id	sid	tid	token	lemma	pos
ap-5157	1	1	acta	acta	PROPN
ap-5157	1	2	polytechnica	polytechnica	PROPN
ap-5157	1	3	doi:10.14311	doi:10.14311	PROPN
ap-5157	1	4	/	/	SYM
ap-5157	1	5	ap.2019.59.0312	ap.2019.59.0312	PROPN
ap-5157	1	6	acta	acta	PROPN
ap-5157	1	7	polytechnica	polytechnica	PROPN
ap-5157	1	8	59(4):312–321	59(4):312–321	PROPN
ap-5157	1	9	,	,	PUNCT
ap-5157	1	10	2019	2019	NUM
ap-5157	1	11	©	©	PROPN
ap-5157	1	12	czech	czech	PROPN
ap-5157	1	13	technical	technical	PROPN
ap-5157	1	14	university	university	PROPN
ap-5157	1	15	in	in	ADP
ap-5157	1	16	prague	prague	PROPN
ap-5157	1	17	,	,	PUNCT
ap-5157	1	18	2019	2019	NUM
ap-5157	1	19	available	available	ADJ
ap-5157	1	20	online	online	ADV
ap-5157	1	21	at	at	ADP
ap-5157	1	22	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-5157	1	23	waam	waam	NOUN
ap-5157	1	24	technology	technology	NOUN
ap-5157	1	25	optimized	optimize	VERB
ap-5157	1	26	by	by	ADP
ap-5157	1	27	off	off	ADP
ap-5157	1	28	-	-	PUNCT
ap-5157	1	29	line	line	NOUN
ap-5157	1	30	3d	3d	NUM
ap-5157	1	31	robot	robot	NOUN
ap-5157	1	32	simulation	simulation	PROPN
ap-5157	1	33	tomáš	tomáš	PROPN
ap-5157	1	34	gurčík∗	gurčík∗	PROPN
ap-5157	1	35	,	,	PUNCT
ap-5157	1	36	karel	karel	PROPN
ap-5157	1	37	kovanda	kovanda	PROPN
ap-5157	1	38	czech	czech	PROPN
ap-5157	1	39	technical	technical	PROPN
ap-5157	1	40	university	university	PROPN
ap-5157	1	41	in	in	ADP
ap-5157	1	42	prague	prague	PROPN
ap-5157	1	43	,	,	PUNCT
ap-5157	1	44	faculty	faculty	NOUN
ap-5157	1	45	of	of	ADP
ap-5157	1	46	mechanical	mechanical	ADJ
ap-5157	1	47	engineering	engineering	NOUN
ap-5157	1	48	,	,	PUNCT
ap-5157	1	49	department	department	NOUN
ap-5157	1	50	of	of	ADP
ap-5157	1	51	manufacturing	manufacturing	NOUN
ap-5157	1	52	technology	technology	NOUN
ap-5157	1	53	,	,	PUNCT
ap-5157	1	54	technická	technická	NOUN
ap-5157	1	55	4	4	NUM
ap-5157	1	56	,	,	PUNCT
ap-5157	1	57	166	166	NUM
ap-5157	1	58	07	07	NUM
ap-5157	1	59	praha	praha	PROPN
ap-5157	1	60	6	6	NUM
ap-5157	1	61	,	,	PUNCT
ap-5157	1	62	czech	czech	PROPN
ap-5157	1	63	republic	republic	NOUN
ap-5157	1	64	∗	∗	NOUN
ap-5157	1	65	corresponding	correspond	VERB
ap-5157	1	66	author	author	NOUN
ap-5157	1	67	:	:	PUNCT
ap-5157	1	68	tomas.gurcik@fs.cvut.cz	tomas.gurcik@fs.cvut.cz	NOUN
ap-5157	1	69	abstract	abstract	NOUN
ap-5157	1	70	.	.	PUNCT
ap-5157	2	1	waam	waam	NOUN
ap-5157	2	2	(	(	PUNCT
ap-5157	2	3	wire	wire	NOUN
ap-5157	2	4	+	+	NUM
ap-5157	2	5	arc	arc	NOUN
ap-5157	2	6	additive	additive	ADJ
ap-5157	2	7	manufacturing	manufacturing	NOUN
ap-5157	2	8	)	)	PUNCT
ap-5157	2	9	is	be	AUX
ap-5157	2	10	an	an	DET
ap-5157	2	11	alternative	alternative	ADJ
ap-5157	2	12	additive	additive	ADJ
ap-5157	2	13	technology	technology	NOUN
ap-5157	2	14	that	that	PRON
ap-5157	2	15	combines	combine	VERB
ap-5157	2	16	an	an	DET
ap-5157	2	17	electric	electric	ADJ
ap-5157	2	18	arc	arc	NOUN
ap-5157	2	19	as	as	ADP
ap-5157	2	20	a	a	DET
ap-5157	2	21	heat	heat	NOUN
ap-5157	2	22	source	source	NOUN
ap-5157	2	23	,	,	PUNCT
ap-5157	2	24	filler	filler	NOUN
ap-5157	2	25	material	material	NOUN
ap-5157	2	26	in	in	ADP
ap-5157	2	27	the	the	DET
ap-5157	2	28	form	form	NOUN
ap-5157	2	29	of	of	ADP
ap-5157	2	30	a	a	DET
ap-5157	2	31	wire	wire	NOUN
ap-5157	2	32	for	for	ADP
ap-5157	2	33	welding	welding	NOUN
ap-5157	2	34	and	and	CCONJ
ap-5157	2	35	cladding	clad	VERB
ap-5157	2	36	individual	individual	ADJ
ap-5157	2	37	weld	weld	NOUN
ap-5157	2	38	passes	pass	VERB
ap-5157	2	39	so	so	SCONJ
ap-5157	2	40	as	as	SCONJ
ap-5157	2	41	to	to	PART
ap-5157	2	42	ultimately	ultimately	ADV
ap-5157	2	43	achieve	achieve	VERB
ap-5157	2	44	the	the	DET
ap-5157	2	45	closest	close	ADJ
ap-5157	2	46	shape	shape	NOUN
ap-5157	2	47	of	of	ADP
ap-5157	2	48	produced	produce	VERB
ap-5157	2	49	components	component	NOUN
ap-5157	2	50	.	.	PUNCT
ap-5157	3	1	nowadays	nowadays	ADV
ap-5157	3	2	,	,	PUNCT
ap-5157	3	3	when	when	SCONJ
ap-5157	3	4	it	it	PRON
ap-5157	3	5	is	be	AUX
ap-5157	3	6	modern	modern	ADJ
ap-5157	3	7	to	to	PART
ap-5157	3	8	digitize	digitize	VERB
ap-5157	3	9	the	the	DET
ap-5157	3	10	manufacturing	manufacturing	NOUN
ap-5157	3	11	production	production	NOUN
ap-5157	3	12	,	,	PUNCT
ap-5157	3	13	this	this	DET
ap-5157	3	14	process	process	NOUN
ap-5157	3	15	can	can	AUX
ap-5157	3	16	also	also	ADV
ap-5157	3	17	be	be	AUX
ap-5157	3	18	designed	design	VERB
ap-5157	3	19	using	use	VERB
ap-5157	3	20	off	off	ADP
ap-5157	3	21	-	-	PUNCT
ap-5157	3	22	line	line	NOUN
ap-5157	3	23	programming	programming	NOUN
ap-5157	3	24	tools	tool	NOUN
ap-5157	3	25	and	and	CCONJ
ap-5157	3	26	3d	3d	NUM
ap-5157	3	27	simulations	simulation	NOUN
ap-5157	3	28	of	of	ADP
ap-5157	3	29	the	the	DET
ap-5157	3	30	robot	robot	NOUN
ap-5157	3	31	that	that	PRON
ap-5157	3	32	welds	weld	VERB
ap-5157	3	33	the	the	DET
ap-5157	3	34	whole	whole	ADJ
ap-5157	3	35	structure	structure	NOUN
ap-5157	3	36	.	.	PUNCT
ap-5157	4	1	this	this	DET
ap-5157	4	2	study	study	NOUN
ap-5157	4	3	deals	deal	VERB
ap-5157	4	4	with	with	ADP
ap-5157	4	5	the	the	DET
ap-5157	4	6	comparison	comparison	NOUN
ap-5157	4	7	of	of	ADP
ap-5157	4	8	three	three	NUM
ap-5157	4	9	structured	structured	ADJ
ap-5157	4	10	continuous	continuous	ADJ
ap-5157	4	11	welds	weld	NOUN
ap-5157	4	12	using	use	VERB
ap-5157	4	13	different	different	ADJ
ap-5157	4	14	weld	weld	NOUN
ap-5157	4	15	metal	metal	NOUN
ap-5157	4	16	transfers	transfer	NOUN
ap-5157	4	17	.	.	PUNCT
ap-5157	5	1	from	from	ADP
ap-5157	5	2	the	the	DET
ap-5157	5	3	results	result	NOUN
ap-5157	5	4	of	of	ADP
ap-5157	5	5	the	the	DET
ap-5157	5	6	first	first	ADJ
ap-5157	5	7	two	two	NUM
ap-5157	5	8	processes	process	NOUN
ap-5157	5	9	(	(	PUNCT
ap-5157	5	10	dip	dip	NOUN
ap-5157	5	11	transfer	transfer	NOUN
ap-5157	5	12	and	and	CCONJ
ap-5157	5	13	iac	iac	NOUN
ap-5157	5	14	process	process	NOUN
ap-5157	5	15	)	)	PUNCT
ap-5157	5	16	,	,	PUNCT
ap-5157	5	17	optimization	optimization	NOUN
ap-5157	5	18	was	be	AUX
ap-5157	5	19	achieved	achieve	VERB
ap-5157	5	20	using	use	VERB
ap-5157	5	21	the	the	DET
ap-5157	5	22	cmt	cmt	PROPN
ap-5157	5	23	process	process	NOUN
ap-5157	5	24	and	and	CCONJ
ap-5157	5	25	the	the	DET
ap-5157	5	26	welding	welding	NOUN
ap-5157	5	27	path	path	NOUN
ap-5157	5	28	correction	correction	NOUN
ap-5157	5	29	.	.	PUNCT
ap-5157	6	1	as	as	ADP
ap-5157	6	2	the	the	DET
ap-5157	6	3	filler	filler	NOUN
ap-5157	6	4	material	material	NOUN
ap-5157	6	5	,	,	PUNCT
ap-5157	6	6	the	the	DET
ap-5157	6	7	low	low	ADV
ap-5157	6	8	-	-	PUNCT
ap-5157	6	9	alloyed	alloy	VERB
ap-5157	6	10	solid	solid	ADJ
ap-5157	6	11	wire	wire	NOUN
ap-5157	6	12	electrode	electrode	NOUN
ap-5157	6	13	for	for	ADP
ap-5157	6	14	shielded	shielded	ADJ
ap-5157	6	15	arc	arc	NOUN
ap-5157	6	16	welding	welding	NOUN
ap-5157	6	17	of	of	ADP
ap-5157	6	18	quenched	quenched	ADJ
ap-5157	6	19	and	and	CCONJ
ap-5157	6	20	tempered	temper	VERB
ap-5157	6	21	fine	fine	ADV
ap-5157	6	22	grained	grain	VERB
ap-5157	6	23	structural	structural	ADJ
ap-5157	6	24	steels	steel	NOUN
ap-5157	6	25	,	,	PUNCT
ap-5157	6	26	böhler	böhler	NOUN
ap-5157	6	27	union	union	PROPN
ap-5157	6	28	x	x	PUNCT
ap-5157	6	29	90	90	NUM
ap-5157	6	30	(	(	PUNCT
ap-5157	6	31	g	g	PROPN
ap-5157	6	32	89	89	NUM
ap-5157	6	33	6	6	NUM
ap-5157	6	34	m	m	NOUN
ap-5157	6	35	mn4ni2crmo	mn4ni2crmo	NOUN
ap-5157	6	36	)	)	PUNCT
ap-5157	6	37	with	with	ADP
ap-5157	6	38	1	1	NUM
ap-5157	6	39	mm	mm	NOUN
ap-5157	6	40	in	in	ADP
ap-5157	6	41	diameter	diameter	NOUN
ap-5157	6	42	,	,	PUNCT
ap-5157	6	43	was	be	AUX
ap-5157	6	44	used	use	VERB
ap-5157	6	45	.	.	PUNCT
ap-5157	7	1	obtained	obtain	VERB
ap-5157	7	2	samples	sample	NOUN
ap-5157	7	3	were	be	AUX
ap-5157	7	4	subjected	subject	VERB
ap-5157	7	5	to	to	ADP
ap-5157	7	6	standard	standard	ADJ
ap-5157	7	7	technological	technological	ADJ
ap-5157	7	8	tests	test	NOUN
ap-5157	7	9	.	.	PUNCT
ap-5157	8	1	the	the	DET
ap-5157	8	2	results	result	NOUN
ap-5157	8	3	of	of	ADP
ap-5157	8	4	these	these	DET
ap-5157	8	5	tests	test	NOUN
ap-5157	8	6	are	be	AUX
ap-5157	8	7	used	use	VERB
ap-5157	8	8	to	to	PART
ap-5157	8	9	determine	determine	VERB
ap-5157	8	10	new	new	ADJ
ap-5157	8	11	parameters	parameter	NOUN
ap-5157	8	12	to	to	PART
ap-5157	8	13	ensure	ensure	VERB
ap-5157	8	14	stability	stability	NOUN
ap-5157	8	15	of	of	ADP
ap-5157	8	16	this	this	DET
ap-5157	8	17	technology	technology	NOUN
ap-5157	8	18	.	.	PUNCT
ap-5157	9	1	the	the	DET
ap-5157	9	2	experiment	experiment	NOUN
ap-5157	9	3	confirmed	confirm	VERB
ap-5157	9	4	that	that	SCONJ
ap-5157	9	5	off	off	ADP
ap-5157	9	6	-	-	PUNCT
ap-5157	9	7	line	line	NOUN
ap-5157	9	8	programming	programming	NOUN
ap-5157	9	9	will	will	AUX
ap-5157	9	10	greatly	greatly	ADV
ap-5157	9	11	influence	influence	VERB
ap-5157	9	12	the	the	DET
ap-5157	9	13	speed	speed	NOUN
ap-5157	9	14	and	and	CCONJ
ap-5157	9	15	quality	quality	NOUN
ap-5157	9	16	of	of	ADP
ap-5157	9	17	the	the	DET
ap-5157	9	18	welding	welding	NOUN
ap-5157	9	19	track	track	NOUN
ap-5157	9	20	programs	program	NOUN
ap-5157	9	21	.	.	PUNCT
ap-5157	10	1	the	the	DET
ap-5157	10	2	results	result	NOUN
ap-5157	10	3	prove	prove	VERB
ap-5157	10	4	that	that	SCONJ
ap-5157	10	5	,	,	PUNCT
ap-5157	10	6	by	by	ADP
ap-5157	10	7	combining	combine	VERB
ap-5157	10	8	off	off	ADP
ap-5157	10	9	-	-	PUNCT
ap-5157	10	10	line	line	NOUN
ap-5157	10	11	welding	welding	NOUN
ap-5157	10	12	path	path	NOUN
ap-5157	10	13	optimization	optimization	NOUN
ap-5157	10	14	with	with	ADP
ap-5157	10	15	an	an	DET
ap-5157	10	16	optimized	optimize	VERB
ap-5157	10	17	cmt	cmt	PROPN
ap-5157	10	18	welding	welding	NOUN
ap-5157	10	19	process	process	NOUN
ap-5157	10	20	,	,	PUNCT
ap-5157	10	21	we	we	PRON
ap-5157	10	22	can	can	AUX
ap-5157	10	23	achieve	achieve	VERB
ap-5157	10	24	a	a	DET
ap-5157	10	25	stable	stable	ADJ
ap-5157	10	26	waam	waam	NOUN
ap-5157	10	27	process	process	NOUN
ap-5157	10	28	.	.	PUNCT
ap-5157	11	1	keywords	keyword	NOUN
ap-5157	11	2	:	:	PUNCT
ap-5157	11	3	waam	waam	NOUN
ap-5157	11	4	,	,	PUNCT
ap-5157	11	5	robotic	robotic	ADJ
ap-5157	11	6	welding	welding	NOUN
ap-5157	11	7	,	,	PUNCT
ap-5157	11	8	off	off	ADP
ap-5157	11	9	-	-	PUNCT
ap-5157	11	10	line	line	NOUN
ap-5157	11	11	programming	programming	NOUN
ap-5157	11	12	,	,	PUNCT
ap-5157	11	13	fanuc	fanuc	NOUN
ap-5157	11	14	roboguide	roboguide	NOUN
ap-5157	11	15	,	,	PUNCT
ap-5157	11	16	cmt	cmt	PROPN
ap-5157	11	17	.	.	PROPN
ap-5157	11	18	1	1	X
ap-5157	11	19	.	.	PUNCT
ap-5157	11	20	introduction	introduction	NOUN
ap-5157	11	21	according	accord	VERB
ap-5157	11	22	to	to	ADP
ap-5157	11	23	the	the	DET
ap-5157	11	24	international	international	PROPN
ap-5157	11	25	federation	federation	PROPN
ap-5157	11	26	of	of	ADP
ap-5157	11	27	robotics	robotic	NOUN
ap-5157	11	28	(	(	PUNCT
ap-5157	11	29	ifr	ifr	PROPN
ap-5157	11	30	)	)	PUNCT
ap-5157	11	31	annual	annual	ADJ
ap-5157	11	32	report	report	NOUN
ap-5157	11	33	from	from	ADP
ap-5157	11	34	2017	2017	NUM
ap-5157	11	35	,	,	PUNCT
ap-5157	11	36	presented	present	VERB
ap-5157	11	37	at	at	ADP
ap-5157	11	38	a	a	DET
ap-5157	11	39	press	press	NOUN
ap-5157	11	40	conference	conference	NOUN
ap-5157	11	41	in	in	ADP
ap-5157	11	42	frankfurt	frankfurt	PROPN
ap-5157	11	43	am	be	AUX
ap-5157	11	44	main	main	ADJ
ap-5157	11	45	,	,	PUNCT
ap-5157	11	46	more	more	ADJ
ap-5157	11	47	than	than	ADP
ap-5157	11	48	3	3	NUM
ap-5157	11	49	million	million	NUM
ap-5157	11	50	industrial	industrial	ADJ
ap-5157	11	51	robots	robot	NOUN
ap-5157	11	52	will	will	AUX
ap-5157	11	53	be	be	AUX
ap-5157	11	54	installed	instal	VERB
ap-5157	11	55	in	in	ADP
ap-5157	11	56	manufacturing	manufacture	VERB
ap-5157	11	57	plants	plant	NOUN
ap-5157	11	58	around	around	ADP
ap-5157	11	59	the	the	DET
ap-5157	11	60	world	world	NOUN
ap-5157	11	61	by	by	ADP
ap-5157	11	62	2020	2020	NUM
ap-5157	11	63	.	.	PUNCT
ap-5157	12	1	with	with	ADP
ap-5157	12	2	the	the	DET
ap-5157	12	3	number	number	NOUN
ap-5157	12	4	of	of	ADP
ap-5157	12	5	units	unit	NOUN
ap-5157	12	6	installed	instal	VERB
ap-5157	12	7	in	in	ADP
ap-5157	12	8	the	the	DET
ap-5157	12	9	world	world	NOUN
ap-5157	12	10	rising	rise	VERB
ap-5157	12	11	from	from	ADP
ap-5157	12	12	2017	2017	NUM
ap-5157	12	13	to	to	ADP
ap-5157	12	14	2020	2020	NUM
ap-5157	12	15	by	by	ADP
ap-5157	12	16	as	as	ADV
ap-5157	12	17	much	much	ADJ
ap-5157	12	18	as	as	ADP
ap-5157	12	19	14	14	NUM
ap-5157	12	20	%	%	NOUN
ap-5157	12	21	.	.	PUNCT
ap-5157	13	1	this	this	DET
ap-5157	13	2	rising	rise	VERB
ap-5157	13	3	tendency	tendency	NOUN
ap-5157	13	4	may	may	AUX
ap-5157	13	5	not	not	PART
ap-5157	13	6	be	be	AUX
ap-5157	13	7	only	only	ADV
ap-5157	13	8	a	a	DET
ap-5157	13	9	response	response	NOUN
ap-5157	13	10	to	to	ADP
ap-5157	13	11	the	the	DET
ap-5157	13	12	problem	problem	NOUN
ap-5157	13	13	of	of	ADP
ap-5157	13	14	companies	company	NOUN
ap-5157	13	15	getting	get	VERB
ap-5157	13	16	qualified	qualified	ADJ
ap-5157	13	17	workers	worker	NOUN
ap-5157	13	18	,	,	PUNCT
ap-5157	13	19	or	or	CCONJ
ap-5157	13	20	tendency	tendency	NOUN
ap-5157	13	21	of	of	ADP
ap-5157	13	22	the	the	DET
ap-5157	13	23	future	future	NOUN
ap-5157	13	24	to	to	PART
ap-5157	13	25	automate	automate	VERB
ap-5157	13	26	small	small	ADJ
ap-5157	13	27	and	and	CCONJ
ap-5157	13	28	medium	medium	ADJ
ap-5157	13	29	-	-	PUNCT
ap-5157	13	30	sized	sized	ADJ
ap-5157	13	31	factories	factory	NOUN
ap-5157	13	32	by	by	ADP
ap-5157	13	33	industry	industry	NOUN
ap-5157	13	34	4.0	4.0	NUM
ap-5157	13	35	concepts	concept	NOUN
ap-5157	13	36	,	,	PUNCT
ap-5157	13	37	but	but	CCONJ
ap-5157	13	38	also	also	ADV
ap-5157	13	39	for	for	ADP
ap-5157	13	40	example	example	NOUN
ap-5157	13	41	,	,	PUNCT
ap-5157	13	42	the	the	DET
ap-5157	13	43	use	use	NOUN
ap-5157	13	44	of	of	ADP
ap-5157	13	45	robotics	robotic	NOUN
ap-5157	13	46	for	for	ADP
ap-5157	13	47	new	new	ADJ
ap-5157	13	48	technologies	technology	NOUN
ap-5157	13	49	.	.	PUNCT
ap-5157	14	1	[	[	X
ap-5157	14	2	1	1	X
ap-5157	14	3	]	]	PUNCT
ap-5157	14	4	one	one	NUM
ap-5157	14	5	of	of	ADP
ap-5157	14	6	these	these	DET
ap-5157	14	7	technologies	technology	NOUN
ap-5157	14	8	can	can	AUX
ap-5157	14	9	also	also	ADV
ap-5157	14	10	be	be	AUX
ap-5157	14	11	the	the	DET
ap-5157	14	12	additive	additive	ADJ
ap-5157	14	13	production	production	NOUN
ap-5157	14	14	used	use	VERB
ap-5157	14	15	on	on	ADP
ap-5157	14	16	robotic	robotic	ADJ
ap-5157	14	17	workplaces	workplace	NOUN
ap-5157	14	18	,	,	PUNCT
ap-5157	14	19	using	use	VERB
ap-5157	14	20	the	the	DET
ap-5157	14	21	currently	currently	ADV
ap-5157	14	22	applied	apply	VERB
ap-5157	14	23	devices	device	NOUN
ap-5157	14	24	–	–	PUNCT
ap-5157	14	25	the	the	DET
ap-5157	14	26	welding	welding	NOUN
ap-5157	14	27	source	source	NOUN
ap-5157	14	28	and	and	CCONJ
ap-5157	14	29	the	the	DET
ap-5157	14	30	robot	robot	NOUN
ap-5157	14	31	.	.	PUNCT
ap-5157	15	1	this	this	DET
ap-5157	15	2	alternative	alternative	ADJ
ap-5157	15	3	additive	additive	ADJ
ap-5157	15	4	manufacturing	manufacturing	NOUN
ap-5157	15	5	technology	technology	NOUN
ap-5157	15	6	is	be	AUX
ap-5157	15	7	waam	waam	NOUN
ap-5157	15	8	(	(	PUNCT
ap-5157	15	9	wire	wire	NOUN
ap-5157	15	10	+	+	NUM
ap-5157	15	11	arc	arc	NOUN
ap-5157	15	12	additive	additive	ADJ
ap-5157	15	13	manufacturing	manufacturing	NOUN
ap-5157	15	14	)	)	PUNCT
ap-5157	15	15	.	.	PUNCT
ap-5157	16	1	together	together	ADV
ap-5157	16	2	with	with	ADP
ap-5157	16	3	the	the	DET
ap-5157	16	4	available	available	ADJ
ap-5157	16	5	software	software	NOUN
ap-5157	16	6	tools	tool	NOUN
ap-5157	16	7	such	such	ADJ
ap-5157	16	8	as	as	ADP
ap-5157	16	9	off	off	ADP
ap-5157	16	10	-	-	PUNCT
ap-5157	16	11	line	line	NOUN
ap-5157	16	12	robot	robot	NOUN
ap-5157	16	13	simulators	simulator	NOUN
ap-5157	16	14	,	,	PUNCT
ap-5157	16	15	this	this	DET
ap-5157	16	16	process	process	NOUN
ap-5157	16	17	can	can	AUX
ap-5157	16	18	be	be	AUX
ap-5157	16	19	applied	apply	VERB
ap-5157	16	20	in	in	ADP
ap-5157	16	21	the	the	DET
ap-5157	16	22	future	future	NOUN
ap-5157	16	23	in	in	ADP
ap-5157	16	24	a	a	DET
ap-5157	16	25	real	real	ADJ
ap-5157	16	26	-	-	PUNCT
ap-5157	16	27	time	time	NOUN
ap-5157	16	28	production	production	NOUN
ap-5157	16	29	and	and	CCONJ
ap-5157	16	30	concurrently	concurrently	ADV
ap-5157	16	31	to	to	PART
ap-5157	16	32	replace	replace	VERB
ap-5157	16	33	non	non	ADJ
ap-5157	16	34	-	-	ADJ
ap-5157	16	35	economic	economic	ADJ
ap-5157	16	36	manufacturing	manufacturing	NOUN
ap-5157	16	37	processes	process	NOUN
ap-5157	16	38	for	for	ADP
ap-5157	16	39	specific	specific	ADJ
ap-5157	16	40	machine	machine	NOUN
ap-5157	16	41	components	component	NOUN
ap-5157	16	42	.	.	PUNCT
ap-5157	17	1	the	the	DET
ap-5157	17	2	objective	objective	NOUN
ap-5157	17	3	of	of	ADP
ap-5157	17	4	this	this	DET
ap-5157	17	5	study	study	NOUN
ap-5157	17	6	is	be	AUX
ap-5157	17	7	to	to	PART
ap-5157	17	8	experimentally	experimentally	ADV
ap-5157	17	9	verify	verify	VERB
ap-5157	17	10	main	main	ADJ
ap-5157	17	11	parameters	parameter	NOUN
ap-5157	17	12	describing	describe	VERB
ap-5157	17	13	the	the	DET
ap-5157	17	14	behaviour	behaviour	NOUN
ap-5157	17	15	of	of	ADP
ap-5157	17	16	this	this	DET
ap-5157	17	17	technology	technology	NOUN
ap-5157	17	18	.	.	PUNCT
ap-5157	18	1	the	the	DET
ap-5157	18	2	welding	welding	NOUN
ap-5157	18	3	process	process	NOUN
ap-5157	18	4	was	be	AUX
ap-5157	18	5	carried	carry	VERB
ap-5157	18	6	out	out	ADP
ap-5157	18	7	using	use	VERB
ap-5157	18	8	the	the	DET
ap-5157	18	9	dip	dip	NOUN
ap-5157	18	10	metal	metal	NOUN
ap-5157	18	11	transfer	transfer	NOUN
ap-5157	18	12	and	and	CCONJ
ap-5157	18	13	modified	modify	VERB
ap-5157	18	14	dip	dip	NOUN
ap-5157	18	15	metal	metal	NOUN
ap-5157	18	16	transfer	transfer	NOUN
ap-5157	18	17	(	(	PUNCT
ap-5157	18	18	iac	iac	NOUN
ap-5157	18	19	)	)	PUNCT
ap-5157	18	20	and	and	CCONJ
ap-5157	18	21	it	it	PRON
ap-5157	18	22	was	be	AUX
ap-5157	18	23	monitored	monitor	VERB
ap-5157	18	24	by	by	ADP
ap-5157	18	25	the	the	DET
ap-5157	18	26	weldmonitor	weldmonitor	NOUN
ap-5157	18	27	measuring	measure	VERB
ap-5157	18	28	device	device	NOUN
ap-5157	18	29	during	during	ADP
ap-5157	18	30	the	the	DET
ap-5157	18	31	whole	whole	ADJ
ap-5157	18	32	cladding	cladding	NOUN
ap-5157	18	33	time	time	NOUN
ap-5157	18	34	.	.	PUNCT
ap-5157	19	1	as	as	ADP
ap-5157	19	2	the	the	DET
ap-5157	19	3	filler	filler	NOUN
ap-5157	19	4	material	material	NOUN
ap-5157	19	5	,	,	PUNCT
ap-5157	19	6	a	a	DET
ap-5157	19	7	low	low	ADJ
ap-5157	19	8	-	-	PUNCT
ap-5157	19	9	alloyed	alloy	VERB
ap-5157	19	10	solid	solid	ADJ
ap-5157	19	11	wire	wire	NOUN
ap-5157	19	12	electrode	electrode	NOUN
ap-5157	19	13	for	for	ADP
ap-5157	19	14	shielded	shielded	ADJ
ap-5157	19	15	arc	arc	NOUN
ap-5157	19	16	welding	welding	NOUN
ap-5157	19	17	of	of	ADP
ap-5157	19	18	quenched	quenched	ADJ
ap-5157	19	19	and	and	CCONJ
ap-5157	19	20	tempered	temper	VERB
ap-5157	19	21	fine	fine	ADV
ap-5157	19	22	grained	grain	VERB
ap-5157	19	23	structural	structural	ADJ
ap-5157	19	24	steels	steel	NOUN
ap-5157	19	25	under	under	ADP
ap-5157	19	26	the	the	DET
ap-5157	19	27	brand	brand	NOUN
ap-5157	19	28	name	name	PROPN
ap-5157	19	29	union	union	NOUN
ap-5157	19	30	x	x	PUNCT
ap-5157	19	31	90	90	NUM
ap-5157	19	32	(	(	PUNCT
ap-5157	19	33	g	g	PROPN
ap-5157	19	34	89	89	NUM
ap-5157	19	35	6	6	NUM
ap-5157	19	36	m	m	NOUN
ap-5157	19	37	mn4ni2crmo	mn4ni2crmo	NOUN
ap-5157	19	38	)	)	PUNCT
ap-5157	19	39	was	be	AUX
ap-5157	19	40	used	use	VERB
ap-5157	19	41	.	.	PUNCT
ap-5157	20	1	the	the	DET
ap-5157	20	2	obtained	obtain	VERB
ap-5157	20	3	data	datum	NOUN
ap-5157	20	4	will	will	AUX
ap-5157	20	5	serve	serve	VERB
ap-5157	20	6	to	to	PART
ap-5157	20	7	optimize	optimize	VERB
ap-5157	20	8	and	and	CCONJ
ap-5157	20	9	establish	establish	VERB
ap-5157	20	10	new	new	ADJ
ap-5157	20	11	parameters	parameter	NOUN
ap-5157	20	12	for	for	ADP
ap-5157	20	13	a	a	DET
ap-5157	20	14	further	further	ADJ
ap-5157	20	15	waam	waam	NOUN
ap-5157	20	16	research	research	NOUN
ap-5157	20	17	.	.	PUNCT
ap-5157	21	1	2	2	X
ap-5157	21	2	.	.	X
ap-5157	21	3	waam	waam	NOUN
ap-5157	21	4	technology	technology	NOUN
ap-5157	21	5	additive	additive	ADJ
ap-5157	21	6	manufacturing	manufacturing	NOUN
ap-5157	21	7	is	be	AUX
ap-5157	21	8	currently	currently	ADV
ap-5157	21	9	one	one	NUM
ap-5157	21	10	of	of	ADP
ap-5157	21	11	the	the	DET
ap-5157	21	12	fastest	fast	ADJ
ap-5157	21	13	emerging	emerge	VERB
ap-5157	21	14	manufacturing	manufacturing	NOUN
ap-5157	21	15	technologies	technology	NOUN
ap-5157	21	16	.	.	PUNCT
ap-5157	22	1	it	it	PRON
ap-5157	22	2	’s	’s	AUX
ap-5157	22	3	used	use	VERB
ap-5157	22	4	for	for	ADP
ap-5157	22	5	the	the	DET
ap-5157	22	6	production	production	NOUN
ap-5157	22	7	of	of	ADP
ap-5157	22	8	prototypes	prototype	NOUN
ap-5157	22	9	or	or	CCONJ
ap-5157	22	10	entire	entire	ADJ
ap-5157	22	11	machine	machine	NOUN
ap-5157	22	12	components	component	NOUN
ap-5157	22	13	.	.	PUNCT
ap-5157	23	1	the	the	DET
ap-5157	23	2	principle	principle	NOUN
ap-5157	23	3	of	of	ADP
ap-5157	23	4	additive	additive	ADJ
ap-5157	23	5	production	production	NOUN
ap-5157	23	6	is	be	AUX
ap-5157	23	7	the	the	DET
ap-5157	23	8	placement	placement	NOUN
ap-5157	23	9	of	of	ADP
ap-5157	23	10	individual	individual	ADJ
ap-5157	23	11	layers	layer	NOUN
ap-5157	23	12	of	of	ADP
ap-5157	23	13	a	a	DET
ap-5157	23	14	particular	particular	ADJ
ap-5157	23	15	material	material	NOUN
ap-5157	23	16	so	so	SCONJ
ap-5157	23	17	that	that	SCONJ
ap-5157	23	18	in	in	ADP
ap-5157	23	19	the	the	DET
ap-5157	23	20	resultin	resultin	NOUN
ap-5157	23	21	order	order	NOUN
ap-5157	23	22	to	to	AUX
ap-5157	23	23	we	we	PRON
ap-5157	23	24	get	get	VERB
ap-5157	23	25	the	the	DET
ap-5157	23	26	shape	shape	NOUN
ap-5157	23	27	that	that	PRON
ap-5157	23	28	is	be	AUX
ap-5157	23	29	as	as	ADV
ap-5157	23	30	close	close	ADJ
ap-5157	23	31	as	as	ADP
ap-5157	23	32	possible	possible	ADJ
ap-5157	23	33	to	to	ADP
ap-5157	23	34	its	its	PRON
ap-5157	23	35	cad	cad	NOUN
ap-5157	23	36	template	template	NOUN
ap-5157	23	37	.	.	PUNCT
ap-5157	24	1	unlike	unlike	ADP
ap-5157	24	2	during	during	ADP
ap-5157	24	3	conventional	conventional	ADJ
ap-5157	24	4	production	production	NOUN
ap-5157	24	5	technologies	technology	NOUN
ap-5157	24	6	,	,	PUNCT
ap-5157	24	7	there	there	PRON
ap-5157	24	8	is	be	VERB
ap-5157	24	9	a	a	DET
ap-5157	24	10	significantly	significantly	ADV
ap-5157	24	11	lesser	less	ADJ
ap-5157	24	12	amount	amount	NOUN
ap-5157	24	13	of	of	ADP
ap-5157	24	14	waste	waste	NOUN
ap-5157	24	15	material	material	NOUN
ap-5157	24	16	because	because	SCONJ
ap-5157	24	17	the	the	DET
ap-5157	24	18	input	input	NOUN
ap-5157	24	19	material	material	NOUN
ap-5157	24	20	is	be	AUX
ap-5157	24	21	not	not	PART
ap-5157	24	22	a	a	DET
ap-5157	24	23	full	full	ADJ
ap-5157	24	24	profile	profile	NOUN
ap-5157	24	25	.	.	PUNCT
ap-5157	25	1	[	[	X
ap-5157	25	2	2	2	NUM
ap-5157	25	3	]	]	PUNCT
ap-5157	25	4	as	as	ADP
ap-5157	25	5	a	a	DET
ap-5157	25	6	classical	classical	ADJ
ap-5157	25	7	additive	additive	ADJ
ap-5157	25	8	technology	technology	NOUN
ap-5157	25	9	in	in	ADP
ap-5157	25	10	manufacturing	manufacturing	NOUN
ap-5157	25	11	,	,	PUNCT
ap-5157	25	12	we	we	PRON
ap-5157	25	13	consider	consider	VERB
ap-5157	25	14	3d	3d	NUM
ap-5157	25	15	printing	printing	NOUN
ap-5157	25	16	or	or	CCONJ
ap-5157	25	17	otherwise	otherwise	ADV
ap-5157	25	18	sls	sls	PROPN
ap-5157	25	19	(	(	PUNCT
ap-5157	25	20	selective	selective	ADJ
ap-5157	25	21	laser	laser	NOUN
ap-5157	25	22	sintering	sintering	NOUN
ap-5157	25	23	)	)	PUNCT
ap-5157	25	24	,	,	PUNCT
ap-5157	25	25	when	when	SCONJ
ap-5157	25	26	the	the	DET
ap-5157	25	27	laser	laser	NOUN
ap-5157	25	28	beam	beam	NOUN
ap-5157	25	29	sinters	sinter	VERB
ap-5157	25	30	aed	aed	PROPN
ap-5157	25	31	material	material	NOUN
ap-5157	25	32	that	that	PRON
ap-5157	25	33	is	be	AUX
ap-5157	25	34	in	in	ADP
ap-5157	25	35	powder	powder	NOUN
ap-5157	25	36	form	form	NOUN
ap-5157	25	37	to	to	ADP
ap-5157	25	38	a	a	DET
ap-5157	25	39	layer	layer	NOUN
ap-5157	25	40	with	with	ADP
ap-5157	25	41	a	a	DET
ap-5157	25	42	thickness	thickness	NOUN
ap-5157	25	43	of	of	ADP
ap-5157	25	44	about	about	ADV
ap-5157	25	45	0.1	0.1	NUM
ap-5157	25	46	mm	mm	NOUN
ap-5157	25	47	.	.	PUNCT
ap-5157	26	1	the	the	DET
ap-5157	26	2	waam	waam	NOUN
ap-5157	26	3	technology	technology	NOUN
ap-5157	26	4	is	be	AUX
ap-5157	26	5	considered	consider	VERB
ap-5157	26	6	an	an	DET
ap-5157	26	7	alternative	alternative	ADJ
ap-5157	26	8	additive	additive	ADJ
ap-5157	26	9	technology	technology	NOUN
ap-5157	26	10	as	as	SCONJ
ap-5157	26	11	it	it	PRON
ap-5157	26	12	is	be	AUX
ap-5157	26	13	based	base	VERB
ap-5157	26	14	on	on	ADP
ap-5157	26	15	the	the	DET
ap-5157	26	16	classic	classic	ADJ
ap-5157	26	17	sls	sls	NOUN
ap-5157	26	18	principle	principle	NOUN
ap-5157	26	19	,	,	PUNCT
ap-5157	26	20	but	but	CCONJ
ap-5157	26	21	its	its	PRON
ap-5157	26	22	investment	investment	NOUN
ap-5157	26	23	and	and	CCONJ
ap-5157	26	24	operational	operational	ADJ
ap-5157	26	25	demands	demand	NOUN
ap-5157	26	26	are	be	AUX
ap-5157	26	27	more	more	ADV
ap-5157	26	28	favourable	favourable	ADJ
ap-5157	26	29	.	.	PUNCT
ap-5157	27	1	[	[	X
ap-5157	27	2	3	3	X
ap-5157	27	3	]	]	PUNCT
ap-5157	27	4	the	the	DET
ap-5157	27	5	waam	waam	NOUN
ap-5157	27	6	was	be	AUX
ap-5157	27	7	developed	develop	VERB
ap-5157	27	8	at	at	ADP
ap-5157	27	9	cranfield	cranfield	PROPN
ap-5157	27	10	university	university	PROPN
ap-5157	27	11	.	.	PUNCT
ap-5157	28	1	its	its	PRON
ap-5157	28	2	first	first	ADJ
ap-5157	28	3	mention	mention	NOUN
ap-5157	28	4	dates	date	VERB
ap-5157	28	5	back	back	ADV
ap-5157	28	6	to	to	ADP
ap-5157	28	7	the	the	DET
ap-5157	28	8	1960s	1960	NOUN
ap-5157	28	9	,	,	PUNCT
ap-5157	28	10	although	although	SCONJ
ap-5157	28	11	the	the	DET
ap-5157	28	12	first	first	ADJ
ap-5157	28	13	patent	patent	NOUN
ap-5157	28	14	was	be	AUX
ap-5157	28	15	introduced	introduce	VERB
ap-5157	28	16	in	in	ADP
ap-5157	28	17	1925	1925	NUM
ap-5157	28	18	.	.	PUNCT
ap-5157	29	1	for	for	ADP
ap-5157	29	2	its	its	PRON
ap-5157	29	3	implementation	implementation	NOUN
ap-5157	29	4	,	,	PUNCT
ap-5157	29	5	a	a	DET
ap-5157	29	6	classical	classical	ADJ
ap-5157	29	7	robotic	robotic	ADJ
ap-5157	29	8	welding	welding	NOUN
ap-5157	29	9	equipment	equipment	NOUN
ap-5157	29	10	is	be	AUX
ap-5157	29	11	currently	currently	ADV
ap-5157	29	12	used	use	VERB
ap-5157	29	13	–	–	PUNCT
ap-5157	29	14	a	a	DET
ap-5157	29	15	multi	multi	ADJ
ap-5157	29	16	-	-	ADJ
ap-5157	29	17	axis	axis	ADJ
ap-5157	29	18	robot	robot	NOUN
ap-5157	29	19	or	or	CCONJ
ap-5157	29	20	portal	portal	ADJ
ap-5157	29	21	machine	machine	NOUN
ap-5157	29	22	,	,	PUNCT
ap-5157	29	23	312	312	NUM
ap-5157	29	24	https://doi.org/10.14311/ap.2019.59.0312	https://doi.org/10.14311/ap.2019.59.0312	PRON
ap-5157	29	25	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-5157	29	26	vol	vol	NOUN
ap-5157	29	27	.	.	PUNCT
ap-5157	30	1	59	59	NUM
ap-5157	30	2	no	no	NOUN
ap-5157	30	3	.	.	PUNCT
ap-5157	31	1	4/2019	4/2019	NUM
ap-5157	31	2	waam	waam	PROPN
ap-5157	31	3	technology	technology	NOUN
ap-5157	31	4	optimized	optimize	VERB
ap-5157	31	5	by	by	ADP
ap-5157	31	6	off	off	ADP
ap-5157	31	7	-	-	PUNCT
ap-5157	31	8	line	line	NOUN
ap-5157	31	9	3d	3d	NUM
ap-5157	31	10	robot	robot	NOUN
ap-5157	31	11	simulation	simulation	NOUN
ap-5157	31	12	figure	figure	NOUN
ap-5157	31	13	1	1	NUM
ap-5157	31	14	.	.	PUNCT
ap-5157	32	1	the	the	DET
ap-5157	32	2	number	number	NOUN
ap-5157	32	3	of	of	ADP
ap-5157	32	4	installed	instal	VERB
ap-5157	32	5	robots	robot	NOUN
ap-5157	32	6	(	(	PUNCT
ap-5157	32	7	in	in	ADP
ap-5157	32	8	thousands	thousand	NOUN
ap-5157	32	9	)	)	PUNCT
ap-5157	32	10	in	in	ADP
ap-5157	32	11	the	the	DET
ap-5157	32	12	world	world	NOUN
ap-5157	32	13	by	by	ADP
ap-5157	32	14	2016	2016	NUM
ap-5157	32	15	and	and	CCONJ
ap-5157	32	16	the	the	DET
ap-5157	32	17	assumption	assumption	NOUN
ap-5157	32	18	of	of	ADP
ap-5157	32	19	growth	growth	NOUN
ap-5157	32	20	to	to	ADP
ap-5157	32	21	2020	2020	NUM
ap-5157	32	22	[	[	X
ap-5157	32	23	1	1	NUM
ap-5157	32	24	]	]	PUNCT
ap-5157	32	25	.	.	PUNCT
ap-5157	33	1	figure	figure	NOUN
ap-5157	33	2	2	2	NUM
ap-5157	33	3	.	.	X
ap-5157	34	1	illustration	illustration	NOUN
ap-5157	34	2	of	of	ADP
ap-5157	34	3	the	the	DET
ap-5157	34	4	waam	waam	NOUN
ap-5157	34	5	process	process	NOUN
ap-5157	34	6	using	use	VERB
ap-5157	34	7	tig	tig	NOUN
ap-5157	34	8	technology	technology	NOUN
ap-5157	34	9	[	[	X
ap-5157	34	10	4	4	NUM
ap-5157	34	11	]	]	PUNCT
ap-5157	34	12	.	.	PUNCT
ap-5157	35	1	figure	figure	NOUN
ap-5157	35	2	3	3	NUM
ap-5157	35	3	.	.	NOUN
ap-5157	35	4	part	part	NOUN
ap-5157	35	5	of	of	ADP
ap-5157	35	6	the	the	DET
ap-5157	35	7	bombardier	bombardier	NOUN
ap-5157	35	8	chassis	chassis	NOUN
ap-5157	35	9	made	make	VERB
ap-5157	35	10	of	of	ADP
ap-5157	35	11	titanium	titanium	NOUN
ap-5157	35	12	alloy	alloy	NOUN
ap-5157	35	13	using	use	VERB
ap-5157	35	14	waam	waam	NOUN
ap-5157	35	15	technology	technology	NOUN
ap-5157	36	1	[	[	X
ap-5157	36	2	2	2	NUM
ap-5157	36	3	]	]	PUNCT
ap-5157	36	4	.	.	PUNCT
ap-5157	37	1	313	313	NUM
ap-5157	37	2	tomáš	tomáš	NOUN
ap-5157	37	3	gurčík	gurčík	PROPN
ap-5157	37	4	,	,	PUNCT
ap-5157	37	5	karel	karel	PROPN
ap-5157	37	6	kovanda	kovanda	PROPN
ap-5157	37	7	acta	acta	PROPN
ap-5157	37	8	polytechnica	polytechnica	PROPN
ap-5157	37	9	technology	technology	PROPN
ap-5157	37	10	input	input	NOUN
ap-5157	37	11	material	material	NOUN
ap-5157	37	12	weight	weight	NOUN
ap-5157	37	13	final	final	ADJ
ap-5157	37	14	part	part	NOUN
ap-5157	37	15	weight	weight	NOUN
ap-5157	37	16	btf	btf	PROPN
ap-5157	37	17	waste	waste	NOUN
ap-5157	37	18	milling	mill	VERB
ap-5157	37	19	240	240	NUM
ap-5157	37	20	kg	kg	NUM
ap-5157	37	21	21	21	NUM
ap-5157	37	22	kg	kg	NOUN
ap-5157	37	23	11.4	11.4	NUM
ap-5157	37	24	91	91	NUM
ap-5157	37	25	%	%	NOUN
ap-5157	37	26	waam	waam	NOUN
ap-5157	37	27	24	24	NUM
ap-5157	37	28	kg	kg	NOUN
ap-5157	37	29	21	21	NUM
ap-5157	37	30	kg	kg	PROPN
ap-5157	37	31	1.14	1.14	NUM
ap-5157	37	32	13	13	NUM
ap-5157	37	33	%	%	NOUN
ap-5157	37	34	table	table	NOUN
ap-5157	37	35	1	1	NUM
ap-5157	37	36	.	.	PUNCT
ap-5157	37	37	comparison	comparison	NOUN
ap-5157	37	38	of	of	ADP
ap-5157	37	39	the	the	DET
ap-5157	37	40	material	material	NOUN
ap-5157	37	41	ratios	ratio	NOUN
ap-5157	37	42	for	for	ADP
ap-5157	37	43	manufacturing	manufacture	VERB
ap-5157	37	44	the	the	DET
ap-5157	37	45	part	part	NOUN
ap-5157	37	46	of	of	ADP
ap-5157	37	47	figure	figure	NOUN
ap-5157	37	48	3	3	NUM
ap-5157	37	49	[	[	X
ap-5157	37	50	2	2	NUM
ap-5157	37	51	]	]	PUNCT
ap-5157	37	52	.	.	PUNCT
ap-5157	38	1	a	a	DET
ap-5157	38	2	current	current	ADJ
ap-5157	38	3	welding	welding	NOUN
ap-5157	38	4	power	power	NOUN
ap-5157	38	5	source	source	NOUN
ap-5157	38	6	,	,	PUNCT
ap-5157	38	7	welding	weld	VERB
ap-5157	38	8	torches	torch	NOUN
ap-5157	38	9	and	and	CCONJ
ap-5157	38	10	wire	wire	NOUN
ap-5157	38	11	feed	feed	NOUN
ap-5157	38	12	systems	system	NOUN
ap-5157	38	13	.	.	PUNCT
ap-5157	39	1	the	the	DET
ap-5157	39	2	heat	heat	NOUN
ap-5157	39	3	source	source	NOUN
ap-5157	39	4	is	be	AUX
ap-5157	39	5	an	an	DET
ap-5157	39	6	electric	electric	ADJ
ap-5157	39	7	arc	arc	NOUN
ap-5157	39	8	,	,	PUNCT
ap-5157	39	9	the	the	DET
ap-5157	39	10	filler	filler	NOUN
ap-5157	39	11	material	material	NOUN
ap-5157	39	12	is	be	AUX
ap-5157	39	13	used	use	VERB
ap-5157	39	14	in	in	ADP
ap-5157	39	15	the	the	DET
ap-5157	39	16	form	form	NOUN
ap-5157	39	17	of	of	ADP
ap-5157	39	18	a	a	DET
ap-5157	39	19	wire	wire	NOUN
ap-5157	39	20	,	,	PUNCT
ap-5157	39	21	which	which	PRON
ap-5157	39	22	is	be	AUX
ap-5157	39	23	supplied	supply	VERB
ap-5157	39	24	on	on	ADP
ap-5157	39	25	spools	spool	NOUN
ap-5157	39	26	or	or	CCONJ
ap-5157	39	27	high	high	ADJ
ap-5157	39	28	-	-	PUNCT
ap-5157	39	29	capacity	capacity	NOUN
ap-5157	39	30	barrel	barrel	NOUN
ap-5157	39	31	packages	package	NOUN
ap-5157	39	32	.	.	PUNCT
ap-5157	40	1	during	during	ADP
ap-5157	40	2	the	the	DET
ap-5157	40	3	process	process	NOUN
ap-5157	40	4	,	,	PUNCT
ap-5157	40	5	individual	individual	ADJ
ap-5157	40	6	welding	welding	NOUN
ap-5157	40	7	passes	pass	NOUN
ap-5157	40	8	are	be	AUX
ap-5157	40	9	created	create	VERB
ap-5157	40	10	as	as	SCONJ
ap-5157	40	11	shown	show	VERB
ap-5157	40	12	in	in	ADP
ap-5157	40	13	figure	figure	NOUN
ap-5157	40	14	2	2	NUM
ap-5157	40	15	.	.	PUNCT
ap-5157	41	1	their	their	PRON
ap-5157	41	2	layering	layer	VERB
ap-5157	41	3	paths	path	NOUN
ap-5157	41	4	are	be	AUX
ap-5157	41	5	programmed	program	VERB
ap-5157	41	6	into	into	ADP
ap-5157	41	7	the	the	DET
ap-5157	41	8	robot	robot	NOUN
ap-5157	41	9	controller	controller	NOUN
ap-5157	41	10	.	.	PUNCT
ap-5157	42	1	currently	currently	ADV
ap-5157	42	2	,	,	PUNCT
ap-5157	42	3	the	the	DET
ap-5157	42	4	development	development	NOUN
ap-5157	42	5	of	of	ADP
ap-5157	42	6	the	the	DET
ap-5157	42	7	waam	waam	NOUN
ap-5157	42	8	is	be	AUX
ap-5157	42	9	directed	direct	VERB
ap-5157	42	10	to	to	ADP
ap-5157	42	11	its	its	PRON
ap-5157	42	12	use	use	NOUN
ap-5157	42	13	in	in	ADP
ap-5157	42	14	the	the	DET
ap-5157	42	15	aerospace	aerospace	NOUN
ap-5157	42	16	industry	industry	NOUN
ap-5157	42	17	,	,	PUNCT
ap-5157	42	18	due	due	ADP
ap-5157	42	19	to	to	ADP
ap-5157	42	20	the	the	DET
ap-5157	42	21	increasingly	increasingly	ADV
ap-5157	42	22	demanding	demanding	ADJ
ap-5157	42	23	requirements	requirement	NOUN
ap-5157	42	24	for	for	ADP
ap-5157	42	25	reducing	reduce	VERB
ap-5157	42	26	the	the	DET
ap-5157	42	27	amount	amount	NOUN
ap-5157	42	28	of	of	ADP
ap-5157	42	29	waste	waste	NOUN
ap-5157	42	30	in	in	ADP
ap-5157	42	31	the	the	DET
ap-5157	42	32	production	production	NOUN
ap-5157	42	33	of	of	ADP
ap-5157	42	34	aviation	aviation	NOUN
ap-5157	42	35	components	component	NOUN
ap-5157	42	36	make	make	VERB
ap-5157	42	37	it	it	PRON
ap-5157	42	38	necessary	necessary	ADJ
ap-5157	42	39	to	to	PART
ap-5157	42	40	replace	replace	VERB
ap-5157	42	41	the	the	DET
ap-5157	42	42	current	current	ADJ
ap-5157	42	43	production	production	NOUN
ap-5157	42	44	processes	process	NOUN
ap-5157	42	45	of	of	ADP
ap-5157	42	46	bulky	bulky	ADJ
ap-5157	42	47	structures	structure	NOUN
ap-5157	42	48	.	.	PUNCT
ap-5157	43	1	the	the	DET
ap-5157	43	2	benchmark	benchmark	NOUN
ap-5157	43	3	for	for	ADP
ap-5157	43	4	this	this	DET
ap-5157	43	5	optimization	optimization	NOUN
ap-5157	43	6	is	be	AUX
ap-5157	43	7	the	the	DET
ap-5157	43	8	btf	btf	PROPN
ap-5157	43	9	(	(	PUNCT
ap-5157	43	10	buy	buy	VERB
ap-5157	43	11	-	-	PUNCT
ap-5157	43	12	to	to	ADP
ap-5157	43	13	-	-	PUNCT
ap-5157	43	14	fly	fly	VERB
ap-5157	43	15	ratio	ratio	NOUN
ap-5157	43	16	)	)	PUNCT
ap-5157	43	17	,	,	PUNCT
ap-5157	43	18	which	which	PRON
ap-5157	43	19	focuses	focus	VERB
ap-5157	43	20	on	on	ADP
ap-5157	43	21	the	the	DET
ap-5157	43	22	volume	volume	NOUN
ap-5157	43	23	ratio	ratio	NOUN
ap-5157	43	24	of	of	ADP
ap-5157	43	25	the	the	DET
ap-5157	43	26	input	input	NOUN
ap-5157	43	27	material	material	NOUN
ap-5157	43	28	to	to	ADP
ap-5157	43	29	the	the	DET
ap-5157	43	30	output	output	NOUN
ap-5157	43	31	,	,	PUNCT
ap-5157	43	32	which	which	PRON
ap-5157	43	33	is	be	AUX
ap-5157	43	34	currently	currently	ADV
ap-5157	43	35	in	in	ADP
ap-5157	43	36	the	the	DET
ap-5157	43	37	range	range	NOUN
ap-5157	43	38	of	of	ADP
ap-5157	43	39	10	10	NUM
ap-5157	43	40	÷	÷	NUM
ap-5157	43	41	20	20	NUM
ap-5157	43	42	:	:	SYM
ap-5157	43	43	1	1	X
ap-5157	43	44	.	.	X
ap-5157	44	1	with	with	ADP
ap-5157	44	2	this	this	DET
ap-5157	44	3	alternative	alternative	ADJ
ap-5157	44	4	additive	additive	ADJ
ap-5157	44	5	technology	technology	NOUN
ap-5157	44	6	,	,	PUNCT
ap-5157	44	7	it	it	PRON
ap-5157	44	8	is	be	AUX
ap-5157	44	9	expected	expect	VERB
ap-5157	44	10	to	to	PART
ap-5157	44	11	reduce	reduce	VERB
ap-5157	44	12	this	this	DET
ap-5157	44	13	ratio	ratio	NOUN
ap-5157	44	14	by	by	ADP
ap-5157	44	15	35	35	NUM
ap-5157	44	16	-	-	SYM
ap-5157	44	17	45	45	NUM
ap-5157	44	18	%	%	NOUN
ap-5157	44	19	and	and	CCONJ
ap-5157	44	20	in	in	ADP
ap-5157	44	21	the	the	DET
ap-5157	44	22	result	result	NOUN
ap-5157	44	23	,	,	PUNCT
ap-5157	44	24	reduce	reduce	VERB
ap-5157	44	25	the	the	DET
ap-5157	44	26	weight	weight	NOUN
ap-5157	44	27	of	of	ADP
ap-5157	44	28	the	the	DET
ap-5157	44	29	aircraft	aircraft	NOUN
ap-5157	44	30	by	by	ADP
ap-5157	44	31	30	30	NUM
ap-5157	44	32	%	%	NOUN
ap-5157	44	33	and	and	CCONJ
ap-5157	44	34	its	its	PRON
ap-5157	44	35	price	price	NOUN
ap-5157	44	36	even	even	ADV
ap-5157	44	37	by	by	ADP
ap-5157	44	38	60	60	NUM
ap-5157	44	39	%	%	NOUN
ap-5157	44	40	.	.	PUNCT
ap-5157	45	1	figure	figure	NOUN
ap-5157	45	2	3	3	NUM
ap-5157	45	3	and	and	CCONJ
ap-5157	45	4	table	table	NOUN
ap-5157	45	5	1	1	NUM
ap-5157	45	6	are	be	AUX
ap-5157	45	7	examples	example	NOUN
ap-5157	45	8	of	of	ADP
ap-5157	45	9	these	these	DET
ap-5157	45	10	assumptions	assumption	NOUN
ap-5157	45	11	.	.	PUNCT
ap-5157	46	1	[	[	X
ap-5157	46	2	2	2	NUM
ap-5157	46	3	,	,	PUNCT
ap-5157	46	4	5	5	NUM
ap-5157	46	5	,	,	PUNCT
ap-5157	46	6	6	6	NUM
ap-5157	46	7	]	]	SYM
ap-5157	46	8	3	3	NUM
ap-5157	46	9	.	.	NOUN
ap-5157	46	10	off	off	ADP
ap-5157	46	11	-	-	PUNCT
ap-5157	46	12	line	line	NOUN
ap-5157	46	13	simulator	simulator	NOUN
ap-5157	46	14	as	as	SCONJ
ap-5157	46	15	already	already	ADV
ap-5157	46	16	mentioned	mention	VERB
ap-5157	46	17	,	,	PUNCT
ap-5157	46	18	the	the	DET
ap-5157	46	19	current	current	ADJ
ap-5157	46	20	tendency	tendency	NOUN
ap-5157	46	21	to	to	PART
ap-5157	46	22	digitize	digitize	VERB
ap-5157	46	23	the	the	DET
ap-5157	46	24	production	production	NOUN
ap-5157	46	25	brings	bring	VERB
ap-5157	46	26	the	the	DET
ap-5157	46	27	increasing	increase	VERB
ap-5157	46	28	use	use	NOUN
ap-5157	46	29	of	of	ADP
ap-5157	46	30	software	software	NOUN
ap-5157	46	31	solutions	solution	NOUN
ap-5157	46	32	for	for	ADP
ap-5157	46	33	the	the	DET
ap-5157	46	34	pre	pre	ADJ
ap-5157	46	35	-	-	ADJ
ap-5157	46	36	production	production	ADJ
ap-5157	46	37	planning	planning	NOUN
ap-5157	46	38	.	.	PUNCT
ap-5157	47	1	programs	program	NOUN
ap-5157	47	2	for	for	ADP
ap-5157	47	3	an	an	DET
ap-5157	47	4	off	off	ADP
ap-5157	47	5	-	-	PUNCT
ap-5157	47	6	line	line	NOUN
ap-5157	47	7	3d	3d	NUM
ap-5157	47	8	motion	motion	NOUN
ap-5157	47	9	simulation	simulation	NOUN
ap-5157	47	10	or	or	CCONJ
ap-5157	47	11	application	application	NOUN
ap-5157	47	12	order	order	NOUN
ap-5157	47	13	progressively	progressively	ADV
ap-5157	47	14	reduce	reduce	VERB
ap-5157	47	15	the	the	DET
ap-5157	47	16	time	time	NOUN
ap-5157	47	17	of	of	ADP
ap-5157	47	18	creating	create	VERB
ap-5157	47	19	new	new	ADJ
ap-5157	47	20	motion	motion	NOUN
ap-5157	47	21	configurations	configuration	NOUN
ap-5157	47	22	.	.	PUNCT
ap-5157	48	1	by	by	ADP
ap-5157	48	2	default	default	NOUN
ap-5157	48	3	,	,	PUNCT
ap-5157	48	4	these	these	DET
ap-5157	48	5	programs	program	NOUN
ap-5157	48	6	support	support	VERB
ap-5157	48	7	a	a	DET
ap-5157	48	8	linkage	linkage	NOUN
ap-5157	48	9	with	with	ADP
ap-5157	48	10	cad	cad	NOUN
ap-5157	48	11	models	model	NOUN
ap-5157	48	12	so	so	SCONJ
ap-5157	48	13	it	it	PRON
ap-5157	48	14	is	be	AUX
ap-5157	48	15	possible	possible	ADJ
ap-5157	48	16	to	to	PART
ap-5157	48	17	design	design	VERB
ap-5157	48	18	or	or	CCONJ
ap-5157	48	19	digitize	digitize	VERB
ap-5157	48	20	existing	exist	VERB
ap-5157	48	21	robotic	robotic	ADJ
ap-5157	48	22	workplaces	workplace	NOUN
ap-5157	48	23	.	.	PUNCT
ap-5157	49	1	each	each	DET
ap-5157	49	2	robot	robot	NOUN
ap-5157	49	3	maker	maker	NOUN
ap-5157	49	4	has	have	VERB
ap-5157	49	5	its	its	PRON
ap-5157	49	6	own	own	ADJ
ap-5157	49	7	program	program	NOUN
ap-5157	49	8	that	that	PRON
ap-5157	49	9	is	be	AUX
ap-5157	49	10	compatible	compatible	ADJ
ap-5157	49	11	with	with	ADP
ap-5157	49	12	their	their	PRON
ap-5157	49	13	system	system	NOUN
ap-5157	49	14	environment	environment	NOUN
ap-5157	49	15	and	and	CCONJ
ap-5157	49	16	a	a	DET
ap-5157	49	17	library	library	NOUN
ap-5157	49	18	of	of	ADP
ap-5157	49	19	products	product	NOUN
ap-5157	49	20	.	.	PUNCT
ap-5157	50	1	these	these	DET
ap-5157	50	2	simulators	simulator	NOUN
ap-5157	50	3	serve	serve	VERB
ap-5157	50	4	all	all	DET
ap-5157	50	5	types	type	NOUN
ap-5157	50	6	of	of	ADP
ap-5157	50	7	robots	robot	NOUN
ap-5157	50	8	with	with	ADP
ap-5157	50	9	their	their	PRON
ap-5157	50	10	specific	specific	ADJ
ap-5157	50	11	applications	application	NOUN
ap-5157	50	12	,	,	PUNCT
ap-5157	50	13	such	such	ADJ
ap-5157	50	14	as	as	ADP
ap-5157	50	15	automatic	automatic	ADJ
ap-5157	50	16	deburring	deburring	NOUN
ap-5157	50	17	,	,	PUNCT
ap-5157	50	18	product	product	NOUN
ap-5157	50	19	handling	handling	NOUN
ap-5157	50	20	,	,	PUNCT
ap-5157	50	21	component	component	NOUN
ap-5157	50	22	coating	coating	NOUN
ap-5157	50	23	,	,	PUNCT
ap-5157	50	24	palletizing	palletize	VERB
ap-5157	50	25	and	and	CCONJ
ap-5157	50	26	just	just	ADV
ap-5157	50	27	welding	weld	VERB
ap-5157	50	28	as	as	SCONJ
ap-5157	50	29	it	it	PRON
ap-5157	50	30	can	can	AUX
ap-5157	50	31	be	be	AUX
ap-5157	50	32	seen	see	VERB
ap-5157	50	33	in	in	ADP
ap-5157	50	34	figure	figure	NOUN
ap-5157	50	35	4	4	NUM
ap-5157	50	36	.	.	PUNCT
ap-5157	51	1	in	in	ADP
ap-5157	51	2	these	these	DET
ap-5157	51	3	programs	program	NOUN
ap-5157	51	4	,	,	PUNCT
ap-5157	51	5	we	we	PRON
ap-5157	51	6	can	can	AUX
ap-5157	51	7	control	control	VERB
ap-5157	51	8	the	the	DET
ap-5157	51	9	robot	robot	NOUN
ap-5157	51	10	through	through	ADP
ap-5157	51	11	all	all	DET
ap-5157	51	12	its	its	PRON
ap-5157	51	13	axes	axis	NOUN
ap-5157	51	14	.	.	PUNCT
ap-5157	52	1	it	it	PRON
ap-5157	52	2	is	be	AUX
ap-5157	52	3	also	also	ADV
ap-5157	52	4	possible	possible	ADJ
ap-5157	52	5	to	to	PART
ap-5157	52	6	program	program	VERB
ap-5157	52	7	individual	individual	ADJ
ap-5157	52	8	motion	motion	NOUN
ap-5157	52	9	installs	install	VERB
ap-5157	52	10	before	before	SCONJ
ap-5157	52	11	they	they	PRON
ap-5157	52	12	are	be	AUX
ap-5157	52	13	loaded	load	VERB
ap-5157	52	14	into	into	ADP
ap-5157	52	15	the	the	DET
ap-5157	52	16	control	control	NOUN
ap-5157	52	17	unit	unit	NOUN
ap-5157	52	18	located	locate	VERB
ap-5157	52	19	in	in	ADP
ap-5157	52	20	the	the	DET
ap-5157	52	21	actual	actual	ADJ
ap-5157	52	22	workplace	workplace	NOUN
ap-5157	52	23	.	.	PUNCT
ap-5157	53	1	during	during	ADP
ap-5157	53	2	the	the	DET
ap-5157	53	3	on	on	ADP
ap-5157	53	4	-	-	PUNCT
ap-5157	53	5	line	line	NOUN
ap-5157	53	6	programming	programming	NOUN
ap-5157	53	7	,	,	PUNCT
ap-5157	53	8	it	it	PRON
ap-5157	53	9	is	be	AUX
ap-5157	53	10	necessary	necessary	ADJ
ap-5157	53	11	to	to	PART
ap-5157	53	12	create	create	VERB
ap-5157	53	13	motion	motion	NOUN
ap-5157	53	14	instructions	instruction	NOUN
ap-5157	53	15	in	in	ADP
ap-5157	53	16	the	the	DET
ap-5157	53	17	presence	presence	NOUN
ap-5157	53	18	of	of	ADP
ap-5157	53	19	the	the	DET
ap-5157	53	20	operator	operator	NOUN
ap-5157	53	21	directly	directly	ADV
ap-5157	53	22	at	at	ADP
ap-5157	53	23	the	the	DET
ap-5157	53	24	workplace	workplace	NOUN
ap-5157	53	25	.	.	PUNCT
ap-5157	54	1	this	this	PRON
ap-5157	54	2	is	be	AUX
ap-5157	54	3	only	only	ADV
ap-5157	54	4	possible	possible	ADJ
ap-5157	54	5	with	with	ADP
ap-5157	54	6	a	a	DET
ap-5157	54	7	limited	limited	ADJ
ap-5157	54	8	speed	speed	NOUN
ap-5157	54	9	of	of	ADP
ap-5157	54	10	the	the	DET
ap-5157	54	11	robot	robot	NOUN
ap-5157	54	12	movement	movement	NOUN
ap-5157	54	13	and	and	CCONJ
ap-5157	54	14	there	there	PRON
ap-5157	54	15	is	be	VERB
ap-5157	54	16	a	a	DET
ap-5157	54	17	high	high	ADJ
ap-5157	54	18	probability	probability	NOUN
ap-5157	54	19	of	of	ADP
ap-5157	54	20	its	its	PRON
ap-5157	54	21	collision	collision	NOUN
ap-5157	54	22	with	with	ADP
ap-5157	54	23	the	the	DET
ap-5157	54	24	environment	environment	NOUN
ap-5157	54	25	during	during	ADP
ap-5157	54	26	the	the	DET
ap-5157	54	27	test	test	NOUN
ap-5157	54	28	run	run	NOUN
ap-5157	54	29	.	.	PUNCT
ap-5157	55	1	with	with	ADP
ap-5157	55	2	the	the	DET
ap-5157	55	3	off	off	ADP
ap-5157	55	4	-	-	PUNCT
ap-5157	55	5	line	line	NOUN
ap-5157	55	6	programming	programming	NOUN
ap-5157	55	7	,	,	PUNCT
ap-5157	55	8	motion	motion	NOUN
ap-5157	55	9	instructions	instruction	NOUN
ap-5157	55	10	are	be	AUX
ap-5157	55	11	made	make	VERB
ap-5157	55	12	significantly	significantly	ADV
ap-5157	55	13	faster	fast	ADV
ap-5157	55	14	,	,	PUNCT
ap-5157	55	15	preliminary	preliminary	ADJ
ap-5157	55	16	simulations	simulation	NOUN
ap-5157	55	17	reveal	reveal	VERB
ap-5157	55	18	potential	potential	ADJ
ap-5157	55	19	collisions	collision	NOUN
ap-5157	55	20	and	and	CCONJ
ap-5157	55	21	increase	increase	VERB
ap-5157	55	22	the	the	DET
ap-5157	55	23	lifespan	lifespan	NOUN
ap-5157	55	24	of	of	ADP
ap-5157	55	25	expensive	expensive	ADJ
ap-5157	55	26	devices	device	NOUN
ap-5157	55	27	.	.	PUNCT
ap-5157	56	1	by	by	ADP
ap-5157	56	2	using	use	VERB
ap-5157	56	3	a	a	DET
ap-5157	56	4	computer	computer	NOUN
ap-5157	56	5	environment	environment	NOUN
ap-5157	56	6	,	,	PUNCT
ap-5157	56	7	it	it	PRON
ap-5157	56	8	is	be	AUX
ap-5157	56	9	also	also	ADV
ap-5157	56	10	easier	easy	ADJ
ap-5157	56	11	,	,	PUNCT
ap-5157	56	12	for	for	ADP
ap-5157	56	13	example	example	NOUN
ap-5157	56	14	,	,	PUNCT
ap-5157	56	15	to	to	PART
ap-5157	56	16	accurately	accurately	ADV
ap-5157	56	17	achieve	achieve	VERB
ap-5157	56	18	the	the	DET
ap-5157	56	19	welding	welding	NOUN
ap-5157	56	20	torch	torch	NOUN
ap-5157	56	21	’s	’s	PART
ap-5157	56	22	inclination	inclination	NOUN
ap-5157	56	23	towards	towards	ADP
ap-5157	56	24	the	the	DET
ap-5157	56	25	workpiece	workpiece	NOUN
ap-5157	56	26	.	.	PUNCT
ap-5157	57	1	4	4	X
ap-5157	57	2	.	.	X
ap-5157	57	3	experiment	experiment	NOUN
ap-5157	57	4	4.1	4.1	NUM
ap-5157	57	5	.	.	PUNCT
ap-5157	58	1	experimental	experimental	ADJ
ap-5157	58	2	workplace	workplace	NOUN
ap-5157	58	3	the	the	DET
ap-5157	58	4	main	main	ADJ
ap-5157	58	5	part	part	NOUN
ap-5157	58	6	of	of	ADP
ap-5157	58	7	the	the	DET
ap-5157	58	8	experiment	experiment	NOUN
ap-5157	58	9	took	take	VERB
ap-5157	58	10	place	place	NOUN
ap-5157	58	11	in	in	ADP
ap-5157	58	12	the	the	DET
ap-5157	58	13	inter	inter	ADJ
ap-5157	58	14	-	-	ADJ
ap-5157	58	15	faculty	faculty	ADJ
ap-5157	58	16	laboratory	laboratory	NOUN
ap-5157	58	17	of	of	ADP
ap-5157	58	18	welding	welding	NOUN
ap-5157	58	19	technologies	technology	NOUN
ap-5157	58	20	situated	situate	VERB
ap-5157	58	21	at	at	ADP
ap-5157	58	22	department	department	NOUN
ap-5157	58	23	of	of	ADP
ap-5157	58	24	manufacturing	manufacturing	NOUN
ap-5157	58	25	technologies	technology	NOUN
ap-5157	58	26	ctu	ctu	PROPN
ap-5157	58	27	prague	prague	PROPN
ap-5157	58	28	,	,	PUNCT
ap-5157	58	29	which	which	PRON
ap-5157	58	30	has	have	AUX
ap-5157	58	31	,	,	PUNCT
ap-5157	58	32	among	among	ADP
ap-5157	58	33	other	other	ADJ
ap-5157	58	34	things	thing	NOUN
ap-5157	58	35	,	,	PUNCT
ap-5157	58	36	a	a	DET
ap-5157	58	37	robotic	robotic	ADJ
ap-5157	58	38	workplace	workplace	NOUN
ap-5157	58	39	for	for	ADP
ap-5157	58	40	arc	arc	NOUN
ap-5157	58	41	welding	welding	NOUN
ap-5157	58	42	.	.	PUNCT
ap-5157	59	1	this	this	DET
ap-5157	59	2	workplace	workplace	NOUN
ap-5157	59	3	contains	contain	VERB
ap-5157	59	4	the	the	DET
ap-5157	59	5	universal	universal	ADJ
ap-5157	59	6	6	6	NUM
ap-5157	59	7	-	-	PUNCT
ap-5157	59	8	axis	axis	NOUN
ap-5157	59	9	fanuc	fanuc	NOUN
ap-5157	59	10	arc	arc	NOUN
ap-5157	59	11	mate	mate	NOUN
ap-5157	59	12	100ic	100ic	NOUN
ap-5157	59	13	robot	robot	NOUN
ap-5157	59	14	with	with	ADP
ap-5157	59	15	a	a	DET
ap-5157	59	16	maximum	maximum	ADJ
ap-5157	59	17	reach	reach	NOUN
ap-5157	59	18	of	of	ADP
ap-5157	59	19	1420	1420	NUM
ap-5157	59	20	mm	mm	NOUN
ap-5157	59	21	and	and	CCONJ
ap-5157	59	22	a	a	DET
ap-5157	59	23	repeatability	repeatability	NOUN
ap-5157	59	24	of	of	ADP
ap-5157	59	25	±0.08	±0.08	PROPN
ap-5157	59	26	mm	mm	PROPN
ap-5157	59	27	and	and	CCONJ
ap-5157	59	28	its	its	PRON
ap-5157	59	29	r	r	NOUN
ap-5157	59	30	-	-	PUNCT
ap-5157	59	31	j3ic	j3ic	NOUN
ap-5157	59	32	control	control	NOUN
ap-5157	59	33	unit	unit	NOUN
ap-5157	59	34	.	.	PUNCT
ap-5157	60	1	there	there	PRON
ap-5157	60	2	is	be	VERB
ap-5157	60	3	also	also	ADV
ap-5157	60	4	a	a	DET
ap-5157	60	5	one	one	NUM
ap-5157	60	6	-	-	PUNCT
ap-5157	60	7	axis	axis	NOUN
ap-5157	60	8	positioner	positioner	NOUN
ap-5157	60	9	fanuc	fanuc	PROPN
ap-5157	60	10	p250	p250	PROPN
ap-5157	60	11	,	,	PUNCT
ap-5157	60	12	welding	weld	VERB
ap-5157	60	13	source	source	NOUN
ap-5157	60	14	for	for	ADP
ap-5157	60	15	mig	mig	PROPN
ap-5157	60	16	/	/	SYM
ap-5157	60	17	mag	mag	ADJ
ap-5157	60	18	and	and	CCONJ
ap-5157	60	19	tig	tig	NOUN
ap-5157	60	20	welding	welding	NOUN
ap-5157	60	21	,	,	PUNCT
ap-5157	60	22	with	with	ADP
ap-5157	60	23	additional	additional	ADJ
ap-5157	60	24	wire	wire	NOUN
ap-5157	60	25	feeders	feeder	NOUN
ap-5157	60	26	from	from	ADP
ap-5157	60	27	migatronic	migatronic	NOUN
ap-5157	60	28	with	with	ADP
ap-5157	60	29	a	a	DET
ap-5157	60	30	welding	welding	NOUN
ap-5157	60	31	wire	wire	NOUN
ap-5157	60	32	and	and	CCONJ
ap-5157	60	33	protective	protective	ADJ
ap-5157	60	34	gas	gas	NOUN
ap-5157	60	35	cylinders	cylinder	NOUN
ap-5157	60	36	.	.	PUNCT
ap-5157	61	1	of	of	ADP
ap-5157	61	2	course	course	NOUN
ap-5157	61	3	,	,	PUNCT
ap-5157	61	4	the	the	DET
ap-5157	61	5	workplace	workplace	NOUN
ap-5157	61	6	has	have	VERB
ap-5157	61	7	central	central	ADJ
ap-5157	61	8	exhausting	exhausting	ADJ
ap-5157	61	9	and	and	CCONJ
ap-5157	61	10	safety	safety	NOUN
ap-5157	61	11	features	feature	NOUN
ap-5157	61	12	,	,	PUNCT
ap-5157	61	13	such	such	ADJ
ap-5157	61	14	as	as	ADP
ap-5157	61	15	light	light	ADJ
ap-5157	61	16	barriers	barrier	NOUN
ap-5157	61	17	preventing	prevent	VERB
ap-5157	61	18	the	the	DET
ap-5157	61	19	entry	entry	NOUN
ap-5157	61	20	into	into	ADP
ap-5157	61	21	the	the	DET
ap-5157	61	22	workspace	workspace	NOUN
ap-5157	61	23	and	and	CCONJ
ap-5157	61	24	door	door	NOUN
ap-5157	61	25	switches	switch	NOUN
ap-5157	61	26	preventing	prevent	VERB
ap-5157	61	27	a	a	DET
ap-5157	61	28	person	person	NOUN
ap-5157	61	29	entering	enter	VERB
ap-5157	61	30	the	the	DET
ap-5157	61	31	operating	operating	NOUN
ap-5157	61	32	area	area	NOUN
ap-5157	61	33	.	.	PUNCT
ap-5157	62	1	4.2	4.2	NUM
ap-5157	62	2	.	.	PUNCT
ap-5157	62	3	virtual	virtual	ADJ
ap-5157	62	4	workplace	workplace	NOUN
ap-5157	62	5	for	for	ADP
ap-5157	62	6	a	a	DET
ap-5157	62	7	full	full	ADJ
ap-5157	62	8	use	use	NOUN
ap-5157	62	9	of	of	ADP
ap-5157	62	10	the	the	DET
ap-5157	62	11	virtual	virtual	ADJ
ap-5157	62	12	workstation	workstation	NOUN
ap-5157	62	13	,	,	PUNCT
ap-5157	62	14	it	it	PRON
ap-5157	62	15	is	be	AUX
ap-5157	62	16	necessary	necessary	ADJ
ap-5157	62	17	to	to	PART
ap-5157	62	18	make	make	VERB
ap-5157	62	19	a	a	DET
ap-5157	62	20	real	real	ADJ
ap-5157	62	21	calibration	calibration	NOUN
ap-5157	62	22	with	with	ADP
ap-5157	62	23	it	it	PRON
ap-5157	62	24	.	.	PUNCT
ap-5157	63	1	for	for	ADP
ap-5157	63	2	the	the	DET
ap-5157	63	3	current	current	ADJ
ap-5157	63	4	workplace	workplace	NOUN
ap-5157	63	5	,	,	PUNCT
ap-5157	63	6	the	the	DET
ap-5157	63	7	already	already	ADV
ap-5157	63	8	created	create	VERB
ap-5157	63	9	model	model	NOUN
ap-5157	63	10	by	by	ADP
ap-5157	63	11	ing	ing	PROPN
ap-5157	63	12	.	.	PUNCT
ap-5157	64	1	pavel	pavel	PROPN
ap-5157	64	2	pres	pres	PROPN
ap-5157	64	3	,	,	PUNCT
ap-5157	64	4	who	who	PRON
ap-5157	64	5	used	use	VERB
ap-5157	64	6	it	it	PRON
ap-5157	64	7	to	to	PART
ap-5157	64	8	solve	solve	VERB
ap-5157	64	9	his	his	PRON
ap-5157	64	10	project	project	NOUN
ap-5157	64	11	(	(	PUNCT
ap-5157	64	12	robotic	robotic	ADJ
ap-5157	64	13	welding	welding	NOUN
ap-5157	64	14	bridge	bridge	NOUN
ap-5157	64	15	handrail	handrail	NOUN
ap-5157	64	16	by	by	ADP
ap-5157	64	17	method	method	NOUN
ap-5157	64	18	gmaw	gmaw	NOUN
ap-5157	64	19	,	,	PUNCT
ap-5157	64	20	2013	2013	NUM
ap-5157	64	21	)	)	PUNCT
ap-5157	64	22	,	,	PUNCT
ap-5157	64	23	was	be	AUX
ap-5157	64	24	used	use	VERB
ap-5157	64	25	.	.	PUNCT
ap-5157	65	1	however	however	ADV
ap-5157	65	2	,	,	PUNCT
ap-5157	65	3	it	it	PRON
ap-5157	65	4	was	be	AUX
ap-5157	65	5	necessary	necessary	ADJ
ap-5157	65	6	to	to	PART
ap-5157	65	7	recalibrate	recalibrate	VERB
ap-5157	65	8	the	the	DET
ap-5157	65	9	workplace	workplace	NOUN
ap-5157	65	10	and	and	CCONJ
ap-5157	65	11	add	add	VERB
ap-5157	65	12	and	and	CCONJ
ap-5157	65	13	modify	modify	VERB
ap-5157	65	14	a	a	DET
ap-5157	65	15	part	part	NOUN
ap-5157	65	16	of	of	ADP
ap-5157	65	17	the	the	DET
ap-5157	65	18	components	component	NOUN
ap-5157	65	19	for	for	ADP
ap-5157	65	20	a	a	DET
ap-5157	65	21	correct	correct	ADJ
ap-5157	65	22	functionality	functionality	NOUN
ap-5157	65	23	in	in	ADP
ap-5157	65	24	the	the	DET
ap-5157	65	25	virtual	virtual	ADJ
ap-5157	65	26	workplace	workplace	NOUN
ap-5157	65	27	.	.	PUNCT
ap-5157	66	1	a	a	DET
ap-5157	66	2	view	view	NOUN
ap-5157	66	3	on	on	ADP
ap-5157	66	4	the	the	DET
ap-5157	66	5	virtual	virtual	ADJ
ap-5157	66	6	and	and	CCONJ
ap-5157	66	7	real	real	ADJ
ap-5157	66	8	preparation	preparation	NOUN
ap-5157	66	9	of	of	ADP
ap-5157	66	10	the	the	DET
ap-5157	66	11	experiment	experiment	NOUN
ap-5157	66	12	in	in	ADP
ap-5157	66	13	figure	figure	NOUN
ap-5157	66	14	5	5	NUM
ap-5157	66	15	and	and	CCONJ
ap-5157	66	16	figure	figure	VERB
ap-5157	66	17	6	6	NUM
ap-5157	66	18	.	.	PUNCT
ap-5157	67	1	when	when	SCONJ
ap-5157	67	2	describing	describe	VERB
ap-5157	67	3	off	off	ADP
ap-5157	67	4	-	-	PUNCT
ap-5157	67	5	line	line	NOUN
ap-5157	67	6	simulators	simulator	NOUN
ap-5157	67	7	,	,	PUNCT
ap-5157	67	8	it	it	PRON
ap-5157	67	9	was	be	AUX
ap-5157	67	10	already	already	ADV
ap-5157	67	11	mentioned	mention	VERB
ap-5157	67	12	that	that	SCONJ
ap-5157	67	13	they	they	PRON
ap-5157	67	14	are	be	AUX
ap-5157	67	15	most	most	ADV
ap-5157	67	16	often	often	ADV
ap-5157	67	17	used	use	VERB
ap-5157	67	18	for	for	ADP
ap-5157	67	19	the	the	DET
ap-5157	67	20	preprogram	preprogram	NOUN
ap-5157	67	21	creation	creation	NOUN
ap-5157	67	22	.	.	PUNCT
ap-5157	68	1	this	this	DET
ap-5157	68	2	experiment	experiment	NOUN
ap-5157	68	3	used	use	VERB
ap-5157	68	4	the	the	DET
ap-5157	68	5	reverse	reverse	ADJ
ap-5157	68	6	procedure	procedure	NOUN
ap-5157	68	7	.	.	PUNCT
ap-5157	69	1	the	the	DET
ap-5157	69	2	program	program	NOUN
ap-5157	69	3	written	write	VERB
ap-5157	69	4	by	by	ADP
ap-5157	69	5	on	on	ADP
ap-5157	69	6	-	-	PUNCT
ap-5157	69	7	line	line	NOUN
ap-5157	69	8	programming	programming	NOUN
ap-5157	69	9	was	be	AUX
ap-5157	69	10	imported	import	VERB
ap-5157	69	11	into	into	ADP
ap-5157	69	12	the	the	DET
ap-5157	69	13	simulator	simulator	NOUN
ap-5157	69	14	to	to	PART
ap-5157	69	15	carry	carry	VERB
ap-5157	69	16	out	out	ADP
ap-5157	69	17	the	the	DET
ap-5157	69	18	inspection	inspection	NOUN
ap-5157	69	19	.	.	PUNCT
ap-5157	70	1	during	during	ADP
ap-5157	70	2	this	this	DET
ap-5157	70	3	review	review	NOUN
ap-5157	70	4	,	,	PUNCT
ap-5157	70	5	the	the	DET
ap-5157	70	6	tool	tool	NOUN
ap-5157	70	7	center	center	NOUN
ap-5157	70	8	point	point	NOUN
ap-5157	70	9	(	(	PUNCT
ap-5157	70	10	tcp	tcp	INTJ
ap-5157	70	11	)	)	PUNCT
ap-5157	70	12	mapping	mapping	NOUN
ap-5157	70	13	found	find	VERB
ap-5157	70	14	that	that	SCONJ
ap-5157	70	15	the	the	DET
ap-5157	70	16	start	start	NOUN
ap-5157	70	17	and	and	CCONJ
ap-5157	70	18	end	end	VERB
ap-5157	70	19	positions	position	NOUN
ap-5157	70	20	of	of	ADP
ap-5157	70	21	the	the	DET
ap-5157	70	22	circular	circular	ADJ
ap-5157	70	23	path	path	NOUN
ap-5157	70	24	did	do	AUX
ap-5157	70	25	not	not	PART
ap-5157	70	26	match	match	VERB
ap-5157	70	27	as	as	SCONJ
ap-5157	70	28	it	it	PRON
ap-5157	70	29	can	can	AUX
ap-5157	70	30	be	be	AUX
ap-5157	70	31	seen	see	VERB
ap-5157	70	32	in	in	ADP
ap-5157	70	33	figure	figure	NOUN
ap-5157	70	34	7	7	NUM
ap-5157	70	35	and	and	CCONJ
ap-5157	70	36	figure	figure	VERB
ap-5157	70	37	8	8	NUM
ap-5157	70	38	.	.	PUNCT
ap-5157	71	1	this	this	PRON
ap-5157	71	2	means	mean	VERB
ap-5157	71	3	that	that	SCONJ
ap-5157	71	4	defects	defect	NOUN
ap-5157	71	5	can	can	AUX
ap-5157	71	6	occur	occur	VERB
ap-5157	71	7	at	at	ADP
ap-5157	71	8	this	this	DET
ap-5157	71	9	point	point	NOUN
ap-5157	71	10	,	,	PUNCT
ap-5157	71	11	where	where	SCONJ
ap-5157	71	12	the	the	DET
ap-5157	71	13	welding	welding	NOUN
ap-5157	71	14	torch	torch	NOUN
ap-5157	71	15	is	be	AUX
ap-5157	71	16	lifted	lift	VERB
ap-5157	71	17	by	by	ADP
ap-5157	71	18	a	a	DET
ap-5157	71	19	one	one	NUM
ap-5157	71	20	-	-	PUNCT
ap-5157	71	21	height	height	NOUN
ap-5157	71	22	step	step	NOUN
ap-5157	71	23	.	.	PUNCT
ap-5157	72	1	the	the	DET
ap-5157	72	2	corrected	correct	VERB
ap-5157	72	3	program	program	NOUN
ap-5157	72	4	has	have	AUX
ap-5157	72	5	been	be	AUX
ap-5157	72	6	simulated	simulate	VERB
ap-5157	72	7	and	and	CCONJ
ap-5157	72	8	then	then	ADV
ap-5157	72	9	exported	export	VERB
ap-5157	72	10	back	back	ADV
ap-5157	72	11	to	to	ADP
ap-5157	72	12	the	the	DET
ap-5157	72	13	robot	robot	NOUN
ap-5157	72	14	controller	controller	NOUN
ap-5157	72	15	to	to	PART
ap-5157	72	16	start	start	VERB
ap-5157	72	17	it	it	PRON
ap-5157	72	18	as	as	SCONJ
ap-5157	72	19	it	it	PRON
ap-5157	72	20	can	can	AUX
ap-5157	72	21	be	be	AUX
ap-5157	72	22	seen	see	VERB
ap-5157	72	23	in	in	ADP
ap-5157	72	24	figure	figure	NOUN
ap-5157	72	25	9	9	NUM
ap-5157	72	26	and	and	CCONJ
ap-5157	72	27	figure	figure	VERB
ap-5157	72	28	10	10	NUM
ap-5157	72	29	.	.	PUNCT
ap-5157	73	1	the	the	DET
ap-5157	73	2	main	main	ADJ
ap-5157	73	3	problem	problem	NOUN
ap-5157	73	4	is	be	AUX
ap-5157	73	5	that	that	SCONJ
ap-5157	73	6	the	the	DET
ap-5157	73	7	whole	whole	ADJ
ap-5157	73	8	circle	circle	NOUN
ap-5157	73	9	must	must	AUX
ap-5157	73	10	be	be	AUX
ap-5157	73	11	programmed	program	VERB
ap-5157	73	12	with	with	ADP
ap-5157	73	13	two	two	NUM
ap-5157	73	14	semicircles	semicircle	NOUN
ap-5157	73	15	.	.	PUNCT
ap-5157	74	1	although	although	SCONJ
ap-5157	74	2	it	it	PRON
ap-5157	74	3	is	be	AUX
ap-5157	74	4	possible	possible	ADJ
ap-5157	74	5	to	to	PART
ap-5157	74	6	enter	enter	VERB
ap-5157	74	7	the	the	DET
ap-5157	74	8	start	start	NOUN
ap-5157	74	9	and	and	CCONJ
ap-5157	74	10	end	end	VERB
ap-5157	74	11	points	point	NOUN
ap-5157	74	12	in	in	ADP
ap-5157	74	13	the	the	DET
ap-5157	74	14	same	same	ADJ
ap-5157	74	15	place	place	NOUN
ap-5157	74	16	with	with	ADP
ap-5157	74	17	the	the	DET
ap-5157	74	18	on	on	ADP
ap-5157	74	19	-	-	PUNCT
ap-5157	74	20	line	line	NOUN
ap-5157	74	21	programming	programming	NOUN
ap-5157	74	22	,	,	PUNCT
ap-5157	74	23	it	it	PRON
ap-5157	74	24	is	be	AUX
ap-5157	74	25	often	often	ADV
ap-5157	74	26	314	314	NUM
ap-5157	74	27	vol	vol	NOUN
ap-5157	74	28	.	.	PUNCT
ap-5157	75	1	59	59	NUM
ap-5157	75	2	no	no	NOUN
ap-5157	75	3	.	.	PUNCT
ap-5157	76	1	4/2019	4/2019	NUM
ap-5157	76	2	waam	waam	PROPN
ap-5157	76	3	technology	technology	NOUN
ap-5157	76	4	optimized	optimize	VERB
ap-5157	76	5	by	by	ADP
ap-5157	76	6	off	off	ADP
ap-5157	76	7	-	-	PUNCT
ap-5157	76	8	line	line	NOUN
ap-5157	76	9	3d	3d	NUM
ap-5157	76	10	robot	robot	NOUN
ap-5157	76	11	simulation	simulation	NOUN
ap-5157	76	12	figure	figure	NOUN
ap-5157	76	13	4	4	NUM
ap-5157	76	14	.	.	PUNCT
ap-5157	77	1	examples	example	NOUN
ap-5157	77	2	of	of	ADP
ap-5157	77	3	off	off	ADP
ap-5157	77	4	-	-	PUNCT
ap-5157	77	5	line	line	NOUN
ap-5157	77	6	simulations	simulation	NOUN
ap-5157	77	7	in	in	ADP
ap-5157	77	8	fanuc	fanuc	PROPN
ap-5157	77	9	roboguide	roboguide	PROPN
ap-5157	77	10	software	software	PROPN
ap-5157	77	11	.	.	PUNCT
ap-5157	78	1	from	from	ADP
ap-5157	78	2	the	the	DET
ap-5157	78	3	right	right	ADJ
ap-5157	78	4	component	component	NOUN
ap-5157	78	5	coating	coating	NOUN
ap-5157	78	6	,	,	PUNCT
ap-5157	78	7	palletizing	palletize	VERB
ap-5157	78	8	and	and	CCONJ
ap-5157	78	9	welding	weld	VERB
ap-5157	78	10	[	[	X
ap-5157	78	11	7	7	NUM
ap-5157	78	12	]	]	PUNCT
ap-5157	78	13	.	.	PUNCT
ap-5157	79	1	figure	figure	NOUN
ap-5157	79	2	5	5	NUM
ap-5157	79	3	.	.	PUNCT
ap-5157	80	1	view	view	NOUN
ap-5157	80	2	of	of	ADP
ap-5157	80	3	the	the	DET
ap-5157	80	4	real	real	ADJ
ap-5157	80	5	workplace	workplace	NOUN
ap-5157	80	6	(	(	PUNCT
ap-5157	80	7	left	left	ADJ
ap-5157	80	8	)	)	PUNCT
ap-5157	80	9	,	,	PUNCT
ap-5157	80	10	view	view	NOUN
ap-5157	80	11	of	of	ADP
ap-5157	80	12	the	the	DET
ap-5157	80	13	workplace	workplace	NOUN
ap-5157	80	14	in	in	ADP
ap-5157	80	15	the	the	DET
ap-5157	80	16	fanuc	fanuc	PROPN
ap-5157	80	17	roboguide	roboguide	PROPN
ap-5157	80	18	simulator	simulator	PROPN
ap-5157	80	19	(	(	PUNCT
ap-5157	80	20	right	right	ADJ
ap-5157	80	21	)	)	PUNCT
ap-5157	80	22	.	.	PUNCT
ap-5157	81	1	figure	figure	VERB
ap-5157	81	2	6	6	NUM
ap-5157	81	3	.	.	PUNCT
ap-5157	82	1	view	view	NOUN
ap-5157	82	2	of	of	ADP
ap-5157	82	3	the	the	DET
ap-5157	82	4	base	base	NOUN
ap-5157	82	5	plate	plate	NOUN
ap-5157	82	6	mounting	mount	VERB
ap-5157	82	7	on	on	ADP
ap-5157	82	8	the	the	DET
ap-5157	82	9	welding	welding	NOUN
ap-5157	82	10	table	table	NOUN
ap-5157	82	11	(	(	PUNCT
ap-5157	82	12	right	right	NOUN
ap-5157	82	13	)	)	PUNCT
ap-5157	82	14	,	,	PUNCT
ap-5157	82	15	realization	realization	NOUN
ap-5157	82	16	in	in	ADP
ap-5157	82	17	the	the	DET
ap-5157	82	18	laboratory	laboratory	NOUN
ap-5157	82	19	(	(	PUNCT
ap-5157	82	20	left	leave	VERB
ap-5157	82	21	)	)	PUNCT
ap-5157	82	22	.	.	PUNCT
ap-5157	83	1	315	315	NUM
ap-5157	83	2	tomáš	tomáš	NOUN
ap-5157	83	3	gurčík	gurčík	PROPN
ap-5157	83	4	,	,	PUNCT
ap-5157	83	5	karel	karel	PROPN
ap-5157	83	6	kovanda	kovanda	PROPN
ap-5157	83	7	acta	acta	PROPN
ap-5157	83	8	polytechnica	polytechnica	PROPN
ap-5157	83	9	figure	figure	NOUN
ap-5157	83	10	7	7	NUM
ap-5157	83	11	.	.	PUNCT
ap-5157	83	12	incorrectly	incorrectly	ADV
ap-5157	83	13	created	create	VERB
ap-5157	83	14	start	start	NOUN
ap-5157	83	15	and	and	CCONJ
ap-5157	83	16	end	end	VERB
ap-5157	83	17	points	point	NOUN
ap-5157	83	18	from	from	ADP
ap-5157	83	19	on	on	ADP
ap-5157	83	20	-	-	PUNCT
ap-5157	83	21	line	line	NOUN
ap-5157	83	22	programming	programming	NOUN
ap-5157	83	23	.	.	PUNCT
ap-5157	84	1	figure	figure	NOUN
ap-5157	84	2	8	8	NUM
ap-5157	84	3	.	.	PUNCT
ap-5157	85	1	view	view	NOUN
ap-5157	85	2	of	of	ADP
ap-5157	85	3	the	the	DET
ap-5157	85	4	base	base	NOUN
ap-5157	85	5	plate	plate	NOUN
ap-5157	85	6	mounting	mount	VERB
ap-5157	85	7	on	on	ADP
ap-5157	85	8	the	the	DET
ap-5157	85	9	welding	welding	NOUN
ap-5157	85	10	table	table	NOUN
ap-5157	85	11	(	(	PUNCT
ap-5157	85	12	right	right	NOUN
ap-5157	85	13	)	)	PUNCT
ap-5157	85	14	,	,	PUNCT
ap-5157	85	15	realization	realization	NOUN
ap-5157	85	16	in	in	ADP
ap-5157	85	17	the	the	DET
ap-5157	85	18	laboratory	laboratory	NOUN
ap-5157	85	19	(	(	PUNCT
ap-5157	85	20	left	leave	VERB
ap-5157	85	21	)	)	PUNCT
ap-5157	85	22	.	.	PUNCT
ap-5157	86	1	figure	figure	NOUN
ap-5157	86	2	9	9	NUM
ap-5157	86	3	.	.	PUNCT
ap-5157	86	4	fixed	fix	VERB
ap-5157	86	5	robot	robot	NOUN
ap-5157	86	6	track	track	NOUN
ap-5157	86	7	using	use	VERB
ap-5157	86	8	off	off	ADP
ap-5157	86	9	-	-	PUNCT
ap-5157	86	10	line	line	NOUN
ap-5157	86	11	programming	programming	NOUN
ap-5157	86	12	.	.	PUNCT
ap-5157	87	1	316	316	NUM
ap-5157	87	2	vol	vol	NOUN
ap-5157	87	3	.	.	PUNCT
ap-5157	88	1	59	59	NUM
ap-5157	88	2	no	no	NOUN
ap-5157	88	3	.	.	PUNCT
ap-5157	89	1	4/2019	4/2019	NUM
ap-5157	89	2	waam	waam	PROPN
ap-5157	89	3	technology	technology	NOUN
ap-5157	89	4	optimized	optimize	VERB
ap-5157	89	5	by	by	ADP
ap-5157	89	6	off	off	ADP
ap-5157	89	7	-	-	PUNCT
ap-5157	89	8	line	line	NOUN
ap-5157	89	9	3d	3d	NUM
ap-5157	89	10	robot	robot	NOUN
ap-5157	89	11	simulation	simulation	NOUN
ap-5157	89	12	figure	figure	NOUN
ap-5157	89	13	10	10	NUM
ap-5157	89	14	.	.	PUNCT
ap-5157	90	1	drawing	draw	VERB
ap-5157	90	2	of	of	ADP
ap-5157	90	3	paths	path	NOUN
ap-5157	90	4	of	of	ADP
ap-5157	90	5	program	program	NOUN
ap-5157	90	6	which	which	PRON
ap-5157	90	7	was	be	AUX
ap-5157	90	8	used	use	VERB
ap-5157	90	9	in	in	ADP
ap-5157	90	10	this	this	DET
ap-5157	90	11	research	research	NOUN
ap-5157	90	12	.	.	PUNCT
ap-5157	91	1	rm	rm	PROPN
ap-5157	91	2	re	re	ADP
ap-5157	91	3	a5	a5	PROPN
ap-5157	91	4	kv	kv	PROPN
ap-5157	91	5	[	[	X
ap-5157	91	6	n	n	CCONJ
ap-5157	91	7	/	/	SYM
ap-5157	91	8	mm2	mm2	NOUN
ap-5157	91	9	]	]	X
ap-5157	92	1	[	[	X
ap-5157	92	2	n	n	CCONJ
ap-5157	92	3	/	/	SYM
ap-5157	92	4	mm2	mm2	NOUN
ap-5157	92	5	]	]	X
ap-5157	93	1	[	[	X
ap-5157	93	2	%	%	X
ap-5157	93	3	]	]	X
ap-5157	94	1	[	[	X
ap-5157	94	2	j	j	X
ap-5157	94	3	]	]	X
ap-5157	94	4	950	950	NUM
ap-5157	94	5	890	890	NUM
ap-5157	94	6	15	15	NUM
ap-5157	94	7	90	90	NUM
ap-5157	94	8	table	table	NOUN
ap-5157	94	9	2	2	NUM
ap-5157	94	10	.	.	PUNCT
ap-5157	94	11	mechanical	mechanical	ADJ
ap-5157	94	12	properties	property	NOUN
ap-5157	94	13	of	of	ADP
ap-5157	94	14	union	union	NOUN
ap-5157	94	15	x	x	SYM
ap-5157	94	16	90	90	NUM
ap-5157	94	17	wire	wire	NOUN
ap-5157	94	18	at	at	ADP
ap-5157	94	19	room	room	NOUN
ap-5157	94	20	temperature	temperature	NOUN
ap-5157	94	21	[	[	X
ap-5157	94	22	8	8	NUM
ap-5157	94	23	]	]	PUNCT
ap-5157	94	24	.	.	PUNCT
ap-5157	95	1	c	c	PROPN
ap-5157	95	2	si	si	PROPN
ap-5157	95	3	mn	mn	PROPN
ap-5157	95	4	cr	cr	PROPN
ap-5157	95	5	mo	mo	PROPN
ap-5157	95	6	ni	ni	PROPN
ap-5157	95	7	0.1	0.1	NUM
ap-5157	95	8	0.8	0.8	NUM
ap-5157	95	9	1.8	1.8	NUM
ap-5157	95	10	0.35	0.35	NUM
ap-5157	95	11	0.6	0.6	NUM
ap-5157	95	12	2.3	2.3	NUM
ap-5157	95	13	table	table	NOUN
ap-5157	95	14	3	3	NUM
ap-5157	95	15	.	.	PUNCT
ap-5157	95	16	chemical	chemical	ADJ
ap-5157	95	17	composition	composition	NOUN
ap-5157	95	18	of	of	ADP
ap-5157	95	19	union	union	NOUN
ap-5157	95	20	x	x	SYM
ap-5157	95	21	90	90	NUM
ap-5157	95	22	wire	wire	NOUN
ap-5157	95	23	in	in	ADP
ap-5157	95	24	weight	weight	NOUN
ap-5157	95	25	%	%	NOUN
ap-5157	96	1	[	[	X
ap-5157	96	2	8	8	NUM
ap-5157	96	3	]	]	PUNCT
ap-5157	96	4	.	.	PUNCT
ap-5157	97	1	possible	possible	ADJ
ap-5157	97	2	to	to	PART
ap-5157	97	3	create	create	VERB
ap-5157	97	4	an	an	DET
ap-5157	97	5	error	error	NOUN
ap-5157	97	6	while	while	SCONJ
ap-5157	97	7	writing	write	VERB
ap-5157	97	8	this	this	DET
ap-5157	97	9	script	script	NOUN
ap-5157	97	10	.	.	PUNCT
ap-5157	98	1	even	even	ADV
ap-5157	98	2	a	a	DET
ap-5157	98	3	small	small	ADJ
ap-5157	98	4	deviation	deviation	NOUN
ap-5157	98	5	can	can	AUX
ap-5157	98	6	cause	cause	VERB
ap-5157	98	7	significant	significant	ADJ
ap-5157	98	8	geometric	geometric	ADJ
ap-5157	98	9	inaccuracies	inaccuracy	NOUN
ap-5157	98	10	.	.	PUNCT
ap-5157	99	1	in	in	ADP
ap-5157	99	2	this	this	DET
ap-5157	99	3	case	case	NOUN
ap-5157	99	4	,	,	PUNCT
ap-5157	99	5	the	the	DET
ap-5157	99	6	coefficient	coefficient	NOUN
ap-5157	99	7	of	of	ADP
ap-5157	99	8	effective	effective	ADJ
ap-5157	99	9	wall	wall	NOUN
ap-5157	99	10	thickness	thickness	NOUN
ap-5157	99	11	will	will	AUX
ap-5157	99	12	be	be	AUX
ap-5157	99	13	reduced	reduce	VERB
ap-5157	99	14	at	at	ADP
ap-5157	99	15	this	this	DET
ap-5157	99	16	point	point	NOUN
ap-5157	99	17	.	.	PUNCT
ap-5157	100	1	4.3	4.3	NUM
ap-5157	100	2	.	.	PUNCT
ap-5157	101	1	input	input	NOUN
ap-5157	101	2	data	datum	NOUN
ap-5157	101	3	for	for	ADP
ap-5157	101	4	experiment	experiment	NOUN
ap-5157	101	5	as	as	ADP
ap-5157	101	6	the	the	DET
ap-5157	101	7	filler	filler	NOUN
ap-5157	101	8	material	material	NOUN
ap-5157	101	9	,	,	PUNCT
ap-5157	101	10	the	the	DET
ap-5157	101	11	low	low	ADV
ap-5157	101	12	-	-	PUNCT
ap-5157	101	13	alloyed	alloy	VERB
ap-5157	101	14	solid	solid	ADJ
ap-5157	101	15	wire	wire	NOUN
ap-5157	101	16	electrode	electrode	NOUN
ap-5157	101	17	for	for	ADP
ap-5157	101	18	shielded	shielded	ADJ
ap-5157	101	19	arc	arc	NOUN
ap-5157	101	20	welding	welding	NOUN
ap-5157	101	21	of	of	ADP
ap-5157	101	22	quenched	quenched	ADJ
ap-5157	101	23	and	and	CCONJ
ap-5157	101	24	tempered	temper	VERB
ap-5157	101	25	fine	fine	ADJ
ap-5157	101	26	grained	grain	VERB
ap-5157	101	27	structural	structural	ADJ
ap-5157	101	28	steels	steel	NOUN
ap-5157	101	29	was	be	AUX
ap-5157	101	30	used	use	VERB
ap-5157	101	31	a	a	DET
ap-5157	101	32	1	1	NUM
ap-5157	101	33	mm	mm	NOUN
ap-5157	101	34	diameter	diameter	NOUN
ap-5157	101	35	böhler	böhler	PROPN
ap-5157	101	36	union	union	PROPN
ap-5157	101	37	x	x	PUNCT
ap-5157	101	38	90	90	NUM
ap-5157	101	39	according	accord	VERB
ap-5157	101	40	to	to	ADP
ap-5157	101	41	čsn	čsn	NOUN
ap-5157	101	42	en	en	PROPN
ap-5157	101	43	iso	iso	PROPN
ap-5157	101	44	16834	16834	NUM
ap-5157	101	45	marked	mark	VERB
ap-5157	101	46	g	g	PROPN
ap-5157	101	47	89	89	NUM
ap-5157	101	48	6	6	NUM
ap-5157	101	49	m	m	NOUN
ap-5157	101	50	mn4ni2crmo	mn4ni2crmo	NOUN
ap-5157	101	51	with	with	ADP
ap-5157	101	52	the	the	DET
ap-5157	101	53	properties	property	NOUN
ap-5157	101	54	mentioned	mention	VERB
ap-5157	101	55	in	in	ADP
ap-5157	101	56	table	table	NOUN
ap-5157	101	57	2	2	NUM
ap-5157	101	58	and	and	CCONJ
ap-5157	101	59	table	table	NOUN
ap-5157	101	60	3	3	NUM
ap-5157	101	61	.	.	PUNCT
ap-5157	101	62	other	other	ADJ
ap-5157	101	63	parameters	parameter	NOUN
ap-5157	101	64	were	be	AUX
ap-5157	101	65	wire	wire	NOUN
ap-5157	101	66	feeding	feeding	NOUN
ap-5157	101	67	speed	speed	NOUN
ap-5157	101	68	2.4m	2.4m	NUM
ap-5157	101	69	/	/	SYM
ap-5157	101	70	min	min	NOUN
ap-5157	101	71	,	,	PUNCT
ap-5157	101	72	protective	protective	ADJ
ap-5157	101	73	gas	gas	NOUN
ap-5157	101	74	m21	m21	NOUN
ap-5157	101	75	(	(	PUNCT
ap-5157	101	76	82	82	NUM
ap-5157	101	77	%	%	NOUN
ap-5157	101	78	ar	ar	PROPN
ap-5157	101	79	,	,	PUNCT
ap-5157	101	80	18	18	NUM
ap-5157	101	81	%	%	NOUN
ap-5157	101	82	co2	co2	NOUN
ap-5157	101	83	)	)	PUNCT
ap-5157	101	84	,	,	PUNCT
ap-5157	101	85	welding	weld	VERB
ap-5157	101	86	torch	torch	NOUN
ap-5157	101	87	feed	feed	NOUN
ap-5157	101	88	rate	rate	NOUN
ap-5157	101	89	30	30	NUM
ap-5157	101	90	cm	cm	NOUN
ap-5157	101	91	/	/	SYM
ap-5157	101	92	min	min	NOUN
ap-5157	101	93	.	.	PUNCT
ap-5157	102	1	the	the	DET
ap-5157	102	2	entire	entire	ADJ
ap-5157	102	3	program	program	NOUN
ap-5157	102	4	was	be	AUX
ap-5157	102	5	set	set	VERB
ap-5157	102	6	to	to	ADP
ap-5157	102	7	50	50	NUM
ap-5157	102	8	cycles	cycle	NOUN
ap-5157	102	9	(	(	PUNCT
ap-5157	102	10	layers	layer	NOUN
ap-5157	102	11	)	)	PUNCT
ap-5157	102	12	with	with	ADP
ap-5157	102	13	constant	constant	ADJ
ap-5157	102	14	torch	torch	NOUN
ap-5157	102	15	lifting	lifting	NOUN
ap-5157	102	16	after	after	ADP
ap-5157	102	17	one	one	NUM
ap-5157	102	18	cycle	cycle	NOUN
ap-5157	102	19	by	by	ADP
ap-5157	102	20	1.2	1.2	NUM
ap-5157	102	21	mm	mm	NOUN
ap-5157	102	22	.	.	PUNCT
ap-5157	103	1	the	the	DET
ap-5157	103	2	parameter	parameter	NOUN
ap-5157	103	3	of	of	ADP
ap-5157	103	4	torch	torch	NOUN
ap-5157	103	5	lifting	lifting	NOUN
ap-5157	103	6	was	be	AUX
ap-5157	103	7	chosen	choose	VERB
ap-5157	103	8	according	accord	VERB
ap-5157	103	9	to	to	ADP
ap-5157	103	10	previous	previous	ADJ
ap-5157	103	11	experiments	experiment	NOUN
ap-5157	103	12	that	that	PRON
ap-5157	103	13	did	do	AUX
ap-5157	103	14	not	not	PART
ap-5157	103	15	use	use	VERB
ap-5157	103	16	stick	stick	VERB
ap-5157	103	17	out	out	ADP
ap-5157	103	18	sensors	sensor	NOUN
ap-5157	103	19	.	.	PUNCT
ap-5157	104	1	a	a	DET
ap-5157	104	2	part	part	NOUN
ap-5157	104	3	of	of	ADP
ap-5157	104	4	the	the	DET
ap-5157	104	5	experiment	experiment	NOUN
ap-5157	104	6	is	be	AUX
ap-5157	104	7	also	also	ADV
ap-5157	104	8	a	a	DET
ap-5157	104	9	comparison	comparison	NOUN
ap-5157	104	10	of	of	ADP
ap-5157	104	11	the	the	DET
ap-5157	104	12	two	two	NUM
ap-5157	104	13	different	different	ADJ
ap-5157	104	14	types	type	NOUN
ap-5157	104	15	of	of	ADP
ap-5157	104	16	weld	weld	NOUN
ap-5157	104	17	metal	metal	NOUN
ap-5157	104	18	transfers	transfer	NOUN
ap-5157	104	19	used	use	VERB
ap-5157	104	20	–	–	PUNCT
ap-5157	104	21	dip	dip	NOUN
ap-5157	104	22	metal	metal	NOUN
ap-5157	104	23	transfer	transfer	NOUN
ap-5157	104	24	and	and	CCONJ
ap-5157	104	25	modified	modify	VERB
ap-5157	104	26	dip	dip	NOUN
ap-5157	104	27	metal	metal	NOUN
ap-5157	104	28	transfer	transfer	NOUN
ap-5157	104	29	under	under	ADP
ap-5157	104	30	the	the	DET
ap-5157	104	31	brand	brand	NOUN
ap-5157	104	32	name	name	NOUN
ap-5157	104	33	iac	iac	NOUN
ap-5157	104	34	(	(	PUNCT
ap-5157	104	35	intelligent	intelligent	ADJ
ap-5157	104	36	arc	arc	NOUN
ap-5157	104	37	control	control	NOUN
ap-5157	104	38	)	)	PUNCT
ap-5157	104	39	available	available	ADJ
ap-5157	104	40	on	on	ADP
ap-5157	104	41	migatronic	migatronic	ADJ
ap-5157	104	42	welding	welding	NOUN
ap-5157	104	43	sources	source	NOUN
ap-5157	104	44	.	.	PUNCT
ap-5157	105	1	the	the	DET
ap-5157	105	2	modified	modify	VERB
ap-5157	105	3	dip	dip	NOUN
ap-5157	105	4	transfer	transfer	NOUN
ap-5157	105	5	iac	iac	NOUN
ap-5157	105	6	has	have	VERB
ap-5157	105	7	the	the	DET
ap-5157	105	8	task	task	NOUN
ap-5157	105	9	of	of	ADP
ap-5157	105	10	reducing	reduce	VERB
ap-5157	105	11	the	the	DET
ap-5157	105	12	heat	heat	NOUN
ap-5157	105	13	-	-	PUNCT
ap-5157	105	14	affected	affect	VERB
ap-5157	105	15	area	area	NOUN
ap-5157	105	16	,	,	PUNCT
ap-5157	105	17	increasing	increase	VERB
ap-5157	105	18	the	the	DET
ap-5157	105	19	welding	welding	NOUN
ap-5157	105	20	speed	speed	NOUN
ap-5157	105	21	and	and	CCONJ
ap-5157	105	22	reducing	reduce	VERB
ap-5157	105	23	the	the	DET
ap-5157	105	24	spatter	spatter	NOUN
ap-5157	105	25	.	.	PUNCT
ap-5157	106	1	the	the	DET
ap-5157	106	2	iac	iac	NOUN
ap-5157	106	3	is	be	AUX
ap-5157	106	4	characterized	characterize	VERB
ap-5157	106	5	by	by	ADP
ap-5157	106	6	a	a	DET
ap-5157	106	7	higher	high	ADJ
ap-5157	106	8	intensity	intensity	NOUN
ap-5157	106	9	of	of	ADP
ap-5157	106	10	the	the	DET
ap-5157	106	11	welding	welding	NOUN
ap-5157	106	12	current	current	NOUN
ap-5157	106	13	at	at	ADP
ap-5157	106	14	the	the	DET
ap-5157	106	15	time	time	NOUN
ap-5157	106	16	of	of	ADP
ap-5157	106	17	the	the	DET
ap-5157	106	18	dripping	dripping	ADJ
ap-5157	106	19	metal	metal	NOUN
ap-5157	106	20	particle	particle	NOUN
ap-5157	106	21	.	.	PUNCT
ap-5157	107	1	however	however	ADV
ap-5157	107	2	,	,	PUNCT
ap-5157	107	3	the	the	DET
ap-5157	107	4	higher	high	ADJ
ap-5157	107	5	dip	dip	NOUN
ap-5157	107	6	current	current	NOUN
ap-5157	107	7	would	would	AUX
ap-5157	107	8	cause	cause	VERB
ap-5157	107	9	an	an	DET
ap-5157	107	10	even	even	ADV
ap-5157	107	11	greater	great	ADJ
ap-5157	107	12	spatter	spatter	NOUN
ap-5157	107	13	during	during	ADP
ap-5157	107	14	the	the	DET
ap-5157	107	15	unchanged	unchanged	ADJ
ap-5157	107	16	dip	dip	NOUN
ap-5157	107	17	times	time	NOUN
ap-5157	107	18	.	.	PUNCT
ap-5157	108	1	the	the	DET
ap-5157	108	2	iac	iac	NOUN
ap-5157	108	3	is	be	AUX
ap-5157	108	4	typical	typical	ADJ
ap-5157	108	5	for	for	ADP
ap-5157	108	6	shortening	shorten	VERB
ap-5157	108	7	the	the	DET
ap-5157	108	8	duration	duration	NOUN
ap-5157	108	9	of	of	ADP
ap-5157	108	10	the	the	DET
ap-5157	108	11	dip	dip	NOUN
ap-5157	108	12	current	current	NOUN
ap-5157	108	13	compared	compare	VERB
ap-5157	108	14	to	to	ADP
ap-5157	108	15	the	the	DET
ap-5157	108	16	conventional	conventional	ADJ
ap-5157	108	17	gmaw	gmaw	NOUN
ap-5157	108	18	process	process	NOUN
ap-5157	108	19	.	.	PUNCT
ap-5157	109	1	5	5	X
ap-5157	109	2	.	.	X
ap-5157	109	3	experiment	experiment	NOUN
ap-5157	109	4	evaluation	evaluation	NOUN
ap-5157	109	5	5.1	5.1	NUM
ap-5157	109	6	.	.	PUNCT
ap-5157	110	1	visual	visual	ADJ
ap-5157	110	2	evaluation	evaluation	NOUN
ap-5157	110	3	in	in	ADP
ap-5157	110	4	figure	figure	NOUN
ap-5157	110	5	11	11	NUM
ap-5157	110	6	wa	wa	NOUN
ap-5157	110	7	can	can	AUX
ap-5157	110	8	observe	observe	VERB
ap-5157	110	9	regular	regular	ADJ
ap-5157	110	10	,	,	PUNCT
ap-5157	110	11	visually	visually	ADV
ap-5157	110	12	and	and	CCONJ
ap-5157	110	13	geometrically	geometrically	ADV
ap-5157	110	14	opaque	opaque	ADJ
ap-5157	110	15	individual	individual	ADJ
ap-5157	110	16	layers	layer	NOUN
ap-5157	110	17	of	of	ADP
ap-5157	110	18	approximately	approximately	ADV
ap-5157	110	19	20	20	NUM
ap-5157	110	20	mm	mm	NOUN
ap-5157	110	21	on	on	ADP
ap-5157	110	22	both	both	DET
ap-5157	110	23	samples	sample	NOUN
ap-5157	110	24	.	.	PUNCT
ap-5157	111	1	this	this	PRON
ap-5157	111	2	can	can	AUX
ap-5157	111	3	be	be	AUX
ap-5157	111	4	caused	cause	VERB
ap-5157	111	5	by	by	ADP
ap-5157	111	6	a	a	DET
ap-5157	111	7	too	too	ADV
ap-5157	111	8	high	high	ADJ
ap-5157	111	9	heat	heat	NOUN
ap-5157	111	10	input	input	NOUN
ap-5157	111	11	.	.	PUNCT
ap-5157	112	1	5.2	5.2	X
ap-5157	112	2	.	.	PUNCT
ap-5157	113	1	output	output	NOUN
ap-5157	113	2	from	from	ADP
ap-5157	113	3	weldmonitor	weldmonitor	NOUN
ap-5157	113	4	the	the	DET
ap-5157	113	5	main	main	ADJ
ap-5157	113	6	reason	reason	NOUN
ap-5157	113	7	of	of	ADP
ap-5157	113	8	the	the	DET
ap-5157	113	9	measurement	measurement	NOUN
ap-5157	113	10	was	be	AUX
ap-5157	113	11	to	to	PART
ap-5157	113	12	obtain	obtain	VERB
ap-5157	113	13	data	datum	NOUN
ap-5157	113	14	that	that	PRON
ap-5157	113	15	characterize	characterize	VERB
ap-5157	113	16	the	the	DET
ap-5157	113	17	entire	entire	ADJ
ap-5157	113	18	welding	welding	NOUN
ap-5157	113	19	cycle	cycle	NOUN
ap-5157	113	20	and	and	CCONJ
ap-5157	113	21	to	to	PART
ap-5157	113	22	monitor	monitor	VERB
ap-5157	113	23	their	their	PRON
ap-5157	113	24	fluctuating	fluctuate	VERB
ap-5157	113	25	behaviour	behaviour	NOUN
ap-5157	113	26	.	.	PUNCT
ap-5157	114	1	thus	thus	ADV
ap-5157	114	2	,	,	PUNCT
ap-5157	114	3	it	it	PRON
ap-5157	114	4	was	be	AUX
ap-5157	114	5	possible	possible	ADJ
ap-5157	114	6	to	to	PART
ap-5157	114	7	identify	identify	VERB
ap-5157	114	8	values	value	NOUN
ap-5157	114	9	that	that	PRON
ap-5157	114	10	have	have	VERB
ap-5157	114	11	a	a	DET
ap-5157	114	12	significant	significant	ADJ
ap-5157	114	13	impact	impact	NOUN
ap-5157	114	14	on	on	ADP
ap-5157	114	15	the	the	DET
ap-5157	114	16	final	final	ADJ
ap-5157	114	17	quality	quality	NOUN
ap-5157	114	18	of	of	ADP
ap-5157	114	19	the	the	DET
ap-5157	114	20	welds	weld	NOUN
ap-5157	114	21	.	.	PUNCT
ap-5157	115	1	these	these	DET
ap-5157	115	2	values	value	NOUN
ap-5157	115	3	are	be	AUX
ap-5157	115	4	welding	weld	VERB
ap-5157	115	5	voltage	voltage	NOUN
ap-5157	115	6	,	,	PUNCT
ap-5157	115	7	welding	weld	VERB
ap-5157	115	8	current	current	ADJ
ap-5157	115	9	and	and	CCONJ
ap-5157	115	10	wire	wire	NOUN
ap-5157	115	11	feeding	feeding	NOUN
ap-5157	115	12	speed	speed	NOUN
ap-5157	115	13	,	,	PUNCT
ap-5157	115	14	which	which	PRON
ap-5157	115	15	has	have	VERB
ap-5157	115	16	a	a	DET
ap-5157	115	17	major	major	ADJ
ap-5157	115	18	impact	impact	NOUN
ap-5157	115	19	on	on	ADP
ap-5157	115	20	the	the	DET
ap-5157	115	21	consumption	consumption	NOUN
ap-5157	115	22	of	of	ADP
ap-5157	115	23	the	the	DET
ap-5157	115	24	filler	filler	NOUN
ap-5157	115	25	material	material	NOUN
ap-5157	115	26	.	.	PUNCT
ap-5157	116	1	a	a	DET
ap-5157	116	2	parameter	parameter	NOUN
ap-5157	116	3	listing	list	VERB
ap-5157	116	4	with	with	ADP
ap-5157	116	5	a	a	DET
ap-5157	116	6	scanning	scanning	NOUN
ap-5157	116	7	frequency	frequency	NOUN
ap-5157	116	8	of	of	ADP
ap-5157	116	9	60	60	NUM
ap-5157	116	10	seconds	second	NOUN
ap-5157	116	11	was	be	AUX
ap-5157	116	12	taken	take	VERB
ap-5157	116	13	for	for	ADP
ap-5157	116	14	an	an	DET
ap-5157	116	15	tentative	tentative	ADJ
ap-5157	116	16	assessment	assessment	NOUN
ap-5157	116	17	.	.	PUNCT
ap-5157	117	1	these	these	DET
ap-5157	117	2	data	datum	NOUN
ap-5157	117	3	were	be	AUX
ap-5157	117	4	divided	divide	VERB
ap-5157	117	5	into	into	ADP
ap-5157	117	6	5	5	NUM
ap-5157	117	7	parts	part	NOUN
ap-5157	117	8	,	,	PUNCT
ap-5157	117	9	which	which	PRON
ap-5157	117	10	represent	represent	VERB
ap-5157	117	11	the	the	DET
ap-5157	117	12	height	height	NOUN
ap-5157	117	13	part	part	NOUN
ap-5157	117	14	of	of	ADP
ap-5157	117	15	the	the	DET
ap-5157	117	16	structured	structured	ADJ
ap-5157	117	17	weld	weld	NOUN
ap-5157	117	18	.	.	PUNCT
ap-5157	118	1	this	this	PRON
ap-5157	118	2	means	mean	VERB
ap-5157	118	3	that	that	SCONJ
ap-5157	118	4	part	part	NOUN
ap-5157	118	5	1	1	NUM
ap-5157	118	6	is	be	AUX
ap-5157	118	7	1/5	1/5	NUM
ap-5157	118	8	of	of	ADP
ap-5157	118	9	the	the	DET
ap-5157	118	10	height	height	NOUN
ap-5157	118	11	of	of	ADP
ap-5157	118	12	the	the	DET
ap-5157	118	13	structured	structured	ADJ
ap-5157	118	14	weld	weld	NOUN
ap-5157	118	15	from	from	ADP
ap-5157	118	16	its	its	PRON
ap-5157	118	17	initial	initial	ADJ
ap-5157	118	18	welding	welding	NOUN
ap-5157	118	19	point	point	NOUN
ap-5157	118	20	.	.	PUNCT
ap-5157	119	1	these	these	DET
ap-5157	119	2	data	datum	NOUN
ap-5157	119	3	for	for	ADP
ap-5157	119	4	each	each	DET
ap-5157	119	5	part	part	NOUN
ap-5157	119	6	of	of	ADP
ap-5157	119	7	the	the	DET
ap-5157	119	8	weld	weld	NOUN
ap-5157	119	9	height	height	NOUN
ap-5157	119	10	were	be	AUX
ap-5157	119	11	averaged	average	VERB
ap-5157	119	12	in	in	ADP
ap-5157	119	13	table	table	NOUN
ap-5157	119	14	4	4	NUM
ap-5157	119	15	.	.	PUNCT
ap-5157	120	1	the	the	DET
ap-5157	120	2	voltage	voltage	NOUN
ap-5157	120	3	values	value	NOUN
ap-5157	120	4	can	can	AUX
ap-5157	120	5	be	be	AUX
ap-5157	120	6	considered	consider	VERB
ap-5157	120	7	constant	constant	ADJ
ap-5157	120	8	.	.	PUNCT
ap-5157	121	1	the	the	DET
ap-5157	121	2	welding	welding	NOUN
ap-5157	121	3	current	current	ADJ
ap-5157	121	4	values	value	NOUN
ap-5157	121	5	drop	drop	VERB
ap-5157	121	6	slightly	slightly	ADV
ap-5157	121	7	in	in	ADP
ap-5157	121	8	the	the	DET
ap-5157	121	9	dip	dip	NOUN
ap-5157	121	10	trans317	trans317	PROPN
ap-5157	121	11	tomáš	tomáš	NOUN
ap-5157	121	12	gurčík	gurčík	PROPN
ap-5157	121	13	,	,	PUNCT
ap-5157	121	14	karel	karel	PROPN
ap-5157	121	15	kovanda	kovanda	PROPN
ap-5157	121	16	acta	acta	PROPN
ap-5157	121	17	polytechnica	polytechnica	PROPN
ap-5157	121	18	figure	figure	NOUN
ap-5157	121	19	11	11	NUM
ap-5157	121	20	.	.	PUNCT
ap-5157	122	1	structured	structured	ADJ
ap-5157	122	2	surfacing	surfacing	NOUN
ap-5157	122	3	created	create	VERB
ap-5157	122	4	by	by	ADP
ap-5157	122	5	dip	dip	NOUN
ap-5157	122	6	metal	metal	NOUN
ap-5157	122	7	transfer	transfer	NOUN
ap-5157	122	8	(	(	PUNCT
ap-5157	122	9	left	leave	VERB
ap-5157	122	10	)	)	PUNCT
ap-5157	122	11	.	.	PUNCT
ap-5157	123	1	structured	structured	ADJ
ap-5157	123	2	surfacing	surfacing	NOUN
ap-5157	123	3	created	create	VERB
ap-5157	123	4	by	by	ADP
ap-5157	123	5	iac	iac	NOUN
ap-5157	123	6	process	process	NOUN
ap-5157	123	7	(	(	PUNCT
ap-5157	123	8	right	right	ADJ
ap-5157	123	9	)	)	PUNCT
ap-5157	123	10	.	.	PUNCT
ap-5157	124	1	process	process	NOUN
ap-5157	124	2	part	part	NOUN
ap-5157	124	3	1	1	NUM
ap-5157	124	4	2	2	NUM
ap-5157	124	5	3	3	NUM
ap-5157	124	6	4	4	NUM
ap-5157	124	7	5	5	NUM
ap-5157	124	8	voltage	voltage	NOUN
ap-5157	124	9	[	[	X
ap-5157	124	10	v	v	NOUN
ap-5157	124	11	]	]	X
ap-5157	124	12	dip	dip	NOUN
ap-5157	124	13	transfer	transfer	NOUN
ap-5157	124	14	20.4	20.4	NUM
ap-5157	124	15	20.3	20.3	NUM
ap-5157	124	16	20.4	20.4	NUM
ap-5157	124	17	20.5	20.5	NUM
ap-5157	124	18	20.5	20.5	NUM
ap-5157	124	19	iac	iac	NOUN
ap-5157	124	20	20.3	20.3	NUM
ap-5157	124	21	20.2	20.2	NUM
ap-5157	124	22	20.3	20.3	NUM
ap-5157	124	23	20.3	20.3	NUM
ap-5157	124	24	20.3	20.3	NUM
ap-5157	124	25	current	current	NOUN
ap-5157	125	1	[	[	X
ap-5157	125	2	a	a	X
ap-5157	125	3	]	]	X
ap-5157	125	4	dip	dip	NOUN
ap-5157	125	5	transfer	transfer	NOUN
ap-5157	125	6	77.8	77.8	NUM
ap-5157	125	7	78.9	78.9	NUM
ap-5157	125	8	77.3	77.3	NUM
ap-5157	125	9	76.9	76.9	NUM
ap-5157	125	10	76.3	76.3	NUM
ap-5157	125	11	iac	iac	NOUN
ap-5157	125	12	83.7	83.7	NUM
ap-5157	125	13	85.1	85.1	NUM
ap-5157	125	14	85.9	85.9	NUM
ap-5157	125	15	83.7	83.7	NUM
ap-5157	125	16	87.9	87.9	NUM
ap-5157	125	17	wire	wire	NOUN
ap-5157	125	18	feeding	feeding	NOUN
ap-5157	125	19	speed	speed	NOUN
ap-5157	125	20	[	[	X
ap-5157	125	21	m	m	NOUN
ap-5157	125	22	/	/	SYM
ap-5157	125	23	min	min	NOUN
ap-5157	125	24	]	]	X
ap-5157	125	25	dip	dip	NOUN
ap-5157	125	26	transfer	transfer	NOUN
ap-5157	125	27	2.4	2.4	NUM
ap-5157	125	28	2.4	2.4	NUM
ap-5157	125	29	2.4	2.4	NUM
ap-5157	125	30	2.4	2.4	NUM
ap-5157	125	31	2.4	2.4	NUM
ap-5157	125	32	iac	iac	NOUN
ap-5157	125	33	2.4	2.4	NUM
ap-5157	125	34	2.4	2.4	NUM
ap-5157	125	35	2.5	2.5	NUM
ap-5157	125	36	2.3	2.3	NUM
ap-5157	125	37	2.4	2.4	NUM
ap-5157	125	38	table	table	NOUN
ap-5157	125	39	4	4	NUM
ap-5157	125	40	.	.	PUNCT
ap-5157	126	1	average	average	ADJ
ap-5157	126	2	values	value	NOUN
ap-5157	126	3	in	in	ADP
ap-5157	126	4	individual	individual	ADJ
ap-5157	126	5	parts	part	NOUN
ap-5157	126	6	of	of	ADP
ap-5157	126	7	the	the	DET
ap-5157	126	8	waam	waam	NOUN
ap-5157	126	9	process	process	NOUN
ap-5157	126	10	.	.	PUNCT
ap-5157	127	1	fer	fer	PROPN
ap-5157	127	2	.	.	PUNCT
ap-5157	128	1	however	however	ADV
ap-5157	128	2	,	,	PUNCT
ap-5157	128	3	the	the	DET
ap-5157	128	4	iac	iac	NOUN
ap-5157	128	5	process	process	NOUN
ap-5157	128	6	increases	increase	VERB
ap-5157	128	7	up	up	ADP
ap-5157	128	8	to	to	ADP
ap-5157	128	9	the	the	DET
ap-5157	128	10	deviations	deviation	NOUN
ap-5157	128	11	of	of	ADP
ap-5157	128	12	the	the	DET
ap-5157	128	13	average	average	ADJ
ap-5157	128	14	values	value	NOUN
ap-5157	128	15	of	of	ADP
ap-5157	128	16	the	the	DET
ap-5157	128	17	fourth	fourth	ADJ
ap-5157	128	18	part	part	NOUN
ap-5157	128	19	,	,	PUNCT
ap-5157	128	20	but	but	CCONJ
ap-5157	128	21	it	it	PRON
ap-5157	128	22	is	be	AUX
ap-5157	128	23	again	again	ADV
ap-5157	128	24	increasing	increase	VERB
ap-5157	128	25	in	in	ADP
ap-5157	128	26	character	character	NOUN
ap-5157	128	27	as	as	ADP
ap-5157	128	28	a	a	DET
ap-5157	128	29	response	response	NOUN
ap-5157	128	30	to	to	ADP
ap-5157	128	31	the	the	DET
ap-5157	128	32	change	change	NOUN
ap-5157	128	33	in	in	ADP
ap-5157	128	34	the	the	DET
ap-5157	128	35	size	size	NOUN
ap-5157	128	36	of	of	ADP
ap-5157	128	37	the	the	DET
ap-5157	128	38	welding	welding	NOUN
ap-5157	128	39	wire	wire	NOUN
ap-5157	128	40	extension	extension	NOUN
ap-5157	128	41	.	.	PUNCT
ap-5157	129	1	5.3	5.3	NUM
ap-5157	129	2	.	.	X
ap-5157	130	1	ewt	ewt	PROPN
ap-5157	130	2	and	and	CCONJ
ap-5157	130	3	sw	sw	PROPN
ap-5157	130	4	parameters	parameter	NOUN
ap-5157	130	5	the	the	DET
ap-5157	130	6	ewt	ewt	PROPN
ap-5157	130	7	(	(	PUNCT
ap-5157	130	8	effective	effective	ADJ
ap-5157	130	9	wall	wall	NOUN
ap-5157	130	10	thickness	thickness	NOUN
ap-5157	130	11	)	)	PUNCT
ap-5157	130	12	and	and	CCONJ
ap-5157	130	13	sw	sw	PROPN
ap-5157	130	14	(	(	PUNCT
ap-5157	130	15	surface	surface	NOUN
ap-5157	130	16	waviness	waviness	NOUN
ap-5157	130	17	)	)	PUNCT
ap-5157	130	18	parameters	parameter	NOUN
ap-5157	130	19	are	be	AUX
ap-5157	130	20	the	the	DET
ap-5157	130	21	main	main	ADJ
ap-5157	130	22	criteria	criterion	NOUN
ap-5157	130	23	for	for	ADP
ap-5157	130	24	evaluating	evaluate	VERB
ap-5157	130	25	the	the	DET
ap-5157	130	26	geometric	geometric	ADJ
ap-5157	130	27	stability	stability	NOUN
ap-5157	130	28	of	of	ADP
ap-5157	130	29	the	the	DET
ap-5157	130	30	welds	weld	NOUN
ap-5157	130	31	.	.	PUNCT
ap-5157	131	1	as	as	SCONJ
ap-5157	131	2	shown	show	VERB
ap-5157	131	3	in	in	ADP
ap-5157	131	4	the	the	DET
ap-5157	131	5	figure	figure	NOUN
ap-5157	131	6	12	12	NUM
ap-5157	131	7	,	,	PUNCT
ap-5157	131	8	the	the	DET
ap-5157	131	9	sw	sw	PROPN
ap-5157	131	10	values	value	NOUN
ap-5157	131	11	for	for	ADP
ap-5157	131	12	the	the	DET
ap-5157	131	13	dip	dip	NOUN
ap-5157	131	14	transfer	transfer	NOUN
ap-5157	131	15	are	be	AUX
ap-5157	131	16	greater	great	ADJ
ap-5157	131	17	than	than	ADP
ap-5157	131	18	1	1	NUM
ap-5157	131	19	mm	mm	NOUN
ap-5157	131	20	on	on	ADP
ap-5157	131	21	the	the	DET
ap-5157	131	22	inner	inner	ADJ
ap-5157	131	23	and	and	CCONJ
ap-5157	131	24	outer	outer	ADJ
ap-5157	131	25	walls	wall	NOUN
ap-5157	131	26	of	of	ADP
ap-5157	131	27	the	the	DET
ap-5157	131	28	sample	sample	NOUN
ap-5157	131	29	.	.	PUNCT
ap-5157	132	1	for	for	ADP
ap-5157	132	2	the	the	DET
ap-5157	132	3	iac	iac	PROPN
ap-5157	132	4	process	process	NOUN
ap-5157	132	5	sample	sample	NOUN
ap-5157	132	6	,	,	PUNCT
ap-5157	132	7	the	the	DET
ap-5157	132	8	sw	sw	PROPN
ap-5157	132	9	value	value	NOUN
ap-5157	132	10	is	be	AUX
ap-5157	132	11	less	less	ADJ
ap-5157	132	12	than	than	ADP
ap-5157	132	13	1	1	NUM
ap-5157	132	14	mm	mm	NOUN
ap-5157	132	15	on	on	ADP
ap-5157	132	16	the	the	DET
ap-5157	132	17	outer	outer	ADJ
ap-5157	132	18	wall	wall	NOUN
ap-5157	132	19	only	only	ADV
ap-5157	132	20	.	.	PUNCT
ap-5157	133	1	a	a	DET
ap-5157	133	2	sw	sw	PROPN
ap-5157	133	3	value	value	NOUN
ap-5157	133	4	reaching	reach	VERB
ap-5157	133	5	a	a	DET
ap-5157	133	6	maximum	maximum	NOUN
ap-5157	133	7	of	of	ADP
ap-5157	133	8	1	1	NUM
ap-5157	133	9	mm	mm	NOUN
ap-5157	133	10	can	can	AUX
ap-5157	133	11	be	be	AUX
ap-5157	133	12	considered	consider	VERB
ap-5157	133	13	a	a	DET
ap-5157	133	14	stability	stability	NOUN
ap-5157	133	15	criterion	criterion	NOUN
ap-5157	133	16	.	.	PUNCT
ap-5157	134	1	the	the	DET
ap-5157	134	2	height	height	NOUN
ap-5157	134	3	of	of	ADP
ap-5157	134	4	both	both	DET
ap-5157	134	5	samples	sample	NOUN
ap-5157	134	6	is	be	AUX
ap-5157	134	7	not	not	PART
ap-5157	134	8	the	the	DET
ap-5157	134	9	same	same	ADJ
ap-5157	134	10	because	because	SCONJ
ap-5157	134	11	they	they	PRON
ap-5157	134	12	were	be	AUX
ap-5157	134	13	cut	cut	VERB
ap-5157	134	14	off	off	ADP
ap-5157	134	15	at	at	ADP
ap-5157	134	16	a	a	DET
ap-5157	134	17	different	different	ADJ
ap-5157	134	18	distance	distance	NOUN
ap-5157	134	19	from	from	ADP
ap-5157	134	20	the	the	DET
ap-5157	134	21	base	base	NOUN
ap-5157	134	22	plate	plate	NOUN
ap-5157	134	23	.	.	PUNCT
ap-5157	135	1	from	from	ADP
ap-5157	135	2	the	the	DET
ap-5157	135	3	results	result	NOUN
ap-5157	135	4	of	of	ADP
ap-5157	135	5	the	the	DET
ap-5157	135	6	first	first	ADJ
ap-5157	135	7	two	two	NUM
ap-5157	135	8	samples	sample	NOUN
ap-5157	135	9	(	(	PUNCT
ap-5157	135	10	dip	dip	NOUN
ap-5157	135	11	transfer	transfer	NOUN
ap-5157	135	12	and	and	CCONJ
ap-5157	135	13	iac	iac	NOUN
ap-5157	135	14	process	process	NOUN
ap-5157	135	15	)	)	PUNCT
ap-5157	135	16	,	,	PUNCT
ap-5157	135	17	it	it	PRON
ap-5157	135	18	is	be	AUX
ap-5157	135	19	evident	evident	ADJ
ap-5157	135	20	that	that	SCONJ
ap-5157	135	21	,	,	PUNCT
ap-5157	135	22	by	by	ADP
ap-5157	135	23	reducing	reduce	VERB
ap-5157	135	24	the	the	DET
ap-5157	135	25	heat	heat	NOUN
ap-5157	135	26	input	input	NOUN
ap-5157	135	27	,	,	PUNCT
ap-5157	135	28	it	it	PRON
ap-5157	135	29	is	be	AUX
ap-5157	135	30	possible	possible	ADJ
ap-5157	135	31	to	to	PART
ap-5157	135	32	achieve	achieve	VERB
ap-5157	135	33	a	a	DET
ap-5157	135	34	higher	high	ADJ
ap-5157	135	35	quality	quality	NOUN
ap-5157	135	36	weld	weld	NOUN
ap-5157	135	37	surface	surface	NOUN
ap-5157	135	38	.	.	PUNCT
ap-5157	136	1	this	this	PRON
ap-5157	136	2	is	be	AUX
ap-5157	136	3	the	the	DET
ap-5157	136	4	reason	reason	NOUN
ap-5157	136	5	for	for	ADP
ap-5157	136	6	the	the	DET
ap-5157	136	7	optimization	optimization	NOUN
ap-5157	136	8	of	of	ADP
ap-5157	136	9	the	the	DET
ap-5157	136	10	waamin	waamin	NOUN
ap-5157	136	11	this	this	DET
ap-5157	136	12	experiment	experiment	NOUN
ap-5157	136	13	by	by	ADP
ap-5157	136	14	using	use	VERB
ap-5157	136	15	a	a	DET
ap-5157	136	16	special	special	ADJ
ap-5157	136	17	cmt	cmt	NOUN
ap-5157	136	18	(	(	PUNCT
ap-5157	136	19	cold	cold	ADJ
ap-5157	136	20	metal	metal	NOUN
ap-5157	136	21	transfer	transfer	NOUN
ap-5157	136	22	)	)	PUNCT
ap-5157	136	23	process	process	NOUN
ap-5157	136	24	.	.	PUNCT
ap-5157	137	1	5.4	5.4	NUM
ap-5157	137	2	.	.	PUNCT
ap-5157	137	3	optimization	optimization	NOUN
ap-5157	137	4	suggestion	suggestion	NOUN
ap-5157	137	5	a	a	DET
ap-5157	137	6	process	process	NOUN
ap-5157	137	7	that	that	PRON
ap-5157	137	8	is	be	AUX
ap-5157	137	9	currently	currently	ADV
ap-5157	137	10	capable	capable	ADJ
ap-5157	137	11	of	of	ADP
ap-5157	137	12	a	a	DET
ap-5157	137	13	low	low	ADJ
ap-5157	137	14	heat	heat	NOUN
ap-5157	137	15	input	input	NOUN
ap-5157	137	16	at	at	ADP
ap-5157	137	17	the	the	DET
ap-5157	137	18	same	same	ADJ
ap-5157	137	19	welding	welding	NOUN
ap-5157	137	20	parameters	parameter	NOUN
ap-5157	137	21	as	as	SCONJ
ap-5157	137	22	the	the	DET
ap-5157	137	23	dip	dip	NOUN
ap-5157	137	24	transfer	transfer	NOUN
ap-5157	137	25	is	be	AUX
ap-5157	137	26	the	the	DET
ap-5157	137	27	cmt	cmt	PROPN
ap-5157	137	28	.	.	PUNCT
ap-5157	138	1	the	the	DET
ap-5157	138	2	length	length	NOUN
ap-5157	138	3	of	of	ADP
ap-5157	138	4	the	the	DET
ap-5157	138	5	welding	welding	NOUN
ap-5157	138	6	arc	arc	NOUN
ap-5157	138	7	is	be	AUX
ap-5157	138	8	controlled	control	VERB
ap-5157	138	9	by	by	ADP
ap-5157	138	10	the	the	DET
ap-5157	138	11	cmt	cmt	PROPN
ap-5157	138	12	at	at	ADP
ap-5157	138	13	the	the	DET
ap-5157	138	14	speed	speed	NOUN
ap-5157	138	15	and	and	CCONJ
ap-5157	138	16	duration	duration	NOUN
ap-5157	138	17	of	of	ADP
ap-5157	138	18	the	the	DET
ap-5157	138	19	welding	welding	NOUN
ap-5157	138	20	wire	wire	NOUN
ap-5157	138	21	.	.	PUNCT
ap-5157	139	1	this	this	PRON
ap-5157	139	2	is	be	AUX
ap-5157	139	3	controlled	control	VERB
ap-5157	139	4	by	by	ADP
ap-5157	139	5	mechanical	mechanical	ADJ
ap-5157	139	6	quantities	quantity	NOUN
ap-5157	139	7	instead	instead	ADV
ap-5157	139	8	of	of	ADP
ap-5157	139	9	the	the	DET
ap-5157	139	10	welding	welding	NOUN
ap-5157	139	11	voltage	voltage	NOUN
ap-5157	139	12	and	and	CCONJ
ap-5157	139	13	current	current	ADJ
ap-5157	139	14	.	.	PUNCT
ap-5157	140	1	the	the	DET
ap-5157	140	2	speed	speed	NOUN
ap-5157	140	3	of	of	ADP
ap-5157	140	4	the	the	DET
ap-5157	140	5	transfer	transfer	NOUN
ap-5157	140	6	of	of	ADP
ap-5157	140	7	information	information	NOUN
ap-5157	140	8	between	between	ADP
ap-5157	140	9	the	the	DET
ap-5157	140	10	welding	welding	NOUN
ap-5157	140	11	source	source	NOUN
ap-5157	140	12	and	and	CCONJ
ap-5157	140	13	the	the	DET
ap-5157	140	14	wire	wire	NOUN
ap-5157	140	15	feeder	feeder	NOUN
ap-5157	140	16	must	must	AUX
ap-5157	140	17	be	be	AUX
ap-5157	140	18	very	very	ADV
ap-5157	140	19	fast	fast	ADV
ap-5157	140	20	.	.	PUNCT
ap-5157	141	1	the	the	DET
ap-5157	141	2	surfacing	surfacing	NOUN
ap-5157	141	3	,	,	PUNCT
ap-5157	141	4	in	in	ADP
ap-5157	141	5	this	this	DET
ap-5157	141	6	experiment	experiment	NOUN
ap-5157	141	7	,	,	PUNCT
ap-5157	141	8	was	be	AUX
ap-5157	141	9	created	create	VERB
ap-5157	141	10	during	during	ADP
ap-5157	141	11	the	the	DET
ap-5157	141	12	constant	constant	ADJ
ap-5157	141	13	high	high	ADJ
ap-5157	141	14	lifting	lifting	NOUN
ap-5157	141	15	,	,	PUNCT
ap-5157	141	16	which	which	PRON
ap-5157	141	17	took	take	VERB
ap-5157	141	18	place	place	NOUN
ap-5157	141	19	at	at	ADP
ap-5157	141	20	the	the	DET
ap-5157	141	21	beginning	beginning	NOUN
ap-5157	141	22	and	and	CCONJ
ap-5157	141	23	end	end	NOUN
ap-5157	141	24	of	of	ADP
ap-5157	141	25	the	the	DET
ap-5157	141	26	circular	circular	ADJ
ap-5157	141	27	path	path	NOUN
ap-5157	141	28	.	.	PUNCT
ap-5157	142	1	due	due	ADP
ap-5157	142	2	to	to	ADP
ap-5157	142	3	this	this	PRON
ap-5157	142	4	,	,	PUNCT
ap-5157	142	5	a	a	DET
ap-5157	142	6	higher	high	ADJ
ap-5157	142	7	amount	amount	NOUN
ap-5157	142	8	of	of	ADP
ap-5157	142	9	material	material	NOUN
ap-5157	142	10	is	be	AUX
ap-5157	142	11	added	add	VERB
ap-5157	142	12	at	at	ADP
ap-5157	142	13	this	this	DET
ap-5157	142	14	point	point	NOUN
ap-5157	142	15	as	as	SCONJ
ap-5157	142	16	it	it	PRON
ap-5157	142	17	can	can	AUX
ap-5157	142	18	be	be	AUX
ap-5157	142	19	seen	see	VERB
ap-5157	142	20	in	in	ADP
ap-5157	142	21	figure	figure	NOUN
ap-5157	142	22	13	13	NUM
ap-5157	142	23	.	.	PUNCT
ap-5157	143	1	especially	especially	ADV
ap-5157	143	2	during	during	ADP
ap-5157	143	3	the	the	DET
ap-5157	143	4	cmt	cmt	PROPN
ap-5157	143	5	process	process	NOUN
ap-5157	143	6	,	,	PUNCT
ap-5157	143	7	because	because	SCONJ
ap-5157	143	8	the	the	DET
ap-5157	143	9	moment	moment	NOUN
ap-5157	143	10	of	of	ADP
ap-5157	143	11	the	the	DET
ap-5157	143	12	lifting	lifting	NOUN
ap-5157	143	13	of	of	ADP
ap-5157	143	14	the	the	DET
ap-5157	143	15	welding	welding	NOUN
ap-5157	143	16	torch	torch	NOUN
ap-5157	143	17	to	to	ADP
ap-5157	143	18	the	the	DET
ap-5157	143	19	next	next	ADJ
ap-5157	143	20	layer	layer	NOUN
ap-5157	143	21	causes	cause	VERB
ap-5157	143	22	a	a	DET
ap-5157	143	23	change	change	NOUN
ap-5157	143	24	of	of	ADP
ap-5157	143	25	the	the	DET
ap-5157	143	26	welding	welding	NOUN
ap-5157	143	27	arc	arc	NOUN
ap-5157	143	28	length	length	NOUN
ap-5157	143	29	.	.	PUNCT
ap-5157	144	1	the	the	DET
ap-5157	144	2	wire	wire	NOUN
ap-5157	144	3	feeder	feeder	NOUN
ap-5157	144	4	responds	respond	VERB
ap-5157	144	5	to	to	ADP
ap-5157	144	6	this	this	DET
ap-5157	144	7	change	change	NOUN
ap-5157	144	8	with	with	ADP
ap-5157	144	9	a	a	DET
ap-5157	144	10	high	high	ADJ
ap-5157	144	11	feeding	feeding	NOUN
ap-5157	144	12	speed	speed	NOUN
ap-5157	144	13	to	to	PART
ap-5157	144	14	stabilize	stabilize	VERB
ap-5157	144	15	welding	weld	VERB
ap-5157	144	16	parameters	parameter	NOUN
ap-5157	144	17	with	with	ADP
ap-5157	144	18	a	a	DET
ap-5157	144	19	right	right	ADJ
ap-5157	144	20	welding	welding	NOUN
ap-5157	144	21	arc	arc	NOUN
ap-5157	144	22	length	length	NOUN
ap-5157	144	23	.	.	PUNCT
ap-5157	145	1	this	this	DET
ap-5157	145	2	problem	problem	NOUN
ap-5157	145	3	can	can	AUX
ap-5157	145	4	be	be	AUX
ap-5157	145	5	solved	solve	VERB
ap-5157	145	6	by	by	ADP
ap-5157	145	7	the	the	DET
ap-5157	145	8	relationship	relationship	NOUN
ap-5157	145	9	between	between	ADP
ap-5157	145	10	the	the	DET
ap-5157	145	11	robot	robot	NOUN
ap-5157	145	12	movement	movement	NOUN
ap-5157	145	13	and	and	CCONJ
ap-5157	145	14	the	the	DET
ap-5157	145	15	instruction	instruction	NOUN
ap-5157	145	16	,	,	PUNCT
ap-5157	145	17	when	when	SCONJ
ap-5157	145	18	the	the	DET
ap-5157	145	19	robot	robot	NOUN
ap-5157	145	20	should	should	AUX
ap-5157	145	21	be	be	AUX
ap-5157	145	22	lifted	lift	VERB
ap-5157	145	23	to	to	ADP
ap-5157	145	24	the	the	DET
ap-5157	145	25	next	next	ADJ
ap-5157	145	26	layer	layer	NOUN
ap-5157	145	27	according	accord	VERB
ap-5157	145	28	to	to	ADP
ap-5157	145	29	motion	motion	NOUN
ap-5157	145	30	registers	register	NOUN
ap-5157	145	31	as	as	SCONJ
ap-5157	145	32	it	it	PRON
ap-5157	145	33	can	can	AUX
ap-5157	145	34	be	be	AUX
ap-5157	145	35	seen	see	VERB
ap-5157	145	36	in	in	ADP
ap-5157	145	37	figure	figure	NOUN
ap-5157	145	38	14	14	NUM
ap-5157	145	39	.	.	PUNCT
ap-5157	146	1	5.5	5.5	NUM
ap-5157	146	2	.	.	PUNCT
ap-5157	146	3	evaluation	evaluation	NOUN
ap-5157	146	4	of	of	ADP
ap-5157	146	5	the	the	DET
ap-5157	146	6	cmt	cmt	PROPN
ap-5157	146	7	sample	sample	NOUN
ap-5157	146	8	the	the	DET
ap-5157	146	9	same	same	ADJ
ap-5157	146	10	pre	pre	ADJ
ap-5157	146	11	-	-	ADJ
ap-5157	146	12	set	set	ADJ
ap-5157	146	13	parameters	parameter	NOUN
ap-5157	146	14	as	as	SCONJ
ap-5157	146	15	the	the	DET
ap-5157	146	16	dip	dip	NOUN
ap-5157	146	17	transfer	transfer	NOUN
ap-5157	146	18	were	be	AUX
ap-5157	146	19	used	use	VERB
ap-5157	146	20	.	.	PUNCT
ap-5157	147	1	the	the	DET
ap-5157	147	2	main	main	ADJ
ap-5157	147	3	change	change	NOUN
ap-5157	147	4	from	from	ADP
ap-5157	147	5	previous	previous	ADJ
ap-5157	147	6	samples	sample	NOUN
ap-5157	147	7	is	be	AUX
ap-5157	147	8	the	the	DET
ap-5157	147	9	height	height	NOUN
ap-5157	147	10	at	at	ADP
ap-5157	147	11	which	which	PRON
ap-5157	147	12	the	the	DET
ap-5157	147	13	cmt	cmt	PROPN
ap-5157	147	14	sample	sample	PROPN
ap-5157	147	15	appears	appear	VERB
ap-5157	147	16	geometrically	geometrically	ADV
ap-5157	147	17	stable	stable	ADJ
ap-5157	147	18	up	up	ADP
ap-5157	147	19	to	to	PART
ap-5157	147	20	35	35	NUM
ap-5157	147	21	mm	mm	NOUN
ap-5157	147	22	in	in	ADP
ap-5157	147	23	height	height	NOUN
ap-5157	147	24	.	.	PUNCT
ap-5157	148	1	the	the	DET
ap-5157	148	2	use	use	NOUN
ap-5157	148	3	of	of	ADP
ap-5157	148	4	a	a	DET
ap-5157	148	5	“	"	PUNCT
ap-5157	148	6	cold	cold	ADJ
ap-5157	148	7	”	"	PUNCT
ap-5157	148	8	welding	welding	NOUN
ap-5157	148	9	process	process	NOUN
ap-5157	148	10	may	may	AUX
ap-5157	148	11	have	have	VERB
ap-5157	148	12	an	an	DET
ap-5157	148	13	effect	effect	NOUN
ap-5157	148	14	on	on	ADP
ap-5157	148	15	this	this	DET
ap-5157	148	16	height	height	NOUN
ap-5157	148	17	,	,	PUNCT
ap-5157	148	18	as	as	SCONJ
ap-5157	148	19	overheating	overheat	VERB
ap-5157	148	20	takes	take	VERB
ap-5157	148	21	longer	long	ADV
ap-5157	148	22	than	than	ADP
ap-5157	148	23	in	in	ADP
ap-5157	148	24	the	the	DET
ap-5157	148	25	previous	previous	ADJ
ap-5157	148	26	processes	process	NOUN
ap-5157	148	27	.	.	PUNCT
ap-5157	149	1	the	the	DET
ap-5157	149	2	obtained	obtain	VERB
ap-5157	149	3	data	datum	NOUN
ap-5157	149	4	mentioned	mention	VERB
ap-5157	149	5	in	in	ADP
ap-5157	149	6	the	the	DET
ap-5157	149	7	table	table	NOUN
ap-5157	149	8	5	5	NUM
ap-5157	149	9	demonstrate	demonstrate	VERB
ap-5157	149	10	the	the	DET
ap-5157	149	11	previous	previous	ADJ
ap-5157	149	12	description	description	NOUN
ap-5157	149	13	of	of	ADP
ap-5157	149	14	the	the	DET
ap-5157	149	15	cmt	cmt	PROPN
ap-5157	149	16	technology	technology	PROPN
ap-5157	149	17	.	.	PUNCT
ap-5157	150	1	318	318	NUM
ap-5157	150	2	vol	vol	NOUN
ap-5157	150	3	.	.	PUNCT
ap-5157	151	1	59	59	NUM
ap-5157	151	2	no	no	NOUN
ap-5157	151	3	.	.	PUNCT
ap-5157	152	1	4/2019	4/2019	NUM
ap-5157	152	2	waam	waam	PROPN
ap-5157	152	3	technology	technology	NOUN
ap-5157	152	4	optimized	optimize	VERB
ap-5157	152	5	by	by	ADP
ap-5157	152	6	off	off	ADP
ap-5157	152	7	-	-	PUNCT
ap-5157	152	8	line	line	NOUN
ap-5157	152	9	3d	3d	NUM
ap-5157	152	10	robot	robot	NOUN
ap-5157	152	11	simulation	simulation	NOUN
ap-5157	152	12	figure	figure	NOUN
ap-5157	152	13	12	12	NUM
ap-5157	152	14	.	.	PUNCT
ap-5157	153	1	ewt	ewt	PROPN
ap-5157	153	2	and	and	CCONJ
ap-5157	153	3	sw	sw	PROPN
ap-5157	153	4	parameters	parameter	NOUN
ap-5157	153	5	for	for	ADP
ap-5157	153	6	dip	dip	NOUN
ap-5157	153	7	metal	metal	NOUN
ap-5157	153	8	transfer	transfer	NOUN
ap-5157	153	9	(	(	PUNCT
ap-5157	153	10	left	left	ADJ
ap-5157	153	11	)	)	PUNCT
ap-5157	153	12	and	and	CCONJ
ap-5157	153	13	iac	iac	NOUN
ap-5157	153	14	process	process	NOUN
ap-5157	153	15	(	(	PUNCT
ap-5157	153	16	right	right	ADJ
ap-5157	153	17	)	)	PUNCT
ap-5157	153	18	.	.	PUNCT
ap-5157	154	1	figure	figure	NOUN
ap-5157	154	2	13	13	NUM
ap-5157	154	3	.	.	PUNCT
ap-5157	155	1	defects	defect	NOUN
ap-5157	155	2	caused	cause	VERB
ap-5157	155	3	by	by	ADP
ap-5157	155	4	too	too	ADV
ap-5157	155	5	high	high	ADJ
ap-5157	155	6	wire	wire	NOUN
ap-5157	155	7	feeding	feeding	NOUN
ap-5157	155	8	speed	speed	NOUN
ap-5157	155	9	.	.	PUNCT
ap-5157	156	1	while	while	SCONJ
ap-5157	156	2	the	the	DET
ap-5157	156	3	values	value	NOUN
ap-5157	156	4	of	of	ADP
ap-5157	156	5	the	the	DET
ap-5157	156	6	current	current	ADJ
ap-5157	156	7	and	and	CCONJ
ap-5157	156	8	voltage	voltage	NOUN
ap-5157	156	9	appears	appear	VERB
ap-5157	156	10	constant	constant	ADJ
ap-5157	156	11	,	,	PUNCT
ap-5157	156	12	the	the	DET
ap-5157	156	13	value	value	NOUN
ap-5157	156	14	of	of	ADP
ap-5157	156	15	the	the	DET
ap-5157	156	16	wire	wire	NOUN
ap-5157	156	17	feed	feed	NOUN
ap-5157	156	18	speed	speed	NOUN
ap-5157	156	19	fluctuates	fluctuate	NOUN
ap-5157	156	20	.	.	PUNCT
ap-5157	157	1	this	this	PRON
ap-5157	157	2	ensures	ensure	VERB
ap-5157	157	3	a	a	DET
ap-5157	157	4	small	small	ADJ
ap-5157	157	5	heat	heat	NOUN
ap-5157	157	6	input	input	NOUN
ap-5157	157	7	.	.	PUNCT
ap-5157	158	1	the	the	DET
ap-5157	158	2	releasing	releasing	NOUN
ap-5157	158	3	of	of	ADP
ap-5157	158	4	the	the	DET
ap-5157	158	5	drop	drop	NOUN
ap-5157	158	6	does	do	AUX
ap-5157	158	7	not	not	PART
ap-5157	158	8	occur	occur	VERB
ap-5157	158	9	with	with	ADP
ap-5157	158	10	a	a	DET
ap-5157	158	11	high	high	ADJ
ap-5157	158	12	short	short	ADJ
ap-5157	158	13	-	-	PUNCT
ap-5157	158	14	circuit	circuit	NOUN
ap-5157	158	15	current	current	NOUN
ap-5157	158	16	,	,	PUNCT
ap-5157	158	17	but	but	CCONJ
ap-5157	158	18	by	by	ADP
ap-5157	158	19	pulling	pull	VERB
ap-5157	158	20	the	the	DET
ap-5157	158	21	drop	drop	NOUN
ap-5157	158	22	from	from	ADP
ap-5157	158	23	the	the	DET
ap-5157	158	24	weld	weld	NOUN
ap-5157	158	25	pool	pool	NOUN
ap-5157	158	26	.	.	PUNCT
ap-5157	159	1	for	for	ADP
ap-5157	159	2	the	the	DET
ap-5157	159	3	parameters	parameter	NOUN
ap-5157	159	4	,	,	PUNCT
ap-5157	159	5	the	the	DET
ap-5157	159	6	sample	sample	NOUN
ap-5157	159	7	shows	show	VERB
ap-5157	159	8	a	a	DET
ap-5157	159	9	ewt	ewt	PROPN
ap-5157	159	10	parameter	parameter	NOUN
ap-5157	159	11	of	of	ADP
ap-5157	159	12	4.3	4.3	NUM
ap-5157	159	13	mm	mm	NOUN
ap-5157	159	14	with	with	ADP
ap-5157	159	15	a	a	DET
ap-5157	159	16	sw	sw	PROPN
ap-5157	159	17	parameter	parameter	NOUN
ap-5157	159	18	1	1	NUM
ap-5157	159	19	mm	mm	NOUN
ap-5157	159	20	on	on	ADP
ap-5157	159	21	both	both	DET
ap-5157	159	22	sides	side	NOUN
ap-5157	159	23	of	of	ADP
ap-5157	159	24	the	the	DET
ap-5157	159	25	sample	sample	NOUN
ap-5157	159	26	.	.	PUNCT
ap-5157	160	1	process	process	NOUN
ap-5157	160	2	part	part	NOUN
ap-5157	160	3	1	1	NUM
ap-5157	160	4	2	2	NUM
ap-5157	160	5	3	3	NUM
ap-5157	160	6	4	4	NUM
ap-5157	160	7	5	5	NUM
ap-5157	160	8	voltage	voltage	NOUN
ap-5157	160	9	[	[	X
ap-5157	160	10	v	v	NOUN
ap-5157	160	11	]	]	X
ap-5157	160	12	dip	dip	NOUN
ap-5157	160	13	transfer	transfer	NOUN
ap-5157	160	14	20.4	20.4	NUM
ap-5157	160	15	20.3	20.3	NUM
ap-5157	160	16	20.4	20.4	NUM
ap-5157	160	17	20.5	20.5	NUM
ap-5157	160	18	20.5	20.5	NUM
ap-5157	160	19	iac	iac	NOUN
ap-5157	160	20	20.3	20.3	NUM
ap-5157	160	21	20.2	20.2	NUM
ap-5157	160	22	20.3	20.3	NUM
ap-5157	160	23	20.3	20.3	NUM
ap-5157	160	24	20.3	20.3	NUM
ap-5157	160	25	cmt	cmt	PROPN
ap-5157	160	26	15.7	15.7	NUM
ap-5157	160	27	15.7	15.7	NUM
ap-5157	160	28	15.8	15.8	NUM
ap-5157	160	29	15.6	15.6	NUM
ap-5157	160	30	15.7	15.7	NUM
ap-5157	160	31	current	current	ADJ
ap-5157	160	32	[	[	X
ap-5157	160	33	a	a	X
ap-5157	160	34	]	]	X
ap-5157	160	35	dip	dip	NOUN
ap-5157	160	36	transfer	transfer	NOUN
ap-5157	160	37	77.8	77.8	NUM
ap-5157	160	38	78.9	78.9	NUM
ap-5157	160	39	77.3	77.3	NUM
ap-5157	160	40	76.9	76.9	NUM
ap-5157	160	41	76.3	76.3	NUM
ap-5157	160	42	iac	iac	NOUN
ap-5157	160	43	83.7	83.7	NUM
ap-5157	160	44	85.1	85.1	NUM
ap-5157	160	45	85.9	85.9	NUM
ap-5157	160	46	83.7	83.7	NUM
ap-5157	160	47	87.9	87.9	NUM
ap-5157	160	48	cmt	cmt	PROPN
ap-5157	160	49	91.3	91.3	NUM
ap-5157	160	50	91.1	91.1	NUM
ap-5157	160	51	91.4	91.4	NUM
ap-5157	160	52	91.3	91.3	NUM
ap-5157	160	53	91.3	91.3	NUM
ap-5157	160	54	wire	wire	NOUN
ap-5157	160	55	feeding	feeding	NOUN
ap-5157	160	56	speed	speed	NOUN
ap-5157	160	57	[	[	X
ap-5157	160	58	m	m	NOUN
ap-5157	160	59	/	/	SYM
ap-5157	160	60	min	min	NOUN
ap-5157	160	61	]	]	X
ap-5157	160	62	dip	dip	NOUN
ap-5157	160	63	transfer	transfer	NOUN
ap-5157	160	64	2.4	2.4	NUM
ap-5157	160	65	2.4	2.4	NUM
ap-5157	160	66	2.4	2.4	NUM
ap-5157	160	67	2.4	2.4	NUM
ap-5157	160	68	2.4	2.4	NUM
ap-5157	160	69	iac	iac	NOUN
ap-5157	160	70	2.4	2.4	NUM
ap-5157	160	71	2.4	2.4	NUM
ap-5157	160	72	2.5	2.5	NUM
ap-5157	160	73	2.3	2.3	NUM
ap-5157	160	74	2.4	2.4	NUM
ap-5157	160	75	cmt	cmt	NOUN
ap-5157	160	76	2.2	2.2	NUM
ap-5157	160	77	2.5	2.5	NUM
ap-5157	160	78	2.4	2.4	NUM
ap-5157	160	79	2.3	2.3	NUM
ap-5157	160	80	2.6	2.6	NUM
ap-5157	160	81	table	table	NOUN
ap-5157	160	82	5	5	NUM
ap-5157	160	83	.	.	PUNCT
ap-5157	161	1	average	average	ADJ
ap-5157	161	2	values	value	NOUN
ap-5157	161	3	in	in	ADP
ap-5157	161	4	individual	individual	ADJ
ap-5157	161	5	parts	part	NOUN
ap-5157	161	6	of	of	ADP
ap-5157	161	7	the	the	DET
ap-5157	161	8	waam	waam	NOUN
ap-5157	161	9	process	process	NOUN
ap-5157	161	10	with	with	ADP
ap-5157	161	11	cmt	cmt	PROPN
ap-5157	161	12	process	process	NOUN
ap-5157	161	13	.	.	PUNCT
ap-5157	162	1	6	6	X
ap-5157	162	2	.	.	X
ap-5157	162	3	conclusion	conclusion	NOUN
ap-5157	162	4	the	the	DET
ap-5157	162	5	aim	aim	NOUN
ap-5157	162	6	of	of	ADP
ap-5157	162	7	this	this	DET
ap-5157	162	8	study	study	NOUN
ap-5157	162	9	was	be	AUX
ap-5157	162	10	to	to	PART
ap-5157	162	11	use	use	VERB
ap-5157	162	12	off	off	ADP
ap-5157	162	13	-	-	PUNCT
ap-5157	162	14	line	line	NOUN
ap-5157	162	15	programming	programming	NOUN
ap-5157	162	16	and	and	CCONJ
ap-5157	162	17	find	find	VERB
ap-5157	162	18	the	the	DET
ap-5157	162	19	main	main	ADJ
ap-5157	162	20	parameters	parameter	NOUN
ap-5157	162	21	to	to	PART
ap-5157	162	22	achieve	achieve	VERB
ap-5157	162	23	a	a	DET
ap-5157	162	24	stable	stable	ADJ
ap-5157	162	25	waam	waam	NOUN
ap-5157	162	26	process	process	NOUN
ap-5157	162	27	.	.	PUNCT
ap-5157	163	1	it	it	PRON
ap-5157	163	2	was	be	AUX
ap-5157	163	3	demonstrated	demonstrate	VERB
ap-5157	163	4	on	on	ADP
ap-5157	163	5	a	a	DET
ap-5157	163	6	circle	circle	NOUN
ap-5157	163	7	path	path	NOUN
ap-5157	163	8	of	of	ADP
ap-5157	163	9	cladding	cladding	NOUN
ap-5157	163	10	,	,	PUNCT
ap-5157	163	11	programmed	program	VERB
ap-5157	163	12	in	in	ADP
ap-5157	163	13	an	an	DET
ap-5157	163	14	off	off	ADJ
ap-5157	163	15	-	-	PUNCT
ap-5157	163	16	line	line	NOUN
ap-5157	163	17	simulator	simulator	NOUN
ap-5157	163	18	.	.	PUNCT
ap-5157	164	1	this	this	DET
ap-5157	164	2	way	way	NOUN
ap-5157	164	3	of	of	ADP
ap-5157	164	4	creating	create	VERB
ap-5157	164	5	programs	program	NOUN
ap-5157	164	6	greatly	greatly	ADV
ap-5157	164	7	increases	increase	VERB
ap-5157	164	8	the	the	DET
ap-5157	164	9	productivity	productivity	NOUN
ap-5157	164	10	and	and	CCONJ
ap-5157	164	11	quality	quality	NOUN
ap-5157	164	12	of	of	ADP
ap-5157	164	13	this	this	DET
ap-5157	164	14	technology	technology	NOUN
ap-5157	164	15	.	.	PUNCT
ap-5157	165	1	it	it	PRON
ap-5157	165	2	has	have	AUX
ap-5157	165	3	been	be	AUX
ap-5157	165	4	proven	prove	VERB
ap-5157	165	5	that	that	SCONJ
ap-5157	165	6	this	this	DET
ap-5157	165	7	method	method	NOUN
ap-5157	165	8	can	can	AUX
ap-5157	165	9	also	also	ADV
ap-5157	165	10	be	be	AUX
ap-5157	165	11	used	use	VERB
ap-5157	165	12	as	as	ADP
ap-5157	165	13	a	a	DET
ap-5157	165	14	control	control	NOUN
ap-5157	165	15	tool	tool	NOUN
ap-5157	165	16	between	between	ADP
ap-5157	165	17	on	on	ADP
ap-5157	165	18	-	-	PUNCT
ap-5157	165	19	line	line	NOUN
ap-5157	165	20	and	and	CCONJ
ap-5157	165	21	off	off	ADP
ap-5157	165	22	-	-	PUNCT
ap-5157	165	23	line	line	NOUN
ap-5157	165	24	programming	programming	NOUN
ap-5157	165	25	using	use	VERB
ap-5157	165	26	reverse	reverse	ADJ
ap-5157	165	27	engineering	engineering	NOUN
ap-5157	165	28	.	.	PUNCT
ap-5157	166	1	according	accord	VERB
ap-5157	166	2	to	to	ADP
ap-5157	166	3	the	the	DET
ap-5157	166	4	data	datum	NOUN
ap-5157	166	5	obtained	obtain	VERB
ap-5157	166	6	by	by	ADP
ap-5157	166	7	the	the	DET
ap-5157	166	8	weldmonitor	weldmonitor	NOUN
ap-5157	166	9	measuring	measure	VERB
ap-5157	166	10	set	set	NOUN
ap-5157	166	11	,	,	PUNCT
ap-5157	166	12	the	the	DET
ap-5157	166	13	heat	heat	NOUN
ap-5157	166	14	input	input	NOUN
ap-5157	166	15	319	319	NUM
ap-5157	166	16	tomáš	tomáš	NOUN
ap-5157	166	17	gurčík	gurčík	PROPN
ap-5157	166	18	,	,	PUNCT
ap-5157	166	19	karel	karel	PROPN
ap-5157	166	20	kovanda	kovanda	PROPN
ap-5157	166	21	acta	acta	PROPN
ap-5157	166	22	polytechnica	polytechnica	PROPN
ap-5157	166	23	figure	figure	NOUN
ap-5157	166	24	14	14	NUM
ap-5157	166	25	.	.	PUNCT
ap-5157	167	1	drawing	draw	VERB
ap-5157	167	2	of	of	ADP
ap-5157	167	3	optimization	optimization	NOUN
ap-5157	167	4	path	path	NOUN
ap-5157	167	5	.	.	PUNCT
ap-5157	168	1	the	the	DET
ap-5157	168	2	first	first	ADJ
ap-5157	168	3	image	image	NOUN
ap-5157	168	4	represents	represent	VERB
ap-5157	168	5	the	the	DET
ap-5157	168	6	original	original	ADJ
ap-5157	168	7	path	path	NOUN
ap-5157	168	8	.	.	PUNCT
ap-5157	169	1	the	the	DET
ap-5157	169	2	second	second	ADJ
ap-5157	169	3	image	image	NOUN
ap-5157	169	4	represents	represent	VERB
ap-5157	169	5	an	an	DET
ap-5157	169	6	optimized	optimize	VERB
ap-5157	169	7	path	path	NOUN
ap-5157	169	8	.	.	PUNCT
ap-5157	170	1	figure	figure	NOUN
ap-5157	170	2	15	15	NUM
ap-5157	170	3	.	.	PUNCT
ap-5157	171	1	the	the	DET
ap-5157	171	2	cmt	cmt	PROPN
ap-5157	171	3	sample	sample	PROPN
ap-5157	171	4	.	.	PUNCT
ap-5157	172	1	figure	figure	NOUN
ap-5157	172	2	16	16	NUM
ap-5157	172	3	.	.	PUNCT
ap-5157	173	1	ewt	ewt	PROPN
ap-5157	173	2	and	and	CCONJ
ap-5157	173	3	sw	sw	PROPN
ap-5157	173	4	parameters	parameter	NOUN
ap-5157	173	5	for	for	ADP
ap-5157	173	6	the	the	DET
ap-5157	173	7	cmt	cmt	PROPN
ap-5157	173	8	sample	sample	PROPN
ap-5157	173	9	.	.	PUNCT
ap-5157	174	1	320	320	NUM
ap-5157	174	2	vol	vol	NOUN
ap-5157	174	3	.	.	PUNCT
ap-5157	175	1	59	59	NUM
ap-5157	175	2	no	no	NOUN
ap-5157	175	3	.	.	PUNCT
ap-5157	176	1	4/2019	4/2019	NUM
ap-5157	176	2	waam	waam	PROPN
ap-5157	176	3	technology	technology	NOUN
ap-5157	176	4	optimized	optimize	VERB
ap-5157	176	5	by	by	ADP
ap-5157	176	6	off	off	ADP
ap-5157	176	7	-	-	PUNCT
ap-5157	176	8	line	line	NOUN
ap-5157	176	9	3d	3d	NUM
ap-5157	176	10	robot	robot	NOUN
ap-5157	176	11	simulation	simulation	NOUN
ap-5157	176	12	has	have	VERB
ap-5157	176	13	a	a	DET
ap-5157	176	14	great	great	ADJ
ap-5157	176	15	effect	effect	NOUN
ap-5157	176	16	on	on	ADP
ap-5157	176	17	achieving	achieve	VERB
ap-5157	176	18	a	a	DET
ap-5157	176	19	geometrically	geometrically	ADV
ap-5157	176	20	stable	stable	ADJ
ap-5157	176	21	surface	surface	NOUN
ap-5157	176	22	.	.	PUNCT
ap-5157	177	1	by	by	ADP
ap-5157	177	2	appropriately	appropriately	ADV
ap-5157	177	3	selecting	select	VERB
ap-5157	177	4	the	the	DET
ap-5157	177	5	welding	welding	NOUN
ap-5157	177	6	path	path	NOUN
ap-5157	177	7	and	and	CCONJ
ap-5157	177	8	the	the	DET
ap-5157	177	9	process	process	NOUN
ap-5157	177	10	with	with	ADP
ap-5157	177	11	the	the	DET
ap-5157	177	12	lowest	low	ADJ
ap-5157	177	13	heat	heat	NOUN
ap-5157	177	14	input	input	NOUN
ap-5157	177	15	,	,	PUNCT
ap-5157	177	16	a	a	DET
ap-5157	177	17	predetermined	predetermine	VERB
ap-5157	177	18	target	target	NOUN
ap-5157	177	19	was	be	AUX
ap-5157	177	20	achieved	achieve	VERB
ap-5157	177	21	.	.	PUNCT
ap-5157	178	1	for	for	ADP
ap-5157	178	2	a	a	DET
ap-5157	178	3	cmt	cmt	PROPN
ap-5157	178	4	sample	sample	NOUN
ap-5157	178	5	shown	show	VERB
ap-5157	178	6	in	in	ADP
ap-5157	178	7	figure	figure	NOUN
ap-5157	178	8	15	15	NUM
ap-5157	178	9	and	and	CCONJ
ap-5157	178	10	figure	figure	VERB
ap-5157	178	11	16	16	NUM
ap-5157	178	12	,	,	PUNCT
ap-5157	178	13	the	the	DET
ap-5157	178	14	sw	sw	PROPN
ap-5157	178	15	parameter	parameter	PROPN
ap-5157	178	16	values	value	NOUN
ap-5157	178	17	reached	reach	VERB
ap-5157	178	18	a	a	DET
ap-5157	178	19	maximum	maximum	NOUN
ap-5157	178	20	of	of	ADP
ap-5157	178	21	1	1	NUM
ap-5157	178	22	mm	mm	NOUN
ap-5157	178	23	,	,	PUNCT
ap-5157	178	24	which	which	PRON
ap-5157	178	25	confirmed	confirm	VERB
ap-5157	178	26	that	that	SCONJ
ap-5157	178	27	optimization	optimization	NOUN
ap-5157	178	28	using	use	VERB
ap-5157	178	29	the	the	DET
ap-5157	178	30	cmt	cmt	PROPN
ap-5157	178	31	process	process	NOUN
ap-5157	178	32	with	with	ADP
ap-5157	178	33	a	a	DET
ap-5157	178	34	path	path	NOUN
ap-5157	178	35	correction	correction	NOUN
ap-5157	178	36	is	be	AUX
ap-5157	178	37	the	the	DET
ap-5157	178	38	right	right	ADJ
ap-5157	178	39	direction	direction	NOUN
ap-5157	178	40	for	for	ADP
ap-5157	178	41	a	a	DET
ap-5157	178	42	further	further	ADJ
ap-5157	178	43	research	research	NOUN
ap-5157	178	44	.	.	PUNCT
ap-5157	179	1	acknowledgements	acknowledgement	NOUN
ap-5157	179	2	thanks	thank	NOUN
ap-5157	179	3	to	to	ADP
ap-5157	179	4	ing	ing	PROPN
ap-5157	179	5	.	.	PUNCT
ap-5157	180	1	štěpán	štěpán	PROPN
ap-5157	180	2	ježek	ježek	PROPN
ap-5157	180	3	(	(	PUNCT
ap-5157	180	4	domt	domt	PROPN
ap-5157	180	5	12133	12133	NUM
ap-5157	180	6	ctu	ctu	NOUN
ap-5157	180	7	in	in	ADP
ap-5157	180	8	prague	prague	PROPN
ap-5157	180	9	,	,	PUNCT
ap-5157	180	10	schäfer	schäfer	VERB
ap-5157	180	11	menk	menk	PROPN
ap-5157	180	12	s.r.o	s.r.o	PROPN
ap-5157	180	13	.	.	PUNCT
ap-5157	180	14	)	)	PUNCT
ap-5157	181	1	for	for	ADP
ap-5157	181	2	providing	provide	VERB
ap-5157	181	3	the	the	DET
ap-5157	181	4	filler	filler	NOUN
ap-5157	181	5	material	material	NOUN
ap-5157	181	6	for	for	ADP
ap-5157	181	7	this	this	DET
ap-5157	181	8	experiment	experiment	NOUN
ap-5157	181	9	.	.	PUNCT
ap-5157	182	1	the	the	DET
ap-5157	182	2	research	research	NOUN
ap-5157	182	3	was	be	AUX
ap-5157	182	4	supported	support	VERB
ap-5157	182	5	by	by	ADP
ap-5157	182	6	project	project	NOUN
ap-5157	182	7	sgs16/217	sgs16/217	PROPN
ap-5157	182	8	/	/	SYM
ap-5157	182	9	ohk2/3t/12	ohk2/3t/12	PROPN
ap-5157	182	10	.	.	PUNCT
ap-5157	183	1	authors	author	NOUN
ap-5157	183	2	acknowledge	acknowledge	VERB
ap-5157	183	3	support	support	NOUN
ap-5157	183	4	from	from	ADP
ap-5157	183	5	the	the	DET
ap-5157	183	6	eu	eu	PROPN
ap-5157	183	7	operational	operational	ADJ
ap-5157	183	8	programme	programme	PROPN
ap-5157	183	9	research	research	NOUN
ap-5157	183	10	,	,	PUNCT
ap-5157	183	11	development	development	NOUN
ap-5157	183	12	and	and	CCONJ
ap-5157	183	13	education	education	NOUN
ap-5157	183	14	,	,	PUNCT
ap-5157	183	15	and	and	CCONJ
ap-5157	183	16	from	from	ADP
ap-5157	183	17	the	the	DET
ap-5157	183	18	center	center	NOUN
ap-5157	183	19	of	of	ADP
ap-5157	183	20	advanced	advanced	ADJ
ap-5157	183	21	aerospace	aerospace	NOUN
ap-5157	183	22	technology	technology	NOUN
ap-5157	183	23	(	(	PUNCT
ap-5157	183	24	cz.02.1.01/0.0/0.0/16_019/0000826	cz.02.1.01/0.0/0.0/16_019/0000826	NUM
ap-5157	183	25	)	)	PUNCT
ap-5157	183	26	,	,	PUNCT
ap-5157	183	27	faculty	faculty	NOUN
ap-5157	183	28	of	of	ADP
ap-5157	183	29	mechanical	mechanical	ADJ
ap-5157	183	30	engineering	engineering	NOUN
ap-5157	183	31	,	,	PUNCT
ap-5157	183	32	czech	czech	PROPN
ap-5157	183	33	technical	technical	PROPN
ap-5157	183	34	university	university	PROPN
ap-5157	183	35	in	in	ADP
ap-5157	183	36	prague	prague	PROPN
ap-5157	183	37	.	.	PUNCT
ap-5157	184	1	references	reference	NOUN
ap-5157	184	2	[	[	X
ap-5157	184	3	1	1	NUM
ap-5157	184	4	]	]	PUNCT
ap-5157	184	5	k.	k.	PROPN
ap-5157	184	6	kabeš	kabeš	PROPN
ap-5157	184	7	.	.	PUNCT
ap-5157	185	1	three	three	NUM
ap-5157	185	2	million	million	NUM
ap-5157	185	3	industrial	industrial	ADJ
ap-5157	185	4	robots	robot	NOUN
ap-5157	185	5	will	will	AUX
ap-5157	185	6	be	be	AUX
ap-5157	185	7	operational	operational	ADJ
ap-5157	185	8	in	in	ADP
ap-5157	185	9	the	the	DET
ap-5157	185	10	world	world	NOUN
ap-5157	185	11	(	(	PUNCT
ap-5157	185	12	in	in	ADP
ap-5157	185	13	czech	czech	PROPN
ap-5157	185	14	)	)	PUNCT
ap-5157	185	15	.	.	PUNCT
ap-5157	186	1	automa	automa	PROPN
ap-5157	186	2	10(23):28	10(23):28	NUM
ap-5157	186	3	–	–	PUNCT
ap-5157	186	4	29	29	NUM
ap-5157	186	5	,	,	PUNCT
ap-5157	186	6	2017	2017	NUM
ap-5157	186	7	.	.	PUNCT
ap-5157	187	1	[	[	X
ap-5157	187	2	2	2	NUM
ap-5157	187	3	]	]	PUNCT
ap-5157	187	4	l.	l.	PROPN
ap-5157	187	5	kolařík	kolařík	PROPN
ap-5157	187	6	,	,	PUNCT
ap-5157	187	7	j.	j.	PROPN
ap-5157	187	8	suchánek	suchánek	PROPN
ap-5157	187	9	,	,	PUNCT
ap-5157	187	10	m.	m.	NOUN
ap-5157	187	11	kolaříková	kolaříková	PROPN
ap-5157	187	12	.	.	PUNCT
ap-5157	188	1	welding	welding	NOUN
ap-5157	188	2	method	method	NOUN
ap-5157	188	3	waam	waam	NOUN
ap-5157	188	4	(	(	PUNCT
ap-5157	188	5	in	in	ADP
ap-5157	188	6	czech	czech	PROPN
ap-5157	188	7	)	)	PUNCT
ap-5157	188	8	.	.	PUNCT
ap-5157	189	1	mm	mm	PROPN
ap-5157	189	2	industrial	industrial	PROPN
ap-5157	189	3	spectrum	spectrum	NOUN
ap-5157	189	4	1:60	1:60	NUM
ap-5157	189	5	,	,	PUNCT
ap-5157	189	6	2018	2018	NUM
ap-5157	189	7	.	.	PUNCT
ap-5157	190	1	[	[	X
ap-5157	190	2	3	3	X
ap-5157	190	3	]	]	PUNCT
ap-5157	190	4	k.	k.	PROPN
ap-5157	190	5	bürgerová	bürgerová	PROPN
ap-5157	190	6	.	.	PUNCT
ap-5157	191	1	analysis	analysis	NOUN
ap-5157	191	2	of	of	ADP
ap-5157	191	3	defects	defect	NOUN
ap-5157	191	4	of	of	ADP
ap-5157	191	5	a	a	DET
ap-5157	191	6	3d	3d	NUM
ap-5157	191	7	printed	print	VERB
ap-5157	191	8	metal	metal	NOUN
ap-5157	191	9	product	product	NOUN
ap-5157	191	10	(	(	PUNCT
ap-5157	191	11	in	in	ADP
ap-5157	191	12	czech	czech	PROPN
ap-5157	191	13	)	)	PUNCT
ap-5157	191	14	.	.	PUNCT
ap-5157	192	1	bachelor	bachelor	NOUN
ap-5157	192	2	thesis	thesis	NOUN
ap-5157	192	3	,	,	PUNCT
ap-5157	192	4	czech	czech	PROPN
ap-5157	192	5	technical	technical	PROPN
ap-5157	192	6	university	university	PROPN
ap-5157	192	7	in	in	ADP
ap-5157	192	8	prague	prague	PROPN
ap-5157	192	9	,	,	PUNCT
ap-5157	192	10	faculty	faculty	NOUN
ap-5157	192	11	of	of	ADP
ap-5157	192	12	mechanical	mechanical	ADJ
ap-5157	192	13	engineering	engineering	NOUN
ap-5157	192	14	,	,	PUNCT
ap-5157	192	15	2016	2016	NUM
ap-5157	192	16	.	.	PUNCT
ap-5157	193	1	[	[	X
ap-5157	193	2	4	4	NUM
ap-5157	193	3	]	]	PUNCT
ap-5157	193	4	a.	a.	PROPN
ap-5157	193	5	r.	r.	PROPN
ap-5157	193	6	mcandrew	mcandrew	PROPN
ap-5157	193	7	,	,	PUNCT
ap-5157	193	8	m.	m.	NOUN
ap-5157	193	9	alvarez	alvarez	PROPN
ap-5157	193	10	rosales	rosales	PROPN
ap-5157	193	11	,	,	PUNCT
ap-5157	193	12	p.	p.	NOUN
ap-5157	193	13	a.	a.	NOUN
ap-5157	193	14	colegrove	colegrove	PROPN
ap-5157	193	15	,	,	PUNCT
ap-5157	193	16	et	et	PROPN
ap-5157	193	17	al	al	PROPN
ap-5157	193	18	.	.	PROPN
ap-5157	194	1	interpass	interpass	PROPN
ap-5157	194	2	rolling	rolling	NOUN
ap-5157	194	3	of	of	ADP
ap-5157	194	4	ti-6al-4v	ti-6al-4v	PROPN
ap-5157	194	5	wire	wire	NOUN
ap-5157	194	6	+	+	NUM
ap-5157	194	7	arc	arc	NOUN
ap-5157	194	8	additively	additively	ADV
ap-5157	194	9	manufatured	manufature	VERB
ap-5157	194	10	features	feature	NOUN
ap-5157	194	11	for	for	ADP
ap-5157	194	12	microstructural	microstructural	ADJ
ap-5157	194	13	refinement	refinement	NOUN
ap-5157	194	14	.	.	PUNCT
ap-5157	195	1	additive	additive	ADJ
ap-5157	195	2	manufacturing	manufacturing	NOUN
ap-5157	195	3	21:340	21:340	NUM
ap-5157	195	4	–	–	PUNCT
ap-5157	195	5	349	349	NUM
ap-5157	195	6	,	,	PUNCT
ap-5157	195	7	2018	2018	NUM
ap-5157	195	8	.	.	PUNCT
ap-5157	196	1	doi:10.1016	doi:10.1016	PROPN
ap-5157	196	2	/	/	SYM
ap-5157	196	3	j.addma.2018.03.006	j.addma.2018.03.006	PROPN
ap-5157	196	4	.	.	PUNCT
ap-5157	197	1	[	[	X
ap-5157	197	2	5	5	NUM
ap-5157	197	3	]	]	PUNCT
ap-5157	197	4	welding	weld	VERB
ap-5157	197	5	engineering	engineering	NOUN
ap-5157	197	6	and	and	CCONJ
ap-5157	197	7	laser	laser	NOUN
ap-5157	197	8	processing	processing	NOUN
ap-5157	197	9	centre	centre	NOUN
ap-5157	197	10	.	.	PUNCT
ap-5157	198	1	wire	wire	NOUN
ap-5157	198	2	+	+	NUM
ap-5157	198	3	arc	arc	NOUN
ap-5157	198	4	additive	additive	ADJ
ap-5157	198	5	manufacturing	manufacturing	NOUN
ap-5157	198	6	.	.	PUNCT
ap-5157	199	1	https://waammat.com/about/waam	https://waammat.com/about/waam	PROPN
ap-5157	199	2	,	,	PUNCT
ap-5157	199	3	2000	2000	NUM
ap-5157	199	4	2018	2018	NUM
ap-5157	199	5	.	.	PUNCT
ap-5157	200	1	accessed	access	VERB
ap-5157	200	2	:	:	PUNCT
ap-5157	200	3	26	26	NUM
ap-5157	200	4	march	march	NOUN
ap-5157	200	5	2018	2018	NUM
ap-5157	200	6	.	.	PUNCT
ap-5157	201	1	[	[	X
ap-5157	201	2	6	6	NUM
ap-5157	201	3	]	]	PUNCT
ap-5157	201	4	arcam	arcam	PROPN
ap-5157	201	5	ebm	ebm	PROPN
ap-5157	201	6	a	a	DET
ap-5157	201	7	ge	ge	PROPN
ap-5157	201	8	additive	additive	ADJ
ap-5157	201	9	company	company	NOUN
ap-5157	201	10	.	.	PUNCT
ap-5157	202	1	ebm	ebm	PROPN
ap-5157	202	2	®	®	NOUN
ap-5157	202	3	in	in	ADP
ap-5157	202	4	aerospace	aerospace	NOUN
ap-5157	202	5	:	:	PUNCT
ap-5157	202	6	additive	additive	ADJ
ap-5157	202	7	manufacturing	manufacturing	NOUN
ap-5157	202	8	taken	take	VERB
ap-5157	202	9	to	to	ADP
ap-5157	202	10	unseen	unseen	ADJ
ap-5157	202	11	heights	height	NOUN
ap-5157	202	12	.	.	PUNCT
ap-5157	203	1	http://www.arcam.com/solutions/aerospace-ebm/.	http://www.arcam.com/solutions/aerospace-ebm/.	PRON
ap-5157	203	2	accessed	access	VERB
ap-5157	203	3	:	:	PUNCT
ap-5157	203	4	26	26	NUM
ap-5157	203	5	march	march	NOUN
ap-5157	203	6	2018	2018	NUM
ap-5157	203	7	.	.	PUNCT
ap-5157	204	1	[	[	X
ap-5157	204	2	7	7	X
ap-5157	204	3	]	]	X
ap-5157	204	4	fanuc	fanuc	PROPN
ap-5157	204	5	czech	czech	PROPN
ap-5157	204	6	s.r.o	s.r.o	PROPN
ap-5157	204	7	.	.	PUNCT
ap-5157	205	1	intelligent	intelligent	ADJ
ap-5157	205	2	3	3	NUM
ap-5157	205	3	-	-	PUNCT
ap-5157	205	4	d	d	PROPN
ap-5157	205	5	robot	robot	NOUN
ap-5157	205	6	simulation	simulation	NOUN
ap-5157	205	7	.	.	PUNCT
ap-5157	206	1	https://www.fanuc.eu/cz/en/robots/accessories/	https://www.fanuc.eu/cz/en/robots/accessories/	ADJ
ap-5157	206	2	roboguide	roboguide	NOUN
ap-5157	206	3	.	.	PUNCT
ap-5157	207	1	accessed	access	VERB
ap-5157	207	2	:	:	PUNCT
ap-5157	207	3	26	26	NUM
ap-5157	207	4	march	march	NOUN
ap-5157	207	5	2018	2018	NUM
ap-5157	207	6	.	.	PUNCT
ap-5157	208	1	[	[	X
ap-5157	208	2	8	8	NUM
ap-5157	208	3	]	]	PUNCT
ap-5157	208	4	voestalpine	voestalpine	NOUN
ap-5157	208	5	böhler	böhler	PROPN
ap-5157	208	6	welding	welding	NOUN
ap-5157	208	7	.	.	PUNCT
ap-5157	209	1	most	most	ADV
ap-5157	209	2	used	use	VERB
ap-5157	209	3	additional	additional	ADJ
ap-5157	209	4	materials	material	NOUN
ap-5157	209	5	for	for	ADP
ap-5157	209	6	welding	welding	NOUN
ap-5157	209	7	,	,	PUNCT
ap-5157	209	8	cladding	cladding	NOUN
ap-5157	209	9	and	and	CCONJ
ap-5157	209	10	soldering	soldering	NOUN
ap-5157	209	11	and	and	CCONJ
ap-5157	209	12	preparations	preparation	NOUN
ap-5157	209	13	for	for	ADP
ap-5157	209	14	stainless	stainless	ADJ
ap-5157	209	15	steel	steel	NOUN
ap-5157	209	16	.	.	PUNCT
ap-5157	209	17	http://www.bohler-uddeholm.cz/media/	http://www.bohler-uddeholm.cz/media/	X
ap-5157	210	1	nejpouzivanejsi_materialy_2015_2.pdf	nejpouzivanejsi_materialy_2015_2.pdf	PROPN
ap-5157	210	2	.	.	PROPN
ap-5157	211	1	accessed	access	VERB
ap-5157	211	2	:	:	PUNCT
ap-5157	211	3	26	26	NUM
ap-5157	211	4	march	march	NOUN
ap-5157	211	5	2018	2018	NUM
ap-5157	211	6	.	.	PUNCT
ap-5157	212	1	321	321	NUM
ap-5157	212	2	http://dx.doi.org/10.1016/j.addma.2018.03.006	http://dx.doi.org/10.1016/j.addma.2018.03.006	NOUN
ap-5157	212	3	https://waammat.com/about/waam	https://waammat.com/about/waam	NOUN
ap-5157	212	4	http://www.arcam.com/solutions/aerospace-ebm/	http://www.arcam.com/solutions/aerospace-ebm/	PROPN
ap-5157	212	5	https://www.fanuc.eu/cz/en/robots/accessories/roboguide	https://www.fanuc.eu/cz/en/robots/accessories/roboguide	PROPN
ap-5157	212	6	https://www.fanuc.eu/cz/en/robots/accessories/roboguide	https://www.fanuc.eu/cz/en/robots/accessories/roboguide	PROPN
ap-5157	212	7	http://www.bohler-uddeholm.cz/media/nejpouzivanejsi_materialy_2015_2.pdf	http://www.bohler-uddeholm.cz/media/nejpouzivanejsi_materialy_2015_2.pdf	NOUN
ap-5157	212	8	http://www.bohler-uddeholm.cz/media/nejpouzivanejsi_materialy_2015_2.pdf	http://www.bohler-uddeholm.cz/media/nejpouzivanejsi_materialy_2015_2.pdf	NOUN
ap-5157	212	9	acta	acta	PROPN
ap-5157	212	10	polytechnica	polytechnica	PROPN
ap-5157	212	11	59(4):312–321	59(4):312–321	PROPN
ap-5157	212	12	,	,	PUNCT
ap-5157	212	13	2019	2019	NUM
ap-5157	212	14	1	1	NUM
ap-5157	212	15	introduction	introduction	NOUN
ap-5157	212	16	2	2	NUM
ap-5157	212	17	waam	waam	NOUN
ap-5157	212	18	technology	technology	NOUN
ap-5157	212	19	3	3	NUM
ap-5157	212	20	off	off	ADP
ap-5157	212	21	-	-	PUNCT
ap-5157	212	22	line	line	NOUN
ap-5157	212	23	simulator	simulator	NOUN
ap-5157	212	24	4	4	NUM
ap-5157	212	25	experiment	experiment	NOUN
ap-5157	212	26	4.1	4.1	NUM
ap-5157	212	27	experimental	experimental	ADJ
ap-5157	212	28	workplace	workplace	NOUN
ap-5157	212	29	4.2	4.2	NUM
ap-5157	212	30	virtual	virtual	ADJ
ap-5157	212	31	workplace	workplace	NOUN
ap-5157	212	32	4.3	4.3	NUM
ap-5157	212	33	input	input	NOUN
ap-5157	212	34	data	datum	NOUN
ap-5157	212	35	for	for	ADP
ap-5157	212	36	experiment	experiment	NOUN
ap-5157	212	37	5	5	NUM
ap-5157	212	38	experiment	experiment	NOUN
ap-5157	212	39	evaluation	evaluation	NOUN
ap-5157	212	40	5.1	5.1	NUM
ap-5157	212	41	visual	visual	ADJ
ap-5157	212	42	evaluation	evaluation	NOUN
ap-5157	212	43	5.2	5.2	NUM
ap-5157	212	44	output	output	NOUN
ap-5157	212	45	from	from	ADP
ap-5157	212	46	weldmonitor	weldmonitor	NOUN
ap-5157	212	47	5.3	5.3	NUM
ap-5157	212	48	ewt	ewt	PROPN
ap-5157	212	49	and	and	CCONJ
ap-5157	212	50	sw	sw	PROPN
ap-5157	212	51	parameters	parameter	NOUN
ap-5157	212	52	5.4	5.4	NUM
ap-5157	212	53	optimization	optimization	NOUN
ap-5157	212	54	suggestion	suggestion	NOUN
ap-5157	212	55	5.5	5.5	NUM
ap-5157	212	56	evaluation	evaluation	NOUN
ap-5157	212	57	of	of	ADP
ap-5157	212	58	the	the	DET
ap-5157	212	59	cmt	cmt	PROPN
ap-5157	212	60	sample	sample	PROPN
ap-5157	212	61	6	6	NUM
ap-5157	212	62	conclusion	conclusion	NOUN
ap-5157	212	63	acknowledgements	acknowledgement	NOUN
ap-5157	212	64	references	reference	NOUN