id	sid	tid	token	lemma	pos
ap-1686	1	1	acta	acta	PROPN
ap-1686	1	2	polytechnica	polytechnica	PROPN
ap-1686	1	3	vol	vol	NOUN
ap-1686	1	4	.	.	PROPN
ap-1686	2	1	52	52	NUM
ap-1686	2	2	no	no	NOUN
ap-1686	2	3	.	.	PUNCT
ap-1686	3	1	6/2012	6/2012	NUM
ap-1686	3	2	massive	massive	ADJ
ap-1686	3	3	parallelization	parallelization	NOUN
ap-1686	3	4	of	of	ADP
ap-1686	3	5	multibody	multibody	ADJ
ap-1686	3	6	system	system	NOUN
ap-1686	3	7	simulation	simulation	NOUN
ap-1686	3	8	michael	michael	PROPN
ap-1686	3	9	valášek	valášek	PROPN
ap-1686	3	10	,	,	PUNCT
ap-1686	3	11	ladislav	ladislav	NOUN
ap-1686	3	12	mráz	mráz	PROPN
ap-1686	3	13	department	department	PROPN
ap-1686	3	14	of	of	ADP
ap-1686	3	15	mechanics	mechanic	NOUN
ap-1686	3	16	,	,	PUNCT
ap-1686	3	17	biomechanics	biomechanic	NOUN
ap-1686	3	18	and	and	CCONJ
ap-1686	3	19	mechatronics	mechatronic	NOUN
ap-1686	3	20	,	,	PUNCT
ap-1686	3	21	faculty	faculty	NOUN
ap-1686	3	22	of	of	ADP
ap-1686	3	23	mechanical	mechanical	ADJ
ap-1686	3	24	engineering	engineering	NOUN
ap-1686	3	25	,	,	PUNCT
ap-1686	3	26	czech	czech	PROPN
ap-1686	3	27	technical	technical	PROPN
ap-1686	3	28	university	university	PROPN
ap-1686	3	29	in	in	ADP
ap-1686	3	30	prague	prague	PROPN
ap-1686	3	31	technická	technická	PROPN
ap-1686	3	32	4	4	NUM
ap-1686	3	33	,	,	PUNCT
ap-1686	3	34	166	166	NUM
ap-1686	3	35	07	07	NUM
ap-1686	3	36	praha	praha	PROPN
ap-1686	3	37	6	6	NUM
ap-1686	3	38	,	,	PUNCT
ap-1686	3	39	czech	czech	PROPN
ap-1686	3	40	republic	republic	NOUN
ap-1686	3	41	corresponding	corresponding	ADJ
ap-1686	3	42	author	author	NOUN
ap-1686	3	43	:	:	PUNCT
ap-1686	3	44	michael.valasek@fs.cvut.cz	michael.valasek@fs.cvut.cz	NOUN
ap-1686	3	45	abstract	abstract	ADJ
ap-1686	3	46	this	this	DET
ap-1686	3	47	paper	paper	NOUN
ap-1686	3	48	deals	deal	NOUN
ap-1686	3	49	with	with	ADP
ap-1686	3	50	the	the	DET
ap-1686	3	51	decrease	decrease	NOUN
ap-1686	3	52	in	in	ADP
ap-1686	3	53	cpu	cpu	ADJ
ap-1686	3	54	time	time	NOUN
ap-1686	3	55	necessary	necessary	ADJ
ap-1686	3	56	for	for	ADP
ap-1686	3	57	simulating	simulate	VERB
ap-1686	3	58	multibody	multibody	ADJ
ap-1686	3	59	systems	system	NOUN
ap-1686	3	60	by	by	ADP
ap-1686	3	61	massive	massive	ADJ
ap-1686	3	62	parallelization	parallelization	NOUN
ap-1686	3	63	.	.	PUNCT
ap-1686	4	1	the	the	DET
ap-1686	4	2	direct	direct	ADJ
ap-1686	4	3	dynamics	dynamic	NOUN
ap-1686	4	4	of	of	ADP
ap-1686	4	5	multibody	multibody	ADJ
ap-1686	4	6	systems	system	NOUN
ap-1686	4	7	has	have	VERB
ap-1686	4	8	to	to	PART
ap-1686	4	9	be	be	AUX
ap-1686	4	10	solved	solve	VERB
ap-1686	4	11	by	by	ADP
ap-1686	4	12	a	a	DET
ap-1686	4	13	system	system	NOUN
ap-1686	4	14	of	of	ADP
ap-1686	4	15	linear	linear	PROPN
ap-1686	4	16	algebraic	algebraic	ADJ
ap-1686	4	17	equations	equation	NOUN
ap-1686	4	18	.	.	PUNCT
ap-1686	5	1	this	this	PRON
ap-1686	5	2	is	be	AUX
ap-1686	5	3	a	a	DET
ap-1686	5	4	bottleneck	bottleneck	NOUN
ap-1686	5	5	for	for	ADP
ap-1686	5	6	the	the	DET
ap-1686	5	7	efficient	efficient	ADJ
ap-1686	5	8	usage	usage	NOUN
ap-1686	5	9	of	of	ADP
ap-1686	5	10	multiple	multiple	ADJ
ap-1686	5	11	processors	processor	NOUN
ap-1686	5	12	.	.	PUNCT
ap-1686	6	1	simultaneous	simultaneous	ADJ
ap-1686	6	2	solution	solution	NOUN
ap-1686	6	3	of	of	ADP
ap-1686	6	4	this	this	DET
ap-1686	6	5	task	task	NOUN
ap-1686	6	6	means	mean	VERB
ap-1686	6	7	that	that	SCONJ
ap-1686	6	8	the	the	DET
ap-1686	6	9	excitation	excitation	NOUN
ap-1686	6	10	is	be	AUX
ap-1686	6	11	immediately	immediately	ADV
ap-1686	6	12	spread	spread	VERB
ap-1686	6	13	into	into	ADP
ap-1686	6	14	all	all	DET
ap-1686	6	15	components	component	NOUN
ap-1686	6	16	of	of	ADP
ap-1686	6	17	the	the	DET
ap-1686	6	18	multibody	multibody	ADJ
ap-1686	6	19	system	system	NOUN
ap-1686	6	20	.	.	PUNCT
ap-1686	7	1	the	the	DET
ap-1686	7	2	bottleneck	bottleneck	NOUN
ap-1686	7	3	can	can	AUX
ap-1686	7	4	be	be	AUX
ap-1686	7	5	avoided	avoid	VERB
ap-1686	7	6	by	by	ADP
ap-1686	7	7	introducing	introduce	VERB
ap-1686	7	8	additional	additional	ADJ
ap-1686	7	9	dynamics	dynamic	NOUN
ap-1686	7	10	,	,	PUNCT
ap-1686	7	11	and	and	CCONJ
ap-1686	7	12	this	this	PRON
ap-1686	7	13	leads	lead	VERB
ap-1686	7	14	to	to	ADP
ap-1686	7	15	the	the	DET
ap-1686	7	16	possibility	possibility	NOUN
ap-1686	7	17	of	of	ADP
ap-1686	7	18	massive	massive	ADJ
ap-1686	7	19	parallelization	parallelization	NOUN
ap-1686	7	20	.	.	PUNCT
ap-1686	8	1	two	two	NUM
ap-1686	8	2	approaches	approach	NOUN
ap-1686	8	3	are	be	AUX
ap-1686	8	4	described	describe	VERB
ap-1686	8	5	.	.	PUNCT
ap-1686	9	1	one	one	NUM
ap-1686	9	2	is	be	AUX
ap-1686	9	3	a	a	DET
ap-1686	9	4	heterogeneous	heterogeneous	ADJ
ap-1686	9	5	multiscale	multiscale	NOUN
ap-1686	9	6	method	method	NOUN
ap-1686	9	7	,	,	PUNCT
ap-1686	9	8	and	and	CCONJ
ap-1686	9	9	the	the	DET
ap-1686	9	10	other	other	ADJ
ap-1686	9	11	involves	involve	VERB
ap-1686	9	12	solving	solve	VERB
ap-1686	9	13	a	a	DET
ap-1686	9	14	system	system	NOUN
ap-1686	9	15	of	of	ADP
ap-1686	9	16	linear	linear	PROPN
ap-1686	9	17	algebraic	algebraic	ADJ
ap-1686	9	18	equations	equation	NOUN
ap-1686	9	19	by	by	ADP
ap-1686	9	20	artificial	artificial	ADJ
ap-1686	9	21	dynamics	dynamic	NOUN
ap-1686	9	22	.	.	PUNCT
ap-1686	10	1	keywords	keyword	NOUN
ap-1686	10	2	:	:	PUNCT
ap-1686	10	3	multibody	multibody	ADJ
ap-1686	10	4	system	system	NOUN
ap-1686	10	5	;	;	PUNCT
ap-1686	10	6	dynamics	dynamic	NOUN
ap-1686	10	7	;	;	PUNCT
ap-1686	10	8	simulation	simulation	NOUN
ap-1686	10	9	;	;	PUNCT
ap-1686	10	10	massive	massive	ADJ
ap-1686	10	11	parallelization	parallelization	NOUN
ap-1686	10	12	;	;	PUNCT
ap-1686	10	13	heterogeneous	heterogeneous	ADJ
ap-1686	10	14	multiscale	multiscale	NOUN
ap-1686	10	15	method	method	NOUN
ap-1686	10	16	;	;	PUNCT
ap-1686	10	17	additional	additional	ADJ
ap-1686	10	18	dynamics	dynamic	NOUN
ap-1686	10	19	.	.	PUNCT
ap-1686	11	1	1	1	NUM
ap-1686	11	2	introduction	introduction	NOUN
ap-1686	11	3	the	the	DET
ap-1686	11	4	cpu	cpu	NOUN
ap-1686	11	5	time	time	NOUN
ap-1686	11	6	required	require	VERB
ap-1686	11	7	to	to	PART
ap-1686	11	8	carry	carry	VERB
ap-1686	11	9	out	out	ADP
ap-1686	11	10	a	a	DET
ap-1686	11	11	simulation	simulation	NOUN
ap-1686	11	12	of	of	ADP
ap-1686	11	13	dynamic	dynamic	ADJ
ap-1686	11	14	systems	system	NOUN
ap-1686	11	15	is	be	AUX
ap-1686	11	16	too	too	ADV
ap-1686	11	17	largeto	largeto	NOUN
ap-1686	11	18	be	be	AUX
ap-1686	11	19	solved	solve	VERB
ap-1686	11	20	on	on	ADP
ap-1686	11	21	current	current	ADJ
ap-1686	11	22	processors	processor	NOUN
ap-1686	11	23	.	.	PUNCT
ap-1686	12	1	the	the	DET
ap-1686	12	2	process	process	NOUN
ap-1686	12	3	can	can	AUX
ap-1686	12	4	be	be	AUX
ap-1686	12	5	speeded	speed	VERB
ap-1686	12	6	up	up	ADP
ap-1686	12	7	by	by	ADP
ap-1686	12	8	parallelization	parallelization	NOUN
ap-1686	12	9	.	.	PUNCT
ap-1686	13	1	it	it	PRON
ap-1686	13	2	is	be	AUX
ap-1686	13	3	forecast	forecast	VERB
ap-1686	13	4	that	that	SCONJ
ap-1686	13	5	parallel	parallel	ADJ
ap-1686	13	6	computers	computer	NOUN
ap-1686	13	7	will	will	AUX
ap-1686	13	8	be	be	AUX
ap-1686	13	9	widely	widely	ADV
ap-1686	13	10	used	use	VERB
ap-1686	13	11	in	in	ADP
ap-1686	13	12	the	the	DET
ap-1686	13	13	near	near	ADJ
ap-1686	13	14	future	future	NOUN
ap-1686	13	15	,	,	PUNCT
ap-1686	13	16	and	and	CCONJ
ap-1686	13	17	it	it	PRON
ap-1686	13	18	is	be	AUX
ap-1686	13	19	necessary	necessary	ADJ
ap-1686	13	20	to	to	PART
ap-1686	13	21	develop	develop	VERB
ap-1686	13	22	new	new	ADJ
ap-1686	13	23	formalisms	formalism	NOUN
ap-1686	13	24	for	for	ADP
ap-1686	13	25	effective	effective	ADJ
ap-1686	13	26	exploitation	exploitation	NOUN
ap-1686	13	27	of	of	ADP
ap-1686	13	28	the	the	DET
ap-1686	13	29	computing	computing	NOUN
ap-1686	13	30	cores	core	NOUN
ap-1686	13	31	.	.	PUNCT
ap-1686	14	1	many	many	ADJ
ap-1686	14	2	techniques	technique	NOUN
ap-1686	14	3	have	have	AUX
ap-1686	14	4	been	be	AUX
ap-1686	14	5	developed	develop	VERB
ap-1686	14	6	for	for	ADP
ap-1686	14	7	computing	compute	VERB
ap-1686	14	8	on	on	ADP
ap-1686	14	9	multiple	multiple	ADJ
ap-1686	14	10	processors	processor	NOUN
ap-1686	14	11	[	[	X
ap-1686	14	12	1–7	1–7	NUM
ap-1686	14	13	]	]	PUNCT
ap-1686	14	14	,	,	PUNCT
ap-1686	14	15	but	but	CCONJ
ap-1686	14	16	only	only	ADV
ap-1686	14	17	a	a	DET
ap-1686	14	18	few	few	ADJ
ap-1686	14	19	of	of	ADP
ap-1686	14	20	them	they	PRON
ap-1686	14	21	have	have	AUX
ap-1686	14	22	been	be	AUX
ap-1686	14	23	developed	develop	VERB
ap-1686	14	24	for	for	ADP
ap-1686	14	25	massive	massive	ADJ
ap-1686	14	26	parallelization	parallelization	NOUN
ap-1686	15	1	[	[	X
ap-1686	15	2	5–7	5–7	X
ap-1686	15	3	]	]	PUNCT
ap-1686	15	4	.	.	PUNCT
ap-1686	16	1	this	this	DET
ap-1686	16	2	paper	paper	NOUN
ap-1686	16	3	investigates	investigate	VERB
ap-1686	16	4	the	the	DET
ap-1686	16	5	main	main	ADJ
ap-1686	16	6	problem	problem	NOUN
ap-1686	16	7	preventing	prevent	VERB
ap-1686	16	8	efficient	efficient	ADJ
ap-1686	16	9	usage	usage	NOUN
ap-1686	16	10	of	of	ADP
ap-1686	16	11	multiple	multiple	ADJ
ap-1686	16	12	processors	processor	NOUN
ap-1686	16	13	.	.	PUNCT
ap-1686	17	1	it	it	PRON
ap-1686	17	2	brings	bring	VERB
ap-1686	17	3	together	together	ADV
ap-1686	17	4	two	two	NUM
ap-1686	17	5	recently	recently	ADV
ap-1686	17	6	developed	develop	VERB
ap-1686	17	7	approaches	approach	NOUN
ap-1686	17	8	[	[	X
ap-1686	17	9	8–9	8–9	X
ap-1686	17	10	]	]	PUNCT
ap-1686	17	11	.	.	NOUN
ap-1686	18	1	2	2	NUM
ap-1686	18	2	problem	problem	NOUN
ap-1686	18	3	of	of	ADP
ap-1686	18	4	massive	massive	ADJ
ap-1686	18	5	parallelization	parallelization	NOUN
ap-1686	18	6	the	the	DET
ap-1686	18	7	traditional	traditional	ADJ
ap-1686	18	8	solution	solution	NOUN
ap-1686	18	9	of	of	ADP
ap-1686	18	10	multibody	multibody	ADJ
ap-1686	18	11	dynamics	dynamic	NOUN
ap-1686	18	12	always	always	ADV
ap-1686	18	13	includes	include	VERB
ap-1686	18	14	solving	solve	VERB
ap-1686	18	15	a	a	DET
ap-1686	18	16	system	system	NOUN
ap-1686	18	17	of	of	ADP
ap-1686	18	18	linear	linear	PROPN
ap-1686	18	19	algebraic	algebraic	ADJ
ap-1686	18	20	equations	equation	NOUN
ap-1686	18	21	(	(	PUNCT
ap-1686	18	22	lae	lae	PROPN
ap-1686	18	23	)	)	PUNCT
ap-1686	18	24	.	.	PUNCT
ap-1686	19	1	it	it	PRON
ap-1686	19	2	is	be	AUX
ap-1686	19	3	solved	solve	VERB
ap-1686	19	4	either	either	CCONJ
ap-1686	19	5	by	by	ADP
ap-1686	19	6	inversion	inversion	NOUN
ap-1686	19	7	of	of	ADP
ap-1686	19	8	the	the	DET
ap-1686	19	9	mass	mass	ADJ
ap-1686	19	10	matrix	matrix	NOUN
ap-1686	19	11	m	m	VERB
ap-1686	19	12	:	:	PUNCT
ap-1686	19	13	mq̈	mq̈	X
ap-1686	19	14	=	=	SYM
ap-1686	19	15	f	f	PROPN
ap-1686	19	16	,	,	PUNCT
ap-1686	19	17	(	(	PUNCT
ap-1686	19	18	1	1	X
ap-1686	19	19	)	)	PUNCT
ap-1686	19	20	where	where	SCONJ
ap-1686	19	21	q	q	NOUN
ap-1686	19	22	are	be	AUX
ap-1686	19	23	the	the	DET
ap-1686	19	24	generalized	generalized	ADJ
ap-1686	19	25	coordinates	coordinate	NOUN
ap-1686	19	26	and	and	CCONJ
ap-1686	19	27	f	f	X
ap-1686	19	28	the	the	DET
ap-1686	19	29	forces	force	NOUN
ap-1686	19	30	,	,	PUNCT
ap-1686	19	31	or	or	CCONJ
ap-1686	19	32	by	by	ADP
ap-1686	19	33	inversion	inversion	NOUN
ap-1686	19	34	of	of	ADP
ap-1686	19	35	the	the	DET
ap-1686	19	36	overall	overall	ADJ
ap-1686	19	37	matrix	matrix	NOUN
ap-1686	19	38	including	include	VERB
ap-1686	19	39	the	the	DET
ap-1686	19	40	mass	mass	ADJ
ap-1686	19	41	matrix	matrix	NOUN
ap-1686	19	42	m	m	NOUN
ap-1686	19	43	and	and	CCONJ
ap-1686	19	44	the	the	DET
ap-1686	19	45	jacobi	jacobi	PROPN
ap-1686	19	46	matrix	matrix	NOUN
ap-1686	19	47	φ	φ	PROPN
ap-1686	19	48	of	of	ADP
ap-1686	19	49	constraints	constraint	NOUN
ap-1686	19	50	[	[	PUNCT
ap-1686	19	51	m	m	NOUN
ap-1686	19	52	φt	φt	NOUN
ap-1686	19	53	φ	φ	NOUN
ap-1686	19	54	0	0	NUM
ap-1686	19	55	]	]	PUNCT
ap-1686	19	56	[	[	PUNCT
ap-1686	19	57	s̈	s̈	NOUN
ap-1686	19	58	−λ	−λ	VERB
ap-1686	19	59	]	]	PUNCT
ap-1686	20	1	=	=	PUNCT
ap-1686	20	2	[	[	PUNCT
ap-1686	20	3	q1	q1	NOUN
ap-1686	20	4	q2	q2	NOUN
ap-1686	20	5	]	]	PUNCT
ap-1686	20	6	,	,	PUNCT
ap-1686	20	7	(	(	PUNCT
ap-1686	20	8	2	2	X
ap-1686	20	9	)	)	PUNCT
ap-1686	20	10	where	where	SCONJ
ap-1686	20	11	s	s	VERB
ap-1686	20	12	are	be	AUX
ap-1686	20	13	the	the	DET
ap-1686	20	14	dependent	dependent	ADJ
ap-1686	20	15	coordinates	coordinate	NOUN
ap-1686	20	16	,	,	PUNCT
ap-1686	20	17	q1	q1	PROPN
ap-1686	20	18	is	be	AUX
ap-1686	20	19	the	the	DET
ap-1686	20	20	force	force	NOUN
ap-1686	20	21	component	component	NOUN
ap-1686	20	22	andq2	andq2	NOUN
ap-1686	21	1	the	the	DET
ap-1686	21	2	vector	vector	NOUN
ap-1686	21	3	of	of	ADP
ap-1686	21	4	the	the	DET
ap-1686	21	5	acceleration	acceleration	NOUN
ap-1686	21	6	remainder	remainder	NOUN
ap-1686	21	7	resulting	result	VERB
ap-1686	21	8	from	from	ADP
ap-1686	21	9	the	the	DET
ap-1686	21	10	second	second	ADJ
ap-1686	21	11	time	time	NOUN
ap-1686	21	12	derivatives	derivative	NOUN
ap-1686	21	13	of	of	ADP
ap-1686	21	14	the	the	DET
ap-1686	21	15	constraints	constraint	NOUN
ap-1686	21	16	.	.	PUNCT
ap-1686	22	1	if	if	SCONJ
ap-1686	22	2	an	an	DET
ap-1686	22	3	excitation	excitation	NOUN
ap-1686	22	4	enters	enter	VERB
ap-1686	22	5	the	the	DET
ap-1686	22	6	system	system	NOUN
ap-1686	22	7	in	in	ADP
ap-1686	22	8	the	the	DET
ap-1686	22	9	i	i	PROPN
ap-1686	22	10	-	-	PUNCT
ap-1686	22	11	th	th	X
ap-1686	22	12	force	force	NOUN
ap-1686	22	13	element	element	NOUN
ap-1686	22	14	fi	fi	NOUN
ap-1686	22	15	,	,	PUNCT
ap-1686	22	16	then	then	ADV
ap-1686	22	17	it	it	PRON
ap-1686	22	18	is	be	AUX
ap-1686	22	19	immediately	immediately	ADV
ap-1686	22	20	spread	spread	VERB
ap-1686	22	21	among	among	ADP
ap-1686	22	22	all	all	DET
ap-1686	22	23	coordinates	coordinate	NOUN
ap-1686	22	24	q	q	X
ap-1686	22	25	(	(	PUNCT
ap-1686	22	26	or	or	CCONJ
ap-1686	22	27	s	s	X
ap-1686	22	28	)	)	PUNCT
ap-1686	22	29	through	through	ADP
ap-1686	22	30	the	the	DET
ap-1686	22	31	solution	solution	NOUN
ap-1686	22	32	of	of	ADP
ap-1686	22	33	the	the	DET
ap-1686	22	34	mass	mass	ADJ
ap-1686	22	35	matrix	matrix	NOUN
ap-1686	22	36	(	(	PUNCT
ap-1686	22	37	or	or	CCONJ
ap-1686	22	38	the	the	DET
ap-1686	22	39	system	system	NOUN
ap-1686	22	40	matrix	matrix	NOUN
ap-1686	22	41	)	)	PUNCT
ap-1686	22	42	.	.	PUNCT
ap-1686	23	1	physically	physically	ADV
ap-1686	23	2	,	,	PUNCT
ap-1686	23	3	this	this	PRON
ap-1686	23	4	means	mean	VERB
ap-1686	23	5	spreading	spread	VERB
ap-1686	23	6	the	the	DET
ap-1686	23	7	information	information	NOUN
ap-1686	23	8	inside	inside	ADP
ap-1686	23	9	the	the	DET
ap-1686	23	10	system	system	NOUN
ap-1686	23	11	by	by	ADP
ap-1686	23	12	infinite	infinite	ADJ
ap-1686	23	13	velocity	velocity	NOUN
ap-1686	23	14	.	.	PUNCT
ap-1686	24	1	in	in	ADP
ap-1686	24	2	nature	nature	NOUN
ap-1686	24	3	,	,	PUNCT
ap-1686	24	4	however	however	ADV
ap-1686	24	5	,	,	PUNCT
ap-1686	24	6	its	its	PRON
ap-1686	24	7	velocity	velocity	NOUN
ap-1686	24	8	is	be	AUX
ap-1686	24	9	limited	limit	VERB
ap-1686	24	10	by	by	ADP
ap-1686	24	11	the	the	DET
ap-1686	24	12	velocity	velocity	NOUN
ap-1686	24	13	of	of	ADP
ap-1686	24	14	acoustic	acoustic	ADJ
ap-1686	24	15	waves	wave	NOUN
ap-1686	24	16	and	and	CCONJ
ap-1686	24	17	in	in	ADP
ap-1686	24	18	the	the	DET
ap-1686	24	19	limit	limit	NOUN
ap-1686	24	20	by	by	ADP
ap-1686	24	21	the	the	DET
ap-1686	24	22	velocity	velocity	NOUN
ap-1686	24	23	of	of	ADP
ap-1686	24	24	light	light	NOUN
ap-1686	24	25	.	.	PUNCT
ap-1686	25	1	massive	massive	ADJ
ap-1686	25	2	parallelization	parallelization	NOUN
ap-1686	25	3	of	of	ADP
ap-1686	25	4	the	the	DET
ap-1686	25	5	solution	solution	NOUN
ap-1686	25	6	of	of	ADP
ap-1686	25	7	lae	lae	PROPN
ap-1686	25	8	can	can	AUX
ap-1686	25	9	reduce	reduce	VERB
ap-1686	25	10	the	the	DET
ap-1686	25	11	computational	computational	ADJ
ap-1686	25	12	complexity	complexity	NOUN
ap-1686	25	13	to	to	ADP
ap-1686	25	14	o(n	o(n	NUM
ap-1686	25	15	)	)	PUNCT
ap-1686	26	1	[	[	X
ap-1686	26	2	7	7	NUM
ap-1686	26	3	]	]	PUNCT
ap-1686	26	4	,	,	PUNCT
ap-1686	26	5	but	but	CCONJ
ap-1686	26	6	it	it	PRON
ap-1686	26	7	never	never	ADV
ap-1686	26	8	achieves	achieve	VERB
ap-1686	26	9	o(1	o(1	NOUN
ap-1686	26	10	)	)	PUNCT
ap-1686	26	11	,	,	PUNCT
ap-1686	26	12	i.e.	i.e.	X
ap-1686	26	13	,	,	PUNCT
ap-1686	26	14	independence	independence	NOUN
ap-1686	26	15	from	from	ADP
ap-1686	26	16	the	the	DET
ap-1686	26	17	size	size	NOUN
ap-1686	26	18	of	of	ADP
ap-1686	26	19	the	the	DET
ap-1686	26	20	system	system	NOUN
ap-1686	26	21	.	.	PUNCT
ap-1686	27	1	a	a	DET
ap-1686	27	2	solution	solution	NOUN
ap-1686	27	3	for	for	ADP
ap-1686	27	4	this	this	DET
ap-1686	27	5	problem	problem	NOUN
ap-1686	27	6	might	might	AUX
ap-1686	27	7	therefore	therefore	ADV
ap-1686	27	8	be	be	AUX
ap-1686	27	9	to	to	PART
ap-1686	27	10	introduce	introduce	VERB
ap-1686	27	11	finite	finite	ADJ
ap-1686	27	12	velocity	velocity	NOUN
ap-1686	27	13	of	of	ADP
ap-1686	27	14	spreading	spread	VERB
ap-1686	27	15	the	the	DET
ap-1686	27	16	information	information	NOUN
ap-1686	27	17	inside	inside	ADP
ap-1686	27	18	the	the	DET
ap-1686	27	19	system	system	NOUN
ap-1686	27	20	.	.	PUNCT
ap-1686	28	1	this	this	PRON
ap-1686	28	2	is	be	AUX
ap-1686	28	3	achieved	achieve	VERB
ap-1686	28	4	in	in	ADP
ap-1686	28	5	the	the	DET
ap-1686	28	6	following	follow	VERB
ap-1686	28	7	two	two	NUM
ap-1686	28	8	approaches	approach	NOUN
ap-1686	28	9	by	by	ADP
ap-1686	28	10	introducing	introduce	VERB
ap-1686	28	11	flexibility	flexibility	NOUN
ap-1686	28	12	into	into	ADP
ap-1686	28	13	the	the	DET
ap-1686	28	14	kinematic	kinematic	ADJ
ap-1686	28	15	constraints	constraint	NOUN
ap-1686	28	16	and	and	CCONJ
ap-1686	28	17	by	by	ADP
ap-1686	28	18	completely	completely	ADV
ap-1686	28	19	artificial	artificial	ADJ
ap-1686	28	20	introduction	introduction	NOUN
ap-1686	28	21	of	of	ADP
ap-1686	28	22	dynamics	dynamic	NOUN
ap-1686	28	23	into	into	ADP
ap-1686	28	24	the	the	DET
ap-1686	28	25	solution	solution	NOUN
ap-1686	28	26	of	of	ADP
ap-1686	28	27	lae	lae	PROPN
ap-1686	28	28	.	.	PROPN
ap-1686	29	1	3	3	NUM
ap-1686	29	2	heterogeneous	heterogeneous	ADJ
ap-1686	29	3	multiscale	multiscale	NOUN
ap-1686	29	4	method	method	NOUN
ap-1686	29	5	classical	classical	ADJ
ap-1686	29	6	approaches	approach	NOUN
ap-1686	29	7	for	for	ADP
ap-1686	29	8	solving	solve	VERB
ap-1686	29	9	multibody	multibody	ADJ
ap-1686	29	10	dynamics	dynamic	NOUN
ap-1686	29	11	usually	usually	ADV
ap-1686	29	12	use	use	VERB
ap-1686	29	13	rigid	rigid	ADJ
ap-1686	29	14	joints	joint	NOUN
ap-1686	29	15	or	or	CCONJ
ap-1686	29	16	constraints	constraint	NOUN
ap-1686	29	17	,	,	PUNCT
ap-1686	29	18	leading	lead	VERB
ap-1686	29	19	to	to	ADP
ap-1686	29	20	interconnected	interconnected	ADJ
ap-1686	29	21	equations	equation	NOUN
ap-1686	29	22	of	of	ADP
ap-1686	29	23	motion	motion	NOUN
ap-1686	29	24	(	(	PUNCT
ap-1686	29	25	eom	eom	NOUN
ap-1686	29	26	)	)	PUNCT
ap-1686	29	27	.	.	PUNCT
ap-1686	30	1	in	in	ADP
ap-1686	30	2	order	order	NOUN
ap-1686	30	3	to	to	PART
ap-1686	30	4	obtain	obtain	VERB
ap-1686	30	5	a	a	DET
ap-1686	30	6	set	set	NOUN
ap-1686	30	7	of	of	ADP
ap-1686	30	8	disconnected	disconnected	ADJ
ap-1686	30	9	eom	eom	PROPN
ap-1686	30	10	,	,	PUNCT
ap-1686	30	11	the	the	DET
ap-1686	30	12	classical	classical	ADJ
ap-1686	30	13	joints	joint	NOUN
ap-1686	30	14	are	be	AUX
ap-1686	30	15	replaced	replace	VERB
ap-1686	30	16	by	by	ADP
ap-1686	30	17	flexible	flexible	ADJ
ap-1686	30	18	joints	joint	NOUN
ap-1686	30	19	with	with	ADP
ap-1686	30	20	high	high	ADJ
ap-1686	30	21	stiffness	stiffness	NOUN
ap-1686	30	22	and	and	CCONJ
ap-1686	30	23	appropriate	appropriate	ADJ
ap-1686	30	24	damping	damping	NOUN
ap-1686	30	25	,	,	PUNCT
ap-1686	30	26	in	in	ADP
ap-1686	30	27	fact	fact	NOUN
ap-1686	30	28	providing	provide	VERB
ap-1686	30	29	a	a	DET
ap-1686	30	30	more	more	ADV
ap-1686	30	31	realistic	realistic	ADJ
ap-1686	30	32	description	description	NOUN
ap-1686	30	33	of	of	ADP
ap-1686	30	34	the	the	DET
ap-1686	30	35	joints	joint	NOUN
ap-1686	30	36	.	.	PUNCT
ap-1686	31	1	an	an	DET
ap-1686	31	2	example	example	NOUN
ap-1686	31	3	of	of	ADP
ap-1686	31	4	such	such	DET
ap-1686	31	5	a	a	DET
ap-1686	31	6	replacement	replacement	NOUN
ap-1686	31	7	for	for	ADP
ap-1686	31	8	a	a	DET
ap-1686	31	9	planar	planar	ADJ
ap-1686	31	10	multibody	multibody	ADJ
ap-1686	31	11	system	system	NOUN
ap-1686	31	12	connected	connect	VERB
ap-1686	31	13	by	by	ADP
ap-1686	31	14	revolute	revolute	ADJ
ap-1686	31	15	joints	joint	NOUN
ap-1686	31	16	is	be	AUX
ap-1686	31	17	shown	show	VERB
ap-1686	31	18	in	in	ADP
ap-1686	31	19	fig	fig	NOUN
ap-1686	31	20	.	.	PUNCT
ap-1686	32	1	1	1	X
ap-1686	32	2	.	.	X
ap-1686	32	3	using	use	VERB
ap-1686	32	4	springs	spring	NOUN
ap-1686	32	5	and	and	CCONJ
ap-1686	32	6	dampers	damper	NOUN
ap-1686	32	7	,	,	PUNCT
ap-1686	32	8	it	it	PRON
ap-1686	32	9	is	be	AUX
ap-1686	32	10	possible	possible	ADJ
ap-1686	32	11	to	to	PART
ap-1686	32	12	assemble	assemble	VERB
ap-1686	32	13	a	a	DET
ap-1686	32	14	set	set	NOUN
ap-1686	32	15	of	of	ADP
ap-1686	32	16	decoupled	decouple	VERB
ap-1686	32	17	eom	eom	PROPN
ap-1686	32	18	for	for	ADP
ap-1686	32	19	the	the	DET
ap-1686	32	20	kinematical	kinematical	ADJ
ap-1686	32	21	chain	chain	NOUN
ap-1686	32	22	94	94	NUM
ap-1686	32	23	acta	acta	PROPN
ap-1686	32	24	polytechnica	polytechnica	PROPN
ap-1686	32	25	vol	vol	NOUN
ap-1686	32	26	.	.	PROPN
ap-1686	33	1	52	52	NUM
ap-1686	33	2	no	no	NOUN
ap-1686	33	3	.	.	PUNCT
ap-1686	34	1	6/2012	6/2012	NUM
ap-1686	34	2	figure	figure	NOUN
ap-1686	34	3	1	1	NUM
ap-1686	34	4	:	:	PUNCT
ap-1686	34	5	model	model	NOUN
ap-1686	34	6	of	of	ADP
ap-1686	34	7	a	a	DET
ap-1686	34	8	kinematical	kinematical	ADJ
ap-1686	34	9	chain	chain	NOUN
ap-1686	34	10	with	with	ADP
ap-1686	34	11	joints	joint	NOUN
ap-1686	34	12	replaced	replace	VERB
ap-1686	34	13	by	by	ADP
ap-1686	34	14	springs	spring	NOUN
ap-1686	34	15	and	and	CCONJ
ap-1686	34	16	dampers	damper	NOUN
ap-1686	34	17	.	.	PUNCT
ap-1686	35	1	in	in	ADP
ap-1686	35	2	fig	fig	NOUN
ap-1686	35	3	.	.	PUNCT
ap-1686	36	1	1	1	X
ap-1686	36	2	.	.	X
ap-1686	36	3	each	each	DET
ap-1686	36	4	body	body	NOUN
ap-1686	36	5	in	in	ADP
ap-1686	36	6	a	a	DET
ap-1686	36	7	plane	plane	NOUN
ap-1686	36	8	is	be	AUX
ap-1686	36	9	described	describe	VERB
ap-1686	36	10	by	by	ADP
ap-1686	36	11	two	two	NUM
ap-1686	36	12	cartesian	cartesian	ADJ
ap-1686	36	13	coordinates	coordinate	NOUN
ap-1686	36	14	of	of	ADP
ap-1686	36	15	point	point	NOUN
ap-1686	36	16	ai	ai	VERB
ap-1686	36	17	and	and	CCONJ
ap-1686	36	18	by	by	ADP
ap-1686	36	19	an	an	DET
ap-1686	36	20	angle	angle	NOUN
ap-1686	36	21	measured	measure	VERB
ap-1686	36	22	from	from	ADP
ap-1686	36	23	the	the	DET
ap-1686	36	24	global	global	ADJ
ap-1686	36	25	x	x	ADJ
ap-1686	36	26	axis	axis	NOUN
ap-1686	36	27	,	,	PUNCT
ap-1686	36	28	and	and	CCONJ
ap-1686	36	29	the	the	DET
ap-1686	36	30	set	set	NOUN
ap-1686	36	31	of	of	ADP
ap-1686	36	32	coordinates	coordinate	NOUN
ap-1686	36	33	for	for	ADP
ap-1686	36	34	describing	describe	VERB
ap-1686	36	35	the	the	DET
ap-1686	36	36	position	position	NOUN
ap-1686	36	37	of	of	ADP
ap-1686	36	38	body	body	NOUN
ap-1686	36	39	i	i	PRON
ap-1686	36	40	in	in	ADP
ap-1686	36	41	the	the	DET
ap-1686	36	42	chain	chain	NOUN
ap-1686	36	43	is	be	AUX
ap-1686	36	44	si	si	NOUN
ap-1686	36	45	=	=	SYM
ap-1686	37	1	[	[	X
ap-1686	37	2	xi	xi	X
ap-1686	37	3	,	,	PUNCT
ap-1686	37	4	yi	yi	PROPN
ap-1686	37	5	,	,	PUNCT
ap-1686	37	6	ϕi]t	ϕi]t	PROPN
ap-1686	37	7	.	.	PUNCT
ap-1686	38	1	using	use	VERB
ap-1686	38	2	lagrange	lagrange	NOUN
ap-1686	38	3	equations	equation	NOUN
ap-1686	38	4	of	of	ADP
ap-1686	38	5	the	the	DET
ap-1686	38	6	second	second	ADJ
ap-1686	38	7	type	type	NOUN
ap-1686	38	8	,	,	PUNCT
ap-1686	38	9	the	the	DET
ap-1686	38	10	eom	eom	PROPN
ap-1686	38	11	for	for	ADP
ap-1686	38	12	each	each	DET
ap-1686	38	13	body	body	NOUN
ap-1686	38	14	can	can	AUX
ap-1686	38	15	be	be	AUX
ap-1686	38	16	written	write	VERB
ap-1686	38	17	in	in	ADP
ap-1686	38	18	the	the	DET
ap-1686	38	19	following	follow	VERB
ap-1686	38	20	form	form	NOUN
ap-1686	38	21	misi	misi	NOUN
ap-1686	38	22	=	=	SYM
ap-1686	38	23	fi	fi	NOUN
ap-1686	38	24	,	,	PUNCT
ap-1686	38	25	i	i	NOUN
ap-1686	38	26	=	=	NOUN
ap-1686	38	27	1	1	NUM
ap-1686	38	28	,	,	PUNCT
ap-1686	38	29	2	2	NUM
ap-1686	38	30	,	,	PUNCT
ap-1686	38	31	.	.	PUNCT
ap-1686	38	32	.	.	PUNCT
ap-1686	39	1	.	.	PUNCT
ap-1686	40	1	,	,	PUNCT
ap-1686	40	2	n	n	CCONJ
ap-1686	40	3	,	,	PUNCT
ap-1686	40	4	(	(	PUNCT
ap-1686	40	5	3	3	X
ap-1686	40	6	)	)	PUNCT
ap-1686	40	7	where	where	SCONJ
ap-1686	40	8	mi	mi	PROPN
ap-1686	40	9	is	be	AUX
ap-1686	40	10	the	the	DET
ap-1686	40	11	mass	mass	ADJ
ap-1686	40	12	matrix	matrix	NOUN
ap-1686	40	13	of	of	ADP
ap-1686	40	14	body	body	NOUN
ap-1686	40	15	i	i	PRON
ap-1686	40	16	with	with	ADP
ap-1686	40	17	the	the	DET
ap-1686	40	18	following	follow	VERB
ap-1686	40	19	structure	structure	NOUN
ap-1686	40	20	:	:	PUNCT
ap-1686	40	21	mi	mi	PROPN
ap-1686	40	22	=	=	PUNCT
ap-1686	40	23			NOUN
ap-1686	40	24	mi	mi	PROPN
ap-1686	40	25	0	0	PROPN
ap-1686	40	26	−mipi	−mipi	PROPN
ap-1686	40	27	sϕn	sϕn	PROPN
ap-1686	40	28	0	0	NUM
ap-1686	40	29	mi	mi	PROPN
ap-1686	40	30	mipi	mipi	PROPN
ap-1686	40	31	cϕn	cϕn	PROPN
ap-1686	40	32	−mipi	−mipi	VERB
ap-1686	40	33	sϕn	sϕn	PROPN
ap-1686	40	34	mipi	mipi	PROPN
ap-1686	40	35	cϕn	cϕn	PROPN
ap-1686	40	36	iai	iai	VERB
ap-1686	40	37			PROPN
ap-1686	40	38	,	,	PUNCT
ap-1686	40	39	where	where	SCONJ
ap-1686	40	40	cϕi	cϕi	NOUN
ap-1686	40	41	=	=	SYM
ap-1686	40	42	cosϕi	cosϕi	NOUN
ap-1686	40	43	,	,	PUNCT
ap-1686	40	44	sϕi	sϕi	NOUN
ap-1686	40	45	=	=	SYM
ap-1686	40	46	sinϕi	sinϕi	NOUN
ap-1686	40	47	,	,	PUNCT
ap-1686	40	48	pi	pi	NOUN
ap-1686	40	49	is	be	AUX
ap-1686	40	50	the	the	DET
ap-1686	40	51	position	position	NOUN
ap-1686	40	52	of	of	ADP
ap-1686	40	53	the	the	DET
ap-1686	40	54	center	center	NOUN
ap-1686	40	55	of	of	ADP
ap-1686	40	56	mass	mass	NOUN
ap-1686	40	57	(	(	PUNCT
ap-1686	40	58	fig	fig	NOUN
ap-1686	40	59	.	.	PUNCT
ap-1686	41	1	2	2	NUM
ap-1686	41	2	)	)	PUNCT
ap-1686	41	3	,	,	PUNCT
ap-1686	41	4	mi	mi	PROPN
ap-1686	41	5	is	be	AUX
ap-1686	41	6	the	the	DET
ap-1686	41	7	mass	mass	NOUN
ap-1686	41	8	of	of	ADP
ap-1686	41	9	body	body	NOUN
ap-1686	41	10	i	i	PRON
ap-1686	41	11	and	and	CCONJ
ap-1686	41	12	iai	iai	PROPN
ap-1686	41	13	is	be	AUX
ap-1686	41	14	the	the	DET
ap-1686	41	15	moment	moment	NOUN
ap-1686	41	16	of	of	ADP
ap-1686	41	17	inertia	inertia	NOUN
ap-1686	41	18	of	of	ADP
ap-1686	41	19	body	body	NOUN
ap-1686	41	20	i	i	PRON
ap-1686	41	21	with	with	ADP
ap-1686	41	22	respect	respect	NOUN
ap-1686	41	23	to	to	PART
ap-1686	41	24	point	point	NOUN
ap-1686	41	25	ai	ai	NOUN
ap-1686	41	26	.	.	PUNCT
ap-1686	42	1	if	if	SCONJ
ap-1686	42	2	point	point	NOUN
ap-1686	42	3	ai	ai	VERB
ap-1686	42	4	was	be	AUX
ap-1686	42	5	the	the	DET
ap-1686	42	6	center	center	NOUN
ap-1686	42	7	of	of	ADP
ap-1686	42	8	mass	mass	PROPN
ap-1686	42	9	,	,	PUNCT
ap-1686	42	10	the	the	DET
ap-1686	42	11	matrixmi	matrixmi	NOUN
ap-1686	42	12	would	would	AUX
ap-1686	42	13	be	be	AUX
ap-1686	42	14	diagonal	diagonal	ADJ
ap-1686	42	15	.	.	PUNCT
ap-1686	43	1	the	the	DET
ap-1686	43	2	acceleration	acceleration	NOUN
ap-1686	43	3	vector	vector	NOUN
ap-1686	43	4	s̈i	s̈i	ADV
ap-1686	43	5	has	have	VERB
ap-1686	43	6	the	the	DET
ap-1686	43	7	structure	structure	NOUN
ap-1686	43	8	s̈i	s̈i	ADV
ap-1686	43	9	=	=	PUNCT
ap-1686	44	1	[	[	X
ap-1686	44	2	ẍi	ẍi	PROPN
ap-1686	44	3	,	,	PUNCT
ap-1686	44	4	ÿi	ÿi	PROPN
ap-1686	44	5	,	,	PUNCT
ap-1686	44	6	ϕ̈i]t	ϕ̈i]t	PROPN
ap-1686	44	7	.	.	PUNCT
ap-1686	45	1	the	the	DET
ap-1686	45	2	generalized	generalize	VERB
ap-1686	45	3	forces	force	NOUN
ap-1686	45	4	vector	vector	NOUN
ap-1686	45	5	fi	fi	NOUN
ap-1686	45	6	contains	contain	VERB
ap-1686	45	7	the	the	DET
ap-1686	45	8	applied	apply	VERB
ap-1686	45	9	forces	force	NOUN
ap-1686	45	10	,	,	PUNCT
ap-1686	45	11	the	the	DET
ap-1686	45	12	forces	force	NOUN
ap-1686	45	13	resulting	result	VERB
ap-1686	45	14	from	from	ADP
ap-1686	45	15	the	the	DET
ap-1686	45	16	presence	presence	NOUN
ap-1686	45	17	of	of	ADP
ap-1686	45	18	springs	spring	NOUN
ap-1686	45	19	and	and	CCONJ
ap-1686	45	20	dampers	damper	NOUN
ap-1686	45	21	,	,	PUNCT
ap-1686	45	22	and	and	CCONJ
ap-1686	45	23	the	the	DET
ap-1686	45	24	coriolis	corioli	NOUN
ap-1686	45	25	and	and	CCONJ
ap-1686	45	26	centrifugal	centrifugal	ADJ
ap-1686	45	27	forces	force	NOUN
ap-1686	45	28	.	.	PUNCT
ap-1686	46	1	it	it	PRON
ap-1686	46	2	can	can	AUX
ap-1686	46	3	be	be	AUX
ap-1686	46	4	expressed	express	VERB
ap-1686	46	5	as	as	ADP
ap-1686	46	6	fi	fi	NOUN
ap-1686	46	7	=	=	NOUN
ap-1686	46	8			NOUN
ap-1686	46	9	−fki	−fki	X
ap-1686	46	10	,	,	PUNCT
ap-1686	46	11	x	x	PUNCT
ap-1686	46	12	−	−	PROPN
ap-1686	46	13	fbi	fbi	PROPN
ap-1686	46	14	,	,	PUNCT
ap-1686	46	15	x	x	PROPN
ap-1686	46	16	+	+	CCONJ
ap-1686	46	17	fki+1,x	fki+1,x	NUM
ap-1686	46	18	fki	fki	NOUN
ap-1686	46	19	,	,	PUNCT
ap-1686	46	20	y	y	PROPN
ap-1686	46	21	+	+	CCONJ
ap-1686	46	22	fbi	fbi	PROPN
ap-1686	46	23	,	,	PUNCT
ap-1686	46	24	y	y	PROPN
ap-1686	46	25	−	−	PROPN
ap-1686	46	26	fki+1,y	fki+1,y	INTJ
ap-1686	46	27	−(fki+1,x	−(fki+1,x	NOUN
ap-1686	46	28	+	+	CCONJ
ap-1686	46	29	fbi+1,x)`i	fbi+1,x)`i	NOUN
ap-1686	46	30	cϕi	cϕi	NOUN
ap-1686	46	31			NOUN
ap-1686	46	32	+	+	PUNCT
ap-1686	46	33			NOUN
ap-1686	46	34	fbi+1,x	fbi+1,x	ADJ
ap-1686	46	35	+	+	CCONJ
ap-1686	46	36	fai	fai	X
ap-1686	46	37	,	,	PUNCT
ap-1686	46	38	x	x	PROPN
ap-1686	46	39	−fbi+1,y	−fbi+1,y	PROPN
ap-1686	46	40	+	+	CCONJ
ap-1686	46	41	fai	fai	PROPN
ap-1686	46	42	,	,	PUNCT
ap-1686	46	43	y	y	PROPN
ap-1686	46	44	−(fki+1,y	−(fki+1,y	PROPN
ap-1686	46	45	+	+	CCONJ
ap-1686	46	46	fbi+1,y)`i	fbi+1,y)`i	NOUN
ap-1686	46	47	sϕi	sϕi	NOUN
ap-1686	46	48			NOUN
ap-1686	46	49	+	+	CCONJ
ap-1686	46	50			NOUN
ap-1686	46	51	pimiϕ̇	pimiϕ̇	NOUN
ap-1686	46	52	2	2	NUM
ap-1686	46	53	i	i	PRON
ap-1686	46	54	cϕi	cϕi	VERB
ap-1686	46	55	−gi	−gi	NOUN
ap-1686	46	56	+	+	CCONJ
ap-1686	46	57	pimiϕ̇	pimiϕ̇	NOUN
ap-1686	46	58	2	2	NUM
ap-1686	46	59	i	i	PRON
ap-1686	46	60	sϕi	sϕi	VERB
ap-1686	46	61	−gipi	−gipi	NOUN
ap-1686	46	62	cϕi	cϕi	NOUN
ap-1686	47	1	+	+	CCONJ
ap-1686	47	2	ma	ma	PROPN
ap-1686	47	3	i	i	PRON
ap-1686	47	4			PROPN
ap-1686	47	5	,	,	PUNCT
ap-1686	47	6	(	(	PUNCT
ap-1686	47	7	4	4	X
ap-1686	47	8	)	)	PUNCT
ap-1686	47	9	where	where	SCONJ
ap-1686	47	10	fai	fai	X
ap-1686	48	1	=	=	PUNCT
ap-1686	49	1	[	[	X
ap-1686	49	2	fai	fai	X
ap-1686	49	3	,	,	PUNCT
ap-1686	49	4	x	x	PROPN
ap-1686	49	5	,	,	PUNCT
ap-1686	49	6	fai	fai	X
ap-1686	49	7	,	,	PUNCT
ap-1686	49	8	y]t	y]t	NOUN
ap-1686	49	9	and	and	CCONJ
ap-1686	49	10	ma	ma	PROPN
ap-1686	50	1	i	i	PRON
ap-1686	50	2	are	be	AUX
ap-1686	50	3	the	the	DET
ap-1686	50	4	resulting	result	VERB
ap-1686	50	5	applied	apply	VERB
ap-1686	50	6	force	force	NOUN
ap-1686	50	7	and	and	CCONJ
ap-1686	50	8	torque	torque	NOUN
ap-1686	50	9	acting	act	VERB
ap-1686	50	10	on	on	ADP
ap-1686	50	11	body	body	NOUN
ap-1686	50	12	i	i	PRON
ap-1686	50	13	and	and	CCONJ
ap-1686	50	14	decomposed	decompose	VERB
ap-1686	50	15	in	in	ADP
ap-1686	50	16	center	center	NOUN
ap-1686	50	17	of	of	ADP
ap-1686	50	18	mass	mass	ADJ
ap-1686	50	19	si	si	PROPN
ap-1686	50	20	,	,	PUNCT
ap-1686	50	21	fki	fki	PROPN
ap-1686	50	22	,	,	PUNCT
ap-1686	50	23	x	x	PRON
ap-1686	50	24	are	be	AUX
ap-1686	50	25	the	the	DET
ap-1686	50	26	forces	force	NOUN
ap-1686	50	27	in	in	ADP
ap-1686	50	28	the	the	DET
ap-1686	50	29	figure	figure	NOUN
ap-1686	50	30	2	2	NUM
ap-1686	50	31	:	:	PUNCT
ap-1686	50	32	single	single	ADJ
ap-1686	50	33	body	body	NOUN
ap-1686	50	34	in	in	ADP
ap-1686	50	35	a	a	DET
ap-1686	50	36	kinematical	kinematical	ADJ
ap-1686	50	37	chain	chain	NOUN
ap-1686	50	38	.	.	PUNCT
ap-1686	51	1	springs	spring	NOUN
ap-1686	51	2	,	,	PUNCT
ap-1686	51	3	and	and	CCONJ
ap-1686	51	4	fbi	fbi	PROPN
ap-1686	51	5	,	,	PUNCT
ap-1686	51	6	x	x	PRON
ap-1686	51	7	are	be	AUX
ap-1686	51	8	the	the	DET
ap-1686	51	9	forces	force	NOUN
ap-1686	51	10	in	in	ADP
ap-1686	51	11	the	the	DET
ap-1686	51	12	dampers	damper	NOUN
ap-1686	51	13	,	,	PUNCT
ap-1686	51	14	which	which	PRON
ap-1686	51	15	are	be	AUX
ap-1686	51	16	expressed	express	VERB
ap-1686	51	17	in	in	ADP
ap-1686	51	18	the	the	DET
ap-1686	51	19	x	x	PUNCT
ap-1686	51	20	axis	axis	NOUN
ap-1686	51	21	direction	direction	NOUN
ap-1686	51	22	between	between	ADP
ap-1686	51	23	body	body	NOUN
ap-1686	52	1	i	i	PRON
ap-1686	52	2	and	and	CCONJ
ap-1686	52	3	i	i	PRON
ap-1686	52	4	−	−	PROPN
ap-1686	53	1	1	1	X
ap-1686	53	2	.	.	PUNCT
ap-1686	54	1	a	a	DET
ap-1686	54	2	similar	similar	ADJ
ap-1686	54	3	notation	notation	NOUN
ap-1686	54	4	holds	hold	VERB
ap-1686	54	5	for	for	ADP
ap-1686	54	6	the	the	DET
ap-1686	54	7	y	y	PROPN
ap-1686	54	8	axis	axis	NOUN
ap-1686	54	9	.	.	PUNCT
ap-1686	55	1	the	the	DET
ap-1686	55	2	forces	force	NOUN
ap-1686	55	3	are	be	AUX
ap-1686	55	4	depicted	depict	VERB
ap-1686	55	5	in	in	ADP
ap-1686	55	6	fig	fig	NOUN
ap-1686	55	7	.	.	PUNCT
ap-1686	56	1	2	2	NUM
ap-1686	57	1	and	and	CCONJ
ap-1686	57	2	are	be	AUX
ap-1686	57	3	described	describe	VERB
ap-1686	57	4	by	by	ADP
ap-1686	57	5	the	the	DET
ap-1686	57	6	equations	equation	NOUN
ap-1686	57	7	fki	fki	VERB
ap-1686	57	8	,	,	PUNCT
ap-1686	57	9	x	x	X
ap-1686	57	10	=	=	SYM
ap-1686	57	11	k(xi	k(xi	PROPN
ap-1686	57	12	−	−	PROPN
ap-1686	57	13	xbi−1	xbi−1	PROPN
ap-1686	57	14	)	)	PUNCT
ap-1686	57	15	,	,	PUNCT
ap-1686	57	16	fki	fki	PROPN
ap-1686	57	17	,	,	PUNCT
ap-1686	57	18	y	y	PROPN
ap-1686	57	19	=	=	PUNCT
ap-1686	57	20	k(−yi	k(−yi	PROPN
ap-1686	57	21	+	+	CCONJ
ap-1686	57	22	ybi−1	ybi−1	PROPN
ap-1686	57	23	)	)	PUNCT
ap-1686	57	24	,	,	PUNCT
ap-1686	57	25	fbi	fbi	PROPN
ap-1686	57	26	,	,	PUNCT
ap-1686	57	27	x	x	X
ap-1686	57	28	=	=	SYM
ap-1686	57	29	b(ẋi	b(ẋi	PROPN
ap-1686	57	30	−	−	PROPN
ap-1686	57	31	ẋbi−1	ẋbi−1	PROPN
ap-1686	57	32	)	)	PUNCT
ap-1686	57	33	,	,	PUNCT
ap-1686	57	34	fbi	fbi	PROPN
ap-1686	57	35	,	,	PUNCT
ap-1686	57	36	y	y	PROPN
ap-1686	57	37	=	=	SYM
ap-1686	57	38	b(−ẏi	b(−ẏi	PROPN
ap-1686	57	39	+	+	PROPN
ap-1686	57	40	ẏbi−1	ẏbi−1	PROPN
ap-1686	57	41	)	)	PUNCT
ap-1686	57	42	,	,	PUNCT
ap-1686	57	43	(	(	PUNCT
ap-1686	57	44	5	5	X
ap-1686	57	45	)	)	PUNCT
ap-1686	57	46	wherek	wherek	NOUN
ap-1686	57	47	and	and	CCONJ
ap-1686	57	48	b	b	NOUN
ap-1686	57	49	are	be	AUX
ap-1686	57	50	constants	constant	NOUN
ap-1686	57	51	of	of	ADP
ap-1686	57	52	stiffness	stiffness	NOUN
ap-1686	57	53	and	and	CCONJ
ap-1686	57	54	damping	damp	VERB
ap-1686	57	55	,	,	PUNCT
ap-1686	57	56	respectively	respectively	ADV
ap-1686	57	57	.	.	PUNCT
ap-1686	58	1	point	point	NOUN
ap-1686	58	2	bi	bi	NOUN
ap-1686	58	3	is	be	AUX
ap-1686	58	4	described	describe	VERB
ap-1686	58	5	by	by	ADP
ap-1686	58	6	the	the	DET
ap-1686	58	7	coordinates	coordinate	NOUN
ap-1686	58	8	xbi	xbi	PROPN
ap-1686	58	9	and	and	CCONJ
ap-1686	58	10	ybi	ybi	NOUN
ap-1686	58	11	,	,	PUNCT
ap-1686	58	12	and	and	CCONJ
ap-1686	58	13	can	can	AUX
ap-1686	58	14	be	be	AUX
ap-1686	58	15	expressed	express	VERB
ap-1686	58	16	as	as	ADP
ap-1686	58	17	xbi	xbi	X
ap-1686	58	18	=	=	SYM
ap-1686	58	19	xi	xi	PROPN
ap-1686	59	1	+	+	CCONJ
ap-1686	59	2	`	`	PUNCT
ap-1686	59	3	i	i	PRON
ap-1686	59	4	cϕi	cϕi	VERB
ap-1686	59	5	,	,	PUNCT
ap-1686	59	6	ybi	ybi	NOUN
ap-1686	59	7	=	=	SYM
ap-1686	59	8	yi	yi	PROPN
ap-1686	60	1	+	+	CCONJ
ap-1686	60	2	`	`	PUNCT
ap-1686	60	3	i	i	PRON
ap-1686	60	4	sϕi	sϕi	VERB
ap-1686	60	5	,	,	PUNCT
ap-1686	60	6	(	(	PUNCT
ap-1686	60	7	6	6	NUM
ap-1686	60	8	)	)	PUNCT
ap-1686	60	9	and	and	CCONJ
ap-1686	60	10	their	their	PRON
ap-1686	60	11	time	time	NOUN
ap-1686	60	12	derivatives	derivative	VERB
ap-1686	60	13	xbi	xbi	X
ap-1686	61	1	=	=	SYM
ap-1686	61	2	xi	xi	PROPN
ap-1686	62	1	+	+	CCONJ
ap-1686	62	2	`	`	PUNCT
ap-1686	62	3	iϕ̇i	iϕ̇i	ADJ
ap-1686	62	4	cϕi	cϕi	NOUN
ap-1686	62	5	,	,	PUNCT
ap-1686	62	6	ybi	ybi	NOUN
ap-1686	62	7	=	=	SYM
ap-1686	62	8	yi	yi	PROPN
ap-1686	62	9	+	+	CCONJ
ap-1686	62	10	`	`	PUNCT
ap-1686	62	11	iϕ̇i	iϕ̇i	NOUN
ap-1686	62	12	sϕi	sϕi	VERB
ap-1686	62	13	,	,	PUNCT
ap-1686	62	14	(	(	PUNCT
ap-1686	62	15	7	7	X
ap-1686	62	16	)	)	PUNCT
ap-1686	62	17	rewriting	rewrite	VERB
ap-1686	62	18	the	the	DET
ap-1686	62	19	eom	eom	PROPN
ap-1686	62	20	for	for	ADP
ap-1686	62	21	the	the	DET
ap-1686	62	22	whole	whole	ADJ
ap-1686	62	23	system	system	NOUN
ap-1686	62	24	using	use	VERB
ap-1686	62	25	the	the	DET
ap-1686	62	26	equations	equation	NOUN
ap-1686	62	27	of	of	ADP
ap-1686	62	28	motion	motion	NOUN
ap-1686	62	29	of	of	ADP
ap-1686	62	30	single	single	ADJ
ap-1686	62	31	bodies	body	NOUN
ap-1686	62	32	obtained	obtain	VERB
ap-1686	62	33	previously	previously	ADV
ap-1686	62	34	,	,	PUNCT
ap-1686	62	35	the	the	DET
ap-1686	62	36	mass	mass	ADJ
ap-1686	62	37	matrix	matrix	NOUN
ap-1686	62	38	(	(	PUNCT
ap-1686	62	39	system	system	NOUN
ap-1686	62	40	matrix	matrix	NOUN
ap-1686	62	41	)	)	PUNCT
ap-1686	62	42	has	have	VERB
ap-1686	62	43	a	a	DET
ap-1686	62	44	block	block	NOUN
ap-1686	62	45	-	-	PUNCT
ap-1686	62	46	diagonal	diagonal	ADJ
ap-1686	62	47	structure	structure	NOUN
ap-1686	62	48	(	(	PUNCT
ap-1686	62	49	8)	8)	NUM
ap-1686	62	50	,	,	PUNCT
ap-1686	62	51	where	where	SCONJ
ap-1686	62	52	each	each	DET
ap-1686	62	53	block	block	NOUN
ap-1686	62	54	corresponds	correspond	VERB
ap-1686	62	55	to	to	ADP
ap-1686	62	56	one	one	NUM
ap-1686	62	57	body	body	NOUN
ap-1686	62	58	.	.	PUNCT
ap-1686	63	1			PROPN
ap-1686	63	2	m1	m1	PROPN
ap-1686	63	3	m2	m2	PROPN
ap-1686	63	4	.	.	PUNCT
ap-1686	63	5	.	.	PUNCT
ap-1686	63	6	.	.	PUNCT
ap-1686	64	1	mn	mn	PROPN
ap-1686	64	2			PROPN
ap-1686	64	3			VERB
ap-1686	64	4	s̈1	s̈1	PROPN
ap-1686	64	5	s̈2	s̈2	PROPN
ap-1686	64	6	...	...	PUNCT
ap-1686	65	1	s̈n	s̈n	NUM
ap-1686	65	2			NOUN
ap-1686	65	3	=	=	NOUN
ap-1686	65	4			NOUN
ap-1686	65	5	f1(t	f1(t	PROPN
ap-1686	65	6	,	,	PUNCT
ap-1686	65	7	s	s	NOUN
ap-1686	65	8	,	,	PUNCT
ap-1686	65	9	ṡ	ṡ	PROPN
ap-1686	65	10	)	)	PUNCT
ap-1686	65	11	f2(t	f2(t	PROPN
ap-1686	65	12	,	,	PUNCT
ap-1686	65	13	s	s	NOUN
ap-1686	65	14	,	,	PUNCT
ap-1686	65	15	ṡ	ṡ	PROPN
ap-1686	65	16	)	)	PUNCT
ap-1686	65	17	...	...	PUNCT
ap-1686	65	18	fn(t	fn(t	PUNCT
ap-1686	65	19	,	,	PUNCT
ap-1686	65	20	s	s	PROPN
ap-1686	65	21	,	,	PUNCT
ap-1686	65	22	ṡ	ṡ	ADJ
ap-1686	65	23	)	)	PUNCT
ap-1686	65	24			NOUN
ap-1686	65	25	,	,	PUNCT
ap-1686	65	26	s	s	PART
ap-1686	65	27	=	=	PUNCT
ap-1686	65	28	[	[	X
ap-1686	65	29	s1	s1	NOUN
ap-1686	65	30	,	,	PUNCT
ap-1686	65	31	s2	s2	NOUN
ap-1686	65	32	,	,	PUNCT
ap-1686	65	33	.	.	PUNCT
ap-1686	65	34	.	.	PUNCT
ap-1686	65	35	.	.	PUNCT
ap-1686	66	1	,	,	PUNCT
ap-1686	66	2	sn]t	sn]t	PROPN
ap-1686	66	3	,	,	PUNCT
ap-1686	66	4	ṡ	ṡ	PROPN
ap-1686	66	5	=	=	SYM
ap-1686	67	1	[	[	X
ap-1686	67	2	ṡ1	ṡ1	PROPN
ap-1686	67	3	,	,	PUNCT
ap-1686	67	4	ṡ2	ṡ2	PROPN
ap-1686	67	5	,	,	PUNCT
ap-1686	67	6	.	.	PUNCT
ap-1686	67	7	.	.	PUNCT
ap-1686	68	1	.	.	PUNCT
ap-1686	69	1	,	,	PUNCT
ap-1686	69	2	ṡn]t	ṡn]t	PROPN
ap-1686	69	3	.	.	PUNCT
ap-1686	70	1	(	(	PUNCT
ap-1686	70	2	8)	8)	NUM
ap-1686	70	3	an	an	DET
ap-1686	70	4	analysis	analysis	NOUN
ap-1686	70	5	of	of	ADP
ap-1686	70	6	(	(	PUNCT
ap-1686	70	7	8)	8)	NUM
ap-1686	70	8	,	,	PUNCT
ap-1686	70	9	clearly	clearly	ADV
ap-1686	70	10	shows	show	VERB
ap-1686	70	11	that	that	SCONJ
ap-1686	70	12	the	the	DET
ap-1686	70	13	eoms	eom	NOUN
ap-1686	70	14	are	be	AUX
ap-1686	70	15	not	not	PART
ap-1686	70	16	interconnected	interconnect	VERB
ap-1686	70	17	and	and	CCONJ
ap-1686	70	18	it	it	PRON
ap-1686	70	19	is	be	AUX
ap-1686	70	20	possible	possible	ADJ
ap-1686	70	21	to	to	PART
ap-1686	70	22	compute	compute	VERB
ap-1686	70	23	the	the	DET
ap-1686	70	24	accelerations	acceleration	NOUN
ap-1686	70	25	and	and	CCONJ
ap-1686	70	26	to	to	PART
ap-1686	70	27	integrate	integrate	VERB
ap-1686	70	28	them	they	PRON
ap-1686	70	29	fully	fully	ADV
ap-1686	70	30	independently	independently	ADV
ap-1686	70	31	,	,	PUNCT
ap-1686	70	32	and	and	CCONJ
ap-1686	70	33	thus	thus	ADV
ap-1686	70	34	use	use	VERB
ap-1686	70	35	parallel	parallel	ADJ
ap-1686	70	36	computing	computing	NOUN
ap-1686	70	37	.	.	PUNCT
ap-1686	71	1	the	the	DET
ap-1686	71	2	95	95	NUM
ap-1686	71	3	acta	acta	PROPN
ap-1686	71	4	polytechnica	polytechnica	PROPN
ap-1686	71	5	vol	vol	NOUN
ap-1686	71	6	.	.	PROPN
ap-1686	72	1	52	52	NUM
ap-1686	72	2	no	no	NOUN
ap-1686	72	3	.	.	PUNCT
ap-1686	73	1	6/2012	6/2012	NUM
ap-1686	73	2	figure	figure	NOUN
ap-1686	73	3	3	3	NUM
ap-1686	73	4	:	:	PUNCT
ap-1686	73	5	comparison	comparison	NOUN
ap-1686	73	6	of	of	ADP
ap-1686	73	7	the	the	DET
ap-1686	73	8	direct	direct	ADJ
ap-1686	73	9	and	and	CCONJ
ap-1686	73	10	averaged	average	VERB
ap-1686	73	11	(	(	PUNCT
ap-1686	73	12	hmm	hmm	INTJ
ap-1686	73	13	)	)	PUNCT
ap-1686	73	14	solution	solution	NOUN
ap-1686	73	15	at	at	ADP
ap-1686	73	16	accelerations	acceleration	NOUN
ap-1686	73	17	.	.	PUNCT
ap-1686	74	1	processors	processor	NOUN
ap-1686	74	2	must	must	AUX
ap-1686	74	3	only	only	ADV
ap-1686	74	4	communicate	communicate	VERB
ap-1686	74	5	with	with	ADP
ap-1686	74	6	their	their	PRON
ap-1686	74	7	neighbors	neighbor	NOUN
ap-1686	74	8	for	for	ADP
ap-1686	74	9	the	the	DET
ap-1686	74	10	spring	spring	NOUN
ap-1686	74	11	and	and	CCONJ
ap-1686	74	12	damper	damper	NOUN
ap-1686	74	13	forces	force	NOUN
ap-1686	74	14	,	,	PUNCT
ap-1686	74	15	and	and	CCONJ
ap-1686	74	16	there	there	PRON
ap-1686	74	17	has	have	VERB
ap-1686	74	18	to	to	PART
ap-1686	74	19	be	be	AUX
ap-1686	74	20	one	one	NUM
ap-1686	74	21	master	master	NOUN
ap-1686	74	22	-	-	PUNCT
ap-1686	74	23	processor	processor	NOUN
ap-1686	74	24	to	to	PART
ap-1686	74	25	ensure	ensure	VERB
ap-1686	74	26	synchronization	synchronization	NOUN
ap-1686	74	27	during	during	ADP
ap-1686	74	28	integration	integration	NOUN
ap-1686	74	29	.	.	PUNCT
ap-1686	75	1	it	it	PRON
ap-1686	75	2	is	be	AUX
ap-1686	75	3	possible	possible	ADJ
ap-1686	75	4	to	to	PART
ap-1686	75	5	have	have	VERB
ap-1686	75	6	as	as	ADV
ap-1686	75	7	many	many	ADJ
ap-1686	75	8	processors	processor	NOUN
ap-1686	75	9	as	as	ADP
ap-1686	75	10	the	the	DET
ap-1686	75	11	number	number	NOUN
ap-1686	75	12	of	of	ADP
ap-1686	75	13	bodies	body	NOUN
ap-1686	75	14	in	in	ADP
ap-1686	75	15	the	the	DET
ap-1686	75	16	system	system	NOUN
ap-1686	75	17	,	,	PUNCT
ap-1686	75	18	and	and	CCONJ
ap-1686	75	19	the	the	DET
ap-1686	75	20	number	number	NOUN
ap-1686	75	21	of	of	ADP
ap-1686	75	22	communication	communication	NOUN
ap-1686	75	23	steps	step	NOUN
ap-1686	75	24	between	between	ADP
ap-1686	75	25	the	the	DET
ap-1686	75	26	processors	processor	NOUN
ap-1686	75	27	is	be	AUX
ap-1686	75	28	equal	equal	ADJ
ap-1686	75	29	to	to	ADP
ap-1686	75	30	the	the	DET
ap-1686	75	31	number	number	NOUN
ap-1686	75	32	of	of	ADP
ap-1686	75	33	neighbors	neighbor	NOUN
ap-1686	75	34	of	of	ADP
ap-1686	75	35	the	the	DET
ap-1686	75	36	body	body	NOUN
ap-1686	75	37	.	.	PUNCT
ap-1686	76	1	if	if	SCONJ
ap-1686	76	2	the	the	DET
ap-1686	76	3	number	number	NOUN
ap-1686	76	4	of	of	ADP
ap-1686	76	5	neighbors	neighbor	NOUN
ap-1686	76	6	is	be	AUX
ap-1686	76	7	finite	finite	ADJ
ap-1686	76	8	and	and	CCONJ
ap-1686	76	9	does	do	AUX
ap-1686	76	10	not	not	PART
ap-1686	76	11	grow	grow	VERB
ap-1686	76	12	according	accord	VERB
ap-1686	76	13	to	to	ADP
ap-1686	76	14	the	the	DET
ap-1686	76	15	number	number	NOUN
ap-1686	76	16	of	of	ADP
ap-1686	76	17	bodies	body	NOUN
ap-1686	76	18	in	in	ADP
ap-1686	76	19	the	the	DET
ap-1686	76	20	dynamical	dynamical	ADJ
ap-1686	76	21	system	system	NOUN
ap-1686	76	22	,	,	PUNCT
ap-1686	76	23	then	then	ADV
ap-1686	76	24	the	the	DET
ap-1686	76	25	solution	solution	NOUN
ap-1686	76	26	time	time	NOUN
ap-1686	76	27	is	be	AUX
ap-1686	76	28	constant	constant	ADJ
ap-1686	76	29	.	.	PUNCT
ap-1686	77	1	however	however	ADV
ap-1686	77	2	,	,	PUNCT
ap-1686	77	3	the	the	DET
ap-1686	77	4	architecture	architecture	NOUN
ap-1686	77	5	of	of	ADP
ap-1686	77	6	the	the	DET
ap-1686	77	7	parallel	parallel	ADJ
ap-1686	77	8	processor	processor	NOUN
ap-1686	77	9	system	system	NOUN
ap-1686	77	10	of	of	ADP
ap-1686	77	11	a	a	DET
ap-1686	77	12	reconfigurable	reconfigurable	ADJ
ap-1686	77	13	mesh	mesh	NOUN
ap-1686	77	14	with	with	ADP
ap-1686	77	15	buses	bus	NOUN
ap-1686	77	16	must	must	AUX
ap-1686	77	17	be	be	AUX
ap-1686	77	18	supposed	suppose	VERB
ap-1686	77	19	.	.	PUNCT
ap-1686	78	1	the	the	DET
ap-1686	78	2	resulting	result	VERB
ap-1686	78	3	system	system	NOUN
ap-1686	78	4	achieves	achieve	VERB
ap-1686	78	5	oscillation	oscillation	NOUN
ap-1686	78	6	with	with	ADP
ap-1686	78	7	high	high	ADJ
ap-1686	78	8	frequencies	frequency	NOUN
ap-1686	78	9	around	around	ADP
ap-1686	78	10	the	the	DET
ap-1686	78	11	solution	solution	NOUN
ap-1686	78	12	of	of	ADP
ap-1686	78	13	the	the	DET
ap-1686	78	14	original	original	ADJ
ap-1686	78	15	system	system	NOUN
ap-1686	78	16	(	(	PUNCT
ap-1686	78	17	fig	fig	NOUN
ap-1686	78	18	.	.	PUNCT
ap-1686	79	1	3	3	NUM
ap-1686	79	2	)	)	PUNCT
ap-1686	79	3	.	.	PUNCT
ap-1686	80	1	heterogeneous	heterogeneous	ADJ
ap-1686	80	2	multiscale	multiscale	ADJ
ap-1686	80	3	methods	method	NOUN
ap-1686	80	4	[	[	X
ap-1686	80	5	10	10	NUM
ap-1686	80	6	,	,	PUNCT
ap-1686	80	7	11	11	NUM
ap-1686	80	8	]	]	PUNCT
ap-1686	80	9	are	be	AUX
ap-1686	80	10	suitable	suitable	ADJ
ap-1686	80	11	for	for	ADP
ap-1686	80	12	solving	solve	VERB
ap-1686	80	13	problems	problem	NOUN
ap-1686	80	14	with	with	ADP
ap-1686	80	15	high	high	ADJ
ap-1686	80	16	frequencies	frequency	NOUN
ap-1686	80	17	that	that	PRON
ap-1686	80	18	become	become	VERB
ap-1686	80	19	stiff	stiff	ADJ
ap-1686	80	20	.	.	PUNCT
ap-1686	81	1	the	the	DET
ap-1686	81	2	solution	solution	NOUN
ap-1686	81	3	of	of	ADP
ap-1686	81	4	stiff	stiff	ADJ
ap-1686	81	5	eom	eom	PROPN
ap-1686	81	6	can	can	AUX
ap-1686	81	7	be	be	AUX
ap-1686	81	8	split	split	VERB
ap-1686	81	9	into	into	ADP
ap-1686	81	10	two	two	NUM
ap-1686	81	11	parts	part	NOUN
ap-1686	81	12	,	,	PUNCT
ap-1686	81	13	a	a	DET
ap-1686	81	14	slow	slow	ADJ
ap-1686	81	15	part	part	NOUN
ap-1686	81	16	in	in	ADP
ap-1686	81	17	which	which	PRON
ap-1686	81	18	the	the	DET
ap-1686	81	19	solution	solution	NOUN
ap-1686	81	20	can	can	AUX
ap-1686	81	21	be	be	AUX
ap-1686	81	22	depicted	depict	VERB
ap-1686	81	23	as	as	ADP
ap-1686	81	24	a	a	DET
ap-1686	81	25	smooth	smooth	ADJ
ap-1686	81	26	curve	curve	NOUN
ap-1686	81	27	,	,	PUNCT
ap-1686	81	28	and	and	CCONJ
ap-1686	81	29	a	a	DET
ap-1686	81	30	fast	fast	ADJ
ap-1686	81	31	part	part	NOUN
ap-1686	81	32	in	in	ADP
ap-1686	81	33	which	which	PRON
ap-1686	81	34	the	the	DET
ap-1686	81	35	rapid	rapid	ADJ
ap-1686	81	36	oscillatory	oscillatory	ADJ
ap-1686	81	37	behavior	behavior	NOUN
ap-1686	81	38	dictates	dictate	VERB
ap-1686	81	39	the	the	DET
ap-1686	81	40	solution	solution	NOUN
ap-1686	81	41	.	.	PUNCT
ap-1686	82	1	in	in	ADP
ap-1686	82	2	order	order	NOUN
ap-1686	82	3	to	to	PART
ap-1686	82	4	re	re	VERB
ap-1686	82	5	-	-	VERB
ap-1686	82	6	create	create	VERB
ap-1686	82	7	the	the	DET
ap-1686	82	8	original	original	ADJ
ap-1686	82	9	solution	solution	NOUN
ap-1686	82	10	,	,	PUNCT
ap-1686	82	11	therefore	therefore	ADV
ap-1686	82	12	,	,	PUNCT
ap-1686	82	13	the	the	DET
ap-1686	82	14	two	two	NUM
ap-1686	82	15	parts	part	NOUN
ap-1686	82	16	must	must	AUX
ap-1686	82	17	be	be	AUX
ap-1686	82	18	superimposed	superimpose	VERB
ap-1686	82	19	.	.	PUNCT
ap-1686	83	1	the	the	DET
ap-1686	83	2	working	work	VERB
ap-1686	83	3	principle	principle	NOUN
ap-1686	83	4	of	of	ADP
ap-1686	83	5	heterogeneous	heterogeneous	ADJ
ap-1686	83	6	multiscale	multiscale	ADJ
ap-1686	83	7	methods	method	NOUN
ap-1686	83	8	consists	consist	VERB
ap-1686	83	9	in	in	ADP
ap-1686	83	10	performing	perform	VERB
ap-1686	83	11	two	two	NUM
ap-1686	83	12	-	-	PUNCT
ap-1686	83	13	level	level	NOUN
ap-1686	83	14	numerical	numerical	ADJ
ap-1686	83	15	integrations	integration	NOUN
ap-1686	83	16	,	,	PUNCT
ap-1686	83	17	as	as	SCONJ
ap-1686	83	18	shown	show	VERB
ap-1686	83	19	in	in	ADP
ap-1686	83	20	fig	fig	NOUN
ap-1686	83	21	.	.	PUNCT
ap-1686	84	1	4	4	X
ap-1686	84	2	.	.	X
ap-1686	84	3	microintegration	microintegration	NOUN
ap-1686	84	4	is	be	AUX
ap-1686	84	5	carried	carry	VERB
ap-1686	84	6	out	out	ADP
ap-1686	84	7	in	in	ADP
ap-1686	84	8	the	the	DET
ap-1686	84	9	first	first	ADJ
ap-1686	84	10	level	level	NOUN
ap-1686	84	11	and	and	CCONJ
ap-1686	84	12	consequently	consequently	ADV
ap-1686	84	13	macrointegration	macrointegration	NOUN
ap-1686	84	14	is	be	AUX
ap-1686	84	15	performed	perform	VERB
ap-1686	84	16	in	in	ADP
ap-1686	84	17	the	the	DET
ap-1686	84	18	second	second	ADJ
ap-1686	84	19	level	level	NOUN
ap-1686	84	20	.	.	PUNCT
ap-1686	85	1	the	the	DET
ap-1686	85	2	numerical	numerical	ADJ
ap-1686	85	3	integration	integration	NOUN
ap-1686	85	4	of	of	ADP
ap-1686	85	5	oscillatory	oscillatory	ADJ
ap-1686	85	6	eom	eom	PROPN
ap-1686	85	7	is	be	AUX
ap-1686	85	8	realized	realize	VERB
ap-1686	85	9	only	only	ADV
ap-1686	85	10	over	over	ADP
ap-1686	85	11	a	a	DET
ap-1686	85	12	short	short	ADJ
ap-1686	85	13	time	time	NOUN
ap-1686	85	14	interval	interval	NOUN
ap-1686	85	15	in	in	ADP
ap-1686	85	16	the	the	DET
ap-1686	85	17	microintegration	microintegration	NOUN
ap-1686	85	18	phase	phase	NOUN
ap-1686	85	19	,	,	PUNCT
ap-1686	85	20	where	where	SCONJ
ap-1686	85	21	the	the	DET
ap-1686	85	22	small	small	ADJ
ap-1686	85	23	time	time	NOUN
ap-1686	85	24	-	-	PUNCT
ap-1686	85	25	step	step	NOUN
ap-1686	85	26	is	be	AUX
ap-1686	85	27	used	use	VERB
ap-1686	85	28	in	in	ADP
ap-1686	85	29	order	order	NOUN
ap-1686	85	30	to	to	PART
ap-1686	85	31	catch	catch	VERB
ap-1686	85	32	several	several	ADJ
ap-1686	85	33	periods	period	NOUN
ap-1686	85	34	of	of	ADP
ap-1686	85	35	the	the	DET
ap-1686	85	36	oscillatory	oscillatory	ADJ
ap-1686	85	37	solution	solution	NOUN
ap-1686	85	38	.	.	PUNCT
ap-1686	86	1	the	the	DET
ap-1686	86	2	high	high	ADJ
ap-1686	86	3	figure	figure	NOUN
ap-1686	86	4	4	4	NUM
ap-1686	86	5	:	:	PUNCT
ap-1686	86	6	scheme	scheme	NOUN
ap-1686	86	7	of	of	ADP
ap-1686	86	8	multiscale	multiscale	ADJ
ap-1686	86	9	integration	integration	NOUN
ap-1686	86	10	(	(	PUNCT
ap-1686	86	11	source	source	NOUN
ap-1686	86	12	:	:	PUNCT
ap-1686	86	13	[	[	X
ap-1686	86	14	4	4	NUM
ap-1686	86	15	]	]	NUM
ap-1686	86	16	)	)	PUNCT
ap-1686	86	17	.	.	PUNCT
ap-1686	87	1	frequencies	frequency	NOUN
ap-1686	87	2	are	be	AUX
ap-1686	87	3	filtered	filter	VERB
ap-1686	87	4	and	and	CCONJ
ap-1686	87	5	we	we	PRON
ap-1686	87	6	obtain	obtain	VERB
ap-1686	87	7	the	the	DET
ap-1686	87	8	smooth	smooth	ADJ
ap-1686	87	9	averaged	average	VERB
ap-1686	87	10	solution	solution	NOUN
ap-1686	87	11	of	of	ADP
ap-1686	87	12	eom	eom	PROPN
ap-1686	87	13	,	,	PUNCT
ap-1686	87	14	which	which	PRON
ap-1686	87	15	can	can	AUX
ap-1686	87	16	then	then	ADV
ap-1686	87	17	be	be	AUX
ap-1686	87	18	integrated	integrate	VERB
ap-1686	87	19	with	with	ADP
ap-1686	87	20	a	a	DET
ap-1686	87	21	larger	large	ADJ
ap-1686	87	22	time	time	NOUN
ap-1686	87	23	-	-	PUNCT
ap-1686	87	24	step	step	NOUN
ap-1686	87	25	over	over	ADP
ap-1686	87	26	the	the	DET
ap-1686	87	27	whole	whole	ADJ
ap-1686	87	28	time	time	NOUN
ap-1686	87	29	interval	interval	NOUN
ap-1686	87	30	of	of	ADP
ap-1686	87	31	interest	interest	NOUN
ap-1686	87	32	.	.	PUNCT
ap-1686	88	1	this	this	DET
ap-1686	88	2	process	process	NOUN
ap-1686	88	3	is	be	AUX
ap-1686	88	4	known	know	VERB
ap-1686	88	5	as	as	ADP
ap-1686	88	6	macrointegration	macrointegration	NOUN
ap-1686	88	7	.	.	PUNCT
ap-1686	89	1	however	however	ADV
ap-1686	89	2	,	,	PUNCT
ap-1686	89	3	the	the	DET
ap-1686	89	4	solution	solution	NOUN
ap-1686	89	5	requires	require	VERB
ap-1686	89	6	three	three	NUM
ap-1686	89	7	main	main	ADJ
ap-1686	89	8	steps	step	NOUN
ap-1686	89	9	[	[	X
ap-1686	89	10	8	8	NUM
ap-1686	89	11	]	]	PUNCT
ap-1686	89	12	.	.	PUNCT
ap-1686	90	1	first	first	ADV
ap-1686	90	2	,	,	PUNCT
ap-1686	90	3	it	it	PRON
ap-1686	90	4	is	be	AUX
ap-1686	90	5	necessary	necessary	ADJ
ap-1686	90	6	to	to	PART
ap-1686	90	7	distinguish	distinguish	VERB
ap-1686	90	8	between	between	ADP
ap-1686	90	9	the	the	DET
ap-1686	90	10	original	original	ADJ
ap-1686	90	11	system	system	NOUN
ap-1686	90	12	and	and	CCONJ
ap-1686	90	13	the	the	DET
ap-1686	90	14	system	system	NOUN
ap-1686	90	15	with	with	ADP
ap-1686	90	16	the	the	DET
ap-1686	90	17	constraints	constraint	NOUN
ap-1686	90	18	replaced	replace	VERB
ap-1686	90	19	by	by	ADP
ap-1686	90	20	springs	spring	NOUN
ap-1686	90	21	and	and	CCONJ
ap-1686	90	22	dampers	damper	NOUN
ap-1686	90	23	.	.	PUNCT
ap-1686	91	1	two	two	NUM
ap-1686	91	2	multibody	multibody	ADJ
ap-1686	91	3	system	system	NOUN
ap-1686	91	4	models	model	NOUN
ap-1686	91	5	have	have	AUX
ap-1686	91	6	been	be	AUX
ap-1686	91	7	introduced	introduce	VERB
ap-1686	91	8	in	in	ADP
ap-1686	91	9	order	order	NOUN
ap-1686	91	10	to	to	PART
ap-1686	91	11	improve	improve	VERB
ap-1686	91	12	the	the	DET
ap-1686	91	13	sizes	size	NOUN
ap-1686	91	14	of	of	ADP
ap-1686	91	15	the	the	DET
ap-1686	91	16	eigenvalues	eigenvalue	NOUN
ap-1686	91	17	,	,	PUNCT
ap-1686	91	18	one	one	NUM
ap-1686	91	19	for	for	ADP
ap-1686	91	20	microlevel	microlevel	NOUN
ap-1686	91	21	and	and	CCONJ
ap-1686	91	22	the	the	DET
ap-1686	91	23	other	other	ADJ
ap-1686	91	24	for	for	ADP
ap-1686	91	25	macrolevel	macrolevel	NOUN
ap-1686	91	26	.	.	PUNCT
ap-1686	92	1	second	second	ADV
ap-1686	92	2	,	,	PUNCT
ap-1686	92	3	the	the	DET
ap-1686	92	4	reaction	reaction	NOUN
ap-1686	92	5	forces	force	NOUN
ap-1686	92	6	have	have	VERB
ap-1686	92	7	to	to	PART
ap-1686	92	8	be	be	AUX
ap-1686	92	9	estimated	estimate	VERB
ap-1686	92	10	with	with	ADP
ap-1686	92	11	high	high	ADJ
ap-1686	92	12	accuracy	accuracy	NOUN
ap-1686	92	13	in	in	ADP
ap-1686	92	14	the	the	DET
ap-1686	92	15	microintegration	microintegration	NOUN
ap-1686	92	16	phase	phase	NOUN
ap-1686	92	17	.	.	PUNCT
ap-1686	93	1	the	the	DET
ap-1686	93	2	process	process	NOUN
ap-1686	93	3	of	of	ADP
ap-1686	93	4	double	double	ADJ
ap-1686	93	5	microintegration	microintegration	NOUN
ap-1686	93	6	has	have	AUX
ap-1686	93	7	been	be	AUX
ap-1686	93	8	developed	develop	VERB
ap-1686	93	9	to	to	PART
ap-1686	93	10	address	address	VERB
ap-1686	93	11	this	this	DET
ap-1686	93	12	issue	issue	NOUN
ap-1686	93	13	.	.	PUNCT
ap-1686	94	1	third	third	ADJ
ap-1686	94	2	,	,	PUNCT
ap-1686	94	3	it	it	PRON
ap-1686	94	4	is	be	AUX
ap-1686	94	5	necessary	necessary	ADJ
ap-1686	94	6	to	to	PART
ap-1686	94	7	use	use	VERB
ap-1686	94	8	an	an	DET
ap-1686	94	9	optimal	optimal	ADJ
ap-1686	94	10	time	time	NOUN
ap-1686	94	11	length	length	NOUN
ap-1686	94	12	of	of	ADP
ap-1686	94	13	the	the	DET
ap-1686	94	14	interval	interval	NOUN
ap-1686	94	15	of	of	ADP
ap-1686	94	16	microintegration	microintegration	NOUN
ap-1686	94	17	.	.	PUNCT
ap-1686	95	1	if	if	SCONJ
ap-1686	95	2	the	the	DET
ap-1686	95	3	interval	interval	NOUN
ap-1686	95	4	is	be	AUX
ap-1686	95	5	too	too	ADV
ap-1686	95	6	short	short	ADJ
ap-1686	95	7	,	,	PUNCT
ap-1686	95	8	not	not	PART
ap-1686	95	9	even	even	ADV
ap-1686	95	10	one	one	NUM
ap-1686	95	11	period	period	NOUN
ap-1686	95	12	of	of	ADP
ap-1686	95	13	the	the	DET
ap-1686	95	14	oscillatory	oscillatory	ADJ
ap-1686	95	15	solution	solution	NOUN
ap-1686	95	16	is	be	AUX
ap-1686	95	17	captured	capture	VERB
ap-1686	95	18	in	in	ADP
ap-1686	95	19	the	the	DET
ap-1686	95	20	microintegration	microintegration	NOUN
ap-1686	95	21	.	.	PUNCT
ap-1686	96	1	if	if	SCONJ
ap-1686	96	2	the	the	DET
ap-1686	96	3	interval	interval	NOUN
ap-1686	96	4	is	be	AUX
ap-1686	96	5	too	too	ADV
ap-1686	96	6	long	long	ADJ
ap-1686	96	7	,	,	PUNCT
ap-1686	96	8	the	the	DET
ap-1686	96	9	slow	slow	ADJ
ap-1686	96	10	averaged	average	VERB
ap-1686	96	11	solution	solution	NOUN
ap-1686	96	12	changes	change	NOUN
ap-1686	96	13	significantly	significantly	ADV
ap-1686	96	14	.	.	PUNCT
ap-1686	97	1	however	however	ADV
ap-1686	97	2	,	,	PUNCT
ap-1686	97	3	its	its	PRON
ap-1686	97	4	value	value	NOUN
ap-1686	97	5	should	should	AUX
ap-1686	97	6	be	be	AUX
ap-1686	97	7	approximately	approximately	ADV
ap-1686	97	8	constant	constant	ADJ
ap-1686	97	9	during	during	ADP
ap-1686	97	10	microintegration	microintegration	NOUN
ap-1686	97	11	.	.	PUNCT
ap-1686	98	1	the	the	DET
ap-1686	98	2	choice	choice	NOUN
ap-1686	98	3	of	of	ADP
ap-1686	98	4	an	an	DET
ap-1686	98	5	appropriate	appropriate	ADJ
ap-1686	98	6	length	length	NOUN
ap-1686	98	7	of	of	ADP
ap-1686	98	8	η	η	PROPN
ap-1686	98	9	has	have	AUX
ap-1686	98	10	until	until	ADP
ap-1686	98	11	now	now	ADV
ap-1686	98	12	been	be	AUX
ap-1686	98	13	made	make	VERB
ap-1686	98	14	by	by	ADP
ap-1686	98	15	adaptation	adaptation	NOUN
ap-1686	98	16	,	,	PUNCT
ap-1686	98	17	but	but	CCONJ
ap-1686	98	18	one	one	NUM
ap-1686	98	19	of	of	ADP
ap-1686	98	20	the	the	DET
ap-1686	98	21	next	next	ADJ
ap-1686	98	22	steps	step	NOUN
ap-1686	98	23	in	in	ADP
ap-1686	98	24	this	this	DET
ap-1686	98	25	research	research	NOUN
ap-1686	98	26	will	will	AUX
ap-1686	98	27	be	be	AUX
ap-1686	98	28	to	to	PART
ap-1686	98	29	implement	implement	VERB
ap-1686	98	30	an	an	DET
ap-1686	98	31	automatic	automatic	ADJ
ap-1686	98	32	procedure	procedure	NOUN
ap-1686	98	33	for	for	ADP
ap-1686	98	34	appropriate	appropriate	ADJ
ap-1686	98	35	choice	choice	NOUN
ap-1686	98	36	of	of	ADP
ap-1686	98	37	the	the	DET
ap-1686	98	38	length	length	NOUN
ap-1686	98	39	of	of	ADP
ap-1686	98	40	the	the	DET
ap-1686	98	41	microintegration	microintegration	NOUN
ap-1686	98	42	interval	interval	NOUN
ap-1686	98	43	.	.	PUNCT
ap-1686	99	1	4	4	NUM
ap-1686	99	2	lae	lae	NOUN
ap-1686	99	3	solution	solution	NOUN
ap-1686	99	4	by	by	ADP
ap-1686	99	5	artificial	artificial	ADJ
ap-1686	99	6	dynamics	dynamic	NOUN
ap-1686	99	7	the	the	DET
ap-1686	99	8	multibody	multibody	ADJ
ap-1686	99	9	dynamics	dynamic	NOUN
ap-1686	99	10	can	can	AUX
ap-1686	99	11	be	be	AUX
ap-1686	99	12	solved	solve	VERB
ap-1686	99	13	in	in	ADP
ap-1686	99	14	a	a	DET
ap-1686	99	15	different	different	ADJ
ap-1686	99	16	way	way	NOUN
ap-1686	99	17	,	,	PUNCT
ap-1686	99	18	preserving	preserve	VERB
ap-1686	99	19	the	the	DET
ap-1686	99	20	massive	massive	ADJ
ap-1686	99	21	parallel	parallel	ADJ
ap-1686	99	22	structure	structure	NOUN
ap-1686	99	23	of	of	ADP
ap-1686	99	24	the	the	DET
ap-1686	99	25	computation	computation	NOUN
ap-1686	99	26	.	.	PUNCT
ap-1686	100	1	the	the	DET
ap-1686	100	2	eom	eom	PROPN
ap-1686	100	3	are	be	AUX
ap-1686	100	4	assembled	assemble	VERB
ap-1686	100	5	into	into	ADP
ap-1686	100	6	the	the	DET
ap-1686	100	7	step	step	NOUN
ap-1686	100	8	to	to	PART
ap-1686	100	9	solve	solve	VERB
ap-1686	100	10	a	a	DET
ap-1686	100	11	system	system	NOUN
ap-1686	100	12	of	of	ADP
ap-1686	100	13	lae	lae	PROPN
ap-1686	100	14	.	.	PUNCT
ap-1686	101	1	then	then	ADV
ap-1686	101	2	this	this	DET
ap-1686	101	3	system	system	NOUN
ap-1686	101	4	of	of	ADP
ap-1686	101	5	lae	lae	PROPN
ap-1686	101	6	is	be	AUX
ap-1686	101	7	solved	solve	VERB
ap-1686	101	8	by	by	ADP
ap-1686	101	9	additional	additional	ADJ
ap-1686	101	10	artificial	artificial	ADJ
ap-1686	101	11	dynamics	dynamic	NOUN
ap-1686	101	12	[	[	X
ap-1686	101	13	9	9	NUM
ap-1686	101	14	]	]	PUNCT
ap-1686	101	15	.	.	PUNCT
ap-1686	102	1	the	the	DET
ap-1686	102	2	multibody	multibody	ADJ
ap-1686	102	3	system	system	NOUN
ap-1686	102	4	can	can	AUX
ap-1686	102	5	be	be	AUX
ap-1686	102	6	uniquely	uniquely	ADV
ap-1686	102	7	described	describe	VERB
ap-1686	102	8	by	by	ADP
ap-1686	102	9	natural	natural	ADJ
ap-1686	102	10	coordinates	coordinate	NOUN
ap-1686	102	11	,	,	PUNCT
ap-1686	102	12	leading	lead	VERB
ap-1686	102	13	to	to	ADP
ap-1686	102	14	the	the	DET
ap-1686	102	15	constant	constant	ADJ
ap-1686	102	16	mass	mass	NOUN
ap-1686	102	17	matrix	matrix	NOUN
ap-1686	102	18	.	.	PUNCT
ap-1686	103	1	however	however	ADV
ap-1686	103	2	in	in	ADP
ap-1686	103	3	the	the	DET
ap-1686	103	4	case	case	NOUN
ap-1686	103	5	of	of	ADP
ap-1686	103	6	the	the	DET
ap-1686	103	7	classical	classical	ADJ
ap-1686	103	8	description	description	NOUN
ap-1686	103	9	of	of	ADP
ap-1686	103	10	a	a	DET
ap-1686	103	11	body	body	NOUN
ap-1686	103	12	by	by	ADP
ap-1686	103	13	two	two	NUM
ap-1686	103	14	points	point	NOUN
ap-1686	103	15	b1	b1	NOUN
ap-1686	103	16	,	,	PUNCT
ap-1686	103	17	b2	b2	NOUN
ap-1686	103	18	on	on	ADP
ap-1686	103	19	the	the	DET
ap-1686	103	20	kinematical	kinematical	ADJ
ap-1686	103	21	joints	joint	NOUN
ap-1686	103	22	and	and	CCONJ
ap-1686	103	23	by	by	ADP
ap-1686	103	24	two	two	NUM
ap-1686	103	25	unit	unit	NOUN
ap-1686	103	26	vectors	vector	NOUN
ap-1686	103	27	v1	v1	PROPN
ap-1686	103	28	,	,	PUNCT
ap-1686	103	29	v2	v2	PROPN
ap-1686	103	30	(	(	PUNCT
ap-1686	103	31	fig	fig	NOUN
ap-1686	103	32	.	.	PUNCT
ap-1686	104	1	5	5	NUM
ap-1686	104	2	.	.	X
ap-1686	104	3	a	a	X
ap-1686	104	4	)	)	PUNCT
ap-1686	104	5	,	,	PUNCT
ap-1686	104	6	the	the	DET
ap-1686	104	7	mass	mass	ADJ
ap-1686	104	8	matrix	matrix	NOUN
ap-1686	104	9	has	have	VERB
ap-1686	104	10	nonzero	nonzero	NOUN
ap-1686	104	11	elements	element	NOUN
ap-1686	104	12	on	on	ADP
ap-1686	104	13	its	its	PRON
ap-1686	104	14	diagonal	diagonal	ADJ
ap-1686	104	15	and	and	CCONJ
ap-1686	104	16	on	on	ADP
ap-1686	104	17	the	the	DET
ap-1686	104	18	second	second	ADJ
ap-1686	104	19	off	off	ADP
ap-1686	104	20	-	-	PUNCT
ap-1686	104	21	diagonal	diagonal	ADJ
ap-1686	104	22	line	line	NOUN
ap-1686	104	23	over	over	ADP
ap-1686	104	24	the	the	DET
ap-1686	104	25	main	main	ADJ
ap-1686	104	26	diagonal	diagonal	NOUN
ap-1686	104	27	and	and	CCONJ
ap-1686	104	28	under	under	ADP
ap-1686	104	29	it	it	PRON
ap-1686	104	30	(	(	PUNCT
ap-1686	104	31	the	the	DET
ap-1686	104	32	matrix	matrix	NOUN
ap-1686	104	33	is	be	AUX
ap-1686	104	34	symmetric	symmetric	ADJ
ap-1686	104	35	)	)	PUNCT
ap-1686	104	36	.	.	PUNCT
ap-1686	105	1	this	this	PRON
ap-1686	105	2	leads	lead	VERB
ap-1686	105	3	to	to	ADP
ap-1686	105	4	the	the	DET
ap-1686	105	5	undesired	undesired	ADJ
ap-1686	105	6	full	full	ADJ
ap-1686	105	7	inverse	inverse	NOUN
ap-1686	105	8	of	of	ADP
ap-1686	105	9	the	the	DET
ap-1686	105	10	mass	mass	ADJ
ap-1686	105	11	matrix	matrix	NOUN
ap-1686	105	12	.	.	PUNCT
ap-1686	106	1	however	however	ADV
ap-1686	106	2	,	,	PUNCT
ap-1686	106	3	the	the	DET
ap-1686	106	4	mass	mass	ADJ
ap-1686	106	5	matrix	matrix	NOUN
ap-1686	106	6	can	can	AUX
ap-1686	106	7	be	be	AUX
ap-1686	106	8	obtained	obtain	VERB
ap-1686	106	9	in	in	ADP
ap-1686	106	10	a	a	DET
ap-1686	106	11	pure	pure	ADJ
ap-1686	106	12	diagonal	diagonal	ADJ
ap-1686	106	13	form	form	NOUN
ap-1686	106	14	if	if	SCONJ
ap-1686	106	15	an	an	DET
ap-1686	106	16	efficient	efficient	ADJ
ap-1686	106	17	set	set	NOUN
ap-1686	106	18	of	of	ADP
ap-1686	106	19	natural	natural	ADJ
ap-1686	106	20	coordinates	coordinate	NOUN
ap-1686	106	21	is	be	AUX
ap-1686	106	22	chosen	choose	VERB
ap-1686	106	23	,	,	PUNCT
ap-1686	106	24	see	see	VERB
ap-1686	106	25	below	below	ADV
ap-1686	106	26	.	.	PUNCT
ap-1686	107	1	consequently	consequently	ADV
ap-1686	107	2	the	the	DET
ap-1686	107	3	inverse	inverse	NOUN
ap-1686	107	4	of	of	ADP
ap-1686	107	5	96	96	NUM
ap-1686	107	6	acta	acta	PROPN
ap-1686	107	7	polytechnica	polytechnica	PROPN
ap-1686	107	8	vol	vol	NOUN
ap-1686	107	9	.	.	PROPN
ap-1686	108	1	52	52	NUM
ap-1686	108	2	no	no	NOUN
ap-1686	108	3	.	.	PUNCT
ap-1686	109	1	6/2012	6/2012	NUM
ap-1686	109	2	v1	v1	PROPN
ap-1686	109	3	v2	v2	PROPN
ap-1686	109	4	b1	b1	NOUN
ap-1686	109	5	b2	b2	NOUN
ap-1686	109	6	ɲ	ɲ	PROPN
ap-1686	109	7	vi	vi	NOUN
ap-1686	110	1	hi	hi	INTJ
ap-1686	110	2	hi+1	hi+1	NOUN
ap-1686	110	3	si	si	NOUN
ap-1686	110	4	x	x	X
ap-1686	110	5	y	y	PROPN
ap-1686	110	6	figure	figure	NOUN
ap-1686	110	7	5	5	NUM
ap-1686	110	8	:	:	PUNCT
ap-1686	110	9	a	a	DET
ap-1686	110	10	body	body	NOUN
ap-1686	110	11	described	describe	VERB
ap-1686	110	12	by	by	ADP
ap-1686	110	13	natural	natural	ADJ
ap-1686	110	14	coordinates	coordinate	NOUN
ap-1686	110	15	.	.	PUNCT
ap-1686	111	1	the	the	DET
ap-1686	111	2	mass	mass	ADJ
ap-1686	111	3	matrix	matrix	NOUN
ap-1686	111	4	is	be	AUX
ap-1686	111	5	a	a	DET
ap-1686	111	6	diagonal	diagonal	ADJ
ap-1686	111	7	matrix	matrix	NOUN
ap-1686	111	8	,	,	PUNCT
ap-1686	111	9	which	which	PRON
ap-1686	111	10	is	be	AUX
ap-1686	111	11	an	an	DET
ap-1686	111	12	important	important	ADJ
ap-1686	111	13	feature	feature	NOUN
ap-1686	111	14	for	for	ADP
ap-1686	111	15	parallel	parallel	ADJ
ap-1686	111	16	solution	solution	NOUN
ap-1686	111	17	of	of	ADP
ap-1686	111	18	multibody	multibody	ADJ
ap-1686	111	19	dynamics	dynamic	NOUN
ap-1686	111	20	.	.	PUNCT
ap-1686	112	1	the	the	DET
ap-1686	112	2	modified	modify	VERB
ap-1686	112	3	state	state	NOUN
ap-1686	112	4	space	space	NOUN
ap-1686	112	5	method	method	NOUN
ap-1686	112	6	[	[	X
ap-1686	112	7	7	7	NUM
ap-1686	112	8	]	]	PUNCT
ap-1686	112	9	is	be	AUX
ap-1686	112	10	used	use	VERB
ap-1686	112	11	in	in	ADP
ap-1686	112	12	order	order	NOUN
ap-1686	112	13	to	to	PART
ap-1686	112	14	get	get	VERB
ap-1686	112	15	the	the	DET
ap-1686	112	16	equations	equation	NOUN
ap-1686	112	17	of	of	ADP
ap-1686	112	18	motion	motion	NOUN
ap-1686	112	19	of	of	ADP
ap-1686	112	20	multibody	multibody	ADJ
ap-1686	112	21	systems	system	NOUN
ap-1686	112	22	.	.	PUNCT
ap-1686	113	1	its	its	PRON
ap-1686	113	2	scheme	scheme	NOUN
ap-1686	113	3	is	be	AUX
ap-1686	113	4	as	as	SCONJ
ap-1686	113	5	follows	follow	VERB
ap-1686	113	6	:	:	PUNCT
ap-1686	113	7	the	the	DET
ap-1686	113	8	multibody	multibody	ADJ
ap-1686	113	9	system	system	NOUN
ap-1686	113	10	is	be	AUX
ap-1686	113	11	described	describe	VERB
ap-1686	113	12	by	by	ADP
ap-1686	113	13	a	a	DET
ap-1686	113	14	set	set	NOUN
ap-1686	113	15	of	of	ADP
ap-1686	113	16	redundant	redundant	ADJ
ap-1686	113	17	coordinates	coordinate	NOUN
ap-1686	113	18	s	s	PROPN
ap-1686	113	19	,	,	PUNCT
ap-1686	113	20	which	which	PRON
ap-1686	113	21	are	be	AUX
ap-1686	113	22	constrained	constrain	VERB
ap-1686	113	23	by	by	ADP
ap-1686	113	24	constraint	constraint	NOUN
ap-1686	113	25	equations	equation	NOUN
ap-1686	113	26	:	:	PUNCT
ap-1686	113	27	f(s	f(	NOUN
ap-1686	113	28	)	)	PUNCT
ap-1686	114	1	=	=	SYM
ap-1686	114	2	0	0	X
ap-1686	114	3	.	.	PUNCT
ap-1686	115	1	(	(	PUNCT
ap-1686	115	2	9	9	X
ap-1686	115	3	)	)	PUNCT
ap-1686	115	4	the	the	DET
ap-1686	115	5	time	time	NOUN
ap-1686	115	6	differentiation	differentiation	NOUN
ap-1686	115	7	of	of	ADP
ap-1686	115	8	the	the	DET
ap-1686	115	9	constraints	constraint	NOUN
ap-1686	115	10	gives	give	VERB
ap-1686	115	11	j(s)ṡ	j(s)ṡ	NOUN
ap-1686	115	12	=	=	SYM
ap-1686	115	13	0	0	NUM
ap-1686	115	14	,	,	PUNCT
ap-1686	115	15	(	(	PUNCT
ap-1686	115	16	10	10	NUM
ap-1686	115	17	)	)	PUNCT
ap-1686	115	18	where	where	SCONJ
ap-1686	115	19	matrix	matrix	NOUN
ap-1686	115	20	j	j	PROPN
ap-1686	115	21	is	be	AUX
ap-1686	115	22	the	the	DET
ap-1686	115	23	jacobian	jacobian	ADJ
ap-1686	115	24	matrix	matrix	NOUN
ap-1686	115	25	.	.	PUNCT
ap-1686	116	1	modified	modify	VERB
ap-1686	116	2	momentum	momentum	NOUN
ap-1686	116	3	is	be	AUX
ap-1686	116	4	introduced	introduce	VERB
ap-1686	116	5	in	in	ADP
ap-1686	116	6	order	order	NOUN
ap-1686	116	7	to	to	PART
ap-1686	116	8	avoid	avoid	VERB
ap-1686	116	9	the	the	DET
ap-1686	116	10	problem	problem	NOUN
ap-1686	116	11	with	with	ADP
ap-1686	116	12	constraint	constraint	NOUN
ap-1686	116	13	violation	violation	NOUN
ap-1686	116	14	:	:	PUNCT
ap-1686	116	15	p∗	p∗	PROPN
ap-1686	116	16	=	=	SYM
ap-1686	116	17	p+	p+	PROPN
ap-1686	116	18	jtµ	jtµ	NOUN
ap-1686	116	19	=	=	SYM
ap-1686	116	20	mṡ+	mṡ+	NOUN
ap-1686	116	21	jtµ.	jtµ.	NOUN
ap-1686	116	22	(	(	PUNCT
ap-1686	116	23	11	11	NUM
ap-1686	116	24	)	)	PUNCT
ap-1686	116	25	symbol	symbol	NOUN
ap-1686	116	26	p	p	NOUN
ap-1686	116	27	denotes	denote	VERB
ap-1686	116	28	the	the	DET
ap-1686	116	29	classical	classical	ADJ
ap-1686	116	30	momentum	momentum	NOUN
ap-1686	116	31	,	,	PUNCT
ap-1686	116	32	and	and	CCONJ
ap-1686	116	33	µ	µ	X
ap-1686	116	34	is	be	AUX
ap-1686	116	35	the	the	DET
ap-1686	116	36	vector	vector	NOUN
ap-1686	116	37	of	of	ADP
ap-1686	116	38	the	the	DET
ap-1686	116	39	modified	modify	VERB
ap-1686	116	40	lagrange	lagrange	NOUN
ap-1686	116	41	multipliers	multiplier	NOUN
ap-1686	116	42	.	.	PUNCT
ap-1686	117	1	if	if	SCONJ
ap-1686	117	2	natural	natural	ADJ
ap-1686	117	3	coordinates	coordinate	NOUN
ap-1686	117	4	are	be	AUX
ap-1686	117	5	used	use	VERB
ap-1686	117	6	in	in	ADP
ap-1686	117	7	connection	connection	NOUN
ap-1686	117	8	with	with	ADP
ap-1686	117	9	the	the	DET
ap-1686	117	10	lagrange	lagrange	ADJ
ap-1686	117	11	equations	equation	NOUN
ap-1686	117	12	of	of	ADP
ap-1686	117	13	mixed	mixed	ADJ
ap-1686	117	14	type	type	NOUN
ap-1686	117	15	,	,	PUNCT
ap-1686	117	16	the	the	DET
ap-1686	117	17	following	follow	VERB
ap-1686	117	18	equation	equation	NOUN
ap-1686	117	19	is	be	AUX
ap-1686	117	20	obtained	obtain	VERB
ap-1686	117	21	for	for	ADP
ap-1686	117	22	the	the	DET
ap-1686	117	23	time	time	NOUN
ap-1686	117	24	derivatives	derivative	NOUN
ap-1686	117	25	of	of	ADP
ap-1686	117	26	the	the	DET
ap-1686	117	27	modified	modify	VERB
ap-1686	117	28	momentum	momentum	NOUN
ap-1686	117	29	ṗ∗	ṗ∗	NOUN
ap-1686	118	1	=	=	SYM
ap-1686	118	2	f	f	X
ap-1686	118	3	(	(	PUNCT
ap-1686	118	4	s	s	PROPN
ap-1686	118	5	,	,	PUNCT
ap-1686	118	6	ṡ	ṡ	PRON
ap-1686	118	7	)	)	PUNCT
ap-1686	119	1	+	+	NOUN
ap-1686	119	2	j̇tµ	j̇tµ	PROPN
ap-1686	119	3	,	,	PUNCT
ap-1686	119	4	(	(	PUNCT
ap-1686	119	5	12	12	NUM
ap-1686	119	6	)	)	PUNCT
ap-1686	119	7	where	where	SCONJ
ap-1686	119	8	f	f	PROPN
ap-1686	119	9	is	be	AUX
ap-1686	119	10	the	the	DET
ap-1686	119	11	vector	vector	NOUN
ap-1686	119	12	of	of	ADP
ap-1686	119	13	the	the	DET
ap-1686	119	14	applied	apply	VERB
ap-1686	119	15	forces	force	NOUN
ap-1686	119	16	.	.	PUNCT
ap-1686	120	1	equation	equation	NOUN
ap-1686	120	2	(	(	PUNCT
ap-1686	120	3	10	10	NUM
ap-1686	120	4	)	)	PUNCT
ap-1686	120	5	is	be	AUX
ap-1686	120	6	stabilized	stabilize	VERB
ap-1686	120	7	using	use	VERB
ap-1686	120	8	baumgarte	baumgarte	NOUN
ap-1686	120	9	stabilization	stabilization	NOUN
ap-1686	120	10	and	and	CCONJ
ap-1686	120	11	it	it	PRON
ap-1686	120	12	is	be	AUX
ap-1686	120	13	solved	solve	VERB
ap-1686	120	14	together	together	ADV
ap-1686	120	15	with	with	ADP
ap-1686	120	16	equation	equation	NOUN
ap-1686	120	17	(	(	PUNCT
ap-1686	120	18	11	11	NUM
ap-1686	120	19	):	):	PUNCT
ap-1686	120	20	[	[	PUNCT
ap-1686	120	21	m	m	PROPN
ap-1686	120	22	jt	jt	PROPN
ap-1686	120	23	j	j	PROPN
ap-1686	120	24	0	0	PUNCT
ap-1686	121	1	]	]	X
ap-1686	121	2	[	[	PUNCT
ap-1686	121	3	ṡ	ṡ	X
ap-1686	121	4	µ	µ	X
ap-1686	121	5	]	]	X
ap-1686	121	6	=	=	X
ap-1686	122	1	[	[	PUNCT
ap-1686	122	2	p∗	p∗	NOUN
ap-1686	122	3	−αf	−αf	X
ap-1686	122	4	]	]	PUNCT
ap-1686	122	5	,	,	PUNCT
ap-1686	122	6	(	(	PUNCT
ap-1686	122	7	13	13	NUM
ap-1686	122	8	)	)	PUNCT
ap-1686	122	9	where	where	SCONJ
ap-1686	122	10	α	α	NOUN
ap-1686	122	11	is	be	AUX
ap-1686	122	12	a	a	DET
ap-1686	122	13	positive	positive	ADJ
ap-1686	122	14	stabilization	stabilization	NOUN
ap-1686	122	15	parameter	parameter	NOUN
ap-1686	122	16	.	.	PUNCT
ap-1686	123	1	the	the	DET
ap-1686	123	2	vector	vector	NOUN
ap-1686	123	3	of	of	ADP
ap-1686	123	4	velocities	velocity	NOUN
ap-1686	123	5	ṡ	ṡ	PROPN
ap-1686	123	6	and	and	CCONJ
ap-1686	123	7	the	the	DET
ap-1686	123	8	vector	vector	NOUN
ap-1686	123	9	of	of	ADP
ap-1686	123	10	the	the	DET
ap-1686	123	11	modified	modify	VERB
ap-1686	123	12	lagrange	lagrange	NOUN
ap-1686	123	13	multipliers	multiplier	NOUN
ap-1686	123	14	are	be	AUX
ap-1686	123	15	obtained	obtain	VERB
ap-1686	123	16	from	from	ADP
ap-1686	123	17	this	this	DET
ap-1686	123	18	equation	equation	NOUN
ap-1686	123	19	,	,	PUNCT
ap-1686	123	20	and	and	CCONJ
ap-1686	123	21	consequently	consequently	ADV
ap-1686	123	22	equation	equation	NOUN
ap-1686	123	23	(	(	PUNCT
ap-1686	123	24	12	12	NUM
ap-1686	123	25	)	)	PUNCT
ap-1686	123	26	is	be	AUX
ap-1686	123	27	solved	solve	VERB
ap-1686	123	28	.	.	PUNCT
ap-1686	124	1	thus	thus	ADV
ap-1686	124	2	the	the	DET
ap-1686	124	3	time	time	NOUN
ap-1686	124	4	derivatives	derivative	NOUN
ap-1686	124	5	of	of	ADP
ap-1686	124	6	the	the	DET
ap-1686	124	7	modified	modify	VERB
ap-1686	124	8	momentum	momentum	NOUN
ap-1686	124	9	ṗ∗	ṗ∗	NOUN
ap-1686	124	10	are	be	AUX
ap-1686	124	11	obtained	obtain	VERB
ap-1686	124	12	.	.	PUNCT
ap-1686	125	1	the	the	DET
ap-1686	125	2	time	time	NOUN
ap-1686	125	3	derivatives	derivative	NOUN
ap-1686	125	4	ṡ	ṡ	VERB
ap-1686	125	5	,	,	PUNCT
ap-1686	125	6	ṗ∗	ṗ∗	NOUN
ap-1686	125	7	are	be	AUX
ap-1686	125	8	then	then	ADV
ap-1686	125	9	integrated	integrate	VERB
ap-1686	125	10	in	in	ADP
ap-1686	125	11	order	order	NOUN
ap-1686	125	12	to	to	PART
ap-1686	125	13	compute	compute	VERB
ap-1686	125	14	the	the	DET
ap-1686	125	15	following	follow	VERB
ap-1686	125	16	state	state	NOUN
ap-1686	125	17	of	of	ADP
ap-1686	125	18	the	the	DET
ap-1686	125	19	system	system	NOUN
ap-1686	125	20	,	,	PUNCT
ap-1686	125	21	and	and	CCONJ
ap-1686	125	22	the	the	DET
ap-1686	125	23	procedure	procedure	NOUN
ap-1686	125	24	is	be	AUX
ap-1686	125	25	repeated	repeat	VERB
ap-1686	125	26	.	.	PUNCT
ap-1686	126	1	as	as	SCONJ
ap-1686	126	2	mentioned	mention	VERB
ap-1686	126	3	above	above	ADV
ap-1686	126	4	,	,	PUNCT
ap-1686	126	5	the	the	DET
ap-1686	126	6	mass	mass	ADJ
ap-1686	126	7	matrix	matrix	NOUN
ap-1686	126	8	can	can	AUX
ap-1686	126	9	be	be	AUX
ap-1686	126	10	obtained	obtain	VERB
ap-1686	126	11	in	in	ADP
ap-1686	126	12	a	a	DET
ap-1686	126	13	diagonal	diagonal	ADJ
ap-1686	126	14	form	form	NOUN
ap-1686	126	15	.	.	PUNCT
ap-1686	127	1	it	it	PRON
ap-1686	127	2	is	be	AUX
ap-1686	127	3	necessary	necessary	ADJ
ap-1686	127	4	only	only	ADV
ap-1686	127	5	to	to	PART
ap-1686	127	6	select	select	VERB
ap-1686	127	7	an	an	DET
ap-1686	127	8	appropriate	appropriate	ADJ
ap-1686	127	9	set	set	NOUN
ap-1686	127	10	of	of	ADP
ap-1686	127	11	coordinates	coordinate	NOUN
ap-1686	127	12	.	.	PUNCT
ap-1686	128	1	a	a	DET
ap-1686	128	2	body	body	NOUN
ap-1686	128	3	in	in	ADP
ap-1686	128	4	a	a	DET
ap-1686	128	5	plane	plane	NOUN
ap-1686	128	6	can	can	AUX
ap-1686	128	7	be	be	AUX
ap-1686	128	8	uniquely	uniquely	ADV
ap-1686	128	9	described	describe	VERB
ap-1686	128	10	by	by	ADP
ap-1686	128	11	the	the	DET
ap-1686	128	12	cartesian	cartesian	ADJ
ap-1686	128	13	coordinates	coordinate	NOUN
ap-1686	128	14	of	of	ADP
ap-1686	128	15	its	its	PRON
ap-1686	128	16	centre	centre	NOUN
ap-1686	128	17	of	of	ADP
ap-1686	128	18	mass	mass	NOUN
ap-1686	128	19	si	si	NOUN
ap-1686	128	20	and	and	CCONJ
ap-1686	128	21	by	by	ADP
ap-1686	128	22	a	a	DET
ap-1686	128	23	unit	unit	NOUN
ap-1686	128	24	vector	vector	NOUN
ap-1686	128	25	vi	vi	PROPN
ap-1686	128	26	determining	determine	VERB
ap-1686	128	27	its	its	PRON
ap-1686	128	28	orientation	orientation	NOUN
ap-1686	128	29	(	(	PUNCT
ap-1686	128	30	fig	fig	NOUN
ap-1686	128	31	.	.	PUNCT
ap-1686	129	1	5	5	NUM
ap-1686	129	2	.	.	X
ap-1686	129	3	b	b	NOUN
ap-1686	129	4	)	)	PUNCT
ap-1686	129	5	.	.	PUNCT
ap-1686	130	1	if	if	SCONJ
ap-1686	130	2	the	the	DET
ap-1686	130	3	body	body	NOUN
ap-1686	130	4	is	be	AUX
ap-1686	130	5	connected	connect	VERB
ap-1686	130	6	to	to	ADP
ap-1686	130	7	other	other	ADJ
ap-1686	130	8	bodies	body	NOUN
ap-1686	130	9	with	with	ADP
ap-1686	130	10	revolute	revolute	ADJ
ap-1686	130	11	joints	joint	NOUN
ap-1686	130	12	,	,	PUNCT
ap-1686	130	13	the	the	DET
ap-1686	130	14	mass	mass	ADJ
ap-1686	130	15	matrix	matrix	NOUN
ap-1686	130	16	is	be	AUX
ap-1686	130	17	a	a	DET
ap-1686	130	18	constant	constant	ADJ
ap-1686	130	19	diagonal	diagonal	ADJ
ap-1686	130	20	matrix	matrix	NOUN
ap-1686	130	21	,	,	PUNCT
ap-1686	130	22	which	which	PRON
ap-1686	130	23	is	be	AUX
ap-1686	130	24	efficient	efficient	ADJ
ap-1686	130	25	for	for	ADP
ap-1686	130	26	parallel	parallel	ADJ
ap-1686	130	27	computing	computing	NOUN
ap-1686	130	28	.	.	PUNCT
ap-1686	131	1	the	the	DET
ap-1686	131	2	solution	solution	NOUN
ap-1686	131	3	of	of	ADP
ap-1686	131	4	equation	equation	NOUN
ap-1686	131	5	(	(	PUNCT
ap-1686	131	6	13	13	NUM
ap-1686	131	7	)	)	PUNCT
ap-1686	131	8	is	be	AUX
ap-1686	131	9	the	the	DET
ap-1686	131	10	most	most	ADV
ap-1686	131	11	important	important	ADJ
ap-1686	131	12	step	step	NOUN
ap-1686	131	13	from	from	ADP
ap-1686	131	14	the	the	DET
ap-1686	131	15	parallelisation	parallelisation	NOUN
ap-1686	131	16	point	point	NOUN
ap-1686	131	17	of	of	ADP
ap-1686	131	18	view	view	NOUN
ap-1686	131	19	.	.	PUNCT
ap-1686	132	1	the	the	DET
ap-1686	132	2	schur	schur	PROPN
ap-1686	132	3	complement	complement	PROPN
ap-1686	132	4	method	method	NOUN
ap-1686	132	5	is	be	AUX
ap-1686	132	6	used	use	VERB
ap-1686	132	7	to	to	PART
ap-1686	132	8	compute	compute	VERB
ap-1686	132	9	unknowns	unknown	NOUN
ap-1686	132	10	in	in	ADP
ap-1686	132	11	a	a	DET
ap-1686	132	12	massive	massive	ADJ
ap-1686	132	13	parallel	parallel	ADJ
ap-1686	132	14	way	way	NOUN
ap-1686	132	15	.	.	PUNCT
ap-1686	133	1	it	it	PRON
ap-1686	133	2	holds	hold	VERB
ap-1686	133	3	from	from	ADP
ap-1686	133	4	(	(	PUNCT
ap-1686	133	5	13	13	NUM
ap-1686	133	6	):	):	PUNCT
ap-1686	133	7	mṡ+	mṡ+	NOUN
ap-1686	133	8	jtµ	jtµ	NOUN
ap-1686	133	9	=	=	SYM
ap-1686	133	10	p∗	p∗	PROPN
ap-1686	133	11	,	,	PUNCT
ap-1686	133	12	(	(	PUNCT
ap-1686	133	13	14	14	NUM
ap-1686	133	14	)	)	PUNCT
ap-1686	133	15	jṡ	jṡ	NOUN
ap-1686	134	1	=	=	PUNCT
ap-1686	134	2	−αf	−αf	X
ap-1686	134	3	.	.	PUNCT
ap-1686	135	1	(	(	PUNCT
ap-1686	135	2	15	15	NUM
ap-1686	135	3	)	)	PUNCT
ap-1686	135	4	from	from	ADP
ap-1686	135	5	(	(	PUNCT
ap-1686	135	6	14	14	NUM
ap-1686	135	7	)	)	PUNCT
ap-1686	135	8	the	the	DET
ap-1686	135	9	vector	vector	NOUN
ap-1686	135	10	of	of	ADP
ap-1686	135	11	velocities	velocity	NOUN
ap-1686	135	12	can	can	AUX
ap-1686	135	13	be	be	AUX
ap-1686	135	14	expressed	express	VERB
ap-1686	135	15	:	:	PUNCT
ap-1686	135	16	ṡ	ṡ	PROPN
ap-1686	136	1	=	=	SYM
ap-1686	136	2	m−1(p∗	m−1(p∗	ADV
ap-1686	136	3	−	−	PROPN
ap-1686	136	4	jtµ	jtµ	PROPN
ap-1686	136	5	)	)	PUNCT
ap-1686	136	6	(	(	PUNCT
ap-1686	136	7	16	16	NUM
ap-1686	136	8	)	)	PUNCT
ap-1686	136	9	and	and	CCONJ
ap-1686	136	10	substituted	substitute	VERB
ap-1686	136	11	in	in	ADP
ap-1686	136	12	(	(	PUNCT
ap-1686	136	13	15	15	NUM
ap-1686	136	14	):	):	PUNCT
ap-1686	136	15	jm−1jtµ	jm−1jtµ	PROPN
ap-1686	136	16	=	=	PUNCT
ap-1686	136	17	αf	αf	ADP
ap-1686	136	18	+	+	NUM
ap-1686	136	19	jm−1p∗.	jm−1p∗.	NOUN
ap-1686	136	20	(	(	PUNCT
ap-1686	136	21	17	17	NUM
ap-1686	136	22	)	)	PUNCT
ap-1686	136	23	denoting	denote	VERB
ap-1686	136	24	a	a	DET
ap-1686	136	25	=	=	SYM
ap-1686	136	26	jm−1jt	jm−1jt	PROPN
ap-1686	136	27	,	,	PUNCT
ap-1686	136	28	b	b	NOUN
ap-1686	136	29	=	=	X
ap-1686	136	30	αf	αf	PROPN
ap-1686	136	31	+	+	NUM
ap-1686	136	32	jm−1p∗	jm−1p∗	NOUN
ap-1686	136	33	,	,	PUNCT
ap-1686	136	34	the	the	DET
ap-1686	136	35	final	final	ADJ
ap-1686	136	36	equation	equation	NOUN
ap-1686	136	37	for	for	ADP
ap-1686	136	38	unknown	unknown	ADJ
ap-1686	136	39	modified	modify	VERB
ap-1686	136	40	lagrange	lagrange	NOUN
ap-1686	136	41	multipliers	multiplier	NOUN
ap-1686	136	42	is	be	AUX
ap-1686	136	43	obtained	obtain	VERB
ap-1686	136	44	:	:	PUNCT
ap-1686	136	45	aµ	aµ	PROPN
ap-1686	136	46	=	=	PROPN
ap-1686	136	47	b.	b.	PROPN
ap-1686	136	48	(	(	PUNCT
ap-1686	136	49	18	18	NUM
ap-1686	136	50	)	)	PUNCT
ap-1686	136	51	matrix	matrix	NOUN
ap-1686	136	52	a	a	PRON
ap-1686	136	53	is	be	AUX
ap-1686	136	54	the	the	DET
ap-1686	136	55	schur	schur	PROPN
ap-1686	136	56	complement	complement	PROPN
ap-1686	136	57	,	,	PUNCT
ap-1686	136	58	and	and	CCONJ
ap-1686	136	59	it	it	PRON
ap-1686	136	60	is	be	AUX
ap-1686	136	61	the	the	DET
ap-1686	136	62	band	band	NOUN
ap-1686	136	63	matrix	matrix	NOUN
ap-1686	136	64	which	which	PRON
ap-1686	136	65	is	be	AUX
ap-1686	136	66	symmetric	symmetric	ADJ
ap-1686	136	67	positive	positive	ADJ
ap-1686	136	68	definite	definite	NOUN
ap-1686	136	69	for	for	ADP
ap-1686	136	70	the	the	DET
ap-1686	136	71	case	case	NOUN
ap-1686	136	72	of	of	ADP
ap-1686	136	73	natural	natural	ADJ
ap-1686	136	74	coordinates	coordinate	NOUN
ap-1686	136	75	with	with	ADP
ap-1686	136	76	a	a	DET
ap-1686	136	77	diagonal	diagonal	ADJ
ap-1686	136	78	mass	mass	NOUN
ap-1686	136	79	matrix	matrix	NOUN
ap-1686	136	80	.	.	PUNCT
ap-1686	137	1	after	after	SCONJ
ap-1686	137	2	(	(	PUNCT
ap-1686	137	3	18	18	NUM
ap-1686	137	4	)	)	PUNCT
ap-1686	137	5	has	have	AUX
ap-1686	137	6	been	be	AUX
ap-1686	137	7	solved	solve	VERB
ap-1686	137	8	,	,	PUNCT
ap-1686	137	9	equation	equation	NOUN
ap-1686	137	10	(	(	PUNCT
ap-1686	137	11	16	16	NUM
ap-1686	137	12	)	)	PUNCT
ap-1686	137	13	is	be	AUX
ap-1686	137	14	solved	solve	VERB
ap-1686	137	15	for	for	ADP
ap-1686	137	16	known	known	ADJ
ap-1686	137	17	µ	µ	NOUN
ap-1686	137	18	and	and	CCONJ
ap-1686	137	19	subsequently	subsequently	ADV
ap-1686	137	20	the	the	DET
ap-1686	137	21	time	time	NOUN
ap-1686	137	22	derivatives	derivative	NOUN
ap-1686	137	23	of	of	ADP
ap-1686	137	24	the	the	DET
ap-1686	137	25	modified	modify	VERB
ap-1686	137	26	momenta	momenta	NOUN
ap-1686	137	27	are	be	AUX
ap-1686	137	28	computed	compute	VERB
ap-1686	137	29	(	(	PUNCT
ap-1686	137	30	12	12	NUM
ap-1686	137	31	)	)	PUNCT
ap-1686	137	32	in	in	ADP
ap-1686	137	33	order	order	NOUN
ap-1686	137	34	to	to	PART
ap-1686	137	35	carry	carry	VERB
ap-1686	137	36	out	out	ADP
ap-1686	137	37	numerical	numerical	ADJ
ap-1686	137	38	time	time	NOUN
ap-1686	137	39	integration	integration	NOUN
ap-1686	137	40	.	.	PUNCT
ap-1686	138	1	the	the	DET
ap-1686	138	2	key	key	ADJ
ap-1686	138	3	equation	equation	NOUN
ap-1686	138	4	is	be	AUX
ap-1686	138	5	(	(	PUNCT
ap-1686	138	6	18	18	NUM
ap-1686	138	7	)	)	PUNCT
ap-1686	138	8	,	,	PUNCT
ap-1686	138	9	since	since	SCONJ
ap-1686	138	10	it	it	PRON
ap-1686	138	11	is	be	AUX
ap-1686	138	12	necessary	necessary	ADJ
ap-1686	138	13	to	to	PART
ap-1686	138	14	solve	solve	VERB
ap-1686	138	15	it	it	PRON
ap-1686	138	16	as	as	ADV
ap-1686	138	17	fast	fast	ADV
ap-1686	138	18	as	as	ADP
ap-1686	138	19	possible	possible	ADJ
ap-1686	138	20	in	in	ADP
ap-1686	138	21	each	each	DET
ap-1686	138	22	step	step	NOUN
ap-1686	138	23	of	of	ADP
ap-1686	138	24	time	time	NOUN
ap-1686	138	25	integration	integration	NOUN
ap-1686	138	26	.	.	PUNCT
ap-1686	139	1	if	if	SCONJ
ap-1686	139	2	the	the	DET
ap-1686	139	3	solution	solution	NOUN
ap-1686	139	4	is	be	AUX
ap-1686	139	5	to	to	PART
ap-1686	139	6	beindependent	beindependent	VERB
ap-1686	139	7	of	of	ADP
ap-1686	139	8	the	the	DET
ap-1686	139	9	system	system	NOUN
ap-1686	139	10	size	size	NOUN
ap-1686	139	11	,	,	PUNCT
ap-1686	139	12	it	it	PRON
ap-1686	139	13	must	must	AUX
ap-1686	139	14	be	be	AUX
ap-1686	139	15	solved	solve	VERB
ap-1686	139	16	using	use	VERB
ap-1686	139	17	iterative	iterative	NOUN
ap-1686	139	18	procedures	procedure	NOUN
ap-1686	139	19	.	.	PUNCT
ap-1686	140	1	this	this	DET
ap-1686	140	2	paper	paper	NOUN
ap-1686	140	3	describes	describe	VERB
ap-1686	140	4	an	an	DET
ap-1686	140	5	approach	approach	NOUN
ap-1686	140	6	based	base	VERB
ap-1686	140	7	on	on	ADP
ap-1686	140	8	the	the	DET
ap-1686	140	9	idea	idea	NOUN
ap-1686	140	10	of	of	ADP
ap-1686	140	11	solving	solve	VERB
ap-1686	140	12	a	a	DET
ap-1686	140	13	system	system	NOUN
ap-1686	140	14	of	of	ADP
ap-1686	140	15	linear	linear	ADJ
ap-1686	140	16	equations	equation	NOUN
ap-1686	140	17	as	as	ADP
ap-1686	140	18	a	a	DET
ap-1686	140	19	stabilization	stabilization	NOUN
ap-1686	140	20	oftostablilize	oftostablilize	VERB
ap-1686	140	21	the	the	DET
ap-1686	140	22	additional	additional	ADJ
ap-1686	140	23	dynamics	dynamic	NOUN
ap-1686	140	24	using	use	VERB
ap-1686	140	25	numerical	numerical	ADJ
ap-1686	140	26	integration	integration	NOUN
ap-1686	140	27	.	.	PUNCT
ap-1686	141	1	equation	equation	NOUN
ap-1686	141	2	(	(	PUNCT
ap-1686	141	3	18	18	NUM
ap-1686	141	4	)	)	PUNCT
ap-1686	141	5	is	be	AUX
ap-1686	141	6	modified	modify	VERB
ap-1686	141	7	into	into	ADP
ap-1686	141	8	the	the	DET
ap-1686	141	9	following	follow	VERB
ap-1686	141	10	form	form	NOUN
ap-1686	141	11	:	:	PUNCT
ap-1686	141	12	dµ̇+aµ	dµ̇+aµ	PROPN
ap-1686	141	13	=	=	PROPN
ap-1686	141	14	b.	b.	PROPN
ap-1686	141	15	(	(	PUNCT
ap-1686	141	16	19	19	NUM
ap-1686	141	17	)	)	PUNCT
ap-1686	141	18	the	the	DET
ap-1686	141	19	damping	damp	VERB
ap-1686	141	20	matrix	matrix	NOUN
ap-1686	141	21	d	d	NOUN
ap-1686	141	22	=	=	PUNCT
ap-1686	141	23	diag(d1	diag(d1	NOUN
ap-1686	141	24	,	,	PUNCT
ap-1686	141	25	d2	d2	PROPN
ap-1686	141	26	,	,	PUNCT
ap-1686	141	27	.	.	PUNCT
ap-1686	141	28	.	.	PUNCT
ap-1686	142	1	.	.	PUNCT
ap-1686	143	1	,	,	PUNCT
ap-1686	143	2	dn	dn	X
ap-1686	143	3	)	)	PUNCT
ap-1686	143	4	is	be	AUX
ap-1686	143	5	diagonal	diagonal	ADJ
ap-1686	143	6	with	with	ADP
ap-1686	143	7	the	the	DET
ap-1686	143	8	same	same	ADJ
ap-1686	143	9	positive	positive	ADJ
ap-1686	143	10	entries	entry	NOUN
ap-1686	143	11	di	di	NOUN
ap-1686	143	12	.	.	PUNCT
ap-1686	144	1	these	these	DET
ap-1686	144	2	values	value	NOUN
ap-1686	144	3	are	be	AUX
ap-1686	144	4	chosen	choose	VERB
ap-1686	144	5	according	accord	VERB
ap-1686	144	6	to	to	ADP
ap-1686	144	7	the	the	DET
ap-1686	144	8	diagonal	diagonal	ADJ
ap-1686	144	9	values	value	NOUN
ap-1686	144	10	of	of	ADP
ap-1686	144	11	matrix	matrix	NOUN
ap-1686	144	12	a	a	PRON
ap-1686	144	13	in	in	ADP
ap-1686	144	14	order	order	NOUN
ap-1686	144	15	to	to	PART
ap-1686	144	16	achieve	achieve	VERB
ap-1686	144	17	suitable	suitable	ADJ
ap-1686	144	18	eigenvalues	eigenvalue	NOUN
ap-1686	144	19	.	.	PUNCT
ap-1686	145	1	since	since	SCONJ
ap-1686	145	2	matrix	matrix	NOUN
ap-1686	145	3	a	a	PRON
ap-1686	145	4	is	be	AUX
ap-1686	145	5	symmetric	symmetric	ADJ
ap-1686	145	6	positive	positive	ADJ
ap-1686	145	7	definite	definite	ADJ
ap-1686	145	8	,	,	PUNCT
ap-1686	145	9	the	the	DET
ap-1686	145	10	solution	solution	NOUN
ap-1686	145	11	of	of	ADP
ap-1686	145	12	system	system	NOUN
ap-1686	145	13	(	(	PUNCT
ap-1686	145	14	19	19	NUM
ap-1686	145	15	)	)	PUNCT
ap-1686	145	16	converges	converge	VERB
ap-1686	145	17	to	to	ADP
ap-1686	145	18	a	a	DET
ap-1686	145	19	steady	steady	ADJ
ap-1686	145	20	state	state	NOUN
ap-1686	145	21	which	which	PRON
ap-1686	145	22	solves	solve	VERB
ap-1686	145	23	the	the	DET
ap-1686	145	24	system	system	NOUN
ap-1686	145	25	of	of	ADP
ap-1686	145	26	equations	equation	NOUN
ap-1686	145	27	(	(	PUNCT
ap-1686	145	28	18	18	NUM
ap-1686	145	29	)	)	PUNCT
ap-1686	145	30	.	.	PUNCT
ap-1686	146	1	system	system	NOUN
ap-1686	146	2	(	(	PUNCT
ap-1686	146	3	19	19	NUM
ap-1686	146	4	)	)	PUNCT
ap-1686	146	5	is	be	AUX
ap-1686	146	6	thus	thus	ADV
ap-1686	146	7	solved	solve	VERB
ap-1686	146	8	using	use	VERB
ap-1686	146	9	numerical	numerical	ADJ
ap-1686	146	10	integration	integration	NOUN
ap-1686	146	11	:	:	PUNCT
ap-1686	146	12	µη	µη	ADP
ap-1686	146	13	=	=	SYM
ap-1686	146	14	µ0	µ0	PROPN
ap-1686	146	15	+	+	CCONJ
ap-1686	146	16	∫	∫	PROPN
ap-1686	146	17	η	η	PROPN
ap-1686	146	18	0	0	NUM
ap-1686	146	19	d−1(b−aµ(τ	d−1(b−aµ(τ	PROPN
ap-1686	146	20	)	)	PUNCT
ap-1686	146	21	)	)	PUNCT
ap-1686	147	1	dτ	dτ	PROPN
ap-1686	147	2	.	.	PROPN
ap-1686	148	1	(	(	PUNCT
ap-1686	148	2	20	20	NUM
ap-1686	148	3	)	)	PUNCT
ap-1686	148	4	97	97	NUM
ap-1686	148	5	acta	acta	PROPN
ap-1686	148	6	polytechnica	polytechnica	PROPN
ap-1686	148	7	vol	vol	NOUN
ap-1686	148	8	.	.	PROPN
ap-1686	149	1	52	52	NUM
ap-1686	149	2	no	no	NOUN
ap-1686	149	3	.	.	PUNCT
ap-1686	150	1	6/2012	6/2012	NUM
ap-1686	150	2	it	it	PRON
ap-1686	150	3	holds	hold	VERB
ap-1686	150	4	for	for	ADP
ap-1686	150	5	sufficient	sufficient	ADJ
ap-1686	150	6	choice	choice	NOUN
ap-1686	150	7	of	of	ADP
ap-1686	150	8	η	η	PROPN
ap-1686	150	9	that	that	DET
ap-1686	150	10	solution	solution	NOUN
ap-1686	150	11	µη	µη	ADP
ap-1686	150	12	solves	solve	NOUN
ap-1686	150	13	equation	equation	NOUN
ap-1686	150	14	(	(	PUNCT
ap-1686	150	15	18	18	NUM
ap-1686	150	16	)	)	PUNCT
ap-1686	150	17	.	.	PUNCT
ap-1686	151	1	this	this	DET
ap-1686	151	2	way	way	NOUN
ap-1686	151	3	of	of	ADP
ap-1686	151	4	solving	solve	VERB
ap-1686	151	5	a	a	DET
ap-1686	151	6	system	system	NOUN
ap-1686	151	7	of	of	ADP
ap-1686	151	8	linear	linear	ADJ
ap-1686	151	9	equations	equation	NOUN
ap-1686	151	10	is	be	AUX
ap-1686	151	11	efficient	efficient	ADJ
ap-1686	151	12	,	,	PUNCT
ap-1686	151	13	since	since	SCONJ
ap-1686	151	14	it	it	PRON
ap-1686	151	15	enables	enable	VERB
ap-1686	151	16	parallelization	parallelization	NOUN
ap-1686	151	17	because	because	SCONJ
ap-1686	151	18	matrix	matrix	NOUN
ap-1686	151	19	d	d	NOUN
ap-1686	151	20	is	be	AUX
ap-1686	151	21	diagonal	diagonal	ADJ
ap-1686	151	22	and	and	CCONJ
ap-1686	151	23	matrix	matrix	VERB
ap-1686	151	24	a	a	PRON
ap-1686	151	25	has	have	VERB
ap-1686	151	26	a	a	DET
ap-1686	151	27	band	band	NOUN
ap-1686	151	28	structure	structure	NOUN
ap-1686	151	29	.	.	PUNCT
ap-1686	152	1	in	in	ADP
ap-1686	152	2	addition	addition	NOUN
ap-1686	152	3	,	,	PUNCT
ap-1686	152	4	the	the	DET
ap-1686	152	5	modified	modify	VERB
ap-1686	152	6	lagrange	lagrange	NOUN
ap-1686	152	7	multipliers	multiplier	NOUN
ap-1686	152	8	change	change	VERB
ap-1686	152	9	slowly	slowly	ADV
ap-1686	152	10	during	during	ADP
ap-1686	152	11	the	the	DET
ap-1686	152	12	integration	integration	NOUN
ap-1686	152	13	,	,	PUNCT
ap-1686	152	14	and	and	CCONJ
ap-1686	152	15	the	the	DET
ap-1686	152	16	initial	initial	ADJ
ap-1686	152	17	condition	condition	NOUN
ap-1686	152	18	µ0	µ0	NOUN
ap-1686	152	19	is	be	AUX
ap-1686	152	20	near	near	ADP
ap-1686	152	21	the	the	DET
ap-1686	152	22	steady	steady	ADJ
ap-1686	152	23	state	state	NOUN
ap-1686	152	24	,	,	PUNCT
ap-1686	152	25	if	if	SCONJ
ap-1686	152	26	it	it	PRON
ap-1686	152	27	is	be	AUX
ap-1686	152	28	chosen	choose	VERB
ap-1686	152	29	as	as	ADP
ap-1686	152	30	µη	µη	VERB
ap-1686	152	31	from	from	ADP
ap-1686	152	32	the	the	DET
ap-1686	152	33	previous	previous	ADJ
ap-1686	152	34	time	time	NOUN
ap-1686	152	35	step	step	NOUN
ap-1686	152	36	.	.	PUNCT
ap-1686	153	1	therefore	therefore	ADV
ap-1686	153	2	it	it	PRON
ap-1686	153	3	is	be	AUX
ap-1686	153	4	possible	possible	ADJ
ap-1686	153	5	to	to	PART
ap-1686	153	6	carry	carry	VERB
ap-1686	153	7	out	out	ADP
ap-1686	153	8	the	the	DET
ap-1686	153	9	integration	integration	NOUN
ap-1686	153	10	in	in	ADP
ap-1686	153	11	(	(	PUNCT
ap-1686	153	12	20	20	NUM
ap-1686	153	13	)	)	PUNCT
ap-1686	153	14	on	on	ADP
ap-1686	153	15	many	many	ADJ
ap-1686	153	16	processors	processor	NOUN
ap-1686	153	17	.	.	PUNCT
ap-1686	154	1	each	each	DET
ap-1686	154	2	processor	processor	NOUN
ap-1686	154	3	can	can	AUX
ap-1686	154	4	be	be	AUX
ap-1686	154	5	dedicated	dedicate	VERB
ap-1686	154	6	to	to	ADP
ap-1686	154	7	one	one	NUM
ap-1686	154	8	body	body	NOUN
ap-1686	154	9	and	and	CCONJ
ap-1686	154	10	has	have	VERB
ap-1686	154	11	to	to	PART
ap-1686	154	12	communicate	communicate	VERB
ap-1686	154	13	only	only	ADV
ap-1686	154	14	with	with	ADP
ap-1686	154	15	its	its	PRON
ap-1686	154	16	neighbours	neighbour	NOUN
ap-1686	154	17	because	because	SCONJ
ap-1686	154	18	of	of	ADP
ap-1686	154	19	band	band	NOUN
ap-1686	154	20	matrix	matrix	NOUN
ap-1686	154	21	a.	a.	NOUN
ap-1686	154	22	this	this	PRON
ap-1686	154	23	is	be	AUX
ap-1686	154	24	just	just	ADV
ap-1686	154	25	the	the	DET
ap-1686	154	26	basic	basic	ADJ
ap-1686	154	27	idea	idea	NOUN
ap-1686	154	28	;	;	PUNCT
ap-1686	154	29	there	there	PRON
ap-1686	154	30	are	be	VERB
ap-1686	154	31	other	other	ADJ
ap-1686	154	32	ways	way	NOUN
ap-1686	154	33	to	to	PART
ap-1686	154	34	allocate	allocate	VERB
ap-1686	154	35	the	the	DET
ap-1686	154	36	processors	processor	NOUN
ap-1686	154	37	,	,	PUNCT
ap-1686	154	38	since	since	SCONJ
ap-1686	154	39	they	they	PRON
ap-1686	154	40	can	can	AUX
ap-1686	154	41	be	be	AUX
ap-1686	154	42	assigned	assign	VERB
ap-1686	154	43	to	to	ADP
ap-1686	154	44	a	a	DET
ap-1686	154	45	group	group	NOUN
ap-1686	154	46	of	of	ADP
ap-1686	154	47	bodies	body	NOUN
ap-1686	154	48	,	,	PUNCT
ap-1686	154	49	etc	etc	X
ap-1686	154	50	.	.	X
ap-1686	155	1	using	use	VERB
ap-1686	155	2	these	these	DET
ap-1686	155	3	approaches	approach	NOUN
ap-1686	155	4	,	,	PUNCT
ap-1686	155	5	we	we	PRON
ap-1686	155	6	achieved	achieve	VERB
ap-1686	155	7	a	a	DET
ap-1686	155	8	cpu	cpu	NOUN
ap-1686	155	9	time	time	NOUN
ap-1686	155	10	of	of	ADP
ap-1686	155	11	19.8	19.8	NUM
ap-1686	155	12	s	s	NOUN
ap-1686	155	13	on	on	ADP
ap-1686	155	14	a	a	DET
ap-1686	155	15	single	single	ADJ
ap-1686	155	16	processor	processor	NOUN
ap-1686	155	17	for	for	ADP
ap-1686	155	18	solving	solve	VERB
ap-1686	155	19	5	5	NUM
ap-1686	155	20	pendulums	pendulum	NOUN
ap-1686	155	21	,	,	PUNCT
ap-1686	155	22	compared	compare	VERB
ap-1686	155	23	to	to	ADP
ap-1686	155	24	7.7	7.7	NUM
ap-1686	155	25	s	s	NOUN
ap-1686	155	26	for	for	ADP
ap-1686	155	27	the	the	DET
ap-1686	155	28	traditional	traditional	ADJ
ap-1686	155	29	approach	approach	NOUN
ap-1686	155	30	.	.	PUNCT
ap-1686	156	1	for	for	ADP
ap-1686	156	2	solving	solve	VERB
ap-1686	156	3	10	10	NUM
ap-1686	156	4	pendulums	pendulum	NOUN
ap-1686	156	5	,	,	PUNCT
ap-1686	156	6	we	we	PRON
ap-1686	156	7	achieved	achieve	VERB
ap-1686	156	8	58.0	58.0	NUM
ap-1686	156	9	s	s	NOUN
ap-1686	156	10	with	with	ADP
ap-1686	156	11	these	these	DET
ap-1686	156	12	approaches	approach	NOUN
ap-1686	156	13	,	,	PUNCT
ap-1686	156	14	compared	compare	VERB
ap-1686	156	15	to	to	ADP
ap-1686	156	16	21.0	21.0	NUM
ap-1686	156	17	s	s	NOUN
ap-1686	156	18	for	for	ADP
ap-1686	156	19	the	the	DET
ap-1686	156	20	traditional	traditional	ADJ
ap-1686	156	21	approach	approach	NOUN
ap-1686	156	22	.	.	PUNCT
ap-1686	157	1	the	the	DET
ap-1686	157	2	solution	solution	NOUN
ap-1686	157	3	time	time	NOUN
ap-1686	157	4	for	for	ADP
ap-1686	157	5	the	the	DET
ap-1686	157	6	method	method	NOUN
ap-1686	157	7	described	describe	VERB
ap-1686	157	8	here	here	ADV
ap-1686	157	9	remains	remain	VERB
ap-1686	157	10	constant	constant	ADJ
ap-1686	157	11	,	,	PUNCT
ap-1686	157	12	while	while	SCONJ
ap-1686	157	13	the	the	DET
ap-1686	157	14	traditional	traditional	ADJ
ap-1686	157	15	solution	solution	NOUN
ap-1686	157	16	time	time	NOUN
ap-1686	157	17	grows	grow	VERB
ap-1686	157	18	according	accord	VERB
ap-1686	157	19	the	the	DET
ap-1686	157	20	computational	computational	ADJ
ap-1686	157	21	complexity	complexity	NOUN
ap-1686	157	22	of	of	ADP
ap-1686	157	23	the	the	DET
ap-1686	157	24	particular	particular	ADJ
ap-1686	157	25	multibody	multibody	ADJ
ap-1686	157	26	formalism	formalism	NOUN
ap-1686	157	27	,	,	PUNCT
ap-1686	157	28	i.e.	i.e.	X
ap-1686	157	29	,	,	PUNCT
ap-1686	157	30	at	at	ADP
ap-1686	157	31	least	least	ADJ
ap-1686	157	32	linearly	linearly	ADV
ap-1686	157	33	.	.	PUNCT
ap-1686	158	1	the	the	DET
ap-1686	158	2	ratio	ratio	NOUN
ap-1686	158	3	of	of	ADP
ap-1686	158	4	2–3	2–3	NUM
ap-1686	158	5	between	between	ADP
ap-1686	158	6	the	the	DET
ap-1686	158	7	new	new	ADJ
ap-1686	158	8	approach	approach	NOUN
ap-1686	158	9	and	and	CCONJ
ap-1686	158	10	the	the	DET
ap-1686	158	11	traditional	traditional	ADJ
ap-1686	158	12	approach	approach	NOUN
ap-1686	158	13	means	mean	VERB
ap-1686	158	14	that	that	SCONJ
ap-1686	158	15	the	the	DET
ap-1686	158	16	computational	computational	ADJ
ap-1686	158	17	complexity	complexity	NOUN
ap-1686	158	18	will	will	AUX
ap-1686	158	19	be	be	AUX
ap-1686	158	20	crossed	cross	VERB
ap-1686	158	21	very	very	ADV
ap-1686	158	22	soon	soon	ADV
ap-1686	158	23	(	(	PUNCT
ap-1686	158	24	just	just	ADV
ap-1686	158	25	2–3	2–3	NUM
ap-1686	158	26	times	time	NOUN
ap-1686	158	27	more	more	ADJ
ap-1686	158	28	bodies	body	NOUN
ap-1686	158	29	)	)	PUNCT
ap-1686	158	30	,	,	PUNCT
ap-1686	158	31	thus	thus	ADV
ap-1686	158	32	reaching	reach	VERB
ap-1686	158	33	the	the	DET
ap-1686	158	34	point	point	NOUN
ap-1686	158	35	where	where	SCONJ
ap-1686	158	36	massive	massive	ADJ
ap-1686	158	37	parallelization	parallelization	NOUN
ap-1686	158	38	is	be	AUX
ap-1686	158	39	an	an	DET
ap-1686	158	40	advantage	advantage	NOUN
ap-1686	158	41	.	.	PUNCT
ap-1686	159	1	5	5	NUM
ap-1686	159	2	conclusion	conclusion	NOUN
ap-1686	159	3	our	our	PRON
ap-1686	159	4	paper	paper	NOUN
ap-1686	159	5	has	have	AUX
ap-1686	159	6	demonstrated	demonstrate	VERB
ap-1686	159	7	that	that	SCONJ
ap-1686	159	8	the	the	DET
ap-1686	159	9	main	main	ADJ
ap-1686	159	10	problem	problem	NOUN
ap-1686	159	11	preventing	prevent	VERB
ap-1686	159	12	efficient	efficient	ADJ
ap-1686	159	13	usage	usage	NOUN
ap-1686	159	14	of	of	ADP
ap-1686	159	15	multiple	multiple	ADJ
ap-1686	159	16	processors	processor	NOUN
ap-1686	159	17	is	be	AUX
ap-1686	159	18	the	the	DET
ap-1686	159	19	formulation	formulation	NOUN
ap-1686	159	20	of	of	ADP
ap-1686	159	21	the	the	DET
ap-1686	159	22	multibody	multibody	ADJ
ap-1686	159	23	formalism	formalism	NOUN
ap-1686	159	24	,	,	PUNCT
ap-1686	159	25	which	which	PRON
ap-1686	159	26	includes	include	VERB
ap-1686	159	27	solving	solve	VERB
ap-1686	159	28	a	a	DET
ap-1686	159	29	system	system	NOUN
ap-1686	159	30	of	of	ADP
ap-1686	159	31	linear	linear	PROPN
ap-1686	159	32	algebraic	algebraic	ADJ
ap-1686	159	33	equations	equation	NOUN
ap-1686	159	34	.	.	PUNCT
ap-1686	160	1	this	this	PRON
ap-1686	160	2	means	mean	VERB
ap-1686	160	3	that	that	SCONJ
ap-1686	160	4	the	the	DET
ap-1686	160	5	excitation	excitation	NOUN
ap-1686	160	6	is	be	AUX
ap-1686	160	7	immediately	immediately	ADV
ap-1686	160	8	spread	spread	VERB
ap-1686	160	9	into	into	ADP
ap-1686	160	10	all	all	DET
ap-1686	160	11	components	component	NOUN
ap-1686	160	12	of	of	ADP
ap-1686	160	13	the	the	DET
ap-1686	160	14	multibody	multibody	ADJ
ap-1686	160	15	system	system	NOUN
ap-1686	160	16	.	.	PUNCT
ap-1686	161	1	this	this	PRON
ap-1686	161	2	can	can	AUX
ap-1686	161	3	be	be	AUX
ap-1686	161	4	avoided	avoid	VERB
ap-1686	161	5	by	by	ADP
ap-1686	161	6	introducing	introduce	VERB
ap-1686	161	7	additional	additional	ADJ
ap-1686	161	8	dynamics	dynamic	NOUN
ap-1686	161	9	,	,	PUNCT
ap-1686	161	10	which	which	PRON
ap-1686	161	11	leads	lead	VERB
ap-1686	161	12	to	to	ADP
ap-1686	161	13	the	the	DET
ap-1686	161	14	possibility	possibility	NOUN
ap-1686	161	15	of	of	ADP
ap-1686	161	16	massive	massive	ADJ
ap-1686	161	17	parallelization	parallelization	NOUN
ap-1686	161	18	.	.	PUNCT
ap-1686	162	1	this	this	PRON
ap-1686	162	2	has	have	AUX
ap-1686	162	3	been	be	AUX
ap-1686	162	4	demonstrated	demonstrate	VERB
ap-1686	162	5	on	on	ADP
ap-1686	162	6	the	the	DET
ap-1686	162	7	basis	basis	NOUN
ap-1686	162	8	of	of	ADP
ap-1686	162	9	two	two	NUM
ap-1686	162	10	approaches	approach	NOUN
ap-1686	162	11	.	.	PUNCT
ap-1686	163	1	acknowledgements	acknowledgement	NOUN
ap-1686	163	2	the	the	DET
ap-1686	163	3	authors	author	NOUN
ap-1686	163	4	appreciate	appreciate	VERB
ap-1686	163	5	the	the	DET
ap-1686	163	6	support	support	NOUN
ap-1686	163	7	from	from	ADP
ap-1686	163	8	the	the	DET
ap-1686	163	9	grant	grant	NOUN
ap-1686	163	10	msm6840770003	msm6840770003	ADJ
ap-1686	163	11	“	"	PUNCT
ap-1686	163	12	algorithms	algorithm	NOUN
ap-1686	163	13	for	for	ADP
ap-1686	163	14	computer	computer	NOUN
ap-1686	163	15	simulation	simulation	NOUN
ap-1686	163	16	and	and	CCONJ
ap-1686	163	17	application	application	NOUN
ap-1686	163	18	in	in	ADP
ap-1686	163	19	engineering	engineering	NOUN
ap-1686	163	20	”	"	PUNCT
ap-1686	163	21	.	.	PUNCT
ap-1686	164	1	references	reference	NOUN
ap-1686	164	2	[	[	X
ap-1686	164	3	1	1	NUM
ap-1686	164	4	]	]	PUNCT
ap-1686	164	5	bhalerao	bhalerao	NOUN
ap-1686	164	6	,	,	PUNCT
ap-1686	164	7	k.	k.	PROPN
ap-1686	164	8	,	,	PUNCT
ap-1686	164	9	anderson	anderson	PROPN
ap-1686	164	10	,	,	PUNCT
ap-1686	164	11	k.	k.	PROPN
ap-1686	164	12	:	:	PUNCT
ap-1686	164	13	a	a	DET
ap-1686	164	14	recursive	recursive	ADJ
ap-1686	164	15	approach	approach	NOUN
ap-1686	164	16	to	to	ADP
ap-1686	164	17	modeling	model	VERB
ap-1686	164	18	contact	contact	NOUN
ap-1686	164	19	in	in	ADP
ap-1686	164	20	flexible	flexible	ADJ
ap-1686	164	21	multibody	multibody	ADJ
ap-1686	164	22	systems	system	NOUN
ap-1686	164	23	.	.	PUNCT
ap-1686	165	1	in	in	ADP
ap-1686	165	2	:	:	PUNCT
ap-1686	165	3	arczewski	arczewski	ADJ
ap-1686	165	4	,	,	PUNCT
ap-1686	165	5	k.	k.	PROPN
ap-1686	165	6	et	et	PROPN
ap-1686	165	7	al	al	PROPN
ap-1686	165	8	.	.	PROPN
ap-1686	166	1	(	(	PUNCT
ap-1686	166	2	eds	ed	NOUN
ap-1686	166	3	.	.	PROPN
ap-1686	166	4	):	):	PUNCT
ap-1686	166	5	proc	proc	NOUN
ap-1686	166	6	.	.	PUNCT
ap-1686	167	1	of	of	ADP
ap-1686	167	2	multibody	multibody	ADJ
ap-1686	167	3	dynamics	dynamic	NOUN
ap-1686	167	4	2009	2009	NUM
ap-1686	167	5	,	,	PUNCT
ap-1686	167	6	eccomas	eccomas	PROPN
ap-1686	167	7	thematic	thematic	ADJ
ap-1686	167	8	conference	conference	NOUN
ap-1686	167	9	,	,	PUNCT
ap-1686	167	10	warsaw	warsaw	PROPN
ap-1686	167	11	,	,	PUNCT
ap-1686	167	12	(	(	PUNCT
ap-1686	167	13	2009	2009	NUM
ap-1686	167	14	)	)	PUNCT
ap-1686	168	1	[	[	X
ap-1686	168	2	cdrom	cdrom	X
ap-1686	168	3	]	]	X
ap-1686	168	4	pp	pp	PROPN
ap-1686	168	5	.	.	PUNCT
ap-1686	169	1	1–12	1–12	PROPN
ap-1686	170	1	[	[	X
ap-1686	170	2	2	2	NUM
ap-1686	170	3	]	]	PUNCT
ap-1686	170	4	binani	binani	NOUN
ap-1686	170	5	,	,	PUNCT
ap-1686	170	6	a.	a.	PROPN
ap-1686	170	7	et	et	PROPN
ap-1686	170	8	al	al	PROPN
ap-1686	170	9	.	.	PROPN
ap-1686	170	10	:	:	PUNCT
ap-1686	171	1	a	a	DET
ap-1686	171	2	comparison	comparison	NOUN
ap-1686	171	3	of	of	ADP
ap-1686	171	4	three	three	NUM
ap-1686	171	5	different	different	ADJ
ap-1686	171	6	linear	linear	ADJ
ap-1686	171	7	order	order	NOUN
ap-1686	171	8	multibody	multibody	ADJ
ap-1686	171	9	dynamics	dynamic	NOUN
ap-1686	171	10	algorithms	algorithm	NOUN
ap-1686	171	11	in	in	ADP
ap-1686	171	12	a	a	DET
ap-1686	171	13	limited	limited	ADJ
ap-1686	171	14	parallel	parallel	ADJ
ap-1686	171	15	computing	computing	NOUN
ap-1686	171	16	environment	environment	NOUN
ap-1686	171	17	.	.	PUNCT
ap-1686	172	1	in	in	ADP
ap-1686	172	2	:	:	PUNCT
ap-1686	172	3	bottasso	bottasso	PROPN
ap-1686	172	4	,	,	PUNCT
ap-1686	172	5	c.l	c.l	PROPN
ap-1686	172	6	.	.	PROPN
ap-1686	172	7	et	et	PROPN
ap-1686	172	8	al	al	PROPN
ap-1686	172	9	.	.	PROPN
ap-1686	173	1	(	(	PUNCT
ap-1686	173	2	eds	ed	NOUN
ap-1686	173	3	.	.	PROPN
ap-1686	173	4	):	):	PUNCT
ap-1686	173	5	proc	proc	NOUN
ap-1686	173	6	.	.	PUNCT
ap-1686	173	7	of	of	ADP
ap-1686	173	8	multibody	multibody	ADJ
ap-1686	173	9	dynamics	dynamic	NOUN
ap-1686	173	10	2007	2007	NUM
ap-1686	173	11	,	,	PUNCT
ap-1686	173	12	eccomas	eccomas	PROPN
ap-1686	173	13	thematic	thematic	ADJ
ap-1686	173	14	conference	conference	NOUN
ap-1686	173	15	,	,	PUNCT
ap-1686	173	16	milano	milano	PROPN
ap-1686	173	17	,	,	PUNCT
ap-1686	173	18	(	(	PUNCT
ap-1686	173	19	2007	2007	NUM
ap-1686	173	20	)	)	PUNCT
ap-1686	174	1	[	[	X
ap-1686	174	2	cdrom	cdrom	X
ap-1686	174	3	]	]	X
ap-1686	174	4	pp	pp	ADV
ap-1686	174	5	.	.	PUNCT
ap-1686	175	1	1–21	1–21	NOUN
ap-1686	176	1	[	[	X
ap-1686	176	2	3	3	NUM
ap-1686	176	3	]	]	SYM
ap-1686	176	4	featherstone	featherstone	PROPN
ap-1686	176	5	,	,	PUNCT
ap-1686	176	6	r.	r.	PROPN
ap-1686	176	7	:	:	PUNCT
ap-1686	176	8	a	a	DET
ap-1686	176	9	divide	divide	NOUN
ap-1686	176	10	-	-	PUNCT
ap-1686	176	11	and	and	CCONJ
ap-1686	176	12	-	-	PUNCT
ap-1686	176	13	conquer	conquer	NOUN
ap-1686	176	14	articulated	articulated	ADJ
ap-1686	176	15	body	body	NOUN
ap-1686	176	16	algorithm	algorithm	NOUN
ap-1686	176	17	for	for	ADP
ap-1686	176	18	parallel	parallel	ADJ
ap-1686	176	19	o(log(n	o(log(n	NOUN
ap-1686	176	20	)	)	PUNCT
ap-1686	176	21	)	)	PUNCT
ap-1686	176	22	calculation	calculation	NOUN
ap-1686	176	23	of	of	ADP
ap-1686	176	24	rigid	rigid	ADJ
ap-1686	176	25	body	body	NOUN
ap-1686	176	26	dynamics	dynamic	NOUN
ap-1686	176	27	.	.	PUNCT
ap-1686	177	1	part	part	NOUN
ap-1686	177	2	1	1	NUM
ap-1686	177	3	:	:	PUNCT
ap-1686	177	4	basic	basic	ADJ
ap-1686	177	5	algorithm	algorithm	NOUN
ap-1686	177	6	.	.	PUNCT
ap-1686	178	1	int	int	NOUN
ap-1686	178	2	.	.	PUNCT
ap-1686	179	1	j.	j.	PROPN
ap-1686	179	2	robot	robot	PROPN
ap-1686	179	3	.	.	PUNCT
ap-1686	180	1	res	re	NOUN
ap-1686	180	2	.	.	PUNCT
ap-1686	181	1	18(9	18(9	NOUN
ap-1686	181	2	)	)	PUNCT
ap-1686	181	3	,	,	PUNCT
ap-1686	181	4	(	(	PUNCT
ap-1686	181	5	1999	1999	NUM
ap-1686	181	6	)	)	PUNCT
ap-1686	181	7	,	,	PUNCT
ap-1686	181	8	pp	pp	ADP
ap-1686	181	9	.	.	PUNCT
ap-1686	182	1	867–875	867–875	NUM
ap-1686	182	2	[	[	X
ap-1686	182	3	4	4	NUM
ap-1686	182	4	]	]	SYM
ap-1686	182	5	featherstone	featherstone	PROPN
ap-1686	182	6	,	,	PUNCT
ap-1686	182	7	r.	r.	PROPN
ap-1686	182	8	:	:	PUNCT
ap-1686	182	9	a	a	DET
ap-1686	182	10	divide	divide	NOUN
ap-1686	182	11	-	-	PUNCT
ap-1686	182	12	and	and	CCONJ
ap-1686	182	13	-	-	PUNCT
ap-1686	182	14	conquer	conquer	NOUN
ap-1686	182	15	articulated	articulated	ADJ
ap-1686	182	16	body	body	NOUN
ap-1686	182	17	algorithm	algorithm	NOUN
ap-1686	182	18	for	for	ADP
ap-1686	182	19	parallel	parallel	ADJ
ap-1686	182	20	o(log(n	o(log(n	NOUN
ap-1686	182	21	)	)	PUNCT
ap-1686	182	22	)	)	PUNCT
ap-1686	182	23	calculation	calculation	NOUN
ap-1686	182	24	of	of	ADP
ap-1686	182	25	rigid	rigid	ADJ
ap-1686	182	26	body	body	NOUN
ap-1686	182	27	dynamics	dynamic	NOUN
ap-1686	182	28	.	.	PUNCT
ap-1686	183	1	part	part	NOUN
ap-1686	183	2	2	2	NUM
ap-1686	183	3	:	:	PUNCT
ap-1686	183	4	trees	tree	NOUN
ap-1686	183	5	,	,	PUNCT
ap-1686	183	6	loops	loop	NOUN
ap-1686	183	7	,	,	PUNCT
ap-1686	183	8	and	and	CCONJ
ap-1686	183	9	accuracy	accuracy	NOUN
ap-1686	183	10	.	.	PUNCT
ap-1686	184	1	int	int	NOUN
ap-1686	184	2	.	.	PUNCT
ap-1686	185	1	j.	j.	PROPN
ap-1686	185	2	robot	robot	PROPN
ap-1686	185	3	.	.	PUNCT
ap-1686	186	1	res	re	NOUN
ap-1686	186	2	.	.	PUNCT
ap-1686	187	1	18(9	18(9	NOUN
ap-1686	187	2	)	)	PUNCT
ap-1686	187	3	,	,	PUNCT
ap-1686	187	4	(	(	PUNCT
ap-1686	187	5	1999	1999	NUM
ap-1686	187	6	)	)	PUNCT
ap-1686	187	7	pp	pp	ADV
ap-1686	187	8	.	.	PUNCT
ap-1686	188	1	876–892	876–892	NUM
ap-1686	188	2	[	[	X
ap-1686	188	3	5	5	NUM
ap-1686	188	4	]	]	X
ap-1686	188	5	mukherjee	mukherjee	NOUN
ap-1686	188	6	,	,	PUNCT
ap-1686	188	7	r.m	r.m	PROPN
ap-1686	188	8	.	.	PROPN
ap-1686	188	9	,	,	PUNCT
ap-1686	188	10	anderson	anderson	PROPN
ap-1686	188	11	,	,	PUNCT
ap-1686	188	12	k.s	k.s	PROPN
ap-1686	188	13	.	.	PROPN
ap-1686	188	14	:	:	PUNCT
ap-1686	189	1	a	a	DET
ap-1686	189	2	robust	robust	ADJ
ap-1686	189	3	framework	framework	NOUN
ap-1686	189	4	for	for	ADP
ap-1686	189	5	the	the	DET
ap-1686	189	6	efficient	efficient	ADJ
ap-1686	189	7	modeling	modeling	NOUN
ap-1686	189	8	and	and	CCONJ
ap-1686	189	9	simulation	simulation	NOUN
ap-1686	189	10	of	of	ADP
ap-1686	189	11	biopolymers	biopolymer	NOUN
ap-1686	189	12	.	.	PUNCT
ap-1686	190	1	in	in	ADP
ap-1686	190	2	:	:	PUNCT
ap-1686	190	3	proc	proc	NOUN
ap-1686	190	4	.	.	PUNCT
ap-1686	191	1	of	of	ADP
ap-1686	191	2	multibody	multibody	ADJ
ap-1686	191	3	dynamics	dynamic	NOUN
ap-1686	191	4	2009	2009	NUM
ap-1686	191	5	,	,	PUNCT
ap-1686	191	6	eccomas	eccomas	PROPN
ap-1686	191	7	,	,	PUNCT
ap-1686	191	8	warsaw	warsaw	PROPN
ap-1686	191	9	,	,	PUNCT
ap-1686	191	10	poland	poland	PROPN
ap-1686	191	11	(	(	PUNCT
ap-1686	191	12	2009	2009	NUM
ap-1686	191	13	)	)	PUNCT
ap-1686	192	1	[	[	X
ap-1686	192	2	6	6	NUM
ap-1686	192	3	]	]	X
ap-1686	192	4	poursina	poursina	NOUN
ap-1686	192	5	,	,	PUNCT
ap-1686	192	6	m.	m.	NOUN
ap-1686	192	7	et	et	PROPN
ap-1686	192	8	al	al	PROPN
ap-1686	192	9	.	.	PROPN
ap-1686	192	10	:	:	PUNCT
ap-1686	193	1	energy	energy	NOUN
ap-1686	193	2	concern	concern	NOUN
ap-1686	193	3	in	in	ADP
ap-1686	193	4	biomolecular	biomolecular	ADJ
ap-1686	193	5	simulations	simulation	NOUN
ap-1686	193	6	with	with	ADP
ap-1686	193	7	discontinuous	discontinuous	ADJ
ap-1686	193	8	changes	change	NOUN
ap-1686	193	9	in	in	ADP
ap-1686	193	10	system	system	NOUN
ap-1686	193	11	definition	definition	NOUN
ap-1686	193	12	.	.	PUNCT
ap-1686	194	1	in	in	ADP
ap-1686	194	2	:	:	PUNCT
ap-1686	194	3	proc	proc	NOUN
ap-1686	194	4	.	.	PUNCT
ap-1686	195	1	of	of	ADP
ap-1686	195	2	multibody	multibody	ADJ
ap-1686	195	3	dynamics	dynamic	NOUN
ap-1686	195	4	2009	2009	NUM
ap-1686	195	5	,	,	PUNCT
ap-1686	195	6	eccomas	eccomas	PROPN
ap-1686	195	7	,	,	PUNCT
ap-1686	195	8	warsaw	warsaw	PROPN
ap-1686	195	9	,	,	PUNCT
ap-1686	195	10	poland	poland	PROPN
ap-1686	195	11	(	(	PUNCT
ap-1686	195	12	2009	2009	NUM
ap-1686	195	13	)	)	PUNCT
ap-1686	196	1	[	[	X
ap-1686	196	2	7	7	NUM
ap-1686	196	3	]	]	SYM
ap-1686	196	4	sika	sika	X
ap-1686	196	5	,	,	PUNCT
ap-1686	196	6	z.	z.	PROPN
ap-1686	196	7	,	,	PUNCT
ap-1686	196	8	valasek	valasek	PROPN
ap-1686	196	9	,	,	PUNCT
ap-1686	196	10	m.	m.	NOUN
ap-1686	196	11	:	:	PUNCT
ap-1686	196	12	parallelization	parallelization	NOUN
ap-1686	196	13	of	of	ADP
ap-1686	196	14	multibody	multibody	ADJ
ap-1686	196	15	formalism	formalism	NOUN
ap-1686	196	16	for	for	ADP
ap-1686	196	17	rigid	rigid	ADJ
ap-1686	196	18	bodies	body	NOUN
ap-1686	196	19	using	use	VERB
ap-1686	196	20	natural	natural	ADJ
ap-1686	196	21	coordinates	coordinate	NOUN
ap-1686	196	22	and	and	CCONJ
ap-1686	196	23	modified	modify	VERB
ap-1686	196	24	state	state	NOUN
ap-1686	196	25	space	space	NOUN
ap-1686	196	26	.	.	PUNCT
ap-1686	197	1	eur	eur	PROPN
ap-1686	197	2	.	.	PUNCT
ap-1686	198	1	j.	j.	PROPN
ap-1686	198	2	mech	mech	PROPN
ap-1686	198	3	.	.	PUNCT
ap-1686	199	1	a	a	DET
ap-1686	199	2	/	/	SYM
ap-1686	199	3	solids	solid	NOUN
ap-1686	199	4	(	(	PUNCT
ap-1686	199	5	1997	1997	NUM
ap-1686	199	6	)	)	PUNCT
ap-1686	199	7	,	,	PUNCT
ap-1686	199	8	pp	pp	ADP
ap-1686	199	9	.	.	PUNCT
ap-1686	200	1	325–339	325–339	NUM
ap-1686	200	2	[	[	X
ap-1686	200	3	8	8	NUM
ap-1686	200	4	]	]	SYM
ap-1686	200	5	mraz	mraz	PROPN
ap-1686	200	6	,	,	PUNCT
ap-1686	200	7	l.	l.	PROPN
ap-1686	200	8	,	,	PUNCT
ap-1686	200	9	valasek	valasek	PROPN
ap-1686	200	10	,	,	PUNCT
ap-1686	200	11	m.	m.	NOUN
ap-1686	200	12	:	:	PUNCT
ap-1686	200	13	solution	solution	NOUN
ap-1686	200	14	of	of	ADP
ap-1686	200	15	three	three	NUM
ap-1686	200	16	key	key	ADJ
ap-1686	200	17	problems	problem	NOUN
ap-1686	200	18	for	for	ADP
ap-1686	200	19	massive	massive	ADJ
ap-1686	200	20	parallelization	parallelization	NOUN
ap-1686	200	21	of	of	ADP
ap-1686	200	22	multibody	multibody	ADJ
ap-1686	200	23	dynamics	dynamic	NOUN
ap-1686	200	24	,	,	PUNCT
ap-1686	200	25	multibody	multibody	ADJ
ap-1686	200	26	system	system	NOUN
ap-1686	200	27	dynamics	dynamic	NOUN
ap-1686	200	28	,	,	PUNCT
ap-1686	200	29	2012	2012	NUM
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ap-1686	201	3	]	]	SYM
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ap-1686	201	7	,	,	PUNCT
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ap-1686	201	9	,	,	PUNCT
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ap-1686	201	11	:	:	PUNCT
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ap-1686	201	13	,	,	PUNCT
ap-1686	201	14	in	in	ADP
ap-1686	201	15	:	:	PUNCT
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ap-1686	201	17	.	.	PUNCT
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ap-1686	202	15	m.	m.	PROPN
ap-1686	202	16	:	:	PUNCT
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ap-1686	202	35	pp	pp	ADV
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ap-1686	203	2	-	-	SYM
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ap-1686	203	15	:	:	PUNCT
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