	ADP
ajst-9873	79	4	fig	fig	NOUN
ajst-9873	79	5	7	7	NUM
ajst-9873	79	6	.	.	PUNCT
ajst-9873	79	7	figure	figure	VERB
ajst-9873	79	8	7	7	NUM
ajst-9873	79	9	.	.	PUNCT
ajst-9873	80	1	structure	structure	NOUN
ajst-9873	80	2	of	of	ADP
ajst-9873	80	3	wheeled	wheel	VERB
ajst-9873	80	4	jacket	jacket	NOUN
ajst-9873	80	5	robot	robot	PROPN
ajst-9873	80	6	ocean	ocean	PROPN
ajst-9873	80	7	university	university	PROPN
ajst-9873	80	8	of	of	ADP
ajst-9873	80	9	china	china	PROPN
ajst-9873	80	10	has	have	AUX
ajst-9873	80	11	designed	design	VERB
ajst-9873	80	12	a	a	DET
ajst-9873	80	13	jacket	jacket	NOUN
ajst-9873	80	14	detection	detection	NOUN
ajst-9873	80	15	robot	robot	NOUN
ajst-9873	80	16	without	without	ADP
ajst-9873	80	17	magnetic	magnetic	ADJ
ajst-9873	80	18	field	field	NOUN
ajst-9873	80	19	interference	interference	NOUN
ajst-9873	80	20	[	[	X
ajst-9873	80	21	21	21	NUM
ajst-9873	80	22	]	]	PUNCT
ajst-9873	80	23	.	.	PUNCT
ajst-9873	81	1	the	the	DET
ajst-9873	81	2	robot	robot	NOUN
ajst-9873	81	3	includes	include	VERB
ajst-9873	81	4	a	a	DET
ajst-9873	81	5	guide	guide	NOUN
ajst-9873	81	6	rail	rail	NOUN
ajst-9873	81	7	mechanism	mechanism	NOUN
ajst-9873	81	8	,	,	PUNCT
ajst-9873	81	9	a	a	DET
ajst-9873	81	10	slider	slider	NOUN
ajst-9873	81	11	and	and	CCONJ
ajst-9873	81	12	a	a	DET
ajst-9873	81	13	hammer	hammer	NOUN
ajst-9873	81	14	.	.	PUNCT
ajst-9873	82	1	the	the	DET
ajst-9873	82	2	slider	slider	NOUN
ajst-9873	82	3	can	can	AUX
ajst-9873	82	4	move	move	VERB
ajst-9873	82	5	along	along	ADP
ajst-9873	82	6	the	the	DET
ajst-9873	82	7	guide	guide	NOUN
ajst-9873	82	8	rail	rail	NOUN
ajst-9873	82	9	,	,	PUNCT
ajst-9873	82	10	and	and	CCONJ
ajst-9873	82	11	can	can	AUX
ajst-9873	82	12	move	move	VERB
ajst-9873	82	13	from	from	ADP
ajst-9873	82	14	the	the	DET
ajst-9873	82	15	bottom	bottom	NOUN
ajst-9873	82	16	of	of	ADP
ajst-9873	82	17	the	the	DET
ajst-9873	82	18	inner	inner	ADJ
ajst-9873	82	19	guide	guide	NOUN
ajst-9873	82	20	rail	rail	NOUN
ajst-9873	82	21	to	to	ADP
ajst-9873	82	22	the	the	DET
ajst-9873	82	23	top	top	NOUN
ajst-9873	82	24	of	of	ADP
ajst-9873	82	25	the	the	DET
ajst-9873	82	26	inner	inner	ADJ
ajst-9873	82	27	guide	guide	NOUN
ajst-9873	82	28	rail	rail	NOUN
ajst-9873	82	29	.	.	PUNCT
ajst-9873	83	1	the	the	DET
ajst-9873	83	2	inner	inner	ADJ
ajst-9873	83	3	guide	guide	NOUN
ajst-9873	83	4	rail	rail	NOUN
ajst-9873	83	5	can	can	AUX
ajst-9873	83	6	also	also	ADV
ajst-9873	83	7	make	make	VERB
ajst-9873	83	8	linear	linear	ADJ
ajst-9873	83	9	reciprocating	reciprocate	VERB
ajst-9873	83	10	motion	motion	NOUN
ajst-9873	83	11	along	along	ADP
ajst-9873	83	12	the	the	DET
ajst-9873	83	13	outer	outer	ADJ
ajst-9873	83	14	guide	guide	NOUN
ajst-9873	83	15	rail	rail	NOUN
ajst-9873	83	16	.	.	PUNCT
ajst-9873	84	1	the	the	DET
ajst-9873	84	2	detection	detection	NOUN
ajst-9873	84	3	unit	unit	NOUN
ajst-9873	84	4	is	be	AUX
ajst-9873	84	5	installed	instal	VERB
ajst-9873	84	6	on	on	ADP
ajst-9873	84	7	the	the	DET
ajst-9873	84	8	slider	slider	NOUN
ajst-9873	84	9	and	and	CCONJ
ajst-9873	84	10	moves	move	VERB
ajst-9873	84	11	synchronously	synchronously	ADV
ajst-9873	84	12	with	with	ADP
ajst-9873	84	13	the	the	DET
ajst-9873	84	14	slider	slider	NOUN
ajst-9873	84	15	.	.	PUNCT
ajst-9873	85	1	as	as	SCONJ
ajst-9873	85	2	shown	show	VERB
ajst-9873	85	3	in	in	ADP
ajst-9873	85	4	fig	fig	NOUN
ajst-9873	85	5	8	8	NUM
ajst-9873	85	6	.	.	PUNCT
ajst-9873	85	7	figure	figure	NOUN
ajst-9873	85	8	8	8	NUM
ajst-9873	85	9	.	.	PUNCT
ajst-9873	86	1	jacket	jacket	NOUN
ajst-9873	86	2	detection	detection	NOUN
ajst-9873	86	3	robot	robot	NOUN
ajst-9873	86	4	proposed	propose	VERB
ajst-9873	86	5	by	by	ADP
ajst-9873	86	6	ocean	ocean	PROPN
ajst-9873	86	7	university	university	PROPN
ajst-9873	86	8	of	of	ADP
ajst-9873	86	9	china	china	PROPN
ajst-9873	86	10	4	4	NUM
ajst-9873	86	11	.	.	X
ajst-9873	86	12	summary	summary	VERB
ajst-9873	86	13	through	through	ADP
ajst-9873	86	14	the	the	DET
ajst-9873	86	15	analysis	analysis	NOUN
ajst-9873	86	16	of	of	ADP
ajst-9873	86	17	the	the	DET
ajst-9873	86	18	above	above	ADJ
ajst-9873	86	19	research	research	NOUN
ajst-9873	86	20	status	status	NOUN
ajst-9873	86	21	at	at	ADP
ajst-9873	86	22	home	home	NOUN
ajst-9873	86	23	and	and	CCONJ
ajst-9873	86	24	abroad	abroad	ADV
ajst-9873	86	25	,	,	PUNCT
ajst-9873	86	26	relevant	relevant	ADJ
ajst-9873	86	27	scholars	scholar	NOUN
ajst-9873	86	28	have	have	AUX
ajst-9873	86	29	done	do	VERB
ajst-9873	86	30	a	a	DET
ajst-9873	86	31	lot	lot	NOUN
ajst-9873	86	32	of	of	ADP
ajst-9873	86	33	research	research	NOUN
ajst-9873	86	34	work	work	NOUN
ajst-9873	86	35	on	on	ADP
ajst-9873	86	36	the	the	DET
ajst-9873	86	37	jacket	jacket	NOUN
ajst-9873	86	38	cleaning	cleaning	NOUN
ajst-9873	86	39	and	and	CCONJ
ajst-9873	86	40	detection	detection	NOUN
ajst-9873	86	41	robot	robot	NOUN
ajst-9873	86	42	,	,	PUNCT
ajst-9873	86	43	and	and	CCONJ
ajst-9873	86	44	have	have	AUX
ajst-9873	86	45	also	also	ADV
ajst-9873	86	46	achieved	achieve	VERB
ajst-9873	86	47	a	a	DET
ajst-9873	86	48	lot	lot	NOUN
ajst-9873	86	49	of	of	ADP
ajst-9873	86	50	results	result	NOUN
ajst-9873	86	51	,	,	PUNCT
ajst-9873	86	52	which	which	PRON
ajst-9873	86	53	has	have	AUX
ajst-9873	86	54	made	make	VERB
ajst-9873	86	55	outstanding	outstanding	ADJ
ajst-9873	86	56	contributions	contribution	NOUN
ajst-9873	86	57	to	to	ADP
ajst-9873	86	58	the	the	DET
ajst-9873	86	59	application	application	NOUN
ajst-9873	86	60	of	of	ADP
ajst-9873	86	61	the	the	DET
ajst-9873	86	62	jacket	jacket	NOUN
ajst-9873	86	63	cleaning	cleaning	NOUN
ajst-9873	86	64	and	and	CCONJ
ajst-9873	86	65	detection	detection	NOUN
ajst-9873	86	66	robot	robot	NOUN
ajst-9873	86	67	in	in	ADP
ajst-9873	86	68	engineering	engineering	NOUN
ajst-9873	86	69	.	.	PUNCT
ajst-9873	87	1	however	however	ADV
ajst-9873	87	2	,	,	PUNCT
ajst-9873	87	3	there	there	PRON
ajst-9873	87	4	are	be	VERB
ajst-9873	87	5	still	still	ADV
ajst-9873	87	6	some	some	DET
ajst-9873	87	7	technical	technical	ADJ
ajst-9873	87	8	improvement	improvement	NOUN
ajst-9873	87	9	problems	problem	NOUN
ajst-9873	87	10	in	in	ADP
ajst-9873	87	11	the	the	DET
ajst-9873	87	12	jacket	jacket	NOUN
ajst-9873	87	13	cleaning	cleaning	NOUN
ajst-9873	87	14	and	and	CCONJ
ajst-9873	87	15	detection	detection	NOUN
ajst-9873	87	16	robot	robot	NOUN
ajst-9873	87	17	.	.	PUNCT
ajst-9873	88	1	(	(	PUNCT
ajst-9873	88	2	1	1	X
ajst-9873	88	3	)	)	PUNCT
ajst-9873	88	4	at	at	ADP
ajst-9873	88	5	present	present	ADJ
ajst-9873	88	6	,	,	PUNCT
ajst-9873	88	7	most	most	ADJ
ajst-9873	88	8	of	of	ADP
ajst-9873	88	9	the	the	DET
ajst-9873	88	10	jacket	jacket	NOUN
ajst-9873	88	11	cleaning	cleaning	NOUN
ajst-9873	88	12	and	and	CCONJ
ajst-9873	88	13	detection	detection	NOUN
ajst-9873	88	14	robots	robot	NOUN
ajst-9873	88	15	use	use	VERB
ajst-9873	88	16	magnetic	magnetic	ADJ
ajst-9873	88	17	adsorption	adsorption	NOUN
ajst-9873	88	18	.	.	PUNCT
ajst-9873	89	1	this	this	DET
ajst-9873	89	2	adsorption	adsorption	NOUN
ajst-9873	89	3	will	will	AUX
ajst-9873	89	4	cause	cause	VERB
ajst-9873	89	5	insufficient	insufficient	ADJ
ajst-9873	89	6	adsorption	adsorption	NOUN
ajst-9873	89	7	force	force	NOUN
ajst-9873	89	8	in	in	ADP
ajst-9873	89	9	the	the	DET
ajst-9873	89	10	thick	thick	ADJ
ajst-9873	89	11	area	area	NOUN
ajst-9873	89	12	of	of	ADP
ajst-9873	89	13	marine	marine	ADJ
ajst-9873	89	14	organisms	organism	NOUN
ajst-9873	89	15	,	,	PUNCT
ajst-9873	89	16	resulting	result	VERB
ajst-9873	89	17	in	in	ADP
ajst-9873	89	18	failure	failure	NOUN
ajst-9873	89	19	of	of	ADP
ajst-9873	89	20	the	the	DET
ajst-9873	89	21	robot	robot	NOUN
ajst-9873	89	22	during	during	ADP
ajst-9873	89	23	movement	movement	NOUN
ajst-9873	89	24	.	.	PUNCT
ajst-9873	90	1	(	(	PUNCT
ajst-9873	90	2	2	2	NUM
ajst-9873	90	3	)	)	PUNCT
ajst-9873	90	4	from	from	ADP
ajst-9873	90	5	the	the	DET
ajst-9873	90	6	point	point	NOUN
ajst-9873	90	7	of	of	ADP
ajst-9873	90	8	view	view	NOUN
ajst-9873	90	9	of	of	ADP
ajst-9873	90	10	node	node	ADJ
ajst-9873	90	11	geometry	geometry	NOUN
ajst-9873	90	12	,	,	PUNCT
ajst-9873	90	13	it	it	PRON
ajst-9873	90	14	can	can	AUX
ajst-9873	90	15	be	be	AUX
ajst-9873	90	16	divided	divide	VERB
ajst-9873	90	17	into	into	ADP
ajst-9873	90	18	k	k	PROPN
ajst-9873	90	19	nodes	node	NOUN
ajst-9873	90	20	,	,	PUNCT
ajst-9873	90	21	y	y	PROPN
ajst-9873	90	22	nodes	node	NOUN
ajst-9873	90	23	,	,	PUNCT
ajst-9873	90	24	n	n	PRON
ajst-9873	90	25	nodes	node	NOUN
ajst-9873	90	26	and	and	CCONJ
ajst-9873	90	27	x	x	PUNCT
ajst-9873	90	28	nodes	node	NOUN
ajst-9873	90	29	.	.	PUNCT
ajst-9873	91	1	due	due	ADP
ajst-9873	91	2	to	to	ADP
ajst-9873	91	3	the	the	DET
ajst-9873	91	4	concealment	concealment	NOUN
ajst-9873	91	5	of	of	ADP
ajst-9873	91	6	the	the	DET
ajst-9873	91	7	nodes	node	NOUN
ajst-9873	91	8	,	,	PUNCT
ajst-9873	91	9	it	it	PRON
ajst-9873	91	10	increases	increase	VERB
ajst-9873	91	11	the	the	DET
ajst-9873	91	12	difficulty	difficulty	NOUN
ajst-9873	91	13	of	of	ADP
ajst-9873	91	14	the	the	DET
ajst-9873	91	15	cleaning	cleaning	NOUN
ajst-9873	91	16	operation	operation	NOUN
ajst-9873	91	17	,	,	PUNCT
ajst-9873	91	18	which	which	PRON
ajst-9873	91	19	requires	require	VERB
ajst-9873	91	20	the	the	DET
ajst-9873	91	21	robot	robot	NOUN
ajst-9873	91	22	to	to	PART
ajst-9873	91	23	have	have	VERB
ajst-9873	91	24	the	the	DET
ajst-9873	91	25	function	function	NOUN
ajst-9873	91	26	of	of	ADP
ajst-9873	91	27	flexible	flexible	ADJ
ajst-9873	91	28	obstacle	obstacle	NOUN
ajst-9873	91	29	crossing	crossing	NOUN
ajst-9873	91	30	.	.	PUNCT
ajst-9873	92	1	(	(	PUNCT
ajst-9873	92	2	3	3	X
ajst-9873	92	3	)	)	PUNCT
ajst-9873	92	4	the	the	DET
ajst-9873	92	5	camera	camera	NOUN
ajst-9873	92	6	,	,	PUNCT
ajst-9873	92	7	high	high	ADJ
ajst-9873	92	8	-	-	PUNCT
ajst-9873	92	9	pressure	pressure	NOUN
ajst-9873	92	10	water	water	NOUN
ajst-9873	92	11	cleaning	clean	VERB
ajst-9873	92	12	nozzle	nozzle	NOUN
ajst-9873	92	13	and	and	CCONJ
ajst-9873	92	14	non	non	ADJ
ajst-9873	92	15	-	-	ADJ
ajst-9873	92	16	destructive	destructive	ADJ
ajst-9873	92	17	testing	testing	NOUN
ajst-9873	92	18	equipment	equipment	NOUN
ajst-9873	92	19	on	on	ADP
ajst-9873	92	20	the	the	DET
ajst-9873	92	21	underwater	underwater	ADJ
ajst-9873	92	22	manipulator	manipulator	NOUN
ajst-9873	92	23	should	should	AUX
ajst-9873	92	24	have	have	VERB
ajst-9873	92	25	waterproof	waterproof	ADJ
ajst-9873	92	26	and	and	CCONJ
ajst-9873	92	27	compressive	compressive	ADJ
ajst-9873	92	28	performance	performance	NOUN
ajst-9873	92	29	.	.	PUNCT
ajst-9873	93	1	the	the	DET
ajst-9873	93	2	design	design	NOUN
ajst-9873	93	3	of	of	ADP
ajst-9873	93	4	robot	robot	NOUN
ajst-9873	93	5	walking	walk	VERB
ajst-9873	93	6	and	and	CCONJ
ajst-9873	93	7	driving	drive	VERB
ajst-9873	93	8	scheme	scheme	NOUN
ajst-9873	93	9	needs	need	NOUN
ajst-9873	93	10	to	to	PART
ajst-9873	93	11	be	be	AUX
ajst-9873	93	12	improved	improve	VERB
ajst-9873	93	13	and	and	CCONJ
ajst-9873	93	14	improved	improve	VERB
ajst-9873	93	15	.	.	PUNCT
ajst-9873	94	1	references	reference	NOUN
ajst-9873	94	2	[	[	X
ajst-9873	94	3	1	1	NUM
ajst-9873	94	4	]	]	X
ajst-9873	94	5	li	li	PROPN
ajst-9873	94	6	yang	yang	PROPN
ajst-9873	94	7	,	,	PUNCT
ajst-9873	94	8	wang	wang	PROPN
ajst-9873	94	9	chunsheng	chunsheng	PROPN
ajst-9873	94	10	,	,	PUNCT
ajst-9873	94	11	ni	ni	PROPN
ajst-9873	94	12	kankan	kankan	PROPN
ajst-9873	94	13	,	,	PUNCT
ajst-9873	94	14	et	et	PROPN
ajst-9873	94	15	al	al	PROPN
ajst-9873	94	16	.	.	PROPN
ajst-9873	94	17	selection	selection	NOUN
ajst-9873	94	18	and	and	CCONJ
ajst-9873	94	19	applicability	applicability	NOUN
ajst-9873	94	20	analysis	analysis	NOUN
ajst-9873	94	21	of	of	ADP
ajst-9873	94	22	conforming	conform	VERB
ajst-9873	94	23	tower	tower	NOUN
ajst-9873	94	24	platform	platform	NOUN
ajst-9873	94	25	and	and	CCONJ
ajst-9873	94	26	deep	deep	ADJ
ajst-9873	94	27	water	water	NOUN
ajst-9873	94	28	jacket	jacket	NOUN
ajst-9873	94	29	platform	platform	NOUN
ajst-9873	94	30	[	[	X
ajst-9873	94	31	j].ocean	j].ocean	ADJ
ajst-9873	94	32	engineering	engineering	NOUN
ajst-9873	94	33	equipment	equipment	NOUN
ajst-9873	94	34	and	and	CCONJ
ajst-9873	94	35	technology	technology	NOUN
ajst-9873	94	36	,	,	PUNCT
ajst-9873	94	37	2019,6	2019,6	NUM
ajst-9873	94	38	(	(	PUNCT
ajst-9873	94	39	s1	s1	NOUN
ajst-9873	94	40	)	)	PUNCT
ajst-9873	94	41	,	,	PUNCT
ajst-9873	94	42	p.	p.	NOUN
ajst-9873	94	43	414	414	NUM
ajst-9873	94	44	-	-	SYM
ajst-9873	94	45	422	422	NUM
ajst-9873	94	46	.	.	PUNCT
ajst-9873	95	1	[	[	X
ajst-9873	95	2	2	2	NUM
ajst-9873	95	3	]	]	PUNCT
ajst-9873	95	4	xiu	xiu	PROPN
ajst-9873	95	5	zongxiang	zongxiang	PROPN
ajst-9873	95	6	.	.	PUNCT
ajst-9873	96	1	safety	safety	NOUN
ajst-9873	96	2	reliability	reliability	NOUN
ajst-9873	96	3	analysis	analysis	NOUN
ajst-9873	96	4	and	and	CCONJ
ajst-9873	96	5	optimization	optimization	NOUN
ajst-9873	96	6	design	design	NOUN
ajst-9873	96	7	of	of	ADP
ajst-9873	96	8	deepwater	deepwater	ADJ
ajst-9873	96	9	jacket	jacket	NOUN
ajst-9873	96	10	offshore	offshore	ADJ
ajst-9873	96	11	platform	platform	NOUN
ajst-9873	97	1	[	[	X
ajst-9873	97	2	d	d	X
ajst-9873	97	3	]	]	X
ajst-9873	97	4	.	.	PUNCT
ajst-9873	98	1	china	china	PROPN
ajst-9873	98	2	university	university	PROPN
ajst-9873	98	3	of	of	ADP
ajst-9873	98	4	petroleum	petroleum	NOUN
ajst-9873	98	5	,	,	PUNCT
ajst-9873	98	6	2010	2010	NUM
ajst-9873	98	7	.	.	PUNCT
ajst-9873	99	1	[	[	X
ajst-9873	99	2	3	3	X
ajst-9873	99	3	]	]	X
ajst-9873	99	4	pza	pza	NOUN
ajst-9873	99	5	b	b	NOUN
ajst-9873	99	6	,	,	PUNCT
ajst-9873	99	7	jl	jl	PROPN
ajst-9873	99	8	b	b	PROPN
ajst-9873	99	9	,	,	PUNCT
ajst-9873	99	10	yi	yi	PROPN
ajst-9873	99	11	g	g	PROPN
ajst-9873	99	12	c	c	PROPN
ajst-9873	99	13	,	,	PUNCT
ajst-9873	99	14	et	et	AUX
ajst-9873	99	15	al	al	PROPN
ajst-9873	99	16	.	.	PROPN
ajst-9873	99	17	bearing	bear	VERB
ajst-9873	99	18	capacity	capacity	NOUN
ajst-9873	99	19	and	and	CCONJ
ajst-9873	99	20	load	load	NOUN
ajst-9873	99	21	transfer	transfer	NOUN
ajst-9873	99	22	of	of	ADP
ajst-9873	99	23	brace	brace	NOUN
ajst-9873	99	24	topological	topological	ADJ
ajst-9873	99	25	in	in	ADP
ajst-9873	99	26	offshore	offshore	ADJ
ajst-9873	99	27	wind	wind	NOUN
ajst-9873	99	28	turbine	turbine	NOUN
ajst-9873	99	29	jacket	jacket	NOUN
ajst-9873	99	30	structure	structure	NOUN
ajst-9873	99	31	sciencedirect[j	sciencedirect[j	NOUN
ajst-9873	99	32	]	]	PUNCT
ajst-9873	99	33	.	.	PUNCT
ajst-9873	100	1	ocean	ocean	PROPN
ajst-9873	100	2	engineering	engineering	PROPN
ajst-9873	100	3	,	,	PUNCT
ajst-9873	100	4	2020	2020	NUM
ajst-9873	100	5	,	,	PUNCT
ajst-9873	100	6	p.107	p.107	NOUN
ajst-9873	100	7	-	-	SYM
ajst-9873	100	8	110	110	NUM
ajst-9873	100	9	.	.	PUNCT
ajst-9873	100	10	154	154	NUM
ajst-9873	101	1	[	[	SYM
ajst-9873	101	2	4	4	NUM
ajst-9873	101	3	]	]	PUNCT
ajst-9873	101	4	jiang	jiang	PROPN
ajst-9873	101	5	xinsong	xinsong	PROPN
ajst-9873	101	6	.	.	PUNCT
ajst-9873	102	1	introduction	introduction	NOUN
ajst-9873	102	2	to	to	ADP
ajst-9873	102	3	robotics	robotic	NOUN
ajst-9873	102	4	[	[	X
ajst-9873	102	5	m	m	X
ajst-9873	102	6	]	]	X
ajst-9873	102	7	.	.	PUNCT
ajst-9873	103	1	shenyang	shenyang	PROPN
ajst-9873	103	2	:	:	PUNCT
ajst-9873	103	3	liaoning	liaoning	PROPN
ajst-9873	103	4	science	science	PROPN
ajst-9873	103	5	and	and	CCONJ
ajst-9873	103	6	technology	technology	NOUN
ajst-9873	103	7	press	press	NOUN
ajst-9873	103	8	,	,	PUNCT
ajst-9873	103	9	1995	1995	NUM
ajst-9873	103	10	,	,	PUNCT
ajst-9873	103	11	p.	p.	NOUN
ajst-9873	103	12	323	323	NUM
ajst-9873	103	13	-	-	SYM
ajst-9873	103	14	324	324	NUM
ajst-9873	103	15	.	.	PUNCT
ajst-9873	104	1	[	[	X
ajst-9873	104	2	5	5	NUM
ajst-9873	104	3	]	]	X
ajst-9873	104	4	luo	luo	PROPN
ajst-9873	104	5	jun	jun	PROPN
ajst-9873	104	6	,	,	PUNCT
ajst-9873	104	7	xie	xie	PROPN
ajst-9873	104	8	shaorong	shaorong	PROPN
ajst-9873	104	9	,	,	PUNCT
ajst-9873	104	10	zhai	zhai	PROPN
ajst-9873	104	11	yuyi	yuyi	PROPN
ajst-9873	104	12	,	,	PUNCT
ajst-9873	104	13	et	et	PROPN
ajst-9873	104	14	al	al	PROPN
ajst-9873	104	15	.	.	PROPN
ajst-9873	104	16	special	special	ADJ
ajst-9873	104	17	robots	robot	NOUN
ajst-9873	105	1	[	[	X
ajst-9873	106	1	m	m	X
ajst-9873	106	2	]	]	X
ajst-9873	106	3	.	.	PUNCT
ajst-9873	107	1	beijing	beijing	PROPN
ajst-9873	107	2	:	:	PUNCT
ajst-9873	107	3	chemical	chemical	NOUN
ajst-9873	107	4	industry	industry	NOUN
ajst-9873	107	5	press	press	NOUN
ajst-9873	107	6	,	,	PUNCT
ajst-9873	107	7	2006	2006	NUM
ajst-9873	107	8	,	,	PUNCT
ajst-9873	107	9	p.	p.	NOUN
ajst-9873	107	10	56	56	NUM
ajst-9873	107	11	-	-	SYM
ajst-9873	107	12	60	60	NUM
ajst-9873	108	1	[	[	SYM
ajst-9873	108	2	6	6	NUM
ajst-9873	108	3	]	]	X
ajst-9873	108	4	saber	saber	NOUN
ajst-9873	108	5	hachicha	hachicha	NOUN
ajst-9873	108	6	et	et	PROPN
ajst-9873	108	7	al	al	PROPN
ajst-9873	108	8	.	.	PROPN
ajst-9873	109	1	innovative	innovative	ADJ
ajst-9873	109	2	design	design	NOUN
ajst-9873	109	3	of	of	ADP
ajst-9873	109	4	an	an	DET
ajst-9873	109	5	underwater	underwater	ADJ
ajst-9873	109	6	cleaning	cleaning	NOUN
ajst-9873	109	7	robot	robot	NOUN
ajst-9873	109	8	with	with	ADP
ajst-9873	109	9	a	a	DET
ajst-9873	109	10	two	two	NUM
ajst-9873	109	11	arm	arm	NOUN
ajst-9873	109	12	manipulator	manipulator	NOUN
ajst-9873	109	13	for	for	ADP
ajst-9873	109	14	hull	hull	NOUN
ajst-9873	109	15	cleaning[j	cleaning[j	NOUN
ajst-9873	109	16	]	]	PUNCT
ajst-9873	109	17	.	.	PUNCT
ajst-9873	110	1	ocean	ocean	PROPN
ajst-9873	110	2	engineering	engineering	PROPN
ajst-9873	110	3	,	,	PUNCT
ajst-9873	110	4	2019	2019	NUM
ajst-9873	110	5	,	,	PUNCT
ajst-9873	110	6	181	181	NUM
ajst-9873	110	7	,	,	PUNCT
ajst-9873	110	8	p.	p.	NOUN
ajst-9873	110	9	303	303	NUM
ajst-9873	110	10	-	-	SYM
ajst-9873	110	11	313	313	NUM
ajst-9873	110	12	.	.	PUNCT
ajst-9873	111	1	[	[	X
ajst-9873	111	2	7	7	X
ajst-9873	111	3	]	]	X
ajst-9873	111	4	gundogdu	gundogdu	NOUN
ajst-9873	111	5	h	h	PROPN
ajst-9873	111	6	t	t	PROPN
ajst-9873	111	7	,	,	PUNCT
ajst-9873	111	8	dede	dede	VERB
ajst-9873	111	9	m	m	PRON
ajst-9873	111	10	,	,	PUNCT
ajst-9873	111	11	taner	taner	PROPN
ajst-9873	111	12	b	b	PROPN
ajst-9873	111	13	,	,	PUNCT
ajst-9873	111	14	et	et	PROPN
ajst-9873	111	15	al	al	PROPN
ajst-9873	111	16	.	.	PUNCT
ajst-9873	112	1	an	an	DET
ajst-9873	112	2	innovative	innovative	ADJ
ajst-9873	112	3	cleaning	cleaning	NOUN
ajst-9873	112	4	tool	tool	NOUN
ajst-9873	112	5	for	for	ADP
ajst-9873	112	6	underwater	underwater	ADJ
ajst-9873	112	7	soft	soft	ADJ
ajst-9873	112	8	cleaning	cleaning	NOUN
ajst-9873	112	9	operations[c	operations[c	PROPN
ajst-9873	112	10	]	]	PUNCT
ajst-9873	112	11	oceans	ocean	VERB
ajst-9873	112	12	2015	2015	NUM
ajst-9873	112	13	genova	genova	NOUN
ajst-9873	112	14	.	.	PUNCT
ajst-9873	113	1	ieee	ieee	PROPN
ajst-9873	113	2	,	,	PUNCT
ajst-9873	113	3	2015	2015	NUM
ajst-9873	113	4	,	,	PUNCT
ajst-9873	113	5	p.	p.	NOUN
ajst-9873	113	6	46	46	NUM
ajst-9873	113	7	-	-	SYM
ajst-9873	113	8	48	48	NUM
ajst-9873	113	9	.	.	PUNCT
ajst-9873	114	1	[	[	X
ajst-9873	114	2	8	8	NUM
ajst-9873	114	3	]	]	X
ajst-9873	114	4	li	li	PROPN
ajst-9873	114	5	zhibin	zhibin	PROPN
ajst-9873	114	6	,	,	PUNCT
ajst-9873	114	7	long	long	PROPN
ajst-9873	114	8	biao	biao	PROPN
ajst-9873	114	9	.	.	PUNCT
ajst-9873	115	1	research	research	NOUN
ajst-9873	115	2	on	on	ADP
ajst-9873	115	3	underwater	underwater	ADJ
ajst-9873	115	4	cleaning	cleaning	NOUN
ajst-9873	115	5	technology	technology	NOUN
ajst-9873	115	6	of	of	ADP
ajst-9873	115	7	ships	ship	NOUN
ajst-9873	115	8	[	[	X
ajst-9873	115	9	j].china	j].china	PROPN
ajst-9873	115	10	ship	ship	NOUN
ajst-9873	115	11	repair	repair	NOUN
ajst-9873	115	12	,	,	PUNCT
ajst-9873	115	13	2011,24	2011,24	PROPN
ajst-9873	115	14	(	(	PUNCT
ajst-9873	115	15	05	05	NUM
ajst-9873	115	16	)	)	PUNCT
ajst-9873	115	17	,	,	PUNCT
ajst-9873	116	1	p.	p.	NOUN
ajst-9873	116	2	3336	3336	NUM
ajst-9873	116	3	.	.	PUNCT
ajst-9873	117	1	[	[	X
ajst-9873	117	2	9	9	NUM
ajst-9873	117	3	]	]	SYM
ajst-9873	117	4	changhui	changhui	NOUN
ajst-9873	117	5	song	song	NOUN
ajst-9873	117	6	,	,	PUNCT
ajst-9873	117	7	weicheng	weicheng	PROPN
ajst-9873	117	8	cui	cui	PROPN
ajst-9873	117	9	.	.	PUNCT
ajst-9873	118	1	review	review	NOUN
ajst-9873	118	2	of	of	ADP
ajst-9873	118	3	underwater	underwater	ADJ
ajst-9873	118	4	ship	ship	NOUN
ajst-9873	118	5	hull	hull	NOUN
ajst-9873	118	6	cleaning	clean	VERB
ajst-9873	118	7	technologies[j	technologies[j	PROPN
ajst-9873	118	8	]	]	PUNCT
ajst-9873	118	9	.	.	PUNCT
ajst-9873	119	1	journal	journal	PROPN
ajst-9873	119	2	of	of	ADP
ajst-9873	119	3	marine	marine	PROPN
ajst-9873	119	4	science	science	NOUN
ajst-9873	119	5	and	and	CCONJ
ajst-9873	119	6	application	application	NOUN
ajst-9873	119	7	,	,	PUNCT
ajst-9873	119	8	2020	2020	NUM
ajst-9873	119	9	,	,	PUNCT
ajst-9873	119	10	19	19	NUM
ajst-9873	119	11	,	,	PUNCT
ajst-9873	119	12	p.	p.	NOUN
ajst-9873	119	13	415	415	NUM
ajst-9873	119	14	-	-	SYM
ajst-9873	119	15	429	429	NUM
ajst-9873	119	16	.	.	PUNCT
ajst-9873	120	1	[	[	X
ajst-9873	120	2	10	10	NUM
ajst-9873	120	3	]	]	X
ajst-9873	120	4	mclean	mclean	NOUN
ajst-9873	120	5	d	d	PROPN
ajst-9873	120	6	l	l	PROPN
ajst-9873	120	7	,	,	PUNCT
ajst-9873	120	8	taylor	taylor	PROPN
ajst-9873	120	9	m	m	PROPN
ajst-9873	120	10	,	,	PUNCT
ajst-9873	120	11	ospina	ospina	VERB
ajst-9873	120	12	a	a	DET
ajst-9873	120	13	g	g	NOUN
ajst-9873	120	14	,	,	PUNCT
ajst-9873	120	15	et	et	PROPN
ajst-9873	120	16	al	al	PROPN
ajst-9873	120	17	.	.	PUNCT
ajst-9873	121	1	an	an	DET
ajst-9873	121	2	assessment	assessment	NOUN
ajst-9873	121	3	of	of	ADP
ajst-9873	121	4	fish	fish	NOUN
ajst-9873	121	5	and	and	CCONJ
ajst-9873	121	6	marine	marine	ADJ
ajst-9873	121	7	growth	growth	NOUN
ajst-9873	121	8	associated	associate	VERB
ajst-9873	121	9	with	with	ADP
ajst-9873	121	10	an	an	DET
ajst-9873	121	11	oil	oil	NOUN
ajst-9873	121	12	and	and	CCONJ
ajst-9873	121	13	gas	gas	NOUN
ajst-9873	121	14	platform	platform	NOUN
ajst-9873	121	15	jacket	jacket	NOUN
ajst-9873	121	16	using	use	VERB
ajst-9873	121	17	an	an	DET
ajst-9873	121	18	augmented	augment	VERB
ajst-9873	121	19	remotely	remotely	ADV
ajst-9873	121	20	operated	operate	VERB
ajst-9873	121	21	vehicle[j	vehicle[j	NOUN
ajst-9873	121	22	]	]	X
ajst-9873	121	23	.	.	PUNCT
ajst-9873	122	1	continental	continental	ADJ
ajst-9873	122	2	shelf	shelf	NOUN
ajst-9873	122	3	research	research	NOUN
ajst-9873	122	4	,	,	PUNCT
ajst-9873	122	5	2019	2019	NUM
ajst-9873	122	6	,	,	PUNCT
ajst-9873	122	7	179	179	NUM
ajst-9873	122	8	,	,	PUNCT
ajst-9873	122	9	p.	p.	NOUN
ajst-9873	122	10	66	66	NUM
ajst-9873	122	11	-	-	SYM
ajst-9873	122	12	84	84	NUM
ajst-9873	122	13	.	.	PUNCT
ajst-9873	123	1	[	[	X
ajst-9873	123	2	11	11	NUM
ajst-9873	123	3	]	]	PUNCT
ajst-9873	123	4	xia	xia	PROPN
ajst-9873	123	5	baoying	baoying	PROPN
ajst-9873	123	6	,	,	PUNCT
ajst-9873	123	7	liu	liu	PROPN
ajst-9873	123	8	wang	wang	PROPN
ajst-9873	123	9	,	,	PUNCT
ajst-9873	123	10	zheng	zheng	PROPN
ajst-9873	123	11	jinbao	jinbao	PROPN
ajst-9873	123	12	,	,	PUNCT
ajst-9873	123	13	et	et	PROPN
ajst-9873	123	14	al	al	PROPN
ajst-9873	123	15	.	.	PUNCT
ajst-9873	123	16	cavitational	cavitational	ADJ
ajst-9873	123	17	jet	jet	NOUN
ajst-9873	123	18	cleaning	cleaning	NOUN
ajst-9873	123	19	technology	technology	NOUN
ajst-9873	123	20	and	and	CCONJ
ajst-9873	123	21	its	its	PRON
ajst-9873	123	22	application	application	NOUN
ajst-9873	123	23	in	in	ADP
ajst-9873	123	24	underwater	underwater	ADJ
ajst-9873	123	25	facilities	facility	NOUN
ajst-9873	123	26	cleaning	clean	VERB
ajst-9873	123	27	[	[	X
ajst-9873	123	28	j].oil	j].oil	NOUN
ajst-9873	123	29	and	and	CCONJ
ajst-9873	123	30	gas	gas	NOUN
ajst-9873	123	31	storage	storage	NOUN
ajst-9873	123	32	and	and	CCONJ
ajst-9873	123	33	transportation	transportation	NOUN
ajst-9873	123	34	,	,	PUNCT
ajst-9873	123	35	2011,30	2011,30	PROPN
ajst-9873	123	36	(	(	PUNCT
ajst-9873	123	37	10	10	NUM
ajst-9873	123	38	)	)	PUNCT
ajst-9873	123	39	,	,	PUNCT
ajst-9873	123	40	p.	p.	NOUN
ajst-9873	123	41	729	729	NUM
ajst-9873	123	42	-	-	SYM
ajst-9873	123	43	731	731	NUM
ajst-9873	123	44	+713	+713	NUM
ajst-9873	123	45	.	.	PUNCT
ajst-9873	124	1	[	[	X
ajst-9873	124	2	12	12	NUM
ajst-9873	124	3	]	]	X
ajst-9873	124	4	chen	chen	PROPN
ajst-9873	124	5	yanzhen	yanzhen	PROPN
ajst-9873	124	6	,	,	PUNCT
ajst-9873	124	7	hu	hu	PROPN
ajst-9873	124	8	yihuai	yihuai	PROPN
ajst-9873	124	9	.	.	PUNCT
ajst-9873	125	1	research	research	NOUN
ajst-9873	125	2	and	and	CCONJ
ajst-9873	125	3	application	application	NOUN
ajst-9873	125	4	of	of	ADP
ajst-9873	125	5	cleaning	clean	VERB
ajst-9873	125	6	technology	technology	NOUN
ajst-9873	125	7	for	for	ADP
ajst-9873	125	8	ship	ship	NOUN
ajst-9873	125	9	surface	surface	NOUN
ajst-9873	125	10	attachments	attachment	NOUN
ajst-9873	125	11	[	[	X
ajst-9873	125	12	j].surface	j].surface	PROPN
ajst-9873	125	13	technology	technology	NOUN
ajst-9873	125	14	,	,	PUNCT
ajst-9873	125	15	2017,46	2017,46	NUM
ajst-9873	125	16	(	(	PUNCT
ajst-9873	125	17	10	10	NUM
ajst-9873	125	18	)	)	PUNCT
ajst-9873	125	19	,	,	PUNCT
ajst-9873	125	20	p.	p.	NOUN
ajst-9873	125	21	60	60	NUM
ajst-9873	125	22	-	-	SYM
ajst-9873	125	23	71	71	NUM
ajst-9873	125	24	.	.	PUNCT
ajst-9873	126	1	[	[	X
ajst-9873	126	2	13	13	NUM
ajst-9873	126	3	]	]	X
ajst-9873	126	4	jurgensen	jurgensen	PROPN
ajst-9873	126	5	c	c	PROPN
ajst-9873	126	6	w	w	PROPN
ajst-9873	126	7	,	,	PUNCT
ajst-9873	126	8	johnson	johnson	PROPN
ajst-9873	126	9	g	g	PROPN
ajst-9873	126	10	a	a	PROPN
ajst-9873	126	11	,	,	PUNCT
ajst-9873	126	12	taravade	taravade	PROPN
ajst-9873	126	13	k	k	PROPN
ajst-9873	126	14	n.	n.	PROPN
ajst-9873	126	15	confinement	confinement	ADJ
ajst-9873	126	16	device	device	NOUN
ajst-9873	126	17	for	for	ADP
ajst-9873	126	18	use	use	NOUN
ajst-9873	126	19	in	in	ADP
ajst-9873	126	20	dry	dry	ADJ
ajst-9873	126	21	etching	etching	NOUN
ajst-9873	126	22	of	of	ADP
ajst-9873	126	23	substrate	substrate	NOUN
ajst-9873	126	24	surface	surface	NOUN
ajst-9873	126	25	and	and	CCONJ
ajst-9873	126	26	method	method	NOUN
ajst-9873	126	27	of	of	ADP
ajst-9873	126	28	dry	dry	ADJ
ajst-9873	126	29	etching	etch	VERB
ajst-9873	126	30	a	a	DET
ajst-9873	126	31	wafer	wafer	NOUN
ajst-9873	126	32	surface[p	surface[p	NOUN
ajst-9873	126	33	]	]	PUNCT
ajst-9873	126	34	.	.	PUNCT
ajst-9873	127	1	us	we	PRON
ajst-9873	127	2	:	:	PUNCT
ajst-9873	127	3	us6261406b1	us6261406b1	ADJ
ajst-9873	127	4	.	.	PUNCT
ajst-9873	128	1	2001	2001	NUM
ajst-9873	128	2	.	.	PUNCT
ajst-9873	129	1	[	[	X
ajst-9873	129	2	14	14	NUM
ajst-9873	129	3	]	]	X
ajst-9873	129	4	daewoo	daewoo	PROPN
ajst-9873	129	5	shipbuilding	shipbuilding	PROPN
ajst-9873	129	6	marine	marine	PROPN
ajst-9873	129	7	engineering	engineering	PROPN
ajst-9873	129	8	co	co	PROPN
ajst-9873	129	9	ltd	ltd	PROPN
ajst-9873	129	10	.	.	PROPN
ajst-9873	129	11	cleaning	clean	VERB
ajst-9873	129	12	apparatus	apparatus	NOUN
ajst-9873	129	13	for	for	ADP
ajst-9873	129	14	underwater	underwater	ADJ
ajst-9873	129	15	pipe[p	pipe[p	NOUN
ajst-9873	129	16	]	]	PUNCT
ajst-9873	129	17	.	.	PUNCT
ajst-9873	130	1	kr	kr	NOUN
ajst-9873	130	2	:	:	PUNCT
ajst-9873	130	3	kr102016007141a	kr102016007141a	NOUN
ajst-9873	130	4	.	.	NOUN
ajst-9873	130	5	2016	2016	NUM
ajst-9873	130	6	.	.	PUNCT
ajst-9873	131	1	[	[	X
ajst-9873	131	2	15	15	NUM
ajst-9873	131	3	]	]	X
ajst-9873	131	4	yu	yu	PROPN
ajst-9873	131	5	dandan	dandan	PROPN
ajst-9873	131	6	.	.	PROPN
ajst-9873	132	1	research	research	NOUN
ajst-9873	132	2	on	on	ADP
ajst-9873	132	3	underwater	underwater	ADJ
ajst-9873	132	4	steel	steel	NOUN
ajst-9873	132	5	structure	structure	NOUN
ajst-9873	132	6	cleaning	cleaning	NOUN
ajst-9873	132	7	robot	robot	NOUN
ajst-9873	132	8	and	and	CCONJ
ajst-9873	132	9	its	its	PRON
ajst-9873	132	10	motion	motion	NOUN
ajst-9873	132	11	characteristics	characteristic	NOUN
ajst-9873	132	12	[	[	PUNCT
ajst-9873	132	13	d].harbin	d].harbin	PROPN
ajst-9873	132	14	engineering	engineering	NOUN
ajst-9873	132	15	university	university	NOUN
ajst-9873	132	16	,	,	PUNCT
ajst-9873	132	17	2016	2016	NUM
ajst-9873	132	18	.	.	PUNCT
ajst-9873	133	1	[	[	X
ajst-9873	133	2	16	16	NUM
ajst-9873	133	3	]	]	X
ajst-9873	133	4	fan	fan	PROPN
ajst-9873	133	5	j	j	PROPN
ajst-9873	133	6	,	,	PUNCT
ajst-9873	133	7	yang	yang	PROPN
ajst-9873	133	8	c	c	PROPN
ajst-9873	133	9	,	,	PUNCT
ajst-9873	133	10	chen	chen	PROPN
ajst-9873	133	11	y	y	PROPN
ajst-9873	133	12	,	,	PUNCT
ajst-9873	133	13	et	et	PROPN
ajst-9873	133	14	al	al	PROPN
ajst-9873	133	15	.	.	PUNCT
ajst-9873	134	1	an	an	DET
ajst-9873	134	2	underwater	underwater	ADJ
ajst-9873	134	3	robot	robot	NOUN
ajst-9873	134	4	with	with	ADP
ajst-9873	134	5	selfadaption	selfadaption	NOUN
ajst-9873	134	6	mechanism	mechanism	NOUN
ajst-9873	134	7	for	for	ADP
ajst-9873	134	8	cleaning	clean	VERB
ajst-9873	134	9	steel	steel	NOUN
ajst-9873	134	10	pipes	pipe	NOUN
ajst-9873	134	11	with	with	ADP
ajst-9873	134	12	variable	variable	ADJ
ajst-9873	134	13	diameters[j	diameters[j	PROPN
ajst-9873	134	14	]	]	PUNCT
ajst-9873	134	15	.	.	PUNCT
ajst-9873	135	1	industrial	industrial	ADJ
ajst-9873	135	2	robot	robot	NOUN
ajst-9873	135	3	:	:	PUNCT
ajst-9873	135	4	an	an	DET
ajst-9873	135	5	international	international	ADJ
ajst-9873	135	6	journal	journal	NOUN
ajst-9873	135	7	,	,	PUNCT
ajst-9873	135	8	2018	2018	NUM
ajst-9873	135	9	,	,	PUNCT
ajst-9873	135	10	p.	p.	NOUN
ajst-9873	135	11	193	193	NUM
ajst-9873	135	12	-	-	SYM
ajst-9873	135	13	205	205	NUM
ajst-9873	135	14	.	.	PUNCT
ajst-9873	136	1	[	[	X
ajst-9873	136	2	17	17	NUM
ajst-9873	136	3	]	]	X
ajst-9873	136	4	yang	yang	PROPN
ajst-9873	136	5	canjun	canjun	PROPN
ajst-9873	136	6	,	,	PUNCT
ajst-9873	136	7	fan	fan	PROPN
ajst-9873	136	8	jinchang	jinchang	PROPN
ajst-9873	136	9	,	,	PUNCT
ajst-9873	136	10	shou	shou	PROPN
ajst-9873	136	11	zhicheng	zhicheng	PROPN
ajst-9873	136	12	,	,	PUNCT
ajst-9873	136	13	et	et	PROPN
ajst-9873	136	14	al	al	PROPN
ajst-9873	136	15	.	.	PUNCT
ajst-9873	137	1	a	a	DET
ajst-9873	137	2	kind	kind	NOUN
ajst-9873	137	3	of	of	ADP
ajst-9873	137	4	underwater	underwater	ADJ
ajst-9873	137	5	steel	steel	NOUN
ajst-9873	137	6	structure	structure	NOUN
ajst-9873	137	7	surface	surface	NOUN
ajst-9873	137	8	working	working	NOUN
ajst-9873	137	9	robot	robot	NOUN
ajst-9873	138	1	[	[	X
ajst-9873	138	2	p].chinese	p].chinese	NOUN
ajst-9873	138	3	patent	patent	NOUN
ajst-9873	138	4	:	:	PUNCT
ajst-9873	138	5	cn207510681u	cn207510681u	X
ajst-9873	138	6	,	,	PUNCT
ajst-9873	138	7	2018.06.19	2018.06.19	NUM
ajst-9873	138	8	.	.	PUNCT
ajst-9873	139	1	[	[	X
ajst-9873	139	2	18	18	NUM
ajst-9873	139	3	]	]	X
ajst-9873	139	4	zhou	zhou	PROPN
ajst-9873	139	5	zhengquan	zhengquan	PROPN
ajst-9873	139	6	,	,	PUNCT
ajst-9873	139	7	guo	guo	PROPN
ajst-9873	139	8	jijiang	jijiang	PROPN
ajst-9873	139	9	,	,	PUNCT
ajst-9873	139	10	chen	chen	PROPN
ajst-9873	139	11	yi	yi	PROPN
ajst-9873	139	12	,	,	PUNCT
ajst-9873	139	13	et	et	PROPN
ajst-9873	139	14	al	al	PROPN
ajst-9873	139	15	.	.	PROPN
ajst-9873	139	16	preliminary	preliminary	ADJ
ajst-9873	139	17	study	study	NOUN
ajst-9873	139	18	on	on	ADP
ajst-9873	139	19	the	the	DET
ajst-9873	139	20	overall	overall	ADJ
ajst-9873	139	21	design	design	NOUN
ajst-9873	139	22	of	of	ADP
ajst-9873	139	23	a	a	DET
ajst-9873	139	24	new	new	ADJ
ajst-9873	139	25	type	type	NOUN
ajst-9873	139	26	of	of	ADP
ajst-9873	139	27	underwater	underwater	NOUN
ajst-9873	139	28	robot	robot	NOUN
ajst-9873	139	29	for	for	ADP
ajst-9873	139	30	jacket	jacket	NOUN
ajst-9873	139	31	platform	platform	NOUN
ajst-9873	139	32	structure	structure	NOUN
ajst-9873	139	33	cleaning	cleaning	NOUN
ajst-9873	139	34	and	and	CCONJ
ajst-9873	139	35	detection	detection	NOUN
ajst-9873	140	1	[	[	X
ajst-9873	140	2	j].cleaning	j].cleane	VERB
ajst-9873	140	3	the	the	DET
ajst-9873	140	4	world	world	NOUN
ajst-9873	140	5	,	,	PUNCT
ajst-9873	140	6	2019,35	2019,35	PROPN
ajst-9873	140	7	(	(	PUNCT
ajst-9873	140	8	12	12	NUM
ajst-9873	140	9	)	)	PUNCT
ajst-9873	140	10	,	,	PUNCT
ajst-9873	140	11	p.	p.	NOUN
ajst-9873	140	12	25	25	NUM
ajst-9873	140	13	-	-	SYM
ajst-9873	140	14	29	29	NUM
ajst-9873	140	15	+35	+35	NOUN
ajst-9873	140	16	.	.	PUNCT
ajst-9873	141	1	[	[	X
ajst-9873	141	2	19	19	NUM
ajst-9873	141	3	]	]	X
ajst-9873	141	4	wang	wang	PROPN
ajst-9873	141	5	ke	ke	PROPN
ajst-9873	141	6	,	,	PUNCT
ajst-9873	141	7	wei	wei	PROPN
ajst-9873	141	8	peng	peng	PROPN
ajst-9873	141	9	.	.	PUNCT
ajst-9873	142	1	a	a	DET
ajst-9873	142	2	jacket	jacket	NOUN
ajst-9873	142	3	marine	marine	ADJ
ajst-9873	142	4	biological	biological	ADJ
ajst-9873	142	5	cleaning	cleaning	NOUN
ajst-9873	142	6	robot	robot	NOUN
ajst-9873	143	1	[	[	X
ajst-9873	143	2	p	p	X
ajst-9873	143	3	]	]	X
ajst-9873	143	4	.	.	PUNCT
ajst-9873	144	1	chinese	chinese	ADJ
ajst-9873	144	2	patent	patent	NOUN
ajst-9873	144	3	:	:	PUNCT
ajst-9873	144	4	cn111604306a	cn111604306a	NOUN
ajst-9873	144	5	,	,	PUNCT
ajst-9873	144	6	2020.09.01	2020.09.01	NUM
ajst-9873	144	7	.	.	PUNCT
ajst-9873	145	1	[	[	X
ajst-9873	145	2	20	20	NUM
ajst-9873	145	3	]	]	X
ajst-9873	145	4	chen	chen	PROPN
ajst-9873	145	5	yuan	yuan	PROPN
ajst-9873	145	6	,	,	PUNCT
ajst-9873	145	7	tian	tian	PROPN
ajst-9873	145	8	lixia	lixia	PROPN
ajst-9873	145	9	,	,	PUNCT
ajst-9873	145	10	pan	pan	PROPN
ajst-9873	145	11	yitao	yitao	PROPN
ajst-9873	145	12	,	,	PUNCT
ajst-9873	145	13	et	et	PROPN
ajst-9873	145	14	al	al	PROPN
ajst-9873	145	15	.	.	PUNCT
ajst-9873	146	1	a	a	DET
ajst-9873	146	2	jacket	jacket	NOUN
ajst-9873	146	3	wheeled	wheel	VERB
ajst-9873	146	4	mobile	mobile	ADJ
ajst-9873	146	5	mechanism	mechanism	NOUN
ajst-9873	146	6	for	for	ADP
ajst-9873	146	7	offshore	offshore	ADJ
ajst-9873	146	8	oilfield	oilfield	NOUN
ajst-9873	146	9	wellhead	wellhead	NOUN
ajst-9873	146	10	platform	platform	NOUN
ajst-9873	147	1	[	[	X
ajst-9873	147	2	p	p	X
ajst-9873	147	3	]	]	X
ajst-9873	147	4	.	.	PUNCT
ajst-9873	148	1	chinese	chinese	ADJ
ajst-9873	148	2	patent	patent	NOUN
ajst-9873	148	3	:	:	PUNCT
ajst-9873	148	4	cn108216519	cn108216519	ADJ
ajst-9873	148	5	a	a	PRON
ajst-9873	148	6	,	,	PUNCT
ajst-9873	148	7	2019.01.01	2019.01.01	NUM
ajst-9873	148	8	.	.	PUNCT
ajst-9873	149	1	[	[	X
ajst-9873	149	2	21	21	NUM
ajst-9873	149	3	]	]	PUNCT
ajst-9873	149	4	nie	nie	PROPN
ajst-9873	149	5	yunli	yunli	PROPN
ajst-9873	149	6	,	,	PUNCT
ajst-9873	149	7	gao	gao	PROPN
ajst-9873	149	8	rongjie	rongjie	PROPN
ajst-9873	149	9	,	,	PUNCT
ajst-9873	149	10	du	du	PROPN
ajst-9873	149	11	min	min	PROPN
ajst-9873	149	12	,	,	PUNCT
ajst-9873	149	13	et	et	PROPN
ajst-9873	149	14	al	al	PROPN
ajst-9873	149	15	.	.	PUNCT
ajst-9873	150	1	a	a	DET
ajst-9873	150	2	detection	detection	NOUN
ajst-9873	150	3	device	device	NOUN
ajst-9873	150	4	for	for	ADP
ajst-9873	150	5	jacket	jacket	NOUN
ajst-9873	150	6	crawling	crawling	NOUN
ajst-9873	150	7	robot	robot	NOUN
ajst-9873	150	8	without	without	ADP
ajst-9873	150	9	magnetic	magnetic	ADJ
ajst-9873	150	10	field	field	NOUN
ajst-9873	150	11	interference	interference	NOUN
ajst-9873	150	12	[	[	X
ajst-9873	150	13	p	p	X
ajst-9873	150	14	]	]	X
ajst-9873	150	15	.	.	PUNCT
ajst-9873	151	1	chinese	chinese	ADJ
ajst-9873	151	2	patent	patent	NOUN
ajst-9873	151	3	:	:	PUNCT
ajst-9873	151	4	cn207866745u	cn207866745u	X
ajst-9873	151	5	,	,	PUNCT
ajst-9873	151	6	2018.09.14	2018.09.14	NUM
ajst-9873	151	7	.	.	PUNCT