id	sid	tid	token	lemma	pos
ap-526	1	1	ap04_2web.vp	ap04_2web.vp	NOUN
ap-526	1	2	1	1	NUM
ap-526	1	3	introduction	introduction	NOUN
ap-526	1	4	the	the	DET
ap-526	1	5	development	development	NOUN
ap-526	1	6	of	of	ADP
ap-526	1	7	small	small	ADJ
ap-526	1	8	(	(	PUNCT
ap-526	1	9	approximately	approximately	ADV
ap-526	1	10	6	6	NUM
ap-526	1	11	inch	inch	NOUN
ap-526	1	12	long	long	ADV
ap-526	1	13	,	,	PUNCT
ap-526	1	14	or	or	CCONJ
ap-526	1	15	hand	hand	NOUN
ap-526	1	16	-	-	PUNCT
ap-526	1	17	held	hold	VERB
ap-526	1	18	)	)	PUNCT
ap-526	1	19	autonomous	autonomous	ADJ
ap-526	1	20	flying	fly	VERB
ap-526	1	21	vehicles	vehicle	NOUN
ap-526	1	22	is	be	AUX
ap-526	1	23	driven	drive	VERB
ap-526	1	24	by	by	ADP
ap-526	1	25	the	the	DET
ap-526	1	26	need	need	NOUN
ap-526	1	27	for	for	ADP
ap-526	1	28	intelligent	intelligent	ADJ
ap-526	1	29	reconnaissance	reconnaissance	NOUN
ap-526	1	30	robots	robot	NOUN
ap-526	1	31	,	,	PUNCT
ap-526	1	32	capable	capable	ADJ
ap-526	1	33	of	of	ADP
ap-526	1	34	discreetly	discreetly	ADV
ap-526	1	35	penetrating	penetrate	VERB
ap-526	1	36	confined	confine	VERB
ap-526	1	37	spaces	space	NOUN
ap-526	1	38	,	,	PUNCT
ap-526	1	39	and	and	CCONJ
ap-526	1	40	manoeuvring	manoeuvre	VERB
ap-526	1	41	in	in	ADP
ap-526	1	42	them	they	PRON
ap-526	1	43	without	without	ADP
ap-526	1	44	the	the	DET
ap-526	1	45	assistance	assistance	NOUN
ap-526	1	46	of	of	ADP
ap-526	1	47	a	a	DET
ap-526	1	48	human	human	ADJ
ap-526	1	49	telepilot	telepilot	NOUN
ap-526	1	50	[	[	X
ap-526	1	51	7	7	NUM
ap-526	1	52	]	]	PUNCT
ap-526	1	53	.	.	PUNCT
ap-526	2	1	this	this	PRON
ap-526	2	2	is	be	AUX
ap-526	2	3	particularly	particularly	ADV
ap-526	2	4	relevant	relevant	ADJ
ap-526	2	5	to	to	ADP
ap-526	2	6	military	military	ADJ
ap-526	2	7	operations	operation	NOUN
ap-526	2	8	in	in	ADP
ap-526	2	9	urban	urban	ADJ
ap-526	2	10	terrain	terrain	NOUN
ap-526	2	11	.	.	PUNCT
ap-526	3	1	flight	flight	NOUN
ap-526	3	2	inside	inside	ADP
ap-526	3	3	buildings	building	NOUN
ap-526	3	4	,	,	PUNCT
ap-526	3	5	stairwells	stairwell	NOUN
ap-526	3	6	,	,	PUNCT
ap-526	3	7	shafts	shafts	ADJ
ap-526	3	8	and	and	CCONJ
ap-526	3	9	tunnels	tunnel	NOUN
ap-526	3	10	has	have	VERB
ap-526	3	11	significant	significant	ADJ
ap-526	3	12	military	military	ADJ
ap-526	3	13	and	and	CCONJ
ap-526	3	14	civilian	civilian	ADJ
ap-526	3	15	value	value	NOUN
ap-526	3	16	,	,	PUNCT
ap-526	3	17	and	and	CCONJ
ap-526	3	18	requires	require	VERB
ap-526	3	19	agility	agility	NOUN
ap-526	3	20	at	at	ADP
ap-526	3	21	low	low	ADJ
ap-526	3	22	speeds	speed	NOUN
ap-526	3	23	to	to	PART
ap-526	3	24	avoid	avoid	VERB
ap-526	3	25	obstacles	obstacle	NOUN
ap-526	3	26	and	and	CCONJ
ap-526	3	27	move	move	VERB
ap-526	3	28	in	in	ADP
ap-526	3	29	confined	confine	VERB
ap-526	3	30	spaces	space	NOUN
ap-526	3	31	.	.	PUNCT
ap-526	4	1	the	the	DET
ap-526	4	2	vehicles	vehicle	NOUN
ap-526	4	3	can	can	AUX
ap-526	4	4	be	be	AUX
ap-526	4	5	used	use	VERB
ap-526	4	6	in	in	ADP
ap-526	4	7	dull	dull	ADJ
ap-526	4	8	,	,	PUNCT
ap-526	4	9	dirty	dirty	ADJ
ap-526	4	10	or	or	CCONJ
ap-526	4	11	dangerous	dangerous	ADJ
ap-526	4	12	(	(	PUNCT
ap-526	4	13	d3	d3	PROPN
ap-526	4	14	)	)	PUNCT
ap-526	4	15	environments	environment	NOUN
ap-526	4	16	,	,	PUNCT
ap-526	4	17	where	where	SCONJ
ap-526	4	18	direct	direct	ADJ
ap-526	4	19	or	or	CCONJ
ap-526	4	20	remote	remote	ADJ
ap-526	4	21	human	human	ADJ
ap-526	4	22	assistance	assistance	NOUN
ap-526	4	23	is	be	AUX
ap-526	4	24	not	not	PART
ap-526	4	25	practical	practical	ADJ
ap-526	4	26	.	.	PUNCT
ap-526	5	1	non	non	ADJ
ap-526	5	2	-	-	ADJ
ap-526	5	3	military	military	ADJ
ap-526	5	4	uses	use	NOUN
ap-526	5	5	will	will	AUX
ap-526	5	6	include	include	VERB
ap-526	5	7	law	law	NOUN
ap-526	5	8	enforcement	enforcement	NOUN
ap-526	5	9	and	and	CCONJ
ap-526	5	10	rescue	rescue	NOUN
ap-526	5	11	operations	operation	NOUN
ap-526	5	12	.	.	PUNCT
ap-526	6	1	the	the	DET
ap-526	6	2	ability	ability	NOUN
ap-526	6	3	to	to	PART
ap-526	6	4	explore	explore	VERB
ap-526	6	5	d3	d3	PROPN
ap-526	6	6	environments	environment	NOUN
ap-526	6	7	without	without	ADP
ap-526	6	8	human	human	ADJ
ap-526	6	9	involvement	involvement	NOUN
ap-526	6	10	will	will	AUX
ap-526	6	11	be	be	AUX
ap-526	6	12	of	of	ADP
ap-526	6	13	interest	interest	NOUN
ap-526	6	14	for	for	ADP
ap-526	6	15	many	many	ADJ
ap-526	6	16	industries	industry	NOUN
ap-526	6	17	,	,	PUNCT
ap-526	6	18	for	for	ADP
ap-526	6	19	example	example	NOUN
ap-526	6	20	,	,	PUNCT
ap-526	6	21	enabling	enable	VERB
ap-526	6	22	air	air	NOUN
ap-526	6	23	sampling	sampling	NOUN
ap-526	6	24	in	in	ADP
ap-526	6	25	inaccessible	inaccessible	ADJ
ap-526	6	26	areas	area	NOUN
ap-526	6	27	,	,	PUNCT
ap-526	6	28	and	and	CCONJ
ap-526	6	29	examination	examination	NOUN
ap-526	6	30	of	of	ADP
ap-526	6	31	confined	confine	VERB
ap-526	6	32	spaces	space	NOUN
ap-526	6	33	in	in	ADP
ap-526	6	34	buildings	building	NOUN
ap-526	6	35	,	,	PUNCT
ap-526	6	36	installations	installation	NOUN
ap-526	6	37	and	and	CCONJ
ap-526	6	38	large	large	ADJ
ap-526	6	39	machines	machine	NOUN
ap-526	6	40	.	.	PUNCT
ap-526	7	1	the	the	DET
ap-526	7	2	flight	flight	NOUN
ap-526	7	3	envelope	envelope	NOUN
ap-526	7	4	of	of	ADP
ap-526	7	5	mavs	mavs	PROPN
ap-526	7	6	requires	require	VERB
ap-526	7	7	high	high	ADJ
ap-526	7	8	agility	agility	NOUN
ap-526	7	9	(	(	PUNCT
ap-526	7	10	including	include	VERB
ap-526	7	11	hover	hover	NOUN
ap-526	7	12	)	)	PUNCT
ap-526	7	13	at	at	ADP
ap-526	7	14	low	low	ADJ
ap-526	7	15	speeds	speed	NOUN
ap-526	7	16	(	(	PUNCT
ap-526	7	17	1–2	1–2	NUM
ap-526	7	18	m	m	NOUN
ap-526	7	19	s	s	NOUN
ap-526	7	20	�	�	NOUN
ap-526	7	21	1	1	NUM
ap-526	7	22	)	)	PUNCT
ap-526	7	23	and	and	CCONJ
ap-526	7	24	silent	silent	ADJ
ap-526	7	25	flight	flight	NOUN
ap-526	7	26	,	,	PUNCT
ap-526	7	27	which	which	PRON
ap-526	7	28	is	be	AUX
ap-526	7	29	not	not	PART
ap-526	7	30	easily	easily	ADV
ap-526	7	31	met	meet	VERB
ap-526	7	32	by	by	ADP
ap-526	7	33	scaled	scale	VERB
ap-526	7	34	-	-	PUNCT
ap-526	7	35	down	down	ADP
ap-526	7	36	fixed	fix	VERB
ap-526	7	37	or	or	CCONJ
ap-526	7	38	rotary	rotary	ADJ
ap-526	7	39	wing	wing	NOUN
ap-526	7	40	aircraft	aircraft	NOUN
ap-526	7	41	.	.	PUNCT
ap-526	8	1	however	however	ADV
ap-526	8	2	,	,	PUNCT
ap-526	8	3	insect	insect	NOUN
ap-526	8	4	-	-	PUNCT
ap-526	8	5	like	like	ADJ
ap-526	8	6	wing	wing	NOUN
ap-526	8	7	-	-	PUNCT
ap-526	8	8	flapping	flap	VERB
ap-526	8	9	flight	flight	NOUN
ap-526	8	10	would	would	AUX
ap-526	8	11	appear	appear	VERB
ap-526	8	12	to	to	PART
ap-526	8	13	be	be	AUX
ap-526	8	14	very	very	ADV
ap-526	8	15	suitable	suitable	ADJ
ap-526	8	16	for	for	ADP
ap-526	8	17	such	such	ADJ
ap-526	8	18	applications	application	NOUN
ap-526	8	19	requiring	require	VERB
ap-526	8	20	highly	highly	ADV
ap-526	8	21	manoeuvrable	manoeuvrable	ADJ
ap-526	8	22	flight	flight	NOUN
ap-526	8	23	through	through	ADP
ap-526	8	24	confined	confine	VERB
ap-526	8	25	spaces	space	NOUN
ap-526	8	26	.	.	PUNCT
ap-526	9	1	very	very	ADV
ap-526	9	2	recently	recently	ADV
ap-526	9	3	,	,	PUNCT
ap-526	9	4	it	it	PRON
ap-526	9	5	has	have	AUX
ap-526	9	6	been	be	AUX
ap-526	9	7	recognized	recognize	VERB
ap-526	9	8	that	that	SCONJ
ap-526	9	9	flapping	flap	VERB
ap-526	9	10	wing	wing	NOUN
ap-526	9	11	propulsion	propulsion	NOUN
ap-526	9	12	can	can	AUX
ap-526	9	13	be	be	AUX
ap-526	9	14	more	more	ADV
ap-526	9	15	efficient	efficient	ADJ
ap-526	9	16	than	than	ADP
ap-526	9	17	conventional	conventional	ADJ
ap-526	9	18	propellers	propeller	NOUN
ap-526	9	19	if	if	SCONJ
ap-526	9	20	applied	apply	VERB
ap-526	9	21	to	to	ADP
ap-526	9	22	mavs	mavs	PROPN
ap-526	9	23	,	,	PUNCT
ap-526	9	24	because	because	SCONJ
ap-526	9	25	of	of	ADP
ap-526	9	26	the	the	DET
ap-526	9	27	very	very	ADV
ap-526	9	28	small	small	ADJ
ap-526	9	29	reynolds	reynold	NOUN
ap-526	9	30	numbers	number	NOUN
ap-526	9	31	encountered	encounter	VERB
ap-526	9	32	on	on	ADP
ap-526	9	33	such	such	ADJ
ap-526	9	34	vehicles	vehicle	NOUN
ap-526	9	35	.	.	PUNCT
ap-526	10	1	flapping	flap	VERB
ap-526	10	2	flight	flight	NOUN
ap-526	10	3	is	be	AUX
ap-526	10	4	more	more	ADV
ap-526	10	5	complicated	complicated	ADJ
ap-526	10	6	than	than	ADP
ap-526	10	7	flight	flight	NOUN
ap-526	10	8	with	with	ADP
ap-526	10	9	fixed	fix	VERB
ap-526	10	10	or	or	CCONJ
ap-526	10	11	rotating	rotate	VERB
ap-526	10	12	wings	wing	NOUN
ap-526	10	13	.	.	PUNCT
ap-526	11	1	the	the	DET
ap-526	11	2	key	key	NOUN
ap-526	11	3	to	to	PART
ap-526	11	4	understand	understand	VERB
ap-526	11	5	the	the	DET
ap-526	11	6	mechanisms	mechanism	NOUN
ap-526	11	7	of	of	ADP
ap-526	11	8	flapping	flap	VERB
ap-526	11	9	flight	flight	NOUN
ap-526	11	10	is	be	AUX
ap-526	11	11	adequate	adequate	ADJ
ap-526	11	12	physical	physical	ADJ
ap-526	11	13	and	and	CCONJ
ap-526	11	14	mathematical	mathematical	ADJ
ap-526	11	15	modeling	modeling	NOUN
ap-526	11	16	.	.	PUNCT
ap-526	12	1	animal	animal	NOUN
ap-526	12	2	propulsion	propulsion	NOUN
ap-526	12	3	by	by	ADP
ap-526	12	4	means	mean	NOUN
ap-526	12	5	of	of	ADP
ap-526	12	6	flapping	flap	VERB
ap-526	12	7	wings	wing	NOUN
ap-526	12	8	was	be	AUX
ap-526	12	9	the	the	DET
ap-526	12	10	focus	focus	NOUN
ap-526	12	11	of	of	ADP
ap-526	12	12	considerable	considerable	ADJ
ap-526	12	13	interest	interest	NOUN
ap-526	12	14	in	in	ADP
ap-526	12	15	the	the	DET
ap-526	12	16	late	late	ADJ
ap-526	12	17	1990s	1990	NOUN
ap-526	12	18	.	.	PUNCT
ap-526	13	1	this	this	PRON
ap-526	13	2	is	be	AUX
ap-526	13	3	due	due	ADJ
ap-526	13	4	to	to	ADP
ap-526	13	5	the	the	DET
ap-526	13	6	relatively	relatively	ADV
ap-526	13	7	high	high	ADJ
ap-526	13	8	efficiency	efficiency	NOUN
ap-526	13	9	obtainable	obtainable	ADJ
ap-526	13	10	by	by	ADP
ap-526	13	11	such	such	ADJ
ap-526	13	12	mode	mode	NOUN
ap-526	13	13	of	of	ADP
ap-526	13	14	flight	flight	NOUN
ap-526	13	15	.	.	PUNCT
ap-526	14	1	flapping	flap	VERB
ap-526	14	2	flight	flight	NOUN
ap-526	14	3	for	for	ADP
ap-526	14	4	micro	micro	NOUN
ap-526	14	5	-	-	NOUN
ap-526	14	6	robots	robot	NOUN
ap-526	14	7	(	(	PUNCT
ap-526	14	8	known	know	VERB
ap-526	14	9	also	also	ADV
ap-526	14	10	as	as	ADP
ap-526	14	11	mavs	mavs	PROPN
ap-526	14	12	or	or	CCONJ
ap-526	14	13	micro	micro	NOUN
ap-526	14	14	-	-	NOUN
ap-526	14	15	flyers	flyer	NOUN
ap-526	14	16	)	)	PUNCT
ap-526	14	17	is	be	AUX
ap-526	14	18	not	not	PART
ap-526	14	19	only	only	ADV
ap-526	14	20	an	an	DET
ap-526	14	21	intriguing	intriguing	ADJ
ap-526	14	22	mode	mode	NOUN
ap-526	14	23	of	of	ADP
ap-526	14	24	locomotion	locomotion	NOUN
ap-526	14	25	but	but	CCONJ
ap-526	14	26	provides	provide	VERB
ap-526	14	27	manoeuvrability	manoeuvrability	NOUN
ap-526	14	28	not	not	PART
ap-526	14	29	obtainable	obtainable	ADJ
ap-526	14	30	with	with	ADP
ap-526	14	31	fixed	fix	VERB
ap-526	14	32	or	or	CCONJ
ap-526	14	33	even	even	ADV
ap-526	14	34	rotary	rotary	ADJ
ap-526	14	35	wing	wing	NOUN
ap-526	14	36	aircraft	aircraft	NOUN
ap-526	14	37	.	.	PUNCT
ap-526	15	1	the	the	DET
ap-526	15	2	mav	mav	PROPN
ap-526	15	3	is	be	AUX
ap-526	15	4	comparable	comparable	ADJ
ap-526	15	5	on	on	ADP
ap-526	15	6	size	size	NOUN
ap-526	15	7	with	with	ADP
ap-526	15	8	small	small	ADJ
ap-526	15	9	birds	bird	NOUN
ap-526	15	10	and	and	CCONJ
ap-526	15	11	large	large	ADJ
ap-526	15	12	insects	insect	NOUN
ap-526	15	13	.	.	PUNCT
ap-526	16	1	in	in	ADP
ap-526	16	2	order	order	NOUN
ap-526	16	3	to	to	PART
ap-526	16	4	obtain	obtain	VERB
ap-526	16	5	satisfactory	satisfactory	ADJ
ap-526	16	6	explanation	explanation	NOUN
ap-526	16	7	of	of	ADP
ap-526	16	8	animal	animal	NOUN
ap-526	16	9	flight	flight	NOUN
ap-526	16	10	features	feature	NOUN
ap-526	16	11	,	,	PUNCT
ap-526	16	12	it	it	PRON
ap-526	16	13	is	be	AUX
ap-526	16	14	necessary	necessary	ADJ
ap-526	16	15	to	to	PART
ap-526	16	16	create	create	VERB
ap-526	16	17	adequate	adequate	ADJ
ap-526	16	18	physical	physical	ADJ
ap-526	16	19	,	,	PUNCT
ap-526	16	20	mathematical	mathematical	ADJ
ap-526	16	21	and	and	CCONJ
ap-526	16	22	computational	computational	ADJ
ap-526	16	23	models	model	NOUN
ap-526	16	24	.	.	PUNCT
ap-526	17	1	the	the	DET
ap-526	17	2	key	key	NOUN
ap-526	17	3	to	to	ADP
ap-526	17	4	this	this	PRON
ap-526	17	5	is	be	AUX
ap-526	17	6	to	to	PART
ap-526	17	7	understand	understand	VERB
ap-526	17	8	how	how	SCONJ
ap-526	17	9	the	the	DET
ap-526	17	10	complex	complex	ADJ
ap-526	17	11	motions	motion	NOUN
ap-526	17	12	of	of	ADP
ap-526	17	13	animal	animal	NOUN
ap-526	17	14	wings	wing	NOUN
ap-526	17	15	generate	generate	VERB
ap-526	17	16	aerodynamic	aerodynamic	ADJ
ap-526	17	17	forces	force	NOUN
ap-526	17	18	.	.	PUNCT
ap-526	18	1	however	however	ADV
ap-526	18	2	,	,	PUNCT
ap-526	18	3	very	very	ADV
ap-526	18	4	little	little	ADJ
ap-526	18	5	is	be	AUX
ap-526	18	6	still	still	ADV
ap-526	18	7	known	know	VERB
ap-526	18	8	about	about	ADP
ap-526	18	9	the	the	DET
ap-526	18	10	flight	flight	NOUN
ap-526	18	11	dynamics	dynamic	NOUN
ap-526	18	12	and	and	CCONJ
ap-526	18	13	automatic	automatic	ADJ
ap-526	18	14	control	control	NOUN
ap-526	18	15	of	of	ADP
ap-526	18	16	flying	fly	VERB
ap-526	18	17	micro	micro	NOUN
ap-526	18	18	-	-	NOUN
ap-526	18	19	robots	robot	NOUN
ap-526	18	20	.	.	PUNCT
ap-526	19	1	the	the	DET
ap-526	19	2	unconventional	unconventional	ADJ
ap-526	19	3	aerodynamic	aerodynamic	ADJ
ap-526	19	4	concept	concept	NOUN
ap-526	19	5	associated	associate	VERB
ap-526	19	6	with	with	ADP
ap-526	19	7	mavs	mavs	PROPN
ap-526	19	8	deserves	deserve	VERB
ap-526	19	9	a	a	DET
ap-526	19	10	more	more	ADV
ap-526	19	11	detailed	detailed	ADJ
ap-526	19	12	explanation	explanation	NOUN
ap-526	19	13	.	.	PUNCT
ap-526	20	1	insects	insect	NOUN
ap-526	20	2	fly	fly	VERB
ap-526	20	3	by	by	ADP
ap-526	20	4	oscillating	oscillate	VERB
ap-526	20	5	(	(	PUNCT
ap-526	20	6	frequency	frequency	NOUN
ap-526	20	7	range	range	NOUN
ap-526	20	8	:	:	PUNCT
ap-526	20	9	5–200	5–200	NUM
ap-526	20	10	hz	hz	VERB
ap-526	20	11	)	)	PUNCT
ap-526	20	12	and	and	CCONJ
ap-526	20	13	rotating	rotate	VERB
ap-526	20	14	their	their	PRON
ap-526	20	15	wings	wing	NOUN
ap-526	20	16	through	through	ADP
ap-526	20	17	large	large	ADJ
ap-526	20	18	angles	angle	NOUN
ap-526	20	19	,	,	PUNCT
ap-526	20	20	which	which	PRON
ap-526	20	21	is	be	AUX
ap-526	20	22	possible	possible	ADJ
ap-526	20	23	because	because	SCONJ
ap-526	20	24	their	their	PRON
ap-526	20	25	wing	wing	NOUN
ap-526	20	26	articulation	articulation	NOUN
ap-526	20	27	is	be	AUX
ap-526	20	28	not	not	PART
ap-526	20	29	limited	limit	VERB
ap-526	20	30	by	by	ADP
ap-526	20	31	an	an	DET
ap-526	20	32	internal	internal	ADJ
ap-526	20	33	skeleton	skeleton	NOUN
ap-526	20	34	.	.	PUNCT
ap-526	21	1	the	the	DET
ap-526	21	2	wing	wing	NOUN
ap-526	21	3	beat	beat	NOUN
ap-526	21	4	cycle	cycle	NOUN
ap-526	21	5	can	can	AUX
ap-526	21	6	be	be	AUX
ap-526	21	7	divided	divide	VERB
ap-526	21	8	into	into	ADP
ap-526	21	9	two	two	NUM
ap-526	21	10	distinct	distinct	ADJ
ap-526	21	11	phases	phase	NOUN
ap-526	21	12	,	,	PUNCT
ap-526	21	13	the	the	DET
ap-526	21	14	downstroke	downstroke	NOUN
ap-526	21	15	and	and	CCONJ
ap-526	21	16	the	the	DET
ap-526	21	17	upstroke	upstroke	PROPN
ap-526	21	18	.	.	PUNCT
ap-526	22	1	at	at	ADP
ap-526	22	2	the	the	DET
ap-526	22	3	beginning	beginning	NOUN
ap-526	22	4	of	of	ADP
ap-526	22	5	downstroke	downstroke	VERB
ap-526	22	6	the	the	DET
ap-526	22	7	wing	wing	NOUN
ap-526	22	8	(	(	PUNCT
ap-526	22	9	as	as	SCONJ
ap-526	22	10	seen	see	VERB
ap-526	22	11	from	from	ADP
ap-526	22	12	the	the	DET
ap-526	22	13	front	front	NOUN
ap-526	22	14	of	of	ADP
ap-526	22	15	the	the	DET
ap-526	22	16	insect	insect	NOUN
ap-526	22	17	)	)	PUNCT
ap-526	22	18	is	be	AUX
ap-526	22	19	in	in	ADP
ap-526	22	20	the	the	DET
ap-526	22	21	uppermost	uppermost	ADJ
ap-526	22	22	position	position	NOUN
ap-526	22	23	with	with	ADP
ap-526	22	24	the	the	DET
ap-526	22	25	leading	lead	VERB
ap-526	22	26	edge	edge	NOUN
ap-526	22	27	pointing	point	VERB
ap-526	22	28	forward	forward	ADV
ap-526	22	29	.	.	PUNCT
ap-526	23	1	the	the	DET
ap-526	23	2	wing	wing	NOUN
ap-526	23	3	is	be	AUX
ap-526	23	4	then	then	ADV
ap-526	23	5	pushed	push	VERB
ap-526	23	6	downwards	downwards	ADV
ap-526	23	7	and	and	CCONJ
ap-526	23	8	rotated	rotate	VERB
ap-526	23	9	continuously	continuously	ADV
ap-526	23	10	,	,	PUNCT
ap-526	23	11	resulting	result	VERB
ap-526	23	12	in	in	ADP
ap-526	23	13	large	large	ADJ
ap-526	23	14	changes	change	NOUN
ap-526	23	15	to	to	ADP
ap-526	23	16	the	the	DET
ap-526	23	17	angle	angle	NOUN
ap-526	23	18	of	of	ADP
ap-526	23	19	attack	attack	NOUN
ap-526	23	20	.	.	PUNCT
ap-526	24	1	at	at	ADP
ap-526	24	2	the	the	DET
ap-526	24	3	end	end	NOUN
ap-526	24	4	of	of	ADP
ap-526	24	5	the	the	DET
ap-526	24	6	downstroke	downstroke	NOUN
ap-526	24	7	the	the	DET
ap-526	24	8	wing	wing	NOUN
ap-526	24	9	is	be	AUX
ap-526	24	10	twisted	twist	VERB
ap-526	24	11	rapidly	rapidly	ADV
ap-526	24	12	so	so	SCONJ
ap-526	24	13	that	that	SCONJ
ap-526	24	14	the	the	DET
ap-526	24	15	leading	lead	VERB
ap-526	24	16	edge	edge	NOUN
ap-526	24	17	points	point	NOUN
ap-526	24	18	backwards	backwards	ADV
ap-526	24	19	,	,	PUNCT
ap-526	24	20	and	and	CCONJ
ap-526	24	21	the	the	DET
ap-526	24	22	upstroke	upstroke	NOUN
ap-526	24	23	begins	begin	VERB
ap-526	24	24	.	.	PUNCT
ap-526	25	1	during	during	ADP
ap-526	25	2	the	the	DET
ap-526	25	3	upstroke	upstroke	NOUN
ap-526	25	4	the	the	DET
ap-526	25	5	wing	wing	NOUN
ap-526	25	6	is	be	AUX
ap-526	25	7	pushed	push	VERB
ap-526	25	8	upwards	upwards	ADV
ap-526	25	9	and	and	CCONJ
ap-526	25	10	rotated	rotate	VERB
ap-526	25	11	again	again	ADV
ap-526	25	12	,	,	PUNCT
ap-526	25	13	changing	change	VERB
ap-526	25	14	the	the	DET
ap-526	25	15	angle	angle	NOUN
ap-526	25	16	of	of	ADP
ap-526	25	17	attack	attack	NOUN
ap-526	25	18	throughout	throughout	ADP
ap-526	25	19	this	this	DET
ap-526	25	20	phase	phase	NOUN
ap-526	25	21	.	.	PUNCT
ap-526	26	1	at	at	ADP
ap-526	26	2	the	the	DET
ap-526	26	3	highest	high	ADJ
ap-526	26	4	point	point	NOUN
ap-526	26	5	the	the	DET
ap-526	26	6	wing	wing	NOUN
ap-526	26	7	is	be	AUX
ap-526	26	8	twisted	twisted	ADJ
ap-526	26	9	,	,	PUNCT
ap-526	26	10	so	so	SCONJ
ap-526	26	11	that	that	SCONJ
ap-526	26	12	the	the	DET
ap-526	26	13	leading	lead	VERB
ap-526	26	14	edge	edge	NOUN
ap-526	26	15	is	be	AUX
ap-526	26	16	pointing	point	VERB
ap-526	26	17	forwards	forwards	ADV
ap-526	26	18	again	again	ADV
ap-526	26	19	,	,	PUNCT
ap-526	26	20	and	and	CCONJ
ap-526	26	21	the	the	DET
ap-526	26	22	next	next	ADJ
ap-526	26	23	downstroke	downstroke	NOUN
ap-526	26	24	begins	begin	VERB
ap-526	26	25	.	.	PUNCT
ap-526	27	1	another	another	DET
ap-526	27	2	important	important	ADJ
ap-526	27	3	problem	problem	NOUN
ap-526	27	4	is	be	AUX
ap-526	27	5	the	the	DET
ap-526	27	6	control	control	NOUN
ap-526	27	7	of	of	ADP
ap-526	27	8	motion	motion	NOUN
ap-526	27	9	.	.	PUNCT
ap-526	28	1	stabilising	stabilise	VERB
ap-526	28	2	control	control	NOUN
ap-526	28	3	is	be	AUX
ap-526	28	4	made	make	VERB
ap-526	28	5	difficult	difficult	ADJ
ap-526	28	6	because	because	SCONJ
ap-526	28	7	the	the	DET
ap-526	28	8	wings	wing	NOUN
ap-526	28	9	do	do	AUX
ap-526	28	10	not	not	PART
ap-526	28	11	have	have	VERB
ap-526	28	12	typical	typical	ADJ
ap-526	28	13	control	control	NOUN
ap-526	28	14	surfaces	surface	NOUN
ap-526	28	15	such	such	ADJ
ap-526	28	16	as	as	ADP
ap-526	28	17	ailerons	aileron	NOUN
ap-526	28	18	.	.	PUNCT
ap-526	29	1	influence	influence	NOUN
ap-526	29	2	on	on	ADP
ap-526	29	3	the	the	DET
ap-526	29	4	motion	motion	NOUN
ap-526	29	5	is	be	AUX
ap-526	29	6	possible	possible	ADJ
ap-526	29	7	only	only	ADV
ap-526	29	8	through	through	ADP
ap-526	29	9	changing	change	VERB
ap-526	29	10	the	the	DET
ap-526	29	11	amplitudes	amplitude	NOUN
ap-526	29	12	and	and	CCONJ
ap-526	29	13	frequencies	frequency	NOUN
ap-526	29	14	of	of	ADP
ap-526	29	15	flapping	flapping	NOUN
ap-526	29	16	,	,	PUNCT
ap-526	29	17	lagging	lagging	NOUN
ap-526	29	18	,	,	PUNCT
ap-526	29	19	and	and	CCONJ
ap-526	29	20	feathering	feathering	NOUN
ap-526	29	21	of	of	ADP
ap-526	29	22	wings	wing	NOUN
ap-526	29	23	.	.	PUNCT
ap-526	30	1	the	the	DET
ap-526	30	2	thrust	thrust	NOUN
ap-526	30	3	of	of	ADP
ap-526	30	4	an	an	DET
ap-526	30	5	entomopter	entomopter	NOUN
ap-526	30	6	depends	depend	VERB
ap-526	30	7	on	on	ADP
ap-526	30	8	the	the	DET
ap-526	30	9	local	local	ADJ
ap-526	30	10	angles	angle	NOUN
ap-526	30	11	of	of	ADP
ap-526	30	12	attack	attack	NOUN
ap-526	30	13	,	,	PUNCT
ap-526	30	14	and	and	CCONJ
ap-526	30	15	these	these	PRON
ap-526	30	16	depend	depend	VERB
ap-526	30	17	on	on	ADP
ap-526	30	18	the	the	DET
ap-526	30	19	parameters	parameter	NOUN
ap-526	30	20	of	of	ADP
ap-526	30	21	flapping	flap	VERB
ap-526	30	22	and	and	CCONJ
ap-526	30	23	feathering	feathering	NOUN
ap-526	30	24	.	.	PUNCT
ap-526	31	1	in	in	ADP
ap-526	31	2	forward	forward	ADJ
ap-526	31	3	flight	flight	NOUN
ap-526	31	4	the	the	DET
ap-526	31	5	downstroke	downstroke	NOUN
ap-526	31	6	lasts	last	VERB
ap-526	31	7	longer	long	ADV
ap-526	31	8	than	than	ADP
ap-526	31	9	the	the	DET
ap-526	31	10	upstroke	upstroke	NOUN
ap-526	31	11	,	,	PUNCT
ap-526	31	12	because	because	SCONJ
ap-526	31	13	of	of	ADP
ap-526	31	14	the	the	DET
ap-526	31	15	need	need	NOUN
ap-526	31	16	to	to	PART
ap-526	31	17	generate	generate	VERB
ap-526	31	18	thrust	thrust	NOUN
ap-526	31	19	in	in	ADP
ap-526	31	20	addition	addition	NOUN
ap-526	31	21	to	to	AUX
ap-526	31	22	lift	lift	VERB
ap-526	31	23	.	.	PUNCT
ap-526	32	1	in	in	ADP
ap-526	32	2	the	the	DET
ap-526	32	3	hover	hover	NOUN
ap-526	32	4	,	,	PUNCT
ap-526	32	5	where	where	SCONJ
ap-526	32	6	lift	lift	NOUN
ap-526	32	7	only	only	ADV
ap-526	32	8	is	be	AUX
ap-526	32	9	required	require	VERB
ap-526	32	10	,	,	PUNCT
ap-526	32	11	the	the	DET
ap-526	32	12	two	two	NUM
ap-526	32	13	strokes	stroke	NOUN
ap-526	32	14	are	be	AUX
ap-526	32	15	of	of	ADP
ap-526	32	16	equal	equal	ADJ
ap-526	32	17	duration	duration	NOUN
ap-526	32	18	.	.	PUNCT
ap-526	33	1	this	this	DET
ap-526	33	2	mode	mode	NOUN
ap-526	33	3	of	of	ADP
ap-526	33	4	flying	flying	NOUN
ap-526	33	5	relies	relie	NOUN
ap-526	33	6	on	on	ADP
ap-526	33	7	unsteady	unsteady	ADJ
ap-526	33	8	aerodynamics	aerodynamic	NOUN
ap-526	33	9	[	[	X
ap-526	33	10	1	1	NUM
ap-526	33	11	]	]	PUNCT
ap-526	33	12	,	,	PUNCT
ap-526	33	13	producing	produce	VERB
ap-526	33	14	high	high	ADJ
ap-526	33	15	lift	lift	NOUN
ap-526	33	16	coefficients	coefficient	NOUN
ap-526	33	17	(	(	PUNCT
ap-526	33	18	peak	peak	NOUN
ap-526	33	19	cl	cl	NOUN
ap-526	33	20	of	of	ADP
ap-526	33	21	the	the	DET
ap-526	33	22	order	order	NOUN
ap-526	33	23	of	of	ADP
ap-526	33	24	3	3	NUM
ap-526	33	25	is	be	AUX
ap-526	33	26	typical	typical	ADJ
ap-526	33	27	[	[	X
ap-526	33	28	1	1	NUM
ap-526	33	29	,	,	PUNCT
ap-526	33	30	2	2	NUM
ap-526	33	31	,	,	PUNCT
ap-526	33	32	3	3	NUM
ap-526	33	33	]	]	NUM
ap-526	33	34	)	)	PUNCT
ap-526	33	35	,	,	PUNCT
ap-526	33	36	and	and	CCONJ
ap-526	33	37	excellent	excellent	ADJ
ap-526	33	38	manoeuvrability	manoeuvrability	NOUN
ap-526	33	39	.	.	PUNCT
ap-526	34	1	the	the	DET
ap-526	34	2	unsteady	unsteady	ADJ
ap-526	34	3	mechanism	mechanism	NOUN
ap-526	34	4	varies	vary	VERB
ap-526	34	5	with	with	ADP
ap-526	34	6	different	different	ADJ
ap-526	34	7	insects	insect	NOUN
ap-526	34	8	,	,	PUNCT
ap-526	34	9	©	©	PROPN
ap-526	34	10	czech	czech	PROPN
ap-526	34	11	technical	technical	PROPN
ap-526	34	12	university	university	PROPN
ap-526	34	13	publishing	publishing	NOUN
ap-526	34	14	house	house	NOUN
ap-526	34	15	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-526	34	16	15	15	NUM
ap-526	34	17	acta	acta	PROPN
ap-526	34	18	polytechnica	polytechnica	PROPN
ap-526	34	19	vol	vol	NOUN
ap-526	34	20	.	.	PROPN
ap-526	35	1	44	44	NUM
ap-526	35	2	no	no	NOUN
ap-526	35	3	.	.	PUNCT
ap-526	36	1	2/2004	2/2004	NUM
ap-526	36	2	dynamics	dynamic	NOUN
ap-526	36	3	of	of	ADP
ap-526	36	4	micro	micro	NOUN
ap-526	36	5	-	-	NOUN
ap-526	36	6	air	air	NOUN
ap-526	36	7	-	-	PUNCT
ap-526	36	8	vehicle	vehicle	NOUN
ap-526	36	9	with	with	ADP
ap-526	36	10	flapping	flap	VERB
ap-526	36	11	wings	wing	NOUN
ap-526	36	12	k.	k.	PROPN
ap-526	36	13	sibilski	sibilski	VERB
ap-526	36	14	small	small	ADJ
ap-526	36	15	(	(	PUNCT
ap-526	36	16	approximately	approximately	ADV
ap-526	36	17	6	6	NUM
ap-526	36	18	inch	inch	NOUN
ap-526	36	19	long	long	ADV
ap-526	36	20	,	,	PUNCT
ap-526	36	21	or	or	CCONJ
ap-526	36	22	hand	hand	NOUN
ap-526	36	23	-	-	PUNCT
ap-526	36	24	held	hold	VERB
ap-526	36	25	)	)	PUNCT
ap-526	36	26	reconnaissance	reconnaissance	NOUN
ap-526	36	27	micro	micro	ADJ
ap-526	36	28	air	air	NOUN
ap-526	36	29	vehicles	vehicle	NOUN
ap-526	36	30	(	(	PUNCT
ap-526	36	31	mavs	mavs	PROPN
ap-526	36	32	)	)	PUNCT
ap-526	36	33	will	will	AUX
ap-526	36	34	fly	fly	VERB
ap-526	36	35	inside	inside	ADP
ap-526	36	36	buildings	building	NOUN
ap-526	36	37	,	,	PUNCT
ap-526	36	38	and	and	CCONJ
ap-526	36	39	require	require	VERB
ap-526	36	40	hover	hover	NOUN
ap-526	36	41	for	for	ADP
ap-526	36	42	observation	observation	NOUN
ap-526	36	43	,	,	PUNCT
ap-526	36	44	and	and	CCONJ
ap-526	36	45	agility	agility	NOUN
ap-526	36	46	at	at	ADP
ap-526	36	47	low	low	ADJ
ap-526	36	48	speeds	speed	NOUN
ap-526	36	49	to	to	PART
ap-526	36	50	move	move	VERB
ap-526	36	51	in	in	ADP
ap-526	36	52	confined	confine	VERB
ap-526	36	53	spaces	space	NOUN
ap-526	36	54	.	.	PUNCT
ap-526	37	1	for	for	ADP
ap-526	37	2	this	this	DET
ap-526	37	3	flight	flight	NOUN
ap-526	37	4	envelope	envelope	NOUN
ap-526	37	5	insect	insect	NOUN
ap-526	37	6	-	-	PUNCT
ap-526	37	7	like	like	ADJ
ap-526	37	8	flapping	flap	VERB
ap-526	37	9	wings	wing	NOUN
ap-526	37	10	seem	seem	VERB
ap-526	37	11	to	to	PART
ap-526	37	12	be	be	AUX
ap-526	37	13	an	an	DET
ap-526	37	14	optimal	optimal	ADJ
ap-526	37	15	mode	mode	NOUN
ap-526	37	16	of	of	ADP
ap-526	37	17	flying	fly	VERB
ap-526	37	18	.	.	PUNCT
ap-526	38	1	investigation	investigation	NOUN
ap-526	38	2	of	of	ADP
ap-526	38	3	the	the	DET
ap-526	38	4	aerodynamics	aerodynamic	NOUN
ap-526	38	5	of	of	ADP
ap-526	38	6	flapping	flap	VERB
ap-526	38	7	wing	wing	NOUN
ap-526	38	8	mavs	mavs	PROPN
ap-526	38	9	is	be	AUX
ap-526	38	10	very	very	ADV
ap-526	38	11	challenging	challenging	ADJ
ap-526	38	12	.	.	PUNCT
ap-526	39	1	the	the	DET
ap-526	39	2	problem	problem	NOUN
ap-526	39	3	involves	involve	VERB
ap-526	39	4	complex	complex	ADJ
ap-526	39	5	unsteady	unsteady	ADJ
ap-526	39	6	,	,	PUNCT
ap-526	39	7	viscous	viscous	ADJ
ap-526	39	8	flow	flow	NOUN
ap-526	39	9	(	(	PUNCT
ap-526	39	10	mainly	mainly	ADV
ap-526	39	11	laminar	laminar	ADJ
ap-526	39	12	)	)	PUNCT
ap-526	39	13	,	,	PUNCT
ap-526	39	14	with	with	ADP
ap-526	39	15	the	the	DET
ap-526	39	16	moving	move	VERB
ap-526	39	17	wing	wing	NOUN
ap-526	39	18	generating	generating	NOUN
ap-526	39	19	vortices	vortex	NOUN
ap-526	39	20	and	and	CCONJ
ap-526	39	21	interacting	interact	VERB
ap-526	39	22	with	with	ADP
ap-526	39	23	them	they	PRON
ap-526	39	24	.	.	PUNCT
ap-526	40	1	at	at	ADP
ap-526	40	2	this	this	DET
ap-526	40	3	early	early	ADJ
ap-526	40	4	stage	stage	NOUN
ap-526	40	5	of	of	ADP
ap-526	40	6	research	research	NOUN
ap-526	40	7	only	only	ADV
ap-526	40	8	a	a	DET
ap-526	40	9	preliminary	preliminary	ADJ
ap-526	40	10	insight	insight	NOUN
ap-526	40	11	into	into	ADP
ap-526	40	12	the	the	DET
ap-526	40	13	nature	nature	NOUN
ap-526	40	14	of	of	ADP
ap-526	40	15	the	the	DET
ap-526	40	16	little	little	ADJ
ap-526	40	17	known	know	VERB
ap-526	40	18	aerodynamics	aerodynamic	NOUN
ap-526	40	19	of	of	ADP
ap-526	40	20	mavs	mavs	PROPN
ap-526	40	21	has	have	AUX
ap-526	40	22	been	be	AUX
ap-526	40	23	obtained	obtain	VERB
ap-526	40	24	.	.	PUNCT
ap-526	41	1	this	this	DET
ap-526	41	2	paper	paper	NOUN
ap-526	41	3	describes	describe	VERB
ap-526	41	4	computational	computational	ADJ
ap-526	41	5	models	model	NOUN
ap-526	41	6	for	for	ADP
ap-526	41	7	simulation	simulation	NOUN
ap-526	41	8	of	of	ADP
ap-526	41	9	the	the	DET
ap-526	41	10	controlled	control	VERB
ap-526	41	11	motion	motion	NOUN
ap-526	41	12	of	of	ADP
ap-526	41	13	a	a	DET
ap-526	41	14	microelectromechanical	microelectromechanical	ADJ
ap-526	41	15	flying	fly	VERB
ap-526	41	16	insect	insect	NOUN
ap-526	41	17	–	–	PUNCT
ap-526	41	18	entomopter	entomopter	ADV
ap-526	41	19	.	.	PUNCT
ap-526	42	1	the	the	DET
ap-526	42	2	design	design	NOUN
ap-526	42	3	of	of	ADP
ap-526	42	4	software	software	NOUN
ap-526	42	5	simulation	simulation	NOUN
ap-526	42	6	for	for	ADP
ap-526	42	7	entomopter	entomopter	NOUN
ap-526	42	8	flight	flight	NOUN
ap-526	42	9	(	(	PUNCT
ap-526	42	10	ssef	ssef	PROPN
ap-526	42	11	)	)	PUNCT
ap-526	42	12	is	be	AUX
ap-526	42	13	presented	present	VERB
ap-526	42	14	.	.	PUNCT
ap-526	43	1	in	in	ADP
ap-526	43	2	particular	particular	ADJ
ap-526	43	3	,	,	PUNCT
ap-526	43	4	we	we	PRON
ap-526	43	5	will	will	AUX
ap-526	43	6	estimate	estimate	VERB
ap-526	43	7	the	the	DET
ap-526	43	8	flight	flight	NOUN
ap-526	43	9	control	control	NOUN
ap-526	43	10	algorithms	algorithm	NOUN
ap-526	43	11	and	and	CCONJ
ap-526	43	12	performance	performance	NOUN
ap-526	43	13	for	for	ADP
ap-526	43	14	a	a	DET
ap-526	43	15	micromechanical	micromechanical	ADJ
ap-526	43	16	flying	fly	VERB
ap-526	43	17	insect	insect	NOUN
ap-526	43	18	(	(	PUNCT
ap-526	43	19	mfi	mfi	PROPN
ap-526	43	20	)	)	PUNCT
ap-526	43	21	,	,	PUNCT
ap-526	43	22	a	a	DET
ap-526	43	23	80–100	80–100	NUM
ap-526	43	24	mm	mm	INTJ
ap-526	43	25	(	(	PUNCT
ap-526	43	26	wingtip	wingtip	NOUN
ap-526	43	27	-	-	PUNCT
ap-526	43	28	to	to	ADP
ap-526	43	29	-	-	PUNCT
ap-526	43	30	wingtip	wingtip	NOUN
ap-526	43	31	)	)	PUNCT
ap-526	43	32	device	device	NOUN
ap-526	43	33	capable	capable	ADJ
ap-526	43	34	of	of	ADP
ap-526	43	35	sustained	sustained	ADJ
ap-526	43	36	autonomous	autonomous	ADJ
ap-526	43	37	flight	flight	NOUN
ap-526	43	38	.	.	PUNCT
ap-526	44	1	the	the	DET
ap-526	44	2	ssef	ssef	PROPN
ap-526	44	3	is	be	AUX
ap-526	44	4	an	an	DET
ap-526	44	5	end	end	NOUN
ap-526	44	6	-	-	PUNCT
ap-526	44	7	to	to	ADP
ap-526	44	8	-	-	PUNCT
ap-526	44	9	end	end	NOUN
ap-526	44	10	tool	tool	NOUN
ap-526	44	11	composed	compose	VERB
ap-526	44	12	of	of	ADP
ap-526	44	13	several	several	ADJ
ap-526	44	14	modular	modular	ADJ
ap-526	44	15	blocks	block	NOUN
ap-526	44	16	which	which	PRON
ap-526	44	17	model	model	VERB
ap-526	44	18	the	the	DET
ap-526	44	19	wing	wing	NOUN
ap-526	44	20	aerodynamics	aerodynamic	NOUN
ap-526	44	21	and	and	CCONJ
ap-526	44	22	dynamics	dynamic	NOUN
ap-526	44	23	,	,	PUNCT
ap-526	44	24	the	the	DET
ap-526	44	25	body	body	NOUN
ap-526	44	26	dynamics	dynamic	NOUN
ap-526	44	27	,	,	PUNCT
ap-526	44	28	and	and	CCONJ
ap-526	44	29	in	in	ADP
ap-526	44	30	the	the	DET
ap-526	44	31	future	future	NOUN
ap-526	44	32	,	,	PUNCT
ap-526	44	33	the	the	DET
ap-526	44	34	environment	environment	NOUN
ap-526	44	35	perception	perception	NOUN
ap-526	44	36	,	,	PUNCT
ap-526	44	37	control	control	NOUN
ap-526	44	38	algorithms	algorithm	NOUN
ap-526	44	39	,	,	PUNCT
ap-526	44	40	the	the	DET
ap-526	44	41	actuators	actuator	NOUN
ap-526	44	42	dynamics	dynamic	NOUN
ap-526	44	43	,	,	PUNCT
ap-526	44	44	and	and	CCONJ
ap-526	44	45	the	the	DET
ap-526	44	46	visual	visual	ADJ
ap-526	44	47	and	and	CCONJ
ap-526	44	48	inertial	inertial	ADJ
ap-526	44	49	sensors	sensor	NOUN
ap-526	44	50	.	.	PUNCT
ap-526	45	1	we	we	PRON
ap-526	45	2	present	present	VERB
ap-526	45	3	the	the	DET
ap-526	45	4	current	current	ADJ
ap-526	45	5	state	state	NOUN
ap-526	45	6	of	of	ADP
ap-526	45	7	the	the	DET
ap-526	45	8	art	art	NOUN
ap-526	45	9	of	of	ADP
ap-526	45	10	its	its	PRON
ap-526	45	11	implementation	implementation	NOUN
ap-526	45	12	,	,	PUNCT
ap-526	45	13	and	and	CCONJ
ap-526	45	14	preliminary	preliminary	ADJ
ap-526	45	15	results	result	NOUN
ap-526	45	16	.	.	PUNCT
ap-526	46	1	keywords	keyword	NOUN
ap-526	46	2	:	:	PUNCT
ap-526	46	3	micromechanical	micromechanical	ADJ
ap-526	46	4	flying	fly	VERB
ap-526	46	5	insect	insect	NOUN
ap-526	46	6	,	,	PUNCT
ap-526	46	7	entomopter	entomopter	NOUN
ap-526	46	8	aerodynamics	aerodynamic	NOUN
ap-526	46	9	,	,	PUNCT
ap-526	46	10	entomopter	entomopter	NOUN
ap-526	46	11	dynamics	dynamic	NOUN
ap-526	46	12	,	,	PUNCT
ap-526	46	13	insect	insect	NOUN
ap-526	46	14	flight	flight	NOUN
ap-526	46	15	,	,	PUNCT
ap-526	46	16	software	software	NOUN
ap-526	46	17	simulator	simulator	NOUN
ap-526	46	18	,	,	PUNCT
ap-526	46	19	insect	insect	NOUN
ap-526	46	20	aerodynamics	aerodynamic	NOUN
ap-526	46	21	,	,	PUNCT
ap-526	46	22	insect	insect	NOUN
ap-526	46	23	dynamics	dynamic	NOUN
ap-526	46	24	.	.	PUNCT
ap-526	47	1	the	the	DET
ap-526	47	2	most	most	ADV
ap-526	47	3	important	important	ADJ
ap-526	47	4	being	be	AUX
ap-526	47	5	a	a	DET
ap-526	47	6	bound	bind	VERB
ap-526	47	7	leading	leading	ADJ
ap-526	47	8	edge	edge	NOUN
ap-526	47	9	vortex	vortex	NOUN
ap-526	47	10	[	[	X
ap-526	47	11	4	4	NUM
ap-526	47	12	]	]	PUNCT
ap-526	47	13	.	.	PUNCT
ap-526	48	1	high	high	ADJ
ap-526	48	2	lift	lift	NOUN
ap-526	48	3	is	be	AUX
ap-526	48	4	a	a	DET
ap-526	48	5	major	major	ADJ
ap-526	48	6	factor	factor	NOUN
ap-526	48	7	in	in	ADP
ap-526	48	8	high	high	ADJ
ap-526	48	9	efficiency	efficiency	NOUN
ap-526	48	10	of	of	ADP
ap-526	48	11	the	the	DET
ap-526	48	12	mechanism	mechanism	NOUN
ap-526	48	13	:	:	PUNCT
ap-526	48	14	a	a	DET
ap-526	48	15	typical	typical	ADJ
ap-526	48	16	power	power	NOUN
ap-526	48	17	requirement	requirement	NOUN
ap-526	48	18	for	for	ADP
ap-526	48	19	insects	insect	NOUN
ap-526	48	20	is	be	AUX
ap-526	48	21	30	30	NUM
ap-526	48	22	w	w	NOUN
ap-526	48	23	/	/	SYM
ap-526	48	24	kg	kg	PROPN
ap-526	49	1	[	[	X
ap-526	49	2	2	2	NUM
ap-526	49	3	,	,	PUNCT
ap-526	49	4	11	11	NUM
ap-526	49	5	]	]	PUNCT
ap-526	49	6	,	,	PUNCT
ap-526	49	7	whereas	whereas	SCONJ
ap-526	49	8	small	small	ADJ
ap-526	49	9	,	,	PUNCT
ap-526	49	10	electrically	electrically	ADV
ap-526	49	11	-	-	PUNCT
ap-526	49	12	powered	power	VERB
ap-526	49	13	,	,	PUNCT
ap-526	49	14	propeller	propeller	NOUN
ap-526	49	15	-	-	PUNCT
ap-526	49	16	driven	drive	VERB
ap-526	49	17	,	,	PUNCT
ap-526	49	18	fixed	fix	VERB
ap-526	49	19	wing	wing	NOUN
ap-526	49	20	aircraft	aircraft	NOUN
ap-526	49	21	require	require	VERB
ap-526	49	22	about	about	ADV
ap-526	49	23	150	150	NUM
ap-526	49	24	w	w	PROPN
ap-526	49	25	/	/	SYM
ap-526	49	26	kg	kg	PROPN
ap-526	49	27	.	.	PUNCT
ap-526	50	1	insect	insect	NOUN
ap-526	50	2	wing	wing	NOUN
ap-526	50	3	flapping	flapping	NOUN
ap-526	50	4	occurs	occur	VERB
ap-526	50	5	in	in	ADP
ap-526	50	6	a	a	DET
ap-526	50	7	stroke	stroke	NOUN
ap-526	50	8	plane	plane	NOUN
ap-526	50	9	that	that	PRON
ap-526	50	10	generally	generally	ADV
ap-526	50	11	remains	remain	VERB
ap-526	50	12	at	at	ADP
ap-526	50	13	the	the	DET
ap-526	50	14	same	same	ADJ
ap-526	50	15	orientation	orientation	NOUN
ap-526	50	16	to	to	ADP
ap-526	50	17	the	the	DET
ap-526	50	18	body	body	NOUN
ap-526	50	19	,	,	PUNCT
ap-526	50	20	and	and	CCONJ
ap-526	50	21	may	may	AUX
ap-526	50	22	be	be	AUX
ap-526	50	23	horizontal	horizontal	ADJ
ap-526	50	24	or	or	CCONJ
ap-526	50	25	inclined	inclined	ADJ
ap-526	50	26	.	.	PUNCT
ap-526	51	1	rapid	rapid	ADJ
ap-526	51	2	rotations	rotation	NOUN
ap-526	51	3	occur	occur	VERB
ap-526	51	4	at	at	ADP
ap-526	51	5	each	each	DET
ap-526	51	6	end	end	NOUN
ap-526	51	7	of	of	ADP
ap-526	51	8	the	the	DET
ap-526	51	9	flapping	flap	VERB
ap-526	51	10	half	half	ADJ
ap-526	51	11	-	-	PUNCT
ap-526	51	12	stroke	stroke	NOUN
ap-526	51	13	.	.	PUNCT
ap-526	52	1	to	to	ADP
ap-526	52	2	a	a	DET
ap-526	52	3	first	first	ADJ
ap-526	52	4	approximation	approximation	NOUN
ap-526	52	5	,	,	PUNCT
ap-526	52	6	kinematic	kinematic	ADJ
ap-526	52	7	control	control	NOUN
ap-526	52	8	of	of	ADP
ap-526	52	9	insect	insect	NOUN
ap-526	52	10	flight	flight	NOUN
ap-526	52	11	manoeuvres	manoeuvre	NOUN
ap-526	52	12	is	be	AUX
ap-526	52	13	provided	provide	VERB
ap-526	52	14	by	by	ADP
ap-526	52	15	changes	change	NOUN
ap-526	52	16	in	in	ADP
ap-526	52	17	the	the	DET
ap-526	52	18	tilt	tilt	NOUN
ap-526	52	19	of	of	ADP
ap-526	52	20	the	the	DET
ap-526	52	21	stroke	stroke	NOUN
ap-526	52	22	plane	plane	NOUN
ap-526	52	23	,	,	PUNCT
ap-526	52	24	which	which	PRON
ap-526	52	25	is	be	AUX
ap-526	52	26	analogous	analogous	ADJ
ap-526	52	27	to	to	ADP
ap-526	52	28	helicopter	helicopter	NOUN
ap-526	52	29	control	control	NOUN
ap-526	52	30	.	.	PUNCT
ap-526	53	1	precise	precise	ADJ
ap-526	53	2	control	control	NOUN
ap-526	53	3	is	be	AUX
ap-526	53	4	achieved	achieve	VERB
ap-526	53	5	by	by	ADP
ap-526	53	6	including	include	VERB
ap-526	53	7	inter	inter	ADJ
ap-526	53	8	-	-	ADJ
ap-526	53	9	wing	wing	ADJ
ap-526	53	10	differences	difference	NOUN
ap-526	53	11	in	in	ADP
ap-526	53	12	the	the	DET
ap-526	53	13	magnitude	magnitude	NOUN
ap-526	53	14	of	of	ADP
ap-526	53	15	the	the	DET
ap-526	53	16	force	force	NOUN
ap-526	53	17	produced	produce	VERB
ap-526	53	18	,	,	PUNCT
ap-526	53	19	the	the	DET
ap-526	53	20	timing	timing	NOUN
ap-526	53	21	of	of	ADP
ap-526	53	22	the	the	DET
ap-526	53	23	downstroke	downstroke	NOUN
ap-526	53	24	-	-	PUNCT
ap-526	53	25	to	to	ADP
ap-526	53	26	-	-	PUNCT
ap-526	53	27	upstroke	upstroke	ADJ
ap-526	53	28	wing	wing	NOUN
ap-526	53	29	rotation	rotation	NOUN
ap-526	53	30	,	,	PUNCT
ap-526	53	31	and	and	CCONJ
ap-526	53	32	the	the	DET
ap-526	53	33	geometric	geometric	ADJ
ap-526	53	34	position	position	NOUN
ap-526	53	35	of	of	ADP
ap-526	53	36	the	the	DET
ap-526	53	37	wings	wing	NOUN
ap-526	53	38	when	when	SCONJ
ap-526	53	39	the	the	DET
ap-526	53	40	rotation	rotation	NOUN
ap-526	53	41	occurs	occur	VERB
ap-526	53	42	.	.	PUNCT
ap-526	54	1	the	the	DET
ap-526	54	2	primarily	primarily	ADJ
ap-526	54	3	goal	goal	NOUN
ap-526	54	4	of	of	ADP
ap-526	54	5	this	this	DET
ap-526	54	6	work	work	NOUN
ap-526	54	7	is	be	AUX
ap-526	54	8	to	to	PART
ap-526	54	9	design	design	VERB
ap-526	54	10	the	the	DET
ap-526	54	11	software	software	NOUN
ap-526	54	12	simulation	simulation	NOUN
ap-526	54	13	for	for	ADP
ap-526	54	14	a	a	DET
ap-526	54	15	micromechanical	micromechanical	ADJ
ap-526	54	16	flying	fly	VERB
ap-526	54	17	insect	insect	NOUN
ap-526	54	18	(	(	PUNCT
ap-526	54	19	entomopter	entomopter	ADJ
ap-526	54	20	)	)	PUNCT
ap-526	54	21	.	.	PUNCT
ap-526	55	1	the	the	DET
ap-526	55	2	entomopter	entomopter	PROPN
ap-526	55	3	flight	flight	NOUN
ap-526	55	4	simulator	simulator	NOUN
ap-526	55	5	should	should	AUX
ap-526	55	6	be	be	AUX
ap-526	55	7	an	an	DET
ap-526	55	8	end	end	NOUN
ap-526	55	9	-	-	PUNCT
ap-526	55	10	to	to	ADP
ap-526	55	11	-	-	PUNCT
ap-526	55	12	end	end	NOUN
ap-526	55	13	tool	tool	NOUN
ap-526	55	14	composed	compose	VERB
ap-526	55	15	of	of	ADP
ap-526	55	16	several	several	ADJ
ap-526	55	17	modular	modular	ADJ
ap-526	55	18	blocks	block	NOUN
ap-526	55	19	,	,	PUNCT
ap-526	55	20	which	which	DET
ap-526	55	21	model	model	NOUN
ap-526	55	22	:	:	PUNCT
ap-526	55	23	the	the	DET
ap-526	55	24	wing	wing	NOUN
ap-526	55	25	aerodynamics	aerodynamic	NOUN
ap-526	55	26	,	,	PUNCT
ap-526	55	27	the	the	DET
ap-526	55	28	body	body	NOUN
ap-526	55	29	motion	motion	NOUN
ap-526	55	30	,	,	PUNCT
ap-526	55	31	and	and	CCONJ
ap-526	55	32	the	the	DET
ap-526	55	33	control	control	NOUN
ap-526	55	34	algorithms	algorithm	NOUN
ap-526	55	35	.	.	PUNCT
ap-526	56	1	we	we	PRON
ap-526	56	2	present	present	VERB
ap-526	56	3	the	the	DET
ap-526	56	4	design	design	NOUN
ap-526	56	5	of	of	ADP
ap-526	56	6	a	a	DET
ap-526	56	7	software	software	NOUN
ap-526	56	8	simulation	simulation	NOUN
ap-526	56	9	for	for	ADP
ap-526	56	10	entomopter	entomopter	NOUN
ap-526	56	11	flight	flight	NOUN
ap-526	56	12	,	,	PUNCT
ap-526	56	13	the	the	DET
ap-526	56	14	current	current	ADJ
ap-526	56	15	state	state	NOUN
ap-526	56	16	of	of	ADP
ap-526	56	17	the	the	DET
ap-526	56	18	art	art	NOUN
ap-526	56	19	of	of	ADP
ap-526	56	20	its	its	PRON
ap-526	56	21	implementation	implementation	NOUN
ap-526	56	22	and	and	CCONJ
ap-526	56	23	preliminary	preliminary	ADJ
ap-526	56	24	results	result	NOUN
ap-526	56	25	of	of	ADP
ap-526	56	26	calculations	calculation	NOUN
ap-526	56	27	.	.	PUNCT
ap-526	57	1	2	2	NUM
ap-526	57	2	the	the	DET
ap-526	57	3	main	main	ADJ
ap-526	57	4	issues	issue	NOUN
ap-526	57	5	features	feature	NOUN
ap-526	57	6	of	of	ADP
ap-526	57	7	airfoil	airfoil	NOUN
ap-526	57	8	for	for	ADP
ap-526	57	9	animals	animal	NOUN
ap-526	57	10	the	the	DET
ap-526	57	11	typical	typical	ADJ
ap-526	57	12	airfoils	airfoil	NOUN
ap-526	57	13	for	for	ADP
ap-526	57	14	birds	bird	NOUN
ap-526	57	15	and	and	CCONJ
ap-526	57	16	bats	bat	NOUN
ap-526	57	17	are	be	AUX
ap-526	57	18	thin	thin	ADJ
ap-526	57	19	and	and	CCONJ
ap-526	57	20	cambered	cambered	ADJ
ap-526	57	21	,	,	PUNCT
ap-526	57	22	which	which	PRON
ap-526	57	23	means	mean	VERB
ap-526	57	24	that	that	SCONJ
ap-526	57	25	they	they	PRON
ap-526	57	26	generate	generate	VERB
ap-526	57	27	very	very	ADV
ap-526	57	28	little	little	ADJ
ap-526	57	29	leading	leading	ADJ
ap-526	57	30	-	-	PUNCT
ap-526	57	31	edge	edge	NOUN
ap-526	57	32	suction	suction	NOUN
ap-526	57	33	.	.	PUNCT
ap-526	58	1	cruising	cruise	VERB
ap-526	58	2	birds	bird	NOUN
ap-526	58	3	and	and	CCONJ
ap-526	58	4	bats	bat	NOUN
ap-526	58	5	fly	fly	VERB
ap-526	58	6	with	with	ADP
ap-526	58	7	their	their	PRON
ap-526	58	8	flapping	flap	VERB
ap-526	58	9	axes	axis	NOUN
ap-526	58	10	aligned	align	VERB
ap-526	58	11	close	close	ADV
ap-526	58	12	to	to	ADP
ap-526	58	13	horizontal	horizontal	ADJ
ap-526	58	14	.	.	PUNCT
ap-526	59	1	this	this	PRON
ap-526	59	2	could	could	AUX
ap-526	59	3	produce	produce	VERB
ap-526	59	4	an	an	DET
ap-526	59	5	interesting	interesting	ADJ
ap-526	59	6	dilemma	dilemma	NOUN
ap-526	59	7	for	for	ADP
ap-526	59	8	the	the	DET
ap-526	59	9	upstroke	upstroke	PROPN
ap-526	59	10	.	.	PUNCT
ap-526	60	1	insects	insect	NOUN
ap-526	60	2	have	have	VERB
ap-526	60	3	low	low	ADJ
ap-526	60	4	-	-	PUNCT
ap-526	60	5	aspect	aspect	NOUN
ap-526	60	6	-	-	PUNCT
ap-526	60	7	ratio	ratio	NOUN
ap-526	60	8	wings	wing	NOUN
ap-526	60	9	,	,	PUNCT
ap-526	60	10	which	which	PRON
ap-526	60	11	are	be	AUX
ap-526	60	12	not	not	PART
ap-526	60	13	suitable	suitable	ADJ
ap-526	60	14	for	for	ADP
ap-526	60	15	cruising	cruise	VERB
ap-526	60	16	flight	flight	NOUN
ap-526	60	17	.	.	PUNCT
ap-526	61	1	during	during	ADP
ap-526	61	2	the	the	DET
ap-526	61	3	downstroke	downstroke	NOUN
ap-526	61	4	,	,	PUNCT
ap-526	61	5	the	the	DET
ap-526	61	6	insect	insect	NOUN
ap-526	61	7	generates	generate	VERB
ap-526	61	8	mainly	mainly	ADV
ap-526	61	9	a	a	DET
ap-526	61	10	vertical	vertical	ADJ
ap-526	61	11	force	force	NOUN
ap-526	61	12	.	.	PUNCT
ap-526	62	1	the	the	DET
ap-526	62	2	acceleration	acceleration	NOUN
ap-526	62	3	of	of	ADP
ap-526	62	4	the	the	DET
ap-526	62	5	insect	insect	NOUN
ap-526	62	6	’s	’s	PART
ap-526	62	7	body	body	NOUN
ap-526	62	8	during	during	ADP
ap-526	62	9	the	the	DET
ap-526	62	10	first	first	ADJ
ap-526	62	11	half	half	NOUN
ap-526	62	12	of	of	ADP
ap-526	62	13	the	the	DET
ap-526	62	14	downstroke	downstroke	NOUN
ap-526	62	15	is	be	AUX
ap-526	62	16	especially	especially	ADV
ap-526	62	17	large	large	ADJ
ap-526	62	18	,	,	PUNCT
ap-526	62	19	and	and	CCONJ
ap-526	62	20	this	this	DET
ap-526	62	21	acceleration	acceleration	NOUN
ap-526	62	22	is	be	AUX
ap-526	62	23	mainly	mainly	ADV
ap-526	62	24	caused	cause	VERB
ap-526	62	25	by	by	ADP
ap-526	62	26	a	a	DET
ap-526	62	27	large	large	ADJ
ap-526	62	28	unsteady	unsteady	ADJ
ap-526	62	29	pressure	pressure	NOUN
ap-526	62	30	drag	drag	NOUN
ap-526	62	31	action	action	NOUN
ap-526	62	32	on	on	ADP
ap-526	62	33	the	the	DET
ap-526	62	34	wings	wing	NOUN
ap-526	62	35	.	.	PUNCT
ap-526	63	1	during	during	ADP
ap-526	63	2	the	the	DET
ap-526	63	3	upstroke	upstroke	NOUN
ap-526	63	4	the	the	DET
ap-526	63	5	insect	insect	NOUN
ap-526	63	6	generates	generate	VERB
ap-526	63	7	mainly	mainly	ADV
ap-526	63	8	a	a	DET
ap-526	63	9	horizontal	horizontal	ADJ
ap-526	63	10	force	force	NOUN
ap-526	63	11	.	.	PUNCT
ap-526	64	1	the	the	DET
ap-526	64	2	change	change	NOUN
ap-526	64	3	of	of	ADP
ap-526	64	4	direction	direction	NOUN
ap-526	64	5	of	of	ADP
ap-526	64	6	the	the	DET
ap-526	64	7	forces	force	NOUN
ap-526	64	8	during	during	ADP
ap-526	64	9	the	the	DET
ap-526	64	10	down	down	ADV
ap-526	64	11	-	-	PUNCT
ap-526	64	12	and	and	CCONJ
ap-526	64	13	-	-	PUNCT
ap-526	64	14	up	up	NOUN
ap-526	64	15	-	-	PUNCT
ap-526	64	16	strokes	stroke	NOUN
ap-526	64	17	is	be	AUX
ap-526	64	18	controlled	control	VERB
ap-526	64	19	by	by	ADP
ap-526	64	20	variations	variation	NOUN
ap-526	64	21	in	in	ADP
ap-526	64	22	the	the	DET
ap-526	64	23	inclination	inclination	NOUN
ap-526	64	24	of	of	ADP
ap-526	64	25	the	the	DET
ap-526	64	26	stroke	stroke	NOUN
ap-526	64	27	plane	plane	NOUN
ap-526	64	28	.	.	PUNCT
ap-526	65	1	aerodynamic	aerodynamic	ADJ
ap-526	65	2	phenomena	phenomenon	NOUN
ap-526	65	3	as	as	ADP
ap-526	65	4	the	the	DET
ap-526	65	5	size	size	NOUN
ap-526	65	6	of	of	ADP
ap-526	65	7	an	an	DET
ap-526	65	8	aircraft	aircraft	NOUN
ap-526	65	9	is	be	AUX
ap-526	65	10	reduced	reduce	VERB
ap-526	65	11	,	,	PUNCT
ap-526	65	12	the	the	DET
ap-526	65	13	need	need	NOUN
ap-526	65	14	for	for	ADP
ap-526	65	15	efficiency	efficiency	NOUN
ap-526	65	16	in	in	ADP
ap-526	65	17	terms	term	NOUN
ap-526	65	18	of	of	ADP
ap-526	65	19	lift	lift	NOUN
ap-526	65	20	and	and	CCONJ
ap-526	65	21	propulsion	propulsion	NOUN
ap-526	65	22	generation	generation	NOUN
ap-526	65	23	becomes	become	VERB
ap-526	65	24	more	more	ADV
ap-526	65	25	evident	evident	ADJ
ap-526	65	26	.	.	PUNCT
ap-526	66	1	reducing	reduce	VERB
ap-526	66	2	the	the	DET
ap-526	66	3	size	size	NOUN
ap-526	66	4	of	of	ADP
ap-526	66	5	the	the	DET
ap-526	66	6	lifting	lift	VERB
ap-526	66	7	surfaces	surface	NOUN
ap-526	66	8	and	and	CCONJ
ap-526	66	9	keeping	keep	VERB
ap-526	66	10	the	the	DET
ap-526	66	11	flight	flight	NOUN
ap-526	66	12	speed	speed	NOUN
ap-526	66	13	around	around	ADP
ap-526	66	14	15	15	NUM
ap-526	66	15	m	m	NOUN
ap-526	66	16	/	/	SYM
ap-526	66	17	s	s	PART
ap-526	66	18	makes	make	VERB
ap-526	66	19	the	the	DET
ap-526	66	20	aerodynamic	aerodynamic	ADJ
ap-526	66	21	phenomena	phenomena	NOUN
ap-526	66	22	different	different	ADJ
ap-526	66	23	from	from	ADP
ap-526	66	24	those	those	PRON
ap-526	66	25	found	find	VERB
ap-526	66	26	in	in	ADP
ap-526	66	27	normal	normal	ADJ
ap-526	66	28	size	size	NOUN
ap-526	66	29	aircraft	aircraft	NOUN
ap-526	66	30	,	,	PUNCT
ap-526	66	31	mainly	mainly	ADV
ap-526	66	32	due	due	ADP
ap-526	66	33	to	to	ADP
ap-526	66	34	very	very	ADV
ap-526	66	35	low	low	ADJ
ap-526	66	36	reynolds	reynold	NOUN
ap-526	66	37	number	number	NOUN
ap-526	66	38	of	of	ADP
ap-526	66	39	the	the	DET
ap-526	66	40	flow	flow	NOUN
ap-526	66	41	.	.	PUNCT
ap-526	67	1	moreover	moreover	ADV
ap-526	67	2	,	,	PUNCT
ap-526	67	3	entomopter	entomopter	ADV
ap-526	67	4	manoeuvring	manoeuvre	VERB
ap-526	67	5	in	in	ADP
ap-526	67	6	this	this	DET
ap-526	67	7	regime	regime	NOUN
ap-526	67	8	is	be	AUX
ap-526	67	9	subject	subject	ADJ
ap-526	67	10	to	to	ADP
ap-526	67	11	non	non	ADJ
ap-526	67	12	-	-	ADJ
ap-526	67	13	linear	linear	ADJ
ap-526	67	14	,	,	PUNCT
ap-526	67	15	unsteady	unsteady	ADJ
ap-526	67	16	aerodynamic	aerodynamic	ADJ
ap-526	67	17	loads	load	NOUN
ap-526	68	1	[	[	X
ap-526	68	2	1	1	NUM
ap-526	68	3	,	,	PUNCT
ap-526	68	4	2	2	NUM
ap-526	68	5	,	,	PUNCT
ap-526	68	6	12	12	NUM
ap-526	68	7	]	]	PUNCT
ap-526	68	8	.	.	PUNCT
ap-526	69	1	the	the	DET
ap-526	69	2	non	non	NOUN
ap-526	69	3	-	-	NOUN
ap-526	69	4	linearities	linearity	NOUN
ap-526	69	5	and	and	CCONJ
ap-526	69	6	unsteadiness	unsteadiness	NOUN
ap-526	69	7	are	be	AUX
ap-526	69	8	due	due	ADJ
ap-526	69	9	mainly	mainly	ADV
ap-526	69	10	to	to	ADP
ap-526	69	11	the	the	DET
ap-526	69	12	large	large	ADJ
ap-526	69	13	regions	region	NOUN
ap-526	69	14	of	of	ADP
ap-526	69	15	3	3	NUM
ap-526	69	16	-	-	SYM
ap-526	69	17	d	d	NOUN
ap-526	69	18	separated	separate	VERB
ap-526	69	19	flow	flow	NOUN
ap-526	69	20	and	and	CCONJ
ap-526	69	21	concentrated	concentrated	ADJ
ap-526	69	22	vortex	vortex	NOUN
ap-526	69	23	flows	flow	NOUN
ap-526	69	24	that	that	PRON
ap-526	69	25	occur	occur	VERB
ap-526	69	26	at	at	ADP
ap-526	69	27	large	large	ADJ
ap-526	69	28	angles	angle	NOUN
ap-526	69	29	of	of	ADP
ap-526	69	30	attack	attack	NOUN
ap-526	69	31	.	.	PUNCT
ap-526	70	1	accurate	accurate	ADJ
ap-526	70	2	prediction	prediction	NOUN
ap-526	70	3	of	of	ADP
ap-526	70	4	these	these	DET
ap-526	70	5	non	non	ADJ
ap-526	70	6	-	-	ADJ
ap-526	70	7	linear	linear	ADJ
ap-526	70	8	,	,	PUNCT
ap-526	70	9	unsteady	unsteady	ADJ
ap-526	70	10	airloads	airload	NOUN
ap-526	70	11	is	be	AUX
ap-526	70	12	of	of	ADP
ap-526	70	13	great	great	ADJ
ap-526	70	14	importance	importance	NOUN
ap-526	70	15	in	in	ADP
ap-526	70	16	the	the	DET
ap-526	70	17	analysis	analysis	NOUN
ap-526	70	18	of	of	ADP
ap-526	70	19	entomopter	entomopter	NOUN
ap-526	70	20	flight	flight	NOUN
ap-526	70	21	motion	motion	NOUN
ap-526	70	22	and	and	CCONJ
ap-526	70	23	in	in	ADP
ap-526	70	24	the	the	DET
ap-526	70	25	design	design	NOUN
ap-526	70	26	of	of	ADP
ap-526	70	27	its	its	PRON
ap-526	70	28	flight	flight	NOUN
ap-526	70	29	control	control	NOUN
ap-526	70	30	system	system	NOUN
ap-526	70	31	.	.	PUNCT
ap-526	71	1	prediction	prediction	NOUN
ap-526	71	2	of	of	ADP
ap-526	71	3	the	the	DET
ap-526	71	4	unsteady	unsteady	ADJ
ap-526	71	5	airloads	airload	NOUN
ap-526	71	6	is	be	AUX
ap-526	71	7	complicated	complicate	VERB
ap-526	71	8	by	by	ADP
ap-526	71	9	the	the	DET
ap-526	71	10	fact	fact	NOUN
ap-526	71	11	that	that	SCONJ
ap-526	71	12	the	the	DET
ap-526	71	13	instantaneous	instantaneous	ADJ
ap-526	71	14	flowfield	flowfield	NOUN
ap-526	71	15	surrounding	surround	VERB
ap-526	71	16	a	a	DET
ap-526	71	17	manoeuvring	manoeuvring	NOUN
ap-526	71	18	body	body	NOUN
ap-526	71	19	,	,	PUNCT
ap-526	71	20	and	and	CCONJ
ap-526	71	21	thus	thus	ADV
ap-526	71	22	the	the	DET
ap-526	71	23	loading	loading	NOUN
ap-526	71	24	,	,	PUNCT
ap-526	71	25	is	be	AUX
ap-526	71	26	not	not	PART
ap-526	71	27	determined	determine	VERB
ap-526	71	28	solely	solely	ADV
ap-526	71	29	by	by	ADP
ap-526	71	30	the	the	DET
ap-526	71	31	instantaneous	instantaneous	ADJ
ap-526	71	32	values	value	NOUN
ap-526	71	33	of	of	ADP
ap-526	71	34	the	the	DET
ap-526	71	35	motion	motion	NOUN
ap-526	71	36	variables	variable	NOUN
ap-526	71	37	,	,	PUNCT
ap-526	71	38	such	such	ADJ
ap-526	71	39	as	as	ADP
ap-526	71	40	the	the	DET
ap-526	71	41	angles	angle	NOUN
ap-526	71	42	of	of	ADP
ap-526	71	43	attack	attack	NOUN
ap-526	71	44	and	and	CCONJ
ap-526	71	45	sideslip	sideslip	VERB
ap-526	71	46	,	,	PUNCT
ap-526	71	47	and	and	CCONJ
ap-526	71	48	,	,	PUNCT
ap-526	71	49	particularly	particularly	ADV
ap-526	71	50	in	in	ADP
ap-526	71	51	this	this	DET
ap-526	71	52	study	study	NOUN
ap-526	71	53	,	,	PUNCT
ap-526	71	54	by	by	ADP
ap-526	71	55	the	the	DET
ap-526	71	56	deforming	deform	VERB
ap-526	71	57	flexible	flexible	ADJ
ap-526	71	58	wing	wing	NOUN
ap-526	71	59	parameters	parameter	NOUN
ap-526	71	60	.	.	PUNCT
ap-526	72	1	in	in	ADP
ap-526	72	2	general	general	ADJ
ap-526	72	3	,	,	PUNCT
ap-526	72	4	the	the	DET
ap-526	72	5	instantaneous	instantaneous	ADJ
ap-526	72	6	state	state	NOUN
ap-526	72	7	of	of	ADP
ap-526	72	8	the	the	DET
ap-526	72	9	flowfield	flowfield	NOUN
ap-526	72	10	depends	depend	VERB
ap-526	72	11	on	on	ADP
ap-526	72	12	the	the	DET
ap-526	72	13	time	time	NOUN
ap-526	72	14	-	-	PUNCT
ap-526	72	15	history	history	NOUN
ap-526	72	16	of	of	ADP
ap-526	72	17	the	the	DET
ap-526	72	18	motion	motion	NOUN
ap-526	72	19	,	,	PUNCT
ap-526	72	20	that	that	ADV
ap-526	72	21	is	is	ADV
ap-526	72	22	,	,	PUNCT
ap-526	72	23	on	on	ADP
ap-526	72	24	all	all	DET
ap-526	72	25	the	the	DET
ap-526	72	26	states	state	NOUN
ap-526	72	27	taken	take	VERB
ap-526	72	28	by	by	ADP
ap-526	72	29	the	the	DET
ap-526	72	30	flowfield	flowfield	NOUN
ap-526	72	31	during	during	ADP
ap-526	72	32	the	the	DET
ap-526	72	33	makeover	makeover	NOUN
ap-526	72	34	prior	prior	ADV
ap-526	72	35	to	to	ADP
ap-526	72	36	the	the	DET
ap-526	72	37	instant	instant	NOUN
ap-526	72	38	in	in	ADP
ap-526	72	39	question	question	NOUN
ap-526	72	40	.	.	PUNCT
ap-526	73	1	degrees	degree	NOUN
ap-526	73	2	of	of	ADP
ap-526	73	3	freedom	freedom	NOUN
ap-526	73	4	not	not	PART
ap-526	73	5	only	only	ADV
ap-526	73	6	at	at	ADP
ap-526	73	7	first	first	ADJ
ap-526	73	8	sight	sight	NOUN
ap-526	73	9	,	,	PUNCT
ap-526	73	10	the	the	DET
ap-526	73	11	study	study	NOUN
ap-526	73	12	of	of	ADP
ap-526	73	13	entomopter	entomopter	NOUN
ap-526	73	14	flight	flight	NOUN
ap-526	73	15	dynamics	dynamic	NOUN
ap-526	73	16	and	and	CCONJ
ap-526	73	17	control	control	NOUN
ap-526	73	18	may	may	AUX
ap-526	73	19	seem	seem	VERB
ap-526	73	20	very	very	ADV
ap-526	73	21	complicated	complicated	ADJ
ap-526	73	22	,	,	PUNCT
ap-526	73	23	since	since	SCONJ
ap-526	73	24	each	each	DET
ap-526	73	25	wing	wing	NOUN
ap-526	73	26	possesses	possess	VERB
ap-526	73	27	degrees	degree	NOUN
ap-526	73	28	of	of	ADP
ap-526	73	29	freedom	freedom	NOUN
ap-526	73	30	in	in	ADP
ap-526	73	31	addition	addition	NOUN
ap-526	73	32	to	to	ADP
ap-526	73	33	those	those	PRON
ap-526	73	34	of	of	ADP
ap-526	73	35	the	the	DET
ap-526	73	36	“	"	PUNCT
ap-526	73	37	fuselage	fuselage	NOUN
ap-526	73	38	”	"	PUNCT
ap-526	73	39	.	.	PUNCT
ap-526	74	1	detailed	detailed	ADJ
ap-526	74	2	analyses	analysis	NOUN
ap-526	74	3	of	of	ADP
ap-526	74	4	kinematics	kinematic	NOUN
ap-526	74	5	are	be	AUX
ap-526	74	6	central	central	ADJ
ap-526	74	7	to	to	ADP
ap-526	74	8	an	an	DET
ap-526	74	9	integrated	integrated	ADJ
ap-526	74	10	understanding	understanding	NOUN
ap-526	74	11	of	of	ADP
ap-526	74	12	animal	animal	NOUN
ap-526	74	13	flight	flight	NOUN
ap-526	74	14	.	.	PUNCT
ap-526	75	1	four	four	NUM
ap-526	75	2	degrees	degree	NOUN
ap-526	75	3	of	of	ADP
ap-526	75	4	freedom	freedom	NOUN
ap-526	75	5	in	in	ADP
ap-526	75	6	each	each	DET
ap-526	75	7	wing	wing	NOUN
ap-526	75	8	are	be	AUX
ap-526	75	9	used	use	VERB
ap-526	75	10	to	to	PART
ap-526	75	11	achieve	achieve	VERB
ap-526	75	12	flight	flight	NOUN
ap-526	75	13	in	in	ADP
ap-526	75	14	nature	nature	NOUN
ap-526	75	15	:	:	PUNCT
ap-526	75	16	flapping	flap	VERB
ap-526	75	17	,	,	PUNCT
ap-526	75	18	lagging	lagging	NOUN
ap-526	75	19	,	,	PUNCT
ap-526	75	20	feathering	feathering	NOUN
ap-526	75	21	,	,	PUNCT
ap-526	75	22	and	and	CCONJ
ap-526	75	23	spanning	span	VERB
ap-526	75	24	.	.	PUNCT
ap-526	76	1	flapping	flap	VERB
ap-526	76	2	is	be	AUX
ap-526	76	3	a	a	DET
ap-526	76	4	rotation	rotation	NOUN
ap-526	76	5	of	of	ADP
ap-526	76	6	the	the	DET
ap-526	76	7	animal	animal	NOUN
ap-526	76	8	wing	wing	NOUN
ap-526	76	9	about	about	ADP
ap-526	76	10	the	the	DET
ap-526	76	11	longitudinal	longitudinal	ADJ
ap-526	76	12	axis	axis	NOUN
ap-526	76	13	of	of	ADP
ap-526	76	14	the	the	DET
ap-526	76	15	animal	animal	NOUN
ap-526	76	16	body	body	NOUN
ap-526	76	17	(	(	PUNCT
ap-526	76	18	this	this	DET
ap-526	76	19	axis	axis	NOUN
ap-526	76	20	lies	lie	VERB
ap-526	76	21	in	in	ADP
ap-526	76	22	the	the	DET
ap-526	76	23	direction	direction	NOUN
ap-526	76	24	of	of	ADP
ap-526	76	25	the	the	DET
ap-526	76	26	flight	flight	NOUN
ap-526	76	27	velocity	velocity	NOUN
ap-526	76	28	)	)	PUNCT
ap-526	76	29	,	,	PUNCT
ap-526	76	30	i.e.	i.e.	X
ap-526	76	31	this	this	PRON
ap-526	76	32	is	be	AUX
ap-526	76	33	“	"	PUNCT
ap-526	76	34	up	up	ADP
ap-526	76	35	and	and	CCONJ
ap-526	76	36	down	down	ADJ
ap-526	76	37	”	"	PUNCT
ap-526	76	38	motion	motion	NOUN
ap-526	76	39	.	.	PUNCT
ap-526	77	1	lagging	lag	VERB
ap-526	77	2	is	be	AUX
ap-526	77	3	a	a	DET
ap-526	77	4	rotation	rotation	NOUN
ap-526	77	5	about	about	ADP
ap-526	77	6	a	a	DET
ap-526	77	7	“	"	PUNCT
ap-526	77	8	vertical	vertical	ADJ
ap-526	77	9	”	"	PUNCT
ap-526	77	10	axis;	axis;	NOUN
ap-526	77	11	this	this	PRON
ap-526	77	12	is	be	AUX
ap-526	77	13	the	the	DET
ap-526	77	14	“	"	PUNCT
ap-526	77	15	forward	forward	ADJ
ap-526	77	16	and	and	CCONJ
ap-526	77	17	backward	backward	ADJ
ap-526	77	18	”	"	PUNCT
ap-526	77	19	wing	wing	NOUN
ap-526	77	20	motion	motion	NOUN
ap-526	77	21	backward	backward	ADJ
ap-526	77	22	parallel	parallel	ADJ
ap-526	77	23	to	to	ADP
ap-526	77	24	the	the	DET
ap-526	77	25	body	body	NOUN
ap-526	77	26	.	.	PUNCT
ap-526	78	1	feathering	feather	VERB
ap-526	78	2	is	be	AUX
ap-526	78	3	an	an	DET
ap-526	78	4	angular	angular	ADJ
ap-526	78	5	movement	movement	NOUN
ap-526	78	6	about	about	ADP
ap-526	78	7	the	the	DET
ap-526	78	8	wing	wing	NOUN
ap-526	78	9	longitudinal	longitudinal	ADJ
ap-526	78	10	axis	axis	NOUN
ap-526	78	11	(	(	PUNCT
ap-526	78	12	which	which	PRON
ap-526	78	13	may	may	AUX
ap-526	78	14	pass	pass	VERB
ap-526	78	15	through	through	ADP
ap-526	78	16	the	the	DET
ap-526	78	17	centre	centre	NOUN
ap-526	78	18	of	of	ADP
ap-526	78	19	gravity	gravity	NOUN
ap-526	78	20	of	of	ADP
ap-526	78	21	the	the	DET
ap-526	78	22	wing	wing	NOUN
ap-526	78	23	)	)	PUNCT
ap-526	78	24	which	which	PRON
ap-526	78	25	tilts	tilt	VERB
ap-526	78	26	the	the	DET
ap-526	78	27	wing	wing	NOUN
ap-526	78	28	to	to	PART
ap-526	78	29	change	change	VERB
ap-526	78	30	its	its	PRON
ap-526	78	31	angle	angle	NOUN
ap-526	78	32	of	of	ADP
ap-526	78	33	attack	attack	NOUN
ap-526	78	34	.	.	PUNCT
ap-526	79	1	spanning	span	VERB
ap-526	79	2	is	be	AUX
ap-526	79	3	an	an	DET
ap-526	79	4	expansion	expansion	NOUN
ap-526	79	5	and	and	CCONJ
ap-526	79	6	contraction	contraction	NOUN
ap-526	79	7	of	of	ADP
ap-526	79	8	the	the	DET
ap-526	79	9	wingspan	wingspan	NOUN
ap-526	79	10	.	.	PUNCT
ap-526	80	1	not	not	PART
ap-526	80	2	all	all	DET
ap-526	80	3	flying	fly	VERB
ap-526	80	4	animals	animal	NOUN
ap-526	80	5	perform	perform	VERB
ap-526	80	6	all	all	PRON
ap-526	80	7	of	of	ADP
ap-526	80	8	these	these	DET
ap-526	80	9	motions	motion	NOUN
ap-526	80	10	.	.	PUNCT
ap-526	81	1	for	for	ADP
ap-526	81	2	instance	instance	NOUN
ap-526	81	3	insects	insect	NOUN
ap-526	81	4	with	with	ADP
ap-526	81	5	low	low	ADJ
ap-526	81	6	wing	wing	NOUN
ap-526	81	7	flap	flap	NOUN
ap-526	81	8	frequencies	frequency	NOUN
ap-526	81	9	about	about	ADP
ap-526	81	10	20	20	NUM
ap-526	81	11	hz	hz	NOUN
ap-526	81	12	(	(	PUNCT
ap-526	81	13	17	17	NUM
ap-526	81	14	…	…	SYM
ap-526	81	15	25	25	NUM
ap-526	81	16	hz	hz	NOUN
ap-526	81	17	)	)	PUNCT
ap-526	81	18	generally	generally	ADV
ap-526	81	19	have	have	VERB
ap-526	81	20	very	very	ADV
ap-526	81	21	restricted	restrict	VERB
ap-526	81	22	lagging	lag	VERB
ap-526	81	23	capabilities	capability	NOUN
ap-526	81	24	.	.	PUNCT
ap-526	82	1	unlike	unlike	ADP
ap-526	82	2	birds	bird	NOUN
ap-526	82	3	,	,	PUNCT
ap-526	82	4	most	most	ADJ
ap-526	82	5	insects	insect	NOUN
ap-526	82	6	do	do	AUX
ap-526	82	7	not	not	PART
ap-526	82	8	use	use	VERB
ap-526	82	9	the	the	DET
ap-526	82	10	spanning	span	VERB
ap-526	82	11	technique	technique	NOUN
ap-526	82	12	.	.	PUNCT
ap-526	83	1	insects	insect	NOUN
ap-526	83	2	such	such	ADJ
ap-526	83	3	as	as	ADP
ap-526	83	4	alderfly	alderfly	NOUN
ap-526	83	5	(	(	PUNCT
ap-526	83	6	apatele	apatele	NOUN
ap-526	83	7	alni	alni	ADJ
ap-526	83	8	)	)	PUNCT
ap-526	83	9	and	and	CCONJ
ap-526	83	10	mayfly	mayfly	NOUN
ap-526	83	11	(	(	PUNCT
ap-526	83	12	ephemera	ephemera	PROPN
ap-526	83	13	)	)	PUNCT
ap-526	83	14	have	have	AUX
ap-526	83	15	fixed	fix	VERB
ap-526	83	16	stroke	stroke	NOUN
ap-526	83	17	planes	plane	NOUN
ap-526	83	18	with	with	ADP
ap-526	83	19	respect	respect	NOUN
ap-526	83	20	to	to	ADP
ap-526	83	21	their	their	PRON
ap-526	83	22	bodies	body	NOUN
ap-526	83	23	.	.	PUNCT
ap-526	84	1	thus	thus	ADV
ap-526	84	2	,	,	PUNCT
ap-526	84	3	flapping	flap	VERB
ap-526	84	4	flight	flight	NOUN
ap-526	84	5	is	be	AUX
ap-526	84	6	possible	possible	ADJ
ap-526	84	7	with	with	ADP
ap-526	84	8	only	only	ADV
ap-526	84	9	two	two	NUM
ap-526	84	10	degrees	degree	NOUN
ap-526	84	11	of	of	ADP
ap-526	84	12	freedom	freedom	NOUN
ap-526	84	13	:	:	PUNCT
ap-526	84	14	flapping	flap	VERB
ap-526	84	15	and	and	CCONJ
ap-526	84	16	feathering	feathering	NOUN
ap-526	84	17	.	.	PUNCT
ap-526	85	1	in	in	ADP
ap-526	85	2	the	the	DET
ap-526	85	3	simplest	simple	ADJ
ap-526	85	4	physical	physical	ADJ
ap-526	85	5	models	model	NOUN
ap-526	85	6	heaving	heave	VERB
ap-526	85	7	and	and	CCONJ
ap-526	85	8	pitching	pitching	NOUN
ap-526	85	9	represent	represent	VERB
ap-526	85	10	these	these	DET
ap-526	85	11	degrees	degree	NOUN
ap-526	85	12	of	of	ADP
ap-526	85	13	freedom	freedom	NOUN
ap-526	85	14	.	.	PUNCT
ap-526	86	1	the	the	DET
ap-526	86	2	motion	motion	NOUN
ap-526	86	3	of	of	ADP
ap-526	86	4	each	each	DET
ap-526	86	5	bird	bird	NOUN
ap-526	86	6	wing	wing	NOUN
ap-526	86	7	may	may	AUX
ap-526	86	8	be	be	AUX
ap-526	86	9	decomposed	decompose	VERB
ap-526	86	10	into	into	ADP
ap-526	86	11	flapping	flapping	NOUN
ap-526	86	12	,	,	PUNCT
ap-526	86	13	lagging	lag	VERB
ap-526	86	14	,	,	PUNCT
ap-526	86	15	feathering	feather	VERB
ap-526	86	16	(	(	PUNCT
ap-526	86	17	the	the	DET
ap-526	86	18	rigid	rigid	ADJ
ap-526	86	19	body	body	NOUN
ap-526	86	20	motions	motion	NOUN
ap-526	86	21	)	)	PUNCT
ap-526	86	22	and	and	CCONJ
ap-526	86	23	also	also	ADV
ap-526	86	24	into	into	ADP
ap-526	86	25	more	more	ADV
ap-526	86	26	complex	complex	ADJ
ap-526	86	27	deflections	deflection	NOUN
ap-526	86	28	of	of	ADP
ap-526	86	29	the	the	DET
ap-526	86	30	surface	surface	NOUN
ap-526	86	31	from	from	ADP
ap-526	86	32	the	the	DET
ap-526	86	33	base	base	NOUN
ap-526	86	34	shape	shape	NOUN
ap-526	86	35	(	(	PUNCT
ap-526	86	36	vibration	vibration	NOUN
ap-526	86	37	modes	mode	NOUN
ap-526	86	38	)	)	PUNCT
ap-526	86	39	.	.	PUNCT
ap-526	87	1	example	example	NOUN
ap-526	87	2	of	of	ADP
ap-526	87	3	numerical	numerical	PROPN
ap-526	87	4	calculations	calculation	NOUN
ap-526	87	5	sample	sample	NOUN
ap-526	87	6	results	result	NOUN
ap-526	87	7	of	of	ADP
ap-526	87	8	calculations	calculation	NOUN
ap-526	87	9	illustrating	illustrate	VERB
ap-526	87	10	current	current	ADJ
ap-526	87	11	capabilities	capability	NOUN
ap-526	87	12	of	of	ADP
ap-526	87	13	the	the	DET
ap-526	87	14	method	method	NOUN
ap-526	87	15	and	and	CCONJ
ap-526	87	16	providing	provide	VERB
ap-526	87	17	a	a	DET
ap-526	87	18	preliminary	preliminary	ADJ
ap-526	87	19	insight	insight	NOUN
ap-526	87	20	into	into	ADP
ap-526	87	21	the	the	DET
ap-526	87	22	aerodynamic	aerodynamic	ADJ
ap-526	87	23	behaviour	behaviour	NOUN
ap-526	87	24	of	of	ADP
ap-526	87	25	flapping	flap	VERB
ap-526	87	26	wings	wing	NOUN
ap-526	87	27	are	be	AUX
ap-526	87	28	shown	show	VERB
ap-526	87	29	in	in	ADP
ap-526	87	30	fig	fig	NOUN
ap-526	87	31	.	.	PUNCT
ap-526	88	1	1	1	X
ap-526	88	2	.	.	X
ap-526	89	1	in	in	ADP
ap-526	89	2	order	order	NOUN
ap-526	89	3	to	to	PART
ap-526	89	4	evaluate	evaluate	VERB
ap-526	89	5	the	the	DET
ap-526	89	6	performance	performance	NOUN
ap-526	89	7	of	of	ADP
ap-526	89	8	flight	flight	NOUN
ap-526	89	9	control	control	NOUN
ap-526	89	10	algorithms	algorithm	NOUN
ap-526	89	11	,	,	PUNCT
ap-526	89	12	a	a	DET
ap-526	89	13	software	software	NOUN
ap-526	89	14	for	for	ADP
ap-526	89	15	simulation	simulation	NOUN
ap-526	89	16	of	of	ADP
ap-526	89	17	entomopter	entomopter	PROPN
ap-526	89	18	flight	flight	NOUN
ap-526	89	19	(	(	PUNCT
ap-526	89	20	ssef	ssef	PROPN
ap-526	89	21	)	)	PUNCT
ap-526	89	22	is	be	AUX
ap-526	89	23	being	be	AUX
ap-526	89	24	implemented	implement	VERB
ap-526	89	25	to	to	PART
ap-526	89	26	simulate	simulate	VERB
ap-526	89	27	the	the	DET
ap-526	89	28	flight	flight	NOUN
ap-526	89	29	of	of	ADP
ap-526	89	30	an	an	DET
ap-526	89	31	mfi	mfi	PROPN
ap-526	89	32	inside	inside	ADP
ap-526	89	33	a	a	DET
ap-526	89	34	virtual	virtual	ADJ
ap-526	89	35	environment	environment	NOUN
ap-526	89	36	.	.	PUNCT
ap-526	90	1	the	the	DET
ap-526	90	2	ssef	ssef	NOUN
ap-526	90	3	is	be	AUX
ap-526	90	4	decomposed	decompose	VERB
ap-526	90	5	into	into	ADP
ap-526	90	6	several	several	ADJ
ap-526	90	7	modular	modular	ADJ
ap-526	90	8	units	unit	NOUN
ap-526	90	9	,	,	PUNCT
ap-526	90	10	each	each	PRON
ap-526	90	11	of	of	ADP
ap-526	90	12	them	they	PRON
ap-526	90	13	responsible	responsible	ADJ
ap-526	90	14	for	for	ADP
ap-526	90	15	an	an	DET
ap-526	90	16	independent	independent	ADJ
ap-526	90	17	task	task	NOUN
ap-526	90	18	.	.	PUNCT
ap-526	91	1	the	the	DET
ap-526	91	2	aerodynamic	aerodynamic	ADJ
ap-526	91	3	module	module	NOUN
ap-526	91	4	takes	take	VERB
ap-526	91	5	as	as	ADP
ap-526	91	6	its	its	PRON
ap-526	91	7	input	input	NOUN
ap-526	91	8	the	the	DET
ap-526	91	9	wing	wing	NOUN
ap-526	91	10	motion	motion	NOUN
ap-526	91	11	and	and	CCONJ
ap-526	91	12	the	the	DET
ap-526	91	13	mfi	mfi	PROPN
ap-526	91	14	body	body	NOUN
ap-526	91	15	velocities	velocity	NOUN
ap-526	91	16	,	,	PUNCT
ap-526	91	17	and	and	CCONJ
ap-526	91	18	gives	give	VERB
ap-526	91	19	as	as	ADP
ap-526	91	20	the	the	DET
ap-526	91	21	output	output	NOUN
ap-526	91	22	the	the	DET
ap-526	91	23	corresponding	corresponding	ADJ
ap-526	91	24	aerodynamic	aerodynamic	ADJ
ap-526	91	25	forces	force	NOUN
ap-526	91	26	and	and	CCONJ
ap-526	91	27	torques	torque	NOUN
ap-526	91	28	.	.	PUNCT
ap-526	92	1	this	this	DET
ap-526	92	2	module	module	NOUN
ap-526	92	3	corresponds	correspond	VERB
ap-526	92	4	to	to	ADP
ap-526	92	5	a	a	DET
ap-526	92	6	mathematical	mathematical	ADJ
ap-526	92	7	model	model	NOUN
ap-526	92	8	for	for	ADP
ap-526	92	9	the	the	DET
ap-526	92	10	aerodynamics	aerodynamic	NOUN
ap-526	92	11	.	.	PUNCT
ap-526	93	1	the	the	DET
ap-526	93	2	body	body	NOUN
ap-526	93	3	dynamics	dynamic	NOUN
ap-526	93	4	module	module	NOUN
ap-526	93	5	takes	take	VERB
ap-526	93	6	the	the	DET
ap-526	93	7	aerodynamic	aerodynamic	ADJ
ap-526	93	8	forces	force	NOUN
ap-526	93	9	and	and	CCONJ
ap-526	93	10	torques	torque	NOUN
ap-526	93	11	generated	generate	VERB
ap-526	93	12	by	by	ADP
ap-526	93	13	the	the	DET
ap-526	93	14	wing	wing	NOUN
ap-526	93	15	kinematics	kinematic	NOUN
ap-526	93	16	and	and	CCONJ
ap-526	93	17	integrates	integrate	VERB
ap-526	93	18	them	they	PRON
ap-526	93	19	along	along	ADP
ap-526	93	20	with	with	ADP
ap-526	93	21	the	the	DET
ap-526	93	22	dynamic	dynamic	ADJ
ap-526	93	23	model	model	NOUN
ap-526	93	24	for	for	ADP
ap-526	93	25	the	the	DET
ap-526	93	26	mfi	mfi	PROPN
ap-526	93	27	body	body	NOUN
ap-526	93	28	,	,	PUNCT
ap-526	93	29	thus	thus	ADV
ap-526	93	30	computing	compute	VERB
ap-526	93	31	the	the	DET
ap-526	93	32	body	body	NOUN
ap-526	93	33	’s	’s	PART
ap-526	93	34	position	position	NOUN
ap-526	93	35	and	and	CCONJ
ap-526	93	36	the	the	DET
ap-526	93	37	attitude	attitude	NOUN
ap-526	93	38	as	as	ADP
ap-526	93	39	a	a	DET
ap-526	93	40	function	function	NOUN
ap-526	93	41	of	of	ADP
ap-526	93	42	time	time	NOUN
ap-526	93	43	.	.	PUNCT
ap-526	94	1	the	the	DET
ap-526	94	2	control	control	NOUN
ap-526	94	3	system	system	NOUN
ap-526	94	4	module	module	NOUN
ap-526	94	5	takes	take	VERB
ap-526	94	6	as	as	ADP
ap-526	94	7	its	its	PRON
ap-526	94	8	input	input	NOUN
ap-526	94	9	the	the	DET
ap-526	94	10	mfi	mfi	PROPN
ap-526	94	11	body	body	NOUN
ap-526	94	12	state	state	NOUN
ap-526	94	13	and	and	CCONJ
ap-526	94	14	eventually	eventually	ADV
ap-526	94	15	the	the	DET
ap-526	94	16	perception	perception	NOUN
ap-526	94	17	of	of	ADP
ap-526	94	18	the	the	DET
ap-526	94	19	external	external	ADJ
ap-526	94	20	world	world	NOUN
ap-526	94	21	.	.	PUNCT
ap-526	95	1	its	its	PRON
ap-526	95	2	task	task	NOUN
ap-526	95	3	is	be	AUX
ap-526	95	4	to	to	PART
ap-526	95	5	decide	decide	VERB
ap-526	95	6	a	a	DET
ap-526	95	7	control	control	NOUN
ap-526	95	8	strategy	strategy	NOUN
ap-526	95	9	to	to	PART
ap-526	95	10	achieve	achieve	VERB
ap-526	95	11	a	a	DET
ap-526	95	12	desired	desire	VERB
ap-526	95	13	mission	mission	NOUN
ap-526	95	14	and	and	CCONJ
ap-526	95	15	to	to	PART
ap-526	95	16	generate	generate	VERB
ap-526	95	17	the	the	DET
ap-526	95	18	control	control	NOUN
ap-526	95	19	signals	signal	NOUN
ap-526	95	20	to	to	ADP
ap-526	95	21	the	the	DET
ap-526	95	22	electromechanical	electromechanical	ADJ
ap-526	95	23	system	system	NOUN
ap-526	95	24	.	.	PUNCT
ap-526	96	1	the	the	DET
ap-526	96	2	electromechanical	electromechanical	ADJ
ap-526	96	3	system	system	NOUN
ap-526	96	4	16	16	NUM
ap-526	96	5	©	©	PROPN
ap-526	96	6	czech	czech	PROPN
ap-526	96	7	technical	technical	PROPN
ap-526	96	8	university	university	PROPN
ap-526	96	9	publishing	publishing	NOUN
ap-526	96	10	house	house	NOUN
ap-526	96	11	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-526	96	12	acta	acta	PROPN
ap-526	96	13	polytechnica	polytechnica	PROPN
ap-526	96	14	vol	vol	NOUN
ap-526	96	15	.	.	PROPN
ap-526	96	16	44	44	NUM
ap-526	96	17	no	no	NOUN
ap-526	96	18	.	.	PUNCT
ap-526	97	1	2/2004	2/2004	PROPN
ap-526	97	2	takes	take	VERB
ap-526	97	3	as	as	ADP
ap-526	97	4	its	its	PRON
ap-526	97	5	input	input	NOUN
ap-526	97	6	the	the	DET
ap-526	97	7	electrical	electrical	ADJ
ap-526	97	8	control	control	NOUN
ap-526	97	9	signals	signal	NOUN
ap-526	97	10	generated	generate	VERB
ap-526	97	11	by	by	ADP
ap-526	97	12	the	the	DET
ap-526	97	13	control	control	NOUN
ap-526	97	14	system	system	NOUN
ap-526	97	15	module	module	NOUN
ap-526	97	16	and	and	CCONJ
ap-526	97	17	generates	generate	VERB
ap-526	97	18	the	the	DET
ap-526	97	19	corresponding	corresponding	ADJ
ap-526	97	20	wing	wing	NOUN
ap-526	97	21	kinematics	kinematic	NOUN
ap-526	97	22	.	.	PUNCT
ap-526	98	1	it	it	PRON
ap-526	98	2	consists	consist	VERB
ap-526	98	3	of	of	ADP
ap-526	98	4	the	the	DET
ap-526	98	5	model	model	NOUN
ap-526	98	6	of	of	ADP
ap-526	98	7	the	the	DET
ap-526	98	8	electromechanical	electromechanical	ADJ
ap-526	98	9	wing	wing	NOUN
ap-526	98	10	-	-	PUNCT
ap-526	98	11	shorax	shorax	NOUN
ap-526	98	12	architecture	architecture	NOUN
ap-526	98	13	and	and	CCONJ
ap-526	98	14	the	the	DET
ap-526	98	15	aerodynamic	aerodynamic	NOUN
ap-526	98	16	damping	damp	VERB
ap-526	98	17	on	on	ADP
ap-526	98	18	the	the	DET
ap-526	98	19	wings	wing	NOUN
ap-526	98	20	.	.	PUNCT
ap-526	99	1	the	the	DET
ap-526	99	2	traces	trace	NOUN
ap-526	99	3	of	of	ADP
ap-526	99	4	the	the	DET
ap-526	99	5	motion	motion	NOUN
ap-526	99	6	of	of	ADP
ap-526	99	7	the	the	DET
ap-526	99	8	wings	wing	NOUN
ap-526	99	9	,	,	PUNCT
ap-526	99	10	the	the	DET
ap-526	99	11	corresponding	corresponding	ADJ
ap-526	99	12	aerodynamic	aerodynamic	ADJ
ap-526	99	13	forces	force	NOUN
ap-526	99	14	acting	act	VERB
ap-526	99	15	on	on	ADP
ap-526	99	16	them	they	PRON
ap-526	99	17	,	,	PUNCT
ap-526	99	18	and	and	CCONJ
ap-526	99	19	the	the	DET
ap-526	99	20	trajectory	trajectory	NOUN
ap-526	99	21	motion	motion	NOUN
ap-526	99	22	and	and	CCONJ
ap-526	99	23	heading	heading	NOUN
ap-526	99	24	of	of	ADP
ap-526	99	25	the	the	DET
ap-526	99	26	mfi	mfi	PROPN
ap-526	99	27	produced	produce	VERB
ap-526	99	28	by	by	ADP
ap-526	99	29	the	the	DET
ap-526	99	30	ssef	ssef	NOUN
ap-526	99	31	,	,	PUNCT
ap-526	99	32	are	be	AUX
ap-526	99	33	combined	combine	VERB
ap-526	99	34	together	together	ADV
ap-526	99	35	into	into	ADP
ap-526	99	36	a	a	DET
ap-526	99	37	virtual	virtual	ADJ
ap-526	99	38	environment	environment	NOUN
ap-526	99	39	simulation	simulation	NOUN
ap-526	99	40	.	.	PUNCT
ap-526	100	1	the	the	DET
ap-526	100	2	ssef	ssef	ADJ
ap-526	100	3	architecture	architecture	NOUN
ap-526	100	4	is	be	AUX
ap-526	100	5	flexible	flexible	ADJ
ap-526	100	6	,	,	PUNCT
ap-526	100	7	since	since	SCONJ
ap-526	100	8	it	it	PRON
ap-526	100	9	readily	readily	ADV
ap-526	100	10	allows	allow	VERB
ap-526	100	11	modifications	modification	NOUN
ap-526	100	12	or	or	CCONJ
ap-526	100	13	improvements	improvement	NOUN
ap-526	100	14	of	of	ADP
ap-526	100	15	one	one	NUM
ap-526	100	16	single	single	ADJ
ap-526	100	17	module	module	NOUN
ap-526	100	18	without	without	ADP
ap-526	100	19	rewriting	rewrite	VERB
ap-526	100	20	the	the	DET
ap-526	100	21	whole	whole	ADJ
ap-526	100	22	simulator	simulator	NOUN
ap-526	100	23	.	.	PUNCT
ap-526	101	1	for	for	ADP
ap-526	101	2	example	example	NOUN
ap-526	101	3	,	,	PUNCT
ap-526	101	4	different	different	ADJ
ap-526	101	5	combinations	combination	NOUN
ap-526	101	6	of	of	ADP
ap-526	101	7	control	control	NOUN
ap-526	101	8	algorithms	algorithm	NOUN
ap-526	101	9	and	and	CCONJ
ap-526	101	10	electromechanical	electromechanical	ADJ
ap-526	101	11	structure	structure	NOUN
ap-526	101	12	can	can	AUX
ap-526	101	13	be	be	AUX
ap-526	101	14	tested	test	VERB
ap-526	101	15	,	,	PUNCT
ap-526	101	16	giving	give	VERB
ap-526	101	17	rise	rise	NOUN
ap-526	101	18	to	to	ADP
ap-526	101	19	the	the	DET
ap-526	101	20	more	more	ADV
ap-526	101	21	realistic	realistic	ADJ
ap-526	101	22	setting	setting	NOUN
ap-526	101	23	of	of	ADP
ap-526	101	24	flight	flight	NOUN
ap-526	101	25	control	control	NOUN
ap-526	101	26	with	with	ADP
ap-526	101	27	limited	limited	ADJ
ap-526	101	28	kinematics	kinematic	NOUN
ap-526	101	29	due	due	ADJ
ap-526	101	30	to	to	ADP
ap-526	101	31	electromechanical	electromechanical	ADJ
ap-526	101	32	constraints	constraint	NOUN
ap-526	101	33	.	.	PUNCT
ap-526	102	1	moreover	moreover	ADV
ap-526	102	2	,	,	PUNCT
ap-526	102	3	the	the	DET
ap-526	102	4	dimensions	dimension	NOUN
ap-526	102	5	and	and	CCONJ
ap-526	102	6	masses	masse	NOUN
ap-526	102	7	of	of	ADP
ap-526	102	8	the	the	DET
ap-526	102	9	wings	wing	NOUN
ap-526	102	10	and	and	CCONJ
ap-526	102	11	body	body	NOUN
ap-526	102	12	can	can	AUX
ap-526	102	13	be	be	AUX
ap-526	102	14	modified	modify	VERB
ap-526	102	15	to	to	PART
ap-526	102	16	analyze	analyze	VERB
ap-526	102	17	their	their	PRON
ap-526	102	18	effects	effect	NOUN
ap-526	102	19	on	on	ADP
ap-526	102	20	flight	flight	NOUN
ap-526	102	21	stability	stability	NOUN
ap-526	102	22	,	,	PUNCT
ap-526	102	23	power	power	NOUN
ap-526	102	24	efficiency	efficiency	NOUN
ap-526	102	25	and	and	CCONJ
ap-526	102	26	maneuverability	maneuverability	NOUN
ap-526	102	27	.	.	PUNCT
ap-526	103	1	finally	finally	ADV
ap-526	103	2	,	,	PUNCT
ap-526	103	3	as	as	ADV
ap-526	103	4	soon	soon	ADV
ap-526	103	5	as	as	SCONJ
ap-526	103	6	better	well	ADJ
ap-526	103	7	aerodynamic	aerodynamic	ADJ
ap-526	103	8	models	model	NOUN
ap-526	103	9	are	be	AUX
ap-526	103	10	available	available	ADJ
ap-526	103	11	,	,	PUNCT
ap-526	103	12	the	the	DET
ap-526	103	13	aerodynamic	aerodynamic	ADJ
ap-526	103	14	module	module	NOUN
ap-526	103	15	can	can	AUX
ap-526	103	16	be	be	AUX
ap-526	103	17	updated	update	VERB
ap-526	103	18	to	to	PART
ap-526	103	19	improve	improve	VERB
ap-526	103	20	accuracy	accuracy	NOUN
ap-526	103	21	.	.	PUNCT
ap-526	104	1	as	as	ADP
ap-526	104	2	present	present	ADJ
ap-526	104	3	,	,	PUNCT
ap-526	104	4	the	the	DET
ap-526	104	5	ssef	ssef	NOUN
ap-526	104	6	is	be	AUX
ap-526	104	7	not	not	PART
ap-526	104	8	implemented	implement	VERB
ap-526	104	9	:	:	PUNCT
ap-526	104	10	the	the	DET
ap-526	104	11	electromechanical	electromechanical	ADJ
ap-526	104	12	system	system	NOUN
ap-526	104	13	modules	module	NOUN
ap-526	104	14	,	,	PUNCT
ap-526	104	15	and	and	CCONJ
ap-526	104	16	the	the	DET
ap-526	104	17	sensory	sensory	ADJ
ap-526	104	18	system	system	NOUN
ap-526	104	19	module	module	NOUN
ap-526	104	20	.	.	PUNCT
ap-526	105	1	the	the	DET
ap-526	105	2	following	follow	VERB
ap-526	105	3	sections	section	NOUN
ap-526	105	4	present	present	VERB
ap-526	105	5	the	the	DET
ap-526	105	6	state	state	NOUN
ap-526	105	7	of	of	ADP
ap-526	105	8	art	art	NOUN
ap-526	105	9	for	for	ADP
ap-526	105	10	the	the	DET
ap-526	105	11	ssef	ssef	NOUN
ap-526	105	12	.	.	PUNCT
ap-526	106	1	aerodynamic	aerodynamic	PROPN
ap-526	106	2	modul	modul	PROPN
ap-526	106	3	animal	animal	NOUN
ap-526	106	4	flapping	flap	VERB
ap-526	106	5	flight	flight	NOUN
ap-526	106	6	represents	represent	VERB
ap-526	106	7	an	an	DET
ap-526	106	8	unusual	unusual	ADJ
ap-526	106	9	aerodynamic	aerodynamic	ADJ
ap-526	106	10	problem	problem	NOUN
ap-526	106	11	because	because	SCONJ
ap-526	106	12	of	of	ADP
ap-526	106	13	the	the	DET
ap-526	106	14	inherent	inherent	ADJ
ap-526	106	15	“	"	PUNCT
ap-526	106	16	unsteadiness	unsteadiness	NOUN
ap-526	106	17	”	"	PUNCT
ap-526	106	18	and	and	CCONJ
ap-526	106	19	the	the	DET
ap-526	106	20	low	low	ADJ
ap-526	106	21	reynolds	reynolds	PROPN
ap-526	106	22	number	number	NOUN
ap-526	106	23	of	of	ADP
ap-526	106	24	the	the	DET
ap-526	106	25	airflow	airflow	NOUN
ap-526	106	26	.	.	PUNCT
ap-526	107	1	a	a	DET
ap-526	107	2	large	large	ADJ
ap-526	107	3	number	number	NOUN
ap-526	107	4	of	of	ADP
ap-526	107	5	models	model	NOUN
ap-526	107	6	for	for	ADP
ap-526	107	7	unsteady	unsteady	ADJ
ap-526	107	8	animal	animal	NOUN
ap-526	107	9	flight	flight	NOUN
ap-526	107	10	have	have	AUX
ap-526	107	11	been	be	AUX
ap-526	107	12	formulated	formulate	VERB
ap-526	107	13	,	,	PUNCT
ap-526	107	14	and	and	CCONJ
ap-526	107	15	these	these	PRON
ap-526	107	16	have	have	AUX
ap-526	107	17	been	be	AUX
ap-526	107	18	categorised	categorise	VERB
ap-526	107	19	and	and	CCONJ
ap-526	107	20	evaluated	evaluate	VERB
ap-526	107	21	in	in	ADP
ap-526	107	22	a	a	DET
ap-526	107	23	recent	recent	ADJ
ap-526	107	24	review	review	NOUN
ap-526	107	25	by	by	ADP
ap-526	107	26	smith	smith	PROPN
ap-526	107	27	et	et	PROPN
ap-526	107	28	al	al	PROPN
ap-526	108	1	[	[	X
ap-526	108	2	17	17	NUM
ap-526	108	3	]	]	PUNCT
ap-526	108	4	,	,	PUNCT
ap-526	108	5	and	and	CCONJ
ap-526	108	6	pietrucha	pietrucha	NOUN
ap-526	108	7	et	et	PROPN
ap-526	108	8	al	al	PROPN
ap-526	109	1	[	[	X
ap-526	109	2	12	12	NUM
ap-526	109	3	]	]	PUNCT
ap-526	109	4	.	.	PUNCT
ap-526	110	1	usually	usually	ADV
ap-526	110	2	unsteady	unsteady	ADJ
ap-526	110	3	flow	flow	NOUN
ap-526	110	4	is	be	AUX
ap-526	110	5	defined	define	VERB
ap-526	110	6	as	as	ADP
ap-526	110	7	that	that	PRON
ap-526	110	8	in	in	ADP
ap-526	110	9	which	which	PRON
ap-526	110	10	the	the	DET
ap-526	110	11	aerodynamic	aerodynamic	ADJ
ap-526	110	12	characteristics	characteristic	NOUN
ap-526	110	13	depend	depend	VERB
ap-526	110	14	on	on	ADP
ap-526	110	15	time	time	NOUN
ap-526	110	16	.	.	PUNCT
ap-526	111	1	among	among	ADP
ap-526	111	2	various	various	ADJ
ap-526	111	3	unsteady	unsteady	ADJ
ap-526	111	4	flows	flow	NOUN
ap-526	111	5	,	,	PUNCT
ap-526	111	6	linear	linear	INTJ
ap-526	111	7	,	,	PUNCT
ap-526	111	8	harmonic	harmonic	ADJ
ap-526	111	9	flows	flow	NOUN
ap-526	111	10	are	be	AUX
ap-526	111	11	of	of	ADP
ap-526	111	12	special	special	ADJ
ap-526	111	13	importance	importance	NOUN
ap-526	111	14	.	.	PUNCT
ap-526	112	1	the	the	DET
ap-526	112	2	linearity	linearity	NOUN
ap-526	112	3	means	mean	VERB
ap-526	112	4	that	that	SCONJ
ap-526	112	5	the	the	DET
ap-526	112	6	amplitudes	amplitude	NOUN
ap-526	112	7	of	of	ADP
ap-526	112	8	the	the	DET
ap-526	112	9	oscillations	oscillation	NOUN
ap-526	112	10	are	be	AUX
ap-526	112	11	small	small	ADJ
ap-526	112	12	and	and	CCONJ
ap-526	112	13	that	that	DET
ap-526	112	14	separation	separation	NOUN
ap-526	112	15	does	do	AUX
ap-526	112	16	not	not	PART
ap-526	112	17	take	take	VERB
ap-526	112	18	place	place	NOUN
ap-526	112	19	.	.	PUNCT
ap-526	113	1	for	for	ADP
ap-526	113	2	such	such	ADJ
ap-526	113	3	flows	flow	NOUN
ap-526	113	4	it	it	PRON
ap-526	113	5	is	be	AUX
ap-526	113	6	sufficient	sufficient	ADJ
ap-526	113	7	that	that	SCONJ
ap-526	113	8	the	the	DET
ap-526	113	9	aerodynamic	aerodynamic	ADJ
ap-526	113	10	characteristics	characteristic	NOUN
ap-526	113	11	are	be	AUX
ap-526	113	12	presented	present	VERB
ap-526	113	13	versus	versus	ADP
ap-526	113	14	a	a	DET
ap-526	113	15	frequency	frequency	NOUN
ap-526	113	16	parameter	parameter	NOUN
ap-526	113	17	.	.	PUNCT
ap-526	114	1	time	time	NOUN
ap-526	114	2	does	do	AUX
ap-526	114	3	appear	appear	VERB
ap-526	114	4	explicit	explicit	ADJ
ap-526	114	5	in	in	ADP
ap-526	114	6	the	the	DET
ap-526	114	7	function	function	NOUN
ap-526	114	8	describing	describe	VERB
ap-526	114	9	these	these	DET
ap-526	114	10	characteristics	characteristic	NOUN
ap-526	114	11	.	.	PUNCT
ap-526	115	1	panel	panel	NOUN
ap-526	115	2	methods	method	NOUN
ap-526	115	3	there	there	PRON
ap-526	115	4	are	be	VERB
ap-526	115	5	several	several	ADJ
ap-526	115	6	methods	method	NOUN
ap-526	115	7	for	for	ADP
ap-526	115	8	aerodynamic	aerodynamic	ADJ
ap-526	115	9	modelling	modelling	NOUN
ap-526	115	10	by	by	ADP
ap-526	115	11	means	mean	NOUN
ap-526	115	12	of	of	ADP
ap-526	115	13	panel	panel	NOUN
ap-526	115	14	methods	method	NOUN
ap-526	115	15	.	.	PUNCT
ap-526	116	1	in	in	ADP
ap-526	116	2	our	our	PRON
ap-526	116	3	opinion	opinion	NOUN
ap-526	116	4	,	,	PUNCT
ap-526	116	5	the	the	DET
ap-526	116	6	most	most	ADV
ap-526	116	7	valuable	valuable	ADJ
ap-526	116	8	is	be	AUX
ap-526	116	9	the	the	DET
ap-526	116	10	unsteady	unsteady	ADJ
ap-526	116	11	vortex	vortex	NOUN
ap-526	116	12	lattice	lattice	NOUN
ap-526	116	13	method	method	NOUN
ap-526	116	14	.	.	PUNCT
ap-526	117	1	the	the	DET
ap-526	117	2	unsteady	unsteady	ADJ
ap-526	117	3	vortex	vortex	NOUN
ap-526	117	4	©	©	PROPN
ap-526	117	5	czech	czech	PROPN
ap-526	117	6	technical	technical	PROPN
ap-526	117	7	university	university	PROPN
ap-526	117	8	publishing	publishing	NOUN
ap-526	117	9	house	house	NOUN
ap-526	117	10	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-526	117	11	17	17	NUM
ap-526	117	12	acta	acta	PROPN
ap-526	117	13	polytechnica	polytechnica	PROPN
ap-526	117	14	vol	vol	NOUN
ap-526	117	15	.	.	PROPN
ap-526	118	1	44	44	NUM
ap-526	118	2	no	no	NOUN
ap-526	118	3	.	.	PUNCT
ap-526	119	1	2/2004	2/2004	NUM
ap-526	119	2	lattice	lattice	PROPN
ap-526	119	3	method	method	NOUN
ap-526	119	4	[	[	X
ap-526	119	5	6	6	NUM
ap-526	119	6	]	]	PUNCT
ap-526	119	7	employs	employ	VERB
ap-526	119	8	an	an	DET
ap-526	119	9	explicit	explicit	ADJ
ap-526	119	10	routine	routine	NOUN
ap-526	119	11	for	for	ADP
ap-526	119	12	generating	generate	VERB
ap-526	119	13	the	the	DET
ap-526	119	14	unsteady	unsteady	ADJ
ap-526	119	15	wakes	wake	NOUN
ap-526	119	16	,	,	PUNCT
ap-526	119	17	instead	instead	ADV
ap-526	119	18	of	of	ADP
ap-526	119	19	the	the	DET
ap-526	119	20	implicit	implicit	ADJ
ap-526	119	21	scheme	scheme	NOUN
ap-526	119	22	requiring	require	VERB
ap-526	119	23	iteration	iteration	NOUN
ap-526	119	24	.	.	PUNCT
ap-526	120	1	the	the	DET
ap-526	120	2	wing	wing	NOUN
ap-526	120	3	may	may	AUX
ap-526	120	4	be	be	AUX
ap-526	120	5	viewed	view	VERB
ap-526	120	6	as	as	ADP
ap-526	120	7	moving	move	VERB
ap-526	120	8	through	through	ADP
ap-526	120	9	air	air	NOUN
ap-526	120	10	either	either	CCONJ
ap-526	120	11	at	at	ADP
ap-526	120	12	rest	rest	NOUN
ap-526	120	13	or	or	CCONJ
ap-526	120	14	in	in	ADP
ap-526	120	15	motion	motion	NOUN
ap-526	120	16	.	.	PUNCT
ap-526	121	1	thus	thus	ADV
ap-526	121	2	,	,	PUNCT
ap-526	121	3	the	the	DET
ap-526	121	4	effects	effect	NOUN
ap-526	121	5	of	of	ADP
ap-526	121	6	gusts	gust	NOUN
ap-526	121	7	on	on	ADP
ap-526	121	8	a	a	DET
ap-526	121	9	manoeuvre	manoeuvre	NOUN
ap-526	121	10	can	can	AUX
ap-526	121	11	be	be	AUX
ap-526	121	12	modelled	model	VERB
ap-526	121	13	.	.	PUNCT
ap-526	122	1	the	the	DET
ap-526	122	2	method	method	NOUN
ap-526	122	3	is	be	AUX
ap-526	122	4	especially	especially	ADV
ap-526	122	5	suitable	suitable	ADJ
ap-526	122	6	for	for	ADP
ap-526	122	7	an	an	DET
ap-526	122	8	impulsive	impulsive	ADJ
ap-526	122	9	start	start	NOUN
ap-526	122	10	.	.	PUNCT
ap-526	123	1	however	however	ADV
ap-526	123	2	,	,	PUNCT
ap-526	123	3	giving	give	VERB
ap-526	123	4	the	the	DET
ap-526	123	5	wing	wing	NOUN
ap-526	123	6	an	an	DET
ap-526	123	7	impulsive	impulsive	ADJ
ap-526	123	8	start	start	NOUN
ap-526	123	9	and	and	CCONJ
ap-526	123	10	then	then	ADV
ap-526	123	11	having	have	VERB
ap-526	123	12	it	it	PRON
ap-526	123	13	move	move	VERB
ap-526	123	14	at	at	ADP
ap-526	123	15	constant	constant	ADJ
ap-526	123	16	velocity	velocity	NOUN
ap-526	123	17	until	until	SCONJ
ap-526	123	18	a	a	DET
ap-526	123	19	steady	steady	ADJ
ap-526	123	20	state	state	NOUN
ap-526	123	21	is	be	AUX
ap-526	123	22	developed	develop	VERB
ap-526	123	23	can	can	AUX
ap-526	123	24	calculate	calculate	VERB
ap-526	123	25	all	all	DET
ap-526	123	26	the	the	DET
ap-526	123	27	steady	steady	ADJ
ap-526	123	28	flows	flow	NOUN
ap-526	123	29	.	.	PUNCT
ap-526	124	1	the	the	DET
ap-526	124	2	method	method	NOUN
ap-526	124	3	is	be	AUX
ap-526	124	4	based	base	VERB
ap-526	124	5	on	on	ADP
ap-526	124	6	the	the	DET
ap-526	124	7	continuity	continuity	NOUN
ap-526	124	8	equation	equation	NOUN
ap-526	124	9	with	with	ADP
ap-526	124	10	the	the	DET
ap-526	124	11	few	few	ADJ
ap-526	124	12	additional	additional	ADJ
ap-526	124	13	conditions	condition	NOUN
ap-526	124	14	.	.	PUNCT
ap-526	125	1	the	the	DET
ap-526	125	2	method	method	NOUN
ap-526	125	3	is	be	AUX
ap-526	125	4	especially	especially	ADV
ap-526	125	5	valuable	valuable	ADJ
ap-526	125	6	for	for	ADP
ap-526	125	7	analysing	analyse	VERB
ap-526	125	8	different	different	ADJ
ap-526	125	9	manoeuvres	manoeuvre	NOUN
ap-526	125	10	,	,	PUNCT
ap-526	125	11	such	such	ADJ
ap-526	125	12	as	as	ADP
ap-526	125	13	a	a	DET
ap-526	125	14	steady	steady	ADJ
ap-526	125	15	turn	turn	NOUN
ap-526	125	16	,	,	PUNCT
ap-526	125	17	a	a	DET
ap-526	125	18	fast	fast	ADJ
ap-526	125	19	roll	roll	NOUN
ap-526	125	20	about	about	ADP
ap-526	125	21	the	the	DET
ap-526	125	22	wing	wing	NOUN
ap-526	125	23	longitudinal	longitudinal	ADJ
ap-526	125	24	axis	axis	NOUN
ap-526	125	25	,	,	PUNCT
ap-526	125	26	response	response	NOUN
ap-526	125	27	to	to	ADP
ap-526	125	28	aileron	aileron	NOUN
ap-526	125	29	deflection	deflection	NOUN
ap-526	125	30	,	,	PUNCT
ap-526	125	31	etc	etc	X
ap-526	125	32	.	.	X
ap-526	125	33	to	to	PART
ap-526	125	34	mark	mark	VERB
ap-526	125	35	out	out	ADP
ap-526	125	36	the	the	DET
ap-526	125	37	forces	force	NOUN
ap-526	125	38	and	and	CCONJ
ap-526	125	39	aerodynamic	aerodynamic	ADJ
ap-526	125	40	moments	moment	NOUN
ap-526	125	41	effected	effect	VERB
ap-526	125	42	on	on	ADP
ap-526	125	43	an	an	DET
ap-526	125	44	entomopter	entomopter	NOUN
ap-526	125	45	’s	’s	PART
ap-526	125	46	wing	wing	NOUN
ap-526	125	47	we	we	PRON
ap-526	125	48	have	have	AUX
ap-526	125	49	used	use	VERB
ap-526	125	50	the	the	DET
ap-526	125	51	modified	modify	VERB
ap-526	125	52	panel	panel	NOUN
ap-526	125	53	method	method	NOUN
ap-526	125	54	[	[	X
ap-526	125	55	6	6	NUM
ap-526	125	56	,	,	PUNCT
ap-526	125	57	17	17	NUM
ap-526	125	58	]	]	PUNCT
ap-526	125	59	.	.	PUNCT
ap-526	126	1	the	the	DET
ap-526	126	2	choice	choice	NOUN
ap-526	126	3	of	of	ADP
ap-526	126	4	method	method	NOUN
ap-526	126	5	was	be	AUX
ap-526	126	6	dictated	dictate	VERB
ap-526	126	7	by	by	ADP
ap-526	126	8	an	an	DET
ap-526	126	9	easy	easy	ADJ
ap-526	126	10	application	application	NOUN
ap-526	126	11	and	and	CCONJ
ap-526	126	12	low	low	ADJ
ap-526	126	13	cost	cost	NOUN
ap-526	126	14	of	of	ADP
ap-526	126	15	calculations	calculation	NOUN
ap-526	126	16	,	,	PUNCT
ap-526	126	17	which	which	PRON
ap-526	126	18	enables	enable	VERB
ap-526	126	19	this	this	DET
ap-526	126	20	problem	problem	NOUN
ap-526	126	21	to	to	PART
ap-526	126	22	be	be	AUX
ap-526	126	23	realized	realize	VERB
ap-526	126	24	on	on	ADP
ap-526	126	25	pc	pc	NOUN
ap-526	126	26	computers	computer	NOUN
ap-526	126	27	.	.	PUNCT
ap-526	127	1	since	since	SCONJ
ap-526	127	2	the	the	DET
ap-526	127	3	object	object	NOUN
ap-526	127	4	has	have	AUX
ap-526	127	5	been	be	AUX
ap-526	127	6	found	find	VERB
ap-526	127	7	in	in	ADP
ap-526	127	8	unstationary	unstationary	ADJ
ap-526	127	9	motion	motion	NOUN
ap-526	127	10	,	,	PUNCT
ap-526	127	11	the	the	DET
ap-526	127	12	solution	solution	NOUN
ap-526	127	13	has	have	AUX
ap-526	127	14	been	be	AUX
ap-526	127	15	found	find	VERB
ap-526	127	16	by	by	ADP
ap-526	127	17	the	the	DET
ap-526	127	18	time	time	NOUN
ap-526	127	19	-	-	PUNCT
ap-526	127	20	stepping	step	VERB
ap-526	127	21	method	method	NOUN
ap-526	127	22	–	–	PUNCT
ap-526	127	23	which	which	PRON
ap-526	127	24	means	mean	VERB
ap-526	127	25	that	that	SCONJ
ap-526	127	26	for	for	ADP
ap-526	127	27	every	every	DET
ap-526	127	28	time	time	NOUN
ap-526	127	29	step	step	NOUN
ap-526	127	30	the	the	DET
ap-526	127	31	wake	wake	NOUN
ap-526	127	32	vortex	vortex	NOUN
ap-526	127	33	was	be	AUX
ap-526	127	34	suitably	suitably	ADV
ap-526	127	35	modified	modify	VERB
ap-526	127	36	.	.	PUNCT
ap-526	128	1	strip	strip	NOUN
ap-526	128	2	theory	theory	NOUN
ap-526	128	3	the	the	DET
ap-526	128	4	classical	classical	ADJ
ap-526	128	5	strip	strip	NOUN
ap-526	128	6	theory	theory	NOUN
ap-526	128	7	approximation	approximation	NOUN
ap-526	128	8	is	be	AUX
ap-526	128	9	based	base	VERB
ap-526	128	10	on	on	ADP
ap-526	128	11	the	the	DET
ap-526	128	12	assumption	assumption	NOUN
ap-526	128	13	that	that	SCONJ
ap-526	128	14	each	each	DET
ap-526	128	15	element	element	NOUN
ap-526	128	16	of	of	ADP
ap-526	128	17	a	a	DET
ap-526	128	18	wing	wing	NOUN
ap-526	128	19	can	can	AUX
ap-526	128	20	be	be	AUX
ap-526	128	21	considered	consider	VERB
ap-526	128	22	as	as	ADP
ap-526	128	23	an	an	DET
ap-526	128	24	airfoil	airfoil	NOUN
ap-526	128	25	segment	segment	NOUN
ap-526	128	26	of	of	ADP
ap-526	128	27	a	a	DET
ap-526	128	28	finite	finite	ADJ
ap-526	128	29	span	span	NOUN
ap-526	128	30	wing	wing	NOUN
ap-526	128	31	.	.	PUNCT
ap-526	129	1	lift	lift	NOUN
ap-526	129	2	and	and	CCONJ
ap-526	129	3	drag	drag	NOUN
ap-526	129	4	are	be	AUX
ap-526	129	5	then	then	ADV
ap-526	129	6	calculated	calculate	VERB
ap-526	129	7	from	from	ADP
ap-526	129	8	the	the	DET
ap-526	129	9	resultant	resultant	NOUN
ap-526	129	10	velocity	velocity	NOUN
ap-526	129	11	acting	act	VERB
ap-526	129	12	on	on	ADP
ap-526	129	13	the	the	DET
ap-526	129	14	airfoil	airfoil	NOUN
ap-526	129	15	,	,	PUNCT
ap-526	129	16	each	each	DET
ap-526	129	17	element	element	NOUN
ap-526	129	18	being	be	AUX
ap-526	129	19	considered	consider	VERB
ap-526	129	20	independent	independent	ADJ
ap-526	129	21	of	of	ADP
ap-526	129	22	the	the	DET
ap-526	129	23	adjoining	adjoining	ADJ
ap-526	129	24	elements	element	NOUN
ap-526	129	25	.	.	PUNCT
ap-526	130	1	the	the	DET
ap-526	130	2	aerodynamic	aerodynamic	ADJ
ap-526	130	3	characteristics	characteristic	NOUN
ap-526	130	4	of	of	ADP
ap-526	130	5	the	the	DET
ap-526	130	6	wing	wing	NOUN
ap-526	130	7	are	be	AUX
ap-526	130	8	obtained	obtain	VERB
ap-526	130	9	by	by	ADP
ap-526	130	10	integrating	integrate	VERB
ap-526	130	11	the	the	DET
ap-526	130	12	individual	individual	ADJ
ap-526	130	13	contribution	contribution	NOUN
ap-526	130	14	of	of	ADP
ap-526	130	15	each	each	DET
ap-526	130	16	element	element	NOUN
ap-526	130	17	along	along	ADP
ap-526	130	18	the	the	DET
ap-526	130	19	span	span	NOUN
ap-526	130	20	.	.	PUNCT
ap-526	131	1	in	in	ADP
ap-526	131	2	order	order	NOUN
ap-526	131	3	to	to	PART
ap-526	131	4	obtain	obtain	VERB
ap-526	131	5	the	the	DET
ap-526	131	6	resultant	resultant	NOUN
ap-526	131	7	velocity	velocity	NOUN
ap-526	131	8	at	at	ADP
ap-526	131	9	a	a	DET
ap-526	131	10	wing	wing	NOUN
ap-526	131	11	element	element	NOUN
ap-526	131	12	,	,	PUNCT
ap-526	131	13	the	the	DET
ap-526	131	14	total	total	ADJ
ap-526	131	15	flow	flow	NOUN
ap-526	131	16	over	over	ADP
ap-526	131	17	the	the	DET
ap-526	131	18	wing	wing	NOUN
ap-526	131	19	must	must	AUX
ap-526	131	20	be	be	AUX
ap-526	131	21	known	know	VERB
ap-526	131	22	.	.	PUNCT
ap-526	132	1	it	it	PRON
ap-526	132	2	is	be	AUX
ap-526	132	3	composed	compose	VERB
ap-526	132	4	of	of	ADP
ap-526	132	5	the	the	DET
ap-526	132	6	resultant	resultant	NOUN
ap-526	132	7	flight	flight	NOUN
ap-526	132	8	velocity	velocity	NOUN
ap-526	132	9	,	,	PUNCT
ap-526	132	10	flapping	flap	VERB
ap-526	132	11	velocity	velocity	NOUN
ap-526	132	12	,	,	PUNCT
ap-526	132	13	and	and	CCONJ
ap-526	132	14	the	the	DET
ap-526	132	15	induced	induced	ADJ
ap-526	132	16	velocity	velocity	NOUN
ap-526	132	17	.	.	PUNCT
ap-526	133	1	a	a	DET
ap-526	133	2	detailed	detailed	ADJ
ap-526	133	3	explanation	explanation	NOUN
ap-526	133	4	of	of	ADP
ap-526	133	5	the	the	DET
ap-526	133	6	assumed	assume	VERB
ap-526	133	7	formulas	formula	NOUN
ap-526	133	8	and	and	CCONJ
ap-526	133	9	algorithms	algorithm	NOUN
ap-526	133	10	can	can	AUX
ap-526	133	11	be	be	AUX
ap-526	133	12	found	find	VERB
ap-526	133	13	in	in	ADP
ap-526	133	14	[	[	X
ap-526	133	15	1	1	NUM
ap-526	133	16	]	]	PUNCT
ap-526	133	17	,	,	PUNCT
ap-526	133	18	[	[	X
ap-526	133	19	2	2	NUM
ap-526	133	20	]	]	PUNCT
ap-526	133	21	,	,	PUNCT
ap-526	133	22	and	and	CCONJ
ap-526	133	23	[	[	X
ap-526	133	24	9	9	NUM
ap-526	133	25	]	]	PUNCT
ap-526	133	26	.	.	PUNCT
ap-526	134	1	body	body	NOUN
ap-526	134	2	dynamics	dynamic	NOUN
ap-526	134	3	module	module	NOUN
ap-526	134	4	given	give	VERB
ap-526	134	5	the	the	DET
ap-526	134	6	aerodynamic	aerodynamic	ADJ
ap-526	134	7	forces	force	NOUN
ap-526	134	8	generated	generate	VERB
ap-526	134	9	by	by	ADP
ap-526	134	10	the	the	DET
ap-526	134	11	wing	wing	NOUN
ap-526	134	12	kinematics	kinematic	NOUN
ap-526	134	13	,	,	PUNCT
ap-526	134	14	the	the	DET
ap-526	134	15	body	body	NOUN
ap-526	134	16	dynamics	dynamic	NOUN
ap-526	134	17	module	module	NOUN
ap-526	134	18	integrates	integrate	VERB
ap-526	134	19	the	the	DET
ap-526	134	20	rigid	rigid	ADJ
ap-526	134	21	body	body	NOUN
ap-526	134	22	equations	equation	NOUN
ap-526	134	23	of	of	ADP
ap-526	134	24	motion	motion	NOUN
ap-526	134	25	,	,	PUNCT
ap-526	134	26	and	and	CCONJ
ap-526	134	27	gives	give	VERB
ap-526	134	28	the	the	DET
ap-526	134	29	body	body	NOUN
ap-526	134	30	position	position	NOUN
ap-526	134	31	and	and	CCONJ
ap-526	134	32	attitude	attitude	NOUN
ap-526	134	33	trajectories	trajectory	NOUN
ap-526	134	34	.	.	PUNCT
ap-526	135	1	the	the	DET
ap-526	135	2	input	input	NOUN
ap-526	135	3	to	to	ADP
ap-526	135	4	the	the	DET
ap-526	135	5	body	body	NOUN
ap-526	135	6	dynamics	dynamic	NOUN
ap-526	135	7	module	module	NOUN
ap-526	135	8	is	be	AUX
ap-526	135	9	the	the	DET
ap-526	135	10	stroke	stroke	NOUN
ap-526	135	11	angle	angle	NOUN
ap-526	135	12	,	,	PUNCT
ap-526	135	13	lift	lift	NOUN
ap-526	135	14	and	and	CCONJ
ap-526	135	15	drag	drag	NOUN
ap-526	135	16	forces	force	NOUN
ap-526	135	17	.	.	PUNCT
ap-526	136	1	it	it	PRON
ap-526	136	2	is	be	AUX
ap-526	136	3	a	a	DET
ap-526	136	4	well	well	ADV
ap-526	136	5	-	-	PUNCT
ap-526	136	6	known	know	VERB
ap-526	136	7	fact	fact	NOUN
ap-526	136	8	that	that	SCONJ
ap-526	136	9	larger	large	ADJ
ap-526	136	10	flying	fly	VERB
ap-526	136	11	creatures	creature	NOUN
ap-526	136	12	fly	fly	VERB
ap-526	136	13	principally	principally	ADV
ap-526	136	14	by	by	ADP
ap-526	136	15	gliding	glide	VERB
ap-526	136	16	or	or	CCONJ
ap-526	136	17	slow	slow	ADJ
ap-526	136	18	beating	beating	NOUN
ap-526	136	19	,	,	PUNCT
ap-526	136	20	where	where	SCONJ
ap-526	136	21	as	as	SCONJ
ap-526	136	22	smaller	small	ADJ
ap-526	136	23	animals	animal	NOUN
ap-526	136	24	fly	fly	VERB
ap-526	136	25	by	by	ADP
ap-526	136	26	strong	strong	ADJ
ap-526	136	27	beating	beating	NOUN
ap-526	136	28	at	at	ADP
ap-526	136	29	high	high	ADJ
ap-526	136	30	frequency	frequency	NOUN
ap-526	136	31	.	.	PUNCT
ap-526	137	1	thus	thus	ADV
ap-526	137	2	,	,	PUNCT
ap-526	137	3	the	the	DET
ap-526	137	4	range	range	NOUN
ap-526	137	5	of	of	ADP
ap-526	137	6	beating	beat	VERB
ap-526	137	7	frequency	frequency	NOUN
ap-526	137	8	and	and	CCONJ
ap-526	137	9	the	the	DET
ap-526	137	10	reynolds	reynolds	PROPN
ap-526	137	11	number	number	NOUN
ap-526	137	12	varies	vary	VERB
ap-526	137	13	greatly	greatly	ADV
ap-526	137	14	.	.	PUNCT
ap-526	138	1	the	the	DET
ap-526	138	2	beating	beat	VERB
ap-526	138	3	motion	motion	NOUN
ap-526	138	4	of	of	ADP
ap-526	138	5	the	the	DET
ap-526	138	6	wings	wing	NOUN
ap-526	138	7	is	be	AUX
ap-526	138	8	exclusively	exclusively	ADV
ap-526	138	9	used	use	VERB
ap-526	138	10	in	in	ADP
ap-526	138	11	the	the	DET
ap-526	138	12	powered	powered	ADJ
ap-526	138	13	flight	flight	NOUN
ap-526	138	14	of	of	ADP
ap-526	138	15	birds	bird	NOUN
ap-526	138	16	and	and	CCONJ
ap-526	138	17	insects	insect	NOUN
ap-526	138	18	.	.	PUNCT
ap-526	139	1	in	in	ADP
ap-526	139	2	flying	fly	VERB
ap-526	139	3	,	,	PUNCT
ap-526	139	4	this	this	PRON
ap-526	139	5	is	be	AUX
ap-526	139	6	the	the	DET
ap-526	139	7	only	only	ADJ
ap-526	139	8	way	way	NOUN
ap-526	139	9	by	by	ADP
ap-526	139	10	means	mean	NOUN
ap-526	139	11	of	of	ADP
ap-526	139	12	the	the	DET
ap-526	139	13	which	which	PRON
ap-526	139	14	these	these	DET
ap-526	139	15	flying	fly	VERB
ap-526	139	16	creatures	creature	NOUN
ap-526	139	17	can	can	AUX
ap-526	139	18	counter	counter	VERB
ap-526	139	19	the	the	DET
ap-526	139	20	gravity	gravity	NOUN
ap-526	139	21	forces	force	NOUN
ap-526	139	22	and	and	CCONJ
ap-526	139	23	propel	propel	VERB
ap-526	139	24	themselves	themselves	PRON
ap-526	139	25	against	against	ADP
ap-526	139	26	aerodynamic	aerodynamic	ADJ
ap-526	139	27	drag	drag	NOUN
ap-526	139	28	.	.	PUNCT
ap-526	140	1	therefore	therefore	ADV
ap-526	140	2	,	,	PUNCT
ap-526	140	3	detailed	detailed	ADJ
ap-526	140	4	analyses	analysis	NOUN
ap-526	140	5	of	of	ADP
ap-526	140	6	kinematics	kinematic	NOUN
ap-526	140	7	are	be	AUX
ap-526	140	8	central	central	ADJ
ap-526	140	9	to	to	ADP
ap-526	140	10	an	an	DET
ap-526	140	11	integrated	integrated	ADJ
ap-526	140	12	understanding	understanding	NOUN
ap-526	140	13	of	of	ADP
ap-526	140	14	animal	animal	NOUN
ap-526	140	15	flight	flight	NOUN
ap-526	140	16	[	[	X
ap-526	140	17	1	1	NUM
ap-526	140	18	,	,	PUNCT
ap-526	140	19	2	2	NUM
ap-526	140	20	,	,	PUNCT
ap-526	140	21	4	4	NUM
ap-526	140	22	,	,	PUNCT
ap-526	140	23	8	8	NUM
ap-526	140	24	,	,	PUNCT
ap-526	140	25	9	9	NUM
ap-526	140	26	,	,	PUNCT
ap-526	140	27	11	11	NUM
ap-526	140	28	,	,	PUNCT
ap-526	140	29	12	12	NUM
ap-526	140	30	,	,	PUNCT
ap-526	140	31	13	13	NUM
ap-526	140	32	,	,	PUNCT
ap-526	140	33	14	14	NUM
ap-526	140	34	,	,	PUNCT
ap-526	140	35	15	15	NUM
ap-526	140	36	,	,	PUNCT
ap-526	140	37	16	16	NUM
ap-526	140	38	]	]	PUNCT
ap-526	140	39	.	.	PUNCT
ap-526	141	1	the	the	DET
ap-526	141	2	motion	motion	NOUN
ap-526	141	3	of	of	ADP
ap-526	141	4	an	an	DET
ap-526	141	5	animal	animal	NOUN
ap-526	141	6	wing	wing	NOUN
ap-526	141	7	may	may	AUX
ap-526	141	8	be	be	AUX
ap-526	141	9	decomposed	decompose	VERB
ap-526	141	10	into	into	ADP
ap-526	141	11	:	:	PUNCT
ap-526	141	12	flapping	flap	VERB
ap-526	141	13	,	,	PUNCT
ap-526	141	14	lagging	lag	VERB
ap-526	141	15	,	,	PUNCT
ap-526	141	16	feathering	feather	VERB
ap-526	141	17	(	(	PUNCT
ap-526	141	18	the	the	DET
ap-526	141	19	rigid	rigid	ADJ
ap-526	141	20	body	body	NOUN
ap-526	141	21	motions	motion	NOUN
ap-526	141	22	)	)	PUNCT
ap-526	141	23	and	and	CCONJ
ap-526	141	24	also	also	ADV
ap-526	141	25	into	into	ADP
ap-526	141	26	more	more	ADV
ap-526	141	27	complex	complex	ADJ
ap-526	141	28	deflections	deflection	NOUN
ap-526	141	29	of	of	ADP
ap-526	141	30	the	the	DET
ap-526	141	31	surface	surface	NOUN
ap-526	141	32	from	from	ADP
ap-526	141	33	the	the	DET
ap-526	141	34	base	base	NOUN
ap-526	141	35	shape	shape	NOUN
ap-526	141	36	(	(	PUNCT
ap-526	141	37	vibration	vibration	NOUN
ap-526	141	38	modes	mode	NOUN
ap-526	141	39	)	)	PUNCT
ap-526	141	40	.	.	PUNCT
ap-526	142	1	this	this	PRON
ap-526	142	2	requires	require	VERB
ap-526	142	3	a	a	DET
ap-526	142	4	universal	universal	ADJ
ap-526	142	5	joint	joint	NOUN
ap-526	142	6	similar	similar	ADJ
ap-526	142	7	the	the	DET
ap-526	142	8	shoulder	shoulder	NOUN
ap-526	142	9	in	in	ADP
ap-526	142	10	a	a	DET
ap-526	142	11	human	human	NOUN
ap-526	142	12	.	.	PUNCT
ap-526	143	1	a	a	DET
ap-526	143	2	good	good	ADJ
ap-526	143	3	model	model	NOUN
ap-526	143	4	of	of	ADP
ap-526	143	5	such	such	DET
ap-526	143	6	a	a	DET
ap-526	143	7	joint	joint	NOUN
ap-526	143	8	is	be	AUX
ap-526	143	9	the	the	DET
ap-526	143	10	articulated	articulated	ADJ
ap-526	143	11	rotor	rotor	NOUN
ap-526	143	12	hub	hub	NOUN
ap-526	143	13	.	.	PUNCT
ap-526	144	1	flapping	flap	VERB
ap-526	144	2	is	be	AUX
ap-526	144	3	a	a	DET
ap-526	144	4	rotation	rotation	NOUN
ap-526	144	5	of	of	ADP
ap-526	144	6	a	a	DET
ap-526	144	7	wing	wing	NOUN
ap-526	144	8	about	about	ADP
ap-526	144	9	longitudinal	longitudinal	ADJ
ap-526	144	10	axis	axis	NOUN
ap-526	144	11	of	of	ADP
ap-526	144	12	the	the	DET
ap-526	144	13	body	body	NOUN
ap-526	144	14	(	(	PUNCT
ap-526	144	15	this	this	DET
ap-526	144	16	axis	axis	NOUN
ap-526	144	17	lies	lie	VERB
ap-526	144	18	in	in	ADP
ap-526	144	19	the	the	DET
ap-526	144	20	direction	direction	NOUN
ap-526	144	21	of	of	ADP
ap-526	144	22	flight	flight	NOUN
ap-526	144	23	velocity	velocity	NOUN
ap-526	144	24	)	)	PUNCT
ap-526	144	25	,	,	PUNCT
ap-526	144	26	i.e.	i.e.	X
ap-526	144	27	“	"	PUNCT
ap-526	144	28	up	up	ADP
ap-526	144	29	and	and	CCONJ
ap-526	144	30	down	down	ADJ
ap-526	144	31	”	"	PUNCT
ap-526	144	32	motion	motion	NOUN
ap-526	144	33	.	.	PUNCT
ap-526	145	1	lagging	lag	VERB
ap-526	145	2	is	be	AUX
ap-526	145	3	a	a	DET
ap-526	145	4	rotation	rotation	NOUN
ap-526	145	5	about	about	ADP
ap-526	145	6	a	a	DET
ap-526	145	7	“	"	PUNCT
ap-526	145	8	vertical	vertical	ADJ
ap-526	145	9	”	"	PUNCT
ap-526	145	10	axis	axis	NOUN
ap-526	145	11	,	,	PUNCT
ap-526	145	12	this	this	PRON
ap-526	145	13	is	be	AUX
ap-526	145	14	the	the	DET
ap-526	145	15	“	"	PUNCT
ap-526	145	16	forward	forward	ADJ
ap-526	145	17	and	and	CCONJ
ap-526	145	18	backward	backward	ADJ
ap-526	145	19	”	"	PUNCT
ap-526	145	20	wing	wing	NOUN
ap-526	145	21	motion	motion	NOUN
ap-526	145	22	.	.	PUNCT
ap-526	146	1	feathering	feather	VERB
ap-526	146	2	is	be	AUX
ap-526	146	3	an	an	DET
ap-526	146	4	angular	angular	ADJ
ap-526	146	5	movement	movement	NOUN
ap-526	146	6	about	about	ADP
ap-526	146	7	the	the	DET
ap-526	146	8	wing	wing	NOUN
ap-526	146	9	longitudinal	longitudinal	ADJ
ap-526	146	10	axis	axis	NOUN
ap-526	146	11	.	.	PUNCT
ap-526	147	1	during	during	ADP
ap-526	147	2	the	the	DET
ap-526	147	3	feathering	feathering	NOUN
ap-526	147	4	motion	motion	NOUN
ap-526	147	5	the	the	DET
ap-526	147	6	wing	wing	NOUN
ap-526	147	7	changes	change	VERB
ap-526	147	8	its	its	PRON
ap-526	147	9	angle	angle	NOUN
ap-526	147	10	of	of	ADP
ap-526	147	11	attack	attack	NOUN
ap-526	147	12	.	.	PUNCT
ap-526	148	1	spanning	span	VERB
ap-526	148	2	is	be	AUX
ap-526	148	3	an	an	DET
ap-526	148	4	expanding	expand	VERB
ap-526	148	5	and	and	CCONJ
ap-526	148	6	contracting	contracting	NOUN
ap-526	148	7	of	of	ADP
ap-526	148	8	the	the	DET
ap-526	148	9	wingspan	wingspan	NOUN
ap-526	148	10	.	.	PUNCT
ap-526	149	1	not	not	PART
ap-526	149	2	all	all	DET
ap-526	149	3	flying	fly	VERB
ap-526	149	4	animals	animal	NOUN
ap-526	149	5	implement	implement	VERB
ap-526	149	6	all	all	PRON
ap-526	149	7	of	of	ADP
ap-526	149	8	these	these	DET
ap-526	149	9	motions	motion	NOUN
ap-526	149	10	.	.	PUNCT
ap-526	150	1	unlike	unlike	ADP
ap-526	150	2	birds	bird	NOUN
ap-526	150	3	,	,	PUNCT
ap-526	150	4	most	most	ADJ
ap-526	150	5	insects	insect	NOUN
ap-526	150	6	do	do	AUX
ap-526	150	7	not	not	PART
ap-526	150	8	use	use	VERB
ap-526	150	9	the	the	DET
ap-526	150	10	spanning	span	VERB
ap-526	150	11	technique	technique	NOUN
ap-526	150	12	.	.	PUNCT
ap-526	151	1	flapping	flap	VERB
ap-526	151	2	flight	flight	NOUN
ap-526	151	3	is	be	AUX
ap-526	151	4	possible	possible	ADJ
ap-526	151	5	with	with	ADP
ap-526	151	6	only	only	ADV
ap-526	151	7	two	two	NUM
ap-526	151	8	degrees	degree	NOUN
ap-526	151	9	of	of	ADP
ap-526	151	10	freedom	freedom	NOUN
ap-526	151	11	:	:	PUNCT
ap-526	151	12	flapping	flap	VERB
ap-526	151	13	and	and	CCONJ
ap-526	151	14	feathering	feathering	NOUN
ap-526	151	15	.	.	PUNCT
ap-526	152	1	in	in	ADP
ap-526	152	2	the	the	DET
ap-526	152	3	simplest	simple	ADJ
ap-526	152	4	physical	physical	ADJ
ap-526	152	5	models	model	NOUN
ap-526	152	6	heaving	heave	VERB
ap-526	152	7	and	and	CCONJ
ap-526	152	8	pitching	pitching	NOUN
ap-526	152	9	represent	represent	VERB
ap-526	152	10	these	these	DET
ap-526	152	11	degrees	degree	NOUN
ap-526	152	12	of	of	ADP
ap-526	152	13	freedom	freedom	NOUN
ap-526	152	14	.	.	PUNCT
ap-526	153	1	this	this	DET
ap-526	153	2	kind	kind	NOUN
ap-526	153	3	of	of	ADP
ap-526	153	4	motion	motion	NOUN
ap-526	153	5	can	can	AUX
ap-526	153	6	be	be	AUX
ap-526	153	7	generated	generate	VERB
ap-526	153	8	principally	principally	ADV
ap-526	153	9	by	by	ADP
ap-526	153	10	a	a	DET
ap-526	153	11	flapping	flap	VERB
ap-526	153	12	(	(	PUNCT
ap-526	153	13	up	up	ADP
ap-526	153	14	and	and	CCONJ
ap-526	153	15	down	down	ADV
ap-526	153	16	)	)	PUNCT
ap-526	153	17	motion	motion	NOUN
ap-526	153	18	of	of	ADP
ap-526	153	19	the	the	DET
ap-526	153	20	wing	wing	NOUN
ap-526	153	21	,	,	PUNCT
ap-526	153	22	but	but	CCONJ
ap-526	153	23	not	not	PART
ap-526	153	24	by	by	ADP
ap-526	153	25	a	a	DET
ap-526	153	26	feathering	feather	VERB
ap-526	153	27	(	(	PUNCT
ap-526	153	28	pitch	pitch	NOUN
ap-526	153	29	-	-	PUNCT
ap-526	153	30	up	up	NOUN
ap-526	153	31	and	and	CCONJ
ap-526	153	32	pitch	pitch	NOUN
ap-526	153	33	-	-	PUNCT
ap-526	153	34	down	down	NOUN
ap-526	153	35	)	)	PUNCT
ap-526	153	36	motion	motion	NOUN
ap-526	153	37	.	.	PUNCT
ap-526	154	1	the	the	DET
ap-526	154	2	mode	mode	NOUN
ap-526	154	3	and	and	CCONJ
ap-526	154	4	frequency	frequency	NOUN
ap-526	154	5	of	of	ADP
ap-526	154	6	the	the	DET
ap-526	154	7	beating	beating	NOUN
ap-526	154	8	motion	motion	NOUN
ap-526	154	9	differ	differ	VERB
ap-526	154	10	among	among	ADP
ap-526	154	11	different	different	ADJ
ap-526	154	12	species	specie	NOUN
ap-526	154	13	and	and	CCONJ
ap-526	154	14	are	be	AUX
ap-526	154	15	strongly	strongly	ADV
ap-526	154	16	dependent	dependent	ADJ
ap-526	154	17	on	on	ADP
ap-526	154	18	body	body	NOUN
ap-526	154	19	size	size	NOUN
ap-526	154	20	and	and	CCONJ
ap-526	154	21	shape	shape	NOUN
ap-526	154	22	.	.	PUNCT
ap-526	155	1	a	a	DET
ap-526	155	2	typical	typical	ADJ
ap-526	155	3	difference	difference	NOUN
ap-526	155	4	in	in	ADP
ap-526	155	5	beating	beat	VERB
ap-526	155	6	motion	motion	NOUN
ap-526	155	7	between	between	ADP
ap-526	155	8	birds	bird	NOUN
ap-526	155	9	and	and	CCONJ
ap-526	155	10	insects	insect	NOUN
ap-526	155	11	is	be	AUX
ap-526	155	12	observed	observe	VERB
ap-526	155	13	in	in	ADP
ap-526	155	14	the	the	DET
ap-526	155	15	way	way	NOUN
ap-526	155	16	they	they	PRON
ap-526	155	17	use	use	VERB
ap-526	155	18	the	the	DET
ap-526	155	19	aerodynamic	aerodynamic	ADJ
ap-526	155	20	forces	force	NOUN
ap-526	155	21	,	,	PUNCT
ap-526	155	22	lift	lift	NOUN
ap-526	155	23	and	and	CCONJ
ap-526	155	24	drag	drag	VERB
ap-526	155	25	.	.	PUNCT
ap-526	156	1	birds	bird	NOUN
ap-526	156	2	rely	rely	VERB
ap-526	156	3	entirely	entirely	ADV
ap-526	156	4	on	on	ADP
ap-526	156	5	lift	lift	NOUN
ap-526	156	6	because	because	SCONJ
ap-526	156	7	the	the	DET
ap-526	156	8	reynolds	reynolds	PROPN
ap-526	156	9	number	number	NOUN
ap-526	156	10	of	of	ADP
ap-526	156	11	their	their	PRON
ap-526	156	12	wings	wing	NOUN
ap-526	156	13	is	be	AUX
ap-526	156	14	high	high	ADJ
ap-526	156	15	enough	enough	ADV
ap-526	156	16	.	.	PUNCT
ap-526	157	1	however	however	ADV
ap-526	157	2	,	,	PUNCT
ap-526	157	3	insects	insect	NOUN
ap-526	157	4	use	use	VERB
ap-526	157	5	drag	drag	NOUN
ap-526	157	6	as	as	ADV
ap-526	157	7	well	well	ADV
ap-526	157	8	as	as	ADP
ap-526	157	9	lift	lift	NOUN
ap-526	157	10	,	,	PUNCT
ap-526	157	11	thanks	thank	NOUN
ap-526	157	12	to	to	ADP
ap-526	157	13	the	the	DET
ap-526	157	14	low	low	ADJ
ap-526	157	15	reynolds	reynold	NOUN
ap-526	157	16	number	number	NOUN
ap-526	157	17	and	and	CCONJ
ap-526	157	18	high	high	ADJ
ap-526	157	19	frequency	frequency	NOUN
ap-526	157	20	beating	beating	NOUN
ap-526	157	21	of	of	ADP
ap-526	157	22	low	low	ADJ
ap-526	157	23	aspect	aspect	NOUN
ap-526	157	24	ratio	ratio	NOUN
ap-526	157	25	wings	wing	NOUN
ap-526	157	26	.	.	PUNCT
ap-526	158	1	3	3	NUM
ap-526	158	2	equations	equation	NOUN
ap-526	158	3	of	of	ADP
ap-526	158	4	entomopter	entomopter	PROPN
ap-526	158	5	motion	motion	NOUN
ap-526	158	6	gibbs	gibbs	PROPN
ap-526	158	7	-	-	PUNCT
ap-526	158	8	appel	appel	PROPN
ap-526	158	9	equations	equation	NOUN
ap-526	158	10	the	the	DET
ap-526	158	11	formalism	formalism	NOUN
ap-526	158	12	of	of	ADP
ap-526	158	13	analytical	analytical	ADJ
ap-526	158	14	mechanics	mechanic	NOUN
ap-526	158	15	allows	allow	VERB
ap-526	158	16	us	we	PRON
ap-526	158	17	to	to	PART
ap-526	158	18	present	present	VERB
ap-526	158	19	the	the	DET
ap-526	158	20	dynamic	dynamic	ADJ
ap-526	158	21	equations	equation	NOUN
ap-526	158	22	of	of	ADP
ap-526	158	23	motion	motion	NOUN
ap-526	158	24	of	of	ADP
ap-526	158	25	an	an	DET
ap-526	158	26	entomopter	entomopter	NOUN
ap-526	158	27	as	as	ADP
ap-526	158	28	mechanical	mechanical	ADJ
ap-526	158	29	systems	system	NOUN
ap-526	158	30	in	in	ADP
ap-526	158	31	generalised	generalise	VERB
ap-526	158	32	co	co	NOUN
ap-526	158	33	-	-	NOUN
ap-526	158	34	ordinates	ordinate	NOUN
ap-526	158	35	.	.	PUNCT
ap-526	159	1	the	the	DET
ap-526	159	2	method	method	NOUN
ap-526	159	3	presented	present	VERB
ap-526	159	4	above	above	ADV
ap-526	159	5	provides	provide	VERB
ap-526	159	6	a	a	DET
ap-526	159	7	remarkably	remarkably	ADV
ap-526	159	8	incredibly	incredibly	ADV
ap-526	159	9	interesting	interesting	ADJ
ap-526	159	10	and	and	CCONJ
ap-526	159	11	comfortable	comfortable	ADJ
ap-526	159	12	tool	tool	NOUN
ap-526	159	13	for	for	ADP
ap-526	159	14	constructing	construct	VERB
ap-526	159	15	the	the	DET
ap-526	159	16	equation	equation	NOUN
ap-526	159	17	of	of	ADP
ap-526	159	18	motion	motion	NOUN
ap-526	159	19	of	of	ADP
ap-526	159	20	an	an	DET
ap-526	159	21	entomopter	entomopter	NOUN
ap-526	159	22	.	.	PUNCT
ap-526	160	1	gibbs	gibbs	PROPN
ap-526	160	2	-	-	PUNCT
ap-526	160	3	appel	appel	PROPN
ap-526	160	4	equations	equation	NOUN
ap-526	160	5	have	have	VERB
ap-526	160	6	the	the	DET
ap-526	160	7	following	follow	VERB
ap-526	160	8	form	form	NOUN
ap-526	160	9	[	[	X
ap-526	160	10	16	16	NUM
ap-526	160	11	]	]	X
ap-526	160	12	:	:	PUNCT
ap-526	160	13	d	d	X
ap-526	160	14	dt	dt	X
ap-526	160	15	s	s	PROPN
ap-526	160	16	�	�	PROPN
ap-526	160	17	�	�	PROPN
ap-526	160	18	�	�	PROPN
ap-526	160	19	�	�	PROPN
ap-526	160	20	q	q	PROPN
ap-526	160	21	q	q	PROPN
ap-526	160	22	�	�	PROPN
ap-526	160	23	�	�	PROPN
ap-526	160	24	�	�	PROPN
ap-526	160	25	�	�	PROPN
ap-526	160	26	�	�	PROPN
ap-526	160	27	�	�	PROPN
ap-526	160	28	�	�	PROPN
ap-526	160	29	�	�	PROPN
ap-526	160	30	�	�	PROPN
ap-526	160	31	(	(	PUNCT
ap-526	160	32	1	1	NUM
ap-526	160	33	)	)	PUNCT
ap-526	160	34	where	where	SCONJ
ap-526	160	35	:	:	PUNCT
ap-526	160	36	q	q	X
ap-526	160	37	–	–	PUNCT
ap-526	160	38	is	be	AUX
ap-526	160	39	the	the	DET
ap-526	160	40	vector	vector	NOUN
ap-526	160	41	of	of	ADP
ap-526	160	42	generalised	generalise	VERB
ap-526	160	43	co	co	NOUN
ap-526	160	44	-	-	NOUN
ap-526	160	45	ordinates;	ordinates;	NOUN
ap-526	160	46	s	s	X
ap-526	160	47	,	,	PUNCT
ap-526	160	48	tq	tq	PRON
ap-526	160	49	q	q	ADJ
ap-526	160	50	q	q	PUNCT
ap-526	160	51	�	�	PROPN
ap-526	160	52	�	�	PROPN
ap-526	160	53	�	�	PROPN
ap-526	160	54	,	,	PUNCT
ap-526	160	55	,	,	PUNCT
ap-526	160	56	–	–	PUNCT
ap-526	160	57	is	be	AUX
ap-526	160	58	the	the	DET
ap-526	160	59	so	so	ADV
ap-526	160	60	called	call	VERB
ap-526	160	61	appel	appel	PROPN
ap-526	160	62	function	function	PROPN
ap-526	160	63	,	,	PUNCT
ap-526	160	64	or	or	CCONJ
ap-526	160	65	functional	functional	ADJ
ap-526	160	66	of	of	ADP
ap-526	160	67	accelerations	acceleration	NOUN
ap-526	160	68	.	.	PUNCT
ap-526	161	1	functional	functional	PROPN
ap-526	161	2	s	s	PROPN
ap-526	161	3	for	for	SCONJ
ap-526	161	4	the	the	DET
ap-526	161	5	i	i	PROPN
ap-526	161	6	-	-	PUNCT
ap-526	161	7	th	th	X
ap-526	161	8	element	element	NOUN
ap-526	161	9	of	of	ADP
ap-526	161	10	the	the	DET
ap-526	161	11	mechanical	mechanical	ADJ
ap-526	161	12	system	system	NOUN
ap-526	161	13	is	be	AUX
ap-526	161	14	given	give	VERB
ap-526	161	15	by	by	ADP
ap-526	161	16	the	the	DET
ap-526	161	17	equation	equation	NOUN
ap-526	162	1	[	[	X
ap-526	162	2	16	16	NUM
ap-526	162	3	]	]	X
ap-526	162	4	:	:	PUNCT
ap-526	162	5	s	s	X
ap-526	162	6	mi	mi	X
ap-526	163	1	i	i	PRON
ap-526	163	2	i	i	PRON
ap-526	163	3	v	v	VERB
ap-526	163	4	i	i	PRON
ap-526	163	5	�	�	PROPN
ap-526	163	6	�	�	PROPN
ap-526	163	7	�	�	PROPN
ap-526	163	8	�	�	PROPN
ap-526	163	9	1	1	NUM
ap-526	163	10	2	2	NUM
ap-526	163	11	�	�	PROPN
ap-526	163	12	�	�	PROPN
ap-526	163	13	v	v	NOUN
ap-526	163	14	v	v	NOUN
ap-526	163	15	�	�	PROPN
ap-526	163	16	d	d	PROPN
ap-526	163	17	(	(	PUNCT
ap-526	163	18	2	2	NUM
ap-526	163	19	)	)	PUNCT
ap-526	163	20	where	where	SCONJ
ap-526	163	21	�	�	PROPN
ap-526	163	22	vi	vi	PROPN
ap-526	163	23	means	mean	VERB
ap-526	163	24	the	the	DET
ap-526	163	25	vector	vector	NOUN
ap-526	163	26	of	of	ADP
ap-526	163	27	absolute	absolute	ADJ
ap-526	163	28	acceleration	acceleration	NOUN
ap-526	163	29	of	of	ADP
ap-526	163	30	elementary	elementary	PROPN
ap-526	163	31	mass	mass	PROPN
ap-526	163	32	dmi	dmi	PROPN
ap-526	163	33	of	of	ADP
ap-526	163	34	the	the	DET
ap-526	163	35	i	i	PROPN
ap-526	163	36	-	-	PUNCT
ap-526	163	37	th	th	X
ap-526	163	38	body	body	NOUN
ap-526	163	39	of	of	ADP
ap-526	163	40	the	the	DET
ap-526	163	41	dynamical	dynamical	ADJ
ap-526	163	42	system	system	NOUN
ap-526	163	43	considered	consider	VERB
ap-526	163	44	(	(	PUNCT
ap-526	163	45	fig	fig	NOUN
ap-526	163	46	.	.	PUNCT
ap-526	164	1	2	2	NUM
ap-526	164	2	):	):	PUNCT
ap-526	164	3	�	�	PROPN
ap-526	164	4	�	�	PROPN
ap-526	164	5	v	v	NOUN
ap-526	164	6	vi	vi	NOUN
ap-526	165	1	i	i	PRON
ap-526	165	2	i	i	PRON
ap-526	166	1	i	i	PRON
ap-526	167	1	i	i	PRON
ap-526	168	1	i	i	PRON
ap-526	169	1	i	i	PROPN
ap-526	169	2	�	�	PROPN
ap-526	169	3	�	�	PROPN
ap-526	169	4	�	�	PROPN
ap-526	169	5	0	0	NUM
ap-526	169	6	0	0	NUM
ap-526	169	7	0	0	NUM
ap-526	169	8	0	0	NUM
ap-526	169	9	�	�	PROPN
ap-526	169	10	�	�	PROPN
ap-526	169	11	�	�	PROPN
ap-526	169	12	�	�	PROPN
ap-526	169	13	�	�	PROPN
ap-526	169	14	.	.	PUNCT
ap-526	170	1	(	(	PUNCT
ap-526	170	2	3	3	X
ap-526	170	3	)	)	PUNCT
ap-526	170	4	assuming	assume	VERB
ap-526	170	5	that	that	SCONJ
ap-526	170	6	:	:	PUNCT
ap-526	170	7	r	r	NOUN
ap-526	170	8	r	r	NOUN
ap-526	170	9	r	r	NOUN
ap-526	170	10	ri	ri	NOUN
ap-526	171	1	i	i	PRON
ap-526	171	2	i	i	PRON
ap-526	172	1	i	i	PROPN
ap-526	172	2	�	�	PROPN
ap-526	172	3	�	�	PROPN
ap-526	172	4	�	�	PROPN
ap-526	172	5	�	�	PROPN
ap-526	172	6	�	�	PROPN
ap-526	172	7	�	�	PROPN
ap-526	172	8	3	3	NUM
ap-526	172	9	3	3	NUM
ap-526	172	10	3	3	NUM
ap-526	172	11	(	(	PUNCT
ap-526	172	12	4	4	NUM
ap-526	172	13	)	)	PUNCT
ap-526	172	14	and	and	CCONJ
ap-526	172	15	m	m	VERB
ap-526	173	1	i	i	VERB
ap-526	173	2	r	r	NOUN
ap-526	173	3	r	r	NOUN
ap-526	173	4	j	j	NOUN
ap-526	174	1	i	i	PRON
ap-526	174	2	i	i	PRON
ap-526	175	1	i	i	PRON
ap-526	175	2	it	it	PRON
ap-526	176	1	i	i	INTJ
ap-526	176	2	i	i	PRON
ap-526	176	3	m	m	VERB
ap-526	176	4	m	m	VERB
ap-526	176	5	m	m	VERB
ap-526	176	6	�	�	PROPN
ap-526	176	7	�	�	PROPN
ap-526	176	8	�	�	PROPN
ap-526	176	9	�	�	PROPN
ap-526	176	10	�	�	PROPN
ap-526	176	11	�	�	PROPN
ap-526	176	12	�	�	PROPN
ap-526	176	13	�	�	PROPN
ap-526	176	14	�	�	PROPN
ap-526	176	15	~	~	PUNCT
ap-526	176	16	~	~	PUNCT
ap-526	176	17	0	0	PUNCT
ap-526	176	18	(	(	PUNCT
ap-526	176	19	5	5	NUM
ap-526	176	20	)	)	PUNCT
ap-526	176	21	h	h	NOUN
ap-526	176	22	r	r	NOUN
ap-526	176	23	r	r	NOUN
ap-526	176	24	v	v	X
ap-526	176	25	j	j	NOUN
ap-526	177	1	i	i	PRON
ap-526	177	2	i	i	PRON
ap-526	178	1	i	i	PRON
ap-526	178	2	i	i	PRON
ap-526	179	1	i	i	PRON
ap-526	179	2	i	i	PRON
ap-526	180	1	i	i	PRON
ap-526	181	1	i	i	PRON
ap-526	181	2	m	m	VERB
ap-526	181	3	m	m	VERB
ap-526	181	4	m	m	VERB
ap-526	181	5	�	�	PROPN
ap-526	181	6	�	�	PROPN
ap-526	181	7	�	�	PROPN
ap-526	181	8	�	�	PROPN
ap-526	181	9	�	�	PROPN
ap-526	181	10	�	�	PROPN
ap-526	181	11	�	�	PROPN
ap-526	181	12	�	�	PROPN
ap-526	181	13	�	�	PROPN
ap-526	181	14	~	~	PUNCT
ap-526	181	15	~	~	PUNCT
ap-526	181	16	~	~	PUNCT
ap-526	181	17	~	~	PUNCT
ap-526	181	18	~	~	PUNCT
ap-526	181	19	�	�	PROPN
ap-526	181	20	�	�	PROPN
ap-526	181	21	�	�	PROPN
ap-526	181	22	�	�	PROPN
ap-526	181	23	�	�	PROPN
ap-526	181	24	�	�	PROPN
ap-526	181	25	�	�	PROPN
ap-526	181	26	0	0	NUM
ap-526	181	27	0	0	NUM
ap-526	181	28	2	2	NUM
ap-526	181	29	0	0	NUM
ap-526	181	30	0	0	NUM
ap-526	181	31	(	(	PUNCT
ap-526	181	32	6	6	NUM
ap-526	181	33	)	)	PUNCT
ap-526	181	34	18	18	NUM
ap-526	181	35	©	©	PROPN
ap-526	181	36	czech	czech	PROPN
ap-526	181	37	technical	technical	PROPN
ap-526	181	38	university	university	PROPN
ap-526	181	39	publishing	publishing	NOUN
ap-526	181	40	house	house	NOUN
ap-526	181	41	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-526	181	42	acta	acta	PROPN
ap-526	181	43	polytechnica	polytechnica	PROPN
ap-526	181	44	vol	vol	NOUN
ap-526	181	45	.	.	PROPN
ap-526	182	1	44	44	NUM
ap-526	182	2	no	no	NOUN
ap-526	182	3	.	.	PUNCT
ap-526	183	1	2/2004	2/2004	NUM
ap-526	183	2	where	where	SCONJ
ap-526	183	3	mi	mi	PROPN
ap-526	183	4	is	be	AUX
ap-526	183	5	mass	mass	NOUN
ap-526	183	6	of	of	ADP
ap-526	183	7	the	the	DET
ap-526	183	8	i	i	PROPN
ap-526	183	9	-	-	PUNCT
ap-526	183	10	th	th	PROPN
ap-526	183	11	element	element	NOUN
ap-526	183	12	,	,	PUNCT
ap-526	183	13	j0	j0	PROPN
ap-526	183	14	i	i	PROPN
ap-526	183	15	tensor	tensor	NOUN
ap-526	183	16	of	of	ADP
ap-526	183	17	inertia	inertia	NOUN
ap-526	183	18	of	of	ADP
ap-526	183	19	the	the	DET
ap-526	183	20	i	i	PROPN
ap-526	183	21	-	-	PUNCT
ap-526	183	22	th	th	X
ap-526	183	23	element	element	NOUN
ap-526	183	24	,	,	PUNCT
ap-526	183	25	�	�	PROPN
ap-526	183	26	0	0	NUM
ap-526	183	27	vector	vector	NOUN
ap-526	183	28	of	of	ADP
ap-526	183	29	the	the	DET
ap-526	183	30	angular	angular	ADJ
ap-526	183	31	velocity	velocity	NOUN
ap-526	183	32	,	,	PUNCT
ap-526	183	33	v0	v0	NOUN
ap-526	183	34	i	i	PRON
ap-526	183	35	vector	vector	NOUN
ap-526	183	36	of	of	ADP
ap-526	183	37	the	the	DET
ap-526	183	38	velocity	velocity	NOUN
ap-526	183	39	of	of	ADP
ap-526	183	40	the	the	DET
ap-526	183	41	i	i	PROPN
ap-526	183	42	-	-	PUNCT
ap-526	183	43	th	th	X
ap-526	183	44	element	element	NOUN
ap-526	183	45	,	,	PUNCT
ap-526	183	46	and	and	CCONJ
ap-526	183	47	assuming	assume	VERB
ap-526	183	48	that	that	SCONJ
ap-526	183	49	:	:	PUNCT
ap-526	183	50	�	�	PROPN
ap-526	183	51	�	�	PROPN
ap-526	183	52	a	a	DET
ap-526	183	53	�	�	PROPN
ap-526	183	54	a	a	DET
ap-526	183	55	a	a	DET
ap-526	183	56	a	a	DET
ap-526	183	57	t	t	PROPN
ap-526	183	58	�	�	PROPN
ap-526	183	59	�	�	PROPN
ap-526	183	60	�	�	PROPN
ap-526	183	61	,	,	PUNCT
ap-526	183	62	,	,	PUNCT
ap-526	183	63	,	,	PUNCT
ap-526	183	64	and	and	CCONJ
ap-526	183	65	~a	~a	NUM
ap-526	183	66	�	�	PROPN
ap-526	183	67	�	�	PROPN
ap-526	183	68	�	�	PROPN
ap-526	183	69	�	�	PROPN
ap-526	183	70	�	�	PROPN
ap-526	183	71	�	�	PROPN
ap-526	183	72	�	�	PROPN
ap-526	183	73	�	�	PROPN
ap-526	183	74	�	�	PROPN
ap-526	183	75	�	�	PROPN
ap-526	183	76	�	�	PROPN
ap-526	183	77	�	�	PROPN
ap-526	183	78	�	�	PROPN
ap-526	183	79	�	�	PROPN
ap-526	183	80	0	0	NUM
ap-526	183	81	0	0	NUM
ap-526	183	82	0	0	NUM
ap-526	183	83	a	a	DET
ap-526	183	84	a	a	DET
ap-526	183	85	a	a	DET
ap-526	183	86	a	a	DET
ap-526	183	87	a	a	DET
ap-526	183	88	a	a	DET
ap-526	183	89	�	�	PROPN
ap-526	183	90	�	�	PROPN
ap-526	183	91	�	�	PROPN
ap-526	183	92	�	�	PROPN
ap-526	183	93	�	�	PROPN
ap-526	183	94	�	�	PROPN
ap-526	183	95	;	;	NOUN
ap-526	183	96	term	term	NOUN
ap-526	183	97	(	(	PUNCT
ap-526	183	98	2	2	NUM
ap-526	183	99	)	)	PUNCT
ap-526	183	100	can	can	AUX
ap-526	183	101	be	be	AUX
ap-526	183	102	expressed	express	VERB
ap-526	183	103	in	in	ADP
ap-526	183	104	the	the	DET
ap-526	183	105	following	follow	VERB
ap-526	183	106	matrix	matrix	NOUN
ap-526	183	107	form	form	NOUN
ap-526	183	108	:	:	PUNCT
ap-526	183	109	si	si	PROPN
ap-526	184	1	i	i	PRON
ap-526	185	1	i	i	PRON
ap-526	186	1	i	i	PRON
ap-526	186	2	t	t	VERB
ap-526	187	1	i	i	PRON
ap-526	188	1	i	i	PRON
ap-526	189	1	i	i	PRON
ap-526	190	1	i	i	PROPN
ap-526	190	2	�	�	PROPN
ap-526	190	3	�	�	PROPN
ap-526	190	4	�	�	PROPN
ap-526	190	5	�	�	PROPN
ap-526	190	6	�	�	PROPN
ap-526	190	7	�	�	PROPN
ap-526	190	8	�	�	PROPN
ap-526	190	9	�	�	PROPN
ap-526	190	10	�	�	PROPN
ap-526	190	11	�	�	PROPN
ap-526	190	12	�	�	PROPN
ap-526	190	13	�	�	PROPN
ap-526	190	14	�	�	PROPN
ap-526	190	15	�	�	PROPN
ap-526	190	16	�	�	PROPN
ap-526	190	17	�	�	PROPN
ap-526	190	18	�	�	PROPN
ap-526	190	19	1	1	NUM
ap-526	190	20	2	2	NUM
ap-526	190	21	1	1	NUM
ap-526	190	22	1	1	NUM
ap-526	190	23	�	�	PROPN
ap-526	190	24	�	�	PROPN
ap-526	190	25	v	v	NOUN
ap-526	190	26	m	m	NOUN
ap-526	190	27	h	h	NOUN
ap-526	190	28	m	m	NOUN
ap-526	190	29	v	v	NOUN
ap-526	190	30	m	m	NOUN
ap-526	190	31	h	h	NOUN
ap-526	190	32	.	.	PUNCT
ap-526	191	1	(	(	PUNCT
ap-526	191	2	7	7	X
ap-526	191	3	)	)	PUNCT
ap-526	191	4	calculating	calculate	VERB
ap-526	191	5	the	the	DET
ap-526	191	6	matrixes	matrix	NOUN
ap-526	191	7	mi	mi	PROPN
ap-526	191	8	,	,	PUNCT
ap-526	191	9	hi	hi	INTJ
ap-526	191	10	,	,	PUNCT
ap-526	191	11	the	the	DET
ap-526	191	12	appel	appel	PROPN
ap-526	191	13	function	function	PROPN
ap-526	191	14	si	si	X
ap-526	191	15	for	for	ADP
ap-526	191	16	all	all	PRON
ap-526	191	17	k	k	PROPN
ap-526	191	18	bodies	body	NOUN
ap-526	191	19	of	of	ADP
ap-526	191	20	the	the	DET
ap-526	191	21	system	system	NOUN
ap-526	191	22	,	,	PUNCT
ap-526	191	23	and	and	CCONJ
ap-526	191	24	defining	define	VERB
ap-526	191	25	matrices	matrix	NOUN
ap-526	191	26	:	:	PUNCT
ap-526	191	27	�	�	PROPN
ap-526	191	28	�	�	PROPN
ap-526	191	29	m	m	PROPN
ap-526	191	30	m	m	VERB
ap-526	191	31	m	m	NOUN
ap-526	191	32	m	m	NOUN
ap-526	191	33	�	�	NOUN
ap-526	191	34	diag	diag	NOUN
ap-526	191	35	1	1	NUM
ap-526	191	36	2	2	NUM
ap-526	191	37	,	,	PUNCT
ap-526	191	38	,	,	PUNCT
ap-526	191	39	,	,	PUNCT
ap-526	191	40	�	�	PROPN
ap-526	191	41	k	k	PROPN
ap-526	191	42	,	,	PUNCT
ap-526	191	43	(	(	PUNCT
ap-526	191	44	8)	8)	NUM
ap-526	191	45	v	v	NOUN
ap-526	191	46	v	v	NOUN
ap-526	191	47	v	v	PROPN
ap-526	191	48	v	v	PRON
ap-526	191	49	�	�	PROPN
ap-526	191	50	�	�	PROPN
ap-526	191	51	�	�	PROPN
ap-526	191	52	�	�	PROPN
ap-526	191	53	�	�	PROPN
ap-526	191	54	�	�	PROPN
ap-526	191	55	�	�	PROPN
ap-526	191	56	1	1	NUM
ap-526	191	57	2	2	NUM
ap-526	191	58	t	t	NOUN
ap-526	191	59	t	t	NOUN
ap-526	191	60	k	k	PROPN
ap-526	191	61	t	t	PROPN
ap-526	191	62	t	t	PROPN
ap-526	191	63	,	,	PUNCT
ap-526	191	64	,	,	PUNCT
ap-526	191	65	,	,	PUNCT
ap-526	191	66	�	�	PROPN
ap-526	191	67	(	(	PUNCT
ap-526	191	68	9	9	NUM
ap-526	191	69	)	)	PUNCT
ap-526	191	70	and	and	CCONJ
ap-526	191	71	h	h	NOUN
ap-526	191	72	h	h	NOUN
ap-526	191	73	h	h	PROPN
ap-526	192	1	h	h	PROPN
ap-526	192	2	�	�	PROPN
ap-526	192	3	�	�	PROPN
ap-526	192	4	�	�	PROPN
ap-526	192	5	�	�	PROPN
ap-526	192	6	�	�	PROPN
ap-526	192	7	�	�	PROPN
ap-526	192	8	�	�	PROPN
ap-526	192	9	1	1	NUM
ap-526	192	10	2	2	NUM
ap-526	192	11	t	t	NOUN
ap-526	192	12	t	t	NOUN
ap-526	192	13	k	k	PROPN
ap-526	192	14	t	t	PROPN
ap-526	192	15	t	t	PROPN
ap-526	192	16	,	,	PUNCT
ap-526	192	17	,	,	PUNCT
ap-526	192	18	,	,	PUNCT
ap-526	192	19	�	�	PROPN
ap-526	192	20	,	,	PUNCT
ap-526	192	21	(	(	PUNCT
ap-526	192	22	10	10	NUM
ap-526	192	23	)	)	PUNCT
ap-526	192	24	functional	functional	ADJ
ap-526	192	25	s	s	PROPN
ap-526	192	26	for	for	ADP
ap-526	192	27	the	the	DET
ap-526	192	28	whole	whole	ADJ
ap-526	192	29	mechanical	mechanical	ADJ
ap-526	192	30	system	system	NOUN
ap-526	192	31	is	be	AUX
ap-526	192	32	given	give	VERB
ap-526	192	33	by	by	ADP
ap-526	192	34	the	the	DET
ap-526	192	35	equation	equation	NOUN
ap-526	192	36	:	:	PUNCT
ap-526	192	37	s	s	X
ap-526	192	38	+	+	X
ap-526	192	39	+	+	NUM
ap-526	192	40	t	t	PROPN
ap-526	192	41	�	�	PROPN
ap-526	192	42	�	�	PROPN
ap-526	192	43	�	�	PROPN
ap-526	192	44	1	1	NUM
ap-526	192	45	2	2	NUM
ap-526	192	46	1	1	NUM
ap-526	192	47	1	1	NUM
ap-526	192	48	�	�	PROPN
ap-526	192	49	�	�	PROPN
ap-526	192	50	v	v	NOUN
ap-526	192	51	m	m	NOUN
ap-526	192	52	h	h	NOUN
ap-526	192	53	m	m	NOUN
ap-526	192	54	v	v	NOUN
ap-526	192	55	m	m	PROPN
ap-526	192	56	h	h	NOUN
ap-526	192	57	(	(	PUNCT
ap-526	192	58	11	11	NUM
ap-526	192	59	)	)	PUNCT
ap-526	192	60	assuming	assume	VERB
ap-526	192	61	that	that	PRON
ap-526	192	62	q	q	NOUN
ap-526	192	63	is	be	AUX
ap-526	192	64	the	the	DET
ap-526	192	65	vector	vector	NOUN
ap-526	192	66	generalised	generalise	VERB
ap-526	192	67	coordinates	coordinate	NOUN
ap-526	192	68	of	of	ADP
ap-526	192	69	the	the	DET
ap-526	192	70	mechanical	mechanical	ADJ
ap-526	192	71	system	system	NOUN
ap-526	192	72	,	,	PUNCT
ap-526	192	73	the	the	DET
ap-526	192	74	relations	relation	NOUN
ap-526	192	75	between	between	ADP
ap-526	192	76	q	q	PROPN
ap-526	192	77	and	and	CCONJ
ap-526	192	78	v	v	NOUN
ap-526	192	79	are	be	AUX
ap-526	192	80	given	give	VERB
ap-526	192	81	by	by	ADP
ap-526	192	82	the	the	DET
ap-526	192	83	equation	equation	NOUN
ap-526	192	84	:	:	PUNCT
ap-526	192	85	v	v	X
ap-526	192	86	d	d	X
ap-526	192	87	q	q	X
ap-526	192	88	q	q	X
ap-526	192	89	f	f	X
ap-526	192	90	q=	q=	ADV
ap-526	192	91	,	,	PUNCT
ap-526	192	92	t	t	PROPN
ap-526	192	93	+	+	X
ap-526	192	94	,	,	PUNCT
ap-526	192	95	t	t	PROPN
ap-526	192	96	�	�	PROPN
ap-526	192	97	(	(	PUNCT
ap-526	192	98	12	12	NUM
ap-526	192	99	)	)	PUNCT
ap-526	192	100	hence	hence	ADV
ap-526	192	101	:	:	PUNCT
ap-526	192	102	�	�	PROPN
ap-526	192	103	�	�	PROPN
ap-526	192	104	�	�	PROPN
ap-526	192	105	�	�	PROPN
ap-526	192	106	v	v	PROPN
ap-526	192	107	d	d	X
ap-526	192	108	q	q	X
ap-526	192	109	q	q	X
ap-526	192	110	q	q	X
ap-526	192	111	q=	q=	ADV
ap-526	192	112	,	,	PUNCT
ap-526	192	113	t	t	PROPN
ap-526	192	114	+	+	CCONJ
ap-526	192	115	,	,	PUNCT
ap-526	192	116	,	,	PUNCT
ap-526	192	117	t	t	PROPN
ap-526	192	118	�	�	PROPN
ap-526	192	119	(	(	PUNCT
ap-526	192	120	13	13	NUM
ap-526	192	121	)	)	PUNCT
ap-526	192	122	where	where	SCONJ
ap-526	192	123	:	:	PUNCT
ap-526	192	124	�	�	PROPN
ap-526	192	125	�	�	PROPN
ap-526	192	126	�	�	PROPN
ap-526	192	127	�	�	PROPN
ap-526	192	128	�	�	PROPN
ap-526	192	129	d	d	PROPN
ap-526	192	130	q	q	X
ap-526	192	131	f+	f+	NOUN
ap-526	192	132	therefore	therefore	ADV
ap-526	192	133	the	the	DET
ap-526	192	134	appel	appel	PROPN
ap-526	192	135	function	function	NOUN
ap-526	192	136	can	can	AUX
ap-526	192	137	be	be	AUX
ap-526	192	138	expressed	express	VERB
ap-526	192	139	by	by	ADP
ap-526	192	140	the	the	DET
ap-526	192	141	following	follow	VERB
ap-526	192	142	relation	relation	NOUN
ap-526	192	143	:	:	PUNCT
ap-526	192	144	s	s	X
ap-526	192	145	,	,	PUNCT
ap-526	192	146	,	,	PUNCT
ap-526	192	147	,	,	PUNCT
ap-526	192	148	t	t	PROPN
ap-526	193	1	+	+	CCONJ
ap-526	194	1	+	+	NUM
ap-526	194	2	t	t	PROPN
ap-526	194	3	q	q	X
ap-526	194	4	q	q	X
ap-526	194	5	q	q	X
ap-526	195	1	d	d	X
ap-526	195	2	q	q	NOUN
ap-526	195	3	m	m	VERB
ap-526	195	4	h	h	NOUN
ap-526	195	5	m	m	NOUN
ap-526	195	6	d	d	NOUN
ap-526	195	7	q	q	X
ap-526	195	8	m	m	VERB
ap-526	195	9	h	h	PROPN
ap-526	195	10	�	�	PROPN
ap-526	195	11	�	�	PROPN
ap-526	195	12	�	�	PROPN
ap-526	195	13	�	�	PROPN
ap-526	195	14	�	�	PROPN
ap-526	195	15	�	�	PROPN
ap-526	195	16	�	�	PROPN
ap-526	195	17	�	�	PROPN
ap-526	195	18	�	�	PROPN
ap-526	195	19	�	�	PROPN
ap-526	195	20	�	�	PROPN
ap-526	195	21	�	�	PROPN
ap-526	195	22	1	1	NUM
ap-526	195	23	2	2	NUM
ap-526	195	24	1	1	NUM
ap-526	195	25	1	1	NUM
ap-526	195	26	�	�	PROPN
ap-526	195	27	�	�	PROPN
ap-526	195	28	(	(	PUNCT
ap-526	195	29	14	14	NUM
ap-526	195	30	)	)	PUNCT
ap-526	195	31	assuming	assume	VERB
ap-526	195	32	that	that	SCONJ
ap-526	195	33	:	:	PUNCT
ap-526	195	34	m	m	VERB
ap-526	195	35	d	d	X
ap-526	195	36	mdg	mdg	PROPN
ap-526	195	37	t	t	PROPN
ap-526	195	38	�	�	PROPN
ap-526	195	39	and	and	CCONJ
ap-526	195	40	h	h	NOUN
ap-526	196	1	d	d	NOUN
ap-526	196	2	m	m	VERB
ap-526	196	3	hg	hg	PROPN
ap-526	196	4	t	t	PROPN
ap-526	196	5	+	+	PROPN
ap-526	196	6	�	�	PROPN
ap-526	196	7	�	�	PROPN
ap-526	196	8	and	and	CCONJ
ap-526	196	9	remembering	remembering	NOUN
ap-526	196	10	,	,	PUNCT
ap-526	197	1	that	that	SCONJ
ap-526	197	2	:	:	PUNCT
ap-526	197	3	d	d	X
ap-526	197	4	d	d	X
ap-526	197	5	md	md	PROPN
ap-526	197	6	d	d	PROPN
ap-526	197	7	mt	mt	PROPN
ap-526	197	8	t	t	PROPN
ap-526	197	9	-	-	PUNCT
ap-526	197	10	�	�	PROPN
ap-526	197	11	�	�	PROPN
ap-526	197	12	1	1	NUM
ap-526	197	13	1	1	NUM
ap-526	197	14	,	,	PUNCT
ap-526	197	15	equation	equation	NOUN
ap-526	197	16	(	(	PUNCT
ap-526	197	17	14	14	NUM
ap-526	197	18	)	)	PUNCT
ap-526	197	19	can	can	AUX
ap-526	197	20	be	be	AUX
ap-526	197	21	expressed	express	VERB
ap-526	197	22	in	in	ADP
ap-526	197	23	the	the	DET
ap-526	197	24	form	form	NOUN
ap-526	197	25	:	:	PUNCT
ap-526	197	26	s	s	X
ap-526	197	27	,	,	PUNCT
ap-526	197	28	,	,	PUNCT
ap-526	197	29	,	,	PUNCT
ap-526	197	30	t	t	PROPN
ap-526	198	1	+	+	CCONJ
ap-526	199	1	+	+	ADP
ap-526	199	2	g	g	NOUN
ap-526	199	3	g	g	PROPN
ap-526	199	4	t	t	PROPN
ap-526	199	5	g	g	PROPN
ap-526	199	6	gq	gq	PROPN
ap-526	199	7	q	q	AUX
ap-526	199	8	q	q	X
ap-526	199	9	q	q	NOUN
ap-526	199	10	m	m	VERB
ap-526	199	11	h	h	NOUN
ap-526	199	12	m	m	PROPN
ap-526	199	13	q	q	NOUN
ap-526	199	14	m	m	PROPN
ap-526	199	15	h	h	PROPN
ap-526	199	16	�	�	PROPN
ap-526	199	17	�	�	PROPN
ap-526	199	18	�	�	PROPN
ap-526	199	19	�	�	PROPN
ap-526	199	20	�	�	PROPN
ap-526	199	21	�	�	PROPN
ap-526	199	22	�	�	PROPN
ap-526	199	23	�	�	PROPN
ap-526	199	24	1	1	NUM
ap-526	199	25	2	2	NUM
ap-526	199	26	1	1	NUM
ap-526	199	27	1	1	NUM
ap-526	199	28	.	.	PUNCT
ap-526	200	1	(	(	PUNCT
ap-526	200	2	15	15	NUM
ap-526	200	3	)	)	PUNCT
ap-526	200	4	non	non	ADJ
ap-526	200	5	-	-	ADJ
ap-526	200	6	linear	linear	ADJ
ap-526	200	7	equations	equation	NOUN
ap-526	200	8	of	of	ADP
ap-526	200	9	entomopter	entomopter	PROPN
ap-526	200	10	motion	motion	NOUN
ap-526	200	11	are	be	AUX
ap-526	200	12	expressed	express	VERB
ap-526	200	13	in	in	ADP
ap-526	200	14	a	a	DET
ap-526	200	15	moving	move	VERB
ap-526	200	16	systems	system	NOUN
ap-526	200	17	of	of	ADP
ap-526	200	18	co	co	NOUN
ap-526	200	19	-	-	NOUN
ap-526	200	20	ordinates	ordinate	NOUN
ap-526	200	21	[	[	X
ap-526	200	22	16	16	NUM
ap-526	200	23	]	]	PUNCT
ap-526	200	24	.	.	PUNCT
ap-526	201	1	in	in	ADP
ap-526	201	2	the	the	DET
ap-526	201	3	case	case	NOUN
ap-526	201	4	when	when	SCONJ
ap-526	201	5	we	we	PRON
ap-526	201	6	consider	consider	VERB
ap-526	201	7	the	the	DET
ap-526	201	8	model	model	NOUN
ap-526	201	9	of	of	ADP
ap-526	201	10	a	a	DET
ap-526	201	11	entomopter	entomopter	NOUN
ap-526	201	12	treated	treat	VERB
ap-526	201	13	as	as	ADP
ap-526	201	14	a	a	DET
ap-526	201	15	mechanical	mechanical	ADJ
ap-526	201	16	system	system	NOUN
ap-526	201	17	containing	contain	VERB
ap-526	201	18	a	a	DET
ap-526	201	19	rigid	rigid	ADJ
ap-526	201	20	fuselage	fuselage	NOUN
ap-526	201	21	and	and	CCONJ
ap-526	201	22	n	n	CCONJ
ap-526	201	23	rigid	rigid	ADJ
ap-526	201	24	wings	wing	NOUN
ap-526	201	25	fixed	fix	VERB
ap-526	201	26	to	to	ADP
ap-526	201	27	the	the	DET
ap-526	201	28	fuselage	fuselage	NOUN
ap-526	201	29	by	by	ADP
ap-526	201	30	means	mean	NOUN
ap-526	201	31	of	of	ADP
ap-526	201	32	three	three	NUM
ap-526	201	33	hinges	hinge	NOUN
ap-526	201	34	,	,	PUNCT
ap-526	201	35	the	the	DET
ap-526	201	36	vector	vector	NOUN
ap-526	201	37	generalised	generalise	VERB
ap-526	201	38	co	co	NOUN
ap-526	201	39	-	-	NOUN
ap-526	201	40	ordinates	ordinate	NOUN
ap-526	201	41	have	have	VERB
ap-526	201	42	the	the	DET
ap-526	201	43	following	follow	VERB
ap-526	201	44	form	form	NOUN
ap-526	201	45	(	(	PUNCT
ap-526	201	46	fig	fig	NOUN
ap-526	201	47	.	.	PUNCT
ap-526	202	1	3	3	NUM
ap-526	202	2	):	):	PUNCT
ap-526	202	3	�	�	PROPN
ap-526	202	4	�	�	PROPN
ap-526	202	5	q	q	PROPN
ap-526	202	6	�	�	PROPN
ap-526	202	7	x	x	PUNCT
ap-526	202	8	y	y	NOUN
ap-526	202	9	zs	zs	PROPN
ap-526	202	10	s	s	PROPN
ap-526	202	11	s	s	PROPN
ap-526	202	12	n	n	CCONJ
ap-526	202	13	n	n	CCONJ
ap-526	202	14	n	n	PRON
ap-526	202	15	t	t	PROPN
ap-526	202	16	,	,	PUNCT
ap-526	202	17	,	,	PUNCT
ap-526	202	18	,	,	PUNCT
ap-526	202	19	,	,	PUNCT
ap-526	202	20	,	,	PUNCT
ap-526	202	21	,	,	PUNCT
ap-526	202	22	,	,	PUNCT
ap-526	202	23	,	,	PUNCT
ap-526	202	24	,	,	PUNCT
ap-526	202	25	,	,	PUNCT
ap-526	202	26	,	,	PUNCT
ap-526	202	27	,	,	PUNCT
ap-526	202	28	,	,	PUNCT
ap-526	202	29	,	,	PUNCT
ap-526	202	30	�	�	PROPN
ap-526	202	31	�	�	PROPN
ap-526	202	32	�	�	PROPN
ap-526	202	33	�	�	PROPN
ap-526	202	34	�	�	PROPN
ap-526	202	35	�	�	PROPN
ap-526	202	36	�	�	PROPN
ap-526	202	37	�	�	PROPN
ap-526	202	38	�	�	PROPN
ap-526	202	39	1	1	NUM
ap-526	202	40	1	1	NUM
ap-526	202	41	1	1	NUM
ap-526	202	42	�	�	PROPN
ap-526	202	43	�	�	PROPN
ap-526	202	44	�	�	PROPN
ap-526	202	45	.	.	PUNCT
ap-526	203	1	(	(	PUNCT
ap-526	203	2	16	16	NUM
ap-526	203	3	)	)	PUNCT
ap-526	203	4	the	the	DET
ap-526	203	5	vector	vector	NOUN
ap-526	203	6	of	of	ADP
ap-526	203	7	quasi	quasi	NOUN
ap-526	203	8	-	-	NOUN
ap-526	203	9	velocities	velocity	NOUN
ap-526	203	10	can	can	AUX
ap-526	203	11	be	be	AUX
ap-526	203	12	expressed	express	VERB
ap-526	203	13	by	by	ADP
ap-526	203	14	the	the	DET
ap-526	203	15	following	follow	VERB
ap-526	203	16	equation	equation	NOUN
ap-526	203	17	�	�	PROPN
ap-526	203	18	�	�	PROPN
ap-526	203	19	w	w	PROPN
ap-526	203	20	�	�	PROPN
ap-526	203	21	u	u	PROPN
ap-526	203	22	v	v	NOUN
ap-526	203	23	w	w	NOUN
ap-526	203	24	p	p	NOUN
ap-526	203	25	q	q	NOUN
ap-526	203	26	r	r	NOUN
ap-526	203	27	n	n	CCONJ
ap-526	203	28	n	n	CCONJ
ap-526	203	29	n	n	NOUN
ap-526	203	30	t	t	NOUN
ap-526	203	31	,	,	PUNCT
ap-526	203	32	,	,	PUNCT
ap-526	203	33	,	,	PUNCT
ap-526	203	34	,	,	PUNCT
ap-526	203	35	,	,	PUNCT
ap-526	203	36	,	,	PUNCT
ap-526	203	37	�	�	PROPN
ap-526	203	38	,	,	PUNCT
ap-526	203	39	,	,	PUNCT
ap-526	203	40	�	�	PROPN
ap-526	203	41	,	,	PUNCT
ap-526	203	42	�	�	PROPN
ap-526	203	43	,	,	PUNCT
ap-526	203	44	,	,	PUNCT
ap-526	203	45	�	�	PROPN
ap-526	203	46	,	,	PUNCT
ap-526	203	47	�	�	PROPN
ap-526	203	48	,	,	PUNCT
ap-526	203	49	,	,	PUNCT
ap-526	203	50	�	�	PROPN
ap-526	203	51	�	�	PROPN
ap-526	203	52	�	�	PROPN
ap-526	203	53	�	�	PROPN
ap-526	203	54	�	�	PROPN
ap-526	203	55	�	�	PROPN
ap-526	203	56	�	�	PROPN
ap-526	203	57	1	1	NUM
ap-526	203	58	1	1	NUM
ap-526	203	59	1	1	NUM
ap-526	203	60	�	�	PROPN
ap-526	203	61	�	�	PROPN
ap-526	203	62	�	�	PROPN
ap-526	203	63	.	.	PUNCT
ap-526	204	1	(	(	PUNCT
ap-526	204	2	17	17	NUM
ap-526	204	3	)	)	PUNCT
ap-526	204	4	for	for	ADP
ap-526	204	5	the	the	DET
ap-526	204	6	holonomic	holonomic	ADJ
ap-526	204	7	dynamical	dynamical	ADJ
ap-526	204	8	system	system	NOUN
ap-526	204	9	the	the	DET
ap-526	204	10	relation	relation	NOUN
ap-526	204	11	between	between	ADP
ap-526	204	12	generalised	generalise	VERB
ap-526	204	13	velocities	velocity	NOUN
ap-526	204	14	�	�	PROPN
ap-526	204	15	�	�	PROPN
ap-526	204	16	�	�	PROPN
ap-526	204	17	�	�	PROPN
ap-526	204	18	,	,	PUNCT
ap-526	204	19	�	�	PROPN
ap-526	204	20	,	,	PUNCT
ap-526	204	21	,	,	PUNCT
ap-526	204	22	�	�	PROPN
ap-526	204	23	q	q	PROPN
ap-526	204	24	�	�	PROPN
ap-526	204	25	q	q	PROPN
ap-526	204	26	q	q	X
ap-526	204	27	qn1	qn1	PROPN
ap-526	204	28	2	2	NUM
ap-526	204	29	�	�	NOUN
ap-526	204	30	and	and	CCONJ
ap-526	204	31	quasi	quasi	PROPN
ap-526	204	32	velocities	velocity	NOUN
ap-526	204	33	�	�	PROPN
ap-526	204	34	�	�	PROPN
ap-526	204	35	�	�	PROPN
ap-526	204	36	�	�	PROPN
ap-526	204	37	,	,	PUNCT
ap-526	204	38	�	�	PROPN
ap-526	204	39	,	,	PUNCT
ap-526	204	40	,	,	PUNCT
ap-526	204	41	�	�	PROPN
ap-526	204	42	w	w	PROPN
ap-526	204	43	�	�	PROPN
ap-526	204	44	w	w	PROPN
ap-526	204	45	w	w	PROPN
ap-526	204	46	wn1	wn1	X
ap-526	204	47	2	2	NUM
ap-526	204	48	�	�	NOUN
ap-526	204	49	is	be	AUX
ap-526	204	50	as	as	SCONJ
ap-526	204	51	follows	follow	VERB
ap-526	204	52	:	:	PUNCT
ap-526	205	1	�	�	PROPN
ap-526	205	2	q	q	PROPN
ap-526	205	3	a	a	DET
ap-526	205	4	q	q	NOUN
ap-526	205	5	w=	w=	NOUN
ap-526	205	6	t	t	NOUN
ap-526	205	7	(	(	PUNCT
ap-526	205	8	18	18	NUM
ap-526	205	9	)	)	PUNCT
ap-526	205	10	matrix	matrix	NOUN
ap-526	205	11	at	at	ADP
ap-526	205	12	has	have	AUX
ap-526	205	13	a	a	DET
ap-526	205	14	construction	construction	NOUN
ap-526	205	15	:	:	PUNCT
ap-526	205	16	a	a	DET
ap-526	205	17	a	a	DET
ap-526	205	18	c	c	NOUN
ap-526	205	19	i	i	PRON
ap-526	205	20	t	t	VERB
ap-526	205	21	g	g	PROPN
ap-526	205	22	t	t	PROPN
ap-526	205	23	�	�	PROPN
ap-526	205	24	�	�	PROPN
ap-526	205	25	�	�	PROPN
ap-526	205	26	�	�	PROPN
ap-526	205	27	�	�	PROPN
ap-526	205	28	�	�	PROPN
ap-526	205	29	�	�	PROPN
ap-526	205	30	�	�	PROPN
ap-526	205	31	�	�	PROPN
ap-526	205	32	�	�	PROPN
ap-526	205	33	�	�	PROPN
ap-526	205	34	0	0	NUM
ap-526	205	35	0	0	NUM
ap-526	205	36	0	0	NUM
ap-526	205	37	0	0	NUM
ap-526	205	38	0	0	NUM
ap-526	205	39	0	0	NUM
ap-526	205	40	(	(	PUNCT
ap-526	205	41	19	19	NUM
ap-526	205	42	)	)	PUNCT
ap-526	205	43	matrices	matrix	NOUN
ap-526	205	44	ag	ag	PROPN
ap-526	205	45	and	and	CCONJ
ap-526	205	46	ct	ct	PROPN
ap-526	205	47	are	be	AUX
ap-526	205	48	classical	classical	ADJ
ap-526	205	49	matrices	matrix	NOUN
ap-526	205	50	of	of	ADP
ap-526	205	51	transformations	transformation	NOUN
ap-526	205	52	of	of	ADP
ap-526	205	53	kinematics	kinematic	NOUN
ap-526	205	54	relations	relation	NOUN
ap-526	205	55	and	and	CCONJ
ap-526	205	56	can	can	AUX
ap-526	205	57	be	be	AUX
ap-526	205	58	found	find	VERB
ap-526	205	59	in	in	ADP
ap-526	205	60	[	[	X
ap-526	205	61	19	19	NUM
ap-526	205	62	]	]	PUNCT
ap-526	205	63	,	,	PUNCT
ap-526	205	64	unit	unit	NOUN
ap-526	205	65	©	©	PROPN
ap-526	205	66	czech	czech	PROPN
ap-526	205	67	technical	technical	PROPN
ap-526	205	68	university	university	PROPN
ap-526	205	69	publishing	publishing	NOUN
ap-526	205	70	house	house	NOUN
ap-526	205	71	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-526	205	72	19	19	NUM
ap-526	205	73	acta	acta	PROPN
ap-526	205	74	polytechnica	polytechnica	PROPN
ap-526	205	75	vol	vol	NOUN
ap-526	205	76	.	.	PROPN
ap-526	206	1	44	44	NUM
ap-526	207	1	no	no	NOUN
ap-526	207	2	.	.	PUNCT
ap-526	208	1	2/2004	2/2004	NUM
ap-526	208	2	fig	fig	NOUN
ap-526	208	3	.	.	PUNCT
ap-526	209	1	2	2	NUM
ap-526	209	2	:	:	PUNCT
ap-526	209	3	location	location	NOUN
ap-526	209	4	of	of	ADP
ap-526	209	5	points	point	NOUN
ap-526	209	6	,	,	PUNCT
ap-526	209	7	radius	radius	NOUN
ap-526	209	8	vectors	vector	NOUN
ap-526	209	9	and	and	CCONJ
ap-526	209	10	vectors	vector	NOUN
ap-526	209	11	of	of	ADP
ap-526	209	12	velocities	velocity	NOUN
ap-526	209	13	and	and	CCONJ
ap-526	209	14	accelerations	acceleration	NOUN
ap-526	209	15	matrix	matrix	NOUN
ap-526	209	16	i	i	PRON
ap-526	209	17	has	have	VERB
ap-526	209	18	the	the	DET
ap-526	209	19	dimension	dimension	NOUN
ap-526	209	20	(	(	PUNCT
ap-526	209	21	3n+1	3n+1	PROPN
ap-526	209	22	)	)	PUNCT
ap-526	209	23	×	×	NOUN
ap-526	209	24	(	(	PUNCT
ap-526	209	25	3n+1	3n+1	PROPN
ap-526	209	26	)	)	PUNCT
ap-526	209	27	,	,	PUNCT
ap-526	209	28	n	n	CCONJ
ap-526	209	29	–	–	PUNCT
ap-526	209	30	number	number	NOUN
ap-526	209	31	of	of	ADP
ap-526	209	32	main	main	ADJ
ap-526	209	33	rotor	rotor	NOUN
ap-526	209	34	blades	blade	NOUN
ap-526	209	35	.	.	PUNCT
ap-526	210	1	from	from	ADP
ap-526	210	2	(	(	PUNCT
ap-526	210	3	18	18	NUM
ap-526	210	4	)	)	PUNCT
ap-526	210	5	we	we	PRON
ap-526	210	6	have	have	VERB
ap-526	210	7	the	the	DET
ap-526	210	8	following	follow	VERB
ap-526	210	9	relation	relation	NOUN
ap-526	210	10	:	:	PUNCT
ap-526	210	11	�	�	PROPN
ap-526	210	12	�	�	PROPN
ap-526	210	13	�	�	PROPN
ap-526	210	14	�	�	PROPN
ap-526	210	15	q	q	PROPN
ap-526	210	16	a	a	DET
ap-526	210	17	q	q	NOUN
ap-526	210	18	w	w	ADP
ap-526	210	19	a	a	DET
ap-526	210	20	w	w	PROPN
ap-526	210	21	�	�	PROPN
ap-526	210	22	�	�	PROPN
ap-526	210	23	t	t	PROPN
ap-526	210	24	t	t	PROPN
ap-526	210	25	(	(	PUNCT
ap-526	210	26	20	20	NUM
ap-526	210	27	)	)	PUNCT
ap-526	210	28	finally	finally	ADV
ap-526	210	29	,	,	PUNCT
ap-526	210	30	the	the	DET
ap-526	210	31	appel	appel	PROPN
ap-526	210	32	function	function	PROPN
ap-526	210	33	has	have	VERB
ap-526	210	34	the	the	DET
ap-526	210	35	following	follow	VERB
ap-526	210	36	form	form	NOUN
ap-526	210	37	:	:	PUNCT
ap-526	210	38	s	s	X
ap-526	210	39	,	,	PUNCT
ap-526	210	40	,	,	PUNCT
ap-526	210	41	,	,	PUNCT
ap-526	210	42	t	t	PROPN
ap-526	210	43	w	w	PROPN
ap-526	210	44	w	w	PROPN
ap-526	210	45	t	t	PROPN
ap-526	210	46	w	w	PROPN
ap-526	210	47	w	w	PROPN
ap-526	210	48	w	w	PROPN
ap-526	210	49	*	*	PUNCT
ap-526	210	50	�	�	PROPN
ap-526	210	51	�	�	PROPN
ap-526	210	52	�	�	PROPN
ap-526	210	53	q	q	PROPN
ap-526	210	54	w	w	PROPN
ap-526	210	55	w	w	PROPN
ap-526	210	56	w	w	PROPN
ap-526	210	57	m	m	PROPN
ap-526	210	58	h	h	NOUN
ap-526	210	59	m	m	PROPN
ap-526	210	60	w	w	PROPN
ap-526	210	61	m	m	PROPN
ap-526	210	62	h	h	PROPN
ap-526	210	63	�	�	PROPN
ap-526	210	64	�	�	PROPN
ap-526	210	65	�	�	PROPN
ap-526	210	66	�	�	PROPN
ap-526	210	67	�	�	PROPN
ap-526	210	68	1	1	NUM
ap-526	210	69	2	2	NUM
ap-526	210	70	1	1	NUM
ap-526	210	71	1	1	NUM
ap-526	210	72	(	(	PUNCT
ap-526	210	73	21	21	NUM
ap-526	210	74	)	)	PUNCT
ap-526	210	75	where	where	SCONJ
ap-526	210	76	m	m	VERB
ap-526	210	77	q	q	VERB
ap-526	211	1	a	a	DET
ap-526	211	2	m	m	VERB
ap-526	212	1	aw	aw	INTJ
ap-526	212	2	t	t	PROPN
ap-526	212	3	t	t	PROPN
ap-526	212	4	q	q	PROPN
ap-526	212	5	t	t	PROPN
ap-526	212	6	�	�	PROPN
ap-526	212	7	,	,	PUNCT
ap-526	212	8	and	and	CCONJ
ap-526	212	9	h	h	PRON
ap-526	212	10	q	q	PROPN
ap-526	213	1	w	w	ADP
ap-526	213	2	a	a	DET
ap-526	213	3	m	m	NOUN
ap-526	213	4	a	a	DET
ap-526	213	5	hw	hw	NOUN
ap-526	214	1	t	t	PROPN
ap-526	214	2	t	t	PROPN
ap-526	214	3	q	q	PROPN
ap-526	214	4	t	t	PROPN
ap-526	214	5	q	q	PROPN
ap-526	214	6	,	,	PUNCT
ap-526	214	7	�	�	PROPN
ap-526	214	8	�	�	PROPN
ap-526	214	9	�	�	PROPN
ap-526	214	10	.	.	PUNCT
ap-526	215	1	gibbs	gibbs	PROPN
ap-526	215	2	-	-	PUNCT
ap-526	215	3	appel	appel	PROPN
ap-526	215	4	equations	equation	NOUN
ap-526	215	5	of	of	ADP
ap-526	215	6	motion	motion	NOUN
ap-526	215	7	,	,	PUNCT
ap-526	215	8	written	write	VERB
ap-526	215	9	in	in	ADP
ap-526	215	10	quasi	quasi	ADJ
ap-526	215	11	velocities	velocity	NOUN
ap-526	215	12	,	,	PUNCT
ap-526	215	13	has	have	VERB
ap-526	215	14	the	the	DET
ap-526	215	15	following	follow	VERB
ap-526	215	16	form	form	NOUN
ap-526	215	17	:	:	PUNCT
ap-526	215	18	�	�	PROPN
ap-526	215	19	�	�	PROPN
ap-526	215	20	�	�	PROPN
ap-526	215	21	�	�	PROPN
ap-526	215	22	�	�	PROPN
ap-526	215	23	�	�	PROPN
ap-526	215	24	s	s	PART
ap-526	215	25	s	s	NOUN
ap-526	215	26	s	s	X
ap-526	215	27	,	,	PUNCT
ap-526	215	28	t	t	PROPN
ap-526	215	29	+	+	CCONJ
ap-526	215	30	t	t	PROPN
ap-526	216	1	k	k	PROPN
ap-526	216	2	t	t	PROPN
ap-526	216	3	w	w	PROPN
ap-526	217	1	*	*	PUNCT
ap-526	217	2	*	*	PUNCT
ap-526	217	3	*	*	PUNCT
ap-526	217	4	�	�	PROPN
ap-526	217	5	�	�	PROPN
ap-526	217	6	,	,	PUNCT
ap-526	217	7	,	,	PUNCT
ap-526	217	8	�	�	PROPN
ap-526	217	9	�	�	PROPN
ap-526	218	1	w	w	PROPN
ap-526	218	2	m	m	PROPN
ap-526	218	3	q	q	PROPN
ap-526	218	4	w	w	PROPN
ap-526	218	5	h	h	PROPN
ap-526	218	6	�	�	PROPN
ap-526	218	7	�	�	PROPN
ap-526	218	8	�	�	PROPN
ap-526	218	9	�	�	PROPN
ap-526	218	10	�	�	PROPN
ap-526	218	11	�	�	PROPN
ap-526	218	12	�	�	PROPN
ap-526	218	13	�	�	PROPN
ap-526	218	14	�	�	PROPN
ap-526	218	15	�	�	PROPN
ap-526	218	16	�	�	PROPN
ap-526	218	17	�	�	PROPN
ap-526	218	18	�	�	PROPN
ap-526	218	19	�	�	PROPN
ap-526	218	20	�	�	PROPN
ap-526	218	21	�	�	PROPN
ap-526	218	22	w	w	PROPN
ap-526	218	23	w1	w1	PROPN
ap-526	218	24	�	�	PROPN
ap-526	218	25	w	w	PROPN
ap-526	218	26	,	,	PUNCT
ap-526	218	27	,	,	PUNCT
ap-526	218	28	t	t	PROPN
ap-526	218	29	,	,	PUNCT
ap-526	218	30	,	,	PUNCT
ap-526	218	31	tq	tq	INTJ
ap-526	218	32	w	w	ADP
ap-526	218	33	q	q	X
ap-526	218	34	q	q	PROPN
ap-526	218	35	w	w	PROPN
ap-526	218	36	�	�	PROPN
ap-526	218	37	*	*	PUNCT
ap-526	218	38	(	(	PUNCT
ap-526	218	39	22	22	NUM
ap-526	218	40	)	)	PUNCT
ap-526	218	41	vector	vector	NOUN
ap-526	218	42	q	q	NOUN
ap-526	218	43	*	*	PUNCT
ap-526	218	44	is	be	AUX
ap-526	218	45	the	the	DET
ap-526	218	46	sum	sum	NOUN
ap-526	218	47	of	of	ADP
ap-526	218	48	aerodynamic	aerodynamic	ADJ
ap-526	218	49	loads	load	NOUN
ap-526	218	50	,	,	PUNCT
ap-526	218	51	potential	potential	ADJ
ap-526	218	52	forces	force	NOUN
ap-526	218	53	acting	act	VERB
ap-526	218	54	on	on	ADP
ap-526	218	55	the	the	DET
ap-526	218	56	entomopter	entomopter	NOUN
ap-526	218	57	,	,	PUNCT
ap-526	218	58	and	and	CCONJ
ap-526	218	59	other	other	ADJ
ap-526	218	60	non	non	ADJ
ap-526	218	61	-	-	ADJ
ap-526	218	62	potential	potential	ADJ
ap-526	218	63	forces	force	NOUN
ap-526	218	64	acting	act	VERB
ap-526	218	65	on	on	ADP
ap-526	218	66	system	system	NOUN
ap-526	218	67	eq	eq	ADJ
ap-526	218	68	.	.	PUNCT
ap-526	219	1	(	(	PUNCT
ap-526	219	2	21	21	NUM
ap-526	219	3	)	)	PUNCT
ap-526	219	4	.	.	PUNCT
ap-526	220	1	20	20	NUM
ap-526	221	1	©	©	PROPN
ap-526	221	2	czech	czech	PROPN
ap-526	221	3	technical	technical	PROPN
ap-526	221	4	university	university	PROPN
ap-526	221	5	publishing	publishing	NOUN
ap-526	221	6	house	house	NOUN
ap-526	221	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-526	221	8	acta	acta	PROPN
ap-526	221	9	polytechnica	polytechnica	PROPN
ap-526	221	10	vol	vol	NOUN
ap-526	221	11	.	.	PROPN
ap-526	222	1	44	44	NUM
ap-526	222	2	no	no	NOUN
ap-526	222	3	.	.	PUNCT
ap-526	223	1	2/2004	2/2004	NUM
ap-526	223	2	fig	fig	NOUN
ap-526	223	3	.	.	PUNCT
ap-526	224	1	3	3	NUM
ap-526	224	2	:	:	PUNCT
ap-526	224	3	systems	system	NOUN
ap-526	224	4	of	of	ADP
ap-526	224	5	coordinates	coordinate	NOUN
ap-526	224	6	0	0	NUM
ap-526	224	7	0.4	0.4	NUM
ap-526	224	8	0.8	0.8	NUM
ap-526	224	9	1.2	1.2	NUM
ap-526	224	10	1.6	1.6	NUM
ap-526	224	11	2	2	NUM
ap-526	224	12	t	t	NOUN
ap-526	225	1	[	[	X
ap-526	225	2	s	s	X
ap-526	225	3	]	]	X
ap-526	225	4	-8	-8	NOUN
ap-526	225	5	-4	-4	SYM
ap-526	225	6	0	0	NUM
ap-526	225	7	4	4	NUM
ap-526	225	8	8	8	NUM
ap-526	225	9	[	[	X
ap-526	225	10	°	°	X
ap-526	225	11	]	]	X
ap-526	225	12	cg	cg	NOUN
ap-526	225	13	position	position	NOUN
ap-526	225	14	25	25	NUM
ap-526	225	15	%	%	NOUN
ap-526	225	16	sca	sca	NOUN
ap-526	225	17	45	45	NUM
ap-526	225	18	%	%	NOUN
ap-526	225	19	sca	sca	NOUN
ap-526	225	20	0	0	NUM
ap-526	225	21	0.4	0.4	NUM
ap-526	225	22	0.8	0.8	NUM
ap-526	225	23	1.2	1.2	NUM
ap-526	225	24	1.6	1.6	NUM
ap-526	225	25	2	2	NUM
ap-526	225	26	t	t	NOUN
ap-526	226	1	[	[	X
ap-526	226	2	s	s	X
ap-526	226	3	]	]	X
ap-526	226	4	-0.06	-0.06	NUM
ap-526	226	5	-0.04	-0.04	NUM
ap-526	226	6	-0.02	-0.02	NUM
ap-526	226	7	0	0	NUM
ap-526	226	8	0.02	0.02	NUM
ap-526	226	9	0.04	0.04	NUM
ap-526	226	10	0.06	0.06	NUM
ap-526	226	11	q	q	NOUN
ap-526	227	1	[	[	X
ap-526	227	2	1	1	NUM
ap-526	227	3	/r	/r	SYM
ap-526	227	4	a	a	PRON
ap-526	227	5	d	d	X
ap-526	227	6	]	]	X
ap-526	227	7	cg	cg	NOUN
ap-526	227	8	position	position	NOUN
ap-526	227	9	25	25	NUM
ap-526	227	10	%	%	NOUN
ap-526	227	11	sca	sca	NOUN
ap-526	227	12	45	45	NUM
ap-526	227	13	%	%	NOUN
ap-526	227	14	sca	sca	PROPN
ap-526	227	15	fig	fig	NOUN
ap-526	227	16	.	.	PUNCT
ap-526	228	1	4	4	NUM
ap-526	228	2	:	:	PUNCT
ap-526	228	3	typical	typical	ADJ
ap-526	228	4	results	result	NOUN
ap-526	228	5	of	of	ADP
ap-526	228	6	simulation	simulation	NOUN
ap-526	228	7	those	those	DET
ap-526	228	8	equations	equation	NOUN
ap-526	228	9	are	be	AUX
ap-526	228	10	written	write	VERB
ap-526	228	11	in	in	ADP
ap-526	228	12	a	a	DET
ap-526	228	13	form	form	NOUN
ap-526	228	14	allowing	allow	VERB
ap-526	228	15	the	the	DET
ap-526	228	16	creation	creation	NOUN
ap-526	228	17	of	of	ADP
ap-526	228	18	procedures	procedure	NOUN
ap-526	228	19	meant	mean	VERB
ap-526	228	20	for	for	ADP
ap-526	228	21	their	their	PRON
ap-526	228	22	automatic	automatic	ADJ
ap-526	228	23	formulation	formulation	NOUN
ap-526	228	24	,	,	PUNCT
ap-526	228	25	(	(	PUNCT
ap-526	228	26	e.g.	e.g.	ADV
ap-526	228	27	,	,	PUNCT
ap-526	228	28	by	by	ADP
ap-526	228	29	means	mean	NOUN
ap-526	228	30	of	of	ADP
ap-526	228	31	such	such	ADJ
ap-526	228	32	well	well	ADV
ap-526	228	33	known	know	VERB
ap-526	228	34	commercial	commercial	ADJ
ap-526	228	35	software	software	NOUN
ap-526	228	36	as	as	ADP
ap-526	228	37	mathematica	mathematica	PROPN
ap-526	228	38	®	®	PROPN
ap-526	228	39	or	or	CCONJ
ap-526	228	40	mathcad	mathcad	PROPN
ap-526	228	41	®	®	PROPN
ap-526	228	42	)	)	PUNCT
ap-526	228	43	.	.	PUNCT
ap-526	229	1	4	4	NUM
ap-526	229	2	results	result	VERB
ap-526	229	3	sample	sample	NOUN
ap-526	229	4	calculations	calculation	NOUN
ap-526	229	5	illustrating	illustrate	VERB
ap-526	229	6	the	the	DET
ap-526	229	7	current	current	ADJ
ap-526	229	8	capabilities	capability	NOUN
ap-526	229	9	of	of	ADP
ap-526	229	10	the	the	DET
ap-526	229	11	method	method	NOUN
ap-526	229	12	and	and	CCONJ
ap-526	229	13	providing	provide	VERB
ap-526	229	14	a	a	DET
ap-526	229	15	preliminary	preliminary	ADJ
ap-526	229	16	insight	insight	NOUN
ap-526	229	17	into	into	ADP
ap-526	229	18	the	the	DET
ap-526	229	19	behaviour	behaviour	NOUN
ap-526	229	20	of	of	ADP
ap-526	229	21	an	an	DET
ap-526	229	22	entomopter	entomopter	NOUN
ap-526	229	23	are	be	AUX
ap-526	229	24	shown	show	VERB
ap-526	229	25	in	in	ADP
ap-526	229	26	fig	fig	NOUN
ap-526	229	27	.	.	PUNCT
ap-526	230	1	4	4	X
ap-526	230	2	.	.	X
ap-526	230	3	the	the	DET
ap-526	230	4	dynamics	dynamic	NOUN
ap-526	230	5	of	of	ADP
ap-526	230	6	the	the	DET
ap-526	230	7	entomopter	entomopter	NOUN
ap-526	230	8	shows	show	VERB
ap-526	230	9	an	an	DET
ap-526	230	10	oscillatory	oscillatory	ADJ
ap-526	230	11	motion	motion	NOUN
ap-526	230	12	superimposed	superimpose	VERB
ap-526	230	13	on	on	ADP
ap-526	230	14	a	a	DET
ap-526	230	15	vertical	vertical	ADJ
ap-526	230	16	drifting	drift	VERB
ap-526	230	17	term	term	NOUN
ap-526	230	18	.	.	PUNCT
ap-526	231	1	the	the	DET
ap-526	231	2	vertical	vertical	ADJ
ap-526	231	3	drifting	drift	VERB
ap-526	231	4	term	term	NOUN
ap-526	231	5	is	be	AUX
ap-526	231	6	a	a	DET
ap-526	231	7	result	result	NOUN
ap-526	231	8	of	of	ADP
ap-526	231	9	a	a	DET
ap-526	231	10	mean	mean	ADJ
ap-526	231	11	non	non	ADJ
ap-526	231	12	-	-	ADJ
ap-526	231	13	zero	zero	NUM
ap-526	231	14	force	force	NOUN
ap-526	231	15	along	along	ADP
ap-526	231	16	a	a	DET
ap-526	231	17	wingbeat	wingbeat	NOUN
ap-526	231	18	,	,	PUNCT
ap-526	231	19	while	while	SCONJ
ap-526	231	20	the	the	DET
ap-526	231	21	oscillatory	oscillatory	ADJ
ap-526	231	22	motion	motion	NOUN
ap-526	231	23	is	be	AUX
ap-526	231	24	the	the	DET
ap-526	231	25	result	result	NOUN
ap-526	231	26	of	of	ADP
ap-526	231	27	the	the	DET
ap-526	231	28	time	time	NOUN
ap-526	231	29	-	-	PUNCT
ap-526	231	30	varying	vary	VERB
ap-526	231	31	nature	nature	NOUN
ap-526	231	32	of	of	ADP
ap-526	231	33	aerodynamic	aerodynamic	ADJ
ap-526	231	34	forces	force	NOUN
ap-526	231	35	for	for	ADP
ap-526	231	36	insect	insect	NOUN
ap-526	231	37	flight	flight	NOUN
ap-526	231	38	.	.	PUNCT
ap-526	232	1	5	5	NUM
ap-526	232	2	conclusions	conclusion	NOUN
ap-526	232	3	this	this	DET
ap-526	232	4	paper	paper	NOUN
ap-526	232	5	it	it	PRON
ap-526	232	6	is	be	AUX
ap-526	232	7	proposes	propose	VERB
ap-526	232	8	the	the	DET
ap-526	232	9	design	design	NOUN
ap-526	232	10	of	of	ADP
ap-526	232	11	an	an	DET
ap-526	232	12	accurate	accurate	ADJ
ap-526	232	13	software	software	NOUN
ap-526	232	14	simulation	simulation	NOUN
ap-526	232	15	for	for	ADP
ap-526	232	16	entomopter	entomopter	ADJ
ap-526	232	17	flight	flight	NOUN
ap-526	232	18	that	that	PRON
ap-526	232	19	includes	include	VERB
ap-526	232	20	all	all	DET
ap-526	232	21	major	major	ADJ
ap-526	232	22	components	component	NOUN
ap-526	232	23	involved	involve	VERB
ap-526	232	24	:	:	PUNCT
ap-526	232	25	aerodynamics	aerodynamic	NOUN
ap-526	232	26	,	,	PUNCT
ap-526	232	27	body	body	NOUN
ap-526	232	28	dynamics	dynamic	NOUN
ap-526	232	29	and	and	CCONJ
ap-526	232	30	control	control	VERB
ap-526	232	31	several	several	ADJ
ap-526	232	32	of	of	ADP
ap-526	232	33	these	these	DET
ap-526	232	34	components	component	NOUN
ap-526	232	35	are	be	AUX
ap-526	232	36	modeled	model	VERB
ap-526	232	37	and	and	CCONJ
ap-526	232	38	implemented	implement	VERB
ap-526	232	39	,	,	PUNCT
ap-526	232	40	and	and	CCONJ
ap-526	232	41	we	we	PRON
ap-526	232	42	have	have	AUX
ap-526	232	43	obtained	obtain	VERB
ap-526	232	44	simulation	simulation	NOUN
ap-526	232	45	results	result	NOUN
ap-526	232	46	that	that	PRON
ap-526	232	47	are	be	AUX
ap-526	232	48	consistent	consistent	ADJ
ap-526	232	49	with	with	ADP
ap-526	232	50	observations	observation	NOUN
ap-526	232	51	of	of	ADP
ap-526	232	52	real	real	ADJ
ap-526	232	53	flying	fly	VERB
ap-526	232	54	animals	animal	NOUN
ap-526	232	55	(	(	PUNCT
ap-526	232	56	especially	especially	ADV
ap-526	232	57	birds	bird	NOUN
ap-526	232	58	and	and	CCONJ
ap-526	232	59	bats	bat	NOUN
ap-526	232	60	)	)	PUNCT
ap-526	232	61	.	.	PUNCT
ap-526	233	1	finally	finally	ADV
ap-526	233	2	,	,	PUNCT
ap-526	233	3	we	we	PRON
ap-526	233	4	plan	plan	VERB
ap-526	233	5	to	to	PART
ap-526	233	6	implement	implement	VERB
ap-526	233	7	a	a	DET
ap-526	233	8	3d	3d	NUM
ap-526	233	9	graphical	graphical	ADJ
ap-526	233	10	visualization	visualization	NOUN
ap-526	233	11	tool	tool	NOUN
ap-526	233	12	which	which	PRON
ap-526	233	13	can	can	AUX
ap-526	233	14	animate	animate	VERB
ap-526	233	15	the	the	DET
ap-526	233	16	motion	motion	NOUN
ap-526	233	17	of	of	ADP
ap-526	233	18	the	the	DET
ap-526	233	19	simulated	simulate	VERB
ap-526	233	20	animalopter	animalopter	NOUN
ap-526	233	21	in	in	ADP
ap-526	233	22	a	a	DET
ap-526	233	23	3d	3d	NUM
ap-526	233	24	environment	environment	NOUN
ap-526	233	25	.	.	PUNCT
ap-526	234	1	current	current	ADJ
ap-526	234	2	research	research	NOUN
ap-526	234	3	is	be	AUX
ap-526	234	4	directed	direct	VERB
ap-526	234	5	at	at	ADP
ap-526	234	6	improving	improve	VERB
ap-526	234	7	some	some	PRON
ap-526	234	8	of	of	ADP
ap-526	234	9	the	the	DET
ap-526	234	10	models	model	NOUN
ap-526	234	11	considered	consider	VERB
ap-526	234	12	,	,	PUNCT
ap-526	234	13	aerodynamic	aerodynamic	ADJ
ap-526	234	14	models	model	NOUN
ap-526	234	15	and	and	CCONJ
ap-526	234	16	the	the	DET
ap-526	234	17	control	control	NOUN
ap-526	234	18	process	process	NOUN
ap-526	234	19	,	,	PUNCT
ap-526	234	20	and	and	CCONJ
ap-526	234	21	to	to	PART
ap-526	234	22	take	take	VERB
ap-526	234	23	advantage	advantage	NOUN
ap-526	234	24	of	of	ADP
ap-526	234	25	this	this	DET
ap-526	234	26	simulator	simulator	NOUN
ap-526	234	27	to	to	PART
ap-526	234	28	evaluate	evaluate	VERB
ap-526	234	29	flight	flight	NOUN
ap-526	234	30	control	control	NOUN
ap-526	234	31	schemes	scheme	NOUN
ap-526	234	32	.	.	PUNCT
ap-526	235	1	references	reference	NOUN
ap-526	235	2	[	[	X
ap-526	235	3	1	1	NUM
ap-526	235	4	]	]	X
ap-526	235	5	azuma	azuma	PROPN
ap-526	235	6	a.	a.	PROPN
ap-526	235	7	,	,	PUNCT
ap-526	235	8	masato	masato	PROPN
ap-526	235	9	o.	o.	PROPN
ap-526	235	10	,	,	PUNCT
ap-526	235	11	kunio	kunio	PROPN
ap-526	235	12	y.	y.	NOUN
ap-526	235	13	:	:	PUNCT
ap-526	235	14	aerodynamic	aerodynamic	ADJ
ap-526	235	15	characteristics	characteristic	NOUN
ap-526	235	16	of	of	ADP
ap-526	235	17	wings	wing	NOUN
ap-526	235	18	at	at	ADP
ap-526	235	19	low	low	ADJ
ap-526	235	20	reynolds	reynolds	PROPN
ap-526	235	21	numbers	number	NOUN
ap-526	235	22	.	.	PUNCT
ap-526	236	1	fixed	fix	VERB
ap-526	236	2	and	and	CCONJ
ap-526	236	3	flapping	flap	VERB
ap-526	236	4	wings	wing	NOUN
ap-526	236	5	aerodynamics	aerodynamic	NOUN
ap-526	236	6	for	for	ADP
ap-526	236	7	micro	micro	ADJ
ap-526	236	8	air	air	PROPN
ap-526	236	9	vehicle	vehicle	NOUN
ap-526	236	10	applications	application	NOUN
ap-526	236	11	.	.	PUNCT
ap-526	237	1	ed	ed	PROPN
ap-526	237	2	t.	t.	PROPN
ap-526	237	3	j.	j.	PROPN
ap-526	237	4	mueller	mueller	PROPN
ap-526	237	5	,	,	PUNCT
ap-526	237	6	progress	progress	NOUN
ap-526	237	7	in	in	ADP
ap-526	237	8	astronautics	astronautic	NOUN
ap-526	237	9	and	and	CCONJ
ap-526	237	10	aeoronautics	aeoronautic	NOUN
ap-526	237	11	,	,	PUNCT
ap-526	237	12	aiaa	aiaa	PROPN
ap-526	237	13	,	,	PUNCT
ap-526	237	14	reston	reston	PROPN
ap-526	237	15	,	,	PUNCT
ap-526	237	16	va	va	PROPN
ap-526	237	17	.	.	PROPN
ap-526	237	18	,	,	PUNCT
ap-526	237	19	200	200	NUM
ap-526	237	20	,	,	PUNCT
ap-526	238	1	p.	p.	NOUN
ap-526	238	2	341–398	341–398	NUM
ap-526	238	3	.	.	PUNCT
ap-526	239	1	[	[	X
ap-526	239	2	2	2	X
ap-526	239	3	]	]	X
ap-526	239	4	azuma	azuma	NOUN
ap-526	239	5	a.	a.	NOUN
ap-526	239	6	:	:	PUNCT
ap-526	239	7	the	the	DET
ap-526	239	8	biokinetics	biokinetic	NOUN
ap-526	239	9	of	of	ADP
ap-526	239	10	flying	fly	VERB
ap-526	239	11	and	and	CCONJ
ap-526	239	12	swimming	swimming	NOUN
ap-526	239	13	.	.	PUNCT
ap-526	240	1	springer	springer	PROPN
ap-526	240	2	verlag	verlag	PROPN
ap-526	240	3	,	,	PUNCT
ap-526	240	4	tokyo	tokyo	PROPN
ap-526	240	5	,	,	PUNCT
ap-526	240	6	1998	1998	NUM
ap-526	240	7	.	.	PUNCT
ap-526	241	1	[	[	X
ap-526	241	2	3	3	X
ap-526	241	3	]	]	X
ap-526	241	4	ellington	ellington	PROPN
ap-526	241	5	c.	c.	PROPN
ap-526	241	6	p.	p.	PROPN
ap-526	241	7	:	:	PUNCT
ap-526	242	1	“	"	PUNCT
ap-526	242	2	the	the	DET
ap-526	242	3	aerodynamics	aerodynamic	NOUN
ap-526	242	4	of	of	ADP
ap-526	242	5	hovering	hover	VERB
ap-526	242	6	insects	insect	NOUN
ap-526	242	7	flight	flight	NOUN
ap-526	242	8	.	.	PUNCT
ap-526	243	1	iii	iii	X
ap-526	243	2	kinematics	kinematic	NOUN
ap-526	243	3	.	.	PUNCT
ap-526	243	4	”	"	PUNCT
ap-526	244	1	philosophical	philosophical	ADJ
ap-526	244	2	transactions	transaction	NOUN
ap-526	244	3	of	of	ADP
ap-526	244	4	the	the	DET
ap-526	244	5	royal	royal	ADJ
ap-526	244	6	society	society	NOUN
ap-526	244	7	of	of	ADP
ap-526	244	8	london	london	PROPN
ap-526	244	9	.	.	PUNCT
ap-526	245	1	series	series	PROPN
ap-526	245	2	b.	b.	PROPN
ap-526	245	3	biological	biological	PROPN
ap-526	245	4	sciences	sciences	PROPN
ap-526	245	5	.	.	PUNCT
ap-526	246	1	vol	vol	NOUN
ap-526	246	2	.	.	PUNCT
ap-526	247	1	305	305	NUM
ap-526	247	2	,	,	PUNCT
ap-526	247	3	1122	1122	NUM
ap-526	247	4	,	,	PUNCT
ap-526	247	5	(	(	PUNCT
ap-526	247	6	1984	1984	NUM
ap-526	247	7	)	)	PUNCT
ap-526	247	8	,	,	PUNCT
ap-526	247	9	p.	p.	NOUN
ap-526	247	10	41–78	41–78	NUM
ap-526	247	11	.	.	PUNCT
ap-526	248	1	[	[	X
ap-526	248	2	4	4	X
ap-526	248	3	]	]	X
ap-526	248	4	ellington	ellington	PROPN
ap-526	248	5	c.	c.	PROPN
ap-526	248	6	p.	p.	PROPN
ap-526	248	7	:	:	PUNCT
ap-526	248	8	“	"	PUNCT
ap-526	248	9	the	the	DET
ap-526	248	10	novel	novel	ADJ
ap-526	248	11	aerodynamics	aerodynamic	NOUN
ap-526	248	12	of	of	ADP
ap-526	248	13	insect	insect	NOUN
ap-526	248	14	flight	flight	NOUN
ap-526	248	15	:	:	PUNCT
ap-526	248	16	applications	application	NOUN
ap-526	248	17	to	to	ADP
ap-526	248	18	micro	micro	NOUN
ap-526	248	19	-	-	NOUN
ap-526	248	20	air	air	NOUN
ap-526	248	21	-	-	PUNCT
ap-526	248	22	vehicles	vehicle	NOUN
ap-526	248	23	.	.	PUNCT
ap-526	248	24	”	"	PUNCT
ap-526	249	1	the	the	DET
ap-526	249	2	journal	journal	NOUN
ap-526	249	3	of	of	ADP
ap-526	249	4	experimental	experimental	ADJ
ap-526	249	5	biology	biology	NOUN
ap-526	249	6	.	.	PUNCT
ap-526	250	1	vol	vol	NOUN
ap-526	250	2	.	.	PUNCT
ap-526	251	1	202	202	NUM
ap-526	251	2	,	,	PUNCT
ap-526	251	3	(	(	PUNCT
ap-526	251	4	1999	1999	NUM
ap-526	251	5	)	)	PUNCT
ap-526	251	6	,	,	PUNCT
ap-526	252	1	p.	p.	NOUN
ap-526	252	2	3439–3448	3439–3448	NUM
ap-526	252	3	.	.	PUNCT
ap-526	253	1	[	[	X
ap-526	253	2	5	5	NUM
ap-526	253	3	]	]	X
ap-526	253	4	gessow	gessow	PROPN
ap-526	253	5	a.	a.	PROPN
ap-526	253	6	,	,	PUNCT
ap-526	253	7	myers	myers	PROPN
ap-526	253	8	g.	g.	PROPN
ap-526	253	9	c.	c.	PROPN
ap-526	253	10	:	:	PUNCT
ap-526	253	11	aerodynamics	aerodynamic	NOUN
ap-526	253	12	of	of	ADP
ap-526	253	13	the	the	DET
ap-526	253	14	helicopter	helicopter	NOUN
ap-526	253	15	.	.	PUNCT
ap-526	254	1	college	college	NOUN
ap-526	254	2	park	park	PROPN
ap-526	254	3	press	press	NOUN
ap-526	254	4	,	,	PUNCT
ap-526	254	5	1985	1985	NUM
ap-526	254	6	.	.	PUNCT
ap-526	255	1	[	[	X
ap-526	255	2	6	6	NUM
ap-526	255	3	]	]	PUNCT
ap-526	255	4	goraj	goraj	PROPN
ap-526	255	5	z.	z.	PROPN
ap-526	255	6	,	,	PUNCT
ap-526	255	7	pietrucha	pietrucha	PROPN
ap-526	255	8	j.	j.	PROPN
ap-526	255	9	:	:	PUNCT
ap-526	255	10	“	"	PUNCT
ap-526	255	11	basic	basic	ADJ
ap-526	255	12	mathematical	mathematical	ADJ
ap-526	255	13	relations	relation	NOUN
ap-526	255	14	of	of	ADP
ap-526	255	15	fluid	fluid	ADJ
ap-526	255	16	dynamics	dynamic	NOUN
ap-526	255	17	for	for	ADP
ap-526	255	18	modified	modify	VERB
ap-526	255	19	panel	panel	NOUN
ap-526	255	20	methods	method	NOUN
ap-526	255	21	.	.	PUNCT
ap-526	255	22	”	"	PUNCT
ap-526	255	23	journal	journal	NOUN
ap-526	255	24	of	of	ADP
ap-526	255	25	theoretical	theoretical	ADJ
ap-526	255	26	and	and	CCONJ
ap-526	255	27	applied	applied	ADJ
ap-526	255	28	mechanics	mechanic	NOUN
ap-526	255	29	.	.	PUNCT
ap-526	256	1	vol	vol	NOUN
ap-526	256	2	.	.	PROPN
ap-526	257	1	36	36	NUM
ap-526	257	2	,	,	PUNCT
ap-526	257	3	no	no	INTJ
ap-526	257	4	.	.	NOUN
ap-526	257	5	1	1	NUM
ap-526	257	6	,	,	PUNCT
ap-526	257	7	(	(	PUNCT
ap-526	257	8	1998	1998	NUM
ap-526	257	9	)	)	PUNCT
ap-526	257	10	,	,	PUNCT
ap-526	258	1	p.	p.	NOUN
ap-526	258	2	47–66	47–66	PROPN
ap-526	258	3	.	.	PUNCT
ap-526	259	1	[	[	X
ap-526	259	2	7	7	X
ap-526	259	3	]	]	X
ap-526	259	4	mcmichael	mcmichael	PROPN
ap-526	259	5	j.	j.	PROPN
ap-526	259	6	m.	m.	PROPN
ap-526	259	7	,	,	PUNCT
ap-526	259	8	francis	francis	PROPN
ap-526	259	9	m.	m.	PROPN
ap-526	259	10	s.	s.	PROPN
ap-526	259	11	:	:	PUNCT
ap-526	259	12	micro	micro	ADJ
ap-526	259	13	air	air	NOUN
ap-526	259	14	vehicles	vehicle	NOUN
ap-526	259	15	–	–	PUNCT
ap-526	259	16	toward	toward	ADP
ap-526	259	17	a	a	DET
ap-526	259	18	new	new	ADJ
ap-526	259	19	generation	generation	NOUN
ap-526	259	20	of	of	ADP
ap-526	259	21	flight	flight	NOUN
ap-526	259	22	:	:	PUNCT
ap-526	259	23	http://www.darpa.mil/tto/mav/mav_auvsi.html	http://www.darpa.mil/tto/mav/mav_auvsi.html	PROPN
ap-526	260	1	[	[	X
ap-526	260	2	8	8	NUM
ap-526	260	3	]	]	X
ap-526	260	4	lasek	lasek	NOUN
ap-526	260	5	m.	m.	NOUN
ap-526	260	6	,	,	PUNCT
ap-526	260	7	pietrucha	pietrucha	PROPN
ap-526	260	8	j.	j.	PROPN
ap-526	260	9	,	,	PUNCT
ap-526	260	10	sibilski	sibilski	PROPN
ap-526	260	11	k.	k.	PROPN
ap-526	260	12	,	,	PUNCT
ap-526	260	13	złocka	złocka	PROPN
ap-526	260	14	m.	m.	PROPN
ap-526	260	15	:	:	PUNCT
ap-526	260	16	analogies	analogy	NOUN
ap-526	260	17	between	between	ADP
ap-526	260	18	rotary	rotary	NOUN
ap-526	260	19	and	and	CCONJ
ap-526	260	20	flapping	flap	VERB
ap-526	260	21	wings	wing	NOUN
ap-526	260	22	from	from	ADP
ap-526	260	23	control	control	NOUN
ap-526	260	24	theory	theory	NOUN
ap-526	260	25	point	point	NOUN
ap-526	260	26	of	of	ADP
ap-526	260	27	view	view	NOUN
ap-526	260	28	,	,	PUNCT
ap-526	260	29	aiaa	aiaa	ADJ
ap-526	260	30	meeting	meeting	NOUN
ap-526	260	31	papers	paper	NOUN
ap-526	260	32	on	on	ADP
ap-526	260	33	disc	disc	NOUN
ap-526	260	34	,	,	PUNCT
ap-526	260	35	vol	vol	NOUN
ap-526	260	36	.	.	PROPN
ap-526	260	37	5	5	NUM
ap-526	260	38	,	,	PUNCT
ap-526	260	39	3	3	NUM
ap-526	260	40	,	,	PUNCT
ap-526	260	41	aiaa	aiaa	ADJ
ap-526	260	42	2001–4002	2001–4002	NUM
ap-526	260	43	cp	cp	PROPN
ap-526	260	44	,	,	PUNCT
ap-526	260	45	2001	2001	NUM
ap-526	260	46	.	.	PUNCT
ap-526	261	1	[	[	X
ap-526	261	2	9	9	NUM
ap-526	261	3	]	]	X
ap-526	261	4	lasek	lasek	NOUN
ap-526	261	5	m.	m.	NOUN
ap-526	261	6	,	,	PUNCT
ap-526	261	7	pietrucha	pietrucha	PROPN
ap-526	261	8	j.	j.	PROPN
ap-526	261	9	,	,	PUNCT
ap-526	261	10	sibilski	sibilski	PROPN
ap-526	261	11	k.	k.	PROPN
ap-526	261	12	,	,	PUNCT
ap-526	261	13	złocka	złocka	NOUN
ap-526	261	14	m.	m.	PROPN
ap-526	261	15	:	:	PUNCT
ap-526	261	16	a	a	DET
ap-526	261	17	study	study	NOUN
ap-526	261	18	of	of	ADP
ap-526	261	19	flight	flight	NOUN
ap-526	261	20	dynamics	dynamic	NOUN
ap-526	261	21	and	and	CCONJ
ap-526	261	22	automatic	automatic	ADJ
ap-526	261	23	control	control	NOUN
ap-526	261	24	of	of	ADP
ap-526	261	25	an	an	DET
ap-526	261	26	animalopter	animalopter	NOUN
ap-526	261	27	,	,	PUNCT
ap-526	261	28	icas	icas	PROPN
ap-526	261	29	paper	paper	NOUN
ap-526	261	30	no	no	DET
ap-526	261	31	339	339	NUM
ap-526	261	32	,	,	PUNCT
ap-526	261	33	toronto	toronto	PROPN
ap-526	261	34	,	,	PUNCT
ap-526	261	35	2002	2002	NUM
ap-526	261	36	.	.	PUNCT
ap-526	262	1	[	[	X
ap-526	262	2	10	10	NUM
ap-526	262	3	]	]	X
ap-526	262	4	lasek	lasek	NOUN
ap-526	262	5	m.	m.	NOUN
ap-526	262	6	,	,	PUNCT
ap-526	262	7	pietrucha	pietrucha	PROPN
ap-526	262	8	j.	j.	PROPN
ap-526	262	9	,	,	PUNCT
ap-526	262	10	sibilski	sibilski	PROPN
ap-526	262	11	k.	k.	PROPN
ap-526	262	12	:	:	PUNCT
ap-526	262	13	micro	micro	PROPN
ap-526	262	14	air	air	PROPN
ap-526	262	15	vehicle	vehicle	NOUN
ap-526	262	16	manoeuvres	manoeuvre	NOUN
ap-526	262	17	as	as	ADP
ap-526	262	18	a	a	DET
ap-526	262	19	control	control	NOUN
ap-526	262	20	problem	problem	NOUN
ap-526	262	21	of	of	ADP
ap-526	262	22	flexible	flexible	ADJ
ap-526	262	23	flapping	flap	VERB
ap-526	262	24	wings	wing	NOUN
ap-526	262	25	,	,	PUNCT
ap-526	262	26	aiaa	aiaa	ADJ
ap-526	262	27	meeting	meeting	NOUN
ap-526	262	28	papers	paper	NOUN
ap-526	262	29	on	on	ADP
ap-526	262	30	disc	disc	NOUN
ap-526	262	31	,	,	PUNCT
ap-526	262	32	vol	vol	NOUN
ap-526	262	33	.	.	PROPN
ap-526	262	34	6	6	NUM
ap-526	262	35	,	,	PUNCT
ap-526	262	36	1	1	NUM
ap-526	262	37	,	,	PUNCT
ap-526	262	38	(	(	PUNCT
ap-526	262	39	2002	2002	NUM
ap-526	262	40	)	)	PUNCT
ap-526	262	41	,	,	PUNCT
ap-526	262	42	aiaa	aiaa	PROPN
ap-526	262	43	2002–0526	2002–0526	NUM
ap-526	262	44	cp	cp	NOUN
ap-526	262	45	.	.	PUNCT
ap-526	263	1	[	[	X
ap-526	263	2	11	11	NUM
ap-526	263	3	]	]	X
ap-526	263	4	marusak	marusak	PROPN
ap-526	263	5	a.	a.	PROPN
ap-526	263	6	,	,	PUNCT
ap-526	263	7	pietrucha	pietrucha	PROPN
ap-526	263	8	j.	j.	PROPN
ap-526	263	9	,	,	PUNCT
ap-526	263	10	sibilski	sibilski	PROPN
ap-526	263	11	k.	k.	PROPN
ap-526	263	12	,	,	PUNCT
ap-526	263	13	złocka	złocka	PROPN
ap-526	263	14	m.	m.	PROPN
ap-526	263	15	:	:	PUNCT
ap-526	263	16	mathematical	mathematical	ADJ
ap-526	263	17	modelling	modelling	NOUN
ap-526	263	18	of	of	ADP
ap-526	263	19	flying	fly	VERB
ap-526	263	20	animals	animal	NOUN
ap-526	263	21	as	as	ADP
ap-526	263	22	aerial	aerial	ADJ
ap-526	263	23	robot	robot	NOUN
ap-526	263	24	.	.	PUNCT
ap-526	263	25	,	,	PUNCT
ap-526	263	26	7th	7th	ADJ
ap-526	263	27	ieee	ieee	PROPN
ap-526	263	28	inter	inter	PROPN
ap-526	263	29	.	.	PUNCT
ap-526	263	30	conf	conf	PROPN
ap-526	263	31	.	.	PUNCT
ap-526	264	1	on	on	ADP
ap-526	264	2	methods	method	NOUN
ap-526	264	3	and	and	CCONJ
ap-526	264	4	models	model	NOUN
ap-526	264	5	in	in	ADP
ap-526	264	6	automation	automation	NOUN
ap-526	264	7	and	and	CCONJ
ap-526	264	8	robotics	robotic	NOUN
ap-526	264	9	(	(	PUNCT
ap-526	264	10	mmar	mmar	NOUN
ap-526	264	11	2001	2001	NUM
ap-526	264	12	)	)	PUNCT
ap-526	264	13	,	,	PUNCT
ap-526	264	14	międzyzdroje	międzyzdroje	NOUN
ap-526	264	15	,	,	PUNCT
ap-526	264	16	poland	poland	PROPN
ap-526	264	17	,	,	PUNCT
ap-526	264	18	aug	aug	PROPN
ap-526	264	19	.	.	PROPN
ap-526	264	20	28–31	28–31	NUM
ap-526	264	21	,	,	PUNCT
ap-526	264	22	2001	2001	NUM
ap-526	264	23	.	.	PUNCT
ap-526	265	1	[	[	X
ap-526	265	2	12	12	NUM
ap-526	265	3	]	]	X
ap-526	265	4	pietrucha	pietrucha	NOUN
ap-526	265	5	j.	j.	PROPN
ap-526	265	6	,	,	PUNCT
ap-526	265	7	sibilski	sibilski	PROPN
ap-526	265	8	k.	k.	PROPN
ap-526	265	9	,	,	PUNCT
ap-526	265	10	złocka	złocka	NOUN
ap-526	265	11	m.	m.	PROPN
ap-526	265	12	:	:	PUNCT
ap-526	265	13	modelling	modelling	NOUN
ap-526	265	14	of	of	ADP
ap-526	265	15	aerodynamic	aerodynamic	ADJ
ap-526	265	16	forces	force	NOUN
ap-526	265	17	on	on	ADP
ap-526	265	18	flapping	flap	VERB
ap-526	265	19	wings	wing	NOUN
ap-526	265	20	–	–	PUNCT
ap-526	265	21	questions	question	NOUN
ap-526	265	22	and	and	CCONJ
ap-526	265	23	results	result	NOUN
ap-526	265	24	,	,	PUNCT
ap-526	265	25	proc	proc	NOUN
ap-526	265	26	.	.	PUNCT
ap-526	265	27	of	of	ADP
ap-526	265	28	4th	4th	ADJ
ap-526	265	29	inter	inter	NOUN
ap-526	265	30	.	.	PUNCT
ap-526	266	1	seminary	seminary	ADJ
ap-526	266	2	on	on	ADP
ap-526	266	3	rrdpae-2000	rrdpae-2000	PROPN
ap-526	266	4	,	,	PUNCT
ap-526	266	5	warsaw	warsaw	PROPN
ap-526	266	6	.	.	PUNCT
ap-526	267	1	[	[	X
ap-526	267	2	13	13	NUM
ap-526	267	3	]	]	X
ap-526	267	4	pornsin	pornsin	NOUN
ap-526	267	5	-	-	PUNCT
ap-526	267	6	sisirak	sisirak	NOUN
ap-526	267	7	t.	t.	PROPN
ap-526	267	8	,	,	PUNCT
ap-526	267	9	lee	lee	PROPN
ap-526	267	10	s.	s.	PROPN
ap-526	267	11	w.	w.	PROPN
ap-526	267	12	,	,	PUNCT
ap-526	267	13	nassef	nassef	PROPN
ap-526	267	14	h.	h.	PROPN
ap-526	267	15	,	,	PUNCT
ap-526	267	16	grasmeyer	grasmeyer	PROPN
ap-526	267	17	j.	j.	PROPN
ap-526	267	18	,	,	PUNCT
ap-526	267	19	tai	tai	PROPN
ap-526	267	20	y.	y.	PROPN
ap-526	267	21	c.	c.	PROPN
ap-526	267	22	,	,	PUNCT
ap-526	267	23	ho	ho	PROPN
ap-526	267	24	c.	c.	PROPN
ap-526	267	25	m.	m.	PROPN
ap-526	267	26	,	,	PUNCT
ap-526	267	27	keenon	keenon	PROPN
ap-526	267	28	m.	m.	PROPN
ap-526	267	29	:	:	PUNCT
ap-526	267	30	mems	mems	ADJ
ap-526	267	31	wing	wing	NOUN
ap-526	267	32	technology	technology	NOUN
ap-526	267	33	for	for	ADP
ap-526	267	34	a	a	DET
ap-526	267	35	battery	battery	NOUN
ap-526	267	36	-	-	PUNCT
ap-526	267	37	powered	power	VERB
ap-526	267	38	ornithopter	ornithopter	NOUN
ap-526	267	39	,	,	PUNCT
ap-526	267	40	13th	13th	NOUN
ap-526	267	41	ieee	ieee	PROPN
ap-526	267	42	inter	inter	NOUN
ap-526	267	43	.	.	PUNCT
ap-526	267	44	conf	conf	PROPN
ap-526	267	45	.	.	PUNCT
ap-526	268	1	on	on	ADP
ap-526	268	2	micro	micro	X
ap-526	268	3	electro	electro	VERB
ap-526	268	4	mechanical	mechanical	ADJ
ap-526	268	5	systems	system	NOUN
ap-526	268	6	(	(	PUNCT
ap-526	268	7	mems	mem	NOUN
ap-526	268	8	‘	'	PUNCT
ap-526	268	9	00	00	NUM
ap-526	268	10	)	)	PUNCT
ap-526	268	11	,	,	PUNCT
ap-526	268	12	miyazaki	miyazaki	PROPN
ap-526	268	13	,	,	PUNCT
ap-526	268	14	japan	japan	PROPN
ap-526	268	15	,	,	PUNCT
ap-526	268	16	jan	jan	PROPN
ap-526	268	17	.	.	PROPN
ap-526	268	18	23	23	NUM
ap-526	268	19	-	-	SYM
ap-526	268	20	27	27	NUM
ap-526	268	21	2000	2000	NUM
ap-526	268	22	.	.	PUNCT
ap-526	269	1	[	[	X
ap-526	269	2	14	14	NUM
ap-526	269	3	]	]	X
ap-526	269	4	schenato	schenato	PROPN
ap-526	269	5	l.	l.	PROPN
ap-526	269	6	,	,	PUNCT
ap-526	269	7	deng	deng	PROPN
ap-526	269	8	x.	x.	PROPN
ap-526	269	9	,	,	PUNCT
ap-526	269	10	wu	wu	PROPN
ap-526	269	11	w.	w.	PROPN
ap-526	269	12	c.	c.	PROPN
ap-526	269	13	,	,	PUNCT
ap-526	269	14	sastry	sastry	PROPN
ap-526	269	15	s.	s.	PROPN
ap-526	269	16	:	:	PUNCT
ap-526	269	17	virtual	virtual	ADJ
ap-526	269	18	insect	insect	NOUN
ap-526	269	19	flight	flight	NOUN
ap-526	269	20	simulator	simulator	NOUN
ap-526	269	21	(	(	PUNCT
ap-526	269	22	vifs	vifs	PROPN
ap-526	269	23	):	):	PUNCT
ap-526	269	24	a	a	DET
ap-526	269	25	software	software	NOUN
ap-526	269	26	testbed	testbe	VERB
ap-526	269	27	of	of	ADP
ap-526	269	28	insect	insect	NOUN
ap-526	269	29	flight	flight	NOUN
ap-526	269	30	.	.	PUNCT
ap-526	270	1	ieee	ieee	PROPN
ap-526	270	2	international	international	PROPN
ap-526	270	3	conference	conference	NOUN
ap-526	270	4	on	on	ADP
ap-526	270	5	robotics	robotic	NOUN
ap-526	270	6	and	and	CCONJ
ap-526	270	7	automation	automation	NOUN
ap-526	270	8	,	,	PUNCT
ap-526	270	9	2001	2001	NUM
ap-526	270	10	.	.	PUNCT
ap-526	271	1	[	[	X
ap-526	271	2	15	15	NUM
ap-526	271	3	]	]	X
ap-526	271	4	shyy	shyy	NOUN
ap-526	271	5	w.	w.	PROPN
ap-526	271	6	,	,	PUNCT
ap-526	271	7	berg	berg	PROPN
ap-526	271	8	m.	m.	PROPN
ap-526	271	9	,	,	PUNCT
ap-526	271	10	ljungqvist	ljungqvist	NOUN
ap-526	271	11	d.	d.	NOUN
ap-526	271	12	:	:	PUNCT
ap-526	271	13	“	"	PUNCT
ap-526	271	14	flapping	flap	VERB
ap-526	271	15	and	and	CCONJ
ap-526	271	16	flexible	flexible	ADJ
ap-526	271	17	wings	wing	NOUN
ap-526	271	18	for	for	ADP
ap-526	271	19	biological	biological	ADJ
ap-526	271	20	and	and	CCONJ
ap-526	271	21	micro	micro	ADJ
ap-526	271	22	air	air	NOUN
ap-526	271	23	vehicles	vehicle	NOUN
ap-526	271	24	.	.	PUNCT
ap-526	271	25	”	"	PUNCT
ap-526	271	26	progress	progress	NOUN
ap-526	271	27	in	in	ADP
ap-526	271	28	aerospace	aerospace	NOUN
ap-526	271	29	sciences	science	NOUN
ap-526	271	30	.	.	PUNCT
ap-526	272	1	vol	vol	NOUN
ap-526	272	2	.	.	PROPN
ap-526	272	3	35	35	NUM
ap-526	272	4	,	,	PUNCT
ap-526	272	5	(	(	PUNCT
ap-526	272	6	1999	1999	NUM
ap-526	272	7	)	)	PUNCT
ap-526	272	8	,	,	PUNCT
ap-526	273	1	p.	p.	NOUN
ap-526	273	2	455–505	455–505	NUM
ap-526	273	3	.	.	PUNCT
ap-526	274	1	[	[	X
ap-526	274	2	16	16	NUM
ap-526	274	3	]	]	PUNCT
ap-526	274	4	sibilski	sibilski	PROPN
ap-526	274	5	k.	k.	PROPN
ap-526	274	6	modeling	modeling	NOUN
ap-526	274	7	of	of	ADP
ap-526	274	8	an	an	DET
ap-526	274	9	agile	agile	ADJ
ap-526	274	10	aircraft	aircraft	NOUN
ap-526	274	11	flight	flight	NOUN
ap-526	274	12	dynamics	dynamic	NOUN
ap-526	274	13	in	in	ADP
ap-526	274	14	limiting	limit	VERB
ap-526	274	15	flight	flight	NOUN
ap-526	274	16	conditions	condition	NOUN
ap-526	274	17	.	.	PUNCT
ap-526	275	1	military	military	ADJ
ap-526	275	2	university	university	PROPN
ap-526	275	3	of	of	ADP
ap-526	275	4	technology	technology	PROPN
ap-526	275	5	,	,	PUNCT
ap-526	275	6	warsaw	warsaw	PROPN
ap-526	275	7	,	,	PUNCT
ap-526	275	8	1998	1998	NUM
ap-526	275	9	.	.	PUNCT
ap-526	276	1	[	[	X
ap-526	276	2	17	17	NUM
ap-526	276	3	]	]	X
ap-526	276	4	smith	smith	PROPN
ap-526	276	5	m.	m.	PROPN
ap-526	276	6	j.	j.	PROPN
ap-526	276	7	c.	c.	PROPN
ap-526	276	8	,	,	PUNCT
ap-526	276	9	wilkin	wilkin	PROPN
ap-526	276	10	p.	p.	PROPN
ap-526	276	11	j.	j.	PROPN
ap-526	276	12	,	,	PUNCT
ap-526	276	13	williams	williams	PROPN
ap-526	276	14	m.	m.	PROPN
ap-526	276	15	h.	h.	PROPN
ap-526	276	16	:	:	PUNCT
ap-526	276	17	“	"	PUNCT
ap-526	276	18	the	the	DET
ap-526	276	19	advantages	advantage	NOUN
ap-526	276	20	of	of	ADP
ap-526	276	21	an	an	DET
ap-526	276	22	unsteady	unsteady	ADJ
ap-526	276	23	panel	panel	NOUN
ap-526	276	24	method	method	NOUN
ap-526	276	25	in	in	ADP
ap-526	276	26	modelling	model	VERB
ap-526	276	27	the	the	DET
ap-526	276	28	aerodynamic	aerodynamic	ADJ
ap-526	276	29	forces	force	NOUN
ap-526	276	30	on	on	ADP
ap-526	276	31	rigid	rigid	ADJ
ap-526	276	32	flapping	flap	VERB
ap-526	276	33	wings	wing	NOUN
ap-526	276	34	.	.	PUNCT
ap-526	276	35	”	"	PUNCT
ap-526	276	36	journal	journal	NOUN
ap-526	276	37	of	of	ADP
ap-526	276	38	experimental	experimental	ADJ
ap-526	276	39	biology	biology	NOUN
ap-526	276	40	.	.	PUNCT
ap-526	277	1	vol	vol	NOUN
ap-526	277	2	.	.	PROPN
ap-526	278	1	199	199	NUM
ap-526	278	2	(	(	PUNCT
ap-526	278	3	1996	1996	NUM
ap-526	278	4	)	)	PUNCT
ap-526	278	5	,	,	PUNCT
ap-526	278	6	p.	p.	NOUN
ap-526	278	7	1073–1083	1073–1083	NUM
ap-526	278	8	.	.	PUNCT
ap-526	279	1	[	[	X
ap-526	279	2	18	18	NUM
ap-526	279	3	]	]	PUNCT
ap-526	279	4	tobalski	tobalski	PROPN
ap-526	279	5	b.	b.	PROPN
ap-526	279	6	w.	w.	PROPN
ap-526	279	7	,	,	PUNCT
ap-526	279	8	dial	dial	PROPN
ap-526	279	9	k.	k.	PROPN
ap-526	280	1	p.	p.	NOUN
ap-526	280	2	:	:	PUNCT
ap-526	281	1	“	"	PUNCT
ap-526	281	2	flight	flight	NOUN
ap-526	281	3	kinematics	kinematic	NOUN
ap-526	281	4	of	of	ADP
ap-526	281	5	black	black	NOUN
ap-526	281	6	-	-	PUNCT
ap-526	281	7	billed	bill	VERB
ap-526	281	8	magpies	magpie	NOUN
ap-526	281	9	and	and	CCONJ
ap-526	281	10	pigeons	pigeon	NOUN
ap-526	281	11	over	over	ADP
ap-526	281	12	a	a	DET
ap-526	281	13	wide	wide	ADJ
ap-526	281	14	range	range	NOUN
ap-526	281	15	of	of	ADP
ap-526	281	16	speed	speed	NOUN
ap-526	281	17	.	.	PUNCT
ap-526	281	18	”	"	PUNCT
ap-526	281	19	journal	journal	NOUN
ap-526	281	20	of	of	ADP
ap-526	281	21	experimental	experimental	ADJ
ap-526	281	22	biology	biology	NOUN
ap-526	281	23	.	.	PUNCT
ap-526	282	1	vol	vol	NOUN
ap-526	282	2	.	.	PROPN
ap-526	282	3	199	199	NUM
ap-526	282	4	,	,	PUNCT
ap-526	282	5	(	(	PUNCT
ap-526	282	6	1996	1996	NUM
ap-526	282	7	)	)	PUNCT
ap-526	282	8	,	,	PUNCT
ap-526	283	1	p.	p.	NOUN
ap-526	283	2	263–280	263–280	NUM
ap-526	283	3	.	.	PUNCT
ap-526	284	1	[	[	X
ap-526	284	2	19	19	NUM
ap-526	284	3	]	]	X
ap-526	284	4	willmott	willmott	PROPN
ap-526	284	5	a.	a.	PROPN
ap-526	284	6	p.	p.	PROPN
ap-526	284	7	,	,	PUNCT
ap-526	284	8	ellington	ellington	PROPN
ap-526	284	9	c.	c.	PROPN
ap-526	284	10	p.	p.	PROPN
ap-526	284	11	:	:	PUNCT
ap-526	284	12	“	"	PUNCT
ap-526	284	13	the	the	DET
ap-526	284	14	mechanics	mechanic	NOUN
ap-526	284	15	of	of	ADP
ap-526	284	16	flight	flight	NOUN
ap-526	284	17	in	in	ADP
ap-526	284	18	the	the	DET
ap-526	284	19	hawkmoth	hawkmoth	ADJ
ap-526	284	20	manduca	manduca	PROPN
ap-526	284	21	sexta	sexta	PROPN
ap-526	284	22	.	.	PUNCT
ap-526	285	1	part	part	NOUN
ap-526	285	2	i.	i.	PROPN
ap-526	285	3	kinematics	kinematics	PROPN
ap-526	285	4	of	of	ADP
ap-526	285	5	hovering	hover	VERB
ap-526	285	6	and	and	CCONJ
ap-526	285	7	forward	forward	ADV
ap-526	285	8	flight	flight	NOUN
ap-526	285	9	.	.	PUNCT
ap-526	285	10	”	"	PUNCT
ap-526	286	1	journal	journal	NOUN
ap-526	286	2	of	of	ADP
ap-526	286	3	experimental	experimental	ADJ
ap-526	286	4	biology	biology	NOUN
ap-526	286	5	.	.	PUNCT
ap-526	287	1	vol	vol	NOUN
ap-526	287	2	.	.	PROPN
ap-526	288	1	200	200	NUM
ap-526	288	2	,	,	PUNCT
ap-526	288	3	(	(	PUNCT
ap-526	288	4	1997	1997	NUM
ap-526	288	5	)	)	PUNCT
ap-526	288	6	,	,	PUNCT
ap-526	288	7	p.	p.	NOUN
ap-526	288	8	2705–2722	2705–2722	NUM
ap-526	288	9	.	.	PUNCT
ap-526	289	1	krzysztof	krzysztof	PROPN
ap-526	289	2	sibilski	sibilski	VERB
ap-526	289	3	mechanical	mechanical	PROPN
ap-526	289	4	engineering	engineering	PROPN
ap-526	289	5	department	department	PROPN
ap-526	289	6	radom	radom	PROPN
ap-526	289	7	technical	technical	PROPN
ap-526	289	8	university	university	PROPN
ap-526	289	9	institute	institute	PROPN
ap-526	289	10	of	of	ADP
ap-526	289	11	applied	apply	VERB
ap-526	289	12	mechanics	mechanic	NOUN
ap-526	289	13	malczewskiego	malczewskiego	PROPN
ap-526	289	14	29	29	NUM
ap-526	289	15	26	26	NUM
ap-526	289	16	-	-	SYM
ap-526	289	17	600	600	NUM
ap-526	289	18	radom	radom	NOUN
ap-526	289	19	,	,	PUNCT
ap-526	289	20	poland	poland	PROPN
ap-526	289	21	©	©	PROPN
ap-526	289	22	czech	czech	PROPN
ap-526	289	23	technical	technical	PROPN
ap-526	289	24	university	university	PROPN
ap-526	289	25	publishing	publishing	NOUN
ap-526	289	26	house	house	NOUN
ap-526	289	27	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-526	289	28	21	21	NUM
ap-526	289	29	acta	acta	PROPN
ap-526	289	30	polytechnica	polytechnica	PROPN
ap-526	289	31	vol	vol	NOUN
ap-526	289	32	.	.	PROPN
ap-526	290	1	44	44	NUM
ap-526	290	2	no	no	NOUN
ap-526	290	3	.	.	PUNCT
ap-526	291	1	2/2004	2/2004	NUM
ap-526	291	2	table	table	NOUN
ap-526	291	3	of	of	ADP
ap-526	291	4	contents	content	NOUN
ap-526	291	5	biological	biological	ADJ
ap-526	291	6	systems	system	NOUN
ap-526	291	7	thinking	think	VERB
ap-526	291	8	for	for	ADP
ap-526	291	9	control	control	NOUN
ap-526	291	10	engineering	engineering	NOUN
ap-526	291	11	design	design	NOUN
ap-526	291	12	3	3	NUM
ap-526	291	13	d.	d.	PROPN
ap-526	291	14	j.	j.	PROPN
ap-526	291	15	murray	murray	PROPN
ap-526	291	16	-	-	PUNCT
ap-526	291	17	smith	smith	PROPN
ap-526	291	18	computational	computational	ADJ
ap-526	291	19	fluid	fluid	ADJ
ap-526	291	20	dynamic	dynamic	ADJ
ap-526	291	21	simulation	simulation	NOUN
ap-526	291	22	(	(	PUNCT
ap-526	291	23	cfd	cfd	NOUN
ap-526	291	24	)	)	PUNCT
ap-526	291	25	and	and	CCONJ
ap-526	291	26	experimental	experimental	ADJ
ap-526	291	27	study	study	NOUN
ap-526	291	28	on	on	ADP
ap-526	291	29	wing	wing	NOUN
ap-526	291	30	-	-	PUNCT
ap-526	291	31	external	external	ADJ
ap-526	291	32	store	store	NOUN
ap-526	291	33	aerodynamic	aerodynamic	ADJ
ap-526	291	34	interference	interference	NOUN
ap-526	291	35	of	of	ADP
ap-526	291	36	a	a	DET
ap-526	291	37	subsonic	subsonic	ADJ
ap-526	291	38	fighter	fighter	NOUN
ap-526	291	39	aircraft	aircraft	NOUN
ap-526	291	40	9	9	NUM
ap-526	291	41	tholudin	tholudin	NOUN
ap-526	291	42	mat	mat	NOUN
ap-526	291	43	lazim	lazim	NOUN
ap-526	291	44	,	,	PUNCT
ap-526	291	45	shabudin	shabudin	NOUN
ap-526	291	46	mat	mat	PROPN
ap-526	291	47	,	,	PUNCT
ap-526	291	48	huong	huong	PROPN
ap-526	291	49	yu	yu	PROPN
ap-526	291	50	saint	saint	PROPN
ap-526	291	51	dynamics	dynamic	NOUN
ap-526	291	52	of	of	ADP
ap-526	291	53	micro	micro	NOUN
ap-526	291	54	-	-	NOUN
ap-526	291	55	air	air	NOUN
ap-526	291	56	-	-	PUNCT
ap-526	291	57	vehicle	vehicle	NOUN
ap-526	291	58	with	with	ADP
ap-526	291	59	flapping	flap	VERB
ap-526	291	60	wings	wing	NOUN
ap-526	291	61	15	15	NUM
ap-526	291	62	k.	k.	NOUN
ap-526	291	63	sibilski	sibilski	VERB
ap-526	291	64	the	the	DET
ap-526	291	65	role	role	NOUN
ap-526	291	66	of	of	ADP
ap-526	291	67	cad	cad	PROPN
ap-526	291	68	in	in	ADP
ap-526	291	69	enterprise	enterprise	NOUN
ap-526	291	70	integration	integration	NOUN
ap-526	291	71	process	process	NOUN
ap-526	291	72	22	22	NUM
ap-526	291	73	m.	m.	NOUN
ap-526	291	74	ota	ota	PROPN
ap-526	291	75	,	,	PUNCT
ap-526	291	76	i.	i.	PROPN
ap-526	291	77	jelínek	jelínek	PROPN
ap-526	291	78	development	development	NOUN
ap-526	291	79	of	of	ADP
ap-526	291	80	a	a	DET
ap-526	291	81	technique	technique	NOUN
ap-526	291	82	and	and	CCONJ
ap-526	291	83	method	method	NOUN
ap-526	291	84	of	of	ADP
ap-526	291	85	testing	test	VERB
ap-526	291	86	aircraft	aircraft	NOUN
ap-526	291	87	models	model	NOUN
ap-526	291	88	with	with	ADP
ap-526	291	89	turboprop	turboprop	NOUN
ap-526	291	90	engine	engine	NOUN
ap-526	291	91	simulators	simulator	NOUN
ap-526	291	92	in	in	ADP
ap-526	291	93	a	a	DET
ap-526	291	94	small	small	ADJ
ap-526	291	95	-	-	PUNCT
ap-526	291	96	scale	scale	NOUN
ap-526	291	97	wind	wind	NOUN
ap-526	291	98	tunnel	tunnel	NOUN
ap-526	291	99	–	–	PUNCT
ap-526	291	100	results	result	NOUN
ap-526	291	101	of	of	ADP
ap-526	291	102	tests	test	NOUN
ap-526	291	103	27	27	NUM
ap-526	291	104	a.	a.	NOUN
ap-526	291	105	v.	v.	ADP
ap-526	291	106	petrov	petrov	PROPN
ap-526	291	107	,	,	PUNCT
ap-526	291	108	y.	y.	PROPN
ap-526	291	109	g.	g.	PROPN
ap-526	291	110	stepanov	stepanov	PROPN
ap-526	291	111	,	,	PUNCT
ap-526	291	112	m.	m.	NOUN
ap-526	291	113	v.	v.	ADP
ap-526	291	114	shmakov	shmakov	PROPN
ap-526	291	115	developing	develop	VERB
ap-526	291	116	a	a	DET
ap-526	291	117	conceptual	conceptual	ADJ
ap-526	291	118	design	design	NOUN
ap-526	291	119	engineering	engineering	NOUN
ap-526	291	120	toolbox	toolbox	NOUN
ap-526	291	121	and	and	CCONJ
ap-526	291	122	its	its	PRON
ap-526	291	123	tools	tool	NOUN
ap-526	291	124	32	32	NUM
ap-526	291	125	r.	r.	PROPN
ap-526	291	126	w.	w.	PROPN
ap-526	291	127	vroom	vroom	PROPN
ap-526	291	128	,	,	PUNCT
ap-526	291	129	e.	e.	PROPN
ap-526	291	130	j.	j.	PROPN
ap-526	291	131	j.	j.	PROPN
ap-526	291	132	van	van	PROPN
ap-526	291	133	breemen	breemen	PROPN
ap-526	291	134	,	,	PUNCT
ap-526	291	135	w.	w.	PROPN
ap-526	291	136	f.	f.	PROPN
ap-526	291	137	van	van	PROPN
ap-526	291	138	der	der	PROPN
ap-526	291	139	vegte	vegte	PROPN
ap-526	291	140	knowledge	knowledge	NOUN
ap-526	291	141	support	support	NOUN
ap-526	291	142	of	of	ADP
ap-526	291	143	simulation	simulation	NOUN
ap-526	291	144	model	model	NOUN
ap-526	291	145	reuse	reuse	VERB
ap-526	291	146	39	39	NUM
ap-526	291	147	m.	m.	NOUN
ap-526	291	148	valášek	valášek	NOUN
ap-526	291	149	,	,	PUNCT
ap-526	291	150	p.	p.	PROPN
ap-526	291	151	steinbauer	steinbauer	PROPN
ap-526	291	152	,	,	PUNCT
ap-526	291	153	z.	z.	PROPN
ap-526	291	154	šika	šika	PROPN
ap-526	291	155	,	,	PUNCT
ap-526	291	156	z.	z.	PROPN
ap-526	291	157	zdráhal	zdráhal	PROPN
ap-526	291	158	the	the	DET
ap-526	291	159	effect	effect	NOUN
ap-526	291	160	of	of	ADP
ap-526	291	161	pedestrian	pedestrian	NOUN
ap-526	291	162	traffic	traffic	NOUN
ap-526	291	163	on	on	ADP
ap-526	291	164	the	the	DET
ap-526	291	165	dynamic	dynamic	ADJ
ap-526	291	166	behavior	behavior	NOUN
ap-526	291	167	of	of	ADP
ap-526	291	168	footbridges	footbridge	NOUN
ap-526	291	169	47	47	NUM
ap-526	291	170	m.	m.	NOUN
ap-526	291	171	studnièková	studnièková	PROPN
ap-526	291	172	control	control	PROPN
ap-526	291	173	of	of	ADP
ap-526	291	174	systems	system	NOUN
ap-526	291	175	of	of	ADP
ap-526	291	176	reservoirs	reservoir	NOUN
ap-526	291	177	with	with	ADP
ap-526	291	178	the	the	DET
ap-526	291	179	use	use	NOUN
ap-526	291	180	of	of	ADP
ap-526	291	181	risk	risk	NOUN
ap-526	291	182	analysis	analysis	NOUN
ap-526	291	183	52	52	NUM
ap-526	291	184	p.	p.	NOUN
ap-526	291	185	fošumpaur	fošumpaur	NOUN
ap-526	291	186	,	,	PUNCT
ap-526	291	187	l.	l.	PROPN
ap-526	291	188	satrapa	satrapa	VERB
ap-526	291	189	a	a	DET
ap-526	291	190	coding	coding	NOUN
ap-526	291	191	and	and	CCONJ
ap-526	291	192	on	on	ADP
ap-526	291	193	-	-	PUNCT
ap-526	291	194	line	line	NOUN
ap-526	291	195	transmitting	transmit	VERB
ap-526	291	196	system	system	NOUN
ap-526	291	197	56	56	NUM
ap-526	291	198	v.	v.	ADP
ap-526	291	199	zagursky	zagursky	NOUN
ap-526	291	200	,	,	PUNCT
ap-526	291	201	i.	i.	PROPN
ap-526	291	202	zarumba	zarumba	PROPN
ap-526	291	203	,	,	PUNCT
ap-526	291	204	a.	a.	NOUN
ap-526	291	205	riekstinsh	riekstinsh	ADJ
ap-526	291	206	speech	speech	NOUN
ap-526	291	207	signal	signal	NOUN
ap-526	291	208	recovery	recovery	NOUN
ap-526	291	209	in	in	ADP
ap-526	291	210	communication	communication	NOUN
ap-526	291	211	networks	network	NOUN
ap-526	291	212	59	59	NUM
ap-526	291	213	v.	v.	ADP
ap-526	291	214	zagursky	zagursky	NOUN
ap-526	291	215	,	,	PUNCT
ap-526	291	216	a.	a.	NOUN
ap-526	291	217	riekstinsh	riekstinsh	ADJ
ap-526	291	218	simulation	simulation	NOUN
ap-526	291	219	of	of	ADP
ap-526	291	220	scoliosis	scoliosis	NOUN
ap-526	291	221	treatment	treatment	NOUN
ap-526	291	222	using	use	VERB
ap-526	291	223	a	a	DET
ap-526	291	224	brace	brace	NOUN
ap-526	291	225	62	62	NUM
ap-526	291	226	j.	j.	PROPN
ap-526	291	227	èulík	èulík	PROPN
ap-526	291	228	image	image	NOUN
ap-526	291	229	analysis	analysis	NOUN
ap-526	291	230	of	of	ADP
ap-526	291	231	eccentric	eccentric	ADJ
ap-526	291	232	photorefraction	photorefraction	NOUN
ap-526	291	233	68	68	NUM
ap-526	291	234	j.	j.	PROPN
ap-526	291	235	dušek	dušek	PROPN
ap-526	291	236	,	,	PUNCT
ap-526	291	237	m.	m.	NOUN
ap-526	291	238	dostálek	dostálek	VERB
ap-526	291	239	a	a	DET
ap-526	291	240	novel	novel	ADJ
ap-526	291	241	approach	approach	NOUN
ap-526	291	242	to	to	ADP
ap-526	291	243	power	power	NOUN
ap-526	291	244	circuit	circuit	NOUN
ap-526	291	245	breaker	breaker	NOUN
ap-526	291	246	design	design	NOUN
ap-526	291	247	for	for	ADP
ap-526	291	248	replacement	replacement	NOUN
ap-526	291	249	of	of	ADP
ap-526	291	250	sf6	sf6	PROPN
ap-526	291	251	72	72	PROPN
ap-526	291	252	d.	d.	PROPN
ap-526	291	253	j.	j.	PROPN
ap-526	291	254	telfer	telfer	PROPN
ap-526	291	255	,	,	PUNCT
ap-526	291	256	j.	j.	PROPN
ap-526	291	257	w.	w.	PROPN
ap-526	291	258	spencer	spencer	PROPN
ap-526	291	259	,	,	PUNCT
ap-526	291	260	g.	g.	PROPN
ap-526	291	261	r.	r.	PROPN
ap-526	291	262	jones	jones	PROPN
ap-526	291	263	,	,	PUNCT
ap-526	291	264	j.	j.	PROPN
ap-526	291	265	e.	e.	PROPN
ap-526	291	266	humphries	humphries	PROPN
ap-526	291	267	numerical	numerical	PROPN
ap-526	291	268	analysis	analysis	NOUN
ap-526	291	269	of	of	ADP
ap-526	291	270	the	the	DET
ap-526	291	271	temperature	temperature	NOUN
ap-526	291	272	field	field	NOUN
ap-526	291	273	in	in	ADP
ap-526	291	274	luminaires	luminaire	NOUN
ap-526	291	275	77	77	NUM
ap-526	291	276	j.	j.	PROPN
ap-526	291	277	murín	murín	PROPN
ap-526	291	278	,	,	PUNCT
ap-526	291	279	m.	m.	NOUN
ap-526	291	280	kropáè	kropáè	PROPN
ap-526	291	281	,	,	PUNCT
ap-526	291	282	r.	r.	PROPN
ap-526	291	283	fric	fric	PROPN
ap-526	291	284	computer	computer	PROPN
ap-526	291	285	aided	aid	VERB
ap-526	291	286	design	design	NOUN
ap-526	291	287	of	of	ADP
ap-526	291	288	transformer	transformer	NOUN
ap-526	291	289	station	station	NOUN
ap-526	291	290	grounding	ground	VERB
ap-526	291	291	system	system	NOUN
ap-526	291	292	using	use	VERB
ap-526	291	293	cdegs	cdeg	NOUN
ap-526	291	294	software	software	NOUN
ap-526	291	295	83	83	NUM
ap-526	291	296	s.	s.	PROPN
ap-526	291	297	nikolovski	nikolovski	PROPN
ap-526	291	298	,	,	PUNCT
ap-526	291	299	t.	t.	PROPN
ap-526	291	300	bariæ	bariæ	PROPN
ap-526	291	301	recycling	recycling	NOUN
ap-526	291	302	and	and	CCONJ
ap-526	291	303	networking	network	VERB
ap-526	291	304	90	90	NUM
ap-526	291	305	t.	t.	NOUN
ap-526	291	306	bányai	bányai	PROPN
ap-526	291	307	response	response	NOUN
ap-526	291	308	of	of	ADP
ap-526	291	309	a	a	DET
ap-526	291	310	light	light	ADJ
ap-526	291	311	aircraft	aircraft	NOUN
ap-526	291	312	under	under	ADP
ap-526	291	313	gust	gust	PROPN
ap-526	291	314	loads	load	NOUN
ap-526	292	1	97	97	NUM
ap-526	292	2	p.	p.	NOUN
ap-526	292	3	chudý	chudý	ADJ
ap-526	292	4	preliminary	preliminary	ADJ
ap-526	292	5	determination	determination	NOUN
ap-526	292	6	of	of	ADP
ap-526	292	7	propeller	propeller	NOUN
ap-526	292	8	aerodynamic	aerodynamic	ADJ
ap-526	292	9	characteristics	characteristic	NOUN
ap-526	292	10	for	for	ADP
ap-526	292	11	small	small	ADJ
ap-526	292	12	aeroplanes	aeroplane	NOUN
ap-526	292	13	103	103	NUM
ap-526	292	14	s.	s.	PROPN
ap-526	292	15	slavík	slavík	PROPN