id	sid	tid	token	lemma	pos
ap-1007	1	1	ap08_3.vp	ap08_3.vp	NOUN
ap-1007	1	2	1	1	NUM
ap-1007	1	3	introduction	introduction	NOUN
ap-1007	1	4	practical	practical	ADJ
ap-1007	1	5	first	first	ADJ
ap-1007	1	6	semester	semester	NOUN
ap-1007	1	7	undergraduate	undergraduate	NOUN
ap-1007	1	8	courses	course	NOUN
ap-1007	1	9	in	in	ADP
ap-1007	1	10	electrical	electrical	ADJ
ap-1007	1	11	engineering	engineering	NOUN
ap-1007	1	12	have	have	AUX
ap-1007	1	13	become	become	VERB
ap-1007	1	14	more	more	ADV
ap-1007	1	15	important	important	ADJ
ap-1007	1	16	in	in	ADP
ap-1007	1	17	modern	modern	ADJ
ap-1007	1	18	learning	learning	NOUN
ap-1007	1	19	concepts	concept	NOUN
ap-1007	1	20	,	,	PUNCT
ap-1007	1	21	since	since	SCONJ
ap-1007	1	22	they	they	PRON
ap-1007	1	23	can	can	AUX
ap-1007	1	24	strongly	strongly	ADV
ap-1007	1	25	boost	boost	VERB
ap-1007	1	26	the	the	DET
ap-1007	1	27	motivation	motivation	NOUN
ap-1007	1	28	of	of	ADP
ap-1007	1	29	first	first	ADJ
ap-1007	1	30	-	-	PUNCT
ap-1007	1	31	year	year	NOUN
ap-1007	1	32	students	student	NOUN
ap-1007	1	33	and	and	CCONJ
ap-1007	1	34	give	give	VERB
ap-1007	1	35	insights	insight	NOUN
ap-1007	1	36	into	into	ADP
ap-1007	1	37	practical	practical	ADJ
ap-1007	1	38	methods	method	NOUN
ap-1007	1	39	and	and	CCONJ
ap-1007	1	40	basic	basic	ADJ
ap-1007	1	41	engineering	engineering	NOUN
ap-1007	1	42	concepts	concept	NOUN
ap-1007	1	43	[	[	X
ap-1007	1	44	2	2	NUM
ap-1007	1	45	]	]	PUNCT
ap-1007	1	46	.	.	PUNCT
ap-1007	2	1	against	against	ADP
ap-1007	2	2	this	this	DET
ap-1007	2	3	background	background	NOUN
ap-1007	2	4	and	and	CCONJ
ap-1007	2	5	within	within	ADP
ap-1007	2	6	the	the	DET
ap-1007	2	7	scope	scope	NOUN
ap-1007	2	8	of	of	ADP
ap-1007	2	9	the	the	DET
ap-1007	2	10	new	new	ADJ
ap-1007	2	11	bachelor	bachelor	NOUN
ap-1007	2	12	of	of	ADP
ap-1007	2	13	science	science	NOUN
ap-1007	2	14	curriculum	curriculum	NOUN
ap-1007	2	15	,	,	PUNCT
ap-1007	2	16	instituted	institute	VERB
ap-1007	2	17	by	by	ADP
ap-1007	2	18	the	the	DET
ap-1007	2	19	european	european	ADJ
ap-1007	2	20	bologna	bologna	PROPN
ap-1007	2	21	process	process	NOUN
ap-1007	2	22	[	[	X
ap-1007	2	23	1	1	NUM
ap-1007	2	24	]	]	PUNCT
ap-1007	2	25	,	,	PUNCT
ap-1007	2	26	the	the	DET
ap-1007	2	27	faculty	faculty	NOUN
ap-1007	2	28	of	of	ADP
ap-1007	2	29	electrical	electrical	ADJ
ap-1007	2	30	engineering	engineering	NOUN
ap-1007	2	31	and	and	CCONJ
ap-1007	2	32	information	information	NOUN
ap-1007	2	33	technology	technology	NOUN
ap-1007	2	34	at	at	ADP
ap-1007	2	35	rwth	rwth	PROPN
ap-1007	2	36	aachen	aachen	PROPN
ap-1007	2	37	university	university	PROPN
ap-1007	2	38	,	,	PUNCT
ap-1007	2	39	germany	germany	PROPN
ap-1007	2	40	established	establish	VERB
ap-1007	2	41	the	the	DET
ap-1007	2	42	first	first	ADJ
ap-1007	2	43	semester	semester	NOUN
ap-1007	2	44	student	student	NOUN
ap-1007	2	45	laboratory	laboratory	NOUN
ap-1007	2	46	“	"	PUNCT
ap-1007	2	47	matlab	matlab	PROPN
ap-1007	2	48	meets	meet	VERB
ap-1007	2	49	lego	lego	NOUN
ap-1007	2	50	mindstorms	mindstorm	NOUN
ap-1007	2	51	”	"	PUNCT
ap-1007	2	52	in	in	ADP
ap-1007	2	53	the	the	DET
ap-1007	2	54	2007–2008	2007–2008	NUM
ap-1007	2	55	academic	academic	ADJ
ap-1007	2	56	year	year	NOUN
ap-1007	2	57	.	.	PUNCT
ap-1007	3	1	the	the	DET
ap-1007	3	2	lab	lab	NOUN
ap-1007	3	3	focuses	focus	VERB
ap-1007	3	4	on	on	ADP
ap-1007	3	5	three	three	NUM
ap-1007	3	6	elements	element	NOUN
ap-1007	3	7	:	:	PUNCT
ap-1007	3	8	mathematical	mathematical	ADJ
ap-1007	3	9	methods	method	NOUN
ap-1007	3	10	and	and	CCONJ
ap-1007	3	11	digital	digital	ADJ
ap-1007	3	12	signal	signal	NOUN
ap-1007	3	13	processing	processing	NOUN
ap-1007	3	14	fundamentals	fundamental	NOUN
ap-1007	3	15	,	,	PUNCT
ap-1007	3	16	programming	programming	NOUN
ap-1007	3	17	basics	basic	NOUN
ap-1007	3	18	of	of	ADP
ap-1007	3	19	the	the	DET
ap-1007	3	20	matlab	matlab	PROPN
ap-1007	3	21	®	®	NOUN
ap-1007	3	22	software	software	NOUN
ap-1007	3	23	from	from	ADP
ap-1007	3	24	mathworks	mathworks	PROPN
ap-1007	3	25	[	[	X
ap-1007	3	26	7	7	NUM
ap-1007	3	27	]	]	PUNCT
ap-1007	3	28	,	,	PUNCT
ap-1007	3	29	and	and	CCONJ
ap-1007	3	30	practical	practical	ADJ
ap-1007	3	31	engineering	engineering	NOUN
ap-1007	3	32	with	with	ADP
ap-1007	3	33	lego	lego	NOUN
ap-1007	3	34	®	®	NOUN
ap-1007	3	35	mindstorms	mindstorm	NOUN
ap-1007	3	36	®	®	VERB
ap-1007	3	37	nxt	nxt	PROPN
ap-1007	3	38	robots	robot	NOUN
ap-1007	3	39	[	[	X
ap-1007	3	40	8	8	NUM
ap-1007	3	41	]	]	PUNCT
ap-1007	3	42	.	.	PUNCT
ap-1007	4	1	freshman	freshman	NOUN
ap-1007	4	2	introduction	introduction	NOUN
ap-1007	4	3	courses	course	NOUN
ap-1007	4	4	in	in	ADP
ap-1007	4	5	practical	practical	ADJ
ap-1007	4	6	engineering	engineering	NOUN
ap-1007	4	7	overcome	overcome	VERB
ap-1007	4	8	the	the	DET
ap-1007	4	9	traditional	traditional	ADJ
ap-1007	4	10	twofold	twofold	NOUN
ap-1007	4	11	teaching	teach	VERB
ap-1007	4	12	structure	structure	NOUN
ap-1007	4	13	,	,	PUNCT
ap-1007	4	14	which	which	PRON
ap-1007	4	15	first	first	ADV
ap-1007	4	16	presents	present	VERB
ap-1007	4	17	theoretical	theoretical	ADJ
ap-1007	4	18	foundations	foundation	NOUN
ap-1007	4	19	and	and	CCONJ
ap-1007	4	20	only	only	ADV
ap-1007	4	21	later	later	ADV
ap-1007	4	22	confronts	confront	VERB
ap-1007	4	23	the	the	DET
ap-1007	4	24	more	more	ADV
ap-1007	4	25	mature	mature	ADJ
ap-1007	4	26	student	student	NOUN
ap-1007	4	27	with	with	ADP
ap-1007	4	28	real	real	ADJ
ap-1007	4	29	-	-	PUNCT
ap-1007	4	30	world	world	NOUN
ap-1007	4	31	issues	issue	NOUN
ap-1007	4	32	and	and	CCONJ
ap-1007	4	33	engineering	engineering	NOUN
ap-1007	4	34	approaches	approach	NOUN
ap-1007	4	35	.	.	PUNCT
ap-1007	5	1	this	this	DET
ap-1007	5	2	curriculum	curriculum	NOUN
ap-1007	5	3	usually	usually	ADV
ap-1007	5	4	provides	provide	VERB
ap-1007	5	5	only	only	ADV
ap-1007	5	6	low	low	ADJ
ap-1007	5	7	student	student	NOUN
ap-1007	5	8	motivation	motivation	NOUN
ap-1007	5	9	and	and	CCONJ
ap-1007	5	10	thus	thus	ADV
ap-1007	5	11	the	the	DET
ap-1007	5	12	students	student	NOUN
ap-1007	5	13	can	can	AUX
ap-1007	5	14	encounter	encounter	VERB
ap-1007	5	15	difficulties	difficulty	NOUN
ap-1007	5	16	in	in	ADP
ap-1007	5	17	handling	handle	VERB
ap-1007	5	18	complex	complex	ADJ
ap-1007	5	19	situations	situation	NOUN
ap-1007	5	20	in	in	ADP
ap-1007	5	21	their	their	PRON
ap-1007	5	22	following	follow	VERB
ap-1007	5	23	career	career	NOUN
ap-1007	5	24	[	[	X
ap-1007	5	25	3	3	NUM
ap-1007	5	26	]	]	PUNCT
ap-1007	5	27	.	.	PUNCT
ap-1007	6	1	to	to	PART
ap-1007	6	2	acquire	acquire	VERB
ap-1007	6	3	a	a	DET
ap-1007	6	4	better	well	ADJ
ap-1007	6	5	learning	learning	NOUN
ap-1007	6	6	process	process	NOUN
ap-1007	6	7	,	,	PUNCT
ap-1007	6	8	the	the	DET
ap-1007	6	9	essential	essential	ADJ
ap-1007	6	10	element	element	NOUN
ap-1007	6	11	can	can	AUX
ap-1007	6	12	be	be	AUX
ap-1007	6	13	stated	state	VERB
ap-1007	6	14	as	as	ADP
ap-1007	6	15	“	"	PUNCT
ap-1007	6	16	no	no	ADV
ap-1007	6	17	matter	matter	ADV
ap-1007	6	18	how	how	SCONJ
ap-1007	6	19	many	many	ADJ
ap-1007	6	20	concepts	concept	NOUN
ap-1007	6	21	you	you	PRON
ap-1007	6	22	teach	teach	VERB
ap-1007	6	23	,	,	PUNCT
ap-1007	6	24	no	no	ADV
ap-1007	6	25	matter	matter	ADV
ap-1007	6	26	how	how	SCONJ
ap-1007	6	27	deep	deep	ADJ
ap-1007	6	28	you	you	PRON
ap-1007	6	29	go	go	VERB
ap-1007	6	30	,	,	PUNCT
ap-1007	6	31	no	no	ADV
ap-1007	6	32	matter	matter	ADV
ap-1007	6	33	how	how	SCONJ
ap-1007	6	34	tough	tough	ADJ
ap-1007	6	35	your	your	PRON
ap-1007	6	36	exams	exam	NOUN
ap-1007	6	37	are	be	AUX
ap-1007	6	38	,	,	PUNCT
ap-1007	6	39	the	the	DET
ap-1007	6	40	only	only	ADJ
ap-1007	6	41	lessons	lesson	NOUN
ap-1007	6	42	that	that	PRON
ap-1007	6	43	will	will	AUX
ap-1007	6	44	remain	remain	VERB
ap-1007	6	45	in	in	ADP
ap-1007	6	46	the	the	DET
ap-1007	6	47	students	student	NOUN
ap-1007	6	48	minds	mind	NOUN
ap-1007	6	49	are	be	AUX
ap-1007	6	50	those	those	PRON
ap-1007	6	51	that	that	PRON
ap-1007	6	52	touch	touch	VERB
ap-1007	6	53	them	they	PRON
ap-1007	6	54	”	"	PUNCT
ap-1007	7	1	[	[	X
ap-1007	7	2	4	4	NUM
ap-1007	7	3	]	]	PUNCT
ap-1007	7	4	.	.	PUNCT
ap-1007	8	1	thus	thus	ADV
ap-1007	8	2	it	it	PRON
ap-1007	8	3	is	be	AUX
ap-1007	8	4	very	very	ADV
ap-1007	8	5	important	important	ADJ
ap-1007	8	6	to	to	PART
ap-1007	8	7	motivate	motivate	VERB
ap-1007	8	8	first	first	ADJ
ap-1007	8	9	semester	semester	NOUN
ap-1007	8	10	students	student	NOUN
ap-1007	8	11	by	by	ADP
ap-1007	8	12	confronting	confront	VERB
ap-1007	8	13	them	they	PRON
ap-1007	8	14	with	with	ADP
ap-1007	8	15	practical	practical	ADJ
ap-1007	8	16	situations	situation	NOUN
ap-1007	8	17	,	,	PUNCT
ap-1007	8	18	in	in	ADP
ap-1007	8	19	which	which	PRON
ap-1007	8	20	they	they	PRON
ap-1007	8	21	“	"	PUNCT
ap-1007	8	22	feel	feel	VERB
ap-1007	8	23	like	like	ADP
ap-1007	8	24	engineers	engineer	NOUN
ap-1007	8	25	”	"	PUNCT
ap-1007	8	26	right	right	ADV
ap-1007	8	27	from	from	ADP
ap-1007	8	28	the	the	DET
ap-1007	8	29	beginning	beginning	NOUN
ap-1007	8	30	of	of	ADP
ap-1007	8	31	their	their	PRON
ap-1007	8	32	studies	study	NOUN
ap-1007	8	33	[	[	X
ap-1007	8	34	2	2	NUM
ap-1007	8	35	]	]	PUNCT
ap-1007	8	36	.	.	PUNCT
ap-1007	9	1	in	in	ADP
ap-1007	9	2	addition	addition	NOUN
ap-1007	9	3	to	to	ADP
ap-1007	9	4	mathematical	mathematical	ADJ
ap-1007	9	5	and	and	CCONJ
ap-1007	9	6	electrical	electrical	ADJ
ap-1007	9	7	engineering	engineering	NOUN
ap-1007	9	8	skills	skill	NOUN
ap-1007	9	9	,	,	PUNCT
ap-1007	9	10	the	the	DET
ap-1007	9	11	ability	ability	NOUN
ap-1007	9	12	to	to	PART
ap-1007	9	13	work	work	VERB
ap-1007	9	14	with	with	ADP
ap-1007	9	15	computer	computer	NOUN
ap-1007	9	16	programming	programming	NOUN
ap-1007	9	17	software	software	NOUN
ap-1007	9	18	is	be	AUX
ap-1007	9	19	also	also	ADV
ap-1007	9	20	a	a	DET
ap-1007	9	21	required	require	VERB
ap-1007	9	22	skill	skill	NOUN
ap-1007	9	23	for	for	ADP
ap-1007	9	24	today	today	NOUN
ap-1007	9	25	’s	’s	PART
ap-1007	9	26	electrical	electrical	ADJ
ap-1007	9	27	engineers	engineer	NOUN
ap-1007	9	28	[	[	X
ap-1007	9	29	5	5	NUM
ap-1007	9	30	]	]	PUNCT
ap-1007	9	31	.	.	PUNCT
ap-1007	10	1	for	for	ADP
ap-1007	10	2	this	this	DET
ap-1007	10	3	purpose	purpose	NOUN
ap-1007	10	4	,	,	PUNCT
ap-1007	10	5	a	a	DET
ap-1007	10	6	new	new	ADJ
ap-1007	10	7	self	self	NOUN
ap-1007	10	8	-	-	PUNCT
ap-1007	10	9	motivated	motivate	VERB
ap-1007	10	10	first	first	ADJ
ap-1007	10	11	semester	semester	NOUN
ap-1007	10	12	practical	practical	ADJ
ap-1007	10	13	laboratory	laboratory	NOUN
ap-1007	10	14	,	,	PUNCT
ap-1007	10	15	called	call	VERB
ap-1007	10	16	“	"	PUNCT
ap-1007	10	17	matlab	matlab	PROPN
ap-1007	10	18	meets	meet	VERB
ap-1007	10	19	lego	lego	NOUN
ap-1007	10	20	mindstorms	mindstorm	NOUN
ap-1007	10	21	”	"	PUNCT
ap-1007	10	22	,	,	PUNCT
ap-1007	10	23	has	have	AUX
ap-1007	10	24	been	be	AUX
ap-1007	10	25	developed	develop	VERB
ap-1007	10	26	.	.	PUNCT
ap-1007	11	1	the	the	DET
ap-1007	11	2	paper	paper	NOUN
ap-1007	11	3	is	be	AUX
ap-1007	11	4	organized	organize	VERB
ap-1007	11	5	as	as	SCONJ
ap-1007	11	6	follows	follow	VERB
ap-1007	11	7	:	:	PUNCT
ap-1007	11	8	section	section	NOUN
ap-1007	11	9	2	2	NUM
ap-1007	11	10	describes	describe	VERB
ap-1007	11	11	the	the	DET
ap-1007	11	12	learning	learning	NOUN
ap-1007	11	13	targets	target	NOUN
ap-1007	11	14	of	of	ADP
ap-1007	11	15	the	the	DET
ap-1007	11	16	project	project	NOUN
ap-1007	11	17	and	and	CCONJ
ap-1007	11	18	the	the	DET
ap-1007	11	19	applied	apply	VERB
ap-1007	11	20	software	software	NOUN
ap-1007	11	21	and	and	CCONJ
ap-1007	11	22	hardware	hardware	NOUN
ap-1007	11	23	.	.	PUNCT
ap-1007	12	1	the	the	DET
ap-1007	12	2	project	project	NOUN
ap-1007	12	3	structure	structure	NOUN
ap-1007	12	4	and	and	CCONJ
ap-1007	12	5	management	management	NOUN
ap-1007	12	6	executed	execute	VERB
ap-1007	12	7	by	by	ADP
ap-1007	12	8	a	a	DET
ap-1007	12	9	small	small	ADJ
ap-1007	12	10	core	core	NOUN
ap-1007	12	11	team	team	NOUN
ap-1007	12	12	of	of	ADP
ap-1007	12	13	supervisors	supervisor	NOUN
ap-1007	12	14	is	be	AUX
ap-1007	12	15	presented	present	VERB
ap-1007	12	16	in	in	ADP
ap-1007	12	17	section	section	NOUN
ap-1007	12	18	3	3	NUM
ap-1007	12	19	.	.	PUNCT
ap-1007	12	20	section	section	NOUN
ap-1007	12	21	4	4	NUM
ap-1007	12	22	introduces	introduce	VERB
ap-1007	12	23	a	a	DET
ap-1007	12	24	novel	novel	ADJ
ap-1007	12	25	software	software	NOUN
ap-1007	12	26	toolbox	toolbox	NOUN
ap-1007	12	27	,	,	PUNCT
ap-1007	12	28	which	which	PRON
ap-1007	12	29	has	have	AUX
ap-1007	12	30	been	be	AUX
ap-1007	12	31	developed	develop	VERB
ap-1007	12	32	in	in	ADP
ap-1007	12	33	matlab	matlab	PROPN
ap-1007	12	34	.	.	PUNCT
ap-1007	13	1	the	the	DET
ap-1007	13	2	students	student	NOUN
ap-1007	13	3	’	’	PART
ap-1007	13	4	practical	practical	ADJ
ap-1007	13	5	activities	activity	NOUN
ap-1007	13	6	,	,	PUNCT
ap-1007	13	7	separated	separate	VERB
ap-1007	13	8	into	into	ADP
ap-1007	13	9	basic	basic	ADJ
ap-1007	13	10	exercises	exercise	NOUN
ap-1007	13	11	and	and	CCONJ
ap-1007	13	12	major	major	ADJ
ap-1007	13	13	tasks	task	NOUN
ap-1007	13	14	,	,	PUNCT
ap-1007	13	15	are	be	AUX
ap-1007	13	16	described	describe	VERB
ap-1007	13	17	in	in	ADP
ap-1007	13	18	section	section	NOUN
ap-1007	13	19	5	5	NUM
ap-1007	13	20	.	.	PUNCT
ap-1007	13	21	evaluation	evaluation	NOUN
ap-1007	13	22	results	result	NOUN
ap-1007	13	23	are	be	AUX
ap-1007	13	24	given	give	VERB
ap-1007	13	25	in	in	ADP
ap-1007	13	26	section	section	NOUN
ap-1007	13	27	6	6	NUM
ap-1007	13	28	.	.	PUNCT
ap-1007	14	1	in	in	ADP
ap-1007	14	2	section	section	NOUN
ap-1007	14	3	7	7	NUM
ap-1007	14	4	,	,	PUNCT
ap-1007	14	5	some	some	DET
ap-1007	14	6	future	future	ADJ
ap-1007	14	7	perspectives	perspective	NOUN
ap-1007	14	8	are	be	AUX
ap-1007	14	9	presented	present	VERB
ap-1007	14	10	,	,	PUNCT
ap-1007	14	11	and	and	CCONJ
ap-1007	14	12	,	,	PUNCT
ap-1007	14	13	section	section	NOUN
ap-1007	14	14	8	8	NUM
ap-1007	14	15	highlights	highlight	NOUN
ap-1007	14	16	the	the	DET
ap-1007	14	17	main	main	ADJ
ap-1007	14	18	conclusions	conclusion	NOUN
ap-1007	14	19	about	about	ADP
ap-1007	14	20	this	this	DET
ap-1007	14	21	practical	practical	ADJ
ap-1007	14	22	course	course	NOUN
ap-1007	14	23	.	.	PUNCT
ap-1007	15	1	2	2	NUM
ap-1007	15	2	learning	learning	NOUN
ap-1007	15	3	targets	target	VERB
ap-1007	15	4	the	the	DET
ap-1007	15	5	undergraduate	undergraduate	ADJ
ap-1007	15	6	laboratory	laboratory	NOUN
ap-1007	15	7	“	"	PUNCT
ap-1007	15	8	matlab	matlab	PROPN
ap-1007	15	9	meets	meet	VERB
ap-1007	15	10	lego	lego	NOUN
ap-1007	15	11	mindstorms	mindstorm	NOUN
ap-1007	15	12	”	"	PUNCT
ap-1007	15	13	is	be	AUX
ap-1007	15	14	motivated	motivate	VERB
ap-1007	15	15	by	by	ADP
ap-1007	15	16	three	three	NUM
ap-1007	15	17	objectives	objective	NOUN
ap-1007	15	18	:	:	PUNCT
ap-1007	15	19	mathematical	mathematical	ADJ
ap-1007	15	20	methods	method	NOUN
ap-1007	15	21	,	,	PUNCT
ap-1007	15	22	matlab	matlab	PROPN
ap-1007	15	23	,	,	PUNCT
ap-1007	15	24	and	and	CCONJ
ap-1007	15	25	practical	practical	ADJ
ap-1007	15	26	engineering	engineering	NOUN
ap-1007	15	27	,	,	PUNCT
ap-1007	15	28	as	as	SCONJ
ap-1007	15	29	illustrated	illustrate	VERB
ap-1007	15	30	in	in	ADP
ap-1007	15	31	fig	fig	NOUN
ap-1007	15	32	.	.	PUNCT
ap-1007	16	1	1	1	NUM
ap-1007	16	2	.	.	NUM
ap-1007	16	3	44	44	NUM
ap-1007	16	4	©	©	PROPN
ap-1007	16	5	czech	czech	PROPN
ap-1007	16	6	technical	technical	PROPN
ap-1007	16	7	university	university	PROPN
ap-1007	16	8	publishing	publishing	NOUN
ap-1007	16	9	house	house	NOUN
ap-1007	16	10	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1007	16	11	acta	acta	PROPN
ap-1007	16	12	polytechnica	polytechnica	PROPN
ap-1007	16	13	vol	vol	NOUN
ap-1007	16	14	.	.	PUNCT
ap-1007	17	1	48	48	NUM
ap-1007	17	2	no	no	NOUN
ap-1007	17	3	.	.	PUNCT
ap-1007	18	1	3/2008	3/2008	NUM
ap-1007	18	2	first	first	ADJ
ap-1007	18	3	steps	step	NOUN
ap-1007	18	4	into	into	ADP
ap-1007	18	5	practical	practical	ADJ
ap-1007	18	6	engineering	engineering	NOUN
ap-1007	18	7	for	for	ADP
ap-1007	18	8	freshman	freshman	NOUN
ap-1007	18	9	students	student	NOUN
ap-1007	18	10	using	use	VERB
ap-1007	18	11	matlab	matlab	PROPN
ap-1007	18	12	and	and	CCONJ
ap-1007	18	13	lego	lego	NOUN
ap-1007	18	14	mindstorms	mindstorm	NOUN
ap-1007	18	15	robots	robots	PROPN
ap-1007	18	16	a.	a.	NOUN
ap-1007	18	17	behrens	behrens	PROPN
ap-1007	18	18	,	,	PUNCT
ap-1007	18	19	l.	l.	PROPN
ap-1007	18	20	atorf	atorf	PROPN
ap-1007	18	21	,	,	PUNCT
ap-1007	18	22	r.	r.	PROPN
ap-1007	18	23	schwann	schwann	PROPN
ap-1007	18	24	,	,	PUNCT
ap-1007	18	25	j.	j.	PROPN
ap-1007	18	26	ballé	ballé	PROPN
ap-1007	18	27	,	,	PUNCT
ap-1007	18	28	t.	t.	PROPN
ap-1007	18	29	herold	herold	PROPN
ap-1007	18	30	,	,	PUNCT
ap-1007	18	31	a.	a.	NOUN
ap-1007	18	32	telle	telle	NOUN
ap-1007	18	33	besides	besides	SCONJ
ap-1007	18	34	lectures	lecture	NOUN
ap-1007	18	35	on	on	ADP
ap-1007	18	36	basic	basic	ADJ
ap-1007	18	37	theoretical	theoretical	ADJ
ap-1007	18	38	topics	topic	NOUN
ap-1007	18	39	,	,	PUNCT
ap-1007	18	40	contemporary	contemporary	ADJ
ap-1007	18	41	teaching	teaching	NOUN
ap-1007	18	42	and	and	CCONJ
ap-1007	18	43	learning	learn	VERB
ap-1007	18	44	concepts	concept	NOUN
ap-1007	18	45	for	for	ADP
ap-1007	18	46	first	first	ADJ
ap-1007	18	47	semester	semester	NOUN
ap-1007	18	48	students	student	NOUN
ap-1007	18	49	give	give	VERB
ap-1007	18	50	more	more	ADJ
ap-1007	18	51	and	and	CCONJ
ap-1007	18	52	more	more	ADJ
ap-1007	18	53	consideration	consideration	NOUN
ap-1007	18	54	to	to	ADP
ap-1007	18	55	practically	practically	ADV
ap-1007	18	56	motivated	motivated	ADJ
ap-1007	18	57	courses	course	NOUN
ap-1007	18	58	.	.	PUNCT
ap-1007	19	1	in	in	ADP
ap-1007	19	2	this	this	DET
ap-1007	19	3	context	context	NOUN
ap-1007	19	4	,	,	PUNCT
ap-1007	19	5	a	a	DET
ap-1007	19	6	new	new	ADJ
ap-1007	19	7	first	first	ADJ
ap-1007	19	8	-	-	PUNCT
ap-1007	19	9	year	year	NOUN
ap-1007	19	10	introductory	introductory	ADJ
ap-1007	19	11	course	course	NOUN
ap-1007	19	12	in	in	ADP
ap-1007	19	13	practical	practical	ADJ
ap-1007	19	14	engineering	engineering	NOUN
ap-1007	19	15	has	have	AUX
ap-1007	19	16	been	be	AUX
ap-1007	19	17	established	establish	VERB
ap-1007	19	18	in	in	ADP
ap-1007	19	19	the	the	DET
ap-1007	19	20	first	first	ADJ
ap-1007	19	21	semester	semester	NOUN
ap-1007	19	22	curriculum	curriculum	NOUN
ap-1007	19	23	of	of	ADP
ap-1007	19	24	electrical	electrical	ADJ
ap-1007	19	25	engineering	engineering	NOUN
ap-1007	19	26	at	at	ADP
ap-1007	19	27	rwth	rwth	PROPN
ap-1007	19	28	aachen	aachen	PROPN
ap-1007	19	29	university	university	PROPN
ap-1007	19	30	,	,	PUNCT
ap-1007	19	31	germany	germany	PROPN
ap-1007	19	32	.	.	PUNCT
ap-1007	20	1	based	base	VERB
ap-1007	20	2	on	on	ADP
ap-1007	20	3	a	a	DET
ap-1007	20	4	threefold	threefold	ADJ
ap-1007	20	5	learning	learning	NOUN
ap-1007	20	6	concept	concept	NOUN
ap-1007	20	7	,	,	PUNCT
ap-1007	20	8	programming	programming	NOUN
ap-1007	20	9	skills	skill	NOUN
ap-1007	20	10	in	in	ADP
ap-1007	20	11	matlab	matlab	PROPN
ap-1007	20	12	are	be	AUX
ap-1007	20	13	taught	teach	VERB
ap-1007	20	14	to	to	ADP
ap-1007	20	15	309	309	NUM
ap-1007	20	16	students	student	NOUN
ap-1007	20	17	within	within	ADP
ap-1007	20	18	a	a	DET
ap-1007	20	19	full	full	ADJ
ap-1007	20	20	-	-	PUNCT
ap-1007	20	21	time	time	NOUN
ap-1007	20	22	block	block	NOUN
ap-1007	20	23	course	course	NOUN
ap-1007	20	24	laboratory	laboratory	NOUN
ap-1007	20	25	.	.	PUNCT
ap-1007	21	1	the	the	DET
ap-1007	21	2	students	student	NOUN
ap-1007	21	3	are	be	AUX
ap-1007	21	4	encouraged	encourage	VERB
ap-1007	21	5	to	to	PART
ap-1007	21	6	transfer	transfer	VERB
ap-1007	21	7	known	know	VERB
ap-1007	21	8	mathematical	mathematical	ADJ
ap-1007	21	9	basics	basic	NOUN
ap-1007	21	10	to	to	PART
ap-1007	21	11	program	program	VERB
ap-1007	21	12	algorithms	algorithm	NOUN
ap-1007	21	13	and	and	CCONJ
ap-1007	21	14	real	real	ADJ
ap-1007	21	15	-	-	PUNCT
ap-1007	21	16	world	world	NOUN
ap-1007	21	17	applications	application	NOUN
ap-1007	21	18	performed	perform	VERB
ap-1007	21	19	by	by	ADP
ap-1007	21	20	100	100	NUM
ap-1007	21	21	lego	lego	NOUN
ap-1007	21	22	mindstorms	mindstorm	NOUN
ap-1007	21	23	robots	robot	NOUN
ap-1007	21	24	.	.	PUNCT
ap-1007	22	1	a	a	DET
ap-1007	22	2	new	new	ADJ
ap-1007	22	3	matlab	matlab	PROPN
ap-1007	22	4	toolbox	toolbox	NOUN
ap-1007	22	5	and	and	CCONJ
ap-1007	22	6	twofold	twofold	ADP
ap-1007	22	7	project	project	NOUN
ap-1007	22	8	tasks	task	NOUN
ap-1007	22	9	have	have	AUX
ap-1007	22	10	been	be	AUX
ap-1007	22	11	developed	develop	VERB
ap-1007	22	12	for	for	ADP
ap-1007	22	13	this	this	DET
ap-1007	22	14	purpose	purpose	NOUN
ap-1007	22	15	by	by	ADP
ap-1007	22	16	a	a	DET
ap-1007	22	17	small	small	ADJ
ap-1007	22	18	team	team	NOUN
ap-1007	22	19	of	of	ADP
ap-1007	22	20	supervisors	supervisor	NOUN
ap-1007	22	21	.	.	PUNCT
ap-1007	23	1	the	the	DET
ap-1007	23	2	students	student	NOUN
ap-1007	23	3	are	be	AUX
ap-1007	23	4	supervised	supervise	VERB
ap-1007	23	5	by	by	ADP
ap-1007	23	6	over	over	ADP
ap-1007	23	7	60	60	NUM
ap-1007	23	8	tutors	tutor	NOUN
ap-1007	23	9	at	at	ADP
ap-1007	23	10	23	23	NUM
ap-1007	23	11	institutes	institute	NOUN
ap-1007	23	12	,	,	PUNCT
ap-1007	23	13	and	and	CCONJ
ap-1007	23	14	are	be	AUX
ap-1007	23	15	encouraged	encourage	VERB
ap-1007	23	16	to	to	PART
ap-1007	23	17	create	create	VERB
ap-1007	23	18	their	their	PRON
ap-1007	23	19	own	own	ADJ
ap-1007	23	20	robotics	robotic	NOUN
ap-1007	23	21	applications	application	NOUN
ap-1007	23	22	.	.	PUNCT
ap-1007	24	1	we	we	PRON
ap-1007	24	2	describe	describe	VERB
ap-1007	24	3	how	how	SCONJ
ap-1007	24	4	the	the	DET
ap-1007	24	5	laboratory	laboratory	NOUN
ap-1007	24	6	motivates	motivate	VERB
ap-1007	24	7	the	the	DET
ap-1007	24	8	students	student	NOUN
ap-1007	24	9	to	to	PART
ap-1007	24	10	act	act	VERB
ap-1007	24	11	and	and	CCONJ
ap-1007	24	12	think	think	VERB
ap-1007	24	13	like	like	ADP
ap-1007	24	14	engineers	engineer	NOUN
ap-1007	24	15	and	and	CCONJ
ap-1007	24	16	to	to	PART
ap-1007	24	17	solve	solve	VERB
ap-1007	24	18	real	real	ADJ
ap-1007	24	19	-	-	PUNCT
ap-1007	24	20	world	world	NOUN
ap-1007	24	21	issues	issue	NOUN
ap-1007	24	22	with	with	ADP
ap-1007	24	23	limited	limited	ADJ
ap-1007	24	24	resources	resource	NOUN
ap-1007	24	25	.	.	PUNCT
ap-1007	25	1	the	the	DET
ap-1007	25	2	evaluation	evaluation	NOUN
ap-1007	25	3	results	result	NOUN
ap-1007	25	4	show	show	VERB
ap-1007	25	5	that	that	SCONJ
ap-1007	25	6	the	the	DET
ap-1007	25	7	proposed	propose	VERB
ap-1007	25	8	practical	practical	ADJ
ap-1007	25	9	course	course	NOUN
ap-1007	25	10	concept	concept	NOUN
ap-1007	25	11	successfully	successfully	ADV
ap-1007	25	12	boosts	boost	VERB
ap-1007	25	13	students	student	NOUN
ap-1007	25	14	’	'	PUNCT
ap-1007	25	15	motivation	motivation	NOUN
ap-1007	25	16	,	,	PUNCT
ap-1007	25	17	advances	advance	VERB
ap-1007	25	18	their	their	PRON
ap-1007	25	19	programming	programming	NOUN
ap-1007	25	20	skills	skill	NOUN
ap-1007	25	21	,	,	PUNCT
ap-1007	25	22	and	and	CCONJ
ap-1007	25	23	encourages	encourage	VERB
ap-1007	25	24	the	the	DET
ap-1007	25	25	peer	peer	NOUN
ap-1007	25	26	learning	learning	NOUN
ap-1007	25	27	process	process	NOUN
ap-1007	25	28	.	.	PUNCT
ap-1007	26	1	keywords	keyword	NOUN
ap-1007	26	2	:	:	PUNCT
ap-1007	26	3	first	first	ADJ
ap-1007	26	4	semester	semester	NOUN
ap-1007	26	5	students	student	NOUN
ap-1007	26	6	,	,	PUNCT
ap-1007	26	7	freshman	freshman	NOUN
ap-1007	26	8	course	course	NOUN
ap-1007	26	9	,	,	PUNCT
ap-1007	26	10	practical	practical	ADJ
ap-1007	26	11	engineering	engineering	NOUN
ap-1007	26	12	,	,	PUNCT
ap-1007	26	13	introduction	introduction	NOUN
ap-1007	26	14	to	to	ADP
ap-1007	26	15	programming	programming	NOUN
ap-1007	26	16	,	,	PUNCT
ap-1007	26	17	matlab	matlab	PROPN
ap-1007	26	18	,	,	PUNCT
ap-1007	26	19	lego	lego	NOUN
ap-1007	26	20	mindstorms	mindstorm	NOUN
ap-1007	26	21	,	,	PUNCT
ap-1007	26	22	robotics	robotic	NOUN
ap-1007	26	23	laboratory	laboratory	NOUN
ap-1007	26	24	,	,	PUNCT
ap-1007	26	25	project	project	NOUN
ap-1007	26	26	-	-	PUNCT
ap-1007	26	27	based	base	VERB
ap-1007	26	28	learning	learning	NOUN
ap-1007	26	29	.	.	PUNCT
ap-1007	27	1	fig	fig	NOUN
ap-1007	27	2	.	.	PUNCT
ap-1007	28	1	1	1	NUM
ap-1007	28	2	:	:	PUNCT
ap-1007	28	3	key	key	ADJ
ap-1007	28	4	objectives	objective	NOUN
ap-1007	28	5	of	of	ADP
ap-1007	28	6	the	the	DET
ap-1007	28	7	laboratory	laboratory	NOUN
ap-1007	28	8	the	the	DET
ap-1007	28	9	first	first	ADJ
ap-1007	28	10	learning	learn	VERB
ap-1007	28	11	target	target	NOUN
ap-1007	28	12	is	be	AUX
ap-1007	28	13	characterized	characterize	VERB
ap-1007	28	14	by	by	ADP
ap-1007	28	15	applying	apply	VERB
ap-1007	28	16	and	and	CCONJ
ap-1007	28	17	broadening	broaden	VERB
ap-1007	28	18	the	the	DET
ap-1007	28	19	student	student	NOUN
ap-1007	28	20	’s	’s	PART
ap-1007	28	21	mathematical	mathematical	ADJ
ap-1007	28	22	basic	basic	ADJ
ap-1007	28	23	knowledge	knowledge	NOUN
ap-1007	28	24	that	that	PRON
ap-1007	28	25	has	have	AUX
ap-1007	28	26	been	be	AUX
ap-1007	28	27	imparted	impart	VERB
ap-1007	28	28	by	by	ADP
ap-1007	28	29	the	the	DET
ap-1007	28	30	first	first	ADJ
ap-1007	28	31	semester	semester	NOUN
ap-1007	28	32	lecture	lecture	NOUN
ap-1007	28	33	in	in	ADP
ap-1007	28	34	“	"	PUNCT
ap-1007	28	35	mathematical	mathematical	ADJ
ap-1007	28	36	methods	method	NOUN
ap-1007	28	37	in	in	ADP
ap-1007	28	38	electrical	electrical	ADJ
ap-1007	28	39	engineering	engineering	NOUN
ap-1007	28	40	”	"	PUNCT
ap-1007	28	41	.	.	PUNCT
ap-1007	29	1	the	the	DET
ap-1007	29	2	content	content	NOUN
ap-1007	29	3	of	of	ADP
ap-1007	29	4	this	this	DET
ap-1007	29	5	course	course	NOUN
ap-1007	29	6	includes	include	VERB
ap-1007	29	7	an	an	DET
ap-1007	29	8	introduction	introduction	NOUN
ap-1007	29	9	to	to	ADP
ap-1007	29	10	digital	digital	ADJ
ap-1007	29	11	signal	signal	NOUN
ap-1007	29	12	processing	processing	NOUN
ap-1007	29	13	and	and	CCONJ
ap-1007	29	14	system	system	NOUN
ap-1007	29	15	theory	theory	NOUN
ap-1007	29	16	[	[	X
ap-1007	29	17	6	6	NUM
ap-1007	29	18	]	]	PUNCT
ap-1007	29	19	with	with	ADP
ap-1007	29	20	topics	topic	NOUN
ap-1007	29	21	like	like	ADP
ap-1007	29	22	complex	complex	ADJ
ap-1007	29	23	numbers	number	NOUN
ap-1007	29	24	,	,	PUNCT
ap-1007	29	25	sampling	sample	VERB
ap-1007	29	26	of	of	ADP
ap-1007	29	27	functions	function	NOUN
ap-1007	29	28	,	,	PUNCT
ap-1007	29	29	the	the	DET
ap-1007	29	30	fourier	fourier	NOUN
ap-1007	29	31	transform	transform	NOUN
ap-1007	29	32	,	,	PUNCT
ap-1007	29	33	polynomials	polynomial	NOUN
ap-1007	29	34	,	,	PUNCT
ap-1007	29	35	vector	vector	NOUN
ap-1007	29	36	spaces	space	NOUN
ap-1007	29	37	and	and	CCONJ
ap-1007	29	38	matrix	matrix	NOUN
ap-1007	29	39	operations	operation	NOUN
ap-1007	29	40	.	.	PUNCT
ap-1007	30	1	based	base	VERB
ap-1007	30	2	on	on	ADP
ap-1007	30	3	these	these	DET
ap-1007	30	4	theoretical	theoretical	ADJ
ap-1007	30	5	foundations	foundation	NOUN
ap-1007	30	6	,	,	PUNCT
ap-1007	30	7	the	the	DET
ap-1007	30	8	students	student	NOUN
ap-1007	30	9	are	be	AUX
ap-1007	30	10	inspired	inspire	VERB
ap-1007	30	11	to	to	PART
ap-1007	30	12	link	link	VERB
ap-1007	30	13	theoretical	theoretical	ADJ
ap-1007	30	14	methods	method	NOUN
ap-1007	30	15	to	to	ADP
ap-1007	30	16	practical	practical	ADJ
ap-1007	30	17	issues	issue	NOUN
ap-1007	30	18	provided	provide	VERB
ap-1007	30	19	by	by	ADP
ap-1007	30	20	the	the	DET
ap-1007	30	21	last	last	ADJ
ap-1007	30	22	two	two	NUM
ap-1007	30	23	objectives	objective	NOUN
ap-1007	30	24	of	of	ADP
ap-1007	30	25	the	the	DET
ap-1007	30	26	project	project	NOUN
ap-1007	30	27	.	.	PUNCT
ap-1007	31	1	the	the	DET
ap-1007	31	2	second	second	ADJ
ap-1007	31	3	objective	objective	NOUN
ap-1007	31	4	represents	represent	VERB
ap-1007	31	5	the	the	DET
ap-1007	31	6	acquisition	acquisition	NOUN
ap-1007	31	7	of	of	ADP
ap-1007	31	8	programming	programming	NOUN
ap-1007	31	9	skills	skill	NOUN
ap-1007	31	10	in	in	ADP
ap-1007	31	11	matlab	matlab	PROPN
ap-1007	31	12	and	and	CCONJ
ap-1007	31	13	the	the	DET
ap-1007	31	14	transfer	transfer	NOUN
ap-1007	31	15	of	of	ADP
ap-1007	31	16	mathematical	mathematical	ADJ
ap-1007	31	17	methods	method	NOUN
ap-1007	31	18	to	to	ADP
ap-1007	31	19	programming	programming	NOUN
ap-1007	31	20	algorithms	algorithm	NOUN
ap-1007	31	21	.	.	PUNCT
ap-1007	32	1	experience	experience	NOUN
ap-1007	32	2	has	have	AUX
ap-1007	32	3	shown	show	VERB
ap-1007	32	4	that	that	SCONJ
ap-1007	32	5	the	the	DET
ap-1007	32	6	most	most	ADV
ap-1007	32	7	efficient	efficient	ADJ
ap-1007	32	8	learning	learning	NOUN
ap-1007	32	9	process	process	NOUN
ap-1007	32	10	can	can	AUX
ap-1007	32	11	be	be	AUX
ap-1007	32	12	achieved	achieve	VERB
ap-1007	32	13	by	by	ADP
ap-1007	32	14	unassisted	unassisted	ADJ
ap-1007	32	15	writing	writing	NOUN
ap-1007	32	16	of	of	ADP
ap-1007	32	17	program	program	NOUN
ap-1007	32	18	code	code	NOUN
ap-1007	32	19	.	.	PUNCT
ap-1007	33	1	therefore	therefore	ADV
ap-1007	33	2	the	the	DET
ap-1007	33	3	students	student	NOUN
ap-1007	33	4	are	be	AUX
ap-1007	33	5	encouraged	encourage	VERB
ap-1007	33	6	to	to	PART
ap-1007	33	7	develop	develop	VERB
ap-1007	33	8	their	their	PRON
ap-1007	33	9	own	own	ADJ
ap-1007	33	10	code	code	NOUN
ap-1007	33	11	right	right	ADV
ap-1007	33	12	from	from	ADP
ap-1007	33	13	the	the	DET
ap-1007	33	14	beginning	beginning	NOUN
ap-1007	33	15	.	.	PUNCT
ap-1007	34	1	the	the	DET
ap-1007	34	2	introduction	introduction	NOUN
ap-1007	34	3	of	of	ADP
ap-1007	34	4	matlab	matlab	PROPN
ap-1007	34	5	as	as	ADP
ap-1007	34	6	a	a	DET
ap-1007	34	7	text	text	NOUN
ap-1007	34	8	-	-	PUNCT
ap-1007	34	9	based	base	VERB
ap-1007	34	10	programming	programming	NOUN
ap-1007	34	11	software	software	NOUN
ap-1007	34	12	in	in	ADP
ap-1007	34	13	this	this	DET
ap-1007	34	14	lab	lab	NOUN
ap-1007	34	15	is	be	AUX
ap-1007	34	16	motivated	motivate	VERB
ap-1007	34	17	by	by	ADP
ap-1007	34	18	direct	direct	ADJ
ap-1007	34	19	and	and	CCONJ
ap-1007	34	20	intuitive	intuitive	ADJ
ap-1007	34	21	access	access	NOUN
ap-1007	34	22	to	to	ADP
ap-1007	34	23	vectors	vector	NOUN
ap-1007	34	24	and	and	CCONJ
ap-1007	34	25	matrices	matrix	NOUN
ap-1007	34	26	.	.	PUNCT
ap-1007	35	1	however	however	ADV
ap-1007	35	2	this	this	DET
ap-1007	35	3	software	software	NOUN
ap-1007	35	4	is	be	AUX
ap-1007	35	5	also	also	ADV
ap-1007	35	6	widely	widely	ADV
ap-1007	35	7	used	use	VERB
ap-1007	35	8	in	in	ADP
ap-1007	35	9	industry	industry	NOUN
ap-1007	35	10	and	and	CCONJ
ap-1007	35	11	in	in	ADP
ap-1007	35	12	other	other	ADJ
ap-1007	35	13	courses	course	NOUN
ap-1007	35	14	at	at	ADP
ap-1007	35	15	rwth	rwth	PROPN
ap-1007	35	16	aachen	aachen	PROPN
ap-1007	35	17	university	university	PROPN
ap-1007	35	18	.	.	PUNCT
ap-1007	36	1	the	the	DET
ap-1007	36	2	third	third	ADJ
ap-1007	36	3	learning	learn	VERB
ap-1007	36	4	target	target	NOUN
ap-1007	36	5	promotes	promote	VERB
ap-1007	36	6	practical	practical	ADJ
ap-1007	36	7	engineering	engineering	NOUN
ap-1007	36	8	of	of	ADP
ap-1007	36	9	real	real	ADJ
ap-1007	36	10	-	-	PUNCT
ap-1007	36	11	world	world	NOUN
ap-1007	36	12	applications	application	NOUN
ap-1007	36	13	and	and	CCONJ
ap-1007	36	14	challenging	challenging	ADJ
ap-1007	36	15	tasks	task	NOUN
ap-1007	36	16	by	by	ADP
ap-1007	36	17	using	use	VERB
ap-1007	36	18	programmable	programmable	ADJ
ap-1007	36	19	and	and	CCONJ
ap-1007	36	20	remote	remote	ADJ
ap-1007	36	21	-	-	PUNCT
ap-1007	36	22	controlled	control	VERB
ap-1007	36	23	lego	lego	NOUN
ap-1007	36	24	mindstorms	mindstorm	NOUN
ap-1007	36	25	nxt	nxt	PROPN
ap-1007	36	26	robots	robot	NOUN
ap-1007	36	27	[	[	X
ap-1007	36	28	8	8	NUM
ap-1007	36	29	]	]	PUNCT
ap-1007	36	30	.	.	PUNCT
ap-1007	37	1	the	the	DET
ap-1007	37	2	standard	standard	ADJ
ap-1007	37	3	nxt	nxt	PROPN
ap-1007	37	4	education	education	NOUN
ap-1007	37	5	kit	kit	NOUN
ap-1007	37	6	provides	provide	VERB
ap-1007	37	7	four	four	NUM
ap-1007	37	8	different	different	ADJ
ap-1007	37	9	sensors	sensor	NOUN
ap-1007	37	10	(	(	PUNCT
ap-1007	37	11	touch	touch	NOUN
ap-1007	37	12	,	,	PUNCT
ap-1007	37	13	sound	sound	ADJ
ap-1007	37	14	,	,	PUNCT
ap-1007	37	15	light	light	NOUN
ap-1007	37	16	and	and	CCONJ
ap-1007	37	17	ultrasonic	ultrasonic	ADJ
ap-1007	37	18	,	,	PUNCT
ap-1007	37	19	which	which	PRON
ap-1007	37	20	is	be	AUX
ap-1007	37	21	used	use	VERB
ap-1007	37	22	for	for	ADP
ap-1007	37	23	measuring	measure	VERB
ap-1007	37	24	distances	distance	NOUN
ap-1007	37	25	)	)	PUNCT
ap-1007	37	26	and	and	CCONJ
ap-1007	37	27	motors	motor	NOUN
ap-1007	37	28	,	,	PUNCT
ap-1007	37	29	illustrated	illustrate	VERB
ap-1007	37	30	in	in	ADP
ap-1007	37	31	fig	fig	NOUN
ap-1007	37	32	.	.	PUNCT
ap-1007	38	1	2	2	X
ap-1007	38	2	.	.	X
ap-1007	38	3	the	the	DET
ap-1007	38	4	advantage	advantage	NOUN
ap-1007	38	5	of	of	ADP
ap-1007	38	6	using	use	VERB
ap-1007	38	7	this	this	DET
ap-1007	38	8	robotic	robotic	ADJ
ap-1007	38	9	system	system	NOUN
ap-1007	38	10	is	be	AUX
ap-1007	38	11	that	that	SCONJ
ap-1007	38	12	,	,	PUNCT
ap-1007	38	13	on	on	ADP
ap-1007	38	14	the	the	DET
ap-1007	38	15	one	one	NUM
ap-1007	38	16	hand	hand	NOUN
ap-1007	38	17	,	,	PUNCT
ap-1007	38	18	complex	complex	ADJ
ap-1007	38	19	robots	robot	NOUN
ap-1007	38	20	can	can	AUX
ap-1007	38	21	be	be	AUX
ap-1007	38	22	easily	easily	ADV
ap-1007	38	23	built	build	VERB
ap-1007	38	24	with	with	ADP
ap-1007	38	25	standard	standard	ADJ
ap-1007	38	26	lego	lego	NOUN
ap-1007	38	27	bricks	brick	NOUN
ap-1007	38	28	,	,	PUNCT
ap-1007	38	29	while	while	SCONJ
ap-1007	38	30	on	on	ADP
ap-1007	38	31	the	the	DET
ap-1007	38	32	other	other	ADJ
ap-1007	38	33	hand	hand	NOUN
ap-1007	38	34	application	application	NOUN
ap-1007	38	35	constraints	constraint	NOUN
ap-1007	38	36	are	be	AUX
ap-1007	38	37	given	give	VERB
ap-1007	38	38	by	by	ADP
ap-1007	38	39	the	the	DET
ap-1007	38	40	limited	limited	ADJ
ap-1007	38	41	brick	brick	NOUN
ap-1007	38	42	types	type	NOUN
ap-1007	38	43	and	and	CCONJ
ap-1007	38	44	the	the	DET
ap-1007	38	45	low	low	ADJ
ap-1007	38	46	-	-	PUNCT
ap-1007	38	47	budget	budget	NOUN
ap-1007	38	48	sensor	sensor	NOUN
ap-1007	38	49	accuracy	accuracy	NOUN
ap-1007	38	50	.	.	PUNCT
ap-1007	39	1	limited	limited	ADJ
ap-1007	39	2	project	project	NOUN
ap-1007	39	3	resources	resource	NOUN
ap-1007	39	4	are	be	AUX
ap-1007	39	5	essential	essential	ADJ
ap-1007	39	6	for	for	ADP
ap-1007	39	7	simulating	simulate	VERB
ap-1007	39	8	authentic	authentic	ADJ
ap-1007	39	9	engineering	engineering	NOUN
ap-1007	39	10	tasks	task	NOUN
ap-1007	39	11	and	and	CCONJ
ap-1007	39	12	real	real	ADJ
ap-1007	39	13	-	-	PUNCT
ap-1007	39	14	world	world	NOUN
ap-1007	39	15	problems	problem	NOUN
ap-1007	39	16	.	.	PUNCT
ap-1007	40	1	in	in	ADP
ap-1007	40	2	addition	addition	NOUN
ap-1007	40	3	,	,	PUNCT
ap-1007	40	4	the	the	DET
ap-1007	40	5	lab	lab	NOUN
ap-1007	40	6	supports	support	VERB
ap-1007	40	7	a	a	DET
ap-1007	40	8	peer	peer	NOUN
ap-1007	40	9	learning	learning	NOUN
ap-1007	40	10	process	process	NOUN
ap-1007	40	11	,	,	PUNCT
ap-1007	40	12	in	in	ADP
ap-1007	40	13	which	which	PRON
ap-1007	40	14	the	the	DET
ap-1007	40	15	students	student	NOUN
ap-1007	40	16	acquire	acquire	VERB
ap-1007	40	17	soft	soft	ADJ
ap-1007	40	18	skills	skill	NOUN
ap-1007	40	19	like	like	ADP
ap-1007	40	20	collaboration	collaboration	NOUN
ap-1007	40	21	,	,	PUNCT
ap-1007	40	22	team	team	NOUN
ap-1007	40	23	work	work	NOUN
ap-1007	40	24	and	and	CCONJ
ap-1007	40	25	leadership	leadership	NOUN
ap-1007	40	26	[	[	X
ap-1007	40	27	5,10	5,10	NUM
ap-1007	40	28	]	]	X
ap-1007	40	29	.	.	PUNCT
ap-1007	41	1	overall	overall	ADV
ap-1007	41	2	,	,	PUNCT
ap-1007	41	3	the	the	DET
ap-1007	41	4	laboratory	laboratory	NOUN
ap-1007	41	5	assists	assist	VERB
ap-1007	41	6	freshmen	freshman	NOUN
ap-1007	41	7	to	to	PART
ap-1007	41	8	handle	handle	VERB
ap-1007	41	9	practical	practical	ADJ
ap-1007	41	10	issues	issue	NOUN
ap-1007	41	11	in	in	ADP
ap-1007	41	12	the	the	DET
ap-1007	41	13	manner	manner	NOUN
ap-1007	41	14	of	of	ADP
ap-1007	41	15	engineers	engineer	NOUN
ap-1007	41	16	.	.	PUNCT
ap-1007	42	1	the	the	DET
ap-1007	42	2	student	student	NOUN
ap-1007	42	3	groups	group	NOUN
ap-1007	42	4	have	have	VERB
ap-1007	42	5	to	to	PART
ap-1007	42	6	build	build	VERB
ap-1007	42	7	mindstorms	mindstorm	NOUN
ap-1007	42	8	robots	robot	NOUN
ap-1007	42	9	and	and	CCONJ
ap-1007	42	10	develop	develop	VERB
ap-1007	42	11	algorithms	algorithm	NOUN
ap-1007	42	12	in	in	ADP
ap-1007	42	13	matlab	matlab	PROPN
ap-1007	42	14	.	.	PUNCT
ap-1007	43	1	thus	thus	ADV
ap-1007	43	2	,	,	PUNCT
ap-1007	43	3	the	the	DET
ap-1007	43	4	name	name	NOUN
ap-1007	43	5	of	of	ADP
ap-1007	43	6	the	the	DET
ap-1007	43	7	project	project	NOUN
ap-1007	43	8	is	be	AUX
ap-1007	43	9	derived	derive	VERB
ap-1007	43	10	straightforward	straightforward	ADJ
ap-1007	43	11	as	as	SCONJ
ap-1007	43	12	“	"	PUNCT
ap-1007	43	13	matlab	matlab	PROPN
ap-1007	43	14	meets	meet	VERB
ap-1007	43	15	lego	lego	NOUN
ap-1007	43	16	mindstorms	mindstorm	NOUN
ap-1007	43	17	”	"	PUNCT
ap-1007	43	18	.	.	PUNCT
ap-1007	44	1	3	3	NUM
ap-1007	44	2	project	project	NOUN
ap-1007	44	3	structure	structure	NOUN
ap-1007	44	4	and	and	CCONJ
ap-1007	44	5	management	management	NOUN
ap-1007	44	6	the	the	DET
ap-1007	44	7	project	project	NOUN
ap-1007	44	8	first	first	ADV
ap-1007	44	9	took	take	VERB
ap-1007	44	10	place	place	NOUN
ap-1007	44	11	in	in	ADP
ap-1007	44	12	december	december	PROPN
ap-1007	44	13	2007	2007	NUM
ap-1007	44	14	.	.	PUNCT
ap-1007	45	1	it	it	PRON
ap-1007	45	2	was	be	AUX
ap-1007	45	3	performed	perform	VERB
ap-1007	45	4	as	as	ADP
ap-1007	45	5	an	an	DET
ap-1007	45	6	eight	eight	NUM
ap-1007	45	7	-	-	PUNCT
ap-1007	45	8	day	day	NOUN
ap-1007	45	9	full	full	ADJ
ap-1007	45	10	-	-	PUNCT
ap-1007	45	11	time	time	NOUN
ap-1007	45	12	(	(	PUNCT
ap-1007	45	13	six	six	NUM
ap-1007	45	14	hours	hour	NOUN
ap-1007	45	15	per	per	ADP
ap-1007	45	16	day	day	NOUN
ap-1007	45	17	)	)	PUNCT
ap-1007	45	18	block	block	NOUN
ap-1007	45	19	course	course	NOUN
ap-1007	45	20	.	.	PUNCT
ap-1007	46	1	thus	thus	ADV
ap-1007	46	2	,	,	PUNCT
ap-1007	46	3	the	the	DET
ap-1007	46	4	students	student	NOUN
ap-1007	46	5	could	could	AUX
ap-1007	46	6	focus	focus	VERB
ap-1007	46	7	entirely	entirely	ADV
ap-1007	46	8	on	on	ADP
ap-1007	46	9	the	the	DET
ap-1007	46	10	project	project	NOUN
ap-1007	46	11	while	while	SCONJ
ap-1007	46	12	other	other	ADJ
ap-1007	46	13	first	first	ADJ
ap-1007	46	14	semester	semester	NOUN
ap-1007	46	15	lectures	lecture	NOUN
ap-1007	46	16	paused	pause	VERB
ap-1007	46	17	.	.	PUNCT
ap-1007	47	1	309	309	NUM
ap-1007	47	2	freshmen	freshman	NOUN
ap-1007	47	3	participated	participate	VERB
ap-1007	47	4	in	in	ADP
ap-1007	47	5	the	the	DET
ap-1007	47	6	lab	lab	NOUN
ap-1007	47	7	and	and	CCONJ
ap-1007	47	8	were	be	AUX
ap-1007	47	9	guided	guide	VERB
ap-1007	47	10	by	by	ADP
ap-1007	47	11	more	more	ADJ
ap-1007	47	12	than	than	ADP
ap-1007	47	13	60	60	NUM
ap-1007	47	14	supervisors	supervisor	NOUN
ap-1007	47	15	at	at	ADP
ap-1007	47	16	23	23	NUM
ap-1007	47	17	institutes	institute	NOUN
ap-1007	47	18	of	of	ADP
ap-1007	47	19	the	the	DET
ap-1007	47	20	faculty	faculty	NOUN
ap-1007	47	21	.	.	PUNCT
ap-1007	48	1	a	a	DET
ap-1007	48	2	total	total	NOUN
ap-1007	48	3	of	of	ADP
ap-1007	48	4	more	more	ADJ
ap-1007	48	5	than	than	ADP
ap-1007	48	6	150	150	NUM
ap-1007	48	7	computer	computer	NOUN
ap-1007	48	8	workplaces	workplace	NOUN
ap-1007	48	9	were	be	AUX
ap-1007	48	10	provided	provide	VERB
ap-1007	48	11	and	and	CCONJ
ap-1007	48	12	100	100	NUM
ap-1007	48	13	lego	lego	NOUN
ap-1007	48	14	mindstorms	mindstorm	NOUN
ap-1007	48	15	nxt	nxt	PROPN
ap-1007	48	16	robotics	robotic	NOUN
ap-1007	48	17	sets	set	NOUN
ap-1007	48	18	were	be	AUX
ap-1007	48	19	bought	buy	VERB
ap-1007	48	20	.	.	PUNCT
ap-1007	49	1	each	each	DET
ap-1007	49	2	student	student	NOUN
ap-1007	49	3	group	group	NOUN
ap-1007	49	4	of	of	ADP
ap-1007	49	5	four	four	NUM
ap-1007	49	6	shared	share	VERB
ap-1007	49	7	one	one	NUM
ap-1007	49	8	robot	robot	NOUN
ap-1007	49	9	kit	kit	NOUN
ap-1007	49	10	and	and	CCONJ
ap-1007	49	11	two	two	NUM
ap-1007	49	12	computers	computer	NOUN
ap-1007	49	13	.	.	PUNCT
ap-1007	50	1	the	the	DET
ap-1007	50	2	project	project	NOUN
ap-1007	50	3	management	management	NOUN
ap-1007	50	4	and	and	CCONJ
ap-1007	50	5	development	development	NOUN
ap-1007	50	6	of	of	ADP
ap-1007	50	7	the	the	DET
ap-1007	50	8	lab	lab	NOUN
ap-1007	50	9	exercises	exercise	NOUN
ap-1007	50	10	was	be	AUX
ap-1007	50	11	organized	organize	VERB
ap-1007	50	12	by	by	ADP
ap-1007	50	13	a	a	DET
ap-1007	50	14	small	small	ADJ
ap-1007	50	15	core	core	NOUN
ap-1007	50	16	team	team	NOUN
ap-1007	50	17	of	of	ADP
ap-1007	50	18	supervisors	supervisor	NOUN
ap-1007	50	19	,	,	PUNCT
ap-1007	50	20	who	who	PRON
ap-1007	50	21	are	be	AUX
ap-1007	50	22	members	member	NOUN
ap-1007	50	23	of	of	ADP
ap-1007	50	24	five	five	NUM
ap-1007	50	25	different	different	ADJ
ap-1007	50	26	departments	department	NOUN
ap-1007	50	27	of	of	ADP
ap-1007	50	28	the	the	DET
ap-1007	50	29	faculty	faculty	NOUN
ap-1007	50	30	.	.	PUNCT
ap-1007	51	1	within	within	ADP
ap-1007	51	2	a	a	DET
ap-1007	51	3	four	four	NUM
ap-1007	51	4	-	-	PUNCT
ap-1007	51	5	month	month	NOUN
ap-1007	51	6	period	period	NOUN
ap-1007	51	7	the	the	DET
ap-1007	51	8	team	team	NOUN
ap-1007	51	9	determined	determine	VERB
ap-1007	51	10	the	the	DET
ap-1007	51	11	required	required	ADJ
ap-1007	51	12	resources	resource	NOUN
ap-1007	51	13	,	,	PUNCT
ap-1007	51	14	developed	develop	VERB
ap-1007	51	15	a	a	DET
ap-1007	51	16	system	system	NOUN
ap-1007	51	17	environment	environment	NOUN
ap-1007	51	18	,	,	PUNCT
ap-1007	51	19	created	create	VERB
ap-1007	51	20	lab	lab	NOUN
ap-1007	51	21	exercises	exercise	NOUN
ap-1007	51	22	and	and	CCONJ
ap-1007	51	23	demonstrations	demonstration	NOUN
ap-1007	51	24	,	,	PUNCT
ap-1007	51	25	and	and	CCONJ
ap-1007	51	26	trained	train	VERB
ap-1007	51	27	60	60	NUM
ap-1007	51	28	supervisors	supervisor	NOUN
ap-1007	51	29	to	to	PART
ap-1007	51	30	achieve	achieve	VERB
ap-1007	51	31	the	the	DET
ap-1007	51	32	proposed	propose	VERB
ap-1007	51	33	learning	learning	NOUN
ap-1007	51	34	targets	target	NOUN
ap-1007	51	35	.	.	PUNCT
ap-1007	52	1	since	since	SCONJ
ap-1007	52	2	the	the	DET
ap-1007	52	3	focus	focus	NOUN
ap-1007	52	4	of	of	ADP
ap-1007	52	5	the	the	DET
ap-1007	52	6	lab	lab	NOUN
ap-1007	52	7	is	be	AUX
ap-1007	52	8	on	on	ADP
ap-1007	52	9	mathematical	mathematical	ADJ
ap-1007	52	10	methods	method	NOUN
ap-1007	52	11	,	,	PUNCT
ap-1007	52	12	digital	digital	ADJ
ap-1007	52	13	signal	signal	NOUN
ap-1007	52	14	processing	processing	NOUN
ap-1007	52	15	,	,	PUNCT
ap-1007	52	16	and	and	CCONJ
ap-1007	52	17	mechatronic	mechatronic	ADJ
ap-1007	52	18	aspects	aspect	NOUN
ap-1007	52	19	using	use	VERB
ap-1007	52	20	matlab	matlab	PROPN
ap-1007	52	21	,	,	PUNCT
ap-1007	52	22	the	the	DET
ap-1007	52	23	nxt	nxt	PROPN
ap-1007	52	24	robots	robot	NOUN
ap-1007	52	25	have	have	VERB
ap-1007	52	26	to	to	PART
ap-1007	52	27	be	be	AUX
ap-1007	52	28	controlled	control	VERB
ap-1007	52	29	directly	directly	ADV
ap-1007	52	30	via	via	ADP
ap-1007	52	31	matlab	matlab	PROPN
ap-1007	52	32	.	.	PUNCT
ap-1007	53	1	to	to	PART
ap-1007	53	2	provide	provide	VERB
ap-1007	53	3	remote	remote	ADJ
ap-1007	53	4	-	-	PUNCT
ap-1007	53	5	control	control	NOUN
ap-1007	53	6	and	and	CCONJ
ap-1007	53	7	mobility	mobility	NOUN
ap-1007	53	8	for	for	ADP
ap-1007	53	9	autonomous	autonomous	ADJ
ap-1007	53	10	robots	robot	NOUN
ap-1007	53	11	the	the	DET
ap-1007	53	12	usage	usage	NOUN
ap-1007	53	13	ofthe	ofthe	PROPN
ap-1007	53	14	wireless	wireless	PROPN
ap-1007	53	15	bluetooth	bluetooth	PROPN
ap-1007	53	16	®	®	PROPN
ap-1007	53	17	communication	communication	NOUN
ap-1007	53	18	interface	interface	NOUN
ap-1007	53	19	of	of	ADP
ap-1007	53	20	the	the	DET
ap-1007	53	21	novel	novel	ADJ
ap-1007	53	22	lego	lego	NOUN
ap-1007	53	23	mindstorms	mindstorm	NOUN
ap-1007	53	24	nxt	nxt	PROPN
ap-1007	53	25	series	series	PROPN
ap-1007	53	26	with	with	ADP
ap-1007	53	27	its	its	PRON
ap-1007	53	28	original	original	ADJ
ap-1007	53	29	firmware	firmware	NOUN
ap-1007	53	30	was	be	AUX
ap-1007	53	31	chosen	choose	VERB
ap-1007	53	32	.	.	PUNCT
ap-1007	54	1	based	base	VERB
ap-1007	54	2	on	on	ADP
ap-1007	54	3	the	the	DET
ap-1007	54	4	communication	communication	NOUN
ap-1007	54	5	protocol	protocol	NOUN
ap-1007	54	6	,	,	PUNCT
ap-1007	54	7	the	the	DET
ap-1007	54	8	core	core	NOUN
ap-1007	54	9	team	team	NOUN
ap-1007	54	10	developed	develop	VERB
ap-1007	54	11	a	a	DET
ap-1007	54	12	new	new	ADJ
ap-1007	54	13	matlab	matlab	PROPN
ap-1007	54	14	toolbox	toolbox	NOUN
ap-1007	54	15	,	,	PUNCT
ap-1007	54	16	which	which	PRON
ap-1007	54	17	provides	provide	VERB
ap-1007	54	18	a	a	DET
ap-1007	54	19	direct	direct	ADJ
ap-1007	54	20	interface	interface	NOUN
ap-1007	54	21	between	between	ADP
ap-1007	54	22	matlab	matlab	PROPN
ap-1007	54	23	and	and	CCONJ
ap-1007	54	24	nxt	nxt	PROPN
ap-1007	54	25	robots	robot	NOUN
ap-1007	54	26	.	.	PUNCT
ap-1007	55	1	in	in	ADP
ap-1007	55	2	three	three	NUM
ap-1007	55	3	-	-	PUNCT
ap-1007	55	4	weekly	weekly	ADJ
ap-1007	55	5	meetings	meeting	NOUN
ap-1007	55	6	,	,	PUNCT
ap-1007	55	7	the	the	DET
ap-1007	55	8	software	software	NOUN
ap-1007	55	9	design	design	NOUN
ap-1007	55	10	was	be	AUX
ap-1007	55	11	defined	define	VERB
ap-1007	55	12	and	and	CCONJ
ap-1007	55	13	the	the	DET
ap-1007	55	14	contents	content	NOUN
ap-1007	55	15	of	of	ADP
ap-1007	55	16	the	the	DET
ap-1007	55	17	new	new	ADJ
ap-1007	55	18	lab	lab	NOUN
ap-1007	55	19	exercises	exercise	NOUN
ap-1007	55	20	were	be	AUX
ap-1007	55	21	discussed	discuss	VERB
ap-1007	55	22	and	and	CCONJ
ap-1007	55	23	developed	develop	VERB
ap-1007	55	24	.	.	PUNCT
ap-1007	56	1	eventually	eventually	ADV
ap-1007	56	2	the	the	DET
ap-1007	56	3	practical	practical	ADJ
ap-1007	56	4	exercises	exercise	NOUN
ap-1007	56	5	were	be	AUX
ap-1007	56	6	documented	document	VERB
ap-1007	56	7	and	and	CCONJ
ap-1007	56	8	introduced	introduce	VERB
ap-1007	56	9	to	to	ADP
ap-1007	56	10	the	the	DET
ap-1007	56	11	other	other	ADJ
ap-1007	56	12	supervisors	supervisor	NOUN
ap-1007	56	13	of	of	ADP
ap-1007	56	14	the	the	DET
ap-1007	56	15	faculty	faculty	NOUN
ap-1007	56	16	.	.	PUNCT
ap-1007	57	1	4	4	NUM
ap-1007	57	2	rwth	rwth	NOUN
ap-1007	57	3	–	–	PUNCT
ap-1007	57	4	mindstorms	mindstorm	NOUN
ap-1007	57	5	nxt	nxt	PROPN
ap-1007	57	6	toolbox	toolbox	NOUN
ap-1007	57	7	despite	despite	SCONJ
ap-1007	57	8	the	the	DET
ap-1007	57	9	wide	wide	ADJ
ap-1007	57	10	choice	choice	NOUN
ap-1007	57	11	of	of	ADP
ap-1007	57	12	commercial	commercial	ADJ
ap-1007	57	13	and	and	CCONJ
ap-1007	57	14	free	free	ADJ
ap-1007	57	15	nxt	nxt	PROPN
ap-1007	57	16	software	software	NOUN
ap-1007	57	17	for	for	ADP
ap-1007	57	18	different	different	ADJ
ap-1007	57	19	programming	programming	NOUN
ap-1007	57	20	languages	language	NOUN
ap-1007	57	21	[	[	X
ap-1007	57	22	11	11	NUM
ap-1007	57	23	]	]	PUNCT
ap-1007	57	24	,	,	PUNCT
ap-1007	57	25	no	no	DET
ap-1007	57	26	implementation	implementation	NOUN
ap-1007	57	27	is	be	AUX
ap-1007	57	28	applicable	applicable	ADJ
ap-1007	57	29	for	for	ADP
ap-1007	57	30	the	the	DET
ap-1007	57	31	desired	desire	VERB
ap-1007	57	32	direct	direct	ADJ
ap-1007	57	33	computer	computer	NOUN
ap-1007	57	34	-	-	PUNCT
ap-1007	57	35	robot	robot	NOUN
ap-1007	57	36	communication	communication	NOUN
ap-1007	57	37	via	via	ADP
ap-1007	57	38	matlab	matlab	PROPN
ap-1007	57	39	without	without	ADP
ap-1007	57	40	additional	additional	ADJ
ap-1007	57	41	software	software	NOUN
ap-1007	57	42	.	.	PUNCT
ap-1007	58	1	for	for	ADP
ap-1007	58	2	this	this	DET
ap-1007	58	3	reason	reason	NOUN
ap-1007	58	4	,	,	PUNCT
ap-1007	58	5	a	a	DET
ap-1007	58	6	novel	novel	ADJ
ap-1007	58	7	software	software	NOUN
ap-1007	58	8	toolbox	toolbox	NOUN
ap-1007	58	9	,	,	PUNCT
ap-1007	58	10	called	call	VERB
ap-1007	58	11	“	"	PUNCT
ap-1007	58	12	rwth	rwth	NOUN
ap-1007	58	13	–	–	PUNCT
ap-1007	58	14	mindstorms	mindstorm	NOUN
ap-1007	58	15	nxt	nxt	PROPN
ap-1007	58	16	toolbox	toolbox	NOUN
ap-1007	58	17	”	"	PUNCT
ap-1007	58	18	was	be	AUX
ap-1007	58	19	developed	develop	VERB
ap-1007	58	20	and	and	CCONJ
ap-1007	58	21	the	the	DET
ap-1007	58	22	lego	lego	NOUN
ap-1007	58	23	mindstorms	mindstorm	NOUN
ap-1007	58	24	bluetooth	bluetooth	PROPN
ap-1007	58	25	communication	communication	NOUN
ap-1007	58	26	protocol	protocol	NOUN
ap-1007	59	1	[	[	X
ap-1007	59	2	9	9	NUM
ap-1007	59	3	]	]	PUNCT
ap-1007	59	4	were	be	AUX
ap-1007	59	5	adapted	adapt	VERB
ap-1007	59	6	to	to	ADP
ap-1007	59	7	matlab	matlab	PROPN
ap-1007	59	8	functions	function	NOUN
ap-1007	59	9	.	.	PUNCT
ap-1007	60	1	with	with	ADP
ap-1007	60	2	these	these	DET
ap-1007	60	3	functions	function	NOUN
ap-1007	60	4	,	,	PUNCT
ap-1007	60	5	all	all	DET
ap-1007	60	6	nxt	nxt	PROPN
ap-1007	60	7	standard	standard	ADJ
ap-1007	60	8	sensors	sensor	NOUN
ap-1007	60	9	and	and	CCONJ
ap-1007	60	10	servo	servo	NOUN
ap-1007	60	11	motors	motor	NOUN
ap-1007	60	12	can	can	AUX
ap-1007	60	13	be	be	AUX
ap-1007	60	14	controlled	control	VERB
ap-1007	60	15	,	,	PUNCT
ap-1007	60	16	and	and	CCONJ
ap-1007	60	17	various	various	ADJ
ap-1007	60	18	other	other	ADJ
ap-1007	60	19	system	system	NOUN
ap-1007	60	20	features	feature	VERB
ap-1007	60	21	like	like	ADP
ap-1007	60	22	reading	read	VERB
ap-1007	60	23	the	the	DET
ap-1007	60	24	battery	battery	NOUN
ap-1007	60	25	level	level	NOUN
ap-1007	60	26	or	or	CCONJ
ap-1007	60	27	playing	play	VERB
ap-1007	60	28	a	a	DET
ap-1007	60	29	tone	tone	NOUN
ap-1007	60	30	are	be	AUX
ap-1007	60	31	implemented	implement	VERB
ap-1007	60	32	.	.	PUNCT
ap-1007	61	1	besides	besides	SCONJ
ap-1007	61	2	these	these	DET
ap-1007	61	3	direct	direct	ADJ
ap-1007	61	4	commands	command	NOUN
ap-1007	61	5	,	,	PUNCT
ap-1007	61	6	the	the	DET
ap-1007	61	7	toolbox	toolbox	NOUN
ap-1007	61	8	is	be	AUX
ap-1007	61	9	organized	organize	VERB
ap-1007	61	10	in	in	ADP
ap-1007	61	11	a	a	DET
ap-1007	61	12	structure	structure	NOUN
ap-1007	61	13	of	of	ADP
ap-1007	61	14	four	four	NUM
ap-1007	61	15	command	command	NOUN
ap-1007	61	16	layers	layer	NOUN
ap-1007	61	17	,	,	PUNCT
ap-1007	61	18	as	as	SCONJ
ap-1007	61	19	shown	show	VERB
ap-1007	61	20	in	in	ADP
ap-1007	61	21	fig	fig	NOUN
ap-1007	61	22	.	.	PUNCT
ap-1007	62	1	3	3	X
ap-1007	62	2	.	.	X
ap-1007	62	3	it	it	PRON
ap-1007	62	4	provides	provide	VERB
ap-1007	62	5	additional	additional	ADJ
ap-1007	62	6	©	©	PROPN
ap-1007	62	7	czech	czech	PROPN
ap-1007	62	8	technical	technical	PROPN
ap-1007	62	9	university	university	PROPN
ap-1007	62	10	publishing	publishing	NOUN
ap-1007	62	11	house	house	NOUN
ap-1007	62	12	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1007	62	13	45	45	NUM
ap-1007	62	14	acta	acta	PROPN
ap-1007	62	15	polytechnica	polytechnica	PROPN
ap-1007	62	16	vol	vol	NOUN
ap-1007	62	17	.	.	PUNCT
ap-1007	63	1	48	48	NUM
ap-1007	63	2	no	no	NOUN
ap-1007	63	3	.	.	PUNCT
ap-1007	64	1	3/2008	3/2008	NUM
ap-1007	64	2	fig	fig	NOUN
ap-1007	64	3	.	.	PUNCT
ap-1007	65	1	2	2	NUM
ap-1007	65	2	:	:	PUNCT
ap-1007	65	3	lego	lego	NOUN
ap-1007	65	4	mindstorms	mindstorm	NOUN
ap-1007	65	5	nxt	nxt	PROPN
ap-1007	65	6	hardware	hardware	PROPN
ap-1007	65	7	fig	fig	PROPN
ap-1007	65	8	.	.	PUNCT
ap-1007	66	1	3	3	NUM
ap-1007	66	2	:	:	PUNCT
ap-1007	66	3	rwth	rwth	NOUN
ap-1007	66	4	–	–	PUNCT
ap-1007	66	5	mindstorms	mindstorm	NOUN
ap-1007	66	6	nxt	nxt	PROPN
ap-1007	66	7	toolbox	toolbox	PROPN
ap-1007	66	8	–	–	PUNCT
ap-1007	66	9	command	command	NOUN
ap-1007	66	10	layers	layer	NOUN
ap-1007	66	11	high	high	ADJ
ap-1007	66	12	-	-	PUNCT
ap-1007	66	13	level	level	NOUN
ap-1007	66	14	and	and	CCONJ
ap-1007	66	15	control	control	NOUN
ap-1007	66	16	functions	function	NOUN
ap-1007	66	17	for	for	ADP
ap-1007	66	18	more	more	ADV
ap-1007	66	19	intuitive	intuitive	ADJ
ap-1007	66	20	and	and	CCONJ
ap-1007	66	21	comfortable	comfortable	ADJ
ap-1007	66	22	usability	usability	NOUN
ap-1007	66	23	.	.	PUNCT
ap-1007	67	1	towards	towards	ADP
ap-1007	67	2	this	this	DET
ap-1007	67	3	end	end	NOUN
ap-1007	67	4	the	the	DET
ap-1007	67	5	low	low	ADJ
ap-1007	67	6	-	-	PUNCT
ap-1007	67	7	level	level	NOUN
ap-1007	67	8	functions	function	NOUN
ap-1007	67	9	and	and	CCONJ
ap-1007	67	10	direct	direct	ADJ
ap-1007	67	11	commands	command	NOUN
ap-1007	67	12	are	be	AUX
ap-1007	67	13	encapsulated	encapsulate	VERB
ap-1007	67	14	,	,	PUNCT
ap-1007	67	15	and	and	CCONJ
ap-1007	67	16	the	the	DET
ap-1007	67	17	user	user	NOUN
ap-1007	67	18	interface	interface	NOUN
ap-1007	67	19	is	be	AUX
ap-1007	67	20	adapted	adapt	VERB
ap-1007	67	21	to	to	ADP
ap-1007	67	22	the	the	DET
ap-1007	67	23	common	common	ADJ
ap-1007	67	24	matlab	matlab	PROPN
ap-1007	67	25	toolbox	toolbox	NOUN
ap-1007	67	26	usage	usage	NOUN
ap-1007	67	27	handling	handling	NOUN
ap-1007	67	28	.	.	PUNCT
ap-1007	68	1	fig	fig	NOUN
ap-1007	68	2	.	.	PUNCT
ap-1007	69	1	4	4	NUM
ap-1007	69	2	shows	show	VERB
ap-1007	69	3	an	an	DET
ap-1007	69	4	example	example	NOUN
ap-1007	69	5	for	for	ADP
ap-1007	69	6	reading	read	VERB
ap-1007	69	7	the	the	DET
ap-1007	69	8	current	current	ADJ
ap-1007	69	9	measurement	measurement	NOUN
ap-1007	69	10	value	value	NOUN
ap-1007	69	11	of	of	ADP
ap-1007	69	12	the	the	DET
ap-1007	69	13	ultrasonic	ultrasonic	ADJ
ap-1007	69	14	sensor	sensor	NOUN
ap-1007	69	15	.	.	PUNCT
ap-1007	70	1	these	these	DET
ap-1007	70	2	high	high	ADJ
ap-1007	70	3	-	-	PUNCT
ap-1007	70	4	level	level	NOUN
ap-1007	70	5	functions	function	NOUN
ap-1007	70	6	avoid	avoid	VERB
ap-1007	70	7	time	time	NOUN
ap-1007	70	8	-	-	PUNCT
ap-1007	70	9	consuming	consume	VERB
ap-1007	70	10	programming	programming	NOUN
ap-1007	70	11	,	,	PUNCT
ap-1007	70	12	especially	especially	ADV
ap-1007	70	13	for	for	ADP
ap-1007	70	14	beginners	beginner	NOUN
ap-1007	70	15	.	.	PUNCT
ap-1007	71	1	in	in	ADP
ap-1007	71	2	addition	addition	NOUN
ap-1007	71	3	,	,	PUNCT
ap-1007	71	4	detailed	detailed	ADJ
ap-1007	71	5	documentation	documentation	NOUN
ap-1007	71	6	and	and	CCONJ
ap-1007	71	7	program	program	NOUN
ap-1007	71	8	examples	example	NOUN
ap-1007	71	9	are	be	AUX
ap-1007	71	10	embedded	embed	VERB
ap-1007	71	11	in	in	ADP
ap-1007	71	12	the	the	DET
ap-1007	71	13	toolbox	toolbox	NOUN
ap-1007	71	14	.	.	PUNCT
ap-1007	72	1	the	the	DET
ap-1007	72	2	remote	remote	ADJ
ap-1007	72	3	-	-	PUNCT
ap-1007	72	4	control	control	NOUN
ap-1007	72	5	concept	concept	NOUN
ap-1007	72	6	reduces	reduce	VERB
ap-1007	72	7	the	the	DET
ap-1007	72	8	implementation	implementation	NOUN
ap-1007	72	9	of	of	ADP
ap-1007	72	10	autonomous	autonomous	ADJ
ap-1007	72	11	robots	robot	NOUN
ap-1007	72	12	to	to	ADP
ap-1007	72	13	three	three	NUM
ap-1007	72	14	main	main	ADJ
ap-1007	72	15	steps	step	NOUN
ap-1007	72	16	:	:	PUNCT
ap-1007	72	17	constructing	construct	VERB
ap-1007	72	18	a	a	DET
ap-1007	72	19	robot	robot	NOUN
ap-1007	72	20	,	,	PUNCT
ap-1007	72	21	developing	develop	VERB
ap-1007	72	22	a	a	DET
ap-1007	72	23	matlab	matlab	PROPN
ap-1007	72	24	program	program	NOUN
ap-1007	72	25	,	,	PUNCT
ap-1007	72	26	and	and	CCONJ
ap-1007	72	27	interactive	interactive	ADJ
ap-1007	72	28	program	program	NOUN
ap-1007	72	29	execution	execution	NOUN
ap-1007	72	30	.	.	PUNCT
ap-1007	73	1	there	there	PRON
ap-1007	73	2	is	be	VERB
ap-1007	73	3	no	no	DET
ap-1007	73	4	need	need	NOUN
ap-1007	73	5	for	for	ADP
ap-1007	73	6	an	an	DET
ap-1007	73	7	intermediate	intermediate	ADJ
ap-1007	73	8	step	step	NOUN
ap-1007	73	9	in	in	ADP
ap-1007	73	10	which	which	PRON
ap-1007	73	11	the	the	DET
ap-1007	73	12	program	program	NOUN
ap-1007	73	13	is	be	AUX
ap-1007	73	14	compiled	compile	VERB
ap-1007	73	15	and	and	CCONJ
ap-1007	73	16	downloaded	download	VERB
ap-1007	73	17	onto	onto	ADP
ap-1007	73	18	the	the	DET
ap-1007	73	19	embedded	embed	VERB
ap-1007	73	20	robot	robot	NOUN
ap-1007	73	21	processor	processor	NOUN
ap-1007	73	22	.	.	PUNCT
ap-1007	74	1	therefore	therefore	ADV
ap-1007	74	2	a	a	DET
ap-1007	74	3	direct	direct	ADJ
ap-1007	74	4	debugging	debugging	NOUN
ap-1007	74	5	and	and	CCONJ
ap-1007	74	6	monitoring	monitoring	NOUN
ap-1007	74	7	mode	mode	NOUN
ap-1007	74	8	is	be	AUX
ap-1007	74	9	supported	support	VERB
ap-1007	74	10	,	,	PUNCT
ap-1007	74	11	which	which	PRON
ap-1007	74	12	allows	allow	VERB
ap-1007	74	13	the	the	DET
ap-1007	74	14	students	student	NOUN
ap-1007	74	15	to	to	PART
ap-1007	74	16	validate	validate	VERB
ap-1007	74	17	their	their	PRON
ap-1007	74	18	program	program	NOUN
ap-1007	74	19	code	code	NOUN
ap-1007	74	20	simultaneously	simultaneously	ADV
ap-1007	74	21	with	with	ADP
ap-1007	74	22	processing	processing	NOUN
ap-1007	74	23	.	.	PUNCT
ap-1007	75	1	a	a	DET
ap-1007	75	2	drawback	drawback	NOUN
ap-1007	75	3	of	of	ADP
ap-1007	75	4	this	this	DET
ap-1007	75	5	design	design	NOUN
ap-1007	75	6	is	be	AUX
ap-1007	75	7	related	relate	VERB
ap-1007	75	8	to	to	ADP
ap-1007	75	9	the	the	DET
ap-1007	75	10	characteristics	characteristic	NOUN
ap-1007	75	11	of	of	ADP
ap-1007	75	12	the	the	DET
ap-1007	75	13	wireless	wireless	ADJ
ap-1007	75	14	bluetooth	bluetooth	NOUN
ap-1007	75	15	interface	interface	NOUN
ap-1007	75	16	.	.	PUNCT
ap-1007	76	1	in	in	ADP
ap-1007	76	2	general	general	ADJ
ap-1007	76	3	,	,	PUNCT
ap-1007	76	4	the	the	DET
ap-1007	76	5	data	data	NOUN
ap-1007	76	6	rate	rate	NOUN
ap-1007	76	7	of	of	ADP
ap-1007	76	8	bluetooth	bluetooth	NOUN
ap-1007	76	9	is	be	AUX
ap-1007	76	10	limited	limit	VERB
ap-1007	76	11	to	to	ADP
ap-1007	76	12	1	1	NUM
ap-1007	76	13	-	-	SYM
ap-1007	76	14	3	3	NUM
ap-1007	76	15	mbit	mbit	NOUN
ap-1007	76	16	/	/	SYM
ap-1007	76	17	s	s	PART
ap-1007	76	18	and	and	CCONJ
ap-1007	76	19	data	datum	NOUN
ap-1007	76	20	errors	error	NOUN
ap-1007	76	21	and	and	CCONJ
ap-1007	76	22	packet	packet	NOUN
ap-1007	76	23	losses	loss	NOUN
ap-1007	76	24	can	can	AUX
ap-1007	76	25	occur	occur	VERB
ap-1007	76	26	randomly	randomly	ADV
ap-1007	76	27	during	during	ADP
ap-1007	76	28	the	the	DET
ap-1007	76	29	data	data	NOUN
ap-1007	76	30	transmission	transmission	NOUN
ap-1007	76	31	.	.	PUNCT
ap-1007	77	1	however	however	ADV
ap-1007	77	2	,	,	PUNCT
ap-1007	77	3	the	the	DET
ap-1007	77	4	major	major	ADJ
ap-1007	77	5	bottleneck	bottleneck	NOUN
ap-1007	77	6	is	be	AUX
ap-1007	77	7	caused	cause	VERB
ap-1007	77	8	by	by	ADP
ap-1007	77	9	the	the	DET
ap-1007	77	10	bluecore	bluecore	ADJ
ap-1007	77	11	™	™	ADJ
ap-1007	77	12	chip	chip	NOUN
ap-1007	77	13	of	of	ADP
ap-1007	77	14	the	the	DET
ap-1007	77	15	nxt	nxt	PROPN
ap-1007	77	16	hardware	hardware	NOUN
ap-1007	77	17	,	,	PUNCT
ap-1007	77	18	which	which	PRON
ap-1007	77	19	penalizes	penalize	NOUN
ap-1007	77	20	switching	switch	VERB
ap-1007	77	21	from	from	ADP
ap-1007	77	22	receive	receive	NOUN
ap-1007	77	23	-	-	PUNCT
ap-1007	77	24	mode	mode	NOUN
ap-1007	77	25	to	to	PART
ap-1007	77	26	transmit	transmit	VERB
ap-1007	77	27	-	-	PUNCT
ap-1007	77	28	mode	mode	NOUN
ap-1007	77	29	with	with	ADP
ap-1007	77	30	an	an	DET
ap-1007	77	31	additional	additional	ADJ
ap-1007	77	32	30	30	NUM
ap-1007	77	33	ms	ms	NOUN
ap-1007	77	34	latency	latency	NOUN
ap-1007	77	35	[	[	X
ap-1007	77	36	9	9	NUM
ap-1007	77	37	]	]	PUNCT
ap-1007	77	38	.	.	PUNCT
ap-1007	78	1	due	due	ADP
ap-1007	78	2	to	to	ADP
ap-1007	78	3	these	these	DET
ap-1007	78	4	constraints	constraint	NOUN
ap-1007	78	5	,	,	PUNCT
ap-1007	78	6	real	real	ADJ
ap-1007	78	7	-	-	PUNCT
ap-1007	78	8	time	time	NOUN
ap-1007	78	9	regulation	regulation	NOUN
ap-1007	78	10	with	with	ADP
ap-1007	78	11	a	a	DET
ap-1007	78	12	short	short	ADJ
ap-1007	78	13	response	response	NOUN
ap-1007	78	14	time	time	NOUN
ap-1007	78	15	is	be	AUX
ap-1007	78	16	not	not	PART
ap-1007	78	17	possible	possible	ADJ
ap-1007	78	18	via	via	ADP
ap-1007	78	19	the	the	DET
ap-1007	78	20	nxt	nxt	PROPN
ap-1007	78	21	bluetooth	bluetooth	PROPN
ap-1007	78	22	communication	communication	NOUN
ap-1007	78	23	protocol	protocol	NOUN
ap-1007	78	24	.	.	PUNCT
ap-1007	79	1	the	the	DET
ap-1007	79	2	rwth	rwth	NOUN
ap-1007	79	3	–	–	PUNCT
ap-1007	79	4	mindstorms	mindstorm	NOUN
ap-1007	79	5	nxt	nxt	PROPN
ap-1007	79	6	toolbox	toolbox	NOUN
ap-1007	79	7	for	for	ADP
ap-1007	79	8	matlab	matlab	PROPN
ap-1007	79	9	supports	support	VERB
ap-1007	79	10	windows	window	NOUN
ap-1007	79	11	and	and	CCONJ
ap-1007	79	12	linux	linux	PROPN
ap-1007	79	13	platforms	platform	NOUN
ap-1007	79	14	and	and	CCONJ
ap-1007	79	15	is	be	AUX
ap-1007	79	16	published	publish	VERB
ap-1007	79	17	as	as	ADP
ap-1007	79	18	a	a	DET
ap-1007	79	19	free	free	ADJ
ap-1007	79	20	open	open	ADJ
ap-1007	79	21	source	source	NOUN
ap-1007	79	22	product	product	NOUN
ap-1007	79	23	.	.	PUNCT
ap-1007	80	1	it	it	PRON
ap-1007	80	2	is	be	AUX
ap-1007	80	3	subjected	subject	VERB
ap-1007	80	4	to	to	ADP
ap-1007	80	5	the	the	DET
ap-1007	80	6	gnu	gnu	PROPN
ap-1007	80	7	general	general	ADJ
ap-1007	80	8	public	public	ADJ
ap-1007	80	9	license	license	NOUN
ap-1007	80	10	(	(	PUNCT
ap-1007	80	11	gpl	gpl	NOUN
ap-1007	80	12	)	)	PUNCT
ap-1007	81	1	[	[	X
ap-1007	81	2	13	13	NUM
ap-1007	81	3	]	]	PUNCT
ap-1007	81	4	and	and	CCONJ
ap-1007	81	5	can	can	AUX
ap-1007	81	6	be	be	AUX
ap-1007	81	7	downloaded	download	VERB
ap-1007	81	8	from	from	ADP
ap-1007	81	9	[	[	X
ap-1007	81	10	14	14	NUM
ap-1007	81	11	]	]	PUNCT
ap-1007	81	12	.	.	PUNCT
ap-1007	82	1	in	in	ADP
ap-1007	82	2	general	general	ADJ
ap-1007	82	3	,	,	PUNCT
ap-1007	82	4	the	the	DET
ap-1007	82	5	open	open	ADJ
ap-1007	82	6	source	source	NOUN
ap-1007	82	7	software	software	NOUN
ap-1007	82	8	concept	concept	NOUN
ap-1007	82	9	motivates	motivate	VERB
ap-1007	82	10	people	people	NOUN
ap-1007	82	11	to	to	PART
ap-1007	82	12	participate	participate	VERB
ap-1007	82	13	in	in	ADP
ap-1007	82	14	project	project	NOUN
ap-1007	82	15	development	development	NOUN
ap-1007	82	16	and	and	CCONJ
ap-1007	82	17	founds	found	VERB
ap-1007	82	18	international	international	ADJ
ap-1007	82	19	interacting	interact	VERB
ap-1007	82	20	communities	community	NOUN
ap-1007	83	1	[	[	X
ap-1007	83	2	12	12	NUM
ap-1007	83	3	]	]	PUNCT
ap-1007	83	4	.	.	PUNCT
ap-1007	84	1	in	in	ADP
ap-1007	84	2	addition	addition	NOUN
ap-1007	84	3	,	,	PUNCT
ap-1007	84	4	the	the	DET
ap-1007	84	5	freeware	freeware	NOUN
ap-1007	84	6	toolbox	toolbox	NOUN
ap-1007	84	7	enables	enable	VERB
ap-1007	84	8	other	other	ADJ
ap-1007	84	9	universities	university	NOUN
ap-1007	84	10	and	and	CCONJ
ap-1007	84	11	schools	school	NOUN
ap-1007	84	12	to	to	PART
ap-1007	84	13	introduce	introduce	VERB
ap-1007	84	14	the	the	DET
ap-1007	84	15	software	software	NOUN
ap-1007	84	16	to	to	ADP
ap-1007	84	17	their	their	PRON
ap-1007	84	18	practical	practical	ADJ
ap-1007	84	19	robotics	robotic	NOUN
ap-1007	84	20	courses	course	NOUN
ap-1007	84	21	for	for	ADP
ap-1007	84	22	free	free	ADJ
ap-1007	84	23	and	and	CCONJ
ap-1007	84	24	without	without	ADP
ap-1007	84	25	any	any	DET
ap-1007	84	26	obligation	obligation	NOUN
ap-1007	84	27	.	.	PUNCT
ap-1007	85	1	5	5	NUM
ap-1007	85	2	practical	practical	ADJ
ap-1007	85	3	activities	activity	NOUN
ap-1007	85	4	the	the	DET
ap-1007	85	5	core	core	NOUN
ap-1007	85	6	team	team	NOUN
ap-1007	85	7	has	have	AUX
ap-1007	85	8	developed	develop	VERB
ap-1007	85	9	nine	nine	NUM
ap-1007	85	10	practical	practical	ADJ
ap-1007	85	11	activities	activity	NOUN
ap-1007	85	12	,	,	PUNCT
ap-1007	85	13	which	which	PRON
ap-1007	85	14	were	be	AUX
ap-1007	85	15	performed	perform	VERB
ap-1007	85	16	by	by	ADP
ap-1007	85	17	the	the	DET
ap-1007	85	18	students	student	NOUN
ap-1007	85	19	in	in	ADP
ap-1007	85	20	two	two	NUM
ap-1007	85	21	project	project	NOUN
ap-1007	85	22	parts	part	NOUN
ap-1007	85	23	.	.	PUNCT
ap-1007	86	1	the	the	DET
ap-1007	86	2	first	first	ADJ
ap-1007	86	3	part	part	NOUN
ap-1007	86	4	included	include	VERB
ap-1007	86	5	six	six	NUM
ap-1007	86	6	sequential	sequential	ADJ
ap-1007	86	7	basic	basic	ADJ
ap-1007	86	8	exercises	exercise	NOUN
ap-1007	86	9	,	,	PUNCT
ap-1007	86	10	each	each	PRON
ap-1007	86	11	of	of	ADP
ap-1007	86	12	which	which	PRON
ap-1007	86	13	addressed	address	VERB
ap-1007	86	14	different	different	ADJ
ap-1007	86	15	nxt	nxt	PROPN
ap-1007	86	16	sensors	sensor	NOUN
ap-1007	86	17	or	or	CCONJ
ap-1007	86	18	actuators	actuator	NOUN
ap-1007	86	19	.	.	PUNCT
ap-1007	87	1	these	these	PRON
ap-1007	87	2	were	be	AUX
ap-1007	87	3	developed	develop	VERB
ap-1007	87	4	to	to	PART
ap-1007	87	5	teach	teach	VERB
ap-1007	87	6	the	the	DET
ap-1007	87	7	students	student	NOUN
ap-1007	87	8	,	,	PUNCT
ap-1007	87	9	formed	form	VERB
ap-1007	87	10	into	into	ADP
ap-1007	87	11	teams	team	NOUN
ap-1007	87	12	of	of	ADP
ap-1007	87	13	two	two	NUM
ap-1007	87	14	,	,	PUNCT
ap-1007	87	15	programming	programming	NOUN
ap-1007	87	16	principles	principle	NOUN
ap-1007	87	17	in	in	ADP
ap-1007	87	18	matlab	matlab	PROPN
ap-1007	87	19	,	,	PUNCT
ap-1007	87	20	applying	apply	VERB
ap-1007	87	21	the	the	DET
ap-1007	87	22	rwth	rwth	NOUN
ap-1007	87	23	–	–	PUNCT
ap-1007	87	24	mindstorms	mindstorm	NOUN
ap-1007	87	25	nxt	nxt	PROPN
ap-1007	87	26	toolbox	toolbox	NOUN
ap-1007	87	27	and	and	CCONJ
ap-1007	87	28	the	the	DET
ap-1007	87	29	bluetooth	bluetooth	PROPN
ap-1007	87	30	interface	interface	NOUN
ap-1007	87	31	,	,	PUNCT
ap-1007	87	32	and	and	CCONJ
ap-1007	87	33	measuring	measure	VERB
ap-1007	87	34	the	the	DET
ap-1007	87	35	nxt	nxt	PROPN
ap-1007	87	36	hardware	hardware	NOUN
ap-1007	87	37	characteristics	characteristic	NOUN
ap-1007	87	38	.	.	PUNCT
ap-1007	88	1	in	in	ADP
ap-1007	88	2	the	the	DET
ap-1007	88	3	second	second	ADJ
ap-1007	88	4	part	part	NOUN
ap-1007	88	5	of	of	ADP
ap-1007	88	6	the	the	DET
ap-1007	88	7	lab	lab	NOUN
ap-1007	88	8	the	the	DET
ap-1007	88	9	student	student	NOUN
ap-1007	88	10	groups	group	NOUN
ap-1007	88	11	could	could	AUX
ap-1007	88	12	choose	choose	VERB
ap-1007	88	13	from	from	ADP
ap-1007	88	14	three	three	NUM
ap-1007	88	15	major	major	ADJ
ap-1007	88	16	and	and	CCONJ
ap-1007	88	17	more	more	ADV
ap-1007	88	18	complex	complex	ADJ
ap-1007	88	19	tasks	task	NOUN
ap-1007	88	20	,	,	PUNCT
ap-1007	88	21	but	but	CCONJ
ap-1007	88	22	were	be	AUX
ap-1007	88	23	also	also	ADV
ap-1007	88	24	free	free	ADJ
ap-1007	88	25	to	to	PART
ap-1007	88	26	develop	develop	VERB
ap-1007	88	27	their	their	PRON
ap-1007	88	28	own	own	ADJ
ap-1007	88	29	experiments	experiment	NOUN
ap-1007	88	30	and	and	CCONJ
ap-1007	88	31	challenges	challenge	NOUN
ap-1007	88	32	in	in	ADP
ap-1007	88	33	order	order	NOUN
ap-1007	88	34	to	to	PART
ap-1007	88	35	enhance	enhance	VERB
ap-1007	88	36	creative	creative	ADJ
ap-1007	88	37	ideas	idea	NOUN
ap-1007	88	38	,	,	PUNCT
ap-1007	88	39	robot	robot	NOUN
ap-1007	88	40	construction	construction	NOUN
ap-1007	88	41	and	and	CCONJ
ap-1007	88	42	individual	individual	ADJ
ap-1007	88	43	problem	problem	NOUN
ap-1007	88	44	solving	solving	NOUN
ap-1007	88	45	methods	method	NOUN
ap-1007	88	46	.	.	PUNCT
ap-1007	89	1	therefore	therefore	ADV
ap-1007	89	2	student	student	NOUN
ap-1007	89	3	groups	group	NOUN
ap-1007	89	4	of	of	ADP
ap-1007	89	5	four	four	NUM
ap-1007	89	6	had	have	VERB
ap-1007	89	7	to	to	PART
ap-1007	89	8	develop	develop	VERB
ap-1007	89	9	individual	individual	ADJ
ap-1007	89	10	robots	robot	NOUN
ap-1007	89	11	and	and	CCONJ
ap-1007	89	12	algorithms	algorithm	NOUN
ap-1007	89	13	to	to	PART
ap-1007	89	14	solve	solve	VERB
ap-1007	89	15	the	the	DET
ap-1007	89	16	major	major	ADJ
ap-1007	89	17	tasks	task	NOUN
ap-1007	89	18	in	in	ADP
ap-1007	89	19	competition	competition	NOUN
ap-1007	89	20	against	against	ADP
ap-1007	89	21	other	other	ADJ
ap-1007	89	22	groups	group	NOUN
ap-1007	89	23	.	.	PUNCT
ap-1007	90	1	in	in	ADP
ap-1007	90	2	this	this	DET
ap-1007	90	3	process	process	NOUN
ap-1007	90	4	the	the	DET
ap-1007	90	5	limitations	limitation	NOUN
ap-1007	90	6	of	of	ADP
ap-1007	90	7	the	the	DET
ap-1007	90	8	lego	lego	NOUN
ap-1007	90	9	mindstorms	mindstorm	NOUN
ap-1007	90	10	hardware	hardware	NOUN
ap-1007	90	11	,	,	PUNCT
ap-1007	90	12	e.g.	e.g.	ADV
ap-1007	90	13	,	,	PUNCT
ap-1007	90	14	slight	slight	ADJ
ap-1007	90	15	variations	variation	NOUN
ap-1007	90	16	between	between	ADP
ap-1007	90	17	sensors	sensor	NOUN
ap-1007	90	18	and	and	CCONJ
ap-1007	90	19	motors	motor	NOUN
ap-1007	90	20	of	of	ADP
ap-1007	90	21	the	the	DET
ap-1007	90	22	same	same	ADJ
ap-1007	90	23	type	type	NOUN
ap-1007	90	24	,	,	PUNCT
ap-1007	90	25	had	have	VERB
ap-1007	90	26	to	to	PART
ap-1007	90	27	be	be	AUX
ap-1007	90	28	taken	take	VERB
ap-1007	90	29	into	into	ADP
ap-1007	90	30	account	account	NOUN
ap-1007	90	31	.	.	PUNCT
ap-1007	91	1	not	not	PART
ap-1007	91	2	every	every	DET
ap-1007	91	3	behavior	behavior	NOUN
ap-1007	91	4	of	of	ADP
ap-1007	91	5	the	the	DET
ap-1007	91	6	robot	robot	NOUN
ap-1007	91	7	was	be	AUX
ap-1007	91	8	easily	easily	ADV
ap-1007	91	9	foreseeable	foreseeable	ADJ
ap-1007	91	10	in	in	ADP
ap-1007	91	11	all	all	DET
ap-1007	91	12	situations	situation	NOUN
ap-1007	91	13	.	.	PUNCT
ap-1007	92	1	for	for	ADP
ap-1007	92	2	instance	instance	NOUN
ap-1007	92	3	,	,	PUNCT
ap-1007	92	4	the	the	DET
ap-1007	92	5	driving	drive	VERB
ap-1007	92	6	distance	distance	NOUN
ap-1007	92	7	covered	cover	VERB
ap-1007	92	8	by	by	ADP
ap-1007	92	9	a	a	DET
ap-1007	92	10	robot	robot	NOUN
ap-1007	92	11	vehicle	vehicle	NOUN
ap-1007	92	12	showed	show	VERB
ap-1007	92	13	variations	variation	NOUN
ap-1007	92	14	,	,	PUNCT
ap-1007	92	15	since	since	SCONJ
ap-1007	92	16	it	it	PRON
ap-1007	92	17	depends	depend	VERB
ap-1007	92	18	on	on	ADP
ap-1007	92	19	the	the	DET
ap-1007	92	20	traction	traction	NOUN
ap-1007	92	21	on	on	ADP
ap-1007	92	22	tiling	tile	VERB
ap-1007	92	23	or	or	CCONJ
ap-1007	92	24	on	on	ADP
ap-1007	92	25	carpet	carpet	NOUN
ap-1007	92	26	,	,	PUNCT
ap-1007	92	27	and	and	CCONJ
ap-1007	92	28	had	have	VERB
ap-1007	92	29	to	to	PART
ap-1007	92	30	be	be	AUX
ap-1007	92	31	considered	consider	VERB
ap-1007	92	32	in	in	ADP
ap-1007	92	33	the	the	DET
ap-1007	92	34	robot	robot	NOUN
ap-1007	92	35	design	design	NOUN
ap-1007	92	36	and	and	CCONJ
ap-1007	92	37	the	the	DET
ap-1007	92	38	control	control	NOUN
ap-1007	92	39	algorithms	algorithm	NOUN
ap-1007	92	40	.	.	PUNCT
ap-1007	93	1	it	it	PRON
ap-1007	93	2	was	be	AUX
ap-1007	93	3	also	also	ADV
ap-1007	93	4	necessary	necessary	ADJ
ap-1007	93	5	to	to	PART
ap-1007	93	6	handle	handle	VERB
ap-1007	93	7	the	the	DET
ap-1007	93	8	limitations	limitation	NOUN
ap-1007	93	9	of	of	ADP
ap-1007	93	10	the	the	DET
ap-1007	93	11	bluetooth	bluetooth	PROPN
ap-1007	93	12	channel	channel	PROPN
ap-1007	93	13	,	,	PUNCT
ap-1007	93	14	which	which	PRON
ap-1007	93	15	were	be	AUX
ap-1007	93	16	noticeable	noticeable	ADJ
ap-1007	93	17	in	in	ADP
ap-1007	93	18	random	random	ADJ
ap-1007	93	19	transmission	transmission	NOUN
ap-1007	93	20	delays	delay	NOUN
ap-1007	93	21	.	.	PUNCT
ap-1007	94	1	all	all	DET
ap-1007	94	2	given	give	VERB
ap-1007	94	3	tasks	task	NOUN
ap-1007	94	4	were	be	AUX
ap-1007	94	5	designed	design	VERB
ap-1007	94	6	by	by	ADP
ap-1007	94	7	the	the	DET
ap-1007	94	8	core	core	NOUN
ap-1007	94	9	team	team	NOUN
ap-1007	94	10	with	with	ADP
ap-1007	94	11	respect	respect	NOUN
ap-1007	94	12	to	to	ADP
ap-1007	94	13	the	the	DET
ap-1007	94	14	hardware	hardware	NOUN
ap-1007	94	15	and	and	CCONJ
ap-1007	94	16	bluetooth	bluetooth	PROPN
ap-1007	94	17	constraints	constraint	NOUN
ap-1007	94	18	,	,	PUNCT
ap-1007	94	19	documented	document	VERB
ap-1007	94	20	and	and	CCONJ
ap-1007	94	21	organized	organize	VERB
ap-1007	94	22	in	in	ADP
ap-1007	94	23	modular	modular	ADJ
ap-1007	94	24	subtasks	subtask	NOUN
ap-1007	94	25	to	to	PART
ap-1007	94	26	establish	establish	VERB
ap-1007	94	27	clear	clear	ADJ
ap-1007	94	28	requirements	requirement	NOUN
ap-1007	94	29	and	and	CCONJ
ap-1007	94	30	targets	target	NOUN
ap-1007	94	31	for	for	ADP
ap-1007	94	32	each	each	DET
ap-1007	94	33	subtask	subtask	NOUN
ap-1007	94	34	.	.	PUNCT
ap-1007	95	1	at	at	ADP
ap-1007	95	2	the	the	DET
ap-1007	95	3	end	end	NOUN
ap-1007	95	4	of	of	ADP
ap-1007	95	5	the	the	DET
ap-1007	95	6	lab	lab	NOUN
ap-1007	95	7	,	,	PUNCT
ap-1007	95	8	each	each	DET
ap-1007	95	9	student	student	NOUN
ap-1007	95	10	group	group	NOUN
ap-1007	95	11	presented	present	VERB
ap-1007	95	12	individual	individual	ADJ
ap-1007	95	13	robots	robot	NOUN
ap-1007	95	14	and	and	CCONJ
ap-1007	95	15	algorithms	algorithm	NOUN
ap-1007	95	16	to	to	ADP
ap-1007	95	17	the	the	DET
ap-1007	95	18	other	other	ADJ
ap-1007	95	19	participants	participant	NOUN
ap-1007	95	20	.	.	PUNCT
ap-1007	96	1	an	an	DET
ap-1007	96	2	overview	overview	NOUN
ap-1007	96	3	of	of	ADP
ap-1007	96	4	the	the	DET
ap-1007	96	5	lab	lab	NOUN
ap-1007	96	6	time	time	NOUN
ap-1007	96	7	schedule	schedule	NOUN
ap-1007	96	8	is	be	AUX
ap-1007	96	9	given	give	VERB
ap-1007	96	10	in	in	ADP
ap-1007	96	11	fig	fig	NOUN
ap-1007	96	12	.	.	PUNCT
ap-1007	97	1	5	5	NUM
ap-1007	97	2	.	.	X
ap-1007	97	3	5.1	5.1	NUM
ap-1007	97	4	basic	basic	ADJ
ap-1007	97	5	exercises	exercise	NOUN
ap-1007	97	6	each	each	PRON
ap-1007	97	7	of	of	ADP
ap-1007	97	8	the	the	DET
ap-1007	97	9	six	six	NUM
ap-1007	97	10	basic	basic	ADJ
ap-1007	97	11	exercises	exercise	NOUN
ap-1007	97	12	focused	focus	VERB
ap-1007	97	13	on	on	ADP
ap-1007	97	14	a	a	DET
ap-1007	97	15	key	key	ADJ
ap-1007	97	16	aspect	aspect	NOUN
ap-1007	97	17	of	of	ADP
ap-1007	97	18	the	the	DET
ap-1007	97	19	three	three	NUM
ap-1007	97	20	learning	learning	NOUN
ap-1007	97	21	targets	target	NOUN
ap-1007	97	22	,	,	PUNCT
ap-1007	97	23	shown	show	VERB
ap-1007	97	24	in	in	ADP
ap-1007	97	25	fig	fig	NOUN
ap-1007	97	26	.	.	PUNCT
ap-1007	98	1	1	1	X
ap-1007	98	2	.	.	X
ap-1007	98	3	in	in	ADP
ap-1007	98	4	the	the	DET
ap-1007	98	5	first	first	ADJ
ap-1007	98	6	experiment	experiment	NOUN
ap-1007	98	7	the	the	DET
ap-1007	98	8	students	student	NOUN
ap-1007	98	9	constructed	construct	VERB
ap-1007	98	10	individual	individual	ADJ
ap-1007	98	11	robots	robot	NOUN
ap-1007	98	12	and	and	CCONJ
ap-1007	98	13	tested	test	VERB
ap-1007	98	14	the	the	DET
ap-1007	98	15	sensors	sensor	NOUN
ap-1007	98	16	with	with	ADP
ap-1007	98	17	the	the	DET
ap-1007	98	18	nxt	nxt	PROPN
ap-1007	98	19	firmware	firmware	NOUN
ap-1007	98	20	.	.	PUNCT
ap-1007	99	1	in	in	ADP
ap-1007	99	2	the	the	DET
ap-1007	99	3	next	next	ADJ
ap-1007	99	4	two	two	NUM
ap-1007	99	5	exercises	exercise	NOUN
ap-1007	99	6	the	the	DET
ap-1007	99	7	bluetooth	bluetooth	PROPN
ap-1007	99	8	interface	interface	NOUN
ap-1007	99	9	was	be	AUX
ap-1007	99	10	introduced	introduce	VERB
ap-1007	99	11	,	,	PUNCT
ap-1007	99	12	and	and	CCONJ
ap-1007	99	13	the	the	DET
ap-1007	99	14	touch	touch	NOUN
ap-1007	99	15	and	and	CCONJ
ap-1007	99	16	sound	sound	NOUN
ap-1007	99	17	sensor	sensor	NOUN
ap-1007	99	18	were	be	AUX
ap-1007	99	19	controlled	control	VERB
ap-1007	99	20	via	via	ADP
ap-1007	99	21	matlab	matlab	PROPN
ap-1007	99	22	using	use	VERB
ap-1007	99	23	the	the	DET
ap-1007	99	24	rwth	rwth	NOUN
ap-1007	99	25	–	–	PUNCT
ap-1007	99	26	mindstorms	mindstorm	NOUN
ap-1007	99	27	nxt	nxt	PROPN
ap-1007	99	28	toolbox	toolbox	NOUN
ap-1007	99	29	.	.	PUNCT
ap-1007	100	1	in	in	ADP
ap-1007	100	2	addition	addition	NOUN
ap-1007	100	3	,	,	PUNCT
ap-1007	100	4	simple	simple	ADJ
ap-1007	100	5	programming	programming	NOUN
ap-1007	100	6	structures	structure	NOUN
ap-1007	100	7	like	like	ADP
ap-1007	100	8	loops	loop	NOUN
ap-1007	100	9	,	,	PUNCT
ap-1007	100	10	if	if	SCONJ
ap-1007	100	11	-	-	PUNCT
ap-1007	100	12	conditions	condition	NOUN
ap-1007	100	13	and	and	CCONJ
ap-1007	100	14	functions	function	NOUN
ap-1007	100	15	were	be	AUX
ap-1007	100	16	taught	teach	VERB
ap-1007	100	17	.	.	PUNCT
ap-1007	101	1	the	the	DET
ap-1007	101	2	fourth	fourth	ADJ
ap-1007	101	3	experiment	experiment	NOUN
ap-1007	101	4	was	be	AUX
ap-1007	101	5	addressed	address	VERB
ap-1007	101	6	to	to	ADP
ap-1007	101	7	the	the	DET
ap-1007	101	8	nxt	nxt	PROPN
ap-1007	101	9	servo	servo	PROPN
ap-1007	101	10	motors	motor	NOUN
ap-1007	101	11	.	.	PUNCT
ap-1007	102	1	after	after	ADP
ap-1007	102	2	taking	take	VERB
ap-1007	102	3	measurements	measurement	NOUN
ap-1007	102	4	of	of	ADP
ap-1007	102	5	the	the	DET
ap-1007	102	6	internal	internal	ADJ
ap-1007	102	7	rotation	rotation	NOUN
ap-1007	102	8	sensor	sensor	NOUN
ap-1007	102	9	and	and	CCONJ
ap-1007	102	10	working	work	VERB
ap-1007	102	11	with	with	ADP
ap-1007	102	12	different	different	ADJ
ap-1007	102	13	gear	gear	NOUN
ap-1007	102	14	transmission	transmission	NOUN
ap-1007	102	15	ratios	ratio	NOUN
ap-1007	102	16	,	,	PUNCT
ap-1007	102	17	a	a	DET
ap-1007	102	18	machine	machine	NOUN
ap-1007	102	19	for	for	ADP
ap-1007	102	20	visualizing	visualize	VERB
ap-1007	102	21	complex	complex	ADJ
ap-1007	102	22	numbers	number	NOUN
ap-1007	102	23	was	be	AUX
ap-1007	102	24	built	build	VERB
ap-1007	102	25	and	and	CCONJ
ap-1007	102	26	programmed	program	VERB
ap-1007	102	27	.	.	PUNCT
ap-1007	103	1	for	for	ADP
ap-1007	103	2	this	this	PRON
ap-1007	103	3	,	,	PUNCT
ap-1007	103	4	the	the	DET
ap-1007	103	5	students	student	NOUN
ap-1007	103	6	had	have	VERB
ap-1007	103	7	to	to	PART
ap-1007	103	8	implement	implement	VERB
ap-1007	103	9	an	an	DET
ap-1007	103	10	algorithm	algorithm	NOUN
ap-1007	103	11	which	which	PRON
ap-1007	103	12	reads	read	VERB
ap-1007	103	13	two	two	NUM
ap-1007	103	14	complex	complex	ADJ
ap-1007	103	15	numbers	number	NOUN
ap-1007	103	16	,	,	PUNCT
ap-1007	103	17	takes	take	VERB
ap-1007	103	18	a	a	DET
ap-1007	103	19	mathematical	mathematical	ADJ
ap-1007	103	20	operation	operation	NOUN
ap-1007	103	21	from	from	ADP
ap-1007	103	22	a	a	DET
ap-1007	103	23	user	user	NOUN
ap-1007	103	24	input	input	NOUN
ap-1007	103	25	dialog	dialog	NOUN
ap-1007	103	26	,	,	PUNCT
ap-1007	103	27	calculates	calculate	VERB
ap-1007	103	28	the	the	DET
ap-1007	103	29	result	result	NOUN
ap-1007	103	30	,	,	PUNCT
ap-1007	103	31	plots	plot	VERB
ap-1007	103	32	the	the	DET
ap-1007	103	33	complex	complex	ADJ
ap-1007	103	34	phases	phase	NOUN
ap-1007	103	35	in	in	ADP
ap-1007	103	36	a	a	DET
ap-1007	103	37	diagram	diagram	NOUN
ap-1007	103	38	and	and	CCONJ
ap-1007	103	39	also	also	ADV
ap-1007	103	40	displays	display	VERB
ap-1007	103	41	them	they	PRON
ap-1007	103	42	using	use	VERB
ap-1007	103	43	the	the	DET
ap-1007	103	44	mechanical	mechanical	ADJ
ap-1007	103	45	pointers	pointer	NOUN
ap-1007	103	46	of	of	ADP
ap-1007	103	47	the	the	DET
ap-1007	103	48	lego	lego	NOUN
ap-1007	103	49	machine	machine	NOUN
ap-1007	103	50	,	,	PUNCT
ap-1007	103	51	as	as	SCONJ
ap-1007	103	52	shown	show	VERB
ap-1007	103	53	in	in	ADP
ap-1007	103	54	fig	fig	NOUN
ap-1007	103	55	.	.	PUNCT
ap-1007	104	1	6	6	NUM
ap-1007	104	2	.	.	X
ap-1007	104	3	the	the	DET
ap-1007	104	4	fifth	fifth	ADJ
ap-1007	104	5	experiment	experiment	NOUN
ap-1007	104	6	focused	focus	VERB
ap-1007	104	7	on	on	ADP
ap-1007	104	8	light	light	ADJ
ap-1007	104	9	sensor	sensor	NOUN
ap-1007	104	10	measurements	measurement	NOUN
ap-1007	104	11	and	and	CCONJ
ap-1007	104	12	matlab	matlab	PROPN
ap-1007	104	13	gui	gui	NOUN
ap-1007	104	14	design	design	NOUN
ap-1007	104	15	.	.	PUNCT
ap-1007	105	1	finally	finally	ADV
ap-1007	105	2	,	,	PUNCT
ap-1007	105	3	the	the	DET
ap-1007	105	4	last	last	ADJ
ap-1007	105	5	basic	basic	ADJ
ap-1007	105	6	46	46	NUM
ap-1007	105	7	©	©	PROPN
ap-1007	105	8	czech	czech	PROPN
ap-1007	105	9	technical	technical	PROPN
ap-1007	105	10	university	university	PROPN
ap-1007	105	11	publishing	publishing	NOUN
ap-1007	105	12	house	house	NOUN
ap-1007	105	13	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1007	105	14	acta	acta	PROPN
ap-1007	105	15	polytechnica	polytechnica	PROPN
ap-1007	105	16	vol	vol	NOUN
ap-1007	105	17	.	.	PUNCT
ap-1007	106	1	48	48	NUM
ap-1007	106	2	no	no	NOUN
ap-1007	106	3	.	.	PUNCT
ap-1007	107	1	3/2008	3/2008	NUM
ap-1007	107	2	>	>	PUNCT
ap-1007	107	3	>	>	X
ap-1007	107	4	openultrasonic(sensor_1	openultrasonic(sensor_1	PROPN
ap-1007	107	5	)	)	PUNCT
ap-1007	107	6	;	;	PUNCT
ap-1007	107	7	>	>	PUNCT
ap-1007	107	8	>	>	X
ap-1007	107	9	distance	distance	NOUN
ap-1007	107	10	=	=	SYM
ap-1007	107	11	getultrasonic(sensor_1	getultrasonic(sensor_1	NOUN
ap-1007	107	12	)	)	PUNCT
ap-1007	107	13	distance	distance	NOUN
ap-1007	107	14	=	=	PUNCT
ap-1007	108	1	36	36	NUM
ap-1007	108	2	>	>	PUNCT
ap-1007	108	3	>	>	X
ap-1007	108	4	fig	fig	NOUN
ap-1007	108	5	.	.	PUNCT
ap-1007	109	1	4	4	NUM
ap-1007	109	2	:	:	PUNCT
ap-1007	109	3	matlab	matlab	PROPN
ap-1007	109	4	example	example	NOUN
ap-1007	109	5	code	code	NOUN
ap-1007	109	6	using	use	VERB
ap-1007	109	7	high	high	ADJ
ap-1007	109	8	-	-	PUNCT
ap-1007	109	9	level	level	NOUN
ap-1007	109	10	functions	function	NOUN
ap-1007	109	11	for	for	ADP
ap-1007	109	12	sensor	sensor	NOUN
ap-1007	109	13	reading	read	VERB
ap-1007	109	14	fig	fig	NOUN
ap-1007	109	15	.	.	PUNCT
ap-1007	110	1	5	5	NUM
ap-1007	110	2	:	:	PUNCT
ap-1007	110	3	lab	lab	NOUN
ap-1007	110	4	time	time	NOUN
ap-1007	110	5	schedule	schedule	NOUN
ap-1007	110	6	(	(	PUNCT
ap-1007	110	7	in	in	ADP
ap-1007	110	8	days	day	NOUN
ap-1007	110	9	)	)	PUNCT
ap-1007	110	10	exercise	exercise	NOUN
ap-1007	110	11	was	be	AUX
ap-1007	110	12	performed	perform	VERB
ap-1007	110	13	by	by	ADP
ap-1007	110	14	programming	program	VERB
ap-1007	110	15	an	an	DET
ap-1007	110	16	explorer	explorer	NOUN
ap-1007	110	17	robot	robot	NOUN
ap-1007	110	18	,	,	PUNCT
ap-1007	110	19	which	which	PRON
ap-1007	110	20	scans	scan	VERB
ap-1007	110	21	the	the	DET
ap-1007	110	22	local	local	ADJ
ap-1007	110	23	environment	environment	NOUN
ap-1007	110	24	using	use	VERB
ap-1007	110	25	the	the	DET
ap-1007	110	26	ultrasonic	ultrasonic	ADJ
ap-1007	110	27	sensor	sensor	NOUN
ap-1007	110	28	,	,	PUNCT
ap-1007	110	29	plots	plot	VERB
ap-1007	110	30	a	a	DET
ap-1007	110	31	360	360	NUM
ap-1007	110	32	-	-	PUNCT
ap-1007	110	33	degree	degree	NOUN
ap-1007	110	34	distance	distance	NOUN
ap-1007	110	35	profile	profile	NOUN
ap-1007	110	36	and	and	CCONJ
ap-1007	110	37	drives	drive	VERB
ap-1007	110	38	autonomously	autonomously	ADV
ap-1007	110	39	through	through	ADP
ap-1007	110	40	an	an	DET
ap-1007	110	41	open	open	ADJ
ap-1007	110	42	gate	gate	NOUN
ap-1007	110	43	of	of	ADP
ap-1007	110	44	an	an	DET
ap-1007	110	45	enclosure	enclosure	NOUN
ap-1007	110	46	,	,	PUNCT
ap-1007	110	47	illustrated	illustrate	VERB
ap-1007	110	48	in	in	ADP
ap-1007	110	49	fig	fig	NOUN
ap-1007	110	50	.	.	PUNCT
ap-1007	111	1	7	7	X
ap-1007	111	2	.	.	PUNCT
ap-1007	111	3	to	to	PART
ap-1007	111	4	fulfill	fulfill	VERB
ap-1007	111	5	this	this	DET
ap-1007	111	6	challenge	challenge	NOUN
ap-1007	111	7	the	the	DET
ap-1007	111	8	students	student	NOUN
ap-1007	111	9	had	have	VERB
ap-1007	111	10	to	to	PART
ap-1007	111	11	process	process	VERB
ap-1007	111	12	the	the	DET
ap-1007	111	13	data	datum	NOUN
ap-1007	111	14	with	with	ADP
ap-1007	111	15	simple	simple	ADJ
ap-1007	111	16	filter	filter	NOUN
ap-1007	111	17	operations	operation	NOUN
ap-1007	111	18	,	,	PUNCT
ap-1007	111	19	detect	detect	VERB
ap-1007	111	20	signal	signal	NOUN
ap-1007	111	21	edges	edge	NOUN
ap-1007	111	22	and	and	CCONJ
ap-1007	111	23	locate	locate	VERB
ap-1007	111	24	the	the	DET
ap-1007	111	25	correct	correct	ADJ
ap-1007	111	26	target	target	NOUN
ap-1007	111	27	angle	angle	NOUN
ap-1007	111	28	.	.	PUNCT
ap-1007	112	1	5.2	5.2	NUM
ap-1007	112	2	major	major	ADJ
ap-1007	112	3	practical	practical	ADJ
ap-1007	112	4	tasks	task	NOUN
ap-1007	112	5	the	the	DET
ap-1007	112	6	major	major	ADJ
ap-1007	112	7	practical	practical	ADJ
ap-1007	112	8	tasks	task	NOUN
ap-1007	112	9	were	be	AUX
ap-1007	112	10	designed	design	VERB
ap-1007	112	11	to	to	PART
ap-1007	112	12	confront	confront	VERB
ap-1007	112	13	the	the	DET
ap-1007	112	14	students	student	NOUN
ap-1007	112	15	with	with	ADP
ap-1007	112	16	more	more	ADJ
ap-1007	112	17	complex	complex	ADJ
ap-1007	112	18	challenges	challenge	NOUN
ap-1007	112	19	,	,	PUNCT
ap-1007	112	20	give	give	VERB
ap-1007	112	21	them	they	PRON
ap-1007	112	22	the	the	DET
ap-1007	112	23	opportunity	opportunity	NOUN
ap-1007	112	24	to	to	PART
ap-1007	112	25	work	work	VERB
ap-1007	112	26	together	together	ADV
ap-1007	112	27	as	as	ADP
ap-1007	112	28	a	a	DET
ap-1007	112	29	team	team	NOUN
ap-1007	112	30	of	of	ADP
ap-1007	112	31	four	four	NUM
ap-1007	112	32	,	,	PUNCT
ap-1007	112	33	and	and	CCONJ
ap-1007	112	34	manage	manage	VERB
ap-1007	112	35	the	the	DET
ap-1007	112	36	assigned	assign	VERB
ap-1007	112	37	tasks	task	NOUN
ap-1007	112	38	on	on	ADP
ap-1007	112	39	their	their	PRON
ap-1007	112	40	own	own	ADJ
ap-1007	112	41	.	.	PUNCT
ap-1007	113	1	the	the	DET
ap-1007	113	2	students	student	NOUN
ap-1007	113	3	could	could	AUX
ap-1007	113	4	choose	choose	VERB
ap-1007	113	5	among	among	ADP
ap-1007	113	6	three	three	NUM
ap-1007	113	7	assigned	assign	VERB
ap-1007	113	8	challenges	challenge	NOUN
ap-1007	113	9	,	,	PUNCT
ap-1007	113	10	or	or	CCONJ
ap-1007	113	11	were	be	AUX
ap-1007	113	12	able	able	ADJ
ap-1007	113	13	to	to	PART
ap-1007	113	14	define	define	VERB
ap-1007	113	15	their	their	PRON
ap-1007	113	16	own	own	ADJ
ap-1007	113	17	creative	creative	ADJ
ap-1007	113	18	application	application	NOUN
ap-1007	113	19	.	.	PUNCT
ap-1007	114	1	the	the	DET
ap-1007	114	2	three	three	NUM
ap-1007	114	3	documented	document	VERB
ap-1007	114	4	tasks	task	NOUN
ap-1007	114	5	included	include	VERB
ap-1007	114	6	an	an	DET
ap-1007	114	7	obstacle	obstacle	NOUN
ap-1007	114	8	course	course	NOUN
ap-1007	114	9	robot	robot	NOUN
ap-1007	114	10	which	which	PRON
ap-1007	114	11	exits	exit	VERB
ap-1007	114	12	and	and	CCONJ
ap-1007	114	13	maps	map	VERB
ap-1007	114	14	a	a	DET
ap-1007	114	15	maze	maze	NOUN
ap-1007	114	16	,	,	PUNCT
ap-1007	114	17	a	a	DET
ap-1007	114	18	3	3	NUM
ap-1007	114	19	-	-	PUNCT
ap-1007	114	20	d	d	NOUN
ap-1007	114	21	robot	robot	NOUN
ap-1007	114	22	arm	arm	NOUN
ap-1007	114	23	that	that	PRON
ap-1007	114	24	grabs	grab	VERB
ap-1007	114	25	and	and	CCONJ
ap-1007	114	26	sorts	sort	NOUN
ap-1007	114	27	colored	colored	ADJ
ap-1007	114	28	balls	ball	NOUN
ap-1007	114	29	(	(	PUNCT
ap-1007	114	30	fig	fig	NOUN
ap-1007	114	31	.	.	PUNCT
ap-1007	115	1	8)	8)	NUM
ap-1007	115	2	,	,	PUNCT
ap-1007	115	3	and	and	CCONJ
ap-1007	115	4	a	a	DET
ap-1007	115	5	2	2	NUM
ap-1007	115	6	-	-	PUNCT
ap-1007	115	7	d	d	NOUN
ap-1007	115	8	robot	robot	NOUN
ap-1007	115	9	arm	arm	NOUN
ap-1007	115	10	which	which	PRON
ap-1007	115	11	acts	act	VERB
ap-1007	115	12	as	as	ADP
ap-1007	115	13	an	an	DET
ap-1007	115	14	image	image	NOUN
ap-1007	115	15	scanner	scanner	NOUN
ap-1007	115	16	.	.	PUNCT
ap-1007	116	1	besides	besides	SCONJ
ap-1007	116	2	the	the	DET
ap-1007	116	3	competition	competition	NOUN
ap-1007	116	4	aspects	aspect	NOUN
ap-1007	116	5	and	and	CCONJ
ap-1007	116	6	the	the	DET
ap-1007	116	7	individual	individual	ADJ
ap-1007	116	8	robot	robot	NOUN
ap-1007	116	9	constructions	construction	NOUN
ap-1007	116	10	,	,	PUNCT
ap-1007	116	11	all	all	DET
ap-1007	116	12	tasks	task	NOUN
ap-1007	116	13	focused	focus	VERB
ap-1007	116	14	on	on	ADP
ap-1007	116	15	data	datum	NOUN
ap-1007	116	16	processing	processing	NOUN
ap-1007	116	17	and	and	CCONJ
ap-1007	116	18	programming	programming	NOUN
ap-1007	116	19	with	with	ADP
ap-1007	116	20	matlab	matlab	PROPN
ap-1007	116	21	,	,	PUNCT
ap-1007	116	22	e.g.	e.g.	ADV
ap-1007	116	23	,	,	PUNCT
ap-1007	116	24	data	data	NOUN
ap-1007	116	25	visualization	visualization	NOUN
ap-1007	116	26	,	,	PUNCT
ap-1007	116	27	mapping	mapping	NOUN
ap-1007	116	28	,	,	PUNCT
ap-1007	116	29	gui	gui	NOUN
ap-1007	116	30	interaction	interaction	NOUN
ap-1007	116	31	and	and	CCONJ
ap-1007	116	32	graphical	graphical	ADJ
ap-1007	116	33	display	display	NOUN
ap-1007	116	34	.	.	PUNCT
ap-1007	117	1	the	the	DET
ap-1007	117	2	2	2	NUM
ap-1007	117	3	-	-	PUNCT
ap-1007	117	4	d	d	NOUN
ap-1007	117	5	scanner	scanner	NOUN
ap-1007	117	6	application	application	NOUN
ap-1007	117	7	was	be	AUX
ap-1007	117	8	given	give	VERB
ap-1007	117	9	by	by	ADP
ap-1007	117	10	a	a	DET
ap-1007	117	11	two	two	NUM
ap-1007	117	12	-	-	PUNCT
ap-1007	117	13	joint	joint	NOUN
ap-1007	117	14	robot	robot	NOUN
ap-1007	117	15	arm	arm	NOUN
ap-1007	117	16	.	.	PUNCT
ap-1007	118	1	students	student	NOUN
ap-1007	118	2	who	who	PRON
ap-1007	118	3	chose	choose	VERB
ap-1007	118	4	this	this	DET
ap-1007	118	5	experiment	experiment	NOUN
ap-1007	118	6	had	have	VERB
ap-1007	118	7	to	to	PART
ap-1007	118	8	develop	develop	VERB
ap-1007	118	9	a	a	DET
ap-1007	118	10	time	time	NOUN
ap-1007	118	11	-	-	PUNCT
ap-1007	118	12	efficient	efficient	ADJ
ap-1007	118	13	scan	scan	ADJ
ap-1007	118	14	algorithm	algorithm	NOUN
ap-1007	118	15	.	.	PUNCT
ap-1007	119	1	here	here	ADV
ap-1007	119	2	the	the	DET
ap-1007	119	3	dependency	dependency	NOUN
ap-1007	119	4	between	between	ADP
ap-1007	119	5	rotations	rotation	NOUN
ap-1007	119	6	of	of	ADP
ap-1007	119	7	the	the	DET
ap-1007	119	8	two	two	NUM
ap-1007	119	9	joints	joint	NOUN
ap-1007	119	10	and	and	CCONJ
ap-1007	119	11	the	the	DET
ap-1007	119	12	current	current	ADJ
ap-1007	119	13	grid	grid	NOUN
ap-1007	119	14	position	position	NOUN
ap-1007	119	15	of	of	ADP
ap-1007	119	16	the	the	DET
ap-1007	119	17	light	light	ADJ
ap-1007	119	18	sensor	sensor	NOUN
ap-1007	119	19	had	have	VERB
ap-1007	119	20	to	to	PART
ap-1007	119	21	be	be	AUX
ap-1007	119	22	taken	take	VERB
ap-1007	119	23	into	into	ADP
ap-1007	119	24	account	account	NOUN
ap-1007	119	25	,	,	PUNCT
ap-1007	119	26	as	as	SCONJ
ap-1007	119	27	illustrated	illustrate	VERB
ap-1007	119	28	in	in	ADP
ap-1007	119	29	fig	fig	NOUN
ap-1007	119	30	.	.	PUNCT
ap-1007	120	1	9	9	X
ap-1007	120	2	.	.	X
ap-1007	120	3	then	then	ADV
ap-1007	120	4	challenges	challenge	NOUN
ap-1007	120	5	like	like	ADP
ap-1007	120	6	transformation	transformation	NOUN
ap-1007	120	7	of	of	ADP
ap-1007	120	8	polar	polar	ADJ
ap-1007	120	9	and	and	CCONJ
ap-1007	120	10	cartesian	cartesian	ADJ
ap-1007	120	11	coordinates	coordinate	NOUN
ap-1007	120	12	,	,	PUNCT
ap-1007	120	13	registration	registration	NOUN
ap-1007	120	14	,	,	PUNCT
ap-1007	120	15	image	image	NOUN
ap-1007	120	16	interpolation	interpolation	NOUN
ap-1007	120	17	and	and	CCONJ
ap-1007	120	18	visualization	visualization	NOUN
ap-1007	120	19	were	be	AUX
ap-1007	120	20	addressed	address	VERB
ap-1007	120	21	in	in	ADP
ap-1007	120	22	subtasks	subtask	NOUN
ap-1007	120	23	.	.	PUNCT
ap-1007	121	1	the	the	DET
ap-1007	121	2	scanning	scanning	NOUN
ap-1007	121	3	process	process	NOUN
ap-1007	121	4	is	be	AUX
ap-1007	121	5	illustrated	illustrate	VERB
ap-1007	121	6	in	in	ADP
ap-1007	121	7	fig	fig	NOUN
ap-1007	121	8	.	.	PUNCT
ap-1007	122	1	10	10	NUM
ap-1007	122	2	.	.	PUNCT
ap-1007	123	1	the	the	DET
ap-1007	123	2	figure	figure	NOUN
ap-1007	123	3	shows	show	VERB
ap-1007	123	4	the	the	DET
ap-1007	123	5	original	original	ADJ
ap-1007	123	6	image	image	NOUN
ap-1007	123	7	,	,	PUNCT
ap-1007	123	8	a	a	DET
ap-1007	123	9	sampled	sample	VERB
ap-1007	123	10	image	image	NOUN
ap-1007	123	11	and	and	CCONJ
ap-1007	123	12	the	the	DET
ap-1007	123	13	interpolation	interpolation	NOUN
ap-1007	123	14	result	result	NOUN
ap-1007	123	15	of	of	ADP
ap-1007	123	16	the	the	DET
ap-1007	123	17	test	test	NOUN
ap-1007	123	18	picture	picture	NOUN
ap-1007	123	19	,	,	PUNCT
ap-1007	123	20	called	call	VERB
ap-1007	123	21	lena	lena	PROPN
ap-1007	123	22	.	.	PUNCT
ap-1007	124	1	despite	despite	SCONJ
ap-1007	124	2	the	the	DET
ap-1007	124	3	hardware	hardware	NOUN
ap-1007	124	4	limitations	limitation	NOUN
ap-1007	124	5	the	the	DET
ap-1007	124	6	interpolated	interpolate	VERB
ap-1007	124	7	image	image	NOUN
ap-1007	124	8	provides	provide	VERB
ap-1007	124	9	a	a	DET
ap-1007	124	10	good	good	ADJ
ap-1007	124	11	result	result	NOUN
ap-1007	124	12	.	.	PUNCT
ap-1007	125	1	5.3	5.3	NUM
ap-1007	125	2	presentation	presentation	NOUN
ap-1007	125	3	on	on	ADP
ap-1007	125	4	the	the	DET
ap-1007	125	5	last	last	ADJ
ap-1007	125	6	day	day	NOUN
ap-1007	125	7	of	of	ADP
ap-1007	125	8	the	the	DET
ap-1007	125	9	lab	lab	NOUN
ap-1007	125	10	each	each	DET
ap-1007	125	11	student	student	NOUN
ap-1007	125	12	group	group	NOUN
ap-1007	125	13	presented	present	VERB
ap-1007	125	14	the	the	DET
ap-1007	125	15	results	result	NOUN
ap-1007	125	16	and	and	CCONJ
ap-1007	125	17	the	the	DET
ap-1007	125	18	individual	individual	ADJ
ap-1007	125	19	robot	robot	NOUN
ap-1007	125	20	constructions	construction	NOUN
ap-1007	125	21	to	to	ADP
ap-1007	125	22	the	the	DET
ap-1007	125	23	other	other	ADJ
ap-1007	125	24	participants	participant	NOUN
ap-1007	125	25	in	in	ADP
ap-1007	125	26	a	a	DET
ap-1007	125	27	15	15	NUM
ap-1007	125	28	-	-	SYM
ap-1007	125	29	20	20	NUM
ap-1007	125	30	minute	minute	NOUN
ap-1007	125	31	presentation	presentation	NOUN
ap-1007	125	32	.	.	PUNCT
ap-1007	126	1	the	the	DET
ap-1007	126	2	features	feature	NOUN
ap-1007	126	3	and	and	CCONJ
ap-1007	126	4	behavior	behavior	NOUN
ap-1007	126	5	of	of	ADP
ap-1007	126	6	the	the	DET
ap-1007	126	7	robots	robot	NOUN
ap-1007	126	8	were	be	AUX
ap-1007	126	9	shown	show	VERB
ap-1007	126	10	in	in	ADP
ap-1007	126	11	live	live	ADJ
ap-1007	126	12	demos	demos	NOUN
ap-1007	126	13	and	and	CCONJ
ap-1007	126	14	the	the	DET
ap-1007	126	15	developed	develop	VERB
ap-1007	126	16	matlab	matlab	PROPN
ap-1007	126	17	algorithms	algorithm	NOUN
ap-1007	126	18	were	be	AUX
ap-1007	126	19	discussed	discuss	VERB
ap-1007	126	20	.	.	PUNCT
ap-1007	127	1	for	for	ADP
ap-1007	127	2	the	the	DET
ap-1007	127	3	presentation	presentation	NOUN
ap-1007	127	4	,	,	PUNCT
ap-1007	127	5	common	common	ADJ
ap-1007	127	6	software	software	NOUN
ap-1007	127	7	like	like	ADP
ap-1007	127	8	openoffice	openoffice	PROPN
ap-1007	127	9	and	and	CCONJ
ap-1007	127	10	microsoft	microsoft	PROPN
ap-1007	127	11	®	®	PROPN
ap-1007	127	12	powerpoint	powerpoint	NOUN
ap-1007	127	13	was	be	AUX
ap-1007	127	14	used	use	VERB
ap-1007	127	15	.	.	PUNCT
ap-1007	128	1	©	©	PROPN
ap-1007	128	2	czech	czech	PROPN
ap-1007	128	3	technical	technical	PROPN
ap-1007	128	4	university	university	PROPN
ap-1007	128	5	publishing	publishing	NOUN
ap-1007	128	6	house	house	NOUN
ap-1007	128	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1007	128	8	47	47	NUM
ap-1007	128	9	acta	acta	PROPN
ap-1007	128	10	polytechnica	polytechnica	PROPN
ap-1007	128	11	vol	vol	NOUN
ap-1007	128	12	.	.	PUNCT
ap-1007	129	1	48	48	NUM
ap-1007	129	2	no	no	NOUN
ap-1007	129	3	.	.	PUNCT
ap-1007	130	1	3/2008	3/2008	NUM
ap-1007	130	2	fig	fig	NOUN
ap-1007	130	3	.	.	PUNCT
ap-1007	131	1	6	6	NUM
ap-1007	131	2	:	:	PUNCT
ap-1007	131	3	exercise	exercise	VERB
ap-1007	131	4	4	4	NUM
ap-1007	131	5	:	:	PUNCT
ap-1007	131	6	complex	complex	ADJ
ap-1007	131	7	phase	phase	NOUN
ap-1007	131	8	machine	machine	NOUN
ap-1007	131	9	(	(	PUNCT
ap-1007	131	10	left	leave	VERB
ap-1007	131	11	:	:	PUNCT
ap-1007	131	12	matlab	matlab	PROPN
ap-1007	131	13	plot	plot	NOUN
ap-1007	131	14	of	of	ADP
ap-1007	131	15	complex	complex	ADJ
ap-1007	131	16	phases	phase	NOUN
ap-1007	131	17	,	,	PUNCT
ap-1007	131	18	right	right	ADJ
ap-1007	131	19	:	:	PUNCT
ap-1007	131	20	mechanical	mechanical	ADJ
ap-1007	131	21	simulation	simulation	NOUN
ap-1007	131	22	displayed	display	VERB
ap-1007	131	23	by	by	ADP
ap-1007	131	24	the	the	DET
ap-1007	131	25	lego	lego	NOUN
ap-1007	131	26	pointers	pointer	NOUN
ap-1007	131	27	)	)	PUNCT
ap-1007	131	28	fig	fig	NOUN
ap-1007	131	29	.	.	PUNCT
ap-1007	132	1	7	7	NUM
ap-1007	132	2	:	:	PUNCT
ap-1007	132	3	exercise	exercise	VERB
ap-1007	132	4	6	6	NUM
ap-1007	132	5	:	:	PUNCT
ap-1007	132	6	explorer	explorer	NOUN
ap-1007	132	7	robot	robot	NOUN
ap-1007	132	8	scans	scan	VERB
ap-1007	132	9	the	the	DET
ap-1007	132	10	local	local	ADJ
ap-1007	132	11	environment	environment	NOUN
ap-1007	132	12	(	(	PUNCT
ap-1007	132	13	left	leave	VERB
ap-1007	132	14	:	:	PUNCT
ap-1007	132	15	360	360	NUM
ap-1007	132	16	-	-	PUNCT
ap-1007	132	17	degree	degree	NOUN
ap-1007	132	18	distance	distance	NOUN
ap-1007	132	19	profile	profile	NOUN
ap-1007	132	20	,	,	PUNCT
ap-1007	132	21	right	right	ADJ
ap-1007	132	22	:	:	PUNCT
ap-1007	132	23	enclosure	enclosure	NOUN
ap-1007	132	24	with	with	ADP
ap-1007	132	25	an	an	DET
ap-1007	132	26	open	open	ADJ
ap-1007	132	27	gate	gate	NOUN
ap-1007	132	28	)	)	PUNCT
ap-1007	132	29	fig	fig	NOUN
ap-1007	132	30	.	.	PUNCT
ap-1007	133	1	8	8	NUM
ap-1007	133	2	:	:	PUNCT
ap-1007	134	1	major	major	ADJ
ap-1007	134	2	practical	practical	ADJ
ap-1007	134	3	tasks	task	NOUN
ap-1007	134	4	(	(	PUNCT
ap-1007	134	5	1st	1st	ADJ
ap-1007	134	6	row	row	NOUN
ap-1007	134	7	:	:	PUNCT
ap-1007	134	8	obstacle	obstacle	VERB
ap-1007	134	9	course	course	NOUN
ap-1007	134	10	robot	robot	NOUN
ap-1007	134	11	with	with	ADP
ap-1007	134	12	route	route	NOUN
ap-1007	134	13	mapping	mapping	NOUN
ap-1007	134	14	,	,	PUNCT
ap-1007	134	15	2nd	2nd	PROPN
ap-1007	134	16	row	row	NOUN
ap-1007	134	17	:	:	PUNCT
ap-1007	134	18	robot	robot	NOUN
ap-1007	134	19	arm	arm	NOUN
ap-1007	134	20	with	with	ADP
ap-1007	134	21	monitored	monitored	ADJ
ap-1007	134	22	status	status	NOUN
ap-1007	134	23	)	)	PUNCT
ap-1007	134	24	fig	fig	NOUN
ap-1007	134	25	.	.	PUNCT
ap-1007	135	1	9	9	NUM
ap-1007	135	2	:	:	SYM
ap-1007	135	3	2	2	NUM
ap-1007	135	4	-	-	PUNCT
ap-1007	135	5	d	d	NOUN
ap-1007	135	6	scanner	scanner	NOUN
ap-1007	135	7	with	with	ADP
ap-1007	135	8	rotation	rotation	NOUN
ap-1007	135	9	angles	angle	NOUN
ap-1007	135	10	of	of	ADP
ap-1007	135	11	the	the	DET
ap-1007	135	12	joints	joint	NOUN
ap-1007	135	13	fig	fig	NOUN
ap-1007	135	14	.	.	PUNCT
ap-1007	136	1	10	10	NUM
ap-1007	136	2	:	:	SYM
ap-1007	136	3	2	2	NUM
ap-1007	136	4	-	-	SYM
ap-1007	136	5	d	d	NOUN
ap-1007	136	6	scan	scan	NOUN
ap-1007	136	7	(	(	PUNCT
ap-1007	136	8	left	leave	VERB
ap-1007	136	9	:	:	PUNCT
ap-1007	136	10	original	original	ADJ
ap-1007	136	11	image	image	NOUN
ap-1007	136	12	,	,	PUNCT
ap-1007	136	13	middle	middle	ADJ
ap-1007	136	14	:	:	PUNCT
ap-1007	136	15	sampled	sample	VERB
ap-1007	136	16	image	image	NOUN
ap-1007	136	17	,	,	PUNCT
ap-1007	136	18	right	right	ADJ
ap-1007	136	19	:	:	PUNCT
ap-1007	136	20	interpolation	interpolation	NOUN
ap-1007	136	21	)	)	PUNCT
ap-1007	136	22	6	6	NUM
ap-1007	136	23	evaluation	evaluation	NOUN
ap-1007	136	24	and	and	CCONJ
ap-1007	136	25	results	result	NOUN
ap-1007	136	26	after	after	ADP
ap-1007	136	27	the	the	DET
ap-1007	136	28	lab	lab	NOUN
ap-1007	136	29	,	,	PUNCT
ap-1007	136	30	175	175	NUM
ap-1007	136	31	students	student	NOUN
ap-1007	136	32	participated	participate	VERB
ap-1007	136	33	in	in	ADP
ap-1007	136	34	an	an	DET
ap-1007	136	35	anonymous	anonymous	ADJ
ap-1007	136	36	online	online	ADJ
ap-1007	136	37	evaluation	evaluation	NOUN
ap-1007	136	38	.	.	PUNCT
ap-1007	137	1	according	accord	VERB
ap-1007	137	2	to	to	ADP
ap-1007	137	3	the	the	DET
ap-1007	137	4	evaluation	evaluation	NOUN
ap-1007	137	5	results	result	VERB
ap-1007	137	6	the	the	DET
ap-1007	137	7	lab	lab	NOUN
ap-1007	137	8	fulfilled	fulfil	VERB
ap-1007	137	9	the	the	DET
ap-1007	137	10	goal	goal	NOUN
ap-1007	137	11	of	of	ADP
ap-1007	137	12	introducing	introduce	VERB
ap-1007	137	13	matlab	matlab	PROPN
ap-1007	137	14	as	as	ADP
ap-1007	137	15	a	a	DET
ap-1007	137	16	software	software	NOUN
ap-1007	137	17	for	for	ADP
ap-1007	137	18	solving	solve	VERB
ap-1007	137	19	real	real	ADJ
ap-1007	137	20	-	-	PUNCT
ap-1007	137	21	world	world	NOUN
ap-1007	137	22	problems	problem	NOUN
ap-1007	137	23	,	,	PUNCT
ap-1007	137	24	based	base	VERB
ap-1007	137	25	on	on	ADP
ap-1007	137	26	mathematical	mathematical	ADJ
ap-1007	137	27	methods	method	NOUN
ap-1007	137	28	and	and	CCONJ
ap-1007	137	29	principles	principle	NOUN
ap-1007	137	30	.	.	PUNCT
ap-1007	138	1	as	as	SCONJ
ap-1007	138	2	shown	show	VERB
ap-1007	138	3	in	in	ADP
ap-1007	138	4	fig	fig	NOUN
ap-1007	138	5	.	.	PUNCT
ap-1007	139	1	11	11	NUM
ap-1007	139	2	,	,	PUNCT
ap-1007	139	3	48	48	NUM
ap-1007	139	4	%	%	NOUN
ap-1007	139	5	of	of	ADP
ap-1007	139	6	the	the	DET
ap-1007	139	7	students	student	NOUN
ap-1007	139	8	rated	rate	VERB
ap-1007	139	9	their	their	PRON
ap-1007	139	10	matlab	matlab	PROPN
ap-1007	139	11	programming	programming	NOUN
ap-1007	139	12	skills	skill	NOUN
ap-1007	139	13	as	as	ADP
ap-1007	139	14	“	"	PUNCT
ap-1007	139	15	average	average	ADJ
ap-1007	139	16	”	"	PUNCT
ap-1007	139	17	at	at	ADP
ap-1007	139	18	the	the	DET
ap-1007	139	19	beginning	beginning	NOUN
ap-1007	139	20	of	of	ADP
ap-1007	139	21	the	the	DET
ap-1007	139	22	lab	lab	NOUN
ap-1007	139	23	,	,	PUNCT
ap-1007	139	24	whereas	whereas	SCONJ
ap-1007	139	25	48	48	NUM
ap-1007	139	26	%	%	NOUN
ap-1007	139	27	evaluated	evaluate	VERB
ap-1007	139	28	their	their	PRON
ap-1007	139	29	improved	improved	ADJ
ap-1007	139	30	skills	skill	NOUN
ap-1007	139	31	as	as	ADP
ap-1007	139	32	”	"	PUNCT
ap-1007	139	33	excellent	excellent	ADJ
ap-1007	139	34	”	"	PUNCT
ap-1007	139	35	and	and	CCONJ
ap-1007	139	36	44	44	NUM
ap-1007	139	37	%	%	NOUN
ap-1007	139	38	as	as	ADP
ap-1007	139	39	“	"	PUNCT
ap-1007	139	40	good	good	ADJ
ap-1007	139	41	”	"	PUNCT
ap-1007	139	42	after	after	ADP
ap-1007	139	43	the	the	DET
ap-1007	139	44	project	project	NOUN
ap-1007	139	45	.	.	PUNCT
ap-1007	140	1	the	the	DET
ap-1007	140	2	overall	overall	ADJ
ap-1007	140	3	rating	rating	NOUN
ap-1007	140	4	also	also	ADV
ap-1007	140	5	shows	show	VERB
ap-1007	140	6	an	an	DET
ap-1007	140	7	“	"	PUNCT
ap-1007	140	8	excellent	excellent	ADJ
ap-1007	140	9	”	"	PUNCT
ap-1007	140	10	or	or	CCONJ
ap-1007	140	11	“	"	PUNCT
ap-1007	140	12	good	good	ADJ
ap-1007	140	13	”	"	PUNCT
ap-1007	140	14	validation	validation	NOUN
ap-1007	140	15	of	of	ADP
ap-1007	140	16	89	89	NUM
ap-1007	140	17	%	%	NOUN
ap-1007	140	18	.	.	PUNCT
ap-1007	141	1	in	in	ADP
ap-1007	141	2	addition	addition	NOUN
ap-1007	141	3	,	,	PUNCT
ap-1007	141	4	almost	almost	ADV
ap-1007	141	5	every	every	PRON
ap-1007	141	6	participant	participant	NOUN
ap-1007	141	7	would	would	AUX
ap-1007	141	8	join	join	VERB
ap-1007	141	9	the	the	DET
ap-1007	141	10	lab	lab	NOUN
ap-1007	141	11	again	again	ADV
ap-1007	141	12	and	and	CCONJ
ap-1007	141	13	approved	approve	VERB
ap-1007	141	14	the	the	DET
ap-1007	141	15	usage	usage	NOUN
ap-1007	141	16	of	of	ADP
ap-1007	141	17	mindstorms	mindstorm	NOUN
ap-1007	141	18	applications	application	NOUN
ap-1007	141	19	also	also	ADV
ap-1007	141	20	in	in	ADP
ap-1007	141	21	other	other	ADJ
ap-1007	141	22	practical	practical	ADJ
ap-1007	141	23	courses	course	NOUN
ap-1007	141	24	.	.	PUNCT
ap-1007	142	1	besides	besides	SCONJ
ap-1007	142	2	the	the	DET
ap-1007	142	3	motivation	motivation	NOUN
ap-1007	142	4	rate	rate	NOUN
ap-1007	142	5	of	of	ADP
ap-1007	142	6	fig	fig	NOUN
ap-1007	142	7	.	.	PUNCT
ap-1007	143	1	11	11	NUM
ap-1007	143	2	,	,	PUNCT
ap-1007	143	3	the	the	DET
ap-1007	143	4	students	student	NOUN
ap-1007	143	5	’	’	PART
ap-1007	143	6	motivation	motivation	NOUN
ap-1007	143	7	was	be	AUX
ap-1007	143	8	expressed	express	VERB
ap-1007	143	9	by	by	ADP
ap-1007	143	10	their	their	PRON
ap-1007	143	11	group	group	NOUN
ap-1007	143	12	dynamics	dynamic	NOUN
ap-1007	143	13	,	,	PUNCT
ap-1007	143	14	strong	strong	ADJ
ap-1007	143	15	intention	intention	NOUN
ap-1007	143	16	to	to	PART
ap-1007	143	17	compete	compete	VERB
ap-1007	143	18	with	with	ADP
ap-1007	143	19	other	other	ADJ
ap-1007	143	20	groups	group	NOUN
ap-1007	143	21	by	by	ADP
ap-1007	143	22	spending	spend	VERB
ap-1007	143	23	additional	additional	ADJ
ap-1007	143	24	time	time	NOUN
ap-1007	143	25	on	on	ADP
ap-1007	143	26	refining	refine	VERB
ap-1007	143	27	the	the	DET
ap-1007	143	28	robot	robot	NOUN
ap-1007	143	29	algorithms	algorithm	NOUN
ap-1007	143	30	after	after	ADP
ap-1007	143	31	the	the	DET
ap-1007	143	32	official	official	ADJ
ap-1007	143	33	hours	hour	NOUN
ap-1007	143	34	.	.	PUNCT
ap-1007	144	1	the	the	DET
ap-1007	144	2	impact	impact	NOUN
ap-1007	144	3	of	of	ADP
ap-1007	144	4	peer	peer	NOUN
ap-1007	144	5	learning	learning	NOUN
ap-1007	144	6	within	within	ADP
ap-1007	144	7	the	the	DET
ap-1007	144	8	groups	group	NOUN
ap-1007	144	9	of	of	ADP
ap-1007	144	10	four	four	NUM
ap-1007	144	11	was	be	AUX
ap-1007	144	12	also	also	ADV
ap-1007	144	13	observable	observable	ADJ
ap-1007	144	14	,	,	PUNCT
ap-1007	144	15	since	since	SCONJ
ap-1007	144	16	the	the	DET
ap-1007	144	17	students	student	NOUN
ap-1007	144	18	shared	share	VERB
ap-1007	144	19	resources	resource	NOUN
ap-1007	144	20	and	and	CCONJ
ap-1007	144	21	engaged	engage	VERB
ap-1007	144	22	in	in	ADP
ap-1007	144	23	debates	debate	NOUN
ap-1007	144	24	and	and	CCONJ
ap-1007	144	25	critical	critical	ADJ
ap-1007	144	26	reflections	reflection	NOUN
ap-1007	144	27	.	.	PUNCT
ap-1007	145	1	the	the	DET
ap-1007	145	2	question	question	NOUN
ap-1007	145	3	“	"	PUNCT
ap-1007	145	4	identify	identify	VERB
ap-1007	145	5	positive	positive	ADJ
ap-1007	145	6	aspects	aspect	NOUN
ap-1007	145	7	of	of	ADP
ap-1007	145	8	the	the	DET
ap-1007	145	9	lab	lab	NOUN
ap-1007	145	10	”	"	PUNCT
ap-1007	145	11	produced	produce	VERB
ap-1007	145	12	responses	response	NOUN
ap-1007	145	13	such	such	ADJ
ap-1007	145	14	as	as	ADP
ap-1007	145	15	“	"	PUNCT
ap-1007	145	16	confrontation	confrontation	NOUN
ap-1007	145	17	with	with	ADP
ap-1007	145	18	problems	problem	NOUN
ap-1007	145	19	which	which	PRON
ap-1007	145	20	are	be	AUX
ap-1007	145	21	not	not	PART
ap-1007	145	22	mentioned	mention	VERB
ap-1007	145	23	in	in	ADP
ap-1007	145	24	the	the	DET
ap-1007	145	25	theory	theory	NOUN
ap-1007	145	26	”	"	PUNCT
ap-1007	145	27	,	,	PUNCT
ap-1007	145	28	“	"	PUNCT
ap-1007	145	29	theoretical	theoretical	ADJ
ap-1007	145	30	foundations	foundation	NOUN
ap-1007	145	31	could	could	AUX
ap-1007	145	32	be	be	AUX
ap-1007	145	33	linked	link	VERB
ap-1007	145	34	to	to	ADP
ap-1007	145	35	practical	practical	ADJ
ap-1007	145	36	problems	problem	NOUN
ap-1007	145	37	,	,	PUNCT
ap-1007	145	38	which	which	PRON
ap-1007	145	39	led	lead	VERB
ap-1007	145	40	to	to	ADP
ap-1007	145	41	a	a	DET
ap-1007	145	42	higher	high	ADJ
ap-1007	145	43	understanding	understanding	NOUN
ap-1007	145	44	level	level	NOUN
ap-1007	145	45	”	"	PUNCT
ap-1007	145	46	and	and	CCONJ
ap-1007	145	47	“	"	PUNCT
ap-1007	145	48	practical	practical	ADJ
ap-1007	145	49	application	application	NOUN
ap-1007	145	50	with	with	ADP
ap-1007	145	51	matlab	matlab	PROPN
ap-1007	145	52	”	"	PUNCT
ap-1007	145	53	also	also	ADV
ap-1007	145	54	showed	show	VERB
ap-1007	145	55	that	that	SCONJ
ap-1007	145	56	the	the	DET
ap-1007	145	57	proposed	propose	VERB
ap-1007	145	58	objectives	objective	NOUN
ap-1007	145	59	were	be	AUX
ap-1007	145	60	fulfilled	fulfil	VERB
ap-1007	145	61	.	.	PUNCT
ap-1007	146	1	students	student	NOUN
ap-1007	146	2	’	'	PUNCT
ap-1007	146	3	creativity	creativity	NOUN
ap-1007	146	4	and	and	CCONJ
ap-1007	146	5	the	the	DET
ap-1007	146	6	variety	variety	NOUN
ap-1007	146	7	of	of	ADP
ap-1007	146	8	individual	individual	ADJ
ap-1007	146	9	application	application	NOUN
ap-1007	146	10	ideas	idea	NOUN
ap-1007	146	11	and	and	CCONJ
ap-1007	146	12	robot	robot	NOUN
ap-1007	146	13	constructions	construction	NOUN
ap-1007	146	14	exceeded	exceed	VERB
ap-1007	146	15	our	our	PRON
ap-1007	146	16	expectations	expectation	NOUN
ap-1007	146	17	.	.	PUNCT
ap-1007	147	1	the	the	DET
ap-1007	147	2	evaluation	evaluation	NOUN
ap-1007	147	3	showed	show	VERB
ap-1007	147	4	that	that	SCONJ
ap-1007	147	5	45	45	NUM
ap-1007	147	6	%	%	NOUN
ap-1007	147	7	of	of	ADP
ap-1007	147	8	the	the	DET
ap-1007	147	9	interviewed	interview	VERB
ap-1007	147	10	persons	person	NOUN
ap-1007	147	11	defined	define	VERB
ap-1007	147	12	and	and	CCONJ
ap-1007	147	13	implemented	implement	VERB
ap-1007	147	14	their	their	PRON
ap-1007	147	15	own	own	ADJ
ap-1007	147	16	practical	practical	ADJ
ap-1007	147	17	major	major	ADJ
ap-1007	147	18	tasks	task	NOUN
ap-1007	147	19	.	.	PUNCT
ap-1007	148	1	thus	thus	ADV
ap-1007	148	2	new	new	ADJ
ap-1007	148	3	and	and	CCONJ
ap-1007	148	4	creative	creative	ADJ
ap-1007	148	5	robots	robot	NOUN
ap-1007	148	6	,	,	PUNCT
ap-1007	148	7	like	like	ADP
ap-1007	148	8	a	a	DET
ap-1007	148	9	3	3	NUM
ap-1007	148	10	-	-	PUNCT
ap-1007	148	11	d	d	NOUN
ap-1007	148	12	environment	environment	NOUN
ap-1007	148	13	scanner	scanner	NOUN
ap-1007	148	14	with	with	ADP
ap-1007	148	15	target	target	NOUN
ap-1007	148	16	recognition	recognition	NOUN
ap-1007	148	17	,	,	PUNCT
ap-1007	148	18	a	a	DET
ap-1007	148	19	bottle	bottle	NOUN
ap-1007	148	20	finder	finder	NOUN
ap-1007	148	21	with	with	ADP
ap-1007	148	22	fill	fill	NOUN
ap-1007	148	23	-	-	PUNCT
ap-1007	148	24	level	level	NOUN
ap-1007	148	25	-	-	PUNCT
ap-1007	148	26	scanner	scanner	NOUN
ap-1007	148	27	,	,	PUNCT
ap-1007	148	28	a	a	DET
ap-1007	148	29	vehicle	vehicle	NOUN
ap-1007	148	30	with	with	ADP
ap-1007	148	31	roadside	roadside	NOUN
ap-1007	148	32	recognition	recognition	NOUN
ap-1007	148	33	,	,	PUNCT
ap-1007	148	34	a	a	DET
ap-1007	148	35	bowling	bowling	NOUN
ap-1007	148	36	robot	robot	NOUN
ap-1007	148	37	,	,	PUNCT
ap-1007	148	38	an	an	DET
ap-1007	148	39	autonomous	autonomous	ADJ
ap-1007	148	40	parking	parking	NOUN
ap-1007	148	41	vehicle	vehicle	NOUN
ap-1007	148	42	,	,	PUNCT
ap-1007	148	43	a	a	DET
ap-1007	148	44	sorting	sort	VERB
ap-1007	148	45	machine	machine	NOUN
ap-1007	148	46	,	,	PUNCT
ap-1007	148	47	a	a	DET
ap-1007	148	48	bar	bar	NOUN
ap-1007	148	49	code	code	NOUN
ap-1007	148	50	and	and	CCONJ
ap-1007	148	51	bar	bar	NOUN
ap-1007	148	52	disk	disk	NOUN
ap-1007	148	53	scanner	scanner	NOUN
ap-1007	148	54	,	,	PUNCT
ap-1007	148	55	a	a	DET
ap-1007	148	56	morse	morse	ADJ
ap-1007	148	57	encoder	encoder	NOUN
ap-1007	148	58	/	/	SYM
ap-1007	148	59	decoder	decoder	NOUN
ap-1007	148	60	(	(	PUNCT
ap-1007	148	61	shown	show	VERB
ap-1007	148	62	in	in	ADP
ap-1007	148	63	fig	fig	NOUN
ap-1007	148	64	.	.	PUNCT
ap-1007	149	1	12	12	NUM
ap-1007	149	2	)	)	PUNCT
ap-1007	149	3	,	,	PUNCT
ap-1007	149	4	etc	etc	X
ap-1007	149	5	.	.	X
ap-1007	149	6	were	be	AUX
ap-1007	149	7	designed	design	VERB
ap-1007	149	8	.	.	PUNCT
ap-1007	150	1	while	while	SCONJ
ap-1007	150	2	many	many	ADJ
ap-1007	150	3	students	student	NOUN
ap-1007	150	4	argued	argue	VERB
ap-1007	150	5	that	that	SCONJ
ap-1007	150	6	working	work	VERB
ap-1007	150	7	with	with	ADP
ap-1007	150	8	the	the	DET
ap-1007	150	9	hardware	hardware	NOUN
ap-1007	150	10	limitations	limitation	NOUN
ap-1007	150	11	was	be	AUX
ap-1007	150	12	challenging	challenging	ADJ
ap-1007	150	13	,	,	PUNCT
ap-1007	150	14	some	some	DET
ap-1007	150	15	participants	participant	NOUN
ap-1007	150	16	criticized	criticize	VERB
ap-1007	150	17	the	the	DET
ap-1007	150	18	occurrence	occurrence	NOUN
ap-1007	150	19	of	of	ADP
ap-1007	150	20	major	major	ADJ
ap-1007	150	21	bluetooth	bluetooth	PROPN
ap-1007	150	22	latencies	latency	NOUN
ap-1007	150	23	and	and	CCONJ
ap-1007	150	24	the	the	DET
ap-1007	150	25	complex	complex	ADJ
ap-1007	150	26	motor	motor	NOUN
ap-1007	150	27	control	control	NOUN
ap-1007	150	28	,	,	PUNCT
ap-1007	150	29	which	which	PRON
ap-1007	150	30	limited	limit	VERB
ap-1007	150	31	the	the	DET
ap-1007	150	32	implementations	implementation	NOUN
ap-1007	150	33	of	of	ADP
ap-1007	150	34	their	their	PRON
ap-1007	150	35	applications	application	NOUN
ap-1007	150	36	.	.	PUNCT
ap-1007	151	1	the	the	DET
ap-1007	151	2	limited	limited	ADJ
ap-1007	151	3	number	number	NOUN
ap-1007	151	4	of	of	ADP
ap-1007	151	5	mindstorms	mindstorm	NOUN
ap-1007	151	6	kits	kit	NOUN
ap-1007	151	7	was	be	AUX
ap-1007	151	8	also	also	ADV
ap-1007	151	9	criticized	criticize	VERB
ap-1007	151	10	,	,	PUNCT
ap-1007	151	11	especially	especially	ADV
ap-1007	151	12	during	during	ADP
ap-1007	151	13	the	the	DET
ap-1007	151	14	basic	basic	ADJ
ap-1007	151	15	exercises	exercise	NOUN
ap-1007	151	16	,	,	PUNCT
ap-1007	151	17	in	in	ADP
ap-1007	151	18	which	which	PRON
ap-1007	151	19	one	one	NUM
ap-1007	151	20	kit	kit	NOUN
ap-1007	151	21	was	be	AUX
ap-1007	151	22	shared	share	VERB
ap-1007	151	23	by	by	ADP
ap-1007	151	24	two	two	NUM
ap-1007	151	25	teams	team	NOUN
ap-1007	151	26	of	of	ADP
ap-1007	151	27	two	two	NUM
ap-1007	151	28	students	student	NOUN
ap-1007	151	29	.	.	PUNCT
ap-1007	152	1	referring	refer	VERB
ap-1007	152	2	to	to	ADP
ap-1007	152	3	this	this	PRON
ap-1007	152	4	,	,	PUNCT
ap-1007	152	5	fig	fig	NOUN
ap-1007	152	6	.	.	PUNCT
ap-1007	153	1	11	11	NUM
ap-1007	153	2	shows	show	VERB
ap-1007	153	3	an	an	DET
ap-1007	153	4	“	"	PUNCT
ap-1007	153	5	average	average	ADJ
ap-1007	153	6	”	"	PUNCT
ap-1007	153	7	rating	rating	NOUN
ap-1007	153	8	.	.	PUNCT
ap-1007	154	1	overall	overall	ADV
ap-1007	154	2	,	,	PUNCT
ap-1007	154	3	the	the	DET
ap-1007	154	4	laboratory	laboratory	NOUN
ap-1007	154	5	work	work	NOUN
ap-1007	154	6	clearly	clearly	ADV
ap-1007	154	7	showed	show	VERB
ap-1007	154	8	that	that	SCONJ
ap-1007	154	9	freshman	freshman	NOUN
ap-1007	154	10	students	student	NOUN
ap-1007	154	11	were	be	AUX
ap-1007	154	12	highly	highly	ADV
ap-1007	154	13	motivated	motivated	ADJ
ap-1007	154	14	and	and	CCONJ
ap-1007	154	15	encouraged	encourage	VERB
ap-1007	154	16	to	to	PART
ap-1007	154	17	transfer	transfer	VERB
ap-1007	154	18	mathematical	mathematical	ADJ
ap-1007	154	19	principles	principle	NOUN
ap-1007	154	20	to	to	ADP
ap-1007	154	21	robotics	robotic	NOUN
ap-1007	154	22	while	while	SCONJ
ap-1007	154	23	broadening	broaden	VERB
ap-1007	154	24	their	their	PRON
ap-1007	154	25	programming	programming	NOUN
ap-1007	154	26	knowledge	knowledge	NOUN
ap-1007	154	27	in	in	ADP
ap-1007	154	28	matlab	matlab	PROPN
ap-1007	154	29	at	at	ADP
ap-1007	154	30	the	the	DET
ap-1007	154	31	same	same	ADJ
ap-1007	154	32	time	time	NOUN
ap-1007	154	33	.	.	PUNCT
ap-1007	155	1	social	social	ADJ
ap-1007	155	2	skills	skill	NOUN
ap-1007	155	3	like	like	ADP
ap-1007	155	4	working	work	VERB
ap-1007	155	5	in	in	ADP
ap-1007	155	6	a	a	DET
ap-1007	155	7	team	team	NOUN
ap-1007	155	8	,	,	PUNCT
ap-1007	155	9	managing	manage	VERB
ap-1007	155	10	the	the	DET
ap-1007	155	11	assigned	assign	VERB
ap-1007	155	12	tasks	task	NOUN
ap-1007	155	13	within	within	ADP
ap-1007	155	14	a	a	DET
ap-1007	155	15	given	give	VERB
ap-1007	155	16	time	time	NOUN
ap-1007	155	17	frame	frame	NOUN
ap-1007	155	18	and	and	CCONJ
ap-1007	155	19	cooperating	cooperate	VERB
ap-1007	155	20	with	with	ADP
ap-1007	155	21	others	other	NOUN
ap-1007	155	22	to	to	PART
ap-1007	155	23	attain	attain	VERB
ap-1007	155	24	mutually	mutually	ADV
ap-1007	155	25	beneficial	beneficial	ADJ
ap-1007	155	26	goals	goal	NOUN
ap-1007	155	27	were	be	AUX
ap-1007	155	28	also	also	ADV
ap-1007	155	29	supported	support	VERB
ap-1007	155	30	by	by	ADP
ap-1007	155	31	the	the	DET
ap-1007	155	32	laboratory	laboratory	NOUN
ap-1007	155	33	concept	concept	NOUN
ap-1007	155	34	.	.	PUNCT
ap-1007	156	1	in	in	ADP
ap-1007	156	2	addition	addition	NOUN
ap-1007	156	3	,	,	PUNCT
ap-1007	156	4	students	student	NOUN
ap-1007	156	5	who	who	PRON
ap-1007	156	6	showed	show	VERB
ap-1007	156	7	only	only	ADJ
ap-1007	156	8	minor	minor	ADJ
ap-1007	156	9	creativity	creativity	NOUN
ap-1007	156	10	and	and	CCONJ
ap-1007	156	11	productivity	productivity	NOUN
ap-1007	156	12	were	be	AUX
ap-1007	156	13	encouraged	encourage	VERB
ap-1007	156	14	to	to	PART
ap-1007	156	15	work	work	VERB
ap-1007	156	16	on	on	ADP
ap-1007	156	17	the	the	DET
ap-1007	156	18	predetermined	predetermine	VERB
ap-1007	156	19	and	and	CCONJ
ap-1007	156	20	documented	document	VERB
ap-1007	156	21	applications	application	NOUN
ap-1007	156	22	.	.	PUNCT
ap-1007	157	1	7	7	NUM
ap-1007	157	2	perspectives	perspective	NOUN
ap-1007	157	3	based	base	VERB
ap-1007	157	4	on	on	ADP
ap-1007	157	5	this	this	DET
ap-1007	157	6	first	first	ADJ
ap-1007	157	7	experience	experience	NOUN
ap-1007	157	8	and	and	CCONJ
ap-1007	157	9	the	the	DET
ap-1007	157	10	evaluation	evaluation	NOUN
ap-1007	157	11	results	result	NOUN
ap-1007	157	12	,	,	PUNCT
ap-1007	157	13	some	some	DET
ap-1007	157	14	adjustments	adjustment	NOUN
ap-1007	157	15	will	will	AUX
ap-1007	157	16	be	be	AUX
ap-1007	157	17	made	make	VERB
ap-1007	157	18	for	for	ADP
ap-1007	157	19	the	the	DET
ap-1007	157	20	next	next	ADJ
ap-1007	157	21	semester	semester	NOUN
ap-1007	157	22	.	.	PUNCT
ap-1007	158	1	the	the	DET
ap-1007	158	2	number	number	NOUN
ap-1007	158	3	of	of	ADP
ap-1007	158	4	mindstorms	mindstorm	NOUN
ap-1007	158	5	nxt	nxt	PROPN
ap-1007	158	6	education	education	NOUN
ap-1007	158	7	sets	set	NOUN
ap-1007	158	8	will	will	AUX
ap-1007	158	9	be	be	AUX
ap-1007	158	10	doubled	double	VERB
ap-1007	158	11	in	in	ADP
ap-1007	158	12	order	order	NOUN
ap-1007	158	13	to	to	PART
ap-1007	158	14	accelerate	accelerate	VERB
ap-1007	158	15	the	the	DET
ap-1007	158	16	execution	execution	NOUN
ap-1007	158	17	time	time	NOUN
ap-1007	158	18	of	of	ADP
ap-1007	158	19	the	the	DET
ap-1007	158	20	basic	basic	ADJ
ap-1007	158	21	exercises	exercise	NOUN
ap-1007	158	22	and	and	CCONJ
ap-1007	158	23	provide	provide	VERB
ap-1007	158	24	additional	additional	ADJ
ap-1007	158	25	time	time	NOUN
ap-1007	158	26	for	for	ADP
ap-1007	158	27	the	the	DET
ap-1007	158	28	major	major	ADJ
ap-1007	158	29	practical	practical	ADJ
ap-1007	158	30	tasks	task	NOUN
ap-1007	158	31	.	.	PUNCT
ap-1007	159	1	the	the	DET
ap-1007	159	2	rwth	rwth	NOUN
ap-1007	159	3	–	–	PUNCT
ap-1007	159	4	mindstorms	mindstorm	NOUN
ap-1007	159	5	nxt	nxt	PROPN
ap-1007	159	6	toolbox	toolbox	NOUN
ap-1007	159	7	for	for	ADP
ap-1007	159	8	matlab	matlab	PROPN
ap-1007	159	9	will	will	AUX
ap-1007	159	10	support	support	VERB
ap-1007	159	11	a	a	DET
ap-1007	159	12	usb	usb	NOUN
ap-1007	159	13	interface	interface	NOUN
ap-1007	159	14	to	to	PART
ap-1007	159	15	lower	lower	VERB
ap-1007	159	16	the	the	DET
ap-1007	159	17	probability	probability	NOUN
ap-1007	159	18	of	of	ADP
ap-1007	159	19	major	major	ADJ
ap-1007	159	20	packet	packet	NOUN
ap-1007	159	21	losses	loss	NOUN
ap-1007	159	22	using	use	VERB
ap-1007	159	23	the	the	DET
ap-1007	159	24	bluetooth	bluetooth	PROPN
ap-1007	159	25	channel	channel	NOUN
ap-1007	159	26	,	,	PUNCT
ap-1007	159	27	and	and	CCONJ
ap-1007	159	28	additional	additional	ADJ
ap-1007	159	29	high	high	ADJ
ap-1007	159	30	-	-	PUNCT
ap-1007	159	31	level	level	NOUN
ap-1007	159	32	motor	motor	NOUN
ap-1007	159	33	control	control	NOUN
ap-1007	159	34	functions	function	NOUN
ap-1007	159	35	will	will	AUX
ap-1007	159	36	be	be	AUX
ap-1007	159	37	implemented	implement	VERB
ap-1007	159	38	.	.	PUNCT
ap-1007	160	1	due	due	ADP
ap-1007	160	2	to	to	ADP
ap-1007	160	3	the	the	DET
ap-1007	160	4	great	great	ADJ
ap-1007	160	5	success	success	NOUN
ap-1007	160	6	of	of	ADP
ap-1007	160	7	the	the	DET
ap-1007	160	8	project	project	NOUN
ap-1007	160	9	,	,	PUNCT
ap-1007	160	10	this	this	DET
ap-1007	160	11	laboratory	laboratory	NOUN
ap-1007	160	12	may	may	AUX
ap-1007	160	13	also	also	ADV
ap-1007	160	14	be	be	AUX
ap-1007	160	15	integrated	integrate	VERB
ap-1007	160	16	into	into	ADP
ap-1007	160	17	the	the	DET
ap-1007	160	18	curriculum	curriculum	NOUN
ap-1007	160	19	for	for	ADP
ap-1007	160	20	industrial	industrial	ADJ
ap-1007	160	21	engineering	engineering	NOUN
ap-1007	160	22	.	.	PUNCT
ap-1007	161	1	8	8	NUM
ap-1007	161	2	conclusions	conclusion	NOUN
ap-1007	161	3	this	this	DET
ap-1007	161	4	paper	paper	NOUN
ap-1007	161	5	has	have	AUX
ap-1007	161	6	presented	present	VERB
ap-1007	161	7	an	an	DET
ap-1007	161	8	introductory	introductory	ADJ
ap-1007	161	9	course	course	NOUN
ap-1007	161	10	for	for	ADP
ap-1007	161	11	freshmen	freshman	NOUN
ap-1007	161	12	in	in	ADP
ap-1007	161	13	practical	practical	ADJ
ap-1007	161	14	engineering	engineering	NOUN
ap-1007	161	15	.	.	PUNCT
ap-1007	162	1	we	we	PRON
ap-1007	162	2	have	have	AUX
ap-1007	162	3	described	describe	VERB
ap-1007	162	4	a	a	DET
ap-1007	162	5	threefold	threefold	ADJ
ap-1007	162	6	learning	learning	NOUN
ap-1007	162	7	concept	concept	NOUN
ap-1007	162	8	which	which	PRON
ap-1007	162	9	confirms	confirm	VERB
ap-1007	162	10	mathematical	mathematical	ADJ
ap-1007	162	11	basics	basic	NOUN
ap-1007	162	12	,	,	PUNCT
ap-1007	162	13	fosters	foster	VERB
ap-1007	162	14	matlab	matlab	PROPN
ap-1007	162	15	programming	programming	NOUN
ap-1007	162	16	skills	skill	NOUN
ap-1007	162	17	,	,	PUNCT
ap-1007	162	18	and	and	CCONJ
ap-1007	162	19	introduces	introduce	VERB
ap-1007	162	20	students	student	NOUN
ap-1007	162	21	to	to	ADP
ap-1007	162	22	real	real	ADJ
ap-1007	162	23	engineering	engineering	NOUN
ap-1007	162	24	problems	problem	NOUN
ap-1007	162	25	,	,	PUNCT
ap-1007	162	26	motivated	motivate	VERB
ap-1007	162	27	by	by	ADP
ap-1007	162	28	lego	lego	NOUN
ap-1007	162	29	mindstorms	mindstorm	NOUN
ap-1007	162	30	robots	robot	NOUN
ap-1007	162	31	.	.	PUNCT
ap-1007	163	1	a	a	DET
ap-1007	163	2	novel	novel	ADJ
ap-1007	163	3	matlab	matlab	PROPN
ap-1007	163	4	toolbox	toolbox	NOUN
ap-1007	163	5	,	,	PUNCT
ap-1007	163	6	which	which	PRON
ap-1007	163	7	provides	provide	VERB
ap-1007	163	8	direct	direct	ADJ
ap-1007	163	9	computer	computer	NOUN
ap-1007	163	10	-	-	PUNCT
ap-1007	163	11	robot	robot	NOUN
ap-1007	163	12	communication	communication	NOUN
ap-1007	163	13	,	,	PUNCT
ap-1007	163	14	has	have	AUX
ap-1007	163	15	been	be	AUX
ap-1007	163	16	presented	present	VERB
ap-1007	163	17	and	and	CCONJ
ap-1007	163	18	has	have	AUX
ap-1007	163	19	been	be	AUX
ap-1007	163	20	made	make	VERB
ap-1007	163	21	publicly	publicly	ADV
ap-1007	163	22	available	available	ADJ
ap-1007	163	23	as	as	ADP
ap-1007	163	24	an	an	DET
ap-1007	163	25	open	open	ADJ
ap-1007	163	26	source	source	NOUN
ap-1007	163	27	project	project	NOUN
ap-1007	163	28	.	.	PUNCT
ap-1007	164	1	the	the	DET
ap-1007	164	2	sequential	sequential	ADJ
ap-1007	164	3	execution	execution	NOUN
ap-1007	164	4	of	of	ADP
ap-1007	164	5	basic	basic	ADJ
ap-1007	164	6	and	and	CCONJ
ap-1007	164	7	main	main	ADJ
ap-1007	164	8	practical	practical	ADJ
ap-1007	164	9	tasks	task	NOUN
ap-1007	164	10	evoked	evoke	VERB
ap-1007	164	11	a	a	DET
ap-1007	164	12	high	high	ADJ
ap-1007	164	13	student	student	NOUN
ap-1007	164	14	motivation	motivation	NOUN
ap-1007	164	15	,	,	PUNCT
ap-1007	164	16	expressed	express	VERB
ap-1007	164	17	by	by	ADP
ap-1007	164	18	a	a	DET
ap-1007	164	19	wide	wide	ADJ
ap-1007	164	20	range	range	NOUN
ap-1007	164	21	of	of	ADP
ap-1007	164	22	creative	creative	ADJ
ap-1007	164	23	and	and	CCONJ
ap-1007	164	24	individual	individual	ADJ
ap-1007	164	25	robotics	robotic	NOUN
ap-1007	164	26	applications	application	NOUN
ap-1007	164	27	and	and	CCONJ
ap-1007	164	28	matlab	matlab	PROPN
ap-1007	164	29	solving	solving	NOUN
ap-1007	164	30	algorithms	algorithm	NOUN
ap-1007	164	31	.	.	PUNCT
ap-1007	165	1	the	the	DET
ap-1007	165	2	inherent	inherent	ADJ
ap-1007	165	3	hardware	hardware	NOUN
ap-1007	165	4	limitations	limitation	NOUN
ap-1007	165	5	were	be	AUX
ap-1007	165	6	challenging	challenge	VERB
ap-1007	165	7	for	for	ADP
ap-1007	165	8	most	most	ADJ
ap-1007	165	9	participants	participant	NOUN
ap-1007	165	10	and	and	CCONJ
ap-1007	165	11	led	lead	VERB
ap-1007	165	12	to	to	ADP
ap-1007	165	13	intensive	intensive	ADJ
ap-1007	165	14	group	group	NOUN
ap-1007	165	15	dynamics	dynamic	NOUN
ap-1007	165	16	and	and	CCONJ
ap-1007	165	17	team	team	NOUN
ap-1007	165	18	work	work	VERB
ap-1007	165	19	.	.	PUNCT
ap-1007	166	1	the	the	DET
ap-1007	166	2	block	block	NOUN
ap-1007	166	3	course	course	NOUN
ap-1007	166	4	concept	concept	NOUN
ap-1007	166	5	fulfilled	fulfil	VERB
ap-1007	166	6	the	the	DET
ap-1007	166	7	demanded	demand	VERB
ap-1007	166	8	practical	practical	ADJ
ap-1007	166	9	engineering	engineering	NOUN
ap-1007	166	10	and	and	CCONJ
ap-1007	166	11	matlab	matlab	PROPN
ap-1007	166	12	program48	program48	NOUN
ap-1007	166	13	©	©	PROPN
ap-1007	166	14	czech	czech	PROPN
ap-1007	166	15	technical	technical	PROPN
ap-1007	166	16	university	university	PROPN
ap-1007	166	17	publishing	publishing	NOUN
ap-1007	166	18	house	house	NOUN
ap-1007	166	19	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1007	166	20	acta	acta	PROPN
ap-1007	166	21	polytechnica	polytechnica	PROPN
ap-1007	166	22	vol	vol	NOUN
ap-1007	166	23	.	.	PUNCT
ap-1007	167	1	48	48	NUM
ap-1007	167	2	no	no	NOUN
ap-1007	167	3	.	.	PUNCT
ap-1007	168	1	3/2008	3/2008	NUM
ap-1007	168	2	fig	fig	NOUN
ap-1007	168	3	.	.	PUNCT
ap-1007	169	1	11	11	NUM
ap-1007	169	2	:	:	PUNCT
ap-1007	169	3	evaluation	evaluation	NOUN
ap-1007	169	4	results	result	NOUN
ap-1007	169	5	(	(	PUNCT
ap-1007	169	6	a	a	PRON
ap-1007	169	7	:	:	PUNCT
ap-1007	169	8	excellent	excellent	ADJ
ap-1007	169	9	,	,	PUNCT
ap-1007	169	10	b	b	NOUN
ap-1007	169	11	:	:	PUNCT
ap-1007	169	12	good	good	ADJ
ap-1007	169	13	,	,	PUNCT
ap-1007	169	14	c	c	NOUN
ap-1007	169	15	:	:	PUNCT
ap-1007	169	16	average	average	ADJ
ap-1007	169	17	,	,	PUNCT
ap-1007	169	18	d	d	NOUN
ap-1007	169	19	:	:	PUNCT
ap-1007	169	20	below	below	ADP
ap-1007	169	21	average	average	ADJ
ap-1007	169	22	,	,	PUNCT
ap-1007	169	23	e	e	NOUN
ap-1007	169	24	:	:	PUNCT
ap-1007	169	25	inadequate	inadequate	ADJ
ap-1007	169	26	)	)	PUNCT
ap-1007	169	27	fig	fig	NOUN
ap-1007	169	28	.	.	PUNCT
ap-1007	170	1	12	12	NUM
ap-1007	170	2	:	:	PUNCT
ap-1007	170	3	morse	morse	ADJ
ap-1007	170	4	encoder	encoder	NOUN
ap-1007	170	5	and	and	CCONJ
ap-1007	170	6	decoder	decoder	NOUN
ap-1007	170	7	machine	machine	NOUN
ap-1007	170	8	ming	ming	NOUN
ap-1007	170	9	goals	goal	NOUN
ap-1007	170	10	,	,	PUNCT
ap-1007	170	11	which	which	PRON
ap-1007	170	12	were	be	AUX
ap-1007	170	13	also	also	ADV
ap-1007	170	14	expressed	express	VERB
ap-1007	170	15	by	by	ADP
ap-1007	170	16	the	the	DET
ap-1007	170	17	students	student	NOUN
ap-1007	170	18	’	’	PART
ap-1007	170	19	final	final	ADJ
ap-1007	170	20	project	project	NOUN
ap-1007	170	21	presentations	presentation	NOUN
ap-1007	170	22	.	.	PUNCT
ap-1007	171	1	extending	extend	VERB
ap-1007	171	2	this	this	DET
ap-1007	171	3	learning	learning	NOUN
ap-1007	171	4	concept	concept	NOUN
ap-1007	171	5	to	to	ADP
ap-1007	171	6	other	other	ADJ
ap-1007	171	7	practical	practical	ADJ
ap-1007	171	8	courses	course	NOUN
ap-1007	171	9	with	with	ADP
ap-1007	171	10	interdisciplinary	interdisciplinary	ADJ
ap-1007	171	11	groups	group	NOUN
ap-1007	171	12	could	could	AUX
ap-1007	171	13	broaden	broaden	VERB
ap-1007	171	14	the	the	DET
ap-1007	171	15	students	student	NOUN
ap-1007	171	16	’	'	PUNCT
ap-1007	171	17	professional	professional	ADJ
ap-1007	171	18	skills	skill	NOUN
ap-1007	171	19	and	and	CCONJ
ap-1007	171	20	help	help	VERB
ap-1007	171	21	their	their	PRON
ap-1007	171	22	future	future	ADJ
ap-1007	171	23	careers	career	NOUN
ap-1007	171	24	.	.	PUNCT
ap-1007	172	1	project	project	NOUN
ap-1007	172	2	web	web	NOUN
ap-1007	172	3	page	page	NOUN
ap-1007	172	4	further	further	ADJ
ap-1007	172	5	images	image	NOUN
ap-1007	172	6	,	,	PUNCT
ap-1007	172	7	descriptions	description	NOUN
ap-1007	172	8	,	,	PUNCT
ap-1007	172	9	and	and	CCONJ
ap-1007	172	10	videos	video	NOUN
ap-1007	172	11	of	of	ADP
ap-1007	172	12	the	the	DET
ap-1007	172	13	students	student	NOUN
ap-1007	172	14	’	’	PART
ap-1007	172	15	robots	robot	NOUN
ap-1007	172	16	and	and	CCONJ
ap-1007	172	17	inventions	invention	NOUN
ap-1007	172	18	are	be	AUX
ap-1007	172	19	available	available	ADJ
ap-1007	172	20	at	at	ADP
ap-1007	172	21	the	the	DET
ap-1007	172	22	web	web	NOUN
ap-1007	172	23	page	page	NOUN
ap-1007	172	24	http://www.lfb.rwth-aachen.de/mindstorms	http://www.lfb.rwth-aachen.de/mindstorm	NOUN
ap-1007	172	25	.	.	PUNCT
ap-1007	173	1	the	the	DET
ap-1007	173	2	contact	contact	NOUN
ap-1007	173	3	to	to	ADP
ap-1007	173	4	the	the	DET
ap-1007	173	5	developer	developer	NOUN
ap-1007	173	6	community	community	NOUN
ap-1007	173	7	and	and	CCONJ
ap-1007	173	8	the	the	DET
ap-1007	173	9	free	free	ADJ
ap-1007	173	10	download	download	NOUN
ap-1007	173	11	of	of	ADP
ap-1007	173	12	the	the	DET
ap-1007	173	13	“	"	PUNCT
ap-1007	173	14	rwth	rwth	NOUN
ap-1007	173	15	–	–	PUNCT
ap-1007	173	16	mindstorms	mindstorm	NOUN
ap-1007	173	17	nxt	nxt	PROPN
ap-1007	173	18	toolbox	toolbox	NOUN
ap-1007	173	19	”	"	PUNCT
ap-1007	173	20	for	for	ADP
ap-1007	173	21	matlab	matlab	PROPN
ap-1007	173	22	can	can	AUX
ap-1007	173	23	be	be	AUX
ap-1007	173	24	found	find	VERB
ap-1007	173	25	at	at	ADP
ap-1007	173	26	the	the	DET
ap-1007	173	27	project	project	NOUN
ap-1007	173	28	web	web	NOUN
ap-1007	173	29	page	page	NOUN
ap-1007	173	30	http://www.mindstorms.rwth-aachen.de	http://www.mindstorms.rwth-aachen.de	NUM
ap-1007	173	31	.	.	PUNCT
ap-1007	174	1	acknowledgments	acknowledgment	NOUN
ap-1007	174	2	the	the	DET
ap-1007	174	3	authors	author	NOUN
ap-1007	174	4	would	would	AUX
ap-1007	174	5	like	like	VERB
ap-1007	174	6	to	to	PART
ap-1007	174	7	thank	thank	VERB
ap-1007	174	8	prof	prof	NOUN
ap-1007	174	9	.	.	PUNCT
ap-1007	175	1	dr.-ing	dr.-e	VERB
ap-1007	175	2	.	.	PUNCT
ap-1007	176	1	til	til	ADV
ap-1007	176	2	aach	aach	PROPN
ap-1007	176	3	,	,	PUNCT
ap-1007	176	4	institute	institute	NOUN
ap-1007	176	5	of	of	ADP
ap-1007	176	6	imaging	imaging	PROPN
ap-1007	176	7	&	&	CCONJ
ap-1007	176	8	computer	computer	NOUN
ap-1007	176	9	vision	vision	NOUN
ap-1007	176	10	,	,	PUNCT
ap-1007	176	11	and	and	CCONJ
ap-1007	176	12	prof	prof	NOUN
ap-1007	176	13	.	.	PUNCT
ap-1007	177	1	dr.-ing	dr.-ing	PROPN
ap-1007	177	2	.	.	PUNCT
ap-1007	178	1	tobias	tobias	PROPN
ap-1007	178	2	g.	g.	PROPN
ap-1007	178	3	noll	noll	PROPN
ap-1007	178	4	,	,	PUNCT
ap-1007	178	5	chair	chair	NOUN
ap-1007	178	6	of	of	ADP
ap-1007	178	7	electrical	electrical	ADJ
ap-1007	178	8	engineering	engineering	NOUN
ap-1007	178	9	and	and	CCONJ
ap-1007	178	10	computer	computer	NOUN
ap-1007	178	11	systems	system	NOUN
ap-1007	178	12	,	,	PUNCT
ap-1007	178	13	rwth	rwth	PROPN
ap-1007	178	14	aachen	aachen	PROPN
ap-1007	178	15	university	university	PROPN
ap-1007	178	16	,	,	PUNCT
ap-1007	178	17	who	who	PRON
ap-1007	178	18	supervised	supervise	VERB
ap-1007	178	19	this	this	DET
ap-1007	178	20	project	project	NOUN
ap-1007	178	21	.	.	PUNCT
ap-1007	179	1	the	the	DET
ap-1007	179	2	authors	author	NOUN
ap-1007	179	3	would	would	AUX
ap-1007	179	4	also	also	ADV
ap-1007	179	5	like	like	VERB
ap-1007	179	6	to	to	PART
ap-1007	179	7	thank	thank	VERB
ap-1007	179	8	rainer	rainer	NOUN
ap-1007	179	9	schnitzler	schnitzler	PROPN
ap-1007	179	10	and	and	CCONJ
ap-1007	179	11	achim	achim	PROPN
ap-1007	179	12	knepper	knepper	PROPN
ap-1007	179	13	,	,	PUNCT
ap-1007	179	14	who	who	PRON
ap-1007	179	15	gave	give	VERB
ap-1007	179	16	support	support	NOUN
ap-1007	179	17	to	to	ADP
ap-1007	179	18	the	the	DET
ap-1007	179	19	project	project	NOUN
ap-1007	179	20	development	development	NOUN
ap-1007	179	21	and	and	CCONJ
ap-1007	179	22	organization	organization	NOUN
ap-1007	179	23	.	.	PUNCT
ap-1007	180	1	finally	finally	ADV
ap-1007	180	2	,	,	PUNCT
ap-1007	180	3	the	the	DET
ap-1007	180	4	authors	author	NOUN
ap-1007	180	5	gratefully	gratefully	ADV
ap-1007	180	6	acknowledge	acknowledge	VERB
ap-1007	180	7	the	the	DET
ap-1007	180	8	work	work	NOUN
ap-1007	180	9	of	of	ADP
ap-1007	180	10	marian	marian	PROPN
ap-1007	180	11	walter	walter	PROPN
ap-1007	180	12	and	and	CCONJ
ap-1007	180	13	axel	axel	PROPN
ap-1007	180	14	cordes	corde	NOUN
ap-1007	180	15	,	,	PUNCT
ap-1007	180	16	who	who	PRON
ap-1007	180	17	tested	test	VERB
ap-1007	180	18	and	and	CCONJ
ap-1007	180	19	verified	verify	VERB
ap-1007	180	20	the	the	DET
ap-1007	180	21	toolbox	toolbox	NOUN
ap-1007	180	22	and	and	CCONJ
ap-1007	180	23	practical	practical	ADJ
ap-1007	180	24	exercises	exercise	NOUN
ap-1007	180	25	.	.	PUNCT
ap-1007	181	1	references	reference	NOUN
ap-1007	181	2	[	[	X
ap-1007	181	3	1	1	NUM
ap-1007	181	4	]	]	X
ap-1007	181	5	european	european	ADJ
ap-1007	181	6	ministers	minister	NOUN
ap-1007	181	7	of	of	ADP
ap-1007	181	8	education	education	NOUN
ap-1007	181	9	:	:	PUNCT
ap-1007	181	10	bologna	bologna	PROPN
ap-1007	181	11	declaration	declaration	NOUN
ap-1007	181	12	,	,	PUNCT
ap-1007	181	13	june	june	PROPN
ap-1007	181	14	1999	1999	NUM
ap-1007	181	15	.	.	PUNCT
ap-1007	182	1	[	[	X
ap-1007	182	2	online	online	X
ap-1007	182	3	]	]	X
ap-1007	182	4	.	.	PUNCT
ap-1007	183	1	available	available	ADJ
ap-1007	183	2	:	:	PUNCT
ap-1007	184	1	http://www.ond.vlaanderen.be/hogeronderwijs/bologna/	http://www.ond.vlaanderen.be/hogeronderwijs/bologna/	NOUN
ap-1007	184	2	documents/	documents/	PROPN
ap-1007	184	3	[	[	X
ap-1007	184	4	2	2	NUM
ap-1007	184	5	]	]	PUNCT
ap-1007	184	6	vallim	vallim	NOUN
ap-1007	184	7	,	,	PUNCT
ap-1007	184	8	m.	m.	NOUN
ap-1007	184	9	,	,	PUNCT
ap-1007	184	10	farines	farine	NOUN
ap-1007	184	11	,	,	PUNCT
ap-1007	184	12	j.-m	j.-m	PROPN
ap-1007	184	13	.	.	PUNCT
ap-1007	184	14	,	,	PUNCT
ap-1007	184	15	cury	cury	PROPN
ap-1007	184	16	,	,	PUNCT
ap-1007	184	17	j.	j.	PROPN
ap-1007	184	18	:	:	PUNCT
ap-1007	184	19	practicing	practice	VERB
ap-1007	184	20	engineering	engineering	NOUN
ap-1007	184	21	in	in	ADP
ap-1007	184	22	a	a	DET
ap-1007	184	23	freshman	freshman	NOUN
ap-1007	184	24	introductory	introductory	ADJ
ap-1007	184	25	course	course	NOUN
ap-1007	184	26	,	,	PUNCT
ap-1007	184	27	ieee	ieee	PROPN
ap-1007	184	28	trans	trans	PROPN
ap-1007	184	29	.	.	PUNCT
ap-1007	185	1	edu	edu	PROPN
ap-1007	185	2	.	.	PROPN
ap-1007	185	3	,	,	PUNCT
ap-1007	185	4	vol	vol	NOUN
ap-1007	185	5	.	.	PROPN
ap-1007	185	6	49	49	NUM
ap-1007	185	7	(	(	PUNCT
ap-1007	185	8	2006	2006	NUM
ap-1007	185	9	)	)	PUNCT
ap-1007	185	10	,	,	PUNCT
ap-1007	185	11	no	no	INTJ
ap-1007	185	12	.	.	NOUN
ap-1007	185	13	1	1	NUM
ap-1007	185	14	,	,	PUNCT
ap-1007	185	15	p.	p.	NOUN
ap-1007	185	16	74–79	74–79	PROPN
ap-1007	185	17	,	,	PUNCT
ap-1007	185	18	feb	feb	PROPN
ap-1007	185	19	.	.	PROPN
ap-1007	185	20	2006	2006	NUM
ap-1007	185	21	.	.	PUNCT
ap-1007	186	1	[	[	X
ap-1007	186	2	3	3	NUM
ap-1007	186	3	]	]	X
ap-1007	186	4	director	director	NOUN
ap-1007	186	5	,	,	PUNCT
ap-1007	186	6	s.	s.	PROPN
ap-1007	186	7	,	,	PUNCT
ap-1007	186	8	khosla	khosla	PROPN
ap-1007	186	9	,	,	PUNCT
ap-1007	186	10	p.	p.	PROPN
ap-1007	186	11	,	,	PUNCT
ap-1007	186	12	rohrer	rohrer	PROPN
ap-1007	186	13	,	,	PUNCT
ap-1007	186	14	r.	r.	PROPN
ap-1007	186	15	,	,	PUNCT
ap-1007	186	16	rutenbar	rutenbar	PROPN
ap-1007	186	17	,	,	PUNCT
ap-1007	186	18	r.	r.	PROPN
ap-1007	186	19	:	:	PUNCT
ap-1007	186	20	reengineering	reengineere	VERB
ap-1007	186	21	the	the	DET
ap-1007	186	22	curriculum	curriculum	NOUN
ap-1007	186	23	:	:	PUNCT
ap-1007	186	24	design	design	NOUN
ap-1007	186	25	and	and	CCONJ
ap-1007	186	26	analysis	analysis	NOUN
ap-1007	186	27	of	of	ADP
ap-1007	186	28	a	a	DET
ap-1007	186	29	new	new	ADJ
ap-1007	186	30	undergraduate	undergraduate	NOUN
ap-1007	186	31	electrical	electrical	ADJ
ap-1007	186	32	and	and	CCONJ
ap-1007	186	33	computer	computer	NOUN
ap-1007	186	34	engineering	engineering	NOUN
ap-1007	186	35	degree	degree	NOUN
ap-1007	186	36	at	at	ADP
ap-1007	186	37	carnegie	carnegie	PROPN
ap-1007	186	38	mellon	mellon	PROPN
ap-1007	186	39	university	university	PROPN
ap-1007	186	40	.	.	PUNCT
ap-1007	187	1	proc	proc	PROPN
ap-1007	187	2	.	.	PUNCT
ap-1007	188	1	ieee	ieee	NOUN
ap-1007	188	2	,	,	PUNCT
ap-1007	188	3	vol	vol	NOUN
ap-1007	188	4	.	.	PROPN
ap-1007	188	5	83	83	NUM
ap-1007	188	6	(	(	PUNCT
ap-1007	188	7	1995	1995	NUM
ap-1007	188	8	)	)	PUNCT
ap-1007	188	9	,	,	PUNCT
ap-1007	188	10	no	no	INTJ
ap-1007	188	11	.	.	NOUN
ap-1007	188	12	9	9	NUM
ap-1007	188	13	,	,	PUNCT
ap-1007	188	14	p.	p.	NOUN
ap-1007	188	15	1246–1269	1246–1269	NUM
ap-1007	188	16	,	,	PUNCT
ap-1007	188	17	sep	sep	PROPN
ap-1007	188	18	.	.	PROPN
ap-1007	188	19	1995	1995	NUM
ap-1007	188	20	.	.	PUNCT
ap-1007	189	1	[	[	X
ap-1007	189	2	4	4	NUM
ap-1007	189	3	]	]	X
ap-1007	189	4	saint	saint	PROPN
ap-1007	189	5	-	-	PUNCT
ap-1007	189	6	nom	nom	PROPN
ap-1007	189	7	,	,	PUNCT
ap-1007	189	8	r.	r.	PROPN
ap-1007	189	9	,	,	PUNCT
ap-1007	189	10	jacoby	jacoby	PROPN
ap-1007	189	11	,	,	PUNCT
ap-1007	189	12	d.	d.	PROPN
ap-1007	189	13	:	:	PUNCT
ap-1007	189	14	building	build	VERB
ap-1007	189	15	the	the	DET
ap-1007	189	16	first	first	ADJ
ap-1007	189	17	steps	step	NOUN
ap-1007	189	18	into	into	ADP
ap-1007	189	19	sp	sp	ADP
ap-1007	189	20	research	research	NOUN
ap-1007	189	21	.	.	PUNCT
ap-1007	190	1	in	in	ADP
ap-1007	190	2	proc	proc	PROPN
ap-1007	190	3	.	.	PUNCT
ap-1007	191	1	ieee	ieee	PROPN
ap-1007	191	2	int	int	PROPN
ap-1007	191	3	.	.	PUNCT
ap-1007	192	1	conference	conference	NOUN
ap-1007	192	2	on	on	ADP
ap-1007	192	3	acoustics	acoustic	NOUN
ap-1007	192	4	,	,	PUNCT
ap-1007	192	5	speech	speech	NOUN
ap-1007	192	6	,	,	PUNCT
ap-1007	192	7	and	and	CCONJ
ap-1007	192	8	signal	signal	NOUN
ap-1007	192	9	processing	processing	NOUN
ap-1007	192	10	(	(	PUNCT
ap-1007	192	11	icassp	icassp	PROPN
ap-1007	192	12	)	)	PUNCT
ap-1007	192	13	,	,	PUNCT
ap-1007	192	14	vol	vol	NOUN
ap-1007	192	15	.	.	PROPN
ap-1007	192	16	5	5	NUM
ap-1007	192	17	(	(	PUNCT
ap-1007	192	18	2005	2005	NUM
ap-1007	192	19	)	)	PUNCT
ap-1007	192	20	,	,	PUNCT
ap-1007	192	21	p.	p.	NOUN
ap-1007	192	22	545–548	545–548	NUM
ap-1007	192	23	.	.	PUNCT
ap-1007	193	1	[	[	X
ap-1007	193	2	5	5	NUM
ap-1007	193	3	]	]	X
ap-1007	193	4	hissey	hissey	NOUN
ap-1007	193	5	,	,	PUNCT
ap-1007	193	6	t.	t.	PROPN
ap-1007	193	7	:	:	PUNCT
ap-1007	193	8	education	education	NOUN
ap-1007	193	9	and	and	CCONJ
ap-1007	193	10	careers	career	NOUN
ap-1007	193	11	2000	2000	NUM
ap-1007	193	12	.	.	PUNCT
ap-1007	194	1	enhanced	enhance	VERB
ap-1007	194	2	skills	skill	NOUN
ap-1007	194	3	for	for	ADP
ap-1007	194	4	engineers	engineer	NOUN
ap-1007	194	5	.	.	PUNCT
ap-1007	195	1	proc	proc	PROPN
ap-1007	195	2	.	.	PUNCT
ap-1007	196	1	ieee	ieee	NOUN
ap-1007	196	2	,	,	PUNCT
ap-1007	196	3	vol	vol	NOUN
ap-1007	196	4	.	.	PROPN
ap-1007	196	5	88	88	NUM
ap-1007	196	6	(	(	PUNCT
ap-1007	196	7	2000	2000	NUM
ap-1007	196	8	)	)	PUNCT
ap-1007	196	9	,	,	PUNCT
ap-1007	196	10	no	no	INTJ
ap-1007	196	11	.	.	NOUN
ap-1007	196	12	8	8	NUM
ap-1007	196	13	,	,	PUNCT
ap-1007	196	14	p.	p.	NOUN
ap-1007	196	15	1367–1370	1367–1370	NUM
ap-1007	196	16	,	,	PUNCT
ap-1007	196	17	aug	aug	PROPN
ap-1007	196	18	.	.	PROPN
ap-1007	196	19	2000	2000	NUM
ap-1007	196	20	.	.	PUNCT
ap-1007	197	1	[	[	X
ap-1007	197	2	6	6	NUM
ap-1007	197	3	]	]	SYM
ap-1007	197	4	mcclellan	mcclellan	PROPN
ap-1007	197	5	,	,	PUNCT
ap-1007	197	6	j.	j.	PROPN
ap-1007	197	7	,	,	PUNCT
ap-1007	197	8	schafer	schafer	PROPN
ap-1007	197	9	,	,	PUNCT
ap-1007	197	10	r.	r.	PROPN
ap-1007	197	11	,	,	PUNCT
ap-1007	197	12	yoder	yoder	PROPN
ap-1007	197	13	,	,	PUNCT
ap-1007	197	14	m.	m.	NOUN
ap-1007	197	15	:	:	PUNCT
ap-1007	197	16	signal	signal	VERB
ap-1007	197	17	processing	processing	NOUN
ap-1007	197	18	first	first	ADV
ap-1007	197	19	.	.	PUNCT
ap-1007	198	1	prentice	prentice	NOUN
ap-1007	198	2	-	-	PUNCT
ap-1007	198	3	hall	hall	NOUN
ap-1007	198	4	,	,	PUNCT
ap-1007	198	5	nov	nov	PROPN
ap-1007	198	6	2002	2002	NUM
ap-1007	198	7	.	.	PUNCT
ap-1007	199	1	[	[	X
ap-1007	199	2	7	7	X
ap-1007	199	3	]	]	X
ap-1007	199	4	the	the	DET
ap-1007	199	5	mathworks	mathworks	PROPN
ap-1007	199	6	,	,	PUNCT
ap-1007	199	7	matlab	matlab	PROPN
ap-1007	199	8	®	®	NOUN
ap-1007	199	9	.	.	PUNCT
ap-1007	200	1	[	[	X
ap-1007	200	2	online	online	X
ap-1007	200	3	]	]	X
ap-1007	200	4	.	.	PUNCT
ap-1007	201	1	available	available	ADJ
ap-1007	201	2	:	:	PUNCT
ap-1007	202	1	http://www.mathworks.com	http://www.mathworks.com	X
ap-1007	202	2	.	.	PUNCT
ap-1007	203	1	[	[	X
ap-1007	203	2	8	8	NUM
ap-1007	203	3	]	]	X
ap-1007	203	4	lego	lego	NOUN
ap-1007	203	5	mindstorms	mindstorm	NOUN
ap-1007	203	6	®	®	NOUN
ap-1007	203	7	.	.	PUNCT
ap-1007	204	1	[	[	X
ap-1007	204	2	online	online	X
ap-1007	204	3	]	]	X
ap-1007	204	4	.	.	PUNCT
ap-1007	205	1	available	available	ADJ
ap-1007	205	2	:	:	PUNCT
ap-1007	205	3	http://www.mindstorms.com	http://www.mindstorms.com	X
ap-1007	205	4	.	.	PUNCT
ap-1007	206	1	[	[	X
ap-1007	206	2	9	9	NUM
ap-1007	206	3	]	]	X
ap-1007	206	4	lego	lego	NOUN
ap-1007	206	5	®	®	NOUN
ap-1007	206	6	mindstorms	mindstorms	PROPN
ap-1007	206	7	®	®	PROPN
ap-1007	206	8	:	:	PUNCT
ap-1007	206	9	bluetooth	bluetooth	PROPN
ap-1007	206	10	developer	developer	PROPN
ap-1007	206	11	kit	kit	PROPN
ap-1007	206	12	.	.	PUNCT
ap-1007	207	1	[	[	X
ap-1007	207	2	online	online	X
ap-1007	207	3	]	]	X
ap-1007	207	4	.	.	PUNCT
ap-1007	208	1	available	available	ADJ
ap-1007	208	2	:	:	PUNCT
ap-1007	209	1	http://mindstorms.lego.com/overview/nxtreme.aspx	http://mindstorms.lego.com/overview/nxtreme.aspx	X
ap-1007	209	2	.	.	PUNCT
ap-1007	210	1	[	[	X
ap-1007	210	2	10	10	NUM
ap-1007	210	3	]	]	PUNCT
ap-1007	210	4	mcgoldrick	mcgoldrick	NOUN
ap-1007	210	5	,	,	PUNCT
ap-1007	210	6	c.	c.	PROPN
ap-1007	210	7	,	,	PUNCT
ap-1007	210	8	huggard	huggard	NOUN
ap-1007	210	9	,	,	PUNCT
ap-1007	210	10	m.	m.	NOUN
ap-1007	210	11	:	:	PUNCT
ap-1007	210	12	peer	peer	NOUN
ap-1007	210	13	learning	learn	VERB
ap-1007	210	14	with	with	ADP
ap-1007	210	15	lego	lego	NOUN
ap-1007	210	16	mindstorms	mindstorm	NOUN
ap-1007	210	17	.	.	PUNCT
ap-1007	211	1	in	in	ADP
ap-1007	211	2	proc	proc	NOUN
ap-1007	211	3	.	.	PUNCT
ap-1007	212	1	34th	34th	ADJ
ap-1007	212	2	frontiers	frontier	NOUN
ap-1007	212	3	in	in	ADP
ap-1007	212	4	education	education	NOUN
ap-1007	212	5	,	,	PUNCT
ap-1007	212	6	oct	oct	PROPN
ap-1007	212	7	.	.	PROPN
ap-1007	212	8	2004	2004	NUM
ap-1007	212	9	,	,	PUNCT
ap-1007	212	10	p.	p.	PROPN
ap-1007	212	11	s2f24–29	s2f24–29	PROPN
ap-1007	212	12	.	.	PUNCT
ap-1007	213	1	[	[	X
ap-1007	213	2	11	11	NUM
ap-1007	213	3	]	]	X
ap-1007	213	4	patterson	patterson	PROPN
ap-1007	213	5	-	-	PUNCT
ap-1007	213	6	mcneill	mcneill	PROPN
ap-1007	213	7	,	,	PUNCT
ap-1007	213	8	h.	h.	PROPN
ap-1007	213	9	,	,	PUNCT
ap-1007	213	10	binkerd	binkerd	PROPN
ap-1007	213	11	,	,	PUNCT
ap-1007	213	12	c.	c.	PROPN
ap-1007	213	13	l.	l.	PROPN
ap-1007	213	14	:	:	PUNCT
ap-1007	213	15	resources	resource	NOUN
ap-1007	213	16	for	for	ADP
ap-1007	213	17	using	use	VERB
ap-1007	213	18	lego	lego	NOUN
ap-1007	213	19	mindstorms	mindstorm	NOUN
ap-1007	213	20	.	.	PUNCT
ap-1007	214	1	j.	j.	PROPN
ap-1007	214	2	comput	comput	PROPN
ap-1007	214	3	.	.	PUNCT
ap-1007	215	1	small	small	PROPN
ap-1007	215	2	coll	coll	PROPN
ap-1007	215	3	.	.	PROPN
ap-1007	215	4	,	,	PUNCT
ap-1007	215	5	vol	vol	NOUN
ap-1007	215	6	.	.	PUNCT
ap-1007	216	1	16	16	NUM
ap-1007	216	2	(	(	PUNCT
ap-1007	216	3	2001	2001	NUM
ap-1007	216	4	)	)	PUNCT
ap-1007	216	5	,	,	PUNCT
ap-1007	217	1	no	no	INTJ
ap-1007	217	2	.	.	NOUN
ap-1007	217	3	3	3	NUM
ap-1007	217	4	,	,	PUNCT
ap-1007	217	5	p.	p.	NOUN
ap-1007	217	6	48–55	48–55	NUM
ap-1007	217	7	.	.	PUNCT
ap-1007	218	1	[	[	X
ap-1007	218	2	12	12	NUM
ap-1007	218	3	]	]	SYM
ap-1007	218	4	hars	har	NOUN
ap-1007	218	5	,	,	PUNCT
ap-1007	218	6	a.	a.	NOUN
ap-1007	218	7	,	,	PUNCT
ap-1007	218	8	ou	ou	PROPN
ap-1007	218	9	,	,	PUNCT
ap-1007	218	10	s.	s.	PROPN
ap-1007	218	11	:	:	PUNCT
ap-1007	218	12	working	work	VERB
ap-1007	218	13	for	for	ADP
ap-1007	218	14	free	free	ADJ
ap-1007	218	15	?	?	PUNCT
ap-1007	219	1	–	–	PUNCT
ap-1007	219	2	motivations	motivation	NOUN
ap-1007	219	3	of	of	ADP
ap-1007	219	4	participating	participate	VERB
ap-1007	219	5	in	in	ADP
ap-1007	219	6	open	open	ADJ
ap-1007	219	7	source	source	NOUN
ap-1007	219	8	projects	project	NOUN
ap-1007	219	9	.	.	PUNCT
ap-1007	220	1	proc	proc	NOUN
ap-1007	220	2	.	.	PUNCT
ap-1007	221	1	34th	34th	ADJ
ap-1007	221	2	int	int	NOUN
ap-1007	221	3	.	.	PUNCT
ap-1007	221	4	conf	conf	NOUN
ap-1007	221	5	.	.	PUNCT
ap-1007	222	1	on	on	ADP
ap-1007	222	2	system	system	NOUN
ap-1007	222	3	sciences	science	NOUN
ap-1007	222	4	,	,	PUNCT
ap-1007	222	5	p.	p.	NOUN
ap-1007	222	6	1–9	1–9	NOUN
ap-1007	222	7	,	,	PUNCT
ap-1007	222	8	jan	jan	PROPN
ap-1007	222	9	.	.	PROPN
ap-1007	222	10	2001	2001	NUM
ap-1007	222	11	.	.	PUNCT
ap-1007	223	1	[	[	X
ap-1007	223	2	13	13	NUM
ap-1007	223	3	]	]	PUNCT
ap-1007	223	4	gnu	gnu	X
ap-1007	223	5	general	general	ADJ
ap-1007	223	6	public	public	ADJ
ap-1007	223	7	license	license	NOUN
ap-1007	223	8	.	.	PUNCT
ap-1007	224	1	[	[	X
ap-1007	224	2	online	online	X
ap-1007	224	3	]	]	X
ap-1007	224	4	.	.	PUNCT
ap-1007	225	1	available	available	ADJ
ap-1007	225	2	:	:	PUNCT
ap-1007	225	3	http://www.gnu.org/licenses/licenses.html	http://www.gnu.org/licenses/licenses.html	PROPN
ap-1007	225	4	.	.	PUNCT
ap-1007	226	1	[	[	X
ap-1007	226	2	14	14	NUM
ap-1007	226	3	]	]	PUNCT
ap-1007	226	4	rwth	rwth	PROPN
ap-1007	226	5	aachen	aachen	PROPN
ap-1007	226	6	university	university	NOUN
ap-1007	226	7	:	:	PUNCT
ap-1007	226	8	rwth	rwth	NOUN
ap-1007	226	9	–	–	PUNCT
ap-1007	226	10	mindstorms	mindstorm	NOUN
ap-1007	226	11	nxt	nxt	PROPN
ap-1007	226	12	toolbox	toolbox	NOUN
ap-1007	226	13	for	for	ADP
ap-1007	226	14	matlab	matlab	PROPN
ap-1007	226	15	.	.	PUNCT
ap-1007	227	1	[	[	X
ap-1007	227	2	online	online	X
ap-1007	227	3	]	]	X
ap-1007	227	4	.	.	PUNCT
ap-1007	228	1	available	available	ADJ
ap-1007	228	2	:	:	PUNCT
ap-1007	228	3	http://www.mindstorms.rwth-aachen.de	http://www.mindstorms.rwth-aachen.de	NUM
ap-1007	228	4	.	.	PUNCT
ap-1007	229	1	alexander	alexander	PROPN
ap-1007	229	2	behrens	behrens	PROPN
ap-1007	229	3	e	e	PROPN
ap-1007	229	4	-	-	NOUN
ap-1007	229	5	mail	mail	NOUN
ap-1007	229	6	:	:	PUNCT
ap-1007	229	7	behrens@lfb.rwth-aachen.de	behrens@lfb.rwth-aachen.de	PROPN
ap-1007	229	8	linus	linus	PROPN
ap-1007	229	9	atorf	atorf	PROPN
ap-1007	230	1	e	e	PROPN
ap-1007	230	2	-	-	NOUN
ap-1007	230	3	mail	mail	NOUN
ap-1007	230	4	:	:	PUNCT
ap-1007	230	5	atorf@lfb.rwth-aachen.de	atorf@lfb.rwth-aachen.de	PROPN
ap-1007	230	6	institute	institute	PROPN
ap-1007	230	7	of	of	ADP
ap-1007	230	8	imaging	imaging	PROPN
ap-1007	230	9	&	&	CCONJ
ap-1007	230	10	computer	computer	PROPN
ap-1007	230	11	vision	vision	PROPN
ap-1007	230	12	robert	robert	PROPN
ap-1007	230	13	schwann	schwann	PROPN
ap-1007	230	14	e	e	PROPN
ap-1007	230	15	-	-	NOUN
ap-1007	230	16	mail	mail	NOUN
ap-1007	230	17	:	:	PUNCT
ap-1007	230	18	schwann@eecs.rwth-aachen.de	schwann@eecs.rwth-aachen.de	ADJ
ap-1007	230	19	chair	chair	NOUN
ap-1007	230	20	of	of	ADP
ap-1007	230	21	electrical	electrical	ADJ
ap-1007	230	22	engineering	engineering	NOUN
ap-1007	230	23	and	and	CCONJ
ap-1007	230	24	computer	computer	NOUN
ap-1007	230	25	systemsg	systemsg	NOUN
ap-1007	230	26	johannes	johannes	PROPN
ap-1007	230	27	ballé	ballé	PROPN
ap-1007	230	28	e	e	NOUN
ap-1007	230	29	-	-	NOUN
ap-1007	230	30	mail	mail	NOUN
ap-1007	230	31	:	:	PUNCT
ap-1007	230	32	balle@ient.rwth-aachen.de	balle@ient.rwth-aachen.de	ADJ
ap-1007	230	33	chair	chair	NOUN
ap-1007	230	34	of	of	ADP
ap-1007	230	35	institute	institute	PROPN
ap-1007	230	36	of	of	ADP
ap-1007	230	37	communications	communication	NOUN
ap-1007	230	38	engineerin	engineerin	NOUN
ap-1007	230	39	thomas	thomas	PROPN
ap-1007	230	40	herold	herold	PROPN
ap-1007	231	1	e	e	PROPN
ap-1007	231	2	-	-	NOUN
ap-1007	231	3	mail	mail	NOUN
ap-1007	231	4	:	:	PUNCT
ap-1007	231	5	herold@iem.rwth-aachen.de	herold@iem.rwth-aachen.de	PROPN
ap-1007	231	6	institute	institute	PROPN
ap-1007	231	7	of	of	ADP
ap-1007	231	8	electrical	electrical	ADJ
ap-1007	231	9	machines	machine	NOUN
ap-1007	231	10	aulis	aulis	X
ap-1007	231	11	telle	telle	X
ap-1007	232	1	e	e	NOUN
ap-1007	232	2	-	-	NOUN
ap-1007	232	3	mail	mail	NOUN
ap-1007	232	4	:	:	PUNCT
ap-1007	232	5	telle@ind.rwth-aachen.de	telle@ind.rwth-aachen.de	PROPN
ap-1007	232	6	institute	institute	PROPN
ap-1007	232	7	of	of	ADP
ap-1007	232	8	communication	communication	NOUN
ap-1007	232	9	systems	system	NOUN
ap-1007	232	10	and	and	CCONJ
ap-1007	232	11	data	datum	NOUN
ap-1007	232	12	processing	processing	NOUN
ap-1007	232	13	rwth	rwth	PROPN
ap-1007	232	14	aachen	aachen	PROPN
ap-1007	232	15	university	university	PROPN
ap-1007	232	16	templergraben	templergraben	NOUN
ap-1007	232	17	55	55	NUM
ap-1007	232	18	52062	52062	NUM
ap-1007	232	19	aachen	aachen	PROPN
ap-1007	232	20	,	,	PUNCT
ap-1007	232	21	germany	germany	PROPN
ap-1007	232	22	©	©	PROPN
ap-1007	232	23	czech	czech	PROPN
ap-1007	232	24	technical	technical	PROPN
ap-1007	232	25	university	university	PROPN
ap-1007	232	26	publishing	publishing	NOUN
ap-1007	232	27	house	house	NOUN
ap-1007	232	28	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1007	232	29	49	49	NUM
ap-1007	232	30	acta	acta	PROPN
ap-1007	232	31	polytechnica	polytechnica	PROPN
ap-1007	232	32	vol	vol	NOUN
ap-1007	232	33	.	.	PUNCT
ap-1007	233	1	48	48	NUM
ap-1007	233	2	no	no	NOUN
ap-1007	233	3	.	.	PUNCT
ap-1007	234	1	3/2008	3/2008	NUM