id	sid	tid	token	lemma	pos
ap-246	1	1	ap01_45.vp	ap01_45.vp	PROPN
ap-246	1	2	1	1	NUM
ap-246	1	3	introduction	introduction	NOUN
ap-246	1	4	in	in	ADP
ap-246	1	5	order	order	NOUN
ap-246	1	6	to	to	PART
ap-246	1	7	ensure	ensure	VERB
ap-246	1	8	the	the	DET
ap-246	1	9	safe	safe	ADJ
ap-246	1	10	navigation	navigation	NOUN
ap-246	1	11	of	of	ADP
ap-246	1	12	surface	surface	NOUN
ap-246	1	13	vessels	vessel	NOUN
ap-246	1	14	their	their	PRON
ap-246	1	15	motion	motion	NOUN
ap-246	1	16	has	have	VERB
ap-246	1	17	to	to	PART
ap-246	1	18	be	be	AUX
ap-246	1	19	controlled	control	VERB
ap-246	1	20	accurately	accurately	ADV
ap-246	1	21	.	.	PUNCT
ap-246	2	1	this	this	DET
ap-246	2	2	control	control	NOUN
ap-246	2	3	can	can	AUX
ap-246	2	4	be	be	AUX
ap-246	2	5	provided	provide	VERB
ap-246	2	6	through	through	ADP
ap-246	2	7	the	the	DET
ap-246	2	8	application	application	NOUN
ap-246	2	9	of	of	ADP
ap-246	2	10	control	control	NOUN
ap-246	2	11	theory	theory	NOUN
ap-246	2	12	.	.	PUNCT
ap-246	3	1	in	in	ADP
ap-246	3	2	general	general	ADJ
ap-246	3	3	,	,	PUNCT
ap-246	3	4	control	control	NOUN
ap-246	3	5	theory	theory	NOUN
ap-246	3	6	provides	provide	VERB
ap-246	3	7	design	design	NOUN
ap-246	3	8	strategies	strategy	NOUN
ap-246	3	9	that	that	PRON
ap-246	3	10	allow	allow	VERB
ap-246	3	11	a	a	DET
ap-246	3	12	better	well	ADJ
ap-246	3	13	understanding	understanding	NOUN
ap-246	3	14	of	of	ADP
ap-246	3	15	the	the	DET
ap-246	3	16	system	system	NOUN
ap-246	3	17	being	be	AUX
ap-246	3	18	controlled	control	VERB
ap-246	3	19	and	and	CCONJ
ap-246	3	20	a	a	DET
ap-246	3	21	mechanism	mechanism	NOUN
ap-246	3	22	to	to	PART
ap-246	3	23	regulate	regulate	VERB
ap-246	3	24	the	the	DET
ap-246	3	25	way	way	NOUN
ap-246	3	26	it	it	PRON
ap-246	3	27	operates	operate	VERB
ap-246	3	28	.	.	PUNCT
ap-246	4	1	there	there	PRON
ap-246	4	2	are	be	VERB
ap-246	4	3	various	various	ADJ
ap-246	4	4	control	control	NOUN
ap-246	4	5	theories	theory	NOUN
ap-246	4	6	or	or	CCONJ
ap-246	4	7	methodologies	methodology	NOUN
ap-246	4	8	that	that	PRON
ap-246	4	9	have	have	VERB
ap-246	4	10	their	their	PRON
ap-246	4	11	own	own	ADJ
ap-246	4	12	structure	structure	NOUN
ap-246	4	13	.	.	PUNCT
ap-246	5	1	unfortunately	unfortunately	ADV
ap-246	5	2	,	,	PUNCT
ap-246	5	3	not	not	PART
ap-246	5	4	all	all	DET
ap-246	5	5	these	these	DET
ap-246	5	6	methods	method	NOUN
ap-246	5	7	perform	perform	VERB
ap-246	5	8	their	their	PRON
ap-246	5	9	controlling	control	VERB
ap-246	5	10	duties	duty	NOUN
ap-246	5	11	satisfactorily	satisfactorily	ADV
ap-246	5	12	due	due	ADP
ap-246	5	13	to	to	ADP
ap-246	5	14	inherent	inherent	ADJ
ap-246	5	15	limitations	limitation	NOUN
ap-246	5	16	imposed	impose	VERB
ap-246	5	17	by	by	ADP
ap-246	5	18	the	the	DET
ap-246	5	19	controller	controller	NOUN
ap-246	5	20	structure	structure	NOUN
ap-246	5	21	.	.	PUNCT
ap-246	6	1	in	in	ADP
ap-246	6	2	addition	addition	NOUN
ap-246	6	3	,	,	PUNCT
ap-246	6	4	the	the	DET
ap-246	6	5	performance	performance	NOUN
ap-246	6	6	of	of	ADP
ap-246	6	7	these	these	DET
ap-246	6	8	controllers	controller	NOUN
ap-246	6	9	depends	depend	VERB
ap-246	6	10	on	on	ADP
ap-246	6	11	the	the	DET
ap-246	6	12	values	value	NOUN
ap-246	6	13	of	of	ADP
ap-246	6	14	the	the	DET
ap-246	6	15	controller	controller	NOUN
ap-246	6	16	’s	’s	PART
ap-246	6	17	parameters	parameter	NOUN
ap-246	6	18	.	.	PUNCT
ap-246	7	1	conventionally	conventionally	ADV
ap-246	7	2	,	,	PUNCT
ap-246	7	3	the	the	DET
ap-246	7	4	designer	designer	NOUN
ap-246	7	5	manually	manually	ADV
ap-246	7	6	tunes	tune	VERB
ap-246	7	7	these	these	DET
ap-246	7	8	parameters	parameter	NOUN
ap-246	7	9	to	to	PART
ap-246	7	10	find	find	VERB
ap-246	7	11	an	an	DET
ap-246	7	12	acceptable	acceptable	ADJ
ap-246	7	13	solution	solution	NOUN
ap-246	7	14	.	.	PUNCT
ap-246	8	1	however	however	ADV
ap-246	8	2	,	,	PUNCT
ap-246	8	3	this	this	PRON
ap-246	8	4	relies	rely	VERB
ap-246	8	5	on	on	ADP
ap-246	8	6	an	an	DET
ap-246	8	7	ad	ad	X
ap-246	8	8	hoc	hoc	X
ap-246	8	9	approach	approach	NOUN
ap-246	8	10	to	to	ADP
ap-246	8	11	tuning	tuning	NOUN
ap-246	8	12	,	,	PUNCT
ap-246	8	13	which	which	PRON
ap-246	8	14	depends	depend	VERB
ap-246	8	15	on	on	ADP
ap-246	8	16	the	the	DET
ap-246	8	17	experience	experience	NOUN
ap-246	8	18	and	and	CCONJ
ap-246	8	19	qualitative	qualitative	ADJ
ap-246	8	20	judgement	judgement	NOUN
ap-246	8	21	of	of	ADP
ap-246	8	22	the	the	DET
ap-246	8	23	designer	designer	NOUN
ap-246	8	24	.	.	PUNCT
ap-246	9	1	this	this	DET
ap-246	9	2	process	process	NOUN
ap-246	9	3	can	can	AUX
ap-246	9	4	be	be	AUX
ap-246	9	5	very	very	ADV
ap-246	9	6	slow	slow	ADJ
ap-246	9	7	and	and	CCONJ
ap-246	9	8	there	there	PRON
ap-246	9	9	is	be	VERB
ap-246	9	10	no	no	DET
ap-246	9	11	guarantee	guarantee	NOUN
ap-246	9	12	that	that	SCONJ
ap-246	9	13	the	the	DET
ap-246	9	14	designed	design	VERB
ap-246	9	15	solution	solution	NOUN
ap-246	9	16	will	will	AUX
ap-246	9	17	perform	perform	VERB
ap-246	9	18	satisfactorily	satisfactorily	ADV
ap-246	9	19	.	.	PUNCT
ap-246	10	1	a	a	DET
ap-246	10	2	solution	solution	NOUN
ap-246	10	3	to	to	ADP
ap-246	10	4	this	this	DET
ap-246	10	5	problem	problem	NOUN
ap-246	10	6	is	be	AUX
ap-246	10	7	to	to	PART
ap-246	10	8	use	use	VERB
ap-246	10	9	optimisation	optimisation	NOUN
ap-246	10	10	techniques	technique	NOUN
ap-246	10	11	that	that	PRON
ap-246	10	12	tune	tune	VERB
ap-246	10	13	such	such	ADJ
ap-246	10	14	parameters	parameter	NOUN
ap-246	10	15	automatically	automatically	ADV
ap-246	10	16	.	.	PUNCT
ap-246	11	1	the	the	DET
ap-246	11	2	most	most	ADV
ap-246	11	3	powerful	powerful	ADJ
ap-246	11	4	of	of	ADP
ap-246	11	5	these	these	DET
ap-246	11	6	techniques	technique	NOUN
ap-246	11	7	is	be	AUX
ap-246	11	8	based	base	VERB
ap-246	11	9	on	on	ADP
ap-246	11	10	genetic	genetic	ADJ
ap-246	11	11	algorithms	algorithm	NOUN
ap-246	11	12	(	(	PUNCT
ap-246	11	13	gas	gas	NOUN
ap-246	11	14	)	)	PUNCT
ap-246	12	1	[	[	X
ap-246	12	2	1	1	NUM
ap-246	12	3	]	]	PUNCT
ap-246	12	4	,	,	PUNCT
ap-246	12	5	[	[	X
ap-246	12	6	2	2	NUM
ap-246	12	7	]	]	PUNCT
ap-246	12	8	,	,	PUNCT
ap-246	12	9	[	[	X
ap-246	12	10	3	3	NUM
ap-246	12	11	]	]	PUNCT
ap-246	12	12	.	.	PUNCT
ap-246	13	1	gas	gas	NOUN
ap-246	13	2	are	be	AUX
ap-246	13	3	stochastic	stochastic	ADJ
ap-246	13	4	search	search	NOUN
ap-246	13	5	methods	method	NOUN
ap-246	13	6	that	that	PRON
ap-246	13	7	mimic	mimic	VERB
ap-246	13	8	the	the	DET
ap-246	13	9	way	way	NOUN
ap-246	13	10	species	specie	NOUN
ap-246	13	11	evolve	evolve	VERB
ap-246	13	12	in	in	ADP
ap-246	13	13	nature	nature	NOUN
ap-246	13	14	.	.	PUNCT
ap-246	14	1	they	they	PRON
ap-246	14	2	operate	operate	VERB
ap-246	14	3	on	on	ADP
ap-246	14	4	a	a	DET
ap-246	14	5	population	population	NOUN
ap-246	14	6	of	of	ADP
ap-246	14	7	potential	potential	ADJ
ap-246	14	8	solutions	solution	NOUN
ap-246	14	9	applying	apply	VERB
ap-246	14	10	the	the	DET
ap-246	14	11	darwinian	darwinian	ADJ
ap-246	14	12	principal	principal	NOUN
ap-246	14	13	of	of	ADP
ap-246	14	14	“	"	PUNCT
ap-246	14	15	survival	survival	NOUN
ap-246	14	16	of	of	ADP
ap-246	14	17	the	the	DET
ap-246	14	18	fittest	fit	ADJ
ap-246	14	19	”	"	PUNCT
ap-246	14	20	to	to	PART
ap-246	14	21	produce	produce	VERB
ap-246	14	22	better	well	ADJ
ap-246	14	23	and	and	CCONJ
ap-246	14	24	better	well	ADJ
ap-246	14	25	possible	possible	ADJ
ap-246	14	26	solutions	solution	NOUN
ap-246	14	27	to	to	ADP
ap-246	14	28	a	a	DET
ap-246	14	29	given	give	VERB
ap-246	14	30	problem	problem	NOUN
ap-246	14	31	.	.	PUNCT
ap-246	15	1	at	at	ADP
ap-246	15	2	each	each	DET
ap-246	15	3	generation	generation	NOUN
ap-246	15	4	,	,	PUNCT
ap-246	15	5	a	a	DET
ap-246	15	6	new	new	ADJ
ap-246	15	7	set	set	NOUN
ap-246	15	8	of	of	ADP
ap-246	15	9	candidate	candidate	NOUN
ap-246	15	10	solutions	solution	NOUN
ap-246	15	11	is	be	AUX
ap-246	15	12	created	create	VERB
ap-246	15	13	by	by	ADP
ap-246	15	14	the	the	DET
ap-246	15	15	process	process	NOUN
ap-246	15	16	of	of	ADP
ap-246	15	17	selecting	select	VERB
ap-246	15	18	solutions	solution	NOUN
ap-246	15	19	that	that	PRON
ap-246	15	20	are	be	AUX
ap-246	15	21	better	well	ADJ
ap-246	15	22	than	than	ADP
ap-246	15	23	others	other	NOUN
ap-246	15	24	and	and	CCONJ
ap-246	15	25	breeding	breed	VERB
ap-246	15	26	them	they	PRON
ap-246	15	27	together	together	ADV
ap-246	15	28	using	use	VERB
ap-246	15	29	operators	operator	NOUN
ap-246	15	30	borrowed	borrow	VERB
ap-246	15	31	from	from	ADP
ap-246	15	32	natural	natural	ADJ
ap-246	15	33	sexual	sexual	ADJ
ap-246	15	34	reproduction	reproduction	NOUN
ap-246	15	35	in	in	ADP
ap-246	15	36	order	order	NOUN
ap-246	15	37	to	to	PART
ap-246	15	38	get	get	VERB
ap-246	15	39	populations	population	NOUN
ap-246	15	40	of	of	ADP
ap-246	15	41	solutions	solution	NOUN
ap-246	15	42	that	that	PRON
ap-246	15	43	are	be	AUX
ap-246	15	44	better	well	ADJ
ap-246	15	45	than	than	ADP
ap-246	15	46	the	the	DET
ap-246	15	47	solutions	solution	NOUN
ap-246	15	48	they	they	PRON
ap-246	15	49	were	be	AUX
ap-246	15	50	created	create	VERB
ap-246	15	51	from	from	ADP
ap-246	15	52	,	,	PUNCT
ap-246	15	53	just	just	ADV
ap-246	15	54	as	as	ADP
ap-246	15	55	in	in	ADP
ap-246	15	56	natural	natural	ADJ
ap-246	15	57	adaptation	adaptation	NOUN
ap-246	15	58	.	.	PUNCT
ap-246	16	1	this	this	DET
ap-246	16	2	paper	paper	NOUN
ap-246	16	3	covers	cover	VERB
ap-246	16	4	the	the	DET
ap-246	16	5	optimisation	optimisation	NOUN
ap-246	16	6	of	of	ADP
ap-246	16	7	control	control	NOUN
ap-246	16	8	systems	system	NOUN
ap-246	16	9	for	for	ADP
ap-246	16	10	the	the	DET
ap-246	16	11	propulsion	propulsion	NOUN
ap-246	16	12	and	and	CCONJ
ap-246	16	13	navigation	navigation	NOUN
ap-246	16	14	of	of	ADP
ap-246	16	15	an	an	DET
ap-246	16	16	oil	oil	NOUN
ap-246	16	17	platform	platform	NOUN
ap-246	16	18	supply	supply	NOUN
ap-246	16	19	ship	ship	NOUN
ap-246	16	20	using	use	VERB
ap-246	16	21	a	a	DET
ap-246	16	22	ga	ga	NOUN
ap-246	16	23	.	.	PUNCT
ap-246	17	1	the	the	DET
ap-246	17	2	particular	particular	ADJ
ap-246	17	3	vessel	vessel	NOUN
ap-246	17	4	used	use	VERB
ap-246	17	5	in	in	ADP
ap-246	17	6	this	this	DET
ap-246	17	7	study	study	NOUN
ap-246	17	8	is	be	AUX
ap-246	17	9	a	a	DET
ap-246	17	10	scale	scale	NOUN
ap-246	17	11	model	model	NOUN
ap-246	17	12	called	call	VERB
ap-246	17	13	cybership	cybership	NOUN
ap-246	17	14	i	i	PRON
ap-246	18	1	[	[	X
ap-246	18	2	4	4	NUM
ap-246	18	3	]	]	PUNCT
ap-246	18	4	,	,	PUNCT
ap-246	18	5	[	[	X
ap-246	18	6	5	5	NUM
ap-246	18	7	]	]	PUNCT
ap-246	18	8	,	,	PUNCT
ap-246	18	9	which	which	PRON
ap-246	18	10	is	be	AUX
ap-246	18	11	the	the	DET
ap-246	18	12	test	test	NOUN
ap-246	18	13	vehicle	vehicle	NOUN
ap-246	18	14	for	for	ADP
ap-246	18	15	the	the	DET
ap-246	18	16	guidance	guidance	NOUN
ap-246	18	17	,	,	PUNCT
ap-246	18	18	navigation	navigation	NOUN
ap-246	18	19	and	and	CCONJ
ap-246	18	20	control	control	PROPN
ap-246	18	21	laboratory	laboratory	NOUN
ap-246	18	22	at	at	ADP
ap-246	18	23	the	the	DET
ap-246	18	24	norwegian	norwegian	ADJ
ap-246	18	25	university	university	PROPN
ap-246	18	26	of	of	ADP
ap-246	18	27	science	science	NOUN
ap-246	18	28	and	and	CCONJ
ap-246	18	29	technology	technology	NOUN
ap-246	18	30	in	in	ADP
ap-246	18	31	trondheim	trondheim	PROPN
ap-246	18	32	.	.	PUNCT
ap-246	19	1	computer	computer	NOUN
ap-246	19	2	-	-	PUNCT
ap-246	19	3	generated	generate	VERB
ap-246	19	4	simulations	simulation	NOUN
ap-246	19	5	based	base	VERB
ap-246	19	6	on	on	ADP
ap-246	19	7	a	a	DET
ap-246	19	8	non	non	ADJ
ap-246	19	9	-	-	ADJ
ap-246	19	10	linear	linear	ADJ
ap-246	19	11	hydrodynamic	hydrodynamic	ADJ
ap-246	19	12	model	model	NOUN
ap-246	19	13	of	of	ADP
ap-246	19	14	cybership	cybership	NOUN
ap-246	19	15	i	i	PRON
ap-246	19	16	are	be	AUX
ap-246	19	17	used	use	VERB
ap-246	19	18	in	in	ADP
ap-246	19	19	the	the	DET
ap-246	19	20	optimisation	optimisation	NOUN
ap-246	19	21	studies	study	NOUN
ap-246	19	22	.	.	PUNCT
ap-246	20	1	these	these	DET
ap-246	20	2	simulations	simulation	NOUN
ap-246	20	3	have	have	AUX
ap-246	20	4	proven	prove	VERB
ap-246	20	5	to	to	PART
ap-246	20	6	be	be	AUX
ap-246	20	7	sufficiently	sufficiently	ADV
ap-246	20	8	representative	representative	ADJ
ap-246	20	9	of	of	ADP
ap-246	20	10	the	the	DET
ap-246	20	11	full	full	ADJ
ap-246	20	12	-	-	PUNCT
ap-246	20	13	scale	scale	NOUN
ap-246	20	14	manoeuvring	manoeuvring	NOUN
ap-246	20	15	dynamics	dynamic	NOUN
ap-246	20	16	of	of	ADP
ap-246	20	17	such	such	DET
ap-246	20	18	a	a	DET
ap-246	20	19	vessel	vessel	NOUN
ap-246	20	20	.	.	PUNCT
ap-246	21	1	hence	hence	ADV
ap-246	21	2	the	the	DET
ap-246	21	3	optimised	optimise	VERB
ap-246	21	4	controllers	controller	NOUN
ap-246	21	5	could	could	AUX
ap-246	21	6	be	be	AUX
ap-246	21	7	used	use	VERB
ap-246	21	8	to	to	PART
ap-246	21	9	control	control	VERB
ap-246	21	10	the	the	DET
ap-246	21	11	actual	actual	ADJ
ap-246	21	12	scale	scale	NOUN
ap-246	21	13	model	model	NOUN
ap-246	21	14	without	without	ADP
ap-246	21	15	the	the	DET
ap-246	21	16	need	need	NOUN
ap-246	21	17	for	for	ADP
ap-246	21	18	further	further	ADJ
ap-246	21	19	modification	modification	NOUN
ap-246	21	20	.	.	PUNCT
ap-246	22	1	the	the	DET
ap-246	22	2	investigation	investigation	NOUN
ap-246	22	3	presented	present	VERB
ap-246	22	4	in	in	ADP
ap-246	22	5	the	the	DET
ap-246	22	6	paper	paper	NOUN
ap-246	22	7	will	will	AUX
ap-246	22	8	represent	represent	VERB
ap-246	22	9	part	part	NOUN
ap-246	22	10	of	of	ADP
ap-246	22	11	a	a	DET
ap-246	22	12	study	study	NOUN
ap-246	22	13	into	into	ADP
ap-246	22	14	the	the	DET
ap-246	22	15	optimisation	optimisation	NOUN
ap-246	22	16	of	of	ADP
ap-246	22	17	controller	controller	NOUN
ap-246	22	18	designs	design	NOUN
ap-246	22	19	based	base	VERB
ap-246	22	20	on	on	ADP
ap-246	22	21	a	a	DET
ap-246	22	22	number	number	NOUN
ap-246	22	23	of	of	ADP
ap-246	22	24	different	different	ADJ
ap-246	22	25	control	control	NOUN
ap-246	22	26	methodologies	methodology	NOUN
ap-246	22	27	.	.	PUNCT
ap-246	23	1	in	in	ADP
ap-246	23	2	this	this	DET
ap-246	23	3	case	case	NOUN
ap-246	23	4	the	the	DET
ap-246	23	5	particular	particular	ADJ
ap-246	23	6	methodology	methodology	NOUN
ap-246	23	7	considered	consider	VERB
ap-246	23	8	is	be	AUX
ap-246	23	9	classical	classical	ADJ
ap-246	23	10	pid	pid	NOUN
ap-246	23	11	,	,	PUNCT
ap-246	23	12	a	a	DET
ap-246	23	13	very	very	ADV
ap-246	23	14	simple	simple	ADJ
ap-246	23	15	and	and	CCONJ
ap-246	23	16	widespread	widespread	ADJ
ap-246	23	17	controller	controller	NOUN
ap-246	23	18	.	.	PUNCT
ap-246	24	1	pid	pid	NOUN
ap-246	24	2	control	control	NOUN
ap-246	24	3	is	be	AUX
ap-246	24	4	used	use	VERB
ap-246	24	5	to	to	PART
ap-246	24	6	provide	provide	VERB
ap-246	24	7	the	the	DET
ap-246	24	8	structure	structure	NOUN
ap-246	24	9	for	for	ADP
ap-246	24	10	both	both	PRON
ap-246	24	11	propulsion	propulsion	NOUN
ap-246	24	12	and	and	CCONJ
ap-246	24	13	navigation	navigation	NOUN
ap-246	24	14	controller	controller	NOUN
ap-246	24	15	.	.	PUNCT
ap-246	25	1	the	the	DET
ap-246	25	2	goal	goal	NOUN
ap-246	25	3	of	of	ADP
ap-246	25	4	this	this	DET
ap-246	25	5	study	study	NOUN
ap-246	25	6	is	be	AUX
ap-246	25	7	to	to	PART
ap-246	25	8	obtain	obtain	VERB
ap-246	25	9	controller	controller	NOUN
ap-246	25	10	solutions	solution	NOUN
ap-246	25	11	that	that	PRON
ap-246	25	12	satisfactorily	satisfactorily	ADV
ap-246	25	13	track	track	VERB
ap-246	25	14	the	the	DET
ap-246	25	15	desired	desire	VERB
ap-246	25	16	heading	heading	NOUN
ap-246	25	17	and	and	CCONJ
ap-246	25	18	propulsion	propulsion	NOUN
ap-246	25	19	response	response	NOUN
ap-246	25	20	while	while	SCONJ
ap-246	25	21	keeping	keep	VERB
ap-246	25	22	actuator	actuator	NOUN
ap-246	25	23	usage	usage	NOUN
ap-246	25	24	to	to	ADP
ap-246	25	25	a	a	DET
ap-246	25	26	minimum	minimum	NOUN
ap-246	25	27	.	.	PUNCT
ap-246	26	1	the	the	DET
ap-246	26	2	results	result	NOUN
ap-246	26	3	obtained	obtain	VERB
ap-246	26	4	from	from	ADP
ap-246	26	5	this	this	DET
ap-246	26	6	study	study	NOUN
ap-246	26	7	illustrate	illustrate	VERB
ap-246	26	8	the	the	DET
ap-246	26	9	benefits	benefit	NOUN
ap-246	26	10	of	of	ADP
ap-246	26	11	using	use	VERB
ap-246	26	12	gas	gas	NOUN
ap-246	26	13	to	to	PART
ap-246	26	14	optimise	optimise	VERB
ap-246	26	15	propulsion	propulsion	NOUN
ap-246	26	16	and	and	CCONJ
ap-246	26	17	navigation	navigation	NOUN
ap-246	26	18	controllers	controller	NOUN
ap-246	26	19	for	for	ADP
ap-246	26	20	surface	surface	NOUN
ap-246	26	21	ships	ship	NOUN
ap-246	26	22	.	.	PUNCT
ap-246	27	1	the	the	DET
ap-246	27	2	accuracy	accuracy	NOUN
ap-246	27	3	of	of	ADP
ap-246	27	4	the	the	DET
ap-246	27	5	resulting	result	VERB
ap-246	27	6	simulations	simulation	NOUN
ap-246	27	7	allows	allow	VERB
ap-246	27	8	meaningful	meaningful	ADJ
ap-246	27	9	evaluation	evaluation	NOUN
ap-246	27	10	of	of	ADP
ap-246	27	11	the	the	DET
ap-246	27	12	optimised	optimise	VERB
ap-246	27	13	controllers	controller	NOUN
ap-246	27	14	’	’	PART
ap-246	27	15	performance	performance	NOUN
ap-246	27	16	.	.	PUNCT
ap-246	28	1	2	2	NUM
ap-246	28	2	supply	supply	NOUN
ap-246	28	3	ship	ship	NOUN
ap-246	28	4	mathematical	mathematical	ADJ
ap-246	28	5	model	model	NOUN
ap-246	28	6	the	the	DET
ap-246	28	7	dynamics	dynamic	NOUN
ap-246	28	8	of	of	ADP
ap-246	28	9	the	the	DET
ap-246	28	10	vessel	vessel	NOUN
ap-246	28	11	can	can	AUX
ap-246	28	12	be	be	AUX
ap-246	28	13	represented	represent	VERB
ap-246	28	14	by	by	ADP
ap-246	28	15	the	the	DET
ap-246	28	16	kinetics	kinetics	PROPN
ap-246	28	17	and	and	CCONJ
ap-246	28	18	kinematics	kinematic	NOUN
ap-246	28	19	equations	equation	NOUN
ap-246	28	20	.	.	PUNCT
ap-246	29	1	when	when	SCONJ
ap-246	29	2	kinetic	kinetic	ADJ
ap-246	29	3	and	and	CCONJ
ap-246	29	4	kinematic	kinematic	ADJ
ap-246	29	5	equations	equation	NOUN
ap-246	29	6	are	be	AUX
ap-246	29	7	combined	combine	VERB
ap-246	29	8	together	together	ADV
ap-246	29	9	the	the	DET
ap-246	29	10	following	follow	VERB
ap-246	29	11	matrix	matrix	NOUN
ap-246	29	12	equation	equation	NOUN
ap-246	29	13	is	be	AUX
ap-246	29	14	produced	produce	VERB
ap-246	29	15	[	[	PUNCT
ap-246	29	16	4	4	NUM
ap-246	29	17	]	]	X
ap-246	29	18	�	�	PROPN
ap-246	29	19	�	�	PROPN
ap-246	29	20	�	�	PROPN
ap-246	29	21	�	�	PROPN
ap-246	29	22	�	�	PROPN
ap-246	29	23	�	�	PROPN
ap-246	29	24	�	�	PROPN
ap-246	29	25	�	�	PROPN
ap-246	29	26	�	�	PROPN
ap-246	29	27	�	�	PROPN
ap-246	29	28	�	�	PROPN
ap-246	29	29	�	�	PROPN
ap-246	29	30	�	�	PROPN
ap-246	29	31	�	�	PROPN
ap-246	29	32	�	�	PROPN
ap-246	29	33	�	�	PROPN
ap-246	29	34	�	�	PROPN
ap-246	29	35	�	�	PROPN
ap-246	29	36	�	�	PROPN
ap-246	29	37	�	�	PROPN
ap-246	29	38	�	�	PROPN
ap-246	29	39	�	�	PROPN
ap-246	29	40	�	�	PROPN
ap-246	29	41	�	�	PROPN
ap-246	29	42	�	�	PROPN
ap-246	29	43	�	�	PROPN
ap-246	29	44	�	�	PROPN
ap-246	29	45	�	�	PROPN
ap-246	29	46	�	�	PROPN
ap-246	29	47	�	�	PROPN
ap-246	29	48	�	�	PROPN
ap-246	29	49	�	�	PROPN
ap-246	29	50	�	�	PROPN
ap-246	29	51	�	�	PROPN
ap-246	29	52	�	�	PROPN
ap-246	29	53	�	�	PROPN
ap-246	29	54	�	�	PROPN
ap-246	29	55	�	�	PROPN
ap-246	29	56	�	�	PROPN
ap-246	29	57	m	m	PROPN
ap-246	29	58	c	c	NOUN
ap-246	29	59	d	d	X
ap-246	29	60	j	j	PROPN
ap-246	29	61	m1	m1	PROPN
ap-246	29	62	10	10	NUM
ap-246	29	63	0	0	NUM
ap-246	29	64	0	0	NUM
ap-246	29	65	�	�	PROPN
ap-246	29	66	(	(	PUNCT
ap-246	29	67	1	1	NUM
ap-246	29	68	)	)	PUNCT
ap-246	29	69	which	which	PRON
ap-246	29	70	corresponds	correspond	VERB
ap-246	29	71	to	to	ADP
ap-246	29	72	a	a	DET
ap-246	29	73	form	form	NOUN
ap-246	29	74	of	of	ADP
ap-246	29	75	state	state	NOUN
ap-246	29	76	space	space	NOUN
ap-246	29	77	equation	equation	NOUN
ap-246	29	78	(	(	PUNCT
ap-246	29	79	i.e.	i.e.	X
ap-246	29	80	�	�	PROPN
ap-246	29	81	�	�	PROPN
ap-246	29	82	�	�	PROPN
ap-246	29	83	x	x	PROPN
ap-246	29	84	a	a	DET
ap-246	29	85	x	x	SYM
ap-246	29	86	x	x	X
ap-246	29	87	b=	b=	PROPN
ap-246	29	88	�	�	PROPN
ap-246	29	89	�	�	PROPN
ap-246	29	90	)	)	PUNCT
ap-246	29	91	.	.	PUNCT
ap-246	30	1	here	here	ADV
ap-246	30	2	m	m	PRON
ap-246	30	3	,	,	PUNCT
ap-246	30	4	c	c	X
ap-246	30	5	,	,	PUNCT
ap-246	30	6	d	d	NOUN
ap-246	30	7	and	and	CCONJ
ap-246	30	8	j	j	PROPN
ap-246	30	9	are	be	AUX
ap-246	30	10	the	the	DET
ap-246	30	11	mass	mass	NOUN
ap-246	30	12	/	/	SYM
ap-246	30	13	inertia	inertia	NOUN
ap-246	30	14	,	,	PUNCT
ap-246	30	15	coriolis	corioli	NOUN
ap-246	30	16	,	,	PUNCT
ap-246	30	17	damping	damp	VERB
ap-246	30	18	and	and	CCONJ
ap-246	30	19	euler	euler	NOUN
ap-246	30	20	matrices	matrix	NOUN
ap-246	30	21	,	,	PUNCT
ap-246	30	22	�	�	X
ap-246	30	23	=	=	PUNCT
ap-246	31	1	[	[	X
ap-246	31	2	u	u	NOUN
ap-246	31	3	,	,	PUNCT
ap-246	31	4	v	v	NOUN
ap-246	31	5	,	,	PUNCT
ap-246	31	6	r]t	r]t	NOUN
ap-246	31	7	is	be	AUX
ap-246	31	8	the	the	DET
ap-246	31	9	body	body	NOUN
ap-246	31	10	-	-	PUNCT
ap-246	31	11	fixed	fix	VERB
ap-246	31	12	linear	linear	NOUN
ap-246	31	13	and	and	CCONJ
ap-246	31	14	angular	angular	ADJ
ap-246	31	15	velocity	velocity	NOUN
ap-246	31	16	vector	vector	NOUN
ap-246	31	17	,	,	PUNCT
ap-246	31	18	�	�	X
ap-246	31	19	=	=	PUNCT
ap-246	32	1	[	[	X
ap-246	32	2	x	x	X
ap-246	32	3	,	,	PUNCT
ap-246	32	4	y	y	PROPN
ap-246	32	5	,	,	PUNCT
ap-246	32	6	�	�	PROPN
ap-246	32	7	]	]	PUNCT
ap-246	32	8	t	t	PROPN
ap-246	32	9	denotes	denote	VERB
ap-246	32	10	the	the	DET
ap-246	32	11	position	position	NOUN
ap-246	32	12	and	and	CCONJ
ap-246	32	13	orientation	orientation	NOUN
ap-246	32	14	vector	vector	NOUN
ap-246	32	15	in	in	ADP
ap-246	32	16	the	the	DET
ap-246	32	17	earth	earth	NOUN
ap-246	32	18	-	-	PUNCT
ap-246	32	19	fixed	fix	VERB
ap-246	32	20	frame	frame	NOUN
ap-246	32	21	and	and	CCONJ
ap-246	32	22	�	�	PROPN
ap-246	32	23	�	�	PROPN
ap-246	32	24	[	[	X
ap-246	32	25	�	�	PROPN
ap-246	32	26	1	1	NUM
ap-246	32	27	,	,	PUNCT
ap-246	32	28	�	�	PROPN
ap-246	32	29	2	2	NUM
ap-246	32	30	,	,	PUNCT
ap-246	32	31	�	�	NOUN
ap-246	32	32	3	3	NUM
ap-246	32	33	]	]	X
ap-246	32	34	t	t	PROPN
ap-246	32	35	is	be	AUX
ap-246	32	36	the	the	DET
ap-246	32	37	input	input	NOUN
ap-246	32	38	force	force	NOUN
ap-246	32	39	vector	vector	NOUN
ap-246	32	40	,	,	PUNCT
ap-246	32	41	given	give	VERB
ap-246	32	42	that	that	PRON
ap-246	32	43	�	�	NOUN
ap-246	32	44	1	1	NUM
ap-246	32	45	is	be	AUX
ap-246	32	46	the	the	DET
ap-246	32	47	thrust	thrust	ADJ
ap-246	32	48	vector	vector	NOUN
ap-246	32	49	along	along	ADP
ap-246	32	50	the	the	DET
ap-246	32	51	body	body	NOUN
ap-246	32	52	fixed	fix	VERB
ap-246	32	53	x	x	NOUN
ap-246	32	54	-	-	ADJ
ap-246	32	55	axis	axis	ADJ
ap-246	32	56	,	,	PUNCT
ap-246	32	57	�	�	X
ap-246	32	58	2	2	NUM
ap-246	32	59	is	be	AUX
ap-246	32	60	the	the	DET
ap-246	32	61	thrust	thrust	ADJ
ap-246	32	62	vector	vector	NOUN
ap-246	32	63	along	along	ADP
ap-246	32	64	the	the	DET
ap-246	32	65	body	body	NOUN
ap-246	32	66	fixed	fix	VERB
ap-246	32	67	y	y	NOUN
ap-246	32	68	-	-	PUNCT
ap-246	32	69	axis	axis	NOUN
ap-246	32	70	and	and	CCONJ
ap-246	32	71	�	�	NOUN
ap-246	32	72	3	3	NUM
ap-246	32	73	is	be	AUX
ap-246	32	74	the	the	DET
ap-246	32	75	thrust	thrust	ADJ
ap-246	32	76	vector	vector	NOUN
ap-246	32	77	along	along	ADP
ap-246	32	78	the	the	DET
ap-246	32	79	z	z	NOUN
ap-246	32	80	-	-	PUNCT
ap-246	32	81	axis	axis	NOUN
ap-246	32	82	.	.	PUNCT
ap-246	33	1	these	these	DET
ap-246	33	2	three	three	NUM
ap-246	33	3	force	force	NOUN
ap-246	33	4	vectors	vector	NOUN
ap-246	33	5	relative	relative	ADJ
ap-246	33	6	to	to	ADP
ap-246	33	7	the	the	DET
ap-246	33	8	body	body	NOUN
ap-246	33	9	-	-	PUNCT
ap-246	33	10	fixed	fix	VERB
ap-246	33	11	axis	axis	NOUN
ap-246	33	12	that	that	PRON
ap-246	33	13	constitute	constitute	VERB
ap-246	33	14	the	the	DET
ap-246	33	15	inputs	input	NOUN
ap-246	33	16	to	to	ADP
ap-246	33	17	the	the	DET
ap-246	33	18	vessel	vessel	NOUN
ap-246	33	19	model	model	NOUN
ap-246	33	20	are	be	AUX
ap-246	33	21	provided	provide	VERB
ap-246	33	22	by	by	ADP
ap-246	33	23	four	four	NUM
ap-246	33	24	thrusters	thruster	NOUN
ap-246	33	25	.	.	PUNCT
ap-246	34	1	two	two	NUM
ap-246	34	2	of	of	ADP
ap-246	34	3	them	they	PRON
ap-246	34	4	are	be	AUX
ap-246	34	5	placed	place	VERB
ap-246	34	6	at	at	ADP
ap-246	34	7	the	the	DET
ap-246	34	8	stern	stern	ADJ
ap-246	34	9	,	,	PUNCT
ap-246	34	10	symmetric	symmetric	ADJ
ap-246	34	11	with	with	ADP
ap-246	34	12	respect	respect	NOUN
ap-246	34	13	to	to	ADP
ap-246	34	14	the	the	DET
ap-246	34	15	body	body	NOUN
ap-246	34	16	-	-	PUNCT
ap-246	34	17	fixed	fix	VERB
ap-246	34	18	x	x	NOUN
ap-246	34	19	-	-	NOUN
ap-246	34	20	axis	axis	ADJ
ap-246	34	21	,	,	PUNCT
ap-246	34	22	while	while	SCONJ
ap-246	34	23	the	the	DET
ap-246	34	24	other	other	ADJ
ap-246	34	25	two	two	NUM
ap-246	34	26	are	be	AUX
ap-246	34	27	placed	place	VERB
ap-246	34	28	at	at	ADP
ap-246	34	29	the	the	DET
ap-246	34	30	bow	bow	NOUN
ap-246	34	31	,	,	PUNCT
ap-246	34	32	along	along	ADP
ap-246	34	33	the	the	DET
ap-246	34	34	body	body	NOUN
ap-246	34	35	-	-	PUNCT
ap-246	34	36	fixed	fix	VERB
ap-246	34	37	x	x	NOUN
ap-246	34	38	-	-	NOUN
ap-246	34	39	axis	axis	ADJ
ap-246	35	1	[	[	X
ap-246	35	2	4	4	NUM
ap-246	35	3	]	]	PUNCT
ap-246	35	4	.	.	PUNCT
ap-246	36	1	each	each	DET
ap-246	36	2	©	©	PROPN
ap-246	36	3	czech	czech	PROPN
ap-246	36	4	technical	technical	PROPN
ap-246	36	5	university	university	PROPN
ap-246	36	6	publishing	publishing	NOUN
ap-246	36	7	house	house	NOUN
ap-246	36	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-246	36	9	13	13	NUM
ap-246	36	10	acta	acta	PROPN
ap-246	36	11	polytechnica	polytechnica	PROPN
ap-246	36	12	vol	vol	NOUN
ap-246	36	13	.	.	PUNCT
ap-246	37	1	41	41	NUM
ap-246	37	2	no	no	NOUN
ap-246	37	3	.	.	PUNCT
ap-246	38	1	4–5/2001	4–5/2001	NUM
ap-246	38	2	genetic	genetic	ADJ
ap-246	38	3	algorithm	algorithm	NOUN
ap-246	38	4	optimisation	optimisation	NOUN
ap-246	38	5	of	of	ADP
ap-246	38	6	a	a	DET
ap-246	38	7	ship	ship	NOUN
ap-246	38	8	navigation	navigation	NOUN
ap-246	38	9	system	system	NOUN
ap-246	38	10	e.	e.	PROPN
ap-246	38	11	alfaro	alfaro	PROPN
ap-246	38	12	-	-	PUNCT
ap-246	38	13	cid	cid	PROPN
ap-246	38	14	,	,	PUNCT
ap-246	38	15	e.	e.	PROPN
ap-246	38	16	w.	w.	PROPN
ap-246	38	17	mcgookin	mcgookin	PROPN
ap-246	38	18	,	,	PUNCT
ap-246	38	19	d.	d.	PROPN
ap-246	38	20	j.	j.	PROPN
ap-246	38	21	murray	murray	PROPN
ap-246	38	22	-	-	PUNCT
ap-246	38	23	smith	smith	PROPN
ap-246	38	24	the	the	DET
ap-246	38	25	optimisation	optimisation	NOUN
ap-246	38	26	of	of	ADP
ap-246	38	27	the	the	DET
ap-246	38	28	pid	pid	NOUN
ap-246	38	29	controllers	controller	NOUN
ap-246	38	30	’	'	PUNCT
ap-246	38	31	gains	gain	NOUN
ap-246	38	32	for	for	ADP
ap-246	38	33	separate	separate	ADJ
ap-246	38	34	propulsion	propulsion	NOUN
ap-246	38	35	and	and	CCONJ
ap-246	38	36	heading	head	VERB
ap-246	38	37	control	control	NOUN
ap-246	38	38	systems	system	NOUN
ap-246	38	39	of	of	ADP
ap-246	38	40	cybership	cybership	PROPN
ap-246	38	41	i	i	PROPN
ap-246	38	42	,	,	PUNCT
ap-246	38	43	a	a	DET
ap-246	38	44	scale	scale	NOUN
ap-246	38	45	model	model	NOUN
ap-246	38	46	of	of	ADP
ap-246	38	47	an	an	DET
ap-246	38	48	oil	oil	NOUN
ap-246	38	49	platform	platform	NOUN
ap-246	38	50	supply	supply	NOUN
ap-246	38	51	ship	ship	NOUN
ap-246	38	52	,	,	PUNCT
ap-246	38	53	using	use	VERB
ap-246	38	54	genetic	genetic	ADJ
ap-246	38	55	algorithms	algorithms	NOUN
ap-246	38	56	is	be	AUX
ap-246	38	57	considered	consider	VERB
ap-246	38	58	.	.	PUNCT
ap-246	39	1	during	during	ADP
ap-246	39	2	the	the	DET
ap-246	39	3	initial	initial	ADJ
ap-246	39	4	design	design	NOUN
ap-246	39	5	process	process	NOUN
ap-246	39	6	both	both	DET
ap-246	39	7	pid	pid	NOUN
ap-246	39	8	controllers	controller	NOUN
ap-246	39	9	have	have	AUX
ap-246	39	10	been	be	AUX
ap-246	39	11	manually	manually	ADV
ap-246	39	12	tuned	tune	VERB
ap-246	39	13	to	to	PART
ap-246	39	14	improve	improve	VERB
ap-246	39	15	their	their	PRON
ap-246	39	16	performance	performance	NOUN
ap-246	39	17	.	.	PUNCT
ap-246	40	1	however	however	ADV
ap-246	40	2	this	this	DET
ap-246	40	3	tuning	tuning	NOUN
ap-246	40	4	approach	approach	NOUN
ap-246	40	5	is	be	AUX
ap-246	40	6	a	a	DET
ap-246	40	7	tedious	tedious	ADJ
ap-246	40	8	and	and	CCONJ
ap-246	40	9	time	time	NOUN
ap-246	40	10	consuming	consume	VERB
ap-246	40	11	process	process	NOUN
ap-246	40	12	.	.	PUNCT
ap-246	41	1	a	a	DET
ap-246	41	2	solution	solution	NOUN
ap-246	41	3	to	to	ADP
ap-246	41	4	this	this	DET
ap-246	41	5	problem	problem	NOUN
ap-246	41	6	is	be	AUX
ap-246	41	7	the	the	DET
ap-246	41	8	use	use	NOUN
ap-246	41	9	of	of	ADP
ap-246	41	10	optimisation	optimisation	NOUN
ap-246	41	11	techniques	technique	NOUN
ap-246	41	12	based	base	VERB
ap-246	41	13	on	on	ADP
ap-246	41	14	genetic	genetic	ADJ
ap-246	41	15	algorithms	algorithm	NOUN
ap-246	41	16	to	to	PART
ap-246	41	17	optimise	optimise	VERB
ap-246	41	18	the	the	DET
ap-246	41	19	controllers	controller	NOUN
ap-246	41	20	’	'	PUNCT
ap-246	41	21	gain	gain	VERB
ap-246	41	22	values	value	NOUN
ap-246	41	23	.	.	PUNCT
ap-246	42	1	this	this	DET
ap-246	42	2	investigation	investigation	NOUN
ap-246	42	3	has	have	AUX
ap-246	42	4	been	be	AUX
ap-246	42	5	carried	carry	VERB
ap-246	42	6	out	out	ADP
ap-246	42	7	through	through	ADP
ap-246	42	8	computer	computer	NOUN
ap-246	42	9	-	-	PUNCT
ap-246	42	10	generated	generate	VERB
ap-246	42	11	simulations	simulation	NOUN
ap-246	42	12	based	base	VERB
ap-246	42	13	on	on	ADP
ap-246	42	14	a	a	DET
ap-246	42	15	non	non	ADJ
ap-246	42	16	-	-	ADJ
ap-246	42	17	linear	linear	ADJ
ap-246	42	18	hydrodynamic	hydrodynamic	ADJ
ap-246	42	19	model	model	NOUN
ap-246	42	20	of	of	ADP
ap-246	42	21	cybership	cybership	ADJ
ap-246	42	22	i.	i.	NOUN
ap-246	42	23	keywords	keyword	NOUN
ap-246	42	24	:	:	PUNCT
ap-246	42	25	ship	ship	NOUN
ap-246	42	26	control	control	NOUN
ap-246	42	27	,	,	PUNCT
ap-246	42	28	pid	pid	NOUN
ap-246	42	29	controller	controller	NOUN
ap-246	42	30	,	,	PUNCT
ap-246	42	31	genetic	genetic	ADJ
ap-246	42	32	algorithm	algorithm	NOUN
ap-246	42	33	optimisation	optimisation	NOUN
ap-246	42	34	.	.	PUNCT
ap-246	43	1	thruster	thruster	NOUN
ap-246	43	2	is	be	AUX
ap-246	43	3	represented	represent	VERB
ap-246	43	4	by	by	ADP
ap-246	43	5	the	the	DET
ap-246	43	6	force	force	NOUN
ap-246	43	7	(	(	PUNCT
ap-246	43	8	fi	fi	NOUN
ap-246	43	9	)	)	PUNCT
ap-246	43	10	it	it	PRON
ap-246	43	11	produces	produce	VERB
ap-246	43	12	and	and	CCONJ
ap-246	43	13	the	the	DET
ap-246	43	14	angle	angle	NOUN
ap-246	43	15	(	(	PUNCT
ap-246	43	16	�	�	PROPN
ap-246	43	17	i	i	PRON
ap-246	43	18	)	)	PUNCT
ap-246	43	19	defining	define	VERB
ap-246	43	20	its	its	PRON
ap-246	43	21	direction	direction	NOUN
ap-246	43	22	.	.	PUNCT
ap-246	44	1	and	and	CCONJ
ap-246	44	2	the	the	DET
ap-246	44	3	amplitude	amplitude	NOUN
ap-246	44	4	limit	limit	NOUN
ap-246	44	5	values	value	NOUN
ap-246	44	6	for	for	ADP
ap-246	44	7	each	each	PRON
ap-246	44	8	of	of	ADP
ap-246	44	9	the	the	DET
ap-246	44	10	thrusters	thruster	NOUN
ap-246	44	11	’	’	PART
ap-246	44	12	force	force	NOUN
ap-246	44	13	and	and	CCONJ
ap-246	44	14	angle	angle	NOUN
ap-246	44	15	are	be	AUX
ap-246	44	16	�	�	PROPN
ap-246	44	17	0.9n	0.9n	PROPN
ap-246	44	18	and	and	CCONJ
ap-246	44	19	�	�	PROPN
ap-246	44	20	radians	radian	NOUN
ap-246	44	21	respectively	respectively	ADV
ap-246	44	22	[	[	X
ap-246	44	23	4	4	NUM
ap-246	44	24	]	]	PUNCT
ap-246	44	25	.	.	PUNCT
ap-246	45	1	the	the	DET
ap-246	45	2	three	three	NUM
ap-246	45	3	input	input	NOUN
ap-246	45	4	force	force	NOUN
ap-246	45	5	components	component	NOUN
ap-246	45	6	(	(	PUNCT
ap-246	45	7	�	�	NOUN
ap-246	45	8	)	)	PUNCT
ap-246	45	9	can	can	AUX
ap-246	45	10	be	be	AUX
ap-246	45	11	related	relate	VERB
ap-246	45	12	to	to	ADP
ap-246	45	13	the	the	DET
ap-246	45	14	individual	individual	ADJ
ap-246	45	15	forces	force	NOUN
ap-246	45	16	produced	produce	VERB
ap-246	45	17	by	by	ADP
ap-246	45	18	the	the	DET
ap-246	45	19	thrusters	thruster	NOUN
ap-246	45	20	(	(	PUNCT
ap-246	45	21	fi	fi	NOUN
ap-246	45	22	)	)	PUNCT
ap-246	45	23	using	use	VERB
ap-246	45	24	trigonometric	trigonometric	ADJ
ap-246	45	25	relationships	relationship	NOUN
ap-246	45	26	[	[	X
ap-246	45	27	5	5	NUM
ap-246	45	28	]	]	PUNCT
ap-246	45	29	.	.	PUNCT
ap-246	46	1	hence	hence	ADV
ap-246	46	2	,	,	PUNCT
ap-246	46	3	the	the	DET
ap-246	46	4	ship	ship	NOUN
ap-246	46	5	’s	’s	PART
ap-246	46	6	model	model	NOUN
ap-246	46	7	has	have	VERB
ap-246	46	8	6	6	NUM
ap-246	46	9	states	state	NOUN
ap-246	46	10	(	(	PUNCT
ap-246	46	11	i.e.	i.e.	X
ap-246	46	12	u	u	NOUN
ap-246	46	13	,	,	PUNCT
ap-246	46	14	surge	surge	ADJ
ap-246	46	15	velocity	velocity	NOUN
ap-246	46	16	;	;	PUNCT
ap-246	46	17	v	v	NOUN
ap-246	46	18	,	,	PUNCT
ap-246	46	19	sway	sway	VERB
ap-246	46	20	velocity	velocity	NOUN
ap-246	46	21	;	;	PUNCT
ap-246	46	22	r	r	X
ap-246	46	23	,	,	PUNCT
ap-246	46	24	yaw	yaw	NOUN
ap-246	46	25	rate	rate	NOUN
ap-246	46	26	;	;	PUNCT
ap-246	46	27	�	�	PROPN
ap-246	46	28	,	,	PUNCT
ap-246	46	29	yaw	yaw	NOUN
ap-246	46	30	angle	angle	NOUN
ap-246	46	31	;	;	PUNCT
ap-246	46	32	xp	xp	NUM
ap-246	46	33	,	,	PUNCT
ap-246	46	34	x	x	NOUN
ap-246	46	35	-	-	NOUN
ap-246	46	36	position	position	NOUN
ap-246	46	37	on	on	ADP
ap-246	46	38	earth	earth	NOUN
ap-246	46	39	and	and	CCONJ
ap-246	46	40	yp	yp	PROPN
ap-246	46	41	,	,	PUNCT
ap-246	46	42	y	y	NOUN
ap-246	46	43	-	-	PUNCT
ap-246	46	44	position	position	NOUN
ap-246	46	45	on	on	ADP
ap-246	46	46	earth	earth	NOUN
ap-246	46	47	)	)	PUNCT
ap-246	46	48	and	and	CCONJ
ap-246	46	49	3	3	NUM
ap-246	46	50	inputs	input	NOUN
ap-246	46	51	(	(	PUNCT
ap-246	46	52	i.e.	i.e.	X
ap-246	46	53	�	�	NOUN
ap-246	46	54	1	1	NUM
ap-246	46	55	,	,	PUNCT
ap-246	46	56	�	�	PROPN
ap-246	46	57	2	2	NUM
ap-246	46	58	and	and	CCONJ
ap-246	46	59	�	�	NOUN
ap-246	46	60	3	3	NUM
ap-246	46	61	,	,	PUNCT
ap-246	46	62	thrust	thrust	VERB
ap-246	46	63	forces	force	NOUN
ap-246	46	64	along	along	ADP
ap-246	46	65	the	the	DET
ap-246	46	66	body	body	NOUN
ap-246	46	67	fixed	fix	VERB
ap-246	46	68	x	x	SYM
ap-246	46	69	,	,	PUNCT
ap-246	46	70	y	y	PROPN
ap-246	46	71	and	and	CCONJ
ap-246	46	72	z	z	NOUN
ap-246	46	73	-	-	PUNCT
ap-246	46	74	axis	axis	NOUN
ap-246	46	75	respectively	respectively	ADV
ap-246	46	76	)	)	PUNCT
ap-246	47	1	[	[	X
ap-246	47	2	4	4	NUM
ap-246	47	3	]	]	PUNCT
ap-246	47	4	.	.	PUNCT
ap-246	48	1	since	since	SCONJ
ap-246	48	2	cybership	cybership	NOUN
ap-246	48	3	i	i	PRON
ap-246	48	4	is	be	AUX
ap-246	48	5	a	a	DET
ap-246	48	6	scale	scale	NOUN
ap-246	48	7	model	model	NOUN
ap-246	48	8	of	of	ADP
ap-246	48	9	an	an	DET
ap-246	48	10	actual	actual	ADJ
ap-246	48	11	type	type	NOUN
ap-246	48	12	of	of	ADP
ap-246	48	13	supply	supply	NOUN
ap-246	48	14	vessel	vessel	NOUN
ap-246	48	15	the	the	DET
ap-246	48	16	simulations	simulation	NOUN
ap-246	48	17	performed	perform	VERB
ap-246	48	18	are	be	AUX
ap-246	48	19	scaled	scale	VERB
ap-246	48	20	in	in	ADP
ap-246	48	21	order	order	NOUN
ap-246	48	22	to	to	PART
ap-246	48	23	generate	generate	VERB
ap-246	48	24	results	result	NOUN
ap-246	48	25	comparable	comparable	ADJ
ap-246	48	26	to	to	ADP
ap-246	48	27	the	the	DET
ap-246	48	28	response	response	NOUN
ap-246	48	29	of	of	ADP
ap-246	48	30	full	full	ADJ
ap-246	48	31	-	-	PUNCT
ap-246	48	32	scale	scale	NOUN
ap-246	48	33	ships	ship	NOUN
ap-246	48	34	.	.	PUNCT
ap-246	49	1	3	3	NUM
ap-246	49	2	automatic	automatic	ADJ
ap-246	49	3	control	control	NOUN
ap-246	49	4	system	system	NOUN
ap-246	49	5	for	for	ADP
ap-246	49	6	most	most	ADJ
ap-246	49	7	surface	surface	NOUN
ap-246	49	8	vessels	vessel	NOUN
ap-246	49	9	there	there	PRON
ap-246	49	10	are	be	VERB
ap-246	49	11	two	two	NUM
ap-246	49	12	main	main	ADJ
ap-246	49	13	sets	set	NOUN
ap-246	49	14	of	of	ADP
ap-246	49	15	dynamics	dynamic	NOUN
ap-246	49	16	:	:	PUNCT
ap-246	49	17	propulsion	propulsion	NOUN
ap-246	49	18	and	and	CCONJ
ap-246	49	19	heading	heading	NOUN
ap-246	49	20	.	.	PUNCT
ap-246	50	1	two	two	NUM
ap-246	50	2	classical	classical	ADJ
ap-246	50	3	pid	pid	NOUN
ap-246	50	4	controllers	controller	NOUN
ap-246	50	5	[	[	X
ap-246	50	6	6	6	NUM
ap-246	50	7	]	]	PUNCT
ap-246	50	8	have	have	AUX
ap-246	50	9	been	be	AUX
ap-246	50	10	used	use	VERB
ap-246	50	11	to	to	PART
ap-246	50	12	provide	provide	VERB
ap-246	50	13	the	the	DET
ap-246	50	14	structure	structure	NOUN
ap-246	50	15	for	for	ADP
ap-246	50	16	the	the	DET
ap-246	50	17	propulsion	propulsion	NOUN
ap-246	50	18	controller	controller	NOUN
ap-246	50	19	(	(	PUNCT
ap-246	50	20	for	for	ADP
ap-246	50	21	governing	govern	VERB
ap-246	50	22	surge	surge	NOUN
ap-246	50	23	velocity	velocity	NOUN
ap-246	50	24	)	)	PUNCT
ap-246	50	25	and	and	CCONJ
ap-246	50	26	the	the	DET
ap-246	50	27	navigation	navigation	NOUN
ap-246	50	28	controller	controller	NOUN
ap-246	50	29	(	(	PUNCT
ap-246	50	30	for	for	ADP
ap-246	50	31	governing	govern	VERB
ap-246	50	32	heading	head	VERB
ap-246	50	33	)	)	PUNCT
ap-246	50	34	.	.	PUNCT
ap-246	51	1	these	these	DET
ap-246	51	2	controllers	controller	NOUN
ap-246	51	3	operate	operate	VERB
ap-246	51	4	on	on	ADP
ap-246	51	5	the	the	DET
ap-246	51	6	error	error	NOUN
ap-246	51	7	signal	signal	NOUN
ap-246	51	8	,	,	PUNCT
ap-246	51	9	which	which	PRON
ap-246	51	10	is	be	AUX
ap-246	51	11	the	the	DET
ap-246	51	12	difference	difference	NOUN
ap-246	51	13	between	between	ADP
ap-246	51	14	the	the	DET
ap-246	51	15	desired	desire	VERB
ap-246	51	16	output	output	NOUN
ap-246	51	17	and	and	CCONJ
ap-246	51	18	the	the	DET
ap-246	51	19	actual	actual	ADJ
ap-246	51	20	output	output	NOUN
ap-246	51	21	,	,	PUNCT
ap-246	51	22	and	and	CCONJ
ap-246	51	23	generate	generate	VERB
ap-246	51	24	the	the	DET
ap-246	51	25	actuation	actuation	NOUN
ap-246	51	26	signal	signal	NOUN
ap-246	51	27	(	(	PUNCT
ap-246	51	28	i.e.	i.e.	X
ap-246	51	29	�	�	NOUN
ap-246	51	30	1	1	NUM
ap-246	51	31	and	and	CCONJ
ap-246	51	32	�	�	NOUN
ap-246	51	33	3	3	NUM
ap-246	51	34	)	)	PUNCT
ap-246	51	35	,	,	PUNCT
ap-246	51	36	which	which	PRON
ap-246	51	37	drives	drive	VERB
ap-246	51	38	the	the	DET
ap-246	51	39	plant	plant	NOUN
ap-246	51	40	(	(	PUNCT
ap-246	51	41	i.e.	i.e.	X
ap-246	51	42	the	the	DET
ap-246	51	43	vessel	vessel	NOUN
ap-246	51	44	)	)	PUNCT
ap-246	51	45	.	.	PUNCT
ap-246	52	1	they	they	PRON
ap-246	52	2	have	have	VERB
ap-246	52	3	three	three	NUM
ap-246	52	4	basic	basic	ADJ
ap-246	52	5	modes	mode	NOUN
ap-246	52	6	of	of	ADP
ap-246	52	7	operation	operation	NOUN
ap-246	52	8	:	:	PUNCT
ap-246	52	9	proportional	proportional	ADJ
ap-246	52	10	action	action	NOUN
ap-246	52	11	,	,	PUNCT
ap-246	52	12	in	in	ADP
ap-246	52	13	which	which	PRON
ap-246	52	14	the	the	DET
ap-246	52	15	actuation	actuation	NOUN
ap-246	52	16	signal	signal	NOUN
ap-246	52	17	is	be	AUX
ap-246	52	18	proportional	proportional	ADJ
ap-246	52	19	to	to	ADP
ap-246	52	20	the	the	DET
ap-246	52	21	error	error	NOUN
ap-246	52	22	signal	signal	NOUN
ap-246	52	23	,	,	PUNCT
ap-246	52	24	integral	integral	ADJ
ap-246	52	25	action	action	NOUN
ap-246	52	26	,	,	PUNCT
ap-246	52	27	when	when	SCONJ
ap-246	52	28	the	the	DET
ap-246	52	29	actuation	actuation	NOUN
ap-246	52	30	signal	signal	NOUN
ap-246	52	31	is	be	AUX
ap-246	52	32	proportional	proportional	ADJ
ap-246	52	33	to	to	ADP
ap-246	52	34	the	the	DET
ap-246	52	35	time	time	NOUN
ap-246	52	36	integral	integral	ADJ
ap-246	52	37	of	of	ADP
ap-246	52	38	the	the	DET
ap-246	52	39	error	error	NOUN
ap-246	52	40	signal	signal	NOUN
ap-246	52	41	,	,	PUNCT
ap-246	52	42	and	and	CCONJ
ap-246	52	43	derivative	derivative	ADJ
ap-246	52	44	action	action	NOUN
ap-246	52	45	,	,	PUNCT
ap-246	52	46	where	where	SCONJ
ap-246	52	47	the	the	DET
ap-246	52	48	actuation	actuation	NOUN
ap-246	52	49	signal	signal	NOUN
ap-246	52	50	is	be	AUX
ap-246	52	51	proportional	proportional	ADJ
ap-246	52	52	to	to	ADP
ap-246	52	53	the	the	DET
ap-246	52	54	time	time	NOUN
ap-246	52	55	derivative	derivative	NOUN
ap-246	52	56	of	of	ADP
ap-246	52	57	the	the	DET
ap-246	52	58	error	error	NOUN
ap-246	52	59	signal	signal	NOUN
ap-246	52	60	,	,	PUNCT
ap-246	52	61	and	and	CCONJ
ap-246	52	62	their	their	PRON
ap-246	52	63	transfer	transfer	NOUN
ap-246	52	64	function	function	NOUN
ap-246	52	65	is	be	AUX
ap-246	52	66	given	give	VERB
ap-246	52	67	by	by	ADP
ap-246	52	68	:	:	PUNCT
ap-246	52	69	�	�	PROPN
ap-246	52	70	�	�	PROPN
ap-246	52	71	�	�	PROPN
ap-246	52	72	�	�	PROPN
ap-246	52	73	�	�	PROPN
ap-246	52	74	�	�	PROPN
ap-246	52	75	d	d	PROPN
ap-246	52	76	s	s	PART
ap-246	52	77	k	k	PROPN
ap-246	52	78	k	k	PROPN
ap-246	52	79	s	s	X
ap-246	52	80	k	k	X
ap-246	52	81	s	s	X
ap-246	52	82	e	e	X
ap-246	52	83	si	si	PROPN
ap-246	52	84	d	d	PROPN
ap-246	52	85	�	�	PROPN
ap-246	52	86	�	�	PROPN
ap-246	52	87	.	.	PUNCT
ap-246	53	1	(	(	PUNCT
ap-246	53	2	2	2	X
ap-246	53	3	)	)	PUNCT
ap-246	53	4	these	these	DET
ap-246	53	5	“	"	PUNCT
ap-246	53	6	three	three	NUM
ap-246	53	7	-	-	PUNCT
ap-246	53	8	term	term	NOUN
ap-246	53	9	controllers	controller	NOUN
ap-246	53	10	”	"	PUNCT
ap-246	53	11	have	have	AUX
ap-246	53	12	been	be	AUX
ap-246	53	13	found	find	VERB
ap-246	53	14	to	to	PART
ap-246	53	15	be	be	AUX
ap-246	53	16	so	so	ADV
ap-246	53	17	effective	effective	ADJ
ap-246	53	18	that	that	SCONJ
ap-246	53	19	pid	pid	NOUN
ap-246	53	20	is	be	AUX
ap-246	53	21	the	the	DET
ap-246	53	22	standard	standard	ADJ
ap-246	53	23	control	control	NOUN
ap-246	53	24	method	method	NOUN
ap-246	53	25	used	use	VERB
ap-246	53	26	in	in	ADP
ap-246	53	27	the	the	DET
ap-246	53	28	process	process	NOUN
ap-246	53	29	industries	industry	NOUN
ap-246	53	30	.	.	PUNCT
ap-246	54	1	to	to	PART
ap-246	54	2	design	design	VERB
ap-246	54	3	a	a	DET
ap-246	54	4	particular	particular	ADJ
ap-246	54	5	control	control	NOUN
ap-246	54	6	loop	loop	NOUN
ap-246	54	7	the	the	DET
ap-246	54	8	three	three	NUM
ap-246	54	9	parameters	parameter	NOUN
ap-246	54	10	(	(	PUNCT
ap-246	54	11	k	k	X
ap-246	54	12	,	,	PUNCT
ap-246	54	13	proportional	proportional	ADJ
ap-246	54	14	gain	gain	NOUN
ap-246	54	15	,	,	PUNCT
ap-246	54	16	ki	ki	INTJ
ap-246	54	17	,	,	PUNCT
ap-246	54	18	integral	integral	ADJ
ap-246	54	19	gain	gain	NOUN
ap-246	54	20	,	,	PUNCT
ap-246	54	21	and	and	CCONJ
ap-246	54	22	kd	kd	PROPN
ap-246	54	23	,	,	PUNCT
ap-246	54	24	derivative	derivative	ADJ
ap-246	54	25	gain	gain	NOUN
ap-246	54	26	)	)	PUNCT
ap-246	54	27	have	have	VERB
ap-246	54	28	to	to	PART
ap-246	54	29	be	be	AUX
ap-246	54	30	“	"	PUNCT
ap-246	54	31	tuned	tune	VERB
ap-246	54	32	”	"	PUNCT
ap-246	54	33	to	to	PART
ap-246	54	34	arrive	arrive	VERB
ap-246	54	35	at	at	ADP
ap-246	54	36	acceptable	acceptable	ADJ
ap-246	54	37	performance	performance	NOUN
ap-246	54	38	.	.	PUNCT
ap-246	55	1	4	4	NUM
ap-246	55	2	genetic	genetic	ADJ
ap-246	55	3	algorithm	algorithm	NOUN
ap-246	55	4	optimisation	optimisation	NOUN
ap-246	55	5	gas	gas	NOUN
ap-246	55	6	are	be	AUX
ap-246	55	7	optimisation	optimisation	NOUN
ap-246	55	8	techniques	technique	NOUN
ap-246	55	9	that	that	PRON
ap-246	55	10	mimic	mimic	VERB
ap-246	55	11	the	the	DET
ap-246	55	12	way	way	NOUN
ap-246	55	13	species	specie	NOUN
ap-246	55	14	evolve	evolve	VERB
ap-246	55	15	in	in	ADP
ap-246	55	16	nature	nature	NOUN
ap-246	55	17	.	.	PUNCT
ap-246	56	1	in	in	ADP
ap-246	56	2	natural	natural	ADJ
ap-246	56	3	evolution	evolution	NOUN
ap-246	56	4	many	many	ADJ
ap-246	56	5	organisms	organism	NOUN
ap-246	56	6	evolve	evolve	VERB
ap-246	56	7	by	by	ADP
ap-246	56	8	means	mean	NOUN
ap-246	56	9	of	of	ADP
ap-246	56	10	two	two	NUM
ap-246	56	11	mechanisms	mechanism	NOUN
ap-246	56	12	:	:	PUNCT
ap-246	56	13	natural	natural	ADJ
ap-246	56	14	selection	selection	NOUN
ap-246	56	15	and	and	CCONJ
ap-246	56	16	sexual	sexual	ADJ
ap-246	56	17	reproduction	reproduction	NOUN
ap-246	56	18	.	.	PUNCT
ap-246	57	1	the	the	DET
ap-246	57	2	concept	concept	NOUN
ap-246	57	3	of	of	ADP
ap-246	57	4	natural	natural	ADJ
ap-246	57	5	selection	selection	NOUN
ap-246	57	6	is	be	AUX
ap-246	57	7	described	describe	VERB
ap-246	57	8	by	by	ADP
ap-246	57	9	the	the	DET
ap-246	57	10	darwinian	darwinian	ADJ
ap-246	57	11	theory	theory	NOUN
ap-246	57	12	of	of	ADP
ap-246	57	13	survival	survival	NOUN
ap-246	57	14	of	of	ADP
ap-246	57	15	the	the	DET
ap-246	57	16	fittest	fit	ADJ
ap-246	57	17	.	.	PUNCT
ap-246	58	1	sexual	sexual	ADJ
ap-246	58	2	reproduction	reproduction	NOUN
ap-246	58	3	allows	allow	VERB
ap-246	58	4	the	the	DET
ap-246	58	5	offspring	offspring	NOUN
ap-246	58	6	to	to	PART
ap-246	58	7	inherit	inherit	VERB
ap-246	58	8	features	feature	NOUN
ap-246	58	9	from	from	ADP
ap-246	58	10	both	both	DET
ap-246	58	11	its	its	PRON
ap-246	58	12	parents	parent	NOUN
ap-246	58	13	.	.	PUNCT
ap-246	59	1	gas	gas	NOUN
ap-246	59	2	emulate	emulate	VERB
ap-246	59	3	this	this	DET
ap-246	59	4	process	process	NOUN
ap-246	59	5	by	by	ADP
ap-246	59	6	evolving	evolve	VERB
ap-246	59	7	a	a	DET
ap-246	59	8	population	population	NOUN
ap-246	59	9	of	of	ADP
ap-246	59	10	parameter	parameter	NOUN
ap-246	59	11	solutions	solution	NOUN
ap-246	59	12	through	through	ADP
ap-246	59	13	a	a	DET
ap-246	59	14	number	number	NOUN
ap-246	59	15	of	of	ADP
ap-246	59	16	generations	generation	NOUN
ap-246	59	17	.	.	PUNCT
ap-246	60	1	they	they	PRON
ap-246	60	2	initiate	initiate	VERB
ap-246	60	3	this	this	DET
ap-246	60	4	process	process	NOUN
ap-246	60	5	by	by	ADP
ap-246	60	6	randomly	randomly	ADV
ap-246	60	7	generating	generate	VERB
ap-246	60	8	an	an	DET
ap-246	60	9	initial	initial	ADJ
ap-246	60	10	population	population	NOUN
ap-246	60	11	of	of	ADP
ap-246	60	12	possible	possible	ADJ
ap-246	60	13	parameters	parameter	NOUN
ap-246	60	14	(	(	PUNCT
ap-246	60	15	suitably	suitably	ADV
ap-246	60	16	encoded	encode	VERB
ap-246	60	17	)	)	PUNCT
ap-246	60	18	.	.	PUNCT
ap-246	61	1	the	the	DET
ap-246	61	2	performance	performance	NOUN
ap-246	61	3	of	of	ADP
ap-246	61	4	each	each	DET
ap-246	61	5	solution	solution	NOUN
ap-246	61	6	is	be	AUX
ap-246	61	7	evaluated	evaluate	VERB
ap-246	61	8	and	and	CCONJ
ap-246	61	9	a	a	DET
ap-246	61	10	new	new	ADJ
ap-246	61	11	generation	generation	NOUN
ap-246	61	12	is	be	AUX
ap-246	61	13	produced	produce	VERB
ap-246	61	14	according	accord	VERB
ap-246	61	15	to	to	ADP
ap-246	61	16	the	the	DET
ap-246	61	17	three	three	NUM
ap-246	61	18	main	main	ADJ
ap-246	61	19	operators	operator	NOUN
ap-246	61	20	of	of	ADP
ap-246	61	21	the	the	DET
ap-246	61	22	ga	ga	PROPN
ap-246	62	1	:	:	PUNCT
ap-246	62	2	selection	selection	NOUN
ap-246	62	3	,	,	PUNCT
ap-246	62	4	crossover	crossover	NOUN
ap-246	62	5	and	and	CCONJ
ap-246	62	6	mutation	mutation	NOUN
ap-246	62	7	.	.	PUNCT
ap-246	63	1	selection	selection	NOUN
ap-246	63	2	determines	determine	NOUN
ap-246	63	3	which	which	PRON
ap-246	63	4	solutions	solution	NOUN
ap-246	63	5	are	be	AUX
ap-246	63	6	chosen	choose	VERB
ap-246	63	7	for	for	ADP
ap-246	63	8	mating	mating	NOUN
ap-246	63	9	according	accord	VERB
ap-246	63	10	to	to	ADP
ap-246	63	11	the	the	DET
ap-246	63	12	principal	principal	NOUN
ap-246	63	13	of	of	ADP
ap-246	63	14	survival	survival	NOUN
ap-246	63	15	of	of	ADP
ap-246	63	16	the	the	DET
ap-246	63	17	fittest	fit	ADJ
ap-246	63	18	(	(	PUNCT
ap-246	63	19	i.e.	i.e.	X
ap-246	63	20	the	the	PRON
ap-246	63	21	better	well	ADJ
ap-246	63	22	the	the	DET
ap-246	63	23	performance	performance	NOUN
ap-246	63	24	of	of	ADP
ap-246	63	25	the	the	DET
ap-246	63	26	solution	solution	NOUN
ap-246	63	27	,	,	PUNCT
ap-246	63	28	the	the	PRON
ap-246	63	29	more	more	ADV
ap-246	63	30	likely	likely	ADJ
ap-246	63	31	it	it	PRON
ap-246	63	32	is	be	AUX
ap-246	63	33	to	to	PART
ap-246	63	34	be	be	AUX
ap-246	63	35	chosen	choose	VERB
ap-246	63	36	for	for	ADP
ap-246	63	37	mating	mating	NOUN
ap-246	63	38	and	and	CCONJ
ap-246	63	39	the	the	DET
ap-246	63	40	more	more	ADJ
ap-246	63	41	offspring	offspring	NOUN
ap-246	63	42	it	it	PRON
ap-246	63	43	produces	produce	VERB
ap-246	63	44	)	)	PUNCT
ap-246	63	45	.	.	PUNCT
ap-246	64	1	crossover	crossover	NOUN
ap-246	64	2	allows	allow	VERB
ap-246	64	3	an	an	DET
ap-246	64	4	improvement	improvement	NOUN
ap-246	64	5	in	in	ADP
ap-246	64	6	the	the	DET
ap-246	64	7	species	specie	NOUN
ap-246	64	8	in	in	ADP
ap-246	64	9	terms	term	NOUN
ap-246	64	10	of	of	ADP
ap-246	64	11	the	the	DET
ap-246	64	12	evolution	evolution	NOUN
ap-246	64	13	of	of	ADP
ap-246	64	14	new	new	ADJ
ap-246	64	15	solutions	solution	NOUN
ap-246	64	16	that	that	PRON
ap-246	64	17	are	be	AUX
ap-246	64	18	fitter	fit	ADJ
ap-246	64	19	than	than	ADP
ap-246	64	20	any	any	PRON
ap-246	64	21	seen	see	VERB
ap-246	64	22	before	before	ADV
ap-246	64	23	,	,	PUNCT
ap-246	64	24	and	and	CCONJ
ap-246	64	25	mutation	mutation	NOUN
ap-246	64	26	reintroduces	reintroduce	VERB
ap-246	64	27	values	value	NOUN
ap-246	64	28	that	that	PRON
ap-246	64	29	might	might	AUX
ap-246	64	30	have	have	AUX
ap-246	64	31	been	be	AUX
ap-246	64	32	lost	lose	VERB
ap-246	64	33	through	through	ADP
ap-246	64	34	selection	selection	NOUN
ap-246	64	35	or	or	CCONJ
ap-246	64	36	crossover	crossover	NOUN
ap-246	64	37	,	,	PUNCT
ap-246	64	38	or	or	CCONJ
ap-246	64	39	creates	create	VERB
ap-246	64	40	totally	totally	ADV
ap-246	64	41	new	new	ADJ
ap-246	64	42	features	feature	NOUN
ap-246	64	43	.	.	PUNCT
ap-246	65	1	the	the	DET
ap-246	65	2	cycle	cycle	NOUN
ap-246	65	3	is	be	AUX
ap-246	65	4	performed	perform	VERB
ap-246	65	5	until	until	SCONJ
ap-246	65	6	a	a	DET
ap-246	65	7	predetermined	predetermine	VERB
ap-246	65	8	number	number	NOUN
ap-246	65	9	of	of	ADP
ap-246	65	10	generations	generation	NOUN
ap-246	65	11	is	be	AUX
ap-246	65	12	met	meet	VERB
ap-246	65	13	[	[	PUNCT
ap-246	65	14	1	1	NUM
ap-246	65	15	]	]	PUNCT
ap-246	65	16	,	,	PUNCT
ap-246	66	1	[	[	X
ap-246	66	2	2	2	NUM
ap-246	66	3	]	]	PUNCT
ap-246	66	4	.	.	PUNCT
ap-246	67	1	in	in	ADP
ap-246	67	2	order	order	NOUN
ap-246	67	3	to	to	PART
ap-246	67	4	search	search	VERB
ap-246	67	5	the	the	DET
ap-246	67	6	space	space	NOUN
ap-246	67	7	of	of	ADP
ap-246	67	8	possible	possible	ADJ
ap-246	67	9	solutions	solution	NOUN
ap-246	67	10	the	the	DET
ap-246	67	11	ga	ga	PROPN
ap-246	67	12	uses	use	VERB
ap-246	67	13	a	a	DET
ap-246	67	14	string	string	NOUN
ap-246	67	15	(	(	PUNCT
ap-246	67	16	called	call	VERB
ap-246	67	17	chromosome	chromosome	NOUN
ap-246	67	18	)	)	PUNCT
ap-246	67	19	of	of	ADP
ap-246	67	20	digits	digit	NOUN
ap-246	67	21	as	as	ADP
ap-246	67	22	a	a	DET
ap-246	67	23	representation	representation	NOUN
ap-246	67	24	of	of	ADP
ap-246	67	25	the	the	DET
ap-246	67	26	elements	element	NOUN
ap-246	67	27	of	of	ADP
ap-246	67	28	the	the	DET
ap-246	67	29	space	space	NOUN
ap-246	67	30	of	of	ADP
ap-246	67	31	possible	possible	ADJ
ap-246	67	32	solutions	solution	NOUN
ap-246	67	33	(	(	PUNCT
ap-246	67	34	i.e.	i.e.	X
ap-246	67	35	the	the	DET
ap-246	67	36	possible	possible	ADJ
ap-246	67	37	solutions	solution	NOUN
ap-246	67	38	are	be	AUX
ap-246	67	39	suitably	suitably	ADV
ap-246	67	40	encoded	encode	VERB
ap-246	67	41	)	)	PUNCT
ap-246	67	42	.	.	PUNCT
ap-246	68	1	in	in	ADP
ap-246	68	2	this	this	DET
ap-246	68	3	study	study	NOUN
ap-246	68	4	,	,	PUNCT
ap-246	68	5	the	the	DET
ap-246	68	6	encoding	encoding	NOUN
ap-246	68	7	of	of	ADP
ap-246	68	8	the	the	DET
ap-246	68	9	parameters	parameter	NOUN
ap-246	68	10	has	have	AUX
ap-246	68	11	been	be	AUX
ap-246	68	12	chosen	choose	VERB
ap-246	68	13	to	to	PART
ap-246	68	14	allow	allow	VERB
ap-246	68	15	a	a	DET
ap-246	68	16	range	range	NOUN
ap-246	68	17	of	of	ADP
ap-246	68	18	possible	possible	ADJ
ap-246	68	19	solutions	solution	NOUN
ap-246	68	20	from	from	ADP
ap-246	68	21	0.001	0.001	NUM
ap-246	68	22	10	10	NUM
ap-246	68	23	2	2	NUM
ap-246	68	24	to	to	ADP
ap-246	68	25	9.999	9.999	NUM
ap-246	68	26	103	103	NUM
ap-246	68	27	.	.	PUNCT
ap-246	69	1	each	each	DET
ap-246	69	2	controller	controller	NOUN
ap-246	69	3	parameter	parameter	NOUN
ap-246	69	4	value	value	NOUN
ap-246	69	5	is	be	AUX
ap-246	69	6	encoded	encode	VERB
ap-246	69	7	as	as	ADP
ap-246	69	8	a	a	DET
ap-246	69	9	string	string	NOUN
ap-246	69	10	of	of	ADP
ap-246	69	11	five	five	NUM
ap-246	69	12	genes	gene	NOUN
ap-246	69	13	.	.	PUNCT
ap-246	70	1	as	as	SCONJ
ap-246	70	2	there	there	PRON
ap-246	70	3	are	be	VERB
ap-246	70	4	three	three	NUM
ap-246	70	5	parameters	parameter	NOUN
ap-246	70	6	to	to	PART
ap-246	70	7	optimise	optimise	VERB
ap-246	70	8	in	in	ADP
ap-246	70	9	the	the	DET
ap-246	70	10	controller	controller	NOUN
ap-246	70	11	(	(	PUNCT
ap-246	70	12	i.e.	i.e.	X
ap-246	70	13	k	k	X
ap-246	70	14	,	,	PUNCT
ap-246	70	15	proportional	proportional	ADJ
ap-246	70	16	gain	gain	NOUN
ap-246	70	17	,	,	PUNCT
ap-246	70	18	ki	ki	INTJ
ap-246	70	19	,	,	PUNCT
ap-246	70	20	integral	integral	ADJ
ap-246	70	21	gain	gain	NOUN
ap-246	70	22	,	,	PUNCT
ap-246	70	23	and	and	CCONJ
ap-246	70	24	kd	kd	PROPN
ap-246	70	25	,	,	PUNCT
ap-246	70	26	derivative	derivative	ADJ
ap-246	70	27	gain	gain	NOUN
ap-246	70	28	)	)	PUNCT
ap-246	70	29	,	,	PUNCT
ap-246	70	30	each	each	DET
ap-246	70	31	possible	possible	ADJ
ap-246	70	32	solution	solution	NOUN
ap-246	70	33	is	be	AUX
ap-246	70	34	represented	represent	VERB
ap-246	70	35	by	by	ADP
ap-246	70	36	a	a	DET
ap-246	70	37	chromosome	chromosome	NOUN
ap-246	70	38	that	that	PRON
ap-246	70	39	is	be	AUX
ap-246	70	40	a	a	DET
ap-246	70	41	string	string	NOUN
ap-246	70	42	of	of	ADP
ap-246	70	43	30	30	NUM
ap-246	70	44	genes	gene	NOUN
ap-246	70	45	(	(	PUNCT
ap-246	70	46	i.e.	i.e.	X
ap-246	70	47	15	15	NUM
ap-246	70	48	genes	gene	NOUN
ap-246	70	49	represent	represent	VERB
ap-246	70	50	the	the	DET
ap-246	70	51	propulsion	propulsion	NOUN
ap-246	70	52	controller	controller	NOUN
ap-246	70	53	and	and	CCONJ
ap-246	70	54	15	15	NUM
ap-246	70	55	represent	represent	VERB
ap-246	70	56	the	the	DET
ap-246	70	57	heading	head	VERB
ap-246	70	58	controller	controller	NOUN
ap-246	70	59	)	)	PUNCT
ap-246	70	60	.	.	PUNCT
ap-246	71	1	these	these	DET
ap-246	71	2	genes	gene	NOUN
ap-246	71	3	,	,	PUNCT
ap-246	71	4	instead	instead	ADV
ap-246	71	5	of	of	ADP
ap-246	71	6	being	be	AUX
ap-246	71	7	binary	binary	ADJ
ap-246	71	8	bits	bit	NOUN
ap-246	71	9	(	(	PUNCT
ap-246	71	10	as	as	SCONJ
ap-246	71	11	they	they	PRON
ap-246	71	12	used	use	VERB
ap-246	71	13	to	to	PART
ap-246	71	14	be	be	AUX
ap-246	71	15	in	in	ADP
ap-246	71	16	the	the	DET
ap-246	71	17	traditional	traditional	ADJ
ap-246	71	18	ga	ga	PROPN
ap-246	71	19	)	)	PUNCT
ap-246	71	20	,	,	PUNCT
ap-246	71	21	are	be	AUX
ap-246	71	22	integers	integer	NOUN
ap-246	71	23	included	include	VERB
ap-246	71	24	within	within	ADP
ap-246	71	25	the	the	DET
ap-246	71	26	interval	interval	NOUN
ap-246	71	27	[	[	X
ap-246	71	28	0	0	NUM
ap-246	71	29	,	,	PUNCT
ap-246	71	30	9	9	NUM
ap-246	71	31	]	]	PUNCT
ap-246	71	32	,	,	PUNCT
ap-246	71	33	in	in	ADP
ap-246	71	34	order	order	NOUN
ap-246	71	35	to	to	PART
ap-246	71	36	allow	allow	VERB
ap-246	71	37	a	a	DET
ap-246	71	38	wider	wide	ADJ
ap-246	71	39	range	range	NOUN
ap-246	71	40	of	of	ADP
ap-246	71	41	possible	possible	ADJ
ap-246	71	42	solutions	solution	NOUN
ap-246	71	43	in	in	ADP
ap-246	71	44	smaller	small	ADJ
ap-246	71	45	chromosomes	chromosome	NOUN
ap-246	71	46	[	[	X
ap-246	71	47	4	4	NUM
ap-246	71	48	]	]	PUNCT
ap-246	71	49	.	.	PUNCT
ap-246	72	1	parametere	parametere	PROPN
ap-246	72	2	ncoding	ncode	VERB
ap-246	72	3	abcde	abcde	PROPN
ap-246	72	4	parameterv	parameterv	NOUN
ap-246	72	5	alue	alue	PROPN
ap-246	72	6	a	a	DET
ap-246	72	7	b	b	PROPN
ap-246	72	8	�	�	PROPN
ap-246	72	9	�	�	PROPN
ap-246	72	10	�	�	PROPN
ap-246	72	11	01	01	NUM
ap-246	72	12	00	00	NUM
ap-246	72	13	.	.	PUNCT
ap-246	72	14	.	.	PUNCT
ap-246	73	1	�	�	PROPN
ap-246	73	2	�	�	PROPN
ap-246	73	3	�	�	PROPN
ap-246	73	4	�	�	PROPN
ap-246	73	5	1	1	NUM
ap-246	73	6	0001	0001	NUM
ap-246	73	7	10	10	NUM
ap-246	73	8	2	2	NUM
ap-246	73	9	2c	2c	NUM
ap-246	73	10	d	d	X
ap-246	73	11	e	e	PROPN
ap-246	73	12	�	�	PROPN
ap-246	73	13	�	�	PROPN
ap-246	73	14	.	.	PUNCT
ap-246	73	15	.	.	PUNCT
ap-246	74	1	(	(	PUNCT
ap-246	74	2	3	3	X
ap-246	74	3	)	)	PUNCT
ap-246	74	4	once	once	ADV
ap-246	74	5	an	an	DET
ap-246	74	6	initial	initial	ADJ
ap-246	74	7	population	population	NOUN
ap-246	74	8	of	of	ADP
ap-246	74	9	chromosomes	chromosome	NOUN
ap-246	74	10	is	be	AUX
ap-246	74	11	generated	generate	VERB
ap-246	74	12	at	at	ADP
ap-246	74	13	random	random	ADJ
ap-246	74	14	,	,	PUNCT
ap-246	74	15	the	the	DET
ap-246	74	16	chromosomes	chromosome	NOUN
ap-246	74	17	are	be	AUX
ap-246	74	18	decoded	decode	VERB
ap-246	74	19	to	to	PART
ap-246	74	20	get	get	VERB
ap-246	74	21	the	the	DET
ap-246	74	22	corresponding	correspond	VERB
ap-246	74	23	parameters	parameter	NOUN
ap-246	74	24	and	and	CCONJ
ap-246	74	25	these	these	PRON
ap-246	74	26	are	be	AUX
ap-246	74	27	introduced	introduce	VERB
ap-246	74	28	in	in	ADP
ap-246	74	29	the	the	DET
ap-246	74	30	controllers	controller	NOUN
ap-246	74	31	.	.	PUNCT
ap-246	75	1	a	a	DET
ap-246	75	2	simulation	simulation	NOUN
ap-246	75	3	is	be	AUX
ap-246	75	4	run	run	VERB
ap-246	75	5	and	and	CCONJ
ap-246	75	6	the	the	DET
ap-246	75	7	result	result	NOUN
ap-246	75	8	obtained	obtain	VERB
ap-246	75	9	for	for	ADP
ap-246	75	10	each	each	DET
ap-246	75	11	set	set	NOUN
ap-246	75	12	of	of	ADP
ap-246	75	13	controller	controller	NOUN
ap-246	75	14	’s	’s	PART
ap-246	75	15	parameters	parameter	NOUN
ap-246	75	16	of	of	ADP
ap-246	75	17	the	the	DET
ap-246	75	18	population	population	NOUN
ap-246	75	19	is	be	AUX
ap-246	75	20	evaluated	evaluate	VERB
ap-246	75	21	,	,	PUNCT
ap-246	75	22	using	use	VERB
ap-246	75	23	the	the	DET
ap-246	75	24	cost	cost	NOUN
ap-246	75	25	function	function	NOUN
ap-246	75	26	to	to	PART
ap-246	75	27	be	be	AUX
ap-246	75	28	minimized	minimize	VERB
ap-246	75	29	.	.	PUNCT
ap-246	76	1	based	base	VERB
ap-246	76	2	on	on	ADP
ap-246	76	3	this	this	DET
ap-246	76	4	cost	cost	NOUN
ap-246	76	5	function	function	NOUN
ap-246	76	6	the	the	DET
ap-246	76	7	selection	selection	NOUN
ap-246	76	8	procedure	procedure	NOUN
ap-246	76	9	,	,	PUNCT
ap-246	76	10	used	use	VERB
ap-246	76	11	to	to	PART
ap-246	76	12	draw	draw	VERB
ap-246	76	13	chromosomes	chromosome	NOUN
ap-246	76	14	from	from	ADP
ap-246	76	15	the	the	DET
ap-246	76	16	evaluated	evaluated	ADJ
ap-246	76	17	population	population	NOUN
ap-246	76	18	,	,	PUNCT
ap-246	76	19	takes	take	VERB
ap-246	76	20	place	place	NOUN
ap-246	76	21	.	.	PUNCT
ap-246	77	1	there	there	PRON
ap-246	77	2	are	be	VERB
ap-246	77	3	three	three	NUM
ap-246	77	4	main	main	ADJ
ap-246	77	5	types	type	NOUN
ap-246	77	6	of	of	ADP
ap-246	77	7	algorithms	algorithm	NOUN
ap-246	77	8	for	for	ADP
ap-246	77	9	this	this	PRON
ap-246	77	10	(	(	PUNCT
ap-246	77	11	i.e.	i.e.	X
ap-246	77	12	roulette	roulette	NOUN
ap-246	77	13	wheel	wheel	NOUN
ap-246	77	14	selection	selection	NOUN
ap-246	77	15	,	,	PUNCT
ap-246	77	16	tournament	tournament	NOUN
ap-246	77	17	selection	selection	NOUN
ap-246	77	18	and	and	CCONJ
ap-246	77	19	rank	rank	NOUN
ap-246	77	20	-	-	PUNCT
ap-246	77	21	based	base	VERB
ap-246	77	22	selection	selection	NOUN
ap-246	77	23	[	[	X
ap-246	77	24	4	4	NUM
ap-246	77	25	]	]	NUM
ap-246	77	26	)	)	PUNCT
ap-246	77	27	,	,	PUNCT
ap-246	77	28	but	but	CCONJ
ap-246	77	29	they	they	PRON
ap-246	77	30	all	all	PRON
ap-246	77	31	share	share	VERB
ap-246	77	32	the	the	DET
ap-246	77	33	feature	feature	NOUN
ap-246	77	34	that	that	PRON
ap-246	77	35	the	the	DET
ap-246	77	36	probability	probability	NOUN
ap-246	77	37	of	of	ADP
ap-246	77	38	selecting	select	VERB
ap-246	77	39	a	a	DET
ap-246	77	40	chromosome	chromosome	NOUN
ap-246	77	41	for	for	ADP
ap-246	77	42	reproduction	reproduction	NOUN
ap-246	77	43	is	be	AUX
ap-246	77	44	a	a	DET
ap-246	77	45	decreasing	decrease	VERB
ap-246	77	46	function	function	NOUN
ap-246	77	47	of	of	ADP
ap-246	77	48	the	the	DET
ap-246	77	49	chromosome	chromosome	NOUN
ap-246	77	50	’s	’s	PART
ap-246	77	51	cost	cost	NOUN
ap-246	77	52	score	score	NOUN
ap-246	77	53	.	.	PUNCT
ap-246	78	1	roulette	roulette	NOUN
ap-246	78	2	wheel	wheel	NOUN
ap-246	78	3	selection	selection	NOUN
ap-246	78	4	allows	allow	VERB
ap-246	78	5	sub	sub	ADJ
ap-246	78	6	-	-	ADJ
ap-246	78	7	optimal	optimal	ADJ
ap-246	78	8	solutions	solution	NOUN
ap-246	78	9	to	to	PART
ap-246	78	10	have	have	VERB
ap-246	78	11	a	a	DET
ap-246	78	12	chance	chance	NOUN
ap-246	78	13	of	of	ADP
ap-246	78	14	being	be	AUX
ap-246	78	15	accepted	accept	VERB
ap-246	78	16	.	.	PUNCT
ap-246	79	1	it	it	PRON
ap-246	79	2	ensures	ensure	VERB
ap-246	79	3	a	a	DET
ap-246	79	4	good	good	ADJ
ap-246	79	5	mix	mix	NOUN
ap-246	79	6	of	of	ADP
ap-246	79	7	good	good	ADJ
ap-246	79	8	and	and	CCONJ
ap-246	79	9	bad	bad	ADJ
ap-246	79	10	solutions	solution	NOUN
ap-246	79	11	and	and	CCONJ
ap-246	79	12	prevents	prevent	VERB
ap-246	79	13	premature	premature	ADJ
ap-246	79	14	convergence	convergence	NOUN
ap-246	79	15	to	to	ADP
ap-246	79	16	a	a	DET
ap-246	79	17	local	local	ADJ
ap-246	79	18	minimum	minimum	NOUN
ap-246	79	19	,	,	PUNCT
ap-246	79	20	however	however	SCONJ
ap-246	79	21	it	it	PRON
ap-246	79	22	also	also	ADV
ap-246	79	23	leads	lead	VERB
ap-246	79	24	to	to	ADP
ap-246	79	25	a	a	DET
ap-246	79	26	very	very	ADV
ap-246	79	27	slow	slow	ADJ
ap-246	79	28	convergence	convergence	NOUN
ap-246	79	29	rate	rate	NOUN
ap-246	79	30	.	.	PUNCT
ap-246	80	1	therefore	therefore	ADV
ap-246	80	2	,	,	PUNCT
ap-246	80	3	to	to	PART
ap-246	80	4	avoid	avoid	VERB
ap-246	80	5	this	this	DET
ap-246	80	6	slow	slow	ADJ
ap-246	80	7	convergence	convergence	NOUN
ap-246	80	8	,	,	PUNCT
ap-246	80	9	the	the	DET
ap-246	80	10	selection	selection	NOUN
ap-246	80	11	scheme	scheme	NOUN
ap-246	80	12	chosen	choose	VERB
ap-246	80	13	for	for	ADP
ap-246	80	14	this	this	DET
ap-246	80	15	study	study	NOUN
ap-246	80	16	is	be	AUX
ap-246	80	17	a	a	DET
ap-246	80	18	variation	variation	NOUN
ap-246	80	19	of	of	ADP
ap-246	80	20	roulette	roulette	NOUN
ap-246	80	21	wheel	wheel	NOUN
ap-246	80	22	selection	selection	NOUN
ap-246	80	23	.	.	PUNCT
ap-246	81	1	the	the	DET
ap-246	81	2	population	population	NOUN
ap-246	81	3	is	be	AUX
ap-246	81	4	sorted	sort	VERB
ap-246	81	5	according	accord	VERB
ap-246	81	6	to	to	ADP
ap-246	81	7	the	the	DET
ap-246	81	8	actual	actual	ADJ
ap-246	81	9	cost	cost	NOUN
ap-246	81	10	and	and	CCONJ
ap-246	81	11	a	a	DET
ap-246	81	12	new	new	ADJ
ap-246	81	13	cost	cost	NOUN
ap-246	81	14	value	value	NOUN
ap-246	81	15	is	be	AUX
ap-246	81	16	assigned	assign	VERB
ap-246	81	17	to	to	ADP
ap-246	81	18	each	each	DET
ap-246	81	19	chromosome	chromosome	NOUN
ap-246	81	20	depending	depend	VERB
ap-246	81	21	only	only	ADV
ap-246	81	22	on	on	ADP
ap-246	81	23	its	its	PRON
ap-246	81	24	position	position	NOUN
ap-246	81	25	in	in	ADP
ap-246	81	26	the	the	DET
ap-246	81	27	chromosome	chromosome	NOUN
ap-246	81	28	’s	’s	NOUN
ap-246	81	29	rank	rank	NOUN
ap-246	81	30	and	and	CCONJ
ap-246	81	31	not	not	PART
ap-246	81	32	on	on	ADP
ap-246	81	33	the	the	DET
ap-246	81	34	actual	actual	ADJ
ap-246	81	35	cost	cost	NOUN
ap-246	81	36	value	value	NOUN
ap-246	81	37	.	.	PUNCT
ap-246	82	1	consider	consider	VERB
ap-246	82	2	nchrom	nchrom	ADP
ap-246	82	3	the	the	DET
ap-246	82	4	number	number	NOUN
ap-246	82	5	of	of	ADP
ap-246	82	6	chromosomes	chromosome	NOUN
ap-246	82	7	in	in	ADP
ap-246	82	8	the	the	DET
ap-246	82	9	population	population	NOUN
ap-246	82	10	,	,	PUNCT
ap-246	82	11	pos	pos	VERB
ap-246	82	12	the	the	DET
ap-246	82	13	position	position	NOUN
ap-246	82	14	of	of	ADP
ap-246	82	15	a	a	DET
ap-246	82	16	chromosome	chromosome	NOUN
ap-246	82	17	in	in	ADP
ap-246	82	18	this	this	DET
ap-246	82	19	population	population	NOUN
ap-246	82	20	and	and	CCONJ
ap-246	82	21	sp	sp	ADP
ap-246	82	22	the	the	DET
ap-246	82	23	selective	selective	ADJ
ap-246	82	24	pressure	pressure	NOUN
ap-246	82	25	(	(	PUNCT
ap-246	82	26	i.e.	i.e.	X
ap-246	82	27	the	the	DET
ap-246	82	28	probability	probability	NOUN
ap-246	82	29	of	of	ADP
ap-246	82	30	the	the	DET
ap-246	82	31	best	good	ADJ
ap-246	82	32	chromosome	chromosome	NOUN
ap-246	82	33	being	be	AUX
ap-246	82	34	selected	select	VERB
ap-246	82	35	compared	compare	VERB
ap-246	82	36	to	to	ADP
ap-246	82	37	the	the	DET
ap-246	82	38	average	average	ADJ
ap-246	82	39	probability	probability	NOUN
ap-246	82	40	of	of	ADP
ap-246	82	41	selection	selection	NOUN
ap-246	82	42	of	of	ADP
ap-246	82	43	all	all	DET
ap-246	82	44	chromosomes	chromosome	NOUN
ap-246	82	45	)	)	PUNCT
ap-246	82	46	.	.	PUNCT
ap-246	83	1	the	the	DET
ap-246	83	2	new	new	ADJ
ap-246	83	3	cost	cost	NOUN
ap-246	83	4	is	be	AUX
ap-246	83	5	calculated	calculate	VERB
ap-246	83	6	as	as	ADP
ap-246	83	7	[	[	X
ap-246	83	8	7	7	NUM
ap-246	83	9	]	]	SYM
ap-246	83	10	:	:	PUNCT
ap-246	83	11	�	�	PROPN
ap-246	83	12	�	�	PROPN
ap-246	83	13	�	�	PROPN
ap-246	83	14	�	�	PROPN
ap-246	83	15	�	�	PROPN
ap-246	83	16	�	�	PROPN
ap-246	83	17	�	�	PROPN
ap-246	83	18	�	�	PROPN
ap-246	83	19	cost	cost	NOUN
ap-246	83	20	pos	pos	NOUN
ap-246	83	21	sp	sp	ADP
ap-246	83	22	sp	sp	ADP
ap-246	83	23	pos	pos	NOUN
ap-246	83	24	nchrom	nchrom	ADP
ap-246	83	25	�	�	PROPN
ap-246	83	26	�	�	PROPN
ap-246	83	27	�	�	PROPN
ap-246	83	28	�	�	PROPN
ap-246	83	29	�	�	PROPN
ap-246	83	30	2	2	NUM
ap-246	83	31	2	2	NUM
ap-246	83	32	1	1	NUM
ap-246	83	33	1	1	NUM
ap-246	83	34	1	1	NUM
ap-246	83	35	.	.	PUNCT
ap-246	84	1	(	(	PUNCT
ap-246	84	2	4	4	NUM
ap-246	84	3	)	)	PUNCT
ap-246	84	4	then	then	ADV
ap-246	84	5	a	a	DET
ap-246	84	6	biased	biased	ADJ
ap-246	84	7	roulette	roulette	NOUN
ap-246	84	8	wheel	wheel	NOUN
ap-246	84	9	is	be	AUX
ap-246	84	10	created	create	VERB
ap-246	84	11	where	where	SCONJ
ap-246	84	12	each	each	DET
ap-246	84	13	chromosome	chromosome	NOUN
ap-246	84	14	in	in	ADP
ap-246	84	15	the	the	DET
ap-246	84	16	population	population	NOUN
ap-246	84	17	has	have	VERB
ap-246	84	18	a	a	DET
ap-246	84	19	roulette	roulette	NOUN
ap-246	84	20	wheel	wheel	NOUN
ap-246	84	21	slot	slot	NOUN
ap-246	84	22	sized	size	VERB
ap-246	84	23	in	in	ADP
ap-246	84	24	proportion	proportion	NOUN
ap-246	84	25	to	to	ADP
ap-246	84	26	its	its	PRON
ap-246	84	27	cost	cost	NOUN
ap-246	84	28	.	.	PUNCT
ap-246	85	1	to	to	PART
ap-246	85	2	reproduce	reproduce	VERB
ap-246	85	3	,	,	PUNCT
ap-246	85	4	the	the	DET
ap-246	85	5	roulette	roulette	NOUN
ap-246	85	6	wheel	wheel	NOUN
ap-246	85	7	thus	thus	ADV
ap-246	85	8	14	14	NUM
ap-246	85	9	©	©	PROPN
ap-246	85	10	czech	czech	PROPN
ap-246	85	11	technical	technical	PROPN
ap-246	85	12	university	university	PROPN
ap-246	85	13	publishing	publishing	NOUN
ap-246	85	14	house	house	NOUN
ap-246	85	15	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-246	85	16	acta	acta	PROPN
ap-246	85	17	polytechnica	polytechnica	PROPN
ap-246	85	18	vol	vol	NOUN
ap-246	85	19	.	.	PUNCT
ap-246	86	1	41	41	NUM
ap-246	86	2	no	no	NOUN
ap-246	86	3	.	.	PUNCT
ap-246	87	1	4–5/2001	4–5/2001	NUM
ap-246	87	2	defined	define	VERB
ap-246	87	3	is	be	AUX
ap-246	87	4	spinned	spinne	VERB
ap-246	87	5	as	as	ADV
ap-246	87	6	many	many	ADJ
ap-246	87	7	times	time	NOUN
ap-246	87	8	as	as	ADP
ap-246	87	9	chromosomes	chromosome	NOUN
ap-246	87	10	are	be	AUX
ap-246	87	11	in	in	ADP
ap-246	87	12	the	the	DET
ap-246	87	13	population	population	NOUN
ap-246	88	1	[	[	X
ap-246	88	2	3	3	NUM
ap-246	88	3	]	]	PUNCT
ap-246	88	4	.	.	PUNCT
ap-246	89	1	the	the	DET
ap-246	89	2	fact	fact	NOUN
ap-246	89	3	of	of	ADP
ap-246	89	4	assigning	assign	VERB
ap-246	89	5	this	this	DET
ap-246	89	6	new	new	ADJ
ap-246	89	7	cost	cost	NOUN
ap-246	89	8	value	value	NOUN
ap-246	89	9	to	to	ADP
ap-246	89	10	each	each	DET
ap-246	89	11	chromosome	chromosome	NOUN
ap-246	89	12	(	(	PUNCT
ap-246	89	13	instead	instead	ADV
ap-246	89	14	of	of	ADP
ap-246	89	15	creating	create	VERB
ap-246	89	16	a	a	DET
ap-246	89	17	biased	biased	ADJ
ap-246	89	18	roulette	roulette	NOUN
ap-246	89	19	wheel	wheel	NOUN
ap-246	89	20	straight	straight	ADV
ap-246	89	21	from	from	ADP
ap-246	89	22	the	the	DET
ap-246	89	23	actual	actual	ADJ
ap-246	89	24	cost	cost	NOUN
ap-246	89	25	values	value	NOUN
ap-246	89	26	obtained	obtain	VERB
ap-246	89	27	after	after	ADP
ap-246	89	28	the	the	DET
ap-246	89	29	simulation	simulation	NOUN
ap-246	89	30	)	)	PUNCT
ap-246	89	31	allows	allow	VERB
ap-246	89	32	a	a	DET
ap-246	89	33	bigger	big	ADJ
ap-246	89	34	differentiation	differentiation	NOUN
ap-246	89	35	among	among	ADP
ap-246	89	36	the	the	DET
ap-246	89	37	chromosomes	chromosome	NOUN
ap-246	89	38	.	.	PUNCT
ap-246	90	1	in	in	ADP
ap-246	90	2	a	a	DET
ap-246	90	3	even	even	ADJ
ap-246	90	4	population	population	NOUN
ap-246	90	5	where	where	SCONJ
ap-246	90	6	most	most	ADJ
ap-246	90	7	chromosomes	chromosome	NOUN
ap-246	90	8	have	have	VERB
ap-246	90	9	approximately	approximately	ADV
ap-246	90	10	the	the	DET
ap-246	90	11	same	same	ADJ
ap-246	90	12	cost	cost	NOUN
ap-246	90	13	value	value	NOUN
ap-246	90	14	,	,	PUNCT
ap-246	90	15	assigning	assign	VERB
ap-246	90	16	new	new	ADJ
ap-246	90	17	cost	cost	NOUN
ap-246	90	18	values	value	NOUN
ap-246	90	19	depending	depend	VERB
ap-246	90	20	only	only	ADV
ap-246	90	21	in	in	ADP
ap-246	90	22	the	the	DET
ap-246	90	23	position	position	NOUN
ap-246	90	24	of	of	ADP
ap-246	90	25	the	the	DET
ap-246	90	26	chromosome	chromosome	NOUN
ap-246	90	27	once	once	SCONJ
ap-246	90	28	the	the	DET
ap-246	90	29	population	population	NOUN
ap-246	90	30	has	have	AUX
ap-246	90	31	been	be	AUX
ap-246	90	32	ranked	rank	VERB
ap-246	90	33	,	,	PUNCT
ap-246	90	34	increases	increase	VERB
ap-246	90	35	the	the	DET
ap-246	90	36	chances	chance	NOUN
ap-246	90	37	of	of	ADP
ap-246	90	38	the	the	DET
ap-246	90	39	fittest	fit	ADJ
ap-246	90	40	chromosomes	chromosome	NOUN
ap-246	90	41	being	be	AUX
ap-246	90	42	chosen	choose	VERB
ap-246	90	43	for	for	ADP
ap-246	90	44	reproduction	reproduction	NOUN
ap-246	90	45	.	.	PUNCT
ap-246	91	1	this	this	DET
ap-246	91	2	way	way	NOUN
ap-246	91	3	the	the	DET
ap-246	91	4	convergence	convergence	NOUN
ap-246	91	5	to	to	ADP
ap-246	91	6	the	the	DET
ap-246	91	7	minimum	minimum	NOUN
ap-246	91	8	is	be	AUX
ap-246	91	9	faster	fast	ADJ
ap-246	91	10	[	[	X
ap-246	91	11	7	7	NUM
ap-246	91	12	]	]	PUNCT
ap-246	91	13	.	.	PUNCT
ap-246	92	1	once	once	ADV
ap-246	92	2	the	the	DET
ap-246	92	3	new	new	ADJ
ap-246	92	4	population	population	NOUN
ap-246	92	5	has	have	AUX
ap-246	92	6	been	be	AUX
ap-246	92	7	obtained	obtain	VERB
ap-246	92	8	,	,	PUNCT
ap-246	92	9	chromosomes	chromosome	NOUN
ap-246	92	10	are	be	AUX
ap-246	92	11	ready	ready	ADJ
ap-246	92	12	for	for	ADP
ap-246	92	13	mating	mating	NOUN
ap-246	92	14	and	and	CCONJ
ap-246	92	15	mutation	mutation	NOUN
ap-246	92	16	.	.	PUNCT
ap-246	93	1	the	the	DET
ap-246	93	2	crossover	crossover	NOUN
ap-246	93	3	operator	operator	NOUN
ap-246	93	4	combines	combine	VERB
ap-246	93	5	the	the	DET
ap-246	93	6	features	feature	NOUN
ap-246	93	7	of	of	ADP
ap-246	93	8	two	two	NUM
ap-246	93	9	parents	parent	NOUN
ap-246	93	10	to	to	PART
ap-246	93	11	create	create	VERB
ap-246	93	12	new	new	ADJ
ap-246	93	13	solutions	solution	NOUN
ap-246	93	14	.	.	PUNCT
ap-246	94	1	one	one	NUM
ap-246	94	2	or	or	CCONJ
ap-246	94	3	several	several	ADJ
ap-246	94	4	crossover	crossover	NOUN
ap-246	94	5	points	point	NOUN
ap-246	94	6	are	be	AUX
ap-246	94	7	selected	select	VERB
ap-246	94	8	at	at	ADP
ap-246	94	9	random	random	ADJ
ap-246	94	10	and	and	CCONJ
ap-246	94	11	then	then	ADV
ap-246	94	12	complementary	complementary	ADJ
ap-246	94	13	fractions	fraction	NOUN
ap-246	94	14	from	from	ADP
ap-246	94	15	the	the	DET
ap-246	94	16	two	two	NUM
ap-246	94	17	parents	parent	NOUN
ap-246	94	18	are	be	AUX
ap-246	94	19	spliced	splice	VERB
ap-246	94	20	together	together	ADV
ap-246	94	21	to	to	PART
ap-246	94	22	form	form	VERB
ap-246	94	23	a	a	DET
ap-246	94	24	new	new	ADJ
ap-246	94	25	chromosome	chromosome	NOUN
ap-246	95	1	[	[	X
ap-246	95	2	4	4	NUM
ap-246	95	3	]	]	PUNCT
ap-246	95	4	.	.	PUNCT
ap-246	96	1	in	in	ADP
ap-246	96	2	this	this	DET
ap-246	96	3	study	study	NOUN
ap-246	96	4	two	two	NUM
ap-246	96	5	-	-	PUNCT
ap-246	96	6	point	point	NOUN
ap-246	96	7	crossover	crossover	NOUN
ap-246	96	8	has	have	AUX
ap-246	96	9	been	be	AUX
ap-246	96	10	used	use	VERB
ap-246	96	11	because	because	SCONJ
ap-246	96	12	multi	multi	ADJ
ap-246	96	13	-	-	ADJ
ap-246	96	14	point	point	NOUN
ap-246	96	15	crossover	crossover	NOUN
ap-246	96	16	encourages	encourage	VERB
ap-246	96	17	a	a	DET
ap-246	96	18	greater	great	ADJ
ap-246	96	19	amount	amount	NOUN
ap-246	96	20	of	of	ADP
ap-246	96	21	variation	variation	NOUN
ap-246	96	22	in	in	ADP
ap-246	96	23	the	the	DET
ap-246	96	24	new	new	ADJ
ap-246	96	25	chromosomes	chromosome	NOUN
ap-246	96	26	produced	produce	VERB
ap-246	96	27	and	and	CCONJ
ap-246	96	28	two	two	NUM
ap-246	96	29	points	point	NOUN
ap-246	96	30	do	do	AUX
ap-246	96	31	not	not	PART
ap-246	96	32	greatly	greatly	ADV
ap-246	96	33	increase	increase	VERB
ap-246	96	34	the	the	DET
ap-246	96	35	complexity	complexity	NOUN
ap-246	96	36	of	of	ADP
ap-246	96	37	the	the	DET
ap-246	96	38	algorithm	algorithm	NOUN
ap-246	96	39	.	.	PUNCT
ap-246	97	1	the	the	DET
ap-246	97	2	mutation	mutation	NOUN
ap-246	97	3	operator	operator	NOUN
ap-246	97	4	alters	alter	VERB
ap-246	97	5	a	a	DET
ap-246	97	6	copy	copy	NOUN
ap-246	97	7	of	of	ADP
ap-246	97	8	a	a	DET
ap-246	97	9	chromosome	chromosome	NOUN
ap-246	97	10	.	.	PUNCT
ap-246	98	1	one	one	NUM
ap-246	98	2	or	or	CCONJ
ap-246	98	3	more	more	ADJ
ap-246	98	4	locations	location	NOUN
ap-246	98	5	are	be	AUX
ap-246	98	6	selected	select	VERB
ap-246	98	7	on	on	ADP
ap-246	98	8	the	the	DET
ap-246	98	9	chromosome	chromosome	NOUN
ap-246	98	10	and	and	CCONJ
ap-246	98	11	replaced	replace	VERB
ap-246	98	12	with	with	ADP
ap-246	98	13	new	new	ADJ
ap-246	98	14	randomly	randomly	ADV
ap-246	98	15	generated	generate	VERB
ap-246	98	16	values	value	NOUN
ap-246	98	17	.	.	PUNCT
ap-246	99	1	mutation	mutation	NOUN
ap-246	99	2	is	be	AUX
ap-246	99	3	used	use	VERB
ap-246	99	4	to	to	PART
ap-246	99	5	help	help	VERB
ap-246	99	6	insure	insure	VERB
ap-246	99	7	that	that	SCONJ
ap-246	99	8	all	all	DET
ap-246	99	9	areas	area	NOUN
ap-246	99	10	of	of	ADP
ap-246	99	11	the	the	DET
ap-246	99	12	search	search	NOUN
ap-246	99	13	space	space	NOUN
ap-246	99	14	remain	remain	VERB
ap-246	99	15	reachable	reachable	ADJ
ap-246	99	16	.	.	PUNCT
ap-246	100	1	the	the	DET
ap-246	100	2	mutation	mutation	NOUN
ap-246	100	3	probability	probability	NOUN
ap-246	100	4	chosen	choose	VERB
ap-246	100	5	has	have	AUX
ap-246	100	6	been	be	AUX
ap-246	100	7	5	5	NUM
ap-246	100	8	%	%	NOUN
ap-246	100	9	[	[	X
ap-246	100	10	4	4	NUM
ap-246	100	11	]	]	PUNCT
ap-246	100	12	.	.	PUNCT
ap-246	101	1	5	5	NUM
ap-246	101	2	manual	manual	ADJ
ap-246	101	3	tuning	tuning	NOUN
ap-246	101	4	results	result	NOUN
ap-246	101	5	this	this	DET
ap-246	101	6	investigation	investigation	NOUN
ap-246	101	7	has	have	AUX
ap-246	101	8	been	be	AUX
ap-246	101	9	carried	carry	VERB
ap-246	101	10	out	out	ADP
ap-246	101	11	through	through	ADP
ap-246	101	12	simulation	simulation	NOUN
ap-246	101	13	studies	study	NOUN
ap-246	101	14	in	in	ADP
ap-246	101	15	matlab	matlab	PROPN
ap-246	101	16	.	.	PUNCT
ap-246	102	1	the	the	DET
ap-246	102	2	accuracy	accuracy	NOUN
ap-246	102	3	of	of	ADP
ap-246	102	4	computer	computer	NOUN
ap-246	102	5	-	-	PUNCT
ap-246	102	6	generated	generate	VERB
ap-246	102	7	simulations	simulation	NOUN
ap-246	102	8	based	base	VERB
ap-246	102	9	on	on	ADP
ap-246	102	10	this	this	DET
ap-246	102	11	mathematical	mathematical	ADJ
ap-246	102	12	model	model	NOUN
ap-246	102	13	permits	permit	VERB
ap-246	102	14	the	the	DET
ap-246	102	15	use	use	NOUN
ap-246	102	16	of	of	ADP
ap-246	102	17	such	such	ADJ
ap-246	102	18	simulations	simulation	NOUN
ap-246	102	19	as	as	ADP
ap-246	102	20	a	a	DET
ap-246	102	21	method	method	NOUN
ap-246	102	22	for	for	ADP
ap-246	102	23	evaluating	evaluate	VERB
ap-246	102	24	the	the	DET
ap-246	102	25	performance	performance	NOUN
ap-246	102	26	of	of	ADP
ap-246	102	27	the	the	DET
ap-246	102	28	controllers	controller	NOUN
ap-246	102	29	.	.	PUNCT
ap-246	103	1	in	in	ADP
ap-246	103	2	the	the	DET
ap-246	103	3	vessel	vessel	NOUN
ap-246	103	4	simulation	simulation	NOUN
ap-246	103	5	two	two	NUM
ap-246	103	6	pid	pid	NOUN
ap-246	103	7	controllers	controller	NOUN
ap-246	103	8	have	have	AUX
ap-246	103	9	been	be	AUX
ap-246	103	10	integrated	integrate	VERB
ap-246	103	11	:	:	PUNCT
ap-246	103	12	one	one	NUM
ap-246	103	13	for	for	ADP
ap-246	103	14	the	the	DET
ap-246	103	15	heading	head	VERB
ap-246	103	16	subsystem	subsystem	NOUN
ap-246	103	17	(	(	PUNCT
ap-246	103	18	i.e.	i.e.	X
ap-246	103	19	generates	generate	VERB
ap-246	103	20	the	the	DET
ap-246	103	21	input	input	NOUN
ap-246	103	22	�	�	PROPN
ap-246	103	23	3	3	NUM
ap-246	103	24	)	)	PUNCT
ap-246	103	25	,	,	PUNCT
ap-246	103	26	and	and	CCONJ
ap-246	103	27	other	other	ADJ
ap-246	103	28	for	for	ADP
ap-246	103	29	the	the	DET
ap-246	103	30	propulsion	propulsion	NOUN
ap-246	103	31	subsystem	subsystem	NOUN
ap-246	103	32	(	(	PUNCT
ap-246	103	33	i.e.	i.e.	X
ap-246	103	34	generates	generate	VERB
ap-246	103	35	the	the	DET
ap-246	103	36	input	input	NOUN
ap-246	103	37	�	�	PROPN
ap-246	103	38	1	1	NUM
ap-246	103	39	)	)	PUNCT
ap-246	103	40	.	.	PUNCT
ap-246	104	1	the	the	DET
ap-246	104	2	parameters	parameter	NOUN
ap-246	104	3	of	of	ADP
ap-246	104	4	both	both	DET
ap-246	104	5	controllers	controller	NOUN
ap-246	104	6	(	(	PUNCT
ap-246	104	7	i.e.	i.e.	X
ap-246	104	8	k	k	X
ap-246	104	9	,	,	PUNCT
ap-246	104	10	proportional	proportional	ADJ
ap-246	104	11	gain	gain	NOUN
ap-246	104	12	,	,	PUNCT
ap-246	104	13	ki	ki	INTJ
ap-246	104	14	,	,	PUNCT
ap-246	104	15	integral	integral	ADJ
ap-246	104	16	gain	gain	NOUN
ap-246	104	17	,	,	PUNCT
ap-246	104	18	and	and	CCONJ
ap-246	104	19	kd	kd	PROPN
ap-246	104	20	,	,	PUNCT
ap-246	104	21	derivative	derivative	ADJ
ap-246	104	22	gain	gain	NOUN
ap-246	104	23	)	)	PUNCT
ap-246	104	24	need	need	VERB
ap-246	104	25	to	to	PART
ap-246	104	26	be	be	AUX
ap-246	104	27	tuned	tune	VERB
ap-246	104	28	in	in	ADP
ap-246	104	29	order	order	NOUN
ap-246	104	30	to	to	PART
ap-246	104	31	get	get	VERB
ap-246	104	32	a	a	DET
ap-246	104	33	response	response	NOUN
ap-246	104	34	of	of	ADP
ap-246	104	35	the	the	DET
ap-246	104	36	system	system	NOUN
ap-246	104	37	as	as	ADV
ap-246	104	38	accurate	accurate	ADJ
ap-246	104	39	as	as	ADP
ap-246	104	40	possible	possible	ADJ
ap-246	104	41	.	.	PUNCT
ap-246	105	1	the	the	DET
ap-246	105	2	manual	manual	ADJ
ap-246	105	3	tuning	tuning	NOUN
ap-246	105	4	yields	yield	VERB
ap-246	105	5	the	the	DET
ap-246	105	6	parameters	parameter	NOUN
ap-246	105	7	shown	show	VERB
ap-246	105	8	in	in	ADP
ap-246	105	9	table	table	NOUN
ap-246	105	10	1	1	NUM
ap-246	105	11	.	.	PUNCT
ap-246	106	1	the	the	DET
ap-246	106	2	resulting	result	VERB
ap-246	106	3	controller	controller	NOUN
ap-246	106	4	generates	generate	VERB
ap-246	106	5	the	the	DET
ap-246	106	6	simulated	simulate	VERB
ap-246	106	7	results	result	NOUN
ap-246	106	8	shown	show	VERB
ap-246	106	9	in	in	ADP
ap-246	106	10	figure	figure	NOUN
ap-246	106	11	1	1	NUM
ap-246	106	12	when	when	SCONJ
ap-246	106	13	a	a	DET
ap-246	106	14	45o	45o	NUM
ap-246	106	15	overdamped	overdampe	VERB
ap-246	106	16	second	second	ADJ
ap-246	106	17	order	order	NOUN
ap-246	106	18	step	step	NOUN
ap-246	106	19	input	input	NOUN
ap-246	106	20	is	be	AUX
ap-246	106	21	applied	apply	VERB
ap-246	106	22	in	in	ADP
ap-246	106	23	the	the	DET
ap-246	106	24	heading	heading	NOUN
ap-246	106	25	and	and	CCONJ
ap-246	106	26	a	a	DET
ap-246	106	27	0.4	0.4	NUM
ap-246	106	28	m	m	NOUN
ap-246	106	29	/	/	SYM
ap-246	106	30	s	s	PART
ap-246	106	31	overdamped	overdampe	VERB
ap-246	106	32	second	second	ADJ
ap-246	106	33	order	order	NOUN
ap-246	106	34	step	step	NOUN
ap-246	106	35	input	input	NOUN
ap-246	106	36	in	in	ADP
ap-246	106	37	the	the	DET
ap-246	106	38	propulsion	propulsion	NOUN
ap-246	106	39	.	.	PUNCT
ap-246	107	1	although	although	SCONJ
ap-246	107	2	the	the	DET
ap-246	107	3	results	result	NOUN
ap-246	107	4	obtained	obtain	VERB
ap-246	107	5	in	in	ADP
ap-246	107	6	this	this	DET
ap-246	107	7	case	case	NOUN
ap-246	107	8	are	be	AUX
ap-246	107	9	considered	consider	VERB
ap-246	107	10	to	to	PART
ap-246	107	11	be	be	AUX
ap-246	107	12	quite	quite	ADV
ap-246	107	13	good	good	ADJ
ap-246	107	14	,	,	PUNCT
ap-246	107	15	manual	manual	ADJ
ap-246	107	16	tuning	tuning	NOUN
ap-246	107	17	is	be	AUX
ap-246	107	18	a	a	DET
ap-246	107	19	tedious	tedious	ADJ
ap-246	107	20	job	job	NOUN
ap-246	107	21	and	and	CCONJ
ap-246	107	22	not	not	PART
ap-246	107	23	very	very	ADV
ap-246	107	24	reliable	reliable	ADJ
ap-246	107	25	,	,	PUNCT
ap-246	107	26	since	since	SCONJ
ap-246	107	27	sometimes	sometimes	ADV
ap-246	107	28	the	the	DET
ap-246	107	29	values	value	NOUN
ap-246	107	30	of	of	ADP
ap-246	107	31	the	the	DET
ap-246	107	32	controller	controller	NOUN
ap-246	107	33	’s	’s	PART
ap-246	107	34	gains	gain	NOUN
ap-246	107	35	can	can	AUX
ap-246	107	36	be	be	AUX
ap-246	107	37	particularly	particularly	ADV
ap-246	107	38	difficult	difficult	ADJ
ap-246	107	39	to	to	PART
ap-246	107	40	obtain	obtain	VERB
ap-246	107	41	.	.	PUNCT
ap-246	108	1	therefore	therefore	ADV
ap-246	108	2	a	a	DET
ap-246	108	3	ga	ga	PROPN
ap-246	108	4	has	have	AUX
ap-246	108	5	been	be	AUX
ap-246	108	6	used	use	VERB
ap-246	108	7	to	to	PART
ap-246	108	8	optimise	optimise	VERB
ap-246	108	9	these	these	DET
ap-246	108	10	gains	gain	NOUN
ap-246	108	11	.	.	PUNCT
ap-246	109	1	6	6	NUM
ap-246	109	2	genetic	genetic	ADJ
ap-246	109	3	algorithm	algorithm	NOUN
ap-246	109	4	optimisation	optimisation	NOUN
ap-246	109	5	results	result	VERB
ap-246	109	6	the	the	DET
ap-246	109	7	results	result	NOUN
ap-246	109	8	presented	present	VERB
ap-246	109	9	in	in	ADP
ap-246	109	10	this	this	DET
ap-246	109	11	section	section	NOUN
ap-246	109	12	are	be	AUX
ap-246	109	13	best	good	ADJ
ap-246	109	14	cases	case	NOUN
ap-246	109	15	obtained	obtain	VERB
ap-246	109	16	from	from	ADP
ap-246	109	17	several	several	ADJ
ap-246	109	18	runs	run	NOUN
ap-246	109	19	(	(	PUNCT
ap-246	109	20	i.e.	i.e.	X
ap-246	109	21	10	10	NUM
ap-246	109	22	runs	run	NOUN
ap-246	109	23	)	)	PUNCT
ap-246	109	24	of	of	ADP
ap-246	109	25	the	the	DET
ap-246	109	26	ga	ga	PROPN
ap-246	109	27	.	.	PUNCT
ap-246	110	1	the	the	DET
ap-246	110	2	rest	rest	NOUN
ap-246	110	3	of	of	ADP
ap-246	110	4	the	the	DET
ap-246	110	5	runs	run	NOUN
ap-246	110	6	converge	converge	VERB
ap-246	110	7	to	to	ADP
ap-246	110	8	the	the	DET
ap-246	110	9	same	same	ADJ
ap-246	110	10	minimum	minimum	NOUN
ap-246	110	11	area	area	NOUN
ap-246	110	12	and	and	CCONJ
ap-246	110	13	the	the	DET
ap-246	110	14	control	control	NOUN
ap-246	110	15	©	©	PROPN
ap-246	110	16	czech	czech	PROPN
ap-246	110	17	technical	technical	PROPN
ap-246	110	18	university	university	PROPN
ap-246	110	19	publishing	publishing	NOUN
ap-246	110	20	house	house	NOUN
ap-246	110	21	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-246	110	22	15	15	NUM
ap-246	110	23	acta	acta	PROPN
ap-246	110	24	polytechnica	polytechnica	PROPN
ap-246	110	25	vol	vol	NOUN
ap-246	110	26	.	.	PUNCT
ap-246	111	1	41	41	NUM
ap-246	111	2	no	no	NOUN
ap-246	111	3	.	.	PUNCT
ap-246	112	1	4–5/2001	4–5/2001	NUM
ap-246	112	2	heading	head	VERB
ap-246	112	3	controller	controller	NOUN
ap-246	112	4	propulsion	propulsion	NOUN
ap-246	112	5	controller	controller	NOUN
ap-246	112	6	k	k	PROPN
ap-246	112	7	9	9	NUM
ap-246	112	8	200	200	NUM
ap-246	112	9	ki	ki	PROPN
ap-246	112	10	1.5	1.5	NUM
ap-246	112	11	2	2	NUM
ap-246	112	12	kd	kd	NOUN
ap-246	112	13	20	20	NUM
ap-246	112	14	8	8	NUM
ap-246	112	15	table	table	NOUN
ap-246	112	16	1	1	NUM
ap-246	112	17	:	:	PUNCT
ap-246	112	18	manually	manually	ADV
ap-246	112	19	tuned	tune	VERB
ap-246	112	20	controllers	controller	NOUN
ap-246	112	21	parameters	parameter	NOUN
ap-246	112	22	fig	fig	VERB
ap-246	112	23	.	.	PUNCT
ap-246	113	1	1	1	NUM
ap-246	113	2	:	:	PUNCT
ap-246	113	3	manually	manually	ADV
ap-246	113	4	tuned	tune	VERB
ap-246	113	5	controllers	controller	NOUN
ap-246	113	6	response	response	NOUN
ap-246	113	7	lers	ler	NOUN
ap-246	113	8	obtained	obtain	VERB
ap-246	113	9	show	show	VERB
ap-246	113	10	similar	similar	ADJ
ap-246	113	11	characteristics	characteristic	NOUN
ap-246	113	12	,	,	PUNCT
ap-246	113	13	although	although	SCONJ
ap-246	113	14	they	they	PRON
ap-246	113	15	do	do	AUX
ap-246	113	16	not	not	PART
ap-246	113	17	perform	perform	VERB
ap-246	113	18	as	as	ADV
ap-246	113	19	well	well	ADV
ap-246	113	20	as	as	ADP
ap-246	113	21	the	the	DET
ap-246	113	22	best	good	ADJ
ap-246	113	23	case	case	NOUN
ap-246	113	24	.	.	PUNCT
ap-246	114	1	since	since	SCONJ
ap-246	114	2	it	it	PRON
ap-246	114	3	is	be	AUX
ap-246	114	4	desirable	desirable	ADJ
ap-246	114	5	that	that	SCONJ
ap-246	114	6	the	the	DET
ap-246	114	7	population	population	NOUN
ap-246	114	8	size	size	NOUN
ap-246	114	9	is	be	AUX
ap-246	114	10	approximately	approximately	ADV
ap-246	114	11	equal	equal	ADJ
ap-246	114	12	to	to	ADP
ap-246	114	13	the	the	DET
ap-246	114	14	number	number	NOUN
ap-246	114	15	of	of	ADP
ap-246	114	16	genes	gene	NOUN
ap-246	114	17	in	in	ADP
ap-246	114	18	each	each	DET
ap-246	114	19	chromosome	chromosome	NOUN
ap-246	114	20	and	and	CCONJ
ap-246	114	21	that	that	SCONJ
ap-246	114	22	the	the	DET
ap-246	114	23	generation	generation	NOUN
ap-246	114	24	size	size	NOUN
ap-246	114	25	doubles	double	VERB
ap-246	114	26	this	this	PRON
ap-246	114	27	[	[	X
ap-246	114	28	4	4	NUM
ap-246	114	29	]	]	PUNCT
ap-246	114	30	,	,	PUNCT
ap-246	114	31	in	in	ADP
ap-246	114	32	every	every	DET
ap-246	114	33	run	run	NOUN
ap-246	114	34	the	the	DET
ap-246	114	35	population	population	NOUN
ap-246	114	36	consisted	consist	VERB
ap-246	114	37	of	of	ADP
ap-246	114	38	60	60	NUM
ap-246	114	39	chromosomes	chromosome	NOUN
ap-246	114	40	and	and	CCONJ
ap-246	114	41	the	the	DET
ap-246	114	42	number	number	NOUN
ap-246	114	43	of	of	ADP
ap-246	114	44	generations	generation	NOUN
ap-246	114	45	the	the	DET
ap-246	114	46	optimisation	optimisation	NOUN
ap-246	114	47	cycle	cycle	NOUN
ap-246	114	48	performed	perform	VERB
ap-246	114	49	was	be	AUX
ap-246	114	50	120	120	NUM
ap-246	114	51	.	.	PUNCT
ap-246	115	1	thus	thus	ADV
ap-246	115	2	,	,	PUNCT
ap-246	115	3	the	the	DET
ap-246	115	4	ga	ga	PROPN
ap-246	115	5	initialisation	initialisation	NOUN
ap-246	115	6	is	be	AUX
ap-246	115	7	carried	carry	VERB
ap-246	115	8	out	out	ADP
ap-246	115	9	by	by	ADP
ap-246	115	10	generating	generate	VERB
ap-246	115	11	an	an	DET
ap-246	115	12	initial	initial	ADJ
ap-246	115	13	population	population	NOUN
ap-246	115	14	matrix	matrix	NOUN
ap-246	115	15	of	of	ADP
ap-246	115	16	uniformly	uniformly	ADV
ap-246	115	17	distributes	distribute	VERB
ap-246	115	18	random	random	ADJ
ap-246	115	19	integers	integer	NOUN
ap-246	115	20	,	,	PUNCT
ap-246	115	21	whose	whose	DET
ap-246	115	22	size	size	NOUN
ap-246	115	23	is	be	AUX
ap-246	115	24	60	60	NUM
ap-246	115	25	×	×	NOUN
ap-246	115	26	30	30	NUM
ap-246	115	27	(	(	PUNCT
ap-246	115	28	i.e.	i.e.	X
ap-246	115	29	number	number	NOUN
ap-246	115	30	of	of	ADP
ap-246	115	31	chromosomes	chromosome	NOUN
ap-246	115	32	×	×	NOUN
ap-246	115	33	number	number	NOUN
ap-246	115	34	of	of	ADP
ap-246	115	35	genes	gene	NOUN
ap-246	115	36	in	in	ADP
ap-246	115	37	a	a	DET
ap-246	115	38	chromosome	chromosome	NOUN
ap-246	115	39	)	)	PUNCT
ap-246	115	40	.	.	PUNCT
ap-246	116	1	the	the	DET
ap-246	116	2	optimisation	optimisation	NOUN
ap-246	116	3	design	design	NOUN
ap-246	116	4	criterion	criterion	NOUN
ap-246	116	5	is	be	AUX
ap-246	116	6	defined	define	VERB
ap-246	116	7	by	by	ADP
ap-246	116	8	the	the	DET
ap-246	116	9	cost	cost	NOUN
ap-246	116	10	function	function	NOUN
ap-246	116	11	.	.	PUNCT
ap-246	117	1	in	in	ADP
ap-246	117	2	addition	addition	NOUN
ap-246	117	3	to	to	ADP
ap-246	117	4	this	this	PRON
ap-246	117	5	there	there	PRON
ap-246	117	6	is	be	VERB
ap-246	117	7	a	a	DET
ap-246	117	8	desired	desire	VERB
ap-246	117	9	response	response	NOUN
ap-246	117	10	that	that	SCONJ
ap-246	117	11	the	the	DET
ap-246	117	12	controller	controller	NOUN
ap-246	117	13	must	must	AUX
ap-246	117	14	track	track	VERB
ap-246	117	15	.	.	PUNCT
ap-246	118	1	the	the	DET
ap-246	118	2	desired	desire	VERB
ap-246	118	3	heading	heading	NOUN
ap-246	118	4	and	and	CCONJ
ap-246	118	5	propulsion	propulsion	NOUN
ap-246	118	6	manoeuvres	manoeuvre	NOUN
ap-246	118	7	used	use	VERB
ap-246	118	8	in	in	ADP
ap-246	118	9	the	the	DET
ap-246	118	10	ga	ga	PROPN
ap-246	118	11	optimisation	optimisation	NOUN
ap-246	118	12	is	be	AUX
ap-246	118	13	the	the	DET
ap-246	118	14	same	same	ADJ
ap-246	118	15	than	than	ADP
ap-246	118	16	the	the	DET
ap-246	118	17	one	one	NOUN
ap-246	118	18	used	use	VERB
ap-246	118	19	in	in	ADP
ap-246	118	20	the	the	DET
ap-246	118	21	manually	manually	ADV
ap-246	118	22	tuned	tune	VERB
ap-246	118	23	controller	controller	NOUN
ap-246	118	24	so	so	SCONJ
ap-246	118	25	that	that	SCONJ
ap-246	118	26	both	both	DET
ap-246	118	27	studies	study	NOUN
ap-246	118	28	can	can	AUX
ap-246	118	29	be	be	AUX
ap-246	118	30	compared	compare	VERB
ap-246	118	31	(	(	PUNCT
ap-246	118	32	see	see	VERB
ap-246	118	33	figure	figure	NOUN
ap-246	118	34	1	1	NUM
ap-246	118	35	)	)	PUNCT
ap-246	118	36	.	.	PUNCT
ap-246	119	1	since	since	SCONJ
ap-246	119	2	the	the	DET
ap-246	119	3	objective	objective	NOUN
ap-246	119	4	of	of	ADP
ap-246	119	5	the	the	DET
ap-246	119	6	controllers	controller	NOUN
ap-246	119	7	is	be	AUX
ap-246	119	8	to	to	PART
ap-246	119	9	make	make	VERB
ap-246	119	10	the	the	DET
ap-246	119	11	vessel	vessel	NOUN
ap-246	119	12	track	track	NOUN
ap-246	119	13	desired	desire	VERB
ap-246	119	14	dynamic	dynamic	ADJ
ap-246	119	15	responses	response	NOUN
ap-246	119	16	with	with	ADP
ap-246	119	17	the	the	DET
ap-246	119	18	minimum	minimum	ADJ
ap-246	119	19	actuator	actuator	NOUN
ap-246	119	20	effort	effort	NOUN
ap-246	119	21	,	,	PUNCT
ap-246	119	22	the	the	DET
ap-246	119	23	cost	cost	NOUN
ap-246	119	24	function	function	NOUN
ap-246	119	25	will	will	AUX
ap-246	119	26	have	have	VERB
ap-246	119	27	two	two	NUM
ap-246	119	28	terms	term	NOUN
ap-246	119	29	for	for	ADP
ap-246	119	30	each	each	DET
ap-246	119	31	controller	controller	NOUN
ap-246	119	32	[	[	X
ap-246	119	33	4	4	NUM
ap-246	119	34	]	]	PUNCT
ap-246	119	35	:	:	PUNCT
ap-246	119	36	�	�	PROPN
ap-246	119	37	�	�	PROPN
ap-246	119	38	�	�	PROPN
ap-246	119	39	�	�	PROPN
ap-246	119	40	�	�	PROPN
ap-246	119	41	�	�	PROPN
ap-246	119	42	�	�	PROPN
ap-246	119	43	�	�	PROPN
ap-246	119	44	�	�	PROPN
ap-246	119	45	�	�	PROPN
ap-246	119	46	c	c	PROPN
ap-246	120	1	ui	ui	NOUN
ap-246	121	1	i	i	PRON
ap-246	121	2	i	i	PRON
ap-246	122	1	i	i	PRON
ap-246	122	2	i	i	PRON
ap-246	122	3	tot	tot	VERB
ap-246	122	4	�	�	PROPN
ap-246	122	5	�	�	PROPN
ap-246	122	6	�	�	PROPN
ap-246	122	7	�	�	PROPN
ap-246	122	8	�	�	PROPN
ap-246	122	9	�	�	PROPN
ap-246	122	10	�	�	PROPN
ap-246	122	11	�	�	PROPN
ap-246	122	12	�	�	PROPN
ap-246	122	13	�	�	PROPN
ap-246	122	14	�	�	PROPN
ap-246	122	15	2	2	NUM
ap-246	122	16	1	1	NUM
ap-246	122	17	3	3	NUM
ap-246	122	18	2	2	NUM
ap-246	122	19	2	2	NUM
ap-246	122	20	2	2	NUM
ap-246	122	21	1	1	NUM
ap-246	122	22	2	2	NUM
ap-246	122	23	0	0	NUM
ap-246	122	24	.	.	PUNCT
ap-246	123	1	(	(	PUNCT
ap-246	123	2	5	5	X
ap-246	123	3	)	)	PUNCT
ap-246	123	4	here	here	ADV
ap-246	123	5	�	�	PROPN
ap-246	123	6	�	�	PROPN
ap-246	123	7	i	i	PRON
ap-246	123	8	is	be	AUX
ap-246	123	9	the	the	DET
ap-246	123	10	ith	ith	PROPN
ap-246	123	11	heading	head	VERB
ap-246	123	12	angle	angle	NOUN
ap-246	123	13	error	error	NOUN
ap-246	123	14	between	between	ADP
ap-246	123	15	the	the	DET
ap-246	123	16	desired	desire	VERB
ap-246	123	17	and	and	CCONJ
ap-246	123	18	obtained	obtain	VERB
ap-246	123	19	heading	heading	NOUN
ap-246	123	20	,	,	PUNCT
ap-246	123	21	�	�	NOUN
ap-246	123	22	3i	3i	NOUN
ap-246	123	23	is	be	AUX
ap-246	123	24	the	the	DET
ap-246	123	25	ith	ith	PROPN
ap-246	123	26	yaw	yaw	PROPN
ap-246	123	27	thrust	thrust	PROPN
ap-246	123	28	force	force	NOUN
ap-246	123	29	,	,	PUNCT
ap-246	123	30	�	�	PROPN
ap-246	123	31	ui	ui	PROPN
ap-246	123	32	is	be	AUX
ap-246	123	33	the	the	DET
ap-246	123	34	ith	ith	PROPN
ap-246	123	35	surge	surge	NOUN
ap-246	123	36	velocity	velocity	NOUN
ap-246	123	37	error	error	NOUN
ap-246	123	38	between	between	ADP
ap-246	123	39	the	the	DET
ap-246	123	40	desired	desire	VERB
ap-246	123	41	and	and	CCONJ
ap-246	123	42	obtained	obtain	VERB
ap-246	123	43	surge	surge	NOUN
ap-246	123	44	velocity	velocity	NOUN
ap-246	123	45	,	,	PUNCT
ap-246	123	46	�	�	PROPN
ap-246	123	47	1i	1i	NOUN
ap-246	123	48	is	be	AUX
ap-246	123	49	the	the	DET
ap-246	123	50	ith	ith	PROPN
ap-246	123	51	surge	surge	NOUN
ap-246	123	52	thrust	thrust	PROPN
ap-246	123	53	force	force	NOUN
ap-246	123	54	,	,	PUNCT
ap-246	123	55	tot	tot	NOUN
ap-246	123	56	is	be	AUX
ap-246	123	57	the	the	DET
ap-246	123	58	total	total	ADJ
ap-246	123	59	number	number	NOUN
ap-246	123	60	of	of	ADP
ap-246	123	61	iterations	iteration	NOUN
ap-246	123	62	and	and	CCONJ
ap-246	123	63	�	�	PROPN
ap-246	123	64	1	1	NUM
ap-246	123	65	and	and	CCONJ
ap-246	123	66	�	�	NOUN
ap-246	123	67	2	2	NUM
ap-246	123	68	are	be	AUX
ap-246	123	69	scaling	scale	VERB
ap-246	123	70	factors	factor	NOUN
ap-246	123	71	.	.	PUNCT
ap-246	124	1	since	since	SCONJ
ap-246	124	2	the	the	DET
ap-246	124	3	optimisation	optimisation	NOUN
ap-246	124	4	processes	process	NOUN
ap-246	124	5	attempt	attempt	VERB
ap-246	124	6	to	to	PART
ap-246	124	7	minimise	minimise	VERB
ap-246	124	8	the	the	DET
ap-246	124	9	value	value	NOUN
ap-246	124	10	of	of	ADP
ap-246	124	11	this	this	DET
ap-246	124	12	function	function	NOUN
ap-246	124	13	it	it	PRON
ap-246	124	14	is	be	AUX
ap-246	124	15	easy	easy	ADJ
ap-246	124	16	to	to	PART
ap-246	124	17	see	see	VERB
ap-246	124	18	that	that	PRON
ap-246	124	19	�	�	PROPN
ap-246	124	20	�	�	PROPN
ap-246	124	21	,	,	PUNCT
ap-246	124	22	�	�	PROPN
ap-246	124	23	u	u	PROPN
ap-246	124	24	,	,	PUNCT
ap-246	124	25	�	�	PROPN
ap-246	124	26	3	3	NUM
ap-246	124	27	and	and	CCONJ
ap-246	124	28	�	�	NOUN
ap-246	124	29	1	1	NUM
ap-246	124	30	will	will	AUX
ap-246	124	31	be	be	AUX
ap-246	124	32	minimised	minimise	VERB
ap-246	124	33	too	too	ADV
ap-246	124	34	.	.	PUNCT
ap-246	125	1	therefore	therefore	ADV
ap-246	125	2	,	,	PUNCT
ap-246	125	3	the	the	DET
ap-246	125	4	quantities	quantity	NOUN
ap-246	125	5	�	�	PROPN
ap-246	125	6	�	�	PROPN
ap-246	125	7	and	and	CCONJ
ap-246	125	8	�	�	PROPN
ap-246	125	9	u	u	PRON
ap-246	125	10	give	give	VERB
ap-246	125	11	an	an	DET
ap-246	125	12	indication	indication	NOUN
ap-246	125	13	of	of	ADP
ap-246	125	14	how	how	SCONJ
ap-246	125	15	well	well	ADV
ap-246	125	16	the	the	DET
ap-246	125	17	controllers	controller	NOUN
ap-246	125	18	are	be	AUX
ap-246	125	19	operating	operate	VERB
ap-246	125	20	by	by	ADP
ap-246	125	21	showing	show	VERB
ap-246	125	22	the	the	DET
ap-246	125	23	tracking	tracking	NOUN
ap-246	125	24	between	between	ADP
ap-246	125	25	the	the	DET
ap-246	125	26	actual	actual	ADJ
ap-246	125	27	and	and	CCONJ
ap-246	125	28	the	the	DET
ap-246	125	29	desired	desire	VERB
ap-246	125	30	heading	heading	NOUN
ap-246	125	31	and	and	CCONJ
ap-246	125	32	surge	surge	NOUN
ap-246	125	33	velocity	velocity	NOUN
ap-246	125	34	and	and	CCONJ
ap-246	125	35	the	the	DET
ap-246	125	36	input	input	NOUN
ap-246	125	37	components	component	NOUN
ap-246	125	38	�	�	PROPN
ap-246	125	39	3	3	NUM
ap-246	125	40	and	and	CCONJ
ap-246	125	41	�	�	NOUN
ap-246	125	42	1	1	NUM
ap-246	125	43	are	be	AUX
ap-246	125	44	used	use	VERB
ap-246	125	45	to	to	PART
ap-246	125	46	keep	keep	VERB
ap-246	125	47	the	the	DET
ap-246	125	48	actuators	actuator	NOUN
ap-246	125	49	movement	movement	NOUN
ap-246	125	50	to	to	ADP
ap-246	125	51	a	a	DET
ap-246	125	52	minimum	minimum	NOUN
ap-246	125	53	so	so	SCONJ
ap-246	125	54	that	that	SCONJ
ap-246	125	55	they	they	PRON
ap-246	125	56	can	can	AUX
ap-246	125	57	operate	operate	VERB
ap-246	125	58	well	well	ADV
ap-246	125	59	within	within	ADP
ap-246	125	60	their	their	PRON
ap-246	125	61	operating	operating	NOUN
ap-246	125	62	limits	limit	NOUN
ap-246	125	63	.	.	PUNCT
ap-246	126	1	as	as	SCONJ
ap-246	126	2	the	the	DET
ap-246	126	3	input	input	NOUN
ap-246	126	4	force	force	NOUN
ap-246	126	5	and	and	CCONJ
ap-246	126	6	torque	torque	NOUN
ap-246	126	7	are	be	AUX
ap-246	126	8	always	always	ADV
ap-246	126	9	larger	large	ADJ
ap-246	126	10	than	than	ADP
ap-246	126	11	the	the	DET
ap-246	126	12	output	output	NOUN
ap-246	126	13	errors	error	NOUN
ap-246	126	14	near	near	ADP
ap-246	126	15	the	the	DET
ap-246	126	16	optimum	optimum	NOUN
ap-246	126	17	,	,	PUNCT
ap-246	126	18	they	they	PRON
ap-246	126	19	dominate	dominate	VERB
ap-246	126	20	the	the	DET
ap-246	126	21	cost	cost	NOUN
ap-246	126	22	values	value	NOUN
ap-246	126	23	in	in	ADP
ap-246	126	24	this	this	DET
ap-246	126	25	area	area	NOUN
ap-246	126	26	.	.	PUNCT
ap-246	127	1	this	this	PRON
ap-246	127	2	leads	lead	VERB
ap-246	127	3	to	to	ADP
ap-246	127	4	solutions	solution	NOUN
ap-246	127	5	that	that	PRON
ap-246	127	6	provide	provide	VERB
ap-246	127	7	very	very	ADV
ap-246	127	8	small	small	ADJ
ap-246	127	9	thruster	thruster	NOUN
ap-246	127	10	effort	effort	NOUN
ap-246	127	11	,	,	PUNCT
ap-246	127	12	but	but	CCONJ
ap-246	127	13	a	a	DET
ap-246	127	14	very	very	ADV
ap-246	127	15	poor	poor	ADJ
ap-246	127	16	tracking	tracking	NOUN
ap-246	127	17	of	of	ADP
ap-246	127	18	the	the	DET
ap-246	127	19	desired	desire	VERB
ap-246	127	20	responses	response	NOUN
ap-246	127	21	.	.	PUNCT
ap-246	128	1	in	in	ADP
ap-246	128	2	order	order	NOUN
ap-246	128	3	to	to	PART
ap-246	128	4	avoid	avoid	VERB
ap-246	128	5	this	this	PRON
ap-246	128	6	,	,	PUNCT
ap-246	128	7	�	�	PROPN
ap-246	128	8	3	3	NUM
ap-246	128	9	and	and	CCONJ
ap-246	128	10	�	�	NOUN
ap-246	128	11	1	1	NUM
ap-246	128	12	are	be	AUX
ap-246	128	13	scaled	scale	VERB
ap-246	128	14	by	by	ADP
ap-246	128	15	two	two	NUM
ap-246	128	16	constants	constant	NOUN
ap-246	128	17	,	,	PUNCT
ap-246	128	18	�	�	PROPN
ap-246	128	19	1	1	NUM
ap-246	128	20	and	and	CCONJ
ap-246	128	21	�	�	NOUN
ap-246	128	22	2	2	NUM
ap-246	128	23	,	,	PUNCT
ap-246	128	24	so	so	SCONJ
ap-246	128	25	that	that	SCONJ
ap-246	128	26	an	an	DET
ap-246	128	27	equally	equally	ADV
ap-246	128	28	balanced	balanced	ADJ
ap-246	128	29	trade	trade	NOUN
ap-246	128	30	-	-	PUNCT
ap-246	128	31	off	off	NOUN
ap-246	128	32	between	between	ADP
ap-246	128	33	the	the	DET
ap-246	128	34	elements	element	NOUN
ap-246	128	35	is	be	AUX
ap-246	128	36	obtained	obtain	VERB
ap-246	128	37	and	and	CCONJ
ap-246	128	38	the	the	DET
ap-246	128	39	four	four	NUM
ap-246	128	40	terms	term	NOUN
ap-246	128	41	of	of	ADP
ap-246	128	42	the	the	DET
ap-246	128	43	cost	cost	NOUN
ap-246	128	44	function	function	NOUN
ap-246	128	45	are	be	AUX
ap-246	128	46	equally	equally	ADV
ap-246	128	47	optimised	optimise	VERB
ap-246	128	48	.	.	PUNCT
ap-246	129	1	several	several	ADJ
ap-246	129	2	scaling	scaling	NOUN
ap-246	129	3	factors	factor	NOUN
ap-246	129	4	have	have	AUX
ap-246	129	5	been	be	AUX
ap-246	129	6	considered	consider	VERB
ap-246	129	7	,	,	PUNCT
ap-246	129	8	resulting	result	VERB
ap-246	129	9	in	in	ADP
ap-246	129	10	choosing	choose	VERB
ap-246	129	11	�	�	PROPN
ap-246	129	12	1	1	NUM
ap-246	129	13	and	and	CCONJ
ap-246	129	14	�	�	NOUN
ap-246	129	15	2	2	NUM
ap-246	129	16	equal	equal	ADJ
ap-246	129	17	to	to	ADP
ap-246	129	18	0.001	0.001	NUM
ap-246	129	19	as	as	ADP
ap-246	129	20	the	the	DET
ap-246	129	21	most	most	ADV
ap-246	129	22	appropriate	appropriate	ADJ
ap-246	129	23	.	.	PUNCT
ap-246	130	1	in	in	ADP
ap-246	130	2	figure	figure	NOUN
ap-246	130	3	2	2	NUM
ap-246	130	4	the	the	DET
ap-246	130	5	fast	fast	ADJ
ap-246	130	6	convergence	convergence	NOUN
ap-246	130	7	of	of	ADP
ap-246	130	8	the	the	DET
ap-246	130	9	ga	ga	PROPN
ap-246	130	10	for	for	ADP
ap-246	130	11	these	these	DET
ap-246	130	12	scaling	scale	VERB
ap-246	130	13	factors	factor	NOUN
ap-246	130	14	is	be	AUX
ap-246	130	15	shown	show	VERB
ap-246	130	16	.	.	PUNCT
ap-246	131	1	the	the	DET
ap-246	131	2	best	good	ADJ
ap-246	131	3	solution	solution	NOUN
ap-246	131	4	converges	converge	VERB
ap-246	131	5	to	to	ADP
ap-246	131	6	a	a	DET
ap-246	131	7	solution	solution	NOUN
ap-246	131	8	very	very	ADV
ap-246	131	9	close	close	ADV
ap-246	131	10	to	to	ADP
ap-246	131	11	the	the	DET
ap-246	131	12	minimum	minimum	NOUN
ap-246	131	13	in	in	ADP
ap-246	131	14	less	less	ADJ
ap-246	131	15	than	than	ADP
ap-246	131	16	20	20	NUM
ap-246	131	17	generations	generation	NOUN
ap-246	131	18	.	.	PUNCT
ap-246	132	1	the	the	DET
ap-246	132	2	total	total	ADJ
ap-246	132	3	cost	cost	NOUN
ap-246	132	4	is	be	AUX
ap-246	132	5	shown	show	VERB
ap-246	132	6	to	to	PART
ap-246	132	7	converge	converge	VERB
ap-246	132	8	to	to	ADP
ap-246	132	9	a	a	DET
ap-246	132	10	low	low	ADJ
ap-246	132	11	cost	cost	NOUN
ap-246	132	12	region	region	NOUN
ap-246	132	13	within	within	ADP
ap-246	132	14	5	5	NUM
ap-246	132	15	generations	generation	NOUN
ap-246	132	16	,	,	PUNCT
ap-246	132	17	although	although	SCONJ
ap-246	132	18	after	after	ADP
ap-246	132	19	that	that	SCONJ
ap-246	132	20	there	there	PRON
ap-246	132	21	are	be	VERB
ap-246	132	22	some	some	DET
ap-246	132	23	peaks	peak	NOUN
ap-246	132	24	of	of	ADP
ap-246	132	25	higher	high	ADJ
ap-246	132	26	cost	cost	NOUN
ap-246	132	27	due	due	ADP
ap-246	132	28	to	to	ADP
ap-246	132	29	the	the	DET
ap-246	132	30	mutation	mutation	NOUN
ap-246	132	31	operator	operator	NOUN
ap-246	132	32	.	.	PUNCT
ap-246	133	1	in	in	ADP
ap-246	133	2	the	the	DET
ap-246	133	3	final	final	ADJ
ap-246	133	4	generation	generation	NOUN
ap-246	133	5	there	there	PRON
ap-246	133	6	are	be	VERB
ap-246	133	7	52	52	NUM
ap-246	133	8	chromosomes	chromosome	NOUN
ap-246	133	9	that	that	PRON
ap-246	133	10	have	have	VERB
ap-246	133	11	similar	similar	ADJ
ap-246	133	12	cost	cost	NOUN
ap-246	133	13	functions	function	NOUN
ap-246	133	14	(	(	PUNCT
ap-246	133	15	i.e.	i.e.	X
ap-246	133	16	86.6	86.6	NUM
ap-246	133	17	%	%	NOUN
ap-246	133	18	of	of	ADP
ap-246	133	19	the	the	DET
ap-246	133	20	population	population	NOUN
ap-246	133	21	)	)	PUNCT
ap-246	133	22	.	.	PUNCT
ap-246	134	1	this	this	PRON
ap-246	134	2	means	mean	VERB
ap-246	134	3	that	that	SCONJ
ap-246	134	4	the	the	DET
ap-246	134	5	amount	amount	NOUN
ap-246	134	6	of	of	ADP
ap-246	134	7	saturation	saturation	NOUN
ap-246	134	8	is	be	AUX
ap-246	134	9	high	high	ADJ
ap-246	134	10	and	and	CCONJ
ap-246	134	11	provides	provide	VERB
ap-246	134	12	confidence	confidence	NOUN
ap-246	134	13	in	in	ADP
ap-246	134	14	the	the	DET
ap-246	134	15	final	final	ADJ
ap-246	134	16	solution	solution	NOUN
ap-246	134	17	being	be	AUX
ap-246	134	18	near	near	ADV
ap-246	134	19	optimal	optimal	ADJ
ap-246	134	20	.	.	PUNCT
ap-246	135	1	the	the	DET
ap-246	135	2	parameters	parameter	NOUN
ap-246	135	3	shown	show	VERB
ap-246	135	4	in	in	ADP
ap-246	135	5	table	table	NOUN
ap-246	135	6	2	2	NUM
ap-246	135	7	are	be	AUX
ap-246	135	8	typical	typical	ADJ
ap-246	135	9	of	of	ADP
ap-246	135	10	those	those	PRON
ap-246	135	11	obtained	obtain	VERB
ap-246	135	12	as	as	ADP
ap-246	135	13	a	a	DET
ap-246	135	14	solution	solution	NOUN
ap-246	135	15	by	by	ADP
ap-246	135	16	this	this	DET
ap-246	135	17	optimisation	optimisation	NOUN
ap-246	135	18	.	.	PUNCT
ap-246	136	1	16	16	NUM
ap-246	137	1	©	©	PROPN
ap-246	137	2	czech	czech	PROPN
ap-246	137	3	technical	technical	PROPN
ap-246	137	4	university	university	PROPN
ap-246	137	5	publishing	publishing	NOUN
ap-246	137	6	house	house	NOUN
ap-246	137	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-246	137	8	acta	acta	PROPN
ap-246	137	9	polytechnica	polytechnica	PROPN
ap-246	137	10	vol	vol	NOUN
ap-246	137	11	.	.	PUNCT
ap-246	138	1	41	41	NUM
ap-246	138	2	no	no	NOUN
ap-246	138	3	.	.	PUNCT
ap-246	139	1	4–5/2001	4–5/2001	NUM
ap-246	139	2	fig	fig	NOUN
ap-246	139	3	.	.	PUNCT
ap-246	140	1	2	2	NUM
ap-246	140	2	:	:	PUNCT
ap-246	140	3	ga	ga	NOUN
ap-246	140	4	optimisation	optimisation	NOUN
ap-246	140	5	convergence	convergence	NOUN
ap-246	140	6	when	when	SCONJ
ap-246	140	7	these	these	DET
ap-246	140	8	parameters	parameter	NOUN
ap-246	140	9	are	be	AUX
ap-246	140	10	implemented	implement	VERB
ap-246	140	11	the	the	DET
ap-246	140	12	simulated	simulated	ADJ
ap-246	140	13	responses	response	NOUN
ap-246	140	14	shown	show	VERB
ap-246	140	15	in	in	ADP
ap-246	140	16	figure	figure	NOUN
ap-246	140	17	3	3	NUM
ap-246	140	18	are	be	AUX
ap-246	140	19	obtained	obtain	VERB
ap-246	140	20	.	.	PUNCT
ap-246	141	1	as	as	SCONJ
ap-246	141	2	can	can	AUX
ap-246	141	3	be	be	AUX
ap-246	141	4	seen	see	VERB
ap-246	141	5	from	from	ADP
ap-246	141	6	the	the	DET
ap-246	141	7	figure	figure	NOUN
ap-246	141	8	,	,	PUNCT
ap-246	141	9	the	the	DET
ap-246	141	10	tracking	tracking	NOUN
ap-246	141	11	of	of	ADP
ap-246	141	12	the	the	DET
ap-246	141	13	desired	desire	VERB
ap-246	141	14	overdamped	overdampe	VERB
ap-246	141	15	response	response	NOUN
ap-246	141	16	in	in	ADP
ap-246	141	17	both	both	DET
ap-246	141	18	subsystems	subsystem	NOUN
ap-246	141	19	,	,	PUNCT
ap-246	141	20	propulsion	propulsion	NOUN
ap-246	141	21	and	and	CCONJ
ap-246	141	22	heading	heading	NOUN
ap-246	141	23	,	,	PUNCT
ap-246	141	24	is	be	AUX
ap-246	141	25	excellent	excellent	ADJ
ap-246	141	26	,	,	PUNCT
ap-246	141	27	although	although	SCONJ
ap-246	141	28	the	the	DET
ap-246	141	29	surge	surge	NOUN
ap-246	141	30	velocity	velocity	NOUN
ap-246	141	31	response	response	NOUN
ap-246	141	32	shows	show	VERB
ap-246	141	33	a	a	DET
ap-246	141	34	very	very	ADV
ap-246	141	35	small	small	ADJ
ap-246	141	36	steady	steady	ADJ
ap-246	141	37	state	state	NOUN
ap-246	141	38	error	error	NOUN
ap-246	141	39	(	(	PUNCT
ap-246	141	40	0.01	0.01	NUM
ap-246	141	41	m	m	NOUN
ap-246	141	42	/	/	SYM
ap-246	141	43	s	s	VERB
ap-246	141	44	approximately	approximately	ADV
ap-246	141	45	)	)	PUNCT
ap-246	141	46	.	.	PUNCT
ap-246	142	1	obviously	obviously	ADV
ap-246	142	2	,	,	PUNCT
ap-246	142	3	�	�	PROPN
ap-246	142	4	1	1	NUM
ap-246	142	5	increases	increase	NOUN
ap-246	142	6	while	while	SCONJ
ap-246	142	7	the	the	DET
ap-246	142	8	ship	ship	NOUN
ap-246	142	9	is	be	AUX
ap-246	142	10	accelerating	accelerate	VERB
ap-246	142	11	and	and	CCONJ
ap-246	142	12	stays	stay	VERB
ap-246	142	13	constant	constant	ADJ
ap-246	142	14	once	once	SCONJ
ap-246	142	15	the	the	DET
ap-246	142	16	ship	ship	NOUN
ap-246	142	17	has	have	AUX
ap-246	142	18	reached	reach	VERB
ap-246	142	19	the	the	DET
ap-246	142	20	desired	desire	VERB
ap-246	142	21	surge	surge	NOUN
ap-246	142	22	speed	speed	NOUN
ap-246	142	23	.	.	PUNCT
ap-246	143	1	on	on	ADP
ap-246	143	2	the	the	DET
ap-246	143	3	other	other	ADJ
ap-246	143	4	hand	hand	NOUN
ap-246	143	5	,	,	PUNCT
ap-246	143	6	�	�	PROPN
ap-246	143	7	3	3	NUM
ap-246	143	8	shows	show	VERB
ap-246	143	9	initially	initially	ADV
ap-246	143	10	a	a	DET
ap-246	143	11	positive	positive	ADJ
ap-246	143	12	peak	peak	NOUN
ap-246	143	13	,	,	PUNCT
ap-246	143	14	corresponding	correspond	VERB
ap-246	143	15	with	with	ADP
ap-246	143	16	the	the	DET
ap-246	143	17	beginning	beginning	NOUN
ap-246	143	18	of	of	ADP
ap-246	143	19	the	the	DET
ap-246	143	20	manoeuvre	manoeuvre	NOUN
ap-246	143	21	and	and	CCONJ
ap-246	143	22	tends	tend	VERB
ap-246	143	23	to	to	ADP
ap-246	143	24	zero	zero	NUM
ap-246	143	25	as	as	SCONJ
ap-246	143	26	the	the	DET
ap-246	143	27	ship	ship	NOUN
ap-246	143	28	completes	complete	VERB
ap-246	143	29	the	the	DET
ap-246	143	30	turn	turn	NOUN
ap-246	143	31	.	.	PUNCT
ap-246	144	1	both	both	DET
ap-246	144	2	input	input	NOUN
ap-246	144	3	signals	signal	NOUN
ap-246	144	4	,	,	PUNCT
ap-246	144	5	�	�	PROPN
ap-246	144	6	3	3	NUM
ap-246	144	7	and	and	CCONJ
ap-246	144	8	�	�	PROPN
ap-246	144	9	1	1	NUM
ap-246	144	10	,	,	PUNCT
ap-246	144	11	are	be	AUX
ap-246	144	12	well	well	ADV
ap-246	144	13	kept	keep	VERB
ap-246	144	14	within	within	ADP
ap-246	144	15	the	the	DET
ap-246	144	16	operational	operational	ADJ
ap-246	144	17	limits	limit	NOUN
ap-246	144	18	,	,	PUNCT
ap-246	144	19	although	although	SCONJ
ap-246	144	20	�	�	PROPN
ap-246	144	21	3	3	NUM
ap-246	144	22	shows	show	VERB
ap-246	144	23	a	a	DET
ap-246	144	24	very	very	ADV
ap-246	144	25	oscillating	oscillate	VERB
ap-246	144	26	behaviour	behaviour	NOUN
ap-246	144	27	.	.	PUNCT
ap-246	145	1	this	this	PRON
ap-246	145	2	leads	lead	VERB
ap-246	145	3	to	to	ADP
ap-246	145	4	an	an	DET
ap-246	145	5	unnecessary	unnecessary	ADJ
ap-246	145	6	wearing	wear	VERB
ap-246	145	7	and	and	CCONJ
ap-246	145	8	tearing	tearing	NOUN
ap-246	145	9	of	of	ADP
ap-246	145	10	the	the	DET
ap-246	145	11	actuators	actuator	NOUN
ap-246	145	12	that	that	PRON
ap-246	145	13	shortens	shorten	VERB
ap-246	145	14	their	their	PRON
ap-246	145	15	life	life	NOUN
ap-246	145	16	.	.	PUNCT
ap-246	146	1	a	a	DET
ap-246	146	2	new	new	ADJ
ap-246	146	3	cost	cost	NOUN
ap-246	146	4	function	function	NOUN
ap-246	146	5	has	have	AUX
ap-246	146	6	been	be	AUX
ap-246	146	7	considered	consider	VERB
ap-246	146	8	to	to	PART
ap-246	146	9	try	try	VERB
ap-246	146	10	to	to	PART
ap-246	146	11	reduce	reduce	VERB
ap-246	146	12	the	the	DET
ap-246	146	13	oscillations	oscillation	NOUN
ap-246	146	14	in	in	ADP
ap-246	146	15	the	the	DET
ap-246	146	16	actuators	actuator	NOUN
ap-246	146	17	:	:	PUNCT
ap-246	146	18	�	�	PROPN
ap-246	146	19	�	�	PROPN
ap-246	146	20	�	�	PROPN
ap-246	146	21	�	�	PROPN
ap-246	146	22	�	�	PROPN
ap-246	146	23	�	�	PROPN
ap-246	146	24	c	c	PROPN
ap-246	146	25	t	t	PROPN
ap-246	147	1	u	u	NOUN
ap-246	148	1	i	i	PRON
ap-246	148	2	i	i	PRON
ap-246	149	1	i	i	PRON
ap-246	149	2	i	i	PRON
ap-246	150	1	i	i	PRON
ap-246	150	2	tot	tot	VERB
ap-246	150	3	i	i	PRON
ap-246	150	4	�	�	PROPN
ap-246	150	5	�	�	PROPN
ap-246	150	6	�	�	PROPN
ap-246	150	7	�	�	PROPN
ap-246	150	8	�	�	PROPN
ap-246	150	9	�	�	PROPN
ap-246	150	10	�	�	PROPN
ap-246	150	11	�	�	PROPN
ap-246	150	12	�	�	PROPN
ap-246	150	13	�	�	PROPN
ap-246	150	14	�	�	PROPN
ap-246	150	15	�	�	PROPN
ap-246	150	16	�	�	PROPN
ap-246	150	17	�	�	PROPN
ap-246	150	18	�	�	PROPN
ap-246	150	19	�	�	PROPN
ap-246	150	20	�	�	PROPN
ap-246	150	21	�	�	PROPN
ap-246	150	22	�	�	PROPN
ap-246	150	23	�	�	PROPN
ap-246	150	24	�	�	PROPN
ap-246	150	25	�	�	PROPN
ap-246	150	26	�	�	PROPN
ap-246	150	27	�	�	PROPN
ap-246	150	28	2	2	NUM
ap-246	150	29	1	1	NUM
ap-246	150	30	3	3	NUM
ap-246	150	31	2	2	NUM
ap-246	150	32	1	1	NUM
ap-246	150	33	3	3	NUM
ap-246	150	34	3	3	NUM
ap-246	150	35	1	1	NUM
ap-246	150	36	2	2	NUM
ap-246	150	37	0	0	NUM
ap-246	150	38	2	2	NUM
ap-246	150	39	�	�	PROPN
ap-246	150	40	�	�	PROPN
ap-246	150	41	�	�	PROPN
ap-246	150	42	�	�	PROPN
ap-246	150	43	�	�	PROPN
ap-246	150	44	�	�	PROPN
ap-246	150	45	�	�	PROPN
ap-246	150	46	�	�	PROPN
ap-246	150	47	�	�	PROPN
ap-246	150	48	�	�	PROPN
ap-246	150	49	�	�	PROPN
ap-246	150	50	�	�	PROPN
ap-246	150	51	�	�	PROPN
ap-246	150	52	�	�	PROPN
ap-246	150	53	�	�	PROPN
ap-246	150	54	�	�	PROPN
ap-246	150	55	�	�	PROPN
ap-246	150	56	�	�	PROPN
ap-246	150	57	2	2	NUM
ap-246	150	58	1	1	NUM
ap-246	150	59	2	2	NUM
ap-246	150	60	2	2	NUM
ap-246	150	61	1	1	NUM
ap-246	150	62	1	1	NUM
ap-246	150	63	1	1	NUM
ap-246	150	64	2	2	NUM
ap-246	151	1	i	i	PRON
ap-246	151	2	i	i	PRON
ap-246	152	1	i	i	PROPN
ap-246	152	2	t	t	PROPN
ap-246	152	3	�	�	PROPN
ap-246	152	4	.	.	PUNCT
ap-246	153	1	(	(	PUNCT
ap-246	153	2	6	6	X
ap-246	153	3	)	)	PUNCT
ap-246	153	4	these	these	DET
ap-246	153	5	two	two	NUM
ap-246	153	6	new	new	ADJ
ap-246	153	7	terms	term	NOUN
ap-246	153	8	introduce	introduce	VERB
ap-246	153	9	a	a	DET
ap-246	153	10	measurement	measurement	NOUN
ap-246	153	11	of	of	ADP
ap-246	153	12	the	the	DET
ap-246	153	13	inputs	input	NOUN
ap-246	153	14	increasing	increase	VERB
ap-246	153	15	or	or	CCONJ
ap-246	153	16	decreasing	decrease	VERB
ap-246	153	17	rates	rate	NOUN
ap-246	153	18	.	.	PUNCT
ap-246	154	1	in	in	ADP
ap-246	154	2	the	the	DET
ap-246	154	3	minimization	minimization	NOUN
ap-246	154	4	process	process	NOUN
ap-246	154	5	these	these	DET
ap-246	154	6	two	two	NUM
ap-246	154	7	terms	term	NOUN
ap-246	154	8	will	will	AUX
ap-246	154	9	also	also	ADV
ap-246	154	10	be	be	AUX
ap-246	154	11	minimized	minimize	VERB
ap-246	154	12	,	,	PUNCT
ap-246	154	13	leading	lead	VERB
ap-246	154	14	to	to	ADP
ap-246	154	15	a	a	DET
ap-246	154	16	smoother	smooth	ADJ
ap-246	154	17	input	input	NOUN
ap-246	154	18	response	response	NOUN
ap-246	154	19	.	.	PUNCT
ap-246	155	1	both	both	DET
ap-246	155	2	terms	term	NOUN
ap-246	155	3	are	be	AUX
ap-246	155	4	scaled	scale	VERB
ap-246	155	5	by	by	ADP
ap-246	155	6	two	two	NUM
ap-246	155	7	coefficients	coefficient	NOUN
ap-246	155	8	,	,	PUNCT
ap-246	155	9	�	�	PROPN
ap-246	155	10	1	1	NUM
ap-246	155	11	and	and	CCONJ
ap-246	155	12	�	�	PROPN
ap-246	155	13	2	2	NUM
ap-246	155	14	.	.	PUNCT
ap-246	156	1	after	after	ADP
ap-246	156	2	several	several	ADJ
ap-246	156	3	trials	trial	NOUN
ap-246	156	4	,	,	PUNCT
ap-246	156	5	the	the	DET
ap-246	156	6	coefficients	coefficient	NOUN
ap-246	156	7	�	�	PROPN
ap-246	156	8	1	1	NUM
ap-246	156	9	and	and	CCONJ
ap-246	156	10	�	�	PROPN
ap-246	156	11	2	2	NUM
ap-246	156	12	that	that	PRON
ap-246	156	13	seem	seem	VERB
ap-246	156	14	to	to	PART
ap-246	156	15	fulfil	fulfil	VERB
ap-246	156	16	the	the	DET
ap-246	156	17	role	role	NOUN
ap-246	156	18	of	of	ADP
ap-246	156	19	reducing	reduce	VERB
ap-246	156	20	the	the	DET
ap-246	156	21	wear	wear	NOUN
ap-246	156	22	and	and	CCONJ
ap-246	156	23	tear	tear	NOUN
ap-246	156	24	in	in	ADP
ap-246	156	25	the	the	DET
ap-246	156	26	actuators	actuator	NOUN
ap-246	156	27	without	without	ADP
ap-246	156	28	worsening	worsen	VERB
ap-246	156	29	the	the	DET
ap-246	156	30	tracking	tracking	NOUN
ap-246	156	31	are	be	AUX
ap-246	156	32	:	:	PUNCT
ap-246	156	33	�	�	X
ap-246	156	34	1	1	NUM
ap-246	156	35	equal	equal	ADJ
ap-246	156	36	to	to	ADP
ap-246	156	37	0.01	0.01	NUM
ap-246	156	38	and	and	CCONJ
ap-246	156	39	�	�	NOUN
ap-246	156	40	2	2	NUM
ap-246	156	41	equal	equal	ADJ
ap-246	156	42	to	to	ADP
ap-246	156	43	0	0	NUM
ap-246	156	44	.	.	PUNCT
ap-246	157	1	this	this	DET
ap-246	157	2	value	value	NOUN
ap-246	157	3	of	of	ADP
ap-246	157	4	�	�	PROPN
ap-246	157	5	1	1	NUM
ap-246	157	6	gives	give	VERB
ap-246	157	7	a	a	DET
ap-246	157	8	good	good	ADJ
ap-246	157	9	trade	trade	NOUN
ap-246	157	10	-	-	PUNCT
ap-246	157	11	off	off	NOUN
ap-246	157	12	between	between	ADP
ap-246	157	13	good	good	ADJ
ap-246	157	14	tracking	tracking	NOUN
ap-246	157	15	of	of	ADP
ap-246	157	16	the	the	DET
ap-246	157	17	desired	desire	VERB
ap-246	157	18	heading	heading	NOUN
ap-246	157	19	and	and	CCONJ
ap-246	157	20	a	a	DET
ap-246	157	21	significant	significant	ADJ
ap-246	157	22	reduction	reduction	NOUN
ap-246	157	23	in	in	ADP
ap-246	157	24	the	the	DET
ap-246	157	25	oscillations	oscillation	NOUN
ap-246	157	26	of	of	ADP
ap-246	157	27	the	the	DET
ap-246	157	28	input	input	NOUN
ap-246	157	29	�	�	PROPN
ap-246	157	30	3	3	NUM
ap-246	157	31	.	.	PUNCT
ap-246	158	1	also	also	ADV
ap-246	158	2	,	,	PUNCT
ap-246	158	3	any	any	DET
ap-246	158	4	value	value	NOUN
ap-246	158	5	for	for	ADP
ap-246	158	6	�	�	NOUN
ap-246	158	7	2	2	NUM
ap-246	158	8	different	different	ADJ
ap-246	158	9	to	to	PART
ap-246	158	10	0	0	NUM
ap-246	158	11	leads	lead	VERB
ap-246	158	12	to	to	ADP
ap-246	158	13	a	a	DET
ap-246	158	14	very	very	ADV
ap-246	158	15	slow	slow	ADJ
ap-246	158	16	response	response	NOUN
ap-246	158	17	,	,	PUNCT
ap-246	158	18	often	often	ADV
ap-246	158	19	with	with	ADP
ap-246	158	20	a	a	DET
ap-246	158	21	big	big	ADJ
ap-246	158	22	steady	steady	ADJ
ap-246	158	23	-	-	PUNCT
ap-246	158	24	state	state	NOUN
ap-246	158	25	error	error	NOUN
ap-246	158	26	,	,	PUNCT
ap-246	158	27	caused	cause	VERB
ap-246	158	28	by	by	ADP
ap-246	158	29	the	the	DET
ap-246	158	30	slowing	slowing	NOUN
ap-246	158	31	down	down	ADP
ap-246	158	32	of	of	ADP
ap-246	158	33	�	�	PROPN
ap-246	158	34	1	1	NUM
ap-246	158	35	.	.	PUNCT
ap-246	159	1	this	this	PRON
ap-246	159	2	is	be	AUX
ap-246	159	3	to	to	PART
ap-246	159	4	be	be	AUX
ap-246	159	5	expected	expect	VERB
ap-246	159	6	since	since	SCONJ
ap-246	159	7	the	the	DET
ap-246	159	8	previous	previous	ADJ
ap-246	159	9	optimised	optimise	VERB
ap-246	159	10	controller	controller	NOUN
ap-246	159	11	did	do	AUX
ap-246	159	12	not	not	PART
ap-246	159	13	present	present	VERB
ap-246	159	14	oscillations	oscillation	NOUN
ap-246	159	15	in	in	ADP
ap-246	159	16	the	the	DET
ap-246	159	17	input	input	NOUN
ap-246	159	18	�	�	PROPN
ap-246	159	19	1	1	NUM
ap-246	159	20	.	.	PUNCT
ap-246	160	1	hence	hence	ADV
ap-246	160	2	,	,	PUNCT
ap-246	160	3	although	although	SCONJ
ap-246	160	4	the	the	DET
ap-246	160	5	inclusion	inclusion	NOUN
ap-246	160	6	of	of	ADP
ap-246	160	7	the	the	DET
ap-246	160	8	input	input	NOUN
ap-246	160	9	rate	rate	NOUN
ap-246	160	10	term	term	NOUN
ap-246	160	11	has	have	AUX
ap-246	160	12	provided	provide	VERB
ap-246	160	13	a	a	DET
ap-246	160	14	less	less	ADV
ap-246	160	15	oscillatory	oscillatory	ADJ
ap-246	160	16	response	response	NOUN
ap-246	160	17	for	for	ADP
ap-246	160	18	the	the	DET
ap-246	160	19	input	input	NOUN
ap-246	160	20	�	�	NOUN
ap-246	160	21	3	3	NUM
ap-246	160	22	keeping	keep	VERB
ap-246	160	23	a	a	DET
ap-246	160	24	good	good	ADJ
ap-246	160	25	tracking	tracking	NOUN
ap-246	160	26	,	,	PUNCT
ap-246	160	27	in	in	ADP
ap-246	160	28	the	the	DET
ap-246	160	29	case	case	NOUN
ap-246	160	30	of	of	ADP
ap-246	160	31	�	�	PROPN
ap-246	160	32	1	1	NUM
ap-246	160	33	it	it	PRON
ap-246	160	34	leads	lead	VERB
ap-246	160	35	to	to	ADP
ap-246	160	36	a	a	DET
ap-246	160	37	much	much	ADV
ap-246	160	38	worse	bad	ADJ
ap-246	160	39	tracking	tracking	NOUN
ap-246	160	40	with	with	ADP
ap-246	160	41	slight	slight	ADJ
ap-246	160	42	improvements	improvement	NOUN
ap-246	160	43	in	in	ADP
ap-246	160	44	the	the	DET
ap-246	160	45	input	input	NOUN
ap-246	160	46	response	response	NOUN
ap-246	160	47	.	.	PUNCT
ap-246	161	1	it	it	PRON
ap-246	161	2	seems	seem	VERB
ap-246	161	3	necessary	necessary	ADJ
ap-246	161	4	to	to	PART
ap-246	161	5	have	have	VERB
ap-246	161	6	a	a	DET
ap-246	161	7	prior	prior	ADJ
ap-246	161	8	knowledge	knowledge	NOUN
ap-246	161	9	of	of	ADP
ap-246	161	10	the	the	DET
ap-246	161	11	actuators	actuator	NOUN
ap-246	161	12	behaviour	behaviour	VERB
ap-246	161	13	in	in	ADP
ap-246	161	14	order	order	NOUN
ap-246	161	15	to	to	PART
ap-246	161	16	include	include	VERB
ap-246	161	17	the	the	DET
ap-246	161	18	input	input	NOUN
ap-246	161	19	rate	rate	NOUN
ap-246	161	20	term	term	NOUN
ap-246	161	21	in	in	ADP
ap-246	161	22	the	the	DET
ap-246	161	23	cost	cost	NOUN
ap-246	161	24	function	function	NOUN
ap-246	161	25	.	.	PUNCT
ap-246	162	1	introducing	introduce	VERB
ap-246	162	2	the	the	DET
ap-246	162	3	input	input	NOUN
ap-246	162	4	rate	rate	NOUN
ap-246	162	5	term	term	NOUN
ap-246	162	6	in	in	ADP
ap-246	162	7	the	the	DET
ap-246	162	8	cost	cost	NOUN
ap-246	162	9	function	function	NOUN
ap-246	162	10	if	if	SCONJ
ap-246	162	11	there	there	PRON
ap-246	162	12	is	be	VERB
ap-246	162	13	no	no	DET
ap-246	162	14	wearing	wear	VERB
ap-246	162	15	and	and	CCONJ
ap-246	162	16	tearing	tearing	NOUN
ap-246	162	17	of	of	ADP
ap-246	162	18	the	the	DET
ap-246	162	19	actuator	actuator	NOUN
ap-246	162	20	will	will	AUX
ap-246	162	21	just	just	ADV
ap-246	162	22	result	result	VERB
ap-246	162	23	in	in	ADP
ap-246	162	24	a	a	DET
ap-246	162	25	slower	slow	ADJ
ap-246	162	26	input	input	NOUN
ap-246	162	27	and	and	CCONJ
ap-246	162	28	less	less	ADV
ap-246	162	29	accurate	accurate	ADJ
ap-246	162	30	tracking	tracking	NOUN
ap-246	162	31	.	.	PUNCT
ap-246	163	1	considering	consider	VERB
ap-246	163	2	the	the	DET
ap-246	163	3	convergence	convergence	NOUN
ap-246	163	4	of	of	ADP
ap-246	163	5	the	the	DET
ap-246	163	6	ga	ga	PROPN
ap-246	163	7	method	method	NOUN
ap-246	163	8	through	through	ADP
ap-246	163	9	the	the	DET
ap-246	163	10	total	total	ADJ
ap-246	163	11	and	and	CCONJ
ap-246	163	12	best	good	ADJ
ap-246	163	13	cost	cost	NOUN
ap-246	163	14	,	,	PUNCT
ap-246	163	15	the	the	DET
ap-246	163	16	total	total	ADJ
ap-246	163	17	cost	cost	NOUN
ap-246	163	18	converges	converge	NOUN
ap-246	163	19	to	to	ADP
ap-246	163	20	a	a	DET
ap-246	163	21	low	low	ADJ
ap-246	163	22	cost	cost	NOUN
ap-246	163	23	region	region	NOUN
ap-246	163	24	within	within	ADP
ap-246	163	25	3	3	NUM
ap-246	163	26	generations	generation	NOUN
ap-246	163	27	and	and	CCONJ
ap-246	163	28	the	the	DET
ap-246	163	29	best	good	ADJ
ap-246	163	30	cost	cost	NOUN
ap-246	163	31	converges	converge	NOUN
ap-246	163	32	to	to	ADP
ap-246	163	33	a	a	DET
ap-246	163	34	solution	solution	NOUN
ap-246	163	35	close	close	ADV
ap-246	163	36	to	to	ADP
ap-246	163	37	the	the	DET
ap-246	163	38	final	final	ADJ
ap-246	163	39	cost	cost	NOUN
ap-246	163	40	value	value	NOUN
ap-246	163	41	in	in	ADP
ap-246	163	42	the	the	DET
ap-246	163	43	10th	10th	ADJ
ap-246	163	44	generation	generation	NOUN
ap-246	163	45	.	.	PUNCT
ap-246	164	1	hence	hence	ADV
ap-246	164	2	,	,	PUNCT
ap-246	164	3	the	the	DET
ap-246	164	4	convergence	convergence	NOUN
ap-246	164	5	in	in	ADP
ap-246	164	6	this	this	DET
ap-246	164	7	case	case	NOUN
ap-246	164	8	has	have	AUX
ap-246	164	9	been	be	AUX
ap-246	164	10	faster	fast	ADJ
ap-246	164	11	than	than	ADP
ap-246	164	12	in	in	ADP
ap-246	164	13	figure	figure	NOUN
ap-246	164	14	2	2	NUM
ap-246	164	15	.	.	PUNCT
ap-246	164	16	also	also	ADV
ap-246	164	17	,	,	PUNCT
ap-246	164	18	observing	observe	VERB
ap-246	164	19	the	the	DET
ap-246	164	20	amount	amount	NOUN
ap-246	164	21	of	of	ADP
ap-246	164	22	saturation	saturation	NOUN
ap-246	164	23	in	in	ADP
ap-246	164	24	the	the	DET
ap-246	164	25	final	final	ADJ
ap-246	164	26	generation	generation	NOUN
ap-246	164	27	it	it	PRON
ap-246	164	28	can	can	AUX
ap-246	164	29	be	be	AUX
ap-246	164	30	verified	verify	VERB
ap-246	164	31	that	that	SCONJ
ap-246	164	32	the	the	DET
ap-246	164	33	final	final	ADJ
ap-246	164	34	solution	solution	NOUN
ap-246	164	35	is	be	AUX
ap-246	164	36	near	near	ADP
ap-246	164	37	optimal	optimal	ADJ
ap-246	164	38	due	due	ADP
ap-246	164	39	to	to	ADP
ap-246	164	40	the	the	DET
ap-246	164	41	high	high	ADJ
ap-246	164	42	number	number	NOUN
ap-246	164	43	of	of	ADP
ap-246	164	44	similar	similar	ADJ
ap-246	164	45	individuals	individual	NOUN
ap-246	164	46	in	in	ADP
ap-246	164	47	the	the	DET
ap-246	164	48	final	final	ADJ
ap-246	164	49	solution	solution	NOUN
ap-246	164	50	(	(	PUNCT
ap-246	164	51	i.e.	i.e.	X
ap-246	164	52	45	45	NUM
ap-246	164	53	individuals	individual	NOUN
ap-246	164	54	,	,	PUNCT
ap-246	164	55	75	75	NUM
ap-246	164	56	%	%	NOUN
ap-246	164	57	of	of	ADP
ap-246	164	58	the	the	DET
ap-246	164	59	population	population	NOUN
ap-246	164	60	)	)	PUNCT
ap-246	164	61	.	.	PUNCT
ap-246	165	1	©	©	PROPN
ap-246	165	2	czech	czech	PROPN
ap-246	165	3	technical	technical	PROPN
ap-246	165	4	university	university	PROPN
ap-246	165	5	publishing	publishing	NOUN
ap-246	165	6	house	house	NOUN
ap-246	165	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-246	165	8	17	17	NUM
ap-246	165	9	acta	acta	PROPN
ap-246	165	10	polytechnica	polytechnica	PROPN
ap-246	165	11	vol	vol	NOUN
ap-246	165	12	.	.	PUNCT
ap-246	166	1	41	41	NUM
ap-246	166	2	no	no	NOUN
ap-246	166	3	.	.	PUNCT
ap-246	167	1	4–5/2001	4–5/2001	NUM
ap-246	167	2	fig	fig	NOUN
ap-246	167	3	.	.	PUNCT
ap-246	168	1	3	3	NUM
ap-246	168	2	:	:	PUNCT
ap-246	168	3	ga	ga	NOUN
ap-246	168	4	controllers	controller	NOUN
ap-246	168	5	response	response	NOUN
ap-246	168	6	using	use	VERB
ap-246	168	7	cost	cost	NOUN
ap-246	168	8	function	function	NOUN
ap-246	168	9	(	(	PUNCT
ap-246	168	10	5	5	NUM
ap-246	168	11	)	)	PUNCT
ap-246	168	12	heading	head	VERB
ap-246	168	13	controller	controller	NOUN
ap-246	168	14	propulsion	propulsion	NOUN
ap-246	168	15	controller	controller	NOUN
ap-246	168	16	k	k	PROPN
ap-246	168	17	25.36	25.36	NUM
ap-246	168	18	223	223	NUM
ap-246	168	19	ki	ki	PROPN
ap-246	168	20	0.0025	0.0025	NUM
ap-246	168	21	0.0031	0.0031	NUM
ap-246	168	22	kd	kd	PROPN
ap-246	168	23	37.03	37.03	NUM
ap-246	168	24	519.9	519.9	NUM
ap-246	168	25	table	table	NOUN
ap-246	168	26	2	2	NUM
ap-246	168	27	:	:	PUNCT
ap-246	168	28	ga	ga	NOUN
ap-246	168	29	controllers	controller	NOUN
ap-246	168	30	parameters	parameter	NOUN
ap-246	168	31	when	when	SCONJ
ap-246	168	32	the	the	DET
ap-246	168	33	pid	pid	NOUN
ap-246	168	34	controllers	controller	NOUN
ap-246	168	35	are	be	AUX
ap-246	168	36	optimised	optimise	VERB
ap-246	168	37	using	use	VERB
ap-246	168	38	(	(	PUNCT
ap-246	168	39	6	6	NUM
ap-246	168	40	)	)	PUNCT
ap-246	168	41	the	the	DET
ap-246	168	42	values	value	NOUN
ap-246	168	43	shown	show	VERB
ap-246	168	44	in	in	ADP
ap-246	168	45	table	table	NOUN
ap-246	168	46	3	3	NUM
ap-246	168	47	are	be	AUX
ap-246	168	48	typical	typical	ADJ
ap-246	168	49	of	of	ADP
ap-246	168	50	those	those	PRON
ap-246	168	51	obtained	obtain	VERB
ap-246	168	52	.	.	PUNCT
ap-246	169	1	the	the	DET
ap-246	169	2	results	result	NOUN
ap-246	169	3	obtained	obtain	VERB
ap-246	169	4	for	for	ADP
ap-246	169	5	the	the	DET
ap-246	169	6	pid	pid	NOUN
ap-246	169	7	controller	controller	NOUN
ap-246	169	8	gains	gain	NOUN
ap-246	169	9	using	use	VERB
ap-246	169	10	this	this	DET
ap-246	169	11	latter	latter	ADJ
ap-246	169	12	cost	cost	NOUN
ap-246	169	13	function	function	NOUN
ap-246	169	14	(	(	PUNCT
ap-246	169	15	6	6	NUM
ap-246	169	16	)	)	PUNCT
ap-246	169	17	differ	differ	VERB
ap-246	169	18	quite	quite	DET
ap-246	169	19	a	a	DET
ap-246	169	20	lot	lot	NOUN
ap-246	169	21	from	from	ADP
ap-246	169	22	the	the	DET
ap-246	169	23	ones	one	NOUN
ap-246	169	24	got	get	VERB
ap-246	169	25	with	with	ADP
ap-246	169	26	the	the	DET
ap-246	169	27	previous	previous	ADJ
ap-246	169	28	one	one	NUM
ap-246	169	29	(	(	PUNCT
ap-246	169	30	5	5	NUM
ap-246	169	31	)	)	PUNCT
ap-246	169	32	,	,	PUNCT
ap-246	169	33	especially	especially	ADV
ap-246	169	34	ki	ki	PROPN
ap-246	169	35	.	.	PUNCT
ap-246	170	1	as	as	SCONJ
ap-246	170	2	it	it	PRON
ap-246	170	3	has	have	AUX
ap-246	170	4	been	be	AUX
ap-246	170	5	included	include	VERB
ap-246	170	6	a	a	DET
ap-246	170	7	new	new	ADJ
ap-246	170	8	term	term	NOUN
ap-246	170	9	in	in	ADP
ap-246	170	10	the	the	DET
ap-246	170	11	cost	cost	NOUN
ap-246	170	12	function	function	NOUN
ap-246	170	13	(	(	PUNCT
ap-246	170	14	6	6	NUM
ap-246	170	15	)	)	PUNCT
ap-246	170	16	to	to	PART
ap-246	170	17	reduce	reduce	VERB
ap-246	170	18	the	the	DET
ap-246	170	19	oscillations	oscillation	NOUN
ap-246	170	20	in	in	ADP
ap-246	170	21	the	the	DET
ap-246	170	22	input	input	NOUN
ap-246	170	23	signal	signal	NOUN
ap-246	170	24	generated	generate	VERB
ap-246	170	25	by	by	ADP
ap-246	170	26	the	the	DET
ap-246	170	27	heading	head	VERB
ap-246	170	28	controller	controller	NOUN
ap-246	170	29	(	(	PUNCT
ap-246	170	30	i.e.	i.e.	X
ap-246	170	31	�	�	NOUN
ap-246	170	32	3	3	NUM
ap-246	170	33	)	)	PUNCT
ap-246	170	34	,	,	PUNCT
ap-246	170	35	the	the	DET
ap-246	170	36	ga	ga	PROPN
ap-246	170	37	has	have	AUX
ap-246	170	38	done	do	VERB
ap-246	170	39	so	so	ADV
ap-246	170	40	by	by	ADP
ap-246	170	41	decreasing	decrease	VERB
ap-246	170	42	k	k	PROPN
ap-246	170	43	and	and	CCONJ
ap-246	170	44	kd	kd	PROPN
ap-246	170	45	to	to	PART
ap-246	170	46	reduce	reduce	VERB
ap-246	170	47	the	the	DET
ap-246	170	48	gain	gain	NOUN
ap-246	170	49	of	of	ADP
ap-246	170	50	the	the	DET
ap-246	170	51	system	system	NOUN
ap-246	170	52	and	and	CCONJ
ap-246	170	53	the	the	DET
ap-246	170	54	noise	noise	NOUN
ap-246	170	55	amplification	amplification	NOUN
ap-246	170	56	.	.	PUNCT
ap-246	171	1	also	also	ADV
ap-246	171	2	,	,	PUNCT
ap-246	171	3	in	in	ADP
ap-246	171	4	order	order	NOUN
ap-246	171	5	not	not	PART
ap-246	171	6	to	to	PART
ap-246	171	7	get	get	VERB
ap-246	171	8	a	a	DET
ap-246	171	9	poorer	poor	ADJ
ap-246	171	10	tracking	tracking	NOUN
ap-246	171	11	response	response	NOUN
ap-246	171	12	after	after	ADP
ap-246	171	13	reducing	reduce	VERB
ap-246	171	14	k	k	PROPN
ap-246	171	15	,	,	PUNCT
ap-246	171	16	ki	ki	PROPN
ap-246	171	17	has	have	AUX
ap-246	171	18	been	be	AUX
ap-246	171	19	increased	increase	VERB
ap-246	171	20	to	to	PART
ap-246	171	21	improve	improve	VERB
ap-246	171	22	the	the	DET
ap-246	171	23	tracking	tracking	NOUN
ap-246	171	24	.	.	PUNCT
ap-246	172	1	although	although	SCONJ
ap-246	172	2	the	the	DET
ap-246	172	3	terms	term	NOUN
ap-246	172	4	of	of	ADP
ap-246	172	5	the	the	DET
ap-246	172	6	cost	cost	NOUN
ap-246	172	7	function	function	NOUN
ap-246	172	8	(	(	PUNCT
ap-246	172	9	6	6	NUM
ap-246	172	10	)	)	PUNCT
ap-246	172	11	concerning	concern	VERB
ap-246	172	12	the	the	DET
ap-246	172	13	propulsion	propulsion	NOUN
ap-246	172	14	controller	controller	NOUN
ap-246	172	15	have	have	AUX
ap-246	172	16	not	not	PART
ap-246	172	17	changed	change	VERB
ap-246	172	18	,	,	PUNCT
ap-246	172	19	the	the	DET
ap-246	172	20	reduction	reduction	NOUN
ap-246	172	21	of	of	ADP
ap-246	172	22	oscillation	oscillation	NOUN
ap-246	172	23	in	in	ADP
ap-246	172	24	�	�	NOUN
ap-246	172	25	3	3	NUM
ap-246	172	26	affects	affect	VERB
ap-246	172	27	�	�	PROPN
ap-246	172	28	1	1	NUM
ap-246	172	29	and	and	CCONJ
ap-246	172	30	this	this	DET
ap-246	172	31	deals	deal	NOUN
ap-246	172	32	to	to	ADP
ap-246	172	33	a	a	DET
ap-246	172	34	different	different	ADJ
ap-246	172	35	propulsion	propulsion	NOUN
ap-246	172	36	controller	controller	NOUN
ap-246	172	37	.	.	PUNCT
ap-246	173	1	once	once	ADV
ap-246	173	2	implemented	implement	VERB
ap-246	173	3	the	the	DET
ap-246	173	4	simulated	simulated	ADJ
ap-246	173	5	responses	response	NOUN
ap-246	173	6	shown	show	VERB
ap-246	173	7	in	in	ADP
ap-246	173	8	figure	figure	NOUN
ap-246	173	9	4	4	NUM
ap-246	173	10	are	be	AUX
ap-246	173	11	obtained	obtain	VERB
ap-246	173	12	.	.	PUNCT
ap-246	174	1	as	as	SCONJ
ap-246	174	2	can	can	AUX
ap-246	174	3	be	be	AUX
ap-246	174	4	seen	see	VERB
ap-246	174	5	from	from	ADP
ap-246	174	6	these	these	DET
ap-246	174	7	plots	plot	NOUN
ap-246	174	8	the	the	DET
ap-246	174	9	tracking	tracking	NOUN
ap-246	174	10	of	of	ADP
ap-246	174	11	the	the	DET
ap-246	174	12	surge	surge	NOUN
ap-246	174	13	velocity	velocity	NOUN
ap-246	174	14	desired	desire	VERB
ap-246	174	15	response	response	NOUN
ap-246	174	16	is	be	AUX
ap-246	174	17	again	again	ADV
ap-246	174	18	excellent	excellent	ADJ
ap-246	174	19	,	,	PUNCT
ap-246	174	20	and	and	CCONJ
ap-246	174	21	even	even	ADV
ap-246	174	22	the	the	DET
ap-246	174	23	slight	slight	ADJ
ap-246	174	24	steady	steady	ADJ
ap-246	174	25	state	state	NOUN
ap-246	174	26	error	error	NOUN
ap-246	174	27	has	have	AUX
ap-246	174	28	disappeared	disappear	VERB
ap-246	174	29	.	.	PUNCT
ap-246	175	1	the	the	DET
ap-246	175	2	tracking	tracking	NOUN
ap-246	175	3	of	of	ADP
ap-246	175	4	the	the	DET
ap-246	175	5	heading	head	VERB
ap-246	175	6	desired	desire	VERB
ap-246	175	7	response	response	NOUN
ap-246	175	8	is	be	AUX
ap-246	175	9	a	a	DET
ap-246	175	10	bit	bit	NOUN
ap-246	175	11	worse	bad	ADJ
ap-246	175	12	than	than	SCONJ
ap-246	175	13	it	it	PRON
ap-246	175	14	was	be	AUX
ap-246	175	15	with	with	ADP
ap-246	175	16	the	the	DET
ap-246	175	17	previous	previous	ADJ
ap-246	175	18	controller	controller	NOUN
ap-246	175	19	,	,	PUNCT
ap-246	175	20	especially	especially	ADV
ap-246	175	21	in	in	ADP
ap-246	175	22	the	the	DET
ap-246	175	23	transient	transient	NOUN
ap-246	175	24	(	(	PUNCT
ap-246	175	25	i.e.	i.e.	X
ap-246	175	26	the	the	DET
ap-246	175	27	first	first	ADJ
ap-246	175	28	10	10	NUM
ap-246	175	29	seconds	second	NOUN
ap-246	175	30	)	)	PUNCT
ap-246	175	31	,	,	PUNCT
ap-246	175	32	but	but	CCONJ
ap-246	175	33	thanks	thank	NOUN
ap-246	175	34	to	to	ADP
ap-246	175	35	this	this	PRON
ap-246	175	36	the	the	DET
ap-246	175	37	goal	goal	NOUN
ap-246	175	38	of	of	ADP
ap-246	175	39	this	this	DET
ap-246	175	40	new	new	ADJ
ap-246	175	41	optimisation	optimisation	NOUN
ap-246	175	42	,	,	PUNCT
ap-246	175	43	which	which	PRON
ap-246	175	44	was	be	AUX
ap-246	175	45	to	to	PART
ap-246	175	46	reduce	reduce	VERB
ap-246	175	47	the	the	DET
ap-246	175	48	wearing	wear	VERB
ap-246	175	49	and	and	CCONJ
ap-246	175	50	tearing	tear	VERB
ap-246	175	51	in	in	ADP
ap-246	175	52	the	the	DET
ap-246	175	53	yaw	yaw	NOUN
ap-246	175	54	thrusters	thruster	NOUN
ap-246	175	55	,	,	PUNCT
ap-246	175	56	has	have	AUX
ap-246	175	57	been	be	AUX
ap-246	175	58	accomplished	accomplish	VERB
ap-246	175	59	.	.	PUNCT
ap-246	176	1	7	7	NUM
ap-246	176	2	execution	execution	NOUN
ap-246	176	3	time	time	NOUN
ap-246	176	4	comparing	compare	VERB
ap-246	176	5	the	the	DET
ap-246	176	6	execution	execution	NOUN
ap-246	176	7	time	time	NOUN
ap-246	176	8	for	for	ADP
ap-246	176	9	both	both	DET
ap-246	176	10	methods	method	NOUN
ap-246	176	11	,	,	PUNCT
ap-246	176	12	manual	manual	ADJ
ap-246	176	13	tuning	tuning	NOUN
ap-246	176	14	and	and	CCONJ
ap-246	176	15	ga	ga	NOUN
ap-246	176	16	optimisation	optimisation	NOUN
ap-246	176	17	,	,	PUNCT
ap-246	176	18	it	it	PRON
ap-246	176	19	can	can	AUX
ap-246	176	20	be	be	AUX
ap-246	176	21	seen	see	VERB
ap-246	176	22	in	in	ADP
ap-246	176	23	the	the	DET
ap-246	176	24	table	table	NOUN
ap-246	176	25	4	4	NUM
ap-246	176	26	below	below	ADP
ap-246	176	27	that	that	SCONJ
ap-246	176	28	the	the	DET
ap-246	176	29	time	time	NOUN
ap-246	176	30	spent	spend	VERB
ap-246	176	31	tuning	tune	VERB
ap-246	176	32	the	the	DET
ap-246	176	33	controller	controller	NOUN
ap-246	176	34	was	be	AUX
ap-246	176	35	longer	long	ADJ
ap-246	176	36	that	that	SCONJ
ap-246	176	37	the	the	DET
ap-246	176	38	time	time	NOUN
ap-246	176	39	it	it	PRON
ap-246	176	40	takes	take	VERB
ap-246	176	41	to	to	PART
ap-246	176	42	run	run	VERB
ap-246	176	43	a	a	DET
ap-246	176	44	ga	ga	NOUN
ap-246	176	45	simulation	simulation	NOUN
ap-246	176	46	.	.	PUNCT
ap-246	177	1	it	it	PRON
ap-246	177	2	is	be	AUX
ap-246	177	3	quite	quite	ADV
ap-246	177	4	difficult	difficult	ADJ
ap-246	177	5	to	to	PART
ap-246	177	6	reckon	reckon	VERB
ap-246	177	7	the	the	DET
ap-246	177	8	time	time	NOUN
ap-246	177	9	a	a	DET
ap-246	177	10	designer	designer	NOUN
ap-246	177	11	will	will	AUX
ap-246	177	12	spend	spend	VERB
ap-246	177	13	doing	do	VERB
ap-246	177	14	a	a	DET
ap-246	177	15	manual	manual	ADJ
ap-246	177	16	tuning	tuning	NOUN
ap-246	177	17	because	because	SCONJ
ap-246	177	18	it	it	PRON
ap-246	177	19	highly	highly	ADV
ap-246	177	20	depends	depend	VERB
ap-246	177	21	on	on	ADP
ap-246	177	22	his	his	PRON
ap-246	177	23	experience	experience	NOUN
ap-246	177	24	,	,	PUNCT
ap-246	177	25	engineering	engineering	NOUN
ap-246	177	26	judgement	judgement	NOUN
ap-246	177	27	and	and	CCONJ
ap-246	177	28	luck	luck	NOUN
ap-246	177	29	.	.	PUNCT
ap-246	178	1	although	although	SCONJ
ap-246	178	2	it	it	PRON
ap-246	178	3	may	may	AUX
ap-246	178	4	seem	seem	VERB
ap-246	178	5	that	that	SCONJ
ap-246	178	6	the	the	DET
ap-246	178	7	simulation	simulation	NOUN
ap-246	178	8	time	time	NOUN
ap-246	178	9	is	be	AUX
ap-246	178	10	quite	quite	ADV
ap-246	178	11	long	long	ADJ
ap-246	178	12	and	and	CCONJ
ap-246	178	13	there	there	PRON
ap-246	178	14	is	be	VERB
ap-246	178	15	no	no	DET
ap-246	178	16	real	real	ADJ
ap-246	178	17	advantage	advantage	NOUN
ap-246	178	18	in	in	ADP
ap-246	178	19	it	it	PRON
ap-246	178	20	,	,	PUNCT
ap-246	178	21	we	we	PRON
ap-246	178	22	must	must	AUX
ap-246	178	23	take	take	VERB
ap-246	178	24	into	into	ADP
ap-246	178	25	account	account	NOUN
ap-246	178	26	that	that	SCONJ
ap-246	178	27	while	while	SCONJ
ap-246	178	28	the	the	DET
ap-246	178	29	optimisation	optimisation	NOUN
ap-246	178	30	is	be	AUX
ap-246	178	31	running	run	VERB
ap-246	178	32	the	the	DET
ap-246	178	33	designer	designer	NOUN
ap-246	178	34	does	do	AUX
ap-246	178	35	not	not	PART
ap-246	178	36	need	need	VERB
ap-246	178	37	to	to	PART
ap-246	178	38	be	be	AUX
ap-246	178	39	there	there	ADV
ap-246	178	40	.	.	PUNCT
ap-246	179	1	8	8	NUM
ap-246	179	2	conclusions	conclusion	NOUN
ap-246	179	3	this	this	DET
ap-246	179	4	paper	paper	NOUN
ap-246	179	5	has	have	AUX
ap-246	179	6	presented	present	VERB
ap-246	179	7	the	the	DET
ap-246	179	8	findings	finding	NOUN
ap-246	179	9	of	of	ADP
ap-246	179	10	a	a	DET
ap-246	179	11	study	study	NOUN
ap-246	179	12	of	of	ADP
ap-246	179	13	pid	pid	NOUN
ap-246	179	14	controller	controller	NOUN
ap-246	179	15	gains	gain	VERB
ap-246	179	16	optimisation	optimisation	NOUN
ap-246	179	17	for	for	ADP
ap-246	179	18	an	an	DET
ap-246	179	19	oil	oil	NOUN
ap-246	179	20	platform	platform	NOUN
ap-246	179	21	supply	supply	NOUN
ap-246	179	22	ship	ship	NOUN
ap-246	179	23	’s	’s	PART
ap-246	179	24	propulsion	propulsion	NOUN
ap-246	179	25	and	and	CCONJ
ap-246	179	26	heading	head	VERB
ap-246	179	27	dynamics	dynamic	NOUN
ap-246	179	28	.	.	PUNCT
ap-246	180	1	the	the	DET
ap-246	180	2	ga	ga	PROPN
ap-246	180	3	process	process	NOUN
ap-246	180	4	has	have	AUX
ap-246	180	5	performed	perform	VERB
ap-246	180	6	well	well	ADV
ap-246	180	7	as	as	ADP
ap-246	180	8	optimisation	optimisation	NOUN
ap-246	180	9	technique	technique	NOUN
ap-246	180	10	.	.	PUNCT
ap-246	181	1	it	it	PRON
ap-246	181	2	has	have	AUX
ap-246	181	3	obtained	obtain	VERB
ap-246	181	4	optimal	optimal	ADJ
ap-246	181	5	solutions	solution	NOUN
ap-246	181	6	for	for	ADP
ap-246	181	7	both	both	PRON
ap-246	181	8	propulsion	propulsion	NOUN
ap-246	181	9	and	and	CCONJ
ap-246	181	10	navigation	navigation	NOUN
ap-246	181	11	pid	pid	NOUN
ap-246	181	12	controllers	controller	NOUN
ap-246	181	13	without	without	ADP
ap-246	181	14	a	a	PRON
ap-246	181	15	-	-	PUNCT
ap-246	181	16	priori	priori	ADJ
ap-246	181	17	knowledge	knowledge	NOUN
ap-246	181	18	of	of	ADP
ap-246	181	19	the	the	DET
ap-246	181	20	optimal	optimal	ADJ
ap-246	181	21	region	region	NOUN
ap-246	181	22	.	.	PUNCT
ap-246	182	1	as	as	SCONJ
ap-246	182	2	this	this	DET
ap-246	182	3	a	a	PRON
ap-246	182	4	-	-	PUNCT
ap-246	182	5	priori	priori	ADJ
ap-246	182	6	knowledge	knowledge	NOUN
ap-246	182	7	is	be	AUX
ap-246	182	8	not	not	PART
ap-246	182	9	necessary	necessary	ADJ
ap-246	182	10	,	,	PUNCT
ap-246	182	11	ga	ga	PROPN
ap-246	182	12	techniques	technique	NOUN
ap-246	182	13	are	be	AUX
ap-246	182	14	very	very	ADV
ap-246	182	15	suitable	suitable	ADJ
ap-246	182	16	when	when	SCONJ
ap-246	182	17	the	the	DET
ap-246	182	18	designer	designer	NOUN
ap-246	182	19	is	be	AUX
ap-246	182	20	unfamiliar	unfamiliar	ADJ
ap-246	182	21	with	with	ADP
ap-246	182	22	the	the	DET
ap-246	182	23	plant	plant	NOUN
ap-246	182	24	to	to	PART
ap-246	182	25	control	control	VERB
ap-246	182	26	.	.	PUNCT
ap-246	183	1	the	the	DET
ap-246	183	2	key	key	ADJ
ap-246	183	3	factor	factor	NOUN
ap-246	183	4	in	in	ADP
ap-246	183	5	the	the	DET
ap-246	183	6	ga	ga	PROPN
ap-246	183	7	optimisation	optimisation	NOUN
ap-246	183	8	is	be	AUX
ap-246	183	9	the	the	DET
ap-246	183	10	choice	choice	NOUN
ap-246	183	11	of	of	ADP
ap-246	183	12	the	the	DET
ap-246	183	13	cost	cost	NOUN
ap-246	183	14	function	function	NOUN
ap-246	183	15	.	.	PUNCT
ap-246	184	1	as	as	SCONJ
ap-246	184	2	the	the	DET
ap-246	184	3	objective	objective	NOUN
ap-246	184	4	of	of	ADP
ap-246	184	5	the	the	DET
ap-246	184	6	optimised	optimise	VERB
ap-246	184	7	controller	controller	NOUN
ap-246	184	8	is	be	AUX
ap-246	184	9	to	to	PART
ap-246	184	10	make	make	VERB
ap-246	184	11	the	the	DET
ap-246	184	12	vessel	vessel	NOUN
ap-246	184	13	follow	follow	VERB
ap-246	184	14	as	as	ADV
ap-246	184	15	accurately	accurately	ADV
ap-246	184	16	as	as	ADP
ap-246	184	17	possible	possible	ADJ
ap-246	184	18	the	the	DET
ap-246	184	19	desired	desire	VERB
ap-246	184	20	track	track	NOUN
ap-246	184	21	while	while	SCONJ
ap-246	184	22	avoiding	avoid	VERB
ap-246	184	23	excessive	excessive	ADJ
ap-246	184	24	wear	wear	NOUN
ap-246	184	25	and	and	CCONJ
ap-246	184	26	tear	tear	NOUN
ap-246	184	27	in	in	ADP
ap-246	184	28	the	the	DET
ap-246	184	29	actuators	actuator	NOUN
ap-246	184	30	,	,	PUNCT
ap-246	184	31	these	these	DET
ap-246	184	32	two	two	NUM
ap-246	184	33	terms	term	NOUN
ap-246	184	34	(	(	PUNCT
ap-246	184	35	i.e.	i.e.	X
ap-246	184	36	difference	difference	NOUN
ap-246	184	37	between	between	ADP
ap-246	184	38	desired	desire	VERB
ap-246	184	39	response	response	NOUN
ap-246	184	40	and	and	CCONJ
ap-246	184	41	18	18	NUM
ap-246	184	42	©	©	PROPN
ap-246	184	43	czech	czech	PROPN
ap-246	184	44	technical	technical	PROPN
ap-246	184	45	university	university	PROPN
ap-246	184	46	publishing	publishing	NOUN
ap-246	184	47	house	house	NOUN
ap-246	184	48	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-246	184	49	acta	acta	PROPN
ap-246	184	50	polytechnica	polytechnica	PROPN
ap-246	184	51	vol	vol	NOUN
ap-246	184	52	.	.	PUNCT
ap-246	185	1	41	41	NUM
ap-246	185	2	no	no	NOUN
ap-246	185	3	.	.	PUNCT
ap-246	186	1	4–5/2001	4–5/2001	NUM
ap-246	186	2	heading	head	VERB
ap-246	186	3	controller	controller	NOUN
ap-246	186	4	propulsion	propulsion	NOUN
ap-246	186	5	controller	controller	NOUN
ap-246	186	6	k	k	PROPN
ap-246	186	7	4.28	4.28	NUM
ap-246	186	8	885	885	NUM
ap-246	186	9	ki	ki	PROPN
ap-246	186	10	5.126	5.126	NUM
ap-246	186	11	96.34	96.34	NUM
ap-246	186	12	kd	kd	PROPN
ap-246	186	13	10.04	10.04	NUM
ap-246	186	14	560.2	560.2	NUM
ap-246	186	15	table	table	NOUN
ap-246	186	16	3	3	NUM
ap-246	186	17	:	:	PUNCT
ap-246	186	18	ga	ga	NOUN
ap-246	186	19	controllers	controller	NOUN
ap-246	186	20	parameters	parameter	NOUN
ap-246	186	21	fig	fig	VERB
ap-246	186	22	.	.	PUNCT
ap-246	187	1	4	4	NUM
ap-246	187	2	:	:	PUNCT
ap-246	187	3	ga	ga	NOUN
ap-246	187	4	controllers	controller	NOUN
ap-246	187	5	response	response	NOUN
ap-246	187	6	using	use	VERB
ap-246	187	7	cost	cost	NOUN
ap-246	187	8	function	function	NOUN
ap-246	187	9	(	(	PUNCT
ap-246	187	10	6	6	NUM
ap-246	187	11	)	)	PUNCT
ap-246	187	12	manual	manual	NOUN
ap-246	187	13	tuning	tune	VERB
ap-246	187	14	ga	ga	PROPN
ap-246	187	15	optimisation	optimisation	NOUN
ap-246	187	16	15	15	NUM
ap-246	187	17	h	h	NOUN
ap-246	187	18	8	8	NUM
ap-246	187	19	h	h	NOUN
ap-246	187	20	table	table	NOUN
ap-246	187	21	4	4	NUM
ap-246	187	22	:	:	PUNCT
ap-246	187	23	execution	execution	NOUN
ap-246	187	24	time	time	NOUN
ap-246	187	25	actual	actual	ADJ
ap-246	187	26	response	response	NOUN
ap-246	187	27	and	and	CCONJ
ap-246	187	28	thrust	thrust	VERB
ap-246	187	29	forces	force	NOUN
ap-246	187	30	)	)	PUNCT
ap-246	187	31	must	must	AUX
ap-246	187	32	be	be	AUX
ap-246	187	33	included	include	VERB
ap-246	187	34	in	in	ADP
ap-246	187	35	the	the	DET
ap-246	187	36	cost	cost	NOUN
ap-246	187	37	function	function	NOUN
ap-246	187	38	in	in	ADP
ap-246	187	39	order	order	NOUN
ap-246	187	40	to	to	PART
ap-246	187	41	be	be	AUX
ap-246	187	42	minimised	minimise	VERB
ap-246	187	43	.	.	PUNCT
ap-246	188	1	numerous	numerous	ADJ
ap-246	188	2	simulations	simulation	NOUN
ap-246	188	3	considering	consider	VERB
ap-246	188	4	different	different	ADJ
ap-246	188	5	scaling	scaling	NOUN
ap-246	188	6	factors	factor	NOUN
ap-246	188	7	show	show	VERB
ap-246	188	8	that	that	SCONJ
ap-246	188	9	there	there	PRON
ap-246	188	10	is	be	VERB
ap-246	188	11	a	a	DET
ap-246	188	12	trade	trade	NOUN
ap-246	188	13	-	-	PUNCT
ap-246	188	14	off	off	NOUN
ap-246	188	15	between	between	ADP
ap-246	188	16	the	the	DET
ap-246	188	17	accuracy	accuracy	NOUN
ap-246	188	18	following	follow	VERB
ap-246	188	19	the	the	DET
ap-246	188	20	desired	desire	VERB
ap-246	188	21	track	track	NOUN
ap-246	188	22	and	and	CCONJ
ap-246	188	23	the	the	DET
ap-246	188	24	actuators	actuator	NOUN
ap-246	188	25	,	,	PUNCT
ap-246	188	26	usage	usage	NOUN
ap-246	188	27	and	and	CCONJ
ap-246	188	28	one	one	NUM
ap-246	188	29	of	of	ADP
ap-246	188	30	them	they	PRON
ap-246	188	31	can	can	AUX
ap-246	188	32	not	not	PART
ap-246	188	33	be	be	AUX
ap-246	188	34	improved	improve	VERB
ap-246	188	35	without	without	ADP
ap-246	188	36	making	make	VERB
ap-246	188	37	the	the	DET
ap-246	188	38	other	other	ADJ
ap-246	188	39	worse	bad	ADJ
ap-246	188	40	.	.	PUNCT
ap-246	189	1	this	this	PRON
ap-246	189	2	leads	lead	VERB
ap-246	189	3	to	to	ADP
ap-246	189	4	the	the	DET
ap-246	189	5	necessity	necessity	NOUN
ap-246	189	6	,	,	PUNCT
ap-246	189	7	of	of	ADP
ap-246	189	8	a	a	DET
ap-246	189	9	balance	balance	NOUN
ap-246	189	10	so	so	SCONJ
ap-246	189	11	that	that	SCONJ
ap-246	189	12	the	the	DET
ap-246	189	13	overall	overall	ADJ
ap-246	189	14	performance	performance	NOUN
ap-246	189	15	is	be	AUX
ap-246	189	16	good	good	ADJ
ap-246	189	17	.	.	PUNCT
ap-246	190	1	in	in	ADP
ap-246	190	2	addition	addition	NOUN
ap-246	190	3	,	,	PUNCT
ap-246	190	4	the	the	DET
ap-246	190	5	inclusion	inclusion	NOUN
ap-246	190	6	in	in	ADP
ap-246	190	7	the	the	DET
ap-246	190	8	cost	cost	NOUN
ap-246	190	9	function	function	NOUN
ap-246	190	10	of	of	ADP
ap-246	190	11	a	a	DET
ap-246	190	12	term	term	NOUN
ap-246	190	13	considering	consider	VERB
ap-246	190	14	the	the	DET
ap-246	190	15	rate	rate	NOUN
ap-246	190	16	of	of	ADP
ap-246	190	17	variation	variation	NOUN
ap-246	190	18	of	of	ADP
ap-246	190	19	the	the	DET
ap-246	190	20	thrust	thrust	ADJ
ap-246	190	21	forces	force	NOUN
ap-246	190	22	along	along	ADP
ap-246	190	23	the	the	DET
ap-246	190	24	z	z	NOUN
ap-246	190	25	-	-	PUNCT
ap-246	190	26	axis	axis	NOUN
ap-246	190	27	leads	lead	VERB
ap-246	190	28	to	to	ADP
ap-246	190	29	a	a	DET
ap-246	190	30	significant	significant	ADJ
ap-246	190	31	reduction	reduction	NOUN
ap-246	190	32	in	in	ADP
ap-246	190	33	the	the	DET
ap-246	190	34	oscillation	oscillation	NOUN
ap-246	190	35	of	of	ADP
ap-246	190	36	this	this	DET
ap-246	190	37	input	input	NOUN
ap-246	190	38	keeping	keep	VERB
ap-246	190	39	a	a	DET
ap-246	190	40	good	good	ADJ
ap-246	190	41	tracking	tracking	NOUN
ap-246	190	42	of	of	ADP
ap-246	190	43	the	the	DET
ap-246	190	44	desired	desire	VERB
ap-246	190	45	heading	heading	NOUN
ap-246	190	46	.	.	PUNCT
ap-246	191	1	this	this	PRON
ap-246	191	2	is	be	AUX
ap-246	191	3	a	a	DET
ap-246	191	4	considerable	considerable	ADJ
ap-246	191	5	advantage	advantage	NOUN
ap-246	191	6	since	since	SCONJ
ap-246	191	7	it	it	PRON
ap-246	191	8	avoids	avoid	VERB
ap-246	191	9	unnecessary	unnecessary	ADJ
ap-246	191	10	wear	wear	NOUN
ap-246	191	11	and	and	CCONJ
ap-246	191	12	tear	tear	NOUN
ap-246	191	13	of	of	ADP
ap-246	191	14	the	the	DET
ap-246	191	15	actuators	actuator	NOUN
ap-246	191	16	,	,	PUNCT
ap-246	191	17	which	which	PRON
ap-246	191	18	could	could	AUX
ap-246	191	19	shorten	shorten	VERB
ap-246	191	20	their	their	PRON
ap-246	191	21	operational	operational	ADJ
ap-246	191	22	lifespan	lifespan	NOUN
ap-246	191	23	.	.	PUNCT
ap-246	192	1	the	the	DET
ap-246	192	2	results	result	NOUN
ap-246	192	3	obtained	obtain	VERB
ap-246	192	4	illustrate	illustrate	VERB
ap-246	192	5	the	the	DET
ap-246	192	6	benefits	benefit	NOUN
ap-246	192	7	of	of	ADP
ap-246	192	8	using	use	VERB
ap-246	192	9	gas	gas	NOUN
ap-246	192	10	to	to	PART
ap-246	192	11	optimise	optimise	VERB
ap-246	192	12	propulsion	propulsion	NOUN
ap-246	192	13	and	and	CCONJ
ap-246	192	14	navigation	navigation	NOUN
ap-246	192	15	controllers	controller	NOUN
ap-246	192	16	for	for	ADP
ap-246	192	17	surface	surface	NOUN
ap-246	192	18	ships	ship	NOUN
ap-246	192	19	.	.	PUNCT
ap-246	193	1	the	the	DET
ap-246	193	2	accuracy	accuracy	NOUN
ap-246	193	3	of	of	ADP
ap-246	193	4	the	the	DET
ap-246	193	5	obtained	obtain	VERB
ap-246	193	6	simulations	simulation	NOUN
ap-246	193	7	allows	allow	VERB
ap-246	193	8	confidence	confidence	NOUN
ap-246	193	9	in	in	ADP
ap-246	193	10	the	the	DET
ap-246	193	11	good	good	ADJ
ap-246	193	12	performance	performance	NOUN
ap-246	193	13	of	of	ADP
ap-246	193	14	these	these	DET
ap-246	193	15	controllers	controller	NOUN
ap-246	193	16	once	once	SCONJ
ap-246	193	17	they	they	PRON
ap-246	193	18	are	be	AUX
ap-246	193	19	used	use	VERB
ap-246	193	20	to	to	PART
ap-246	193	21	control	control	VERB
ap-246	193	22	the	the	DET
ap-246	193	23	manoeuvring	manoeuvring	NOUN
ap-246	193	24	of	of	ADP
ap-246	193	25	the	the	DET
ap-246	193	26	actual	actual	ADJ
ap-246	193	27	scale	scale	NOUN
ap-246	193	28	model	model	NOUN
ap-246	193	29	.	.	PUNCT
ap-246	194	1	references	reference	NOUN
ap-246	194	2	[	[	X
ap-246	194	3	1	1	NUM
ap-246	194	4	]	]	X
ap-246	194	5	holland	holland	PROPN
ap-246	194	6	,	,	PUNCT
ap-246	194	7	j.	j.	PROPN
ap-246	194	8	:	:	PUNCT
ap-246	194	9	genetic	genetic	ADJ
ap-246	194	10	algorithms	algorithm	NOUN
ap-246	194	11	.	.	PUNCT
ap-246	195	1	scientific	scientific	ADJ
ap-246	195	2	american	american	PROPN
ap-246	195	3	,	,	PUNCT
ap-246	195	4	1992	1992	NUM
ap-246	195	5	[	[	X
ap-246	195	6	2	2	NUM
ap-246	195	7	]	]	X
ap-246	195	8	ellis	ellis	PROPN
ap-246	195	9	,	,	PUNCT
ap-246	195	10	c.	c.	PROPN
ap-246	195	11	:	:	PUNCT
ap-246	195	12	a	a	DET
ap-246	195	13	bluffer	bluffer	NOUN
ap-246	195	14	guide	guide	NOUN
ap-246	195	15	to	to	ADP
ap-246	195	16	genetic	genetic	ADJ
ap-246	195	17	algorithms	algorithm	NOUN
ap-246	195	18	.	.	PUNCT
ap-246	196	1	engineering	engineering	NOUN
ap-246	196	2	design	design	NOUN
ap-246	196	3	newsletter	newsletter	NOUN
ap-246	196	4	,	,	PUNCT
ap-246	196	5	science	science	NOUN
ap-246	196	6	and	and	CCONJ
ap-246	196	7	engineering	engineering	NOUN
ap-246	196	8	research	research	NOUN
ap-246	196	9	council	council	PROPN
ap-246	196	10	newsletter	newsletter	NOUN
ap-246	196	11	,	,	PUNCT
ap-246	196	12	1993	1993	NUM
ap-246	197	1	[	[	X
ap-246	197	2	3	3	NUM
ap-246	197	3	]	]	X
ap-246	197	4	dutton	dutton	PROPN
ap-246	197	5	,	,	PUNCT
ap-246	197	6	k.	k.	PROPN
ap-246	197	7	,	,	PUNCT
ap-246	197	8	thompson	thompson	PROPN
ap-246	197	9	,	,	PUNCT
ap-246	197	10	s.	s.	PROPN
ap-246	197	11	,	,	PUNCT
ap-246	197	12	barraclough	barraclough	PROPN
ap-246	197	13	,	,	PUNCT
ap-246	197	14	b.	b.	PROPN
ap-246	197	15	:	:	PUNCT
ap-246	197	16	the	the	DET
ap-246	197	17	art	art	NOUN
ap-246	197	18	of	of	ADP
ap-246	197	19	control	control	NOUN
ap-246	197	20	engineering	engineering	NOUN
ap-246	197	21	.	.	PUNCT
ap-246	198	1	harlow	harlow	PROPN
ap-246	198	2	,	,	PUNCT
ap-246	198	3	addison	addison	PROPN
ap-246	198	4	-	-	PUNCT
ap-246	198	5	wesley	wesley	PROPN
ap-246	198	6	,	,	PUNCT
ap-246	198	7	1997	1997	NUM
ap-246	199	1	[	[	X
ap-246	199	2	4	4	NUM
ap-246	199	3	]	]	X
ap-246	199	4	mcgookin	mcgookin	X
ap-246	199	5	,	,	PUNCT
ap-246	199	6	e.	e.	PROPN
ap-246	199	7	w.	w.	PROPN
ap-246	199	8	:	:	PUNCT
ap-246	199	9	optimisation	optimisation	NOUN
ap-246	199	10	of	of	ADP
ap-246	199	11	sliding	slide	VERB
ap-246	199	12	mode	mode	NOUN
ap-246	199	13	controllers	controller	NOUN
ap-246	199	14	for	for	ADP
ap-246	199	15	marine	marine	ADJ
ap-246	199	16	applications	application	NOUN
ap-246	199	17	:	:	PUNCT
ap-246	199	18	a	a	DET
ap-246	199	19	study	study	NOUN
ap-246	199	20	of	of	ADP
ap-246	199	21	methods	method	NOUN
ap-246	199	22	and	and	CCONJ
ap-246	199	23	implementation	implementation	NOUN
ap-246	199	24	issues	issue	NOUN
ap-246	199	25	.	.	PUNCT
ap-246	200	1	phd	phd	NOUN
ap-246	200	2	thesis	thesis	PROPN
ap-246	200	3	,	,	PUNCT
ap-246	200	4	uk	uk	PROPN
ap-246	200	5	,	,	PUNCT
ap-246	200	6	1997	1997	NUM
ap-246	200	7	[	[	X
ap-246	200	8	5	5	NUM
ap-246	200	9	]	]	PUNCT
ap-246	200	10	fossen	fossen	ADJ
ap-246	200	11	,	,	PUNCT
ap-246	200	12	t.	t.	PROPN
ap-246	200	13	i.	i.	PROPN
ap-246	200	14	:	:	PUNCT
ap-246	200	15	guidance	guidance	NOUN
ap-246	200	16	and	and	CCONJ
ap-246	200	17	control	control	NOUN
ap-246	200	18	of	of	ADP
ap-246	200	19	ocean	ocean	NOUN
ap-246	200	20	vehicles	vehicle	NOUN
ap-246	200	21	.	.	PUNCT
ap-246	201	1	chichester	chichester	PROPN
ap-246	201	2	,	,	PUNCT
ap-246	201	3	john	john	PROPN
ap-246	201	4	wiley	wiley	PROPN
ap-246	201	5	&	&	CCONJ
ap-246	201	6	sons	sons	PROPN
ap-246	201	7	ltd	ltd	PROPN
ap-246	201	8	.	.	PROPN
ap-246	201	9	,	,	PUNCT
ap-246	201	10	1994	1994	NUM
ap-246	201	11	[	[	X
ap-246	201	12	6	6	NUM
ap-246	201	13	]	]	X
ap-246	201	14	goldberg	goldberg	PROPN
ap-246	201	15	,	,	PUNCT
ap-246	201	16	d.	d.	PROPN
ap-246	201	17	:	:	PUNCT
ap-246	201	18	genetic	genetic	ADJ
ap-246	201	19	algorithms	algorithm	NOUN
ap-246	201	20	in	in	ADP
ap-246	201	21	searching	search	VERB
ap-246	201	22	optimisation	optimisation	NOUN
ap-246	201	23	and	and	CCONJ
ap-246	201	24	machine	machine	NOUN
ap-246	201	25	learning	learning	NOUN
ap-246	201	26	.	.	PUNCT
ap-246	202	1	reading	reading	NOUN
ap-246	202	2	,	,	PUNCT
ap-246	202	3	addison	addison	PROPN
ap-246	202	4	-	-	PUNCT
ap-246	202	5	wesley	wesley	PROPN
ap-246	202	6	,	,	PUNCT
ap-246	202	7	1989	1989	NUM
ap-246	202	8	[	[	X
ap-246	202	9	7	7	NUM
ap-246	202	10	]	]	X
ap-246	202	11	polheim	polheim	PROPN
ap-246	202	12	,	,	PUNCT
ap-246	202	13	h.	h.	NOUN
ap-246	202	14	:	:	PUNCT
ap-246	202	15	genetic	genetic	ADJ
ap-246	202	16	and	and	CCONJ
ap-246	202	17	evolutionary	evolutionary	ADJ
ap-246	202	18	algorithm	algorithm	NOUN
ap-246	202	19	toolbox	toolbox	NOUN
ap-246	202	20	for	for	ADP
ap-246	202	21	use	use	NOUN
ap-246	202	22	with	with	ADP
ap-246	202	23	matlab	matlab	PROPN
ap-246	202	24	.	.	PUNCT
ap-246	203	1	http://www.systemtechnik.tu-ilmenau.de/~pohlheim	http://www.systemtechnik.tu-ilmenau.de/~pohlheim	PROPN
ap-246	203	2	eva	eva	PROPN
ap-246	203	3	alfaro	alfaro	PROPN
ap-246	203	4	-	-	PUNCT
ap-246	203	5	cid	cid	PROPN
ap-246	203	6	,	,	PUNCT
ap-246	203	7	meng	meng	PROPN
ap-246	203	8	phone	phone	NOUN
ap-246	203	9	:	:	PUNCT
ap-246	203	10	+44	+44	PROPN
ap-246	203	11	141	141	NUM
ap-246	203	12	330	330	NUM
ap-246	203	13	6031	6031	NUM
ap-246	203	14	fax	fax	NOUN
ap-246	203	15	:	:	PUNCT
ap-246	203	16	+44	+44	PROPN
ap-246	204	1	141	141	NUM
ap-246	204	2	330	330	NUM
ap-246	204	3	6004	6004	NUM
ap-246	204	4	e	e	NOUN
ap-246	204	5	-	-	NOUN
ap-246	204	6	mail	mail	NOUN
ap-246	204	7	:	:	PUNCT
ap-246	204	8	alfaro@elec.gla.ac.uk	alfaro@elec.gla.ac.uk	PROPN
ap-246	204	9	euan	euan	PROPN
ap-246	204	10	w.	w.	PROPN
ap-246	204	11	mcgookin	mcgookin	PROPN
ap-246	204	12	,	,	PUNCT
ap-246	204	13	meng	meng	PROPN
ap-246	204	14	,	,	PUNCT
ap-246	204	15	phd	phd	PROPN
ap-246	204	16	david	david	PROPN
ap-246	204	17	j.	j.	PROPN
ap-246	204	18	murray	murray	PROPN
ap-246	204	19	-	-	PUNCT
ap-246	204	20	smith	smith	PROPN
ap-246	204	21	,	,	PUNCT
ap-246	204	22	bsc	bsc	PROPN
ap-246	204	23	,	,	PUNCT
ap-246	204	24	msc	msc	PROPN
ap-246	204	25	,	,	PUNCT
ap-246	204	26	phd	phd	NOUN
ap-246	204	27	centre	centre	NOUN
ap-246	204	28	of	of	ADP
ap-246	204	29	systems	system	NOUN
ap-246	204	30	and	and	CCONJ
ap-246	204	31	control	control	PROPN
ap-246	204	32	&	&	CCONJ
ap-246	204	33	dept	dept	PROPN
ap-246	204	34	.	.	PROPN
ap-246	204	35	of	of	ADP
ap-246	204	36	electronics	electronic	NOUN
ap-246	204	37	and	and	CCONJ
ap-246	204	38	electrical	electrical	ADJ
ap-246	204	39	engineering	engineering	NOUN
ap-246	204	40	university	university	PROPN
ap-246	204	41	of	of	ADP
ap-246	204	42	glasgow	glasgow	PROPN
ap-246	204	43	glasgow	glasgow	PROPN
ap-246	204	44	,	,	PUNCT
ap-246	204	45	g12	g12	PROPN
ap-246	204	46	8lt	8lt	PROPN
ap-246	204	47	,	,	PUNCT
ap-246	204	48	uk	uk	PROPN
ap-246	204	49	©	©	PROPN
ap-246	204	50	czech	czech	PROPN
ap-246	204	51	technical	technical	PROPN
ap-246	204	52	university	university	PROPN
ap-246	204	53	publishing	publishing	NOUN
ap-246	204	54	house	house	NOUN
ap-246	204	55	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-246	204	56	19	19	NUM
ap-246	204	57	acta	acta	PROPN
ap-246	204	58	polytechnica	polytechnica	PROPN
ap-246	204	59	vol	vol	NOUN
ap-246	204	60	.	.	PUNCT
ap-246	205	1	41	41	NUM
ap-246	205	2	no	no	NOUN
ap-246	205	3	.	.	PUNCT
ap-246	206	1	4–5/2001	4–5/2001	NUM