id	sid	tid	token	lemma	pos
ap-746	1	1	ap05_4.vp	ap05_4.vp	NOUN
ap-746	1	2	1	1	NUM
ap-746	1	3	introduction	introduction	NOUN
ap-746	1	4	the	the	DET
ap-746	1	5	last	last	ADJ
ap-746	1	6	decade	decade	NOUN
ap-746	1	7	saw	see	VERB
ap-746	1	8	ever	ever	ADV
ap-746	1	9	growing	grow	VERB
ap-746	1	10	interest	interest	NOUN
ap-746	1	11	in	in	ADP
ap-746	1	12	the	the	DET
ap-746	1	13	academic	academic	ADJ
ap-746	1	14	world	world	NOUN
ap-746	1	15	in	in	ADP
ap-746	1	16	the	the	DET
ap-746	1	17	study	study	NOUN
ap-746	1	18	of	of	ADP
ap-746	1	19	autonomous	autonomous	ADJ
ap-746	1	20	flight	flight	NOUN
ap-746	1	21	.	.	PUNCT
ap-746	2	1	most	most	ADJ
ap-746	2	2	of	of	ADP
ap-746	2	3	the	the	DET
ap-746	2	4	academic	academic	ADJ
ap-746	2	5	projects	project	NOUN
ap-746	2	6	share	share	VERB
ap-746	2	7	a	a	DET
ap-746	2	8	common	common	ADJ
ap-746	2	9	approach	approach	NOUN
ap-746	2	10	,	,	PUNCT
ap-746	2	11	where	where	SCONJ
ap-746	2	12	an	an	DET
ap-746	2	13	existing	exist	VERB
ap-746	2	14	model	model	NOUN
ap-746	2	15	aircraft	aircraft	NOUN
ap-746	2	16	is	be	AUX
ap-746	2	17	equipped	equip	VERB
ap-746	2	18	with	with	ADP
ap-746	2	19	sensors	sensor	NOUN
ap-746	2	20	and	and	CCONJ
ap-746	2	21	on	on	ADP
ap-746	2	22	-	-	PUNCT
ap-746	2	23	board	board	NOUN
ap-746	2	24	computers	computer	NOUN
ap-746	2	25	,	,	PUNCT
ap-746	2	26	in	in	ADP
ap-746	2	27	order	order	NOUN
ap-746	2	28	to	to	PART
ap-746	2	29	achieve	achieve	VERB
ap-746	2	30	the	the	DET
ap-746	2	31	prescribed	prescribed	ADJ
ap-746	2	32	level	level	NOUN
ap-746	2	33	of	of	ADP
ap-746	2	34	autonomous	autonomous	ADJ
ap-746	2	35	management	management	NOUN
ap-746	2	36	of	of	ADP
ap-746	2	37	the	the	DET
ap-746	2	38	mission	mission	NOUN
ap-746	2	39	profile	profile	NOUN
ap-746	2	40	.	.	PUNCT
ap-746	3	1	as	as	ADP
ap-746	3	2	for	for	ADP
ap-746	3	3	aircraft	aircraft	NOUN
ap-746	3	4	with	with	ADP
ap-746	3	5	vertical	vertical	ADJ
ap-746	3	6	take	take	VERB
ap-746	3	7	-	-	PUNCT
ap-746	3	8	off	off	NOUN
ap-746	3	9	and	and	CCONJ
ap-746	3	10	landing	landing	NOUN
ap-746	3	11	(	(	PUNCT
ap-746	3	12	vtol	vtol	NOUN
ap-746	3	13	)	)	PUNCT
ap-746	3	14	capabilities	capability	NOUN
ap-746	3	15	,	,	PUNCT
ap-746	3	16	model	model	NOUN
ap-746	3	17	helicopters	helicopter	NOUN
ap-746	3	18	such	such	ADJ
ap-746	3	19	as	as	ADP
ap-746	3	20	the	the	DET
ap-746	3	21	yamaha	yamaha	PROPN
ap-746	3	22	r	r	PROPN
ap-746	3	23	-	-	PUNCT
ap-746	3	24	max	max	PROPN
ap-746	3	25	and	and	CCONJ
ap-746	3	26	r-50	r-50	ADJ
ap-746	3	27	were	be	AUX
ap-746	3	28	employed	employ	VERB
ap-746	3	29	by	by	ADP
ap-746	3	30	the	the	DET
ap-746	3	31	university	university	PROPN
ap-746	3	32	of	of	ADP
ap-746	3	33	california	california	PROPN
ap-746	3	34	at	at	ADP
ap-746	3	35	berkeley	berkeley	PROPN
ap-746	4	1	[	[	X
ap-746	4	2	1	1	NUM
ap-746	4	3	]	]	PUNCT
ap-746	4	4	,	,	PUNCT
ap-746	4	5	carnegie	carnegie	PROPN
ap-746	4	6	mellon	mellon	PROPN
ap-746	4	7	university	university	PROPN
ap-746	5	1	[	[	X
ap-746	5	2	2	2	NUM
ap-746	5	3	]	]	PUNCT
ap-746	5	4	and	and	CCONJ
ap-746	5	5	the	the	DET
ap-746	5	6	georgia	georgia	PROPN
ap-746	5	7	institute	institute	PROPN
ap-746	5	8	of	of	ADP
ap-746	5	9	technology	technology	PROPN
ap-746	5	10	[	[	X
ap-746	5	11	3	3	NUM
ap-746	5	12	]	]	PUNCT
ap-746	5	13	.	.	PUNCT
ap-746	6	1	a	a	DET
ap-746	6	2	more	more	ADV
ap-746	6	3	ambitious	ambitious	ADJ
ap-746	6	4	project	project	NOUN
ap-746	6	5	has	have	AUX
ap-746	6	6	been	be	AUX
ap-746	6	7	in	in	ADP
ap-746	6	8	progress	progress	NOUN
ap-746	6	9	in	in	ADP
ap-746	6	10	the	the	DET
ap-746	6	11	past	past	ADJ
ap-746	6	12	5	5	NUM
ap-746	6	13	years	year	NOUN
ap-746	6	14	at	at	ADP
ap-746	6	15	the	the	DET
ap-746	6	16	department	department	PROPN
ap-746	6	17	of	of	ADP
ap-746	6	18	aerospace	aerospace	NOUN
ap-746	6	19	engineering	engineering	NOUN
ap-746	6	20	of	of	ADP
ap-746	6	21	the	the	DET
ap-746	6	22	polytechnic	polytechnic	PROPN
ap-746	6	23	of	of	ADP
ap-746	6	24	turin	turin	PROPN
ap-746	6	25	(	(	PUNCT
ap-746	6	26	dae	dae	PROPN
ap-746	6	27	)	)	PUNCT
ap-746	6	28	and	and	CCONJ
ap-746	6	29	the	the	DET
ap-746	6	30	department	department	NOUN
ap-746	6	31	of	of	ADP
ap-746	6	32	mechanics	mechanic	NOUN
ap-746	6	33	and	and	CCONJ
ap-746	6	34	aeronautics	aeronautic	NOUN
ap-746	6	35	of	of	ADP
ap-746	6	36	the	the	DET
ap-746	6	37	university	university	PROPN
ap-746	6	38	of	of	ADP
ap-746	6	39	rome	rome	PROPN
ap-746	6	40	“	"	PUNCT
ap-746	6	41	la	la	X
ap-746	6	42	sapienza	sapienza	PROPN
ap-746	6	43	”	"	PUNCT
ap-746	6	44	(	(	PUNCT
ap-746	6	45	dma	dma	PROPN
ap-746	6	46	)	)	PUNCT
ap-746	6	47	,	,	PUNCT
ap-746	6	48	where	where	SCONJ
ap-746	6	49	the	the	DET
ap-746	6	50	vehicle	vehicle	NOUN
ap-746	6	51	itself	itself	PRON
ap-746	6	52	is	be	AUX
ap-746	6	53	a	a	DET
ap-746	6	54	completely	completely	ADV
ap-746	6	55	new	new	ADJ
ap-746	6	56	machine	machine	NOUN
ap-746	6	57	,	,	PUNCT
ap-746	6	58	characterized	characterize	VERB
ap-746	6	59	by	by	ADP
ap-746	6	60	an	an	DET
ap-746	6	61	original	original	ADJ
ap-746	6	62	configuration	configuration	NOUN
ap-746	6	63	,	,	PUNCT
ap-746	6	64	and	and	CCONJ
ap-746	6	65	all	all	DET
ap-746	6	66	the	the	DET
ap-746	6	67	activities	activity	NOUN
ap-746	6	68	related	relate	VERB
ap-746	6	69	to	to	ADP
ap-746	6	70	the	the	DET
ap-746	6	71	design	design	NOUN
ap-746	6	72	,	,	PUNCT
ap-746	6	73	development	development	NOUN
ap-746	6	74	,	,	PUNCT
ap-746	6	75	ground	ground	NOUN
ap-746	6	76	and	and	CCONJ
ap-746	6	77	flight	flight	NOUN
ap-746	6	78	testing	testing	NOUN
ap-746	6	79	of	of	ADP
ap-746	6	80	the	the	DET
ap-746	6	81	vehicle	vehicle	NOUN
ap-746	6	82	are	be	AUX
ap-746	6	83	performed	perform	VERB
ap-746	6	84	in	in	ADP
ap-746	6	85	an	an	DET
ap-746	6	86	academic	academic	ADJ
ap-746	6	87	framework	framework	NOUN
ap-746	6	88	.	.	PUNCT
ap-746	7	1	the	the	DET
ap-746	7	2	program	program	NOUN
ap-746	7	3	received	receive	VERB
ap-746	7	4	funding	funding	NOUN
ap-746	7	5	from	from	ADP
ap-746	7	6	the	the	DET
ap-746	7	7	italian	italian	ADJ
ap-746	7	8	national	national	ADJ
ap-746	7	9	plan	plan	NOUN
ap-746	7	10	for	for	ADP
ap-746	7	11	research	research	NOUN
ap-746	7	12	in	in	ADP
ap-746	7	13	antarctica	antarctica	PROPN
ap-746	7	14	(	(	PUNCT
ap-746	7	15	pnra	pnra	NOUN
ap-746	7	16	)	)	PUNCT
ap-746	7	17	and	and	CCONJ
ap-746	7	18	the	the	DET
ap-746	7	19	italian	italian	ADJ
ap-746	7	20	ministry	ministry	PROPN
ap-746	7	21	for	for	ADP
ap-746	7	22	education	education	NOUN
ap-746	7	23	,	,	PUNCT
ap-746	7	24	scientific	scientific	ADJ
ap-746	7	25	research	research	NOUN
ap-746	7	26	and	and	CCONJ
ap-746	7	27	innovation	innovation	NOUN
ap-746	7	28	(	(	PUNCT
ap-746	7	29	miur	miur	NOUN
ap-746	7	30	)	)	PUNCT
ap-746	7	31	,	,	PUNCT
ap-746	7	32	and	and	CCONJ
ap-746	7	33	it	it	PRON
ap-746	7	34	was	be	AUX
ap-746	7	35	entirely	entirely	ADV
ap-746	7	36	carried	carry	VERB
ap-746	7	37	on	on	ADP
ap-746	7	38	in	in	ADP
ap-746	7	39	academic	academic	ADJ
ap-746	7	40	structures	structure	NOUN
ap-746	7	41	,	,	PUNCT
ap-746	7	42	with	with	ADP
ap-746	7	43	limited	limited	ADJ
ap-746	7	44	support	support	NOUN
ap-746	7	45	from	from	ADP
ap-746	7	46	small	small	ADJ
ap-746	7	47	and	and	CCONJ
ap-746	7	48	medium	medium	ADJ
ap-746	7	49	-	-	PUNCT
ap-746	7	50	size	size	NOUN
ap-746	7	51	enterprises	enterprise	NOUN
ap-746	7	52	,	,	PUNCT
ap-746	7	53	for	for	ADP
ap-746	7	54	the	the	DET
ap-746	7	55	realization	realization	NOUN
ap-746	7	56	of	of	ADP
ap-746	7	57	those	those	DET
ap-746	7	58	mechanical	mechanical	ADJ
ap-746	7	59	,	,	PUNCT
ap-746	7	60	electrical	electrical	ADJ
ap-746	7	61	and	and	CCONJ
ap-746	7	62	electronic	electronic	ADJ
ap-746	7	63	components	component	NOUN
ap-746	7	64	that	that	PRON
ap-746	7	65	could	could	AUX
ap-746	7	66	not	not	PART
ap-746	7	67	be	be	AUX
ap-746	7	68	built	build	VERB
ap-746	7	69	in	in	ADP
ap-746	7	70	the	the	DET
ap-746	7	71	workshops	workshop	NOUN
ap-746	7	72	of	of	ADP
ap-746	7	73	the	the	DET
ap-746	7	74	involved	involved	ADJ
ap-746	7	75	universities	university	NOUN
ap-746	7	76	.	.	PUNCT
ap-746	8	1	the	the	DET
ap-746	8	2	shrouded	shrouded	ADJ
ap-746	8	3	fan	fan	PROPN
ap-746	8	4	uninhabited	uninhabited	ADJ
ap-746	8	5	aerial	aerial	ADJ
ap-746	8	6	vehicle	vehicle	NOUN
ap-746	8	7	(	(	PUNCT
ap-746	8	8	uav	uav	PROPN
ap-746	8	9	)	)	PUNCT
ap-746	8	10	,	,	PUNCT
ap-746	8	11	shown	show	VERB
ap-746	8	12	in	in	ADP
ap-746	8	13	fig	fig	NOUN
ap-746	8	14	.	.	PUNCT
ap-746	8	15	1	1	NUM
ap-746	8	16	,	,	PUNCT
ap-746	8	17	is	be	AUX
ap-746	8	18	made	make	VERB
ap-746	8	19	of	of	ADP
ap-746	8	20	a	a	DET
ap-746	8	21	toroidal	toroidal	ADJ
ap-746	8	22	fuselage	fuselage	NOUN
ap-746	8	23	that	that	PRON
ap-746	8	24	envelopes	envelop	VERB
ap-746	8	25	two	two	NUM
ap-746	8	26	counter	counter	ADV
ap-746	8	27	-	-	ADJ
ap-746	8	28	rotating	rotating	ADJ
ap-746	8	29	,	,	PUNCT
ap-746	8	30	three	three	NUM
ap-746	8	31	bladed	bladed	ADJ
ap-746	8	32	rotors	rotor	NOUN
ap-746	8	33	,	,	PUNCT
ap-746	8	34	driven	drive	VERB
ap-746	8	35	by	by	ADP
ap-746	8	36	three	three	NUM
ap-746	8	37	two	two	NUM
ap-746	8	38	-	-	PUNCT
ap-746	8	39	stroke	stroke	NOUN
ap-746	8	40	piston	piston	NOUN
ap-746	8	41	engines	engine	NOUN
ap-746	8	42	,	,	PUNCT
ap-746	8	43	derived	derive	VERB
ap-746	8	44	from	from	ADP
ap-746	8	45	a	a	DET
ap-746	8	46	model	model	NOUN
ap-746	8	47	used	use	VERB
ap-746	8	48	for	for	ADP
ap-746	8	49	para	para	NOUN
ap-746	8	50	-	-	PUNCT
ap-746	8	51	gliders	glider	NOUN
ap-746	8	52	.	.	PUNCT
ap-746	9	1	a	a	DET
ap-746	9	2	brief	brief	ADJ
ap-746	9	3	description	description	NOUN
ap-746	9	4	of	of	ADP
ap-746	9	5	the	the	DET
ap-746	9	6	vehicle	vehicle	NOUN
ap-746	9	7	is	be	AUX
ap-746	9	8	reported	report	VERB
ap-746	9	9	in	in	ADP
ap-746	9	10	the	the	DET
ap-746	9	11	next	next	ADJ
ap-746	9	12	paragraph	paragraph	NOUN
ap-746	9	13	,	,	PUNCT
ap-746	9	14	while	while	SCONJ
ap-746	9	15	its	its	PRON
ap-746	9	16	dimensions	dimension	NOUN
ap-746	9	17	and	and	CCONJ
ap-746	9	18	expected	expect	VERB
ap-746	9	19	performance	performance	NOUN
ap-746	9	20	are	be	AUX
ap-746	9	21	reported	report	VERB
ap-746	9	22	in	in	ADP
ap-746	9	23	tab	tab	NOUN
ap-746	9	24	.	.	PUNCT
ap-746	10	1	1	1	NUM
ap-746	10	2	.	.	X
ap-746	11	1	more	more	ADJ
ap-746	11	2	details	detail	NOUN
ap-746	11	3	on	on	ADP
ap-746	11	4	the	the	DET
ap-746	11	5	vehicle	vehicle	NOUN
ap-746	11	6	itself	itself	PRON
ap-746	11	7	,	,	PUNCT
ap-746	11	8	on	on	ADP
ap-746	11	9	the	the	DET
ap-746	11	10	status	status	NOUN
ap-746	11	11	of	of	ADP
ap-746	11	12	the	the	DET
ap-746	11	13	project	project	NOUN
ap-746	11	14	and	and	CCONJ
ap-746	11	15	related	related	ADJ
ap-746	11	16	activities	activity	NOUN
ap-746	11	17	can	can	AUX
ap-746	11	18	be	be	AUX
ap-746	11	19	found	find	VERB
ap-746	11	20	in	in	ADP
ap-746	11	21	[	[	X
ap-746	11	22	4	4	NUM
ap-746	11	23	]	]	PUNCT
ap-746	11	24	and	and	CCONJ
ap-746	11	25	[	[	X
ap-746	11	26	5	5	NUM
ap-746	11	27	]	]	PUNCT
ap-746	11	28	.	.	PUNCT
ap-746	12	1	next	next	ADV
ap-746	12	2	,	,	PUNCT
ap-746	12	3	the	the	DET
ap-746	12	4	advanced	advanced	ADJ
ap-746	12	5	tools	tool	NOUN
ap-746	12	6	employed	employ	VERB
ap-746	12	7	for	for	ADP
ap-746	12	8	the	the	DET
ap-746	12	9	design	design	NOUN
ap-746	12	10	,	,	PUNCT
ap-746	12	11	development	development	NOUN
ap-746	12	12	and	and	CCONJ
ap-746	12	13	testing	testing	NOUN
ap-746	12	14	of	of	ADP
ap-746	12	15	the	the	DET
ap-746	12	16	engine	engine	NOUN
ap-746	12	17	unit	unit	NOUN
ap-746	12	18	will	will	AUX
ap-746	12	19	be	be	AUX
ap-746	12	20	presented	present	VERB
ap-746	12	21	.	.	PUNCT
ap-746	13	1	the	the	DET
ap-746	13	2	three	three	NUM
ap-746	13	3	sections	section	NOUN
ap-746	13	4	will	will	AUX
ap-746	13	5	deal	deal	VERB
ap-746	13	6	with	with	ADP
ap-746	13	7	:	:	PUNCT
ap-746	13	8	(	(	PUNCT
ap-746	13	9	i	i	NOUN
ap-746	13	10	)	)	PUNCT
ap-746	13	11	aerodynamic	aerodynamic	ADJ
ap-746	13	12	modeling	modeling	NOUN
ap-746	13	13	of	of	ADP
ap-746	13	14	the	the	DET
ap-746	13	15	shrouded	shrouded	ADJ
ap-746	13	16	fan	fan	NOUN
ap-746	13	17	configuration	configuration	NOUN
ap-746	13	18	,	,	PUNCT
ap-746	13	19	using	use	VERB
ap-746	13	20	advanced	advanced	ADJ
ap-746	13	21	cfd	cfd	NOUN
ap-746	13	22	software	software	NOUN
ap-746	13	23	;	;	PUNCT
ap-746	13	24	(	(	PUNCT
ap-746	13	25	ii	ii	NOUN
ap-746	13	26	)	)	PUNCT
ap-746	13	27	solid	solid	ADJ
ap-746	13	28	modeling	modeling	NOUN
ap-746	13	29	of	of	ADP
ap-746	13	30	the	the	DET
ap-746	13	31	mechanical	mechanical	ADJ
ap-746	13	32	components	component	NOUN
ap-746	13	33	,	,	PUNCT
ap-746	13	34	using	use	VERB
ap-746	13	35	cad	cad	PROPN
ap-746	13	36	software	software	NOUN
ap-746	13	37	;	;	PUNCT
ap-746	13	38	(	(	PUNCT
ap-746	13	39	iii	iii	X
ap-746	13	40	)	)	PUNCT
ap-746	13	41	rapid	rapid	ADJ
ap-746	13	42	prototyping	prototyping	NOUN
ap-746	13	43	techniques	technique	NOUN
ap-746	13	44	for	for	ADP
ap-746	13	45	the	the	DET
ap-746	13	46	development	development	NOUN
ap-746	13	47	of	of	ADP
ap-746	13	48	the	the	DET
ap-746	13	49	control	control	NOUN
ap-746	13	50	system	system	NOUN
ap-746	13	51	.	.	PUNCT
ap-746	14	1	as	as	ADP
ap-746	14	2	for	for	ADP
ap-746	14	3	the	the	DET
ap-746	14	4	last	last	ADJ
ap-746	14	5	point	point	NOUN
ap-746	14	6	,	,	PUNCT
ap-746	14	7	details	detail	NOUN
ap-746	14	8	will	will	AUX
ap-746	14	9	be	be	AUX
ap-746	14	10	given	give	VERB
ap-746	14	11	on	on	ADP
ap-746	14	12	the	the	DET
ap-746	14	13	control	control	NOUN
ap-746	14	14	system	system	NOUN
ap-746	14	15	for	for	ADP
ap-746	14	16	engine	engine	NOUN
ap-746	14	17	rpm	rpm	NOUN
ap-746	14	18	control	control	NOUN
ap-746	14	19	currently	currently	ADV
ap-746	14	20	being	be	AUX
ap-746	14	21	tested	test	VERB
ap-746	14	22	on	on	ADP
ap-746	14	23	the	the	DET
ap-746	14	24	vehicle	vehicle	NOUN
ap-746	14	25	prototype	prototype	NOUN
ap-746	14	26	.	.	PUNCT
ap-746	15	1	a	a	DET
ap-746	15	2	section	section	NOUN
ap-746	15	3	of	of	ADP
ap-746	15	4	conclusions	conclusion	NOUN
ap-746	15	5	ends	end	VERB
ap-746	15	6	the	the	DET
ap-746	15	7	paper	paper	NOUN
ap-746	15	8	.	.	PUNCT
ap-746	16	1	2	2	NUM
ap-746	16	2	“	"	PUNCT
ap-746	16	3	ro.w.en.a	ro.w.en.a	NOUN
ap-746	16	4	.	.	PUNCT
ap-746	16	5	”	"	PUNCT
ap-746	17	1	(	(	PUNCT
ap-746	17	2	rotorcraft	rotorcraft	NOUN
ap-746	17	3	with	with	ADP
ap-746	17	4	enhanced	enhanced	ADJ
ap-746	17	5	autonomy	autonomy	NOUN
ap-746	17	6	)	)	PUNCT
ap-746	17	7	as	as	SCONJ
ap-746	17	8	shown	show	VERB
ap-746	17	9	in	in	ADP
ap-746	17	10	fig	fig	NOUN
ap-746	17	11	.	.	PUNCT
ap-746	18	1	1	1	NUM
ap-746	18	2	,	,	PUNCT
ap-746	18	3	the	the	DET
ap-746	18	4	vehicle	vehicle	NOUN
ap-746	18	5	is	be	AUX
ap-746	18	6	characterized	characterize	VERB
ap-746	18	7	by	by	ADP
ap-746	18	8	an	an	DET
ap-746	18	9	axial	axial	ADJ
ap-746	18	10	-	-	PUNCT
ap-746	18	11	symmetric	symmetric	ADJ
ap-746	18	12	configuration	configuration	NOUN
ap-746	18	13	,	,	PUNCT
ap-746	18	14	which	which	PRON
ap-746	18	15	allows	allow	VERB
ap-746	18	16	for	for	ADP
ap-746	18	17	rotations	rotation	NOUN
ap-746	18	18	around	around	ADP
ap-746	18	19	the	the	DET
ap-746	18	20	symmetry	symmetry	NOUN
ap-746	18	21	axis	axis	NOUN
ap-746	18	22	in	in	ADP
ap-746	18	23	any	any	DET
ap-746	18	24	flight	flight	NOUN
ap-746	18	25	condition	condition	NOUN
ap-746	18	26	.	.	PUNCT
ap-746	19	1	moreover	moreover	ADV
ap-746	19	2	,	,	PUNCT
ap-746	19	3	the	the	DET
ap-746	19	4	fuse	fuse	NOUN
ap-746	19	5	©	©	PROPN
ap-746	19	6	czech	czech	PROPN
ap-746	19	7	technical	technical	PROPN
ap-746	19	8	university	university	PROPN
ap-746	19	9	publishing	publishing	NOUN
ap-746	19	10	house	house	NOUN
ap-746	19	11	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-746	19	12	81	81	NUM
ap-746	19	13	czech	czech	PROPN
ap-746	19	14	technical	technical	PROPN
ap-746	19	15	university	university	PROPN
ap-746	19	16	in	in	ADP
ap-746	19	17	prague	prague	PROPN
ap-746	19	18	acta	acta	PROPN
ap-746	19	19	polytechnica	polytechnica	PROPN
ap-746	19	20	vol	vol	NOUN
ap-746	19	21	.	.	PROPN
ap-746	20	1	45	45	NUM
ap-746	20	2	no	no	NOUN
ap-746	20	3	.	.	PUNCT
ap-746	21	1	4/2005	4/2005	NUM
ap-746	21	2	design	design	NOUN
ap-746	21	3	and	and	CCONJ
ap-746	21	4	development	development	NOUN
ap-746	21	5	of	of	ADP
ap-746	21	6	the	the	DET
ap-746	21	7	engine	engine	NOUN
ap-746	21	8	unit	unit	NOUN
ap-746	21	9	for	for	ADP
ap-746	21	10	a	a	DET
ap-746	21	11	twin	twin	ADJ
ap-746	21	12	-	-	PUNCT
ap-746	21	13	rotor	rotor	NOUN
ap-746	21	14	unmanned	unmanned	ADJ
ap-746	21	15	aerial	aerial	ADJ
ap-746	21	16	vehicle	vehicle	NOUN
ap-746	21	17	g.	g.	PROPN
ap-746	21	18	avanzini	avanzini	PROPN
ap-746	21	19	,	,	PUNCT
ap-746	21	20	s.	s.	PROPN
ap-746	21	21	d’angelo	d’angelo	PROPN
ap-746	21	22	,	,	PUNCT
ap-746	21	23	g.	g.	PROPN
ap-746	21	24	de	de	PROPN
ap-746	21	25	matteis	matteis	PROPN
ap-746	21	26	advanced	advanced	ADJ
ap-746	21	27	computer	computer	NOUN
ap-746	21	28	-	-	PUNCT
ap-746	21	29	aided	aid	VERB
ap-746	21	30	technologies	technology	NOUN
ap-746	21	31	played	play	VERB
ap-746	21	32	a	a	DET
ap-746	21	33	crucial	crucial	ADJ
ap-746	21	34	role	role	NOUN
ap-746	21	35	in	in	ADP
ap-746	21	36	the	the	DET
ap-746	21	37	design	design	NOUN
ap-746	21	38	of	of	ADP
ap-746	21	39	an	an	DET
ap-746	21	40	unconventional	unconventional	ADJ
ap-746	21	41	uninhabited	uninhabited	ADJ
ap-746	21	42	aerial	aerial	ADJ
ap-746	21	43	vehicle	vehicle	NOUN
ap-746	21	44	(	(	PUNCT
ap-746	21	45	uav	uav	PROPN
ap-746	21	46	)	)	PUNCT
ap-746	21	47	,	,	PUNCT
ap-746	21	48	developed	develop	VERB
ap-746	21	49	at	at	ADP
ap-746	21	50	the	the	DET
ap-746	21	51	turin	turin	PROPN
ap-746	21	52	technical	technical	PROPN
ap-746	21	53	university	university	PROPN
ap-746	21	54	and	and	CCONJ
ap-746	21	55	the	the	DET
ap-746	21	56	university	university	NOUN
ap-746	21	57	of	of	ADP
ap-746	21	58	rome	rome	PROPN
ap-746	21	59	“	"	PUNCT
ap-746	21	60	la	la	X
ap-746	21	61	sapienza	sapienza	NOUN
ap-746	21	62	”	"	PUNCT
ap-746	21	63	.	.	PUNCT
ap-746	22	1	the	the	DET
ap-746	22	2	engine	engine	NOUN
ap-746	22	3	unit	unit	NOUN
ap-746	22	4	of	of	ADP
ap-746	22	5	the	the	DET
ap-746	22	6	vehicle	vehicle	NOUN
ap-746	22	7	is	be	AUX
ap-746	22	8	made	make	VERB
ap-746	22	9	of	of	ADP
ap-746	22	10	a	a	DET
ap-746	22	11	complex	complex	ADJ
ap-746	22	12	system	system	NOUN
ap-746	22	13	of	of	ADP
ap-746	22	14	three	three	NUM
ap-746	22	15	two	two	NUM
ap-746	22	16	stroke	stroke	NOUN
ap-746	22	17	piston	piston	NOUN
ap-746	22	18	engines	engine	NOUN
ap-746	22	19	coupled	couple	VERB
ap-746	22	20	with	with	ADP
ap-746	22	21	two	two	NUM
ap-746	22	22	counter	counter	ADJ
ap-746	22	23	-	-	ADJ
ap-746	22	24	rotating	rotate	VERB
ap-746	22	25	three	three	NUM
ap-746	22	26	-	-	PUNCT
ap-746	22	27	bladed	blade	VERB
ap-746	22	28	rotors	rotor	NOUN
ap-746	22	29	,	,	PUNCT
ap-746	22	30	controlled	control	VERB
ap-746	22	31	by	by	ADP
ap-746	22	32	rotary	rotary	ADJ
ap-746	22	33	pwm	pwm	NOUN
ap-746	22	34	servos	servo	NOUN
ap-746	22	35	.	.	PUNCT
ap-746	23	1	the	the	DET
ap-746	23	2	focus	focus	NOUN
ap-746	23	3	of	of	ADP
ap-746	23	4	the	the	DET
ap-746	23	5	present	present	ADJ
ap-746	23	6	paper	paper	NOUN
ap-746	23	7	lies	lie	VERB
ap-746	23	8	on	on	ADP
ap-746	23	9	the	the	DET
ap-746	23	10	enabling	enable	VERB
ap-746	23	11	technologies	technology	NOUN
ap-746	23	12	exploited	exploit	VERB
ap-746	23	13	in	in	ADP
ap-746	23	14	the	the	DET
ap-746	23	15	framework	framework	NOUN
ap-746	23	16	of	of	ADP
ap-746	23	17	activities	activity	NOUN
ap-746	23	18	aimed	aim	VERB
ap-746	23	19	at	at	ADP
ap-746	23	20	designing	design	VERB
ap-746	23	21	a	a	DET
ap-746	23	22	suitable	suitable	ADJ
ap-746	23	23	and	and	CCONJ
ap-746	23	24	reliable	reliable	ADJ
ap-746	23	25	engine	engine	NOUN
ap-746	23	26	system	system	NOUN
ap-746	23	27	,	,	PUNCT
ap-746	23	28	capable	capable	ADJ
ap-746	23	29	of	of	ADP
ap-746	23	30	performing	perform	VERB
ap-746	23	31	the	the	DET
ap-746	23	32	complex	complex	ADJ
ap-746	23	33	tasks	task	NOUN
ap-746	23	34	required	require	VERB
ap-746	23	35	for	for	ADP
ap-746	23	36	operating	operate	VERB
ap-746	23	37	the	the	DET
ap-746	23	38	proposed	propose	VERB
ap-746	23	39	rotorcraft	rotorcraft	NOUN
ap-746	23	40	.	.	PUNCT
ap-746	24	1	the	the	DET
ap-746	24	2	synergic	synergic	ADJ
ap-746	24	3	use	use	NOUN
ap-746	24	4	of	of	ADP
ap-746	24	5	advanced	advanced	ADJ
ap-746	24	6	computational	computational	ADJ
ap-746	24	7	tools	tool	NOUN
ap-746	24	8	for	for	ADP
ap-746	24	9	estimating	estimate	VERB
ap-746	24	10	the	the	DET
ap-746	24	11	aerodynamic	aerodynamic	ADJ
ap-746	24	12	performance	performance	NOUN
ap-746	24	13	of	of	ADP
ap-746	24	14	the	the	DET
ap-746	24	15	vehicle	vehicle	NOUN
ap-746	24	16	,	,	PUNCT
ap-746	24	17	solid	solid	ADJ
ap-746	24	18	modeling	modeling	NOUN
ap-746	24	19	for	for	ADP
ap-746	24	20	mechanical	mechanical	ADJ
ap-746	24	21	components	component	NOUN
ap-746	24	22	design	design	NOUN
ap-746	24	23	,	,	PUNCT
ap-746	24	24	and	and	CCONJ
ap-746	24	25	rapid	rapid	ADJ
ap-746	24	26	prototyping	prototyping	NOUN
ap-746	24	27	techniques	technique	NOUN
ap-746	24	28	for	for	ADP
ap-746	24	29	control	control	NOUN
ap-746	24	30	system	system	NOUN
ap-746	24	31	logic	logic	NOUN
ap-746	24	32	synthesis	synthesis	NOUN
ap-746	24	33	and	and	CCONJ
ap-746	24	34	implementation	implementation	NOUN
ap-746	24	35	will	will	AUX
ap-746	24	36	be	be	AUX
ap-746	24	37	presented	present	VERB
ap-746	24	38	.	.	PUNCT
ap-746	25	1	keywords	keyword	NOUN
ap-746	25	2	:	:	PUNCT
ap-746	25	3	uninhabited	uninhabited	ADJ
ap-746	25	4	aerial	aerial	ADJ
ap-746	25	5	vehicle	vehicle	NOUN
ap-746	25	6	,	,	PUNCT
ap-746	25	7	computational	computational	ADJ
ap-746	25	8	fluid	fluid	ADJ
ap-746	25	9	dynamics	dynamic	NOUN
ap-746	25	10	,	,	PUNCT
ap-746	25	11	solid	solid	ADJ
ap-746	25	12	modeling	modeling	NOUN
ap-746	25	13	,	,	PUNCT
ap-746	25	14	rapid	rapid	ADJ
ap-746	25	15	prototyping	prototyping	NOUN
ap-746	25	16	.	.	PUNCT
ap-746	26	1	fig	fig	NOUN
ap-746	26	2	.	.	PUNCT
ap-746	27	1	1	1	NUM
ap-746	27	2	:	:	PUNCT
ap-746	27	3	prototype	prototype	NOUN
ap-746	27	4	of	of	ADP
ap-746	27	5	the	the	DET
ap-746	27	6	uav	uav	PROPN
ap-746	27	7	lage	lage	PROPN
ap-746	27	8	sizably	sizably	ADV
ap-746	27	9	improves	improve	VERB
ap-746	27	10	rotor	rotor	NOUN
ap-746	27	11	performance	performance	NOUN
ap-746	27	12	in	in	ADP
ap-746	27	13	hovering	hover	VERB
ap-746	27	14	and	and	CCONJ
ap-746	27	15	at	at	ADP
ap-746	27	16	low	low	ADJ
ap-746	27	17	-	-	PUNCT
ap-746	27	18	speed	speed	NOUN
ap-746	27	19	[	[	X
ap-746	27	20	6	6	NUM
ap-746	27	21	]	]	PUNCT
ap-746	27	22	,	,	PUNCT
ap-746	27	23	while	while	SCONJ
ap-746	27	24	protecting	protect	VERB
ap-746	27	25	them	they	PRON
ap-746	27	26	in	in	ADP
ap-746	27	27	the	the	DET
ap-746	27	28	case	case	NOUN
ap-746	27	29	of	of	ADP
ap-746	27	30	low	low	ADJ
ap-746	27	31	-	-	PUNCT
ap-746	27	32	speed	speed	NOUN
ap-746	27	33	impacts	impact	NOUN
ap-746	27	34	against	against	ADP
ap-746	27	35	obstacles	obstacle	NOUN
ap-746	27	36	,	,	PUNCT
ap-746	27	37	thus	thus	ADV
ap-746	27	38	increasing	increase	VERB
ap-746	27	39	the	the	DET
ap-746	27	40	safety	safety	NOUN
ap-746	27	41	level	level	NOUN
ap-746	27	42	for	for	ADP
ap-746	27	43	nearby	nearby	ADJ
ap-746	27	44	personnel	personnel	NOUN
ap-746	27	45	during	during	ADP
ap-746	27	46	ground	ground	NOUN
ap-746	27	47	operations	operation	NOUN
ap-746	27	48	with	with	ADP
ap-746	27	49	respect	respect	NOUN
ap-746	27	50	to	to	ADP
ap-746	27	51	a	a	DET
ap-746	27	52	more	more	ADV
ap-746	27	53	conventional	conventional	ADJ
ap-746	27	54	rotary	rotary	ADJ
ap-746	27	55	-	-	PUNCT
ap-746	27	56	wing	wing	NOUN
ap-746	27	57	configuration	configuration	NOUN
ap-746	27	58	with	with	ADP
ap-746	27	59	unprotected	unprotected	ADJ
ap-746	27	60	rotors	rotor	NOUN
ap-746	27	61	.	.	PUNCT
ap-746	28	1	these	these	DET
ap-746	28	2	features	feature	NOUN
ap-746	28	3	will	will	AUX
ap-746	28	4	provide	provide	VERB
ap-746	28	5	the	the	DET
ap-746	28	6	vehicle	vehicle	NOUN
ap-746	28	7	with	with	ADP
ap-746	28	8	unique	unique	ADJ
ap-746	28	9	maneuvering	maneuvering	NOUN
ap-746	28	10	capabilities	capability	NOUN
ap-746	28	11	in	in	ADP
ap-746	28	12	a	a	DET
ap-746	28	13	confined	confine	VERB
ap-746	28	14	space	space	NOUN
ap-746	28	15	and	and	CCONJ
ap-746	28	16	sensor	sensor	NOUN
ap-746	28	17	aiming	aim	VERB
ap-746	28	18	during	during	ADP
ap-746	28	19	forward	forward	ADJ
ap-746	28	20	flight	flight	NOUN
ap-746	28	21	.	.	PUNCT
ap-746	29	1	the	the	DET
ap-746	29	2	drawbacks	drawback	NOUN
ap-746	29	3	of	of	ADP
ap-746	29	4	such	such	DET
ap-746	29	5	a	a	DET
ap-746	29	6	configuration	configuration	NOUN
ap-746	29	7	are	be	AUX
ap-746	29	8	(	(	PUNCT
ap-746	29	9	i	i	NOUN
ap-746	29	10	)	)	PUNCT
ap-746	29	11	a	a	DET
ap-746	29	12	relevant	relevant	ADJ
ap-746	29	13	penalty	penalty	NOUN
ap-746	29	14	in	in	ADP
ap-746	29	15	terms	term	NOUN
ap-746	29	16	of	of	ADP
ap-746	29	17	performance	performance	NOUN
ap-746	29	18	in	in	ADP
ap-746	29	19	forward	forward	ADJ
ap-746	29	20	flight	flight	NOUN
ap-746	29	21	,	,	PUNCT
ap-746	29	22	due	due	ADP
ap-746	29	23	to	to	ADP
ap-746	29	24	the	the	DET
ap-746	29	25	pitch	pitch	NOUN
ap-746	29	26	-	-	PUNCT
ap-746	29	27	down	down	ADP
ap-746	29	28	attitude	attitude	NOUN
ap-746	29	29	necessary	necessary	ADJ
ap-746	29	30	to	to	PART
ap-746	29	31	maintain	maintain	VERB
ap-746	29	32	a	a	DET
ap-746	29	33	trim	trim	NOUN
ap-746	29	34	condition	condition	NOUN
ap-746	29	35	at	at	ADP
ap-746	29	36	high	high	ADJ
ap-746	29	37	speed	speed	NOUN
ap-746	29	38	,	,	PUNCT
ap-746	29	39	with	with	ADP
ap-746	29	40	an	an	DET
ap-746	29	41	increase	increase	NOUN
ap-746	29	42	of	of	ADP
ap-746	29	43	frontal	frontal	ADJ
ap-746	29	44	area	area	NOUN
ap-746	29	45	and	and	CCONJ
ap-746	29	46	,	,	PUNCT
ap-746	29	47	thus	thus	ADV
ap-746	29	48	,	,	PUNCT
ap-746	29	49	of	of	ADP
ap-746	29	50	the	the	DET
ap-746	29	51	total	total	ADJ
ap-746	29	52	drag	drag	NOUN
ap-746	29	53	,	,	PUNCT
ap-746	29	54	and	and	CCONJ
ap-746	29	55	(	(	PUNCT
ap-746	29	56	ii	ii	NOUN
ap-746	29	57	)	)	PUNCT
ap-746	29	58	the	the	DET
ap-746	29	59	inherent	inherent	ADJ
ap-746	29	60	instability	instability	NOUN
ap-746	29	61	of	of	ADP
ap-746	29	62	the	the	DET
ap-746	29	63	unaugmented	unaugmented	ADJ
ap-746	29	64	aircraft	aircraft	NOUN
ap-746	29	65	dynamics	dynamic	NOUN
ap-746	29	66	,	,	PUNCT
ap-746	29	67	due	due	ADP
ap-746	29	68	to	to	ADP
ap-746	29	69	the	the	DET
ap-746	29	70	absence	absence	NOUN
ap-746	29	71	of	of	ADP
ap-746	29	72	any	any	DET
ap-746	29	73	stabilizing	stabilize	VERB
ap-746	29	74	surface	surface	NOUN
ap-746	29	75	,	,	PUNCT
ap-746	29	76	as	as	SCONJ
ap-746	29	77	discussed	discuss	VERB
ap-746	29	78	in	in	ADP
ap-746	29	79	detail	detail	NOUN
ap-746	29	80	in	in	ADP
ap-746	29	81	[	[	X
ap-746	29	82	6	6	NUM
ap-746	29	83	]	]	PUNCT
ap-746	29	84	and	and	CCONJ
ap-746	29	85	[	[	X
ap-746	29	86	7	7	NUM
ap-746	29	87	]	]	PUNCT
ap-746	29	88	.	.	PUNCT
ap-746	30	1	there	there	PRON
ap-746	30	2	are	be	VERB
ap-746	30	3	some	some	DET
ap-746	30	4	other	other	ADJ
ap-746	30	5	vehicles	vehicle	NOUN
ap-746	30	6	,	,	PUNCT
ap-746	30	7	such	such	ADJ
ap-746	30	8	as	as	ADP
ap-746	30	9	the	the	DET
ap-746	30	10	istar	istar	PROPN
ap-746	30	11	mav	mav	PROPN
ap-746	31	1	[	[	X
ap-746	31	2	8	8	NUM
ap-746	31	3	]	]	PUNCT
ap-746	31	4	,	,	PUNCT
ap-746	31	5	that	that	PRON
ap-746	31	6	exploit	exploit	VERB
ap-746	31	7	the	the	DET
ap-746	31	8	benefits	benefit	NOUN
ap-746	31	9	of	of	ADP
ap-746	31	10	the	the	DET
ap-746	31	11	ducted	ducte	VERB
ap-746	31	12	fan	fan	NOUN
ap-746	31	13	.	.	PUNCT
ap-746	32	1	nonetheless	nonetheless	ADV
ap-746	32	2	the	the	DET
ap-746	32	3	istar	istar	PROPN
ap-746	32	4	mav	mav	PROPN
ap-746	32	5	is	be	AUX
ap-746	32	6	significantly	significantly	ADV
ap-746	32	7	different	different	ADJ
ap-746	32	8	,	,	PUNCT
ap-746	32	9	inasmuch	inasmuch	ADJ
ap-746	32	10	as	as	SCONJ
ap-746	32	11	it	it	PRON
ap-746	32	12	uses	use	VERB
ap-746	32	13	a	a	DET
ap-746	32	14	ducted	ducte	VERB
ap-746	32	15	,	,	PUNCT
ap-746	32	16	constant	constant	ADJ
ap-746	32	17	pitch	pitch	NOUN
ap-746	32	18	propeller	propeller	NOUN
ap-746	32	19	for	for	ADP
ap-746	32	20	thrust	thrust	NOUN
ap-746	32	21	generation	generation	NOUN
ap-746	32	22	,	,	PUNCT
ap-746	32	23	thrust	thrust	VERB
ap-746	32	24	modulation	modulation	NOUN
ap-746	32	25	being	be	AUX
ap-746	32	26	achieved	achieve	VERB
ap-746	32	27	by	by	ADP
ap-746	32	28	engine	engine	NOUN
ap-746	32	29	rpm	rpm	NOUN
ap-746	32	30	control	control	NOUN
ap-746	32	31	,	,	PUNCT
ap-746	32	32	and	and	CCONJ
ap-746	32	33	control	control	NOUN
ap-746	32	34	moments	moment	NOUN
ap-746	32	35	being	be	AUX
ap-746	32	36	generated	generate	VERB
ap-746	32	37	by	by	ADP
ap-746	32	38	vanes	vane	NOUN
ap-746	32	39	in	in	ADP
ap-746	32	40	the	the	DET
ap-746	32	41	propeller	propeller	NOUN
ap-746	32	42	wake	wake	NOUN
ap-746	32	43	.	.	PUNCT
ap-746	33	1	conversion	conversion	NOUN
ap-746	33	2	to	to	ADP
ap-746	33	3	an	an	DET
ap-746	33	4	airplane	airplane	NOUN
ap-746	33	5	-	-	PUNCT
ap-746	33	6	like	like	ADJ
ap-746	33	7	attitude	attitude	NOUN
ap-746	33	8	is	be	AUX
ap-746	33	9	necessary	necessary	ADJ
ap-746	33	10	for	for	ADP
ap-746	33	11	high	high	ADJ
ap-746	33	12	-	-	PUNCT
ap-746	33	13	speed	speed	NOUN
ap-746	33	14	flight	flight	NOUN
ap-746	33	15	and	and	CCONJ
ap-746	33	16	the	the	DET
ap-746	33	17	(	(	PUNCT
ap-746	33	18	usually	usually	ADV
ap-746	33	19	small	small	ADJ
ap-746	33	20	)	)	PUNCT
ap-746	33	21	payload	payload	NOUN
ap-746	33	22	is	be	AUX
ap-746	33	23	placed	place	VERB
ap-746	33	24	in	in	ADP
ap-746	33	25	the	the	DET
ap-746	33	26	central	central	ADJ
ap-746	33	27	hub	hub	NOUN
ap-746	33	28	.	.	PUNCT
ap-746	34	1	the	the	DET
ap-746	34	2	only	only	ADJ
ap-746	34	3	vehicle	vehicle	NOUN
ap-746	34	4	of	of	ADP
ap-746	34	5	comparable	comparable	ADJ
ap-746	34	6	size	size	NOUN
ap-746	34	7	with	with	ADP
ap-746	34	8	a	a	DET
ap-746	34	9	configuration	configuration	NOUN
ap-746	34	10	similar	similar	ADJ
ap-746	34	11	to	to	ADP
ap-746	34	12	that	that	PRON
ap-746	34	13	of	of	ADP
ap-746	34	14	“	"	PUNCT
ap-746	34	15	ro.w.en.a	ro.w.en.a	NOUN
ap-746	34	16	”	"	PUNCT
ap-746	34	17	is	be	AUX
ap-746	34	18	the	the	DET
ap-746	34	19	sikorsky	sikorsky	PROPN
ap-746	34	20	cypher	cypher	NOUN
ap-746	35	1	[	[	X
ap-746	35	2	9	9	NUM
ap-746	35	3	]	]	PUNCT
ap-746	35	4	,	,	PUNCT
ap-746	35	5	but	but	CCONJ
ap-746	35	6	many	many	ADJ
ap-746	35	7	distinctive	distinctive	ADJ
ap-746	35	8	features	feature	NOUN
ap-746	35	9	make	make	VERB
ap-746	35	10	the	the	DET
ap-746	35	11	rotorcraft	rotorcraft	NOUN
ap-746	35	12	presented	present	VERB
ap-746	35	13	in	in	ADP
ap-746	35	14	this	this	DET
ap-746	35	15	paper	paper	NOUN
ap-746	35	16	a	a	DET
ap-746	35	17	completely	completely	ADV
ap-746	35	18	original	original	ADJ
ap-746	35	19	machine	machine	NOUN
ap-746	35	20	.	.	PUNCT
ap-746	36	1	the	the	DET
ap-746	36	2	cypher	cypher	PROPN
ap-746	36	3	is	be	AUX
ap-746	36	4	devoted	devote	VERB
ap-746	36	5	primarily	primarily	ADV
ap-746	36	6	to	to	ADP
ap-746	36	7	military	military	ADJ
ap-746	36	8	uses	use	NOUN
ap-746	36	9	and	and	CCONJ
ap-746	36	10	,	,	PUNCT
ap-746	36	11	in	in	ADP
ap-746	36	12	this	this	DET
ap-746	36	13	sense	sense	NOUN
ap-746	36	14	,	,	PUNCT
ap-746	36	15	it	it	PRON
ap-746	36	16	was	be	AUX
ap-746	36	17	designed	design	VERB
ap-746	36	18	as	as	ADP
ap-746	36	19	an	an	DET
ap-746	36	20	expendable	expendable	ADJ
ap-746	36	21	,	,	PUNCT
ap-746	36	22	single	single	ADJ
ap-746	36	23	engine	engine	NOUN
ap-746	36	24	vehicle	vehicle	NOUN
ap-746	36	25	.	.	PUNCT
ap-746	37	1	by	by	ADP
ap-746	37	2	contrast	contrast	NOUN
ap-746	37	3	,	,	PUNCT
ap-746	37	4	the	the	DET
ap-746	37	5	uav	uav	PROPN
ap-746	37	6	currently	currently	ADV
ap-746	37	7	under	under	ADP
ap-746	37	8	development	development	NOUN
ap-746	37	9	at	at	ADP
ap-746	37	10	dae	dae	NOUN
ap-746	37	11	and	and	CCONJ
ap-746	37	12	dma	dma	PROPN
ap-746	37	13	is	be	AUX
ap-746	37	14	aimed	aim	VERB
ap-746	37	15	at	at	ADP
ap-746	37	16	civil	civil	ADJ
ap-746	37	17	and/or	and/or	CCONJ
ap-746	37	18	scientific	scientific	ADJ
ap-746	37	19	applications	application	NOUN
ap-746	37	20	,	,	PUNCT
ap-746	37	21	where	where	SCONJ
ap-746	37	22	the	the	DET
ap-746	37	23	issue	issue	NOUN
ap-746	37	24	of	of	ADP
ap-746	37	25	safety	safety	NOUN
ap-746	37	26	for	for	ADP
ap-746	37	27	both	both	CCONJ
ap-746	37	28	payload	payload	NOUN
ap-746	37	29	and	and	CCONJ
ap-746	37	30	surrounding	surround	VERB
ap-746	37	31	personnel	personnel	NOUN
ap-746	37	32	is	be	AUX
ap-746	37	33	a	a	DET
ap-746	37	34	major	major	ADJ
ap-746	37	35	concern	concern	NOUN
ap-746	37	36	.	.	PUNCT
ap-746	38	1	in	in	ADP
ap-746	38	2	this	this	DET
ap-746	38	3	framework	framework	NOUN
ap-746	38	4	,	,	PUNCT
ap-746	38	5	the	the	DET
ap-746	38	6	design	design	NOUN
ap-746	38	7	of	of	ADP
ap-746	38	8	a	a	DET
ap-746	38	9	small	small	ADJ
ap-746	38	10	-	-	PUNCT
ap-746	38	11	size	size	NOUN
ap-746	38	12	,	,	PUNCT
ap-746	38	13	multi	multi	ADJ
ap-746	38	14	-	-	ADJ
ap-746	38	15	engine	engine	ADJ
ap-746	38	16	machine	machine	NOUN
ap-746	38	17	,	,	PUNCT
ap-746	38	18	capable	capable	ADJ
ap-746	38	19	of	of	ADP
ap-746	38	20	performing	perform	VERB
ap-746	38	21	one	one	NUM
ap-746	38	22	-	-	PUNCT
ap-746	38	23	engine	engine	NOUN
ap-746	38	24	-	-	PUNCT
ap-746	38	25	out	out	ADP
ap-746	38	26	emergency	emergency	NOUN
ap-746	38	27	landings	landing	NOUN
ap-746	38	28	is	be	AUX
ap-746	38	29	far	far	ADV
ap-746	38	30	from	from	ADP
ap-746	38	31	being	be	AUX
ap-746	38	32	a	a	DET
ap-746	38	33	trivial	trivial	ADJ
ap-746	38	34	task	task	NOUN
ap-746	38	35	.	.	PUNCT
ap-746	39	1	moreover	moreover	ADV
ap-746	39	2	,	,	PUNCT
ap-746	39	3	a	a	DET
ap-746	39	4	vehicle	vehicle	NOUN
ap-746	39	5	developed	develop	VERB
ap-746	39	6	industrially	industrially	ADV
ap-746	39	7	can	can	AUX
ap-746	39	8	rely	rely	VERB
ap-746	39	9	upon	upon	SCONJ
ap-746	39	10	the	the	DET
ap-746	39	11	most	most	ADV
ap-746	39	12	advanced	advanced	ADJ
ap-746	39	13	technologies	technology	NOUN
ap-746	39	14	,	,	PUNCT
ap-746	39	15	such	such	ADJ
ap-746	39	16	as	as	ADP
ap-746	39	17	the	the	DET
ap-746	39	18	advancing	advance	VERB
ap-746	39	19	blade	blade	NOUN
ap-746	39	20	concept	concept	NOUN
ap-746	39	21	(	(	PUNCT
ap-746	39	22	abc	abc	PROPN
ap-746	39	23	)	)	PUNCT
ap-746	39	24	,	,	PUNCT
ap-746	39	25	for	for	ADP
ap-746	39	26	solving	solve	VERB
ap-746	39	27	the	the	DET
ap-746	39	28	problem	problem	NOUN
ap-746	39	29	of	of	ADP
ap-746	39	30	the	the	DET
ap-746	39	31	retreating	retreat	VERB
ap-746	39	32	blade	blade	NOUN
ap-746	39	33	stall	stall	NOUN
ap-746	39	34	at	at	ADP
ap-746	39	35	high	high	ADJ
ap-746	39	36	speed	speed	NOUN
ap-746	39	37	,	,	PUNCT
ap-746	39	38	and	and	CCONJ
ap-746	39	39	elastomeric	elastomeric	ADJ
ap-746	39	40	joints	joint	NOUN
ap-746	39	41	for	for	ADP
ap-746	39	42	blade	blade	NOUN
ap-746	39	43	pitch	pitch	NOUN
ap-746	39	44	control	control	NOUN
ap-746	39	45	,	,	PUNCT
ap-746	39	46	technologies	technology	NOUN
ap-746	39	47	that	that	PRON
ap-746	39	48	are	be	AUX
ap-746	39	49	ruled	rule	VERB
ap-746	39	50	out	out	ADP
ap-746	39	51	in	in	ADP
ap-746	39	52	a	a	DET
ap-746	39	53	research	research	NOUN
ap-746	39	54	program	program	NOUN
ap-746	39	55	developed	develop	VERB
ap-746	39	56	under	under	ADP
ap-746	39	57	the	the	DET
ap-746	39	58	tight	tight	ADJ
ap-746	39	59	budget	budget	NOUN
ap-746	39	60	constraints	constraint	NOUN
ap-746	39	61	typical	typical	ADJ
ap-746	39	62	of	of	ADP
ap-746	39	63	an	an	DET
ap-746	39	64	academic	academic	ADJ
ap-746	39	65	framework	framework	NOUN
ap-746	39	66	.	.	PUNCT
ap-746	40	1	as	as	ADP
ap-746	40	2	for	for	ADP
ap-746	40	3	the	the	DET
ap-746	40	4	mechanical	mechanical	ADJ
ap-746	40	5	assembly	assembly	NOUN
ap-746	40	6	,	,	PUNCT
ap-746	40	7	the	the	DET
ap-746	40	8	engine	engine	NOUN
ap-746	40	9	unit	unit	NOUN
ap-746	40	10	is	be	AUX
ap-746	40	11	probably	probably	ADV
ap-746	40	12	the	the	DET
ap-746	40	13	most	most	ADV
ap-746	40	14	complex	complex	ADJ
ap-746	40	15	,	,	PUNCT
ap-746	40	16	wholly	wholly	ADV
ap-746	40	17	original	original	ADJ
ap-746	40	18	component	component	NOUN
ap-746	40	19	of	of	ADP
ap-746	40	20	the	the	DET
ap-746	40	21	vehicle	vehicle	NOUN
ap-746	40	22	.	.	PUNCT
ap-746	41	1	this	this	DET
ap-746	41	2	unit	unit	NOUN
ap-746	41	3	is	be	AUX
ap-746	41	4	made	make	VERB
ap-746	41	5	of	of	ADP
ap-746	41	6	three	three	NUM
ap-746	41	7	two	two	NUM
ap-746	41	8	-	-	PUNCT
ap-746	41	9	stroke	stroke	NOUN
ap-746	41	10	,	,	PUNCT
ap-746	41	11	air	air	NOUN
ap-746	41	12	cooled	cool	VERB
ap-746	41	13	piston	piston	NOUN
ap-746	41	14	engines	engine	NOUN
ap-746	41	15	,	,	PUNCT
ap-746	41	16	coupled	couple	VERB
ap-746	41	17	with	with	ADP
ap-746	41	18	two	two	NUM
ap-746	41	19	counter	counter	ADJ
ap-746	41	20	-	-	ADJ
ap-746	41	21	rotating	rotating	ADJ
ap-746	41	22	,	,	PUNCT
ap-746	41	23	three	three	NUM
ap-746	41	24	-	-	PUNCT
ap-746	41	25	bladed	bladed	ADJ
ap-746	41	26	rotors	rotor	NOUN
ap-746	41	27	with	with	ADP
ap-746	41	28	composite	composite	ADJ
ap-746	41	29	,	,	PUNCT
ap-746	41	30	rigid	rigid	ADJ
ap-746	41	31	blades	blade	NOUN
ap-746	41	32	.	.	PUNCT
ap-746	42	1	the	the	DET
ap-746	42	2	engines	engine	NOUN
ap-746	42	3	are	be	AUX
ap-746	42	4	mounted	mount	VERB
ap-746	42	5	on	on	ADP
ap-746	42	6	a	a	DET
ap-746	42	7	titanium	titanium	NOUN
ap-746	42	8	mount	mount	NOUN
ap-746	42	9	,	,	PUNCT
ap-746	42	10	and	and	CCONJ
ap-746	42	11	lie	lie	VERB
ap-746	42	12	downstream	downstream	ADV
ap-746	42	13	of	of	ADP
ap-746	42	14	the	the	DET
ap-746	42	15	rotor	rotor	NOUN
ap-746	42	16	,	,	PUNCT
ap-746	42	17	in	in	ADP
ap-746	42	18	order	order	NOUN
ap-746	42	19	to	to	PART
ap-746	42	20	maximize	maximize	VERB
ap-746	42	21	the	the	DET
ap-746	42	22	cooling	cool	VERB
ap-746	42	23	effect	effect	NOUN
ap-746	42	24	of	of	ADP
ap-746	42	25	the	the	DET
ap-746	42	26	wake	wake	NOUN
ap-746	42	27	,	,	PUNCT
ap-746	42	28	thus	thus	ADV
ap-746	42	29	avoiding	avoid	VERB
ap-746	42	30	the	the	DET
ap-746	42	31	complexity	complexity	NOUN
ap-746	42	32	and	and	CCONJ
ap-746	42	33	weight	weight	NOUN
ap-746	42	34	of	of	ADP
ap-746	42	35	a	a	DET
ap-746	42	36	liquid	liquid	ADJ
ap-746	42	37	cooling	cool	VERB
ap-746	42	38	system	system	NOUN
ap-746	42	39	.	.	PUNCT
ap-746	43	1	each	each	DET
ap-746	43	2	engine	engine	NOUN
ap-746	43	3	is	be	AUX
ap-746	43	4	connected	connect	VERB
ap-746	43	5	by	by	ADP
ap-746	43	6	its	its	PRON
ap-746	43	7	own	own	ADJ
ap-746	43	8	drive	drive	NOUN
ap-746	43	9	train	train	NOUN
ap-746	43	10	to	to	ADP
ap-746	43	11	the	the	DET
ap-746	43	12	main	main	ADJ
ap-746	43	13	rotor	rotor	NOUN
ap-746	43	14	gear	gear	NOUN
ap-746	43	15	.	.	PUNCT
ap-746	44	1	inside	inside	ADP
ap-746	44	2	the	the	DET
ap-746	44	3	pinion	pinion	NOUN
ap-746	44	4	,	,	PUNCT
ap-746	44	5	a	a	DET
ap-746	44	6	system	system	NOUN
ap-746	44	7	of	of	ADP
ap-746	44	8	clutch	clutch	ADJ
ap-746	44	9	and	and	CCONJ
ap-746	44	10	free	free	ADJ
ap-746	44	11	wheels	wheel	NOUN
ap-746	44	12	will	will	AUX
ap-746	44	13	isolate	isolate	VERB
ap-746	44	14	the	the	DET
ap-746	44	15	failed	fail	VERB
ap-746	44	16	engine	engine	NOUN
ap-746	44	17	,	,	PUNCT
ap-746	44	18	as	as	ADV
ap-746	44	19	soon	soon	ADV
ap-746	44	20	as	as	SCONJ
ap-746	44	21	it	it	PRON
ap-746	44	22	does	do	AUX
ap-746	44	23	not	not	PART
ap-746	44	24	deliver	deliver	VERB
ap-746	44	25	torque	torque	NOUN
ap-746	44	26	to	to	ADP
ap-746	44	27	the	the	DET
ap-746	44	28	main	main	ADJ
ap-746	44	29	gear	gear	NOUN
ap-746	44	30	,	,	PUNCT
ap-746	44	31	in	in	ADP
ap-746	44	32	order	order	NOUN
ap-746	44	33	to	to	PART
ap-746	44	34	avoid	avoid	VERB
ap-746	44	35	the	the	DET
ap-746	44	36	possibility	possibility	NOUN
ap-746	44	37	that	that	SCONJ
ap-746	44	38	the	the	DET
ap-746	44	39	failure	failure	NOUN
ap-746	44	40	of	of	ADP
ap-746	44	41	one	one	NUM
ap-746	44	42	of	of	ADP
ap-746	44	43	the	the	DET
ap-746	44	44	engines	engine	NOUN
ap-746	44	45	stops	stop	VERB
ap-746	44	46	the	the	DET
ap-746	44	47	other	other	ADJ
ap-746	44	48	two	two	NUM
ap-746	44	49	.	.	PUNCT
ap-746	45	1	the	the	DET
ap-746	45	2	maximum	maximum	ADJ
ap-746	45	3	power	power	NOUN
ap-746	45	4	delivered	deliver	VERB
ap-746	45	5	by	by	ADP
ap-746	45	6	two	two	NUM
ap-746	45	7	engines	engine	NOUN
ap-746	45	8	should	should	AUX
ap-746	45	9	be	be	AUX
ap-746	45	10	sufficient	sufficient	ADJ
ap-746	45	11	for	for	ADP
ap-746	45	12	safely	safely	ADV
ap-746	45	13	landing	land	VERB
ap-746	45	14	the	the	DET
ap-746	45	15	rotorcraft	rotorcraft	NOUN
ap-746	45	16	,	,	PUNCT
ap-746	45	17	as	as	SCONJ
ap-746	45	18	demonstrated	demonstrate	VERB
ap-746	45	19	by	by	ADP
ap-746	45	20	the	the	DET
ap-746	45	21	power	power	NOUN
ap-746	45	22	requirement	requirement	NOUN
ap-746	45	23	estimate	estimate	NOUN
ap-746	45	24	of	of	ADP
ap-746	45	25	[	[	X
ap-746	45	26	6	6	NUM
ap-746	45	27	]	]	PUNCT
ap-746	45	28	.	.	PUNCT
ap-746	46	1	the	the	DET
ap-746	46	2	main	main	ADJ
ap-746	46	3	gear	gear	NOUN
ap-746	46	4	drives	drive	VERB
ap-746	46	5	the	the	DET
ap-746	46	6	lower	low	ADJ
ap-746	46	7	rotor	rotor	NOUN
ap-746	46	8	,	,	PUNCT
ap-746	46	9	while	while	SCONJ
ap-746	46	10	the	the	DET
ap-746	46	11	upper	upper	ADJ
ap-746	46	12	rotor	rotor	NOUN
ap-746	46	13	is	be	AUX
ap-746	46	14	driven	drive	VERB
ap-746	46	15	by	by	ADP
ap-746	46	16	the	the	DET
ap-746	46	17	reverse	reverse	ADJ
ap-746	46	18	gear	gear	NOUN
ap-746	46	19	.	.	PUNCT
ap-746	47	1	with	with	ADP
ap-746	47	2	this	this	DET
ap-746	47	3	configuration	configuration	NOUN
ap-746	47	4	,	,	PUNCT
ap-746	47	5	no	no	DET
ap-746	47	6	rotating	rotate	VERB
ap-746	47	7	shaft	shaft	NOUN
ap-746	47	8	is	be	AUX
ap-746	47	9	present	present	ADJ
ap-746	47	10	and	and	CCONJ
ap-746	47	11	this	this	PRON
ap-746	47	12	,	,	PUNCT
ap-746	47	13	in	in	ADP
ap-746	47	14	turn	turn	NOUN
ap-746	47	15	,	,	PUNCT
ap-746	47	16	results	result	VERB
ap-746	47	17	in	in	ADP
ap-746	47	18	a	a	DET
ap-746	47	19	reduced	reduce	VERB
ap-746	47	20	vibration	vibration	NOUN
ap-746	47	21	level	level	NOUN
ap-746	47	22	,	,	PUNCT
ap-746	47	23	a	a	DET
ap-746	47	24	feature	feature	NOUN
ap-746	47	25	that	that	PRON
ap-746	47	26	was	be	AUX
ap-746	47	27	experimentally	experimentally	ADV
ap-746	47	28	verified	verify	VERB
ap-746	47	29	during	during	ADP
ap-746	47	30	the	the	DET
ap-746	47	31	ground	ground	NOUN
ap-746	47	32	testing	testing	NOUN
ap-746	47	33	of	of	ADP
ap-746	47	34	the	the	DET
ap-746	47	35	rotors	rotor	NOUN
ap-746	47	36	described	describe	VERB
ap-746	47	37	in	in	ADP
ap-746	47	38	[	[	X
ap-746	47	39	4	4	NUM
ap-746	47	40	]	]	PUNCT
ap-746	47	41	,	,	PUNCT
ap-746	47	42	up	up	ADP
ap-746	47	43	to	to	ADP
ap-746	47	44	the	the	DET
ap-746	47	45	nominal	nominal	ADJ
ap-746	47	46	rotor	rotor	NOUN
ap-746	47	47	speed	speed	NOUN
ap-746	47	48	of	of	ADP
ap-746	47	49	3,000	3,000	NUM
ap-746	47	50	rpm	rpm	NOUN
ap-746	47	51	.	.	PUNCT
ap-746	48	1	the	the	DET
ap-746	48	2	control	control	NOUN
ap-746	48	3	of	of	ADP
ap-746	48	4	thrust	thrust	NOUN
ap-746	48	5	and	and	CCONJ
ap-746	48	6	moments	moment	NOUN
ap-746	48	7	generated	generate	VERB
ap-746	48	8	by	by	ADP
ap-746	48	9	the	the	DET
ap-746	48	10	shrouded	shrouded	ADJ
ap-746	48	11	rotors	rotor	NOUN
ap-746	48	12	is	be	AUX
ap-746	48	13	achieved	achieve	VERB
ap-746	48	14	by	by	ADP
ap-746	48	15	means	mean	NOUN
ap-746	48	16	of	of	ADP
ap-746	48	17	two	two	NUM
ap-746	48	18	independent	independent	ADJ
ap-746	48	19	,	,	PUNCT
ap-746	48	20	helicopter	helicopter	NOUN
ap-746	48	21	-	-	PUNCT
ap-746	48	22	like	like	ADJ
ap-746	48	23	swashplates	swashplate	NOUN
ap-746	48	24	,	,	PUNCT
ap-746	48	25	the	the	DET
ap-746	48	26	position	position	NOUN
ap-746	48	27	of	of	ADP
ap-746	48	28	which	which	PRON
ap-746	48	29	is	be	AUX
ap-746	48	30	determined	determine	VERB
ap-746	48	31	by	by	ADP
ap-746	48	32	six	six	NUM
ap-746	48	33	couples	couple	NOUN
ap-746	48	34	of	of	ADP
ap-746	48	35	rotary	rotary	ADJ
ap-746	48	36	digital	digital	ADJ
ap-746	48	37	pwm	pwm	NOUN
ap-746	48	38	servos	servo	NOUN
ap-746	48	39	.	.	PUNCT
ap-746	49	1	the	the	DET
ap-746	49	2	carbon	carbon	NOUN
ap-746	49	3	fiber	fiber	NOUN
ap-746	49	4	blades	blade	NOUN
ap-746	49	5	are	be	AUX
ap-746	49	6	mounted	mount	VERB
ap-746	49	7	on	on	ADP
ap-746	49	8	steel	steel	NOUN
ap-746	49	9	pivots	pivot	NOUN
ap-746	49	10	,	,	PUNCT
ap-746	49	11	which	which	PRON
ap-746	49	12	must	must	AUX
ap-746	49	13	be	be	AUX
ap-746	49	14	capable	capable	ADJ
ap-746	49	15	of	of	ADP
ap-746	49	16	standing	stand	VERB
ap-746	49	17	both	both	CCONJ
ap-746	49	18	a	a	DET
ap-746	49	19	very	very	ADV
ap-746	49	20	high	high	ADJ
ap-746	49	21	static	static	ADJ
ap-746	49	22	load	load	NOUN
ap-746	49	23	due	due	ADP
ap-746	49	24	to	to	ADP
ap-746	49	25	the	the	DET
ap-746	49	26	centrifugal	centrifugal	ADJ
ap-746	49	27	force	force	NOUN
ap-746	49	28	acting	act	VERB
ap-746	49	29	on	on	ADP
ap-746	49	30	the	the	DET
ap-746	49	31	blades	blade	NOUN
ap-746	49	32	and	and	CCONJ
ap-746	49	33	the	the	DET
ap-746	49	34	high	high	ADJ
ap-746	49	35	frequency	frequency	NOUN
ap-746	49	36	dynamic	dynamic	ADJ
ap-746	49	37	loads	load	NOUN
ap-746	49	38	due	due	ADJ
ap-746	49	39	to	to	PART
ap-746	49	40	blade	blade	VERB
ap-746	49	41	pitch	pitch	NOUN
ap-746	49	42	cyclic	cyclic	ADJ
ap-746	49	43	variation	variation	NOUN
ap-746	49	44	.	.	PUNCT
ap-746	50	1	the	the	DET
ap-746	50	2	high	high	ADJ
ap-746	50	3	frequency	frequency	NOUN
ap-746	50	4	load	load	NOUN
ap-746	50	5	also	also	ADV
ap-746	50	6	challenges	challenge	VERB
ap-746	50	7	the	the	DET
ap-746	50	8	electrical	electrical	ADJ
ap-746	50	9	servos	servo	NOUN
ap-746	50	10	.	.	PUNCT
ap-746	51	1	in	in	ADP
ap-746	51	2	this	this	DET
ap-746	51	3	respect	respect	NOUN
ap-746	51	4	,	,	PUNCT
ap-746	51	5	digitally	digitally	ADV
ap-746	51	6	controlled	control	VERB
ap-746	51	7	pwm	pwm	NOUN
ap-746	51	8	servos	servo	NOUN
ap-746	51	9	can	can	AUX
ap-746	51	10	stand	stand	VERB
ap-746	51	11	such	such	DET
ap-746	51	12	a	a	DET
ap-746	51	13	load	load	NOUN
ap-746	51	14	only	only	ADV
ap-746	51	15	if	if	SCONJ
ap-746	51	16	used	use	VERB
ap-746	51	17	in	in	ADP
ap-746	51	18	a	a	DET
ap-746	51	19	coupled	couple	VERB
ap-746	51	20	configuration	configuration	NOUN
ap-746	51	21	.	.	PUNCT
ap-746	52	1	if	if	SCONJ
ap-746	52	2	on	on	ADP
ap-746	52	3	the	the	DET
ap-746	52	4	one	one	NUM
ap-746	52	5	hand	hand	NOUN
ap-746	52	6	,	,	PUNCT
ap-746	52	7	this	this	DET
ap-746	52	8	choice	choice	NOUN
ap-746	52	9	causes	cause	VERB
ap-746	52	10	a	a	DET
ap-746	52	11	considerable	considerable	ADJ
ap-746	52	12	reduction	reduction	NOUN
ap-746	52	13	of	of	ADP
ap-746	52	14	the	the	DET
ap-746	52	15	overall	overall	ADJ
ap-746	52	16	system	system	NOUN
ap-746	52	17	reliability	reliability	NOUN
ap-746	52	18	,	,	PUNCT
ap-746	52	19	on	on	ADP
ap-746	52	20	the	the	DET
ap-746	52	21	other	other	ADJ
ap-746	52	22	it	it	PRON
ap-746	52	23	allowed	allow	VERB
ap-746	52	24	us	we	PRON
ap-746	52	25	to	to	PART
ap-746	52	26	go	go	VERB
ap-746	52	27	on	on	ADP
ap-746	52	28	with	with	ADP
ap-746	52	29	the	the	DET
ap-746	52	30	research	research	NOUN
ap-746	52	31	program	program	NOUN
ap-746	52	32	without	without	ADP
ap-746	52	33	the	the	DET
ap-746	52	34	development	development	NOUN
ap-746	52	35	of	of	ADP
ap-746	52	36	an	an	DET
ap-746	52	37	ad	ad	NOUN
ap-746	52	38	-	-	PUNCT
ap-746	52	39	hoc	hoc	X
ap-746	52	40	micro	micro	NOUN
ap-746	52	41	-	-	NOUN
ap-746	52	42	actuator	actuator	NOUN
ap-746	52	43	,	,	PUNCT
ap-746	52	44	an	an	DET
ap-746	52	45	activity	activity	NOUN
ap-746	52	46	that	that	PRON
ap-746	52	47	,	,	PUNCT
ap-746	52	48	although	although	SCONJ
ap-746	52	49	representing	represent	VERB
ap-746	52	50	on	on	ADP
ap-746	52	51	its	its	PRON
ap-746	52	52	own	own	ADJ
ap-746	52	53	an	an	DET
ap-746	52	54	interesting	interesting	ADJ
ap-746	52	55	field	field	NOUN
ap-746	52	56	for	for	ADP
ap-746	52	57	the	the	DET
ap-746	52	58	application	application	NOUN
ap-746	52	59	of	of	ADP
ap-746	52	60	advanced	advanced	ADJ
ap-746	52	61	design	design	NOUN
ap-746	52	62	technologies	technology	NOUN
ap-746	52	63	,	,	PUNCT
ap-746	52	64	was	be	AUX
ap-746	52	65	considered	consider	VERB
ap-746	52	66	not	not	PART
ap-746	52	67	strategic	strategic	ADJ
ap-746	52	68	at	at	ADP
ap-746	52	69	the	the	DET
ap-746	52	70	current	current	ADJ
ap-746	52	71	status	status	NOUN
ap-746	52	72	of	of	ADP
ap-746	52	73	the	the	DET
ap-746	52	74	project	project	NOUN
ap-746	52	75	,	,	PUNCT
ap-746	52	76	where	where	SCONJ
ap-746	52	77	the	the	DET
ap-746	52	78	in	in	ADP
ap-746	52	79	-	-	PUNCT
ap-746	52	80	flight	flight	NOUN
ap-746	52	81	demonstration	demonstration	NOUN
ap-746	52	82	of	of	ADP
ap-746	52	83	the	the	DET
ap-746	52	84	vehicle	vehicle	NOUN
ap-746	52	85	concept	concept	NOUN
ap-746	52	86	is	be	AUX
ap-746	52	87	considered	consider	VERB
ap-746	52	88	the	the	DET
ap-746	52	89	main	main	ADJ
ap-746	52	90	objective	objective	NOUN
ap-746	52	91	.	.	PUNCT
ap-746	53	1	in	in	ADP
ap-746	53	2	this	this	DET
ap-746	53	3	respect	respect	NOUN
ap-746	53	4	,	,	PUNCT
ap-746	53	5	the	the	DET
ap-746	53	6	development	development	NOUN
ap-746	53	7	of	of	ADP
ap-746	53	8	a	a	DET
ap-746	53	9	vehicle	vehicle	NOUN
ap-746	53	10	suitable	suitable	ADJ
ap-746	53	11	for	for	ADP
ap-746	53	12	civil	civil	ADJ
ap-746	53	13	applications	application	NOUN
ap-746	53	14	,	,	PUNCT
ap-746	53	15	accompanied	accompany	VERB
ap-746	53	16	by	by	ADP
ap-746	53	17	the	the	DET
ap-746	53	18	requirement	requirement	NOUN
ap-746	53	19	for	for	ADP
ap-746	53	20	the	the	DET
ap-746	53	21	capability	capability	NOUN
ap-746	53	22	of	of	ADP
ap-746	53	23	performing	perform	VERB
ap-746	53	24	an	an	DET
ap-746	53	25	emergency	emergency	NOUN
ap-746	53	26	landing	landing	NOUN
ap-746	53	27	in	in	ADP
ap-746	53	28	case	case	NOUN
ap-746	53	29	of	of	ADP
ap-746	53	30	engine	engine	NOUN
ap-746	53	31	failure	failure	NOUN
ap-746	53	32	,	,	PUNCT
ap-746	53	33	was	be	AUX
ap-746	53	34	already	already	ADV
ap-746	53	35	a	a	DET
ap-746	53	36	very	very	ADV
ap-746	53	37	ambitious	ambitious	ADJ
ap-746	53	38	scope	scope	NOUN
ap-746	53	39	.	.	PUNCT
ap-746	54	1	the	the	DET
ap-746	54	2	multi	multi	ADJ
ap-746	54	3	-	-	ADJ
ap-746	54	4	engine	engine	ADJ
ap-746	54	5	configuration	configuration	NOUN
ap-746	54	6	represents	represent	VERB
ap-746	54	7	a	a	DET
ap-746	54	8	sizeable	sizeable	ADJ
ap-746	54	9	penalty	penalty	NOUN
ap-746	54	10	in	in	ADP
ap-746	54	11	terms	term	NOUN
ap-746	54	12	of	of	ADP
ap-746	54	13	power	power	NOUN
ap-746	54	14	-	-	PUNCT
ap-746	54	15	to	to	ADP
ap-746	54	16	-	-	PUNCT
ap-746	54	17	weight	weight	NOUN
ap-746	54	18	ratio	ratio	NOUN
ap-746	54	19	and	and	CCONJ
ap-746	54	20	overall	overall	ADJ
ap-746	54	21	system	system	NOUN
ap-746	54	22	complexity	complexity	NOUN
ap-746	54	23	,	,	PUNCT
ap-746	54	24	from	from	ADP
ap-746	54	25	both	both	CCONJ
ap-746	54	26	the	the	DET
ap-746	54	27	mechanical	mechanical	ADJ
ap-746	54	28	and	and	CCONJ
ap-746	54	29	avionic	avionic	ADJ
ap-746	54	30	system	system	NOUN
ap-746	54	31	point	point	NOUN
ap-746	54	32	of	of	ADP
ap-746	54	33	view	view	NOUN
ap-746	54	34	.	.	PUNCT
ap-746	55	1	also	also	ADV
ap-746	55	2	,	,	PUNCT
ap-746	55	3	engine	engine	NOUN
ap-746	55	4	start	start	NOUN
ap-746	55	5	-	-	PUNCT
ap-746	55	6	up	up	NOUN
ap-746	55	7	and	and	CCONJ
ap-746	55	8	rotor	rotor	NOUN
ap-746	55	9	speed	speed	NOUN
ap-746	55	10	control	control	NOUN
ap-746	55	11	become	become	VERB
ap-746	55	12	more	more	ADV
ap-746	55	13	complicated	complicated	ADJ
ap-746	55	14	,	,	PUNCT
ap-746	55	15	because	because	SCONJ
ap-746	55	16	it	it	PRON
ap-746	55	17	is	be	AUX
ap-746	55	18	necessary	necessary	ADJ
ap-746	55	19	to	to	PART
ap-746	55	20	properly	properly	ADV
ap-746	55	21	coordinate	coordinate	VERB
ap-746	55	22	the	the	DET
ap-746	55	23	control	control	NOUN
ap-746	55	24	action	action	NOUN
ap-746	55	25	on	on	ADP
ap-746	55	26	three	three	NUM
ap-746	55	27	engine	engine	NOUN
ap-746	55	28	throttles	throttle	NOUN
ap-746	55	29	,	,	PUNCT
ap-746	55	30	while	while	SCONJ
ap-746	55	31	keeping	keep	VERB
ap-746	55	32	the	the	DET
ap-746	55	33	power	power	NOUN
ap-746	55	34	delivered	deliver	VERB
ap-746	55	35	and	and	CCONJ
ap-746	55	36	the	the	DET
ap-746	55	37	fuel	fuel	NOUN
ap-746	55	38	consumption	consumption	NOUN
ap-746	55	39	of	of	ADP
ap-746	55	40	the	the	DET
ap-746	55	41	three	three	NUM
ap-746	55	42	engines	engine	NOUN
ap-746	55	43	close	close	VERB
ap-746	55	44	one	one	NUM
ap-746	55	45	to	to	ADP
ap-746	55	46	the	the	DET
ap-746	55	47	others	other	NOUN
ap-746	55	48	.	.	PUNCT
ap-746	56	1	the	the	DET
ap-746	56	2	mechanical	mechanical	ADJ
ap-746	56	3	complexity	complexity	NOUN
ap-746	56	4	of	of	ADP
ap-746	56	5	the	the	DET
ap-746	56	6	engine	engine	NOUN
ap-746	56	7	mount	mount	NOUN
ap-746	56	8	,	,	PUNCT
ap-746	56	9	drive	drive	VERB
ap-746	56	10	trains	train	NOUN
ap-746	56	11	and	and	CCONJ
ap-746	56	12	blade	blade	NOUN
ap-746	56	13	pitch	pitch	NOUN
ap-746	56	14	control	control	NOUN
ap-746	56	15	system	system	NOUN
ap-746	56	16	is	be	AUX
ap-746	56	17	accompanied	accompany	VERB
ap-746	56	18	by	by	ADP
ap-746	56	19	the	the	DET
ap-746	56	20	uncertainty	uncertainty	NOUN
ap-746	56	21	relative	relative	ADJ
ap-746	56	22	to	to	ADP
ap-746	56	23	the	the	DET
ap-746	56	24	vehicle	vehicle	NOUN
ap-746	56	25	dynamics	dynamic	NOUN
ap-746	56	26	,	,	PUNCT
ap-746	56	27	the	the	DET
ap-746	56	28	configuration	configuration	NOUN
ap-746	56	29	of	of	ADP
ap-746	56	30	which	which	PRON
ap-746	56	31	is	be	AUX
ap-746	56	32	considerably	considerably	ADV
ap-746	56	33	different	different	ADJ
ap-746	56	34	from	from	ADP
ap-746	56	35	that	that	PRON
ap-746	56	36	of	of	ADP
ap-746	56	37	any	any	DET
ap-746	56	38	other	other	ADJ
ap-746	56	39	conventional	conventional	ADJ
ap-746	56	40	rotorcraft	rotorcraft	NOUN
ap-746	56	41	.	.	PUNCT
ap-746	57	1	unfortunately	unfortunately	ADV
ap-746	57	2	,	,	PUNCT
ap-746	57	3	sikorsky	sikorsky	PROPN
ap-746	57	4	delivered	deliver	VERB
ap-746	57	5	to	to	ADP
ap-746	57	6	the	the	DET
ap-746	57	7	public	public	ADJ
ap-746	57	8	literature	literature	NOUN
ap-746	57	9	only	only	ADV
ap-746	57	10	qualitative	qualitative	VERB
ap-746	57	11	data	datum	NOUN
ap-746	57	12	on	on	ADP
ap-746	57	13	the	the	DET
ap-746	57	14	cypher	cypher	NOUN
ap-746	57	15	,	,	PUNCT
ap-746	57	16	and	and	CCONJ
ap-746	57	17	a	a	DET
ap-746	57	18	detailed	detailed	ADJ
ap-746	57	19	study	study	NOUN
ap-746	57	20	,	,	PUNCT
ap-746	57	21	presented	present	VERB
ap-746	57	22	in	in	ADP
ap-746	57	23	[	[	X
ap-746	57	24	6	6	NUM
ap-746	57	25	]	]	PUNCT
ap-746	57	26	,	,	PUNCT
ap-746	57	27	was	be	AUX
ap-746	57	28	necessary	necessary	ADJ
ap-746	57	29	for	for	ADP
ap-746	57	30	determining	determine	VERB
ap-746	57	31	a	a	DET
ap-746	57	32	reasonable	reasonable	ADJ
ap-746	57	33	,	,	PUNCT
ap-746	57	34	although	although	SCONJ
ap-746	57	35	uncertain	uncertain	ADJ
ap-746	57	36	,	,	PUNCT
ap-746	57	37	vehicle	vehicle	NOUN
ap-746	57	38	model	model	NOUN
ap-746	57	39	and	and	CCONJ
ap-746	57	40	for	for	ADP
ap-746	57	41	studying	study	VERB
ap-746	57	42	its	its	PRON
ap-746	57	43	dynamic	dynamic	ADJ
ap-746	57	44	behavior	behavior	NOUN
ap-746	57	45	.	.	PUNCT
ap-746	58	1	it	it	PRON
ap-746	58	2	was	be	AUX
ap-746	58	3	only	only	ADV
ap-746	58	4	thanks	thank	NOUN
ap-746	58	5	to	to	ADP
ap-746	58	6	the	the	DET
ap-746	58	7	modern	modern	ADJ
ap-746	58	8	advanced	advanced	ADJ
ap-746	58	9	design	design	NOUN
ap-746	58	10	and	and	CCONJ
ap-746	58	11	computational	computational	ADJ
ap-746	58	12	tools	tool	NOUN
ap-746	58	13	described	describe	VERB
ap-746	58	14	in	in	ADP
ap-746	58	15	the	the	DET
ap-746	58	16	sequel	sequel	NOUN
ap-746	58	17	that	that	SCONJ
ap-746	58	18	the	the	DET
ap-746	58	19	enabling	enable	VERB
ap-746	58	20	82	82	NUM
ap-746	58	21	©	©	PROPN
ap-746	58	22	czech	czech	PROPN
ap-746	58	23	technical	technical	PROPN
ap-746	58	24	university	university	PROPN
ap-746	58	25	publishing	publishing	NOUN
ap-746	58	26	house	house	NOUN
ap-746	58	27	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-746	58	28	acta	acta	PROPN
ap-746	58	29	polytechnica	polytechnica	PROPN
ap-746	58	30	vol	vol	NOUN
ap-746	58	31	.	.	PROPN
ap-746	59	1	45	45	NUM
ap-746	59	2	no	no	NOUN
ap-746	59	3	.	.	PUNCT
ap-746	60	1	4/2005	4/2005	NUM
ap-746	60	2	czech	czech	PROPN
ap-746	60	3	technical	technical	PROPN
ap-746	60	4	university	university	PROPN
ap-746	60	5	in	in	ADP
ap-746	60	6	prague	prague	PROPN
ap-746	60	7	external	external	ADJ
ap-746	60	8	diameter	diameter	NOUN
ap-746	60	9	:	:	PUNCT
ap-746	60	10	1.9	1.9	NUM
ap-746	60	11	m	m	PROPN
ap-746	60	12	rotor	rotor	NOUN
ap-746	60	13	diameter	diameter	NOUN
ap-746	60	14	:	:	PUNCT
ap-746	60	15	1.1	1.1	NUM
ap-746	60	16	m	m	PROPN
ap-746	60	17	hub	hub	NOUN
ap-746	60	18	diameter	diameter	NOUN
ap-746	60	19	:	:	PUNCT
ap-746	60	20	0.25	0.25	NUM
ap-746	60	21	m	m	NOUN
ap-746	60	22	max	max	PROPN
ap-746	60	23	.	.	PUNCT
ap-746	61	1	power	power	NOUN
ap-746	61	2	at	at	ADP
ap-746	61	3	11000	11000	NUM
ap-746	61	4	rpm	rpm	NOUN
ap-746	61	5	:	:	PUNCT
ap-746	61	6	42	42	NUM
ap-746	61	7	hp	hp	PROPN
ap-746	61	8	rotor	rotor	NOUN
ap-746	61	9	angular	angular	ADJ
ap-746	61	10	velocity	velocity	NOUN
ap-746	61	11	:	:	PUNCT
ap-746	61	12	3000	3000	NUM
ap-746	61	13	rpm	rpm	NOUN
ap-746	61	14	maximum	maximum	NOUN
ap-746	61	15	to	to	ADP
ap-746	61	16	weight	weight	NOUN
ap-746	61	17	:	:	PUNCT
ap-746	61	18	800	800	NUM
ap-746	61	19	n	n	DET
ap-746	61	20	payload	payload	NOUN
ap-746	61	21	:	:	PUNCT
ap-746	61	22	100	100	NUM
ap-746	61	23	n	n	DET
ap-746	61	24	maximum	maximum	ADJ
ap-746	61	25	speed	speed	NOUN
ap-746	61	26	:	:	PUNCT
ap-746	61	27	30	30	NUM
ap-746	61	28	ms	ms	PROPN
ap-746	61	29	�	�	PROPN
ap-746	61	30	1	1	NUM
ap-746	61	31	endurance	endurance	NOUN
ap-746	61	32	:	:	PUNCT
ap-746	61	33	1.5	1.5	NUM
ap-746	61	34	h	h	NOUN
ap-746	61	35	service	service	NOUN
ap-746	61	36	ceiling	ceiling	NOUN
ap-746	61	37	:	:	PUNCT
ap-746	61	38	2000	2000	NUM
ap-746	61	39	m	m	NOUN
ap-746	61	40	table	table	NOUN
ap-746	61	41	1	1	NUM
ap-746	61	42	:	:	PUNCT
ap-746	61	43	uav	uav	PROPN
ap-746	61	44	characteristics	characteristic	NOUN
ap-746	61	45	and	and	CCONJ
ap-746	61	46	expected	expect	VERB
ap-746	61	47	performance	performance	NOUN
ap-746	61	48	technologies	technology	NOUN
ap-746	61	49	required	require	VERB
ap-746	61	50	for	for	ADP
ap-746	61	51	developing	develop	VERB
ap-746	61	52	such	such	DET
ap-746	61	53	a	a	DET
ap-746	61	54	complex	complex	ADJ
ap-746	61	55	vehicle	vehicle	NOUN
ap-746	61	56	were	be	AUX
ap-746	61	57	made	make	VERB
ap-746	61	58	available	available	ADJ
ap-746	61	59	to	to	ADP
ap-746	61	60	faculty	faculty	NOUN
ap-746	61	61	staff	staff	NOUN
ap-746	61	62	,	,	PUNCT
ap-746	61	63	technicians	technician	NOUN
ap-746	61	64	and	and	CCONJ
ap-746	61	65	students	student	NOUN
ap-746	61	66	,	,	PUNCT
ap-746	61	67	allowing	allow	VERB
ap-746	61	68	for	for	ADP
ap-746	61	69	surprising	surprising	ADJ
ap-746	61	70	advances	advance	NOUN
ap-746	61	71	in	in	ADP
ap-746	61	72	the	the	DET
ap-746	61	73	project	project	NOUN
ap-746	61	74	,	,	PUNCT
ap-746	61	75	in	in	ADP
ap-746	61	76	spite	spite	NOUN
ap-746	61	77	of	of	ADP
ap-746	61	78	very	very	ADV
ap-746	61	79	limited	limited	ADJ
ap-746	61	80	human	human	ADJ
ap-746	61	81	and	and	CCONJ
ap-746	61	82	economic	economic	ADJ
ap-746	61	83	resources	resource	NOUN
ap-746	61	84	.	.	PUNCT
ap-746	62	1	3	3	NUM
ap-746	62	2	aerodynamic	aerodynamic	ADJ
ap-746	62	3	design	design	NOUN
ap-746	62	4	with	with	ADP
ap-746	62	5	advanced	advanced	ADJ
ap-746	62	6	cfd	cfd	NOUN
ap-746	62	7	tools	tool	NOUN
ap-746	62	8	budget	budget	NOUN
ap-746	62	9	constraints	constraint	NOUN
ap-746	62	10	ruled	rule	VERB
ap-746	62	11	out	out	ADP
ap-746	62	12	from	from	ADP
ap-746	62	13	the	the	DET
ap-746	62	14	beginning	beginning	NOUN
ap-746	62	15	of	of	ADP
ap-746	62	16	the	the	DET
ap-746	62	17	research	research	NOUN
ap-746	62	18	program	program	NOUN
ap-746	62	19	the	the	DET
ap-746	62	20	possibility	possibility	NOUN
ap-746	62	21	of	of	ADP
ap-746	62	22	wind	wind	NOUN
ap-746	62	23	-	-	PUNCT
ap-746	62	24	tunnel	tunnel	NOUN
ap-746	62	25	tests	test	NOUN
ap-746	62	26	on	on	ADP
ap-746	62	27	a	a	DET
ap-746	62	28	scale	scale	NOUN
ap-746	62	29	model	model	NOUN
ap-746	62	30	of	of	ADP
ap-746	62	31	the	the	DET
ap-746	62	32	shrouded	shroud	VERB
ap-746	62	33	-	-	PUNCT
ap-746	62	34	fan	fan	PROPN
ap-746	62	35	uav	uav	PROPN
ap-746	62	36	,	,	PUNCT
ap-746	62	37	the	the	DET
ap-746	62	38	cost	cost	NOUN
ap-746	62	39	of	of	ADP
ap-746	62	40	development	development	NOUN
ap-746	62	41	of	of	ADP
ap-746	62	42	an	an	DET
ap-746	62	43	instrumented	instrumented	ADJ
ap-746	62	44	model	model	NOUN
ap-746	62	45	being	be	AUX
ap-746	62	46	close	close	ADJ
ap-746	62	47	to	to	ADP
ap-746	62	48	that	that	PRON
ap-746	62	49	of	of	ADP
ap-746	62	50	the	the	DET
ap-746	62	51	full	full	ADJ
ap-746	62	52	size	size	NOUN
ap-746	62	53	prototype	prototype	NOUN
ap-746	62	54	.	.	PUNCT
ap-746	63	1	computational	computational	ADJ
ap-746	63	2	fluid	fluid	ADJ
ap-746	63	3	dynamics	dynamic	NOUN
ap-746	63	4	software	software	NOUN
ap-746	63	5	was	be	AUX
ap-746	63	6	regarded	regard	VERB
ap-746	63	7	as	as	ADP
ap-746	63	8	a	a	DET
ap-746	63	9	viable	viable	ADJ
ap-746	63	10	solution	solution	NOUN
ap-746	63	11	for	for	ADP
ap-746	63	12	obtaining	obtain	VERB
ap-746	63	13	a	a	DET
ap-746	63	14	reasonable	reasonable	ADJ
ap-746	63	15	estimate	estimate	NOUN
ap-746	63	16	of	of	ADP
ap-746	63	17	the	the	DET
ap-746	63	18	aerodynamic	aerodynamic	ADJ
ap-746	63	19	behavior	behavior	NOUN
ap-746	63	20	of	of	ADP
ap-746	63	21	the	the	DET
ap-746	63	22	vehicle	vehicle	NOUN
ap-746	63	23	in	in	ADP
ap-746	63	24	a	a	DET
ap-746	63	25	short	short	ADJ
ap-746	63	26	time	time	NOUN
ap-746	63	27	,	,	PUNCT
ap-746	63	28	with	with	ADP
ap-746	63	29	the	the	DET
ap-746	63	30	possibility	possibility	NOUN
ap-746	63	31	of	of	ADP
ap-746	63	32	“	"	PUNCT
ap-746	63	33	testing	testing	NOUN
ap-746	63	34	”	"	PUNCT
ap-746	63	35	several	several	ADJ
ap-746	63	36	rotor	rotor	NOUN
ap-746	63	37	-	-	PUNCT
ap-746	63	38	fuselage	fuselage	NOUN
ap-746	63	39	configurations	configuration	NOUN
ap-746	63	40	,	,	PUNCT
ap-746	63	41	in	in	ADP
ap-746	63	42	the	the	DET
ap-746	63	43	course	course	NOUN
ap-746	63	44	of	of	ADP
ap-746	63	45	a	a	DET
ap-746	63	46	few	few	ADJ
ap-746	63	47	hours	hour	NOUN
ap-746	63	48	.	.	PUNCT
ap-746	64	1	during	during	ADP
ap-746	64	2	the	the	DET
ap-746	64	3	first	first	ADJ
ap-746	64	4	phase	phase	NOUN
ap-746	64	5	of	of	ADP
ap-746	64	6	the	the	DET
ap-746	64	7	program	program	NOUN
ap-746	64	8	,	,	PUNCT
ap-746	64	9	i.e.	i.e.	X
ap-746	64	10	,	,	PUNCT
ap-746	64	11	vehicle	vehicle	NOUN
ap-746	64	12	preliminary	preliminary	ADJ
ap-746	64	13	sizing	sizing	NOUN
ap-746	64	14	and	and	CCONJ
ap-746	64	15	configuration	configuration	NOUN
ap-746	64	16	design	design	NOUN
ap-746	64	17	,	,	PUNCT
ap-746	64	18	the	the	DET
ap-746	64	19	main	main	ADJ
ap-746	64	20	problems	problem	NOUN
ap-746	64	21	were	be	AUX
ap-746	64	22	the	the	DET
ap-746	64	23	estimate	estimate	NOUN
ap-746	64	24	of	of	ADP
ap-746	64	25	rotor	rotor	NOUN
ap-746	64	26	performance	performance	NOUN
ap-746	64	27	and	and	CCONJ
ap-746	64	28	power	power	NOUN
ap-746	64	29	demand	demand	NOUN
ap-746	64	30	in	in	ADP
ap-746	64	31	every	every	DET
ap-746	64	32	flight	flight	NOUN
ap-746	64	33	condition	condition	NOUN
ap-746	64	34	,	,	PUNCT
ap-746	64	35	and	and	CCONJ
ap-746	64	36	the	the	DET
ap-746	64	37	determination	determination	NOUN
ap-746	64	38	of	of	ADP
ap-746	64	39	the	the	DET
ap-746	64	40	aerodynamic	aerodynamic	ADJ
ap-746	64	41	model	model	NOUN
ap-746	64	42	of	of	ADP
ap-746	64	43	the	the	DET
ap-746	64	44	vehicle	vehicle	NOUN
ap-746	64	45	to	to	PART
ap-746	64	46	be	be	AUX
ap-746	64	47	used	use	VERB
ap-746	64	48	for	for	ADP
ap-746	64	49	flight	flight	NOUN
ap-746	64	50	simulation	simulation	NOUN
ap-746	64	51	of	of	ADP
ap-746	64	52	the	the	DET
ap-746	64	53	uav	uav	PROPN
ap-746	64	54	and	and	CCONJ
ap-746	64	55	for	for	ADP
ap-746	64	56	synthesizing	synthesize	VERB
ap-746	64	57	suitable	suitable	ADJ
ap-746	64	58	control	control	NOUN
ap-746	64	59	laws	law	NOUN
ap-746	64	60	.	.	PUNCT
ap-746	65	1	in	in	ADP
ap-746	65	2	this	this	DET
ap-746	65	3	phase	phase	NOUN
ap-746	65	4	the	the	DET
ap-746	65	5	numerical	numerical	PROPN
ap-746	65	6	code	code	PROPN
ap-746	65	7	vsaero	vsaero	NOUN
ap-746	65	8	,	,	PUNCT
ap-746	65	9	by	by	ADP
ap-746	65	10	analytical	analytical	ADJ
ap-746	65	11	methods	method	NOUN
ap-746	65	12	,	,	PUNCT
ap-746	65	13	inc	inc	PROPN
ap-746	65	14	.	.	PROPN
ap-746	65	15	,	,	PUNCT
ap-746	65	16	was	be	AUX
ap-746	65	17	used	use	VERB
ap-746	65	18	[	[	PUNCT
ap-746	65	19	10	10	NUM
ap-746	65	20	]	]	PUNCT
ap-746	65	21	.	.	PUNCT
ap-746	66	1	this	this	DET
ap-746	66	2	software	software	NOUN
ap-746	66	3	uses	use	VERB
ap-746	66	4	a	a	DET
ap-746	66	5	boundary	boundary	ADJ
ap-746	66	6	element	element	ADJ
ap-746	66	7	integral	integral	ADJ
ap-746	66	8	method	method	NOUN
ap-746	66	9	for	for	ADP
ap-746	66	10	potential	potential	ADJ
ap-746	66	11	flow	flow	NOUN
ap-746	66	12	solution	solution	NOUN
ap-746	66	13	,	,	PUNCT
ap-746	66	14	with	with	ADP
ap-746	66	15	boundary	boundary	ADJ
ap-746	66	16	layer	layer	NOUN
ap-746	66	17	correction	correction	NOUN
ap-746	66	18	.	.	PUNCT
ap-746	67	1	an	an	DET
ap-746	67	2	iterative	iterative	NOUN
ap-746	67	3	wake	wake	NOUN
ap-746	67	4	relaxation	relaxation	NOUN
ap-746	67	5	scheme	scheme	NOUN
ap-746	67	6	is	be	AUX
ap-746	67	7	used	use	VERB
ap-746	67	8	for	for	ADP
ap-746	67	9	determining	determine	VERB
ap-746	67	10	flowfields	flowfield	NOUN
ap-746	67	11	about	about	ADP
ap-746	67	12	lifting	lift	VERB
ap-746	67	13	and	and	CCONJ
ap-746	67	14	blunt	blunt	ADJ
ap-746	67	15	bodies	body	NOUN
ap-746	67	16	.	.	PUNCT
ap-746	68	1	overall	overall	ADJ
ap-746	68	2	aerodynamic	aerodynamic	ADJ
ap-746	68	3	force	force	NOUN
ap-746	68	4	and	and	CCONJ
ap-746	68	5	moment	moment	NOUN
ap-746	68	6	coefficients	coefficient	NOUN
ap-746	68	7	can	can	AUX
ap-746	68	8	be	be	AUX
ap-746	68	9	easily	easily	ADV
ap-746	68	10	determined	determine	VERB
ap-746	68	11	at	at	ADP
ap-746	68	12	the	the	DET
ap-746	68	13	end	end	NOUN
ap-746	68	14	of	of	ADP
ap-746	68	15	the	the	DET
ap-746	68	16	computation	computation	NOUN
ap-746	68	17	,	,	PUNCT
ap-746	68	18	from	from	ADP
ap-746	68	19	the	the	DET
ap-746	68	20	pressure	pressure	NOUN
ap-746	68	21	distribution	distribution	NOUN
ap-746	68	22	over	over	ADP
ap-746	68	23	the	the	DET
ap-746	68	24	body	body	NOUN
ap-746	68	25	.	.	PUNCT
ap-746	69	1	an	an	DET
ap-746	69	2	example	example	NOUN
ap-746	69	3	of	of	ADP
ap-746	69	4	the	the	DET
ap-746	69	5	results	result	NOUN
ap-746	69	6	obtained	obtain	VERB
ap-746	69	7	from	from	ADP
ap-746	69	8	the	the	DET
ap-746	69	9	graphical	graphical	ADJ
ap-746	69	10	output	output	NOUN
ap-746	69	11	of	of	ADP
ap-746	69	12	vsaero	vsaero	NOUN
ap-746	69	13	is	be	AUX
ap-746	69	14	reported	report	VERB
ap-746	69	15	in	in	ADP
ap-746	69	16	fig	fig	NOUN
ap-746	69	17	.	.	PUNCT
ap-746	70	1	2	2	X
ap-746	70	2	.	.	X
ap-746	70	3	the	the	DET
ap-746	70	4	numerical	numerical	PROPN
ap-746	70	5	code	code	PROPN
ap-746	70	6	is	be	AUX
ap-746	70	7	extremely	extremely	ADV
ap-746	70	8	efficient	efficient	ADJ
ap-746	70	9	,	,	PUNCT
ap-746	70	10	from	from	ADP
ap-746	70	11	the	the	DET
ap-746	70	12	computational	computational	ADJ
ap-746	70	13	point	point	NOUN
ap-746	70	14	of	of	ADP
ap-746	70	15	view	view	NOUN
ap-746	70	16	,	,	PUNCT
ap-746	70	17	being	be	AUX
ap-746	70	18	able	able	ADJ
ap-746	70	19	to	to	PART
ap-746	70	20	provide	provide	VERB
ap-746	70	21	a	a	DET
ap-746	70	22	solution	solution	NOUN
ap-746	70	23	on	on	ADP
ap-746	70	24	a	a	DET
ap-746	70	25	common	common	ADJ
ap-746	70	26	desktop	desktop	NOUN
ap-746	70	27	computer	computer	NOUN
ap-746	70	28	in	in	ADP
ap-746	70	29	just	just	ADV
ap-746	70	30	a	a	DET
ap-746	70	31	few	few	ADJ
ap-746	70	32	minutes	minute	NOUN
ap-746	70	33	.	.	PUNCT
ap-746	71	1	nonetheless	nonetheless	ADV
ap-746	71	2	,	,	PUNCT
ap-746	71	3	the	the	DET
ap-746	71	4	application	application	NOUN
ap-746	71	5	was	be	AUX
ap-746	71	6	not	not	PART
ap-746	71	7	straightforward	straightforward	ADJ
ap-746	71	8	for	for	ADP
ap-746	71	9	the	the	DET
ap-746	71	10	present	present	ADJ
ap-746	71	11	configuration	configuration	NOUN
ap-746	71	12	,	,	PUNCT
ap-746	71	13	inasmuch	inasmuch	ADJ
ap-746	71	14	as	as	SCONJ
ap-746	71	15	(	(	PUNCT
ap-746	71	16	i	i	NOUN
ap-746	71	17	)	)	PUNCT
ap-746	71	18	the	the	DET
ap-746	71	19	rotor	rotor	NOUN
ap-746	71	20	-	-	PUNCT
ap-746	71	21	fuselage	fuselage	NOUN
ap-746	71	22	interaction	interaction	NOUN
ap-746	71	23	is	be	AUX
ap-746	71	24	extremely	extremely	ADV
ap-746	71	25	complex	complex	ADJ
ap-746	71	26	and	and	CCONJ
ap-746	71	27	(	(	PUNCT
ap-746	71	28	ii	ii	NOUN
ap-746	71	29	)	)	PUNCT
ap-746	71	30	the	the	DET
ap-746	71	31	wake	wake	NOUN
ap-746	71	32	separation	separation	NOUN
ap-746	71	33	can	can	AUX
ap-746	71	34	be	be	AUX
ap-746	71	35	automatically	automatically	ADV
ap-746	71	36	detected	detect	VERB
ap-746	71	37	only	only	ADV
ap-746	71	38	in	in	ADP
ap-746	71	39	two	two	NUM
ap-746	71	40	dimensional	dimensional	ADJ
ap-746	71	41	flows	flow	NOUN
ap-746	71	42	,	,	PUNCT
ap-746	71	43	or	or	CCONJ
ap-746	71	44	when	when	SCONJ
ap-746	71	45	sharp	sharp	ADJ
ap-746	71	46	edges	edge	NOUN
ap-746	71	47	clearly	clearly	ADV
ap-746	71	48	indicate	indicate	VERB
ap-746	71	49	a	a	DET
ap-746	71	50	reasonable	reasonable	ADJ
ap-746	71	51	separation	separation	NOUN
ap-746	71	52	point	point	NOUN
ap-746	71	53	,	,	PUNCT
ap-746	71	54	a	a	DET
ap-746	71	55	feature	feature	NOUN
ap-746	71	56	not	not	PART
ap-746	71	57	present	present	ADJ
ap-746	71	58	in	in	ADP
ap-746	71	59	a	a	DET
ap-746	71	60	doughnut	doughnut	NOUN
ap-746	71	61	-	-	PUNCT
ap-746	71	62	shaped	shape	VERB
ap-746	71	63	fuselage	fuselage	NOUN
ap-746	71	64	.	.	PUNCT
ap-746	72	1	as	as	ADP
ap-746	72	2	for	for	ADP
ap-746	72	3	the	the	DET
ap-746	72	4	first	first	ADJ
ap-746	72	5	issue	issue	NOUN
ap-746	72	6	,	,	PUNCT
ap-746	72	7	a	a	DET
ap-746	72	8	strong	strong	ADJ
ap-746	72	9	simplifying	simplifying	NOUN
ap-746	72	10	assumption	assumption	NOUN
ap-746	72	11	was	be	AUX
ap-746	72	12	employed	employ	VERB
ap-746	72	13	,	,	PUNCT
ap-746	72	14	such	such	ADJ
ap-746	72	15	that	that	SCONJ
ap-746	72	16	the	the	DET
ap-746	72	17	rotors	rotor	NOUN
ap-746	72	18	were	be	AUX
ap-746	72	19	modeled	model	VERB
ap-746	72	20	as	as	ADP
ap-746	72	21	an	an	DET
ap-746	72	22	actuator	actuator	NOUN
ap-746	72	23	disk	disk	NOUN
ap-746	72	24	with	with	ADP
ap-746	72	25	assigned	assign	VERB
ap-746	72	26	pressure	pressure	NOUN
ap-746	72	27	increment	increment	NOUN
ap-746	72	28	.	.	PUNCT
ap-746	73	1	in	in	ADP
ap-746	73	2	this	this	DET
ap-746	73	3	way	way	NOUN
ap-746	73	4	,	,	PUNCT
ap-746	73	5	the	the	DET
ap-746	73	6	simulated	simulate	VERB
ap-746	73	7	flow	flow	NOUN
ap-746	73	8	-	-	PUNCT
ap-746	73	9	field	field	NOUN
ap-746	73	10	took	take	VERB
ap-746	73	11	into	into	ADP
ap-746	73	12	account	account	NOUN
ap-746	73	13	the	the	DET
ap-746	73	14	presence	presence	NOUN
ap-746	73	15	of	of	ADP
ap-746	73	16	the	the	DET
ap-746	73	17	rotors	rotor	NOUN
ap-746	73	18	,	,	PUNCT
ap-746	73	19	when	when	SCONJ
ap-746	73	20	determining	determine	VERB
ap-746	73	21	the	the	DET
ap-746	73	22	pressure	pressure	NOUN
ap-746	73	23	distribution	distribution	NOUN
ap-746	73	24	over	over	ADP
ap-746	73	25	the	the	DET
ap-746	73	26	fuselage	fuselage	NOUN
ap-746	73	27	.	.	PUNCT
ap-746	74	1	by	by	ADP
ap-746	74	2	contrast	contrast	NOUN
ap-746	74	3	,	,	PUNCT
ap-746	74	4	the	the	DET
ap-746	74	5	aerodynamic	aerodynamic	ADJ
ap-746	74	6	model	model	NOUN
ap-746	74	7	of	of	ADP
ap-746	74	8	the	the	DET
ap-746	74	9	rotors	rotor	NOUN
ap-746	74	10	,	,	PUNCT
ap-746	74	11	based	base	VERB
ap-746	74	12	on	on	ADP
ap-746	74	13	a	a	DET
ap-746	74	14	simple	simple	ADJ
ap-746	74	15	strip	strip	NOUN
ap-746	74	16	-	-	PUNCT
ap-746	74	17	theory	theory	NOUN
ap-746	74	18	,	,	PUNCT
ap-746	74	19	did	do	AUX
ap-746	74	20	not	not	PART
ap-746	74	21	take	take	VERB
ap-746	74	22	into	into	ADP
ap-746	74	23	account	account	NOUN
ap-746	74	24	the	the	DET
ap-746	74	25	influence	influence	NOUN
ap-746	74	26	of	of	ADP
ap-746	74	27	the	the	DET
ap-746	74	28	fuselage	fuselage	NOUN
ap-746	74	29	on	on	ADP
ap-746	74	30	the	the	DET
ap-746	74	31	rotor	rotor	NOUN
ap-746	74	32	inflow	inflow	NOUN
ap-746	74	33	.	.	PUNCT
ap-746	75	1	the	the	DET
ap-746	75	2	inflow	inflow	NOUN
ap-746	75	3	is	be	AUX
ap-746	75	4	approximated	approximate	VERB
ap-746	75	5	by	by	ADP
ap-746	75	6	a	a	DET
ap-746	75	7	triangular	triangular	NOUN
ap-746	75	8	velocity	velocity	NOUN
ap-746	75	9	distribution	distribution	NOUN
ap-746	75	10	determined	determine	VERB
ap-746	75	11	iteratively	iteratively	ADV
ap-746	75	12	on	on	ADP
ap-746	75	13	the	the	DET
ap-746	75	14	basis	basis	NOUN
ap-746	75	15	of	of	ADP
ap-746	75	16	a	a	DET
ap-746	75	17	momentum	momentum	NOUN
ap-746	75	18	conservation	conservation	NOUN
ap-746	75	19	argument	argument	NOUN
ap-746	75	20	.	.	PUNCT
ap-746	76	1	wake	wake	VERB
ap-746	76	2	separation	separation	NOUN
ap-746	76	3	points	point	NOUN
ap-746	76	4	are	be	AUX
ap-746	76	5	relatively	relatively	ADV
ap-746	76	6	easy	easy	ADJ
ap-746	76	7	to	to	PART
ap-746	76	8	detect	detect	VERB
ap-746	76	9	when	when	SCONJ
ap-746	76	10	axial	axial	ADJ
ap-746	76	11	flow	flow	NOUN
ap-746	76	12	is	be	AUX
ap-746	76	13	considered	consider	VERB
ap-746	76	14	,	,	PUNCT
ap-746	76	15	but	but	CCONJ
ap-746	76	16	the	the	DET
ap-746	76	17	problem	problem	NOUN
ap-746	76	18	is	be	AUX
ap-746	76	19	much	much	ADV
ap-746	76	20	more	more	ADV
ap-746	76	21	complicated	complicated	ADJ
ap-746	76	22	when	when	SCONJ
ap-746	76	23	forward	forward	ADJ
ap-746	76	24	flight	flight	NOUN
ap-746	76	25	is	be	AUX
ap-746	76	26	dealt	deal	VERB
ap-746	76	27	with	with	ADP
ap-746	76	28	.	.	PUNCT
ap-746	77	1	a	a	DET
ap-746	77	2	reasonable	reasonable	ADJ
ap-746	77	3	estimate	estimate	NOUN
ap-746	77	4	of	of	ADP
ap-746	77	5	wake	wake	NOUN
ap-746	77	6	separation	separation	NOUN
ap-746	77	7	points	point	NOUN
ap-746	77	8	was	be	AUX
ap-746	77	9	made	make	VERB
ap-746	77	10	on	on	ADP
ap-746	77	11	the	the	DET
ap-746	77	12	basis	basis	NOUN
ap-746	77	13	of	of	ADP
ap-746	77	14	a	a	DET
ap-746	77	15	pressure	pressure	NOUN
ap-746	77	16	gradient	gradient	NOUN
ap-746	77	17	evaluation	evaluation	NOUN
ap-746	77	18	for	for	ADP
ap-746	77	19	the	the	DET
ap-746	77	20	potential	potential	ADJ
ap-746	77	21	solution	solution	NOUN
ap-746	77	22	and	and	CCONJ
ap-746	77	23	data	datum	NOUN
ap-746	77	24	obtained	obtain	VERB
ap-746	77	25	from	from	ADP
ap-746	77	26	published	publish	VERB
ap-746	77	27	experiments	experiment	NOUN
ap-746	77	28	with	with	ADP
ap-746	77	29	flow	flow	NOUN
ap-746	77	30	visualizations	visualization	NOUN
ap-746	77	31	of	of	ADP
ap-746	77	32	separation	separation	NOUN
ap-746	77	33	from	from	ADP
ap-746	77	34	doughnut	doughnut	NOUN
ap-746	77	35	-	-	PUNCT
ap-746	77	36	shaped	shape	VERB
ap-746	77	37	bodies	body	NOUN
ap-746	77	38	.	.	PUNCT
ap-746	78	1	in	in	ADP
ap-746	78	2	this	this	DET
ap-746	78	3	sense	sense	NOUN
ap-746	78	4	some	some	DET
ap-746	78	5	recent	recent	ADJ
ap-746	78	6	studies	study	NOUN
ap-746	78	7	made	make	VERB
ap-746	78	8	at	at	ADP
ap-746	78	9	the	the	DET
ap-746	78	10	georgia	georgia	PROPN
ap-746	78	11	institute	institute	PROPN
ap-746	78	12	of	of	ADP
ap-746	78	13	technology	technology	PROPN
ap-746	78	14	were	be	AUX
ap-746	78	15	of	of	ADP
ap-746	78	16	great	great	ADJ
ap-746	78	17	help	help	NOUN
ap-746	78	18	in	in	ADP
ap-746	78	19	understanding	understand	VERB
ap-746	78	20	the	the	DET
ap-746	78	21	nature	nature	NOUN
ap-746	78	22	of	of	ADP
ap-746	78	23	the	the	DET
ap-746	78	24	closed	closed	ADJ
ap-746	78	25	wake	wake	NOUN
ap-746	78	26	downstream	downstream	ADJ
ap-746	78	27	the	the	DET
ap-746	78	28	fuselage	fuselage	NOUN
ap-746	78	29	.	.	PUNCT
ap-746	79	1	an	an	DET
ap-746	79	2	aerodynamic	aerodynamic	ADJ
ap-746	79	3	database	database	NOUN
ap-746	79	4	was	be	AUX
ap-746	79	5	obtained	obtain	VERB
ap-746	79	6	with	with	ADP
ap-746	79	7	vsaero	vsaero	PROPN
ap-746	79	8	code	code	PROPN
ap-746	79	9	,	,	PUNCT
ap-746	79	10	where	where	SCONJ
ap-746	79	11	lift	lift	NOUN
ap-746	79	12	,	,	PUNCT
ap-746	79	13	drag	drag	VERB
ap-746	79	14	and	and	CCONJ
ap-746	79	15	pitch	pitch	ADJ
ap-746	79	16	moment	moment	NOUN
ap-746	79	17	coefficients	coefficient	NOUN
ap-746	79	18	are	be	AUX
ap-746	79	19	tabulated	tabulate	VERB
ap-746	79	20	as	as	ADP
ap-746	79	21	a	a	DET
ap-746	79	22	function	function	NOUN
ap-746	79	23	of	of	ADP
ap-746	79	24	fuselage	fuselage	NOUN
ap-746	79	25	angle	angle	NOUN
ap-746	79	26	of	of	ADP
ap-746	79	27	attack	attack	NOUN
ap-746	79	28	,	,	PUNCT
ap-746	79	29	for	for	ADP
ap-746	79	30	different	different	ADJ
ap-746	79	31	values	value	NOUN
ap-746	79	32	of	of	ADP
ap-746	79	33	the	the	DET
ap-746	79	34	inflow	inflow	NOUN
ap-746	79	35	parameter	parameter	NOUN
ap-746	80	1	k	k	PROPN
ap-746	81	1	v	v	PROPN
ap-746	81	2	v	v	ADP
ap-746	81	3	wi	wi	PROPN
ap-746	81	4	�	�	PROPN
ap-746	81	5	�	�	PROPN
ap-746	81	6	(	(	PUNCT
ap-746	81	7	)	)	PUNCT
ap-746	81	8	,	,	PUNCT
ap-746	81	9	(	(	PUNCT
ap-746	81	10	1	1	X
ap-746	81	11	)	)	PUNCT
ap-746	81	12	where	where	SCONJ
ap-746	81	13	v	v	X
ap-746	81	14	�	�	PROPN
ap-746	81	15	(	(	PUNCT
ap-746	81	16	u	u	NOUN
ap-746	81	17	,	,	PUNCT
ap-746	81	18	v	v	NOUN
ap-746	81	19	,	,	PUNCT
ap-746	81	20	w)t	w)t	X
ap-746	81	21	is	be	AUX
ap-746	81	22	the	the	DET
ap-746	81	23	velocity	velocity	NOUN
ap-746	81	24	vector	vector	NOUN
ap-746	81	25	expressed	express	VERB
ap-746	81	26	in	in	ADP
ap-746	81	27	body	body	NOUN
ap-746	81	28	axis	axis	NOUN
ap-746	81	29	components	component	NOUN
ap-746	81	30	,	,	PUNCT
ap-746	81	31	v	v	ADP
ap-746	81	32	�	�	PROPN
ap-746	81	33	v	v	NOUN
ap-746	81	34	and	and	CCONJ
ap-746	81	35	vi	vi	PROPN
ap-746	81	36	is	be	AUX
ap-746	81	37	the	the	DET
ap-746	81	38	velocity	velocity	NOUN
ap-746	81	39	increment	increment	NOUN
ap-746	81	40	induced	induce	VERB
ap-746	81	41	by	by	ADP
ap-746	81	42	the	the	DET
ap-746	81	43	rotor	rotor	NOUN
ap-746	81	44	.	.	PUNCT
ap-746	82	1	details	detail	NOUN
ap-746	82	2	on	on	ADP
ap-746	82	3	the	the	DET
ap-746	82	4	aerodynamic	aerodynamic	ADJ
ap-746	82	5	model	model	NOUN
ap-746	82	6	de	de	ADP
ap-746	82	7	©	©	PROPN
ap-746	82	8	czech	czech	PROPN
ap-746	82	9	technical	technical	PROPN
ap-746	82	10	university	university	PROPN
ap-746	82	11	publishing	publishing	NOUN
ap-746	82	12	house	house	NOUN
ap-746	82	13	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-746	82	14	83	83	NUM
ap-746	82	15	czech	czech	PROPN
ap-746	82	16	technical	technical	PROPN
ap-746	82	17	university	university	PROPN
ap-746	82	18	in	in	ADP
ap-746	82	19	prague	prague	PROPN
ap-746	82	20	acta	acta	PROPN
ap-746	82	21	polytechnica	polytechnica	PROPN
ap-746	82	22	vol	vol	NOUN
ap-746	82	23	.	.	PROPN
ap-746	83	1	45	45	NUM
ap-746	83	2	no	no	NOUN
ap-746	83	3	.	.	PUNCT
ap-746	84	1	4/2005	4/2005	NUM
ap-746	84	2	fig	fig	NOUN
ap-746	84	3	.	.	PUNCT
ap-746	85	1	2	2	NUM
ap-746	85	2	:	:	PUNCT
ap-746	85	3	graphical	graphical	ADJ
ap-746	85	4	output	output	NOUN
ap-746	85	5	of	of	ADP
ap-746	85	6	cfd	cfd	PROPN
ap-746	85	7	code	code	PROPN
ap-746	85	8	vsaerotm	vsaerotm	ADJ
ap-746	85	9	fig	fig	NOUN
ap-746	85	10	.	.	PUNCT
ap-746	86	1	3	3	NUM
ap-746	86	2	:	:	PUNCT
ap-746	86	3	plot	plot	NOUN
ap-746	86	4	of	of	ADP
ap-746	86	5	aerodynamic	aerodynamic	ADJ
ap-746	86	6	force	force	NOUN
ap-746	86	7	and	and	CCONJ
ap-746	86	8	moment	moment	NOUN
ap-746	86	9	coefficient	coefficient	NOUN
ap-746	86	10	acting	act	VERB
ap-746	86	11	on	on	ADP
ap-746	86	12	the	the	DET
ap-746	86	13	uav	uav	PROPN
ap-746	86	14	fuselage	fuselage	NOUN
ap-746	86	15	veloped	velope	VERB
ap-746	86	16	in	in	ADP
ap-746	86	17	this	this	DET
ap-746	86	18	phase	phase	NOUN
ap-746	86	19	(	(	PUNCT
ap-746	86	20	and	and	CCONJ
ap-746	86	21	still	still	ADV
ap-746	86	22	used	use	VERB
ap-746	86	23	in	in	ADP
ap-746	86	24	the	the	DET
ap-746	86	25	simulation	simulation	NOUN
ap-746	86	26	model	model	NOUN
ap-746	86	27	of	of	ADP
ap-746	86	28	the	the	DET
ap-746	86	29	uav	uav	PROPN
ap-746	86	30	)	)	PUNCT
ap-746	86	31	can	can	AUX
ap-746	86	32	be	be	AUX
ap-746	86	33	found	find	VERB
ap-746	86	34	in	in	ADP
ap-746	86	35	[	[	X
ap-746	86	36	11	11	NUM
ap-746	86	37	]	]	PUNCT
ap-746	86	38	.	.	PUNCT
ap-746	87	1	plots	plot	NOUN
ap-746	87	2	of	of	ADP
ap-746	87	3	the	the	DET
ap-746	87	4	aerodynamic	aerodynamic	ADJ
ap-746	87	5	coefficients	coefficient	NOUN
ap-746	87	6	are	be	AUX
ap-746	87	7	reported	report	VERB
ap-746	87	8	in	in	ADP
ap-746	87	9	fig	fig	NOUN
ap-746	87	10	.	.	PUNCT
ap-746	88	1	3	3	X
ap-746	88	2	.	.	X
ap-746	88	3	a	a	DET
ap-746	88	4	second	second	ADJ
ap-746	88	5	set	set	NOUN
ap-746	88	6	of	of	ADP
ap-746	88	7	cfd	cfd	NOUN
ap-746	88	8	simulations	simulation	NOUN
ap-746	88	9	was	be	AUX
ap-746	88	10	performed	perform	VERB
ap-746	88	11	using	use	VERB
ap-746	88	12	one	one	NUM
ap-746	88	13	of	of	ADP
ap-746	88	14	the	the	DET
ap-746	88	15	most	most	ADV
ap-746	88	16	advanced	advanced	ADJ
ap-746	88	17	,	,	PUNCT
ap-746	88	18	sophisticated	sophisticated	ADJ
ap-746	88	19	,	,	PUNCT
ap-746	88	20	and	and	CCONJ
ap-746	88	21	complex	complex	ADJ
ap-746	88	22	flow	flow	NOUN
ap-746	88	23	solvers	solver	NOUN
ap-746	88	24	available	available	ADJ
ap-746	88	25	on	on	ADP
ap-746	88	26	the	the	DET
ap-746	88	27	market	market	NOUN
ap-746	88	28	,	,	PUNCT
ap-746	88	29	the	the	DET
ap-746	88	30	full	full	ADJ
ap-746	88	31	navier	navier	NOUN
ap-746	88	32	-	-	PUNCT
ap-746	88	33	stokes	stokes	PROPN
ap-746	88	34	code	code	PROPN
ap-746	88	35	fine	fine	ADJ
ap-746	88	36	/	/	SYM
ap-746	88	37	turbo	turbo	NOUN
ap-746	88	38	,	,	PUNCT
ap-746	88	39	developed	develop	VERB
ap-746	88	40	by	by	ADP
ap-746	88	41	numeca	numeca	PROPN
ap-746	88	42	international	international	PROPN
ap-746	88	43	s.a	s.a	PROPN
ap-746	88	44	.	.	PROPN
ap-746	89	1	this	this	DET
ap-746	89	2	package	package	NOUN
ap-746	89	3	provides	provide	VERB
ap-746	89	4	the	the	DET
ap-746	89	5	user	user	NOUN
ap-746	89	6	with	with	ADP
ap-746	89	7	the	the	DET
ap-746	89	8	possibility	possibility	NOUN
ap-746	89	9	of	of	ADP
ap-746	89	10	solving	solve	VERB
ap-746	89	11	very	very	ADV
ap-746	89	12	complex	complex	ADJ
ap-746	89	13	flowfields	flowfield	NOUN
ap-746	89	14	,	,	PUNCT
ap-746	89	15	with	with	ADP
ap-746	89	16	reliable	reliable	ADJ
ap-746	89	17	automatic	automatic	ADJ
ap-746	89	18	mesh	mesh	NOUN
ap-746	89	19	generation	generation	NOUN
ap-746	89	20	[	[	X
ap-746	89	21	12	12	NUM
ap-746	89	22	]	]	PUNCT
ap-746	89	23	.	.	PUNCT
ap-746	90	1	of	of	ADP
ap-746	90	2	course	course	NOUN
ap-746	90	3	,	,	PUNCT
ap-746	90	4	the	the	DET
ap-746	90	5	code	code	NOUN
ap-746	90	6	is	be	AUX
ap-746	90	7	considerably	considerably	ADV
ap-746	90	8	more	more	ADV
ap-746	90	9	computationally	computationally	ADV
ap-746	90	10	demanding	demand	VERB
ap-746	90	11	and	and	CCONJ
ap-746	90	12	,	,	PUNCT
ap-746	90	13	for	for	ADP
ap-746	90	14	this	this	DET
ap-746	90	15	reason	reason	NOUN
ap-746	90	16	,	,	PUNCT
ap-746	90	17	its	its	PRON
ap-746	90	18	use	use	NOUN
ap-746	90	19	for	for	ADP
ap-746	90	20	realizing	realize	VERB
ap-746	90	21	a	a	DET
ap-746	90	22	new	new	ADJ
ap-746	90	23	database	database	NOUN
ap-746	90	24	was	be	AUX
ap-746	90	25	not	not	PART
ap-746	90	26	considered	consider	VERB
ap-746	90	27	,	,	PUNCT
ap-746	90	28	inasmuch	inasmuch	ADJ
ap-746	90	29	as	as	SCONJ
ap-746	90	30	several	several	ADJ
ap-746	90	31	machine	machine	NOUN
ap-746	90	32	-	-	PUNCT
ap-746	90	33	months	month	NOUN
ap-746	90	34	would	would	AUX
ap-746	90	35	have	have	AUX
ap-746	90	36	been	be	AUX
ap-746	90	37	necessary	necessary	ADJ
ap-746	90	38	for	for	ADP
ap-746	90	39	completing	complete	VERB
ap-746	90	40	such	such	DET
ap-746	90	41	a	a	DET
ap-746	90	42	job	job	NOUN
ap-746	90	43	.	.	PUNCT
ap-746	91	1	this	this	DET
ap-746	91	2	code	code	NOUN
ap-746	91	3	was	be	AUX
ap-746	91	4	used	use	VERB
ap-746	91	5	in	in	ADP
ap-746	91	6	order	order	NOUN
ap-746	91	7	to	to	PART
ap-746	91	8	define	define	VERB
ap-746	91	9	the	the	DET
ap-746	91	10	final	final	ADJ
ap-746	91	11	configuration	configuration	NOUN
ap-746	91	12	of	of	ADP
ap-746	91	13	the	the	DET
ap-746	91	14	fuselage	fuselage	NOUN
ap-746	91	15	,	,	PUNCT
ap-746	91	16	in	in	ADP
ap-746	91	17	terms	term	NOUN
ap-746	91	18	of	of	ADP
ap-746	91	19	section	section	NOUN
ap-746	91	20	shape	shape	NOUN
ap-746	91	21	,	,	PUNCT
ap-746	91	22	and	and	CCONJ
ap-746	91	23	to	to	PART
ap-746	91	24	investigate	investigate	VERB
ap-746	91	25	in	in	ADP
ap-746	91	26	greater	great	ADJ
ap-746	91	27	detail	detail	NOUN
ap-746	91	28	phenomena	phenomenon	NOUN
ap-746	91	29	not	not	PART
ap-746	91	30	modeled	model	VERB
ap-746	91	31	by	by	ADP
ap-746	91	32	the	the	DET
ap-746	91	33	euler	euler	PROPN
ap-746	91	34	solver	solver	PROPN
ap-746	91	35	of	of	ADP
ap-746	91	36	vsaero	vsaero	NOUN
ap-746	91	37	,	,	PUNCT
ap-746	91	38	such	such	ADJ
ap-746	91	39	as	as	ADP
ap-746	91	40	the	the	DET
ap-746	91	41	flowfield	flowfield	NOUN
ap-746	91	42	between	between	ADP
ap-746	91	43	the	the	DET
ap-746	91	44	rotors	rotor	NOUN
ap-746	91	45	,	,	PUNCT
ap-746	91	46	rotor	rotor	NOUN
ap-746	91	47	-	-	PUNCT
ap-746	91	48	fuselage	fuselage	NOUN
ap-746	91	49	interaction	interaction	NOUN
ap-746	91	50	,	,	PUNCT
ap-746	91	51	and	and	CCONJ
ap-746	91	52	wake	wake	VERB
ap-746	91	53	separation	separation	NOUN
ap-746	91	54	from	from	ADP
ap-746	91	55	the	the	DET
ap-746	91	56	fuselage	fuselage	NOUN
ap-746	91	57	in	in	ADP
ap-746	91	58	hovering	hover	VERB
ap-746	91	59	,	,	PUNCT
ap-746	91	60	axial	axial	ADJ
ap-746	91	61	translation	translation	NOUN
ap-746	91	62	and	and	CCONJ
ap-746	91	63	forward	forward	ADJ
ap-746	91	64	flight	flight	NOUN
ap-746	91	65	.	.	PUNCT
ap-746	92	1	in	in	ADP
ap-746	92	2	the	the	DET
ap-746	92	3	latter	latter	ADJ
ap-746	92	4	case	case	NOUN
ap-746	92	5	,	,	PUNCT
ap-746	92	6	it	it	PRON
ap-746	92	7	was	be	AUX
ap-746	92	8	necessary	necessary	ADJ
ap-746	92	9	to	to	PART
ap-746	92	10	model	model	VERB
ap-746	92	11	the	the	DET
ap-746	92	12	rotors	rotor	NOUN
ap-746	92	13	like	like	ADP
ap-746	92	14	an	an	DET
ap-746	92	15	actuator	actuator	NOUN
ap-746	92	16	disk	disk	NOUN
ap-746	92	17	,	,	PUNCT
ap-746	92	18	inasmuch	inasmuch	ADJ
ap-746	92	19	as	as	SCONJ
ap-746	92	20	the	the	DET
ap-746	92	21	solver	solver	NOUN
ap-746	92	22	can	can	AUX
ap-746	92	23	deal	deal	VERB
ap-746	92	24	with	with	ADP
ap-746	92	25	unsteady	unsteady	ADJ
ap-746	92	26	periodic	periodic	ADJ
ap-746	92	27	solutions	solution	NOUN
ap-746	92	28	only	only	ADV
ap-746	92	29	in	in	ADP
ap-746	92	30	axial	axial	ADJ
ap-746	92	31	flow	flow	NOUN
ap-746	92	32	.	.	PUNCT
ap-746	93	1	in	in	ADP
ap-746	93	2	this	this	DET
ap-746	93	3	way	way	NOUN
ap-746	93	4	it	it	PRON
ap-746	93	5	was	be	AUX
ap-746	93	6	also	also	ADV
ap-746	93	7	possible	possible	ADJ
ap-746	93	8	to	to	PART
ap-746	93	9	make	make	VERB
ap-746	93	10	a	a	DET
ap-746	93	11	comparison	comparison	NOUN
ap-746	93	12	with	with	ADP
ap-746	93	13	the	the	DET
ap-746	93	14	results	result	NOUN
ap-746	93	15	obtained	obtain	VERB
ap-746	93	16	from	from	ADP
ap-746	93	17	the	the	DET
ap-746	93	18	potential	potential	ADJ
ap-746	93	19	code	code	NOUN
ap-746	93	20	in	in	ADP
ap-746	93	21	a	a	DET
ap-746	93	22	given	give	VERB
ap-746	93	23	set	set	NOUN
ap-746	93	24	of	of	ADP
ap-746	93	25	working	working	NOUN
ap-746	93	26	points	point	NOUN
ap-746	93	27	.	.	PUNCT
ap-746	94	1	although	although	SCONJ
ap-746	94	2	this	this	DET
ap-746	94	3	comparison	comparison	NOUN
ap-746	94	4	can	can	AUX
ap-746	94	5	not	not	PART
ap-746	94	6	be	be	AUX
ap-746	94	7	considered	consider	VERB
ap-746	94	8	a	a	DET
ap-746	94	9	true	true	ADJ
ap-746	94	10	validation	validation	NOUN
ap-746	94	11	of	of	ADP
ap-746	94	12	the	the	DET
ap-746	94	13	aerodynamic	aerodynamic	ADJ
ap-746	94	14	database	database	NOUN
ap-746	94	15	determined	determine	VERB
ap-746	94	16	by	by	ADP
ap-746	94	17	vsaero	vsaero	NOUN
ap-746	94	18	,	,	PUNCT
ap-746	94	19	the	the	DET
ap-746	94	20	combined	combined	ADJ
ap-746	94	21	use	use	NOUN
ap-746	94	22	of	of	ADP
ap-746	94	23	a	a	DET
ap-746	94	24	simple	simple	ADJ
ap-746	94	25	and	and	CCONJ
ap-746	94	26	efficient	efficient	ADJ
ap-746	94	27	potential	potential	ADJ
ap-746	94	28	code	code	NOUN
ap-746	94	29	with	with	ADP
ap-746	94	30	a	a	DET
ap-746	94	31	more	more	ADV
ap-746	94	32	sophisticated	sophisticated	ADJ
ap-746	94	33	navier	navier	NOUN
ap-746	94	34	-	-	PUNCT
ap-746	94	35	stokes	stoke	NOUN
ap-746	94	36	solver	solver	NOUN
ap-746	94	37	significantly	significantly	ADV
ap-746	94	38	improved	improve	VERB
ap-746	94	39	the	the	DET
ap-746	94	40	confidence	confidence	NOUN
ap-746	94	41	in	in	ADP
ap-746	94	42	the	the	DET
ap-746	94	43	obtained	obtain	VERB
ap-746	94	44	aerodynamic	aerodynamic	ADJ
ap-746	94	45	model	model	NOUN
ap-746	94	46	of	of	ADP
ap-746	94	47	the	the	DET
ap-746	94	48	vehicle	vehicle	NOUN
ap-746	94	49	.	.	PUNCT
ap-746	95	1	two	two	NUM
ap-746	95	2	of	of	ADP
ap-746	95	3	the	the	DET
ap-746	95	4	most	most	ADV
ap-746	95	5	important	important	ADJ
ap-746	95	6	results	result	NOUN
ap-746	95	7	obtained	obtain	VERB
ap-746	95	8	from	from	ADP
ap-746	95	9	the	the	DET
ap-746	95	10	analysis	analysis	NOUN
ap-746	95	11	performed	perform	VERB
ap-746	95	12	with	with	ADP
ap-746	95	13	the	the	DET
ap-746	95	14	fine	fine	ADJ
ap-746	95	15	/	/	SYM
ap-746	95	16	turbo	turbo	NOUN
ap-746	95	17	software	software	NOUN
ap-746	95	18	are	be	AUX
ap-746	95	19	the	the	DET
ap-746	95	20	determination	determination	NOUN
ap-746	95	21	of	of	ADP
ap-746	95	22	the	the	DET
ap-746	95	23	power	power	NOUN
ap-746	95	24	required	require	VERB
ap-746	95	25	by	by	ADP
ap-746	95	26	the	the	DET
ap-746	95	27	rotor	rotor	NOUN
ap-746	95	28	system	system	NOUN
ap-746	95	29	and	and	CCONJ
ap-746	95	30	rotor	rotor	NOUN
ap-746	95	31	efficiency	efficiency	NOUN
ap-746	95	32	in	in	ADP
ap-746	95	33	hovering	hover	VERB
ap-746	95	34	,	,	PUNCT
ap-746	95	35	two	two	NUM
ap-746	95	36	figures	figure	NOUN
ap-746	95	37	that	that	PRON
ap-746	95	38	play	play	VERB
ap-746	95	39	a	a	DET
ap-746	95	40	crucial	crucial	ADJ
ap-746	95	41	role	role	NOUN
ap-746	95	42	in	in	ADP
ap-746	95	43	engine	engine	NOUN
ap-746	95	44	sizing	sizing	NOUN
ap-746	95	45	and	and	CCONJ
ap-746	95	46	vehicle	vehicle	NOUN
ap-746	95	47	performance	performance	NOUN
ap-746	95	48	estimation	estimation	NOUN
ap-746	95	49	.	.	PUNCT
ap-746	96	1	required	require	VERB
ap-746	96	2	power	power	NOUN
ap-746	96	3	of	of	ADP
ap-746	96	4	almost	almost	ADV
ap-746	96	5	21	21	NUM
ap-746	96	6	kw	kw	NOUN
ap-746	96	7	(	(	PUNCT
ap-746	96	8	28	28	NUM
ap-746	96	9	hp	hp	NOUN
ap-746	96	10	)	)	PUNCT
ap-746	96	11	was	be	AUX
ap-746	96	12	evaluated	evaluate	VERB
ap-746	96	13	,	,	PUNCT
ap-746	96	14	and	and	CCONJ
ap-746	96	15	the	the	DET
ap-746	96	16	beneficial	beneficial	ADJ
ap-746	96	17	effect	effect	NOUN
ap-746	96	18	of	of	ADP
ap-746	96	19	the	the	DET
ap-746	96	20	toroidal	toroidal	ADJ
ap-746	96	21	fuselage	fuselage	NOUN
ap-746	96	22	at	at	ADP
ap-746	96	23	low	low	ADJ
ap-746	96	24	speed	speed	NOUN
ap-746	96	25	received	receive	VERB
ap-746	96	26	sound	sound	NOUN
ap-746	96	27	confirmation	confirmation	NOUN
ap-746	96	28	,	,	PUNCT
ap-746	96	29	when	when	SCONJ
ap-746	96	30	fuselage	fuselage	NOUN
ap-746	96	31	lift	lift	NOUN
ap-746	96	32	at	at	ADP
ap-746	96	33	hovering	hover	VERB
ap-746	96	34	(	(	PUNCT
ap-746	96	35	due	due	ADP
ap-746	96	36	to	to	ADP
ap-746	96	37	the	the	DET
ap-746	96	38	suction	suction	NOUN
ap-746	96	39	effect	effect	NOUN
ap-746	96	40	at	at	ADP
ap-746	96	41	the	the	DET
ap-746	96	42	shroud	shroud	NOUN
ap-746	96	43	inlet	inlet	NOUN
ap-746	96	44	)	)	PUNCT
ap-746	96	45	was	be	AUX
ap-746	96	46	determined	determine	VERB
ap-746	96	47	to	to	PART
ap-746	96	48	be	be	AUX
ap-746	96	49	as	as	ADV
ap-746	96	50	high	high	ADJ
ap-746	96	51	as	as	ADP
ap-746	96	52	1/3	1/3	NUM
ap-746	96	53	of	of	ADP
ap-746	96	54	the	the	DET
ap-746	96	55	total	total	ADJ
ap-746	96	56	rotor	rotor	NOUN
ap-746	96	57	thrust	thrust	NOUN
ap-746	96	58	.	.	PUNCT
ap-746	97	1	4	4	NUM
ap-746	97	2	cad	cad	NOUN
ap-746	97	3	and	and	CCONJ
ap-746	97	4	solid	solid	ADJ
ap-746	97	5	modeling	model	VERB
ap-746	97	6	the	the	DET
ap-746	97	7	design	design	NOUN
ap-746	97	8	of	of	ADP
ap-746	97	9	the	the	DET
ap-746	97	10	mechanical	mechanical	ADJ
ap-746	97	11	components	component	NOUN
ap-746	97	12	also	also	ADV
ap-746	97	13	relied	rely	VERB
ap-746	97	14	heavily	heavily	ADV
ap-746	97	15	on	on	ADP
ap-746	97	16	the	the	DET
ap-746	97	17	most	most	ADV
ap-746	97	18	advanced	advanced	ADJ
ap-746	97	19	tools	tool	NOUN
ap-746	97	20	for	for	SCONJ
ap-746	97	21	computer	computer	NOUN
ap-746	97	22	aided	aid	VERB
ap-746	97	23	design	design	NOUN
ap-746	97	24	and	and	CCONJ
ap-746	97	25	solid	solid	ADJ
ap-746	97	26	modeling	modeling	NOUN
ap-746	97	27	.	.	PUNCT
ap-746	98	1	in	in	ADP
ap-746	98	2	the	the	DET
ap-746	98	3	very	very	ADV
ap-746	98	4	first	first	ADJ
ap-746	98	5	phase	phase	NOUN
ap-746	98	6	of	of	ADP
ap-746	98	7	the	the	DET
ap-746	98	8	project	project	NOUN
ap-746	98	9	,	,	PUNCT
ap-746	98	10	autocad	autocad	PROPN
ap-746	98	11	,	,	PUNCT
ap-746	98	12	by	by	ADP
ap-746	98	13	autodesk	autodesk	PROPN
ap-746	98	14	inc	inc	PROPN
ap-746	98	15	.	.	PROPN
ap-746	98	16	,	,	PUNCT
ap-746	98	17	demonstrated	demonstrate	VERB
ap-746	98	18	serious	serious	ADJ
ap-746	98	19	limitations	limitation	NOUN
ap-746	98	20	when	when	SCONJ
ap-746	98	21	dealing	deal	VERB
ap-746	98	22	with	with	ADP
ap-746	98	23	the	the	DET
ap-746	98	24	design	design	NOUN
ap-746	98	25	of	of	ADP
ap-746	98	26	such	such	DET
ap-746	98	27	a	a	DET
ap-746	98	28	complex	complex	ADJ
ap-746	98	29	machine	machine	NOUN
ap-746	98	30	.	.	PUNCT
ap-746	99	1	as	as	ADP
ap-746	99	2	an	an	DET
ap-746	99	3	example	example	NOUN
ap-746	99	4	,	,	PUNCT
ap-746	99	5	it	it	PRON
ap-746	99	6	was	be	AUX
ap-746	99	7	not	not	PART
ap-746	99	8	possible	possible	ADJ
ap-746	99	9	to	to	PART
ap-746	99	10	check	check	VERB
ap-746	99	11	for	for	ADP
ap-746	99	12	interferences	interference	NOUN
ap-746	99	13	in	in	ADP
ap-746	99	14	the	the	DET
ap-746	99	15	mechanism	mechanism	NOUN
ap-746	99	16	for	for	ADP
ap-746	99	17	controlling	control	VERB
ap-746	99	18	blade	blade	NOUN
ap-746	99	19	pitch	pitch	NOUN
ap-746	99	20	by	by	ADP
ap-746	99	21	rotor	rotor	NOUN
ap-746	99	22	swashplates	swashplate	NOUN
ap-746	99	23	.	.	PUNCT
ap-746	100	1	solid	solid	ADJ
ap-746	100	2	modeling	modeling	NOUN
ap-746	100	3	became	become	VERB
ap-746	100	4	necessary	necessary	ADJ
ap-746	100	5	also	also	ADV
ap-746	100	6	for	for	ADP
ap-746	100	7	automatically	automatically	ADV
ap-746	100	8	generating	generate	VERB
ap-746	100	9	the	the	DET
ap-746	100	10	surfaces	surface	NOUN
ap-746	100	11	of	of	ADP
ap-746	100	12	those	those	DET
ap-746	100	13	components	component	NOUN
ap-746	100	14	that	that	PRON
ap-746	100	15	were	be	AUX
ap-746	100	16	to	to	PART
ap-746	100	17	be	be	AUX
ap-746	100	18	realized	realize	VERB
ap-746	100	19	by	by	ADP
ap-746	100	20	numerically	numerically	ADV
ap-746	100	21	controlled	control	VERB
ap-746	100	22	milling	milling	NOUN
ap-746	100	23	machines	machine	NOUN
ap-746	100	24	.	.	PUNCT
ap-746	101	1	for	for	ADP
ap-746	101	2	this	this	DET
ap-746	101	3	reason	reason	NOUN
ap-746	101	4	,	,	PUNCT
ap-746	101	5	licenses	license	NOUN
ap-746	101	6	for	for	ADP
ap-746	101	7	the	the	DET
ap-746	101	8	use	use	NOUN
ap-746	101	9	of	of	ADP
ap-746	101	10	solidworks	solidwork	NOUN
ap-746	101	11	,	,	PUNCT
ap-746	101	12	by	by	ADP
ap-746	101	13	solid	solid	PROPN
ap-746	101	14	works	works	PROPN
ap-746	101	15	corp	corp	PROPN
ap-746	101	16	.	.	PROPN
ap-746	101	17	,	,	PUNCT
ap-746	101	18	were	be	AUX
ap-746	101	19	acquired	acquire	VERB
ap-746	101	20	and	and	CCONJ
ap-746	101	21	,	,	PUNCT
ap-746	101	22	later	later	ADV
ap-746	101	23	,	,	PUNCT
ap-746	101	24	for	for	ADP
ap-746	101	25	unigraphics	unigraphic	NOUN
ap-746	101	26	,	,	PUNCT
ap-746	101	27	by	by	ADP
ap-746	101	28	ugs	ugs	PROPN
ap-746	101	29	plm	plm	PROPN
ap-746	101	30	international	international	PROPN
ap-746	101	31	.	.	PUNCT
ap-746	102	1	together	together	ADV
ap-746	102	2	with	with	ADP
ap-746	102	3	the	the	DET
ap-746	102	4	aforementioned	aforementioned	ADJ
ap-746	102	5	capabilities	capability	NOUN
ap-746	102	6	,	,	PUNCT
ap-746	102	7	parametric	parametric	ADJ
ap-746	102	8	modeling	modeling	NOUN
ap-746	102	9	of	of	ADP
ap-746	102	10	mechanical	mechanical	ADJ
ap-746	102	11	components	component	NOUN
ap-746	102	12	allows	allow	VERB
ap-746	102	13	for	for	ADP
ap-746	102	14	a	a	DET
ap-746	102	15	trial	trial	NOUN
ap-746	102	16	-	-	PUNCT
ap-746	102	17	and	and	CCONJ
ap-746	102	18	-	-	PUNCT
ap-746	102	19	error	error	NOUN
ap-746	102	20	approach	approach	NOUN
ap-746	102	21	,	,	PUNCT
ap-746	102	22	which	which	PRON
ap-746	102	23	would	would	AUX
ap-746	102	24	otherwise	otherwise	ADV
ap-746	102	25	be	be	AUX
ap-746	102	26	extremely	extremely	ADV
ap-746	102	27	time	time	NOUN
ap-746	102	28	consuming	consume	VERB
ap-746	102	29	,	,	PUNCT
ap-746	102	30	where	where	SCONJ
ap-746	102	31	several	several	ADJ
ap-746	102	32	mechanism	mechanism	NOUN
ap-746	102	33	configurations	configuration	NOUN
ap-746	102	34	and	and	CCONJ
ap-746	102	35	dimensions	dimension	NOUN
ap-746	102	36	of	of	ADP
ap-746	102	37	different	different	ADJ
ap-746	102	38	components	component	NOUN
ap-746	102	39	can	can	AUX
ap-746	102	40	be	be	AUX
ap-746	102	41	varied	varied	ADJ
ap-746	102	42	arbitrarily	arbitrarily	ADV
ap-746	102	43	,	,	PUNCT
ap-746	102	44	until	until	SCONJ
ap-746	102	45	an	an	DET
ap-746	102	46	optimal	optimal	ADJ
ap-746	102	47	configuration	configuration	NOUN
ap-746	102	48	is	be	AUX
ap-746	102	49	found	find	VERB
ap-746	102	50	that	that	SCONJ
ap-746	102	51	satisfies	satisfy	VERB
ap-746	102	52	all	all	DET
ap-746	102	53	the	the	DET
ap-746	102	54	requirements	requirement	NOUN
ap-746	102	55	.	.	PUNCT
ap-746	103	1	mechanical	mechanical	ADJ
ap-746	103	2	components	component	NOUN
ap-746	103	3	interference	interference	NOUN
ap-746	103	4	is	be	AUX
ap-746	103	5	ruled	rule	VERB
ap-746	103	6	out	out	ADP
ap-746	103	7	at	at	ADP
ap-746	103	8	the	the	DET
ap-746	103	9	design	design	NOUN
ap-746	103	10	stage	stage	NOUN
ap-746	103	11	,	,	PUNCT
ap-746	103	12	by	by	ADP
ap-746	103	13	virtually	virtually	ADV
ap-746	103	14	moving	move	VERB
ap-746	103	15	all	all	DET
ap-746	103	16	the	the	DET
ap-746	103	17	components	component	NOUN
ap-746	103	18	in	in	ADP
ap-746	103	19	the	the	DET
ap-746	103	20	assembled	assemble	VERB
ap-746	103	21	mechanism	mechanism	NOUN
ap-746	103	22	.	.	PUNCT
ap-746	104	1	finally	finally	ADV
ap-746	104	2	,	,	PUNCT
ap-746	104	3	the	the	DET
ap-746	104	4	interface	interface	NOUN
ap-746	104	5	with	with	ADP
ap-746	104	6	the	the	DET
ap-746	104	7	most	most	ADV
ap-746	104	8	widely	widely	ADV
ap-746	104	9	used	use	VERB
ap-746	104	10	finite	finite	PROPN
ap-746	104	11	element	element	NOUN
ap-746	104	12	codes	code	NOUN
ap-746	104	13	,	,	PUNCT
ap-746	104	14	such	such	ADJ
ap-746	104	15	as	as	ADP
ap-746	104	16	nastran	nastran	ADJ
ap-746	104	17	,	,	PUNCT
ap-746	104	18	by	by	ADP
ap-746	104	19	msc	msc	PROPN
ap-746	104	20	software	software	PROPN
ap-746	104	21	corp	corp	PROPN
ap-746	104	22	.	.	PROPN
ap-746	104	23	,	,	PUNCT
ap-746	104	24	allows	allow	VERB
ap-746	104	25	for	for	ADP
ap-746	104	26	a	a	DET
ap-746	104	27	user	user	NOUN
ap-746	104	28	-	-	PUNCT
ap-746	104	29	friendly	friendly	ADJ
ap-746	104	30	environment	environment	NOUN
ap-746	104	31	,	,	PUNCT
ap-746	104	32	where	where	SCONJ
ap-746	104	33	also	also	ADV
ap-746	104	34	structural	structural	ADJ
ap-746	104	35	analysis	analysis	NOUN
ap-746	104	36	is	be	AUX
ap-746	104	37	carried	carry	VERB
ap-746	104	38	out	out	ADP
ap-746	104	39	efficiently	efficiently	ADV
ap-746	104	40	.	.	PUNCT
ap-746	105	1	instead	instead	ADV
ap-746	105	2	of	of	ADP
ap-746	105	3	going	go	VERB
ap-746	105	4	into	into	ADP
ap-746	105	5	greater	great	ADJ
ap-746	105	6	detail	detail	NOUN
ap-746	105	7	with	with	ADP
ap-746	105	8	the	the	DET
ap-746	105	9	presentation	presentation	NOUN
ap-746	105	10	of	of	ADP
ap-746	105	11	the	the	DET
ap-746	105	12	functionalities	functionality	NOUN
ap-746	105	13	of	of	ADP
ap-746	105	14	solid	solid	ADJ
ap-746	105	15	modeling	modeling	NOUN
ap-746	105	16	software	software	NOUN
ap-746	105	17	,	,	PUNCT
ap-746	105	18	which	which	PRON
ap-746	105	19	can	can	AUX
ap-746	105	20	be	be	AUX
ap-746	105	21	found	find	VERB
ap-746	105	22	in	in	ADP
ap-746	105	23	any	any	DET
ap-746	105	24	manual	manual	NOUN
ap-746	105	25	of	of	ADP
ap-746	105	26	the	the	DET
ap-746	105	27	aforementioned	aforementioned	ADJ
ap-746	105	28	software	software	NOUN
ap-746	105	29	,	,	PUNCT
ap-746	105	30	their	their	PRON
ap-746	105	31	capabilities	capability	NOUN
ap-746	105	32	on	on	ADP
ap-746	105	33	the	the	DET
ap-746	105	34	present	present	ADJ
ap-746	105	35	project	project	NOUN
ap-746	105	36	are	be	AUX
ap-746	105	37	demonstrated	demonstrate	VERB
ap-746	105	38	by	by	ADP
ap-746	105	39	fig	fig	NOUN
ap-746	105	40	.	.	PUNCT
ap-746	106	1	5	5	NUM
ap-746	106	2	,	,	PUNCT
ap-746	106	3	which	which	PRON
ap-746	106	4	represents	represent	VERB
ap-746	106	5	the	the	DET
ap-746	106	6	complex	complex	ADJ
ap-746	106	7	linkages	linkage	NOUN
ap-746	106	8	that	that	PRON
ap-746	106	9	drive	drive	VERB
ap-746	106	10	the	the	DET
ap-746	106	11	rotor	rotor	NOUN
ap-746	106	12	swashplates	swashplate	NOUN
ap-746	106	13	in	in	ADP
ap-746	106	14	order	order	NOUN
ap-746	106	15	to	to	PART
ap-746	106	16	control	control	VERB
ap-746	106	17	blade	blade	NOUN
ap-746	106	18	pitch	pitch	NOUN
ap-746	106	19	according	accord	VERB
ap-746	106	20	to	to	ADP
ap-746	106	21	the	the	DET
ap-746	106	22	pwm	pwm	NOUN
ap-746	106	23	servo	servo	NOUN
ap-746	106	24	commands	command	VERB
ap-746	106	25	.	.	PUNCT
ap-746	107	1	every	every	DET
ap-746	107	2	part	part	NOUN
ap-746	107	3	of	of	ADP
ap-746	107	4	the	the	DET
ap-746	107	5	vehicle	vehicle	NOUN
ap-746	107	6	and	and	CCONJ
ap-746	107	7	every	every	DET
ap-746	107	8	piece	piece	NOUN
ap-746	107	9	of	of	ADP
ap-746	107	10	equipment	equipment	NOUN
ap-746	107	11	developed	develop	VERB
ap-746	107	12	to	to	PART
ap-746	107	13	ground	ground	NOUN
ap-746	107	14	test	test	NOUN
ap-746	107	15	the	the	DET
ap-746	107	16	machine	machine	NOUN
ap-746	107	17	was	be	AUX
ap-746	107	18	designed	design	VERB
ap-746	107	19	,	,	PUNCT
ap-746	107	20	modeled	model	VERB
ap-746	107	21	and	and	CCONJ
ap-746	107	22	realized	realize	VERB
ap-746	107	23	on	on	ADP
ap-746	107	24	the	the	DET
ap-746	107	25	basis	basis	NOUN
ap-746	107	26	of	of	ADP
ap-746	107	27	a	a	DET
ap-746	107	28	detailed	detailed	ADJ
ap-746	107	29	study	study	NOUN
ap-746	107	30	carried	carry	VERB
ap-746	107	31	out	out	ADP
ap-746	107	32	84	84	NUM
ap-746	107	33	©	©	PROPN
ap-746	107	34	czech	czech	PROPN
ap-746	107	35	technical	technical	PROPN
ap-746	107	36	university	university	PROPN
ap-746	107	37	publishing	publishing	NOUN
ap-746	107	38	house	house	NOUN
ap-746	107	39	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-746	107	40	acta	acta	PROPN
ap-746	107	41	polytechnica	polytechnica	PROPN
ap-746	107	42	vol	vol	NOUN
ap-746	107	43	.	.	PROPN
ap-746	108	1	45	45	NUM
ap-746	108	2	no	no	NOUN
ap-746	108	3	.	.	PUNCT
ap-746	109	1	4/2005	4/2005	NUM
ap-746	109	2	czech	czech	PROPN
ap-746	109	3	technical	technical	PROPN
ap-746	109	4	university	university	PROPN
ap-746	109	5	in	in	ADP
ap-746	109	6	prague	prague	PROPN
ap-746	109	7	fig	fig	NOUN
ap-746	109	8	.	.	PUNCT
ap-746	110	1	4	4	NUM
ap-746	110	2	:	:	PUNCT
ap-746	110	3	examples	example	NOUN
ap-746	110	4	of	of	ADP
ap-746	110	5	fine	fine	ADJ
ap-746	110	6	/	/	SYM
ap-746	110	7	turbo	turbo	NOUN
ap-746	110	8	graphical	graphical	ADJ
ap-746	110	9	output	output	NOUN
ap-746	110	10	with	with	ADP
ap-746	110	11	these	these	DET
ap-746	110	12	tools	tool	NOUN
ap-746	110	13	.	.	PUNCT
ap-746	111	1	the	the	DET
ap-746	111	2	field	field	NOUN
ap-746	111	3	of	of	ADP
ap-746	111	4	mechanical	mechanical	ADJ
ap-746	111	5	design	design	NOUN
ap-746	111	6	is	be	AUX
ap-746	111	7	probably	probably	ADV
ap-746	111	8	the	the	DET
ap-746	111	9	framework	framework	NOUN
ap-746	111	10	inside	inside	ADP
ap-746	111	11	which	which	PRON
ap-746	111	12	the	the	DET
ap-746	111	13	undergraduate	undergraduate	ADJ
ap-746	111	14	students	student	NOUN
ap-746	111	15	that	that	PRON
ap-746	111	16	took	take	VERB
ap-746	111	17	part	part	NOUN
ap-746	111	18	to	to	ADP
ap-746	111	19	the	the	DET
ap-746	111	20	research	research	NOUN
ap-746	111	21	program	program	NOUN
ap-746	111	22	obtained	obtain	VERB
ap-746	111	23	the	the	DET
ap-746	111	24	greatest	great	ADJ
ap-746	111	25	advantage	advantage	NOUN
ap-746	111	26	in	in	ADP
ap-746	111	27	terms	term	NOUN
ap-746	111	28	of	of	ADP
ap-746	111	29	new	new	ADJ
ap-746	111	30	professional	professional	ADJ
ap-746	111	31	skills	skill	NOUN
ap-746	111	32	.	.	PUNCT
ap-746	112	1	on	on	ADP
ap-746	112	2	the	the	DET
ap-746	112	3	other	other	ADJ
ap-746	112	4	hand	hand	NOUN
ap-746	112	5	,	,	PUNCT
ap-746	112	6	it	it	PRON
ap-746	112	7	is	be	AUX
ap-746	112	8	only	only	ADV
ap-746	112	9	thanks	thank	NOUN
ap-746	112	10	to	to	ADP
ap-746	112	11	these	these	DET
ap-746	112	12	tools	tool	NOUN
ap-746	112	13	,	,	PUNCT
ap-746	112	14	the	the	DET
ap-746	112	15	use	use	NOUN
ap-746	112	16	of	of	ADP
ap-746	112	17	which	which	PRON
ap-746	112	18	could	could	AUX
ap-746	112	19	be	be	AUX
ap-746	112	20	easily	easily	ADV
ap-746	112	21	learned	learn	VERB
ap-746	112	22	from	from	ADP
ap-746	112	23	self	self	NOUN
ap-746	112	24	-	-	PUNCT
ap-746	112	25	contained	contain	VERB
ap-746	112	26	manuals	manual	NOUN
ap-746	112	27	,	,	PUNCT
ap-746	112	28	that	that	SCONJ
ap-746	112	29	students	student	NOUN
ap-746	112	30	with	with	ADP
ap-746	112	31	just	just	ADV
ap-746	112	32	a	a	DET
ap-746	112	33	basic	basic	ADJ
ap-746	112	34	knowledge	knowledge	NOUN
ap-746	112	35	of	of	ADP
ap-746	112	36	mechanical	mechanical	ADJ
ap-746	112	37	design	design	NOUN
ap-746	112	38	could	could	AUX
ap-746	112	39	successfully	successfully	ADV
ap-746	112	40	take	take	VERB
ap-746	112	41	part	part	NOUN
ap-746	112	42	in	in	ADP
ap-746	112	43	a	a	DET
ap-746	112	44	“	"	PUNCT
ap-746	112	45	real	real	ADJ
ap-746	112	46	life	life	NOUN
ap-746	112	47	”	"	PUNCT
ap-746	112	48	project	project	NOUN
ap-746	112	49	,	,	PUNCT
ap-746	112	50	in	in	ADP
ap-746	112	51	spite	spite	NOUN
ap-746	112	52	of	of	ADP
ap-746	112	53	their	their	PRON
ap-746	112	54	lack	lack	NOUN
ap-746	112	55	of	of	ADP
ap-746	112	56	experience	experience	NOUN
ap-746	112	57	.	.	PUNCT
ap-746	113	1	5	5	NUM
ap-746	113	2	control	control	NOUN
ap-746	113	3	system	system	NOUN
ap-746	113	4	rapid	rapid	ADJ
ap-746	113	5	prototyping	prototyping	NOUN
ap-746	113	6	after	after	SCONJ
ap-746	113	7	the	the	DET
ap-746	113	8	realization	realization	NOUN
ap-746	113	9	of	of	ADP
ap-746	113	10	the	the	DET
ap-746	113	11	rotor	rotor	NOUN
ap-746	113	12	assembly	assembly	NOUN
ap-746	113	13	and	and	CCONJ
ap-746	113	14	of	of	ADP
ap-746	113	15	the	the	DET
ap-746	113	16	three	three	NUM
ap-746	113	17	-	-	PUNCT
ap-746	113	18	engine	engine	NOUN
ap-746	113	19	unit	unit	NOUN
ap-746	113	20	,	,	PUNCT
ap-746	113	21	which	which	PRON
ap-746	113	22	were	be	AUX
ap-746	113	23	separately	separately	ADV
ap-746	113	24	ground	ground	NOUN
ap-746	113	25	tested	test	VERB
ap-746	113	26	,	,	PUNCT
ap-746	113	27	as	as	SCONJ
ap-746	113	28	reported	report	VERB
ap-746	113	29	in	in	ADP
ap-746	113	30	[	[	X
ap-746	113	31	4	4	NUM
ap-746	113	32	]	]	PUNCT
ap-746	113	33	,	,	PUNCT
ap-746	113	34	ground	ground	NOUN
ap-746	113	35	testing	testing	NOUN
ap-746	113	36	of	of	ADP
ap-746	113	37	the	the	DET
ap-746	113	38	whole	whole	ADJ
ap-746	113	39	engine	engine	NOUN
ap-746	113	40	/	/	SYM
ap-746	113	41	rotor	rotor	NOUN
ap-746	113	42	system	system	NOUN
ap-746	113	43	,	,	PUNCT
ap-746	113	44	coupled	couple	VERB
ap-746	113	45	with	with	ADP
ap-746	113	46	the	the	DET
ap-746	113	47	on	on	ADP
ap-746	113	48	-	-	PUNCT
ap-746	113	49	board	board	NOUN
ap-746	113	50	computer	computer	NOUN
ap-746	113	51	for	for	ADP
ap-746	113	52	engine	engine	NOUN
ap-746	113	53	and	and	CCONJ
ap-746	113	54	rotor	rotor	NOUN
ap-746	113	55	rpm	rpm	PROPN
ap-746	113	56	control	control	NOUN
ap-746	113	57	,	,	PUNCT
ap-746	113	58	will	will	AUX
ap-746	113	59	offer	offer	VERB
ap-746	113	60	the	the	DET
ap-746	113	61	first	first	ADJ
ap-746	113	62	test	test	NOUN
ap-746	113	63	benchmark	benchmark	NOUN
ap-746	113	64	for	for	ADP
ap-746	113	65	the	the	DET
ap-746	113	66	control	control	NOUN
ap-746	113	67	system	system	NOUN
ap-746	113	68	software	software	NOUN
ap-746	113	69	.	.	PUNCT
ap-746	114	1	as	as	SCONJ
ap-746	114	2	explained	explain	VERB
ap-746	114	3	in	in	ADP
ap-746	114	4	greater	great	ADJ
ap-746	114	5	detail	detail	NOUN
ap-746	114	6	in	in	ADP
ap-746	114	7	[	[	X
ap-746	114	8	7	7	NUM
ap-746	114	9	]	]	PUNCT
ap-746	114	10	and	and	CCONJ
ap-746	115	1	[	[	X
ap-746	115	2	13	13	NUM
ap-746	115	3	]	]	PUNCT
ap-746	115	4	,	,	PUNCT
ap-746	115	5	the	the	DET
ap-746	115	6	flight	flight	NOUN
ap-746	115	7	management	management	NOUN
ap-746	115	8	system	system	NOUN
ap-746	115	9	(	(	PUNCT
ap-746	115	10	fms	fms	PROPN
ap-746	115	11	)	)	PUNCT
ap-746	115	12	is	be	AUX
ap-746	115	13	made	make	VERB
ap-746	115	14	of	of	ADP
ap-746	115	15	an	an	DET
ap-746	115	16	inner	inner	ADJ
ap-746	115	17	robust	robust	ADJ
ap-746	115	18	control	control	NOUN
ap-746	115	19	and	and	CCONJ
ap-746	115	20	stability	stability	NOUN
ap-746	115	21	augmentation	augmentation	NOUN
ap-746	115	22	system	system	NOUN
ap-746	115	23	,	,	PUNCT
ap-746	115	24	coupled	couple	VERB
ap-746	115	25	with	with	ADP
ap-746	115	26	basic	basic	ADJ
ap-746	115	27	autopilot	autopilot	NOUN
ap-746	115	28	functions	function	NOUN
ap-746	115	29	,	,	PUNCT
ap-746	115	30	realized	realize	VERB
ap-746	115	31	by	by	ADP
ap-746	115	32	external	external	ADJ
ap-746	115	33	feedback	feedback	NOUN
ap-746	115	34	loops	loop	NOUN
ap-746	115	35	.	.	PUNCT
ap-746	116	1	during	during	ADP
ap-746	116	2	normal	normal	ADJ
ap-746	116	3	operations	operation	NOUN
ap-746	116	4	,	,	PUNCT
ap-746	116	5	i.	i.	PROPN
ap-746	116	6	e.	e.	PROPN
ap-746	116	7	,	,	PUNCT
ap-746	116	8	after	after	ADP
ap-746	116	9	the	the	DET
ap-746	116	10	engine	engine	NOUN
ap-746	116	11	start	start	VERB
ap-746	116	12	-	-	PUNCT
ap-746	116	13	up	up	ADP
ap-746	116	14	procedure	procedure	NOUN
ap-746	116	15	,	,	PUNCT
ap-746	116	16	the	the	DET
ap-746	116	17	engine	engine	NOUN
ap-746	116	18	throttles	throttle	NOUN
ap-746	116	19	are	be	AUX
ap-746	116	20	controlled	control	VERB
ap-746	116	21	by	by	ADP
ap-746	116	22	the	the	DET
ap-746	116	23	so	so	ADV
ap-746	116	24	-	-	PUNCT
ap-746	116	25	called	call	VERB
ap-746	116	26	rpm	rpm	ADJ
ap-746	116	27	governor	governor	NOUN
ap-746	116	28	,	,	PUNCT
ap-746	116	29	which	which	PRON
ap-746	116	30	is	be	AUX
ap-746	116	31	a	a	DET
ap-746	116	32	simple	simple	ADJ
ap-746	116	33	siso	siso	NOUN
ap-746	116	34	lead	lead	NOUN
ap-746	116	35	-	-	PUNCT
ap-746	116	36	lag	lag	NOUN
ap-746	116	37	compensator	compensator	NOUN
ap-746	116	38	,	,	PUNCT
ap-746	116	39	with	with	ADP
ap-746	116	40	three	three	NUM
ap-746	116	41	poles	pole	NOUN
ap-746	116	42	and	and	CCONJ
ap-746	116	43	two	two	NUM
ap-746	116	44	zeros	zero	NOUN
ap-746	116	45	,	,	PUNCT
ap-746	116	46	with	with	ADP
ap-746	116	47	feedback	feedback	NOUN
ap-746	116	48	on	on	ADP
ap-746	116	49	rotor	rotor	NOUN
ap-746	116	50	speed	speed	NOUN
ap-746	116	51	,	,	PUNCT
ap-746	116	52	which	which	PRON
ap-746	116	53	must	must	AUX
ap-746	116	54	keep	keep	VERB
ap-746	116	55	the	the	DET
ap-746	116	56	rotor	rotor	NOUN
ap-746	116	57	angular	angular	ADJ
ap-746	116	58	velocity	velocity	NOUN
ap-746	116	59	at	at	ADP
ap-746	116	60	the	the	DET
ap-746	116	61	nominal	nominal	ADJ
ap-746	116	62	value	value	NOUN
ap-746	116	63	of	of	ADP
ap-746	116	64	3,000	3,000	NUM
ap-746	116	65	rpm	rpm	NOUN
ap-746	116	66	.	.	PUNCT
ap-746	117	1	large	large	ADJ
ap-746	117	2	gain	gain	NOUN
ap-746	117	3	(	(	PUNCT
ap-746	117	4	28.3	28.3	NUM
ap-746	117	5	db	db	NOUN
ap-746	117	6	)	)	PUNCT
ap-746	117	7	and	and	CCONJ
ap-746	117	8	phase	phase	NOUN
ap-746	117	9	margins	margin	NOUN
ap-746	117	10	(	(	PUNCT
ap-746	117	11	103.4	103.4	NUM
ap-746	117	12	deg	deg	NOUN
ap-746	117	13	)	)	PUNCT
ap-746	117	14	are	be	AUX
ap-746	117	15	required	require	VERB
ap-746	117	16	to	to	PART
ap-746	117	17	avoid	avoid	VERB
ap-746	117	18	dynamic	dynamic	ADJ
ap-746	117	19	coupling	coupling	NOUN
ap-746	117	20	between	between	ADP
ap-746	117	21	governor	governor	NOUN
ap-746	117	22	and	and	CCONJ
ap-746	117	23	uav	uav	PROPN
ap-746	117	24	controller	controller	NOUN
ap-746	117	25	and	and	CCONJ
ap-746	117	26	to	to	PART
ap-746	117	27	preserve	preserve	VERB
ap-746	117	28	the	the	DET
ap-746	117	29	stability	stability	NOUN
ap-746	117	30	of	of	ADP
ap-746	117	31	the	the	DET
ap-746	117	32	complete	complete	ADJ
ap-746	117	33	system	system	NOUN
ap-746	117	34	(	(	PUNCT
ap-746	117	35	including	include	VERB
ap-746	117	36	the	the	DET
ap-746	117	37	vehicle	vehicle	NOUN
ap-746	117	38	)	)	PUNCT
ap-746	117	39	due	due	ADP
ap-746	117	40	to	to	ADP
ap-746	117	41	the	the	DET
ap-746	117	42	effect	effect	NOUN
ap-746	117	43	of	of	ADP
ap-746	117	44	several	several	ADJ
ap-746	117	45	uncertainties	uncertainty	NOUN
ap-746	117	46	and	and	CCONJ
ap-746	117	47	simplifications	simplification	NOUN
ap-746	117	48	in	in	ADP
ap-746	117	49	the	the	DET
ap-746	117	50	rotor	rotor	NOUN
ap-746	117	51	dynamical	dynamical	ADJ
ap-746	117	52	model	model	NOUN
ap-746	117	53	[	[	X
ap-746	117	54	14	14	NUM
ap-746	117	55	]	]	PUNCT
ap-746	117	56	.	.	PUNCT
ap-746	118	1	the	the	DET
ap-746	118	2	fms	fms	PROPN
ap-746	118	3	hardware	hardware	NOUN
ap-746	118	4	architecture	architecture	NOUN
ap-746	118	5	,	,	PUNCT
ap-746	118	6	described	describe	VERB
ap-746	118	7	in	in	ADP
ap-746	118	8	[	[	X
ap-746	118	9	13	13	NUM
ap-746	118	10	]	]	PUNCT
ap-746	118	11	,	,	PUNCT
ap-746	118	12	is	be	AUX
ap-746	118	13	based	base	VERB
ap-746	118	14	on	on	ADP
ap-746	118	15	a	a	DET
ap-746	118	16	set	set	NOUN
ap-746	118	17	of	of	ADP
ap-746	118	18	cots	cot	NOUN
ap-746	118	19	pc/104	pc/104	NOUN
ap-746	118	20	boards	board	NOUN
ap-746	118	21	including	include	VERB
ap-746	118	22	�	�	PROPN
ap-746	118	23	no	no	NOUN
ap-746	118	24	.	.	NOUN
ap-746	118	25	1	1	NUM
ap-746	118	26	eurotech	eurotech	NOUN
ap-746	118	27	266	266	NUM
ap-746	118	28	mhz	mhz	PROPN
ap-746	118	29	cpu	cpu	NOUN
ap-746	118	30	board	board	NOUN
ap-746	118	31	with	with	ADP
ap-746	118	32	64	64	NUM
ap-746	118	33	mb	mb	ADP
ap-746	118	34	dram	dram	PROPN
ap-746	118	35	and	and	CCONJ
ap-746	118	36	a	a	DET
ap-746	118	37	32	32	NUM
ap-746	118	38	mb	mb	NOUN
ap-746	118	39	disk	disk	NOUN
ap-746	118	40	-	-	PUNCT
ap-746	118	41	on	on	ADP
ap-746	118	42	-	-	PUNCT
ap-746	118	43	chip	chip	NOUN
ap-746	118	44	used	use	VERB
ap-746	118	45	to	to	PART
ap-746	118	46	store	store	VERB
ap-746	118	47	user	user	NOUN
ap-746	118	48	’s	’s	PART
ap-746	118	49	programs	program	NOUN
ap-746	118	50	and	and	CCONJ
ap-746	118	51	for	for	ADP
ap-746	118	52	data	data	NOUN
ap-746	118	53	logging	logging	NOUN
ap-746	118	54	,	,	PUNCT
ap-746	118	55	15	15	NUM
ap-746	118	56	interrupt	interrupt	ADJ
ap-746	118	57	channels	channel	NOUN
ap-746	118	58	,	,	PUNCT
ap-746	118	59	2	2	NUM
ap-746	118	60	rs-232	rs-232	PROPN
ap-746	118	61	serial	serial	ADJ
ap-746	118	62	ports	port	NOUN
ap-746	118	63	:	:	PUNCT
ap-746	118	64	executes	execute	VERB
ap-746	118	65	flight	flight	NOUN
ap-746	118	66	control	control	PROPN
ap-746	118	67	code	code	PROPN
ap-746	118	68	,	,	PUNCT
ap-746	118	69	manages	manage	VERB
ap-746	118	70	sensor	sensor	NOUN
ap-746	118	71	data	datum	NOUN
ap-746	118	72	,	,	PUNCT
ap-746	118	73	organizes	organize	VERB
ap-746	118	74	and	and	CCONJ
ap-746	118	75	commits	commit	VERB
ap-746	118	76	telemetry	telemetry	NOUN
ap-746	118	77	to	to	ADP
ap-746	118	78	the	the	DET
ap-746	118	79	ground	ground	NOUN
ap-746	118	80	station	station	NOUN
ap-746	118	81	.	.	PUNCT
ap-746	119	1	�	�	PROPN
ap-746	119	2	no	no	INTJ
ap-746	119	3	.	.	PROPN
ap-746	119	4	1	1	NUM
ap-746	119	5	mesa	mesa	PROPN
ap-746	119	6	electronics	electronics	PROPN
ap-746	119	7	4123	4123	NUM
ap-746	119	8	4	4	NUM
ap-746	119	9	channels	channel	NOUN
ap-746	119	10	rs-232	rs-232	PROPN
ap-746	119	11	board	board	NOUN
ap-746	119	12	:	:	PUNCT
ap-746	119	13	is	be	AUX
ap-746	119	14	the	the	DET
ap-746	119	15	interface	interface	NOUN
ap-746	119	16	with	with	ADP
ap-746	119	17	imu	imu	NOUN
ap-746	119	18	/	/	SYM
ap-746	119	19	gps	gps	NOUN
ap-746	119	20	main	main	ADJ
ap-746	119	21	attitude	attitude	NOUN
ap-746	119	22	/	/	SYM
ap-746	119	23	navigation	navigation	NOUN
ap-746	119	24	sensor	sensor	NOUN
ap-746	119	25	,	,	PUNCT
ap-746	119	26	digital	digital	ADJ
ap-746	119	27	compass	compass	NOUN
ap-746	119	28	and	and	CCONJ
ap-746	119	29	wireless	wireless	ADJ
ap-746	119	30	modem	modem	NOUN
ap-746	119	31	.	.	PUNCT
ap-746	120	1	�	�	PROPN
ap-746	120	2	no	no	PRON
ap-746	120	3	.	.	NOUN
ap-746	120	4	2	2	NUM
ap-746	120	5	diamond	diamond	NOUN
ap-746	120	6	system	system	PROPN
ap-746	120	7	corp	corp	PROPN
ap-746	120	8	.	.	PROPN
ap-746	120	9	quartz	quartz	PROPN
ap-746	120	10	-	-	PUNCT
ap-746	120	11	mm	mm	PROPN
ap-746	120	12	10	10	NUM
ap-746	120	13	board	board	NOUN
ap-746	120	14	with	with	ADP
ap-746	120	15	8	8	NUM
ap-746	120	16	digital	digital	ADJ
ap-746	120	17	input	input	NOUN
ap-746	120	18	lines	line	NOUN
ap-746	120	19	,	,	PUNCT
ap-746	120	20	8	8	NUM
ap-746	120	21	digital	digital	ADJ
ap-746	120	22	output	output	NOUN
ap-746	120	23	lines	line	NOUN
ap-746	120	24	and	and	CCONJ
ap-746	120	25	10	10	NUM
ap-746	120	26	counter	counter	NOUN
ap-746	120	27	/	/	NOUN
ap-746	120	28	timers	timer	NOUN
ap-746	120	29	:	:	PUNCT
ap-746	120	30	used	use	VERB
ap-746	120	31	to	to	PART
ap-746	120	32	generate	generate	VERB
ap-746	120	33	pwm	pwm	NOUN
ap-746	120	34	signals	signal	NOUN
ap-746	120	35	for	for	ADP
ap-746	120	36	12	12	NUM
ap-746	120	37	coupled	couple	VERB
ap-746	120	38	servos	servo	NOUN
ap-746	120	39	(	(	PUNCT
ap-746	120	40	6	6	NUM
ap-746	120	41	output	output	NOUN
ap-746	120	42	channels	channel	NOUN
ap-746	120	43	)	)	PUNCT
ap-746	120	44	controlling	control	VERB
ap-746	120	45	upper	upper	ADJ
ap-746	120	46	and	and	CCONJ
ap-746	120	47	lower	low	ADJ
ap-746	120	48	swashplates	swashplate	NOUN
ap-746	120	49	,	,	PUNCT
ap-746	120	50	3	3	NUM
ap-746	120	51	servos	servo	NOUN
ap-746	120	52	for	for	ADP
ap-746	120	53	engine	engine	NOUN
ap-746	120	54	throttles	throttle	NOUN
ap-746	120	55	,	,	PUNCT
ap-746	120	56	and	and	CCONJ
ap-746	120	57	2	2	NUM
ap-746	120	58	servos	servo	NOUN
ap-746	120	59	for	for	ADP
ap-746	120	60	roll	roll	NOUN
ap-746	120	61	/	/	SYM
ap-746	120	62	pitch	pitch	NOUN
ap-746	120	63	video	video	NOUN
ap-746	120	64	camera	camera	NOUN
ap-746	120	65	control	control	NOUN
ap-746	120	66	,	,	PUNCT
ap-746	120	67	and	and	CCONJ
ap-746	120	68	to	to	PART
ap-746	120	69	interface	interface	VERB
ap-746	120	70	with	with	ADP
ap-746	120	71	5	5	NUM
ap-746	120	72	hall	hall	NOUN
ap-746	120	73	–	–	PUNCT
ap-746	120	74	effect	effect	NOUN
ap-746	120	75	latches	latch	NOUN
ap-746	120	76	,	,	PUNCT
ap-746	120	77	rpm	rpm	ADP
ap-746	120	78	sensors	sensor	NOUN
ap-746	120	79	for	for	ADP
ap-746	120	80	engines	engine	NOUN
ap-746	120	81	(	(	PUNCT
ap-746	120	82	3	3	NUM
ap-746	120	83	)	)	PUNCT
ap-746	120	84	and	and	CCONJ
ap-746	120	85	rotors	rotor	NOUN
ap-746	120	86	(	(	PUNCT
ap-746	120	87	2	2	NUM
ap-746	120	88	)	)	PUNCT
ap-746	120	89	.	.	PUNCT
ap-746	121	1	�	�	PROPN
ap-746	121	2	no	no	INTJ
ap-746	121	3	.	.	NOUN
ap-746	121	4	1	1	NUM
ap-746	121	5	diamond	diamond	NOUN
ap-746	121	6	system	system	PROPN
ap-746	121	7	corp	corp	PROPN
ap-746	121	8	.	.	PROPN
ap-746	121	9	diamond	diamond	PROPN
ap-746	121	10	–	–	PUNCT
ap-746	121	11	mm	mm	PROPN
ap-746	121	12	32	32	NUM
ap-746	121	13	board	board	NOUN
ap-746	121	14	with	with	ADP
ap-746	121	15	32	32	NUM
ap-746	121	16	single	single	ADJ
ap-746	121	17	or	or	CCONJ
ap-746	121	18	16	16	NUM
ap-746	121	19	differential	differential	ADJ
ap-746	121	20	analog	analog	NOUN
ap-746	121	21	input	input	NOUN
ap-746	121	22	channels	channel	NOUN
ap-746	121	23	(	(	PUNCT
ap-746	121	24	16	16	NUM
ap-746	121	25	bit	bit	NOUN
ap-746	121	26	)	)	PUNCT
ap-746	121	27	,	,	PUNCT
ap-746	121	28	4	4	NUM
ap-746	121	29	analog	analog	NOUN
ap-746	121	30	output	output	NOUN
ap-746	121	31	channels	channel	NOUN
ap-746	121	32	(	(	PUNCT
ap-746	121	33	12	12	NUM
ap-746	121	34	bit	bit	NOUN
ap-746	121	35	)	)	PUNCT
ap-746	121	36	and	and	CCONJ
ap-746	121	37	24	24	NUM
ap-746	121	38	digital	digital	PROPN
ap-746	121	39	i	i	PROPN
ap-746	121	40	/	/	SYM
ap-746	121	41	o	o	NOUN
ap-746	121	42	lines	line	NOUN
ap-746	121	43	:	:	PUNCT
ap-746	121	44	used	use	VERB
ap-746	121	45	for	for	ADP
ap-746	121	46	analog	analog	NOUN
ap-746	121	47	signal	signal	PROPN
ap-746	121	48	acquisition	acquisition	NOUN
ap-746	121	49	,	,	PUNCT
ap-746	121	50	that	that	ADV
ap-746	121	51	is	is	ADV
ap-746	121	52	,	,	PUNCT
ap-746	121	53	egt	egt	PROPN
ap-746	121	54	and	and	CCONJ
ap-746	121	55	cylinder	cylinder	NOUN
ap-746	121	56	head	head	NOUN
ap-746	121	57	temperatures	temperature	NOUN
ap-746	121	58	,	,	PUNCT
ap-746	121	59	voltage	voltage	NOUN
ap-746	121	60	and	and	CCONJ
ap-746	121	61	current	current	ADJ
ap-746	121	62	in	in	ADP
ap-746	121	63	the	the	DET
ap-746	121	64	power	power	NOUN
ap-746	121	65	system	system	NOUN
ap-746	121	66	.	.	PUNCT
ap-746	122	1	�	�	PROPN
ap-746	122	2	no	no	INTJ
ap-746	122	3	.	.	NOUN
ap-746	122	4	1	1	NUM
ap-746	122	5	eurotech	eurotech	PROPN
ap-746	122	6	idea	idea	NOUN
ap-746	122	7	-	-	PUNCT
ap-746	122	8	net2	net2	NOUN
ap-746	122	9	/	/	SYM
ap-746	122	10	et	et	NOUN
ap-746	122	11	10	10	NUM
ap-746	122	12	baset	baset	NOUN
ap-746	122	13	ethernet	ethernet	NOUN
ap-746	122	14	board	board	NOUN
ap-746	122	15	:	:	PUNCT
ap-746	122	16	used	use	VERB
ap-746	122	17	to	to	PART
ap-746	122	18	connect	connect	VERB
ap-746	122	19	the	the	DET
ap-746	122	20	fms	fms	PROPN
ap-746	122	21	to	to	ADP
ap-746	122	22	a	a	DET
ap-746	122	23	laptop	laptop	NOUN
ap-746	122	24	computer	computer	NOUN
ap-746	122	25	or	or	CCONJ
ap-746	122	26	prior	prior	ADV
ap-746	122	27	–	–	PUNCT
ap-746	122	28	to	to	ADP
ap-746	122	29	–	–	PUNCT
ap-746	122	30	flight	flight	NOUN
ap-746	122	31	system	system	NOUN
ap-746	122	32	diagnosis	diagnosis	NOUN
ap-746	122	33	and	and	CCONJ
ap-746	122	34	initialization	initialization	NOUN
ap-746	122	35	.	.	PUNCT
ap-746	123	1	�	�	PROPN
ap-746	123	2	no	no	INTJ
ap-746	123	3	.	.	NOUN
ap-746	123	4	1	1	NUM
ap-746	123	5	diamond	diamond	PROPN
ap-746	123	6	systems	systems	PROPN
ap-746	123	7	corp	corp	PROPN
ap-746	123	8	.	.	PROPN
ap-746	123	9	50	50	NUM
ap-746	123	10	watt	watt	NOUN
ap-746	123	11	dc	dc	PROPN
ap-746	123	12	/	/	SYM
ap-746	123	13	dc	dc	PROPN
ap-746	123	14	power	power	PROPN
ap-746	123	15	supply	supply	PROPN
ap-746	123	16	board	board	PROPN
ap-746	123	17	.	.	PUNCT
ap-746	124	1	development	development	NOUN
ap-746	124	2	of	of	ADP
ap-746	124	3	onboard	onboard	NOUN
ap-746	124	4	sw	sw	PROPN
ap-746	124	5	is	be	AUX
ap-746	124	6	entirely	entirely	ADV
ap-746	124	7	carried	carry	VERB
ap-746	124	8	out	out	ADP
ap-746	124	9	using	use	VERB
ap-746	124	10	the	the	DET
ap-746	124	11	mathworks	mathworks	PROPN
ap-746	124	12	matlab	matlab	PROPN
ap-746	124	13	/	/	SYM
ap-746	124	14	simulink	simulink	PROPN
ap-746	124	15	and	and	CCONJ
ap-746	124	16	stateflow	stateflow	NOUN
ap-746	124	17	with	with	ADP
ap-746	124	18	real	real	ADJ
ap-746	124	19	-	-	PUNCT
ap-746	124	20	time	time	NOUN
ap-746	124	21	workshop	workshop	NOUN
ap-746	124	22	and	and	CCONJ
ap-746	124	23	stateflow	stateflow	NOUN
ap-746	124	24	coder	coder	NOUN
ap-746	124	25	as	as	ADP
ap-746	124	26	automatic	automatic	ADJ
ap-746	124	27	code	code	NOUN
ap-746	124	28	generation	generation	NOUN
ap-746	124	29	tools	tool	NOUN
ap-746	124	30	.	.	PUNCT
ap-746	125	1	the	the	DET
ap-746	125	2	latter	latter	ADJ
ap-746	125	3	produce	produce	VERB
ap-746	125	4	customizable	customizable	ADJ
ap-746	125	5	c	c	NOUN
ap-746	125	6	-	-	PUNCT
ap-746	125	7	code	code	NOUN
ap-746	125	8	directly	directly	ADV
ap-746	125	9	from	from	ADP
ap-746	125	10	simulink	simulink	PROPN
ap-746	125	11	and	and	CCONJ
ap-746	125	12	stateflow	stateflow	NOUN
ap-746	125	13	diagrams	diagram	NOUN
ap-746	125	14	for	for	ADP
ap-746	125	15	stand	stand	VERB
ap-746	125	16	-	-	PUNCT
ap-746	125	17	alone	alone	ADV
ap-746	125	18	embedded	embed	VERB
ap-746	125	19	system	system	NOUN
ap-746	125	20	applications	application	NOUN
ap-746	125	21	.	.	PUNCT
ap-746	126	1	the	the	DET
ap-746	126	2	xpc	xpc	PROPN
ap-746	126	3	target	target	NOUN
ap-746	126	4	toolbox	toolbox	NOUN
ap-746	126	5	with	with	ADP
ap-746	126	6	xpc	xpc	PROPN
ap-746	126	7	target	target	NOUN
ap-746	126	8	embedded	embed	VERB
ap-746	126	9	option	option	NOUN
ap-746	126	10	provide	provide	VERB
ap-746	126	11	automatic	automatic	ADJ
ap-746	126	12	implementation	implementation	NOUN
ap-746	126	13	of	of	ADP
ap-746	126	14	executable	executable	ADJ
ap-746	126	15	code	code	NOUN
ap-746	126	16	in	in	ADP
ap-746	126	17	the	the	DET
ap-746	126	18	target	target	NOUN
ap-746	126	19	computer	computer	NOUN
ap-746	126	20	,	,	PUNCT
ap-746	126	21	where	where	SCONJ
ap-746	126	22	an	an	DET
ap-746	126	23	efficient	efficient	ADJ
ap-746	126	24	real	real	ADJ
ap-746	126	25	-	-	PUNCT
ap-746	126	26	time	time	NOUN
ap-746	126	27	kernel	kernel	PROPN
ap-746	126	28	is	be	AUX
ap-746	126	29	running	run	VERB
ap-746	126	30	.	.	PUNCT
ap-746	127	1	supported	support	VERB
ap-746	127	2	hardware	hardware	NOUN
ap-746	127	3	is	be	AUX
ap-746	127	4	connected	connect	VERB
ap-746	127	5	to	to	ADP
ap-746	127	6	the	the	DET
ap-746	127	7	simulink	simulink	NOUN
ap-746	127	8	models	model	NOUN
ap-746	127	9	via	via	ADP
ap-746	127	10	the	the	DET
ap-746	127	11	s	s	NOUN
ap-746	127	12	-	-	PUNCT
ap-746	127	13	function	function	NOUN
ap-746	127	14	input	input	NOUN
ap-746	127	15	/	/	SYM
ap-746	127	16	output	output	NOUN
ap-746	127	17	interface	interface	NOUN
ap-746	127	18	[	[	X
ap-746	127	19	15	15	NUM
ap-746	127	20	]	]	PUNCT
ap-746	127	21	.	.	PUNCT
ap-746	128	1	in	in	ADP
ap-746	128	2	this	this	DET
ap-746	128	3	way	way	NOUN
ap-746	128	4	,	,	PUNCT
ap-746	128	5	rapid	rapid	ADJ
ap-746	128	6	prototyping	prototyping	NOUN
ap-746	128	7	of	of	ADP
ap-746	128	8	the	the	DET
ap-746	128	9	control	control	NOUN
ap-746	128	10	law	law	NOUN
ap-746	128	11	synthesized	synthesize	VERB
ap-746	128	12	in	in	ADP
ap-746	128	13	the	the	DET
ap-746	128	14	matlab	matlab	PROPN
ap-746	128	15	/	/	SYM
ap-746	128	16	simulink	simulink	PROPN
ap-746	128	17	environment	environment	NOUN
ap-746	128	18	can	can	AUX
ap-746	128	19	be	be	AUX
ap-746	128	20	performed	perform	VERB
ap-746	128	21	in	in	ADP
ap-746	128	22	the	the	DET
ap-746	128	23	hardware	hardware	NOUN
ap-746	128	24	-	-	PUNCT
ap-746	128	25	in	in	ADP
ap-746	128	26	-	-	PUNCT
ap-746	128	27	the	the	DET
ap-746	128	28	-	-	PUNCT
ap-746	128	29	loop	loop	NOUN
ap-746	128	30	(	(	PUNCT
ap-746	128	31	hitl	hitl	PROPN
ap-746	128	32	)	)	PUNCT
ap-746	128	33	simulation	simulation	NOUN
ap-746	128	34	facility	facility	NOUN
ap-746	128	35	,	,	PUNCT
ap-746	128	36	the	the	DET
ap-746	128	37	structure	structure	NOUN
ap-746	128	38	of	of	ADP
ap-746	128	39	which	which	PRON
ap-746	128	40	is	be	AUX
ap-746	128	41	depicted	depict	VERB
ap-746	128	42	in	in	ADP
ap-746	128	43	fig	fig	NOUN
ap-746	128	44	.	.	PUNCT
ap-746	129	1	6	6	NUM
ap-746	129	2	.	.	X
ap-746	130	1	even	even	ADV
ap-746	130	2	if	if	SCONJ
ap-746	130	3	it	it	PRON
ap-746	130	4	is	be	AUX
ap-746	130	5	by	by	ADP
ap-746	130	6	far	far	ADV
ap-746	130	7	the	the	DET
ap-746	130	8	simplest	simple	ADJ
ap-746	130	9	element	element	NOUN
ap-746	130	10	of	of	ADP
ap-746	130	11	the	the	DET
ap-746	130	12	control	control	NOUN
ap-746	130	13	system	system	NOUN
ap-746	130	14	,	,	PUNCT
ap-746	130	15	the	the	DET
ap-746	130	16	reliability	reliability	NOUN
ap-746	130	17	of	of	ADP
ap-746	130	18	the	the	DET
ap-746	130	19	rpm	rpm	ADJ
ap-746	130	20	governor	governor	NOUN
ap-746	130	21	is	be	AUX
ap-746	130	22	of	of	ADP
ap-746	130	23	paramount	paramount	ADJ
ap-746	130	24	importance	importance	NOUN
ap-746	130	25	for	for	ADP
ap-746	130	26	the	the	DET
ap-746	130	27	vehicle	vehicle	NOUN
ap-746	130	28	.	.	PUNCT
ap-746	131	1	moreover	moreover	ADV
ap-746	131	2	,	,	PUNCT
ap-746	131	3	its	its	PRON
ap-746	131	4	demonstration	demonstration	NOUN
ap-746	131	5	will	will	AUX
ap-746	131	6	assess	assess	VERB
ap-746	131	7	the	the	DET
ap-746	131	8	viability	viability	NOUN
ap-746	131	9	of	of	ADP
ap-746	131	10	the	the	DET
ap-746	131	11	approach	approach	NOUN
ap-746	131	12	and	and	CCONJ
ap-746	131	13	the	the	DET
ap-746	131	14	hw	hw	PROPN
ap-746	131	15	configuration	configuration	NOUN
ap-746	131	16	,	,	PUNCT
ap-746	131	17	based	base	VERB
ap-746	131	18	on	on	ADP
ap-746	131	19	the	the	DET
ap-746	131	20	elements	element	NOUN
ap-746	131	21	and	and	CCONJ
ap-746	131	22	the	the	DET
ap-746	131	23	design	design	NOUN
ap-746	131	24	tools	tool	NOUN
ap-746	131	25	listed	list	VERB
ap-746	131	26	above	above	ADV
ap-746	131	27	.	.	PUNCT
ap-746	132	1	for	for	ADP
ap-746	132	2	this	this	DET
ap-746	132	3	reason	reason	NOUN
ap-746	132	4	,	,	PUNCT
ap-746	132	5	an	an	DET
ap-746	132	6	experimental	experimental	ADJ
ap-746	132	7	setup	setup	NOUN
ap-746	132	8	was	be	AUX
ap-746	132	9	designed	design	VERB
ap-746	132	10	in	in	ADP
ap-746	132	11	order	order	NOUN
ap-746	132	12	to	to	PART
ap-746	132	13	test	test	VERB
ap-746	132	14	the	the	DET
ap-746	132	15	engine	engine	NOUN
ap-746	132	16	system	system	NOUN
ap-746	132	17	under	under	ADP
ap-746	132	18	automatic	automatic	ADJ
ap-746	132	19	control	control	NOUN
ap-746	132	20	.	.	PUNCT
ap-746	133	1	in	in	ADP
ap-746	133	2	order	order	NOUN
ap-746	133	3	to	to	PART
ap-746	133	4	limit	limit	VERB
ap-746	133	5	the	the	DET
ap-746	133	6	risk	risk	NOUN
ap-746	133	7	of	of	ADP
ap-746	133	8	losing	lose	VERB
ap-746	133	9	the	the	DET
ap-746	133	10	prototype	prototype	NOUN
ap-746	133	11	,	,	PUNCT
ap-746	133	12	or	or	CCONJ
ap-746	133	13	important	important	ADJ
ap-746	133	14	parts	part	NOUN
ap-746	133	15	of	of	ADP
ap-746	133	16	it	it	PRON
ap-746	133	17	because	because	SCONJ
ap-746	133	18	of	of	ADP
ap-746	133	19	a	a	DET
ap-746	133	20	major	major	ADJ
ap-746	133	21	,	,	PUNCT
ap-746	133	22	unpredictable	unpredictable	ADJ
ap-746	133	23	failure	failure	NOUN
ap-746	133	24	,	,	PUNCT
ap-746	133	25	a	a	DET
ap-746	133	26	safe	safe	ADJ
ap-746	133	27	approach	approach	NOUN
ap-746	133	28	was	be	AUX
ap-746	133	29	undertaken	undertake	VERB
ap-746	133	30	where	where	SCONJ
ap-746	133	31	the	the	DET
ap-746	133	32	engine	engine	NOUN
ap-746	133	33	is	be	AUX
ap-746	133	34	coupled	couple	VERB
ap-746	133	35	with	with	ADP
ap-746	133	36	an	an	DET
ap-746	133	37	aerodynamic	aerodynamic	ADJ
ap-746	133	38	brake	brake	NOUN
ap-746	133	39	,	,	PUNCT
ap-746	133	40	made	make	VERB
ap-746	133	41	by	by	ADP
ap-746	133	42	a	a	DET
ap-746	133	43	bar	bar	NOUN
ap-746	133	44	with	with	ADP
ap-746	133	45	adjustable	adjustable	ADJ
ap-746	133	46	rectangular	rectangular	ADJ
ap-746	133	47	panels	panel	NOUN
ap-746	133	48	,	,	PUNCT
ap-746	133	49	instead	instead	ADV
ap-746	133	50	of	of	ADP
ap-746	133	51	the	the	DET
ap-746	133	52	actual	actual	ADJ
ap-746	133	53	rotor	rotor	NOUN
ap-746	133	54	system	system	NOUN
ap-746	133	55	(	(	PUNCT
ap-746	133	56	fig	fig	NOUN
ap-746	133	57	.	.	PUNCT
ap-746	133	58	7	7	NUM
ap-746	133	59	)	)	PUNCT
ap-746	133	60	.	.	PUNCT
ap-746	134	1	the	the	DET
ap-746	134	2	brake	brake	NOUN
ap-746	134	3	was	be	AUX
ap-746	134	4	sized	size	VERB
ap-746	134	5	in	in	ADP
ap-746	134	6	order	order	NOUN
ap-746	134	7	to	to	PART
ap-746	134	8	create	create	VERB
ap-746	134	9	an	an	DET
ap-746	134	10	aerodynamic	aerodynamic	ADJ
ap-746	134	11	torque	torque	NOUN
ap-746	134	12	q	q	NOUN
ap-746	134	13	at	at	ADP
ap-746	134	14	the	the	DET
ap-746	134	15	design	design	NOUN
ap-746	134	16	speed	speed	NOUN
ap-746	134	17	�	�	PROPN
ap-746	134	18	�	�	PROPN
ap-746	134	19	3,000	3,000	NUM
ap-746	134	20	rpm	rpm	NOUN
ap-746	134	21	reasonably	reasonably	ADV
ap-746	134	22	close	close	ADJ
ap-746	134	23	to	to	ADP
ap-746	134	24	that	that	PRON
ap-746	134	25	produced	produce	VERB
ap-746	134	26	by	by	ADP
ap-746	134	27	the	the	DET
ap-746	134	28	rotor	rotor	NOUN
ap-746	134	29	blades	blade	NOUN
ap-746	134	30	.	.	PUNCT
ap-746	135	1	using	use	VERB
ap-746	135	2	a	a	DET
ap-746	135	3	simple	simple	ADJ
ap-746	135	4	strip	strip	NOUN
ap-746	135	5	theory	theory	NOUN
ap-746	135	6	for	for	ADP
ap-746	135	7	the	the	DET
ap-746	135	8	©	©	PROPN
ap-746	135	9	czech	czech	PROPN
ap-746	135	10	technical	technical	PROPN
ap-746	135	11	university	university	PROPN
ap-746	135	12	publishing	publishing	NOUN
ap-746	135	13	house	house	NOUN
ap-746	135	14	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-746	135	15	85	85	NUM
ap-746	135	16	czech	czech	PROPN
ap-746	135	17	technical	technical	PROPN
ap-746	135	18	university	university	PROPN
ap-746	135	19	in	in	ADP
ap-746	135	20	prague	prague	PROPN
ap-746	135	21	acta	acta	PROPN
ap-746	135	22	polytechnica	polytechnica	PROPN
ap-746	135	23	vol	vol	NOUN
ap-746	135	24	.	.	PROPN
ap-746	136	1	45	45	NUM
ap-746	136	2	no	no	NOUN
ap-746	136	3	.	.	PUNCT
ap-746	137	1	4/2005	4/2005	NUM
ap-746	137	2	fig	fig	NOUN
ap-746	137	3	.	.	PUNCT
ap-746	138	1	5	5	NUM
ap-746	138	2	:	:	PUNCT
ap-746	138	3	solid	solid	ADJ
ap-746	138	4	model	model	NOUN
ap-746	138	5	of	of	ADP
ap-746	138	6	the	the	DET
ap-746	138	7	mechanism	mechanism	NOUN
ap-746	138	8	for	for	ADP
ap-746	138	9	blade	blade	NOUN
ap-746	138	10	pitch	pitch	NOUN
ap-746	138	11	control	control	NOUN
ap-746	138	12	bar	bar	NOUN
ap-746	138	13	and	and	CCONJ
ap-746	138	14	assuming	assume	VERB
ap-746	138	15	a	a	DET
ap-746	138	16	drag	drag	NOUN
ap-746	138	17	coefficient	coefficient	NOUN
ap-746	138	18	cdp	cdp	NOUN
ap-746	138	19	for	for	ADP
ap-746	138	20	the	the	DET
ap-746	138	21	two	two	NUM
ap-746	138	22	panels	panel	NOUN
ap-746	138	23	of	of	ADP
ap-746	138	24	surface	surface	NOUN
ap-746	138	25	sp	sp	NOUN
ap-746	138	26	,	,	PUNCT
ap-746	138	27	the	the	DET
ap-746	138	28	torque	torque	NOUN
ap-746	138	29	estimate	estimate	NOUN
ap-746	138	30	is	be	AUX
ap-746	138	31	given	give	VERB
ap-746	138	32	by	by	ADP
ap-746	138	33	q	q	NOUN
ap-746	138	34	r	r	NOUN
ap-746	138	35	s	s	NOUN
ap-746	138	36	c	c	NOUN
ap-746	138	37	r	r	NOUN
ap-746	138	38	c	c	NOUN
ap-746	138	39	a	a	DET
ap-746	138	40	r	r	NOUN
ap-746	138	41	r	r	NOUN
ap-746	138	42	r	r	NOUN
ap-746	138	43	�	�	PROPN
ap-746	138	44	�	�	PROPN
ap-746	138	45	�	�	PROPN
ap-746	138	46	�	�	PROPN
ap-746	138	47	�	�	PROPN
ap-746	138	48	�	�	PROPN
ap-746	138	49	�	�	PROPN
ap-746	138	50	�	�	PROPN
ap-746	138	51	�	�	PROPN
ap-746	138	52	�	�	PROPN
ap-746	138	53	�	�	PROPN
ap-746	138	54	�	�	PROPN
ap-746	138	55	�	�	PROPN
ap-746	138	56	2	2	NUM
ap-746	138	57	3	3	NUM
ap-746	138	58	3	3	NUM
ap-746	138	59	p	p	NOUN
ap-746	138	60	p	p	NOUN
ap-746	139	1	dp	dp	NOUN
ap-746	140	1	d	d	NOUN
ap-746	140	2	d	d	X
ap-746	140	3	h	h	NOUN
ap-746	140	4	(	(	PUNCT
ap-746	140	5	2	2	NUM
ap-746	140	6	)	)	PUNCT
ap-746	140	7	where	where	SCONJ
ap-746	140	8	rp	rp	NOUN
ap-746	140	9	is	be	AUX
ap-746	140	10	the	the	DET
ap-746	140	11	adjustable	adjustable	ADJ
ap-746	140	12	position	position	NOUN
ap-746	140	13	of	of	ADP
ap-746	140	14	the	the	DET
ap-746	140	15	panel	panel	NOUN
ap-746	140	16	,	,	PUNCT
ap-746	140	17	2r	2r	NUM
ap-746	140	18	is	be	AUX
ap-746	140	19	the	the	DET
ap-746	140	20	bar	bar	NOUN
ap-746	140	21	length	length	NOUN
ap-746	140	22	,	,	PUNCT
ap-746	140	23	a	a	DET
ap-746	140	24	its	its	PRON
ap-746	140	25	thickness	thickness	NOUN
ap-746	140	26	,	,	PUNCT
ap-746	140	27	and	and	CCONJ
ap-746	140	28	2rh	2rh	NOUN
ap-746	140	29	is	be	AUX
ap-746	140	30	the	the	DET
ap-746	140	31	diameter	diameter	NOUN
ap-746	140	32	of	of	ADP
ap-746	140	33	the	the	DET
ap-746	140	34	central	central	ADJ
ap-746	140	35	hub	hub	NOUN
ap-746	140	36	.	.	PUNCT
ap-746	141	1	if	if	SCONJ
ap-746	141	2	the	the	DET
ap-746	141	3	position	position	NOUN
ap-746	141	4	of	of	ADP
ap-746	141	5	the	the	DET
ap-746	141	6	panels	panel	NOUN
ap-746	141	7	is	be	AUX
ap-746	141	8	varied	varied	ADJ
ap-746	141	9	along	along	ADP
ap-746	141	10	the	the	DET
ap-746	141	11	bar	bar	NOUN
ap-746	141	12	,	,	PUNCT
ap-746	141	13	the	the	DET
ap-746	141	14	brake	brake	NOUN
ap-746	141	15	torque	torque	NOUN
ap-746	141	16	can	can	AUX
ap-746	141	17	be	be	AUX
ap-746	141	18	varied	varied	ADJ
ap-746	141	19	at	at	ADP
ap-746	141	20	will	will	AUX
ap-746	141	21	,	,	PUNCT
ap-746	141	22	in	in	ADP
ap-746	141	23	order	order	NOUN
ap-746	141	24	to	to	PART
ap-746	141	25	simulate	simulate	VERB
ap-746	141	26	different	different	ADJ
ap-746	141	27	rotor	rotor	NOUN
ap-746	141	28	loads	load	NOUN
ap-746	141	29	.	.	PUNCT
ap-746	142	1	at	at	ADP
ap-746	142	2	present	present	ADJ
ap-746	142	3	,	,	PUNCT
ap-746	142	4	the	the	DET
ap-746	142	5	on	on	ADP
ap-746	142	6	-	-	PUNCT
ap-746	142	7	board	board	NOUN
ap-746	142	8	hardware	hardware	NOUN
ap-746	142	9	has	have	AUX
ap-746	142	10	successfully	successfully	ADV
ap-746	142	11	demonstrated	demonstrate	VERB
ap-746	142	12	the	the	DET
ap-746	142	13	possibility	possibility	NOUN
ap-746	142	14	of	of	ADP
ap-746	142	15	managing	manage	VERB
ap-746	142	16	manually	manually	ADV
ap-746	142	17	all	all	DET
ap-746	142	18	the	the	DET
ap-746	142	19	main	main	ADJ
ap-746	142	20	tasks	task	NOUN
ap-746	142	21	related	relate	VERB
ap-746	142	22	to	to	ADP
ap-746	142	23	engine	engine	NOUN
ap-746	142	24	operations	operation	NOUN
ap-746	142	25	[	[	X
ap-746	142	26	16	16	NUM
ap-746	142	27	]	]	PUNCT
ap-746	142	28	.	.	PUNCT
ap-746	143	1	the	the	DET
ap-746	143	2	next	next	ADJ
ap-746	143	3	step	step	NOUN
ap-746	143	4	,	,	PUNCT
ap-746	143	5	i.e.	i.e.	X
ap-746	143	6	to	to	PART
ap-746	143	7	automatically	automatically	ADV
ap-746	143	8	manage	manage	VERB
ap-746	143	9	throttle	throttle	NOUN
ap-746	143	10	setting	set	VERB
ap-746	143	11	with	with	ADP
ap-746	143	12	the	the	DET
ap-746	143	13	engine	engine	NOUN
ap-746	143	14	running	running	NOUN
ap-746	143	15	,	,	PUNCT
ap-746	143	16	is	be	AUX
ap-746	143	17	much	much	ADV
ap-746	143	18	more	more	ADV
ap-746	143	19	ambitious	ambitious	ADJ
ap-746	143	20	,	,	PUNCT
ap-746	143	21	but	but	CCONJ
ap-746	143	22	it	it	PRON
ap-746	143	23	is	be	AUX
ap-746	143	24	also	also	ADV
ap-746	143	25	a	a	DET
ap-746	143	26	crucial	crucial	ADJ
ap-746	143	27	stage	stage	NOUN
ap-746	143	28	for	for	ADP
ap-746	143	29	the	the	DET
ap-746	143	30	entire	entire	ADJ
ap-746	143	31	project	project	NOUN
ap-746	143	32	,	,	PUNCT
ap-746	143	33	inasmuch	inasmuch	ADJ
ap-746	143	34	as	as	SCONJ
ap-746	143	35	most	most	ADJ
ap-746	143	36	of	of	ADP
ap-746	143	37	the	the	DET
ap-746	143	38	hardware	hardware	NOUN
ap-746	143	39	realized	realize	VERB
ap-746	143	40	by	by	ADP
ap-746	143	41	the	the	DET
ap-746	143	42	two	two	NUM
ap-746	143	43	research	research	NOUN
ap-746	143	44	units	unit	NOUN
ap-746	143	45	will	will	AUX
ap-746	143	46	work	work	VERB
ap-746	143	47	assembled	assemble	VERB
ap-746	143	48	for	for	ADP
ap-746	143	49	the	the	DET
ap-746	143	50	very	very	ADV
ap-746	143	51	first	first	ADJ
ap-746	143	52	time	time	NOUN
ap-746	143	53	in	in	ADP
ap-746	143	54	its	its	PRON
ap-746	143	55	definitive	definitive	ADJ
ap-746	143	56	configuration	configuration	NOUN
ap-746	143	57	.	.	PUNCT
ap-746	144	1	86	86	NUM
ap-746	145	1	©	©	PROPN
ap-746	145	2	czech	czech	PROPN
ap-746	145	3	technical	technical	PROPN
ap-746	145	4	university	university	PROPN
ap-746	145	5	publishing	publishing	NOUN
ap-746	145	6	house	house	NOUN
ap-746	145	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-746	145	8	acta	acta	PROPN
ap-746	145	9	polytechnica	polytechnica	PROPN
ap-746	145	10	vol	vol	NOUN
ap-746	145	11	.	.	PROPN
ap-746	146	1	45	45	NUM
ap-746	146	2	no	no	NOUN
ap-746	146	3	.	.	PUNCT
ap-746	147	1	4/2005	4/2005	NUM
ap-746	147	2	czech	czech	PROPN
ap-746	147	3	technical	technical	PROPN
ap-746	147	4	university	university	PROPN
ap-746	147	5	in	in	ADP
ap-746	147	6	prague	prague	PROPN
ap-746	147	7	fig	fig	NOUN
ap-746	147	8	.	.	PUNCT
ap-746	148	1	6	6	NUM
ap-746	148	2	:	:	PUNCT
ap-746	148	3	architecture	architecture	NOUN
ap-746	148	4	of	of	ADP
ap-746	148	5	control	control	NOUN
ap-746	148	6	system	system	NOUN
ap-746	148	7	hardware	hardware	NOUN
ap-746	148	8	in	in	ADP
ap-746	148	9	the	the	DET
ap-746	148	10	hitl	hitl	ADJ
ap-746	148	11	simulation	simulation	NOUN
ap-746	148	12	facility	facility	NOUN
ap-746	148	13	6	6	NUM
ap-746	148	14	conclusions	conclusion	NOUN
ap-746	148	15	and	and	CCONJ
ap-746	148	16	future	future	ADJ
ap-746	148	17	work	work	NOUN
ap-746	148	18	the	the	DET
ap-746	148	19	key	key	ADJ
ap-746	148	20	engineering	engineering	NOUN
ap-746	148	21	technologies	technology	NOUN
ap-746	148	22	involved	involve	VERB
ap-746	148	23	in	in	ADP
ap-746	148	24	the	the	DET
ap-746	148	25	design	design	NOUN
ap-746	148	26	and	and	CCONJ
ap-746	148	27	development	development	NOUN
ap-746	148	28	of	of	ADP
ap-746	148	29	an	an	DET
ap-746	148	30	uninhabited	uninhabited	ADJ
ap-746	148	31	aerial	aerial	ADJ
ap-746	148	32	vehicle	vehicle	NOUN
ap-746	148	33	in	in	ADP
ap-746	148	34	an	an	DET
ap-746	148	35	academic	academic	ADJ
ap-746	148	36	environment	environment	NOUN
ap-746	148	37	were	be	AUX
ap-746	148	38	presented	present	VERB
ap-746	148	39	,	,	PUNCT
ap-746	148	40	with	with	ADP
ap-746	148	41	particular	particular	ADJ
ap-746	148	42	focus	focus	NOUN
ap-746	148	43	on	on	ADP
ap-746	148	44	the	the	DET
ap-746	148	45	activities	activity	NOUN
ap-746	148	46	related	relate	VERB
ap-746	148	47	to	to	ADP
ap-746	148	48	the	the	DET
ap-746	148	49	development	development	NOUN
ap-746	148	50	of	of	ADP
ap-746	148	51	the	the	DET
ap-746	148	52	engine	engine	NOUN
ap-746	148	53	/	/	SYM
ap-746	148	54	rotor	rotor	NOUN
ap-746	148	55	system	system	NOUN
ap-746	148	56	.	.	PUNCT
ap-746	149	1	the	the	DET
ap-746	149	2	paper	paper	NOUN
ap-746	149	3	describes	describe	VERB
ap-746	149	4	in	in	ADP
ap-746	149	5	some	some	DET
ap-746	149	6	detail	detail	NOUN
ap-746	149	7	how	how	SCONJ
ap-746	149	8	these	these	DET
ap-746	149	9	advanced	advanced	ADJ
ap-746	149	10	tools	tool	NOUN
ap-746	149	11	enabled	enable	VERB
ap-746	149	12	academic	academic	ADJ
ap-746	149	13	staff	staff	NOUN
ap-746	149	14	,	,	PUNCT
ap-746	149	15	with	with	ADP
ap-746	149	16	contributions	contribution	NOUN
ap-746	149	17	from	from	ADP
ap-746	149	18	undergraduate	undergraduate	ADJ
ap-746	149	19	students	student	NOUN
ap-746	149	20	,	,	PUNCT
ap-746	149	21	to	to	PART
ap-746	149	22	complete	complete	VERB
ap-746	149	23	the	the	DET
ap-746	149	24	design	design	NOUN
ap-746	149	25	of	of	ADP
ap-746	149	26	a	a	DET
ap-746	149	27	wholly	wholly	ADV
ap-746	149	28	original	original	ADJ
ap-746	149	29	machine	machine	NOUN
ap-746	149	30	,	,	PUNCT
ap-746	149	31	build	build	VERB
ap-746	149	32	the	the	DET
ap-746	149	33	prototype	prototype	NOUN
ap-746	149	34	and	and	CCONJ
ap-746	149	35	ground	ground	NOUN
ap-746	149	36	test	test	VERB
ap-746	149	37	its	its	PRON
ap-746	149	38	main	main	ADJ
ap-746	149	39	components	component	NOUN
ap-746	149	40	.	.	PUNCT
ap-746	150	1	work	work	NOUN
ap-746	150	2	currently	currently	ADV
ap-746	150	3	under	under	ADP
ap-746	150	4	way	way	NOUN
ap-746	150	5	is	be	AUX
ap-746	150	6	aimed	aim	VERB
ap-746	150	7	at	at	ADP
ap-746	150	8	demonstrating	demonstrate	VERB
ap-746	150	9	the	the	DET
ap-746	150	10	overall	overall	ADJ
ap-746	150	11	viability	viability	NOUN
ap-746	150	12	of	of	ADP
ap-746	150	13	the	the	DET
ap-746	150	14	approach	approach	NOUN
ap-746	150	15	undertaken	undertake	VERB
ap-746	150	16	for	for	ADP
ap-746	150	17	developing	develop	VERB
ap-746	150	18	the	the	DET
ap-746	150	19	control	control	NOUN
ap-746	150	20	laws	law	NOUN
ap-746	150	21	,	,	PUNCT
ap-746	150	22	starting	start	VERB
ap-746	150	23	from	from	ADP
ap-746	150	24	the	the	DET
ap-746	150	25	simple	simple	ADJ
ap-746	150	26	siso	siso	NOUN
ap-746	150	27	control	control	NOUN
ap-746	150	28	system	system	NOUN
ap-746	150	29	in	in	ADP
ap-746	150	30	charge	charge	NOUN
ap-746	150	31	of	of	ADP
ap-746	150	32	keeping	keep	VERB
ap-746	150	33	a	a	DET
ap-746	150	34	constant	constant	ADJ
ap-746	150	35	rpm	rpm	NOUN
ap-746	150	36	level	level	NOUN
ap-746	150	37	for	for	ADP
ap-746	150	38	the	the	DET
ap-746	150	39	rotors	rotor	NOUN
ap-746	150	40	.	.	PUNCT
ap-746	151	1	the	the	DET
ap-746	151	2	success	success	NOUN
ap-746	151	3	of	of	ADP
ap-746	151	4	this	this	DET
ap-746	151	5	phase	phase	NOUN
ap-746	151	6	represents	represent	VERB
ap-746	151	7	a	a	DET
ap-746	151	8	key	key	ADJ
ap-746	151	9	step	step	NOUN
ap-746	151	10	towards	towards	ADP
ap-746	151	11	the	the	DET
ap-746	151	12	in	in	ADP
ap-746	151	13	-	-	PUNCT
ap-746	151	14	flight	flight	NOUN
ap-746	151	15	demonstration	demonstration	NOUN
ap-746	151	16	of	of	ADP
ap-746	151	17	the	the	DET
ap-746	151	18	prototype	prototype	NOUN
ap-746	151	19	,	,	PUNCT
ap-746	151	20	i.e.	i.e.	X
ap-746	151	21	,	,	PUNCT
ap-746	151	22	a	a	DET
ap-746	151	23	demonstration	demonstration	NOUN
ap-746	151	24	of	of	ADP
ap-746	151	25	the	the	DET
ap-746	151	26	whole	whole	ADJ
ap-746	151	27	uav	uav	PROPN
ap-746	151	28	system	system	NOUN
ap-746	151	29	.	.	PUNCT
ap-746	152	1	references	reference	NOUN
ap-746	152	2	[	[	X
ap-746	152	3	1	1	NUM
ap-746	152	4	]	]	X
ap-746	152	5	koo	koo	NOUN
ap-746	152	6	,	,	PUNCT
ap-746	152	7	t.	t.	PROPN
ap-746	152	8	j.	j.	PROPN
ap-746	152	9	et	et	PROPN
ap-746	152	10	al	al	PROPN
ap-746	152	11	.	.	PROPN
ap-746	152	12	:	:	PUNCT
ap-746	153	1	“	"	PUNCT
ap-746	153	2	hybrid	hybrid	ADJ
ap-746	153	3	control	control	NOUN
ap-746	153	4	of	of	ADP
ap-746	153	5	an	an	DET
ap-746	153	6	autonomous	autonomous	ADJ
ap-746	153	7	helicopter	helicopter	NOUN
ap-746	153	8	.	.	PUNCT
ap-746	153	9	”	"	PUNCT
ap-746	154	1	in	in	ADP
ap-746	154	2	:	:	PUNCT
ap-746	154	3	proc	proc	NOUN
ap-746	154	4	.	.	PUNCT
ap-746	155	1	ifac	ifac	NOUN
ap-746	155	2	workshop	workshop	NOUN
ap-746	155	3	on	on	ADP
ap-746	155	4	motion	motion	NOUN
ap-746	155	5	control	control	NOUN
ap-746	155	6	,	,	PUNCT
ap-746	155	7	grenoble	grenoble	PROPN
ap-746	155	8	,	,	PUNCT
ap-746	155	9	france	france	PROPN
ap-746	155	10	,	,	PUNCT
ap-746	155	11	september	september	PROPN
ap-746	155	12	1998	1998	NUM
ap-746	155	13	.	.	PUNCT
ap-746	156	1	[	[	X
ap-746	156	2	2	2	NUM
ap-746	156	3	]	]	X
ap-746	156	4	la	la	PRON
ap-746	156	5	civita	civita	PROPN
ap-746	156	6	,	,	PUNCT
ap-746	156	7	m.	m.	NOUN
ap-746	156	8	et	et	PROPN
ap-746	156	9	al	al	PROPN
ap-746	156	10	.	.	PROPN
ap-746	156	11	:	:	PUNCT
ap-746	156	12	“	"	PUNCT
ap-746	156	13	design	design	NOUN
ap-746	156	14	and	and	CCONJ
ap-746	156	15	flight	flight	NOUN
ap-746	156	16	testing	testing	NOUN
ap-746	156	17	of	of	ADP
ap-746	156	18	a	a	DET
ap-746	156	19	high	high	ADJ
ap-746	156	20	-	-	PUNCT
ap-746	156	21	bandwidth	bandwidth	ADJ
ap-746	156	22	h	h	NOUN
ap-746	156	23	-	-	PUNCT
ap-746	156	24	infinity	infinity	NOUN
ap-746	156	25	loop	loop	NOUN
ap-746	156	26	shaping	shape	VERB
ap-746	156	27	controller	controller	NOUN
ap-746	156	28	for	for	ADP
ap-746	156	29	a	a	DET
ap-746	156	30	robotic	robotic	ADJ
ap-746	156	31	helicopter	helicopter	NOUN
ap-746	156	32	.	.	PUNCT
ap-746	156	33	”	"	PUNCT
ap-746	157	1	aiaa	aiaa	ADJ
ap-746	157	2	paper	paper	PROPN
ap-746	157	3	2002	2002	NUM
ap-746	157	4	-	-	SYM
ap-746	157	5	4836	4836	NUM
ap-746	157	6	.	.	PUNCT
ap-746	158	1	in	in	ADP
ap-746	158	2	:	:	PUNCT
ap-746	158	3	proc	proc	NOUN
ap-746	158	4	.	.	PUNCT
ap-746	159	1	aiaa	aiaa	PROPN
ap-746	159	2	guidance	guidance	PROPN
ap-746	159	3	,	,	PUNCT
ap-746	159	4	navigation	navigation	NOUN
ap-746	159	5	,	,	PUNCT
ap-746	159	6	and	and	CCONJ
ap-746	159	7	control	control	PROPN
ap-746	159	8	conference	conference	NOUN
ap-746	159	9	and	and	CCONJ
ap-746	159	10	exhibit	exhibit	NOUN
ap-746	159	11	,	,	PUNCT
ap-746	159	12	monterey	monterey	NOUN
ap-746	159	13	,	,	PUNCT
ap-746	159	14	ca	can	AUX
ap-746	159	15	,	,	PUNCT
ap-746	159	16	august	august	PROPN
ap-746	159	17	2002	2002	NUM
ap-746	159	18	.	.	PUNCT
ap-746	160	1	[	[	X
ap-746	160	2	3	3	NUM
ap-746	160	3	]	]	X
ap-746	160	4	corban	corban	PROPN
ap-746	160	5	,	,	PUNCT
ap-746	160	6	j.	j.	PROPN
ap-746	160	7	e.	e.	PROPN
ap-746	160	8	et	et	PROPN
ap-746	160	9	al	al	PROPN
ap-746	160	10	.	.	PROPN
ap-746	160	11	:	:	PUNCT
ap-746	160	12	“	"	PUNCT
ap-746	160	13	flight	flight	NOUN
ap-746	160	14	evalutation	evalutation	NOUN
ap-746	160	15	of	of	ADP
ap-746	160	16	adaptive	adaptive	ADJ
ap-746	160	17	high	high	ADJ
ap-746	160	18	-	-	PUNCT
ap-746	160	19	bandwidth	bandwidth	ADJ
ap-746	160	20	control	control	NOUN
ap-746	160	21	methods	method	NOUN
ap-746	160	22	for	for	ADP
ap-746	160	23	unmanned	unmanned	ADJ
ap-746	160	24	helicopters	helicopter	NOUN
ap-746	160	25	.	.	PUNCT
ap-746	160	26	”	"	PUNCT
ap-746	161	1	aiaa	aiaa	ADJ
ap-746	161	2	paper	paper	PROPN
ap-746	161	3	2002	2002	NUM
ap-746	161	4	-	-	SYM
ap-746	161	5	4441	4441	NUM
ap-746	161	6	.	.	PUNCT
ap-746	162	1	in	in	ADP
ap-746	162	2	:	:	PUNCT
ap-746	162	3	proc	proc	NOUN
ap-746	162	4	.	.	PUNCT
ap-746	163	1	aiaa	aiaa	PROPN
ap-746	163	2	guidance	guidance	PROPN
ap-746	163	3	,	,	PUNCT
ap-746	163	4	navigation	navigation	NOUN
ap-746	163	5	,	,	PUNCT
ap-746	163	6	and	and	CCONJ
ap-746	163	7	control	control	PROPN
ap-746	163	8	conference	conference	NOUN
ap-746	163	9	and	and	CCONJ
ap-746	163	10	exhibit	exhibit	NOUN
ap-746	163	11	,	,	PUNCT
ap-746	163	12	monterey	monterey	NOUN
ap-746	163	13	,	,	PUNCT
ap-746	163	14	ca	can	AUX
ap-746	163	15	,	,	PUNCT
ap-746	163	16	august	august	PROPN
ap-746	163	17	2002	2002	NUM
ap-746	163	18	.	.	PUNCT
ap-746	164	1	[	[	X
ap-746	164	2	4	4	NUM
ap-746	164	3	]	]	PUNCT
ap-746	164	4	avanzini	avanzini	PROPN
ap-746	164	5	,	,	PUNCT
ap-746	164	6	g.	g.	PROPN
ap-746	164	7	,	,	PUNCT
ap-746	164	8	d’angelo	d’angelo	PROPN
ap-746	164	9	,	,	PUNCT
ap-746	164	10	s.	s.	PROPN
ap-746	164	11	,	,	PUNCT
ap-746	164	12	de	de	PROPN
ap-746	164	13	matteis	matteis	NOUN
ap-746	164	14	,	,	PUNCT
ap-746	164	15	g.	g.	PROPN
ap-746	164	16	:	:	PUNCT
ap-746	164	17	“	"	PUNCT
ap-746	164	18	design	design	NOUN
ap-746	164	19	and	and	CCONJ
ap-746	164	20	development	development	NOUN
ap-746	164	21	of	of	ADP
ap-746	164	22	a	a	DET
ap-746	164	23	vtol	vtol	NOUN
ap-746	164	24	uninhabited	uninhabite	VERB
ap-746	164	25	aerial	aerial	ADJ
ap-746	164	26	vehicle	vehicle	NOUN
ap-746	164	27	.	.	PUNCT
ap-746	164	28	”	"	PUNCT
ap-746	165	1	j.	j.	PROPN
ap-746	165	2	of	of	ADP
ap-746	165	3	aerospace	aerospace	PROPN
ap-746	165	4	eng	eng	PROPN
ap-746	165	5	.	.	PROPN
ap-746	165	6	,	,	PUNCT
ap-746	165	7	vol	vol	NOUN
ap-746	165	8	.	.	PROPN
ap-746	165	9	217	217	NUM
ap-746	165	10	(	(	PUNCT
ap-746	165	11	2003	2003	NUM
ap-746	165	12	)	)	PUNCT
ap-746	165	13	,	,	PUNCT
ap-746	165	14	no	no	INTJ
ap-746	165	15	.	.	NOUN
ap-746	165	16	4	4	NUM
ap-746	165	17	,	,	PUNCT
ap-746	165	18	p.	p.	NOUN
ap-746	165	19	169–178	169–178	NUM
ap-746	165	20	.	.	PUNCT
ap-746	166	1	[	[	X
ap-746	166	2	5	5	NUM
ap-746	166	3	]	]	PUNCT
ap-746	166	4	avanzini	avanzini	PROPN
ap-746	166	5	,	,	PUNCT
ap-746	166	6	g.	g.	PROPN
ap-746	166	7	,	,	PUNCT
ap-746	166	8	d’angelo	d’angelo	PROPN
ap-746	166	9	,	,	PUNCT
ap-746	166	10	s.	s.	PROPN
ap-746	166	11	,	,	PUNCT
ap-746	166	12	de	de	PROPN
ap-746	166	13	matteis	matteis	NOUN
ap-746	166	14	,	,	PUNCT
ap-746	166	15	g.	g.	PROPN
ap-746	166	16	:	:	PUNCT
ap-746	166	17	“	"	PUNCT
ap-746	166	18	modeling	modeling	NOUN
ap-746	166	19	and	and	CCONJ
ap-746	166	20	simulation	simulation	NOUN
ap-746	166	21	of	of	ADP
ap-746	166	22	a	a	DET
ap-746	166	23	shrouded	shroud	VERB
ap-746	166	24	-	-	PUNCT
ap-746	166	25	fan	fan	NOUN
ap-746	166	26	uav	uav	PROPN
ap-746	166	27	for	for	ADP
ap-746	166	28	environmental	environmental	ADJ
ap-746	166	29	monitoring	monitoring	NOUN
ap-746	166	30	.	.	PUNCT
ap-746	166	31	”	"	PUNCT
ap-746	167	1	aiaa	aiaa	ADJ
ap-746	167	2	paper	paper	PROPN
ap-746	167	3	2002	2002	NUM
ap-746	167	4	-	-	SYM
ap-746	167	5	3464	3464	NUM
ap-746	167	6	,	,	PUNCT
ap-746	167	7	aiaa	aiaa	PROPN
ap-746	167	8	1st	1st	PROPN
ap-746	167	9	tech	tech	NOUN
ap-746	167	10	.	.	PUNCT
ap-746	167	11	conf	conf	PROPN
ap-746	167	12	.	.	PUNCT
ap-746	168	1	&	&	CCONJ
ap-746	168	2	workshop	workshop	NOUN
ap-746	168	3	on	on	ADP
ap-746	168	4	uav	uav	PROPN
ap-746	168	5	systems	system	NOUN
ap-746	168	6	,	,	PUNCT
ap-746	168	7	technologies	technology	NOUN
ap-746	168	8	,	,	PUNCT
ap-746	168	9	and	and	CCONJ
ap-746	168	10	operations	operation	NOUN
ap-746	168	11	,	,	PUNCT
ap-746	168	12	portsmouth	portsmouth	PROPN
ap-746	168	13	(	(	PUNCT
ap-746	168	14	va	va	NOUN
ap-746	168	15	)	)	PUNCT
ap-746	168	16	,	,	PUNCT
ap-746	168	17	usa	usa	PROPN
ap-746	168	18	,	,	PUNCT
ap-746	168	19	may	may	PROPN
ap-746	168	20	2002	2002	NUM
ap-746	168	21	.	.	PUNCT
ap-746	169	1	[	[	X
ap-746	169	2	6	6	NUM
ap-746	169	3	]	]	PUNCT
ap-746	169	4	avanzini	avanzini	PROPN
ap-746	169	5	,	,	PUNCT
ap-746	169	6	g.	g.	PROPN
ap-746	169	7	,	,	PUNCT
ap-746	169	8	d’angelo	d’angelo	PROPN
ap-746	169	9	,	,	PUNCT
ap-746	169	10	s.	s.	PROPN
ap-746	169	11	,	,	PUNCT
ap-746	169	12	de	de	PROPN
ap-746	169	13	matteis	matteis	NOUN
ap-746	169	14	,	,	PUNCT
ap-746	169	15	g.	g.	PROPN
ap-746	169	16	:	:	PUNCT
ap-746	169	17	“	"	PUNCT
ap-746	169	18	performance	performance	NOUN
ap-746	169	19	and	and	CCONJ
ap-746	169	20	stability	stability	NOUN
ap-746	169	21	of	of	ADP
ap-746	169	22	a	a	DET
ap-746	169	23	ducted	ducte	VERB
ap-746	169	24	-	-	PUNCT
ap-746	169	25	fan	fan	NOUN
ap-746	169	26	uninhabited	uninhabited	ADJ
ap-746	169	27	aerial	aerial	ADJ
ap-746	169	28	vehicle	vehicle	NOUN
ap-746	169	29	.	.	PUNCT
ap-746	169	30	”	"	PUNCT
ap-746	170	1	j.	j.	PROPN
ap-746	170	2	of	of	ADP
ap-746	170	3	aircraft	aircraft	NOUN
ap-746	170	4	,	,	PUNCT
ap-746	170	5	vol	vol	NOUN
ap-746	170	6	.	.	PROPN
ap-746	170	7	40	40	NUM
ap-746	170	8	(	(	PUNCT
ap-746	170	9	2003	2003	NUM
ap-746	170	10	)	)	PUNCT
ap-746	170	11	,	,	PUNCT
ap-746	170	12	no	no	INTJ
ap-746	170	13	.	.	NOUN
ap-746	170	14	1	1	NUM
ap-746	170	15	,	,	PUNCT
ap-746	170	16	p.	p.	NOUN
ap-746	170	17	86–93	86–93	NUM
ap-746	170	18	.	.	PUNCT
ap-746	171	1	[	[	X
ap-746	171	2	7	7	NUM
ap-746	171	3	]	]	PUNCT
ap-746	171	4	avanzini	avanzini	PROPN
ap-746	171	5	,	,	PUNCT
ap-746	171	6	g.	g.	PROPN
ap-746	171	7	,	,	PUNCT
ap-746	171	8	boserman	boserman	NOUN
ap-746	171	9	,	,	PUNCT
ap-746	171	10	f.	f.	PROPN
ap-746	171	11	,	,	PUNCT
ap-746	171	12	de	de	PROPN
ap-746	171	13	matteis	matteis	NOUN
ap-746	171	14	,	,	PUNCT
ap-746	171	15	g.	g.	PROPN
ap-746	171	16	:	:	PUNCT
ap-746	171	17	“	"	PUNCT
ap-746	171	18	design	design	NOUN
ap-746	171	19	of	of	ADP
ap-746	171	20	a	a	DET
ap-746	171	21	rate	rate	NOUN
ap-746	171	22	command	command	NOUN
ap-746	171	23	m	m	NOUN
ap-746	171	24	-	-	NOUN
ap-746	171	25	controller	controller	NOUN
ap-746	171	26	for	for	ADP
ap-746	171	27	a	a	DET
ap-746	171	28	shrouded	shroud	VERB
ap-746	171	29	-	-	PUNCT
ap-746	171	30	fan	fan	NOUN
ap-746	171	31	uninhabited	uninhabited	ADJ
ap-746	171	32	aerial	aerial	ADJ
ap-746	171	33	vehicle	vehicle	NOUN
ap-746	171	34	.	.	PUNCT
ap-746	171	35	”	"	PUNCT
ap-746	172	1	aiaa	aiaa	PROPN
ap-746	172	2	paper	paper	PROPN
ap-746	172	3	2003	2003	NUM
ap-746	172	4	-	-	SYM
ap-746	172	5	5521	5521	NUM
ap-746	172	6	.	.	PUNCT
ap-746	173	1	in	in	ADP
ap-746	173	2	:	:	PUNCT
ap-746	173	3	proc	proc	NOUN
ap-746	173	4	.	.	PUNCT
ap-746	174	1	of	of	ADP
ap-746	174	2	the	the	DET
ap-746	174	3	aiaa	aiaa	PROPN
ap-746	174	4	guidance	guidance	PROPN
ap-746	174	5	,	,	PUNCT
ap-746	174	6	navigation	navigation	NOUN
ap-746	174	7	and	and	CCONJ
ap-746	174	8	control	control	PROPN
ap-746	174	9	conference	conference	PROPN
ap-746	174	10	,	,	PUNCT
ap-746	174	11	austin	austin	PROPN
ap-746	174	12	(	(	PUNCT
ap-746	174	13	tx	tx	PROPN
ap-746	174	14	)	)	PUNCT
ap-746	174	15	,	,	PUNCT
ap-746	174	16	usa	usa	PROPN
ap-746	174	17	,	,	PUNCT
ap-746	174	18	august	august	PROPN
ap-746	174	19	2003	2003	NUM
ap-746	175	1	.	.	PUNCT
ap-746	176	1	[	[	X
ap-746	176	2	8	8	NUM
ap-746	176	3	]	]	PUNCT
ap-746	176	4	lipera	lipera	NOUN
ap-746	176	5	,	,	PUNCT
ap-746	176	6	l.	l.	PROPN
ap-746	176	7	et	et	PROPN
ap-746	176	8	al	al	PROPN
ap-746	176	9	.	.	PROPN
ap-746	176	10	:	:	PUNCT
ap-746	176	11	“	"	PUNCT
ap-746	176	12	the	the	DET
ap-746	176	13	micro	micro	PROPN
ap-746	176	14	craft	craft	PROPN
ap-746	176	15	istar	istar	PROPN
ap-746	176	16	micro	micro	PROPN
ap-746	176	17	air	air	PROPN
ap-746	176	18	vehicle	vehicle	PROPN
ap-746	176	19	:	:	PUNCT
ap-746	176	20	control	control	NOUN
ap-746	176	21	system	system	NOUN
ap-746	176	22	design	design	NOUN
ap-746	176	23	and	and	CCONJ
ap-746	176	24	testing	testing	NOUN
ap-746	176	25	.	.	PUNCT
ap-746	176	26	”	"	PUNCT
ap-746	177	1	proc	proc	NOUN
ap-746	177	2	.	.	PUNCT
ap-746	178	1	of	of	ADP
ap-746	178	2	the	the	DET
ap-746	178	3	am	am	NOUN
ap-746	178	4	.	.	PUNCT
ap-746	178	5	helicopter	helicopter	NOUN
ap-746	178	6	soc	soc	NOUN
ap-746	178	7	.	.	PUNCT
ap-746	179	1	57th	57th	ADJ
ap-746	179	2	annual	annual	ADJ
ap-746	179	3	forum	forum	NOUN
ap-746	179	4	,	,	PUNCT
ap-746	179	5	washington	washington	PROPN
ap-746	179	6	(	(	PUNCT
ap-746	179	7	dc	dc	PROPN
ap-746	179	8	)	)	PUNCT
ap-746	179	9	,	,	PUNCT
ap-746	179	10	usa	usa	PROPN
ap-746	179	11	,	,	PUNCT
ap-746	179	12	may	may	AUX
ap-746	179	13	2001	2001	NUM
ap-746	179	14	.	.	PUNCT
ap-746	180	1	[	[	X
ap-746	180	2	9	9	NUM
ap-746	180	3	]	]	SYM
ap-746	180	4	thornberg	thornberg	PROPN
ap-746	180	5	,	,	PUNCT
ap-746	180	6	c.	c.	PROPN
ap-746	180	7	a.	a.	PROPN
ap-746	180	8	,	,	PUNCT
ap-746	180	9	cycon	cycon	PROPN
ap-746	180	10	,	,	PUNCT
ap-746	180	11	j.	j.	PROPN
ap-746	180	12	p.	p.	PROPN
ap-746	180	13	:	:	PUNCT
ap-746	180	14	“	"	PUNCT
ap-746	180	15	sikorsky	sikorsky	ADJ
ap-746	180	16	aircraft	aircraft	NOUN
ap-746	180	17	’s	’s	PART
ap-746	180	18	unmanned	unmanned	ADJ
ap-746	180	19	aerial	aerial	ADJ
ap-746	180	20	vehicle	vehicle	NOUN
ap-746	180	21	,	,	PUNCT
ap-746	180	22	cypher	cypher	ADJ
ap-746	180	23	:	:	PUNCT
ap-746	180	24	system	system	NOUN
ap-746	180	25	description	description	NOUN
ap-746	180	26	and	and	CCONJ
ap-746	180	27	program	program	NOUN
ap-746	180	28	accomplishments	accomplishment	NOUN
ap-746	180	29	.	.	PUNCT
ap-746	180	30	”	"	PUNCT
ap-746	181	1	proc	proc	NOUN
ap-746	181	2	.	.	PUNCT
ap-746	182	1	of	of	ADP
ap-746	182	2	the	the	DET
ap-746	182	3	annual	annual	ADJ
ap-746	182	4	helicopter	helicopter	NOUN
ap-746	182	5	society	society	NOUN
ap-746	182	6	51st	51st	ADJ
ap-746	182	7	annual	annual	ADJ
ap-746	182	8	forum	forum	NOUN
ap-746	182	9	,	,	PUNCT
ap-746	182	10	fort	fort	NOUN
ap-746	182	11	worth	worth	ADJ
ap-746	182	12	(	(	PUNCT
ap-746	182	13	tx	tx	PROPN
ap-746	182	14	)	)	PUNCT
ap-746	182	15	,	,	PUNCT
ap-746	182	16	usa	usa	PROPN
ap-746	182	17	,	,	PUNCT
ap-746	182	18	may	may	PROPN
ap-746	182	19	1995	1995	NUM
ap-746	182	20	,	,	PUNCT
ap-746	182	21	p.	p.	NOUN
ap-746	182	22	804–811	804–811	NUM
ap-746	182	23	.	.	PUNCT
ap-746	183	1	[	[	X
ap-746	183	2	10	10	NUM
ap-746	183	3	]	]	X
ap-746	183	4	vsaero	vsaero	NOUN
ap-746	183	5	user	user	NOUN
ap-746	183	6	’s	’s	PART
ap-746	183	7	manual	manual	NOUN
ap-746	183	8	,	,	PUNCT
ap-746	183	9	analytical	analytical	ADJ
ap-746	183	10	methods	methods	PROPN
ap-746	183	11	inc	inc	PROPN
ap-746	183	12	.	.	PROPN
ap-746	183	13	,	,	PUNCT
ap-746	183	14	rev	rev	PROPN
ap-746	183	15	.	.	PROPN
ap-746	183	16	e5	e5	PROPN
ap-746	183	17	,	,	PUNCT
ap-746	183	18	seattle	seattle	PROPN
ap-746	183	19	(	(	PUNCT
ap-746	183	20	wa	wa	PROPN
ap-746	183	21	)	)	PUNCT
ap-746	183	22	,	,	PUNCT
ap-746	183	23	usa	usa	PROPN
ap-746	183	24	,	,	PUNCT
ap-746	183	25	april	april	PROPN
ap-746	183	26	1994	1994	NUM
ap-746	183	27	.	.	PUNCT
ap-746	184	1	[	[	X
ap-746	184	2	11	11	NUM
ap-746	184	3	]	]	X
ap-746	184	4	de	de	X
ap-746	184	5	divitiis	divitiis	NOUN
ap-746	184	6	,	,	PUNCT
ap-746	184	7	n.	n.	NOUN
ap-746	184	8	:	:	PUNCT
ap-746	184	9	“	"	PUNCT
ap-746	184	10	aerodynamic	aerodynamic	ADJ
ap-746	184	11	modeling	modeling	NOUN
ap-746	184	12	and	and	CCONJ
ap-746	184	13	performance	performance	NOUN
ap-746	184	14	analysis	analysis	NOUN
ap-746	184	15	of	of	ADP
ap-746	184	16	a	a	DET
ap-746	184	17	shrouded	shrouded	ADJ
ap-746	184	18	fan	fan	NOUN
ap-746	184	19	unmanned	unmanned	ADJ
ap-746	184	20	aerial	aerial	ADJ
ap-746	184	21	vehicle	vehicle	NOUN
ap-746	184	22	.	.	PUNCT
ap-746	184	23	”	"	PUNCT
ap-746	185	1	proc	proc	NOUN
ap-746	185	2	.	.	PUNCT
ap-746	186	1	of	of	ADP
ap-746	186	2	the	the	DET
ap-746	186	3	23rd	23rd	ADJ
ap-746	186	4	congress	congress	NOUN
ap-746	186	5	of	of	ADP
ap-746	186	6	the	the	DET
ap-746	186	7	international	international	ADJ
ap-746	186	8	council	council	NOUN
ap-746	186	9	of	of	ADP
ap-746	186	10	the	the	DET
ap-746	186	11	aeronautical	aeronautical	PROPN
ap-746	186	12	sciences	sciences	PROPN
ap-746	186	13	,	,	PUNCT
ap-746	186	14	paper	paper	NOUN
ap-746	186	15	256	256	NUM
ap-746	186	16	,	,	PUNCT
ap-746	186	17	toronto	toronto	PROPN
ap-746	186	18	,	,	PUNCT
ap-746	186	19	canada	canada	PROPN
ap-746	186	20	,	,	PUNCT
ap-746	186	21	september	september	PROPN
ap-746	186	22	2002	2002	NUM
ap-746	186	23	.	.	PUNCT
ap-746	187	1	[	[	X
ap-746	187	2	12	12	NUM
ap-746	187	3	]	]	X
ap-746	187	4	fine	fine	ADJ
ap-746	187	5	/	/	SYM
ap-746	187	6	turbo	turbo	NOUN
ap-746	187	7	user	user	NOUN
ap-746	187	8	manual	manual	NOUN
ap-746	187	9	.	.	PUNCT
ap-746	188	1	version	version	NOUN
ap-746	188	2	3.1	3.1	NUM
ap-746	188	3	,	,	PUNCT
ap-746	188	4	numerical	numerical	ADJ
ap-746	188	5	mechanics	mechanic	NOUN
ap-746	188	6	applications	application	NOUN
ap-746	188	7	,	,	PUNCT
ap-746	188	8	brussels	brussels	PROPN
ap-746	188	9	,	,	PUNCT
ap-746	188	10	belgium	belgium	PROPN
ap-746	188	11	,	,	PUNCT
ap-746	188	12	march	march	PROPN
ap-746	188	13	1999	1999	NUM
ap-746	188	14	.	.	PUNCT
ap-746	189	1	[	[	X
ap-746	189	2	13	13	NUM
ap-746	189	3	]	]	PUNCT
ap-746	189	4	avanzini	avanzini	PROPN
ap-746	189	5	,	,	PUNCT
ap-746	189	6	g.	g.	PROPN
ap-746	189	7	,	,	PUNCT
ap-746	189	8	boserman	boserman	NOUN
ap-746	189	9	,	,	PUNCT
ap-746	189	10	f.	f.	PROPN
ap-746	189	11	,	,	PUNCT
ap-746	189	12	de	de	PROPN
ap-746	189	13	matteis	matteis	NOUN
ap-746	189	14	,	,	PUNCT
ap-746	189	15	g.	g.	PROPN
ap-746	189	16	:	:	PUNCT
ap-746	189	17	“	"	PUNCT
ap-746	189	18	development	development	NOUN
ap-746	189	19	of	of	ADP
ap-746	189	20	the	the	DET
ap-746	189	21	flight	flight	NOUN
ap-746	189	22	management	management	NOUN
ap-746	189	23	system	system	NOUN
ap-746	189	24	for	for	ADP
ap-746	189	25	a	a	DET
ap-746	189	26	shrouded	shroud	VERB
ap-746	189	27	-	-	PUNCT
ap-746	189	28	fan	fan	NOUN
ap-746	189	29	u.	u.	PROPN
ap-746	189	30	a.	a.	PROPN
ap-746	189	31	v.	v.	NOUN
ap-746	189	32	”	"	PUNCT
ap-746	189	33	proc	proc	NOUN
ap-746	189	34	.	.	PUNCT
ap-746	190	1	of	of	ADP
ap-746	190	2	the	the	DET
ap-746	190	3	xvii	xvii	PROPN
ap-746	190	4	congress	congress	PROPN
ap-746	190	5	of	of	ADP
ap-746	190	6	the	the	DET
ap-746	190	7	italian	italian	ADJ
ap-746	190	8	society	society	NOUN
ap-746	190	9	of	of	ADP
ap-746	190	10	aeronautics	aeronautic	NOUN
ap-746	190	11	and	and	CCONJ
ap-746	190	12	astronautics	astronautic	NOUN
ap-746	190	13	,	,	PUNCT
ap-746	190	14	rome	rome	PROPN
ap-746	190	15	,	,	PUNCT
ap-746	190	16	italy	italy	PROPN
ap-746	190	17	,	,	PUNCT
ap-746	190	18	september	september	PROPN
ap-746	190	19	2003	2003	NUM
ap-746	191	1	.	.	PUNCT
ap-746	192	1	[	[	X
ap-746	192	2	14	14	NUM
ap-746	192	3	]	]	PUNCT
ap-746	192	4	avanzini	avanzini	PROPN
ap-746	192	5	,	,	PUNCT
ap-746	192	6	g.	g.	PROPN
ap-746	192	7	,	,	PUNCT
ap-746	192	8	de	de	PROPN
ap-746	192	9	matteis	matteis	NOUN
ap-746	192	10	,	,	PUNCT
ap-746	192	11	g.	g.	PROPN
ap-746	192	12	,	,	PUNCT
ap-746	192	13	fresta	fresta	PROPN
ap-746	192	14	,	,	PUNCT
ap-746	192	15	f.	f.	PROPN
ap-746	192	16	:	:	PUNCT
ap-746	192	17	“	"	PUNCT
ap-746	192	18	robust	robust	ADJ
ap-746	192	19	multivariable	multivariable	ADJ
ap-746	192	20	control	control	NOUN
ap-746	192	21	of	of	ADP
ap-746	192	22	a	a	DET
ap-746	192	23	shrouded	shroud	VERB
ap-746	192	24	-	-	PUNCT
ap-746	192	25	fan	fan	NOUN
ap-746	192	26	uninhabited	uninhabited	ADJ
ap-746	192	27	aerial	aerial	ADJ
ap-746	192	28	vehicle	vehicle	NOUN
ap-746	192	29	.	.	PUNCT
ap-746	192	30	”	"	PUNCT
ap-746	193	1	aiaa	aiaa	ADJ
ap-746	193	2	paper	paper	PROPN
ap-746	193	3	2002	2002	NUM
ap-746	193	4	-	-	SYM
ap-746	193	5	4703	4703	NUM
ap-746	193	6	.	.	PUNCT
ap-746	194	1	in	in	ADP
ap-746	194	2	:	:	PUNCT
ap-746	194	3	proc	proc	NOUN
ap-746	194	4	.	.	PUNCT
ap-746	195	1	of	of	ADP
ap-746	195	2	the	the	DET
ap-746	195	3	aiaa	aiaa	PROPN
ap-746	195	4	atmospheric	atmospheric	ADJ
ap-746	195	5	flight	flight	NOUN
ap-746	195	6	mechanics	mechanic	NOUN
ap-746	195	7	conference	conference	NOUN
ap-746	195	8	,	,	PUNCT
ap-746	195	9	monterey	monterey	NOUN
ap-746	195	10	,	,	PUNCT
ap-746	195	11	ca	can	AUX
ap-746	195	12	,	,	PUNCT
ap-746	195	13	august	august	PROPN
ap-746	195	14	2002	2002	NUM
ap-746	196	1	.	.	PUNCT
ap-746	197	1	[	[	X
ap-746	197	2	15	15	NUM
ap-746	197	3	]	]	X
ap-746	197	4	simulink	simulink	NOUN
ap-746	197	5	:	:	PUNCT
ap-746	197	6	dynamic	dynamic	ADJ
ap-746	197	7	system	system	NOUN
ap-746	197	8	simulation	simulation	NOUN
ap-746	197	9	for	for	ADP
ap-746	197	10	matlab	matlab	PROPN
ap-746	197	11	.	.	PUNCT
ap-746	198	1	the	the	DET
ap-746	198	2	mathworks	mathworks	PROPN
ap-746	198	3	inc	inc	PROPN
ap-746	198	4	.	.	PROPN
ap-746	198	5	,	,	PUNCT
ap-746	198	6	1997	1997	NUM
ap-746	198	7	.	.	PUNCT
ap-746	199	1	[	[	X
ap-746	199	2	16	16	NUM
ap-746	199	3	]	]	PUNCT
ap-746	199	4	avanzini	avanzini	PROPN
ap-746	199	5	,	,	PUNCT
ap-746	199	6	g.	g.	PROPN
ap-746	199	7	,	,	PUNCT
ap-746	199	8	badami	badami	NOUN
ap-746	199	9	,	,	PUNCT
ap-746	199	10	m.	m.	NOUN
ap-746	199	11	,	,	PUNCT
ap-746	199	12	d’angelo	d’angelo	PROPN
ap-746	199	13	,	,	PUNCT
ap-746	199	14	s.	s.	PROPN
ap-746	199	15	,	,	PUNCT
ap-746	199	16	de	de	PROPN
ap-746	199	17	matteis	matteis	NOUN
ap-746	199	18	,	,	PUNCT
ap-746	199	19	g.	g.	PROPN
ap-746	199	20	:	:	PUNCT
ap-746	199	21	“	"	PUNCT
ap-746	199	22	integration	integration	NOUN
ap-746	199	23	and	and	CCONJ
ap-746	199	24	preliminary	preliminary	ADJ
ap-746	199	25	testing	testing	NOUN
ap-746	199	26	of	of	ADP
ap-746	199	27	avionic	avionic	ADJ
ap-746	199	28	system	system	NOUN
ap-746	199	29	and	and	CCONJ
ap-746	199	30	engine	engine	NOUN
ap-746	199	31	unit	unit	NOUN
ap-746	199	32	of	of	ADP
ap-746	199	33	a	a	DET
ap-746	199	34	twin	twin	ADJ
ap-746	199	35	rotor	rotor	NOUN
ap-746	199	36	u.	u.	PROPN
ap-746	199	37	a.	a.	PROPN
ap-746	199	38	v.	v.	NOUN
ap-746	199	39	”	"	PUNCT
ap-746	199	40	proc	proc	NOUN
ap-746	199	41	.	.	PUNCT
ap-746	200	1	of	of	ADP
ap-746	200	2	the	the	DET
ap-746	200	3	xvii	xvii	PROPN
ap-746	200	4	congress	congress	PROPN
ap-746	200	5	of	of	ADP
ap-746	200	6	the	the	DET
ap-746	200	7	italian	italian	ADJ
ap-746	200	8	society	society	NOUN
ap-746	200	9	of	of	ADP
ap-746	200	10	aeronautics	aeronautic	NOUN
ap-746	200	11	and	and	CCONJ
ap-746	200	12	astronautics	astronautic	NOUN
ap-746	200	13	,	,	PUNCT
ap-746	200	14	rome	rome	PROPN
ap-746	200	15	,	,	PUNCT
ap-746	200	16	italy	italy	PROPN
ap-746	200	17	,	,	PUNCT
ap-746	200	18	september	september	PROPN
ap-746	200	19	2003	2003	NUM
ap-746	200	20	.	.	PUNCT
ap-746	201	1	giulio	giulio	VERB
ap-746	201	2	avanzini	avanzini	PROPN
ap-746	201	3	e	e	NOUN
ap-746	201	4	-	-	NOUN
ap-746	201	5	mail	mail	NOUN
ap-746	201	6	:	:	PUNCT
ap-746	201	7	giulio.avanzini@polito.it	giulio.avanzini@polito.it	PROPN
ap-746	201	8	salvatore	salvatore	PROPN
ap-746	201	9	d’angelo	d’angelo	PROPN
ap-746	201	10	department	department	PROPN
ap-746	201	11	of	of	ADP
ap-746	201	12	aerospace	aerospace	PROPN
ap-746	201	13	engineering	engineering	PROPN
ap-746	201	14	politecnico	politecnico	PROPN
ap-746	201	15	di	di	PROPN
ap-746	201	16	torino	torino	PROPN
ap-746	201	17	c.so	c.so	PROPN
ap-746	201	18	duca	duca	PROPN
ap-746	201	19	degli	degli	PROPN
ap-746	201	20	abruzzi	abruzzi	PROPN
ap-746	201	21	,	,	PUNCT
ap-746	201	22	24	24	NUM
ap-746	201	23	turin	turin	NOUN
ap-746	201	24	,	,	PUNCT
ap-746	201	25	10129	10129	NUM
ap-746	201	26	,	,	PUNCT
ap-746	201	27	italy	italy	PROPN
ap-746	201	28	guido	guido	PROPN
ap-746	201	29	de	de	PROPN
ap-746	201	30	matteis	matteis	PROPN
ap-746	201	31	department	department	PROPN
ap-746	201	32	of	of	ADP
ap-746	201	33	mechanics	mechanic	NOUN
ap-746	201	34	and	and	CCONJ
ap-746	201	35	aeronautics	aeronautics	PROPN
ap-746	201	36	universit	universit	PROPN
ap-746	201	37	di	di	PROPN
ap-746	201	38	roma	roma	PROPN
ap-746	201	39	“	"	PUNCT
ap-746	201	40	la	la	X
ap-746	201	41	sapienza	sapienza	NOUN
ap-746	201	42	”	"	PUNCT
ap-746	201	43	via	via	ADP
ap-746	201	44	eudossiana	eudossiana	PROPN
ap-746	201	45	,	,	PUNCT
ap-746	201	46	18	18	NUM
ap-746	201	47	rome	rome	PROPN
ap-746	201	48	,	,	PUNCT
ap-746	201	49	00184	00184	NUM
ap-746	201	50	,	,	PUNCT
ap-746	201	51	italy	italy	PROPN
ap-746	201	52	©	©	PROPN
ap-746	201	53	czech	czech	PROPN
ap-746	201	54	technical	technical	PROPN
ap-746	201	55	university	university	PROPN
ap-746	201	56	publishing	publishing	NOUN
ap-746	201	57	house	house	NOUN
ap-746	201	58	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-746	201	59	87	87	NUM
ap-746	201	60	czech	czech	PROPN
ap-746	201	61	technical	technical	PROPN
ap-746	201	62	university	university	PROPN
ap-746	201	63	in	in	ADP
ap-746	201	64	prague	prague	PROPN
ap-746	201	65	acta	acta	PROPN
ap-746	201	66	polytechnica	polytechnica	PROPN
ap-746	201	67	vol	vol	NOUN
ap-746	201	68	.	.	PROPN
ap-746	202	1	45	45	NUM
ap-746	202	2	no	no	NOUN
ap-746	202	3	.	.	PUNCT
ap-746	203	1	4/2005	4/2005	NUM
ap-746	203	2	fig	fig	NOUN
ap-746	203	3	.	.	PUNCT
ap-746	204	1	7	7	NUM
ap-746	204	2	:	:	PUNCT
ap-746	204	3	solid	solid	ADJ
ap-746	204	4	model	model	NOUN
ap-746	204	5	of	of	ADP
ap-746	204	6	the	the	DET
ap-746	204	7	prototype	prototype	NOUN
ap-746	204	8	with	with	ADP
ap-746	204	9	the	the	DET
ap-746	204	10	aerodynamic	aerodynamic	ADJ
ap-746	204	11	brake	brake	NOUN