id	sid	tid	token	lemma	pos
ap-792	1	1	ap06_1.vp	ap06_1.vp	NOUN
ap-792	1	2	1	1	NUM
ap-792	1	3	grinding	grind	VERB
ap-792	1	4	and	and	CCONJ
ap-792	1	5	polishing	polish	VERB
ap-792	1	6	processes	process	NOUN
ap-792	1	7	as	as	ADP
ap-792	1	8	part	part	NOUN
ap-792	1	9	of	of	ADP
ap-792	1	10	the	the	DET
ap-792	1	11	manufacturing	manufacturing	NOUN
ap-792	1	12	chain	chain	NOUN
ap-792	1	13	the	the	DET
ap-792	1	14	aim	aim	NOUN
ap-792	1	15	of	of	ADP
ap-792	1	16	grinding	grind	VERB
ap-792	1	17	and	and	CCONJ
ap-792	1	18	polishing	polish	VERB
ap-792	1	19	processes	process	NOUN
ap-792	1	20	is	be	AUX
ap-792	1	21	to	to	PART
ap-792	1	22	provide	provide	VERB
ap-792	1	23	greater	great	ADJ
ap-792	1	24	forming	forming	ADJ
ap-792	1	25	and	and	CCONJ
ap-792	1	26	dimensional	dimensional	ADJ
ap-792	1	27	accuracy	accuracy	NOUN
ap-792	1	28	as	as	ADV
ap-792	1	29	well	well	ADV
ap-792	1	30	as	as	ADP
ap-792	1	31	better	well	ADJ
ap-792	1	32	surface	surface	NOUN
ap-792	1	33	finishing	finish	VERB
ap-792	1	34	.	.	PUNCT
ap-792	2	1	both	both	DET
ap-792	2	2	processes	process	NOUN
ap-792	2	3	play	play	VERB
ap-792	2	4	an	an	DET
ap-792	2	5	important	important	ADJ
ap-792	2	6	role	role	NOUN
ap-792	2	7	,	,	PUNCT
ap-792	2	8	as	as	SCONJ
ap-792	2	9	they	they	PRON
ap-792	2	10	are	be	AUX
ap-792	2	11	at	at	ADP
ap-792	2	12	the	the	DET
ap-792	2	13	end	end	NOUN
ap-792	2	14	of	of	ADP
ap-792	2	15	the	the	DET
ap-792	2	16	net	net	ADJ
ap-792	2	17	product	product	NOUN
ap-792	2	18	chain	chain	NOUN
ap-792	2	19	,	,	PUNCT
ap-792	2	20	and	and	CCONJ
ap-792	2	21	processing	processing	NOUN
ap-792	2	22	errors	error	NOUN
ap-792	2	23	lead	lead	VERB
ap-792	2	24	to	to	ADP
ap-792	2	25	high	high	ADJ
ap-792	2	26	rates	rate	NOUN
ap-792	2	27	of	of	ADP
ap-792	2	28	rejection	rejection	NOUN
ap-792	2	29	.	.	PUNCT
ap-792	3	1	in	in	ADP
ap-792	3	2	the	the	DET
ap-792	3	3	sanitary	sanitary	NOUN
ap-792	3	4	fitting	fitting	ADJ
ap-792	3	5	industry	industry	NOUN
ap-792	3	6	of	of	ADP
ap-792	3	7	today	today	NOUN
ap-792	3	8	,	,	PUNCT
ap-792	3	9	complex	complex	ADJ
ap-792	3	10	,	,	PUNCT
ap-792	3	11	freely	freely	ADV
ap-792	3	12	formed	form	VERB
ap-792	3	13	work	work	NOUN
ap-792	3	14	pieces	piece	NOUN
ap-792	3	15	are	be	AUX
ap-792	3	16	manufactured	manufacture	VERB
ap-792	3	17	by	by	ADP
ap-792	3	18	casting	cast	VERB
ap-792	3	19	.	.	PUNCT
ap-792	4	1	through	through	ADP
ap-792	4	2	subsequent	subsequent	ADJ
ap-792	4	3	grinding	grinding	NOUN
ap-792	4	4	and	and	CCONJ
ap-792	4	5	polishing	polish	VERB
ap-792	4	6	a	a	DET
ap-792	4	7	high	high	ADJ
ap-792	4	8	-	-	PUNCT
ap-792	4	9	quality	quality	NOUN
ap-792	4	10	shiny	shiny	ADJ
ap-792	4	11	surface	surface	NOUN
ap-792	4	12	is	be	AUX
ap-792	4	13	produced	produce	VERB
ap-792	4	14	with	with	ADP
ap-792	4	15	the	the	DET
ap-792	4	16	dimensional	dimensional	ADJ
ap-792	4	17	accuracy	accuracy	NOUN
ap-792	4	18	of	of	ADP
ap-792	4	19	the	the	DET
ap-792	4	20	©	©	PROPN
ap-792	4	21	czech	czech	PROPN
ap-792	4	22	technical	technical	PROPN
ap-792	4	23	university	university	PROPN
ap-792	4	24	publishing	publishing	NOUN
ap-792	4	25	house	house	NOUN
ap-792	4	26	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-792	4	27	3	3	NUM
ap-792	4	28	czech	czech	PROPN
ap-792	4	29	technical	technical	PROPN
ap-792	4	30	university	university	PROPN
ap-792	4	31	in	in	ADP
ap-792	4	32	prague	prague	PROPN
ap-792	4	33	acta	acta	PROPN
ap-792	4	34	polytechnica	polytechnica	PROPN
ap-792	4	35	vol	vol	NOUN
ap-792	4	36	.	.	PUNCT
ap-792	5	1	46	46	NUM
ap-792	5	2	no	no	INTJ
ap-792	5	3	.	.	PUNCT
ap-792	6	1	1/2006	1/2006	NUM
ap-792	6	2	development	development	NOUN
ap-792	6	3	of	of	ADP
ap-792	6	4	a	a	DET
ap-792	6	5	robot	robot	NOUN
ap-792	6	6	system	system	NOUN
ap-792	6	7	for	for	ADP
ap-792	6	8	advanced	advanced	ADJ
ap-792	6	9	high	high	ADJ
ap-792	6	10	quality	quality	NOUN
ap-792	6	11	manufacturing	manufacturing	NOUN
ap-792	6	12	processes	process	NOUN
ap-792	6	13	b.	b.	PROPN
ap-792	6	14	kuhlenkoetter	kuhlenkoetter	NOUN
ap-792	6	15	grinding	grind	VERB
ap-792	6	16	and	and	CCONJ
ap-792	6	17	polishing	polishing	NOUN
ap-792	6	18	are	be	AUX
ap-792	6	19	standard	standard	ADJ
ap-792	6	20	operations	operation	NOUN
ap-792	6	21	in	in	ADP
ap-792	6	22	material	material	NOUN
ap-792	6	23	processing	processing	NOUN
ap-792	6	24	which	which	PRON
ap-792	6	25	are	be	AUX
ap-792	6	26	nowadays	nowadays	ADV
ap-792	6	27	automated	automate	VERB
ap-792	6	28	with	with	ADP
ap-792	6	29	the	the	DET
ap-792	6	30	help	help	NOUN
ap-792	6	31	of	of	ADP
ap-792	6	32	industrial	industrial	ADJ
ap-792	6	33	robots	robot	NOUN
ap-792	6	34	in	in	ADP
ap-792	6	35	order	order	NOUN
ap-792	6	36	to	to	PART
ap-792	6	37	relieve	relieve	VERB
ap-792	6	38	human	human	ADJ
ap-792	6	39	labour	labour	NOUN
ap-792	6	40	and	and	CCONJ
ap-792	6	41	optimize	optimize	VERB
ap-792	6	42	the	the	DET
ap-792	6	43	profitability	profitability	NOUN
ap-792	6	44	of	of	ADP
ap-792	6	45	production	production	NOUN
ap-792	6	46	.	.	PUNCT
ap-792	7	1	however	however	ADV
ap-792	7	2	,	,	PUNCT
ap-792	7	3	it	it	PRON
ap-792	7	4	is	be	AUX
ap-792	7	5	expensive	expensive	ADJ
ap-792	7	6	to	to	PART
ap-792	7	7	adapt	adapt	VERB
ap-792	7	8	present	present	ADJ
ap-792	7	9	systems	system	NOUN
ap-792	7	10	to	to	ADP
ap-792	7	11	the	the	DET
ap-792	7	12	production	production	NOUN
ap-792	7	13	of	of	ADP
ap-792	7	14	other	other	ADJ
ap-792	7	15	part	part	NOUN
ap-792	7	16	geometries	geometry	NOUN
ap-792	7	17	and	and	CCONJ
ap-792	7	18	operation	operation	NOUN
ap-792	7	19	cycles	cycle	NOUN
ap-792	7	20	,	,	PUNCT
ap-792	7	21	and	and	CCONJ
ap-792	7	22	therefore	therefore	ADV
ap-792	7	23	adaptations	adaptation	NOUN
ap-792	7	24	are	be	AUX
ap-792	7	25	economically	economically	ADV
ap-792	7	26	applicable	applicable	ADJ
ap-792	7	27	only	only	ADV
ap-792	7	28	for	for	ADP
ap-792	7	29	large	large	ADJ
ap-792	7	30	batch	batch	NOUN
ap-792	7	31	sizes	size	NOUN
ap-792	7	32	.	.	PUNCT
ap-792	8	1	this	this	DET
ap-792	8	2	project	project	NOUN
ap-792	8	3	develops	develop	VERB
ap-792	8	4	an	an	DET
ap-792	8	5	“	"	PUNCT
ap-792	8	6	intelligent	intelligent	ADJ
ap-792	8	7	”	"	PUNCT
ap-792	8	8	robot	robot	NOUN
ap-792	8	9	system	system	NOUN
ap-792	8	10	that	that	PRON
ap-792	8	11	obtains	obtain	VERB
ap-792	8	12	sensory	sensory	ADJ
ap-792	8	13	skills	skill	NOUN
ap-792	8	14	due	due	ADP
ap-792	8	15	to	to	ADP
ap-792	8	16	the	the	DET
ap-792	8	17	linkage	linkage	NOUN
ap-792	8	18	of	of	ADP
ap-792	8	19	innovative	innovative	ADJ
ap-792	8	20	robot	robot	NOUN
ap-792	8	21	technology	technology	NOUN
ap-792	8	22	and	and	CCONJ
ap-792	8	23	image	image	NOUN
ap-792	8	24	processing	processing	NOUN
ap-792	8	25	systems	system	NOUN
ap-792	8	26	via	via	ADP
ap-792	8	27	new	new	ADJ
ap-792	8	28	software	software	NOUN
ap-792	8	29	.	.	PUNCT
ap-792	9	1	with	with	ADP
ap-792	9	2	this	this	DET
ap-792	9	3	system	system	NOUN
ap-792	9	4	even	even	ADV
ap-792	9	5	the	the	DET
ap-792	9	6	smallest	small	ADJ
ap-792	9	7	error	error	NOUN
ap-792	9	8	on	on	ADP
ap-792	9	9	highly	highly	ADV
ap-792	9	10	-	-	PUNCT
ap-792	9	11	polished	polished	ADJ
ap-792	9	12	,	,	PUNCT
ap-792	9	13	mirror	mirror	NOUN
ap-792	9	14	-	-	PUNCT
ap-792	9	15	like	like	ADJ
ap-792	9	16	surfaces	surface	NOUN
ap-792	9	17	can	can	AUX
ap-792	9	18	be	be	AUX
ap-792	9	19	detected	detect	VERB
ap-792	9	20	objectively	objectively	ADV
ap-792	9	21	and	and	CCONJ
ap-792	9	22	reproducibly	reproducibly	ADV
ap-792	9	23	.	.	PUNCT
ap-792	10	1	in	in	ADP
ap-792	10	2	addition	addition	NOUN
ap-792	10	3	,	,	PUNCT
ap-792	10	4	the	the	DET
ap-792	10	5	system	system	NOUN
ap-792	10	6	will	will	AUX
ap-792	10	7	be	be	AUX
ap-792	10	8	capable	capable	ADJ
ap-792	10	9	of	of	ADP
ap-792	10	10	establishing	establish	VERB
ap-792	10	11	an	an	DET
ap-792	10	12	optimum	optimum	ADJ
ap-792	10	13	error	error	NOUN
ap-792	10	14	compensation	compensation	NOUN
ap-792	10	15	strategy	strategy	NOUN
ap-792	10	16	dependent	dependent	ADJ
ap-792	10	17	on	on	ADP
ap-792	10	18	the	the	DET
ap-792	10	19	error	error	NOUN
ap-792	10	20	data	datum	NOUN
ap-792	10	21	,	,	PUNCT
ap-792	10	22	as	as	ADV
ap-792	10	23	well	well	ADV
ap-792	10	24	as	as	ADP
ap-792	10	25	generating	generate	VERB
ap-792	10	26	and	and	CCONJ
ap-792	10	27	realizing	realize	VERB
ap-792	10	28	operating	operating	NOUN
ap-792	10	29	programmes	programme	NOUN
ap-792	10	30	.	.	PUNCT
ap-792	11	1	for	for	ADP
ap-792	11	2	this	this	DET
ap-792	11	3	purpose	purpose	NOUN
ap-792	11	4	it	it	PRON
ap-792	11	5	is	be	AUX
ap-792	11	6	given	give	VERB
ap-792	11	7	a	a	DET
ap-792	11	8	manual	manual	ADJ
ap-792	11	9	-	-	PUNCT
ap-792	11	10	learning	learn	VERB
ap-792	11	11	skill	skill	NOUN
ap-792	11	12	.	.	PUNCT
ap-792	12	1	a	a	DET
ap-792	12	2	new	new	ADJ
ap-792	12	3	offline	offline	ADJ
ap-792	12	4	-	-	PUNCT
ap-792	12	5	programming	program	VERB
ap-792	12	6	and	and	CCONJ
ap-792	12	7	simulating	simulate	VERB
ap-792	12	8	system	system	NOUN
ap-792	12	9	for	for	ADP
ap-792	12	10	exacting	exact	VERB
ap-792	12	11	operation	operation	NOUN
ap-792	12	12	processes	process	NOUN
ap-792	12	13	makes	make	VERB
ap-792	12	14	it	it	PRON
ap-792	12	15	easier	easy	ADJ
ap-792	12	16	to	to	PART
ap-792	12	17	set	set	VERB
ap-792	12	18	up	up	ADP
ap-792	12	19	,	,	PUNCT
ap-792	12	20	change	change	NOUN
ap-792	12	21	and	and	CCONJ
ap-792	12	22	optimize	optimize	VERB
ap-792	12	23	robot	robot	NOUN
ap-792	12	24	programmes	programme	NOUN
ap-792	12	25	,	,	PUNCT
ap-792	12	26	thus	thus	ADV
ap-792	12	27	making	make	VERB
ap-792	12	28	it	it	PRON
ap-792	12	29	useful	useful	ADJ
ap-792	12	30	for	for	ADP
ap-792	12	31	the	the	DET
ap-792	12	32	operator	operator	NOUN
ap-792	12	33	.	.	PUNCT
ap-792	13	1	keywords	keyword	NOUN
ap-792	13	2	:	:	PUNCT
ap-792	13	3	flexible	flexible	ADJ
ap-792	13	4	manufacturing	manufacturing	NOUN
ap-792	13	5	systems	system	NOUN
ap-792	13	6	,	,	PUNCT
ap-792	13	7	materials	material	NOUN
ap-792	13	8	handling	handling	NOUN
ap-792	13	9	and	and	CCONJ
ap-792	13	10	robotics	robotic	NOUN
ap-792	13	11	,	,	PUNCT
ap-792	13	12	quality	quality	NOUN
ap-792	13	13	systems	system	NOUN
ap-792	13	14	.	.	PUNCT
ap-792	14	1	selected	select	VERB
ap-792	14	2	paper	paper	NOUN
ap-792	14	3	from	from	ADP
ap-792	14	4	the	the	DET
ap-792	14	5	4th	4th	ADJ
ap-792	14	6	international	international	ADJ
ap-792	14	7	conference	conference	NOUN
ap-792	14	8	on	on	ADP
ap-792	14	9	advanced	advanced	ADJ
ap-792	14	10	engineering	engineering	NOUN
ap-792	14	11	design	design	NOUN
ap-792	14	12	(	(	PUNCT
ap-792	14	13	aed	aed	NOUN
ap-792	14	14	2004	2004	NUM
ap-792	14	15	)	)	PUNCT
ap-792	14	16	,	,	PUNCT
ap-792	14	17	which	which	PRON
ap-792	14	18	was	be	AUX
ap-792	14	19	held	hold	VERB
ap-792	14	20	in	in	ADP
ap-792	14	21	glasgow	glasgow	NOUN
ap-792	14	22	from	from	ADP
ap-792	14	23	5	5	NUM
ap-792	14	24	to	to	PART
ap-792	14	25	8	8	NUM
ap-792	14	26	september	september	PROPN
ap-792	14	27	2004	2004	NUM
ap-792	14	28	.	.	PUNCT
ap-792	15	1	1	1	NUM
ap-792	15	2	.	.	X
ap-792	15	3	2	2	NUM
ap-792	15	4	.	.	NOUN
ap-792	15	5	3	3	NUM
ap-792	15	6	.	.	NOUN
ap-792	15	7	4	4	NUM
ap-792	15	8	.	.	NOUN
ap-792	15	9	5	5	NUM
ap-792	15	10	.	.	X
ap-792	15	11	fig	fig	NOUN
ap-792	15	12	.	.	PUNCT
ap-792	16	1	1	1	NUM
ap-792	16	2	:	:	PUNCT
ap-792	16	3	manufacturing	manufacture	VERB
ap-792	16	4	steps	step	NOUN
ap-792	16	5	in	in	ADP
ap-792	16	6	the	the	DET
ap-792	16	7	manufacture	manufacture	NOUN
ap-792	16	8	of	of	ADP
ap-792	16	9	fittings	fitting	NOUN
ap-792	16	10	–	–	PUNCT
ap-792	16	11	1	1	X
ap-792	16	12	.	.	X
ap-792	17	1	casting	casting	NOUN
ap-792	17	2	,	,	PUNCT
ap-792	17	3	2	2	X
ap-792	17	4	.	.	X
ap-792	18	1	grinding	grind	VERB
ap-792	18	2	,	,	PUNCT
ap-792	18	3	3	3	NUM
ap-792	18	4	.	.	X
ap-792	18	5	polishing	polishing	NOUN
ap-792	18	6	,	,	PUNCT
ap-792	18	7	4	4	X
ap-792	18	8	.	.	X
ap-792	19	1	galvanizing	galvanize	VERB
ap-792	19	2	and	and	CCONJ
ap-792	19	3	5	5	NUM
ap-792	19	4	.	.	PUNCT
ap-792	20	1	the	the	DET
ap-792	20	2	end	end	NOUN
ap-792	20	3	product	product	NOUN
ap-792	20	4	workpiece	workpiece	NOUN
ap-792	20	5	playing	play	VERB
ap-792	20	6	only	only	ADV
ap-792	20	7	a	a	DET
ap-792	20	8	secondary	secondary	ADJ
ap-792	20	9	role	role	NOUN
ap-792	20	10	.	.	PUNCT
ap-792	21	1	(	(	PUNCT
ap-792	21	2	fig	fig	NOUN
ap-792	21	3	.	.	PUNCT
ap-792	22	1	1	1	NUM
ap-792	22	2	)	)	PUNCT
ap-792	22	3	.	.	PUNCT
ap-792	23	1	the	the	DET
ap-792	23	2	casting	casting	NOUN
ap-792	23	3	process	process	NOUN
ap-792	23	4	,	,	PUNCT
ap-792	23	5	however	however	ADV
ap-792	23	6	,	,	PUNCT
ap-792	23	7	is	be	AUX
ap-792	23	8	characterized	characterize	VERB
ap-792	23	9	by	by	ADP
ap-792	23	10	high	high	ADJ
ap-792	23	11	resulting	result	VERB
ap-792	23	12	dimensional	dimensional	ADJ
ap-792	23	13	and	and	CCONJ
ap-792	23	14	form	form	NOUN
ap-792	23	15	tolerances	tolerance	NOUN
ap-792	23	16	as	as	ADV
ap-792	23	17	well	well	ADV
ap-792	23	18	as	as	ADP
ap-792	23	19	quality	quality	NOUN
ap-792	23	20	fluctuations	fluctuation	NOUN
ap-792	23	21	such	such	ADJ
ap-792	23	22	as	as	ADP
ap-792	23	23	blowholes	blowhole	NOUN
ap-792	23	24	and	and	CCONJ
ap-792	23	25	pores	pore	NOUN
ap-792	23	26	.	.	PUNCT
ap-792	24	1	these	these	DET
ap-792	24	2	greatly	greatly	ADV
ap-792	24	3	varying	vary	VERB
ap-792	24	4	starting	starting	NOUN
ap-792	24	5	conditions	condition	NOUN
ap-792	24	6	lead	lead	VERB
ap-792	24	7	to	to	ADP
ap-792	24	8	unprofitable	unprofitable	ADJ
ap-792	24	9	rejection	rejection	NOUN
ap-792	24	10	rates	rate	NOUN
ap-792	24	11	and	and	CCONJ
ap-792	24	12	a	a	DET
ap-792	24	13	very	very	ADV
ap-792	24	14	costly	costly	ADJ
ap-792	24	15	manual	manual	ADJ
ap-792	24	16	testing	testing	NOUN
ap-792	24	17	procedure	procedure	NOUN
ap-792	24	18	in	in	ADP
ap-792	24	19	automated	automate	VERB
ap-792	24	20	grinding	grinding	NOUN
ap-792	24	21	and	and	CCONJ
ap-792	24	22	polishing	polish	VERB
ap-792	24	23	processing	processing	NOUN
ap-792	24	24	.	.	PUNCT
ap-792	25	1	what	what	PRON
ap-792	25	2	is	be	AUX
ap-792	25	3	even	even	ADV
ap-792	25	4	more	more	ADV
ap-792	25	5	difficult	difficult	ADJ
ap-792	25	6	for	for	ADP
ap-792	25	7	the	the	DET
ap-792	25	8	realization	realization	NOUN
ap-792	25	9	of	of	ADP
ap-792	25	10	an	an	DET
ap-792	25	11	automated	automate	VERB
ap-792	25	12	solution	solution	NOUN
ap-792	25	13	is	be	AUX
ap-792	25	14	that	that	SCONJ
ap-792	25	15	errors	error	NOUN
ap-792	25	16	are	be	AUX
ap-792	25	17	only	only	ADV
ap-792	25	18	detectable	detectable	ADJ
ap-792	25	19	after	after	SCONJ
ap-792	25	20	a	a	DET
ap-792	25	21	part	part	NOUN
ap-792	25	22	of	of	ADP
ap-792	25	23	the	the	DET
ap-792	25	24	fine	fine	ADJ
ap-792	25	25	processing	processing	NOUN
ap-792	25	26	has	have	AUX
ap-792	25	27	been	be	AUX
ap-792	25	28	done	do	VERB
ap-792	25	29	and	and	CCONJ
ap-792	25	30	that	that	SCONJ
ap-792	25	31	sensitive	sensitive	ADJ
ap-792	25	32	and	and	CCONJ
ap-792	25	33	very	very	ADV
ap-792	25	34	shiny	shiny	ADJ
ap-792	25	35	surfaces	surface	NOUN
ap-792	25	36	are	be	AUX
ap-792	25	37	hard	hard	ADJ
ap-792	25	38	to	to	PART
ap-792	25	39	establish	establish	VERB
ap-792	25	40	by	by	ADP
ap-792	25	41	measuring	measure	VERB
ap-792	25	42	methods	method	NOUN
ap-792	25	43	.	.	PUNCT
ap-792	26	1	in	in	ADP
ap-792	26	2	addition	addition	NOUN
ap-792	26	3	,	,	PUNCT
ap-792	26	4	visual	visual	ADJ
ap-792	26	5	inspection	inspection	NOUN
ap-792	26	6	can	can	AUX
ap-792	26	7	strain	strain	VERB
ap-792	26	8	the	the	DET
ap-792	26	9	operator	operator	NOUN
ap-792	26	10	’s	’s	PART
ap-792	26	11	eyesight	eyesight	NOUN
ap-792	26	12	.	.	PUNCT
ap-792	27	1	2	2	NUM
ap-792	27	2	the	the	DET
ap-792	27	3	use	use	NOUN
ap-792	27	4	of	of	ADP
ap-792	27	5	robots	robot	NOUN
ap-792	27	6	in	in	ADP
ap-792	27	7	grinding	grind	VERB
ap-792	27	8	and	and	CCONJ
ap-792	27	9	polishing	polishing	NOUN
ap-792	27	10	processes	process	VERB
ap-792	27	11	the	the	DET
ap-792	27	12	use	use	NOUN
ap-792	27	13	of	of	ADP
ap-792	27	14	modern	modern	ADJ
ap-792	27	15	handling	handling	NOUN
ap-792	27	16	/	/	SYM
ap-792	27	17	robot	robot	NOUN
ap-792	27	18	systems	system	NOUN
ap-792	27	19	for	for	ADP
ap-792	27	20	belt	belt	NOUN
ap-792	27	21	grinding	grind	VERB
ap-792	27	22	and	and	CCONJ
ap-792	27	23	polishing	polishing	NOUN
ap-792	27	24	is	be	AUX
ap-792	27	25	intended	intend	VERB
ap-792	27	26	to	to	PART
ap-792	27	27	relieve	relieve	VERB
ap-792	27	28	human	human	ADJ
ap-792	27	29	workers	worker	NOUN
ap-792	27	30	from	from	ADP
ap-792	27	31	physically	physically	ADV
ap-792	27	32	hard	hard	ADJ
ap-792	27	33	,	,	PUNCT
ap-792	27	34	monotonous	monotonous	ADJ
ap-792	27	35	and	and	CCONJ
ap-792	27	36	dangerous	dangerous	ADJ
ap-792	27	37	work	work	NOUN
ap-792	27	38	(	(	PUNCT
ap-792	27	39	fig	fig	NOUN
ap-792	27	40	.	.	PUNCT
ap-792	28	1	2	2	NUM
ap-792	28	2	)	)	PUNCT
ap-792	28	3	and	and	CCONJ
ap-792	28	4	,	,	PUNCT
ap-792	28	5	on	on	ADP
ap-792	28	6	the	the	DET
ap-792	28	7	other	other	ADJ
ap-792	28	8	hand	hand	NOUN
ap-792	28	9	,	,	PUNCT
ap-792	28	10	to	to	PART
ap-792	28	11	minimize	minimize	VERB
ap-792	28	12	costs	cost	NOUN
ap-792	28	13	while	while	SCONJ
ap-792	28	14	optimizing	optimize	VERB
ap-792	28	15	quality	quality	NOUN
ap-792	28	16	.	.	PUNCT
ap-792	29	1	the	the	DET
ap-792	29	2	robot	robot	NOUN
ap-792	29	3	-	-	PUNCT
ap-792	29	4	aided	aid	VERB
ap-792	29	5	automated	automate	VERB
ap-792	29	6	solutions	solution	NOUN
ap-792	29	7	known	know	VERB
ap-792	29	8	at	at	ADP
ap-792	29	9	present	present	ADJ
ap-792	29	10	in	in	ADP
ap-792	29	11	the	the	DET
ap-792	29	12	fields	field	NOUN
ap-792	29	13	of	of	ADP
ap-792	29	14	grinding	grind	VERB
ap-792	29	15	and	and	CCONJ
ap-792	29	16	polishing	polishing	NOUN
ap-792	29	17	are	be	AUX
ap-792	29	18	especially	especially	ADV
ap-792	29	19	and	and	CCONJ
ap-792	29	20	successfully	successfully	ADV
ap-792	29	21	used	use	VERB
ap-792	29	22	in	in	ADP
ap-792	29	23	the	the	DET
ap-792	29	24	sanitary	sanitary	NOUN
ap-792	29	25	fitting	fitting	ADJ
ap-792	29	26	industry	industry	NOUN
ap-792	29	27	(	(	PUNCT
ap-792	29	28	fig	fig	NOUN
ap-792	29	29	.	.	PUNCT
ap-792	30	1	3	3	NUM
ap-792	30	2	)	)	PUNCT
ap-792	30	3	.	.	PUNCT
ap-792	31	1	whereas	whereas	SCONJ
ap-792	31	2	in	in	ADP
ap-792	31	3	the	the	DET
ap-792	31	4	past	past	NOUN
ap-792	31	5	these	these	DET
ap-792	31	6	systems	system	NOUN
ap-792	31	7	were	be	AUX
ap-792	31	8	profitable	profitable	ADJ
ap-792	31	9	despite	despite	SCONJ
ap-792	31	10	high	high	ADJ
ap-792	31	11	wage	wage	NOUN
ap-792	31	12	costs	cost	NOUN
ap-792	31	13	,	,	PUNCT
ap-792	31	14	they	they	PRON
ap-792	31	15	are	be	AUX
ap-792	31	16	now	now	ADV
ap-792	31	17	challenged	challenge	VERB
ap-792	31	18	by	by	ADP
ap-792	31	19	competition	competition	NOUN
ap-792	31	20	from	from	ADP
ap-792	31	21	cheaper	cheap	ADJ
ap-792	31	22	manual	manual	ADJ
ap-792	31	23	grinding	grind	VERB
ap-792	31	24	and	and	CCONJ
ap-792	31	25	polishing	polish	VERB
ap-792	31	26	processes	process	NOUN
ap-792	31	27	in	in	ADP
ap-792	31	28	low	low	ADJ
ap-792	31	29	-	-	PUNCT
ap-792	31	30	wage	wage	NOUN
ap-792	31	31	countries	country	NOUN
ap-792	31	32	,	,	PUNCT
ap-792	31	33	due	due	ADJ
ap-792	31	34	to	to	ADP
ap-792	31	35	advancing	advance	VERB
ap-792	31	36	globalization	globalization	NOUN
ap-792	31	37	of	of	ADP
ap-792	31	38	the	the	DET
ap-792	31	39	markets	market	NOUN
ap-792	31	40	.	.	PUNCT
ap-792	32	1	the	the	DET
ap-792	32	2	threat	threat	NOUN
ap-792	32	3	of	of	ADP
ap-792	32	4	grinding	grind	VERB
ap-792	32	5	and	and	CCONJ
ap-792	32	6	polishing	polish	VERB
ap-792	32	7	processes	process	NOUN
ap-792	32	8	moving	move	VERB
ap-792	32	9	abroad	abroad	ADV
ap-792	32	10	is	be	AUX
ap-792	32	11	compounded	compound	VERB
ap-792	32	12	by	by	ADP
ap-792	32	13	the	the	DET
ap-792	32	14	medium	medium	ADJ
ap-792	32	15	-	-	PUNCT
ap-792	32	16	term	term	NOUN
ap-792	32	17	danger	danger	NOUN
ap-792	32	18	that	that	SCONJ
ap-792	32	19	the	the	DET
ap-792	32	20	subsequent	subsequent	ADJ
ap-792	32	21	steps	step	NOUN
ap-792	32	22	of	of	ADP
ap-792	32	23	manufacturing	manufacturing	NOUN
ap-792	32	24	will	will	AUX
ap-792	32	25	also	also	ADV
ap-792	32	26	be	be	AUX
ap-792	32	27	shifted	shift	VERB
ap-792	32	28	abroad	abroad	ADV
ap-792	32	29	.	.	PUNCT
ap-792	33	1	the	the	DET
ap-792	33	2	high	high	ADJ
ap-792	33	3	time	time	NOUN
ap-792	33	4	and	and	CCONJ
ap-792	33	5	cost	cost	NOUN
ap-792	33	6	requirements	requirement	NOUN
ap-792	33	7	for	for	ADP
ap-792	33	8	programming	programming	NOUN
ap-792	33	9	and	and	CCONJ
ap-792	33	10	optimizing	optimizing	NOUN
ap-792	33	11	have	have	VERB
ap-792	33	12	a	a	DET
ap-792	33	13	particularly	particularly	ADV
ap-792	33	14	negative	negative	ADJ
ap-792	33	15	effect	effect	NOUN
ap-792	33	16	on	on	ADP
ap-792	33	17	the	the	DET
ap-792	33	18	profitability	profitability	NOUN
ap-792	33	19	of	of	ADP
ap-792	33	20	industrial	industrial	ADJ
ap-792	33	21	robot	robot	NOUN
ap-792	33	22	-	-	PUNCT
ap-792	33	23	aided	aid	VERB
ap-792	33	24	grinding	grinding	NOUN
ap-792	33	25	and	and	CCONJ
ap-792	33	26	polishing	polish	VERB
ap-792	33	27	cells	cell	NOUN
ap-792	33	28	[	[	X
ap-792	33	29	4	4	NUM
ap-792	33	30	]	]	PUNCT
ap-792	33	31	.	.	PUNCT
ap-792	34	1	compared	compare	VERB
ap-792	34	2	to	to	ADP
ap-792	34	3	conventional	conventional	ADJ
ap-792	34	4	robot	robot	NOUN
ap-792	34	5	tasks	task	NOUN
ap-792	34	6	,	,	PUNCT
ap-792	34	7	these	these	DET
ap-792	34	8	high	high	ADJ
ap-792	34	9	requirements	requirement	NOUN
ap-792	34	10	result	result	VERB
ap-792	34	11	from	from	ADP
ap-792	34	12	the	the	DET
ap-792	34	13	clearly	clearly	ADV
ap-792	34	14	more	more	ADV
ap-792	34	15	complex	complex	ADJ
ap-792	34	16	,	,	PUNCT
ap-792	34	17	comprehensive	comprehensive	ADJ
ap-792	34	18	and	and	CCONJ
ap-792	34	19	more	more	ADV
ap-792	34	20	accurate	accurate	ADJ
ap-792	34	21	motion	motion	NOUN
ap-792	34	22	programs	program	NOUN
ap-792	34	23	and	and	CCONJ
ap-792	34	24	the	the	DET
ap-792	34	25	use	use	NOUN
ap-792	34	26	of	of	ADP
ap-792	34	27	“	"	PUNCT
ap-792	34	28	trial	trial	NOUN
ap-792	34	29	and	and	CCONJ
ap-792	34	30	error	error	NOUN
ap-792	34	31	”	"	PUNCT
ap-792	34	32	in	in	ADP
ap-792	34	33	optimizing	optimize	VERB
ap-792	34	34	the	the	DET
ap-792	34	35	process	process	NOUN
ap-792	34	36	.	.	PUNCT
ap-792	35	1	these	these	DET
ap-792	35	2	requirements	requirement	NOUN
ap-792	35	3	have	have	VERB
ap-792	35	4	of	of	ADP
ap-792	35	5	an	an	DET
ap-792	35	6	even	even	ADV
ap-792	35	7	more	more	ADV
ap-792	35	8	negative	negative	ADJ
ap-792	35	9	influence	influence	NOUN
ap-792	35	10	if	if	SCONJ
ap-792	35	11	new	new	ADJ
ap-792	35	12	programming	programming	NOUN
ap-792	35	13	or	or	CCONJ
ap-792	35	14	adaptions	adaption	NOUN
ap-792	35	15	frequently	frequently	ADV
ap-792	35	16	become	become	VERB
ap-792	35	17	necessary	necessary	ADJ
ap-792	35	18	[	[	X
ap-792	35	19	2	2	NUM
ap-792	35	20	]	]	PUNCT
ap-792	35	21	.	.	PUNCT
ap-792	36	1	the	the	DET
ap-792	36	2	two	two	NUM
ap-792	36	3	main	main	ADJ
ap-792	36	4	reasons	reason	NOUN
ap-792	36	5	for	for	ADP
ap-792	36	6	this	this	PRON
ap-792	36	7	can	can	AUX
ap-792	36	8	be	be	AUX
ap-792	36	9	an	an	DET
ap-792	36	10	unfavourable	unfavourable	ADJ
ap-792	36	11	ratio	ratio	NOUN
ap-792	36	12	of	of	ADP
ap-792	36	13	batch	batch	NOUN
ap-792	36	14	size	size	NOUN
ap-792	36	15	to	to	ADP
ap-792	36	16	the	the	DET
ap-792	36	17	variety	variety	NOUN
ap-792	36	18	of	of	ADP
ap-792	36	19	modifications	modification	NOUN
ap-792	36	20	,	,	PUNCT
ap-792	36	21	,	,	PUNCT
ap-792	36	22	and	and	CCONJ
ap-792	36	23	also	also	ADV
ap-792	36	24	the	the	DET
ap-792	36	25	occurrence	occurrence	NOUN
ap-792	36	26	of	of	ADP
ap-792	36	27	fluctuations	fluctuation	NOUN
ap-792	36	28	in	in	ADP
ap-792	36	29	the	the	DET
ap-792	36	30	process	process	NOUN
ap-792	36	31	due	due	ADP
ap-792	36	32	to	to	ADP
ap-792	36	33	workpiece	workpiece	NOUN
ap-792	36	34	tolerances	tolerance	NOUN
ap-792	36	35	,	,	PUNCT
ap-792	36	36	as	as	ADV
ap-792	36	37	well	well	ADV
ap-792	36	38	as	as	ADP
ap-792	36	39	other	other	ADJ
ap-792	36	40	errors	error	NOUN
ap-792	36	41	in	in	ADP
ap-792	36	42	the	the	DET
ap-792	36	43	upstream	upstream	ADJ
ap-792	36	44	manufacturing	manufacturing	NOUN
ap-792	36	45	process	process	NOUN
ap-792	36	46	.	.	PUNCT
ap-792	37	1	the	the	DET
ap-792	37	2	general	general	ADJ
ap-792	37	3	aim	aim	NOUN
ap-792	37	4	of	of	ADP
ap-792	37	5	the	the	DET
ap-792	37	6	intended	intended	ADJ
ap-792	37	7	r&d	r&d	NOUN
ap-792	37	8	cooperation	cooperation	NOUN
ap-792	37	9	between	between	ADP
ap-792	37	10	smes	sme	NOUN
ap-792	37	11	oriented	orient	VERB
ap-792	37	12	to	to	ADP
ap-792	37	13	automation	automation	NOUN
ap-792	37	14	and	and	CCONJ
ap-792	37	15	development	development	NOUN
ap-792	37	16	,	,	PUNCT
ap-792	37	17	research	research	NOUN
ap-792	37	18	institutes	institute	NOUN
ap-792	37	19	and	and	CCONJ
ap-792	37	20	manufacturing	manufacturing	NOUN
ap-792	37	21	users	user	NOUN
ap-792	37	22	is	be	AUX
ap-792	37	23	therefore	therefore	ADV
ap-792	37	24	to	to	PART
ap-792	37	25	develop	develop	VERB
ap-792	37	26	of	of	ADP
ap-792	37	27	manual	manual	NOUN
ap-792	37	28	,	,	PUNCT
ap-792	37	29	partly	partly	ADV
ap-792	37	30	or	or	CCONJ
ap-792	37	31	fully	fully	ADV
ap-792	37	32	automated	automate	VERB
ap-792	37	33	procedures	procedure	NOUN
ap-792	37	34	based	base	VERB
ap-792	37	35	on	on	ADP
ap-792	37	36	efficient	efficient	ADJ
ap-792	37	37	program	program	NOUN
ap-792	37	38	optimization	optimization	NOUN
ap-792	37	39	of	of	ADP
ap-792	37	40	robot	robot	NOUN
ap-792	37	41	-	-	PUNCT
ap-792	37	42	aided	aid	VERB
ap-792	37	43	grinding	grinding	NOUN
ap-792	37	44	and	and	CCONJ
ap-792	37	45	polishing	polish	VERB
ap-792	37	46	processes	process	NOUN
ap-792	37	47	(	(	PUNCT
ap-792	37	48	“	"	PUNCT
ap-792	37	49	epo	epo	PROPN
ap-792	37	50	”	"	PUNCT
ap-792	37	51	)	)	PUNCT
ap-792	37	52	.	.	PUNCT
ap-792	38	1	the	the	DET
ap-792	38	2	required	require	VERB
ap-792	38	3	degree	degree	NOUN
ap-792	38	4	of	of	ADP
ap-792	38	5	automation	automation	NOUN
ap-792	38	6	of	of	ADP
ap-792	38	7	the	the	DET
ap-792	38	8	procedures	procedure	NOUN
ap-792	38	9	depends	depend	VERB
ap-792	38	10	on	on	ADP
ap-792	38	11	how	how	SCONJ
ap-792	38	12	often	often	ADV
ap-792	38	13	optimizing	optimize	VERB
ap-792	38	14	work	work	NOUN
ap-792	38	15	is	be	AUX
ap-792	38	16	needed	need	VERB
ap-792	38	17	.	.	PUNCT
ap-792	39	1	while	while	SCONJ
ap-792	39	2	manual	manual	ADJ
ap-792	39	3	intervention	intervention	NOUN
ap-792	39	4	is	be	AUX
ap-792	39	5	sufficient	sufficient	ADJ
ap-792	39	6	for	for	ADP
ap-792	39	7	the	the	DET
ap-792	39	8	initial	initial	ADJ
ap-792	39	9	programming	programming	NOUN
ap-792	39	10	and	and	CCONJ
ap-792	39	11	for	for	ADP
ap-792	39	12	occasional	occasional	ADJ
ap-792	39	13	process	process	NOUN
ap-792	39	14	malfunction	malfunction	NOUN
ap-792	39	15	,	,	PUNCT
ap-792	39	16	more	more	ADV
ap-792	39	17	frequent	frequent	ADJ
ap-792	39	18	occur4	occur4	NOUN
ap-792	40	1	©	©	PROPN
ap-792	40	2	czech	czech	PROPN
ap-792	40	3	technical	technical	PROPN
ap-792	40	4	university	university	PROPN
ap-792	40	5	publishing	publishing	NOUN
ap-792	40	6	house	house	NOUN
ap-792	40	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-792	40	8	acta	acta	PROPN
ap-792	40	9	polytechnica	polytechnica	PROPN
ap-792	40	10	vol	vol	NOUN
ap-792	40	11	.	.	PUNCT
ap-792	41	1	46	46	NUM
ap-792	41	2	no	no	INTJ
ap-792	41	3	.	.	PUNCT
ap-792	42	1	1/2006	1/2006	NUM
ap-792	42	2	czech	czech	PROPN
ap-792	42	3	technical	technical	PROPN
ap-792	42	4	university	university	PROPN
ap-792	42	5	in	in	ADP
ap-792	42	6	prague	prague	PROPN
ap-792	42	7	fig	fig	NOUN
ap-792	42	8	.	.	PUNCT
ap-792	43	1	2	2	NUM
ap-792	43	2	:	:	PUNCT
ap-792	43	3	the	the	DET
ap-792	43	4	manual	manual	ADJ
ap-792	43	5	grinding	grinding	NOUN
ap-792	43	6	process	process	NOUN
ap-792	43	7	fig	fig	NOUN
ap-792	43	8	.	.	PUNCT
ap-792	44	1	3	3	NUM
ap-792	44	2	:	:	PUNCT
ap-792	44	3	robot	robot	NOUN
ap-792	44	4	aided	aid	VERB
ap-792	44	5	grinding	grind	VERB
ap-792	44	6	and	and	CCONJ
ap-792	44	7	polishing	polishing	NOUN
ap-792	44	8	in	in	ADP
ap-792	44	9	the	the	DET
ap-792	44	10	sanitary	sanitary	NOUN
ap-792	44	11	fitting	fitting	ADJ
ap-792	44	12	industry	industry	NOUN
ap-792	44	13	rences	rence	NOUN
ap-792	44	14	require	require	VERB
ap-792	44	15	full	full	ADJ
ap-792	44	16	automation	automation	NOUN
ap-792	44	17	..	..	PUNCT
ap-792	45	1	the	the	DET
ap-792	45	2	techniques	technique	NOUN
ap-792	45	3	to	to	PART
ap-792	45	4	be	be	AUX
ap-792	45	5	developed	develop	VERB
ap-792	45	6	for	for	ADP
ap-792	45	7	manual	manual	ADJ
ap-792	45	8	use	use	NOUN
ap-792	45	9	differ	differ	VERB
ap-792	45	10	considerably	considerably	ADV
ap-792	45	11	from	from	ADP
ap-792	45	12	those	those	PRON
ap-792	45	13	for	for	ADP
ap-792	45	14	fully	fully	ADV
ap-792	45	15	automatic	automatic	ADJ
ap-792	45	16	use	use	NOUN
ap-792	45	17	.	.	PUNCT
ap-792	46	1	in	in	ADP
ap-792	46	2	manual	manual	ADJ
ap-792	46	3	procedures	procedure	NOUN
ap-792	46	4	the	the	DET
ap-792	46	5	focus	focus	NOUN
ap-792	46	6	lies	lie	VERB
ap-792	46	7	on	on	ADP
ap-792	46	8	efficient	efficient	ADJ
ap-792	46	9	interaction	interaction	NOUN
ap-792	46	10	with	with	ADP
ap-792	46	11	the	the	DET
ap-792	46	12	operator	operator	NOUN
ap-792	46	13	,	,	PUNCT
ap-792	46	14	whereas	whereas	SCONJ
ap-792	46	15	full	full	ADJ
ap-792	46	16	automation	automation	NOUN
ap-792	46	17	requires	require	VERB
ap-792	46	18	the	the	DET
ap-792	46	19	development	development	NOUN
ap-792	46	20	and	and	CCONJ
ap-792	46	21	integration	integration	NOUN
ap-792	46	22	of	of	ADP
ap-792	46	23	a	a	DET
ap-792	46	24	complex	complex	ADJ
ap-792	46	25	measuring	measuring	NOUN
ap-792	46	26	method	method	NOUN
ap-792	46	27	,	,	PUNCT
ap-792	46	28	data	datum	NOUN
ap-792	46	29	processing	processing	NOUN
ap-792	46	30	and	and	CCONJ
ap-792	46	31	process	process	NOUN
ap-792	46	32	control	control	NOUN
ap-792	46	33	.	.	PUNCT
ap-792	47	1	3	3	NUM
ap-792	47	2	development	development	NOUN
ap-792	47	3	of	of	ADP
ap-792	47	4	an	an	DET
ap-792	47	5	offline	offline	ADJ
ap-792	47	6	-	-	PUNCT
ap-792	47	7	programming	programming	NOUN
ap-792	47	8	system	system	NOUN
ap-792	47	9	for	for	ADP
ap-792	47	10	small	small	ADJ
ap-792	47	11	batch	batch	NOUN
ap-792	47	12	sizes	size	NOUN
ap-792	47	13	and	and	CCONJ
ap-792	47	14	a	a	DET
ap-792	47	15	wide	wide	ADJ
ap-792	47	16	variety	variety	NOUN
ap-792	47	17	of	of	ADP
ap-792	47	18	modifications	modification	NOUN
ap-792	47	19	one	one	NUM
ap-792	47	20	aspect	aspect	NOUN
ap-792	47	21	of	of	ADP
ap-792	47	22	the	the	DET
ap-792	47	23	project	project	NOUN
ap-792	47	24	deals	deal	VERB
ap-792	47	25	with	with	ADP
ap-792	47	26	process	process	NOUN
ap-792	47	27	-	-	PUNCT
ap-792	47	28	specific	specific	ADJ
ap-792	47	29	further	further	ADJ
ap-792	47	30	development	development	NOUN
ap-792	47	31	of	of	ADP
ap-792	47	32	the	the	DET
ap-792	47	33	offline	offline	ADJ
ap-792	47	34	-	-	PUNCT
ap-792	47	35	programming	programming	NOUN
ap-792	47	36	system	system	NOUN
ap-792	47	37	–	–	PUNCT
ap-792	47	38	as	as	SCONJ
ap-792	47	39	approved	approve	VERB
ap-792	47	40	in	in	ADP
ap-792	47	41	practise	practise	NOUN
ap-792	47	42	–	–	PUNCT
ap-792	47	43	in	in	ADP
ap-792	47	44	order	order	NOUN
ap-792	47	45	to	to	PART
ap-792	47	46	achieve	achieve	VERB
ap-792	47	47	greater	great	ADJ
ap-792	47	48	efficiency	efficiency	NOUN
ap-792	47	49	in	in	ADP
ap-792	47	50	manual	manual	ADJ
ap-792	47	51	programming	programming	NOUN
ap-792	47	52	and	and	CCONJ
ap-792	47	53	optimization	optimization	NOUN
ap-792	47	54	.	.	PUNCT
ap-792	48	1	present	present	ADJ
ap-792	48	2	day	day	NOUN
ap-792	48	3	systems	system	NOUN
ap-792	48	4	are	be	AUX
ap-792	48	5	designed	design	VERB
ap-792	48	6	for	for	ADP
ap-792	48	7	universal	universal	ADJ
ap-792	48	8	use	use	NOUN
ap-792	48	9	,	,	PUNCT
ap-792	48	10	and	and	CCONJ
ap-792	48	11	are	be	AUX
ap-792	48	12	similar	similar	ADJ
ap-792	48	13	to	to	ADP
ap-792	48	14	complex	complex	ADJ
ap-792	48	15	3d	3d	NUM
ap-792	48	16	-	-	PUNCT
ap-792	48	17	cad	cad	NOUN
ap-792	48	18	-	-	PUNCT
ap-792	48	19	systems	system	NOUN
ap-792	48	20	in	in	ADP
ap-792	48	21	their	their	PRON
ap-792	48	22	layout	layout	NOUN
ap-792	48	23	and	and	CCONJ
ap-792	48	24	operation	operation	NOUN
ap-792	48	25	.	.	PUNCT
ap-792	49	1	processes	process	NOUN
ap-792	49	2	that	that	PRON
ap-792	49	3	do	do	AUX
ap-792	49	4	not	not	PART
ap-792	49	5	need	need	VERB
ap-792	49	6	an	an	DET
ap-792	49	7	extra	extra	ADJ
ap-792	49	8	path	path	NOUN
ap-792	49	9	or	or	CCONJ
ap-792	49	10	parameter	parameter	NOUN
ap-792	49	11	optimization	optimization	NOUN
ap-792	49	12	,	,	PUNCT
ap-792	49	13	such	such	ADJ
ap-792	49	14	as	as	ADP
ap-792	49	15	palletizing	palletize	VERB
ap-792	49	16	,	,	PUNCT
ap-792	49	17	assembling	assemble	VERB
ap-792	49	18	or	or	CCONJ
ap-792	49	19	varnishing	varnishing	NOUN
ap-792	49	20	,	,	PUNCT
ap-792	49	21	can	can	AUX
ap-792	49	22	be	be	AUX
ap-792	49	23	programmed	program	VERB
ap-792	49	24	efficiently	efficiently	ADV
ap-792	49	25	using	use	VERB
ap-792	49	26	these	these	DET
ap-792	49	27	programs	program	NOUN
ap-792	49	28	by	by	ADP
ap-792	49	29	highly	highly	ADV
ap-792	49	30	-	-	PUNCT
ap-792	49	31	qualified	qualified	ADJ
ap-792	49	32	engineers	engineer	NOUN
ap-792	49	33	and	and	CCONJ
ap-792	49	34	technicians	technician	NOUN
ap-792	49	35	in	in	ADP
ap-792	49	36	the	the	DET
ap-792	49	37	planning	planning	NOUN
ap-792	49	38	department	department	NOUN
ap-792	49	39	.	.	PUNCT
ap-792	50	1	for	for	ADP
ap-792	50	2	the	the	DET
ap-792	50	3	grinding	grinding	NOUN
ap-792	50	4	and	and	CCONJ
ap-792	50	5	polishing	polishing	NOUN
ap-792	50	6	processes	process	NOUN
ap-792	50	7	,	,	PUNCT
ap-792	50	8	however	however	ADV
ap-792	50	9	,	,	PUNCT
ap-792	50	10	no	no	DET
ap-792	50	11	appropriate	appropriate	ADJ
ap-792	50	12	tools	tool	NOUN
ap-792	50	13	are	be	AUX
ap-792	50	14	available	available	ADJ
ap-792	50	15	directly	directly	ADV
ap-792	50	16	at	at	ADP
ap-792	50	17	the	the	DET
ap-792	50	18	robot	robot	NOUN
ap-792	50	19	cell	cell	NOUN
ap-792	50	20	for	for	ADP
ap-792	50	21	the	the	DET
ap-792	50	22	optimization	optimization	NOUN
ap-792	50	23	phase	phase	NOUN
ap-792	50	24	.	.	PUNCT
ap-792	51	1	the	the	DET
ap-792	51	2	use	use	NOUN
ap-792	51	3	of	of	ADP
ap-792	51	4	a	a	DET
ap-792	51	5	conventional	conventional	ADJ
ap-792	51	6	offline	offline	ADJ
ap-792	51	7	programming	programming	NOUN
ap-792	51	8	system	system	NOUN
ap-792	51	9	in	in	ADP
ap-792	51	10	the	the	DET
ap-792	51	11	vicinity	vicinity	NOUN
ap-792	51	12	of	of	ADP
ap-792	51	13	the	the	DET
ap-792	51	14	workshops	workshop	NOUN
ap-792	51	15	usually	usually	ADV
ap-792	51	16	fails	fail	VERB
ap-792	51	17	,	,	PUNCT
ap-792	51	18	because	because	SCONJ
ap-792	51	19	it	it	PRON
ap-792	51	20	is	be	AUX
ap-792	51	21	too	too	ADV
ap-792	51	22	complex	complex	ADJ
ap-792	51	23	for	for	ADP
ap-792	51	24	underqualified	underqualified	ADJ
ap-792	51	25	operators	operator	NOUN
ap-792	51	26	.	.	PUNCT
ap-792	52	1	there	there	PRON
ap-792	52	2	is	be	VERB
ap-792	52	3	a	a	DET
ap-792	52	4	lack	lack	NOUN
ap-792	52	5	of	of	ADP
ap-792	52	6	process	process	NOUN
ap-792	52	7	specific	specific	ADJ
ap-792	52	8	functions	function	NOUN
ap-792	52	9	,	,	PUNCT
ap-792	52	10	and	and	CCONJ
ap-792	52	11	,	,	PUNCT
ap-792	52	12	as	as	ADP
ap-792	52	13	a	a	DET
ap-792	52	14	result	result	NOUN
ap-792	52	15	,	,	PUNCT
ap-792	52	16	there	there	PRON
ap-792	52	17	is	be	VERB
ap-792	52	18	a	a	DET
ap-792	52	19	need	need	NOUN
ap-792	52	20	for	for	ADP
ap-792	52	21	a	a	DET
ap-792	52	22	suitable	suitable	ADJ
ap-792	52	23	system	system	NOUN
ap-792	52	24	to	to	PART
ap-792	52	25	be	be	AUX
ap-792	52	26	developed	develop	VERB
ap-792	52	27	.	.	PUNCT
ap-792	53	1	the	the	DET
ap-792	53	2	intended	intend	VERB
ap-792	53	3	system	system	NOUN
ap-792	53	4	is	be	AUX
ap-792	53	5	directed	direct	VERB
ap-792	53	6	at	at	ADP
ap-792	53	7	a	a	DET
ap-792	53	8	target	target	NOUN
ap-792	53	9	group	group	NOUN
ap-792	53	10	that	that	PRON
ap-792	53	11	,	,	PUNCT
ap-792	53	12	due	due	ADP
ap-792	53	13	to	to	ADP
ap-792	53	14	small	small	ADJ
ap-792	53	15	batch	batch	NOUN
ap-792	53	16	sizes	size	NOUN
ap-792	53	17	and	and	CCONJ
ap-792	53	18	numerous	numerous	ADJ
ap-792	53	19	modifications	modification	NOUN
ap-792	53	20	,	,	PUNCT
ap-792	53	21	must	must	AUX
ap-792	53	22	often	often	ADV
ap-792	53	23	make	make	VERB
ap-792	53	24	new	new	ADJ
ap-792	53	25	programs	program	NOUN
ap-792	53	26	or	or	CCONJ
ap-792	53	27	adjust	adjust	VERB
ap-792	53	28	their	their	PRON
ap-792	53	29	products	product	NOUN
ap-792	53	30	to	to	PART
ap-792	53	31	changed	change	VERB
ap-792	53	32	conditions	condition	NOUN
ap-792	53	33	.	.	PUNCT
ap-792	54	1	moreover	moreover	ADV
ap-792	54	2	,	,	PUNCT
ap-792	54	3	the	the	DET
ap-792	54	4	methods	method	NOUN
ap-792	54	5	and	and	CCONJ
ap-792	54	6	procedures	procedure	NOUN
ap-792	54	7	to	to	PART
ap-792	54	8	be	be	AUX
ap-792	54	9	developed	develop	VERB
ap-792	54	10	can	can	AUX
ap-792	54	11	enable	enable	VERB
ap-792	54	12	future	future	ADJ
ap-792	54	13	uses	use	NOUN
ap-792	54	14	beyond	beyond	ADP
ap-792	54	15	grinding	grind	VERB
ap-792	54	16	and	and	CCONJ
ap-792	54	17	polishing	polishing	NOUN
ap-792	54	18	,	,	PUNCT
ap-792	54	19	e.g.	e.g.	ADV
ap-792	54	20	robot	robot	NOUN
ap-792	54	21	-	-	PUNCT
ap-792	54	22	aided	aid	VERB
ap-792	54	23	milling	milling	NOUN
ap-792	54	24	and	and	CCONJ
ap-792	54	25	water	water	NOUN
ap-792	54	26	torching	torching	NOUN
ap-792	54	27	.	.	PUNCT
ap-792	55	1	another	another	DET
ap-792	55	2	aspect	aspect	NOUN
ap-792	55	3	of	of	ADP
ap-792	55	4	the	the	DET
ap-792	55	5	project	project	NOUN
ap-792	55	6	deals	deal	VERB
ap-792	55	7	with	with	ADP
ap-792	55	8	disturbing	disturbing	ADJ
ap-792	55	9	influences	influence	NOUN
ap-792	55	10	that	that	SCONJ
ap-792	55	11	“	"	PUNCT
ap-792	55	12	frequently	frequently	ADV
ap-792	55	13	”	"	PUNCT
ap-792	55	14	occur	occur	VERB
ap-792	55	15	and	and	CCONJ
ap-792	55	16	must	must	AUX
ap-792	55	17	therefore	therefore	ADV
ap-792	55	18	be	be	AUX
ap-792	55	19	detected	detect	VERB
ap-792	55	20	and	and	CCONJ
ap-792	55	21	compensated	compensate	VERB
ap-792	55	22	for	for	ADP
ap-792	55	23	automatically	automatically	ADV
ap-792	55	24	.	.	PUNCT
ap-792	56	1	while	while	SCONJ
ap-792	56	2	in	in	ADP
ap-792	56	3	the	the	DET
ap-792	56	4	first	first	ADJ
ap-792	56	5	aspect	aspect	NOUN
ap-792	56	6	of	of	ADP
ap-792	56	7	the	the	DET
ap-792	56	8	project	project	NOUN
ap-792	56	9	the	the	DET
ap-792	56	10	operator	operator	NOUN
ap-792	56	11	of	of	ADP
ap-792	56	12	the	the	DET
ap-792	56	13	robot	robot	NOUN
ap-792	56	14	machine	machine	NOUN
ap-792	56	15	is	be	AUX
ap-792	56	16	of	of	ADP
ap-792	56	17	the	the	DET
ap-792	56	18	centre	centre	NOUN
ap-792	56	19	of	of	ADP
ap-792	56	20	the	the	DET
ap-792	56	21	decision	decision	NOUN
ap-792	56	22	-	-	PUNCT
ap-792	56	23	making	making	NOUN
ap-792	56	24	and	and	CCONJ
ap-792	56	25	should	should	AUX
ap-792	56	26	be	be	AUX
ap-792	56	27	given	give	VERB
ap-792	56	28	pc	pc	NOUN
ap-792	56	29	-	-	PUNCT
ap-792	56	30	based	base	VERB
ap-792	56	31	decision	decision	NOUN
ap-792	56	32	guidance	guidance	NOUN
ap-792	56	33	for	for	ADP
ap-792	56	34	a	a	DET
ap-792	56	35	structured	structured	ADJ
ap-792	56	36	next	next	ADJ
ap-792	56	37	step	step	NOUN
ap-792	56	38	,	,	PUNCT
ap-792	56	39	and	and	CCONJ
ap-792	56	40	suitable	suitable	ADJ
ap-792	56	41	tools	tool	NOUN
ap-792	56	42	for	for	ADP
ap-792	56	43	efficient	efficient	ADJ
ap-792	56	44	program	program	NOUN
ap-792	56	45	optimization	optimization	NOUN
ap-792	56	46	,	,	PUNCT
ap-792	56	47	the	the	DET
ap-792	56	48	skills	skill	NOUN
ap-792	56	49	for	for	ADP
ap-792	56	50	error	error	NOUN
ap-792	56	51	detection	detection	NOUN
ap-792	56	52	and	and	CCONJ
ap-792	56	53	classification	classification	NOUN
ap-792	56	54	and	and	CCONJ
ap-792	56	55	also	also	ADV
ap-792	56	56	the	the	DET
ap-792	56	57	deduction	deduction	NOUN
ap-792	56	58	of	of	ADP
ap-792	56	59	parameter	parameter	NOUN
ap-792	56	60	optimization	optimization	NOUN
ap-792	56	61	strategies	strategy	NOUN
ap-792	56	62	(	(	PUNCT
ap-792	56	63	see	see	VERB
ap-792	56	64	[	[	X
ap-792	56	65	1,2,3	1,2,3	NOUN
ap-792	56	66	]	]	PUNCT
ap-792	56	67	)	)	PUNCT
ap-792	56	68	through	through	ADP
ap-792	56	69	measuring	measure	VERB
ap-792	56	70	methods	method	NOUN
ap-792	56	71	and	and	CCONJ
ap-792	56	72	process	process	NOUN
ap-792	56	73	control	control	NOUN
ap-792	56	74	must	must	AUX
ap-792	56	75	be	be	AUX
ap-792	56	76	performed	perform	VERB
ap-792	56	77	fully	fully	ADV
ap-792	56	78	automatically	automatically	ADV
ap-792	56	79	.	.	PUNCT
ap-792	57	1	(	(	PUNCT
ap-792	57	2	fig	fig	NOUN
ap-792	57	3	.	.	PUNCT
ap-792	58	1	4	4	NUM
ap-792	58	2	)	)	SYM
ap-792	58	3	4	4	NUM
ap-792	58	4	optimized	optimize	VERB
ap-792	58	5	automation	automation	NOUN
ap-792	58	6	through	through	ADP
ap-792	58	7	innovative	innovative	ADJ
ap-792	58	8	robot	robot	NOUN
ap-792	58	9	systems	system	NOUN
ap-792	58	10	the	the	DET
ap-792	58	11	developments	development	NOUN
ap-792	58	12	presented	present	VERB
ap-792	58	13	below	below	ADP
ap-792	58	14	aim	aim	NOUN
ap-792	58	15	at	at	ADP
ap-792	58	16	raising	raise	VERB
ap-792	58	17	the	the	DET
ap-792	58	18	tolerances	tolerance	NOUN
ap-792	58	19	of	of	ADP
ap-792	58	20	handling	handle	VERB
ap-792	58	21	systems	system	NOUN
ap-792	58	22	to	to	ADP
ap-792	58	23	changing	change	VERB
ap-792	58	24	conditions	condition	NOUN
ap-792	58	25	,	,	PUNCT
ap-792	58	26	and	and	CCONJ
ap-792	58	27	also	also	ADV
ap-792	58	28	their	their	PRON
ap-792	58	29	flexibility	flexibility	NOUN
ap-792	58	30	toward	toward	ADP
ap-792	58	31	frequently	frequently	ADV
ap-792	58	32	changing	change	VERB
ap-792	58	33	workpieces	workpiece	NOUN
ap-792	58	34	in	in	ADP
ap-792	58	35	order	order	NOUN
ap-792	58	36	to	to	PART
ap-792	58	37	increase	increase	VERB
ap-792	58	38	the	the	DET
ap-792	58	39	reliability	reliability	NOUN
ap-792	58	40	of	of	ADP
ap-792	58	41	the	the	DET
ap-792	58	42	machines	machine	NOUN
ap-792	58	43	in	in	ADP
ap-792	58	44	the	the	DET
ap-792	58	45	end	end	NOUN
ap-792	58	46	and	and	CCONJ
ap-792	58	47	to	to	PART
ap-792	58	48	expand	expand	VERB
ap-792	58	49	the	the	DET
ap-792	58	50	use	use	NOUN
ap-792	58	51	of	of	ADP
ap-792	58	52	solutions	solution	NOUN
ap-792	58	53	involving	involve	VERB
ap-792	58	54	industrial	industrial	ADJ
ap-792	58	55	robots	robot	NOUN
ap-792	58	56	.	.	PUNCT
ap-792	59	1	the	the	DET
ap-792	59	2	focus	focus	NOUN
ap-792	59	3	lies	lie	VERB
ap-792	59	4	here	here	ADV
ap-792	59	5	on	on	ADP
ap-792	59	6	industrial	industrial	ADJ
ap-792	59	7	robot	robot	NOUN
ap-792	59	8	-	-	PUNCT
ap-792	59	9	aided	aid	VERB
ap-792	59	10	processes	process	NOUN
ap-792	59	11	like	like	ADP
ap-792	59	12	grinding	grind	VERB
ap-792	59	13	and	and	CCONJ
ap-792	59	14	polishing	polishing	NOUN
ap-792	59	15	of	of	ADP
ap-792	59	16	complex	complex	ADJ
ap-792	59	17	free	free	ADJ
ap-792	59	18	forming	form	VERB
ap-792	59	19	geometries	geometry	NOUN
ap-792	59	20	with	with	ADP
ap-792	59	21	high	high	ADJ
ap-792	59	22	demands	demand	NOUN
ap-792	59	23	on	on	ADP
ap-792	59	24	the	the	DET
ap-792	59	25	optical	optical	ADJ
ap-792	59	26	quality	quality	NOUN
ap-792	59	27	of	of	ADP
ap-792	59	28	the	the	DET
ap-792	59	29	resulting	result	VERB
ap-792	59	30	surface	surface	NOUN
ap-792	59	31	.	.	PUNCT
ap-792	60	1	these	these	DET
ap-792	60	2	processes	process	NOUN
ap-792	60	3	show	show	VERB
ap-792	60	4	a	a	DET
ap-792	60	5	high	high	ADJ
ap-792	60	6	degree	degree	NOUN
ap-792	60	7	of	of	ADP
ap-792	60	8	program	program	NOUN
ap-792	60	9	generation	generation	NOUN
ap-792	60	10	with	with	ADP
ap-792	60	11	several	several	ADJ
ap-792	60	12	hundred	hundred	NUM
ap-792	60	13	robot	robot	NOUN
ap-792	60	14	targets	target	NOUN
ap-792	60	15	,	,	PUNCT
ap-792	60	16	and	and	CCONJ
ap-792	60	17	optimizing	optimize	VERB
ap-792	60	18	times	time	NOUN
ap-792	60	19	in	in	ADP
ap-792	60	20	the	the	DET
ap-792	60	21	range	range	NOUN
ap-792	60	22	of	of	ADP
ap-792	60	23	weeks	week	NOUN
ap-792	60	24	,	,	PUNCT
ap-792	60	25	as	as	ADV
ap-792	60	26	well	well	ADV
ap-792	60	27	as	as	ADP
ap-792	60	28	high	high	ADJ
ap-792	60	29	sensitivity	sensitivity	NOUN
ap-792	60	30	to	to	ADP
ap-792	60	31	differences	difference	NOUN
ap-792	60	32	in	in	ADP
ap-792	60	33	the	the	DET
ap-792	60	34	starting	starting	ADJ
ap-792	60	35	qualities	quality	NOUN
ap-792	60	36	of	of	ADP
ap-792	60	37	the	the	DET
ap-792	60	38	workpiece	workpiece	NOUN
ap-792	60	39	.	.	PUNCT
ap-792	61	1	in	in	ADP
ap-792	61	2	order	order	NOUN
ap-792	61	3	to	to	PART
ap-792	61	4	shorten	shorten	VERB
ap-792	61	5	the	the	DET
ap-792	61	6	programming	programming	NOUN
ap-792	61	7	and	and	CCONJ
ap-792	61	8	optimizing	optimizing	NOUN
ap-792	61	9	times	time	NOUN
ap-792	61	10	,	,	PUNCT
ap-792	61	11	the	the	DET
ap-792	61	12	operator	operator	NOUN
ap-792	61	13	must	must	AUX
ap-792	61	14	have	have	VERB
ap-792	61	15	access	access	NOUN
ap-792	61	16	to	to	ADP
ap-792	61	17	modern	modern	ADJ
ap-792	61	18	offline	offline	ADJ
ap-792	61	19	-	-	PUNCT
ap-792	61	20	programming	programming	NOUN
ap-792	61	21	procedures	procedure	NOUN
ap-792	61	22	,	,	PUNCT
ap-792	61	23	taking	take	VERB
ap-792	61	24	into	into	ADP
ap-792	61	25	account	account	NOUN
ap-792	61	26	the	the	DET
ap-792	61	27	qualifications	qualification	NOUN
ap-792	61	28	and	and	CCONJ
ap-792	61	29	experience	experience	NOUN
ap-792	61	30	usually	usually	ADV
ap-792	61	31	available	available	ADJ
ap-792	61	32	in	in	ADP
ap-792	61	33	industrial	industrial	ADJ
ap-792	61	34	production	production	NOUN
ap-792	61	35	.	.	PUNCT
ap-792	62	1	the	the	DET
ap-792	62	2	acceptance	acceptance	NOUN
ap-792	62	3	of	of	ADP
ap-792	62	4	such	such	ADJ
ap-792	62	5	systems	system	NOUN
ap-792	62	6	will	will	AUX
ap-792	62	7	be	be	AUX
ap-792	62	8	raised	raise	VERB
ap-792	62	9	by	by	ADP
ap-792	62	10	a	a	DET
ap-792	62	11	stronger	strong	ADJ
ap-792	62	12	orientation	orientation	NOUN
ap-792	62	13	to	to	ADP
ap-792	62	14	the	the	DET
ap-792	62	15	process	process	NOUN
ap-792	62	16	and	and	CCONJ
ap-792	62	17	greater	great	ADJ
ap-792	62	18	integration	integration	NOUN
ap-792	62	19	of	of	ADP
ap-792	62	20	knowledge	knowledge	NOUN
ap-792	62	21	.	.	PUNCT
ap-792	63	1	thus	thus	ADV
ap-792	63	2	,	,	PUNCT
ap-792	63	3	the	the	DET
ap-792	63	4	operator	operator	NOUN
ap-792	63	5	will	will	AUX
ap-792	63	6	be	be	AUX
ap-792	63	7	able	able	ADJ
ap-792	63	8	in	in	ADP
ap-792	63	9	the	the	DET
ap-792	63	10	future	future	NOUN
ap-792	63	11	to	to	PART
ap-792	63	12	take	take	VERB
ap-792	63	13	over	over	ADP
ap-792	63	14	programming	programming	NOUN
ap-792	63	15	and	and	CCONJ
ap-792	63	16	optimizing	optimize	VERB
ap-792	63	17	tasks	task	NOUN
ap-792	63	18	which	which	PRON
ap-792	63	19	until	until	ADP
ap-792	63	20	now	now	ADV
ap-792	63	21	have	have	AUX
ap-792	63	22	been	be	AUX
ap-792	63	23	carried	carry	VERB
ap-792	63	24	out	out	ADP
ap-792	63	25	only	only	ADV
ap-792	63	26	by	by	ADP
ap-792	63	27	highly	highly	ADV
ap-792	63	28	-	-	PUNCT
ap-792	63	29	specialized	specialized	ADJ
ap-792	63	30	staff	staff	NOUN
ap-792	63	31	in	in	ADP
ap-792	63	32	the	the	DET
ap-792	63	33	planning	planning	NOUN
ap-792	63	34	department	department	NOUN
ap-792	63	35	,	,	PUNCT
ap-792	63	36	or	or	CCONJ
ap-792	63	37	which	which	PRON
ap-792	63	38	have	have	AUX
ap-792	63	39	been	be	AUX
ap-792	63	40	given	give	VERB
ap-792	63	41	up	up	ADP
ap-792	63	42	in	in	ADP
ap-792	63	43	favour	favour	NOUN
ap-792	63	44	of	of	ADP
ap-792	63	45	manual	manual	ADJ
ap-792	63	46	manufacturing	manufacturing	NOUN
ap-792	63	47	.	.	PUNCT
ap-792	64	1	higher	high	ADJ
ap-792	64	2	tolerance	tolerance	NOUN
ap-792	64	3	toward	toward	ADP
ap-792	64	4	changing	change	VERB
ap-792	64	5	the	the	DET
ap-792	64	6	starting	starting	ADJ
ap-792	64	7	qualities	quality	NOUN
ap-792	64	8	of	of	ADP
ap-792	64	9	the	the	DET
ap-792	64	10	workpiece	workpiece	NOUN
ap-792	64	11	will	will	AUX
ap-792	64	12	be	be	AUX
ap-792	64	13	achieved	achieve	VERB
ap-792	64	14	by	by	ADP
ap-792	64	15	combining	combine	VERB
ap-792	64	16	image	image	NOUN
ap-792	64	17	processing	processing	NOUN
ap-792	64	18	measuring	measure	VERB
ap-792	64	19	systems	system	NOUN
ap-792	64	20	,	,	PUNCT
ap-792	64	21	grinding	grind	VERB
ap-792	64	22	and	and	CCONJ
ap-792	64	23	polishing	polish	VERB
ap-792	64	24	process	process	NOUN
ap-792	64	25	models	model	NOUN
ap-792	64	26	,	,	PUNCT
ap-792	64	27	adaptive	adaptive	ADJ
ap-792	64	28	control	control	NOUN
ap-792	64	29	techniques	technique	NOUN
ap-792	64	30	and	and	CCONJ
ap-792	64	31	intelligent	intelligent	ADJ
ap-792	64	32	software	software	NOUN
ap-792	64	33	components	component	NOUN
ap-792	64	34	.	.	PUNCT
ap-792	65	1	a	a	DET
ap-792	65	2	special	special	ADJ
ap-792	65	3	challenge	challenge	NOUN
ap-792	65	4	is	be	AUX
ap-792	65	5	posed	pose	VERB
ap-792	65	6	in	in	ADP
ap-792	65	7	this	this	DET
ap-792	65	8	context	context	NOUN
ap-792	65	9	by	by	ADP
ap-792	65	10	the	the	DET
ap-792	65	11	automation	automation	NOUN
ap-792	65	12	of	of	ADP
ap-792	65	13	“	"	PUNCT
ap-792	65	14	seeing	see	VERB
ap-792	65	15	and	and	CCONJ
ap-792	65	16	evaluating	evaluate	VERB
ap-792	65	17	”	"	PUNCT
ap-792	65	18	processing	processing	NOUN
ap-792	65	19	errors	error	NOUN
ap-792	65	20	on	on	ADP
ap-792	65	21	highly	highly	ADV
ap-792	65	22	shiny	shiny	ADJ
ap-792	65	23	surfaces	surface	NOUN
ap-792	65	24	,	,	PUNCT
ap-792	65	25	which	which	PRON
ap-792	65	26	are	be	AUX
ap-792	65	27	even	even	ADV
ap-792	65	28	difficult	difficult	ADJ
ap-792	65	29	for	for	SCONJ
ap-792	65	30	the	the	DET
ap-792	65	31	untrained	untrained	ADJ
ap-792	65	32	human	human	ADJ
ap-792	65	33	eye	eye	NOUN
ap-792	65	34	to	to	PART
ap-792	65	35	detect	detect	VERB
ap-792	65	36	.	.	PUNCT
ap-792	66	1	however	however	ADV
ap-792	66	2	this	this	DET
ap-792	66	3	problem	problem	NOUN
ap-792	66	4	can	can	AUX
ap-792	66	5	be	be	AUX
ap-792	66	6	resolved	resolve	VERB
ap-792	66	7	with	with	ADP
ap-792	66	8	the	the	DET
ap-792	66	9	help	help	NOUN
ap-792	66	10	of	of	ADP
ap-792	66	11	special	special	ADJ
ap-792	66	12	illumination	illumination	NOUN
ap-792	66	13	.	.	PUNCT
ap-792	67	1	furthermore	furthermore	ADV
ap-792	67	2	,	,	PUNCT
ap-792	67	3	errors	error	NOUN
ap-792	67	4	in	in	ADP
ap-792	67	5	the	the	DET
ap-792	67	6	workpiece	workpiece	NOUN
ap-792	67	7	material	material	NOUN
ap-792	67	8	in	in	ADP
ap-792	67	9	the	the	DET
ap-792	67	10	process	process	NOUN
ap-792	67	11	chain	chain	NOUN
ap-792	67	12	of	of	ADP
ap-792	67	13	rough	rough	ADJ
ap-792	67	14	grinding	grinding	NOUN
ap-792	67	15	,	,	PUNCT
ap-792	67	16	finish	finish	NOUN
ap-792	67	17	grinding	grind	VERB
ap-792	67	18	and	and	CCONJ
ap-792	67	19	polishing	polishing	NOUN
ap-792	67	20	can	can	AUX
ap-792	67	21	often	often	ADV
ap-792	67	22	be	be	AUX
ap-792	67	23	detected	detect	VERB
ap-792	67	24	only	only	ADV
ap-792	67	25	after	after	SCONJ
ap-792	67	26	a	a	DET
ap-792	67	27	part	part	NOUN
ap-792	67	28	,	,	PUNCT
ap-792	67	29	or	or	CCONJ
ap-792	67	30	all	all	PRON
ap-792	67	31	,	,	PUNCT
ap-792	67	32	of	of	ADP
ap-792	67	33	the	the	DET
ap-792	67	34	processing	processing	NOUN
ap-792	67	35	has	have	AUX
ap-792	67	36	been	be	AUX
ap-792	67	37	done	do	VERB
ap-792	67	38	.	.	PUNCT
ap-792	68	1	this	this	DET
ap-792	68	2	results	result	NOUN
ap-792	68	3	in	in	ADP
ap-792	68	4	greater	great	ADJ
ap-792	68	5	cooperation	cooperation	NOUN
ap-792	68	6	among	among	ADP
ap-792	68	7	what	what	PRON
ap-792	68	8	are	be	AUX
ap-792	68	9	now	now	ADV
ap-792	68	10	single	single	ADJ
ap-792	68	11	machines	machine	NOUN
ap-792	68	12	,	,	PUNCT
ap-792	68	13	which	which	PRON
ap-792	68	14	are	be	AUX
ap-792	68	15	only	only	ADV
ap-792	68	16	interlinked	interlink	VERB
ap-792	68	17	due	due	ADP
ap-792	68	18	to	to	ADP
ap-792	68	19	the	the	DET
ap-792	68	20	material	material	NOUN
ap-792	68	21	flow	flow	NOUN
ap-792	68	22	in	in	ADP
ap-792	68	23	order	order	NOUN
ap-792	68	24	to	to	PART
ap-792	68	25	enable	enable	VERB
ap-792	68	26	complete	complete	ADJ
ap-792	68	27	or	or	CCONJ
ap-792	68	28	partial	partial	ADJ
ap-792	68	29	reworking	reworking	NOUN
ap-792	68	30	of	of	ADP
ap-792	68	31	inadequate	inadequate	ADJ
ap-792	68	32	workpieces	workpiece	NOUN
ap-792	68	33	.	.	PUNCT
ap-792	69	1	©	©	PROPN
ap-792	69	2	czech	czech	PROPN
ap-792	69	3	technical	technical	PROPN
ap-792	69	4	university	university	PROPN
ap-792	69	5	publishing	publishing	NOUN
ap-792	69	6	house	house	NOUN
ap-792	69	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-792	69	8	5	5	NUM
ap-792	69	9	czech	czech	PROPN
ap-792	69	10	technical	technical	PROPN
ap-792	69	11	university	university	PROPN
ap-792	69	12	in	in	ADP
ap-792	69	13	prague	prague	PROPN
ap-792	69	14	acta	acta	PROPN
ap-792	69	15	polytechnica	polytechnica	PROPN
ap-792	69	16	vol	vol	NOUN
ap-792	69	17	.	.	PUNCT
ap-792	70	1	46	46	NUM
ap-792	70	2	no	no	INTJ
ap-792	70	3	.	.	PUNCT
ap-792	71	1	1/2006	1/2006	NUM
ap-792	71	2	fig	fig	NOUN
ap-792	71	3	.	.	PUNCT
ap-792	72	1	4	4	NUM
ap-792	72	2	:	:	PUNCT
ap-792	72	3	central	central	ADJ
ap-792	72	4	aspects	aspect	NOUN
ap-792	72	5	of	of	ADP
ap-792	72	6	the	the	DET
ap-792	72	7	project	project	NOUN
ap-792	72	8	to	to	PART
ap-792	72	9	account	account	VERB
ap-792	72	10	for	for	ADP
ap-792	72	11	these	these	DET
ap-792	72	12	problems	problem	NOUN
ap-792	72	13	,	,	PUNCT
ap-792	72	14	the	the	DET
ap-792	72	15	following	follow	VERB
ap-792	72	16	developments	development	NOUN
ap-792	72	17	have	have	AUX
ap-792	72	18	been	be	AUX
ap-792	72	19	made	make	VERB
ap-792	72	20	:	:	PUNCT
ap-792	72	21	a	a	X
ap-792	72	22	)	)	PUNCT
ap-792	72	23	the	the	DET
ap-792	72	24	development	development	NOUN
ap-792	72	25	of	of	ADP
ap-792	72	26	a	a	DET
ap-792	72	27	software	software	NOUN
ap-792	72	28	system	system	NOUN
ap-792	72	29	in	in	ADP
ap-792	72	30	the	the	DET
ap-792	72	31	vicinity	vicinity	NOUN
ap-792	72	32	of	of	ADP
ap-792	72	33	the	the	DET
ap-792	72	34	workshop	workshop	NOUN
ap-792	72	35	for	for	ADP
ap-792	72	36	demanding	demand	VERB
ap-792	72	37	robot	robot	NOUN
ap-792	72	38	processing	processing	NOUN
ap-792	72	39	applications	application	NOUN
ap-792	72	40	such	such	ADJ
ap-792	72	41	as	as	ADP
ap-792	72	42	grinding	grind	VERB
ap-792	72	43	and	and	CCONJ
ap-792	72	44	polishing	polishing	NOUN
ap-792	72	45	.	.	PUNCT
ap-792	73	1	this	this	DET
ap-792	73	2	software	software	NOUN
ap-792	73	3	system	system	NOUN
ap-792	73	4	closes	close	VERB
ap-792	73	5	the	the	DET
ap-792	73	6	gap	gap	NOUN
ap-792	73	7	between	between	ADP
ap-792	73	8	multi	multi	ADJ
ap-792	73	9	-	-	ADJ
ap-792	73	10	functional	functional	ADJ
ap-792	73	11	,	,	PUNCT
ap-792	73	12	but	but	CCONJ
ap-792	73	13	complex	complex	ADJ
ap-792	73	14	offline	offline	ADJ
ap-792	73	15	-	-	PUNCT
ap-792	73	16	programming	program	VERB
ap-792	73	17	systems	system	NOUN
ap-792	73	18	used	use	VERB
ap-792	73	19	in	in	ADP
ap-792	73	20	the	the	DET
ap-792	73	21	planning	planning	NOUN
ap-792	73	22	department	department	NOUN
ap-792	73	23	,	,	PUNCT
ap-792	73	24	on	on	ADP
ap-792	73	25	the	the	DET
ap-792	73	26	one	one	NUM
ap-792	73	27	hand	hand	NOUN
ap-792	73	28	,	,	PUNCT
ap-792	73	29	and	and	CCONJ
ap-792	73	30	inefficient	inefficient	ADJ
ap-792	73	31	possibilities	possibility	NOUN
ap-792	73	32	of	of	ADP
ap-792	73	33	robot	robot	NOUN
ap-792	73	34	control	control	NOUN
ap-792	73	35	used	use	VERB
ap-792	73	36	by	by	ADP
ap-792	73	37	the	the	DET
ap-792	73	38	operator	operator	NOUN
ap-792	73	39	for	for	ADP
ap-792	73	40	optimizing	optimize	VERB
ap-792	73	41	the	the	DET
ap-792	73	42	program	program	NOUN
ap-792	73	43	on	on	ADP
ap-792	73	44	the	the	DET
ap-792	73	45	other	other	ADJ
ap-792	73	46	hand	hand	NOUN
ap-792	73	47	.	.	PUNCT
ap-792	74	1	b	b	X
ap-792	74	2	)	)	PUNCT
ap-792	74	3	the	the	DET
ap-792	74	4	development	development	NOUN
ap-792	74	5	of	of	ADP
ap-792	74	6	a	a	DET
ap-792	74	7	fully	fully	ADV
ap-792	74	8	automatic	automatic	ADJ
ap-792	74	9	working	working	NOUN
ap-792	74	10	process	process	NOUN
ap-792	74	11	chain	chain	NOUN
ap-792	74	12	for	for	ADP
ap-792	74	13	industrial	industrial	ADJ
ap-792	74	14	robot	robot	NOUN
ap-792	74	15	-	-	PUNCT
ap-792	74	16	aided	aid	VERB
ap-792	74	17	grinding	grinding	NOUN
ap-792	74	18	and	and	CCONJ
ap-792	74	19	polishing	polish	VERB
ap-792	74	20	that	that	PRON
ap-792	74	21	,	,	PUNCT
ap-792	74	22	on	on	ADP
ap-792	74	23	the	the	DET
ap-792	74	24	basis	basis	NOUN
ap-792	74	25	of	of	ADP
ap-792	74	26	the	the	DET
ap-792	74	27	measurements	measurement	NOUN
ap-792	74	28	of	of	ADP
ap-792	74	29	an	an	DET
ap-792	74	30	image	image	NOUN
ap-792	74	31	processing	processing	NOUN
ap-792	74	32	system	system	NOUN
ap-792	74	33	,	,	PUNCT
ap-792	74	34	modifies	modify	VERB
ap-792	74	35	a	a	DET
ap-792	74	36	given	give	VERB
ap-792	74	37	machining	machining	NOUN
ap-792	74	38	course	course	NOUN
ap-792	74	39	in	in	ADP
ap-792	74	40	such	such	ADJ
ap-792	74	41	6	6	NUM
ap-792	74	42	©	©	PROPN
ap-792	74	43	czech	czech	PROPN
ap-792	74	44	technical	technical	PROPN
ap-792	74	45	university	university	PROPN
ap-792	74	46	publishing	publishing	NOUN
ap-792	74	47	house	house	NOUN
ap-792	74	48	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-792	74	49	acta	acta	PROPN
ap-792	74	50	polytechnica	polytechnica	PROPN
ap-792	74	51	vol	vol	NOUN
ap-792	74	52	.	.	PUNCT
ap-792	75	1	46	46	NUM
ap-792	75	2	no	no	INTJ
ap-792	75	3	.	.	PUNCT
ap-792	76	1	1/2006	1/2006	NUM
ap-792	76	2	czech	czech	PROPN
ap-792	76	3	technical	technical	PROPN
ap-792	76	4	university	university	PROPN
ap-792	76	5	in	in	ADP
ap-792	76	6	prague	prague	PROPN
ap-792	76	7	fig	fig	NOUN
ap-792	76	8	.	.	PUNCT
ap-792	77	1	5	5	NUM
ap-792	77	2	:	:	PUNCT
ap-792	77	3	flow	flow	VERB
ap-792	77	4	chart	chart	NOUN
ap-792	77	5	of	of	ADP
ap-792	77	6	the	the	DET
ap-792	77	7	fully	fully	ADV
ap-792	77	8	automated	automate	VERB
ap-792	77	9	process	process	NOUN
ap-792	77	10	chain	chain	NOUN
ap-792	77	11	fig	fig	NOUN
ap-792	77	12	.	.	PUNCT
ap-792	78	1	6	6	NUM
ap-792	78	2	:	:	PUNCT
ap-792	78	3	user	user	NOUN
ap-792	78	4	-	-	PUNCT
ap-792	78	5	orientated	orientate	VERB
ap-792	78	6	offline	offline	ADJ
ap-792	78	7	-	-	PUNCT
ap-792	78	8	programming	program	VERB
ap-792	78	9	and	and	CCONJ
ap-792	78	10	simulation	simulation	NOUN
ap-792	78	11	system	system	NOUN
ap-792	78	12	[	[	X
ap-792	78	13	5	5	NUM
ap-792	78	14	]	]	PUNCT
ap-792	78	15	a	a	DET
ap-792	78	16	way	way	NOUN
ap-792	78	17	that	that	PRON
ap-792	78	18	an	an	DET
ap-792	78	19	optimum	optimum	ADJ
ap-792	78	20	surface	surface	NOUN
ap-792	78	21	quality	quality	NOUN
ap-792	78	22	is	be	AUX
ap-792	78	23	achieved	achieve	VERB
ap-792	78	24	despite	despite	SCONJ
ap-792	78	25	fluctuating	fluctuate	VERB
ap-792	78	26	starting	start	VERB
ap-792	78	27	conditions	condition	NOUN
ap-792	78	28	.	.	PUNCT
ap-792	79	1	if	if	SCONJ
ap-792	79	2	the	the	DET
ap-792	79	3	required	require	VERB
ap-792	79	4	standard	standard	NOUN
ap-792	79	5	is	be	AUX
ap-792	79	6	not	not	PART
ap-792	79	7	achieved	achieve	VERB
ap-792	79	8	,	,	PUNCT
ap-792	79	9	the	the	DET
ap-792	79	10	component	component	NOUN
ap-792	79	11	is	be	AUX
ap-792	79	12	rejected	reject	VERB
ap-792	79	13	as	as	ADP
ap-792	79	14	scrap	scrap	NOUN
ap-792	79	15	.	.	PUNCT
ap-792	80	1	(	(	PUNCT
ap-792	80	2	fig	fig	NOUN
ap-792	80	3	.	.	PUNCT
ap-792	81	1	5	5	NUM
ap-792	81	2	)	)	PUNCT
ap-792	81	3	a	a	DET
ap-792	81	4	software	software	NOUN
ap-792	81	5	system	system	NOUN
ap-792	81	6	has	have	AUX
ap-792	81	7	been	be	AUX
ap-792	81	8	developed	develop	VERB
ap-792	81	9	for	for	ADP
ap-792	81	10	a	a	DET
ap-792	81	11	workshop	workshop	NOUN
ap-792	81	12	-	-	PUNCT
ap-792	81	13	lose	lose	NOUN
ap-792	81	14	programming	programming	NOUN
ap-792	81	15	robot	robot	NOUN
ap-792	81	16	systems	system	NOUN
ap-792	81	17	without	without	ADP
ap-792	81	18	a	a	DET
ap-792	81	19	workshop	workshop	NOUN
ap-792	81	20	that	that	PRON
ap-792	81	21	has	have	VERB
ap-792	81	22	an	an	DET
ap-792	81	23	intuitively	intuitively	ADV
ap-792	81	24	operable	operable	ADJ
ap-792	81	25	graphic	graphic	ADJ
ap-792	81	26	3d	3d	NUM
ap-792	81	27	-	-	PUNCT
ap-792	81	28	user	user	NOUN
ap-792	81	29	surface	surface	NOUN
ap-792	81	30	and	and	CCONJ
ap-792	81	31	provides	provide	VERB
ap-792	81	32	process	process	NOUN
ap-792	81	33	-	-	PUNCT
ap-792	81	34	specific	specific	ADJ
ap-792	81	35	optimizing	optimizing	NOUN
ap-792	81	36	tools	tool	NOUN
ap-792	81	37	.	.	PUNCT
ap-792	82	1	an	an	DET
ap-792	82	2	information	information	NOUN
ap-792	82	3	-	-	PUNCT
ap-792	82	4	technical	technical	ADJ
ap-792	82	5	combination	combination	NOUN
ap-792	82	6	of	of	ADP
ap-792	82	7	interfaces	interface	NOUN
ap-792	82	8	of	of	ADP
ap-792	82	9	different	different	ADJ
ap-792	82	10	offline	offline	ADJ
ap-792	82	11	-	-	PUNCT
ap-792	82	12	programming	program	VERB
ap-792	82	13	systems	system	NOUN
ap-792	82	14	and	and	CCONJ
ap-792	82	15	robot	robot	NOUN
ap-792	82	16	control	control	NOUN
ap-792	82	17	has	have	AUX
ap-792	82	18	already	already	ADV
ap-792	82	19	been	be	AUX
ap-792	82	20	realised	realise	VERB
ap-792	82	21	.	.	PUNCT
ap-792	83	1	the	the	DET
ap-792	83	2	software	software	NOUN
ap-792	83	3	is	be	AUX
ap-792	83	4	supplemented	supplement	VERB
ap-792	83	5	by	by	ADP
ap-792	83	6	an	an	DET
ap-792	83	7	adaptive	adaptive	ADJ
ap-792	83	8	consulting	consulting	NOUN
ap-792	83	9	centre	centre	NOUN
ap-792	83	10	for	for	ADP
ap-792	83	11	the	the	DET
ap-792	83	12	allocation	allocation	NOUN
ap-792	83	13	of	of	ADP
ap-792	83	14	errors	error	NOUN
ap-792	83	15	,	,	PUNCT
ap-792	83	16	causes	cause	NOUN
ap-792	83	17	of	of	ADP
ap-792	83	18	errors	error	NOUN
ap-792	83	19	and	and	CCONJ
ap-792	83	20	compensation	compensation	NOUN
ap-792	83	21	strategies	strategy	NOUN
ap-792	83	22	and	and	CCONJ
ap-792	83	23	an	an	DET
ap-792	83	24	internet	internet	NOUN
ap-792	83	25	connected	connect	VERB
ap-792	83	26	process	process	NOUN
ap-792	83	27	-	-	PUNCT
ap-792	83	28	know	know	NOUN
ap-792	83	29	-	-	PUNCT
ap-792	83	30	how	how	ADV
ap-792	83	31	-	-	PUNCT
ap-792	83	32	database	database	NOUN
ap-792	83	33	.	.	PUNCT
ap-792	84	1	fig	fig	NOUN
ap-792	84	2	.	.	PUNCT
ap-792	85	1	6	6	NUM
ap-792	85	2	shows	show	VERB
ap-792	85	3	how	how	SCONJ
ap-792	85	4	grinding	grind	VERB
ap-792	85	5	paths	path	NOUN
ap-792	85	6	/	/	SYM
ap-792	85	7	slideways	slideway	NOUN
ap-792	85	8	are	be	AUX
ap-792	85	9	simply	simply	ADV
ap-792	85	10	generated	generate	VERB
ap-792	85	11	on	on	ADP
ap-792	85	12	the	the	DET
ap-792	85	13	surface	surface	NOUN
ap-792	85	14	of	of	ADP
ap-792	85	15	the	the	DET
ap-792	85	16	workpiece	workpiece	NOUN
ap-792	85	17	,	,	PUNCT
ap-792	85	18	which	which	PRON
ap-792	85	19	is	be	AUX
ap-792	85	20	then	then	ADV
ap-792	85	21	produced	produce	VERB
ap-792	85	22	accordingly	accordingly	ADV
ap-792	85	23	by	by	ADP
ap-792	85	24	the	the	DET
ap-792	85	25	robot	robot	NOUN
ap-792	85	26	system	system	NOUN
ap-792	85	27	.	.	PUNCT
ap-792	86	1	with	with	ADP
ap-792	86	2	the	the	DET
ap-792	86	3	help	help	NOUN
ap-792	86	4	of	of	ADP
ap-792	86	5	an	an	DET
ap-792	86	6	image	image	NOUN
ap-792	86	7	processing	processing	NOUN
ap-792	86	8	system	system	NOUN
ap-792	86	9	and	and	CCONJ
ap-792	86	10	an	an	DET
ap-792	86	11	error	error	NOUN
ap-792	86	12	data	datum	NOUN
ap-792	86	13	base	base	NOUN
ap-792	86	14	,	,	PUNCT
ap-792	86	15	fully	fully	ADV
ap-792	86	16	automatic	automatic	ADJ
ap-792	86	17	error	error	NOUN
ap-792	86	18	detection	detection	NOUN
ap-792	86	19	and	and	CCONJ
ap-792	86	20	classification	classification	NOUN
ap-792	86	21	is	be	AUX
ap-792	86	22	implemented	implement	VERB
ap-792	86	23	for	for	ADP
ap-792	86	24	geometrically	geometrically	ADV
ap-792	86	25	and	and	CCONJ
ap-792	86	26	optically	optically	ADV
ap-792	86	27	difficult	difficult	ADJ
ap-792	86	28	(	(	PUNCT
ap-792	86	29	highly	highly	ADV
ap-792	86	30	-	-	PUNCT
ap-792	86	31	polished	polished	ADJ
ap-792	86	32	)	)	PUNCT
ap-792	86	33	free	free	ADJ
ap-792	86	34	forming	form	VERB
ap-792	86	35	parts	part	NOUN
ap-792	86	36	(	(	PUNCT
ap-792	86	37	fig	fig	NOUN
ap-792	86	38	.	.	PUNCT
ap-792	87	1	7	7	NUM
ap-792	87	2	)	)	PUNCT
ap-792	87	3	.	.	PUNCT
ap-792	88	1	independent	independent	ADJ
ap-792	88	2	“	"	PUNCT
ap-792	88	3	intelligent	intelligent	ADJ
ap-792	88	4	”	"	PUNCT
ap-792	88	5	establishment	establishment	NOUN
ap-792	88	6	of	of	ADP
ap-792	88	7	optimum	optimum	ADJ
ap-792	88	8	error	error	NOUN
ap-792	88	9	compensation	compensation	NOUN
ap-792	88	10	is	be	AUX
ap-792	88	11	under	under	ADP
ap-792	88	12	preparation	preparation	NOUN
ap-792	88	13	given	give	VERB
ap-792	88	14	the	the	DET
ap-792	88	15	example	example	NOUN
ap-792	88	16	of	of	ADP
ap-792	88	17	the	the	DET
ap-792	88	18	grinding	grinding	NOUN
ap-792	88	19	and	and	CCONJ
ap-792	88	20	polishing	polish	VERB
ap-792	88	21	applications	application	NOUN
ap-792	88	22	,	,	PUNCT
ap-792	88	23	to	to	PART
ap-792	88	24	enable	enable	VERB
ap-792	88	25	automatic	automatic	ADJ
ap-792	88	26	compensation	compensation	NOUN
ap-792	88	27	of	of	ADP
ap-792	88	28	detected	detect	VERB
ap-792	88	29	surface	surface	NOUN
ap-792	88	30	errors	error	NOUN
ap-792	88	31	specific	specific	ADJ
ap-792	88	32	generation	generation	NOUN
ap-792	88	33	of	of	ADP
ap-792	88	34	machining	machining	NOUN
ap-792	88	35	processes	process	NOUN
ap-792	88	36	.	.	PUNCT
ap-792	89	1	parts	part	NOUN
ap-792	89	2	of	of	ADP
ap-792	89	3	the	the	DET
ap-792	89	4	automatic	automatic	ADJ
ap-792	89	5	program	program	NOUN
ap-792	89	6	selection	selection	NOUN
ap-792	89	7	,	,	PUNCT
ap-792	89	8	or	or	CCONJ
ap-792	89	9	automatic	automatic	ADJ
ap-792	89	10	generation	generation	NOUN
ap-792	89	11	of	of	ADP
ap-792	89	12	a	a	DET
ap-792	89	13	program	program	NOUN
ap-792	89	14	for	for	ADP
ap-792	89	15	the	the	DET
ap-792	89	16	handling	handling	NOUN
ap-792	89	17	system	system	NOUN
ap-792	89	18	for	for	ADP
ap-792	89	19	reworking	rework	VERB
ap-792	89	20	the	the	DET
ap-792	89	21	detected	detect	VERB
ap-792	89	22	errors	error	NOUN
ap-792	89	23	have	have	AUX
ap-792	89	24	already	already	ADV
ap-792	89	25	been	be	AUX
ap-792	89	26	realized	realize	VERB
ap-792	89	27	.	.	PUNCT
ap-792	90	1	an	an	DET
ap-792	90	2	important	important	ADJ
ap-792	90	3	consider	consider	NOUN
ap-792	90	4	is	be	AUX
ap-792	90	5	that	that	SCONJ
ap-792	90	6	the	the	DET
ap-792	90	7	target	target	NOUN
ap-792	90	8	contour	contour	NOUN
ap-792	90	9	and	and	CCONJ
ap-792	90	10	surface	surface	NOUN
ap-792	90	11	must	must	AUX
ap-792	90	12	be	be	AUX
ap-792	90	13	kept	keep	VERB
ap-792	90	14	.	.	PUNCT
ap-792	91	1	in	in	ADP
ap-792	91	2	the	the	DET
ap-792	91	3	course	course	NOUN
ap-792	91	4	of	of	ADP
ap-792	91	5	the	the	DET
ap-792	91	6	project	project	NOUN
ap-792	91	7	presented	present	VERB
ap-792	91	8	here	here	ADV
ap-792	91	9	,	,	PUNCT
ap-792	91	10	a	a	DET
ap-792	91	11	new	new	ADJ
ap-792	91	12	generation	generation	NOUN
ap-792	91	13	of	of	ADP
ap-792	91	14	robot	robot	NOUN
ap-792	91	15	systems	system	NOUN
ap-792	91	16	is	be	AUX
ap-792	91	17	originating	originate	VERB
ap-792	91	18	that	that	PRON
ap-792	91	19	can	can	AUX
ap-792	91	20	process	process	VERB
ap-792	91	21	sensory	sensory	ADJ
ap-792	91	22	feedback	feedback	NOUN
ap-792	91	23	to	to	ADP
ap-792	91	24	surface	surface	NOUN
ap-792	91	25	errors	error	NOUN
ap-792	91	26	,	,	PUNCT
ap-792	91	27	and	and	CCONJ
ap-792	91	28	can	can	AUX
ap-792	91	29	establish	establish	VERB
ap-792	91	30	and	and	CCONJ
ap-792	91	31	carry	carry	VERB
ap-792	91	32	out	out	ADP
ap-792	91	33	experience	experience	NOUN
ap-792	91	34	-	-	PUNCT
ap-792	91	35	based	base	VERB
ap-792	91	36	optimum	optimum	ADJ
ap-792	91	37	error	error	NOUN
ap-792	91	38	compensation	compensation	NOUN
ap-792	91	39	strategies	strategy	NOUN
ap-792	91	40	.	.	PUNCT
ap-792	92	1	5	5	NUM
ap-792	92	2	acknowledgment	acknowledgment	NOUN
ap-792	92	3	this	this	DET
ap-792	92	4	research	research	NOUN
ap-792	92	5	and	and	CCONJ
ap-792	92	6	development	development	NOUN
ap-792	92	7	project	project	NOUN
ap-792	92	8	is	be	AUX
ap-792	92	9	funded	fund	VERB
ap-792	92	10	by	by	ADP
ap-792	92	11	the	the	DET
ap-792	92	12	“	"	PUNCT
ap-792	92	13	bundesministerium	bundesministerium	NOUN
ap-792	92	14	für	für	NOUN
ap-792	92	15	bildung	bildung	PROPN
ap-792	92	16	und	und	PROPN
ap-792	92	17	forschung	forschung	PROPN
ap-792	92	18	“	"	PUNCT
ap-792	92	19	(	(	PUNCT
ap-792	92	20	bmbf	bmbf	NOUN
ap-792	92	21	)	)	PUNCT
ap-792	92	22	within	within	ADP
ap-792	92	23	the	the	DET
ap-792	92	24	framework	framework	NOUN
ap-792	92	25	of	of	ADP
ap-792	92	26	research	research	NOUN
ap-792	92	27	for	for	ADP
ap-792	92	28	the	the	DET
ap-792	92	29	production	production	NOUN
ap-792	92	30	of	of	ADP
ap-792	92	31	tomorrow	tomorrow	NOUN
ap-792	92	32	and	and	CCONJ
ap-792	92	33	supervised	supervise	VERB
ap-792	92	34	by	by	ADP
ap-792	92	35	the	the	DET
ap-792	92	36	project	project	NOUN
ap-792	92	37	supporter	supporter	NOUN
ap-792	92	38	of	of	ADP
ap-792	92	39	the	the	DET
ap-792	92	40	bmbf	bmbf	NOUN
ap-792	92	41	for	for	ADP
ap-792	92	42	the	the	DET
ap-792	92	43	production	production	NOUN
ap-792	92	44	and	and	CCONJ
ap-792	92	45	manufacturing	manufacturing	NOUN
ap-792	92	46	technologies	technology	NOUN
ap-792	92	47	(	(	PUNCT
ap-792	92	48	pft	pft	PROPN
ap-792	92	49	)	)	PUNCT
ap-792	92	50	research	research	NOUN
ap-792	92	51	centre	centre	NOUN
ap-792	92	52	in	in	ADP
ap-792	92	53	karlsruhe	karlsruhe	PROPN
ap-792	92	54	.	.	PUNCT
ap-792	93	1	references	reference	NOUN
ap-792	93	2	[	[	X
ap-792	93	3	1	1	NUM
ap-792	93	4	]	]	PUNCT
ap-792	93	5	kneupner	kneupner	NOUN
ap-792	93	6	,	,	PUNCT
ap-792	93	7	k.	k.	PROPN
ap-792	93	8	,	,	PUNCT
ap-792	93	9	kuhlenkoetter	kuhlenkoetter	PROPN
ap-792	93	10	,	,	PUNCT
ap-792	93	11	b.	b.	PROPN
ap-792	93	12	,	,	PUNCT
ap-792	93	13	zhang	zhang	PROPN
ap-792	93	14	,	,	PUNCT
ap-792	93	15	x.	x.	NOUN
ap-792	93	16	:	:	PUNCT
ap-792	93	17	“	"	PUNCT
ap-792	93	18	a	a	DET
ap-792	93	19	new	new	ADJ
ap-792	93	20	force	force	NOUN
ap-792	93	21	distribution	distribution	NOUN
ap-792	93	22	calculation	calculation	NOUN
ap-792	93	23	model	model	NOUN
ap-792	93	24	for	for	ADP
ap-792	93	25	high	high	ADJ
ap-792	93	26	quality	quality	NOUN
ap-792	93	27	production	production	NOUN
ap-792	93	28	processes	process	NOUN
ap-792	93	29	.	.	PUNCT
ap-792	93	30	”	"	PUNCT
ap-792	94	1	international	international	ADJ
ap-792	94	2	journal	journal	NOUN
ap-792	94	3	of	of	ADP
ap-792	94	4	advanced	advanced	ADJ
ap-792	94	5	manufacturing	manufacturing	NOUN
ap-792	94	6	technology	technology	NOUN
ap-792	94	7	,	,	PUNCT
ap-792	94	8	springer	springer	NOUN
ap-792	94	9	verlag	verlag	PROPN
ap-792	94	10	,	,	PUNCT
ap-792	94	11	london	london	PROPN
ap-792	94	12	(	(	PUNCT
ap-792	94	13	article	article	NOUN
ap-792	94	14	accepted	accept	VERB
ap-792	94	15	–	–	PUNCT
ap-792	94	16	to	to	PART
ap-792	94	17	be	be	AUX
ap-792	94	18	published	publish	VERB
ap-792	94	19	soon	soon	ADV
ap-792	94	20	)	)	PUNCT
ap-792	94	21	.	.	PUNCT
ap-792	95	1	[	[	X
ap-792	95	2	2	2	NUM
ap-792	95	3	]	]	X
ap-792	95	4	čabaravdić	čabaravdić	PROPN
ap-792	95	5	,	,	PUNCT
ap-792	95	6	m.	m.	NOUN
ap-792	95	7	,	,	PUNCT
ap-792	95	8	kneupner	kneupner	NOUN
ap-792	95	9	,	,	PUNCT
ap-792	95	10	k.	k.	PROPN
ap-792	95	11	,	,	PUNCT
ap-792	95	12	kuhlenkoetter	kuhlenkoetter	PROPN
ap-792	95	13	,	,	PUNCT
ap-792	95	14	b.	b.	PROPN
ap-792	95	15	:	:	PUNCT
ap-792	95	16	”	"	PUNCT
ap-792	95	17	methods	method	NOUN
ap-792	95	18	for	for	ADP
ap-792	95	19	efficient	efficient	ADJ
ap-792	95	20	optimisation	optimisation	NOUN
ap-792	95	21	of	of	ADP
ap-792	95	22	robot	robot	NOUN
ap-792	95	23	supported	support	VERB
ap-792	95	24	grinding	grind	VERB
ap-792	95	25	and	and	CCONJ
ap-792	95	26	polishing	polishing	NOUN
ap-792	95	27	processes	process	NOUN
ap-792	95	28	.	.	PUNCT
ap-792	95	29	”	"	PUNCT
ap-792	96	1	international	international	ADJ
ap-792	96	2	conference	conference	NOUN
ap-792	96	3	on	on	ADP
ap-792	96	4	“	"	PUNCT
ap-792	96	5	trends	trend	NOUN
ap-792	96	6	in	in	ADP
ap-792	96	7	the	the	DET
ap-792	96	8	development	development	NOUN
ap-792	96	9	of	of	ADP
ap-792	96	10	machinery	machinery	NOUN
ap-792	96	11	and	and	CCONJ
ap-792	96	12	associated	associated	ADJ
ap-792	96	13	technology	technology	NOUN
ap-792	96	14	”	"	PUNCT
ap-792	96	15	,	,	PUNCT
ap-792	96	16	barcelona	barcelona	PROPN
ap-792	96	17	(	(	PUNCT
ap-792	96	18	spain	spain	PROPN
ap-792	96	19	)	)	PUNCT
ap-792	96	20	,	,	PUNCT
ap-792	96	21	september	september	PROPN
ap-792	96	22	2003	2003	NUM
ap-792	96	23	.	.	PUNCT
ap-792	97	1	[	[	X
ap-792	97	2	3	3	NUM
ap-792	97	3	]	]	X
ap-792	97	4	kreis	kreis	PROPN
ap-792	97	5	,	,	PUNCT
ap-792	97	6	w.	w.	PROPN
ap-792	97	7	,	,	PUNCT
ap-792	97	8	schueppstuhl	schueppstuhl	NOUN
ap-792	97	9	,	,	PUNCT
ap-792	97	10	t.	t.	NOUN
ap-792	97	11	,	,	PUNCT
ap-792	97	12	kneupner	kneupner	NOUN
ap-792	97	13	,	,	PUNCT
ap-792	97	14	k.	k.	PROPN
ap-792	97	15	:	:	PUNCT
ap-792	97	16	“	"	PUNCT
ap-792	97	17	den	den	NOUN
ap-792	97	18	bandschleifprozess	bandschleifprozess	NOUN
ap-792	97	19	automatisieren	automatisieren	NOUN
ap-792	97	20	–	–	PUNCT
ap-792	97	21	prozessplanung	prozessplanung	PROPN
ap-792	97	22	und	und	ADV
ap-792	97	23	–	–	PUNCT
ap-792	97	24	optimierung	optimierung	NOUN
ap-792	97	25	bei	bei	PUNCT
ap-792	97	26	der	der	PROPN
ap-792	97	27	bearbeitung	bearbeitung	PROPN
ap-792	97	28	von	von	PROPN
ap-792	97	29	freiformflächen	freiformflächen	PROPN
ap-792	97	30	.	.	PUNCT
ap-792	97	31	”	"	PUNCT
ap-792	98	1	mo	mo	PROPN
ap-792	98	2	metalloberfläche	metalloberfläche	PROPN
ap-792	98	3	,	,	PUNCT
ap-792	98	4	s.	s.	PROPN
ap-792	98	5	12–15	12–15	PROPN
ap-792	98	6	,	,	PUNCT
ap-792	98	7	4/2000	4/2000	NOUN
ap-792	98	8	.	.	PUNCT
ap-792	99	1	[	[	X
ap-792	99	2	4	4	NUM
ap-792	99	3	]	]	X
ap-792	99	4	schueppstuhl	schueppstuhl	NOUN
ap-792	99	5	,	,	PUNCT
ap-792	99	6	t.	t.	PROPN
ap-792	99	7	:	:	PUNCT
ap-792	99	8	beitrag	beitrag	PROPN
ap-792	99	9	zum	zum	PROPN
ap-792	99	10	bandschleifen	bandschleifen	PROPN
ap-792	99	11	komplexer	komplexer	PROPN
ap-792	99	12	freiformgeometrien	freiformgeometrien	PROPN
ap-792	99	13	mit	mit	VERB
ap-792	99	14	dem	dem	ADJ
ap-792	99	15	industrieroboter	industrieroboter	NOUN
ap-792	99	16	.	.	PUNCT
ap-792	100	1	shaker	shaker	NOUN
ap-792	100	2	verlag	verlag	PROPN
ap-792	100	3	,	,	PUNCT
ap-792	100	4	aachen	aachen	PROPN
ap-792	100	5	2003	2003	NUM
ap-792	100	6	.	.	PUNCT
ap-792	101	1	[	[	X
ap-792	101	2	5	5	NUM
ap-792	101	3	]	]	X
ap-792	101	4	kuhlenkoetter	kuhlenkoetter	NOUN
ap-792	101	5	,	,	PUNCT
ap-792	101	6	b.	b.	PROPN
ap-792	101	7	,	,	PUNCT
ap-792	101	8	schueppstuhl	schueppstuhl	PROPN
ap-792	101	9	,	,	PUNCT
ap-792	101	10	t.	t.	PROPN
ap-792	101	11	:	:	PUNCT
ap-792	101	12	“	"	PUNCT
ap-792	101	13	vollautomatisierung	vollautomatisierung	NOUN
ap-792	101	14	durch	durch	NOUN
ap-792	101	15	innovative	innovative	ADJ
ap-792	101	16	robotersysteme	robotersysteme	NOUN
ap-792	101	17	.	.	PUNCT
ap-792	102	1	in	in	ADP
ap-792	102	2	:	:	PUNCT
ap-792	102	3	vdi	vdi	NOUN
ap-792	102	4	-	-	PUNCT
ap-792	102	5	berichte	berichte	NOUN
ap-792	102	6	1892.2	1892.2	NUM
ap-792	102	7	,	,	PUNCT
ap-792	102	8	mechatronik	mechatronik	NOUN
ap-792	102	9	2005	2005	NUM
ap-792	102	10	,	,	PUNCT
ap-792	102	11	innovative	innovative	ADJ
ap-792	102	12	produktentwicklung	produktentwicklung	NOUN
ap-792	102	13	,	,	PUNCT
ap-792	102	14	vdi	vdi	PROPN
ap-792	102	15	verlag	verlag	PROPN
ap-792	102	16	,	,	PUNCT
ap-792	102	17	düsseldorf	düsseldorf	PROPN
ap-792	102	18	2005	2005	NUM
ap-792	102	19	.	.	PUNCT
ap-792	103	1	dr.-ing	dr.-e	VERB
ap-792	103	2	.	.	PUNCT
ap-792	104	1	bernd	bernd	PROPN
ap-792	104	2	kuhlenkoetter	kuhlenkoetter	PROPN
ap-792	104	3	phone	phone	NOUN
ap-792	104	4	:	:	PUNCT
ap-792	104	5	0049	0049	NUM
ap-792	104	6	231	231	NUM
ap-792	104	7	755	755	NUM
ap-792	104	8	5611	5611	NUM
ap-792	104	9	fax	fax	NOUN
ap-792	104	10	:	:	PUNCT
ap-792	104	11	0049	0049	NUM
ap-792	104	12	231	231	NUM
ap-792	104	13	755	755	NUM
ap-792	104	14	5616	5616	NUM
ap-792	104	15	e	e	NOUN
ap-792	104	16	-	-	NOUN
ap-792	104	17	mail	mail	NOUN
ap-792	104	18	:	:	PUNCT
ap-792	104	19	bernd.kuhlenkoetter@udo.edu	bernd.kuhlenkoetter@udo.edu	PROPN
ap-792	104	20	www.irf.de	www.irf.de	PROPN
ap-792	104	21	university	university	PROPN
ap-792	104	22	of	of	ADP
ap-792	104	23	dortmund	dortmund	PROPN
ap-792	104	24	robotics	robotics	PROPN
ap-792	104	25	research	research	PROPN
ap-792	104	26	institute	institute	PROPN
ap-792	104	27	otto	otto	PROPN
ap-792	104	28	-	-	PUNCT
ap-792	104	29	hahn	hahn	PROPN
ap-792	104	30	-	-	PUNCT
ap-792	104	31	str	str	NOUN
ap-792	104	32	.	.	PUNCT
ap-792	104	33	8	8	NUM
ap-792	104	34	44221	44221	NUM
ap-792	104	35	dortmund	dortmund	NOUN
ap-792	104	36	,	,	PUNCT
ap-792	104	37	germany	germany	PROPN
ap-792	104	38	©	©	PROPN
ap-792	104	39	czech	czech	PROPN
ap-792	104	40	technical	technical	PROPN
ap-792	104	41	university	university	PROPN
ap-792	104	42	publishing	publishing	NOUN
ap-792	104	43	house	house	NOUN
ap-792	104	44	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-792	104	45	7	7	NUM
ap-792	104	46	czech	czech	PROPN
ap-792	104	47	technical	technical	PROPN
ap-792	104	48	university	university	PROPN
ap-792	104	49	in	in	ADP
ap-792	104	50	prague	prague	PROPN
ap-792	104	51	acta	acta	PROPN
ap-792	104	52	polytechnica	polytechnica	PROPN
ap-792	104	53	vol	vol	NOUN
ap-792	104	54	.	.	PUNCT
ap-792	105	1	46	46	NUM
ap-792	105	2	no	no	INTJ
ap-792	105	3	.	.	PUNCT
ap-792	106	1	1/2006	1/2006	NUM
ap-792	106	2	fig	fig	NOUN
ap-792	106	3	.	.	PUNCT
ap-792	107	1	7	7	NUM
ap-792	107	2	:	:	PUNCT
ap-792	107	3	integrated	integrated	ADJ
ap-792	107	4	image	image	NOUN
ap-792	107	5	processing	processing	NOUN
ap-792	107	6	systems	system	NOUN
ap-792	107	7	and	and	CCONJ
ap-792	107	8	error	error	NOUN
ap-792	107	9	detection	detection	NOUN