id	sid	tid	token	lemma	pos
ap-5482	1	1	acta	acta	PROPN
ap-5482	1	2	polytechnica	polytechnica	PROPN
ap-5482	1	3	doi:10.14311	doi:10.14311	PROPN
ap-5482	1	4	/	/	SYM
ap-5482	1	5	ap.2020.60.0252	ap.2020.60.0252	PROPN
ap-5482	1	6	acta	acta	PROPN
ap-5482	1	7	polytechnica	polytechnica	PROPN
ap-5482	1	8	60(3):252–258	60(3):252–258	PROPN
ap-5482	1	9	,	,	PUNCT
ap-5482	1	10	2020	2020	NUM
ap-5482	1	11	©	©	PROPN
ap-5482	1	12	czech	czech	PROPN
ap-5482	1	13	technical	technical	PROPN
ap-5482	1	14	university	university	PROPN
ap-5482	1	15	in	in	ADP
ap-5482	1	16	prague	prague	PROPN
ap-5482	1	17	,	,	PUNCT
ap-5482	1	18	2020	2020	NUM
ap-5482	1	19	available	available	ADJ
ap-5482	1	20	online	online	ADV
ap-5482	1	21	at	at	ADP
ap-5482	1	22	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-5482	1	23	kinematic	kinematic	ADJ
ap-5482	1	24	synthesis	synthesis	NOUN
ap-5482	1	25	of	of	ADP
ap-5482	1	26	central	central	ADJ
ap-5482	1	27	-	-	PUNCT
ap-5482	1	28	lever	lever	NOUN
ap-5482	1	29	steering	steering	NOUN
ap-5482	1	30	mechanism	mechanism	NOUN
ap-5482	1	31	for	for	ADP
ap-5482	1	32	four	four	NUM
ap-5482	1	33	wheel	wheel	NOUN
ap-5482	1	34	vehicles	vehicle	NOUN
ap-5482	1	35	santiranjan	santiranjan	ADJ
ap-5482	1	36	pramanika	pramanika	NOUN
ap-5482	1	37	,	,	PUNCT
ap-5482	1	38	b,∗	b,∗	NOUN
ap-5482	1	39	,	,	PUNCT
ap-5482	1	40	sukrut	sukrut	NOUN
ap-5482	1	41	shrikant	shrikant	VERB
ap-5482	1	42	thipsec	thipsec	PROPN
ap-5482	1	43	a	a	DET
ap-5482	1	44	symbiosis	symbiosis	NOUN
ap-5482	1	45	international	international	ADJ
ap-5482	1	46	(	(	PUNCT
ap-5482	1	47	deemed	deem	VERB
ap-5482	1	48	university	university	NOUN
ap-5482	1	49	)	)	PUNCT
ap-5482	1	50	,	,	PUNCT
ap-5482	1	51	faculty	faculty	NOUN
ap-5482	1	52	of	of	ADP
ap-5482	1	53	engineering	engineering	NOUN
ap-5482	1	54	,	,	PUNCT
ap-5482	1	55	department	department	NOUN
ap-5482	1	56	of	of	ADP
ap-5482	1	57	mechanical	mechanical	ADJ
ap-5482	1	58	engineering	engineering	NOUN
ap-5482	1	59	,	,	PUNCT
ap-5482	1	60	lavale	lavale	NOUN
ap-5482	1	61	,	,	PUNCT
ap-5482	1	62	mulshi	mulshi	ADJ
ap-5482	1	63	,	,	PUNCT
ap-5482	1	64	pune	pune	PROPN
ap-5482	1	65	,	,	PUNCT
ap-5482	1	66	maharashtra	maharashtra	PROPN
ap-5482	1	67	412115	412115	NUM
ap-5482	1	68	,	,	PUNCT
ap-5482	1	69	india	india	PROPN
ap-5482	1	70	b	b	PROPN
ap-5482	1	71	college	college	PROPN
ap-5482	1	72	of	of	ADP
ap-5482	1	73	military	military	ADJ
ap-5482	1	74	engineering	engineering	NOUN
ap-5482	1	75	,	,	PUNCT
ap-5482	1	76	department	department	NOUN
ap-5482	1	77	of	of	ADP
ap-5482	1	78	mechanical	mechanical	ADJ
ap-5482	1	79	engineering	engineering	NOUN
ap-5482	1	80	,	,	PUNCT
ap-5482	1	81	old	old	ADJ
ap-5482	1	82	mumbai	mumbai	PROPN
ap-5482	1	83	pune	pune	PROPN
ap-5482	1	84	hwy	hwy	PROPN
ap-5482	1	85	,	,	PUNCT
ap-5482	1	86	dapodi	dapodi	INTJ
ap-5482	1	87	,	,	PUNCT
ap-5482	1	88	pimpri	pimpri	NOUN
ap-5482	1	89	-	-	PUNCT
ap-5482	1	90	chinchwad	chinchwad	NOUN
ap-5482	1	91	,	,	PUNCT
ap-5482	1	92	maharashtra	maharashtra	PROPN
ap-5482	1	93	411031	411031	NUM
ap-5482	1	94	,	,	PUNCT
ap-5482	1	95	india	india	PROPN
ap-5482	1	96	c	c	PROPN
ap-5482	1	97	the	the	DET
ap-5482	1	98	automotive	automotive	PROPN
ap-5482	1	99	research	research	PROPN
ap-5482	1	100	association	association	PROPN
ap-5482	1	101	of	of	ADP
ap-5482	1	102	india	india	PROPN
ap-5482	1	103	,	,	PUNCT
ap-5482	1	104	survey	survey	VERB
ap-5482	1	105	no.102	no.102	PROPN
ap-5482	1	106	,	,	PUNCT
ap-5482	1	107	paud	paud	ADJ
ap-5482	1	108	road	road	NOUN
ap-5482	1	109	,	,	PUNCT
ap-5482	1	110	rambaug	rambaug	NOUN
ap-5482	1	111	colony	colony	NOUN
ap-5482	1	112	,	,	PUNCT
ap-5482	1	113	kothrud	kothrud	NOUN
ap-5482	1	114	,	,	PUNCT
ap-5482	1	115	pune	pune	NOUN
ap-5482	1	116	,	,	PUNCT
ap-5482	1	117	maharashtra	maharashtra	PROPN
ap-5482	1	118	411038	411038	NUM
ap-5482	1	119	,	,	PUNCT
ap-5482	1	120	india	india	PROPN
ap-5482	1	121	∗	∗	NOUN
ap-5482	1	122	corresponding	correspond	VERB
ap-5482	1	123	author	author	NOUN
ap-5482	1	124	:	:	PUNCT
ap-5482	1	125	santiranjan_pramanik@rediffmail.com	santiranjan_pramanik@rediffmail.com	X
ap-5482	1	126	abstract	abstract	ADJ
ap-5482	1	127	.	.	PUNCT
ap-5482	2	1	a	a	DET
ap-5482	2	2	central	central	ADJ
ap-5482	2	3	lever	lever	NOUN
ap-5482	2	4	steering	steering	NOUN
ap-5482	2	5	mechanism	mechanism	NOUN
ap-5482	2	6	has	have	AUX
ap-5482	2	7	been	be	AUX
ap-5482	2	8	synthesized	synthesize	VERB
ap-5482	2	9	to	to	PART
ap-5482	2	10	obtain	obtain	VERB
ap-5482	2	11	five	five	NUM
ap-5482	2	12	precision	precision	NOUN
ap-5482	2	13	points	point	NOUN
ap-5482	2	14	for	for	ADP
ap-5482	2	15	a	a	DET
ap-5482	2	16	four	four	NUM
ap-5482	2	17	-	-	PUNCT
ap-5482	2	18	wheel	wheel	NOUN
ap-5482	2	19	vehicle	vehicle	NOUN
ap-5482	2	20	using	use	VERB
ap-5482	2	21	hooke	hooke	PROPN
ap-5482	2	22	and	and	CCONJ
ap-5482	2	23	jeeves	jeeve	NOUN
ap-5482	2	24	optimization	optimization	NOUN
ap-5482	2	25	method	method	NOUN
ap-5482	2	26	.	.	PUNCT
ap-5482	3	1	this	this	DET
ap-5482	3	2	compound	compound	NOUN
ap-5482	3	3	mechanism	mechanism	NOUN
ap-5482	3	4	has	have	AUX
ap-5482	3	5	been	be	AUX
ap-5482	3	6	studied	study	VERB
ap-5482	3	7	as	as	ADP
ap-5482	3	8	two	two	NUM
ap-5482	3	9	identical	identical	ADJ
ap-5482	3	10	crossed	cross	VERB
ap-5482	3	11	four	four	NUM
ap-5482	3	12	-	-	PUNCT
ap-5482	3	13	bar	bar	NOUN
ap-5482	3	14	mechanisms	mechanism	NOUN
ap-5482	3	15	arranged	arrange	VERB
ap-5482	3	16	in	in	ADP
ap-5482	3	17	series	series	NOUN
ap-5482	3	18	.	.	PUNCT
ap-5482	4	1	the	the	DET
ap-5482	4	2	optimization	optimization	NOUN
ap-5482	4	3	has	have	AUX
ap-5482	4	4	been	be	AUX
ap-5482	4	5	carried	carry	VERB
ap-5482	4	6	out	out	ADP
ap-5482	4	7	for	for	ADP
ap-5482	4	8	one	one	NUM
ap-5482	4	9	crossed	cross	VERB
ap-5482	4	10	four	four	NUM
ap-5482	4	11	-	-	PUNCT
ap-5482	4	12	bar	bar	NOUN
ap-5482	4	13	mechanism	mechanism	NOUN
ap-5482	4	14	only	only	ADV
ap-5482	4	15	instead	instead	ADV
ap-5482	4	16	of	of	ADP
ap-5482	4	17	the	the	DET
ap-5482	4	18	entire	entire	ADJ
ap-5482	4	19	mechanism	mechanism	NOUN
ap-5482	4	20	.	.	PUNCT
ap-5482	5	1	the	the	DET
ap-5482	5	2	number	number	NOUN
ap-5482	5	3	of	of	ADP
ap-5482	5	4	design	design	NOUN
ap-5482	5	5	parameters	parameter	NOUN
ap-5482	5	6	considered	consider	VERB
ap-5482	5	7	for	for	ADP
ap-5482	5	8	the	the	DET
ap-5482	5	9	optimization	optimization	NOUN
ap-5482	5	10	is	be	AUX
ap-5482	5	11	two	two	NUM
ap-5482	5	12	.	.	PUNCT
ap-5482	6	1	the	the	DET
ap-5482	6	2	inner	inner	ADJ
ap-5482	6	3	wheel	wheel	NOUN
ap-5482	6	4	has	have	AUX
ap-5482	6	5	been	be	AUX
ap-5482	6	6	considered	consider	VERB
ap-5482	6	7	to	to	PART
ap-5482	6	8	rotate	rotate	VERB
ap-5482	6	9	up	up	ADV
ap-5482	6	10	to	to	PART
ap-5482	6	11	52	52	NUM
ap-5482	6	12	degrees	degree	NOUN
ap-5482	6	13	.	.	PUNCT
ap-5482	7	1	the	the	DET
ap-5482	7	2	steering	steering	NOUN
ap-5482	7	3	error	error	NOUN
ap-5482	7	4	,	,	PUNCT
ap-5482	7	5	pressure	pressure	NOUN
ap-5482	7	6	angle	angle	NOUN
ap-5482	7	7	and	and	CCONJ
ap-5482	7	8	mechanical	mechanical	ADJ
ap-5482	7	9	advantage	advantage	NOUN
ap-5482	7	10	of	of	ADP
ap-5482	7	11	the	the	DET
ap-5482	7	12	proposed	propose	VERB
ap-5482	7	13	mechanism	mechanism	NOUN
ap-5482	7	14	have	have	AUX
ap-5482	7	15	been	be	AUX
ap-5482	7	16	compared	compare	VERB
ap-5482	7	17	with	with	ADP
ap-5482	7	18	those	those	PRON
ap-5482	7	19	achieved	achieve	VERB
ap-5482	7	20	by	by	ADP
ap-5482	7	21	the	the	DET
ap-5482	7	22	ackermann	ackermann	PROPN
ap-5482	7	23	steering	steering	NOUN
ap-5482	7	24	mechanism	mechanism	NOUN
ap-5482	7	25	.	.	PUNCT
ap-5482	8	1	the	the	DET
ap-5482	8	2	proposed	propose	VERB
ap-5482	8	3	mechanism	mechanism	NOUN
ap-5482	8	4	has	have	VERB
ap-5482	8	5	less	less	ADJ
ap-5482	8	6	steering	steering	NOUN
ap-5482	8	7	error	error	NOUN
ap-5482	8	8	,	,	PUNCT
ap-5482	8	9	more	more	ADV
ap-5482	8	10	favourable	favourable	ADJ
ap-5482	8	11	pressure	pressure	NOUN
ap-5482	8	12	angle	angle	NOUN
ap-5482	8	13	and	and	CCONJ
ap-5482	8	14	increased	increase	VERB
ap-5482	8	15	mechanical	mechanical	ADJ
ap-5482	8	16	advantage	advantage	NOUN
ap-5482	8	17	.	.	PUNCT
ap-5482	9	1	the	the	DET
ap-5482	9	2	method	method	NOUN
ap-5482	9	3	of	of	ADP
ap-5482	9	4	compounding	compound	VERB
ap-5482	9	5	the	the	DET
ap-5482	9	6	mechanism	mechanism	NOUN
ap-5482	9	7	is	be	AUX
ap-5482	9	8	also	also	ADV
ap-5482	9	9	applicable	applicable	ADJ
ap-5482	9	10	when	when	SCONJ
ap-5482	9	11	the	the	DET
ap-5482	9	12	central	central	ADJ
ap-5482	9	13	lever	lever	NOUN
ap-5482	9	14	is	be	AUX
ap-5482	9	15	offset	offset	VERB
ap-5482	9	16	from	from	ADP
ap-5482	9	17	the	the	DET
ap-5482	9	18	longitudinal	longitudinal	ADJ
ap-5482	9	19	axis	axis	NOUN
ap-5482	9	20	of	of	ADP
ap-5482	9	21	the	the	DET
ap-5482	9	22	vehicle	vehicle	NOUN
ap-5482	9	23	.	.	PUNCT
ap-5482	10	1	keywords	keyword	NOUN
ap-5482	10	2	:	:	PUNCT
ap-5482	10	3	ackermann	ackermann	PROPN
ap-5482	10	4	steering	steering	NOUN
ap-5482	10	5	,	,	PUNCT
ap-5482	10	6	four	four	NUM
ap-5482	10	7	-	-	PUNCT
ap-5482	10	8	wheel	wheel	NOUN
ap-5482	10	9	vehicle	vehicle	NOUN
ap-5482	10	10	,	,	PUNCT
ap-5482	10	11	hooke	hooke	NOUN
ap-5482	10	12	and	and	CCONJ
ap-5482	10	13	jeeves	jeeve	NOUN
ap-5482	10	14	method	method	NOUN
ap-5482	10	15	,	,	PUNCT
ap-5482	10	16	compound	compound	NOUN
ap-5482	10	17	steering	steering	NOUN
ap-5482	10	18	mechanism	mechanism	NOUN
ap-5482	10	19	,	,	PUNCT
ap-5482	10	20	unsymmetrical	unsymmetrical	ADJ
ap-5482	10	21	mechanism	mechanism	NOUN
ap-5482	10	22	,	,	PUNCT
ap-5482	10	23	steering	steering	NOUN
ap-5482	10	24	error	error	NOUN
ap-5482	10	25	,	,	PUNCT
ap-5482	10	26	crossed	cross	VERB
ap-5482	10	27	four	four	NUM
ap-5482	10	28	-	-	PUNCT
ap-5482	10	29	bar	bar	NOUN
ap-5482	10	30	mechanism	mechanism	NOUN
ap-5482	10	31	.	.	PUNCT
ap-5482	11	1	1	1	X
ap-5482	11	2	.	.	X
ap-5482	11	3	introduction	introduction	NOUN
ap-5482	11	4	there	there	PRON
ap-5482	11	5	are	be	VERB
ap-5482	11	6	several	several	ADJ
ap-5482	11	7	types	type	NOUN
ap-5482	11	8	of	of	ADP
ap-5482	11	9	steering	steering	NOUN
ap-5482	11	10	mechanisms	mechanism	NOUN
ap-5482	11	11	used	use	VERB
ap-5482	11	12	for	for	ADP
ap-5482	11	13	four	four	NUM
ap-5482	11	14	-	-	PUNCT
ap-5482	11	15	wheel	wheel	NOUN
ap-5482	11	16	vehicles	vehicle	NOUN
ap-5482	11	17	.	.	PUNCT
ap-5482	12	1	there	there	PRON
ap-5482	12	2	are	be	VERB
ap-5482	12	3	symmetric	symmetric	ADJ
ap-5482	12	4	fourbar	fourbar	NOUN
ap-5482	12	5	mechanism	mechanism	NOUN
ap-5482	12	6	,	,	PUNCT
ap-5482	12	7	centre	centre	NOUN
ap-5482	12	8	-	-	PUNCT
ap-5482	12	9	lever	lever	NOUN
ap-5482	12	10	mechanism	mechanism	NOUN
ap-5482	12	11	and	and	CCONJ
ap-5482	12	12	rack	rack	NOUN
ap-5482	12	13	-	-	PUNCT
ap-5482	12	14	andpinion	andpinion	NOUN
ap-5482	12	15	type	type	NOUN
ap-5482	12	16	mechanism	mechanism	NOUN
ap-5482	12	17	.	.	PUNCT
ap-5482	13	1	fahey	fahey	PROPN
ap-5482	13	2	and	and	CCONJ
ap-5482	13	3	huston	huston	PROPN
ap-5482	14	1	[	[	X
ap-5482	14	2	1	1	NUM
ap-5482	14	3	]	]	PUNCT
ap-5482	14	4	considered	consider	VERB
ap-5482	14	5	an	an	DET
ap-5482	14	6	eight	eight	NUM
ap-5482	14	7	-	-	PUNCT
ap-5482	14	8	bar	bar	NOUN
ap-5482	14	9	mechanism	mechanism	NOUN
ap-5482	14	10	for	for	ADP
ap-5482	14	11	steering	steering	NOUN
ap-5482	14	12	automobiles	automobile	NOUN
ap-5482	14	13	.	.	PUNCT
ap-5482	15	1	they	they	PRON
ap-5482	15	2	suggested	suggest	VERB
ap-5482	15	3	this	this	DET
ap-5482	15	4	mechanism	mechanism	NOUN
ap-5482	15	5	after	after	ADP
ap-5482	15	6	modifying	modify	VERB
ap-5482	15	7	a	a	DET
ap-5482	15	8	leading	lead	VERB
ap-5482	15	9	ackermann	ackermann	ADJ
ap-5482	15	10	steering	steering	NOUN
ap-5482	15	11	mechanism	mechanism	NOUN
ap-5482	15	12	.	.	PUNCT
ap-5482	16	1	this	this	DET
ap-5482	16	2	eight	eight	NUM
ap-5482	16	3	-	-	PUNCT
ap-5482	16	4	bar	bar	NOUN
ap-5482	16	5	mechanism	mechanism	NOUN
ap-5482	16	6	eliminated	eliminate	VERB
ap-5482	16	7	the	the	DET
ap-5482	16	8	divergent	divergent	ADJ
ap-5482	16	9	end	end	NOUN
ap-5482	16	10	behaviour	behaviour	NOUN
ap-5482	17	1	[	[	X
ap-5482	17	2	1	1	X
ap-5482	17	3	]	]	PUNCT
ap-5482	17	4	of	of	ADP
ap-5482	17	5	the	the	DET
ap-5482	17	6	existing	exist	VERB
ap-5482	17	7	ackermann	ackermann	ADJ
ap-5482	17	8	mechanism	mechanism	NOUN
ap-5482	17	9	and	and	CCONJ
ap-5482	17	10	the	the	DET
ap-5482	17	11	maximum	maximum	ADJ
ap-5482	17	12	steering	steering	NOUN
ap-5482	17	13	error	error	NOUN
ap-5482	17	14	was	be	AUX
ap-5482	17	15	reduced	reduce	VERB
ap-5482	17	16	to	to	ADP
ap-5482	17	17	0.03	0.03	NUM
ap-5482	17	18	degree	degree	NOUN
ap-5482	17	19	.	.	PUNCT
ap-5482	18	1	the	the	DET
ap-5482	18	2	progressive	progressive	ADJ
ap-5482	18	3	deviation	deviation	NOUN
ap-5482	18	4	in	in	ADP
ap-5482	18	5	the	the	DET
ap-5482	18	6	steering	steering	NOUN
ap-5482	18	7	error	error	NOUN
ap-5482	18	8	curve	curve	NOUN
ap-5482	18	9	with	with	ADP
ap-5482	18	10	the	the	DET
ap-5482	18	11	increasing	increase	VERB
ap-5482	18	12	rotation	rotation	NOUN
ap-5482	18	13	of	of	ADP
ap-5482	18	14	the	the	DET
ap-5482	18	15	inner	inner	ADJ
ap-5482	18	16	wheel	wheel	NOUN
ap-5482	18	17	nearing	near	VERB
ap-5482	18	18	the	the	DET
ap-5482	18	19	end	end	NOUN
ap-5482	18	20	range	range	NOUN
ap-5482	18	21	is	be	AUX
ap-5482	18	22	referred	refer	VERB
ap-5482	18	23	here	here	ADV
ap-5482	18	24	as	as	ADP
ap-5482	18	25	divergent	divergent	ADJ
ap-5482	18	26	-	-	PUNCT
ap-5482	18	27	end	end	NOUN
ap-5482	18	28	behaviour	behaviour	NOUN
ap-5482	18	29	.	.	PUNCT
ap-5482	19	1	however	however	ADV
ap-5482	19	2	,	,	PUNCT
ap-5482	19	3	there	there	PRON
ap-5482	19	4	were	be	VERB
ap-5482	19	5	two	two	NUM
ap-5482	19	6	small	small	ADJ
ap-5482	19	7	and	and	CCONJ
ap-5482	19	8	disproportionate	disproportionate	ADJ
ap-5482	19	9	links	link	NOUN
ap-5482	19	10	in	in	ADP
ap-5482	19	11	the	the	DET
ap-5482	19	12	eight	eight	NUM
ap-5482	19	13	-	-	PUNCT
ap-5482	19	14	bar	bar	NOUN
ap-5482	19	15	mechanism	mechanism	NOUN
ap-5482	19	16	and	and	CCONJ
ap-5482	19	17	hence	hence	ADV
ap-5482	19	18	the	the	DET
ap-5482	19	19	mechanism	mechanism	NOUN
ap-5482	19	20	was	be	AUX
ap-5482	19	21	unpractical	unpractical	ADJ
ap-5482	19	22	.	.	PUNCT
ap-5482	20	1	simionescu	simionescu	PROPN
ap-5482	20	2	and	and	CCONJ
ap-5482	20	3	smith	smith	PROPN
ap-5482	21	1	[	[	X
ap-5482	21	2	2	2	NUM
ap-5482	21	3	]	]	PUNCT
ap-5482	21	4	found	find	VERB
ap-5482	21	5	out	out	ADP
ap-5482	21	6	initial	initial	ADJ
ap-5482	21	7	estimates	estimate	NOUN
ap-5482	21	8	for	for	ADP
ap-5482	21	9	the	the	DET
ap-5482	21	10	design	design	NOUN
ap-5482	21	11	of	of	ADP
ap-5482	21	12	centre	centre	NOUN
ap-5482	21	13	-	-	PUNCT
ap-5482	21	14	lever	lever	NOUN
ap-5482	21	15	steering	steering	NOUN
ap-5482	21	16	linkages	linkage	NOUN
ap-5482	21	17	.	.	PUNCT
ap-5482	22	1	they	they	PRON
ap-5482	22	2	considered	consider	VERB
ap-5482	22	3	both	both	DET
ap-5482	22	4	leading	lead	VERB
ap-5482	22	5	and	and	CCONJ
ap-5482	22	6	trailing	trail	VERB
ap-5482	22	7	mechanisms	mechanism	NOUN
ap-5482	22	8	for	for	ADP
ap-5482	22	9	which	which	PRON
ap-5482	22	10	they	they	PRON
ap-5482	22	11	produced	produce	VERB
ap-5482	22	12	parametric	parametric	ADJ
ap-5482	22	13	design	design	NOUN
ap-5482	22	14	charts	chart	NOUN
ap-5482	22	15	.	.	PUNCT
ap-5482	23	1	de	de	PROPN
ap-5482	23	2	-	-	PROPN
ap-5482	23	3	juan	juan	PROPN
ap-5482	23	4	et	et	PROPN
ap-5482	23	5	al	al	PROPN
ap-5482	23	6	.	.	PUNCT
ap-5482	24	1	[	[	X
ap-5482	24	2	3	3	X
ap-5482	24	3	]	]	PUNCT
ap-5482	24	4	considered	consider	VERB
ap-5482	24	5	kinematic	kinematic	ADJ
ap-5482	24	6	synthesis	synthesis	NOUN
ap-5482	24	7	of	of	ADP
ap-5482	24	8	six	six	NUM
ap-5482	24	9	-	-	PUNCT
ap-5482	24	10	bar	bar	NOUN
ap-5482	24	11	steering	steering	NOUN
ap-5482	24	12	linkages	linkage	NOUN
ap-5482	24	13	for	for	ADP
ap-5482	24	14	both	both	DET
ap-5482	24	15	leading	lead	VERB
ap-5482	24	16	and	and	CCONJ
ap-5482	24	17	trailing	trail	VERB
ap-5482	24	18	configurations	configuration	NOUN
ap-5482	24	19	.	.	PUNCT
ap-5482	25	1	they	they	PRON
ap-5482	25	2	considered	consider	VERB
ap-5482	25	3	mixed	mixed	ADJ
ap-5482	25	4	-	-	PUNCT
ap-5482	25	5	leading	lead	VERB
ap-5482	25	6	and	and	CCONJ
ap-5482	25	7	mixed	mixed	ADJ
ap-5482	25	8	-	-	PUNCT
ap-5482	25	9	trailing	trail	VERB
ap-5482	25	10	configurations	configuration	NOUN
ap-5482	25	11	as	as	ADV
ap-5482	25	12	well	well	ADV
ap-5482	25	13	.	.	PUNCT
ap-5482	26	1	in	in	ADP
ap-5482	26	2	their	their	PRON
ap-5482	26	3	work	work	NOUN
ap-5482	26	4	,	,	PUNCT
ap-5482	26	5	it	it	PRON
ap-5482	26	6	was	be	AUX
ap-5482	26	7	found	find	VERB
ap-5482	26	8	that	that	SCONJ
ap-5482	26	9	the	the	DET
ap-5482	26	10	steering	steering	NOUN
ap-5482	26	11	error	error	NOUN
ap-5482	26	12	curve	curve	NOUN
ap-5482	26	13	had	have	VERB
ap-5482	26	14	five	five	NUM
ap-5482	26	15	precision	precision	NOUN
ap-5482	26	16	points	point	NOUN
ap-5482	26	17	for	for	ADP
ap-5482	26	18	leading	lead	VERB
ap-5482	26	19	configuration	configuration	NOUN
ap-5482	26	20	only	only	ADV
ap-5482	26	21	.	.	PUNCT
ap-5482	27	1	de	de	PROPN
ap-5482	27	2	-	-	PROPN
ap-5482	27	3	juan	juan	PROPN
ap-5482	27	4	et	et	PROPN
ap-5482	27	5	al	al	PROPN
ap-5482	27	6	.	.	PUNCT
ap-5482	28	1	[	[	X
ap-5482	28	2	4	4	X
ap-5482	28	3	]	]	PUNCT
ap-5482	28	4	considered	consider	VERB
ap-5482	28	5	three	three	NUM
ap-5482	28	6	types	type	NOUN
ap-5482	28	7	of	of	ADP
ap-5482	28	8	leading	lead	VERB
ap-5482	28	9	steering	steering	NOUN
ap-5482	28	10	mechanisms	mechanism	NOUN
ap-5482	28	11	and	and	CCONJ
ap-5482	28	12	optimized	optimize	VERB
ap-5482	28	13	these	these	PRON
ap-5482	28	14	considering	consider	VERB
ap-5482	28	15	steering	steer	VERB
ap-5482	28	16	error	error	NOUN
ap-5482	28	17	and	and	CCONJ
ap-5482	28	18	transmission	transmission	NOUN
ap-5482	28	19	angles	angle	NOUN
ap-5482	28	20	and	and	CCONJ
ap-5482	28	21	compared	compare	VERB
ap-5482	28	22	them	they	PRON
ap-5482	28	23	.	.	PUNCT
ap-5482	29	1	bajpai	bajpai	PROPN
ap-5482	29	2	et	et	PROPN
ap-5482	29	3	al	al	PROPN
ap-5482	29	4	.	.	PUNCT
ap-5482	30	1	[	[	X
ap-5482	30	2	5	5	NUM
ap-5482	30	3	]	]	PUNCT
ap-5482	30	4	explained	explain	VERB
ap-5482	30	5	optimization	optimization	NOUN
ap-5482	30	6	of	of	ADP
ap-5482	30	7	a	a	DET
ap-5482	30	8	function	function	NOUN
ap-5482	30	9	of	of	ADP
ap-5482	30	10	several	several	ADJ
ap-5482	30	11	variables	variable	NOUN
ap-5482	30	12	by	by	ADP
ap-5482	30	13	hooke	hooke	NOUN
ap-5482	30	14	and	and	CCONJ
ap-5482	30	15	jeeves	jeeve	NOUN
ap-5482	30	16	method	method	NOUN
ap-5482	30	17	,	,	PUNCT
ap-5482	30	18	which	which	PRON
ap-5482	30	19	was	be	AUX
ap-5482	30	20	a	a	DET
ap-5482	30	21	direct	direct	ADJ
ap-5482	30	22	method	method	NOUN
ap-5482	30	23	in	in	ADP
ap-5482	30	24	which	which	PRON
ap-5482	30	25	it	it	PRON
ap-5482	30	26	was	be	AUX
ap-5482	30	27	not	not	PART
ap-5482	30	28	necessary	necessary	ADJ
ap-5482	30	29	to	to	PART
ap-5482	30	30	differentiate	differentiate	VERB
ap-5482	30	31	the	the	DET
ap-5482	30	32	function	function	NOUN
ap-5482	30	33	with	with	ADP
ap-5482	30	34	respect	respect	NOUN
ap-5482	30	35	to	to	ADP
ap-5482	30	36	the	the	DET
ap-5482	30	37	variables	variable	NOUN
ap-5482	30	38	.	.	PUNCT
ap-5482	31	1	zhao	zhao	PROPN
ap-5482	31	2	et	et	PROPN
ap-5482	31	3	al	al	PROPN
ap-5482	31	4	.	.	PUNCT
ap-5482	32	1	[	[	X
ap-5482	32	2	6	6	NUM
ap-5482	32	3	]	]	PUNCT
ap-5482	32	4	proposed	propose	VERB
ap-5482	32	5	a	a	DET
ap-5482	32	6	geared	gear	VERB
ap-5482	32	7	five	five	NUM
ap-5482	32	8	-	-	PUNCT
ap-5482	32	9	bar	bar	NOUN
ap-5482	32	10	steering	steering	NOUN
ap-5482	32	11	mechanism	mechanism	NOUN
ap-5482	32	12	with	with	ADP
ap-5482	32	13	noncircular	noncircular	ADJ
ap-5482	32	14	gear	gear	NOUN
ap-5482	32	15	sectors	sector	NOUN
ap-5482	32	16	capable	capable	ADJ
ap-5482	32	17	to	to	ADP
ap-5482	32	18	exactly	exactly	ADV
ap-5482	32	19	satisfy	satisfy	VERB
ap-5482	32	20	ackermann	ackermann	PROPN
ap-5482	32	21	’s	’s	PART
ap-5482	32	22	formula	formula	NOUN
ap-5482	32	23	.	.	PUNCT
ap-5482	33	1	however	however	ADV
ap-5482	33	2	,	,	PUNCT
ap-5482	33	3	manufacture	manufacture	VERB
ap-5482	33	4	imperfections	imperfection	NOUN
ap-5482	33	5	and	and	CCONJ
ap-5482	33	6	backlash	backlash	NOUN
ap-5482	33	7	can	can	AUX
ap-5482	33	8	produce	produce	VERB
ap-5482	33	9	steering	steering	NOUN
ap-5482	33	10	error	error	NOUN
ap-5482	33	11	.	.	PUNCT
ap-5482	34	1	they	they	PRON
ap-5482	34	2	suggested	suggest	VERB
ap-5482	34	3	that	that	SCONJ
ap-5482	34	4	this	this	DET
ap-5482	34	5	mechanism	mechanism	NOUN
ap-5482	34	6	can	can	AUX
ap-5482	34	7	be	be	AUX
ap-5482	34	8	applied	apply	VERB
ap-5482	34	9	to	to	ADP
ap-5482	34	10	light	light	ADJ
ap-5482	34	11	carriages	carriage	NOUN
ap-5482	34	12	.	.	PUNCT
ap-5482	35	1	peterson	peterson	PROPN
ap-5482	35	2	and	and	CCONJ
ap-5482	35	3	kornecki	kornecki	PROPN
ap-5482	36	1	[	[	X
ap-5482	36	2	7	7	NUM
ap-5482	36	3	]	]	PUNCT
ap-5482	36	4	considered	consider	VERB
ap-5482	36	5	a	a	DET
ap-5482	36	6	design	design	NOUN
ap-5482	36	7	of	of	ADP
ap-5482	36	8	the	the	DET
ap-5482	36	9	steering	steering	NOUN
ap-5482	36	10	mechanism	mechanism	NOUN
ap-5482	36	11	of	of	ADP
ap-5482	36	12	a	a	DET
ap-5482	36	13	wide	wide	ADJ
ap-5482	36	14	power	power	NOUN
ap-5482	36	15	frame	frame	NOUN
ap-5482	36	16	used	use	VERB
ap-5482	36	17	to	to	PART
ap-5482	36	18	harvest	harvest	VERB
ap-5482	36	19	tree	tree	NOUN
ap-5482	36	20	fruits	fruit	NOUN
ap-5482	36	21	.	.	PUNCT
ap-5482	37	1	the	the	DET
ap-5482	37	2	unit	unit	NOUN
ap-5482	37	3	was	be	AUX
ap-5482	37	4	collapsible	collapsible	ADJ
ap-5482	37	5	to	to	ADP
ap-5482	37	6	half	half	DET
ap-5482	37	7	the	the	DET
ap-5482	37	8	width	width	NOUN
ap-5482	37	9	for	for	ADP
ap-5482	37	10	the	the	DET
ap-5482	37	11	purpose	purpose	NOUN
ap-5482	37	12	of	of	ADP
ap-5482	37	13	transportation	transportation	NOUN
ap-5482	37	14	.	.	PUNCT
ap-5482	38	1	the	the	DET
ap-5482	38	2	ratio	ratio	NOUN
ap-5482	38	3	of	of	ADP
ap-5482	38	4	the	the	DET
ap-5482	38	5	wheel	wheel	NOUN
ap-5482	38	6	track	track	NOUN
ap-5482	38	7	to	to	PART
ap-5482	38	8	wheelbase	wheelbase	VERB
ap-5482	38	9	was	be	AUX
ap-5482	38	10	1.55	1.55	NUM
ap-5482	38	11	while	while	SCONJ
ap-5482	38	12	harvesting	harvesting	NOUN
ap-5482	38	13	fruits	fruit	NOUN
ap-5482	38	14	and	and	CCONJ
ap-5482	38	15	0.77	0.77	NUM
ap-5482	38	16	while	while	SCONJ
ap-5482	38	17	being	be	AUX
ap-5482	38	18	transported	transport	VERB
ap-5482	38	19	on	on	ADP
ap-5482	38	20	the	the	DET
ap-5482	38	21	road	road	NOUN
ap-5482	38	22	.	.	PUNCT
ap-5482	39	1	a	a	DET
ap-5482	39	2	crossed	cross	VERB
ap-5482	39	3	four	four	NUM
ap-5482	39	4	-	-	PUNCT
ap-5482	39	5	bar	bar	NOUN
ap-5482	39	6	steering	steering	NOUN
ap-5482	39	7	mechanism	mechanism	NOUN
ap-5482	39	8	that	that	PRON
ap-5482	39	9	included	include	VERB
ap-5482	39	10	two	two	NUM
ap-5482	39	11	spur	spur	NOUN
ap-5482	39	12	gears	gear	NOUN
ap-5482	39	13	has	have	AUX
ap-5482	39	14	been	be	AUX
ap-5482	39	15	considered	consider	VERB
ap-5482	39	16	in	in	ADP
ap-5482	39	17	reference	reference	NOUN
ap-5482	39	18	[	[	X
ap-5482	39	19	8	8	NUM
ap-5482	39	20	]	]	PUNCT
ap-5482	39	21	.	.	PUNCT
ap-5482	40	1	there	there	ADV
ap-5482	40	2	,	,	PUNCT
ap-5482	40	3	hooke	hooke	NOUN
ap-5482	40	4	and	and	CCONJ
ap-5482	40	5	jeeves	jeeve	NOUN
ap-5482	40	6	method	method	NOUN
ap-5482	40	7	has	have	AUX
ap-5482	40	8	been	be	AUX
ap-5482	40	9	used	use	VERB
ap-5482	40	10	to	to	PART
ap-5482	40	11	minimize	minimize	VERB
ap-5482	40	12	the	the	DET
ap-5482	40	13	objective	objective	ADJ
ap-5482	40	14	function	function	NOUN
ap-5482	40	15	that	that	PRON
ap-5482	40	16	comprised	comprise	VERB
ap-5482	40	17	of	of	ADP
ap-5482	40	18	steering	steering	NOUN
ap-5482	40	19	error	error	NOUN
ap-5482	40	20	only	only	ADV
ap-5482	40	21	.	.	PUNCT
ap-5482	41	1	the	the	DET
ap-5482	41	2	present	present	ADJ
ap-5482	41	3	mechanism	mechanism	NOUN
ap-5482	41	4	has	have	AUX
ap-5482	41	5	been	be	AUX
ap-5482	41	6	considered	consider	VERB
ap-5482	41	7	to	to	PART
ap-5482	41	8	consist	consist	VERB
ap-5482	41	9	of	of	ADP
ap-5482	41	10	two	two	NUM
ap-5482	41	11	such	such	ADJ
ap-5482	41	12	crossed	cross	VERB
ap-5482	41	13	four	four	NUM
ap-5482	41	14	-	-	PUNCT
ap-5482	41	15	bar	bar	NOUN
ap-5482	41	16	mechanisms	mechanism	NOUN
ap-5482	41	17	to	to	PART
ap-5482	41	18	eliminate	eliminate	VERB
ap-5482	41	19	the	the	DET
ap-5482	41	20	spur	spur	NOUN
ap-5482	41	21	gears	gear	NOUN
ap-5482	41	22	.	.	PUNCT
ap-5482	42	1	the	the	DET
ap-5482	42	2	mechanism	mechanism	NOUN
ap-5482	42	3	provides	provide	VERB
ap-5482	42	4	five	five	NUM
ap-5482	42	5	precision	precision	NOUN
ap-5482	42	6	points	point	NOUN
ap-5482	42	7	and	and	CCONJ
ap-5482	42	8	is	be	AUX
ap-5482	42	9	a	a	DET
ap-5482	42	10	trailing	trail	VERB
ap-5482	42	11	mechanism	mechanism	NOUN
ap-5482	42	12	.	.	PUNCT
ap-5482	43	1	the	the	DET
ap-5482	43	2	kinematic	kinematic	ADJ
ap-5482	43	3	synthesis	synthesis	NOUN
ap-5482	43	4	has	have	AUX
ap-5482	43	5	been	be	AUX
ap-5482	43	6	necessary	necessary	ADJ
ap-5482	43	7	for	for	SCONJ
ap-5482	43	8	crossed	cross	VERB
ap-5482	43	9	four	four	NUM
ap-5482	43	10	-	-	PUNCT
ap-5482	43	11	bar	bar	NOUN
ap-5482	43	12	mechanism	mechanism	NOUN
ap-5482	43	13	only	only	ADV
ap-5482	43	14	and	and	CCONJ
ap-5482	43	15	252	252	NUM
ap-5482	43	16	https://doi.org/10.14311/ap.2020.60.0252	https://doi.org/10.14311/ap.2020.60.0252	ADV
ap-5482	43	17	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	NUM
ap-5482	43	18	vol	vol	NOUN
ap-5482	43	19	.	.	PUNCT
ap-5482	44	1	60	60	NUM
ap-5482	45	1	no	no	NOUN
ap-5482	45	2	.	.	PUNCT
ap-5482	46	1	3/2020	3/2020	DET
ap-5482	46	2	kinematic	kinematic	ADJ
ap-5482	46	3	synthesis	synthesis	NOUN
ap-5482	46	4	of	of	ADP
ap-5482	46	5	central	central	ADJ
ap-5482	46	6	-	-	PUNCT
ap-5482	46	7	lever	lever	NOUN
ap-5482	46	8	steering	steering	NOUN
ap-5482	46	9	mechanism	mechanism	NOUN
ap-5482	46	10	.	.	PUNCT
ap-5482	46	11	.	.	PUNCT
ap-5482	47	1	.	.	PUNCT
ap-5482	48	1	there	there	PRON
ap-5482	48	2	are	be	VERB
ap-5482	48	3	two	two	NUM
ap-5482	48	4	design	design	NOUN
ap-5482	48	5	parameters	parameter	NOUN
ap-5482	48	6	,	,	PUNCT
ap-5482	48	7	thus	thus	ADV
ap-5482	48	8	simplifying	simplify	VERB
ap-5482	48	9	the	the	DET
ap-5482	48	10	calculation	calculation	NOUN
ap-5482	48	11	.	.	PUNCT
ap-5482	49	1	the	the	DET
ap-5482	49	2	aim	aim	NOUN
ap-5482	49	3	of	of	ADP
ap-5482	49	4	the	the	DET
ap-5482	49	5	present	present	ADJ
ap-5482	49	6	work	work	NOUN
ap-5482	49	7	is	be	AUX
ap-5482	49	8	to	to	PART
ap-5482	49	9	carry	carry	VERB
ap-5482	49	10	out	out	ADP
ap-5482	49	11	kinematic	kinematic	ADJ
ap-5482	49	12	synthesis	synthesis	NOUN
ap-5482	49	13	of	of	ADP
ap-5482	49	14	a	a	DET
ap-5482	49	15	centre	centre	NOUN
ap-5482	49	16	lever	lever	NOUN
ap-5482	49	17	steering	steering	NOUN
ap-5482	49	18	mechanism	mechanism	NOUN
ap-5482	49	19	in	in	ADP
ap-5482	49	20	a	a	DET
ap-5482	49	21	simplified	simplified	ADJ
ap-5482	49	22	approach	approach	NOUN
ap-5482	49	23	.	.	PUNCT
ap-5482	50	1	the	the	DET
ap-5482	50	2	kinematic	kinematic	ADJ
ap-5482	50	3	synthesis	synthesis	NOUN
ap-5482	50	4	of	of	ADP
ap-5482	50	5	the	the	DET
ap-5482	50	6	offset	offset	VERB
ap-5482	50	7	centre	centre	NOUN
ap-5482	50	8	lever	lever	NOUN
ap-5482	50	9	steering	steering	NOUN
ap-5482	50	10	mechanism	mechanism	NOUN
ap-5482	50	11	has	have	AUX
ap-5482	50	12	been	be	AUX
ap-5482	50	13	considered	consider	VERB
ap-5482	50	14	here	here	ADV
ap-5482	50	15	for	for	ADP
ap-5482	50	16	the	the	DET
ap-5482	50	17	first	first	ADJ
ap-5482	50	18	time	time	NOUN
ap-5482	50	19	.	.	PUNCT
ap-5482	51	1	it	it	PRON
ap-5482	51	2	was	be	AUX
ap-5482	51	3	found	find	VERB
ap-5482	51	4	that	that	SCONJ
ap-5482	51	5	the	the	DET
ap-5482	51	6	offset	offset	VERB
ap-5482	51	7	centre	centre	NOUN
ap-5482	51	8	lever	lever	NOUN
ap-5482	51	9	steering	steering	NOUN
ap-5482	51	10	mechanisms	mechanism	NOUN
ap-5482	51	11	can	can	AUX
ap-5482	51	12	be	be	AUX
ap-5482	51	13	designed	design	VERB
ap-5482	51	14	easily	easily	ADV
ap-5482	51	15	if	if	SCONJ
ap-5482	51	16	the	the	DET
ap-5482	51	17	central	central	ADJ
ap-5482	51	18	hinge	hinge	NOUN
ap-5482	51	19	is	be	AUX
ap-5482	51	20	not	not	PART
ap-5482	51	21	imposed	impose	VERB
ap-5482	51	22	to	to	PART
ap-5482	51	23	be	be	AUX
ap-5482	51	24	located	locate	VERB
ap-5482	51	25	on	on	ADP
ap-5482	51	26	the	the	DET
ap-5482	51	27	longitudinal	longitudinal	ADJ
ap-5482	51	28	axis	axis	NOUN
ap-5482	51	29	of	of	ADP
ap-5482	51	30	the	the	DET
ap-5482	51	31	vehicle	vehicle	NOUN
ap-5482	51	32	.	.	PUNCT
ap-5482	52	1	2	2	X
ap-5482	52	2	.	.	NUM
ap-5482	52	3	crossed	cross	VERB
ap-5482	52	4	four	four	NUM
ap-5482	52	5	-	-	PUNCT
ap-5482	52	6	bar	bar	NOUN
ap-5482	52	7	steering	steering	NOUN
ap-5482	52	8	mechanism	mechanism	NOUN
ap-5482	52	9	figure	figure	NOUN
ap-5482	52	10	1	1	NUM
ap-5482	52	11	shows	show	VERB
ap-5482	52	12	a	a	DET
ap-5482	52	13	crossed	cross	VERB
ap-5482	52	14	four	four	NUM
ap-5482	52	15	-	-	PUNCT
ap-5482	52	16	bar	bar	NOUN
ap-5482	52	17	steering	steering	NOUN
ap-5482	52	18	mechanism	mechanism	NOUN
ap-5482	52	19	.	.	PUNCT
ap-5482	53	1	the	the	DET
ap-5482	53	2	vehicle	vehicle	NOUN
ap-5482	53	3	has	have	AUX
ap-5482	53	4	been	be	AUX
ap-5482	53	5	turned	turn	VERB
ap-5482	53	6	towards	towards	ADP
ap-5482	53	7	right	right	NOUN
ap-5482	53	8	.	.	PUNCT
ap-5482	54	1	agfb	agfb	PROPN
ap-5482	54	2	is	be	AUX
ap-5482	54	3	the	the	DET
ap-5482	54	4	crossed	cross	VERB
ap-5482	54	5	four	four	NUM
ap-5482	54	6	-	-	PUNCT
ap-5482	54	7	bar	bar	NOUN
ap-5482	54	8	mechanism	mechanism	NOUN
ap-5482	54	9	.	.	PUNCT
ap-5482	55	1	the	the	DET
ap-5482	55	2	inner	inner	ADJ
ap-5482	55	3	wheel	wheel	NOUN
ap-5482	55	4	is	be	AUX
ap-5482	55	5	rotated	rotate	VERB
ap-5482	55	6	about	about	ADP
ap-5482	55	7	centre	centre	PROPN
ap-5482	55	8	i	i	PRON
ap-5482	55	9	and	and	CCONJ
ap-5482	55	10	the	the	DET
ap-5482	55	11	outer	outer	ADJ
ap-5482	55	12	wheel	wheel	NOUN
ap-5482	55	13	has	have	AUX
ap-5482	55	14	been	be	AUX
ap-5482	55	15	rotated	rotate	VERB
ap-5482	55	16	about	about	ADP
ap-5482	55	17	centre	centre	PROPN
ap-5482	55	18	a.	a.	NOUN
ap-5482	55	19	when	when	SCONJ
ap-5482	55	20	the	the	DET
ap-5482	55	21	inner	inner	ADJ
ap-5482	55	22	wheel	wheel	NOUN
ap-5482	55	23	rotates	rotate	NOUN
ap-5482	55	24	by	by	ADP
ap-5482	55	25	angle	angle	NOUN
ap-5482	55	26	fbe	fbe	PROPN
ap-5482	55	27	,	,	PUNCT
ap-5482	55	28	then	then	ADV
ap-5482	55	29	the	the	DET
ap-5482	55	30	outer	outer	ADJ
ap-5482	55	31	wheel	wheel	NOUN
ap-5482	55	32	rotates	rotate	NOUN
ap-5482	55	33	by	by	ADP
ap-5482	55	34	angle	angle	NOUN
ap-5482	55	35	gad	gad	PROPN
ap-5482	55	36	.	.	PUNCT
ap-5482	56	1	as	as	SCONJ
ap-5482	56	2	the	the	DET
ap-5482	56	3	steering	steering	NOUN
ap-5482	56	4	arm	arm	NOUN
ap-5482	56	5	bf	bf	NOUN
ap-5482	56	6	is	be	AUX
ap-5482	56	7	rotated	rotate	VERB
ap-5482	56	8	counter	counter	ADJ
ap-5482	56	9	clockwise	clockwise	NOUN
ap-5482	56	10	,	,	PUNCT
ap-5482	56	11	the	the	DET
ap-5482	56	12	steering	steering	NOUN
ap-5482	56	13	arm	arm	NOUN
ap-5482	56	14	ag	ag	PROPN
ap-5482	56	15	is	be	AUX
ap-5482	56	16	rotated	rotate	VERB
ap-5482	56	17	clockwise	clockwise	NOUN
ap-5482	56	18	.	.	PUNCT
ap-5482	57	1	since	since	SCONJ
ap-5482	57	2	these	these	PRON
ap-5482	57	3	are	be	AUX
ap-5482	57	4	rotating	rotate	VERB
ap-5482	57	5	in	in	ADP
ap-5482	57	6	opposite	opposite	ADJ
ap-5482	57	7	directions	direction	NOUN
ap-5482	57	8	the	the	DET
ap-5482	57	9	use	use	NOUN
ap-5482	57	10	of	of	ADP
ap-5482	57	11	spur	spur	NOUN
ap-5482	57	12	gears	gear	NOUN
ap-5482	57	13	has	have	AUX
ap-5482	57	14	become	become	VERB
ap-5482	57	15	necessary	necessary	ADJ
ap-5482	57	16	.	.	PUNCT
ap-5482	58	1	3	3	X
ap-5482	58	2	.	.	X
ap-5482	58	3	condition	condition	NOUN
ap-5482	58	4	of	of	ADP
ap-5482	58	5	correct	correct	ADJ
ap-5482	58	6	steering	steer	VERB
ap-5482	58	7	the	the	DET
ap-5482	58	8	steering	steering	NOUN
ap-5482	58	9	is	be	AUX
ap-5482	58	10	assumed	assume	VERB
ap-5482	58	11	geometrically	geometrically	ADV
ap-5482	58	12	correct	correct	ADJ
ap-5482	58	13	if	if	SCONJ
ap-5482	58	14	the	the	DET
ap-5482	58	15	axes	axis	NOUN
ap-5482	58	16	of	of	ADP
ap-5482	58	17	rotation	rotation	NOUN
ap-5482	58	18	of	of	ADP
ap-5482	58	19	the	the	DET
ap-5482	58	20	wheels	wheel	NOUN
ap-5482	58	21	intersect	intersect	ADJ
ap-5482	58	22	at	at	ADP
ap-5482	58	23	the	the	DET
ap-5482	58	24	instantaneous	instantaneous	ADJ
ap-5482	58	25	centre	centre	NOUN
ap-5482	58	26	of	of	ADP
ap-5482	58	27	rotation	rotation	NOUN
ap-5482	58	28	of	of	ADP
ap-5482	58	29	the	the	DET
ap-5482	58	30	vehicle	vehicle	NOUN
ap-5482	58	31	relative	relative	ADJ
ap-5482	58	32	to	to	ADP
ap-5482	58	33	the	the	DET
ap-5482	58	34	ground	ground	NOUN
ap-5482	58	35	.	.	PUNCT
ap-5482	59	1	figure	figure	NOUN
ap-5482	59	2	2	2	NUM
ap-5482	59	3	shows	show	VERB
ap-5482	59	4	that	that	SCONJ
ap-5482	59	5	when	when	SCONJ
ap-5482	59	6	the	the	DET
ap-5482	59	7	inner	inner	ADJ
ap-5482	59	8	wheel	wheel	NOUN
ap-5482	59	9	rotates	rotate	NOUN
ap-5482	59	10	by	by	ADP
ap-5482	59	11	an	an	DET
ap-5482	59	12	angle	angle	NOUN
ap-5482	59	13	γ	γ	NOUN
ap-5482	59	14	,	,	PUNCT
ap-5482	59	15	then	then	ADV
ap-5482	59	16	the	the	DET
ap-5482	59	17	outer	outer	ADJ
ap-5482	59	18	wheel	wheel	NOUN
ap-5482	59	19	rotates	rotate	NOUN
ap-5482	59	20	by	by	ADP
ap-5482	59	21	an	an	DET
ap-5482	59	22	angle	angle	NOUN
ap-5482	59	23	α	α	NOUN
ap-5482	59	24	.	.	PUNCT
ap-5482	60	1	the	the	DET
ap-5482	60	2	steering	steering	NOUN
ap-5482	60	3	position	position	NOUN
ap-5482	60	4	is	be	AUX
ap-5482	60	5	correct	correct	ADJ
ap-5482	60	6	as	as	SCONJ
ap-5482	60	7	all	all	DET
ap-5482	60	8	four	four	NUM
ap-5482	60	9	wheels	wheel	NOUN
ap-5482	60	10	rotate	rotate	VERB
ap-5482	60	11	about	about	ADP
ap-5482	60	12	a	a	DET
ap-5482	60	13	common	common	ADJ
ap-5482	60	14	centre	centre	NOUN
ap-5482	60	15	o.	o.	NOUN
ap-5482	60	16	from	from	ADP
ap-5482	60	17	this	this	DET
ap-5482	60	18	geometry	geometry	NOUN
ap-5482	60	19	the	the	DET
ap-5482	60	20	following	follow	VERB
ap-5482	60	21	equation	equation	NOUN
ap-5482	60	22	can	can	AUX
ap-5482	60	23	be	be	AUX
ap-5482	60	24	written	write	VERB
ap-5482	60	25	:	:	PUNCT
ap-5482	60	26	cotα−	cotα−	NOUN
ap-5482	60	27	cot	cot	NOUN
ap-5482	60	28	γ	γ	X
ap-5482	60	29	=	=	PROPN
ap-5482	60	30	t	t	PROPN
ap-5482	60	31	w	w	PROPN
ap-5482	60	32	(	(	PUNCT
ap-5482	60	33	1	1	NUM
ap-5482	60	34	)	)	SYM
ap-5482	60	35	4	4	NUM
ap-5482	60	36	.	.	PUNCT
ap-5482	60	37	optimization	optimization	NOUN
ap-5482	60	38	method	method	VERB
ap-5482	60	39	the	the	DET
ap-5482	60	40	mechanism	mechanism	NOUN
ap-5482	60	41	shown	show	VERB
ap-5482	60	42	in	in	ADP
ap-5482	60	43	figure	figure	NOUN
ap-5482	60	44	3	3	NUM
ap-5482	60	45	has	have	VERB
ap-5482	60	46	two	two	NUM
ap-5482	60	47	parameters	parameter	NOUN
ap-5482	60	48	.	.	PUNCT
ap-5482	61	1	these	these	PRON
ap-5482	61	2	are	be	AUX
ap-5482	61	3	angle	angle	PROPN
ap-5482	61	4	kag	kag	PROPN
ap-5482	61	5	(	(	PUNCT
ap-5482	61	6	β	β	NOUN
ap-5482	61	7	)	)	PUNCT
ap-5482	61	8	and	and	CCONJ
ap-5482	61	9	steering	steer	VERB
ap-5482	61	10	arm	arm	NOUN
ap-5482	61	11	length	length	PROPN
ap-5482	61	12	ag	ag	PROPN
ap-5482	61	13	(	(	PUNCT
ap-5482	61	14	r	r	NOUN
ap-5482	61	15	)	)	PUNCT
ap-5482	61	16	.	.	PUNCT
ap-5482	62	1	the	the	DET
ap-5482	62	2	inner	inner	ADJ
ap-5482	62	3	wheel	wheel	NOUN
ap-5482	62	4	has	have	AUX
ap-5482	62	5	been	be	AUX
ap-5482	62	6	rotated	rotate	VERB
ap-5482	62	7	by	by	ADP
ap-5482	62	8	angle	angle	PROPN
ap-5482	62	9	φ	φ	PROPN
ap-5482	62	10	(	(	PUNCT
ap-5482	62	11	angle	angle	NOUN
ap-5482	62	12	fbe	fbe	NOUN
ap-5482	62	13	)	)	PUNCT
ap-5482	62	14	and	and	CCONJ
ap-5482	62	15	then	then	ADV
ap-5482	62	16	the	the	DET
ap-5482	62	17	rotation	rotation	NOUN
ap-5482	62	18	of	of	ADP
ap-5482	62	19	the	the	DET
ap-5482	62	20	outer	outer	ADJ
ap-5482	62	21	wheel	wheel	NOUN
ap-5482	62	22	(	(	PUNCT
ap-5482	62	23	angle	angle	NOUN
ap-5482	62	24	gad	gad	PROPN
ap-5482	62	25	)	)	PUNCT
ap-5482	62	26	has	have	AUX
ap-5482	62	27	been	be	AUX
ap-5482	62	28	found	find	VERB
ap-5482	62	29	out	out	ADP
ap-5482	62	30	.	.	PUNCT
ap-5482	63	1	the	the	DET
ap-5482	63	2	correct	correct	ADJ
ap-5482	63	3	rotation	rotation	NOUN
ap-5482	63	4	of	of	ADP
ap-5482	63	5	the	the	DET
ap-5482	63	6	outer	outer	ADJ
ap-5482	63	7	wheel	wheel	NOUN
ap-5482	63	8	has	have	AUX
ap-5482	63	9	been	be	AUX
ap-5482	63	10	found	find	VERB
ap-5482	63	11	out	out	ADP
ap-5482	63	12	using	use	VERB
ap-5482	63	13	an	an	DET
ap-5482	63	14	equation	equation	NOUN
ap-5482	63	15	(	(	PUNCT
ap-5482	63	16	1	1	NUM
ap-5482	63	17	)	)	PUNCT
ap-5482	63	18	.	.	PUNCT
ap-5482	64	1	then	then	ADV
ap-5482	64	2	the	the	DET
ap-5482	64	3	steering	steering	NOUN
ap-5482	64	4	error	error	NOUN
ap-5482	64	5	has	have	AUX
ap-5482	64	6	been	be	AUX
ap-5482	64	7	calculated	calculate	VERB
ap-5482	64	8	as	as	SCONJ
ap-5482	64	9	follows	follow	VERB
ap-5482	64	10	.	.	PUNCT
ap-5482	65	1	the	the	DET
ap-5482	65	2	initial	initial	ADJ
ap-5482	65	3	straight	straight	ADJ
ap-5482	65	4	-	-	PUNCT
ap-5482	65	5	ahead	ahead	NOUN
ap-5482	65	6	position	position	NOUN
ap-5482	65	7	has	have	VERB
ap-5482	65	8	two	two	NUM
ap-5482	65	9	equal	equal	ADJ
ap-5482	65	10	angles	angle	NOUN
ap-5482	65	11	kag	kag	PROPN
ap-5482	65	12	and	and	CCONJ
ap-5482	65	13	fbh	fbh	PROPN
ap-5482	65	14	.	.	PUNCT
ap-5482	66	1	the	the	DET
ap-5482	66	2	two	two	NUM
ap-5482	66	3	steering	steering	NOUN
ap-5482	66	4	arms	arm	NOUN
ap-5482	66	5	ag	ag	PROPN
ap-5482	66	6	and	and	CCONJ
ap-5482	66	7	fb	fb	INTJ
ap-5482	66	8	are	be	AUX
ap-5482	66	9	equal	equal	ADJ
ap-5482	66	10	.	.	PUNCT
ap-5482	67	1	the	the	DET
ap-5482	67	2	length	length	NOUN
ap-5482	67	3	of	of	ADP
ap-5482	67	4	the	the	DET
ap-5482	67	5	coupler	coupler	NOUN
ap-5482	67	6	has	have	AUX
ap-5482	67	7	been	be	AUX
ap-5482	67	8	found	find	VERB
ap-5482	67	9	as	as	ADP
ap-5482	67	10	gf	gf	PROPN
ap-5482	67	11	=	=	PUNCT
ap-5482	67	12	√	√	PROPN
ap-5482	67	13	(	(	PUNCT
ap-5482	67	14	d−	d−	PROPN
ap-5482	67	15	2r	2r	NUM
ap-5482	67	16	sin	sin	NOUN
ap-5482	67	17	β)2	β)2	PROPN
ap-5482	67	18	+	+	NUM
ap-5482	67	19	(	(	PUNCT
ap-5482	67	20	2r	2r	NUM
ap-5482	67	21	cosβ)2	cosβ)2	NUM
ap-5482	67	22	(	(	PUNCT
ap-5482	67	23	2	2	NUM
ap-5482	67	24	)	)	PUNCT
ap-5482	67	25	anglebae	anglebae	NOUN
ap-5482	67	26	=	=	SYM
ap-5482	67	27	tan−1	tan−1	PROPN
ap-5482	67	28	(	(	PUNCT
ap-5482	67	29	bev	bev	PROPN
ap-5482	67	30	aeh	aeh	PROPN
ap-5482	67	31	)	)	PUNCT
ap-5482	67	32	(	(	PUNCT
ap-5482	67	33	3	3	X
ap-5482	67	34	)	)	PUNCT
ap-5482	67	35	where	where	SCONJ
ap-5482	67	36	bev	bev	PROPN
ap-5482	67	37	=	=	SYM
ap-5482	67	38	r	r	NOUN
ap-5482	67	39	sin	sin	NOUN
ap-5482	67	40	(	(	PUNCT
ap-5482	67	41	π	π	NOUN
ap-5482	67	42	2	2	NUM
ap-5482	67	43	−	−	NOUN
ap-5482	67	44	β	β	PROPN
ap-5482	67	45	+	+	X
ap-5482	67	46	φ	φ	PROPN
ap-5482	67	47	)	)	PUNCT
ap-5482	67	48	(	(	PUNCT
ap-5482	67	49	4	4	NUM
ap-5482	67	50	)	)	PUNCT
ap-5482	67	51	and	and	CCONJ
ap-5482	67	52	aeh	aeh	PROPN
ap-5482	67	53	=	=	SYM
ap-5482	67	54	d−	d−	PROPN
ap-5482	67	55	r	r	PROPN
ap-5482	67	56	cos	cos	PROPN
ap-5482	67	57	(	(	PUNCT
ap-5482	67	58	π	π	PROPN
ap-5482	67	59	2	2	NUM
ap-5482	67	60	−	−	NOUN
ap-5482	67	61	β	β	PROPN
ap-5482	67	62	+	+	X
ap-5482	67	63	φ	φ	PROPN
ap-5482	67	64	)	)	PUNCT
ap-5482	67	65	(	(	PUNCT
ap-5482	67	66	5	5	X
ap-5482	67	67	)	)	PUNCT
ap-5482	67	68	angledae	angledae	NOUN
ap-5482	67	69	=	=	SYM
ap-5482	67	70	cos−1	cos−1	PROPN
ap-5482	67	71	{	{	PUNCT
ap-5482	67	72	r2	r2	PROPN
ap-5482	67	73	+	+	CCONJ
ap-5482	67	74	(	(	PUNCT
ap-5482	67	75	ae)2	ae)2	PROPN
ap-5482	67	76	−	−	PROPN
ap-5482	67	77	(	(	PUNCT
ap-5482	67	78	gf	gf	NOUN
ap-5482	67	79	)	)	PUNCT
ap-5482	67	80	2	2	NUM
ap-5482	67	81	2×	2×	NUM
ap-5482	67	82	r	r	NOUN
ap-5482	67	83	×ae	×ae	PROPN
ap-5482	67	84	}	}	PUNCT
ap-5482	67	85	(	(	PUNCT
ap-5482	67	86	6	6	NUM
ap-5482	67	87	)	)	PUNCT
ap-5482	67	88	where	where	SCONJ
ap-5482	67	89	ae	ae	PROPN
ap-5482	67	90	=	=	PUNCT
ap-5482	67	91	√	√	PROPN
ap-5482	67	92	(	(	PUNCT
ap-5482	67	93	bev	bev	PROPN
ap-5482	67	94	)	)	PUNCT
ap-5482	67	95	2	2	NUM
ap-5482	67	96	+	+	CCONJ
ap-5482	67	97	(	(	PUNCT
ap-5482	67	98	aeh)2	aeh)2	PROPN
ap-5482	67	99	(	(	PUNCT
ap-5482	67	100	7	7	NUM
ap-5482	67	101	)	)	PUNCT
ap-5482	67	102	angledab	angledab	ADV
ap-5482	67	103	=	=	PUNCT
ap-5482	67	104	angledae	angledae	NOUN
ap-5482	67	105	−anglebae	−anglebae	PROPN
ap-5482	67	106	(	(	PUNCT
ap-5482	67	107	8)	8)	NUM
ap-5482	67	108	the	the	DET
ap-5482	67	109	rotation	rotation	NOUN
ap-5482	67	110	of	of	ADP
ap-5482	67	111	the	the	DET
ap-5482	67	112	outer	outer	ADJ
ap-5482	67	113	wheel	wheel	NOUN
ap-5482	67	114	is	be	AUX
ap-5482	67	115	given	give	VERB
ap-5482	67	116	by	by	ADP
ap-5482	67	117	anglegad	anglegad	NOUN
ap-5482	67	118	=	=	PUNCT
ap-5482	67	119	π	π	NOUN
ap-5482	67	120	2	2	X
ap-5482	67	121	−	−	NOUN
ap-5482	67	122	β	β	X
ap-5482	67	123	−angledab	−angledab	NOUN
ap-5482	67	124	(	(	PUNCT
ap-5482	67	125	9	9	NUM
ap-5482	67	126	)	)	PUNCT
ap-5482	67	127	the	the	DET
ap-5482	67	128	correct	correct	ADJ
ap-5482	67	129	angle	angle	NOUN
ap-5482	67	130	of	of	ADP
ap-5482	67	131	rotation	rotation	NOUN
ap-5482	67	132	of	of	ADP
ap-5482	67	133	the	the	DET
ap-5482	67	134	outer	outer	ADJ
ap-5482	67	135	wheel	wheel	NOUN
ap-5482	67	136	is	be	AUX
ap-5482	67	137	given	give	VERB
ap-5482	67	138	by	by	ADP
ap-5482	67	139	anglegadcorrect	anglegadcorrect	NOUN
ap-5482	68	1	=	=	PUNCT
ap-5482	68	2	cot−1	cot−1	PROPN
ap-5482	68	3	(	(	PUNCT
ap-5482	68	4	cotφ+	cotφ+	X
ap-5482	68	5	t	t	PROPN
ap-5482	68	6	w	w	PROPN
ap-5482	68	7	)	)	PUNCT
ap-5482	68	8	(	(	PUNCT
ap-5482	68	9	10	10	NUM
ap-5482	68	10	)	)	PUNCT
ap-5482	68	11	the	the	DET
ap-5482	68	12	steering	steering	NOUN
ap-5482	68	13	error	error	NOUN
ap-5482	68	14	is	be	AUX
ap-5482	68	15	given	give	VERB
ap-5482	68	16	by	by	ADP
ap-5482	68	17	error	error	NOUN
ap-5482	68	18	=	=	SYM
ap-5482	68	19	anglegad	anglegad	VERB
ap-5482	68	20	−anglegadcorrect	−anglegadcorrect	ADJ
ap-5482	69	1	(	(	PUNCT
ap-5482	69	2	11	11	NUM
ap-5482	69	3	)	)	PUNCT
ap-5482	69	4	the	the	DET
ap-5482	69	5	objective	objective	ADJ
ap-5482	69	6	function	function	NOUN
ap-5482	69	7	is	be	AUX
ap-5482	69	8	given	give	VERB
ap-5482	69	9	by	by	ADP
ap-5482	69	10	obj	obj	PROPN
ap-5482	69	11	fun	fun	NOUN
ap-5482	69	12	=	=	SYM
ap-5482	69	13	∑	∑	PUNCT
ap-5482	69	14	error2	error2	X
ap-5482	69	15	(	(	PUNCT
ap-5482	69	16	12	12	NUM
ap-5482	69	17	)	)	PUNCT
ap-5482	69	18	the	the	DET
ap-5482	69	19	limits	limit	NOUN
ap-5482	69	20	of	of	ADP
ap-5482	69	21	the	the	DET
ap-5482	69	22	above	above	ADJ
ap-5482	69	23	sum	sum	NOUN
ap-5482	69	24	are	be	AUX
ap-5482	69	25	φ	φ	NUM
ap-5482	69	26	from	from	ADP
ap-5482	69	27	zero	zero	NUM
ap-5482	69	28	to	to	ADP
ap-5482	69	29	52	52	NUM
ap-5482	69	30	degree	degree	NOUN
ap-5482	69	31	.	.	PUNCT
ap-5482	70	1	the	the	DET
ap-5482	70	2	design	design	NOUN
ap-5482	70	3	variables	variable	NOUN
ap-5482	70	4	are	be	AUX
ap-5482	70	5	β	β	X
ap-5482	70	6	and	and	CCONJ
ap-5482	70	7	r.	r.	PROPN
ap-5482	70	8	hooke	hooke	PROPN
ap-5482	70	9	and	and	CCONJ
ap-5482	70	10	jeeves	jeeve	NOUN
ap-5482	70	11	optimization	optimization	NOUN
ap-5482	70	12	method	method	NOUN
ap-5482	70	13	[	[	X
ap-5482	70	14	5	5	NUM
ap-5482	70	15	]	]	PUNCT
ap-5482	70	16	has	have	AUX
ap-5482	70	17	been	be	AUX
ap-5482	70	18	applied	apply	VERB
ap-5482	70	19	to	to	PART
ap-5482	70	20	minimize	minimize	VERB
ap-5482	70	21	the	the	DET
ap-5482	70	22	objective	objective	ADJ
ap-5482	70	23	function	function	NOUN
ap-5482	70	24	(	(	PUNCT
ap-5482	70	25	12	12	NUM
ap-5482	70	26	)	)	PUNCT
ap-5482	70	27	.	.	PUNCT
ap-5482	71	1	we	we	PRON
ap-5482	71	2	use	use	VERB
ap-5482	71	3	,	,	PUNCT
ap-5482	71	4	as	as	ADP
ap-5482	71	5	initial	initial	ADJ
ap-5482	71	6	estimate	estimate	NOUN
ap-5482	71	7	,	,	PUNCT
ap-5482	71	8	r	r	NOUN
ap-5482	71	9	=	=	SYM
ap-5482	71	10	1.9374	1.9374	NUM
ap-5482	71	11	and	and	CCONJ
ap-5482	71	12	angle	angle	NOUN
ap-5482	71	13	β	β	X
ap-5482	71	14	=	=	SYM
ap-5482	71	15	13.5407	13.5407	NUM
ap-5482	71	16	°	°	NUM
ap-5482	71	17	obtained	obtain	VERB
ap-5482	71	18	by	by	ADP
ap-5482	71	19	an	an	DET
ap-5482	71	20	analytical	analytical	ADJ
ap-5482	71	21	method	method	NOUN
ap-5482	71	22	in	in	ADP
ap-5482	71	23	another	another	DET
ap-5482	71	24	study	study	NOUN
ap-5482	72	1	[	[	X
ap-5482	72	2	9	9	NUM
ap-5482	72	3	]	]	PUNCT
ap-5482	72	4	.	.	PUNCT
ap-5482	73	1	a	a	DET
ap-5482	73	2	vehicle	vehicle	NOUN
ap-5482	73	3	with	with	ADP
ap-5482	73	4	a	a	DET
ap-5482	73	5	track	track	NOUN
ap-5482	73	6	to	to	PART
ap-5482	73	7	wheelbase	wheelbase	VERB
ap-5482	73	8	ratio	ratio	NOUN
ap-5482	73	9	0.326	0.326	NUM
ap-5482	73	10	has	have	AUX
ap-5482	73	11	been	be	AUX
ap-5482	73	12	considered	consider	VERB
ap-5482	73	13	,	,	PUNCT
ap-5482	73	14	for	for	ADP
ap-5482	73	15	which	which	PRON
ap-5482	73	16	the	the	DET
ap-5482	73	17	final	final	ADJ
ap-5482	73	18	estimate	estimate	NOUN
ap-5482	73	19	has	have	AUX
ap-5482	73	20	been	be	AUX
ap-5482	73	21	made	make	VERB
ap-5482	73	22	.	.	PUNCT
ap-5482	74	1	using	use	VERB
ap-5482	74	2	the	the	DET
ap-5482	74	3	concept	concept	NOUN
ap-5482	74	4	of	of	ADP
ap-5482	74	5	compound	compound	NOUN
ap-5482	74	6	mechanisms	mechanism	NOUN
ap-5482	74	7	,	,	PUNCT
ap-5482	74	8	the	the	DET
ap-5482	74	9	track	track	NOUN
ap-5482	74	10	to	to	PART
ap-5482	74	11	wheelbase	wheelbase	VERB
ap-5482	74	12	ratio	ratio	NOUN
ap-5482	74	13	has	have	AUX
ap-5482	74	14	been	be	AUX
ap-5482	74	15	taken	take	VERB
ap-5482	74	16	as	as	ADP
ap-5482	74	17	0.163	0.163	NUM
ap-5482	74	18	.	.	PUNCT
ap-5482	75	1	by	by	ADP
ap-5482	75	2	optimization	optimization	NOUN
ap-5482	75	3	,	,	PUNCT
ap-5482	75	4	we	we	PRON
ap-5482	75	5	found	find	VERB
ap-5482	75	6	the	the	DET
ap-5482	75	7	length	length	NOUN
ap-5482	75	8	of	of	ADP
ap-5482	75	9	the	the	DET
ap-5482	75	10	steering	steering	NOUN
ap-5482	75	11	arm	arm	VERB
ap-5482	75	12	1.933	1.933	NUM
ap-5482	75	13	units	unit	NOUN
ap-5482	75	14	and	and	CCONJ
ap-5482	75	15	inclination	inclination	NOUN
ap-5482	75	16	angle	angle	NOUN
ap-5482	75	17	β	β	X
ap-5482	75	18	as	as	ADP
ap-5482	75	19	13.521	13.521	NUM
ap-5482	75	20	degree	degree	NOUN
ap-5482	75	21	,	,	PUNCT
ap-5482	75	22	where	where	SCONJ
ap-5482	75	23	the	the	DET
ap-5482	75	24	distance	distance	NOUN
ap-5482	75	25	ab	ab	PROPN
ap-5482	75	26	is	be	AUX
ap-5482	75	27	10	10	NUM
ap-5482	75	28	units	unit	NOUN
ap-5482	75	29	.	.	PUNCT
ap-5482	76	1	the	the	DET
ap-5482	76	2	steering	steering	NOUN
ap-5482	76	3	arm	arm	NOUN
ap-5482	76	4	angles	angle	NOUN
ap-5482	76	5	are	be	AUX
ap-5482	76	6	β	β	X
ap-5482	76	7	=	=	SYM
ap-5482	76	8	13.521	13.521	NUM
ap-5482	76	9	degree	degree	NOUN
ap-5482	76	10	.	.	PUNCT
ap-5482	77	1	we	we	PRON
ap-5482	77	2	have	have	AUX
ap-5482	77	3	shown	show	VERB
ap-5482	77	4	the	the	DET
ap-5482	77	5	steering	steering	NOUN
ap-5482	77	6	error	error	NOUN
ap-5482	77	7	curve	curve	NOUN
ap-5482	77	8	in	in	ADP
ap-5482	77	9	figure	figure	NOUN
ap-5482	77	10	4	4	NUM
ap-5482	77	11	.	.	PUNCT
ap-5482	78	1	the	the	DET
ap-5482	78	2	maximum	maximum	ADJ
ap-5482	78	3	steering	steering	NOUN
ap-5482	78	4	error	error	NOUN
ap-5482	78	5	of	of	ADP
ap-5482	78	6	the	the	DET
ap-5482	78	7	proposed	propose	VERB
ap-5482	78	8	compound	compound	NOUN
ap-5482	78	9	mechanism	mechanism	NOUN
ap-5482	78	10	has	have	AUX
ap-5482	78	11	been	be	AUX
ap-5482	78	12	reduced	reduce	VERB
ap-5482	78	13	to	to	ADP
ap-5482	78	14	0.044	0.044	NUM
ap-5482	78	15	degree	degree	NOUN
ap-5482	78	16	by	by	ADP
ap-5482	78	17	the	the	PRON
ap-5482	78	18	through	through	ADP
ap-5482	78	19	optimization	optimization	NOUN
ap-5482	78	20	.	.	PUNCT
ap-5482	79	1	the	the	DET
ap-5482	79	2	steering	steering	NOUN
ap-5482	79	3	error	error	NOUN
ap-5482	79	4	of	of	ADP
ap-5482	79	5	the	the	DET
ap-5482	79	6	proposed	propose	VERB
ap-5482	79	7	mechanism	mechanism	NOUN
ap-5482	79	8	is	be	AUX
ap-5482	79	9	less	less	ADV
ap-5482	79	10	compared	compare	VERB
ap-5482	79	11	to	to	ADP
ap-5482	79	12	that	that	PRON
ap-5482	79	13	of	of	ADP
ap-5482	79	14	the	the	DET
ap-5482	79	15	ackermann	ackermann	PROPN
ap-5482	79	16	steering	steering	NOUN
ap-5482	79	17	mechanism	mechanism	NOUN
ap-5482	79	18	of	of	ADP
ap-5482	79	19	the	the	DET
ap-5482	79	20	benchmark	benchmark	NOUN
ap-5482	79	21	vehicle	vehicle	NOUN
ap-5482	79	22	[	[	X
ap-5482	79	23	10	10	NUM
ap-5482	79	24	]	]	PUNCT
ap-5482	79	25	.	.	PUNCT
ap-5482	80	1	the	the	DET
ap-5482	80	2	pressure	pressure	NOUN
ap-5482	80	3	angle	angle	NOUN
ap-5482	80	4	at	at	ADP
ap-5482	80	5	any	any	DET
ap-5482	80	6	joint	joint	NOUN
ap-5482	80	7	is	be	AUX
ap-5482	80	8	defined	define	VERB
ap-5482	80	9	as	as	ADP
ap-5482	80	10	the	the	DET
ap-5482	80	11	angle	angle	NOUN
ap-5482	80	12	between	between	ADP
ap-5482	80	13	the	the	DET
ap-5482	80	14	output	output	NOUN
ap-5482	80	15	link	link	NOUN
ap-5482	80	16	and	and	CCONJ
ap-5482	80	17	the	the	DET
ap-5482	80	18	direction	direction	NOUN
ap-5482	80	19	of	of	ADP
ap-5482	80	20	the	the	DET
ap-5482	80	21	force	force	NOUN
ap-5482	80	22	applied	apply	VERB
ap-5482	80	23	by	by	ADP
ap-5482	80	24	the	the	DET
ap-5482	80	25	input	input	NOUN
ap-5482	80	26	link	link	NOUN
ap-5482	80	27	.	.	PUNCT
ap-5482	81	1	the	the	DET
ap-5482	81	2	pressure	pressure	NOUN
ap-5482	81	3	angles	angle	VERB
ap-5482	81	4	at	at	ADP
ap-5482	81	5	joint	joint	ADJ
ap-5482	81	6	d	d	NOUN
ap-5482	81	7	and	and	CCONJ
ap-5482	81	8	e	e	NOUN
ap-5482	81	9	are	be	AUX
ap-5482	81	10	found	find	VERB
ap-5482	81	11	out	out	ADP
ap-5482	81	12	as	as	SCONJ
ap-5482	81	13	follows	follow	VERB
ap-5482	81	14	:	:	PUNCT
ap-5482	81	15	angle	angle	NOUN
ap-5482	81	16	(	(	PUNCT
ap-5482	81	17	ade	ade	NOUN
ap-5482	81	18	)	)	PUNCT
ap-5482	82	1	=	=	SYM
ap-5482	82	2	cos−1	cos−1	PROPN
ap-5482	82	3	{	{	PUNCT
ap-5482	82	4	r2	r2	PROPN
ap-5482	82	5	+	+	CCONJ
ap-5482	82	6	(	(	PUNCT
ap-5482	82	7	gf	gf	NOUN
ap-5482	82	8	)	)	PUNCT
ap-5482	82	9	2	2	NUM
ap-5482	82	10	−	−	PROPN
ap-5482	82	11	(	(	PUNCT
ap-5482	82	12	ae)2	ae)2	PROPN
ap-5482	82	13	2×	2×	NUM
ap-5482	82	14	r	r	NOUN
ap-5482	82	15	×gf	×gf	NOUN
ap-5482	82	16	}	}	PUNCT
ap-5482	82	17	(	(	PUNCT
ap-5482	82	18	13	13	NUM
ap-5482	82	19	)	)	PUNCT
ap-5482	82	20	the	the	DET
ap-5482	82	21	pressure	pressure	NOUN
ap-5482	82	22	angle	angle	NOUN
ap-5482	82	23	at	at	ADP
ap-5482	82	24	joint	joint	ADJ
ap-5482	82	25	d	d	PROPN
ap-5482	82	26	is	be	AUX
ap-5482	82	27	given	give	VERB
ap-5482	82	28	by	by	ADP
ap-5482	82	29	µ1	µ1	PROPN
ap-5482	82	30	=	=	SYM
ap-5482	82	31	{	{	PUNCT
ap-5482	82	32	angle	angle	NOUN
ap-5482	82	33	(	(	PUNCT
ap-5482	82	34	ade)−	ade)−	PROPN
ap-5482	82	35	π	π	PROPN
ap-5482	82	36	2	2	NUM
ap-5482	82	37	}	}	PUNCT
ap-5482	82	38	(	(	PUNCT
ap-5482	82	39	14	14	NUM
ap-5482	82	40	)	)	PUNCT
ap-5482	82	41	253	253	NUM
ap-5482	82	42	santiranjan	santiranjan	ADJ
ap-5482	82	43	pramanik	pramanik	NOUN
ap-5482	82	44	,	,	PUNCT
ap-5482	82	45	sukrut	sukrut	ADP
ap-5482	82	46	shrikant	shrikant	ADJ
ap-5482	82	47	thipse	thipse	PROPN
ap-5482	82	48	acta	acta	PROPN
ap-5482	82	49	polytechnica	polytechnica	PROPN
ap-5482	82	50	figure	figure	NOUN
ap-5482	82	51	1	1	NUM
ap-5482	82	52	.	.	NUM
ap-5482	83	1	crossed	cross	VERB
ap-5482	83	2	four	four	NUM
ap-5482	83	3	-	-	PUNCT
ap-5482	83	4	bar	bar	NOUN
ap-5482	83	5	steering	steering	NOUN
ap-5482	83	6	mechanism	mechanism	NOUN
ap-5482	83	7	including	include	VERB
ap-5482	83	8	gears	gear	NOUN
ap-5482	83	9	.	.	PUNCT
ap-5482	84	1	figure	figure	NOUN
ap-5482	84	2	2	2	NUM
ap-5482	84	3	.	.	PUNCT
ap-5482	84	4	geometry	geometry	NOUN
ap-5482	84	5	of	of	ADP
ap-5482	84	6	correct	correct	ADJ
ap-5482	84	7	steering	steering	NOUN
ap-5482	84	8	.	.	PUNCT
ap-5482	85	1	figure	figure	NOUN
ap-5482	85	2	3	3	NUM
ap-5482	85	3	.	.	PUNCT
ap-5482	85	4	geometry	geometry	NOUN
ap-5482	85	5	of	of	ADP
ap-5482	85	6	a	a	DET
ap-5482	85	7	crossed	cross	VERB
ap-5482	85	8	four	four	NUM
ap-5482	85	9	bar	bar	NOUN
ap-5482	85	10	mechanism	mechanism	NOUN
ap-5482	85	11	.	.	PUNCT
ap-5482	86	1	254	254	NUM
ap-5482	86	2	vol	vol	NOUN
ap-5482	86	3	.	.	PUNCT
ap-5482	87	1	60	60	NUM
ap-5482	87	2	no	no	NOUN
ap-5482	87	3	.	.	PUNCT
ap-5482	88	1	3/2020	3/2020	DET
ap-5482	88	2	kinematic	kinematic	ADJ
ap-5482	88	3	synthesis	synthesis	NOUN
ap-5482	88	4	of	of	ADP
ap-5482	88	5	central	central	ADJ
ap-5482	88	6	-	-	PUNCT
ap-5482	88	7	lever	lever	NOUN
ap-5482	88	8	steering	steering	NOUN
ap-5482	88	9	mechanism	mechanism	NOUN
ap-5482	88	10	.	.	PUNCT
ap-5482	88	11	.	.	PUNCT
ap-5482	89	1	.	.	PUNCT
ap-5482	90	1	figure	figure	VERB
ap-5482	90	2	4	4	NUM
ap-5482	90	3	.	.	PUNCT
ap-5482	90	4	comparison	comparison	NOUN
ap-5482	90	5	of	of	ADP
ap-5482	90	6	steering	steering	NOUN
ap-5482	90	7	error	error	NOUN
ap-5482	90	8	.	.	PUNCT
ap-5482	91	1	now	now	ADV
ap-5482	91	2	the	the	DET
ap-5482	91	3	length	length	NOUN
ap-5482	91	4	db	db	PROPN
ap-5482	91	5	is	be	AUX
ap-5482	91	6	given	give	VERB
ap-5482	91	7	by	by	ADP
ap-5482	91	8	db	db	PROPN
ap-5482	91	9	=	=	PUNCT
ap-5482	91	10	√	√	PROPN
ap-5482	91	11	{	{	PUNCT
ap-5482	91	12	d−	d−	PROPN
ap-5482	91	13	r	r	NOUN
ap-5482	91	14	·	·	PUNCT
ap-5482	91	15	cos(dab)}2	cos(dab)}2	PROPN
ap-5482	92	1	+	+	CCONJ
ap-5482	92	2	{	{	PUNCT
ap-5482	92	3	r	r	NOUN
ap-5482	92	4	·	·	PUNCT
ap-5482	92	5	sin(dab)}2	sin(dab)}2	X
ap-5482	92	6	(	(	PUNCT
ap-5482	92	7	15	15	NUM
ap-5482	92	8	)	)	PUNCT
ap-5482	92	9	the	the	DET
ap-5482	92	10	angle	angle	NOUN
ap-5482	92	11	(	(	PUNCT
ap-5482	92	12	bed	bed	NOUN
ap-5482	92	13	)	)	PUNCT
ap-5482	92	14	is	be	AUX
ap-5482	92	15	given	give	VERB
ap-5482	92	16	by	by	ADP
ap-5482	92	17	angle	angle	NOUN
ap-5482	92	18	(	(	PUNCT
ap-5482	92	19	bed	bed	NOUN
ap-5482	92	20	)	)	PUNCT
ap-5482	92	21	=	=	SYM
ap-5482	92	22	cos−1	cos−1	PROPN
ap-5482	92	23	{	{	PUNCT
ap-5482	92	24	r2	r2	PROPN
ap-5482	92	25	+	+	CCONJ
ap-5482	92	26	(	(	PUNCT
ap-5482	92	27	de)2	de)2	PROPN
ap-5482	92	28	−	−	PROPN
ap-5482	92	29	(	(	PUNCT
ap-5482	92	30	db)2	db)2	PROPN
ap-5482	92	31	2×	2×	NUM
ap-5482	92	32	r	r	PROPN
ap-5482	92	33	×de	×de	NOUN
ap-5482	92	34	}	}	PUNCT
ap-5482	92	35	(	(	PUNCT
ap-5482	92	36	16	16	NUM
ap-5482	92	37	)	)	PUNCT
ap-5482	92	38	the	the	DET
ap-5482	92	39	pressure	pressure	NOUN
ap-5482	92	40	angle	angle	NOUN
ap-5482	92	41	at	at	ADP
ap-5482	92	42	joint	joint	ADJ
ap-5482	92	43	e	e	PROPN
ap-5482	92	44	is	be	AUX
ap-5482	92	45	given	give	VERB
ap-5482	92	46	by	by	ADP
ap-5482	92	47	µ2	µ2	PROPN
ap-5482	92	48	=	=	PUNCT
ap-5482	92	49	{	{	PUNCT
ap-5482	92	50	π	π	PROPN
ap-5482	92	51	2	2	NUM
ap-5482	92	52	−angle(bed	−angle(bed	X
ap-5482	92	53	)	)	PUNCT
ap-5482	92	54	}	}	PUNCT
ap-5482	92	55	.	.	PUNCT
ap-5482	93	1	(	(	PUNCT
ap-5482	93	2	17	17	NUM
ap-5482	93	3	)	)	PUNCT
ap-5482	93	4	the	the	DET
ap-5482	93	5	pressure	pressure	NOUN
ap-5482	93	6	angle	angle	NOUN
ap-5482	93	7	of	of	ADP
ap-5482	93	8	the	the	DET
ap-5482	93	9	proposed	propose	VERB
ap-5482	93	10	steering	steering	NOUN
ap-5482	93	11	mechanism	mechanism	NOUN
ap-5482	93	12	has	have	AUX
ap-5482	93	13	been	be	AUX
ap-5482	93	14	compared	compare	VERB
ap-5482	93	15	with	with	ADP
ap-5482	93	16	that	that	PRON
ap-5482	93	17	of	of	ADP
ap-5482	93	18	the	the	DET
ap-5482	93	19	conventional	conventional	ADJ
ap-5482	93	20	ackermann	ackermann	NOUN
ap-5482	93	21	steering	steering	NOUN
ap-5482	93	22	of	of	ADP
ap-5482	93	23	the	the	DET
ap-5482	93	24	benchmark	benchmark	NOUN
ap-5482	93	25	vehicle	vehicle	NOUN
ap-5482	93	26	[	[	X
ap-5482	93	27	10	10	NUM
ap-5482	93	28	]	]	PUNCT
ap-5482	93	29	.	.	PUNCT
ap-5482	94	1	as	as	SCONJ
ap-5482	94	2	figure	figure	NOUN
ap-5482	94	3	5	5	NUM
ap-5482	94	4	shows	show	NOUN
ap-5482	94	5	,	,	PUNCT
ap-5482	94	6	the	the	DET
ap-5482	94	7	pressure	pressure	NOUN
ap-5482	94	8	angle	angle	NOUN
ap-5482	94	9	of	of	ADP
ap-5482	94	10	the	the	DET
ap-5482	94	11	proposed	propose	VERB
ap-5482	94	12	compound	compound	NOUN
ap-5482	94	13	steering	steering	NOUN
ap-5482	94	14	mechanism	mechanism	NOUN
ap-5482	94	15	is	be	AUX
ap-5482	94	16	less	less	ADJ
ap-5482	94	17	than	than	ADP
ap-5482	94	18	that	that	PRON
ap-5482	94	19	of	of	ADP
ap-5482	94	20	the	the	DET
ap-5482	94	21	ackermann	ackermann	PROPN
ap-5482	94	22	steering	steering	NOUN
ap-5482	94	23	mechanism	mechanism	NOUN
ap-5482	94	24	.	.	PUNCT
ap-5482	95	1	mechanical	mechanical	ADJ
ap-5482	95	2	advantage	advantage	NOUN
ap-5482	95	3	of	of	ADP
ap-5482	95	4	a	a	DET
ap-5482	95	5	mechanism	mechanism	NOUN
ap-5482	95	6	is	be	AUX
ap-5482	95	7	defined	define	VERB
ap-5482	95	8	as	as	ADP
ap-5482	95	9	the	the	DET
ap-5482	95	10	ratio	ratio	NOUN
ap-5482	95	11	of	of	ADP
ap-5482	95	12	the	the	DET
ap-5482	95	13	torque	torque	NOUN
ap-5482	95	14	produced	produce	VERB
ap-5482	95	15	in	in	ADP
ap-5482	95	16	the	the	DET
ap-5482	95	17	output	output	NOUN
ap-5482	95	18	link	link	NOUN
ap-5482	95	19	and	and	CCONJ
ap-5482	95	20	the	the	DET
ap-5482	95	21	torque	torque	NOUN
ap-5482	95	22	provided	provide	VERB
ap-5482	95	23	in	in	ADP
ap-5482	95	24	the	the	DET
ap-5482	95	25	input	input	NOUN
ap-5482	95	26	link	link	NOUN
ap-5482	95	27	.	.	PUNCT
ap-5482	96	1	this	this	PRON
ap-5482	96	2	has	have	AUX
ap-5482	96	3	been	be	AUX
ap-5482	96	4	calculated	calculate	VERB
ap-5482	96	5	[	[	X
ap-5482	96	6	9	9	NUM
ap-5482	96	7	]	]	PUNCT
ap-5482	96	8	from	from	ADP
ap-5482	96	9	the	the	DET
ap-5482	96	10	product	product	NOUN
ap-5482	96	11	(	(	PUNCT
ap-5482	96	12	cosµ1	cosµ1	PROPN
ap-5482	96	13	×	×	PROPN
ap-5482	96	14	cosµ2	cosµ2	PROPN
ap-5482	96	15	)	)	PUNCT
ap-5482	96	16	.	.	PUNCT
ap-5482	97	1	the	the	DET
ap-5482	97	2	mechanical	mechanical	ADJ
ap-5482	97	3	advantages	advantage	NOUN
ap-5482	97	4	of	of	ADP
ap-5482	97	5	the	the	DET
ap-5482	97	6	two	two	NUM
ap-5482	97	7	mechanisms	mechanism	NOUN
ap-5482	97	8	have	have	AUX
ap-5482	97	9	been	be	AUX
ap-5482	97	10	compared	compare	VERB
ap-5482	97	11	in	in	ADP
ap-5482	97	12	the	the	DET
ap-5482	97	13	figure	figure	NOUN
ap-5482	97	14	6	6	NUM
ap-5482	98	1	and	and	CCONJ
ap-5482	98	2	it	it	PRON
ap-5482	98	3	has	have	AUX
ap-5482	98	4	been	be	AUX
ap-5482	98	5	found	find	VERB
ap-5482	98	6	that	that	SCONJ
ap-5482	98	7	the	the	DET
ap-5482	98	8	proposed	propose	VERB
ap-5482	98	9	mechanism	mechanism	NOUN
ap-5482	98	10	has	have	VERB
ap-5482	98	11	a	a	DET
ap-5482	98	12	higher	high	ADJ
ap-5482	98	13	mechanical	mechanical	ADJ
ap-5482	98	14	advantage	advantage	NOUN
ap-5482	98	15	.	.	PUNCT
ap-5482	99	1	5	5	X
ap-5482	99	2	.	.	X
ap-5482	99	3	compound	compound	NOUN
ap-5482	99	4	six	six	NUM
ap-5482	99	5	member	member	NOUN
ap-5482	99	6	mechanism	mechanism	NOUN
ap-5482	99	7	a	a	DET
ap-5482	99	8	compound	compound	NOUN
ap-5482	99	9	six	six	NUM
ap-5482	99	10	-	-	PUNCT
ap-5482	99	11	member	member	NOUN
ap-5482	99	12	mechanism	mechanism	NOUN
ap-5482	99	13	has	have	AUX
ap-5482	99	14	then	then	ADV
ap-5482	99	15	been	be	AUX
ap-5482	99	16	considered	consider	VERB
ap-5482	99	17	,	,	PUNCT
ap-5482	99	18	comprising	comprising	NOUN
ap-5482	99	19	of	of	ADP
ap-5482	99	20	two	two	NUM
ap-5482	99	21	mirrored	mirror	VERB
ap-5482	99	22	crossed	cross	VERB
ap-5482	99	23	fourbar	fourbar	NOUN
ap-5482	99	24	mechanisms	mechanism	NOUN
ap-5482	99	25	.	.	PUNCT
ap-5482	100	1	the	the	DET
ap-5482	100	2	compound	compound	NOUN
ap-5482	100	3	mechanism	mechanism	NOUN
ap-5482	100	4	has	have	VERB
ap-5482	100	5	a	a	DET
ap-5482	100	6	track	track	NOUN
ap-5482	100	7	to	to	PART
ap-5482	100	8	wheelbase	wheelbase	VERB
ap-5482	100	9	ratio	ratio	NOUN
ap-5482	100	10	0.326	0.326	NUM
ap-5482	100	11	,	,	PUNCT
ap-5482	100	12	which	which	PRON
ap-5482	100	13	is	be	AUX
ap-5482	100	14	twice	twice	DET
ap-5482	100	15	the	the	DET
ap-5482	100	16	ratio	ratio	NOUN
ap-5482	100	17	of	of	ADP
ap-5482	100	18	0.163	0.163	NUM
ap-5482	100	19	.	.	PUNCT
ap-5482	101	1	the	the	DET
ap-5482	101	2	track	track	NOUN
ap-5482	101	3	to	to	PART
ap-5482	101	4	wheelbase	wheelbase	VERB
ap-5482	101	5	ratio	ratio	NOUN
ap-5482	101	6	0.163	0.163	NUM
ap-5482	101	7	for	for	ADP
ap-5482	101	8	a	a	DET
ap-5482	101	9	vehicle	vehicle	NOUN
ap-5482	101	10	is	be	AUX
ap-5482	101	11	not	not	PART
ap-5482	101	12	feasible	feasible	ADJ
ap-5482	101	13	,	,	PUNCT
ap-5482	101	14	but	but	CCONJ
ap-5482	101	15	using	use	VERB
ap-5482	101	16	ratio	ratio	NOUN
ap-5482	101	17	0.163	0.163	NUM
ap-5482	101	18	after	after	SCONJ
ap-5482	101	19	compounding	compound	VERB
ap-5482	101	20	effect	effect	NOUN
ap-5482	101	21	is	be	AUX
ap-5482	101	22	suitable	suitable	ADJ
ap-5482	101	23	as	as	SCONJ
ap-5482	101	24	the	the	DET
ap-5482	101	25	vehicle	vehicle	NOUN
ap-5482	101	26	has	have	VERB
ap-5482	101	27	the	the	DET
ap-5482	101	28	said	say	VERB
ap-5482	101	29	ratio	ratio	NOUN
ap-5482	101	30	0.326	0.326	NUM
ap-5482	101	31	which	which	PRON
ap-5482	101	32	is	be	AUX
ap-5482	101	33	used	use	VERB
ap-5482	101	34	in	in	ADP
ap-5482	101	35	benchmark	benchmark	ADJ
ap-5482	101	36	vehicle12	vehicle12	NOUN
ap-5482	101	37	m	m	PROPN
ap-5482	101	38	,	,	PUNCT
ap-5482	101	39	a	a	DET
ap-5482	101	40	bus	bus	NOUN
ap-5482	101	41	by	by	ADP
ap-5482	101	42	ashok	ashok	PROPN
ap-5482	101	43	leyland	leyland	PROPN
ap-5482	102	1	[	[	X
ap-5482	102	2	10	10	NUM
ap-5482	102	3	]	]	PUNCT
ap-5482	102	4	which	which	PRON
ap-5482	102	5	is	be	AUX
ap-5482	102	6	the	the	DET
ap-5482	102	7	same	same	ADJ
ap-5482	102	8	as	as	ADP
ap-5482	102	9	above	above	ADV
ap-5482	102	10	.	.	PUNCT
ap-5482	103	1	the	the	DET
ap-5482	103	2	front	front	ADJ
ap-5482	103	3	wheel	wheel	NOUN
ap-5482	103	4	track	track	NOUN
ap-5482	103	5	of	of	ADP
ap-5482	103	6	this	this	DET
ap-5482	103	7	vehicle	vehicle	NOUN
ap-5482	103	8	is	be	AUX
ap-5482	103	9	2020	2020	NUM
ap-5482	103	10	mm	mm	NUM
ap-5482	103	11	which	which	PRON
ap-5482	103	12	is	be	AUX
ap-5482	103	13	shown	show	VERB
ap-5482	103	14	as	as	ADP
ap-5482	103	15	20	20	NUM
ap-5482	103	16	units	unit	NOUN
ap-5482	103	17	in	in	ADP
ap-5482	103	18	figure	figure	NOUN
ap-5482	103	19	7	7	NUM
ap-5482	103	20	.	.	PUNCT
ap-5482	103	21	hence	hence	ADV
ap-5482	103	22	one	one	NUM
ap-5482	103	23	unit	unit	NOUN
ap-5482	103	24	is	be	AUX
ap-5482	103	25	101	101	NUM
ap-5482	103	26	mm	mm	NOUN
ap-5482	103	27	in	in	ADP
ap-5482	103	28	this	this	DET
ap-5482	103	29	figure	figure	NOUN
ap-5482	103	30	.	.	PUNCT
ap-5482	104	1	the	the	DET
ap-5482	104	2	wheelbase	wheelbase	NOUN
ap-5482	104	3	of	of	ADP
ap-5482	104	4	the	the	DET
ap-5482	104	5	vehicle	vehicle	NOUN
ap-5482	104	6	is	be	AUX
ap-5482	104	7	6200	6200	NUM
ap-5482	104	8	mm	mm	NOUN
ap-5482	104	9	.	.	PUNCT
ap-5482	105	1	the	the	DET
ap-5482	105	2	length	length	NOUN
ap-5482	105	3	of	of	ADP
ap-5482	105	4	the	the	DET
ap-5482	105	5	arms	arm	NOUN
ap-5482	105	6	ce	ce	PROPN
ap-5482	105	7	,	,	PUNCT
ap-5482	105	8	bd	bd	PROPN
ap-5482	105	9	,	,	PUNCT
ap-5482	105	10	bf	bf	NOUN
ap-5482	105	11	and	and	CCONJ
ap-5482	105	12	ag	ag	PROPN
ap-5482	105	13	is	be	AUX
ap-5482	105	14	1.933	1.933	NUM
ap-5482	105	15	units	unit	NOUN
ap-5482	105	16	,	,	PUNCT
ap-5482	105	17	which	which	PRON
ap-5482	105	18	are	be	AUX
ap-5482	105	19	equal	equal	ADJ
ap-5482	105	20	to	to	ADP
ap-5482	105	21	195.2	195.2	NUM
ap-5482	105	22	mm	mm	NOUN
ap-5482	105	23	.	.	PUNCT
ap-5482	106	1	the	the	DET
ap-5482	106	2	length	length	NOUN
ap-5482	106	3	of	of	ADP
ap-5482	106	4	the	the	DET
ap-5482	106	5	coupler	coupler	NOUN
ap-5482	106	6	gf	gf	PROPN
ap-5482	106	7	and	and	CCONJ
ap-5482	106	8	de	de	X
ap-5482	106	9	is	be	AUX
ap-5482	106	10	994	994	NUM
ap-5482	106	11	mm	mm	NOUN
ap-5482	106	12	.	.	PUNCT
ap-5482	107	1	the	the	PRON
ap-5482	107	2	crossed	cross	VERB
ap-5482	107	3	four	four	NUM
ap-5482	107	4	bar	bar	NOUN
ap-5482	107	5	mechanism	mechanism	NOUN
ap-5482	107	6	is	be	AUX
ap-5482	107	7	such	such	ADJ
ap-5482	107	8	that	that	SCONJ
ap-5482	107	9	two	two	NUM
ap-5482	107	10	such	such	ADJ
ap-5482	107	11	chains	chain	NOUN
ap-5482	107	12	can	can	AUX
ap-5482	107	13	be	be	AUX
ap-5482	107	14	series	series	NOUN
ap-5482	107	15	connected	connect	VERB
ap-5482	107	16	as	as	SCONJ
ap-5482	107	17	shown	show	VERB
ap-5482	107	18	in	in	ADP
ap-5482	107	19	the	the	DET
ap-5482	107	20	figure	figure	NOUN
ap-5482	107	21	7	7	NUM
ap-5482	107	22	.	.	PUNCT
ap-5482	108	1	here	here	ADV
ap-5482	108	2	,	,	PUNCT
ap-5482	108	3	the	the	DET
ap-5482	108	4	central	central	PROPN
ap-5482	108	5	lever	lever	NOUN
ap-5482	108	6	bfd	bfd	PROPN
ap-5482	108	7	can	can	AUX
ap-5482	108	8	be	be	AUX
ap-5482	108	9	moved	move	VERB
ap-5482	108	10	backwards	backwards	ADV
ap-5482	108	11	in	in	ADP
ap-5482	108	12	order	order	NOUN
ap-5482	108	13	to	to	PART
ap-5482	108	14	increase	increase	VERB
ap-5482	108	15	the	the	DET
ap-5482	108	16	space	space	NOUN
ap-5482	108	17	for	for	ADP
ap-5482	108	18	installing	instal	VERB
ap-5482	108	19	the	the	DET
ap-5482	108	20	engine	engine	NOUN
ap-5482	108	21	and	and	CCONJ
ap-5482	108	22	the	the	DET
ap-5482	108	23	gearbox	gearbox	NOUN
ap-5482	108	24	.	.	PUNCT
ap-5482	109	1	the	the	DET
ap-5482	109	2	paper	paper	NOUN
ap-5482	109	3	under	under	ADP
ap-5482	109	4	reference	reference	NOUN
ap-5482	109	5	[	[	X
ap-5482	109	6	8	8	NUM
ap-5482	109	7	]	]	PUNCT
ap-5482	109	8	uses	use	VERB
ap-5482	109	9	spur	spur	NOUN
ap-5482	109	10	gears	gear	NOUN
ap-5482	109	11	to	to	PART
ap-5482	109	12	bring	bring	VERB
ap-5482	109	13	the	the	DET
ap-5482	109	14	mechanism	mechanism	NOUN
ap-5482	109	15	behind	behind	ADP
ap-5482	109	16	the	the	DET
ap-5482	109	17	front	front	ADJ
ap-5482	109	18	axle	axle	NOUN
ap-5482	109	19	and	and	CCONJ
ap-5482	109	20	the	the	DET
ap-5482	109	21	use	use	NOUN
ap-5482	109	22	of	of	ADP
ap-5482	109	23	gears	gear	NOUN
ap-5482	109	24	may	may	AUX
ap-5482	109	25	produce	produce	VERB
ap-5482	109	26	more	more	ADJ
ap-5482	109	27	steering	steering	NOUN
ap-5482	109	28	error	error	NOUN
ap-5482	109	29	.	.	PUNCT
ap-5482	110	1	so	so	ADV
ap-5482	110	2	the	the	DET
ap-5482	110	3	mechanism	mechanism	NOUN
ap-5482	110	4	suggested	suggest	VERB
ap-5482	110	5	in	in	ADP
ap-5482	110	6	the	the	DET
ap-5482	110	7	present	present	ADJ
ap-5482	110	8	paper	paper	NOUN
ap-5482	110	9	has	have	VERB
ap-5482	110	10	two	two	NUM
ap-5482	110	11	benefits	benefit	NOUN
ap-5482	110	12	.	.	PUNCT
ap-5482	111	1	the	the	DET
ap-5482	111	2	first	first	ADJ
ap-5482	111	3	benefit	benefit	NOUN
ap-5482	111	4	is	be	AUX
ap-5482	111	5	the	the	DET
ap-5482	111	6	availability	availability	NOUN
ap-5482	111	7	of	of	ADP
ap-5482	111	8	more	more	ADJ
ap-5482	111	9	space	space	NOUN
ap-5482	111	10	and	and	CCONJ
ap-5482	111	11	the	the	DET
ap-5482	111	12	second	second	ADJ
ap-5482	111	13	one	one	NOUN
ap-5482	111	14	is	be	AUX
ap-5482	111	15	the	the	DET
ap-5482	111	16	elimination	elimination	NOUN
ap-5482	111	17	of	of	ADP
ap-5482	111	18	the	the	DET
ap-5482	111	19	spur	spur	NOUN
ap-5482	111	20	gears	gear	NOUN
ap-5482	111	21	.	.	PUNCT
ap-5482	112	1	the	the	DET
ap-5482	112	2	figure	figure	NOUN
ap-5482	112	3	8	8	NUM
ap-5482	112	4	shows	show	VERB
ap-5482	112	5	the	the	DET
ap-5482	112	6	modification	modification	NOUN
ap-5482	112	7	of	of	ADP
ap-5482	112	8	the	the	DET
ap-5482	112	9	mechanism	mechanism	NOUN
ap-5482	112	10	to	to	PART
ap-5482	112	11	increase	increase	VERB
ap-5482	112	12	the	the	DET
ap-5482	112	13	available	available	ADJ
ap-5482	112	14	space	space	NOUN
ap-5482	112	15	.	.	PUNCT
ap-5482	113	1	the	the	DET
ap-5482	113	2	present	present	ADJ
ap-5482	113	3	paper	paper	NOUN
ap-5482	113	4	shows	show	VERB
ap-5482	113	5	the	the	DET
ap-5482	113	6	usefulness	usefulness	NOUN
ap-5482	113	7	of	of	ADP
ap-5482	113	8	crossed	cross	VERB
ap-5482	113	9	four	four	NUM
ap-5482	113	10	bar	bar	NOUN
ap-5482	113	11	chain	chain	NOUN
ap-5482	113	12	.	.	PUNCT
ap-5482	114	1	in	in	ADP
ap-5482	114	2	this	this	DET
ap-5482	114	3	figure	figure	NOUN
ap-5482	114	4	,	,	PUNCT
ap-5482	114	5	the	the	DET
ap-5482	114	6	central	central	ADJ
ap-5482	114	7	hinge	hinge	NOUN
ap-5482	114	8	joint	joint	NOUN
ap-5482	114	9	is	be	AUX
ap-5482	114	10	shifted	shift	VERB
ap-5482	114	11	backwards	backwards	ADV
ap-5482	114	12	by	by	ADP
ap-5482	114	13	the	the	DET
ap-5482	114	14	distance	distance	NOUN
ap-5482	114	15	og	og	PROPN
ap-5482	114	16	,	,	PUNCT
ap-5482	114	17	which	which	PRON
ap-5482	114	18	is	be	AUX
ap-5482	114	19	520	520	NUM
ap-5482	114	20	mm	mm	NOUN
ap-5482	114	21	,	,	PUNCT
ap-5482	114	22	for	for	ADP
ap-5482	114	23	example	example	NOUN
ap-5482	114	24	.	.	PUNCT
ap-5482	115	1	now	now	ADV
ap-5482	115	2	the	the	DET
ap-5482	115	3	distance	distance	NOUN
ap-5482	115	4	gf	gf	PROPN
ap-5482	115	5	and	and	CCONJ
ap-5482	115	6	ag	ag	PROPN
ap-5482	115	7	is	be	AUX
ap-5482	115	8	1136	1136	NUM
ap-5482	115	9	mm	mm	NOUN
ap-5482	115	10	.	.	PUNCT
ap-5482	116	1	the	the	DET
ap-5482	116	2	arms	arms	PROPN
ap-5482	116	3	ab	ab	PROPN
ap-5482	116	4	,	,	PUNCT
ap-5482	116	5	gc	gc	PROPN
ap-5482	116	6	,	,	PUNCT
ap-5482	116	7	gd	gd	PROPN
ap-5482	116	8	and	and	CCONJ
ap-5482	116	9	ef	ef	PROPN
ap-5482	116	10	are	be	AUX
ap-5482	116	11	all	all	PRON
ap-5482	116	12	219.6	219.6	NUM
ap-5482	116	13	mm	mm	NOUN
ap-5482	116	14	in	in	ADP
ap-5482	116	15	length	length	NOUN
ap-5482	116	16	.	.	PUNCT
ap-5482	117	1	the	the	DET
ap-5482	117	2	length	length	NOUN
ap-5482	117	3	of	of	ADP
ap-5482	117	4	the	the	DET
ap-5482	117	5	coupler	coupler	NOUN
ap-5482	117	6	de	de	PROPN
ap-5482	117	7	and	and	CCONJ
ap-5482	117	8	bc	bc	PROPN
ap-5482	117	9	is	be	AUX
ap-5482	117	10	1118	1118	NUM
ap-5482	117	11	mm	mm	NOUN
ap-5482	117	12	each	each	PRON
ap-5482	117	13	.	.	PUNCT
ap-5482	118	1	the	the	DET
ap-5482	118	2	length	length	NOUN
ap-5482	118	3	of	of	ADP
ap-5482	118	4	the	the	DET
ap-5482	118	5	link	link	NOUN
ap-5482	118	6	cd	cd	PROPN
ap-5482	118	7	is	be	AUX
ap-5482	118	8	286.8	286.8	NUM
ap-5482	118	9	mm	mm	NOUN
ap-5482	118	10	.	.	PUNCT
ap-5482	119	1	in	in	ADP
ap-5482	119	2	case	case	NOUN
ap-5482	119	3	there	there	PRON
ap-5482	119	4	is	be	VERB
ap-5482	119	5	such	such	DET
ap-5482	119	6	a	a	DET
ap-5482	119	7	constraint	constraint	NOUN
ap-5482	119	8	that	that	PRON
ap-5482	119	9	the	the	DET
ap-5482	119	10	hinge	hinge	NOUN
ap-5482	119	11	point	point	NOUN
ap-5482	119	12	g	g	PROPN
ap-5482	119	13	can	can	AUX
ap-5482	119	14	not	not	PART
ap-5482	119	15	be	be	AUX
ap-5482	119	16	placed	place	VERB
ap-5482	119	17	on	on	ADP
ap-5482	119	18	the	the	DET
ap-5482	119	19	longitudinal	longitudinal	ADJ
ap-5482	119	20	axis	axis	NOUN
ap-5482	119	21	of	of	ADP
ap-5482	119	22	the	the	DET
ap-5482	119	23	vehicle	vehicle	NOUN
ap-5482	119	24	,	,	PUNCT
ap-5482	119	25	then	then	ADV
ap-5482	119	26	this	this	PRON
ap-5482	119	27	can	can	AUX
ap-5482	119	28	be	be	AUX
ap-5482	119	29	accommodated	accommodate	VERB
ap-5482	119	30	by	by	ADP
ap-5482	119	31	modifying	modify	VERB
ap-5482	119	32	the	the	DET
ap-5482	119	33	mechanism	mechanism	NOUN
ap-5482	119	34	as	as	SCONJ
ap-5482	119	35	shown	show	VERB
ap-5482	119	36	in	in	ADP
ap-5482	119	37	the	the	DET
ap-5482	119	38	figure	figure	NOUN
ap-5482	119	39	9	9	NUM
ap-5482	119	40	.	.	PUNCT
ap-5482	120	1	the	the	DET
ap-5482	120	2	kinematic	kinematic	ADJ
ap-5482	120	3	synthesis	synthesis	NOUN
ap-5482	120	4	for	for	ADP
ap-5482	120	5	such	such	DET
ap-5482	120	6	an	an	DET
ap-5482	120	7	offset	offset	ADJ
ap-5482	120	8	centre	centre	NOUN
ap-5482	120	9	lever	lever	NOUN
ap-5482	120	10	mechanism	mechanism	NOUN
ap-5482	120	11	is	be	AUX
ap-5482	120	12	difficult	difficult	ADJ
ap-5482	120	13	by	by	ADP
ap-5482	120	14	the	the	DET
ap-5482	120	15	presently	presently	ADV
ap-5482	120	16	available	available	ADJ
ap-5482	120	17	methods	method	NOUN
ap-5482	120	18	.	.	PUNCT
ap-5482	121	1	but	but	CCONJ
ap-5482	121	2	the	the	DET
ap-5482	121	3	concept	concept	NOUN
ap-5482	121	4	of	of	ADP
ap-5482	121	5	compounding	compound	VERB
ap-5482	121	6	the	the	DET
ap-5482	121	7	mechanism	mechanism	NOUN
ap-5482	121	8	is	be	AUX
ap-5482	121	9	very	very	ADV
ap-5482	121	10	useful	useful	ADJ
ap-5482	121	11	to	to	PART
ap-5482	121	12	devise	devise	VERB
ap-5482	121	13	an	an	DET
ap-5482	121	14	offset	offset	ADJ
ap-5482	121	15	centre	centre	NOUN
ap-5482	121	16	lever	lever	NOUN
ap-5482	121	17	steering	steering	NOUN
ap-5482	121	18	mechanism	mechanism	NOUN
ap-5482	121	19	.	.	PUNCT
ap-5482	122	1	in	in	ADP
ap-5482	122	2	figure	figure	NOUN
ap-5482	122	3	9	9	NUM
ap-5482	122	4	,	,	PUNCT
ap-5482	122	5	it	it	PRON
ap-5482	122	6	has	have	AUX
ap-5482	122	7	been	be	AUX
ap-5482	122	8	shown	show	VERB
ap-5482	122	9	that	that	SCONJ
ap-5482	122	10	the	the	DET
ap-5482	122	11	central	central	ADJ
ap-5482	122	12	hinge	hinge	NOUN
ap-5482	122	13	g	g	NOUN
ap-5482	122	14	has	have	AUX
ap-5482	122	15	been	be	AUX
ap-5482	122	16	located	locate	VERB
ap-5482	122	17	by	by	ADP
ap-5482	122	18	distances	distance	NOUN
ap-5482	122	19	x	x	PUNCT
ap-5482	122	20	and	and	CCONJ
ap-5482	122	21	y.	y.	NOUN
ap-5482	122	22	this	this	DET
ap-5482	122	23	shift	shift	NOUN
ap-5482	122	24	is	be	AUX
ap-5482	122	25	not	not	PART
ap-5482	122	26	done	do	VERB
ap-5482	122	27	intentionally	intentionally	ADV
ap-5482	122	28	but	but	CCONJ
ap-5482	122	29	is	be	AUX
ap-5482	122	30	required	require	VERB
ap-5482	122	31	when	when	SCONJ
ap-5482	122	32	there	there	PRON
ap-5482	122	33	is	be	VERB
ap-5482	122	34	a	a	DET
ap-5482	122	35	constraint	constraint	NOUN
ap-5482	122	36	that	that	PRON
ap-5482	122	37	the	the	DET
ap-5482	122	38	central	central	ADJ
ap-5482	122	39	hinge	hinge	NOUN
ap-5482	122	40	can	can	AUX
ap-5482	122	41	not	not	PART
ap-5482	122	42	be	be	AUX
ap-5482	122	43	placed	place	VERB
ap-5482	122	44	on	on	ADP
ap-5482	122	45	the	the	DET
ap-5482	122	46	longitudinal	longitudinal	ADJ
ap-5482	122	47	axis	axis	NOUN
ap-5482	122	48	.	.	PUNCT
ap-5482	123	1	here	here	ADV
ap-5482	123	2	,	,	PUNCT
ap-5482	123	3	the	the	DET
ap-5482	123	4	distances	distance	NOUN
ap-5482	123	5	x	x	X
ap-5482	123	6	and	and	CCONJ
ap-5482	123	7	y	y	PROPN
ap-5482	123	8	have	have	AUX
ap-5482	123	9	been	be	AUX
ap-5482	123	10	chosen	choose	VERB
ap-5482	123	11	arbitrarily	arbitrarily	ADV
ap-5482	123	12	as	as	ADP
ap-5482	123	13	an	an	DET
ap-5482	123	14	example	example	NOUN
ap-5482	123	15	.	.	PUNCT
ap-5482	124	1	the	the	DET
ap-5482	124	2	links	link	NOUN
ap-5482	124	3	ab	ab	PROPN
ap-5482	124	4	and	and	CCONJ
ap-5482	124	5	gc	gc	PROPN
ap-5482	124	6	are	be	AUX
ap-5482	124	7	equal	equal	ADJ
ap-5482	124	8	in	in	ADP
ap-5482	124	9	size	size	NOUN
ap-5482	124	10	.	.	PUNCT
ap-5482	125	1	also	also	ADV
ap-5482	125	2	,	,	PUNCT
ap-5482	125	3	the	the	DET
ap-5482	125	4	links	link	NOUN
ap-5482	125	5	ef	ef	VERB
ap-5482	125	6	and	and	CCONJ
ap-5482	125	7	gd	gd	PROPN
ap-5482	125	8	are	be	AUX
ap-5482	125	9	equal	equal	ADJ
ap-5482	125	10	in	in	ADP
ap-5482	125	11	length	length	NOUN
ap-5482	125	12	.	.	PUNCT
ap-5482	126	1	for	for	ADP
ap-5482	126	2	a	a	DET
ap-5482	126	3	non	non	ADJ
ap-5482	126	4	-	-	ADJ
ap-5482	126	5	zero	zero	NUM
ap-5482	126	6	value	value	NOUN
ap-5482	126	7	of	of	ADP
ap-5482	126	8	the	the	DET
ap-5482	126	9	distance	distance	NOUN
ap-5482	126	10	x	x	NOUN
ap-5482	126	11	,	,	PUNCT
ap-5482	126	12	the	the	DET
ap-5482	126	13	links	link	NOUN
ap-5482	126	14	gc	gc	PROPN
ap-5482	126	15	and	and	CCONJ
ap-5482	126	16	gd	gd	PROPN
ap-5482	126	17	are	be	AUX
ap-5482	126	18	unequal	unequal	ADJ
ap-5482	126	19	.	.	PUNCT
ap-5482	127	1	in	in	ADP
ap-5482	127	2	this	this	DET
ap-5482	127	3	255	255	NUM
ap-5482	127	4	santiranjan	santiranjan	ADJ
ap-5482	127	5	pramanik	pramanik	NOUN
ap-5482	127	6	,	,	PUNCT
ap-5482	127	7	sukrut	sukrut	ADP
ap-5482	127	8	shrikant	shrikant	ADJ
ap-5482	127	9	thipse	thipse	PROPN
ap-5482	127	10	acta	acta	PROPN
ap-5482	127	11	polytechnica	polytechnica	PROPN
ap-5482	127	12	figure	figure	NOUN
ap-5482	127	13	5	5	NUM
ap-5482	127	14	.	.	PUNCT
ap-5482	127	15	comparison	comparison	NOUN
ap-5482	127	16	of	of	ADP
ap-5482	127	17	pressure	pressure	NOUN
ap-5482	127	18	angles	angle	NOUN
ap-5482	127	19	.	.	PUNCT
ap-5482	128	1	figure	figure	NOUN
ap-5482	128	2	6	6	NUM
ap-5482	128	3	.	.	PUNCT
ap-5482	128	4	comparison	comparison	NOUN
ap-5482	128	5	of	of	ADP
ap-5482	128	6	mechanical	mechanical	ADJ
ap-5482	128	7	advantages	advantage	NOUN
ap-5482	128	8	.	.	PUNCT
ap-5482	129	1	figure	figure	VERB
ap-5482	129	2	7	7	NUM
ap-5482	129	3	.	.	PUNCT
ap-5482	130	1	compound	compound	VERB
ap-5482	130	2	six	six	NUM
ap-5482	130	3	bar	bar	NOUN
ap-5482	130	4	mechanism	mechanism	NOUN
ap-5482	130	5	.	.	PUNCT
ap-5482	131	1	256	256	NUM
ap-5482	131	2	vol	vol	NOUN
ap-5482	131	3	.	.	PUNCT
ap-5482	132	1	60	60	NUM
ap-5482	132	2	no	no	NOUN
ap-5482	132	3	.	.	PUNCT
ap-5482	133	1	3/2020	3/2020	DET
ap-5482	133	2	kinematic	kinematic	ADJ
ap-5482	133	3	synthesis	synthesis	NOUN
ap-5482	133	4	of	of	ADP
ap-5482	133	5	central	central	ADJ
ap-5482	133	6	-	-	PUNCT
ap-5482	133	7	lever	lever	NOUN
ap-5482	133	8	steering	steering	NOUN
ap-5482	133	9	mechanism	mechanism	NOUN
ap-5482	133	10	.	.	PUNCT
ap-5482	133	11	.	.	PUNCT
ap-5482	134	1	.	.	PUNCT
ap-5482	135	1	figure	figure	VERB
ap-5482	135	2	8	8	NUM
ap-5482	135	3	.	.	PUNCT
ap-5482	136	1	modification	modification	NOUN
ap-5482	136	2	of	of	ADP
ap-5482	136	3	the	the	DET
ap-5482	136	4	mechanism	mechanism	NOUN
ap-5482	136	5	to	to	PART
ap-5482	136	6	increase	increase	VERB
ap-5482	136	7	space	space	NOUN
ap-5482	136	8	.	.	PUNCT
ap-5482	137	1	figure	figure	NOUN
ap-5482	137	2	9	9	NUM
ap-5482	137	3	.	.	NOUN
ap-5482	137	4	offset	offset	NOUN
ap-5482	137	5	center	center	NOUN
ap-5482	137	6	lever	lever	NOUN
ap-5482	137	7	steering	steering	NOUN
ap-5482	137	8	mechanism	mechanism	NOUN
ap-5482	137	9	.	.	PUNCT
ap-5482	138	1	figure	figure	NOUN
ap-5482	138	2	,	,	PUNCT
ap-5482	138	3	for	for	ADP
ap-5482	138	4	example	example	NOUN
ap-5482	138	5	,	,	PUNCT
ap-5482	138	6	x	x	X
ap-5482	138	7	is	be	AUX
ap-5482	138	8	200	200	NUM
ap-5482	138	9	mm	mm	NOUN
ap-5482	138	10	and	and	CCONJ
ap-5482	138	11	y	y	PROPN
ap-5482	138	12	is	be	AUX
ap-5482	138	13	500	500	NUM
ap-5482	138	14	mm	mm	NOUN
ap-5482	138	15	.	.	PUNCT
ap-5482	139	1	the	the	DET
ap-5482	139	2	distance	distance	NOUN
ap-5482	139	3	ao	ao	PROPN
ap-5482	140	1	and	and	CCONJ
ap-5482	140	2	fo	fo	INTJ
ap-5482	140	3	are	be	AUX
ap-5482	140	4	equal	equal	ADJ
ap-5482	140	5	to	to	ADP
ap-5482	140	6	half	half	NOUN
ap-5482	140	7	of	of	ADP
ap-5482	140	8	the	the	DET
ap-5482	140	9	front	front	ADJ
ap-5482	140	10	track	track	NOUN
ap-5482	140	11	,	,	PUNCT
ap-5482	140	12	which	which	PRON
ap-5482	140	13	is	be	AUX
ap-5482	140	14	2020	2020	NUM
ap-5482	140	15	mm	mm	NOUN
ap-5482	140	16	.	.	PUNCT
ap-5482	141	1	using	use	VERB
ap-5482	141	2	pythagorean	pythagorean	PROPN
ap-5482	141	3	theorem	theorem	PROPN
ap-5482	141	4	,	,	PUNCT
ap-5482	141	5	we	we	PRON
ap-5482	141	6	find	find	VERB
ap-5482	141	7	the	the	DET
ap-5482	141	8	distances	distance	NOUN
ap-5482	141	9	ag	ag	PROPN
ap-5482	141	10	and	and	CCONJ
ap-5482	141	11	gf	gf	NOUN
ap-5482	141	12	as	as	ADP
ap-5482	141	13	1309.2	1309.2	NUM
ap-5482	141	14	mm	mm	NOUN
ap-5482	141	15	and	and	CCONJ
ap-5482	141	16	951.9	951.9	NUM
ap-5482	141	17	mm	mm	NOUN
ap-5482	141	18	respectively	respectively	ADV
ap-5482	141	19	.	.	PUNCT
ap-5482	142	1	the	the	DET
ap-5482	142	2	arms	arm	NOUN
ap-5482	142	3	ef	ef	PROPN
ap-5482	142	4	and	and	CCONJ
ap-5482	142	5	gd	gd	PROPN
ap-5482	142	6	are	be	AUX
ap-5482	142	7	184	184	NUM
ap-5482	142	8	mm	mm	NOUN
ap-5482	142	9	in	in	ADP
ap-5482	142	10	length	length	NOUN
ap-5482	142	11	.	.	PUNCT
ap-5482	143	1	but	but	CCONJ
ap-5482	143	2	the	the	DET
ap-5482	143	3	arms	arm	NOUN
ap-5482	143	4	ab	ab	PROPN
ap-5482	143	5	and	and	CCONJ
ap-5482	143	6	gc	gc	PROPN
ap-5482	143	7	each	each	PRON
ap-5482	143	8	are	be	AUX
ap-5482	143	9	253.1	253.1	NUM
ap-5482	143	10	mm	mm	NOUN
ap-5482	143	11	in	in	ADP
ap-5482	143	12	length	length	NOUN
ap-5482	143	13	.	.	PUNCT
ap-5482	144	1	the	the	DET
ap-5482	144	2	length	length	NOUN
ap-5482	144	3	of	of	ADP
ap-5482	144	4	the	the	DET
ap-5482	144	5	coupler	coupler	NOUN
ap-5482	144	6	bc	bc	PROPN
ap-5482	144	7	is	be	AUX
ap-5482	144	8	ag	ag	PROPN
ap-5482	144	9	×	×	PROPN
ap-5482	144	10	994/1010	994/1010	NUM
ap-5482	144	11	=	=	SYM
ap-5482	144	12	1288.5	1288.5	NUM
ap-5482	144	13	mm	mm	NOUN
ap-5482	144	14	.	.	PUNCT
ap-5482	145	1	the	the	DET
ap-5482	145	2	length	length	NOUN
ap-5482	145	3	of	of	ADP
ap-5482	145	4	the	the	DET
ap-5482	145	5	coupler	coupler	NOUN
ap-5482	145	6	de	de	PROPN
ap-5482	145	7	is	be	AUX
ap-5482	145	8	gf	gf	PROPN
ap-5482	145	9	×	×	NOUN
ap-5482	145	10	994/1010	994/1010	NUM
ap-5482	145	11	=	=	PUNCT
ap-5482	145	12	936.8	936.8	NUM
ap-5482	145	13	mm	mm	NOUN
ap-5482	145	14	.	.	PUNCT
ap-5482	146	1	the	the	DET
ap-5482	146	2	length	length	NOUN
ap-5482	146	3	of	of	ADP
ap-5482	146	4	the	the	DET
ap-5482	146	5	link	link	NOUN
ap-5482	146	6	cd	cd	PROPN
ap-5482	146	7	is	be	AUX
ap-5482	146	8	calculated	calculate	VERB
ap-5482	146	9	as	as	SCONJ
ap-5482	146	10	follows	follow	VERB
ap-5482	146	11	.	.	PUNCT
ap-5482	147	1	the	the	DET
ap-5482	147	2	angle	angle	NOUN
ap-5482	147	3	cgd	cgd	PROPN
ap-5482	147	4	is	be	AUX
ap-5482	147	5	given	give	VERB
ap-5482	147	6	by	by	ADP
ap-5482	147	7	tan−1	tan−1	PROPN
ap-5482	147	8	(	(	PUNCT
ap-5482	147	9	y	y	NOUN
ap-5482	147	10	oa+x	oa+x	NOUN
ap-5482	147	11	)	)	PUNCT
ap-5482	148	1	+	+	CCONJ
ap-5482	148	2	tan−1	tan−1	PROPN
ap-5482	148	3	(	(	PUNCT
ap-5482	148	4	y	y	NOUN
ap-5482	148	5	of	of	ADP
ap-5482	148	6	−x	−x	NUM
ap-5482	148	7	)	)	PUNCT
ap-5482	149	1	+	+	CCONJ
ap-5482	149	2	2β	2β	NUM
ap-5482	149	3	=	=	SYM
ap-5482	149	4	tan−1	tan−1	PROPN
ap-5482	149	5	(	(	PUNCT
ap-5482	149	6	500	500	NUM
ap-5482	149	7	1010	1010	NUM
ap-5482	149	8	+	+	CCONJ
ap-5482	149	9	200	200	NUM
ap-5482	149	10	)	)	PUNCT
ap-5482	150	1	+	+	CCONJ
ap-5482	150	2	tan−1	tan−1	PROPN
ap-5482	150	3	(	(	PUNCT
ap-5482	150	4	500	500	NUM
ap-5482	150	5	1010−	1010−	NUM
ap-5482	150	6	200	200	NUM
ap-5482	150	7	)	)	PUNCT
ap-5482	151	1	+	+	PUNCT
ap-5482	151	2	+	+	NUM
ap-5482	151	3	2×	2×	NUM
ap-5482	151	4	13.521	13.521	NUM
ap-5482	151	5	=	=	SYM
ap-5482	151	6	22.452	22.452	NUM
ap-5482	151	7	+	+	NUM
ap-5482	151	8	31.686	31.686	NUM
ap-5482	151	9	+	+	NUM
ap-5482	151	10	27.042	27.042	NUM
ap-5482	151	11	=	=	SYM
ap-5482	151	12	81.18	81.18	NUM
ap-5482	151	13	°	°	NOUN
ap-5482	151	14	(	(	PUNCT
ap-5482	151	15	18	18	NUM
ap-5482	151	16	)	)	PUNCT
ap-5482	151	17	from	from	ADP
ap-5482	151	18	the	the	DET
ap-5482	151	19	triangle	triangle	NOUN
ap-5482	151	20	cgd	cgd	PROPN
ap-5482	151	21	the	the	DET
ap-5482	151	22	following	follow	VERB
ap-5482	151	23	equation	equation	NOUN
ap-5482	151	24	can	can	AUX
ap-5482	151	25	be	be	AUX
ap-5482	151	26	written	write	VERB
ap-5482	151	27	cd2	cd2	PROPN
ap-5482	151	28	=	=	SYM
ap-5482	151	29	gc2	gc2	PROPN
ap-5482	152	1	+	+	NOUN
ap-5482	153	1	gd2−2×gc×gd×cos(cgd	gd2−2×gc×gd×cos(cgd	ADJ
ap-5482	153	2	)	)	PUNCT
ap-5482	153	3	=	=	SYM
ap-5482	153	4	=	=	SYM
ap-5482	153	5	1842	1842	NUM
ap-5482	154	1	+	+	CCONJ
ap-5482	154	2	253.12	253.12	NUM
ap-5482	154	3	−	−	NOUN
ap-5482	154	4	2×	2×	NUM
ap-5482	154	5	184×	184×	NUM
ap-5482	154	6	253.1×	253.1×	NUM
ap-5482	154	7	cos(81.18	cos(81.18	NOUN
ap-5482	154	8	°	°	NOUN
ap-5482	154	9	)	)	PUNCT
ap-5482	154	10	=	=	SYM
ap-5482	155	1	83	83	NUM
ap-5482	155	2	634.26	634.26	NUM
ap-5482	155	3	(	(	PUNCT
ap-5482	155	4	19	19	NUM
ap-5482	155	5	)	)	PUNCT
ap-5482	155	6	therefore	therefore	ADV
ap-5482	155	7	,	,	PUNCT
ap-5482	155	8	the	the	DET
ap-5482	155	9	length	length	NOUN
ap-5482	155	10	of	of	ADP
ap-5482	155	11	the	the	DET
ap-5482	155	12	link	link	NOUN
ap-5482	155	13	cd	cd	PROPN
ap-5482	155	14	is	be	AUX
ap-5482	155	15	289.2	289.2	NUM
ap-5482	155	16	mm	mm	NOUN
ap-5482	155	17	.	.	PUNCT
ap-5482	156	1	the	the	DET
ap-5482	156	2	steering	steering	NOUN
ap-5482	156	3	error	error	NOUN
ap-5482	156	4	curve	curve	NOUN
ap-5482	156	5	for	for	ADP
ap-5482	156	6	mechanisms	mechanism	NOUN
ap-5482	156	7	shown	show	VERB
ap-5482	156	8	throughout	throughout	ADP
ap-5482	156	9	figure	figure	NOUN
ap-5482	156	10	7	7	NUM
ap-5482	156	11	to	to	PART
ap-5482	156	12	figure	figure	VERB
ap-5482	156	13	9	9	NUM
ap-5482	156	14	should	should	AUX
ap-5482	156	15	be	be	AUX
ap-5482	156	16	same	same	ADJ
ap-5482	156	17	as	as	SCONJ
ap-5482	156	18	all	all	PRON
ap-5482	156	19	of	of	ADP
ap-5482	156	20	these	these	PRON
ap-5482	156	21	are	be	AUX
ap-5482	156	22	obtained	obtain	VERB
ap-5482	156	23	by	by	ADP
ap-5482	156	24	compounding	compound	VERB
ap-5482	156	25	two	two	NUM
ap-5482	156	26	crossed	cross	VERB
ap-5482	156	27	four	four	NUM
ap-5482	156	28	-	-	PUNCT
ap-5482	156	29	bar	bar	NOUN
ap-5482	156	30	mechanisms	mechanism	NOUN
ap-5482	156	31	having	have	VERB
ap-5482	156	32	similar	similar	ADJ
ap-5482	156	33	proportions	proportion	NOUN
ap-5482	156	34	.	.	PUNCT
ap-5482	157	1	the	the	DET
ap-5482	157	2	steering	steering	NOUN
ap-5482	157	3	error	error	NOUN
ap-5482	157	4	curve	curve	NOUN
ap-5482	157	5	has	have	AUX
ap-5482	157	6	been	be	AUX
ap-5482	157	7	shown	show	VERB
ap-5482	157	8	in	in	ADP
ap-5482	157	9	figure	figure	NOUN
ap-5482	157	10	10	10	NUM
ap-5482	157	11	,	,	PUNCT
ap-5482	157	12	which	which	PRON
ap-5482	157	13	shows	show	VERB
ap-5482	157	14	that	that	SCONJ
ap-5482	157	15	by	by	ADP
ap-5482	157	16	compounding	compound	VERB
ap-5482	157	17	effect	effect	NOUN
ap-5482	157	18	,	,	PUNCT
ap-5482	157	19	the	the	DET
ap-5482	157	20	steering	steering	NOUN
ap-5482	157	21	error	error	NOUN
ap-5482	157	22	has	have	AUX
ap-5482	157	23	been	be	AUX
ap-5482	157	24	reduced	reduce	VERB
ap-5482	157	25	from	from	ADP
ap-5482	157	26	that	that	PRON
ap-5482	157	27	of	of	ADP
ap-5482	157	28	a	a	DET
ap-5482	157	29	single	single	ADJ
ap-5482	157	30	crossed	cross	VERB
ap-5482	157	31	four	four	NUM
ap-5482	157	32	bar	bar	NOUN
ap-5482	157	33	mechanism	mechanism	NOUN
ap-5482	157	34	that	that	PRON
ap-5482	157	35	employs	employ	VERB
ap-5482	157	36	two	two	NUM
ap-5482	157	37	equal	equal	ADJ
ap-5482	157	38	spur	spur	NOUN
ap-5482	157	39	or	or	CCONJ
ap-5482	157	40	helical	helical	ADJ
ap-5482	157	41	gears	gear	NOUN
ap-5482	157	42	.	.	PUNCT
ap-5482	158	1	6	6	X
ap-5482	158	2	.	.	X
ap-5482	158	3	conclusions	conclusion	NOUN
ap-5482	158	4	it	it	PRON
ap-5482	158	5	has	have	AUX
ap-5482	158	6	been	be	AUX
ap-5482	158	7	shown	show	VERB
ap-5482	158	8	that	that	SCONJ
ap-5482	158	9	two	two	NUM
ap-5482	158	10	crossed	cross	VERB
ap-5482	158	11	four	four	NUM
ap-5482	158	12	-	-	PUNCT
ap-5482	158	13	bar	bar	NOUN
ap-5482	158	14	chains	chain	NOUN
ap-5482	158	15	can	can	AUX
ap-5482	158	16	be	be	AUX
ap-5482	158	17	added	add	VERB
ap-5482	158	18	in	in	ADP
ap-5482	158	19	series	series	NOUN
ap-5482	158	20	to	to	PART
ap-5482	158	21	obtain	obtain	VERB
ap-5482	158	22	a	a	DET
ap-5482	158	23	centre	centre	NOUN
ap-5482	158	24	lever	lever	NOUN
ap-5482	158	25	steering	steering	NOUN
ap-5482	158	26	mechanism	mechanism	NOUN
ap-5482	158	27	.	.	PUNCT
ap-5482	159	1	the	the	DET
ap-5482	159	2	kinematic	kinematic	ADJ
ap-5482	159	3	synthesis	synthesis	NOUN
ap-5482	159	4	of	of	ADP
ap-5482	159	5	this	this	DET
ap-5482	159	6	centre	centre	NOUN
ap-5482	159	7	lever	lever	NOUN
ap-5482	159	8	steering	steering	NOUN
ap-5482	159	9	mechanism	mechanism	NOUN
ap-5482	159	10	has	have	AUX
ap-5482	159	11	been	be	AUX
ap-5482	159	12	found	find	VERB
ap-5482	159	13	to	to	PART
ap-5482	159	14	be	be	AUX
ap-5482	159	15	easy	easy	ADJ
ap-5482	159	16	in	in	ADP
ap-5482	159	17	the	the	DET
ap-5482	159	18	present	present	ADJ
ap-5482	159	19	work	work	NOUN
ap-5482	159	20	.	.	PUNCT
ap-5482	160	1	the	the	DET
ap-5482	160	2	mechanism	mechanism	NOUN
ap-5482	160	3	can	can	AUX
ap-5482	160	4	be	be	AUX
ap-5482	160	5	suitably	suitably	ADV
ap-5482	160	6	modified	modify	VERB
ap-5482	160	7	to	to	PART
ap-5482	160	8	provide	provide	VERB
ap-5482	160	9	more	more	ADJ
ap-5482	160	10	space	space	NOUN
ap-5482	160	11	for	for	ADP
ap-5482	160	12	the	the	DET
ap-5482	160	13	placement	placement	NOUN
ap-5482	160	14	of	of	ADP
ap-5482	160	15	the	the	DET
ap-5482	160	16	engine	engine	NOUN
ap-5482	160	17	,	,	PUNCT
ap-5482	160	18	gearbox	gearbox	NOUN
ap-5482	160	19	and	and	CCONJ
ap-5482	160	20	other	other	ADJ
ap-5482	160	21	parts	part	NOUN
ap-5482	160	22	of	of	ADP
ap-5482	160	23	the	the	DET
ap-5482	160	24	vehicle	vehicle	NOUN
ap-5482	160	25	.	.	PUNCT
ap-5482	161	1	this	this	DET
ap-5482	161	2	mechanism	mechanism	NOUN
ap-5482	161	3	is	be	AUX
ap-5482	161	4	more	more	ADV
ap-5482	161	5	accurate	accurate	ADJ
ap-5482	161	6	than	than	ADP
ap-5482	161	7	the	the	DET
ap-5482	161	8	conventional	conventional	ADJ
ap-5482	161	9	ackermann	ackermann	ADJ
ap-5482	161	10	steering	steering	NOUN
ap-5482	161	11	mechanism	mechanism	NOUN
ap-5482	161	12	and	and	CCONJ
ap-5482	161	13	also	also	ADV
ap-5482	161	14	the	the	DET
ap-5482	161	15	crossed	cross	VERB
ap-5482	161	16	four	four	NUM
ap-5482	161	17	bar	bar	NOUN
ap-5482	161	18	steering	steering	NOUN
ap-5482	161	19	mechanism	mechanism	NOUN
ap-5482	161	20	.	.	PUNCT
ap-5482	162	1	this	this	DET
ap-5482	162	2	mechanism	mechanism	NOUN
ap-5482	162	3	has	have	VERB
ap-5482	162	4	a	a	DET
ap-5482	162	5	low	low	ADJ
ap-5482	162	6	pressure	pressure	NOUN
ap-5482	162	7	angle	angle	NOUN
ap-5482	162	8	and	and	CCONJ
ap-5482	162	9	high	high	ADJ
ap-5482	162	10	mechanical	mechanical	ADJ
ap-5482	162	11	advantage	advantage	NOUN
ap-5482	162	12	compared	compare	VERB
ap-5482	162	13	to	to	ADP
ap-5482	162	14	the	the	DET
ap-5482	162	15	ackermann	ackermann	PROPN
ap-5482	162	16	steering	steering	NOUN
ap-5482	162	17	mechanism	mechanism	NOUN
ap-5482	162	18	.	.	PUNCT
ap-5482	163	1	also	also	ADV
ap-5482	163	2	,	,	PUNCT
ap-5482	163	3	it	it	PRON
ap-5482	163	4	can	can	AUX
ap-5482	163	5	accommodate	accommodate	VERB
ap-5482	163	6	a	a	DET
ap-5482	163	7	constraint	constraint	NOUN
ap-5482	163	8	like	like	ADP
ap-5482	163	9	the	the	DET
ap-5482	163	10	requirement	requirement	NOUN
ap-5482	163	11	of	of	ADP
ap-5482	163	12	the	the	DET
ap-5482	163	13	placement	placement	NOUN
ap-5482	163	14	of	of	ADP
ap-5482	163	15	the	the	DET
ap-5482	163	16	central	central	ADJ
ap-5482	163	17	hinge	hinge	NOUN
ap-5482	163	18	at	at	ADP
ap-5482	163	19	some	some	DET
ap-5482	163	20	offset	offset	NOUN
ap-5482	163	21	from	from	ADP
ap-5482	163	22	the	the	DET
ap-5482	163	23	longitudinal	longitudinal	ADJ
ap-5482	163	24	axis	axis	NOUN
ap-5482	163	25	of	of	ADP
ap-5482	163	26	the	the	DET
ap-5482	163	27	vehicle	vehicle	NOUN
ap-5482	163	28	.	.	PUNCT
ap-5482	164	1	in	in	ADP
ap-5482	164	2	this	this	DET
ap-5482	164	3	case	case	NOUN
ap-5482	164	4	,	,	PUNCT
ap-5482	164	5	two	two	NUM
ap-5482	164	6	crossed	cross	VERB
ap-5482	164	7	four	four	NUM
ap-5482	164	8	-	-	PUNCT
ap-5482	164	9	bar	bar	NOUN
ap-5482	164	10	chains	chain	NOUN
ap-5482	164	11	are	be	AUX
ap-5482	164	12	not	not	PART
ap-5482	164	13	iden257	iden257	PROPN
ap-5482	164	14	santiranjan	santiranjan	ADJ
ap-5482	164	15	pramanik	pramanik	NOUN
ap-5482	164	16	,	,	PUNCT
ap-5482	164	17	sukrut	sukrut	ADP
ap-5482	164	18	shrikant	shrikant	ADJ
ap-5482	164	19	thipse	thipse	PROPN
ap-5482	164	20	acta	acta	PROPN
ap-5482	164	21	polytechnica	polytechnica	PROPN
ap-5482	164	22	figure	figure	NOUN
ap-5482	164	23	10	10	NUM
ap-5482	164	24	.	.	PUNCT
ap-5482	164	25	comparison	comparison	NOUN
ap-5482	164	26	of	of	ADP
ap-5482	164	27	steering	steering	NOUN
ap-5482	164	28	error	error	NOUN
ap-5482	164	29	.	.	PUNCT
ap-5482	165	1	tical	tical	NOUN
ap-5482	165	2	as	as	ADP
ap-5482	165	3	one	one	NUM
ap-5482	165	4	is	be	AUX
ap-5482	165	5	smaller	small	ADJ
ap-5482	165	6	in	in	ADP
ap-5482	165	7	size	size	NOUN
ap-5482	165	8	and	and	CCONJ
ap-5482	165	9	the	the	DET
ap-5482	165	10	other	other	ADJ
ap-5482	165	11	is	be	AUX
ap-5482	165	12	bigger	big	ADJ
ap-5482	165	13	in	in	ADP
ap-5482	165	14	size	size	NOUN
ap-5482	165	15	because	because	SCONJ
ap-5482	165	16	of	of	ADP
ap-5482	165	17	the	the	DET
ap-5482	165	18	offset	offset	NOUN
ap-5482	165	19	.	.	PUNCT
ap-5482	166	1	the	the	DET
ap-5482	166	2	steering	steering	NOUN
ap-5482	166	3	arms	arm	NOUN
ap-5482	166	4	are	be	AUX
ap-5482	166	5	unequal	unequal	ADJ
ap-5482	166	6	in	in	ADP
ap-5482	166	7	length	length	NOUN
ap-5482	166	8	.	.	PUNCT
ap-5482	167	1	but	but	CCONJ
ap-5482	167	2	both	both	PRON
ap-5482	167	3	have	have	AUX
ap-5482	167	4	been	be	AUX
ap-5482	167	5	designed	design	VERB
ap-5482	167	6	for	for	ADP
ap-5482	167	7	equal	equal	ADJ
ap-5482	167	8	value	value	NOUN
ap-5482	167	9	of	of	ADP
ap-5482	167	10	the	the	DET
ap-5482	167	11	wheel	wheel	NOUN
ap-5482	167	12	track	track	NOUN
ap-5482	167	13	by	by	ADP
ap-5482	167	14	a	a	DET
ap-5482	167	15	wheel	wheel	NOUN
ap-5482	167	16	base	base	NOUN
ap-5482	167	17	ratio	ratio	NOUN
ap-5482	167	18	0.163	0.163	NUM
ap-5482	167	19	.	.	PUNCT
ap-5482	168	1	in	in	ADP
ap-5482	168	2	the	the	DET
ap-5482	168	3	case	case	NOUN
ap-5482	168	4	of	of	ADP
ap-5482	168	5	a	a	DET
ap-5482	168	6	wide	wide	ADJ
ap-5482	168	7	track	track	NOUN
ap-5482	168	8	vehicle	vehicle	NOUN
ap-5482	168	9	mentioned	mention	VERB
ap-5482	168	10	in	in	ADP
ap-5482	168	11	reference	reference	NOUN
ap-5482	168	12	[	[	X
ap-5482	168	13	7	7	NUM
ap-5482	168	14	]	]	PUNCT
ap-5482	168	15	,	,	PUNCT
ap-5482	168	16	the	the	DET
ap-5482	168	17	steering	steering	NOUN
ap-5482	168	18	mechanism	mechanism	NOUN
ap-5482	168	19	has	have	VERB
ap-5482	168	20	to	to	PART
ap-5482	168	21	be	be	AUX
ap-5482	168	22	made	make	VERB
ap-5482	168	23	by	by	ADP
ap-5482	168	24	adding	add	VERB
ap-5482	168	25	four	four	NUM
ap-5482	168	26	numbers	number	NOUN
ap-5482	168	27	of	of	ADP
ap-5482	168	28	crossed	cross	VERB
ap-5482	168	29	four	four	NUM
ap-5482	168	30	-	-	PUNCT
ap-5482	168	31	bar	bar	NOUN
ap-5482	168	32	chains	chain	NOUN
ap-5482	168	33	each	each	PRON
ap-5482	168	34	having	have	VERB
ap-5482	168	35	an	an	DET
ap-5482	168	36	imaginary	imaginary	ADJ
ap-5482	168	37	track	track	NOUN
ap-5482	168	38	to	to	PART
ap-5482	168	39	wheelbase	wheelbase	VERB
ap-5482	168	40	one	one	NUM
ap-5482	168	41	-	-	PUNCT
ap-5482	168	42	fourth	fourth	NOUN
ap-5482	168	43	of	of	ADP
ap-5482	168	44	that	that	PRON
ap-5482	168	45	of	of	ADP
ap-5482	168	46	the	the	DET
ap-5482	168	47	expanded	expand	VERB
ap-5482	168	48	vehicle	vehicle	NOUN
ap-5482	168	49	while	while	SCONJ
ap-5482	168	50	harvesting	harvesting	NOUN
ap-5482	168	51	fruits	fruit	NOUN
ap-5482	168	52	.	.	PUNCT
ap-5482	169	1	while	while	SCONJ
ap-5482	169	2	this	this	DET
ap-5482	169	3	vehicle	vehicle	NOUN
ap-5482	169	4	has	have	VERB
ap-5482	169	5	to	to	PART
ap-5482	169	6	be	be	AUX
ap-5482	169	7	transported	transport	VERB
ap-5482	169	8	on	on	ADP
ap-5482	169	9	the	the	DET
ap-5482	169	10	road	road	NOUN
ap-5482	169	11	,	,	PUNCT
ap-5482	169	12	it	it	PRON
ap-5482	169	13	can	can	AUX
ap-5482	169	14	be	be	AUX
ap-5482	169	15	made	make	VERB
ap-5482	169	16	collapsible	collapsible	ADJ
ap-5482	169	17	by	by	ADP
ap-5482	169	18	using	use	VERB
ap-5482	169	19	two	two	NUM
ap-5482	169	20	crossed	cross	VERB
ap-5482	169	21	fourbar	fourbar	NOUN
ap-5482	169	22	chains	chain	NOUN
ap-5482	169	23	in	in	ADP
ap-5482	169	24	series	series	NOUN
ap-5482	169	25	by	by	ADP
ap-5482	169	26	discarding	discard	VERB
ap-5482	169	27	two	two	NUM
ap-5482	169	28	such	such	ADJ
ap-5482	169	29	four	four	NUM
ap-5482	169	30	-	-	PUNCT
ap-5482	169	31	bar	bar	NOUN
ap-5482	169	32	chains	chain	NOUN
ap-5482	169	33	.	.	PUNCT
ap-5482	170	1	references	reference	NOUN
ap-5482	170	2	[	[	X
ap-5482	170	3	1	1	X
ap-5482	170	4	]	]	PUNCT
ap-5482	170	5	s.	s.	PROPN
ap-5482	170	6	o.	o.	PROPN
ap-5482	170	7	fahey	fahey	PROPN
ap-5482	170	8	,	,	PUNCT
ap-5482	170	9	d.	d.	PROPN
ap-5482	170	10	r.	r.	PROPN
ap-5482	170	11	huston	huston	PROPN
ap-5482	170	12	.	.	PUNCT
ap-5482	171	1	a	a	DET
ap-5482	171	2	novel	novel	ADJ
ap-5482	171	3	automotive	automotive	ADJ
ap-5482	171	4	steering	steering	NOUN
ap-5482	171	5	linkage	linkage	NOUN
ap-5482	171	6	.	.	PUNCT
ap-5482	172	1	journal	journal	NOUN
ap-5482	172	2	of	of	ADP
ap-5482	172	3	mechanical	mechanical	ADJ
ap-5482	172	4	design	design	NOUN
ap-5482	172	5	119(4):481	119(4):481	NUM
ap-5482	172	6	–	–	PUNCT
ap-5482	172	7	484	484	NUM
ap-5482	172	8	,	,	PUNCT
ap-5482	172	9	1997	1997	NUM
ap-5482	172	10	.	.	PUNCT
ap-5482	173	1	doi:10.1115/1.2826393	doi:10.1115/1.2826393	PROPN
ap-5482	173	2	.	.	PUNCT
ap-5482	174	1	[	[	X
ap-5482	174	2	2	2	X
ap-5482	174	3	]	]	PUNCT
ap-5482	174	4	p.	p.	NOUN
ap-5482	174	5	a.	a.	PROPN
ap-5482	174	6	simionescu	simionescu	PROPN
ap-5482	174	7	,	,	PUNCT
ap-5482	174	8	m.	m.	PROPN
ap-5482	174	9	r.	r.	PROPN
ap-5482	174	10	smith	smith	PROPN
ap-5482	174	11	.	.	PUNCT
ap-5482	175	1	initial	initial	ADJ
ap-5482	175	2	estimates	estimate	NOUN
ap-5482	175	3	in	in	ADP
ap-5482	175	4	the	the	DET
ap-5482	175	5	design	design	NOUN
ap-5482	175	6	of	of	ADP
ap-5482	175	7	central	central	ADJ
ap-5482	175	8	-	-	PUNCT
ap-5482	175	9	lever	lever	NOUN
ap-5482	175	10	steering	steering	NOUN
ap-5482	175	11	linkages	linkage	NOUN
ap-5482	175	12	.	.	PUNCT
ap-5482	176	1	journal	journal	NOUN
ap-5482	176	2	of	of	ADP
ap-5482	176	3	mechanical	mechanical	ADJ
ap-5482	176	4	design	design	NOUN
ap-5482	176	5	124(4):646	124(4):646	NOUN
ap-5482	176	6	–	–	PUNCT
ap-5482	176	7	651	651	NUM
ap-5482	176	8	,	,	PUNCT
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ap-5482	180	11	.	.	PUNCT
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ap-5482	181	8	-	-	PUNCT
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ap-5482	184	7	.	.	PUNCT
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ap-5482	184	13	.	.	PUNCT
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ap-5482	189	8	.	.	PUNCT
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ap-5482	190	9	,	,	PUNCT
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ap-5482	190	11	.	.	PUNCT
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ap-5482	191	2	.	.	PUNCT
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ap-5482	193	8	.	.	PUNCT
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ap-5482	194	8	,	,	PUNCT
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ap-5482	198	11	,	,	PUNCT
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ap-5482	198	13	.	.	PUNCT
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