id	sid	tid	token	lemma	pos
ap-1006	1	1	ap_07_6.vp	ap_07_6.vp	PROPN
ap-1006	1	2	1	1	NUM
ap-1006	1	3	introduction	introduction	NOUN
ap-1006	1	4	facing	face	VERB
ap-1006	1	5	the	the	DET
ap-1006	1	6	need	need	NOUN
ap-1006	1	7	for	for	ADP
ap-1006	1	8	a	a	DET
ap-1006	1	9	simulation	simulation	NOUN
ap-1006	1	10	environment	environment	NOUN
ap-1006	1	11	,	,	PUNCT
ap-1006	1	12	we	we	PRON
ap-1006	1	13	investigated	investigate	VERB
ap-1006	1	14	whether	whether	SCONJ
ap-1006	1	15	we	we	PRON
ap-1006	1	16	can	can	AUX
ap-1006	1	17	use	use	VERB
ap-1006	1	18	some	some	PRON
ap-1006	1	19	of	of	ADP
ap-1006	1	20	the	the	DET
ap-1006	1	21	existing	exist	VERB
ap-1006	1	22	enviroments	enviroment	NOUN
ap-1006	1	23	.	.	PUNCT
ap-1006	2	1	we	we	PRON
ap-1006	2	2	found	find	VERB
ap-1006	2	3	that	that	PRON
ap-1006	2	4	are	be	AUX
ap-1006	2	5	many	many	ADJ
ap-1006	2	6	freely	freely	ADV
ap-1006	2	7	available	available	ADJ
ap-1006	2	8	simulation	simulation	NOUN
ap-1006	2	9	platforms	platform	NOUN
ap-1006	2	10	.	.	PUNCT
ap-1006	3	1	we	we	PRON
ap-1006	3	2	analyzed	analyze	VERB
ap-1006	3	3	them	they	PRON
ap-1006	3	4	with	with	ADP
ap-1006	3	5	the	the	DET
ap-1006	3	6	aim	aim	NOUN
ap-1006	3	7	to	to	PART
ap-1006	3	8	find	find	VERB
ap-1006	3	9	a	a	DET
ap-1006	3	10	platform	platform	NOUN
ap-1006	3	11	capable	capable	ADJ
ap-1006	3	12	of	of	ADP
ap-1006	3	13	running	run	VERB
ap-1006	3	14	the	the	DET
ap-1006	3	15	required	required	ADJ
ap-1006	3	16	simulations	simulation	NOUN
ap-1006	3	17	,	,	PUNCT
ap-1006	3	18	but	but	CCONJ
ap-1006	3	19	none	none	NOUN
ap-1006	3	20	of	of	ADP
ap-1006	3	21	those	those	PRON
ap-1006	3	22	analyzed	analyze	VERB
ap-1006	3	23	was	be	AUX
ap-1006	3	24	fully	fully	ADV
ap-1006	3	25	able	able	ADJ
ap-1006	3	26	to	to	PART
ap-1006	3	27	satisfy	satisfy	VERB
ap-1006	3	28	our	our	PRON
ap-1006	3	29	needs	need	NOUN
ap-1006	3	30	.	.	PUNCT
ap-1006	4	1	we	we	PRON
ap-1006	4	2	also	also	ADV
ap-1006	4	3	found	find	VERB
ap-1006	4	4	that	that	SCONJ
ap-1006	4	5	they	they	PRON
ap-1006	4	6	are	be	AUX
ap-1006	4	7	mainly	mainly	ADV
ap-1006	4	8	focused	focus	VERB
ap-1006	4	9	on	on	ADP
ap-1006	4	10	just	just	ADV
ap-1006	4	11	one	one	NUM
ap-1006	4	12	specific	specific	ADJ
ap-1006	4	13	domain	domain	NOUN
ap-1006	4	14	of	of	ADP
ap-1006	4	15	artificial	artificial	ADJ
ap-1006	4	16	life	life	NOUN
ap-1006	4	17	.	.	PUNCT
ap-1006	5	1	almost	almost	ADV
ap-1006	5	2	none	none	NOUN
ap-1006	5	3	of	of	ADP
ap-1006	5	4	them	they	PRON
ap-1006	5	5	are	be	AUX
ap-1006	5	6	capable	capable	ADJ
ap-1006	5	7	of	of	ADP
ap-1006	5	8	simulating	simulate	VERB
ap-1006	5	9	artificial	artificial	ADJ
ap-1006	5	10	life	life	NOUN
ap-1006	5	11	on	on	ADP
ap-1006	5	12	a	a	DET
ap-1006	5	13	more	more	ADV
ap-1006	5	14	general	general	ADJ
ap-1006	5	15	level	level	NOUN
ap-1006	5	16	.	.	PUNCT
ap-1006	6	1	and	and	CCONJ
ap-1006	6	2	just	just	ADV
ap-1006	6	3	a	a	DET
ap-1006	6	4	handful	handful	NOUN
ap-1006	6	5	of	of	ADP
ap-1006	6	6	them	they	PRON
ap-1006	6	7	also	also	ADV
ap-1006	6	8	provide	provide	VERB
ap-1006	6	9	a	a	DET
ap-1006	6	10	set	set	NOUN
ap-1006	6	11	of	of	ADP
ap-1006	6	12	analytical	analytical	ADJ
ap-1006	6	13	tools	tool	NOUN
ap-1006	6	14	to	to	PART
ap-1006	6	15	evaluate	evaluate	VERB
ap-1006	6	16	the	the	DET
ap-1006	6	17	simulation	simulation	NOUN
ap-1006	6	18	in	in	ADP
ap-1006	6	19	a	a	DET
ap-1006	6	20	broader	broad	ADJ
ap-1006	6	21	context	context	NOUN
ap-1006	6	22	.	.	PUNCT
ap-1006	7	1	we	we	PRON
ap-1006	7	2	therefore	therefore	ADV
ap-1006	7	3	decided	decide	VERB
ap-1006	7	4	to	to	PART
ap-1006	7	5	design	design	VERB
ap-1006	7	6	our	our	PRON
ap-1006	7	7	own	own	ADJ
ap-1006	7	8	simulation	simulation	NOUN
ap-1006	7	9	environment	environment	NOUN
ap-1006	7	10	.	.	PUNCT
ap-1006	8	1	the	the	DET
ap-1006	8	2	main	main	ADJ
ap-1006	8	3	goal	goal	NOUN
ap-1006	8	4	was	be	AUX
ap-1006	8	5	to	to	PART
ap-1006	8	6	develop	develop	VERB
ap-1006	8	7	a	a	DET
ap-1006	8	8	simulator	simulator	NOUN
ap-1006	8	9	on	on	ADP
ap-1006	8	10	a	a	DET
ap-1006	8	11	high	high	ADJ
ap-1006	8	12	modularity	modularity	NOUN
ap-1006	8	13	level	level	NOUN
ap-1006	8	14	and	and	CCONJ
ap-1006	8	15	simple	simple	ADJ
ap-1006	8	16	enough	enough	ADV
ap-1006	8	17	to	to	PART
ap-1006	8	18	be	be	AUX
ap-1006	8	19	usable	usable	ADJ
ap-1006	8	20	by	by	ADP
ap-1006	8	21	anyone	anyone	PRON
ap-1006	8	22	interested	interested	ADJ
ap-1006	8	23	in	in	ADP
ap-1006	8	24	alife	alife	PROPN
ap-1006	8	25	research	research	NOUN
ap-1006	8	26	.	.	PUNCT
ap-1006	9	1	special	special	ADJ
ap-1006	9	2	attention	attention	NOUN
ap-1006	9	3	was	be	AUX
ap-1006	9	4	given	give	VERB
ap-1006	9	5	to	to	ADP
ap-1006	9	6	the	the	DET
ap-1006	9	7	possibility	possibility	NOUN
ap-1006	9	8	of	of	ADP
ap-1006	9	9	making	make	VERB
ap-1006	9	10	an	an	DET
ap-1006	9	11	analysis	analysis	NOUN
ap-1006	9	12	,	,	PUNCT
ap-1006	9	13	either	either	CCONJ
ap-1006	9	14	during	during	ADP
ap-1006	9	15	the	the	DET
ap-1006	9	16	simulation	simulation	NOUN
ap-1006	9	17	or	or	CCONJ
ap-1006	9	18	after	after	ADP
ap-1006	9	19	the	the	DET
ap-1006	9	20	simulation	simulation	NOUN
ap-1006	9	21	,	,	PUNCT
ap-1006	9	22	from	from	ADP
ap-1006	9	23	the	the	DET
ap-1006	9	24	saved	save	VERB
ap-1006	9	25	data	datum	NOUN
ap-1006	9	26	.	.	PUNCT
ap-1006	10	1	visualization	visualization	NOUN
ap-1006	10	2	modules	module	NOUN
ap-1006	10	3	involve	involve	VERB
ap-1006	10	4	not	not	PART
ap-1006	10	5	only	only	ADV
ap-1006	10	6	displaying	display	VERB
ap-1006	10	7	the	the	DET
ap-1006	10	8	simulated	simulated	ADJ
ap-1006	10	9	agent	agent	NOUN
ap-1006	10	10	world	world	NOUN
ap-1006	10	11	but	but	CCONJ
ap-1006	10	12	are	be	AUX
ap-1006	10	13	targeted	target	VERB
ap-1006	10	14	on	on	ADP
ap-1006	10	15	efficient	efficient	ADJ
ap-1006	10	16	analysis	analysis	NOUN
ap-1006	10	17	of	of	ADP
ap-1006	10	18	agents	agent	NOUN
ap-1006	10	19	’	'	PUNCT
ap-1006	10	20	behavior	behavior	NOUN
ap-1006	10	21	.	.	PUNCT
ap-1006	11	1	visualization	visualization	NOUN
ap-1006	11	2	can	can	AUX
ap-1006	11	3	provide	provide	VERB
ap-1006	11	4	both	both	PRON
ap-1006	11	5	a	a	DET
ap-1006	11	6	simplified	simplified	ADJ
ap-1006	11	7	and	and	CCONJ
ap-1006	11	8	an	an	DET
ap-1006	11	9	attractive	attractive	ADJ
ap-1006	11	10	view	view	NOUN
ap-1006	11	11	in	in	ADP
ap-1006	11	12	order	order	NOUN
ap-1006	11	13	to	to	PART
ap-1006	11	14	present	present	VERB
ap-1006	11	15	the	the	DET
ap-1006	11	16	simulation	simulation	NOUN
ap-1006	11	17	to	to	ADP
ap-1006	11	18	a	a	DET
ap-1006	11	19	broader	broad	ADJ
ap-1006	11	20	or	or	CCONJ
ap-1006	11	21	non	non	ADJ
ap-1006	11	22	-	-	ADJ
ap-1006	11	23	technical	technical	ADJ
ap-1006	11	24	audience	audience	NOUN
ap-1006	11	25	.	.	PUNCT
ap-1006	12	1	this	this	DET
ap-1006	12	2	simulator	simulator	NOUN
ap-1006	12	3	has	have	AUX
ap-1006	12	4	helped	help	VERB
ap-1006	12	5	us	we	PRON
ap-1006	12	6	to	to	PART
ap-1006	12	7	focus	focus	VERB
ap-1006	12	8	on	on	ADP
ap-1006	12	9	the	the	DET
ap-1006	12	10	topic	topic	NOUN
ap-1006	12	11	under	under	ADP
ap-1006	12	12	study	study	NOUN
ap-1006	12	13	(	(	PUNCT
ap-1006	12	14	whatever	whatever	PRON
ap-1006	12	15	it	it	PRON
ap-1006	12	16	was	be	AUX
ap-1006	12	17	)	)	PUNCT
ap-1006	12	18	while	while	SCONJ
ap-1006	12	19	abstracting	abstract	VERB
ap-1006	12	20	from	from	ADP
ap-1006	12	21	the	the	DET
ap-1006	12	22	implementation	implementation	NOUN
ap-1006	12	23	details	detail	NOUN
ap-1006	12	24	of	of	ADP
ap-1006	12	25	the	the	DET
ap-1006	12	26	environment	environment	NOUN
ap-1006	12	27	itself	itself	PRON
ap-1006	12	28	.	.	PUNCT
ap-1006	13	1	2	2	NUM
ap-1006	13	2	designed	design	VERB
ap-1006	13	3	abstract	abstract	ADJ
ap-1006	13	4	architecture	architecture	NOUN
ap-1006	13	5	our	our	PRON
ap-1006	13	6	requirements	requirement	NOUN
ap-1006	13	7	for	for	ADP
ap-1006	13	8	this	this	DET
ap-1006	13	9	platform	platform	NOUN
ap-1006	13	10	were	be	AUX
ap-1006	13	11	as	as	SCONJ
ap-1006	13	12	follows	follow	VERB
ap-1006	13	13	:	:	PUNCT
ap-1006	13	14	�	�	NOUN
ap-1006	13	15	the	the	DET
ap-1006	13	16	ability	ability	NOUN
ap-1006	13	17	to	to	PART
ap-1006	13	18	simulate	simulate	VERB
ap-1006	13	19	various	various	ADJ
ap-1006	13	20	phenomena	phenomenon	NOUN
ap-1006	13	21	of	of	ADP
ap-1006	13	22	artificial	artificial	ADJ
ap-1006	13	23	life	life	NOUN
ap-1006	13	24	from	from	ADP
ap-1006	13	25	cellular	cellular	ADJ
ap-1006	13	26	automata	automata	NOUN
ap-1006	13	27	,	,	PUNCT
ap-1006	13	28	boids	boid	NOUN
ap-1006	13	29	,	,	PUNCT
ap-1006	13	30	bimorphs	bimorph	NOUN
ap-1006	13	31	,	,	PUNCT
ap-1006	13	32	ant	ant	ADJ
ap-1006	13	33	colonies	colony	NOUN
ap-1006	13	34	etc	etc	X
ap-1006	13	35	.	.	X
ap-1006	13	36	,	,	PUNCT
ap-1006	13	37	up	up	ADP
ap-1006	13	38	to	to	ADP
ap-1006	13	39	complex	complex	ADJ
ap-1006	13	40	and	and	CCONJ
ap-1006	13	41	socially	socially	ADV
ap-1006	13	42	behaving	behave	VERB
ap-1006	13	43	agents	agent	NOUN
ap-1006	13	44	.	.	PUNCT
ap-1006	14	1	�	�	PROPN
ap-1006	14	2	the	the	DET
ap-1006	14	3	ability	ability	NOUN
ap-1006	14	4	to	to	PART
ap-1006	14	5	export	export	VERB
ap-1006	14	6	simulation	simulation	NOUN
ap-1006	14	7	inner	inner	ADJ
ap-1006	14	8	data	datum	NOUN
ap-1006	14	9	so	so	SCONJ
ap-1006	14	10	that	that	SCONJ
ap-1006	14	11	it	it	PRON
ap-1006	14	12	can	can	AUX
ap-1006	14	13	be	be	AUX
ap-1006	14	14	used	use	VERB
ap-1006	14	15	for	for	ADP
ap-1006	14	16	parameter	parameter	NOUN
ap-1006	14	17	visualization	visualization	NOUN
ap-1006	14	18	.	.	PUNCT
ap-1006	15	1	�	�	PROPN
ap-1006	15	2	variability	variability	NOUN
ap-1006	15	3	of	of	ADP
ap-1006	15	4	simulation	simulation	NOUN
ap-1006	15	5	with	with	ADP
ap-1006	15	6	easy	easy	ADJ
ap-1006	15	7	modifiability	modifiability	NOUN
ap-1006	15	8	and	and	CCONJ
ap-1006	15	9	step	step	NOUN
ap-1006	15	10	by	by	ADP
ap-1006	15	11	step	step	NOUN
ap-1006	15	12	run	run	NOUN
ap-1006	15	13	.	.	PUNCT
ap-1006	16	1	�	�	PROPN
ap-1006	16	2	interesting	interesting	ADJ
ap-1006	16	3	visualization	visualization	NOUN
ap-1006	16	4	of	of	ADP
ap-1006	16	5	the	the	DET
ap-1006	16	6	agent	agent	NOUN
ap-1006	16	7	world	world	NOUN
ap-1006	16	8	,	,	PUNCT
ap-1006	16	9	in	in	ADP
ap-1006	16	10	order	order	NOUN
ap-1006	16	11	to	to	PART
ap-1006	16	12	present	present	VERB
ap-1006	16	13	the	the	DET
ap-1006	16	14	simulation	simulation	NOUN
ap-1006	16	15	to	to	ADP
ap-1006	16	16	a	a	DET
ap-1006	16	17	wider	wide	ADJ
ap-1006	16	18	or	or	CCONJ
ap-1006	16	19	non	non	ADJ
ap-1006	16	20	-	-	ADJ
ap-1006	16	21	technical	technical	ADJ
ap-1006	16	22	audience	audience	NOUN
ap-1006	16	23	.	.	PUNCT
ap-1006	17	1	�	�	PROPN
ap-1006	17	2	meaningful	meaningful	ADJ
ap-1006	17	3	and	and	CCONJ
ap-1006	17	4	helpful	helpful	ADJ
ap-1006	17	5	visualization	visualization	NOUN
ap-1006	17	6	of	of	ADP
ap-1006	17	7	parameters	parameter	NOUN
ap-1006	17	8	in	in	ADP
ap-1006	17	9	time	time	NOUN
ap-1006	17	10	.	.	PUNCT
ap-1006	18	1	�	�	PROPN
ap-1006	18	2	modularity	modularity	PROPN
ap-1006	18	3	�	�	PROPN
ap-1006	18	4	easy	easy	ADJ
ap-1006	18	5	extendibility	extendibility	NOUN
ap-1006	18	6	�	�	NOUN
ap-1006	18	7	interoperability	interoperability	NOUN
ap-1006	18	8	.	.	PUNCT
ap-1006	19	1	in	in	ADP
ap-1006	19	2	order	order	NOUN
ap-1006	19	3	to	to	PART
ap-1006	19	4	implement	implement	VERB
ap-1006	19	5	such	such	ADJ
ap-1006	19	6	task	task	NOUN
ap-1006	19	7	,	,	PUNCT
ap-1006	19	8	a	a	DET
ap-1006	19	9	general	general	ADJ
ap-1006	19	10	abstract	abstract	ADJ
ap-1006	19	11	architecture	architecture	NOUN
ap-1006	19	12	was	be	AUX
ap-1006	19	13	proposed	propose	VERB
ap-1006	19	14	and	and	CCONJ
ap-1006	19	15	named	name	VERB
ap-1006	19	16	wal	wal	PROPN
ap-1006	19	17	abstract	abstract	ADJ
ap-1006	19	18	architecture	architecture	NOUN
ap-1006	19	19	,	,	PUNCT
ap-1006	19	20	wala2	wala2	NOUN
ap-1006	19	21	in	in	ADP
ap-1006	19	22	short	short	ADJ
ap-1006	19	23	.	.	PUNCT
ap-1006	20	1	it	it	PRON
ap-1006	20	2	should	should	AUX
ap-1006	20	3	provide	provide	VERB
ap-1006	20	4	a	a	DET
ap-1006	20	5	general	general	ADJ
ap-1006	20	6	guide	guide	NOUN
ap-1006	20	7	or	or	CCONJ
ap-1006	20	8	instructions	instruction	NOUN
ap-1006	20	9	on	on	ADP
ap-1006	20	10	how	how	SCONJ
ap-1006	20	11	an	an	DET
ap-1006	20	12	application	application	NOUN
ap-1006	20	13	for	for	ADP
ap-1006	20	14	simulation	simulation	NOUN
ap-1006	20	15	of	of	ADP
ap-1006	20	16	artificial	artificial	ADJ
ap-1006	20	17	life	life	NOUN
ap-1006	20	18	should	should	AUX
ap-1006	20	19	be	be	AUX
ap-1006	20	20	defined	define	VERB
ap-1006	20	21	and	and	CCONJ
ap-1006	20	22	implemented	implement	VERB
ap-1006	20	23	with	with	ADP
ap-1006	20	24	care	care	NOUN
ap-1006	20	25	for	for	ADP
ap-1006	20	26	high	high	ADJ
ap-1006	20	27	interoperability	interoperability	NOUN
ap-1006	20	28	and	and	CCONJ
ap-1006	20	29	modularity	modularity	NOUN
ap-1006	20	30	between	between	ADP
ap-1006	20	31	various	various	ADJ
ap-1006	20	32	implementations	implementation	NOUN
ap-1006	20	33	.	.	PUNCT
ap-1006	21	1	this	this	DET
ap-1006	21	2	design	design	NOUN
ap-1006	21	3	was	be	AUX
ap-1006	21	4	not	not	PART
ap-1006	21	5	work	work	NOUN
ap-1006	21	6	of	of	ADP
ap-1006	21	7	one	one	NUM
ap-1006	21	8	person	person	NOUN
ap-1006	21	9	,	,	PUNCT
ap-1006	21	10	but	but	CCONJ
ap-1006	21	11	the	the	DET
ap-1006	21	12	result	result	NOUN
ap-1006	21	13	of	of	ADP
ap-1006	21	14	tight	tight	ADJ
ap-1006	21	15	cooperation	cooperation	NOUN
ap-1006	21	16	and	and	CCONJ
ap-1006	21	17	many	many	ADJ
ap-1006	21	18	discussions	discussion	NOUN
ap-1006	21	19	among	among	ADP
ap-1006	21	20	all	all	DET
ap-1006	21	21	mrg	mrg	PROPN
ap-1006	21	22	members	member	NOUN
ap-1006	21	23	[	[	X
ap-1006	21	24	1	1	NUM
ap-1006	21	25	]	]	PUNCT
ap-1006	21	26	.	.	PUNCT
ap-1006	22	1	while	while	SCONJ
ap-1006	22	2	designing	design	VERB
ap-1006	22	3	this	this	DET
ap-1006	22	4	abstract	abstract	ADJ
ap-1006	22	5	architecture	architecture	NOUN
ap-1006	22	6	we	we	PRON
ap-1006	22	7	kept	keep	VERB
ap-1006	22	8	in	in	ADP
ap-1006	22	9	mind	mind	NOUN
ap-1006	22	10	that	that	SCONJ
ap-1006	22	11	our	our	PRON
ap-1006	22	12	implementation	implementation	NOUN
ap-1006	22	13	can	can	AUX
ap-1006	22	14	be	be	AUX
ap-1006	22	15	superseded	supersede	VERB
ap-1006	22	16	in	in	ADP
ap-1006	22	17	future	future	NOUN
ap-1006	22	18	by	by	ADP
ap-1006	22	19	better	well	ADJ
ap-1006	22	20	ones	one	NOUN
ap-1006	22	21	,	,	PUNCT
ap-1006	22	22	but	but	CCONJ
ap-1006	22	23	if	if	SCONJ
ap-1006	22	24	it	it	PRON
ap-1006	22	25	sticks	stick	VERB
ap-1006	22	26	with	with	ADP
ap-1006	22	27	the	the	DET
ap-1006	22	28	philosophy	philosophy	NOUN
ap-1006	22	29	and	and	CCONJ
ap-1006	22	30	recommendations	recommendation	NOUN
ap-1006	22	31	of	of	ADP
ap-1006	22	32	the	the	DET
ap-1006	22	33	abstract	abstract	ADJ
ap-1006	22	34	architecture	architecture	NOUN
ap-1006	22	35	,	,	PUNCT
ap-1006	22	36	i.e.	i.e.	X
ap-1006	22	37	if	if	SCONJ
ap-1006	22	38	the	the	DET
ap-1006	22	39	interfaces	interface	NOUN
ap-1006	22	40	remain	remain	VERB
ap-1006	22	41	the	the	DET
ap-1006	22	42	same	same	ADJ
ap-1006	22	43	,	,	PUNCT
ap-1006	22	44	the	the	DET
ap-1006	22	45	agents	agent	NOUN
ap-1006	22	46	will	will	AUX
ap-1006	22	47	be	be	AUX
ap-1006	22	48	transferable	transferable	ADJ
ap-1006	22	49	with	with	ADP
ap-1006	22	50	no	no	PRON
ap-1006	22	51	or	or	CCONJ
ap-1006	22	52	only	only	ADV
ap-1006	22	53	minor	minor	ADJ
ap-1006	22	54	reprogramming	reprogramming	NOUN
ap-1006	22	55	and	and	CCONJ
ap-1006	22	56	redesign	redesign	NOUN
ap-1006	22	57	.	.	PUNCT
ap-1006	23	1	another	another	DET
ap-1006	23	2	goal	goal	NOUN
ap-1006	23	3	of	of	ADP
ap-1006	23	4	wala2	wala2	NOUN
ap-1006	23	5	is	be	AUX
ap-1006	23	6	to	to	PART
ap-1006	23	7	ensure	ensure	VERB
ap-1006	23	8	that	that	SCONJ
ap-1006	23	9	agents	agent	NOUN
ap-1006	23	10	can	can	AUX
ap-1006	23	11	also	also	ADV
ap-1006	23	12	run	run	VERB
ap-1006	23	13	and	and	CCONJ
ap-1006	23	14	compete	compete	VERB
ap-1006	23	15	on	on	ADP
ap-1006	23	16	other	other	ADJ
ap-1006	23	17	implementations	implementation	NOUN
ap-1006	23	18	of	of	ADP
ap-1006	23	19	the	the	DET
ap-1006	23	20	same	same	ADJ
ap-1006	23	21	architecture	architecture	NOUN
ap-1006	23	22	.	.	PUNCT
ap-1006	24	1	the	the	DET
ap-1006	24	2	aim	aim	NOUN
ap-1006	24	3	is	be	AUX
ap-1006	24	4	to	to	PART
ap-1006	24	5	ensure	ensure	VERB
ap-1006	24	6	that	that	SCONJ
ap-1006	24	7	when	when	SCONJ
ap-1006	24	8	different	different	ADJ
ap-1006	24	9	agent	agent	NOUN
ap-1006	24	10	architectures	architecture	NOUN
ap-1006	24	11	and	and	CCONJ
ap-1006	24	12	approaches	approach	NOUN
ap-1006	24	13	are	be	AUX
ap-1006	24	14	used	use	VERB
ap-1006	24	15	the	the	DET
ap-1006	24	16	results	result	NOUN
ap-1006	24	17	can	can	AUX
ap-1006	24	18	be	be	AUX
ap-1006	24	19	evaluated	evaluate	VERB
ap-1006	24	20	in	in	ADP
ap-1006	24	21	the	the	DET
ap-1006	24	22	basic	basic	ADJ
ap-1006	24	23	environment	environment	NOUN
ap-1006	24	24	,	,	PUNCT
ap-1006	24	25	or	or	CCONJ
ap-1006	24	26	that	that	PRON
ap-1006	24	27	test	test	NOUN
ap-1006	24	28	agents	agent	NOUN
ap-1006	24	29	’	'	PUNCT
ap-1006	24	30	behavior	behavior	NOUN
ap-1006	24	31	can	can	AUX
ap-1006	24	32	be	be	AUX
ap-1006	24	33	tested	test	VERB
ap-1006	24	34	in	in	ADP
ap-1006	24	35	a	a	DET
ap-1006	24	36	different	different	ADJ
ap-1006	24	37	environment	environment	NOUN
ap-1006	24	38	than	than	SCONJ
ap-1006	24	39	the	the	DET
ap-1006	24	40	agent	agent	NOUN
ap-1006	24	41	was	be	AUX
ap-1006	24	42	designed	design	VERB
ap-1006	24	43	for	for	ADP
ap-1006	24	44	.	.	PUNCT
ap-1006	25	1	we	we	PRON
ap-1006	25	2	can	can	AUX
ap-1006	25	3	observe	observe	VERB
ap-1006	25	4	if	if	SCONJ
ap-1006	25	5	the	the	DET
ap-1006	25	6	agent	agent	NOUN
ap-1006	25	7	can	can	AUX
ap-1006	25	8	adapt	adapt	VERB
ap-1006	25	9	and	and	CCONJ
ap-1006	25	10	to	to	ADP
ap-1006	25	11	new	new	ADJ
ap-1006	25	12	circumstances	circumstance	NOUN
ap-1006	25	13	46	46	NUM
ap-1006	25	14	©	©	PROPN
ap-1006	25	15	czech	czech	PROPN
ap-1006	25	16	technical	technical	PROPN
ap-1006	25	17	university	university	PROPN
ap-1006	25	18	publishing	publishing	NOUN
ap-1006	25	19	house	house	NOUN
ap-1006	25	20	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1006	25	21	acta	acta	PROPN
ap-1006	25	22	polytechnica	polytechnica	PROPN
ap-1006	25	23	vol	vol	NOUN
ap-1006	25	24	.	.	PUNCT
ap-1006	26	1	47	47	NUM
ap-1006	26	2	no	no	NOUN
ap-1006	26	3	.	.	PUNCT
ap-1006	27	1	6/2007	6/2007	NUM
ap-1006	27	2	simulation	simulation	NOUN
ap-1006	27	3	environment	environment	NOUN
ap-1006	27	4	for	for	ADP
ap-1006	27	5	artificial	artificial	ADJ
ap-1006	27	6	creatures	creature	NOUN
ap-1006	27	7	k.	k.	PROPN
ap-1006	27	8	kohout	kohout	PROPN
ap-1006	27	9	,	,	PUNCT
ap-1006	27	10	p.	p.	NOUN
ap-1006	27	11	nahodil	nahodil	NOUN
ap-1006	27	12	our	our	PRON
ap-1006	27	13	research	research	NOUN
ap-1006	27	14	is	be	AUX
ap-1006	27	15	focused	focus	VERB
ap-1006	27	16	on	on	ADP
ap-1006	27	17	the	the	DET
ap-1006	27	18	design	design	NOUN
ap-1006	27	19	and	and	CCONJ
ap-1006	27	20	simulation	simulation	NOUN
ap-1006	27	21	of	of	ADP
ap-1006	27	22	artificial	artificial	ADJ
ap-1006	27	23	creatures	creature	NOUN
ap-1006	27	24	–	–	PUNCT
ap-1006	27	25	animates	animate	VERB
ap-1006	27	26	.	.	PUNCT
ap-1006	28	1	this	this	DET
ap-1006	28	2	topic	topic	NOUN
ap-1006	28	3	has	have	AUX
ap-1006	28	4	been	be	AUX
ap-1006	28	5	addressed	address	VERB
ap-1006	28	6	in	in	ADP
ap-1006	28	7	our	our	PRON
ap-1006	28	8	research	research	NOUN
ap-1006	28	9	group	group	NOUN
ap-1006	28	10	for	for	ADP
ap-1006	28	11	the	the	DET
ap-1006	28	12	last	last	ADJ
ap-1006	28	13	decade	decade	NOUN
ap-1006	28	14	.	.	PUNCT
ap-1006	29	1	the	the	DET
ap-1006	29	2	designed	design	VERB
ap-1006	29	3	animates	animate	NOUN
ap-1006	29	4	have	have	AUX
ap-1006	29	5	been	be	AUX
ap-1006	29	6	greatly	greatly	ADV
ap-1006	29	7	inspired	inspire	VERB
ap-1006	29	8	by	by	ADP
ap-1006	29	9	sciences	science	NOUN
ap-1006	29	10	such	such	ADJ
ap-1006	29	11	as	as	ADP
ap-1006	29	12	ethology	ethology	NOUN
ap-1006	29	13	,	,	PUNCT
ap-1006	29	14	biology	biology	NOUN
ap-1006	29	15	and	and	CCONJ
ap-1006	29	16	psychology	psychology	NOUN
ap-1006	29	17	.	.	PUNCT
ap-1006	30	1	several	several	ADJ
ap-1006	30	2	agent	agent	NOUN
ap-1006	30	3	architectures	architecture	NOUN
ap-1006	30	4	have	have	AUX
ap-1006	30	5	been	be	AUX
ap-1006	30	6	proposed	propose	VERB
ap-1006	30	7	and	and	CCONJ
ap-1006	30	8	tested	test	VERB
ap-1006	30	9	in	in	ADP
ap-1006	30	10	recent	recent	ADJ
ap-1006	30	11	years	year	NOUN
ap-1006	30	12	.	.	PUNCT
ap-1006	31	1	we	we	PRON
ap-1006	31	2	started	start	VERB
ap-1006	31	3	to	to	PART
ap-1006	31	4	face	face	VERB
ap-1006	31	5	the	the	DET
ap-1006	31	6	problem	problem	NOUN
ap-1006	31	7	of	of	ADP
ap-1006	31	8	comparing	compare	VERB
ap-1006	31	9	various	various	ADJ
ap-1006	31	10	architectures	architecture	NOUN
ap-1006	31	11	in	in	ADP
ap-1006	31	12	order	order	NOUN
ap-1006	31	13	to	to	PART
ap-1006	31	14	benchmark	benchmark	VERB
ap-1006	31	15	them	they	PRON
ap-1006	31	16	.	.	PUNCT
ap-1006	32	1	intelligence	intelligence	NOUN
ap-1006	32	2	is	be	AUX
ap-1006	32	3	embodied	embody	VERB
ap-1006	32	4	in	in	ADP
ap-1006	32	5	our	our	PRON
ap-1006	32	6	agent	agent	NOUN
ap-1006	32	7	,	,	PUNCT
ap-1006	32	8	and	and	CCONJ
ap-1006	32	9	it	it	PRON
ap-1006	32	10	needs	need	VERB
ap-1006	32	11	an	an	DET
ap-1006	32	12	environment	environment	NOUN
ap-1006	32	13	to	to	PART
ap-1006	32	14	be	be	AUX
ap-1006	32	15	placed	place	VERB
ap-1006	32	16	into	into	ADP
ap-1006	32	17	.	.	PUNCT
ap-1006	33	1	we	we	PRON
ap-1006	33	2	have	have	AUX
ap-1006	33	3	solved	solve	VERB
ap-1006	33	4	both	both	DET
ap-1006	33	5	these	these	DET
ap-1006	33	6	problems	problem	NOUN
ap-1006	33	7	by	by	ADP
ap-1006	33	8	first	first	ADV
ap-1006	33	9	proposing	propose	VERB
ap-1006	33	10	and	and	CCONJ
ap-1006	33	11	then	then	ADV
ap-1006	33	12	implementing	implement	VERB
ap-1006	33	13	a	a	DET
ap-1006	33	14	common	common	ADJ
ap-1006	33	15	simulation	simulation	NOUN
ap-1006	33	16	environment	environment	NOUN
ap-1006	33	17	in	in	ADP
ap-1006	33	18	which	which	PRON
ap-1006	33	19	these	these	DET
ap-1006	33	20	agents	agent	NOUN
ap-1006	33	21	can	can	AUX
ap-1006	33	22	run	run	VERB
ap-1006	33	23	and	and	CCONJ
ap-1006	33	24	compete	compete	VERB
ap-1006	33	25	.	.	PUNCT
ap-1006	34	1	the	the	DET
ap-1006	34	2	main	main	ADJ
ap-1006	34	3	contribution	contribution	NOUN
ap-1006	34	4	of	of	ADP
ap-1006	34	5	this	this	DET
ap-1006	34	6	paper	paper	NOUN
ap-1006	34	7	is	be	AUX
ap-1006	34	8	to	to	PART
ap-1006	34	9	offer	offer	VERB
ap-1006	34	10	a	a	DET
ap-1006	34	11	description	description	NOUN
ap-1006	34	12	of	of	ADP
ap-1006	34	13	this	this	DET
ap-1006	34	14	designed	design	VERB
ap-1006	34	15	simulation	simulation	NOUN
ap-1006	34	16	environment	environment	NOUN
ap-1006	34	17	.	.	PUNCT
ap-1006	35	1	it	it	PRON
ap-1006	35	2	has	have	AUX
ap-1006	35	3	been	be	AUX
ap-1006	35	4	named	name	VERB
ap-1006	35	5	the	the	DET
ap-1006	35	6	world	world	NOUN
ap-1006	35	7	of	of	ADP
ap-1006	35	8	artificial	artificial	ADJ
ap-1006	35	9	life	life	NOUN
ap-1006	35	10	(	(	PUNCT
ap-1006	35	11	wal	wal	PROPN
ap-1006	35	12	)	)	PUNCT
ap-1006	35	13	.	.	PUNCT
ap-1006	36	1	keywords	keyword	NOUN
ap-1006	36	2	:	:	PUNCT
ap-1006	36	3	anticipation	anticipation	NOUN
ap-1006	36	4	,	,	PUNCT
ap-1006	36	5	alife	alife	NOUN
ap-1006	36	6	,	,	PUNCT
ap-1006	36	7	hybrid	hybrid	ADJ
ap-1006	36	8	architecture	architecture	NOUN
ap-1006	36	9	,	,	PUNCT
ap-1006	36	10	behavior	behavior	NOUN
ap-1006	36	11	,	,	PUNCT
ap-1006	36	12	animate	animate	VERB
ap-1006	36	13	,	,	PUNCT
ap-1006	36	14	artificial	artificial	ADJ
ap-1006	36	15	creatures	creature	NOUN
ap-1006	36	16	.	.	PUNCT
ap-1006	37	1	fig	fig	NOUN
ap-1006	37	2	.	.	PUNCT
ap-1006	38	1	1	1	NUM
ap-1006	38	2	:	:	PUNCT
ap-1006	38	3	block	block	NOUN
ap-1006	38	4	scheme	scheme	NOUN
ap-1006	38	5	of	of	ADP
ap-1006	38	6	wal	wal	PROPN
ap-1006	38	7	abstract	abstract	ADJ
ap-1006	38	8	architecture	architecture	NOUN
ap-1006	38	9	and	and	CCONJ
ap-1006	38	10	survive	survive	NOUN
ap-1006	38	11	.	.	PUNCT
ap-1006	39	1	wala2	wala2	PROPN
ap-1006	39	2	itself	itself	PRON
ap-1006	39	3	defines	define	VERB
ap-1006	39	4	the	the	DET
ap-1006	39	5	modular	modular	ADJ
ap-1006	39	6	block	block	NOUN
ap-1006	39	7	architecture	architecture	NOUN
ap-1006	39	8	of	of	ADP
ap-1006	39	9	the	the	DET
ap-1006	39	10	platform	platform	NOUN
ap-1006	39	11	,	,	PUNCT
ap-1006	39	12	as	as	SCONJ
ap-1006	39	13	shown	show	VERB
ap-1006	39	14	in	in	ADP
ap-1006	39	15	fig	fig	NOUN
ap-1006	39	16	.	.	PUNCT
ap-1006	40	1	1	1	X
ap-1006	40	2	.	.	X
ap-1006	40	3	this	this	DET
ap-1006	40	4	architecture	architecture	NOUN
ap-1006	40	5	was	be	AUX
ap-1006	40	6	designed	design	VERB
ap-1006	40	7	to	to	PART
ap-1006	40	8	enable	enable	VERB
ap-1006	40	9	easy	easy	ADJ
ap-1006	40	10	parameterization	parameterization	NOUN
ap-1006	40	11	of	of	ADP
ap-1006	40	12	simulation	simulation	NOUN
ap-1006	40	13	and	and	CCONJ
ap-1006	40	14	distributivity	distributivity	NOUN
ap-1006	40	15	of	of	ADP
ap-1006	40	16	its	its	PRON
ap-1006	40	17	parts	part	NOUN
ap-1006	40	18	(	(	PUNCT
ap-1006	40	19	body	body	NOUN
ap-1006	40	20	and	and	CCONJ
ap-1006	40	21	mind	mind	NOUN
ap-1006	40	22	can	can	AUX
ap-1006	40	23	be	be	AUX
ap-1006	40	24	separated	separate	VERB
ap-1006	40	25	and	and	CCONJ
ap-1006	40	26	even	even	ADV
ap-1006	40	27	run	run	VERB
ap-1006	40	28	on	on	ADP
ap-1006	40	29	different	different	ADJ
ap-1006	40	30	computation	computation	NOUN
ap-1006	40	31	units	unit	NOUN
ap-1006	40	32	)	)	PUNCT
ap-1006	40	33	.	.	PUNCT
ap-1006	41	1	one	one	NUM
ap-1006	41	2	of	of	ADP
ap-1006	41	3	the	the	DET
ap-1006	41	4	benefits	benefit	NOUN
ap-1006	41	5	is	be	AUX
ap-1006	41	6	that	that	SCONJ
ap-1006	41	7	the	the	DET
ap-1006	41	8	environment	environment	NOUN
ap-1006	41	9	is	be	AUX
ap-1006	41	10	divided	divide	VERB
ap-1006	41	11	into	into	ADP
ap-1006	41	12	layers	layer	NOUN
ap-1006	41	13	.	.	PUNCT
ap-1006	42	1	this	this	PRON
ap-1006	42	2	is	be	AUX
ap-1006	42	3	not	not	PART
ap-1006	42	4	layered	layered	ADJ
ap-1006	42	5	architecture	architecture	NOUN
ap-1006	42	6	in	in	ADP
ap-1006	42	7	the	the	DET
ap-1006	42	8	agent	agent	NOUN
ap-1006	42	9	design	design	NOUN
ap-1006	42	10	but	but	CCONJ
ap-1006	42	11	in	in	ADP
ap-1006	42	12	the	the	DET
ap-1006	42	13	environment	environment	NOUN
ap-1006	42	14	design	design	NOUN
ap-1006	42	15	.	.	PUNCT
ap-1006	43	1	this	this	DET
ap-1006	43	2	decomposition	decomposition	NOUN
ap-1006	43	3	of	of	ADP
ap-1006	43	4	the	the	DET
ap-1006	43	5	environment	environment	NOUN
ap-1006	43	6	leads	lead	VERB
ap-1006	43	7	to	to	ADP
ap-1006	43	8	simpler	simple	ADJ
ap-1006	43	9	and	and	CCONJ
ap-1006	43	10	more	more	ADV
ap-1006	43	11	comprehensive	comprehensive	ADJ
ap-1006	43	12	simulation	simulation	NOUN
ap-1006	43	13	and	and	CCONJ
ap-1006	43	14	also	also	ADV
ap-1006	43	15	gives	give	VERB
ap-1006	43	16	an	an	DET
ap-1006	43	17	opportunity	opportunity	NOUN
ap-1006	43	18	to	to	PART
ap-1006	43	19	describe	describe	VERB
ap-1006	43	20	more	more	ADJ
ap-1006	43	21	complex	complex	ADJ
ap-1006	43	22	environments	environment	NOUN
ap-1006	43	23	.	.	PUNCT
ap-1006	44	1	2.1	2.1	NUM
ap-1006	44	2	platform	platform	NOUN
ap-1006	44	3	–	–	PUNCT
ap-1006	44	4	engine	engine	NOUN
ap-1006	44	5	the	the	DET
ap-1006	44	6	core	core	ADJ
ap-1006	44	7	part	part	NOUN
ap-1006	44	8	of	of	ADP
ap-1006	44	9	the	the	DET
ap-1006	44	10	simulation	simulation	NOUN
ap-1006	44	11	environment	environment	NOUN
ap-1006	44	12	will	will	AUX
ap-1006	44	13	be	be	AUX
ap-1006	44	14	referred	refer	VERB
ap-1006	44	15	to	to	ADP
ap-1006	44	16	as	as	ADP
ap-1006	44	17	the	the	DET
ap-1006	44	18	engine	engine	NOUN
ap-1006	44	19	or	or	CCONJ
ap-1006	44	20	platform	platform	NOUN
ap-1006	44	21	.	.	PUNCT
ap-1006	45	1	it	it	PRON
ap-1006	45	2	is	be	AUX
ap-1006	45	3	the	the	DET
ap-1006	45	4	basic	basic	ADJ
ap-1006	45	5	unit	unit	NOUN
ap-1006	45	6	and	and	CCONJ
ap-1006	45	7	it	it	PRON
ap-1006	45	8	controls	control	VERB
ap-1006	45	9	the	the	DET
ap-1006	45	10	run	run	NOUN
ap-1006	45	11	of	of	ADP
ap-1006	45	12	the	the	DET
ap-1006	45	13	simulation	simulation	NOUN
ap-1006	45	14	on	on	ADP
ap-1006	45	15	the	the	DET
ap-1006	45	16	program	program	NOUN
ap-1006	45	17	level	level	NOUN
ap-1006	45	18	.	.	PUNCT
ap-1006	46	1	this	this	PRON
ap-1006	46	2	means	mean	VERB
ap-1006	46	3	that	that	SCONJ
ap-1006	46	4	it	it	PRON
ap-1006	46	5	synchronizes	synchronize	VERB
ap-1006	46	6	the	the	DET
ap-1006	46	7	whole	whole	ADJ
ap-1006	46	8	application	application	NOUN
ap-1006	46	9	–	–	PUNCT
ap-1006	46	10	it	it	PRON
ap-1006	46	11	gives	give	VERB
ap-1006	46	12	impulses	impulse	NOUN
ap-1006	46	13	at	at	ADP
ap-1006	46	14	the	the	DET
ap-1006	46	15	start	start	NOUN
ap-1006	46	16	and	and	CCONJ
ap-1006	46	17	end	end	NOUN
ap-1006	46	18	of	of	ADP
ap-1006	46	19	each	each	DET
ap-1006	46	20	step	step	NOUN
ap-1006	46	21	.	.	PUNCT
ap-1006	47	1	it	it	PRON
ap-1006	47	2	contains	contain	VERB
ap-1006	47	3	an	an	DET
ap-1006	47	4	interface	interface	NOUN
ap-1006	47	5	for	for	ADP
ap-1006	47	6	modules	module	NOUN
ap-1006	47	7	.	.	PUNCT
ap-1006	48	1	there	there	PRON
ap-1006	48	2	are	be	VERB
ap-1006	48	3	two	two	NUM
ap-1006	48	4	components	component	NOUN
ap-1006	48	5	of	of	ADP
ap-1006	48	6	the	the	DET
ap-1006	48	7	environment	environment	NOUN
ap-1006	48	8	:	:	PUNCT
ap-1006	48	9	the	the	DET
ap-1006	48	10	layers	layer	NOUN
ap-1006	48	11	and	and	CCONJ
ap-1006	48	12	the	the	DET
ap-1006	48	13	agents	agent	NOUN
ap-1006	48	14	.	.	PUNCT
ap-1006	49	1	in	in	ADP
ap-1006	49	2	one	one	NUM
ap-1006	49	3	simulation	simulation	NOUN
ap-1006	49	4	step	step	NOUN
ap-1006	49	5	,	,	PUNCT
ap-1006	49	6	the	the	DET
ap-1006	49	7	engine	engine	NOUN
ap-1006	49	8	asks	ask	VERB
ap-1006	49	9	all	all	DET
ap-1006	49	10	layers	layer	NOUN
ap-1006	49	11	to	to	PART
ap-1006	49	12	evaluate	evaluate	VERB
ap-1006	49	13	the	the	DET
ap-1006	49	14	actions	action	NOUN
ap-1006	49	15	of	of	ADP
ap-1006	49	16	all	all	DET
ap-1006	49	17	agents	agent	NOUN
ap-1006	49	18	and	and	CCONJ
ap-1006	49	19	perform	perform	VERB
ap-1006	49	20	appropriate	appropriate	ADJ
ap-1006	49	21	environmental	environmental	ADJ
ap-1006	49	22	changes	change	NOUN
ap-1006	49	23	.	.	PUNCT
ap-1006	50	1	the	the	DET
ap-1006	50	2	distribution	distribution	NOUN
ap-1006	50	3	of	of	ADP
ap-1006	50	4	evaluation	evaluation	NOUN
ap-1006	50	5	to	to	ADP
ap-1006	50	6	the	the	DET
ap-1006	50	7	layers	layer	NOUN
ap-1006	50	8	means	mean	VERB
ap-1006	50	9	distribution	distribution	NOUN
ap-1006	50	10	of	of	ADP
ap-1006	50	11	simulation	simulation	NOUN
ap-1006	50	12	control	control	PROPN
ap-1006	50	13	.	.	PUNCT
ap-1006	51	1	each	each	DET
ap-1006	51	2	layer	layer	NOUN
ap-1006	51	3	can	can	AUX
ap-1006	51	4	run	run	VERB
ap-1006	51	5	in	in	ADP
ap-1006	51	6	a	a	DET
ap-1006	51	7	different	different	ADJ
ap-1006	51	8	computation	computation	NOUN
ap-1006	51	9	thread	thread	NOUN
ap-1006	51	10	(	(	PUNCT
ap-1006	51	11	on	on	ADP
ap-1006	51	12	a	a	DET
ap-1006	51	13	multiprocessor	multiprocessor	NOUN
ap-1006	51	14	unit	unit	NOUN
ap-1006	51	15	they	they	PRON
ap-1006	51	16	might	might	AUX
ap-1006	51	17	also	also	ADV
ap-1006	51	18	run	run	VERB
ap-1006	51	19	on	on	ADP
ap-1006	51	20	different	different	ADJ
ap-1006	51	21	processors	processor	NOUN
ap-1006	51	22	)	)	PUNCT
ap-1006	51	23	.	.	PUNCT
ap-1006	52	1	the	the	DET
ap-1006	52	2	main	main	ADJ
ap-1006	52	3	data	data	NOUN
ap-1006	52	4	structure	structure	NOUN
ap-1006	52	5	where	where	SCONJ
ap-1006	52	6	the	the	DET
ap-1006	52	7	parameters	parameter	NOUN
ap-1006	52	8	of	of	ADP
ap-1006	52	9	all	all	DET
ap-1006	52	10	layers	layer	NOUN
ap-1006	52	11	and	and	CCONJ
ap-1006	52	12	agents	agent	NOUN
ap-1006	52	13	are	be	AUX
ap-1006	52	14	stored	store	VERB
ap-1006	52	15	is	be	AUX
ap-1006	52	16	also	also	ADV
ap-1006	52	17	maintained	maintain	VERB
ap-1006	52	18	by	by	ADP
ap-1006	52	19	the	the	DET
ap-1006	52	20	engine	engine	NOUN
ap-1006	52	21	.	.	PUNCT
ap-1006	53	1	this	this	DET
ap-1006	53	2	data	datum	NOUN
ap-1006	53	3	can	can	AUX
ap-1006	53	4	be	be	AUX
ap-1006	53	5	viewed	view	VERB
ap-1006	53	6	or	or	CCONJ
ap-1006	53	7	modified	modify	VERB
ap-1006	53	8	by	by	ADP
ap-1006	53	9	the	the	DET
ap-1006	53	10	agent	agent	NOUN
ap-1006	53	11	or	or	CCONJ
ap-1006	53	12	even	even	ADV
ap-1006	53	13	by	by	ADP
ap-1006	53	14	external	external	ADJ
ap-1006	53	15	modules	module	NOUN
ap-1006	53	16	.	.	PUNCT
ap-1006	54	1	it	it	PRON
ap-1006	54	2	is	be	AUX
ap-1006	54	3	important	important	ADJ
ap-1006	54	4	to	to	PART
ap-1006	54	5	distinguish	distinguish	VERB
ap-1006	54	6	between	between	ADP
ap-1006	54	7	the	the	DET
ap-1006	54	8	control	control	NOUN
ap-1006	54	9	part	part	NOUN
ap-1006	54	10	of	of	ADP
ap-1006	54	11	the	the	DET
ap-1006	54	12	engine	engine	NOUN
ap-1006	54	13	,	,	PUNCT
ap-1006	54	14	which	which	PRON
ap-1006	54	15	interacts	interact	VERB
ap-1006	54	16	mostly	mostly	ADV
ap-1006	54	17	with	with	ADP
ap-1006	54	18	the	the	DET
ap-1006	54	19	operating	operate	VERB
ap-1006	54	20	system	system	NOUN
ap-1006	54	21	(	(	PUNCT
ap-1006	54	22	graphical	graphical	ADJ
ap-1006	54	23	interface	interface	NOUN
ap-1006	54	24	,	,	PUNCT
ap-1006	54	25	loading	loading	NOUN
ap-1006	54	26	and	and	CCONJ
ap-1006	54	27	saving	save	VERB
ap-1006	54	28	configuration	configuration	NOUN
ap-1006	54	29	,	,	PUNCT
ap-1006	54	30	user	user	NOUN
ap-1006	54	31	interaction	interaction	NOUN
ap-1006	54	32	etc	etc	X
ap-1006	54	33	.	.	PUNCT
ap-1006	54	34	)	)	PUNCT
ap-1006	55	1	and	and	CCONJ
ap-1006	55	2	the	the	DET
ap-1006	55	3	part	part	NOUN
ap-1006	55	4	providing	provide	VERB
ap-1006	55	5	and	and	CCONJ
ap-1006	55	6	simulating	simulate	VERB
ap-1006	55	7	the	the	DET
ap-1006	55	8	virtual	virtual	ADJ
ap-1006	55	9	world	world	NOUN
ap-1006	55	10	for	for	ADP
ap-1006	55	11	the	the	DET
ap-1006	55	12	agents	agent	NOUN
ap-1006	55	13	.	.	PUNCT
ap-1006	56	1	the	the	DET
ap-1006	56	2	first	first	ADJ
ap-1006	56	3	is	be	AUX
ap-1006	56	4	done	do	VERB
ap-1006	56	5	by	by	ADP
ap-1006	56	6	the	the	DET
ap-1006	56	7	engine	engine	NOUN
ap-1006	56	8	described	describe	VERB
ap-1006	56	9	above	above	ADV
ap-1006	56	10	.	.	PUNCT
ap-1006	57	1	the	the	DET
ap-1006	57	2	second	second	ADJ
ap-1006	57	3	function	function	NOUN
ap-1006	57	4	is	be	AUX
ap-1006	57	5	described	describe	VERB
ap-1006	57	6	below	below	ADV
ap-1006	57	7	,	,	PUNCT
ap-1006	57	8	and	and	CCONJ
ap-1006	57	9	is	be	AUX
ap-1006	57	10	handled	handle	VERB
ap-1006	57	11	by	by	ADP
ap-1006	57	12	the	the	DET
ap-1006	57	13	layers	layer	NOUN
ap-1006	57	14	.	.	PUNCT
ap-1006	58	1	2.2	2.2	NUM
ap-1006	58	2	engine	engine	NOUN
ap-1006	58	3	interface	interface	NOUN
ap-1006	58	4	the	the	DET
ap-1006	58	5	interface	interface	NOUN
ap-1006	58	6	between	between	ADP
ap-1006	58	7	the	the	DET
ap-1006	58	8	simulation	simulation	NOUN
ap-1006	58	9	environment	environment	NOUN
ap-1006	58	10	and	and	CCONJ
ap-1006	58	11	its	its	PRON
ap-1006	58	12	program	program	NOUN
ap-1006	58	13	surrounding	surround	VERB
ap-1006	58	14	(	(	PUNCT
ap-1006	58	15	e.g.	e.g.	ADV
ap-1006	58	16	,	,	PUNCT
ap-1006	58	17	visualization	visualization	NOUN
ap-1006	58	18	,	,	PUNCT
ap-1006	58	19	analysis	analysis	NOUN
ap-1006	58	20	tool	tool	NOUN
ap-1006	58	21	or	or	CCONJ
ap-1006	58	22	parameterization	parameterization	NOUN
ap-1006	58	23	)	)	PUNCT
ap-1006	58	24	is	be	AUX
ap-1006	58	25	an	an	DET
ap-1006	58	26	important	important	ADJ
ap-1006	58	27	part	part	NOUN
ap-1006	58	28	of	of	ADP
ap-1006	58	29	the	the	DET
ap-1006	58	30	application	application	NOUN
ap-1006	58	31	.	.	PUNCT
ap-1006	59	1	this	this	PRON
ap-1006	59	2	is	be	AUX
ap-1006	59	3	what	what	PRON
ap-1006	59	4	makes	make	VERB
ap-1006	59	5	wal	wal	PROPN
ap-1006	59	6	modular	modular	ADJ
ap-1006	59	7	and	and	CCONJ
ap-1006	59	8	distributable	distributable	ADJ
ap-1006	59	9	.	.	PUNCT
ap-1006	60	1	from	from	ADP
ap-1006	60	2	the	the	DET
ap-1006	60	3	point	point	NOUN
ap-1006	60	4	of	of	ADP
ap-1006	60	5	view	view	NOUN
ap-1006	60	6	of	of	ADP
ap-1006	60	7	the	the	DET
ap-1006	60	8	processing	processing	NOUN
ap-1006	60	9	speed	speed	NOUN
ap-1006	60	10	of	of	ADP
ap-1006	60	11	the	the	DET
ap-1006	60	12	data	datum	NOUN
ap-1006	60	13	,	,	PUNCT
ap-1006	60	14	it	it	PRON
ap-1006	60	15	is	be	AUX
ap-1006	60	16	suitable	suitable	ADJ
ap-1006	60	17	to	to	PART
ap-1006	60	18	exchange	exchange	VERB
ap-1006	60	19	information	information	NOUN
ap-1006	60	20	in	in	ADP
ap-1006	60	21	binary	binary	ADJ
ap-1006	60	22	format	format	NOUN
ap-1006	60	23	.	.	PUNCT
ap-1006	61	1	it	it	PRON
ap-1006	61	2	is	be	AUX
ap-1006	61	3	also	also	ADV
ap-1006	61	4	possible	possible	ADJ
ap-1006	61	5	to	to	PART
ap-1006	61	6	use	use	VERB
ap-1006	61	7	text	text	NOUN
ap-1006	61	8	based	base	VERB
ap-1006	61	9	formats	format	NOUN
ap-1006	61	10	such	such	ADJ
ap-1006	61	11	as	as	ADP
ap-1006	61	12	xml	xml	NOUN
ap-1006	61	13	.	.	PUNCT
ap-1006	62	1	the	the	DET
ap-1006	62	2	textual	textual	ADJ
ap-1006	62	3	format	format	NOUN
ap-1006	62	4	is	be	AUX
ap-1006	62	5	in	in	ADP
ap-1006	62	6	principle	principle	NOUN
ap-1006	62	7	highly	highly	ADV
ap-1006	62	8	redundant	redundant	ADJ
ap-1006	62	9	(	(	PUNCT
ap-1006	62	10	but	but	CCONJ
ap-1006	62	11	descriptive	descriptive	ADJ
ap-1006	62	12	)	)	PUNCT
ap-1006	62	13	and	and	CCONJ
ap-1006	62	14	its	its	PRON
ap-1006	62	15	processing	processing	NOUN
ap-1006	62	16	can	can	AUX
ap-1006	62	17	be	be	AUX
ap-1006	62	18	slow	slow	ADJ
ap-1006	62	19	.	.	PUNCT
ap-1006	63	1	still	still	ADV
ap-1006	63	2	,	,	PUNCT
ap-1006	63	3	it	it	PRON
ap-1006	63	4	can	can	AUX
ap-1006	63	5	be	be	AUX
ap-1006	63	6	used	use	VERB
ap-1006	63	7	for	for	ADP
ap-1006	63	8	offline	offline	ADJ
ap-1006	63	9	analysis	analysis	NOUN
ap-1006	63	10	.	.	PUNCT
ap-1006	64	1	the	the	DET
ap-1006	64	2	engine	engine	NOUN
ap-1006	64	3	contains	contain	VERB
ap-1006	64	4	all	all	DET
ap-1006	64	5	its	its	PRON
ap-1006	64	6	data	datum	NOUN
ap-1006	64	7	,	,	PUNCT
ap-1006	64	8	the	the	DET
ap-1006	64	9	data	datum	NOUN
ap-1006	64	10	of	of	ADP
ap-1006	64	11	the	the	DET
ap-1006	64	12	layers	layer	NOUN
ap-1006	64	13	and	and	CCONJ
ap-1006	64	14	agents	agent	NOUN
ap-1006	64	15	in	in	ADP
ap-1006	64	16	an	an	DET
ap-1006	64	17	inner	inner	ADJ
ap-1006	64	18	tree	tree	NOUN
ap-1006	64	19	-	-	PUNCT
ap-1006	64	20	based	base	VERB
ap-1006	64	21	data	data	NOUN
ap-1006	64	22	structure	structure	NOUN
ap-1006	64	23	.	.	PUNCT
ap-1006	65	1	it	it	PRON
ap-1006	65	2	can	can	AUX
ap-1006	65	3	provide	provide	VERB
ap-1006	65	4	all	all	PRON
ap-1006	65	5	of	of	ADP
ap-1006	65	6	this	this	DET
ap-1006	65	7	data	datum	NOUN
ap-1006	65	8	or	or	CCONJ
ap-1006	65	9	just	just	ADV
ap-1006	65	10	part	part	NOUN
ap-1006	65	11	of	of	ADP
ap-1006	65	12	it	it	PRON
ap-1006	65	13	to	to	ADP
ap-1006	65	14	the	the	DET
ap-1006	65	15	external	external	ADJ
ap-1006	65	16	modules	module	NOUN
ap-1006	65	17	.	.	PUNCT
ap-1006	66	1	each	each	DET
ap-1006	66	2	connected	connect	VERB
ap-1006	66	3	external	external	ADJ
ap-1006	66	4	module	module	NOUN
ap-1006	66	5	can	can	AUX
ap-1006	66	6	ask	ask	VERB
ap-1006	66	7	for	for	ADP
ap-1006	66	8	data	datum	NOUN
ap-1006	66	9	.	.	PUNCT
ap-1006	67	1	the	the	DET
ap-1006	67	2	inner	inner	ADJ
ap-1006	67	3	data	datum	NOUN
ap-1006	67	4	representation	representation	NOUN
ap-1006	67	5	is	be	AUX
ap-1006	67	6	not	not	PART
ap-1006	67	7	defined	define	VERB
ap-1006	67	8	in	in	ADP
ap-1006	67	9	the	the	DET
ap-1006	67	10	abstract	abstract	ADJ
ap-1006	67	11	architecture	architecture	NOUN
ap-1006	67	12	.	.	PUNCT
ap-1006	68	1	it	it	PRON
ap-1006	68	2	can	can	AUX
ap-1006	68	3	be	be	AUX
ap-1006	68	4	implemented	implement	VERB
ap-1006	68	5	in	in	ADP
ap-1006	68	6	various	various	ADJ
ap-1006	68	7	ways	way	NOUN
ap-1006	68	8	and	and	CCONJ
ap-1006	68	9	it	it	PRON
ap-1006	68	10	does	do	AUX
ap-1006	68	11	not	not	PART
ap-1006	68	12	matter	matter	VERB
ap-1006	68	13	as	as	ADV
ap-1006	68	14	long	long	ADV
ap-1006	68	15	as	as	SCONJ
ap-1006	68	16	the	the	DET
ap-1006	68	17	interface	interface	NOUN
ap-1006	68	18	for	for	ADP
ap-1006	68	19	exchanging	exchange	VERB
ap-1006	68	20	this	this	DET
ap-1006	68	21	data	data	NOUN
ap-1006	68	22	remains	remain	VERB
ap-1006	68	23	the	the	DET
ap-1006	68	24	same	same	ADJ
ap-1006	68	25	.	.	PUNCT
ap-1006	69	1	this	this	DET
ap-1006	69	2	interface	interface	NOUN
ap-1006	69	3	should	should	AUX
ap-1006	69	4	work	work	VERB
ap-1006	69	5	in	in	ADP
ap-1006	69	6	both	both	DET
ap-1006	69	7	directions	direction	NOUN
ap-1006	69	8	:	:	PUNCT
ap-1006	69	9	for	for	ADP
ap-1006	69	10	exporting	export	VERB
ap-1006	69	11	the	the	DET
ap-1006	69	12	data	datum	NOUN
ap-1006	69	13	to	to	PART
ap-1006	69	14	be	be	AUX
ap-1006	69	15	read	read	VERB
ap-1006	69	16	by	by	ADP
ap-1006	69	17	the	the	DET
ap-1006	69	18	external	external	ADJ
ap-1006	69	19	modules	module	NOUN
ap-1006	69	20	,	,	PUNCT
ap-1006	69	21	as	as	ADV
ap-1006	69	22	well	well	ADV
ap-1006	69	23	as	as	ADP
ap-1006	69	24	for	for	ADP
ap-1006	69	25	receiving	receive	VERB
ap-1006	69	26	updates	update	NOUN
ap-1006	69	27	of	of	ADP
ap-1006	69	28	the	the	DET
ap-1006	69	29	data	data	NOUN
ap-1006	69	30	structure	structure	NOUN
ap-1006	69	31	from	from	ADP
ap-1006	69	32	the	the	DET
ap-1006	69	33	modules	module	NOUN
ap-1006	69	34	.	.	PUNCT
ap-1006	70	1	the	the	DET
ap-1006	70	2	running	run	VERB
ap-1006	70	3	simulation	simulation	NOUN
ap-1006	70	4	can	can	AUX
ap-1006	70	5	also	also	ADV
ap-1006	70	6	be	be	AUX
ap-1006	70	7	stopped	stop	VERB
ap-1006	70	8	at	at	ADP
ap-1006	70	9	any	any	DET
ap-1006	70	10	moment	moment	NOUN
ap-1006	70	11	.	.	PUNCT
ap-1006	71	1	thanks	thank	NOUN
ap-1006	71	2	to	to	ADP
ap-1006	71	3	the	the	DET
ap-1006	71	4	single	single	ADJ
ap-1006	71	5	data	datum	NOUN
ap-1006	71	6	structure	structure	NOUN
ap-1006	71	7	it	it	PRON
ap-1006	71	8	can	can	AUX
ap-1006	71	9	be	be	AUX
ap-1006	71	10	saved	save	VERB
ap-1006	71	11	at	at	ADP
ap-1006	71	12	each	each	DET
ap-1006	71	13	step	step	NOUN
ap-1006	71	14	,	,	PUNCT
ap-1006	71	15	hence	hence	ADV
ap-1006	71	16	the	the	DET
ap-1006	71	17	simulation	simulation	NOUN
ap-1006	71	18	can	can	AUX
ap-1006	71	19	even	even	ADV
ap-1006	71	20	be	be	AUX
ap-1006	71	21	traced	trace	VERB
ap-1006	71	22	back	back	ADV
ap-1006	71	23	to	to	ADP
ap-1006	71	24	a	a	DET
ap-1006	71	25	certain	certain	ADJ
ap-1006	71	26	point	point	NOUN
ap-1006	71	27	in	in	ADP
ap-1006	71	28	history	history	NOUN
ap-1006	71	29	and	and	CCONJ
ap-1006	71	30	run	run	VERB
ap-1006	71	31	again	again	ADV
ap-1006	71	32	to	to	PART
ap-1006	71	33	observe	observe	VERB
ap-1006	71	34	if	if	SCONJ
ap-1006	71	35	any	any	DET
ap-1006	71	36	change	change	NOUN
ap-1006	71	37	of	of	ADP
ap-1006	71	38	behavior	behavior	NOUN
ap-1006	71	39	will	will	AUX
ap-1006	71	40	occur	occur	VERB
ap-1006	71	41	(	(	PUNCT
ap-1006	71	42	emerge	emerge	VERB
ap-1006	71	43	)	)	PUNCT
ap-1006	71	44	given	give	VERB
ap-1006	71	45	the	the	DET
ap-1006	71	46	same	same	ADJ
ap-1006	71	47	starting	starting	NOUN
ap-1006	71	48	conditions	condition	NOUN
ap-1006	71	49	.	.	PUNCT
ap-1006	72	1	change	change	NOUN
ap-1006	72	2	of	of	ADP
ap-1006	72	3	simulation	simulation	NOUN
ap-1006	72	4	parameters	parameter	NOUN
ap-1006	72	5	should	should	AUX
ap-1006	72	6	be	be	AUX
ap-1006	72	7	available	available	ADJ
ap-1006	72	8	while	while	SCONJ
ap-1006	72	9	the	the	DET
ap-1006	72	10	simulation	simulation	NOUN
ap-1006	72	11	is	be	AUX
ap-1006	72	12	running	run	VERB
ap-1006	72	13	.	.	PUNCT
ap-1006	73	1	an	an	DET
ap-1006	73	2	agent	agent	NOUN
ap-1006	73	3	is	be	AUX
ap-1006	73	4	understood	understand	VERB
ap-1006	73	5	to	to	PART
ap-1006	73	6	be	be	AUX
ap-1006	73	7	any	any	DET
ap-1006	73	8	object	object	NOUN
ap-1006	73	9	in	in	ADP
ap-1006	73	10	simulation	simulation	NOUN
ap-1006	73	11	either	either	CCONJ
ap-1006	73	12	virtually	virtually	ADV
ap-1006	73	13	alive	alive	ADJ
ap-1006	73	14	(	(	PUNCT
ap-1006	73	15	creature	creature	NOUN
ap-1006	73	16	,	,	PUNCT
ap-1006	73	17	predator	predator	NOUN
ap-1006	73	18	)	)	PUNCT
ap-1006	73	19	or	or	CCONJ
ap-1006	73	20	virtually	virtually	ADV
ap-1006	73	21	non	non	ADJ
ap-1006	73	22	-	-	ADJ
ap-1006	73	23	living	living	ADJ
ap-1006	73	24	(	(	PUNCT
ap-1006	73	25	trees	tree	NOUN
ap-1006	73	26	,	,	PUNCT
ap-1006	73	27	food	food	NOUN
ap-1006	73	28	,	,	PUNCT
ap-1006	73	29	water	water	NOUN
ap-1006	73	30	,	,	PUNCT
ap-1006	73	31	rocks	rock	NOUN
ap-1006	73	32	)	)	PUNCT
ap-1006	73	33	.	.	PUNCT
ap-1006	74	1	sensors	sensor	NOUN
ap-1006	74	2	and	and	CCONJ
ap-1006	74	3	effectors	effector	NOUN
ap-1006	74	4	of	of	ADP
ap-1006	74	5	the	the	DET
ap-1006	74	6	agent	agent	NOUN
ap-1006	74	7	are	be	AUX
ap-1006	74	8	their	their	PRON
ap-1006	74	9	interface	interface	NOUN
ap-1006	74	10	with	with	ADP
ap-1006	74	11	the	the	DET
ap-1006	74	12	virtual	virtual	ADJ
ap-1006	74	13	world	world	NOUN
ap-1006	74	14	and	and	CCONJ
ap-1006	74	15	therefore	therefore	ADV
ap-1006	74	16	they	they	PRON
ap-1006	74	17	are	be	AUX
ap-1006	74	18	part	part	NOUN
ap-1006	74	19	of	of	ADP
ap-1006	74	20	the	the	DET
ap-1006	74	21	environment	environment	NOUN
ap-1006	74	22	and	and	CCONJ
ap-1006	74	23	layers	layer	NOUN
ap-1006	74	24	.	.	PUNCT
ap-1006	75	1	the	the	DET
ap-1006	75	2	agent	agent	NOUN
ap-1006	75	3	mind	mind	NOUN
ap-1006	75	4	(	(	PUNCT
ap-1006	75	5	decision	decision	NOUN
ap-1006	75	6	control	control	NOUN
ap-1006	75	7	)	)	PUNCT
ap-1006	75	8	is	be	AUX
ap-1006	75	9	not	not	PART
ap-1006	75	10	part	part	NOUN
ap-1006	75	11	of	of	ADP
ap-1006	75	12	the	the	DET
ap-1006	75	13	environment	environment	NOUN
ap-1006	75	14	and	and	CCONJ
ap-1006	75	15	can	can	AUX
ap-1006	75	16	be	be	AUX
ap-1006	75	17	remote	remote	ADJ
ap-1006	75	18	.	.	PUNCT
ap-1006	76	1	2.3	2.3	NUM
ap-1006	76	2	simulation	simulation	NOUN
ap-1006	76	3	world	world	NOUN
ap-1006	76	4	in	in	ADP
ap-1006	76	5	layers	layer	NOUN
ap-1006	76	6	layers	layer	NOUN
ap-1006	76	7	are	be	AUX
ap-1006	76	8	the	the	DET
ap-1006	76	9	part	part	NOUN
ap-1006	76	10	of	of	ADP
ap-1006	76	11	the	the	DET
ap-1006	76	12	application	application	NOUN
ap-1006	76	13	directly	directly	ADV
ap-1006	76	14	interacting	interact	VERB
ap-1006	76	15	with	with	ADP
ap-1006	76	16	the	the	DET
ap-1006	76	17	agent	agent	NOUN
ap-1006	76	18	via	via	ADP
ap-1006	76	19	its	its	PRON
ap-1006	76	20	sensors	sensor	NOUN
ap-1006	76	21	and	and	CCONJ
ap-1006	76	22	effectors	effector	NOUN
ap-1006	76	23	.	.	PUNCT
ap-1006	77	1	layers	layer	NOUN
ap-1006	77	2	define	define	VERB
ap-1006	77	3	the	the	DET
ap-1006	77	4	virtual	virtual	ADJ
ap-1006	77	5	world	world	NOUN
ap-1006	77	6	in	in	ADP
ap-1006	77	7	which	which	PRON
ap-1006	77	8	the	the	DET
ap-1006	77	9	agents	agent	NOUN
ap-1006	77	10	live	live	VERB
ap-1006	77	11	.	.	PUNCT
ap-1006	78	1	they	they	PRON
ap-1006	78	2	separate	separate	VERB
ap-1006	78	3	operations	operation	NOUN
ap-1006	78	4	which	which	PRON
ap-1006	78	5	would	would	AUX
ap-1006	78	6	otherwise	otherwise	ADV
ap-1006	78	7	be	be	AUX
ap-1006	78	8	controlled	control	VERB
ap-1006	78	9	by	by	ADP
ap-1006	78	10	the	the	DET
ap-1006	78	11	engine	engine	NOUN
ap-1006	78	12	.	.	PUNCT
ap-1006	79	1	the	the	DET
ap-1006	79	2	layer	layer	NOUN
ap-1006	79	3	is	be	AUX
ap-1006	79	4	a	a	DET
ap-1006	79	5	logically	logically	ADV
ap-1006	79	6	separable	separable	ADJ
ap-1006	79	7	part	part	NOUN
ap-1006	79	8	of	of	ADP
ap-1006	79	9	the	the	DET
ap-1006	79	10	environment	environment	NOUN
ap-1006	79	11	which	which	PRON
ap-1006	79	12	can	can	AUX
ap-1006	79	13	be	be	AUX
ap-1006	79	14	used	use	VERB
ap-1006	79	15	standalone	standalone	NOUN
ap-1006	79	16	and	and	CCONJ
ap-1006	79	17	which	which	PRON
ap-1006	79	18	when	when	SCONJ
ap-1006	79	19	combined	combine	VERB
ap-1006	79	20	with	with	ADP
ap-1006	79	21	others	other	NOUN
ap-1006	79	22	defines	define	VERB
ap-1006	79	23	the	the	DET
ap-1006	79	24	environment	environment	NOUN
ap-1006	79	25	as	as	ADP
ap-1006	79	26	a	a	DET
ap-1006	79	27	whole	whole	NOUN
ap-1006	79	28	.	.	PUNCT
ap-1006	80	1	basically	basically	ADV
ap-1006	80	2	,	,	PUNCT
ap-1006	80	3	by	by	ADP
ap-1006	80	4	using	use	VERB
ap-1006	80	5	layers	layer	NOUN
ap-1006	80	6	we	we	PRON
ap-1006	80	7	segregate	segregate	VERB
ap-1006	80	8	the	the	DET
ap-1006	80	9	simulation	simulation	NOUN
ap-1006	80	10	of	of	ADP
ap-1006	80	11	physical	physical	ADJ
ap-1006	80	12	laws	law	NOUN
ap-1006	80	13	.	.	PUNCT
ap-1006	81	1	as	as	ADP
ap-1006	81	2	an	an	DET
ap-1006	81	3	example	example	NOUN
ap-1006	81	4	,	,	PUNCT
ap-1006	81	5	we	we	PRON
ap-1006	81	6	can	can	AUX
ap-1006	81	7	have	have	VERB
ap-1006	81	8	a	a	DET
ap-1006	81	9	physical	physical	ADJ
ap-1006	81	10	layer	layer	NOUN
ap-1006	81	11	taking	take	VERB
ap-1006	81	12	care	care	NOUN
ap-1006	81	13	of	of	ADP
ap-1006	81	14	agents	agent	NOUN
ap-1006	81	15	’	'	PUNCT
ap-1006	81	16	positions	position	NOUN
ap-1006	81	17	and	and	CCONJ
ap-1006	81	18	collisions	collision	NOUN
ap-1006	81	19	.	.	PUNCT
ap-1006	82	1	we	we	PRON
ap-1006	82	2	can	can	AUX
ap-1006	82	3	add	add	VERB
ap-1006	82	4	a	a	DET
ap-1006	82	5	thermal	thermal	ADJ
ap-1006	82	6	layer	layer	NOUN
ap-1006	82	7	taking	take	VERB
ap-1006	82	8	care	care	NOUN
ap-1006	82	9	of	of	ADP
ap-1006	82	10	propagation	propagation	NOUN
ap-1006	82	11	of	of	ADP
ap-1006	82	12	heat	heat	NOUN
ap-1006	82	13	in	in	ADP
ap-1006	82	14	the	the	DET
ap-1006	82	15	virtual	virtual	ADJ
ap-1006	82	16	world	world	NOUN
ap-1006	82	17	.	.	PUNCT
ap-1006	83	1	all	all	DET
ap-1006	83	2	agents	agent	NOUN
ap-1006	83	3	influenced	influence	VERB
ap-1006	83	4	by	by	ADP
ap-1006	83	5	a	a	DET
ap-1006	83	6	particular	particular	ADJ
ap-1006	83	7	layer	layer	NOUN
ap-1006	83	8	or	or	CCONJ
ap-1006	83	9	having	have	VERB
ap-1006	83	10	an	an	DET
ap-1006	83	11	influence	influence	NOUN
ap-1006	83	12	in	in	ADP
ap-1006	83	13	this	this	DET
ap-1006	83	14	particular	particular	ADJ
ap-1006	83	15	layer	layer	NOUN
ap-1006	83	16	must	must	AUX
ap-1006	83	17	be	be	AUX
ap-1006	83	18	registered	register	VERB
ap-1006	83	19	with	with	ADP
ap-1006	83	20	it	it	PRON
ap-1006	83	21	.	.	PUNCT
ap-1006	84	1	this	this	PRON
ap-1006	84	2	ensures	ensure	VERB
ap-1006	84	3	that	that	SCONJ
ap-1006	84	4	the	the	DET
ap-1006	84	5	layer	layer	NOUN
ap-1006	84	6	has	have	VERB
ap-1006	84	7	full	full	ADJ
ap-1006	84	8	information	information	NOUN
ap-1006	84	9	for	for	ADP
ap-1006	84	10	computing	compute	VERB
ap-1006	84	11	the	the	DET
ap-1006	84	12	next	next	ADJ
ap-1006	84	13	step	step	NOUN
ap-1006	84	14	.	.	PUNCT
ap-1006	85	1	the	the	DET
ap-1006	85	2	layer	layer	NOUN
ap-1006	85	3	will	will	AUX
ap-1006	85	4	evaluate	evaluate	VERB
ap-1006	85	5	agents	agent	NOUN
ap-1006	85	6	’	'	PUNCT
ap-1006	85	7	actions	action	NOUN
ap-1006	85	8	in	in	ADP
ap-1006	85	9	each	each	DET
ap-1006	85	10	step	step	NOUN
ap-1006	85	11	,	,	PUNCT
ap-1006	85	12	and	and	CCONJ
ap-1006	85	13	through	through	ADP
ap-1006	85	14	their	their	PRON
ap-1006	85	15	sensors	sensor	NOUN
ap-1006	85	16	it	it	PRON
ap-1006	85	17	will	will	AUX
ap-1006	85	18	provide	provide	VERB
ap-1006	85	19	them	they	PRON
ap-1006	85	20	with	with	ADP
ap-1006	85	21	the	the	DET
ap-1006	85	22	new	new	ADJ
ap-1006	85	23	state	state	NOUN
ap-1006	85	24	of	of	ADP
ap-1006	85	25	the	the	DET
ap-1006	85	26	environment	environment	NOUN
ap-1006	85	27	.	.	PUNCT
ap-1006	86	1	according	accord	VERB
ap-1006	86	2	to	to	ADP
ap-1006	86	3	the	the	DET
ap-1006	86	4	executed	execute	VERB
ap-1006	86	5	actions	action	NOUN
ap-1006	86	6	the	the	DET
ap-1006	86	7	layer	layer	NOUN
ap-1006	86	8	will	will	AUX
ap-1006	86	9	modify	modify	VERB
ap-1006	86	10	its	its	PRON
ap-1006	86	11	own	own	ADJ
ap-1006	86	12	values	value	NOUN
ap-1006	86	13	and	and	CCONJ
ap-1006	86	14	then	then	ADV
ap-1006	86	15	will	will	AUX
ap-1006	86	16	provide	provide	VERB
ap-1006	86	17	new	new	ADJ
ap-1006	86	18	sensoric	sensoric	NOUN
ap-1006	86	19	data	datum	NOUN
ap-1006	86	20	to	to	ADP
ap-1006	86	21	the	the	DET
ap-1006	86	22	agents	agent	NOUN
ap-1006	86	23	.	.	PUNCT
ap-1006	87	1	the	the	DET
ap-1006	87	2	layer	layer	NOUN
ap-1006	87	3	must	must	AUX
ap-1006	87	4	have	have	VERB
ap-1006	87	5	the	the	DET
ap-1006	87	6	ability	ability	NOUN
ap-1006	87	7	to	to	PART
ap-1006	87	8	register	register	VERB
ap-1006	87	9	and	and	CCONJ
ap-1006	87	10	deregister	deregister	VERB
ap-1006	87	11	the	the	DET
ap-1006	87	12	agent	agent	NOUN
ap-1006	87	13	and	and	CCONJ
ap-1006	87	14	also	also	ADV
ap-1006	87	15	fill	fill	VERB
ap-1006	87	16	the	the	DET
ap-1006	87	17	agents	agent	NOUN
ap-1006	87	18	’	'	PUNCT
ap-1006	87	19	sensors	sensor	NOUN
ap-1006	87	20	.	.	PUNCT
ap-1006	88	1	this	this	PRON
ap-1006	88	2	means	mean	VERB
ap-1006	88	3	that	that	SCONJ
ap-1006	88	4	it	it	PRON
ap-1006	88	5	must	must	AUX
ap-1006	88	6	have	have	VERB
ap-1006	88	7	an	an	DET
ap-1006	88	8	interface	interface	NOUN
ap-1006	88	9	for	for	ADP
ap-1006	88	10	communicating	communicate	VERB
ap-1006	88	11	with	with	ADP
ap-1006	88	12	sensors	sensor	NOUN
ap-1006	88	13	.	.	PUNCT
ap-1006	89	1	for	for	ADP
ap-1006	89	2	example	example	NOUN
ap-1006	89	3	,	,	PUNCT
ap-1006	89	4	the	the	DET
ap-1006	89	5	thermal	thermal	ADJ
ap-1006	89	6	layer	layer	NOUN
ap-1006	89	7	should	should	AUX
ap-1006	89	8	have	have	VERB
ap-1006	89	9	the	the	DET
ap-1006	89	10	ability	ability	NOUN
ap-1006	89	11	to	to	PART
ap-1006	89	12	provide	provide	VERB
ap-1006	89	13	information	information	NOUN
ap-1006	89	14	for	for	ADP
ap-1006	89	15	sensors	sensor	NOUN
ap-1006	89	16	of	of	ADP
ap-1006	89	17	temperature	temperature	NOUN
ap-1006	89	18	.	.	PUNCT
ap-1006	90	1	to	to	PART
ap-1006	90	2	sum	sum	VERB
ap-1006	90	3	this	this	PRON
ap-1006	90	4	up	up	ADP
ap-1006	90	5	in	in	ADP
ap-1006	90	6	each	each	DET
ap-1006	90	7	step	step	NOUN
ap-1006	90	8	the	the	DET
ap-1006	90	9	layer	layer	NOUN
ap-1006	90	10	must	must	AUX
ap-1006	90	11	read	read	VERB
ap-1006	90	12	agents	agent	NOUN
ap-1006	90	13	’	'	PUNCT
ap-1006	90	14	executed	execute	VERB
ap-1006	90	15	actions	action	NOUN
ap-1006	90	16	,	,	PUNCT
ap-1006	90	17	validate	validate	VERB
ap-1006	90	18	them	they	PRON
ap-1006	90	19	(	(	PUNCT
ap-1006	90	20	whether	whether	SCONJ
ap-1006	90	21	they	they	PRON
ap-1006	90	22	are	be	AUX
ap-1006	90	23	possible	possible	ADJ
ap-1006	90	24	or	or	CCONJ
ap-1006	90	25	executable	executable	ADJ
ap-1006	90	26	)	)	PUNCT
ap-1006	90	27	,	,	PUNCT
ap-1006	90	28	modify	modify	VERB
ap-1006	90	29	the	the	DET
ap-1006	90	30	environment	environment	NOUN
ap-1006	90	31	and	and	CCONJ
ap-1006	90	32	provide	provide	VERB
ap-1006	90	33	new	new	ADJ
ap-1006	90	34	sensory	sensory	ADJ
ap-1006	90	35	data	datum	NOUN
ap-1006	90	36	.	.	PUNCT
ap-1006	91	1	we	we	PRON
ap-1006	91	2	have	have	AUX
ap-1006	91	3	defined	define	VERB
ap-1006	91	4	two	two	NUM
ap-1006	91	5	types	type	NOUN
ap-1006	91	6	of	of	ADP
ap-1006	91	7	layers	layer	NOUN
ap-1006	91	8	.	.	PUNCT
ap-1006	92	1	there	there	PRON
ap-1006	92	2	is	be	VERB
ap-1006	92	3	the	the	DET
ap-1006	92	4	point	point	NOUN
ap-1006	92	5	layer	layer	NOUN
ap-1006	92	6	,	,	PUNCT
ap-1006	92	7	where	where	SCONJ
ap-1006	92	8	the	the	DET
ap-1006	92	9	value	value	NOUN
ap-1006	92	10	can	can	AUX
ap-1006	92	11	be	be	AUX
ap-1006	92	12	evaluated	evaluate	VERB
ap-1006	92	13	directly	directly	ADV
ap-1006	92	14	,	,	PUNCT
ap-1006	92	15	or	or	CCONJ
ap-1006	92	16	it	it	PRON
ap-1006	92	17	can	can	AUX
ap-1006	92	18	be	be	AUX
ap-1006	92	19	obtained	obtain	VERB
ap-1006	92	20	immediately	immediately	ADV
ap-1006	92	21	from	from	ADP
ap-1006	92	22	the	the	DET
ap-1006	92	23	layers	layer	NOUN
ap-1006	92	24	data	datum	NOUN
ap-1006	92	25	.	.	PUNCT
ap-1006	93	1	the	the	DET
ap-1006	93	2	gradient	gradient	ADJ
ap-1006	93	3	layer	layer	NOUN
ap-1006	93	4	is	be	AUX
ap-1006	93	5	where	where	SCONJ
ap-1006	93	6	the	the	DET
ap-1006	93	7	value	value	NOUN
ap-1006	93	8	at	at	ADP
ap-1006	93	9	the	the	DET
ap-1006	93	10	point	point	NOUN
ap-1006	93	11	of	of	ADP
ap-1006	93	12	interest	interest	NOUN
ap-1006	93	13	can	can	AUX
ap-1006	93	14	not	not	PART
ap-1006	93	15	be	be	AUX
ap-1006	93	16	evaluated	evaluate	VERB
ap-1006	93	17	just	just	ADV
ap-1006	93	18	from	from	ADP
ap-1006	93	19	the	the	DET
ap-1006	93	20	current	current	ADJ
ap-1006	93	21	information	information	NOUN
ap-1006	93	22	but	but	CCONJ
ap-1006	93	23	the	the	DET
ap-1006	93	24	history	history	NOUN
ap-1006	93	25	of	of	ADP
ap-1006	93	26	the	the	DET
ap-1006	93	27	value	value	NOUN
ap-1006	93	28	must	must	AUX
ap-1006	93	29	also	also	ADV
ap-1006	93	30	be	be	AUX
ap-1006	93	31	taken	take	VERB
ap-1006	93	32	into	into	ADP
ap-1006	93	33	account	account	NOUN
ap-1006	93	34	.	.	PUNCT
ap-1006	94	1	the	the	DET
ap-1006	94	2	physical	physical	ADJ
ap-1006	94	3	body	body	NOUN
ap-1006	94	4	of	of	ADP
ap-1006	94	5	the	the	DET
ap-1006	94	6	agent	agent	NOUN
ap-1006	94	7	and	and	CCONJ
ap-1006	94	8	its	its	PRON
ap-1006	94	9	sensors	sensor	NOUN
ap-1006	94	10	and	and	CCONJ
ap-1006	94	11	effectors	effector	NOUN
ap-1006	94	12	are	be	AUX
ap-1006	94	13	also	also	ADV
ap-1006	94	14	part	part	NOUN
ap-1006	94	15	of	of	ADP
ap-1006	94	16	the	the	DET
ap-1006	94	17	environment	environment	NOUN
ap-1006	94	18	,	,	PUNCT
ap-1006	94	19	so	so	CCONJ
ap-1006	94	20	it	it	PRON
ap-1006	94	21	is	be	AUX
ap-1006	94	22	necessary	necessary	ADJ
ap-1006	94	23	to	to	PART
ap-1006	94	24	interpret	interpret	VERB
ap-1006	94	25	them	they	PRON
ap-1006	94	26	in	in	ADP
ap-1006	94	27	it	it	PRON
ap-1006	94	28	.	.	PUNCT
ap-1006	95	1	the	the	DET
ap-1006	95	2	layer	layer	NOUN
ap-1006	95	3	must	must	AUX
ap-1006	95	4	have	have	VERB
ap-1006	95	5	information	information	NOUN
ap-1006	95	6	about	about	ADP
ap-1006	95	7	how	how	SCONJ
ap-1006	95	8	much	much	ADJ
ap-1006	95	9	space	space	NOUN
ap-1006	95	10	the	the	DET
ap-1006	95	11	body	body	NOUN
ap-1006	95	12	,	,	PUNCT
ap-1006	95	13	sensors	sensor	NOUN
ap-1006	95	14	and	and	CCONJ
ap-1006	95	15	effectors	effector	NOUN
ap-1006	95	16	take	take	VERB
ap-1006	95	17	.	.	PUNCT
ap-1006	96	1	this	this	PRON
ap-1006	96	2	could	could	AUX
ap-1006	96	3	enable	enable	VERB
ap-1006	96	4	a	a	DET
ap-1006	96	5	more	more	ADV
ap-1006	96	6	complex	complex	ADJ
ap-1006	96	7	agent	agent	NOUN
ap-1006	96	8	to	to	PART
ap-1006	96	9	be	be	AUX
ap-1006	96	10	built	build	VERB
ap-1006	96	11	from	from	ADP
ap-1006	96	12	the	the	DET
ap-1006	96	13	basic	basic	ADJ
ap-1006	96	14	blocks	block	NOUN
ap-1006	96	15	.	.	PUNCT
ap-1006	97	1	the	the	DET
ap-1006	97	2	potential	potential	NOUN
ap-1006	97	3	of	of	ADP
ap-1006	97	4	layers	layer	NOUN
ap-1006	97	5	has	have	AUX
ap-1006	97	6	been	be	AUX
ap-1006	97	7	used	use	VERB
ap-1006	97	8	in	in	ADP
ap-1006	97	9	several	several	ADJ
ap-1006	97	10	works	work	NOUN
ap-1006	97	11	,	,	PUNCT
ap-1006	97	12	where	where	SCONJ
ap-1006	97	13	the	the	DET
ap-1006	97	14	implementations	implementation	NOUN
ap-1006	97	15	have	have	AUX
ap-1006	97	16	had	have	VERB
ap-1006	97	17	up	up	ADP
ap-1006	97	18	to	to	PART
ap-1006	97	19	seven	seven	NUM
ap-1006	97	20	different	different	ADJ
ap-1006	97	21	layers	layer	NOUN
ap-1006	97	22	[	[	X
ap-1006	97	23	5	5	NUM
ap-1006	97	24	]	]	PUNCT
ap-1006	97	25	.	.	PUNCT
ap-1006	98	1	another	another	DET
ap-1006	98	2	advantage	advantage	NOUN
ap-1006	98	3	of	of	ADP
ap-1006	98	4	layers	layer	NOUN
ap-1006	98	5	is	be	AUX
ap-1006	98	6	that	that	SCONJ
ap-1006	98	7	they	they	PRON
ap-1006	98	8	can	can	AUX
ap-1006	98	9	solve	solve	VERB
ap-1006	98	10	communication	communication	NOUN
ap-1006	98	11	between	between	ADP
ap-1006	98	12	agents	agent	NOUN
ap-1006	98	13	in	in	ADP
ap-1006	98	14	the	the	DET
ap-1006	98	15	sense	sense	NOUN
ap-1006	98	16	of	of	ADP
ap-1006	98	17	distribution	distribution	NOUN
ap-1006	98	18	of	of	ADP
ap-1006	98	19	the	the	DET
ap-1006	98	20	signal	signal	NOUN
ap-1006	98	21	.	.	PUNCT
ap-1006	99	1	we	we	PRON
ap-1006	99	2	can	can	AUX
ap-1006	99	3	implement	implement	VERB
ap-1006	99	4	the	the	DET
ap-1006	99	5	acoustic	acoustic	ADJ
ap-1006	99	6	layer	layer	NOUN
ap-1006	99	7	to	to	PART
ap-1006	99	8	propagate	propagate	VERB
ap-1006	99	9	sound	sound	NOUN
ap-1006	99	10	based	base	VERB
ap-1006	99	11	on	on	ADP
ap-1006	99	12	the	the	DET
ap-1006	99	13	physical	physical	ADJ
ap-1006	99	14	laws	law	NOUN
ap-1006	99	15	.	.	PUNCT
ap-1006	100	1	this	this	PRON
ap-1006	100	2	solves	solve	VERB
ap-1006	100	3	the	the	DET
ap-1006	100	4	problem	problem	NOUN
ap-1006	100	5	of	of	ADP
ap-1006	100	6	transporting	transport	VERB
ap-1006	100	7	the	the	DET
ap-1006	100	8	message	message	NOUN
ap-1006	100	9	,	,	PUNCT
ap-1006	100	10	but	but	CCONJ
ap-1006	100	11	not	not	PART
ap-1006	100	12	the	the	DET
ap-1006	100	13	understanding	understanding	NOUN
ap-1006	100	14	and	and	CCONJ
ap-1006	100	15	context	context	NOUN
ap-1006	100	16	of	of	ADP
ap-1006	100	17	the	the	DET
ap-1006	100	18	message	message	NOUN
ap-1006	100	19	.	.	PUNCT
ap-1006	101	1	to	to	PART
ap-1006	101	2	sum	sum	VERB
ap-1006	101	3	up	up	ADP
ap-1006	101	4	layers	layer	NOUN
ap-1006	101	5	in	in	ADP
ap-1006	101	6	a	a	DET
ap-1006	101	7	single	single	ADJ
ap-1006	101	8	simple	simple	ADJ
ap-1006	101	9	sentence	sentence	NOUN
ap-1006	101	10	,	,	PUNCT
ap-1006	101	11	they	they	PRON
ap-1006	101	12	implement	implement	VERB
ap-1006	101	13	various	various	ADJ
ap-1006	101	14	physical	physical	ADJ
ap-1006	101	15	laws	law	NOUN
ap-1006	101	16	.	.	PUNCT
ap-1006	102	1	2.4	2.4	NUM
ap-1006	102	2	human	human	ADJ
ap-1006	102	3	interface	interface	NOUN
ap-1006	102	4	and	and	CCONJ
ap-1006	102	5	analysis	analysis	NOUN
ap-1006	102	6	everything	everything	PRON
ap-1006	102	7	that	that	PRON
ap-1006	102	8	has	have	AUX
ap-1006	102	9	been	be	AUX
ap-1006	102	10	described	describe	VERB
ap-1006	102	11	above	above	ADV
ap-1006	102	12	is	be	AUX
ap-1006	102	13	just	just	ADV
ap-1006	102	14	an	an	DET
ap-1006	102	15	algorithm	algorithm	NOUN
ap-1006	102	16	with	with	ADP
ap-1006	102	17	no	no	DET
ap-1006	102	18	human	human	ADJ
ap-1006	102	19	interface	interface	NOUN
ap-1006	102	20	.	.	PUNCT
ap-1006	103	1	visualization	visualization	NOUN
ap-1006	103	2	of	of	ADP
ap-1006	103	3	the	the	DET
ap-1006	103	4	designed	design	VERB
ap-1006	103	5	world	world	NOUN
ap-1006	103	6	can	can	AUX
ap-1006	103	7	be	be	AUX
ap-1006	103	8	an	an	DET
ap-1006	103	9	attractive	attractive	ADJ
ap-1006	103	10	and	and	CCONJ
ap-1006	103	11	also	also	ADV
ap-1006	103	12	a	a	DET
ap-1006	103	13	useful	useful	ADJ
ap-1006	103	14	tool	tool	NOUN
ap-1006	103	15	.	.	PUNCT
ap-1006	104	1	for	for	ADP
ap-1006	104	2	this	this	DET
ap-1006	104	3	purpose	purpose	NOUN
ap-1006	104	4	,	,	PUNCT
ap-1006	104	5	an	an	DET
ap-1006	104	6	external	external	ADJ
ap-1006	104	7	visualization	visualization	NOUN
ap-1006	104	8	module	module	NOUN
ap-1006	104	9	or	or	CCONJ
ap-1006	104	10	an	an	DET
ap-1006	104	11	internal	internal	ADJ
ap-1006	104	12	(	(	PUNCT
ap-1006	104	13	default	default	NOUN
ap-1006	104	14	)	)	PUNCT
ap-1006	104	15	©	©	PROPN
ap-1006	104	16	czech	czech	PROPN
ap-1006	104	17	technical	technical	PROPN
ap-1006	104	18	university	university	PROPN
ap-1006	104	19	publishing	publishing	NOUN
ap-1006	104	20	house	house	NOUN
ap-1006	104	21	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1006	104	22	47	47	NUM
ap-1006	104	23	acta	acta	PROPN
ap-1006	104	24	polytechnica	polytechnica	PROPN
ap-1006	104	25	vol	vol	NOUN
ap-1006	104	26	.	.	PUNCT
ap-1006	105	1	47	47	NUM
ap-1006	105	2	no	no	NOUN
ap-1006	105	3	.	.	PUNCT
ap-1006	106	1	6/2007	6/2007	NUM
ap-1006	106	2	module	module	NOUN
ap-1006	106	3	can	can	AUX
ap-1006	106	4	be	be	AUX
ap-1006	106	5	used	use	VERB
ap-1006	106	6	.	.	PUNCT
ap-1006	107	1	internal	internal	ADJ
ap-1006	107	2	visualization	visualization	NOUN
ap-1006	107	3	is	be	AUX
ap-1006	107	4	meant	mean	VERB
ap-1006	107	5	for	for	ADP
ap-1006	107	6	debugging	debugging	NOUN
ap-1006	107	7	and	and	CCONJ
ap-1006	107	8	observing	observe	VERB
ap-1006	107	9	the	the	DET
ap-1006	107	10	simulation	simulation	NOUN
ap-1006	107	11	by	by	ADP
ap-1006	107	12	the	the	DET
ap-1006	107	13	creator	creator	NOUN
ap-1006	107	14	(	(	PUNCT
ap-1006	107	15	fig	fig	NOUN
ap-1006	107	16	.	.	PUNCT
ap-1006	108	1	2	2	NUM
ap-1006	108	2	)	)	PUNCT
ap-1006	108	3	.	.	PUNCT
ap-1006	109	1	the	the	DET
ap-1006	109	2	external	external	ADJ
ap-1006	109	3	module	module	NOUN
ap-1006	109	4	can	can	AUX
ap-1006	109	5	be	be	AUX
ap-1006	109	6	used	use	VERB
ap-1006	109	7	to	to	PART
ap-1006	109	8	present	present	VERB
ap-1006	109	9	this	this	DET
ap-1006	109	10	simulation	simulation	NOUN
ap-1006	109	11	to	to	ADP
ap-1006	109	12	a	a	DET
ap-1006	109	13	wider	wide	ADJ
ap-1006	109	14	audience	audience	NOUN
ap-1006	109	15	(	(	PUNCT
ap-1006	109	16	fig	fig	NOUN
ap-1006	109	17	.	.	PUNCT
ap-1006	110	1	3	3	NUM
ap-1006	110	2	)	)	PUNCT
ap-1006	110	3	.	.	PUNCT
ap-1006	111	1	on	on	ADP
ap-1006	111	2	-	-	PUNCT
ap-1006	111	3	line	line	NOUN
ap-1006	111	4	or	or	CCONJ
ap-1006	111	5	off	off	ADP
ap-1006	111	6	-	-	PUNCT
ap-1006	111	7	line	line	NOUN
ap-1006	111	8	tools	tool	NOUN
ap-1006	111	9	for	for	ADP
ap-1006	111	10	analysis	analysis	NOUN
ap-1006	111	11	of	of	ADP
ap-1006	111	12	changes	change	NOUN
ap-1006	111	13	in	in	ADP
ap-1006	111	14	agent	agent	NOUN
ap-1006	111	15	attributes	attribute	NOUN
ap-1006	111	16	in	in	ADP
ap-1006	111	17	time	time	NOUN
ap-1006	111	18	are	be	AUX
ap-1006	111	19	also	also	ADV
ap-1006	111	20	supported	support	VERB
ap-1006	111	21	.	.	PUNCT
ap-1006	112	1	the	the	DET
ap-1006	112	2	proposed	propose	VERB
ap-1006	112	3	environment	environment	NOUN
ap-1006	112	4	is	be	AUX
ap-1006	112	5	compatible	compatible	ADJ
ap-1006	112	6	with	with	ADP
ap-1006	112	7	the	the	DET
ap-1006	112	8	visualization	visualization	NOUN
ap-1006	112	9	tool	tool	NOUN
ap-1006	112	10	called	call	VERB
ap-1006	112	11	vat	vat	NOUN
ap-1006	112	12	.	.	PUNCT
ap-1006	113	1	it	it	PRON
ap-1006	113	2	can	can	AUX
ap-1006	113	3	be	be	AUX
ap-1006	113	4	used	use	VERB
ap-1006	113	5	to	to	PART
ap-1006	113	6	observe	observe	VERB
ap-1006	113	7	agent	agent	NOUN
ap-1006	113	8	parameters	parameter	NOUN
ap-1006	113	9	at	at	ADP
ap-1006	113	10	any	any	DET
ap-1006	113	11	time	time	NOUN
ap-1006	113	12	of	of	ADP
ap-1006	113	13	simulation	simulation	NOUN
ap-1006	113	14	.	.	PUNCT
ap-1006	114	1	we	we	PRON
ap-1006	114	2	will	will	AUX
ap-1006	114	3	not	not	PART
ap-1006	114	4	go	go	VERB
ap-1006	114	5	into	into	ADP
ap-1006	114	6	much	much	ADJ
ap-1006	114	7	detail	detail	NOUN
ap-1006	114	8	about	about	ADP
ap-1006	114	9	the	the	DET
ap-1006	114	10	parameter	parameter	NOUN
ap-1006	114	11	visualization	visualization	NOUN
ap-1006	114	12	problem	problem	NOUN
ap-1006	114	13	.	.	PUNCT
ap-1006	115	1	information	information	NOUN
ap-1006	115	2	about	about	ADP
ap-1006	115	3	this	this	PRON
ap-1006	115	4	can	can	AUX
ap-1006	115	5	be	be	AUX
ap-1006	115	6	found	find	VERB
ap-1006	115	7	in	in	ADP
ap-1006	115	8	[	[	X
ap-1006	115	9	4	4	NUM
ap-1006	115	10	]	]	PUNCT
ap-1006	115	11	.	.	PUNCT
ap-1006	116	1	using	use	VERB
ap-1006	116	2	the	the	DET
ap-1006	116	3	third	third	ADJ
ap-1006	116	4	dimension	dimension	NOUN
ap-1006	116	5	for	for	ADP
ap-1006	116	6	data	data	NOUN
ap-1006	116	7	visualization	visualization	NOUN
ap-1006	116	8	makes	make	VERB
ap-1006	116	9	the	the	DET
ap-1006	116	10	analysis	analysis	NOUN
ap-1006	116	11	more	more	ADV
ap-1006	116	12	comprehensive	comprehensive	ADJ
ap-1006	116	13	,	,	PUNCT
ap-1006	116	14	and	and	CCONJ
ap-1006	116	15	computer	computer	NOUN
ap-1006	116	16	graphics	graphic	NOUN
ap-1006	116	17	has	have	VERB
ap-1006	116	18	various	various	ADJ
ap-1006	116	19	methods	method	NOUN
ap-1006	116	20	for	for	ADP
ap-1006	116	21	visualizing	visualize	VERB
ap-1006	116	22	even	even	ADV
ap-1006	116	23	more	more	ADJ
ap-1006	116	24	than	than	ADP
ap-1006	116	25	three	three	NUM
ap-1006	116	26	dimensions	dimension	NOUN
ap-1006	116	27	.	.	PUNCT
ap-1006	117	1	this	this	PRON
ap-1006	117	2	is	be	AUX
ap-1006	117	3	why	why	SCONJ
ap-1006	117	4	3d	3d	ADJ
ap-1006	117	5	analytical	analytical	ADJ
ap-1006	117	6	tools	tool	NOUN
ap-1006	117	7	are	be	AUX
ap-1006	117	8	strongly	strongly	ADV
ap-1006	117	9	supported	support	VERB
ap-1006	117	10	.	.	PUNCT
ap-1006	118	1	they	they	PRON
ap-1006	118	2	offer	offer	VERB
ap-1006	118	3	many	many	ADJ
ap-1006	118	4	advantages	advantage	NOUN
ap-1006	118	5	,	,	PUNCT
ap-1006	118	6	because	because	SCONJ
ap-1006	118	7	the	the	DET
ap-1006	118	8	value	value	NOUN
ap-1006	118	9	of	of	ADP
ap-1006	118	10	the	the	DET
ap-1006	118	11	parameter	parameter	NOUN
ap-1006	118	12	can	can	AUX
ap-1006	118	13	be	be	AUX
ap-1006	118	14	mapped	map	VERB
ap-1006	118	15	to	to	PART
ap-1006	118	16	shape	shape	VERB
ap-1006	118	17	,	,	PUNCT
ap-1006	118	18	height	height	NOUN
ap-1006	118	19	,	,	PUNCT
ap-1006	118	20	width	width	ADJ
ap-1006	118	21	or	or	CCONJ
ap-1006	118	22	length	length	NOUN
ap-1006	118	23	,	,	PUNCT
ap-1006	118	24	etc	etc	X
ap-1006	118	25	.	.	X
ap-1006	119	1	another	another	DET
ap-1006	119	2	advantage	advantage	NOUN
ap-1006	119	3	is	be	AUX
ap-1006	119	4	the	the	DET
ap-1006	119	5	possibility	possibility	NOUN
ap-1006	119	6	to	to	PART
ap-1006	119	7	use	use	VERB
ap-1006	119	8	sensitivity	sensitivity	NOUN
ap-1006	119	9	analysis	analysis	NOUN
ap-1006	119	10	.	.	PUNCT
ap-1006	120	1	analytical	analytical	ADJ
ap-1006	120	2	tools	tool	NOUN
ap-1006	120	3	provide	provide	VERB
ap-1006	120	4	an	an	DET
ap-1006	120	5	offline	offline	ADJ
ap-1006	120	6	or	or	CCONJ
ap-1006	120	7	online	online	ADJ
ap-1006	120	8	evaluation	evaluation	NOUN
ap-1006	120	9	of	of	ADP
ap-1006	120	10	the	the	DET
ap-1006	120	11	simulation	simulation	NOUN
ap-1006	120	12	together	together	ADV
ap-1006	120	13	with	with	ADP
ap-1006	120	14	fast	fast	ADJ
ap-1006	120	15	orientation	orientation	NOUN
ap-1006	120	16	in	in	ADP
ap-1006	120	17	complex	complex	ADJ
ap-1006	120	18	situations	situation	NOUN
ap-1006	120	19	.	.	PUNCT
ap-1006	121	1	they	they	PRON
ap-1006	121	2	also	also	ADV
ap-1006	121	3	enable	enable	VERB
ap-1006	121	4	backward	backward	ADJ
ap-1006	121	5	analysis	analysis	NOUN
ap-1006	121	6	of	of	ADP
ap-1006	121	7	an	an	DET
ap-1006	121	8	interesting	interesting	ADJ
ap-1006	121	9	simulation	simulation	NOUN
ap-1006	121	10	,	,	PUNCT
ap-1006	121	11	and	and	CCONJ
ap-1006	121	12	they	they	PRON
ap-1006	121	13	can	can	AUX
ap-1006	121	14	be	be	AUX
ap-1006	121	15	used	use	VERB
ap-1006	121	16	for	for	ADP
ap-1006	121	17	observing	observe	VERB
ap-1006	121	18	the	the	DET
ap-1006	121	19	relations	relation	NOUN
ap-1006	121	20	between	between	ADP
ap-1006	121	21	sensory	sensory	ADJ
ap-1006	121	22	inputs	input	NOUN
ap-1006	121	23	and	and	CCONJ
ap-1006	121	24	executed	execute	VERB
ap-1006	121	25	actions	action	NOUN
ap-1006	121	26	(	(	PUNCT
ap-1006	121	27	i.e.	i.e.	X
ap-1006	121	28	what	what	DET
ap-1006	121	29	action	action	NOUN
ap-1006	121	30	was	be	AUX
ap-1006	121	31	triggered	trigger	VERB
ap-1006	121	32	when	when	SCONJ
ap-1006	121	33	there	there	PRON
ap-1006	121	34	was	be	VERB
ap-1006	121	35	a	a	DET
ap-1006	121	36	specific	specific	ADJ
ap-1006	121	37	sensory	sensory	ADJ
ap-1006	121	38	input	input	NOUN
ap-1006	121	39	,	,	PUNCT
ap-1006	121	40	and	and	CCONJ
ap-1006	121	41	vice	vice	ADV
ap-1006	121	42	versa	versa	ADV
ap-1006	121	43	)	)	PUNCT
ap-1006	121	44	.	.	PUNCT
ap-1006	122	1	2.5	2.5	NUM
ap-1006	122	2	influencing	influence	VERB
ap-1006	122	3	the	the	DET
ap-1006	122	4	simulation	simulation	NOUN
ap-1006	122	5	parameterization	parameterization	NOUN
ap-1006	122	6	provides	provide	VERB
ap-1006	122	7	the	the	DET
ap-1006	122	8	ability	ability	NOUN
ap-1006	122	9	to	to	PART
ap-1006	122	10	alter	alter	VERB
ap-1006	122	11	the	the	DET
ap-1006	122	12	simulation	simulation	NOUN
ap-1006	122	13	either	either	CCONJ
ap-1006	122	14	as	as	ADP
ap-1006	122	15	an	an	DET
ap-1006	122	16	initial	initial	ADJ
ap-1006	122	17	setup	setup	NOUN
ap-1006	122	18	of	of	ADP
ap-1006	122	19	simulation	simulation	NOUN
ap-1006	122	20	or	or	CCONJ
ap-1006	122	21	a	a	DET
ap-1006	122	22	direct	direct	ADJ
ap-1006	122	23	change	change	NOUN
ap-1006	122	24	to	to	ADP
ap-1006	122	25	the	the	DET
ap-1006	122	26	simulation	simulation	NOUN
ap-1006	122	27	in	in	ADP
ap-1006	122	28	runtime	runtime	NOUN
ap-1006	122	29	.	.	PUNCT
ap-1006	123	1	this	this	PRON
ap-1006	123	2	means	mean	VERB
ap-1006	123	3	changing	change	VERB
ap-1006	123	4	the	the	DET
ap-1006	123	5	agent	agent	NOUN
ap-1006	123	6	or	or	CCONJ
ap-1006	123	7	layer	layer	NOUN
ap-1006	123	8	parameters	parameter	NOUN
ap-1006	123	9	while	while	SCONJ
ap-1006	123	10	the	the	DET
ap-1006	123	11	simulation	simulation	NOUN
ap-1006	123	12	is	be	AUX
ap-1006	123	13	in	in	ADP
ap-1006	123	14	progress	progress	NOUN
ap-1006	123	15	.	.	PUNCT
ap-1006	124	1	for	for	ADP
ap-1006	124	2	example	example	NOUN
ap-1006	124	3	,	,	PUNCT
ap-1006	124	4	you	you	PRON
ap-1006	124	5	can	can	AUX
ap-1006	124	6	set	set	VERB
ap-1006	124	7	a	a	DET
ap-1006	124	8	new	new	ADJ
ap-1006	124	9	target	target	NOUN
ap-1006	124	10	for	for	ADP
ap-1006	124	11	the	the	DET
ap-1006	124	12	agent	agent	NOUN
ap-1006	124	13	,	,	PUNCT
ap-1006	124	14	decrease	decrease	VERB
ap-1006	124	15	the	the	DET
ap-1006	124	16	temperature	temperature	NOUN
ap-1006	124	17	at	at	ADP
ap-1006	124	18	a	a	DET
ap-1006	124	19	particular	particular	ADJ
ap-1006	124	20	spot	spot	NOUN
ap-1006	124	21	or	or	CCONJ
ap-1006	124	22	even	even	ADV
ap-1006	124	23	create	create	VERB
ap-1006	124	24	a	a	DET
ap-1006	124	25	new	new	ADJ
ap-1006	124	26	object	object	NOUN
ap-1006	124	27	(	(	PUNCT
ap-1006	124	28	agent	agent	NOUN
ap-1006	124	29	,	,	PUNCT
ap-1006	124	30	food	food	NOUN
ap-1006	124	31	,	,	PUNCT
ap-1006	124	32	etc	etc	X
ap-1006	124	33	.	.	X
ap-1006	124	34	)	)	PUNCT
ap-1006	124	35	.	.	PUNCT
ap-1006	125	1	this	this	PRON
ap-1006	125	2	should	should	AUX
ap-1006	125	3	provide	provide	VERB
ap-1006	125	4	the	the	DET
ap-1006	125	5	ability	ability	NOUN
ap-1006	125	6	to	to	PART
ap-1006	125	7	run	run	VERB
ap-1006	125	8	longer	long	ADJ
ap-1006	125	9	simulations	simulation	NOUN
ap-1006	125	10	.	.	PUNCT
ap-1006	126	1	user	user	NOUN
ap-1006	126	2	intervention	intervention	NOUN
ap-1006	126	3	via	via	ADP
ap-1006	126	4	parameterization	parameterization	NOUN
ap-1006	126	5	can	can	AUX
ap-1006	126	6	be	be	AUX
ap-1006	126	7	used	use	VERB
ap-1006	126	8	for	for	ADP
ap-1006	126	9	example	example	NOUN
ap-1006	126	10	in	in	ADP
ap-1006	126	11	a	a	DET
ap-1006	126	12	learning	learning	NOUN
ap-1006	126	13	process	process	NOUN
ap-1006	126	14	(	(	PUNCT
ap-1006	126	15	imitation	imitation	NOUN
ap-1006	126	16	,	,	PUNCT
ap-1006	126	17	conditioned	condition	VERB
ap-1006	126	18	and	and	CCONJ
ap-1006	126	19	unconditioned	unconditioned	ADJ
ap-1006	126	20	reflexes	reflex	NOUN
ap-1006	126	21	,	,	PUNCT
ap-1006	126	22	etc	etc	X
ap-1006	126	23	.	.	X
ap-1006	126	24	)	)	PUNCT
ap-1006	126	25	.	.	PUNCT
ap-1006	127	1	moreover	moreover	ADV
ap-1006	127	2	,	,	PUNCT
ap-1006	127	3	combined	combine	VERB
ap-1006	127	4	with	with	ADP
ap-1006	127	5	visual	visual	ADJ
ap-1006	127	6	analytical	analytical	ADJ
ap-1006	127	7	tools	tool	NOUN
ap-1006	127	8	it	it	PRON
ap-1006	127	9	is	be	AUX
ap-1006	127	10	possible	possible	ADJ
ap-1006	127	11	to	to	PART
ap-1006	127	12	observe	observe	VERB
ap-1006	127	13	the	the	DET
ap-1006	127	14	interesting	interesting	ADJ
ap-1006	127	15	moments	moment	NOUN
ap-1006	127	16	of	of	ADP
ap-1006	127	17	the	the	DET
ap-1006	127	18	simulation	simulation	NOUN
ap-1006	127	19	and	and	CCONJ
ap-1006	127	20	change	change	VERB
ap-1006	127	21	the	the	DET
ap-1006	127	22	scenario	scenario	NOUN
ap-1006	127	23	to	to	PART
ap-1006	127	24	see	see	VERB
ap-1006	127	25	how	how	SCONJ
ap-1006	127	26	the	the	DET
ap-1006	127	27	agents	agent	NOUN
ap-1006	127	28	will	will	AUX
ap-1006	127	29	adapt	adapt	VERB
ap-1006	127	30	to	to	ADP
ap-1006	127	31	this	this	DET
ap-1006	127	32	change	change	NOUN
ap-1006	127	33	.	.	PUNCT
ap-1006	128	1	pausing	pause	VERB
ap-1006	128	2	and	and	CCONJ
ap-1006	128	3	resuming	resume	VERB
ap-1006	128	4	the	the	DET
ap-1006	128	5	simulation	simulation	NOUN
ap-1006	128	6	and	and	CCONJ
ap-1006	128	7	tracing	trace	VERB
ap-1006	128	8	step	step	NOUN
ap-1006	128	9	by	by	ADP
ap-1006	128	10	step	step	NOUN
ap-1006	128	11	(	(	PUNCT
ap-1006	128	12	even	even	ADV
ap-1006	128	13	backwards	backwards	ADV
ap-1006	128	14	)	)	PUNCT
ap-1006	128	15	are	be	AUX
ap-1006	128	16	also	also	ADV
ap-1006	128	17	a	a	DET
ap-1006	128	18	part	part	NOUN
ap-1006	128	19	of	of	ADP
ap-1006	128	20	parameterization	parameterization	NOUN
ap-1006	128	21	.	.	PUNCT
ap-1006	129	1	backward	backward	ADJ
ap-1006	129	2	run	run	NOUN
ap-1006	129	3	is	be	AUX
ap-1006	129	4	a	a	DET
ap-1006	129	5	key	key	ADJ
ap-1006	129	6	element	element	NOUN
ap-1006	129	7	that	that	PRON
ap-1006	129	8	had	have	AUX
ap-1006	129	9	been	be	AUX
ap-1006	129	10	missing	miss	VERB
ap-1006	129	11	until	until	ADP
ap-1006	129	12	now	now	ADV
ap-1006	129	13	in	in	ADP
ap-1006	129	14	simulations	simulation	NOUN
ap-1006	129	15	.	.	PUNCT
ap-1006	130	1	for	for	ADP
ap-1006	130	2	observing	observe	VERB
ap-1006	130	3	emergent	emergent	ADJ
ap-1006	130	4	behavior	behavior	NOUN
ap-1006	130	5	,	,	PUNCT
ap-1006	130	6	it	it	PRON
ap-1006	130	7	is	be	AUX
ap-1006	130	8	useful	useful	ADJ
ap-1006	130	9	when	when	SCONJ
ap-1006	130	10	we	we	PRON
ap-1006	130	11	can	can	AUX
ap-1006	130	12	trace	trace	VERB
ap-1006	130	13	the	the	DET
ap-1006	130	14	simulation	simulation	NOUN
ap-1006	130	15	back	back	ADV
ap-1006	130	16	to	to	ADP
ap-1006	130	17	some	some	DET
ap-1006	130	18	interesting	interesting	ADJ
ap-1006	130	19	point	point	NOUN
ap-1006	130	20	and	and	CCONJ
ap-1006	130	21	run	run	VERB
ap-1006	130	22	it	it	PRON
ap-1006	130	23	again	again	ADV
ap-1006	130	24	in	in	ADP
ap-1006	130	25	order	order	NOUN
ap-1006	130	26	observe	observe	VERB
ap-1006	130	27	if	if	SCONJ
ap-1006	130	28	the	the	DET
ap-1006	130	29	situation	situation	NOUN
ap-1006	130	30	will	will	AUX
ap-1006	130	31	end	end	VERB
ap-1006	130	32	exactly	exactly	ADV
ap-1006	130	33	as	as	SCONJ
ap-1006	130	34	it	it	PRON
ap-1006	130	35	did	do	VERB
ap-1006	130	36	before	before	ADV
ap-1006	130	37	or	or	CCONJ
ap-1006	130	38	if	if	SCONJ
ap-1006	130	39	it	it	PRON
ap-1006	130	40	will	will	AUX
ap-1006	130	41	differ	differ	VERB
ap-1006	130	42	.	.	PUNCT
ap-1006	131	1	2.6	2.6	NUM
ap-1006	131	2	agent	agent	NOUN
ap-1006	131	3	of	of	ADP
ap-1006	131	4	wal	wal	PROPN
ap-1006	131	5	wala2	wala2	PROPN
ap-1006	131	6	separates	separate	VERB
ap-1006	131	7	the	the	DET
ap-1006	131	8	body	body	NOUN
ap-1006	131	9	of	of	ADP
ap-1006	131	10	the	the	DET
ap-1006	131	11	agent	agent	NOUN
ap-1006	131	12	(	(	PUNCT
ap-1006	131	13	physical	physical	ADJ
ap-1006	131	14	representation	representation	NOUN
ap-1006	131	15	of	of	ADP
ap-1006	131	16	agent	agent	NOUN
ap-1006	131	17	)	)	PUNCT
ap-1006	131	18	from	from	ADP
ap-1006	131	19	the	the	DET
ap-1006	131	20	mind	mind	NOUN
ap-1006	131	21	(	(	PUNCT
ap-1006	131	22	control	control	NOUN
ap-1006	131	23	mechanism	mechanism	NOUN
ap-1006	131	24	)	)	PUNCT
ap-1006	131	25	.	.	PUNCT
ap-1006	132	1	the	the	DET
ap-1006	132	2	agent	agent	NOUN
ap-1006	132	3	’s	’s	PART
ap-1006	132	4	body	body	NOUN
ap-1006	132	5	is	be	AUX
ap-1006	132	6	part	part	NOUN
ap-1006	132	7	of	of	ADP
ap-1006	132	8	the	the	DET
ap-1006	132	9	environment	environment	NOUN
ap-1006	132	10	and	and	CCONJ
ap-1006	132	11	therefore	therefore	ADV
ap-1006	132	12	it	it	PRON
ap-1006	132	13	is	be	AUX
ap-1006	132	14	covered	cover	VERB
ap-1006	132	15	here	here	ADV
ap-1006	132	16	in	in	ADP
ap-1006	132	17	the	the	DET
ap-1006	132	18	environment	environment	NOUN
ap-1006	132	19	architecture	architecture	NOUN
ap-1006	132	20	.	.	PUNCT
ap-1006	133	1	the	the	DET
ap-1006	133	2	mind	mind	NOUN
ap-1006	133	3	of	of	ADP
ap-1006	133	4	an	an	DET
ap-1006	133	5	agent	agent	NOUN
ap-1006	133	6	on	on	ADP
ap-1006	133	7	the	the	DET
ap-1006	133	8	other	other	ADJ
ap-1006	133	9	hand	hand	NOUN
ap-1006	133	10	communicates	communicate	VERB
ap-1006	133	11	with	with	ADP
ap-1006	133	12	the	the	DET
ap-1006	133	13	body	body	NOUN
ap-1006	133	14	through	through	ADP
ap-1006	133	15	data	datum	NOUN
ap-1006	133	16	from	from	ADP
ap-1006	133	17	sensors	sensor	NOUN
ap-1006	133	18	.	.	PUNCT
ap-1006	134	1	please	please	INTJ
ap-1006	134	2	note	note	VERB
ap-1006	134	3	that	that	SCONJ
ap-1006	134	4	even	even	ADV
ap-1006	134	5	the	the	DET
ap-1006	134	6	agent	agent	NOUN
ap-1006	134	7	’s	’s	PART
ap-1006	134	8	own	own	ADJ
ap-1006	134	9	state	state	NOUN
ap-1006	134	10	has	have	VERB
ap-1006	134	11	to	to	PART
ap-1006	134	12	be	be	AUX
ap-1006	134	13	observed	observe	VERB
ap-1006	134	14	by	by	ADP
ap-1006	134	15	sensors	sensor	NOUN
ap-1006	134	16	.	.	PUNCT
ap-1006	135	1	this	this	DET
ap-1006	135	2	internal	internal	ADJ
ap-1006	135	3	state	state	NOUN
ap-1006	135	4	covers	cover	VERB
ap-1006	135	5	the	the	DET
ap-1006	135	6	state	state	NOUN
ap-1006	135	7	of	of	ADP
ap-1006	135	8	agent	agent	NOUN
ap-1006	135	9	sensors	sensor	NOUN
ap-1006	135	10	and	and	CCONJ
ap-1006	135	11	effectors	effector	NOUN
ap-1006	135	12	(	(	PUNCT
ap-1006	135	13	some	some	PRON
ap-1006	135	14	of	of	ADP
ap-1006	135	15	these	these	PRON
ap-1006	135	16	may	may	AUX
ap-1006	135	17	be	be	AUX
ap-1006	135	18	damaged	damage	VERB
ap-1006	135	19	or	or	CCONJ
ap-1006	135	20	partial	partial	ADJ
ap-1006	135	21	by	by	ADP
ap-1006	135	22	malfunctioning	malfunction	VERB
ap-1006	135	23	)	)	PUNCT
ap-1006	135	24	and	and	CCONJ
ap-1006	135	25	the	the	DET
ap-1006	135	26	vegetative	vegetative	ADJ
ap-1006	135	27	system	system	NOUN
ap-1006	135	28	block	block	NOUN
ap-1006	135	29	.	.	PUNCT
ap-1006	136	1	the	the	DET
ap-1006	136	2	data	datum	NOUN
ap-1006	136	3	from	from	ADP
ap-1006	136	4	sensors	sensor	NOUN
ap-1006	136	5	is	be	AUX
ap-1006	136	6	send	send	VERB
ap-1006	136	7	to	to	ADP
ap-1006	136	8	the	the	DET
ap-1006	136	9	mind	mind	NOUN
ap-1006	136	10	of	of	ADP
ap-1006	136	11	the	the	DET
ap-1006	136	12	agent	agent	NOUN
ap-1006	136	13	,	,	PUNCT
ap-1006	136	14	where	where	SCONJ
ap-1006	136	15	it	it	PRON
ap-1006	136	16	is	be	AUX
ap-1006	136	17	processed	process	VERB
ap-1006	136	18	.	.	PUNCT
ap-1006	137	1	how	how	SCONJ
ap-1006	137	2	the	the	DET
ap-1006	137	3	data	data	NOUN
ap-1006	137	4	is	be	AUX
ap-1006	137	5	processed	process	VERB
ap-1006	137	6	is	be	AUX
ap-1006	137	7	not	not	PART
ap-1006	137	8	a	a	DET
ap-1006	137	9	subject	subject	NOUN
ap-1006	137	10	of	of	ADP
ap-1006	137	11	this	this	DET
ap-1006	137	12	abstract	abstract	ADJ
ap-1006	137	13	architecture	architecture	NOUN
ap-1006	137	14	.	.	PUNCT
ap-1006	138	1	several	several	ADJ
ap-1006	138	2	approaches	approach	NOUN
ap-1006	138	3	to	to	ADP
ap-1006	138	4	agent	agent	NOUN
ap-1006	138	5	mind	mind	NOUN
ap-1006	138	6	design	design	NOUN
ap-1006	138	7	can	can	AUX
ap-1006	138	8	be	be	AUX
ap-1006	138	9	found	find	VERB
ap-1006	138	10	in	in	ADP
ap-1006	138	11	[	[	X
ap-1006	138	12	2	2	NUM
ap-1006	138	13	,	,	PUNCT
ap-1006	138	14	5	5	NUM
ap-1006	138	15	,	,	PUNCT
ap-1006	138	16	6	6	NUM
ap-1006	138	17	]	]	PUNCT
ap-1006	138	18	.	.	PUNCT
ap-1006	139	1	finally	finally	ADV
ap-1006	139	2	,	,	PUNCT
ap-1006	139	3	the	the	DET
ap-1006	139	4	mind	mind	NOUN
ap-1006	139	5	evaluates	evaluate	VERB
ap-1006	139	6	the	the	DET
ap-1006	139	7	situation	situation	NOUN
ap-1006	139	8	and	and	CCONJ
ap-1006	139	9	selects	select	VERB
ap-1006	139	10	the	the	DET
ap-1006	139	11	action	action	NOUN
ap-1006	139	12	or	or	CCONJ
ap-1006	139	13	actions	action	NOUN
ap-1006	139	14	for	for	ADP
ap-1006	139	15	execution	execution	NOUN
ap-1006	139	16	.	.	PUNCT
ap-1006	140	1	the	the	DET
ap-1006	140	2	body	body	NOUN
ap-1006	140	3	tries	try	VERB
ap-1006	140	4	to	to	PART
ap-1006	140	5	perform	perform	VERB
ap-1006	140	6	these	these	DET
ap-1006	140	7	ac48	ac48	PROPN
ap-1006	140	8	©	©	PROPN
ap-1006	140	9	czech	czech	PROPN
ap-1006	140	10	technical	technical	PROPN
ap-1006	140	11	university	university	PROPN
ap-1006	140	12	publishing	publishing	NOUN
ap-1006	140	13	house	house	NOUN
ap-1006	140	14	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1006	140	15	acta	acta	PROPN
ap-1006	140	16	polytechnica	polytechnica	PROPN
ap-1006	140	17	vol	vol	NOUN
ap-1006	140	18	.	.	PUNCT
ap-1006	141	1	47	47	NUM
ap-1006	141	2	no	no	NOUN
ap-1006	141	3	.	.	PUNCT
ap-1006	142	1	6/2007	6/2007	NUM
ap-1006	142	2	fig	fig	NOUN
ap-1006	142	3	.	.	PUNCT
ap-1006	143	1	2	2	NUM
ap-1006	143	2	:	:	PUNCT
ap-1006	143	3	example	example	NOUN
ap-1006	143	4	of	of	ADP
ap-1006	143	5	internal	internal	ADJ
ap-1006	143	6	visualization	visualization	NOUN
ap-1006	143	7	fig	fig	NOUN
ap-1006	143	8	.	.	PUNCT
ap-1006	144	1	3	3	NUM
ap-1006	144	2	:	:	PUNCT
ap-1006	144	3	example	example	NOUN
ap-1006	144	4	of	of	ADP
ap-1006	144	5	external	external	ADJ
ap-1006	144	6	3d	3d	NUM
ap-1006	144	7	visualization	visualization	NOUN
ap-1006	144	8	fig	fig	NOUN
ap-1006	144	9	.	.	PUNCT
ap-1006	145	1	4	4	NUM
ap-1006	145	2	:	:	PUNCT
ap-1006	145	3	wal	wal	PROPN
ap-1006	145	4	agent	agent	NOUN
ap-1006	145	5	decomposition	decomposition	NOUN
ap-1006	145	6	tions	tion	NOUN
ap-1006	145	7	using	use	VERB
ap-1006	145	8	its	its	PRON
ap-1006	145	9	effectors	effector	NOUN
ap-1006	145	10	.	.	PUNCT
ap-1006	146	1	the	the	DET
ap-1006	146	2	layer	layer	NOUN
ap-1006	146	3	mentioned	mention	VERB
ap-1006	146	4	above	above	ADV
ap-1006	146	5	will	will	AUX
ap-1006	146	6	then	then	ADV
ap-1006	146	7	provide	provide	VERB
ap-1006	146	8	feedback	feedback	NOUN
ap-1006	146	9	about	about	ADP
ap-1006	146	10	the	the	DET
ap-1006	146	11	effect	effect	NOUN
ap-1006	146	12	of	of	ADP
ap-1006	146	13	these	these	DET
ap-1006	146	14	actions	action	NOUN
ap-1006	146	15	by	by	ADP
ap-1006	146	16	setting	set	VERB
ap-1006	146	17	new	new	ADJ
ap-1006	146	18	sensory	sensory	ADJ
ap-1006	146	19	data	datum	NOUN
ap-1006	146	20	.	.	PUNCT
ap-1006	147	1	the	the	DET
ap-1006	147	2	agent	agent	NOUN
ap-1006	147	3	’s	’s	PART
ap-1006	147	4	body	body	NOUN
ap-1006	147	5	is	be	AUX
ap-1006	147	6	part	part	NOUN
ap-1006	147	7	of	of	ADP
ap-1006	147	8	the	the	DET
ap-1006	147	9	environment	environment	NOUN
ap-1006	147	10	and	and	CCONJ
ap-1006	147	11	as	as	ADP
ap-1006	147	12	such	such	ADJ
ap-1006	147	13	it	it	PRON
ap-1006	147	14	has	have	VERB
ap-1006	147	15	physical	physical	ADJ
ap-1006	147	16	properties	property	NOUN
ap-1006	147	17	such	such	ADJ
ap-1006	147	18	as	as	ADP
ap-1006	147	19	position	position	NOUN
ap-1006	147	20	,	,	PUNCT
ap-1006	147	21	shape	shape	NOUN
ap-1006	147	22	,	,	PUNCT
ap-1006	147	23	temperature	temperature	NOUN
ap-1006	147	24	,	,	PUNCT
ap-1006	147	25	etc	etc	X
ap-1006	147	26	.	.	X
ap-1006	148	1	the	the	DET
ap-1006	148	2	decomposition	decomposition	NOUN
ap-1006	148	3	and	and	CCONJ
ap-1006	148	4	the	the	DET
ap-1006	148	5	interfaces	interface	NOUN
ap-1006	148	6	of	of	ADP
ap-1006	148	7	the	the	DET
ap-1006	148	8	agent	agent	NOUN
ap-1006	148	9	are	be	AUX
ap-1006	148	10	shown	show	VERB
ap-1006	148	11	in	in	ADP
ap-1006	148	12	fig	fig	NOUN
ap-1006	148	13	.	.	PUNCT
ap-1006	149	1	4	4	X
ap-1006	149	2	.	.	X
ap-1006	149	3	2.6.1	2.6.1	NUM
ap-1006	149	4	agent	agent	NOUN
ap-1006	149	5	’s	’s	PART
ap-1006	149	6	sensors	sensor	NOUN
ap-1006	149	7	sensors	sensor	NOUN
ap-1006	149	8	are	be	AUX
ap-1006	149	9	the	the	DET
ap-1006	149	10	agent	agent	NOUN
ap-1006	149	11	’s	’s	PART
ap-1006	149	12	senses	sense	NOUN
ap-1006	149	13	.	.	PUNCT
ap-1006	150	1	they	they	PRON
ap-1006	150	2	are	be	AUX
ap-1006	150	3	used	use	VERB
ap-1006	150	4	to	to	PART
ap-1006	150	5	perceive	perceive	VERB
ap-1006	150	6	its	its	PRON
ap-1006	150	7	surroundings	surrounding	NOUN
ap-1006	150	8	and	and	CCONJ
ap-1006	150	9	also	also	ADV
ap-1006	150	10	its	its	PRON
ap-1006	150	11	internal	internal	ADJ
ap-1006	150	12	state	state	NOUN
ap-1006	150	13	.	.	PUNCT
ap-1006	151	1	the	the	DET
ap-1006	151	2	richness	richness	NOUN
ap-1006	151	3	of	of	ADP
ap-1006	151	4	the	the	DET
ap-1006	151	5	information	information	NOUN
ap-1006	151	6	about	about	ADP
ap-1006	151	7	the	the	DET
ap-1006	151	8	surrounding	surround	VERB
ap-1006	151	9	world	world	NOUN
ap-1006	151	10	that	that	SCONJ
ap-1006	151	11	the	the	DET
ap-1006	151	12	agent	agent	NOUN
ap-1006	151	13	can	can	AUX
ap-1006	151	14	obtain	obtain	VERB
ap-1006	151	15	depends	depend	VERB
ap-1006	151	16	just	just	ADV
ap-1006	151	17	on	on	ADP
ap-1006	151	18	the	the	DET
ap-1006	151	19	type	type	NOUN
ap-1006	151	20	and	and	CCONJ
ap-1006	151	21	number	number	NOUN
ap-1006	151	22	of	of	ADP
ap-1006	151	23	sensors	sensor	NOUN
ap-1006	151	24	.	.	PUNCT
ap-1006	152	1	layers	layer	NOUN
ap-1006	152	2	should	should	AUX
ap-1006	152	3	know	know	VERB
ap-1006	152	4	all	all	DET
ap-1006	152	5	types	type	NOUN
ap-1006	152	6	of	of	ADP
ap-1006	152	7	possible	possible	ADJ
ap-1006	152	8	sensors	sensor	NOUN
ap-1006	152	9	in	in	ADP
ap-1006	152	10	order	order	NOUN
ap-1006	152	11	to	to	PART
ap-1006	152	12	be	be	AUX
ap-1006	152	13	able	able	ADJ
ap-1006	152	14	to	to	PART
ap-1006	152	15	fill	fill	VERB
ap-1006	152	16	them	they	PRON
ap-1006	152	17	with	with	ADP
ap-1006	152	18	data	datum	NOUN
ap-1006	152	19	.	.	PUNCT
ap-1006	153	1	this	this	PRON
ap-1006	153	2	means	mean	VERB
ap-1006	153	3	that	that	SCONJ
ap-1006	153	4	creating	create	VERB
ap-1006	153	5	a	a	DET
ap-1006	153	6	new	new	ADJ
ap-1006	153	7	layer	layer	NOUN
ap-1006	153	8	necessarily	necessarily	ADV
ap-1006	153	9	also	also	ADV
ap-1006	153	10	requires	require	VERB
ap-1006	153	11	the	the	DET
ap-1006	153	12	creation	creation	NOUN
ap-1006	153	13	of	of	ADP
ap-1006	153	14	adequate	adequate	ADJ
ap-1006	153	15	sensors	sensor	NOUN
ap-1006	153	16	and	and	CCONJ
ap-1006	153	17	,	,	PUNCT
ap-1006	153	18	conversely	conversely	ADV
ap-1006	153	19	,	,	PUNCT
ap-1006	153	20	when	when	SCONJ
ap-1006	153	21	adding	add	VERB
ap-1006	153	22	a	a	DET
ap-1006	153	23	new	new	ADJ
ap-1006	153	24	sensor	sensor	NOUN
ap-1006	153	25	it	it	PRON
ap-1006	153	26	is	be	AUX
ap-1006	153	27	also	also	ADV
ap-1006	153	28	necessary	necessary	ADJ
ap-1006	153	29	to	to	PART
ap-1006	153	30	alter	alter	VERB
ap-1006	153	31	the	the	DET
ap-1006	153	32	layers	layer	NOUN
ap-1006	153	33	so	so	SCONJ
ap-1006	153	34	that	that	SCONJ
ap-1006	153	35	they	they	PRON
ap-1006	153	36	are	be	AUX
ap-1006	153	37	able	able	ADJ
ap-1006	153	38	to	to	PART
ap-1006	153	39	fill	fill	VERB
ap-1006	153	40	it	it	PRON
ap-1006	153	41	.	.	PUNCT
ap-1006	154	1	sensors	sensor	NOUN
ap-1006	154	2	are	be	AUX
ap-1006	154	3	the	the	DET
ap-1006	154	4	part	part	NOUN
ap-1006	154	5	of	of	ADP
ap-1006	154	6	an	an	DET
ap-1006	154	7	environment	environment	NOUN
ap-1006	154	8	that	that	PRON
ap-1006	154	9	contains	contain	VERB
ap-1006	154	10	exact	exact	ADJ
ap-1006	154	11	data	datum	NOUN
ap-1006	154	12	(	(	PUNCT
ap-1006	154	13	a	a	DET
ap-1006	154	14	numerical	numerical	ADJ
ap-1006	154	15	value	value	NOUN
ap-1006	154	16	)	)	PUNCT
ap-1006	154	17	.	.	PUNCT
ap-1006	155	1	it	it	PRON
ap-1006	155	2	is	be	AUX
ap-1006	155	3	not	not	PART
ap-1006	155	4	always	always	ADV
ap-1006	155	5	desirable	desirable	ADJ
ap-1006	155	6	to	to	PART
ap-1006	155	7	provide	provide	VERB
ap-1006	155	8	this	this	DET
ap-1006	155	9	crisp	crisp	ADJ
ap-1006	155	10	data	datum	NOUN
ap-1006	155	11	to	to	ADP
ap-1006	155	12	the	the	DET
ap-1006	155	13	agent	agent	NOUN
ap-1006	155	14	’s	’s	PART
ap-1006	155	15	mind	mind	NOUN
ap-1006	155	16	.	.	PUNCT
ap-1006	156	1	creatures	creature	NOUN
ap-1006	156	2	in	in	ADP
ap-1006	156	3	nature	nature	NOUN
ap-1006	156	4	are	be	AUX
ap-1006	156	5	also	also	ADV
ap-1006	156	6	not	not	PART
ap-1006	156	7	able	able	ADJ
ap-1006	156	8	to	to	PART
ap-1006	156	9	perceive	perceive	VERB
ap-1006	156	10	for	for	ADP
ap-1006	156	11	example	example	NOUN
ap-1006	156	12	“	"	PUNCT
ap-1006	156	13	that	that	SCONJ
ap-1006	156	14	the	the	DET
ap-1006	156	15	object	object	NOUN
ap-1006	156	16	is	be	AUX
ap-1006	156	17	35.56	35.56	NUM
ap-1006	156	18	meters	meter	NOUN
ap-1006	156	19	from	from	ADP
ap-1006	156	20	them	they	PRON
ap-1006	156	21	”	"	PUNCT
ap-1006	156	22	.	.	PUNCT
ap-1006	157	1	rather	rather	ADV
ap-1006	157	2	,	,	PUNCT
ap-1006	157	3	they	they	PRON
ap-1006	157	4	are	be	AUX
ap-1006	157	5	able	able	ADJ
ap-1006	157	6	to	to	PART
ap-1006	157	7	perceive	perceive	VERB
ap-1006	157	8	relative	relative	ADJ
ap-1006	157	9	distance	distance	NOUN
ap-1006	157	10	(	(	PUNCT
ap-1006	157	11	closer	close	ADJ
ap-1006	157	12	/	/	SYM
ap-1006	157	13	further	far	ADV
ap-1006	157	14	)	)	PUNCT
ap-1006	157	15	or	or	CCONJ
ap-1006	157	16	inprecise	inprecise	NOUN
ap-1006	157	17	data	datum	NOUN
ap-1006	157	18	(	(	PUNCT
ap-1006	157	19	close	close	ADJ
ap-1006	157	20	/	/	SYM
ap-1006	157	21	mid	mid	ADJ
ap-1006	157	22	range	range	NOUN
ap-1006	157	23	/	/	SYM
ap-1006	157	24	far	far	ADV
ap-1006	157	25	)	)	PUNCT
ap-1006	157	26	.	.	PUNCT
ap-1006	158	1	they	they	PRON
ap-1006	158	2	can	can	AUX
ap-1006	158	3	attempt	attempt	VERB
ap-1006	158	4	to	to	PART
ap-1006	158	5	estimate	estimate	VERB
ap-1006	158	6	the	the	DET
ap-1006	158	7	value	value	NOUN
ap-1006	158	8	based	base	VERB
ap-1006	158	9	on	on	ADP
ap-1006	158	10	their	their	PRON
ap-1006	158	11	experience	experience	NOUN
ap-1006	158	12	(	(	PUNCT
ap-1006	158	13	it	it	PRON
ap-1006	158	14	might	might	AUX
ap-1006	158	15	be	be	AUX
ap-1006	158	16	30	30	NUM
ap-1006	158	17	to	to	PART
ap-1006	158	18	40	40	NUM
ap-1006	158	19	meters	meter	NOUN
ap-1006	158	20	)	)	PUNCT
ap-1006	158	21	.	.	PUNCT
ap-1006	159	1	to	to	PART
ap-1006	159	2	simulate	simulate	VERB
ap-1006	159	3	this	this	DET
ap-1006	159	4	kind	kind	NOUN
ap-1006	159	5	of	of	ADP
ap-1006	159	6	perception	perception	NOUN
ap-1006	159	7	in	in	ADP
ap-1006	159	8	an	an	DET
ap-1006	159	9	agent	agent	NOUN
ap-1006	159	10	’s	’s	PART
ap-1006	159	11	world	world	NOUN
ap-1006	159	12	we	we	PRON
ap-1006	159	13	want	want	VERB
ap-1006	159	14	to	to	PART
ap-1006	159	15	implement	implement	VERB
ap-1006	159	16	fuzzy	fuzzy	ADJ
ap-1006	159	17	information	information	NOUN
ap-1006	159	18	rather	rather	ADV
ap-1006	159	19	than	than	ADP
ap-1006	159	20	crisp	crisp	ADJ
ap-1006	159	21	values	value	NOUN
ap-1006	159	22	.	.	PUNCT
ap-1006	160	1	this	this	PRON
ap-1006	160	2	can	can	AUX
ap-1006	160	3	be	be	AUX
ap-1006	160	4	done	do	VERB
ap-1006	160	5	by	by	ADP
ap-1006	160	6	filtering	filter	VERB
ap-1006	160	7	the	the	DET
ap-1006	160	8	exact	exact	ADJ
ap-1006	160	9	floating	float	VERB
ap-1006	160	10	point	point	NOUN
ap-1006	160	11	value	value	NOUN
ap-1006	160	12	to	to	ADP
ap-1006	160	13	a	a	DET
ap-1006	160	14	fuzzy	fuzzy	ADJ
ap-1006	160	15	value	value	NOUN
ap-1006	160	16	after	after	SCONJ
ap-1006	160	17	it	it	PRON
ap-1006	160	18	has	have	AUX
ap-1006	160	19	been	be	AUX
ap-1006	160	20	obtained	obtain	VERB
ap-1006	160	21	by	by	ADP
ap-1006	160	22	the	the	DET
ap-1006	160	23	sensor	sensor	NOUN
ap-1006	160	24	.	.	PUNCT
ap-1006	161	1	2.6.2	2.6.2	NUM
ap-1006	161	2	agent	agent	NOUN
ap-1006	161	3	’s	’s	PART
ap-1006	161	4	effectors	effector	NOUN
ap-1006	161	5	effectors	effector	NOUN
ap-1006	161	6	enable	enable	VERB
ap-1006	161	7	an	an	DET
ap-1006	161	8	agent	agent	NOUN
ap-1006	161	9	to	to	PART
ap-1006	161	10	interact	interact	VERB
ap-1006	161	11	with	with	ADP
ap-1006	161	12	its	its	PRON
ap-1006	161	13	surroundings	surrounding	NOUN
ap-1006	161	14	.	.	PUNCT
ap-1006	162	1	in	in	ADP
ap-1006	162	2	our	our	PRON
ap-1006	162	3	simulated	simulated	ADJ
ap-1006	162	4	world	world	NOUN
ap-1006	162	5	we	we	PRON
ap-1006	162	6	use	use	VERB
ap-1006	162	7	simplified	simplified	ADJ
ap-1006	162	8	effectors	effector	NOUN
ap-1006	162	9	.	.	PUNCT
ap-1006	163	1	for	for	ADP
ap-1006	163	2	example	example	NOUN
ap-1006	163	3	we	we	PRON
ap-1006	163	4	use	use	VERB
ap-1006	163	5	effectors	effector	NOUN
ap-1006	163	6	of	of	ADP
ap-1006	163	7	motion	motion	NOUN
ap-1006	163	8	which	which	PRON
ap-1006	163	9	can	can	AUX
ap-1006	163	10	move	move	VERB
ap-1006	163	11	agents	agent	NOUN
ap-1006	163	12	in	in	ADP
ap-1006	163	13	a	a	DET
ap-1006	163	14	certain	certain	ADJ
ap-1006	163	15	direction	direction	NOUN
ap-1006	163	16	at	at	ADP
ap-1006	163	17	a	a	DET
ap-1006	163	18	certain	certain	ADJ
ap-1006	163	19	speed	speed	NOUN
ap-1006	163	20	.	.	PUNCT
ap-1006	164	1	of	of	ADV
ap-1006	164	2	course	course	NOUN
ap-1006	164	3	we	we	PRON
ap-1006	164	4	could	could	AUX
ap-1006	164	5	go	go	VERB
ap-1006	164	6	into	into	ADP
ap-1006	164	7	greater	great	ADJ
ap-1006	164	8	detail	detail	NOUN
ap-1006	164	9	and	and	CCONJ
ap-1006	164	10	implement	implement	VERB
ap-1006	164	11	effectors	effector	NOUN
ap-1006	164	12	such	such	ADJ
ap-1006	164	13	as	as	ADP
ap-1006	164	14	leg	leg	NOUN
ap-1006	164	15	or	or	CCONJ
ap-1006	164	16	wheel	wheel	NOUN
ap-1006	164	17	,	,	PUNCT
ap-1006	164	18	but	but	CCONJ
ap-1006	164	19	this	this	PRON
ap-1006	164	20	would	would	AUX
ap-1006	164	21	distract	distract	VERB
ap-1006	164	22	us	we	PRON
ap-1006	164	23	(	(	PUNCT
ap-1006	164	24	by	by	ADP
ap-1006	164	25	solving	solve	VERB
ap-1006	164	26	inverse	inverse	NOUN
ap-1006	164	27	and	and	CCONJ
ap-1006	164	28	forward	forward	ADJ
ap-1006	164	29	kinematics	kinematic	NOUN
ap-1006	164	30	tasks	task	NOUN
ap-1006	164	31	,	,	PUNCT
ap-1006	164	32	friction	friction	NOUN
ap-1006	164	33	,	,	PUNCT
ap-1006	164	34	etc	etc	X
ap-1006	164	35	.	.	X
ap-1006	164	36	)	)	PUNCT
ap-1006	164	37	from	from	ADP
ap-1006	164	38	our	our	PRON
ap-1006	164	39	subject	subject	NOUN
ap-1006	164	40	of	of	ADP
ap-1006	164	41	research	research	NOUN
ap-1006	164	42	–	–	PUNCT
ap-1006	164	43	behavior	behavior	NOUN
ap-1006	164	44	.	.	PUNCT
ap-1006	165	1	we	we	PRON
ap-1006	165	2	do	do	AUX
ap-1006	165	3	not	not	PART
ap-1006	165	4	require	require	VERB
ap-1006	165	5	this	this	DET
ap-1006	165	6	level	level	NOUN
ap-1006	165	7	of	of	ADP
ap-1006	165	8	detail	detail	NOUN
ap-1006	165	9	,	,	PUNCT
ap-1006	165	10	but	but	CCONJ
ap-1006	165	11	we	we	PRON
ap-1006	165	12	do	do	AUX
ap-1006	165	13	not	not	PART
ap-1006	165	14	run	run	VERB
ap-1006	165	15	away	away	ADV
ap-1006	165	16	from	from	ADP
ap-1006	165	17	it	it	PRON
ap-1006	165	18	.	.	PUNCT
ap-1006	166	1	the	the	DET
ap-1006	166	2	possibility	possibility	NOUN
ap-1006	166	3	to	to	PART
ap-1006	166	4	implement	implement	VERB
ap-1006	166	5	it	it	PRON
ap-1006	166	6	is	be	AUX
ap-1006	166	7	open	open	ADJ
ap-1006	166	8	.	.	PUNCT
ap-1006	167	1	in	in	ADP
ap-1006	167	2	the	the	DET
ap-1006	167	3	field	field	NOUN
ap-1006	167	4	of	of	ADP
ap-1006	167	5	effectors	effector	NOUN
ap-1006	167	6	there	there	PRON
ap-1006	167	7	is	be	VERB
ap-1006	167	8	space	space	NOUN
ap-1006	167	9	for	for	ADP
ap-1006	167	10	improvement	improvement	NOUN
ap-1006	167	11	.	.	PUNCT
ap-1006	168	1	instead	instead	ADV
ap-1006	168	2	of	of	ADP
ap-1006	168	3	using	use	VERB
ap-1006	168	4	effectors	effector	NOUN
ap-1006	168	5	as	as	ADP
ap-1006	168	6	part	part	NOUN
ap-1006	168	7	of	of	ADP
ap-1006	168	8	the	the	DET
ap-1006	168	9	environment	environment	NOUN
ap-1006	168	10	and	and	CCONJ
ap-1006	168	11	controlling	control	VERB
ap-1006	168	12	their	their	PRON
ap-1006	168	13	action	action	NOUN
ap-1006	168	14	,	,	PUNCT
ap-1006	168	15	we	we	PRON
ap-1006	168	16	implemented	implement	VERB
ap-1006	168	17	them	they	PRON
ap-1006	168	18	only	only	ADV
ap-1006	168	19	as	as	SCONJ
ap-1006	168	20	the	the	DET
ap-1006	168	21	action	action	NOUN
ap-1006	168	22	result	result	VERB
ap-1006	168	23	.	.	PUNCT
ap-1006	169	1	in	in	ADP
ap-1006	169	2	the	the	DET
ap-1006	169	3	movement	movement	NOUN
ap-1006	169	4	example	example	NOUN
ap-1006	169	5	above	above	ADV
ap-1006	169	6	,	,	PUNCT
ap-1006	169	7	we	we	PRON
ap-1006	169	8	move	move	VERB
ap-1006	169	9	the	the	DET
ap-1006	169	10	agent	agent	NOUN
ap-1006	169	11	from	from	ADP
ap-1006	169	12	one	one	NUM
ap-1006	169	13	position	position	NOUN
ap-1006	169	14	to	to	ADP
ap-1006	169	15	another	another	PRON
ap-1006	169	16	,	,	PUNCT
ap-1006	169	17	instead	instead	ADV
ap-1006	169	18	of	of	ADP
ap-1006	169	19	sending	send	VERB
ap-1006	169	20	a	a	DET
ap-1006	169	21	signal	signal	NOUN
ap-1006	169	22	to	to	ADP
ap-1006	169	23	the	the	DET
ap-1006	169	24	agent	agent	NOUN
ap-1006	169	25	’s	’s	PART
ap-1006	169	26	locomotion	locomotion	NOUN
ap-1006	169	27	system	system	NOUN
ap-1006	169	28	.	.	PUNCT
ap-1006	170	1	2.7	2.7	NUM
ap-1006	170	2	communication	communication	NOUN
ap-1006	170	3	communication	communication	NOUN
ap-1006	170	4	between	between	ADP
ap-1006	170	5	the	the	DET
ap-1006	170	6	agent	agent	NOUN
ap-1006	170	7	body	body	NOUN
ap-1006	170	8	and	and	CCONJ
ap-1006	170	9	the	the	DET
ap-1006	170	10	layers	layer	NOUN
ap-1006	170	11	is	be	AUX
ap-1006	170	12	internal	internal	ADJ
ap-1006	170	13	communication	communication	NOUN
ap-1006	170	14	,	,	PUNCT
ap-1006	170	15	so	so	CCONJ
ap-1006	170	16	there	there	PRON
ap-1006	170	17	is	be	VERB
ap-1006	170	18	no	no	DET
ap-1006	170	19	need	need	NOUN
ap-1006	170	20	for	for	ADP
ap-1006	170	21	explicit	explicit	ADJ
ap-1006	170	22	data	datum	NOUN
ap-1006	170	23	sending	send	VERB
ap-1006	170	24	.	.	PUNCT
ap-1006	171	1	this	this	DET
ap-1006	171	2	communication	communication	NOUN
ap-1006	171	3	can	can	AUX
ap-1006	171	4	be	be	AUX
ap-1006	171	5	done	do	VERB
ap-1006	171	6	via	via	ADP
ap-1006	171	7	the	the	DET
ap-1006	171	8	internal	internal	ADJ
ap-1006	171	9	data	data	NOUN
ap-1006	171	10	structure	structure	NOUN
ap-1006	171	11	,	,	PUNCT
ap-1006	171	12	which	which	PRON
ap-1006	171	13	is	be	AUX
ap-1006	171	14	in	in	ADP
ap-1006	171	15	this	this	DET
ap-1006	171	16	case	case	NOUN
ap-1006	171	17	the	the	DET
ap-1006	171	18	shared	shared	ADJ
ap-1006	171	19	medium	medium	NOUN
ap-1006	171	20	.	.	PUNCT
ap-1006	172	1	the	the	DET
ap-1006	172	2	communication	communication	NOUN
ap-1006	172	3	between	between	ADP
ap-1006	172	4	body	body	NOUN
ap-1006	172	5	and	and	CCONJ
ap-1006	172	6	mind	mind	NOUN
ap-1006	172	7	is	be	AUX
ap-1006	172	8	in	in	ADP
ap-1006	172	9	general	general	ADJ
ap-1006	172	10	done	do	VERB
ap-1006	172	11	via	via	ADP
ap-1006	172	12	messages	message	NOUN
ap-1006	172	13	.	.	PUNCT
ap-1006	173	1	it	it	PRON
ap-1006	173	2	can	can	AUX
ap-1006	173	3	be	be	AUX
ap-1006	173	4	done	do	VERB
ap-1006	173	5	even	even	ADV
ap-1006	173	6	remotely	remotely	ADV
ap-1006	173	7	,	,	PUNCT
ap-1006	173	8	via	via	ADP
ap-1006	173	9	various	various	ADJ
ap-1006	173	10	media	medium	NOUN
ap-1006	173	11	(	(	PUNCT
ap-1006	173	12	for	for	ADP
ap-1006	173	13	example	example	NOUN
ap-1006	173	14	over	over	ADP
ap-1006	173	15	tcp	tcp	PROPN
ap-1006	173	16	/	/	SYM
ap-1006	173	17	ip	ip	ADJ
ap-1006	173	18	,	,	PUNCT
ap-1006	173	19	see	see	VERB
ap-1006	173	20	fig	fig	NOUN
ap-1006	173	21	.	.	PUNCT
ap-1006	174	1	5	5	NUM
ap-1006	174	2	)	)	PUNCT
ap-1006	174	3	.	.	PUNCT
ap-1006	175	1	communication	communication	NOUN
ap-1006	175	2	on	on	ADP
ap-1006	175	3	the	the	DET
ap-1006	175	4	agent	agent	NOUN
ap-1006	175	5	level	level	NOUN
ap-1006	175	6	means	mean	VERB
ap-1006	175	7	sending	send	VERB
ap-1006	175	8	a	a	DET
ap-1006	175	9	message	message	NOUN
ap-1006	175	10	from	from	ADP
ap-1006	175	11	one	one	NUM
ap-1006	175	12	agent	agent	NOUN
ap-1006	175	13	to	to	ADP
ap-1006	175	14	another	another	PRON
ap-1006	175	15	,	,	PUNCT
ap-1006	175	16	or	or	CCONJ
ap-1006	175	17	to	to	ADP
ap-1006	175	18	a	a	DET
ap-1006	175	19	group	group	NOUN
ap-1006	175	20	of	of	ADP
ap-1006	175	21	agents	agent	NOUN
ap-1006	175	22	.	.	PUNCT
ap-1006	176	1	here	here	ADV
ap-1006	176	2	we	we	PRON
ap-1006	176	3	would	would	AUX
ap-1006	176	4	like	like	VERB
ap-1006	176	5	to	to	PART
ap-1006	176	6	let	let	VERB
ap-1006	176	7	the	the	DET
ap-1006	176	8	layers	layer	NOUN
ap-1006	176	9	decide	decide	VERB
ap-1006	176	10	who	who	PRON
ap-1006	176	11	receives	receive	VERB
ap-1006	176	12	the	the	DET
ap-1006	176	13	information	information	NOUN
ap-1006	176	14	and	and	CCONJ
ap-1006	176	15	who	who	PRON
ap-1006	176	16	not	not	PART
ap-1006	176	17	.	.	PUNCT
ap-1006	177	1	we	we	PRON
ap-1006	177	2	are	be	AUX
ap-1006	177	3	trying	try	VERB
ap-1006	177	4	to	to	PART
ap-1006	177	5	reflect	reflect	VERB
ap-1006	177	6	real	real	ADJ
ap-1006	177	7	world	world	NOUN
ap-1006	177	8	behavior	behavior	NOUN
ap-1006	177	9	,	,	PUNCT
ap-1006	177	10	where	where	SCONJ
ap-1006	177	11	information	information	NOUN
ap-1006	177	12	is	be	AUX
ap-1006	177	13	carried	carry	VERB
ap-1006	177	14	via	via	ADP
ap-1006	177	15	various	various	ADJ
ap-1006	177	16	media	medium	NOUN
ap-1006	177	17	and	and	CCONJ
ap-1006	177	18	can	can	AUX
ap-1006	177	19	be	be	AUX
ap-1006	177	20	received	receive	VERB
ap-1006	177	21	by	by	ADP
ap-1006	177	22	various	various	ADJ
ap-1006	177	23	entities	entity	NOUN
ap-1006	177	24	based	base	VERB
ap-1006	177	25	on	on	ADP
ap-1006	177	26	their	their	PRON
ap-1006	177	27	sensor	sensor	NOUN
ap-1006	177	28	capabilities	capability	NOUN
ap-1006	177	29	.	.	PUNCT
ap-1006	178	1	when	when	SCONJ
ap-1006	178	2	one	one	NUM
ap-1006	178	3	agent	agent	NOUN
ap-1006	178	4	wants	want	VERB
ap-1006	178	5	to	to	PART
ap-1006	178	6	send	send	VERB
ap-1006	178	7	a	a	DET
ap-1006	178	8	message	message	NOUN
ap-1006	178	9	(	(	PUNCT
ap-1006	178	10	tell	tell	VERB
ap-1006	178	11	something	something	PRON
ap-1006	178	12	)	)	PUNCT
ap-1006	178	13	to	to	ADP
ap-1006	178	14	another	another	DET
ap-1006	178	15	agent	agent	NOUN
ap-1006	178	16	it	it	PRON
ap-1006	178	17	will	will	AUX
ap-1006	178	18	use	use	VERB
ap-1006	178	19	its	its	PRON
ap-1006	178	20	effectors	effector	NOUN
ap-1006	178	21	and	and	CCONJ
ap-1006	178	22	certain	certain	ADJ
ap-1006	178	23	media	medium	NOUN
ap-1006	178	24	of	of	ADP
ap-1006	178	25	communication	communication	NOUN
ap-1006	178	26	(	(	PUNCT
ap-1006	178	27	an	an	DET
ap-1006	178	28	acoustic	acoustic	ADJ
ap-1006	178	29	wave	wave	NOUN
ap-1006	178	30	,	,	PUNCT
ap-1006	178	31	for	for	ADP
ap-1006	178	32	example	example	NOUN
ap-1006	178	33	)	)	PUNCT
ap-1006	178	34	.	.	PUNCT
ap-1006	179	1	the	the	DET
ap-1006	179	2	information	information	NOUN
ap-1006	179	3	can	can	AUX
ap-1006	179	4	be	be	AUX
ap-1006	179	5	then	then	ADV
ap-1006	179	6	received	receive	VERB
ap-1006	179	7	not	not	PART
ap-1006	179	8	only	only	ADV
ap-1006	179	9	by	by	ADP
ap-1006	179	10	the	the	DET
ap-1006	179	11	addressee	addressee	NOUN
ap-1006	179	12	but	but	CCONJ
ap-1006	179	13	also	also	ADV
ap-1006	179	14	by	by	ADP
ap-1006	179	15	another	another	DET
ap-1006	179	16	agent	agent	NOUN
ap-1006	179	17	who	who	PRON
ap-1006	179	18	is	be	AUX
ap-1006	179	19	within	within	ADP
ap-1006	179	20	the	the	DET
ap-1006	179	21	range	range	NOUN
ap-1006	179	22	of	of	ADP
ap-1006	179	23	the	the	DET
ap-1006	179	24	signal	signal	NOUN
ap-1006	179	25	(	(	PUNCT
ap-1006	179	26	even	even	ADV
ap-1006	179	27	if	if	SCONJ
ap-1006	179	28	it	it	PRON
ap-1006	179	29	did	do	AUX
ap-1006	179	30	not	not	PART
ap-1006	179	31	request	request	VERB
ap-1006	179	32	this	this	DET
ap-1006	179	33	information	information	NOUN
ap-1006	179	34	)	)	PUNCT
ap-1006	179	35	.	.	PUNCT
ap-1006	180	1	the	the	DET
ap-1006	180	2	interesting	interesting	ADJ
ap-1006	180	3	thing	thing	NOUN
ap-1006	180	4	about	about	ADP
ap-1006	180	5	this	this	PRON
ap-1006	180	6	is	be	AUX
ap-1006	180	7	that	that	SCONJ
ap-1006	180	8	it	it	PRON
ap-1006	180	9	can	can	AUX
ap-1006	180	10	disregard	disregard	VERB
ap-1006	180	11	unwanted	unwanted	ADJ
ap-1006	180	12	information	information	NOUN
ap-1006	180	13	,	,	PUNCT
ap-1006	180	14	or	or	CCONJ
ap-1006	180	15	make	make	VERB
ap-1006	180	16	use	use	NOUN
ap-1006	180	17	of	of	ADP
ap-1006	180	18	it	it	PRON
ap-1006	180	19	for	for	ADP
ap-1006	180	20	its	its	PRON
ap-1006	180	21	own	own	ADJ
ap-1006	180	22	purposes	purpose	NOUN
ap-1006	180	23	.	.	PUNCT
ap-1006	181	1	3	3	NUM
ap-1006	181	2	simulations	simulation	NOUN
ap-1006	181	3	and	and	CCONJ
ap-1006	181	4	results	result	NOUN
ap-1006	181	5	we	we	PRON
ap-1006	181	6	mentioned	mention	VERB
ap-1006	181	7	above	above	ADP
ap-1006	181	8	that	that	SCONJ
ap-1006	181	9	there	there	PRON
ap-1006	181	10	are	be	VERB
ap-1006	181	11	two	two	NUM
ap-1006	181	12	components	component	NOUN
ap-1006	181	13	to	to	PART
ap-1006	181	14	run	run	VERB
ap-1006	181	15	the	the	DET
ap-1006	181	16	simulation	simulation	NOUN
ap-1006	181	17	.	.	PUNCT
ap-1006	182	1	the	the	DET
ap-1006	182	2	first	first	ADJ
ap-1006	182	3	of	of	ADP
ap-1006	182	4	these	these	PRON
ap-1006	182	5	is	be	AUX
ap-1006	182	6	the	the	DET
ap-1006	182	7	environment	environment	NOUN
ap-1006	182	8	described	describe	VERB
ap-1006	182	9	here	here	ADV
ap-1006	182	10	,	,	PUNCT
ap-1006	182	11	while	while	SCONJ
ap-1006	182	12	the	the	DET
ap-1006	182	13	second	second	NOUN
ap-1006	182	14	is	be	AUX
ap-1006	182	15	the	the	DET
ap-1006	182	16	control	control	NOUN
ap-1006	182	17	of	of	ADP
ap-1006	182	18	the	the	DET
ap-1006	182	19	agent	agent	NOUN
ap-1006	182	20	itself	itself	PRON
ap-1006	182	21	(	(	PUNCT
ap-1006	182	22	agent	agent	NOUN
ap-1006	182	23	mind	mind	NOUN
ap-1006	182	24	)	)	PUNCT
ap-1006	182	25	.	.	PUNCT
ap-1006	183	1	several	several	ADJ
ap-1006	183	2	agent	agent	NOUN
ap-1006	183	3	behavior	behavior	NOUN
ap-1006	183	4	control	control	NOUN
ap-1006	183	5	architectures	architecture	NOUN
ap-1006	183	6	have	have	AUX
ap-1006	183	7	been	be	AUX
ap-1006	183	8	introduced	introduce	VERB
ap-1006	183	9	.	.	PUNCT
ap-1006	184	1	the	the	DET
ap-1006	184	2	basis	basis	NOUN
ap-1006	184	3	for	for	ADP
ap-1006	184	4	the	the	DET
ap-1006	184	5	agent	agent	NOUN
ap-1006	184	6	architecture	architecture	NOUN
ap-1006	184	7	was	be	AUX
ap-1006	184	8	designed	design	VERB
ap-1006	184	9	by	by	ADP
ap-1006	184	10	d.	d.	PROPN
ap-1006	184	11	kadleček	kadleček	PROPN
ap-1006	185	1	[	[	X
ap-1006	185	2	2	2	NUM
ap-1006	185	3	,	,	PUNCT
ap-1006	185	4	3	3	NUM
ap-1006	185	5	]	]	PUNCT
ap-1006	185	6	.	.	PUNCT
ap-1006	186	1	this	this	DET
ap-1006	186	2	agent	agent	NOUN
ap-1006	186	3	architecture	architecture	NOUN
ap-1006	186	4	with	with	ADP
ap-1006	186	5	was	be	AUX
ap-1006	186	6	redesigned	redesign	VERB
ap-1006	186	7	for	for	ADP
ap-1006	186	8	the	the	DET
ap-1006	186	9	wal	wal	PROPN
ap-1006	186	10	environment	environment	NOUN
ap-1006	186	11	by	by	ADP
ap-1006	186	12	k.	k.	PROPN
ap-1006	186	13	kohout	kohout	PROPN
ap-1006	186	14	in	in	ADP
ap-1006	186	15	[	[	X
ap-1006	186	16	1	1	NUM
ap-1006	186	17	]	]	PUNCT
ap-1006	186	18	.	.	PUNCT
ap-1006	187	1	several	several	ADJ
ap-1006	187	2	simulations	simulation	NOUN
ap-1006	187	3	,	,	PUNCT
ap-1006	187	4	including	include	VERB
ap-1006	187	5	the	the	DET
ap-1006	187	6	lotka	lotka	PROPN
ap-1006	187	7	-	-	PUNCT
ap-1006	187	8	volterra	volterra	NOUN
ap-1006	187	9	system	system	NOUN
ap-1006	187	10	(	(	PUNCT
ap-1006	187	11	also	also	ADV
ap-1006	187	12	known	know	VERB
ap-1006	187	13	as	as	ADP
ap-1006	187	14	predator	predator	NOUN
ap-1006	187	15	-	-	PUNCT
ap-1006	187	16	prey	prey	NOUN
ap-1006	187	17	system	system	NOUN
ap-1006	187	18	,	,	PUNCT
ap-1006	187	19	see	see	VERB
ap-1006	187	20	fig	fig	NOUN
ap-1006	187	21	.	.	PUNCT
ap-1006	188	1	6	6	NUM
ap-1006	188	2	)	)	PUNCT
ap-1006	188	3	,	,	PUNCT
ap-1006	188	4	and	and	CCONJ
ap-1006	188	5	several	several	ADJ
ap-1006	188	6	task	task	NOUN
ap-1006	188	7	oriented	orient	VERB
ap-1006	188	8	scenarios	scenario	NOUN
ap-1006	188	9	were	be	AUX
ap-1006	188	10	tested	test	VERB
ap-1006	188	11	.	.	PUNCT
ap-1006	189	1	in	in	ADP
ap-1006	189	2	one	one	NUM
ap-1006	189	3	of	of	ADP
ap-1006	189	4	the	the	DET
ap-1006	189	5	simulations	simulation	NOUN
ap-1006	189	6	a	a	DET
ap-1006	189	7	task	task	NOUN
ap-1006	189	8	was	be	AUX
ap-1006	189	9	given	give	VERB
ap-1006	189	10	to	to	ADP
ap-1006	189	11	the	the	DET
ap-1006	189	12	agent	agent	NOUN
ap-1006	189	13	.	.	PUNCT
ap-1006	190	1	this	this	PRON
ap-1006	190	2	means	mean	VERB
ap-1006	190	3	that	that	SCONJ
ap-1006	190	4	the	the	DET
ap-1006	190	5	agent	agent	NOUN
ap-1006	190	6	,	,	PUNCT
ap-1006	190	7	in	in	ADP
ap-1006	190	8	addition	addition	NOUN
ap-1006	190	9	to	to	ADP
ap-1006	190	10	assuring	assure	VERB
ap-1006	190	11	its	its	PRON
ap-1006	190	12	own	own	ADJ
ap-1006	190	13	survival	survival	NOUN
ap-1006	190	14	should	should	AUX
ap-1006	190	15	complete	complete	VERB
ap-1006	190	16	a	a	DET
ap-1006	190	17	task	task	NOUN
ap-1006	190	18	.	.	PUNCT
ap-1006	191	1	in	in	ADP
ap-1006	191	2	our	our	PRON
ap-1006	191	3	case	case	NOUN
ap-1006	191	4	the	the	DET
ap-1006	191	5	task	task	NOUN
ap-1006	191	6	was	be	AUX
ap-1006	191	7	to	to	PART
ap-1006	191	8	deliver	deliver	VERB
ap-1006	191	9	messages	message	NOUN
ap-1006	191	10	.	.	PUNCT
ap-1006	192	1	this	this	DET
ap-1006	192	2	simulation	simulation	NOUN
ap-1006	192	3	tested	test	VERB
ap-1006	192	4	whether	whether	SCONJ
ap-1006	192	5	the	the	DET
ap-1006	192	6	thresholds	threshold	NOUN
ap-1006	192	7	were	be	AUX
ap-1006	192	8	set	set	VERB
ap-1006	192	9	correctly	correctly	ADV
ap-1006	192	10	.	.	PUNCT
ap-1006	193	1	if	if	SCONJ
ap-1006	193	2	the	the	DET
ap-1006	193	3	agent	agent	NOUN
ap-1006	193	4	’s	’s	PART
ap-1006	193	5	“	"	PUNCT
ap-1006	193	6	need	need	NOUN
ap-1006	193	7	”	"	PUNCT
ap-1006	193	8	to	to	PART
ap-1006	193	9	fulfill	fulfill	VERB
ap-1006	193	10	the	the	DET
ap-1006	193	11	task	task	NOUN
ap-1006	193	12	was	be	AUX
ap-1006	193	13	low	low	ADJ
ap-1006	193	14	,	,	PUNCT
ap-1006	193	15	it	it	PRON
ap-1006	193	16	focused	focus	VERB
ap-1006	193	17	almost	almost	ADV
ap-1006	193	18	only	only	ADV
ap-1006	193	19	on	on	ADP
ap-1006	193	20	its	its	PRON
ap-1006	193	21	own	own	ADJ
ap-1006	193	22	survival	survival	NOUN
ap-1006	193	23	(	(	PUNCT
ap-1006	193	24	lazy	lazy	ADJ
ap-1006	193	25	agents	agent	NOUN
ap-1006	193	26	)	)	PUNCT
ap-1006	193	27	.	.	PUNCT
ap-1006	194	1	if	if	SCONJ
ap-1006	194	2	the	the	DET
ap-1006	194	3	need	need	NOUN
ap-1006	194	4	was	be	AUX
ap-1006	194	5	high	high	ADJ
ap-1006	194	6	,	,	PUNCT
ap-1006	194	7	the	the	DET
ap-1006	194	8	agent	agent	NOUN
ap-1006	194	9	was	be	AUX
ap-1006	194	10	busy	busy	ADJ
ap-1006	194	11	with	with	ADP
ap-1006	194	12	his	his	PRON
ap-1006	194	13	task	task	NOUN
ap-1006	194	14	and	and	CCONJ
ap-1006	194	15	he	he	PRON
ap-1006	194	16	fulfilled	fulfil	VERB
ap-1006	194	17	his	his	PRON
ap-1006	194	18	survival	survival	NOUN
ap-1006	194	19	needs	need	VERB
ap-1006	194	20	only	only	ADV
ap-1006	194	21	when	when	SCONJ
ap-1006	194	22	necessary	necessary	ADJ
ap-1006	194	23	(	(	PUNCT
ap-1006	194	24	hardworking	hardworking	ADJ
ap-1006	194	25	agent	agent	NOUN
ap-1006	194	26	)	)	PUNCT
ap-1006	194	27	.	.	PUNCT
ap-1006	195	1	this	this	DET
ap-1006	195	2	simulation	simulation	NOUN
ap-1006	195	3	showed	show	VERB
ap-1006	195	4	that	that	SCONJ
ap-1006	195	5	various	various	ADJ
ap-1006	195	6	creature	creature	NOUN
ap-1006	195	7	or	or	CCONJ
ap-1006	195	8	human	human	ADJ
ap-1006	195	9	qualities	quality	NOUN
ap-1006	195	10	can	can	AUX
ap-1006	195	11	be	be	AUX
ap-1006	195	12	reproduced	reproduce	VERB
ap-1006	195	13	in	in	ADP
ap-1006	195	14	agents	agent	NOUN
ap-1006	195	15	.	.	PUNCT
ap-1006	196	1	3.1	3.1	NUM
ap-1006	196	2	case	case	NOUN
ap-1006	196	3	study	study	NOUN
ap-1006	196	4	in	in	ADP
ap-1006	196	5	chapter	chapter	NOUN
ap-1006	196	6	2.4	2.4	NUM
ap-1006	196	7	we	we	PRON
ap-1006	196	8	mentioned	mention	VERB
ap-1006	196	9	the	the	DET
ap-1006	196	10	usefulness	usefulness	NOUN
ap-1006	196	11	of	of	ADP
ap-1006	196	12	external	external	ADJ
ap-1006	196	13	modules	module	NOUN
ap-1006	196	14	namely	namely	ADV
ap-1006	196	15	for	for	ADP
ap-1006	196	16	simulation	simulation	NOUN
ap-1006	196	17	analysis	analysis	NOUN
ap-1006	196	18	.	.	PUNCT
ap-1006	197	1	we	we	PRON
ap-1006	197	2	wanted	want	VERB
ap-1006	197	3	to	to	PART
ap-1006	197	4	test	test	VERB
ap-1006	197	5	this	this	PRON
ap-1006	197	6	on	on	ADP
ap-1006	197	7	a	a	DET
ap-1006	197	8	case	case	NOUN
ap-1006	197	9	study	study	NOUN
ap-1006	197	10	performed	perform	VERB
ap-1006	197	11	while	while	SCONJ
ap-1006	197	12	redesigning	redesign	VERB
ap-1006	197	13	the	the	DET
ap-1006	197	14	agent	agent	NOUN
ap-1006	197	15	to	to	ADP
ap-1006	197	16	the	the	DET
ap-1006	197	17	wal	wal	PROPN
ap-1006	197	18	environment	environment	NOUN
ap-1006	197	19	.	.	PUNCT
ap-1006	198	1	the	the	DET
ap-1006	198	2	above	above	ADJ
ap-1006	198	3	mentioned	mention	VERB
ap-1006	198	4	vat	vat	NOUN
ap-1006	198	5	tool	tool	NOUN
ap-1006	198	6	was	be	AUX
ap-1006	198	7	used	use	VERB
ap-1006	198	8	for	for	ADP
ap-1006	198	9	the	the	DET
ap-1006	198	10	analysis	analysis	NOUN
ap-1006	198	11	.	.	PUNCT
ap-1006	199	1	the	the	DET
ap-1006	199	2	simulation	simulation	PROPN
ap-1006	199	3	scenario	scenario	PROPN
ap-1006	199	4	involved	involve	VERB
ap-1006	199	5	a	a	DET
ap-1006	199	6	single	single	ADJ
ap-1006	199	7	agent	agent	NOUN
ap-1006	199	8	which	which	PRON
ap-1006	199	9	was	be	AUX
ap-1006	199	10	intended	intend	VERB
ap-1006	199	11	to	to	PART
ap-1006	199	12	move	move	VERB
ap-1006	199	13	an	an	DET
ap-1006	199	14	object	object	NOUN
ap-1006	199	15	between	between	ADP
ap-1006	199	16	two	two	NUM
ap-1006	199	17	©	©	PROPN
ap-1006	199	18	czech	czech	PROPN
ap-1006	199	19	technical	technical	PROPN
ap-1006	199	20	university	university	PROPN
ap-1006	199	21	publishing	publishing	NOUN
ap-1006	199	22	house	house	NOUN
ap-1006	199	23	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1006	199	24	49	49	NUM
ap-1006	199	25	acta	acta	PROPN
ap-1006	199	26	polytechnica	polytechnica	PROPN
ap-1006	199	27	vol	vol	NOUN
ap-1006	199	28	.	.	PUNCT
ap-1006	200	1	47	47	NUM
ap-1006	200	2	no	no	NOUN
ap-1006	200	3	.	.	PUNCT
ap-1006	201	1	6/2007	6/2007	NUM
ap-1006	201	2	reconstruction	reconstruction	NOUN
ap-1006	201	3	filter	filter	NOUN
ap-1006	201	4	serialize	serialize	NOUN
ap-1006	201	5	deserialize	deserialize	VERB
ap-1006	201	6	fig	fig	NOUN
ap-1006	201	7	.	.	PUNCT
ap-1006	202	1	5	5	NUM
ap-1006	202	2	:	:	PUNCT
ap-1006	202	3	block	block	NOUN
ap-1006	202	4	scheme	scheme	NOUN
ap-1006	202	5	of	of	ADP
ap-1006	202	6	communication	communication	NOUN
ap-1006	202	7	to	to	ADP
ap-1006	202	8	external	external	ADJ
ap-1006	202	9	client	client	NOUN
ap-1006	202	10	fig	fig	NOUN
ap-1006	202	11	.	.	PUNCT
ap-1006	203	1	6	6	NUM
ap-1006	203	2	:	:	PUNCT
ap-1006	203	3	lotka	lotka	PROPN
ap-1006	203	4	-	-	PUNCT
ap-1006	203	5	volterra	volterra	PROPN
ap-1006	203	6	simulation	simulation	NOUN
ap-1006	203	7	results	result	VERB
ap-1006	203	8	places	place	NOUN
ap-1006	203	9	.	.	PUNCT
ap-1006	204	1	the	the	DET
ap-1006	204	2	agent	agent	NOUN
ap-1006	204	3	had	have	VERB
ap-1006	204	4	enough	enough	ADJ
ap-1006	204	5	food	food	NOUN
ap-1006	204	6	and	and	CCONJ
ap-1006	204	7	water	water	NOUN
ap-1006	204	8	to	to	PART
ap-1006	204	9	satisfy	satisfy	VERB
ap-1006	204	10	its	its	PRON
ap-1006	204	11	needs	need	NOUN
ap-1006	204	12	.	.	PUNCT
ap-1006	205	1	fig	fig	NOUN
ap-1006	205	2	.	.	PUNCT
ap-1006	206	1	7	7	NUM
ap-1006	206	2	shows	show	VERB
ap-1006	206	3	the	the	DET
ap-1006	206	4	visualized	visualize	VERB
ap-1006	206	5	data	datum	NOUN
ap-1006	206	6	from	from	ADP
ap-1006	206	7	this	this	DET
ap-1006	206	8	simulation	simulation	NOUN
ap-1006	206	9	.	.	PUNCT
ap-1006	207	1	on	on	ADP
ap-1006	207	2	the	the	DET
ap-1006	207	3	left	left	NOUN
ap-1006	207	4	there	there	PRON
ap-1006	207	5	is	be	VERB
ap-1006	207	6	a	a	DET
ap-1006	207	7	3d	3d	NUM
ap-1006	207	8	mesh;	mesh;	NOUN
ap-1006	207	9	on	on	ADP
ap-1006	207	10	the	the	DET
ap-1006	207	11	right	right	NOUN
ap-1006	207	12	is	be	AUX
ap-1006	207	13	a	a	DET
ap-1006	207	14	detail	detail	NOUN
ap-1006	207	15	of	of	ADP
ap-1006	207	16	values	value	NOUN
ap-1006	207	17	in	in	ADP
ap-1006	207	18	the	the	DET
ap-1006	207	19	60th	60th	ADJ
ap-1006	207	20	step	step	NOUN
ap-1006	207	21	.	.	PUNCT
ap-1006	208	1	even	even	ADV
ap-1006	208	2	a	a	DET
ap-1006	208	3	brief	brief	ADJ
ap-1006	208	4	look	look	NOUN
ap-1006	208	5	at	at	ADP
ap-1006	208	6	the	the	DET
ap-1006	208	7	mesh	mesh	NOUN
ap-1006	208	8	indicates	indicate	VERB
ap-1006	208	9	that	that	SCONJ
ap-1006	208	10	there	there	PRON
ap-1006	208	11	is	be	VERB
ap-1006	208	12	something	something	PRON
ap-1006	208	13	wrong	wrong	ADJ
ap-1006	208	14	with	with	ADP
ap-1006	208	15	the	the	DET
ap-1006	208	16	simulation	simulation	NOUN
ap-1006	208	17	.	.	PUNCT
ap-1006	209	1	almost	almost	ADV
ap-1006	209	2	all	all	DET
ap-1006	209	3	the	the	DET
ap-1006	209	4	parameters	parameter	NOUN
ap-1006	209	5	are	be	AUX
ap-1006	209	6	zero	zero	NUM
ap-1006	209	7	(	(	PUNCT
ap-1006	209	8	the	the	DET
ap-1006	209	9	mesh	mesh	NOUN
ap-1006	209	10	is	be	AUX
ap-1006	209	11	flat	flat	ADJ
ap-1006	209	12	)	)	PUNCT
ap-1006	209	13	.	.	PUNCT
ap-1006	210	1	this	this	PRON
ap-1006	210	2	means	mean	VERB
ap-1006	210	3	that	that	SCONJ
ap-1006	210	4	the	the	DET
ap-1006	210	5	agent	agent	NOUN
ap-1006	210	6	is	be	AUX
ap-1006	210	7	not	not	PART
ap-1006	210	8	hungry	hungry	ADJ
ap-1006	210	9	or	or	CCONJ
ap-1006	210	10	thirsty;	thirsty;	VERB
ap-1006	210	11	neither	neither	CCONJ
ap-1006	210	12	is	be	AUX
ap-1006	210	13	it	it	PRON
ap-1006	210	14	tired	tired	ADJ
ap-1006	210	15	or	or	CCONJ
ap-1006	210	16	sleepy	sleepy	ADJ
ap-1006	210	17	.	.	PUNCT
ap-1006	211	1	but	but	CCONJ
ap-1006	211	2	we	we	PRON
ap-1006	211	3	implemented	implement	VERB
ap-1006	211	4	and	and	CCONJ
ap-1006	211	5	designed	design	VERB
ap-1006	211	6	all	all	DET
ap-1006	211	7	these	these	DET
ap-1006	211	8	features	feature	NOUN
ap-1006	211	9	.	.	PUNCT
ap-1006	212	1	the	the	DET
ap-1006	212	2	reason	reason	NOUN
ap-1006	212	3	for	for	ADP
ap-1006	212	4	this	this	PRON
ap-1006	212	5	could	could	AUX
ap-1006	212	6	be	be	AUX
ap-1006	212	7	a	a	DET
ap-1006	212	8	data	data	NOUN
ap-1006	212	9	export	export	NOUN
ap-1006	212	10	failure	failure	NOUN
ap-1006	212	11	,	,	PUNCT
ap-1006	212	12	a	a	DET
ap-1006	212	13	mistake	mistake	NOUN
ap-1006	212	14	in	in	ADP
ap-1006	212	15	implementation	implementation	NOUN
ap-1006	212	16	of	of	ADP
ap-1006	212	17	the	the	DET
ap-1006	212	18	inner	inner	ADJ
ap-1006	212	19	agent	agent	NOUN
ap-1006	212	20	vegetative	vegetative	ADJ
ap-1006	212	21	block	block	NOUN
ap-1006	212	22	(	(	PUNCT
ap-1006	212	23	part	part	NOUN
ap-1006	212	24	taking	take	VERB
ap-1006	212	25	care	care	NOUN
ap-1006	212	26	of	of	ADP
ap-1006	212	27	the	the	DET
ap-1006	212	28	“	"	PUNCT
ap-1006	212	29	chemicals	chemical	NOUN
ap-1006	212	30	”	"	PUNCT
ap-1006	212	31	in	in	ADP
ap-1006	212	32	the	the	DET
ap-1006	212	33	agent	agent	NOUN
ap-1006	212	34	’s	’s	PART
ap-1006	212	35	body	body	NOUN
ap-1006	212	36	)	)	PUNCT
ap-1006	212	37	or	or	CCONJ
ap-1006	212	38	bad	bad	ADJ
ap-1006	212	39	initial	initial	ADJ
ap-1006	212	40	configuration	configuration	NOUN
ap-1006	212	41	of	of	ADP
ap-1006	212	42	the	the	DET
ap-1006	212	43	agent	agent	NOUN
ap-1006	212	44	.	.	PUNCT
ap-1006	213	1	because	because	SCONJ
ap-1006	213	2	we	we	PRON
ap-1006	213	3	had	have	AUX
ap-1006	213	4	run	run	VERB
ap-1006	213	5	the	the	DET
ap-1006	213	6	simulation	simulation	NOUN
ap-1006	213	7	previously	previously	ADV
ap-1006	213	8	and	and	CCONJ
ap-1006	213	9	the	the	DET
ap-1006	213	10	vegetative	vegetative	ADJ
ap-1006	213	11	block	block	NOUN
ap-1006	213	12	had	have	AUX
ap-1006	213	13	worked	work	VERB
ap-1006	213	14	properly	properly	ADV
ap-1006	213	15	,	,	PUNCT
ap-1006	213	16	there	there	PRON
ap-1006	213	17	is	be	VERB
ap-1006	213	18	no	no	DET
ap-1006	213	19	problem	problem	NOUN
ap-1006	213	20	with	with	ADP
ap-1006	213	21	the	the	DET
ap-1006	213	22	implementation	implementation	NOUN
ap-1006	213	23	itself	itself	PRON
ap-1006	213	24	.	.	PUNCT
ap-1006	214	1	a	a	DET
ap-1006	214	2	brief	brief	ADJ
ap-1006	214	3	check	check	NOUN
ap-1006	214	4	of	of	ADP
ap-1006	214	5	the	the	DET
ap-1006	214	6	configuration	configuration	NOUN
ap-1006	214	7	showed	show	VERB
ap-1006	214	8	that	that	SCONJ
ap-1006	214	9	an	an	DET
ap-1006	214	10	excessively	excessively	ADV
ap-1006	214	11	high	high	ADJ
ap-1006	214	12	value	value	NOUN
ap-1006	214	13	had	have	AUX
ap-1006	214	14	been	be	AUX
ap-1006	214	15	set	set	VERB
ap-1006	214	16	to	to	ADP
ap-1006	214	17	the	the	DET
ap-1006	214	18	time	time	NOUN
ap-1006	214	19	function	function	NOUN
ap-1006	214	20	for	for	ADP
ap-1006	214	21	increasing	increase	VERB
ap-1006	214	22	/	/	SYM
ap-1006	214	23	decreasing	decrease	VERB
ap-1006	214	24	the	the	DET
ap-1006	214	25	chemicals	chemical	NOUN
ap-1006	214	26	.	.	PUNCT
ap-1006	215	1	fig	fig	NOUN
ap-1006	215	2	.	.	PUNCT
ap-1006	216	1	8	8	NUM
ap-1006	216	2	shows	show	VERB
ap-1006	216	3	the	the	DET
ap-1006	216	4	mesh	mesh	NOUN
ap-1006	216	5	after	after	ADP
ap-1006	216	6	correction	correction	NOUN
ap-1006	216	7	of	of	ADP
ap-1006	216	8	the	the	DET
ap-1006	216	9	configuration	configuration	NOUN
ap-1006	216	10	mistake	mistake	NOUN
ap-1006	216	11	.	.	PUNCT
ap-1006	217	1	the	the	DET
ap-1006	217	2	values	value	NOUN
ap-1006	217	3	now	now	ADV
ap-1006	217	4	change	change	VERB
ap-1006	217	5	with	with	ADP
ap-1006	217	6	time	time	NOUN
ap-1006	217	7	as	as	SCONJ
ap-1006	217	8	they	they	PRON
ap-1006	217	9	should	should	AUX
ap-1006	217	10	.	.	PUNCT
ap-1006	218	1	4	4	NUM
ap-1006	218	2	conclusion	conclusion	NOUN
ap-1006	218	3	in	in	ADP
ap-1006	218	4	this	this	DET
ap-1006	218	5	paper	paper	NOUN
ap-1006	218	6	,	,	PUNCT
ap-1006	218	7	we	we	PRON
ap-1006	218	8	have	have	AUX
ap-1006	218	9	described	describe	VERB
ap-1006	218	10	the	the	DET
ap-1006	218	11	simulation	simulation	NOUN
ap-1006	218	12	environment	environment	NOUN
ap-1006	218	13	architecture	architecture	NOUN
ap-1006	218	14	for	for	ADP
ap-1006	218	15	artificial	artificial	ADJ
ap-1006	218	16	creatures	creature	NOUN
ap-1006	218	17	.	.	PUNCT
ap-1006	219	1	it	it	PRON
ap-1006	219	2	was	be	AUX
ap-1006	219	3	used	use	VERB
ap-1006	219	4	by	by	ADP
ap-1006	219	5	several	several	ADJ
ap-1006	219	6	agent	agent	NOUN
ap-1006	219	7	architectures	architecture	NOUN
ap-1006	219	8	.	.	PUNCT
ap-1006	220	1	the	the	DET
ap-1006	220	2	first	first	ADJ
ap-1006	220	3	agent	agent	NOUN
ap-1006	220	4	architecture	architecture	NOUN
ap-1006	220	5	tested	test	VERB
ap-1006	220	6	in	in	ADP
ap-1006	220	7	this	this	DET
ap-1006	220	8	environment	environment	NOUN
ap-1006	220	9	was	be	AUX
ap-1006	220	10	described	describe	VERB
ap-1006	220	11	in	in	ADP
ap-1006	220	12	section	section	NOUN
ap-1006	220	13	3	3	NUM
ap-1006	220	14	above	above	ADV
ap-1006	220	15	.	.	PUNCT
ap-1006	221	1	this	this	DET
ap-1006	221	2	agent	agent	NOUN
ap-1006	221	3	architecture	architecture	NOUN
ap-1006	221	4	was	be	AUX
ap-1006	221	5	superseded	supersede	VERB
ap-1006	221	6	by	by	ADP
ap-1006	221	7	several	several	ADJ
ap-1006	221	8	other	other	ADJ
ap-1006	221	9	architectures	architecture	NOUN
ap-1006	221	10	namely	namely	ADV
ap-1006	221	11	lemming	lemme	VERB
ap-1006	221	12	,	,	PUNCT
ap-1006	221	13	designed	design	VERB
ap-1006	221	14	by	by	ADP
ap-1006	221	15	l.	l.	PROPN
ap-1006	221	16	foltýn	foltýn	PROPN
ap-1006	222	1	[	[	X
ap-1006	222	2	5	5	NUM
ap-1006	222	3	]	]	PUNCT
ap-1006	222	4	,	,	PUNCT
ap-1006	223	1	acs	acs	PROPN
ap-1006	223	2	proposed	propose	VERB
ap-1006	223	3	by	by	ADP
ap-1006	223	4	m.	m.	NOUN
ap-1006	223	5	mach	mach	NOUN
ap-1006	223	6	[	[	X
ap-1006	223	7	6	6	NUM
ap-1006	223	8	]	]	PUNCT
ap-1006	223	9	and	and	CCONJ
ap-1006	223	10	animatsim	animatsim	PROPN
ap-1006	223	11	introduced	introduce	VERB
ap-1006	223	12	by	by	ADP
ap-1006	223	13	a.	a.	NOUN
ap-1006	223	14	svrček	svrček	NOUN
ap-1006	224	1	[	[	X
ap-1006	224	2	7	7	NUM
ap-1006	224	3	]	]	PUNCT
ap-1006	224	4	.	.	PUNCT
ap-1006	225	1	these	these	DET
ap-1006	225	2	architectures	architecture	NOUN
ap-1006	225	3	focused	focus	VERB
ap-1006	225	4	on	on	ADP
ap-1006	225	5	different	different	ADJ
ap-1006	225	6	topics	topic	NOUN
ap-1006	225	7	or	or	CCONJ
ap-1006	225	8	different	different	ADJ
ap-1006	225	9	approaches	approach	NOUN
ap-1006	225	10	to	to	ADP
ap-1006	225	11	agent	agent	NOUN
ap-1006	225	12	learning	learning	NOUN
ap-1006	225	13	.	.	PUNCT
ap-1006	226	1	animatsim	animatsim	PROPN
ap-1006	226	2	focuses	focus	VERB
ap-1006	226	3	on	on	ADP
ap-1006	226	4	reinforced	reinforce	VERB
ap-1006	226	5	learning;	learning;	NOUN
ap-1006	226	6	lemming	lemming	NOUN
ap-1006	226	7	uses	use	VERB
ap-1006	226	8	the	the	DET
ap-1006	226	9	tdidt	tdidt	ADJ
ap-1006	226	10	algorithm	algorithm	NOUN
ap-1006	226	11	to	to	PART
ap-1006	226	12	create	create	VERB
ap-1006	226	13	knowledge	knowledge	NOUN
ap-1006	226	14	about	about	ADP
ap-1006	226	15	the	the	DET
ap-1006	226	16	environment	environment	NOUN
ap-1006	226	17	and	and	CCONJ
ap-1006	226	18	to	to	PART
ap-1006	226	19	reason	reason	NOUN
ap-1006	226	20	about	about	ADP
ap-1006	226	21	it	it	PRON
ap-1006	226	22	.	.	PUNCT
ap-1006	227	1	acs	acs	PROPN
ap-1006	227	2	uses	use	VERB
ap-1006	227	3	hidden	hide	VERB
ap-1006	227	4	markov	markov	NOUN
ap-1006	227	5	models	model	NOUN
ap-1006	227	6	and	and	CCONJ
ap-1006	227	7	reinforced	reinforced	ADJ
ap-1006	227	8	learning	learning	NOUN
ap-1006	227	9	.	.	PUNCT
ap-1006	228	1	they	they	PRON
ap-1006	228	2	have	have	VERB
ap-1006	228	3	one	one	NUM
ap-1006	228	4	thing	thing	NOUN
ap-1006	228	5	in	in	ADP
ap-1006	228	6	common	common	ADJ
ap-1006	228	7	.	.	PUNCT
ap-1006	229	1	they	they	PRON
ap-1006	229	2	were	be	AUX
ap-1006	229	3	designed	design	VERB
ap-1006	229	4	in	in	ADP
ap-1006	229	5	various	various	ADJ
ap-1006	229	6	programming	programming	NOUN
ap-1006	229	7	languages	language	NOUN
ap-1006	229	8	(	(	PUNCT
ap-1006	229	9	c	c	X
ap-1006	229	10	,	,	PUNCT
ap-1006	229	11	java	java	PROPN
ap-1006	229	12	,	,	PUNCT
ap-1006	229	13	matlab	matlab	PROPN
ap-1006	229	14	)	)	PUNCT
ap-1006	229	15	but	but	CCONJ
ap-1006	229	16	took	take	VERB
ap-1006	229	17	wal	wal	PROPN
ap-1006	229	18	architecture	architecture	NOUN
ap-1006	229	19	into	into	ADP
ap-1006	229	20	account	account	NOUN
ap-1006	229	21	and	and	CCONJ
ap-1006	229	22	are	be	AUX
ap-1006	229	23	capable	capable	ADJ
ap-1006	229	24	of	of	ADP
ap-1006	229	25	running	run	VERB
ap-1006	229	26	in	in	ADP
ap-1006	229	27	the	the	DET
ap-1006	229	28	wal	wal	PROPN
ap-1006	229	29	environment	environment	NOUN
ap-1006	229	30	.	.	PUNCT
ap-1006	230	1	references	reference	NOUN
ap-1006	230	2	[	[	X
ap-1006	230	3	1	1	NUM
ap-1006	230	4	]	]	X
ap-1006	230	5	kohout	kohout	PROPN
ap-1006	230	6	,	,	PUNCT
ap-1006	230	7	k.	k.	PROPN
ap-1006	230	8	:	:	PUNCT
ap-1006	230	9	simulation	simulation	NOUN
ap-1006	230	10	of	of	ADP
ap-1006	230	11	animates	animate	VERB
ap-1006	230	12	,	,	PUNCT
ap-1006	230	13	behavior	behavior	NOUN
ap-1006	230	14	.	.	PUNCT
ap-1006	231	1	diploma	diploma	NOUN
ap-1006	231	2	thesis	thesis	NOUN
ap-1006	231	3	.	.	PUNCT
ap-1006	232	1	prague	prague	NOUN
ap-1006	232	2	:	:	PUNCT
ap-1006	232	3	czech	czech	PROPN
ap-1006	232	4	technical	technical	PROPN
ap-1006	232	5	university	university	PROPN
ap-1006	232	6	in	in	ADP
ap-1006	232	7	prague	prague	PROPN
ap-1006	232	8	,	,	PUNCT
ap-1006	232	9	faculty	faculty	NOUN
ap-1006	232	10	of	of	ADP
ap-1006	232	11	electrical	electrical	ADJ
ap-1006	232	12	engineering	engineering	NOUN
ap-1006	232	13	,	,	PUNCT
ap-1006	232	14	department	department	NOUN
ap-1006	232	15	of	of	ADP
ap-1006	232	16	cybernetics	cybernetic	NOUN
ap-1006	232	17	,	,	PUNCT
ap-1006	232	18	2004	2004	NUM
ap-1006	232	19	.	.	PUNCT
ap-1006	233	1	[	[	X
ap-1006	233	2	2	2	NUM
ap-1006	233	3	]	]	X
ap-1006	233	4	kadleček	kadleček	PROPN
ap-1006	233	5	,	,	PUNCT
ap-1006	233	6	d.	d.	PROPN
ap-1006	233	7	,	,	PUNCT
ap-1006	233	8	nahodil	nahodil	PROPN
ap-1006	233	9	,	,	PUNCT
ap-1006	233	10	p.	p.	NOUN
ap-1006	233	11	:	:	PUNCT
ap-1006	233	12	new	new	ADJ
ap-1006	233	13	hybrid	hybrid	ADJ
ap-1006	233	14	architecture	architecture	NOUN
ap-1006	233	15	in	in	ADP
ap-1006	233	16	artificial	artificial	ADJ
ap-1006	233	17	life	life	NOUN
ap-1006	233	18	simulation	simulation	NOUN
ap-1006	233	19	.	.	PUNCT
ap-1006	234	1	in	in	ADP
ap-1006	234	2	:	:	PUNCT
ap-1006	234	3	lecture	lecture	NOUN
ap-1006	234	4	notes	note	NOUN
ap-1006	234	5	in	in	ADP
ap-1006	234	6	artificial	artificial	ADJ
ap-1006	234	7	intelligence	intelligence	NOUN
ap-1006	234	8	no	no	NOUN
ap-1006	234	9	.	.	PROPN
ap-1006	234	10	2159	2159	NUM
ap-1006	234	11	,	,	PUNCT
ap-1006	234	12	berlin	berlin	PROPN
ap-1006	234	13	:	:	PUNCT
ap-1006	234	14	springer	springer	NOUN
ap-1006	234	15	verlag	verlag	PROPN
ap-1006	234	16	,	,	PUNCT
ap-1006	234	17	2001	2001	NUM
ap-1006	234	18	.	.	PUNCT
ap-1006	235	1	p.	p.	NOUN
ap-1006	235	2	143–146	143–146	NUM
ap-1006	235	3	.	.	PUNCT
ap-1006	236	1	[	[	X
ap-1006	236	2	3	3	NUM
ap-1006	236	3	]	]	X
ap-1006	236	4	kadleček	kadleček	PROPN
ap-1006	236	5	,	,	PUNCT
ap-1006	236	6	d.	d.	PROPN
ap-1006	236	7	:	:	PUNCT
ap-1006	236	8	simulation	simulation	NOUN
ap-1006	236	9	of	of	ADP
ap-1006	236	10	an	an	DET
ap-1006	236	11	agent	agent	NOUN
ap-1006	236	12	–	–	PUNCT
ap-1006	236	13	mobot	mobot	PROPN
ap-1006	236	14	in	in	ADP
ap-1006	236	15	a	a	DET
ap-1006	236	16	virtual	virtual	ADJ
ap-1006	236	17	environment	environment	NOUN
ap-1006	236	18	.	.	PUNCT
ap-1006	237	1	diploma	diploma	NOUN
ap-1006	237	2	thesis	thesis	NOUN
ap-1006	237	3	.	.	PUNCT
ap-1006	238	1	prague	prague	NOUN
ap-1006	238	2	:	:	PUNCT
ap-1006	238	3	czech	czech	PROPN
ap-1006	238	4	technical	technical	PROPN
ap-1006	238	5	university	university	PROPN
ap-1006	238	6	in	in	ADP
ap-1006	238	7	prague	prague	PROPN
ap-1006	238	8	,	,	PUNCT
ap-1006	238	9	faculty	faculty	NOUN
ap-1006	238	10	of	of	ADP
ap-1006	238	11	electrical	electrical	ADJ
ap-1006	238	12	engineering	engineering	NOUN
ap-1006	238	13	,	,	PUNCT
ap-1006	238	14	department	department	NOUN
ap-1006	238	15	of	of	ADP
ap-1006	238	16	cybernetics	cybernetic	NOUN
ap-1006	238	17	,	,	PUNCT
ap-1006	238	18	2001	2001	NUM
ap-1006	238	19	.	.	PUNCT
ap-1006	239	1	[	[	X
ap-1006	239	2	4	4	NUM
ap-1006	239	3	]	]	X
ap-1006	239	4	kadleček	kadleček	PROPN
ap-1006	239	5	,	,	PUNCT
ap-1006	239	6	d.	d.	PROPN
ap-1006	239	7	,	,	PUNCT
ap-1006	239	8	řehoř	řehoř	PROPN
ap-1006	239	9	.	.	PUNCT
ap-1006	239	10	d.	d.	PROPN
ap-1006	239	11	,	,	PUNCT
ap-1006	239	12	nahodil	nahodil	PROPN
ap-1006	239	13	,	,	PUNCT
ap-1006	239	14	p.	p.	PROPN
ap-1006	239	15	,	,	PUNCT
ap-1006	239	16	slavik	slavik	PROPN
ap-1006	239	17	,	,	PUNCT
ap-1006	239	18	p.	p.	PROPN
ap-1006	239	19	,	,	PUNCT
ap-1006	239	20	kohout	kohout	PROPN
ap-1006	239	21	,	,	PUNCT
ap-1006	239	22	k.	k.	NOUN
ap-1006	239	23	:	:	PUNCT
ap-1006	239	24	transparent	transparent	ADJ
ap-1006	239	25	visualization	visualization	NOUN
ap-1006	239	26	of	of	ADP
ap-1006	239	27	multi	multi	ADJ
ap-1006	239	28	-	-	ADJ
ap-1006	239	29	agent	agent	ADJ
ap-1006	239	30	systems	system	NOUN
ap-1006	239	31	.	.	PUNCT
ap-1006	240	1	in	in	ADP
ap-1006	240	2	:	:	PUNCT
ap-1006	240	3	proceedings	proceeding	NOUN
ap-1006	240	4	of	of	ADP
ap-1006	240	5	4th	4th	ADJ
ap-1006	240	6	international	international	ADJ
ap-1006	240	7	carpathian	carpathian	PROPN
ap-1006	240	8	control	control	PROPN
ap-1006	240	9	conference	conference	PROPN
ap-1006	240	10	,	,	PUNCT
ap-1006	240	11	may	may	PROPN
ap-1006	240	12	26–29	26–29	NUM
ap-1006	240	13	,	,	PUNCT
ap-1006	240	14	2003	2003	NUM
ap-1006	240	15	,	,	PUNCT
ap-1006	240	16	vysoké	vysoké	ADJ
ap-1006	240	17	tatry	tatry	NOUN
ap-1006	240	18	.	.	PUNCT
ap-1006	241	1	p.	p.	NOUN
ap-1006	241	2	723	723	NUM
ap-1006	241	3	–	–	PUNCT
ap-1006	241	4	726	726	NUM
ap-1006	241	5	,	,	PUNCT
ap-1006	241	6	isbn	isbn	ADJ
ap-1006	241	7	80	80	NUM
ap-1006	241	8	-	-	SYM
ap-1006	241	9	7099	7099	NUM
ap-1006	241	10	-	-	PUNCT
ap-1006	241	11	509	509	NUM
ap-1006	241	12	-	-	SYM
ap-1006	241	13	2	2	NUM
ap-1006	241	14	.	.	PUNCT
ap-1006	242	1	[	[	X
ap-1006	242	2	5	5	NUM
ap-1006	242	3	]	]	X
ap-1006	242	4	foltýn	foltýn	NOUN
ap-1006	242	5	,	,	PUNCT
ap-1006	242	6	l.	l.	PROPN
ap-1006	242	7	:	:	PUNCT
ap-1006	242	8	realization	realization	NOUN
ap-1006	242	9	of	of	ADP
ap-1006	242	10	intelligent	intelligent	ADJ
ap-1006	242	11	agents	agent	NOUN
ap-1006	242	12	architecture	architecture	NOUN
ap-1006	242	13	for	for	ADP
ap-1006	242	14	artificial	artificial	ADJ
ap-1006	242	15	life	life	NOUN
ap-1006	242	16	domain	domain	NOUN
ap-1006	242	17	.	.	PUNCT
ap-1006	243	1	diploma	diploma	NOUN
ap-1006	243	2	thesis	thesis	NOUN
ap-1006	243	3	.	.	PUNCT
ap-1006	244	1	prague	prague	NOUN
ap-1006	244	2	:	:	PUNCT
ap-1006	244	3	czech	czech	PROPN
ap-1006	244	4	technical	technical	PROPN
ap-1006	244	5	university	university	PROPN
ap-1006	244	6	in	in	ADP
ap-1006	244	7	prague	prague	PROPN
ap-1006	244	8	,	,	PUNCT
ap-1006	244	9	faculty	faculty	NOUN
ap-1006	244	10	of	of	ADP
ap-1006	244	11	electrical	electrical	ADJ
ap-1006	244	12	engineering	engineering	NOUN
ap-1006	244	13	,	,	PUNCT
ap-1006	244	14	department	department	NOUN
ap-1006	244	15	of	of	ADP
ap-1006	244	16	cybernetics	cybernetic	NOUN
ap-1006	244	17	,	,	PUNCT
ap-1006	244	18	2005	2005	NUM
ap-1006	244	19	.	.	PUNCT
ap-1006	245	1	[	[	X
ap-1006	245	2	6	6	NUM
ap-1006	245	3	]	]	PUNCT
ap-1006	245	4	mach	mach	NOUN
ap-1006	245	5	,	,	PUNCT
ap-1006	245	6	m.	m.	NOUN
ap-1006	245	7	:	:	PUNCT
ap-1006	245	8	data	datum	NOUN
ap-1006	245	9	mining	mining	NOUN
ap-1006	245	10	knowledge	knowledge	NOUN
ap-1006	245	11	mechanism	mechanism	NOUN
ap-1006	245	12	of	of	ADP
ap-1006	245	13	an	an	DET
ap-1006	245	14	environment	environment	NOUN
ap-1006	245	15	based	base	VERB
ap-1006	245	16	on	on	ADP
ap-1006	245	17	behavior	behavior	NOUN
ap-1006	245	18	and	and	CCONJ
ap-1006	245	19	functionality	functionality	NOUN
ap-1006	245	20	of	of	ADP
ap-1006	245	21	its	its	PRON
ap-1006	245	22	partial	partial	ADJ
ap-1006	245	23	objects	object	NOUN
ap-1006	245	24	.	.	PUNCT
ap-1006	246	1	diploma	diploma	NOUN
ap-1006	246	2	thesis	thesis	NOUN
ap-1006	246	3	.	.	PUNCT
ap-1006	247	1	prague	prague	NOUN
ap-1006	247	2	:	:	PUNCT
ap-1006	247	3	czech	czech	PROPN
ap-1006	247	4	technical	technical	PROPN
ap-1006	247	5	university	university	PROPN
ap-1006	247	6	in	in	ADP
ap-1006	247	7	prague	prague	PROPN
ap-1006	247	8	,	,	PUNCT
ap-1006	247	9	faculty	faculty	NOUN
ap-1006	247	10	of	of	ADP
ap-1006	247	11	electrical	electrical	ADJ
ap-1006	247	12	engineering	engineering	NOUN
ap-1006	247	13	,	,	PUNCT
ap-1006	247	14	department	department	NOUN
ap-1006	247	15	of	of	ADP
ap-1006	247	16	cybernetics	cybernetic	NOUN
ap-1006	247	17	,	,	PUNCT
ap-1006	247	18	2005	2005	NUM
ap-1006	247	19	.	.	PUNCT
ap-1006	248	1	[	[	X
ap-1006	248	2	7	7	NUM
ap-1006	248	3	]	]	X
ap-1006	248	4	svrček	svrček	NOUN
ap-1006	248	5	,	,	PUNCT
ap-1006	248	6	a.	a.	NOUN
ap-1006	248	7	:	:	PUNCT
ap-1006	248	8	selection	selection	NOUN
ap-1006	248	9	and	and	CCONJ
ap-1006	248	10	evaluation	evaluation	NOUN
ap-1006	248	11	of	of	ADP
ap-1006	248	12	robots	robot	NOUN
ap-1006	248	13	-	-	PUNCT
ap-1006	248	14	animates	animate	VERB
ap-1006	248	15	behavior	behavior	NOUN
ap-1006	248	16	.	.	PUNCT
ap-1006	249	1	diploma	diploma	NOUN
ap-1006	249	2	thesis	thesis	NOUN
ap-1006	249	3	.	.	PUNCT
ap-1006	250	1	prague	prague	NOUN
ap-1006	250	2	:	:	PUNCT
ap-1006	250	3	czech	czech	PROPN
ap-1006	250	4	technical	technical	PROPN
ap-1006	250	5	university	university	PROPN
ap-1006	250	6	in	in	ADP
ap-1006	250	7	prague	prague	PROPN
ap-1006	250	8	,	,	PUNCT
ap-1006	250	9	faculty	faculty	NOUN
ap-1006	250	10	of	of	ADP
ap-1006	250	11	electrical	electrical	ADJ
ap-1006	250	12	engineering	engineering	NOUN
ap-1006	250	13	,	,	PUNCT
ap-1006	250	14	department	department	NOUN
ap-1006	250	15	of	of	ADP
ap-1006	250	16	cybernetics	cybernetic	NOUN
ap-1006	250	17	,	,	PUNCT
ap-1006	250	18	2005	2005	NUM
ap-1006	250	19	.	.	PUNCT
ap-1006	251	1	ing	ing	ADJ
ap-1006	251	2	.	.	PUNCT
ap-1006	252	1	karel	karel	PROPN
ap-1006	252	2	kohout	kohout	PROPN
ap-1006	252	3	phone	phone	PROPN
ap-1006	252	4	:	:	PUNCT
ap-1006	252	5	+420	+420	PROPN
ap-1006	252	6	224	224	NUM
ap-1006	252	7	357	357	NUM
ap-1006	252	8	350	350	NUM
ap-1006	252	9	e	e	NOUN
ap-1006	252	10	-	-	NOUN
ap-1006	252	11	mail	mail	NOUN
ap-1006	252	12	:	:	PUNCT
ap-1006	252	13	kohoutk@fel.cvut.cz	kohoutk@fel.cvut.cz	PROPN
ap-1006	252	14	doc	doc	PROPN
ap-1006	252	15	.	.	PROPN
ap-1006	253	1	ing	ing	PROPN
ap-1006	253	2	.	.	PUNCT
ap-1006	254	1	pavel	pavel	PROPN
ap-1006	254	2	nahodil	nahodil	PROPN
ap-1006	254	3	,	,	PUNCT
ap-1006	254	4	csc	csc	PROPN
ap-1006	254	5	.	.	PROPN
ap-1006	254	6	phone	phone	NOUN
ap-1006	254	7	:	:	PUNCT
ap-1006	254	8	+420	+420	PROPN
ap-1006	254	9	224	224	NUM
ap-1006	254	10	357	357	NUM
ap-1006	254	11	353	353	NUM
ap-1006	254	12	fax	fax	NOUN
ap-1006	254	13	:	:	PUNCT
ap-1006	254	14	+420	+420	PROPN
ap-1006	254	15	224	224	NUM
ap-1006	254	16	353	353	NUM
ap-1006	254	17	677	677	NUM
ap-1006	254	18	e	e	NOUN
ap-1006	254	19	-	-	NOUN
ap-1006	254	20	mail	mail	NOUN
ap-1006	254	21	:	:	PUNCT
ap-1006	254	22	nahodil@felk.cvut.cz	nahodil@felk.cvut.cz	DET
ap-1006	254	23	department	department	PROPN
ap-1006	254	24	of	of	ADP
ap-1006	254	25	cybernetics	cybernetic	NOUN
ap-1006	254	26	faculty	faculty	NOUN
ap-1006	254	27	fo	fo	ADP
ap-1006	254	28	electrical	electrical	ADJ
ap-1006	254	29	engineering	engineering	NOUN
ap-1006	254	30	czech	czech	PROPN
ap-1006	254	31	technical	technical	PROPN
ap-1006	254	32	university	university	PROPN
ap-1006	254	33	in	in	ADP
ap-1006	254	34	prague	prague	PROPN
ap-1006	254	35	karlovo	karlovo	PROPN
ap-1006	254	36	náměstí	náměstí	NOUN
ap-1006	254	37	13	13	NUM
ap-1006	254	38	121	121	NUM
ap-1006	254	39	35	35	NUM
ap-1006	254	40	prague	prague	NOUN
ap-1006	254	41	,	,	PUNCT
ap-1006	254	42	czech	czech	PROPN
ap-1006	254	43	republic	republic	NOUN
ap-1006	254	44	50	50	NUM
ap-1006	254	45	©	©	PROPN
ap-1006	254	46	czech	czech	PROPN
ap-1006	254	47	technical	technical	PROPN
ap-1006	254	48	university	university	PROPN
ap-1006	254	49	publishing	publishing	NOUN
ap-1006	254	50	house	house	NOUN
ap-1006	254	51	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1006	254	52	acta	acta	PROPN
ap-1006	254	53	polytechnica	polytechnica	PROPN
ap-1006	254	54	vol	vol	NOUN
ap-1006	254	55	.	.	PUNCT
ap-1006	255	1	47	47	NUM
ap-1006	255	2	no	no	NOUN
ap-1006	255	3	.	.	PUNCT
ap-1006	256	1	6/2007	6/2007	NUM
ap-1006	256	2	fig	fig	NOUN
ap-1006	256	3	.	.	PUNCT
ap-1006	257	1	7	7	NUM
ap-1006	257	2	:	:	PUNCT
ap-1006	257	3	use	use	VERB
ap-1006	257	4	case	case	NOUN
ap-1006	257	5	–	–	PUNCT
ap-1006	257	6	simulation	simulation	NOUN
ap-1006	257	7	analysis	analysis	NOUN
ap-1006	257	8	fig	fig	NOUN
ap-1006	257	9	.	.	PUNCT
ap-1006	258	1	8	8	NUM
ap-1006	258	2	:	:	PUNCT
ap-1006	258	3	use	use	VERB
ap-1006	258	4	case	case	NOUN
ap-1006	258	5	–	–	PUNCT
ap-1006	258	6	simulation	simulation	NOUN
ap-1006	258	7	analysis	analysis	NOUN
ap-1006	258	8	correct	correct	ADJ
ap-1006	258	9	setup	setup	NOUN