id	sid	eid	entity	type
ap-746	1	1	1	CARDINAL
ap-746	1	2	the last decade	DATE
ap-746	3	1	r-max	PERSON
ap-746	3	2	the university of california at berkeley	ORG
ap-746	4	1	1	CARDINAL
ap-746	4	2	carnegie mellon university	ORG
ap-746	5	1	2	CARDINAL
ap-746	5	2	the georgia institute of technology	ORG
ap-746	5	3	3	CARDINAL
ap-746	6	1	the past 5 years	DATE
ap-746	6	2	the department of aerospace engineering	ORG
ap-746	6	3	the university of rome	ORG
ap-746	7	1	italian	NORP
ap-746	7	2	antarctica	GPE
ap-746	7	3	the italian ministry for education	ORG
ap-746	8	1	uav	ORG
ap-746	8	2	1	CARDINAL
ap-746	8	3	two	CARDINAL
ap-746	8	4	three	CARDINAL
ap-746	8	5	three	CARDINAL
ap-746	8	6	two	CARDINAL
ap-746	10	1	1	CARDINAL
ap-746	11	1	4	CARDINAL
ap-746	11	2	5	CARDINAL
ap-746	13	1	three	CARDINAL
ap-746	16	1	2	CARDINAL
ap-746	18	1	1	CARDINAL
ap-746	19	1	czech	NORP
ap-746	19	2	81	CARDINAL
ap-746	19	3	czech	NORP
ap-746	20	1	45	CARDINAL
ap-746	21	1	g. avanzini	PERSON
ap-746	21	2	s. d’angelo	PERSON
ap-746	21	3	g. de matteis	PERSON
ap-746	21	4	uav	ORG
ap-746	21	5	the turin technical university	ORG
ap-746	21	6	the university of rome	ORG
ap-746	22	1	three two	CARDINAL
ap-746	22	2	two	CARDINAL
ap-746	22	3	three	CARDINAL
ap-746	26	1	fig	PERSON
ap-746	27	1	1	CARDINAL
ap-746	27	2	6	CARDINAL
ap-746	29	1	6	CARDINAL
ap-746	30	1	mav	ORG
ap-746	31	1	8	CARDINAL
ap-746	32	1	mav	ORG
ap-746	34	1	ro.w.en.a	PRODUCT
ap-746	35	1	9	CARDINAL
ap-746	37	1	uav	ORG
ap-746	38	1	one	CARDINAL
ap-746	39	1	abc	ORG
ap-746	41	1	three	CARDINAL
ap-746	41	2	two	CARDINAL
ap-746	41	3	two	CARDINAL
ap-746	41	4	three	CARDINAL
ap-746	44	1	one	CARDINAL
ap-746	44	2	two	CARDINAL
ap-746	45	1	two	CARDINAL
ap-746	45	2	6	CARDINAL
ap-746	47	1	4	CARDINAL
ap-746	47	2	3,000	CARDINAL
ap-746	48	1	two	CARDINAL
ap-746	48	2	six	CARDINAL
ap-746	55	1	three	CARDINAL
ap-746	55	2	three	CARDINAL
ap-746	57	1	sikorsky	PERSON
ap-746	57	2	6	CARDINAL
ap-746	58	1	82	CARDINAL
ap-746	58	2	czech technical university publishing	ORG
ap-746	58	3	acta polytechnica vol.	PERSON
ap-746	59	1	45	CARDINAL
ap-746	60	1	czech technical university	ORG
ap-746	60	2	prague	GPE
ap-746	60	3	1.9	CARDINAL
ap-746	60	4	1.1	CARDINAL
ap-746	60	5	0.25	CARDINAL
ap-746	60	6	max	PERSON
ap-746	61	1	11000	CARDINAL
ap-746	61	2	42	CARDINAL
ap-746	61	3	3000	CARDINAL
ap-746	61	4	100 n maximum	QUANTITY
ap-746	61	5	30	CARDINAL
ap-746	61	6	1	CARDINAL
ap-746	61	7	1.5	CARDINAL
ap-746	61	8	2000	CARDINAL
ap-746	61	9	1	CARDINAL
ap-746	61	10	uav	ORG
ap-746	62	1	3	CARDINAL
ap-746	62	2	uav	ORG
ap-746	63	1	a few hours	TIME
ap-746	64	1	first	ORDINAL
ap-746	64	2	uav	ORG
ap-746	65	1	10	CARDINAL
ap-746	70	1	2	CARDINAL
ap-746	70	2	just a few minutes	TIME
ap-746	71	1	two	CARDINAL
ap-746	72	1	first	ORDINAL
ap-746	78	1	the georgia institute of technology	ORG
ap-746	81	1	1	CARDINAL
ap-746	81	2	vi	PERSON
ap-746	82	1	czech	NORP
ap-746	82	2	83	CARDINAL
ap-746	82	3	czech	NORP
ap-746	83	1	45	CARDINAL
ap-746	85	1	2	CARDINAL
ap-746	86	1	3	CARDINAL
ap-746	86	2	uav	ORG
ap-746	86	3	uav	ORG
ap-746	86	4	11	CARDINAL
ap-746	88	1	3	CARDINAL
ap-746	88	2	second	ORDINAL
ap-746	88	3	numeca international s.a.	ORG
ap-746	89	1	12	CARDINAL
ap-746	91	1	euler	PERSON
ap-746	95	1	two	CARDINAL
ap-746	95	2	two	CARDINAL
ap-746	96	1	almost 21 kw	QUANTITY
ap-746	96	2	28	CARDINAL
ap-746	96	3	as high as 1/3	CARDINAL
ap-746	97	1	4	CARDINAL
ap-746	98	1	first	ORDINAL
ap-746	98	2	autodesk inc.	ORG
ap-746	101	1	ugs plm international	ORG
ap-746	104	1	msc software corp.	ORG
ap-746	106	1	5	CARDINAL
ap-746	107	1	84	CARDINAL
ap-746	107	2	czech	NORP
ap-746	107	3	acta polytechnica vol.	PERSON
ap-746	108	1	45	CARDINAL
ap-746	109	1	czech technical university	ORG
ap-746	109	2	prague	GPE
ap-746	110	1	4	CARDINAL
ap-746	113	1	5	CARDINAL
ap-746	113	2	three	CARDINAL
ap-746	113	3	4	CARDINAL
ap-746	113	4	first	ORDINAL
ap-746	115	1	13	CARDINAL
ap-746	115	2	fms	ORG
ap-746	116	1	i. e.	PERSON
ap-746	116	2	three	CARDINAL
ap-746	116	3	two zeros	CARDINAL
ap-746	116	4	3,000	CARDINAL
ap-746	117	1	28.3 db	QUANTITY
ap-746	117	2	103.4 deg	QUANTITY
ap-746	117	3	uav	ORG
ap-746	117	4	14	CARDINAL
ap-746	118	1	fms	ORG
ap-746	118	2	13	CARDINAL
ap-746	118	3	1	CARDINAL
ap-746	118	4	266	CARDINAL
ap-746	118	5	64	CARDINAL
ap-746	118	6	32 mb	QUANTITY
ap-746	118	7	15	CARDINAL
ap-746	118	8	2	CARDINAL
ap-746	119	1	1	CARDINAL
ap-746	119	2	4123 4	ORG
ap-746	120	1	2	CARDINAL
ap-746	120	2	diamond system corp	ORG
ap-746	120	3	10	CARDINAL
ap-746	120	4	8	CARDINAL
ap-746	120	5	8	CARDINAL
ap-746	120	6	10	CARDINAL
ap-746	120	7	12	CARDINAL
ap-746	120	8	6	CARDINAL
ap-746	120	9	3	CARDINAL
ap-746	120	10	2	CARDINAL
ap-746	120	11	5	CARDINAL
ap-746	120	12	3	CARDINAL
ap-746	120	13	2	CARDINAL
ap-746	121	1	1	CARDINAL
ap-746	121	2	32	CARDINAL
ap-746	121	3	32	CARDINAL
ap-746	121	4	16	CARDINAL
ap-746	121	5	16	CARDINAL
ap-746	121	6	4	CARDINAL
ap-746	121	7	12	CARDINAL
ap-746	121	8	24	CARDINAL
ap-746	122	1	1	CARDINAL
ap-746	122	2	eurotech	ORG
ap-746	122	3	10	CARDINAL
ap-746	122	4	fms	ORG
ap-746	123	1	1	CARDINAL
ap-746	123	2	diamond systems corp	ORG
ap-746	123	3	50 watt dc/dc power supply board	MONEY
ap-746	124	1	mathworks	PRODUCT
ap-746	126	1	xpc	ORG
ap-746	126	2	xpc	ORG
ap-746	127	1	15	CARDINAL
ap-746	129	1	6	CARDINAL
ap-746	135	1	czech	NORP
ap-746	135	2	85	CARDINAL
ap-746	135	3	czech	NORP
ap-746	136	1	45	CARDINAL
ap-746	138	1	5	CARDINAL
ap-746	138	2	cdp	ORG
ap-746	138	3	two	CARDINAL
ap-746	140	1	2	CARDINAL
ap-746	140	2	2r	CARDINAL
ap-746	140	3	2rh	ORDINAL
ap-746	142	1	16	CARDINAL
ap-746	143	1	two	CARDINAL
ap-746	143	2	first	ORDINAL
ap-746	144	1	86	CARDINAL
ap-746	145	1	czech technical university publishing house	ORG
ap-746	145	2	acta polytechnica vol.	PERSON
ap-746	146	1	45	CARDINAL
ap-746	147	1	czech technical university	ORG
ap-746	147	2	prague	GPE
ap-746	148	1	6	CARDINAL
ap-746	148	2	6	CARDINAL
ap-746	151	1	uav	ORG
ap-746	152	1	1	CARDINAL
ap-746	152	2	t. j. et al	PERSON
ap-746	155	1	ifac	PERSON
ap-746	155	2	grenoble	ORG
ap-746	155	3	france	GPE
ap-746	155	4	september 1998	DATE
ap-746	156	1	2	CARDINAL
ap-746	156	2	m. et al	PERSON
ap-746	157	1	aiaa	PERSON
ap-746	157	2	2002-4836	DATE
ap-746	159	1	aiaa guidance	PERSON
ap-746	159	2	august 2002	DATE
ap-746	160	1	3	CARDINAL
ap-746	160	2	j. e. et al	PERSON
ap-746	161	1	aiaa	PERSON
ap-746	161	2	2002	DATE
ap-746	163	1	aiaa guidance	PERSON
ap-746	163	2	august 2002	DATE
ap-746	164	1	4	CARDINAL
ap-746	164	2	avanzini	PERSON
ap-746	164	3	s.	PERSON
ap-746	164	4	de matteis	PERSON
ap-746	165	1	j. of aerospace eng	ORG
ap-746	165	2	217	CARDINAL
ap-746	165	3	2003	DATE
ap-746	165	4	4	CARDINAL
ap-746	165	5	169–178	CARDINAL
ap-746	166	1	5	CARDINAL
ap-746	166	2	avanzini	PERSON
ap-746	166	3	s.	PERSON
ap-746	166	4	de matteis	PERSON
ap-746	166	5	uav	ORG
ap-746	167	1	aiaa	PERSON
ap-746	167	2	2002-3464	DATE
ap-746	167	3	aiaa 1st	ORG
ap-746	167	4	conf.	ORG
ap-746	168	1	uav	ORG
ap-746	168	2	portsmouth	GPE
ap-746	168	3	usa	GPE
ap-746	168	4	may 2002	DATE
ap-746	169	1	6	CARDINAL
ap-746	169	2	s.	PERSON
ap-746	169	3	de matteis	PERSON
ap-746	170	1	j. of aircraft	PERSON
ap-746	170	2	40	DATE
ap-746	170	3	2003	DATE
ap-746	170	4	1	CARDINAL
ap-746	170	5	86–93	CARDINAL
ap-746	171	1	7	CARDINAL
ap-746	171	2	avanzini	PERSON
ap-746	171	3	f., de matteis	PERSON
ap-746	172	1	aiaa	PERSON
ap-746	172	2	2003-5521	DATE
ap-746	174	1	austin	PERSON
ap-746	174	2	tx	ORG
ap-746	174	3	usa	GPE
ap-746	174	4	august 2003	DATE
ap-746	176	1	8	CARDINAL
ap-746	176	2	l. et al	PERSON
ap-746	176	3	istar micro air	ORG
ap-746	179	1	57th	ORDINAL
ap-746	179	2	annual	DATE
ap-746	179	3	washington (dc	GPE
ap-746	179	4	may 2001	DATE
ap-746	180	1	9	CARDINAL
ap-746	180	2	c. a.	PERSON
ap-746	180	3	j. p.:	PERSON
ap-746	180	4	sikorsky aircraft’s	WORK_OF_ART
ap-746	182	1	annual	DATE
ap-746	182	2	annual	DATE
ap-746	182	3	fort	GPE
ap-746	182	4	tx	ORG
ap-746	182	5	may 1995	DATE
ap-746	182	6	804–811	CARDINAL
ap-746	183	1	10	CARDINAL
ap-746	183	2	e5	ORG
ap-746	183	3	seattle	GPE
ap-746	183	4	usa	GPE
ap-746	183	5	april 1994	DATE
ap-746	184	1	11	CARDINAL
ap-746	186	1	23rd	ORDINAL
ap-746	186	2	the international council of the aeronautical sciences	ORG
ap-746	186	3	256	CARDINAL
ap-746	186	4	toronto	GPE
ap-746	186	5	canada	GPE
ap-746	186	6	september 2002	DATE
ap-746	187	1	12	CARDINAL
ap-746	188	1	3.1	CARDINAL
ap-746	188	2	brussels	GPE
ap-746	188	3	belgium	GPE
ap-746	188	4	march 1999	DATE
ap-746	189	1	13	CARDINAL
ap-746	189	2	avanzini	PERSON
ap-746	189	3	f., de matteis	PERSON
ap-746	190	1	italian	NORP
ap-746	190	2	astronautics	ORG
ap-746	190	3	rome	GPE
ap-746	190	4	italy	GPE
ap-746	190	5	september 2003	DATE
ap-746	192	1	14	CARDINAL
ap-746	192	2	de matteis	PERSON
ap-746	192	3	f.	PERSON
ap-746	193	1	aiaa	PERSON
ap-746	193	2	2002-4703	DATE
ap-746	195	1	august 2002	DATE
ap-746	197	1	15	CARDINAL
ap-746	198	1	the mathworks inc.	ORG
ap-746	198	2	1997	DATE
ap-746	199	1	16	CARDINAL
ap-746	199	2	badami	GPE
ap-746	199	3	m.	PERSON
ap-746	199	4	s.	PERSON
ap-746	199	5	de matteis	PERSON
ap-746	200	1	italian	NORP
ap-746	200	2	astronautics	ORG
ap-746	200	3	rome	GPE
ap-746	200	4	italy	GPE
ap-746	200	5	september 2003	DATE
ap-746	201	1	giulio avanzini e-mail	PERSON
ap-746	201	2	giulio.avanzini@polito.it salvatore d’angelo	PERSON
ap-746	201	3	department of aerospace engineering politecnico di torino	ORG
ap-746	201	4	duca degli abruzzi	PERSON
ap-746	201	5	24	CARDINAL
ap-746	201	6	10129	DATE
ap-746	201	7	italy	GPE
ap-746	201	8	de matteis	ORG
ap-746	201	9	universit di roma	PERSON
ap-746	201	10	via eudossiana	PERSON
ap-746	201	11	18	CARDINAL
ap-746	201	12	rome	GPE
ap-746	201	13	00184	DATE
ap-746	201	14	italy	GPE
ap-746	201	15	czech technical university publishing house	ORG
ap-746	201	16	87	CARDINAL
ap-746	201	17	czech	NORP
ap-746	202	1	45	CARDINAL
ap-746	204	1	7	CARDINAL