id	sid	tid	token	lemma	pos
ap-1684	1	1	acta	acta	PROPN
ap-1684	1	2	polytechnica	polytechnica	PROPN
ap-1684	1	3	vol	vol	NOUN
ap-1684	1	4	.	.	PROPN
ap-1684	2	1	52	52	NUM
ap-1684	2	2	no	no	NOUN
ap-1684	2	3	.	.	PUNCT
ap-1684	3	1	6/2012	6/2012	NUM
ap-1684	3	2	synthesis	synthesis	NOUN
ap-1684	3	3	of	of	ADP
ap-1684	3	4	mechanisms	mechanism	NOUN
ap-1684	3	5	by	by	ADP
ap-1684	3	6	methods	method	NOUN
ap-1684	3	7	of	of	ADP
ap-1684	3	8	nonlinear	nonlinear	ADJ
ap-1684	3	9	dynamics	dynamic	NOUN
ap-1684	3	10	michael	michael	PROPN
ap-1684	3	11	valášek	valášek	PROPN
ap-1684	3	12	,	,	PUNCT
ap-1684	3	13	zbyněk	zbyněk	X
ap-1684	3	14	šika	šika	PROPN
ap-1684	3	15	department	department	PROPN
ap-1684	3	16	of	of	ADP
ap-1684	3	17	mechanics	mechanic	NOUN
ap-1684	3	18	,	,	PUNCT
ap-1684	3	19	biomechanics	biomechanic	NOUN
ap-1684	3	20	and	and	CCONJ
ap-1684	3	21	mechatronics	mechatronic	NOUN
ap-1684	3	22	faculty	faculty	NOUN
ap-1684	3	23	of	of	ADP
ap-1684	3	24	mechanical	mechanical	ADJ
ap-1684	3	25	engineering	engineering	NOUN
ap-1684	3	26	czech	czech	PROPN
ap-1684	3	27	technical	technical	PROPN
ap-1684	3	28	university	university	PROPN
ap-1684	3	29	in	in	ADP
ap-1684	3	30	prague	prague	PROPN
ap-1684	3	31	technická	technická	PROPN
ap-1684	3	32	4	4	NUM
ap-1684	3	33	,	,	PUNCT
ap-1684	3	34	16607	16607	NUM
ap-1684	3	35	praha	praha	PROPN
ap-1684	3	36	6	6	NUM
ap-1684	3	37	,	,	PUNCT
ap-1684	3	38	czech	czech	PROPN
ap-1684	3	39	republic	republic	NOUN
ap-1684	3	40	corresponding	corresponding	ADJ
ap-1684	3	41	author	author	NOUN
ap-1684	3	42	:	:	PUNCT
ap-1684	3	43	michael.valasek@fs.cvut.cz	michael.valasek@fs.cvut.cz	NOUN
ap-1684	3	44	abstract	abstract	ADJ
ap-1684	3	45	this	this	DET
ap-1684	3	46	paper	paper	NOUN
ap-1684	3	47	deals	deal	NOUN
ap-1684	3	48	with	with	ADP
ap-1684	3	49	a	a	DET
ap-1684	3	50	new	new	ADJ
ap-1684	3	51	method	method	NOUN
ap-1684	3	52	for	for	ADP
ap-1684	3	53	parametric	parametric	ADJ
ap-1684	3	54	kinematic	kinematic	ADJ
ap-1684	3	55	synthesis	synthesis	NOUN
ap-1684	3	56	of	of	ADP
ap-1684	3	57	mechanisms	mechanism	NOUN
ap-1684	3	58	.	.	PUNCT
ap-1684	4	1	the	the	DET
ap-1684	4	2	traditional	traditional	ADJ
ap-1684	4	3	synthesis	synthesis	NOUN
ap-1684	4	4	procedure	procedure	NOUN
ap-1684	4	5	based	base	VERB
ap-1684	4	6	on	on	ADP
ap-1684	4	7	collocation	collocation	NOUN
ap-1684	4	8	,	,	PUNCT
ap-1684	4	9	correction	correction	NOUN
ap-1684	4	10	and	and	CCONJ
ap-1684	4	11	optimization	optimization	NOUN
ap-1684	4	12	suffers	suffer	VERB
ap-1684	4	13	from	from	ADP
ap-1684	4	14	the	the	DET
ap-1684	4	15	local	local	ADJ
ap-1684	4	16	minima	minima	NOUN
ap-1684	4	17	of	of	ADP
ap-1684	4	18	objective	objective	ADJ
ap-1684	4	19	functions	function	NOUN
ap-1684	4	20	,	,	PUNCT
ap-1684	4	21	usually	usually	ADV
ap-1684	4	22	due	due	ADP
ap-1684	4	23	to	to	ADP
ap-1684	4	24	the	the	DET
ap-1684	4	25	local	local	ADJ
ap-1684	4	26	unassembled	unassembled	ADJ
ap-1684	4	27	configurations	configuration	NOUN
ap-1684	4	28	which	which	PRON
ap-1684	4	29	must	must	AUX
ap-1684	4	30	be	be	AUX
ap-1684	4	31	overcome	overcome	VERB
ap-1684	4	32	.	.	PUNCT
ap-1684	5	1	the	the	DET
ap-1684	5	2	new	new	ADJ
ap-1684	5	3	method	method	NOUN
ap-1684	5	4	uses	use	VERB
ap-1684	5	5	the	the	DET
ap-1684	5	6	time	time	NOUN
ap-1684	5	7	varying	vary	VERB
ap-1684	5	8	values	value	NOUN
ap-1684	5	9	of	of	ADP
ap-1684	5	10	the	the	DET
ap-1684	5	11	synthesized	synthesize	VERB
ap-1684	5	12	dimensions	dimension	NOUN
ap-1684	5	13	of	of	ADP
ap-1684	5	14	the	the	DET
ap-1684	5	15	mechanism	mechanism	NOUN
ap-1684	5	16	as	as	SCONJ
ap-1684	5	17	if	if	SCONJ
ap-1684	5	18	the	the	DET
ap-1684	5	19	mechanism	mechanism	NOUN
ap-1684	5	20	had	have	VERB
ap-1684	5	21	elastic	elastic	ADJ
ap-1684	5	22	links	link	NOUN
ap-1684	5	23	and	and	CCONJ
ap-1684	5	24	guidances	guidance	NOUN
ap-1684	5	25	.	.	PUNCT
ap-1684	6	1	the	the	DET
ap-1684	6	2	time	time	NOUN
ap-1684	6	3	varying	vary	VERB
ap-1684	6	4	dimensions	dimension	NOUN
ap-1684	6	5	form	form	VERB
ap-1684	6	6	the	the	DET
ap-1684	6	7	basis	basis	NOUN
ap-1684	6	8	for	for	ADP
ap-1684	6	9	an	an	DET
ap-1684	6	10	accompanying	accompanying	ADJ
ap-1684	6	11	nonlinear	nonlinear	ADJ
ap-1684	6	12	dynamical	dynamical	ADJ
ap-1684	6	13	dissipative	dissipative	NOUN
ap-1684	6	14	system	system	NOUN
ap-1684	6	15	and	and	CCONJ
ap-1684	6	16	the	the	DET
ap-1684	6	17	synthesis	synthesis	NOUN
ap-1684	6	18	is	be	AUX
ap-1684	6	19	transformed	transform	VERB
ap-1684	6	20	into	into	ADP
ap-1684	6	21	the	the	DET
ap-1684	6	22	time	time	NOUN
ap-1684	6	23	evolution	evolution	NOUN
ap-1684	6	24	of	of	ADP
ap-1684	6	25	this	this	DET
ap-1684	6	26	accompanying	accompany	VERB
ap-1684	6	27	dynamical	dynamical	ADJ
ap-1684	6	28	system	system	NOUN
ap-1684	6	29	.	.	PUNCT
ap-1684	7	1	its	its	PRON
ap-1684	7	2	dissipativity	dissipativity	NOUN
ap-1684	7	3	guarantees	guarantee	VERB
ap-1684	7	4	the	the	DET
ap-1684	7	5	termination	termination	NOUN
ap-1684	7	6	of	of	ADP
ap-1684	7	7	the	the	DET
ap-1684	7	8	synthesis	synthesis	NOUN
ap-1684	7	9	.	.	PUNCT
ap-1684	8	1	the	the	DET
ap-1684	8	2	synthesis	synthesis	NOUN
ap-1684	8	3	always	always	ADV
ap-1684	8	4	covers	cover	VERB
ap-1684	8	5	the	the	DET
ap-1684	8	6	parametric	parametric	ADJ
ap-1684	8	7	kinematic	kinematic	ADJ
ap-1684	8	8	synthesis	synthesis	NOUN
ap-1684	8	9	,	,	PUNCT
ap-1684	8	10	but	but	CCONJ
ap-1684	8	11	it	it	PRON
ap-1684	8	12	can	can	AUX
ap-1684	8	13	be	be	AUX
ap-1684	8	14	advantageously	advantageously	ADV
ap-1684	8	15	extended	extend	VERB
ap-1684	8	16	into	into	ADP
ap-1684	8	17	the	the	DET
ap-1684	8	18	optimization	optimization	NOUN
ap-1684	8	19	of	of	ADP
ap-1684	8	20	any	any	DET
ap-1684	8	21	further	further	ADJ
ap-1684	8	22	criteria	criterion	NOUN
ap-1684	8	23	.	.	PUNCT
ap-1684	9	1	the	the	DET
ap-1684	9	2	main	main	ADJ
ap-1684	9	3	advantage	advantage	NOUN
ap-1684	9	4	of	of	ADP
ap-1684	9	5	the	the	DET
ap-1684	9	6	method	method	NOUN
ap-1684	9	7	described	describe	VERB
ap-1684	9	8	here	here	ADV
ap-1684	9	9	for	for	ADP
ap-1684	9	10	dealing	deal	VERB
ap-1684	9	11	with	with	ADP
ap-1684	9	12	mechanism	mechanism	NOUN
ap-1684	9	13	synthesis	synthesis	NOUN
ap-1684	9	14	is	be	AUX
ap-1684	9	15	that	that	SCONJ
ap-1684	9	16	it	it	PRON
ap-1684	9	17	overcomes	overcome	VERB
ap-1684	9	18	the	the	DET
ap-1684	9	19	unassembled	unassembled	ADJ
ap-1684	9	20	configurations	configuration	NOUN
ap-1684	9	21	of	of	ADP
ap-1684	9	22	the	the	DET
ap-1684	9	23	synthesized	synthesize	VERB
ap-1684	9	24	mechanisms	mechanism	NOUN
ap-1684	9	25	and	and	CCONJ
ap-1684	9	26	enables	enable	VERB
ap-1684	9	27	any	any	DET
ap-1684	9	28	further	further	ADJ
ap-1684	9	29	synthesis	synthesis	NOUN
ap-1684	9	30	criteria	criterion	NOUN
ap-1684	9	31	to	to	PART
ap-1684	9	32	be	be	AUX
ap-1684	9	33	introduced	introduce	VERB
ap-1684	9	34	,	,	PUNCT
ap-1684	9	35	and	and	CCONJ
ap-1684	9	36	terminates	terminate	VERB
ap-1684	9	37	due	due	ADJ
ap-1684	9	38	to	to	ADP
ap-1684	9	39	dissipation	dissipation	NOUN
ap-1684	9	40	of	of	ADP
ap-1684	9	41	the	the	DET
ap-1684	9	42	accompanied	accompany	VERB
ap-1684	9	43	dynamical	dynamical	ADJ
ap-1684	9	44	system	system	NOUN
ap-1684	9	45	.	.	PUNCT
ap-1684	10	1	keywords	keyword	NOUN
ap-1684	10	2	:	:	PUNCT
ap-1684	10	3	synthesis	synthesis	NOUN
ap-1684	10	4	of	of	ADP
ap-1684	10	5	mechanisms	mechanism	NOUN
ap-1684	10	6	;	;	PUNCT
ap-1684	10	7	time	time	NOUN
ap-1684	10	8	varying	vary	VERB
ap-1684	10	9	dimensions	dimension	NOUN
ap-1684	10	10	;	;	PUNCT
ap-1684	10	11	evolution	evolution	NOUN
ap-1684	10	12	of	of	ADP
ap-1684	10	13	dissipative	dissipative	ADJ
ap-1684	10	14	systems	system	NOUN
ap-1684	10	15	;	;	PUNCT
ap-1684	10	16	multi	multi	ADJ
ap-1684	10	17	-	-	ADJ
ap-1684	10	18	objective	objective	ADJ
ap-1684	10	19	optimization	optimization	NOUN
ap-1684	10	20	;	;	PUNCT
ap-1684	10	21	dexterity	dexterity	NOUN
ap-1684	10	22	;	;	PUNCT
ap-1684	10	23	workspace	workspace	NOUN
ap-1684	10	24	;	;	PUNCT
ap-1684	10	25	built	build	VERB
ap-1684	10	26	-	-	PUNCT
ap-1684	10	27	up	up	ADP
ap-1684	10	28	space	space	NOUN
ap-1684	10	29	.	.	PUNCT
ap-1684	11	1	1	1	NUM
ap-1684	11	2	introduction	introduction	NOUN
ap-1684	11	3	like	like	ADP
ap-1684	11	4	other	other	ADJ
ap-1684	11	5	engineering	engineering	NOUN
ap-1684	11	6	problems	problem	NOUN
ap-1684	11	7	,	,	PUNCT
ap-1684	11	8	the	the	DET
ap-1684	11	9	parametric	parametric	ADJ
ap-1684	11	10	kinematic	kinematic	ADJ
ap-1684	11	11	synthesis	synthesis	NOUN
ap-1684	11	12	of	of	ADP
ap-1684	11	13	mechanisms	mechanism	NOUN
ap-1684	11	14	has	have	AUX
ap-1684	11	15	profited	profit	VERB
ap-1684	11	16	from	from	ADP
ap-1684	11	17	computational	computational	ADJ
ap-1684	11	18	methods	method	NOUN
ap-1684	11	19	,	,	PUNCT
ap-1684	11	20	e.g	e.g	X
ap-1684	12	1	[	[	X
ap-1684	12	2	1	1	NUM
ap-1684	12	3	]	]	PUNCT
ap-1684	12	4	.	.	PUNCT
ap-1684	13	1	traditional	traditional	ADJ
ap-1684	13	2	methods	method	NOUN
ap-1684	13	3	are	be	AUX
ap-1684	13	4	described	describe	VERB
ap-1684	13	5	specifically	specifically	ADV
ap-1684	13	6	for	for	ADP
ap-1684	13	7	a	a	DET
ap-1684	13	8	particular	particular	ADJ
ap-1684	13	9	type	type	NOUN
ap-1684	13	10	of	of	ADP
ap-1684	13	11	mechanisms	mechanism	NOUN
ap-1684	13	12	[	[	X
ap-1684	13	13	2–5	2–5	X
ap-1684	13	14	]	]	PUNCT
ap-1684	13	15	.	.	PUNCT
ap-1684	14	1	general	general	ADJ
ap-1684	14	2	iterative	iterative	NOUN
ap-1684	14	3	procedures	procedure	NOUN
ap-1684	14	4	based	base	VERB
ap-1684	14	5	on	on	ADP
ap-1684	14	6	various	various	ADJ
ap-1684	14	7	optimization	optimization	NOUN
ap-1684	14	8	methods	method	NOUN
ap-1684	14	9	[	[	X
ap-1684	14	10	1	1	NUM
ap-1684	14	11	,	,	PUNCT
ap-1684	14	12	6–11	6–11	PROPN
ap-1684	14	13	]	]	PUNCT
ap-1684	14	14	have	have	AUX
ap-1684	14	15	been	be	AUX
ap-1684	14	16	developed	develop	VERB
ap-1684	14	17	recently	recently	ADV
ap-1684	14	18	.	.	PUNCT
ap-1684	15	1	the	the	DET
ap-1684	15	2	currently	currently	ADV
ap-1684	15	3	used	use	VERB
ap-1684	15	4	methods	method	NOUN
ap-1684	15	5	seem	seem	VERB
ap-1684	15	6	to	to	PART
ap-1684	15	7	be	be	AUX
ap-1684	15	8	sufficiently	sufficiently	ADV
ap-1684	15	9	powerful	powerful	ADJ
ap-1684	15	10	and	and	CCONJ
ap-1684	15	11	able	able	ADJ
ap-1684	15	12	to	to	PART
ap-1684	15	13	find	find	VERB
ap-1684	15	14	solutions	solution	NOUN
ap-1684	15	15	for	for	ADP
ap-1684	15	16	most	most	ADJ
ap-1684	15	17	problems	problem	NOUN
ap-1684	15	18	in	in	ADP
ap-1684	15	19	mechanism	mechanism	NOUN
ap-1684	15	20	synthesis	synthesis	NOUN
ap-1684	15	21	.	.	PUNCT
ap-1684	16	1	however	however	ADV
ap-1684	16	2	,	,	PUNCT
ap-1684	16	3	all	all	DET
ap-1684	16	4	these	these	DET
ap-1684	16	5	methods	method	NOUN
ap-1684	16	6	suffer	suffer	VERB
ap-1684	16	7	from	from	ADP
ap-1684	16	8	two	two	NUM
ap-1684	16	9	related	relate	VERB
ap-1684	16	10	problems	problem	NOUN
ap-1684	16	11	.	.	PUNCT
ap-1684	17	1	the	the	DET
ap-1684	17	2	first	first	ADJ
ap-1684	17	3	problem	problem	NOUN
ap-1684	17	4	is	be	AUX
ap-1684	17	5	that	that	SCONJ
ap-1684	17	6	the	the	DET
ap-1684	17	7	dimensions	dimension	NOUN
ap-1684	17	8	of	of	ADP
ap-1684	17	9	the	the	DET
ap-1684	17	10	mechanism	mechanism	NOUN
ap-1684	17	11	that	that	PRON
ap-1684	17	12	are	be	AUX
ap-1684	17	13	being	be	AUX
ap-1684	17	14	optimized	optimize	VERB
ap-1684	17	15	do	do	AUX
ap-1684	17	16	not	not	PART
ap-1684	17	17	allow	allow	VERB
ap-1684	17	18	the	the	DET
ap-1684	17	19	mechanism	mechanism	NOUN
ap-1684	17	20	to	to	PART
ap-1684	17	21	be	be	AUX
ap-1684	17	22	assembled	assemble	VERB
ap-1684	17	23	in	in	ADP
ap-1684	17	24	all	all	DET
ap-1684	17	25	the	the	DET
ap-1684	17	26	positions	position	NOUN
ap-1684	17	27	required	require	VERB
ap-1684	17	28	for	for	ADP
ap-1684	17	29	the	the	DET
ap-1684	17	30	desired	desire	VERB
ap-1684	17	31	motion	motion	NOUN
ap-1684	17	32	.	.	PUNCT
ap-1684	18	1	the	the	DET
ap-1684	18	2	second	second	ADJ
ap-1684	18	3	problem	problem	NOUN
ap-1684	18	4	is	be	AUX
ap-1684	18	5	that	that	SCONJ
ap-1684	18	6	if	if	SCONJ
ap-1684	18	7	some	some	DET
ap-1684	18	8	mechanism	mechanism	NOUN
ap-1684	18	9	synthesis	synthesis	NOUN
ap-1684	18	10	iteration	iteration	NOUN
ap-1684	18	11	fails	fail	VERB
ap-1684	18	12	for	for	ADP
ap-1684	18	13	a	a	DET
ap-1684	18	14	certain	certain	ADJ
ap-1684	18	15	parameter	parameter	NOUN
ap-1684	18	16	because	because	SCONJ
ap-1684	18	17	of	of	ADP
ap-1684	18	18	a	a	DET
ap-1684	18	19	constraint	constraint	NOUN
ap-1684	18	20	and/or	and/or	CCONJ
ap-1684	18	21	an	an	DET
ap-1684	18	22	assembly	assembly	NOUN
ap-1684	18	23	violation	violation	NOUN
ap-1684	18	24	,	,	PUNCT
ap-1684	18	25	the	the	DET
ap-1684	18	26	whole	whole	ADJ
ap-1684	18	27	knowledge	knowledge	NOUN
ap-1684	18	28	from	from	ADP
ap-1684	18	29	this	this	DET
ap-1684	18	30	iteration	iteration	NOUN
ap-1684	18	31	is	be	AUX
ap-1684	18	32	lost	lose	VERB
ap-1684	18	33	.	.	PUNCT
ap-1684	19	1	a	a	DET
ap-1684	19	2	solution	solution	NOUN
ap-1684	19	3	to	to	ADP
ap-1684	19	4	the	the	DET
ap-1684	19	5	first	first	ADJ
ap-1684	19	6	problem	problem	NOUN
ap-1684	19	7	has	have	AUX
ap-1684	19	8	been	be	AUX
ap-1684	19	9	proposed	propose	VERB
ap-1684	19	10	with	with	ADP
ap-1684	19	11	the	the	DET
ap-1684	19	12	use	use	NOUN
ap-1684	19	13	of	of	ADP
ap-1684	19	14	time	time	NOUN
ap-1684	19	15	-	-	PUNCT
ap-1684	19	16	varying	vary	VERB
ap-1684	19	17	dimensions	dimension	NOUN
ap-1684	19	18	during	during	ADP
ap-1684	19	19	the	the	DET
ap-1684	19	20	dimension	dimension	NOUN
ap-1684	19	21	iteration	iteration	NOUN
ap-1684	19	22	process	process	NOUN
ap-1684	19	23	for	for	ADP
ap-1684	19	24	the	the	DET
ap-1684	19	25	mechanism	mechanism	NOUN
ap-1684	19	26	[	[	X
ap-1684	19	27	12	12	NUM
ap-1684	19	28	]	]	PUNCT
ap-1684	19	29	.	.	PUNCT
ap-1684	20	1	by	by	ADP
ap-1684	20	2	allowing	allow	VERB
ap-1684	20	3	the	the	DET
ap-1684	20	4	dimensions	dimension	NOUN
ap-1684	20	5	of	of	ADP
ap-1684	20	6	the	the	DET
ap-1684	20	7	system	system	NOUN
ap-1684	20	8	that	that	PRON
ap-1684	20	9	are	be	AUX
ap-1684	20	10	treated	treat	VERB
ap-1684	20	11	as	as	ADP
ap-1684	20	12	the	the	DET
ap-1684	20	13	design	design	NOUN
ap-1684	20	14	variables	variable	NOUN
ap-1684	20	15	to	to	PART
ap-1684	20	16	vary	vary	VERB
ap-1684	20	17	during	during	ADP
ap-1684	20	18	the	the	DET
ap-1684	20	19	motion	motion	NOUN
ap-1684	20	20	of	of	ADP
ap-1684	20	21	the	the	DET
ap-1684	20	22	mechanism	mechanism	NOUN
ap-1684	20	23	,	,	PUNCT
ap-1684	20	24	it	it	PRON
ap-1684	20	25	is	be	AUX
ap-1684	20	26	possible	possible	ADJ
ap-1684	20	27	to	to	PART
ap-1684	20	28	guarantee	guarantee	VERB
ap-1684	20	29	that	that	SCONJ
ap-1684	20	30	the	the	DET
ap-1684	20	31	system	system	NOUN
ap-1684	20	32	can	can	AUX
ap-1684	20	33	be	be	AUX
ap-1684	20	34	assembled	assemble	VERB
ap-1684	20	35	in	in	ADP
ap-1684	20	36	all	all	DET
ap-1684	20	37	configurations	configuration	NOUN
ap-1684	20	38	.	.	PUNCT
ap-1684	21	1	this	this	PRON
ap-1684	21	2	leads	lead	VERB
ap-1684	21	3	to	to	ADP
ap-1684	21	4	a	a	DET
ap-1684	21	5	variation	variation	NOUN
ap-1684	21	6	of	of	ADP
ap-1684	21	7	each	each	DET
ap-1684	21	8	dimension	dimension	NOUN
ap-1684	21	9	during	during	ADP
ap-1684	21	10	the	the	DET
ap-1684	21	11	cycle	cycle	NOUN
ap-1684	21	12	of	of	ADP
ap-1684	21	13	the	the	DET
ap-1684	21	14	mechanism	mechanism	NOUN
ap-1684	21	15	.	.	PUNCT
ap-1684	22	1	the	the	DET
ap-1684	22	2	synthesis	synthesis	NOUN
ap-1684	22	3	problem	problem	NOUN
ap-1684	22	4	is	be	AUX
ap-1684	22	5	then	then	ADV
ap-1684	22	6	solved	solve	VERB
ap-1684	22	7	by	by	ADP
ap-1684	22	8	attempting	attempt	VERB
ap-1684	22	9	to	to	PART
ap-1684	22	10	minimize	minimize	VERB
ap-1684	22	11	the	the	DET
ap-1684	22	12	deviation	deviation	NOUN
ap-1684	22	13	from	from	ADP
ap-1684	22	14	the	the	DET
ap-1684	22	15	mean	mean	ADJ
ap-1684	22	16	value	value	NOUN
ap-1684	22	17	for	for	ADP
ap-1684	22	18	all	all	DET
ap-1684	22	19	the	the	DET
ap-1684	22	20	design	design	NOUN
ap-1684	22	21	variables	variable	NOUN
ap-1684	22	22	during	during	ADP
ap-1684	22	23	the	the	DET
ap-1684	22	24	cycle	cycle	NOUN
ap-1684	22	25	.	.	PUNCT
ap-1684	23	1	a	a	DET
ap-1684	23	2	solution	solution	NOUN
ap-1684	23	3	to	to	ADP
ap-1684	23	4	the	the	DET
ap-1684	23	5	second	second	ADJ
ap-1684	23	6	problem	problem	NOUN
ap-1684	23	7	is	be	AUX
ap-1684	23	8	proposed	propose	VERB
ap-1684	23	9	in	in	ADP
ap-1684	23	10	[	[	X
ap-1684	23	11	13	13	NUM
ap-1684	23	12	]	]	PUNCT
ap-1684	23	13	,	,	PUNCT
ap-1684	23	14	where	where	SCONJ
ap-1684	23	15	the	the	DET
ap-1684	23	16	non	non	ADJ
ap-1684	23	17	-	-	ADJ
ap-1684	23	18	assembly	assembly	ADJ
ap-1684	23	19	positions	position	NOUN
ap-1684	23	20	are	be	AUX
ap-1684	23	21	used	use	VERB
ap-1684	23	22	for	for	ADP
ap-1684	23	23	the	the	DET
ap-1684	23	24	synthesis	synthesis	NOUN
ap-1684	23	25	.	.	PUNCT
ap-1684	24	1	however	however	ADV
ap-1684	24	2	,	,	PUNCT
ap-1684	24	3	this	this	DET
ap-1684	24	4	approach	approach	NOUN
ap-1684	24	5	suffers	suffer	VERB
ap-1684	24	6	from	from	ADP
ap-1684	24	7	a	a	DET
ap-1684	24	8	slow	slow	ADJ
ap-1684	24	9	iteration	iteration	NOUN
ap-1684	24	10	process	process	NOUN
ap-1684	24	11	with	with	ADP
ap-1684	24	12	unclear	unclear	ADJ
ap-1684	24	13	termination	termination	NOUN
ap-1684	24	14	.	.	PUNCT
ap-1684	25	1	this	this	DET
ap-1684	25	2	problem	problem	NOUN
ap-1684	25	3	is	be	AUX
ap-1684	25	4	overcome	overcome	VERB
ap-1684	25	5	by	by	ADP
ap-1684	25	6	the	the	DET
ap-1684	25	7	new	new	ADJ
ap-1684	25	8	method	method	NOUN
ap-1684	25	9	described	describe	VERB
ap-1684	25	10	in	in	ADP
ap-1684	25	11	this	this	DET
ap-1684	25	12	paper	paper	NOUN
ap-1684	25	13	.	.	PUNCT
ap-1684	26	1	this	this	DET
ap-1684	26	2	new	new	ADJ
ap-1684	26	3	approach	approach	NOUN
ap-1684	26	4	has	have	AUX
ap-1684	26	5	been	be	AUX
ap-1684	26	6	described	describe	VERB
ap-1684	26	7	in	in	ADP
ap-1684	26	8	[	[	X
ap-1684	26	9	14–17	14–17	NUM
ap-1684	26	10	]	]	PUNCT
ap-1684	26	11	.	.	PUNCT
ap-1684	27	1	our	our	PRON
ap-1684	27	2	paper	paper	NOUN
ap-1684	27	3	formulates	formulate	VERB
ap-1684	27	4	the	the	DET
ap-1684	27	5	method	method	NOUN
ap-1684	27	6	in	in	ADP
ap-1684	27	7	a	a	DET
ap-1684	27	8	specialized	specialized	ADJ
ap-1684	27	9	way	way	NOUN
ap-1684	27	10	for	for	ADP
ap-1684	27	11	a	a	DET
ap-1684	27	12	very	very	ADV
ap-1684	27	13	large	large	ADJ
ap-1684	27	14	but	but	CCONJ
ap-1684	27	15	restricted	restricted	ADJ
ap-1684	27	16	class	class	NOUN
ap-1684	27	17	of	of	ADP
ap-1684	27	18	synthesis	synthesis	NOUN
ap-1684	27	19	problems	problem	NOUN
ap-1684	27	20	of	of	ADP
ap-1684	27	21	mechanisms	mechanism	NOUN
ap-1684	27	22	.	.	PUNCT
ap-1684	28	1	this	this	PRON
ap-1684	28	2	enables	enable	VERB
ap-1684	28	3	the	the	DET
ap-1684	28	4	description	description	NOUN
ap-1684	28	5	to	to	PART
ap-1684	28	6	be	be	AUX
ap-1684	28	7	made	make	VERB
ap-1684	28	8	in	in	ADP
ap-1684	28	9	a	a	DET
ap-1684	28	10	more	more	ADV
ap-1684	28	11	precise	precise	ADJ
ap-1684	28	12	,	,	PUNCT
ap-1684	28	13	systematic	systematic	ADJ
ap-1684	28	14	and	and	CCONJ
ap-1684	28	15	algorithmic	algorithmic	ADJ
ap-1684	28	16	way	way	NOUN
ap-1684	28	17	.	.	PUNCT
ap-1684	29	1	in	in	ADP
ap-1684	29	2	addition	addition	NOUN
ap-1684	29	3	,	,	PUNCT
ap-1684	29	4	two	two	NUM
ap-1684	29	5	interesting	interesting	ADJ
ap-1684	29	6	examples	example	NOUN
ap-1684	29	7	are	be	AUX
ap-1684	29	8	included	include	VERB
ap-1684	29	9	that	that	PRON
ap-1684	29	10	have	have	AUX
ap-1684	29	11	not	not	PART
ap-1684	29	12	previously	previously	ADV
ap-1684	29	13	been	be	AUX
ap-1684	29	14	fully	fully	ADV
ap-1684	29	15	described	describe	VERB
ap-1684	29	16	[	[	X
ap-1684	29	17	17	17	NUM
ap-1684	29	18	]	]	SYM
ap-1684	29	19	.	.	PUNCT
ap-1684	30	1	2	2	NUM
ap-1684	30	2	general	general	ADJ
ap-1684	30	3	formulation	formulation	NOUN
ap-1684	30	4	of	of	ADP
ap-1684	30	5	the	the	DET
ap-1684	30	6	method	method	NOUN
ap-1684	30	7	2.1	2.1	NUM
ap-1684	30	8	traditional	traditional	ADJ
ap-1684	30	9	vector	vector	NOUN
ap-1684	30	10	method	method	NOUN
ap-1684	30	11	the	the	DET
ap-1684	30	12	initial	initial	ADJ
ap-1684	30	13	assumption	assumption	NOUN
ap-1684	30	14	is	be	AUX
ap-1684	30	15	that	that	SCONJ
ap-1684	30	16	the	the	DET
ap-1684	30	17	mechanism	mechanism	NOUN
ap-1684	30	18	to	to	PART
ap-1684	30	19	be	be	AUX
ap-1684	30	20	synthesized	synthesize	VERB
ap-1684	30	21	can	can	AUX
ap-1684	30	22	be	be	AUX
ap-1684	30	23	analyzed	analyze	VERB
ap-1684	30	24	by	by	ADP
ap-1684	30	25	the	the	DET
ap-1684	30	26	vector	vector	NOUN
ap-1684	30	27	method	method	NOUN
ap-1684	30	28	(	(	PUNCT
ap-1684	30	29	for	for	ADP
ap-1684	30	30	2d	2d	NUM
ap-1684	30	31	problems	problem	NOUN
ap-1684	31	1	e.g.	e.g.	ADV
ap-1684	31	2	[	[	X
ap-1684	31	3	18	18	NUM
ap-1684	31	4	]	]	PUNCT
ap-1684	31	5	,	,	PUNCT
ap-1684	31	6	for	for	ADP
ap-1684	31	7	3d	3d	PROPN
ap-1684	31	8	problems	problem	NOUN
ap-1684	32	1	e.g.	e.g.	ADV
ap-1684	32	2	[	[	X
ap-1684	32	3	19	19	NUM
ap-1684	32	4	]	]	NUM
ap-1684	32	5	)	)	PUNCT
ap-1684	32	6	.	.	PUNCT
ap-1684	33	1	this	this	PRON
ap-1684	33	2	is	be	AUX
ap-1684	33	3	the	the	DET
ap-1684	33	4	only	only	ADJ
ap-1684	33	5	reduction	reduction	NOUN
ap-1684	33	6	in	in	ADP
ap-1684	33	7	generality	generality	NOUN
ap-1684	33	8	compared	compare	VERB
ap-1684	33	9	to	to	ADP
ap-1684	33	10	the	the	DET
ap-1684	33	11	formulation	formulation	NOUN
ap-1684	33	12	in	in	ADP
ap-1684	33	13	[	[	X
ap-1684	33	14	14–17	14–17	NUM
ap-1684	33	15	]	]	PUNCT
ap-1684	33	16	.	.	PUNCT
ap-1684	34	1	let	let	VERB
ap-1684	34	2	us	we	PRON
ap-1684	34	3	further	far	ADV
ap-1684	34	4	describe	describe	VERB
ap-1684	34	5	the	the	DET
ap-1684	34	6	general	general	ADJ
ap-1684	34	7	procedure	procedure	NOUN
ap-1684	34	8	without	without	ADP
ap-1684	34	9	loss	loss	NOUN
ap-1684	34	10	of	of	ADP
ap-1684	34	11	generality	generality	NOUN
ap-1684	34	12	just	just	ADV
ap-1684	34	13	for	for	ADP
ap-1684	34	14	2d	2d	NOUN
ap-1684	34	15	.	.	PUNCT
ap-1684	35	1	the	the	DET
ap-1684	35	2	mechanism	mechanism	NOUN
ap-1684	35	3	to	to	PART
ap-1684	35	4	be	be	AUX
ap-1684	35	5	synthesized	synthesize	VERB
ap-1684	35	6	is	be	AUX
ap-1684	35	7	described	describe	VERB
ap-1684	35	8	by	by	ADP
ap-1684	35	9	the	the	DET
ap-1684	35	10	vector	vector	NOUN
ap-1684	35	11	method	method	NOUN
ap-1684	35	12	,	,	PUNCT
ap-1684	35	13	which	which	PRON
ap-1684	35	14	leads	lead	VERB
ap-1684	35	15	to	to	ADP
ap-1684	35	16	a	a	DET
ap-1684	35	17	description	description	NOUN
ap-1684	35	18	of	of	ADP
ap-1684	35	19	the	the	DET
ap-1684	35	20	mechanism	mechanism	NOUN
ap-1684	35	21	by	by	ADP
ap-1684	35	22	vector	vector	NOUN
ap-1684	35	23	polygons	polygon	NOUN
ap-1684	35	24	with	with	ADP
ap-1684	35	25	vector	vector	NOUN
ap-1684	35	26	vertices	vertex	NOUN
ap-1684	35	27	vi	vi	PROPN
ap-1684	36	1	(	(	PUNCT
ap-1684	36	2	i	i	NOUN
ap-1684	36	3	=	=	NOUN
ap-1684	36	4	1	1	NUM
ap-1684	36	5	,	,	PUNCT
ap-1684	36	6	.	.	PUNCT
ap-1684	36	7	.	.	PUNCT
ap-1684	36	8	.	.	PUNCT
ap-1684	36	9	,	,	PUNCT
ap-1684	36	10	n	n	CCONJ
ap-1684	36	11	)	)	PUNCT
ap-1684	36	12	(	(	PUNCT
ap-1684	36	13	a	a	DET
ap-1684	36	14	simple	simple	ADJ
ap-1684	36	15	case	case	NOUN
ap-1684	36	16	is	be	AUX
ap-1684	36	17	shown	show	VERB
ap-1684	36	18	in	in	ADP
ap-1684	36	19	fig	fig	NOUN
ap-1684	36	20	.	.	PUNCT
ap-1684	37	1	1	1	NUM
ap-1684	37	2	)	)	PUNCT
ap-1684	38	1	and	and	CCONJ
ap-1684	38	2	vectors	vector	NOUN
ap-1684	38	3	bi	bi	NOUN
ap-1684	38	4	(	(	PUNCT
ap-1684	38	5	i	i	NOUN
ap-1684	38	6	=	=	NOUN
ap-1684	38	7	1	1	NUM
ap-1684	38	8	,	,	PUNCT
ap-1684	38	9	.	.	PUNCT
ap-1684	38	10	.	.	PUNCT
ap-1684	39	1	.	.	PUNCT
ap-1684	40	1	,	,	PUNCT
ap-1684	40	2	nv	nv	PROPN
ap-1684	40	3	,	,	PUNCT
ap-1684	40	4	nv	nv	PROPN
ap-1684	40	5	≥	≥	NOUN
ap-1684	40	6	n	n	CCONJ
ap-1684	40	7	)	)	PUNCT
ap-1684	40	8	with	with	ADP
ap-1684	40	9	the	the	DET
ap-1684	40	10	parameters	parameter	NOUN
ap-1684	40	11	the	the	DET
ap-1684	40	12	lengths	length	NOUN
ap-1684	40	13	bi	bi	ADJ
ap-1684	40	14	and	and	CCONJ
ap-1684	40	15	the	the	DET
ap-1684	40	16	angles	angle	NOUN
ap-1684	40	17	βi	βi	PRON
ap-1684	40	18	of	of	ADP
ap-1684	40	19	the	the	DET
ap-1684	40	20	vectors	vector	NOUN
ap-1684	40	21	(	(	PUNCT
ap-1684	40	22	fig	fig	NOUN
ap-1684	40	23	.	.	PUNCT
ap-1684	40	24	2	2	NUM
ap-1684	40	25	)	)	PUNCT
ap-1684	40	26	.	.	PUNCT
ap-1684	41	1	82	82	NUM
ap-1684	41	2	acta	acta	PROPN
ap-1684	41	3	polytechnica	polytechnica	PROPN
ap-1684	41	4	vol	vol	NOUN
ap-1684	41	5	.	.	PROPN
ap-1684	42	1	52	52	NUM
ap-1684	42	2	no	no	NOUN
ap-1684	42	3	.	.	PUNCT
ap-1684	43	1	6/2012	6/2012	NUM
ap-1684	43	2	figure	figure	NOUN
ap-1684	43	3	1	1	NUM
ap-1684	43	4	:	:	PUNCT
ap-1684	43	5	simple	simple	ADJ
ap-1684	43	6	vector	vector	NOUN
ap-1684	43	7	polygon	polygon	NOUN
ap-1684	43	8	.	.	PUNCT
ap-1684	44	1	these	these	DET
ap-1684	44	2	parameters	parameter	NOUN
ap-1684	44	3	include	include	VERB
ap-1684	44	4	both	both	CCONJ
ap-1684	44	5	the	the	DET
ap-1684	44	6	coordinates	coordinate	NOUN
ap-1684	44	7	(	(	PUNCT
ap-1684	44	8	variable	variable	ADJ
ap-1684	44	9	parameters	parameter	NOUN
ap-1684	44	10	from	from	ADP
ap-1684	44	11	bi	bi	NOUN
ap-1684	44	12	and	and	CCONJ
ap-1684	44	13	βi	βi	PRON
ap-1684	44	14	)	)	PUNCT
ap-1684	44	15	and	and	CCONJ
ap-1684	44	16	the	the	DET
ap-1684	44	17	dimensions	dimension	NOUN
ap-1684	44	18	(	(	PUNCT
ap-1684	44	19	constant	constant	ADJ
ap-1684	44	20	parameters	parameter	NOUN
ap-1684	44	21	from	from	ADP
ap-1684	44	22	bi	bi	NOUN
ap-1684	44	23	and	and	CCONJ
ap-1684	44	24	βi	βi	PRON
ap-1684	44	25	)	)	PUNCT
ap-1684	44	26	of	of	ADP
ap-1684	44	27	the	the	DET
ap-1684	44	28	synthesized	synthesize	VERB
ap-1684	44	29	mechanism	mechanism	NOUN
ap-1684	44	30	.	.	PUNCT
ap-1684	45	1	parameters	parameter	NOUN
ap-1684	45	2	bi	bi	ADJ
ap-1684	45	3	and	and	CCONJ
ap-1684	45	4	βi	βi	PRON
ap-1684	45	5	can	can	AUX
ap-1684	45	6	therefore	therefore	ADV
ap-1684	45	7	be	be	AUX
ap-1684	45	8	split	split	VERB
ap-1684	45	9	into	into	ADP
ap-1684	45	10	variable	variable	ADJ
ap-1684	45	11	coordinates	coordinate	NOUN
ap-1684	45	12	sk	sk	VERB
ap-1684	45	13	and	and	CCONJ
ap-1684	45	14	constant	constant	ADJ
ap-1684	45	15	parameters	parameter	NOUN
ap-1684	45	16	pj	pj	PROPN
ap-1684	46	1	(	(	PUNCT
ap-1684	46	2	j	j	PROPN
ap-1684	46	3	=	=	SYM
ap-1684	46	4	1	1	NUM
ap-1684	46	5	,	,	PUNCT
ap-1684	46	6	·	·	PUNCT
ap-1684	46	7	·	·	PUNCT
ap-1684	46	8	·	·	PUNCT
ap-1684	46	9	,	,	PUNCT
ap-1684	46	10	m	m	PROPN
ap-1684	46	11	)	)	PUNCT
ap-1684	46	12	.	.	PUNCT
ap-1684	47	1	this	this	PRON
ap-1684	47	2	is	be	AUX
ap-1684	47	3	the	the	DET
ap-1684	47	4	traditional	traditional	ADJ
ap-1684	47	5	formulation	formulation	NOUN
ap-1684	47	6	of	of	ADP
ap-1684	47	7	the	the	DET
ap-1684	47	8	mechanism	mechanism	NOUN
ap-1684	47	9	synthesis	synthesis	NOUN
ap-1684	47	10	where	where	SCONJ
ap-1684	47	11	the	the	DET
ap-1684	47	12	dimensions	dimension	NOUN
ap-1684	47	13	being	be	AUX
ap-1684	47	14	synthesized	synthesize	VERB
ap-1684	47	15	are	be	AUX
ap-1684	47	16	constant	constant	ADJ
ap-1684	47	17	values	value	NOUN
ap-1684	47	18	.	.	PUNCT
ap-1684	48	1	the	the	DET
ap-1684	48	2	fundamental	fundamental	ADJ
ap-1684	48	3	objective	objective	ADJ
ap-1684	48	4	functions	function	NOUN
ap-1684	48	5	are	be	AUX
ap-1684	48	6	typically	typically	ADV
ap-1684	48	7	constructed	construct	VERB
ap-1684	48	8	on	on	ADP
ap-1684	48	9	the	the	DET
ap-1684	48	10	network	network	NOUN
ap-1684	48	11	of	of	ADP
ap-1684	48	12	mechanism	mechanism	NOUN
ap-1684	48	13	positions	position	NOUN
ap-1684	48	14	within	within	ADP
ap-1684	48	15	the	the	DET
ap-1684	48	16	desired	desire	VERB
ap-1684	48	17	workspace	workspace	NOUN
ap-1684	48	18	.	.	PUNCT
ap-1684	49	1	let	let	VERB
ap-1684	49	2	index	index	NOUN
ap-1684	49	3	r	r	NOUN
ap-1684	49	4	denote	denote	VERB
ap-1684	49	5	the	the	DET
ap-1684	49	6	general	general	ADJ
ap-1684	49	7	position	position	NOUN
ap-1684	49	8	of	of	ADP
ap-1684	49	9	the	the	DET
ap-1684	49	10	mechanism	mechanism	NOUN
ap-1684	49	11	,	,	PUNCT
ap-1684	49	12	r	r	NOUN
ap-1684	49	13	=	=	SYM
ap-1684	49	14	1	1	NUM
ap-1684	49	15	,	,	PUNCT
ap-1684	49	16	2	2	NUM
ap-1684	49	17	,	,	PUNCT
ap-1684	49	18	.	.	PUNCT
ap-1684	49	19	.	.	PUNCT
ap-1684	50	1	.	.	PUNCT
ap-1684	51	1	,	,	PUNCT
ap-1684	51	2	n	n	X
ap-1684	51	3	,	,	PUNCT
ap-1684	51	4	where	where	SCONJ
ap-1684	51	5	n	n	PRON
ap-1684	51	6	is	be	AUX
ap-1684	51	7	the	the	DET
ap-1684	51	8	number	number	NOUN
ap-1684	51	9	of	of	ADP
ap-1684	51	10	such	such	ADJ
ap-1684	51	11	representative	representative	ADJ
ap-1684	51	12	positions	position	NOUN
ap-1684	51	13	,	,	PUNCT
ap-1684	51	14	and	and	CCONJ
ap-1684	51	15	the	the	DET
ap-1684	51	16	corresponding	corresponding	ADJ
ap-1684	51	17	coordinates	coordinate	NOUN
ap-1684	51	18	are	be	AUX
ap-1684	51	19	sj	sj	PROPN
ap-1684	51	20	,	,	PUNCT
ap-1684	51	21	r.	r.	VERB
ap-1684	51	22	some	some	PRON
ap-1684	51	23	of	of	ADP
ap-1684	51	24	the	the	DET
ap-1684	51	25	coordinates	coordinate	NOUN
ap-1684	51	26	sj	sj	VERB
ap-1684	51	27	,	,	PUNCT
ap-1684	51	28	r	r	NOUN
ap-1684	51	29	are	be	AUX
ap-1684	51	30	prescribed	prescribe	VERB
ap-1684	51	31	for	for	ADP
ap-1684	51	32	particular	particular	ADJ
ap-1684	51	33	positions	position	NOUN
ap-1684	51	34	r	r	NOUN
ap-1684	51	35	=	=	SYM
ap-1684	51	36	1	1	NUM
ap-1684	51	37	,	,	PUNCT
ap-1684	51	38	2	2	NUM
ap-1684	51	39	,	,	PUNCT
ap-1684	51	40	.	.	PUNCT
ap-1684	51	41	.	.	PUNCT
ap-1684	52	1	.	.	PUNCT
ap-1684	53	1	,	,	PUNCT
ap-1684	53	2	n	n	X
ap-1684	53	3	.	.	PUNCT
ap-1684	54	1	the	the	DET
ap-1684	54	2	traditional	traditional	ADJ
ap-1684	54	3	synthesis	synthesis	NOUN
ap-1684	54	4	method	method	NOUN
ap-1684	54	5	is	be	AUX
ap-1684	54	6	a	a	DET
ap-1684	54	7	search	search	NOUN
ap-1684	54	8	for	for	ADP
ap-1684	54	9	constant	constant	ADJ
ap-1684	54	10	parameters	parameter	NOUN
ap-1684	54	11	pj	pj	PROPN
ap-1684	54	12	(	(	PUNCT
ap-1684	54	13	j	j	PROPN
ap-1684	54	14	=	=	SYM
ap-1684	54	15	1	1	NUM
ap-1684	54	16	,	,	PUNCT
ap-1684	54	17	.	.	PUNCT
ap-1684	54	18	.	.	PUNCT
ap-1684	55	1	.	.	PUNCT
ap-1684	56	1	,	,	PUNCT
ap-1684	56	2	m	m	NOUN
ap-1684	56	3	)	)	PUNCT
ap-1684	56	4	such	such	ADJ
ap-1684	56	5	that	that	SCONJ
ap-1684	56	6	the	the	DET
ap-1684	56	7	closure	closure	NOUN
ap-1684	56	8	conditions	condition	NOUN
ap-1684	56	9	of	of	ADP
ap-1684	56	10	the	the	DET
ap-1684	56	11	vector	vector	NOUN
ap-1684	56	12	polygons	polygon	NOUN
ap-1684	56	13	in	in	ADP
ap-1684	56	14	all	all	DET
ap-1684	56	15	r	r	NOUN
ap-1684	56	16	(	(	PUNCT
ap-1684	56	17	r	r	NOUN
ap-1684	56	18	=	=	SYM
ap-1684	56	19	1	1	NUM
ap-1684	56	20	,	,	PUNCT
ap-1684	56	21	2	2	NUM
ap-1684	56	22	,	,	PUNCT
ap-1684	56	23	.	.	PUNCT
ap-1684	56	24	.	.	PUNCT
ap-1684	57	1	.	.	PUNCT
ap-1684	58	1	,	,	PUNCT
ap-1684	58	2	n	n	CCONJ
ap-1684	58	3	)	)	PUNCT
ap-1684	58	4	positions	position	NOUN
ap-1684	58	5	are	be	AUX
ap-1684	58	6	fulfilled	fulfil	VERB
ap-1684	58	7	[	[	PUNCT
ap-1684	58	8	18–19	18–19	NUM
ap-1684	58	9	]	]	PUNCT
ap-1684	58	10	.	.	PUNCT
ap-1684	59	1	2.2	2.2	NUM
ap-1684	59	2	new	new	ADJ
ap-1684	59	3	method	method	NOUN
ap-1684	59	4	the	the	DET
ap-1684	59	5	new	new	ADJ
ap-1684	59	6	method	method	NOUN
ap-1684	59	7	is	be	AUX
ap-1684	59	8	based	base	VERB
ap-1684	59	9	on	on	ADP
ap-1684	59	10	variation	variation	NOUN
ap-1684	59	11	of	of	ADP
ap-1684	59	12	the	the	DET
ap-1684	59	13	mechanism	mechanism	NOUN
ap-1684	59	14	dimensions	dimension	NOUN
ap-1684	59	15	.	.	PUNCT
ap-1684	60	1	they	they	PRON
ap-1684	60	2	are	be	AUX
ap-1684	60	3	no	no	ADV
ap-1684	60	4	longer	long	ADV
ap-1684	60	5	constant	constant	ADJ
ap-1684	60	6	,	,	PUNCT
ap-1684	60	7	and	and	CCONJ
ap-1684	60	8	the	the	DET
ap-1684	60	9	time	time	NOUN
ap-1684	60	10	varying	vary	VERB
ap-1684	60	11	parameters	parameter	NOUN
ap-1684	60	12	pj	pj	PROPN
ap-1684	60	13	,	,	PUNCT
ap-1684	60	14	r	r	NOUN
ap-1684	60	15	can	can	AUX
ap-1684	60	16	vary	vary	VERB
ap-1684	60	17	between	between	ADP
ap-1684	60	18	the	the	DET
ap-1684	60	19	positions	position	NOUN
ap-1684	60	20	r	r	NOUN
ap-1684	60	21	(	(	PUNCT
ap-1684	60	22	r	r	NOUN
ap-1684	60	23	=	=	SYM
ap-1684	60	24	1	1	NUM
ap-1684	60	25	,	,	PUNCT
ap-1684	60	26	2	2	NUM
ap-1684	60	27	,	,	PUNCT
ap-1684	60	28	.	.	PUNCT
ap-1684	60	29	.	.	PUNCT
ap-1684	61	1	.	.	PUNCT
ap-1684	62	1	,	,	PUNCT
ap-1684	62	2	n	n	CCONJ
ap-1684	62	3	)	)	PUNCT
ap-1684	63	1	of	of	ADP
ap-1684	63	2	the	the	DET
ap-1684	63	3	mechanism	mechanism	NOUN
ap-1684	63	4	.	.	PUNCT
ap-1684	64	1	during	during	ADP
ap-1684	64	2	the	the	DET
ap-1684	64	3	synthesis	synthesis	NOUN
ap-1684	64	4	process	process	NOUN
ap-1684	64	5	it	it	PRON
ap-1684	64	6	is	be	AUX
ap-1684	64	7	therefore	therefore	ADV
ap-1684	64	8	admitted	admit	VERB
ap-1684	64	9	p1,1	p1,1	PROPN
ap-1684	64	10	6=	6=	NUM
ap-1684	64	11	p1,2	p1,2	PROPN
ap-1684	64	12	6=	6=	NUM
ap-1684	64	13	·	·	PUNCT
ap-1684	64	14	·	·	PUNCT
ap-1684	64	15	·	·	PUNCT
ap-1684	65	1	6=	6=	NUM
ap-1684	65	2	p1,n	p1,n	PROPN
ap-1684	65	3	,	,	PUNCT
ap-1684	65	4	p2,1	p2,1	PROPN
ap-1684	65	5	6=	6=	PROPN
ap-1684	65	6	p2,2	p2,2	PROPN
ap-1684	65	7	6=	6=	PROPN
ap-1684	65	8	·	·	PUNCT
ap-1684	65	9	·	·	PUNCT
ap-1684	65	10	·	·	PUNCT
ap-1684	66	1	6=	6=	NUM
ap-1684	66	2	p2,n	p2,n	PROPN
ap-1684	66	3	,	,	PUNCT
ap-1684	66	4	...	...	PUNCT
ap-1684	67	1	pm,1	pm,1	PROPN
ap-1684	67	2	6=	6=	NUM
ap-1684	67	3	pm,2	pm,2	PROPN
ap-1684	67	4	6=	6=	NUM
ap-1684	67	5	·	·	PUNCT
ap-1684	67	6	·	·	PUNCT
ap-1684	67	7	·	·	PUNCT
ap-1684	68	1	6=	6=	NUM
ap-1684	68	2	pm	pm	NOUN
ap-1684	68	3	,	,	PUNCT
ap-1684	68	4	n	n	CCONJ
ap-1684	68	5	(	(	PUNCT
ap-1684	68	6	1	1	NUM
ap-1684	68	7	)	)	PUNCT
ap-1684	68	8	and	and	CCONJ
ap-1684	68	9	the	the	DET
ap-1684	68	10	synthesis	synthesis	NOUN
ap-1684	68	11	goal	goal	NOUN
ap-1684	68	12	is	be	AUX
ap-1684	68	13	to	to	PART
ap-1684	68	14	reach	reach	VERB
ap-1684	68	15	equality	equality	NOUN
ap-1684	68	16	of	of	ADP
ap-1684	68	17	all	all	DET
ap-1684	68	18	parameters	parameter	NOUN
ap-1684	68	19	at	at	ADP
ap-1684	68	20	the	the	DET
ap-1684	68	21	end	end	NOUN
ap-1684	68	22	of	of	ADP
ap-1684	68	23	the	the	DET
ap-1684	68	24	synthesis	synthesis	NOUN
ap-1684	68	25	p1,1	p1,1	NOUN
ap-1684	68	26	∼=	∼=	NOUN
ap-1684	68	27	p1,2	p1,2	ADJ
ap-1684	68	28	∼=	∼=	PROPN
ap-1684	68	29	.	.	PUNCT
ap-1684	68	30	.	.	PUNCT
ap-1684	68	31	.	.	PUNCT
ap-1684	69	1	∼=	∼=	PROPN
ap-1684	69	2	p1,n	p1,n	PROPN
ap-1684	69	3	,	,	PUNCT
ap-1684	69	4	p2,1	p2,1	PROPN
ap-1684	69	5	∼=	∼=	PROPN
ap-1684	69	6	p2,2	p2,2	NOUN
ap-1684	69	7	∼=	∼=	PROPN
ap-1684	69	8	.	.	PUNCT
ap-1684	69	9	.	.	PUNCT
ap-1684	69	10	.	.	PUNCT
ap-1684	70	1	∼=	∼=	VERB
ap-1684	71	1	p2,n	p2,n	PROPN
ap-1684	71	2	,	,	PUNCT
ap-1684	71	3	...	...	PUNCT
ap-1684	72	1	pm,1	pm,1	PROPN
ap-1684	72	2	∼=	∼=	PROPN
ap-1684	72	3	pm,2	pm,2	PROPN
ap-1684	72	4	∼=	∼=	PROPN
ap-1684	72	5	.	.	PUNCT
ap-1684	72	6	.	.	PUNCT
ap-1684	72	7	.	.	PUNCT
ap-1684	73	1	∼=	∼=	NOUN
ap-1684	73	2	pm	pm	NOUN
ap-1684	73	3	,	,	PUNCT
ap-1684	73	4	n	n	X
ap-1684	73	5	(	(	PUNCT
ap-1684	73	6	2	2	NUM
ap-1684	73	7	)	)	PUNCT
ap-1684	73	8	however	however	ADV
ap-1684	73	9	,	,	PUNCT
ap-1684	73	10	new	new	ADJ
ap-1684	73	11	coordinates	coordinate	NOUN
ap-1684	73	12	are	be	AUX
ap-1684	73	13	used	use	VERB
ap-1684	73	14	by	by	ADP
ap-1684	73	15	the	the	DET
ap-1684	73	16	new	new	ADJ
ap-1684	73	17	method	method	NOUN
ap-1684	73	18	.	.	PUNCT
ap-1684	74	1	they	they	PRON
ap-1684	74	2	are	be	AUX
ap-1684	74	3	the	the	DET
ap-1684	74	4	cartesian	cartesian	ADJ
ap-1684	74	5	coordinates	coordinate	NOUN
ap-1684	74	6	figure	figure	VERB
ap-1684	74	7	2	2	NUM
ap-1684	74	8	:	:	PUNCT
ap-1684	74	9	vector	vector	NOUN
ap-1684	74	10	parameters	parameter	NOUN
ap-1684	74	11	.	.	PUNCT
ap-1684	75	1	xvi	xvi	NOUN
ap-1684	75	2	,	,	PUNCT
ap-1684	75	3	r	r	NOUN
ap-1684	75	4	,	,	PUNCT
ap-1684	75	5	yvi	yvi	NOUN
ap-1684	75	6	,	,	PUNCT
ap-1684	75	7	r	r	NOUN
ap-1684	75	8	of	of	ADP
ap-1684	75	9	the	the	DET
ap-1684	75	10	polygon	polygon	NOUN
ap-1684	75	11	vector	vector	NOUN
ap-1684	75	12	vertices	vertex	NOUN
ap-1684	75	13	vi	vi	PROPN
ap-1684	75	14	(	(	PUNCT
ap-1684	75	15	i	i	NOUN
ap-1684	75	16	=	=	NOUN
ap-1684	75	17	1	1	NUM
ap-1684	75	18	,	,	PUNCT
ap-1684	75	19	.	.	PUNCT
ap-1684	75	20	.	.	PUNCT
ap-1684	75	21	.	.	PUNCT
ap-1684	75	22	,	,	PUNCT
ap-1684	75	23	n	n	CCONJ
ap-1684	75	24	)	)	PUNCT
ap-1684	75	25	,	,	PUNCT
ap-1684	75	26	which	which	PRON
ap-1684	75	27	are	be	AUX
ap-1684	75	28	variable	variable	ADJ
ap-1684	75	29	.	.	PUNCT
ap-1684	76	1	the	the	DET
ap-1684	76	2	varying	vary	VERB
ap-1684	76	3	values	value	NOUN
ap-1684	76	4	of	of	ADP
ap-1684	76	5	parameters	parameter	NOUN
ap-1684	76	6	pj	pj	PROPN
ap-1684	76	7	,	,	PUNCT
ap-1684	76	8	r	r	NOUN
ap-1684	76	9	that	that	PRON
ap-1684	76	10	correspond	correspond	VERB
ap-1684	76	11	to	to	ADP
ap-1684	76	12	the	the	DET
ap-1684	76	13	dimensions	dimension	NOUN
ap-1684	76	14	being	be	AUX
ap-1684	76	15	synthesized	synthesize	VERB
ap-1684	76	16	and	and	CCONJ
ap-1684	76	17	that	that	PRON
ap-1684	76	18	are	be	AUX
ap-1684	76	19	constant	constant	ADJ
ap-1684	76	20	in	in	ADP
ap-1684	76	21	the	the	DET
ap-1684	76	22	traditional	traditional	ADJ
ap-1684	76	23	vector	vector	NOUN
ap-1684	76	24	method	method	NOUN
ap-1684	76	25	can	can	AUX
ap-1684	76	26	be	be	AUX
ap-1684	76	27	determined	determine	VERB
ap-1684	76	28	from	from	ADP
ap-1684	76	29	the	the	DET
ap-1684	76	30	positions	position	NOUN
ap-1684	76	31	of	of	ADP
ap-1684	76	32	the	the	DET
ap-1684	76	33	vertices	vertex	NOUN
ap-1684	76	34	vi	vi	X
ap-1684	76	35	in	in	ADP
ap-1684	76	36	each	each	DET
ap-1684	76	37	position	position	NOUN
ap-1684	76	38	r.	r.	NOUN
ap-1684	76	39	if	if	SCONJ
ap-1684	76	40	the	the	DET
ap-1684	76	41	distance	distance	NOUN
ap-1684	76	42	vivi+1	vivi+1	ADJ
ap-1684	76	43	corresponds	correspond	NOUN
ap-1684	76	44	to	to	ADP
ap-1684	76	45	the	the	DET
ap-1684	76	46	constant	constant	ADJ
ap-1684	76	47	length	length	NOUN
ap-1684	76	48	dimension	dimension	NOUN
ap-1684	76	49	of	of	ADP
ap-1684	76	50	the	the	DET
ap-1684	76	51	synthesized	synthesize	VERB
ap-1684	76	52	mechanism	mechanism	NOUN
ap-1684	76	53	,	,	PUNCT
ap-1684	76	54	then	then	ADV
ap-1684	76	55	its	its	PRON
ap-1684	76	56	time	time	NOUN
ap-1684	76	57	varying	vary	VERB
ap-1684	76	58	value	value	NOUN
ap-1684	76	59	is	be	AUX
ap-1684	76	60	computed	compute	VERB
ap-1684	76	61	in	in	ADP
ap-1684	76	62	each	each	DET
ap-1684	76	63	position	position	NOUN
ap-1684	76	64	r	r	NOUN
ap-1684	76	65	and	and	CCONJ
ap-1684	76	66	each	each	DET
ap-1684	76	67	time	time	NOUN
ap-1684	76	68	pi	pi	NOUN
ap-1684	76	69	,	,	PUNCT
ap-1684	76	70	r	r	NOUN
ap-1684	76	71	=	=	SYM
ap-1684	76	72	bi	bi	NOUN
ap-1684	76	73	,	,	PUNCT
ap-1684	76	74	r	r	NOUN
ap-1684	76	75	=	=	SYM
ap-1684	76	76	√	√	NUM
ap-1684	76	77	(	(	PUNCT
ap-1684	76	78	xvi+1,r	xvi+1,r	PROPN
ap-1684	76	79	−	−	PROPN
ap-1684	76	80	xvi	xvi	NOUN
ap-1684	76	81	,	,	PUNCT
ap-1684	76	82	r	r	NOUN
ap-1684	76	83	)	)	PUNCT
ap-1684	76	84	2	2	NUM
ap-1684	77	1	+	+	CCONJ
ap-1684	77	2	(	(	PUNCT
ap-1684	77	3	yvi+1,r	yvi+1,r	NOUN
ap-1684	77	4	−	−	PROPN
ap-1684	77	5	yvi	yvi	NOUN
ap-1684	77	6	,	,	PUNCT
ap-1684	77	7	r	r	NOUN
ap-1684	77	8	)	)	PUNCT
ap-1684	77	9	2	2	NUM
ap-1684	77	10	(	(	PUNCT
ap-1684	77	11	3	3	NUM
ap-1684	77	12	)	)	PUNCT
ap-1684	77	13	and	and	CCONJ
ap-1684	77	14	if	if	SCONJ
ap-1684	77	15	angle	angle	NOUN
ap-1684	77	16	vivi+1	vivi+1	ADV
ap-1684	77	17	with	with	ADP
ap-1684	77	18	respect	respect	NOUN
ap-1684	77	19	to	to	ADP
ap-1684	77	20	the	the	DET
ap-1684	77	21	frame	frame	NOUN
ap-1684	77	22	corresponds	correspond	VERB
ap-1684	77	23	to	to	ADP
ap-1684	77	24	the	the	DET
ap-1684	77	25	constant	constant	ADJ
ap-1684	77	26	length	length	NOUN
ap-1684	77	27	dimension	dimension	NOUN
ap-1684	77	28	of	of	ADP
ap-1684	77	29	the	the	DET
ap-1684	77	30	synthesized	synthesize	VERB
ap-1684	77	31	mechanism	mechanism	NOUN
ap-1684	77	32	then	then	ADV
ap-1684	77	33	its	its	PRON
ap-1684	77	34	time	time	NOUN
ap-1684	77	35	varying	vary	VERB
ap-1684	77	36	value	value	NOUN
ap-1684	77	37	is	be	AUX
ap-1684	77	38	computed	compute	VERB
ap-1684	77	39	in	in	ADP
ap-1684	77	40	each	each	DET
ap-1684	77	41	position	position	NOUN
ap-1684	77	42	r	r	NOUN
ap-1684	77	43	and	and	CCONJ
ap-1684	77	44	each	each	DET
ap-1684	77	45	time	time	NOUN
ap-1684	77	46	pi	pi	NOUN
ap-1684	77	47	,	,	PUNCT
ap-1684	77	48	r	r	NOUN
ap-1684	77	49	=	=	SYM
ap-1684	77	50	βi	βi	PROPN
ap-1684	77	51	,	,	PUNCT
ap-1684	77	52	r	r	NOUN
ap-1684	77	53	=	=	SYM
ap-1684	77	54	atan	atan	ADJ
ap-1684	77	55	yvi+1,r	yvi+1,r	NOUN
ap-1684	77	56	−	−	PROPN
ap-1684	77	57	yvi	yvi	NOUN
ap-1684	77	58	,	,	PUNCT
ap-1684	77	59	r	r	NOUN
ap-1684	77	60	xvi+1,r	xvi+1,r	PROPN
ap-1684	77	61	−	−	PROPN
ap-1684	77	62	xvi	xvi	NOUN
ap-1684	77	63	,	,	PUNCT
ap-1684	77	64	r	r	NOUN
ap-1684	77	65	.	.	PUNCT
ap-1684	78	1	(	(	PUNCT
ap-1684	78	2	4	4	X
ap-1684	78	3	)	)	PUNCT
ap-1684	78	4	the	the	DET
ap-1684	78	5	new	new	ADJ
ap-1684	78	6	coordinates	coordinate	NOUN
ap-1684	78	7	xvi	xvi	NOUN
ap-1684	78	8	,	,	PUNCT
ap-1684	78	9	r	r	NOUN
ap-1684	78	10	,	,	PUNCT
ap-1684	78	11	yvi	yvi	NOUN
ap-1684	78	12	,	,	PUNCT
ap-1684	78	13	r	r	NOUN
ap-1684	78	14	and	and	CCONJ
ap-1684	78	15	the	the	DET
ap-1684	78	16	parameters	parameter	NOUN
ap-1684	78	17	pj	pj	PROPN
ap-1684	78	18	,	,	PUNCT
ap-1684	78	19	r	r	NOUN
ap-1684	78	20	are	be	AUX
ap-1684	78	21	time	time	NOUN
ap-1684	78	22	varying	vary	VERB
ap-1684	78	23	and	and	CCONJ
ap-1684	78	24	then	then	ADV
ap-1684	78	25	constant	constant	ADJ
ap-1684	78	26	at	at	ADP
ap-1684	78	27	the	the	DET
ap-1684	78	28	synthesized	synthesize	VERB
ap-1684	78	29	mechanism	mechanism	NOUN
ap-1684	78	30	after	after	ADP
ap-1684	78	31	synthesis	synthesis	NOUN
ap-1684	78	32	with	with	ADP
ap-1684	78	33	the	the	DET
ap-1684	78	34	time	time	NOUN
ap-1684	78	35	varying	vary	VERB
ap-1684	78	36	values	value	NOUN
ap-1684	78	37	.	.	PUNCT
ap-1684	79	1	the	the	DET
ap-1684	79	2	new	new	ADJ
ap-1684	79	3	coordinates	coordinate	NOUN
ap-1684	79	4	xvi	xvi	NOUN
ap-1684	79	5	,	,	PUNCT
ap-1684	79	6	r	r	NOUN
ap-1684	79	7	,	,	PUNCT
ap-1684	79	8	yvi	yvi	NOUN
ap-1684	79	9	,	,	PUNCT
ap-1684	79	10	r	r	NOUN
ap-1684	79	11	are	be	AUX
ap-1684	79	12	the	the	DET
ap-1684	79	13	coordinates	coordinate	NOUN
ap-1684	79	14	of	of	ADP
ap-1684	79	15	the	the	DET
ap-1684	79	16	accompanying	accompanying	ADJ
ap-1684	79	17	nonlinear	nonlinear	ADJ
ap-1684	79	18	dynamical	dynamical	ADJ
ap-1684	79	19	dissipative	dissipative	NOUN
ap-1684	79	20	system	system	NOUN
ap-1684	79	21	,	,	PUNCT
ap-1684	79	22	which	which	PRON
ap-1684	79	23	is	be	AUX
ap-1684	79	24	described	describe	VERB
ap-1684	79	25	by	by	ADP
ap-1684	79	26	the	the	DET
ap-1684	79	27	lagrange	lagrange	PROPN
ap-1684	79	28	equations	equation	NOUN
ap-1684	79	29	.	.	PUNCT
ap-1684	80	1	its	its	PRON
ap-1684	80	2	kinetic	kinetic	ADJ
ap-1684	80	3	energy	energy	NOUN
ap-1684	80	4	is	be	AUX
ap-1684	80	5	ek	ek	ADJ
ap-1684	80	6	=	=	NOUN
ap-1684	80	7	1	1	NUM
ap-1684	80	8	2	2	NUM
ap-1684	80	9	n∑	n∑	NOUN
ap-1684	80	10	k=1	k=1	PUNCT
ap-1684	80	11	n∑	n∑	PUNCT
ap-1684	80	12	r=1	r=1	PROPN
ap-1684	80	13	mk(ẋ2	mk(ẋ2	PROPN
ap-1684	80	14	k	k	NOUN
ap-1684	80	15	,	,	PUNCT
ap-1684	80	16	r	r	NOUN
ap-1684	81	1	+	+	PROPN
ap-1684	82	1	ẏ2	ẏ2	PROPN
ap-1684	82	2	k	k	PROPN
ap-1684	82	3	,	,	PUNCT
ap-1684	82	4	r	r	NOUN
ap-1684	82	5	)	)	PUNCT
ap-1684	82	6	,	,	PUNCT
ap-1684	82	7	(	(	PUNCT
ap-1684	82	8	5	5	X
ap-1684	82	9	)	)	PUNCT
ap-1684	82	10	where	where	SCONJ
ap-1684	82	11	mk	mk	NOUN
ap-1684	82	12	are	be	AUX
ap-1684	82	13	artificially	artificially	ADV
ap-1684	82	14	introduced	introduce	VERB
ap-1684	82	15	masses	masse	NOUN
ap-1684	82	16	,	,	PUNCT
ap-1684	82	17	and	and	CCONJ
ap-1684	82	18	its	its	PRON
ap-1684	82	19	potential	potential	ADJ
ap-1684	82	20	energy	energy	NOUN
ap-1684	82	21	is	be	AUX
ap-1684	82	22	ep	ep	NOUN
ap-1684	82	23	=	=	NOUN
ap-1684	82	24	1	1	NUM
ap-1684	82	25	2	2	NUM
ap-1684	82	26	n∑	n∑	NOUN
ap-1684	82	27	k=1	k=1	PUNCT
ap-1684	82	28	n∑	n∑	PUNCT
ap-1684	83	1	r=1	r=1	NOUN
ap-1684	84	1	kk	kk	PROPN
ap-1684	84	2	n∑	n∑	PROPN
ap-1684	84	3	i=1	i=1	PROPN
ap-1684	84	4	(	(	PUNCT
ap-1684	84	5	pk	pk	NOUN
ap-1684	84	6	,	,	PUNCT
ap-1684	84	7	r	r	NOUN
ap-1684	84	8	−	−	PROPN
ap-1684	84	9	pk	pk	NOUN
ap-1684	84	10	,	,	PUNCT
ap-1684	84	11	i)2	i)2	ADJ
ap-1684	84	12	,	,	PUNCT
ap-1684	84	13	(	(	PUNCT
ap-1684	84	14	6	6	NUM
ap-1684	84	15	)	)	PUNCT
ap-1684	84	16	where	where	SCONJ
ap-1684	84	17	kk	kk	PROPN
ap-1684	84	18	are	be	AUX
ap-1684	84	19	artificially	artificially	ADV
ap-1684	84	20	introduced	introduce	VERB
ap-1684	84	21	stiffnesses	stiffness	NOUN
ap-1684	84	22	.	.	PUNCT
ap-1684	85	1	the	the	DET
ap-1684	85	2	potential	potential	ADJ
ap-1684	85	3	energy	energy	NOUN
ap-1684	85	4	describes	describe	VERB
ap-1684	85	5	the	the	DET
ap-1684	85	6	excitation	excitation	NOUN
ap-1684	85	7	of	of	ADP
ap-1684	85	8	the	the	DET
ap-1684	85	9	new	new	ADJ
ap-1684	85	10	dynamic	dynamic	ADJ
ap-1684	85	11	system	system	NOUN
ap-1684	85	12	whenever	whenever	SCONJ
ap-1684	85	13	parameters	parameter	NOUN
ap-1684	85	14	pk	pk	VERB
ap-1684	85	15	,	,	PUNCT
ap-1684	85	16	r	r	NOUN
ap-1684	85	17	are	be	AUX
ap-1684	85	18	not	not	PART
ap-1684	85	19	equal	equal	ADJ
ap-1684	85	20	to	to	ADP
ap-1684	85	21	each	each	DET
ap-1684	85	22	other	other	ADJ
ap-1684	85	23	between	between	ADP
ap-1684	85	24	the	the	DET
ap-1684	85	25	positions	position	NOUN
ap-1684	85	26	r	r	NOUN
ap-1684	85	27	=	=	SYM
ap-1684	85	28	1	1	NUM
ap-1684	85	29	,	,	PUNCT
ap-1684	85	30	.	.	PUNCT
ap-1684	85	31	.	.	PUNCT
ap-1684	86	1	.	.	PUNCT
ap-1684	87	1	,	,	PUNCT
ap-1684	87	2	n	n	X
ap-1684	87	3	.	.	PUNCT
ap-1684	88	1	the	the	DET
ap-1684	88	2	dissipation	dissipation	NOUN
ap-1684	88	3	is	be	AUX
ap-1684	88	4	introduced	introduce	VERB
ap-1684	88	5	by	by	ADP
ap-1684	88	6	the	the	DET
ap-1684	88	7	raleigh	raleigh	PROPN
ap-1684	88	8	function	function	PROPN
ap-1684	88	9	d	d	NOUN
ap-1684	88	10	=	=	SYM
ap-1684	88	11	1	1	NUM
ap-1684	88	12	2	2	NUM
ap-1684	88	13	n∑	n∑	NOUN
ap-1684	88	14	k=1	k=1	PUNCT
ap-1684	88	15	n∑	n∑	PUNCT
ap-1684	88	16	r=1	r=1	NOUN
ap-1684	88	17	bk(ẋ2	bk(ẋ2	PROPN
ap-1684	88	18	k	k	NOUN
ap-1684	88	19	,	,	PUNCT
ap-1684	88	20	r	r	NOUN
ap-1684	89	1	+	+	PROPN
ap-1684	90	1	ẏ2	ẏ2	PROPN
ap-1684	90	2	k	k	PROPN
ap-1684	90	3	,	,	PUNCT
ap-1684	90	4	r	r	NOUN
ap-1684	90	5	)	)	PUNCT
ap-1684	90	6	,	,	PUNCT
ap-1684	90	7	(	(	PUNCT
ap-1684	90	8	7	7	X
ap-1684	90	9	)	)	PUNCT
ap-1684	90	10	83	83	NUM
ap-1684	90	11	acta	acta	PROPN
ap-1684	90	12	polytechnica	polytechnica	PROPN
ap-1684	90	13	vol	vol	NOUN
ap-1684	90	14	.	.	PROPN
ap-1684	91	1	52	52	NUM
ap-1684	91	2	no	no	NOUN
ap-1684	91	3	.	.	PUNCT
ap-1684	92	1	6/2012	6/2012	NUM
ap-1684	92	2	222	222	NUM
ap-1684	92	3	222	222	NUM
ap-1684	92	4	222	222	NUM
ap-1684	92	5	222	222	NUM
ap-1684	92	6	222	222	NUM
ap-1684	92	7	)	)	PUNCT
ap-1684	92	8	(	(	PUNCT
ap-1684	92	9	)	)	PUNCT
ap-1684	92	10	(	(	PUNCT
ap-1684	92	11	e	e	NOUN
ap-1684	92	12	)	)	PUNCT
ap-1684	92	13	(	(	PUNCT
ap-1684	92	14	)	)	PUNCT
ap-1684	92	15	(	(	PUNCT
ap-1684	92	16	d	d	NOUN
ap-1684	92	17	)	)	PUNCT
ap-1684	92	18	(	(	PUNCT
ap-1684	92	19	)	)	PUNCT
ap-1684	92	20	(	(	PUNCT
ap-1684	92	21	c	c	NOUN
ap-1684	92	22	)	)	PUNCT
ap-1684	92	23	(	(	PUNCT
ap-1684	92	24	)	)	PUNCT
ap-1684	92	25	(	(	PUNCT
ap-1684	92	26	b	b	NOUN
ap-1684	92	27	)	)	PUNCT
ap-1684	93	1	(	(	PUNCT
ap-1684	93	2	)	)	PUNCT
ap-1684	93	3	(	(	PUNCT
ap-1684	93	4	a	a	DET
ap-1684	93	5	cimicimi	cimicimi	PROPN
ap-1684	93	6	dimidimi	dimidimi	PROPN
ap-1684	93	7	dicidici	dicidici	PROPN
ap-1684	93	8	cibicibi	cibicibi	PROPN
ap-1684	93	9	aidiaidi	aidiaidi	VERB
ap-1684	93	10	yyxx	yyxx	PROPN
ap-1684	93	11	yyxx	yyxx	PROPN
ap-1684	93	12	yyxx	yyxx	PROPN
ap-1684	93	13	yyxx	yyxx	PROPN
ap-1684	93	14	yyxx	yyxx	PROPN
ap-1684	93	15			PROPN
ap-1684	93	16			PROPN
ap-1684	93	17			PROPN
ap-1684	93	18			PROPN
ap-1684	93	19			PROPN
ap-1684	93	20	(	(	PUNCT
ap-1684	93	21	14	14	NUM
ap-1684	93	22	)	)	PUNCT
ap-1684	93	23	.	.	PUNCT
ap-1684	94	1	the	the	DET
ap-1684	94	2	optimization	optimization	NOUN
ap-1684	94	3	task	task	NOUN
ap-1684	94	4	is	be	AUX
ap-1684	94	5	defined	define	VERB
ap-1684	94	6	as	as	SCONJ
ap-1684	94	7	follows	follow	VERB
ap-1684	94	8			NOUN
ap-1684	94	9			SYM
ap-1684	94	10			NOUN
ap-1684	94	11			SYM
ap-1684	94	12	min	min	NOUN
ap-1684	94	13	2	2	NUM
ap-1684	94	14	1	1	NUM
ap-1684	94	15	2	2	NUM
ap-1684	94	16	2	2	NUM
ap-1684	94	17	1	1	NUM
ap-1684	94	18	1	1	NUM
ap-1684	95	1			NOUN
ap-1684	95	2			PUNCT
ap-1684	95	3			X
ap-1684	95	4			X
ap-1684	96	1			NUM
ap-1684	97	1			NOUN
ap-1684	98	1	n	n	INTJ
ap-1684	99	1	i	i	PRON
ap-1684	99	2	mimi	mimi	PROPN
ap-1684	100	1	n	n	CCONJ
ap-1684	101	1	i	i	PRON
ap-1684	101	2	mimi	mimi	PROPN
ap-1684	101	3	y'yq	y'yq	PROPN
ap-1684	101	4	x'xqcf	x'xqcf	PROPN
ap-1684	101	5	(	(	PUNCT
ap-1684	101	6	15	15	NUM
ap-1684	101	7	)	)	PUNCT
ap-1684	101	8	a[xa	a[xa	NOUN
ap-1684	101	9	,	,	PUNCT
ap-1684	101	10	ya	ya	PROPN
ap-1684	101	11	]	]	PUNCT
ap-1684	101	12	b[xb	b[xb	PROPN
ap-1684	101	13	,	,	PUNCT
ap-1684	101	14	yb	yb	PROPN
ap-1684	101	15	]	]	X
ap-1684	102	1	d	d	X
ap-1684	102	2	c	c	NOUN
ap-1684	102	3	m	m	VERB
ap-1684	102	4	a	a	DET
ap-1684	102	5	c	c	PROPN
ap-1684	102	6	b	b	PROPN
ap-1684	102	7	d	d	PROPN
ap-1684	102	8	e	e	X
ap-1684	102	9	β1	β1	PROPN
ap-1684	102	10	β2	β2	PROPN
ap-1684	102	11	β3	β3	VERB
ap-1684	102	12	k	k	PROPN
ap-1684	102	13	β4	β4	PROPN
ap-1684	102	14	β5	β5	PROPN
ap-1684	102	15	fig	fig	NOUN
ap-1684	102	16	.	.	PUNCT
ap-1684	103	1	3	3	NUM
ap-1684	103	2	:	:	SYM
ap-1684	103	3	four	four	NUM
ap-1684	103	4	-	-	PUNCT
ap-1684	103	5	bar	bar	NOUN
ap-1684	103	6	mechanism	mechanism	NOUN
ap-1684	103	7	and	and	CCONJ
ap-1684	103	8	the	the	DET
ap-1684	103	9	set	set	NOUN
ap-1684	103	10	of	of	ADP
ap-1684	103	11	constraints	constraint	NOUN
ap-1684	103	12	of	of	ADP
ap-1684	103	13	the	the	DET
ap-1684	103	14	optimization	optimization	NOUN
ap-1684	103	15	task	task	NOUN
ap-1684	103	16	is	be	AUX
ap-1684	103	17	0	0	NUM
ap-1684	103	18	;	;	PUNCT
ap-1684	103	19	1,1	1,1	NUM
ap-1684	103	20			X
ap-1684	103	21			PROPN
ap-1684	103	22	i1i1i1i	i1i1i1i	PROPN
ap-1684	103	23			NOUN
ap-1684	103	24	(	(	PUNCT
ap-1684	103	25	16	16	NUM
ap-1684	103	26	)	)	PUNCT
ap-1684	103	27	,	,	PUNCT
ap-1684	103	28	where	where	SCONJ
ap-1684	103	29	the	the	DET
ap-1684	103	30	optimization	optimization	NOUN
ap-1684	103	31	parameters	parameter	NOUN
ap-1684	103	32	are	be	AUX
ap-1684	103	33	:	:	PUNCT
ap-1684	103	34	a	a	DET
ap-1684	103	35	,	,	PUNCT
ap-1684	103	36	b	b	NOUN
ap-1684	103	37	,	,	PUNCT
ap-1684	103	38	c	c	NOUN
ap-1684	103	39	,	,	PUNCT
ap-1684	103	40	d	d	NOUN
ap-1684	103	41	,	,	PUNCT
ap-1684	103	42	e	e	NOUN
ap-1684	103	43	,	,	PUNCT
ap-1684	103	44	xa	xa	PROPN
ap-1684	103	45	,	,	PUNCT
ap-1684	103	46	ya	ya	PROPN
ap-1684	103	47	,	,	PUNCT
ap-1684	103	48	xb	xb	PROPN
ap-1684	103	49	,	,	PUNCT
ap-1684	103	50	yb	yb	PROPN
ap-1684	103	51	and	and	CCONJ
ap-1684	103	52	1i	1i	PROPN
ap-1684	103	53	,	,	PUNCT
ap-1684	103	54	(	(	PUNCT
ap-1684	103	55	i=1,2,	i=1,2,	NOUN
ap-1684	103	56	…	…	PUNCT
ap-1684	103	57	,n	,n	NOUN
ap-1684	103	58	)	)	PUNCT
ap-1684	103	59	.	.	PUNCT
ap-1684	104	1	the	the	DET
ap-1684	104	2	parameters	parameter	NOUN
ap-1684	104	3	qi	qi	PROPN
ap-1684	104	4	again	again	ADV
ap-1684	104	5	denote	denote	VERB
ap-1684	104	6	the	the	DET
ap-1684	104	7	penalization	penalization	NOUN
ap-1684	104	8	coefficients	coefficient	NOUN
ap-1684	104	9	.	.	PUNCT
ap-1684	105	1	figure	figure	VERB
ap-1684	105	2	3	3	NUM
ap-1684	105	3	:	:	SYM
ap-1684	105	4	four	four	NUM
ap-1684	105	5	-	-	PUNCT
ap-1684	105	6	bar	bar	NOUN
ap-1684	105	7	mechanism	mechanism	NOUN
ap-1684	105	8	.	.	PUNCT
ap-1684	106	1	where	where	SCONJ
ap-1684	106	2	bk	bk	NOUN
ap-1684	106	3	are	be	AUX
ap-1684	106	4	artificially	artificially	ADV
ap-1684	106	5	introduced	introduce	VERB
ap-1684	106	6	damping	damp	VERB
ap-1684	106	7	coefficients	coefficient	NOUN
ap-1684	106	8	.	.	PUNCT
ap-1684	107	1	dissipation	dissipation	NOUN
ap-1684	107	2	guarantees	guarantee	VERB
ap-1684	107	3	the	the	DET
ap-1684	107	4	removal	removal	NOUN
ap-1684	107	5	of	of	ADP
ap-1684	107	6	the	the	DET
ap-1684	107	7	energy	energy	NOUN
ap-1684	107	8	from	from	ADP
ap-1684	107	9	the	the	DET
ap-1684	107	10	new	new	ADJ
ap-1684	107	11	dynamic	dynamic	ADJ
ap-1684	107	12	system	system	NOUN
ap-1684	107	13	,	,	PUNCT
ap-1684	107	14	and	and	CCONJ
ap-1684	107	15	thus	thus	ADV
ap-1684	107	16	brings	bring	VERB
ap-1684	107	17	the	the	DET
ap-1684	107	18	system	system	NOUN
ap-1684	107	19	into	into	ADP
ap-1684	107	20	equilibrium	equilibrium	NOUN
ap-1684	107	21	.	.	PUNCT
ap-1684	108	1	the	the	DET
ap-1684	108	2	synthesis	synthesis	NOUN
ap-1684	108	3	process	process	NOUN
ap-1684	108	4	is	be	AUX
ap-1684	108	5	now	now	ADV
ap-1684	108	6	transformed	transform	VERB
ap-1684	108	7	into	into	ADP
ap-1684	108	8	the	the	DET
ap-1684	108	9	evolution	evolution	NOUN
ap-1684	108	10	of	of	ADP
ap-1684	108	11	the	the	DET
ap-1684	108	12	accompanying	accompanying	ADJ
ap-1684	108	13	nonlinear	nonlinear	ADJ
ap-1684	108	14	dissipative	dissipative	ADJ
ap-1684	108	15	dynamical	dynamical	ADJ
ap-1684	108	16	system	system	NOUN
ap-1684	108	17	.	.	PUNCT
ap-1684	109	1	the	the	DET
ap-1684	109	2	system	system	NOUN
ap-1684	109	3	has	have	VERB
ap-1684	109	4	the	the	DET
ap-1684	109	5	coordinates	coordinate	NOUN
ap-1684	109	6	xvi	xvi	NOUN
ap-1684	109	7	,	,	PUNCT
ap-1684	109	8	r	r	NOUN
ap-1684	109	9	,	,	PUNCT
ap-1684	109	10	yvi	yvi	NOUN
ap-1684	109	11	,	,	PUNCT
ap-1684	109	12	r	r	NOUN
ap-1684	109	13	,	,	PUNCT
ap-1684	109	14	the	the	DET
ap-1684	109	15	kinetic	kinetic	ADJ
ap-1684	109	16	energy	energy	NOUN
ap-1684	109	17	(	(	PUNCT
ap-1684	109	18	5	5	NUM
ap-1684	109	19	)	)	PUNCT
ap-1684	109	20	,	,	PUNCT
ap-1684	109	21	the	the	DET
ap-1684	109	22	potential	potential	ADJ
ap-1684	109	23	energy	energy	NOUN
ap-1684	109	24	(	(	PUNCT
ap-1684	109	25	6	6	NUM
ap-1684	109	26	)	)	PUNCT
ap-1684	109	27	where	where	SCONJ
ap-1684	109	28	the	the	DET
ap-1684	109	29	variables	variable	NOUN
ap-1684	109	30	are	be	AUX
ap-1684	109	31	described	describe	VERB
ap-1684	109	32	by	by	ADP
ap-1684	109	33	formulas	formula	NOUN
ap-1684	109	34	(	(	PUNCT
ap-1684	109	35	3)–(4	3)–(4	NUM
ap-1684	109	36	)	)	PUNCT
ap-1684	109	37	as	as	ADP
ap-1684	109	38	functions	function	NOUN
ap-1684	109	39	of	of	ADP
ap-1684	109	40	the	the	DET
ap-1684	109	41	coordinates	coordinate	NOUN
ap-1684	109	42	xvi	xvi	NOUN
ap-1684	109	43	,	,	PUNCT
ap-1684	109	44	r	r	NOUN
ap-1684	109	45	,	,	PUNCT
ap-1684	109	46	yvi	yvi	NOUN
ap-1684	109	47	,	,	PUNCT
ap-1684	109	48	r	r	NOUN
ap-1684	109	49	,	,	PUNCT
ap-1684	109	50	the	the	DET
ap-1684	109	51	raleigh	raleigh	PROPN
ap-1684	109	52	function	function	NOUN
ap-1684	109	53	(	(	PUNCT
ap-1684	109	54	7	7	NUM
ap-1684	109	55	)	)	PUNCT
ap-1684	109	56	and	and	CCONJ
ap-1684	109	57	the	the	DET
ap-1684	109	58	initial	initial	ADJ
ap-1684	109	59	conditions	condition	NOUN
ap-1684	109	60	xvi	xvi	NOUN
ap-1684	109	61	,	,	PUNCT
ap-1684	109	62	r	r	NOUN
ap-1684	109	63	(	(	PUNCT
ap-1684	109	64	0	0	NUM
ap-1684	109	65	)	)	PUNCT
ap-1684	109	66	,	,	PUNCT
ap-1684	109	67	yvi	yvi	NOUN
ap-1684	109	68	,	,	PUNCT
ap-1684	109	69	r	r	NOUN
ap-1684	109	70	(	(	PUNCT
ap-1684	109	71	0	0	NUM
ap-1684	109	72	)	)	PUNCT
ap-1684	109	73	as	as	ADP
ap-1684	109	74	estimations	estimation	NOUN
ap-1684	109	75	of	of	ADP
ap-1684	109	76	the	the	DET
ap-1684	109	77	positions	position	NOUN
ap-1684	109	78	of	of	ADP
ap-1684	109	79	the	the	DET
ap-1684	109	80	mechanism	mechanism	NOUN
ap-1684	109	81	described	describe	VERB
ap-1684	109	82	by	by	ADP
ap-1684	109	83	the	the	DET
ap-1684	109	84	vector	vector	NOUN
ap-1684	109	85	polygon	polygon	NOUN
ap-1684	109	86	vertices	vertice	VERB
ap-1684	109	87	i	i	PRON
ap-1684	109	88	=	=	NOUN
ap-1684	109	89	1	1	NUM
ap-1684	109	90	,	,	PUNCT
ap-1684	109	91	.	.	PUNCT
ap-1684	109	92	.	.	PUNCT
ap-1684	110	1	.	.	PUNCT
ap-1684	111	1	,	,	PUNCT
ap-1684	111	2	n	n	CCONJ
ap-1684	111	3	in	in	ADP
ap-1684	111	4	particular	particular	ADJ
ap-1684	111	5	positions	position	NOUN
ap-1684	111	6	r	r	NOUN
ap-1684	111	7	=	=	SYM
ap-1684	111	8	1	1	NUM
ap-1684	111	9	,	,	PUNCT
ap-1684	111	10	.	.	PUNCT
ap-1684	111	11	.	.	PUNCT
ap-1684	112	1	.	.	PUNCT
ap-1684	113	1	,	,	PUNCT
ap-1684	113	2	n	n	X
ap-1684	113	3	.	.	PUNCT
ap-1684	114	1	it	it	PRON
ap-1684	114	2	is	be	AUX
ap-1684	114	3	supposed	suppose	VERB
ap-1684	114	4	that	that	SCONJ
ap-1684	114	5	this	this	DET
ap-1684	114	6	new	new	ADJ
ap-1684	114	7	accompanying	accompany	VERB
ap-1684	114	8	system	system	NOUN
ap-1684	114	9	reaches	reach	VERB
ap-1684	114	10	its	its	PRON
ap-1684	114	11	equilibrium	equilibrium	NOUN
ap-1684	114	12	given	give	VERB
ap-1684	114	13	by	by	ADP
ap-1684	114	14	ek	ek	PROPN
ap-1684	114	15	=	=	SYM
ap-1684	114	16	0	0	PROPN
ap-1684	114	17	,	,	PUNCT
ap-1684	114	18	ep	ep	PROPN
ap-1684	114	19	=	=	SYM
ap-1684	114	20	0	0	PUNCT
ap-1684	114	21	(	(	PUNCT
ap-1684	114	22	8)	8)	NUM
ap-1684	114	23	and	and	CCONJ
ap-1684	114	24	ek	ek	NOUN
ap-1684	114	25	=	=	SYM
ap-1684	114	26	0	0	NUM
ap-1684	114	27	results	result	NOUN
ap-1684	114	28	from	from	ADP
ap-1684	114	29	(	(	PUNCT
ap-1684	114	30	5	5	NUM
ap-1684	114	31	)	)	PUNCT
ap-1684	114	32	into	into	ADP
ap-1684	114	33	ẋk	ẋk	PROPN
ap-1684	114	34	,	,	PUNCT
ap-1684	114	35	r	r	NOUN
ap-1684	114	36	=	=	SYM
ap-1684	114	37	0	0	NUM
ap-1684	114	38	,	,	PUNCT
ap-1684	114	39	ẏk	ẏk	PROPN
ap-1684	114	40	,	,	PUNCT
ap-1684	114	41	r	r	NOUN
ap-1684	114	42	=	=	SYM
ap-1684	114	43	0	0	NUM
ap-1684	115	1	(	(	PUNCT
ap-1684	115	2	9	9	NUM
ap-1684	115	3	)	)	PUNCT
ap-1684	115	4	and	and	CCONJ
ap-1684	115	5	ep	ep	PROPN
ap-1684	115	6	=	=	SYM
ap-1684	115	7	0	0	NUM
ap-1684	115	8	results	result	NOUN
ap-1684	115	9	from	from	ADP
ap-1684	115	10	(	(	PUNCT
ap-1684	115	11	6	6	NUM
ap-1684	115	12	)	)	PUNCT
ap-1684	115	13	into	into	ADP
ap-1684	115	14	pk	pk	NOUN
ap-1684	115	15	,	,	PUNCT
ap-1684	115	16	r	r	NOUN
ap-1684	115	17	=	=	SYM
ap-1684	115	18	pk	pk	PROPN
ap-1684	115	19	,	,	PUNCT
ap-1684	115	20	i.	i.	NOUN
ap-1684	115	21	(	(	PUNCT
ap-1684	115	22	10	10	NUM
ap-1684	115	23	)	)	PUNCT
ap-1684	115	24	these	these	DET
ap-1684	115	25	final	final	ADJ
ap-1684	115	26	values	value	NOUN
ap-1684	115	27	pk	pk	X
ap-1684	115	28	=	=	SYM
ap-1684	115	29	pk	pk	NOUN
ap-1684	115	30	,	,	PUNCT
ap-1684	115	31	r	r	NOUN
ap-1684	115	32	are	be	AUX
ap-1684	115	33	the	the	DET
ap-1684	115	34	synthesized	synthesize	VERB
ap-1684	115	35	parameters	parameter	NOUN
ap-1684	115	36	(	(	PUNCT
ap-1684	115	37	dimensions	dimension	NOUN
ap-1684	115	38	)	)	PUNCT
ap-1684	115	39	describing	describe	VERB
ap-1684	115	40	the	the	DET
ap-1684	115	41	synthesized	synthesize	VERB
ap-1684	115	42	mechanism	mechanism	NOUN
ap-1684	115	43	[	[	X
ap-1684	115	44	14–17	14–17	NUM
ap-1684	115	45	]	]	PUNCT
ap-1684	115	46	.	.	PUNCT
ap-1684	116	1	3	3	NUM
ap-1684	116	2	extension	extension	NOUN
ap-1684	116	3	of	of	ADP
ap-1684	116	4	the	the	DET
ap-1684	116	5	method	method	NOUN
ap-1684	116	6	the	the	DET
ap-1684	116	7	method	method	NOUN
ap-1684	116	8	described	describe	VERB
ap-1684	116	9	here	here	ADV
ap-1684	116	10	deals	deal	NOUN
ap-1684	116	11	just	just	ADV
ap-1684	116	12	with	with	ADP
ap-1684	116	13	the	the	DET
ap-1684	116	14	parametric	parametric	ADJ
ap-1684	116	15	positional	positional	ADJ
ap-1684	116	16	synthesis	synthesis	NOUN
ap-1684	116	17	of	of	ADP
ap-1684	116	18	a	a	DET
ap-1684	116	19	mechanism	mechanism	NOUN
ap-1684	116	20	.	.	PUNCT
ap-1684	117	1	the	the	DET
ap-1684	117	2	synthesis	synthesis	NOUN
ap-1684	117	3	is	be	AUX
ap-1684	117	4	usually	usually	ADV
ap-1684	117	5	more	more	ADV
ap-1684	117	6	complicated	complicated	ADJ
ap-1684	117	7	,	,	PUNCT
ap-1684	117	8	and	and	CCONJ
ap-1684	117	9	it	it	PRON
ap-1684	117	10	can	can	AUX
ap-1684	117	11	generally	generally	ADV
ap-1684	117	12	be	be	AUX
ap-1684	117	13	described	describe	VERB
ap-1684	117	14	as	as	ADP
ap-1684	117	15	the	the	DET
ap-1684	117	16	minimization/	minimization/	NUM
ap-1684	117	17	maximization	maximization	NOUN
ap-1684	117	18	of	of	ADP
ap-1684	117	19	the	the	DET
ap-1684	117	20	set	set	NOUN
ap-1684	117	21	of	of	ADP
ap-1684	117	22	further	further	ADJ
ap-1684	117	23	objective	objective	ADJ
ap-1684	117	24	functions	function	NOUN
ap-1684	117	25	{	{	PUNCT
ap-1684	117	26	min	min	NOUN
ap-1684	117	27	cf	cf	PROPN
ap-1684	117	28	`	`	PUNCT
ap-1684	117	29	(	(	PUNCT
ap-1684	117	30	s1	s1	NOUN
ap-1684	117	31	,	,	PUNCT
ap-1684	117	32	s2	s2	NOUN
ap-1684	117	33	,	,	PUNCT
ap-1684	117	34	.	.	PUNCT
ap-1684	117	35	.	.	PUNCT
ap-1684	118	1	.	.	PUNCT
ap-1684	119	1	,	,	PUNCT
ap-1684	119	2	sn	sn	PROPN
ap-1684	119	3	,	,	PUNCT
ap-1684	119	4	p1	p1	NOUN
ap-1684	119	5	,	,	PUNCT
ap-1684	119	6	p2	p2	NOUN
ap-1684	119	7	,	,	PUNCT
ap-1684	119	8	.	.	PUNCT
ap-1684	119	9	.	.	PUNCT
ap-1684	120	1	.	.	PUNCT
ap-1684	121	1	,	,	PUNCT
ap-1684	121	2	pm	pm	NOUN
ap-1684	121	3	)	)	PUNCT
ap-1684	121	4	,	,	PUNCT
ap-1684	121	5	`	`	PUNCT
ap-1684	121	6	=	=	SYM
ap-1684	121	7	1	1	NUM
ap-1684	121	8	,	,	PUNCT
ap-1684	121	9	2	2	NUM
ap-1684	121	10	,	,	PUNCT
ap-1684	121	11	.	.	PUNCT
ap-1684	121	12	.	.	PUNCT
ap-1684	122	1	.	.	PUNCT
ap-1684	123	1	,	,	PUNCT
ap-1684	123	2	ncf	ncf	PROPN
ap-1684	123	3	.	.	PUNCT
ap-1684	124	1	(	(	PUNCT
ap-1684	124	2	11	11	NUM
ap-1684	124	3	)	)	PUNCT
ap-1684	124	4	these	these	DET
ap-1684	124	5	objective	objective	ADJ
ap-1684	124	6	functions	function	NOUN
ap-1684	124	7	are	be	AUX
ap-1684	124	8	taken	take	VERB
ap-1684	124	9	into	into	ADP
ap-1684	124	10	consideration	consideration	NOUN
ap-1684	124	11	by	by	ADP
ap-1684	124	12	extending	extend	VERB
ap-1684	124	13	the	the	DET
ap-1684	124	14	potential	potential	ADJ
ap-1684	124	15	energy	energy	NOUN
ap-1684	124	16	(	(	PUNCT
ap-1684	124	17	6	6	NUM
ap-1684	124	18	)	)	PUNCT
ap-1684	124	19	by	by	ADP
ap-1684	124	20	new	new	ADJ
ap-1684	124	21	terms	term	NOUN
ap-1684	124	22	ep	ep	PROPN
ap-1684	124	23	=	=	SYM
ap-1684	124	24	·	·	PUNCT
ap-1684	124	25	·	·	PUNCT
ap-1684	124	26	·	·	PUNCT
ap-1684	125	1	+	+	NUM
ap-1684	125	2	1	1	NUM
ap-1684	125	3	2	2	NUM
ap-1684	125	4	ncf∑	ncf∑	ADP
ap-1684	125	5	`	`	PUNCT
ap-1684	125	6	=	=	SYM
ap-1684	125	7	1	1	NUM
ap-1684	125	8	q`(cf	q`(cf	ADJ
ap-1684	125	9	`	`	PUNCT
ap-1684	125	10	−	−	PROPN
ap-1684	125	11	cfd	cfd	NOUN
ap-1684	125	12	,	,	PUNCT
ap-1684	125	13	`	`	PUNCT
ap-1684	125	14	)	)	PUNCT
ap-1684	125	15	,	,	PUNCT
ap-1684	125	16	(	(	PUNCT
ap-1684	125	17	12	12	X
ap-1684	125	18	)	)	PUNCT
ap-1684	125	19	the	the	DET
ap-1684	125	20	associated	associated	ADJ
ap-1684	125	21	dynamical	dynamical	ADJ
ap-1684	125	22	dissipative	dissipative	NOUN
ap-1684	125	23	system	system	NOUN
ap-1684	125	24	consists	consist	VERB
ap-1684	125	25	of	of	ADP
ap-1684	125	26	n	n	NOUN
ap-1684	125	27	subsystems	subsystem	NOUN
ap-1684	125	28	for	for	ADP
ap-1684	125	29	the	the	DET
ap-1684	125	30	individual	individual	ADJ
ap-1684	125	31	positions	position	NOUN
ap-1684	125	32	of	of	ADP
ap-1684	125	33	point	point	NOUN
ap-1684	125	34	m	m	PROPN
ap-1684	125	35	(	(	PUNCT
ap-1684	125	36	fig	fig	NOUN
ap-1684	125	37	.	.	PUNCT
ap-1684	125	38	4	4	NUM
ap-1684	125	39	)	)	PUNCT
ap-1684	125	40	.	.	PUNCT
ap-1684	126	1	the	the	DET
ap-1684	126	2	masses	masse	NOUN
ap-1684	126	3	ma	ma	PROPN
ap-1684	126	4	,	,	PUNCT
ap-1684	126	5	mb	mb	PROPN
ap-1684	126	6	,	,	PUNCT
ap-1684	126	7	md	md	PROPN
ap-1684	126	8	,	,	PUNCT
ap-1684	126	9	me	i	PRON
ap-1684	126	10	are	be	AUX
ap-1684	126	11	introduced	introduce	VERB
ap-1684	126	12	in	in	ADP
ap-1684	126	13	the	the	DET
ap-1684	126	14	points	point	NOUN
ap-1684	126	15	ai	ai	VERB
ap-1684	126	16	,	,	PUNCT
ap-1684	126	17	bi	bi	NOUN
ap-1684	126	18	,	,	PUNCT
ap-1684	126	19	di	di	NOUN
ap-1684	126	20	,	,	PUNCT
ap-1684	126	21	ei	ei	PROPN
ap-1684	126	22	.	.	PUNCT
ap-1684	127	1	the	the	DET
ap-1684	127	2	interactions	interaction	NOUN
ap-1684	127	3	between	between	ADP
ap-1684	127	4	the	the	DET
ap-1684	127	5	subsystems	subsystem	NOUN
ap-1684	127	6	are	be	AUX
ap-1684	127	7	ensured	ensure	VERB
ap-1684	127	8	by	by	ADP
ap-1684	127	9	forces	force	NOUN
ap-1684	127	10	of	of	ADP
ap-1684	127	11	a	a	DET
ap-1684	127	12	linear	linear	ADJ
ap-1684	127	13	spring	spring	NOUN
ap-1684	127	14	nature	nature	NOUN
ap-1684	127	15	.	.	PUNCT
ap-1684	128	1	a	a	DET
ap-1684	128	2	nonzero	nonzero	ADJ
ap-1684	128	3	force	force	NOUN
ap-1684	128	4	acts	act	VERB
ap-1684	128	5	into	into	ADP
ap-1684	128	6	the	the	DET
ap-1684	128	7	relevant	relevant	ADJ
ap-1684	128	8	masses	masse	NOUN
ap-1684	128	9	whenever	whenever	SCONJ
ap-1684	128	10	the	the	DET
ap-1684	128	11	corresponding	corresponding	ADJ
ap-1684	128	12	dimension	dimension	NOUN
ap-1684	128	13	differs	differ	VERB
ap-1684	128	14	between	between	ADP
ap-1684	128	15	subsystems	subsystem	NOUN
ap-1684	129	1	i	i	PRON
ap-1684	129	2	and	and	CCONJ
ap-1684	129	3	j	j	PROPN
ap-1684	129	4	(	(	PUNCT
ap-1684	129	5	i	i	PROPN
ap-1684	129	6	,	,	PUNCT
ap-1684	129	7	j	j	PROPN
ap-1684	129	8	=	=	SYM
ap-1684	129	9	1,2,	1,2,	PROPN
ap-1684	129	10	…	…	SYM
ap-1684	129	11	.n	.n	ADJ
ap-1684	129	12	)	)	PUNCT
ap-1684	129	13	.	.	PUNCT
ap-1684	130	1	the	the	DET
ap-1684	130	2	stabilization	stabilization	NOUN
ap-1684	130	3	of	of	ADP
ap-1684	130	4	the	the	DET
ap-1684	130	5	whole	whole	ADJ
ap-1684	130	6	system	system	NOUN
ap-1684	130	7	is	be	AUX
ap-1684	130	8	ensured	ensure	VERB
ap-1684	130	9	by	by	ADP
ap-1684	130	10	damper	damper	NOUN
ap-1684	130	11	elements	element	NOUN
ap-1684	130	12	between	between	ADP
ap-1684	130	13	the	the	DET
ap-1684	130	14	masses	masse	NOUN
ap-1684	130	15	and	and	CCONJ
ap-1684	130	16	the	the	DET
ap-1684	130	17	inertial	inertial	ADJ
ap-1684	130	18	frame	frame	NOUN
ap-1684	130	19	.	.	PUNCT
ap-1684	131	1	the	the	DET
ap-1684	131	2	constraints	constraint	NOUN
ap-1684	131	3	of	of	ADP
ap-1684	131	4	the	the	DET
ap-1684	131	5	associated	associated	ADJ
ap-1684	131	6	system	system	NOUN
ap-1684	131	7	were	be	AUX
ap-1684	131	8	changed	change	VERB
ap-1684	131	9	into	into	ADP
ap-1684	131	10	the	the	DET
ap-1684	131	11	form	form	NOUN
ap-1684	131	12	prescribedconsty	prescribedconsty	NOUN
ap-1684	131	13	prescribedconstx	prescribedconstx	NOUN
ap-1684	131	14	yyxx	yyxx	PROPN
ap-1684	131	15	yyxx	yyxx	PROPN
ap-1684	131	16	yyxx	yyxx	PROPN
ap-1684	131	17	yyxx	yyxx	PROPN
ap-1684	131	18	yyxx	yyxx	PROPN
ap-1684	131	19	m	m	VERB
ap-1684	132	1	m	m	VERB
ap-1684	132	2	cimicimi	cimicimi	PROPN
ap-1684	132	3	dimidimi	dimidimi	PROPN
ap-1684	132	4	dicidici	dicidici	PROPN
ap-1684	132	5	cibicibi	cibicibi	PROPN
ap-1684	132	6	aidiaidi	aidiaidi	VERB
ap-1684	132	7			NUM
ap-1684	132	8			NUM
ap-1684	132	9			PROPN
ap-1684	132	10			PROPN
ap-1684	132	11			PROPN
ap-1684	132	12			NOUN
ap-1684	133	1			NOUN
ap-1684	134	1	i	i	PRON
ap-1684	134	2	i	i	PRON
ap-1684	134	3	222	222	NUM
ap-1684	134	4	i	i	PRON
ap-1684	134	5	222	222	NUM
ap-1684	134	6	i	i	PRON
ap-1684	134	7	222	222	NUM
ap-1684	134	8	i	i	PRON
ap-1684	134	9	222	222	NUM
ap-1684	134	10	i	i	PRON
ap-1684	134	11	222	222	NUM
ap-1684	134	12	i	i	PRON
ap-1684	134	13	)	)	PUNCT
ap-1684	134	14	(	(	PUNCT
ap-1684	134	15	)	)	PUNCT
ap-1684	134	16	(	(	PUNCT
ap-1684	134	17	e	e	NOUN
ap-1684	134	18	)	)	PUNCT
ap-1684	134	19	(	(	PUNCT
ap-1684	134	20	)	)	PUNCT
ap-1684	134	21	(	(	PUNCT
ap-1684	134	22	d	d	NOUN
ap-1684	134	23	)	)	PUNCT
ap-1684	134	24	(	(	PUNCT
ap-1684	134	25	)	)	PUNCT
ap-1684	134	26	(	(	PUNCT
ap-1684	134	27	c	c	NOUN
ap-1684	134	28	)	)	PUNCT
ap-1684	134	29	(	(	PUNCT
ap-1684	134	30	)	)	PUNCT
ap-1684	134	31	(	(	PUNCT
ap-1684	134	32	b	b	NOUN
ap-1684	134	33	)	)	PUNCT
ap-1684	134	34	(	(	PUNCT
ap-1684	134	35	)	)	PUNCT
ap-1684	134	36	(	(	PUNCT
ap-1684	134	37	a	a	PRON
ap-1684	134	38	(	(	PUNCT
ap-1684	134	39	17	17	NUM
ap-1684	134	40	)	)	PUNCT
ap-1684	134	41	.	.	PUNCT
ap-1684	135	1	fig	fig	NOUN
ap-1684	135	2	.	.	PUNCT
ap-1684	136	1	4	4	NUM
ap-1684	136	2	:	:	PUNCT
ap-1684	136	3	associated	associate	VERB
ap-1684	136	4	dissipative	dissipative	ADJ
ap-1684	136	5	system	system	NOUN
ap-1684	136	6	of	of	ADP
ap-1684	136	7	the	the	DET
ap-1684	136	8	four	four	NUM
ap-1684	136	9	-	-	PUNCT
ap-1684	136	10	bar	bar	NOUN
ap-1684	136	11	me	i	PRON
ap-1684	136	12	di	di	PROPN
ap-1684	136	13	fdi	fdi	PROPN
ap-1684	136	14	mai	mai	PROPN
ap-1684	136	15	fayi	fayi	ADV
ap-1684	136	16	fbyi	fbyi	PROPN
ap-1684	136	17	fbxi	fbxi	PROPN
ap-1684	136	18	fei	fei	PROPN
ap-1684	136	19	fei	fei	PROPN
ap-1684	136	20	fbi	fbi	PROPN
ap-1684	136	21	fbi	fbi	PROPN
ap-1684	136	22	fai	fai	PROPN
ap-1684	136	23	fci	fci	PROPN
ap-1684	136	24	fci	fci	PROPN
ap-1684	136	25	fai	fai	PROPN
ap-1684	136	26	ai	ai	VERB
ap-1684	136	27	mi	mi	PROPN
ap-1684	136	28	di	di	X
ap-1684	136	29	ei	ei	PROPN
ap-1684	136	30	bi	bi	PROPN
ap-1684	136	31	ci	ci	PROPN
ap-1684	136	32	ai	ai	VERB
ap-1684	136	33	bi	bi	PROPN
ap-1684	136	34	ci	ci	PROPN
ap-1684	136	35	x	x	PROPN
ap-1684	136	36	y	y	PROPN
ap-1684	136	37	faxi	faxi	PROPN
ap-1684	136	38	fdi	fdi	PROPN
ap-1684	136	39	bxa	bxa	NOUN
ap-1684	136	40	chanism	chanism	NOUN
ap-1684	136	41	figure	figure	NOUN
ap-1684	136	42	4	4	NUM
ap-1684	136	43	:	:	PUNCT
ap-1684	136	44	associated	associated	ADJ
ap-1684	136	45	dissipative	dissipative	ADJ
ap-1684	136	46	system	system	NOUN
ap-1684	136	47	of	of	ADP
ap-1684	136	48	the	the	DET
ap-1684	136	49	fourbar	fourbar	NOUN
ap-1684	136	50	mechanism	mechanism	NOUN
ap-1684	136	51	.	.	PUNCT
ap-1684	137	1	where	where	SCONJ
ap-1684	137	2	q	q	X
ap-1684	137	3	`	`	PUNCT
ap-1684	137	4	are	be	AUX
ap-1684	137	5	chosen	choose	VERB
ap-1684	137	6	positive	positive	ADJ
ap-1684	137	7	constants	constant	NOUN
ap-1684	137	8	and	and	CCONJ
ap-1684	137	9	cfd	cfd	NOUN
ap-1684	137	10	,	,	PUNCT
ap-1684	137	11	`	`	PUNCT
ap-1684	137	12	are	be	AUX
ap-1684	137	13	desired	desire	VERB
ap-1684	137	14	values	value	NOUN
ap-1684	137	15	of	of	ADP
ap-1684	137	16	the	the	DET
ap-1684	137	17	objective	objective	ADJ
ap-1684	137	18	function	function	NOUN
ap-1684	138	1	cf	cf	NOUN
ap-1684	138	2	`	`	PUNCT
ap-1684	138	3	.	.	PUNCT
ap-1684	139	1	then	then	ADV
ap-1684	139	2	the	the	DET
ap-1684	139	3	equilibrium	equilibrium	NOUN
ap-1684	139	4	(	(	PUNCT
ap-1684	139	5	8)	8)	NUM
ap-1684	139	6	of	of	ADP
ap-1684	139	7	the	the	DET
ap-1684	139	8	new	new	ADJ
ap-1684	139	9	accompanying	accompanying	ADJ
ap-1684	139	10	dynamic	dynamic	ADJ
ap-1684	139	11	system	system	NOUN
ap-1684	139	12	also	also	ADV
ap-1684	139	13	optimizes	optimize	VERB
ap-1684	139	14	the	the	DET
ap-1684	139	15	objective	objective	ADJ
ap-1684	139	16	functions	function	NOUN
ap-1684	139	17	(	(	PUNCT
ap-1684	139	18	11	11	NUM
ap-1684	139	19	)	)	PUNCT
ap-1684	140	1	[	[	X
ap-1684	140	2	15–17	15–17	NUM
ap-1684	140	3	]	]	PUNCT
ap-1684	140	4	.	.	PUNCT
ap-1684	141	1	the	the	DET
ap-1684	141	2	artificially	artificially	ADV
ap-1684	141	3	introduced	introduce	VERB
ap-1684	141	4	parameters	parameter	NOUN
ap-1684	141	5	mk	mk	PROPN
ap-1684	141	6	,	,	PUNCT
ap-1684	141	7	kk	kk	PROPN
ap-1684	141	8	,	,	PUNCT
ap-1684	141	9	bk	bk	PROPN
ap-1684	141	10	and	and	CCONJ
ap-1684	141	11	q	q	X
ap-1684	141	12	`	`	PUNCT
ap-1684	141	13	can	can	AUX
ap-1684	141	14	be	be	AUX
ap-1684	141	15	chosen	choose	VERB
ap-1684	141	16	as	as	ADP
ap-1684	141	17	arbitrarily	arbitrarily	ADV
ap-1684	141	18	positive	positive	ADJ
ap-1684	141	19	numbers	number	NOUN
ap-1684	141	20	,	,	PUNCT
ap-1684	141	21	but	but	CCONJ
ap-1684	141	22	their	their	PRON
ap-1684	141	23	values	value	NOUN
ap-1684	141	24	influence	influence	VERB
ap-1684	141	25	the	the	DET
ap-1684	141	26	dynamics	dynamic	NOUN
ap-1684	141	27	of	of	ADP
ap-1684	141	28	the	the	DET
ap-1684	141	29	synthesis	synthesis	NOUN
ap-1684	141	30	.	.	PUNCT
ap-1684	142	1	4	4	NUM
ap-1684	142	2	planar	planar	ADJ
ap-1684	142	3	example	example	NOUN
ap-1684	142	4	the	the	DET
ap-1684	142	5	main	main	ADJ
ap-1684	142	6	disadvantages	disadvantage	NOUN
ap-1684	142	7	of	of	ADP
ap-1684	142	8	general	general	ADJ
ap-1684	142	9	optimization	optimization	NOUN
ap-1684	142	10	methods	method	NOUN
ap-1684	142	11	combined	combine	VERB
ap-1684	142	12	with	with	ADP
ap-1684	142	13	traditional	traditional	ADJ
ap-1684	142	14	kinematical	kinematical	ADJ
ap-1684	142	15	synthesis	synthesis	NOUN
ap-1684	142	16	are	be	AUX
ap-1684	142	17	a	a	DET
ap-1684	142	18	high	high	ADJ
ap-1684	142	19	computational	computational	ADJ
ap-1684	142	20	cost	cost	NOUN
ap-1684	142	21	,	,	PUNCT
ap-1684	142	22	extreme	extreme	ADJ
ap-1684	142	23	growth	growth	NOUN
ap-1684	142	24	of	of	ADP
ap-1684	142	25	the	the	DET
ap-1684	142	26	computational	computational	ADJ
ap-1684	142	27	complexity	complexity	NOUN
ap-1684	142	28	with	with	ADP
ap-1684	142	29	the	the	DET
ap-1684	142	30	number	number	NOUN
ap-1684	142	31	of	of	ADP
ap-1684	142	32	optimized	optimize	VERB
ap-1684	142	33	parameters	parameter	NOUN
ap-1684	142	34	,	,	PUNCT
ap-1684	142	35	together	together	ADV
ap-1684	142	36	with	with	ADP
ap-1684	142	37	inability	inability	NOUN
ap-1684	142	38	to	to	PART
ap-1684	142	39	find	find	VERB
ap-1684	142	40	the	the	DET
ap-1684	142	41	solution	solution	NOUN
ap-1684	142	42	even	even	ADV
ap-1684	142	43	though	though	SCONJ
ap-1684	142	44	it	it	PRON
ap-1684	142	45	exists	exist	VERB
ap-1684	142	46	.	.	PUNCT
ap-1684	143	1	the	the	DET
ap-1684	143	2	following	follow	VERB
ap-1684	143	3	example	example	NOUN
ap-1684	143	4	shows	show	VERB
ap-1684	143	5	the	the	DET
ap-1684	143	6	main	main	ADJ
ap-1684	143	7	advantage	advantage	NOUN
ap-1684	143	8	of	of	ADP
ap-1684	143	9	the	the	DET
ap-1684	143	10	evolution	evolution	NOUN
ap-1684	143	11	of	of	ADP
ap-1684	143	12	the	the	DET
ap-1684	143	13	associated	associated	ADJ
ap-1684	143	14	dissipative	dissipative	ADJ
ap-1684	143	15	system	system	NOUN
ap-1684	143	16	over	over	ADP
ap-1684	143	17	general	general	ADJ
ap-1684	143	18	optimization	optimization	NOUN
ap-1684	143	19	methods	method	NOUN
ap-1684	143	20	,	,	PUNCT
ap-1684	143	21	e.g.	e.g.	ADV
ap-1684	143	22	genetic	genetic	ADJ
ap-1684	143	23	algorithms	algorithm	NOUN
ap-1684	143	24	.	.	PUNCT
ap-1684	144	1	the	the	DET
ap-1684	144	2	comparison	comparison	NOUN
ap-1684	144	3	of	of	ADP
ap-1684	144	4	the	the	DET
ap-1684	144	5	methods	method	NOUN
ap-1684	144	6	is	be	AUX
ap-1684	144	7	focused	focus	VERB
ap-1684	144	8	on	on	ADP
ap-1684	144	9	the	the	DET
ap-1684	144	10	synthesis	synthesis	NOUN
ap-1684	144	11	of	of	ADP
ap-1684	144	12	the	the	DET
ap-1684	144	13	kinematical	kinematical	ADJ
ap-1684	144	14	system	system	NOUN
ap-1684	144	15	(	(	PUNCT
ap-1684	144	16	a	a	DET
ap-1684	144	17	four	four	NUM
ap-1684	144	18	-	-	PUNCT
ap-1684	144	19	bar	bar	NOUN
ap-1684	144	20	mechanism	mechanism	NOUN
ap-1684	144	21	)	)	PUNCT
ap-1684	144	22	from	from	ADP
ap-1684	144	23	[	[	X
ap-1684	144	24	12	12	NUM
ap-1684	144	25	]	]	PUNCT
ap-1684	144	26	.	.	PUNCT
ap-1684	145	1	this	this	DET
ap-1684	145	2	mechanism	mechanism	NOUN
ap-1684	145	3	was	be	AUX
ap-1684	145	4	chosen	choose	VERB
ap-1684	145	5	because	because	SCONJ
ap-1684	145	6	it	it	PRON
ap-1684	145	7	is	be	AUX
ap-1684	145	8	relatively	relatively	ADV
ap-1684	145	9	simple	simple	ADJ
ap-1684	145	10	and	and	CCONJ
ap-1684	145	11	it	it	PRON
ap-1684	145	12	simultaneously	simultaneously	ADV
ap-1684	145	13	consists	consist	VERB
ap-1684	145	14	of	of	ADP
ap-1684	145	15	9	9	NUM
ap-1684	145	16	dimensional	dimensional	ADJ
ap-1684	145	17	parameters	parameter	NOUN
ap-1684	145	18	.	.	PUNCT
ap-1684	146	1	moreover	moreover	ADV
ap-1684	146	2	,	,	PUNCT
ap-1684	146	3	the	the	DET
ap-1684	146	4	example	example	NOUN
ap-1684	146	5	can	can	AUX
ap-1684	146	6	easily	easily	ADV
ap-1684	146	7	be	be	AUX
ap-1684	146	8	extended	extend	VERB
ap-1684	146	9	with	with	ADP
ap-1684	146	10	other	other	ADJ
ap-1684	146	11	optimized	optimize	VERB
ap-1684	146	12	parameters	parameter	NOUN
ap-1684	146	13	,	,	PUNCT
ap-1684	146	14	e.g.	e.g.	ADV
ap-1684	146	15	angles	angle	NOUN
ap-1684	146	16	of	of	ADP
ap-1684	146	17	the	the	DET
ap-1684	146	18	crank	crank	NOUN
ap-1684	146	19	.	.	PUNCT
ap-1684	147	1	the	the	DET
ap-1684	147	2	original	original	ADJ
ap-1684	147	3	classical	classical	ADJ
ap-1684	147	4	optimization	optimization	NOUN
ap-1684	147	5	formulation	formulation	NOUN
ap-1684	147	6	of	of	ADP
ap-1684	147	7	the	the	DET
ap-1684	147	8	example	example	NOUN
ap-1684	147	9	(	(	PUNCT
ap-1684	147	10	fig	fig	NOUN
ap-1684	147	11	.	.	PUNCT
ap-1684	148	1	3	3	X
ap-1684	148	2	)	)	PUNCT
ap-1684	148	3	is	be	AUX
ap-1684	148	4	as	as	SCONJ
ap-1684	148	5	follows	follow	VERB
ap-1684	148	6	.	.	PUNCT
ap-1684	149	1	the	the	DET
ap-1684	149	2	kinematical	kinematical	ADJ
ap-1684	149	3	system	system	NOUN
ap-1684	149	4	has	have	VERB
ap-1684	149	5	9	9	NUM
ap-1684	149	6	+	+	NOUN
ap-1684	149	7	n	n	NOUN
ap-1684	149	8	dimensions	dimension	NOUN
ap-1684	149	9	to	to	PART
ap-1684	149	10	be	be	AUX
ap-1684	149	11	synthesized	synthesize	VERB
ap-1684	149	12	,	,	PUNCT
ap-1684	149	13	where	where	SCONJ
ap-1684	149	14	n	n	PRON
ap-1684	149	15	denotes	denote	VERB
ap-1684	149	16	the	the	DET
ap-1684	149	17	number	number	NOUN
ap-1684	149	18	of	of	ADP
ap-1684	149	19	desired	desire	VERB
ap-1684	149	20	positions	position	NOUN
ap-1684	149	21	of	of	ADP
ap-1684	149	22	the	the	DET
ap-1684	149	23	end	end	NOUN
ap-1684	149	24	effector	effector	NOUN
ap-1684	149	25	.	.	PUNCT
ap-1684	150	1	these	these	DET
ap-1684	150	2	dimensions	dimension	NOUN
ap-1684	150	3	are	be	AUX
ap-1684	150	4	the	the	DET
ap-1684	150	5	length	length	NOUN
ap-1684	150	6	of	of	ADP
ap-1684	150	7	the	the	DET
ap-1684	150	8	crank	crank	NOUN
ap-1684	150	9	a	a	PRON
ap-1684	150	10	,	,	PUNCT
ap-1684	150	11	the	the	DET
ap-1684	150	12	length	length	NOUN
ap-1684	150	13	of	of	ADP
ap-1684	150	14	the	the	DET
ap-1684	150	15	coupler	coupler	NOUN
ap-1684	150	16	c	c	NOUN
ap-1684	150	17	,	,	PUNCT
ap-1684	150	18	the	the	DET
ap-1684	150	19	length	length	NOUN
ap-1684	150	20	of	of	ADP
ap-1684	150	21	the	the	DET
ap-1684	150	22	follower	follower	NOUN
ap-1684	150	23	b	b	NOUN
ap-1684	150	24	,	,	PUNCT
ap-1684	150	25	and	and	CCONJ
ap-1684	150	26	the	the	DET
ap-1684	150	27	lengths	length	NOUN
ap-1684	150	28	of	of	ADP
ap-1684	150	29	the	the	DET
ap-1684	150	30	two	two	NUM
ap-1684	150	31	rods	rod	NOUN
ap-1684	150	32	d	d	NOUN
ap-1684	150	33	and	and	CCONJ
ap-1684	150	34	e	e	PROPN
ap-1684	150	35	that	that	PRON
ap-1684	150	36	are	be	AUX
ap-1684	150	37	connected	connect	VERB
ap-1684	150	38	with	with	ADP
ap-1684	150	39	the	the	DET
ap-1684	150	40	end	end	NOUN
ap-1684	150	41	effector	effector	NOUN
ap-1684	150	42	.	.	PUNCT
ap-1684	151	1	the	the	DET
ap-1684	151	2	other	other	ADJ
ap-1684	151	3	set	set	NOUN
ap-1684	151	4	of	of	ADP
ap-1684	151	5	optimized	optimize	VERB
ap-1684	151	6	dimensions	dimension	NOUN
ap-1684	151	7	are	be	AUX
ap-1684	151	8	the	the	DET
ap-1684	151	9	x	x	X
ap-1684	151	10	and	and	CCONJ
ap-1684	151	11	y	y	PROPN
ap-1684	151	12	positions	position	NOUN
ap-1684	151	13	of	of	ADP
ap-1684	151	14	the	the	DET
ap-1684	151	15	fixed	fix	VERB
ap-1684	151	16	part	part	NOUN
ap-1684	151	17	of	of	ADP
ap-1684	151	18	the	the	DET
ap-1684	151	19	crank	crank	NOUN
ap-1684	151	20	(	(	PUNCT
ap-1684	151	21	xa	xa	PROPN
ap-1684	151	22	,	,	PUNCT
ap-1684	151	23	ya	ya	PROPN
ap-1684	151	24	)	)	PUNCT
ap-1684	151	25	and	and	CCONJ
ap-1684	151	26	the	the	DET
ap-1684	151	27	follower	follower	NOUN
ap-1684	151	28	(	(	PUNCT
ap-1684	151	29	xb	xb	PROPN
ap-1684	151	30	,	,	PUNCT
ap-1684	151	31	yb	yb	PROPN
ap-1684	151	32	)	)	PUNCT
ap-1684	151	33	.	.	PUNCT
ap-1684	152	1	the	the	DET
ap-1684	152	2	last	last	ADJ
ap-1684	152	3	set	set	NOUN
ap-1684	152	4	of	of	ADP
ap-1684	152	5	parameters	parameter	NOUN
ap-1684	152	6	to	to	PART
ap-1684	152	7	be	be	AUX
ap-1684	152	8	optimized	optimize	VERB
ap-1684	152	9	84	84	NUM
ap-1684	152	10	acta	acta	PROPN
ap-1684	152	11	polytechnica	polytechnica	PROPN
ap-1684	152	12	vol	vol	NOUN
ap-1684	152	13	.	.	PROPN
ap-1684	153	1	52	52	NUM
ap-1684	153	2	no	no	NOUN
ap-1684	153	3	.	.	PUNCT
ap-1684	154	1	6/2012	6/2012	NUM
ap-1684	154	2	figure	figure	NOUN
ap-1684	154	3	5	5	NUM
ap-1684	154	4	:	:	PUNCT
ap-1684	154	5	evolution	evolution	NOUN
ap-1684	154	6	of	of	ADP
ap-1684	154	7	the	the	DET
ap-1684	154	8	coordinates	coordinate	NOUN
ap-1684	154	9	of	of	ADP
ap-1684	154	10	a	a	DET
ap-1684	154	11	four	four	NUM
ap-1684	154	12	-	-	PUNCT
ap-1684	154	13	bar	bar	NOUN
ap-1684	154	14	mechanism	mechanism	NOUN
ap-1684	154	15	.	.	PUNCT
ap-1684	154	16	is	be	AUX
ap-1684	154	17	the	the	DET
ap-1684	154	18	positive	positive	ADJ
ap-1684	154	19	increments	increment	NOUN
ap-1684	154	20	of	of	ADP
ap-1684	154	21	the	the	DET
ap-1684	154	22	angles	angle	NOUN
ap-1684	154	23	β1i	β1i	PUNCT
ap-1684	154	24	of	of	ADP
ap-1684	154	25	the	the	DET
ap-1684	154	26	crank	crank	NOUN
ap-1684	154	27	β1i	β1i	PUNCT
ap-1684	154	28	=	=	SYM
ap-1684	154	29	β11	β11	PROPN
ap-1684	154	30	+	+	CCONJ
ap-1684	154	31	i∑	i∑	PROPN
ap-1684	154	32	j=2	j=2	NOUN
ap-1684	154	33	β1j	β1j	PUNCT
ap-1684	154	34	.	.	PUNCT
ap-1684	155	1	(	(	PUNCT
ap-1684	155	2	13	13	NUM
ap-1684	155	3	)	)	PUNCT
ap-1684	155	4	the	the	DET
ap-1684	155	5	pointm	pointm	NOUN
ap-1684	155	6	of	of	ADP
ap-1684	155	7	the	the	DET
ap-1684	155	8	mechanism	mechanism	NOUN
ap-1684	155	9	should	should	AUX
ap-1684	155	10	pass	pass	VERB
ap-1684	155	11	through	through	ADP
ap-1684	155	12	the	the	DET
ap-1684	155	13	given	give	VERB
ap-1684	155	14	positions	position	NOUN
ap-1684	155	15	mi	mi	PROPN
ap-1684	155	16	(	(	PUNCT
ap-1684	155	17	i	i	NOUN
ap-1684	155	18	=	=	NOUN
ap-1684	155	19	1	1	NUM
ap-1684	155	20	,	,	PUNCT
ap-1684	155	21	2	2	NUM
ap-1684	155	22	,	,	PUNCT
ap-1684	155	23	.	.	PUNCT
ap-1684	155	24	.	.	PUNCT
ap-1684	156	1	.	.	PUNCT
ap-1684	157	1	,	,	PUNCT
ap-1684	157	2	n	n	CCONJ
ap-1684	157	3	)	)	PUNCT
ap-1684	157	4	on	on	ADP
ap-1684	157	5	the	the	DET
ap-1684	157	6	given	give	VERB
ap-1684	157	7	trajectory	trajectory	NOUN
ap-1684	157	8	.	.	PUNCT
ap-1684	158	1	the	the	DET
ap-1684	158	2	coordinates	coordinate	NOUN
ap-1684	158	3	of	of	ADP
ap-1684	158	4	the	the	DET
ap-1684	158	5	mechanism	mechanism	NOUN
ap-1684	158	6	are	be	AUX
ap-1684	158	7	β1	β1	VERB
ap-1684	158	8	,	,	PUNCT
ap-1684	158	9	β2	β2	NOUN
ap-1684	158	10	and	and	CCONJ
ap-1684	158	11	β3	β3	ADJ
ap-1684	158	12	.	.	PUNCT
ap-1684	159	1	the	the	DET
ap-1684	159	2	system	system	NOUN
ap-1684	159	3	constraints	constraint	NOUN
ap-1684	159	4	are	be	AUX
ap-1684	159	5	then	then	ADV
ap-1684	159	6	a2	a2	PROPN
ap-1684	159	7	=	=	PUNCT
ap-1684	159	8	(	(	PUNCT
ap-1684	159	9	xdi	xdi	PROPN
ap-1684	159	10	−	−	PROPN
ap-1684	159	11	xai)2	xai)2	PROPN
ap-1684	159	12	+	+	CCONJ
ap-1684	159	13	(	(	PUNCT
ap-1684	159	14	ydi	ydi	PROPN
ap-1684	159	15	−	−	PROPN
ap-1684	159	16	yai)2	yai)2	PROPN
ap-1684	159	17	,	,	PUNCT
ap-1684	159	18	b2	b2	NOUN
ap-1684	159	19	=	=	SYM
ap-1684	159	20	(	(	PUNCT
ap-1684	159	21	xbi	xbi	X
ap-1684	159	22	−	−	PROPN
ap-1684	160	1	xci)2	xci)2	PROPN
ap-1684	160	2	+	+	CCONJ
ap-1684	160	3	(	(	PUNCT
ap-1684	160	4	ybi	ybi	X
ap-1684	160	5	−	−	PROPN
ap-1684	160	6	yci)2	yci)2	PROPN
ap-1684	160	7	,	,	PUNCT
ap-1684	160	8	c2	c2	PROPN
ap-1684	160	9	=	=	PUNCT
ap-1684	160	10	(	(	PUNCT
ap-1684	160	11	xci	xci	PROPN
ap-1684	160	12	−	−	PROPN
ap-1684	160	13	xdi)2	xdi)2	PROPN
ap-1684	161	1	+	+	CCONJ
ap-1684	161	2	(	(	PUNCT
ap-1684	161	3	yci	yci	NOUN
ap-1684	161	4	−	−	PROPN
ap-1684	161	5	ydi)2	ydi)2	PROPN
ap-1684	161	6	,	,	PUNCT
ap-1684	161	7	d2	d2	PROPN
ap-1684	161	8	=	=	SYM
ap-1684	161	9	(	(	PUNCT
ap-1684	161	10	xmi	xmi	PROPN
ap-1684	161	11	−	−	PROPN
ap-1684	162	1	xdi)2	xdi)2	PROPN
ap-1684	162	2	+	+	CCONJ
ap-1684	162	3	(	(	PUNCT
ap-1684	162	4	ymi	ymi	PROPN
ap-1684	162	5	−	−	PROPN
ap-1684	162	6	ydi)2	ydi)2	PROPN
ap-1684	162	7	,	,	PUNCT
ap-1684	162	8	e2	e2	PROPN
ap-1684	162	9	=	=	SYM
ap-1684	162	10	(	(	PUNCT
ap-1684	162	11	xmi	xmi	PROPN
ap-1684	163	1	−	−	PROPN
ap-1684	164	1	xci)2	xci)2	PROPN
ap-1684	164	2	+	+	CCONJ
ap-1684	164	3	(	(	PUNCT
ap-1684	164	4	ymi	ymi	NOUN
ap-1684	164	5	−	−	PROPN
ap-1684	164	6	yci)2	yci)2	PROPN
ap-1684	164	7	.	.	PUNCT
ap-1684	165	1	(	(	PUNCT
ap-1684	165	2	14	14	NUM
ap-1684	165	3	)	)	PUNCT
ap-1684	165	4	the	the	DET
ap-1684	165	5	optimization	optimization	NOUN
ap-1684	165	6	task	task	NOUN
ap-1684	165	7	is	be	AUX
ap-1684	165	8	defined	define	VERB
ap-1684	165	9	as	as	SCONJ
ap-1684	165	10	follows	follow	VERB
ap-1684	165	11	cf	cf	NOUN
ap-1684	165	12	=	=	SYM
ap-1684	165	13	q1	q1	PROPN
ap-1684	165	14	n∑	n∑	PROPN
ap-1684	165	15	i=1	i=1	PROPN
ap-1684	166	1	(	(	PUNCT
ap-1684	166	2	xmi	xmi	PROPN
ap-1684	166	3	−	−	PROPN
ap-1684	166	4	x′mi)2	x′mi)2	NOUN
ap-1684	167	1	+	+	CCONJ
ap-1684	168	1	q2	q2	PROPN
ap-1684	168	2	n∑	n∑	PROPN
ap-1684	168	3	i=1	i=1	PROPN
ap-1684	168	4	(	(	PUNCT
ap-1684	168	5	ymi	ymi	PROPN
ap-1684	168	6	−	−	PROPN
ap-1684	168	7	y′mi)2	y′mi)2	NOUN
ap-1684	168	8	→	→	SYM
ap-1684	168	9	min	min	PROPN
ap-1684	168	10	(	(	PUNCT
ap-1684	168	11	15	15	NUM
ap-1684	168	12	)	)	PUNCT
ap-1684	168	13	and	and	CCONJ
ap-1684	168	14	the	the	DET
ap-1684	168	15	set	set	NOUN
ap-1684	168	16	of	of	ADP
ap-1684	168	17	constraints	constraint	NOUN
ap-1684	168	18	of	of	ADP
ap-1684	168	19	the	the	DET
ap-1684	168	20	optimization	optimization	NOUN
ap-1684	168	21	task	task	NOUN
ap-1684	168	22	is	be	AUX
ap-1684	168	23	β1(i+1	β1(i+1	PROPN
ap-1684	168	24	)	)	PUNCT
ap-1684	168	25	>	>	X
ap-1684	168	26	β1i	β1i	PUNCT
ap-1684	168	27	(	(	PUNCT
ap-1684	168	28	16	16	NUM
ap-1684	168	29	)	)	PUNCT
ap-1684	168	30	where	where	SCONJ
ap-1684	168	31	the	the	DET
ap-1684	168	32	optimization	optimization	NOUN
ap-1684	168	33	parameters	parameter	NOUN
ap-1684	168	34	are	be	AUX
ap-1684	168	35	:	:	PUNCT
ap-1684	168	36	a	a	DET
ap-1684	168	37	,	,	PUNCT
ap-1684	168	38	b	b	NOUN
ap-1684	168	39	,	,	PUNCT
ap-1684	168	40	c	c	NOUN
ap-1684	168	41	,	,	PUNCT
ap-1684	168	42	d	d	NOUN
ap-1684	168	43	,	,	PUNCT
ap-1684	168	44	e	e	NOUN
ap-1684	168	45	,	,	PUNCT
ap-1684	168	46	xa	xa	PROPN
ap-1684	168	47	,	,	PUNCT
ap-1684	168	48	ya	ya	PROPN
ap-1684	168	49	,	,	PUNCT
ap-1684	168	50	xb	xb	PROPN
ap-1684	168	51	,	,	PUNCT
ap-1684	168	52	yb	yb	PROPN
ap-1684	168	53	and	and	CCONJ
ap-1684	168	54	β1i	β1i	NOUN
ap-1684	168	55	,	,	PUNCT
ap-1684	168	56	(	(	PUNCT
ap-1684	168	57	i	i	NOUN
ap-1684	168	58	=	=	NOUN
ap-1684	168	59	1	1	NUM
ap-1684	168	60	,	,	PUNCT
ap-1684	168	61	2	2	NUM
ap-1684	168	62	,	,	PUNCT
ap-1684	168	63	.	.	PUNCT
ap-1684	168	64	.	.	PUNCT
ap-1684	169	1	.	.	PUNCT
ap-1684	169	2	,	,	PUNCT
ap-1684	169	3	n	n	CCONJ
ap-1684	169	4	)	)	PUNCT
ap-1684	169	5	.	.	PUNCT
ap-1684	170	1	the	the	DET
ap-1684	170	2	parameters	parameter	NOUN
ap-1684	170	3	qi	qi	PROPN
ap-1684	170	4	again	again	ADV
ap-1684	170	5	denote	denote	VERB
ap-1684	170	6	the	the	DET
ap-1684	170	7	penalization	penalization	NOUN
ap-1684	170	8	coefficients	coefficient	NOUN
ap-1684	170	9	.	.	PUNCT
ap-1684	171	1	the	the	DET
ap-1684	171	2	associated	associated	ADJ
ap-1684	171	3	dynamical	dynamical	ADJ
ap-1684	171	4	dissipative	dissipative	NOUN
ap-1684	171	5	system	system	NOUN
ap-1684	171	6	consists	consist	VERB
ap-1684	171	7	of	of	ADP
ap-1684	171	8	n	n	NOUN
ap-1684	171	9	subsystems	subsystem	NOUN
ap-1684	171	10	for	for	ADP
ap-1684	171	11	the	the	DET
ap-1684	171	12	individual	individual	ADJ
ap-1684	171	13	positions	position	NOUN
ap-1684	171	14	of	of	ADP
ap-1684	171	15	point	point	NOUN
ap-1684	171	16	m	m	PROPN
ap-1684	171	17	(	(	PUNCT
ap-1684	171	18	fig	fig	NOUN
ap-1684	171	19	.	.	PUNCT
ap-1684	171	20	4	4	NUM
ap-1684	171	21	)	)	PUNCT
ap-1684	171	22	.	.	PUNCT
ap-1684	172	1	the	the	DET
ap-1684	172	2	masses	masse	NOUN
ap-1684	172	3	ma	ma	PROPN
ap-1684	172	4	,	,	PUNCT
ap-1684	172	5	mb	mb	PROPN
ap-1684	172	6	,	,	PUNCT
ap-1684	172	7	md	md	PROPN
ap-1684	172	8	,	,	PUNCT
ap-1684	172	9	me	i	PRON
ap-1684	172	10	are	be	AUX
ap-1684	172	11	introduced	introduce	VERB
ap-1684	172	12	in	in	ADP
ap-1684	172	13	the	the	DET
ap-1684	172	14	points	point	NOUN
ap-1684	172	15	ai	ai	VERB
ap-1684	172	16	,	,	PUNCT
ap-1684	172	17	bi	bi	NOUN
ap-1684	172	18	,	,	PUNCT
ap-1684	172	19	di	di	NOUN
ap-1684	172	20	,	,	PUNCT
ap-1684	172	21	ei	ei	PROPN
ap-1684	172	22	.	.	PUNCT
ap-1684	173	1	the	the	DET
ap-1684	173	2	interactions	interaction	NOUN
ap-1684	173	3	between	between	ADP
ap-1684	173	4	the	the	DET
ap-1684	173	5	subsystems	subsystem	NOUN
ap-1684	173	6	are	be	AUX
ap-1684	173	7	ensured	ensure	VERB
ap-1684	173	8	by	by	ADP
ap-1684	173	9	forces	force	NOUN
ap-1684	173	10	of	of	ADP
ap-1684	173	11	a	a	DET
ap-1684	173	12	linear	linear	ADJ
ap-1684	173	13	spring	spring	NOUN
ap-1684	173	14	nature	nature	NOUN
ap-1684	173	15	.	.	PUNCT
ap-1684	174	1	a	a	DET
ap-1684	174	2	nonzero	nonzero	ADJ
ap-1684	174	3	force	force	NOUN
ap-1684	174	4	acts	act	VERB
ap-1684	174	5	into	into	ADP
ap-1684	174	6	the	the	DET
ap-1684	174	7	relevant	relevant	ADJ
ap-1684	174	8	masses	masse	NOUN
ap-1684	174	9	whenever	whenever	SCONJ
ap-1684	174	10	the	the	DET
ap-1684	174	11	corresponding	corresponding	ADJ
ap-1684	174	12	dimension	dimension	NOUN
ap-1684	174	13	differs	differ	VERB
ap-1684	174	14	between	between	ADP
ap-1684	174	15	subsystems	subsystem	NOUN
ap-1684	175	1	i	i	PRON
ap-1684	175	2	and	and	CCONJ
ap-1684	175	3	j	j	PROPN
ap-1684	175	4	(	(	PUNCT
ap-1684	175	5	i	i	PROPN
ap-1684	175	6	,	,	PUNCT
ap-1684	175	7	j	j	PROPN
ap-1684	175	8	=	=	SYM
ap-1684	175	9	1	1	NUM
ap-1684	175	10	,	,	PUNCT
ap-1684	175	11	2	2	NUM
ap-1684	175	12	,	,	PUNCT
ap-1684	175	13	.	.	PUNCT
ap-1684	175	14	.	.	PUNCT
ap-1684	176	1	.	.	PUNCT
ap-1684	176	2	,	,	PUNCT
ap-1684	176	3	n	n	CCONJ
ap-1684	176	4	)	)	PUNCT
ap-1684	176	5	.	.	PUNCT
ap-1684	177	1	the	the	DET
ap-1684	177	2	stabilization	stabilization	NOUN
ap-1684	177	3	of	of	ADP
ap-1684	177	4	the	the	DET
ap-1684	177	5	whole	whole	ADJ
ap-1684	177	6	system	system	NOUN
ap-1684	177	7	is	be	AUX
ap-1684	177	8	ensured	ensure	VERB
ap-1684	177	9	by	by	ADP
ap-1684	177	10	damper	damper	NOUN
ap-1684	177	11	elements	element	NOUN
ap-1684	177	12	between	between	ADP
ap-1684	177	13	the	the	DET
ap-1684	177	14	masses	masse	NOUN
ap-1684	177	15	and	and	CCONJ
ap-1684	177	16	the	the	DET
ap-1684	177	17	inertial	inertial	ADJ
ap-1684	177	18	frame	frame	NOUN
ap-1684	177	19	.	.	PUNCT
ap-1684	178	1	the	the	DET
ap-1684	178	2	constraints	constraint	NOUN
ap-1684	178	3	of	of	ADP
ap-1684	178	4	the	the	DET
ap-1684	178	5	associated	associated	ADJ
ap-1684	178	6	system	system	NOUN
ap-1684	178	7	were	be	AUX
ap-1684	178	8	changed	change	VERB
ap-1684	178	9	into	into	ADP
ap-1684	178	10	the	the	DET
ap-1684	178	11	form	form	NOUN
ap-1684	178	12	a2	a2	PROPN
ap-1684	178	13	i	i	PRON
ap-1684	178	14	=	=	PUNCT
ap-1684	179	1	(	(	PUNCT
ap-1684	179	2	xdi	xdi	PROPN
ap-1684	179	3	−	−	PROPN
ap-1684	179	4	xai)2	xai)2	PROPN
ap-1684	179	5	+	+	CCONJ
ap-1684	179	6	(	(	PUNCT
ap-1684	179	7	ydi	ydi	PROPN
ap-1684	179	8	−	−	PROPN
ap-1684	179	9	yai)2	yai)2	PROPN
ap-1684	179	10	,	,	PUNCT
ap-1684	179	11	b2	b2	NOUN
ap-1684	180	1	i	i	NOUN
ap-1684	180	2	=	=	SYM
ap-1684	180	3	(	(	PUNCT
ap-1684	180	4	xbi	xbi	X
ap-1684	180	5	−	−	PROPN
ap-1684	181	1	xci)2	xci)2	PROPN
ap-1684	181	2	+	+	CCONJ
ap-1684	181	3	(	(	PUNCT
ap-1684	181	4	ybi	ybi	X
ap-1684	181	5	−	−	PROPN
ap-1684	181	6	yci)2	yci)2	PROPN
ap-1684	181	7	,	,	PUNCT
ap-1684	181	8	c2	c2	PROPN
ap-1684	181	9	i	i	PRON
ap-1684	181	10	=	=	PUNCT
ap-1684	181	11	(	(	PUNCT
ap-1684	181	12	xci	xci	PROPN
ap-1684	181	13	−	−	PROPN
ap-1684	182	1	xdi)2	xdi)2	PROPN
ap-1684	183	1	+	+	CCONJ
ap-1684	183	2	(	(	PUNCT
ap-1684	183	3	yci	yci	NOUN
ap-1684	183	4	−	−	PROPN
ap-1684	183	5	ydi)2	ydi)2	PROPN
ap-1684	183	6	,	,	PUNCT
ap-1684	183	7	d2	d2	PROPN
ap-1684	183	8	i	i	PRON
ap-1684	183	9	=	=	PUNCT
ap-1684	183	10	(	(	PUNCT
ap-1684	183	11	xmi	xmi	PROPN
ap-1684	183	12	−	−	PROPN
ap-1684	183	13	xdi)2	xdi)2	PROPN
ap-1684	183	14	+	+	CCONJ
ap-1684	183	15	(	(	PUNCT
ap-1684	183	16	ymi	ymi	PROPN
ap-1684	183	17	−	−	PROPN
ap-1684	183	18	ydi)2	ydi)2	PROPN
ap-1684	183	19	,	,	PUNCT
ap-1684	183	20	(	(	PUNCT
ap-1684	183	21	17	17	NUM
ap-1684	183	22	)	)	PUNCT
ap-1684	183	23	e2	e2	NOUN
ap-1684	183	24	i	i	PRON
ap-1684	183	25	=	=	PUNCT
ap-1684	183	26	(	(	PUNCT
ap-1684	183	27	xmi	xmi	PROPN
ap-1684	183	28	−	−	PROPN
ap-1684	184	1	xci)2	xci)2	PROPN
ap-1684	184	2	+	+	CCONJ
ap-1684	184	3	(	(	PUNCT
ap-1684	184	4	ymi	ymi	NOUN
ap-1684	184	5	−	−	PROPN
ap-1684	184	6	yci)2	yci)2	PROPN
ap-1684	184	7	,	,	PUNCT
ap-1684	184	8	xmi	xmi	PROPN
ap-1684	184	9	=	=	PUNCT
ap-1684	184	10	const	const	PROPN
ap-1684	184	11	.	.	PUNCT
ap-1684	185	1	(	(	PUNCT
ap-1684	185	2	prescribed	prescribe	VERB
ap-1684	185	3	)	)	PUNCT
ap-1684	185	4	,	,	PUNCT
ap-1684	185	5	ymi	ymi	NOUN
ap-1684	185	6	=	=	SYM
ap-1684	185	7	const	const	PROPN
ap-1684	185	8	.	.	PUNCT
ap-1684	186	1	(	(	PUNCT
ap-1684	186	2	prescribed	prescribe	VERB
ap-1684	186	3	)	)	PUNCT
ap-1684	186	4	.	.	PUNCT
ap-1684	187	1	the	the	DET
ap-1684	187	2	forces	force	NOUN
ap-1684	187	3	that	that	PRON
ap-1684	187	4	act	act	VERB
ap-1684	187	5	in	in	ADP
ap-1684	187	6	the	the	DET
ap-1684	187	7	dynamical	dynamical	ADJ
ap-1684	187	8	system	system	NOUN
ap-1684	187	9	are	be	AUX
ap-1684	187	10	as	as	SCONJ
ap-1684	187	11	follows	follow	VERB
ap-1684	187	12	faxi	faxi	NOUN
ap-1684	188	1	=	=	SYM
ap-1684	188	2	n∑	n∑	NOUN
ap-1684	188	3	j=1	j=1	PROPN
ap-1684	188	4	kxa(xai	kxa(xai	PROPN
ap-1684	188	5	−	−	PROPN
ap-1684	189	1	xaj	xaj	PROPN
ap-1684	189	2	)	)	PUNCT
ap-1684	189	3	,	,	PUNCT
ap-1684	189	4	85	85	NUM
ap-1684	189	5	acta	acta	PROPN
ap-1684	189	6	polytechnica	polytechnica	PROPN
ap-1684	189	7	vol	vol	NOUN
ap-1684	189	8	.	.	PROPN
ap-1684	190	1	52	52	NUM
ap-1684	190	2	no	no	NOUN
ap-1684	190	3	.	.	PUNCT
ap-1684	191	1	6/2012	6/2012	NUM
ap-1684	191	2	figure	figure	NOUN
ap-1684	191	3	6	6	NUM
ap-1684	191	4	:	:	PUNCT
ap-1684	191	5	evolution	evolution	NOUN
ap-1684	191	6	of	of	ADP
ap-1684	191	7	the	the	DET
ap-1684	191	8	dimensions	dimension	NOUN
ap-1684	191	9	of	of	ADP
ap-1684	191	10	a	a	DET
ap-1684	191	11	four	four	NUM
ap-1684	191	12	-	-	PUNCT
ap-1684	191	13	bar	bar	NOUN
ap-1684	191	14	mechanism	mechanism	NOUN
ap-1684	191	15	.	.	PUNCT
ap-1684	192	1	fayi	fayi	ADV
ap-1684	192	2	=	=	SYM
ap-1684	192	3	n∑	n∑	PROPN
ap-1684	192	4	j=1	j=1	PROPN
ap-1684	192	5	kya(yai	kya(yai	PUNCT
ap-1684	193	1	−	−	PROPN
ap-1684	193	2	yaj	yaj	NOUN
ap-1684	193	3	)	)	PUNCT
ap-1684	193	4	,	,	PUNCT
ap-1684	193	5	fbxi	fbxi	NOUN
ap-1684	193	6	=	=	SYM
ap-1684	193	7	n∑	n∑	PROPN
ap-1684	193	8	j=1	j=1	PROPN
ap-1684	193	9	kxb(xbi	kxb(xbi	X
ap-1684	194	1	−	−	PROPN
ap-1684	194	2	xbj	xbj	PROPN
ap-1684	194	3	)	)	PUNCT
ap-1684	194	4	,	,	PUNCT
ap-1684	194	5	fbyi	fbyi	PROPN
ap-1684	194	6	=	=	SYM
ap-1684	195	1	n∑	n∑	PROPN
ap-1684	195	2	j=1	j=1	PROPN
ap-1684	195	3	kyb(ybi	kyb(ybi	X
ap-1684	196	1	−	−	PROPN
ap-1684	196	2	ybj	ybj	PROPN
ap-1684	196	3	)	)	PUNCT
ap-1684	196	4	,	,	PUNCT
ap-1684	196	5	fai	fai	X
ap-1684	197	1	=	=	SYM
ap-1684	197	2	n∑	n∑	PROPN
ap-1684	197	3	j=1	j=1	PROPN
ap-1684	198	1	ka(ai	ka(ai	PROPN
ap-1684	198	2	−	−	NUM
ap-1684	198	3	aj	aj	PROPN
ap-1684	198	4	)	)	PUNCT
ap-1684	198	5	,	,	PUNCT
ap-1684	198	6	(	(	PUNCT
ap-1684	198	7	18	18	NUM
ap-1684	198	8	)	)	PUNCT
ap-1684	198	9	fbi	fbi	PROPN
ap-1684	198	10	=	=	PUNCT
ap-1684	198	11	n∑	n∑	PROPN
ap-1684	198	12	j=1	j=1	PROPN
ap-1684	198	13	kb(bi	kb(bi	PROPN
ap-1684	199	1	−	−	PROPN
ap-1684	199	2	bj	bj	NOUN
ap-1684	199	3	)	)	PUNCT
ap-1684	199	4	,	,	PUNCT
ap-1684	199	5	fci	fci	PROPN
ap-1684	199	6	=	=	SYM
ap-1684	199	7	n∑	n∑	PROPN
ap-1684	199	8	j=1	j=1	PROPN
ap-1684	199	9	kc(ci	kc(ci	PROPN
ap-1684	199	10	−	−	PROPN
ap-1684	199	11	cj	cj	NOUN
ap-1684	199	12	)	)	PUNCT
ap-1684	199	13	,	,	PUNCT
ap-1684	199	14	fdi	fdi	NOUN
ap-1684	199	15	=	=	PUNCT
ap-1684	200	1	n∑	n∑	PROPN
ap-1684	200	2	j=1	j=1	PROPN
ap-1684	200	3	kd(di	kd(di	NOUN
ap-1684	200	4	−	−	PROPN
ap-1684	201	1	dj	dj	NOUN
ap-1684	201	2	)	)	PUNCT
ap-1684	201	3	,	,	PUNCT
ap-1684	201	4	fei	fei	PROPN
ap-1684	201	5	=	=	SYM
ap-1684	202	1	n∑	n∑	PROPN
ap-1684	202	2	j=1	j=1	PROPN
ap-1684	203	1	ke(ei	ke(ei	PROPN
ap-1684	203	2	−	−	NOUN
ap-1684	203	3	ej	ej	NOUN
ap-1684	203	4	)	)	PUNCT
ap-1684	203	5	,	,	PUNCT
ap-1684	203	6	mai	mai	PROPN
ap-1684	203	7	=	=	PROPN
ap-1684	203	8	kmi(βi−1	kmi(βi−1	PROPN
ap-1684	203	9	−	−	PROPN
ap-1684	203	10	βi	βi	PROPN
ap-1684	203	11	)	)	PUNCT
ap-1684	203	12	,	,	PUNCT
ap-1684	203	13	where	where	SCONJ
ap-1684	203	14	for	for	ADP
ap-1684	203	15	each	each	DET
ap-1684	203	16	mechanism	mechanism	NOUN
ap-1684	203	17	position	position	NOUN
ap-1684	203	18	i	i	PRON
ap-1684	203	19	the	the	DET
ap-1684	203	20	equations	equation	NOUN
ap-1684	203	21	take	take	VERB
ap-1684	203	22	into	into	ADP
ap-1684	203	23	account	account	NOUN
ap-1684	203	24	all	all	DET
ap-1684	203	25	the	the	DET
ap-1684	203	26	other	other	ADJ
ap-1684	203	27	forces	force	NOUN
ap-1684	203	28	connecting	connect	VERB
ap-1684	203	29	with	with	ADP
ap-1684	203	30	the	the	DET
ap-1684	203	31	other	other	ADJ
ap-1684	203	32	positions	position	NOUN
ap-1684	203	33	j	j	PROPN
ap-1684	203	34	of	of	ADP
ap-1684	203	35	the	the	DET
ap-1684	203	36	mechanism	mechanism	NOUN
ap-1684	203	37	.	.	PUNCT
ap-1684	204	1	therefore	therefore	ADV
ap-1684	204	2	the	the	DET
ap-1684	204	3	system	system	NOUN
ap-1684	204	4	forms	form	VERB
ap-1684	204	5	altogether	altogether	ADV
ap-1684	204	6	2n	2n	NUM
ap-1684	204	7	equations	equation	NOUN
ap-1684	204	8	.	.	PUNCT
ap-1684	205	1	the	the	DET
ap-1684	205	2	coefficient	coefficient	NOUN
ap-1684	205	3	kmi	kmi	PROPN
ap-1684	205	4	takes	take	VERB
ap-1684	205	5	the	the	DET
ap-1684	205	6	nonzero	nonzero	NOUN
ap-1684	205	7	constant	constant	ADJ
ap-1684	205	8	value	value	NOUN
ap-1684	205	9	only	only	ADV
ap-1684	205	10	if	if	SCONJ
ap-1684	205	11	β1(i+1	β1(i+1	X
ap-1684	205	12	)	)	PUNCT
ap-1684	205	13	<	<	X
ap-1684	205	14	β1i	β1i	NOUN
ap-1684	205	15	.	.	PUNCT
ap-1684	206	1	the	the	DET
ap-1684	206	2	final	final	ADJ
ap-1684	206	3	dynamical	dynamical	ADJ
ap-1684	206	4	equations	equation	NOUN
ap-1684	206	5	for	for	ADP
ap-1684	206	6	the	the	DET
ap-1684	206	7	mass	mass	ADJ
ap-1684	206	8	particles	particle	NOUN
ap-1684	206	9	in	in	ADP
ap-1684	206	10	points	point	NOUN
ap-1684	206	11	b	b	NOUN
ap-1684	206	12	and	and	CCONJ
ap-1684	206	13	the	the	DET
ap-1684	206	14	algebraic	algebraic	ADJ
ap-1684	206	15	equations	equation	NOUN
ap-1684	206	16	that	that	PRON
ap-1684	206	17	must	must	AUX
ap-1684	206	18	be	be	AUX
ap-1684	206	19	fulfilled	fulfil	VERB
ap-1684	206	20	are	be	AUX
ap-1684	206	21	as	as	SCONJ
ap-1684	206	22	follows	follow	VERB
ap-1684	206	23	maẍai	maẍai	PROPN
ap-1684	206	24	=	=	SYM
ap-1684	206	25	−	−	PROPN
ap-1684	206	26	n∑	n∑	NOUN
ap-1684	206	27	j=1	j=1	PROPN
ap-1684	206	28	kxa(xai	kxa(xai	PROPN
ap-1684	207	1	−	−	PROPN
ap-1684	207	2	xaj	xaj	PROPN
ap-1684	207	3	)	)	PUNCT
ap-1684	208	1	+	+	CCONJ
ap-1684	209	1	n∑	n∑	INTJ
ap-1684	209	2	j=1	j=1	NOUN
ap-1684	210	1	ka(ai	ka(ai	PROPN
ap-1684	210	2	−	−	NUM
ap-1684	210	3	aj	aj	PROPN
ap-1684	210	4	)	)	PUNCT
ap-1684	210	5	cosβ1i	cosβ1i	PROPN
ap-1684	210	6	−	−	NOUN
ap-1684	210	7	bxaẋai	bxaẋai	NOUN
ap-1684	210	8	,	,	PUNCT
ap-1684	210	9	maÿai	maÿai	PROPN
ap-1684	210	10	=	=	PUNCT
ap-1684	210	11	−	−	PROPN
ap-1684	210	12	n∑	n∑	PROPN
ap-1684	210	13	j=1	j=1	PROPN
ap-1684	210	14	kya(yai	kya(yai	PUNCT
ap-1684	211	1	−	−	PROPN
ap-1684	211	2	yaj	yaj	NOUN
ap-1684	211	3	)	)	PUNCT
ap-1684	212	1	+	+	PROPN
ap-1684	213	1	n∑	n∑	INTJ
ap-1684	213	2	j=1	j=1	NOUN
ap-1684	214	1	ka(ai	ka(ai	PROPN
ap-1684	214	2	−	−	NUM
ap-1684	214	3	aj	aj	PROPN
ap-1684	214	4	)	)	PUNCT
ap-1684	214	5	sin	sin	NOUN
ap-1684	214	6	β1i	β1i	PUNCT
ap-1684	214	7	−	−	PROPN
ap-1684	214	8	byaẏai	byaẏai	NOUN
ap-1684	214	9	,	,	PUNCT
ap-1684	214	10	mbẍbi	mbẍbi	PROPN
ap-1684	214	11	=	=	AUX
ap-1684	214	12	−	−	PROPN
ap-1684	214	13	n∑	n∑	NOUN
ap-1684	214	14	j=1	j=1	PROPN
ap-1684	214	15	kxb(xbi	kxb(xbi	X
ap-1684	215	1	−	−	PROPN
ap-1684	215	2	xbj	xbj	PROPN
ap-1684	215	3	)	)	PUNCT
ap-1684	216	1	−	−	PROPN
ap-1684	216	2	n∑	n∑	PROPN
ap-1684	216	3	j=1	j=1	PROPN
ap-1684	216	4	kb(bi	kb(bi	PROPN
ap-1684	216	5	−	−	PROPN
ap-1684	216	6	bj	bj	NOUN
ap-1684	216	7	)	)	PUNCT
ap-1684	216	8	cosβ3i	cosβ3i	PROPN
ap-1684	216	9	−	−	NOUN
ap-1684	216	10	bxbẋbi	bxbẋbi	ADJ
ap-1684	216	11	,	,	PUNCT
ap-1684	216	12	86	86	NUM
ap-1684	216	13	acta	acta	PROPN
ap-1684	216	14	polytechnica	polytechnica	PROPN
ap-1684	216	15	vol	vol	NOUN
ap-1684	216	16	.	.	PROPN
ap-1684	217	1	52	52	NUM
ap-1684	217	2	no	no	NOUN
ap-1684	217	3	.	.	PUNCT
ap-1684	218	1	6/2012	6/2012	NUM
ap-1684	218	2	figure	figure	NOUN
ap-1684	218	3	7	7	NUM
ap-1684	218	4	:	:	PUNCT
ap-1684	218	5	evolution	evolution	NOUN
ap-1684	218	6	of	of	ADP
ap-1684	218	7	the	the	DET
ap-1684	218	8	trajectories	trajectory	NOUN
ap-1684	218	9	of	of	ADP
ap-1684	218	10	a	a	DET
ap-1684	218	11	four	four	NUM
ap-1684	218	12	-	-	PUNCT
ap-1684	218	13	bar	bar	NOUN
ap-1684	218	14	mechanism	mechanism	NOUN
ap-1684	218	15	by	by	ADP
ap-1684	218	16	the	the	DET
ap-1684	218	17	dissipative	dissipative	ADJ
ap-1684	218	18	system	system	NOUN
ap-1684	218	19	.	.	PUNCT
ap-1684	219	1	mb	mb	ADP
ap-1684	219	2	ÿbi	ÿbi	NOUN
ap-1684	220	1	=	=	PUNCT
ap-1684	220	2	−	−	PROPN
ap-1684	220	3	n∑	n∑	NOUN
ap-1684	220	4	j=1	j=1	PROPN
ap-1684	220	5	kyb(ybi	kyb(ybi	X
ap-1684	221	1	−	−	PROPN
ap-1684	221	2	ybj	ybj	PROPN
ap-1684	221	3	)	)	PUNCT
ap-1684	222	1	−	−	PROPN
ap-1684	222	2	n∑	n∑	PROPN
ap-1684	222	3	j=1	j=1	PROPN
ap-1684	222	4	kb(bi	kb(bi	PROPN
ap-1684	222	5	−	−	PROPN
ap-1684	222	6	bj	bj	NOUN
ap-1684	222	7	)	)	PUNCT
ap-1684	222	8	sin	sin	NOUN
ap-1684	222	9	β3i	β3i	PUNCT
ap-1684	222	10	−	−	NOUN
ap-1684	222	11	byb	byb	VERB
ap-1684	222	12	ẏbi	ẏbi	NOUN
ap-1684	222	13	,	,	PUNCT
ap-1684	222	14	mc	mc	PROPN
ap-1684	222	15	ẍci	ẍci	PROPN
ap-1684	223	1	=	=	PUNCT
ap-1684	223	2	n∑	n∑	PROPN
ap-1684	223	3	j=1	j=1	PROPN
ap-1684	223	4	kb(bi	kb(bi	PROPN
ap-1684	223	5	−	−	PROPN
ap-1684	223	6	bj	bj	NOUN
ap-1684	223	7	)	)	PUNCT
ap-1684	223	8	cosβ3i	cosβ3i	PROPN
ap-1684	223	9	−	−	PROPN
ap-1684	223	10	n∑	n∑	PROPN
ap-1684	223	11	j=1	j=1	PROPN
ap-1684	223	12	kc(ci	kc(ci	PROPN
ap-1684	223	13	−	−	PROPN
ap-1684	223	14	cj	cj	NOUN
ap-1684	223	15	)	)	PUNCT
ap-1684	223	16	cosβ2i	cosβ2i	PROPN
ap-1684	224	1	+	+	PUNCT
ap-1684	224	2	n∑	n∑	INTJ
ap-1684	224	3	j=1	j=1	NOUN
ap-1684	224	4	ke(ei	ke(ei	PROPN
ap-1684	224	5	−	−	NOUN
ap-1684	224	6	ej	ej	NOUN
ap-1684	224	7	)	)	PUNCT
ap-1684	224	8	cosβ5i	cosβ5i	PROPN
ap-1684	224	9	−	−	PROPN
ap-1684	224	10	bxc	bxc	NOUN
ap-1684	224	11	ẋci	ẋci	PROPN
ap-1684	224	12	,	,	PUNCT
ap-1684	224	13	(	(	PUNCT
ap-1684	224	14	19	19	NUM
ap-1684	224	15	)	)	PUNCT
ap-1684	224	16	mc	mc	PROPN
ap-1684	224	17	ÿci	ÿci	PROPN
ap-1684	225	1	=	=	SYM
ap-1684	225	2	n∑	n∑	PROPN
ap-1684	225	3	j=1	j=1	PROPN
ap-1684	225	4	kb(bi	kb(bi	PROPN
ap-1684	225	5	−	−	PROPN
ap-1684	225	6	bj	bj	NOUN
ap-1684	225	7	)	)	PUNCT
ap-1684	225	8	sin	sin	NOUN
ap-1684	225	9	β3i	β3i	PUNCT
ap-1684	225	10	−	−	PUNCT
ap-1684	225	11	n∑	n∑	NOUN
ap-1684	225	12	j=1	j=1	PROPN
ap-1684	225	13	kc(ci	kc(ci	PROPN
ap-1684	225	14	−	−	PROPN
ap-1684	225	15	cj	cj	PROPN
ap-1684	225	16	)	)	PUNCT
ap-1684	225	17	sin	sin	NOUN
ap-1684	225	18	β2i	β2i	PUNCT
ap-1684	226	1	+	+	CCONJ
ap-1684	226	2	n∑	n∑	X
ap-1684	226	3	j=1	j=1	NOUN
ap-1684	226	4	ke(ei	ke(ei	PROPN
ap-1684	226	5	−	−	NOUN
ap-1684	226	6	ej	ej	NOUN
ap-1684	226	7	)	)	PUNCT
ap-1684	226	8	sin	sin	NOUN
ap-1684	226	9	β5i	β5i	PUNCT
ap-1684	226	10	−	−	PUNCT
ap-1684	226	11	bxc	bxc	NOUN
ap-1684	226	12	ẋci	ẋci	PROPN
ap-1684	226	13	,	,	PUNCT
ap-1684	226	14	mdẍdi	mdẍdi	X
ap-1684	226	15	=	=	PUNCT
ap-1684	226	16	−	−	PROPN
ap-1684	226	17	n∑	n∑	NOUN
ap-1684	227	1	j=1	j=1	PROPN
ap-1684	227	2	ka(ai	ka(ai	PROPN
ap-1684	227	3	−	−	NUM
ap-1684	227	4	aj	aj	PROPN
ap-1684	227	5	)	)	PUNCT
ap-1684	227	6	cosβ1i	cosβ1i	PROPN
ap-1684	227	7	+	+	CCONJ
ap-1684	227	8	n∑	n∑	ADJ
ap-1684	227	9	j=1	j=1	PROPN
ap-1684	227	10	kc(ci	kc(ci	PROPN
ap-1684	227	11	−	−	PROPN
ap-1684	227	12	cj	cj	NOUN
ap-1684	227	13	)	)	PUNCT
ap-1684	227	14	cosβ2i	cosβ2i	PROPN
ap-1684	228	1	+	+	PUNCT
ap-1684	228	2	n∑	n∑	INTJ
ap-1684	228	3	j=1	j=1	NOUN
ap-1684	228	4	kd(di	kd(di	NOUN
ap-1684	228	5	−	−	PROPN
ap-1684	228	6	dj	dj	NOUN
ap-1684	228	7	)	)	PUNCT
ap-1684	228	8	cosβ4i	cosβ4i	NOUN
ap-1684	228	9	−	−	NOUN
ap-1684	228	10	bxdẋdi	bxdẋdi	NOUN
ap-1684	228	11	,	,	PUNCT
ap-1684	228	12	mdÿdi	mdÿdi	PUNCT
ap-1684	228	13	=	=	NOUN
ap-1684	228	14	−	−	NOUN
ap-1684	228	15	n∑	n∑	NOUN
ap-1684	229	1	j=1	j=1	PROPN
ap-1684	230	1	ka(ai	ka(ai	PROPN
ap-1684	230	2	−	−	NUM
ap-1684	230	3	aj	aj	PROPN
ap-1684	230	4	)	)	PUNCT
ap-1684	230	5	sin	sin	NOUN
ap-1684	230	6	β1i	β1i	PUNCT
ap-1684	230	7	+	+	SYM
ap-1684	230	8	n∑	n∑	ADJ
ap-1684	230	9	j=1	j=1	PROPN
ap-1684	230	10	kc(ci	kc(ci	PROPN
ap-1684	230	11	−	−	PROPN
ap-1684	230	12	cj	cj	PROPN
ap-1684	230	13	)	)	PUNCT
ap-1684	230	14	sin	sin	NOUN
ap-1684	230	15	β2i	β2i	PUNCT
ap-1684	231	1	+	+	CCONJ
ap-1684	231	2	n∑	n∑	PROPN
ap-1684	231	3	j=1	j=1	NOUN
ap-1684	231	4	kd(di	kd(di	NOUN
ap-1684	231	5	−	−	PROPN
ap-1684	231	6	dj	dj	NOUN
ap-1684	231	7	)	)	PUNCT
ap-1684	231	8	sin	sin	NOUN
ap-1684	231	9	β4i	β4i	PUNCT
ap-1684	231	10	−	−	PROPN
ap-1684	231	11	bydẏdi	bydẏdi	VERB
ap-1684	231	12	where	where	SCONJ
ap-1684	231	13	the	the	DET
ap-1684	231	14	mechanism	mechanism	NOUN
ap-1684	231	15	dimensions	dimension	NOUN
ap-1684	231	16	ai	ai	VERB
ap-1684	231	17	,	,	PUNCT
ap-1684	231	18	bi	bi	PROPN
ap-1684	231	19	,	,	PUNCT
ap-1684	231	20	ci	ci	PROPN
ap-1684	231	21	,	,	PUNCT
ap-1684	231	22	di	di	NOUN
ap-1684	231	23	and	and	CCONJ
ap-1684	231	24	ei	ei	NOUN
ap-1684	231	25	are	be	AUX
ap-1684	231	26	evaluated	evaluate	VERB
ap-1684	231	27	from	from	ADP
ap-1684	231	28	the	the	DET
ap-1684	231	29	coordinates	coordinate	NOUN
ap-1684	231	30	with	with	ADP
ap-1684	231	31	the	the	DET
ap-1684	231	32	help	help	NOUN
ap-1684	231	33	of	of	ADP
ap-1684	231	34	the	the	DET
ap-1684	231	35	constraint	constraint	NOUN
ap-1684	231	36	equations	equation	NOUN
ap-1684	231	37	formulated	formulate	VERB
ap-1684	231	38	in	in	ADP
ap-1684	231	39	(	(	PUNCT
ap-1684	231	40	17	17	NUM
ap-1684	231	41	)	)	PUNCT
ap-1684	231	42	.	.	PUNCT
ap-1684	232	1	the	the	DET
ap-1684	232	2	simulation	simulation	NOUN
ap-1684	232	3	started	start	VERB
ap-1684	232	4	from	from	ADP
ap-1684	232	5	some	some	DET
ap-1684	232	6	selected	select	VERB
ap-1684	232	7	initial	initial	ADJ
ap-1684	232	8	positions	position	NOUN
ap-1684	232	9	xa	xa	PROPN
ap-1684	232	10	,	,	PUNCT
ap-1684	232	11	ya	ya	PROPN
ap-1684	232	12	,	,	PUNCT
ap-1684	232	13	xb	xb	PROPN
ap-1684	232	14	,	,	PUNCT
ap-1684	232	15	yb	yb	PROPN
ap-1684	232	16	,	,	PUNCT
ap-1684	232	17	xc	xc	PROPN
ap-1684	232	18	,	,	PUNCT
ap-1684	232	19	yc	yc	INTJ
ap-1684	232	20	,	,	PUNCT
ap-1684	232	21	xd	xd	INTJ
ap-1684	232	22	and	and	CCONJ
ap-1684	232	23	yd	yd	NOUN
ap-1684	232	24	,	,	PUNCT
ap-1684	232	25	as	as	SCONJ
ap-1684	232	26	was	be	AUX
ap-1684	232	27	in	in	ADP
ap-1684	232	28	general	general	ADJ
ap-1684	232	29	described	describe	VERB
ap-1684	232	30	in	in	ADP
ap-1684	232	31	section	section	NOUN
ap-1684	232	32	2	2	NUM
ap-1684	232	33	,	,	PUNCT
ap-1684	232	34	above	above	ADV
ap-1684	232	35	.	.	PUNCT
ap-1684	233	1	the	the	DET
ap-1684	233	2	initial	initial	ADJ
ap-1684	233	3	positions	position	NOUN
ap-1684	233	4	also	also	ADV
ap-1684	233	5	determine	determine	VERB
ap-1684	233	6	the	the	DET
ap-1684	233	7	initial	initial	ADJ
ap-1684	233	8	dimensions	dimension	NOUN
ap-1684	233	9	a	a	DET
ap-1684	233	10	,	,	PUNCT
ap-1684	233	11	b	b	NOUN
ap-1684	233	12	,	,	PUNCT
ap-1684	233	13	c	c	NOUN
ap-1684	233	14	,	,	PUNCT
ap-1684	233	15	d	d	NOUN
ap-1684	233	16	and	and	CCONJ
ap-1684	233	17	e	e	PROPN
ap-1684	233	18	of	of	ADP
ap-1684	233	19	the	the	DET
ap-1684	233	20	mechanism	mechanism	NOUN
ap-1684	233	21	.	.	PUNCT
ap-1684	234	1	the	the	DET
ap-1684	234	2	results	result	NOUN
ap-1684	234	3	of	of	ADP
ap-1684	234	4	the	the	DET
ap-1684	234	5	simulation	simulation	NOUN
ap-1684	234	6	are	be	AUX
ap-1684	234	7	presented	present	VERB
ap-1684	234	8	in	in	ADP
ap-1684	234	9	the	the	DET
ap-1684	234	10	following	follow	VERB
ap-1684	234	11	figures	figure	NOUN
ap-1684	234	12	.	.	PUNCT
ap-1684	235	1	fig	fig	NOUN
ap-1684	235	2	.	.	PUNCT
ap-1684	236	1	5	5	NUM
ap-1684	236	2	and	and	CCONJ
ap-1684	236	3	fig	fig	NOUN
ap-1684	236	4	.	.	PUNCT
ap-1684	237	1	6	6	NUM
ap-1684	237	2	show	show	VERB
ap-1684	237	3	the	the	DET
ap-1684	237	4	history	history	NOUN
ap-1684	237	5	of	of	ADP
ap-1684	237	6	the	the	DET
ap-1684	237	7	system	system	NOUN
ap-1684	237	8	coordinates	coordinate	NOUN
ap-1684	237	9	.	.	PUNCT
ap-1684	238	1	fig	fig	NOUN
ap-1684	238	2	.	.	PUNCT
ap-1684	239	1	7	7	NUM
ap-1684	239	2	presents	present	VERB
ap-1684	239	3	the	the	DET
ap-1684	239	4	desired	desire	VERB
ap-1684	239	5	trajectories	trajectory	NOUN
ap-1684	239	6	and	and	CCONJ
ap-1684	239	7	the	the	DET
ap-1684	239	8	resulting	result	VERB
ap-1684	239	9	trajectories	trajectory	NOUN
ap-1684	239	10	.	.	PUNCT
ap-1684	240	1	the	the	DET
ap-1684	240	2	system	system	NOUN
ap-1684	240	3	coordinates	coordinate	NOUN
ap-1684	240	4	(	(	PUNCT
ap-1684	240	5	xai	xai	PROPN
ap-1684	240	6	,	,	PUNCT
ap-1684	240	7	yai	yai	PROPN
ap-1684	240	8	,	,	PUNCT
ap-1684	240	9	xbi	xbi	PROPN
ap-1684	240	10	,	,	PUNCT
ap-1684	240	11	ybi	ybi	NOUN
ap-1684	240	12	,	,	PUNCT
ap-1684	240	13	ai	ai	VERB
ap-1684	240	14	,	,	PUNCT
ap-1684	240	15	bi	bi	NOUN
ap-1684	240	16	,	,	PUNCT
ap-1684	240	17	ci	ci	PROPN
ap-1684	240	18	,	,	PUNCT
ap-1684	240	19	di	di	NOUN
ap-1684	240	20	,	,	PUNCT
ap-1684	240	21	ei	ei	PROPN
ap-1684	240	22	,	,	PUNCT
ap-1684	240	23	i	i	NOUN
ap-1684	240	24	=	=	NOUN
ap-1684	240	25	1	1	NUM
ap-1684	240	26	,	,	PUNCT
ap-1684	240	27	2	2	NUM
ap-1684	240	28	,	,	PUNCT
ap-1684	240	29	.	.	PUNCT
ap-1684	240	30	.	.	PUNCT
ap-1684	241	1	.	.	PUNCT
ap-1684	242	1	,	,	PUNCT
ap-1684	242	2	n	n	CCONJ
ap-1684	242	3	)	)	PUNCT
ap-1684	242	4	for	for	ADP
ap-1684	242	5	all	all	DET
ap-1684	242	6	the	the	DET
ap-1684	242	7	subsystems	subsystem	NOUN
ap-1684	242	8	(	(	PUNCT
ap-1684	242	9	for	for	ADP
ap-1684	242	10	all	all	DET
ap-1684	242	11	the	the	DET
ap-1684	242	12	positions	position	NOUN
ap-1684	242	13	)	)	PUNCT
ap-1684	242	14	come	come	VERB
ap-1684	242	15	to	to	PART
ap-1684	242	16	rest	rest	VERB
ap-1684	242	17	at	at	ADP
ap-1684	242	18	the	the	DET
ap-1684	242	19	equilibrium	equilibrium	NOUN
ap-1684	242	20	values	value	NOUN
ap-1684	242	21	.	.	PUNCT
ap-1684	243	1	the	the	DET
ap-1684	243	2	desired	desire	VERB
ap-1684	243	3	trajectory	trajectory	NOUN
ap-1684	243	4	was	be	AUX
ap-1684	243	5	reached	reach	VERB
ap-1684	243	6	using	use	VERB
ap-1684	243	7	one	one	NUM
ap-1684	243	8	reactivation	reactivation	NOUN
ap-1684	243	9	of	of	ADP
ap-1684	243	10	the	the	DET
ap-1684	243	11	dynamic	dynamic	ADJ
ap-1684	243	12	process	process	NOUN
ap-1684	243	13	.	.	PUNCT
ap-1684	244	1	all	all	DET
ap-1684	244	2	the	the	DET
ap-1684	244	3	coordinates	coordinate	NOUN
ap-1684	244	4	for	for	ADP
ap-1684	244	5	all	all	DET
ap-1684	244	6	the	the	DET
ap-1684	244	7	subsystems	subsystem	NOUN
ap-1684	244	8	also	also	ADV
ap-1684	244	9	come	come	VERB
ap-1684	244	10	to	to	PART
ap-1684	244	11	rest	rest	VERB
ap-1684	244	12	at	at	ADP
ap-1684	244	13	the	the	DET
ap-1684	244	14	equilibrium	equilibrium	NOUN
ap-1684	244	15	values	value	NOUN
ap-1684	244	16	.	.	PUNCT
ap-1684	245	1	these	these	DET
ap-1684	245	2	equilibrium	equilibrium	NOUN
ap-1684	245	3	values	value	NOUN
ap-1684	245	4	can	can	AUX
ap-1684	245	5	be	be	AUX
ap-1684	245	6	interpreted	interpret	VERB
ap-1684	245	7	as	as	ADP
ap-1684	245	8	the	the	DET
ap-1684	245	9	searched	search	VERB
ap-1684	245	10	parameters	parameter	NOUN
ap-1684	245	11	of	of	ADP
ap-1684	245	12	the	the	DET
ap-1684	245	13	mechanism	mechanism	NOUN
ap-1684	245	14	.	.	PUNCT
ap-1684	246	1	the	the	DET
ap-1684	246	2	example	example	NOUN
ap-1684	246	3	was	be	AUX
ap-1684	246	4	also	also	ADV
ap-1684	246	5	simulated	simulate	VERB
ap-1684	246	6	using	use	VERB
ap-1684	246	7	genetic	genetic	ADJ
ap-1684	246	8	algorithms	algorithm	NOUN
ap-1684	246	9	.	.	PUNCT
ap-1684	247	1	the	the	DET
ap-1684	247	2	boundary	boundary	ADJ
ap-1684	247	3	conditions	condition	NOUN
ap-1684	247	4	for	for	ADP
ap-1684	247	5	each	each	DET
ap-1684	247	6	optimized	optimize	VERB
ap-1684	247	7	87	87	NUM
ap-1684	247	8	acta	acta	PROPN
ap-1684	247	9	polytechnica	polytechnica	PROPN
ap-1684	247	10	vol	vol	NOUN
ap-1684	247	11	.	.	PROPN
ap-1684	248	1	52	52	NUM
ap-1684	248	2	no	no	NOUN
ap-1684	248	3	.	.	PUNCT
ap-1684	249	1	6/2012	6/2012	NUM
ap-1684	249	2	figure	figure	NOUN
ap-1684	249	3	8	8	NUM
ap-1684	249	4	:	:	PUNCT
ap-1684	249	5	evolution	evolution	NOUN
ap-1684	249	6	of	of	ADP
ap-1684	249	7	the	the	DET
ap-1684	249	8	trajectories	trajectory	NOUN
ap-1684	249	9	of	of	ADP
ap-1684	249	10	a	a	DET
ap-1684	249	11	four	four	NUM
ap-1684	249	12	-	-	PUNCT
ap-1684	249	13	bar	bar	NOUN
ap-1684	249	14	mechanism	mechanism	NOUN
ap-1684	249	15	using	use	VERB
ap-1684	249	16	a	a	DET
ap-1684	249	17	genetic	genetic	ADJ
ap-1684	249	18	algorithm	algorithm	NOUN
ap-1684	249	19	.	.	PUNCT
ap-1684	250	1	dimensional	dimensional	ADJ
ap-1684	250	2	parameter	parameter	NOUN
ap-1684	250	3	were	be	AUX
ap-1684	250	4	set	set	VERB
ap-1684	250	5	according	accord	VERB
ap-1684	250	6	to	to	ADP
ap-1684	250	7	the	the	DET
ap-1684	250	8	interval	interval	NOUN
ap-1684	250	9	〈	〈	PROPN
ap-1684	250	10	desired	desire	VERB
ap-1684	250	11	,	,	PUNCT
ap-1684	250	12	resulting	result	VERB
ap-1684	250	13	〉	〉	NOUN
ap-1684	250	14	value	value	NOUN
ap-1684	250	15	of	of	ADP
ap-1684	250	16	the	the	DET
ap-1684	250	17	simulation	simulation	NOUN
ap-1684	250	18	,	,	PUNCT
ap-1684	250	19	which	which	PRON
ap-1684	250	20	was	be	AUX
ap-1684	250	21	done	do	VERB
ap-1684	250	22	by	by	ADP
ap-1684	250	23	the	the	DET
ap-1684	250	24	dissipative	dissipative	ADJ
ap-1684	250	25	system	system	NOUN
ap-1684	250	26	.	.	PUNCT
ap-1684	251	1	this	this	DET
ap-1684	251	2	interval	interval	NOUN
ap-1684	251	3	was	be	AUX
ap-1684	251	4	extended	extend	VERB
ap-1684	251	5	by	by	ADP
ap-1684	251	6	50	50	NUM
ap-1684	251	7	%	%	NOUN
ap-1684	251	8	on	on	ADP
ap-1684	251	9	both	both	DET
ap-1684	251	10	sides	side	NOUN
ap-1684	251	11	,	,	PUNCT
ap-1684	251	12	and	and	CCONJ
ap-1684	251	13	was	be	AUX
ap-1684	251	14	used	use	VERB
ap-1684	251	15	as	as	ADP
ap-1684	251	16	the	the	DET
ap-1684	251	17	boundary	boundary	ADJ
ap-1684	251	18	condition	condition	NOUN
ap-1684	251	19	for	for	ADP
ap-1684	251	20	the	the	DET
ap-1684	251	21	particular	particular	ADJ
ap-1684	251	22	optimized	optimize	VERB
ap-1684	251	23	parameter	parameter	NOUN
ap-1684	251	24	.	.	PUNCT
ap-1684	252	1	the	the	DET
ap-1684	252	2	simulation	simulation	NOUN
ap-1684	252	3	result	result	NOUN
ap-1684	252	4	is	be	AUX
ap-1684	252	5	presented	present	VERB
ap-1684	252	6	in	in	ADP
ap-1684	252	7	fig	fig	NOUN
ap-1684	252	8	.	.	PUNCT
ap-1684	253	1	8	8	X
ap-1684	253	2	.	.	PUNCT
ap-1684	254	1	it	it	PRON
ap-1684	254	2	is	be	AUX
ap-1684	254	3	shown	show	VERB
ap-1684	254	4	that	that	SCONJ
ap-1684	254	5	the	the	DET
ap-1684	254	6	desired	desire	VERB
ap-1684	254	7	trajectory	trajectory	NOUN
ap-1684	254	8	was	be	AUX
ap-1684	254	9	not	not	PART
ap-1684	254	10	found	find	VERB
ap-1684	254	11	using	use	VERB
ap-1684	254	12	this	this	DET
ap-1684	254	13	method	method	NOUN
ap-1684	254	14	.	.	PUNCT
ap-1684	255	1	5	5	NUM
ap-1684	255	2	spatial	spatial	ADJ
ap-1684	255	3	example	example	NOUN
ap-1684	255	4	a	a	DET
ap-1684	255	5	further	further	ADJ
ap-1684	255	6	example	example	NOUN
ap-1684	255	7	is	be	AUX
ap-1684	255	8	the	the	DET
ap-1684	255	9	synthesis	synthesis	NOUN
ap-1684	255	10	of	of	ADP
ap-1684	255	11	a	a	DET
ap-1684	255	12	3d	3d	NOUN
ap-1684	255	13	(	(	PUNCT
ap-1684	255	14	rssr	rssr	NOUN
ap-1684	255	15	)	)	PUNCT
ap-1684	255	16	four	four	NUM
ap-1684	255	17	-	-	PUNCT
ap-1684	255	18	bar	bar	NOUN
ap-1684	255	19	mechanism	mechanism	NOUN
ap-1684	255	20	[	[	X
ap-1684	255	21	17	17	NUM
ap-1684	255	22	]	]	PUNCT
ap-1684	255	23	.	.	PUNCT
ap-1684	256	1	the	the	DET
ap-1684	256	2	original	original	ADJ
ap-1684	256	3	classical	classical	ADJ
ap-1684	256	4	optimization	optimization	NOUN
ap-1684	256	5	formulation	formulation	NOUN
ap-1684	256	6	is	be	AUX
ap-1684	256	7	presented	present	VERB
ap-1684	256	8	in	in	ADP
ap-1684	256	9	fig	fig	NOUN
ap-1684	256	10	.	.	PUNCT
ap-1684	257	1	9	9	X
ap-1684	257	2	.	.	X
ap-1684	257	3	it	it	PRON
ap-1684	257	4	consists	consist	VERB
ap-1684	257	5	of	of	ADP
ap-1684	257	6	two	two	NUM
ap-1684	257	7	skew	skew	ADJ
ap-1684	257	8	mechanism	mechanism	NOUN
ap-1684	257	9	axes	axis	NOUN
ap-1684	257	10	.	.	PUNCT
ap-1684	258	1	the	the	DET
ap-1684	258	2	first	first	ADJ
ap-1684	258	3	mechanism	mechanism	NOUN
ap-1684	258	4	axis	axis	NOUN
ap-1684	258	5	is	be	AUX
ap-1684	258	6	identical	identical	ADJ
ap-1684	258	7	with	with	ADP
ap-1684	258	8	the	the	DET
ap-1684	258	9	coordinate	coordinate	NOUN
ap-1684	258	10	y	y	PROPN
ap-1684	258	11	axis	axis	NOUN
ap-1684	258	12	.	.	PUNCT
ap-1684	259	1	the	the	DET
ap-1684	259	2	second	second	ADJ
ap-1684	259	3	mechanism	mechanism	NOUN
ap-1684	259	4	is	be	AUX
ap-1684	259	5	shifted	shift	VERB
ap-1684	259	6	to	to	PART
ap-1684	259	7	level	level	VERB
ap-1684	259	8	za	za	PROPN
ap-1684	259	9	and	and	CCONJ
ap-1684	259	10	rotated	rotate	VERB
ap-1684	259	11	by	by	ADP
ap-1684	259	12	angle	angle	NOUN
ap-1684	259	13	βa	βa	PUNCT
ap-1684	259	14	round	round	VERB
ap-1684	259	15	the	the	DET
ap-1684	259	16	z	z	NOUN
ap-1684	259	17	axis	axis	NOUN
ap-1684	259	18	.	.	PUNCT
ap-1684	260	1	this	this	PRON
ap-1684	260	2	means	mean	VERB
ap-1684	260	3	that	that	SCONJ
ap-1684	260	4	the	the	DET
ap-1684	260	5	vector	vector	NOUN
ap-1684	260	6	of	of	ADP
ap-1684	260	7	the	the	DET
ap-1684	260	8	axis	axis	NOUN
ap-1684	260	9	of	of	ADP
ap-1684	260	10	the	the	DET
ap-1684	260	11	second	second	ADJ
ap-1684	260	12	mechanisms	mechanism	NOUN
ap-1684	260	13	still	still	ADV
ap-1684	260	14	lies	lie	VERB
ap-1684	260	15	on	on	ADP
ap-1684	260	16	the	the	DET
ap-1684	260	17	plane	plane	NOUN
ap-1684	261	1	xy	xy	INTJ
ap-1684	261	2	.	.	PUNCT
ap-1684	262	1	there	there	PRON
ap-1684	262	2	is	be	VERB
ap-1684	262	3	a	a	DET
ap-1684	262	4	sleeve	sleeve	NOUN
ap-1684	262	5	on	on	ADP
ap-1684	262	6	the	the	DET
ap-1684	262	7	axis	axis	NOUN
ap-1684	262	8	of	of	ADP
ap-1684	262	9	each	each	DET
ap-1684	262	10	mechanism	mechanism	NOUN
ap-1684	262	11	.	.	PUNCT
ap-1684	263	1	there	there	PRON
ap-1684	263	2	is	be	VERB
ap-1684	263	3	a	a	DET
ap-1684	263	4	lever	lever	NOUN
ap-1684	263	5	on	on	ADP
ap-1684	263	6	each	each	DET
ap-1684	263	7	sleeve	sleeve	NOUN
ap-1684	263	8	.	.	PUNCT
ap-1684	264	1	there	there	PRON
ap-1684	264	2	are	be	VERB
ap-1684	264	3	spherical	spherical	ADJ
ap-1684	264	4	linkages	linkage	NOUN
ap-1684	264	5	on	on	ADP
ap-1684	264	6	the	the	DET
ap-1684	264	7	other	other	ADJ
ap-1684	264	8	side	side	NOUN
ap-1684	264	9	of	of	ADP
ap-1684	264	10	the	the	DET
ap-1684	264	11	levers	lever	NOUN
ap-1684	264	12	.	.	PUNCT
ap-1684	265	1	at	at	ADP
ap-1684	265	2	the	the	DET
ap-1684	265	3	end	end	NOUN
ap-1684	265	4	,	,	PUNCT
ap-1684	265	5	the	the	DET
ap-1684	265	6	spherical	spherical	ADJ
ap-1684	265	7	linkages	linkage	NOUN
ap-1684	265	8	are	be	AUX
ap-1684	265	9	connected	connect	VERB
ap-1684	265	10	together	together	ADV
ap-1684	265	11	by	by	ADP
ap-1684	265	12	a	a	DET
ap-1684	265	13	pitman	pitman	NOUN
ap-1684	265	14	.	.	PUNCT
ap-1684	266	1	the	the	DET
ap-1684	266	2	overall	overall	ADJ
ap-1684	266	3	mechanism	mechanism	NOUN
ap-1684	266	4	is	be	AUX
ap-1684	266	5	naturally	naturally	ADV
ap-1684	266	6	described	describe	VERB
ap-1684	266	7	by	by	ADP
ap-1684	266	8	the	the	DET
ap-1684	266	9	height	height	NOUN
ap-1684	266	10	za	za	PROPN
ap-1684	266	11	of	of	ADP
ap-1684	266	12	point	point	NOUN
ap-1684	266	13	a	a	PRON
ap-1684	266	14	,	,	PUNCT
ap-1684	266	15	the	the	DET
ap-1684	266	16	length	length	NOUN
ap-1684	266	17	of	of	ADP
ap-1684	266	18	the	the	DET
ap-1684	266	19	`	`	PUNCT
ap-1684	266	20	a	a	DET
ap-1684	266	21	axis	axis	NOUN
ap-1684	266	22	,	,	PUNCT
ap-1684	266	23	the	the	DET
ap-1684	266	24	angle	angle	NOUN
ap-1684	266	25	of	of	ADP
ap-1684	266	26	rotation	rotation	NOUN
ap-1684	266	27	βa	βa	PROPN
ap-1684	266	28	,	,	PUNCT
ap-1684	266	29	the	the	DET
ap-1684	266	30	length	length	NOUN
ap-1684	266	31	of	of	ADP
ap-1684	266	32	lever	lever	NOUN
ap-1684	266	33	`	`	PUNCT
ap-1684	266	34	ab	ab	PROPN
ap-1684	266	35	,	,	PUNCT
ap-1684	266	36	the	the	DET
ap-1684	266	37	length	length	NOUN
ap-1684	266	38	of	of	ADP
ap-1684	266	39	pitman	pitman	NOUN
ap-1684	266	40	`	`	PUNCT
ap-1684	266	41	bd	bd	PROPN
ap-1684	266	42	,	,	PUNCT
ap-1684	266	43	the	the	DET
ap-1684	266	44	length	length	NOUN
ap-1684	266	45	of	of	ADP
ap-1684	266	46	lever	lever	NOUN
ap-1684	266	47	`	`	PUNCT
ap-1684	266	48	cd	cd	PROPN
ap-1684	266	49	and	and	CCONJ
ap-1684	266	50	the	the	DET
ap-1684	266	51	length	length	NOUN
ap-1684	266	52	of	of	ADP
ap-1684	266	53	the	the	DET
ap-1684	266	54	axis	axis	NOUN
ap-1684	266	55	yc	yc	PROPN
ap-1684	266	56	=	=	NOUN
ap-1684	266	57	yd	yd	PROPN
ap-1684	266	58	.	.	PUNCT
ap-1684	266	59	let	let	VERB
ap-1684	266	60	us	we	PRON
ap-1684	266	61	reformulate	reformulate	VERB
ap-1684	266	62	the	the	DET
ap-1684	266	63	description	description	NOUN
ap-1684	266	64	of	of	ADP
ap-1684	266	65	the	the	DET
ap-1684	266	66	mechanism	mechanism	NOUN
ap-1684	266	67	for	for	ADP
ap-1684	266	68	conciseness	conciseness	NOUN
ap-1684	266	69	,	,	PUNCT
ap-1684	266	70	and	and	CCONJ
ap-1684	266	71	in	in	ADP
ap-1684	266	72	order	order	NOUN
ap-1684	266	73	to	to	PART
ap-1684	266	74	avoid	avoid	VERB
ap-1684	266	75	the	the	DET
ap-1684	266	76	complicated	complicated	ADJ
ap-1684	266	77	equations	equation	NOUN
ap-1684	266	78	in	in	ADP
ap-1684	266	79	the	the	DET
ap-1684	266	80	following	follow	VERB
ap-1684	266	81	formulation	formulation	NOUN
ap-1684	266	82	.	.	PUNCT
ap-1684	267	1	the	the	DET
ap-1684	267	2	mechanism	mechanism	NOUN
ap-1684	267	3	can	can	AUX
ap-1684	267	4	then	then	ADV
ap-1684	267	5	be	be	AUX
ap-1684	267	6	described	describe	VERB
ap-1684	267	7	by	by	ADP
ap-1684	267	8	the	the	DET
ap-1684	267	9	positions	position	NOUN
ap-1684	267	10	xa	xa	PROPN
ap-1684	267	11	,	,	PUNCT
ap-1684	267	12	ya	ya	PROPN
ap-1684	267	13	,	,	PUNCT
ap-1684	267	14	za	za	PROPN
ap-1684	267	15	of	of	ADP
ap-1684	267	16	the	the	DET
ap-1684	267	17	point	point	NOUN
ap-1684	267	18	a	a	ADP
ap-1684	267	19	,	,	PUNCT
ap-1684	267	20	by	by	ADP
ap-1684	267	21	the	the	DET
ap-1684	267	22	lengths	length	NOUN
ap-1684	267	23	of	of	ADP
ap-1684	267	24	the	the	DET
ap-1684	267	25	levers	lever	NOUN
ap-1684	267	26	`	`	PUNCT
ap-1684	267	27	ab	ab	PROPN
ap-1684	267	28	and	and	CCONJ
ap-1684	267	29	`	`	PUNCT
ap-1684	267	30	cd	cd	PROPN
ap-1684	267	31	,	,	PUNCT
ap-1684	267	32	by	by	ADP
ap-1684	267	33	the	the	DET
ap-1684	267	34	length	length	NOUN
ap-1684	267	35	of	of	ADP
ap-1684	267	36	the	the	DET
ap-1684	267	37	pitman	pitman	NOUN
ap-1684	267	38	`	`	PUNCT
ap-1684	267	39	bd	bd	PROPN
ap-1684	267	40	and	and	CCONJ
ap-1684	267	41	the	the	DET
ap-1684	267	42	length	length	NOUN
ap-1684	267	43	of	of	ADP
ap-1684	267	44	the	the	DET
ap-1684	267	45	yd	yd	NOUN
ap-1684	267	46	axis	axis	NOUN
ap-1684	267	47	.	.	PUNCT
ap-1684	268	1	taking	take	VERB
ap-1684	268	2	the	the	DET
ap-1684	268	3	relevant	relevant	ADJ
ap-1684	268	4	constraints	constraint	NOUN
ap-1684	268	5	into	into	ADP
ap-1684	268	6	account	account	NOUN
ap-1684	268	7	,	,	PUNCT
ap-1684	268	8	the	the	DET
ap-1684	268	9	representation	representation	NOUN
ap-1684	268	10	described	describe	VERB
ap-1684	268	11	here	here	ADV
ap-1684	268	12	is	be	AUX
ap-1684	268	13	the	the	DET
ap-1684	268	14	minimal	minimal	ADJ
ap-1684	268	15	representation	representation	NOUN
ap-1684	268	16	of	of	ADP
ap-1684	268	17	the	the	DET
ap-1684	268	18	mechanism	mechanism	NOUN
ap-1684	268	19	.	.	PUNCT
ap-1684	269	1	the	the	DET
ap-1684	269	2	constraints	constraint	NOUN
ap-1684	269	3	that	that	PRON
ap-1684	269	4	describe	describe	VERB
ap-1684	269	5	the	the	DET
ap-1684	269	6	mechanism	mechanism	NOUN
ap-1684	269	7	are	be	AUX
ap-1684	269	8	as	as	SCONJ
ap-1684	269	9	follows	follow	VERB
ap-1684	269	10	.	.	PUNCT
ap-1684	270	1	the	the	DET
ap-1684	270	2	first	first	ADJ
ap-1684	270	3	constraint	constraint	NOUN
ap-1684	270	4	ensures	ensure	VERB
ap-1684	270	5	that	that	PRON
ap-1684	270	6	points	point	VERB
ap-1684	270	7	a	a	PRON
ap-1684	270	8	and	and	CCONJ
ap-1684	270	9	b	b	NOUN
ap-1684	270	10	reflect	reflect	VERB
ap-1684	270	11	angle	angle	NOUN
ap-1684	270	12	ψ	ψ	NOUN
ap-1684	270	13	for	for	ADP
ap-1684	270	14	each	each	DET
ap-1684	270	15	subsystem	subsystem	NOUN
ap-1684	270	16	.	.	PUNCT
ap-1684	271	1	the	the	DET
ap-1684	271	2	following	follow	VERB
ap-1684	271	3	constraint	constraint	NOUN
ap-1684	271	4	ensures	ensure	VERB
ap-1684	271	5	that	that	PRON
ap-1684	271	6	points	point	VERB
ap-1684	271	7	c	c	NOUN
ap-1684	271	8	and	and	CCONJ
ap-1684	271	9	d	d	AUX
ap-1684	271	10	reflect	reflect	VERB
ap-1684	271	11	angle	angle	NOUN
ap-1684	271	12	ϕ	ϕ	PROPN
ap-1684	271	13	for	for	ADP
ap-1684	271	14	each	each	DET
ap-1684	271	15	configuration	configuration	NOUN
ap-1684	271	16	of	of	ADP
ap-1684	271	17	the	the	DET
ap-1684	271	18	mechanism	mechanism	NOUN
ap-1684	271	19	.	.	PUNCT
ap-1684	272	1	the	the	DET
ap-1684	272	2	third	third	ADJ
ap-1684	272	3	constraint	constraint	NOUN
ap-1684	272	4	describes	describe	VERB
ap-1684	272	5	the	the	DET
ap-1684	272	6	given	give	VERB
ap-1684	272	7	length	length	NOUN
ap-1684	272	8	of	of	ADP
ap-1684	272	9	the	the	DET
ap-1684	272	10	lever	lever	NOUN
ap-1684	272	11	`	`	PUNCT
ap-1684	272	12	ab	ab	PROPN
ap-1684	272	13	,	,	PUNCT
ap-1684	272	14	and	and	CCONJ
ap-1684	272	15	ensures	ensure	VERB
ap-1684	272	16	that	that	SCONJ
ap-1684	272	17	it	it	PRON
ap-1684	272	18	is	be	AUX
ap-1684	272	19	constant	constant	ADJ
ap-1684	272	20	across	across	ADP
ap-1684	272	21	the	the	DET
ap-1684	272	22	configurations	configuration	NOUN
ap-1684	272	23	.	.	PUNCT
ap-1684	273	1	the	the	DET
ap-1684	273	2	last	last	ADJ
ap-1684	273	3	constraint	constraint	NOUN
ap-1684	273	4	ensures	ensure	VERB
ap-1684	273	5	that	that	SCONJ
ap-1684	273	6	vector	vector	NOUN
ap-1684	273	7	[	[	X
ap-1684	273	8	xa	xa	PROPN
ap-1684	273	9	,	,	PUNCT
ap-1684	273	10	ya	ya	PROPN
ap-1684	273	11	,	,	PUNCT
ap-1684	273	12	0	0	NUM
ap-1684	273	13	]	]	PUNCT
ap-1684	273	14	is	be	AUX
ap-1684	273	15	perpendicular	perpendicular	ADJ
ap-1684	273	16	to	to	AUX
ap-1684	273	17	vector	vector	VERB
ap-1684	273	18	ba	ba	PROPN
ap-1684	274	1	(	(	PUNCT
ap-1684	274	2	[	[	X
ap-1684	274	3	xb	xb	X
ap-1684	274	4	,	,	PUNCT
ap-1684	274	5	yb	yb	PROPN
ap-1684	274	6	,	,	PUNCT
ap-1684	274	7	zb	zb	X
ap-1684	274	8	]	]	X
ap-1684	274	9	−[xa	−[xa	X
ap-1684	274	10	,	,	PUNCT
ap-1684	274	11	ya	ya	PROPN
ap-1684	274	12	,	,	PUNCT
ap-1684	274	13	za	za	PROPN
ap-1684	274	14	]	]	X
ap-1684	274	15	)	)	PUNCT
ap-1684	274	16	for	for	ADP
ap-1684	274	17	each	each	DET
ap-1684	274	18	configuration	configuration	NOUN
ap-1684	274	19	(	(	PUNCT
ap-1684	274	20	subsystem	subsystem	NOUN
ap-1684	274	21	)	)	PUNCT
ap-1684	274	22	.	.	PUNCT
ap-1684	275	1	the	the	DET
ap-1684	275	2	constraints	constraint	NOUN
ap-1684	275	3	are	be	AUX
ap-1684	275	4	cosψ	cosψ	ADJ
ap-1684	275	5	=	=	PUNCT
ap-1684	275	6	za	za	PROPN
ap-1684	275	7	−	−	NOUN
ap-1684	275	8	zb√	zb√	X
ap-1684	276	1	(	(	PUNCT
ap-1684	276	2	xa	xa	PROPN
ap-1684	277	1	−	−	PROPN
ap-1684	278	1	xb)2	xb)2	PROPN
ap-1684	279	1	+	+	CCONJ
ap-1684	279	2	(	(	PUNCT
ap-1684	279	3	ya	ya	PROPN
ap-1684	279	4	−	−	PROPN
ap-1684	279	5	yb)2	yb)2	PROPN
ap-1684	279	6	+	+	CCONJ
ap-1684	279	7	(	(	PUNCT
ap-1684	279	8	za	za	PROPN
ap-1684	279	9	−	−	PROPN
ap-1684	279	10	zb)2	zb)2	PROPN
ap-1684	279	11	,	,	PUNCT
ap-1684	279	12	cosϕ	cosϕ	NOUN
ap-1684	279	13	=	=	NOUN
ap-1684	279	14	xd	xd	NUM
ap-1684	279	15	x2	x2	PROPN
ap-1684	280	1	d	d	PROPN
ap-1684	280	2	+	+	PUNCT
ap-1684	280	3	z2	z2	PROPN
ap-1684	280	4	d	d	PROPN
ap-1684	280	5	,	,	PUNCT
ap-1684	280	6	(	(	PUNCT
ap-1684	280	7	20	20	NUM
ap-1684	280	8	)	)	PUNCT
ap-1684	280	9	`	`	PUNCT
ap-1684	280	10	ab	ab	PROPN
ap-1684	280	11	=	=	PUNCT
ap-1684	280	12	√	√	PROPN
ap-1684	280	13	(	(	PUNCT
ap-1684	280	14	xa	xa	PROPN
ap-1684	280	15	−	−	PROPN
ap-1684	280	16	xb)2	xb)2	PROPN
ap-1684	281	1	+	+	CCONJ
ap-1684	281	2	(	(	PUNCT
ap-1684	281	3	ya	ya	PROPN
ap-1684	281	4	−	−	PROPN
ap-1684	281	5	yb)2	yb)2	PROPN
ap-1684	281	6	+	+	CCONJ
ap-1684	281	7	(	(	PUNCT
ap-1684	281	8	za	za	PROPN
ap-1684	281	9	−	−	PROPN
ap-1684	281	10	zb)2	zb)2	PROPN
ap-1684	281	11	,	,	PUNCT
ap-1684	281	12	0	0	PUNCT
ap-1684	282	1	=	=	SYM
ap-1684	282	2	xa(xb	xa(xb	PROPN
ap-1684	282	3	−	−	PROPN
ap-1684	282	4	xa	xa	PROPN
ap-1684	282	5	)	)	PUNCT
ap-1684	283	1	+	+	CCONJ
ap-1684	283	2	ya(yb	ya(yb	PROPN
ap-1684	283	3	−	−	PROPN
ap-1684	283	4	ya	ya	PROPN
ap-1684	283	5	)	)	PUNCT
ap-1684	283	6	.	.	PUNCT
ap-1684	284	1	synthesis	synthesis	NOUN
ap-1684	284	2	of	of	ADP
ap-1684	284	3	the	the	DET
ap-1684	284	4	transmission	transmission	NOUN
ap-1684	284	5	of	of	ADP
ap-1684	284	6	the	the	DET
ap-1684	284	7	rssr	rssr	ADJ
ap-1684	284	8	mechanism	mechanism	NOUN
ap-1684	284	9	is	be	AUX
ap-1684	284	10	a	a	DET
ap-1684	284	11	very	very	ADV
ap-1684	284	12	good	good	ADJ
ap-1684	284	13	example	example	NOUN
ap-1684	284	14	in	in	ADP
ap-1684	284	15	the	the	DET
ap-1684	284	16	sense	sense	NOUN
ap-1684	284	17	that	that	SCONJ
ap-1684	284	18	in	in	ADP
ap-1684	284	19	this	this	DET
ap-1684	284	20	case	case	NOUN
ap-1684	284	21	the	the	DET
ap-1684	284	22	described	describe	VERB
ap-1684	284	23	representation	representation	NOUN
ap-1684	284	24	could	could	AUX
ap-1684	284	25	at	at	ADP
ap-1684	284	26	the	the	DET
ap-1684	284	27	same	same	ADJ
ap-1684	284	28	time	time	NOUN
ap-1684	284	29	mean	mean	VERB
ap-1684	284	30	the	the	DET
ap-1684	284	31	set	set	NOUN
ap-1684	284	32	of	of	ADP
ap-1684	284	33	synthesized	synthesize	VERB
ap-1684	284	34	parameters	parameter	NOUN
ap-1684	284	35	.	.	PUNCT
ap-1684	285	1	88	88	NUM
ap-1684	285	2	acta	acta	PROPN
ap-1684	285	3	polytechnica	polytechnica	PROPN
ap-1684	285	4	vol	vol	NOUN
ap-1684	285	5	.	.	PROPN
ap-1684	286	1	52	52	NUM
ap-1684	286	2	no	no	NOUN
ap-1684	286	3	.	.	PUNCT
ap-1684	287	1	6/2012	6/2012	NUM
ap-1684	287	2	the	the	DET
ap-1684	287	3	constraints	constraint	NOUN
ap-1684	287	4	that	that	PRON
ap-1684	287	5	describe	describe	VERB
ap-1684	287	6	the	the	DET
ap-1684	287	7	mechanism	mechanism	NOUN
ap-1684	287	8	are	be	AUX
ap-1684	287	9	as	as	SCONJ
ap-1684	287	10	follows	follow	VERB
ap-1684	287	11	.	.	PUNCT
ap-1684	288	1	the	the	DET
ap-1684	288	2	first	first	ADJ
ap-1684	288	3	constraint	constraint	NOUN
ap-1684	288	4	ensures	ensure	VERB
ap-1684	288	5	that	that	PRON
ap-1684	288	6	points	point	VERB
ap-1684	288	7	a	a	PRON
ap-1684	288	8	and	and	CCONJ
ap-1684	288	9	b	b	NOUN
ap-1684	288	10	reflect	reflect	VERB
ap-1684	288	11	angle	angle	NOUN
ap-1684	288	12	ψ	ψ	NOUN
ap-1684	288	13	for	for	ADP
ap-1684	288	14	each	each	DET
ap-1684	288	15	subsystem	subsystem	NOUN
ap-1684	288	16	.	.	PUNCT
ap-1684	289	1	the	the	DET
ap-1684	289	2	following	follow	VERB
ap-1684	289	3	constraint	constraint	NOUN
ap-1684	289	4	ensures	ensure	VERB
ap-1684	289	5	that	that	PRON
ap-1684	289	6	points	point	VERB
ap-1684	289	7	c	c	NOUN
ap-1684	289	8	and	and	CCONJ
ap-1684	289	9	d	d	AUX
ap-1684	289	10	reflect	reflect	VERB
ap-1684	289	11	angle	angle	NOUN
ap-1684	289	12			PROPN
ap-1684	289	13	for	for	ADP
ap-1684	289	14	each	each	DET
ap-1684	289	15	configuration	configuration	NOUN
ap-1684	289	16	of	of	ADP
ap-1684	289	17	the	the	DET
ap-1684	289	18	mechanism	mechanism	NOUN
ap-1684	289	19	.	.	PUNCT
ap-1684	290	1	the	the	DET
ap-1684	290	2	third	third	ADJ
ap-1684	290	3	constraint	constraint	NOUN
ap-1684	290	4	describes	describe	VERB
ap-1684	290	5	the	the	DET
ap-1684	290	6	given	give	VERB
ap-1684	290	7	length	length	NOUN
ap-1684	290	8	of	of	ADP
ap-1684	290	9	the	the	DET
ap-1684	290	10	lever	lever	NOUN
ap-1684	290	11	lab	lab	NOUN
ap-1684	290	12	,	,	PUNCT
ap-1684	290	13	and	and	CCONJ
ap-1684	290	14	ensures	ensure	VERB
ap-1684	290	15	that	that	SCONJ
ap-1684	290	16	it	it	PRON
ap-1684	290	17	is	be	AUX
ap-1684	290	18	constant	constant	ADJ
ap-1684	290	19	across	across	ADP
ap-1684	290	20	the	the	DET
ap-1684	290	21	configurations	configuration	NOUN
ap-1684	290	22	.	.	PUNCT
ap-1684	291	1	the	the	DET
ap-1684	291	2	last	last	ADJ
ap-1684	291	3	constraint	constraint	NOUN
ap-1684	291	4	ensures	ensure	VERB
ap-1684	291	5	that	that	SCONJ
ap-1684	291	6	vector	vector	NOUN
ap-1684	291	7	[	[	X
ap-1684	291	8	xa	xa	PROPN
ap-1684	291	9	,	,	PUNCT
ap-1684	291	10	ya,0	ya,0	PROPN
ap-1684	291	11	]	]	PUNCT
ap-1684	291	12	is	be	AUX
ap-1684	291	13	perpendicular	perpendicular	ADJ
ap-1684	291	14	to	to	AUX
ap-1684	291	15	vector	vector	VERB
ap-1684	291	16	ba	ba	PROPN
ap-1684	292	1	(	(	PUNCT
ap-1684	292	2	[	[	X
ap-1684	292	3	xb	xb	PROPN
ap-1684	292	4	,	,	PUNCT
ap-1684	292	5	yb	yb	PROPN
ap-1684	292	6	,	,	PUNCT
ap-1684	292	7	zb]-[xa	zb]-[xa	NOUN
ap-1684	292	8	,	,	PUNCT
ap-1684	292	9	ya	ya	PROPN
ap-1684	292	10	,	,	PUNCT
ap-1684	292	11	za	za	PROPN
ap-1684	292	12	]	]	X
ap-1684	292	13	)	)	PUNCT
ap-1684	293	1	for	for	ADP
ap-1684	293	2	each	each	DET
ap-1684	293	3	configuration	configuration	NOUN
ap-1684	293	4	(	(	PUNCT
ap-1684	293	5	subsystem	subsystem	NOUN
ap-1684	293	6	)	)	PUNCT
ap-1684	293	7	.	.	PUNCT
ap-1684	294	1	the	the	DET
ap-1684	294	2	constraints	constraint	NOUN
ap-1684	294	3	are	be	AUX
ap-1684	294	4	φi	φi	ADP
ap-1684	294	5	yc	yc	NOUN
ap-1684	294	6	=	=	PUNCT
ap-1684	294	7	yd	yd	NOUN
ap-1684	294	8	lab	lab	NOUN
ap-1684	294	9	a	a	DET
ap-1684	294	10	[	[	X
ap-1684	294	11	xa	xa	PROPN
ap-1684	294	12	,	,	PUNCT
ap-1684	294	13	ya	ya	PROPN
ap-1684	294	14	,	,	PUNCT
ap-1684	294	15	za	za	PROPN
ap-1684	294	16	]	]	X
ap-1684	294	17	c	c	PROPN
ap-1684	294	18	d	d	X
ap-1684	294	19	b	b	X
ap-1684	294	20	ld	ld	PROPN
ap-1684	294	21	y	y	PROPN
ap-1684	294	22	x	x	PROPN
ap-1684	294	23	z	z	PROPN
ap-1684	294	24	za	za	PROPN
ap-1684	294	25	la	la	PROPN
ap-1684	294	26	lbd	lbd	PROPN
ap-1684	294	27			PROPN
ap-1684	294	28	ψi	ψi	PROPN
ap-1684	294	29	)	)	PUNCT
ap-1684	294	30	(	(	PUNCT
ap-1684	294	31	)	)	PUNCT
ap-1684	294	32	(	(	PUNCT
ap-1684	294	33	0	0	NUM
ap-1684	294	34	)	)	PUNCT
ap-1684	294	35	(	(	PUNCT
ap-1684	294	36	)	)	PUNCT
ap-1684	294	37	(	(	PUNCT
ap-1684	294	38	)	)	PUNCT
ap-1684	294	39	(	(	PUNCT
ap-1684	294	40	)	)	PUNCT
ap-1684	294	41	cos	cos	PROPN
ap-1684	294	42	(	(	PUNCT
ap-1684	294	43	)	)	PUNCT
ap-1684	294	44	(	(	PUNCT
ap-1684	294	45	)	)	PUNCT
ap-1684	294	46	(	(	PUNCT
ap-1684	294	47	)	)	PUNCT
ap-1684	294	48	(	(	PUNCT
ap-1684	294	49	)	)	PUNCT
ap-1684	294	50	cos	cos	PROPN
ap-1684	294	51	(	(	PUNCT
ap-1684	294	52	222	222	NUM
ap-1684	294	53	22	22	NUM
ap-1684	294	54	222	222	NUM
ap-1684	294	55	abaaba	abaaba	NOUN
ap-1684	294	56	abababab	abababab	ADV
ap-1684	294	57	dd	dd	PROPN
ap-1684	295	1	d	d	X
ap-1684	295	2	ababab	ababab	PROPN
ap-1684	295	3	ab	ab	PROPN
ap-1684	295	4	yyyxxx	yyyxxx	PROPN
ap-1684	295	5	zzyyxxl	zzyyxxl	PROPN
ap-1684	295	6	zx	zx	INTJ
ap-1684	295	7	x	x	SYM
ap-1684	295	8	zzyyxx	zzyyxx	PROPN
ap-1684	295	9	zz	zz	PROPN
ap-1684	295	10			PROPN
ap-1684	295	11			NOUN
ap-1684	295	12			PUNCT
ap-1684	295	13			PROPN
ap-1684	295	14			VERB
ap-1684	295	15			NOUN
ap-1684	295	16			NUM
ap-1684	295	17			PROPN
ap-1684	295	18			NOUN
ap-1684	295	19	.	.	PUNCT
ap-1684	296	1	(	(	PUNCT
ap-1684	296	2	20	20	NUM
ap-1684	296	3	)	)	PUNCT
ap-1684	296	4	synthesis	synthesis	NOUN
ap-1684	296	5	of	of	ADP
ap-1684	296	6	the	the	DET
ap-1684	296	7	transmission	transmission	NOUN
ap-1684	296	8	of	of	ADP
ap-1684	296	9	the	the	DET
ap-1684	296	10	rssr	rssr	ADJ
ap-1684	296	11	mechanism	mechanism	NOUN
ap-1684	296	12	is	be	AUX
ap-1684	296	13	a	a	DET
ap-1684	296	14	very	very	ADV
ap-1684	296	15	good	good	ADJ
ap-1684	296	16	example	example	NOUN
ap-1684	296	17	in	in	ADP
ap-1684	296	18	the	the	DET
ap-1684	296	19	sense	sense	NOUN
ap-1684	296	20	that	that	SCONJ
ap-1684	296	21	in	in	ADP
ap-1684	296	22	this	this	DET
ap-1684	296	23	case	case	NOUN
ap-1684	296	24	the	the	DET
ap-1684	296	25	described	describe	VERB
ap-1684	296	26	representation	representation	NOUN
ap-1684	296	27	could	could	AUX
ap-1684	296	28	at	at	ADP
ap-1684	296	29	the	the	DET
ap-1684	296	30	same	same	ADJ
ap-1684	296	31	time	time	NOUN
ap-1684	296	32	mean	mean	VERB
ap-1684	296	33	the	the	DET
ap-1684	296	34	set	set	NOUN
ap-1684	296	35	of	of	ADP
ap-1684	296	36	synthesized	synthesize	VERB
ap-1684	296	37	parameters	parameter	NOUN
ap-1684	296	38	.	.	PUNCT
ap-1684	297	1	because	because	SCONJ
ap-1684	297	2	it	it	PRON
ap-1684	297	3	is	be	AUX
ap-1684	297	4	a	a	DET
ap-1684	297	5	synthesis	synthesis	NOUN
ap-1684	297	6	of	of	ADP
ap-1684	297	7	transmission	transmission	NOUN
ap-1684	297	8	with	with	ADP
ap-1684	297	9	two	two	NUM
ap-1684	297	10	levers	lever	NOUN
ap-1684	297	11	,	,	PUNCT
ap-1684	297	12	a	a	DET
ap-1684	297	13	global	global	ADJ
ap-1684	297	14	solution	solution	NOUN
ap-1684	297	15	of	of	ADP
ap-1684	297	16	such	such	DET
ap-1684	297	17	an	an	DET
ap-1684	297	18	example	example	NOUN
ap-1684	297	19	exists	exist	VERB
ap-1684	297	20	and	and	CCONJ
ap-1684	297	21	it	it	PRON
ap-1684	297	22	consists	consist	VERB
ap-1684	297	23	in	in	ADP
ap-1684	297	24	lengths	length	NOUN
ap-1684	297	25	of	of	ADP
ap-1684	297	26	the	the	DET
ap-1684	297	27	levelers	leveler	NOUN
ap-1684	297	28	equal	equal	ADJ
ap-1684	297	29	to	to	ADP
ap-1684	297	30	zero	zero	NUM
ap-1684	297	31	.	.	PUNCT
ap-1684	298	1	however	however	ADV
ap-1684	298	2	,	,	PUNCT
ap-1684	298	3	a	a	DET
ap-1684	298	4	solution	solution	NOUN
ap-1684	298	5	of	of	ADP
ap-1684	298	6	this	this	DET
ap-1684	298	7	kind	kind	NOUN
ap-1684	298	8	is	be	AUX
ap-1684	298	9	absolutely	absolutely	ADV
ap-1684	298	10	unimportant	unimportant	ADJ
ap-1684	298	11	for	for	ADP
ap-1684	298	12	the	the	DET
ap-1684	298	13	practical	practical	ADJ
ap-1684	298	14	usability	usability	NOUN
ap-1684	298	15	of	of	ADP
ap-1684	298	16	the	the	DET
ap-1684	298	17	synthesized	synthesize	VERB
ap-1684	298	18	mechanism	mechanism	NOUN
ap-1684	298	19	.	.	PUNCT
ap-1684	299	1	let	let	VERB
ap-1684	299	2	us	we	PRON
ap-1684	299	3	therefore	therefore	ADV
ap-1684	299	4	choose	choose	VERB
ap-1684	299	5	the	the	DET
ap-1684	299	6	length	length	NOUN
ap-1684	299	7	of	of	ADP
ap-1684	299	8	the	the	DET
ap-1684	299	9	lever	lever	NOUN
ap-1684	299	10	lab	lab	NOUN
ap-1684	299	11	equal	equal	ADJ
ap-1684	299	12	to	to	ADP
ap-1684	299	13	a	a	DET
ap-1684	299	14	nonzero	nonzero	NOUN
ap-1684	299	15	constant	constant	ADJ
ap-1684	299	16	.	.	PUNCT
ap-1684	300	1	the	the	DET
ap-1684	300	2	rest	rest	NOUN
ap-1684	300	3	of	of	ADP
ap-1684	300	4	the	the	DET
ap-1684	300	5	parameters	parameter	NOUN
ap-1684	300	6	can	can	AUX
ap-1684	300	7	then	then	ADV
ap-1684	300	8	be	be	AUX
ap-1684	300	9	synthesized	synthesize	VERB
ap-1684	300	10	.	.	PUNCT
ap-1684	301	1	they	they	PRON
ap-1684	301	2	are	be	AUX
ap-1684	301	3	once	once	ADV
ap-1684	301	4	more	more	ADJ
ap-1684	301	5	:	:	PUNCT
ap-1684	301	6	xa	xa	PROPN
ap-1684	301	7	,	,	PUNCT
ap-1684	301	8	ya	ya	PROPN
ap-1684	301	9	,	,	PUNCT
ap-1684	301	10	za	za	PROPN
ap-1684	301	11	,	,	PUNCT
ap-1684	301	12	lbd	lbd	PROPN
ap-1684	301	13	,	,	PUNCT
ap-1684	301	14	lcd	lcd	PROPN
ap-1684	301	15	,	,	PUNCT
ap-1684	301	16	yd	yd	PROPN
ap-1684	301	17	.	.	PROPN
ap-1684	301	18	figure	figure	NOUN
ap-1684	301	19	9	9	NUM
ap-1684	301	20	:	:	PUNCT
ap-1684	301	21	rssr	rssr	ADJ
ap-1684	301	22	spatial	spatial	ADJ
ap-1684	301	23	mechanism	mechanism	NOUN
ap-1684	301	24	.	.	PUNCT
ap-1684	302	1	because	because	SCONJ
ap-1684	302	2	it	it	PRON
ap-1684	302	3	is	be	AUX
ap-1684	302	4	a	a	DET
ap-1684	302	5	synthesis	synthesis	NOUN
ap-1684	302	6	of	of	ADP
ap-1684	302	7	transmission	transmission	NOUN
ap-1684	302	8	with	with	ADP
ap-1684	302	9	two	two	NUM
ap-1684	302	10	levers	lever	NOUN
ap-1684	302	11	,	,	PUNCT
ap-1684	302	12	a	a	DET
ap-1684	302	13	global	global	ADJ
ap-1684	302	14	solution	solution	NOUN
ap-1684	302	15	of	of	ADP
ap-1684	302	16	such	such	DET
ap-1684	302	17	an	an	DET
ap-1684	302	18	example	example	NOUN
ap-1684	302	19	exists	exist	VERB
ap-1684	302	20	and	and	CCONJ
ap-1684	302	21	it	it	PRON
ap-1684	302	22	consists	consist	VERB
ap-1684	302	23	in	in	ADP
ap-1684	302	24	lengths	length	NOUN
ap-1684	302	25	of	of	ADP
ap-1684	302	26	the	the	DET
ap-1684	302	27	levelers	leveler	NOUN
ap-1684	302	28	equal	equal	ADJ
ap-1684	302	29	to	to	ADP
ap-1684	302	30	zero	zero	NUM
ap-1684	302	31	.	.	PUNCT
ap-1684	303	1	however	however	ADV
ap-1684	303	2	,	,	PUNCT
ap-1684	303	3	a	a	DET
ap-1684	303	4	solution	solution	NOUN
ap-1684	303	5	of	of	ADP
ap-1684	303	6	this	this	DET
ap-1684	303	7	kind	kind	NOUN
ap-1684	303	8	is	be	AUX
ap-1684	303	9	absolutely	absolutely	ADV
ap-1684	303	10	unimportant	unimportant	ADJ
ap-1684	303	11	for	for	ADP
ap-1684	303	12	the	the	DET
ap-1684	303	13	practical	practical	ADJ
ap-1684	303	14	usability	usability	NOUN
ap-1684	303	15	of	of	ADP
ap-1684	303	16	the	the	DET
ap-1684	303	17	synthesized	synthesize	VERB
ap-1684	303	18	mechanism	mechanism	NOUN
ap-1684	303	19	.	.	PUNCT
ap-1684	304	1	let	let	VERB
ap-1684	304	2	us	we	PRON
ap-1684	304	3	therefore	therefore	ADV
ap-1684	304	4	choose	choose	VERB
ap-1684	304	5	the	the	DET
ap-1684	304	6	length	length	NOUN
ap-1684	304	7	of	of	ADP
ap-1684	304	8	the	the	DET
ap-1684	304	9	lever	lever	NOUN
ap-1684	304	10	`	`	PUNCT
ap-1684	304	11	ab	ab	X
ap-1684	304	12	equal	equal	ADJ
ap-1684	304	13	to	to	ADP
ap-1684	304	14	a	a	DET
ap-1684	304	15	nonzero	nonzero	NOUN
ap-1684	304	16	constant	constant	ADJ
ap-1684	304	17	.	.	PUNCT
ap-1684	305	1	the	the	DET
ap-1684	305	2	rest	rest	NOUN
ap-1684	305	3	of	of	ADP
ap-1684	305	4	the	the	DET
ap-1684	305	5	parameters	parameter	NOUN
ap-1684	305	6	can	can	AUX
ap-1684	305	7	then	then	ADV
ap-1684	305	8	be	be	AUX
ap-1684	305	9	synthesized	synthesize	VERB
ap-1684	305	10	.	.	PUNCT
ap-1684	306	1	they	they	PRON
ap-1684	306	2	are	be	AUX
ap-1684	306	3	once	once	ADV
ap-1684	306	4	more	more	ADJ
ap-1684	306	5	:	:	PUNCT
ap-1684	306	6	xa	xa	PROPN
ap-1684	306	7	,	,	PUNCT
ap-1684	306	8	ya	ya	PROPN
ap-1684	306	9	,	,	PUNCT
ap-1684	306	10	za	za	PROPN
ap-1684	306	11	,	,	PUNCT
ap-1684	306	12	`	`	PUNCT
ap-1684	306	13	bd	bd	PROPN
ap-1684	306	14	,	,	PUNCT
ap-1684	306	15	`	`	PUNCT
ap-1684	306	16	cd	cd	PROPN
ap-1684	306	17	,	,	PUNCT
ap-1684	306	18	yd	yd	PROPN
ap-1684	306	19	.	.	PUNCT
ap-1684	307	1	the	the	DET
ap-1684	307	2	task	task	NOUN
ap-1684	307	3	of	of	ADP
ap-1684	307	4	transmission	transmission	NOUN
ap-1684	307	5	synthesis	synthesis	NOUN
ap-1684	307	6	is	be	AUX
ap-1684	307	7	to	to	PART
ap-1684	307	8	find	find	VERB
ap-1684	307	9	dimensions	dimension	NOUN
ap-1684	307	10	of	of	ADP
ap-1684	307	11	the	the	DET
ap-1684	307	12	mechanism	mechanism	NOUN
ap-1684	307	13	that	that	PRON
ap-1684	307	14	fulfill	fulfill	VERB
ap-1684	307	15	some	some	DET
ap-1684	307	16	transmission	transmission	NOUN
ap-1684	307	17	requirements	requirement	NOUN
ap-1684	307	18	.	.	PUNCT
ap-1684	308	1	the	the	DET
ap-1684	308	2	requirement	requirement	NOUN
ap-1684	308	3	for	for	ADP
ap-1684	308	4	this	this	DET
ap-1684	308	5	example	example	NOUN
ap-1684	308	6	is	be	AUX
ap-1684	308	7	that	that	SCONJ
ap-1684	308	8	the	the	DET
ap-1684	308	9	vector	vector	NOUN
ap-1684	308	10	of	of	ADP
ap-1684	308	11	the	the	DET
ap-1684	308	12	angles	angle	NOUN
ap-1684	308	13	of	of	ADP
ap-1684	308	14	lever	lever	NOUN
ap-1684	308	15	ϕ	ϕ	NOUN
ap-1684	308	16	should	should	AUX
ap-1684	308	17	correspond	correspond	VERB
ap-1684	308	18	with	with	ADP
ap-1684	308	19	the	the	DET
ap-1684	308	20	vector	vector	NOUN
ap-1684	308	21	of	of	ADP
ap-1684	308	22	angles	angle	NOUN
ap-1684	308	23	of	of	ADP
ap-1684	308	24	lever	lever	NOUN
ap-1684	308	25	ψ	ψ	PROPN
ap-1684	308	26	.	.	PUNCT
ap-1684	309	1	this	this	PRON
ap-1684	309	2	means	mean	VERB
ap-1684	309	3	that	that	SCONJ
ap-1684	309	4	for	for	ADP
ap-1684	309	5	ϕ	ϕ	NOUN
ap-1684	309	6	=	=	X
ap-1684	309	7	ϕ1	ϕ1	PROPN
ap-1684	309	8	is	be	AUX
ap-1684	309	9	ψ	ψ	NOUN
ap-1684	309	10	=	=	SYM
ap-1684	309	11	ψ1	ψ1	NOUN
ap-1684	309	12	,	,	PUNCT
ap-1684	309	13	for	for	ADP
ap-1684	309	14	ϕ	ϕ	NOUN
ap-1684	309	15	=	=	PUNCT
ap-1684	309	16	ϕ2	ϕ2	ADV
ap-1684	309	17	is	be	AUX
ap-1684	309	18	ψ	ψ	NOUN
ap-1684	309	19	=	=	NOUN
ap-1684	309	20	ψ2	ψ2	NOUN
ap-1684	309	21	,	,	PUNCT
ap-1684	309	22	etc	etc	X
ap-1684	309	23	.	.	X
ap-1684	309	24	,	,	PUNCT
ap-1684	309	25	for	for	ADP
ap-1684	309	26	the	the	DET
ap-1684	309	27	constant	constant	ADJ
ap-1684	309	28	dimensions	dimension	NOUN
ap-1684	309	29	of	of	ADP
ap-1684	309	30	the	the	DET
ap-1684	309	31	mechanism	mechanism	NOUN
ap-1684	309	32	.	.	PUNCT
ap-1684	310	1	to	to	PART
ap-1684	310	2	sum	sum	VERB
ap-1684	310	3	up	up	ADP
ap-1684	310	4	,	,	PUNCT
ap-1684	310	5	the	the	DET
ap-1684	310	6	optimization	optimization	NOUN
ap-1684	310	7	task	task	NOUN
ap-1684	310	8	is	be	AUX
ap-1684	310	9	as	as	SCONJ
ap-1684	310	10	follows	follow	VERB
ap-1684	310	11	:	:	PUNCT
ap-1684	311	1	f	f	PROPN
ap-1684	311	2	=	=	PUNCT
ap-1684	311	3	n∑	n∑	PROPN
ap-1684	311	4	i=1	i=1	PROPN
ap-1684	312	1	(	(	PUNCT
ap-1684	312	2	ϕi	ϕi	ADP
ap-1684	312	3	−	−	PROPN
ap-1684	312	4	ϕ′i)2	ϕ′i)2	PROPN
ap-1684	312	5	→	→	SYM
ap-1684	312	6	min	min	PROPN
ap-1684	312	7	,	,	PUNCT
ap-1684	312	8	(	(	PUNCT
ap-1684	312	9	21	21	NUM
ap-1684	312	10	)	)	PUNCT
ap-1684	312	11	where	where	SCONJ
ap-1684	312	12	the	the	DET
ap-1684	312	13	optimization	optimization	NOUN
ap-1684	312	14	parameters	parameter	NOUN
ap-1684	312	15	are	be	AUX
ap-1684	312	16	:	:	PUNCT
ap-1684	312	17	xa	xa	PROPN
ap-1684	312	18	,	,	PUNCT
ap-1684	312	19	ya	ya	PROPN
ap-1684	312	20	,	,	PUNCT
ap-1684	312	21	za	za	PROPN
ap-1684	312	22	,	,	PUNCT
ap-1684	312	23	`	`	PUNCT
ap-1684	312	24	bd	bd	PROPN
ap-1684	312	25	,	,	PUNCT
ap-1684	312	26	`	`	PUNCT
ap-1684	312	27	cd	cd	PROPN
ap-1684	312	28	and	and	CCONJ
ap-1684	312	29	yd	yd	NOUN
ap-1684	312	30	and	and	CCONJ
ap-1684	312	31	where	where	SCONJ
ap-1684	312	32	ψi	ψi	NOUN
ap-1684	312	33	is	be	AUX
ap-1684	312	34	given	give	VERB
ap-1684	312	35	.	.	PUNCT
ap-1684	313	1	parameters	parameter	NOUN
ap-1684	313	2	qi	qi	PROPN
ap-1684	313	3	again	again	ADV
ap-1684	313	4	denote	denote	VERB
ap-1684	313	5	the	the	DET
ap-1684	313	6	penalization	penalization	NOUN
ap-1684	313	7	coefficients	coefficient	NOUN
ap-1684	313	8	.	.	PUNCT
ap-1684	314	1	the	the	DET
ap-1684	314	2	associated	associated	ADJ
ap-1684	314	3	dynamical	dynamical	ADJ
ap-1684	314	4	dissipative	dissipative	NOUN
ap-1684	314	5	system	system	NOUN
ap-1684	314	6	consists	consist	VERB
ap-1684	314	7	of	of	ADP
ap-1684	314	8	n	n	NOUN
ap-1684	314	9	subsystems	subsystem	NOUN
ap-1684	314	10	for	for	ADP
ap-1684	314	11	the	the	DET
ap-1684	314	12	individual	individual	ADJ
ap-1684	314	13	required	require	VERB
ap-1684	314	14	positions	position	NOUN
ap-1684	314	15	of	of	ADP
ap-1684	314	16	the	the	DET
ap-1684	314	17	transmission	transmission	NOUN
ap-1684	314	18	mechanism	mechanism	NOUN
ap-1684	314	19	.	.	PUNCT
ap-1684	315	1	the	the	DET
ap-1684	315	2	masses	masse	NOUN
ap-1684	315	3	mai	mai	PROPN
ap-1684	315	4	,	,	PUNCT
ap-1684	315	5	mbi	mbi	PROPN
ap-1684	315	6	,	,	PUNCT
ap-1684	315	7	mdi	mdi	PROPN
ap-1684	315	8	are	be	AUX
ap-1684	315	9	introduced	introduce	VERB
ap-1684	315	10	at	at	ADP
ap-1684	315	11	points	point	NOUN
ap-1684	315	12	ai	ai	VERB
ap-1684	315	13	,	,	PUNCT
ap-1684	315	14	bi	bi	NOUN
ap-1684	315	15	,	,	PUNCT
ap-1684	315	16	di	di	NOUN
ap-1684	315	17	and	and	CCONJ
ap-1684	315	18	act	act	VERB
ap-1684	315	19	in	in	ADP
ap-1684	315	20	the	the	DET
ap-1684	315	21	coordinates	coordinate	NOUN
ap-1684	315	22	x	x	SYM
ap-1684	315	23	,	,	PUNCT
ap-1684	315	24	y	y	PROPN
ap-1684	315	25	,	,	PUNCT
ap-1684	315	26	z.	z.	PROPN
ap-1684	316	1	the	the	DET
ap-1684	316	2	interactions	interaction	NOUN
ap-1684	316	3	between	between	ADP
ap-1684	316	4	the	the	DET
ap-1684	316	5	subsystems	subsystem	NOUN
ap-1684	316	6	are	be	AUX
ap-1684	316	7	ensured	ensure	VERB
ap-1684	316	8	by	by	ADP
ap-1684	316	9	forces	force	NOUN
ap-1684	316	10	of	of	ADP
ap-1684	316	11	a	a	DET
ap-1684	316	12	linear	linear	ADJ
ap-1684	316	13	spring	spring	NOUN
ap-1684	316	14	nature	nature	NOUN
ap-1684	316	15	.	.	PUNCT
ap-1684	317	1	a	a	DET
ap-1684	317	2	nonzero	nonzero	ADJ
ap-1684	317	3	force	force	NOUN
ap-1684	317	4	acts	act	VERB
ap-1684	317	5	into	into	ADP
ap-1684	317	6	the	the	DET
ap-1684	317	7	relevant	relevant	ADJ
ap-1684	317	8	masses	masse	NOUN
ap-1684	317	9	whenever	whenever	SCONJ
ap-1684	317	10	the	the	DET
ap-1684	317	11	corresponding	corresponding	ADJ
ap-1684	317	12	dimension	dimension	NOUN
ap-1684	317	13	differs	differ	VERB
ap-1684	317	14	between	between	ADP
ap-1684	317	15	subsystems	subsystem	NOUN
ap-1684	318	1	i	i	PRON
ap-1684	318	2	and	and	CCONJ
ap-1684	318	3	j	j	PROPN
ap-1684	318	4	(	(	PUNCT
ap-1684	318	5	i	i	PROPN
ap-1684	318	6	,	,	PUNCT
ap-1684	318	7	j	j	PROPN
ap-1684	318	8	=	=	SYM
ap-1684	318	9	1	1	NUM
ap-1684	318	10	,	,	PUNCT
ap-1684	318	11	2	2	NUM
ap-1684	318	12	,	,	PUNCT
ap-1684	318	13	.	.	PUNCT
ap-1684	318	14	.	.	PUNCT
ap-1684	319	1	.	.	PUNCT
ap-1684	319	2	,	,	PUNCT
ap-1684	319	3	n	n	CCONJ
ap-1684	319	4	)	)	PUNCT
ap-1684	319	5	.	.	PUNCT
ap-1684	320	1	stabilization	stabilization	NOUN
ap-1684	320	2	of	of	ADP
ap-1684	320	3	the	the	DET
ap-1684	320	4	whole	whole	ADJ
ap-1684	320	5	system	system	NOUN
ap-1684	320	6	is	be	AUX
ap-1684	320	7	ensured	ensure	VERB
ap-1684	320	8	by	by	ADP
ap-1684	320	9	the	the	DET
ap-1684	320	10	damper	damper	NOUN
ap-1684	320	11	elements	element	NOUN
ap-1684	320	12	between	between	ADP
ap-1684	320	13	the	the	DET
ap-1684	320	14	masses	masse	NOUN
ap-1684	320	15	and	and	CCONJ
ap-1684	320	16	the	the	DET
ap-1684	320	17	inertial	inertial	ADJ
ap-1684	320	18	frame	frame	NOUN
ap-1684	320	19	,	,	PUNCT
ap-1684	320	20	according	accord	VERB
ap-1684	320	21	to	to	ADP
ap-1684	320	22	the	the	DET
ap-1684	320	23	sky	sky	NOUN
ap-1684	320	24	-	-	PUNCT
ap-1684	320	25	hook	hook	NOUN
ap-1684	320	26	idea	idea	NOUN
ap-1684	321	1	[	[	X
ap-1684	321	2	20	20	NUM
ap-1684	321	3	]	]	PUNCT
ap-1684	321	4	or	or	CCONJ
ap-1684	321	5	[	[	X
ap-1684	321	6	21	21	NUM
ap-1684	321	7	]	]	PUNCT
ap-1684	321	8	.	.	PUNCT
ap-1684	322	1	the	the	DET
ap-1684	322	2	idea	idea	NOUN
ap-1684	322	3	of	of	ADP
ap-1684	322	4	the	the	DET
ap-1684	322	5	transformation	transformation	NOUN
ap-1684	322	6	is	be	AUX
ap-1684	322	7	presented	present	VERB
ap-1684	322	8	in	in	ADP
ap-1684	322	9	fig	fig	NOUN
ap-1684	322	10	.	.	PUNCT
ap-1684	323	1	10	10	NUM
ap-1684	323	2	.	.	PUNCT
ap-1684	324	1	in	in	ADP
ap-1684	324	2	spite	spite	NOUN
ap-1684	324	3	of	of	ADP
ap-1684	324	4	the	the	DET
ap-1684	324	5	simple	simple	ADJ
ap-1684	324	6	formulation	formulation	NOUN
ap-1684	324	7	of	of	ADP
ap-1684	324	8	this	this	DET
ap-1684	324	9	example	example	NOUN
ap-1684	324	10	,	,	PUNCT
ap-1684	324	11	only	only	ADV
ap-1684	324	12	using	use	VERB
ap-1684	324	13	three	three	NUM
ap-1684	324	14	mass	mass	ADJ
ap-1684	324	15	points	point	NOUN
ap-1684	324	16	,	,	PUNCT
ap-1684	324	17	the	the	DET
ap-1684	324	18	3d	3d	ADJ
ap-1684	324	19	examples	example	NOUN
ap-1684	324	20	with	with	ADP
ap-1684	324	21	difficult	difficult	ADJ
ap-1684	324	22	constraints	constraint	NOUN
ap-1684	324	23	drive	drive	VERB
ap-1684	324	24	us	we	PRON
ap-1684	324	25	to	to	PART
ap-1684	324	26	formulate	formulate	VERB
ap-1684	324	27	the	the	DET
ap-1684	324	28	dynamical	dynamical	ADJ
ap-1684	324	29	equations	equation	NOUN
ap-1684	324	30	by	by	ADP
ap-1684	324	31	means	mean	NOUN
ap-1684	324	32	of	of	ADP
ap-1684	324	33	lagrange	lagrange	ADJ
ap-1684	324	34	equations	equation	NOUN
ap-1684	324	35	of	of	ADP
ap-1684	324	36	mixed	mixed	ADJ
ap-1684	324	37	type	type	NOUN
ap-1684	324	38	.	.	PUNCT
ap-1684	325	1	the	the	DET
ap-1684	325	2	greatest	great	ADJ
ap-1684	325	3	difference	difference	NOUN
ap-1684	325	4	that	that	PRON
ap-1684	325	5	occurs	occur	VERB
ap-1684	325	6	in	in	ADP
ap-1684	325	7	comparison	comparison	NOUN
ap-1684	325	8	with	with	ADP
ap-1684	325	9	simple	simple	ADJ
ap-1684	325	10	planar	planar	ADJ
ap-1684	325	11	structures	structure	NOUN
ap-1684	325	12	is	be	AUX
ap-1684	325	13	the	the	DET
ap-1684	325	14	difficulty	difficulty	NOUN
ap-1684	325	15	of	of	ADP
ap-1684	325	16	formulating	formulate	VERB
ap-1684	325	17	the	the	DET
ap-1684	325	18	dynamical	dynamical	ADJ
ap-1684	325	19	system	system	NOUN
ap-1684	325	20	.	.	PUNCT
ap-1684	326	1	with	with	ADP
ap-1684	326	2	simple	simple	ADJ
ap-1684	326	3	planar	planar	ADJ
ap-1684	326	4	mechanisms	mechanism	NOUN
ap-1684	326	5	,	,	PUNCT
ap-1684	326	6	the	the	DET
ap-1684	326	7	dynamical	dynamical	ADJ
ap-1684	326	8	equation	equation	NOUN
ap-1684	326	9	in	in	ADP
ap-1684	326	10	direct	direct	ADJ
ap-1684	326	11	form	form	NOUN
ap-1684	326	12	can	can	AUX
ap-1684	326	13	best	well	ADV
ap-1684	326	14	be	be	AUX
ap-1684	326	15	formulated	formulate	VERB
ap-1684	326	16	using	use	VERB
ap-1684	326	17	the	the	DET
ap-1684	326	18	newton	newton	PROPN
ap-1684	326	19	equations	equation	NOUN
ap-1684	326	20	.	.	PUNCT
ap-1684	327	1	the	the	DET
ap-1684	327	2	dynamical	dynamical	ADJ
ap-1684	327	3	equations	equation	NOUN
ap-1684	327	4	can	can	AUX
ap-1684	327	5	be	be	AUX
ap-1684	327	6	defined	define	VERB
ap-1684	327	7	according	accord	VERB
ap-1684	327	8	to	to	ADP
ap-1684	327	9	the	the	DET
ap-1684	327	10	formulation	formulation	NOUN
ap-1684	327	11	of	of	ADP
ap-1684	327	12	the	the	DET
ap-1684	327	13	constraints	constraint	NOUN
ap-1684	327	14	(	(	PUNCT
ap-1684	327	15	20	20	NUM
ap-1684	327	16	)	)	PUNCT
ap-1684	327	17	.	.	PUNCT
ap-1684	328	1	for	for	ADP
ap-1684	328	2	the	the	DET
ap-1684	328	3	sake	sake	NOUN
ap-1684	328	4	of	of	ADP
ap-1684	328	5	conciseness	conciseness	NOUN
ap-1684	328	6	,	,	PUNCT
ap-1684	328	7	let	let	VERB
ap-1684	328	8	us	we	PRON
ap-1684	328	9	define	define	VERB
ap-1684	328	10	the	the	DET
ap-1684	328	11	lengths	length	NOUN
ap-1684	328	12	of	of	ADP
ap-1684	328	13	the	the	DET
ap-1684	328	14	lever	lever	NOUN
ap-1684	328	15	`	`	PUNCT
ap-1684	328	16	cd	cd	PROPN
ap-1684	328	17	and	and	CCONJ
ap-1684	328	18	the	the	DET
ap-1684	328	19	pitman	pitman	NOUN
ap-1684	328	20	`	`	PUNCT
ap-1684	328	21	bd	bd	PROPN
ap-1684	328	22	,	,	PUNCT
ap-1684	328	23	and	and	CCONJ
ap-1684	328	24	formulate	formulate	VERB
ap-1684	328	25	the	the	DET
ap-1684	328	26	x	x	PROPN
ap-1684	328	27	,	,	PUNCT
ap-1684	328	28	y	y	PROPN
ap-1684	328	29	,	,	PUNCT
ap-1684	328	30	z	z	NOUN
ap-1684	328	31	projections	projection	NOUN
ap-1684	328	32	of	of	ADP
ap-1684	328	33	vectors	vector	NOUN
ap-1684	328	34	[	[	X
ap-1684	328	35	xd	xd	INTJ
ap-1684	328	36	,	,	PUNCT
ap-1684	328	37	yd	yd	PROPN
ap-1684	328	38	,	,	PUNCT
ap-1684	328	39	zd]−	zd]−	PROPN
ap-1684	329	1	[	[	X
ap-1684	329	2	xb	xb	X
ap-1684	329	3	,	,	PUNCT
ap-1684	329	4	yb	yb	PROPN
ap-1684	329	5	,	,	PUNCT
ap-1684	329	6	zb	zb	X
ap-1684	329	7	]	]	PUNCT
ap-1684	329	8	and	and	CCONJ
ap-1684	329	9	[	[	X
ap-1684	329	10	xd	xd	INTJ
ap-1684	329	11	,	,	PUNCT
ap-1684	329	12	yd	yd	PROPN
ap-1684	329	13	,	,	PUNCT
ap-1684	329	14	zd]−	zd]−	PROPN
ap-1684	330	1	[	[	X
ap-1684	330	2	0	0	NUM
ap-1684	330	3	,	,	PUNCT
ap-1684	330	4	yc	yc	INTJ
ap-1684	330	5	,	,	PUNCT
ap-1684	330	6	0	0	NUM
ap-1684	330	7	]	]	PUNCT
ap-1684	330	8	.	.	PUNCT
ap-1684	331	1	the	the	DET
ap-1684	331	2	lengths	length	NOUN
ap-1684	331	3	are	be	AUX
ap-1684	331	4	:	:	PUNCT
ap-1684	331	5	`	`	PUNCT
ap-1684	331	6	dc	dc	PROPN
ap-1684	331	7	=	=	PUNCT
ap-1684	331	8	√	√	PROPN
ap-1684	331	9	(	(	PUNCT
ap-1684	331	10	xd	xd	INTJ
ap-1684	331	11	−	−	NOUN
ap-1684	331	12	0)2	0)2	NUM
ap-1684	332	1	+	+	CCONJ
ap-1684	332	2	(	(	PUNCT
ap-1684	332	3	yd	yd	NOUN
ap-1684	332	4	−	−	PROPN
ap-1684	332	5	yc)2	yc)2	NOUN
ap-1684	332	6	+	+	CCONJ
ap-1684	332	7	(	(	PUNCT
ap-1684	332	8	zd	zd	PROPN
ap-1684	332	9	−	−	PROPN
ap-1684	332	10	0)2	0)2	PROPN
ap-1684	332	11	,	,	PUNCT
ap-1684	332	12	(	(	PUNCT
ap-1684	332	13	22	22	NUM
ap-1684	332	14	)	)	PUNCT
ap-1684	332	15	`	`	PUNCT
ap-1684	332	16	bd	bd	X
ap-1684	332	17	=	=	SYM
ap-1684	332	18	√	√	PROPN
ap-1684	332	19	(	(	PUNCT
ap-1684	332	20	xd	xd	ADV
ap-1684	332	21	−	−	PROPN
ap-1684	332	22	xb)2	xb)2	PROPN
ap-1684	332	23	+	+	CCONJ
ap-1684	332	24	(	(	PUNCT
ap-1684	332	25	yd	yd	ADP
ap-1684	332	26	−	−	PROPN
ap-1684	332	27	yb)2	yb)2	PROPN
ap-1684	332	28	+	+	CCONJ
ap-1684	332	29	(	(	PUNCT
ap-1684	332	30	zd	zd	PROPN
ap-1684	332	31	−	−	PROPN
ap-1684	332	32	zb)2	zb)2	PROPN
ap-1684	332	33	,	,	PUNCT
ap-1684	332	34	the	the	DET
ap-1684	332	35	vectors	vector	NOUN
ap-1684	332	36	are	be	AUX
ap-1684	332	37	vecxdb	vecxdb	ADJ
ap-1684	332	38	=	=	PUNCT
ap-1684	332	39	xb	xb	PROPN
ap-1684	332	40	−	−	PROPN
ap-1684	332	41	xb√	xb√	PUNCT
ap-1684	333	1	(	(	PUNCT
ap-1684	333	2	xd−xb)2	xd−xb)2	PROPN
ap-1684	333	3	+	+	CCONJ
ap-1684	333	4	(	(	PUNCT
ap-1684	333	5	yd−yb)2	yd−yb)2	ADJ
ap-1684	333	6	+	+	CCONJ
ap-1684	333	7	(	(	PUNCT
ap-1684	333	8	zd−zb)2	zd−zb)2	ADJ
ap-1684	333	9	,	,	PUNCT
ap-1684	333	10	vecydb	vecydb	PROPN
ap-1684	333	11	=	=	PUNCT
ap-1684	333	12	yb	yb	PROPN
ap-1684	333	13	−	−	PROPN
ap-1684	333	14	yb√	yb√	PROPN
ap-1684	334	1	(	(	PUNCT
ap-1684	334	2	xd−xb)2	xd−xb)2	PROPN
ap-1684	334	3	+	+	CCONJ
ap-1684	334	4	(	(	PUNCT
ap-1684	334	5	yd−yb)2	yd−yb)2	ADJ
ap-1684	334	6	+	+	CCONJ
ap-1684	334	7	(	(	PUNCT
ap-1684	334	8	zd−zb)2	zd−zb)2	ADJ
ap-1684	334	9	,	,	PUNCT
ap-1684	334	10	veczdb	veczdb	ADJ
ap-1684	334	11	=	=	SYM
ap-1684	334	12	zb	zb	PROPN
ap-1684	334	13	−	−	NOUN
ap-1684	334	14	zb√	zb√	PROPN
ap-1684	334	15	(	(	PUNCT
ap-1684	334	16	xd−xb)2	xd−xb)2	PROPN
ap-1684	334	17	+	+	CCONJ
ap-1684	334	18	(	(	PUNCT
ap-1684	334	19	yd−yb)2	yd−yb)2	ADJ
ap-1684	334	20	+	+	CCONJ
ap-1684	334	21	(	(	PUNCT
ap-1684	334	22	zd−zb)2	zd−zb)2	ADJ
ap-1684	334	23	,	,	PUNCT
ap-1684	334	24	vecxdc	vecxdc	NOUN
ap-1684	334	25	=	=	SYM
ap-1684	334	26	xd√	xd√	PUNCT
ap-1684	335	1	(	(	PUNCT
ap-1684	335	2	xd	xd	INTJ
ap-1684	335	3	−	−	NOUN
ap-1684	335	4	0)2	0)2	NUM
ap-1684	336	1	+	+	CCONJ
ap-1684	336	2	(	(	PUNCT
ap-1684	336	3	yd	yd	NOUN
ap-1684	336	4	−	−	PROPN
ap-1684	336	5	yc)2	yc)2	NOUN
ap-1684	336	6	+	+	CCONJ
ap-1684	336	7	(	(	PUNCT
ap-1684	336	8	zd	zd	PROPN
ap-1684	336	9	−	−	PROPN
ap-1684	336	10	0)2	0)2	NUM
ap-1684	336	11	,	,	PUNCT
ap-1684	336	12	vecydc	vecydc	PROPN
ap-1684	336	13	=	=	SYM
ap-1684	336	14	0	0	NUM
ap-1684	336	15	,	,	PUNCT
ap-1684	336	16	(	(	PUNCT
ap-1684	336	17	23	23	NUM
ap-1684	336	18	)	)	PUNCT
ap-1684	336	19	veczdc	veczdc	NOUN
ap-1684	336	20	=	=	PUNCT
ap-1684	336	21	zd√	zd√	PROPN
ap-1684	336	22	(	(	PUNCT
ap-1684	336	23	xd	xd	INTJ
ap-1684	336	24	−	−	NOUN
ap-1684	336	25	0)2	0)2	NUM
ap-1684	337	1	+	+	CCONJ
ap-1684	337	2	(	(	PUNCT
ap-1684	337	3	yd	yd	NOUN
ap-1684	337	4	−	−	PROPN
ap-1684	337	5	yc)2	yc)2	NOUN
ap-1684	337	6	+	+	CCONJ
ap-1684	337	7	(	(	PUNCT
ap-1684	337	8	zd	zd	PROPN
ap-1684	337	9	−	−	PROPN
ap-1684	337	10	0)2	0)2	NUM
ap-1684	337	11	.	.	PUNCT
ap-1684	338	1	89	89	NUM
ap-1684	338	2	acta	acta	PROPN
ap-1684	338	3	polytechnica	polytechnica	PROPN
ap-1684	338	4	vol	vol	NOUN
ap-1684	338	5	.	.	PROPN
ap-1684	339	1	52	52	NUM
ap-1684	339	2	no	no	NOUN
ap-1684	339	3	.	.	PUNCT
ap-1684	340	1	6/2012	6/2012	NUM
ap-1684	340	2	the	the	DET
ap-1684	340	3	task	task	NOUN
ap-1684	340	4	of	of	ADP
ap-1684	340	5	transmission	transmission	NOUN
ap-1684	340	6	synthesis	synthesis	NOUN
ap-1684	340	7	is	be	AUX
ap-1684	340	8	to	to	PART
ap-1684	340	9	find	find	VERB
ap-1684	340	10	dimensions	dimension	NOUN
ap-1684	340	11	of	of	ADP
ap-1684	340	12	the	the	DET
ap-1684	340	13	mechanism	mechanism	NOUN
ap-1684	340	14	that	that	PRON
ap-1684	340	15	fulfill	fulfill	VERB
ap-1684	340	16	some	some	DET
ap-1684	340	17	transmission	transmission	NOUN
ap-1684	340	18	requirements	requirement	NOUN
ap-1684	340	19	.	.	PUNCT
ap-1684	341	1	the	the	DET
ap-1684	341	2	requirement	requirement	NOUN
ap-1684	341	3	for	for	ADP
ap-1684	341	4	this	this	DET
ap-1684	341	5	example	example	NOUN
ap-1684	341	6	is	be	AUX
ap-1684	341	7	that	that	SCONJ
ap-1684	341	8	the	the	DET
ap-1684	341	9	vector	vector	NOUN
ap-1684	341	10	of	of	ADP
ap-1684	341	11	the	the	DET
ap-1684	341	12	angles	angle	NOUN
ap-1684	341	13	of	of	ADP
ap-1684	341	14	lever	lever	NOUN
ap-1684	341	15			PROPN
ap-1684	341	16	should	should	AUX
ap-1684	341	17	correspond	correspond	VERB
ap-1684	341	18	with	with	ADP
ap-1684	341	19	the	the	DET
ap-1684	341	20	vector	vector	NOUN
ap-1684	341	21	of	of	ADP
ap-1684	341	22	angles	angle	NOUN
ap-1684	341	23	of	of	ADP
ap-1684	341	24	lever	lever	NOUN
ap-1684	341	25	ψ	ψ	PROPN
ap-1684	341	26	.	.	PUNCT
ap-1684	342	1	this	this	PRON
ap-1684	342	2	means	mean	VERB
ap-1684	342	3	that	that	SCONJ
ap-1684	342	4	for	for	ADP
ap-1684	342	5			PROPN
ap-1684	342	6	=	=	SYM
ap-1684	342	7	1	1	NOUN
ap-1684	342	8	,	,	PUNCT
ap-1684	342	9	is	be	AUX
ap-1684	342	10	ψ	ψ	NOUN
ap-1684	342	11	=	=	SYM
ap-1684	342	12	ψ1	ψ1	NOUN
ap-1684	342	13	,	,	PUNCT
ap-1684	342	14	for	for	ADP
ap-1684	342	15			PROPN
ap-1684	342	16	=	=	PUNCT
ap-1684	342	17	2	2	NOUN
ap-1684	342	18	,	,	PUNCT
ap-1684	342	19	ψ	ψ	X
ap-1684	342	20	=	=	NOUN
ap-1684	342	21	ψ2	ψ2	NOUN
ap-1684	342	22	,	,	PUNCT
ap-1684	342	23	etc	etc	X
ap-1684	342	24	.	.	X
ap-1684	342	25	,	,	PUNCT
ap-1684	342	26	for	for	ADP
ap-1684	342	27	the	the	DET
ap-1684	342	28	constant	constant	ADJ
ap-1684	342	29	dimensions	dimension	NOUN
ap-1684	342	30	of	of	ADP
ap-1684	342	31	the	the	DET
ap-1684	342	32	mechanism	mechanism	NOUN
ap-1684	342	33	.	.	PUNCT
ap-1684	343	1	to	to	PART
ap-1684	343	2	sum	sum	VERB
ap-1684	343	3	up	up	ADP
ap-1684	343	4	,	,	PUNCT
ap-1684	343	5	the	the	DET
ap-1684	343	6	optimization	optimization	NOUN
ap-1684	343	7	task	task	NOUN
ap-1684	343	8	is	be	AUX
ap-1684	343	9	as	as	SCONJ
ap-1684	343	10	follows	follow	VERB
ap-1684	343	11	:	:	PUNCT
ap-1684	343	12			NOUN
ap-1684	343	13			SYM
ap-1684	343	14	min	min	NOUN
ap-1684	343	15	2	2	NUM
ap-1684	343	16	1	1	NUM
ap-1684	343	17			NOUN
ap-1684	343	18			PROPN
ap-1684	343	19	n	n	NUM
ap-1684	343	20	i	i	NOUN
ap-1684	343	21	ii	ii	VERB
ap-1684	343	22	'	'	NOUN
ap-1684	343	23	f	f	PROPN
ap-1684	343	24			PROPN
ap-1684	343	25	,	,	PUNCT
ap-1684	343	26	(	(	PUNCT
ap-1684	343	27	21	21	NUM
ap-1684	343	28	)	)	PUNCT
ap-1684	343	29	where	where	SCONJ
ap-1684	343	30	the	the	DET
ap-1684	343	31	optimization	optimization	NOUN
ap-1684	343	32	parameters	parameter	NOUN
ap-1684	343	33	are	be	AUX
ap-1684	343	34	:	:	PUNCT
ap-1684	343	35	xa	xa	PROPN
ap-1684	343	36	,	,	PUNCT
ap-1684	343	37	ya	ya	PROPN
ap-1684	343	38	,	,	PUNCT
ap-1684	343	39	za	za	PROPN
ap-1684	343	40	,	,	PUNCT
ap-1684	343	41	lbd	lbd	PROPN
ap-1684	343	42	,	,	PUNCT
ap-1684	343	43	lcd	lcd	NOUN
ap-1684	343	44	and	and	CCONJ
ap-1684	343	45	yd	yd	NOUN
ap-1684	343	46	and	and	CCONJ
ap-1684	343	47	where	where	SCONJ
ap-1684	343	48	ψi	ψi	NOUN
ap-1684	343	49	is	be	AUX
ap-1684	343	50	given	give	VERB
ap-1684	343	51	.	.	PUNCT
ap-1684	344	1	parameters	parameter	NOUN
ap-1684	344	2	qi	qi	PROPN
ap-1684	344	3	again	again	ADV
ap-1684	344	4	denote	denote	VERB
ap-1684	344	5	the	the	DET
ap-1684	344	6	penalization	penalization	NOUN
ap-1684	344	7	coefficients	coefficient	NOUN
ap-1684	344	8	.	.	PUNCT
ap-1684	345	1	the	the	DET
ap-1684	345	2	associated	associated	ADJ
ap-1684	345	3	dynamical	dynamical	ADJ
ap-1684	345	4	dissipative	dissipative	NOUN
ap-1684	345	5	system	system	NOUN
ap-1684	345	6	consists	consist	VERB
ap-1684	345	7	of	of	ADP
ap-1684	345	8	n	n	NOUN
ap-1684	345	9	subsystems	subsystem	NOUN
ap-1684	345	10	for	for	ADP
ap-1684	345	11	the	the	DET
ap-1684	345	12	individual	individual	ADJ
ap-1684	345	13	required	require	VERB
ap-1684	345	14	positions	position	NOUN
ap-1684	345	15	of	of	ADP
ap-1684	345	16	the	the	DET
ap-1684	345	17	transmission	transmission	NOUN
ap-1684	345	18	mechanism	mechanism	NOUN
ap-1684	345	19	.	.	PUNCT
ap-1684	346	1	the	the	DET
ap-1684	346	2	masses	masse	NOUN
ap-1684	346	3	mai	mai	PROPN
ap-1684	346	4	,	,	PUNCT
ap-1684	346	5	mbi	mbi	PROPN
ap-1684	346	6	,	,	PUNCT
ap-1684	346	7	mdi	mdi	PROPN
ap-1684	346	8	are	be	AUX
ap-1684	346	9	introduced	introduce	VERB
ap-1684	346	10	at	at	ADP
ap-1684	346	11	points	point	NOUN
ap-1684	346	12	ai	ai	VERB
ap-1684	346	13	,	,	PUNCT
ap-1684	346	14	bi	bi	NOUN
ap-1684	346	15	,	,	PUNCT
ap-1684	346	16	di	di	NOUN
ap-1684	346	17	and	and	CCONJ
ap-1684	346	18	act	act	VERB
ap-1684	346	19	in	in	ADP
ap-1684	346	20	the	the	DET
ap-1684	346	21	coordinates	coordinate	NOUN
ap-1684	346	22	x	x	NOUN
ap-1684	346	23	,	,	PUNCT
ap-1684	346	24	y	y	PROPN
ap-1684	346	25	,	,	PUNCT
ap-1684	346	26	z.	z.	PROPN
ap-1684	347	1	the	the	DET
ap-1684	347	2	interactions	interaction	NOUN
ap-1684	347	3	between	between	ADP
ap-1684	347	4	the	the	DET
ap-1684	347	5	subsystems	subsystem	NOUN
ap-1684	347	6	are	be	AUX
ap-1684	347	7	ensured	ensure	VERB
ap-1684	347	8	by	by	ADP
ap-1684	347	9	forces	force	NOUN
ap-1684	347	10	of	of	ADP
ap-1684	347	11	a	a	DET
ap-1684	347	12	linear	linear	ADJ
ap-1684	347	13	spring	spring	NOUN
ap-1684	347	14	nature	nature	NOUN
ap-1684	347	15	.	.	PUNCT
ap-1684	348	1	a	a	DET
ap-1684	348	2	nonzero	nonzero	ADJ
ap-1684	348	3	force	force	NOUN
ap-1684	348	4	acts	act	VERB
ap-1684	348	5	into	into	ADP
ap-1684	348	6	the	the	DET
ap-1684	348	7	relevant	relevant	ADJ
ap-1684	348	8	masses	masse	NOUN
ap-1684	348	9	whenever	whenever	SCONJ
ap-1684	348	10	the	the	DET
ap-1684	348	11	corresponding	corresponding	ADJ
ap-1684	348	12	dimension	dimension	NOUN
ap-1684	348	13	differs	differ	VERB
ap-1684	348	14	between	between	ADP
ap-1684	348	15	subsystems	subsystem	NOUN
ap-1684	349	1	i	i	PRON
ap-1684	349	2	and	and	CCONJ
ap-1684	349	3	j	j	PROPN
ap-1684	349	4	(	(	PUNCT
ap-1684	349	5	i	i	PROPN
ap-1684	349	6	,	,	PUNCT
ap-1684	349	7	j	j	PROPN
ap-1684	349	8	=	=	SYM
ap-1684	349	9	1,2,	1,2,	PROPN
ap-1684	349	10	…	…	SYM
ap-1684	349	11	.n	.n	ADJ
ap-1684	349	12	)	)	PUNCT
ap-1684	349	13	.	.	PUNCT
ap-1684	350	1	stabilization	stabilization	NOUN
ap-1684	350	2	of	of	ADP
ap-1684	350	3	the	the	DET
ap-1684	350	4	whole	whole	ADJ
ap-1684	350	5	system	system	NOUN
ap-1684	350	6	is	be	AUX
ap-1684	350	7	ensured	ensure	VERB
ap-1684	350	8	by	by	ADP
ap-1684	350	9	the	the	DET
ap-1684	350	10	damper	damper	NOUN
ap-1684	350	11	elements	element	NOUN
ap-1684	350	12	between	between	ADP
ap-1684	350	13	the	the	DET
ap-1684	350	14	masses	masse	NOUN
ap-1684	350	15	and	and	CCONJ
ap-1684	350	16	the	the	DET
ap-1684	350	17	inertial	inertial	ADJ
ap-1684	350	18	frame	frame	NOUN
ap-1684	350	19	,	,	PUNCT
ap-1684	350	20	according	accord	VERB
ap-1684	350	21	to	to	ADP
ap-1684	350	22	the	the	DET
ap-1684	350	23	sky	sky	NOUN
ap-1684	350	24	-	-	PUNCT
ap-1684	350	25	hook	hook	NOUN
ap-1684	350	26	idea	idea	NOUN
ap-1684	351	1	[	[	X
ap-1684	351	2	20	20	NUM
ap-1684	351	3	]	]	PUNCT
ap-1684	351	4	or	or	CCONJ
ap-1684	351	5	[	[	X
ap-1684	351	6	21	21	NUM
ap-1684	351	7	]	]	PUNCT
ap-1684	351	8	.	.	PUNCT
ap-1684	352	1	the	the	DET
ap-1684	352	2	idea	idea	NOUN
ap-1684	352	3	of	of	ADP
ap-1684	352	4	the	the	DET
ap-1684	352	5	transformation	transformation	NOUN
ap-1684	352	6	is	be	AUX
ap-1684	352	7	presented	present	VERB
ap-1684	352	8	in	in	ADP
ap-1684	352	9	fig	fig	NOUN
ap-1684	352	10	.	.	PUNCT
ap-1684	353	1	10	10	NUM
ap-1684	353	2	.	.	PUNCT
ap-1684	354	1	in	in	ADP
ap-1684	354	2	spite	spite	NOUN
ap-1684	354	3	of	of	ADP
ap-1684	354	4	the	the	DET
ap-1684	354	5	simple	simple	ADJ
ap-1684	354	6	formulation	formulation	NOUN
ap-1684	354	7	of	of	ADP
ap-1684	354	8	this	this	DET
ap-1684	354	9	example	example	NOUN
ap-1684	354	10	,	,	PUNCT
ap-1684	354	11	only	only	ADV
ap-1684	354	12	using	use	VERB
ap-1684	354	13	three	three	NUM
ap-1684	354	14	mass	mass	ADJ
ap-1684	354	15	points	point	NOUN
ap-1684	354	16	,	,	PUNCT
ap-1684	354	17	the	the	DET
ap-1684	354	18	3d	3d	ADJ
ap-1684	354	19	examples	example	NOUN
ap-1684	354	20	with	with	ADP
ap-1684	354	21	difficult	difficult	ADJ
ap-1684	354	22	constraints	constraint	NOUN
ap-1684	354	23	drive	drive	VERB
ap-1684	354	24	us	we	PRON
ap-1684	354	25	to	to	PART
ap-1684	354	26	formulate	formulate	VERB
ap-1684	354	27	the	the	DET
ap-1684	354	28	dynamical	dynamical	ADJ
ap-1684	354	29	equations	equation	NOUN
ap-1684	354	30	by	by	ADP
ap-1684	354	31	means	mean	NOUN
ap-1684	354	32	of	of	ADP
ap-1684	354	33	lagrange	lagrange	ADJ
ap-1684	354	34	equations	equation	NOUN
ap-1684	354	35	of	of	ADP
ap-1684	354	36	mixed	mixed	ADJ
ap-1684	354	37	type	type	NOUN
ap-1684	354	38	.	.	PUNCT
ap-1684	355	1	the	the	DET
ap-1684	355	2	greatest	great	ADJ
ap-1684	355	3	difference	difference	NOUN
ap-1684	355	4	that	that	PRON
ap-1684	355	5	occurs	occur	VERB
ap-1684	355	6	in	in	ADP
ap-1684	355	7	comparison	comparison	NOUN
ap-1684	355	8	with	with	ADP
ap-1684	355	9	simple	simple	ADJ
ap-1684	355	10	planar	planar	ADJ
ap-1684	355	11	structures	structure	NOUN
ap-1684	355	12	is	be	AUX
ap-1684	355	13	the	the	DET
ap-1684	355	14	difficulty	difficulty	NOUN
ap-1684	355	15	of	of	ADP
ap-1684	355	16	formulating	formulate	VERB
ap-1684	355	17	the	the	DET
ap-1684	355	18	dynamical	dynamical	ADJ
ap-1684	355	19	system	system	NOUN
ap-1684	355	20	.	.	PUNCT
ap-1684	356	1	with	with	ADP
ap-1684	356	2	simple	simple	ADJ
ap-1684	356	3	planar	planar	ADJ
ap-1684	356	4	mechanisms	mechanism	NOUN
ap-1684	356	5	,	,	PUNCT
ap-1684	356	6	the	the	DET
ap-1684	356	7	dynamical	dynamical	ADJ
ap-1684	356	8	equation	equation	NOUN
ap-1684	356	9	in	in	ADP
ap-1684	356	10	direct	direct	ADJ
ap-1684	356	11	form	form	NOUN
ap-1684	356	12	can	can	AUX
ap-1684	356	13	best	well	ADV
ap-1684	356	14	be	be	AUX
ap-1684	356	15	formulated	formulate	VERB
ap-1684	356	16	using	use	VERB
ap-1684	356	17	the	the	DET
ap-1684	356	18	newton	newton	PROPN
ap-1684	356	19	equations	equation	NOUN
ap-1684	356	20	.	.	PUNCT
ap-1684	357	1	mai	mai	PROPN
ap-1684	357	2	ψi	ψi	PROPN
ap-1684	357	3	mbi	mbi	PROPN
ap-1684	357	4	c	c	PROPN
ap-1684	357	5	fldci	fldci	PROPN
ap-1684	357	6	mdi	mdi	PROPN
ap-1684	357	7	φi	φi	PROPN
ap-1684	357	8	y	y	PROPN
ap-1684	357	9	x	x	PROPN
ap-1684	357	10	z	z	NOUN
ap-1684	357	11	fxai	fxai	PROPN
ap-1684	357	12	fldbi	fldbi	NOUN
ap-1684	357	13	fyai	fyai	NOUN
ap-1684	357	14	bzai	bzai	PROPN
ap-1684	357	15	byai	byai	PROPN
ap-1684	357	16	bxai	bxai	PROPN
ap-1684	357	17	bybi	bybi	PROPN
ap-1684	357	18	bxai	bxai	PROPN
ap-1684	357	19	bzai	bzai	PROPN
ap-1684	357	20	fldbi	fldbi	NOUN
ap-1684	357	21	bzdi	bzdi	NOUN
ap-1684	357	22	fydi	fydi	VERB
ap-1684	357	23	bydi	bydi	PROPN
ap-1684	357	24	bxdi	bxdi	PROPN
ap-1684	357	25	fig	fig	PROPN
ap-1684	357	26	.	.	PUNCT
ap-1684	358	1	10	10	NUM
ap-1684	358	2	:	:	PUNCT
ap-1684	358	3	associated	associate	VERB
ap-1684	358	4	system	system	NOUN
ap-1684	358	5	of	of	ADP
ap-1684	358	6	the	the	DET
ap-1684	358	7	rssr	rssr	ADJ
ap-1684	358	8	mechanism	mechanism	NOUN
ap-1684	358	9	figure	figure	NOUN
ap-1684	358	10	10	10	NUM
ap-1684	358	11	:	:	PUNCT
ap-1684	358	12	associated	associated	ADJ
ap-1684	358	13	system	system	NOUN
ap-1684	358	14	of	of	ADP
ap-1684	358	15	the	the	DET
ap-1684	358	16	rssr	rssr	ADJ
ap-1684	358	17	mechanism	mechanism	NOUN
ap-1684	358	18	.	.	PUNCT
ap-1684	359	1	the	the	DET
ap-1684	359	2	lengths	length	NOUN
ap-1684	359	3	(	(	PUNCT
ap-1684	359	4	22	22	NUM
ap-1684	359	5	)	)	PUNCT
ap-1684	359	6	and	and	CCONJ
ap-1684	359	7	the	the	DET
ap-1684	359	8	vectors	vector	NOUN
ap-1684	359	9	(	(	PUNCT
ap-1684	359	10	23	23	X
ap-1684	359	11	)	)	PUNCT
ap-1684	359	12	help	help	NOUN
ap-1684	359	13	in	in	ADP
ap-1684	359	14	formulating	formulate	VERB
ap-1684	359	15	the	the	DET
ap-1684	359	16	forces	force	NOUN
ap-1684	359	17	that	that	PRON
ap-1684	359	18	act	act	VERB
ap-1684	359	19	in	in	ADP
ap-1684	359	20	the	the	DET
ap-1684	359	21	dynamical	dynamical	ADJ
ap-1684	359	22	system	system	NOUN
ap-1684	359	23	.	.	PUNCT
ap-1684	360	1	in	in	ADP
ap-1684	360	2	addition	addition	NOUN
ap-1684	360	3	,	,	PUNCT
ap-1684	360	4	the	the	DET
ap-1684	360	5	constraints	constraint	NOUN
ap-1684	360	6	(	(	PUNCT
ap-1684	360	7	20	20	NUM
ap-1684	360	8	)	)	PUNCT
ap-1684	360	9	have	have	AUX
ap-1684	360	10	been	be	AUX
ap-1684	360	11	changed	change	VERB
ap-1684	360	12	into	into	ADP
ap-1684	360	13	the	the	DET
ap-1684	360	14	form	form	NOUN
ap-1684	360	15	cosψ	cosψ	NOUN
ap-1684	360	16	=	=	PUNCT
ap-1684	360	17	zb	zb	PROPN
ap-1684	360	18	−	−	NOUN
ap-1684	360	19	za√	za√	NOUN
ap-1684	360	20	(	(	PUNCT
ap-1684	360	21	xb	xb	PROPN
ap-1684	360	22	−	−	PROPN
ap-1684	360	23	xa)2	xa)2	PROPN
ap-1684	361	1	+	+	CCONJ
ap-1684	361	2	(	(	PUNCT
ap-1684	361	3	yb	yb	INTJ
ap-1684	361	4	−	−	PROPN
ap-1684	361	5	ya)2	ya)2	PROPN
ap-1684	361	6	+	+	CCONJ
ap-1684	361	7	(	(	PUNCT
ap-1684	361	8	zb	zb	AUX
ap-1684	361	9	−	−	PROPN
ap-1684	361	10	za)2	za)2	PROPN
ap-1684	361	11	,	,	PUNCT
ap-1684	361	12	cosϕ	cosϕ	NOUN
ap-1684	361	13	=	=	SYM
ap-1684	361	14	xd√	xd√	PUNCT
ap-1684	362	1	x2	x2	PROPN
ap-1684	363	1	d	d	PROPN
ap-1684	364	1	+	+	PUNCT
ap-1684	364	2	z2	z2	PROPN
ap-1684	364	3	d	d	PROPN
ap-1684	364	4	,	,	PUNCT
ap-1684	364	5	(	(	PUNCT
ap-1684	364	6	24	24	NUM
ap-1684	364	7	)	)	PUNCT
ap-1684	364	8	`	`	PUNCT
ap-1684	364	9	ab	ab	PROPN
ap-1684	364	10	=	=	PUNCT
ap-1684	364	11	√	√	PROPN
ap-1684	364	12	(	(	PUNCT
ap-1684	364	13	xb	xb	PROPN
ap-1684	364	14	−	−	PROPN
ap-1684	364	15	xa)2	xa)2	PROPN
ap-1684	365	1	+	+	CCONJ
ap-1684	365	2	(	(	PUNCT
ap-1684	365	3	yb	yb	INTJ
ap-1684	365	4	−	−	PROPN
ap-1684	365	5	ya)2	ya)2	PROPN
ap-1684	365	6	+	+	CCONJ
ap-1684	365	7	(	(	PUNCT
ap-1684	365	8	zb	zb	NOUN
ap-1684	365	9	−	−	PROPN
ap-1684	365	10	za)2	za)2	PROPN
ap-1684	365	11	,	,	PUNCT
ap-1684	365	12	0	0	PUNCT
ap-1684	365	13	=	=	PUNCT
ap-1684	366	1	xa(xb	xa(xb	PROPN
ap-1684	366	2	−	−	PROPN
ap-1684	366	3	xa	xa	PROPN
ap-1684	366	4	)	)	PUNCT
ap-1684	367	1	+	+	CCONJ
ap-1684	367	2	ya(yb	ya(yb	PROPN
ap-1684	367	3	−	−	PROPN
ap-1684	367	4	ya	ya	PROPN
ap-1684	367	5	)	)	PUNCT
ap-1684	367	6	,	,	PUNCT
ap-1684	367	7	ϕi	ϕi	ADP
ap-1684	367	8	=	=	ADJ
ap-1684	367	9	const	const	PROPN
ap-1684	367	10	.	.	PUNCT
ap-1684	367	11	,	,	PUNCT
ap-1684	367	12	ψi	ψi	ADV
ap-1684	367	13	=	=	SYM
ap-1684	367	14	const	const	ADJ
ap-1684	367	15	.	.	PUNCT
ap-1684	368	1	in	in	ADP
ap-1684	368	2	order	order	NOUN
ap-1684	368	3	to	to	PART
ap-1684	368	4	describe	describe	VERB
ap-1684	368	5	the	the	DET
ap-1684	368	6	general	general	ADJ
ap-1684	368	7	transmission	transmission	NOUN
ap-1684	368	8	synthesis	synthesis	NOUN
ap-1684	368	9	of	of	ADP
ap-1684	368	10	this	this	DET
ap-1684	368	11	mechanism	mechanism	NOUN
ap-1684	368	12	,	,	PUNCT
ap-1684	368	13	let	let	VERB
ap-1684	368	14	us	we	PRON
ap-1684	368	15	take	take	VERB
ap-1684	368	16	i	i	NOUN
ap-1684	368	17	=	=	NOUN
ap-1684	368	18	1	1	NUM
ap-1684	368	19	,	,	PUNCT
ap-1684	368	20	2	2	NUM
ap-1684	368	21	,	,	PUNCT
ap-1684	368	22	.	.	PUNCT
ap-1684	368	23	.	.	PUNCT
ap-1684	369	1	.	.	PUNCT
ap-1684	370	1	,	,	PUNCT
ap-1684	370	2	n	n	PRON
ap-1684	370	3	required	require	VERB
ap-1684	370	4	transmissions	transmission	NOUN
ap-1684	370	5	and	and	CCONJ
ap-1684	370	6	thus	thus	ADV
ap-1684	370	7	n	n	PRON
ap-1684	370	8	required	require	VERB
ap-1684	370	9	subsystems	subsystem	NOUN
ap-1684	370	10	of	of	ADP
ap-1684	370	11	the	the	DET
ap-1684	370	12	dynamical	dynamical	ADJ
ap-1684	370	13	system	system	NOUN
ap-1684	370	14	.	.	PUNCT
ap-1684	371	1	the	the	DET
ap-1684	371	2	dynamical	dynamical	ADJ
ap-1684	371	3	equations	equation	NOUN
ap-1684	371	4	and	and	CCONJ
ap-1684	371	5	the	the	DET
ap-1684	371	6	constraints	constraint	NOUN
ap-1684	371	7	are	be	AUX
ap-1684	371	8	identical	identical	ADJ
ap-1684	371	9	for	for	ADP
ap-1684	371	10	each	each	DET
ap-1684	371	11	subsystem	subsystem	NOUN
ap-1684	371	12	.	.	PUNCT
ap-1684	372	1	the	the	DET
ap-1684	372	2	forces	force	NOUN
ap-1684	372	3	that	that	PRON
ap-1684	372	4	act	act	VERB
ap-1684	372	5	in	in	ADP
ap-1684	372	6	dynamical	dynamical	ADJ
ap-1684	372	7	subsystem	subsystem	NOUN
ap-1684	372	8	i	i	PRON
ap-1684	372	9	are	be	AUX
ap-1684	372	10	fxai	fxai	PROPN
ap-1684	372	11	=	=	SYM
ap-1684	372	12	n∑	n∑	PROPN
ap-1684	372	13	j=1	j=1	PROPN
ap-1684	372	14	k(xai	k(xai	NOUN
ap-1684	372	15	−	−	PROPN
ap-1684	372	16	xaj	xaj	PROPN
ap-1684	372	17	)	)	PUNCT
ap-1684	372	18	,	,	PUNCT
ap-1684	372	19	fyai	fyai	NOUN
ap-1684	372	20	=	=	SYM
ap-1684	373	1	n∑	n∑	NOUN
ap-1684	373	2	j=1	j=1	NOUN
ap-1684	373	3	k(yai	k(yai	NOUN
ap-1684	373	4	−	−	PROPN
ap-1684	373	5	yaj	yaj	NOUN
ap-1684	373	6	)	)	PUNCT
ap-1684	373	7	,	,	PUNCT
ap-1684	373	8	fzai	fzai	NOUN
ap-1684	374	1	=	=	SYM
ap-1684	374	2	n∑	n∑	NOUN
ap-1684	374	3	j=1	j=1	PROPN
ap-1684	374	4	k(zai	k(zai	ADP
ap-1684	374	5	−	−	PROPN
ap-1684	374	6	zaj	zaj	X
ap-1684	374	7	)	)	PUNCT
ap-1684	374	8	,	,	PUNCT
ap-1684	374	9	f`dbi	f`dbi	NOUN
ap-1684	374	10	=	=	SYM
ap-1684	374	11	n∑	n∑	NOUN
ap-1684	374	12	j=1	j=1	PROPN
ap-1684	375	1	k(`dbi	k(`dbi	PRON
ap-1684	375	2	−	−	PROPN
ap-1684	375	3	`	`	PUNCT
ap-1684	375	4	dbj	dbj	NOUN
ap-1684	375	5	)	)	PUNCT
ap-1684	375	6	,	,	PUNCT
ap-1684	375	7	(	(	PUNCT
ap-1684	375	8	25	25	NUM
ap-1684	375	9	)	)	PUNCT
ap-1684	375	10	f`dci	f`dci	VERB
ap-1684	375	11	=	=	SYM
ap-1684	376	1	n∑	n∑	PROPN
ap-1684	376	2	j=1	j=1	PROPN
ap-1684	377	1	k(`dci	k(`dci	PROPN
ap-1684	377	2	−	−	PROPN
ap-1684	377	3	`	`	PUNCT
ap-1684	377	4	dcj	dcj	PROPN
ap-1684	377	5	)	)	PUNCT
ap-1684	377	6	,	,	PUNCT
ap-1684	377	7	fydi	fydi	VERB
ap-1684	377	8	=	=	SYM
ap-1684	377	9	n∑	n∑	PUNCT
ap-1684	377	10	j=1	j=1	PROPN
ap-1684	378	1	k(ydi	k(ydi	PROPN
ap-1684	378	2	−	−	PROPN
ap-1684	378	3	ydj	ydj	NOUN
ap-1684	378	4	)	)	PUNCT
ap-1684	378	5	,	,	PUNCT
ap-1684	378	6	bxai	bxai	NOUN
ap-1684	378	7	=	=	SYM
ap-1684	378	8	bẋai	bẋai	NOUN
ap-1684	378	9	,	,	PUNCT
ap-1684	378	10	byai	byai	NOUN
ap-1684	378	11	=	=	SYM
ap-1684	378	12	bẏai	bẏai	PROPN
ap-1684	378	13	,	,	PUNCT
ap-1684	378	14	bzai	bzai	NOUN
ap-1684	378	15	=	=	SYM
ap-1684	378	16	bżai	bżai	PROPN
ap-1684	378	17	,	,	PUNCT
ap-1684	378	18	bxbi	bxbi	NOUN
ap-1684	378	19	=	=	NOUN
ap-1684	378	20	bẋbi	bẋbi	PROPN
ap-1684	378	21	,	,	PUNCT
ap-1684	378	22	bybi	bybi	X
ap-1684	378	23	=	=	SYM
ap-1684	378	24	bẏbi	bẏbi	PROPN
ap-1684	378	25	,	,	PUNCT
ap-1684	378	26	bzbi	bzbi	NOUN
ap-1684	378	27	=	=	PUNCT
ap-1684	378	28	bżbi	bżbi	PROPN
ap-1684	378	29	,	,	PUNCT
ap-1684	378	30	bxci	bxci	PROPN
ap-1684	378	31	=	=	SYM
ap-1684	378	32	bẋci	bẋci	PROPN
ap-1684	378	33	,	,	PUNCT
ap-1684	378	34	byci	byci	NOUN
ap-1684	378	35	=	=	SYM
ap-1684	378	36	bẏci	bẏci	ADJ
ap-1684	378	37	,	,	PUNCT
ap-1684	378	38	bzci	bzci	NOUN
ap-1684	378	39	=	=	SYM
ap-1684	378	40	bżci	bżci	PROPN
ap-1684	378	41	.	.	PUNCT
ap-1684	379	1	this	this	PRON
ap-1684	379	2	means	mean	VERB
ap-1684	379	3	that	that	SCONJ
ap-1684	379	4	for	for	ADP
ap-1684	379	5	each	each	DET
ap-1684	379	6	mechanism	mechanism	NOUN
ap-1684	379	7	position	position	NOUN
ap-1684	379	8	i	i	PRON
ap-1684	379	9	the	the	DET
ap-1684	379	10	equations	equation	NOUN
ap-1684	379	11	take	take	VERB
ap-1684	379	12	into	into	ADP
ap-1684	379	13	account	account	NOUN
ap-1684	379	14	all	all	DET
ap-1684	379	15	the	the	DET
ap-1684	379	16	other	other	ADJ
ap-1684	379	17	forces	force	NOUN
ap-1684	379	18	connecting	connect	VERB
ap-1684	379	19	with	with	ADP
ap-1684	379	20	the	the	DET
ap-1684	379	21	other	other	ADJ
ap-1684	379	22	positions	position	NOUN
ap-1684	379	23	j	j	PROPN
ap-1684	379	24	of	of	ADP
ap-1684	379	25	the	the	DET
ap-1684	379	26	mechanism	mechanism	NOUN
ap-1684	379	27	.	.	PUNCT
ap-1684	380	1	therefore	therefore	ADV
ap-1684	380	2	the	the	DET
ap-1684	380	3	system	system	NOUN
ap-1684	380	4	forms	form	VERB
ap-1684	380	5	altogether	altogether	ADV
ap-1684	380	6	2n	2n	NUM
ap-1684	380	7	equations	equation	NOUN
ap-1684	380	8	.	.	PUNCT
ap-1684	381	1	the	the	DET
ap-1684	381	2	mechanism	mechanism	NOUN
ap-1684	381	3	dimensions	dimension	NOUN
ap-1684	381	4	are	be	AUX
ap-1684	381	5	evaluated	evaluate	VERB
ap-1684	381	6	from	from	ADP
ap-1684	381	7	the	the	DET
ap-1684	381	8	coordinates	coordinate	NOUN
ap-1684	381	9	as	as	SCONJ
ap-1684	381	10	follows	follow	VERB
ap-1684	381	11	`	`	PUNCT
ap-1684	381	12	dbi	dbi	PROPN
ap-1684	381	13	=	=	SYM
ap-1684	381	14	√	√	PROPN
ap-1684	381	15	(	(	PUNCT
ap-1684	381	16	xdi−xbi)2	xdi−xbi)2	PROPN
ap-1684	382	1	+	+	CCONJ
ap-1684	382	2	(	(	PUNCT
ap-1684	382	3	ydi−ybi)2	ydi−ybi)2	NOUN
ap-1684	382	4	+	+	X
ap-1684	382	5	(	(	PUNCT
ap-1684	382	6	zdi−zbi)2	zdi−zbi)2	NOUN
ap-1684	382	7	,	,	PUNCT
ap-1684	382	8	`	`	PUNCT
ap-1684	382	9	di	di	X
ap-1684	382	10	=	=	SYM
ap-1684	382	11	√	√	PROPN
ap-1684	382	12	x2	x2	PROPN
ap-1684	382	13	di	di	PROPN
ap-1684	382	14	+	+	CCONJ
ap-1684	382	15	z2	z2	PROPN
ap-1684	382	16	di	di	NOUN
ap-1684	382	17	.	.	PUNCT
ap-1684	383	1	(	(	PUNCT
ap-1684	383	2	26	26	NUM
ap-1684	383	3	)	)	PUNCT
ap-1684	383	4	the	the	DET
ap-1684	383	5	final	final	ADJ
ap-1684	383	6	dynamical	dynamical	ADJ
ap-1684	383	7	equations	equation	NOUN
ap-1684	383	8	for	for	ADP
ap-1684	383	9	the	the	DET
ap-1684	383	10	mass	mass	ADJ
ap-1684	383	11	particles	particle	NOUN
ap-1684	383	12	in	in	ADP
ap-1684	383	13	points	point	NOUN
ap-1684	383	14	a	a	DET
ap-1684	383	15	,	,	PUNCT
ap-1684	383	16	b	b	NOUN
ap-1684	383	17	and	and	CCONJ
ap-1684	383	18	d	d	PROPN
ap-1684	383	19	for	for	ADP
ap-1684	383	20	dynamical	dynamical	ADJ
ap-1684	383	21	subsystem	subsystem	NOUN
ap-1684	383	22	i	i	PRON
ap-1684	383	23	,	,	PUNCT
ap-1684	383	24	together	together	ADV
ap-1684	383	25	with	with	ADP
ap-1684	383	26	the	the	DET
ap-1684	383	27	algebraic	algebraic	ADJ
ap-1684	383	28	equations	equation	NOUN
ap-1684	383	29	,	,	PUNCT
ap-1684	383	30	are	be	AUX
ap-1684	383	31	as	as	SCONJ
ap-1684	383	32	follows	follow	VERB
ap-1684	383	33	maẍai	maẍai	PROPN
ap-1684	383	34	=	=	SYM
ap-1684	383	35	−fxai	−fxai	NOUN
ap-1684	383	36	−bxai	−bxai	NOUN
ap-1684	383	37	,	,	PUNCT
ap-1684	383	38	maÿai	maÿai	PROPN
ap-1684	383	39	=	=	PUNCT
ap-1684	384	1	−fyai	−fyai	X
ap-1684	384	2	−byai	−byai	ADP
ap-1684	384	3	,	,	PUNCT
ap-1684	384	4	maz̈ai	maz̈ai	PROPN
ap-1684	384	5	=	=	PUNCT
ap-1684	384	6	−fzai	−fzai	ADP
ap-1684	384	7	−bzai	−bzai	PROPN
ap-1684	384	8	,	,	PUNCT
ap-1684	384	9	mbẍbi	mbẍbi	PROPN
ap-1684	384	10	=	=	PRON
ap-1684	384	11	f`dbivecxdb	f`dbivecxdb	PROPN
ap-1684	384	12	−bxbi	−bxbi	PROPN
ap-1684	384	13	,	,	PUNCT
ap-1684	384	14	mb	mb	ADP
ap-1684	384	15	ÿbi	ÿbi	NOUN
ap-1684	385	1	=	=	SYM
ap-1684	385	2	f`dbivecydb	f`dbivecydb	VERB
ap-1684	385	3	−bybi	−bybi	PROPN
ap-1684	385	4	,	,	PUNCT
ap-1684	385	5	mb	mb	ADP
ap-1684	385	6	z̈bi	z̈bi	PROPN
ap-1684	385	7	=	=	SYM
ap-1684	385	8	f`dbiveczdb	f`dbiveczdb	NOUN
ap-1684	385	9	−bzbi	−bzbi	PROPN
ap-1684	385	10	,	,	PUNCT
ap-1684	385	11	(	(	PUNCT
ap-1684	385	12	27	27	NUM
ap-1684	385	13	)	)	PUNCT
ap-1684	385	14	mdẍdi	mdẍdi	NOUN
ap-1684	385	15	=	=	PUNCT
ap-1684	386	1	−f`dbivecxdb	−f`dbivecxdb	NUM
ap-1684	386	2	−	−	PROPN
ap-1684	386	3	f`dcivecxdc	f`dcivecxdc	PROPN
ap-1684	386	4	−bxbi	−bxbi	NOUN
ap-1684	386	5	,	,	PUNCT
ap-1684	386	6	mdÿdi	mdÿdi	PUNCT
ap-1684	387	1	=	=	PRON
ap-1684	387	2	−f`dbivecydb	−f`dbivecydb	PROPN
ap-1684	387	3	−	−	PROPN
ap-1684	387	4	fydi	fydi	VERB
ap-1684	387	5	−bybi	−bybi	PROPN
ap-1684	387	6	,	,	PUNCT
ap-1684	387	7	md	md	PROPN
ap-1684	387	8	z̈di	z̈di	NOUN
ap-1684	387	9	=	=	SYM
ap-1684	387	10	−f`dbiveczdb	−f`dbiveczdb	NUM
ap-1684	387	11	−	−	PROPN
ap-1684	387	12	f`dciveczdc	f`dciveczdc	NOUN
ap-1684	387	13	−bzbi	−bzbi	PROPN
ap-1684	387	14	,	,	PUNCT
ap-1684	387	15	ϕi	ϕi	ADP
ap-1684	387	16	=	=	ADJ
ap-1684	387	17	const	const	PROPN
ap-1684	387	18	.	.	PUNCT
ap-1684	387	19	,	,	PUNCT
ap-1684	387	20	ψi	ψi	ADP
ap-1684	387	21	=	=	SYM
ap-1684	387	22	const	const	PROPN
ap-1684	387	23	.	.	PUNCT
ap-1684	387	24	,	,	PUNCT
ap-1684	387	25	where	where	SCONJ
ap-1684	387	26	the	the	DET
ap-1684	387	27	integrated	integrated	ADJ
ap-1684	387	28	coordinates	coordinate	NOUN
ap-1684	387	29	are	be	AUX
ap-1684	387	30	ẍai	ẍai	PRON
ap-1684	387	31	,	,	PUNCT
ap-1684	387	32	ÿai	ÿai	PRON
ap-1684	387	33	,	,	PUNCT
ap-1684	387	34	z̈ai	z̈ai	PROPN
ap-1684	387	35	,	,	PUNCT
ap-1684	387	36	ẍbi	ẍbi	NUM
ap-1684	387	37	,	,	PUNCT
ap-1684	387	38	ÿbi	ÿbi	X
ap-1684	387	39	,	,	PUNCT
ap-1684	387	40	z̈bi	z̈bi	NOUN
ap-1684	387	41	,	,	PUNCT
ap-1684	387	42	ẍci	ẍci	PROPN
ap-1684	387	43	,	,	PUNCT
ap-1684	387	44	ÿci	ÿci	PROPN
ap-1684	387	45	,	,	PUNCT
ap-1684	387	46	z̈ci	z̈ci	PROPN
ap-1684	387	47	.	.	PUNCT
ap-1684	388	1	the	the	DET
ap-1684	388	2	simulation	simulation	NOUN
ap-1684	388	3	started	start	VERB
ap-1684	388	4	from	from	ADP
ap-1684	388	5	some	some	DET
ap-1684	388	6	randomly	randomly	ADV
ap-1684	388	7	generated	generate	VERB
ap-1684	388	8	initial	initial	ADJ
ap-1684	388	9	positions	position	NOUN
ap-1684	388	10	xa	xa	PROPN
ap-1684	388	11	,	,	PUNCT
ap-1684	388	12	ya	ya	PROPN
ap-1684	388	13	,	,	PUNCT
ap-1684	388	14	za	za	PROPN
ap-1684	388	15	,	,	PUNCT
ap-1684	388	16	xb	xb	PROPN
ap-1684	388	17	,	,	PUNCT
ap-1684	388	18	yb	yb	PROPN
ap-1684	388	19	,	,	PUNCT
ap-1684	388	20	zb	zb	PROPN
ap-1684	388	21	,	,	PUNCT
ap-1684	388	22	xd	xd	INTJ
ap-1684	388	23	,	,	PUNCT
ap-1684	388	24	90	90	NUM
ap-1684	388	25	acta	acta	PROPN
ap-1684	388	26	polytechnica	polytechnica	PROPN
ap-1684	388	27	vol	vol	NOUN
ap-1684	388	28	.	.	PROPN
ap-1684	389	1	52	52	NUM
ap-1684	389	2	no	no	NOUN
ap-1684	389	3	.	.	PUNCT
ap-1684	390	1	6/2012	6/2012	NUM
ap-1684	390	2	figure	figure	NOUN
ap-1684	390	3	11	11	NUM
ap-1684	390	4	:	:	PUNCT
ap-1684	390	5	dynamical	dynamical	ADJ
ap-1684	390	6	response	response	NOUN
ap-1684	390	7	of	of	ADP
ap-1684	390	8	the	the	DET
ap-1684	390	9	dimensions	dimension	NOUN
ap-1684	390	10	of	of	ADP
ap-1684	390	11	the	the	DET
ap-1684	390	12	rssr	rssr	ADJ
ap-1684	390	13	mechanism	mechanism	NOUN
ap-1684	390	14	.	.	PUNCT
ap-1684	391	1	yd	yd	PROPN
ap-1684	391	2	,	,	PUNCT
ap-1684	391	3	zd	zd	PROPN
ap-1684	391	4	.	.	PUNCT
ap-1684	392	1	the	the	DET
ap-1684	392	2	initial	initial	ADJ
ap-1684	392	3	positions	position	NOUN
ap-1684	392	4	also	also	ADV
ap-1684	392	5	determine	determine	VERB
ap-1684	392	6	the	the	DET
ap-1684	392	7	initial	initial	ADJ
ap-1684	392	8	dimensions	dimension	NOUN
ap-1684	392	9	xa	xa	PROPN
ap-1684	392	10	,	,	PUNCT
ap-1684	392	11	ya	ya	PROPN
ap-1684	392	12	,	,	PUNCT
ap-1684	392	13	za	za	PROPN
ap-1684	392	14	,	,	PUNCT
ap-1684	392	15	`	`	PUNCT
ap-1684	392	16	bd	bd	PROPN
ap-1684	392	17	,	,	PUNCT
ap-1684	392	18	`	`	PUNCT
ap-1684	392	19	dc	dc	PROPN
ap-1684	392	20	,	,	PUNCT
ap-1684	392	21	yd	yd	PROPN
ap-1684	392	22	,	,	PUNCT
ap-1684	392	23	of	of	ADP
ap-1684	392	24	the	the	DET
ap-1684	392	25	mechanism	mechanism	NOUN
ap-1684	392	26	.	.	PUNCT
ap-1684	393	1	it	it	PRON
ap-1684	393	2	is	be	AUX
ap-1684	393	3	necessary	necessary	ADJ
ap-1684	393	4	to	to	PART
ap-1684	393	5	make	make	VERB
ap-1684	393	6	a	a	DET
ap-1684	393	7	short	short	ADJ
ap-1684	393	8	note	note	NOUN
ap-1684	393	9	on	on	ADP
ap-1684	393	10	the	the	DET
ap-1684	393	11	implementation	implementation	NOUN
ap-1684	393	12	.	.	PUNCT
ap-1684	394	1	all	all	DET
ap-1684	394	2	the	the	DET
ap-1684	394	3	systems	system	NOUN
ap-1684	394	4	that	that	PRON
ap-1684	394	5	have	have	AUX
ap-1684	394	6	been	be	AUX
ap-1684	394	7	simulated	simulate	VERB
ap-1684	394	8	are	be	AUX
ap-1684	394	9	easy	easy	ADJ
ap-1684	394	10	in	in	ADP
ap-1684	394	11	the	the	DET
ap-1684	394	12	context	context	NOUN
ap-1684	394	13	of	of	ADP
ap-1684	394	14	the	the	DET
ap-1684	394	15	formulation	formulation	NOUN
ap-1684	394	16	.	.	PUNCT
ap-1684	395	1	all	all	DET
ap-1684	395	2	the	the	DET
ap-1684	395	3	previous	previous	ADJ
ap-1684	395	4	dynamical	dynamical	ADJ
ap-1684	395	5	systems	system	NOUN
ap-1684	395	6	were	be	AUX
ap-1684	395	7	thus	thus	ADV
ap-1684	395	8	formulated	formulate	VERB
ap-1684	395	9	by	by	ADP
ap-1684	395	10	newton	newton	PROPN
ap-1684	395	11	equations	equation	NOUN
ap-1684	395	12	.	.	PUNCT
ap-1684	396	1	because	because	SCONJ
ap-1684	396	2	this	this	DET
ap-1684	396	3	system	system	NOUN
ap-1684	396	4	is	be	AUX
ap-1684	396	5	already	already	ADV
ap-1684	396	6	quite	quite	ADV
ap-1684	396	7	complex	complex	ADJ
ap-1684	396	8	,	,	PUNCT
ap-1684	396	9	lagrange	lagrange	ADJ
ap-1684	396	10	equations	equation	NOUN
ap-1684	396	11	of	of	ADP
ap-1684	396	12	mixed	mixed	ADJ
ap-1684	396	13	type	type	NOUN
ap-1684	396	14	were	be	AUX
ap-1684	396	15	chosen	choose	VERB
ap-1684	396	16	,	,	PUNCT
ap-1684	396	17	instead	instead	ADV
ap-1684	396	18	of	of	ADP
ap-1684	396	19	the	the	DET
ap-1684	396	20	newton	newton	PROPN
ap-1684	396	21	equations	equation	NOUN
ap-1684	396	22	,	,	PUNCT
ap-1684	396	23	as	as	ADP
ap-1684	396	24	the	the	DET
ap-1684	396	25	optimal	optimal	ADJ
ap-1684	396	26	formulation	formulation	NOUN
ap-1684	396	27	tool	tool	NOUN
ap-1684	396	28	.	.	PUNCT
ap-1684	397	1	thus	thus	ADV
ap-1684	397	2	the	the	DET
ap-1684	397	3	formulation	formulation	NOUN
ap-1684	397	4	was	be	AUX
ap-1684	397	5	really	really	ADV
ap-1684	397	6	simplified	simplified	ADJ
ap-1684	397	7	.	.	PUNCT
ap-1684	398	1	however	however	ADV
ap-1684	398	2	,	,	PUNCT
ap-1684	398	3	the	the	DET
ap-1684	398	4	great	great	ADJ
ap-1684	398	5	disadvantage	disadvantage	NOUN
ap-1684	398	6	of	of	ADP
ap-1684	398	7	this	this	DET
ap-1684	398	8	tool	tool	NOUN
ap-1684	398	9	is	be	AUX
ap-1684	398	10	the	the	DET
ap-1684	398	11	instability	instability	NOUN
ap-1684	398	12	of	of	ADP
ap-1684	398	13	the	the	DET
ap-1684	398	14	constraints	constraint	NOUN
ap-1684	398	15	.	.	PUNCT
ap-1684	399	1	the	the	DET
ap-1684	399	2	results	result	NOUN
ap-1684	399	3	of	of	ADP
ap-1684	399	4	the	the	DET
ap-1684	399	5	simulation	simulation	NOUN
ap-1684	399	6	are	be	AUX
ap-1684	399	7	presented	present	VERB
ap-1684	399	8	in	in	ADP
ap-1684	399	9	the	the	DET
ap-1684	399	10	following	follow	VERB
ap-1684	399	11	figures	figure	NOUN
ap-1684	399	12	.	.	PUNCT
ap-1684	400	1	the	the	DET
ap-1684	400	2	system	system	NOUN
ap-1684	400	3	coordinates	coordinate	VERB
ap-1684	400	4	xai	xai	PROPN
ap-1684	400	5	,	,	PUNCT
ap-1684	400	6	yai	yai	PROPN
ap-1684	400	7	,	,	PUNCT
ap-1684	400	8	zai	zai	PROPN
ap-1684	400	9	,	,	PUNCT
ap-1684	400	10	`	`	PUNCT
ap-1684	400	11	bdi	bdi	PROPN
ap-1684	400	12	,	,	PUNCT
ap-1684	400	13	`	`	PUNCT
ap-1684	400	14	dci	dci	PROPN
ap-1684	400	15	,	,	PUNCT
ap-1684	400	16	ydi	ydi	ADJ
ap-1684	400	17	,	,	PUNCT
ap-1684	400	18	(	(	PUNCT
ap-1684	400	19	i	i	NOUN
ap-1684	400	20	=	=	NOUN
ap-1684	400	21	1	1	NUM
ap-1684	400	22	,	,	PUNCT
ap-1684	400	23	2	2	NUM
ap-1684	400	24	,	,	PUNCT
ap-1684	400	25	.	.	PUNCT
ap-1684	400	26	.	.	PUNCT
ap-1684	401	1	.	.	PUNCT
ap-1684	402	1	,	,	PUNCT
ap-1684	402	2	8)	8)	NUM
ap-1684	402	3	for	for	ADP
ap-1684	402	4	all	all	DET
ap-1684	402	5	the	the	DET
ap-1684	402	6	subsystems	subsystem	NOUN
ap-1684	402	7	come	come	VERB
ap-1684	402	8	to	to	PART
ap-1684	402	9	rest	rest	VERB
ap-1684	402	10	at	at	ADP
ap-1684	402	11	the	the	DET
ap-1684	402	12	equilibrium	equilibrium	NOUN
ap-1684	402	13	values	value	NOUN
ap-1684	402	14	(	(	PUNCT
ap-1684	402	15	fig	fig	NOUN
ap-1684	402	16	.	.	PUNCT
ap-1684	403	1	11	11	NUM
ap-1684	403	2	)	)	PUNCT
ap-1684	403	3	.	.	PUNCT
ap-1684	404	1	these	these	DET
ap-1684	404	2	equilibrium	equilibrium	NOUN
ap-1684	404	3	values	value	NOUN
ap-1684	404	4	can	can	AUX
ap-1684	404	5	be	be	AUX
ap-1684	404	6	interpreted	interpret	VERB
ap-1684	404	7	as	as	ADP
ap-1684	404	8	the	the	DET
ap-1684	404	9	searched	search	VERB
ap-1684	404	10	parameters	parameter	NOUN
ap-1684	404	11	of	of	ADP
ap-1684	404	12	the	the	DET
ap-1684	404	13	mechanism	mechanism	NOUN
ap-1684	404	14	.	.	PUNCT
ap-1684	405	1	the	the	DET
ap-1684	405	2	evolution	evolution	NOUN
ap-1684	405	3	of	of	ADP
ap-1684	405	4	the	the	DET
ap-1684	405	5	constraints	constraint	NOUN
ap-1684	405	6	is	be	AUX
ap-1684	405	7	presented	present	VERB
ap-1684	405	8	in	in	ADP
ap-1684	405	9	fig	fig	NOUN
ap-1684	405	10	.	.	PUNCT
ap-1684	406	1	12	12	NUM
ap-1684	406	2	.	.	PUNCT
ap-1684	407	1	the	the	DET
ap-1684	407	2	red	red	ADJ
ap-1684	407	3	lines	line	NOUN
ap-1684	407	4	show	show	VERB
ap-1684	407	5	fulfilled	fulfil	VERB
ap-1684	407	6	constraints	constraint	NOUN
ap-1684	407	7	.	.	PUNCT
ap-1684	408	1	the	the	DET
ap-1684	408	2	other	other	ADJ
ap-1684	408	3	lines	line	NOUN
ap-1684	408	4	represent	represent	VERB
ap-1684	408	5	the	the	DET
ap-1684	408	6	simulated	simulate	VERB
ap-1684	408	7	values	value	NOUN
ap-1684	408	8	of	of	ADP
ap-1684	408	9	the	the	DET
ap-1684	408	10	mechanism	mechanism	NOUN
ap-1684	408	11	.	.	PUNCT
ap-1684	409	1	the	the	DET
ap-1684	409	2	upper	upper	ADJ
ap-1684	409	3	part	part	NOUN
ap-1684	409	4	is	be	AUX
ap-1684	409	5	dedicated	dedicate	VERB
ap-1684	409	6	to	to	ADP
ap-1684	409	7	the	the	DET
ap-1684	409	8	given	give	VERB
ap-1684	409	9	angles	angle	NOUN
ap-1684	409	10	ψ	ψ	NOUN
ap-1684	409	11	and	and	CCONJ
ap-1684	409	12	ϕ.	ϕ.	VERB
ap-1684	409	13	the	the	DET
ap-1684	409	14	simulated	simulated	ADJ
ap-1684	409	15	values	value	NOUN
ap-1684	409	16	of	of	ADP
ap-1684	409	17	the	the	DET
ap-1684	409	18	angles	angle	NOUN
ap-1684	409	19	come	come	VERB
ap-1684	409	20	to	to	PART
ap-1684	409	21	rest	rest	VERB
ap-1684	409	22	at	at	ADP
ap-1684	409	23	the	the	DET
ap-1684	409	24	given	give	VERB
ap-1684	409	25	equilibrium	equilibrium	NOUN
ap-1684	409	26	very	very	ADV
ap-1684	409	27	soon	soon	ADV
ap-1684	409	28	after	after	SCONJ
ap-1684	409	29	the	the	DET
ap-1684	409	30	system	system	NOUN
ap-1684	409	31	starts	start	VERB
ap-1684	409	32	.	.	PUNCT
ap-1684	410	1	the	the	DET
ap-1684	410	2	lower	low	ADJ
ap-1684	410	3	left	left	ADJ
ap-1684	410	4	picture	picture	NOUN
ap-1684	410	5	shows	show	VERB
ap-1684	410	6	the	the	DET
ap-1684	410	7	constraint	constraint	NOUN
ap-1684	410	8	that	that	PRON
ap-1684	410	9	ensures	ensure	VERB
ap-1684	410	10	the	the	DET
ap-1684	410	11	length	length	NOUN
ap-1684	410	12	of	of	ADP
ap-1684	410	13	the	the	DET
ap-1684	410	14	lever	lever	NOUN
ap-1684	410	15	`	`	PUNCT
ap-1684	410	16	ab	ab	PROPN
ap-1684	410	17	.	.	PUNCT
ap-1684	411	1	it	it	PRON
ap-1684	411	2	can	can	AUX
ap-1684	411	3	be	be	AUX
ap-1684	411	4	seen	see	VERB
ap-1684	411	5	that	that	SCONJ
ap-1684	411	6	the	the	DET
ap-1684	411	7	given	give	VERB
ap-1684	411	8	value	value	NOUN
ap-1684	411	9	had	have	AUX
ap-1684	411	10	been	be	AUX
ap-1684	411	11	set	set	VERB
ap-1684	411	12	equal	equal	ADJ
ap-1684	411	13	to	to	ADP
ap-1684	411	14	one	one	NUM
ap-1684	411	15	.	.	PUNCT
ap-1684	412	1	here	here	ADV
ap-1684	412	2	,	,	PUNCT
ap-1684	412	3	too	too	ADV
ap-1684	412	4	,	,	PUNCT
ap-1684	412	5	the	the	DET
ap-1684	412	6	simulated	simulate	VERB
ap-1684	412	7	value	value	NOUN
ap-1684	412	8	came	come	VERB
ap-1684	412	9	to	to	PART
ap-1684	412	10	rest	rest	VERB
ap-1684	412	11	at	at	ADP
ap-1684	412	12	the	the	DET
ap-1684	412	13	required	require	VERB
ap-1684	412	14	value	value	NOUN
ap-1684	412	15	immediately	immediately	ADV
ap-1684	412	16	after	after	SCONJ
ap-1684	412	17	the	the	DET
ap-1684	412	18	system	system	NOUN
ap-1684	412	19	starts	start	VERB
ap-1684	412	20	.	.	PUNCT
ap-1684	413	1	the	the	DET
ap-1684	413	2	fourth	fourth	ADJ
ap-1684	413	3	history	history	NOUN
ap-1684	413	4	presents	present	VERB
ap-1684	413	5	the	the	DET
ap-1684	413	6	perpendicularity	perpendicularity	NOUN
ap-1684	413	7	of	of	ADP
ap-1684	413	8	vectors	vector	NOUN
ap-1684	413	9	[	[	X
ap-1684	413	10	xa	xa	PROPN
ap-1684	413	11	,	,	PUNCT
ap-1684	413	12	ya	ya	PROPN
ap-1684	413	13	,	,	PUNCT
ap-1684	413	14	0	0	NUM
ap-1684	413	15	]	]	PUNCT
ap-1684	413	16	and	and	CCONJ
ap-1684	413	17	ba	ba	PROPN
ap-1684	413	18	.	.	PUNCT
ap-1684	414	1	this	this	DET
ap-1684	414	2	graph	graph	NOUN
ap-1684	414	3	,	,	PUNCT
ap-1684	414	4	too	too	ADV
ap-1684	414	5	,	,	PUNCT
ap-1684	414	6	shows	show	VERB
ap-1684	414	7	how	how	SCONJ
ap-1684	414	8	soon	soon	ADV
ap-1684	414	9	after	after	ADP
ap-1684	414	10	the	the	DET
ap-1684	414	11	start	start	NOUN
ap-1684	414	12	the	the	DET
ap-1684	414	13	constraint	constraint	NOUN
ap-1684	414	14	condition	condition	NOUN
ap-1684	414	15	is	be	AUX
ap-1684	414	16	fulfilled	fulfil	VERB
ap-1684	414	17	.	.	PUNCT
ap-1684	415	1	it	it	PRON
ap-1684	415	2	is	be	AUX
ap-1684	415	3	absolutely	absolutely	ADV
ap-1684	415	4	clear	clear	ADJ
ap-1684	415	5	from	from	ADP
ap-1684	415	6	all	all	DET
ap-1684	415	7	the	the	DET
ap-1684	415	8	pictures	picture	NOUN
ap-1684	415	9	showing	show	VERB
ap-1684	415	10	the	the	DET
ap-1684	415	11	evolution	evolution	NOUN
ap-1684	415	12	of	of	ADP
ap-1684	415	13	the	the	DET
ap-1684	415	14	constraint	constraint	NOUN
ap-1684	415	15	conditions	condition	NOUN
ap-1684	415	16	that	that	SCONJ
ap-1684	415	17	the	the	DET
ap-1684	415	18	required	require	VERB
ap-1684	415	19	constraints	constraint	NOUN
ap-1684	415	20	are	be	AUX
ap-1684	415	21	perfectly	perfectly	ADV
ap-1684	415	22	fulfilled	fulfil	VERB
ap-1684	415	23	.	.	PUNCT
ap-1684	416	1	the	the	DET
ap-1684	416	2	evolution	evolution	NOUN
ap-1684	416	3	of	of	ADP
ap-1684	416	4	the	the	DET
ap-1684	416	5	whole	whole	ADJ
ap-1684	416	6	structure	structure	NOUN
ap-1684	416	7	of	of	ADP
ap-1684	416	8	the	the	DET
ap-1684	416	9	space	space	NOUN
ap-1684	416	10	four	four	NUM
ap-1684	416	11	-	-	PUNCT
ap-1684	416	12	bar	bar	NOUN
ap-1684	416	13	mechanism	mechanism	NOUN
ap-1684	416	14	is	be	AUX
ap-1684	416	15	presented	present	VERB
ap-1684	416	16	in	in	ADP
ap-1684	416	17	fig	fig	NOUN
ap-1684	416	18	.	.	PUNCT
ap-1684	417	1	13	13	NUM
ap-1684	417	2	.	.	PUNCT
ap-1684	418	1	the	the	DET
ap-1684	418	2	simulation	simulation	NOUN
ap-1684	418	3	started	start	VERB
ap-1684	418	4	from	from	ADP
ap-1684	418	5	the	the	DET
ap-1684	418	6	random	random	ADJ
ap-1684	418	7	positions	position	NOUN
ap-1684	418	8	of	of	ADP
ap-1684	418	9	the	the	DET
ap-1684	418	10	structure	structure	NOUN
ap-1684	418	11	marked	mark	VERB
ap-1684	418	12	as	as	ADP
ap-1684	418	13	the	the	DET
ap-1684	418	14	initial	initial	ADJ
ap-1684	418	15	structure	structure	NOUN
ap-1684	418	16	.	.	PUNCT
ap-1684	419	1	the	the	DET
ap-1684	419	2	simulation	simulation	NOUN
ap-1684	419	3	finished	finish	VERB
ap-1684	419	4	in	in	ADP
ap-1684	419	5	the	the	DET
ap-1684	419	6	final	final	ADJ
ap-1684	419	7	structure	structure	NOUN
ap-1684	419	8	of	of	ADP
ap-1684	419	9	the	the	DET
ap-1684	419	10	mechanism	mechanism	NOUN
ap-1684	419	11	.	.	PUNCT
ap-1684	420	1	the	the	DET
ap-1684	420	2	final	final	ADJ
ap-1684	420	3	image	image	NOUN
ap-1684	420	4	shows	show	VERB
ap-1684	420	5	that	that	SCONJ
ap-1684	420	6	the	the	DET
ap-1684	420	7	corresponding	correspond	VERB
ap-1684	420	8	dimensions	dimension	NOUN
ap-1684	420	9	are	be	AUX
ap-1684	420	10	equal	equal	ADJ
ap-1684	420	11	.	.	PUNCT
ap-1684	421	1	6	6	NUM
ap-1684	421	2	conclusion	conclusion	NOUN
ap-1684	421	3	this	this	DET
ap-1684	421	4	paper	paper	NOUN
ap-1684	421	5	has	have	AUX
ap-1684	421	6	described	describe	VERB
ap-1684	421	7	a	a	DET
ap-1684	421	8	new	new	ADJ
ap-1684	421	9	method	method	NOUN
ap-1684	421	10	for	for	ADP
ap-1684	421	11	solving	solve	VERB
ap-1684	421	12	the	the	DET
ap-1684	421	13	parametric	parametric	ADJ
ap-1684	421	14	kinematical	kinematical	ADJ
ap-1684	421	15	synthesis	synthesis	NOUN
ap-1684	421	16	of	of	ADP
ap-1684	421	17	mechanisms	mechanism	NOUN
ap-1684	421	18	.	.	PUNCT
ap-1684	422	1	the	the	DET
ap-1684	422	2	robustness	robustness	NOUN
ap-1684	422	3	and	and	CCONJ
ap-1684	422	4	the	the	DET
ap-1684	422	5	rapid	rapid	ADJ
ap-1684	422	6	synthesis	synthesis	NOUN
ap-1684	422	7	procedure	procedure	NOUN
ap-1684	422	8	of	of	ADP
ap-1684	422	9	the	the	DET
ap-1684	422	10	method	method	NOUN
ap-1684	422	11	have	have	AUX
ap-1684	422	12	been	be	AUX
ap-1684	422	13	proven	prove	VERB
ap-1684	422	14	.	.	PUNCT
ap-1684	423	1	especially	especially	ADV
ap-1684	423	2	the	the	DET
ap-1684	423	3	robustness	robustness	NOUN
ap-1684	423	4	is	be	AUX
ap-1684	423	5	very	very	ADV
ap-1684	423	6	valuable	valuable	ADJ
ap-1684	423	7	.	.	PUNCT
ap-1684	424	1	acknowledgements	acknowledgement	NOUN
ap-1684	424	2	the	the	DET
ap-1684	424	3	authors	author	NOUN
ap-1684	424	4	appreciate	appreciate	VERB
ap-1684	424	5	kind	kind	ADJ
ap-1684	424	6	support	support	NOUN
ap-1684	424	7	from	from	ADP
ap-1684	424	8	the	the	DET
ap-1684	424	9	grant	grant	NOUN
ap-1684	424	10	msm6840770003	msm6840770003	ADJ
ap-1684	424	11	“	"	PUNCT
ap-1684	424	12	algorithms	algorithm	NOUN
ap-1684	424	13	for	for	ADP
ap-1684	424	14	computer	computer	NOUN
ap-1684	424	15	simulation	simulation	NOUN
ap-1684	424	16	and	and	CCONJ
ap-1684	424	17	application	application	NOUN
ap-1684	424	18	in	in	ADP
ap-1684	424	19	engineering	engineering	NOUN
ap-1684	424	20	”	"	PUNCT
ap-1684	424	21	.	.	PUNCT
ap-1684	425	1	91	91	NUM
ap-1684	425	2	acta	acta	PROPN
ap-1684	425	3	polytechnica	polytechnica	PROPN
ap-1684	425	4	vol	vol	NOUN
ap-1684	425	5	.	.	PROPN
ap-1684	426	1	52	52	NUM
ap-1684	426	2	no	no	NOUN
ap-1684	426	3	.	.	PUNCT
ap-1684	427	1	6/2012	6/2012	NUM
ap-1684	427	2	figure	figure	NOUN
ap-1684	427	3	12	12	NUM
ap-1684	427	4	:	:	PUNCT
ap-1684	427	5	fulfilling	fulfil	VERB
ap-1684	427	6	the	the	DET
ap-1684	427	7	constraints	constraint	NOUN
ap-1684	427	8	of	of	ADP
ap-1684	427	9	the	the	DET
ap-1684	427	10	rssr	rssr	ADJ
ap-1684	427	11	mechanism	mechanism	NOUN
ap-1684	427	12	.	.	PUNCT
ap-1684	428	1	figure	figure	VERB
ap-1684	428	2	13	13	NUM
ap-1684	428	3	:	:	PUNCT
ap-1684	428	4	evolution	evolution	NOUN
ap-1684	428	5	of	of	ADP
ap-1684	428	6	the	the	DET
ap-1684	428	7	structure	structure	NOUN
ap-1684	428	8	of	of	ADP
ap-1684	428	9	the	the	DET
ap-1684	428	10	rssr	rssr	ADJ
ap-1684	428	11	mechanism	mechanism	NOUN
ap-1684	428	12	.	.	PUNCT
ap-1684	429	1	92	92	NUM
ap-1684	429	2	acta	acta	PROPN
ap-1684	429	3	polytechnica	polytechnica	PROPN
ap-1684	429	4	vol	vol	NOUN
ap-1684	429	5	.	.	PROPN
ap-1684	430	1	52	52	NUM
ap-1684	430	2	no	no	NOUN
ap-1684	430	3	.	.	PUNCT
ap-1684	431	1	6/2012	6/2012	NUM
ap-1684	431	2	references	reference	NOUN
ap-1684	431	3	[	[	X
ap-1684	431	4	1	1	NUM
ap-1684	431	5	]	]	PUNCT
ap-1684	431	6	haug	haug	NOUN
ap-1684	431	7	,	,	PUNCT
ap-1684	431	8	e.j	e.j	PROPN
ap-1684	431	9	.	.	PROPN
ap-1684	431	10	:	:	PUNCT
ap-1684	432	1	computer	computer	NOUN
ap-1684	432	2	aided	aid	VERB
ap-1684	432	3	analysis	analysis	NOUN
ap-1684	432	4	and	and	CCONJ
ap-1684	432	5	optimization	optimization	NOUN
ap-1684	432	6	of	of	ADP
ap-1684	432	7	mechanical	mechanical	ADJ
ap-1684	432	8	system	system	NOUN
ap-1684	432	9	dynamics	dynamic	NOUN
ap-1684	432	10	.	.	PUNCT
ap-1684	433	1	nato	nato	PROPN
ap-1684	433	2	asi	asi	NOUN
ap-1684	433	3	,	,	PUNCT
ap-1684	433	4	vol	vol	NOUN
ap-1684	433	5	.	.	PUNCT
ap-1684	434	1	f9	f9	PROPN
ap-1684	434	2	,	,	PUNCT
ap-1684	434	3	springer	springer	NOUN
ap-1684	434	4	verlag	verlag	PROPN
ap-1684	434	5	,	,	PUNCT
ap-1684	434	6	berlin	berlin	PROPN
ap-1684	434	7	,	,	PUNCT
ap-1684	434	8	1984	1984	NUM
ap-1684	434	9	.	.	PUNCT
ap-1684	435	1	[	[	X
ap-1684	435	2	2	2	NUM
ap-1684	435	3	]	]	X
ap-1684	435	4	hartenberg	hartenberg	PROPN
ap-1684	435	5	,	,	PUNCT
ap-1684	435	6	r.s	r.s	PROPN
ap-1684	435	7	.	.	PROPN
ap-1684	435	8	,	,	PUNCT
ap-1684	435	9	denavit	denavit	PROPN
ap-1684	435	10	,	,	PUNCT
ap-1684	435	11	j.	j.	PROPN
ap-1684	435	12	:	:	PUNCT
ap-1684	435	13	kinematic	kinematic	VERB
ap-1684	435	14	synthesis	synthesis	NOUN
ap-1684	435	15	of	of	ADP
ap-1684	435	16	linkages	linkage	NOUN
ap-1684	435	17	,	,	PUNCT
ap-1684	435	18	mcgraw	mcgraw	NOUN
ap-1684	435	19	-	-	PUNCT
ap-1684	435	20	hill	hill	NOUN
ap-1684	435	21	,	,	PUNCT
ap-1684	435	22	1964	1964	NUM
ap-1684	435	23	.	.	PUNCT
ap-1684	436	1	[	[	X
ap-1684	436	2	3	3	NUM
ap-1684	436	3	]	]	X
ap-1684	436	4	hall	hall	NOUN
ap-1684	436	5	,	,	PUNCT
ap-1684	436	6	a.s	a.s	PROPN
ap-1684	436	7	.	.	PROPN
ap-1684	436	8	,	,	PUNCT
ap-1684	436	9	jr	jr	PROPN
ap-1684	436	10	.	.	PUNCT
ap-1684	436	11	:	:	PUNCT
ap-1684	437	1	kinematics	kinematic	NOUN
ap-1684	437	2	and	and	CCONJ
ap-1684	437	3	linkage	linkage	NOUN
ap-1684	437	4	design	design	NOUN
ap-1684	437	5	,	,	PUNCT
ap-1684	437	6	balt	balt	NOUN
ap-1684	437	7	publisher	publisher	NOUN
ap-1684	437	8	,	,	PUNCT
ap-1684	437	9	west	west	PROPN
ap-1684	437	10	lafayette	lafayette	PROPN
ap-1684	437	11	,	,	PUNCT
ap-1684	437	12	in	in	ADP
ap-1684	437	13	,	,	PUNCT
ap-1684	437	14	1966	1966	NUM
ap-1684	437	15	.	.	PUNCT
ap-1684	438	1	[	[	X
ap-1684	438	2	4	4	X
ap-1684	438	3	]	]	X
ap-1684	438	4	sandor	sandor	PROPN
ap-1684	438	5	,	,	PUNCT
ap-1684	438	6	g.n	g.n	PROPN
ap-1684	438	7	.	.	PROPN
ap-1684	438	8	erdman	erdman	PROPN
ap-1684	438	9	,	,	PUNCT
ap-1684	438	10	a.g	a.g	PROPN
ap-1684	438	11	.	.	PROPN
ap-1684	438	12	:	:	PUNCT
ap-1684	438	13	advanced	advanced	ADJ
ap-1684	438	14	mechanism	mechanism	NOUN
ap-1684	438	15	design	design	NOUN
ap-1684	438	16	:	:	PUNCT
ap-1684	438	17	analysis	analysis	NOUN
ap-1684	438	18	and	and	CCONJ
ap-1684	438	19	synthesis	synthesis	NOUN
ap-1684	438	20	,	,	PUNCT
ap-1684	438	21	prentice	prentice	NOUN
ap-1684	438	22	hall	hall	NOUN
ap-1684	438	23	,	,	PUNCT
ap-1684	438	24	1984	1984	NUM
ap-1684	438	25	.	.	PUNCT
ap-1684	439	1	[	[	X
ap-1684	439	2	5	5	NUM
ap-1684	439	3	]	]	SYM
ap-1684	439	4	erdman	erdman	PROPN
ap-1684	439	5	,	,	PUNCT
ap-1684	439	6	a.g	a.g	PROPN
ap-1684	439	7	.	.	PROPN
ap-1684	439	8	,	,	PUNCT
ap-1684	439	9	sandor	sandor	PROPN
ap-1684	439	10	,	,	PUNCT
ap-1684	439	11	g.n	g.n	PROPN
ap-1684	439	12	.	.	PROPN
ap-1684	439	13	:	:	PUNCT
ap-1684	439	14	mechanism	mechanism	NOUN
ap-1684	439	15	design	design	NOUN
ap-1684	439	16	,	,	PUNCT
ap-1684	439	17	analysis	analysis	NOUN
ap-1684	439	18	and	and	CCONJ
ap-1684	439	19	synthesis	synthesis	NOUN
ap-1684	439	20	,	,	PUNCT
ap-1684	439	21	prentice	prentice	NOUN
ap-1684	439	22	-	-	PUNCT
ap-1684	439	23	hall	hall	NOUN
ap-1684	439	24	,	,	PUNCT
ap-1684	439	25	englewood	englewood	PROPN
ap-1684	439	26	cliffs	cliffs	PROPN
ap-1684	439	27	,	,	PUNCT
ap-1684	439	28	nj	nj	PROPN
ap-1684	439	29	,	,	PUNCT
ap-1684	439	30	1991	1991	NUM
ap-1684	439	31	.	.	PUNCT
ap-1684	440	1	[	[	X
ap-1684	440	2	6	6	NUM
ap-1684	440	3	]	]	X
ap-1684	440	4	hansen	hansen	PROPN
ap-1684	440	5	,	,	PUNCT
ap-1684	440	6	m.r	m.r	PROPN
ap-1684	440	7	.	.	PROPN
ap-1684	440	8	:	:	PUNCT
ap-1684	441	1	a	a	DET
ap-1684	441	2	general	general	ADJ
ap-1684	441	3	procedure	procedure	NOUN
ap-1684	441	4	for	for	ADP
ap-1684	441	5	dimensional	dimensional	ADJ
ap-1684	441	6	synthesis	synthesis	NOUN
ap-1684	441	7	of	of	ADP
ap-1684	441	8	mechanisms	mechanism	NOUN
ap-1684	441	9	,	,	PUNCT
ap-1684	441	10	mechanism	mechanism	NOUN
ap-1684	441	11	design	design	NOUN
ap-1684	441	12	and	and	CCONJ
ap-1684	441	13	synthesis	synthesis	NOUN
ap-1684	441	14	46	46	NUM
ap-1684	441	15	,	,	PUNCT
ap-1684	441	16	1992	1992	NUM
ap-1684	441	17	,	,	PUNCT
ap-1684	441	18	pp	pp	ADV
ap-1684	441	19	.	.	PUNCT
ap-1684	442	1	67–71	67–71	NOUN
ap-1684	442	2	.	.	PUNCT
ap-1684	443	1	[	[	X
ap-1684	443	2	7	7	NUM
ap-1684	443	3	]	]	PUNCT
ap-1684	443	4	bruns	brun	NOUN
ap-1684	443	5	,	,	PUNCT
ap-1684	443	6	t.	t.	PROPN
ap-1684	443	7	:	:	PUNCT
ap-1684	443	8	design	design	NOUN
ap-1684	443	9	of	of	ADP
ap-1684	443	10	planar	planar	ADJ
ap-1684	443	11	,	,	PUNCT
ap-1684	443	12	kinematic	kinematic	ADJ
ap-1684	443	13	,	,	PUNCT
ap-1684	443	14	rigid	rigid	ADJ
ap-1684	443	15	body	body	NOUN
ap-1684	443	16	mechanisms	mechanism	NOUN
ap-1684	443	17	,	,	PUNCT
ap-1684	443	18	master	master	NOUN
ap-1684	443	19	’s	’s	PART
ap-1684	443	20	thesis	thesis	NOUN
ap-1684	443	21	,	,	PUNCT
ap-1684	443	22	university	university	NOUN
ap-1684	443	23	of	of	ADP
ap-1684	443	24	illinois	illinois	PROPN
ap-1684	443	25	at	at	ADP
ap-1684	443	26	urbana	urbana	PROPN
ap-1684	443	27	-	-	PUNCT
ap-1684	443	28	champaign	champaign	PROPN
ap-1684	443	29	,	,	PUNCT
ap-1684	443	30	urbana	urbana	PROPN
ap-1684	443	31	,	,	PUNCT
ap-1684	443	32	il	il	PROPN
ap-1684	443	33	,	,	PUNCT
ap-1684	443	34	usa	usa	PROPN
ap-1684	443	35	,	,	PUNCT
ap-1684	443	36	1992	1992	NUM
ap-1684	443	37	.	.	PUNCT
ap-1684	444	1	[	[	X
ap-1684	444	2	8	8	NUM
ap-1684	444	3	]	]	X
ap-1684	444	4	hansen	hansen	PROPN
ap-1684	444	5	,	,	PUNCT
ap-1684	444	6	j.m	j.m	PROPN
ap-1684	444	7	.	.	PROPN
ap-1684	444	8	,	,	PUNCT
ap-1684	444	9	tortorelli	tortorelli	PROPN
ap-1684	444	10	,	,	PUNCT
ap-1684	444	11	d.a	d.a	PROPN
ap-1684	444	12	.	.	PROPN
ap-1684	444	13	:	:	PUNCT
ap-1684	445	1	an	an	DET
ap-1684	445	2	efficient	efficient	ADJ
ap-1684	445	3	method	method	NOUN
ap-1684	445	4	for	for	ADP
ap-1684	445	5	synthesis	synthesis	NOUN
ap-1684	445	6	of	of	ADP
ap-1684	445	7	mechanisms	mechanism	NOUN
ap-1684	445	8	,	,	PUNCT
ap-1684	445	9	in	in	ADP
ap-1684	445	10	:	:	PUNCT
ap-1684	445	11	d.	d.	PROPN
ap-1684	445	12	beste	beste	PROPN
ap-1684	445	13	and	and	CCONJ
ap-1684	445	14	w.schiehlen	w.schiehlen	PRON
ap-1684	445	15	(	(	PUNCT
ap-1684	445	16	eds	ed	NOUN
ap-1684	445	17	):	):	PUNCT
ap-1684	445	18	optimization	optimization	NOUN
ap-1684	445	19	of	of	ADP
ap-1684	445	20	mechanical	mechanical	ADJ
ap-1684	445	21	systems	system	NOUN
ap-1684	445	22	,	,	PUNCT
ap-1684	445	23	kluwer	kluwer	NOUN
ap-1684	445	24	,	,	PUNCT
ap-1684	445	25	dordrecht	dordrecht	PROPN
ap-1684	445	26	,	,	PUNCT
ap-1684	445	27	1995	1995	NUM
ap-1684	445	28	,	,	PUNCT
ap-1684	445	29	pp	pp	ADP
ap-1684	445	30	.	.	PUNCT
ap-1684	446	1	129–138	129–138	NUM
ap-1684	446	2	.	.	PUNCT
ap-1684	447	1	[	[	X
ap-1684	447	2	9	9	NUM
ap-1684	447	3	]	]	X
ap-1684	447	4	hansen	hansen	PROPN
ap-1684	447	5	,	,	PUNCT
ap-1684	447	6	m.r	m.r	PROPN
ap-1684	447	7	.	.	PROPN
ap-1684	447	8	,	,	PUNCT
ap-1684	447	9	hansen	hansen	PROPN
ap-1684	447	10	,	,	PUNCT
ap-1684	447	11	j.m	j.m	PROPN
ap-1684	447	12	.	.	PROPN
ap-1684	447	13	:	:	PUNCT
ap-1684	447	14	an	an	DET
ap-1684	447	15	efficient	efficient	ADJ
ap-1684	447	16	method	method	NOUN
ap-1684	447	17	for	for	ADP
ap-1684	447	18	synthesis	synthesis	NOUN
ap-1684	447	19	of	of	ADP
ap-1684	447	20	planar	planar	ADJ
ap-1684	447	21	multibody	multibody	ADJ
ap-1684	447	22	systems	system	NOUN
ap-1684	447	23	including	include	VERB
ap-1684	447	24	shapes	shape	NOUN
ap-1684	447	25	of	of	ADP
ap-1684	447	26	bodies	body	NOUN
ap-1684	447	27	as	as	ADP
ap-1684	447	28	design	design	NOUN
ap-1684	447	29	variables	variable	NOUN
ap-1684	447	30	,	,	PUNCT
ap-1684	447	31	multibody	multibody	ADJ
ap-1684	447	32	system	system	NOUN
ap-1684	447	33	dynamics	dynamic	NOUN
ap-1684	447	34	2	2	NUM
ap-1684	447	35	,	,	PUNCT
ap-1684	447	36	1998	1998	NUM
ap-1684	447	37	,	,	PUNCT
ap-1684	447	38	pp	pp	ADJ
ap-1684	447	39	.	.	PUNCT
ap-1684	448	1	115–143	115–143	NUM
ap-1684	448	2	.	.	PUNCT
ap-1684	449	1	[	[	X
ap-1684	449	2	10	10	NUM
ap-1684	449	3	]	]	X
ap-1684	449	4	paradis	paradis	X
ap-1684	449	5	,	,	PUNCT
ap-1684	449	6	m.j	m.j	PROPN
ap-1684	449	7	.	.	PROPN
ap-1684	449	8	,	,	PUNCT
ap-1684	449	9	willmert	willmert	PROPN
ap-1684	449	10	,	,	PUNCT
ap-1684	449	11	k.d	k.d	PROPN
ap-1684	449	12	.	.	PUNCT
ap-1684	449	13	:	:	PUNCT
ap-1684	449	14	optimal	optimal	ADJ
ap-1684	449	15	mechanism	mechanism	NOUN
ap-1684	449	16	design	design	NOUN
ap-1684	449	17	using	use	VERB
ap-1684	449	18	the	the	DET
ap-1684	449	19	gauss	gauss	ADJ
ap-1684	449	20	constrained	constrain	VERB
ap-1684	449	21	method	method	NOUN
ap-1684	449	22	,	,	PUNCT
ap-1684	449	23	journal	journal	NOUN
ap-1684	449	24	of	of	ADP
ap-1684	449	25	mechanisms	mechanism	NOUN
ap-1684	449	26	,	,	PUNCT
ap-1684	449	27	transmissions	transmission	NOUN
ap-1684	449	28	,	,	PUNCT
ap-1684	449	29	automation	automation	NOUN
ap-1684	449	30	in	in	ADP
ap-1684	449	31	design	design	NOUN
ap-1684	449	32	105	105	NUM
ap-1684	449	33	,	,	PUNCT
ap-1684	449	34	1983	1983	NUM
ap-1684	449	35	,	,	PUNCT
ap-1684	449	36	pp	pp	ADJ
ap-1684	449	37	.	.	PUNCT
ap-1684	450	1	187–196	187–196	NUM
ap-1684	450	2	.	.	PUNCT
ap-1684	451	1	[	[	X
ap-1684	451	2	11	11	NUM
ap-1684	451	3	]	]	PUNCT
ap-1684	451	4	minnaar	minnaar	NOUN
ap-1684	451	5	,	,	PUNCT
ap-1684	451	6	r.j	r.j	PROPN
ap-1684	451	7	.	.	PROPN
ap-1684	451	8	et	et	PROPN
ap-1684	451	9	al	al	PROPN
ap-1684	451	10	.	.	PROPN
ap-1684	451	11	:	:	PUNCT
ap-1684	451	12	on	on	ADP
ap-1684	451	13	non	non	ADJ
ap-1684	451	14	-	-	ADJ
ap-1684	451	15	assembly	assembly	NOUN
ap-1684	451	16	in	in	ADP
ap-1684	451	17	the	the	DET
ap-1684	451	18	optimal	optimal	ADJ
ap-1684	451	19	dimensional	dimensional	ADJ
ap-1684	451	20	synthesis	synthesis	NOUN
ap-1684	451	21	of	of	ADP
ap-1684	451	22	planar	planar	ADJ
ap-1684	451	23	mechanisms	mechanism	NOUN
ap-1684	451	24	,	,	PUNCT
ap-1684	451	25	structural	structural	ADJ
ap-1684	451	26	optimization	optimization	NOUN
ap-1684	451	27	21	21	NUM
ap-1684	451	28	,	,	PUNCT
ap-1684	451	29	2001	2001	NUM
ap-1684	451	30	,	,	PUNCT
ap-1684	451	31	pp	pp	ADP
ap-1684	451	32	.	.	PUNCT
ap-1684	452	1	345–354	345–354	NUM
ap-1684	452	2	.	.	PUNCT
ap-1684	453	1	[	[	X
ap-1684	453	2	12	12	NUM
ap-1684	453	3	]	]	X
ap-1684	453	4	hansen	hansen	PROPN
ap-1684	453	5	,	,	PUNCT
ap-1684	453	6	j.m	j.m	PROPN
ap-1684	453	7	.	.	PUNCT
ap-1684	453	8	:	:	PUNCT
ap-1684	454	1	synthesis	synthesis	NOUN
ap-1684	454	2	of	of	ADP
ap-1684	454	3	mechanisms	mechanism	NOUN
ap-1684	454	4	using	use	VERB
ap-1684	454	5	time	time	NOUN
ap-1684	454	6	-	-	PUNCT
ap-1684	454	7	varying	vary	VERB
ap-1684	454	8	dimensions	dimension	NOUN
ap-1684	454	9	.	.	PUNCT
ap-1684	455	1	multibody	multibody	ADJ
ap-1684	455	2	system	system	NOUN
ap-1684	455	3	dynamics	dynamic	NOUN
ap-1684	455	4	,	,	PUNCT
ap-1684	455	5	vol	vol	NOUN
ap-1684	455	6	.	.	PUNCT
ap-1684	455	7	7/1	7/1	NUM
ap-1684	455	8	,	,	PUNCT
ap-1684	455	9	2002	2002	NUM
ap-1684	455	10	,	,	PUNCT
ap-1684	455	11	pp	pp	ADJ
ap-1684	455	12	.	.	PUNCT
ap-1684	456	1	127	127	NUM
ap-1684	456	2	-	-	SYM
ap-1684	456	3	144	144	NUM
ap-1684	456	4	.	.	PUNCT
ap-1684	457	1	[	[	X
ap-1684	457	2	13	13	NUM
ap-1684	457	3	]	]	X
ap-1684	457	4	jensen	jensen	PROPN
ap-1684	457	5	,	,	PUNCT
ap-1684	457	6	o.f	o.f	PROPN
ap-1684	457	7	.	.	PROPN
ap-1684	457	8	,	,	PUNCT
ap-1684	457	9	hansen	hansen	PROPN
ap-1684	457	10	,	,	PUNCT
ap-1684	457	11	j.m	j.m	PROPN
ap-1684	457	12	.	.	PUNCT
ap-1684	457	13	:	:	PUNCT
ap-1684	457	14	dimensional	dimensional	ADJ
ap-1684	457	15	synthesis	synthesis	NOUN
ap-1684	457	16	of	of	ADP
ap-1684	457	17	spatial	spatial	ADJ
ap-1684	457	18	mechanisms	mechanism	NOUN
ap-1684	457	19	and	and	CCONJ
ap-1684	457	20	the	the	DET
ap-1684	457	21	problem	problem	NOUN
ap-1684	457	22	of	of	ADP
ap-1684	457	23	non	non	ADJ
ap-1684	457	24	-	-	NOUN
ap-1684	457	25	assembly	assembly	NOUN
ap-1684	457	26	.	.	PUNCT
ap-1684	458	1	multibody	multibody	ADJ
ap-1684	458	2	system	system	NOUN
ap-1684	458	3	dynamics	dynamic	NOUN
ap-1684	458	4	,	,	PUNCT
ap-1684	458	5	vol	vol	NOUN
ap-1684	458	6	.	.	PUNCT
ap-1684	458	7	15/2	15/2	NUM
ap-1684	458	8	,	,	PUNCT
ap-1684	458	9	2006	2006	NUM
ap-1684	458	10	,	,	PUNCT
ap-1684	458	11	pp	pp	ADJ
ap-1684	458	12	.	.	PUNCT
ap-1684	459	1	107	107	NUM
ap-1684	459	2	-	-	SYM
ap-1684	459	3	133	133	NUM
ap-1684	459	4	.	.	PUNCT
ap-1684	460	1	[	[	X
ap-1684	460	2	14	14	NUM
ap-1684	460	3	]	]	PUNCT
ap-1684	460	4	valášek	valášek	PROPN
ap-1684	460	5	,	,	PUNCT
ap-1684	460	6	m.	m.	NOUN
ap-1684	460	7	,	,	PUNCT
ap-1684	460	8	šika	šika	NOUN
ap-1684	460	9	,	,	PUNCT
ap-1684	460	10	z.	z.	PROPN
ap-1684	460	11	:	:	PUNCT
ap-1684	460	12	mechanism	mechanism	NOUN
ap-1684	460	13	synthesis	synthesis	NOUN
ap-1684	460	14	as	as	ADP
ap-1684	460	15	control	control	NOUN
ap-1684	460	16	problems	problem	NOUN
ap-1684	460	17	.	.	PUNCT
ap-1684	461	1	in	in	ADP
ap-1684	461	2	:	:	PUNCT
ap-1684	461	3	proc	proc	NOUN
ap-1684	461	4	.	.	PUNCT
ap-1684	462	1	of	of	ADP
ap-1684	462	2	workshop	workshop	NOUN
ap-1684	462	3	on	on	ADP
ap-1684	462	4	interaction	interaction	NOUN
ap-1684	462	5	and	and	CCONJ
ap-1684	462	6	feedbacks	feedback	NOUN
ap-1684	462	7	‘	'	PUNCT
ap-1684	462	8	2004	2004	NUM
ap-1684	462	9	,	,	PUNCT
ap-1684	462	10	edited	edit	VERB
ap-1684	462	11	by	by	ADP
ap-1684	462	12	i.	i.	PROPN
ap-1684	462	13	zolotarev	zolotarev	PROPN
ap-1684	462	14	,	,	PUNCT
ap-1684	462	15	prague	prague	PROPN
ap-1684	462	16	,	,	PUNCT
ap-1684	462	17	2004	2004	NUM
ap-1684	462	18	,	,	PUNCT
ap-1684	462	19	pp	pp	ADJ
ap-1684	462	20	.	.	PUNCT
ap-1684	463	1	187	187	NUM
ap-1684	463	2	-	-	SYM
ap-1684	463	3	192	192	NUM
ap-1684	463	4	.	.	PUNCT
ap-1684	464	1	[	[	X
ap-1684	464	2	15	15	NUM
ap-1684	464	3	]	]	SYM
ap-1684	464	4	gresl	gresl	PROPN
ap-1684	464	5	,	,	PUNCT
ap-1684	464	6	m.	m.	NOUN
ap-1684	464	7	et	et	PROPN
ap-1684	464	8	al	al	PROPN
ap-1684	464	9	.	.	PUNCT
ap-1684	464	10	:	:	PUNCT
ap-1684	465	1	synthesis	synthesis	NOUN
ap-1684	465	2	of	of	ADP
ap-1684	465	3	dexterity	dexterity	NOUN
ap-1684	465	4	measure	measure	NOUN
ap-1684	465	5	of	of	ADP
ap-1684	465	6	mechanisms	mechanism	NOUN
ap-1684	465	7	by	by	ADP
ap-1684	465	8	evolution	evolution	NOUN
ap-1684	465	9	of	of	ADP
ap-1684	465	10	dissipative	dissipative	ADJ
ap-1684	465	11	system	system	NOUN
ap-1684	465	12	,	,	PUNCT
ap-1684	465	13	applied	apply	VERB
ap-1684	465	14	and	and	CCONJ
ap-1684	465	15	computational	computational	ADJ
ap-1684	465	16	mechanics	mechanic	NOUN
ap-1684	465	17	,	,	PUNCT
ap-1684	465	18	1	1	NUM
ap-1684	465	19	(	(	PUNCT
ap-1684	465	20	2007	2007	NUM
ap-1684	465	21	)	)	PUNCT
ap-1684	465	22	,	,	PUNCT
ap-1684	465	23	2	2	NUM
ap-1684	465	24	,	,	PUNCT
ap-1684	465	25	pp	pp	ADJ
ap-1684	465	26	.	.	PUNCT
ap-1684	466	1	461	461	NUM
ap-1684	466	2	-	-	SYM
ap-1684	466	3	468	468	NUM
ap-1684	466	4	.	.	PUNCT
ap-1684	467	1	[	[	X
ap-1684	467	2	16	16	NUM
ap-1684	467	3	]	]	X
ap-1684	467	4	sika	sika	X
ap-1684	467	5	,	,	PUNCT
ap-1684	467	6	z.	z.	PROPN
ap-1684	467	7	et	et	PROPN
ap-1684	467	8	al	al	PROPN
ap-1684	467	9	.	.	PROPN
ap-1684	467	10	:	:	PUNCT
ap-1684	467	11	synthesis	synthesis	NOUN
ap-1684	467	12	of	of	ADP
ap-1684	467	13	mechanisms	mechanism	NOUN
ap-1684	467	14	using	use	VERB
ap-1684	467	15	evolution	evolution	NOUN
ap-1684	467	16	of	of	ADP
ap-1684	467	17	associated	associated	ADJ
ap-1684	467	18	dissipative	dissipative	NOUN
ap-1684	467	19	systems	system	NOUN
ap-1684	467	20	,	,	PUNCT
ap-1684	467	21	multibody	multibody	ADJ
ap-1684	467	22	system	system	NOUN
ap-1684	467	23	dynamics	dynamic	NOUN
ap-1684	467	24	,	,	PUNCT
ap-1684	467	25	28	28	NUM
ap-1684	467	26	(	(	PUNCT
ap-1684	467	27	2012	2012	NUM
ap-1684	467	28	)	)	PUNCT
ap-1684	467	29	,	,	PUNCT
ap-1684	467	30	4	4	NUM
ap-1684	467	31	,	,	PUNCT
ap-1684	467	32	pp	pp	ADJ
ap-1684	467	33	.	.	PUNCT
ap-1684	467	34	419	419	NUM
ap-1684	467	35	-	-	SYM
ap-1684	467	36	440	440	NUM
ap-1684	467	37	.	.	PUNCT
ap-1684	468	1	[	[	X
ap-1684	468	2	17	17	NUM
ap-1684	468	3	]	]	X
ap-1684	468	4	grešl	grešl	PROPN
ap-1684	468	5	,	,	PUNCT
ap-1684	468	6	m.	m.	NOUN
ap-1684	468	7	:	:	PUNCT
ap-1684	468	8	synthesis	synthesis	NOUN
ap-1684	468	9	and	and	CCONJ
ap-1684	468	10	multiobjective	multiobjective	ADJ
ap-1684	468	11	optimization	optimization	NOUN
ap-1684	468	12	of	of	ADP
ap-1684	468	13	mechanisms	mechanism	NOUN
ap-1684	468	14	using	use	VERB
ap-1684	468	15	evolution	evolution	NOUN
ap-1684	468	16	of	of	ADP
ap-1684	468	17	associated	associated	ADJ
ap-1684	468	18	dissipative	dissipative	ADJ
ap-1684	468	19	system	system	NOUN
ap-1684	468	20	,	,	PUNCT
ap-1684	468	21	ph.d	ph.d	PROPN
ap-1684	468	22	.	.	PUNCT
ap-1684	469	1	thesis	thesis	PROPN
ap-1684	469	2	,	,	PUNCT
ap-1684	469	3	fme	fme	PROPN
ap-1684	469	4	ctu	ctu	NOUN
ap-1684	469	5	in	in	ADP
ap-1684	469	6	prague	prague	PROPN
ap-1684	469	7	,	,	PUNCT
ap-1684	469	8	prague	prague	PROPN
ap-1684	469	9	,	,	PUNCT
ap-1684	469	10	2010	2010	NUM
ap-1684	469	11	.	.	PUNCT
ap-1684	470	1	[	[	X
ap-1684	470	2	18	18	NUM
ap-1684	470	3	]	]	X
ap-1684	470	4	valasek	valasek	PROPN
ap-1684	470	5	,	,	PUNCT
ap-1684	470	6	m.	m.	NOUN
ap-1684	470	7	:	:	PUNCT
ap-1684	470	8	multibody	multibody	ADJ
ap-1684	470	9	dynamics	dynamic	NOUN
ap-1684	470	10	without	without	ADP
ap-1684	470	11	analytical	analytical	ADJ
ap-1684	470	12	mechanics	mechanic	NOUN
ap-1684	470	13	,	,	PUNCT
ap-1684	470	14	in	in	ADP
ap-1684	470	15	:	:	PUNCT
ap-1684	470	16	j.a.c	j.a.c	NOUN
ap-1684	470	17	.	.	PUNCT
ap-1684	471	1	ambrosio	ambrosio	PROPN
ap-1684	471	2	(	(	PUNCT
ap-1684	471	3	ed	ed	NOUN
ap-1684	471	4	.	.	PROPN
ap-1684	471	5	):	):	PUNCT
ap-1684	471	6	proc	proc	NOUN
ap-1684	471	7	.	.	PUNCT
ap-1684	471	8	of	of	ADP
ap-1684	471	9	int	int	PROPN
ap-1684	471	10	.	.	PUNCT
ap-1684	472	1	conf	conf	PROPN
ap-1684	472	2	.	.	PUNCT
ap-1684	473	1	on	on	ADP
ap-1684	473	2	advances	advance	NOUN
ap-1684	473	3	in	in	ADP
ap-1684	473	4	computational	computational	ADJ
ap-1684	473	5	multibody	multibody	ADJ
ap-1684	473	6	dynamics	dynamic	NOUN
ap-1684	473	7	,	,	PUNCT
ap-1684	473	8	ist	ist	NOUN
ap-1684	473	9	idmec	idmec	NOUN
ap-1684	473	10	,	,	PUNCT
ap-1684	473	11	lisbon	lisbon	PROPN
ap-1684	473	12	2003	2003	NUM
ap-1684	473	13	,	,	PUNCT
ap-1684	473	14	cd	cd	PROPN
ap-1684	473	15	rom	rom	PROPN
ap-1684	473	16	,	,	PUNCT
ap-1684	473	17	pp	pp	PROPN
ap-1684	473	18	.	.	PUNCT
ap-1684	474	1	1	1	NUM
ap-1684	474	2	-	-	SYM
ap-1684	474	3	14	14	NUM
ap-1684	474	4	.	.	PUNCT
ap-1684	475	1	[	[	X
ap-1684	475	2	19	19	NUM
ap-1684	475	3	]	]	X
ap-1684	475	4	stejskal	stejskal	NOUN
ap-1684	475	5	,	,	PUNCT
ap-1684	475	6	v.	v.	PROPN
ap-1684	475	7	,	,	PUNCT
ap-1684	475	8	valasek	valasek	INTJ
ap-1684	475	9	,	,	PUNCT
ap-1684	475	10	m.	m.	NOUN
ap-1684	475	11	:	:	PUNCT
ap-1684	475	12	kinematics	kinematic	NOUN
ap-1684	475	13	and	and	CCONJ
ap-1684	475	14	dynamics	dynamic	NOUN
ap-1684	475	15	of	of	ADP
ap-1684	475	16	machinery	machinery	NOUN
ap-1684	475	17	,	,	PUNCT
ap-1684	475	18	marcel	marcel	PROPN
ap-1684	475	19	dekker	dekker	PROPN
ap-1684	475	20	,	,	PUNCT
ap-1684	475	21	new	new	PROPN
ap-1684	475	22	york	york	PROPN
ap-1684	475	23	1996	1996	NUM
ap-1684	475	24	.	.	PUNCT
ap-1684	476	1	[	[	X
ap-1684	476	2	20	20	NUM
ap-1684	476	3	]	]	X
ap-1684	476	4	karnopp	karnopp	PROPN
ap-1684	476	5	,	,	PUNCT
ap-1684	476	6	d.	d.	PROPN
ap-1684	476	7	,	,	PUNCT
ap-1684	476	8	crosby	crosby	PROPN
ap-1684	476	9	,	,	PUNCT
ap-1684	476	10	m.	m.	NOUN
ap-1684	476	11	,	,	PUNCT
ap-1684	476	12	harwood	harwood	NOUN
ap-1684	476	13	,	,	PUNCT
ap-1684	476	14	r.a	r.a	PROPN
ap-1684	476	15	.	.	PROPN
ap-1684	476	16	:	:	PUNCT
ap-1684	477	1	vibration	vibration	NOUN
ap-1684	477	2	control	control	NOUN
ap-1684	477	3	using	use	VERB
ap-1684	477	4	semi	semi	ADJ
ap-1684	477	5	-	-	ADJ
ap-1684	477	6	active	active	ADJ
ap-1684	477	7	force	force	NOUN
ap-1684	477	8	generators	generator	NOUN
ap-1684	477	9	.	.	PUNCT
ap-1684	478	1	journal	journal	NOUN
ap-1684	478	2	of	of	ADP
ap-1684	478	3	engineering	engineering	NOUN
ap-1684	478	4	for	for	ADP
ap-1684	478	5	industry	industry	NOUN
ap-1684	478	6	,	,	PUNCT
ap-1684	478	7	no	no	INTJ
ap-1684	478	8	.	.	NOUN
ap-1684	478	9	96	96	NUM
ap-1684	478	10	,	,	PUNCT
ap-1684	478	11	1974	1974	NUM
ap-1684	478	12	,	,	PUNCT
ap-1684	478	13	pp	pp	ADJ
ap-1684	478	14	.	.	PUNCT
ap-1684	479	1	619	619	NUM
ap-1684	479	2	-	-	SYM
ap-1684	479	3	626	626	NUM
ap-1684	479	4	.	.	PUNCT
ap-1684	480	1	[	[	X
ap-1684	480	2	21	21	NUM
ap-1684	480	3	]	]	PUNCT
ap-1684	480	4	valášek	valášek	PROPN
ap-1684	480	5	,	,	PUNCT
ap-1684	480	6	m.	m.	NOUN
ap-1684	480	7	,	,	PUNCT
ap-1684	480	8	kortüm	kortüm	PROPN
ap-1684	480	9	,	,	PUNCT
ap-1684	480	10	w.	w.	PROPN
ap-1684	480	11	,	,	PUNCT
ap-1684	480	12	šika	šika	NOUN
ap-1684	480	13	,	,	PUNCT
ap-1684	480	14	z.	z.	PROPN
ap-1684	480	15	,	,	PUNCT
ap-1684	480	16	magdolen	magdolen	PROPN
ap-1684	480	17	,	,	PUNCT
ap-1684	480	18	l.	l.	PROPN
ap-1684	480	19	,	,	PUNCT
ap-1684	480	20	vaculín	vaculín	PROPN
ap-1684	480	21	,	,	PUNCT
ap-1684	480	22	o.	o.	NOUN
ap-1684	480	23	:	:	PUNCT
ap-1684	480	24	development	development	NOUN
ap-1684	480	25	of	of	ADP
ap-1684	480	26	semi	semi	ADJ
ap-1684	480	27	-	-	ADJ
ap-1684	480	28	active	active	ADJ
ap-1684	480	29	roadfriendly	roadfriendly	ADJ
ap-1684	480	30	truck	truck	NOUN
ap-1684	480	31	suspensions	suspension	NOUN
ap-1684	480	32	.	.	PUNCT
ap-1684	481	1	control	control	NOUN
ap-1684	481	2	engineering	engineering	NOUN
ap-1684	481	3	practice	practice	NOUN
ap-1684	481	4	,	,	PUNCT
ap-1684	481	5	vol	vol	NOUN
ap-1684	481	6	.	.	PROPN
ap-1684	481	7	6	6	NUM
ap-1684	481	8	,	,	PUNCT
ap-1684	481	9	1998	1998	NUM
ap-1684	481	10	,	,	PUNCT
ap-1684	481	11	pp	pp	ADJ
ap-1684	481	12	.	.	PUNCT
ap-1684	482	1	735	735	NUM
ap-1684	482	2	-	-	SYM
ap-1684	482	3	744	744	NUM
ap-1684	482	4	.	.	PUNCT
ap-1684	483	1	93	93	NUM