id	sid	tid	token	lemma	pos
ajset-12	1	1	article	article	NOUN
ajset-12	1	2	ludovia	ludovia	PROPN
ajset-12	1	3	(	(	PUNCT
ajset-12	1	4	de	de	PROPN
ajset-12	1	5	22	22	NUM
ajset-12	1	6	000	000	NUM
ajset-12	1	7	à	à	X
ajset-12	1	8	30000	30000	NUM
ajset-12	1	9	caractères	caractère	NOUN
ajset-12	1	10	espaces	espace	NOUN
ajset-12	1	11	compris	compris	NOUN
ajset-12	1	12	)	)	PUNCT
ajset-12	1	13	academic	academic	ADJ
ajset-12	1	14	journal	journal	NOUN
ajset-12	1	15	of	of	ADP
ajset-12	1	16	science	science	NOUN
ajset-12	1	17	,	,	PUNCT
ajset-12	1	18	engineering	engineering	NOUN
ajset-12	1	19	and	and	CCONJ
ajset-12	1	20	technology	technology	NOUN
ajset-12	1	21	vol.1	vol.1	PROPN
ajset-12	1	22	,	,	PUNCT
ajset-12	1	23	issue	issue	NOUN
ajset-12	1	24	1	1	NUM
ajset-12	1	25	;	;	PUNCT
ajset-12	1	26	march	march	PROPN
ajset-12	1	27	-2023	-2023	PROPN
ajset-12	1	28	;	;	PUNCT
ajset-12	1	29	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	NOUN
ajset-12	1	30	;	;	PUNCT
ajset-12	1	31	mail	mail	NOUN
ajset-12	1	32	:	:	PUNCT
ajset-12	1	33	topacademicjournals@gmail.com	topacademicjournals@gmail.com	X
ajset-12	2	1	6|	6|	NUM
ajset-12	2	2	a	a	DET
ajset-12	2	3	c	c	NOUN
ajset-12	3	1	a	a	PRON
ajset-12	4	1	d	d	X
ajset-12	5	1	e	e	NOUN
ajset-12	6	1	m	m	NOUN
ajset-12	7	1	i	i	NOUN
ajset-12	7	2	c	c	NOUN
ajset-12	8	1	j	j	NOUN
ajset-12	8	2	o	o	X
ajset-12	8	3	u	u	NOUN
ajset-12	8	4	r	r	NOUN
ajset-12	8	5	n	n	NOUN
ajset-12	8	6	a	a	DET
ajset-12	8	7	l	l	NOUN
ajset-12	9	1	o	o	X
ajset-12	9	2	f	f	X
ajset-12	9	3	s	s	X
ajset-12	9	4	c	c	NOUN
ajset-12	10	1	i	i	NOUN
ajset-12	10	2	e	e	PROPN
ajset-12	10	3	n	n	PROPN
ajset-12	10	4	c	c	NOUN
ajset-12	10	5	e	e	X
ajset-12	10	6	,	,	PUNCT
ajset-12	10	7	e	e	PROPN
ajset-12	10	8	n	n	PRON
ajset-12	10	9	g	g	NOUN
ajset-12	10	10	i	i	PRON
ajset-12	10	11	n	n	VERB
ajset-12	10	12	e	e	NOUN
ajset-12	10	13	e	e	NOUN
ajset-12	10	14	r	r	VERB
ajset-12	10	15	i	i	PRON
ajset-12	10	16	n	n	CCONJ
ajset-12	10	17	g	g	PROPN
ajset-12	10	18	a	a	DET
ajset-12	10	19	n	n	NOUN
ajset-12	10	20	d	d	NOUN
ajset-12	10	21	t	t	NOUN
ajset-12	10	22	e	e	X
ajset-12	10	23	c	c	NOUN
ajset-12	10	24	h	h	NOUN
ajset-12	10	25	n	n	ADV
ajset-12	10	26	o	o	NOUN
ajset-12	10	27	l	l	NOUN
ajset-12	11	1	o	o	X
ajset-12	11	2	g	g	NOUN
ajset-12	11	3	y	y	PROPN
ajset-12	11	4	|	|	ADV
ajset-12	11	5	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	VERB
ajset-12	11	6	optimizing	optimize	VERB
ajset-12	11	7	the	the	DET
ajset-12	11	8	rear	rear	ADJ
ajset-12	11	9	-	-	PUNCT
ajset-12	11	10	disconnected	disconnected	ADJ
ajset-12	11	11	steering	steering	NOUN
ajset-12	11	12	trapezoid	trapezoid	NOUN
ajset-12	11	13	for	for	ADP
ajset-12	11	14	fsae	fsae	NOUN
ajset-12	11	15	racing	race	VERB
ajset-12	11	16	cars	car	NOUN
ajset-12	11	17	hanqi	hanqi	PROPN
ajset-12	11	18	wang	wang	PROPN
ajset-12	11	19	,	,	PUNCT
ajset-12	11	20	bo	bo	PROPN
ajset-12	11	21	wu	wu	PROPN
ajset-12	11	22	,	,	PUNCT
ajset-12	11	23	xiaolong	xiaolong	PROPN
ajset-12	11	24	cheng	cheng	PROPN
ajset-12	11	25	&	&	CCONJ
ajset-12	11	26	yongjun	yongjun	PROPN
ajset-12	11	27	mao	mao	PROPN
ajset-12	12	1	school	school	NOUN
ajset-12	12	2	of	of	ADP
ajset-12	12	3	mechanical	mechanical	PROPN
ajset-12	12	4	&	&	CCONJ
ajset-12	12	5	power	power	PROPN
ajset-12	12	6	engineering	engineering	PROPN
ajset-12	12	7	,	,	PUNCT
ajset-12	12	8	harbin	harbin	PROPN
ajset-12	12	9	university	university	PROPN
ajset-12	12	10	of	of	ADP
ajset-12	12	11	science	science	NOUN
ajset-12	12	12	and	and	CCONJ
ajset-12	12	13	technology	technology	NOUN
ajset-12	12	14	,	,	PUNCT
ajset-12	12	15	harbin	harbin	PROPN
ajset-12	12	16	150006	150006	NUM
ajset-12	12	17	,	,	PUNCT
ajset-12	12	18	china	china	PROPN
ajset-12	12	19	abstract	abstract	VERB
ajset-12	12	20	the	the	DET
ajset-12	12	21	steering	steering	NOUN
ajset-12	12	22	system	system	NOUN
ajset-12	12	23	of	of	ADP
ajset-12	12	24	fsae	fsae	NOUN
ajset-12	12	25	racing	race	VERB
ajset-12	12	26	car	car	NOUN
ajset-12	12	27	plays	play	VERB
ajset-12	12	28	a	a	DET
ajset-12	12	29	vital	vital	ADJ
ajset-12	12	30	role	role	NOUN
ajset-12	12	31	in	in	ADP
ajset-12	12	32	maintaining	maintain	VERB
ajset-12	12	33	the	the	DET
ajset-12	12	34	direction	direction	NOUN
ajset-12	12	35	and	and	CCONJ
ajset-12	12	36	stability	stability	NOUN
ajset-12	12	37	of	of	ADP
ajset-12	12	38	the	the	DET
ajset-12	12	39	car	car	NOUN
ajset-12	12	40	.	.	PUNCT
ajset-12	13	1	the	the	DET
ajset-12	13	2	design	design	NOUN
ajset-12	13	3	of	of	ADP
ajset-12	13	4	the	the	DET
ajset-12	13	5	steering	steering	NOUN
ajset-12	13	6	trapezoid	trapezoid	NOUN
ajset-12	13	7	is	be	AUX
ajset-12	13	8	an	an	DET
ajset-12	13	9	important	important	ADJ
ajset-12	13	10	component	component	NOUN
ajset-12	13	11	of	of	ADP
ajset-12	13	12	the	the	DET
ajset-12	13	13	steering	steering	NOUN
ajset-12	13	14	system	system	NOUN
ajset-12	13	15	,	,	PUNCT
ajset-12	13	16	and	and	CCONJ
ajset-12	13	17	the	the	DET
ajset-12	13	18	postdisconnected	postdisconnecte	VERB
ajset-12	13	19	steering	steering	NOUN
ajset-12	13	20	trapezoid	trapezoid	NOUN
ajset-12	13	21	has	have	AUX
ajset-12	13	22	been	be	AUX
ajset-12	13	23	analyzed	analyze	VERB
ajset-12	13	24	and	and	CCONJ
ajset-12	13	25	optimized	optimize	VERB
ajset-12	13	26	in	in	ADP
ajset-12	13	27	this	this	DET
ajset-12	13	28	study	study	NOUN
ajset-12	13	29	.	.	PUNCT
ajset-12	14	1	to	to	PART
ajset-12	14	2	improve	improve	VERB
ajset-12	14	3	the	the	DET
ajset-12	14	4	steering	steering	NOUN
ajset-12	14	5	behavior	behavior	NOUN
ajset-12	14	6	of	of	ADP
ajset-12	14	7	the	the	DET
ajset-12	14	8	car	car	NOUN
ajset-12	14	9	,	,	PUNCT
ajset-12	14	10	a	a	DET
ajset-12	14	11	mathematical	mathematical	ADJ
ajset-12	14	12	model	model	NOUN
ajset-12	14	13	of	of	ADP
ajset-12	14	14	the	the	DET
ajset-12	14	15	post	post	ADJ
ajset-12	14	16	-	-	ADJ
ajset-12	14	17	disconnected	disconnected	ADJ
ajset-12	14	18	steering	steering	NOUN
ajset-12	14	19	trapezoid	trapezoid	NOUN
ajset-12	14	20	was	be	AUX
ajset-12	14	21	developed	develop	VERB
ajset-12	14	22	.	.	PUNCT
ajset-12	15	1	the	the	DET
ajset-12	15	2	objective	objective	ADJ
ajset-12	15	3	function	function	NOUN
ajset-12	15	4	was	be	AUX
ajset-12	15	5	established	establish	VERB
ajset-12	15	6	using	use	VERB
ajset-12	15	7	the	the	DET
ajset-12	15	8	modified	modify	VERB
ajset-12	15	9	ideal	ideal	ADJ
ajset-12	15	10	ackerman	ackerman	PROPN
ajset-12	15	11	steering	steering	NOUN
ajset-12	15	12	formula	formula	NOUN
ajset-12	15	13	,	,	PUNCT
ajset-12	15	14	and	and	CCONJ
ajset-12	15	15	the	the	DET
ajset-12	15	16	geometric	geometric	ADJ
ajset-12	15	17	relationship	relationship	NOUN
ajset-12	15	18	between	between	ADP
ajset-12	15	19	the	the	DET
ajset-12	15	20	actual	actual	ADJ
ajset-12	15	21	inner	inner	ADJ
ajset-12	15	22	and	and	CCONJ
ajset-12	15	23	outer	outer	ADJ
ajset-12	15	24	corners	corner	NOUN
ajset-12	15	25	.	.	PUNCT
ajset-12	16	1	additionally	additionally	ADV
ajset-12	16	2	,	,	PUNCT
ajset-12	16	3	a	a	DET
ajset-12	16	4	constraint	constraint	NOUN
ajset-12	16	5	equation	equation	NOUN
ajset-12	16	6	was	be	AUX
ajset-12	16	7	established	establish	VERB
ajset-12	16	8	to	to	PART
ajset-12	16	9	ensure	ensure	VERB
ajset-12	16	10	operational	operational	ADJ
ajset-12	16	11	convenience	convenience	NOUN
ajset-12	16	12	of	of	ADP
ajset-12	16	13	the	the	DET
ajset-12	16	14	steering	steering	NOUN
ajset-12	16	15	mechanism	mechanism	NOUN
ajset-12	16	16	.	.	PUNCT
ajset-12	17	1	matlab	matlab	PROPN
ajset-12	17	2	was	be	AUX
ajset-12	17	3	used	use	VERB
ajset-12	17	4	to	to	PART
ajset-12	17	5	find	find	VERB
ajset-12	17	6	the	the	DET
ajset-12	17	7	design	design	NOUN
ajset-12	17	8	variable	variable	ADJ
ajset-12	17	9	parameters	parameter	NOUN
ajset-12	17	10	that	that	PRON
ajset-12	17	11	satisfied	satisfy	VERB
ajset-12	17	12	the	the	DET
ajset-12	17	13	fatigue	fatigue	NOUN
ajset-12	17	14	strength	strength	NOUN
ajset-12	17	15	while	while	SCONJ
ajset-12	17	16	ensuring	ensure	VERB
ajset-12	17	17	that	that	SCONJ
ajset-12	17	18	the	the	DET
ajset-12	17	19	actual	actual	ADJ
ajset-12	17	20	internal	internal	ADJ
ajset-12	17	21	and	and	CCONJ
ajset-12	17	22	external	external	ADJ
ajset-12	17	23	angle	angle	NOUN
ajset-12	17	24	relationship	relationship	NOUN
ajset-12	17	25	was	be	AUX
ajset-12	17	26	maximally	maximally	ADV
ajset-12	17	27	close	close	ADJ
ajset-12	17	28	to	to	ADP
ajset-12	17	29	the	the	DET
ajset-12	17	30	ideal	ideal	ADJ
ajset-12	17	31	ackerman	ackerman	PROPN
ajset-12	17	32	steering	steering	NOUN
ajset-12	17	33	.	.	PUNCT
ajset-12	18	1	furthermore	furthermore	ADV
ajset-12	18	2	,	,	PUNCT
ajset-12	18	3	the	the	DET
ajset-12	18	4	dynamic	dynamic	ADJ
ajset-12	18	5	change	change	NOUN
ajset-12	18	6	of	of	ADP
ajset-12	18	7	the	the	DET
ajset-12	18	8	toe	toe	NOUN
ajset-12	18	9	angle	angle	NOUN
ajset-12	18	10	of	of	ADP
ajset-12	18	11	the	the	DET
ajset-12	18	12	parallel	parallel	ADJ
ajset-12	18	13	two	two	NUM
ajset-12	18	14	-	-	PUNCT
ajset-12	18	15	wheeled	wheeled	ADJ
ajset-12	18	16	beating	beating	NOUN
ajset-12	18	17	was	be	AUX
ajset-12	18	18	simulated	simulate	VERB
ajset-12	18	19	using	use	VERB
ajset-12	18	20	adams	adam	NOUN
ajset-12	18	21	,	,	PUNCT
ajset-12	18	22	to	to	PART
ajset-12	18	23	ensure	ensure	VERB
ajset-12	18	24	that	that	SCONJ
ajset-12	18	25	the	the	DET
ajset-12	18	26	car	car	NOUN
ajset-12	18	27	met	meet	VERB
ajset-12	18	28	the	the	DET
ajset-12	18	29	stability	stability	NOUN
ajset-12	18	30	requirement	requirement	NOUN
ajset-12	18	31	.	.	PUNCT
ajset-12	19	1	the	the	DET
ajset-12	19	2	results	result	NOUN
ajset-12	19	3	showed	show	VERB
ajset-12	19	4	that	that	SCONJ
ajset-12	19	5	the	the	DET
ajset-12	19	6	optimized	optimize	VERB
ajset-12	19	7	post	post	ADJ
ajset-12	19	8	-	-	ADJ
ajset-12	19	9	disconnected	disconnected	ADJ
ajset-12	19	10	steering	steering	NOUN
ajset-12	19	11	trapezoid	trapezoid	NOUN
ajset-12	19	12	can	can	AUX
ajset-12	19	13	significantly	significantly	ADV
ajset-12	19	14	improve	improve	VERB
ajset-12	19	15	the	the	DET
ajset-12	19	16	steering	steering	NOUN
ajset-12	19	17	behavior	behavior	NOUN
ajset-12	19	18	of	of	ADP
ajset-12	19	19	the	the	DET
ajset-12	19	20	fsae	fsae	PROPN
ajset-12	19	21	racing	race	VERB
ajset-12	19	22	car	car	NOUN
ajset-12	19	23	.	.	PUNCT
ajset-12	20	1	the	the	DET
ajset-12	20	2	mathematical	mathematical	ADJ
ajset-12	20	3	model	model	NOUN
ajset-12	20	4	and	and	CCONJ
ajset-12	20	5	optimization	optimization	NOUN
ajset-12	20	6	method	method	NOUN
ajset-12	20	7	developed	develop	VERB
ajset-12	20	8	in	in	ADP
ajset-12	20	9	this	this	DET
ajset-12	20	10	study	study	NOUN
ajset-12	20	11	can	can	AUX
ajset-12	20	12	provide	provide	VERB
ajset-12	20	13	a	a	DET
ajset-12	20	14	theoretical	theoretical	ADJ
ajset-12	20	15	reference	reference	NOUN
ajset-12	20	16	for	for	ADP
ajset-12	20	17	the	the	DET
ajset-12	20	18	design	design	NOUN
ajset-12	20	19	of	of	ADP
ajset-12	20	20	the	the	DET
ajset-12	20	21	steering	steering	NOUN
ajset-12	20	22	trapezoid	trapezoid	NOUN
ajset-12	20	23	in	in	ADP
ajset-12	20	24	future	future	ADJ
ajset-12	20	25	studies	study	NOUN
ajset-12	20	26	.	.	PUNCT
ajset-12	21	1	moreover	moreover	ADV
ajset-12	21	2	,	,	PUNCT
ajset-12	21	3	this	this	DET
ajset-12	21	4	study	study	NOUN
ajset-12	21	5	highlights	highlight	VERB
ajset-12	21	6	the	the	DET
ajset-12	21	7	importance	importance	NOUN
ajset-12	21	8	of	of	ADP
ajset-12	21	9	considering	consider	VERB
ajset-12	21	10	the	the	DET
ajset-12	21	11	fatigue	fatigue	NOUN
ajset-12	21	12	strength	strength	NOUN
ajset-12	21	13	and	and	CCONJ
ajset-12	21	14	dynamic	dynamic	ADJ
ajset-12	21	15	simulation	simulation	NOUN
ajset-12	21	16	in	in	ADP
ajset-12	21	17	the	the	DET
ajset-12	21	18	design	design	NOUN
ajset-12	21	19	process	process	NOUN
ajset-12	21	20	of	of	ADP
ajset-12	21	21	the	the	DET
ajset-12	21	22	steering	steering	NOUN
ajset-12	21	23	system	system	NOUN
ajset-12	21	24	for	for	ADP
ajset-12	21	25	fsae	fsae	NOUN
ajset-12	21	26	racing	race	VERB
ajset-12	21	27	cars	car	NOUN
ajset-12	21	28	.	.	PUNCT
ajset-12	22	1	overall	overall	ADV
ajset-12	22	2	,	,	PUNCT
ajset-12	22	3	the	the	DET
ajset-12	22	4	optimized	optimize	VERB
ajset-12	22	5	post	post	ADJ
ajset-12	22	6	-	-	ADJ
ajset-12	22	7	disconnected	disconnected	ADJ
ajset-12	22	8	steering	steering	NOUN
ajset-12	22	9	trapezoid	trapezoid	ADJ
ajset-12	22	10	design	design	NOUN
ajset-12	22	11	can	can	AUX
ajset-12	22	12	improve	improve	VERB
ajset-12	22	13	the	the	DET
ajset-12	22	14	stability	stability	NOUN
ajset-12	22	15	and	and	CCONJ
ajset-12	22	16	steering	steering	NOUN
ajset-12	22	17	performance	performance	NOUN
ajset-12	22	18	of	of	ADP
ajset-12	22	19	fsae	fsae	NOUN
ajset-12	22	20	racing	race	VERB
ajset-12	22	21	cars	car	NOUN
ajset-12	22	22	,	,	PUNCT
ajset-12	22	23	providing	provide	VERB
ajset-12	22	24	better	well	ADJ
ajset-12	22	25	handling	handling	NOUN
ajset-12	22	26	during	during	ADP
ajset-12	22	27	dynamic	dynamic	ADJ
ajset-12	22	28	competition	competition	NOUN
ajset-12	22	29	.	.	PUNCT
ajset-12	23	1	the	the	DET
ajset-12	23	2	proposed	propose	VERB
ajset-12	23	3	method	method	NOUN
ajset-12	23	4	can	can	AUX
ajset-12	23	5	be	be	AUX
ajset-12	23	6	applied	apply	VERB
ajset-12	23	7	to	to	ADP
ajset-12	23	8	the	the	DET
ajset-12	23	9	design	design	NOUN
ajset-12	23	10	and	and	CCONJ
ajset-12	23	11	optimization	optimization	NOUN
ajset-12	23	12	of	of	ADP
ajset-12	23	13	steering	steering	NOUN
ajset-12	23	14	systems	system	NOUN
ajset-12	23	15	in	in	ADP
ajset-12	23	16	various	various	ADJ
ajset-12	23	17	racing	racing	NOUN
ajset-12	23	18	cars	car	NOUN
ajset-12	23	19	,	,	PUNCT
ajset-12	23	20	making	make	VERB
ajset-12	23	21	it	it	PRON
ajset-12	23	22	a	a	DET
ajset-12	23	23	valuable	valuable	ADJ
ajset-12	23	24	contribution	contribution	NOUN
ajset-12	23	25	to	to	ADP
ajset-12	23	26	the	the	DET
ajset-12	23	27	field	field	NOUN
ajset-12	23	28	of	of	ADP
ajset-12	23	29	motorsport	motorsport	NOUN
ajset-12	23	30	engineering	engineering	NOUN
ajset-12	23	31	.	.	PUNCT
ajset-12	24	1	keywords	keyword	NOUN
ajset-12	24	2	:	:	PUNCT
ajset-12	24	3	fsae	fsae	NOUN
ajset-12	24	4	racing	race	VERB
ajset-12	24	5	car	car	NOUN
ajset-12	24	6	,	,	PUNCT
ajset-12	24	7	steering	steering	NOUN
ajset-12	24	8	system	system	NOUN
ajset-12	24	9	,	,	PUNCT
ajset-12	24	10	steering	steer	VERB
ajset-12	24	11	trapezoid	trapezoid	NOUN
ajset-12	24	12	,	,	PUNCT
ajset-12	24	13	post	post	ADJ
ajset-12	24	14	-	-	ADJ
ajset-12	24	15	disconnected	disconnected	ADJ
ajset-12	24	16	,	,	PUNCT
ajset-12	24	17	ideal	ideal	ADJ
ajset-12	24	18	ackerman	ackerman	PROPN
ajset-12	24	19	steering	steering	NOUN
ajset-12	24	20	,	,	PUNCT
ajset-12	24	21	mathematical	mathematical	ADJ
ajset-12	24	22	model	model	NOUN
ajset-12	24	23	,	,	PUNCT
ajset-12	24	24	fatigue	fatigue	NOUN
ajset-12	24	25	strength	strength	NOUN
ajset-12	24	26	,	,	PUNCT
ajset-12	24	27	dynamic	dynamic	ADJ
ajset-12	24	28	simulation	simulation	NOUN
ajset-12	24	29	,	,	PUNCT
ajset-12	24	30	stability	stability	NOUN
ajset-12	24	31	requirement	requirement	NOUN
ajset-12	24	32	.	.	PUNCT
ajset-12	25	1	introduction	introduction	NOUN
ajset-12	25	2	among	among	ADP
ajset-12	25	3	the	the	DET
ajset-12	25	4	components	component	NOUN
ajset-12	25	5	of	of	ADP
ajset-12	25	6	the	the	DET
ajset-12	25	7	fsae	fsae	NOUN
ajset-12	25	8	,	,	PUNCT
ajset-12	25	9	the	the	DET
ajset-12	25	10	steering	steering	NOUN
ajset-12	25	11	system	system	NOUN
ajset-12	25	12	is	be	AUX
ajset-12	25	13	directly	directly	ADV
ajset-12	25	14	related	relate	VERB
ajset-12	25	15	to	to	ADP
ajset-12	25	16	the	the	DET
ajset-12	25	17	passing	passing	NOUN
ajset-12	25	18	and	and	CCONJ
ajset-12	25	19	steering	steer	VERB
ajset-12	25	20	stability	stability	NOUN
ajset-12	25	21	of	of	ADP
ajset-12	25	22	the	the	DET
ajset-12	25	23	car	car	NOUN
ajset-12	25	24	.	.	PUNCT
ajset-12	26	1	the	the	DET
ajset-12	26	2	steering	steering	NOUN
ajset-12	26	3	system	system	NOUN
ajset-12	26	4	of	of	ADP
ajset-12	26	5	the	the	DET
ajset-12	26	6	fsae	fsae	PROPN
ajset-12	26	7	racing	race	VERB
ajset-12	26	8	car	car	NOUN
ajset-12	26	9	is	be	AUX
ajset-12	26	10	the	the	DET
ajset-12	26	11	mechanism	mechanism	NOUN
ajset-12	26	12	which	which	PRON
ajset-12	26	13	is	be	AUX
ajset-12	26	14	used	use	VERB
ajset-12	26	15	to	to	PART
ajset-12	26	16	maintain	maintain	VERB
ajset-12	26	17	or	or	CCONJ
ajset-12	26	18	change	change	VERB
ajset-12	26	19	the	the	DET
ajset-12	26	20	direction	direction	NOUN
ajset-12	26	21	of	of	ADP
ajset-12	26	22	the	the	DET
ajset-12	26	23	car	car	NOUN
ajset-12	26	24	.	.	PUNCT
ajset-12	27	1	and	and	CCONJ
ajset-12	27	2	it	it	PRON
ajset-12	27	3	also	also	ADV
ajset-12	27	4	can	can	AUX
ajset-12	27	5	ensure	ensure	VERB
ajset-12	27	6	a	a	DET
ajset-12	27	7	coordinated	coordinated	ADJ
ajset-12	27	8	corner	corner	NOUN
ajset-12	27	9	relationship	relationship	NOUN
ajset-12	27	10	between	between	ADP
ajset-12	27	11	the	the	DET
ajset-12	27	12	steering	steering	NOUN
ajset-12	27	13	wheels	wheel	NOUN
ajset-12	27	14	when	when	SCONJ
ajset-12	27	15	the	the	DET
ajset-12	27	16	car	car	NOUN
ajset-12	27	17	is	be	AUX
ajset-12	27	18	turning	turn	VERB
ajset-12	27	19	[	[	PUNCT
ajset-12	27	20	1	1	NUM
ajset-12	27	21	]	]	PUNCT
ajset-12	27	22	.	.	PUNCT
ajset-12	28	1	in	in	ADP
ajset-12	28	2	the	the	DET
ajset-12	28	3	dynamic	dynamic	ADJ
ajset-12	28	4	competition	competition	NOUN
ajset-12	28	5	,	,	PUNCT
ajset-12	28	6	the	the	DET
ajset-12	28	7	8	8	NUM
ajset-12	28	8	-	-	PUNCT
ajset-12	28	9	word	word	NOUN
ajset-12	28	10	loop	loop	NOUN
ajset-12	28	11	,	,	PUNCT
ajset-12	28	12	high	high	ADJ
ajset-12	28	13	-	-	PUNCT
ajset-12	28	14	speed	speed	NOUN
ajset-12	28	15	obstacle	obstacle	NOUN
ajset-12	28	16	avoidance	avoidance	NOUN
ajset-12	28	17	and	and	CCONJ
ajset-12	28	18	endurance	endurance	NOUN
ajset-12	28	19	race	race	NOUN
ajset-12	28	20	have	have	VERB
ajset-12	28	21	higher	high	ADJ
ajset-12	28	22	requirements	requirement	NOUN
ajset-12	28	23	on	on	ADP
ajset-12	28	24	the	the	DET
ajset-12	28	25	stability	stability	NOUN
ajset-12	28	26	of	of	ADP
ajset-12	28	27	the	the	DET
ajset-12	28	28	steering	steering	NOUN
ajset-12	28	29	system	system	NOUN
ajset-12	28	30	,	,	PUNCT
ajset-12	28	31	and	and	CCONJ
ajset-12	28	32	the	the	DET
ajset-12	28	33	design	design	NOUN
ajset-12	28	34	of	of	ADP
ajset-12	28	35	the	the	DET
ajset-12	28	36	steering	steering	NOUN
ajset-12	28	37	trapezoid	trapezoid	NOUN
ajset-12	28	38	is	be	AUX
ajset-12	28	39	a	a	DET
ajset-12	28	40	particularly	particularly	ADV
ajset-12	28	41	important	important	ADJ
ajset-12	28	42	part	part	NOUN
ajset-12	28	43	of	of	ADP
ajset-12	28	44	the	the	DET
ajset-12	28	45	steering	steering	NOUN
ajset-12	28	46	system	system	NOUN
ajset-12	28	47	design	design	NOUN
ajset-12	28	48	[	[	X
ajset-12	28	49	2	2	NUM
ajset-12	28	50	]	]	PUNCT
ajset-12	28	51	.	.	PUNCT
ajset-12	29	1	so	so	ADV
ajset-12	29	2	,	,	PUNCT
ajset-12	29	3	a	a	DET
ajset-12	29	4	reasonable	reasonable	ADJ
ajset-12	29	5	design	design	NOUN
ajset-12	29	6	of	of	ADP
ajset-12	29	7	steering	steering	NOUN
ajset-12	29	8	trapezoid	trapezoid	NOUN
ajset-12	29	9	not	not	PART
ajset-12	29	10	only	only	ADV
ajset-12	29	11	improves	improve	VERB
ajset-12	29	12	the	the	DET
ajset-12	29	13	steering	steering	NOUN
ajset-12	29	14	ability	ability	NOUN
ajset-12	29	15	of	of	ADP
ajset-12	29	16	the	the	DET
ajset-12	29	17	car	car	NOUN
ajset-12	29	18	,	,	PUNCT
ajset-12	29	19	but	but	CCONJ
ajset-12	29	20	also	also	ADV
ajset-12	29	21	improves	improve	VERB
ajset-12	29	22	the	the	DET
ajset-12	29	23	overall	overall	ADJ
ajset-12	29	24	performance	performance	NOUN
ajset-12	29	25	of	of	ADP
ajset-12	29	26	the	the	DET
ajset-12	29	27	car	car	NOUN
ajset-12	29	28	to	to	ADP
ajset-12	29	29	a	a	DET
ajset-12	29	30	certain	certain	ADJ
ajset-12	29	31	extent	extent	NOUN
ajset-12	29	32	,	,	PUNCT
ajset-12	29	33	which	which	PRON
ajset-12	29	34	is	be	AUX
ajset-12	29	35	of	of	ADP
ajset-12	29	36	great	great	ADJ
ajset-12	29	37	significance	significance	NOUN
ajset-12	29	38	for	for	ADP
ajset-12	29	39	improving	improve	VERB
ajset-12	29	40	the	the	DET
ajset-12	29	41	performance	performance	NOUN
ajset-12	29	42	of	of	ADP
ajset-12	29	43	the	the	DET
ajset-12	29	44	car	car	NOUN
ajset-12	29	45	.	.	PUNCT
ajset-12	30	1	presently	presently	ADV
ajset-12	30	2	,	,	PUNCT
ajset-12	30	3	scholars	scholar	NOUN
ajset-12	30	4	at	at	ADP
ajset-12	30	5	home	home	ADV
ajset-12	30	6	and	and	CCONJ
ajset-12	30	7	abroad	abroad	ADV
ajset-12	30	8	have	have	AUX
ajset-12	30	9	deeply	deeply	ADV
ajset-12	30	10	analyzed	analyze	VERB
ajset-12	30	11	and	and	CCONJ
ajset-12	30	12	researched	research	VERB
ajset-12	30	13	on	on	ADP
ajset-12	30	14	the	the	DET
ajset-12	30	15	structural	structural	ADJ
ajset-12	30	16	design	design	NOUN
ajset-12	30	17	of	of	ADP
ajset-12	30	18	the	the	DET
ajset-12	30	19	fsae	fsae	NOUN
ajset-12	30	20	racing	race	VERB
ajset-12	30	21	car	car	NOUN
ajset-12	30	22	to	to	ADP
ajset-12	30	23	the	the	DET
ajset-12	30	24	trapezoid	trapezoid	NOUN
ajset-12	30	25	from	from	ADP
ajset-12	30	26	various	various	ADJ
ajset-12	30	27	angles	angle	NOUN
ajset-12	30	28	.	.	PUNCT
ajset-12	31	1	for	for	ADP
ajset-12	31	2	example	example	NOUN
ajset-12	31	3	,	,	PUNCT
ajset-12	31	4	song	song	NOUN
ajset-12	31	5	xueqian	xueqian	NOUN
ajset-12	31	6	and	and	CCONJ
ajset-12	31	7	others	other	NOUN
ajset-12	31	8	established	establish	VERB
ajset-12	31	9	a	a	DET
ajset-12	31	10	mathematical	mathematical	ADJ
ajset-12	31	11	model	model	NOUN
ajset-12	31	12	of	of	ADP
ajset-12	31	13	the	the	DET
ajset-12	31	14	front	front	ADJ
ajset-12	31	15	-	-	PUNCT
ajset-12	31	16	disconnected	disconnected	ADJ
ajset-12	31	17	steering	steering	NOUN
ajset-12	31	18	trapezoidal	trapezoidal	ADJ
ajset-12	31	19	structure	structure	NOUN
ajset-12	31	20	and	and	CCONJ
ajset-12	31	21	collected	collect	VERB
ajset-12	31	22	data	datum	NOUN
ajset-12	31	23	through	through	ADP
ajset-12	31	24	an	an	DET
ajset-12	31	25	angular	angular	ADJ
ajset-12	31	26	displacement	displacement	ADJ
ajset-12	31	27	sensor	sensor	NOUN
ajset-12	31	28	to	to	PART
ajset-12	31	29	correct	correct	VERB
ajset-12	31	30	the	the	DET
ajset-12	31	31	steering	steering	NOUN
ajset-12	31	32	angle	angle	NOUN
ajset-12	31	33	mailto:topacademicjournals@gmail.com	mailto:topacademicjournals@gmail.com	PROPN
ajset-12	31	34	hanqi	hanqi	PROPN
ajset-12	31	35	wang	wang	PROPN
ajset-12	31	36	,	,	PUNCT
ajset-12	31	37	bo	bo	PROPN
ajset-12	31	38	wu	wu	PROPN
ajset-12	31	39	*	*	PROPN
ajset-12	31	40	,	,	PUNCT
ajset-12	31	41	xiaolong	xiaolong	PROPN
ajset-12	31	42	cheng	cheng	PROPN
ajset-12	31	43	,	,	PUNCT
ajset-12	31	44	yongjun	yongjun	PROPN
ajset-12	31	45	mao	mao	PROPN
ajset-12	31	46	optimizing	optimize	VERB
ajset-12	31	47	the	the	DET
ajset-12	31	48	rear	rear	ADJ
ajset-12	31	49	-	-	PUNCT
ajset-12	31	50	disconnected	disconnected	ADJ
ajset-12	31	51	steering	steering	NOUN
ajset-12	31	52	trapezoid	trapezoid	NOUN
ajset-12	31	53	for	for	ADP
ajset-12	31	54	fsae	fsae	NOUN
ajset-12	31	55	racing	race	VERB
ajset-12	31	56	cars	car	NOUN
ajset-12	31	57	7|	7|	NUM
ajset-12	31	58	a	a	DET
ajset-12	31	59	c	c	NOUN
ajset-12	31	60	a	a	DET
ajset-12	31	61	d	d	X
ajset-12	31	62	e	e	NOUN
ajset-12	31	63	m	m	NOUN
ajset-12	31	64	i	i	NOUN
ajset-12	31	65	c	c	NOUN
ajset-12	31	66	j	j	NOUN
ajset-12	31	67	o	o	X
ajset-12	31	68	u	u	NOUN
ajset-12	31	69	r	r	NOUN
ajset-12	31	70	n	n	NOUN
ajset-12	31	71	a	a	DET
ajset-12	31	72	l	l	NOUN
ajset-12	31	73	o	o	X
ajset-12	32	1	f	f	X
ajset-12	32	2	s	s	X
ajset-12	32	3	c	c	NOUN
ajset-12	33	1	i	i	NOUN
ajset-12	33	2	e	e	PROPN
ajset-12	33	3	n	n	PROPN
ajset-12	33	4	c	c	NOUN
ajset-12	33	5	e	e	X
ajset-12	33	6	,	,	PUNCT
ajset-12	33	7	e	e	PROPN
ajset-12	33	8	n	n	PRON
ajset-12	33	9	g	g	NOUN
ajset-12	33	10	i	i	PRON
ajset-12	33	11	n	n	VERB
ajset-12	33	12	e	e	NOUN
ajset-12	33	13	e	e	NOUN
ajset-12	33	14	r	r	VERB
ajset-12	33	15	i	i	PRON
ajset-12	33	16	n	n	CCONJ
ajset-12	33	17	g	g	PROPN
ajset-12	33	18	a	a	DET
ajset-12	33	19	n	n	NOUN
ajset-12	33	20	d	d	NOUN
ajset-12	33	21	t	t	NOUN
ajset-12	33	22	e	e	X
ajset-12	33	23	c	c	NOUN
ajset-12	33	24	h	h	NOUN
ajset-12	33	25	n	n	ADV
ajset-12	33	26	o	o	NOUN
ajset-12	33	27	l	l	NOUN
ajset-12	34	1	o	o	X
ajset-12	34	2	g	g	NOUN
ajset-12	34	3	y	y	PROPN
ajset-12	34	4	|	|	ADV
ajset-12	34	5	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	VERB
ajset-12	34	6	[	[	X
ajset-12	34	7	3	3	NUM
ajset-12	34	8	]	]	PUNCT
ajset-12	34	9	.	.	PUNCT
ajset-12	35	1	shaofei	shaofei	PROPN
ajset-12	35	2	and	and	CCONJ
ajset-12	35	3	others	other	NOUN
ajset-12	35	4	realized	realize	VERB
ajset-12	35	5	the	the	DET
ajset-12	35	6	design	design	NOUN
ajset-12	35	7	of	of	ADP
ajset-12	35	8	parallel	parallel	ADJ
ajset-12	35	9	ackerman	ackerman	NOUN
ajset-12	35	10	geometry	geometry	NOUN
ajset-12	35	11	steering	steer	VERB
ajset-12	35	12	trapezoid	trapezoid	NOUN
ajset-12	36	1	[	[	X
ajset-12	36	2	4	4	NUM
ajset-12	36	3	]	]	PUNCT
ajset-12	36	4	.	.	PUNCT
ajset-12	37	1	and	and	CCONJ
ajset-12	37	2	zhangkai	zhangkai	NOUN
ajset-12	37	3	and	and	CCONJ
ajset-12	37	4	others	other	NOUN
ajset-12	37	5	proposed	propose	VERB
ajset-12	37	6	a	a	DET
ajset-12	37	7	steering	steering	NOUN
ajset-12	37	8	trapezoidal	trapezoidal	ADJ
ajset-12	37	9	joint	joint	ADJ
ajset-12	37	10	optimization	optimization	NOUN
ajset-12	37	11	design	design	NOUN
ajset-12	37	12	method	method	NOUN
ajset-12	37	13	and	and	CCONJ
ajset-12	37	14	improved	improve	VERB
ajset-12	37	15	the	the	DET
ajset-12	37	16	speed	speed	NOUN
ajset-12	37	17	and	and	CCONJ
ajset-12	37	18	corner	corner	NOUN
ajset-12	37	19	stability	stability	NOUN
ajset-12	37	20	of	of	ADP
ajset-12	37	21	the	the	DET
ajset-12	37	22	fsae	fsae	PROPN
ajset-12	37	23	racing	race	VERB
ajset-12	37	24	car	car	NOUN
ajset-12	38	1	[	[	X
ajset-12	38	2	5	5	NUM
ajset-12	38	3	]	]	PUNCT
ajset-12	38	4	.	.	PUNCT
ajset-12	39	1	the	the	DET
ajset-12	39	2	above	above	ADJ
ajset-12	39	3	research	research	NOUN
ajset-12	39	4	provides	provide	VERB
ajset-12	39	5	different	different	ADJ
ajset-12	39	6	research	research	NOUN
ajset-12	39	7	methods	method	NOUN
ajset-12	39	8	for	for	ADP
ajset-12	39	9	the	the	DET
ajset-12	39	10	steering	steering	NOUN
ajset-12	39	11	trapezoid	trapezoid	NOUN
ajset-12	39	12	of	of	ADP
ajset-12	39	13	the	the	DET
ajset-12	39	14	car	car	NOUN
ajset-12	39	15	,	,	PUNCT
ajset-12	39	16	but	but	CCONJ
ajset-12	39	17	the	the	DET
ajset-12	39	18	front	front	ADJ
ajset-12	39	19	layout	layout	NOUN
ajset-12	39	20	is	be	AUX
ajset-12	39	21	adopted	adopt	VERB
ajset-12	39	22	in	in	ADP
ajset-12	39	23	the	the	DET
ajset-12	39	24	layout	layout	NOUN
ajset-12	39	25	of	of	ADP
ajset-12	39	26	the	the	DET
ajset-12	39	27	steering	steering	NOUN
ajset-12	39	28	trapezoid	trapezoid	NOUN
ajset-12	39	29	,	,	PUNCT
ajset-12	39	30	and	and	CCONJ
ajset-12	39	31	the	the	DET
ajset-12	39	32	research	research	NOUN
ajset-12	39	33	results	result	NOUN
ajset-12	39	34	are	be	AUX
ajset-12	39	35	not	not	PART
ajset-12	39	36	fully	fully	ADV
ajset-12	39	37	applicable	applicable	ADJ
ajset-12	39	38	to	to	ADP
ajset-12	39	39	the	the	DET
ajset-12	39	40	layout	layout	NOUN
ajset-12	39	41	scheme	scheme	NOUN
ajset-12	39	42	adopted	adopt	VERB
ajset-12	39	43	in	in	ADP
ajset-12	39	44	this	this	DET
ajset-12	39	45	paper	paper	NOUN
ajset-12	39	46	.	.	PUNCT
ajset-12	40	1	so	so	ADV
ajset-12	40	2	,	,	PUNCT
ajset-12	40	3	in	in	ADP
ajset-12	40	4	this	this	DET
ajset-12	40	5	paper	paper	NOUN
ajset-12	40	6	we	we	PRON
ajset-12	40	7	further	far	ADV
ajset-12	40	8	analyzed	analyze	VERB
ajset-12	40	9	and	and	CCONJ
ajset-12	40	10	optimized	optimize	VERB
ajset-12	40	11	the	the	DET
ajset-12	40	12	rear	rear	ADJ
ajset-12	40	13	-	-	PUNCT
ajset-12	40	14	disconnected	disconnected	ADJ
ajset-12	40	15	steering	steering	NOUN
ajset-12	40	16	trapezoid	trapezoid	NOUN
ajset-12	40	17	with	with	ADP
ajset-12	40	18	the	the	DET
ajset-12	40	19	steering	steering	NOUN
ajset-12	40	20	gear	gear	NOUN
ajset-12	40	21	located	locate	VERB
ajset-12	40	22	behind	behind	ADP
ajset-12	40	23	the	the	DET
ajset-12	40	24	front	front	ADJ
ajset-12	40	25	axle	axle	NOUN
ajset-12	40	26	.	.	PUNCT
ajset-12	41	1	methodology	methodology	NOUN
ajset-12	41	2	steering	steer	VERB
ajset-12	41	3	trapezoid	trapezoid	ADJ
ajset-12	41	4	scheme	scheme	NOUN
ajset-12	41	5	selection	selection	NOUN
ajset-12	41	6	in	in	ADP
ajset-12	41	7	the	the	DET
ajset-12	41	8	rules	rule	NOUN
ajset-12	41	9	issued	issue	VERB
ajset-12	41	10	by	by	ADP
ajset-12	41	11	the	the	DET
ajset-12	41	12	competition	competition	NOUN
ajset-12	41	13	,	,	PUNCT
ajset-12	41	14	it	it	PRON
ajset-12	41	15	is	be	AUX
ajset-12	41	16	clearly	clearly	ADV
ajset-12	41	17	stated	state	VERB
ajset-12	41	18	that	that	SCONJ
ajset-12	41	19	the	the	DET
ajset-12	41	20	use	use	NOUN
ajset-12	41	21	of	of	ADP
ajset-12	41	22	steer	steer	NOUN
ajset-12	41	23	-	-	PUNCT
ajset-12	41	24	bywire	bywire	NOUN
ajset-12	41	25	steering	steering	NOUN
ajset-12	41	26	and	and	CCONJ
ajset-12	41	27	electronically	electronically	ADV
ajset-12	41	28	controlled	control	VERB
ajset-12	41	29	steering	steering	NOUN
ajset-12	41	30	is	be	AUX
ajset-12	41	31	prohibited	prohibit	VERB
ajset-12	41	32	.	.	PUNCT
ajset-12	42	1	considering	consider	VERB
ajset-12	42	2	the	the	DET
ajset-12	42	3	light	light	ADJ
ajset-12	42	4	weight	weight	NOUN
ajset-12	42	5	of	of	ADP
ajset-12	42	6	the	the	DET
ajset-12	42	7	fsae	fsae	PROPN
ajset-12	42	8	racing	race	VERB
ajset-12	42	9	car	car	NOUN
ajset-12	42	10	,	,	PUNCT
ajset-12	42	11	most	most	ADJ
ajset-12	42	12	of	of	ADP
ajset-12	42	13	the	the	DET
ajset-12	42	14	teams	team	NOUN
ajset-12	42	15	use	use	VERB
ajset-12	42	16	unassisted	unassisted	ADJ
ajset-12	42	17	mechanical	mechanical	ADJ
ajset-12	42	18	rack	rack	NOUN
ajset-12	42	19	and	and	CCONJ
ajset-12	42	20	pinion	pinion	NOUN
ajset-12	42	21	steering	steering	NOUN
ajset-12	42	22	gears	gear	NOUN
ajset-12	42	23	,	,	PUNCT
ajset-12	42	24	which	which	PRON
ajset-12	42	25	have	have	VERB
ajset-12	42	26	simple	simple	ADJ
ajset-12	42	27	structure	structure	NOUN
ajset-12	42	28	,	,	PUNCT
ajset-12	42	29	small	small	ADJ
ajset-12	42	30	size	size	NOUN
ajset-12	42	31	,	,	PUNCT
ajset-12	42	32	easy	easy	ADJ
ajset-12	42	33	to	to	PART
ajset-12	42	34	make	make	VERB
ajset-12	42	35	,	,	PUNCT
ajset-12	42	36	etc	etc	X
ajset-12	42	37	.	.	X
ajset-12	42	38	,	,	PUNCT
ajset-12	42	39	can	can	AUX
ajset-12	42	40	reliably	reliably	ADV
ajset-12	42	41	meet	meet	VERB
ajset-12	42	42	the	the	DET
ajset-12	42	43	steering	steering	NOUN
ajset-12	42	44	task	task	NOUN
ajset-12	42	45	[	[	X
ajset-12	42	46	6	6	NUM
ajset-12	42	47	]	]	PUNCT
ajset-12	42	48	.	.	PUNCT
ajset-12	43	1	because	because	SCONJ
ajset-12	43	2	of	of	ADP
ajset-12	43	3	the	the	DET
ajset-12	43	4	compact	compact	ADJ
ajset-12	43	5	layout	layout	NOUN
ajset-12	43	6	of	of	ADP
ajset-12	43	7	the	the	DET
ajset-12	43	8	fsae	fsae	PROPN
ajset-12	43	9	racing	race	VERB
ajset-12	43	10	car	car	NOUN
ajset-12	43	11	,	,	PUNCT
ajset-12	43	12	in	in	ADP
ajset-12	43	13	order	order	NOUN
ajset-12	43	14	to	to	PART
ajset-12	43	15	ensure	ensure	VERB
ajset-12	43	16	good	good	ADJ
ajset-12	43	17	compatibility	compatibility	NOUN
ajset-12	43	18	between	between	ADP
ajset-12	43	19	the	the	DET
ajset-12	43	20	steering	steering	NOUN
ajset-12	43	21	system	system	NOUN
ajset-12	43	22	and	and	CCONJ
ajset-12	43	23	the	the	DET
ajset-12	43	24	independent	independent	ADJ
ajset-12	43	25	suspension	suspension	NOUN
ajset-12	43	26	system	system	NOUN
ajset-12	43	27	,	,	PUNCT
ajset-12	43	28	the	the	DET
ajset-12	43	29	disconnected	disconnected	ADJ
ajset-12	43	30	steering	steering	NOUN
ajset-12	43	31	trapezoid	trapezoid	NOUN
ajset-12	43	32	is	be	AUX
ajset-12	43	33	often	often	ADV
ajset-12	43	34	used	use	VERB
ajset-12	43	35	.	.	PUNCT
ajset-12	44	1	according	accord	VERB
ajset-12	44	2	to	to	ADP
ajset-12	44	3	the	the	DET
ajset-12	44	4	different	different	ADJ
ajset-12	44	5	positions	position	NOUN
ajset-12	44	6	of	of	ADP
ajset-12	44	7	the	the	DET
ajset-12	44	8	steering	steering	NOUN
ajset-12	44	9	trapezoid	trapezoid	NOUN
ajset-12	44	10	and	and	CCONJ
ajset-12	44	11	the	the	DET
ajset-12	44	12	rack	rack	NOUN
ajset-12	44	13	and	and	CCONJ
ajset-12	44	14	pinion	pinion	NOUN
ajset-12	44	15	steering	steering	NOUN
ajset-12	44	16	gear	gear	NOUN
ajset-12	44	17	with	with	ADP
ajset-12	44	18	respect	respect	NOUN
ajset-12	44	19	to	to	ADP
ajset-12	44	20	the	the	DET
ajset-12	44	21	front	front	ADJ
ajset-12	44	22	axle	axle	NOUN
ajset-12	44	23	,	,	PUNCT
ajset-12	44	24	the	the	DET
ajset-12	44	25	arrangement	arrangement	NOUN
ajset-12	44	26	can	can	AUX
ajset-12	44	27	be	be	AUX
ajset-12	44	28	divided	divide	VERB
ajset-12	44	29	into	into	ADP
ajset-12	44	30	four	four	NUM
ajset-12	44	31	types	type	NOUN
ajset-12	44	32	[	[	X
ajset-12	44	33	1	1	NUM
ajset-12	44	34	]	]	PUNCT
ajset-12	44	35	.	.	PUNCT
ajset-12	45	1	and	and	CCONJ
ajset-12	45	2	the	the	DET
ajset-12	45	3	rear	rear	ADJ
ajset-12	45	4	trapezoidal	trapezoidal	ADJ
ajset-12	45	5	arrangement	arrangement	NOUN
ajset-12	45	6	of	of	ADP
ajset-12	45	7	the	the	DET
ajset-12	45	8	steering	steering	NOUN
ajset-12	45	9	gear	gear	NOUN
ajset-12	45	10	behind	behind	ADP
ajset-12	45	11	the	the	DET
ajset-12	45	12	front	front	ADJ
ajset-12	45	13	axle	axle	NOUN
ajset-12	45	14	is	be	AUX
ajset-12	45	15	simple	simple	ADJ
ajset-12	45	16	.	.	PUNCT
ajset-12	46	1	so	so	ADV
ajset-12	46	2	,	,	PUNCT
ajset-12	46	3	in	in	ADP
ajset-12	46	4	this	this	DET
ajset-12	46	5	paper	paper	NOUN
ajset-12	46	6	we	we	PRON
ajset-12	46	7	use	use	VERB
ajset-12	46	8	the	the	DET
ajset-12	46	9	rear	rear	ADJ
ajset-12	46	10	-	-	PUNCT
ajset-12	46	11	disconnected	disconnected	ADJ
ajset-12	46	12	steering	steering	NOUN
ajset-12	46	13	trapezoidal	trapezoidal	ADJ
ajset-12	46	14	powerless	powerless	ADJ
ajset-12	46	15	mechanical	mechanical	ADJ
ajset-12	46	16	rack	rack	NOUN
ajset-12	46	17	and	and	CCONJ
ajset-12	46	18	pinion	pinion	NOUN
ajset-12	46	19	steering	steering	NOUN
ajset-12	46	20	gear	gear	NOUN
ajset-12	46	21	with	with	ADP
ajset-12	46	22	the	the	DET
ajset-12	46	23	steering	steering	NOUN
ajset-12	46	24	gear	gear	NOUN
ajset-12	46	25	behind	behind	ADP
ajset-12	46	26	the	the	DET
ajset-12	46	27	front	front	ADJ
ajset-12	46	28	axle	axle	NOUN
ajset-12	46	29	.	.	PUNCT
ajset-12	47	1	we	we	PRON
ajset-12	47	2	analyze	analyze	VERB
ajset-12	47	3	and	and	CCONJ
ajset-12	47	4	design	design	VERB
ajset-12	47	5	the	the	DET
ajset-12	47	6	fsae	fsae	NOUN
ajset-12	47	7	racing	race	VERB
ajset-12	47	8	car	car	NOUN
ajset-12	47	9	.	.	PUNCT
ajset-12	48	1	and	and	CCONJ
ajset-12	48	2	its	its	PRON
ajset-12	48	3	structural	structural	ADJ
ajset-12	48	4	diagram	diagram	NOUN
ajset-12	48	5	is	be	AUX
ajset-12	48	6	shown	show	VERB
ajset-12	48	7	in	in	ADP
ajset-12	48	8	figure	figure	NOUN
ajset-12	48	9	1	1	NUM
ajset-12	48	10	.	.	PUNCT
ajset-12	48	11	figure	figure	NOUN
ajset-12	48	12	.	.	PUNCT
ajset-12	49	1	1	1	NUM
ajset-12	49	2	rear	rear	ADJ
ajset-12	49	3	-	-	PUNCT
ajset-12	49	4	displacement	displacement	NOUN
ajset-12	49	5	steering	steering	NOUN
ajset-12	49	6	trapezoidal	trapezoidal	ADJ
ajset-12	49	7	structure	structure	NOUN
ajset-12	49	8	intention	intention	NOUN
ajset-12	49	9	of	of	ADP
ajset-12	49	10	the	the	DET
ajset-12	49	11	steering	steering	NOUN
ajset-12	49	12	gear	gear	NOUN
ajset-12	49	13	behind	behind	ADP
ajset-12	49	14	the	the	DET
ajset-12	49	15	front	front	ADJ
ajset-12	49	16	axle	axle	NOUN
ajset-12	49	17	establishment	establishment	NOUN
ajset-12	49	18	and	and	CCONJ
ajset-12	49	19	analysis	analysis	NOUN
ajset-12	49	20	of	of	ADP
ajset-12	49	21	steering	steering	NOUN
ajset-12	49	22	trapezoidal	trapezoidal	ADJ
ajset-12	49	23	mechanism	mechanism	NOUN
ajset-12	49	24	model	model	NOUN
ajset-12	49	25	when	when	SCONJ
ajset-12	49	26	the	the	DET
ajset-12	49	27	car	car	NOUN
ajset-12	49	28	is	be	AUX
ajset-12	49	29	turning	turn	VERB
ajset-12	49	30	,	,	PUNCT
ajset-12	49	31	in	in	ADP
ajset-12	49	32	order	order	NOUN
ajset-12	49	33	to	to	PART
ajset-12	49	34	ensure	ensure	VERB
ajset-12	49	35	that	that	SCONJ
ajset-12	49	36	its	its	PRON
ajset-12	49	37	four	four	NUM
ajset-12	49	38	wheels	wheel	NOUN
ajset-12	49	39	are	be	AUX
ajset-12	49	40	all	all	PRON
ajset-12	49	41	rolling	roll	VERB
ajset-12	49	42	around	around	ADP
ajset-12	49	43	the	the	DET
ajset-12	49	44	same	same	ADJ
ajset-12	49	45	instantaneous	instantaneous	ADJ
ajset-12	49	46	center	center	NOUN
ajset-12	49	47	point	point	NOUN
ajset-12	49	48	without	without	ADP
ajset-12	49	49	sliding	slide	VERB
ajset-12	49	50	,	,	PUNCT
ajset-12	49	51	that	that	ADV
ajset-12	49	52	is	is	ADV
ajset-12	49	53	,	,	PUNCT
ajset-12	49	54	to	to	PART
ajset-12	49	55	meet	meet	VERB
ajset-12	49	56	the	the	DET
ajset-12	49	57	ackerman	ackerman	NOUN
ajset-12	49	58	steering	steering	NOUN
ajset-12	49	59	[	[	X
ajset-12	49	60	7	7	NUM
ajset-12	49	61	]	]	PUNCT
ajset-12	49	62	,	,	PUNCT
ajset-12	49	63	the	the	DET
ajset-12	49	64	angle	angle	NOUN
ajset-12	49	65	of	of	ADP
ajset-12	49	66	the	the	DET
ajset-12	49	67	inner	inner	ADJ
ajset-12	49	68	and	and	CCONJ
ajset-12	49	69	outer	outer	ADJ
ajset-12	49	70	wheels	wheel	NOUN
ajset-12	49	71	of	of	ADP
ajset-12	49	72	the	the	DET
ajset-12	49	73	front	front	ADJ
ajset-12	49	74	axle	axle	NOUN
ajset-12	49	75	should	should	AUX
ajset-12	49	76	satisfy	satisfy	VERB
ajset-12	49	77	the	the	DET
ajset-12	49	78	relationship	relationship	NOUN
ajset-12	49	79	as	as	SCONJ
ajset-12	49	80	shown	show	VERB
ajset-12	49	81	in	in	ADP
ajset-12	49	82	figure	figure	NOUN
ajset-12	49	83	2	2	NUM
ajset-12	49	84	.	.	PUNCT
ajset-12	49	85	hanqi	hanqi	PROPN
ajset-12	49	86	wang	wang	PROPN
ajset-12	49	87	,	,	PUNCT
ajset-12	49	88	bo	bo	PROPN
ajset-12	49	89	wu	wu	PROPN
ajset-12	49	90	*	*	PROPN
ajset-12	49	91	,	,	PUNCT
ajset-12	49	92	xiaolong	xiaolong	PROPN
ajset-12	49	93	cheng	cheng	PROPN
ajset-12	49	94	,	,	PUNCT
ajset-12	49	95	yongjun	yongjun	PROPN
ajset-12	49	96	mao	mao	PROPN
ajset-12	49	97	optimizing	optimize	VERB
ajset-12	49	98	the	the	DET
ajset-12	49	99	rear	rear	ADJ
ajset-12	49	100	-	-	PUNCT
ajset-12	49	101	disconnected	disconnected	ADJ
ajset-12	49	102	steering	steering	NOUN
ajset-12	49	103	trapezoid	trapezoid	NOUN
ajset-12	49	104	for	for	ADP
ajset-12	49	105	fsae	fsae	NOUN
ajset-12	49	106	racing	race	VERB
ajset-12	49	107	cars	car	NOUN
ajset-12	49	108	8|	8|	NUM
ajset-12	49	109	a	a	DET
ajset-12	49	110	c	c	NOUN
ajset-12	49	111	a	a	DET
ajset-12	49	112	d	d	X
ajset-12	49	113	e	e	NOUN
ajset-12	49	114	m	m	NOUN
ajset-12	49	115	i	i	NOUN
ajset-12	49	116	c	c	NOUN
ajset-12	49	117	j	j	NOUN
ajset-12	49	118	o	o	X
ajset-12	49	119	u	u	NOUN
ajset-12	49	120	r	r	NOUN
ajset-12	49	121	n	n	NOUN
ajset-12	49	122	a	a	DET
ajset-12	49	123	l	l	NOUN
ajset-12	50	1	o	o	X
ajset-12	51	1	f	f	X
ajset-12	52	1	s	s	X
ajset-12	52	2	c	c	NOUN
ajset-12	53	1	i	i	NOUN
ajset-12	53	2	e	e	PROPN
ajset-12	53	3	n	n	PROPN
ajset-12	53	4	c	c	NOUN
ajset-12	53	5	e	e	X
ajset-12	53	6	,	,	PUNCT
ajset-12	53	7	e	e	PROPN
ajset-12	53	8	n	n	PRON
ajset-12	53	9	g	g	NOUN
ajset-12	53	10	i	i	PRON
ajset-12	53	11	n	n	VERB
ajset-12	53	12	e	e	NOUN
ajset-12	53	13	e	e	NOUN
ajset-12	53	14	r	r	VERB
ajset-12	53	15	i	i	PRON
ajset-12	53	16	n	n	CCONJ
ajset-12	53	17	g	g	PROPN
ajset-12	53	18	a	a	DET
ajset-12	53	19	n	n	NOUN
ajset-12	53	20	d	d	NOUN
ajset-12	53	21	t	t	NOUN
ajset-12	53	22	e	e	X
ajset-12	53	23	c	c	NOUN
ajset-12	53	24	h	h	NOUN
ajset-12	53	25	n	n	ADV
ajset-12	53	26	o	o	NOUN
ajset-12	53	27	l	l	NOUN
ajset-12	54	1	o	o	X
ajset-12	54	2	g	g	NOUN
ajset-12	54	3	y	y	PROPN
ajset-12	54	4	|	|	ADV
ajset-12	54	5	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	VERB
ajset-12	54	6	figure	figure	NOUN
ajset-12	54	7	.	.	PUNCT
ajset-12	55	1	2	2	NUM
ajset-12	55	2	ideal	ideal	ADJ
ajset-12	55	3	ackerman	ackerman	PROPN
ajset-12	55	4	corner	corner	NOUN
ajset-12	55	5	according	accord	VERB
ajset-12	55	6	to	to	ADP
ajset-12	55	7	the	the	DET
ajset-12	55	8	geometric	geometric	ADJ
ajset-12	55	9	relationship	relationship	NOUN
ajset-12	55	10	,	,	PUNCT
ajset-12	55	11	the	the	DET
ajset-12	55	12	concrete	concrete	ADJ
ajset-12	55	13	expression	expression	NOUN
ajset-12	55	14	of	of	ADP
ajset-12	55	15	the	the	DET
ajset-12	55	16	ideal	ideal	ADJ
ajset-12	55	17	inner	inner	ADJ
ajset-12	55	18	and	and	CCONJ
ajset-12	55	19	outer	outer	ADJ
ajset-12	55	20	wheel	wheel	NOUN
ajset-12	55	21	angles	angle	NOUN
ajset-12	55	22	when	when	SCONJ
ajset-12	55	23	meeting	meet	VERB
ajset-12	55	24	ackerman	ackerman	NOUN
ajset-12	55	25	steering	steering	NOUN
ajset-12	55	26	can	can	AUX
ajset-12	55	27	be	be	AUX
ajset-12	55	28	obtained	obtain	VERB
ajset-12	55	29	:	:	PUNCT
ajset-12	55	30	cotβ0	cotβ0	NOUN
ajset-12	55	31	−cotα0	−cotα0	NOUN
ajset-12	55	32	=	=	SYM
ajset-12	55	33	k	k	PROPN
ajset-12	55	34	l/	l/	X
ajset-12	55	35	(	(	PUNCT
ajset-12	55	36	1	1	NUM
ajset-12	55	37	)	)	PUNCT
ajset-12	55	38	where	where	SCONJ
ajset-12	55	39	α0	α0	PROPN
ajset-12	55	40	is	be	AUX
ajset-12	55	41	the	the	DET
ajset-12	55	42	ideal	ideal	ADJ
ajset-12	55	43	inner	inner	ADJ
ajset-12	55	44	wheel	wheel	NOUN
ajset-12	55	45	steering	steering	NOUN
ajset-12	55	46	angle	angle	NOUN
ajset-12	55	47	,	,	PUNCT
ajset-12	55	48	β0	β0	PROPN
ajset-12	55	49	is	be	AUX
ajset-12	55	50	the	the	DET
ajset-12	55	51	ideal	ideal	ADJ
ajset-12	55	52	outer	outer	ADJ
ajset-12	55	53	wheel	wheel	NOUN
ajset-12	55	54	steering	steering	NOUN
ajset-12	55	55	angle	angle	NOUN
ajset-12	55	56	,	,	PUNCT
ajset-12	55	57	k	k	PROPN
ajset-12	55	58	is	be	AUX
ajset-12	55	59	the	the	DET
ajset-12	55	60	main	main	ADJ
ajset-12	55	61	pin	pin	NOUN
ajset-12	55	62	center	center	NOUN
ajset-12	55	63	distance	distance	NOUN
ajset-12	55	64	,	,	PUNCT
ajset-12	55	65	and	and	CCONJ
ajset-12	55	66	l	l	NOUN
ajset-12	55	67	is	be	AUX
ajset-12	55	68	the	the	DET
ajset-12	55	69	wheelbase	wheelbase	NOUN
ajset-12	55	70	.	.	PUNCT
ajset-12	56	1	if	if	SCONJ
ajset-12	56	2	the	the	DET
ajset-12	56	3	self	self	NOUN
ajset-12	56	4	-	-	PUNCT
ajset-12	56	5	variation	variation	NOUN
ajset-12	56	6	angle	angle	NOUN
ajset-12	56	7	is	be	AUX
ajset-12	56	8	assumed	assume	VERB
ajset-12	56	9	to	to	PART
ajset-12	56	10	be	be	AUX
ajset-12	56	11	the	the	DET
ajset-12	56	12	ideal	ideal	ADJ
ajset-12	56	13	inner	inner	ADJ
ajset-12	56	14	wheel	wheel	NOUN
ajset-12	56	15	steering	steering	NOUN
ajset-12	56	16	angleα0	angleα0	NOUN
ajset-12	56	17	,	,	PUNCT
ajset-12	56	18	then	then	ADV
ajset-12	56	19	the	the	DET
ajset-12	56	20	angle	angle	NOUN
ajset-12	56	21	of	of	ADP
ajset-12	56	22	change	change	NOUN
ajset-12	56	23	is	be	AUX
ajset-12	56	24	the	the	DET
ajset-12	56	25	ideal	ideal	ADJ
ajset-12	56	26	outer	outer	ADJ
ajset-12	56	27	wheel	wheel	NOUN
ajset-12	56	28	steering	steering	NOUN
ajset-12	56	29	angleβ0	angleβ0	NOUN
ajset-12	56	30	,	,	PUNCT
ajset-12	56	31	the	the	DET
ajset-12	56	32	expectation	expectation	NOUN
ajset-12	56	33	of	of	ADP
ajset-12	56	34	the	the	DET
ajset-12	56	35	variable	variable	ADJ
ajset-12	56	36	angle	angle	NOUN
ajset-12	56	37	β0	β0	NOUN
ajset-12	56	38	can	can	AUX
ajset-12	56	39	be	be	AUX
ajset-12	56	40	expressed	express	VERB
ajset-12	56	41	as	as	ADP
ajset-12	56	42	:	:	PUNCT
ajset-12	56	43	β0	β0	NOUN
ajset-12	56	44	=	=	SYM
ajset-12	56	45	arccotcot	arccotcot	PROPN
ajset-12	56	46	(	(	PUNCT
ajset-12	56	47	α0	α0	ADJ
ajset-12	56	48	−k	−k	PROPN
ajset-12	56	49	l/	l/	NOUN
ajset-12	56	50	)	)	PUNCT
ajset-12	56	51	(	(	PUNCT
ajset-12	56	52	2	2	X
ajset-12	56	53	)	)	PUNCT
ajset-12	56	54	however	however	ADV
ajset-12	56	55	,	,	PUNCT
ajset-12	56	56	in	in	ADP
ajset-12	56	57	the	the	DET
ajset-12	56	58	actual	actual	ADJ
ajset-12	56	59	car	car	NOUN
ajset-12	56	60	steering	steering	NOUN
ajset-12	56	61	process	process	NOUN
ajset-12	56	62	,	,	PUNCT
ajset-12	56	63	the	the	DET
ajset-12	56	64	tire	tire	NOUN
ajset-12	56	65	will	will	AUX
ajset-12	56	66	be	be	AUX
ajset-12	56	67	subjected	subject	VERB
ajset-12	56	68	to	to	ADP
ajset-12	56	69	the	the	DET
ajset-12	56	70	centrifugal	centrifugal	ADJ
ajset-12	56	71	force	force	NOUN
ajset-12	56	72	generated	generate	VERB
ajset-12	56	73	during	during	ADP
ajset-12	56	74	the	the	DET
ajset-12	56	75	curve	curve	NOUN
ajset-12	56	76	driving	driving	NOUN
ajset-12	56	77	,	,	PUNCT
ajset-12	56	78	that	that	ADV
ajset-12	56	79	is	is	ADV
ajset-12	56	80	,	,	PUNCT
ajset-12	56	81	the	the	DET
ajset-12	56	82	cornering	corner	VERB
ajset-12	56	83	force	force	NOUN
ajset-12	56	84	.	.	PUNCT
ajset-12	57	1	under	under	ADP
ajset-12	57	2	the	the	DET
ajset-12	57	3	action	action	NOUN
ajset-12	57	4	of	of	ADP
ajset-12	57	5	the	the	DET
ajset-12	57	6	cornering	corner	VERB
ajset-12	57	7	force	force	NOUN
ajset-12	57	8	,	,	PUNCT
ajset-12	57	9	the	the	DET
ajset-12	57	10	tire	tire	NOUN
ajset-12	57	11	will	will	AUX
ajset-12	57	12	have	have	VERB
ajset-12	57	13	a	a	DET
ajset-12	57	14	certain	certain	ADJ
ajset-12	57	15	deformation	deformation	NOUN
ajset-12	57	16	,	,	PUNCT
ajset-12	57	17	so	so	SCONJ
ajset-12	57	18	that	that	SCONJ
ajset-12	57	19	the	the	DET
ajset-12	57	20	actual	actual	ADJ
ajset-12	57	21	inner	inner	ADJ
ajset-12	57	22	and	and	CCONJ
ajset-12	57	23	outer	outer	ADJ
ajset-12	57	24	wheel	wheel	NOUN
ajset-12	57	25	angles	angle	NOUN
ajset-12	57	26	are	be	AUX
ajset-12	57	27	smaller	small	ADJ
ajset-12	57	28	than	than	ADP
ajset-12	57	29	the	the	DET
ajset-12	57	30	ideal	ideal	ADJ
ajset-12	57	31	inner	inner	ADJ
ajset-12	57	32	and	and	CCONJ
ajset-12	57	33	outer	outer	ADJ
ajset-12	57	34	wheel	wheel	NOUN
ajset-12	57	35	angles	angle	NOUN
ajset-12	57	36	.	.	PUNCT
ajset-12	58	1	so	so	ADV
ajset-12	58	2	,	,	PUNCT
ajset-12	58	3	it	it	PRON
ajset-12	58	4	is	be	AUX
ajset-12	58	5	necessary	necessary	ADJ
ajset-12	58	6	to	to	PART
ajset-12	58	7	correct	correct	VERB
ajset-12	58	8	the	the	DET
ajset-12	58	9	ideal	ideal	ADJ
ajset-12	58	10	inner	inner	ADJ
ajset-12	58	11	and	and	CCONJ
ajset-12	58	12	outer	outer	ADJ
ajset-12	58	13	wheel	wheel	NOUN
ajset-12	58	14	angles	angle	NOUN
ajset-12	58	15	[	[	X
ajset-12	58	16	5	5	NUM
ajset-12	58	17	]	]	PUNCT
ajset-12	58	18	.	.	PUNCT
ajset-12	59	1	thus	thus	ADV
ajset-12	59	2	,	,	PUNCT
ajset-12	59	3	the	the	DET
ajset-12	59	4	ackerman	ackerman	PROPN
ajset-12	59	5	steering	steering	NOUN
ajset-12	59	6	correction	correction	NOUN
ajset-12	59	7	coefficient	coefficient	NOUN
ajset-12	59	8	ε	ε	PROPN
ajset-12	59	9	is	be	AUX
ajset-12	59	10	introduced	introduce	VERB
ajset-12	59	11	to	to	PART
ajset-12	59	12	correct	correct	VERB
ajset-12	59	13	the	the	DET
ajset-12	59	14	ideal	ideal	ADJ
ajset-12	59	15	outer	outer	ADJ
ajset-12	59	16	wheel	wheel	NOUN
ajset-12	59	17	steering	steering	NOUN
ajset-12	59	18	angle	angle	NOUN
ajset-12	59	19	β0	β0	PROPN
ajset-12	59	20	.	.	PUNCT
ajset-12	60	1	and	and	CCONJ
ajset-12	60	2	the	the	DET
ajset-12	60	3	specific	specific	ADJ
ajset-12	60	4	relationship	relationship	NOUN
ajset-12	60	5	between	between	ADP
ajset-12	60	6	the	the	DET
ajset-12	60	7	corrected	correct	VERB
ajset-12	60	8	outer	outer	ADJ
ajset-12	60	9	wheel	wheel	NOUN
ajset-12	60	10	steering	steering	NOUN
ajset-12	60	11	angle	angle	NOUN
ajset-12	60	12	β	β	NOUN
ajset-12	60	13	*	*	PUNCT
ajset-12	60	14	and	and	CCONJ
ajset-12	60	15	the	the	DET
ajset-12	60	16	ideal	ideal	ADJ
ajset-12	60	17	outer	outer	ADJ
ajset-12	60	18	wheel	wheel	NOUN
ajset-12	60	19	steering	steering	NOUN
ajset-12	60	20	angle	angle	NOUN
ajset-12	60	21	β0is	β0is	PUNCT
ajset-12	60	22	:	:	PUNCT
ajset-12	60	23	ε=	ε=	ADV
ajset-12	60	24	β	β	X
ajset-12	60	25	α	α	PROPN
ajset-12	60	26	*	*	VERB
ajset-12	60	27	−0	−0	PROPN
ajset-12	60	28	×100	×100	NOUN
ajset-12	60	29	%	%	NOUN
ajset-12	60	30	(	(	PUNCT
ajset-12	60	31	3	3	NUM
ajset-12	60	32	)	)	PUNCT
ajset-12	60	33	β	β	NOUN
ajset-12	61	1	α0	α0	ADJ
ajset-12	61	2	−0	−0	NOUN
ajset-12	61	3	then	then	ADV
ajset-12	61	4	,	,	PUNCT
ajset-12	61	5	putting	put	VERB
ajset-12	61	6	formula	formula	NOUN
ajset-12	61	7	(	(	PUNCT
ajset-12	61	8	3	3	NUM
ajset-12	61	9	)	)	PUNCT
ajset-12	61	10	into	into	ADP
ajset-12	61	11	formula	formula	NOUN
ajset-12	61	12	(	(	PUNCT
ajset-12	61	13	2	2	NUM
ajset-12	61	14	)	)	PUNCT
ajset-12	61	15	,	,	PUNCT
ajset-12	61	16	we	we	PRON
ajset-12	61	17	can	can	AUX
ajset-12	61	18	obtain	obtain	VERB
ajset-12	61	19	the	the	DET
ajset-12	61	20	expected	expect	VERB
ajset-12	61	21	value	value	NOUN
ajset-12	61	22	of	of	ADP
ajset-12	61	23	the	the	DET
ajset-12	61	24	corrected	correct	VERB
ajset-12	61	25	ideal	ideal	ADJ
ajset-12	61	26	outer	outer	ADJ
ajset-12	61	27	wheel	wheel	NOUN
ajset-12	61	28	steering	steering	NOUN
ajset-12	61	29	angle	angle	NOUN
ajset-12	61	30	β	β	NOUN
ajset-12	61	31	*	*	PUNCT
ajset-12	61	32	as	as	SCONJ
ajset-12	61	33	follow	follow	VERB
ajset-12	61	34	.	.	PUNCT
ajset-12	62	1	β	β	X
ajset-12	62	2	ε	ε	PROPN
ajset-12	62	3	*	*	PUNCT
ajset-12	63	1	=	=	PUNCT
ajset-12	63	2	×	×	NOUN
ajset-12	63	3	arccot	arccot	ADV
ajset-12	63	4	cot	cot	NOUN
ajset-12	63	5	α0	α0	ADJ
ajset-12	63	6	−	−	PROPN
ajset-12	63	7	kl	kl	PROPN
ajset-12	63	8	−α	−α	PROPN
ajset-12	63	9	α0	α0	PROPN
ajset-12	63	10	+	+	CCONJ
ajset-12	63	11	0	0	NUM
ajset-12	63	12	(	(	PUNCT
ajset-12	63	13	4	4	X
ajset-12	63	14	)	)	PUNCT
ajset-12	63	15	place	place	NOUN
ajset-12	63	16	the	the	DET
ajset-12	63	17	selected	select	VERB
ajset-12	63	18	steering	steering	NOUN
ajset-12	63	19	gear	gear	NOUN
ajset-12	63	20	on	on	ADP
ajset-12	63	21	the	the	DET
ajset-12	63	22	rear	rear	ADJ
ajset-12	63	23	trapezoidal	trapezoidal	ADJ
ajset-12	63	24	broken	break	VERB
ajset-12	63	25	rack	rack	NOUN
ajset-12	63	26	and	and	CCONJ
ajset-12	63	27	pinion	pinion	NOUN
ajset-12	63	28	steering	steering	NOUN
ajset-12	63	29	trapezoid	trapezoid	NOUN
ajset-12	63	30	behind	behind	ADP
ajset-12	63	31	the	the	DET
ajset-12	63	32	front	front	ADJ
ajset-12	63	33	axle	axle	NOUN
ajset-12	63	34	.	.	PUNCT
ajset-12	64	1	and	and	CCONJ
ajset-12	64	2	after	after	ADP
ajset-12	64	3	simplification	simplification	NOUN
ajset-12	64	4	,	,	PUNCT
ajset-12	64	5	the	the	DET
ajset-12	64	6	mathematical	mathematical	ADJ
ajset-12	64	7	model	model	NOUN
ajset-12	64	8	can	can	AUX
ajset-12	64	9	be	be	AUX
ajset-12	64	10	obtained	obtain	VERB
ajset-12	64	11	,	,	PUNCT
ajset-12	64	12	as	as	SCONJ
ajset-12	64	13	shown	show	VERB
ajset-12	64	14	in	in	ADP
ajset-12	64	15	figure	figure	NOUN
ajset-12	64	16	3	3	NUM
ajset-12	64	17	.	.	PUNCT
ajset-12	64	18	figure	figure	NOUN
ajset-12	64	19	.	.	PUNCT
ajset-12	65	1	3	3	NUM
ajset-12	65	2	rear	rear	ADJ
ajset-12	65	3	disconnected	disconnected	ADJ
ajset-12	65	4	steering	steering	NOUN
ajset-12	65	5	trapezoidal	trapezoidal	ADJ
ajset-12	65	6	model	model	NOUN
ajset-12	65	7	when	when	SCONJ
ajset-12	65	8	steering	steering	NOUN
ajset-12	65	9	,	,	PUNCT
ajset-12	65	10	the	the	DET
ajset-12	65	11	steering	steering	NOUN
ajset-12	65	12	gear	gear	NOUN
ajset-12	65	13	drives	drive	VERB
ajset-12	65	14	the	the	DET
ajset-12	65	15	gear	gear	NOUN
ajset-12	65	16	rack	rack	NOUN
ajset-12	65	17	to	to	PART
ajset-12	65	18	move	move	VERB
ajset-12	65	19	.	.	PUNCT
ajset-12	66	1	and	and	CCONJ
ajset-12	66	2	under	under	ADP
ajset-12	66	3	the	the	DET
ajset-12	66	4	action	action	NOUN
ajset-12	66	5	of	of	ADP
ajset-12	66	6	the	the	DET
ajset-12	66	7	tie	tie	NOUN
ajset-12	66	8	rod	rod	NOUN
ajset-12	66	9	,	,	PUNCT
ajset-12	66	10	the	the	DET
ajset-12	66	11	inner	inner	ADJ
ajset-12	66	12	and	and	CCONJ
ajset-12	66	13	outer	outer	ADJ
ajset-12	66	14	steering	steering	NOUN
ajset-12	66	15	wheels	wheel	NOUN
ajset-12	66	16	will	will	AUX
ajset-12	66	17	rotate	rotate	VERB
ajset-12	66	18	to	to	PART
ajset-12	66	19	generate	generate	VERB
ajset-12	66	20	the	the	DET
ajset-12	66	21	steering	steering	NOUN
ajset-12	66	22	angle	angle	NOUN
ajset-12	66	23	[	[	X
ajset-12	66	24	3	3	NUM
ajset-12	66	25	]	]	PUNCT
ajset-12	66	26	.	.	PUNCT
ajset-12	67	1	during	during	ADP
ajset-12	67	2	the	the	DET
ajset-12	67	3	steering	steering	NOUN
ajset-12	67	4	process	process	NOUN
ajset-12	67	5	,	,	PUNCT
ajset-12	67	6	the	the	DET
ajset-12	67	7	tie	tie	NOUN
ajset-12	67	8	rod	rod	NOUN
ajset-12	67	9	and	and	CCONJ
ajset-12	67	10	the	the	DET
ajset-12	67	11	knuckle	knuckle	NOUN
ajset-12	67	12	arm	arm	NOUN
ajset-12	67	13	are	be	AUX
ajset-12	67	14	hinged	hinge	VERB
ajset-12	67	15	,	,	PUNCT
ajset-12	67	16	and	and	CCONJ
ajset-12	67	17	only	only	ADV
ajset-12	67	18	the	the	DET
ajset-12	67	19	relative	relative	ADJ
ajset-12	67	20	position	position	NOUN
ajset-12	67	21	change	change	NOUN
ajset-12	67	22	occurs	occur	VERB
ajset-12	67	23	between	between	ADP
ajset-12	67	24	them	they	PRON
ajset-12	67	25	,	,	PUNCT
ajset-12	67	26	and	and	CCONJ
ajset-12	67	27	the	the	DET
ajset-12	67	28	length	length	NOUN
ajset-12	67	29	of	of	ADP
ajset-12	67	30	each	each	DET
ajset-12	67	31	rod	rod	NOUN
ajset-12	67	32	is	be	AUX
ajset-12	67	33	not	not	PART
ajset-12	67	34	change	change	NOUN
ajset-12	67	35	.	.	PUNCT
ajset-12	68	1	therefore	therefore	ADV
ajset-12	68	2	,	,	PUNCT
ajset-12	68	3	according	accord	VERB
ajset-12	68	4	to	to	ADP
ajset-12	68	5	the	the	DET
ajset-12	68	6	geometric	geometric	ADJ
ajset-12	68	7	relationship	relationship	NOUN
ajset-12	68	8	between	between	ADP
ajset-12	68	9	the	the	DET
ajset-12	68	10	tie	tie	NOUN
ajset-12	68	11	rod	rod	NOUN
ajset-12	68	12	and	and	CCONJ
ajset-12	68	13	the	the	DET
ajset-12	68	14	knuckle	knuckle	NOUN
ajset-12	68	15	arm	arm	NOUN
ajset-12	68	16	,	,	PUNCT
ajset-12	68	17	we	we	PRON
ajset-12	68	18	can	can	AUX
ajset-12	68	19	obtain	obtain	VERB
ajset-12	68	20	the	the	DET
ajset-12	68	21	relative	relative	ADJ
ajset-12	68	22	relationship	relationship	NOUN
ajset-12	68	23	between	between	ADP
ajset-12	68	24	the	the	DET
ajset-12	68	25	various	various	ADJ
ajset-12	68	26	parameters	parameter	NOUN
ajset-12	68	27	of	of	ADP
ajset-12	68	28	the	the	DET
ajset-12	68	29	steering	steering	NOUN
ajset-12	68	30	ladder	ladder	NOUN
ajset-12	68	31	structure	structure	NOUN
ajset-12	68	32	,	,	PUNCT
ajset-12	68	33	which	which	PRON
ajset-12	68	34	is	be	AUX
ajset-12	68	35	as	as	SCONJ
ajset-12	68	36	follows	follow	VERB
ajset-12	68	37	:	:	PUNCT
ajset-12	68	38	before	before	ADP
ajset-12	68	39	turning	turn	VERB
ajset-12	68	40	,	,	PUNCT
ajset-12	68	41	the	the	DET
ajset-12	68	42	distance	distance	NOUN
ajset-12	68	43	l2	l2	NOUN
ajset-12	68	44	from	from	ADP
ajset-12	68	45	the	the	DET
ajset-12	68	46	break	break	NOUN
ajset-12	68	47	point	point	NOUN
ajset-12	68	48	to	to	ADP
ajset-12	68	49	the	the	DET
ajset-12	68	50	midpoint	midpoint	NOUN
ajset-12	68	51	of	of	ADP
ajset-12	68	52	the	the	DET
ajset-12	68	53	ball	ball	NOUN
ajset-12	68	54	joint	joint	ADJ
ajset-12	68	55	pin	pin	PROPN
ajset-12	68	56	end	end	NOUN
ajset-12	68	57	of	of	ADP
ajset-12	68	58	the	the	DET
ajset-12	68	59	knuckle	knuckle	NOUN
ajset-12	68	60	arm	arm	NOUN
ajset-12	68	61	is	be	AUX
ajset-12	68	62	:	:	PUNCT
ajset-12	68	63	l2	l2	NOUN
ajset-12	68	64	=	=	SYM
ajset-12	68	65	k	k	PROPN
ajset-12	69	1	−2	−2	NOUN
ajset-12	69	2	m	m	VERB
ajset-12	69	3	−l1	−l1	ADJ
ajset-12	69	4	×cosϕ	×cosϕ	NOUN
ajset-12	69	5	2	2	NUM
ajset-12	70	1	+	+	PROPN
ajset-12	70	2	(	(	PUNCT
ajset-12	70	3	l1	l1	PROPN
ajset-12	70	4	×sinϕ−h	×sinϕ−h	PROPN
ajset-12	70	5	)	)	PUNCT
ajset-12	70	6	2	2	NUM
ajset-12	70	7	(	(	PUNCT
ajset-12	70	8	5	5	NUM
ajset-12	70	9	)	)	PUNCT
ajset-12	70	10	where	where	SCONJ
ajset-12	70	11	l1	l1	PROPN
ajset-12	70	12	is	be	AUX
ajset-12	70	13	the	the	DET
ajset-12	70	14	arm	arm	NOUN
ajset-12	70	15	length	length	NOUN
ajset-12	70	16	of	of	ADP
ajset-12	70	17	the	the	DET
ajset-12	70	18	trapezoidal	trapezoidal	ADJ
ajset-12	70	19	arm	arm	NOUN
ajset-12	70	20	that	that	PRON
ajset-12	70	21	turns	turn	VERB
ajset-12	70	22	to	to	ADP
ajset-12	70	23	the	the	DET
ajset-12	70	24	trapezoidal	trapezoidal	ADJ
ajset-12	70	25	structure	structure	NOUN
ajset-12	70	26	,	,	PUNCT
ajset-12	70	27	ϕ	ϕ	PROPN
ajset-12	70	28	is	be	AUX
ajset-12	70	29	the	the	DET
ajset-12	70	30	bottom	bottom	ADJ
ajset-12	70	31	angle	angle	NOUN
ajset-12	70	32	of	of	ADP
ajset-12	70	33	the	the	DET
ajset-12	70	34	steering	steering	NOUN
ajset-12	70	35	trapezoid	trapezoid	NOUN
ajset-12	70	36	,	,	PUNCT
ajset-12	70	37	h	h	PROPN
ajset-12	70	38	is	be	AUX
ajset-12	70	39	the	the	DET
ajset-12	70	40	horizontal	horizontal	ADJ
ajset-12	70	41	distance	distance	NOUN
ajset-12	70	42	from	from	ADP
ajset-12	70	43	the	the	DET
ajset-12	70	44	center	center	ADJ
ajset-12	70	45	line	line	NOUN
ajset-12	70	46	of	of	ADP
ajset-12	70	47	the	the	DET
ajset-12	70	48	rack	rack	NOUN
ajset-12	70	49	to	to	ADP
ajset-12	70	50	the	the	DET
ajset-12	70	51	center	center	ADJ
ajset-12	70	52	point	point	NOUN
ajset-12	70	53	of	of	ADP
ajset-12	70	54	the	the	DET
ajset-12	70	55	kingpin	kingpin	NOUN
ajset-12	70	56	,	,	PUNCT
ajset-12	70	57	and	and	CCONJ
ajset-12	70	58	m	m	PROPN
ajset-12	70	59	is	be	AUX
ajset-12	70	60	the	the	DET
ajset-12	70	61	length	length	NOUN
ajset-12	70	62	of	of	ADP
ajset-12	70	63	the	the	DET
ajset-12	70	64	tie	tie	NOUN
ajset-12	70	65	rod	rod	NOUN
ajset-12	70	66	.	.	PUNCT
ajset-12	71	1	when	when	SCONJ
ajset-12	71	2	turning	turn	VERB
ajset-12	71	3	,	,	PUNCT
ajset-12	71	4	the	the	DET
ajset-12	71	5	movement	movement	NOUN
ajset-12	71	6	stroke	stroke	NOUN
ajset-12	71	7	s	s	X
ajset-12	71	8	of	of	ADP
ajset-12	71	9	one	one	NUM
ajset-12	71	10	side	side	NOUN
ajset-12	71	11	of	of	ADP
ajset-12	71	12	the	the	DET
ajset-12	71	13	rack	rack	NOUN
ajset-12	71	14	is	be	AUX
ajset-12	71	15	:	:	PUNCT
ajset-12	71	16	hanqi	hanqi	PROPN
ajset-12	71	17	wang	wang	PROPN
ajset-12	71	18	,	,	PUNCT
ajset-12	71	19	bo	bo	PROPN
ajset-12	71	20	wu	wu	PROPN
ajset-12	71	21	*	*	PROPN
ajset-12	71	22	,	,	PUNCT
ajset-12	71	23	xiaolong	xiaolong	PROPN
ajset-12	71	24	cheng	cheng	PROPN
ajset-12	71	25	,	,	PUNCT
ajset-12	71	26	yongjun	yongjun	PROPN
ajset-12	71	27	mao	mao	PROPN
ajset-12	72	1	optimizing	optimize	VERB
ajset-12	72	2	the	the	DET
ajset-12	72	3	rear	rear	ADJ
ajset-12	72	4	-	-	PUNCT
ajset-12	72	5	disconnected	disconnected	ADJ
ajset-12	72	6	steering	steering	NOUN
ajset-12	72	7	trapezoid	trapezoid	NOUN
ajset-12	72	8	for	for	ADP
ajset-12	72	9	fsae	fsae	NOUN
ajset-12	72	10	racing	race	VERB
ajset-12	72	11	cars	car	NOUN
ajset-12	72	12	9|	9|	NUM
ajset-12	72	13	a	a	DET
ajset-12	72	14	c	c	NOUN
ajset-12	72	15	a	a	DET
ajset-12	72	16	d	d	X
ajset-12	72	17	e	e	NOUN
ajset-12	72	18	m	m	NOUN
ajset-12	72	19	i	i	NOUN
ajset-12	72	20	c	c	NOUN
ajset-12	72	21	j	j	NOUN
ajset-12	72	22	o	o	X
ajset-12	72	23	u	u	NOUN
ajset-12	72	24	r	r	NOUN
ajset-12	72	25	n	n	NOUN
ajset-12	72	26	a	a	DET
ajset-12	72	27	l	l	NOUN
ajset-12	73	1	o	o	X
ajset-12	73	2	f	f	X
ajset-12	73	3	s	s	X
ajset-12	73	4	c	c	NOUN
ajset-12	74	1	i	i	NOUN
ajset-12	74	2	e	e	PROPN
ajset-12	74	3	n	n	PROPN
ajset-12	74	4	c	c	NOUN
ajset-12	74	5	e	e	X
ajset-12	74	6	,	,	PUNCT
ajset-12	74	7	e	e	PROPN
ajset-12	74	8	n	n	PRON
ajset-12	74	9	g	g	NOUN
ajset-12	74	10	i	i	PRON
ajset-12	74	11	n	n	VERB
ajset-12	74	12	e	e	NOUN
ajset-12	74	13	e	e	NOUN
ajset-12	74	14	r	r	VERB
ajset-12	74	15	i	i	PRON
ajset-12	74	16	n	n	CCONJ
ajset-12	74	17	g	g	PROPN
ajset-12	74	18	a	a	DET
ajset-12	74	19	n	n	NOUN
ajset-12	74	20	d	d	NOUN
ajset-12	74	21	t	t	NOUN
ajset-12	74	22	e	e	X
ajset-12	74	23	c	c	NOUN
ajset-12	74	24	h	h	NOUN
ajset-12	74	25	n	n	ADV
ajset-12	74	26	o	o	NOUN
ajset-12	74	27	l	l	NOUN
ajset-12	75	1	o	o	X
ajset-12	75	2	g	g	NOUN
ajset-12	75	3	y	y	PROPN
ajset-12	75	4	|	|	ADV
ajset-12	75	5	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	VERB
ajset-12	75	6	s	s	VERB
ajset-12	75	7	=	=	NOUN
ajset-12	75	8	−	−	NOUN
ajset-12	75	9	l2	l2	NOUN
ajset-12	75	10	2	2	NUM
ajset-12	75	11	l1	l1	PROPN
ajset-12	75	12	×sin(ϕ	×sin(ϕ	PROPN
ajset-12	75	13	β+	β+	SYM
ajset-12	75	14	0	0	NUM
ajset-12	75	15	)	)	PUNCT
ajset-12	75	16	−h	−h	ADV
ajset-12	75	17	2	2	NUM
ajset-12	75	18	−l1	−l1	PROPN
ajset-12	75	19	×cos(ϕ	×cos(ϕ	PROPN
ajset-12	75	20	β+	β+	SYM
ajset-12	75	21	0	0	NUM
ajset-12	75	22	)	)	PUNCT
ajset-12	76	1	+	+	CCONJ
ajset-12	77	1	k	k	PROPN
ajset-12	77	2	−2	−2	NOUN
ajset-12	77	3	m	m	VERB
ajset-12	77	4	(	(	PUNCT
ajset-12	77	5	6	6	NUM
ajset-12	77	6	)	)	PUNCT
ajset-12	77	7	when	when	SCONJ
ajset-12	77	8	the	the	DET
ajset-12	77	9	car	car	NOUN
ajset-12	77	10	is	be	AUX
ajset-12	77	11	turning	turn	VERB
ajset-12	77	12	,	,	PUNCT
ajset-12	77	13	the	the	DET
ajset-12	77	14	actual	actual	ADJ
ajset-12	77	15	outer	outer	ADJ
ajset-12	77	16	wheel	wheel	NOUN
ajset-12	77	17	steering	steering	NOUN
ajset-12	77	18	angle	angle	NOUN
ajset-12	77	19	β1	β1	PROPN
ajset-12	77	20	is	be	AUX
ajset-12	77	21	:	:	PUNCT
ajset-12	77	22	2	2	NUM
ajset-12	77	23	l12	l12	NOUN
ajset-12	77	24	+	+	CCONJ
ajset-12	77	25	h	h	NOUN
ajset-12	77	26	2	2	NUM
ajset-12	77	27	+	+	CCONJ
ajset-12	77	28	k	k	PROPN
ajset-12	77	29	−m	−m	NOUN
ajset-12	77	30	β1	β1	PROPN
ajset-12	77	31	=	=	SYM
ajset-12	77	32	arctan	arctan	PROPN
ajset-12	77	33	k	k	PROPN
ajset-12	77	34	−2hms	−2hms	PROPN
ajset-12	77	35	+	+	CCONJ
ajset-12	77	36	arccos	arccos	ADJ
ajset-12	77	37	2×	2×	NUM
ajset-12	77	38	×l1h	×l1h	NOUN
ajset-12	77	39	2	2	NUM
ajset-12	77	40	+	+	CCONJ
ajset-12	77	41	2k	2k	NUM
ajset-12	77	42	−2−ms	−2−ms	NOUN
ajset-12	77	43	−s−	−s−	NOUN
ajset-12	77	44	l2	l2	PROPN
ajset-12	77	45	22	22	NUM
ajset-12	77	46	−ϕ	−ϕ	ADV
ajset-12	77	47	(	(	PUNCT
ajset-12	77	48	7	7	NUM
ajset-12	77	49	)	)	PUNCT
ajset-12	77	50	−	−	NOUN
ajset-12	78	1	the	the	DET
ajset-12	78	2	actual	actual	ADJ
ajset-12	78	3	outer	outer	ADJ
ajset-12	78	4	wheel	wheel	NOUN
ajset-12	78	5	steering	steering	NOUN
ajset-12	78	6	angle	angle	NOUN
ajset-12	78	7	β1	β1	PROPN
ajset-12	78	8	should	should	AUX
ajset-12	78	9	be	be	AUX
ajset-12	78	10	designed	design	VERB
ajset-12	78	11	as	as	ADV
ajset-12	78	12	close	close	ADJ
ajset-12	78	13	as	as	ADP
ajset-12	78	14	possible	possible	ADJ
ajset-12	78	15	to	to	ADP
ajset-12	78	16	the	the	DET
ajset-12	78	17	expected	expect	VERB
ajset-12	78	18	value	value	NOUN
ajset-12	78	19	of	of	ADP
ajset-12	78	20	the	the	DET
ajset-12	78	21	corrected	correct	VERB
ajset-12	78	22	outer	outer	ADJ
ajset-12	78	23	wheel	wheel	NOUN
ajset-12	78	24	steering	steering	NOUN
ajset-12	78	25	angle	angle	NOUN
ajset-12	78	26	β	β	X
ajset-12	78	27	*	*	PUNCT
ajset-12	78	28	.	.	PUNCT
ajset-12	79	1	when	when	SCONJ
ajset-12	79	2	the	the	DET
ajset-12	79	3	design	design	NOUN
ajset-12	79	4	value	value	NOUN
ajset-12	79	5	is	be	AUX
ajset-12	79	6	closer	close	ADJ
ajset-12	79	7	to	to	ADP
ajset-12	79	8	the	the	DET
ajset-12	79	9	expected	expect	VERB
ajset-12	79	10	value	value	NOUN
ajset-12	79	11	of	of	ADP
ajset-12	79	12	the	the	DET
ajset-12	79	13	theoretical	theoretical	ADJ
ajset-12	79	14	value	value	NOUN
ajset-12	79	15	,	,	PUNCT
ajset-12	79	16	the	the	DET
ajset-12	79	17	car	car	NOUN
ajset-12	79	18	can	can	AUX
ajset-12	79	19	be	be	AUX
ajset-12	79	20	closer	close	ADJ
ajset-12	79	21	to	to	ADP
ajset-12	79	22	the	the	DET
ajset-12	79	23	ideal	ideal	ADJ
ajset-12	79	24	ackerman	ackerman	PROPN
ajset-12	79	25	steering	steering	NOUN
ajset-12	79	26	during	during	ADP
ajset-12	79	27	the	the	DET
ajset-12	79	28	actual	actual	ADJ
ajset-12	79	29	steering	steering	NOUN
ajset-12	79	30	process	process	NOUN
ajset-12	79	31	.	.	PUNCT
ajset-12	80	1	in	in	ADP
ajset-12	80	2	order	order	NOUN
ajset-12	80	3	to	to	PART
ajset-12	80	4	objectively	objectively	ADV
ajset-12	80	5	evaluate	evaluate	VERB
ajset-12	80	6	the	the	DET
ajset-12	80	7	closeness	closeness	NOUN
ajset-12	80	8	between	between	ADP
ajset-12	80	9	the	the	DET
ajset-12	80	10	actual	actual	ADJ
ajset-12	80	11	outer	outer	ADJ
ajset-12	80	12	wheel	wheel	NOUN
ajset-12	80	13	steering	steering	NOUN
ajset-12	80	14	angle	angle	NOUN
ajset-12	80	15	β1and	β1and	ADP
ajset-12	81	1	the	the	DET
ajset-12	81	2	expected	expect	VERB
ajset-12	81	3	value	value	NOUN
ajset-12	81	4	of	of	ADP
ajset-12	81	5	the	the	DET
ajset-12	81	6	corrected	correct	VERB
ajset-12	81	7	ideal	ideal	ADJ
ajset-12	81	8	outer	outer	ADJ
ajset-12	81	9	wheel	wheel	NOUN
ajset-12	81	10	steering	steering	NOUN
ajset-12	81	11	angle	angle	NOUN
ajset-12	81	12	β	β	NOUN
ajset-12	81	13	*	*	PUNCT
ajset-12	81	14	,	,	PUNCT
ajset-12	81	15	we	we	PRON
ajset-12	81	16	introduce	introduce	VERB
ajset-12	81	17	an	an	DET
ajset-12	81	18	objective	objective	ADJ
ajset-12	81	19	function	function	NOUN
ajset-12	81	20	f	f	PROPN
ajset-12	81	21	x	x	X
ajset-12	81	22	(	(	PUNCT
ajset-12	81	23	)	)	PUNCT
ajset-12	81	24	for	for	ADP
ajset-12	81	25	evaluating	evaluate	VERB
ajset-12	81	26	the	the	DET
ajset-12	81	27	advantages	advantage	NOUN
ajset-12	81	28	and	and	CCONJ
ajset-12	81	29	disadvantages	disadvantage	NOUN
ajset-12	81	30	of	of	ADP
ajset-12	81	31	the	the	DET
ajset-12	81	32	steering	steering	NOUN
ajset-12	81	33	trapezoid	trapezoid	NOUN
ajset-12	81	34	design	design	NOUN
ajset-12	81	35	.	.	PUNCT
ajset-12	82	1	the	the	DET
ajset-12	82	2	specific	specific	ADJ
ajset-12	82	3	expression	expression	NOUN
ajset-12	82	4	is	be	AUX
ajset-12	82	5	as	as	SCONJ
ajset-12	82	6	follows	follow	VERB
ajset-12	82	7	:	:	PUNCT
ajset-12	82	8	where	where	SCONJ
ajset-12	82	9	µ	µ	NOUN
ajset-12	82	10	is	be	AUX
ajset-12	82	11	the	the	DET
ajset-12	82	12	correction	correction	NOUN
ajset-12	82	13	factor	factor	NOUN
ajset-12	82	14	,	,	PUNCT
ajset-12	82	15	x	x	X
ajset-12	82	16	is	be	AUX
ajset-12	82	17	the	the	DET
ajset-12	82	18	design	design	NOUN
ajset-12	82	19	variable	variable	NOUN
ajset-12	82	20	and	and	CCONJ
ajset-12	82	21	x	x	PUNCT
ajset-12	82	22	=[	=[	NOUN
ajset-12	82	23	m	m	PROPN
ajset-12	82	24	h	h	NOUN
ajset-12	82	25	ϕl1	ϕl1	X
ajset-12	82	26	]	]	X
ajset-12	82	27	t	t	X
ajset-12	82	28	.	.	PUNCT
ajset-12	83	1	considering	consider	VERB
ajset-12	83	2	that	that	SCONJ
ajset-12	83	3	fsae	fsae	NOUN
ajset-12	83	4	racing	race	VERB
ajset-12	83	5	cars	car	NOUN
ajset-12	83	6	are	be	AUX
ajset-12	83	7	always	always	ADV
ajset-12	83	8	driven	drive	VERB
ajset-12	83	9	under	under	ADP
ajset-12	83	10	high	high	ADJ
ajset-12	83	11	-	-	PUNCT
ajset-12	83	12	speed	speed	NOUN
ajset-12	83	13	conditions	condition	NOUN
ajset-12	83	14	,	,	PUNCT
ajset-12	83	15	the	the	DET
ajset-12	83	16	wear	wear	NOUN
ajset-12	83	17	pattern	pattern	NOUN
ajset-12	83	18	of	of	ADP
ajset-12	83	19	the	the	DET
ajset-12	83	20	tire	tire	NOUN
ajset-12	83	21	surface	surface	NOUN
ajset-12	83	22	pattern	pattern	NOUN
ajset-12	83	23	is	be	AUX
ajset-12	83	24	more	more	ADV
ajset-12	83	25	serious	serious	ADJ
ajset-12	83	26	.	.	PUNCT
ajset-12	84	1	when	when	SCONJ
ajset-12	84	2	evaluating	evaluate	VERB
ajset-12	84	3	the	the	DET
ajset-12	84	4	design	design	NOUN
ajset-12	84	5	of	of	ADP
ajset-12	84	6	the	the	DET
ajset-12	84	7	steering	steering	NOUN
ajset-12	84	8	trapezoid	trapezoid	NOUN
ajset-12	84	9	,	,	PUNCT
ajset-12	84	10	it	it	PRON
ajset-12	84	11	is	be	AUX
ajset-12	84	12	necessary	necessary	ADJ
ajset-12	84	13	to	to	PART
ajset-12	84	14	take	take	VERB
ajset-12	84	15	into	into	ADP
ajset-12	84	16	account	account	NOUN
ajset-12	84	17	the	the	DET
ajset-12	84	18	influence	influence	NOUN
ajset-12	84	19	of	of	ADP
ajset-12	84	20	tire	tire	NOUN
ajset-12	84	21	wear	wear	NOUN
ajset-12	84	22	on	on	ADP
ajset-12	84	23	it	it	PRON
ajset-12	84	24	.	.	PUNCT
ajset-12	85	1	thus	thus	ADV
ajset-12	85	2	,	,	PUNCT
ajset-12	85	3	the	the	DET
ajset-12	85	4	introduction	introduction	NOUN
ajset-12	85	5	of	of	ADP
ajset-12	85	6	the	the	DET
ajset-12	85	7	correction	correction	NOUN
ajset-12	85	8	coefficient	coefficient	NOUN
ajset-12	85	9	µ	µ	PRON
ajset-12	85	10	makes	make	VERB
ajset-12	85	11	the	the	DET
ajset-12	85	12	objective	objective	ADJ
ajset-12	85	13	function	function	NOUN
ajset-12	85	14	f	f	PROPN
ajset-12	85	15	x	x	X
ajset-12	85	16	(	(	PUNCT
ajset-12	85	17	)	)	PUNCT
ajset-12	85	18	of	of	ADP
ajset-12	85	19	the	the	DET
ajset-12	85	20	evaluation	evaluation	NOUN
ajset-12	85	21	steering	steering	NOUN
ajset-12	85	22	ladder	ladder	NOUN
ajset-12	85	23	design	design	NOUN
ajset-12	85	24	closer	close	ADV
ajset-12	85	25	to	to	ADP
ajset-12	85	26	the	the	DET
ajset-12	85	27	actual	actual	ADJ
ajset-12	85	28	situation	situation	NOUN
ajset-12	85	29	.	.	PUNCT
ajset-12	86	1	when	when	SCONJ
ajset-12	86	2	setting	set	VERB
ajset-12	86	3	constraints	constraint	NOUN
ajset-12	86	4	,	,	PUNCT
ajset-12	86	5	we	we	PRON
ajset-12	86	6	focus	focus	VERB
ajset-12	86	7	on	on	ADP
ajset-12	86	8	the	the	DET
ajset-12	86	9	ease	ease	NOUN
ajset-12	86	10	of	of	ADP
ajset-12	86	11	operation	operation	NOUN
ajset-12	86	12	of	of	ADP
ajset-12	86	13	the	the	DET
ajset-12	86	14	steering	steering	NOUN
ajset-12	86	15	mechanism	mechanism	NOUN
ajset-12	86	16	.	.	PUNCT
ajset-12	87	1	because	because	SCONJ
ajset-12	87	2	of	of	ADP
ajset-12	87	3	the	the	DET
ajset-12	87	4	low	low	ADJ
ajset-12	87	5	quality	quality	NOUN
ajset-12	87	6	of	of	ADP
ajset-12	87	7	the	the	DET
ajset-12	87	8	fsae	fsae	NOUN
ajset-12	87	9	racing	race	VERB
ajset-12	87	10	car	car	NOUN
ajset-12	87	11	and	and	CCONJ
ajset-12	87	12	the	the	DET
ajset-12	87	13	limitation	limitation	NOUN
ajset-12	87	14	of	of	ADP
ajset-12	87	15	the	the	DET
ajset-12	87	16	installation	installation	NOUN
ajset-12	87	17	space	space	NOUN
ajset-12	87	18	,	,	PUNCT
ajset-12	87	19	the	the	DET
ajset-12	87	20	fsae	fsae	PROPN
ajset-12	87	21	racing	race	VERB
ajset-12	87	22	car	car	NOUN
ajset-12	87	23	generally	generally	ADV
ajset-12	87	24	does	do	AUX
ajset-12	87	25	not	not	PART
ajset-12	87	26	use	use	VERB
ajset-12	87	27	the	the	DET
ajset-12	87	28	steering	steering	NOUN
ajset-12	87	29	assist	assist	NOUN
ajset-12	87	30	device	device	NOUN
ajset-12	87	31	,	,	PUNCT
ajset-12	87	32	which	which	PRON
ajset-12	87	33	requires	require	VERB
ajset-12	87	34	the	the	DET
ajset-12	87	35	entire	entire	ADJ
ajset-12	87	36	steering	steering	NOUN
ajset-12	87	37	mechanism	mechanism	NOUN
ajset-12	87	38	to	to	PART
ajset-12	87	39	be	be	AUX
ajset-12	87	40	maneuverable	maneuverable	ADJ
ajset-12	87	41	during	during	ADP
ajset-12	87	42	handling	handling	NOUN
ajset-12	87	43	.	.	PUNCT
ajset-12	88	1	while	while	SCONJ
ajset-12	88	2	in	in	ADP
ajset-12	88	3	the	the	DET
ajset-12	88	4	steering	steering	NOUN
ajset-12	88	5	trapezoidal	trapezoidal	ADJ
ajset-12	88	6	mechanism	mechanism	NOUN
ajset-12	88	7	,	,	PUNCT
ajset-12	88	8	the	the	DET
ajset-12	88	9	direct	direct	ADJ
ajset-12	88	10	influence	influence	NOUN
ajset-12	88	11	of	of	ADP
ajset-12	88	12	the	the	DET
ajset-12	88	13	handling	handling	NOUN
ajset-12	88	14	of	of	ADP
ajset-12	88	15	the	the	DET
ajset-12	88	16	portability	portability	NOUN
ajset-12	88	17	are	be	AUX
ajset-12	88	18	the	the	DET
ajset-12	88	19	length	length	NOUN
ajset-12	88	20	of	of	ADP
ajset-12	88	21	the	the	DET
ajset-12	88	22	tie	tie	NOUN
ajset-12	88	23	rod	rod	NOUN
ajset-12	88	24	m	m	NOUN
ajset-12	88	25	and	and	CCONJ
ajset-12	88	26	the	the	DET
ajset-12	88	27	bottom	bottom	ADJ
ajset-12	88	28	angle	angle	PROPN
ajset-12	88	29	ϕ	ϕ	PROPN
ajset-12	88	30	of	of	ADP
ajset-12	88	31	the	the	DET
ajset-12	88	32	steering	steering	NOUN
ajset-12	88	33	trapezoid	trapezoid	NOUN
ajset-12	88	34	.	.	PUNCT
ajset-12	89	1	when	when	SCONJ
ajset-12	89	2	the	the	DET
ajset-12	89	3	values	value	NOUN
ajset-12	89	4	of	of	ADP
ajset-12	89	5	the	the	DET
ajset-12	89	6	design	design	NOUN
ajset-12	89	7	variables	variable	NOUN
ajset-12	89	8	m	m	VERB
ajset-12	89	9	and	and	CCONJ
ajset-12	89	10	ϕ	ϕ	PROPN
ajset-12	89	11	are	be	AUX
ajset-12	89	12	selected	select	VERB
ajset-12	89	13	too	too	ADV
ajset-12	89	14	small	small	ADJ
ajset-12	89	15	,	,	PUNCT
ajset-12	89	16	the	the	DET
ajset-12	89	17	steering	steering	NOUN
ajset-12	89	18	load	load	NOUN
ajset-12	89	19	applied	apply	VERB
ajset-12	89	20	to	to	ADP
ajset-12	89	21	the	the	DET
ajset-12	89	22	tie	tie	NOUN
ajset-12	89	23	rods	rod	NOUN
ajset-12	89	24	is	be	AUX
ajset-12	89	25	too	too	ADV
ajset-12	89	26	large	large	ADJ
ajset-12	89	27	,	,	PUNCT
ajset-12	89	28	which	which	PRON
ajset-12	89	29	is	be	AUX
ajset-12	89	30	inconvenient	inconvenient	ADJ
ajset-12	89	31	for	for	ADP
ajset-12	89	32	the	the	DET
ajset-12	89	33	racer	racer	NOUN
ajset-12	89	34	to	to	PART
ajset-12	89	35	turn	turn	VERB
ajset-12	89	36	[	[	X
ajset-12	89	37	1	1	NUM
ajset-12	89	38	]	]	PUNCT
ajset-12	89	39	.	.	PUNCT
ajset-12	90	1	when	when	SCONJ
ajset-12	90	2	the	the	DET
ajset-12	90	3	length	length	NOUN
ajset-12	90	4	m	m	VERB
ajset-12	90	5	of	of	ADP
ajset-12	90	6	the	the	DET
ajset-12	90	7	design	design	NOUN
ajset-12	90	8	variable	variable	ADJ
ajset-12	90	9	tie	tie	NOUN
ajset-12	90	10	rod	rod	NOUN
ajset-12	90	11	is	be	AUX
ajset-12	90	12	too	too	ADV
ajset-12	90	13	large	large	ADJ
ajset-12	90	14	,	,	PUNCT
ajset-12	90	15	the	the	DET
ajset-12	90	16	size	size	NOUN
ajset-12	90	17	of	of	ADP
ajset-12	90	18	the	the	DET
ajset-12	90	19	entire	entire	ADJ
ajset-12	90	20	steering	steering	NOUN
ajset-12	90	21	trapezoid	trapezoid	NOUN
ajset-12	90	22	will	will	AUX
ajset-12	90	23	increase	increase	VERB
ajset-12	90	24	,	,	PUNCT
ajset-12	90	25	which	which	PRON
ajset-12	90	26	will	will	AUX
ajset-12	90	27	not	not	PART
ajset-12	90	28	only	only	ADV
ajset-12	90	29	increase	increase	VERB
ajset-12	90	30	the	the	DET
ajset-12	90	31	difficulty	difficulty	NOUN
ajset-12	90	32	of	of	ADP
ajset-12	90	33	the	the	DET
ajset-12	90	34	fsae	fsae	NOUN
ajset-12	90	35	racing	race	VERB
ajset-12	90	36	steering	steering	NOUN
ajset-12	90	37	mechanism	mechanism	NOUN
ajset-12	90	38	,	,	PUNCT
ajset-12	90	39	but	but	CCONJ
ajset-12	90	40	also	also	ADV
ajset-12	90	41	cause	cause	VERB
ajset-12	90	42	serious	serious	ADJ
ajset-12	90	43	problems	problem	NOUN
ajset-12	90	44	with	with	ADP
ajset-12	90	45	the	the	DET
ajset-12	90	46	interference	interference	NOUN
ajset-12	90	47	of	of	ADP
ajset-12	90	48	the	the	DET
ajset-12	90	49	front	front	ADJ
ajset-12	90	50	suspension	suspension	NOUN
ajset-12	90	51	.	.	PUNCT
ajset-12	91	1	thus	thus	ADV
ajset-12	91	2	,	,	PUNCT
ajset-12	91	3	selecting	select	VERB
ajset-12	91	4	the	the	DET
ajset-12	91	5	length	length	NOUN
ajset-12	91	6	m	m	NOUN
ajset-12	91	7	of	of	ADP
ajset-12	91	8	the	the	DET
ajset-12	91	9	appropriate	appropriate	ADJ
ajset-12	91	10	tie	tie	NOUN
ajset-12	91	11	rod	rod	NOUN
ajset-12	91	12	and	and	CCONJ
ajset-12	91	13	the	the	DET
ajset-12	91	14	bottom	bottom	ADJ
ajset-12	91	15	angle	angle	PROPN
ajset-12	91	16	ϕ	ϕ	PROPN
ajset-12	91	17	of	of	ADP
ajset-12	91	18	the	the	DET
ajset-12	91	19	steering	steering	NOUN
ajset-12	91	20	trapezoid	trapezoid	NOUN
ajset-12	91	21	have	have	VERB
ajset-12	91	22	important	important	ADJ
ajset-12	91	23	significance	significance	NOUN
ajset-12	91	24	for	for	ADP
ajset-12	91	25	the	the	DET
ajset-12	91	26	manipulation	manipulation	NOUN
ajset-12	91	27	and	and	CCONJ
ajset-12	91	28	arrangement	arrangement	NOUN
ajset-12	91	29	of	of	ADP
ajset-12	91	30	the	the	DET
ajset-12	91	31	entire	entire	ADJ
ajset-12	91	32	steering	steering	NOUN
ajset-12	91	33	mechanism	mechanism	NOUN
ajset-12	91	34	.	.	PUNCT
ajset-12	92	1	the	the	DET
ajset-12	92	2	specific	specific	ADJ
ajset-12	92	3	constraints	constraint	NOUN
ajset-12	92	4	are	be	AUX
ajset-12	92	5	as	as	SCONJ
ajset-12	92	6	follows	follow	VERB
ajset-12	92	7	:	:	PUNCT
ajset-12	92	8	m	m	PUNCT
ajset-12	92	9	−mmin≥	−mmin≥	NUM
ajset-12	92	10	0	0	NUM
ajset-12	92	11	mmax−m	mmax−m	NOUN
ajset-12	92	12	≥	≥	NOUN
ajset-12	92	13	0	0	NUM
ajset-12	92	14	(	(	PUNCT
ajset-12	92	15	9	9	NUM
ajset-12	92	16	)	)	PUNCT
ajset-12	92	17	ϕϕ−min	ϕϕ−min	NOUN
ajset-12	92	18	≥	≥	NOUN
ajset-12	92	19	0	0	NUM
ajset-12	92	20	in	in	ADP
ajset-12	92	21	the	the	DET
ajset-12	92	22	formula	formula	NOUN
ajset-12	92	23	,	,	PUNCT
ajset-12	92	24	mmin	mmin	NOUN
ajset-12	92	25	is	be	AUX
ajset-12	92	26	the	the	DET
ajset-12	92	27	general	general	ADJ
ajset-12	92	28	design	design	NOUN
ajset-12	92	29	minimum	minimum	NOUN
ajset-12	92	30	of	of	ADP
ajset-12	92	31	the	the	DET
ajset-12	92	32	tie	tie	NOUN
ajset-12	92	33	rod	rod	NOUN
ajset-12	92	34	,	,	PUNCT
ajset-12	92	35	mmax	mmax	NOUN
ajset-12	92	36	is	be	AUX
ajset-12	92	37	the	the	DET
ajset-12	92	38	general	general	ADJ
ajset-12	92	39	design	design	NOUN
ajset-12	92	40	maximum	maximum	NOUN
ajset-12	92	41	of	of	ADP
ajset-12	92	42	the	the	DET
ajset-12	92	43	tie	tie	NOUN
ajset-12	92	44	rod	rod	NOUN
ajset-12	92	45	,	,	PUNCT
ajset-12	92	46	and	and	CCONJ
ajset-12	92	47	ϕmin	ϕmin	NOUN
ajset-12	92	48	is	be	AUX
ajset-12	92	49	the	the	DET
ajset-12	92	50	general	general	ADJ
ajset-12	92	51	design	design	NOUN
ajset-12	92	52	minimum	minimum	NOUN
ajset-12	92	53	of	of	ADP
ajset-12	92	54	the	the	DET
ajset-12	92	55	base	base	NOUN
ajset-12	92	56	angle	angle	NOUN
ajset-12	92	57	of	of	ADP
ajset-12	92	58	the	the	DET
ajset-12	92	59	steering	steering	NOUN
ajset-12	92	60	trapezoid	trapezoid	NOUN
ajset-12	92	61	.	.	PUNCT
ajset-12	93	1	according	accord	VERB
ajset-12	93	2	to	to	ADP
ajset-12	93	3	the	the	DET
ajset-12	93	4	design	design	NOUN
ajset-12	93	5	experience	experience	NOUN
ajset-12	93	6	,	,	PUNCT
ajset-12	93	7	the	the	DET
ajset-12	93	8	general	general	ADJ
ajset-12	93	9	design	design	NOUN
ajset-12	93	10	minimum	minimum	NOUN
ajset-12	93	11	value	value	NOUN
ajset-12	93	12	of	of	ADP
ajset-12	93	13	the	the	DET
ajset-12	93	14	tie	tie	NOUN
ajset-12	93	15	rod	rod	NOUN
ajset-12	93	16	is	be	AUX
ajset-12	93	17	mmin=	mmin=	NUM
ajset-12	93	18	0.11k	0.11k	PROPN
ajset-12	93	19	,	,	PUNCT
ajset-12	93	20	the	the	DET
ajset-12	93	21	general	general	ADJ
ajset-12	93	22	design	design	NOUN
ajset-12	93	23	maximum	maximum	ADJ
ajset-12	93	24	value	value	NOUN
ajset-12	93	25	of	of	ADP
ajset-12	93	26	the	the	DET
ajset-12	93	27	tie	tie	NOUN
ajset-12	93	28	rod	rod	NOUN
ajset-12	93	29	is	be	AUX
ajset-12	93	30	mmax=	mmax=	NUM
ajset-12	93	31	0.15k	0.15k	NOUN
ajset-12	93	32	,	,	PUNCT
ajset-12	93	33	and	and	CCONJ
ajset-12	93	34	the	the	DET
ajset-12	93	35	general	general	ADJ
ajset-12	93	36	design	design	NOUN
ajset-12	93	37	minimum	minimum	NOUN
ajset-12	93	38	value	value	NOUN
ajset-12	93	39	of	of	ADP
ajset-12	93	40	the	the	DET
ajset-12	93	41	bottom	bottom	ADJ
ajset-12	93	42	angle	angle	NOUN
ajset-12	93	43	of	of	ADP
ajset-12	93	44	the	the	DET
ajset-12	93	45	steering	steering	NOUN
ajset-12	93	46	trapezoid	trapezoid	NOUN
ajset-12	93	47	is	be	AUX
ajset-12	93	48	ϕmin=	ϕmin=	NUM
ajset-12	93	49	70	70	NUM
ajset-12	93	50	.	.	PUNCT
ajset-12	94	1	at	at	ADP
ajset-12	94	2	the	the	DET
ajset-12	94	3	same	same	ADJ
ajset-12	94	4	time	time	NOUN
ajset-12	94	5	,	,	PUNCT
ajset-12	94	6	the	the	DET
ajset-12	94	7	entire	entire	ADJ
ajset-12	94	8	steering	steering	NOUN
ajset-12	94	9	mechanism	mechanism	NOUN
ajset-12	94	10	should	should	AUX
ajset-12	94	11	also	also	ADV
ajset-12	94	12	have	have	VERB
ajset-12	94	13	high	high	ADJ
ajset-12	94	14	transmission	transmission	NOUN
ajset-12	94	15	efficiency	efficiency	NOUN
ajset-12	94	16	when	when	SCONJ
ajset-12	94	17	maneuvering	maneuver	VERB
ajset-12	94	18	.	.	PUNCT
ajset-12	95	1	the	the	DET
ajset-12	95	2	steering	steering	NOUN
ajset-12	95	3	trapezoidal	trapezoidal	ADJ
ajset-12	95	4	mechanism	mechanism	NOUN
ajset-12	95	5	is	be	AUX
ajset-12	95	6	essentially	essentially	ADV
ajset-12	95	7	a	a	DET
ajset-12	95	8	multi	multi	ADJ
ajset-12	95	9	-	-	ADJ
ajset-12	95	10	link	link	ADJ
ajset-12	95	11	mechanism	mechanism	NOUN
ajset-12	95	12	.	.	PUNCT
ajset-12	96	1	in	in	ADP
ajset-12	96	2	the	the	DET
ajset-12	96	3	multi	multi	ADJ
ajset-12	96	4	-	-	ADJ
ajset-12	96	5	link	link	ADJ
ajset-12	96	6	mechanism	mechanism	NOUN
ajset-12	96	7	,	,	PUNCT
ajset-12	96	8	the	the	DET
ajset-12	96	9	transmission	transmission	NOUN
ajset-12	96	10	angle	angle	NOUN
ajset-12	96	11	can	can	AUX
ajset-12	96	12	effectively	effectively	ADV
ajset-12	96	13	reflect	reflect	VERB
ajset-12	96	14	the	the	DET
ajset-12	96	15	transmission	transmission	NOUN
ajset-12	96	16	quality	quality	NOUN
ajset-12	96	17	of	of	ADP
ajset-12	96	18	the	the	DET
ajset-12	96	19	linkage	linkage	NOUN
ajset-12	96	20	mechanism	mechanism	NOUN
ajset-12	96	21	.	.	PUNCT
ajset-12	97	1	thus	thus	ADV
ajset-12	97	2	,	,	PUNCT
ajset-12	97	3	the	the	DET
ajset-12	97	4	steering	steering	NOUN
ajset-12	97	5	angle	angle	NOUN
ajset-12	97	6	is	be	AUX
ajset-12	97	7	further	far	ADV
ajset-12	97	8	constrained	constrain	VERB
ajset-12	97	9	by	by	ADP
ajset-12	97	10	the	the	DET
ajset-12	97	11	transmission	transmission	NOUN
ajset-12	97	12	angle	angle	NOUN
ajset-12	97	13	.	.	PUNCT
ajset-12	98	1	in	in	ADP
ajset-12	98	2	the	the	DET
ajset-12	98	3	motion	motion	NOUN
ajset-12	98	4	diagram	diagram	NOUN
ajset-12	98	5	of	of	ADP
ajset-12	98	6	the	the	DET
ajset-12	98	7	steering	steering	NOUN
ajset-12	98	8	(	(	PUNCT
ajset-12	98	9	)	)	PUNCT
ajset-12	98	10	2	2	NUM
ajset-12	98	11	2	2	NUM
ajset-12	98	12	2	2	NUM
ajset-12	98	13	2	2	NUM
ajset-12	98	14	2	2	NUM
ajset-12	98	15	1	1	NUM
ajset-12	98	16	2	2	NUM
ajset-12	98	17	2	2	NUM
ajset-12	98	18	1	1	NUM
ajset-12	98	19	0	0	NUM
ajset-12	98	20	0	0	NUM
ajset-12	98	21	0	0	NUM
ajset-12	98	22	2	2	NUM
ajset-12	98	23	arctan	arctan	PROPN
ajset-12	98	24	arccos	arccos	VERB
ajset-12	98	25	2	2	NUM
ajset-12	98	26	2	2	NUM
ajset-12	98	27	2	2	NUM
ajset-12	98	28	%	%	NOUN
ajset-12	98	29	1100	1100	NUM
ajset-12	98	30	cot	cot	NOUN
ajset-12	98	31	cot	cot	NOUN
ajset-12	99	1	k	k	NOUN
ajset-12	99	2	m	m	VERB
ajset-12	99	3	l	l	NOUN
ajset-12	99	4	h	h	NOUN
ajset-12	99	5	s	s	PART
ajset-12	99	6	l	l	NOUN
ajset-12	99	7	h	h	NOUN
ajset-12	100	1	k	k	NOUN
ajset-12	100	2	m	m	VERB
ajset-12	100	3	m	m	VERB
ajset-12	100	4	k	k	NOUN
ajset-12	100	5	s	s	PROPN
ajset-12	100	6	l	l	NOUN
ajset-12	100	7	s	s	PART
ajset-12	101	1	h	h	PROPN
ajset-12	101	2	fx	fx	PROPN
ajset-12	101	3	k	k	PROPN
ajset-12	101	4	arc	arc	PROPN
ajset-12	101	5	l	l	PROPN
ajset-12	101	6	ϕ	ϕ	X
ajset-12	101	7	µ	µ	X
ajset-12	101	8	ε	ε	PROPN
ajset-12	101	9	α	α	NOUN
ajset-12	101	10	α	α	NOUN
ajset-12	101	11	α	α	NOUN
ajset-12	101	12	−	−	PROPN
ajset-12	102	1	+	+	CCONJ
ajset-12	102	2	+	+	NUM
ajset-12	102	3	−	−	ADP
ajset-12	102	4	−	−	NUM
ajset-12	103	1	−	−	PROPN
ajset-12	104	1	+	+	CCONJ
ajset-12	104	2	−	−	PROPN
ajset-12	104	3	−	−	NUM
ajset-12	104	4	−	−	NOUN
ajset-12	105	1	−	−	PROPN
ajset-12	106	1	+	+	CCONJ
ajset-12	106	2	×	×	PROPN
ajset-12	106	3	×	×	NOUN
ajset-12	106	4	=	=	SYM
ajset-12	106	5	×	×	NOUN
ajset-12	106	6	−	−	PROPN
ajset-12	106	7	×	×	NOUN
ajset-12	106	8	×	×	NOUN
ajset-12	106	9	−	−	PROPN
ajset-12	107	1	−	−	PROPN
ajset-12	108	1	+	+	CCONJ
ajset-12	108	2	(	(	PUNCT
ajset-12	108	3	8)	8)	NUM
ajset-12	108	4	hanqi	hanqi	NOUN
ajset-12	108	5	wang	wang	PROPN
ajset-12	108	6	,	,	PUNCT
ajset-12	108	7	bo	bo	PROPN
ajset-12	108	8	wu	wu	PROPN
ajset-12	108	9	*	*	PROPN
ajset-12	108	10	,	,	PUNCT
ajset-12	108	11	xiaolong	xiaolong	PROPN
ajset-12	108	12	cheng	cheng	PROPN
ajset-12	108	13	,	,	PUNCT
ajset-12	108	14	yongjun	yongjun	PROPN
ajset-12	108	15	mao	mao	PROPN
ajset-12	108	16	optimizing	optimize	VERB
ajset-12	108	17	the	the	DET
ajset-12	108	18	rear	rear	ADJ
ajset-12	108	19	-	-	PUNCT
ajset-12	108	20	disconnected	disconnected	ADJ
ajset-12	108	21	steering	steering	NOUN
ajset-12	108	22	trapezoid	trapezoid	NOUN
ajset-12	108	23	for	for	ADP
ajset-12	108	24	fsae	fsae	NOUN
ajset-12	108	25	racing	race	VERB
ajset-12	108	26	cars	car	NOUN
ajset-12	109	1	10|	10|	NUM
ajset-12	109	2	a	a	DET
ajset-12	109	3	c	c	NOUN
ajset-12	109	4	a	a	PRON
ajset-12	109	5	d	d	X
ajset-12	109	6	e	e	NOUN
ajset-12	109	7	m	m	NOUN
ajset-12	109	8	i	i	NOUN
ajset-12	109	9	c	c	NOUN
ajset-12	109	10	j	j	NOUN
ajset-12	109	11	o	o	X
ajset-12	109	12	u	u	NOUN
ajset-12	109	13	r	r	NOUN
ajset-12	109	14	n	n	NOUN
ajset-12	109	15	a	a	DET
ajset-12	109	16	l	l	NOUN
ajset-12	109	17	o	o	X
ajset-12	110	1	f	f	X
ajset-12	110	2	s	s	X
ajset-12	110	3	c	c	NOUN
ajset-12	111	1	i	i	NOUN
ajset-12	111	2	e	e	PROPN
ajset-12	111	3	n	n	PROPN
ajset-12	111	4	c	c	NOUN
ajset-12	111	5	e	e	X
ajset-12	111	6	,	,	PUNCT
ajset-12	111	7	e	e	PROPN
ajset-12	111	8	n	n	PRON
ajset-12	111	9	g	g	NOUN
ajset-12	111	10	i	i	PRON
ajset-12	111	11	n	n	VERB
ajset-12	111	12	e	e	NOUN
ajset-12	111	13	e	e	NOUN
ajset-12	111	14	r	r	VERB
ajset-12	111	15	i	i	PRON
ajset-12	111	16	n	n	CCONJ
ajset-12	111	17	g	g	PROPN
ajset-12	111	18	a	a	DET
ajset-12	111	19	n	n	NOUN
ajset-12	111	20	d	d	NOUN
ajset-12	111	21	t	t	NOUN
ajset-12	111	22	e	e	X
ajset-12	111	23	c	c	NOUN
ajset-12	111	24	h	h	NOUN
ajset-12	111	25	n	n	ADV
ajset-12	111	26	o	o	NOUN
ajset-12	111	27	l	l	NOUN
ajset-12	112	1	o	o	X
ajset-12	112	2	g	g	NOUN
ajset-12	112	3	y	y	PROPN
ajset-12	112	4	|	|	ADV
ajset-12	112	5	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	VERB
ajset-12	112	6	mechanism	mechanism	NOUN
ajset-12	112	7	designed	design	VERB
ajset-12	112	8	above	above	ADV
ajset-12	112	9	,	,	PUNCT
ajset-12	112	10	the	the	DET
ajset-12	112	11	transmission	transmission	NOUN
ajset-12	112	12	angle	angle	NOUN
ajset-12	112	13	is	be	AUX
ajset-12	112	14	γ	γ	X
ajset-12	112	15	(	(	PUNCT
ajset-12	112	16	as	as	SCONJ
ajset-12	112	17	shown	show	VERB
ajset-12	112	18	in	in	ADP
ajset-12	112	19	figure	figure	NOUN
ajset-12	112	20	3	3	NUM
ajset-12	112	21	)	)	PUNCT
ajset-12	112	22	.	.	PUNCT
ajset-12	113	1	and	and	CCONJ
ajset-12	113	2	the	the	PRON
ajset-12	113	3	larger	large	ADJ
ajset-12	113	4	the	the	DET
ajset-12	113	5	transmission	transmission	NOUN
ajset-12	113	6	angle	angle	NOUN
ajset-12	113	7	γ	γ	PROPN
ajset-12	113	8	,	,	PUNCT
ajset-12	113	9	the	the	PRON
ajset-12	113	10	better	well	ADJ
ajset-12	113	11	the	the	DET
ajset-12	113	12	work	work	NOUN
ajset-12	113	13	of	of	ADP
ajset-12	113	14	turning	turn	VERB
ajset-12	113	15	the	the	DET
ajset-12	113	16	trapezoidal	trapezoidal	ADJ
ajset-12	113	17	mechanism	mechanism	NOUN
ajset-12	113	18	.	.	PUNCT
ajset-12	114	1	during	during	ADP
ajset-12	114	2	the	the	DET
ajset-12	114	3	steering	steering	NOUN
ajset-12	114	4	process	process	NOUN
ajset-12	114	5	,	,	PUNCT
ajset-12	114	6	the	the	DET
ajset-12	114	7	transmission	transmission	NOUN
ajset-12	114	8	angle	angle	NOUN
ajset-12	114	9	x	x	PUNCT
ajset-12	114	10	is	be	AUX
ajset-12	114	11	constantly	constantly	ADV
ajset-12	114	12	changing	change	VERB
ajset-12	114	13	with	with	ADP
ajset-12	114	14	the	the	DET
ajset-12	114	15	steering	steering	NOUN
ajset-12	114	16	angle	angle	NOUN
ajset-12	114	17	.	.	PUNCT
ajset-12	115	1	in	in	ADP
ajset-12	115	2	order	order	NOUN
ajset-12	115	3	to	to	PART
ajset-12	115	4	ensure	ensure	VERB
ajset-12	115	5	the	the	DET
ajset-12	115	6	good	good	ADJ
ajset-12	115	7	transmission	transmission	NOUN
ajset-12	115	8	performance	performance	NOUN
ajset-12	115	9	of	of	ADP
ajset-12	115	10	the	the	DET
ajset-12	115	11	steering	steering	NOUN
ajset-12	115	12	mechanism	mechanism	NOUN
ajset-12	115	13	[	[	X
ajset-12	115	14	8	8	NUM
ajset-12	115	15	]	]	PUNCT
ajset-12	115	16	,	,	PUNCT
ajset-12	115	17	the	the	DET
ajset-12	115	18	minimum	minimum	ADJ
ajset-12	115	19	transmission	transmission	NOUN
ajset-12	115	20	angle	angle	NOUN
ajset-12	115	21	of	of	ADP
ajset-12	115	22	the	the	DET
ajset-12	115	23	steering	steering	NOUN
ajset-12	115	24	mechanism	mechanism	NOUN
ajset-12	115	25	should	should	AUX
ajset-12	115	26	be	be	AUX
ajset-12	115	27	γmin≥	γmin≥	ADJ
ajset-12	115	28	40	40	NUM
ajset-12	115	29	.	.	PUNCT
ajset-12	116	1	considering	consider	VERB
ajset-12	116	2	that	that	SCONJ
ajset-12	116	3	the	the	DET
ajset-12	116	4	fsae	fsae	PROPN
ajset-12	116	5	racing	race	VERB
ajset-12	116	6	car	car	NOUN
ajset-12	116	7	needs	need	VERB
ajset-12	116	8	to	to	PART
ajset-12	116	9	meet	meet	VERB
ajset-12	116	10	the	the	DET
ajset-12	116	11	characteristics	characteristic	NOUN
ajset-12	116	12	of	of	ADP
ajset-12	116	13	high	high	ADJ
ajset-12	116	14	-	-	PUNCT
ajset-12	116	15	speed	speed	NOUN
ajset-12	116	16	continuous	continuous	ADJ
ajset-12	116	17	passage	passage	NOUN
ajset-12	116	18	of	of	ADP
ajset-12	116	19	multiple	multiple	ADJ
ajset-12	116	20	corners	corner	NOUN
ajset-12	116	21	during	during	ADP
ajset-12	116	22	the	the	DET
ajset-12	116	23	competition	competition	NOUN
ajset-12	116	24	,	,	PUNCT
ajset-12	116	25	the	the	DET
ajset-12	116	26	minimum	minimum	ADJ
ajset-12	116	27	value	value	NOUN
ajset-12	116	28	of	of	ADP
ajset-12	116	29	the	the	DET
ajset-12	116	30	transmission	transmission	NOUN
ajset-12	116	31	angle	angle	NOUN
ajset-12	116	32	of	of	ADP
ajset-12	116	33	the	the	DET
ajset-12	116	34	steering	steering	NOUN
ajset-12	116	35	mechanism	mechanism	NOUN
ajset-12	116	36	is	be	AUX
ajset-12	116	37	put	put	VERB
ajset-12	116	38	forward	forward	ADV
ajset-12	116	39	here	here	ADV
ajset-12	116	40	,	,	PUNCT
ajset-12	116	41	that	that	ADV
ajset-12	116	42	is	is	ADV
ajset-12	116	43	,	,	PUNCT
ajset-12	116	44	the	the	DET
ajset-12	116	45	minimum	minimum	ADJ
ajset-12	116	46	transmission	transmission	NOUN
ajset-12	116	47	angle	angle	NOUN
ajset-12	116	48	of	of	ADP
ajset-12	116	49	the	the	DET
ajset-12	116	50	steering	steering	NOUN
ajset-12	116	51	mechanism	mechanism	NOUN
ajset-12	116	52	should	should	AUX
ajset-12	116	53	satisfy	satisfy	VERB
ajset-12	116	54	γmin≥	γmin≥	VERB
ajset-12	116	55	50	50	NUM
ajset-12	116	56	.	.	PUNCT
ajset-12	117	1	during	during	ADP
ajset-12	117	2	the	the	DET
ajset-12	117	3	steering	steering	NOUN
ajset-12	117	4	of	of	ADP
ajset-12	117	5	the	the	DET
ajset-12	117	6	car	car	NOUN
ajset-12	117	7	(	(	PUNCT
ajset-12	117	8	take	take	VERB
ajset-12	117	9	the	the	DET
ajset-12	117	10	turn	turn	NOUN
ajset-12	117	11	to	to	ADP
ajset-12	117	12	the	the	DET
ajset-12	117	13	left	left	NOUN
ajset-12	117	14	as	as	ADP
ajset-12	117	15	an	an	DET
ajset-12	117	16	example	example	NOUN
ajset-12	117	17	)	)	PUNCT
ajset-12	117	18	,	,	PUNCT
ajset-12	117	19	when	when	SCONJ
ajset-12	117	20	the	the	DET
ajset-12	117	21	car	car	NOUN
ajset-12	117	22	reaches	reach	VERB
ajset-12	117	23	the	the	DET
ajset-12	117	24	extreme	extreme	ADJ
ajset-12	117	25	position	position	NOUN
ajset-12	117	26	of	of	ADP
ajset-12	117	27	the	the	DET
ajset-12	117	28	left	left	ADJ
ajset-12	117	29	steering	steering	NOUN
ajset-12	117	30	,	,	PUNCT
ajset-12	117	31	the	the	DET
ajset-12	117	32	relationship	relationship	NOUN
ajset-12	117	33	between	between	ADP
ajset-12	117	34	the	the	DET
ajset-12	117	35	minimum	minimum	NOUN
ajset-12	117	36	turning	turning	NOUN
ajset-12	117	37	radius	radius	NOUN
ajset-12	117	38	dmin	dmin	PROPN
ajset-12	117	39	and	and	CCONJ
ajset-12	117	40	the	the	DET
ajset-12	117	41	maximum	maximum	ADJ
ajset-12	117	42	value	value	NOUN
ajset-12	117	43	βmax	βmax	NOUN
ajset-12	117	44	of	of	ADP
ajset-12	117	45	the	the	DET
ajset-12	117	46	steering	steering	NOUN
ajset-12	117	47	angle	angle	NOUN
ajset-12	117	48	of	of	ADP
ajset-12	117	49	the	the	DET
ajset-12	117	50	front	front	ADJ
ajset-12	117	51	outer	outer	ADJ
ajset-12	117	52	wheel	wheel	NOUN
ajset-12	117	53	can	can	AUX
ajset-12	117	54	be	be	AUX
ajset-12	117	55	obtained	obtain	VERB
ajset-12	117	56	.	.	PUNCT
ajset-12	118	1	the	the	DET
ajset-12	118	2	specific	specific	ADJ
ajset-12	118	3	geometric	geometric	ADJ
ajset-12	118	4	relationship	relationship	NOUN
ajset-12	118	5	is	be	AUX
ajset-12	118	6	as	as	SCONJ
ajset-12	118	7	follows	follow	VERB
ajset-12	118	8	:	:	PUNCT
ajset-12	118	9	βmax	βmax	NOUN
ajset-12	118	10	=	=	PUNCT
ajset-12	118	11	arcsindminl	arcsindminl	NOUN
ajset-12	118	12	/	/	SYM
ajset-12	118	13	2−a	2−a	NUM
ajset-12	118	14	(	(	PUNCT
ajset-12	118	15	10	10	NUM
ajset-12	118	16	)	)	PUNCT
ajset-12	118	17	in	in	ADP
ajset-12	118	18	the	the	DET
ajset-12	118	19	formula	formula	NOUN
ajset-12	118	20	,	,	PUNCT
ajset-12	118	21	a	a	PRON
ajset-12	118	22	is	be	AUX
ajset-12	118	23	the	the	DET
ajset-12	118	24	main	main	ADJ
ajset-12	118	25	pin	pin	NOUN
ajset-12	118	26	offset	offset	VERB
ajset-12	118	27	.	.	PUNCT
ajset-12	119	1	through	through	ADP
ajset-12	119	2	the	the	DET
ajset-12	119	3	study	study	NOUN
ajset-12	119	4	of	of	ADP
ajset-12	119	5	the	the	DET
ajset-12	119	6	fsae	fsae	PROPN
ajset-12	119	7	track	track	VERB
ajset-12	119	8	,	,	PUNCT
ajset-12	119	9	the	the	DET
ajset-12	119	10	minimum	minimum	NOUN
ajset-12	119	11	turning	turning	NOUN
ajset-12	119	12	radius	radius	NOUN
ajset-12	119	13	dmin=	dmin=	NUM
ajset-12	119	14	3	3	NUM
ajset-12	119	15	m	m	NOUN
ajset-12	119	16	can	can	AUX
ajset-12	119	17	be	be	AUX
ajset-12	119	18	found	find	VERB
ajset-12	119	19	,	,	PUNCT
ajset-12	119	20	so	so	CCONJ
ajset-12	119	21	the	the	DET
ajset-12	119	22	maximum	maximum	ADJ
ajset-12	119	23	value	value	NOUN
ajset-12	119	24	βmax	βmax	NOUN
ajset-12	119	25	of	of	ADP
ajset-12	119	26	the	the	DET
ajset-12	119	27	front	front	ADJ
ajset-12	119	28	outer	outer	ADJ
ajset-12	119	29	wheel	wheel	NOUN
ajset-12	119	30	steering	steering	NOUN
ajset-12	119	31	angle	angle	NOUN
ajset-12	119	32	can	can	AUX
ajset-12	119	33	be	be	AUX
ajset-12	119	34	determined	determine	VERB
ajset-12	119	35	.	.	PUNCT
ajset-12	120	1	through	through	ADP
ajset-12	120	2	the	the	DET
ajset-12	120	3	geometric	geometric	ADJ
ajset-12	120	4	relationship	relationship	NOUN
ajset-12	120	5	,	,	PUNCT
ajset-12	120	6	it	it	PRON
ajset-12	120	7	can	can	AUX
ajset-12	120	8	be	be	AUX
ajset-12	120	9	found	find	VERB
ajset-12	120	10	that	that	SCONJ
ajset-12	120	11	the	the	DET
ajset-12	120	12	current	current	ADJ
ajset-12	120	13	steering	steering	NOUN
ajset-12	120	14	angle	angle	NOUN
ajset-12	120	15	of	of	ADP
ajset-12	120	16	the	the	DET
ajset-12	120	17	steering	steering	NOUN
ajset-12	120	18	wheel	wheel	NOUN
ajset-12	120	19	reaches	reach	VERB
ajset-12	120	20	the	the	DET
ajset-12	120	21	minimum	minimum	ADJ
ajset-12	120	22	value	value	NOUN
ajset-12	120	23	γmin	γmin	NOUN
ajset-12	120	24	when	when	SCONJ
ajset-12	120	25	the	the	DET
ajset-12	120	26	maximum	maximum	ADJ
ajset-12	120	27	value	value	NOUN
ajset-12	120	28	of	of	ADP
ajset-12	120	29	the	the	DET
ajset-12	120	30	steering	steering	NOUN
ajset-12	120	31	angle	angle	NOUN
ajset-12	120	32	of	of	ADP
ajset-12	120	33	the	the	DET
ajset-12	120	34	outer	outer	ADJ
ajset-12	120	35	wheel	wheel	NOUN
ajset-12	120	36	is	be	AUX
ajset-12	120	37	reached	reach	VERB
ajset-12	120	38	,	,	PUNCT
ajset-12	120	39	so	so	CCONJ
ajset-12	120	40	the	the	DET
ajset-12	120	41	constraint	constraint	NOUN
ajset-12	120	42	equation	equation	NOUN
ajset-12	120	43	for	for	ADP
ajset-12	120	44	the	the	DET
ajset-12	120	45	minimum	minimum	ADJ
ajset-12	120	46	value	value	NOUN
ajset-12	120	47	γmin	γmin	NOUN
ajset-12	120	48	of	of	ADP
ajset-12	120	49	the	the	DET
ajset-12	120	50	transmission	transmission	NOUN
ajset-12	120	51	angle	angle	NOUN
ajset-12	120	52	can	can	AUX
ajset-12	120	53	be	be	AUX
ajset-12	120	54	obtained	obtain	VERB
ajset-12	120	55	.	.	PUNCT
ajset-12	121	1	the	the	DET
ajset-12	121	2	specific	specific	ADJ
ajset-12	121	3	expression	expression	NOUN
ajset-12	121	4	is	be	AUX
ajset-12	121	5	as	as	SCONJ
ajset-12	121	6	follows	follow	VERB
ajset-12	121	7	:	:	PUNCT
ajset-12	122	1	2	2	NUM
ajset-12	122	2	γmin=	γmin=	NUM
ajset-12	122	3	arccosl	arccosl	X
ajset-12	122	4	+	+	NOUN
ajset-12	122	5	l	l	NOUN
ajset-12	122	6	−	−	ADP
ajset-12	122	7	2k×	2k×	NUM
ajset-12	122	8	×−	×−	NOUN
ajset-12	122	9	2l1ml2−s	2l1ml2−s	PRON
ajset-12	122	10	−h	−h	ADJ
ajset-12	122	11	2	2	NUM
ajset-12	122	12	≥	≥	NOUN
ajset-12	122	13	50	50	NUM
ajset-12	122	14	(	(	PUNCT
ajset-12	122	15	11	11	NUM
ajset-12	122	16	)	)	PUNCT
ajset-12	122	17	according	accord	VERB
ajset-12	122	18	to	to	ADP
ajset-12	122	19	the	the	DET
ajset-12	122	20	above	above	ADJ
ajset-12	122	21	analysis	analysis	NOUN
ajset-12	122	22	,	,	PUNCT
ajset-12	122	23	the	the	DET
ajset-12	122	24	solution	solution	NOUN
ajset-12	122	25	of	of	ADP
ajset-12	122	26	the	the	DET
ajset-12	122	27	steering	steering	NOUN
ajset-12	122	28	trapezoidal	trapezoidal	ADJ
ajset-12	122	29	mechanism	mechanism	NOUN
ajset-12	122	30	is	be	AUX
ajset-12	122	31	essentially	essentially	ADV
ajset-12	122	32	a	a	DET
ajset-12	122	33	constrained	constrain	VERB
ajset-12	122	34	nonlinear	nonlinear	ADJ
ajset-12	122	35	programming	programming	NOUN
ajset-12	122	36	problem	problem	NOUN
ajset-12	122	37	.	.	PUNCT
ajset-12	123	1	under	under	ADP
ajset-12	123	2	the	the	DET
ajset-12	123	3	constraints	constraint	NOUN
ajset-12	123	4	of	of	ADP
ajset-12	123	5	the	the	DET
ajset-12	123	6	constraint	constraint	NOUN
ajset-12	123	7	equations	equation	NOUN
ajset-12	123	8	(	(	PUNCT
ajset-12	123	9	9	9	NUM
ajset-12	123	10	)	)	PUNCT
ajset-12	123	11	and	and	CCONJ
ajset-12	123	12	(	(	PUNCT
ajset-12	123	13	11	11	NUM
ajset-12	123	14	)	)	PUNCT
ajset-12	123	15	,	,	PUNCT
ajset-12	123	16	matlab	matlab	PROPN
ajset-12	123	17	is	be	AUX
ajset-12	123	18	used	use	VERB
ajset-12	123	19	to	to	PART
ajset-12	123	20	solve	solve	VERB
ajset-12	123	21	the	the	DET
ajset-12	123	22	minimum	minimum	ADJ
ajset-12	123	23	value	value	NOUN
ajset-12	123	24	of	of	ADP
ajset-12	123	25	the	the	DET
ajset-12	123	26	objective	objective	ADJ
ajset-12	123	27	function	function	NOUN
ajset-12	123	28	f	f	PROPN
ajset-12	123	29	x	x	X
ajset-12	123	30	(	(	PUNCT
ajset-12	123	31	)	)	PUNCT
ajset-12	123	32	,	,	PUNCT
ajset-12	123	33	which	which	PRON
ajset-12	123	34	evaluates	evaluate	VERB
ajset-12	123	35	the	the	DET
ajset-12	123	36	advantages	advantage	NOUN
ajset-12	123	37	and	and	CCONJ
ajset-12	123	38	disadvantages	disadvantage	NOUN
ajset-12	123	39	of	of	ADP
ajset-12	123	40	the	the	DET
ajset-12	123	41	steering	steering	NOUN
ajset-12	123	42	trapezoid	trapezoid	ADJ
ajset-12	123	43	design	design	NOUN
ajset-12	123	44	.	.	PUNCT
ajset-12	124	1	then	then	ADV
ajset-12	124	2	we	we	PRON
ajset-12	124	3	can	can	AUX
ajset-12	124	4	get	get	VERB
ajset-12	124	5	the	the	DET
ajset-12	124	6	best	good	ADJ
ajset-12	124	7	value	value	NOUN
ajset-12	124	8	of	of	ADP
ajset-12	124	9	the	the	DET
ajset-12	124	10	design	design	NOUN
ajset-12	124	11	variable	variable	NOUN
ajset-12	124	12	x	x	X
ajset-12	124	13	.	.	PUNCT
ajset-12	125	1	after	after	ADP
ajset-12	125	2	determining	determine	VERB
ajset-12	125	3	the	the	DET
ajset-12	125	4	optimal	optimal	ADJ
ajset-12	125	5	value	value	NOUN
ajset-12	125	6	of	of	ADP
ajset-12	125	7	the	the	DET
ajset-12	125	8	design	design	NOUN
ajset-12	125	9	variables	variable	NOUN
ajset-12	125	10	,	,	PUNCT
ajset-12	125	11	the	the	DET
ajset-12	125	12	design	design	NOUN
ajset-12	125	13	parameters	parameter	NOUN
ajset-12	125	14	of	of	ADP
ajset-12	125	15	the	the	DET
ajset-12	125	16	steering	steering	NOUN
ajset-12	125	17	gear	gear	NOUN
ajset-12	125	18	in	in	ADP
ajset-12	125	19	the	the	DET
ajset-12	125	20	steering	steering	NOUN
ajset-12	125	21	structure	structure	NOUN
ajset-12	125	22	can	can	AUX
ajset-12	125	23	be	be	AUX
ajset-12	125	24	initially	initially	ADV
ajset-12	125	25	selected	select	VERB
ajset-12	125	26	.	.	PUNCT
ajset-12	126	1	in	in	ADP
ajset-12	126	2	the	the	DET
ajset-12	126	3	rack	rack	NOUN
ajset-12	126	4	and	and	CCONJ
ajset-12	126	5	pinion	pinion	NOUN
ajset-12	126	6	steering	steering	NOUN
ajset-12	126	7	gear	gear	NOUN
ajset-12	126	8	,	,	PUNCT
ajset-12	126	9	the	the	DET
ajset-12	126	10	movement	movement	NOUN
ajset-12	126	11	stroke	stroke	NOUN
ajset-12	126	12	s	s	PRON
ajset-12	126	13	on	on	ADP
ajset-12	126	14	one	one	NUM
ajset-12	126	15	side	side	NOUN
ajset-12	126	16	of	of	ADP
ajset-12	126	17	the	the	DET
ajset-12	126	18	rack	rack	NOUN
ajset-12	126	19	and	and	CCONJ
ajset-12	126	20	the	the	DET
ajset-12	126	21	maximum	maximum	ADJ
ajset-12	126	22	angle	angle	NOUN
ajset-12	126	23	wmax	wmax	VERB
ajset-12	126	24	on	on	ADP
ajset-12	126	25	one	one	NUM
ajset-12	126	26	side	side	NOUN
ajset-12	126	27	of	of	ADP
ajset-12	126	28	the	the	DET
ajset-12	126	29	steering	steering	NOUN
ajset-12	126	30	wheel	wheel	NOUN
ajset-12	126	31	have	have	VERB
ajset-12	126	32	the	the	DET
ajset-12	126	33	following	follow	VERB
ajset-12	126	34	relationship	relationship	NOUN
ajset-12	126	35	:	:	PUNCT
ajset-12	126	36	360×wmax	360×wmax	NUM
ajset-12	126	37	(	(	PUNCT
ajset-12	126	38	12	12	NUM
ajset-12	126	39	)	)	PUNCT
ajset-12	126	40	s	s	PART
ajset-12	126	41	=	=	SYM
ajset-12	126	42	π×	π×	PROPN
ajset-12	126	43	×m	×m	PROPN
ajset-12	126	44	z	z	NOUN
ajset-12	126	45	in	in	ADP
ajset-12	126	46	the	the	DET
ajset-12	126	47	formula	formula	NOUN
ajset-12	126	48	,	,	PUNCT
ajset-12	126	49	m	m	VERB
ajset-12	126	50	is	be	AUX
ajset-12	126	51	the	the	DET
ajset-12	126	52	modulus	modulus	NOUN
ajset-12	126	53	of	of	ADP
ajset-12	126	54	the	the	DET
ajset-12	126	55	steering	steering	NOUN
ajset-12	126	56	gear	gear	NOUN
ajset-12	126	57	,	,	PUNCT
ajset-12	126	58	and	and	CCONJ
ajset-12	126	59	z	z	NOUN
ajset-12	126	60	is	be	AUX
ajset-12	126	61	the	the	DET
ajset-12	126	62	number	number	NOUN
ajset-12	126	63	of	of	ADP
ajset-12	126	64	teeth	tooth	NOUN
ajset-12	126	65	of	of	ADP
ajset-12	126	66	the	the	DET
ajset-12	126	67	steering	steering	NOUN
ajset-12	126	68	gear	gear	NOUN
ajset-12	126	69	.	.	PUNCT
ajset-12	127	1	the	the	DET
ajset-12	127	2	modulus	modulus	ADJ
ajset-12	127	3	m	m	NOUN
ajset-12	127	4	of	of	ADP
ajset-12	127	5	the	the	DET
ajset-12	127	6	steering	steering	NOUN
ajset-12	127	7	gear	gear	NOUN
ajset-12	127	8	should	should	AUX
ajset-12	127	9	not	not	PART
ajset-12	127	10	be	be	AUX
ajset-12	127	11	too	too	ADV
ajset-12	127	12	small	small	ADJ
ajset-12	127	13	.	.	PUNCT
ajset-12	128	1	if	if	SCONJ
ajset-12	128	2	it	it	PRON
ajset-12	128	3	is	be	AUX
ajset-12	128	4	too	too	ADV
ajset-12	128	5	small	small	ADJ
ajset-12	128	6	,	,	PUNCT
ajset-12	128	7	the	the	DET
ajset-12	128	8	meshing	meshing	NOUN
ajset-12	128	9	point	point	NOUN
ajset-12	128	10	of	of	ADP
ajset-12	128	11	the	the	DET
ajset-12	128	12	rack	rack	NOUN
ajset-12	128	13	will	will	AUX
ajset-12	128	14	be	be	AUX
ajset-12	128	15	too	too	ADV
ajset-12	128	16	close	close	ADJ
ajset-12	128	17	to	to	ADP
ajset-12	128	18	the	the	DET
ajset-12	128	19	top	top	NOUN
ajset-12	128	20	of	of	ADP
ajset-12	128	21	the	the	DET
ajset-12	128	22	tooth	tooth	NOUN
ajset-12	128	23	when	when	SCONJ
ajset-12	128	24	meshing	mesh	VERB
ajset-12	128	25	,	,	PUNCT
ajset-12	128	26	causing	cause	VERB
ajset-12	128	27	the	the	DET
ajset-12	128	28	bending	bend	VERB
ajset-12	128	29	stress	stress	NOUN
ajset-12	128	30	of	of	ADP
ajset-12	128	31	the	the	DET
ajset-12	128	32	root	root	NOUN
ajset-12	128	33	to	to	PART
ajset-12	128	34	be	be	AUX
ajset-12	128	35	too	too	ADV
ajset-12	128	36	large	large	ADJ
ajset-12	128	37	,	,	PUNCT
ajset-12	128	38	which	which	PRON
ajset-12	128	39	is	be	AUX
ajset-12	128	40	prone	prone	ADJ
ajset-12	128	41	to	to	ADP
ajset-12	128	42	chipping	chip	VERB
ajset-12	128	43	.	.	PUNCT
ajset-12	129	1	thus	thus	ADV
ajset-12	129	2	,	,	PUNCT
ajset-12	129	3	the	the	DET
ajset-12	129	4	modulus	modulus	NOUN
ajset-12	129	5	m	m	NOUN
ajset-12	129	6	of	of	ADP
ajset-12	129	7	the	the	DET
ajset-12	129	8	steering	steering	NOUN
ajset-12	129	9	gear	gear	NOUN
ajset-12	129	10	is	be	AUX
ajset-12	129	11	generally	generally	ADV
ajset-12	129	12	2	2	NUM
ajset-12	129	13	-	-	SYM
ajset-12	129	14	3	3	NUM
ajset-12	129	15	mm	mm	NOUN
ajset-12	129	16	[	[	X
ajset-12	129	17	7	7	NUM
ajset-12	129	18	]	]	PUNCT
ajset-12	129	19	.	.	PUNCT
ajset-12	130	1	in	in	ADP
ajset-12	130	2	the	the	DET
ajset-12	130	3	selection	selection	NOUN
ajset-12	130	4	of	of	ADP
ajset-12	130	5	the	the	DET
ajset-12	130	6	number	number	NOUN
ajset-12	130	7	of	of	ADP
ajset-12	130	8	teeth	tooth	NOUN
ajset-12	130	9	z	z	PROPN
ajset-12	130	10	of	of	ADP
ajset-12	130	11	the	the	DET
ajset-12	130	12	steering	steering	NOUN
ajset-12	130	13	gear	gear	NOUN
ajset-12	130	14	,	,	PUNCT
ajset-12	130	15	considering	consider	VERB
ajset-12	130	16	that	that	SCONJ
ajset-12	130	17	the	the	DET
ajset-12	130	18	diameter	diameter	NOUN
ajset-12	130	19	of	of	ADP
ajset-12	130	20	the	the	DET
ajset-12	130	21	indexing	indexing	NOUN
ajset-12	130	22	circle	circle	NOUN
ajset-12	130	23	is	be	AUX
ajset-12	130	24	small	small	ADJ
ajset-12	130	25	,	,	PUNCT
ajset-12	130	26	if	if	SCONJ
ajset-12	130	27	the	the	DET
ajset-12	130	28	number	number	NOUN
ajset-12	130	29	of	of	ADP
ajset-12	130	30	teeth	tooth	NOUN
ajset-12	130	31	is	be	AUX
ajset-12	130	32	too	too	ADV
ajset-12	130	33	large	large	ADJ
ajset-12	130	34	,	,	PUNCT
ajset-12	130	35	there	there	PRON
ajset-12	130	36	will	will	AUX
ajset-12	130	37	be	be	AUX
ajset-12	130	38	a	a	DET
ajset-12	130	39	problem	problem	NOUN
ajset-12	130	40	of	of	ADP
ajset-12	130	41	difficulty	difficulty	NOUN
ajset-12	130	42	in	in	ADP
ajset-12	130	43	processing	processing	NOUN
ajset-12	130	44	and	and	CCONJ
ajset-12	130	45	low	low	ADJ
ajset-12	130	46	degree	degree	NOUN
ajset-12	130	47	of	of	ADP
ajset-12	130	48	coincidence	coincidence	NOUN
ajset-12	130	49	of	of	ADP
ajset-12	130	50	gear	gear	NOUN
ajset-12	130	51	meshing	meshing	NOUN
ajset-12	130	52	transmission	transmission	NOUN
ajset-12	130	53	,	,	PUNCT
ajset-12	130	54	and	and	CCONJ
ajset-12	130	55	attention	attention	NOUN
ajset-12	130	56	should	should	AUX
ajset-12	130	57	be	be	AUX
ajset-12	130	58	paid	pay	VERB
ajset-12	130	59	to	to	ADP
ajset-12	130	60	avoiding	avoid	VERB
ajset-12	130	61	the	the	DET
ajset-12	130	62	cutting	cut	VERB
ajset-12	130	63	phenomenon	phenomenon	NOUN
ajset-12	130	64	.	.	PUNCT
ajset-12	131	1	thus	thus	ADV
ajset-12	131	2	,	,	PUNCT
ajset-12	131	3	the	the	DET
ajset-12	131	4	number	number	NOUN
ajset-12	131	5	of	of	ADP
ajset-12	131	6	teeth	tooth	NOUN
ajset-12	131	7	z	z	PROPN
ajset-12	131	8	of	of	ADP
ajset-12	131	9	the	the	DET
ajset-12	131	10	steering	steering	NOUN
ajset-12	131	11	gear	gear	NOUN
ajset-12	131	12	is	be	AUX
ajset-12	131	13	generally	generally	ADV
ajset-12	131	14	selected	select	VERB
ajset-12	131	15	from	from	ADP
ajset-12	131	16	8	8	NUM
ajset-12	131	17	to	to	PART
ajset-12	131	18	19	19	NUM
ajset-12	131	19	.	.	PUNCT
ajset-12	132	1	the	the	DET
ajset-12	132	2	maximum	maximum	ADJ
ajset-12	132	3	corner	corner	NOUN
ajset-12	132	4	wmax	wmax	NOUN
ajset-12	132	5	of	of	ADP
ajset-12	132	6	the	the	DET
ajset-12	132	7	steering	steering	NOUN
ajset-12	132	8	wheel	wheel	NOUN
ajset-12	132	9	on	on	ADP
ajset-12	132	10	one	one	NUM
ajset-12	132	11	side	side	NOUN
ajset-12	132	12	generally	generally	ADV
ajset-12	132	13	requires	require	VERB
ajset-12	132	14	no	no	DET
ajset-12	132	15	more	more	ADJ
ajset-12	132	16	than	than	ADP
ajset-12	132	17	10	10	NUM
ajset-12	132	18	from	from	ADP
ajset-12	132	19	the	the	DET
ajset-12	132	20	middle	middle	NOUN
ajset-12	132	21	to	to	ADP
ajset-12	132	22	the	the	DET
ajset-12	132	23	left	left	NOUN
ajset-12	132	24	or	or	CCONJ
ajset-12	132	25	to	to	ADP
ajset-12	132	26	the	the	DET
ajset-12	132	27	right	right	NOUN
ajset-12	132	28	.	.	PUNCT
ajset-12	133	1	thus	thus	ADV
ajset-12	133	2	,	,	PUNCT
ajset-12	133	3	putting	put	VERB
ajset-12	133	4	the	the	DET
ajset-12	133	5	optimal	optimal	ADJ
ajset-12	133	6	design	design	NOUN
ajset-12	133	7	variables	variable	NOUN
ajset-12	133	8	into	into	ADP
ajset-12	133	9	the	the	DET
ajset-12	133	10	formulas	formula	NOUN
ajset-12	133	11	(	(	PUNCT
ajset-12	133	12	6	6	NUM
ajset-12	133	13	)	)	PUNCT
ajset-12	133	14	and	and	CCONJ
ajset-12	133	15	(	(	PUNCT
ajset-12	133	16	12	12	NUM
ajset-12	133	17	)	)	PUNCT
ajset-12	133	18	,	,	PUNCT
ajset-12	133	19	and	and	CCONJ
ajset-12	133	20	according	accord	VERB
ajset-12	133	21	to	to	ADP
ajset-12	133	22	the	the	DET
ajset-12	133	23	above	above	ADJ
ajset-12	133	24	specific	specific	ADJ
ajset-12	133	25	requirements	requirement	NOUN
ajset-12	133	26	for	for	ADP
ajset-12	133	27	the	the	DET
ajset-12	133	28	rack	rack	NOUN
ajset-12	133	29	and	and	CCONJ
ajset-12	133	30	pinion	pinion	NOUN
ajset-12	133	31	mechanism	mechanism	NOUN
ajset-12	133	32	parameters	parameter	NOUN
ajset-12	133	33	,	,	PUNCT
ajset-12	133	34	the	the	DET
ajset-12	133	35	modulus	modulus	NOUN
ajset-12	133	36	m	m	NOUN
ajset-12	133	37	of	of	ADP
ajset-12	133	38	the	the	DET
ajset-12	133	39	steering	steering	NOUN
ajset-12	133	40	gear	gear	NOUN
ajset-12	133	41	and	and	CCONJ
ajset-12	133	42	the	the	DET
ajset-12	133	43	number	number	NOUN
ajset-12	133	44	of	of	ADP
ajset-12	133	45	teeth	tooth	NOUN
ajset-12	133	46	z	z	PROPN
ajset-12	133	47	of	of	ADP
ajset-12	133	48	the	the	DET
ajset-12	133	49	steering	steering	NOUN
ajset-12	133	50	gear	gear	NOUN
ajset-12	133	51	can	can	AUX
ajset-12	133	52	be	be	AUX
ajset-12	133	53	preliminary	preliminary	ADJ
ajset-12	133	54	determined	determine	VERB
ajset-12	133	55	.	.	PUNCT
ajset-12	134	1	then	then	ADV
ajset-12	134	2	,	,	PUNCT
ajset-12	134	3	through	through	ADP
ajset-12	134	4	checking	check	VERB
ajset-12	134	5	the	the	DET
ajset-12	134	6	tooth	tooth	NOUN
ajset-12	134	7	surface	surface	NOUN
ajset-12	134	8	contact	contact	NOUN
ajset-12	134	9	fatigue	fatigue	NOUN
ajset-12	134	10	strength	strength	NOUN
ajset-12	134	11	of	of	ADP
ajset-12	134	12	the	the	DET
ajset-12	134	13	gear	gear	NOUN
ajset-12	134	14	,	,	PUNCT
ajset-12	134	15	we	we	PRON
ajset-12	134	16	can	can	AUX
ajset-12	134	17	determine	determine	VERB
ajset-12	134	18	the	the	DET
ajset-12	134	19	gear	gear	NOUN
ajset-12	134	20	parameters	parameter	NOUN
ajset-12	134	21	that	that	PRON
ajset-12	134	22	meet	meet	VERB
ajset-12	134	23	the	the	DET
ajset-12	134	24	strength	strength	NOUN
ajset-12	134	25	conditions	condition	NOUN
ajset-12	134	26	.	.	PUNCT
ajset-12	135	1	the	the	DET
ajset-12	135	2	specific	specific	ADJ
ajset-12	135	3	process	process	NOUN
ajset-12	135	4	of	of	ADP
ajset-12	135	5	the	the	DET
ajset-12	135	6	steering	steering	NOUN
ajset-12	135	7	trapezoidal	trapezoidal	ADJ
ajset-12	135	8	mechanism	mechanism	NOUN
ajset-12	135	9	optimization	optimization	NOUN
ajset-12	135	10	design	design	NOUN
ajset-12	135	11	is	be	AUX
ajset-12	135	12	shown	show	VERB
ajset-12	135	13	in	in	ADP
ajset-12	135	14	figure	figure	NOUN
ajset-12	135	15	4	4	NUM
ajset-12	135	16	.	.	PUNCT
ajset-12	135	17	hanqi	hanqi	PROPN
ajset-12	135	18	wang	wang	PROPN
ajset-12	135	19	,	,	PUNCT
ajset-12	135	20	bo	bo	PROPN
ajset-12	135	21	wu	wu	PROPN
ajset-12	135	22	*	*	PROPN
ajset-12	135	23	,	,	PUNCT
ajset-12	135	24	xiaolong	xiaolong	PROPN
ajset-12	135	25	cheng	cheng	PROPN
ajset-12	135	26	,	,	PUNCT
ajset-12	135	27	yongjun	yongjun	PROPN
ajset-12	135	28	mao	mao	PROPN
ajset-12	135	29	optimizing	optimize	VERB
ajset-12	135	30	the	the	DET
ajset-12	135	31	rear	rear	ADJ
ajset-12	135	32	-	-	PUNCT
ajset-12	135	33	disconnected	disconnected	ADJ
ajset-12	135	34	steering	steering	NOUN
ajset-12	135	35	trapezoid	trapezoid	NOUN
ajset-12	135	36	for	for	ADP
ajset-12	135	37	fsae	fsae	NOUN
ajset-12	135	38	racing	race	VERB
ajset-12	135	39	cars	car	NOUN
ajset-12	136	1	11|	11|	INTJ
ajset-12	136	2	a	a	DET
ajset-12	136	3	c	c	NOUN
ajset-12	137	1	a	a	PRON
ajset-12	137	2	d	d	X
ajset-12	137	3	e	e	NOUN
ajset-12	137	4	m	m	NOUN
ajset-12	137	5	i	i	NOUN
ajset-12	137	6	c	c	NOUN
ajset-12	138	1	j	j	NOUN
ajset-12	138	2	o	o	X
ajset-12	138	3	u	u	NOUN
ajset-12	138	4	r	r	NOUN
ajset-12	138	5	n	n	NOUN
ajset-12	138	6	a	a	DET
ajset-12	138	7	l	l	NOUN
ajset-12	139	1	o	o	X
ajset-12	139	2	f	f	X
ajset-12	139	3	s	s	X
ajset-12	139	4	c	c	NOUN
ajset-12	140	1	i	i	NOUN
ajset-12	140	2	e	e	PROPN
ajset-12	140	3	n	n	PROPN
ajset-12	140	4	c	c	NOUN
ajset-12	140	5	e	e	X
ajset-12	140	6	,	,	PUNCT
ajset-12	140	7	e	e	PROPN
ajset-12	140	8	n	n	PRON
ajset-12	140	9	g	g	NOUN
ajset-12	140	10	i	i	PRON
ajset-12	140	11	n	n	VERB
ajset-12	140	12	e	e	NOUN
ajset-12	140	13	e	e	NOUN
ajset-12	140	14	r	r	VERB
ajset-12	140	15	i	i	PRON
ajset-12	140	16	n	n	CCONJ
ajset-12	140	17	g	g	PROPN
ajset-12	140	18	a	a	DET
ajset-12	140	19	n	n	NOUN
ajset-12	140	20	d	d	NOUN
ajset-12	140	21	t	t	NOUN
ajset-12	140	22	e	e	X
ajset-12	140	23	c	c	NOUN
ajset-12	140	24	h	h	NOUN
ajset-12	140	25	n	n	ADV
ajset-12	140	26	o	o	NOUN
ajset-12	140	27	l	l	NOUN
ajset-12	141	1	o	o	X
ajset-12	141	2	g	g	NOUN
ajset-12	141	3	y	y	PROPN
ajset-12	141	4	|	|	ADV
ajset-12	141	5	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	VERB
ajset-12	141	6	figure	figure	NOUN
ajset-12	141	7	.	.	PUNCT
ajset-12	142	1	4	4	NUM
ajset-12	142	2	steering	steer	VERB
ajset-12	142	3	trapezoid	trapezoid	ADJ
ajset-12	142	4	optimization	optimization	NOUN
ajset-12	142	5	design	design	NOUN
ajset-12	142	6	flow	flow	NOUN
ajset-12	142	7	chart	chart	NOUN
ajset-12	142	8	results	result	NOUN
ajset-12	142	9	and	and	CCONJ
ajset-12	142	10	discussion	discussion	NOUN
ajset-12	142	11	steering	steer	VERB
ajset-12	142	12	trapezoid	trapezoid	ADJ
ajset-12	142	13	optimization	optimization	NOUN
ajset-12	142	14	design	design	NOUN
ajset-12	142	15	according	accord	VERB
ajset-12	142	16	to	to	ADP
ajset-12	142	17	the	the	DET
ajset-12	142	18	rules	rule	NOUN
ajset-12	142	19	of	of	ADP
ajset-12	142	20	the	the	DET
ajset-12	142	21	fsae	fsae	NOUN
ajset-12	142	22	[	[	X
ajset-12	142	23	6	6	NUM
ajset-12	142	24	]	]	PUNCT
ajset-12	142	25	and	and	CCONJ
ajset-12	142	26	the	the	DET
ajset-12	142	27	design	design	NOUN
ajset-12	142	28	experience	experience	NOUN
ajset-12	142	29	of	of	ADP
ajset-12	142	30	the	the	DET
ajset-12	142	31	fsae	fsae	PROPN
ajset-12	142	32	racing	race	VERB
ajset-12	142	33	car	car	NOUN
ajset-12	142	34	,	,	PUNCT
ajset-12	142	35	the	the	DET
ajset-12	142	36	initial	initial	ADJ
ajset-12	142	37	values	value	NOUN
ajset-12	142	38	of	of	ADP
ajset-12	142	39	the	the	DET
ajset-12	142	40	design	design	NOUN
ajset-12	142	41	variables	variable	NOUN
ajset-12	142	42	and	and	CCONJ
ajset-12	142	43	the	the	DET
ajset-12	142	44	upper	upper	ADJ
ajset-12	142	45	and	and	CCONJ
ajset-12	142	46	lower	low	ADJ
ajset-12	142	47	boundary	boundary	ADJ
ajset-12	142	48	conditions	condition	NOUN
ajset-12	142	49	are	be	AUX
ajset-12	142	50	determined	determine	VERB
ajset-12	142	51	as	as	SCONJ
ajset-12	142	52	shown	show	VERB
ajset-12	142	53	in	in	ADP
ajset-12	142	54	table	table	NOUN
ajset-12	142	55	1	1	NUM
ajset-12	142	56	.	.	PUNCT
ajset-12	142	57	table	table	NOUN
ajset-12	142	58	1	1	NUM
ajset-12	142	59	initial	initial	ADJ
ajset-12	142	60	value	value	NOUN
ajset-12	142	61	of	of	ADP
ajset-12	142	62	design	design	NOUN
ajset-12	142	63	variables	variable	NOUN
ajset-12	142	64	and	and	CCONJ
ajset-12	142	65	upper	upper	ADJ
ajset-12	142	66	and	and	CCONJ
ajset-12	142	67	lower	low	ADJ
ajset-12	142	68	boundary	boundary	ADJ
ajset-12	142	69	conditions	condition	NOUN
ajset-12	142	70	design	design	VERB
ajset-12	142	71	variable	variable	ADJ
ajset-12	142	72	initial	initial	ADJ
ajset-12	142	73	value	value	NOUN
ajset-12	142	74	upper	upper	ADJ
ajset-12	142	75	and	and	CCONJ
ajset-12	142	76	lower	low	ADJ
ajset-12	142	77	boundary	boundary	ADJ
ajset-12	142	78	conditions	condition	NOUN
ajset-12	142	79	length	length	NOUN
ajset-12	142	80	of	of	ADP
ajset-12	142	81	tie	tie	NOUN
ajset-12	142	82	rod	rod	NOUN
ajset-12	142	83	m	m	PROPN
ajset-12	142	84	/	/	SYM
ajset-12	142	85	mm	mm	PROPN
ajset-12	142	86	190	190	NUM
ajset-12	142	87	mm	mm	NOUN
ajset-12	142	88	160mm220	160mm220	NUM
ajset-12	142	89	mm	mm	NOUN
ajset-12	142	90	the	the	DET
ajset-12	142	91	horizontal	horizontal	ADJ
ajset-12	142	92	distance	distance	NOUN
ajset-12	142	93	from	from	ADP
ajset-12	142	94	the	the	DET
ajset-12	142	95	centerline	centerline	NOUN
ajset-12	142	96	of	of	ADP
ajset-12	142	97	the	the	DET
ajset-12	142	98	rack	rack	NOUN
ajset-12	142	99	to	to	ADP
ajset-12	142	100	the	the	DET
ajset-12	142	101	center	center	ADJ
ajset-12	142	102	point	point	NOUN
ajset-12	142	103	of	of	ADP
ajset-12	142	104	the	the	DET
ajset-12	142	105	kingpin	kingpin	NOUN
ajset-12	142	106	h	h	NOUN
ajset-12	142	107	/mm	/mm	PUNCT
ajset-12	142	108	35	35	NUM
ajset-12	142	109	mm	mm	NUM
ajset-12	142	110	30mm-40	30mm-40	NUM
ajset-12	142	111	mm	mm	NOUN
ajset-12	142	112	corner	corner	NOUN
ajset-12	142	113	of	of	ADP
ajset-12	142	114	the	the	DET
ajset-12	142	115	steering	steering	NOUN
ajset-12	142	116	trapezoid	trapezoid	ADJ
ajset-12	142	117	ϕ/	ϕ/	NOUN
ajset-12	142	118	75	75	NUM
ajset-12	142	119	60	60	NUM
ajset-12	142	120	90	90	NUM
ajset-12	142	121	−	−	NOUN
ajset-12	142	122	arm	arm	NOUN
ajset-12	142	123	length	length	NOUN
ajset-12	142	124	of	of	ADP
ajset-12	142	125	trapezoidal	trapezoidal	ADJ
ajset-12	142	126	arm	arm	NOUN
ajset-12	142	127	75	75	NUM
ajset-12	142	128	mm	mm	NOUN
ajset-12	143	1	50mm-100	50mm-100	NUM
ajset-12	143	2	mm	mm	PROPN
ajset-12	143	3	hanqi	hanqi	NOUN
ajset-12	143	4	wang	wang	PROPN
ajset-12	143	5	,	,	PUNCT
ajset-12	143	6	bo	bo	PROPN
ajset-12	143	7	wu	wu	PROPN
ajset-12	143	8	*	*	PROPN
ajset-12	143	9	,	,	PUNCT
ajset-12	143	10	xiaolong	xiaolong	PROPN
ajset-12	143	11	cheng	cheng	PROPN
ajset-12	143	12	,	,	PUNCT
ajset-12	143	13	yongjun	yongjun	PROPN
ajset-12	143	14	mao	mao	PROPN
ajset-12	143	15	optimizing	optimize	VERB
ajset-12	143	16	the	the	DET
ajset-12	143	17	rear	rear	ADJ
ajset-12	143	18	-	-	PUNCT
ajset-12	143	19	disconnected	disconnected	ADJ
ajset-12	143	20	steering	steering	NOUN
ajset-12	143	21	trapezoid	trapezoid	NOUN
ajset-12	143	22	for	for	ADP
ajset-12	143	23	fsae	fsae	NOUN
ajset-12	143	24	racing	race	VERB
ajset-12	143	25	cars	car	NOUN
ajset-12	143	26	12|	12|	NUM
ajset-12	143	27	a	a	DET
ajset-12	143	28	c	c	NOUN
ajset-12	143	29	a	a	PRON
ajset-12	143	30	d	d	X
ajset-12	143	31	e	e	NOUN
ajset-12	143	32	m	m	NOUN
ajset-12	143	33	i	i	NOUN
ajset-12	143	34	c	c	NOUN
ajset-12	143	35	j	j	NOUN
ajset-12	143	36	o	o	X
ajset-12	143	37	u	u	NOUN
ajset-12	143	38	r	r	NOUN
ajset-12	143	39	n	n	NOUN
ajset-12	143	40	a	a	DET
ajset-12	143	41	l	l	NOUN
ajset-12	144	1	o	o	X
ajset-12	145	1	f	f	X
ajset-12	146	1	s	s	X
ajset-12	146	2	c	c	NOUN
ajset-12	147	1	i	i	NOUN
ajset-12	147	2	e	e	PROPN
ajset-12	147	3	n	n	PROPN
ajset-12	147	4	c	c	NOUN
ajset-12	147	5	e	e	X
ajset-12	147	6	,	,	PUNCT
ajset-12	147	7	e	e	PROPN
ajset-12	147	8	n	n	PRON
ajset-12	147	9	g	g	NOUN
ajset-12	147	10	i	i	PRON
ajset-12	147	11	n	n	VERB
ajset-12	147	12	e	e	NOUN
ajset-12	147	13	e	e	NOUN
ajset-12	147	14	r	r	VERB
ajset-12	147	15	i	i	PRON
ajset-12	147	16	n	n	CCONJ
ajset-12	147	17	g	g	PROPN
ajset-12	147	18	a	a	DET
ajset-12	147	19	n	n	NOUN
ajset-12	147	20	d	d	NOUN
ajset-12	147	21	t	t	NOUN
ajset-12	147	22	e	e	X
ajset-12	147	23	c	c	NOUN
ajset-12	147	24	h	h	NOUN
ajset-12	147	25	n	n	ADV
ajset-12	147	26	o	o	NOUN
ajset-12	147	27	l	l	NOUN
ajset-12	148	1	o	o	X
ajset-12	148	2	g	g	NOUN
ajset-12	148	3	y	y	PROPN
ajset-12	148	4	|	|	ADV
ajset-12	148	5	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	VERB
ajset-12	148	6	according	accord	VERB
ajset-12	148	7	to	to	ADP
ajset-12	148	8	the	the	DET
ajset-12	148	9	above	above	ADJ
ajset-12	148	10	analysis	analysis	NOUN
ajset-12	148	11	of	of	ADP
ajset-12	148	12	the	the	DET
ajset-12	148	13	steering	steering	NOUN
ajset-12	148	14	trapezoidal	trapezoidal	ADJ
ajset-12	148	15	mechanism	mechanism	NOUN
ajset-12	148	16	model	model	NOUN
ajset-12	148	17	,	,	PUNCT
ajset-12	148	18	using	use	VERB
ajset-12	148	19	the	the	DET
ajset-12	148	20	fmincon	fmincon	NOUN
ajset-12	148	21	function	function	NOUN
ajset-12	148	22	in	in	ADP
ajset-12	148	23	the	the	DET
ajset-12	148	24	mtalab	mtalab	PROPN
ajset-12	148	25	optimization	optimization	NOUN
ajset-12	148	26	toolbox	toolbox	NOUN
ajset-12	148	27	,	,	PUNCT
ajset-12	148	28	formula	formula	NOUN
ajset-12	148	29	(	(	PUNCT
ajset-12	148	30	8)	8)	NUM
ajset-12	148	31	is	be	AUX
ajset-12	148	32	used	use	VERB
ajset-12	148	33	as	as	ADP
ajset-12	148	34	the	the	DET
ajset-12	148	35	objective	objective	ADJ
ajset-12	148	36	function	function	NOUN
ajset-12	148	37	of	of	ADP
ajset-12	148	38	the	the	DET
ajset-12	148	39	solution	solution	NOUN
ajset-12	148	40	,	,	PUNCT
ajset-12	148	41	and	and	CCONJ
ajset-12	148	42	equations	equation	NOUN
ajset-12	148	43	(	(	PUNCT
ajset-12	148	44	9	9	NUM
ajset-12	148	45	)	)	PUNCT
ajset-12	148	46	and	and	CCONJ
ajset-12	148	47	(	(	PUNCT
ajset-12	148	48	11	11	NUM
ajset-12	148	49	)	)	PUNCT
ajset-12	148	50	are	be	AUX
ajset-12	148	51	used	use	VERB
ajset-12	148	52	as	as	ADP
ajset-12	148	53	the	the	DET
ajset-12	148	54	constraint	constraint	NOUN
ajset-12	148	55	equations	equation	NOUN
ajset-12	148	56	,	,	PUNCT
ajset-12	148	57	and	and	CCONJ
ajset-12	148	58	table	table	NOUN
ajset-12	148	59	1	1	NUM
ajset-12	148	60	is	be	AUX
ajset-12	148	61	used	use	VERB
ajset-12	148	62	as	as	ADP
ajset-12	148	63	the	the	DET
ajset-12	148	64	upper	upper	ADJ
ajset-12	148	65	and	and	CCONJ
ajset-12	148	66	lower	low	ADJ
ajset-12	148	67	boundary	boundary	ADJ
ajset-12	148	68	conditions	condition	NOUN
ajset-12	148	69	of	of	ADP
ajset-12	148	70	the	the	DET
ajset-12	148	71	design	design	NOUN
ajset-12	148	72	variables	variable	NOUN
ajset-12	148	73	.	.	PUNCT
ajset-12	149	1	and	and	CCONJ
ajset-12	149	2	the	the	DET
ajset-12	149	3	optimized	optimize	VERB
ajset-12	149	4	design	design	NOUN
ajset-12	149	5	results	result	NOUN
ajset-12	149	6	are	be	AUX
ajset-12	149	7	shown	show	VERB
ajset-12	149	8	in	in	ADP
ajset-12	149	9	table	table	NOUN
ajset-12	149	10	2	2	NUM
ajset-12	149	11	.	.	PUNCT
ajset-12	149	12	table	table	NOUN
ajset-12	149	13	2	2	NUM
ajset-12	149	14	steering	steering	NOUN
ajset-12	149	15	mechanism	mechanism	NOUN
ajset-12	149	16	technical	technical	ADJ
ajset-12	149	17	parameter	parameter	NOUN
ajset-12	149	18	table	table	NOUN
ajset-12	149	19	design	design	NOUN
ajset-12	149	20	variable	variable	ADJ
ajset-12	149	21	design	design	NOUN
ajset-12	149	22	value	value	NOUN
ajset-12	149	23	length	length	NOUN
ajset-12	149	24	of	of	ADP
ajset-12	149	25	tie	tie	NOUN
ajset-12	149	26	rod	rod	NOUN
ajset-12	149	27	m	m	PROPN
ajset-12	149	28	/	/	SYM
ajset-12	149	29	mm	mm	PROPN
ajset-12	149	30	200	200	NUM
ajset-12	149	31	mm	mm	NOUN
ajset-12	149	32	the	the	DET
ajset-12	149	33	horizontal	horizontal	ADJ
ajset-12	149	34	distance	distance	NOUN
ajset-12	149	35	from	from	ADP
ajset-12	149	36	the	the	DET
ajset-12	149	37	centerline	centerline	NOUN
ajset-12	149	38	of	of	ADP
ajset-12	149	39	the	the	DET
ajset-12	149	40	rack	rack	NOUN
ajset-12	149	41	to	to	ADP
ajset-12	149	42	the	the	DET
ajset-12	149	43	center	center	ADJ
ajset-12	149	44	point	point	NOUN
ajset-12	149	45	of	of	ADP
ajset-12	149	46	the	the	DET
ajset-12	149	47	kingpin	kingpin	NOUN
ajset-12	149	48	h	h	NOUN
ajset-12	149	49	/mm	/mm	PUNCT
ajset-12	149	50	39	39	NUM
ajset-12	149	51	mm	mm	NOUN
ajset-12	149	52	corner	corner	NOUN
ajset-12	149	53	of	of	ADP
ajset-12	149	54	the	the	DET
ajset-12	149	55	steering	steering	NOUN
ajset-12	149	56	trapezoid	trapezoid	ADJ
ajset-12	149	57	ϕ/	ϕ/	NOUN
ajset-12	149	58	79	79	NUM
ajset-12	149	59	arm	arm	NOUN
ajset-12	149	60	length	length	NOUN
ajset-12	149	61	of	of	ADP
ajset-12	149	62	trapezoidal	trapezoidal	ADJ
ajset-12	149	63	arm	arm	NOUN
ajset-12	149	64	l1	l1	PROPN
ajset-12	149	65	/	/	SYM
ajset-12	149	66	mm	mm	PROPN
ajset-12	149	67	70	70	NUM
ajset-12	149	68	mm	mm	NOUN
ajset-12	149	69	rack	rack	NOUN
ajset-12	149	70	travel	travel	NOUN
ajset-12	149	71	on	on	ADP
ajset-12	149	72	one	one	NUM
ajset-12	149	73	side	side	NOUN
ajset-12	149	74	s	s	PART
ajset-12	149	75	/mm	/mm	PUNCT
ajset-12	149	76	44	44	NUM
ajset-12	149	77	mm	mm	NOUN
ajset-12	149	78	modulus	modulus	NOUN
ajset-12	149	79	of	of	ADP
ajset-12	149	80	the	the	DET
ajset-12	149	81	steering	steering	NOUN
ajset-12	149	82	gear	gear	NOUN
ajset-12	149	83	m/	m/	VERB
ajset-12	149	84	mm	mm	PROPN
ajset-12	149	85	2	2	NUM
ajset-12	149	86	mm	mm	NOUN
ajset-12	149	87	number	number	NOUN
ajset-12	149	88	of	of	ADP
ajset-12	149	89	teeth	tooth	NOUN
ajset-12	149	90	of	of	ADP
ajset-12	149	91	the	the	DET
ajset-12	149	92	steering	steering	NOUN
ajset-12	149	93	gear	gear	NOUN
ajset-12	149	94	z	z	PROPN
ajset-12	149	95	/	/	SYM
ajset-12	149	96	teeth	teeth	PROPN
ajset-12	149	97	13	13	NUM
ajset-12	149	98	teeth	tooth	NOUN
ajset-12	149	99	in	in	ADP
ajset-12	149	100	order	order	NOUN
ajset-12	149	101	to	to	PART
ajset-12	149	102	test	test	VERB
ajset-12	149	103	the	the	DET
ajset-12	149	104	optimization	optimization	NOUN
ajset-12	149	105	effect	effect	NOUN
ajset-12	149	106	of	of	ADP
ajset-12	149	107	the	the	DET
ajset-12	149	108	steering	steering	NOUN
ajset-12	149	109	trapezoid	trapezoid	ADJ
ajset-12	149	110	design	design	NOUN
ajset-12	149	111	,	,	PUNCT
ajset-12	149	112	the	the	DET
ajset-12	149	113	relationship	relationship	NOUN
ajset-12	149	114	between	between	ADP
ajset-12	149	115	the	the	DET
ajset-12	149	116	input	input	NOUN
ajset-12	149	117	angle	angle	NOUN
ajset-12	149	118	of	of	ADP
ajset-12	149	119	the	the	DET
ajset-12	149	120	outer	outer	ADJ
ajset-12	149	121	steering	steering	NOUN
ajset-12	149	122	wheel	wheel	NOUN
ajset-12	149	123	and	and	CCONJ
ajset-12	149	124	the	the	DET
ajset-12	149	125	output	output	NOUN
ajset-12	149	126	angle	angle	NOUN
ajset-12	149	127	of	of	ADP
ajset-12	149	128	the	the	DET
ajset-12	149	129	inner	inner	ADJ
ajset-12	149	130	steering	steering	NOUN
ajset-12	149	131	wheel	wheel	NOUN
ajset-12	149	132	is	be	AUX
ajset-12	149	133	drawn	draw	VERB
ajset-12	149	134	by	by	ADP
ajset-12	149	135	matlab	matlab	PROPN
ajset-12	149	136	,	,	PUNCT
ajset-12	149	137	as	as	SCONJ
ajset-12	149	138	shown	show	VERB
ajset-12	149	139	in	in	ADP
ajset-12	149	140	figure	figure	NOUN
ajset-12	149	141	5	5	NUM
ajset-12	149	142	.	.	PUNCT
ajset-12	150	1	when	when	SCONJ
ajset-12	150	2	the	the	DET
ajset-12	150	3	angle	angle	NOUN
ajset-12	150	4	curve	curve	NOUN
ajset-12	150	5	of	of	ADP
ajset-12	150	6	the	the	DET
ajset-12	150	7	actual	actual	ADJ
ajset-12	150	8	inner	inner	ADJ
ajset-12	150	9	and	and	CCONJ
ajset-12	150	10	outer	outer	ADJ
ajset-12	150	11	wheels	wheel	NOUN
ajset-12	150	12	is	be	AUX
ajset-12	150	13	closer	close	ADJ
ajset-12	150	14	to	to	ADP
ajset-12	150	15	the	the	DET
ajset-12	150	16	angle	angle	NOUN
ajset-12	150	17	curve	curve	NOUN
ajset-12	150	18	of	of	ADP
ajset-12	150	19	the	the	DET
ajset-12	150	20	ideal	ideal	ADJ
ajset-12	150	21	ackerman	ackerman	PROPN
ajset-12	150	22	inner	inner	ADJ
ajset-12	150	23	and	and	CCONJ
ajset-12	150	24	outer	outer	ADJ
ajset-12	150	25	wheels	wheel	NOUN
ajset-12	150	26	,	,	PUNCT
ajset-12	150	27	it	it	PRON
ajset-12	150	28	shows	show	VERB
ajset-12	150	29	that	that	SCONJ
ajset-12	150	30	the	the	PRON
ajset-12	150	31	closer	close	ADJ
ajset-12	150	32	the	the	DET
ajset-12	150	33	fsae	fsae	PROPN
ajset-12	150	34	car	car	NOUN
ajset-12	150	35	is	be	AUX
ajset-12	150	36	to	to	ADP
ajset-12	150	37	the	the	DET
ajset-12	150	38	ideal	ideal	ADJ
ajset-12	150	39	ackerman	ackerman	PROPN
ajset-12	150	40	steering	steering	NOUN
ajset-12	150	41	when	when	SCONJ
ajset-12	150	42	it	it	PRON
ajset-12	150	43	is	be	AUX
ajset-12	150	44	actually	actually	ADV
ajset-12	150	45	turning	turn	VERB
ajset-12	150	46	.	.	PUNCT
ajset-12	151	1	it	it	PRON
ajset-12	151	2	means	mean	VERB
ajset-12	151	3	that	that	SCONJ
ajset-12	151	4	the	the	PRON
ajset-12	151	5	smaller	small	ADJ
ajset-12	151	6	the	the	DET
ajset-12	151	7	difference	difference	NOUN
ajset-12	151	8	between	between	ADP
ajset-12	151	9	the	the	DET
ajset-12	151	10	two	two	NUM
ajset-12	151	11	curves	curve	NOUN
ajset-12	151	12	is	be	AUX
ajset-12	151	13	,	,	PUNCT
ajset-12	151	14	the	the	PRON
ajset-12	151	15	better	well	ADJ
ajset-12	151	16	the	the	DET
ajset-12	151	17	actual	actual	ADJ
ajset-12	151	18	steering	steering	NOUN
ajset-12	151	19	effect	effect	NOUN
ajset-12	151	20	is	be	AUX
ajset-12	151	21	.	.	PUNCT
ajset-12	152	1	from	from	ADP
ajset-12	152	2	figure	figure	NOUN
ajset-12	152	3	5	5	NUM
ajset-12	152	4	,	,	PUNCT
ajset-12	152	5	it	it	PRON
ajset-12	152	6	can	can	AUX
ajset-12	152	7	be	be	AUX
ajset-12	152	8	seen	see	VERB
ajset-12	152	9	that	that	SCONJ
ajset-12	152	10	after	after	ADP
ajset-12	152	11	adopting	adopt	VERB
ajset-12	152	12	the	the	DET
ajset-12	152	13	optimized	optimize	VERB
ajset-12	152	14	design	design	NOUN
ajset-12	152	15	scheme	scheme	NOUN
ajset-12	152	16	of	of	ADP
ajset-12	152	17	this	this	DET
ajset-12	152	18	paper	paper	NOUN
ajset-12	152	19	,	,	PUNCT
ajset-12	152	20	the	the	DET
ajset-12	152	21	actual	actual	ADJ
ajset-12	152	22	corner	corner	NOUN
ajset-12	152	23	curve	curve	NOUN
ajset-12	152	24	is	be	AUX
ajset-12	152	25	closer	close	ADJ
ajset-12	152	26	to	to	ADP
ajset-12	152	27	the	the	DET
ajset-12	152	28	ideal	ideal	ADJ
ajset-12	152	29	corner	corner	NOUN
ajset-12	152	30	curve	curve	NOUN
ajset-12	152	31	than	than	ADP
ajset-12	152	32	the	the	DET
ajset-12	152	33	initial	initial	ADJ
ajset-12	152	34	corner	corner	NOUN
ajset-12	152	35	curve	curve	NOUN
ajset-12	152	36	.	.	PUNCT
ajset-12	153	1	thus	thus	ADV
ajset-12	153	2	,	,	PUNCT
ajset-12	153	3	the	the	DET
ajset-12	153	4	design	design	NOUN
ajset-12	153	5	of	of	ADP
ajset-12	153	6	the	the	DET
ajset-12	153	7	steering	steering	NOUN
ajset-12	153	8	trapezoid	trapezoid	NOUN
ajset-12	153	9	in	in	ADP
ajset-12	153	10	this	this	DET
ajset-12	153	11	paper	paper	NOUN
ajset-12	153	12	can	can	AUX
ajset-12	153	13	better	well	ADV
ajset-12	153	14	match	match	VERB
ajset-12	153	15	the	the	DET
ajset-12	153	16	ideal	ideal	ADJ
ajset-12	153	17	ackerman	ackerman	PROPN
ajset-12	153	18	steering	steering	NOUN
ajset-12	153	19	relationship	relationship	NOUN
ajset-12	153	20	under	under	ADP
ajset-12	153	21	the	the	DET
ajset-12	153	22	condition	condition	NOUN
ajset-12	153	23	of	of	ADP
ajset-12	153	24	meeting	meet	VERB
ajset-12	153	25	the	the	DET
ajset-12	153	26	design	design	NOUN
ajset-12	153	27	requirements	requirement	NOUN
ajset-12	153	28	and	and	CCONJ
ajset-12	153	29	has	have	VERB
ajset-12	153	30	better	well	ADJ
ajset-12	153	31	steering	steering	NOUN
ajset-12	153	32	performance	performance	NOUN
ajset-12	153	33	.	.	PUNCT
ajset-12	154	1	the	the	DET
ajset-12	154	2	parameter	parameter	NOUN
ajset-12	154	3	design	design	NOUN
ajset-12	154	4	of	of	ADP
ajset-12	154	5	the	the	DET
ajset-12	154	6	steering	steering	NOUN
ajset-12	154	7	mechanism	mechanism	NOUN
ajset-12	154	8	not	not	PART
ajset-12	154	9	only	only	ADV
ajset-12	154	10	affects	affect	VERB
ajset-12	154	11	the	the	DET
ajset-12	154	12	steering	steering	NOUN
ajset-12	154	13	performance	performance	NOUN
ajset-12	154	14	of	of	ADP
ajset-12	154	15	the	the	DET
ajset-12	154	16	car	car	NOUN
ajset-12	154	17	,	,	PUNCT
ajset-12	154	18	but	but	CCONJ
ajset-12	154	19	also	also	ADV
ajset-12	154	20	affects	affect	VERB
ajset-12	154	21	the	the	DET
ajset-12	154	22	steering	steering	NOUN
ajset-12	154	23	stability	stability	NOUN
ajset-12	154	24	of	of	ADP
ajset-12	154	25	the	the	DET
ajset-12	154	26	car	car	NOUN
ajset-12	154	27	to	to	ADP
ajset-12	154	28	some	some	DET
ajset-12	154	29	extent	extent	NOUN
ajset-12	154	30	.	.	PUNCT
ajset-12	155	1	during	during	ADP
ajset-12	155	2	the	the	DET
ajset-12	155	3	steering	steering	NOUN
ajset-12	155	4	of	of	ADP
ajset-12	155	5	the	the	DET
ajset-12	155	6	fsae	fsae	NOUN
ajset-12	155	7	,	,	PUNCT
ajset-12	155	8	the	the	DET
ajset-12	155	9	relative	relative	ADJ
ajset-12	155	10	motion	motion	NOUN
ajset-12	155	11	of	of	ADP
ajset-12	155	12	the	the	DET
ajset-12	155	13	steering	steering	NOUN
ajset-12	155	14	mechanism	mechanism	NOUN
ajset-12	155	15	and	and	CCONJ
ajset-12	155	16	the	the	DET
ajset-12	155	17	suspension	suspension	NOUN
ajset-12	155	18	mechanism	mechanism	NOUN
ajset-12	155	19	changes	change	VERB
ajset-12	155	20	the	the	DET
ajset-12	155	21	toe	toe	NOUN
ajset-12	155	22	angle	angle	NOUN
ajset-12	155	23	of	of	ADP
ajset-12	155	24	the	the	DET
ajset-12	155	25	wheel	wheel	NOUN
ajset-12	155	26	.	.	PUNCT
ajset-12	156	1	while	while	SCONJ
ajset-12	156	2	the	the	DET
ajset-12	156	3	size	size	NOUN
ajset-12	156	4	of	of	ADP
ajset-12	156	5	the	the	DET
ajset-12	156	6	toe	toe	NOUN
ajset-12	156	7	angle	angle	NOUN
ajset-12	156	8	indirectly	indirectly	ADV
ajset-12	156	9	affects	affect	VERB
ajset-12	156	10	the	the	DET
ajset-12	156	11	wear	wear	NOUN
ajset-12	156	12	level	level	NOUN
ajset-12	156	13	of	of	ADP
ajset-12	156	14	the	the	DET
ajset-12	156	15	fsae	fsae	PROPN
ajset-12	156	16	racing	race	VERB
ajset-12	156	17	tires	tire	NOUN
ajset-12	156	18	.	.	PUNCT
ajset-12	157	1	thus	thus	ADV
ajset-12	157	2	,	,	PUNCT
ajset-12	157	3	in	in	ADP
ajset-12	157	4	the	the	DET
ajset-12	157	5	design	design	NOUN
ajset-12	157	6	process	process	NOUN
ajset-12	157	7	of	of	ADP
ajset-12	157	8	the	the	DET
ajset-12	157	9	steering	steering	NOUN
ajset-12	157	10	mechanism	mechanism	NOUN
ajset-12	157	11	,	,	PUNCT
ajset-12	157	12	the	the	DET
ajset-12	157	13	degree	degree	NOUN
ajset-12	157	14	of	of	ADP
ajset-12	157	15	change	change	NOUN
ajset-12	157	16	of	of	ADP
ajset-12	157	17	the	the	DET
ajset-12	157	18	toe	toe	NOUN
ajset-12	157	19	angle	angle	NOUN
ajset-12	157	20	during	during	ADP
ajset-12	157	21	the	the	DET
ajset-12	157	22	running	running	NOUN
ajset-12	157	23	of	of	ADP
ajset-12	157	24	the	the	DET
ajset-12	157	25	wheel	wheel	NOUN
ajset-12	157	26	should	should	AUX
ajset-12	157	27	be	be	AUX
ajset-12	157	28	minimized	minimize	VERB
ajset-12	157	29	,	,	PUNCT
ajset-12	157	30	so	so	SCONJ
ajset-12	157	31	that	that	SCONJ
ajset-12	157	32	the	the	DET
ajset-12	157	33	car	car	NOUN
ajset-12	157	34	maintains	maintain	VERB
ajset-12	157	35	good	good	ADJ
ajset-12	157	36	steering	steering	NOUN
ajset-12	157	37	stability	stability	NOUN
ajset-12	157	38	during	during	ADP
ajset-12	157	39	the	the	DET
ajset-12	157	40	steering	steering	NOUN
ajset-12	157	41	process	process	NOUN
ajset-12	157	42	.	.	PUNCT
ajset-12	158	1	hanqi	hanqi	PROPN
ajset-12	158	2	wang	wang	PROPN
ajset-12	158	3	,	,	PUNCT
ajset-12	158	4	bo	bo	PROPN
ajset-12	158	5	wu	wu	PROPN
ajset-12	158	6	*	*	PROPN
ajset-12	158	7	,	,	PUNCT
ajset-12	158	8	xiaolong	xiaolong	PROPN
ajset-12	158	9	cheng	cheng	PROPN
ajset-12	158	10	,	,	PUNCT
ajset-12	158	11	yongjun	yongjun	PROPN
ajset-12	158	12	mao	mao	PROPN
ajset-12	158	13	optimizing	optimize	VERB
ajset-12	158	14	the	the	DET
ajset-12	158	15	rear	rear	ADJ
ajset-12	158	16	-	-	PUNCT
ajset-12	158	17	disconnected	disconnected	ADJ
ajset-12	158	18	steering	steering	NOUN
ajset-12	158	19	trapezoid	trapezoid	NOUN
ajset-12	158	20	for	for	ADP
ajset-12	158	21	fsae	fsae	NOUN
ajset-12	158	22	racing	race	VERB
ajset-12	158	23	cars	car	NOUN
ajset-12	158	24	13|	13|	PROPN
ajset-12	158	25	a	a	DET
ajset-12	158	26	c	c	NOUN
ajset-12	158	27	a	a	PRON
ajset-12	158	28	d	d	X
ajset-12	158	29	e	e	NOUN
ajset-12	158	30	m	m	NOUN
ajset-12	158	31	i	i	NOUN
ajset-12	158	32	c	c	NOUN
ajset-12	158	33	j	j	NOUN
ajset-12	158	34	o	o	X
ajset-12	158	35	u	u	NOUN
ajset-12	158	36	r	r	NOUN
ajset-12	158	37	n	n	NOUN
ajset-12	158	38	a	a	DET
ajset-12	158	39	l	l	NOUN
ajset-12	159	1	o	o	X
ajset-12	159	2	f	f	X
ajset-12	159	3	s	s	X
ajset-12	159	4	c	c	NOUN
ajset-12	160	1	i	i	NOUN
ajset-12	160	2	e	e	PROPN
ajset-12	160	3	n	n	PROPN
ajset-12	160	4	c	c	NOUN
ajset-12	160	5	e	e	X
ajset-12	160	6	,	,	PUNCT
ajset-12	160	7	e	e	PROPN
ajset-12	160	8	n	n	PRON
ajset-12	160	9	g	g	NOUN
ajset-12	160	10	i	i	PRON
ajset-12	160	11	n	n	VERB
ajset-12	160	12	e	e	NOUN
ajset-12	160	13	e	e	NOUN
ajset-12	160	14	r	r	VERB
ajset-12	160	15	i	i	PRON
ajset-12	160	16	n	n	CCONJ
ajset-12	160	17	g	g	PROPN
ajset-12	160	18	a	a	DET
ajset-12	160	19	n	n	NOUN
ajset-12	160	20	d	d	NOUN
ajset-12	160	21	t	t	NOUN
ajset-12	160	22	e	e	X
ajset-12	160	23	c	c	NOUN
ajset-12	160	24	h	h	NOUN
ajset-12	160	25	n	n	ADV
ajset-12	160	26	o	o	NOUN
ajset-12	160	27	l	l	NOUN
ajset-12	161	1	o	o	X
ajset-12	161	2	g	g	NOUN
ajset-12	161	3	y	y	PROPN
ajset-12	161	4	|	|	ADV
ajset-12	161	5	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	VERB
ajset-12	161	6	figure.5	figure.5	PROPN
ajset-12	161	7	inner	inner	ADJ
ajset-12	161	8	and	and	CCONJ
ajset-12	161	9	outer	outer	ADJ
ajset-12	161	10	wheel	wheel	NOUN
ajset-12	161	11	angle	angle	NOUN
ajset-12	161	12	relationship	relationship	NOUN
ajset-12	161	13	curve	curve	VERB
ajset-12	161	14	the	the	DET
ajset-12	161	15	minimum	minimum	ADJ
ajset-12	161	16	value	value	NOUN
ajset-12	161	17	of	of	ADP
ajset-12	161	18	the	the	DET
ajset-12	161	19	toe	toe	NOUN
ajset-12	161	20	angle	angle	NOUN
ajset-12	161	21	change	change	NOUN
ajset-12	161	22	during	during	ADP
ajset-12	161	23	parallel	parallel	ADJ
ajset-12	161	24	double	double	ADJ
ajset-12	161	25	-	-	PUNCT
ajset-12	161	26	wheel	wheel	NOUN
ajset-12	161	27	bounce	bounce	NOUN
ajset-12	161	28	is	be	AUX
ajset-12	161	29	optimized	optimize	VERB
ajset-12	161	30	using	use	VERB
ajset-12	161	31	the	the	DET
ajset-12	161	32	insight	insight	NOUN
ajset-12	161	33	module	module	NOUN
ajset-12	161	34	in	in	ADP
ajset-12	161	35	adams	adams	PROPN
ajset-12	161	36	.	.	PUNCT
ajset-12	162	1	the	the	DET
ajset-12	162	2	optimization	optimization	NOUN
ajset-12	162	3	result	result	NOUN
ajset-12	162	4	is	be	AUX
ajset-12	162	5	shown	show	VERB
ajset-12	162	6	in	in	ADP
ajset-12	162	7	figure	figure	NOUN
ajset-12	162	8	6	6	NUM
ajset-12	162	9	.	.	PUNCT
ajset-12	163	1	according	accord	VERB
ajset-12	163	2	to	to	PART
ajset-12	163	3	figure	figure	VERB
ajset-12	163	4	6	6	NUM
ajset-12	163	5	,	,	PUNCT
ajset-12	163	6	it	it	PRON
ajset-12	163	7	can	can	AUX
ajset-12	163	8	be	be	AUX
ajset-12	163	9	seen	see	VERB
ajset-12	163	10	that	that	SCONJ
ajset-12	163	11	the	the	DET
ajset-12	163	12	toe	toe	NOUN
ajset-12	163	13	angle	angle	NOUN
ajset-12	163	14	of	of	ADP
ajset-12	163	15	the	the	DET
ajset-12	163	16	wheel	wheel	NOUN
ajset-12	163	17	before	before	ADV
ajset-12	163	18	and	and	CCONJ
ajset-12	163	19	after	after	ADP
ajset-12	163	20	optimization	optimization	NOUN
ajset-12	163	21	is	be	AUX
ajset-12	163	22	reduced	reduce	VERB
ajset-12	163	23	from	from	ADP
ajset-12	163	24	1.7957	1.7957	NUM
ajset-12	163	25	°	°	NOUN
ajset-12	163	26	to	to	ADP
ajset-12	163	27	1.4478	1.4478	NUM
ajset-12	163	28	°	°	NOUN
ajset-12	163	29	.	.	PUNCT
ajset-12	164	1	after	after	ADP
ajset-12	164	2	adopting	adopt	VERB
ajset-12	164	3	the	the	DET
ajset-12	164	4	design	design	NOUN
ajset-12	164	5	of	of	ADP
ajset-12	164	6	the	the	DET
ajset-12	164	7	steering	steering	NOUN
ajset-12	164	8	mechanism	mechanism	NOUN
ajset-12	164	9	of	of	ADP
ajset-12	164	10	this	this	DET
ajset-12	164	11	paper	paper	NOUN
ajset-12	164	12	,	,	PUNCT
ajset-12	164	13	the	the	DET
ajset-12	164	14	degree	degree	NOUN
ajset-12	164	15	of	of	ADP
ajset-12	164	16	change	change	NOUN
ajset-12	164	17	of	of	ADP
ajset-12	164	18	the	the	DET
ajset-12	164	19	toe	toe	NOUN
ajset-12	164	20	angle	angle	NOUN
ajset-12	164	21	when	when	SCONJ
ajset-12	164	22	the	the	DET
ajset-12	164	23	wheel	wheel	NOUN
ajset-12	164	24	is	be	AUX
ajset-12	164	25	beating	beat	VERB
ajset-12	164	26	can	can	AUX
ajset-12	164	27	be	be	AUX
ajset-12	164	28	effectively	effectively	ADV
ajset-12	164	29	reduced	reduce	VERB
ajset-12	164	30	.	.	PUNCT
ajset-12	165	1	thus	thus	ADV
ajset-12	165	2	,	,	PUNCT
ajset-12	165	3	from	from	ADP
ajset-12	165	4	the	the	DET
ajset-12	165	5	perspective	perspective	NOUN
ajset-12	165	6	of	of	ADP
ajset-12	165	7	dynamics	dynamic	NOUN
ajset-12	165	8	,	,	PUNCT
ajset-12	165	9	the	the	DET
ajset-12	165	10	optimized	optimize	VERB
ajset-12	165	11	design	design	NOUN
ajset-12	165	12	of	of	ADP
ajset-12	165	13	this	this	DET
ajset-12	165	14	paper	paper	NOUN
ajset-12	165	15	makes	make	VERB
ajset-12	165	16	the	the	DET
ajset-12	165	17	fsae	fsae	NOUN
ajset-12	165	18	racing	race	VERB
ajset-12	165	19	car	car	NOUN
ajset-12	165	20	have	have	VERB
ajset-12	165	21	higher	high	ADJ
ajset-12	165	22	steering	steering	NOUN
ajset-12	165	23	stability	stability	NOUN
ajset-12	165	24	when	when	SCONJ
ajset-12	165	25	steering	steer	VERB
ajset-12	165	26	and	and	CCONJ
ajset-12	165	27	achieves	achieve	VERB
ajset-12	165	28	the	the	DET
ajset-12	165	29	expected	expect	VERB
ajset-12	165	30	optimization	optimization	NOUN
ajset-12	165	31	results	result	NOUN
ajset-12	165	32	.	.	PUNCT
ajset-12	166	1	figure.6	figure.6	NOUN
ajset-12	166	2	simulation	simulation	NOUN
ajset-12	166	3	curve	curve	NOUN
ajset-12	166	4	of	of	ADP
ajset-12	166	5	parallel	parallel	ADJ
ajset-12	166	6	double	double	ADJ
ajset-12	166	7	wheel	wheel	NOUN
ajset-12	166	8	bounce	bounce	NOUN
ajset-12	166	9	toe	toe	NOUN
ajset-12	166	10	angle	angle	NOUN
ajset-12	166	11	change	change	NOUN
ajset-12	166	12	conclusion	conclusion	NOUN
ajset-12	166	13	in	in	ADP
ajset-12	166	14	this	this	DET
ajset-12	166	15	paper	paper	NOUN
ajset-12	166	16	,	,	PUNCT
ajset-12	166	17	we	we	PRON
ajset-12	166	18	analyze	analyze	VERB
ajset-12	166	19	and	and	CCONJ
ajset-12	166	20	model	model	VERB
ajset-12	166	21	the	the	DET
ajset-12	166	22	rear	rear	ADJ
ajset-12	166	23	-	-	PUNCT
ajset-12	166	24	disconnected	disconnected	ADJ
ajset-12	166	25	steering	steering	NOUN
ajset-12	166	26	trapezoid	trapezoid	NOUN
ajset-12	166	27	of	of	ADP
ajset-12	166	28	fsae	fsae	NOUN
ajset-12	166	29	racing	race	VERB
ajset-12	166	30	car	car	NOUN
ajset-12	166	31	and	and	CCONJ
ajset-12	166	32	transform	transform	VERB
ajset-12	166	33	the	the	DET
ajset-12	166	34	steering	steering	NOUN
ajset-12	166	35	trapezoidal	trapezoidal	ADJ
ajset-12	166	36	multi	multi	ADJ
ajset-12	166	37	-	-	ADJ
ajset-12	166	38	link	link	ADJ
ajset-12	166	39	mechanism	mechanism	NOUN
ajset-12	166	40	into	into	ADP
ajset-12	166	41	a	a	DET
ajset-12	166	42	mathematical	mathematical	ADJ
ajset-12	166	43	model	model	NOUN
ajset-12	166	44	.	.	PUNCT
ajset-12	167	1	and	and	CCONJ
ajset-12	167	2	we	we	PRON
ajset-12	167	3	modify	modify	VERB
ajset-12	167	4	the	the	DET
ajset-12	167	5	ideal	ideal	ADJ
ajset-12	167	6	ackerman	ackerman	PROPN
ajset-12	167	7	steering	steering	NOUN
ajset-12	167	8	formula	formula	NOUN
ajset-12	167	9	and	and	CCONJ
ajset-12	167	10	consider	consider	VERB
ajset-12	167	11	the	the	DET
ajset-12	167	12	effect	effect	NOUN
ajset-12	167	13	of	of	ADP
ajset-12	167	14	the	the	DET
ajset-12	167	15	cornering	corner	VERB
ajset-12	167	16	force	force	NOUN
ajset-12	167	17	on	on	ADP
ajset-12	167	18	the	the	DET
ajset-12	167	19	ideal	ideal	ADJ
ajset-12	167	20	ackerman	ackerman	PROPN
ajset-12	167	21	steering	steering	NOUN
ajset-12	167	22	.	.	PUNCT
ajset-12	168	1	the	the	DET
ajset-12	168	2	objective	objective	ADJ
ajset-12	168	3	function	function	NOUN
ajset-12	168	4	is	be	AUX
ajset-12	168	5	established	establish	VERB
ajset-12	168	6	by	by	ADP
ajset-12	168	7	the	the	DET
ajset-12	168	8	geometric	geometric	ADJ
ajset-12	168	9	relationship	relationship	NOUN
ajset-12	168	10	between	between	ADP
ajset-12	168	11	the	the	DET
ajset-12	168	12	modified	modify	VERB
ajset-12	168	13	ideal	ideal	ADJ
ajset-12	168	14	ackerman	ackerman	PROPN
ajset-12	168	15	steering	steering	NOUN
ajset-12	168	16	formula	formula	NOUN
ajset-12	168	17	and	and	CCONJ
ajset-12	168	18	the	the	DET
ajset-12	168	19	actual	actual	ADJ
ajset-12	168	20	inner	inner	ADJ
ajset-12	168	21	and	and	CCONJ
ajset-12	168	22	outer	outer	ADJ
ajset-12	168	23	corners	corner	NOUN
ajset-12	168	24	,	,	PUNCT
ajset-12	168	25	and	and	CCONJ
ajset-12	168	26	the	the	DET
ajset-12	168	27	operation	operation	NOUN
ajset-12	168	28	convenience	convenience	NOUN
ajset-12	168	29	of	of	ADP
ajset-12	168	30	the	the	DET
ajset-12	168	31	steering	steering	NOUN
ajset-12	168	32	mechanism	mechanism	NOUN
ajset-12	168	33	is	be	AUX
ajset-12	168	34	constrained	constrain	VERB
ajset-12	168	35	.	.	PUNCT
ajset-12	169	1	after	after	ADP
ajset-12	169	2	adopting	adopt	VERB
ajset-12	169	3	the	the	DET
ajset-12	169	4	idea	idea	NOUN
ajset-12	169	5	of	of	ADP
ajset-12	169	6	nonlinear	nonlinear	ADJ
ajset-12	169	7	programming	programming	NOUN
ajset-12	169	8	,	,	PUNCT
ajset-12	169	9	and	and	CCONJ
ajset-12	169	10	then	then	ADV
ajset-12	169	11	determining	determine	VERB
ajset-12	169	12	the	the	DET
ajset-12	169	13	upper	upper	ADJ
ajset-12	169	14	and	and	CCONJ
ajset-12	169	15	lower	low	ADJ
ajset-12	169	16	boundary	boundary	ADJ
ajset-12	169	17	conditions	condition	NOUN
ajset-12	169	18	of	of	ADP
ajset-12	169	19	the	the	DET
ajset-12	169	20	design	design	NOUN
ajset-12	169	21	variables	variable	NOUN
ajset-12	169	22	,	,	PUNCT
ajset-12	169	23	the	the	DET
ajset-12	169	24	initial	initial	ADJ
ajset-12	169	25	values	value	NOUN
ajset-12	169	26	of	of	ADP
ajset-12	169	27	the	the	DET
ajset-12	169	28	design	design	NOUN
ajset-12	169	29	variables	variable	NOUN
ajset-12	169	30	are	be	AUX
ajset-12	169	31	continuously	continuously	ADV
ajset-12	169	32	changed	change	VERB
ajset-12	169	33	by	by	ADP
ajset-12	169	34	matlab	matlab	PROPN
ajset-12	169	35	software	software	NOUN
ajset-12	169	36	,	,	PUNCT
ajset-12	169	37	so	so	SCONJ
ajset-12	169	38	that	that	SCONJ
ajset-12	169	39	the	the	DET
ajset-12	169	40	final	final	ADJ
ajset-12	169	41	design	design	NOUN
ajset-12	169	42	structure	structure	NOUN
ajset-12	169	43	can	can	AUX
ajset-12	169	44	maximally	maximally	ADV
ajset-12	169	45	close	close	ADJ
ajset-12	169	46	to	to	ADP
ajset-12	169	47	the	the	DET
ajset-12	169	48	actual	actual	ADJ
ajset-12	169	49	internal	internal	ADJ
ajset-12	169	50	and	and	CCONJ
ajset-12	169	51	external	external	ADJ
ajset-12	169	52	rotation	rotation	NOUN
ajset-12	169	53	angles	angle	VERB
ajset-12	169	54	under	under	ADP
ajset-12	169	55	the	the	DET
ajset-12	169	56	condition	condition	NOUN
ajset-12	169	57	of	of	ADP
ajset-12	169	58	satisfying	satisfy	VERB
ajset-12	169	59	the	the	DET
ajset-12	169	60	fatigue	fatigue	NOUN
ajset-12	169	61	strength	strength	NOUN
ajset-12	169	62	.	.	PUNCT
ajset-12	170	1	the	the	DET
ajset-12	170	2	adams	adams	PROPN
ajset-12	170	3	software	software	PROPN
ajset-12	170	4	is	be	AUX
ajset-12	170	5	used	use	VERB
ajset-12	170	6	to	to	PART
ajset-12	170	7	simulate	simulate	VERB
ajset-12	170	8	the	the	DET
ajset-12	170	9	dynamic	dynamic	ADJ
ajset-12	170	10	change	change	NOUN
ajset-12	170	11	of	of	ADP
ajset-12	170	12	the	the	DET
ajset-12	170	13	toe	toe	NOUN
ajset-12	170	14	angle	angle	NOUN
ajset-12	170	15	of	of	ADP
ajset-12	170	16	the	the	DET
ajset-12	170	17	parallel	parallel	ADJ
ajset-12	170	18	two	two	NUM
ajset-12	170	19	-	-	PUNCT
ajset-12	170	20	wheeled	wheel	VERB
ajset-12	170	21	.	.	PUNCT
ajset-12	171	1	it	it	PRON
ajset-12	171	2	is	be	AUX
ajset-12	171	3	verified	verify	VERB
ajset-12	171	4	that	that	SCONJ
ajset-12	171	5	the	the	DET
ajset-12	171	6	steering	steering	NOUN
ajset-12	171	7	trapezoidal	trapezoidal	ADJ
ajset-12	171	8	design	design	NOUN
ajset-12	171	9	given	give	VERB
ajset-12	171	10	in	in	ADP
ajset-12	171	11	this	this	DET
ajset-12	171	12	paper	paper	NOUN
ajset-12	171	13	not	not	PART
ajset-12	171	14	only	only	ADV
ajset-12	171	15	has	have	VERB
ajset-12	171	16	good	good	ADJ
ajset-12	171	17	steering	steering	NOUN
ajset-12	171	18	performance	performance	NOUN
ajset-12	171	19	,	,	PUNCT
ajset-12	171	20	but	but	CCONJ
ajset-12	171	21	also	also	ADV
ajset-12	171	22	improves	improve	VERB
ajset-12	171	23	the	the	DET
ajset-12	171	24	steering	steering	NOUN
ajset-12	171	25	stability	stability	NOUN
ajset-12	171	26	of	of	ADP
ajset-12	171	27	the	the	DET
ajset-12	171	28	car	car	NOUN
ajset-12	171	29	to	to	ADP
ajset-12	171	30	a	a	DET
ajset-12	171	31	certain	certain	ADJ
ajset-12	171	32	extent	extent	NOUN
ajset-12	171	33	.	.	PUNCT
ajset-12	172	1	and	and	CCONJ
ajset-12	172	2	it	it	PRON
ajset-12	172	3	also	also	ADV
ajset-12	172	4	improves	improve	VERB
ajset-12	172	5	the	the	DET
ajset-12	172	6	dynamic	dynamic	ADJ
ajset-12	172	7	performance	performance	NOUN
ajset-12	172	8	of	of	ADP
ajset-12	172	9	the	the	DET
ajset-12	172	10	fsae	fsae	NOUN
ajset-12	172	11	racing	race	VERB
ajset-12	172	12	car	car	NOUN
ajset-12	172	13	while	while	SCONJ
ajset-12	172	14	driving	drive	VERB
ajset-12	172	15	in	in	ADP
ajset-12	172	16	a	a	DET
ajset-12	172	17	corner	corner	NOUN
ajset-12	172	18	.	.	PUNCT
ajset-12	173	1	the	the	DET
ajset-12	173	2	results	result	NOUN
ajset-12	173	3	of	of	ADP
ajset-12	173	4	the	the	DET
ajset-12	173	5	study	study	NOUN
ajset-12	173	6	provide	provide	VERB
ajset-12	173	7	a	a	DET
ajset-12	173	8	certain	certain	ADJ
ajset-12	173	9	reference	reference	NOUN
ajset-12	173	10	value	value	NOUN
ajset-12	173	11	for	for	ADP
ajset-12	173	12	the	the	DET
ajset-12	173	13	design	design	NOUN
ajset-12	173	14	of	of	ADP
ajset-12	173	15	the	the	DET
ajset-12	173	16	fsae	fsae	NOUN
ajset-12	173	17	racing	race	VERB
ajset-12	173	18	steering	steering	NOUN
ajset-12	173	19	mechanism	mechanism	NOUN
ajset-12	173	20	.	.	PUNCT
ajset-12	174	1	acknowledgement	acknowledgement	NOUN
ajset-12	174	2	this	this	DET
ajset-12	174	3	paper	paper	NOUN
ajset-12	174	4	is	be	AUX
ajset-12	174	5	supported	support	VERB
ajset-12	174	6	by	by	ADP
ajset-12	174	7	the	the	DET
ajset-12	174	8	harbin	harbin	PROPN
ajset-12	174	9	university	university	PROPN
ajset-12	174	10	of	of	ADP
ajset-12	174	11	science	science	PROPN
ajset-12	174	12	and	and	CCONJ
ajset-12	174	13	technology	technology	NOUN
ajset-12	174	14	college	college	NOUN
ajset-12	174	15	students	student	NOUN
ajset-12	174	16	'	'	PART
ajset-12	174	17	innovation	innovation	NOUN
ajset-12	174	18	and	and	CCONJ
ajset-12	174	19	entrepreneurship	entrepreneurship	NOUN
ajset-12	174	20	training	training	NOUN
ajset-12	174	21	program	program	NOUN
ajset-12	174	22	(	(	PUNCT
ajset-12	174	23	project	project	NOUN
ajset-12	174	24	no	no	NOUN
ajset-12	174	25	.	.	NOUN
ajset-12	174	26	201810214162	201810214162	NUM
ajset-12	174	27	)	)	PUNCT
ajset-12	174	28	.	.	PUNCT
ajset-12	175	1	references	reference	NOUN
ajset-12	175	2	[	[	X
ajset-12	175	3	1	1	NUM
ajset-12	175	4	]	]	PUNCT
ajset-12	175	5	.	.	PUNCT
ajset-12	176	1	jilin	jilin	PROPN
ajset-12	176	2	university	university	PROPN
ajset-12	176	3	,	,	PUNCT
ajset-12	176	4	wang	wang	PROPN
ajset-12	176	5	wangyu	wangyu	PROPN
ajset-12	176	6	.	.	PUNCT
ajset-12	177	1	automotive	automotive	ADJ
ajset-12	177	2	design	design	NOUN
ajset-12	177	3	[	[	X
ajset-12	178	1	m	m	X
ajset-12	178	2	]	]	X
ajset-12	178	3	.	.	PUNCT
ajset-12	179	1	the	the	DET
ajset-12	179	2	third	third	PROPN
ajset-12	179	3	edition	edition	NOUN
ajset-12	179	4	.	.	PUNCT
ajset-12	180	1	beijing	beijing	PROPN
ajset-12	180	2	:	:	PUNCT
ajset-12	181	1	china	china	PROPN
ajset-12	181	2	machine	machine	PROPN
ajset-12	181	3	press	press	PROPN
ajset-12	181	4	,	,	PUNCT
ajset-12	181	5	2016	2016	NUM
ajset-12	181	6	.	.	PUNCT
ajset-12	182	1	[	[	X
ajset-12	182	2	2	2	NUM
ajset-12	182	3	]	]	PUNCT
ajset-12	182	4	.	.	PUNCT
ajset-12	183	1	zhang	zhang	PROPN
ajset-12	183	2	xiangbo	xiangbo	PROPN
ajset-12	183	3	,	,	PUNCT
ajset-12	183	4	he	he	PRON
ajset-12	183	5	yaohua	yaohua	PROPN
ajset-12	183	6	.	.	PUNCT
ajset-12	183	7	optimization	optimization	NOUN
ajset-12	183	8	and	and	CCONJ
ajset-12	183	9	simulation	simulation	NOUN
ajset-12	183	10	of	of	ADP
ajset-12	183	11	trapezoid	trapezoid	ADJ
ajset-12	183	12	steering	steering	NOUN
ajset-12	183	13	of	of	ADP
ajset-12	183	14	rear	rear	ADJ
ajset-12	183	15	wheel	wheel	NOUN
ajset-12	183	16	of	of	ADP
ajset-12	183	17	fsae	fsae	PROPN
ajset-12	184	1	[	[	X
ajset-12	184	2	j	j	X
ajset-12	184	3	]	]	X
ajset-12	184	4	.	.	PUNCT
ajset-12	184	5	automation	automation	NOUN
ajset-12	184	6	&	&	CCONJ
ajset-12	184	7	instrumentation	instrumentation	NOUN
ajset-12	184	8	,	,	PUNCT
ajset-12	184	9	2017(12):48	2017(12):48	NUM
ajset-12	184	10	-	-	SYM
ajset-12	184	11	54	54	NUM
ajset-12	184	12	.	.	PUNCT
ajset-12	185	1	hanqi	hanqi	PROPN
ajset-12	185	2	wang	wang	PROPN
ajset-12	185	3	,	,	PUNCT
ajset-12	185	4	bo	bo	PROPN
ajset-12	185	5	wu	wu	PROPN
ajset-12	185	6	*	*	PROPN
ajset-12	185	7	,	,	PUNCT
ajset-12	185	8	xiaolong	xiaolong	PROPN
ajset-12	185	9	cheng	cheng	PROPN
ajset-12	185	10	,	,	PUNCT
ajset-12	185	11	yongjun	yongjun	PROPN
ajset-12	185	12	mao	mao	PROPN
ajset-12	185	13	optimizing	optimize	VERB
ajset-12	185	14	the	the	DET
ajset-12	185	15	rear	rear	ADJ
ajset-12	185	16	-	-	PUNCT
ajset-12	185	17	disconnected	disconnected	ADJ
ajset-12	185	18	steering	steering	NOUN
ajset-12	185	19	trapezoid	trapezoid	NOUN
ajset-12	185	20	for	for	ADP
ajset-12	185	21	fsae	fsae	NOUN
ajset-12	185	22	racing	race	VERB
ajset-12	185	23	cars	car	NOUN
ajset-12	185	24	14|	14|	NUM
ajset-12	185	25	a	a	DET
ajset-12	185	26	c	c	NOUN
ajset-12	185	27	a	a	PRON
ajset-12	185	28	d	d	X
ajset-12	185	29	e	e	NOUN
ajset-12	185	30	m	m	NOUN
ajset-12	185	31	i	i	NOUN
ajset-12	185	32	c	c	NOUN
ajset-12	185	33	j	j	NOUN
ajset-12	185	34	o	o	X
ajset-12	185	35	u	u	NOUN
ajset-12	185	36	r	r	NOUN
ajset-12	185	37	n	n	NOUN
ajset-12	185	38	a	a	DET
ajset-12	185	39	l	l	NOUN
ajset-12	186	1	o	o	X
ajset-12	186	2	f	f	X
ajset-12	186	3	s	s	X
ajset-12	186	4	c	c	NOUN
ajset-12	187	1	i	i	NOUN
ajset-12	187	2	e	e	PROPN
ajset-12	187	3	n	n	PROPN
ajset-12	187	4	c	c	NOUN
ajset-12	187	5	e	e	X
ajset-12	187	6	,	,	PUNCT
ajset-12	187	7	e	e	PROPN
ajset-12	187	8	n	n	PRON
ajset-12	187	9	g	g	NOUN
ajset-12	187	10	i	i	PRON
ajset-12	187	11	n	n	VERB
ajset-12	187	12	e	e	NOUN
ajset-12	187	13	e	e	NOUN
ajset-12	187	14	r	r	VERB
ajset-12	187	15	i	i	PRON
ajset-12	187	16	n	n	CCONJ
ajset-12	187	17	g	g	PROPN
ajset-12	187	18	a	a	DET
ajset-12	187	19	n	n	NOUN
ajset-12	187	20	d	d	NOUN
ajset-12	187	21	t	t	NOUN
ajset-12	187	22	e	e	X
ajset-12	187	23	c	c	NOUN
ajset-12	187	24	h	h	NOUN
ajset-12	187	25	n	n	ADV
ajset-12	187	26	o	o	NOUN
ajset-12	187	27	l	l	NOUN
ajset-12	188	1	o	o	X
ajset-12	188	2	g	g	NOUN
ajset-12	188	3	y	y	PROPN
ajset-12	188	4	|	|	ADV
ajset-12	188	5	https://topjournals.org/index.php/ajset	https://topjournals.org/index.php/ajset	VERB
ajset-12	188	6	[	[	X
ajset-12	188	7	3	3	NUM
ajset-12	188	8	]	]	PUNCT
ajset-12	188	9	.	.	PUNCT
ajset-12	189	1	song	song	PROPN
ajset-12	189	2	xueqian	xueqian	PROPN
ajset-12	189	3	,	,	PUNCT
ajset-12	189	4	zhou	zhou	PROPN
ajset-12	189	5	yuebin	yuebin	PROPN
ajset-12	189	6	,	,	PUNCT
ajset-12	189	7	huang	huang	PROPN
ajset-12	189	8	cheng	cheng	PROPN
ajset-12	189	9	.	.	PUNCT
ajset-12	190	1	analysis	analysis	NOUN
ajset-12	190	2	and	and	CCONJ
ajset-12	190	3	optimization	optimization	NOUN
ajset-12	190	4	of	of	ADP
ajset-12	190	5	fsae	fsae	NOUN
ajset-12	190	6	racing	race	VERB
ajset-12	190	7	steering	steering	NOUN
ajset-12	190	8	structure	structure	NOUN
ajset-12	190	9	parameters	parameter	NOUN
ajset-12	191	1	[	[	X
ajset-12	191	2	j	j	X
ajset-12	191	3	]	]	X
ajset-12	191	4	.	.	PUNCT
ajset-12	192	1	equipment	equipment	NOUN
ajset-12	192	2	manufacturing	manufacturing	NOUN
ajset-12	192	3	technology	technology	NOUN
ajset-12	192	4	,	,	PUNCT
ajset-12	192	5	2018(07):73	2018(07):73	NUM
ajset-12	192	6	-	-	SYM
ajset-12	192	7	75	75	NUM
ajset-12	192	8	+	+	NOUN
ajset-12	192	9	87	87	NUM
ajset-12	192	10	.	.	PUNCT
ajset-12	193	1	[	[	X
ajset-12	193	2	4	4	NUM
ajset-12	193	3	]	]	PUNCT
ajset-12	193	4	.	.	PUNCT
ajset-12	194	1	shao	shao	PROPN
ajset-12	194	2	fei	fei	PROPN
ajset-12	194	3	,	,	PUNCT
ajset-12	194	4	li	li	PROPN
ajset-12	194	5	chuanchang	chuanchang	PROPN
ajset-12	194	6	,	,	PUNCT
ajset-12	194	7	xu	xu	PROPN
ajset-12	194	8	huayuan	huayuan	PROPN
ajset-12	194	9	.	.	PUNCT
ajset-12	195	1	design	design	NOUN
ajset-12	195	2	and	and	CCONJ
ajset-12	195	3	optimization	optimization	NOUN
ajset-12	195	4	of	of	ADP
ajset-12	195	5	fsae	fsae	NOUN
ajset-12	195	6	racing	race	VERB
ajset-12	195	7	car	car	NOUN
ajset-12	195	8	steering	steer	VERB
ajset-12	195	9	trapezoid	trapezoid	NOUN
ajset-12	196	1	[	[	X
ajset-12	196	2	j	j	X
ajset-12	196	3	]	]	X
ajset-12	196	4	.	.	PUNCT
ajset-12	197	1	journal	journal	PROPN
ajset-12	197	2	of	of	ADP
ajset-12	197	3	shanghai	shanghai	PROPN
ajset-12	197	4	university	university	PROPN
ajset-12	197	5	of	of	ADP
ajset-12	197	6	engineering	engineering	NOUN
ajset-12	197	7	and	and	CCONJ
ajset-12	197	8	technology	technology	NOUN
ajset-12	197	9	,	,	PUNCT
ajset-12	197	10	2018(1	2018(1	NUM
ajset-12	197	11	)	)	PUNCT
ajset-12	197	12	.	.	PUNCT
ajset-12	198	1	[	[	X
ajset-12	198	2	5	5	NUM
ajset-12	198	3	]	]	PUNCT
ajset-12	198	4	.	.	PUNCT
ajset-12	199	1	zhang	zhang	PROPN
ajset-12	199	2	kai	kai	PROPN
ajset-12	199	3	,	,	PUNCT
ajset-12	199	4	chen	chen	PROPN
ajset-12	199	5	pan	pan	PROPN
ajset-12	199	6	.	.	PROPN
ajset-12	199	7	joint	joint	ADJ
ajset-12	199	8	optimization	optimization	NOUN
ajset-12	199	9	design	design	NOUN
ajset-12	199	10	of	of	ADP
ajset-12	199	11	fsae	fsae	NOUN
ajset-12	199	12	racing	race	VERB
ajset-12	199	13	car	car	NOUN
ajset-12	199	14	steering	steer	VERB
ajset-12	199	15	trapezoid	trapezoid	NOUN
ajset-12	200	1	[	[	X
ajset-12	200	2	j	j	X
ajset-12	200	3	]	]	X
ajset-12	200	4	.	.	PUNCT
ajset-12	201	1	shaanxi	shaanxi	PROPN
ajset-12	201	2	auto	auto	PROPN
ajset-12	201	3	,	,	PUNCT
ajset-12	201	4	2015(4):72	2015(4):72	NUM
ajset-12	201	5	-	-	SYM
ajset-12	201	6	74	74	NUM
ajset-12	201	7	.	.	PUNCT
ajset-12	202	1	[	[	X
ajset-12	202	2	6	6	NUM
ajset-12	202	3	]	]	PUNCT
ajset-12	202	4	.	.	PUNCT
ajset-12	203	1	organizing	organize	VERB
ajset-12	203	2	committee	committee	NOUN
ajset-12	203	3	of	of	ADP
ajset-12	203	4	rules	rule	NOUN
ajset-12	203	5	of	of	ADP
ajset-12	203	6	china	china	PROPN
ajset-12	203	7	formula	formula	PROPN
ajset-12	203	8	university	university	NOUN
ajset-12	203	9	car	car	NOUN
ajset-12	203	10	race	race	NOUN
ajset-12	203	11	.	.	PUNCT
ajset-12	204	1	2018	2018	NUM
ajset-12	204	2	chinese	chinese	ADJ
ajset-12	204	3	formula	formula	NOUN
ajset-12	204	4	student	student	NOUN
ajset-12	204	5	car	car	NOUN
ajset-12	204	6	competition	competition	NOUN
ajset-12	204	7	entry	entry	NOUN
ajset-12	204	8	manual	manual	NOUN
ajset-12	204	9	[	[	X
ajset-12	204	10	r	r	X
ajset-12	204	11	]	]	PUNCT
ajset-12	204	12	.	.	PUNCT
ajset-12	205	1	beijing	beijing	PROPN
ajset-12	205	2	:	:	PUNCT
ajset-12	205	3	saec	saec	NOUN
ajset-12	205	4	,	,	PUNCT
ajset-12	205	5	2018	2018	NUM
ajset-12	205	6	.	.	PUNCT
ajset-12	206	1	[	[	X
ajset-12	206	2	7	7	NUM
ajset-12	206	3	]	]	PUNCT
ajset-12	206	4	.	.	PUNCT
ajset-12	207	1	beijing	beijing	PROPN
ajset-12	207	2	institute	institute	PROPN
ajset-12	207	3	of	of	ADP
ajset-12	207	4	technology	technology	PROPN
ajset-12	207	5	,	,	PUNCT
ajset-12	207	6	wang	wang	PROPN
ajset-12	207	7	jian	jian	PROPN
ajset-12	207	8	.	.	PROPN
ajset-12	208	1	formula	formula	PROPN
ajset-12	208	2	university	university	NOUN
ajset-12	208	3	racing	racing	NOUN
ajset-12	208	4	design	design	NOUN
ajset-12	208	5	[	[	X
ajset-12	208	6	m	m	X
ajset-12	208	7	]	]	X
ajset-12	208	8	.	.	PUNCT
ajset-12	209	1	the	the	DET
ajset-12	209	2	first	first	PROPN
ajset-12	209	3	edition	edition	NOUN
ajset-12	209	4	.	.	PUNCT
ajset-12	210	1	beijing	beijing	PROPN
ajset-12	210	2	:	:	PUNCT
ajset-12	210	3	beijing	beijing	PROPN
ajset-12	210	4	institute	institute	PROPN
ajset-12	210	5	of	of	ADP
ajset-12	210	6	technology	technology	PROPN
ajset-12	210	7	press	press	NOUN
ajset-12	210	8	,	,	PUNCT
ajset-12	210	9	2016	2016	NUM
ajset-12	210	10	.	.	PUNCT
ajset-12	211	1	[	[	X
ajset-12	211	2	8	8	NUM
ajset-12	211	3	]	]	PUNCT
ajset-12	211	4	.	.	PUNCT
ajset-12	212	1	southeast	southeast	PROPN
ajset-12	212	2	university	university	PROPN
ajset-12	212	3	mechanical	mechanical	ADJ
ajset-12	212	4	engineering	engineering	NOUN
ajset-12	212	5	group	group	NOUN
ajset-12	212	6	,	,	PUNCT
ajset-12	212	7	zheng	zheng	PROPN
ajset-12	212	8	wenwei	wenwei	PROPN
ajset-12	212	9	.	.	PUNCT
ajset-12	213	1	principle	principle	NOUN
ajset-12	213	2	of	of	ADP
ajset-12	213	3	mechanics	mechanic	NOUN
ajset-12	213	4	[	[	X
ajset-12	213	5	m	m	X
ajset-12	213	6	]	]	X
ajset-12	213	7	.	.	PUNCT
ajset-12	214	1	the	the	DET
ajset-12	214	2	seventh	seventh	PROPN
ajset-12	214	3	edition	edition	PROPN
ajset-12	214	4	.	.	PUNCT
ajset-12	215	1	beijing	beijing	PROPN
ajset-12	215	2	:	:	PUNCT
ajset-12	215	3	higher	high	ADJ
ajset-12	215	4	education	education	NOUN
ajset-12	215	5	press	press	NOUN
ajset-12	215	6	,	,	PUNCT
ajset-12	215	7	1997	1997	NUM
ajset-12	215	8	.	.	PUNCT