id	sid	eid	entity	type
ap-8672	1	1	acta polytechnica	PERSON
ap-8672	1	2	polytechnica 63(5):326–346	ORG
ap-8672	1	3	2023	CARDINAL
ap-8672	1	4	2023	CARDINAL
ap-8672	2	1	4.0	CARDINAL
ap-8672	2	2	the czech technical university	ORG
ap-8672	2	3	prague	GPE
ap-8672	2	4	six	CARDINAL
ap-8672	2	5	mohamed bouaziza	PERSON
ap-8672	2	6	chawki mahfoudib	PERSON
ap-8672	2	7	mohamed zaharuddinc	ORG
ap-8672	2	8	ecole nationale polytechnique	ORG
ap-8672	2	9	laboratoire de genie mecanique et devellopement	ORG
ap-8672	2	10	10	CARDINAL
ap-8672	2	11	hassan badi	PERSON
ap-8672	2	12	16200	DATE
ap-8672	2	13	el harrach	GPE
ap-8672	2	14	algeria b university	ORG
ap-8672	2	15	ben mhidi	PERSON
ap-8672	2	16	de constantine	PERSON
ap-8672	2	17	b.p	PERSON
ap-8672	2	18	358	CARDINAL
ap-8672	2	19	04000	CARDINAL
ap-8672	2	20	oum el bouaghi	PERSON
ap-8672	2	21	algeria	GPE
ap-8672	2	22	universiti	DATE
ap-8672	2	23	teknologi	GPE
ap-8672	2	24	malaysia	GPE
ap-8672	2	25	81310	DATE
ap-8672	2	26	johor bahru	GPE
ap-8672	2	27	malaysia ∗	ORG
ap-8672	6	1	six-degrees	QUANTITY
ap-8672	7	1	2650	CARDINAL
ap-8672	10	1	paul	PERSON
ap-8672	11	1	two	CARDINAL
ap-8672	13	1	1	CARDINAL
ap-8672	14	1	one	CARDINAL
ap-8672	17	1	6	CARDINAL
ap-8672	18	1	8	CARDINAL
ap-8672	18	2	9	CARDINAL
ap-8672	18	3	10	CARDINAL
ap-8672	19	1	11–13	CARDINAL
ap-8672	25	1	14	CARDINAL
ap-8672	25	2	15	CARDINAL
ap-8672	26	1	euclidian	NORP
ap-8672	26	2	1	CARDINAL
ap-8672	27	1	three	CARDINAL
ap-8672	27	2	2	CARDINAL
ap-8672	28	1	three	CARDINAL
ap-8672	29	1	0t1	CARDINAL
ap-8672	30	1	1t2	MONEY
ap-8672	30	2	2t3 3t4	CARDINAL
ap-8672	30	3	1	CARDINAL
ap-8672	30	4	326	CARDINAL
ap-8672	30	5	https://www.cvut.cz/en	DATE
ap-8672	31	1	63	CARDINAL
ap-8672	32	1	5/2023	CARDINAL
ap-8672	32	2	six	CARDINAL
ap-8672	32	3	j and j − 1	PERSON
ap-8672	35	1	pieper	ORG
ap-8672	35	2	16	CARDINAL
ap-8672	35	3	three	CARDINAL
ap-8672	35	4	three	CARDINAL
ap-8672	36	1	raghavan	ORG
ap-8672	36	2	roth	PERSON
ap-8672	36	3	17	CARDINAL
ap-8672	36	4	16	CARDINAL
ap-8672	36	5	6-revolute	QUANTITY
ap-8672	36	6	6r	CARDINAL
ap-8672	38	1	paul	PERSON
ap-8672	38	2	18	CARDINAL
ap-8672	38	3	one	CARDINAL
ap-8672	39	1	gan et al	PERSON
ap-8672	40	1	19	CARDINAL
ap-8672	40	2	5	CARDINAL
ap-8672	40	3	2	CARDINAL
ap-8672	40	4	paul	PERSON
ap-8672	41	1	20–22	CARDINAL
ap-8672	42	1	1–	CARDINAL
ap-8672	42	2	3	CARDINAL
ap-8672	42	3	23–27	CARDINAL
ap-8672	43	1	2	CARDINAL
ap-8672	43	2	24	CARDINAL
ap-8672	43	3	28	CARDINAL
ap-8672	43	4	29	CARDINAL
ap-8672	45	1	14	CARDINAL
ap-8672	46	1	7 degrees	QUANTITY
ap-8672	47	1	s. lei	PERSON
ap-8672	47	2	30	CARDINAL
ap-8672	47	3	two	CARDINAL
ap-8672	47	4	two	CARDINAL
ap-8672	48	1	b. ma et al	PERSON
ap-8672	49	1	31	CARDINAL
ap-8672	49	2	7	CARDINAL
ap-8672	49	3	two	CARDINAL
ap-8672	51	1	linear	ORG
ap-8672	53	1	6-degree-of-freedom	QUANTITY
ap-8672	53	2	6-dof	QUANTITY
ap-8672	56	1	paul	PERSON
ap-8672	56	2	32	CARDINAL
ap-8672	58	1	2	CARDINAL
ap-8672	58	2	two	CARDINAL
ap-8672	58	3	r3	ORG
ap-8672	61	1	2	CARDINAL
ap-8672	62	1	three	CARDINAL
ap-8672	62	2	−→ w	FAC
ap-8672	63	1	−→ w	FAC
ap-8672	63	2	1	CARDINAL
ap-8672	64	1	−→nw	ORG
ap-8672	65	1	3	CARDINAL
ap-8672	65	2	3	CARDINAL
ap-8672	65	3	−→nw	PERSON
ap-8672	65	4	4	CARDINAL
ap-8672	65	5	1	CARDINAL
ap-8672	66	1	2	CARDINAL
ap-8672	67	1	4	CARDINAL
ap-8672	67	2	327 n. hadidi	QUANTITY
ap-8672	67	3	m. bouaziz	PERSON
ap-8672	67	4	c. mahfoudi	PERSON
ap-8672	67	5	m. zaharuddin acta polytechnica	PERSON
ap-8672	67	6	1	CARDINAL
ap-8672	69	1	4	CARDINAL
ap-8672	69	2	−→nu ∧ −→nv	ORG
ap-8672	71	1	−→nv	GPE
ap-8672	71	2	−→nw	ORG
ap-8672	71	3	5	CARDINAL
ap-8672	72	1	•	CARDINAL
ap-8672	72	2	−→nv	CARDINAL
ap-8672	73	1	two	CARDINAL
ap-8672	73	2	−→nw	ORG
ap-8672	73	3	2	CARDINAL
ap-8672	73	4	1	CARDINAL
ap-8672	73	5	−→nv	GPE
ap-8672	73	6	−→nw	ORG
ap-8672	74	1	−→nu ∧ −→nv	ORG
ap-8672	75	1	nwx nwy nwz nux nuy nuz nvx nvy nvz 	ORG
ap-8672	75	2	three	CARDINAL
ap-8672	75	3	−→nv	GPE
ap-8672	75	4	−→nw	ORG
ap-8672	76	1	− nvy.nuz)−	ORG
ap-8672	76	2	nvx.nuz)+	GPE
ap-8672	77	1	two	CARDINAL
ap-8672	77	2	33	CARDINAL
ap-8672	81	1	two	CARDINAL
ap-8672	81	2	2	CARDINAL
ap-8672	81	3	5	CARDINAL
ap-8672	81	4	appendix	PERSON
ap-8672	82	1	−→nv	GPE
ap-8672	82	2	−→nw	ORG
ap-8672	83	1	6	CARDINAL
ap-8672	83	2	3	CARDINAL
ap-8672	83	3	2	CARDINAL
ap-8672	83	4	6	CARDINAL
ap-8672	83	5	3	CARDINAL
ap-8672	83	6	1	CARDINAL
ap-8672	83	7	2	CARDINAL
ap-8672	84	1	three	CARDINAL
ap-8672	85	1	1	CARDINAL
ap-8672	87	1	0.32	CARDINAL
ap-8672	87	2	0.25	CARDINAL
ap-8672	87	3	0.12	CARDINAL
ap-8672	87	4	1	CARDINAL
ap-8672	88	1	328	CARDINAL
ap-8672	88	2	63	CARDINAL
ap-8672	89	1	5/2023	CARDINAL
ap-8672	89	2	six	CARDINAL
ap-8672	92	1	y3 x3 z3	PERSON
ap-8672	92	2	x5 z5 z6	PERSON
ap-8672	95	1	2	CARDINAL
ap-8672	97	1	4	CARDINAL
ap-8672	99	1	•	CARDINAL
ap-8672	99	2	3 degrees	QUANTITY
ap-8672	99	3	3	CARDINAL
ap-8672	101	1	•	CARDINAL
ap-8672	101	2	2	CARDINAL
ap-8672	103	1	4.1	CARDINAL
ap-8672	105	1	1	CARDINAL
ap-8672	105	2	7	CARDINAL
ap-8672	107	1	1t2	MONEY
ap-8672	107	2	2t3 3t4	CARDINAL
ap-8672	107	3	sx	ORG
ap-8672	107	4	pdx sy ny	PERSON
ap-8672	108	1	pdy sz nz	ORG
ap-8672	108	2	0 1 	DATE
ap-8672	108	3	7	CARDINAL
ap-8672	108	4	sx	ORG
ap-8672	108	5	ny	GPE
ap-8672	108	6	nz)t	ORG
ap-8672	109	1	pdx	GPE
ap-8672	109	2	two	CARDINAL
ap-8672	109	3	1	CARDINAL
ap-8672	111	1	7	CARDINAL
ap-8672	112	1	2	CARDINAL
ap-8672	112	2	zi−1	ORG
ap-8672	113	1	+ q0i	PERSON
ap-8672	114	1	two	CARDINAL
ap-8672	114	2	8)	CARDINAL
ap-8672	114	3	329 n. hadidi	QUANTITY
ap-8672	114	4	m. bouaziz	PERSON
ap-8672	114	5	c. mahfoudi	PERSON
ap-8672	114	6	m. zaharuddin acta polytechnica frame	PERSON
ap-8672	114	7	li qi di joint	PERSON
ap-8672	114	8	0	CARDINAL
ap-8672	115	1	2	CARDINAL
ap-8672	115	2	2	CARDINAL
ap-8672	115	3	2	CARDINAL
ap-8672	115	4	2	CARDINAL
ap-8672	116	1	2	CARDINAL
ap-8672	116	2	2	CARDINAL
ap-8672	117	1	f4	CARDINAL
ap-8672	117	2	2	CARDINAL
ap-8672	118	1	0	CARDINAL
ap-8672	118	2	3π 4	CARDINAL
ap-8672	118	3	2	CARDINAL
ap-8672	119	1	0	CARDINAL
ap-8672	119	2	2π	CARDINAL
ap-8672	120	1	2	CARDINAL
ap-8672	122	1	3π 4	DATE
ap-8672	122	2	3π 4	QUANTITY
ap-8672	123	1	2	CARDINAL
ap-8672	124	1	0 li	PERSON
ap-8672	125	1	0	CARDINAL
ap-8672	125	2	0 1 	DATE
ap-8672	126	1	8) 4.2	CARDINAL
ap-8672	128	1	3	CARDINAL
ap-8672	129	1	f6 f7 z7	PERSON
ap-8672	131	1	0y	CARDINAL
ap-8672	131	2	௙ܮ	ORG
ap-8672	131	3	௪ܲ ௔ܮ	GPE
ap-8672	131	4	௛௪ܮ	CARDINAL
ap-8672	131	5	la	GPE
ap-8672	133	1	3	CARDINAL
ap-8672	135	1	two	CARDINAL
ap-8672	135	2	first	ORDINAL
ap-8672	136	1	second	ORDINAL
ap-8672	136	2	first	ORDINAL
ap-8672	137	1	330	CARDINAL
ap-8672	137	2	63	CARDINAL
ap-8672	138	1	5/2023	CARDINAL
ap-8672	138	2	six	CARDINAL
ap-8672	138	3	4.2.1	CARDINAL
ap-8672	139	1	•	CARDINAL
ap-8672	140	1	•	CARDINAL
ap-8672	140	2	▷	PERSON
ap-8672	141	1	z6	ORG
ap-8672	143	1	▷	PERSON
ap-8672	145	1	3	CARDINAL
ap-8672	145	2	9	CARDINAL
ap-8672	145	3	−→ s6	PERSON
ap-8672	145	4	s6z)t	ORG
ap-8672	146	1	opd	ORG
ap-8672	146	2	9	CARDINAL
ap-8672	147	1	pwx	PERSON
ap-8672	147	2	pwz)t	ORG
ap-8672	147	3	opd	ORG
ap-8672	149	1	pdx	GPE
ap-8672	150	1	3	CARDINAL
ap-8672	150	2	two	CARDINAL
ap-8672	150	3	4	CARDINAL
ap-8672	150	4	௪ܲ ௙ܮ	GPE
ap-8672	153	1	௪ܲܮ௙	ORG
ap-8672	153	2	௛௪ܮ	CARDINAL
ap-8672	155	1	4	CARDINAL
ap-8672	157	1	4	CARDINAL
ap-8672	157	2	10	CARDINAL
ap-8672	158	1	2	CARDINAL
ap-8672	158	2	2	CARDINAL
ap-8672	158	3	2	CARDINAL
ap-8672	158	4	10	CARDINAL
ap-8672	158	5	9	CARDINAL
ap-8672	159	1	−→ a6	PERSON
ap-8672	159	2	az)t	ORG
ap-8672	159	3	z6	ORG
ap-8672	159	4	f6	ORG
ap-8672	159	5	axx + ayy	PRODUCT
ap-8672	160	1	0	CARDINAL
ap-8672	160	2	11	CARDINAL
ap-8672	161	1	11	CARDINAL
ap-8672	161	2	|axpwx	LAW
ap-8672	164	1	12	CARDINAL
ap-8672	164	2	331 n. hadidi	QUANTITY
ap-8672	164	3	m. bouaziz	PERSON
ap-8672	164	4	c. mahfoudi	PERSON
ap-8672	164	5	m. zaharuddin acta polytechnica	PERSON
ap-8672	164	6	phx = axd a2	PERSON
ap-8672	164	7	phy = ayd a2	ORG
ap-8672	165	1	13	CARDINAL
ap-8672	167	1	4	CARDINAL
ap-8672	168	1	lhw	ORG
ap-8672	169	1	10	CARDINAL
ap-8672	169	2	13	CARDINAL
ap-8672	169	3	two	CARDINAL
ap-8672	169	4	lhw	ORG
ap-8672	170	1	14	CARDINAL
ap-8672	171	1	15	CARDINAL
ap-8672	171	2	14	CARDINAL
ap-8672	171	3	15	CARDINAL
ap-8672	171	4	3	CARDINAL
ap-8672	171	5	2lf lhe	ORG
ap-8672	172	1	16	CARDINAL
ap-8672	172	2	17	CARDINAL
ap-8672	173	1	opw + lf	ORG
ap-8672	173	2	17	CARDINAL
ap-8672	173	3	pcy	ORG
ap-8672	173	4	pwx	PERSON
ap-8672	173	5	pwz)t	ORG
ap-8672	174	1	−→ s6	PERSON
ap-8672	174	2	f6	ORG
ap-8672	175	1	16	CARDINAL
ap-8672	176	1	18	CARDINAL
ap-8672	177	1	3b	CARDINAL
ap-8672	177	2	−→ s6	PERSON
ap-8672	177	3	three	CARDINAL
ap-8672	177	4	−→ a6	PERSON
ap-8672	177	5	−→ s6	PERSON
ap-8672	177	6	19	CARDINAL
ap-8672	179	1	−→ s6	FAC
ap-8672	180	1	19	CARDINAL
ap-8672	180	2	18	CARDINAL
ap-8672	180	3	19	CARDINAL
ap-8672	181	1	20	CARDINAL
ap-8672	181	2	16	CARDINAL
ap-8672	181	3	20	CARDINAL
ap-8672	183	1	21	CARDINAL
ap-8672	183	2	21	CARDINAL
ap-8672	183	3	17	CARDINAL
ap-8672	183	4	22	CARDINAL
ap-8672	183	5	pex	ORG
ap-8672	183	6	pey	GPE
ap-8672	183	7	pez)t	PERSON
ap-8672	184	1	22	CARDINAL
ap-8672	185	1	332	CARDINAL
ap-8672	185	2	63	CARDINAL
ap-8672	186	1	5/2023	CARDINAL
ap-8672	186	2	six	CARDINAL
ap-8672	186	3	4.2.2	CARDINAL
ap-8672	186	4	1	CARDINAL
ap-8672	187	1	1	CARDINAL
ap-8672	189	1	6	CARDINAL
ap-8672	190	1	three	CARDINAL
ap-8672	190	2	5a-5f	DATE
ap-8672	190	3	two	CARDINAL
ap-8672	190	4	arg1	GPE
ap-8672	190	5	arg2	PERSON
ap-8672	190	6	6	CARDINAL
ap-8672	190	7	arg2	PERSON
ap-8672	191	1	⃗	ORG
ap-8672	191	2	⃗	ORG
ap-8672	193	1	⃗	ORG
ap-8672	193	2	⃗	ORG
ap-8672	193	3	⃗	ORG
ap-8672	195	1	⃗	ORG
ap-8672	195	2	⃗	CARDINAL
ap-8672	195	3	⃗	ORG
ap-8672	195	4	⃗	ORG
ap-8672	197	1	⃗	ORG
ap-8672	197	2	⃗	ORG
ap-8672	199	1	퐴⃗	PERSON
ap-8672	199	2	⃗	ORG
ap-8672	199	3	⃗	ORG
ap-8672	199	4	⃗	ORG
ap-8672	201	1	⃗	ORG
ap-8672	203	1	5	CARDINAL
ap-8672	204	1	5a	CARDINAL
ap-8672	205	1	−→ voe	PERSON
ap-8672	208	1	vox0	ORG
ap-8672	208	2	x0	ORG
ap-8672	208	3	−→ voe	PERSON
ap-8672	208	4	two	CARDINAL
ap-8672	208	5	qxoy	PERSON
ap-8672	208	6	two	CARDINAL
ap-8672	208	7	x0	ORG
ap-8672	209	1	1	CARDINAL
ap-8672	209	2	vox0	ORG
ap-8672	209	3	vox0	ORG
ap-8672	211	1	23	CARDINAL
ap-8672	211	2	5b	CARDINAL
ap-8672	212	1	two	CARDINAL
ap-8672	212	2	−→ voe	PERSON
ap-8672	213	1	333 n. hadidi	QUANTITY
ap-8672	213	2	m. bouaziz	PERSON
ap-8672	213	3	c. mahfoudi	PERSON
ap-8672	213	4	m. zaharuddin acta polytechnica	PERSON
ap-8672	213	5	5b	CARDINAL
ap-8672	213	6	2	CARDINAL
ap-8672	213	7	24	CARDINAL
ap-8672	213	8	det γ2 = det	PERSON
ap-8672	214	1	−→nq1 −−→noz0	ORG
ap-8672	214	2	0	CARDINAL
ap-8672	214	3	nex ney nez)t	LAW
ap-8672	215	1	two	CARDINAL
ap-8672	215	2	−→ voe	PERSON
ap-8672	215	3	three	CARDINAL
ap-8672	215	4	5c	CARDINAL
ap-8672	216	1	25	CARDINAL
ap-8672	218	1	det	PERSON
ap-8672	219	1	−→noe	NORP
ap-8672	220	1	−→ voe	PERSON
ap-8672	220	2	5d	CARDINAL
ap-8672	221	1	−→noe	GPE
ap-8672	221	2	−→ voe	PERSON
ap-8672	222	1	26	CARDINAL
ap-8672	223	1	det	PERSON
ap-8672	224	1	−→nq1 −→noe	ORG
ap-8672	225	1	5e	CARDINAL
ap-8672	228	1	−→ a6	PERSON
ap-8672	229	1	−→ a6	PERSON
ap-8672	230	1	27	CARDINAL
ap-8672	231	1	27	CARDINAL
ap-8672	231	2	5f	CARDINAL
ap-8672	232	1	two	CARDINAL
ap-8672	232	2	1 | −−→ vew|	TIME
ap-8672	232	3	−→ s6	PERSON
ap-8672	232	4	sx	ORG
ap-8672	233	1	two	CARDINAL
ap-8672	234	1	−→ s6	PERSON
ap-8672	235	1	−→ s6	FAC
ap-8672	237	1	28	CARDINAL
ap-8672	237	2	5	CARDINAL
ap-8672	238	1	23	CARDINAL
ap-8672	238	2	28	CARDINAL
ap-8672	239	1	6	CARDINAL
ap-8672	241	1	cartesian	NORP
ap-8672	242	1	appendix a.2	NORP
ap-8672	243	1	3	CARDINAL
ap-8672	243	2	0,-0.6,0	DATE
ap-8672	244	1	0	CARDINAL
ap-8672	244	2	1	CARDINAL
ap-8672	245	1	334	CARDINAL
ap-8672	245	2	63	CARDINAL
ap-8672	246	1	5/2023	CARDINAL
ap-8672	246	2	six	CARDINAL
ap-8672	246	3	6	CARDINAL
ap-8672	248	1	0.00	CARDINAL
ap-8672	248	2	0.00	CARDINAL
ap-8672	248	3	0.12	CARDINAL
ap-8672	248	4	0.40 -0.45 0.12	MONEY
ap-8672	248	5	0.00	CARDINAL
ap-8672	248	6	0.12	CARDINAL
ap-8672	248	7	0.00	CARDINAL
ap-8672	248	8	0.00	CARDINAL
ap-8672	248	9	0.23 -0.50 0.23	MONEY
ap-8672	248	10	0.32 -0.01 0.32	MONEY
ap-8672	248	11	0.23 -0.50 0.23	MONEY
ap-8672	248	12	0.00	CARDINAL
ap-8672	248	13	0.00	CARDINAL
ap-8672	248	14	0.12	CARDINAL
ap-8672	248	15	0.00	CARDINAL
ap-8672	248	16	0.12	CARDINAL
ap-8672	248	17	0.00	CARDINAL
ap-8672	248	18	0.00	CARDINAL
ap-8672	248	19	3	CARDINAL
ap-8672	250	1	six	CARDINAL
ap-8672	251	1	7	CARDINAL
ap-8672	251	2	7	CARDINAL
ap-8672	251	3	ten	CARDINAL
ap-8672	251	4	6	CARDINAL
ap-8672	251	5	335 n. hadidi	QUANTITY
ap-8672	251	6	m. bouaziz	PERSON
ap-8672	251	7	c. mahfoudi	PERSON
ap-8672	252	1	m. zaharuddin acta polytechnica	PERSON
ap-8672	252	2	−0.2	PERSON
ap-8672	255	1	−0.2	PERSON
ap-8672	256	1	0.05 0.1 z[m	QUANTITY
ap-8672	258	1	0.2 0.4	TIME
ap-8672	259	1	−0.2	PERSON
ap-8672	262	1	0.2 0.4	TIME
ap-8672	263	1	−0.2	PERSON
ap-8672	264	1	0.1	CARDINAL
ap-8672	264	2	0.10.2 0.3 z[m	MONEY
ap-8672	267	1	−0.2	PERSON
ap-8672	268	1	0.1 0.2 z[m	QUANTITY
ap-8672	269	1	7	CARDINAL
ap-8672	270	1	6	CARDINAL
ap-8672	271	1	section 4	LAW
ap-8672	271	2	2650	CARDINAL
ap-8672	272	1	8	CARDINAL
ap-8672	272	2	3d	CARDINAL
ap-8672	272	3	3d	CARDINAL
ap-8672	273	1	six	CARDINAL
ap-8672	274	1	2650	CARDINAL
ap-8672	275	1	1.4	CARDINAL
ap-8672	275	2	12	CARDINAL
ap-8672	275	3	24	CARDINAL
ap-8672	275	4	336	CARDINAL
ap-8672	276	1	63	CARDINAL
ap-8672	278	1	5/2023	CARDINAL
ap-8672	278	2	six	CARDINAL
ap-8672	278	3	8	CARDINAL
ap-8672	279	1	8	CARDINAL
ap-8672	282	1	six	CARDINAL
ap-8672	282	2	mega2560	ORG
ap-8672	284	1	9	CARDINAL
ap-8672	285	1	six	CARDINAL
ap-8672	289	1	10	CARDINAL
ap-8672	289	2	six	CARDINAL
ap-8672	289	3	ten	CARDINAL
ap-8672	290	1	p1→p2	ORDINAL
ap-8672	290	2	p2→p3	PERSON
ap-8672	290	3	p0→p1	NORP
ap-8672	290	4	p3→p4	ORG
ap-8672	291	1	six	CARDINAL
ap-8672	292	1	6	CARDINAL
ap-8672	294	1	six	CARDINAL
ap-8672	296	1	6	CARDINAL
ap-8672	296	2	337 n. hadidi	QUANTITY
ap-8672	296	3	m. bouaziz	PERSON
ap-8672	296	4	c. mahfoudi	PERSON
ap-8672	296	5	m. zaharuddin acta polytechnica home position movement p1p2p3 movement p4p5	PERSON
ap-8672	302	1	9	CARDINAL
ap-8672	304	1	10	CARDINAL
ap-8672	306	1	7	CARDINAL
ap-8672	306	2	paul	PERSON
ap-8672	307	1	7	CARDINAL
ap-8672	308	1	6-dof 338	QUANTITY
ap-8672	309	1	63	CARDINAL
ap-8672	310	1	5/2023	CARDINAL
ap-8672	310	2	six	CARDINAL
ap-8672	310	3	16	CARDINAL
ap-8672	310	4	32	CARDINAL
ap-8672	310	5	paul	PERSON
ap-8672	311	1	29	CARDINAL
ap-8672	314	1	21.c2.s4.c5.c6	CARDINAL
ap-8672	317	1	− c1.s2.s3.c4.c5.c6	ORG
ap-8672	320	1	− la.c1.s2.s3.s4 +	ORG
ap-8672	323	1	= pdx	PERSON
ap-8672	323	2	− c2.c3.c4.s5 −	ORG
ap-8672	326	1	pdz	PERSON
ap-8672	326	2	29	CARDINAL
ap-8672	326	3	ci	PERSON
ap-8672	326	4	1	CARDINAL
ap-8672	328	1	6	CARDINAL
ap-8672	329	1	θ5	GPE
ap-8672	329	2	paul	PERSON
ap-8672	329	3	one	CARDINAL
ap-8672	330	1	16	CARDINAL
ap-8672	331	1	two	CARDINAL
ap-8672	333	1	paul	PERSON
ap-8672	334	1	23	CARDINAL
ap-8672	334	2	28	CARDINAL
ap-8672	334	3	29	CARDINAL
ap-8672	335	1	11	CARDINAL
ap-8672	335	2	cartesian	NORP
ap-8672	336	1	xerror	ORG
ap-8672	336	2	11	CARDINAL
ap-8672	337	1	1×10−15	CARDINAL
ap-8672	343	1	11	CARDINAL
ap-8672	344	1	paul	PERSON
ap-8672	346	1	12	CARDINAL
ap-8672	347	1	12	CARDINAL
ap-8672	347	2	two	CARDINAL
ap-8672	348	1	paul	PERSON
ap-8672	348	2	1.59 s	MONEY
ap-8672	348	3	1.86	CARDINAL
ap-8672	349	1	paul	PERSON
ap-8672	350	1	339 n. hadidi	QUANTITY
ap-8672	350	2	m. bouaziz	PERSON
ap-8672	350	3	c. mahfoudi	PERSON
ap-8672	350	4	m. zaharuddin acta polytechnica	PERSON
ap-8672	350	5	0	CARDINAL
ap-8672	350	6	05	CARDINAL
ap-8672	350	7	0	CARDINAL
ap-8672	350	8	23	CARDINAL
ap-8672	350	9	71	CARDINAL
ap-8672	350	10	0	CARDINAL
ap-8672	350	11	22	CARDINAL
ap-8672	350	12	0	CARDINAL
ap-8672	350	13	05 27	CARDINAL
ap-8672	350	14	0	CARDINAL
ap-8672	350	15	18 12	CARDINAL
ap-8672	350	16	0	CARDINAL
ap-8672	350	17	14 34	DATE
ap-8672	350	18	0	CARDINAL
ap-8672	350	19	14 63	DATE
ap-8672	350	20	0	CARDINAL
ap-8672	350	21	18	CARDINAL
ap-8672	350	22	0	CARDINAL
ap-8672	350	23	05 29	CARDINAL
ap-8672	350	24	0	CARDINAL
ap-8672	350	25	26	CARDINAL
ap-8672	350	26	18 3	CARDINAL
ap-8672	350	27	0	CARDINAL
ap-8672	350	28	05 17	DATE
ap-8672	350	29	0	CARDINAL
ap-8672	350	30	06	CARDINAL
ap-8672	350	31	0	CARDINAL
ap-8672	350	32	26	CARDINAL
ap-8672	350	33	0	CARDINAL
ap-8672	350	34	25	CARDINAL
ap-8672	350	35	0	CARDINAL
ap-8672	350	36	0	CARDINAL
ap-8672	350	37	20	CARDINAL
ap-8672	350	38	0	CARDINAL
ap-8672	350	39	17	CARDINAL
ap-8672	350	40	66	CARDINAL
ap-8672	350	41	0	CARDINAL
ap-8672	350	42	18 06	DATE
ap-8672	350	43	0	CARDINAL
ap-8672	350	44	19	CARDINAL
ap-8672	350	45	0	CARDINAL
ap-8672	350	46	07 53	DATE
ap-8672	350	47	0	CARDINAL
ap-8672	350	48	30	CARDINAL
ap-8672	350	49	0	CARDINAL
ap-8672	350	50	07 11	DATE
ap-8672	350	51	j 9	LAW
ap-8672	350	52	0	CARDINAL
ap-8672	351	1	1	CARDINAL
ap-8672	351	2	paul	PERSON
ap-8672	351	3	12	CARDINAL
ap-8672	352	1	sec	ORG
ap-8672	354	1	8	CARDINAL
ap-8672	356	1	6	CARDINAL
ap-8672	367	1	1	CARDINAL
ap-8672	369	1	7	DATE
ap-8672	370	1	4×4	CARDINAL
ap-8672	370	2	pwx	PERSON
ap-8672	370	3	pwz)t	ORG
ap-8672	370	4	opd	ORG
ap-8672	370	5	pdx	GPE
ap-8672	370	6	two	CARDINAL
ap-8672	370	7	two	CARDINAL
ap-8672	371	1	−→nseand−−→nwh	PERSON
ap-8672	371	2	340	CARDINAL
ap-8672	372	1	63	CARDINAL
ap-8672	373	1	5/2023	CARDINAL
ap-8672	373	2	six	CARDINAL
ap-8672	373	3	three	CARDINAL
ap-8672	373	4	−→ s6	PERSON
ap-8672	373	5	three	CARDINAL
ap-8672	373	6	three	CARDINAL
ap-8672	373	7	1	CARDINAL
ap-8672	374	1	6 sin(θi	PERCENT
ap-8672	376	1	1	CARDINAL
ap-8672	376	2	h. ren	PERSON
ap-8672	378	1	124(8):379–386	CARDINAL
ap-8672	378	2	2020	DATE
ap-8672	379	1	2	CARDINAL
ap-8672	379	2	m. alebooyeh	PERSON
ap-8672	379	3	r. j. urbanic.	PERSON
ap-8672	379	4	7	CARDINAL
ap-8672	379	5	abb	ORG
ap-8672	380	1	ifac-papersonline	PERSON
ap-8672	380	2	52(10):176–181	CARDINAL
ap-8672	380	3	2019	DATE
ap-8672	382	1	3	CARDINAL
ap-8672	382	2	j. li	PERSON
ap-8672	382	3	h. yu	PERSON
ap-8672	382	4	n. y. shen	PERSON
ap-8672	383	1	6	CARDINAL
ap-8672	384	1	157:104180	CARDINAL
ap-8672	384	2	2021	DATE
ap-8672	385	1	4	CARDINAL
ap-8672	385	2	m. toz	PERSON
ap-8672	385	3	2020	DATE
ap-8672	386	1	5	CARDINAL
ap-8672	386	2	z. liao	PERSON
ap-8672	386	3	g. jiang	PERSON
ap-8672	386	4	f. zhao	PERSON
ap-8672	387	1	6r	CARDINAL
ap-8672	388	1	17(3):1–12, 2020	DATE
ap-8672	390	1	6	CARDINAL
ap-8672	390	2	j. s. toquica	PERSON
ap-8672	390	3	p. s. oliveira	PERSON
ap-8672	390	4	w. s. r. souza	PERSON
ap-8672	392	1	151:106682	CARDINAL
ap-8672	392	2	2021	DATE
ap-8672	394	1	7	CARDINAL
ap-8672	394	2	d. wang	PERSON
ap-8672	394	3	j. wu	PERSON
ap-8672	395	1	5	CARDINAL
ap-8672	396	1	65(1):101961	CARDINAL
ap-8672	396	2	2020	DATE
ap-8672	397	1	8	CARDINAL
ap-8672	397	2	o. m. omisore	PERSON
ap-8672	397	3	s. han	PERSON
ap-8672	397	4	l. ren	PERSON
ap-8672	398	1	107(2):34–47, 2020	DATE
ap-8672	400	1	9	CARDINAL
ap-8672	400	2	m. libretto	PERSON
ap-8672	400	3	e. kim	PERSON
ap-8672	401	1	153(6):103988	CARDINAL
ap-8672	401	2	2020	DATE
ap-8672	402	1	10	CARDINAL
ap-8672	402	2	r. i. sarker	PERSON
ap-8672	402	3	a. r. ahad	PERSON
ap-8672	403	1	8dof	CARDINAL
ap-8672	403	2	denavit-hartenberg	PERSON
ap-8672	404	1	4(12):e01053, 2018	DATE
ap-8672	406	1	11	CARDINAL
ap-8672	406	2	a. el-sherbiny	PERSON
ap-8672	406	3	m. a. elhosseini	PERSON
ap-8672	406	4	a. y. haikal	PERSON
ap-8672	408	1	ain shams	PERSON
ap-8672	408	2	9(4):2535–2548	CARDINAL
ap-8672	408	3	2018	DATE
ap-8672	410	1	12	CARDINAL
ap-8672	410	2	s. starke	PERSON
ap-8672	410	3	n. hendrich	PERSON
ap-8672	410	4	j. zhang	PERSON
ap-8672	412	1	50:560–568	CARDINAL
ap-8672	412	2	2017	DATE
ap-8672	414	1	13	CARDINAL
ap-8672	414	2	y. lin	PERSON
ap-8672	414	3	h. min	PERSON
ap-8672	416	1	1198–1203.	DATE
ap-8672	416	2	2015	DATE
ap-8672	418	1	14	CARDINAL
ap-8672	418	2	j. lasenby	PERSON
ap-8672	419	1	fabrik	PERSON
ap-8672	420	1	73(5):243–260, 2011	DATE
ap-8672	422	1	15	CARDINAL
ap-8672	422	2	w. suleiman	PERSON
ap-8672	422	3	f. kanehiro	PERSON
ap-8672	422	4	e. yoshida	PERSON
ap-8672	425	1	307–312	CARDINAL
ap-8672	425	2	2015	DATE
ap-8672	427	1	16	CARDINAL
ap-8672	427	2	w. khalil	PERSON
ap-8672	427	3	e. dombre	PERSON
ap-8672	431	1	butterworth-heinemann	PERSON
ap-8672	431	2	london	GPE
ap-8672	431	3	uk	GPE
ap-8672	431	4	2002	DATE
ap-8672	432	1	17	CARDINAL
ap-8672	432	2	m. raghavan	PERSON
ap-8672	432	3	b. roth	PERSON
ap-8672	433	1	6r	CARDINAL
ap-8672	434	1	115(3):502–508, 1993	DATE
ap-8672	436	1	18	CARDINAL
ap-8672	436	2	p. quan	PERSON
ap-8672	436	3	h. lin	PERSON
ap-8672	437	1	2n	CARDINAL
ap-8672	438	1	11(3):1277–1285	CARDINAL
ap-8672	438	2	2021	DATE
ap-8672	440	1	19	CARDINAL
ap-8672	440	2	j. q. gan	PERSON
ap-8672	440	3	e. oyama	PERSON
ap-8672	440	4	e. m. rosales	PERSON
ap-8672	440	5	h. hu	PERSON
ap-8672	441	1	2	CARDINAL
ap-8672	442	1	robotica 23(1):123–129	PERSON
ap-8672	443	1	341	CARDINAL
ap-8672	444	1	https://doi.org/10.1016/j.asej.2017.08.001	NORP
ap-8672	444	2	m. bouaziz	PERSON
ap-8672	444	3	c. mahfoudi	PERSON
ap-8672	444	4	m. zaharuddin acta polytechnica	PERSON
ap-8672	444	5	20	CARDINAL
ap-8672	445	1	7r	CARDINAL
ap-8672	446	1	6th	ORDINAL
ap-8672	447	1	390–397.	DATE
ap-8672	448	1	2006	DATE
ap-8672	450	1	21	CARDINAL
ap-8672	450	2	s. bertrand	PERSON
ap-8672	450	3	o. bruneau	PERSON
ap-8672	450	4	f. b.	PERSON
ap-8672	450	5	s. alfayad	PERSON
ap-8672	451	1	8	CARDINAL
ap-8672	452	1	49:117–140	CARDINAL
ap-8672	452	2	2012	DATE
ap-8672	454	1	22	CARDINAL
ap-8672	454	2	m. k. sutar	PERSON
ap-8672	454	3	m. pathak	PERSON
ap-8672	455	1	4	CARDINAL
ap-8672	456	1	61(12):1306–1313, 2013	DATE
ap-8672	457	1	23	CARDINAL
ap-8672	457	2	i. sancaktar	PERSON
ap-8672	457	3	m. ulutas	PERSON
ap-8672	459	1	21(5):1006–1010	CARDINAL
ap-8672	459	2	2018	DATE
ap-8672	460	1	24	CARDINAL
ap-8672	460	2	b. siciliano	PERSON
ap-8672	462	1	4	CARDINAL
ap-8672	462	2	1081–1087	CARDINAL
ap-8672	462	3	1987	DATE
ap-8672	463	1	25	CARDINAL
ap-8672	463	2	g. tevatia	PERSON
ap-8672	463	3	s. schaal	PERSON
ap-8672	467	1	1	CARDINAL
ap-8672	468	1	294–299. 2000	DATE
ap-8672	470	1	26	CARDINAL
ap-8672	470	2	r. pérez-rodríguez	PERSON
ap-8672	470	3	a. marcano-cedeño	PERSON
ap-8672	470	4	6	CARDINAL
ap-8672	470	5	ann	PERSON
ap-8672	471	1	39(10):9612–9622, 2012	DATE
ap-8672	472	1	27	CARDINAL
ap-8672	472	2	f. chapelle	PERSON
ap-8672	473	1	6r	CARDINAL
ap-8672	475	1	4	CARDINAL
ap-8672	476	1	3364–3369.	DATE
ap-8672	477	1	2001	DATE
ap-8672	479	1	28	CARDINAL
ap-8672	479	2	m. jin	PERSON
ap-8672	479	3	l. qiang	PERSON
ap-8672	479	4	b. wang	PERSON
ap-8672	479	5	h. liu	PERSON
ap-8672	480	1	7	CARDINAL
ap-8672	481	1	8:16316–16330	CARDINAL
ap-8672	481	2	2020	DATE
ap-8672	482	1	29	CARDINAL
ap-8672	482	2	w. yan	PERSON
ap-8672	482	3	h. lu-bin	PERSON
ap-8672	482	4	y. ting-li	PERSON
ap-8672	482	5	6r	CARDINAL
ap-8672	483	1	china	GPE
ap-8672	483	2	2006	DATE
ap-8672	485	1	30	CARDINAL
ap-8672	485	2	s. lei	PERSON
ap-8672	486	1	7	CARDINAL
ap-8672	487	1	34th	ORDINAL
ap-8672	487	2	chinese	NORP
ap-8672	487	3	2015	DATE
ap-8672	489	1	31	CARDINAL
ap-8672	489	2	b. ma	PERSON
ap-8672	489	3	z. xie	PERSON
ap-8672	489	4	z. jiang	PERSON
ap-8672	489	5	h. liu	PERSON
ap-8672	490	1	7	CARDINAL
ap-8672	491	1	16:435–450	CARDINAL
ap-8672	491	2	2021	DATE
ap-8672	492	1	32	CARDINAL
ap-8672	492	2	r. o’flaherty	PERSON
ap-8672	492	3	p. vieira	PERSON
ap-8672	492	4	m. grey	PERSON
ap-8672	492	5	kinematics	ORG
ap-8672	493	1	georgia institute of technology	ORG
ap-8672	493	2	2013	DATE
ap-8672	494	1	33	CARDINAL
ap-8672	494	2	t. lyche	PERSON
ap-8672	497	1	22	DATE
ap-8672	499	1	2020	DATE
ap-8672	500	1	342	CARDINAL
ap-8672	500	2	https://doi.org/10.1016/j.robot.2013.09.001 https://doi.org/10.1016/j.jestch.2018.06.011 https://doi.org/10.1109/robot.1987.1087921 https://doi.org/10.1109/robot.2000.844073 https://doi.org/10.1016/j.eswa.2012.02.143 https://doi.org/10.1109/robot.2001.933137	ORG
ap-8672	501	1	63	CARDINAL
ap-8672	502	1	5/2023	CARDINAL
ap-8672	502	2	six	CARDINAL
ap-8672	504	1	four	CARDINAL
ap-8672	505	1	cartesian	NORP
ap-8672	507	1	y = r. sin θ	PERSON
ap-8672	513	1	m. bouaziz	PERSON
ap-8672	513	2	c. mahfoudi	PERSON
ap-8672	513	3	m. zaharuddin acta polytechnica	PERSON
ap-8672	514	1	ten	CARDINAL
ap-8672	515	1	0→1	CARDINAL
ap-8672	515	2	0.0 3→4	PERCENT
ap-8672	515	3	pdx	PERSON
ap-8672	515	4	0.0 pdz	QUANTITY
ap-8672	517	1	2	CARDINAL
ap-8672	519	1	2	CARDINAL
ap-8672	519	2	0.0	CARDINAL
ap-8672	519	3	0.02	CARDINAL
ap-8672	519	4	0.12	CARDINAL
ap-8672	519	5	0.12	CARDINAL
ap-8672	520	1	0.0	CARDINAL
ap-8672	520	2	0.02	CARDINAL
ap-8672	520	3	1→2	CARDINAL
ap-8672	520	4	0.0	CARDINAL
ap-8672	520	5	0.02	CARDINAL
ap-8672	521	1	0.4 2→3	CARDINAL
ap-8672	521	2	0.4	CARDINAL
ap-8672	522	1	0.0	CARDINAL
ap-8672	522	2	0.59	CARDINAL
ap-8672	523	1	0.592	CARDINAL
ap-8672	523	2	2	CARDINAL
ap-8672	525	1	0.592	CARDINAL
ap-8672	527	1	2	CARDINAL
ap-8672	527	2	0.12	CARDINAL
ap-8672	527	3	0.12	CARDINAL
ap-8672	528	1	0.6	CARDINAL
ap-8672	528	2	+ 0.6	CARDINAL
ap-8672	528	3	4 7→8	PERCENT
ap-8672	528	4	pdx = 0.6	PERSON
ap-8672	528	5	+ 0.6	CARDINAL
ap-8672	528	6	cos π 4 π ≤ α	ORG
ap-8672	528	7	−0.6	GPE
ap-8672	530	1	5→4	CARDINAL
ap-8672	532	1	−0.6	GPE
ap-8672	532	2	cos α	PERSON
ap-8672	532	3	+ 0.6	CARDINAL
ap-8672	532	4	4	CARDINAL
ap-8672	532	5	0.6	CARDINAL
ap-8672	532	6	+ 0.6	CARDINAL
ap-8672	532	7	sin π 4 ∆α	ORG
ap-8672	533	1	60	CARDINAL
ap-8672	533	2	pdx = pdx + ∆pdx	PERSON
ap-8672	534	1	∆pdx	CARDINAL
ap-8672	534	2	4→5	CARDINAL
ap-8672	534	3	0.3	CARDINAL
ap-8672	534	4	m. pdy =	PERSON
ap-8672	534	5	−0.6	NORP
ap-8672	534	6	cos α	PERSON
ap-8672	536	1	−0.6	NORP
ap-8672	536	2	cos α	PERSON
ap-8672	536	3	pdz	PERSON
ap-8672	537	1	3π 4	CARDINAL
ap-8672	537	2	π/2 pdz = pdz	PERSON
ap-8672	538	1	60	CARDINAL
ap-8672	540	1	0.19x	CARDINAL
ap-8672	541	1	0.12	CARDINAL
ap-8672	542	1	0.12	CARDINAL
ap-8672	542	2	0.12	CARDINAL
ap-8672	542	3	0.65	CARDINAL
ap-8672	542	4	0.00	CARDINAL
ap-8672	542	5	0.19	CARDINAL
ap-8672	542	6	0.19	CARDINAL
ap-8672	542	7	0.65	CARDINAL
ap-8672	542	8	0.23	CARDINAL
ap-8672	542	9	0.65)t	CARDINAL
ap-8672	542	10	0 ≤	MONEY
ap-8672	542	11	sqx	NORP
ap-8672	542	12	sqy	ORG
ap-8672	542	13	nqx	ORG
ap-8672	542	14	nqy	ORG
ap-8672	542	15	60	CARDINAL
ap-8672	542	16	344	CARDINAL
ap-8672	543	1	63	CARDINAL
ap-8672	544	1	5/2023	CARDINAL
ap-8672	544	2	six	CARDINAL
ap-8672	545	1	paul	PERSON
ap-8672	548	1	2t3 3t4	CARDINAL
ap-8672	549	1	pdx sy ny	PERSON
ap-8672	550	1	pdy sz nz	ORG
ap-8672	550	2	0 1 	DATE
ap-8672	551	1	7t6	CARDINAL
ap-8672	551	2	3t2 2t1	CARDINAL
ap-8672	551	3	0 1 	DATE
ap-8672	552	1	a3.n2	GPE
ap-8672	552	2	−	PERSON
ap-8672	555	1	− az.ny.sx	PERSON
ap-8672	558	1	−	PERSON
ap-8672	561	1	− az.ny.sx	PERSON
ap-8672	561	2	−	PERSON
ap-8672	564	1	− az.ny.sx	PERSON
ap-8672	564	2	− az.sx	PERSON
ap-8672	564	3	−	PERSON
ap-8672	567	1	− az.ny.sx	PERSON
ap-8672	567	2	− az.sx	PERSON
ap-8672	567	3	−	PERSON
ap-8672	570	1	− az.ny.sx	PERSON
ap-8672	570	2	− nz.sx	ORG
ap-8672	570	3	−	PERSON
ap-8672	573	1	− az.ny.sx	PERSON
ap-8672	573	2	ax.nz − az.nx	PERSON
ap-8672	573	3	−	PERSON
ap-8672	576	1	− az.ny.sx	PERSON
ap-8672	577	1	−	PERSON
ap-8672	580	1	− az.ny.sx	PERSON
ap-8672	580	2	−	PERSON
ap-8672	583	1	− az.ny.sx	PERSON
ap-8672	584	1	pdx.az.ny	DATE
ap-8672	586	1	− pdz.ay.nx	PERSON
ap-8672	586	2	−	PERSON
ap-8672	589	1	− az.ny.sx	PERSON
ap-8672	589	2	− pdy.ax.sz	PERSON
ap-8672	589	3	− pdz.ay.sx	PERSON
ap-8672	589	4	−	PERSON
ap-8672	592	1	− az.ny.sx	PERSON
ap-8672	594	1	−	PERSON
ap-8672	597	1	− az.ny.sx	PERSON
ap-8672	601	1	2	CARDINAL
ap-8672	601	2	2 3	CARDINAL
ap-8672	601	3	2.la.lf	ORG
ap-8672	601	4	atan2	ORG
ap-8672	601	5	− cos θ2 4	PERSON
ap-8672	601	6	cos θ4	GPE
ap-8672	603	1	θ5 = atan2(sin θ5	GPE
ap-8672	603	2	− cos	PERSON
ap-8672	603	3	5	CARDINAL
ap-8672	604	1	345 n. hadidi	QUANTITY
ap-8672	604	2	m. bouaziz	PERSON
ap-8672	604	3	c. mahfoudi	PERSON
ap-8672	604	4	m. zaharuddin acta polytechnica a.3.3	PERSON
ap-8672	606	1	cos θ5.(lh + p1	ORG
ap-8672	607	1	2 2 +	DATE
ap-8672	609	1	2 2 +	DATE
ap-8672	615	1	θ2 = atan2(sin θ2, √ 1	PERSON
ap-8672	615	2	2	CARDINAL
ap-8672	617	1	θ4(cos θ5(sin	PERSON
ap-8672	618	1	θ4(cos	PRODUCT
ap-8672	619	1	cos θ3	GPE
ap-8672	620	1	a.3.6	GPE
ap-8672	621	1	cos θ5(sin	PERSON
ap-8672	624	1	cos θ1	NORP
ap-8672	624	2	cos θ5(sin θ6.n1 + cos θ6.n2	PERSON
ap-8672	625	1	cos θ1	GPE
ap-8672	626	1	346	CARDINAL
ap-8672	626	2	63(5):326–346	CARDINAL
ap-8672	626	3	2023 1	CARDINAL
ap-8672	626	4	2	CARDINAL
ap-8672	626	5	3	CARDINAL
ap-8672	626	6	4	CARDINAL
ap-8672	626	7	4.1	CARDINAL
ap-8672	626	8	4.2	CARDINAL
ap-8672	626	9	4.2.1	CARDINAL
ap-8672	626	10	4.2.2	CARDINAL
ap-8672	626	11	5	CARDINAL
ap-8672	626	12	6	CARDINAL
ap-8672	626	13	7	CARDINAL
ap-8672	626	14	8	CARDINAL
ap-8672	626	15	paul	PERSON
ap-8672	626	16	4	CARDINAL
ap-8672	626	17	5	CARDINAL
ap-8672	626	18	6	CARDINAL
ap-8672	626	19	2	CARDINAL
ap-8672	626	20	3	CARDINAL
ap-8672	626	21	1	CARDINAL