id	sid	tid	token	lemma	pos
app01-3395	1	1	acta	acta	PROPN
app01-3395	1	2	polytechnica	polytechnica	PROPN
app01-3395	1	3	ctu	ctu	PROPN
app01-3395	1	4	proceedings	proceeding	NOUN
app01-3395	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3395	1	6	/	/	SYM
app01-3395	1	7	app.2015.1.0015	app.2015.1.0015	PROPN
app01-3395	1	8	acta	acta	PROPN
app01-3395	1	9	polytechnica	polytechnica	PROPN
app01-3395	1	10	ctu	ctu	NOUN
app01-3395	1	11	proceedings	proceeding	NOUN
app01-3395	1	12	2:15–21	2:15–21	NUM
app01-3395	1	13	,	,	PUNCT
app01-3395	1	14	2015	2015	NUM
app01-3395	1	15	©	©	PROPN
app01-3395	1	16	czech	czech	PROPN
app01-3395	1	17	technical	technical	PROPN
app01-3395	1	18	university	university	PROPN
app01-3395	1	19	in	in	ADP
app01-3395	1	20	prague	prague	PROPN
app01-3395	1	21	,	,	PUNCT
app01-3395	1	22	2015	2015	NUM
app01-3395	1	23	available	available	ADJ
app01-3395	1	24	online	online	ADV
app01-3395	1	25	at	at	ADP
app01-3395	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3395	1	27	reconnaissance	reconnaissance	PROPN
app01-3395	1	28	micro	micro	PROPN
app01-3395	1	29	uav	uav	PROPN
app01-3395	1	30	system	system	PROPN
app01-3395	1	31	petr	petr	PROPN
app01-3395	1	32	gabrlika,∗	gabrlika,∗	PROPN
app01-3395	1	33	,	,	PUNCT
app01-3395	1	34	vlastimil	vlastimil	NOUN
app01-3395	1	35	kriza	kriza	NOUN
app01-3395	1	36	,	,	PUNCT
app01-3395	1	37	ludek	ludek	NOUN
app01-3395	1	38	zaludb	zaludb	VERB
app01-3395	1	39	a	a	DET
app01-3395	1	40	ceitec	ceitec	ADJ
app01-3395	1	41	central	central	ADJ
app01-3395	1	42	european	european	PROPN
app01-3395	1	43	institute	institute	PROPN
app01-3395	1	44	of	of	ADP
app01-3395	1	45	technology	technology	PROPN
app01-3395	1	46	,	,	PUNCT
app01-3395	1	47	brno	brno	PROPN
app01-3395	1	48	university	university	PROPN
app01-3395	1	49	of	of	ADP
app01-3395	1	50	technology	technology	NOUN
app01-3395	1	51	,	,	PUNCT
app01-3395	1	52	technicka	technicka	NOUN
app01-3395	1	53	3082/12	3082/12	NUM
app01-3395	1	54	,	,	PUNCT
app01-3395	1	55	616	616	NUM
app01-3395	1	56	00	00	NUM
app01-3395	1	57	brno	brno	NOUN
app01-3395	1	58	,	,	PUNCT
app01-3395	1	59	czech	czech	PROPN
app01-3395	1	60	republic	republic	PROPN
app01-3395	1	61	b	b	PROPN
app01-3395	1	62	faculty	faculty	NOUN
app01-3395	1	63	of	of	ADP
app01-3395	1	64	electrical	electrical	ADJ
app01-3395	1	65	engineering	engineering	NOUN
app01-3395	1	66	and	and	CCONJ
app01-3395	1	67	communication	communication	NOUN
app01-3395	1	68	,	,	PUNCT
app01-3395	1	69	brno	brno	PROPN
app01-3395	1	70	university	university	PROPN
app01-3395	1	71	of	of	ADP
app01-3395	1	72	technology	technology	NOUN
app01-3395	1	73	,	,	PUNCT
app01-3395	1	74	technicka	technicka	NOUN
app01-3395	1	75	3082/12	3082/12	NUM
app01-3395	1	76	,	,	PUNCT
app01-3395	1	77	616	616	NUM
app01-3395	1	78	00	00	NUM
app01-3395	1	79	brno	brno	NOUN
app01-3395	1	80	,	,	PUNCT
app01-3395	1	81	czech	czech	PROPN
app01-3395	1	82	republic	republic	NOUN
app01-3395	1	83	∗	∗	NOUN
app01-3395	1	84	corresponding	correspond	VERB
app01-3395	1	85	author	author	NOUN
app01-3395	1	86	:	:	PUNCT
app01-3395	1	87	petr.gabrlik@ceitec.vutbr.cz	petr.gabrlik@ceitec.vutbr.cz	NOUN
app01-3395	1	88	abstract	abstract	NOUN
app01-3395	1	89	.	.	PUNCT
app01-3395	2	1	this	this	DET
app01-3395	2	2	paper	paper	NOUN
app01-3395	2	3	describes	describe	VERB
app01-3395	2	4	the	the	DET
app01-3395	2	5	design	design	NOUN
app01-3395	2	6	and	and	CCONJ
app01-3395	2	7	implementation	implementation	NOUN
app01-3395	2	8	of	of	ADP
app01-3395	2	9	the	the	DET
app01-3395	2	10	uranus	uranus	PROPN
app01-3395	2	11	uav	uav	PROPN
app01-3395	2	12	.	.	PUNCT
app01-3395	3	1	this	this	DET
app01-3395	3	2	quad	quad	ADJ
app01-3395	3	3	-	-	PUNCT
app01-3395	3	4	rotor	rotor	NOUN
app01-3395	3	5	flying	flying	NOUN
app01-3395	3	6	robot	robot	NOUN
app01-3395	3	7	was	be	AUX
app01-3395	3	8	created	create	VERB
app01-3395	3	9	to	to	PART
app01-3395	3	10	extend	extend	VERB
app01-3395	3	11	the	the	DET
app01-3395	3	12	abilities	ability	NOUN
app01-3395	3	13	of	of	ADP
app01-3395	3	14	the	the	DET
app01-3395	3	15	hitherto	hitherto	NOUN
app01-3395	3	16	developed	develop	VERB
app01-3395	3	17	with	with	ADP
app01-3395	3	18	airborne	airborne	ADJ
app01-3395	3	19	missions	mission	NOUN
app01-3395	3	20	.	.	PUNCT
app01-3395	4	1	the	the	DET
app01-3395	4	2	first	first	ADJ
app01-3395	4	3	part	part	NOUN
app01-3395	4	4	deals	deal	VERB
app01-3395	4	5	with	with	ADP
app01-3395	4	6	the	the	DET
app01-3395	4	7	mathematical	mathematical	ADJ
app01-3395	4	8	model	model	NOUN
app01-3395	4	9	of	of	ADP
app01-3395	4	10	the	the	DET
app01-3395	4	11	robot	robot	NOUN
app01-3395	4	12	.	.	PUNCT
app01-3395	5	1	next	next	ADV
app01-3395	5	2	,	,	PUNCT
app01-3395	5	3	the	the	DET
app01-3395	5	4	control	control	NOUN
app01-3395	5	5	system	system	NOUN
app01-3395	5	6	is	be	AUX
app01-3395	5	7	designed	design	VERB
app01-3395	5	8	,	,	PUNCT
app01-3395	5	9	and	and	CCONJ
app01-3395	5	10	the	the	DET
app01-3395	5	11	proposed	propose	VERB
app01-3395	5	12	hardware	hardware	NOUN
app01-3395	5	13	as	as	ADV
app01-3395	5	14	well	well	ADV
app01-3395	5	15	as	as	ADP
app01-3395	5	16	the	the	DET
app01-3395	5	17	implemented	implement	VERB
app01-3395	5	18	software	software	NOUN
app01-3395	5	19	solution	solution	NOUN
app01-3395	5	20	are	be	AUX
app01-3395	5	21	presented	present	VERB
app01-3395	5	22	.	.	PUNCT
app01-3395	6	1	for	for	ADP
app01-3395	6	2	integration	integration	NOUN
app01-3395	6	3	into	into	ADP
app01-3395	6	4	the	the	DET
app01-3395	6	5	robotic	robotic	ADJ
app01-3395	6	6	system	system	NOUN
app01-3395	6	7	,	,	PUNCT
app01-3395	6	8	a	a	DET
app01-3395	6	9	new	new	ADJ
app01-3395	6	10	communication	communication	NOUN
app01-3395	6	11	protocol	protocol	NOUN
app01-3395	6	12	was	be	AUX
app01-3395	6	13	created	create	VERB
app01-3395	6	14	and	and	CCONJ
app01-3395	6	15	is	be	AUX
app01-3395	6	16	described	describe	VERB
app01-3395	6	17	here	here	ADV
app01-3395	6	18	too	too	ADV
app01-3395	6	19	.	.	PUNCT
app01-3395	7	1	keywords	keyword	NOUN
app01-3395	7	2	:	:	PUNCT
app01-3395	7	3	uav	uav	PROPN
app01-3395	7	4	,	,	PUNCT
app01-3395	7	5	multirotor	multirotor	NOUN
app01-3395	7	6	,	,	PUNCT
app01-3395	7	7	robotics	robotic	NOUN
app01-3395	7	8	,	,	PUNCT
app01-3395	7	9	mathematical	mathematical	ADJ
app01-3395	7	10	model	model	NOUN
app01-3395	7	11	,	,	PUNCT
app01-3395	7	12	state	state	NOUN
app01-3395	7	13	-	-	PUNCT
app01-3395	7	14	space	space	NOUN
app01-3395	7	15	controller	controller	NOUN
app01-3395	7	16	.	.	PUNCT
app01-3395	8	1	1	1	X
app01-3395	8	2	.	.	X
app01-3395	8	3	introduction	introduction	NOUN
app01-3395	8	4	in	in	ADP
app01-3395	8	5	the	the	DET
app01-3395	8	6	research	research	NOUN
app01-3395	8	7	laboratories	laboratory	NOUN
app01-3395	8	8	of	of	ADP
app01-3395	8	9	ceitec	ceitec	ADJ
app01-3395	8	10	and	and	CCONJ
app01-3395	8	11	but	but	CCONJ
app01-3395	8	12	,	,	PUNCT
app01-3395	8	13	the	the	DET
app01-3395	8	14	cassandra	cassandra	PROPN
app01-3395	8	15	robotic	robotic	ADJ
app01-3395	8	16	system	system	NOUN
app01-3395	8	17	has	have	AUX
app01-3395	8	18	been	be	AUX
app01-3395	8	19	developed	develop	VERB
app01-3395	8	20	[	[	X
app01-3395	8	21	1	1	NUM
app01-3395	8	22	]	]	PUNCT
app01-3395	8	23	.	.	PUNCT
app01-3395	9	1	this	this	PRON
app01-3395	9	2	is	be	AUX
app01-3395	9	3	a	a	DET
app01-3395	9	4	heterogeneous	heterogeneous	ADJ
app01-3395	9	5	group	group	NOUN
app01-3395	9	6	of	of	ADP
app01-3395	9	7	robots	robot	NOUN
app01-3395	9	8	controlled	control	VERB
app01-3395	9	9	mainly	mainly	ADV
app01-3395	9	10	by	by	ADP
app01-3395	9	11	telepresence	telepresence	NOUN
app01-3395	9	12	from	from	ADP
app01-3395	9	13	the	the	DET
app01-3395	9	14	operator	operator	NOUN
app01-3395	9	15	base	base	NOUN
app01-3395	9	16	station	station	NOUN
app01-3395	9	17	.	.	PUNCT
app01-3395	10	1	within	within	ADP
app01-3395	10	2	the	the	DET
app01-3395	10	3	described	describe	VERB
app01-3395	10	4	concept	concept	NOUN
app01-3395	10	5	,	,	PUNCT
app01-3395	10	6	each	each	DET
app01-3395	10	7	robot	robot	NOUN
app01-3395	10	8	is	be	AUX
app01-3395	10	9	assigned	assign	VERB
app01-3395	10	10	a	a	DET
app01-3395	10	11	specific	specific	ADJ
app01-3395	10	12	task	task	NOUN
app01-3395	10	13	,	,	PUNCT
app01-3395	10	14	such	such	ADJ
app01-3395	10	15	as	as	ADP
app01-3395	10	16	reconnaissance	reconnaissance	NOUN
app01-3395	10	17	,	,	PUNCT
app01-3395	10	18	terrain	terrain	NOUN
app01-3395	10	19	mapping	mapping	NOUN
app01-3395	10	20	or	or	CCONJ
app01-3395	10	21	contamination	contamination	NOUN
app01-3395	10	22	measurement	measurement	NOUN
app01-3395	10	23	.	.	PUNCT
app01-3395	11	1	the	the	DET
app01-3395	11	2	intended	intended	ADJ
app01-3395	11	3	purpose	purpose	NOUN
app01-3395	11	4	of	of	ADP
app01-3395	11	5	the	the	DET
app01-3395	11	6	entire	entire	ADJ
app01-3395	11	7	group	group	NOUN
app01-3395	11	8	is	be	AUX
app01-3395	11	9	to	to	PART
app01-3395	11	10	perform	perform	VERB
app01-3395	11	11	these	these	DET
app01-3395	11	12	tasks	task	NOUN
app01-3395	11	13	in	in	ADP
app01-3395	11	14	locations	location	NOUN
app01-3395	11	15	which	which	PRON
app01-3395	11	16	are	be	AUX
app01-3395	11	17	dangerous	dangerous	ADJ
app01-3395	11	18	or	or	CCONJ
app01-3395	11	19	inaccessible	inaccessible	ADJ
app01-3395	11	20	for	for	ADP
app01-3395	11	21	humans	human	NOUN
app01-3395	11	22	.	.	PUNCT
app01-3395	12	1	until	until	ADP
app01-3395	12	2	recently	recently	ADV
app01-3395	12	3	,	,	PUNCT
app01-3395	12	4	this	this	DET
app01-3395	12	5	group	group	NOUN
app01-3395	12	6	included	include	VERB
app01-3395	12	7	only	only	ADJ
app01-3395	12	8	ground	ground	NOUN
app01-3395	12	9	robots	robot	NOUN
app01-3395	12	10	.	.	PUNCT
app01-3395	13	1	in	in	ADP
app01-3395	13	2	order	order	NOUN
app01-3395	13	3	to	to	PART
app01-3395	13	4	enable	enable	VERB
app01-3395	13	5	the	the	DET
app01-3395	13	6	group	group	NOUN
app01-3395	13	7	to	to	PART
app01-3395	13	8	pursue	pursue	VERB
app01-3395	13	9	the	the	DET
app01-3395	13	10	assigned	assign	VERB
app01-3395	13	11	tasks	task	NOUN
app01-3395	13	12	from	from	ADP
app01-3395	13	13	the	the	DET
app01-3395	13	14	air	air	NOUN
app01-3395	13	15	or	or	CCONJ
app01-3395	13	16	to	to	PART
app01-3395	13	17	reach	reach	VERB
app01-3395	13	18	locations	location	NOUN
app01-3395	13	19	unapproachable	unapproachable	ADJ
app01-3395	13	20	for	for	ADP
app01-3395	13	21	ground	ground	NOUN
app01-3395	13	22	robots	robot	NOUN
app01-3395	13	23	,	,	PUNCT
app01-3395	13	24	it	it	PRON
app01-3395	13	25	was	be	AUX
app01-3395	13	26	decided	decide	VERB
app01-3395	13	27	to	to	PART
app01-3395	13	28	extend	extend	VERB
app01-3395	13	29	the	the	DET
app01-3395	13	30	group	group	NOUN
app01-3395	13	31	with	with	ADP
app01-3395	13	32	a	a	DET
app01-3395	13	33	flying	fly	VERB
app01-3395	13	34	robot	robot	NOUN
app01-3395	13	35	.	.	PUNCT
app01-3395	14	1	to	to	PART
app01-3395	14	2	facilitate	facilitate	VERB
app01-3395	14	3	operation	operation	NOUN
app01-3395	14	4	in	in	ADP
app01-3395	14	5	a	a	DET
app01-3395	14	6	closed	closed	ADJ
app01-3395	14	7	environment	environment	NOUN
app01-3395	14	8	where	where	SCONJ
app01-3395	14	9	airplanes	airplane	NOUN
app01-3395	14	10	can	can	AUX
app01-3395	14	11	manoeuvre	manoeuvre	VERB
app01-3395	14	12	only	only	ADV
app01-3395	14	13	with	with	ADP
app01-3395	14	14	difficulty	difficulty	NOUN
app01-3395	14	15	,	,	PUNCT
app01-3395	14	16	an	an	DET
app01-3395	14	17	aircraft	aircraft	NOUN
app01-3395	14	18	with	with	ADP
app01-3395	14	19	the	the	DET
app01-3395	14	20	ability	ability	NOUN
app01-3395	14	21	to	to	PART
app01-3395	14	22	hover	hover	VERB
app01-3395	14	23	was	be	AUX
app01-3395	14	24	required	require	VERB
app01-3395	14	25	.	.	PUNCT
app01-3395	15	1	because	because	SCONJ
app01-3395	15	2	airships	airship	NOUN
app01-3395	15	3	provide	provide	VERB
app01-3395	15	4	a	a	DET
app01-3395	15	5	poor	poor	ADJ
app01-3395	15	6	payload	payload	NOUN
app01-3395	15	7	/	/	SYM
app01-3395	15	8	dimensions	dimension	NOUN
app01-3395	15	9	ratio	ratio	NOUN
app01-3395	15	10	,	,	PUNCT
app01-3395	15	11	helicopters	helicopter	NOUN
app01-3395	15	12	were	be	AUX
app01-3395	15	13	taken	take	VERB
app01-3395	15	14	into	into	ADP
app01-3395	15	15	consideration	consideration	NOUN
app01-3395	15	16	;	;	PUNCT
app01-3395	15	17	the	the	DET
app01-3395	15	18	first	first	ADJ
app01-3395	15	19	attempts	attempt	NOUN
app01-3395	15	20	were	be	AUX
app01-3395	15	21	carried	carry	VERB
app01-3395	15	22	out	out	ADP
app01-3395	15	23	with	with	ADP
app01-3395	15	24	classical	classical	ADJ
app01-3395	15	25	machines	machine	NOUN
app01-3395	15	26	.	.	PUNCT
app01-3395	16	1	however	however	ADV
app01-3395	16	2	,	,	PUNCT
app01-3395	16	3	such	such	ADJ
app01-3395	16	4	helicopters	helicopter	NOUN
app01-3395	16	5	were	be	AUX
app01-3395	16	6	not	not	PART
app01-3395	16	7	robust	robust	ADJ
app01-3395	16	8	enough	enough	ADV
app01-3395	16	9	for	for	ADP
app01-3395	16	10	the	the	DET
app01-3395	16	11	intended	intend	VERB
app01-3395	16	12	use	use	NOUN
app01-3395	16	13	in	in	ADP
app01-3395	16	14	a	a	DET
app01-3395	16	15	difficult	difficult	ADJ
app01-3395	16	16	environment	environment	NOUN
app01-3395	16	17	,	,	PUNCT
app01-3395	16	18	mainly	mainly	ADV
app01-3395	16	19	due	due	ADP
app01-3395	16	20	to	to	ADP
app01-3395	16	21	the	the	DET
app01-3395	16	22	fact	fact	NOUN
app01-3395	16	23	that	that	SCONJ
app01-3395	16	24	they	they	PRON
app01-3395	16	25	contain	contain	VERB
app01-3395	16	26	lot	lot	NOUN
app01-3395	16	27	of	of	ADP
app01-3395	16	28	small	small	ADJ
app01-3395	16	29	moving	move	VERB
app01-3395	16	30	parts	part	NOUN
app01-3395	16	31	which	which	PRON
app01-3395	16	32	get	get	AUX
app01-3395	16	33	easily	easily	ADV
app01-3395	16	34	damaged	damage	VERB
app01-3395	16	35	.	.	PUNCT
app01-3395	17	1	quadrotors	quadrotor	NOUN
app01-3395	17	2	(	(	PUNCT
app01-3395	17	3	and	and	CCONJ
app01-3395	17	4	multi	multi	ADJ
app01-3395	17	5	-	-	ADJ
app01-3395	17	6	rotor	rotor	ADJ
app01-3395	17	7	copters	copter	NOUN
app01-3395	17	8	in	in	ADP
app01-3395	17	9	general	general	ADJ
app01-3395	17	10	)	)	PUNCT
app01-3395	17	11	have	have	AUX
app01-3395	17	12	proved	prove	VERB
app01-3395	17	13	to	to	PART
app01-3395	17	14	be	be	AUX
app01-3395	17	15	the	the	DET
app01-3395	17	16	best	good	ADJ
app01-3395	17	17	platform	platform	NOUN
app01-3395	17	18	for	for	ADP
app01-3395	17	19	our	our	PRON
app01-3395	17	20	purposes	purpose	NOUN
app01-3395	17	21	.	.	PUNCT
app01-3395	18	1	the	the	DET
app01-3395	18	2	only	only	ADV
app01-3395	18	3	moving	move	VERB
app01-3395	18	4	parts	part	NOUN
app01-3395	18	5	on	on	ADP
app01-3395	18	6	these	these	DET
app01-3395	18	7	devices	device	NOUN
app01-3395	18	8	are	be	AUX
app01-3395	18	9	their	their	PRON
app01-3395	18	10	rotors	rotor	NOUN
app01-3395	18	11	rigidly	rigidly	ADV
app01-3395	18	12	connected	connect	VERB
app01-3395	18	13	to	to	ADP
app01-3395	18	14	the	the	DET
app01-3395	18	15	engines	engine	NOUN
app01-3395	18	16	.	.	PUNCT
app01-3395	19	1	everything	everything	PRON
app01-3395	19	2	is	be	AUX
app01-3395	19	3	controlled	control	VERB
app01-3395	19	4	just	just	ADV
app01-3395	19	5	by	by	ADP
app01-3395	19	6	changing	change	VERB
app01-3395	19	7	their	their	PRON
app01-3395	19	8	rotor	rotor	NOUN
app01-3395	19	9	speeds	speed	NOUN
app01-3395	19	10	.	.	PUNCT
app01-3395	20	1	yet	yet	CCONJ
app01-3395	20	2	this	this	DET
app01-3395	20	3	solution	solution	NOUN
app01-3395	20	4	also	also	ADV
app01-3395	20	5	exhibits	exhibit	VERB
app01-3395	20	6	a	a	DET
app01-3395	20	7	disadvantage	disadvantage	NOUN
app01-3395	20	8	,	,	PUNCT
app01-3395	20	9	namely	namely	ADV
app01-3395	20	10	internal	internal	ADJ
app01-3395	20	11	instability	instability	NOUN
app01-3395	20	12	;	;	PUNCT
app01-3395	20	13	thus	thus	ADV
app01-3395	20	14	,	,	PUNCT
app01-3395	20	15	a	a	DET
app01-3395	20	16	control	control	NOUN
app01-3395	20	17	system	system	NOUN
app01-3395	20	18	needs	need	VERB
app01-3395	20	19	to	to	PART
app01-3395	20	20	be	be	AUX
app01-3395	20	21	implemented	implement	VERB
app01-3395	20	22	to	to	PART
app01-3395	20	23	provide	provide	VERB
app01-3395	20	24	the	the	DET
app01-3395	20	25	necessary	necessary	ADJ
app01-3395	20	26	operational	operational	ADJ
app01-3395	20	27	ability	ability	NOUN
app01-3395	20	28	[	[	X
app01-3395	20	29	2	2	NUM
app01-3395	20	30	]	]	PUNCT
app01-3395	20	31	.	.	PUNCT
app01-3395	21	1	currently	currently	ADV
app01-3395	21	2	,	,	PUNCT
app01-3395	21	3	quadrotors	quadrotor	NOUN
app01-3395	21	4	are	be	AUX
app01-3395	21	5	being	be	AUX
app01-3395	21	6	developed	develop	VERB
app01-3395	21	7	within	within	ADP
app01-3395	21	8	a	a	DET
app01-3395	21	9	large	large	ADJ
app01-3395	21	10	number	number	NOUN
app01-3395	21	11	of	of	ADP
app01-3395	21	12	projects	project	NOUN
app01-3395	21	13	,	,	PUNCT
app01-3395	21	14	from	from	ADP
app01-3395	21	15	hobby	hobby	NOUN
app01-3395	21	16	to	to	ADP
app01-3395	21	17	professional	professional	ADJ
app01-3395	21	18	ones	one	NOUN
app01-3395	21	19	.	.	PUNCT
app01-3395	22	1	after	after	ADP
app01-3395	22	2	investigating	investigate	VERB
app01-3395	22	3	some	some	PRON
app01-3395	22	4	of	of	ADP
app01-3395	22	5	these	these	DET
app01-3395	22	6	projects	project	NOUN
app01-3395	22	7	,	,	PUNCT
app01-3395	22	8	we	we	PRON
app01-3395	22	9	considered	consider	VERB
app01-3395	22	10	the	the	DET
app01-3395	22	11	given	give	VERB
app01-3395	22	12	status	status	NOUN
app01-3395	22	13	and	and	CCONJ
app01-3395	22	14	decided	decide	VERB
app01-3395	22	15	to	to	PART
app01-3395	22	16	create	create	VERB
app01-3395	22	17	our	our	PRON
app01-3395	22	18	own	own	ADJ
app01-3395	22	19	solution	solution	NOUN
app01-3395	22	20	.	.	PUNCT
app01-3395	23	1	this	this	DET
app01-3395	23	2	approach	approach	NOUN
app01-3395	23	3	offers	offer	VERB
app01-3395	23	4	a	a	DET
app01-3395	23	5	significant	significant	ADJ
app01-3395	23	6	advantage	advantage	NOUN
app01-3395	23	7	:	:	PUNCT
app01-3395	23	8	as	as	SCONJ
app01-3395	23	9	the	the	DET
app01-3395	23	10	applied	apply	VERB
app01-3395	23	11	software	software	NOUN
app01-3395	23	12	is	be	AUX
app01-3395	23	13	not	not	PART
app01-3395	23	14	license	license	NOUN
app01-3395	23	15	-	-	PUNCT
app01-3395	23	16	restricted	restrict	VERB
app01-3395	23	17	,	,	PUNCT
app01-3395	23	18	figure	figure	NOUN
app01-3395	23	19	1	1	NUM
app01-3395	23	20	.	.	PUNCT
app01-3395	24	1	uranus	uranus	PROPN
app01-3395	24	2	uav	uav	PROPN
app01-3395	24	3	during	during	ADP
app01-3395	24	4	a	a	DET
app01-3395	24	5	flight	flight	NOUN
app01-3395	24	6	.	.	PUNCT
app01-3395	25	1	we	we	PRON
app01-3395	25	2	will	will	AUX
app01-3395	25	3	have	have	VERB
app01-3395	25	4	full	full	ADJ
app01-3395	25	5	control	control	NOUN
app01-3395	25	6	over	over	ADP
app01-3395	25	7	the	the	DET
app01-3395	25	8	solution	solution	NOUN
app01-3395	25	9	and	and	CCONJ
app01-3395	25	10	will	will	AUX
app01-3395	25	11	be	be	AUX
app01-3395	25	12	able	able	ADJ
app01-3395	25	13	to	to	PART
app01-3395	25	14	modify	modify	VERB
app01-3395	25	15	our	our	PRON
app01-3395	25	16	device	device	NOUN
app01-3395	25	17	if	if	SCONJ
app01-3395	25	18	necessary	necessary	ADJ
app01-3395	25	19	.	.	PUNCT
app01-3395	26	1	in	in	ADP
app01-3395	26	2	this	this	DET
app01-3395	26	3	context	context	NOUN
app01-3395	26	4	,	,	PUNCT
app01-3395	26	5	a	a	DET
app01-3395	26	6	specific	specific	ADJ
app01-3395	26	7	airframe	airframe	NOUN
app01-3395	26	8	and	and	CCONJ
app01-3395	26	9	control	control	NOUN
app01-3395	26	10	system	system	NOUN
app01-3395	26	11	were	be	AUX
app01-3395	26	12	created	create	VERB
app01-3395	26	13	.	.	PUNCT
app01-3395	27	1	to	to	PART
app01-3395	27	2	design	design	VERB
app01-3395	27	3	the	the	DET
app01-3395	27	4	control	control	NOUN
app01-3395	27	5	system	system	NOUN
app01-3395	27	6	,	,	PUNCT
app01-3395	27	7	the	the	DET
app01-3395	27	8	behavior	behavior	NOUN
app01-3395	27	9	of	of	ADP
app01-3395	27	10	the	the	DET
app01-3395	27	11	designed	design	VERB
app01-3395	27	12	airframe	airframe	NOUN
app01-3395	27	13	with	with	ADP
app01-3395	27	14	rotors	rotor	NOUN
app01-3395	27	15	was	be	AUX
app01-3395	27	16	described	describe	VERB
app01-3395	27	17	and	and	CCONJ
app01-3395	27	18	mathematical	mathematical	ADJ
app01-3395	27	19	model	model	NOUN
app01-3395	27	20	assembled	assemble	VERB
app01-3395	27	21	.	.	PUNCT
app01-3395	28	1	2	2	X
app01-3395	28	2	.	.	X
app01-3395	28	3	quadrotor	quadrotor	NOUN
app01-3395	28	4	model	model	NOUN
app01-3395	28	5	the	the	DET
app01-3395	28	6	mathematical	mathematical	ADJ
app01-3395	28	7	model	model	NOUN
app01-3395	28	8	of	of	ADP
app01-3395	28	9	the	the	DET
app01-3395	28	10	uranus	uranus	PROPN
app01-3395	28	11	uav	uav	PROPN
app01-3395	28	12	comprises	comprise	VERB
app01-3395	28	13	two	two	NUM
app01-3395	28	14	parts	part	NOUN
app01-3395	28	15	.	.	PUNCT
app01-3395	29	1	the	the	DET
app01-3395	29	2	first	first	ADJ
app01-3395	29	3	part	part	NOUN
app01-3395	29	4	handles	handle	VERB
app01-3395	29	5	the	the	DET
app01-3395	29	6	relation	relation	NOUN
app01-3395	29	7	between	between	ADP
app01-3395	29	8	the	the	DET
app01-3395	29	9	speed	speed	NOUN
app01-3395	29	10	of	of	ADP
app01-3395	29	11	the	the	DET
app01-3395	29	12	rotors	rotor	NOUN
app01-3395	29	13	and	and	CCONJ
app01-3395	29	14	the	the	DET
app01-3395	29	15	forces	force	NOUN
app01-3395	29	16	and	and	CCONJ
app01-3395	29	17	torques	torque	NOUN
app01-3395	29	18	affecting	affect	VERB
app01-3395	29	19	the	the	DET
app01-3395	29	20	quadrotor	quadrotor	NOUN
app01-3395	29	21	rigid	rigid	ADJ
app01-3395	29	22	body	body	NOUN
app01-3395	29	23	.	.	PUNCT
app01-3395	30	1	the	the	DET
app01-3395	30	2	second	second	ADJ
app01-3395	30	3	portion	portion	NOUN
app01-3395	30	4	defines	define	VERB
app01-3395	30	5	the	the	DET
app01-3395	30	6	dynamics	dynamic	NOUN
app01-3395	30	7	of	of	ADP
app01-3395	30	8	the	the	DET
app01-3395	30	9	rigid	rigid	ADJ
app01-3395	30	10	body	body	NOUN
app01-3395	30	11	,	,	PUNCT
app01-3395	30	12	including	include	VERB
app01-3395	30	13	transformation	transformation	NOUN
app01-3395	30	14	between	between	ADP
app01-3395	30	15	frames	frame	NOUN
app01-3395	30	16	and	and	CCONJ
app01-3395	30	17	effect	effect	NOUN
app01-3395	30	18	of	of	ADP
app01-3395	30	19	gravity	gravity	NOUN
app01-3395	30	20	force	force	NOUN
app01-3395	30	21	.	.	PUNCT
app01-3395	31	1	this	this	DET
app01-3395	31	2	separation	separation	NOUN
app01-3395	31	3	allows	allow	VERB
app01-3395	31	4	us	we	PRON
app01-3395	31	5	to	to	PART
app01-3395	31	6	design	design	VERB
app01-3395	31	7	a	a	DET
app01-3395	31	8	controller	controller	NOUN
app01-3395	31	9	with	with	ADP
app01-3395	31	10	better	well	ADJ
app01-3395	31	11	dynamics	dynamic	NOUN
app01-3395	31	12	,	,	PUNCT
app01-3395	31	13	because	because	SCONJ
app01-3395	31	14	the	the	DET
app01-3395	31	15	first	first	ADJ
app01-3395	31	16	part	part	NOUN
app01-3395	31	17	of	of	ADP
app01-3395	31	18	the	the	DET
app01-3395	31	19	model	model	NOUN
app01-3395	31	20	can	can	AUX
app01-3395	31	21	be	be	AUX
app01-3395	31	22	easily	easily	ADV
app01-3395	31	23	linearized	linearize	VERB
app01-3395	31	24	in	in	ADP
app01-3395	31	25	the	the	DET
app01-3395	31	26	controller	controller	NOUN
app01-3395	31	27	.	.	PUNCT
app01-3395	32	1	the	the	DET
app01-3395	32	2	forces	force	NOUN
app01-3395	32	3	and	and	CCONJ
app01-3395	32	4	torques	torque	NOUN
app01-3395	32	5	caused	cause	VERB
app01-3395	32	6	by	by	ADP
app01-3395	32	7	propellers	propeller	NOUN
app01-3395	32	8	of	of	ADP
app01-3395	32	9	the	the	DET
app01-3395	32	10	rotors	rotor	NOUN
app01-3395	32	11	and	and	CCONJ
app01-3395	32	12	affecting	affect	VERB
app01-3395	32	13	the	the	DET
app01-3395	32	14	quadrotor	quadrotor	NOUN
app01-3395	32	15	rigid	rigid	ADJ
app01-3395	32	16	body	body	NOUN
app01-3395	32	17	are	be	AUX
app01-3395	32	18	denoted	denote	VERB
app01-3395	32	19	as	as	ADP
app01-3395	32	20	u1	u1	NOUN
app01-3395	32	21	to	to	ADP
app01-3395	32	22	u4	u4	PROPN
app01-3395	32	23	.	.	PUNCT
app01-3395	33	1	the	the	DET
app01-3395	33	2	meaning	meaning	NOUN
app01-3395	33	3	is	be	AUX
app01-3395	33	4	as	as	SCONJ
app01-3395	33	5	follows	follow	VERB
app01-3395	33	6	:	:	PUNCT
app01-3395	33	7	u1	u1	NOUN
app01-3395	33	8	torque	torque	NOUN
app01-3395	33	9	around	around	ADP
app01-3395	33	10	the	the	DET
app01-3395	33	11	x	x	PUNCT
app01-3395	33	12	axis	axis	NOUN
app01-3395	33	13	caused	cause	VERB
app01-3395	33	14	by	by	ADP
app01-3395	33	15	different	different	ADJ
app01-3395	33	16	thrust	thrust	NOUN
app01-3395	33	17	of	of	ADP
app01-3395	33	18	rotors	rotor	NOUN
app01-3395	33	19	2	2	NUM
app01-3395	33	20	and	and	CCONJ
app01-3395	33	21	4	4	NUM
app01-3395	33	22	;	;	PUNCT
app01-3395	33	23	u2	u2	NOUN
app01-3395	33	24	torque	torque	NOUN
app01-3395	33	25	around	around	ADP
app01-3395	33	26	the	the	DET
app01-3395	33	27	y	y	PROPN
app01-3395	33	28	axis	axis	NOUN
app01-3395	33	29	caused	cause	VERB
app01-3395	33	30	by	by	ADP
app01-3395	33	31	15	15	NUM
app01-3395	33	32	http://dx.doi.org/10.14311/app.2015.1.0015	http://dx.doi.org/10.14311/app.2015.1.0015	NOUN
app01-3395	33	33	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3395	34	1	p.	p.	NOUN
app01-3395	34	2	gabrlik	gabrlik	PROPN
app01-3395	34	3	,	,	PUNCT
app01-3395	34	4	v.	v.	PROPN
app01-3395	34	5	kriz	kriz	PROPN
app01-3395	34	6	,	,	PUNCT
app01-3395	34	7	l.	l.	PROPN
app01-3395	34	8	zalud	zalud	PROPN
app01-3395	34	9	acta	acta	PROPN
app01-3395	34	10	polytechnica	polytechnica	PROPN
app01-3395	34	11	ctu	ctu	NOUN
app01-3395	34	12	proceedings	proceeding	NOUN
app01-3395	34	13	different	different	ADJ
app01-3395	34	14	thrust	thrust	NOUN
app01-3395	34	15	of	of	ADP
app01-3395	34	16	rotors	rotor	NOUN
app01-3395	34	17	1	1	NUM
app01-3395	34	18	and	and	CCONJ
app01-3395	34	19	3	3	NUM
app01-3395	34	20	;	;	PUNCT
app01-3395	34	21	u3	u3	NOUN
app01-3395	34	22	torque	torque	NOUN
app01-3395	34	23	around	around	ADP
app01-3395	34	24	the	the	DET
app01-3395	34	25	z	z	NOUN
app01-3395	34	26	axis	axis	NOUN
app01-3395	34	27	caused	cause	VERB
app01-3395	34	28	by	by	ADP
app01-3395	34	29	different	different	ADJ
app01-3395	34	30	reaction	reaction	NOUN
app01-3395	34	31	torques	torque	NOUN
app01-3395	34	32	from	from	ADP
app01-3395	34	33	rotors	rotor	NOUN
app01-3395	34	34	rotating	rotate	VERB
app01-3395	34	35	in	in	ADP
app01-3395	34	36	opposite	opposite	ADJ
app01-3395	34	37	directions	direction	NOUN
app01-3395	34	38	;	;	PUNCT
app01-3395	34	39	u4	u4	PROPN
app01-3395	34	40	force	force	NOUN
app01-3395	34	41	in	in	ADP
app01-3395	34	42	the	the	DET
app01-3395	34	43	z	z	NOUN
app01-3395	34	44	axis	axis	NOUN
app01-3395	34	45	caused	cause	VERB
app01-3395	34	46	by	by	ADP
app01-3395	34	47	common	common	ADJ
app01-3395	34	48	thrust	thrust	NOUN
app01-3395	34	49	of	of	ADP
app01-3395	34	50	all	all	DET
app01-3395	34	51	the	the	DET
app01-3395	34	52	rotors	rotor	NOUN
app01-3395	34	53	.	.	PUNCT
app01-3395	35	1	the	the	DET
app01-3395	35	2	relation	relation	NOUN
app01-3395	35	3	between	between	ADP
app01-3395	35	4	the	the	DET
app01-3395	35	5	thrust	thrust	NOUN
app01-3395	35	6	and	and	CCONJ
app01-3395	35	7	propeller	propeller	NOUN
app01-3395	35	8	speed	speed	NOUN
app01-3395	35	9	of	of	ADP
app01-3395	35	10	a	a	DET
app01-3395	35	11	rotor	rotor	NOUN
app01-3395	35	12	is	be	AUX
app01-3395	35	13	ft	ft	PROPN
app01-3395	35	14	=	=	PUNCT
app01-3395	35	15	kt	kt	PROPN
app01-3395	35	16	·	·	PUNCT
app01-3395	35	17	n2	n2	PROPN
app01-3395	35	18	,	,	PUNCT
app01-3395	35	19	(	(	PUNCT
app01-3395	35	20	1	1	NUM
app01-3395	35	21	)	)	PUNCT
app01-3395	35	22	and	and	CCONJ
app01-3395	35	23	the	the	DET
app01-3395	35	24	relation	relation	NOUN
app01-3395	35	25	between	between	ADP
app01-3395	35	26	the	the	DET
app01-3395	35	27	reaction	reaction	NOUN
app01-3395	35	28	torque	torque	NOUN
app01-3395	35	29	and	and	CCONJ
app01-3395	35	30	propeller	propeller	NOUN
app01-3395	35	31	speed	speed	NOUN
app01-3395	35	32	of	of	ADP
app01-3395	35	33	a	a	DET
app01-3395	35	34	rotor	rotor	NOUN
app01-3395	35	35	is	be	AUX
app01-3395	35	36	mr	mr	PROPN
app01-3395	35	37	=	=	PROPN
app01-3395	35	38	km	km	PROPN
app01-3395	35	39	·	·	PUNCT
app01-3395	35	40	n2	n2	PROPN
app01-3395	35	41	.	.	PUNCT
app01-3395	36	1	(	(	PUNCT
app01-3395	36	2	2	2	X
app01-3395	36	3	)	)	PUNCT
app01-3395	36	4	here	here	ADV
app01-3395	36	5	,	,	PUNCT
app01-3395	36	6	kt	kt	PROPN
app01-3395	36	7	and	and	CCONJ
app01-3395	36	8	km	km	PROPN
app01-3395	36	9	are	be	AUX
app01-3395	36	10	constants	constant	NOUN
app01-3395	36	11	determined	determine	VERB
app01-3395	36	12	by	by	ADP
app01-3395	36	13	the	the	DET
app01-3395	36	14	measurement	measurement	NOUN
app01-3395	36	15	.	.	PUNCT
app01-3395	37	1	the	the	DET
app01-3395	37	2	first	first	ADJ
app01-3395	37	3	part	part	NOUN
app01-3395	37	4	of	of	ADP
app01-3395	37	5	the	the	DET
app01-3395	37	6	model	model	NOUN
app01-3395	37	7	then	then	ADV
app01-3395	37	8	could	could	AUX
app01-3395	37	9	be	be	AUX
app01-3395	37	10	described	describe	VERB
app01-3395	37	11	as	as	ADP
app01-3395	37	12	u1	u1	NOUN
app01-3395	37	13	=	=	SYM
app01-3395	37	14	(	(	PUNCT
app01-3395	37	15	−n2	−n2	PROPN
app01-3395	37	16	2	2	NUM
app01-3395	37	17	+	+	CCONJ
app01-3395	37	18	n2	n2	PROPN
app01-3395	37	19	4)kt	4)kt	PROPN
app01-3395	37	20	l	l	PROPN
app01-3395	37	21	u2	u2	PROPN
app01-3395	37	22	=	=	SYM
app01-3395	37	23	(	(	PUNCT
app01-3395	37	24	n2	n2	NOUN
app01-3395	37	25	1	1	NUM
app01-3395	37	26	−	−	PROPN
app01-3395	37	27	n2	n2	ADJ
app01-3395	37	28	3)kt	3)kt	PROPN
app01-3395	37	29	l	l	NOUN
app01-3395	37	30	u3	u3	NOUN
app01-3395	37	31	=	=	SYM
app01-3395	37	32	(	(	PUNCT
app01-3395	37	33	−n2	−n2	PROPN
app01-3395	37	34	1	1	NUM
app01-3395	37	35	+	+	SYM
app01-3395	37	36	n2	n2	ADJ
app01-3395	37	37	2	2	NUM
app01-3395	37	38	−	−	NOUN
app01-3395	37	39	n2	n2	ADJ
app01-3395	37	40	3	3	NUM
app01-3395	37	41	+	+	CCONJ
app01-3395	37	42	n2	n2	ADJ
app01-3395	37	43	4)km	4)km	PROPN
app01-3395	37	44	u4	u4	PROPN
app01-3395	37	45	=	=	PROPN
app01-3395	37	46	(	(	PUNCT
app01-3395	37	47	n2	n2	NOUN
app01-3395	37	48	1	1	NUM
app01-3395	37	49	+	+	CCONJ
app01-3395	37	50	n2	n2	ADJ
app01-3395	37	51	2	2	NUM
app01-3395	37	52	+	+	SYM
app01-3395	37	53	n2	n2	ADJ
app01-3395	37	54	3	3	NUM
app01-3395	37	55	+	+	CCONJ
app01-3395	37	56	n2	n2	PROPN
app01-3395	37	57	4)kt	4)kt	PROPN
app01-3395	37	58	(	(	PUNCT
app01-3395	37	59	3	3	NUM
app01-3395	37	60	)	)	PUNCT
app01-3395	37	61	l	l	NOUN
app01-3395	37	62	denotes	denote	VERB
app01-3395	37	63	the	the	DET
app01-3395	37	64	distance	distance	NOUN
app01-3395	37	65	between	between	ADP
app01-3395	37	66	the	the	DET
app01-3395	37	67	rotors	rotor	NOUN
app01-3395	37	68	and	and	CCONJ
app01-3395	37	69	the	the	DET
app01-3395	37	70	center	center	NOUN
app01-3395	37	71	of	of	ADP
app01-3395	37	72	gravity	gravity	NOUN
app01-3395	37	73	of	of	ADP
app01-3395	37	74	a	a	DET
app01-3395	37	75	quadrotor	quadrotor	NOUN
app01-3395	37	76	.	.	PUNCT
app01-3395	38	1	the	the	DET
app01-3395	38	2	second	second	ADJ
app01-3395	38	3	part	part	NOUN
app01-3395	38	4	of	of	ADP
app01-3395	38	5	the	the	DET
app01-3395	38	6	model	model	NOUN
app01-3395	38	7	can	can	AUX
app01-3395	38	8	be	be	AUX
app01-3395	38	9	further	far	ADV
app01-3395	38	10	divided	divide	VERB
app01-3395	38	11	into	into	ADP
app01-3395	38	12	four	four	NUM
app01-3395	38	13	parts	part	NOUN
app01-3395	38	14	:	:	PUNCT
app01-3395	38	15	equations	equation	NOUN
app01-3395	38	16	that	that	PRON
app01-3395	38	17	describe	describe	VERB
app01-3395	38	18	rotational	rotational	ADJ
app01-3395	38	19	movement	movement	NOUN
app01-3395	38	20	;	;	PUNCT
app01-3395	38	21	equations	equation	NOUN
app01-3395	38	22	of	of	ADP
app01-3395	38	23	linear	linear	PROPN
app01-3395	38	24	movement	movement	NOUN
app01-3395	38	25	;	;	PUNCT
app01-3395	38	26	equations	equation	NOUN
app01-3395	38	27	describing	describe	VERB
app01-3395	38	28	transformation	transformation	NOUN
app01-3395	38	29	between	between	ADP
app01-3395	38	30	frames	frame	NOUN
app01-3395	38	31	;	;	PUNCT
app01-3395	38	32	and	and	CCONJ
app01-3395	38	33	equations	equation	NOUN
app01-3395	38	34	expressing	express	VERB
app01-3395	38	35	the	the	DET
app01-3395	38	36	effect	effect	NOUN
app01-3395	38	37	of	of	ADP
app01-3395	38	38	gravity	gravity	NOUN
app01-3395	38	39	force	force	NOUN
app01-3395	38	40	.	.	PUNCT
app01-3395	39	1	all	all	DET
app01-3395	39	2	variables	variable	NOUN
app01-3395	39	3	are	be	AUX
app01-3395	39	4	defined	define	VERB
app01-3395	39	5	in	in	ADP
app01-3395	39	6	2	2	NUM
app01-3395	39	7	frames	frame	NOUN
app01-3395	39	8	:	:	PUNCT
app01-3395	39	9	robot	robot	NOUN
app01-3395	39	10	frame	frame	NOUN
app01-3395	39	11	and	and	CCONJ
app01-3395	39	12	ground	ground	NOUN
app01-3395	39	13	frame	frame	NOUN
app01-3395	39	14	.	.	PUNCT
app01-3395	40	1	the	the	DET
app01-3395	40	2	robot	robot	NOUN
app01-3395	40	3	frame	frame	NOUN
app01-3395	40	4	is	be	AUX
app01-3395	40	5	bound	bind	VERB
app01-3395	40	6	to	to	ADP
app01-3395	40	7	the	the	DET
app01-3395	40	8	uav	uav	PROPN
app01-3395	40	9	while	while	SCONJ
app01-3395	40	10	the	the	DET
app01-3395	40	11	x	x	PROPN
app01-3395	40	12	axis	axis	NOUN
app01-3395	40	13	faces	face	VERB
app01-3395	40	14	forward	forward	ADV
app01-3395	40	15	,	,	PUNCT
app01-3395	40	16	y	y	PROPN
app01-3395	40	17	faces	face	VERB
app01-3395	40	18	right	right	ADV
app01-3395	40	19	,	,	PUNCT
app01-3395	40	20	and	and	CCONJ
app01-3395	40	21	z	z	NOUN
app01-3395	40	22	faces	face	VERB
app01-3395	40	23	down	down	ADP
app01-3395	40	24	.	.	PUNCT
app01-3395	41	1	the	the	DET
app01-3395	41	2	ground	ground	NOUN
app01-3395	41	3	frame	frame	NOUN
app01-3395	41	4	is	be	AUX
app01-3395	41	5	bound	bind	VERB
app01-3395	41	6	with	with	ADP
app01-3395	41	7	the	the	DET
app01-3395	41	8	ground	ground	NOUN
app01-3395	41	9	and	and	CCONJ
app01-3395	41	10	oriented	orient	VERB
app01-3395	41	11	north	north	NOUN
app01-3395	41	12	-	-	PUNCT
app01-3395	41	13	east	east	NOUN
app01-3395	41	14	-	-	PUNCT
app01-3395	41	15	down	down	NOUN
app01-3395	41	16	.	.	PUNCT
app01-3395	42	1	rotational	rotational	ADJ
app01-3395	42	2	movement	movement	NOUN
app01-3395	42	3	(	(	PUNCT
app01-3395	42	4	robot	robot	NOUN
app01-3395	42	5	frame	frame	NOUN
app01-3395	42	6	):	):	PUNCT
app01-3395	42	7	ω̇x	ω̇x	NOUN
app01-3395	42	8	=	=	SYM
app01-3395	42	9	(	(	PUNCT
app01-3395	42	10	iyy	iyy	ADP
app01-3395	42	11	−	−	PROPN
app01-3395	42	12	izz)ωyωz	izz)ωyωz	PROPN
app01-3395	42	13	+	+	CCONJ
app01-3395	42	14	u1	u1	PROPN
app01-3395	42	15	ixx	ixx	NOUN
app01-3395	42	16	ω̇y	ω̇y	ADV
app01-3395	42	17	=	=	SYM
app01-3395	42	18	(	(	PUNCT
app01-3395	42	19	izz	izz	VERB
app01-3395	42	20	−	−	PROPN
app01-3395	42	21	ixx)ωxωz	ixx)ωxωz	PROPN
app01-3395	42	22	+	+	CCONJ
app01-3395	42	23	u2	u2	PROPN
app01-3395	42	24	iyy	iyy	VERB
app01-3395	42	25	ω̇z	ω̇z	PROPN
app01-3395	42	26	=	=	PRON
app01-3395	42	27	(	(	PUNCT
app01-3395	42	28	ixx	ixx	NOUN
app01-3395	42	29	−	−	PROPN
app01-3395	42	30	iyy)ωzωy	iyy)ωzωy	PROPN
app01-3395	42	31	+	+	CCONJ
app01-3395	42	32	u3	u3	PROPN
app01-3395	42	33	izz	izz	NOUN
app01-3395	42	34	(	(	PUNCT
app01-3395	42	35	4	4	NUM
app01-3395	42	36	)	)	PUNCT
app01-3395	42	37	ixx	ixx	NOUN
app01-3395	42	38	,	,	PUNCT
app01-3395	42	39	iyy	iyy	ADJ
app01-3395	42	40	and	and	CCONJ
app01-3395	42	41	izz	izz	PROPN
app01-3395	42	42	represent	represent	VERB
app01-3395	42	43	moments	moment	NOUN
app01-3395	42	44	of	of	ADP
app01-3395	42	45	inertia	inertia	NOUN
app01-3395	42	46	around	around	ADP
app01-3395	42	47	a	a	DET
app01-3395	42	48	given	give	VERB
app01-3395	42	49	axis	axis	NOUN
app01-3395	42	50	.	.	PUNCT
app01-3395	43	1	translation	translation	NOUN
app01-3395	43	2	movement	movement	PROPN
app01-3395	43	3	(	(	PUNCT
app01-3395	43	4	robot	robot	NOUN
app01-3395	43	5	frame	frame	NOUN
app01-3395	43	6	):	):	PUNCT
app01-3395	43	7	v̇x	v̇x	NOUN
app01-3395	43	8	=	=	PRON
app01-3395	43	9	mωyvz	mωyvz	VERB
app01-3395	43	10	+	+	NOUN
app01-3395	43	11	mωzvy	mωzvy	NOUN
app01-3395	43	12	+	+	PROPN
app01-3395	43	13	gx	gx	PROPN
app01-3395	43	14	m	m	ADJ
app01-3395	43	15	v̇y	v̇y	NOUN
app01-3395	43	16	=	=	PRON
app01-3395	43	17	mωxvz	mωxvz	NOUN
app01-3395	44	1	+	+	ADV
app01-3395	44	2	mωzvx	mωzvx	ADJ
app01-3395	44	3	+	+	ADJ
app01-3395	44	4	gy	gy	NOUN
app01-3395	44	5	m	m	NOUN
app01-3395	44	6	v̇z	v̇z	PROPN
app01-3395	44	7	=	=	PRON
app01-3395	44	8	mωxvy	mωxvy	PROPN
app01-3395	44	9	+	+	NOUN
app01-3395	44	10	mωyvx	mωyvx	NOUN
app01-3395	44	11	+	+	ADJ
app01-3395	44	12	gz	gz	PROPN
app01-3395	44	13	−	−	PROPN
app01-3395	45	1	u4	u4	PROPN
app01-3395	45	2	m	m	PROPN
app01-3395	45	3	(	(	PUNCT
app01-3395	45	4	5	5	NUM
app01-3395	45	5	)	)	PUNCT
app01-3395	45	6	gx	gx	PROPN
app01-3395	45	7	,	,	PUNCT
app01-3395	45	8	gy	gy	PROPN
app01-3395	45	9	and	and	CCONJ
app01-3395	45	10	gz	gz	PROPN
app01-3395	45	11	are	be	AUX
app01-3395	45	12	the	the	DET
app01-3395	45	13	gravity	gravity	NOUN
app01-3395	45	14	forces	force	NOUN
app01-3395	45	15	component	component	NOUN
app01-3395	45	16	in	in	ADP
app01-3395	45	17	a	a	DET
app01-3395	45	18	given	give	VERB
app01-3395	45	19	axis	axis	NOUN
app01-3395	45	20	:	:	PUNCT
app01-3395	45	21	gx	gx	PROPN
app01-3395	45	22	=	=	SYM
app01-3395	45	23	−mg	−mg	PROPN
app01-3395	45	24	sin	sin	NOUN
app01-3395	45	25	θ	θ	PROPN
app01-3395	45	26	gy	gy	NOUN
app01-3395	46	1	=	=	PUNCT
app01-3395	46	2	mg	mg	PROPN
app01-3395	46	3	cos	cos	ADP
app01-3395	46	4	θ	θ	PROPN
app01-3395	46	5	sinφ	sinφ	NOUN
app01-3395	46	6	gz	gz	PROPN
app01-3395	47	1	=	=	PUNCT
app01-3395	47	2	mg	mg	PROPN
app01-3395	47	3	cos	cos	PROPN
app01-3395	47	4	θ	θ	PROPN
app01-3395	47	5	cosφ	cosφ	NOUN
app01-3395	47	6	(	(	PUNCT
app01-3395	47	7	6	6	NUM
app01-3395	47	8	)	)	PUNCT
app01-3395	47	9	transformation	transformation	NOUN
app01-3395	47	10	between	between	ADP
app01-3395	47	11	the	the	DET
app01-3395	47	12	robot	robot	NOUN
app01-3395	47	13	frame	frame	NOUN
app01-3395	47	14	and	and	CCONJ
app01-3395	47	15	ground	ground	NOUN
app01-3395	47	16	frame	frame	NOUN
app01-3395	48	1	[	[	X
app01-3395	48	2	3	3	NUM
app01-3395	48	3	]	]	X
app01-3395	48	4	:	:	PUNCT
app01-3395	49	1	φ̇	φ̇	ADJ
app01-3395	49	2	=	=	PRON
app01-3395	49	3	ωx	ωx	PROPN
app01-3395	49	4	+	+	CCONJ
app01-3395	49	5	ωy	ωy	PROPN
app01-3395	49	6	sinφ	sinφ	NOUN
app01-3395	49	7	tan	tan	PROPN
app01-3395	49	8	θ	θ	PROPN
app01-3395	50	1	+	+	CCONJ
app01-3395	50	2	ωz	ωz	VERB
app01-3395	50	3	cos	co	NOUN
app01-3395	50	4	θ	θ	PROPN
app01-3395	50	5	tan	tan	NOUN
app01-3395	50	6	θ	θ	PROPN
app01-3395	50	7	θ̇	θ̇	X
app01-3395	50	8	=	=	PUNCT
app01-3395	50	9	ωy	ωy	PROPN
app01-3395	50	10	cos	cos	ADP
app01-3395	50	11	θ	θ	PROPN
app01-3395	50	12	−	−	X
app01-3395	51	1	ωz	ωz	INTJ
app01-3395	52	1	sinφ	sinφ	PROPN
app01-3395	52	2	ψ̇	ψ̇	PROPN
app01-3395	53	1	=	=	SYM
app01-3395	53	2	ωy	ωy	PROPN
app01-3395	53	3	sinφ	sinφ	NOUN
app01-3395	53	4	cos	cos	PROPN
app01-3395	53	5	θ	θ	PROPN
app01-3395	53	6	+	+	CCONJ
app01-3395	53	7	ωz	ωz	ADP
app01-3395	53	8	cosφ	cosφ	NOUN
app01-3395	53	9	cos	cos	ADP
app01-3395	53	10	θ	θ	PROPN
app01-3395	53	11	ẋ	ẋ	PUNCT
app01-3395	54	1	=	=	SYM
app01-3395	54	2	vz(sinφ	vz(sinφ	PROPN
app01-3395	54	3	sinψ	sinψ	NOUN
app01-3395	54	4	+	+	CCONJ
app01-3395	54	5	cosφ	cosφ	NOUN
app01-3395	54	6	cosψ	cosψ	NOUN
app01-3395	54	7	sin	sin	NOUN
app01-3395	54	8	θ	θ	NOUN
app01-3395	54	9	)	)	PUNCT
app01-3395	54	10	−	−	PROPN
app01-3395	54	11	−vy(cosφ	−vy(cosφ	PROPN
app01-3395	54	12	sinψ	sinψ	PROPN
app01-3395	54	13	−	−	PROPN
app01-3395	54	14	cosψ	cosψ	ADJ
app01-3395	54	15	sinφ	sinφ	NOUN
app01-3395	54	16	sin	sin	PROPN
app01-3395	54	17	θ	θ	PROPN
app01-3395	54	18	)	)	PUNCT
app01-3395	55	1	+	+	CCONJ
app01-3395	56	1	+	+	ADP
app01-3395	56	2	vx	vx	PROPN
app01-3395	56	3	cos	cos	PROPN
app01-3395	56	4	θ	θ	PROPN
app01-3395	56	5	cosψ	cosψ	NOUN
app01-3395	56	6	ẏ	ẏ	NOUN
app01-3395	56	7	=	=	SYM
app01-3395	56	8	vy(cosφ	vy(cosφ	PROPN
app01-3395	56	9	cosψ	cosψ	NOUN
app01-3395	56	10	+	+	NUM
app01-3395	56	11	sinφ	sinφ	NOUN
app01-3395	56	12	sin	sin	NOUN
app01-3395	56	13	θ	θ	PROPN
app01-3395	56	14	sinψ	sinψ	NOUN
app01-3395	56	15	)	)	PUNCT
app01-3395	57	1	−	−	PROPN
app01-3395	58	1	−vz(cosψ	−vz(cosψ	NUM
app01-3395	58	2	sinφ−	sinφ−	NOUN
app01-3395	58	3	cosφ	cosφ	NOUN
app01-3395	58	4	sin	sin	NOUN
app01-3395	58	5	θ	θ	PROPN
app01-3395	58	6	sinψ	sinψ	NOUN
app01-3395	58	7	)	)	PUNCT
app01-3395	59	1	+	+	CCONJ
app01-3395	60	1	+	+	ADP
app01-3395	60	2	vx	vx	PROPN
app01-3395	60	3	cos	cos	PROPN
app01-3395	60	4	θ	θ	PROPN
app01-3395	60	5	cosψ	cosψ	NOUN
app01-3395	60	6	ż	ż	NOUN
app01-3395	60	7	=	=	PUNCT
app01-3395	60	8	vz	vz	PROPN
app01-3395	60	9	cosφ	cosφ	PROPN
app01-3395	60	10	cos	cos	ADP
app01-3395	60	11	θ	θ	PROPN
app01-3395	60	12	−	−	PROPN
app01-3395	60	13	vx	vx	AUX
app01-3395	60	14	sin	sin	VERB
app01-3395	60	15	θ	θ	PROPN
app01-3395	60	16	+	+	CCONJ
app01-3395	60	17	vy	vy	PROPN
app01-3395	60	18	cos	co	NOUN
app01-3395	60	19	θ	θ	PROPN
app01-3395	60	20	sinφ	sinφ	NOUN
app01-3395	60	21	(	(	PUNCT
app01-3395	60	22	7	7	X
app01-3395	60	23	)	)	PUNCT
app01-3395	60	24	the	the	DET
app01-3395	60	25	parameters	parameter	NOUN
app01-3395	60	26	m	m	PROPN
app01-3395	60	27	,	,	PUNCT
app01-3395	60	28	l	l	PROPN
app01-3395	60	29	,	,	PUNCT
app01-3395	60	30	kt	kt	PROPN
app01-3395	60	31	,	,	PUNCT
app01-3395	60	32	km	km	PROPN
app01-3395	60	33	of	of	ADP
app01-3395	60	34	the	the	DET
app01-3395	60	35	models	model	NOUN
app01-3395	60	36	was	be	AUX
app01-3395	60	37	measured	measure	VERB
app01-3395	60	38	and	and	CCONJ
app01-3395	60	39	ixx	ixx	ADJ
app01-3395	60	40	,	,	PUNCT
app01-3395	60	41	iyy	iyy	ADJ
app01-3395	60	42	,	,	PUNCT
app01-3395	60	43	izz	izz	PROPN
app01-3395	60	44	were	be	AUX
app01-3395	60	45	computed	compute	VERB
app01-3395	60	46	.	.	PUNCT
app01-3395	61	1	the	the	DET
app01-3395	61	2	values	value	NOUN
app01-3395	61	3	are	be	AUX
app01-3395	61	4	as	as	SCONJ
app01-3395	61	5	follows	follow	VERB
app01-3395	61	6	:	:	PUNCT
app01-3395	61	7	m	m	VERB
app01-3395	61	8	=	=	NOUN
app01-3395	61	9	1.05	1.05	NUM
app01-3395	61	10	kg	kg	NOUN
app01-3395	61	11	l	l	NOUN
app01-3395	61	12	=	=	PUNCT
app01-3395	62	1	0.35	0.35	NUM
app01-3395	62	2	m	m	VERB
app01-3395	62	3	kt	kt	PROPN
app01-3395	62	4	=	=	SYM
app01-3395	62	5	0.14	0.14	NUM
app01-3395	62	6	·	·	PUNCT
app01-3395	62	7	10−6	10−6	NUM
app01-3395	62	8	n	n	PRON
app01-3395	62	9	·	·	PUNCT
app01-3395	62	10	rpm−2	rpm−2	VERB
app01-3395	62	11	km	km	NOUN
app01-3395	62	12	=	=	SYM
app01-3395	62	13	4.6	4.6	NUM
app01-3395	62	14	·	·	SYM
app01-3395	62	15	10−9	10−9	NUM
app01-3395	62	16	nm	nm	NOUN
app01-3395	62	17	·	·	PUNCT
app01-3395	62	18	rpm−2	rpm−2	NUM
app01-3395	62	19	ixx	ixx	NOUN
app01-3395	62	20	=	=	SYM
app01-3395	62	21	8.6	8.6	NUM
app01-3395	62	22	·	·	SYM
app01-3395	62	23	10−3	10−3	NUM
app01-3395	62	24	kg	kg	NOUN
app01-3395	62	25	·	·	PUNCT
app01-3395	62	26	m2	m2	PROPN
app01-3395	62	27	iyy	iyy	PROPN
app01-3395	62	28	=	=	SYM
app01-3395	62	29	8.6	8.6	NUM
app01-3395	62	30	·	·	SYM
app01-3395	62	31	10−3	10−3	NUM
app01-3395	62	32	kg	kg	NOUN
app01-3395	62	33	·	·	PUNCT
app01-3395	62	34	m2	m2	PROPN
app01-3395	62	35	izz	izz	PROPN
app01-3395	62	36	=	=	PROPN
app01-3395	62	37	12.0	12.0	NUM
app01-3395	62	38	·	·	SYM
app01-3395	62	39	10−3	10−3	NUM
app01-3395	62	40	kg	kg	NOUN
app01-3395	62	41	·	·	PUNCT
app01-3395	62	42	m2	m2	PROPN
app01-3395	62	43	(	(	PUNCT
app01-3395	62	44	8)	8)	NUM
app01-3395	62	45	3	3	NUM
app01-3395	62	46	.	.	PUNCT
app01-3395	62	47	controller	controller	NOUN
app01-3395	62	48	design	design	NOUN
app01-3395	62	49	to	to	PART
app01-3395	62	50	stabilize	stabilize	VERB
app01-3395	62	51	the	the	DET
app01-3395	62	52	uranus	uranus	PROPN
app01-3395	62	53	uav	uav	PROPN
app01-3395	62	54	,	,	PUNCT
app01-3395	62	55	a	a	DET
app01-3395	62	56	controller	controller	NOUN
app01-3395	62	57	based	base	VERB
app01-3395	62	58	on	on	ADP
app01-3395	62	59	state	state	NOUN
app01-3395	62	60	space	space	NOUN
app01-3395	62	61	representation	representation	NOUN
app01-3395	62	62	of	of	ADP
app01-3395	62	63	the	the	DET
app01-3395	62	64	quadrotor	quadrotor	NOUN
app01-3395	62	65	was	be	AUX
app01-3395	62	66	designed	design	VERB
app01-3395	62	67	.	.	PUNCT
app01-3395	63	1	as	as	SCONJ
app01-3395	63	2	shown	show	VERB
app01-3395	63	3	in	in	ADP
app01-3395	63	4	sect	sect	NOUN
app01-3395	63	5	.	.	PUNCT
app01-3395	64	1	2	2	NUM
app01-3395	64	2	,	,	PUNCT
app01-3395	64	3	the	the	DET
app01-3395	64	4	model	model	NOUN
app01-3395	64	5	of	of	ADP
app01-3395	64	6	the	the	DET
app01-3395	64	7	quadrotor	quadrotor	NOUN
app01-3395	64	8	comprised	comprise	VERB
app01-3395	64	9	2	2	NUM
app01-3395	64	10	parts	part	NOUN
app01-3395	64	11	.	.	PUNCT
app01-3395	65	1	the	the	DET
app01-3395	65	2	first	first	ADJ
app01-3395	65	3	part	part	NOUN
app01-3395	65	4	handles	handle	VERB
app01-3395	65	5	the	the	DET
app01-3395	65	6	non	non	ADJ
app01-3395	65	7	-	-	ADJ
app01-3395	65	8	linear	linear	ADJ
app01-3395	65	9	relation	relation	NOUN
app01-3395	65	10	between	between	ADP
app01-3395	65	11	the	the	DET
app01-3395	65	12	rotation	rotation	NOUN
app01-3395	65	13	speed	speed	NOUN
app01-3395	65	14	of	of	ADP
app01-3395	65	15	the	the	DET
app01-3395	65	16	propellers	propeller	NOUN
app01-3395	65	17	and	and	CCONJ
app01-3395	65	18	the	the	DET
app01-3395	65	19	introduced	introduce	VERB
app01-3395	65	20	variables	variable	NOUN
app01-3395	65	21	u1	u1	NOUN
app01-3395	65	22	u4	u4	PROPN
app01-3395	65	23	denoting	denote	VERB
app01-3395	65	24	the	the	DET
app01-3395	65	25	forces	force	NOUN
app01-3395	65	26	and	and	CCONJ
app01-3395	65	27	torques	torque	NOUN
app01-3395	65	28	affecting	affect	VERB
app01-3395	65	29	the	the	DET
app01-3395	65	30	rigid	rigid	ADJ
app01-3395	65	31	body	body	NOUN
app01-3395	65	32	.	.	PUNCT
app01-3395	66	1	because	because	SCONJ
app01-3395	66	2	this	this	DET
app01-3395	66	3	part	part	NOUN
app01-3395	66	4	of	of	ADP
app01-3395	66	5	the	the	DET
app01-3395	66	6	model	model	NOUN
app01-3395	66	7	does	do	AUX
app01-3395	66	8	not	not	PART
app01-3395	66	9	contain	contain	VERB
app01-3395	66	10	any	any	DET
app01-3395	66	11	dynamics	dynamic	NOUN
app01-3395	66	12	,	,	PUNCT
app01-3395	66	13	this	this	DET
app01-3395	66	14	relation	relation	NOUN
app01-3395	66	15	can	can	AUX
app01-3395	66	16	be	be	AUX
app01-3395	66	17	expressed	express	VERB
app01-3395	66	18	by	by	ADP
app01-3395	66	19	purely	purely	ADV
app01-3395	66	20	static	static	ADJ
app01-3395	66	21	equations	equation	NOUN
app01-3395	66	22	(	(	PUNCT
app01-3395	66	23	3	3	NUM
app01-3395	66	24	)	)	PUNCT
app01-3395	66	25	.	.	PUNCT
app01-3395	67	1	to	to	PART
app01-3395	67	2	handle	handle	VERB
app01-3395	67	3	this	this	PRON
app01-3395	67	4	,	,	PUNCT
app01-3395	67	5	a	a	DET
app01-3395	67	6	mathematical	mathematical	ADJ
app01-3395	67	7	block	block	NOUN
app01-3395	67	8	with	with	ADP
app01-3395	67	9	16	16	NUM
app01-3395	67	10	vol	vol	NOUN
app01-3395	67	11	.	.	PUNCT
app01-3395	68	1	2/2015	2/2015	NUM
app01-3395	68	2	reconnaissance	reconnaissance	PROPN
app01-3395	68	3	micro	micro	PROPN
app01-3395	68	4	uav	uav	PROPN
app01-3395	68	5	system	system	PROPN
app01-3395	68	6	inverse	inverse	NOUN
app01-3395	68	7	function	function	NOUN
app01-3395	68	8	(	(	PUNCT
app01-3395	68	9	9	9	NUM
app01-3395	68	10	)	)	PUNCT
app01-3395	68	11	is	be	AUX
app01-3395	68	12	implemented	implement	VERB
app01-3395	68	13	in	in	ADP
app01-3395	68	14	the	the	DET
app01-3395	68	15	controller	controller	NOUN
app01-3395	68	16	.	.	PUNCT
app01-3395	69	1	n1	n1	PROPN
app01-3395	69	2	=	=	PUNCT
app01-3395	69	3	√	√	PROPN
app01-3395	69	4	2kmu2	2kmu2	NUM
app01-3395	69	5	−	−	PROPN
app01-3395	69	6	kt	kt	PROPN
app01-3395	69	7	lu3	lu3	PROPN
app01-3395	70	1	+	+	CCONJ
app01-3395	70	2	km	km	NOUN
app01-3395	70	3	lu4	lu4	ADP
app01-3395	70	4	4kmkt	4kmkt	PROPN
app01-3395	70	5	l	l	NOUN
app01-3395	70	6	n2	n2	NOUN
app01-3395	70	7	=	=	PUNCT
app01-3395	70	8	√	√	ADJ
app01-3395	70	9	−2kmu1	−2kmu1	NOUN
app01-3395	71	1	+	+	CCONJ
app01-3395	71	2	kt	kt	X
app01-3395	71	3	lu3	lu3	NOUN
app01-3395	71	4	+	+	CCONJ
app01-3395	71	5	km	km	NOUN
app01-3395	71	6	lu4	lu4	ADP
app01-3395	71	7	4kmkt	4kmkt	PROPN
app01-3395	71	8	l	l	NOUN
app01-3395	71	9	n3	n3	NOUN
app01-3395	71	10	=	=	NOUN
app01-3395	71	11	√	√	PROPN
app01-3395	71	12	−2kmu2	−2kmu2	SYM
app01-3395	72	1	−	−	PROPN
app01-3395	72	2	kt	kt	X
app01-3395	72	3	lu3	lu3	PROPN
app01-3395	72	4	+	+	CCONJ
app01-3395	72	5	km	km	NOUN
app01-3395	72	6	lu4	lu4	ADP
app01-3395	72	7	4kmkt	4kmkt	PROPN
app01-3395	72	8	l	l	PROPN
app01-3395	72	9	n4	n4	PROPN
app01-3395	72	10	=	=	PROPN
app01-3395	73	1	√	√	NUM
app01-3395	73	2	2kmu1	2kmu1	NUM
app01-3395	73	3	+	+	CCONJ
app01-3395	73	4	kt	kt	X
app01-3395	73	5	lu3	lu3	NOUN
app01-3395	74	1	+	+	CCONJ
app01-3395	74	2	km	km	NOUN
app01-3395	74	3	lu4	lu4	ADP
app01-3395	74	4	4kmkt	4kmkt	PROPN
app01-3395	74	5	l	l	NOUN
app01-3395	74	6	(	(	PUNCT
app01-3395	74	7	9	9	X
app01-3395	74	8	)	)	PUNCT
app01-3395	74	9	this	this	DET
app01-3395	74	10	block	block	NOUN
app01-3395	74	11	,	,	PUNCT
app01-3395	74	12	together	together	ADV
app01-3395	74	13	with	with	ADP
app01-3395	74	14	the	the	DET
app01-3395	74	15	first	first	ADJ
app01-3395	74	16	part	part	NOUN
app01-3395	74	17	of	of	ADP
app01-3395	74	18	the	the	DET
app01-3395	74	19	model	model	NOUN
app01-3395	74	20	,	,	PUNCT
app01-3395	74	21	will	will	AUX
app01-3395	74	22	act	act	VERB
app01-3395	74	23	as	as	ADP
app01-3395	74	24	a	a	DET
app01-3395	74	25	linear	linear	ADJ
app01-3395	74	26	section	section	NOUN
app01-3395	74	27	with	with	ADP
app01-3395	74	28	unitary	unitary	ADJ
app01-3395	74	29	transfer	transfer	NOUN
app01-3395	74	30	function	function	NOUN
app01-3395	74	31	(	(	PUNCT
app01-3395	74	32	while	while	SCONJ
app01-3395	74	33	operating	operate	VERB
app01-3395	74	34	in	in	ADP
app01-3395	74	35	the	the	DET
app01-3395	74	36	working	work	VERB
app01-3395	74	37	range	range	NOUN
app01-3395	74	38	of	of	ADP
app01-3395	74	39	the	the	DET
app01-3395	74	40	rotor	rotor	NOUN
app01-3395	74	41	drivers	driver	NOUN
app01-3395	74	42	)	)	PUNCT
app01-3395	74	43	.	.	PUNCT
app01-3395	75	1	this	this	PRON
app01-3395	75	2	allows	allow	VERB
app01-3395	75	3	direct	direct	ADJ
app01-3395	75	4	use	use	NOUN
app01-3395	75	5	of	of	ADP
app01-3395	75	6	the	the	DET
app01-3395	75	7	variables	variable	NOUN
app01-3395	75	8	u1	u1	NOUN
app01-3395	75	9	u4	u4	PROPN
app01-3395	75	10	as	as	ADP
app01-3395	75	11	inputs	input	NOUN
app01-3395	75	12	to	to	ADP
app01-3395	75	13	the	the	DET
app01-3395	75	14	system	system	NOUN
app01-3395	75	15	and	and	CCONJ
app01-3395	75	16	enables	enable	VERB
app01-3395	75	17	us	we	PRON
app01-3395	75	18	to	to	PART
app01-3395	75	19	treat	treat	VERB
app01-3395	75	20	these	these	DET
app01-3395	75	21	parts	part	NOUN
app01-3395	75	22	of	of	ADP
app01-3395	75	23	the	the	DET
app01-3395	75	24	system	system	NOUN
app01-3395	75	25	as	as	ADP
app01-3395	75	26	linear	linear	NOUN
app01-3395	75	27	.	.	PUNCT
app01-3395	76	1	the	the	DET
app01-3395	76	2	schema	schema	NOUN
app01-3395	76	3	of	of	ADP
app01-3395	76	4	the	the	DET
app01-3395	76	5	system	system	NOUN
app01-3395	76	6	with	with	ADP
app01-3395	76	7	the	the	DET
app01-3395	76	8	controller	controller	NOUN
app01-3395	76	9	is	be	AUX
app01-3395	76	10	shown	show	VERB
app01-3395	76	11	in	in	ADP
app01-3395	76	12	fig	fig	NOUN
app01-3395	76	13	.	.	PUNCT
app01-3395	77	1	2	2	NUM
app01-3395	77	2	;	;	PUNCT
app01-3395	77	3	here	here	ADV
app01-3395	77	4	,	,	PUNCT
app01-3395	77	5	a	a	DET
app01-3395	77	6	classical	classical	ADJ
app01-3395	77	7	state	state	NOUN
app01-3395	77	8	space	space	NOUN
app01-3395	77	9	controller	controller	NOUN
app01-3395	77	10	is	be	AUX
app01-3395	77	11	extended	extend	VERB
app01-3395	77	12	by	by	ADP
app01-3395	77	13	few	few	ADJ
app01-3395	77	14	enhancements	enhancement	NOUN
app01-3395	77	15	.	.	PUNCT
app01-3395	78	1	the	the	DET
app01-3395	78	2	first	first	ADJ
app01-3395	78	3	one	one	NOUN
app01-3395	78	4	is	be	AUX
app01-3395	78	5	a	a	DET
app01-3395	78	6	bias	bias	NOUN
app01-3395	78	7	(	(	PUNCT
app01-3395	78	8	u4−0	u4−0	X
app01-3395	78	9	)	)	PUNCT
app01-3395	78	10	added	add	VERB
app01-3395	78	11	to	to	ADP
app01-3395	78	12	the	the	DET
app01-3395	78	13	input	input	NOUN
app01-3395	78	14	u4	u4	PROPN
app01-3395	78	15	,	,	PUNCT
app01-3395	78	16	whose	whose	DET
app01-3395	78	17	function	function	NOUN
app01-3395	78	18	is	be	AUX
app01-3395	78	19	to	to	PART
app01-3395	78	20	ensure	ensure	VERB
app01-3395	78	21	the	the	DET
app01-3395	78	22	thrust	thrust	NOUN
app01-3395	78	23	needed	need	VERB
app01-3395	78	24	to	to	PART
app01-3395	78	25	keep	keep	VERB
app01-3395	78	26	the	the	DET
app01-3395	78	27	quadrotor	quadrotor	NOUN
app01-3395	78	28	in	in	ADP
app01-3395	78	29	hover	hover	NOUN
app01-3395	78	30	flight	flight	NOUN
app01-3395	78	31	.	.	PUNCT
app01-3395	79	1	the	the	DET
app01-3395	79	2	next	next	ADJ
app01-3395	79	3	one	one	NOUN
app01-3395	79	4	consists	consist	VERB
app01-3395	79	5	in	in	ADP
app01-3395	79	6	adding	add	VERB
app01-3395	79	7	a	a	DET
app01-3395	79	8	new	new	ADJ
app01-3395	79	9	state	state	NOUN
app01-3395	79	10	iz	iz	INTJ
app01-3395	79	11	,	,	PUNCT
app01-3395	79	12	which	which	PRON
app01-3395	79	13	is	be	AUX
app01-3395	79	14	an	an	DET
app01-3395	79	15	integral	integral	NOUN
app01-3395	79	16	of	of	ADP
app01-3395	79	17	the	the	DET
app01-3395	79	18	altitude	altitude	NOUN
app01-3395	79	19	error	error	NOUN
app01-3395	79	20	,	,	PUNCT
app01-3395	79	21	z.	z.	PROPN
app01-3395	80	1	the	the	DET
app01-3395	80	2	purpose	purpose	NOUN
app01-3395	80	3	of	of	ADP
app01-3395	80	4	this	this	PRON
app01-3395	80	5	is	be	AUX
app01-3395	80	6	to	to	PART
app01-3395	80	7	achieve	achieve	VERB
app01-3395	80	8	zero	zero	NUM
app01-3395	80	9	steady	steady	ADJ
app01-3395	80	10	-	-	PUNCT
app01-3395	80	11	state	state	NOUN
app01-3395	80	12	error	error	NOUN
app01-3395	80	13	while	while	SCONJ
app01-3395	80	14	hovering	hover	VERB
app01-3395	80	15	,	,	PUNCT
app01-3395	80	16	because	because	SCONJ
app01-3395	80	17	it	it	PRON
app01-3395	80	18	is	be	AUX
app01-3395	80	19	almost	almost	ADV
app01-3395	80	20	impossible	impossible	ADJ
app01-3395	80	21	to	to	PART
app01-3395	80	22	set	set	VERB
app01-3395	80	23	up	up	ADP
app01-3395	80	24	a	a	DET
app01-3395	80	25	thrust	thrust	NOUN
app01-3395	80	26	that	that	PRON
app01-3395	80	27	exactly	exactly	ADV
app01-3395	80	28	compensates	compensate	VERB
app01-3395	80	29	the	the	DET
app01-3395	80	30	gravity	gravity	NOUN
app01-3395	80	31	force	force	NOUN
app01-3395	80	32	.	.	PUNCT
app01-3395	81	1	the	the	DET
app01-3395	81	2	design	design	NOUN
app01-3395	81	3	of	of	ADP
app01-3395	81	4	the	the	DET
app01-3395	81	5	state	state	NOUN
app01-3395	81	6	space	space	NOUN
app01-3395	81	7	controller	controller	NOUN
app01-3395	81	8	is	be	AUX
app01-3395	81	9	based	base	VERB
app01-3395	81	10	on	on	ADP
app01-3395	81	11	a	a	DET
app01-3395	81	12	linearized	linearize	VERB
app01-3395	81	13	model	model	NOUN
app01-3395	81	14	of	of	ADP
app01-3395	81	15	the	the	DET
app01-3395	81	16	rigid	rigid	ADJ
app01-3395	81	17	part	part	NOUN
app01-3395	81	18	of	of	ADP
app01-3395	81	19	the	the	DET
app01-3395	81	20	quadrotor	quadrotor	NOUN
app01-3395	81	21	.	.	PUNCT
app01-3395	82	1	equations	equation	NOUN
app01-3395	82	2	(	(	PUNCT
app01-3395	82	3	6	6	NUM
app01-3395	82	4	)	)	PUNCT
app01-3395	82	5	and	and	CCONJ
app01-3395	82	6	(	(	PUNCT
app01-3395	82	7	7	7	X
app01-3395	82	8	)	)	PUNCT
app01-3395	82	9	are	be	AUX
app01-3395	82	10	linearized	linearize	VERB
app01-3395	82	11	around	around	ADP
app01-3395	82	12	the	the	DET
app01-3395	82	13	working	working	NOUN
app01-3395	82	14	point	point	NOUN
app01-3395	82	15	,	,	PUNCT
app01-3395	82	16	which	which	PRON
app01-3395	82	17	is	be	AUX
app01-3395	82	18	hovering	hover	VERB
app01-3395	82	19	.	.	PUNCT
app01-3395	83	1	for	for	ADP
app01-3395	83	2	the	the	DET
app01-3395	83	3	equilibrium	equilibrium	NOUN
app01-3395	83	4	point	point	NOUN
app01-3395	83	5	,	,	PUNCT
app01-3395	83	6	we	we	PRON
app01-3395	83	7	have	have	VERB
app01-3395	83	8	φ	φ	NOUN
app01-3395	83	9	=	=	SYM
app01-3395	83	10	θ	θ	X
app01-3395	83	11	=	=	SYM
app01-3395	83	12	ωx	ωx	PROPN
app01-3395	83	13	=	=	SYM
app01-3395	83	14	ωy	ωy	PROPN
app01-3395	83	15	=	=	NOUN
app01-3395	83	16	0	0	PROPN
app01-3395	83	17	.	.	PUNCT
app01-3395	84	1	(	(	PUNCT
app01-3395	84	2	10	10	NUM
app01-3395	84	3	)	)	PUNCT
app01-3395	84	4	to	to	PART
app01-3395	84	5	reach	reach	VERB
app01-3395	84	6	this	this	DET
app01-3395	84	7	state	state	NOUN
app01-3395	84	8	,	,	PUNCT
app01-3395	84	9	the	the	DET
app01-3395	84	10	thrust	thrust	NOUN
app01-3395	84	11	of	of	ADP
app01-3395	84	12	the	the	DET
app01-3395	84	13	rotors	rotor	NOUN
app01-3395	84	14	must	must	AUX
app01-3395	84	15	compensate	compensate	VERB
app01-3395	84	16	the	the	DET
app01-3395	84	17	gravity	gravity	NOUN
app01-3395	84	18	force	force	NOUN
app01-3395	84	19	acting	act	VERB
app01-3395	84	20	in	in	ADP
app01-3395	84	21	z	z	NOUN
app01-3395	84	22	axis	axis	NOUN
app01-3395	84	23	at	at	ADP
app01-3395	84	24	horizontal	horizontal	ADJ
app01-3395	84	25	flight	flight	NOUN
app01-3395	84	26	.	.	PUNCT
app01-3395	85	1	thus	thus	ADV
app01-3395	85	2	u4−0	u4−0	X
app01-3395	85	3	=	=	SYM
app01-3395	85	4	mg	mg	PROPN
app01-3395	85	5	.	.	PUNCT
app01-3395	86	1	(	(	PUNCT
app01-3395	86	2	11	11	NUM
app01-3395	86	3	)	)	PUNCT
app01-3395	86	4	the	the	DET
app01-3395	86	5	system	system	NOUN
app01-3395	86	6	matrices	matrice	VERB
app01-3395	86	7	a	a	PRON
app01-3395	86	8	and	and	CCONJ
app01-3395	86	9	b	b	NOUN
app01-3395	86	10	required	require	VERB
app01-3395	86	11	for	for	ADP
app01-3395	86	12	the	the	DET
app01-3395	86	13	controller	controller	NOUN
app01-3395	86	14	design	design	NOUN
app01-3395	86	15	are	be	AUX
app01-3395	86	16	derived	derive	VERB
app01-3395	86	17	from	from	ADP
app01-3395	86	18	linearized	linearized	ADJ
app01-3395	86	19	equations	equation	NOUN
app01-3395	86	20	(	(	PUNCT
app01-3395	86	21	4	4	NUM
app01-3395	86	22	)	)	PUNCT
app01-3395	86	23	,	,	PUNCT
app01-3395	86	24	(	(	PUNCT
app01-3395	86	25	5	5	NUM
app01-3395	86	26	)	)	PUNCT
app01-3395	86	27	,	,	PUNCT
app01-3395	86	28	(	(	PUNCT
app01-3395	86	29	6	6	NUM
app01-3395	86	30	)	)	PUNCT
app01-3395	86	31	and	and	CCONJ
app01-3395	86	32	(	(	PUNCT
app01-3395	86	33	7	7	NUM
app01-3395	86	34	)	)	PUNCT
app01-3395	86	35	.	.	PUNCT
app01-3395	87	1	the	the	DET
app01-3395	87	2	matrix	matrix	NOUN
app01-3395	87	3	c	c	NOUN
app01-3395	87	4	is	be	AUX
app01-3395	87	5	an	an	DET
app01-3395	87	6	identity	identity	NOUN
app01-3395	87	7	matrix	matrix	NOUN
app01-3395	87	8	,	,	PUNCT
app01-3395	87	9	and	and	CCONJ
app01-3395	87	10	the	the	DET
app01-3395	87	11	matrix	matrix	NOUN
app01-3395	87	12	d	d	NOUN
app01-3395	87	13	is	be	AUX
app01-3395	87	14	a	a	DET
app01-3395	87	15	zero	zero	NUM
app01-3395	87	16	matrix	matrix	NOUN
app01-3395	87	17	.	.	PUNCT
app01-3395	88	1	the	the	DET
app01-3395	88	2	matrix	matrix	NOUN
app01-3395	88	3	k	k	NOUN
app01-3395	88	4	,	,	PUNCT
app01-3395	88	5	which	which	PRON
app01-3395	88	6	determines	determine	VERB
app01-3395	88	7	the	the	DET
app01-3395	88	8	control	control	NOUN
app01-3395	88	9	law	law	NOUN
app01-3395	88	10	,	,	PUNCT
app01-3395	88	11	was	be	AUX
app01-3395	88	12	obtained	obtain	VERB
app01-3395	88	13	experimentally	experimentally	ADV
app01-3395	88	14	by	by	ADP
app01-3395	88	15	the	the	DET
app01-3395	88	16	pole	pole	NOUN
app01-3395	88	17	placement	placement	NOUN
app01-3395	88	18	method	method	NOUN
app01-3395	88	19	.	.	PUNCT
app01-3395	89	1	matrix	matrix	NOUN
app01-3395	90	1	k	k	NOUN
app01-3395	90	2	:	:	PUNCT
app01-3395	90	3	ωx	ωx	AUX
app01-3395	90	4	ωy	ωy	PROPN
app01-3395	91	1	ωz	ωz	ADV
app01-3395	91	2	vx	vx	PROPN
app01-3395	91	3	vy	vy	PROPN
app01-3395	91	4	vz	vz	PROPN
app01-3395	91	5	φ	φ	PROPN
app01-3395	91	6	θ	θ	PROPN
app01-3395	91	7	ψ	ψ	X
app01-3395	91	8	x	x	X
app01-3395	91	9	y	y	PROPN
app01-3395	91	10	z	z	NOUN
app01-3395	91	11	iz	iz	PROPN
app01-3395	91	12	u1	u1	VERB
app01-3395	91	13	1.05	1.05	NUM
app01-3395	91	14	0	0	NUM
app01-3395	91	15	0	0	NUM
app01-3395	91	16	0	0	NUM
app01-3395	91	17	0.29	0.29	NUM
app01-3395	91	18	0	0	NUM
app01-3395	91	19	2.66	2.66	NUM
app01-3395	91	20	0	0	NUM
app01-3395	91	21	0	0	NUM
app01-3395	91	22	0	0	NUM
app01-3395	91	23	0.12	0.12	NUM
app01-3395	91	24	0	0	NUM
app01-3395	91	25	0	0	NUM
app01-3395	91	26	u2	u2	NOUN
app01-3395	91	27	0	0	NUM
app01-3395	91	28	1.05	1.05	NUM
app01-3395	91	29	0	0	PUNCT
app01-3395	92	1	−0.29	−0.29	NOUN
app01-3395	92	2	0	0	NUM
app01-3395	92	3	0	0	NUM
app01-3395	92	4	0	0	NUM
app01-3395	92	5	2.66	2.66	NUM
app01-3395	92	6	0	0	NUM
app01-3395	93	1	−0.12	−0.12	NOUN
app01-3395	93	2	0	0	NUM
app01-3395	93	3	0	0	SYM
app01-3395	93	4	0	0	NUM
app01-3395	93	5	u3	u3	NOUN
app01-3395	93	6	0	0	NUM
app01-3395	93	7	0	0	NUM
app01-3395	93	8	0.66	0.66	NUM
app01-3395	93	9	0	0	NUM
app01-3395	93	10	0	0	NUM
app01-3395	93	11	0	0	NUM
app01-3395	93	12	0	0	NUM
app01-3395	93	13	0	0	NUM
app01-3395	93	14	0.44	0.44	NUM
app01-3395	93	15	0	0	NUM
app01-3395	93	16	0	0	NUM
app01-3395	93	17	0	0	NUM
app01-3395	93	18	0	0	NUM
app01-3395	94	1	u4	u4	PROPN
app01-3395	94	2	0	0	NUM
app01-3395	94	3	0	0	NUM
app01-3395	94	4	0	0	NUM
app01-3395	94	5	0	0	NUM
app01-3395	94	6	0	0	NUM
app01-3395	95	1	−4.08	−4.08	DET
app01-3395	95	2	0	0	NUM
app01-3395	95	3	0	0	NUM
app01-3395	95	4	0	0	NUM
app01-3395	95	5	0	0	NUM
app01-3395	95	6	0	0	NUM
app01-3395	95	7	−6.32−3.06	−6.32−3.06	PROPN
app01-3395	95	8	it	it	PRON
app01-3395	95	9	can	can	AUX
app01-3395	95	10	be	be	AUX
app01-3395	95	11	observed	observe	VERB
app01-3395	95	12	from	from	ADP
app01-3395	95	13	this	this	DET
app01-3395	95	14	matrix	matrix	NOUN
app01-3395	95	15	that	that	PRON
app01-3395	95	16	the	the	DET
app01-3395	95	17	linearized	linearize	VERB
app01-3395	95	18	state	state	NOUN
app01-3395	95	19	space	space	NOUN
app01-3395	95	20	description	description	NOUN
app01-3395	95	21	decoupled	decouple	VERB
app01-3395	95	22	the	the	DET
app01-3395	95	23	system	system	NOUN
app01-3395	95	24	into	into	ADP
app01-3395	95	25	independent	independent	ADJ
app01-3395	95	26	subsystems	subsystem	NOUN
app01-3395	95	27	for	for	ADP
app01-3395	95	28	each	each	DET
app01-3395	95	29	axis	axis	NOUN
app01-3395	95	30	.	.	PUNCT
app01-3395	96	1	;	;	PUNCT
app01-3395	96	2	the	the	DET
app01-3395	96	3	controller	controller	NOUN
app01-3395	96	4	therefore	therefore	ADV
app01-3395	96	5	handles	handle	VERB
app01-3395	96	6	it	it	PRON
app01-3395	96	7	in	in	ADP
app01-3395	96	8	this	this	DET
app01-3395	96	9	manner	manner	NOUN
app01-3395	96	10	.	.	PUNCT
app01-3395	97	1	in	in	ADP
app01-3395	97	2	fact	fact	NOUN
app01-3395	97	3	,	,	PUNCT
app01-3395	97	4	from	from	ADP
app01-3395	97	5	the	the	DET
app01-3395	97	6	perspective	perspective	NOUN
app01-3395	97	7	of	of	ADP
app01-3395	97	8	attitude	attitude	NOUN
app01-3395	97	9	control	control	NOUN
app01-3395	97	10	,	,	PUNCT
app01-3395	97	11	the	the	DET
app01-3395	97	12	state	state	NOUN
app01-3395	97	13	space	space	NOUN
app01-3395	97	14	controller	controller	NOUN
app01-3395	97	15	can	can	AUX
app01-3395	97	16	be	be	AUX
app01-3395	97	17	understood	understand	VERB
app01-3395	97	18	as	as	ADP
app01-3395	97	19	a	a	DET
app01-3395	97	20	set	set	NOUN
app01-3395	97	21	of	of	ADP
app01-3395	97	22	separated	separate	VERB
app01-3395	97	23	pi	pi	NOUN
app01-3395	97	24	or	or	CCONJ
app01-3395	97	25	pd	pd	PROPN
app01-3395	97	26	controllers	controller	NOUN
app01-3395	97	27	.	.	PUNCT
app01-3395	98	1	the	the	DET
app01-3395	98	2	results	result	NOUN
app01-3395	98	3	then	then	ADV
app01-3395	98	4	prove	prove	VERB
app01-3395	98	5	that	that	SCONJ
app01-3395	98	6	the	the	DET
app01-3395	98	7	approach	approach	NOUN
app01-3395	98	8	involving	involve	VERB
app01-3395	98	9	a	a	DET
app01-3395	98	10	space	space	NOUN
app01-3395	98	11	controller	controller	NOUN
app01-3395	98	12	and	and	CCONJ
app01-3395	98	13	the	the	DET
app01-3395	98	14	approach	approach	NOUN
app01-3395	98	15	employing	employ	VERB
app01-3395	98	16	pid	pid	NOUN
app01-3395	98	17	controllers	controller	NOUN
app01-3395	98	18	provide	provide	VERB
app01-3395	98	19	comparable	comparable	ADJ
app01-3395	98	20	results	result	NOUN
app01-3395	98	21	in	in	ADP
app01-3395	98	22	this	this	DET
app01-3395	98	23	mode	mode	NOUN
app01-3395	98	24	of	of	ADP
app01-3395	98	25	flight	flight	NOUN
app01-3395	98	26	.	.	PUNCT
app01-3395	99	1	first	first	ADV
app01-3395	99	2	,	,	PUNCT
app01-3395	99	3	the	the	DET
app01-3395	99	4	real	real	ADJ
app01-3395	99	5	behavior	behavior	NOUN
app01-3395	99	6	of	of	ADP
app01-3395	99	7	the	the	DET
app01-3395	99	8	designed	design	VERB
app01-3395	99	9	controller	controller	NOUN
app01-3395	99	10	was	be	AUX
app01-3395	99	11	tested	test	VERB
app01-3395	99	12	in	in	ADP
app01-3395	99	13	a	a	DET
app01-3395	99	14	laboratory	laboratory	NOUN
app01-3395	99	15	.	.	PUNCT
app01-3395	100	1	figs	fig	NOUN
app01-3395	100	2	.	.	PUNCT
app01-3395	101	1	3	3	NUM
app01-3395	101	2	and	and	CCONJ
app01-3395	101	3	4	4	NUM
app01-3395	101	4	show	show	VERB
app01-3395	101	5	the	the	DET
app01-3395	101	6	step	step	NOUN
app01-3395	101	7	responses	response	NOUN
app01-3395	101	8	for	for	ADP
app01-3395	101	9	the	the	DET
app01-3395	101	10	angular	angular	ADJ
app01-3395	101	11	rotations	rotation	NOUN
app01-3395	101	12	pitch	pitch	NOUN
app01-3395	101	13	and	and	CCONJ
app01-3395	101	14	yaw	yaw	NOUN
app01-3395	101	15	,	,	PUNCT
app01-3395	101	16	which	which	PRON
app01-3395	101	17	were	be	AUX
app01-3395	101	18	both	both	PRON
app01-3395	101	19	measured	measure	VERB
app01-3395	101	20	independently	independently	ADV
app01-3395	101	21	on	on	ADP
app01-3395	101	22	a	a	DET
app01-3395	101	23	special	special	ADJ
app01-3395	101	24	tool	tool	NOUN
app01-3395	101	25	.	.	PUNCT
app01-3395	102	1	4	4	X
app01-3395	102	2	.	.	X
app01-3395	102	3	implementation	implementation	NOUN
app01-3395	102	4	4.1	4.1	NUM
app01-3395	102	5	.	.	PUNCT
app01-3395	103	1	construction	construction	NOUN
app01-3395	103	2	the	the	DET
app01-3395	103	3	uranus	uranus	PROPN
app01-3395	103	4	uav	uav	PROPN
app01-3395	103	5	has	have	VERB
app01-3395	103	6	a	a	DET
app01-3395	103	7	well	well	ADV
app01-3395	103	8	-	-	PUNCT
app01-3395	103	9	known	know	VERB
app01-3395	103	10	,	,	PUNCT
app01-3395	103	11	four	four	NUM
app01-3395	103	12	-	-	PUNCT
app01-3395	103	13	rotor	rotor	NOUN
app01-3395	103	14	structure	structure	NOUN
app01-3395	103	15	often	often	ADV
app01-3395	103	16	referred	refer	VERB
app01-3395	103	17	to	to	ADP
app01-3395	103	18	as	as	ADP
app01-3395	103	19	quadrotor	quadrotor	NOUN
app01-3395	103	20	or	or	CCONJ
app01-3395	103	21	quadrocopter	quadrocopter	NOUN
app01-3395	103	22	.	.	PUNCT
app01-3395	104	1	the	the	DET
app01-3395	104	2	construction	construction	NOUN
app01-3395	104	3	consists	consist	VERB
app01-3395	104	4	of	of	ADP
app01-3395	104	5	two	two	NUM
app01-3395	104	6	orthogonal	orthogonal	ADJ
app01-3395	104	7	aluminum	aluminum	NOUN
app01-3395	104	8	beams	beam	NOUN
app01-3395	104	9	,	,	PUNCT
app01-3395	104	10	which	which	PRON
app01-3395	104	11	form	form	VERB
app01-3395	104	12	a	a	DET
app01-3395	104	13	symmetric	symmetric	ADJ
app01-3395	104	14	cross	cross	NOUN
app01-3395	104	15	.	.	PUNCT
app01-3395	105	1	all	all	DET
app01-3395	105	2	the	the	DET
app01-3395	105	3	electronic	electronic	ADJ
app01-3395	105	4	devices	device	NOUN
app01-3395	105	5	and	and	CCONJ
app01-3395	105	6	printed	print	VERB
app01-3395	105	7	circuit	circuit	NOUN
app01-3395	105	8	boards	board	NOUN
app01-3395	105	9	(	(	PUNCT
app01-3395	105	10	pcb	pcb	PROPN
app01-3395	105	11	)	)	PUNCT
app01-3395	105	12	are	be	AUX
app01-3395	105	13	situated	situate	VERB
app01-3395	105	14	in	in	ADP
app01-3395	105	15	the	the	DET
app01-3395	105	16	middle	middle	NOUN
app01-3395	105	17	of	of	ADP
app01-3395	105	18	the	the	DET
app01-3395	105	19	cross	cross	NOUN
app01-3395	105	20	to	to	PART
app01-3395	105	21	ensure	ensure	VERB
app01-3395	105	22	that	that	SCONJ
app01-3395	105	23	the	the	DET
app01-3395	105	24	center	center	NOUN
app01-3395	105	25	of	of	ADP
app01-3395	105	26	gravity	gravity	NOUN
app01-3395	105	27	is	be	AUX
app01-3395	105	28	also	also	ADV
app01-3395	105	29	in	in	ADP
app01-3395	105	30	the	the	DET
app01-3395	105	31	middle	middle	NOUN
app01-3395	105	32	.	.	PUNCT
app01-3395	106	1	at	at	ADP
app01-3395	106	2	the	the	DET
app01-3395	106	3	end	end	NOUN
app01-3395	106	4	of	of	ADP
app01-3395	106	5	each	each	DET
app01-3395	106	6	beam	beam	NOUN
app01-3395	106	7	there	there	PRON
app01-3395	106	8	is	be	VERB
app01-3395	106	9	one	one	NUM
app01-3395	106	10	brushless	brushless	NOUN
app01-3395	106	11	dc	dc	PROPN
app01-3395	106	12	(	(	PUNCT
app01-3395	106	13	bldc	bldc	PROPN
app01-3395	106	14	)	)	PUNCT
app01-3395	106	15	axi	axi	PROPN
app01-3395	106	16	2212/34	2212/34	PROPN
app01-3395	106	17	electromotor	electromotor	NOUN
app01-3395	106	18	equipped	equip	VERB
app01-3395	106	19	with	with	ADP
app01-3395	106	20	a	a	DET
app01-3395	106	21	graupner	graupner	NOUN
app01-3395	106	22	11"x	11"x	NUM
app01-3395	106	23	5	5	NUM
app01-3395	106	24	"	"	PUNCT
app01-3395	106	25	carbon	carbon	NOUN
app01-3395	106	26	propeller	propeller	NOUN
app01-3395	106	27	.	.	PUNCT
app01-3395	107	1	to	to	PART
app01-3395	107	2	suppress	suppress	VERB
app01-3395	107	3	the	the	DET
app01-3395	107	4	mechanical	mechanical	ADJ
app01-3395	107	5	vibrations	vibration	NOUN
app01-3395	107	6	,	,	PUNCT
app01-3395	107	7	the	the	DET
app01-3395	107	8	motors	motor	NOUN
app01-3395	107	9	are	be	AUX
app01-3395	107	10	mounted	mount	VERB
app01-3395	107	11	on	on	ADP
app01-3395	107	12	the	the	DET
app01-3395	107	13	rigid	rigid	ADJ
app01-3395	107	14	quadrotor	quadrotor	NOUN
app01-3395	107	15	frame	frame	NOUN
app01-3395	107	16	through	through	ADP
app01-3395	107	17	rubber	rubber	NOUN
app01-3395	107	18	pads	pad	NOUN
app01-3395	107	19	.	.	PUNCT
app01-3395	108	1	the	the	DET
app01-3395	108	2	uav	uav	PROPN
app01-3395	108	3	overall	overall	ADJ
app01-3395	108	4	dimensions	dimension	NOUN
app01-3395	108	5	are	be	AUX
app01-3395	108	6	701x701x188	701x701x188	NUM
app01-3395	108	7	mm	mm	NOUN
app01-3395	108	8	,	,	PUNCT
app01-3395	108	9	and	and	CCONJ
app01-3395	108	10	the	the	DET
app01-3395	108	11	weight	weight	NOUN
app01-3395	108	12	is	be	AUX
app01-3395	108	13	1.05	1.05	NUM
app01-3395	108	14	kg	kg	NOUN
app01-3395	108	15	.	.	PUNCT
app01-3395	109	1	the	the	DET
app01-3395	109	2	maximal	maximal	ADJ
app01-3395	109	3	combined	combine	VERB
app01-3395	109	4	motor	motor	NOUN
app01-3395	109	5	thrust	thrust	NOUN
app01-3395	109	6	is	be	AUX
app01-3395	109	7	about	about	ADV
app01-3395	109	8	24	24	NUM
app01-3395	109	9	n	n	CCONJ
app01-3395	109	10	,	,	PUNCT
app01-3395	109	11	so	so	SCONJ
app01-3395	109	12	it	it	PRON
app01-3395	109	13	is	be	AUX
app01-3395	109	14	possible	possible	ADJ
app01-3395	109	15	to	to	PART
app01-3395	109	16	carry	carry	VERB
app01-3395	109	17	a	a	DET
app01-3395	109	18	150	150	NUM
app01-3395	109	19	g	g	NOUN
app01-3395	109	20	payload	payload	NOUN
app01-3395	109	21	without	without	ADP
app01-3395	109	22	reducing	reduce	VERB
app01-3395	109	23	the	the	DET
app01-3395	109	24	maneuverability	maneuverability	NOUN
app01-3395	109	25	.	.	PUNCT
app01-3395	110	1	the	the	DET
app01-3395	110	2	construction	construction	NOUN
app01-3395	110	3	is	be	AUX
app01-3395	110	4	mechanically	mechanically	ADV
app01-3395	110	5	simple	simple	ADJ
app01-3395	110	6	and	and	CCONJ
app01-3395	110	7	also	also	ADV
app01-3395	110	8	allows	allow	VERB
app01-3395	110	9	additional	additional	ADJ
app01-3395	110	10	modifications	modification	NOUN
app01-3395	110	11	.	.	PUNCT
app01-3395	111	1	4.2	4.2	NUM
app01-3395	111	2	.	.	PUNCT
app01-3395	111	3	hardware	hardware	NOUN
app01-3395	111	4	the	the	DET
app01-3395	111	5	uav	uav	PROPN
app01-3395	111	6	is	be	AUX
app01-3395	111	7	equipped	equip	VERB
app01-3395	111	8	with	with	ADP
app01-3395	111	9	several	several	ADJ
app01-3395	111	10	pcbs	pcb	NOUN
app01-3395	111	11	.	.	PUNCT
app01-3395	112	1	the	the	DET
app01-3395	112	2	central	central	ADJ
app01-3395	112	3	one	one	NOUN
app01-3395	112	4	is	be	AUX
app01-3395	112	5	the	the	DET
app01-3395	112	6	control	control	PROPN
app01-3395	112	7	board	board	PROPN
app01-3395	112	8	,	,	PUNCT
app01-3395	112	9	which	which	PRON
app01-3395	112	10	contains	contain	VERB
app01-3395	112	11	a	a	DET
app01-3395	112	12	control	control	NOUN
app01-3395	112	13	microcontroller	microcontroller	NOUN
app01-3395	112	14	(	(	PUNCT
app01-3395	112	15	mcu	mcu	PROPN
app01-3395	112	16	)	)	PUNCT
app01-3395	112	17	,	,	PUNCT
app01-3395	112	18	a	a	DET
app01-3395	112	19	power	power	NOUN
app01-3395	112	20	supply	supply	NOUN
app01-3395	112	21	,	,	PUNCT
app01-3395	112	22	and	and	CCONJ
app01-3395	112	23	various	various	ADJ
app01-3395	112	24	sensors	sensor	NOUN
app01-3395	112	25	.	.	PUNCT
app01-3395	113	1	the	the	DET
app01-3395	113	2	other	other	ADJ
app01-3395	113	3	boards	board	NOUN
app01-3395	113	4	are	be	AUX
app01-3395	113	5	the	the	DET
app01-3395	113	6	communication	communication	NOUN
app01-3395	113	7	module	module	NOUN
app01-3395	113	8	,	,	PUNCT
app01-3395	113	9	bldc	bldc	PROPN
app01-3395	113	10	controllers	controller	NOUN
app01-3395	113	11	,	,	PUNCT
app01-3395	113	12	and	and	CCONJ
app01-3395	113	13	ultrasound	ultrasound	PROPN
app01-3395	113	14	sensor	sensor	NOUN
app01-3395	113	15	.	.	PUNCT
app01-3395	114	1	the	the	DET
app01-3395	114	2	sensor	sensor	NOUN
app01-3395	114	3	unit	unit	NOUN
app01-3395	114	4	and	and	CCONJ
app01-3395	114	5	gps	gps	PROPN
app01-3395	114	6	receiver	receiver	NOUN
app01-3395	114	7	are	be	AUX
app01-3395	114	8	encased	encased	ADJ
app01-3395	114	9	in	in	ADP
app01-3395	114	10	their	their	PRON
app01-3395	114	11	own	own	ADJ
app01-3395	114	12	packages	package	NOUN
app01-3395	114	13	,	,	PUNCT
app01-3395	114	14	and	and	CCONJ
app01-3395	114	15	they	they	PRON
app01-3395	114	16	are	be	AUX
app01-3395	114	17	connected	connect	VERB
app01-3395	114	18	to	to	ADP
app01-3395	114	19	the	the	DET
app01-3395	114	20	control	control	PROPN
app01-3395	114	21	board	board	PROPN
app01-3395	114	22	.	.	PUNCT
app01-3395	115	1	the	the	DET
app01-3395	115	2	block	block	NOUN
app01-3395	115	3	scheme	scheme	NOUN
app01-3395	115	4	of	of	ADP
app01-3395	115	5	the	the	DET
app01-3395	115	6	uranus	uranus	PROPN
app01-3395	115	7	uav	uav	PROPN
app01-3395	115	8	system	system	NOUN
app01-3395	115	9	is	be	AUX
app01-3395	115	10	shown	show	VERB
app01-3395	115	11	in	in	ADP
app01-3395	115	12	fig	fig	NOUN
app01-3395	115	13	.	.	PUNCT
app01-3395	116	1	5	5	NUM
app01-3395	116	2	.	.	X
app01-3395	116	3	all	all	DET
app01-3395	116	4	the	the	DET
app01-3395	116	5	electronic	electronic	ADJ
app01-3395	116	6	devices	device	NOUN
app01-3395	116	7	on	on	ADP
app01-3395	116	8	the	the	DET
app01-3395	116	9	uav	uav	PROPN
app01-3395	116	10	are	be	AUX
app01-3395	116	11	powered	power	VERB
app01-3395	116	12	by	by	ADP
app01-3395	116	13	a	a	DET
app01-3395	116	14	li	li	PROPN
app01-3395	116	15	-	-	ADJ
app01-3395	116	16	pol	pol	PROPN
app01-3395	116	17	accumulator	accumulator	NOUN
app01-3395	116	18	.	.	PUNCT
app01-3395	117	1	in	in	ADP
app01-3395	117	2	this	this	DET
app01-3395	117	3	construction	construction	NOUN
app01-3395	117	4	,	,	PUNCT
app01-3395	117	5	a	a	DET
app01-3395	117	6	3	3	NUM
app01-3395	117	7	-	-	PUNCT
app01-3395	117	8	cell	cell	NOUN
app01-3395	117	9	accumulator	accumulator	NOUN
app01-3395	117	10	with	with	ADP
app01-3395	117	11	the	the	DET
app01-3395	117	12	nominal	nominal	ADJ
app01-3395	117	13	voltage	voltage	NOUN
app01-3395	117	14	of	of	ADP
app01-3395	117	15	11.1	11.1	NUM
app01-3395	117	16	v	v	NOUN
app01-3395	117	17	,	,	PUNCT
app01-3395	117	18	and	and	CCONJ
app01-3395	117	19	the	the	DET
app01-3395	117	20	capacity	capacity	NOUN
app01-3395	117	21	of	of	ADP
app01-3395	117	22	2200	2200	NUM
app01-3395	117	23	mah	mah	NOUN
app01-3395	117	24	is	be	AUX
app01-3395	117	25	used	use	VERB
app01-3395	117	26	.	.	PUNCT
app01-3395	118	1	this	this	DET
app01-3395	118	2	voltage	voltage	NOUN
app01-3395	118	3	is	be	AUX
app01-3395	118	4	fed	feed	VERB
app01-3395	118	5	to	to	ADP
app01-3395	118	6	all	all	DET
app01-3395	118	7	the	the	DET
app01-3395	118	8	engines	engine	NOUN
app01-3395	118	9	,	,	PUNCT
app01-3395	118	10	while	while	SCONJ
app01-3395	118	11	the	the	DET
app01-3395	118	12	remaining	remain	VERB
app01-3395	118	13	electronics	electronic	NOUN
app01-3395	118	14	are	be	AUX
app01-3395	118	15	supplied	supply	VERB
app01-3395	118	16	with	with	ADP
app01-3395	118	17	3.3	3.3	NUM
app01-3395	118	18	v	v	NOUN
app01-3395	118	19	and	and	CCONJ
app01-3395	118	20	5	5	NUM
app01-3395	118	21	v.	v.	ADP
app01-3395	118	22	the	the	DET
app01-3395	118	23	voltage	voltage	NOUN
app01-3395	118	24	level	level	NOUN
app01-3395	118	25	reduction	reduction	NOUN
app01-3395	118	26	is	be	AUX
app01-3395	118	27	performed	perform	VERB
app01-3395	118	28	by	by	ADP
app01-3395	118	29	switching	switch	VERB
app01-3395	118	30	and	and	CCONJ
app01-3395	118	31	ldo	ldo	VERB
app01-3395	118	32	(	(	PUNCT
app01-3395	118	33	lowdropout	lowdropout	NOUN
app01-3395	118	34	regulator	regulator	NOUN
app01-3395	118	35	)	)	PUNCT
app01-3395	118	36	stabilizers	stabilizer	NOUN
app01-3395	118	37	.	.	PUNCT
app01-3395	119	1	the	the	DET
app01-3395	119	2	control	control	PROPN
app01-3395	119	3	board	board	PROPN
app01-3395	119	4	was	be	AUX
app01-3395	119	5	designed	design	VERB
app01-3395	119	6	specifically	specifically	ADV
app01-3395	119	7	for	for	ADP
app01-3395	119	8	this	this	DET
app01-3395	119	9	application	application	NOUN
app01-3395	119	10	.	.	PUNCT
app01-3395	120	1	the	the	DET
app01-3395	120	2	main	main	ADJ
app01-3395	120	3	part	part	NOUN
app01-3395	120	4	of	of	ADP
app01-3395	120	5	the	the	DET
app01-3395	120	6	board	board	NOUN
app01-3395	120	7	consists	consist	VERB
app01-3395	120	8	in	in	ADP
app01-3395	120	9	an	an	DET
app01-3395	120	10	mcu	mcu	NOUN
app01-3395	120	11	lm3s8962	lm3s8962	PROPN
app01-3395	120	12	,	,	PUNCT
app01-3395	120	13	which	which	PRON
app01-3395	120	14	is	be	AUX
app01-3395	120	15	based	base	VERB
app01-3395	120	16	on	on	ADP
app01-3395	120	17	the	the	DET
app01-3395	120	18	32	32	NUM
app01-3395	120	19	-	-	PUNCT
app01-3395	120	20	bit	bit	NOUN
app01-3395	120	21	arm	arm	NOUN
app01-3395	120	22	cortex	cortex	NOUN
app01-3395	120	23	m3	m3	NOUN
app01-3395	120	24	architecture	architecture	NOUN
app01-3395	120	25	and	and	CCONJ
app01-3395	120	26	is	be	AUX
app01-3395	120	27	able	able	ADJ
app01-3395	120	28	to	to	PART
app01-3395	120	29	operate	operate	VERB
app01-3395	120	30	at	at	ADP
app01-3395	120	31	frequencies	frequency	NOUN
app01-3395	120	32	up	up	ADP
app01-3395	120	33	to	to	PART
app01-3395	120	34	50	50	NUM
app01-3395	120	35	mhz	mhz	NOUN
app01-3395	120	36	.	.	PUNCT
app01-3395	121	1	it	it	PRON
app01-3395	121	2	provides	provide	VERB
app01-3395	121	3	sufficient	sufficient	ADJ
app01-3395	121	4	17	17	NUM
app01-3395	121	5	p.	p.	NOUN
app01-3395	121	6	gabrlik	gabrlik	NOUN
app01-3395	121	7	,	,	PUNCT
app01-3395	121	8	v.	v.	PROPN
app01-3395	121	9	kriz	kriz	PROPN
app01-3395	121	10	,	,	PUNCT
app01-3395	121	11	l.	l.	PROPN
app01-3395	121	12	zalud	zalud	PROPN
app01-3395	121	13	acta	acta	PROPN
app01-3395	121	14	polytechnica	polytechnica	PROPN
app01-3395	121	15	ctu	ctu	PROPN
app01-3395	121	16	proceedings	proceeding	NOUN
app01-3395	121	17	figure	figure	VERB
app01-3395	121	18	2	2	NUM
app01-3395	121	19	.	.	PUNCT
app01-3395	121	20	designed	design	VERB
app01-3395	121	21	controller	controller	NOUN
app01-3395	121	22	.	.	PUNCT
app01-3395	122	1	0	0	NUM
app01-3395	123	1	5	5	NUM
app01-3395	123	2	10	10	NUM
app01-3395	123	3	15	15	NUM
app01-3395	123	4	−5	−5	NOUN
app01-3395	123	5	0	0	NUM
app01-3395	123	6	5	5	NUM
app01-3395	123	7	10	10	NUM
app01-3395	123	8	15	15	NUM
app01-3395	123	9	time	time	NOUN
app01-3395	124	1	[	[	X
app01-3395	124	2	sec	sec	X
app01-3395	124	3	]	]	X
app01-3395	124	4	θ	θ	PROPN
app01-3395	125	1	[	[	X
app01-3395	125	2	°	°	X
app01-3395	125	3	]	]	PUNCT
app01-3395	125	4	figure	figure	NOUN
app01-3395	125	5	3	3	NUM
app01-3395	125	6	.	.	PUNCT
app01-3395	125	7	pitch	pitch	NOUN
app01-3395	125	8	angle	angle	NOUN
app01-3395	125	9	step	step	NOUN
app01-3395	125	10	response	response	NOUN
app01-3395	125	11	.	.	PUNCT
app01-3395	126	1	0	0	NUM
app01-3395	127	1	5	5	NUM
app01-3395	127	2	10	10	NUM
app01-3395	127	3	15	15	NUM
app01-3395	127	4	0	0	NUM
app01-3395	127	5	20	20	NUM
app01-3395	127	6	40	40	NUM
app01-3395	127	7	60	60	NUM
app01-3395	127	8	80	80	NUM
app01-3395	127	9	100	100	NUM
app01-3395	127	10	time	time	NOUN
app01-3395	128	1	[	[	X
app01-3395	128	2	sec	sec	X
app01-3395	128	3	]	]	X
app01-3395	128	4	ψ	ψ	X
app01-3395	129	1	[	[	X
app01-3395	129	2	°	°	X
app01-3395	129	3	]	]	PUNCT
app01-3395	129	4	figure	figure	NOUN
app01-3395	129	5	4	4	NUM
app01-3395	129	6	.	.	PUNCT
app01-3395	129	7	yaw	yaw	NOUN
app01-3395	129	8	angle	angle	NOUN
app01-3395	129	9	step	step	NOUN
app01-3395	129	10	response	response	NOUN
app01-3395	129	11	.	.	PUNCT
app01-3395	130	1	computing	compute	VERB
app01-3395	130	2	power	power	NOUN
app01-3395	131	1	[	[	X
app01-3395	131	2	4	4	NUM
app01-3395	131	3	]	]	PUNCT
app01-3395	131	4	,	,	PUNCT
app01-3395	131	5	all	all	DET
app01-3395	131	6	the	the	DET
app01-3395	131	7	required	required	ADJ
app01-3395	131	8	communication	communication	NOUN
app01-3395	131	9	buses	bus	NOUN
app01-3395	131	10	(	(	PUNCT
app01-3395	131	11	spi	spi	PROPN
app01-3395	131	12	,	,	PUNCT
app01-3395	131	13	uart	uart	ADJ
app01-3395	131	14	,	,	PUNCT
app01-3395	131	15	i2c	i2c	NOUN
app01-3395	131	16	)	)	PUNCT
app01-3395	131	17	,	,	PUNCT
app01-3395	131	18	and	and	CCONJ
app01-3395	131	19	internal	internal	ADJ
app01-3395	131	20	a	a	DET
app01-3395	131	21	/	/	SYM
app01-3395	131	22	d	d	NOUN
app01-3395	131	23	converters	converter	NOUN
app01-3395	131	24	.	.	PUNCT
app01-3395	132	1	an	an	DET
app01-3395	132	2	xsens	xsens	PROPN
app01-3395	132	3	mti	mti	PROPN
app01-3395	132	4	-	-	PUNCT
app01-3395	132	5	g	g	PROPN
app01-3395	132	6	is	be	AUX
app01-3395	132	7	applied	apply	VERB
app01-3395	132	8	as	as	ADP
app01-3395	132	9	the	the	DET
app01-3395	132	10	main	main	ADJ
app01-3395	132	11	sensor	sensor	NOUN
app01-3395	132	12	unit	unit	NOUN
app01-3395	132	13	;	;	PUNCT
app01-3395	132	14	this	this	DET
app01-3395	132	15	component	component	NOUN
app01-3395	132	16	is	be	AUX
app01-3395	132	17	an	an	DET
app01-3395	132	18	inertial	inertial	ADJ
app01-3395	132	19	measurement	measurement	NOUN
app01-3395	132	20	unit	unit	NOUN
app01-3395	132	21	(	(	PUNCT
app01-3395	132	22	imu	imu	NOUN
app01-3395	132	23	)	)	PUNCT
app01-3395	132	24	and	and	CCONJ
app01-3395	132	25	an	an	DET
app01-3395	132	26	attitude	attitude	NOUN
app01-3395	132	27	and	and	CCONJ
app01-3395	132	28	heading	head	VERB
app01-3395	132	29	reference	reference	NOUN
app01-3395	132	30	system	system	NOUN
app01-3395	132	31	(	(	PUNCT
app01-3395	132	32	ahrs	ahrs	PROPN
app01-3395	132	33	)	)	PUNCT
app01-3395	132	34	.	.	PUNCT
app01-3395	133	1	firstly	firstly	ADV
app01-3395	133	2	,	,	PUNCT
app01-3395	133	3	instead	instead	ADV
app01-3395	133	4	of	of	ADP
app01-3395	133	5	this	this	DET
app01-3395	133	6	imu	imu	NOUN
app01-3395	133	7	,	,	PUNCT
app01-3395	133	8	a	a	DET
app01-3395	133	9	vectornav	vectornav	NOUN
app01-3395	133	10	vn-100	vn-100	PROPN
app01-3395	133	11	was	be	AUX
app01-3395	133	12	used	use	VERB
app01-3395	133	13	.	.	PUNCT
app01-3395	134	1	with	with	ADP
app01-3395	134	2	this	this	DET
app01-3395	134	3	imu	imu	NOUN
app01-3395	134	4	,	,	PUNCT
app01-3395	134	5	however	however	ADV
app01-3395	134	6	,	,	PUNCT
app01-3395	134	7	we	we	PRON
app01-3395	134	8	obtained	obtain	VERB
app01-3395	134	9	worse	bad	ADJ
app01-3395	134	10	results	result	NOUN
app01-3395	134	11	in	in	ADP
app01-3395	134	12	stabilization	stabilization	NOUN
app01-3395	134	13	,	,	PUNCT
app01-3395	134	14	since	since	SCONJ
app01-3395	134	15	the	the	DET
app01-3395	134	16	linear	linear	PROPN
app01-3395	134	17	movement	movement	NOUN
app01-3395	134	18	also	also	ADV
app01-3395	134	19	cause	cause	VERB
app01-3395	134	20	a	a	DET
app01-3395	134	21	change	change	NOUN
app01-3395	134	22	in	in	ADP
app01-3395	134	23	the	the	DET
app01-3395	134	24	measured	measure	VERB
app01-3395	134	25	angles	angle	NOUN
app01-3395	134	26	.	.	PUNCT
app01-3395	135	1	thus	thus	ADV
app01-3395	135	2	,	,	PUNCT
app01-3395	135	3	it	it	PRON
app01-3395	135	4	was	be	AUX
app01-3395	135	5	replaced	replace	VERB
app01-3395	135	6	with	with	ADP
app01-3395	135	7	the	the	DET
app01-3395	135	8	xsens	xsens	PROPN
app01-3395	135	9	mti	mti	PROPN
app01-3395	135	10	-	-	PUNCT
app01-3395	135	11	g	g	PROPN
app01-3395	135	12	,	,	PUNCT
app01-3395	135	13	a	a	DET
app01-3395	135	14	component	component	NOUN
app01-3395	135	15	widely	widely	ADV
app01-3395	135	16	used	use	VERB
app01-3395	135	17	in	in	ADP
app01-3395	135	18	other	other	ADJ
app01-3395	135	19	uav	uav	PROPN
app01-3395	135	20	projects	project	NOUN
app01-3395	135	21	,	,	PUNCT
app01-3395	135	22	e.g.	e.g.	ADV
app01-3395	135	23	[	[	X
app01-3395	135	24	5	5	NUM
app01-3395	135	25	]	]	PUNCT
app01-3395	135	26	,	,	PUNCT
app01-3395	135	27	[	[	X
app01-3395	135	28	6	6	NUM
app01-3395	135	29	]	]	PUNCT
app01-3395	135	30	.	.	PUNCT
app01-3395	136	1	the	the	DET
app01-3395	136	2	unit	unit	NOUN
app01-3395	136	3	contains	contain	VERB
app01-3395	136	4	triaxial	triaxial	ADJ
app01-3395	136	5	digital	digital	ADJ
app01-3395	136	6	devices	device	NOUN
app01-3395	136	7	,	,	PUNCT
app01-3395	136	8	namely	namely	ADV
app01-3395	136	9	an	an	DET
app01-3395	136	10	accelerometer	accelerometer	NOUN
app01-3395	136	11	,	,	PUNCT
app01-3395	136	12	a	a	DET
app01-3395	136	13	gyroscope	gyroscope	NOUN
app01-3395	136	14	,	,	PUNCT
app01-3395	136	15	and	and	CCONJ
app01-3395	136	16	a	a	DET
app01-3395	136	17	magnetometer	magnetometer	NOUN
app01-3395	136	18	;	;	PUNCT
app01-3395	136	19	further	far	ADV
app01-3395	136	20	,	,	PUNCT
app01-3395	136	21	the	the	DET
app01-3395	136	22	unit	unit	NOUN
app01-3395	136	23	also	also	ADV
app01-3395	136	24	comprises	comprise	VERB
app01-3395	136	25	a	a	DET
app01-3395	136	26	gps	gps	NOUN
app01-3395	136	27	receiver	receiver	NOUN
app01-3395	136	28	in	in	ADP
app01-3395	136	29	one	one	NUM
app01-3395	136	30	package	package	NOUN
app01-3395	136	31	with	with	ADP
app01-3395	136	32	an	an	DET
app01-3395	136	33	external	external	ADJ
app01-3395	136	34	gps	gps	NOUN
app01-3395	136	35	antenna	antenna	NOUN
app01-3395	136	36	.	.	PUNCT
app01-3395	137	1	an	an	DET
app01-3395	137	2	internal	internal	ADJ
app01-3395	137	3	kalman	kalman	NOUN
app01-3395	137	4	filter	filter	NOUN
app01-3395	137	5	provides	provide	VERB
app01-3395	137	6	precise	precise	ADJ
app01-3395	137	7	orientation	orientation	NOUN
app01-3395	137	8	estimation	estimation	NOUN
app01-3395	137	9	with	with	ADP
app01-3395	137	10	1	1	NUM
app01-3395	137	11	deg	deg	NOUN
app01-3395	137	12	rms	rm	NOUN
app01-3395	137	13	roll	roll	NOUN
app01-3395	137	14	/	/	SYM
app01-3395	137	15	pitch	pitch	NOUN
app01-3395	137	16	and	and	CCONJ
app01-3395	137	17	2	2	NUM
app01-3395	137	18	deg	deg	NOUN
app01-3395	137	19	rms	rm	NOUN
app01-3395	137	20	heading	head	VERB
app01-3395	137	21	dynamic	dynamic	ADJ
app01-3395	137	22	accuracy	accuracy	NOUN
app01-3395	137	23	and	and	CCONJ
app01-3395	137	24	the	the	DET
app01-3395	137	25	accuracy	accuracy	NOUN
app01-3395	137	26	of	of	ADP
app01-3395	137	27	2.5	2.5	NUM
app01-3395	137	28	meters	meter	NOUN
app01-3395	137	29	cep	cep	ADV
app01-3395	137	30	in	in	ADP
app01-3395	137	31	position	position	NOUN
app01-3395	137	32	.	.	PUNCT
app01-3395	138	1	the	the	DET
app01-3395	138	2	control	control	PROPN
app01-3395	138	3	board	board	PROPN
app01-3395	138	4	is	be	AUX
app01-3395	138	5	also	also	ADV
app01-3395	138	6	equipped	equip	VERB
app01-3395	138	7	with	with	ADP
app01-3395	138	8	a	a	DET
app01-3395	138	9	bmp085	bmp085	PROPN
app01-3395	138	10	barometric	barometric	NOUN
app01-3395	138	11	sensor	sensor	NOUN
app01-3395	138	12	for	for	ADP
app01-3395	138	13	the	the	DET
app01-3395	138	14	purpose	purpose	NOUN
app01-3395	138	15	of	of	ADP
app01-3395	138	16	altitude	altitude	NOUN
app01-3395	138	17	measurement	measurement	NOUN
app01-3395	138	18	.	.	PUNCT
app01-3395	139	1	an	an	DET
app01-3395	139	2	ultrasound	ultrasound	NOUN
app01-3395	139	3	sensor	sensor	NOUN
app01-3395	139	4	,	,	PUNCT
app01-3395	139	5	which	which	PRON
app01-3395	139	6	is	be	AUX
app01-3395	139	7	used	use	VERB
app01-3395	139	8	at	at	ADP
app01-3395	139	9	low	low	ADJ
app01-3395	139	10	altitudes	altitude	NOUN
app01-3395	139	11	(	(	PUNCT
app01-3395	139	12	during	during	ADP
app01-3395	139	13	take	take	VERB
app01-3395	139	14	-	-	PUNCT
app01-3395	139	15	off	off	NOUN
app01-3395	139	16	and	and	CCONJ
app01-3395	139	17	landing	landing	NOUN
app01-3395	139	18	)	)	PUNCT
app01-3395	139	19	,	,	PUNCT
app01-3395	139	20	is	be	AUX
app01-3395	139	21	situated	situate	VERB
app01-3395	139	22	on	on	ADP
app01-3395	139	23	the	the	DET
app01-3395	139	24	special	special	ADJ
app01-3395	139	25	pcb	pcb	NOUN
app01-3395	139	26	.	.	PUNCT
app01-3395	140	1	the	the	DET
app01-3395	140	2	battery	battery	NOUN
app01-3395	140	3	level	level	NOUN
app01-3395	140	4	is	be	AUX
app01-3395	140	5	determined	determine	VERB
app01-3395	140	6	on	on	ADP
app01-3395	140	7	the	the	DET
app01-3395	140	8	basis	basis	NOUN
app01-3395	140	9	of	of	ADP
app01-3395	140	10	the	the	DET
app01-3395	140	11	voltage	voltage	NOUN
app01-3395	140	12	and	and	CCONJ
app01-3395	140	13	current	current	ADJ
app01-3395	140	14	measurement	measurement	NOUN
app01-3395	140	15	.	.	PUNCT
app01-3395	141	1	regularly	regularly	ADV
app01-3395	141	2	available	available	ADJ
app01-3395	141	3	bldc	bldc	PROPN
app01-3395	141	4	controllers	controller	NOUN
app01-3395	141	5	bl	bl	VERB
app01-3395	141	6	-	-	PUNCT
app01-3395	141	7	ctrl	ctrl	VERB
app01-3395	141	8	v2.0	v2.0	X
app01-3395	141	9	provide	provide	VERB
app01-3395	141	10	the	the	DET
app01-3395	141	11	continuous	continuous	ADJ
app01-3395	141	12	current	current	NOUN
app01-3395	141	13	of	of	ADP
app01-3395	141	14	35	35	NUM
app01-3395	141	15	a	a	PRON
app01-3395	141	16	for	for	ADP
app01-3395	141	17	each	each	DET
app01-3395	141	18	motor	motor	NOUN
app01-3395	141	19	and	and	CCONJ
app01-3395	141	20	a	a	DET
app01-3395	141	21	very	very	ADV
app01-3395	141	22	compact	compact	ADJ
app01-3395	141	23	design	design	NOUN
app01-3395	141	24	.	.	PUNCT
app01-3395	142	1	the	the	DET
app01-3395	142	2	controllers	controller	NOUN
app01-3395	142	3	communicate	communicate	VERB
app01-3395	142	4	with	with	ADP
app01-3395	142	5	the	the	DET
app01-3395	142	6	control	control	PROPN
app01-3395	142	7	board	board	NOUN
app01-3395	142	8	via	via	ADP
app01-3395	142	9	an	an	DET
app01-3395	142	10	i2c	i2c	NOUN
app01-3395	142	11	bus	bus	NOUN
app01-3395	142	12	.	.	PUNCT
app01-3395	143	1	it	it	PRON
app01-3395	143	2	is	be	AUX
app01-3395	143	3	also	also	ADV
app01-3395	143	4	possible	possible	ADJ
app01-3395	143	5	to	to	PART
app01-3395	143	6	mount	mount	VERB
app01-3395	143	7	an	an	DET
app01-3395	143	8	ip	ip	NOUN
app01-3395	143	9	wireless	wireless	ADJ
app01-3395	143	10	camera	camera	NOUN
app01-3395	143	11	on	on	ADP
app01-3395	143	12	the	the	DET
app01-3395	143	13	construction	construction	NOUN
app01-3395	143	14	and	and	CCONJ
app01-3395	143	15	broadcast	broadcast	VERB
app01-3395	143	16	the	the	DET
app01-3395	143	17	image	image	NOUN
app01-3395	143	18	to	to	ADP
app01-3395	143	19	the	the	DET
app01-3395	143	20	base	base	NOUN
app01-3395	143	21	station	station	NOUN
app01-3395	143	22	.	.	PUNCT
app01-3395	144	1	4.3	4.3	NUM
app01-3395	144	2	.	.	PUNCT
app01-3395	144	3	microcontroller	microcontroller	NOUN
app01-3395	144	4	software	software	NOUN
app01-3395	144	5	the	the	DET
app01-3395	144	6	software	software	NOUN
app01-3395	144	7	for	for	ADP
app01-3395	144	8	the	the	DET
app01-3395	144	9	mcu	mcu	NOUN
app01-3395	144	10	was	be	AUX
app01-3395	144	11	written	write	VERB
app01-3395	144	12	in	in	ADP
app01-3395	144	13	the	the	DET
app01-3395	144	14	embedded	embed	VERB
app01-3395	144	15	c	c	PROPN
app01-3395	144	16	language	language	NOUN
app01-3395	144	17	due	due	ADP
app01-3395	144	18	to	to	ADP
app01-3395	144	19	high	high	ADJ
app01-3395	144	20	requirements	requirement	NOUN
app01-3395	144	21	for	for	ADP
app01-3395	144	22	the	the	DET
app01-3395	144	23	real	real	ADJ
app01-3395	144	24	-	-	PUNCT
app01-3395	144	25	time	time	NOUN
app01-3395	144	26	behavior	behavior	NOUN
app01-3395	144	27	and	and	CCONJ
app01-3395	144	28	reliability	reliability	NOUN
app01-3395	144	29	.	.	PUNCT
app01-3395	145	1	the	the	DET
app01-3395	145	2	software	software	NOUN
app01-3395	145	3	does	do	AUX
app01-3395	145	4	not	not	PART
app01-3395	145	5	use	use	VERB
app01-3395	145	6	a	a	DET
app01-3395	145	7	commercial	commercial	ADJ
app01-3395	145	8	rtos	rto	NOUN
app01-3395	145	9	but	but	CCONJ
app01-3395	145	10	a	a	DET
app01-3395	145	11	simple	simple	ADJ
app01-3395	145	12	and	and	CCONJ
app01-3395	145	13	nonpreemptive	nonpreemptive	ADJ
app01-3395	145	14	os	os	NOUN
app01-3395	145	15	written	write	VERB
app01-3395	145	16	specifically	specifically	ADV
app01-3395	145	17	for	for	ADP
app01-3395	145	18	this	this	DET
app01-3395	145	19	application	application	NOUN
app01-3395	145	20	.	.	PUNCT
app01-3395	146	1	to	to	PART
app01-3395	146	2	achieve	achieve	VERB
app01-3395	146	3	the	the	DET
app01-3395	146	4	real	real	ADJ
app01-3395	146	5	-	-	PUNCT
app01-3395	146	6	time	time	NOUN
app01-3395	146	7	behavior	behavior	NOUN
app01-3395	146	8	,	,	PUNCT
app01-3395	146	9	a	a	DET
app01-3395	146	10	system	system	NOUN
app01-3395	146	11	timer	timer	NOUN
app01-3395	146	12	with	with	ADP
app01-3395	146	13	the	the	DET
app01-3395	146	14	period	period	NOUN
app01-3395	146	15	of	of	ADP
app01-3395	146	16	100	100	NUM
app01-3395	146	17	ns	ns	NUM
app01-3395	146	18	was	be	AUX
app01-3395	146	19	used	use	VERB
app01-3395	146	20	;	;	PUNCT
app01-3395	146	21	this	this	PRON
app01-3395	146	22	is	be	AUX
app01-3395	146	23	the	the	DET
app01-3395	146	24	shortest	short	ADJ
app01-3395	146	25	possible	possible	ADJ
app01-3395	146	26	period	period	NOUN
app01-3395	146	27	to	to	PART
app01-3395	146	28	handle	handle	VERB
app01-3395	146	29	any	any	DET
app01-3395	146	30	application	application	NOUN
app01-3395	146	31	task	task	NOUN
app01-3395	146	32	.	.	PUNCT
app01-3395	147	1	the	the	DET
app01-3395	147	2	application	application	NOUN
app01-3395	147	3	also	also	ADV
app01-3395	147	4	uses	use	VERB
app01-3395	147	5	mcu	mcu	PROPN
app01-3395	147	6	hardware	hardware	NOUN
app01-3395	147	7	interrupts	interrupt	NOUN
app01-3395	147	8	to	to	PART
app01-3395	147	9	handle	handle	VERB
app01-3395	147	10	various	various	ADJ
app01-3395	147	11	asynchronous	asynchronous	ADJ
app01-3395	147	12	events	event	NOUN
app01-3395	147	13	.	.	PUNCT
app01-3395	148	1	the	the	DET
app01-3395	148	2	interval	interval	NOUN
app01-3395	148	3	for	for	ADP
app01-3395	148	4	the	the	DET
app01-3395	148	5	computing	computing	NOUN
app01-3395	148	6	of	of	ADP
app01-3395	148	7	the	the	DET
app01-3395	148	8	main	main	ADJ
app01-3395	148	9	quadrotor	quadrotor	NOUN
app01-3395	148	10	stabilization	stabilization	NOUN
app01-3395	148	11	(	(	PUNCT
app01-3395	148	12	angular	angular	ADJ
app01-3395	148	13	rotations	rotation	NOUN
app01-3395	148	14	stabilization	stabilization	NOUN
app01-3395	148	15	)	)	PUNCT
app01-3395	148	16	is	be	AUX
app01-3395	148	17	10	10	NUM
app01-3395	148	18	ms	ms	NOUN
app01-3395	148	19	.	.	PROPN
app01-3395	149	1	at	at	ADP
app01-3395	149	2	the	the	DET
app01-3395	149	3	same	same	ADJ
app01-3395	149	4	period	period	NOUN
app01-3395	149	5	,	,	PUNCT
app01-3395	149	6	the	the	DET
app01-3395	149	7	data	datum	NOUN
app01-3395	149	8	from	from	ADP
app01-3395	149	9	the	the	DET
app01-3395	149	10	imu	imu	NOUN
app01-3395	149	11	/	/	SYM
app01-3395	149	12	ahrs	ahrs	NOUN
app01-3395	149	13	are	be	AUX
app01-3395	149	14	read	read	VERB
app01-3395	149	15	and	and	CCONJ
app01-3395	149	16	the	the	DET
app01-3395	149	17	actuator	actuator	NOUN
app01-3395	149	18	speeds	speed	NOUN
app01-3395	149	19	updated	update	VERB
app01-3395	149	20	.	.	PUNCT
app01-3395	150	1	the	the	DET
app01-3395	150	2	sample	sample	NOUN
app01-3395	150	3	period	period	NOUN
app01-3395	150	4	in	in	ADP
app01-3395	150	5	altitude	altitude	NOUN
app01-3395	150	6	measurement	measurement	NOUN
app01-3395	150	7	depends	depend	VERB
app01-3395	150	8	on	on	ADP
app01-3395	150	9	the	the	DET
app01-3395	150	10	used	use	VERB
app01-3395	150	11	sensor	sensor	NOUN
app01-3395	150	12	;	;	PUNCT
app01-3395	150	13	for	for	ADP
app01-3395	150	14	example	example	NOUN
app01-3395	150	15	,	,	PUNCT
app01-3395	150	16	we	we	PRON
app01-3395	150	17	thus	thus	ADV
app01-3395	150	18	have	have	VERB
app01-3395	150	19	the	the	DET
app01-3395	150	20	period	period	NOUN
app01-3395	150	21	of	of	ADP
app01-3395	150	22	25	25	NUM
app01-3395	150	23	ms	ms	NOUN
app01-3395	150	24	for	for	ADP
app01-3395	150	25	the	the	DET
app01-3395	150	26	ultrasonic	ultrasonic	ADJ
app01-3395	150	27	sensor	sensor	NOUN
app01-3395	150	28	.	.	PUNCT
app01-3395	151	1	the	the	DET
app01-3395	151	2	implemented	implement	VERB
app01-3395	151	3	control	control	NOUN
app01-3395	151	4	structures	structure	NOUN
app01-3395	151	5	for	for	ADP
app01-3395	151	6	the	the	DET
app01-3395	151	7	stabilization	stabilization	NOUN
app01-3395	151	8	are	be	AUX
app01-3395	151	9	constant	constant	ADJ
app01-3395	151	10	,	,	PUNCT
app01-3395	151	11	but	but	CCONJ
app01-3395	151	12	their	their	PRON
app01-3395	151	13	parameters	parameter	NOUN
app01-3395	151	14	can	can	AUX
app01-3395	151	15	be	be	AUX
app01-3395	151	16	tuned	tune	VERB
app01-3395	151	17	according	accord	VERB
app01-3395	151	18	to	to	ADP
app01-3395	151	19	the	the	DET
app01-3395	151	20	current	current	ADJ
app01-3395	151	21	uav	uav	PROPN
app01-3395	151	22	configuration	configuration	NOUN
app01-3395	151	23	.	.	PUNCT
app01-3395	152	1	the	the	DET
app01-3395	152	2	application	application	NOUN
app01-3395	152	3	operates	operate	VERB
app01-3395	152	4	in	in	ADP
app01-3395	152	5	several	several	ADJ
app01-3395	152	6	modes	mode	NOUN
app01-3395	152	7	:	:	PUNCT
app01-3395	152	8	the	the	DET
app01-3395	152	9	configuration	configuration	NOUN
app01-3395	152	10	/	/	SYM
app01-3395	152	11	stop	stop	NOUN
app01-3395	152	12	mode	mode	NOUN
app01-3395	152	13	,	,	PUNCT
app01-3395	152	14	applied	apply	VERB
app01-3395	152	15	when	when	SCONJ
app01-3395	152	16	the	the	DET
app01-3395	152	17	uav	uav	PROPN
app01-3395	152	18	is	be	AUX
app01-3395	152	19	switched	switch	VERB
app01-3395	152	20	on	on	ADP
app01-3395	152	21	but	but	CCONJ
app01-3395	152	22	the	the	DET
app01-3395	152	23	actuators	actuator	NOUN
app01-3395	152	24	are	be	AUX
app01-3395	152	25	disabled	disable	VERB
app01-3395	152	26	;	;	PUNCT
app01-3395	152	27	the	the	DET
app01-3395	152	28	flight	flight	NOUN
app01-3395	152	29	remote	remote	NOUN
app01-3395	152	30	mode	mode	NOUN
app01-3395	152	31	,	,	PUNCT
app01-3395	152	32	used	use	VERB
app01-3395	152	33	for	for	ADP
app01-3395	152	34	standard	standard	ADJ
app01-3395	152	35	remotely	remotely	ADV
app01-3395	152	36	controlled	control	VERB
app01-3395	152	37	operation	operation	NOUN
app01-3395	152	38	;	;	PUNCT
app01-3395	152	39	the	the	DET
app01-3395	152	40	signal	signal	NOUN
app01-3395	152	41	lost	lose	VERB
app01-3395	152	42	mode	mode	NOUN
app01-3395	152	43	,	,	PUNCT
app01-3395	152	44	activated	activate	VERB
app01-3395	152	45	in	in	ADP
app01-3395	152	46	the	the	DET
app01-3395	152	47	flight	flight	NOUN
app01-3395	152	48	mode	mode	NOUN
app01-3395	152	49	when	when	SCONJ
app01-3395	152	50	the	the	DET
app01-3395	152	51	signal	signal	NOUN
app01-3395	152	52	is	be	AUX
app01-3395	152	53	lost	lose	VERB
app01-3395	152	54	and	and	CCONJ
app01-3395	152	55	the	the	DET
app01-3395	152	56	uav	uav	PROPN
app01-3395	152	57	is	be	AUX
app01-3395	152	58	landing	land	VERB
app01-3395	152	59	automatically	automatically	ADV
app01-3395	152	60	;	;	PUNCT
app01-3395	152	61	and	and	CCONJ
app01-3395	152	62	the	the	DET
app01-3395	152	63	flight	flight	NOUN
app01-3395	152	64	auto	auto	NOUN
app01-3395	152	65	mode	mode	NOUN
app01-3395	152	66	,	,	PUNCT
app01-3395	152	67	which	which	PRON
app01-3395	152	68	is	be	AUX
app01-3395	152	69	ready	ready	ADJ
app01-3395	152	70	for	for	ADP
app01-3395	152	71	future	future	ADJ
app01-3395	152	72	autonomous	autonomous	ADJ
app01-3395	152	73	flying	flying	NOUN
app01-3395	152	74	using	use	VERB
app01-3395	152	75	gps	gps	PROPN
app01-3395	152	76	.	.	PUNCT
app01-3395	153	1	18	18	NUM
app01-3395	153	2	vol	vol	NOUN
app01-3395	153	3	.	.	PUNCT
app01-3395	154	1	2/2015	2/2015	NUM
app01-3395	154	2	reconnaissance	reconnaissance	PROPN
app01-3395	154	3	micro	micro	PROPN
app01-3395	154	4	uav	uav	PROPN
app01-3395	154	5	system	system	PROPN
app01-3395	154	6	mcu	mcu	PROPN
app01-3395	154	7	arm	arm	VERB
app01-3395	154	8	cortex	cortex	NOUN
app01-3395	154	9	m3	m3	PROPN
app01-3395	154	10	ultrasound	ultrasound	PROPN
app01-3395	154	11	board	board	PROPN
app01-3395	154	12	3	3	NUM
app01-3395	154	13	-	-	PUNCT
app01-3395	154	14	axis	axis	NOUN
app01-3395	154	15	accelerometer	accelerometer	NOUN
app01-3395	154	16	xsens	xsen	NOUN
app01-3395	155	1	mti	mti	PROPN
app01-3395	155	2	-	-	PUNCT
app01-3395	155	3	g	g	PROPN
app01-3395	155	4	3	3	NUM
app01-3395	155	5	-	-	PUNCT
app01-3395	155	6	axis	axis	NOUN
app01-3395	155	7	gyroscope	gyroscope	NOUN
app01-3395	155	8	3	3	NUM
app01-3395	155	9	-	-	PUNCT
app01-3395	155	10	axis	axis	NOUN
app01-3395	155	11	magnetometer	magnetometer	NOUN
app01-3395	155	12	gps	gps	PROPN
app01-3395	155	13	receiver	receiver	NOUN
app01-3395	155	14	4x	4x	PROPN
app01-3395	155	15	bldc	bldc	PROPN
app01-3395	155	16	electromotor	electromotor	PROPN
app01-3395	155	17	4x	4x	PROPN
app01-3395	155	18	bldc	bldc	PROPN
app01-3395	155	19	controller	controller	PROPN
app01-3395	155	20	zigbee	zigbee	PROPN
app01-3395	155	21	wireless	wireless	PROPN
app01-3395	155	22	module	module	NOUN
app01-3395	155	23	zigbee	zigbee	PROPN
app01-3395	155	24	wireless	wireless	NOUN
app01-3395	155	25	module	module	NOUN
app01-3395	155	26	notebook	notebook	NOUN
app01-3395	155	27	+	+	CCONJ
app01-3395	155	28	cassandra	cassandra	PROPN
app01-3395	155	29	hid	hide	VERB
app01-3395	155	30	/	/	SYM
app01-3395	155	31	gamepad	gamepad	PROPN
app01-3395	155	32	uranus	uranus	PROPN
app01-3395	155	33	uav	uav	PROPN
app01-3395	155	34	base	base	PROPN
app01-3395	155	35	station	station	PROPN
app01-3395	155	36	uart1	uart1	PROPN
app01-3395	155	37	uart2	uart2	PROPN
app01-3395	156	1	i	i	PRON
app01-3395	156	2	c	c	PROPN
app01-3395	156	3	2	2	NUM
app01-3395	156	4	usb	usb	NOUN
app01-3395	156	5	uart	uart	NOUN
app01-3395	156	6	usb	usb	NOUN
app01-3395	156	7	pressure	pressure	NOUN
app01-3395	156	8	sensor	sensor	NOUN
app01-3395	157	1	i	i	PRON
app01-3395	157	2	c	c	NOUN
app01-3395	157	3	2	2	NUM
app01-3395	157	4	figure	figure	NOUN
app01-3395	157	5	5	5	NUM
app01-3395	157	6	.	.	PUNCT
app01-3395	158	1	the	the	DET
app01-3395	158	2	block	block	NOUN
app01-3395	158	3	scheme	scheme	NOUN
app01-3395	158	4	of	of	ADP
app01-3395	158	5	uranus	uranus	PROPN
app01-3395	158	6	uav	uav	PROPN
app01-3395	158	7	system	system	PROPN
app01-3395	158	8	.	.	PUNCT
app01-3395	159	1	figure	figure	VERB
app01-3395	159	2	6	6	NUM
app01-3395	159	3	.	.	PUNCT
app01-3395	160	1	uav	uav	PROPN
app01-3395	160	2	control	control	PROPN
app01-3395	160	3	board	board	PROPN
app01-3395	160	4	and	and	CCONJ
app01-3395	160	5	the	the	DET
app01-3395	160	6	other	other	ADJ
app01-3395	160	7	electronics	electronic	NOUN
app01-3395	160	8	.	.	PUNCT
app01-3395	161	1	4.4	4.4	NUM
app01-3395	161	2	.	.	PUNCT
app01-3395	162	1	communication	communication	NOUN
app01-3395	162	2	the	the	DET
app01-3395	162	3	communication	communication	NOUN
app01-3395	162	4	between	between	ADP
app01-3395	162	5	the	the	DET
app01-3395	162	6	robot	robot	NOUN
app01-3395	162	7	and	and	CCONJ
app01-3395	162	8	the	the	DET
app01-3395	162	9	base	base	NOUN
app01-3395	162	10	station	station	NOUN
app01-3395	162	11	is	be	AUX
app01-3395	162	12	wireless	wireless	ADJ
app01-3395	162	13	.	.	PUNCT
app01-3395	163	1	it	it	PRON
app01-3395	163	2	is	be	AUX
app01-3395	163	3	provided	provide	VERB
app01-3395	163	4	by	by	ADP
app01-3395	163	5	two	two	NUM
app01-3395	163	6	paired	pair	VERB
app01-3395	163	7	xbee	xbee	PROPN
app01-3395	163	8	pro	pro	X
app01-3395	163	9	s2b	s2b	PROPN
app01-3395	163	10	rf	rf	ADJ
app01-3395	163	11	modules	module	NOUN
app01-3395	163	12	transmitting	transmit	VERB
app01-3395	163	13	within	within	ADP
app01-3395	163	14	the	the	DET
app01-3395	163	15	band	band	NOUN
app01-3395	163	16	of	of	ADP
app01-3395	163	17	2.4	2.4	NUM
app01-3395	163	18	ghz	ghz	NOUN
app01-3395	163	19	;	;	PUNCT
app01-3395	163	20	the	the	DET
app01-3395	163	21	modules	module	NOUN
app01-3395	163	22	use	use	VERB
app01-3395	163	23	the	the	DET
app01-3395	163	24	zigbee	zigbee	NOUN
app01-3395	163	25	protocol	protocol	NOUN
app01-3395	163	26	and	and	CCONJ
app01-3395	163	27	operate	operate	VERB
app01-3395	163	28	in	in	ADP
app01-3395	163	29	a	a	DET
app01-3395	163	30	transparent	transparent	ADJ
app01-3395	163	31	mode	mode	NOUN
app01-3395	163	32	.	.	PUNCT
app01-3395	164	1	in	in	ADP
app01-3395	164	2	this	this	DET
app01-3395	164	3	mode	mode	NOUN
app01-3395	164	4	,	,	PUNCT
app01-3395	164	5	the	the	DET
app01-3395	164	6	2	2	NUM
app01-3395	164	7	devices	device	NOUN
app01-3395	164	8	work	work	VERB
app01-3395	164	9	as	as	ADP
app01-3395	164	10	a	a	DET
app01-3395	164	11	virtual	virtual	ADJ
app01-3395	164	12	uart	uart	PROPN
app01-3395	164	13	wire	wire	NOUN
app01-3395	164	14	.	.	PUNCT
app01-3395	165	1	thus	thus	ADV
app01-3395	165	2	,	,	PUNCT
app01-3395	165	3	every	every	DET
app01-3395	165	4	uart	uart	ADJ
app01-3395	165	5	frame	frame	NOUN
app01-3395	165	6	send	send	VERB
app01-3395	165	7	to	to	ADP
app01-3395	165	8	the	the	DET
app01-3395	165	9	input	input	NOUN
app01-3395	165	10	of	of	ADP
app01-3395	165	11	one	one	NUM
app01-3395	165	12	module	module	NOUN
app01-3395	165	13	appears	appear	VERB
app01-3395	165	14	on	on	ADP
app01-3395	165	15	the	the	DET
app01-3395	165	16	output	output	NOUN
app01-3395	165	17	of	of	ADP
app01-3395	165	18	the	the	DET
app01-3395	165	19	other	other	ADJ
app01-3395	165	20	(	(	PUNCT
app01-3395	165	21	if	if	SCONJ
app01-3395	165	22	the	the	DET
app01-3395	165	23	rf	rf	ADJ
app01-3395	165	24	channel	channel	NOUN
app01-3395	165	25	is	be	AUX
app01-3395	165	26	established	establish	VERB
app01-3395	165	27	)	)	PUNCT
app01-3395	165	28	.	.	PUNCT
app01-3395	166	1	the	the	DET
app01-3395	166	2	baud	baud	NOUN
app01-3395	166	3	rate	rate	NOUN
app01-3395	166	4	of	of	ADP
app01-3395	166	5	this	this	DET
app01-3395	166	6	line	line	NOUN
app01-3395	166	7	is	be	AUX
app01-3395	166	8	57.6	57.6	NUM
app01-3395	166	9	kbps	kbps	NOUN
app01-3395	166	10	.	.	PUNCT
app01-3395	167	1	above	above	ADP
app01-3395	167	2	this	this	DET
app01-3395	167	3	layer	layer	NOUN
app01-3395	167	4	of	of	ADP
app01-3395	167	5	communication	communication	NOUN
app01-3395	167	6	,	,	PUNCT
app01-3395	167	7	the	the	DET
app01-3395	167	8	uranuslink	uranuslink	ADJ
app01-3395	167	9	protocol	protocol	NOUN
app01-3395	167	10	was	be	AUX
app01-3395	167	11	created	create	VERB
app01-3395	167	12	.	.	PUNCT
app01-3395	168	1	it	it	PRON
app01-3395	168	2	was	be	AUX
app01-3395	168	3	designed	design	VERB
app01-3395	168	4	as	as	ADP
app01-3395	168	5	a	a	DET
app01-3395	168	6	packetoriented	packetoriente	VERB
app01-3395	168	7	,	,	PUNCT
app01-3395	168	8	non	non	ADJ
app01-3395	168	9	-	-	ADJ
app01-3395	168	10	reliable	reliable	ADJ
app01-3395	168	11	protocol	protocol	NOUN
app01-3395	168	12	.	.	PUNCT
app01-3395	169	1	this	this	DET
app01-3395	169	2	protocol	protocol	NOUN
app01-3395	169	3	defines	define	VERB
app01-3395	169	4	the	the	DET
app01-3395	169	5	packet	packet	NOUN
app01-3395	169	6	structure	structure	NOUN
app01-3395	169	7	as	as	ADV
app01-3395	169	8	well	well	ADV
app01-3395	169	9	as	as	ADP
app01-3395	169	10	the	the	DET
app01-3395	169	11	transmitted	transmit	VERB
app01-3395	169	12	data	data	NOUN
app01-3395	169	13	representation	representation	NOUN
app01-3395	169	14	.	.	PUNCT
app01-3395	170	1	as	as	SCONJ
app01-3395	170	2	shown	show	VERB
app01-3395	170	3	in	in	ADP
app01-3395	170	4	table	table	NOUN
app01-3395	170	5	1	1	NUM
app01-3395	170	6	,	,	PUNCT
app01-3395	170	7	every	every	DET
app01-3395	170	8	packet	packet	NOUN
app01-3395	170	9	in	in	ADP
app01-3395	170	10	uranuslink	uranuslink	ADJ
app01-3395	170	11	consists	consist	VERB
app01-3395	170	12	of	of	ADP
app01-3395	170	13	6	6	NUM
app01-3395	170	14	fields	field	NOUN
app01-3395	170	15	:	:	PUNCT
app01-3395	170	16	the	the	DET
app01-3395	170	17	preamble	preamble	ADJ
app01-3395	170	18	(	(	PUNCT
app01-3395	170	19	pre	pre	ADJ
app01-3395	170	20	)	)	PUNCT
app01-3395	170	21	;	;	PUNCT
app01-3395	170	22	the	the	DET
app01-3395	170	23	sequence	sequence	NOUN
app01-3395	170	24	number	number	NOUN
app01-3395	170	25	(	(	PUNCT
app01-3395	170	26	sqn	sqn	PROPN
app01-3395	170	27	)	)	PUNCT
app01-3395	170	28	;	;	PUNCT
app01-3395	170	29	the	the	DET
app01-3395	170	30	message	message	NOUN
app01-3395	170	31	identification	identification	NOUN
app01-3395	170	32	(	(	PUNCT
app01-3395	170	33	mid	mid	NOUN
app01-3395	170	34	)	)	PUNCT
app01-3395	170	35	;	;	PUNCT
app01-3395	170	36	the	the	DET
app01-3395	170	37	data	data	NOUN
app01-3395	170	38	length	length	NOUN
app01-3395	170	39	(	(	PUNCT
app01-3395	170	40	len	len	PROPN
app01-3395	170	41	)	)	PUNCT
app01-3395	170	42	;	;	PUNCT
app01-3395	170	43	the	the	DET
app01-3395	170	44	data	datum	NOUN
app01-3395	170	45	as	as	ADP
app01-3395	170	46	such	such	ADJ
app01-3395	170	47	;	;	PUNCT
app01-3395	170	48	and	and	CCONJ
app01-3395	170	49	the	the	DET
app01-3395	170	50	checksum	checksum	NOUN
app01-3395	170	51	(	(	PUNCT
app01-3395	170	52	cs	cs	PROPN
app01-3395	170	53	)	)	PUNCT
app01-3395	170	54	.	.	PUNCT
app01-3395	171	1	all	all	DET
app01-3395	171	2	the	the	DET
app01-3395	171	3	data	datum	NOUN
app01-3395	171	4	are	be	AUX
app01-3395	171	5	in	in	ADP
app01-3395	171	6	the	the	DET
app01-3395	171	7	big	big	ADJ
app01-3395	171	8	endian	endian	ADJ
app01-3395	171	9	format	format	NOUN
app01-3395	171	10	.	.	PUNCT
app01-3395	172	1	the	the	DET
app01-3395	172	2	preamble	preamble	NOUN
app01-3395	172	3	has	have	VERB
app01-3395	172	4	the	the	DET
app01-3395	172	5	constant	constant	ADJ
app01-3395	172	6	value	value	NOUN
app01-3395	172	7	of	of	ADP
app01-3395	172	8	0xfd	0xfd	PROPN
app01-3395	172	9	.	.	PUNCT
app01-3395	173	1	it	it	PRON
app01-3395	173	2	is	be	AUX
app01-3395	173	3	used	use	VERB
app01-3395	173	4	to	to	PART
app01-3395	173	5	determine	determine	VERB
app01-3395	173	6	the	the	DET
app01-3395	173	7	beginning	beginning	NOUN
app01-3395	173	8	of	of	ADP
app01-3395	173	9	the	the	DET
app01-3395	173	10	packet	packet	NOUN
app01-3395	173	11	.	.	PUNCT
app01-3395	174	1	the	the	DET
app01-3395	174	2	sqn	sqn	PROPN
app01-3395	174	3	is	be	AUX
app01-3395	174	4	intended	intend	VERB
app01-3395	174	5	for	for	ADP
app01-3395	174	6	the	the	DET
app01-3395	174	7	numbering	numbering	NOUN
app01-3395	174	8	of	of	ADP
app01-3395	174	9	the	the	DET
app01-3395	174	10	packets	packet	NOUN
app01-3395	174	11	;	;	PUNCT
app01-3395	174	12	while	while	SCONJ
app01-3395	174	13	every	every	PRON
app01-3395	174	14	sent	send	VERB
app01-3395	174	15	packet	packet	NOUN
app01-3395	174	16	increases	increase	NOUN
app01-3395	174	17	this	this	DET
app01-3395	174	18	number	number	NOUN
app01-3395	174	19	by	by	ADP
app01-3395	174	20	2	2	NUM
app01-3395	174	21	,	,	PUNCT
app01-3395	174	22	the	the	DET
app01-3395	174	23	sqn	sqn	PROPN
app01-3395	174	24	can	can	AUX
app01-3395	174	25	only	only	ADV
app01-3395	174	26	take	take	VERB
app01-3395	174	27	even	even	ADV
app01-3395	174	28	values	value	NOUN
app01-3395	174	29	.	.	PUNCT
app01-3395	175	1	this	this	DET
app01-3395	175	2	property	property	NOUN
app01-3395	175	3	is	be	AUX
app01-3395	175	4	utilized	utilize	VERB
app01-3395	175	5	in	in	ADP
app01-3395	175	6	one	one	NUM
app01-3395	175	7	of	of	ADP
app01-3395	175	8	the	the	DET
app01-3395	175	9	packet	packet	NOUN
app01-3395	175	10	validation	validation	NOUN
app01-3395	175	11	mechanisms	mechanism	NOUN
app01-3395	175	12	.	.	PUNCT
app01-3395	176	1	another	another	DET
app01-3395	176	2	important	important	ADJ
app01-3395	176	3	application	application	NOUN
app01-3395	176	4	of	of	ADP
app01-3395	176	5	the	the	DET
app01-3395	176	6	sqn	sqn	PROPN
app01-3395	176	7	is	be	AUX
app01-3395	176	8	in	in	ADP
app01-3395	176	9	packet	packet	NOUN
app01-3395	176	10	loss	loss	NOUN
app01-3395	176	11	detecting	detecting	NOUN
app01-3395	176	12	.	.	PUNCT
app01-3395	177	1	the	the	DET
app01-3395	177	2	mid	mid	ADJ
app01-3395	177	3	determines	determine	VERB
app01-3395	177	4	the	the	DET
app01-3395	177	5	interpretation	interpretation	NOUN
app01-3395	177	6	of	of	ADP
app01-3395	177	7	bytes	byte	NOUN
app01-3395	177	8	in	in	ADP
app01-3395	177	9	the	the	DET
app01-3395	177	10	data	data	NOUN
app01-3395	177	11	part	part	NOUN
app01-3395	177	12	of	of	ADP
app01-3395	177	13	the	the	DET
app01-3395	177	14	message	message	NOUN
app01-3395	177	15	,	,	PUNCT
app01-3395	177	16	while	while	SCONJ
app01-3395	177	17	the	the	DET
app01-3395	177	18	len	len	NOUN
app01-3395	177	19	specifies	specify	VERB
app01-3395	177	20	the	the	DET
app01-3395	177	21	length	length	NOUN
app01-3395	177	22	of	of	ADP
app01-3395	177	23	this	this	DET
app01-3395	177	24	part	part	NOUN
app01-3395	177	25	.	.	PUNCT
app01-3395	178	1	there	there	PRON
app01-3395	178	2	are	be	VERB
app01-3395	178	3	24	24	NUM
app01-3395	178	4	different	different	ADJ
app01-3395	178	5	packet	packet	NOUN
app01-3395	178	6	types	type	NOUN
app01-3395	178	7	distinguished	distinguish	VERB
app01-3395	178	8	by	by	ADP
app01-3395	178	9	the	the	DET
app01-3395	178	10	mid	mid	PROPN
app01-3395	178	11	.	.	PUNCT
app01-3395	179	1	the	the	DET
app01-3395	179	2	most	most	ADV
app01-3395	179	3	important	important	ADJ
app01-3395	179	4	ones	one	NOUN
app01-3395	179	5	are	be	AUX
app01-3395	179	6	:	:	PUNCT
app01-3395	179	7	compounded	compound	VERB
app01-3395	179	8	joystick	joystick	PROPN
app01-3395	179	9	command	command	NOUN
app01-3395	179	10	,	,	PUNCT
app01-3395	179	11	robot	robot	NOUN
app01-3395	179	12	mode	mode	NOUN
app01-3395	179	13	,	,	PUNCT
app01-3395	179	14	and	and	CCONJ
app01-3395	179	15	acknowledge	acknowledge	VERB
app01-3395	179	16	in	in	ADP
app01-3395	179	17	the	the	DET
app01-3395	179	18	direction	direction	NOUN
app01-3395	179	19	towards	towards	ADP
app01-3395	179	20	the	the	DET
app01-3395	179	21	robot	robot	NOUN
app01-3395	179	22	;	;	PUNCT
app01-3395	179	23	and	and	CCONJ
app01-3395	179	24	all	all	DET
app01-3395	179	25	data	datum	NOUN
app01-3395	179	26	stream	stream	NOUN
app01-3395	179	27	,	,	PUNCT
app01-3395	179	28	battery	battery	NOUN
app01-3395	179	29	voltage	voltage	NOUN
app01-3395	179	30	,	,	PUNCT
app01-3395	179	31	and	and	CCONJ
app01-3395	179	32	acknowledge	acknowledge	VERB
app01-3395	179	33	in	in	ADP
app01-3395	179	34	the	the	DET
app01-3395	179	35	direction	direction	NOUN
app01-3395	179	36	towards	towards	ADP
app01-3395	179	37	the	the	DET
app01-3395	179	38	base	base	NOUN
app01-3395	179	39	station	station	NOUN
app01-3395	179	40	.	.	PUNCT
app01-3395	180	1	the	the	DET
app01-3395	180	2	computed	compute	VERB
app01-3395	180	3	joystick	joystick	PROPN
app01-3395	180	4	command	command	NOUN
app01-3395	180	5	holds	hold	VERB
app01-3395	180	6	the	the	DET
app01-3395	180	7	required	required	ADJ
app01-3395	180	8	roll	roll	NOUN
app01-3395	180	9	,	,	PUNCT
app01-3395	180	10	pitch	pitch	NOUN
app01-3395	180	11	,	,	PUNCT
app01-3395	180	12	yaw	yaw	NOUN
app01-3395	180	13	,	,	PUNCT
app01-3395	180	14	and	and	CCONJ
app01-3395	180	15	thrust	thrust	VERB
app01-3395	180	16	.	.	PUNCT
app01-3395	181	1	the	the	DET
app01-3395	181	2	robot	robot	NOUN
app01-3395	181	3	mode	mode	NOUN
app01-3395	181	4	is	be	AUX
app01-3395	181	5	used	use	VERB
app01-3395	181	6	to	to	PART
app01-3395	181	7	switch	switch	VERB
app01-3395	181	8	between	between	ADP
app01-3395	181	9	the	the	DET
app01-3395	181	10	robot	robot	NOUN
app01-3395	181	11	modes	mode	NOUN
app01-3395	181	12	,	,	PUNCT
app01-3395	181	13	as	as	SCONJ
app01-3395	181	14	described	describe	VERB
app01-3395	181	15	in	in	ADP
app01-3395	181	16	sect	sect	NOUN
app01-3395	181	17	.	.	PUNCT
app01-3395	182	1	4.3	4.3	NUM
app01-3395	182	2	.	.	PUNCT
app01-3395	183	1	this	this	DET
app01-3395	183	2	packet	packet	NOUN
app01-3395	183	3	is	be	AUX
app01-3395	183	4	specific	specific	ADJ
app01-3395	183	5	,	,	PUNCT
app01-3395	183	6	because	because	SCONJ
app01-3395	183	7	it	it	PRON
app01-3395	183	8	must	must	AUX
app01-3395	183	9	be	be	AUX
app01-3395	183	10	confirmed	confirm	VERB
app01-3395	183	11	by	by	ADP
app01-3395	183	12	the	the	DET
app01-3395	183	13	acknowledge	acknowledge	ADJ
app01-3395	183	14	packet	packet	NOUN
app01-3395	183	15	from	from	ADP
app01-3395	183	16	the	the	DET
app01-3395	183	17	robot	robot	NOUN
app01-3395	183	18	.	.	PUNCT
app01-3395	184	1	the	the	DET
app01-3395	184	2	acknowledge	acknowledge	ADJ
app01-3395	184	3	packet	packet	NOUN
app01-3395	184	4	carries	carry	VERB
app01-3395	184	5	,	,	PUNCT
app01-3395	184	6	in	in	ADP
app01-3395	184	7	its	its	PRON
app01-3395	184	8	data	data	NOUN
app01-3395	184	9	section	section	NOUN
app01-3395	184	10	,	,	PUNCT
app01-3395	184	11	the	the	DET
app01-3395	184	12	sqn	sqn	ADJ
app01-3395	184	13	number	number	NOUN
app01-3395	184	14	of	of	ADP
app01-3395	184	15	the	the	DET
app01-3395	184	16	packet	packet	NOUN
app01-3395	184	17	which	which	PRON
app01-3395	184	18	is	be	AUX
app01-3395	184	19	confirmed	confirm	VERB
app01-3395	184	20	by	by	ADP
app01-3395	184	21	it	it	PRON
app01-3395	184	22	.	.	PUNCT
app01-3395	185	1	towards	towards	ADP
app01-3395	185	2	the	the	DET
app01-3395	185	3	base	base	NOUN
app01-3395	185	4	station	station	NOUN
app01-3395	185	5	,	,	PUNCT
app01-3395	185	6	the	the	DET
app01-3395	185	7	all	all	DET
app01-3395	185	8	data	datum	NOUN
app01-3395	185	9	stream	stream	NOUN
app01-3395	185	10	carries	carry	VERB
app01-3395	185	11	important	important	ADJ
app01-3395	185	12	telemetric	telemetric	ADJ
app01-3395	185	13	data	datum	NOUN
app01-3395	185	14	such	such	ADJ
app01-3395	185	15	as	as	ADP
app01-3395	185	16	the	the	DET
app01-3395	185	17	robot	robot	NOUN
app01-3395	185	18	attitude	attitude	NOUN
app01-3395	185	19	and	and	CCONJ
app01-3395	185	20	altitude	altitude	NOUN
app01-3395	185	21	,	,	PUNCT
app01-3395	185	22	gps	gps	NOUN
app01-3395	185	23	position	position	NOUN
app01-3395	185	24	,	,	PUNCT
app01-3395	185	25	and	and	CCONJ
app01-3395	185	26	status	status	NOUN
app01-3395	185	27	(	(	PUNCT
app01-3395	185	28	e.g.	e.g.	ADV
app01-3395	185	29	,	,	PUNCT
app01-3395	185	30	if	if	SCONJ
app01-3395	185	31	the	the	DET
app01-3395	185	32	gps	gps	PROPN
app01-3395	185	33	data	datum	NOUN
app01-3395	185	34	are	be	AUX
app01-3395	185	35	valid	valid	ADJ
app01-3395	185	36	or	or	CCONJ
app01-3395	185	37	the	the	DET
app01-3395	185	38	inertial	inertial	ADJ
app01-3395	185	39	measurement	measurement	NOUN
app01-3395	185	40	unit	unit	NOUN
app01-3395	185	41	was	be	AUX
app01-3395	185	42	initialized	initialize	VERB
app01-3395	185	43	successfully	successfully	ADV
app01-3395	185	44	)	)	PUNCT
app01-3395	185	45	.	.	PUNCT
app01-3395	186	1	while	while	SCONJ
app01-3395	186	2	these	these	DET
app01-3395	186	3	data	datum	NOUN
app01-3395	186	4	are	be	AUX
app01-3395	186	5	sent	send	VERB
app01-3395	186	6	every	every	DET
app01-3395	186	7	10	10	NUM
app01-3395	186	8	ms	ms	NOUN
app01-3395	186	9	,	,	PUNCT
app01-3395	186	10	the	the	DET
app01-3395	186	11	battery	battery	NOUN
app01-3395	186	12	voltage	voltage	NOUN
app01-3395	186	13	,	,	PUNCT
app01-3395	186	14	for	for	ADP
app01-3395	186	15	example	example	NOUN
app01-3395	186	16	,	,	PUNCT
app01-3395	186	17	is	be	AUX
app01-3395	186	18	sent	send	VERB
app01-3395	186	19	once	once	ADV
app01-3395	186	20	per	per	ADP
app01-3395	186	21	second	second	NOUN
app01-3395	186	22	.	.	PUNCT
app01-3395	187	1	in	in	ADP
app01-3395	187	2	the	the	DET
app01-3395	187	3	direction	direction	NOUN
app01-3395	187	4	towards	towards	ADP
app01-3395	187	5	the	the	DET
app01-3395	187	6	robot	robot	NOUN
app01-3395	187	7	,	,	PUNCT
app01-3395	187	8	the	the	DET
app01-3395	187	9	compounded	compound	VERB
app01-3395	187	10	joystick	joystick	NOUN
app01-3395	187	11	command	command	NOUN
app01-3395	187	12	is	be	AUX
app01-3395	187	13	sent	send	VERB
app01-3395	187	14	approximately	approximately	ADV
app01-3395	187	15	every	every	DET
app01-3395	187	16	100	100	NUM
app01-3395	187	17	ms	ms	NOUN
app01-3395	187	18	and	and	CCONJ
app01-3395	187	19	the	the	DET
app01-3395	187	20	robot	robot	NOUN
app01-3395	187	21	mode	mode	NOUN
app01-3395	187	22	only	only	ADV
app01-3395	187	23	when	when	SCONJ
app01-3395	187	24	it	it	PRON
app01-3395	187	25	is	be	AUX
app01-3395	187	26	required	require	VERB
app01-3395	187	27	to	to	PART
app01-3395	187	28	switch	switch	VERB
app01-3395	187	29	the	the	DET
app01-3395	187	30	mode	mode	NOUN
app01-3395	187	31	.	.	PUNCT
app01-3395	188	1	as	as	SCONJ
app01-3395	188	2	stated	state	VERB
app01-3395	188	3	above	above	ADV
app01-3395	188	4	,	,	PUNCT
app01-3395	188	5	this	this	DET
app01-3395	188	6	packet	packet	NOUN
app01-3395	188	7	must	must	AUX
app01-3395	188	8	be	be	AUX
app01-3395	188	9	confirmed	confirm	VERB
app01-3395	188	10	by	by	ADP
app01-3395	188	11	the	the	DET
app01-3395	188	12	acknowledge	acknowledge	ADJ
app01-3395	188	13	packet	packet	NOUN
app01-3395	188	14	.	.	PUNCT
app01-3395	189	1	if	if	SCONJ
app01-3395	189	2	it	it	PRON
app01-3395	189	3	is	be	AUX
app01-3395	189	4	not	not	PART
app01-3395	189	5	,	,	PUNCT
app01-3395	189	6	the	the	DET
app01-3395	189	7	station	station	NOUN
app01-3395	189	8	begins	begin	VERB
app01-3395	189	9	retransmitting	retransmit	VERB
app01-3395	189	10	it	it	PRON
app01-3395	189	11	and	and	CCONJ
app01-3395	189	12	continues	continue	VERB
app01-3395	189	13	until	until	SCONJ
app01-3395	189	14	confirmation	confirmation	NOUN
app01-3395	189	15	is	be	AUX
app01-3395	189	16	obtained	obtain	VERB
app01-3395	189	17	.	.	PUNCT
app01-3395	190	1	this	this	PRON
app01-3395	190	2	is	be	AUX
app01-3395	190	3	carried	carry	VERB
app01-3395	190	4	out	out	ADP
app01-3395	190	5	to	to	PART
app01-3395	190	6	ensure	ensure	VERB
app01-3395	190	7	that	that	SCONJ
app01-3395	190	8	the	the	DET
app01-3395	190	9	robot	robot	NOUN
app01-3395	190	10	mode	mode	NOUN
app01-3395	190	11	will	will	AUX
app01-3395	190	12	be	be	AUX
app01-3395	190	13	switched	switch	VERB
app01-3395	190	14	even	even	ADV
app01-3395	190	15	when	when	SCONJ
app01-3395	190	16	the	the	DET
app01-3395	190	17	packet	packet	NOUN
app01-3395	190	18	is	be	AUX
app01-3395	190	19	lost	lose	VERB
app01-3395	190	20	.	.	PUNCT
app01-3395	191	1	the	the	DET
app01-3395	191	2	other	other	ADJ
app01-3395	191	3	packets	packet	NOUN
app01-3395	191	4	remain	remain	VERB
app01-3395	191	5	unconfirmed	unconfirmed	ADJ
app01-3395	191	6	,	,	PUNCT
app01-3395	191	7	because	because	SCONJ
app01-3395	191	8	the	the	DET
app01-3395	191	9	system	system	NOUN
app01-3395	191	10	overheads	overhead	NOUN
app01-3395	191	11	will	will	AUX
app01-3395	191	12	be	be	AUX
app01-3395	191	13	more	more	ADV
app01-3395	191	14	significant	significant	ADJ
app01-3395	191	15	than	than	ADP
app01-3395	191	16	the	the	DET
app01-3395	191	17	advantage	advantage	NOUN
app01-3395	191	18	of	of	ADP
app01-3395	191	19	ensuring	ensure	VERB
app01-3395	191	20	that	that	SCONJ
app01-3395	191	21	all	all	DET
app01-3395	191	22	flight	flight	NOUN
app01-3395	191	23	data	datum	NOUN
app01-3395	191	24	will	will	AUX
app01-3395	191	25	be	be	AUX
app01-3395	191	26	transmitted	transmit	VERB
app01-3395	191	27	ok	ok	INTJ
app01-3395	191	28	.	.	PUNCT
app01-3395	192	1	if	if	SCONJ
app01-3395	192	2	there	there	PRON
app01-3395	192	3	is	be	VERB
app01-3395	192	4	a	a	DET
app01-3395	192	5	packet	packet	ADJ
app01-3395	192	6	outage	outage	NOUN
app01-3395	192	7	lasting	last	VERB
app01-3395	192	8	longer	long	ADV
app01-3395	192	9	than	than	ADP
app01-3395	192	10	0.5	0.5	NUM
app01-3395	192	11	s	s	NOUN
app01-3395	192	12	,	,	PUNCT
app01-3395	192	13	the	the	DET
app01-3395	192	14	robot	robot	NOUN
app01-3395	192	15	will	will	AUX
app01-3395	192	16	handle	handle	VERB
app01-3395	192	17	this	this	PRON
app01-3395	192	18	as	as	ADP
app01-3395	192	19	signal	signal	ADJ
app01-3395	192	20	loss	loss	NOUN
app01-3395	192	21	and	and	CCONJ
app01-3395	192	22	take	take	VERB
app01-3395	192	23	an	an	DET
app01-3395	192	24	action	action	NOUN
app01-3395	192	25	.	.	PUNCT
app01-3395	193	1	it	it	PRON
app01-3395	193	2	will	will	AUX
app01-3395	193	3	set	set	VERB
app01-3395	193	4	the	the	DET
app01-3395	193	5	required	required	ADJ
app01-3395	193	6	roll	roll	NOUN
app01-3395	193	7	,	,	PUNCT
app01-3395	193	8	pitch	pitch	NOUN
app01-3395	193	9	and	and	CCONJ
app01-3395	193	10	yaw	yaw	NOUN
app01-3395	193	11	to	to	ADP
app01-3395	193	12	zero	zero	NUM
app01-3395	193	13	;	;	PUNCT
app01-3395	193	14	also	also	ADV
app01-3395	193	15	,	,	PUNCT
app01-3395	193	16	the	the	DET
app01-3395	193	17	system	system	NOUN
app01-3395	193	18	performs	perform	VERB
app01-3395	193	19	slow	slow	ADJ
app01-3395	193	20	descent	descent	NOUN
app01-3395	193	21	and	and	CCONJ
app01-3395	193	22	can	can	AUX
app01-3395	193	23	proceed	proceed	VERB
app01-3395	193	24	to	to	ADP
app01-3395	193	25	eventual	eventual	ADJ
app01-3395	193	26	landing	landing	NOUN
app01-3395	193	27	.	.	PUNCT
app01-3395	194	1	4.5	4.5	NUM
app01-3395	194	2	.	.	PUNCT
app01-3395	195	1	base	base	NOUN
app01-3395	195	2	station	station	NOUN
app01-3395	195	3	one	one	NUM
app01-3395	195	4	of	of	ADP
app01-3395	195	5	the	the	DET
app01-3395	195	6	requirements	requirement	NOUN
app01-3395	195	7	for	for	ADP
app01-3395	195	8	the	the	DET
app01-3395	195	9	uranus	uranus	NOUN
app01-3395	195	10	was	be	AUX
app01-3395	195	11	its	its	PRON
app01-3395	195	12	integration	integration	NOUN
app01-3395	195	13	in	in	ADP
app01-3395	195	14	the	the	DET
app01-3395	195	15	cassandra	cassandra	PROPN
app01-3395	195	16	system	system	NOUN
app01-3395	195	17	.	.	PUNCT
app01-3395	196	1	this	this	DET
app01-3395	196	2	system	system	NOUN
app01-3395	196	3	has	have	AUX
app01-3395	196	4	been	be	AUX
app01-3395	196	5	developed	develop	VERB
app01-3395	196	6	at	at	ADP
app01-3395	196	7	ceitec	ceitec	ADJ
app01-3395	196	8	and	and	CCONJ
app01-3395	196	9	the	the	PRON
app01-3395	196	10	but	but	CCONJ
app01-3395	196	11	for	for	ADP
app01-3395	196	12	several	several	ADJ
app01-3395	196	13	19	19	NUM
app01-3395	196	14	p.	p.	NOUN
app01-3395	196	15	gabrlik	gabrlik	NOUN
app01-3395	196	16	,	,	PUNCT
app01-3395	196	17	v.	v.	PROPN
app01-3395	196	18	kriz	kriz	PROPN
app01-3395	196	19	,	,	PUNCT
app01-3395	196	20	l.	l.	PROPN
app01-3395	196	21	zalud	zalud	PROPN
app01-3395	196	22	acta	acta	PROPN
app01-3395	196	23	polytechnica	polytechnica	PROPN
app01-3395	196	24	ctu	ctu	NOUN
app01-3395	196	25	proceedings	proceeding	NOUN
app01-3395	196	26	pre	pre	VERB
app01-3395	197	1	sqn	sqn	PROPN
app01-3395	197	2	mid	mid	ADJ
app01-3395	197	3	len	len	ADJ
app01-3395	197	4	data	datum	NOUN
app01-3395	197	5	...	...	PUNCT
app01-3395	198	1	cs	cs	PROPN
app01-3395	198	2	1b	1b	PROPN
app01-3395	198	3	2b	2b	NUM
app01-3395	198	4	1b	1b	NUM
app01-3395	198	5	1b	1b	NUM
app01-3395	198	6	1	1	NUM
app01-3395	198	7	-	-	SYM
app01-3395	198	8	252	252	NUM
app01-3395	198	9	b	b	NUM
app01-3395	198	10	1b	1b	NUM
app01-3395	198	11	table	table	NOUN
app01-3395	198	12	1	1	NUM
app01-3395	198	13	.	.	X
app01-3395	198	14	uranuslink	uranuslink	ADJ
app01-3395	198	15	packet	packet	NOUN
app01-3395	198	16	format	format	NOUN
app01-3395	198	17	.	.	PUNCT
app01-3395	199	1	years	year	NOUN
app01-3395	199	2	.	.	PUNCT
app01-3395	200	1	this	this	DET
app01-3395	200	2	system	system	NOUN
app01-3395	200	3	comprises	comprise	VERB
app01-3395	200	4	a	a	DET
app01-3395	200	5	heterogeneous	heterogeneous	ADJ
app01-3395	200	6	group	group	NOUN
app01-3395	200	7	of	of	ADP
app01-3395	200	8	robots	robot	NOUN
app01-3395	200	9	and	and	CCONJ
app01-3395	200	10	a	a	DET
app01-3395	200	11	base	base	NOUN
app01-3395	200	12	station	station	NOUN
app01-3395	200	13	.	.	PUNCT
app01-3395	201	1	the	the	DET
app01-3395	201	2	core	core	NOUN
app01-3395	201	3	of	of	ADP
app01-3395	201	4	the	the	DET
app01-3395	201	5	base	base	NOUN
app01-3395	201	6	station	station	NOUN
app01-3395	201	7	consists	consist	VERB
app01-3395	201	8	of	of	ADP
app01-3395	201	9	software	software	NOUN
app01-3395	201	10	written	write	VERB
app01-3395	201	11	in	in	ADP
app01-3395	201	12	c	c	NOUN
app01-3395	201	13	#	#	NOUN
app01-3395	201	14	,	,	PUNCT
app01-3395	201	15	communication	communication	NOUN
app01-3395	201	16	hw	hw	NOUN
app01-3395	201	17	,	,	PUNCT
app01-3395	201	18	and	and	CCONJ
app01-3395	201	19	human	human	ADJ
app01-3395	201	20	-	-	PUNCT
app01-3395	201	21	device	device	NOUN
app01-3395	201	22	interface	interface	NOUN
app01-3395	201	23	.	.	PUNCT
app01-3395	202	1	this	this	DET
app01-3395	202	2	interface	interface	NOUN
app01-3395	202	3	includes	include	VERB
app01-3395	202	4	a	a	DET
app01-3395	202	5	joypad	joypad	NOUN
app01-3395	202	6	and	and	CCONJ
app01-3395	202	7	a	a	DET
app01-3395	202	8	virtual	virtual	ADJ
app01-3395	202	9	reality	reality	NOUN
app01-3395	202	10	helmet	helmet	NOUN
app01-3395	202	11	,	,	PUNCT
app01-3395	202	12	or	or	CCONJ
app01-3395	202	13	,	,	PUNCT
app01-3395	202	14	in	in	ADP
app01-3395	202	15	the	the	DET
app01-3395	202	16	simpler	simple	ADJ
app01-3395	202	17	version	version	NOUN
app01-3395	202	18	,	,	PUNCT
app01-3395	202	19	a	a	DET
app01-3395	202	20	monitor	monitor	NOUN
app01-3395	202	21	screen	screen	NOUN
app01-3395	202	22	and	and	CCONJ
app01-3395	202	23	an	an	DET
app01-3395	202	24	optional	optional	ADJ
app01-3395	202	25	keyboard	keyboard	NOUN
app01-3395	202	26	.	.	PUNCT
app01-3395	203	1	the	the	DET
app01-3395	203	2	base	base	NOUN
app01-3395	203	3	station	station	NOUN
app01-3395	203	4	software	software	NOUN
app01-3395	203	5	can	can	AUX
app01-3395	203	6	be	be	AUX
app01-3395	203	7	run	run	VERB
app01-3395	203	8	on	on	ADP
app01-3395	203	9	a	a	DET
app01-3395	203	10	classical	classical	ADJ
app01-3395	203	11	pc	pc	NOUN
app01-3395	203	12	,	,	PUNCT
app01-3395	203	13	a	a	DET
app01-3395	203	14	laptop	laptop	NOUN
app01-3395	203	15	,	,	PUNCT
app01-3395	203	16	or	or	CCONJ
app01-3395	203	17	an	an	DET
app01-3395	203	18	embedded	embed	VERB
app01-3395	203	19	pc	pc	NOUN
app01-3395	203	20	;	;	PUNCT
app01-3395	203	21	thus	thus	ADV
app01-3395	203	22	,	,	PUNCT
app01-3395	203	23	the	the	DET
app01-3395	203	24	base	base	NOUN
app01-3395	203	25	station	station	NOUN
app01-3395	203	26	can	can	AUX
app01-3395	203	27	be	be	AUX
app01-3395	203	28	a	a	DET
app01-3395	203	29	mobile	mobile	ADJ
app01-3395	203	30	or	or	CCONJ
app01-3395	203	31	even	even	ADV
app01-3395	203	32	wearable	wearable	ADJ
app01-3395	203	33	system	system	NOUN
app01-3395	203	34	.	.	PUNCT
app01-3395	204	1	a	a	DET
app01-3395	204	2	new	new	ADJ
app01-3395	204	3	communication	communication	NOUN
app01-3395	204	4	hw	hw	PRON
app01-3395	204	5	was	be	AUX
app01-3395	204	6	built	build	VERB
app01-3395	204	7	to	to	PART
app01-3395	204	8	operate	operate	VERB
app01-3395	204	9	the	the	DET
app01-3395	204	10	uranus	uranus	PROPN
app01-3395	204	11	uav	uav	PROPN
app01-3395	204	12	.	.	PUNCT
app01-3395	205	1	this	this	DET
app01-3395	205	2	portable	portable	ADJ
app01-3395	205	3	device	device	NOUN
app01-3395	205	4	consists	consist	VERB
app01-3395	205	5	of	of	ADP
app01-3395	205	6	x	x	ADJ
app01-3395	205	7	-	-	ADJ
app01-3395	205	8	bee	bee	ADJ
app01-3395	205	9	modules	module	NOUN
app01-3395	205	10	(	(	PUNCT
app01-3395	205	11	as	as	SCONJ
app01-3395	205	12	described	describe	VERB
app01-3395	205	13	in	in	ADP
app01-3395	205	14	section	section	NOUN
app01-3395	205	15	4.4	4.4	NUM
app01-3395	205	16	)	)	PUNCT
app01-3395	205	17	,	,	PUNCT
app01-3395	205	18	a	a	DET
app01-3395	205	19	high	high	ADJ
app01-3395	205	20	-	-	PUNCT
app01-3395	205	21	gain	gain	NOUN
app01-3395	205	22	antenna	antenna	NOUN
app01-3395	205	23	,	,	PUNCT
app01-3395	205	24	and	and	CCONJ
app01-3395	205	25	an	an	DET
app01-3395	205	26	uart	uart	VERB
app01-3395	205	27	-	-	PUNCT
app01-3395	205	28	over	over	ADP
app01-3395	205	29	-	-	PUNCT
app01-3395	205	30	usb	usb	NOUN
app01-3395	205	31	converter	converter	NOUN
app01-3395	205	32	,	,	PUNCT
app01-3395	205	33	all	all	PRON
app01-3395	205	34	placed	place	VERB
app01-3395	205	35	in	in	ADP
app01-3395	205	36	box	box	NOUN
app01-3395	205	37	attached	attach	VERB
app01-3395	205	38	to	to	ADP
app01-3395	205	39	a	a	DET
app01-3395	205	40	foldable	foldable	ADJ
app01-3395	205	41	tripod	tripod	NOUN
app01-3395	205	42	stand	stand	NOUN
app01-3395	205	43	to	to	PART
app01-3395	205	44	ensure	ensure	VERB
app01-3395	205	45	a	a	DET
app01-3395	205	46	higher	high	ADJ
app01-3395	205	47	position	position	NOUN
app01-3395	205	48	of	of	ADP
app01-3395	205	49	the	the	DET
app01-3395	205	50	communication	communication	NOUN
app01-3395	205	51	system	system	NOUN
app01-3395	205	52	above	above	ADP
app01-3395	205	53	the	the	DET
app01-3395	205	54	ground	ground	NOUN
app01-3395	205	55	(	(	PUNCT
app01-3395	205	56	and	and	CCONJ
app01-3395	205	57	,	,	PUNCT
app01-3395	205	58	thus	thus	ADV
app01-3395	205	59	,	,	PUNCT
app01-3395	205	60	better	well	ADJ
app01-3395	205	61	coverage	coverage	NOUN
app01-3395	205	62	)	)	PUNCT
app01-3395	205	63	.	.	PUNCT
app01-3395	206	1	from	from	ADP
app01-3395	206	2	the	the	DET
app01-3395	206	3	base	base	NOUN
app01-3395	206	4	station	station	NOUN
app01-3395	206	5	,	,	PUNCT
app01-3395	206	6	the	the	DET
app01-3395	206	7	operator	operator	NOUN
app01-3395	206	8	can	can	AUX
app01-3395	206	9	control	control	VERB
app01-3395	206	10	all	all	DET
app01-3395	206	11	the	the	DET
app01-3395	206	12	powered	power	VERB
app01-3395	206	13	robots	robot	NOUN
app01-3395	206	14	by	by	ADP
app01-3395	206	15	switching	switch	VERB
app01-3395	206	16	among	among	ADP
app01-3395	206	17	them	they	PRON
app01-3395	206	18	.	.	PUNCT
app01-3395	207	1	the	the	DET
app01-3395	207	2	display	display	NOUN
app01-3395	207	3	provides	provide	VERB
app01-3395	207	4	the	the	DET
app01-3395	207	5	operator	operator	NOUN
app01-3395	207	6	with	with	ADP
app01-3395	207	7	a	a	DET
app01-3395	207	8	first	first	ADJ
app01-3395	207	9	person	person	NOUN
app01-3395	207	10	view	view	NOUN
app01-3395	207	11	from	from	ADP
app01-3395	207	12	the	the	DET
app01-3395	207	13	robot	robot	NOUN
app01-3395	207	14	.	.	PUNCT
app01-3395	208	1	the	the	DET
app01-3395	208	2	robot	robot	NOUN
app01-3395	208	3	movements	movement	NOUN
app01-3395	208	4	are	be	AUX
app01-3395	208	5	controlled	control	VERB
app01-3395	208	6	via	via	ADP
app01-3395	208	7	the	the	DET
app01-3395	208	8	joypad	joypad	NOUN
app01-3395	208	9	.	.	PUNCT
app01-3395	209	1	if	if	SCONJ
app01-3395	209	2	the	the	DET
app01-3395	209	3	camera	camera	NOUN
app01-3395	209	4	on	on	ADP
app01-3395	209	5	a	a	DET
app01-3395	209	6	given	give	VERB
app01-3395	209	7	robot	robot	NOUN
app01-3395	209	8	is	be	AUX
app01-3395	209	9	capable	capable	ADJ
app01-3395	209	10	of	of	ADP
app01-3395	209	11	rotating	rotate	VERB
app01-3395	209	12	,	,	PUNCT
app01-3395	209	13	its	its	PRON
app01-3395	209	14	motion	motion	NOUN
app01-3395	209	15	can	can	AUX
app01-3395	209	16	by	by	SCONJ
app01-3395	209	17	controlled	control	VERB
app01-3395	209	18	via	via	ADP
app01-3395	209	19	movement	movement	NOUN
app01-3395	209	20	of	of	ADP
app01-3395	209	21	the	the	DET
app01-3395	209	22	operator	operator	NOUN
app01-3395	209	23	’s	’s	PART
app01-3395	209	24	head	head	NOUN
app01-3395	209	25	(	(	PUNCT
app01-3395	209	26	in	in	ADP
app01-3395	209	27	case	case	NOUN
app01-3395	209	28	that	that	SCONJ
app01-3395	209	29	the	the	DET
app01-3395	209	30	virtual	virtual	ADJ
app01-3395	209	31	reality	reality	NOUN
app01-3395	209	32	helmet	helmet	NOUN
app01-3395	209	33	is	be	AUX
app01-3395	209	34	used	use	VERB
app01-3395	209	35	)	)	PUNCT
app01-3395	209	36	or	or	CCONJ
app01-3395	209	37	by	by	ADP
app01-3395	209	38	means	mean	NOUN
app01-3395	209	39	of	of	ADP
app01-3395	209	40	the	the	DET
app01-3395	209	41	joypad	joypad	NOUN
app01-3395	209	42	.	.	PUNCT
app01-3395	210	1	the	the	DET
app01-3395	210	2	cassandra	cassandra	PROPN
app01-3395	210	3	base	base	PROPN
app01-3395	210	4	station	station	NOUN
app01-3395	210	5	display	display	NOUN
app01-3395	210	6	provides	provide	VERB
app01-3395	210	7	,	,	PUNCT
app01-3395	210	8	besides	besides	SCONJ
app01-3395	210	9	a	a	DET
app01-3395	210	10	view	view	NOUN
app01-3395	210	11	from	from	ADP
app01-3395	210	12	the	the	DET
app01-3395	210	13	onboard	onboard	ADJ
app01-3395	210	14	camera	camera	NOUN
app01-3395	210	15	,	,	PUNCT
app01-3395	210	16	important	important	ADJ
app01-3395	210	17	telemetric	telemetric	ADJ
app01-3395	210	18	and	and	CCONJ
app01-3395	210	19	other	other	ADJ
app01-3395	210	20	mission	mission	NOUN
app01-3395	210	21	-	-	PUNCT
app01-3395	210	22	related	relate	VERB
app01-3395	210	23	data	datum	NOUN
app01-3395	210	24	,	,	PUNCT
app01-3395	210	25	as	as	SCONJ
app01-3395	210	26	shown	show	VERB
app01-3395	210	27	in	in	ADP
app01-3395	210	28	fig	fig	NOUN
app01-3395	210	29	.	.	PUNCT
app01-3395	211	1	8	8	X
app01-3395	211	2	.	.	PUNCT
app01-3395	212	1	the	the	DET
app01-3395	212	2	bottom	bottom	ADJ
app01-3395	212	3	part	part	NOUN
app01-3395	212	4	of	of	ADP
app01-3395	212	5	the	the	DET
app01-3395	212	6	display	display	NOUN
app01-3395	212	7	presents	present	VERB
app01-3395	212	8	attitude	attitude	NOUN
app01-3395	212	9	information	information	NOUN
app01-3395	212	10	,	,	PUNCT
app01-3395	212	11	namely	namely	ADV
app01-3395	212	12	the	the	DET
app01-3395	212	13	actual	actual	ADJ
app01-3395	212	14	roll	roll	NOUN
app01-3395	212	15	and	and	CCONJ
app01-3395	212	16	pitch	pitch	NOUN
app01-3395	212	17	angle	angle	NOUN
app01-3395	212	18	in	in	ADP
app01-3395	212	19	the	the	DET
app01-3395	212	20	artificial	artificial	ADJ
app01-3395	212	21	horizon	horizon	NOUN
app01-3395	212	22	in	in	ADP
app01-3395	212	23	the	the	DET
app01-3395	212	24	left	left	ADJ
app01-3395	212	25	circular	circular	ADJ
app01-3395	212	26	indicator	indicator	NOUN
app01-3395	212	27	,	,	PUNCT
app01-3395	212	28	and	and	CCONJ
app01-3395	212	29	the	the	DET
app01-3395	212	30	yaw	yaw	NOUN
app01-3395	212	31	angle	angle	NOUN
app01-3395	212	32	in	in	ADP
app01-3395	212	33	the	the	DET
app01-3395	212	34	compass	compass	NOUN
app01-3395	212	35	in	in	ADP
app01-3395	212	36	the	the	DET
app01-3395	212	37	right	right	ADJ
app01-3395	212	38	one	one	NUM
app01-3395	212	39	.	.	PUNCT
app01-3395	213	1	the	the	DET
app01-3395	213	2	upper	upper	ADJ
app01-3395	213	3	left	left	ADJ
app01-3395	213	4	corner	corner	NOUN
app01-3395	213	5	includes	include	VERB
app01-3395	213	6	the	the	DET
app01-3395	213	7	robot	robot	NOUN
app01-3395	213	8	status	status	NOUN
app01-3395	213	9	indicator	indicator	NOUN
app01-3395	213	10	.	.	PUNCT
app01-3395	214	1	this	this	PRON
app01-3395	214	2	contains	contain	VERB
app01-3395	214	3	the	the	DET
app01-3395	214	4	name	name	NOUN
app01-3395	214	5	of	of	ADP
app01-3395	214	6	the	the	DET
app01-3395	214	7	active	active	ADJ
app01-3395	214	8	robot	robot	NOUN
app01-3395	214	9	,	,	PUNCT
app01-3395	214	10	its	its	PRON
app01-3395	214	11	battery	battery	NOUN
app01-3395	214	12	voltage	voltage	NOUN
app01-3395	214	13	,	,	PUNCT
app01-3395	214	14	signal	signal	ADJ
app01-3395	214	15	outage	outage	NOUN
app01-3395	214	16	indicator	indicator	NOUN
app01-3395	214	17	,	,	PUNCT
app01-3395	214	18	actuator	actuator	NOUN
app01-3395	214	19	state	state	NOUN
app01-3395	214	20	,	,	PUNCT
app01-3395	214	21	robot	robot	NOUN
app01-3395	214	22	mode	mode	NOUN
app01-3395	214	23	,	,	PUNCT
app01-3395	214	24	and	and	CCONJ
app01-3395	214	25	other	other	ADJ
app01-3395	214	26	information	information	NOUN
app01-3395	214	27	if	if	SCONJ
app01-3395	214	28	required	require	VERB
app01-3395	214	29	.	.	PUNCT
app01-3395	215	1	the	the	DET
app01-3395	215	2	lower	low	ADJ
app01-3395	215	3	part	part	NOUN
app01-3395	215	4	of	of	ADP
app01-3395	215	5	this	this	DET
app01-3395	215	6	indicator	indicator	NOUN
app01-3395	215	7	can	can	AUX
app01-3395	215	8	show	show	VERB
app01-3395	215	9	important	important	ADJ
app01-3395	215	10	text	text	NOUN
app01-3395	215	11	information	information	NOUN
app01-3395	215	12	and	and	CCONJ
app01-3395	215	13	warnings	warning	NOUN
app01-3395	215	14	.	.	PUNCT
app01-3395	216	1	all	all	DET
app01-3395	216	2	the	the	DET
app01-3395	216	3	indicators	indicator	NOUN
app01-3395	216	4	can	can	AUX
app01-3395	216	5	be	be	AUX
app01-3395	216	6	hidden	hide	VERB
app01-3395	216	7	,	,	PUNCT
app01-3395	216	8	plus	plus	CCONJ
app01-3395	216	9	there	there	PRON
app01-3395	216	10	are	be	VERB
app01-3395	216	11	a	a	DET
app01-3395	216	12	couple	couple	NOUN
app01-3395	216	13	of	of	ADP
app01-3395	216	14	indicators	indicator	NOUN
app01-3395	216	15	not	not	PART
app01-3395	216	16	opened	open	VERB
app01-3395	216	17	by	by	ADP
app01-3395	216	18	default	default	NOUN
app01-3395	216	19	.	.	PUNCT
app01-3395	217	1	such	such	ADJ
app01-3395	217	2	indicators	indicator	NOUN
app01-3395	217	3	display	display	VERB
app01-3395	217	4	,	,	PUNCT
app01-3395	217	5	for	for	ADP
app01-3395	217	6	example	example	NOUN
app01-3395	217	7	,	,	PUNCT
app01-3395	217	8	the	the	DET
app01-3395	217	9	status	status	NOUN
app01-3395	217	10	of	of	ADP
app01-3395	217	11	the	the	DET
app01-3395	217	12	other	other	ADJ
app01-3395	217	13	robots	robot	NOUN
app01-3395	217	14	,	,	PUNCT
app01-3395	217	15	the	the	DET
app01-3395	217	16	actual	actual	ADJ
app01-3395	217	17	position	position	NOUN
app01-3395	217	18	of	of	ADP
app01-3395	217	19	the	the	DET
app01-3395	217	20	robot	robot	NOUN
app01-3395	217	21	on	on	ADP
app01-3395	217	22	the	the	DET
app01-3395	217	23	map	map	NOUN
app01-3395	217	24	,	,	PUNCT
app01-3395	217	25	or	or	CCONJ
app01-3395	217	26	the	the	DET
app01-3395	217	27	actual	actual	ADJ
app01-3395	217	28	camera	camera	NOUN
app01-3395	217	29	orientation	orientation	NOUN
app01-3395	217	30	.	.	PUNCT
app01-3395	218	1	5	5	X
app01-3395	218	2	.	.	X
app01-3395	218	3	operation	operation	NOUN
app01-3395	218	4	for	for	ADP
app01-3395	218	5	flying	fly	VERB
app01-3395	218	6	with	with	ADP
app01-3395	218	7	the	the	DET
app01-3395	218	8	uranus	uranus	PROPN
app01-3395	218	9	uav	uav	PROPN
app01-3395	218	10	,	,	PUNCT
app01-3395	218	11	we	we	PRON
app01-3395	218	12	use	use	VERB
app01-3395	218	13	the	the	DET
app01-3395	218	14	following	follow	VERB
app01-3395	218	15	configuration	configuration	NOUN
app01-3395	218	16	:	:	PUNCT
app01-3395	218	17	a	a	DET
app01-3395	218	18	laptop	laptop	NOUN
app01-3395	218	19	with	with	ADP
app01-3395	218	20	the	the	DET
app01-3395	218	21	cassandra	cassandra	PROPN
app01-3395	218	22	system	system	NOUN
app01-3395	218	23	installed	instal	VERB
app01-3395	218	24	;	;	PUNCT
app01-3395	218	25	a	a	DET
app01-3395	218	26	joypad	joypad	NOUN
app01-3395	218	27	;	;	PUNCT
app01-3395	218	28	and	and	CCONJ
app01-3395	218	29	a	a	DET
app01-3395	218	30	designed	design	VERB
app01-3395	218	31	communication	communication	NOUN
app01-3395	218	32	device	device	NOUN
app01-3395	218	33	.	.	PUNCT
app01-3395	219	1	the	the	DET
app01-3395	219	2	uranus	uranus	NOUN
app01-3395	219	3	is	be	AUX
app01-3395	219	4	controlled	control	VERB
app01-3395	219	5	by	by	ADP
app01-3395	219	6	a	a	DET
app01-3395	219	7	joypad	joypad	NOUN
app01-3395	219	8	with	with	ADP
app01-3395	219	9	2	2	NUM
app01-3395	219	10	joysticks	joystick	NOUN
app01-3395	219	11	,	,	PUNCT
app01-3395	219	12	of	of	ADP
app01-3395	219	13	which	which	PRON
app01-3395	219	14	the	the	DET
app01-3395	219	15	left	left	ADJ
app01-3395	219	16	one	one	NOUN
app01-3395	219	17	regulates	regulate	VERB
app01-3395	219	18	the	the	DET
app01-3395	219	19	pitch	pitch	NOUN
app01-3395	219	20	and	and	CCONJ
app01-3395	219	21	roll	roll	NOUN
app01-3395	219	22	and	and	CCONJ
app01-3395	219	23	the	the	DET
app01-3395	219	24	right	right	ADJ
app01-3395	219	25	one	one	NOUN
app01-3395	219	26	modifies	modify	VERB
app01-3395	219	27	the	the	DET
app01-3395	219	28	thrust	thrust	NOUN
app01-3395	219	29	and	and	CCONJ
app01-3395	219	30	yaw	yaw	NOUN
app01-3395	219	31	.	.	PUNCT
app01-3395	220	1	before	before	ADP
app01-3395	220	2	the	the	DET
app01-3395	220	3	flight	flight	NOUN
app01-3395	220	4	,	,	PUNCT
app01-3395	220	5	the	the	DET
app01-3395	220	6	following	follow	VERB
app01-3395	220	7	steps	step	NOUN
app01-3395	220	8	need	need	VERB
app01-3395	220	9	to	to	PART
app01-3395	220	10	be	be	AUX
app01-3395	220	11	carried	carry	VERB
app01-3395	220	12	out	out	ADP
app01-3395	220	13	:	:	PUNCT
app01-3395	220	14	after	after	ADP
app01-3395	220	15	switching	switch	VERB
app01-3395	220	16	the	the	DET
app01-3395	220	17	power	power	NOUN
app01-3395	220	18	on	on	ADP
app01-3395	220	19	,	,	PUNCT
app01-3395	220	20	the	the	DET
app01-3395	220	21	uranus	uranus	NOUN
app01-3395	220	22	figure	figure	NOUN
app01-3395	220	23	7	7	NUM
app01-3395	220	24	.	.	PUNCT
app01-3395	220	25	base	base	NOUN
app01-3395	220	26	station	station	NOUN
app01-3395	220	27	and	and	CCONJ
app01-3395	220	28	uranus	uranus	PROPN
app01-3395	220	29	uav	uav	PROPN
app01-3395	220	30	.	.	PUNCT
app01-3395	221	1	figure	figure	VERB
app01-3395	221	2	8	8	NUM
app01-3395	221	3	.	.	PUNCT
app01-3395	222	1	the	the	DET
app01-3395	222	2	user	user	NOUN
app01-3395	222	3	interface	interface	NOUN
app01-3395	222	4	of	of	ADP
app01-3395	222	5	the	the	DET
app01-3395	222	6	cassandra	cassandra	PROPN
app01-3395	222	7	system	system	NOUN
app01-3395	222	8	.	.	PUNCT
app01-3395	223	1	uav	uav	PROPN
app01-3395	223	2	is	be	AUX
app01-3395	223	3	in	in	ADP
app01-3395	223	4	the	the	DET
app01-3395	223	5	configuration	configuration	NOUN
app01-3395	223	6	/	/	SYM
app01-3395	223	7	stop	stop	NOUN
app01-3395	223	8	mode	mode	NOUN
app01-3395	223	9	.	.	PUNCT
app01-3395	224	1	this	this	DET
app01-3395	224	2	mode	mode	NOUN
app01-3395	224	3	has	have	VERB
app01-3395	224	4	to	to	PART
app01-3395	224	5	be	be	AUX
app01-3395	224	6	switched	switch	VERB
app01-3395	224	7	to	to	ADP
app01-3395	224	8	the	the	DET
app01-3395	224	9	run	run	VERB
app01-3395	224	10	mode	mode	NOUN
app01-3395	224	11	from	from	ADP
app01-3395	224	12	the	the	DET
app01-3395	224	13	joypad	joypad	NOUN
app01-3395	224	14	.	.	PUNCT
app01-3395	225	1	subsequently	subsequently	ADV
app01-3395	225	2	,	,	PUNCT
app01-3395	225	3	all	all	DET
app01-3395	225	4	the	the	DET
app01-3395	225	5	rotors	rotor	NOUN
app01-3395	225	6	start	start	VERB
app01-3395	225	7	and	and	CCONJ
app01-3395	225	8	operate	operate	VERB
app01-3395	225	9	at	at	ADP
app01-3395	225	10	a	a	DET
app01-3395	225	11	very	very	ADV
app01-3395	225	12	low	low	ADJ
app01-3395	225	13	speed	speed	NOUN
app01-3395	225	14	.	.	PUNCT
app01-3395	226	1	after	after	ADP
app01-3395	226	2	that	that	PRON
app01-3395	226	3	,	,	PUNCT
app01-3395	226	4	the	the	DET
app01-3395	226	5	right	right	ADJ
app01-3395	226	6	joystick	joystick	NOUN
app01-3395	226	7	,	,	PUNCT
app01-3395	226	8	which	which	PRON
app01-3395	226	9	controls	control	VERB
app01-3395	226	10	the	the	DET
app01-3395	226	11	thrust	thrust	NOUN
app01-3395	226	12	,	,	PUNCT
app01-3395	226	13	needs	need	VERB
app01-3395	226	14	to	to	PART
app01-3395	226	15	be	be	AUX
app01-3395	226	16	pushed	push	VERB
app01-3395	226	17	all	all	DET
app01-3395	226	18	the	the	DET
app01-3395	226	19	way	way	NOUN
app01-3395	226	20	down	down	ADV
app01-3395	226	21	.	.	PUNCT
app01-3395	227	1	then	then	ADV
app01-3395	227	2	the	the	DET
app01-3395	227	3	rotors	rotor	NOUN
app01-3395	227	4	will	will	AUX
app01-3395	227	5	gradually	gradually	ADV
app01-3395	227	6	achieve	achieve	VERB
app01-3395	227	7	the	the	DET
app01-3395	227	8	speed	speed	NOUN
app01-3395	227	9	corresponding	correspond	VERB
app01-3395	227	10	to	to	ADP
app01-3395	227	11	the	the	DET
app01-3395	227	12	actual	actual	ADJ
app01-3395	227	13	joystick	joystick	NOUN
app01-3395	227	14	position	position	NOUN
app01-3395	227	15	.	.	PUNCT
app01-3395	228	1	this	this	DET
app01-3395	228	2	solution	solution	NOUN
app01-3395	228	3	was	be	AUX
app01-3395	228	4	implemented	implement	VERB
app01-3395	228	5	to	to	PART
app01-3395	228	6	prevent	prevent	VERB
app01-3395	228	7	the	the	DET
app01-3395	228	8	rotors	rotor	NOUN
app01-3395	228	9	from	from	ADP
app01-3395	228	10	starting	start	VERB
app01-3395	228	11	at	at	ADP
app01-3395	228	12	very	very	ADV
app01-3395	228	13	high	high	ADJ
app01-3395	228	14	rpms	rpm	NOUN
app01-3395	228	15	if	if	SCONJ
app01-3395	228	16	the	the	DET
app01-3395	228	17	mode	mode	NOUN
app01-3395	228	18	is	be	AUX
app01-3395	228	19	switched	switch	VERB
app01-3395	228	20	with	with	ADP
app01-3395	228	21	the	the	DET
app01-3395	228	22	joystick	joystick	NOUN
app01-3395	228	23	in	in	ADP
app01-3395	228	24	default	default	NOUN
app01-3395	228	25	position	position	NOUN
app01-3395	228	26	.	.	PUNCT
app01-3395	229	1	from	from	ADP
app01-3395	229	2	this	this	DET
app01-3395	229	3	moment	moment	NOUN
app01-3395	229	4	on	on	ADP
app01-3395	229	5	,	,	PUNCT
app01-3395	229	6	the	the	DET
app01-3395	229	7	uranus	uranus	PROPN
app01-3395	229	8	uav	uav	PROPN
app01-3395	229	9	is	be	AUX
app01-3395	229	10	ready	ready	ADJ
app01-3395	229	11	to	to	PART
app01-3395	229	12	flight	flight	VERB
app01-3395	229	13	.	.	PUNCT
app01-3395	230	1	if	if	SCONJ
app01-3395	230	2	the	the	DET
app01-3395	230	3	thrust	thrust	ADJ
app01-3395	230	4	joystick	joystick	NOUN
app01-3395	230	5	is	be	AUX
app01-3395	230	6	released	release	VERB
app01-3395	230	7	,	,	PUNCT
app01-3395	230	8	the	the	DET
app01-3395	230	9	robot	robot	NOUN
app01-3395	230	10	will	will	AUX
app01-3395	230	11	take	take	VERB
app01-3395	230	12	off	off	ADP
app01-3395	230	13	and	and	CCONJ
app01-3395	230	14	hover	hover	VERB
app01-3395	230	15	at	at	ADP
app01-3395	230	16	about	about	ADV
app01-3395	230	17	1	1	NUM
app01-3395	230	18	meter	meter	NOUN
app01-3395	230	19	above	above	ADP
app01-3395	230	20	ground	ground	NOUN
app01-3395	230	21	.	.	PUNCT
app01-3395	231	1	to	to	PART
app01-3395	231	2	precisely	precisely	ADV
app01-3395	231	3	suppress	suppress	VERB
app01-3395	231	4	the	the	DET
app01-3395	231	5	gravity	gravity	NOUN
app01-3395	231	6	force	force	NOUN
app01-3395	231	7	by	by	ADP
app01-3395	231	8	the	the	DET
app01-3395	231	9	thrust	thrust	NOUN
app01-3395	231	10	,	,	PUNCT
app01-3395	231	11	the	the	DET
app01-3395	231	12	output	output	NOUN
app01-3395	231	13	levels	level	NOUN
app01-3395	231	14	sent	send	VERB
app01-3395	231	15	to	to	ADP
app01-3395	231	16	the	the	DET
app01-3395	231	17	motors	motor	NOUN
app01-3395	231	18	from	from	ADP
app01-3395	231	19	the	the	DET
app01-3395	231	20	controller	controller	NOUN
app01-3395	231	21	are	be	AUX
app01-3395	231	22	modified	modify	VERB
app01-3395	231	23	according	accord	VERB
app01-3395	231	24	to	to	ADP
app01-3395	231	25	the	the	DET
app01-3395	231	26	battery	battery	NOUN
app01-3395	231	27	voltage	voltage	NOUN
app01-3395	231	28	.	.	PUNCT
app01-3395	232	1	this	this	PRON
app01-3395	232	2	occurs	occur	VERB
app01-3395	232	3	because	because	SCONJ
app01-3395	232	4	the	the	DET
app01-3395	232	5	thrust	thrust	NOUN
app01-3395	232	6	of	of	ADP
app01-3395	232	7	the	the	DET
app01-3395	232	8	motors	motors	PROPN
app01-3395	232	9	varies	vary	VERB
app01-3395	232	10	in	in	ADP
app01-3395	232	11	accordance	accordance	NOUN
app01-3395	232	12	with	with	ADP
app01-3395	232	13	the	the	DET
app01-3395	232	14	battery	battery	NOUN
app01-3395	232	15	voltage	voltage	NOUN
app01-3395	232	16	.	.	PUNCT
app01-3395	233	1	the	the	DET
app01-3395	233	2	battery	battery	NOUN
app01-3395	233	3	voltage	voltage	NOUN
app01-3395	233	4	level	level	NOUN
app01-3395	233	5	is	be	AUX
app01-3395	233	6	also	also	ADV
app01-3395	233	7	reported	report	VERB
app01-3395	233	8	to	to	ADP
app01-3395	233	9	the	the	DET
app01-3395	233	10	base	base	NOUN
app01-3395	233	11	station	station	NOUN
app01-3395	233	12	to	to	PART
app01-3395	233	13	warn	warn	VERB
app01-3395	233	14	the	the	DET
app01-3395	233	15	pilot	pilot	NOUN
app01-3395	233	16	if	if	SCONJ
app01-3395	233	17	the	the	DET
app01-3395	233	18	voltage	voltage	NOUN
app01-3395	233	19	drops	drop	VERB
app01-3395	233	20	too	too	ADV
app01-3395	233	21	low	low	ADJ
app01-3395	233	22	.	.	PUNCT
app01-3395	234	1	a	a	DET
app01-3395	234	2	warning	warning	NOUN
app01-3395	234	3	is	be	AUX
app01-3395	234	4	also	also	ADV
app01-3395	234	5	produced	produce	VERB
app01-3395	234	6	by	by	ADP
app01-3395	234	7	signal	signal	ADJ
app01-3395	234	8	loss	loss	NOUN
app01-3395	234	9	.	.	PUNCT
app01-3395	235	1	if	if	SCONJ
app01-3395	235	2	this	this	PRON
app01-3395	235	3	happens	happen	VERB
app01-3395	235	4	,	,	PUNCT
app01-3395	235	5	the	the	DET
app01-3395	235	6	uranus	uranus	PROPN
app01-3395	235	7	uav	uav	PROPN
app01-3395	235	8	will	will	AUX
app01-3395	235	9	automatically	automatically	ADV
app01-3395	235	10	land	land	VERB
app01-3395	235	11	.	.	PUNCT
app01-3395	236	1	during	during	ADP
app01-3395	236	2	the	the	DET
app01-3395	236	3	test	test	NOUN
app01-3395	236	4	flights	flight	NOUN
app01-3395	236	5	,	,	PUNCT
app01-3395	236	6	it	it	PRON
app01-3395	236	7	was	be	AUX
app01-3395	236	8	proven	prove	VERB
app01-3395	236	9	that	that	SCONJ
app01-3395	236	10	uranus	uranus	PROPN
app01-3395	236	11	is	be	AUX
app01-3395	236	12	stable	stable	ADJ
app01-3395	236	13	,	,	PUNCT
app01-3395	236	14	and	and	CCONJ
app01-3395	236	15	while	while	SCONJ
app01-3395	236	16	the	the	DET
app01-3395	236	17	control	control	NOUN
app01-3395	236	18	joysticks	joystick	NOUN
app01-3395	236	19	are	be	AUX
app01-3395	236	20	released	release	VERB
app01-3395	236	21	,	,	PUNCT
app01-3395	236	22	the	the	DET
app01-3395	236	23	quadrotor	quadrotor	NOUN
app01-3395	236	24	hovers	hover	NOUN
app01-3395	236	25	in	in	ADP
app01-3395	236	26	position	position	NOUN
app01-3395	236	27	.	.	PUNCT
app01-3395	237	1	but	but	CCONJ
app01-3395	237	2	because	because	SCONJ
app01-3395	237	3	no	no	DET
app01-3395	237	4	position	position	NOUN
app01-3395	237	5	stabilization	stabilization	NOUN
app01-3395	237	6	has	have	AUX
app01-3395	237	7	been	be	AUX
app01-3395	237	8	implemented	implement	VERB
app01-3395	237	9	to	to	ADP
app01-3395	237	10	date	date	NOUN
app01-3395	237	11	,	,	PUNCT
app01-3395	237	12	the	the	DET
app01-3395	237	13	uranus	uranus	NOUN
app01-3395	237	14	could	could	AUX
app01-3395	237	15	slowly	slowly	ADV
app01-3395	237	16	drift	drift	VERB
app01-3395	237	17	from	from	ADP
app01-3395	237	18	the	the	DET
app01-3395	237	19	given	give	VERB
app01-3395	237	20	position	position	NOUN
app01-3395	237	21	.	.	PUNCT
app01-3395	238	1	this	this	DET
app01-3395	238	2	feedback	feedback	NOUN
app01-3395	238	3	will	will	AUX
app01-3395	238	4	be	be	AUX
app01-3395	238	5	integrated	integrate	VERB
app01-3395	238	6	only	only	ADV
app01-3395	238	7	in	in	ADP
app01-3395	238	8	the	the	DET
app01-3395	238	9	next	next	ADJ
app01-3395	238	10	versions	version	NOUN
app01-3395	238	11	.	.	PUNCT
app01-3395	239	1	controlling	control	VERB
app01-3395	239	2	the	the	DET
app01-3395	239	3	uranus	uranus	NOUN
app01-3395	239	4	with	with	ADP
app01-3395	239	5	the	the	DET
app01-3395	239	6	joypad	joypad	NOUN
app01-3395	239	7	was	be	AUX
app01-3395	239	8	easy	easy	ADJ
app01-3395	239	9	,	,	PUNCT
app01-3395	239	10	and	and	CCONJ
app01-3395	239	11	the	the	DET
app01-3395	239	12	operator	operator	NOUN
app01-3395	239	13	was	be	AUX
app01-3395	239	14	able	able	ADJ
app01-3395	239	15	to	to	PART
app01-3395	239	16	operate	operate	VERB
app01-3395	239	17	the	the	DET
app01-3395	239	18	uav	uav	PROPN
app01-3395	239	19	20	20	NUM
app01-3395	239	20	vol	vol	NOUN
app01-3395	239	21	.	.	PUNCT
app01-3395	240	1	2/2015	2/2015	NUM
app01-3395	240	2	reconnaissance	reconnaissance	PROPN
app01-3395	240	3	micro	micro	PROPN
app01-3395	240	4	uav	uav	PROPN
app01-3395	240	5	system	system	NOUN
app01-3395	240	6	effectively	effectively	ADV
app01-3395	240	7	after	after	ADP
app01-3395	240	8	a	a	DET
app01-3395	240	9	short	short	ADJ
app01-3395	240	10	while	while	NOUN
app01-3395	240	11	.	.	PUNCT
app01-3395	241	1	6	6	X
app01-3395	241	2	.	.	X
app01-3395	241	3	conclusion	conclusion	NOUN
app01-3395	241	4	regarding	regard	VERB
app01-3395	241	5	the	the	DET
app01-3395	241	6	successful	successful	ADJ
app01-3395	241	7	test	test	NOUN
app01-3395	241	8	flights	flight	NOUN
app01-3395	241	9	,	,	PUNCT
app01-3395	241	10	it	it	PRON
app01-3395	241	11	can	can	AUX
app01-3395	241	12	be	be	AUX
app01-3395	241	13	concluded	conclude	VERB
app01-3395	241	14	that	that	SCONJ
app01-3395	241	15	the	the	DET
app01-3395	241	16	assembled	assemble	VERB
app01-3395	241	17	mathematical	mathematical	ADJ
app01-3395	241	18	model	model	NOUN
app01-3395	241	19	clearly	clearly	ADV
app01-3395	241	20	expresses	express	VERB
app01-3395	241	21	the	the	DET
app01-3395	241	22	quadrotor	quadrotor	NOUN
app01-3395	241	23	behavior	behavior	NOUN
app01-3395	241	24	;	;	PUNCT
app01-3395	241	25	thus	thus	ADV
app01-3395	241	26	,	,	PUNCT
app01-3395	241	27	the	the	DET
app01-3395	241	28	designed	design	VERB
app01-3395	241	29	control	control	NOUN
app01-3395	241	30	system	system	NOUN
app01-3395	241	31	was	be	AUX
app01-3395	241	32	able	able	ADJ
app01-3395	241	33	to	to	PART
app01-3395	241	34	stabilize	stabilize	VERB
app01-3395	241	35	the	the	DET
app01-3395	241	36	robot	robot	NOUN
app01-3395	241	37	suitably	suitably	ADV
app01-3395	241	38	.	.	PUNCT
app01-3395	242	1	although	although	SCONJ
app01-3395	242	2	the	the	DET
app01-3395	242	3	controller	controller	NOUN
app01-3395	242	4	was	be	AUX
app01-3395	242	5	designed	design	VERB
app01-3395	242	6	as	as	ADP
app01-3395	242	7	a	a	DET
app01-3395	242	8	state	state	NOUN
app01-3395	242	9	-	-	PUNCT
app01-3395	242	10	space	space	NOUN
app01-3395	242	11	device	device	NOUN
app01-3395	242	12	,	,	PUNCT
app01-3395	242	13	it	it	PRON
app01-3395	242	14	was	be	AUX
app01-3395	242	15	proven	prove	VERB
app01-3395	242	16	that	that	SCONJ
app01-3395	242	17	the	the	DET
app01-3395	242	18	resulting	result	VERB
app01-3395	242	19	controller	controller	NOUN
app01-3395	242	20	can	can	AUX
app01-3395	242	21	be	be	AUX
app01-3395	242	22	interpreted	interpret	VERB
app01-3395	242	23	as	as	ADP
app01-3395	242	24	a	a	DET
app01-3395	242	25	set	set	NOUN
app01-3395	242	26	of	of	ADP
app01-3395	242	27	separate	separate	ADJ
app01-3395	242	28	pi	pi	NOUN
app01-3395	242	29	or	or	CCONJ
app01-3395	242	30	pd	pd	NOUN
app01-3395	242	31	controllers	controller	NOUN
app01-3395	242	32	in	in	ADP
app01-3395	242	33	each	each	DET
app01-3395	242	34	axis	axis	NOUN
app01-3395	242	35	.	.	PUNCT
app01-3395	243	1	this	this	PRON
app01-3395	243	2	is	be	AUX
app01-3395	243	3	due	due	ADJ
app01-3395	243	4	to	to	ADP
app01-3395	243	5	the	the	DET
app01-3395	243	6	model	model	NOUN
app01-3395	243	7	linearization	linearization	NOUN
app01-3395	243	8	around	around	ADP
app01-3395	243	9	the	the	DET
app01-3395	243	10	working	working	NOUN
app01-3395	243	11	point	point	NOUN
app01-3395	243	12	,	,	PUNCT
app01-3395	243	13	namely	namely	ADV
app01-3395	243	14	hovering	hover	VERB
app01-3395	243	15	.	.	PUNCT
app01-3395	244	1	for	for	ADP
app01-3395	244	2	intended	intended	ADJ
app01-3395	244	3	use	use	NOUN
app01-3395	244	4	,	,	PUNCT
app01-3395	244	5	the	the	DET
app01-3395	244	6	described	describe	VERB
app01-3395	244	7	approach	approach	NOUN
app01-3395	244	8	provides	provide	VERB
app01-3395	244	9	good	good	ADJ
app01-3395	244	10	results	result	NOUN
app01-3395	244	11	:	:	PUNCT
app01-3395	244	12	the	the	DET
app01-3395	244	13	quadrotor	quadrotor	NOUN
app01-3395	244	14	was	be	AUX
app01-3395	244	15	able	able	ADJ
app01-3395	244	16	to	to	PART
app01-3395	244	17	hover	hover	VERB
app01-3395	244	18	and	and	CCONJ
app01-3395	244	19	to	to	PART
app01-3395	244	20	maneuver	maneuver	VERB
app01-3395	244	21	.	.	PUNCT
app01-3395	245	1	to	to	PART
app01-3395	245	2	facilitate	facilitate	VERB
app01-3395	245	3	integration	integration	NOUN
app01-3395	245	4	in	in	ADP
app01-3395	245	5	the	the	DET
app01-3395	245	6	cassandra	cassandra	NOUN
app01-3395	245	7	system	system	NOUN
app01-3395	245	8	,	,	PUNCT
app01-3395	245	9	a	a	DET
app01-3395	245	10	new	new	ADJ
app01-3395	245	11	communication	communication	NOUN
app01-3395	245	12	protocol	protocol	NOUN
app01-3395	245	13	was	be	AUX
app01-3395	245	14	designed	design	VERB
app01-3395	245	15	,	,	PUNCT
app01-3395	245	16	and	and	CCONJ
app01-3395	245	17	the	the	DET
app01-3395	245	18	cassandra	cassandra	NOUN
app01-3395	245	19	system	system	NOUN
app01-3395	245	20	was	be	AUX
app01-3395	245	21	modified	modify	VERB
app01-3395	245	22	to	to	PART
app01-3395	245	23	be	be	AUX
app01-3395	245	24	capable	capable	ADJ
app01-3395	245	25	of	of	ADP
app01-3395	245	26	handling	handle	VERB
app01-3395	245	27	the	the	DET
app01-3395	245	28	flying	fly	VERB
app01-3395	245	29	robots	robot	NOUN
app01-3395	245	30	.	.	PUNCT
app01-3395	246	1	as	as	SCONJ
app01-3395	246	2	the	the	DET
app01-3395	246	3	purpose	purpose	NOUN
app01-3395	246	4	of	of	ADP
app01-3395	246	5	the	the	DET
app01-3395	246	6	developed	develop	VERB
app01-3395	246	7	uranus	uranus	PROPN
app01-3395	246	8	uav	uav	PROPN
app01-3395	246	9	was	be	AUX
app01-3395	246	10	to	to	PART
app01-3395	246	11	enable	enable	VERB
app01-3395	246	12	the	the	DET
app01-3395	246	13	cassandra	cassandra	PROPN
app01-3395	246	14	robotic	robotic	ADJ
app01-3395	246	15	system	system	NOUN
app01-3395	246	16	to	to	PART
app01-3395	246	17	perform	perform	VERB
app01-3395	246	18	air	air	NOUN
app01-3395	246	19	missions	mission	NOUN
app01-3395	246	20	,	,	PUNCT
app01-3395	246	21	it	it	PRON
app01-3395	246	22	can	can	AUX
app01-3395	246	23	be	be	AUX
app01-3395	246	24	stated	state	VERB
app01-3395	246	25	that	that	SCONJ
app01-3395	246	26	the	the	DET
app01-3395	246	27	given	give	VERB
app01-3395	246	28	goal	goal	NOUN
app01-3395	246	29	was	be	AUX
app01-3395	246	30	achieved	achieve	VERB
app01-3395	246	31	.	.	PUNCT
app01-3395	247	1	for	for	ADP
app01-3395	247	2	the	the	DET
app01-3395	247	3	future	future	NOUN
app01-3395	247	4	,	,	PUNCT
app01-3395	247	5	we	we	PRON
app01-3395	247	6	plan	plan	VERB
app01-3395	247	7	to	to	PART
app01-3395	247	8	navigate	navigate	VERB
app01-3395	247	9	the	the	DET
app01-3395	247	10	uranus	uranus	PROPN
app01-3395	247	11	uav	uav	PROPN
app01-3395	247	12	by	by	ADP
app01-3395	247	13	the	the	DET
app01-3395	247	14	gps	gps	PROPN
app01-3395	247	15	,	,	PUNCT
app01-3395	247	16	to	to	PART
app01-3395	247	17	design	design	VERB
app01-3395	247	18	our	our	PRON
app01-3395	247	19	own	own	ADJ
app01-3395	247	20	imu	imu	NOUN
app01-3395	247	21	,	,	PUNCT
app01-3395	247	22	and	and	CCONJ
app01-3395	247	23	to	to	PART
app01-3395	247	24	create	create	VERB
app01-3395	247	25	a	a	DET
app01-3395	247	26	bigger	big	ADJ
app01-3395	247	27	airframe	airframe	NOUN
app01-3395	247	28	with	with	ADP
app01-3395	247	29	a	a	DET
app01-3395	247	30	higher	high	ADJ
app01-3395	247	31	payload	payload	NOUN
app01-3395	247	32	capacity	capacity	NOUN
app01-3395	247	33	.	.	PUNCT
app01-3395	248	1	list	list	NOUN
app01-3395	248	2	of	of	ADP
app01-3395	248	3	symbols	symbol	NOUN
app01-3395	248	4	θ	θ	PROPN
app01-3395	248	5	angle	angle	NOUN
app01-3395	248	6	of	of	ADP
app01-3395	248	7	rotation	rotation	NOUN
app01-3395	248	8	around	around	ADP
app01-3395	248	9	the	the	DET
app01-3395	248	10	lateral	lateral	ADJ
app01-3395	248	11	axis	axis	NOUN
app01-3395	249	1	[	[	X
app01-3395	249	2	◦	◦	NOUN
app01-3395	249	3	]	]	X
app01-3395	249	4	φ	φ	PROPN
app01-3395	249	5	angle	angle	NOUN
app01-3395	249	6	of	of	ADP
app01-3395	249	7	rotation	rotation	NOUN
app01-3395	249	8	around	around	ADP
app01-3395	249	9	the	the	DET
app01-3395	249	10	longitudinal	longitudinal	ADJ
app01-3395	249	11	axis	axis	NOUN
app01-3395	249	12	[	[	X
app01-3395	249	13	◦	◦	NOUN
app01-3395	249	14	]	]	X
app01-3395	249	15	ψ	ψ	X
app01-3395	249	16	angle	angle	NOUN
app01-3395	249	17	of	of	ADP
app01-3395	249	18	rotation	rotation	NOUN
app01-3395	249	19	around	around	ADP
app01-3395	249	20	the	the	DET
app01-3395	249	21	vertical	vertical	ADJ
app01-3395	249	22	axis	axis	NOUN
app01-3395	250	1	[	[	X
app01-3395	250	2	◦	◦	NOUN
app01-3395	250	3	]	]	X
app01-3395	250	4	ω	ω	NUM
app01-3395	250	5	angular	angular	ADJ
app01-3395	250	6	speed	speed	NOUN
app01-3395	250	7	[	[	X
app01-3395	250	8	◦	◦	NOUN
app01-3395	250	9	s−1	s−1	PROPN
app01-3395	250	10	]	]	PUNCT
app01-3395	250	11	ft	ft	PART
app01-3395	250	12	thrust	thrust	NOUN
app01-3395	250	13	[	[	X
app01-3395	250	14	n	n	X
app01-3395	250	15	]	]	X
app01-3395	250	16	g	g	PROPN
app01-3395	250	17	gravitational	gravitational	ADJ
app01-3395	250	18	acceleration	acceleration	NOUN
app01-3395	251	1	[	[	X
app01-3395	251	2	m	m	PROPN
app01-3395	251	3	s−2	s−2	PROPN
app01-3395	251	4	]	]	PUNCT
app01-3395	251	5	g	g	PROPN
app01-3395	251	6	gravity	gravity	NOUN
app01-3395	251	7	force	force	NOUN
app01-3395	251	8	[	[	X
app01-3395	251	9	n	n	X
app01-3395	251	10	]	]	X
app01-3395	251	11	i	i	PRON
app01-3395	251	12	mass	mass	VERB
app01-3395	251	13	of	of	ADP
app01-3395	251	14	inertia	inertia	NOUN
app01-3395	251	15	[	[	X
app01-3395	251	16	kg	kg	X
app01-3395	251	17	m2	m2	PROPN
app01-3395	251	18	]	]	PUNCT
app01-3395	251	19	km	km	X
app01-3395	251	20	rotational	rotational	ADJ
app01-3395	251	21	speed	speed	NOUN
app01-3395	251	22	to	to	AUX
app01-3395	251	23	reaction	reaction	NOUN
app01-3395	251	24	torque	torque	NOUN
app01-3395	251	25	ratio	ratio	NOUN
app01-3395	251	26	constant	constant	ADJ
app01-3395	252	1	[	[	PUNCT
app01-3395	252	2	nm	nm	INTJ
app01-3395	252	3	rpm−2	rpm−2	NOUN
app01-3395	252	4	]	]	X
app01-3395	252	5	kt	kt	X
app01-3395	252	6	rotational	rotational	ADJ
app01-3395	252	7	speed	speed	NOUN
app01-3395	252	8	to	to	PART
app01-3395	252	9	thrust	thrust	VERB
app01-3395	252	10	ratio	ratio	NOUN
app01-3395	252	11	constant	constant	ADJ
app01-3395	252	12	[	[	X
app01-3395	252	13	n	n	X
app01-3395	252	14	rpm−2	rpm−2	NOUN
app01-3395	252	15	]	]	X
app01-3395	252	16	l	l	NOUN
app01-3395	252	17	length	length	NOUN
app01-3395	253	1	[	[	X
app01-3395	253	2	m	m	X
app01-3395	253	3	]	]	X
app01-3395	253	4	m	m	VERB
app01-3395	253	5	weight	weight	NOUN
app01-3395	254	1	[	[	X
app01-3395	254	2	kg	kg	X
app01-3395	254	3	]	]	X
app01-3395	254	4	mr	mr	PROPN
app01-3395	254	5	reaction	reaction	NOUN
app01-3395	254	6	torque	torque	NOUN
app01-3395	255	1	[	[	X
app01-3395	255	2	nm	nm	NOUN
app01-3395	255	3	]	]	X
app01-3395	255	4	n	n	CCONJ
app01-3395	255	5	rotations	rotation	NOUN
app01-3395	255	6	per	per	ADP
app01-3395	255	7	minute	minute	NOUN
app01-3395	255	8	[	[	X
app01-3395	255	9	rpm	rpm	X
app01-3395	255	10	]	]	X
app01-3395	255	11	u1	u1	NOUN
app01-3395	255	12	torque	torque	NOUN
app01-3395	255	13	in	in	ADP
app01-3395	255	14	the	the	DET
app01-3395	255	15	longitudinal	longitudinal	ADJ
app01-3395	255	16	axis	axis	NOUN
app01-3395	255	17	caused	cause	VERB
app01-3395	255	18	by	by	ADP
app01-3395	255	19	motors	motor	NOUN
app01-3395	255	20	[	[	X
app01-3395	255	21	nm	nm	X
app01-3395	255	22	]	]	X
app01-3395	255	23	u2	u2	NOUN
app01-3395	255	24	torque	torque	NOUN
app01-3395	255	25	in	in	ADP
app01-3395	255	26	the	the	DET
app01-3395	255	27	lateral	lateral	ADJ
app01-3395	255	28	axis	axis	NOUN
app01-3395	255	29	caused	cause	VERB
app01-3395	255	30	by	by	ADP
app01-3395	255	31	motors	motor	NOUN
app01-3395	255	32	[	[	X
app01-3395	255	33	nm	nm	X
app01-3395	255	34	]	]	X
app01-3395	255	35	u3	u3	ADJ
app01-3395	255	36	torque	torque	NOUN
app01-3395	255	37	in	in	ADP
app01-3395	255	38	the	the	DET
app01-3395	255	39	vertical	vertical	ADJ
app01-3395	255	40	axis	axis	NOUN
app01-3395	255	41	caused	cause	VERB
app01-3395	255	42	by	by	ADP
app01-3395	255	43	motors	motor	NOUN
app01-3395	255	44	[	[	X
app01-3395	255	45	nm	nm	X
app01-3395	255	46	]	]	X
app01-3395	255	47	u4	u4	PROPN
app01-3395	255	48	force	force	NOUN
app01-3395	255	49	in	in	ADP
app01-3395	255	50	the	the	DET
app01-3395	255	51	vertical	vertical	ADJ
app01-3395	255	52	axis	axis	NOUN
app01-3395	255	53	caused	cause	VERB
app01-3395	255	54	by	by	ADP
app01-3395	255	55	motors	motor	NOUN
app01-3395	255	56	[	[	X
app01-3395	255	57	n	n	X
app01-3395	255	58	]	]	X
app01-3395	255	59	u4−0	u4−0	X
app01-3395	255	60	force	force	NOUN
app01-3395	255	61	in	in	ADP
app01-3395	255	62	the	the	DET
app01-3395	255	63	vertical	vertical	ADJ
app01-3395	255	64	axis	axis	NOUN
app01-3395	255	65	required	require	VERB
app01-3395	255	66	to	to	PART
app01-3395	255	67	compensate	compensate	VERB
app01-3395	255	68	gravity	gravity	NOUN
app01-3395	255	69	force	force	NOUN
app01-3395	255	70	[	[	X
app01-3395	255	71	n	n	CCONJ
app01-3395	255	72	]	]	X
app01-3395	255	73	v	v	ADP
app01-3395	255	74	linear	linear	ADJ
app01-3395	255	75	speed	speed	NOUN
app01-3395	256	1	[	[	X
app01-3395	256	2	m	m	NOUN
app01-3395	256	3	s−1	s−1	PROPN
app01-3395	256	4	]	]	PUNCT
app01-3395	256	5	x	x	SYM
app01-3395	256	6	longitudinal	longitudinal	ADJ
app01-3395	256	7	axis	axis	NOUN
app01-3395	256	8	;	;	PUNCT
app01-3395	256	9	position	position	NOUN
app01-3395	256	10	in	in	ADP
app01-3395	256	11	this	this	DET
app01-3395	256	12	axis	axis	NOUN
app01-3395	257	1	[	[	X
app01-3395	257	2	–	–	PUNCT
app01-3395	257	3	;	;	PUNCT
app01-3395	257	4	m	m	SYM
app01-3395	257	5	]	]	X
app01-3395	257	6	y	y	PROPN
app01-3395	257	7	lateral	lateral	ADJ
app01-3395	257	8	axis	axis	NOUN
app01-3395	257	9	;	;	PUNCT
app01-3395	257	10	position	position	NOUN
app01-3395	257	11	in	in	ADP
app01-3395	257	12	this	this	DET
app01-3395	257	13	axis	axis	NOUN
app01-3395	258	1	[	[	X
app01-3395	258	2	–	–	PUNCT
app01-3395	258	3	;	;	PUNCT
app01-3395	258	4	m	m	SYM
app01-3395	258	5	]	]	X
app01-3395	258	6	z	z	PROPN
app01-3395	258	7	vertical	vertical	ADJ
app01-3395	258	8	axis	axis	NOUN
app01-3395	258	9	;	;	PUNCT
app01-3395	258	10	position	position	NOUN
app01-3395	258	11	in	in	ADP
app01-3395	258	12	this	this	DET
app01-3395	258	13	axis	axis	NOUN
app01-3395	259	1	[	[	X
app01-3395	259	2	–	–	PUNCT
app01-3395	259	3	;	;	PUNCT
app01-3395	259	4	m	m	SYM
app01-3395	259	5	]	]	X
app01-3395	259	6	acknowledgements	acknowledgement	NOUN
app01-3395	259	7	this	this	DET
app01-3395	259	8	work	work	NOUN
app01-3395	259	9	was	be	AUX
app01-3395	259	10	supported	support	VERB
app01-3395	259	11	by	by	ADP
app01-3395	259	12	the	the	DET
app01-3395	259	13	project	project	NOUN
app01-3395	259	14	ceitec	ceitec	ADJ
app01-3395	259	15	central	central	ADJ
app01-3395	259	16	european	european	PROPN
app01-3395	259	17	institute	institute	PROPN
app01-3395	259	18	of	of	ADP
app01-3395	259	19	technology	technology	PROPN
app01-3395	259	20	(	(	PUNCT
app01-3395	259	21	cz.1.05/1.1.00/02.0068	cz.1.05/1.1.00/02.0068	PROPN
app01-3395	259	22	)	)	PUNCT
app01-3395	259	23	financed	finance	VERB
app01-3395	259	24	from	from	ADP
app01-3395	259	25	european	european	PROPN
app01-3395	259	26	regional	regional	PROPN
app01-3395	259	27	development	development	NOUN
app01-3395	259	28	fund	fund	NOUN
app01-3395	259	29	and	and	CCONJ
app01-3395	259	30	by	by	ADP
app01-3395	259	31	the	the	DET
app01-3395	259	32	project	project	NOUN
app01-3395	259	33	fekt	fekt	PROPN
app01-3395	259	34	-	-	PUNCT
app01-3395	259	35	s-142429	s-142429	VERB
app01-3395	259	36	“	"	PUNCT
app01-3395	259	37	the	the	DET
app01-3395	259	38	research	research	NOUN
app01-3395	259	39	of	of	ADP
app01-3395	259	40	new	new	ADJ
app01-3395	259	41	control	control	NOUN
app01-3395	259	42	methods	method	NOUN
app01-3395	259	43	,	,	PUNCT
app01-3395	259	44	measurement	measurement	NOUN
app01-3395	259	45	procedures	procedure	NOUN
app01-3395	259	46	and	and	CCONJ
app01-3395	259	47	intelligent	intelligent	ADJ
app01-3395	259	48	instruments	instrument	NOUN
app01-3395	259	49	in	in	ADP
app01-3395	259	50	automation	automation	NOUN
app01-3395	259	51	”	"	PUNCT
app01-3395	259	52	financed	finance	VERB
app01-3395	259	53	from	from	ADP
app01-3395	259	54	internal	internal	ADJ
app01-3395	259	55	grant	grant	NOUN
app01-3395	259	56	system	system	NOUN
app01-3395	259	57	but	but	CCONJ
app01-3395	259	58	.	.	PUNCT
app01-3395	260	1	references	reference	NOUN
app01-3395	260	2	[	[	X
app01-3395	260	3	1	1	NUM
app01-3395	260	4	]	]	PUNCT
app01-3395	260	5	l.	l.	PROPN
app01-3395	260	6	zalud	zalud	PROPN
app01-3395	260	7	,	,	PUNCT
app01-3395	260	8	l.	l.	PROPN
app01-3395	260	9	kopecny	kopecny	PROPN
app01-3395	260	10	,	,	PUNCT
app01-3395	260	11	f.	f.	PROPN
app01-3395	260	12	burian	burian	PROPN
app01-3395	260	13	,	,	PUNCT
app01-3395	260	14	t.	t.	PROPN
app01-3395	260	15	florian	florian	PROPN
app01-3395	260	16	.	.	PUNCT
app01-3395	261	1	cassandra	cassandra	PROPN
app01-3395	261	2	heterogeneous	heterogeneous	ADJ
app01-3395	261	3	reconnaissance	reconnaissance	NOUN
app01-3395	261	4	robotic	robotic	ADJ
app01-3395	261	5	system	system	NOUN
app01-3395	261	6	for	for	ADP
app01-3395	261	7	dangerous	dangerous	ADJ
app01-3395	261	8	environments	environment	NOUN
app01-3395	261	9	.	.	PUNCT
app01-3395	262	1	in	in	ADP
app01-3395	262	2	2011	2011	NUM
app01-3395	262	3	ieee	ieee	NOUN
app01-3395	262	4	/	/	SYM
app01-3395	262	5	sice	sice	X
app01-3395	262	6	international	international	ADJ
app01-3395	262	7	symposium	symposium	NOUN
app01-3395	262	8	on	on	ADP
app01-3395	262	9	system	system	NOUN
app01-3395	262	10	integration	integration	NOUN
app01-3395	262	11	(	(	PUNCT
app01-3395	262	12	sii	sii	PROPN
app01-3395	262	13	)	)	PUNCT
app01-3395	262	14	,	,	PUNCT
app01-3395	262	15	pp	pp	PROPN
app01-3395	262	16	.	.	PUNCT
app01-3395	263	1	1275–1280	1275–1280	NUM
app01-3395	263	2	.	.	NOUN
app01-3395	263	3	2011	2011	NUM
app01-3395	263	4	.	.	PUNCT
app01-3395	264	1	doi:10.1109	doi:10.1109	VERB
app01-3395	264	2	/	/	SYM
app01-3395	264	3	sii.2011.6147632	sii.2011.6147632	PROPN
app01-3395	264	4	.	.	PUNCT
app01-3395	265	1	[	[	X
app01-3395	265	2	2	2	X
app01-3395	265	3	]	]	X
app01-3395	265	4	s.	s.	PROPN
app01-3395	265	5	bouabdallah	bouabdallah	PROPN
app01-3395	265	6	.	.	PUNCT
app01-3395	266	1	design	design	NOUN
app01-3395	266	2	and	and	CCONJ
app01-3395	266	3	control	control	NOUN
app01-3395	266	4	of	of	ADP
app01-3395	266	5	quadrotors	quadrotor	NOUN
app01-3395	266	6	with	with	ADP
app01-3395	266	7	application	application	NOUN
app01-3395	266	8	to	to	ADP
app01-3395	266	9	autonomous	autonomous	ADJ
app01-3395	266	10	flying	flying	NOUN
app01-3395	266	11	.	.	PUNCT
app01-3395	267	1	ph.d	ph.d	PROPN
app01-3395	267	2	.	.	PUNCT
app01-3395	268	1	thesis	thesis	PROPN
app01-3395	268	2	,	,	PUNCT
app01-3395	268	3	ãľcole	ãľcole	ADJ
app01-3395	268	4	polytechnique	polytechnique	ADJ
app01-3395	268	5	fãľdãľrale	fãľdãľrale	PROPN
app01-3395	268	6	de	de	X
app01-3395	268	7	lausanne	lausanne	PROPN
app01-3395	268	8	,	,	PUNCT
app01-3395	268	9	2007	2007	NUM
app01-3395	268	10	.	.	PUNCT
app01-3395	269	1	doi:10.5075	doi:10.5075	VERB
app01-3395	269	2	/	/	SYM
app01-3395	269	3	epfl	epfl	NOUN
app01-3395	269	4	-	-	PUNCT
app01-3395	269	5	thesis-3727	thesis-3727	NOUN
app01-3395	269	6	.	.	PUNCT
app01-3395	270	1	[	[	X
app01-3395	270	2	3	3	X
app01-3395	270	3	]	]	X
app01-3395	270	4	f.	f.	PROPN
app01-3395	270	5	solc	solc	PROPN
app01-3395	270	6	.	.	PUNCT
app01-3395	271	1	modelling	modelling	NOUN
app01-3395	271	2	and	and	CCONJ
app01-3395	271	3	control	control	NOUN
app01-3395	271	4	of	of	ADP
app01-3395	271	5	a	a	DET
app01-3395	271	6	quadrocopter	quadrocopter	NOUN
app01-3395	271	7	.	.	PUNCT
app01-3395	272	1	advances	advance	NOUN
app01-3395	272	2	in	in	ADP
app01-3395	272	3	military	military	ADJ
app01-3395	272	4	technology	technology	NOUN
app01-3395	272	5	5(2):29–38	5(2):29–38	NUM
app01-3395	272	6	,	,	PUNCT
app01-3395	272	7	2010	2010	NUM
app01-3395	272	8	.	.	PUNCT
app01-3395	273	1	[	[	X
app01-3395	273	2	4	4	X
app01-3395	273	3	]	]	X
app01-3395	273	4	h.	h.	PROPN
app01-3395	273	5	lim	lim	PROPN
app01-3395	273	6	,	,	PUNCT
app01-3395	273	7	j.	j.	PROPN
app01-3395	273	8	park	park	PROPN
app01-3395	273	9	,	,	PUNCT
app01-3395	273	10	d.	d.	PROPN
app01-3395	273	11	lee	lee	PROPN
app01-3395	273	12	,	,	PUNCT
app01-3395	273	13	h.	h.	PROPN
app01-3395	273	14	kim	kim	PROPN
app01-3395	273	15	.	.	PUNCT
app01-3395	273	16	build	build	VERB
app01-3395	273	17	your	your	PRON
app01-3395	273	18	own	own	ADJ
app01-3395	273	19	quadrotor	quadrotor	NOUN
app01-3395	273	20	:	:	PUNCT
app01-3395	273	21	open	open	ADJ
app01-3395	273	22	-	-	PUNCT
app01-3395	273	23	source	source	NOUN
app01-3395	273	24	projects	project	NOUN
app01-3395	273	25	on	on	ADP
app01-3395	273	26	unmanned	unmanned	ADJ
app01-3395	273	27	aerial	aerial	ADJ
app01-3395	273	28	vehicles	vehicle	NOUN
app01-3395	273	29	.	.	PUNCT
app01-3395	274	1	ieee	ieee	NOUN
app01-3395	274	2	robotics	robotic	NOUN
app01-3395	274	3	automation	automation	NOUN
app01-3395	274	4	magazine	magazine	NOUN
app01-3395	274	5	19(3):33–45	19(3):33–45	NUM
app01-3395	274	6	,	,	PUNCT
app01-3395	274	7	2012	2012	NUM
app01-3395	274	8	.	.	PUNCT
app01-3395	275	1	doi:10.1109	doi:10.1109	VERB
app01-3395	275	2	/	/	SYM
app01-3395	275	3	mra.2012.2205629	mra.2012.2205629	NOUN
app01-3395	275	4	.	.	PUNCT
app01-3395	276	1	[	[	X
app01-3395	276	2	5	5	X
app01-3395	276	3	]	]	PUNCT
app01-3395	276	4	s.	s.	PROPN
app01-3395	276	5	grzonka	grzonka	PROPN
app01-3395	276	6	,	,	PUNCT
app01-3395	276	7	g.	g.	PROPN
app01-3395	276	8	grisetti	grisetti	PROPN
app01-3395	276	9	,	,	PUNCT
app01-3395	276	10	w.	w.	PROPN
app01-3395	276	11	burgard	burgard	PROPN
app01-3395	276	12	.	.	PUNCT
app01-3395	277	1	a	a	DET
app01-3395	277	2	fully	fully	ADV
app01-3395	277	3	autonomous	autonomous	ADJ
app01-3395	277	4	indoor	indoor	ADJ
app01-3395	277	5	quadrotor	quadrotor	NOUN
app01-3395	277	6	.	.	PUNCT
app01-3395	278	1	ieee	ieee	NOUN
app01-3395	278	2	transactions	transaction	NOUN
app01-3395	278	3	on	on	ADP
app01-3395	278	4	robotics	robotic	NOUN
app01-3395	278	5	28(1):90–100	28(1):90–100	NUM
app01-3395	278	6	,	,	PUNCT
app01-3395	278	7	2012	2012	NUM
app01-3395	278	8	.	.	PUNCT
app01-3395	279	1	doi:10.1109	doi:10.1109	VERB
app01-3395	279	2	/	/	SYM
app01-3395	279	3	tro.2011.2162999	tro.2011.2162999	PROPN
app01-3395	279	4	.	.	PUNCT
app01-3395	280	1	[	[	X
app01-3395	280	2	6	6	NUM
app01-3395	280	3	]	]	PUNCT
app01-3395	280	4	k.	k.	PROPN
app01-3395	280	5	alexis	alexis	PROPN
app01-3395	280	6	,	,	PUNCT
app01-3395	280	7	c.	c.	PROPN
app01-3395	280	8	papachristos	papachristos	PROPN
app01-3395	280	9	,	,	PUNCT
app01-3395	280	10	g.	g.	PROPN
app01-3395	280	11	nikolakopoulos	nikolakopoulos	PROPN
app01-3395	280	12	,	,	PUNCT
app01-3395	280	13	a.	a.	NOUN
app01-3395	280	14	tzes	tze	NOUN
app01-3395	280	15	.	.	PUNCT
app01-3395	281	1	model	model	PROPN
app01-3395	281	2	predictive	predictive	ADJ
app01-3395	281	3	quadrotor	quadrotor	PROPN
app01-3395	281	4	indoor	indoor	PROPN
app01-3395	281	5	position	position	NOUN
app01-3395	281	6	control	control	NOUN
app01-3395	281	7	.	.	PUNCT
app01-3395	282	1	in	in	ADP
app01-3395	282	2	2011	2011	NUM
app01-3395	282	3	19th	19th	ADJ
app01-3395	282	4	mediterranean	mediterranean	PROPN
app01-3395	282	5	conference	conference	NOUN
app01-3395	282	6	on	on	ADP
app01-3395	282	7	control	control	NOUN
app01-3395	282	8	automation	automation	NOUN
app01-3395	282	9	(	(	PUNCT
app01-3395	282	10	med	med	PROPN
app01-3395	282	11	)	)	PUNCT
app01-3395	282	12	,	,	PUNCT
app01-3395	282	13	pp	pp	ADJ
app01-3395	282	14	.	.	PUNCT
app01-3395	282	15	1247–1252	1247–1252	NUM
app01-3395	282	16	.	.	PUNCT
app01-3395	283	1	2011	2011	NUM
app01-3395	283	2	.	.	PUNCT
app01-3395	284	1	doi:10.1109	doi:10.1109	VERB
app01-3395	284	2	/	/	SYM
app01-3395	284	3	med.2011.5983144	med.2011.5983144	PROPN
app01-3395	284	4	.	.	PROPN
app01-3395	284	5	21	21	NUM
app01-3395	284	6	http://dx.doi.org/10.1109/sii.2011.6147632	http://dx.doi.org/10.1109/sii.2011.6147632	NOUN
app01-3395	284	7	http://dx.doi.org/10.5075/epfl-thesis-3727	http://dx.doi.org/10.5075/epfl-thesis-3727	PROPN
app01-3395	284	8	http://dx.doi.org/10.1109/mra.2012.2205629	http://dx.doi.org/10.1109/mra.2012.2205629	VERB
app01-3395	284	9	http://dx.doi.org/10.1109/tro.2011.2162999	http://dx.doi.org/10.1109/tro.2011.2162999	X
app01-3395	284	10	http://dx.doi.org/10.1109/med.2011.5983144	http://dx.doi.org/10.1109/med.2011.5983144	PROPN
app01-3395	284	11	acta	acta	PROPN
app01-3395	284	12	polytechnica	polytechnica	PROPN
app01-3395	284	13	ctu	ctu	NOUN
app01-3395	284	14	proceedings	proceeding	NOUN
app01-3395	284	15	2:15–21	2:15–21	NUM
app01-3395	284	16	,	,	PUNCT
app01-3395	284	17	2015	2015	NUM
app01-3395	284	18	1	1	NUM
app01-3395	284	19	introduction	introduction	NOUN
app01-3395	284	20	2	2	NUM
app01-3395	284	21	quadrotor	quadrotor	NOUN
app01-3395	284	22	model	model	NOUN
app01-3395	284	23	3	3	NUM
app01-3395	284	24	controller	controller	NOUN
app01-3395	284	25	design	design	VERB
app01-3395	284	26	4	4	NUM
app01-3395	284	27	implementation	implementation	NOUN
app01-3395	284	28	4.1	4.1	NUM
app01-3395	284	29	construction	construction	NOUN
app01-3395	284	30	4.2	4.2	NUM
app01-3395	284	31	hardware	hardware	NOUN
app01-3395	284	32	4.3	4.3	NUM
app01-3395	284	33	microcontroller	microcontroller	NOUN
app01-3395	284	34	software	software	NOUN
app01-3395	284	35	4.4	4.4	NUM
app01-3395	284	36	communication	communication	NOUN
app01-3395	284	37	4.5	4.5	NUM
app01-3395	284	38	base	base	NOUN
app01-3395	284	39	station	station	NOUN
app01-3395	284	40	5	5	NUM
app01-3395	284	41	operation	operation	NOUN
app01-3395	284	42	6	6	NUM
app01-3395	284	43	conclusion	conclusion	NOUN
app01-3395	284	44	list	list	NOUN
app01-3395	284	45	of	of	ADP
app01-3395	284	46	symbols	symbol	NOUN
app01-3395	284	47	acknowledgements	acknowledgement	NOUN
app01-3395	284	48	references	reference	NOUN