id	sid	tid	token	lemma	pos
ap-1010	1	1	ap_07_6.vp	ap_07_6.vp	PROPN
ap-1010	1	2	1	1	NUM
ap-1010	1	3	introduction	introduction	NOUN
ap-1010	1	4	the	the	DET
ap-1010	1	5	problem	problem	NOUN
ap-1010	1	6	of	of	ADP
ap-1010	1	7	curve	curve	NOUN
ap-1010	1	8	synthesis	synthesis	NOUN
ap-1010	1	9	occurs	occur	VERB
ap-1010	1	10	frequently	frequently	ADV
ap-1010	1	11	in	in	ADP
ap-1010	1	12	mechanical	mechanical	ADJ
ap-1010	1	13	design	design	NOUN
ap-1010	1	14	[	[	X
ap-1010	1	15	1	1	NUM
ap-1010	1	16	,	,	PUNCT
ap-1010	1	17	2	2	NUM
ap-1010	1	18	,	,	PUNCT
ap-1010	1	19	3	3	NUM
ap-1010	1	20	,	,	PUNCT
ap-1010	1	21	4	4	NUM
ap-1010	1	22	,	,	PUNCT
ap-1010	1	23	5	5	NUM
ap-1010	1	24	,	,	PUNCT
ap-1010	1	25	6	6	NUM
ap-1010	1	26	]	]	PUNCT
ap-1010	1	27	.	.	PUNCT
ap-1010	2	1	this	this	DET
ap-1010	2	2	problem	problem	NOUN
ap-1010	2	3	arises	arise	VERB
ap-1010	2	4	whenever	whenever	SCONJ
ap-1010	2	5	two	two	NUM
ap-1010	2	6	flat	flat	ADJ
ap-1010	2	7	–	–	PUNCT
ap-1010	2	8	the	the	DET
ap-1010	2	9	case	case	NOUN
ap-1010	2	10	of	of	ADP
ap-1010	2	11	a	a	DET
ap-1010	2	12	surface	surface	NOUN
ap-1010	2	13	–	–	PUNCT
ap-1010	2	14	or	or	CCONJ
ap-1010	2	15	straight	straight	ADJ
ap-1010	2	16	–	–	PUNCT
ap-1010	2	17	the	the	DET
ap-1010	2	18	case	case	NOUN
ap-1010	2	19	of	of	ADP
ap-1010	2	20	a	a	DET
ap-1010	2	21	line	line	NOUN
ap-1010	2	22	–	–	PUNCT
ap-1010	2	23	segments	segment	NOUN
ap-1010	2	24	of	of	ADP
ap-1010	2	25	a	a	DET
ap-1010	2	26	machine	machine	NOUN
ap-1010	2	27	element	element	NOUN
ap-1010	2	28	are	be	AUX
ap-1010	2	29	to	to	PART
ap-1010	2	30	be	be	AUX
ap-1010	2	31	joined	join	VERB
ap-1010	2	32	either	either	CCONJ
ap-1010	2	33	to	to	PART
ap-1010	2	34	close	close	VERB
ap-1010	2	35	an	an	DET
ap-1010	2	36	orifice	orifice	NOUN
ap-1010	2	37	smoothly	smoothly	ADV
ap-1010	2	38	or	or	CCONJ
ap-1010	2	39	to	to	PART
ap-1010	2	40	join	join	VERB
ap-1010	2	41	that	that	DET
ap-1010	2	42	segment	segment	NOUN
ap-1010	2	43	to	to	ADP
ap-1010	2	44	the	the	DET
ap-1010	2	45	machine	machine	NOUN
ap-1010	2	46	frame	frame	NOUN
ap-1010	2	47	.	.	PUNCT
ap-1010	3	1	the	the	DET
ap-1010	3	2	reason	reason	NOUN
ap-1010	3	3	why	why	SCONJ
ap-1010	3	4	a	a	DET
ap-1010	3	5	smooth	smooth	ADJ
ap-1010	3	6	transfer	transfer	NOUN
ap-1010	3	7	is	be	AUX
ap-1010	3	8	required	require	VERB
ap-1010	3	9	lies	lie	NOUN
ap-1010	3	10	in	in	ADP
ap-1010	3	11	the	the	DET
ap-1010	3	12	need	need	NOUN
ap-1010	3	13	to	to	PART
ap-1010	3	14	prevent	prevent	VERB
ap-1010	3	15	stress	stress	NOUN
ap-1010	3	16	concentrations	concentration	NOUN
ap-1010	3	17	.	.	PUNCT
ap-1010	4	1	mechanical	mechanical	ADJ
ap-1010	4	2	designers	designer	NOUN
ap-1010	4	3	over	over	ADP
ap-1010	4	4	the	the	DET
ap-1010	4	5	years	year	NOUN
ap-1010	4	6	have	have	AUX
ap-1010	4	7	designed	design	VERB
ap-1010	4	8	machines	machine	NOUN
ap-1010	4	9	with	with	ADP
ap-1010	4	10	rectangular	rectangular	ADJ
ap-1010	4	11	bores	bore	NOUN
ap-1010	4	12	using	use	VERB
ap-1010	4	13	circular	circular	ADJ
ap-1010	4	14	arcs	arc	NOUN
ap-1010	4	15	to	to	PART
ap-1010	4	16	round	round	VERB
ap-1010	4	17	the	the	DET
ap-1010	4	18	corners	corner	NOUN
ap-1010	4	19	.	.	PUNCT
ap-1010	5	1	this	this	PRON
ap-1010	5	2	is	be	AUX
ap-1010	5	3	done	do	VERB
ap-1010	5	4	with	with	ADP
ap-1010	5	5	two	two	NUM
ap-1010	5	6	purposes	purpose	NOUN
ap-1010	5	7	:	:	PUNCT
ap-1010	5	8	(	(	PUNCT
ap-1010	5	9	i	i	NOUN
ap-1010	5	10	)	)	PUNCT
ap-1010	5	11	to	to	PART
ap-1010	5	12	avoid	avoid	VERB
ap-1010	5	13	stress	stress	ADJ
ap-1010	5	14	concentrations	concentration	NOUN
ap-1010	5	15	that	that	PRON
ap-1010	5	16	would	would	AUX
ap-1010	5	17	arise	arise	VERB
ap-1010	5	18	due	due	ADP
ap-1010	5	19	to	to	ADP
ap-1010	5	20	an	an	DET
ap-1010	5	21	inwnite	inwnite	ADJ
ap-1010	5	22	curvature	curvature	NOUN
ap-1010	5	23	at	at	ADP
ap-1010	5	24	the	the	DET
ap-1010	5	25	corner	corner	NOUN
ap-1010	5	26	,	,	PUNCT
ap-1010	5	27	and	and	CCONJ
ap-1010	5	28	(	(	PUNCT
ap-1010	5	29	ii	ii	NOUN
ap-1010	5	30	)	)	PUNCT
ap-1010	5	31	to	to	PART
ap-1010	5	32	ease	ease	VERB
ap-1010	5	33	the	the	DET
ap-1010	5	34	machining	machining	NOUN
ap-1010	5	35	of	of	ADP
ap-1010	5	36	the	the	DET
ap-1010	5	37	bore	bore	NOUN
ap-1010	5	38	.	.	PUNCT
ap-1010	6	1	the	the	DET
ap-1010	6	2	problem	problem	NOUN
ap-1010	6	3	with	with	ADP
ap-1010	6	4	circular	circular	ADJ
ap-1010	6	5	arcs	arcs	NOUN
ap-1010	6	6	is	be	AUX
ap-1010	6	7	that	that	SCONJ
ap-1010	6	8	they	they	PRON
ap-1010	6	9	provide	provide	VERB
ap-1010	6	10	only	only	ADV
ap-1010	6	11	g1	g1	NOUN
ap-1010	6	12	-	-	PUNCT
ap-1010	6	13	continuity	continuity	NOUN
ap-1010	6	14	.	.	PUNCT
ap-1010	7	1	second	second	ADJ
ap-1010	7	2	-	-	PUNCT
ap-1010	7	3	order	order	NOUN
ap-1010	7	4	geometric	geometric	ADJ
ap-1010	7	5	continuity	continuity	NOUN
ap-1010	7	6	g2	g2	NOUN
ap-1010	7	7	,	,	PUNCT
ap-1010	7	8	on	on	ADP
ap-1010	7	9	the	the	DET
ap-1010	7	10	other	other	ADJ
ap-1010	7	11	hand	hand	NOUN
ap-1010	7	12	,	,	PUNCT
ap-1010	7	13	requires	require	VERB
ap-1010	7	14	that	that	SCONJ
ap-1010	7	15	the	the	DET
ap-1010	7	16	two	two	NUM
ap-1010	7	17	curvatures	curvature	NOUN
ap-1010	7	18	coincide	coincide	VERB
ap-1010	7	19	at	at	ADP
ap-1010	7	20	the	the	DET
ap-1010	7	21	blending	blend	VERB
ap-1010	7	22	point;	point;	NOUN
ap-1010	7	23	however	however	ADV
ap-1010	7	24	,	,	PUNCT
ap-1010	7	25	the	the	DET
ap-1010	7	26	curvature	curvature	NOUN
ap-1010	7	27	of	of	ADP
ap-1010	7	28	the	the	DET
ap-1010	7	29	straight	straight	ADJ
ap-1010	7	30	segment	segment	NOUN
ap-1010	7	31	is	be	AUX
ap-1010	7	32	zero	zero	NUM
ap-1010	7	33	,	,	PUNCT
ap-1010	7	34	while	while	SCONJ
ap-1010	7	35	that	that	PRON
ap-1010	7	36	of	of	ADP
ap-1010	7	37	the	the	DET
ap-1010	7	38	circular	circular	ADJ
ap-1010	7	39	arc	arc	NOUN
ap-1010	7	40	is	be	AUX
ap-1010	7	41	the	the	DET
ap-1010	7	42	reciprocal	reciprocal	NOUN
ap-1010	7	43	of	of	ADP
ap-1010	7	44	the	the	DET
ap-1010	7	45	radius	radius	NOUN
ap-1010	7	46	of	of	ADP
ap-1010	7	47	the	the	DET
ap-1010	7	48	circle	circle	NOUN
ap-1010	7	49	,	,	PUNCT
ap-1010	7	50	which	which	PRON
ap-1010	7	51	is	be	AUX
ap-1010	7	52	a	a	DET
ap-1010	7	53	finite	finite	ADJ
ap-1010	7	54	quantity	quantity	NOUN
ap-1010	7	55	different	different	ADJ
ap-1010	7	56	from	from	ADP
ap-1010	7	57	zero	zero	NUM
ap-1010	7	58	.	.	PUNCT
ap-1010	8	1	the	the	DET
ap-1010	8	2	outcome	outcome	NOUN
ap-1010	8	3	is	be	AUX
ap-1010	8	4	that	that	SCONJ
ap-1010	8	5	stress	stress	NOUN
ap-1010	8	6	concentrations	concentration	NOUN
ap-1010	8	7	are	be	AUX
ap-1010	8	8	not	not	PART
ap-1010	8	9	eliminated	eliminate	VERB
ap-1010	8	10	because	because	SCONJ
ap-1010	8	11	of	of	ADP
ap-1010	8	12	the	the	DET
ap-1010	8	13	curvature	curvature	NOUN
ap-1010	8	14	discontinuity	discontinuity	NOUN
ap-1010	8	15	at	at	ADP
ap-1010	8	16	the	the	DET
ap-1010	8	17	point	point	NOUN
ap-1010	8	18	of	of	ADP
ap-1010	8	19	blending	blend	VERB
ap-1010	8	20	[	[	X
ap-1010	8	21	7	7	NUM
ap-1010	8	22	]	]	PUNCT
ap-1010	8	23	.	.	PUNCT
ap-1010	9	1	in	in	ADP
ap-1010	9	2	this	this	DET
ap-1010	9	3	paper	paper	NOUN
ap-1010	9	4	,	,	PUNCT
ap-1010	9	5	a	a	DET
ap-1010	9	6	methodology	methodology	NOUN
ap-1010	9	7	is	be	AUX
ap-1010	9	8	proposed	propose	VERB
ap-1010	9	9	aiming	aim	VERB
ap-1010	9	10	at	at	ADP
ap-1010	9	11	the	the	DET
ap-1010	9	12	production	production	NOUN
ap-1010	9	13	of	of	ADP
ap-1010	9	14	g2	g2	PROPN
ap-1010	9	15	-	-	PUNCT
ap-1010	9	16	continuity	continuity	NOUN
ap-1010	9	17	at	at	ADP
ap-1010	9	18	the	the	DET
ap-1010	9	19	blending	blending	NOUN
ap-1010	9	20	of	of	ADP
ap-1010	9	21	segments	segment	NOUN
ap-1010	9	22	of	of	ADP
ap-1010	9	23	two	two	NUM
ap-1010	9	24	curves	curve	NOUN
ap-1010	9	25	.	.	PUNCT
ap-1010	10	1	the	the	DET
ap-1010	10	2	paper	paper	NOUN
ap-1010	10	3	is	be	AUX
ap-1010	10	4	based	base	VERB
ap-1010	10	5	on	on	ADP
ap-1010	10	6	the	the	DET
ap-1010	10	7	concept	concept	NOUN
ap-1010	10	8	of	of	ADP
ap-1010	10	9	curve	curve	NOUN
ap-1010	10	10	synthesis	synthesis	NOUN
ap-1010	10	11	,	,	PUNCT
ap-1010	10	12	as	as	SCONJ
ap-1010	10	13	first	first	ADV
ap-1010	10	14	proposed	propose	VERB
ap-1010	10	15	in	in	ADP
ap-1010	10	16	[	[	X
ap-1010	10	17	1	1	NUM
ap-1010	10	18	]	]	PUNCT
ap-1010	10	19	.	.	PUNCT
ap-1010	11	1	while	while	SCONJ
ap-1010	11	2	the	the	DET
ap-1010	11	3	forgoing	forgoing	ADJ
ap-1010	11	4	reference	reference	NOUN
ap-1010	11	5	resorts	resort	NOUN
ap-1010	11	6	to	to	PART
ap-1010	11	7	parametric	parametric	VERB
ap-1010	11	8	cubic	cubic	ADJ
ap-1010	11	9	splines	spline	NOUN
ap-1010	11	10	to	to	PART
ap-1010	11	11	synthesize	synthesize	VERB
ap-1010	11	12	geometric	geometric	ADJ
ap-1010	11	13	curves	curve	NOUN
ap-1010	11	14	,	,	PUNCT
ap-1010	11	15	we	we	PRON
ap-1010	11	16	show	show	VERB
ap-1010	11	17	in	in	ADP
ap-1010	11	18	this	this	DET
ap-1010	11	19	paper	paper	NOUN
ap-1010	11	20	that	that	SCONJ
ap-1010	11	21	a	a	DET
ap-1010	11	22	geometric	geometric	ADJ
ap-1010	11	23	curve	curve	NOUN
ap-1010	11	24	can	can	AUX
ap-1010	11	25	also	also	ADV
ap-1010	11	26	be	be	AUX
ap-1010	11	27	synthesized	synthesize	VERB
ap-1010	11	28	using	use	VERB
ap-1010	11	29	non	non	ADJ
ap-1010	11	30	-	-	ADJ
ap-1010	11	31	parametric	parametric	ADJ
ap-1010	11	32	splines	spline	NOUN
ap-1010	11	33	,	,	PUNCT
ap-1010	11	34	thereby	thereby	ADV
ap-1010	11	35	streamlining	streamline	VERB
ap-1010	11	36	the	the	DET
ap-1010	11	37	procedure	procedure	NOUN
ap-1010	11	38	.	.	PUNCT
ap-1010	12	1	2	2	NUM
ap-1010	12	2	problem	problem	NOUN
ap-1010	12	3	statement	statement	NOUN
ap-1010	12	4	first	first	ADV
ap-1010	12	5	and	and	CCONJ
ap-1010	12	6	foremost	foremost	ADV
ap-1010	12	7	,	,	PUNCT
ap-1010	12	8	a	a	DET
ap-1010	12	9	distinction	distinction	NOUN
ap-1010	12	10	is	be	AUX
ap-1010	12	11	made	make	VERB
ap-1010	12	12	between	between	ADP
ap-1010	12	13	a	a	DET
ap-1010	12	14	curve	curve	NOUN
ap-1010	12	15	representing	represent	VERB
ap-1010	12	16	the	the	DET
ap-1010	12	17	plot	plot	NOUN
ap-1010	12	18	of	of	ADP
ap-1010	12	19	a	a	DET
ap-1010	12	20	function	function	NOUN
ap-1010	12	21	and	and	CCONJ
ap-1010	12	22	a	a	DET
ap-1010	12	23	geometric	geometric	ADJ
ap-1010	12	24	curve	curve	NOUN
ap-1010	12	25	:	:	PUNCT
ap-1010	12	26	while	while	SCONJ
ap-1010	12	27	the	the	DET
ap-1010	12	28	slope	slope	NOUN
ap-1010	12	29	of	of	ADP
ap-1010	12	30	the	the	DET
ap-1010	12	31	former	former	ADJ
ap-1010	12	32	is	be	AUX
ap-1010	12	33	bounded	bound	VERB
ap-1010	12	34	,	,	PUNCT
ap-1010	12	35	the	the	DET
ap-1010	12	36	latter	latter	ADJ
ap-1010	12	37	is	be	AUX
ap-1010	12	38	not;	not;	ADP
ap-1010	12	39	moreover	moreover	ADV
ap-1010	12	40	,	,	PUNCT
ap-1010	12	41	a	a	DET
ap-1010	12	42	geometric	geometric	ADJ
ap-1010	12	43	curve	curve	NOUN
ap-1010	12	44	can	can	AUX
ap-1010	12	45	have	have	VERB
ap-1010	12	46	cusps	cusps	NOUN
ap-1010	12	47	,	,	PUNCT
ap-1010	12	48	can	can	AUX
ap-1010	12	49	cross	cross	VERB
ap-1010	12	50	itself	itself	PRON
ap-1010	12	51	and	and	CCONJ
ap-1010	12	52	need	need	AUX
ap-1010	12	53	not	not	PART
ap-1010	12	54	be	be	AUX
ap-1010	12	55	representable	representable	ADJ
ap-1010	12	56	by	by	ADP
ap-1010	12	57	analytic	analytic	ADJ
ap-1010	12	58	functions	function	NOUN
ap-1010	12	59	.	.	PUNCT
ap-1010	13	1	the	the	DET
ap-1010	13	2	paper	paper	NOUN
ap-1010	13	3	focuses	focus	VERB
ap-1010	13	4	on	on	ADP
ap-1010	13	5	geometric	geometric	ADJ
ap-1010	13	6	curves	curve	NOUN
ap-1010	13	7	,	,	PUNCT
ap-1010	13	8	while	while	SCONJ
ap-1010	13	9	resorting	resort	VERB
ap-1010	13	10	to	to	ADP
ap-1010	13	11	non	non	ADJ
ap-1010	13	12	-	-	ADJ
ap-1010	13	13	parametric	parametric	ADJ
ap-1010	13	14	cubic	cubic	ADJ
ap-1010	13	15	splines	spline	NOUN
ap-1010	13	16	.	.	PUNCT
ap-1010	14	1	curve	curve	NOUN
ap-1010	14	2	synthesis	synthesis	NOUN
ap-1010	14	3	in	in	ADP
ap-1010	14	4	this	this	DET
ap-1010	14	5	context	context	NOUN
ap-1010	14	6	is	be	AUX
ap-1010	14	7	defined	define	VERB
ap-1010	14	8	as	as	ADP
ap-1010	14	9	:	:	PUNCT
ap-1010	14	10	given	give	VERB
ap-1010	14	11	two	two	NUM
ap-1010	14	12	curve	curve	NOUN
ap-1010	14	13	segments	segment	NOUN
ap-1010	14	14	�	�	PROPN
ap-1010	14	15	a	a	PRON
ap-1010	14	16	and	and	CCONJ
ap-1010	14	17	�	�	NOUN
ap-1010	14	18	b	b	PROPN
ap-1010	14	19	lying	lie	VERB
ap-1010	14	20	in	in	ADP
ap-1010	14	21	the	the	DET
ap-1010	14	22	same	same	ADJ
ap-1010	14	23	plane	plane	NOUN
ap-1010	14	24	,	,	PUNCT
ap-1010	14	25	find	find	VERB
ap-1010	14	26	a	a	DET
ap-1010	14	27	third	third	ADJ
ap-1010	14	28	curve	curve	NOUN
ap-1010	14	29	segment	segment	NOUN
ap-1010	14	30	�	�	PROPN
ap-1010	14	31	c	c	PROPN
ap-1010	14	32	that	that	PRON
ap-1010	14	33	blends	blend	VERB
ap-1010	14	34	smoothly	smoothly	ADV
ap-1010	14	35	with	with	ADP
ap-1010	14	36	both	both	DET
ap-1010	14	37	�	�	PROPN
ap-1010	14	38	a	a	PRON
ap-1010	14	39	and	and	CCONJ
ap-1010	14	40	�	�	NOUN
ap-1010	14	41	b	b	PROPN
ap-1010	14	42	at	at	ADP
ap-1010	14	43	the	the	DET
ap-1010	14	44	blending	blend	VERB
ap-1010	14	45	points	point	NOUN
ap-1010	14	46	a	a	PRON
ap-1010	14	47	and	and	CCONJ
ap-1010	14	48	b	b	NOUN
ap-1010	14	49	,	,	PUNCT
ap-1010	14	50	with	with	ADP
ap-1010	14	51	g2	g2	NOUN
ap-1010	14	52	-	-	PUNCT
ap-1010	14	53	continuity	continuity	NOUN
ap-1010	14	54	.	.	PUNCT
ap-1010	15	1	notice	notice	VERB
ap-1010	15	2	that	that	SCONJ
ap-1010	15	3	we	we	PRON
ap-1010	15	4	stated	state	VERB
ap-1010	15	5	the	the	DET
ap-1010	15	6	search	search	NOUN
ap-1010	15	7	of	of	ADP
ap-1010	15	8	a	a	DET
ap-1010	15	9	segment	segment	NOUN
ap-1010	15	10	,	,	PUNCT
ap-1010	15	11	as	as	SCONJ
ap-1010	15	12	opposed	oppose	VERB
ap-1010	15	13	to	to	ADP
ap-1010	15	14	that	that	PRON
ap-1010	15	15	of	of	ADP
ap-1010	15	16	the	the	DET
ap-1010	15	17	segment	segment	NOUN
ap-1010	15	18	,	,	PUNCT
ap-1010	15	19	to	to	PART
ap-1010	15	20	emphasize	emphasize	VERB
ap-1010	15	21	that	that	SCONJ
ap-1010	15	22	the	the	DET
ap-1010	15	23	problem	problem	NOUN
ap-1010	15	24	admits	admit	VERB
ap-1010	15	25	multiple	multiple	ADJ
ap-1010	15	26	solutions	solution	NOUN
ap-1010	15	27	.	.	PUNCT
ap-1010	16	1	in	in	ADP
ap-1010	16	2	fact	fact	NOUN
ap-1010	16	3	,	,	PUNCT
ap-1010	16	4	the	the	DET
ap-1010	16	5	problem	problem	NOUN
ap-1010	16	6	admits	admit	VERB
ap-1010	16	7	infinitely	infinitely	ADV
ap-1010	16	8	many	many	ADJ
ap-1010	16	9	solutions	solution	NOUN
ap-1010	16	10	.	.	PUNCT
ap-1010	17	1	to	to	PART
ap-1010	17	2	pinpoint	pinpoint	VERB
ap-1010	17	3	one	one	NUM
ap-1010	17	4	particular	particular	ADJ
ap-1010	17	5	solution	solution	NOUN
ap-1010	17	6	,	,	PUNCT
ap-1010	17	7	we	we	PRON
ap-1010	17	8	must	must	AUX
ap-1010	17	9	impose	impose	VERB
ap-1010	17	10	additional	additional	ADJ
ap-1010	17	11	conditions	condition	NOUN
ap-1010	17	12	.	.	PUNCT
ap-1010	18	1	many	many	ADJ
ap-1010	18	2	are	be	AUX
ap-1010	18	3	possible	possible	ADJ
ap-1010	18	4	,	,	PUNCT
ap-1010	18	5	the	the	DET
ap-1010	18	6	one	one	NOUN
ap-1010	18	7	that	that	PRON
ap-1010	18	8	we	we	PRON
ap-1010	18	9	adopt	adopt	VERB
ap-1010	18	10	here	here	ADV
ap-1010	18	11	being	be	AUX
ap-1010	18	12	that	that	SCONJ
ap-1010	18	13	the	the	DET
ap-1010	18	14	segment	segment	NOUN
ap-1010	18	15	sought	seek	VERB
ap-1010	18	16	�	�	PROPN
ap-1010	18	17	c	c	PROPN
ap-1010	18	18	be	be	AUX
ap-1010	18	19	“	"	PUNCT
ap-1010	18	20	as	as	ADV
ap-1010	18	21	straight	straight	ADV
ap-1010	18	22	as	as	ADP
ap-1010	18	23	possible	possible	ADJ
ap-1010	18	24	.	.	PUNCT
ap-1010	18	25	”	"	PUNCT
ap-1010	19	1	what	what	PRON
ap-1010	19	2	this	this	PRON
ap-1010	19	3	means	mean	VERB
ap-1010	19	4	is	be	AUX
ap-1010	19	5	that	that	SCONJ
ap-1010	19	6	we	we	PRON
ap-1010	19	7	want	want	VERB
ap-1010	19	8	the	the	DET
ap-1010	19	9	segment	segment	NOUN
ap-1010	19	10	to	to	PART
ap-1010	19	11	have	have	VERB
ap-1010	19	12	the	the	DET
ap-1010	19	13	smallest	small	ADJ
ap-1010	19	14	possible	possible	ADJ
ap-1010	19	15	curvature	curvature	NOUN
ap-1010	19	16	.	.	PUNCT
ap-1010	20	1	this	this	DET
ap-1010	20	2	requirement	requirement	NOUN
ap-1010	20	3	makes	make	VERB
ap-1010	20	4	sense	sense	NOUN
ap-1010	20	5	in	in	ADP
ap-1010	20	6	design	design	NOUN
ap-1010	20	7	engineering	engineering	NOUN
ap-1010	20	8	,	,	PUNCT
ap-1010	20	9	since	since	SCONJ
ap-1010	20	10	a	a	DET
ap-1010	20	11	straight	straight	ADJ
ap-1010	20	12	segment	segment	NOUN
ap-1010	20	13	is	be	AUX
ap-1010	20	14	the	the	DET
ap-1010	20	15	simplest	simple	ADJ
ap-1010	20	16	shape	shape	NOUN
ap-1010	20	17	to	to	PART
ap-1010	20	18	fabricate	fabricate	VERB
ap-1010	20	19	and	and	CCONJ
ap-1010	20	20	,	,	PUNCT
ap-1010	20	21	in	in	ADP
ap-1010	20	22	the	the	DET
ap-1010	20	23	realm	realm	NOUN
ap-1010	20	24	of	of	ADP
ap-1010	20	25	structural	structural	ADJ
ap-1010	20	26	engineering	engineering	NOUN
ap-1010	20	27	,	,	PUNCT
ap-1010	20	28	the	the	DET
ap-1010	20	29	least	least	ADV
ap-1010	20	30	likely	likely	ADJ
ap-1010	20	31	to	to	PART
ap-1010	20	32	offer	offer	VERB
ap-1010	20	33	high	high	ADJ
ap-1010	20	34	bending	bend	VERB
ap-1010	20	35	moments	moment	NOUN
ap-1010	20	36	if	if	SCONJ
ap-1010	20	37	,	,	PUNCT
ap-1010	20	38	for	for	ADP
ap-1010	20	39	example	example	NOUN
ap-1010	20	40	,	,	PUNCT
ap-1010	20	41	�	�	PROPN
ap-1010	20	42	c	c	PROPN
ap-1010	20	43	were	be	AUX
ap-1010	20	44	to	to	PART
ap-1010	20	45	be	be	AUX
ap-1010	20	46	the	the	DET
ap-1010	20	47	neutral	neutral	ADJ
ap-1010	20	48	axis	axis	NOUN
ap-1010	20	49	of	of	ADP
ap-1010	20	50	a	a	DET
ap-1010	20	51	beam	beam	NOUN
ap-1010	20	52	.	.	PUNCT
ap-1010	21	1	the	the	DET
ap-1010	21	2	challenge	challenge	NOUN
ap-1010	21	3	here	here	ADV
ap-1010	21	4	is	be	AUX
ap-1010	21	5	to	to	PART
ap-1010	21	6	formulate	formulate	VERB
ap-1010	21	7	the	the	DET
ap-1010	21	8	synthesis	synthesis	NOUN
ap-1010	21	9	problem	problem	NOUN
ap-1010	21	10	in	in	ADP
ap-1010	21	11	a	a	DET
ap-1010	21	12	standard	standard	ADJ
ap-1010	21	13	form	form	NOUN
ap-1010	21	14	,	,	PUNCT
ap-1010	21	15	e.g.	e.g.	ADV
ap-1010	21	16	,	,	PUNCT
ap-1010	21	17	one	one	NUM
ap-1010	21	18	that	that	PRON
ap-1010	21	19	would	would	AUX
ap-1010	21	20	lead	lead	VERB
ap-1010	21	21	to	to	ADP
ap-1010	21	22	an	an	DET
ap-1010	21	23	optimization	optimization	NOUN
ap-1010	21	24	problem	problem	NOUN
ap-1010	21	25	.	.	PUNCT
ap-1010	22	1	to	to	ADP
ap-1010	22	2	this	this	DET
ap-1010	22	3	end	end	NOUN
ap-1010	22	4	,	,	PUNCT
ap-1010	22	5	we	we	PRON
ap-1010	22	6	resort	resort	VERB
ap-1010	22	7	to	to	ADP
ap-1010	22	8	a	a	DET
ap-1010	22	9	discretization	discretization	NOUN
ap-1010	22	10	of	of	ADP
ap-1010	22	11	the	the	DET
ap-1010	22	12	curve	curve	NOUN
ap-1010	22	13	.	.	PUNCT
ap-1010	23	1	many	many	ADJ
ap-1010	23	2	forms	form	NOUN
ap-1010	23	3	of	of	ADP
ap-1010	23	4	curve	curve	NOUN
ap-1010	23	5	discretization	discretization	NOUN
ap-1010	23	6	are	be	AUX
ap-1010	23	7	available	available	ADJ
ap-1010	23	8	in	in	ADP
ap-1010	23	9	the	the	DET
ap-1010	23	10	realm	realm	NOUN
ap-1010	23	11	of	of	ADP
ap-1010	23	12	geometric	geometric	ADJ
ap-1010	23	13	modeling	modeling	NOUN
ap-1010	23	14	,	,	PUNCT
ap-1010	23	15	namely	namely	ADV
ap-1010	23	16	,	,	PUNCT
ap-1010	23	17	bézier	bézier	NOUN
ap-1010	23	18	curves	curve	NOUN
ap-1010	23	19	,	,	PUNCT
ap-1010	23	20	cubic	cubic	ADJ
ap-1010	23	21	splines	spline	NOUN
ap-1010	23	22	,	,	PUNCT
ap-1010	23	23	b	b	X
ap-1010	23	24	-	-	PUNCT
ap-1010	23	25	splines	spline	NOUN
ap-1010	23	26	,	,	PUNCT
ap-1010	23	27	non	non	ADJ
ap-1010	23	28	-	-	ADJ
ap-1010	23	29	uniform	uniform	ADJ
ap-1010	23	30	rational	rational	ADJ
ap-1010	23	31	b	b	NOUN
ap-1010	23	32	-	-	PUNCT
ap-1010	23	33	splines	spline	NOUN
ap-1010	23	34	,	,	PUNCT
ap-1010	23	35	or	or	CCONJ
ap-1010	23	36	nurbs	nurb	NOUN
ap-1010	23	37	,	,	PUNCT
ap-1010	23	38	and	and	CCONJ
ap-1010	23	39	so	so	ADV
ap-1010	23	40	on	on	ADP
ap-1010	23	41	[	[	X
ap-1010	23	42	8	8	NUM
ap-1010	23	43	]	]	PUNCT
ap-1010	23	44	.	.	PUNCT
ap-1010	24	1	we	we	PRON
ap-1010	24	2	limit	limit	VERB
ap-1010	24	3	the	the	DET
ap-1010	24	4	search	search	NOUN
ap-1010	24	5	to	to	ADP
ap-1010	24	6	the	the	DET
ap-1010	24	7	simplest	simplest	NOUN
ap-1010	24	8	of	of	ADP
ap-1010	24	9	these	these	DET
ap-1010	24	10	tools	tool	NOUN
ap-1010	24	11	,	,	PUNCT
ap-1010	24	12	namely	namely	ADV
ap-1010	24	13	,	,	PUNCT
ap-1010	24	14	non	non	ADJ
ap-1010	24	15	-	-	ADJ
ap-1010	24	16	parametric	parametric	ADJ
ap-1010	24	17	cubic	cubic	ADJ
ap-1010	24	18	splines	spline	NOUN
ap-1010	24	19	.	.	PUNCT
ap-1010	25	1	3	3	NUM
ap-1010	25	2	problem	problem	NOUN
ap-1010	25	3	formulation	formulation	NOUN
ap-1010	25	4	using	use	VERB
ap-1010	25	5	cubic	cubic	ADJ
ap-1010	25	6	splines	spline	NOUN
ap-1010	25	7	in	in	ADP
ap-1010	25	8	discretizing	discretize	VERB
ap-1010	25	9	the	the	DET
ap-1010	25	10	problem	problem	NOUN
ap-1010	25	11	at	at	ADP
ap-1010	25	12	hand	hand	NOUN
ap-1010	25	13	by	by	ADP
ap-1010	25	14	means	mean	NOUN
ap-1010	25	15	of	of	ADP
ap-1010	25	16	cubic	cubic	ADJ
ap-1010	25	17	splines	spline	NOUN
ap-1010	25	18	,	,	PUNCT
ap-1010	25	19	we	we	PRON
ap-1010	25	20	define	define	VERB
ap-1010	25	21	n	n	DET
ap-1010	25	22	�	�	PROPN
ap-1010	25	23	2	2	NUM
ap-1010	25	24	supporting	support	VERB
ap-1010	25	25	points	point	NOUN
ap-1010	25	26	�	�	PROPN
ap-1010	25	27	�	�	PROPN
ap-1010	25	28	pk	pk	PROPN
ap-1010	25	29	n	n	ADV
ap-1010	25	30	0	0	NUM
ap-1010	25	31	1	1	NUM
ap-1010	25	32	�	�	PROPN
ap-1010	25	33	,	,	PUNCT
ap-1010	25	34	the	the	DET
ap-1010	25	35	kth	kth	PROPN
ap-1010	25	36	point	point	NOUN
ap-1010	25	37	having	have	VERB
ap-1010	25	38	cartesian	cartesian	ADJ
ap-1010	25	39	coordinates	coordinate	NOUN
ap-1010	25	40	pk(xk	pk(xk	PROPN
ap-1010	25	41	,	,	PUNCT
ap-1010	25	42	yk	yk	PROPN
ap-1010	25	43	)	)	PUNCT
ap-1010	25	44	.	.	PUNCT
ap-1010	26	1	shown	show	VERB
ap-1010	26	2	in	in	ADP
ap-1010	26	3	fig	fig	NOUN
ap-1010	26	4	.	.	PUNCT
ap-1010	27	1	1	1	NUM
ap-1010	27	2	is	be	AUX
ap-1010	27	3	a	a	DET
ap-1010	27	4	sketch	sketch	NOUN
ap-1010	27	5	of	of	ADP
ap-1010	27	6	the	the	DET
ap-1010	27	7	blending	blend	VERB
ap-1010	27	8	segments	segment	NOUN
ap-1010	27	9	�	�	PROPN
ap-1010	27	10	a	a	PRON
ap-1010	27	11	and	and	CCONJ
ap-1010	27	12	�	�	PROPN
ap-1010	27	13	b	b	NUM
ap-1010	27	14	by	by	ADP
ap-1010	27	15	means	mean	NOUN
ap-1010	27	16	of	of	ADP
ap-1010	27	17	�	�	PROPN
ap-1010	27	18	c	c	PROPN
ap-1010	27	19	,	,	PUNCT
ap-1010	27	20	with	with	ADP
ap-1010	27	21	p	p	NOUN
ap-1010	27	22	denoting	denote	VERB
ap-1010	27	23	a	a	DET
ap-1010	27	24	generic	generic	ADJ
ap-1010	27	25	point	point	NOUN
ap-1010	27	26	of	of	ADP
ap-1010	27	27	the	the	DET
ap-1010	27	28	latter	latter	ADJ
ap-1010	27	29	.	.	PUNCT
ap-1010	28	1	alternatively	alternatively	ADV
ap-1010	28	2	,	,	PUNCT
ap-1010	28	3	points	point	VERB
ap-1010	28	4	�	�	PROPN
ap-1010	28	5	�	�	PROPN
ap-1010	28	6	pk	pk	PROPN
ap-1010	28	7	n	n	ADP
ap-1010	28	8	0	0	NUM
ap-1010	28	9	1	1	NUM
ap-1010	28	10	�	�	NOUN
ap-1010	28	11	are	be	AUX
ap-1010	28	12	defined	define	VERB
ap-1010	28	13	by	by	ADP
ap-1010	28	14	their	their	PRON
ap-1010	28	15	polar	polar	ADJ
ap-1010	28	16	coordinates	coordinate	NOUN
ap-1010	28	17	pk(	pk(	PROPN
ap-1010	28	18	�	�	PROPN
ap-1010	28	19	k	k	PROPN
ap-1010	28	20	,	,	PUNCT
ap-1010	28	21	�	�	PROPN
ap-1010	28	22	k	k	NOUN
ap-1010	28	23	)	)	PUNCT
ap-1010	28	24	.	.	PUNCT
ap-1010	29	1	henceforth	henceforth	ADV
ap-1010	29	2	,	,	PUNCT
ap-1010	29	3	we	we	PRON
ap-1010	29	4	define	define	VERB
ap-1010	29	5	p	p	PROPN
ap-1010	29	6	a0	a0	PROPN
ap-1010	29	7	�	�	PROPN
ap-1010	29	8	and	and	CCONJ
ap-1010	29	9	p	p	PROPN
ap-1010	29	10	bn	bn	PROPN
ap-1010	29	11	�	�	PROPN
ap-1010	29	12	�	�	PROPN
ap-1010	29	13	1	1	NUM
ap-1010	29	14	.	.	PUNCT
ap-1010	30	1	now	now	ADV
ap-1010	30	2	,	,	PUNCT
ap-1010	30	3	let	let	VERB
ap-1010	30	4	a(	a(	VERB
ap-1010	30	5	�	�	VERB
ap-1010	30	6	a	a	PRON
ap-1010	30	7	,	,	PUNCT
ap-1010	30	8	�	�	NOUN
ap-1010	30	9	a	a	NOUN
ap-1010	30	10	)	)	PUNCT
ap-1010	30	11	and	and	CCONJ
ap-1010	30	12	b(	b(	PROPN
ap-1010	30	13	�	�	PROPN
ap-1010	30	14	b	b	PROPN
ap-1010	30	15	,	,	PUNCT
ap-1010	30	16	�	�	PROPN
ap-1010	30	17	b	b	NOUN
ap-1010	30	18	)	)	PUNCT
ap-1010	30	19	be	be	AUX
ap-1010	30	20	the	the	DET
ap-1010	30	21	polar	polar	ADJ
ap-1010	30	22	coordinates	coordinate	NOUN
ap-1010	30	23	of	of	ADP
ap-1010	30	24	the	the	DET
ap-1010	30	25	blending	blend	VERB
ap-1010	30	26	points	point	NOUN
ap-1010	30	27	.	.	PUNCT
ap-1010	31	1	moreover	moreover	ADV
ap-1010	31	2	,	,	PUNCT
ap-1010	31	3	let	let	VERB
ap-1010	31	4	�	�	PROPN
ap-1010	31	5	�	�	PROPN
ap-1010	31	6	�	�	PROPN
ap-1010	31	7	�	�	PROPN
ap-1010	31	8	�	�	PROPN
ap-1010	31	9	�	�	PROPN
ap-1010	31	10	�	�	PROPN
ap-1010	31	11	b	b	PROPN
ap-1010	31	12	a	a	DET
ap-1010	31	13	n	n	NOUN
ap-1010	31	14	1	1	NUM
ap-1010	31	15	and	and	CCONJ
ap-1010	31	16	define	define	VERB
ap-1010	31	17	�	�	PROPN
ap-1010	31	18	�	�	PROPN
ap-1010	31	19	�	�	PROPN
ap-1010	31	20	k	k	PROPN
ap-1010	31	21	a	a	DET
ap-1010	31	22	k	k	PROPN
ap-1010	31	23	�	�	PROPN
ap-1010	31	24	�	�	PROPN
ap-1010	31	25	�	�	PROPN
ap-1010	31	26	,	,	PUNCT
ap-1010	31	27	for	for	ADP
ap-1010	31	28	k	k	PROPN
ap-1010	31	29	n	n	CCONJ
ap-1010	31	30	�	�	PROPN
ap-1010	31	31	�	�	PROPN
ap-1010	31	32	1	1	NUM
ap-1010	31	33	2	2	NUM
ap-1010	31	34	1	1	NUM
ap-1010	31	35	,	,	PUNCT
ap-1010	31	36	,	,	PUNCT
ap-1010	31	37	,	,	PUNCT
ap-1010	31	38	�	�	PROPN
ap-1010	31	39	,	,	PUNCT
ap-1010	31	40	with	with	ADP
ap-1010	31	41	�	�	PROPN
ap-1010	31	42	�	�	PROPN
ap-1010	31	43	n	n	PART
ap-1010	31	44	b	b	PROPN
ap-1010	31	45	�	�	PROPN
ap-1010	31	46	�	�	PROPN
ap-1010	31	47	1	1	NUM
ap-1010	31	48	,	,	PUNCT
ap-1010	31	49	�	�	PROPN
ap-1010	31	50	�	�	PROPN
ap-1010	31	51	thus	thus	ADV
ap-1010	31	52	being	be	AUX
ap-1010	31	53	the	the	DET
ap-1010	31	54	uniform	uniform	NOUN
ap-1010	31	55	increment	increment	VERB
ap-1010	31	56	over	over	ADP
ap-1010	31	57	the	the	DET
ap-1010	31	58	po56	po56	PROPN
ap-1010	31	59	©	©	PROPN
ap-1010	31	60	czech	czech	PROPN
ap-1010	31	61	technical	technical	PROPN
ap-1010	31	62	university	university	PROPN
ap-1010	31	63	publishing	publishing	NOUN
ap-1010	31	64	house	house	NOUN
ap-1010	31	65	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1010	31	66	acta	acta	PROPN
ap-1010	31	67	polytechnica	polytechnica	PROPN
ap-1010	31	68	vol	vol	NOUN
ap-1010	31	69	.	.	PUNCT
ap-1010	32	1	47	47	NUM
ap-1010	32	2	no	no	NOUN
ap-1010	32	3	.	.	PUNCT
ap-1010	33	1	6/2007	6/2007	NUM
ap-1010	33	2	shape	shape	NOUN
ap-1010	33	3	synthesis	synthesis	NOUN
ap-1010	33	4	in	in	ADP
ap-1010	33	5	mechanical	mechanical	ADJ
ap-1010	33	6	design	design	NOUN
ap-1010	33	7	c.	c.	PROPN
ap-1010	33	8	p.	p.	PROPN
ap-1010	33	9	teng	teng	PROPN
ap-1010	33	10	,	,	PUNCT
ap-1010	33	11	s.	s.	PROPN
ap-1010	33	12	bai	bai	PROPN
ap-1010	33	13	,	,	PUNCT
ap-1010	33	14	j.	j.	PROPN
ap-1010	33	15	angeles	angeles	PROPN
ap-1010	33	16	the	the	DET
ap-1010	33	17	shaping	shaping	NOUN
ap-1010	33	18	of	of	ADP
ap-1010	33	19	structural	structural	ADJ
ap-1010	33	20	elements	element	NOUN
ap-1010	33	21	in	in	ADP
ap-1010	33	22	the	the	DET
ap-1010	33	23	area	area	NOUN
ap-1010	33	24	of	of	ADP
ap-1010	33	25	mechanical	mechanical	ADJ
ap-1010	33	26	design	design	NOUN
ap-1010	33	27	is	be	AUX
ap-1010	33	28	a	a	DET
ap-1010	33	29	recurrent	recurrent	ADJ
ap-1010	33	30	problem	problem	NOUN
ap-1010	33	31	.	.	PUNCT
ap-1010	34	1	the	the	DET
ap-1010	34	2	mechanical	mechanical	ADJ
ap-1010	34	3	designer	designer	NOUN
ap-1010	34	4	,	,	PUNCT
ap-1010	34	5	as	as	ADP
ap-1010	34	6	a	a	DET
ap-1010	34	7	rule	rule	NOUN
ap-1010	34	8	,	,	PUNCT
ap-1010	34	9	chooses	choose	VERB
ap-1010	34	10	what	what	PRON
ap-1010	34	11	is	be	AUX
ap-1010	34	12	believed	believe	VERB
ap-1010	34	13	to	to	PART
ap-1010	34	14	be	be	AUX
ap-1010	34	15	the	the	DET
ap-1010	34	16	“	"	PUNCT
ap-1010	34	17	simplest	simple	ADJ
ap-1010	34	18	”	"	PUNCT
ap-1010	34	19	shapes	shape	NOUN
ap-1010	34	20	,	,	PUNCT
ap-1010	34	21	such	such	ADJ
ap-1010	34	22	as	as	ADP
ap-1010	34	23	the	the	DET
ap-1010	34	24	geometric	geometric	ADJ
ap-1010	34	25	primitives	primitive	NOUN
ap-1010	34	26	:	:	PUNCT
ap-1010	34	27	lines	line	NOUN
ap-1010	34	28	,	,	PUNCT
ap-1010	34	29	circles	circle	NOUN
ap-1010	34	30	and	and	CCONJ
ap-1010	34	31	,	,	PUNCT
ap-1010	34	32	occasionally	occasionally	ADV
ap-1010	34	33	,	,	PUNCT
ap-1010	34	34	conics	conic	NOUN
ap-1010	34	35	.	.	PUNCT
ap-1010	35	1	the	the	DET
ap-1010	35	2	use	use	NOUN
ap-1010	35	3	of	of	ADP
ap-1010	35	4	higher	high	ADJ
ap-1010	35	5	-	-	PUNCT
ap-1010	35	6	order	order	NOUN
ap-1010	35	7	curves	curve	NOUN
ap-1010	35	8	is	be	AUX
ap-1010	35	9	usually	usually	ADV
ap-1010	35	10	not	not	PART
ap-1010	35	11	even	even	ADV
ap-1010	35	12	considered	consider	VERB
ap-1010	35	13	,	,	PUNCT
ap-1010	35	14	not	not	PART
ap-1010	35	15	to	to	PART
ap-1010	35	16	speak	speak	VERB
ap-1010	35	17	of	of	ADP
ap-1010	35	18	other	other	ADJ
ap-1010	35	19	curves	curve	NOUN
ap-1010	35	20	than	than	ADP
ap-1010	35	21	polynomials	polynomial	NOUN
ap-1010	35	22	.	.	PUNCT
ap-1010	36	1	however	however	ADV
ap-1010	36	2	,	,	PUNCT
ap-1010	36	3	the	the	DET
ap-1010	36	4	simplest	simple	ADJ
ap-1010	36	5	geometric	geometric	ADJ
ap-1010	36	6	shapes	shape	NOUN
ap-1010	36	7	are	be	AUX
ap-1010	36	8	not	not	PART
ap-1010	36	9	necessarily	necessarily	ADV
ap-1010	36	10	the	the	DET
ap-1010	36	11	most	most	ADV
ap-1010	36	12	suitable	suitable	ADJ
ap-1010	36	13	when	when	SCONJ
ap-1010	36	14	the	the	DET
ap-1010	36	15	designed	design	VERB
ap-1010	36	16	element	element	NOUN
ap-1010	36	17	must	must	AUX
ap-1010	36	18	withstand	withstand	VERB
ap-1010	36	19	loads	load	NOUN
ap-1010	36	20	that	that	PRON
ap-1010	36	21	can	can	AUX
ap-1010	36	22	lead	lead	VERB
ap-1010	36	23	to	to	ADP
ap-1010	36	24	failure	failure	NOUN
ap-1010	36	25	-	-	PUNCT
ap-1010	36	26	prone	prone	ADJ
ap-1010	36	27	stress	stress	NOUN
ap-1010	36	28	concentrations	concentration	NOUN
ap-1010	36	29	.	.	PUNCT
ap-1010	37	1	indeed	indeed	ADV
ap-1010	37	2	,	,	PUNCT
ap-1010	37	3	as	as	SCONJ
ap-1010	37	4	mechanical	mechanical	ADJ
ap-1010	37	5	designers	designer	NOUN
ap-1010	37	6	have	have	AUX
ap-1010	37	7	known	know	VERB
ap-1010	37	8	for	for	ADP
ap-1010	37	9	a	a	DET
ap-1010	37	10	while	while	NOUN
ap-1010	37	11	,	,	PUNCT
ap-1010	37	12	stress	stress	NOUN
ap-1010	37	13	concentrations	concentration	NOUN
ap-1010	37	14	occur	occur	VERB
ap-1010	37	15	,	,	PUNCT
ap-1010	37	16	first	first	ADV
ap-1010	37	17	and	and	CCONJ
ap-1010	37	18	foremost	foremost	ADV
ap-1010	37	19	,	,	PUNCT
ap-1010	37	20	by	by	ADP
ap-1010	37	21	virtue	virtue	NOUN
ap-1010	37	22	of	of	ADP
ap-1010	37	23	either	either	CCONJ
ap-1010	37	24	dramatic	dramatic	ADJ
ap-1010	37	25	changes	change	NOUN
ap-1010	37	26	in	in	ADP
ap-1010	37	27	curvature	curvature	NOUN
ap-1010	37	28	or	or	CCONJ
ap-1010	37	29	extremely	extremely	ADV
ap-1010	37	30	high	high	ADJ
ap-1010	37	31	values	value	NOUN
ap-1010	37	32	thereof	thereof	ADV
ap-1010	37	33	.	.	PUNCT
ap-1010	38	1	as	as	ADP
ap-1010	38	2	an	an	DET
ap-1010	38	3	alternative	alternative	NOUN
ap-1010	38	4	,	,	PUNCT
ap-1010	38	5	we	we	PRON
ap-1010	38	6	propose	propose	VERB
ap-1010	38	7	here	here	ADV
ap-1010	38	8	the	the	DET
ap-1010	38	9	use	use	NOUN
ap-1010	38	10	of	of	ADP
ap-1010	38	11	smooth	smooth	ADJ
ap-1010	38	12	curves	curve	NOUN
ap-1010	38	13	that	that	PRON
ap-1010	38	14	can	can	AUX
ap-1010	38	15	be	be	AUX
ap-1010	38	16	simply	simply	ADV
ap-1010	38	17	generated	generate	VERB
ap-1010	38	18	using	use	VERB
ap-1010	38	19	standard	standard	ADJ
ap-1010	38	20	concepts	concept	NOUN
ap-1010	38	21	such	such	ADJ
ap-1010	38	22	as	as	ADP
ap-1010	38	23	non	non	ADJ
ap-1010	38	24	-	-	ADJ
ap-1010	38	25	parametric	parametric	ADJ
ap-1010	38	26	cubic	cubic	ADJ
ap-1010	38	27	splines	spline	NOUN
ap-1010	38	28	.	.	PUNCT
ap-1010	39	1	these	these	DET
ap-1010	39	2	curves	curve	NOUN
ap-1010	39	3	can	can	AUX
ap-1010	39	4	be	be	AUX
ap-1010	39	5	readily	readily	ADV
ap-1010	39	6	used	use	VERB
ap-1010	39	7	to	to	PART
ap-1010	39	8	produce	produce	VERB
ap-1010	39	9	either	either	CCONJ
ap-1010	39	10	extruded	extruded	ADJ
ap-1010	39	11	surfaces	surface	NOUN
ap-1010	39	12	or	or	CCONJ
ap-1010	39	13	surfaces	surface	NOUN
ap-1010	39	14	of	of	ADP
ap-1010	39	15	revolution	revolution	NOUN
ap-1010	39	16	.	.	PUNCT
ap-1010	40	1	keywords	keyword	NOUN
ap-1010	40	2	:	:	PUNCT
ap-1010	40	3	curve	curve	NOUN
ap-1010	40	4	synthesis	synthesis	NOUN
ap-1010	40	5	,	,	PUNCT
ap-1010	40	6	cubic	cubic	ADJ
ap-1010	40	7	splines	spline	NOUN
ap-1010	40	8	,	,	PUNCT
ap-1010	40	9	optimum	optimum	ADJ
ap-1010	40	10	design	design	NOUN
ap-1010	40	11	,	,	PUNCT
ap-1010	40	12	g2	g2	NOUN
ap-1010	40	13	-	-	PUNCT
ap-1010	40	14	continuity	continuity	NOUN
ap-1010	40	15	.	.	PUNCT
ap-1010	41	1	lar	lar	ADJ
ap-1010	41	2	coordinate	coordinate	PROPN
ap-1010	41	3	�	�	PROPN
ap-1010	41	4	.	.	PUNCT
ap-1010	42	1	in	in	ADP
ap-1010	42	2	defining	define	VERB
ap-1010	42	3	the	the	DET
ap-1010	42	4	polar	polar	ADJ
ap-1010	42	5	coordinates	coordinate	NOUN
ap-1010	42	6	of	of	ADP
ap-1010	42	7	the	the	DET
ap-1010	42	8	blending	blend	VERB
ap-1010	42	9	curve	curve	NOUN
ap-1010	42	10	�	�	PROPN
ap-1010	42	11	c	c	PROPN
ap-1010	42	12	,	,	PUNCT
ap-1010	42	13	care	care	NOUN
ap-1010	42	14	must	must	AUX
ap-1010	42	15	be	be	AUX
ap-1010	42	16	taken	take	VERB
ap-1010	42	17	to	to	PART
ap-1010	42	18	choose	choose	VERB
ap-1010	42	19	the	the	DET
ap-1010	42	20	origin	origin	NOUN
ap-1010	42	21	conveniently	conveniently	ADV
ap-1010	42	22	,	,	PUNCT
ap-1010	42	23	so	so	SCONJ
ap-1010	42	24	as	as	SCONJ
ap-1010	42	25	to	to	PART
ap-1010	42	26	avoid	avoid	VERB
ap-1010	42	27	more	more	ADJ
ap-1010	42	28	than	than	ADP
ap-1010	42	29	one	one	NUM
ap-1010	42	30	point	point	NOUN
ap-1010	42	31	with	with	ADP
ap-1010	42	32	the	the	DET
ap-1010	42	33	same	same	ADJ
ap-1010	42	34	�	�	NOUN
ap-1010	42	35	-coordinate	-coordinate	NOUN
ap-1010	42	36	,	,	PUNCT
ap-1010	42	37	which	which	PRON
ap-1010	42	38	would	would	AUX
ap-1010	42	39	render	render	VERB
ap-1010	42	40	the	the	DET
ap-1010	42	41	discretization	discretization	NOUN
ap-1010	42	42	adopted	adopt	VERB
ap-1010	42	43	here	here	ADV
ap-1010	42	44	invalid	invalid	ADJ
ap-1010	42	45	.	.	PUNCT
ap-1010	43	1	under	under	ADP
ap-1010	43	2	these	these	DET
ap-1010	43	3	conditions	condition	NOUN
ap-1010	43	4	,	,	PUNCT
ap-1010	43	5	then	then	ADV
ap-1010	43	6	we	we	PRON
ap-1010	43	7	assume	assume	VERB
ap-1010	43	8	that	that	SCONJ
ap-1010	43	9	a	a	DET
ap-1010	43	10	function	function	NOUN
ap-1010	43	11	�	�	PROPN
ap-1010	43	12	�	�	PROPN
ap-1010	43	13	�	�	PROPN
ap-1010	43	14	�	�	PROPN
ap-1010	43	15	(	(	PUNCT
ap-1010	43	16	)	)	PUNCT
ap-1010	43	17	exists	exist	VERB
ap-1010	43	18	in	in	ADP
ap-1010	43	19	the	the	DET
ap-1010	43	20	interval	interval	NOUN
ap-1010	43	21	[	[	X
ap-1010	43	22	�	�	NOUN
ap-1010	43	23	a	a	PRON
ap-1010	43	24	,	,	PUNCT
ap-1010	43	25	�	�	PROPN
ap-1010	43	26	b	b	NOUN
ap-1010	43	27	]	]	PUNCT
ap-1010	43	28	.	.	PUNCT
ap-1010	44	1	further	far	ADV
ap-1010	44	2	,	,	PUNCT
ap-1010	44	3	we	we	PRON
ap-1010	44	4	define	define	VERB
ap-1010	44	5	the	the	DET
ap-1010	44	6	n	n	X
ap-1010	44	7	�	�	PROPN
ap-1010	44	8	2	2	NUM
ap-1010	44	9	-	-	PUNCT
ap-1010	44	10	dimensional	dimensional	ADJ
ap-1010	44	11	vectors	vector	NOUN
ap-1010	44	12	,	,	PUNCT
ap-1010	44	13	�	�	PROPN
ap-1010	44	14	,	,	PUNCT
ap-1010	44	15	�	�	PROPN
ap-1010	44	16	�	�	PROPN
ap-1010	44	17	and	and	CCONJ
ap-1010	44	18	�	�	PROPN
ap-1010	44	19	�	�	PROPN
ap-1010	44	20	�	�	PROPN
ap-1010	44	21	,	,	PUNCT
ap-1010	44	22	namely	namely	ADV
ap-1010	44	23	,	,	PUNCT
ap-1010	44	24	�	�	PROPN
ap-1010	44	25	�	�	PROPN
ap-1010	44	26	�	�	PROPN
ap-1010	44	27	�	�	PROPN
ap-1010	44	28	�	�	PROPN
ap-1010	44	29	�	�	PROPN
ap-1010	44	30	�	�	PROPN
ap-1010	44	31	0	0	NUM
ap-1010	44	32	1	1	NUM
ap-1010	44	33	1	1	NUM
ap-1010	44	34	,	,	PUNCT
ap-1010	44	35	,	,	PUNCT
ap-1010	44	36	,	,	PUNCT
ap-1010	44	37	,	,	PUNCT
ap-1010	44	38	�	�	PROPN
ap-1010	44	39	n	n	CCONJ
ap-1010	44	40	n	n	PROPN
ap-1010	44	41	t	t	PROPN
ap-1010	44	42	(	(	PUNCT
ap-1010	44	43	1	1	NUM
ap-1010	44	44	)	)	PUNCT
ap-1010	44	45	�	�	PROPN
ap-1010	44	46	�	�	PROPN
ap-1010	44	47	�	�	PROPN
ap-1010	44	48	�	�	PROPN
ap-1010	44	49	�	�	PROPN
ap-1010	44	50	�	�	PROPN
ap-1010	44	51	�	�	PROPN
ap-1010	44	52	�	�	PROPN
ap-1010	44	53	�	�	PROPN
ap-1010	44	54	�	�	PROPN
ap-1010	44	55	�	�	PROPN
ap-1010	44	56	�	�	PROPN
ap-1010	44	57	0	0	NUM
ap-1010	44	58	1	1	NUM
ap-1010	44	59	1	1	NUM
ap-1010	44	60	,	,	PUNCT
ap-1010	44	61	,	,	PUNCT
ap-1010	44	62	,	,	PUNCT
ap-1010	44	63	,	,	PUNCT
ap-1010	44	64	�	�	PROPN
ap-1010	44	65	n	n	CCONJ
ap-1010	44	66	n	n	PROPN
ap-1010	44	67	t	t	PROPN
ap-1010	44	68	(	(	PUNCT
ap-1010	44	69	2	2	NUM
ap-1010	44	70	)	)	PUNCT
ap-1010	44	71	�	�	PROPN
ap-1010	44	72	�	�	PROPN
ap-1010	44	73	�	�	PROPN
ap-1010	44	74	�	�	PROPN
ap-1010	44	75	�	�	PROPN
ap-1010	44	76	�	�	PROPN
ap-1010	44	77	�	�	PROPN
ap-1010	44	78	�	�	PROPN
ap-1010	44	79	�	�	PROPN
ap-1010	44	80	�	�	PROPN
ap-1010	44	81	�	�	PROPN
ap-1010	44	82	�	�	PROPN
ap-1010	44	83	�	�	PROPN
ap-1010	44	84	�	�	PROPN
ap-1010	44	85	�	�	PROPN
ap-1010	44	86	�	�	PROPN
ap-1010	44	87	�	�	PROPN
ap-1010	44	88	0	0	NUM
ap-1010	44	89	1	1	NUM
ap-1010	44	90	1	1	NUM
ap-1010	44	91	,	,	PUNCT
ap-1010	44	92	,	,	PUNCT
ap-1010	44	93	,	,	PUNCT
ap-1010	44	94	,	,	PUNCT
ap-1010	44	95	�	�	PROPN
ap-1010	44	96	n	n	CCONJ
ap-1010	44	97	n	n	PROPN
ap-1010	44	98	t	t	PROPN
ap-1010	44	99	(	(	PUNCT
ap-1010	44	100	3	3	X
ap-1010	44	101	)	)	PUNCT
ap-1010	44	102	letting	let	VERB
ap-1010	44	103	�	�	PROPN
ap-1010	44	104	�	�	PROPN
ap-1010	44	105	k	k	PROPN
ap-1010	44	106	(	(	PUNCT
ap-1010	44	107	)	)	PUNCT
ap-1010	44	108	be	be	AUX
ap-1010	44	109	the	the	DET
ap-1010	44	110	cubic	cubic	ADJ
ap-1010	44	111	polynomial	polynomial	NOUN
ap-1010	44	112	between	between	ADP
ap-1010	44	113	two	two	NUM
ap-1010	44	114	consecutive	consecutive	ADJ
ap-1010	44	115	supporting	support	VERB
ap-1010	44	116	points	point	NOUN
ap-1010	44	117	pk	pk	PROPN
ap-1010	44	118	k	k	X
ap-1010	44	119	k	k	PROPN
ap-1010	44	120	(	(	PUNCT
ap-1010	44	121	,	,	PUNCT
ap-1010	44	122	)	)	PUNCT
ap-1010	44	123	�	�	PROPN
ap-1010	44	124	�	�	PROPN
ap-1010	44	125	and	and	CCONJ
ap-1010	44	126	pk	pk	NOUN
ap-1010	44	127	k	k	PROPN
ap-1010	44	128	k	k	PROPN
ap-1010	44	129	�	�	PROPN
ap-1010	44	130	�	�	PROPN
ap-1010	44	131	�	�	PROPN
ap-1010	44	132	1	1	NUM
ap-1010	44	133	1	1	NUM
ap-1010	44	134	1	1	NUM
ap-1010	44	135	(	(	PUNCT
ap-1010	44	136	,	,	PUNCT
ap-1010	44	137	)	)	PUNCT
ap-1010	44	138	�	�	PROPN
ap-1010	44	139	�	�	PROPN
ap-1010	44	140	,	,	PUNCT
ap-1010	44	141	we	we	PRON
ap-1010	44	142	have	have	VERB
ap-1010	44	143	�	�	PROPN
ap-1010	44	144	�	�	PROPN
ap-1010	44	145	�	�	PROPN
ap-1010	44	146	�	�	PROPN
ap-1010	44	147	�	�	PROPN
ap-1010	44	148	�	�	PROPN
ap-1010	44	149	�	�	PROPN
ap-1010	44	150	�	�	PROPN
ap-1010	44	151	�	�	PROPN
ap-1010	44	152	�	�	PROPN
ap-1010	44	153	�	�	PROPN
ap-1010	45	1	k	k	PROPN
ap-1010	45	2	k	k	PROPN
ap-1010	46	1	k	k	PROPN
ap-1010	46	2	k	k	PROPN
ap-1010	47	1	k	k	PROPN
ap-1010	47	2	k	k	PROPN
ap-1010	48	1	k	k	PROPN
ap-1010	49	1	k	k	PROPN
ap-1010	49	2	k	k	PROPN
ap-1010	50	1	k	k	PROPN
ap-1010	51	1	a	a	PRON
ap-1010	51	2	b	b	X
ap-1010	51	3	c	c	X
ap-1010	51	4	d	d	PROPN
ap-1010	51	5	(	(	PUNCT
ap-1010	51	6	)	)	PUNCT
ap-1010	51	7	(	(	PUNCT
ap-1010	51	8	)	)	PUNCT
ap-1010	51	9	(	(	PUNCT
ap-1010	51	10	)	)	PUNCT
ap-1010	51	11	(	(	PUNCT
ap-1010	51	12	)	)	PUNCT
ap-1010	51	13	,	,	PUNCT
ap-1010	51	14	,	,	PUNCT
ap-1010	51	15	�	�	PROPN
ap-1010	51	16	�	�	PROPN
ap-1010	51	17	�	�	PROPN
ap-1010	51	18	�	�	PROPN
ap-1010	51	19	�	�	PROPN
ap-1010	51	20	�	�	PROPN
ap-1010	51	21	�	�	PROPN
ap-1010	51	22	�	�	PROPN
ap-1010	51	23	�	�	PROPN
ap-1010	51	24	�	�	PROPN
ap-1010	51	25	�	�	PROPN
ap-1010	51	26	3	3	NUM
ap-1010	51	27	2	2	NUM
ap-1010	51	28	1	1	NUM
ap-1010	51	29	0	0	NUM
ap-1010	51	30	k	k	PROPN
ap-1010	51	31	n	n	X
ap-1010	51	32	�	�	PROPN
ap-1010	51	33	.	.	PUNCT
ap-1010	52	1	(	(	PUNCT
ap-1010	52	2	4	4	NUM
ap-1010	52	3	)	)	PUNCT
ap-1010	52	4	by	by	ADP
ap-1010	52	5	virtue	virtue	NOUN
ap-1010	52	6	of	of	ADP
ap-1010	52	7	the	the	DET
ap-1010	52	8	g2	g2	PROPN
ap-1010	52	9	-	-	PUNCT
ap-1010	52	10	continuity	continuity	NOUN
ap-1010	52	11	of	of	ADP
ap-1010	52	12	non	non	ADJ
ap-1010	52	13	-	-	ADJ
ap-1010	52	14	parametric	parametric	ADJ
ap-1010	52	15	cubic	cubic	ADJ
ap-1010	52	16	splines	spline	NOUN
ap-1010	52	17	,	,	PUNCT
ap-1010	52	18	a	a	DET
ap-1010	52	19	linear	linear	ADJ
ap-1010	52	20	relationship	relationship	NOUN
ap-1010	52	21	between	between	ADP
ap-1010	52	22	�	�	PROPN
ap-1010	52	23	and	and	CCONJ
ap-1010	52	24	�	�	PROPN
ap-1010	52	25	�	�	PROPN
ap-1010	52	26	exists	exist	VERB
ap-1010	52	27	,	,	PUNCT
ap-1010	52	28	namely	namely	ADV
ap-1010	52	29	,	,	PUNCT
ap-1010	52	30	a	a	DET
ap-1010	52	31	c	c	PROPN
ap-1010	52	32	�	�	PROPN
ap-1010	52	33	�	�	PROPN
ap-1010	52	34	�	�	PROPN
ap-1010	52	35	�	�	PROPN
ap-1010	52	36	�	�	PROPN
ap-1010	52	37	6	6	NUM
ap-1010	52	38	,	,	PUNCT
ap-1010	52	39	(	(	PUNCT
ap-1010	52	40	5	5	NUM
ap-1010	52	41	)	)	PUNCT
ap-1010	52	42	where	where	SCONJ
ap-1010	52	43	both	both	DET
ap-1010	52	44	a	a	PRON
ap-1010	52	45	and	and	CCONJ
ap-1010	52	46	c	c	NOUN
ap-1010	52	47	are	be	AUX
ap-1010	52	48	n×(n	n×(n	X
ap-1010	52	49	�	�	NOUN
ap-1010	52	50	1	1	NUM
ap-1010	52	51	)	)	PUNCT
ap-1010	52	52	matrices	matrix	NOUN
ap-1010	52	53	.	.	PUNCT
ap-1010	53	1	further	far	ADV
ap-1010	53	2	,	,	PUNCT
ap-1010	53	3	we	we	PRON
ap-1010	53	4	recall	recall	VERB
ap-1010	53	5	the	the	DET
ap-1010	53	6	expressions	expression	NOUN
ap-1010	53	7	for	for	ADP
ap-1010	53	8	the	the	DET
ap-1010	53	9	angle	angle	NOUN
ap-1010	53	10	�	�	PROPN
ap-1010	53	11	made	make	VERB
ap-1010	53	12	by	by	ADP
ap-1010	53	13	the	the	DET
ap-1010	53	14	tangent	tangent	NOUN
ap-1010	53	15	to	to	ADP
ap-1010	53	16	the	the	DET
ap-1010	53	17	curve	curve	NOUN
ap-1010	53	18	with	with	ADP
ap-1010	53	19	the	the	DET
ap-1010	53	20	radius	radius	NOUN
ap-1010	53	21	vector	vector	NOUN
ap-1010	53	22	,	,	PUNCT
ap-1010	53	23	and	and	CCONJ
ap-1010	53	24	the	the	DET
ap-1010	53	25	curvature	curvature	NOUN
ap-1010	53	26	,	,	PUNCT
ap-1010	53	27	in	in	ADP
ap-1010	53	28	polar	polar	ADJ
ap-1010	53	29	coordinates	coordinate	NOUN
ap-1010	53	30	:	:	PUNCT
ap-1010	53	31	tan	tan	PROPN
ap-1010	53	32	�	�	PROPN
ap-1010	53	33	�	�	PROPN
ap-1010	53	34	�	�	PROPN
ap-1010	53	35	�	�	PROPN
ap-1010	53	36	�	�	PROPN
ap-1010	53	37	,	,	PUNCT
ap-1010	53	38	(	(	PUNCT
ap-1010	53	39	6	6	NUM
ap-1010	53	40	)	)	PUNCT
ap-1010	53	41	�	�	PROPN
ap-1010	53	42	�	�	PROPN
ap-1010	53	43	�	�	PROPN
ap-1010	53	44	�	�	PROPN
ap-1010	53	45	�	�	PROPN
ap-1010	53	46	�	�	PROPN
ap-1010	53	47	�	�	PROPN
ap-1010	53	48	�	�	PROPN
ap-1010	53	49	�	�	PROPN
ap-1010	53	50	�	�	PROPN
ap-1010	53	51	�	�	PROPN
ap-1010	53	52	�	�	PROPN
ap-1010	53	53	�	�	PROPN
ap-1010	53	54	�	�	PROPN
ap-1010	53	55	�	�	PROPN
ap-1010	53	56	�	�	PROPN
ap-1010	53	57	2	2	NUM
ap-1010	53	58	2	2	NUM
ap-1010	53	59	2	2	NUM
ap-1010	53	60	2	2	NUM
ap-1010	53	61	3	3	NUM
ap-1010	53	62	2	2	NUM
ap-1010	53	63	2	2	NUM
ap-1010	53	64	(	(	PUNCT
ap-1010	53	65	)	)	PUNCT
ap-1010	53	66	(	(	PUNCT
ap-1010	53	67	)	)	PUNCT
ap-1010	53	68	,	,	PUNCT
ap-1010	53	69	(	(	PUNCT
ap-1010	53	70	7	7	X
ap-1010	53	71	)	)	PUNCT
ap-1010	53	72	where	where	SCONJ
ap-1010	53	73	�	�	PROPN
ap-1010	53	74	�	�	PROPN
ap-1010	53	75	�	�	PROPN
ap-1010	53	76	�	�	PROPN
ap-1010	53	77	�	�	PROPN
ap-1010	53	78	d	d	PROPN
ap-1010	53	79	d	d	PROPN
ap-1010	53	80	,	,	PUNCT
ap-1010	53	81	(	(	PUNCT
ap-1010	53	82	8)	8)	NUM
ap-1010	53	83	�	�	NOUN
ap-1010	53	84	�	�	PROPN
ap-1010	53	85	�	�	PROPN
ap-1010	53	86	�	�	PROPN
ap-1010	53	87	�	�	PROPN
ap-1010	53	88	�	�	PROPN
ap-1010	53	89	�	�	PROPN
ap-1010	53	90	d	d	PROPN
ap-1010	53	91	d	d	PROPN
ap-1010	53	92	.	.	PUNCT
ap-1010	53	93	(	(	PUNCT
ap-1010	53	94	9	9	X
ap-1010	53	95	)	)	PUNCT
ap-1010	53	96	moreover	moreover	ADV
ap-1010	53	97	,	,	PUNCT
ap-1010	53	98	let	let	VERB
ap-1010	53	99	tk	tk	PROPN
ap-1010	53	100	and	and	CCONJ
ap-1010	53	101	�	�	PROPN
ap-1010	53	102	k	k	PROPN
ap-1010	53	103	denote	denote	PROPN
ap-1010	53	104	tan	tan	PROPN
ap-1010	53	105	�	�	PROPN
ap-1010	53	106	and	and	CCONJ
ap-1010	53	107	�	�	PROPN
ap-1010	53	108	at	at	ADP
ap-1010	53	109	pk	pk	PROPN
ap-1010	53	110	,	,	PUNCT
ap-1010	53	111	i.e.	i.e.	X
ap-1010	53	112	,	,	PUNCT
ap-1010	53	113	tk	tk	PROPN
ap-1010	53	114	k	k	PROPN
ap-1010	53	115	k	k	PROPN
ap-1010	53	116	�	�	PROPN
ap-1010	53	117	�	�	PROPN
ap-1010	53	118	�	�	PROPN
ap-1010	53	119	�	�	PROPN
ap-1010	53	120	,	,	PUNCT
ap-1010	53	121	(	(	PUNCT
ap-1010	53	122	10	10	NUM
ap-1010	53	123	)	)	PUNCT
ap-1010	53	124	�	�	PROPN
ap-1010	53	125	�	�	PROPN
ap-1010	53	126	�	�	PROPN
ap-1010	53	127	�	�	PROPN
ap-1010	53	128	�	�	PROPN
ap-1010	53	129	�	�	PROPN
ap-1010	53	130	�	�	PROPN
ap-1010	53	131	�	�	PROPN
ap-1010	54	1	k	k	PROPN
ap-1010	54	2	k	k	PROPN
ap-1010	54	3	k	k	PROPN
ap-1010	54	4	k	k	PROPN
ap-1010	54	5	k	k	PROPN
ap-1010	54	6	k	k	PROPN
ap-1010	54	7	k	k	PROPN
ap-1010	54	8	�	�	PROPN
ap-1010	54	9	�	�	PROPN
ap-1010	54	10	�	�	PROPN
ap-1010	54	11	�	�	PROPN
ap-1010	54	12	�	�	PROPN
ap-1010	54	13	�	�	PROPN
ap-1010	54	14	�	�	PROPN
ap-1010	54	15	�	�	PROPN
ap-1010	54	16	2	2	NUM
ap-1010	54	17	2	2	NUM
ap-1010	54	18	2	2	NUM
ap-1010	54	19	2	2	NUM
ap-1010	54	20	3	3	NUM
ap-1010	54	21	2	2	NUM
ap-1010	54	22	2	2	NUM
ap-1010	54	23	(	(	PUNCT
ap-1010	54	24	)	)	PUNCT
ap-1010	54	25	(	(	PUNCT
ap-1010	54	26	)	)	PUNCT
ap-1010	54	27	.	.	PUNCT
ap-1010	55	1	(	(	PUNCT
ap-1010	55	2	11	11	NUM
ap-1010	55	3	)	)	PUNCT
ap-1010	55	4	that	that	PRON
ap-1010	55	5	is	be	AUX
ap-1010	55	6	,	,	PUNCT
ap-1010	55	7	t	t	PROPN
ap-1010	55	8	tk	tk	PROPN
ap-1010	55	9	k	k	PROPN
ap-1010	55	10	k	k	PROPN
ap-1010	55	11	k	k	PROPN
ap-1010	55	12	�	�	PROPN
ap-1010	55	13	�	�	PROPN
ap-1010	55	14	(	(	PUNCT
ap-1010	55	15	,	,	PUNCT
ap-1010	55	16	)	)	PUNCT
ap-1010	55	17	�	�	PROPN
ap-1010	55	18	�	�	PROPN
ap-1010	55	19	and	and	CCONJ
ap-1010	55	20	�	�	PROPN
ap-1010	55	21	�	�	PROPN
ap-1010	55	22	�	�	PROPN
ap-1010	55	23	�	�	PROPN
ap-1010	55	24	�	�	PROPN
ap-1010	55	25	k	k	PROPN
ap-1010	55	26	k	k	PROPN
ap-1010	55	27	k	k	PROPN
ap-1010	55	28	k	k	PROPN
ap-1010	55	29	k	k	PROPN
ap-1010	55	30	�	�	PROPN
ap-1010	55	31	�	�	PROPN
ap-1010	55	32	�	�	PROPN
ap-1010	55	33	�	�	PROPN
ap-1010	55	34	(	(	PUNCT
ap-1010	55	35	,	,	PUNCT
ap-1010	55	36	,	,	PUNCT
ap-1010	55	37	)	)	PUNCT
ap-1010	55	38	.	.	PUNCT
ap-1010	56	1	let	let	VERB
ap-1010	56	2	us	we	PRON
ap-1010	56	3	now	now	ADV
ap-1010	56	4	introduce	introduce	VERB
ap-1010	56	5	two	two	NUM
ap-1010	56	6	end	end	NOUN
ap-1010	56	7	-	-	PUNCT
ap-1010	56	8	conditions	condition	NOUN
ap-1010	56	9	:	:	PUNCT
ap-1010	56	10	t	t	PROPN
ap-1010	56	11	ta	ta	ADP
ap-1010	56	12	a0	a0	PROPN
ap-1010	56	13	�	�	PROPN
ap-1010	56	14	�	�	PROPN
ap-1010	56	15	tan	tan	PROPN
ap-1010	56	16	�	�	PROPN
ap-1010	56	17	,	,	PUNCT
ap-1010	56	18	t	t	PROPN
ap-1010	56	19	tn	tn	PROPN
ap-1010	56	20	b	b	PROPN
ap-1010	56	21	b	b	PROPN
ap-1010	56	22	�	�	PROPN
ap-1010	56	23	�	�	PROPN
ap-1010	56	24	�	�	PROPN
ap-1010	56	25	1	1	NUM
ap-1010	56	26	tan	tan	PROPN
ap-1010	56	27	�	�	PROPN
ap-1010	56	28	,	,	PUNCT
ap-1010	56	29	(	(	PUNCT
ap-1010	56	30	12	12	NUM
ap-1010	56	31	)	)	PUNCT
ap-1010	56	32	where	where	SCONJ
ap-1010	56	33	�	�	PROPN
ap-1010	56	34	a	a	PRON
ap-1010	56	35	and	and	CCONJ
ap-1010	56	36	�	�	NOUN
ap-1010	56	37	b	b	NOUN
ap-1010	56	38	are	be	AUX
ap-1010	56	39	the	the	DET
ap-1010	56	40	known	know	VERB
ap-1010	56	41	tangent	tangent	NOUN
ap-1010	56	42	angles	angle	VERB
ap-1010	56	43	at	at	ADP
ap-1010	56	44	point	point	NOUN
ap-1010	56	45	a	a	PRON
ap-1010	56	46	and	and	CCONJ
ap-1010	56	47	b	b	NOUN
ap-1010	56	48	of	of	ADP
ap-1010	56	49	�	�	PROPN
ap-1010	56	50	a	a	PRON
ap-1010	56	51	and	and	CCONJ
ap-1010	56	52	�	�	NOUN
ap-1010	56	53	b	b	NOUN
ap-1010	56	54	,	,	PUNCT
ap-1010	56	55	respectively	respectively	ADV
ap-1010	56	56	,	,	PUNCT
ap-1010	56	57	matrices	matrice	VERB
ap-1010	56	58	a	a	PRON
ap-1010	56	59	and	and	CCONJ
ap-1010	56	60	c	c	NOUN
ap-1010	56	61	then	then	ADV
ap-1010	56	62	becoming	become	VERB
ap-1010	56	63	square	square	ADJ
ap-1010	56	64	.	.	PUNCT
ap-1010	57	1	a	a	DET
ap-1010	57	2	linear	linear	ADJ
ap-1010	57	3	relation	relation	NOUN
ap-1010	57	4	between	between	ADP
ap-1010	57	5	�	�	PROPN
ap-1010	57	6	and	and	CCONJ
ap-1010	57	7	�	�	PROPN
ap-1010	57	8	�	�	PROPN
ap-1010	57	9	also	also	ADV
ap-1010	57	10	exist	exist	VERB
ap-1010	57	11	,	,	PUNCT
ap-1010	57	12	namely	namely	ADV
ap-1010	57	13	,	,	PUNCT
ap-1010	57	14	p	p	DET
ap-1010	57	15	q	q	PROPN
ap-1010	57	16	�	�	PROPN
ap-1010	57	17	�	�	PROPN
ap-1010	57	18	�	�	PROPN
ap-1010	57	19	�	�	PROPN
ap-1010	57	20	,	,	PUNCT
ap-1010	57	21	(	(	PUNCT
ap-1010	57	22	13	13	NUM
ap-1010	57	23	)	)	PUNCT
ap-1010	57	24	where	where	SCONJ
ap-1010	57	25	p	p	NOUN
ap-1010	57	26	and	and	CCONJ
ap-1010	57	27	q	q	NOUN
ap-1010	57	28	are	be	AUX
ap-1010	57	29	(	(	PUNCT
ap-1010	57	30	)	)	PUNCT
ap-1010	57	31	(	(	PUNCT
ap-1010	57	32	)	)	PUNCT
ap-1010	57	33	n	n	CCONJ
ap-1010	57	34	n	n	CCONJ
ap-1010	57	35	�	�	PROPN
ap-1010	57	36	�	�	PROPN
ap-1010	57	37	�	�	PROPN
ap-1010	57	38	1	1	NUM
ap-1010	57	39	2	2	NUM
ap-1010	57	40	matrices	matrix	NOUN
ap-1010	57	41	.	.	PUNCT
ap-1010	58	1	expressions	expression	NOUN
ap-1010	58	2	for	for	ADP
ap-1010	58	3	all	all	DET
ap-1010	58	4	four	four	NUM
ap-1010	58	5	matrices	matrix	NOUN
ap-1010	58	6	a	a	PRON
ap-1010	58	7	,	,	PUNCT
ap-1010	58	8	c	c	NOUN
ap-1010	58	9	,	,	PUNCT
ap-1010	58	10	p	p	NOUN
ap-1010	58	11	and	and	CCONJ
ap-1010	58	12	q	q	NOUN
ap-1010	58	13	are	be	AUX
ap-1010	58	14	included	include	VERB
ap-1010	58	15	in	in	ADP
ap-1010	58	16	the	the	DET
ap-1010	58	17	appendix	appendix	NOUN
ap-1010	58	18	.	.	PUNCT
ap-1010	59	1	hence	hence	ADV
ap-1010	59	2	,	,	PUNCT
ap-1010	59	3	slope	slope	NOUN
ap-1010	59	4	and	and	CCONJ
ap-1010	59	5	curvature	curvature	NOUN
ap-1010	59	6	values	value	NOUN
ap-1010	59	7	at	at	ADP
ap-1010	59	8	the	the	DET
ap-1010	59	9	unknown	unknown	ADJ
ap-1010	59	10	supporting	support	VERB
ap-1010	59	11	points	point	NOUN
ap-1010	59	12	�	�	PROPN
ap-1010	59	13	�	�	PROPN
ap-1010	59	14	pk	pk	PROPN
ap-1010	59	15	n	n	ADV
ap-1010	59	16	1	1	NUM
ap-1010	59	17	of	of	ADP
ap-1010	59	18	�	�	PROPN
ap-1010	59	19	c	c	PROPN
ap-1010	59	20	can	can	AUX
ap-1010	59	21	all	all	PRON
ap-1010	59	22	be	be	AUX
ap-1010	59	23	expressed	express	VERB
ap-1010	59	24	as	as	ADP
ap-1010	59	25	functions	function	NOUN
ap-1010	59	26	of	of	ADP
ap-1010	59	27	�	�	PROPN
ap-1010	59	28	�	�	PROPN
ap-1010	59	29	�	�	PROPN
ap-1010	59	30	k	k	PROPN
ap-1010	59	31	n	n	PROPN
ap-1010	59	32	1	1	NUM
ap-1010	59	33	.	.	PUNCT
ap-1010	60	1	in	in	ADP
ap-1010	60	2	formulating	formulate	VERB
ap-1010	60	3	the	the	DET
ap-1010	60	4	curve	curve	NOUN
ap-1010	60	5	-	-	PUNCT
ap-1010	60	6	synthesis	synthesis	NOUN
ap-1010	60	7	problem	problem	NOUN
ap-1010	60	8	within	within	ADP
ap-1010	60	9	the	the	DET
ap-1010	60	10	realm	realm	NOUN
ap-1010	60	11	of	of	ADP
ap-1010	60	12	optimum	optimum	ADJ
ap-1010	60	13	design	design	NOUN
ap-1010	60	14	,	,	PUNCT
ap-1010	60	15	we	we	PRON
ap-1010	60	16	let	let	VERB
ap-1010	60	17	x	x	PRON
ap-1010	60	18	be	be	AUX
ap-1010	60	19	the	the	DET
ap-1010	60	20	vector	vector	NOUN
ap-1010	60	21	of	of	ADP
ap-1010	60	22	design	design	NOUN
ap-1010	60	23	of	of	ADP
ap-1010	60	24	variables	variable	NOUN
ap-1010	60	25	,	,	PUNCT
ap-1010	60	26	namely	namely	ADV
ap-1010	60	27	,	,	PUNCT
ap-1010	60	28	x	x	X
ap-1010	60	29	�	�	PROPN
ap-1010	60	30	[	[	PUNCT
ap-1010	60	31	]	]	X
ap-1010	60	32	�	�	PROPN
ap-1010	60	33	�	�	PROPN
ap-1010	60	34	1	1	NUM
ap-1010	60	35	�	�	PROPN
ap-1010	60	36	n	n	NOUN
ap-1010	60	37	t.	t.	NOUN
ap-1010	60	38	(	(	PUNCT
ap-1010	60	39	14	14	NUM
ap-1010	60	40	)	)	PUNCT
ap-1010	60	41	notice	notice	VERB
ap-1010	60	42	that	that	SCONJ
ap-1010	60	43	�	�	PROPN
ap-1010	60	44	�	�	PROPN
ap-1010	60	45	a	a	DET
ap-1010	60	46	�	�	PROPN
ap-1010	60	47	0	0	NUM
ap-1010	60	48	,	,	PUNCT
ap-1010	60	49	�	�	PROPN
ap-1010	60	50	�	�	PROPN
ap-1010	60	51	b	b	PROPN
ap-1010	60	52	n	n	CCONJ
ap-1010	60	53	�	�	PROPN
ap-1010	60	54	�	�	PROPN
ap-1010	60	55	1	1	NUM
ap-1010	60	56	,	,	PUNCT
ap-1010	60	57	(	(	PUNCT
ap-1010	60	58	15	15	NUM
ap-1010	60	59	)	)	PUNCT
ap-1010	60	60	which	which	PRON
ap-1010	60	61	are	be	AUX
ap-1010	60	62	known	know	VERB
ap-1010	60	63	,	,	PUNCT
ap-1010	60	64	and	and	CCONJ
ap-1010	60	65	part	part	NOUN
ap-1010	60	66	of	of	ADP
ap-1010	60	67	the	the	DET
ap-1010	60	68	data	datum	NOUN
ap-1010	60	69	.	.	PUNCT
ap-1010	61	1	we	we	PRON
ap-1010	61	2	can	can	AUX
ap-1010	61	3	now	now	ADV
ap-1010	61	4	formulate	formulate	VERB
ap-1010	61	5	the	the	DET
ap-1010	61	6	curve	curve	NOUN
ap-1010	61	7	-	-	PUNCT
ap-1010	61	8	synthesis	synthesis	NOUN
ap-1010	61	9	problem	problem	NOUN
ap-1010	61	10	at	at	ADP
ap-1010	61	11	hand	hand	NOUN
ap-1010	61	12	as	as	ADP
ap-1010	61	13	an	an	DET
ap-1010	61	14	optimum	optimum	ADJ
ap-1010	61	15	-	-	PUNCT
ap-1010	61	16	design	design	NOUN
ap-1010	61	17	problem	problem	NOUN
ap-1010	61	18	:	:	PUNCT
ap-1010	62	1	z	z	NOUN
ap-1010	62	2	n	n	INTJ
ap-1010	62	3	w	w	NOUN
ap-1010	62	4	kk	kk	PROPN
ap-1010	62	5	k	k	PROPN
ap-1010	62	6	n	n	PROPN
ap-1010	62	7	x	x	PROPN
ap-1010	62	8	�	�	PROPN
ap-1010	62	9	�	�	PROPN
ap-1010	62	10	�	�	PROPN
ap-1010	62	11	1	1	NUM
ap-1010	62	12	2	2	NUM
ap-1010	62	13	1	1	NUM
ap-1010	62	14	min	min	NOUN
ap-1010	62	15	.	.	PUNCT
ap-1010	63	1	(	(	PUNCT
ap-1010	63	2	16	16	NUM
ap-1010	63	3	)	)	PUNCT
ap-1010	63	4	where	where	SCONJ
ap-1010	63	5	wk	wk	PRON
ap-1010	63	6	is	be	AUX
ap-1010	63	7	the	the	DET
ap-1010	63	8	normal	normal	ADJ
ap-1010	63	9	weight	weight	NOUN
ap-1010	63	10	at	at	ADP
ap-1010	63	11	the	the	DET
ap-1010	63	12	kth	kth	PROPN
ap-1010	63	13	supporting	support	VERB
ap-1010	63	14	point	point	NOUN
ap-1010	63	15	,	,	PUNCT
ap-1010	63	16	whenever	whenever	SCONJ
ap-1010	63	17	one	one	PRON
ap-1010	63	18	needs	need	VERB
ap-1010	63	19	to	to	PART
ap-1010	63	20	assign	assign	VERB
ap-1010	63	21	different	different	ADJ
ap-1010	63	22	importance	importance	NOUN
ap-1010	63	23	to	to	ADP
ap-1010	63	24	different	different	ADJ
ap-1010	63	25	points	point	NOUN
ap-1010	63	26	.	.	PUNCT
ap-1010	64	1	we	we	PRON
ap-1010	64	2	term	term	VERB
ap-1010	64	3	the	the	DET
ap-1010	64	4	weights	weight	NOUN
ap-1010	64	5	normal	normal	ADJ
ap-1010	64	6	because	because	SCONJ
ap-1010	64	7	they	they	PRON
ap-1010	64	8	obey	obey	VERB
ap-1010	64	9	the	the	DET
ap-1010	64	10	relation	relation	NOUN
ap-1010	64	11	wk	wk	ADP
ap-1010	64	12	n	n	CCONJ
ap-1010	64	13	1	1	NUM
ap-1010	64	14	1	1	NUM
ap-1010	64	15	�	�	PROPN
ap-1010	64	16	�	�	PROPN
ap-1010	64	17	(	(	PUNCT
ap-1010	64	18	17	17	NUM
ap-1010	64	19	)	)	PUNCT
ap-1010	64	20	the	the	DET
ap-1010	64	21	problem	problem	NOUN
ap-1010	64	22	being	be	AUX
ap-1010	64	23	constrained	constrain	VERB
ap-1010	64	24	to	to	PART
ap-1010	64	25	obey	obey	VERB
ap-1010	64	26	the	the	DET
ap-1010	64	27	g2	g2	PROPN
ap-1010	64	28	-	-	PUNCT
ap-1010	64	29	continuity	continuity	NOUN
ap-1010	64	30	conditions	condition	NOUN
ap-1010	64	31	at	at	ADP
ap-1010	64	32	the	the	DET
ap-1010	64	33	two	two	NUM
ap-1010	64	34	blending	blend	VERB
ap-1010	64	35	points	point	NOUN
ap-1010	64	36	.	.	PUNCT
ap-1010	65	1	specifically	specifically	ADV
ap-1010	65	2	,	,	PUNCT
ap-1010	65	3	these	these	DET
ap-1010	65	4	constraints	constraint	NOUN
ap-1010	65	5	are	be	AUX
ap-1010	65	6	,	,	PUNCT
ap-1010	65	7	�	�	PROPN
ap-1010	65	8	�	�	PROPN
ap-1010	65	9	0	0	NUM
ap-1010	65	10	(	(	PUNCT
ap-1010	65	11	,	,	PUNCT
ap-1010	65	12	,	,	PUNCT
ap-1010	65	13	)	)	PUNCT
ap-1010	66	1	�	�	PROPN
ap-1010	66	2	�	�	PROPN
ap-1010	66	3	�	�	PROPN
ap-1010	66	4	�	�	PROPN
ap-1010	66	5	�	�	PROPN
ap-1010	66	6	�	�	PROPN
ap-1010	66	7	�	�	PROPN
ap-1010	66	8	a	a	PRON
ap-1010	66	9	,	,	PUNCT
ap-1010	66	10	�	�	PROPN
ap-1010	66	11	�	�	PROPN
ap-1010	66	12	n	n	CCONJ
ap-1010	66	13	b	b	PROPN
ap-1010	66	14	�	�	PROPN
ap-1010	66	15	�	�	PROPN
ap-1010	66	16	�	�	PROPN
ap-1010	66	17	�	�	PROPN
ap-1010	66	18	�	�	PROPN
ap-1010	66	19	1	1	NUM
ap-1010	66	20	(	(	PUNCT
ap-1010	66	21	,	,	PUNCT
ap-1010	66	22	,	,	PUNCT
ap-1010	66	23	)	)	PUNCT
ap-1010	66	24	�	�	PROPN
ap-1010	66	25	�	�	PROPN
ap-1010	66	26	�	�	PROPN
ap-1010	66	27	,	,	PUNCT
ap-1010	66	28	(	(	PUNCT
ap-1010	66	29	18	18	NUM
ap-1010	66	30	)	)	PUNCT
ap-1010	66	31	where	where	SCONJ
ap-1010	66	32	�	�	PROPN
ap-1010	66	33	a	a	PRON
ap-1010	66	34	and	and	CCONJ
ap-1010	66	35	�	�	NOUN
ap-1010	66	36	b	b	NOUN
ap-1010	66	37	are	be	AUX
ap-1010	66	38	the	the	DET
ap-1010	66	39	curvature	curvature	NOUN
ap-1010	66	40	values	value	NOUN
ap-1010	66	41	of	of	ADP
ap-1010	66	42	curve	curve	NOUN
ap-1010	66	43	�	�	PROPN
ap-1010	66	44	a	a	PRON
ap-1010	66	45	at	at	ADP
ap-1010	66	46	point	point	NOUN
ap-1010	66	47	a	a	PRON
ap-1010	66	48	and	and	CCONJ
ap-1010	66	49	of	of	ADP
ap-1010	66	50	curve	curve	NOUN
ap-1010	66	51	�	�	PROPN
ap-1010	66	52	b	b	PROPN
ap-1010	66	53	at	at	ADP
ap-1010	66	54	point	point	NOUN
ap-1010	66	55	b	b	NOUN
ap-1010	66	56	,	,	PUNCT
ap-1010	66	57	respectively	respectively	ADV
ap-1010	66	58	,	,	PUNCT
ap-1010	66	59	thereby	thereby	ADV
ap-1010	66	60	formulating	formulate	VERB
ap-1010	66	61	an	an	DET
ap-1010	66	62	equality	equality	NOUN
ap-1010	66	63	constrained	constrain	VERB
ap-1010	66	64	optimum	optimum	ADJ
ap-1010	66	65	-	-	PUNCT
ap-1010	66	66	design	design	NOUN
ap-1010	66	67	problem	problem	NOUN
ap-1010	66	68	.	.	PUNCT
ap-1010	67	1	furthermore	furthermore	ADV
ap-1010	67	2	,	,	PUNCT
ap-1010	67	3	special	special	ADJ
ap-1010	67	4	cases	case	NOUN
ap-1010	67	5	may	may	AUX
ap-1010	67	6	call	call	VERB
ap-1010	67	7	for	for	ADP
ap-1010	67	8	additional	additional	ADJ
ap-1010	67	9	constraints	constraint	NOUN
ap-1010	67	10	.	.	PUNCT
ap-1010	68	1	for	for	ADP
ap-1010	68	2	example	example	NOUN
ap-1010	68	3	,	,	PUNCT
ap-1010	68	4	if	if	SCONJ
ap-1010	68	5	convexity	convexity	NOUN
ap-1010	68	6	is	be	AUX
ap-1010	68	7	to	to	PART
ap-1010	68	8	be	be	AUX
ap-1010	68	9	imposed	impose	VERB
ap-1010	68	10	,	,	PUNCT
ap-1010	68	11	then	then	ADV
ap-1010	68	12	we	we	PRON
ap-1010	68	13	must	must	AUX
ap-1010	68	14	add	add	VERB
ap-1010	68	15	the	the	DET
ap-1010	68	16	inequality	inequality	NOUN
ap-1010	68	17	constraints	constraint	NOUN
ap-1010	68	18	�	�	PROPN
ap-1010	68	19	k	k	PROPN
ap-1010	68	20	�	�	PROPN
ap-1010	68	21	0	0	NUM
ap-1010	68	22	,	,	PUNCT
ap-1010	68	23	k	k	PROPN
ap-1010	68	24	n	n	CCONJ
ap-1010	68	25	�	�	PROPN
ap-1010	68	26	1	1	NUM
ap-1010	68	27	2	2	NUM
ap-1010	68	28	,	,	PUNCT
ap-1010	68	29	,	,	PUNCT
ap-1010	68	30	,	,	PUNCT
ap-1010	68	31	�	�	PROPN
ap-1010	68	32	.	.	PUNCT
ap-1010	69	1	(	(	PUNCT
ap-1010	69	2	19	19	NUM
ap-1010	69	3	)	)	PUNCT
ap-1010	69	4	once	once	SCONJ
ap-1010	69	5	the	the	DET
ap-1010	69	6	optimization	optimization	NOUN
ap-1010	69	7	problem	problem	NOUN
ap-1010	69	8	is	be	AUX
ap-1010	69	9	formulated	formulate	VERB
ap-1010	69	10	,	,	PUNCT
ap-1010	69	11	a	a	DET
ap-1010	69	12	solution	solution	NOUN
ap-1010	69	13	is	be	AUX
ap-1010	69	14	possible	possible	ADJ
ap-1010	69	15	with	with	SCONJ
ap-1010	69	16	scientific	scientific	ADJ
ap-1010	69	17	code	code	NOUN
ap-1010	69	18	available	available	ADJ
ap-1010	69	19	in	in	ADP
ap-1010	69	20	the	the	DET
ap-1010	69	21	market	market	NOUN
ap-1010	69	22	.	.	PUNCT
ap-1010	70	1	we	we	PRON
ap-1010	70	2	resort	resort	VERB
ap-1010	70	3	to	to	ADP
ap-1010	70	4	our	our	PRON
ap-1010	70	5	own	own	ADJ
ap-1010	70	6	orthogonal	orthogonal	ADJ
ap-1010	70	7	decomposition	decomposition	NOUN
ap-1010	70	8	algorithm	algorithm	NOUN
ap-1010	70	9	,	,	PUNCT
ap-1010	70	10	implemented	implement	VERB
ap-1010	70	11	in	in	ADP
ap-1010	70	12	the	the	DET
ap-1010	70	13	oda	oda	PROPN
ap-1010	70	14	package	package	NOUN
ap-1010	70	15	[	[	X
ap-1010	70	16	9	9	NUM
ap-1010	70	17	]	]	PUNCT
ap-1010	70	18	,	,	PUNCT
ap-1010	70	19	which	which	PRON
ap-1010	70	20	is	be	AUX
ap-1010	70	21	a	a	DET
ap-1010	70	22	library	library	NOUN
ap-1010	70	23	of	of	ADP
ap-1010	70	24	c	c	NOUN
ap-1010	70	25	routines	routine	NOUN
ap-1010	70	26	,	,	PUNCT
ap-1010	70	27	especially	especially	ADV
ap-1010	70	28	suited	suit	VERB
ap-1010	70	29	to	to	PART
ap-1010	70	30	solve	solve	VERB
ap-1010	70	31	nonlinear	nonlinear	ADJ
ap-1010	70	32	least	least	ADJ
ap-1010	70	33	-	-	PUNCT
ap-1010	70	34	square	square	NOUN
ap-1010	70	35	problems	problem	NOUN
ap-1010	70	36	.	.	PUNCT
ap-1010	71	1	©	©	PROPN
ap-1010	71	2	czech	czech	PROPN
ap-1010	71	3	technical	technical	PROPN
ap-1010	71	4	university	university	PROPN
ap-1010	71	5	publishing	publishing	NOUN
ap-1010	71	6	house	house	NOUN
ap-1010	71	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1010	71	8	57	57	NUM
ap-1010	71	9	acta	acta	PROPN
ap-1010	71	10	polytechnica	polytechnica	PROPN
ap-1010	71	11	vol	vol	NOUN
ap-1010	71	12	.	.	PUNCT
ap-1010	72	1	47	47	NUM
ap-1010	72	2	no	no	NOUN
ap-1010	72	3	.	.	PUNCT
ap-1010	73	1	6/2007	6/2007	NUM
ap-1010	73	2	fig	fig	NOUN
ap-1010	73	3	.	.	PUNCT
ap-1010	74	1	1	1	NUM
ap-1010	74	2	:	:	PUNCT
ap-1010	74	3	blending	blend	VERB
ap-1010	74	4	of	of	ADP
ap-1010	74	5	two	two	NUM
ap-1010	74	6	curve	curve	NOUN
ap-1010	74	7	segments	segment	NOUN
ap-1010	74	8	with	with	ADP
ap-1010	74	9	a	a	DET
ap-1010	74	10	third	third	ADJ
ap-1010	74	11	one	one	NUM
ap-1010	74	12	4	4	NUM
ap-1010	74	13	examples	example	NOUN
ap-1010	74	14	several	several	ADJ
ap-1010	74	15	shape	shape	NOUN
ap-1010	74	16	-	-	PUNCT
ap-1010	74	17	synthesis	synthesis	NOUN
ap-1010	74	18	problems	problem	NOUN
ap-1010	74	19	have	have	AUX
ap-1010	74	20	been	be	AUX
ap-1010	74	21	solved	solve	VERB
ap-1010	74	22	using	use	VERB
ap-1010	74	23	cubic	cubic	ADJ
ap-1010	74	24	-	-	PUNCT
ap-1010	74	25	splines	spline	NOUN
ap-1010	74	26	.	.	PUNCT
ap-1010	75	1	two	two	NUM
ap-1010	75	2	examples	example	NOUN
ap-1010	75	3	belonging	belong	VERB
ap-1010	75	4	to	to	ADP
ap-1010	75	5	structural	structural	ADJ
ap-1010	75	6	optimization	optimization	NOUN
ap-1010	75	7	are	be	AUX
ap-1010	75	8	outlined	outline	VERB
ap-1010	75	9	in	in	ADP
ap-1010	75	10	the	the	DET
ap-1010	75	11	balance	balance	NOUN
ap-1010	75	12	of	of	ADP
ap-1010	75	13	this	this	DET
ap-1010	75	14	paper	paper	NOUN
ap-1010	75	15	.	.	PUNCT
ap-1010	76	1	4.1	4.1	NUM
ap-1010	76	2	synthesis	synthesis	NOUN
ap-1010	76	3	of	of	ADP
ap-1010	76	4	the	the	DET
ap-1010	76	5	neutral	neutral	ADJ
ap-1010	76	6	axis	axis	NOUN
ap-1010	76	7	of	of	ADP
ap-1010	76	8	a	a	DET
ap-1010	76	9	curved	curved	ADJ
ap-1010	76	10	robotic	robotic	ADJ
ap-1010	76	11	link	link	NOUN
ap-1010	76	12	the	the	DET
ap-1010	76	13	first	first	ADJ
ap-1010	76	14	case	case	NOUN
ap-1010	76	15	arose	arise	VERB
ap-1010	76	16	during	during	ADP
ap-1010	76	17	the	the	DET
ap-1010	76	18	design	design	NOUN
ap-1010	76	19	of	of	ADP
ap-1010	76	20	a	a	DET
ap-1010	76	21	novel	novel	ADJ
ap-1010	76	22	spherical	spherical	ADJ
ap-1010	76	23	parallel	parallel	NOUN
ap-1010	76	24	robot	robot	NOUN
ap-1010	76	25	,	,	PUNCT
ap-1010	76	26	the	the	DET
ap-1010	76	27	“	"	PUNCT
ap-1010	76	28	agile	agile	ADJ
ap-1010	76	29	wrist	wrist	NOUN
ap-1010	76	30	”	"	PUNCT
ap-1010	77	1	[	[	X
ap-1010	77	2	10	10	NUM
ap-1010	77	3	]	]	PUNCT
ap-1010	77	4	,	,	PUNCT
ap-1010	77	5	as	as	SCONJ
ap-1010	77	6	shown	show	VERB
ap-1010	77	7	in	in	ADP
ap-1010	77	8	fig	fig	NOUN
ap-1010	77	9	.	.	PUNCT
ap-1010	78	1	2	2	NUM
ap-1010	78	2	.	.	X
ap-1010	78	3	as	as	ADP
ap-1010	78	4	a	a	DET
ap-1010	78	5	module	module	NOUN
ap-1010	78	6	of	of	ADP
ap-1010	78	7	an	an	DET
ap-1010	78	8	11	11	NUM
ap-1010	78	9	-	-	PUNCT
ap-1010	78	10	degree	degree	NOUN
ap-1010	78	11	-	-	PUNCT
ap-1010	78	12	of	of	ADP
ap-1010	78	13	-	-	PUNCT
ap-1010	78	14	freedom	freedom	NOUN
ap-1010	78	15	(	(	PUNCT
ap-1010	78	16	dof	dof	NOUN
ap-1010	78	17	)	)	PUNCT
ap-1010	78	18	long	long	ADJ
ap-1010	78	19	-	-	PUNCT
ap-1010	78	20	reach	reach	NOUN
ap-1010	78	21	robot	robot	NOUN
ap-1010	78	22	operating	operate	VERB
ap-1010	78	23	on	on	ADP
ap-1010	78	24	fragile	fragile	ADJ
ap-1010	78	25	objects	object	NOUN
ap-1010	78	26	such	such	ADJ
ap-1010	78	27	as	as	ADP
ap-1010	78	28	the	the	DET
ap-1010	78	29	fuselage	fuselage	NOUN
ap-1010	78	30	of	of	ADP
ap-1010	78	31	aircraft	aircraft	NOUN
ap-1010	78	32	,	,	PUNCT
ap-1010	78	33	the	the	DET
ap-1010	78	34	wrist	wrist	NOUN
ap-1010	78	35	requires	require	VERB
ap-1010	78	36	a	a	DET
ap-1010	78	37	high	high	ADJ
ap-1010	78	38	positioning	positioning	NOUN
ap-1010	78	39	accuracy	accuracy	NOUN
ap-1010	78	40	since	since	SCONJ
ap-1010	78	41	any	any	DET
ap-1010	78	42	error	error	NOUN
ap-1010	78	43	in	in	ADP
ap-1010	78	44	the	the	DET
ap-1010	78	45	positioning	positioning	NOUN
ap-1010	78	46	of	of	ADP
ap-1010	78	47	the	the	DET
ap-1010	78	48	tool	tool	NOUN
ap-1010	78	49	could	could	AUX
ap-1010	78	50	lead	lead	VERB
ap-1010	78	51	to	to	ADP
ap-1010	78	52	expensive	expensive	ADJ
ap-1010	78	53	damage	damage	NOUN
ap-1010	78	54	.	.	PUNCT
ap-1010	79	1	the	the	DET
ap-1010	79	2	kinematic	kinematic	ADJ
ap-1010	79	3	chain	chain	NOUN
ap-1010	79	4	of	of	ADP
ap-1010	79	5	the	the	DET
ap-1010	79	6	“	"	PUNCT
ap-1010	79	7	agile	agile	ADJ
ap-1010	79	8	wrist	wrist	NOUN
ap-1010	79	9	”	"	PUNCT
ap-1010	79	10	was	be	AUX
ap-1010	79	11	borrowed	borrow	VERB
ap-1010	79	12	from	from	ADP
ap-1010	79	13	the	the	DET
ap-1010	79	14	design	design	NOUN
ap-1010	79	15	of	of	ADP
ap-1010	79	16	the	the	DET
ap-1010	79	17	“	"	PUNCT
ap-1010	79	18	agile	agile	ADJ
ap-1010	79	19	eye	eye	NOUN
ap-1010	79	20	”	"	PUNCT
ap-1010	79	21	,	,	PUNCT
ap-1010	79	22	developed	develop	VERB
ap-1010	79	23	at	at	ADP
ap-1010	79	24	laval	laval	PROPN
ap-1010	79	25	university	university	PROPN
ap-1010	79	26	in	in	ADP
ap-1010	79	27	quebec	quebec	PROPN
ap-1010	79	28	city	city	NOUN
ap-1010	80	1	[	[	X
ap-1010	80	2	11	11	NUM
ap-1010	80	3	]	]	PUNCT
ap-1010	80	4	.	.	PUNCT
ap-1010	81	1	many	many	ADJ
ap-1010	81	2	factors	factor	NOUN
ap-1010	81	3	can	can	AUX
ap-1010	81	4	affect	affect	VERB
ap-1010	81	5	robot	robot	NOUN
ap-1010	81	6	accuracy	accuracy	NOUN
ap-1010	81	7	,	,	PUNCT
ap-1010	81	8	such	such	ADJ
ap-1010	81	9	as	as	ADP
ap-1010	81	10	manufacturing	manufacturing	NOUN
ap-1010	81	11	and	and	CCONJ
ap-1010	81	12	assembly	assembly	NOUN
ap-1010	81	13	errors	error	NOUN
ap-1010	81	14	,	,	PUNCT
ap-1010	81	15	calibration	calibration	NOUN
ap-1010	81	16	errors	error	NOUN
ap-1010	81	17	,	,	PUNCT
ap-1010	81	18	etc	etc	X
ap-1010	81	19	.	.	X
ap-1010	82	1	our	our	PRON
ap-1010	82	2	concern	concern	NOUN
ap-1010	82	3	is	be	AUX
ap-1010	82	4	the	the	DET
ap-1010	82	5	flexibility	flexibility	NOUN
ap-1010	82	6	of	of	ADP
ap-1010	82	7	the	the	DET
ap-1010	82	8	manipulator	manipulator	NOUN
ap-1010	82	9	links	link	NOUN
ap-1010	82	10	,	,	PUNCT
ap-1010	82	11	which	which	PRON
ap-1010	82	12	significantly	significantly	ADV
ap-1010	82	13	reduces	reduce	VERB
ap-1010	82	14	the	the	DET
ap-1010	82	15	positioning	positioning	NOUN
ap-1010	82	16	accuracy	accuracy	NOUN
ap-1010	82	17	of	of	ADP
ap-1010	82	18	the	the	DET
ap-1010	82	19	robot	robot	NOUN
ap-1010	82	20	due	due	ADJ
ap-1010	82	21	to	to	ADP
ap-1010	82	22	external	external	ADJ
ap-1010	82	23	and	and	CCONJ
ap-1010	82	24	inertial	inertial	ADJ
ap-1010	82	25	loading	loading	NOUN
ap-1010	82	26	.	.	PUNCT
ap-1010	83	1	for	for	ADP
ap-1010	83	2	the	the	DET
ap-1010	83	3	most	most	ADJ
ap-1010	83	4	part	part	NOUN
ap-1010	83	5	,	,	PUNCT
ap-1010	83	6	the	the	DET
ap-1010	83	7	geometric	geometric	ADJ
ap-1010	83	8	shape	shape	NOUN
ap-1010	83	9	and	and	CCONJ
ap-1010	83	10	the	the	DET
ap-1010	83	11	cross	cross	ADJ
ap-1010	83	12	-	-	ADJ
ap-1010	83	13	section	section	ADJ
ap-1010	83	14	dimensions	dimension	NOUN
ap-1010	83	15	of	of	ADP
ap-1010	83	16	robot	robot	NOUN
ap-1010	83	17	links	link	NOUN
ap-1010	83	18	of	of	ADP
ap-1010	83	19	manipulators	manipulator	NOUN
ap-1010	83	20	are	be	AUX
ap-1010	83	21	designed	design	VERB
ap-1010	83	22	arbitrarily	arbitrarily	ADV
ap-1010	83	23	,	,	PUNCT
ap-1010	83	24	with	with	ADP
ap-1010	83	25	simple	simple	ADJ
ap-1010	83	26	shapes	shape	NOUN
ap-1010	83	27	and	and	CCONJ
ap-1010	83	28	constant	constant	ADJ
ap-1010	83	29	cross	cross	NOUN
ap-1010	83	30	sections	section	NOUN
ap-1010	83	31	.	.	PUNCT
ap-1010	84	1	current	current	ADJ
ap-1010	84	2	structural	structural	ADJ
ap-1010	84	3	optimization	optimization	NOUN
ap-1010	84	4	technology	technology	NOUN
ap-1010	84	5	and	and	CCONJ
ap-1010	84	6	the	the	DET
ap-1010	84	7	use	use	NOUN
ap-1010	84	8	of	of	ADP
ap-1010	84	9	highly	highly	ADV
ap-1010	84	10	accurate	accurate	ADJ
ap-1010	84	11	cnc	cnc	ADJ
ap-1010	84	12	machine	machine	NOUN
ap-1010	84	13	tools	tool	NOUN
ap-1010	84	14	enable	enable	VERB
ap-1010	84	15	designers	designer	NOUN
ap-1010	84	16	to	to	PART
ap-1010	84	17	produce	produce	VERB
ap-1010	84	18	optimum	optimum	ADJ
ap-1010	84	19	,	,	PUNCT
ap-1010	84	20	if	if	SCONJ
ap-1010	84	21	less	less	ADV
ap-1010	84	22	obvious	obvious	ADJ
ap-1010	84	23	,	,	PUNCT
ap-1010	84	24	shapes;	shapes;	VERB
ap-1010	84	25	an	an	DET
ap-1010	84	26	efficient	efficient	ADJ
ap-1010	84	27	selection	selection	NOUN
ap-1010	84	28	of	of	ADP
ap-1010	84	29	the	the	DET
ap-1010	84	30	design	design	NOUN
ap-1010	84	31	parameters	parameter	NOUN
ap-1010	84	32	should	should	AUX
ap-1010	84	33	improve	improve	VERB
ap-1010	84	34	link	link	VERB
ap-1010	84	35	stiffness	stiffness	NOUN
ap-1010	84	36	without	without	ADP
ap-1010	84	37	making	make	VERB
ap-1010	84	38	the	the	DET
ap-1010	84	39	link	link	NOUN
ap-1010	84	40	heavier	heavier	ADV
ap-1010	84	41	.	.	PUNCT
ap-1010	85	1	a	a	DET
ap-1010	85	2	general	general	ADJ
ap-1010	85	3	trend	trend	NOUN
ap-1010	85	4	in	in	ADP
ap-1010	85	5	the	the	DET
ap-1010	85	6	design	design	NOUN
ap-1010	85	7	of	of	ADP
ap-1010	85	8	lighter	light	ADJ
ap-1010	85	9	and	and	CCONJ
ap-1010	85	10	stiffer	stiff	ADJ
ap-1010	85	11	structures	structure	NOUN
ap-1010	85	12	has	have	AUX
ap-1010	85	13	led	lead	VERB
ap-1010	85	14	to	to	ADP
ap-1010	85	15	the	the	DET
ap-1010	85	16	use	use	NOUN
ap-1010	85	17	of	of	ADP
ap-1010	85	18	sophisticated	sophisticated	ADJ
ap-1010	85	19	materials	material	NOUN
ap-1010	85	20	,	,	PUNCT
ap-1010	85	21	like	like	ADP
ap-1010	85	22	carbon	carbon	NOUN
ap-1010	85	23	fibre	fibre	NOUN
ap-1010	85	24	-	-	PUNCT
ap-1010	85	25	reinforced	reinforce	VERB
ap-1010	85	26	composites	composite	NOUN
ap-1010	85	27	,	,	PUNCT
ap-1010	85	28	with	with	ADP
ap-1010	85	29	the	the	DET
ap-1010	85	30	consequent	consequent	ADJ
ap-1010	85	31	slendering	slendering	NOUN
ap-1010	85	32	of	of	ADP
ap-1010	85	33	structural	structural	ADJ
ap-1010	85	34	components	component	NOUN
ap-1010	85	35	.	.	PUNCT
ap-1010	86	1	these	these	DET
ap-1010	86	2	components	component	NOUN
ap-1010	86	3	should	should	AUX
ap-1010	86	4	ensure	ensure	VERB
ap-1010	86	5	that	that	SCONJ
ap-1010	86	6	no	no	DET
ap-1010	86	7	failure	failure	NOUN
ap-1010	86	8	can	can	AUX
ap-1010	86	9	occur	occur	VERB
ap-1010	86	10	under	under	ADP
ap-1010	86	11	a	a	DET
ap-1010	86	12	given	give	VERB
ap-1010	86	13	range	range	NOUN
ap-1010	86	14	of	of	ADP
ap-1010	86	15	loads	load	NOUN
ap-1010	86	16	,	,	PUNCT
ap-1010	86	17	which	which	PRON
ap-1010	86	18	has	have	AUX
ap-1010	86	19	motivated	motivate	VERB
ap-1010	86	20	intensive	intensive	ADJ
ap-1010	86	21	research	research	NOUN
ap-1010	86	22	in	in	ADP
ap-1010	86	23	the	the	DET
ap-1010	86	24	area	area	NOUN
ap-1010	86	25	of	of	ADP
ap-1010	86	26	structural	structural	ADJ
ap-1010	86	27	optimization	optimization	NOUN
ap-1010	86	28	,	,	PUNCT
ap-1010	86	29	a	a	DET
ap-1010	86	30	very	very	ADV
ap-1010	86	31	active	active	ADJ
ap-1010	86	32	field	field	NOUN
ap-1010	86	33	since	since	SCONJ
ap-1010	86	34	schmidt	schmidt	PROPN
ap-1010	86	35	set	set	VERB
ap-1010	86	36	forth	forth	ADP
ap-1010	86	37	an	an	DET
ap-1010	86	38	approach	approach	NOUN
ap-1010	86	39	for	for	ADP
ap-1010	86	40	coupling	couple	VERB
ap-1010	86	41	finite	finite	PROPN
ap-1010	86	42	element	element	NOUN
ap-1010	86	43	analysis	analysis	NOUN
ap-1010	86	44	and	and	CCONJ
ap-1010	86	45	nonlinear	nonlinear	ADJ
ap-1010	86	46	programming	programming	NOUN
ap-1010	86	47	[	[	X
ap-1010	86	48	12	12	NUM
ap-1010	86	49	]	]	PUNCT
ap-1010	86	50	.	.	PUNCT
ap-1010	87	1	in	in	ADP
ap-1010	87	2	our	our	PRON
ap-1010	87	3	work	work	NOUN
ap-1010	87	4	,	,	PUNCT
ap-1010	87	5	structural	structural	ADJ
ap-1010	87	6	optimization	optimization	NOUN
ap-1010	87	7	was	be	AUX
ap-1010	87	8	conducted	conduct	VERB
ap-1010	87	9	through	through	ADP
ap-1010	87	10	the	the	DET
ap-1010	87	11	optimum	optimum	ADJ
ap-1010	87	12	design	design	NOUN
ap-1010	87	13	of	of	ADP
ap-1010	87	14	the	the	DET
ap-1010	87	15	links	link	NOUN
ap-1010	87	16	of	of	ADP
ap-1010	87	17	the	the	DET
ap-1010	87	18	agile	agile	ADJ
ap-1010	87	19	wrist	wrist	NOUN
ap-1010	87	20	in	in	ADP
ap-1010	87	21	order	order	NOUN
ap-1010	87	22	to	to	PART
ap-1010	87	23	enhance	enhance	VERB
ap-1010	87	24	the	the	DET
ap-1010	87	25	load	load	NOUN
ap-1010	87	26	-	-	PUNCT
ap-1010	87	27	carrying	carry	VERB
ap-1010	87	28	capacity	capacity	NOUN
ap-1010	87	29	,	,	PUNCT
ap-1010	87	30	while	while	SCONJ
ap-1010	87	31	minimizing	minimize	VERB
ap-1010	87	32	weight	weight	NOUN
ap-1010	87	33	.	.	PUNCT
ap-1010	88	1	we	we	PRON
ap-1010	88	2	focus	focus	VERB
ap-1010	88	3	here	here	ADV
ap-1010	88	4	on	on	ADP
ap-1010	88	5	the	the	DET
ap-1010	88	6	shaping	shaping	NOUN
ap-1010	88	7	of	of	ADP
ap-1010	88	8	the	the	DET
ap-1010	88	9	links	link	NOUN
ap-1010	88	10	,	,	PUNCT
ap-1010	88	11	rather	rather	ADV
ap-1010	88	12	than	than	ADP
ap-1010	88	13	on	on	ADP
ap-1010	88	14	material	material	NOUN
ap-1010	88	15	selection	selection	NOUN
ap-1010	88	16	.	.	PUNCT
ap-1010	89	1	the	the	DET
ap-1010	89	2	material	material	NOUN
ap-1010	89	3	of	of	ADP
ap-1010	89	4	choice	choice	NOUN
ap-1010	89	5	,	,	PUNCT
ap-1010	89	6	as	as	SCONJ
ap-1010	89	7	decided	decide	VERB
ap-1010	89	8	on	on	ADP
ap-1010	89	9	earlier	early	ADV
ap-1010	89	10	,	,	PUNCT
ap-1010	89	11	was	be	AUX
ap-1010	89	12	aluminum	aluminum	NOUN
ap-1010	89	13	al2014	al2014	NOUN
ap-1010	89	14	.	.	PUNCT
ap-1010	90	1	for	for	ADP
ap-1010	90	2	optimization	optimization	NOUN
ap-1010	90	3	purposes	purpose	NOUN
ap-1010	90	4	,	,	PUNCT
ap-1010	90	5	the	the	DET
ap-1010	90	6	problem	problem	NOUN
ap-1010	90	7	at	at	ADP
ap-1010	90	8	hand	hand	NOUN
ap-1010	90	9	was	be	AUX
ap-1010	90	10	decomposed	decompose	VERB
ap-1010	90	11	into	into	ADP
ap-1010	90	12	two	two	NUM
ap-1010	90	13	main	main	ADJ
ap-1010	90	14	steps	step	NOUN
ap-1010	90	15	:	:	PUNCT
ap-1010	90	16	the	the	DET
ap-1010	90	17	first	first	ADJ
ap-1010	90	18	one	one	NOUN
ap-1010	90	19	consists	consist	VERB
ap-1010	90	20	in	in	ADP
ap-1010	90	21	defining	define	VERB
ap-1010	90	22	the	the	DET
ap-1010	90	23	neutral	neutral	ADJ
ap-1010	90	24	axis	axis	NOUN
ap-1010	90	25	of	of	ADP
ap-1010	90	26	the	the	DET
ap-1010	90	27	links	link	NOUN
ap-1010	90	28	,	,	PUNCT
ap-1010	90	29	i.e.	i.e.	X
ap-1010	90	30	,	,	PUNCT
ap-1010	90	31	the	the	DET
ap-1010	90	32	mid	mid	NOUN
ap-1010	90	33	-	-	NOUN
ap-1010	90	34	curve;	curve;	NOUN
ap-1010	90	35	the	the	DET
ap-1010	90	36	second	second	ADJ
ap-1010	90	37	consists	consist	VERB
ap-1010	90	38	in	in	ADP
ap-1010	90	39	defining	define	VERB
ap-1010	90	40	the	the	DET
ap-1010	90	41	cross	cross	NOUN
ap-1010	90	42	section	section	NOUN
ap-1010	90	43	at	at	ADP
ap-1010	90	44	each	each	DET
ap-1010	90	45	point	point	NOUN
ap-1010	90	46	of	of	ADP
ap-1010	90	47	the	the	DET
ap-1010	90	48	mid	mid	NOUN
ap-1010	90	49	-	-	NOUN
ap-1010	90	50	curve	curve	NOUN
ap-1010	90	51	.	.	PUNCT
ap-1010	91	1	the	the	DET
ap-1010	91	2	idea	idea	NOUN
ap-1010	91	3	is	be	AUX
ap-1010	91	4	rather	rather	ADV
ap-1010	91	5	simple	simple	ADJ
ap-1010	91	6	:	:	PUNCT
ap-1010	91	7	once	once	SCONJ
ap-1010	91	8	the	the	DET
ap-1010	91	9	mid	mid	NOUN
ap-1010	91	10	-	-	NOUN
ap-1010	91	11	curve	curve	NOUN
ap-1010	91	12	of	of	ADP
ap-1010	91	13	the	the	DET
ap-1010	91	14	link	link	NOUN
ap-1010	91	15	is	be	AUX
ap-1010	91	16	defined	define	VERB
ap-1010	91	17	,	,	PUNCT
ap-1010	91	18	the	the	DET
ap-1010	91	19	link	link	NOUN
ap-1010	91	20	shape	shape	NOUN
ap-1010	91	21	is	be	AUX
ap-1010	91	22	obtained	obtain	VERB
ap-1010	91	23	by	by	ADP
ap-1010	91	24	sweeping	sweeping	ADJ
ap-1010	91	25	and	and	CCONJ
ap-1010	91	26	blending	blend	VERB
ap-1010	91	27	simultaneously	simultaneously	ADV
ap-1010	91	28	a	a	DET
ap-1010	91	29	cross	cross	NOUN
ap-1010	91	30	-	-	NOUN
ap-1010	91	31	section	section	NOUN
ap-1010	91	32	of	of	ADP
ap-1010	91	33	a	a	DET
ap-1010	91	34	given	give	VERB
ap-1010	91	35	shape	shape	NOUN
ap-1010	91	36	(	(	PUNCT
ap-1010	91	37	rectangle	rectangle	NOUN
ap-1010	91	38	,	,	PUNCT
ap-1010	91	39	circle	circle	NOUN
ap-1010	91	40	,	,	PUNCT
ap-1010	91	41	etc	etc	X
ap-1010	91	42	.	.	X
ap-1010	91	43	)	)	PUNCT
ap-1010	91	44	,	,	PUNCT
ap-1010	91	45	whose	whose	DET
ap-1010	91	46	dimensions	dimension	NOUN
ap-1010	91	47	are	be	AUX
ap-1010	91	48	variable	variable	ADJ
ap-1010	91	49	along	along	ADP
ap-1010	91	50	the	the	DET
ap-1010	91	51	curve	curve	NOUN
ap-1010	91	52	,	,	PUNCT
ap-1010	91	53	and	and	CCONJ
ap-1010	91	54	lie	lie	VERB
ap-1010	91	55	in	in	ADP
ap-1010	91	56	a	a	DET
ap-1010	91	57	plane	plane	NOUN
ap-1010	91	58	normal	normal	ADJ
ap-1010	91	59	to	to	ADP
ap-1010	91	60	the	the	DET
ap-1010	91	61	mid	mid	NOUN
ap-1010	91	62	-	-	NOUN
ap-1010	91	63	curve	curve	NOUN
ap-1010	91	64	.	.	PUNCT
ap-1010	92	1	since	since	SCONJ
ap-1010	92	2	the	the	DET
ap-1010	92	3	second	second	ADJ
ap-1010	92	4	step	step	NOUN
ap-1010	92	5	can	can	AUX
ap-1010	92	6	be	be	AUX
ap-1010	92	7	completed	complete	VERB
ap-1010	92	8	with	with	ADP
ap-1010	92	9	cae	cae	PROPN
ap-1010	92	10	software	software	NOUN
ap-1010	92	11	,	,	PUNCT
ap-1010	92	12	we	we	PRON
ap-1010	92	13	focus	focus	VERB
ap-1010	92	14	on	on	ADP
ap-1010	92	15	the	the	DET
ap-1010	92	16	synthesis	synthesis	NOUN
ap-1010	92	17	of	of	ADP
ap-1010	92	18	the	the	DET
ap-1010	92	19	mid	mid	NOUN
ap-1010	92	20	-	-	NOUN
ap-1010	92	21	curve	curve	NOUN
ap-1010	92	22	.	.	PUNCT
ap-1010	93	1	to	to	ADP
ap-1010	93	2	this	this	DET
ap-1010	93	3	end	end	NOUN
ap-1010	93	4	,	,	PUNCT
ap-1010	93	5	the	the	DET
ap-1010	93	6	mid	mid	ADJ
ap-1010	93	7	-	-	ADJ
ap-1010	93	8	curve	curve	ADJ
ap-1010	93	9	�	�	PROPN
ap-1010	93	10	of	of	ADP
ap-1010	93	11	the	the	DET
ap-1010	93	12	proximal	proximal	ADJ
ap-1010	93	13	link	link	NOUN
ap-1010	93	14	,	,	PUNCT
ap-1010	93	15	shown	show	VERB
ap-1010	93	16	in	in	ADP
ap-1010	93	17	fig	fig	NOUN
ap-1010	93	18	.	.	PUNCT
ap-1010	94	1	3	3	NUM
ap-1010	94	2	,	,	PUNCT
ap-1010	94	3	is	be	AUX
ap-1010	94	4	defined	define	VERB
ap-1010	94	5	so	so	SCONJ
ap-1010	94	6	as	as	SCONJ
ap-1010	94	7	to	to	PART
ap-1010	94	8	minimize	minimize	VERB
ap-1010	94	9	the	the	DET
ap-1010	94	10	root	root	NOUN
ap-1010	94	11	-	-	PUNCT
ap-1010	94	12	mean	mean	ADJ
ap-1010	94	13	square	square	ADJ
ap-1010	94	14	value	value	NOUN
ap-1010	94	15	of	of	ADP
ap-1010	94	16	the	the	DET
ap-1010	94	17	curvature	curvature	NOUN
ap-1010	94	18	throughout	throughout	ADP
ap-1010	94	19	�	�	PROPN
ap-1010	94	20	and	and	CCONJ
ap-1010	94	21	to	to	PART
ap-1010	94	22	ensure	ensure	VERB
ap-1010	94	23	a	a	DET
ap-1010	94	24	blending	blending	NOUN
ap-1010	94	25	of	of	ADP
ap-1010	94	26	the	the	DET
ap-1010	94	27	linear	linear	ADJ
ap-1010	94	28	segments	segment	NOUN
ap-1010	94	29	with	with	ADP
ap-1010	94	30	the	the	DET
ap-1010	94	31	curved	curved	ADJ
ap-1010	94	32	segment	segment	NOUN
ap-1010	94	33	as	as	ADV
ap-1010	94	34	smooth	smooth	ADJ
ap-1010	94	35	as	as	ADP
ap-1010	94	36	possible	possible	ADJ
ap-1010	94	37	.	.	PUNCT
ap-1010	95	1	notice	notice	VERB
ap-1010	95	2	that	that	SCONJ
ap-1010	95	3	the	the	DET
ap-1010	95	4	two	two	NUM
ap-1010	95	5	ends	end	NOUN
ap-1010	95	6	lie	lie	VERB
ap-1010	95	7	at	at	ADP
ap-1010	95	8	different	different	ADJ
ap-1010	95	9	distances	distance	NOUN
ap-1010	95	10	from	from	ADP
ap-1010	95	11	the	the	DET
ap-1010	95	12	center	center	NOUN
ap-1010	95	13	of	of	ADP
ap-1010	95	14	the	the	DET
ap-1010	95	15	wrist	wrist	NOUN
ap-1010	95	16	,	,	PUNCT
ap-1010	95	17	in	in	ADP
ap-1010	95	18	order	order	NOUN
ap-1010	95	19	to	to	PART
ap-1010	95	20	increase	increase	VERB
ap-1010	95	21	the	the	DET
ap-1010	95	22	workspace	workspace	NOUN
ap-1010	95	23	of	of	ADP
ap-1010	95	24	the	the	DET
ap-1010	95	25	agile	agile	ADJ
ap-1010	95	26	wrist	wrist	NOUN
ap-1010	95	27	,	,	PUNCT
ap-1010	95	28	besides	besides	SCONJ
ap-1010	95	29	reducing	reduce	VERB
ap-1010	95	30	the	the	DET
ap-1010	95	31	likelihood	likelihood	NOUN
ap-1010	95	32	of	of	ADP
ap-1010	95	33	collisions	collision	NOUN
ap-1010	95	34	among	among	ADP
ap-1010	95	35	moving	move	VERB
ap-1010	95	36	links	link	NOUN
ap-1010	95	37	and	and	CCONJ
ap-1010	95	38	the	the	DET
ap-1010	95	39	tool	tool	NOUN
ap-1010	95	40	installed	instal	VERB
ap-1010	95	41	on	on	ADP
ap-1010	95	42	top	top	NOUN
ap-1010	95	43	of	of	ADP
ap-1010	95	44	the	the	DET
ap-1010	95	45	upper	upper	ADJ
ap-1010	95	46	platform	platform	NOUN
ap-1010	95	47	.	.	PUNCT
ap-1010	96	1	twenty	twenty	NUM
ap-1010	96	2	spline	spline	NOUN
ap-1010	96	3	supporting	support	VERB
ap-1010	96	4	points	point	NOUN
ap-1010	96	5	pi	pi	NOUN
ap-1010	96	6	,	,	PUNCT
ap-1010	96	7	for	for	ADP
ap-1010	96	8	i	i	PROPN
ap-1010	96	9	�	�	PROPN
ap-1010	96	10	0	0	NUM
ap-1010	96	11	19	19	NUM
ap-1010	96	12	,	,	PUNCT
ap-1010	96	13	,	,	PUNCT
ap-1010	96	14	�	�	PROPN
ap-1010	96	15	,	,	PUNCT
ap-1010	96	16	are	be	AUX
ap-1010	96	17	used	use	VERB
ap-1010	96	18	,	,	PUNCT
ap-1010	96	19	whose	whose	DET
ap-1010	96	20	angles	angles	ADP
ap-1010	96	21	�	�	NOUN
ap-1010	96	22	i	i	PRON
ap-1010	96	23	in	in	ADP
ap-1010	96	24	polar	polar	ADJ
ap-1010	96	25	coordinates	coordinate	NOUN
ap-1010	96	26	are	be	AUX
ap-1010	96	27	given	give	VERB
ap-1010	96	28	by	by	ADP
ap-1010	96	29	:	:	PUNCT
ap-1010	96	30	�	�	PROPN
ap-1010	96	31	�	�	PROPN
ap-1010	96	32	�	�	PROPN
ap-1010	96	33	�	�	PROPN
ap-1010	97	1	i	i	PRON
ap-1010	97	2	i	i	PROPN
ap-1010	97	3	n	n	VERB
ap-1010	97	4	�	�	PROPN
ap-1010	97	5	�	�	PROPN
ap-1010	97	6	�	�	PROPN
ap-1010	97	7	�	�	PROPN
ap-1010	97	8	�	�	PROPN
ap-1010	97	9	�	�	PROPN
ap-1010	97	10	�	�	PROPN
ap-1010	97	11	�	�	PROPN
ap-1010	97	12	�	�	PROPN
ap-1010	97	13	�	�	PROPN
ap-1010	97	14	�	�	PROPN
ap-1010	97	15	1	1	NUM
ap-1010	97	16	2	2	NUM
ap-1010	97	17	(	(	PUNCT
ap-1010	97	18	)	)	PUNCT
ap-1010	97	19	(	(	PUNCT
ap-1010	97	20	20	20	NUM
ap-1010	97	21	)	)	PUNCT
ap-1010	97	22	with	with	ADP
ap-1010	97	23	�	�	PROPN
ap-1010	97	24	�	�	PROPN
ap-1010	97	25	�	�	PROPN
ap-1010	97	26	�	�	PROPN
ap-1010	97	27	�	�	PROPN
ap-1010	97	28	�	�	PROPN
ap-1010	97	29	�	�	PROPN
ap-1010	97	30	�	�	PROPN
ap-1010	97	31	arctan	arctan	PROPN
ap-1010	97	32	l	l	PROPN
ap-1010	97	33	a	a	DET
ap-1010	97	34	v	v	NOUN
ap-1010	97	35	and	and	CCONJ
ap-1010	97	36	�	�	PROPN
ap-1010	97	37	�	�	PROPN
ap-1010	97	38	�	�	PROPN
ap-1010	97	39	�	�	PROPN
ap-1010	97	40	�	�	PROPN
ap-1010	97	41	�	�	PROPN
ap-1010	97	42	�	�	PROPN
ap-1010	97	43	arctan	arctan	PROPN
ap-1010	97	44	l	l	PROPN
ap-1010	97	45	b	b	PROPN
ap-1010	97	46	h	h	NOUN
ap-1010	97	47	.	.	PUNCT
ap-1010	98	1	with	with	ADP
ap-1010	98	2	the	the	DET
ap-1010	98	3	aid	aid	NOUN
ap-1010	98	4	of	of	ADP
ap-1010	98	5	oda	oda	PROPN
ap-1010	98	6	,	,	PUNCT
ap-1010	98	7	the	the	DET
ap-1010	98	8	optimum	optimum	ADJ
ap-1010	98	9	values	value	NOUN
ap-1010	98	10	of	of	ADP
ap-1010	98	11	the	the	DET
ap-1010	98	12	design	design	NOUN
ap-1010	98	13	variables	variable	NOUN
ap-1010	98	14	were	be	AUX
ap-1010	98	15	found	find	VERB
ap-1010	98	16	.	.	PUNCT
ap-1010	99	1	the	the	DET
ap-1010	99	2	objective	objective	ADJ
ap-1010	99	3	function	function	NOUN
ap-1010	99	4	to	to	PART
ap-1010	99	5	minimize	minimize	VERB
ap-1010	99	6	is	be	AUX
ap-1010	99	7	the	the	DET
ap-1010	99	8	rms	rm	NOUN
ap-1010	99	9	value	value	NOUN
ap-1010	99	10	of	of	ADP
ap-1010	99	11	the	the	DET
ap-1010	99	12	array	array	NOUN
ap-1010	99	13	of	of	ADP
ap-1010	99	14	curvature	curvature	NOUN
ap-1010	99	15	values	value	NOUN
ap-1010	99	16	at	at	ADP
ap-1010	99	17	the	the	DET
ap-1010	99	18	supporting	support	VERB
ap-1010	99	19	points	point	NOUN
ap-1010	99	20	,	,	PUNCT
ap-1010	99	21	while	while	SCONJ
ap-1010	99	22	respecting	respect	VERB
ap-1010	99	23	the	the	DET
ap-1010	99	24	tangency	tangency	NOUN
ap-1010	99	25	and	and	CCONJ
ap-1010	99	26	zero	zero	NUM
ap-1010	99	27	-	-	PUNCT
ap-1010	99	28	curvature	curvature	NOUN
ap-1010	99	29	conditions	condition	NOUN
ap-1010	99	30	at	at	ADP
ap-1010	99	31	points	point	NOUN
ap-1010	99	32	p0	p0	NOUN
ap-1010	99	33	and	and	CCONJ
ap-1010	99	34	pn	pn	NOUN
ap-1010	99	35	�	�	PROPN
ap-1010	99	36	1	1	NUM
ap-1010	99	37	.	.	PUNCT
ap-1010	100	1	a	a	DET
ap-1010	100	2	convexity	convexity	NOUN
ap-1010	100	3	condition	condition	NOUN
ap-1010	100	4	was	be	AUX
ap-1010	100	5	added	add	VERB
ap-1010	100	6	,	,	PUNCT
ap-1010	100	7	so	so	SCONJ
ap-1010	100	8	as	as	SCONJ
ap-1010	100	9	to	to	PART
ap-1010	100	10	ensure	ensure	VERB
ap-1010	100	11	that	that	SCONJ
ap-1010	100	12	no	no	DET
ap-1010	100	13	changes	change	NOUN
ap-1010	100	14	in	in	ADP
ap-1010	100	15	curvature	curvature	NOUN
ap-1010	100	16	-	-	PUNCT
ap-1010	100	17	sign	sign	NOUN
ap-1010	100	18	oc58	oc58	PROPN
ap-1010	100	19	©	©	PROPN
ap-1010	100	20	czech	czech	PROPN
ap-1010	100	21	technical	technical	PROPN
ap-1010	100	22	university	university	PROPN
ap-1010	100	23	publishing	publishing	NOUN
ap-1010	100	24	house	house	NOUN
ap-1010	100	25	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1010	100	26	acta	acta	PROPN
ap-1010	100	27	polytechnica	polytechnica	PROPN
ap-1010	100	28	vol	vol	NOUN
ap-1010	100	29	.	.	PUNCT
ap-1010	101	1	47	47	NUM
ap-1010	101	2	no	no	NOUN
ap-1010	101	3	.	.	PUNCT
ap-1010	102	1	6/2007	6/2007	NUM
ap-1010	102	2	fig	fig	NOUN
ap-1010	102	3	.	.	PUNCT
ap-1010	103	1	2	2	NUM
ap-1010	103	2	:	:	PUNCT
ap-1010	103	3	prototype	prototype	NOUN
ap-1010	103	4	of	of	ADP
ap-1010	103	5	the	the	DET
ap-1010	103	6	agile	agile	ADJ
ap-1010	103	7	wrist	wrist	NOUN
ap-1010	103	8	fig	fig	NOUN
ap-1010	103	9	.	.	PUNCT
ap-1010	104	1	3	3	NUM
ap-1010	104	2	:	:	PUNCT
ap-1010	104	3	the	the	DET
ap-1010	104	4	mid	mid	NOUN
ap-1010	104	5	-	-	NOUN
ap-1010	104	6	curve	curve	NOUN
ap-1010	104	7	of	of	ADP
ap-1010	104	8	the	the	DET
ap-1010	104	9	proximal	proximal	ADJ
ap-1010	104	10	link	link	NOUN
ap-1010	104	11	cur	cur	VERB
ap-1010	104	12	.	.	PUNCT
ap-1010	105	1	these	these	DET
ap-1010	105	2	twenty	twenty	NUM
ap-1010	105	3	points	point	NOUN
ap-1010	105	4	,	,	PUNCT
ap-1010	105	5	expressed	express	VERB
ap-1010	105	6	first	first	ADV
ap-1010	105	7	in	in	ADP
ap-1010	105	8	polar	polar	ADJ
ap-1010	105	9	coordinates	coordinate	NOUN
ap-1010	105	10	,	,	PUNCT
ap-1010	105	11	were	be	AUX
ap-1010	105	12	then	then	ADV
ap-1010	105	13	expressed	express	VERB
ap-1010	105	14	in	in	ADP
ap-1010	105	15	cartesian	cartesian	ADJ
ap-1010	105	16	coordinates	coordinate	NOUN
ap-1010	105	17	as	as	SCONJ
ap-1010	105	18	required	require	VERB
ap-1010	105	19	by	by	ADP
ap-1010	105	20	cae	cae	NOUN
ap-1010	105	21	software	software	NOUN
ap-1010	105	22	.	.	PUNCT
ap-1010	106	1	the	the	DET
ap-1010	106	2	radius	radius	PROPN
ap-1010	106	3	�	�	PROPN
ap-1010	106	4	i	i	PROPN
ap-1010	106	5	and	and	CCONJ
ap-1010	106	6	the	the	DET
ap-1010	106	7	cartesian	cartesian	ADJ
ap-1010	106	8	coordinates	coordinate	NOUN
ap-1010	106	9	(	(	PUNCT
ap-1010	106	10	xi	xi	PROPN
ap-1010	106	11	,	,	PUNCT
ap-1010	106	12	yi	yi	PROPN
ap-1010	106	13	)	)	PUNCT
ap-1010	106	14	obtained	obtain	VERB
ap-1010	106	15	for	for	ADP
ap-1010	106	16	a	a	DET
ap-1010	106	17	�	�	PROPN
ap-1010	106	18	89	89	NUM
ap-1010	106	19	5	5	NUM
ap-1010	106	20	.	.	PUNCT
ap-1010	107	1	mm	mm	PROPN
ap-1010	107	2	,	,	PUNCT
ap-1010	107	3	b	b	PROPN
ap-1010	107	4	�	�	PROPN
ap-1010	107	5	75	75	NUM
ap-1010	107	6	5	5	NUM
ap-1010	107	7	.	.	PUNCT
ap-1010	108	1	mm	mm	PROPN
ap-1010	108	2	and	and	CCONJ
ap-1010	108	3	l	l	PROPN
ap-1010	108	4	lv	lv	PROPN
ap-1010	108	5	h	h	PROPN
ap-1010	108	6	�	�	PROPN
ap-1010	108	7	�	�	PROPN
ap-1010	108	8	12.0	12.0	NUM
ap-1010	108	9	mm	mm	NOUN
ap-1010	108	10	,	,	PUNCT
ap-1010	108	11	are	be	AUX
ap-1010	108	12	listed	list	VERB
ap-1010	108	13	in	in	ADP
ap-1010	108	14	table	table	NOUN
ap-1010	108	15	1	1	NUM
ap-1010	108	16	.	.	PUNCT
ap-1010	109	1	the	the	DET
ap-1010	109	2	rms	rm	NOUN
ap-1010	109	3	value	value	NOUN
ap-1010	109	4	of	of	ADP
ap-1010	109	5	the	the	DET
ap-1010	109	6	curvature	curvature	NOUN
ap-1010	109	7	distribution	distribution	NOUN
ap-1010	109	8	over	over	ADP
ap-1010	109	9	the	the	DET
ap-1010	109	10	synthesized	synthesize	VERB
ap-1010	109	11	curve	curve	NOUN
ap-1010	109	12	is	be	AUX
ap-1010	109	13	0.0144	0.0144	NUM
ap-1010	109	14	mm	mm	NUM
ap-1010	109	15	�	�	PROPN
ap-1010	109	16	1	1	NUM
ap-1010	109	17	.	.	PUNCT
ap-1010	110	1	the	the	DET
ap-1010	110	2	curve	curve	NOUN
ap-1010	110	3	is	be	AUX
ap-1010	110	4	plotted	plot	VERB
ap-1010	110	5	in	in	ADP
ap-1010	110	6	fig	fig	NOUN
ap-1010	110	7	.	.	PUNCT
ap-1010	111	1	4a	4a	NOUN
ap-1010	111	2	,	,	PUNCT
ap-1010	111	3	its	its	PRON
ap-1010	111	4	curvature	curvature	NOUN
ap-1010	111	5	distribution	distribution	NOUN
ap-1010	111	6	being	be	AUX
ap-1010	111	7	shown	show	VERB
ap-1010	111	8	in	in	ADP
ap-1010	111	9	fig	fig	NOUN
ap-1010	111	10	.	.	PUNCT
ap-1010	112	1	4b	4b	PROPN
ap-1010	112	2	for	for	ADP
ap-1010	112	3	verification	verification	NOUN
ap-1010	112	4	of	of	ADP
ap-1010	112	5	the	the	DET
ap-1010	112	6	curvature	curvature	NOUN
ap-1010	112	7	continuity	continuity	NOUN
ap-1010	112	8	at	at	ADP
ap-1010	112	9	the	the	DET
ap-1010	112	10	two	two	NUM
ap-1010	112	11	blending	blend	VERB
ap-1010	112	12	points	point	NOUN
ap-1010	112	13	.	.	PUNCT
ap-1010	113	1	based	base	VERB
ap-1010	113	2	on	on	ADP
ap-1010	113	3	this	this	DET
ap-1010	113	4	mid	mid	NOUN
ap-1010	113	5	-	-	NOUN
ap-1010	113	6	curve	curve	ADJ
ap-1010	113	7	,	,	PUNCT
ap-1010	113	8	structural	structural	ADJ
ap-1010	113	9	optimization	optimization	NOUN
ap-1010	113	10	was	be	AUX
ap-1010	113	11	completed	complete	VERB
ap-1010	113	12	by	by	ADP
ap-1010	113	13	considering	consider	VERB
ap-1010	113	14	the	the	DET
ap-1010	113	15	cross	cross	NOUN
ap-1010	113	16	-	-	NOUN
ap-1010	113	17	section	section	NOUN
ap-1010	113	18	at	at	ADP
ap-1010	113	19	each	each	DET
ap-1010	113	20	point	point	NOUN
ap-1010	113	21	of	of	ADP
ap-1010	113	22	the	the	DET
ap-1010	113	23	curve	curve	NOUN
ap-1010	113	24	.	.	PUNCT
ap-1010	114	1	the	the	DET
ap-1010	114	2	overall	overall	ADJ
ap-1010	114	3	stress	stress	NOUN
ap-1010	114	4	analysis	analysis	NOUN
ap-1010	114	5	on	on	ADP
ap-1010	114	6	an	an	DET
ap-1010	114	7	optimized	optimize	VERB
ap-1010	114	8	link	link	NOUN
ap-1010	114	9	with	with	ADP
ap-1010	114	10	two	two	NUM
ap-1010	114	11	circular	circular	ADJ
ap-1010	114	12	cross	cross	NOUN
ap-1010	114	13	-	-	NOUN
ap-1010	114	14	sections	section	NOUN
ap-1010	114	15	at	at	ADP
ap-1010	114	16	its	its	PRON
ap-1010	114	17	ends	end	NOUN
ap-1010	114	18	is	be	AUX
ap-1010	114	19	graphically	graphically	ADV
ap-1010	114	20	displayed	display	VERB
ap-1010	114	21	in	in	ADP
ap-1010	114	22	fig	fig	NOUN
ap-1010	114	23	.	.	PUNCT
ap-1010	115	1	5	5	NUM
ap-1010	115	2	,	,	PUNCT
ap-1010	115	3	where	where	SCONJ
ap-1010	115	4	no	no	DET
ap-1010	115	5	stress	stress	NOUN
ap-1010	115	6	concentrations	concentration	NOUN
ap-1010	115	7	are	be	AUX
ap-1010	115	8	observed	observe	VERB
ap-1010	115	9	.	.	PUNCT
ap-1010	116	1	it	it	PRON
ap-1010	116	2	is	be	AUX
ap-1010	116	3	noted	note	VERB
ap-1010	116	4	that	that	SCONJ
ap-1010	116	5	the	the	DET
ap-1010	116	6	link	link	NOUN
ap-1010	116	7	fabricated	fabricate	VERB
ap-1010	116	8	,	,	PUNCT
ap-1010	116	9	shown	show	VERB
ap-1010	116	10	in	in	ADP
ap-1010	116	11	fig	fig	NOUN
ap-1010	116	12	.	.	PUNCT
ap-1010	117	1	2	2	NUM
ap-1010	117	2	,	,	PUNCT
ap-1010	117	3	exhibits	exhibit	VERB
ap-1010	117	4	a	a	DET
ap-1010	117	5	rectangular	rectangular	ADJ
ap-1010	117	6	,	,	PUNCT
ap-1010	117	7	uniform	uniform	ADJ
ap-1010	117	8	cross	cross	NOUN
ap-1010	117	9	-	-	NOUN
ap-1010	117	10	section	section	NOUN
ap-1010	117	11	,	,	PUNCT
ap-1010	117	12	which	which	PRON
ap-1010	117	13	is	be	AUX
ap-1010	117	14	cheaper	cheap	ADJ
ap-1010	117	15	to	to	PART
ap-1010	117	16	machine	machine	VERB
ap-1010	117	17	,	,	PUNCT
ap-1010	117	18	and	and	CCONJ
ap-1010	117	19	we	we	PRON
ap-1010	117	20	decided	decide	VERB
ap-1010	117	21	to	to	PART
ap-1010	117	22	adopt	adopt	VERB
ap-1010	117	23	to	to	PART
ap-1010	117	24	stay	stay	VERB
ap-1010	117	25	within	within	ADP
ap-1010	117	26	budget	budget	NOUN
ap-1010	117	27	.	.	PUNCT
ap-1010	118	1	©	©	PROPN
ap-1010	118	2	czech	czech	PROPN
ap-1010	118	3	technical	technical	PROPN
ap-1010	118	4	university	university	PROPN
ap-1010	118	5	publishing	publishing	NOUN
ap-1010	118	6	house	house	NOUN
ap-1010	118	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1010	118	8	59	59	NUM
ap-1010	118	9	acta	acta	PROPN
ap-1010	118	10	polytechnica	polytechnica	PROPN
ap-1010	118	11	vol	vol	NOUN
ap-1010	118	12	.	.	PUNCT
ap-1010	119	1	47	47	NUM
ap-1010	119	2	no	no	NOUN
ap-1010	119	3	.	.	PUNCT
ap-1010	120	1	6/2007	6/2007	NUM
ap-1010	120	2	i	i	PRON
ap-1010	120	3	�	�	VERB
ap-1010	120	4	i	i	PRON
ap-1010	121	1	[	[	X
ap-1010	121	2	mm	mm	X
ap-1010	121	3	]	]	X
ap-1010	121	4	xi	xi	X
ap-1010	122	1	[	[	X
ap-1010	122	2	mm	mm	X
ap-1010	122	3	]	]	X
ap-1010	122	4	yi	yi	NOUN
ap-1010	123	1	[	[	X
ap-1010	123	2	mm	mm	X
ap-1010	123	3	]	]	X
ap-1010	123	4	i	i	PRON
ap-1010	123	5	�	�	VERB
ap-1010	123	6	i	i	PRON
ap-1010	124	1	[	[	X
ap-1010	124	2	mm	mm	X
ap-1010	124	3	]	]	X
ap-1010	124	4	xi	xi	X
ap-1010	125	1	[	[	X
ap-1010	125	2	mm	mm	X
ap-1010	125	3	]	]	X
ap-1010	125	4	yi	yi	NOUN
ap-1010	126	1	[	[	X
ap-1010	126	2	mm	mm	X
ap-1010	126	3	]	]	X
ap-1010	126	4	0	0	NUM
ap-1010	126	5	90.3009	90.3009	NUM
ap-1010	126	6	89.5000	89.5000	NUM
ap-1010	126	7	12.0000	12.0000	NUM
ap-1010	126	8	10	10	NUM
ap-1010	126	9	87.7878	87.7878	NUM
ap-1010	126	10	60.7257	60.7257	NUM
ap-1010	126	11	63.3962	63.3962	NUM
ap-1010	126	12	1	1	NUM
ap-1010	126	13	91.2159	91.2159	NUM
ap-1010	126	14	89.3859	89.3859	NUM
ap-1010	126	15	18.1795	18.1795	NUM
ap-1010	126	16	11	11	NUM
ap-1010	126	17	86.3873	86.3873	NUM
ap-1010	126	18	55.4222	55.4222	NUM
ap-1010	126	19	66.2658	66.2658	NUM
ap-1010	126	20	2	2	NUM
ap-1010	126	21	91.9843	91.9843	NUM
ap-1010	126	22	88.7004	88.7004	NUM
ap-1010	126	23	24.3585	24.3585	NUM
ap-1010	126	24	12	12	NUM
ap-1010	126	25	84.9587	84.9587	NUM
ap-1010	126	26	49.9954	49.9954	NUM
ap-1010	126	27	68.6910	68.6910	NUM
ap-1010	126	28	3	3	NUM
ap-1010	126	29	92.4646	92.4646	NUM
ap-1010	126	30	87.3132	87.3132	NUM
ap-1010	126	31	30.4319	30.4319	NUM
ap-1010	126	32	13	13	NUM
ap-1010	126	33	83.5441	83.5441	NUM
ap-1010	126	34	44.5046	44.5046	NUM
ap-1010	126	35	70.7032	70.7032	NUM
ap-1010	126	36	4	4	NUM
ap-1010	126	37	92.6339	92.6339	NUM
ap-1010	126	38	85.2225	85.2225	NUM
ap-1010	126	39	36.3065	36.3065	NUM
ap-1010	126	40	14	14	NUM
ap-1010	126	41	82.1737	82.1737	NUM
ap-1010	126	42	38.9943	38.9943	NUM
ap-1010	126	43	72.3323	72.3323	NUM
ap-1010	126	44	5	5	NUM
ap-1010	126	45	92.4845	92.4845	NUM
ap-1010	126	46	82.4522	82.4522	NUM
ap-1010	126	47	41.8929	41.8929	NUM
ap-1010	126	48	15	15	NUM
ap-1010	126	49	80.8669	80.8669	NUM
ap-1010	126	50	33.4957	33.4957	NUM
ap-1010	126	51	73.6036	73.6036	NUM
ap-1010	126	52	6	6	NUM
ap-1010	126	53	92.0253	92.0253	NUM
ap-1010	126	54	79.0508	79.0508	NUM
ap-1010	126	55	47.1128	47.1128	NUM
ap-1010	126	56	16	16	NUM
ap-1010	126	57	79.6338	79.6338	NUM
ap-1010	126	58	28.0313	28.0313	NUM
ap-1010	126	59	74.5372	74.5372	NUM
ap-1010	126	60	7	7	NUM
ap-1010	126	61	91.2811	91.2811	NUM
ap-1010	126	62	75.0882	75.0882	NUM
ap-1010	126	63	51.9039	51.9039	NUM
ap-1010	126	64	17	17	NUM
ap-1010	126	65	78.4782	78.4782	NUM
ap-1010	126	66	22.6175	22.6175	NUM
ap-1010	126	67	75.1484	75.1484	NUM
ap-1010	126	68	8	8	NUM
ap-1010	126	69	90.2919	90.2919	NUM
ap-1010	126	70	70.6501	70.6501	NUM
ap-1010	126	71	56.2245	56.2245	NUM
ap-1010	126	72	18	18	NUM
ap-1010	126	73	77.4004	77.4004	NUM
ap-1010	126	74	17.2674	17.2674	NUM
ap-1010	126	75	75.4497	75.4497	NUM
ap-1010	126	76	9	9	NUM
ap-1010	126	77	89.1084	89.1084	NUM
ap-1010	126	78	65.8309	65.8309	NUM
ap-1010	126	79	60.0549	60.0549	NUM
ap-1010	126	80	19	19	NUM
ap-1010	126	81	76.4477	76.4477	NUM
ap-1010	126	82	12.0000	12.0000	NUM
ap-1010	126	83	75.5000	75.5000	NUM
ap-1010	126	84	table	table	NOUN
ap-1010	126	85	1	1	NUM
ap-1010	126	86	:	:	PUNCT
ap-1010	126	87	numerical	numerical	ADJ
ap-1010	126	88	results	result	NOUN
ap-1010	126	89	for	for	ADP
ap-1010	126	90	the	the	DET
ap-1010	126	91	optimum	optimum	ADJ
ap-1010	126	92	mid	mid	NOUN
ap-1010	126	93	-	-	NOUN
ap-1010	126	94	curve	curve	NOUN
ap-1010	126	95	of	of	ADP
ap-1010	126	96	the	the	DET
ap-1010	126	97	proximal	proximal	ADJ
ap-1010	126	98	link	link	NOUN
ap-1010	126	99	(	(	PUNCT
ap-1010	126	100	a	a	NOUN
ap-1010	126	101	)	)	PUNCT
ap-1010	126	102	(	(	PUNCT
ap-1010	126	103	b	b	X
ap-1010	126	104	)	)	PUNCT
ap-1010	126	105	fig	fig	NOUN
ap-1010	126	106	.	.	PUNCT
ap-1010	127	1	4	4	NUM
ap-1010	127	2	:	:	PUNCT
ap-1010	127	3	mid	mid	ADJ
ap-1010	127	4	-	-	NOUN
ap-1010	127	5	curve	curve	NOUN
ap-1010	127	6	synthesized	synthesize	VERB
ap-1010	127	7	for	for	ADP
ap-1010	127	8	the	the	DET
ap-1010	127	9	agile	agile	ADJ
ap-1010	127	10	wrist	wrist	NOUN
ap-1010	127	11	:	:	PUNCT
ap-1010	127	12	(	(	PUNCT
ap-1010	127	13	a	a	X
ap-1010	127	14	)	)	PUNCT
ap-1010	127	15	the	the	DET
ap-1010	127	16	curve	curve	NOUN
ap-1010	127	17	,	,	PUNCT
ap-1010	127	18	(	(	PUNCT
ap-1010	127	19	b	b	X
ap-1010	127	20	)	)	PUNCT
ap-1010	127	21	its	its	PRON
ap-1010	127	22	curvature	curvature	NOUN
ap-1010	127	23	distribution	distribution	NOUN
ap-1010	127	24	fig	fig	NOUN
ap-1010	127	25	.	.	PUNCT
ap-1010	128	1	5	5	NUM
ap-1010	128	2	:	:	PUNCT
ap-1010	128	3	von	von	PROPN
ap-1010	128	4	mises	mises	PROPN
ap-1010	128	5	stress	stress	VERB
ap-1010	128	6	distribution	distribution	NOUN
ap-1010	128	7	along	along	ADP
ap-1010	128	8	the	the	DET
ap-1010	128	9	optimized	optimize	VERB
ap-1010	128	10	proximal	proximal	ADJ
ap-1010	128	11	link	link	NOUN
ap-1010	128	12	(	(	PUNCT
ap-1010	128	13	thickest	thick	ADJ
ap-1010	128	14	cross	cross	NOUN
ap-1010	128	15	-	-	NOUN
ap-1010	128	16	section	section	NOUN
ap-1010	128	17	is	be	AUX
ap-1010	128	18	located	locate	VERB
ap-1010	128	19	closest	close	ADJ
ap-1010	128	20	to	to	ADP
ap-1010	128	21	the	the	DET
ap-1010	128	22	motor	motor	NOUN
ap-1010	128	23	)	)	PUNCT
ap-1010	128	24	4.2	4.2	NUM
ap-1010	128	25	the	the	DET
ap-1010	128	26	design	design	NOUN
ap-1010	128	27	of	of	ADP
ap-1010	128	28	a	a	DET
ap-1010	128	29	wrist	wrist	NOUN
ap-1010	128	30	mechanism	mechanism	NOUN
ap-1010	128	31	housing	housing	NOUN
ap-1010	128	32	the	the	DET
ap-1010	128	33	second	second	ADJ
ap-1010	128	34	example	example	NOUN
ap-1010	128	35	pertains	pertain	VERB
ap-1010	128	36	to	to	ADP
ap-1010	128	37	an	an	DET
ap-1010	128	38	innovative	innovative	ADJ
ap-1010	128	39	mechanism	mechanism	NOUN
ap-1010	128	40	,	,	PUNCT
ap-1010	128	41	a	a	DET
ap-1010	128	42	gearless	gearless	NOUN
ap-1010	128	43	pitch	pitch	NOUN
ap-1010	128	44	-	-	PUNCT
ap-1010	128	45	roll	roll	NOUN
ap-1010	128	46	wrist	wrist	NOUN
ap-1010	128	47	(	(	PUNCT
ap-1010	128	48	prw	prw	PROPN
ap-1010	128	49	)	)	PUNCT
ap-1010	129	1	[	[	X
ap-1010	129	2	13	13	NUM
ap-1010	129	3	]	]	PUNCT
ap-1010	129	4	,	,	PUNCT
ap-1010	129	5	namely	namely	ADV
ap-1010	129	6	,	,	PUNCT
ap-1010	129	7	a	a	DET
ap-1010	129	8	robotic	robotic	ADJ
ap-1010	129	9	device	device	NOUN
ap-1010	129	10	intended	intend	VERB
ap-1010	129	11	to	to	PART
ap-1010	129	12	produce	produce	VERB
ap-1010	129	13	two	two	NUM
ap-1010	129	14	-	-	PUNCT
ap-1010	129	15	degree	degree	NOUN
ap-1010	129	16	-	-	PUNCT
ap-1010	129	17	of	of	ADP
ap-1010	129	18	-	-	PUNCT
ap-1010	129	19	freedom	freedom	NOUN
ap-1010	129	20	rotations	rotation	NOUN
ap-1010	129	21	of	of	ADP
ap-1010	129	22	a	a	DET
ap-1010	129	23	robotic	robotic	ADJ
ap-1010	129	24	gripper	gripper	NOUN
ap-1010	129	25	about	about	ADP
ap-1010	129	26	a	a	DET
ap-1010	129	27	fixed	fix	VERB
ap-1010	129	28	point	point	NOUN
ap-1010	129	29	,	,	PUNCT
ap-1010	129	30	the	the	DET
ap-1010	129	31	wrist	wrist	NOUN
ap-1010	129	32	center	center	NOUN
ap-1010	129	33	.	.	PUNCT
ap-1010	130	1	conventional	conventional	ADJ
ap-1010	130	2	means	mean	NOUN
ap-1010	130	3	of	of	ADP
ap-1010	130	4	producing	produce	VERB
ap-1010	130	5	such	such	ADJ
ap-1010	130	6	motions	motion	NOUN
ap-1010	130	7	rely	rely	VERB
ap-1010	130	8	on	on	ADP
ap-1010	130	9	a	a	DET
ap-1010	130	10	bevel	bevel	NOUN
ap-1010	130	11	-	-	PUNCT
ap-1010	130	12	gear	gear	NOUN
ap-1010	130	13	differential	differential	NOUN
ap-1010	130	14	train	train	NOUN
ap-1010	130	15	,	,	PUNCT
ap-1010	130	16	similar	similar	ADJ
ap-1010	130	17	to	to	ADP
ap-1010	130	18	those	those	PRON
ap-1010	130	19	found	find	VERB
ap-1010	130	20	in	in	ADP
ap-1010	130	21	automotive	automotive	ADJ
ap-1010	130	22	driving	driving	NOUN
ap-1010	130	23	-	-	PUNCT
ap-1010	130	24	wheel	wheel	NOUN
ap-1010	130	25	axes	axis	NOUN
ap-1010	130	26	.	.	PUNCT
ap-1010	131	1	moreover	moreover	ADV
ap-1010	131	2	,	,	PUNCT
ap-1010	131	3	such	such	ADJ
ap-1010	131	4	trains	train	NOUN
ap-1010	131	5	,	,	PUNCT
ap-1010	131	6	in	in	ADP
ap-1010	131	7	robotic	robotic	ADJ
ap-1010	131	8	wrists	wrist	NOUN
ap-1010	131	9	,	,	PUNCT
ap-1010	131	10	invariably	invariably	ADV
ap-1010	131	11	bear	bear	VERB
ap-1010	131	12	straight	straight	ADJ
ap-1010	131	13	-	-	PUNCT
ap-1010	131	14	tooth	tooth	NOUN
ap-1010	131	15	bevel	bevel	NOUN
ap-1010	131	16	gears	gear	NOUN
ap-1010	131	17	,	,	PUNCT
ap-1010	131	18	which	which	PRON
ap-1010	131	19	are	be	AUX
ap-1010	131	20	the	the	DET
ap-1010	131	21	source	source	NOUN
ap-1010	131	22	of	of	ADP
ap-1010	131	23	noise	noise	NOUN
ap-1010	131	24	and	and	CCONJ
ap-1010	131	25	significant	significant	ADJ
ap-1010	131	26	power	power	NOUN
ap-1010	131	27	losses	loss	NOUN
ap-1010	131	28	.	.	PUNCT
ap-1010	132	1	in	in	ADP
ap-1010	132	2	an	an	DET
ap-1010	132	3	attempt	attempt	NOUN
ap-1010	132	4	to	to	PART
ap-1010	132	5	overcome	overcome	VERB
ap-1010	132	6	these	these	DET
ap-1010	132	7	drawbacks	drawback	NOUN
ap-1010	132	8	,	,	PUNCT
ap-1010	132	9	a	a	DET
ap-1010	132	10	prw	prw	NOUN
ap-1010	132	11	is	be	AUX
ap-1010	132	12	being	be	AUX
ap-1010	132	13	designed	design	VERB
ap-1010	132	14	at	at	ADP
ap-1010	132	15	the	the	DET
ap-1010	132	16	robotic	robotic	ADJ
ap-1010	132	17	mechanical	mechanical	ADJ
ap-1010	132	18	systems	system	NOUN
ap-1010	132	19	laboratory	laboratory	NOUN
ap-1010	132	20	,	,	PUNCT
ap-1010	132	21	mcgill	mcgill	PROPN
ap-1010	132	22	university	university	PROPN
ap-1010	132	23	,	,	PUNCT
ap-1010	132	24	montreal	montreal	PROPN
ap-1010	132	25	,	,	PUNCT
ap-1010	132	26	as	as	SCONJ
ap-1010	132	27	depicted	depict	VERB
ap-1010	132	28	in	in	ADP
ap-1010	132	29	fig	fig	NOUN
ap-1010	132	30	.	.	PUNCT
ap-1010	133	1	6a	6a	NOUN
ap-1010	133	2	,	,	PUNCT
ap-1010	133	3	with	with	ADP
ap-1010	133	4	gears	gear	NOUN
ap-1010	133	5	replaced	replace	VERB
ap-1010	133	6	by	by	ADP
ap-1010	133	7	cam	cam	NOUN
ap-1010	133	8	-	-	PUNCT
ap-1010	133	9	roller	roller	NOUN
ap-1010	133	10	pairs	pair	NOUN
ap-1010	133	11	.	.	PUNCT
ap-1010	134	1	the	the	DET
ap-1010	134	2	key	key	ADJ
ap-1010	134	3	component	component	NOUN
ap-1010	134	4	of	of	ADP
ap-1010	134	5	the	the	DET
ap-1010	134	6	mechanism	mechanism	NOUN
ap-1010	134	7	is	be	AUX
ap-1010	134	8	an	an	DET
ap-1010	134	9	array	array	NOUN
ap-1010	134	10	of	of	ADP
ap-1010	134	11	spherical	spherical	ADJ
ap-1010	134	12	stephenson	stephenson	NOUN
ap-1010	134	13	mechanisms	mechanism	NOUN
ap-1010	134	14	(	(	PUNCT
ap-1010	134	15	ssms	ssm	NOUN
ap-1010	134	16	)	)	PUNCT
ap-1010	134	17	used	use	VERB
ap-1010	134	18	to	to	PART
ap-1010	134	19	transmit	transmit	VERB
ap-1010	134	20	the	the	DET
ap-1010	134	21	power	power	NOUN
ap-1010	134	22	from	from	ADP
ap-1010	134	23	the	the	DET
ap-1010	134	24	two	two	NUM
ap-1010	134	25	independent	independent	ADJ
ap-1010	134	26	cam	cam	NOUN
ap-1010	134	27	rotations	rotation	NOUN
ap-1010	134	28	to	to	ADP
ap-1010	134	29	the	the	DET
ap-1010	134	30	gripper	gripper	NOUN
ap-1010	134	31	,	,	PUNCT
ap-1010	134	32	as	as	SCONJ
ap-1010	134	33	illustrated	illustrate	VERB
ap-1010	134	34	in	in	ADP
ap-1010	134	35	fig	fig	NOUN
ap-1010	134	36	.	.	PUNCT
ap-1010	135	1	6b	6b	NOUN
ap-1010	135	2	.	.	PUNCT
ap-1010	136	1	the	the	DET
ap-1010	136	2	two	two	NUM
ap-1010	136	3	cams	cam	NOUN
ap-1010	136	4	are	be	AUX
ap-1010	136	5	driven	drive	VERB
ap-1010	136	6	by	by	ADP
ap-1010	136	7	the	the	DET
ap-1010	136	8	motion	motion	NOUN
ap-1010	136	9	of	of	ADP
ap-1010	136	10	the	the	DET
ap-1010	136	11	two	two	NUM
ap-1010	136	12	roller	roller	NOUN
ap-1010	136	13	-	-	PUNCT
ap-1010	136	14	carrying	carry	VERB
ap-1010	136	15	disks	disk	NOUN
ap-1010	136	16	of	of	ADP
ap-1010	136	17	fig	fig	NOUN
ap-1010	136	18	.	.	PUNCT
ap-1010	137	1	6a	6a	NOUN
ap-1010	137	2	,	,	PUNCT
ap-1010	137	3	which	which	PRON
ap-1010	137	4	are	be	AUX
ap-1010	137	5	rigidly	rigidly	ADV
ap-1010	137	6	coupled	couple	VERB
ap-1010	137	7	to	to	ADP
ap-1010	137	8	their	their	PRON
ap-1010	137	9	respective	respective	ADJ
ap-1010	137	10	motors	motor	NOUN
ap-1010	137	11	.	.	PUNCT
ap-1010	138	1	when	when	SCONJ
ap-1010	138	2	the	the	DET
ap-1010	138	3	two	two	NUM
ap-1010	138	4	face	face	NOUN
ap-1010	138	5	-	-	PUNCT
ap-1010	138	6	to	to	ADP
ap-1010	138	7	-	-	PUNCT
ap-1010	138	8	face	face	NOUN
ap-1010	138	9	motors	motor	NOUN
ap-1010	138	10	turn	turn	VERB
ap-1010	138	11	at	at	ADP
ap-1010	138	12	opposite	opposite	ADJ
ap-1010	138	13	angular	angular	ADJ
ap-1010	138	14	velocities	velocity	NOUN
ap-1010	138	15	of	of	ADP
ap-1010	138	16	identical	identical	ADJ
ap-1010	138	17	absolute	absolute	ADJ
ap-1010	138	18	values	value	NOUN
ap-1010	138	19	,	,	PUNCT
ap-1010	138	20	the	the	DET
ap-1010	138	21	whole	whole	ADJ
ap-1010	138	22	array	array	NOUN
ap-1010	138	23	turns	turn	VERB
ap-1010	138	24	about	about	ADP
ap-1010	138	25	the	the	DET
ap-1010	138	26	common	common	ADJ
ap-1010	138	27	axis	axis	NOUN
ap-1010	138	28	of	of	ADP
ap-1010	138	29	the	the	DET
ap-1010	138	30	two	two	NUM
ap-1010	138	31	cams	cam	NOUN
ap-1010	138	32	,	,	PUNCT
ap-1010	138	33	as	as	ADP
ap-1010	138	34	a	a	DET
ap-1010	138	35	single	single	ADJ
ap-1010	138	36	rigid	rigid	ADJ
ap-1010	138	37	body	body	NOUN
ap-1010	138	38	(	(	PUNCT
ap-1010	138	39	pitch);	pitch);	PROPN
ap-1010	138	40	when	when	SCONJ
ap-1010	138	41	the	the	DET
ap-1010	138	42	two	two	NUM
ap-1010	138	43	motors	motor	NOUN
ap-1010	138	44	turn	turn	VERB
ap-1010	138	45	at	at	ADP
ap-1010	138	46	identical	identical	ADJ
ap-1010	138	47	angular	angular	ADJ
ap-1010	138	48	velocities	velocity	NOUN
ap-1010	138	49	,	,	PUNCT
ap-1010	138	50	the	the	DET
ap-1010	138	51	plane	plane	NOUN
ap-1010	138	52	containing	contain	VERB
ap-1010	138	53	the	the	DET
ap-1010	138	54	four	four	NUM
ap-1010	138	55	spherical	spherical	ADJ
ap-1010	138	56	-	-	PUNCT
ap-1010	138	57	linkage	linkage	NOUN
ap-1010	138	58	centers	center	NOUN
ap-1010	138	59	remains	remain	VERB
ap-1010	138	60	stationary	stationary	ADJ
ap-1010	138	61	,	,	PUNCT
ap-1010	138	62	but	but	CCONJ
ap-1010	138	63	the	the	DET
ap-1010	138	64	gripper	gripper	NOUN
ap-1010	138	65	turns	turn	VERB
ap-1010	138	66	about	about	ADP
ap-1010	138	67	its	its	PRON
ap-1010	138	68	axis	axis	NOUN
ap-1010	138	69	(	(	PUNCT
ap-1010	138	70	roll	roll	NOUN
ap-1010	138	71	)	)	PUNCT
ap-1010	138	72	.	.	PUNCT
ap-1010	139	1	the	the	DET
ap-1010	139	2	array	array	NOUN
ap-1010	139	3	must	must	AUX
ap-1010	139	4	be	be	AUX
ap-1010	139	5	supported	support	VERB
ap-1010	139	6	by	by	ADP
ap-1010	139	7	a	a	DET
ap-1010	139	8	housing	housing	NOUN
ap-1010	139	9	that	that	PRON
ap-1010	139	10	doubles	double	VERB
ap-1010	139	11	as	as	SCONJ
ap-1010	139	12	a	a	DET
ap-1010	139	13	protection	protection	NOUN
ap-1010	139	14	means	mean	VERB
ap-1010	139	15	to	to	PART
ap-1010	139	16	isolate	isolate	VERB
ap-1010	139	17	the	the	DET
ap-1010	139	18	spherical	spherical	ADJ
ap-1010	139	19	linkages	linkage	NOUN
ap-1010	139	20	from	from	ADP
ap-1010	139	21	the	the	DET
ap-1010	139	22	environment	environment	NOUN
ap-1010	139	23	dust	dust	NOUN
ap-1010	139	24	and	and	CCONJ
ap-1010	139	25	dirt	dirt	NOUN
ap-1010	139	26	.	.	PUNCT
ap-1010	140	1	one	one	NUM
ap-1010	140	2	approach	approach	NOUN
ap-1010	140	3	in	in	ADP
ap-1010	140	4	designing	design	VERB
ap-1010	140	5	the	the	DET
ap-1010	140	6	housing	housing	NOUN
ap-1010	140	7	is	be	AUX
ap-1010	140	8	to	to	PART
ap-1010	140	9	make	make	VERB
ap-1010	140	10	use	use	NOUN
ap-1010	140	11	of	of	ADP
ap-1010	140	12	lamé	lamé	NOUN
ap-1010	140	13	curves	curve	NOUN
ap-1010	140	14	[	[	X
ap-1010	140	15	14	14	NUM
ap-1010	140	16	]	]	PUNCT
ap-1010	140	17	,	,	PUNCT
ap-1010	140	18	which	which	PRON
ap-1010	140	19	are	be	AUX
ap-1010	140	20	given	give	VERB
ap-1010	140	21	by	by	ADP
ap-1010	140	22	the	the	DET
ap-1010	140	23	implicit	implicit	ADJ
ap-1010	140	24	function	function	NOUN
ap-1010	140	25	x	x	PUNCT
ap-1010	140	26	a	a	DET
ap-1010	140	27	y	y	PROPN
ap-1010	140	28	b	b	PROPN
ap-1010	140	29	p	p	X
ap-1010	140	30	p	p	PROPN
ap-1010	140	31	�	�	PROPN
ap-1010	140	32	�	�	PROPN
ap-1010	140	33	1	1	NUM
ap-1010	140	34	,	,	PUNCT
ap-1010	140	35	(	(	PUNCT
ap-1010	140	36	21	21	NUM
ap-1010	140	37	)	)	PUNCT
ap-1010	140	38	where	where	SCONJ
ap-1010	140	39	p	p	NOUN
ap-1010	140	40	is	be	AUX
ap-1010	140	41	an	an	DET
ap-1010	140	42	integer	integer	NOUN
ap-1010	140	43	and	and	CCONJ
ap-1010	140	44	a	a	PRON
ap-1010	140	45	and	and	CCONJ
ap-1010	140	46	b	b	NOUN
ap-1010	140	47	are	be	AUX
ap-1010	140	48	real	real	ADJ
ap-1010	140	49	numbers	number	NOUN
ap-1010	140	50	that	that	PRON
ap-1010	140	51	determine	determine	VERB
ap-1010	140	52	the	the	DET
ap-1010	140	53	dimensions	dimension	NOUN
ap-1010	140	54	,	,	PUNCT
ap-1010	140	55	2	2	NUM
ap-1010	140	56	2a	2a	NUM
ap-1010	140	57	b	b	X
ap-1010	140	58	�	�	PROPN
ap-1010	140	59	,	,	PUNCT
ap-1010	140	60	of	of	ADP
ap-1010	140	61	the	the	DET
ap-1010	140	62	box	box	NOUN
ap-1010	140	63	circumscribing	circumscribe	VERB
ap-1010	140	64	the	the	DET
ap-1010	140	65	curve	curve	NOUN
ap-1010	140	66	.	.	PUNCT
ap-1010	141	1	a	a	DET
ap-1010	141	2	prw	prw	PROPN
ap-1010	141	3	housing	housing	NOUN
ap-1010	141	4	design	design	NOUN
ap-1010	141	5	[	[	X
ap-1010	141	6	15	15	NUM
ap-1010	141	7	]	]	PUNCT
ap-1010	141	8	is	be	AUX
ap-1010	141	9	shown	show	VERB
ap-1010	141	10	in	in	ADP
ap-1010	141	11	fig	fig	NOUN
ap-1010	141	12	.	.	PUNCT
ap-1010	142	1	7	7	NUM
ap-1010	142	2	,	,	PUNCT
ap-1010	142	3	which	which	PRON
ap-1010	142	4	is	be	AUX
ap-1010	142	5	based	base	VERB
ap-1010	142	6	on	on	ADP
ap-1010	142	7	lamé	lamé	NOUN
ap-1010	142	8	curves	curve	NOUN
ap-1010	142	9	,	,	PUNCT
ap-1010	142	10	with	with	ADP
ap-1010	142	11	p	p	PROPN
ap-1010	142	12	�	�	PROPN
ap-1010	142	13	4	4	NUM
ap-1010	142	14	for	for	ADP
ap-1010	142	15	the	the	DET
ap-1010	142	16	inner	inner	ADJ
ap-1010	142	17	surface	surface	NOUN
ap-1010	142	18	,	,	PUNCT
ap-1010	142	19	and	and	CCONJ
ap-1010	142	20	p	p	PROPN
ap-1010	142	21	�	�	PROPN
ap-1010	142	22	6	6	NUM
ap-1010	142	23	for	for	ADP
ap-1010	142	24	its	its	PRON
ap-1010	142	25	outer	outer	ADJ
ap-1010	142	26	counterpart	counterpart	NOUN
ap-1010	142	27	.	.	PUNCT
ap-1010	143	1	in	in	ADP
ap-1010	143	2	most	most	ADJ
ap-1010	143	3	common	common	ADJ
ap-1010	143	4	applications	application	NOUN
ap-1010	143	5	,	,	PUNCT
ap-1010	143	6	lamé	lamé	NOUN
ap-1010	143	7	curves	curve	NOUN
ap-1010	143	8	are	be	AUX
ap-1010	143	9	needed	need	VERB
ap-1010	143	10	only	only	ADV
ap-1010	143	11	in	in	ADP
ap-1010	143	12	the	the	DET
ap-1010	143	13	first	first	ADJ
ap-1010	143	14	quadrant	quadrant	NOUN
ap-1010	143	15	,	,	PUNCT
ap-1010	143	16	at	at	ADP
ap-1010	143	17	which	which	PRON
ap-1010	143	18	we	we	PRON
ap-1010	143	19	can	can	AUX
ap-1010	143	20	dispense	dispense	VERB
ap-1010	143	21	with	with	ADP
ap-1010	143	22	the	the	DET
ap-1010	143	23	absolute	absolute	ADJ
ap-1010	143	24	-	-	PUNCT
ap-1010	143	25	value	value	NOUN
ap-1010	143	26	signs	sign	NOUN
ap-1010	143	27	,	,	PUNCT
ap-1010	143	28	and	and	CCONJ
ap-1010	143	29	rewrite	rewrite	VERB
ap-1010	143	30	eq	eq	ADP
ap-1010	143	31	.	.	PUNCT
ap-1010	144	1	(	(	PUNCT
ap-1010	144	2	21	21	NUM
ap-1010	144	3	)	)	PUNCT
ap-1010	144	4	as	as	ADP
ap-1010	144	5	x	x	X
ap-1010	144	6	a	a	PRON
ap-1010	144	7	y	y	PROPN
ap-1010	144	8	b	b	PROPN
ap-1010	144	9	p	p	X
ap-1010	144	10	p	p	PROPN
ap-1010	144	11	�	�	PROPN
ap-1010	144	12	�	�	PROPN
ap-1010	144	13	�	�	PROPN
ap-1010	144	14	�	�	PROPN
ap-1010	144	15	�	�	PROPN
ap-1010	144	16	�	�	PROPN
ap-1010	144	17	�	�	PROPN
ap-1010	144	18	�	�	PROPN
ap-1010	144	19	�	�	PROPN
ap-1010	144	20	�	�	PROPN
ap-1010	144	21	�	�	PROPN
ap-1010	144	22	�	�	PROPN
ap-1010	144	23	�	�	PROPN
ap-1010	144	24	�	�	PROPN
ap-1010	144	25	1	1	NUM
ap-1010	144	26	,	,	PUNCT
ap-1010	144	27	0	0	NUM
ap-1010	144	28	1	1	NUM
ap-1010	144	29	�	�	PROPN
ap-1010	144	30	�	�	PROPN
ap-1010	144	31	x	x	PROPN
ap-1010	144	32	,	,	PUNCT
ap-1010	144	33	0	0	NUM
ap-1010	144	34	1	1	NUM
ap-1010	144	35	�	�	PROPN
ap-1010	144	36	�	�	PROPN
ap-1010	144	37	y	y	PROPN
ap-1010	144	38	.	.	PUNCT
ap-1010	145	1	(	(	PUNCT
ap-1010	145	2	22	22	NUM
ap-1010	145	3	)	)	PUNCT
ap-1010	145	4	in	in	ADP
ap-1010	145	5	any	any	DET
ap-1010	145	6	event	event	NOUN
ap-1010	145	7	,	,	PUNCT
ap-1010	145	8	moreover	moreover	ADV
ap-1010	145	9	,	,	PUNCT
ap-1010	145	10	the	the	DET
ap-1010	145	11	curvature	curvature	NOUN
ap-1010	145	12	of	of	ADP
ap-1010	145	13	these	these	DET
ap-1010	145	14	curves	curve	NOUN
ap-1010	145	15	at	at	ADP
ap-1010	145	16	the	the	DET
ap-1010	145	17	points	point	NOUN
ap-1010	145	18	of	of	ADP
ap-1010	145	19	intersection	intersection	NOUN
ap-1010	145	20	with	with	ADP
ap-1010	145	21	the	the	DET
ap-1010	145	22	coordinate	coordinate	NOUN
ap-1010	145	23	axes	axis	NOUN
ap-1010	145	24	vanishes	vanish	VERB
ap-1010	145	25	,	,	PUNCT
ap-1010	145	26	thereby	thereby	ADV
ap-1010	145	27	allowing	allow	VERB
ap-1010	145	28	for	for	ADP
ap-1010	145	29	g2	g2	NOUN
ap-1010	145	30	-	-	PUNCT
ap-1010	145	31	continuity	continuity	NOUN
ap-1010	145	32	at	at	ADP
ap-1010	145	33	the	the	DET
ap-1010	145	34	points	point	NOUN
ap-1010	145	35	of	of	ADP
ap-1010	145	36	blending	blend	VERB
ap-1010	145	37	with	with	ADP
ap-1010	145	38	two	two	NUM
ap-1010	145	39	line	line	NOUN
ap-1010	145	40	segments	segment	NOUN
ap-1010	145	41	at	at	ADP
ap-1010	145	42	90	90	NUM
ap-1010	145	43	°	°	NOUN
ap-1010	145	44	.	.	PUNCT
ap-1010	146	1	while	while	SCONJ
ap-1010	146	2	lamé	lamé	NOUN
ap-1010	146	3	curves	curve	NOUN
ap-1010	146	4	,	,	PUNCT
ap-1010	146	5	in	in	ADP
ap-1010	146	6	the	the	DET
ap-1010	146	7	foregoing	forego	VERB
ap-1010	146	8	case	case	NOUN
ap-1010	146	9	,	,	PUNCT
ap-1010	146	10	provide	provide	VERB
ap-1010	146	11	a	a	DET
ap-1010	146	12	thicker	thick	ADJ
ap-1010	146	13	cross	cross	NOUN
ap-1010	146	14	section	section	NOUN
ap-1010	146	15	at	at	ADP
ap-1010	146	16	the	the	DET
ap-1010	146	17	points	point	NOUN
ap-1010	146	18	of	of	ADP
ap-1010	146	19	maximum	maximum	ADJ
ap-1010	146	20	curvature	curvature	NOUN
ap-1010	146	21	,	,	PUNCT
ap-1010	146	22	a	a	DET
ap-1010	146	23	plus	plus	NOUN
ap-1010	146	24	for	for	ADP
ap-1010	146	25	the	the	DET
ap-1010	146	26	curves	curve	NOUN
ap-1010	146	27	,	,	PUNCT
ap-1010	146	28	the	the	DET
ap-1010	146	29	additional	additional	ADJ
ap-1010	146	30	material	material	NOUN
ap-1010	146	31	,	,	PUNCT
ap-1010	146	32	placed	place	VERB
ap-1010	146	33	at	at	ADP
ap-1010	146	34	a	a	DET
ap-1010	146	35	distant	distant	ADJ
ap-1010	146	36	location	location	NOUN
ap-1010	146	37	from	from	ADP
ap-1010	146	38	the	the	DET
ap-1010	146	39	cam	cam	NOUN
ap-1010	146	40	axis	axis	NOUN
ap-1010	146	41	,	,	PUNCT
ap-1010	146	42	adds	add	VERB
ap-1010	146	43	significantly	significantly	ADV
ap-1010	146	44	to	to	ADP
ap-1010	146	45	the	the	DET
ap-1010	146	46	moment	moment	NOUN
ap-1010	146	47	of	of	ADP
ap-1010	146	48	inertia	inertia	NOUN
ap-1010	146	49	of	of	ADP
ap-1010	146	50	the	the	DET
ap-1010	146	51	whole	whole	ADJ
ap-1010	146	52	device	device	NOUN
ap-1010	146	53	.	.	PUNCT
ap-1010	147	1	an	an	DET
ap-1010	147	2	alternative	alternative	ADJ
ap-1010	147	3	design	design	NOUN
ap-1010	147	4	is	be	AUX
ap-1010	147	5	thus	thus	ADV
ap-1010	147	6	desirable	desirable	ADJ
ap-1010	147	7	to	to	PART
ap-1010	147	8	replace	replace	VERB
ap-1010	147	9	the	the	DET
ap-1010	147	10	current	current	ADJ
ap-1010	147	11	housing	housing	NOUN
ap-1010	147	12	shape	shape	NOUN
ap-1010	147	13	by	by	ADP
ap-1010	147	14	means	mean	NOUN
ap-1010	147	15	of	of	ADP
ap-1010	147	16	a	a	DET
ap-1010	147	17	new	new	ADJ
ap-1010	147	18	shape	shape	NOUN
ap-1010	147	19	that	that	PRON
ap-1010	147	20	is	be	AUX
ap-1010	147	21	free	free	ADJ
ap-1010	147	22	of	of	ADP
ap-1010	147	23	the	the	DET
ap-1010	147	24	drawbacks	drawback	NOUN
ap-1010	147	25	of	of	ADP
ap-1010	147	26	lamé	lamé	NOUN
ap-1010	147	27	curves	curve	NOUN
ap-1010	147	28	.	.	PUNCT
ap-1010	148	1	the	the	DET
ap-1010	148	2	new	new	ADJ
ap-1010	148	3	housing	housing	NOUN
ap-1010	148	4	is	be	AUX
ap-1010	148	5	to	to	PART
ap-1010	148	6	have	have	VERB
ap-1010	148	7	both	both	PRON
ap-1010	148	8	uniform	uniform	ADJ
ap-1010	148	9	thickness	thickness	NOUN
ap-1010	148	10	and	and	CCONJ
ap-1010	148	11	zero	zero	NUM
ap-1010	148	12	curvature	curvature	NOUN
ap-1010	148	13	at	at	ADP
ap-1010	148	14	the	the	DET
ap-1010	148	15	blending	blend	VERB
ap-1010	148	16	points	point	NOUN
ap-1010	148	17	with	with	ADP
ap-1010	148	18	the	the	DET
ap-1010	148	19	straight	straight	ADJ
ap-1010	148	20	bearing	bear	VERB
ap-1010	148	21	housings	housing	NOUN
ap-1010	148	22	.	.	PUNCT
ap-1010	149	1	the	the	DET
ap-1010	149	2	profile	profile	NOUN
ap-1010	149	3	of	of	ADP
ap-1010	149	4	a	a	DET
ap-1010	149	5	new	new	ADJ
ap-1010	149	6	design	design	NOUN
ap-1010	149	7	is	be	AUX
ap-1010	149	8	displayed	display	VERB
ap-1010	149	9	in	in	ADP
ap-1010	149	10	fig	fig	NOUN
ap-1010	149	11	.	.	PUNCT
ap-1010	150	1	8a	8a	NUM
ap-1010	150	2	,	,	PUNCT
ap-1010	150	3	which	which	PRON
ap-1010	150	4	was	be	AUX
ap-1010	150	5	generated	generate	VERB
ap-1010	150	6	based	base	VERB
ap-1010	150	7	on	on	ADP
ap-1010	150	8	non	non	ADJ
ap-1010	150	9	-	-	ADJ
ap-1010	150	10	parametric	parametric	ADJ
ap-1010	150	11	cubic	cubic	ADJ
ap-1010	150	12	splines	spline	NOUN
ap-1010	150	13	.	.	PUNCT
ap-1010	151	1	the	the	DET
ap-1010	151	2	numerical	numerical	ADJ
ap-1010	151	3	results	result	NOUN
ap-1010	151	4	,	,	PUNCT
ap-1010	151	5	namely	namely	ADV
ap-1010	151	6	,	,	PUNCT
ap-1010	151	7	the	the	DET
ap-1010	151	8	values	value	NOUN
ap-1010	151	9	of	of	ADP
ap-1010	151	10	the	the	DET
ap-1010	151	11	�	�	NOUN
ap-1010	151	12	-coordinate	-coordinate	NOUN
ap-1010	151	13	at	at	ADP
ap-1010	151	14	the	the	DET
ap-1010	151	15	unknown	unknown	ADJ
ap-1010	151	16	supporting	support	VERB
ap-1010	151	17	points	point	NOUN
ap-1010	151	18	,	,	PUNCT
ap-1010	151	19	are	be	AUX
ap-1010	151	20	listed	list	VERB
ap-1010	151	21	in	in	ADP
ap-1010	151	22	table	table	NOUN
ap-1010	151	23	2	2	NUM
ap-1010	151	24	.	.	PUNCT
ap-1010	152	1	in	in	ADP
ap-1010	152	2	this	this	DET
ap-1010	152	3	case	case	NOUN
ap-1010	152	4	,	,	PUNCT
ap-1010	152	5	a	a	DET
ap-1010	152	6	�	�	PROPN
ap-1010	152	7	198	198	NUM
ap-1010	152	8	mm	mm	PROPN
ap-1010	152	9	,	,	PUNCT
ap-1010	152	10	b	b	PROPN
ap-1010	152	11	�	�	PROPN
ap-1010	152	12	98	98	NUM
ap-1010	152	13	mm	mm	NOUN
ap-1010	152	14	,	,	PUNCT
ap-1010	152	15	the	the	DET
ap-1010	152	16	half	half	ADJ
ap-1010	152	17	-	-	PUNCT
ap-1010	152	18	length	length	NOUN
ap-1010	152	19	of	of	ADP
ap-1010	152	20	the	the	DET
ap-1010	152	21	horizontal	horizontal	ADJ
ap-1010	152	22	line	line	NOUN
ap-1010	152	23	being	be	AUX
ap-1010	152	24	equal	equal	ADJ
ap-1010	152	25	to	to	ADP
ap-1010	152	26	100	100	NUM
ap-1010	152	27	mm	mm	NOUN
ap-1010	152	28	and	and	CCONJ
ap-1010	152	29	the	the	DET
ap-1010	152	30	half	half	ADJ
ap-1010	152	31	-	-	PUNCT
ap-1010	152	32	length	length	NOUN
ap-1010	152	33	of	of	ADP
ap-1010	152	34	its	its	PRON
ap-1010	152	35	vertical	vertical	ADJ
ap-1010	152	36	counterpart	counterpart	NOUN
ap-1010	152	37	being	be	AUX
ap-1010	152	38	equal	equal	ADJ
ap-1010	152	39	to	to	ADP
ap-1010	152	40	20	20	NUM
ap-1010	152	41	mm	mm	NOUN
ap-1010	152	42	.	.	PUNCT
ap-1010	153	1	a	a	DET
ap-1010	153	2	lamé	lamé	NOUN
ap-1010	153	3	curve	curve	NOUN
ap-1010	153	4	with	with	ADP
ap-1010	153	5	p	p	PROPN
ap-1010	153	6	�	�	PROPN
ap-1010	153	7	4	4	NUM
ap-1010	153	8	is	be	AUX
ap-1010	153	9	displayed	display	VERB
ap-1010	153	10	in	in	ADP
ap-1010	153	11	fig	fig	NOUN
ap-1010	153	12	.	.	PUNCT
ap-1010	154	1	8a	8a	PROPN
ap-1010	154	2	together	together	ADV
ap-1010	154	3	with	with	ADP
ap-1010	154	4	the	the	DET
ap-1010	154	5	synthesized	synthesize	VERB
ap-1010	154	6	curve	curve	NOUN
ap-1010	154	7	for	for	ADP
ap-1010	154	8	comparison	comparison	NOUN
ap-1010	154	9	.	.	PUNCT
ap-1010	155	1	the	the	DET
ap-1010	155	2	curvature	curvature	NOUN
ap-1010	155	3	distributions	distribution	NOUN
ap-1010	155	4	of	of	ADP
ap-1010	155	5	the	the	DET
ap-1010	155	6	two	two	NUM
ap-1010	155	7	curves	curve	NOUN
ap-1010	155	8	are	be	AUX
ap-1010	155	9	shown	show	VERB
ap-1010	155	10	in	in	ADP
ap-1010	155	11	fig	fig	NOUN
ap-1010	155	12	.	.	PUNCT
ap-1010	156	1	8b	8b	NUM
ap-1010	156	2	,	,	PUNCT
ap-1010	156	3	which	which	PRON
ap-1010	156	4	indicates	indicate	VERB
ap-1010	156	5	that	that	SCONJ
ap-1010	156	6	the	the	DET
ap-1010	156	7	synthesized	synthesize	VERB
ap-1010	156	8	curve	curve	NOUN
ap-1010	156	9	has	have	VERB
ap-1010	156	10	a	a	DET
ap-1010	156	11	lower	low	ADJ
ap-1010	156	12	maximum	maximum	ADJ
ap-1010	156	13	curvature	curvature	NOUN
ap-1010	156	14	value	value	NOUN
ap-1010	156	15	,	,	PUNCT
ap-1010	156	16	implying	imply	VERB
ap-1010	156	17	a	a	DET
ap-1010	156	18	higher	higher	ADV
ap-1010	156	19	allowable	allowable	ADJ
ap-1010	156	20	bending	bending	NOUN
ap-1010	156	21	moment	moment	NOUN
ap-1010	156	22	.	.	PUNCT
ap-1010	157	1	the	the	DET
ap-1010	157	2	rms	rm	NOUN
ap-1010	157	3	value	value	NOUN
ap-1010	157	4	of	of	ADP
ap-1010	157	5	the	the	DET
ap-1010	157	6	curvature	curvature	NOUN
ap-1010	157	7	of	of	ADP
ap-1010	157	8	the	the	DET
ap-1010	157	9	synthesized	synthesize	VERB
ap-1010	157	10	curve	curve	NOUN
ap-1010	157	11	is	be	AUX
ap-1010	157	12	0.0119	0.0119	NUM
ap-1010	157	13	mm	mm	NUM
ap-1010	157	14	�	�	PROPN
ap-1010	157	15	1	1	NUM
ap-1010	157	16	,	,	PUNCT
ap-1010	157	17	as	as	SCONJ
ap-1010	157	18	compared	compare	VERB
ap-1010	157	19	with	with	ADP
ap-1010	157	20	0.0142	0.0142	NUM
ap-1010	157	21	mm	mm	NUM
ap-1010	157	22	�	�	PROPN
ap-1010	157	23	1	1	NUM
ap-1010	157	24	of	of	ADP
ap-1010	157	25	the	the	DET
ap-1010	157	26	lamé	lamé	NOUN
ap-1010	157	27	curve	curve	NOUN
ap-1010	157	28	with	with	ADP
ap-1010	157	29	p	p	PROPN
ap-1010	157	30	�	�	PROPN
ap-1010	157	31	4	4	NUM
ap-1010	157	32	.	.	PUNCT
ap-1010	158	1	a	a	DET
ap-1010	158	2	new	new	ADJ
ap-1010	158	3	housing	housing	NOUN
ap-1010	158	4	is	be	AUX
ap-1010	158	5	currently	currently	ADV
ap-1010	158	6	under	under	ADP
ap-1010	158	7	design	design	NOUN
ap-1010	158	8	.	.	PUNCT
ap-1010	159	1	60	60	NUM
ap-1010	159	2	©	©	PROPN
ap-1010	159	3	czech	czech	PROPN
ap-1010	159	4	technical	technical	PROPN
ap-1010	159	5	university	university	PROPN
ap-1010	159	6	publishing	publishing	NOUN
ap-1010	159	7	house	house	NOUN
ap-1010	159	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1010	159	9	acta	acta	PROPN
ap-1010	159	10	polytechnica	polytechnica	PROPN
ap-1010	159	11	vol	vol	NOUN
ap-1010	159	12	.	.	PUNCT
ap-1010	160	1	47	47	NUM
ap-1010	160	2	no	no	NOUN
ap-1010	160	3	.	.	PUNCT
ap-1010	161	1	6/2007	6/2007	NUM
ap-1010	161	2	(	(	PUNCT
ap-1010	161	3	a	a	NOUN
ap-1010	161	4	)	)	PUNCT
ap-1010	161	5	(	(	PUNCT
ap-1010	161	6	b	b	X
ap-1010	161	7	)	)	PUNCT
ap-1010	161	8	fig	fig	NOUN
ap-1010	161	9	.	.	PUNCT
ap-1010	162	1	6	6	NUM
ap-1010	162	2	:	:	PUNCT
ap-1010	162	3	an	an	DET
ap-1010	162	4	innovative	innovative	ADJ
ap-1010	162	5	prw	prw	NOUN
ap-1010	162	6	with	with	ADP
ap-1010	162	7	cam	cam	NOUN
ap-1010	162	8	-	-	PUNCT
ap-1010	162	9	roller	roller	NOUN
ap-1010	162	10	pairs	pair	NOUN
ap-1010	162	11	:	:	PUNCT
ap-1010	162	12	(	(	PUNCT
ap-1010	162	13	a	a	X
ap-1010	162	14	)	)	PUNCT
ap-1010	162	15	the	the	DET
ap-1010	162	16	mechanism	mechanism	NOUN
ap-1010	162	17	;	;	PUNCT
ap-1010	162	18	(	(	PUNCT
ap-1010	162	19	b	b	X
ap-1010	162	20	)	)	PUNCT
ap-1010	162	21	an	an	DET
ap-1010	162	22	array	array	NOUN
ap-1010	162	23	of	of	ADP
ap-1010	162	24	two	two	NUM
ap-1010	162	25	ssms	ssm	NOUN
ap-1010	162	26	and	and	CCONJ
ap-1010	162	27	their	their	PRON
ap-1010	162	28	mirror	mirror	NOUN
ap-1010	162	29	-	-	PUNCT
ap-1010	162	30	images	image	NOUN
ap-1010	162	31	fig	fig	NOUN
ap-1010	162	32	.	.	PUNCT
ap-1010	163	1	7	7	NUM
ap-1010	163	2	:	:	PUNCT
ap-1010	163	3	the	the	DET
ap-1010	163	4	stephenson	stephenson	NOUN
ap-1010	163	5	-	-	PUNCT
ap-1010	163	6	linkage	linkage	NOUN
ap-1010	163	7	housing	housing	NOUN
ap-1010	163	8	made	make	VERB
ap-1010	163	9	up	up	ADP
ap-1010	163	10	of	of	ADP
ap-1010	163	11	two	two	NUM
ap-1010	163	12	identical	identical	ADJ
ap-1010	163	13	covers	cover	NOUN
ap-1010	163	14	5	5	NUM
ap-1010	163	15	conclusions	conclusion	NOUN
ap-1010	163	16	a	a	DET
ap-1010	163	17	methodology	methodology	NOUN
ap-1010	163	18	of	of	ADP
ap-1010	163	19	curve	curve	ADJ
ap-1010	163	20	synthesis	synthesis	NOUN
ap-1010	163	21	with	with	ADP
ap-1010	163	22	g2	g2	NOUN
ap-1010	163	23	-	-	PUNCT
ap-1010	163	24	continuity	continuity	NOUN
ap-1010	163	25	was	be	AUX
ap-1010	163	26	proposed	propose	VERB
ap-1010	163	27	,	,	PUNCT
ap-1010	163	28	based	base	VERB
ap-1010	163	29	on	on	ADP
ap-1010	163	30	non	non	ADJ
ap-1010	163	31	-	-	ADJ
ap-1010	163	32	parametric	parametric	ADJ
ap-1010	163	33	cubic	cubic	ADJ
ap-1010	163	34	splines	spline	NOUN
ap-1010	163	35	.	.	PUNCT
ap-1010	164	1	two	two	NUM
ap-1010	164	2	synthesis	synthesis	NOUN
ap-1010	164	3	examples	example	NOUN
ap-1010	164	4	are	be	AUX
ap-1010	164	5	provided	provide	VERB
ap-1010	164	6	to	to	PART
ap-1010	164	7	demonstrate	demonstrate	VERB
ap-1010	164	8	the	the	DET
ap-1010	164	9	effectiveness	effectiveness	NOUN
ap-1010	164	10	of	of	ADP
ap-1010	164	11	the	the	DET
ap-1010	164	12	methodology	methodology	NOUN
ap-1010	164	13	.	.	PUNCT
ap-1010	165	1	the	the	DET
ap-1010	165	2	proposed	propose	VERB
ap-1010	165	3	methodology	methodology	NOUN
ap-1010	165	4	was	be	AUX
ap-1010	165	5	applied	apply	VERB
ap-1010	165	6	to	to	ADP
ap-1010	165	7	planar	planar	ADJ
ap-1010	165	8	curves	curve	NOUN
ap-1010	165	9	.	.	PUNCT
ap-1010	166	1	it	it	PRON
ap-1010	166	2	can	can	AUX
ap-1010	166	3	also	also	ADV
ap-1010	166	4	be	be	AUX
ap-1010	166	5	used	use	VERB
ap-1010	166	6	in	in	ADP
ap-1010	166	7	spatial	spatial	ADJ
ap-1010	166	8	curves	curve	NOUN
ap-1010	166	9	,	,	PUNCT
ap-1010	166	10	if	if	SCONJ
ap-1010	166	11	these	these	DET
ap-1010	166	12	curves	curve	NOUN
ap-1010	166	13	are	be	AUX
ap-1010	166	14	synthesized	synthesize	VERB
ap-1010	166	15	via	via	ADP
ap-1010	166	16	their	their	PRON
ap-1010	166	17	projections	projection	NOUN
ap-1010	166	18	on	on	ADP
ap-1010	166	19	the	the	DET
ap-1010	166	20	orthogonal	orthogonal	ADJ
ap-1010	166	21	planes	plane	NOUN
ap-1010	167	1	[	[	X
ap-1010	167	2	16	16	NUM
ap-1010	167	3	]	]	PUNCT
ap-1010	167	4	.	.	PUNCT
ap-1010	168	1	for	for	ADP
ap-1010	168	2	shape	shape	NOUN
ap-1010	168	3	optimization	optimization	NOUN
ap-1010	168	4	,	,	PUNCT
ap-1010	168	5	the	the	DET
ap-1010	168	6	procedure	procedure	NOUN
ap-1010	168	7	described	describe	VERB
ap-1010	168	8	herein	herein	NOUN
ap-1010	168	9	can	can	AUX
ap-1010	168	10	be	be	AUX
ap-1010	168	11	integrated	integrate	VERB
ap-1010	168	12	with	with	ADP
ap-1010	168	13	cae	cae	NOUN
ap-1010	168	14	software	software	NOUN
ap-1010	168	15	.	.	PUNCT
ap-1010	169	1	the	the	DET
ap-1010	169	2	procedure	procedure	NOUN
ap-1010	169	3	is	be	AUX
ap-1010	169	4	also	also	ADV
ap-1010	169	5	expected	expect	VERB
ap-1010	169	6	to	to	PART
ap-1010	169	7	find	find	VERB
ap-1010	169	8	applications	application	NOUN
ap-1010	169	9	in	in	ADP
ap-1010	169	10	areas	area	NOUN
ap-1010	169	11	such	such	ADJ
ap-1010	169	12	as	as	ADP
ap-1010	169	13	trajectory	trajectory	NOUN
ap-1010	169	14	generation	generation	NOUN
ap-1010	169	15	and	and	CCONJ
ap-1010	169	16	path	path	NOUN
ap-1010	169	17	planning	planning	NOUN
ap-1010	169	18	for	for	ADP
ap-1010	169	19	manipulators	manipulator	NOUN
ap-1010	169	20	and	and	CCONJ
ap-1010	169	21	mobile	mobile	NOUN
ap-1010	169	22	robots	robot	NOUN
ap-1010	169	23	.	.	PUNCT
ap-1010	170	1	references	reference	NOUN
ap-1010	170	2	[	[	X
ap-1010	170	3	1	1	NUM
ap-1010	170	4	]	]	X
ap-1010	170	5	angeles	angeles	PROPN
ap-1010	170	6	,	,	PUNCT
ap-1010	170	7	j.	j.	PROPN
ap-1010	170	8	:	:	PUNCT
ap-1010	170	9	synthesis	synthesis	NOUN
ap-1010	170	10	of	of	ADP
ap-1010	170	11	plane	plane	NOUN
ap-1010	170	12	curves	curve	NOUN
ap-1010	170	13	with	with	ADP
ap-1010	170	14	prescribed	prescribe	VERB
ap-1010	170	15	geometric	geometric	ADJ
ap-1010	170	16	properties	property	NOUN
ap-1010	170	17	using	use	VERB
ap-1010	170	18	periodic	periodic	ADJ
ap-1010	170	19	splines	spline	NOUN
ap-1010	170	20	.	.	PUNCT
ap-1010	171	1	computer	computer	NOUN
ap-1010	171	2	-	-	PUNCT
ap-1010	171	3	aided	aid	VERB
ap-1010	171	4	design	design	NOUN
ap-1010	171	5	,	,	PUNCT
ap-1010	171	6	vol	vol	NOUN
ap-1010	171	7	.	.	PROPN
ap-1010	171	8	15	15	NUM
ap-1010	171	9	(	(	PUNCT
ap-1010	171	10	1983	1983	NUM
ap-1010	171	11	)	)	PUNCT
ap-1010	171	12	,	,	PUNCT
ap-1010	171	13	no	no	INTJ
ap-1010	171	14	.	.	NOUN
ap-1010	171	15	3	3	NUM
ap-1010	171	16	,	,	PUNCT
ap-1010	171	17	p.	p.	NOUN
ap-1010	171	18	147–155	147–155	NUM
ap-1010	171	19	.	.	PUNCT
ap-1010	172	1	[	[	X
ap-1010	172	2	2	2	NUM
ap-1010	172	3	]	]	PUNCT
ap-1010	172	4	böhm	böhm	NOUN
ap-1010	172	5	,	,	PUNCT
ap-1010	172	6	w.	w.	PROPN
ap-1010	172	7	,	,	PUNCT
ap-1010	172	8	farin	farin	PROPN
ap-1010	172	9	,	,	PUNCT
ap-1010	172	10	g.	g.	PROPN
ap-1010	172	11	,	,	PUNCT
ap-1010	172	12	kahmann	kahmann	PROPN
ap-1010	172	13	,	,	PUNCT
ap-1010	172	14	j.	j.	PROPN
ap-1010	172	15	:	:	PUNCT
ap-1010	172	16	a	a	DET
ap-1010	172	17	survey	survey	NOUN
ap-1010	172	18	of	of	ADP
ap-1010	172	19	curve	curve	NOUN
ap-1010	172	20	and	and	CCONJ
ap-1010	172	21	surface	surface	NOUN
ap-1010	172	22	methods	method	NOUN
ap-1010	172	23	in	in	ADP
ap-1010	172	24	cagd	cagd	PROPN
ap-1010	172	25	.	.	PUNCT
ap-1010	173	1	computer	computer	NOUN
ap-1010	173	2	aided	aid	VERB
ap-1010	173	3	geometric	geometric	ADJ
ap-1010	173	4	design	design	NOUN
ap-1010	173	5	,	,	PUNCT
ap-1010	173	6	vol	vol	NOUN
ap-1010	173	7	.	.	PROPN
ap-1010	173	8	1	1	NUM
ap-1010	173	9	(	(	PUNCT
ap-1010	173	10	1984	1984	NUM
ap-1010	173	11	)	)	PUNCT
ap-1010	173	12	,	,	PUNCT
ap-1010	173	13	no	no	INTJ
ap-1010	173	14	.	.	NOUN
ap-1010	173	15	1	1	NUM
ap-1010	173	16	,	,	PUNCT
ap-1010	173	17	p.	p.	NOUN
ap-1010	173	18	1–60	1–60	PROPN
ap-1010	173	19	.	.	PUNCT
ap-1010	174	1	[	[	X
ap-1010	174	2	3	3	X
ap-1010	174	3	]	]	PUNCT
ap-1010	174	4	hosaka	hosaka	NOUN
ap-1010	174	5	,	,	PUNCT
ap-1010	174	6	m.	m.	NOUN
ap-1010	174	7	:	:	PUNCT
ap-1010	174	8	modeling	modeling	NOUN
ap-1010	174	9	of	of	ADP
ap-1010	174	10	curves	curve	NOUN
ap-1010	174	11	and	and	CCONJ
ap-1010	174	12	surfaces	surface	NOUN
ap-1010	174	13	in	in	ADP
ap-1010	174	14	cad	cad	PROPN
ap-1010	174	15	/	/	SYM
ap-1010	174	16	cam	cam	PROPN
ap-1010	174	17	.	.	PUNCT
ap-1010	175	1	springer	springer	NOUN
ap-1010	175	2	-	-	PUNCT
ap-1010	175	3	verlag	verlag	PROPN
ap-1010	175	4	,	,	PUNCT
ap-1010	175	5	1996	1996	NUM
ap-1010	175	6	.	.	PUNCT
ap-1010	176	1	[	[	X
ap-1010	176	2	4	4	NUM
ap-1010	176	3	]	]	X
ap-1010	176	4	hoschek	hoschek	PROPN
ap-1010	176	5	,	,	PUNCT
ap-1010	176	6	j.	j.	PROPN
ap-1010	176	7	,	,	PUNCT
ap-1010	176	8	lasser	lasser	PROPN
ap-1010	176	9	,	,	PUNCT
ap-1010	176	10	d.	d.	PROPN
ap-1010	176	11	:	:	PUNCT
ap-1010	176	12	fundamentals	fundamental	NOUN
ap-1010	176	13	of	of	ADP
ap-1010	176	14	computer	computer	NOUN
ap-1010	176	15	aided	aid	VERB
ap-1010	176	16	geometric	geometric	ADJ
ap-1010	176	17	design	design	NOUN
ap-1010	176	18	.	.	PUNCT
ap-1010	177	1	springer	springer	NOUN
ap-1010	177	2	-	-	PUNCT
ap-1010	177	3	verlag	verlag	PROPN
ap-1010	177	4	,	,	PUNCT
ap-1010	177	5	1993	1993	NUM
ap-1010	177	6	.	.	PUNCT
ap-1010	178	1	[	[	X
ap-1010	178	2	5	5	NUM
ap-1010	178	3	]	]	X
ap-1010	178	4	lin	lin	PROPN
ap-1010	178	5	,	,	PUNCT
ap-1010	178	6	p.	p.	PROPN
ap-1010	178	7	d.	d.	PROPN
ap-1010	178	8	,	,	PUNCT
ap-1010	178	9	lin	lin	PROPN
ap-1010	178	10	,	,	PUNCT
ap-1010	178	11	m.	m.	PROPN
ap-1010	178	12	f.	f.	PROPN
ap-1010	178	13	:	:	PUNCT
ap-1010	178	14	geometric	geometric	ADJ
ap-1010	178	15	modelling	modelling	NOUN
ap-1010	178	16	of	of	ADP
ap-1010	178	17	an	an	DET
ap-1010	178	18	elliptic	elliptic	ADJ
ap-1010	178	19	ball	ball	NOUN
ap-1010	178	20	-	-	PUNCT
ap-1010	178	21	end	end	NOUN
ap-1010	178	22	mill	mill	NOUN
ap-1010	178	23	.	.	PUNCT
ap-1010	179	1	proc	proc	PROPN
ap-1010	179	2	.	.	PUNCT
ap-1010	180	1	imeche	imeche	PROPN
ap-1010	180	2	–	–	PUNCT
ap-1010	180	3	part	part	NOUN
ap-1010	180	4	b	b	NOUN
ap-1010	180	5	,	,	PUNCT
ap-1010	180	6	vol	vol	NOUN
ap-1010	180	7	.	.	NOUN
ap-1010	180	8	219	219	NUM
ap-1010	180	9	(	(	PUNCT
ap-1010	180	10	2005	2005	NUM
ap-1010	180	11	)	)	PUNCT
ap-1010	180	12	,	,	PUNCT
ap-1010	180	13	no	no	INTJ
ap-1010	180	14	.	.	NOUN
ap-1010	180	15	1	1	NUM
ap-1010	180	16	,	,	PUNCT
ap-1010	180	17	p.	p.	NOUN
ap-1010	180	18	87–97	87–97	NUM
ap-1010	180	19	.	.	PUNCT
ap-1010	181	1	[	[	X
ap-1010	181	2	6	6	NUM
ap-1010	181	3	]	]	X
ap-1010	181	4	pottmann	pottmann	PROPN
ap-1010	181	5	,	,	PUNCT
ap-1010	181	6	h.	h.	NOUN
ap-1010	181	7	:	:	PUNCT
ap-1010	181	8	industrial	industrial	ADJ
ap-1010	181	9	geometry	geometry	NOUN
ap-1010	181	10	:	:	PUNCT
ap-1010	181	11	recent	recent	ADJ
ap-1010	181	12	advances	advance	NOUN
ap-1010	181	13	and	and	CCONJ
ap-1010	181	14	applications	application	NOUN
ap-1010	181	15	in	in	ADP
ap-1010	181	16	cad	cad	PROPN
ap-1010	181	17	.	.	PUNCT
ap-1010	181	18	computer	computer	NOUN
ap-1010	181	19	aided	aid	VERB
ap-1010	181	20	design	design	NOUN
ap-1010	181	21	,	,	PUNCT
ap-1010	181	22	vol	vol	NOUN
ap-1010	181	23	.	.	PROPN
ap-1010	181	24	37	37	NUM
ap-1010	181	25	(	(	PUNCT
ap-1010	181	26	2005	2005	NUM
ap-1010	181	27	)	)	PUNCT
ap-1010	181	28	,	,	PUNCT
ap-1010	181	29	no	no	INTJ
ap-1010	181	30	.	.	NOUN
ap-1010	181	31	7	7	NUM
ap-1010	181	32	,	,	PUNCT
ap-1010	181	33	p.	p.	NOUN
ap-1010	181	34	751–766	751–766	NUM
ap-1010	181	35	.	.	PUNCT
ap-1010	182	1	[	[	X
ap-1010	182	2	7	7	NUM
ap-1010	182	3	]	]	X
ap-1010	182	4	neuber	neuber	NOUN
ap-1010	182	5	,	,	PUNCT
ap-1010	182	6	h.	h.	NOUN
ap-1010	182	7	:	:	PUNCT
ap-1010	182	8	theory	theory	NOUN
ap-1010	182	9	of	of	ADP
ap-1010	182	10	notch	notch	ADJ
ap-1010	182	11	stresses	stress	NOUN
ap-1010	182	12	:	:	PUNCT
ap-1010	182	13	principles	principle	NOUN
ap-1010	182	14	for	for	ADP
ap-1010	182	15	exact	exact	ADJ
ap-1010	182	16	calculation	calculation	NOUN
ap-1010	182	17	of	of	ADP
ap-1010	182	18	strength	strength	NOUN
ap-1010	182	19	with	with	ADP
ap-1010	182	20	reference	reference	NOUN
ap-1010	182	21	to	to	ADP
ap-1010	182	22	structural	structural	ADJ
ap-1010	182	23	form	form	NOUN
ap-1010	182	24	and	and	CCONJ
ap-1010	182	25	material	material	NOUN
ap-1010	182	26	.	.	PUNCT
ap-1010	183	1	u.s	u.s	PROPN
ap-1010	183	2	.	.	PROPN
ap-1010	183	3	dept	dept	PROPN
ap-1010	183	4	.	.	PROPN
ap-1010	183	5	of	of	ADP
ap-1010	183	6	commerce	commerce	PROPN
ap-1010	183	7	,	,	PUNCT
ap-1010	183	8	office	office	NOUN
ap-1010	183	9	of	of	ADP
ap-1010	183	10	technical	technical	ADJ
ap-1010	183	11	services	services	PROPN
ap-1010	183	12	,	,	PUNCT
ap-1010	183	13	washington	washington	PROPN
ap-1010	183	14	,	,	PUNCT
ap-1010	183	15	1961	1961	NUM
ap-1010	183	16	.	.	PUNCT
ap-1010	184	1	[	[	X
ap-1010	184	2	8	8	NUM
ap-1010	184	3	]	]	X
ap-1010	184	4	pottmann	pottmann	PROPN
ap-1010	184	5	,	,	PUNCT
ap-1010	184	6	h.	h.	PROPN
ap-1010	184	7	,	,	PUNCT
ap-1010	184	8	wallner	wallner	NOUN
ap-1010	184	9	,	,	PUNCT
ap-1010	184	10	j.	j.	PROPN
ap-1010	184	11	:	:	PUNCT
ap-1010	184	12	computational	computational	ADJ
ap-1010	184	13	line	line	NOUN
ap-1010	184	14	geometry	geometry	NOUN
ap-1010	184	15	.	.	PUNCT
ap-1010	185	1	springer	springer	NOUN
ap-1010	185	2	-	-	PUNCT
ap-1010	185	3	verlag	verlag	PROPN
ap-1010	185	4	,	,	PUNCT
ap-1010	185	5	heidelberg	heidelberg	PROPN
ap-1010	185	6	,	,	PUNCT
ap-1010	185	7	berlin	berlin	PROPN
ap-1010	185	8	,	,	PUNCT
ap-1010	185	9	2001	2001	NUM
ap-1010	185	10	.	.	PUNCT
ap-1010	186	1	[	[	X
ap-1010	186	2	9	9	NUM
ap-1010	186	3	]	]	X
ap-1010	186	4	teng	teng	PROPN
ap-1010	186	5	,	,	PUNCT
ap-1010	186	6	c.	c.	PROPN
ap-1010	186	7	p.	p.	PROPN
ap-1010	186	8	,	,	PUNCT
ap-1010	186	9	angeles	angeles	PROPN
ap-1010	186	10	,	,	PUNCT
ap-1010	186	11	j.	j.	PROPN
ap-1010	186	12	:	:	PUNCT
ap-1010	186	13	a	a	DET
ap-1010	186	14	sequential	sequential	ADJ
ap-1010	186	15	-	-	PUNCT
ap-1010	186	16	quadratic	quadratic	ADJ
ap-1010	186	17	-	-	PUNCT
ap-1010	186	18	programming	programming	NOUN
ap-1010	186	19	algorithm	algorithm	NOUN
ap-1010	186	20	using	use	VERB
ap-1010	186	21	orthogonal	orthogonal	ADJ
ap-1010	186	22	decomposition	decomposition	NOUN
ap-1010	186	23	with	with	ADP
ap-1010	186	24	gerschgorin	gerschgorin	NOUN
ap-1010	186	25	stabilization	stabilization	NOUN
ap-1010	186	26	.	.	PUNCT
ap-1010	187	1	asme	asme	PROPN
ap-1010	187	2	j.	j.	PROPN
ap-1010	187	3	of	of	ADP
ap-1010	187	4	mechanical	mechanical	ADJ
ap-1010	187	5	design	design	NOUN
ap-1010	187	6	,	,	PUNCT
ap-1010	187	7	vol	vol	NOUN
ap-1010	187	8	.	.	PROPN
ap-1010	187	9	123	123	NUM
ap-1010	187	10	(	(	PUNCT
ap-1010	187	11	2001	2001	NUM
ap-1010	187	12	)	)	PUNCT
ap-1010	187	13	,	,	PUNCT
ap-1010	187	14	no	no	INTJ
ap-1010	187	15	.	.	NOUN
ap-1010	187	16	4	4	NUM
ap-1010	187	17	,	,	PUNCT
ap-1010	187	18	p.	p.	NOUN
ap-1010	187	19	501–509	501–509	NUM
ap-1010	187	20	.	.	PUNCT
ap-1010	188	1	[	[	X
ap-1010	188	2	10	10	NUM
ap-1010	188	3	]	]	X
ap-1010	188	4	bidault	bidault	NOUN
ap-1010	188	5	,	,	PUNCT
ap-1010	188	6	f.	f.	PROPN
ap-1010	188	7	,	,	PUNCT
ap-1010	188	8	teng	teng	PROPN
ap-1010	188	9	,	,	PUNCT
ap-1010	188	10	c.	c.	PROPN
ap-1010	188	11	p.	p.	PROPN
ap-1010	188	12	,	,	PUNCT
ap-1010	188	13	angeles	angeles	PROPN
ap-1010	188	14	,	,	PUNCT
ap-1010	188	15	j.	j.	PROPN
ap-1010	188	16	:	:	PUNCT
ap-1010	188	17	structural	structural	ADJ
ap-1010	188	18	optimization	optimization	NOUN
ap-1010	188	19	of	of	ADP
ap-1010	188	20	a	a	DET
ap-1010	188	21	spherical	spherical	ADJ
ap-1010	188	22	parallel	parallel	NOUN
ap-1010	188	23	manipulator	manipulator	NOUN
ap-1010	188	24	using	use	VERB
ap-1010	188	25	a	a	DET
ap-1010	188	26	two	two	NUM
ap-1010	188	27	-	-	PUNCT
ap-1010	188	28	level	level	NOUN
ap-1010	188	29	approach	approach	NOUN
ap-1010	188	30	.	.	PUNCT
ap-1010	189	1	proc	proc	NOUN
ap-1010	189	2	.	.	PROPN
ap-1010	189	3	of	of	ADP
ap-1010	189	4	asme	asme	PROPN
ap-1010	189	5	2001	2001	NUM
ap-1010	189	6	design	design	NOUN
ap-1010	189	7	engineering	engineering	NOUN
ap-1010	189	8	technical	technical	ADJ
ap-1010	189	9	conferences	conference	NOUN
ap-1010	189	10	,	,	PUNCT
ap-1010	189	11	2001	2001	NUM
ap-1010	189	12	,	,	PUNCT
ap-1010	189	13	#	#	SYM
ap-1010	189	14	detc	detc	NOUN
ap-1010	189	15	2001	2001	NUM
ap-1010	189	16	-	-	SYM
ap-1010	189	17	21030	21030	NUM
ap-1010	189	18	.	.	PUNCT
ap-1010	190	1	[	[	X
ap-1010	190	2	11	11	NUM
ap-1010	190	3	]	]	X
ap-1010	190	4	gosselin	gosselin	PROPN
ap-1010	190	5	,	,	PUNCT
ap-1010	190	6	c.m	c.m	PROPN
ap-1010	190	7	.	.	PROPN
ap-1010	190	8	,	,	PUNCT
ap-1010	190	9	hamel	hamel	PROPN
ap-1010	190	10	,	,	PUNCT
ap-1010	190	11	j.-f	j.-f	PROPN
ap-1010	190	12	.	.	PUNCT
ap-1010	190	13	:	:	PUNCT
ap-1010	191	1	the	the	DET
ap-1010	191	2	agile	agile	ADJ
ap-1010	191	3	eye	eye	NOUN
ap-1010	191	4	:	:	PUNCT
ap-1010	191	5	a	a	DET
ap-1010	191	6	high	high	ADJ
ap-1010	191	7	-	-	PUNCT
ap-1010	191	8	performance	performance	NOUN
ap-1010	191	9	three	three	NUM
ap-1010	191	10	-	-	PUNCT
ap-1010	191	11	degree	degree	NOUN
ap-1010	191	12	-	-	PUNCT
ap-1010	191	13	of	of	ADP
ap-1010	191	14	-	-	PUNCT
ap-1010	191	15	freedom	freedom	NOUN
ap-1010	191	16	camera	camera	NOUN
ap-1010	191	17	orienting	orient	VERB
ap-1010	191	18	device	device	NOUN
ap-1010	191	19	.	.	PUNCT
ap-1010	192	1	ieee	ieee	PROPN
ap-1010	192	2	int	int	PROPN
ap-1010	192	3	.	.	PUNCT
ap-1010	192	4	conf	conf	PROPN
ap-1010	192	5	.	.	PUNCT
ap-1010	193	1	on	on	ADP
ap-1010	193	2	robotics	robotic	NOUN
ap-1010	193	3	and	and	CCONJ
ap-1010	193	4	automation	automation	NOUN
ap-1010	193	5	,	,	PUNCT
ap-1010	193	6	1994	1994	NUM
ap-1010	193	7	,	,	PUNCT
ap-1010	193	8	p.	p.	NOUN
ap-1010	193	9	781–786	781–786	NUM
ap-1010	193	10	.	.	PUNCT
ap-1010	194	1	[	[	X
ap-1010	194	2	12	12	NUM
ap-1010	194	3	]	]	PUNCT
ap-1010	194	4	schmidt	schmidt	PROPN
ap-1010	194	5	,	,	PUNCT
ap-1010	194	6	l.	l.	PROPN
ap-1010	194	7	a.	a.	PROPN
ap-1010	194	8	:	:	PUNCT
ap-1010	194	9	structural	structural	ADJ
ap-1010	194	10	design	design	NOUN
ap-1010	194	11	by	by	ADP
ap-1010	194	12	systemastic	systemastic	ADJ
ap-1010	194	13	synthesis	synthesis	NOUN
ap-1010	194	14	.	.	PUNCT
ap-1010	195	1	proc	proc	NOUN
ap-1010	195	2	.	.	PUNCT
ap-1010	196	1	2nd	2nd	ADJ
ap-1010	196	2	asce	asce	PROPN
ap-1010	196	3	conf	conf	PROPN
ap-1010	196	4	.	.	PUNCT
ap-1010	197	1	electronic	electronic	ADJ
ap-1010	197	2	computation	computation	NOUN
ap-1010	197	3	,	,	PUNCT
ap-1010	197	4	pittsburgh	pittsburgh	PROPN
ap-1010	197	5	,	,	PUNCT
ap-1010	197	6	pennsylvania	pennsylvania	PROPN
ap-1010	197	7	,	,	PUNCT
ap-1010	197	8	usa	usa	PROPN
ap-1010	197	9	,	,	PUNCT
ap-1010	197	10	1960	1960	NUM
ap-1010	197	11	,	,	PUNCT
ap-1010	197	12	p.	p.	NOUN
ap-1010	197	13	1105–1122	1105–1122	NUM
ap-1010	197	14	.	.	PUNCT
ap-1010	198	1	[	[	X
ap-1010	198	2	13	13	NUM
ap-1010	198	3	]	]	X
ap-1010	198	4	hernandez	hernandez	PROPN
ap-1010	198	5	,	,	PUNCT
ap-1010	198	6	s.	s.	PROPN
ap-1010	198	7	,	,	PUNCT
ap-1010	198	8	bai	bai	PROPN
ap-1010	198	9	,	,	PUNCT
ap-1010	198	10	s.	s.	PROPN
ap-1010	198	11	,	,	PUNCT
ap-1010	198	12	angeles	angeles	PROPN
ap-1010	198	13	,	,	PUNCT
ap-1010	198	14	j.	j.	PROPN
ap-1010	198	15	:	:	PUNCT
ap-1010	198	16	the	the	DET
ap-1010	198	17	design	design	NOUN
ap-1010	198	18	of	of	ADP
ap-1010	198	19	a	a	DET
ap-1010	198	20	chain	chain	NOUN
ap-1010	198	21	of	of	ADP
ap-1010	198	22	stephenson	stephenson	PROPN
ap-1010	198	23	mechanisms	mechanism	NOUN
ap-1010	198	24	for	for	ADP
ap-1010	198	25	a	a	DET
ap-1010	198	26	gearless	gearless	NOUN
ap-1010	198	27	pitch	pitch	NOUN
ap-1010	198	28	-	-	PUNCT
ap-1010	198	29	roll	roll	NOUN
ap-1010	198	30	wrist	wrist	NOUN
ap-1010	198	31	.	.	PUNCT
ap-1010	199	1	proc	proc	PROPN
ap-1010	199	2	.	.	PUNCT
ap-1010	200	1	asme	asme	PROPN
ap-1010	200	2	design	design	PROPN
ap-1010	200	3	engineering	engineering	PROPN
ap-1010	200	4	technical	technical	ADJ
ap-1010	200	5	conferences	conference	NOUN
ap-1010	200	6	(	(	PUNCT
ap-1010	200	7	detc’04	detc’04	PROPN
ap-1010	200	8	)	)	PUNCT
ap-1010	200	9	,	,	PUNCT
ap-1010	200	10	salt	salt	NOUN
ap-1010	200	11	lake	lake	PROPN
ap-1010	200	12	city	city	PROPN
ap-1010	200	13	,	,	PUNCT
ap-1010	200	14	utah	utah	PROPN
ap-1010	200	15	,	,	PUNCT
ap-1010	200	16	usa	usa	PROPN
ap-1010	200	17	,	,	PUNCT
ap-1010	200	18	2004	2004	NUM
ap-1010	200	19	,	,	PUNCT
ap-1010	200	20	#	#	SYM
ap-1010	200	21	detc	detc	NOUN
ap-1010	200	22	2004	2004	NUM
ap-1010	200	23	-	-	SYM
ap-1010	200	24	57424	57424	NUM
ap-1010	200	25	.	.	PUNCT
ap-1010	201	1	[	[	X
ap-1010	201	2	14	14	NUM
ap-1010	201	3	]	]	SYM
ap-1010	201	4	gardner	gardner	NOUN
ap-1010	201	5	,	,	PUNCT
ap-1010	201	6	m.	m.	NOUN
ap-1010	201	7	:	:	PUNCT
ap-1010	201	8	the	the	DET
ap-1010	201	9	superellipse	superellipse	NOUN
ap-1010	201	10	:	:	PUNCT
ap-1010	201	11	a	a	DET
ap-1010	201	12	curve	curve	NOUN
ap-1010	201	13	that	that	PRON
ap-1010	201	14	lies	lie	VERB
ap-1010	201	15	between	between	ADP
ap-1010	201	16	the	the	DET
ap-1010	201	17	ellipse	ellipse	NOUN
ap-1010	201	18	and	and	CCONJ
ap-1010	201	19	the	the	DET
ap-1010	201	20	rectangle	rectangle	NOUN
ap-1010	201	21	.	.	PUNCT
ap-1010	202	1	scientific	scientific	ADJ
ap-1010	202	2	american	american	ADJ
ap-1010	202	3	,	,	PUNCT
ap-1010	202	4	vol	vol	NOUN
ap-1010	202	5	.	.	PROPN
ap-1010	202	6	21	21	NUM
ap-1010	202	7	(	(	PUNCT
ap-1010	202	8	1965	1965	NUM
ap-1010	202	9	)	)	PUNCT
ap-1010	202	10	,	,	PUNCT
ap-1010	203	1	p.	p.	NOUN
ap-1010	203	2	222–234	222–234	NUM
ap-1010	203	3	.	.	PUNCT
ap-1010	204	1	[	[	X
ap-1010	204	2	15	15	NUM
ap-1010	204	3	]	]	X
ap-1010	204	4	hernandez	hernandez	PROPN
ap-1010	204	5	,	,	PUNCT
ap-1010	204	6	s.	s.	PROPN
ap-1010	204	7	:	:	PUNCT
ap-1010	204	8	optimum	optimum	ADJ
ap-1010	204	9	design	design	NOUN
ap-1010	204	10	of	of	ADP
ap-1010	204	11	epicyclic	epicyclic	ADJ
ap-1010	204	12	trains	train	NOUN
ap-1010	204	13	of	of	ADP
ap-1010	204	14	spherical	spherical	ADJ
ap-1010	204	15	cam	cam	NOUN
ap-1010	204	16	-	-	PUNCT
ap-1010	204	17	roller	roller	NOUN
ap-1010	204	18	pair	pair	NOUN
ap-1010	204	19	.	.	PUNCT
ap-1010	205	1	master	master	NOUN
ap-1010	205	2	’s	’s	PART
ap-1010	205	3	thesis	thesis	NOUN
ap-1010	205	4	,	,	PUNCT
ap-1010	205	5	mcgill	mcgill	PROPN
ap-1010	205	6	university	university	PROPN
ap-1010	205	7	,	,	PUNCT
ap-1010	205	8	montreal	montreal	PROPN
ap-1010	205	9	,	,	PUNCT
ap-1010	205	10	canada	canada	PROPN
ap-1010	205	11	,	,	PUNCT
ap-1010	205	12	2004	2004	NUM
ap-1010	205	13	.	.	PUNCT
ap-1010	206	1	[	[	X
ap-1010	206	2	16	16	NUM
ap-1010	206	3	]	]	X
ap-1010	206	4	angeles	angeles	PROPN
ap-1010	206	5	,	,	PUNCT
ap-1010	206	6	j.	j.	PROPN
ap-1010	206	7	,	,	PUNCT
ap-1010	206	8	akhras	akhras	PROPN
ap-1010	206	9	,	,	PUNCT
ap-1010	206	10	r.	r.	PROPN
ap-1010	206	11	,	,	PUNCT
ap-1010	206	12	liu	liu	PROPN
ap-1010	206	13	,	,	PUNCT
ap-1010	206	14	z.	z.	PROPN
ap-1010	206	15	:	:	PUNCT
ap-1010	206	16	the	the	DET
ap-1010	206	17	synthesis	synthesis	NOUN
ap-1010	206	18	of	of	ADP
ap-1010	206	19	smooth	smooth	ADJ
ap-1010	206	20	trajectories	trajectory	NOUN
ap-1010	206	21	for	for	ADP
ap-1010	206	22	pick	pick	NOUN
ap-1010	206	23	-	-	PUNCT
ap-1010	206	24	and	and	CCONJ
ap-1010	206	25	-	-	PUNCT
ap-1010	206	26	place	place	NOUN
ap-1010	206	27	operations	operation	NOUN
ap-1010	206	28	of	of	ADP
ap-1010	206	29	spherical	spherical	ADJ
ap-1010	206	30	wrists	wrist	NOUN
ap-1010	206	31	.	.	PUNCT
ap-1010	207	1	mechanism	mechanism	NOUN
ap-1010	207	2	and	and	CCONJ
ap-1010	207	3	machine	machine	NOUN
ap-1010	207	4	theory	theory	NOUN
ap-1010	207	5	,	,	PUNCT
ap-1010	207	6	vol	vol	NOUN
ap-1010	207	7	.	.	PROPN
ap-1010	207	8	28	28	NUM
ap-1010	207	9	(	(	PUNCT
ap-1010	207	10	1992	1992	NUM
ap-1010	207	11	)	)	PUNCT
ap-1010	207	12	,	,	PUNCT
ap-1010	207	13	no	no	INTJ
ap-1010	207	14	.	.	NOUN
ap-1010	207	15	2	2	NUM
ap-1010	207	16	,	,	PUNCT
ap-1010	207	17	p.	p.	NOUN
ap-1010	207	18	261–269	261–269	NUM
ap-1010	207	19	.	.	PUNCT
ap-1010	208	1	©	©	PROPN
ap-1010	208	2	czech	czech	PROPN
ap-1010	208	3	technical	technical	PROPN
ap-1010	208	4	university	university	PROPN
ap-1010	208	5	publishing	publishing	NOUN
ap-1010	208	6	house	house	NOUN
ap-1010	208	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1010	208	8	61	61	NUM
ap-1010	208	9	acta	acta	PROPN
ap-1010	208	10	polytechnica	polytechnica	PROPN
ap-1010	208	11	vol	vol	NOUN
ap-1010	208	12	.	.	PUNCT
ap-1010	209	1	47	47	NUM
ap-1010	209	2	no	no	NOUN
ap-1010	209	3	.	.	PUNCT
ap-1010	210	1	6/2007	6/2007	NUM
ap-1010	210	2	(	(	PUNCT
ap-1010	210	3	a	a	NOUN
ap-1010	210	4	)	)	PUNCT
ap-1010	210	5	(	(	PUNCT
ap-1010	210	6	b	b	X
ap-1010	210	7	)	)	PUNCT
ap-1010	210	8	fig	fig	NOUN
ap-1010	210	9	.	.	PUNCT
ap-1010	211	1	8	8	NUM
ap-1010	211	2	:	:	PUNCT
ap-1010	211	3	(	(	PUNCT
ap-1010	211	4	a	a	X
ap-1010	211	5	)	)	PUNCT
ap-1010	211	6	new	new	ADJ
ap-1010	211	7	housing	housing	NOUN
ap-1010	211	8	profile	profile	NOUN
ap-1010	211	9	and	and	CCONJ
ap-1010	211	10	(	(	PUNCT
ap-1010	211	11	b	b	NOUN
ap-1010	211	12	)	)	PUNCT
ap-1010	211	13	curvature	curvature	NOUN
ap-1010	211	14	distribution	distribution	NOUN
ap-1010	211	15	over	over	ADP
ap-1010	211	16	the	the	DET
ap-1010	211	17	synthesized	synthesize	VERB
ap-1010	211	18	curve	curve	NOUN
ap-1010	211	19	;	;	PUNCT
ap-1010	211	20	shown	show	VERB
ap-1010	211	21	dashed	dash	VERB
ap-1010	211	22	is	be	AUX
ap-1010	211	23	the	the	DET
ap-1010	211	24	lamé	lamé	NOUN
ap-1010	211	25	curve	curve	NOUN
ap-1010	211	26	i	i	PRON
ap-1010	211	27	�	�	VERB
ap-1010	212	1	i	i	PRON
ap-1010	213	1	[	[	X
ap-1010	213	2	mm	mm	X
ap-1010	213	3	]	]	X
ap-1010	213	4	�	�	PROPN
ap-1010	213	5	i	i	PRON
ap-1010	214	1	i	i	PROPN
ap-1010	214	2	�	�	VERB
ap-1010	214	3	i	i	PRON
ap-1010	215	1	[	[	X
ap-1010	215	2	mm	mm	X
ap-1010	215	3	]	]	X
ap-1010	215	4	�	�	PROPN
ap-1010	215	5	i	i	NOUN
ap-1010	215	6	0	0	NUM
ap-1010	216	1	199.0075	199.0075	NUM
ap-1010	216	2	0.0000	0.0000	NUM
ap-1010	216	3	10	10	NUM
ap-1010	216	4	189.4187	189.4187	NUM
ap-1010	216	5	0.0155	0.0155	NUM
ap-1010	216	6	1	1	NUM
ap-1010	216	7	199.7687	199.7687	NUM
ap-1010	216	8	0.0094	0.0094	NUM
ap-1010	216	9	11	11	NUM
ap-1010	216	10	185.4056	185.4056	NUM
ap-1010	216	11	0.0146	0.0146	NUM
ap-1010	216	12	2	2	NUM
ap-1010	216	13	200.3707	200.3707	NUM
ap-1010	216	14	0.0109	0.0109	NUM
ap-1010	216	15	12	12	NUM
ap-1010	216	16	180.7433	180.7433	NUM
ap-1010	216	17	0.0133	0.0133	NUM
ap-1010	216	18	3	3	NUM
ap-1010	216	19	200.6720	200.6720	NUM
ap-1010	216	20	0.0122	0.0122	NUM
ap-1010	216	21	13	13	NUM
ap-1010	216	22	175.4735	175.4735	NUM
ap-1010	216	23	0.0117	0.0117	NUM
ap-1010	216	24	4	4	NUM
ap-1010	216	25	200.6039	200.6039	NUM
ap-1010	216	26	0.0135	0.0135	NUM
ap-1010	216	27	14	14	NUM
ap-1010	216	28	169.6913	169.6913	NUM
ap-1010	216	29	0.0098	0.0098	NUM
ap-1010	216	30	5	5	NUM
ap-1010	216	31	200.1041	200.1041	NUM
ap-1010	216	32	0.0145	0.0145	NUM
ap-1010	216	33	15	15	NUM
ap-1010	216	34	163.5592	163.5592	NUM
ap-1010	216	35	0.0076	0.0076	NUM
ap-1010	216	36	6	6	NUM
ap-1010	216	37	199.1170	199.1170	NUM
ap-1010	216	38	0.0153	0.0153	NUM
ap-1010	216	39	16	16	NUM
ap-1010	216	40	157.2998	157.2998	NUM
ap-1010	216	41	0.0054	0.0054	NUM
ap-1010	216	42	7	7	NUM
ap-1010	216	43	197.5937	197.5937	NUM
ap-1010	216	44	0.0159	0.0159	NUM
ap-1010	216	45	17	17	NUM
ap-1010	216	46	151.1588	151.1588	NUM
ap-1010	216	47	0.0033	0.0033	NUM
ap-1010	216	48	8	8	NUM
ap-1010	216	49	195.4919	195.4919	NUM
ap-1010	216	50	0.0161	0.0161	NUM
ap-1010	216	51	18	18	NUM
ap-1010	216	52	145.3498	145.3498	NUM
ap-1010	216	53	0.0014	0.0014	NUM
ap-1010	216	54	9	9	NUM
ap-1010	216	55	192.7760	192.7760	NUM
ap-1010	216	56	0.0160	0.0160	NUM
ap-1010	216	57	19	19	NUM
ap-1010	216	58	140.0142	140.0142	NUM
ap-1010	216	59	0.0000	0.0000	NUM
ap-1010	216	60	table	table	NOUN
ap-1010	216	61	2	2	NUM
ap-1010	216	62	:	:	PUNCT
ap-1010	216	63	numerical	numerical	ADJ
ap-1010	216	64	results	result	NOUN
ap-1010	216	65	for	for	ADP
ap-1010	216	66	the	the	DET
ap-1010	216	67	housing	housing	NOUN
ap-1010	216	68	design	design	NOUN
ap-1010	216	69	chin	chin	NOUN
ap-1010	216	70	-	-	PUNCT
ap-1010	216	71	pun	pun	VERB
ap-1010	216	72	teng	teng	PROPN
ap-1010	216	73	department	department	PROPN
ap-1010	216	74	of	of	ADP
ap-1010	216	75	technical	technical	PROPN
ap-1010	216	76	r&d	r&d	PROPN
ap-1010	216	77	the	the	DET
ap-1010	216	78	original	original	ADJ
ap-1010	216	79	cakerie	cakerie	PROPN
ap-1010	216	80	ltd	ltd	PROPN
ap-1010	216	81	,	,	PUNCT
ap-1010	216	82	b.c	b.c	PROPN
ap-1010	216	83	.	.	PROPN
ap-1010	216	84	,	,	PUNCT
ap-1010	216	85	canada	canada	PROPN
ap-1010	216	86	shaoping	shaope	VERB
ap-1010	216	87	bai	bai	PROPN
ap-1010	216	88	e	e	NOUN
ap-1010	216	89	-	-	NOUN
ap-1010	216	90	mail	mail	NOUN
ap-1010	216	91	:	:	PUNCT
ap-1010	216	92	shb@ime.aau.dk	shb@ime.aau.dk	PROPN
ap-1010	216	93	department	department	NOUN
ap-1010	216	94	of	of	ADP
ap-1010	216	95	mechanical	mechanical	ADJ
ap-1010	216	96	engineering	engineering	PROPN
ap-1010	216	97	aalborg	aalborg	PROPN
ap-1010	216	98	university	university	PROPN
ap-1010	216	99	,	,	PUNCT
ap-1010	216	100	denmark	denmark	PROPN
ap-1010	216	101	jorge	jorge	PROPN
ap-1010	216	102	angeles	angeles	PROPN
ap-1010	216	103	e	e	PROPN
ap-1010	216	104	-	-	NOUN
ap-1010	216	105	mail	mail	NOUN
ap-1010	216	106	:	:	PUNCT
ap-1010	216	107	angeles@cim.mcgill.ca	angeles@cim.mcgill.ca	PROPN
ap-1010	216	108	department	department	NOUN
ap-1010	216	109	of	of	ADP
ap-1010	216	110	mechanical	mechanical	ADJ
ap-1010	216	111	engineering	engineering	PROPN
ap-1010	216	112	&	&	CCONJ
ap-1010	216	113	centre	centre	PROPN
ap-1010	216	114	for	for	ADP
ap-1010	216	115	intelligent	intelligent	ADJ
ap-1010	216	116	machines	machine	NOUN
ap-1010	216	117	mcgill	mcgill	PROPN
ap-1010	216	118	university	university	PROPN
ap-1010	216	119	,	,	PUNCT
ap-1010	216	120	montreal	montreal	PROPN
ap-1010	216	121	,	,	PUNCT
ap-1010	216	122	canada	canada	PROPN
ap-1010	216	123	62	62	NUM
ap-1010	216	124	©	©	PROPN
ap-1010	216	125	czech	czech	PROPN
ap-1010	216	126	technical	technical	PROPN
ap-1010	216	127	university	university	PROPN
ap-1010	216	128	publishing	publishing	NOUN
ap-1010	216	129	house	house	NOUN
ap-1010	216	130	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1010	216	131	acta	acta	PROPN
ap-1010	216	132	polytechnica	polytechnica	PROPN
ap-1010	216	133	vol	vol	NOUN
ap-1010	216	134	.	.	PUNCT
ap-1010	217	1	47	47	NUM
ap-1010	217	2	no	no	NOUN
ap-1010	217	3	.	.	PUNCT
ap-1010	218	1	6/2007	6/2007	NUM
ap-1010	218	2	appendix	appendix	VERB
ap-1010	218	3	the	the	DET
ap-1010	218	4	linear	linear	ADJ
ap-1010	218	5	relationship	relationship	NOUN
ap-1010	218	6	between	between	ADP
ap-1010	218	7	�	�	PROPN
ap-1010	218	8	and	and	CCONJ
ap-1010	218	9	�	�	PROPN
ap-1010	218	10	�	�	PROPN
ap-1010	218	11	�	�	PROPN
ap-1010	218	12	is	be	AUX
ap-1010	218	13	expressed	express	VERB
ap-1010	218	14	as	as	ADP
ap-1010	218	15	a	a	DET
ap-1010	218	16	c	c	PROPN
ap-1010	218	17	�	�	PROPN
ap-1010	218	18	�	�	PROPN
ap-1010	218	19	�	�	PROPN
ap-1010	218	20	�	�	PROPN
ap-1010	218	21	�	�	PROPN
ap-1010	218	22	6	6	NUM
ap-1010	218	23	where	where	SCONJ
ap-1010	218	24	a	a	DET
ap-1010	218	25	�	�	PROPN
ap-1010	218	26	�	�	SYM
ap-1010	218	27	�	�	PROPN
ap-1010	218	28	2	2	NUM
ap-1010	218	29	1	1	NUM
ap-1010	218	30	0	0	NUM
ap-1010	218	31	0	0	NUM
ap-1010	218	32	0	0	NUM
ap-1010	218	33	0	0	NUM
ap-1010	218	34	1	1	NUM
ap-1010	218	35	4	4	NUM
ap-1010	218	36	1	1	NUM
ap-1010	218	37	0	0	NUM
ap-1010	218	38	0	0	NUM
ap-1010	218	39	0	0	NUM
ap-1010	218	40	0	0	NUM
ap-1010	218	41	1	1	NUM
ap-1010	218	42	4	4	NUM
ap-1010	218	43	1	1	NUM
ap-1010	218	44	0	0	NUM
ap-1010	218	45	0	0	NUM
ap-1010	218	46	0	0	NUM
ap-1010	218	47	0	0	NUM
ap-1010	218	48	1	1	NUM
ap-1010	218	49	4	4	NUM
ap-1010	218	50	1	1	NUM
ap-1010	218	51	0	0	NUM
ap-1010	218	52	0	0	NUM
ap-1010	218	53	0	0	SYM
ap-1010	218	54	0	0	NUM
ap-1010	218	55	�	�	PROPN
ap-1010	218	56	�	�	PROPN
ap-1010	218	57	�	�	PROPN
ap-1010	218	58	�	�	PROPN
ap-1010	218	59	�	�	PROPN
ap-1010	218	60	�	�	PROPN
ap-1010	218	61	�	�	PROPN
ap-1010	218	62	�	�	PROPN
ap-1010	218	63	�	�	PROPN
ap-1010	218	64	�	�	PROPN
ap-1010	218	65	�	�	PROPN
ap-1010	218	66	�	�	PROPN
ap-1010	218	67	�	�	PROPN
ap-1010	218	68	�	�	PROPN
ap-1010	218	69	�	�	PROPN
ap-1010	218	70	�	�	PROPN
ap-1010	218	71	�	�	PROPN
ap-1010	218	72	�	�	PROPN
ap-1010	218	73	�	�	PROPN
ap-1010	218	74	1	1	NUM
ap-1010	218	75	4	4	NUM
ap-1010	218	76	1	1	NUM
ap-1010	218	77	0	0	NUM
ap-1010	218	78	0	0	NUM
ap-1010	218	79	0	0	NUM
ap-1010	218	80	0	0	NUM
ap-1010	218	81	1	1	NUM
ap-1010	218	82	2	2	NUM
ap-1010	218	83	�	�	PROPN
ap-1010	218	84	�	�	PROPN
ap-1010	218	85	�	�	PROPN
ap-1010	218	86	�	�	PROPN
ap-1010	218	87	�	�	PROPN
ap-1010	218	88	�	�	PROPN
ap-1010	218	89	�	�	PROPN
ap-1010	218	90	�	�	PROPN
ap-1010	218	91	�	�	PROPN
ap-1010	218	92	�	�	PROPN
ap-1010	218	93	�	�	PROPN
ap-1010	218	94	�	�	PROPN
ap-1010	218	95	�	�	PROPN
ap-1010	218	96	�	�	PROPN
ap-1010	218	97	�	�	PROPN
ap-1010	218	98	�	�	PROPN
ap-1010	218	99	�	�	PROPN
ap-1010	218	100	�	�	PROPN
ap-1010	218	101	�	�	PROPN
ap-1010	218	102	�	�	PROPN
ap-1010	218	103	�	�	PROPN
ap-1010	218	104	�	�	PROPN
ap-1010	218	105	�	�	PROPN
ap-1010	218	106	�	�	PROPN
ap-1010	218	107	�	�	PROPN
ap-1010	218	108	�	�	PROPN
ap-1010	218	109	�	�	PROPN
ap-1010	218	110	,	,	PUNCT
ap-1010	218	111	c	c	PROPN
ap-1010	218	112	�	�	PROPN
ap-1010	218	113	�	�	PROPN
ap-1010	218	114	�	�	PROPN
ap-1010	218	115	�	�	PROPN
ap-1010	218	116	1	1	NUM
ap-1010	218	117	1	1	NUM
ap-1010	218	118	0	0	NUM
ap-1010	218	119	0	0	NUM
ap-1010	218	120	0	0	NUM
ap-1010	218	121	0	0	NUM
ap-1010	218	122	1	1	NUM
ap-1010	218	123	2	2	NUM
ap-1010	218	124	1	1	NUM
ap-1010	218	125	0	0	NUM
ap-1010	218	126	0	0	NUM
ap-1010	218	127	0	0	NUM
ap-1010	218	128	0	0	NUM
ap-1010	218	129	1	1	NUM
ap-1010	218	130	2	2	NUM
ap-1010	218	131	1	1	NUM
ap-1010	218	132	0	0	NUM
ap-1010	218	133	0	0	NUM
ap-1010	218	134	0	0	NUM
ap-1010	218	135	0	0	NUM
ap-1010	218	136	1	1	NUM
ap-1010	218	137	2	2	NUM
ap-1010	218	138	11	11	NUM
ap-1010	218	139	�	�	PROPN
ap-1010	218	140	�	�	PROPN
ap-1010	218	141	c	c	PROPN
ap-1010	218	142	�	�	PROPN
ap-1010	218	143	�	�	PROPN
ap-1010	218	144	�	�	PROPN
ap-1010	218	145	�	�	PROPN
ap-1010	218	146	�	�	PROPN
ap-1010	218	147	�	�	PROPN
ap-1010	218	148	�	�	PROPN
ap-1010	218	149	�	�	PROPN
ap-1010	218	150	�	�	PROPN
ap-1010	218	151	�	�	PROPN
ap-1010	218	152	�	�	PROPN
ap-1010	218	153	�	�	PROPN
ap-1010	218	154	�	�	PROPN
ap-1010	218	155	�	�	PROPN
ap-1010	218	156	�	�	PROPN
ap-1010	218	157	�	�	PROPN
ap-1010	218	158	�	�	PROPN
ap-1010	218	159	�	�	PROPN
ap-1010	218	160	1	1	NUM
ap-1010	218	161	0	0	NUM
ap-1010	218	162	0	0	NUM
ap-1010	218	163	0	0	NUM
ap-1010	218	164	0	0	NUM
ap-1010	218	165	1	1	NUM
ap-1010	218	166	2	2	NUM
ap-1010	218	167	1	1	NUM
ap-1010	218	168	0	0	NUM
ap-1010	218	169	0	0	NUM
ap-1010	218	170	0	0	NUM
ap-1010	218	171	0	0	NUM
ap-1010	218	172	1	1	NUM
ap-1010	218	173	�	�	PROPN
ap-1010	218	174	�	�	PROPN
ap-1010	218	175	�	�	PROPN
ap-1010	218	176	�	�	PROPN
ap-1010	218	177	�	�	PROPN
ap-1010	218	178	�	�	PROPN
ap-1010	218	179	�	�	PROPN
ap-1010	218	180	�	�	PROPN
ap-1010	218	181	�	�	PROPN
ap-1010	218	182	�	�	PROPN
ap-1010	218	183	�	�	PROPN
ap-1010	218	184	�	�	PROPN
ap-1010	218	185	�	�	PROPN
ap-1010	218	186	�	�	PROPN
ap-1010	218	187	�	�	PROPN
ap-1010	218	188	�	�	PROPN
ap-1010	218	189	�	�	PROPN
ap-1010	218	190	�	�	PROPN
ap-1010	218	191	�	�	PROPN
ap-1010	218	192	�	�	PROPN
ap-1010	218	193	�	�	PROPN
ap-1010	218	194	�	�	PROPN
ap-1010	218	195	�	�	PROPN
ap-1010	218	196	�	�	PROPN
ap-1010	218	197	�	�	PROPN
ap-1010	218	198	�	�	PROPN
ap-1010	218	199	�	�	PROPN
ap-1010	218	200	�	�	PROPN
ap-1010	218	201	�	�	PROPN
ap-1010	218	202	�	�	PROPN
ap-1010	218	203	�	�	PROPN
ap-1010	218	204	�	�	PROPN
ap-1010	218	205	�	�	PROPN
ap-1010	218	206	cn	cn	PROPN
ap-1010	218	207	n	n	PROPN
ap-1010	218	208	,	,	PUNCT
ap-1010	218	209	(	(	PUNCT
ap-1010	218	210	23a	23a	NUM
ap-1010	218	211	)	)	PUNCT
ap-1010	218	212	in	in	ADP
ap-1010	218	213	which	which	PRON
ap-1010	218	214	�	�	PROPN
ap-1010	218	215	�	�	PROPN
ap-1010	218	216	�	�	PROPN
ap-1010	218	217	�	�	PROPN
ap-1010	218	218	n	n	PROPN
ap-1010	218	219	n	n	NUM
ap-1010	218	220	2	2	NUM
ap-1010	218	221	and	and	CCONJ
ap-1010	218	222	c	c	NOUN
ap-1010	218	223	ta	ta	ADP
ap-1010	218	224	11	11	NUM
ap-1010	218	225	1	1	NUM
ap-1010	218	226	�	�	PROPN
ap-1010	218	227	�	�	PROPN
ap-1010	218	228	�	�	PROPN
ap-1010	218	229	�	�	PROPN
ap-1010	218	230	�	�	PROPN
ap-1010	218	231	,	,	PUNCT
ap-1010	218	232	c	c	PROPN
ap-1010	218	233	tn	tn	PROPN
ap-1010	218	234	n	n	PROPN
ap-1010	218	235	b	b	PROPN
ap-1010	218	236	�	�	PROPN
ap-1010	218	237	�	�	PROPN
ap-1010	218	238	�	�	PROPN
ap-1010	218	239	�	�	PROPN
ap-1010	218	240	�	�	PROPN
ap-1010	218	241	�	�	PROPN
ap-1010	218	242	�	�	PROPN
ap-1010	218	243	1	1	NUM
ap-1010	218	244	�	�	PROPN
ap-1010	218	245	�	�	PROPN
ap-1010	218	246	.	.	PUNCT
ap-1010	219	1	(	(	PUNCT
ap-1010	219	2	23b	23b	NOUN
ap-1010	219	3	)	)	PUNCT
ap-1010	219	4	similarly	similarly	ADV
ap-1010	219	5	,	,	PUNCT
ap-1010	219	6	the	the	DET
ap-1010	219	7	linear	linear	ADJ
ap-1010	219	8	relationship	relationship	NOUN
ap-1010	219	9	between	between	ADP
ap-1010	219	10	�	�	PROPN
ap-1010	219	11	and	and	CCONJ
ap-1010	219	12	�	�	PROPN
ap-1010	219	13	�	�	PROPN
ap-1010	219	14	�	�	PROPN
ap-1010	219	15	is	be	AUX
ap-1010	219	16	p	p	PROPN
ap-1010	219	17	q	q	PROPN
ap-1010	219	18	�	�	PROPN
ap-1010	219	19	�	�	PROPN
ap-1010	219	20	�	�	PROPN
ap-1010	219	21	�	�	PROPN
ap-1010	219	22	where	where	SCONJ
ap-1010	219	23	p	p	PROPN
ap-1010	219	24	�	�	PROPN
ap-1010	219	25	�	�	PROPN
ap-1010	219	26	�	�	PROPN
ap-1010	219	27	�	�	PROPN
ap-1010	219	28	�	�	PROPN
ap-1010	219	29	1	1	NUM
ap-1010	219	30	0	0	NUM
ap-1010	219	31	0	0	NUM
ap-1010	219	32	0	0	NUM
ap-1010	219	33	0	0	NUM
ap-1010	219	34	0	0	NUM
ap-1010	219	35	1	1	NUM
ap-1010	219	36	4	4	NUM
ap-1010	219	37	1	1	NUM
ap-1010	219	38	0	0	NUM
ap-1010	219	39	0	0	NUM
ap-1010	219	40	0	0	NUM
ap-1010	219	41	0	0	NUM
ap-1010	219	42	1	1	NUM
ap-1010	219	43	4	4	NUM
ap-1010	219	44	0	0	NUM
ap-1010	219	45	0	0	NUM
ap-1010	219	46	0	0	NUM
ap-1010	219	47	0	0	NUM
ap-1010	219	48	0	0	NUM
ap-1010	219	49	1	1	NUM
ap-1010	219	50	4	4	NUM
ap-1010	219	51	1	1	NUM
ap-1010	219	52	0	0	NUM
ap-1010	219	53	0	0	NUM
ap-1010	219	54	0	0	NUM
ap-1010	219	55	�	�	PROPN
ap-1010	219	56	�	�	PROPN
ap-1010	219	57	�	�	PROPN
ap-1010	219	58	�	�	PROPN
ap-1010	219	59	�	�	PROPN
ap-1010	219	60	�	�	PROPN
ap-1010	219	61	�	�	PROPN
ap-1010	219	62	�	�	PROPN
ap-1010	219	63	�	�	PROPN
ap-1010	219	64	�	�	PROPN
ap-1010	219	65	�	�	PROPN
ap-1010	219	66	�	�	PROPN
ap-1010	219	67	�	�	PROPN
ap-1010	219	68	�	�	PROPN
ap-1010	219	69	�	�	PROPN
ap-1010	219	70	�	�	PROPN
ap-1010	219	71	�	�	PROPN
ap-1010	219	72	�	�	PROPN
ap-1010	219	73	0	0	NUM
ap-1010	219	74	1	1	NUM
ap-1010	219	75	4	4	NUM
ap-1010	219	76	1	1	NUM
ap-1010	219	77	0	0	NUM
ap-1010	219	78	0	0	NUM
ap-1010	219	79	0	0	NUM
ap-1010	219	80	0	0	NUM
ap-1010	219	81	0	0	NUM
ap-1010	219	82	1	1	NUM
ap-1010	219	83	�	�	PROPN
ap-1010	219	84	�	�	PROPN
ap-1010	219	85	�	�	PROPN
ap-1010	219	86	�	�	PROPN
ap-1010	219	87	�	�	PROPN
ap-1010	219	88	�	�	PROPN
ap-1010	219	89	�	�	PROPN
ap-1010	219	90	�	�	PROPN
ap-1010	219	91	�	�	PROPN
ap-1010	219	92	�	�	PROPN
ap-1010	219	93	�	�	PROPN
ap-1010	219	94	�	�	PROPN
ap-1010	219	95	�	�	PROPN
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ap-1010	219	113	,	,	PUNCT
ap-1010	219	114	q	q	PROPN
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ap-1010	219	120	0	0	NUM
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ap-1010	219	125	3	3	NUM
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ap-1010	219	142	0	0	NUM
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ap-1010	219	144	ta	ta	ADP
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ap-1010	219	155	�	�	PROPN
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ap-1010	219	163	0	0	NUM
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ap-1010	219	165	3	3	NUM
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ap-1010	219	173	1	1	NUM
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ap-1010	219	181	�	�	PROPN
ap-1010	219	182	�	�	PROPN
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ap-1010	219	184	�	�	PROPN
ap-1010	219	185	�	�	PROPN
ap-1010	219	186	�	�	PROPN
ap-1010	219	187	�	�	PROPN
ap-1010	219	188	�	�	PROPN
ap-1010	219	189	�	�	PROPN
ap-1010	219	190	�	�	PROPN
ap-1010	219	191	�	�	PROPN
ap-1010	219	192	�	�	PROPN
ap-1010	219	193	�	�	PROPN
ap-1010	219	194	�	�	PROPN
ap-1010	219	195	�	�	PROPN
ap-1010	219	196	�	�	PROPN
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ap-1010	219	198	�	�	PROPN
ap-1010	219	199	�	�	PROPN
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ap-1010	219	201	�	�	PROPN
ap-1010	219	202	�	�	PROPN
ap-1010	219	203	tb	tb	X
ap-1010	219	204	(	(	PUNCT
ap-1010	219	205	23c	23c	NOUN
ap-1010	219	206	)	)	PUNCT
ap-1010	219	207	it	it	PRON
ap-1010	219	208	is	be	AUX
ap-1010	219	209	noteworthy	noteworthy	ADJ
ap-1010	219	210	that	that	SCONJ
ap-1010	219	211	when	when	SCONJ
ap-1010	219	212	either	either	DET
ap-1010	219	213	�	�	PROPN
ap-1010	219	214	a	a	PRON
ap-1010	219	215	or	or	CCONJ
ap-1010	219	216	�	�	NOUN
ap-1010	219	217	b	b	NOUN
ap-1010	219	218	is	be	AUX
ap-1010	219	219	equal	equal	ADJ
ap-1010	219	220	to	to	ADP
ap-1010	219	221	�	�	PROPN
ap-1010	219	222	2	2	NUM
ap-1010	219	223	,	,	PUNCT
ap-1010	219	224	q	q	PRON
ap-1010	219	225	becomes	become	VERB
ap-1010	219	226	singular	singular	ADJ
ap-1010	219	227	.	.	PUNCT
ap-1010	220	1	in	in	ADP
ap-1010	220	2	our	our	PRON
ap-1010	220	3	procedure	procedure	NOUN
ap-1010	220	4	,	,	PUNCT
ap-1010	220	5	however	however	ADV
ap-1010	220	6	,	,	PUNCT
ap-1010	220	7	we	we	PRON
ap-1010	220	8	need	need	AUX
ap-1010	220	9	not	not	PART
ap-1010	220	10	invert	invert	VERB
ap-1010	220	11	q	q	NOUN
ap-1010	220	12	,	,	PUNCT
ap-1010	220	13	for	for	SCONJ
ap-1010	220	14	all	all	PRON
ap-1010	220	15	we	we	PRON
ap-1010	220	16	compute	compute	VERB
ap-1010	220	17	is	be	AUX
ap-1010	220	18	�	�	PROPN
ap-1010	220	19	�	�	PROPN
ap-1010	220	20	�	�	PROPN
ap-1010	220	21	�	�	PROPN
ap-1010	220	22	�	�	PROPN
ap-1010	220	23	p	p	PROPN
ap-1010	220	24	q1	q1	PROPN
ap-1010	220	25	.	.	PUNCT
ap-1010	221	1	table	table	NOUN
ap-1010	221	2	of	of	ADP
ap-1010	221	3	contents	content	NOUN
ap-1010	221	4	signal	signal	NOUN
ap-1010	221	5	separation	separation	NOUN
ap-1010	221	6	in	in	ADP
ap-1010	221	7	ultrasonic	ultrasonic	ADJ
ap-1010	221	8	non	non	ADJ
ap-1010	221	9	-	-	ADJ
ap-1010	221	10	destructive	destructive	ADJ
ap-1010	221	11	testing	testing	NOUN
ap-1010	221	12	3	3	NUM
ap-1010	221	13	v.	v.	ADP
ap-1010	221	14	matz	matz	PROPN
ap-1010	221	15	,	,	PUNCT
ap-1010	221	16	m.	m.	NOUN
ap-1010	221	17	kreidl	kreidl	PROPN
ap-1010	221	18	,	,	PUNCT
ap-1010	221	19	r.	r.	PROPN
ap-1010	221	20	šmíd	šmíd	PROPN
ap-1010	221	21	design	design	PROPN
ap-1010	221	22	and	and	CCONJ
ap-1010	221	23	validation	validation	NOUN
ap-1010	221	24	of	of	ADP
ap-1010	221	25	a	a	DET
ap-1010	221	26	probe	probe	NOUN
ap-1010	221	27	for	for	ADP
ap-1010	221	28	spatially	spatially	ADV
ap-1010	221	29	and	and	CCONJ
ap-1010	221	30	temporally	temporally	ADV
ap-1010	221	31	resolved	resolve	VERB
ap-1010	221	32	measurements	measurement	NOUN
ap-1010	221	33	of	of	ADP
ap-1010	221	34	vorticity	vorticity	NOUN
ap-1010	221	35	and	and	CCONJ
ap-1010	221	36	strain	strain	VERB
ap-1010	221	37	rates	rate	NOUN
ap-1010	221	38	in	in	ADP
ap-1010	221	39	compressible	compressible	ADJ
ap-1010	221	40	turbulence	turbulence	NOUN
ap-1010	221	41	interactions	interaction	NOUN
ap-1010	221	42	10	10	NUM
ap-1010	221	43	s.	s.	PROPN
ap-1010	221	44	xanthos	xanthos	PROPN
ap-1010	221	45	,	,	PUNCT
ap-1010	221	46	m.	m.	NOUN
ap-1010	221	47	gong	gong	PROPN
ap-1010	221	48	,	,	PUNCT
ap-1010	221	49	y.	y.	PROPN
ap-1010	221	50	andreopoulos	andreopoulo	VERB
ap-1010	221	51	dynamics	dynamic	NOUN
ap-1010	221	52	of	of	ADP
ap-1010	221	53	the	the	DET
ap-1010	221	54	flow	flow	NOUN
ap-1010	221	55	pattern	pattern	NOUN
ap-1010	221	56	in	in	ADP
ap-1010	221	57	a	a	DET
ap-1010	221	58	baffled	baffled	ADJ
ap-1010	221	59	mixing	mix	VERB
ap-1010	221	60	vessel	vessel	NOUN
ap-1010	221	61	with	with	ADP
ap-1010	221	62	an	an	DET
ap-1010	221	63	axial	axial	ADJ
ap-1010	221	64	impeller	impeller	NOUN
ap-1010	221	65	17	17	NUM
ap-1010	221	66	o.	o.	PROPN
ap-1010	221	67	brùha	brùha	PROPN
ap-1010	221	68	,	,	PUNCT
ap-1010	221	69	t.	t.	PROPN
ap-1010	221	70	brùha	brùha	PROPN
ap-1010	221	71	,	,	PUNCT
ap-1010	221	72	i.	i.	PROPN
ap-1010	221	73	foøt	foøt	PROPN
ap-1010	221	74	,	,	PUNCT
ap-1010	221	75	m.	m.	NOUN
ap-1010	221	76	jahoda	jahoda	PROPN
ap-1010	221	77	dimension	dimension	PROPN
ap-1010	221	78	of	of	ADP
ap-1010	221	79	fracture	fracture	PROPN
ap-1010	221	80	surfaces	surface	NOUN
ap-1010	221	81	27	27	NUM
ap-1010	221	82	t.	t.	NOUN
ap-1010	221	83	ficker	ficker	PROPN
ap-1010	221	84	statistics	statistic	NOUN
ap-1010	221	85	of	of	ADP
ap-1010	221	86	electron	electron	NOUN
ap-1010	221	87	avalanches	avalanche	NOUN
ap-1010	221	88	and	and	CCONJ
ap-1010	221	89	streamers	streamer	NOUN
ap-1010	221	90	31	31	NUM
ap-1010	221	91	t.	t.	NOUN
ap-1010	221	92	ficker	ficker	PROPN
ap-1010	221	93	influence	influence	NOUN
ap-1010	221	94	of	of	ADP
ap-1010	221	95	oxidation	oxidation	NOUN
ap-1010	221	96	media	medium	NOUN
ap-1010	221	97	on	on	ADP
ap-1010	221	98	the	the	DET
ap-1010	221	99	transport	transport	NOUN
ap-1010	221	100	properties	property	NOUN
ap-1010	221	101	of	of	ADP
ap-1010	221	102	thin	thin	ADJ
ap-1010	221	103	oxide	oxide	NOUN
ap-1010	221	104	layers	layer	NOUN
ap-1010	221	105	of	of	ADP
ap-1010	221	106	zirconium	zirconium	NOUN
ap-1010	221	107	alloys	alloy	NOUN
ap-1010	221	108	36	36	NUM
ap-1010	221	109	h.	h.	PROPN
ap-1010	221	110	frank	frank	PROPN
ap-1010	221	111	eu	eu	PROPN
ap-1010	221	112	emissions	emissions	PROPN
ap-1010	221	113	trading	trading	NOUN
ap-1010	221	114	scheme	scheme	NOUN
ap-1010	221	115	as	as	SCONJ
ap-1010	221	116	implemented	implement	VERB
ap-1010	221	117	in	in	ADP
ap-1010	221	118	the	the	DET
ap-1010	221	119	czech	czech	PROPN
ap-1010	221	120	republic	republic	NOUN
ap-1010	221	121	43	43	NUM
ap-1010	221	122	t.	t.	NOUN
ap-1010	221	123	chmelík	chmelík	NOUN
ap-1010	221	124	,	,	PUNCT
ap-1010	221	125	p.	p.	PROPN
ap-1010	221	126	zámyslický	zámyslický	PROPN
ap-1010	221	127	simulation	simulation	PROPN
ap-1010	221	128	environment	environment	NOUN
ap-1010	221	129	for	for	ADP
ap-1010	221	130	artificial	artificial	ADJ
ap-1010	221	131	creatures	creature	NOUN
ap-1010	221	132	46	46	NUM
ap-1010	221	133	k.	k.	PROPN
ap-1010	221	134	kohout	kohout	PROPN
ap-1010	221	135	,	,	PUNCT
ap-1010	221	136	p.	p.	PROPN
ap-1010	221	137	nahodil	nahodil	PROPN
ap-1010	221	138	finite	finite	PROPN
ap-1010	221	139	automata	automata	NOUN
ap-1010	221	140	implementations	implementation	NOUN
ap-1010	221	141	considering	consider	VERB
ap-1010	221	142	cpu	cpu	NOUN
ap-1010	221	143	cache	cache	NOUN
ap-1010	221	144	51	51	NUM
ap-1010	221	145	j.	j.	PROPN
ap-1010	221	146	holub	holub	PROPN
ap-1010	221	147	shape	shape	NOUN
ap-1010	221	148	synthesis	synthesis	NOUN
ap-1010	221	149	in	in	ADP
ap-1010	221	150	mechanical	mechanical	ADJ
ap-1010	221	151	design	design	NOUN
ap-1010	221	152	56	56	NUM
ap-1010	221	153	c.	c.	NOUN
ap-1010	221	154	p.	p.	PROPN
ap-1010	221	155	teng	teng	PROPN
ap-1010	221	156	,	,	PUNCT
ap-1010	221	157	s.	s.	PROPN
ap-1010	221	158	bai	bai	PROPN
ap-1010	221	159	,	,	PUNCT
ap-1010	221	160	j.	j.	PROPN
ap-1010	221	161	angeles	angeles	PROPN