id	sid	tid	token	lemma	pos
app01-5092	1	1	acta	acta	PROPN
app01-5092	1	2	polytechnica	polytechnica	PROPN
app01-5092	1	3	ctu	ctu	PROPN
app01-5092	1	4	proceedings	proceeding	NOUN
app01-5092	1	5	doi:10.14311	doi:10.14311	NOUN
app01-5092	1	6	/	/	SYM
app01-5092	1	7	app.2018.18.0061	app.2018.18.0061	PROPN
app01-5092	1	8	acta	acta	PROPN
app01-5092	1	9	polytechnica	polytechnica	PROPN
app01-5092	1	10	ctu	ctu	NOUN
app01-5092	1	11	proceedings	proceeding	NOUN
app01-5092	1	12	18:61–65	18:61–65	NUM
app01-5092	1	13	,	,	PUNCT
app01-5092	1	14	2018	2018	NUM
app01-5092	1	15	©	©	PROPN
app01-5092	1	16	czech	czech	PROPN
app01-5092	1	17	technical	technical	PROPN
app01-5092	1	18	university	university	PROPN
app01-5092	1	19	in	in	ADP
app01-5092	1	20	prague	prague	PROPN
app01-5092	1	21	,	,	PUNCT
app01-5092	1	22	2018	2018	NUM
app01-5092	1	23	available	available	ADJ
app01-5092	1	24	online	online	ADV
app01-5092	1	25	at	at	ADP
app01-5092	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-5092	1	27	modelling	modelling	NOUN
app01-5092	1	28	and	and	CCONJ
app01-5092	1	29	simulation	simulation	NOUN
app01-5092	1	30	of	of	ADP
app01-5092	1	31	rocking	rock	VERB
app01-5092	1	32	suitcases	suitcase	NOUN
app01-5092	1	33	hanna	hanna	PROPN
app01-5092	1	34	zs	zs	PROPN
app01-5092	1	35	.	.	PUNCT
app01-5092	2	1	horvatha,∗	horvatha,∗	NOUN
app01-5092	2	2	,	,	PUNCT
app01-5092	2	3	denes	dene	NOUN
app01-5092	2	4	takacsa	takacsa	VERB
app01-5092	2	5	,	,	PUNCT
app01-5092	2	6	b	b	PROPN
app01-5092	2	7	a	a	DET
app01-5092	2	8	department	department	NOUN
app01-5092	2	9	of	of	ADP
app01-5092	2	10	applied	apply	VERB
app01-5092	2	11	mechanics	mechanic	NOUN
app01-5092	2	12	,	,	PUNCT
app01-5092	2	13	budapest	budapest	PROPN
app01-5092	2	14	university	university	PROPN
app01-5092	2	15	of	of	ADP
app01-5092	2	16	technology	technology	NOUN
app01-5092	2	17	and	and	CCONJ
app01-5092	2	18	economics	economic	NOUN
app01-5092	2	19	,	,	PUNCT
app01-5092	2	20	budapest	budapest	PROPN
app01-5092	2	21	,	,	PUNCT
app01-5092	2	22	hungary	hungary	PROPN
app01-5092	2	23	b	b	PROPN
app01-5092	2	24	mta	mta	PROPN
app01-5092	2	25	-	-	PUNCT
app01-5092	2	26	bme	bme	NOUN
app01-5092	2	27	research	research	NOUN
app01-5092	2	28	group	group	NOUN
app01-5092	2	29	on	on	ADP
app01-5092	2	30	dynamics	dynamic	NOUN
app01-5092	2	31	of	of	ADP
app01-5092	2	32	machines	machine	NOUN
app01-5092	2	33	and	and	CCONJ
app01-5092	2	34	vehicles	vehicle	NOUN
app01-5092	2	35	,	,	PUNCT
app01-5092	2	36	budapest	budapest	PROPN
app01-5092	2	37	,	,	PUNCT
app01-5092	2	38	hungary	hungary	PROPN
app01-5092	2	39	∗	∗	NOUN
app01-5092	2	40	corresponding	correspond	VERB
app01-5092	2	41	author	author	NOUN
app01-5092	2	42	:	:	PUNCT
app01-5092	2	43	horvath.hanna.zsofia@gmail.com	horvath.hanna.zsofia@gmail.com	X
app01-5092	2	44	abstract	abstract	PROPN
app01-5092	2	45	.	.	PUNCT
app01-5092	3	1	the	the	DET
app01-5092	3	2	rocking	rocking	ADJ
app01-5092	3	3	motion	motion	NOUN
app01-5092	3	4	of	of	ADP
app01-5092	3	5	two	two	NUM
app01-5092	3	6	-	-	PUNCT
app01-5092	3	7	wheeled	wheel	VERB
app01-5092	3	8	suitcases	suitcase	NOUN
app01-5092	3	9	is	be	AUX
app01-5092	3	10	investigated	investigate	VERB
app01-5092	3	11	.	.	PUNCT
app01-5092	4	1	a	a	DET
app01-5092	4	2	rigid	rigid	ADJ
app01-5092	4	3	body	body	NOUN
app01-5092	4	4	mechanical	mechanical	ADJ
app01-5092	4	5	model	model	NOUN
app01-5092	4	6	of	of	ADP
app01-5092	4	7	the	the	DET
app01-5092	4	8	suitcase	suitcase	NOUN
app01-5092	4	9	is	be	AUX
app01-5092	4	10	constructed	construct	VERB
app01-5092	4	11	.	.	PUNCT
app01-5092	5	1	all	all	PRON
app01-5092	5	2	of	of	ADP
app01-5092	5	3	the	the	DET
app01-5092	5	4	possible	possible	ADJ
app01-5092	5	5	motion	motion	NOUN
app01-5092	5	6	states	state	NOUN
app01-5092	5	7	(	(	PUNCT
app01-5092	5	8	both	both	DET
app01-5092	5	9	wheels	wheel	NOUN
app01-5092	5	10	on	on	ADP
app01-5092	5	11	the	the	DET
app01-5092	5	12	ground	ground	NOUN
app01-5092	5	13	,	,	PUNCT
app01-5092	5	14	one	one	NUM
app01-5092	5	15	wheel	wheel	NOUN
app01-5092	5	16	on	on	ADP
app01-5092	5	17	the	the	DET
app01-5092	5	18	ground	ground	NOUN
app01-5092	5	19	,	,	PUNCT
app01-5092	5	20	none	none	NOUN
app01-5092	5	21	of	of	ADP
app01-5092	5	22	the	the	DET
app01-5092	5	23	wheels	wheel	NOUN
app01-5092	5	24	on	on	ADP
app01-5092	5	25	the	the	DET
app01-5092	5	26	ground	ground	NOUN
app01-5092	5	27	)	)	PUNCT
app01-5092	5	28	are	be	AUX
app01-5092	5	29	taken	take	VERB
app01-5092	5	30	into	into	ADP
app01-5092	5	31	account	account	NOUN
app01-5092	5	32	.	.	PUNCT
app01-5092	6	1	the	the	DET
app01-5092	6	2	switching	switching	NOUN
app01-5092	6	3	between	between	ADP
app01-5092	6	4	the	the	DET
app01-5092	6	5	motion	motion	NOUN
app01-5092	6	6	states	state	NOUN
app01-5092	6	7	is	be	AUX
app01-5092	6	8	accomplished	accomplish	VERB
app01-5092	6	9	by	by	ADP
app01-5092	6	10	a	a	DET
app01-5092	6	11	simple	simple	ADJ
app01-5092	6	12	impact	impact	NOUN
app01-5092	6	13	model	model	NOUN
app01-5092	6	14	.	.	PUNCT
app01-5092	7	1	the	the	DET
app01-5092	7	2	motion	motion	NOUN
app01-5092	7	3	of	of	ADP
app01-5092	7	4	the	the	DET
app01-5092	7	5	suitcase	suitcase	NOUN
app01-5092	7	6	is	be	AUX
app01-5092	7	7	investigated	investigate	VERB
app01-5092	7	8	through	through	ADP
app01-5092	7	9	numerical	numerical	ADJ
app01-5092	7	10	simulations	simulation	NOUN
app01-5092	7	11	,	,	PUNCT
app01-5092	7	12	furthermore	furthermore	ADV
app01-5092	7	13	the	the	DET
app01-5092	7	14	domain	domain	NOUN
app01-5092	7	15	of	of	ADP
app01-5092	7	16	the	the	DET
app01-5092	7	17	attraction	attraction	NOUN
app01-5092	7	18	of	of	ADP
app01-5092	7	19	the	the	DET
app01-5092	7	20	stable	stable	ADJ
app01-5092	7	21	rectilinear	rectilinear	NOUN
app01-5092	7	22	motion	motion	NOUN
app01-5092	7	23	is	be	AUX
app01-5092	7	24	identified	identify	VERB
app01-5092	7	25	.	.	PUNCT
app01-5092	8	1	the	the	DET
app01-5092	8	2	model	model	NOUN
app01-5092	8	3	is	be	AUX
app01-5092	8	4	partly	partly	ADV
app01-5092	8	5	validated	validate	VERB
app01-5092	8	6	by	by	ADP
app01-5092	8	7	experiments	experiment	NOUN
app01-5092	8	8	.	.	PUNCT
app01-5092	9	1	keywords	keyword	NOUN
app01-5092	9	2	:	:	PUNCT
app01-5092	9	3	stability	stability	NOUN
app01-5092	9	4	,	,	PUNCT
app01-5092	9	5	suitcase	suitcase	NOUN
app01-5092	9	6	,	,	PUNCT
app01-5092	9	7	non	non	ADJ
app01-5092	9	8	-	-	ADJ
app01-5092	9	9	smooth	smooth	ADJ
app01-5092	9	10	system	system	NOUN
app01-5092	9	11	,	,	PUNCT
app01-5092	9	12	non	non	ADJ
app01-5092	9	13	-	-	ADJ
app01-5092	9	14	linear	linear	ADJ
app01-5092	9	15	system	system	NOUN
app01-5092	9	16	.	.	PUNCT
app01-5092	10	1	1	1	X
app01-5092	10	2	.	.	X
app01-5092	10	3	introduction	introduction	NOUN
app01-5092	10	4	the	the	DET
app01-5092	10	5	rocking	rock	VERB
app01-5092	10	6	motion	motion	NOUN
app01-5092	10	7	of	of	ADP
app01-5092	10	8	two	two	NUM
app01-5092	10	9	-	-	PUNCT
app01-5092	10	10	wheeled	wheel	VERB
app01-5092	10	11	suitcases	suitcase	NOUN
app01-5092	10	12	is	be	AUX
app01-5092	10	13	an	an	DET
app01-5092	10	14	annoying	annoying	ADJ
app01-5092	10	15	problem	problem	NOUN
app01-5092	10	16	since	since	SCONJ
app01-5092	10	17	it	it	PRON
app01-5092	10	18	makes	make	VERB
app01-5092	10	19	the	the	DET
app01-5092	10	20	use	use	NOUN
app01-5092	10	21	of	of	ADP
app01-5092	10	22	suitcases	suitcase	NOUN
app01-5092	10	23	uncomfortable	uncomfortable	ADJ
app01-5092	10	24	in	in	ADP
app01-5092	10	25	the	the	DET
app01-5092	10	26	everyday	everyday	ADJ
app01-5092	10	27	life	life	NOUN
app01-5092	10	28	.	.	PUNCT
app01-5092	11	1	large	large	ADJ
app01-5092	11	2	enough	enough	ADJ
app01-5092	11	3	perturbations	perturbation	NOUN
app01-5092	11	4	of	of	ADP
app01-5092	11	5	the	the	DET
app01-5092	11	6	rolling	rolling	ADJ
app01-5092	11	7	suitcase	suitcase	NOUN
app01-5092	11	8	can	can	AUX
app01-5092	11	9	lead	lead	VERB
app01-5092	11	10	to	to	ADP
app01-5092	11	11	the	the	DET
app01-5092	11	12	rocking	rock	VERB
app01-5092	11	13	motion	motion	NOUN
app01-5092	11	14	,	,	PUNCT
app01-5092	11	15	when	when	SCONJ
app01-5092	11	16	the	the	DET
app01-5092	11	17	suitcase	suitcase	NOUN
app01-5092	11	18	jumps	jump	VERB
app01-5092	11	19	from	from	ADP
app01-5092	11	20	one	one	NUM
app01-5092	11	21	of	of	ADP
app01-5092	11	22	its	its	PRON
app01-5092	11	23	wheels	wheel	NOUN
app01-5092	11	24	to	to	ADP
app01-5092	11	25	the	the	DET
app01-5092	11	26	other	other	ADJ
app01-5092	11	27	,	,	PUNCT
app01-5092	11	28	and	and	CCONJ
app01-5092	11	29	in	in	ADP
app01-5092	11	30	crucial	crucial	ADJ
app01-5092	11	31	cases	case	NOUN
app01-5092	11	32	the	the	DET
app01-5092	11	33	suitcase	suitcase	NOUN
app01-5092	11	34	overturns	overturn	VERB
app01-5092	11	35	.	.	PUNCT
app01-5092	12	1	the	the	DET
app01-5092	12	2	topic	topic	NOUN
app01-5092	12	3	is	be	AUX
app01-5092	12	4	researched	research	VERB
app01-5092	12	5	even	even	ADV
app01-5092	12	6	nowadays	nowadays	ADV
app01-5092	12	7	(	(	PUNCT
app01-5092	12	8	see	see	VERB
app01-5092	12	9	[	[	X
app01-5092	12	10	1	1	NUM
app01-5092	12	11	]	]	PUNCT
app01-5092	12	12	)	)	PUNCT
app01-5092	12	13	,	,	PUNCT
app01-5092	12	14	although	although	SCONJ
app01-5092	12	15	papers	paper	NOUN
app01-5092	12	16	focusing	focus	VERB
app01-5092	12	17	on	on	ADP
app01-5092	12	18	rocking	rock	VERB
app01-5092	12	19	suitcases	suitcase	NOUN
app01-5092	12	20	were	be	AUX
app01-5092	12	21	already	already	ADV
app01-5092	12	22	published	publish	VERB
app01-5092	12	23	in	in	ADP
app01-5092	12	24	the	the	DET
app01-5092	12	25	90	90	NUM
app01-5092	12	26	’s	’s	PART
app01-5092	12	27	(	(	PUNCT
app01-5092	12	28	see	see	VERB
app01-5092	12	29	[	[	X
app01-5092	12	30	2–4	2–4	NUM
app01-5092	12	31	]	]	PUNCT
app01-5092	12	32	)	)	PUNCT
app01-5092	12	33	.	.	PUNCT
app01-5092	13	1	the	the	DET
app01-5092	13	2	interest	interest	NOUN
app01-5092	13	3	of	of	ADP
app01-5092	13	4	researchers	researcher	NOUN
app01-5092	13	5	is	be	AUX
app01-5092	13	6	supported	support	VERB
app01-5092	13	7	by	by	ADP
app01-5092	13	8	the	the	DET
app01-5092	13	9	fact	fact	NOUN
app01-5092	13	10	that	that	SCONJ
app01-5092	13	11	similar	similar	ADJ
app01-5092	13	12	stability	stability	NOUN
app01-5092	13	13	problem	problem	NOUN
app01-5092	13	14	of	of	ADP
app01-5092	13	15	trailers	trailer	NOUN
app01-5092	13	16	exists	exist	VERB
app01-5092	13	17	in	in	ADP
app01-5092	13	18	vehicle	vehicle	NOUN
app01-5092	13	19	dynamics	dynamic	NOUN
app01-5092	13	20	(	(	PUNCT
app01-5092	13	21	see	see	VERB
app01-5092	13	22	,	,	PUNCT
app01-5092	13	23	for	for	ADP
app01-5092	13	24	example	example	NOUN
app01-5092	13	25	,	,	PUNCT
app01-5092	13	26	[	[	X
app01-5092	13	27	5	5	NUM
app01-5092	13	28	]	]	PUNCT
app01-5092	13	29	)	)	PUNCT
app01-5092	13	30	.	.	PUNCT
app01-5092	14	1	from	from	ADP
app01-5092	14	2	mechanical	mechanical	ADJ
app01-5092	14	3	point	point	NOUN
app01-5092	14	4	of	of	ADP
app01-5092	14	5	view	view	NOUN
app01-5092	14	6	,	,	PUNCT
app01-5092	14	7	the	the	DET
app01-5092	14	8	analysis	analysis	NOUN
app01-5092	14	9	of	of	ADP
app01-5092	14	10	the	the	DET
app01-5092	14	11	rocking	rock	VERB
app01-5092	14	12	suitcase	suitcase	NOUN
app01-5092	14	13	problem	problem	NOUN
app01-5092	14	14	is	be	AUX
app01-5092	14	15	very	very	ADV
app01-5092	14	16	complex	complex	ADJ
app01-5092	14	17	.	.	PUNCT
app01-5092	15	1	to	to	PART
app01-5092	15	2	begin	begin	VERB
app01-5092	15	3	with	with	ADP
app01-5092	15	4	,	,	PUNCT
app01-5092	15	5	the	the	DET
app01-5092	15	6	system	system	NOUN
app01-5092	15	7	is	be	AUX
app01-5092	15	8	non	non	ADJ
app01-5092	15	9	-	-	ADJ
app01-5092	15	10	smooth	smooth	ADJ
app01-5092	15	11	since	since	SCONJ
app01-5092	15	12	different	different	ADJ
app01-5092	15	13	equations	equation	NOUN
app01-5092	15	14	describe	describe	VERB
app01-5092	15	15	the	the	DET
app01-5092	15	16	different	different	ADJ
app01-5092	15	17	motion	motion	NOUN
app01-5092	15	18	states	state	NOUN
app01-5092	15	19	.	.	PUNCT
app01-5092	16	1	additionally	additionally	ADV
app01-5092	16	2	,	,	PUNCT
app01-5092	16	3	in	in	ADP
app01-5092	16	4	case	case	NOUN
app01-5092	16	5	of	of	ADP
app01-5092	16	6	contacting	contact	VERB
app01-5092	16	7	wheel	wheel	NOUN
app01-5092	16	8	,	,	PUNCT
app01-5092	16	9	the	the	DET
app01-5092	16	10	spatial	spatial	ADJ
app01-5092	16	11	motion	motion	NOUN
app01-5092	16	12	of	of	ADP
app01-5092	16	13	the	the	DET
app01-5092	16	14	suitcase	suitcase	NOUN
app01-5092	16	15	is	be	AUX
app01-5092	16	16	influenced	influence	VERB
app01-5092	16	17	by	by	ADP
app01-5092	16	18	the	the	DET
app01-5092	16	19	kinematic	kinematic	ADJ
app01-5092	16	20	constraints	constraint	NOUN
app01-5092	16	21	,	,	PUNCT
app01-5092	16	22	which	which	PRON
app01-5092	16	23	makes	make	VERB
app01-5092	16	24	the	the	DET
app01-5092	16	25	derivation	derivation	NOUN
app01-5092	16	26	of	of	ADP
app01-5092	16	27	the	the	DET
app01-5092	16	28	equation	equation	NOUN
app01-5092	16	29	of	of	ADP
app01-5092	16	30	motion	motion	NOUN
app01-5092	16	31	more	more	ADV
app01-5092	16	32	complicated	complicated	ADJ
app01-5092	16	33	.	.	PUNCT
app01-5092	17	1	due	due	ADP
app01-5092	17	2	to	to	ADP
app01-5092	17	3	this	this	DET
app01-5092	17	4	complexity	complexity	NOUN
app01-5092	17	5	,	,	PUNCT
app01-5092	17	6	former	former	ADJ
app01-5092	17	7	studies	study	NOUN
app01-5092	17	8	on	on	ADP
app01-5092	17	9	the	the	DET
app01-5092	17	10	field	field	NOUN
app01-5092	17	11	do	do	AUX
app01-5092	17	12	not	not	PART
app01-5092	17	13	take	take	VERB
app01-5092	17	14	into	into	ADP
app01-5092	17	15	account	account	NOUN
app01-5092	17	16	all	all	PRON
app01-5092	17	17	of	of	ADP
app01-5092	17	18	the	the	DET
app01-5092	17	19	motion	motion	NOUN
app01-5092	17	20	states	state	NOUN
app01-5092	17	21	of	of	ADP
app01-5092	17	22	the	the	DET
app01-5092	17	23	suitcase	suitcase	NOUN
app01-5092	17	24	,	,	PUNCT
app01-5092	17	25	namely	namely	ADV
app01-5092	17	26	,	,	PUNCT
app01-5092	17	27	the	the	DET
app01-5092	17	28	case	case	NOUN
app01-5092	17	29	when	when	SCONJ
app01-5092	17	30	none	none	NOUN
app01-5092	17	31	of	of	ADP
app01-5092	17	32	the	the	DET
app01-5092	17	33	wheels	wheel	NOUN
app01-5092	17	34	has	have	VERB
app01-5092	17	35	contact	contact	NOUN
app01-5092	17	36	with	with	ADP
app01-5092	17	37	the	the	DET
app01-5092	17	38	ground	ground	NOUN
app01-5092	17	39	is	be	AUX
app01-5092	17	40	neglected	neglect	VERB
app01-5092	17	41	.	.	PUNCT
app01-5092	18	1	in	in	ADP
app01-5092	18	2	this	this	DET
app01-5092	18	3	study	study	NOUN
app01-5092	18	4	,	,	PUNCT
app01-5092	18	5	a	a	DET
app01-5092	18	6	mechanical	mechanical	ADJ
app01-5092	18	7	model	model	NOUN
app01-5092	18	8	of	of	ADP
app01-5092	18	9	the	the	DET
app01-5092	18	10	rocking	rock	VERB
app01-5092	18	11	suitcase	suitcase	NOUN
app01-5092	18	12	is	be	AUX
app01-5092	18	13	constructed	construct	VERB
app01-5092	18	14	in	in	ADP
app01-5092	18	15	which	which	PRON
app01-5092	18	16	all	all	DET
app01-5092	18	17	motion	motion	NOUN
app01-5092	18	18	states	state	NOUN
app01-5092	18	19	are	be	AUX
app01-5092	18	20	considered	consider	VERB
app01-5092	18	21	.	.	PUNCT
app01-5092	19	1	experiments	experiment	NOUN
app01-5092	19	2	are	be	AUX
app01-5092	19	3	also	also	ADV
app01-5092	19	4	shown	show	VERB
app01-5092	19	5	that	that	PRON
app01-5092	19	6	confirm	confirm	VERB
app01-5092	19	7	the	the	DET
app01-5092	19	8	presence	presence	NOUN
app01-5092	19	9	of	of	ADP
app01-5092	19	10	these	these	DET
app01-5092	19	11	motion	motion	NOUN
app01-5092	19	12	states	state	NOUN
app01-5092	19	13	.	.	PUNCT
app01-5092	20	1	the	the	DET
app01-5092	20	2	contents	content	NOUN
app01-5092	20	3	of	of	ADP
app01-5092	20	4	the	the	DET
app01-5092	20	5	paper	paper	NOUN
app01-5092	20	6	is	be	AUX
app01-5092	20	7	the	the	DET
app01-5092	20	8	following	following	NOUN
app01-5092	20	9	.	.	PUNCT
app01-5092	21	1	the	the	DET
app01-5092	21	2	simplified	simplified	ADJ
app01-5092	21	3	mechanical	mechanical	ADJ
app01-5092	21	4	model	model	NOUN
app01-5092	21	5	is	be	AUX
app01-5092	21	6	introduced	introduce	VERB
app01-5092	21	7	in	in	ADP
app01-5092	21	8	sec	sec	PROPN
app01-5092	21	9	.	.	PROPN
app01-5092	22	1	2	2	NUM
app01-5092	22	2	.	.	X
app01-5092	22	3	the	the	DET
app01-5092	22	4	different	different	ADJ
app01-5092	22	5	motion	motion	NOUN
app01-5092	22	6	states	state	NOUN
app01-5092	22	7	together	together	ADV
app01-5092	22	8	with	with	ADP
app01-5092	22	9	the	the	DET
app01-5092	22	10	corresponding	corresponding	ADJ
app01-5092	22	11	number	number	NOUN
app01-5092	22	12	of	of	ADP
app01-5092	22	13	the	the	DET
app01-5092	22	14	generalized	generalize	VERB
app01-5092	22	15	coordinates	coordinate	NOUN
app01-5092	22	16	are	be	AUX
app01-5092	22	17	summarized	summarize	VERB
app01-5092	22	18	in	in	ADP
app01-5092	22	19	sec	sec	PROPN
app01-5092	22	20	.	.	PROPN
app01-5092	23	1	3	3	NUM
app01-5092	23	2	.	.	PUNCT
app01-5092	24	1	the	the	DET
app01-5092	24	2	motion	motion	NOUN
app01-5092	24	3	of	of	ADP
app01-5092	24	4	the	the	DET
app01-5092	24	5	system	system	NOUN
app01-5092	24	6	is	be	AUX
app01-5092	24	7	analysed	analyse	VERB
app01-5092	24	8	through	through	ADP
app01-5092	24	9	numerical	numerical	ADJ
app01-5092	24	10	simulations	simulation	NOUN
app01-5092	24	11	in	in	ADP
app01-5092	24	12	sec	sec	PROPN
app01-5092	24	13	.	.	PROPN
app01-5092	24	14	4	4	NUM
app01-5092	24	15	.	.	PUNCT
app01-5092	24	16	based	base	VERB
app01-5092	24	17	on	on	ADP
app01-5092	24	18	these	these	DET
app01-5092	24	19	simulations	simulation	NOUN
app01-5092	24	20	,	,	PUNCT
app01-5092	24	21	experiments	experiment	NOUN
app01-5092	24	22	are	be	AUX
app01-5092	24	23	carried	carry	VERB
app01-5092	24	24	out	out	ADP
app01-5092	24	25	in	in	ADP
app01-5092	24	26	sec	sec	PROPN
app01-5092	24	27	.	.	PROPN
app01-5092	25	1	5	5	NUM
app01-5092	25	2	.	.	PUNCT
app01-5092	26	1	the	the	DET
app01-5092	26	2	comparison	comparison	NOUN
app01-5092	26	3	of	of	ADP
app01-5092	26	4	the	the	DET
app01-5092	26	5	simulation	simulation	NOUN
app01-5092	26	6	and	and	CCONJ
app01-5092	26	7	the	the	DET
app01-5092	26	8	measurement	measurement	NOUN
app01-5092	26	9	results	result	NOUN
app01-5092	26	10	can	can	AUX
app01-5092	26	11	be	be	AUX
app01-5092	26	12	found	find	VERB
app01-5092	26	13	in	in	ADP
app01-5092	26	14	sec	sec	PROPN
app01-5092	26	15	.	.	PROPN
app01-5092	27	1	6	6	NUM
app01-5092	27	2	.	.	NOUN
app01-5092	27	3	2	2	NUM
app01-5092	27	4	.	.	X
app01-5092	27	5	mechanical	mechanical	ADJ
app01-5092	27	6	model	model	NOUN
app01-5092	27	7	the	the	DET
app01-5092	27	8	simplified	simplified	ADJ
app01-5092	27	9	mechanical	mechanical	ADJ
app01-5092	27	10	model	model	NOUN
app01-5092	27	11	is	be	AUX
app01-5092	27	12	depicted	depict	VERB
app01-5092	27	13	in	in	ADP
app01-5092	27	14	fig.1	fig.1	PROPN
app01-5092	27	15	.	.	PUNCT
app01-5092	28	1	the	the	DET
app01-5092	28	2	suitcase	suitcase	NOUN
app01-5092	28	3	is	be	AUX
app01-5092	28	4	pulled	pull	VERB
app01-5092	28	5	in	in	ADP
app01-5092	28	6	the	the	DET
app01-5092	28	7	x	x	NOUN
app01-5092	28	8	direction	direction	NOUN
app01-5092	28	9	with	with	ADP
app01-5092	28	10	constant	constant	ADJ
app01-5092	28	11	speed	speed	NOUN
app01-5092	28	12	v	v	NOUN
app01-5092	28	13	by	by	ADP
app01-5092	28	14	the	the	DET
app01-5092	28	15	ball	ball	NOUN
app01-5092	28	16	-	-	PUNCT
app01-5092	28	17	joint	joint	NOUN
app01-5092	28	18	at	at	ADP
app01-5092	28	19	a.	a.	NOUN
app01-5092	28	20	the	the	DET
app01-5092	28	21	body	body	NOUN
app01-5092	28	22	of	of	ADP
app01-5092	28	23	the	the	DET
app01-5092	28	24	suitcase	suitcase	NOUN
app01-5092	28	25	is	be	AUX
app01-5092	28	26	assumed	assume	VERB
app01-5092	28	27	to	to	PART
app01-5092	28	28	be	be	AUX
app01-5092	28	29	rigid	rigid	ADJ
app01-5092	28	30	and	and	CCONJ
app01-5092	28	31	it	it	PRON
app01-5092	28	32	is	be	AUX
app01-5092	28	33	modelled	model	VERB
app01-5092	28	34	by	by	ADP
app01-5092	28	35	means	mean	NOUN
app01-5092	28	36	of	of	ADP
app01-5092	28	37	massless	massless	NOUN
app01-5092	28	38	rods	rod	NOUN
app01-5092	28	39	and	and	CCONJ
app01-5092	28	40	by	by	ADP
app01-5092	28	41	a	a	DET
app01-5092	28	42	lumped	lump	VERB
app01-5092	28	43	mass	mass	NOUN
app01-5092	28	44	m	m	NOUN
app01-5092	28	45	at	at	ADP
app01-5092	28	46	the	the	DET
app01-5092	28	47	center	center	NOUN
app01-5092	28	48	of	of	ADP
app01-5092	28	49	mass	mass	PROPN
app01-5092	28	50	c	c	PROPN
app01-5092	28	51	of	of	ADP
app01-5092	28	52	the	the	DET
app01-5092	28	53	suitcase	suitcase	NOUN
app01-5092	28	54	.	.	PUNCT
app01-5092	29	1	the	the	DET
app01-5092	29	2	position	position	NOUN
app01-5092	29	3	of	of	ADP
app01-5092	29	4	the	the	DET
app01-5092	29	5	lumped	lump	VERB
app01-5092	29	6	mass	mass	NOUN
app01-5092	29	7	is	be	AUX
app01-5092	29	8	characterized	characterize	VERB
app01-5092	29	9	with	with	ADP
app01-5092	29	10	parameters	parameter	NOUN
app01-5092	29	11	e	e	NOUN
app01-5092	29	12	and	and	CCONJ
app01-5092	29	13	f	f	PROPN
app01-5092	29	14	.	.	PUNCT
app01-5092	30	1	the	the	DET
app01-5092	30	2	length	length	NOUN
app01-5092	30	3	and	and	CCONJ
app01-5092	30	4	the	the	DET
app01-5092	30	5	width	width	NOUN
app01-5092	30	6	of	of	ADP
app01-5092	30	7	the	the	DET
app01-5092	30	8	suitcase	suitcase	NOUN
app01-5092	30	9	are	be	AUX
app01-5092	30	10	described	describe	VERB
app01-5092	30	11	by	by	ADP
app01-5092	30	12	the	the	DET
app01-5092	30	13	parameters	parameter	NOUN
app01-5092	30	14	l	l	NOUN
app01-5092	30	15	and	and	CCONJ
app01-5092	30	16	2b	2b	NOUN
app01-5092	30	17	,	,	PUNCT
app01-5092	30	18	respectively	respectively	ADV
app01-5092	30	19	,	,	PUNCT
app01-5092	30	20	while	while	SCONJ
app01-5092	30	21	h	h	NOUN
app01-5092	30	22	is	be	AUX
app01-5092	30	23	the	the	DET
app01-5092	30	24	distance	distance	NOUN
app01-5092	30	25	between	between	ADP
app01-5092	30	26	the	the	DET
app01-5092	30	27	towing	towing	NOUN
app01-5092	30	28	point	point	NOUN
app01-5092	30	29	a	a	PRON
app01-5092	30	30	and	and	CCONJ
app01-5092	30	31	the	the	DET
app01-5092	30	32	ground	ground	NOUN
app01-5092	30	33	.	.	PUNCT
app01-5092	31	1	the	the	DET
app01-5092	31	2	radius	radius	NOUN
app01-5092	31	3	of	of	ADP
app01-5092	31	4	the	the	DET
app01-5092	31	5	wheel	wheel	NOUN
app01-5092	31	6	(	(	PUNCT
app01-5092	31	7	r	r	NOUN
app01-5092	31	8	)	)	PUNCT
app01-5092	31	9	is	be	AUX
app01-5092	31	10	assumed	assume	VERB
app01-5092	31	11	to	to	PART
app01-5092	31	12	be	be	AUX
app01-5092	31	13	zero	zero	NUM
app01-5092	31	14	,	,	PUNCT
app01-5092	31	15	which	which	PRON
app01-5092	31	16	is	be	AUX
app01-5092	31	17	a	a	DET
app01-5092	31	18	suitable	suitable	ADJ
app01-5092	31	19	approximation	approximation	NOUN
app01-5092	31	20	in	in	ADP
app01-5092	31	21	our	our	PRON
app01-5092	31	22	simplified	simplified	ADJ
app01-5092	31	23	model	model	NOUN
app01-5092	31	24	and	and	CCONJ
app01-5092	31	25	it	it	PRON
app01-5092	31	26	is	be	AUX
app01-5092	31	27	also	also	ADV
app01-5092	31	28	used	use	VERB
app01-5092	31	29	in	in	ADP
app01-5092	31	30	several	several	ADJ
app01-5092	31	31	studies	study	NOUN
app01-5092	31	32	(	(	PUNCT
app01-5092	31	33	see	see	VERB
app01-5092	31	34	,	,	PUNCT
app01-5092	31	35	for	for	ADP
app01-5092	31	36	example	example	NOUN
app01-5092	31	37	,	,	PUNCT
app01-5092	31	38	[	[	X
app01-5092	31	39	1	1	NUM
app01-5092	31	40	]	]	PUNCT
app01-5092	31	41	)	)	PUNCT
app01-5092	31	42	.	.	PUNCT
app01-5092	32	1	on	on	ADP
app01-5092	32	2	the	the	DET
app01-5092	32	3	one	one	NUM
app01-5092	32	4	hand	hand	NOUN
app01-5092	32	5	,	,	PUNCT
app01-5092	32	6	the	the	DET
app01-5092	32	7	radius	radius	NOUN
app01-5092	32	8	of	of	ADP
app01-5092	32	9	the	the	DET
app01-5092	32	10	wheel	wheel	NOUN
app01-5092	32	11	is	be	AUX
app01-5092	32	12	relatively	relatively	ADV
app01-5092	32	13	small	small	ADJ
app01-5092	32	14	to	to	ADP
app01-5092	32	15	the	the	DET
app01-5092	32	16	other	other	ADJ
app01-5092	32	17	dimensions	dimension	NOUN
app01-5092	32	18	of	of	ADP
app01-5092	32	19	the	the	DET
app01-5092	32	20	suitcase	suitcase	NOUN
app01-5092	32	21	and	and	CCONJ
app01-5092	32	22	trajectory	trajectory	NOUN
app01-5092	32	23	of	of	ADP
app01-5092	32	24	the	the	DET
app01-5092	32	25	wheel	wheel	NOUN
app01-5092	32	26	center	center	NOUN
app01-5092	32	27	points	point	NOUN
app01-5092	32	28	and	and	CCONJ
app01-5092	32	29	the	the	DET
app01-5092	32	30	paths	path	NOUN
app01-5092	32	31	of	of	ADP
app01-5092	32	32	the	the	DET
app01-5092	32	33	contact	contact	NOUN
app01-5092	32	34	points	point	NOUN
app01-5092	32	35	are	be	AUX
app01-5092	32	36	very	very	ADV
app01-5092	32	37	close	close	ADJ
app01-5092	32	38	to	to	ADP
app01-5092	32	39	each	each	DET
app01-5092	32	40	other	other	ADJ
app01-5092	32	41	.	.	PUNCT
app01-5092	33	1	on	on	ADP
app01-5092	33	2	the	the	DET
app01-5092	33	3	other	other	ADJ
app01-5092	33	4	hand	hand	NOUN
app01-5092	33	5	,	,	PUNCT
app01-5092	33	6	the	the	DET
app01-5092	33	7	gyroscopic	gyroscopic	NOUN
app01-5092	33	8	effect	effect	NOUN
app01-5092	33	9	acting	act	VERB
app01-5092	33	10	on	on	ADP
app01-5092	33	11	the	the	DET
app01-5092	33	12	wheels	wheel	NOUN
app01-5092	33	13	is	be	AUX
app01-5092	33	14	negligible	negligible	ADJ
app01-5092	33	15	since	since	SCONJ
app01-5092	33	16	the	the	DET
app01-5092	33	17	mass	mass	ADJ
app01-5092	33	18	moment	moment	NOUN
app01-5092	33	19	of	of	ADP
app01-5092	33	20	inertia	inertia	NOUN
app01-5092	33	21	of	of	ADP
app01-5092	33	22	the	the	DET
app01-5092	33	23	wheels	wheel	NOUN
app01-5092	33	24	and	and	CCONJ
app01-5092	33	25	the	the	DET
app01-5092	33	26	rotational	rotational	ADJ
app01-5092	33	27	speed	speed	NOUN
app01-5092	33	28	are	be	AUX
app01-5092	33	29	very	very	ADV
app01-5092	33	30	small	small	ADJ
app01-5092	33	31	.	.	PUNCT
app01-5092	34	1	3	3	X
app01-5092	34	2	.	.	X
app01-5092	34	3	motion	motion	NOUN
app01-5092	34	4	states	state	NOUN
app01-5092	34	5	one	one	PRON
app01-5092	34	6	can	can	AUX
app01-5092	34	7	differentiate	differentiate	VERB
app01-5092	34	8	four	four	NUM
app01-5092	34	9	different	different	ADJ
app01-5092	34	10	motion	motion	NOUN
app01-5092	34	11	states	state	NOUN
app01-5092	34	12	of	of	ADP
app01-5092	34	13	the	the	DET
app01-5092	34	14	suitcase	suitcase	NOUN
app01-5092	34	15	:	:	PUNCT
app01-5092	34	16	both	both	DET
app01-5092	34	17	wheels	wheel	NOUN
app01-5092	34	18	have	have	VERB
app01-5092	34	19	contact	contact	NOUN
app01-5092	34	20	with	with	ADP
app01-5092	34	21	the	the	DET
app01-5092	34	22	ground	ground	NOUN
app01-5092	34	23	,	,	PUNCT
app01-5092	34	24	one	one	NUM
app01-5092	34	25	wheel	wheel	NOUN
app01-5092	34	26	(	(	PUNCT
app01-5092	34	27	right	right	ADJ
app01-5092	34	28	or	or	CCONJ
app01-5092	34	29	left	leave	VERB
app01-5092	34	30	wheel	wheel	NOUN
app01-5092	34	31	)	)	PUNCT
app01-5092	34	32	is	be	AUX
app01-5092	34	33	on	on	ADP
app01-5092	34	34	the	the	DET
app01-5092	34	35	ground	ground	NOUN
app01-5092	34	36	,	,	PUNCT
app01-5092	34	37	none	none	NOUN
app01-5092	34	38	of	of	ADP
app01-5092	34	39	the	the	DET
app01-5092	34	40	wheels	wheel	NOUN
app01-5092	34	41	is	be	AUX
app01-5092	34	42	on	on	ADP
app01-5092	34	43	the	the	DET
app01-5092	34	44	ground	ground	NOUN
app01-5092	34	45	.	.	PUNCT
app01-5092	35	1	see	see	VERB
app01-5092	35	2	fig	fig	NOUN
app01-5092	35	3	.	.	PUNCT
app01-5092	36	1	2	2	NUM
app01-5092	36	2	,	,	PUNCT
app01-5092	36	3	where	where	SCONJ
app01-5092	36	4	the	the	DET
app01-5092	36	5	motion	motion	NOUN
app01-5092	36	6	states	state	NOUN
app01-5092	36	7	are	be	AUX
app01-5092	36	8	given	give	VERB
app01-5092	36	9	together	together	ADV
app01-5092	36	10	with	with	ADP
app01-5092	36	11	the	the	DET
app01-5092	36	12	transitions	transition	NOUN
app01-5092	36	13	between	between	ADP
app01-5092	36	14	them	they	PRON
app01-5092	36	15	.	.	PUNCT
app01-5092	37	1	the	the	DET
app01-5092	37	2	different	different	ADJ
app01-5092	37	3	motion	motion	NOUN
app01-5092	37	4	states	state	NOUN
app01-5092	37	5	correspond	correspond	VERB
app01-5092	37	6	to	to	ADP
app01-5092	37	7	1	1	NUM
app01-5092	37	8	,	,	PUNCT
app01-5092	37	9	3	3	NUM
app01-5092	37	10	and	and	CCONJ
app01-5092	37	11	6	6	NUM
app01-5092	37	12	dimensional	dimensional	ADJ
app01-5092	37	13	state	state	NOUN
app01-5092	37	14	spaces	space	NOUN
app01-5092	37	15	,	,	PUNCT
app01-5092	37	16	respectively	respectively	ADV
app01-5092	37	17	.	.	PUNCT
app01-5092	38	1	when	when	SCONJ
app01-5092	38	2	both	both	DET
app01-5092	38	3	wheels	wheel	NOUN
app01-5092	38	4	are	be	AUX
app01-5092	38	5	on	on	ADP
app01-5092	38	6	the	the	DET
app01-5092	38	7	ground	ground	NOUN
app01-5092	38	8	,	,	PUNCT
app01-5092	38	9	the	the	DET
app01-5092	38	10	suitcase	suitcase	NOUN
app01-5092	38	11	makes	make	VERB
app01-5092	38	12	in	in	ADP
app01-5092	38	13	-	-	PUNCT
app01-5092	38	14	plane	plane	NOUN
app01-5092	38	15	motion	motion	NOUN
app01-5092	38	16	and	and	CCONJ
app01-5092	38	17	the	the	DET
app01-5092	38	18	equations	equation	NOUN
app01-5092	38	19	of	of	ADP
app01-5092	38	20	motion	motion	NOUN
app01-5092	38	21	can	can	AUX
app01-5092	38	22	be	be	AUX
app01-5092	38	23	easily	easily	ADV
app01-5092	38	24	derived	derive	VERB
app01-5092	38	25	from	from	ADP
app01-5092	38	26	the	the	DET
app01-5092	38	27	kinematic	kinematic	ADJ
app01-5092	38	28	constraint	constraint	NOUN
app01-5092	38	29	of	of	ADP
app01-5092	38	30	rolling	rolling	NOUN
app01-5092	38	31	.	.	PUNCT
app01-5092	39	1	the	the	DET
app01-5092	39	2	position	position	NOUN
app01-5092	39	3	of	of	ADP
app01-5092	39	4	the	the	DET
app01-5092	39	5	suitcase	suitcase	NOUN
app01-5092	39	6	is	be	AUX
app01-5092	39	7	given	give	VERB
app01-5092	39	8	by	by	ADP
app01-5092	39	9	the	the	DET
app01-5092	39	10	deflection	deflection	NOUN
app01-5092	39	11	angle	angle	NOUN
app01-5092	39	12	ψ	ψ	X
app01-5092	39	13	(	(	PUNCT
app01-5092	39	14	see	see	VERB
app01-5092	39	15	in	in	ADP
app01-5092	39	16	fig.1	fig.1	PROPN
app01-5092	39	17	)	)	PUNCT
app01-5092	39	18	,	,	PUNCT
app01-5092	39	19	and	and	CCONJ
app01-5092	39	20	the	the	DET
app01-5092	39	21	motion	motion	NOUN
app01-5092	39	22	can	can	AUX
app01-5092	39	23	be	be	AUX
app01-5092	39	24	described	describe	VERB
app01-5092	39	25	in	in	ADP
app01-5092	39	26	a	a	DET
app01-5092	39	27	one	one	NUM
app01-5092	39	28	-	-	PUNCT
app01-5092	39	29	dimensional	dimensional	ADJ
app01-5092	39	30	phase	phase	NOUN
app01-5092	39	31	space	space	NOUN
app01-5092	39	32	.	.	PUNCT
app01-5092	40	1	having	have	VERB
app01-5092	40	2	only	only	ADV
app01-5092	40	3	one	one	NUM
app01-5092	40	4	wheel	wheel	NOUN
app01-5092	40	5	on	on	ADP
app01-5092	40	6	the	the	DET
app01-5092	40	7	ground	ground	NOUN
app01-5092	40	8	is	be	AUX
app01-5092	40	9	the	the	DET
app01-5092	40	10	most	most	ADV
app01-5092	40	11	intricate	intricate	ADJ
app01-5092	40	12	case	case	NOUN
app01-5092	40	13	,	,	PUNCT
app01-5092	40	14	since	since	SCONJ
app01-5092	40	15	the	the	DET
app01-5092	40	16	motion	motion	NOUN
app01-5092	40	17	is	be	AUX
app01-5092	40	18	spatial	spatial	ADJ
app01-5092	40	19	,	,	PUNCT
app01-5092	40	20	while	while	SCONJ
app01-5092	40	21	the	the	DET
app01-5092	40	22	61	61	NUM
app01-5092	40	23	http://dx.doi.org/10.14311/app.2018.18.0061	http://dx.doi.org/10.14311/app.2018.18.0061	PROPN
app01-5092	40	24	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-5092	40	25	hanna	hanna	PROPN
app01-5092	40	26	zs	zs	PROPN
app01-5092	40	27	.	.	PROPN
app01-5092	40	28	horvath	horvath	PROPN
app01-5092	40	29	,	,	PUNCT
app01-5092	40	30	denes	dene	VERB
app01-5092	40	31	takacs	takacs	PROPN
app01-5092	40	32	acta	acta	PROPN
app01-5092	40	33	polytechnica	polytechnica	PROPN
app01-5092	40	34	ctu	ctu	PROPN
app01-5092	40	35	proceedings	proceeding	NOUN
app01-5092	40	36	figure	figure	VERB
app01-5092	40	37	1	1	NUM
app01-5092	40	38	.	.	PUNCT
app01-5092	41	1	the	the	DET
app01-5092	41	2	simplified	simplified	ADJ
app01-5092	41	3	mechanical	mechanical	ADJ
app01-5092	41	4	model	model	NOUN
app01-5092	41	5	of	of	ADP
app01-5092	41	6	a	a	DET
app01-5092	41	7	towed	tow	VERB
app01-5092	41	8	two	two	NUM
app01-5092	41	9	-	-	PUNCT
app01-5092	41	10	wheeled	wheel	VERB
app01-5092	41	11	suitcase	suitcase	NOUN
app01-5092	41	12	.	.	PUNCT
app01-5092	42	1	the	the	DET
app01-5092	42	2	generalized	generalize	VERB
app01-5092	42	3	coordinates	coordinate	NOUN
app01-5092	42	4	for	for	ADP
app01-5092	42	5	the	the	DET
app01-5092	42	6	right	right	ADJ
app01-5092	42	7	wheel	wheel	NOUN
app01-5092	42	8	rolling	rolling	NOUN
app01-5092	42	9	case	case	NOUN
app01-5092	42	10	.	.	PUNCT
app01-5092	43	1	figure	figure	NOUN
app01-5092	43	2	2	2	NUM
app01-5092	43	3	.	.	PUNCT
app01-5092	44	1	the	the	DET
app01-5092	44	2	motion	motion	NOUN
app01-5092	44	3	states	state	NOUN
app01-5092	44	4	with	with	ADP
app01-5092	44	5	the	the	DET
app01-5092	44	6	corresponding	corresponding	ADJ
app01-5092	44	7	dimensions	dimension	NOUN
app01-5092	44	8	of	of	ADP
app01-5092	44	9	the	the	DET
app01-5092	44	10	state	state	NOUN
app01-5092	44	11	spaces	space	NOUN
app01-5092	44	12	,	,	PUNCT
app01-5092	44	13	and	and	CCONJ
app01-5092	44	14	the	the	DET
app01-5092	44	15	possible	possible	ADJ
app01-5092	44	16	transitions	transition	NOUN
app01-5092	44	17	between	between	ADP
app01-5092	44	18	them	they	PRON
app01-5092	44	19	.	.	PUNCT
app01-5092	45	1	kinematic	kinematic	ADJ
app01-5092	45	2	constraint	constraint	NOUN
app01-5092	45	3	of	of	ADP
app01-5092	45	4	rolling	rolling	NOUN
app01-5092	45	5	has	have	VERB
app01-5092	45	6	to	to	PART
app01-5092	45	7	be	be	AUX
app01-5092	45	8	considered	consider	VERB
app01-5092	45	9	.	.	PUNCT
app01-5092	46	1	thus	thus	ADV
app01-5092	46	2	,	,	PUNCT
app01-5092	46	3	for	for	ADP
app01-5092	46	4	example	example	NOUN
app01-5092	46	5	,	,	PUNCT
app01-5092	46	6	the	the	DET
app01-5092	46	7	equations	equation	NOUN
app01-5092	46	8	of	of	ADP
app01-5092	46	9	motion	motion	NOUN
app01-5092	46	10	can	can	AUX
app01-5092	46	11	be	be	AUX
app01-5092	46	12	derived	derive	VERB
app01-5092	46	13	with	with	ADP
app01-5092	46	14	the	the	DET
app01-5092	46	15	so	so	ADV
app01-5092	46	16	-	-	PUNCT
app01-5092	46	17	called	call	VERB
app01-5092	46	18	routh	routh	PROPN
app01-5092	46	19	–	–	PUNCT
app01-5092	46	20	voss	voss	NOUN
app01-5092	46	21	-	-	NOUN
app01-5092	46	22	equation	equation	NOUN
app01-5092	46	23	.	.	PUNCT
app01-5092	47	1	in	in	ADP
app01-5092	47	2	this	this	DET
app01-5092	47	3	case	case	NOUN
app01-5092	47	4	,	,	PUNCT
app01-5092	47	5	the	the	DET
app01-5092	47	6	governing	govern	VERB
app01-5092	47	7	equations	equation	NOUN
app01-5092	47	8	lead	lead	VERB
app01-5092	47	9	to	to	ADP
app01-5092	47	10	a	a	DET
app01-5092	47	11	threedimensional	threedimensional	ADJ
app01-5092	47	12	phase	phase	NOUN
app01-5092	47	13	space	space	NOUN
app01-5092	47	14	given	give	VERB
app01-5092	47	15	by	by	ADP
app01-5092	47	16	the	the	DET
app01-5092	47	17	tilting	tilt	VERB
app01-5092	47	18	angle	angle	NOUN
app01-5092	47	19	β	β	NOUN
app01-5092	47	20	,	,	PUNCT
app01-5092	47	21	the	the	DET
app01-5092	47	22	angular	angular	ADJ
app01-5092	47	23	velocity	velocity	NOUN
app01-5092	47	24	ω	ω	NOUN
app01-5092	47	25	=	=	SYM
app01-5092	47	26	β̇	β̇	PROPN
app01-5092	47	27	and	and	CCONJ
app01-5092	47	28	deflection	deflection	NOUN
app01-5092	47	29	angle	angle	NOUN
app01-5092	47	30	ψ	ψ	X
app01-5092	47	31	(	(	PUNCT
app01-5092	47	32	see	see	VERB
app01-5092	47	33	fig	fig	NOUN
app01-5092	47	34	.	.	PUNCT
app01-5092	48	1	1	1	NUM
app01-5092	48	2	)	)	PUNCT
app01-5092	48	3	.	.	PUNCT
app01-5092	49	1	if	if	SCONJ
app01-5092	49	2	none	none	NOUN
app01-5092	49	3	of	of	ADP
app01-5092	49	4	the	the	DET
app01-5092	49	5	wheels	wheel	NOUN
app01-5092	49	6	have	have	VERB
app01-5092	49	7	contact	contact	NOUN
app01-5092	49	8	with	with	ADP
app01-5092	49	9	the	the	DET
app01-5092	49	10	ground	ground	NOUN
app01-5092	49	11	,	,	PUNCT
app01-5092	49	12	the	the	DET
app01-5092	49	13	motion	motion	NOUN
app01-5092	49	14	is	be	AUX
app01-5092	49	15	spatial	spatial	ADJ
app01-5092	49	16	but	but	CCONJ
app01-5092	49	17	the	the	DET
app01-5092	49	18	system	system	NOUN
app01-5092	49	19	simplifies	simplify	VERB
app01-5092	49	20	to	to	ADP
app01-5092	49	21	a	a	DET
app01-5092	49	22	spatial	spatial	ADJ
app01-5092	49	23	mathematical	mathematical	ADJ
app01-5092	49	24	pendulum	pendulum	NOUN
app01-5092	49	25	with	with	ADP
app01-5092	49	26	an	an	DET
app01-5092	49	27	extra	extra	ADJ
app01-5092	49	28	rotational	rotational	ADJ
app01-5092	49	29	degree	degree	NOUN
app01-5092	49	30	of	of	ADP
app01-5092	49	31	freedom	freedom	NOUN
app01-5092	49	32	about	about	ADP
app01-5092	49	33	the	the	DET
app01-5092	49	34	axis	axis	NOUN
app01-5092	49	35	determined	determine	VERB
app01-5092	49	36	by	by	ADP
app01-5092	49	37	the	the	DET
app01-5092	49	38	points	point	NOUN
app01-5092	49	39	a	a	PRON
app01-5092	49	40	and	and	CCONJ
app01-5092	49	41	c.	c.	NOUN
app01-5092	49	42	namely	namely	ADV
app01-5092	49	43	,	,	PUNCT
app01-5092	49	44	a	a	DET
app01-5092	49	45	six	six	NUM
app01-5092	49	46	-	-	PUNCT
app01-5092	49	47	dimensional	dimensional	ADJ
app01-5092	49	48	state	state	NOUN
app01-5092	49	49	space	space	NOUN
app01-5092	49	50	governs	govern	VERB
app01-5092	49	51	the	the	DET
app01-5092	49	52	motion	motion	NOUN
app01-5092	49	53	.	.	PUNCT
app01-5092	50	1	to	to	PART
app01-5092	50	2	make	make	VERB
app01-5092	50	3	switches	switch	NOUN
app01-5092	50	4	between	between	ADP
app01-5092	50	5	the	the	DET
app01-5092	50	6	motion	motion	NOUN
app01-5092	50	7	states	state	NOUN
app01-5092	50	8	,	,	PUNCT
app01-5092	50	9	the	the	DET
app01-5092	50	10	detachments	detachment	NOUN
app01-5092	50	11	of	of	ADP
app01-5092	50	12	the	the	DET
app01-5092	50	13	wheels	wheel	NOUN
app01-5092	50	14	from	from	ADP
app01-5092	50	15	the	the	DET
app01-5092	50	16	ground	ground	NOUN
app01-5092	50	17	and	and	CCONJ
app01-5092	50	18	the	the	DET
app01-5092	50	19	impact	impact	NOUN
app01-5092	50	20	between	between	ADP
app01-5092	50	21	the	the	DET
app01-5092	50	22	wheels	wheel	NOUN
app01-5092	50	23	and	and	CCONJ
app01-5092	50	24	the	the	DET
app01-5092	50	25	ground	ground	NOUN
app01-5092	50	26	have	have	VERB
app01-5092	50	27	to	to	PART
app01-5092	50	28	be	be	AUX
app01-5092	50	29	handled	handle	VERB
app01-5092	50	30	.	.	PUNCT
app01-5092	51	1	namely	namely	ADV
app01-5092	51	2	,	,	PUNCT
app01-5092	51	3	if	if	SCONJ
app01-5092	51	4	the	the	DET
app01-5092	51	5	normal	normal	ADJ
app01-5092	51	6	force	force	NOUN
app01-5092	51	7	at	at	ADP
app01-5092	51	8	one	one	NUM
app01-5092	51	9	of	of	ADP
app01-5092	51	10	the	the	DET
app01-5092	51	11	wheels	wheel	NOUN
app01-5092	51	12	that	that	PRON
app01-5092	51	13	has	have	VERB
app01-5092	51	14	contact	contact	NOUN
app01-5092	51	15	with	with	ADP
app01-5092	51	16	the	the	DET
app01-5092	51	17	ground	ground	NOUN
app01-5092	51	18	becomes	become	VERB
app01-5092	51	19	zero	zero	NUM
app01-5092	51	20	,	,	PUNCT
app01-5092	51	21	the	the	DET
app01-5092	51	22	wheel	wheel	NOUN
app01-5092	51	23	can	can	AUX
app01-5092	51	24	leave	leave	VERB
app01-5092	51	25	the	the	DET
app01-5092	51	26	ground	ground	NOUN
app01-5092	51	27	,	,	PUNCT
app01-5092	51	28	and	and	CCONJ
app01-5092	51	29	another	another	DET
app01-5092	51	30	motion	motion	NOUN
app01-5092	51	31	state	state	NOUN
app01-5092	51	32	will	will	AUX
app01-5092	51	33	govern	govern	VERB
app01-5092	51	34	the	the	DET
app01-5092	51	35	further	further	ADJ
app01-5092	51	36	motion	motion	NOUN
app01-5092	51	37	of	of	ADP
app01-5092	51	38	the	the	DET
app01-5092	51	39	suitcase	suitcase	NOUN
app01-5092	51	40	.	.	PUNCT
app01-5092	52	1	similarly	similarly	ADV
app01-5092	52	2	,	,	PUNCT
app01-5092	52	3	if	if	SCONJ
app01-5092	52	4	one	one	NUM
app01-5092	52	5	of	of	ADP
app01-5092	52	6	the	the	DET
app01-5092	52	7	non	non	ADJ
app01-5092	52	8	-	-	ADJ
app01-5092	52	9	contacting	contact	VERB
app01-5092	52	10	wheel	wheel	NOUN
app01-5092	52	11	touches	touch	VERB
app01-5092	52	12	the	the	DET
app01-5092	52	13	ground	ground	NOUN
app01-5092	52	14	with	with	ADP
app01-5092	52	15	non	non	ADJ
app01-5092	52	16	-	-	ADJ
app01-5092	52	17	zero	zero	ADJ
app01-5092	52	18	normal	normal	ADJ
app01-5092	52	19	velocity	velocity	NOUN
app01-5092	52	20	,	,	PUNCT
app01-5092	52	21	impact	impact	NOUN
app01-5092	52	22	happens	happen	VERB
app01-5092	52	23	between	between	ADP
app01-5092	52	24	the	the	DET
app01-5092	52	25	wheel	wheel	NOUN
app01-5092	52	26	and	and	CCONJ
app01-5092	52	27	ground	ground	NOUN
app01-5092	52	28	.	.	PUNCT
app01-5092	53	1	to	to	PART
app01-5092	53	2	describe	describe	VERB
app01-5092	53	3	the	the	DET
app01-5092	53	4	impact	impact	NOUN
app01-5092	53	5	,	,	PUNCT
app01-5092	53	6	a	a	DET
app01-5092	53	7	complex	complex	ADJ
app01-5092	53	8	impact	impact	NOUN
app01-5092	53	9	model	model	NOUN
app01-5092	53	10	has	have	VERB
app01-5092	53	11	to	to	PART
app01-5092	53	12	be	be	AUX
app01-5092	53	13	applied	apply	VERB
app01-5092	53	14	since	since	SCONJ
app01-5092	53	15	classical	classical	ADJ
app01-5092	53	16	rigid	rigid	ADJ
app01-5092	53	17	body	body	NOUN
app01-5092	53	18	impact	impact	NOUN
app01-5092	53	19	models	model	NOUN
app01-5092	53	20	could	could	AUX
app01-5092	53	21	not	not	PART
app01-5092	53	22	be	be	AUX
app01-5092	53	23	used	use	VERB
app01-5092	53	24	to	to	PART
app01-5092	53	25	describe	describe	VERB
app01-5092	53	26	the	the	DET
app01-5092	53	27	practically	practically	ADV
app01-5092	53	28	observed	observed	ADJ
app01-5092	53	29	transitions	transition	NOUN
app01-5092	53	30	.	.	PUNCT
app01-5092	54	1	here	here	ADV
app01-5092	54	2	,	,	PUNCT
app01-5092	54	3	we	we	PRON
app01-5092	54	4	use	use	VERB
app01-5092	54	5	a	a	DET
app01-5092	54	6	spring	spring	NOUN
app01-5092	54	7	and	and	CCONJ
app01-5092	54	8	a	a	DET
app01-5092	54	9	damper	damper	NOUN
app01-5092	54	10	as	as	ADP
app01-5092	54	11	a	a	DET
app01-5092	54	12	simple	simple	ADJ
app01-5092	54	13	contact	contact	NOUN
app01-5092	54	14	element	element	NOUN
app01-5092	54	15	to	to	PART
app01-5092	54	16	model	model	VERB
app01-5092	54	17	the	the	DET
app01-5092	54	18	impact	impact	NOUN
app01-5092	54	19	of	of	ADP
app01-5092	54	20	the	the	DET
app01-5092	54	21	wheel	wheel	NOUN
app01-5092	54	22	.	.	PUNCT
app01-5092	55	1	the	the	DET
app01-5092	55	2	deformations	deformation	NOUN
app01-5092	55	3	of	of	ADP
app01-5092	55	4	the	the	DET
app01-5092	55	5	springs	spring	NOUN
app01-5092	55	6	at	at	ADP
app01-5092	55	7	the	the	DET
app01-5092	55	8	left	left	NOUN
app01-5092	55	9	and	and	CCONJ
app01-5092	55	10	the	the	DET
app01-5092	55	11	right	right	ADJ
app01-5092	55	12	wheels	wheel	NOUN
app01-5092	55	13	can	can	AUX
app01-5092	55	14	be	be	AUX
app01-5092	55	15	described	describe	VERB
app01-5092	55	16	by	by	ADP
app01-5092	55	17	the	the	DET
app01-5092	55	18	vertical	vertical	ADJ
app01-5092	55	19	positions	position	NOUN
app01-5092	55	20	zl	zl	PROPN
app01-5092	55	21	and	and	CCONJ
app01-5092	55	22	zr	zr	PROPN
app01-5092	55	23	of	of	ADP
app01-5092	55	24	the	the	DET
app01-5092	55	25	wheel	wheel	NOUN
app01-5092	55	26	centre	centre	NOUN
app01-5092	55	27	points	point	NOUN
app01-5092	55	28	.	.	PUNCT
app01-5092	56	1	if	if	SCONJ
app01-5092	56	2	one	one	NUM
app01-5092	56	3	of	of	ADP
app01-5092	56	4	the	the	DET
app01-5092	56	5	wheels	wheel	NOUN
app01-5092	56	6	is	be	AUX
app01-5092	56	7	on	on	ADP
app01-5092	56	8	the	the	DET
app01-5092	56	9	ground	ground	NOUN
app01-5092	56	10	then	then	ADV
app01-5092	56	11	the	the	DET
app01-5092	56	12	contact	contact	NOUN
app01-5092	56	13	spring	spring	NOUN
app01-5092	56	14	is	be	AUX
app01-5092	56	15	compressed	compress	VERB
app01-5092	56	16	and	and	CCONJ
app01-5092	56	17	the	the	DET
app01-5092	56	18	vertical	vertical	ADJ
app01-5092	56	19	coordinate	coordinate	NOUN
app01-5092	56	20	of	of	ADP
app01-5092	56	21	the	the	DET
app01-5092	56	22	wheel	wheel	NOUN
app01-5092	56	23	is	be	AUX
app01-5092	56	24	a	a	DET
app01-5092	56	25	small	small	ADJ
app01-5092	56	26	negative	negative	ADJ
app01-5092	56	27	value	value	NOUN
app01-5092	56	28	.	.	PUNCT
app01-5092	57	1	this	this	DET
app01-5092	57	2	small	small	ADJ
app01-5092	57	3	vertical	vertical	ADJ
app01-5092	57	4	displacement	displacement	NOUN
app01-5092	57	5	of	of	ADP
app01-5092	57	6	the	the	DET
app01-5092	57	7	wheel	wheel	NOUN
app01-5092	57	8	centre	centre	NOUN
app01-5092	57	9	point	point	NOUN
app01-5092	57	10	is	be	AUX
app01-5092	57	11	negligible	negligible	ADJ
app01-5092	57	12	relative	relative	ADJ
app01-5092	57	13	to	to	ADP
app01-5092	57	14	the	the	DET
app01-5092	57	15	large	large	ADJ
app01-5092	57	16	scale	scale	NOUN
app01-5092	57	17	motion	motion	NOUN
app01-5092	57	18	of	of	ADP
app01-5092	57	19	the	the	DET
app01-5092	57	20	suitcase	suitcase	NOUN
app01-5092	57	21	.	.	PUNCT
app01-5092	58	1	moreover	moreover	ADV
app01-5092	58	2	,	,	PUNCT
app01-5092	58	3	since	since	SCONJ
app01-5092	58	4	the	the	DET
app01-5092	58	5	dynamic	dynamic	NOUN
app01-5092	58	6	of	of	ADP
app01-5092	58	7	the	the	DET
app01-5092	58	8	impact	impact	NOUN
app01-5092	58	9	is	be	AUX
app01-5092	58	10	much	much	ADV
app01-5092	58	11	faster	fast	ADJ
app01-5092	58	12	than	than	ADP
app01-5092	58	13	the	the	DET
app01-5092	58	14	position	position	NOUN
app01-5092	58	15	change	change	NOUN
app01-5092	58	16	of	of	ADP
app01-5092	58	17	the	the	DET
app01-5092	58	18	body	body	NOUN
app01-5092	58	19	,	,	PUNCT
app01-5092	58	20	the	the	DET
app01-5092	58	21	simulations	simulation	NOUN
app01-5092	58	22	of	of	ADP
app01-5092	58	23	the	the	DET
app01-5092	58	24	impact	impact	NOUN
app01-5092	58	25	can	can	AUX
app01-5092	58	26	be	be	AUX
app01-5092	58	27	carried	carry	VERB
app01-5092	58	28	out	out	ADP
app01-5092	58	29	in	in	ADP
app01-5092	58	30	another	another	DET
app01-5092	58	31	time	time	NOUN
app01-5092	58	32	scale	scale	NOUN
app01-5092	58	33	.	.	PUNCT
app01-5092	59	1	this	this	DET
app01-5092	59	2	method	method	NOUN
app01-5092	59	3	is	be	AUX
app01-5092	59	4	often	often	ADV
app01-5092	59	5	used	use	VERB
app01-5092	59	6	for	for	ADP
app01-5092	59	7	such	such	ADJ
app01-5092	59	8	multi	multi	ADJ
app01-5092	59	9	-	-	ADJ
app01-5092	59	10	scale	scale	ADJ
app01-5092	59	11	systems	system	NOUN
app01-5092	59	12	.	.	PUNCT
app01-5092	60	1	4	4	X
app01-5092	60	2	.	.	X
app01-5092	60	3	numerical	numerical	ADJ
app01-5092	60	4	simulations	simulation	NOUN
app01-5092	60	5	the	the	DET
app01-5092	60	6	governing	govern	VERB
app01-5092	60	7	equations	equation	NOUN
app01-5092	60	8	and	and	CCONJ
app01-5092	60	9	the	the	DET
app01-5092	60	10	impact	impact	NOUN
app01-5092	60	11	model	model	NOUN
app01-5092	60	12	were	be	AUX
app01-5092	60	13	implemented	implement	VERB
app01-5092	60	14	in	in	ADP
app01-5092	60	15	computer	computer	NOUN
app01-5092	60	16	code	code	NOUN
app01-5092	60	17	.	.	PUNCT
app01-5092	61	1	the	the	DET
app01-5092	61	2	implemented	implement	VERB
app01-5092	61	3	equations	equation	NOUN
app01-5092	61	4	of	of	ADP
app01-5092	61	5	motion	motion	NOUN
app01-5092	61	6	were	be	AUX
app01-5092	61	7	rewritten	rewrite	VERB
app01-5092	61	8	into	into	ADP
app01-5092	61	9	a	a	DET
app01-5092	61	10	system	system	NOUN
app01-5092	61	11	of	of	ADP
app01-5092	61	12	first	first	ADJ
app01-5092	61	13	order	order	NOUN
app01-5092	61	14	ordinary	ordinary	ADJ
app01-5092	61	15	differential	differential	ADJ
app01-5092	61	16	equations	equation	NOUN
app01-5092	61	17	.	.	PUNCT
app01-5092	62	1	fourth	fourth	ADJ
app01-5092	62	2	order	order	NOUN
app01-5092	62	3	runge	runge	NOUN
app01-5092	62	4	–	–	PUNCT
app01-5092	62	5	kutta	kutta	NOUN
app01-5092	62	6	method	method	NOUN
app01-5092	62	7	was	be	AUX
app01-5092	62	8	used	use	VERB
app01-5092	62	9	in	in	ADP
app01-5092	62	10	these	these	DET
app01-5092	62	11	numerical	numerical	ADJ
app01-5092	62	12	simulations	simulation	NOUN
app01-5092	62	13	with	with	ADP
app01-5092	62	14	fixed	fix	VERB
app01-5092	62	15	time	time	NOUN
app01-5092	62	16	step	step	NOUN
app01-5092	62	17	.	.	PUNCT
app01-5092	63	1	since	since	SCONJ
app01-5092	63	2	the	the	DET
app01-5092	63	3	system	system	NOUN
app01-5092	63	4	is	be	AUX
app01-5092	63	5	non	non	ADJ
app01-5092	63	6	-	-	ADJ
app01-5092	63	7	smooth	smooth	ADJ
app01-5092	63	8	and	and	CCONJ
app01-5092	63	9	all	all	DET
app01-5092	63	10	motion	motion	NOUN
app01-5092	63	11	states	state	NOUN
app01-5092	63	12	had	have	VERB
app01-5092	63	13	different	different	ADJ
app01-5092	63	14	number	number	NOUN
app01-5092	63	15	of	of	ADP
app01-5092	63	16	degrees	degree	NOUN
app01-5092	63	17	of	of	ADP
app01-5092	63	18	freedom	freedom	NOUN
app01-5092	63	19	,	,	PUNCT
app01-5092	63	20	and	and	CCONJ
app01-5092	63	21	consequently	consequently	ADV
app01-5092	63	22	different	different	ADJ
app01-5092	63	23	generalized	generalized	ADJ
app01-5092	63	24	coordinates	coordinate	NOUN
app01-5092	63	25	and	and	CCONJ
app01-5092	63	26	generalized	generalized	ADJ
app01-5092	63	27	velocities	velocity	NOUN
app01-5092	63	28	,	,	PUNCT
app01-5092	63	29	the	the	DET
app01-5092	63	30	coupling	coupling	NOUN
app01-5092	63	31	between	between	ADP
app01-5092	63	32	the	the	DET
app01-5092	63	33	motion	motion	NOUN
app01-5092	63	34	states	state	NOUN
app01-5092	63	35	is	be	AUX
app01-5092	63	36	a	a	DET
app01-5092	63	37	complex	complex	ADJ
app01-5092	63	38	task	task	NOUN
app01-5092	63	39	.	.	PUNCT
app01-5092	64	1	see	see	VERB
app01-5092	64	2	fig	fig	NOUN
app01-5092	64	3	.	.	PUNCT
app01-5092	65	1	2	2	NUM
app01-5092	65	2	,	,	PUNCT
app01-5092	65	3	where	where	SCONJ
app01-5092	65	4	the	the	DET
app01-5092	65	5	transitions	transition	NOUN
app01-5092	65	6	can	can	AUX
app01-5092	65	7	be	be	AUX
app01-5092	65	8	seen	see	VERB
app01-5092	65	9	with	with	ADP
app01-5092	65	10	all	all	DET
app01-5092	65	11	the	the	DET
app01-5092	65	12	possible	possible	ADJ
app01-5092	65	13	scenarios	scenario	NOUN
app01-5092	65	14	.	.	PUNCT
app01-5092	66	1	simulations	simulation	NOUN
app01-5092	66	2	were	be	AUX
app01-5092	66	3	run	run	VERB
app01-5092	66	4	for	for	ADP
app01-5092	66	5	different	different	ADJ
app01-5092	66	6	initial	initial	ADJ
app01-5092	66	7	conditions	condition	NOUN
app01-5092	66	8	(	(	PUNCT
app01-5092	66	9	β(t	β(t	X
app01-5092	66	10	=	=	NOUN
app01-5092	66	11	0	0	NUM
app01-5092	67	1	)	)	PUNCT
app01-5092	67	2	=	=	SYM
app01-5092	67	3	β0	β0	NOUN
app01-5092	67	4	,	,	PUNCT
app01-5092	67	5	ω(t	ω(t	X
app01-5092	67	6	=	=	SYM
app01-5092	67	7	0	0	X
app01-5092	67	8	)	)	PUNCT
app01-5092	67	9	=	=	SYM
app01-5092	67	10	ω0	ω0	PROPN
app01-5092	67	11	and	and	CCONJ
app01-5092	67	12	ψ(t	ψ(t	X
app01-5092	67	13	=	=	PUNCT
app01-5092	67	14	0	0	NUM
app01-5092	67	15	)	)	PUNCT
app01-5092	67	16	=	=	VERB
app01-5092	68	1	ψ0	ψ0	ADJ
app01-5092	68	2	values	value	NOUN
app01-5092	68	3	)	)	PUNCT
app01-5092	68	4	given	give	VERB
app01-5092	68	5	for	for	ADP
app01-5092	68	6	the	the	DET
app01-5092	68	7	left	left	ADJ
app01-5092	68	8	wheel	wheel	NOUN
app01-5092	68	9	rolling	rolling	NOUN
app01-5092	68	10	case	case	NOUN
app01-5092	68	11	and	and	CCONJ
app01-5092	68	12	for	for	ADP
app01-5092	68	13	various	various	ADJ
app01-5092	68	14	parameters	parameter	NOUN
app01-5092	68	15	(	(	PUNCT
app01-5092	68	16	e.g.	e.g.	ADV
app01-5092	68	17	towing	tow	VERB
app01-5092	68	18	velocity	velocity	NOUN
app01-5092	68	19	v	v	NOUN
app01-5092	68	20	,	,	PUNCT
app01-5092	68	21	geometrical	geometrical	ADJ
app01-5092	68	22	parameters	parameter	NOUN
app01-5092	68	23	l	l	NOUN
app01-5092	68	24	,	,	PUNCT
app01-5092	68	25	h	h	NOUN
app01-5092	68	26	,	,	PUNCT
app01-5092	68	27	e	e	NOUN
app01-5092	68	28	and	and	CCONJ
app01-5092	68	29	f	f	PROPN
app01-5092	68	30	)	)	PUNCT
app01-5092	68	31	.	.	PUNCT
app01-5092	69	1	in	in	ADP
app01-5092	69	2	our	our	PRON
app01-5092	69	3	study	study	NOUN
app01-5092	69	4	,	,	PUNCT
app01-5092	69	5	a	a	DET
app01-5092	69	6	motion	motion	NOUN
app01-5092	69	7	is	be	AUX
app01-5092	69	8	called	call	VERB
app01-5092	69	9	stable	stable	ADJ
app01-5092	69	10	if	if	SCONJ
app01-5092	69	11	the	the	DET
app01-5092	69	12	simulation	simulation	NOUN
app01-5092	69	13	ends	end	VERB
app01-5092	69	14	in	in	ADP
app01-5092	69	15	the	the	DET
app01-5092	69	16	motion	motion	NOUN
app01-5092	69	17	state	state	NOUN
app01-5092	69	18	in	in	ADP
app01-5092	69	19	which	which	PRON
app01-5092	69	20	both	both	DET
app01-5092	69	21	wheels	wheel	NOUN
app01-5092	69	22	are	be	AUX
app01-5092	69	23	on	on	ADP
app01-5092	69	24	the	the	DET
app01-5092	69	25	ground	ground	NOUN
app01-5092	69	26	.	.	PUNCT
app01-5092	70	1	otherwise	otherwise	ADV
app01-5092	70	2	,	,	PUNCT
app01-5092	70	3	the	the	DET
app01-5092	70	4	motion	motion	NOUN
app01-5092	70	5	is	be	AUX
app01-5092	70	6	called	call	VERB
app01-5092	70	7	unstable	unstable	ADJ
app01-5092	70	8	,	,	PUNCT
app01-5092	70	9	namely	namely	ADV
app01-5092	70	10	,	,	PUNCT
app01-5092	70	11	the	the	DET
app01-5092	70	12	suitcase	suitcase	NOUN
app01-5092	70	13	overturns	overturn	VERB
app01-5092	70	14	.	.	PUNCT
app01-5092	71	1	the	the	DET
app01-5092	71	2	time	time	NOUN
app01-5092	71	3	histories	history	NOUN
app01-5092	71	4	for	for	ADP
app01-5092	71	5	a	a	DET
app01-5092	71	6	stable	stable	ADJ
app01-5092	71	7	motion	motion	NOUN
app01-5092	71	8	can	can	AUX
app01-5092	71	9	be	be	AUX
app01-5092	71	10	seen	see	VERB
app01-5092	71	11	in	in	ADP
app01-5092	71	12	fig	fig	NOUN
app01-5092	71	13	.	.	PUNCT
app01-5092	72	1	3	3	X
app01-5092	72	2	.	.	X
app01-5092	72	3	the	the	DET
app01-5092	72	4	suitcase	suitcase	NOUN
app01-5092	72	5	rolls	roll	VERB
app01-5092	72	6	on	on	ADP
app01-5092	72	7	its	its	PRON
app01-5092	72	8	left	left	ADJ
app01-5092	72	9	wheel	wheel	NOUN
app01-5092	72	10	(	(	PUNCT
app01-5092	72	11	panels	panel	NOUN
app01-5092	72	12	in	in	ADP
app01-5092	72	13	the	the	DET
app01-5092	72	14	first	first	ADJ
app01-5092	72	15	row	row	NOUN
app01-5092	72	16	)	)	PUNCT
app01-5092	72	17	,	,	PUNCT
app01-5092	72	18	then	then	ADV
app01-5092	72	19	the	the	DET
app01-5092	72	20	right	right	ADJ
app01-5092	72	21	wheel	wheel	NOUN
app01-5092	72	22	has	have	VERB
app01-5092	72	23	an	an	DET
app01-5092	72	24	impact	impact	NOUN
app01-5092	72	25	meanwhile	meanwhile	ADV
app01-5092	72	26	the	the	DET
app01-5092	72	27	left	left	ADJ
app01-5092	72	28	wheel	wheel	NOUN
app01-5092	72	29	is	be	AUX
app01-5092	72	30	already	already	ADV
app01-5092	72	31	on	on	ADP
app01-5092	72	32	the	the	DET
app01-5092	72	33	ground	ground	NOUN
app01-5092	72	34	(	(	PUNCT
app01-5092	72	35	panels	panel	NOUN
app01-5092	72	36	in	in	ADP
app01-5092	72	37	the	the	DET
app01-5092	72	38	second	second	ADJ
app01-5092	72	39	row	row	NOUN
app01-5092	72	40	show	show	VERB
app01-5092	72	41	the	the	DET
app01-5092	72	42	deformations	deformation	NOUN
app01-5092	72	43	zl	zl	NOUN
app01-5092	72	44	and	and	CCONJ
app01-5092	72	45	zr	zr	PROPN
app01-5092	72	46	of	of	ADP
app01-5092	72	47	the	the	DET
app01-5092	72	48	left	left	ADJ
app01-5092	72	49	and	and	CCONJ
app01-5092	72	50	right	right	ADJ
app01-5092	72	51	wheels	wheel	NOUN
app01-5092	72	52	,	,	PUNCT
app01-5092	72	53	respectively	respectively	ADV
app01-5092	72	54	)	)	PUNCT
app01-5092	72	55	,	,	PUNCT
app01-5092	72	56	at	at	ADP
app01-5092	72	57	62	62	NUM
app01-5092	72	58	vol	vol	NOUN
app01-5092	72	59	.	.	PUNCT
app01-5092	73	1	18/2018	18/2018	NUM
app01-5092	73	2	modelling	modelling	NOUN
app01-5092	73	3	and	and	CCONJ
app01-5092	73	4	simulation	simulation	NOUN
app01-5092	73	5	of	of	ADP
app01-5092	73	6	rocking	rock	VERB
app01-5092	73	7	suitcases	suitcase	NOUN
app01-5092	73	8	figure	figure	VERB
app01-5092	73	9	3	3	NUM
app01-5092	73	10	.	.	NOUN
app01-5092	73	11	time	time	NOUN
app01-5092	73	12	histories	history	NOUN
app01-5092	73	13	for	for	ADP
app01-5092	73	14	the	the	DET
app01-5092	73	15	initial	initial	ADJ
app01-5092	73	16	conditions	condition	NOUN
app01-5092	73	17	:	:	PUNCT
app01-5092	73	18	β0	β0	PROPN
app01-5092	73	19	=	=	PUNCT
app01-5092	73	20	−0.2	−0.2	PROPN
app01-5092	74	1	[	[	X
app01-5092	74	2	rad	rad	X
app01-5092	74	3	]	]	X
app01-5092	74	4	,	,	PUNCT
app01-5092	74	5	ω0	ω0	ADV
app01-5092	74	6	=	=	SYM
app01-5092	74	7	0	0	PUNCT
app01-5092	75	1	[	[	X
app01-5092	75	2	rad	rad	X
app01-5092	75	3	/	/	SYM
app01-5092	75	4	s	s	PART
app01-5092	75	5	]	]	X
app01-5092	75	6	,	,	PUNCT
app01-5092	75	7	ψ0	ψ0	ADV
app01-5092	75	8	=	=	NOUN
app01-5092	75	9	0.1	0.1	NUM
app01-5092	76	1	[	[	X
app01-5092	76	2	rad	rad	X
app01-5092	76	3	]	]	X
app01-5092	76	4	,	,	PUNCT
app01-5092	76	5	and	and	CCONJ
app01-5092	76	6	for	for	ADP
app01-5092	76	7	parameter	parameter	NOUN
app01-5092	76	8	values	value	NOUN
app01-5092	76	9	:	:	PUNCT
app01-5092	77	1	l	l	NOUN
app01-5092	77	2	=	=	PUNCT
app01-5092	77	3	0.58	0.58	NUM
app01-5092	77	4	m	m	NOUN
app01-5092	77	5	,	,	PUNCT
app01-5092	77	6	h	h	NOUN
app01-5092	77	7	=	=	PUNCT
app01-5092	77	8	0.553	0.553	NUM
app01-5092	77	9	m	m	PROPN
app01-5092	77	10	,	,	PUNCT
app01-5092	77	11	b	b	X
app01-5092	77	12	=	=	SYM
app01-5092	77	13	0.16	0.16	NUM
app01-5092	77	14	m	m	NOUN
app01-5092	77	15	,	,	PUNCT
app01-5092	77	16	e	e	X
app01-5092	77	17	=	=	PUNCT
app01-5092	77	18	0.3	0.3	NUM
app01-5092	77	19	m	m	PROPN
app01-5092	77	20	,	,	PUNCT
app01-5092	77	21	f	f	PROPN
app01-5092	77	22	=	=	SYM
app01-5092	77	23	0.1	0.1	NUM
app01-5092	77	24	m	m	NOUN
app01-5092	77	25	,	,	PUNCT
app01-5092	77	26	m	m	VERB
app01-5092	77	27	=	=	NUM
app01-5092	77	28	5	5	NUM
app01-5092	77	29	kg	kg	NOUN
app01-5092	77	30	,	,	PUNCT
app01-5092	77	31	v	v	NOUN
app01-5092	77	32	=	=	SYM
app01-5092	77	33	1	1	NUM
app01-5092	77	34	m	m	NOUN
app01-5092	77	35	/	/	SYM
app01-5092	77	36	s.	s.	PROPN
app01-5092	77	37	last	last	VERB
app01-5092	77	38	both	both	DET
app01-5092	77	39	wheels	wheel	NOUN
app01-5092	77	40	have	have	VERB
app01-5092	77	41	contact	contact	NOUN
app01-5092	77	42	with	with	ADP
app01-5092	77	43	the	the	DET
app01-5092	77	44	ground	ground	NOUN
app01-5092	77	45	(	(	PUNCT
app01-5092	77	46	panel	panel	NOUN
app01-5092	77	47	in	in	ADP
app01-5092	77	48	the	the	DET
app01-5092	77	49	third	third	ADJ
app01-5092	77	50	row	row	NOUN
app01-5092	77	51	)	)	PUNCT
app01-5092	77	52	.	.	PUNCT
app01-5092	78	1	one	one	PRON
app01-5092	78	2	can	can	AUX
app01-5092	78	3	also	also	ADV
app01-5092	78	4	draw	draw	VERB
app01-5092	78	5	the	the	DET
app01-5092	78	6	basis	basis	NOUN
app01-5092	78	7	of	of	ADP
app01-5092	78	8	attraction	attraction	NOUN
app01-5092	78	9	of	of	ADP
app01-5092	78	10	the	the	DET
app01-5092	78	11	rectilinear	rectilinear	ADJ
app01-5092	78	12	motion	motion	NOUN
app01-5092	78	13	by	by	ADP
app01-5092	78	14	means	mean	NOUN
app01-5092	78	15	of	of	ADP
app01-5092	78	16	these	these	DET
app01-5092	78	17	numerical	numerical	ADJ
app01-5092	78	18	simulations	simulation	NOUN
app01-5092	78	19	.	.	PUNCT
app01-5092	79	1	in	in	ADP
app01-5092	79	2	fig	fig	NOUN
app01-5092	79	3	.	.	PUNCT
app01-5092	80	1	4	4	NUM
app01-5092	80	2	,	,	PUNCT
app01-5092	80	3	the	the	DET
app01-5092	80	4	results	result	NOUN
app01-5092	80	5	of	of	ADP
app01-5092	80	6	a	a	DET
app01-5092	80	7	simplified	simplified	ADJ
app01-5092	80	8	mechanical	mechanical	ADJ
app01-5092	80	9	model	model	NOUN
app01-5092	80	10	are	be	AUX
app01-5092	80	11	shown	show	VERB
app01-5092	80	12	,	,	PUNCT
app01-5092	80	13	where	where	SCONJ
app01-5092	80	14	the	the	DET
app01-5092	80	15	fourth	fourth	ADJ
app01-5092	80	16	motion	motion	NOUN
app01-5092	80	17	state	state	NOUN
app01-5092	80	18	(	(	PUNCT
app01-5092	80	19	no	no	DET
app01-5092	80	20	wheels	wheel	NOUN
app01-5092	80	21	on	on	ADP
app01-5092	80	22	the	the	DET
app01-5092	80	23	ground	ground	NOUN
app01-5092	80	24	)	)	PUNCT
app01-5092	80	25	was	be	AUX
app01-5092	80	26	not	not	PART
app01-5092	80	27	considered	consider	VERB
app01-5092	80	28	.	.	PUNCT
app01-5092	81	1	in	in	ADP
app01-5092	81	2	the	the	DET
app01-5092	81	3	figure	figure	NOUN
app01-5092	81	4	,	,	PUNCT
app01-5092	81	5	one	one	NUM
app01-5092	81	6	figure	figure	NOUN
app01-5092	81	7	4	4	NUM
app01-5092	81	8	.	.	PUNCT
app01-5092	82	1	the	the	DET
app01-5092	82	2	basis	basis	NOUN
app01-5092	82	3	of	of	ADP
app01-5092	82	4	attraction	attraction	NOUN
app01-5092	82	5	of	of	ADP
app01-5092	82	6	the	the	DET
app01-5092	82	7	rectilinear	rectilinear	ADJ
app01-5092	82	8	motion	motion	NOUN
app01-5092	82	9	.	.	PUNCT
app01-5092	83	1	the	the	DET
app01-5092	83	2	parameter	parameter	NOUN
app01-5092	83	3	values	value	NOUN
app01-5092	83	4	are	be	AUX
app01-5092	83	5	the	the	DET
app01-5092	83	6	following	follow	VERB
app01-5092	83	7	:	:	PUNCT
app01-5092	83	8	l	l	NOUN
app01-5092	83	9	=	=	SYM
app01-5092	83	10	1	1	NUM
app01-5092	83	11	m	m	NOUN
app01-5092	83	12	,	,	PUNCT
app01-5092	83	13	h	h	NOUN
app01-5092	83	14	=	=	PUNCT
app01-5092	83	15	0.6	0.6	NUM
app01-5092	83	16	m	m	PROPN
app01-5092	83	17	,	,	PUNCT
app01-5092	83	18	b	b	X
app01-5092	83	19	=	=	SYM
app01-5092	83	20	0.3	0.3	NUM
app01-5092	83	21	m	m	NOUN
app01-5092	83	22	,	,	PUNCT
app01-5092	83	23	m	m	VERB
app01-5092	83	24	=	=	NUM
app01-5092	83	25	10	10	NUM
app01-5092	83	26	kg	kg	NOUN
app01-5092	83	27	.	.	PUNCT
app01-5092	84	1	different	different	ADJ
app01-5092	84	2	colours	colour	NOUN
app01-5092	84	3	represent	represent	VERB
app01-5092	84	4	different	different	ADJ
app01-5092	84	5	basis	basis	NOUN
app01-5092	84	6	of	of	ADP
app01-5092	84	7	attraction	attraction	NOUN
app01-5092	84	8	considering	consider	VERB
app01-5092	84	9	different	different	ADJ
app01-5092	84	10	f	f	PROPN
app01-5092	84	11	values	value	NOUN
app01-5092	84	12	.	.	PUNCT
app01-5092	85	1	can	can	AUX
app01-5092	85	2	observe	observe	VERB
app01-5092	85	3	the	the	DET
app01-5092	85	4	attractive	attractive	ADJ
app01-5092	85	5	and	and	CCONJ
app01-5092	85	6	the	the	DET
app01-5092	85	7	repelling	repelling	NOUN
app01-5092	85	8	regions	region	NOUN
app01-5092	85	9	,	,	PUNCT
app01-5092	85	10	i.e.	i.e.	X
app01-5092	85	11	below	below	ADP
app01-5092	85	12	and	and	CCONJ
app01-5092	85	13	above	above	ADP
app01-5092	85	14	a	a	DET
app01-5092	85	15	plotted	plot	VERB
app01-5092	85	16	line	line	NOUN
app01-5092	85	17	,	,	PUNCT
app01-5092	85	18	respectively	respectively	ADV
app01-5092	85	19	.	.	PUNCT
app01-5092	86	1	other	other	ADJ
app01-5092	86	2	figures	figure	NOUN
app01-5092	86	3	could	could	AUX
app01-5092	86	4	be	be	AUX
app01-5092	86	5	depicted	depict	VERB
app01-5092	86	6	considering	consider	VERB
app01-5092	86	7	different	different	ADJ
app01-5092	86	8	geometrical	geometrical	ADJ
app01-5092	86	9	parameter	parameter	NOUN
app01-5092	86	10	(	(	PUNCT
app01-5092	86	11	e	e	NOUN
app01-5092	86	12	,	,	PUNCT
app01-5092	86	13	b	b	NOUN
app01-5092	86	14	,	,	PUNCT
app01-5092	86	15	h	h	NOUN
app01-5092	86	16	or	or	CCONJ
app01-5092	86	17	l	l	NOUN
app01-5092	86	18	)	)	PUNCT
app01-5092	86	19	values	value	NOUN
app01-5092	86	20	.	.	PUNCT
app01-5092	87	1	if	if	SCONJ
app01-5092	87	2	the	the	DET
app01-5092	87	3	value	value	NOUN
app01-5092	87	4	of	of	ADP
app01-5092	87	5	b	b	NOUN
app01-5092	87	6	or	or	CCONJ
app01-5092	87	7	l	l	NOUN
app01-5092	87	8	is	be	AUX
app01-5092	87	9	increased	increase	VERB
app01-5092	87	10	,	,	PUNCT
app01-5092	87	11	the	the	DET
app01-5092	87	12	attractive	attractive	ADJ
app01-5092	87	13	region	region	NOUN
app01-5092	87	14	grows	grow	VERB
app01-5092	87	15	as	as	ADV
app01-5092	87	16	well	well	ADV
app01-5092	87	17	.	.	PUNCT
app01-5092	88	1	in	in	ADP
app01-5092	88	2	case	case	NOUN
app01-5092	88	3	of	of	ADP
app01-5092	88	4	increasing	increase	VERB
app01-5092	88	5	e	e	PROPN
app01-5092	88	6	,	,	PUNCT
app01-5092	88	7	f	f	PROPN
app01-5092	88	8	or	or	CCONJ
app01-5092	88	9	h	h	NOUN
app01-5092	88	10	,	,	PUNCT
app01-5092	88	11	the	the	DET
app01-5092	88	12	repelling	repelling	NOUN
app01-5092	88	13	region	region	NOUN
app01-5092	88	14	grows	grow	VERB
app01-5092	88	15	.	.	PUNCT
app01-5092	89	1	due	due	ADP
app01-5092	89	2	to	to	ADP
app01-5092	89	3	the	the	DET
app01-5092	89	4	non	non	NOUN
app01-5092	89	5	-	-	NOUN
app01-5092	89	6	linearity	linearity	NOUN
app01-5092	89	7	of	of	ADP
app01-5092	89	8	the	the	DET
app01-5092	89	9	system	system	NOUN
app01-5092	89	10	,	,	PUNCT
app01-5092	89	11	there	there	PRON
app01-5092	89	12	exists	exist	VERB
app01-5092	89	13	such	such	ADJ
app01-5092	89	14	towing	tow	VERB
app01-5092	89	15	velocities	velocity	NOUN
app01-5092	89	16	in	in	ADP
app01-5092	89	17	case	case	NOUN
app01-5092	89	18	of	of	ADP
app01-5092	89	19	a	a	DET
app01-5092	89	20	certain	certain	ADJ
app01-5092	89	21	f	f	PROPN
app01-5092	89	22	value	value	NOUN
app01-5092	89	23	,	,	PUNCT
app01-5092	89	24	that	that	PRON
app01-5092	89	25	for	for	ADP
app01-5092	89	26	specific	specific	ADJ
app01-5092	89	27	initial	initial	ADJ
app01-5092	89	28	tilting	tilting	NOUN
app01-5092	89	29	angles	angle	NOUN
app01-5092	89	30	β0	β0	NOUN
app01-5092	89	31	can	can	AUX
app01-5092	89	32	lead	lead	VERB
app01-5092	89	33	to	to	ADP
app01-5092	89	34	straight	straight	ADJ
app01-5092	89	35	rolling	rolling	NOUN
app01-5092	89	36	,	,	PUNCT
app01-5092	89	37	while	while	SCONJ
app01-5092	89	38	a	a	DET
app01-5092	89	39	reduced	reduce	VERB
app01-5092	89	40	initial	initial	ADJ
app01-5092	89	41	angle	angle	NOUN
app01-5092	89	42	(	(	PUNCT
app01-5092	89	43	smaller	small	ADJ
app01-5092	89	44	perturbation	perturbation	NOUN
app01-5092	89	45	)	)	PUNCT
app01-5092	89	46	generates	generate	VERB
app01-5092	89	47	unstable	unstable	ADJ
app01-5092	89	48	behaviour	behaviour	NOUN
app01-5092	89	49	and	and	CCONJ
app01-5092	89	50	the	the	DET
app01-5092	89	51	suitcase	suitcase	NOUN
app01-5092	89	52	rolls	roll	VERB
app01-5092	89	53	over	over	ADP
app01-5092	89	54	,	,	PUNCT
app01-5092	89	55	see	see	VERB
app01-5092	89	56	the	the	DET
app01-5092	89	57	blue	blue	ADJ
app01-5092	89	58	loop	loop	NOUN
app01-5092	89	59	in	in	ADP
app01-5092	89	60	fig	fig	NOUN
app01-5092	89	61	.	.	PUNCT
app01-5092	90	1	4	4	X
app01-5092	90	2	.	.	X
app01-5092	90	3	such	such	ADJ
app01-5092	90	4	phenomenon	phenomenon	NOUN
app01-5092	90	5	can	can	AUX
app01-5092	90	6	be	be	AUX
app01-5092	90	7	caused	cause	VERB
app01-5092	90	8	by	by	ADP
app01-5092	90	9	the	the	DET
app01-5092	90	10	presence	presence	NOUN
app01-5092	90	11	of	of	ADP
app01-5092	90	12	unstable	unstable	ADJ
app01-5092	90	13	limit	limit	NOUN
app01-5092	90	14	cycles	cycle	NOUN
app01-5092	90	15	,	,	PUNCT
app01-5092	90	16	see	see	VERB
app01-5092	90	17	[	[	X
app01-5092	90	18	6	6	NUM
app01-5092	90	19	]	]	PUNCT
app01-5092	90	20	.	.	PUNCT
app01-5092	91	1	similar	similar	ADJ
app01-5092	91	2	behaviour	behaviour	NOUN
app01-5092	91	3	was	be	AUX
app01-5092	91	4	also	also	ADV
app01-5092	91	5	observed	observe	VERB
app01-5092	91	6	in	in	ADP
app01-5092	91	7	our	our	PRON
app01-5092	91	8	experiments	experiment	NOUN
app01-5092	91	9	.	.	PUNCT
app01-5092	92	1	5	5	X
app01-5092	92	2	.	.	NUM
app01-5092	92	3	measurements	measurement	NOUN
app01-5092	92	4	for	for	ADP
app01-5092	92	5	the	the	DET
app01-5092	92	6	measurements	measurement	NOUN
app01-5092	92	7	,	,	PUNCT
app01-5092	92	8	a	a	DET
app01-5092	92	9	model	model	NOUN
app01-5092	92	10	-	-	PUNCT
app01-5092	92	11	based	base	VERB
app01-5092	92	12	experimental	experimental	ADJ
app01-5092	92	13	setup	setup	NOUN
app01-5092	92	14	was	be	AUX
app01-5092	92	15	built	build	VERB
app01-5092	92	16	and	and	CCONJ
app01-5092	92	17	was	be	AUX
app01-5092	92	18	placed	place	VERB
app01-5092	92	19	on	on	ADP
app01-5092	92	20	a	a	DET
app01-5092	92	21	treadmill	treadmill	NOUN
app01-5092	92	22	while	while	SCONJ
app01-5092	92	23	the	the	DET
app01-5092	92	24	towing	towing	NOUN
app01-5092	92	25	point	point	NOUN
app01-5092	92	26	a	a	PRON
app01-5092	92	27	was	be	AUX
app01-5092	92	28	fixed	fix	VERB
app01-5092	92	29	with	with	ADP
app01-5092	92	30	a	a	DET
app01-5092	92	31	ball	ball	NOUN
app01-5092	92	32	-	-	PUNCT
app01-5092	92	33	joint	joint	NOUN
app01-5092	92	34	.	.	PUNCT
app01-5092	93	1	the	the	DET
app01-5092	93	2	velocity	velocity	NOUN
app01-5092	93	3	of	of	ADP
app01-5092	93	4	the	the	DET
app01-5092	93	5	treadmill	treadmill	NOUN
app01-5092	93	6	can	can	AUX
app01-5092	93	7	be	be	AUX
app01-5092	93	8	varied	varied	ADJ
app01-5092	93	9	between	between	ADP
app01-5092	93	10	0.5	0.5	NUM
app01-5092	93	11	km	km	NOUN
app01-5092	93	12	/	/	SYM
app01-5092	93	13	h	h	NOUN
app01-5092	93	14	and	and	CCONJ
app01-5092	93	15	18	18	NUM
app01-5092	93	16	km	km	PROPN
app01-5092	93	17	/	/	SYM
app01-5092	93	18	h.	h.	NOUN
app01-5092	94	1	the	the	DET
app01-5092	94	2	measurement	measurement	NOUN
app01-5092	94	3	setup	setup	NOUN
app01-5092	94	4	can	can	AUX
app01-5092	94	5	be	be	AUX
app01-5092	94	6	seen	see	VERB
app01-5092	94	7	in	in	ADP
app01-5092	94	8	fig	fig	NOUN
app01-5092	94	9	.	.	PUNCT
app01-5092	95	1	5	5	X
app01-5092	95	2	.	.	X
app01-5092	95	3	figure	figure	NOUN
app01-5092	95	4	5	5	NUM
app01-5092	95	5	.	.	PUNCT
app01-5092	96	1	the	the	DET
app01-5092	96	2	measurement	measurement	NOUN
app01-5092	96	3	setup	setup	NOUN
app01-5092	96	4	.	.	PUNCT
app01-5092	97	1	the	the	DET
app01-5092	97	2	parameter	parameter	NOUN
app01-5092	97	3	values	value	NOUN
app01-5092	97	4	:	:	PUNCT
app01-5092	98	1	l	l	NOUN
app01-5092	98	2	=	=	PUNCT
app01-5092	98	3	0.58	0.58	NUM
app01-5092	98	4	m	m	PROPN
app01-5092	98	5	,	,	PUNCT
app01-5092	98	6	b	b	X
app01-5092	98	7	=	=	SYM
app01-5092	98	8	0.16	0.16	NUM
app01-5092	98	9	m	m	NOUN
app01-5092	98	10	,	,	PUNCT
app01-5092	98	11	m	m	VERB
app01-5092	98	12	=	=	NUM
app01-5092	98	13	5	5	NUM
app01-5092	98	14	kg	kg	NOUN
app01-5092	98	15	.	.	PUNCT
app01-5092	99	1	parameters	parameter	NOUN
app01-5092	99	2	h	h	VERB
app01-5092	99	3	,	,	PUNCT
app01-5092	99	4	e	e	PROPN
app01-5092	99	5	and	and	CCONJ
app01-5092	99	6	f	f	PROPN
app01-5092	99	7	and	and	CCONJ
app01-5092	99	8	the	the	DET
app01-5092	99	9	velocity	velocity	NOUN
app01-5092	99	10	v	v	NOUN
app01-5092	99	11	can	can	AUX
app01-5092	99	12	be	be	AUX
app01-5092	99	13	varied	varied	ADJ
app01-5092	99	14	.	.	PUNCT
app01-5092	100	1	measurements	measurement	NOUN
app01-5092	100	2	showed	show	VERB
app01-5092	100	3	that	that	SCONJ
app01-5092	100	4	parameters	parameter	NOUN
app01-5092	100	5	e	e	NOUN
app01-5092	100	6	and	and	CCONJ
app01-5092	100	7	f	f	PROPN
app01-5092	100	8	play	play	VERB
app01-5092	100	9	a	a	DET
app01-5092	100	10	huge	huge	ADJ
app01-5092	100	11	role	role	NOUN
app01-5092	100	12	in	in	ADP
app01-5092	100	13	the	the	DET
app01-5092	100	14	stability	stability	NOUN
app01-5092	100	15	of	of	ADP
app01-5092	100	16	two	two	NUM
app01-5092	100	17	-	-	PUNCT
app01-5092	100	18	wheeled	wheel	VERB
app01-5092	100	19	suitcases	suitcase	NOUN
app01-5092	100	20	.	.	PUNCT
app01-5092	101	1	two	two	NUM
app01-5092	101	2	types	type	NOUN
app01-5092	101	3	of	of	ADP
app01-5092	101	4	measurements	measurement	NOUN
app01-5092	101	5	were	be	AUX
app01-5092	101	6	carried	carry	VERB
app01-5092	101	7	out	out	ADP
app01-5092	101	8	in	in	ADP
app01-5092	101	9	order	order	NOUN
app01-5092	101	10	to	to	PART
app01-5092	101	11	validate	validate	VERB
app01-5092	101	12	the	the	DET
app01-5092	101	13	results	result	NOUN
app01-5092	101	14	of	of	ADP
app01-5092	101	15	the	the	DET
app01-5092	101	16	numerical	numerical	ADJ
app01-5092	101	17	simulations	simulation	NOUN
app01-5092	101	18	.	.	PUNCT
app01-5092	102	1	during	during	ADP
app01-5092	102	2	the	the	DET
app01-5092	102	3	„	„	PUNCT
app01-5092	102	4	classical	classical	ADJ
app01-5092	102	5	”	"	PUNCT
app01-5092	102	6	measurement	measurement	NOUN
app01-5092	102	7	,	,	PUNCT
app01-5092	102	8	the	the	DET
app01-5092	102	9	towed	tow	VERB
app01-5092	102	10	structure	structure	NOUN
app01-5092	102	11	was	be	AUX
app01-5092	102	12	perturbed	perturb	VERB
app01-5092	102	13	,	,	PUNCT
app01-5092	102	14	namely	namely	ADV
app01-5092	102	15	an	an	DET
app01-5092	102	16	obstacle	obstacle	NOUN
app01-5092	102	17	was	be	AUX
app01-5092	102	18	placed	place	VERB
app01-5092	102	19	onto	onto	ADP
app01-5092	102	20	the	the	DET
app01-5092	102	21	treadmill	treadmill	NOUN
app01-5092	102	22	at	at	ADP
app01-5092	102	23	one	one	NUM
app01-5092	102	24	of	of	ADP
app01-5092	102	25	the	the	DET
app01-5092	102	26	wheels	wheel	NOUN
app01-5092	102	27	.	.	PUNCT
app01-5092	103	1	the	the	DET
app01-5092	103	2	stability	stability	NOUN
app01-5092	103	3	of	of	ADP
app01-5092	103	4	the	the	DET
app01-5092	103	5	system	system	NOUN
app01-5092	103	6	could	could	AUX
app01-5092	103	7	only	only	ADV
app01-5092	103	8	be	be	AUX
app01-5092	103	9	determined	determine	VERB
app01-5092	103	10	on	on	ADP
app01-5092	103	11	statistical	statistical	ADJ
app01-5092	103	12	basis	basis	NOUN
app01-5092	103	13	(	(	PUNCT
app01-5092	103	14	out	out	ADP
app01-5092	103	15	of	of	ADP
app01-5092	103	16	ten	ten	NUM
app01-5092	103	17	measurements	measurement	NOUN
app01-5092	103	18	,	,	PUNCT
app01-5092	103	19	how	how	SCONJ
app01-5092	103	20	many	many	ADJ
app01-5092	103	21	where	where	SCONJ
app01-5092	103	22	stable	stable	ADJ
app01-5092	103	23	and	and	CCONJ
app01-5092	103	24	how	how	SCONJ
app01-5092	103	25	many	many	ADJ
app01-5092	103	26	were	be	AUX
app01-5092	103	27	unstable	unstable	ADJ
app01-5092	103	28	)	)	PUNCT
app01-5092	103	29	,	,	PUNCT
app01-5092	103	30	since	since	SCONJ
app01-5092	103	31	the	the	DET
app01-5092	103	32	identical	identical	ADJ
app01-5092	103	33	perturbation	perturbation	NOUN
app01-5092	103	34	could	could	AUX
app01-5092	103	35	not	not	PART
app01-5092	103	36	be	be	AUX
app01-5092	103	37	guaranteed	guarantee	VERB
app01-5092	103	38	during	during	ADP
app01-5092	103	39	the	the	DET
app01-5092	103	40	measurement	measurement	NOUN
app01-5092	103	41	.	.	PUNCT
app01-5092	104	1	based	base	VERB
app01-5092	104	2	on	on	ADP
app01-5092	104	3	these	these	DET
app01-5092	104	4	measurements	measurement	NOUN
app01-5092	104	5	,	,	PUNCT
app01-5092	104	6	we	we	PRON
app01-5092	104	7	could	could	AUX
app01-5092	104	8	conclude	conclude	VERB
app01-5092	104	9	that	that	SCONJ
app01-5092	104	10	parameters	parameter	NOUN
app01-5092	104	11	e	e	PROPN
app01-5092	104	12	and	and	CCONJ
app01-5092	104	13	f	f	PROPN
app01-5092	104	14	play	play	VERB
app01-5092	104	15	a	a	DET
app01-5092	104	16	huge	huge	ADJ
app01-5092	104	17	role	role	NOUN
app01-5092	104	18	in	in	ADP
app01-5092	104	19	the	the	DET
app01-5092	104	20	stability	stability	NOUN
app01-5092	104	21	of	of	ADP
app01-5092	104	22	two	two	NUM
app01-5092	104	23	-	-	PUNCT
app01-5092	104	24	wheeled	wheel	VERB
app01-5092	104	25	suitcases	suitcase	NOUN
app01-5092	104	26	.	.	PUNCT
app01-5092	105	1	the	the	DET
app01-5092	105	2	domain	domain	NOUN
app01-5092	105	3	of	of	ADP
app01-5092	105	4	attraction	attraction	NOUN
app01-5092	105	5	of	of	ADP
app01-5092	105	6	the	the	DET
app01-5092	105	7	rectilinear	rectilinear	ADJ
app01-5092	105	8	motion	motion	NOUN
app01-5092	105	9	is	be	AUX
app01-5092	105	10	large	large	ADJ
app01-5092	105	11	even	even	ADV
app01-5092	105	12	in	in	ADP
app01-5092	105	13	case	case	NOUN
app01-5092	105	14	of	of	ADP
app01-5092	105	15	large	large	ADJ
app01-5092	105	16	velocities	velocity	NOUN
app01-5092	105	17	when	when	SCONJ
app01-5092	105	18	the	the	DET
app01-5092	105	19	values	value	NOUN
app01-5092	105	20	of	of	ADP
app01-5092	105	21	parameters	parameter	NOUN
app01-5092	105	22	e	e	NOUN
app01-5092	105	23	and	and	CCONJ
app01-5092	105	24	f	f	PROPN
app01-5092	105	25	are	be	AUX
app01-5092	105	26	small	small	ADJ
app01-5092	105	27	.	.	PUNCT
app01-5092	106	1	measurements	measurement	NOUN
app01-5092	106	2	with	with	ADP
app01-5092	106	3	optitrack	optitrack	NOUN
app01-5092	106	4	motion	motion	NOUN
app01-5092	106	5	capture	capture	NOUN
app01-5092	106	6	system	system	NOUN
app01-5092	106	7	were	be	AUX
app01-5092	106	8	also	also	ADV
app01-5092	106	9	carried	carry	VERB
app01-5092	106	10	out	out	ADP
app01-5092	106	11	.	.	PUNCT
app01-5092	107	1	four	four	NUM
app01-5092	107	2	markers	marker	NOUN
app01-5092	107	3	were	be	AUX
app01-5092	107	4	placed	place	VERB
app01-5092	107	5	on	on	ADP
app01-5092	107	6	the	the	DET
app01-5092	107	7	suitcase	suitcase	NOUN
app01-5092	107	8	(	(	PUNCT
app01-5092	107	9	at	at	ADP
app01-5092	107	10	the	the	DET
app01-5092	107	11	towing	towing	NOUN
app01-5092	107	12	point	point	NOUN
app01-5092	107	13	a	a	PRON
app01-5092	107	14	,	,	PUNCT
app01-5092	107	15	at	at	ADP
app01-5092	107	16	the	the	DET
app01-5092	107	17	center	center	NOUN
app01-5092	107	18	of	of	ADP
app01-5092	107	19	mass	mass	PROPN
app01-5092	107	20	c	c	PROPN
app01-5092	107	21	and	and	CCONJ
app01-5092	107	22	at	at	ADP
app01-5092	107	23	the	the	DET
app01-5092	107	24	left	left	ADJ
app01-5092	107	25	(	(	PUNCT
app01-5092	107	26	l	l	NOUN
app01-5092	107	27	)	)	PUNCT
app01-5092	107	28	and	and	CCONJ
app01-5092	107	29	the	the	DET
app01-5092	107	30	right	right	ADJ
app01-5092	107	31	(	(	PUNCT
app01-5092	107	32	r	r	NOUN
app01-5092	107	33	)	)	PUNCT
app01-5092	107	34	wheels	wheel	NOUN
app01-5092	107	35	)	)	PUNCT
app01-5092	107	36	.	.	PUNCT
app01-5092	108	1	an	an	DET
app01-5092	108	2	obstacle	obstacle	NOUN
app01-5092	108	3	was	be	AUX
app01-5092	108	4	placed	place	VERB
app01-5092	108	5	before	before	ADP
app01-5092	108	6	the	the	DET
app01-5092	108	7	left	left	ADJ
app01-5092	108	8	wheel	wheel	NOUN
app01-5092	108	9	.	.	PUNCT
app01-5092	109	1	four	four	NUM
app01-5092	109	2	cameras	camera	NOUN
app01-5092	109	3	recorded	record	VERB
app01-5092	109	4	the	the	DET
app01-5092	109	5	positions	position	NOUN
app01-5092	109	6	of	of	ADP
app01-5092	109	7	the	the	DET
app01-5092	109	8	markers	marker	NOUN
app01-5092	109	9	with	with	ADP
app01-5092	109	10	respect	respect	NOUN
app01-5092	109	11	to	to	ADP
app01-5092	109	12	time	time	NOUN
app01-5092	109	13	and	and	CCONJ
app01-5092	109	14	as	as	ADP
app01-5092	109	15	a	a	DET
app01-5092	109	16	result	result	NOUN
app01-5092	109	17	,	,	PUNCT
app01-5092	109	18	the	the	DET
app01-5092	109	19	spatial	spatial	ADJ
app01-5092	109	20	motion	motion	NOUN
app01-5092	109	21	of	of	ADP
app01-5092	109	22	the	the	DET
app01-5092	109	23	suitcase	suitcase	NOUN
app01-5092	109	24	was	be	AUX
app01-5092	109	25	captured	capture	VERB
app01-5092	109	26	.	.	PUNCT
app01-5092	110	1	since	since	SCONJ
app01-5092	110	2	this	this	DET
app01-5092	110	3	kind	kind	NOUN
app01-5092	110	4	of	of	ADP
app01-5092	110	5	measurement	measurement	NOUN
app01-5092	110	6	provides	provide	VERB
app01-5092	110	7	us	we	PRON
app01-5092	110	8	information	information	NOUN
app01-5092	110	9	about	about	ADP
app01-5092	110	10	the	the	DET
app01-5092	110	11	63	63	NUM
app01-5092	110	12	hanna	hanna	PROPN
app01-5092	110	13	zs	zs	PROPN
app01-5092	110	14	.	.	PROPN
app01-5092	110	15	horvath	horvath	PROPN
app01-5092	110	16	,	,	PUNCT
app01-5092	110	17	denes	dene	VERB
app01-5092	110	18	takacs	takacs	PROPN
app01-5092	110	19	acta	acta	PROPN
app01-5092	110	20	polytechnica	polytechnica	PROPN
app01-5092	110	21	ctu	ctu	PROPN
app01-5092	110	22	proceedings	proceeding	NOUN
app01-5092	110	23	markers	marker	NOUN
app01-5092	110	24	’	'	PUNCT
app01-5092	110	25	positions	position	NOUN
app01-5092	110	26	,	,	PUNCT
app01-5092	110	27	velocities	velocity	NOUN
app01-5092	110	28	and	and	CCONJ
app01-5092	110	29	accelerations	acceleration	NOUN
app01-5092	110	30	can	can	AUX
app01-5092	110	31	be	be	AUX
app01-5092	110	32	computed	compute	VERB
app01-5092	110	33	.	.	PUNCT
app01-5092	111	1	as	as	ADP
app01-5092	111	2	a	a	DET
app01-5092	111	3	result	result	NOUN
app01-5092	111	4	,	,	PUNCT
app01-5092	111	5	important	important	ADJ
app01-5092	111	6	information	information	NOUN
app01-5092	111	7	can	can	AUX
app01-5092	111	8	be	be	AUX
app01-5092	111	9	gained	gain	VERB
app01-5092	111	10	about	about	ADP
app01-5092	111	11	the	the	DET
app01-5092	111	12	level	level	NOUN
app01-5092	111	13	of	of	ADP
app01-5092	111	14	perturbations	perturbation	NOUN
app01-5092	111	15	with	with	ADP
app01-5092	111	16	the	the	DET
app01-5092	111	17	evaluation	evaluation	NOUN
app01-5092	111	18	of	of	ADP
app01-5092	111	19	these	these	DET
app01-5092	111	20	measurements	measurement	NOUN
app01-5092	111	21	.	.	PUNCT
app01-5092	112	1	therefore	therefore	ADV
app01-5092	112	2	,	,	PUNCT
app01-5092	112	3	a	a	DET
app01-5092	112	4	more	more	ADV
app01-5092	112	5	sophisticated	sophisticated	ADJ
app01-5092	112	6	identification	identification	NOUN
app01-5092	112	7	of	of	ADP
app01-5092	112	8	the	the	DET
app01-5092	112	9	basis	basis	NOUN
app01-5092	112	10	of	of	ADP
app01-5092	112	11	attraction	attraction	NOUN
app01-5092	112	12	can	can	AUX
app01-5092	112	13	be	be	AUX
app01-5092	112	14	carried	carry	VERB
app01-5092	112	15	out	out	ADP
app01-5092	112	16	.	.	PUNCT
app01-5092	113	1	snapshots	snapshot	NOUN
app01-5092	113	2	about	about	ADP
app01-5092	113	3	the	the	DET
app01-5092	113	4	measurements	measurement	NOUN
app01-5092	113	5	is	be	AUX
app01-5092	113	6	shown	show	VERB
app01-5092	113	7	in	in	ADP
app01-5092	113	8	fig	fig	NOUN
app01-5092	113	9	.	.	PUNCT
app01-5092	114	1	6	6	NUM
app01-5092	114	2	,	,	PUNCT
app01-5092	114	3	where	where	SCONJ
app01-5092	114	4	the	the	DET
app01-5092	114	5	rocking	rock	VERB
app01-5092	114	6	motion	motion	NOUN
app01-5092	114	7	can	can	AUX
app01-5092	114	8	be	be	AUX
app01-5092	114	9	also	also	ADV
app01-5092	114	10	observed	observe	VERB
app01-5092	114	11	.	.	PUNCT
app01-5092	115	1	the	the	DET
app01-5092	115	2	suitcase	suitcase	NOUN
app01-5092	115	3	was	be	AUX
app01-5092	115	4	perturbed	perturb	VERB
app01-5092	115	5	by	by	ADP
app01-5092	115	6	an	an	DET
app01-5092	115	7	obstacle	obstacle	NOUN
app01-5092	115	8	before	before	ADP
app01-5092	115	9	its	its	PRON
app01-5092	115	10	left	left	ADJ
app01-5092	115	11	wheel	wheel	NOUN
app01-5092	115	12	,	,	PUNCT
app01-5092	115	13	as	as	ADP
app01-5092	115	14	a	a	DET
app01-5092	115	15	result	result	NOUN
app01-5092	115	16	,	,	PUNCT
app01-5092	115	17	its	its	PRON
app01-5092	115	18	left	left	ADJ
app01-5092	115	19	wheel	wheel	NOUN
app01-5092	115	20	leaves	leave	VERB
app01-5092	115	21	the	the	DET
app01-5092	115	22	ground	ground	NOUN
app01-5092	115	23	(	(	PUNCT
app01-5092	115	24	1	1	NUM
app01-5092	115	25	)	)	PUNCT
app01-5092	115	26	.	.	PUNCT
app01-5092	116	1	the	the	DET
app01-5092	116	2	suitcase	suitcase	NOUN
app01-5092	116	3	rocks	rock	NOUN
app01-5092	116	4	from	from	ADP
app01-5092	116	5	its	its	PRON
app01-5092	116	6	left	left	ADJ
app01-5092	116	7	wheel	wheel	NOUN
app01-5092	116	8	(	(	PUNCT
app01-5092	116	9	2	2	NUM
app01-5092	116	10	)	)	PUNCT
app01-5092	116	11	to	to	ADP
app01-5092	116	12	its	its	PRON
app01-5092	116	13	right	right	ADJ
app01-5092	116	14	wheel	wheel	NOUN
app01-5092	116	15	(	(	PUNCT
app01-5092	116	16	3	3	NUM
app01-5092	116	17	)	)	PUNCT
app01-5092	116	18	.	.	PUNCT
app01-5092	117	1	there	there	PRON
app01-5092	117	2	are	be	VERB
app01-5092	117	3	time	time	NOUN
app01-5092	117	4	instances	instance	NOUN
app01-5092	117	5	when	when	SCONJ
app01-5092	117	6	none	none	NOUN
app01-5092	117	7	of	of	ADP
app01-5092	117	8	the	the	DET
app01-5092	117	9	wheels	wheel	NOUN
app01-5092	117	10	touches	touch	VERB
app01-5092	117	11	the	the	DET
app01-5092	117	12	ground	ground	NOUN
app01-5092	117	13	(	(	PUNCT
app01-5092	117	14	4	4	NUM
app01-5092	117	15	)	)	PUNCT
app01-5092	117	16	.	.	PUNCT
app01-5092	118	1	after	after	ADP
app01-5092	118	2	this	this	DET
app01-5092	118	3	"	"	PUNCT
app01-5092	118	4	flying	fly	VERB
app01-5092	118	5	"	"	PUNCT
app01-5092	118	6	motion	motion	NOUN
app01-5092	118	7	,	,	PUNCT
app01-5092	118	8	the	the	DET
app01-5092	118	9	body	body	NOUN
app01-5092	118	10	has	have	VERB
app01-5092	118	11	an	an	DET
app01-5092	118	12	impact	impact	NOUN
app01-5092	118	13	with	with	ADP
app01-5092	118	14	the	the	DET
app01-5092	118	15	ground	ground	NOUN
app01-5092	118	16	(	(	PUNCT
app01-5092	118	17	5	5	NUM
app01-5092	118	18	)	)	PUNCT
app01-5092	118	19	,	,	PUNCT
app01-5092	118	20	then	then	ADV
app01-5092	118	21	it	it	PRON
app01-5092	118	22	overturns	overturn	VERB
app01-5092	118	23	(	(	PUNCT
app01-5092	118	24	6	6	NUM
app01-5092	118	25	)	)	PUNCT
app01-5092	118	26	.	.	PUNCT
app01-5092	119	1	figure	figure	VERB
app01-5092	119	2	6	6	NUM
app01-5092	119	3	.	.	PUNCT
app01-5092	120	1	snapshots	snapshot	NOUN
app01-5092	120	2	about	about	ADP
app01-5092	120	3	the	the	DET
app01-5092	120	4	measurement	measurement	NOUN
app01-5092	120	5	on	on	ADP
app01-5092	120	6	the	the	DET
app01-5092	120	7	treadmill	treadmill	NOUN
app01-5092	120	8	.	.	PUNCT
app01-5092	121	1	the	the	DET
app01-5092	121	2	suitcase	suitcase	NOUN
app01-5092	121	3	starts	start	VERB
app01-5092	121	4	to	to	ADP
app01-5092	121	5	rock	rock	NOUN
app01-5092	121	6	and	and	CCONJ
app01-5092	121	7	at	at	ADP
app01-5092	121	8	the	the	DET
app01-5092	121	9	end	end	NOUN
app01-5092	121	10	,	,	PUNCT
app01-5092	121	11	it	it	PRON
app01-5092	121	12	overturns	overturn	VERB
app01-5092	121	13	.	.	PUNCT
app01-5092	122	1	a	a	DET
app01-5092	122	2	stable	stable	ADJ
app01-5092	122	3	motion	motion	NOUN
app01-5092	122	4	is	be	AUX
app01-5092	122	5	illustrated	illustrate	VERB
app01-5092	122	6	in	in	ADP
app01-5092	122	7	fig	fig	NOUN
app01-5092	122	8	.	.	PUNCT
app01-5092	123	1	7	7	NUM
app01-5092	123	2	,	,	PUNCT
app01-5092	123	3	where	where	SCONJ
app01-5092	123	4	the	the	DET
app01-5092	123	5	position	position	NOUN
app01-5092	123	6	of	of	ADP
app01-5092	123	7	the	the	DET
app01-5092	123	8	markers	marker	NOUN
app01-5092	123	9	are	be	AUX
app01-5092	123	10	plotted	plot	VERB
app01-5092	123	11	for	for	ADP
app01-5092	123	12	the	the	DET
app01-5092	123	13	measured	measure	VERB
app01-5092	123	14	time	time	NOUN
app01-5092	123	15	interval	interval	NOUN
app01-5092	123	16	.	.	PUNCT
app01-5092	124	1	it	it	PRON
app01-5092	124	2	can	can	AUX
app01-5092	124	3	be	be	AUX
app01-5092	124	4	seen	see	VERB
app01-5092	124	5	that	that	SCONJ
app01-5092	124	6	the	the	DET
app01-5092	124	7	suitcase	suitcase	NOUN
app01-5092	124	8	was	be	AUX
app01-5092	124	9	perturbed	perturb	VERB
app01-5092	124	10	at	at	ADP
app01-5092	124	11	the	the	DET
app01-5092	124	12	left	left	ADJ
app01-5092	124	13	wheel	wheel	NOUN
app01-5092	124	14	,	,	PUNCT
app01-5092	124	15	therefore	therefore	ADV
app01-5092	124	16	it	it	PRON
app01-5092	124	17	jumped	jump	VERB
app01-5092	124	18	from	from	ADP
app01-5092	124	19	the	the	DET
app01-5092	124	20	ground	ground	NOUN
app01-5092	124	21	and	and	CCONJ
app01-5092	124	22	after	after	ADP
app01-5092	124	23	falling	fall	VERB
app01-5092	124	24	back	back	ADV
app01-5092	124	25	it	it	PRON
app01-5092	124	26	had	have	VERB
app01-5092	124	27	several	several	ADJ
app01-5092	124	28	impacts	impact	NOUN
app01-5092	124	29	with	with	ADP
app01-5092	124	30	the	the	DET
app01-5092	124	31	ground	ground	NOUN
app01-5092	124	32	.	.	PUNCT
app01-5092	125	1	the	the	DET
app01-5092	125	2	maximum	maximum	NOUN
app01-5092	125	3	of	of	ADP
app01-5092	125	4	the	the	DET
app01-5092	125	5	left	left	ADJ
app01-5092	125	6	wheel	wheel	PROPN
app01-5092	125	7	’s	’s	PART
app01-5092	125	8	vertical	vertical	ADJ
app01-5092	125	9	position	position	NOUN
app01-5092	125	10	was	be	AUX
app01-5092	125	11	about	about	ADV
app01-5092	125	12	12	12	NUM
app01-5092	125	13	mm	mm	NOUN
app01-5092	125	14	,	,	PUNCT
app01-5092	125	15	while	while	SCONJ
app01-5092	125	16	this	this	DET
app01-5092	125	17	value	value	NOUN
app01-5092	125	18	was	be	AUX
app01-5092	125	19	8	8	NUM
app01-5092	125	20	mm	mm	NOUN
app01-5092	125	21	for	for	ADP
app01-5092	125	22	the	the	DET
app01-5092	125	23	right	right	ADJ
app01-5092	125	24	wheel	wheel	NOUN
app01-5092	125	25	.	.	PUNCT
app01-5092	126	1	as	as	SCONJ
app01-5092	126	2	it	it	PRON
app01-5092	126	3	was	be	AUX
app01-5092	126	4	formally	formally	ADV
app01-5092	126	5	mentioned	mention	VERB
app01-5092	126	6	in	in	ADP
app01-5092	126	7	sec	sec	PROPN
app01-5092	126	8	.	.	PROPN
app01-5092	126	9	3	3	NUM
app01-5092	126	10	,	,	PUNCT
app01-5092	126	11	the	the	DET
app01-5092	126	12	negative	negative	ADJ
app01-5092	126	13	values	value	NOUN
app01-5092	126	14	of	of	ADP
app01-5092	126	15	the	the	DET
app01-5092	126	16	vertical	vertical	ADJ
app01-5092	126	17	positions	position	NOUN
app01-5092	126	18	of	of	ADP
app01-5092	126	19	the	the	DET
app01-5092	126	20	wheels	wheel	NOUN
app01-5092	126	21	refer	refer	VERB
app01-5092	126	22	to	to	ADP
app01-5092	126	23	the	the	DET
app01-5092	126	24	elastic	elastic	ADJ
app01-5092	126	25	deformations	deformation	NOUN
app01-5092	126	26	of	of	ADP
app01-5092	126	27	the	the	DET
app01-5092	126	28	wheels	wheel	NOUN
app01-5092	126	29	.	.	PUNCT
app01-5092	127	1	after	after	ADP
app01-5092	127	2	some	some	DET
app01-5092	127	3	impacts	impact	NOUN
app01-5092	127	4	,	,	PUNCT
app01-5092	127	5	the	the	DET
app01-5092	127	6	rocking	rock	VERB
app01-5092	127	7	motion	motion	NOUN
app01-5092	127	8	of	of	ADP
app01-5092	127	9	the	the	DET
app01-5092	127	10	body	body	NOUN
app01-5092	127	11	dies	die	VERB
app01-5092	127	12	away	away	ADV
app01-5092	127	13	,	,	PUNCT
app01-5092	127	14	the	the	DET
app01-5092	127	15	system	system	NOUN
app01-5092	127	16	stabilizes	stabilize	VERB
app01-5092	127	17	.	.	PUNCT
app01-5092	128	1	an	an	DET
app01-5092	128	2	unstable	unstable	ADJ
app01-5092	128	3	motion	motion	NOUN
app01-5092	128	4	is	be	AUX
app01-5092	128	5	depicted	depict	VERB
app01-5092	128	6	in	in	ADP
app01-5092	128	7	fig	fig	NOUN
app01-5092	128	8	.	.	PUNCT
app01-5092	129	1	8	8	NUM
app01-5092	129	2	.	.	PUNCT
app01-5092	130	1	the	the	DET
app01-5092	130	2	suitcase	suitcase	NOUN
app01-5092	130	3	rocks	rock	NOUN
app01-5092	130	4	from	from	ADP
app01-5092	130	5	one	one	NUM
app01-5092	130	6	wheel	wheel	NOUN
app01-5092	130	7	to	to	ADP
app01-5092	130	8	the	the	DET
app01-5092	130	9	other	other	ADJ
app01-5092	130	10	and	and	CCONJ
app01-5092	130	11	the	the	DET
app01-5092	130	12	amplitudes	amplitude	NOUN
app01-5092	130	13	grow	grow	VERB
app01-5092	130	14	with	with	ADP
app01-5092	130	15	respect	respect	NOUN
app01-5092	130	16	to	to	ADP
app01-5092	130	17	time	time	NOUN
app01-5092	130	18	.	.	PUNCT
app01-5092	131	1	as	as	ADP
app01-5092	131	2	a	a	DET
app01-5092	131	3	result	result	NOUN
app01-5092	131	4	,	,	PUNCT
app01-5092	131	5	the	the	DET
app01-5092	131	6	suitcase	suitcase	NOUN
app01-5092	131	7	overturns	overturn	VERB
app01-5092	131	8	.	.	PUNCT
app01-5092	132	1	6	6	NUM
app01-5092	132	2	.	.	X
app01-5092	132	3	comparison	comparison	NOUN
app01-5092	132	4	the	the	DET
app01-5092	132	5	validation	validation	NOUN
app01-5092	132	6	of	of	ADP
app01-5092	132	7	the	the	DET
app01-5092	132	8	model	model	NOUN
app01-5092	132	9	can	can	AUX
app01-5092	132	10	be	be	AUX
app01-5092	132	11	done	do	VERB
app01-5092	132	12	by	by	ADP
app01-5092	132	13	comparing	compare	VERB
app01-5092	132	14	the	the	DET
app01-5092	132	15	simulation	simulation	NOUN
app01-5092	132	16	results	result	NOUN
app01-5092	132	17	to	to	ADP
app01-5092	132	18	the	the	DET
app01-5092	132	19	measurement	measurement	NOUN
app01-5092	132	20	ones	one	NOUN
app01-5092	132	21	.	.	PUNCT
app01-5092	133	1	here	here	ADV
app01-5092	133	2	,	,	PUNCT
app01-5092	133	3	we	we	PRON
app01-5092	133	4	only	only	ADV
app01-5092	133	5	give	give	VERB
app01-5092	133	6	a	a	DET
app01-5092	133	7	comparison	comparison	NOUN
app01-5092	133	8	for	for	ADP
app01-5092	133	9	a	a	DET
app01-5092	133	10	specific	specific	ADJ
app01-5092	133	11	parameter	parameter	NOUN
app01-5092	133	12	setup	setup	NOUN
app01-5092	133	13	of	of	ADP
app01-5092	133	14	the	the	DET
app01-5092	133	15	suitcase	suitcase	NOUN
app01-5092	133	16	,	,	PUNCT
app01-5092	133	17	see	see	VERB
app01-5092	133	18	fig	fig	NOUN
app01-5092	133	19	.	.	PUNCT
app01-5092	134	1	9	9	X
app01-5092	134	2	.	.	X
app01-5092	134	3	the	the	DET
app01-5092	134	4	parameter	parameter	NOUN
app01-5092	134	5	values	value	NOUN
app01-5092	134	6	of	of	ADP
app01-5092	134	7	the	the	DET
app01-5092	134	8	experiment	experiment	NOUN
app01-5092	134	9	were	be	AUX
app01-5092	134	10	:	:	PUNCT
app01-5092	134	11	l	l	X
app01-5092	134	12	=	=	PUNCT
app01-5092	134	13	0.58	0.58	NUM
app01-5092	134	14	m	m	PROPN
app01-5092	134	15	,	,	PUNCT
app01-5092	134	16	b	b	X
app01-5092	134	17	=	=	SYM
app01-5092	134	18	0.16	0.16	NUM
app01-5092	134	19	m	m	NOUN
app01-5092	134	20	,	,	PUNCT
app01-5092	134	21	e	e	X
app01-5092	134	22	=	=	NOUN
app01-5092	134	23	0.135	0.135	NUM
app01-5092	134	24	m	m	PROPN
app01-5092	134	25	,	,	PUNCT
app01-5092	134	26	f	f	PROPN
app01-5092	134	27	=	=	PROPN
app01-5092	135	1	0.06	0.06	NUM
app01-5092	135	2	m	m	PROPN
app01-5092	135	3	,	,	PUNCT
app01-5092	135	4	m	m	VERB
app01-5092	135	5	=	=	NUM
app01-5092	135	6	7.2	7.2	NUM
app01-5092	135	7	kg	kg	NOUN
app01-5092	135	8	,	,	PUNCT
app01-5092	135	9	h	h	NOUN
app01-5092	135	10	=	=	SYM
app01-5092	135	11	0.553	0.553	NUM
app01-5092	135	12	m.	m.	NOUN
app01-5092	135	13	figure	figure	NOUN
app01-5092	135	14	7	7	NUM
app01-5092	135	15	.	.	NOUN
app01-5092	135	16	example	example	NOUN
app01-5092	135	17	from	from	ADP
app01-5092	135	18	an	an	DET
app01-5092	135	19	optitrack	optitrack	NOUN
app01-5092	135	20	measurement	measurement	NOUN
app01-5092	135	21	,	,	PUNCT
app01-5092	135	22	stable	stable	ADJ
app01-5092	135	23	motion	motion	NOUN
app01-5092	135	24	.	.	PUNCT
app01-5092	136	1	the	the	DET
app01-5092	136	2	paths	path	NOUN
app01-5092	136	3	of	of	ADP
app01-5092	136	4	the	the	DET
app01-5092	136	5	markers	marker	NOUN
app01-5092	136	6	can	can	AUX
app01-5092	136	7	be	be	AUX
app01-5092	136	8	seen	see	VERB
app01-5092	136	9	on	on	ADP
app01-5092	136	10	the	the	DET
app01-5092	136	11	left	left	ADJ
app01-5092	136	12	figure	figure	NOUN
app01-5092	136	13	.	.	PUNCT
app01-5092	137	1	zl	zl	PROPN
app01-5092	137	2	and	and	CCONJ
app01-5092	137	3	zr	zr	PROPN
app01-5092	137	4	denote	denote	VERB
app01-5092	137	5	the	the	DET
app01-5092	137	6	vertical	vertical	ADJ
app01-5092	137	7	displacement	displacement	NOUN
app01-5092	137	8	(	(	PUNCT
app01-5092	137	9	with	with	ADP
app01-5092	137	10	respect	respect	NOUN
app01-5092	137	11	to	to	ADP
app01-5092	137	12	time	time	NOUN
app01-5092	137	13	)	)	PUNCT
app01-5092	137	14	of	of	ADP
app01-5092	137	15	the	the	DET
app01-5092	137	16	left	left	NOUN
app01-5092	137	17	and	and	CCONJ
app01-5092	137	18	the	the	DET
app01-5092	137	19	right	right	ADJ
app01-5092	137	20	wheel	wheel	NOUN
app01-5092	137	21	,	,	PUNCT
app01-5092	137	22	respectively	respectively	ADV
app01-5092	137	23	.	.	PUNCT
app01-5092	138	1	figure	figure	NOUN
app01-5092	138	2	8	8	NUM
app01-5092	138	3	.	.	PUNCT
app01-5092	138	4	example	example	NOUN
app01-5092	138	5	from	from	ADP
app01-5092	138	6	an	an	DET
app01-5092	138	7	optitrack	optitrack	NOUN
app01-5092	138	8	measurement	measurement	NOUN
app01-5092	138	9	,	,	PUNCT
app01-5092	138	10	unstable	unstable	ADJ
app01-5092	138	11	motion	motion	NOUN
app01-5092	138	12	.	.	PUNCT
app01-5092	139	1	the	the	DET
app01-5092	139	2	paths	path	NOUN
app01-5092	139	3	of	of	ADP
app01-5092	139	4	the	the	DET
app01-5092	139	5	markers	marker	NOUN
app01-5092	139	6	can	can	AUX
app01-5092	139	7	be	be	AUX
app01-5092	139	8	seen	see	VERB
app01-5092	139	9	on	on	ADP
app01-5092	139	10	the	the	DET
app01-5092	139	11	left	left	ADJ
app01-5092	139	12	figure	figure	NOUN
app01-5092	139	13	.	.	PUNCT
app01-5092	140	1	zl	zl	PROPN
app01-5092	140	2	and	and	CCONJ
app01-5092	140	3	zr	zr	PROPN
app01-5092	140	4	denote	denote	VERB
app01-5092	140	5	the	the	DET
app01-5092	140	6	vertical	vertical	ADJ
app01-5092	140	7	displacement	displacement	NOUN
app01-5092	140	8	(	(	PUNCT
app01-5092	140	9	with	with	ADP
app01-5092	140	10	respect	respect	NOUN
app01-5092	140	11	to	to	ADP
app01-5092	140	12	time	time	NOUN
app01-5092	140	13	)	)	PUNCT
app01-5092	140	14	of	of	ADP
app01-5092	140	15	the	the	DET
app01-5092	140	16	left	left	NOUN
app01-5092	140	17	and	and	CCONJ
app01-5092	140	18	the	the	DET
app01-5092	140	19	right	right	ADJ
app01-5092	140	20	wheel	wheel	NOUN
app01-5092	140	21	,	,	PUNCT
app01-5092	140	22	respectively	respectively	ADV
app01-5092	140	23	.	.	PUNCT
app01-5092	141	1	in	in	ADP
app01-5092	141	2	the	the	DET
app01-5092	141	3	figure	figure	NOUN
app01-5092	141	4	,	,	PUNCT
app01-5092	141	5	the	the	DET
app01-5092	141	6	result	result	NOUN
app01-5092	141	7	of	of	ADP
app01-5092	141	8	the	the	DET
app01-5092	141	9	simulation	simulation	NOUN
app01-5092	141	10	is	be	AUX
app01-5092	141	11	plotted	plot	VERB
app01-5092	141	12	with	with	ADP
app01-5092	141	13	blue	blue	ADJ
app01-5092	141	14	line	line	NOUN
app01-5092	141	15	,	,	PUNCT
app01-5092	141	16	the	the	DET
app01-5092	141	17	attractive	attractive	ADJ
app01-5092	141	18	and	and	CCONJ
app01-5092	141	19	the	the	DET
app01-5092	141	20	repelling	repelling	NOUN
app01-5092	141	21	regions	region	NOUN
app01-5092	141	22	with	with	ADP
app01-5092	141	23	respect	respect	NOUN
app01-5092	141	24	to	to	ADP
app01-5092	141	25	the	the	DET
app01-5092	141	26	initial	initial	ADJ
app01-5092	141	27	angle	angle	NOUN
app01-5092	141	28	β0	β0	NOUN
app01-5092	141	29	can	can	AUX
app01-5092	141	30	be	be	AUX
app01-5092	141	31	seen	see	VERB
app01-5092	141	32	below	below	ADP
app01-5092	141	33	and	and	CCONJ
app01-5092	141	34	above	above	ADP
app01-5092	141	35	this	this	DET
app01-5092	141	36	line	line	NOUN
app01-5092	141	37	.	.	PUNCT
app01-5092	142	1	the	the	DET
app01-5092	142	2	measurement	measurement	NOUN
app01-5092	142	3	results	result	NOUN
app01-5092	142	4	are	be	AUX
app01-5092	142	5	plotted	plot	VERB
app01-5092	142	6	with	with	ADP
app01-5092	142	7	red	red	ADJ
app01-5092	142	8	dots	dot	NOUN
app01-5092	142	9	.	.	PUNCT
app01-5092	143	1	the	the	DET
app01-5092	143	2	secondary	secondary	ADJ
app01-5092	143	3	axis	axis	NOUN
app01-5092	143	4	at	at	ADP
app01-5092	143	5	the	the	DET
app01-5092	143	6	right	right	ADJ
app01-5092	143	7	hand	hand	NOUN
app01-5092	143	8	side	side	NOUN
app01-5092	143	9	of	of	ADP
app01-5092	143	10	the	the	DET
app01-5092	143	11	diagram	diagram	NOUN
app01-5092	143	12	shows	show	VERB
app01-5092	143	13	the	the	DET
app01-5092	143	14	diameter	diameter	NOUN
app01-5092	143	15	d0	d0	NOUN
app01-5092	143	16	of	of	ADP
app01-5092	143	17	the	the	DET
app01-5092	143	18	cylindrical	cylindrical	ADJ
app01-5092	143	19	obstacle	obstacle	NOUN
app01-5092	143	20	,	,	PUNCT
app01-5092	143	21	which	which	PRON
app01-5092	143	22	were	be	AUX
app01-5092	143	23	used	use	VERB
app01-5092	143	24	to	to	ADP
app01-5092	143	25	the	the	DET
app01-5092	143	26	initiate	initiate	VERB
app01-5092	143	27	the	the	DET
app01-5092	143	28	rocking	rock	VERB
app01-5092	143	29	motion	motion	NOUN
app01-5092	143	30	of	of	ADP
app01-5092	143	31	the	the	DET
app01-5092	143	32	suitcase	suitcase	NOUN
app01-5092	143	33	.	.	PUNCT
app01-5092	144	1	in	in	ADP
app01-5092	144	2	the	the	DET
app01-5092	144	3	figure	figure	NOUN
app01-5092	144	4	,	,	PUNCT
app01-5092	144	5	the	the	DET
app01-5092	144	6	diameter	diameter	NOUN
app01-5092	144	7	is	be	AUX
app01-5092	144	8	considered	consider	VERB
app01-5092	144	9	to	to	PART
app01-5092	144	10	be	be	AUX
app01-5092	144	11	proportional	proportional	ADJ
app01-5092	144	12	with	with	ADP
app01-5092	144	13	the	the	DET
app01-5092	144	14	initial	initial	ADJ
app01-5092	144	15	tilting	tilt	VERB
app01-5092	144	16	angle	angle	NOUN
app01-5092	144	17	β0	β0	PROPN
app01-5092	144	18	.	.	PUNCT
app01-5092	145	1	as	as	SCONJ
app01-5092	145	2	it	it	PRON
app01-5092	145	3	can	can	AUX
app01-5092	145	4	be	be	AUX
app01-5092	145	5	seen	see	VERB
app01-5092	145	6	in	in	ADP
app01-5092	145	7	the	the	DET
app01-5092	145	8	figure	figure	NOUN
app01-5092	145	9	,	,	PUNCT
app01-5092	145	10	the	the	DET
app01-5092	145	11	results	result	NOUN
app01-5092	145	12	of	of	ADP
app01-5092	145	13	the	the	DET
app01-5092	145	14	simulations	simulation	NOUN
app01-5092	145	15	and	and	CCONJ
app01-5092	145	16	the	the	DET
app01-5092	145	17	measurements	measurement	NOUN
app01-5092	145	18	are	be	AUX
app01-5092	145	19	qualitatively	qualitatively	ADV
app01-5092	145	20	the	the	DET
app01-5092	145	21	same	same	ADJ
app01-5092	145	22	.	.	PUNCT
app01-5092	146	1	the	the	DET
app01-5092	146	2	attractive	attractive	ADJ
app01-5092	146	3	domain	domain	NOUN
app01-5092	146	4	is	be	AUX
app01-5092	146	5	smaller	small	ADJ
app01-5092	146	6	for	for	ADP
app01-5092	146	7	larger	large	ADJ
app01-5092	146	8	speeds	speed	NOUN
app01-5092	146	9	.	.	PUNCT
app01-5092	147	1	of	of	ADP
app01-5092	147	2	course	course	NOUN
app01-5092	147	3	,	,	PUNCT
app01-5092	147	4	some	some	DET
app01-5092	147	5	quantitative	quantitative	ADJ
app01-5092	147	6	difference	difference	NOUN
app01-5092	147	7	can	can	AUX
app01-5092	147	8	be	be	AUX
app01-5092	147	9	identified	identify	VERB
app01-5092	147	10	in	in	ADP
app01-5092	147	11	the	the	DET
app01-5092	147	12	figure	figure	NOUN
app01-5092	147	13	.	.	PUNCT
app01-5092	148	1	one	one	NUM
app01-5092	148	2	of	of	ADP
app01-5092	148	3	the	the	DET
app01-5092	148	4	reason	reason	NOUN
app01-5092	148	5	of	of	ADP
app01-5092	148	6	this	this	DET
app01-5092	148	7	difference	difference	NOUN
app01-5092	148	8	is	be	AUX
app01-5092	148	9	that	that	SCONJ
app01-5092	148	10	we	we	PRON
app01-5092	148	11	assumed	assume	VERB
app01-5092	148	12	here	here	ADV
app01-5092	148	13	that	that	SCONJ
app01-5092	148	14	the	the	DET
app01-5092	148	15	diameters	diameter	NOUN
app01-5092	148	16	of	of	ADP
app01-5092	148	17	the	the	DET
app01-5092	148	18	obstacles	obstacle	NOUN
app01-5092	148	19	are	be	AUX
app01-5092	148	20	linearly	linearly	ADV
app01-5092	148	21	proportional	proportional	ADJ
app01-5092	148	22	with	with	ADP
app01-5092	148	23	the	the	DET
app01-5092	148	24	initial	initial	ADJ
app01-5092	148	25	tilting	tilting	NOUN
app01-5092	148	26	angles	angle	NOUN
app01-5092	148	27	.	.	PUNCT
app01-5092	149	1	as	as	SCONJ
app01-5092	149	2	mentioned	mention	VERB
app01-5092	149	3	before	before	ADV
app01-5092	149	4	,	,	PUNCT
app01-5092	149	5	this	this	DET
app01-5092	149	6	assumption	assumption	NOUN
app01-5092	149	7	is	be	AUX
app01-5092	149	8	not	not	PART
app01-5092	149	9	perfect	perfect	ADJ
app01-5092	149	10	,	,	PUNCT
app01-5092	149	11	and	and	CCONJ
app01-5092	149	12	a	a	DET
app01-5092	149	13	more	more	ADV
app01-5092	149	14	sophisticated	sophisticated	ADJ
app01-5092	149	15	comparison	comparison	NOUN
app01-5092	149	16	64	64	NUM
app01-5092	149	17	vol	vol	NOUN
app01-5092	149	18	.	.	PUNCT
app01-5092	150	1	18/2018	18/2018	NUM
app01-5092	150	2	modelling	modelling	NOUN
app01-5092	150	3	and	and	CCONJ
app01-5092	150	4	simulation	simulation	NOUN
app01-5092	150	5	of	of	ADP
app01-5092	150	6	rocking	rock	VERB
app01-5092	150	7	suitcases	suitcase	NOUN
app01-5092	150	8	figure	figure	NOUN
app01-5092	150	9	9	9	NUM
app01-5092	150	10	.	.	PUNCT
app01-5092	150	11	comparison	comparison	NOUN
app01-5092	150	12	of	of	ADP
app01-5092	150	13	the	the	DET
app01-5092	150	14	results	result	NOUN
app01-5092	150	15	of	of	ADP
app01-5092	150	16	the	the	DET
app01-5092	150	17	numerical	numerical	PROPN
app01-5092	150	18	simulation	simulation	NOUN
app01-5092	150	19	and	and	CCONJ
app01-5092	150	20	measurements	measurement	NOUN
app01-5092	150	21	.	.	PUNCT
app01-5092	151	1	the	the	DET
app01-5092	151	2	simulation	simulation	NOUN
app01-5092	151	3	result	result	NOUN
app01-5092	151	4	is	be	AUX
app01-5092	151	5	depicted	depict	VERB
app01-5092	151	6	with	with	ADP
app01-5092	151	7	the	the	DET
app01-5092	151	8	blue	blue	ADJ
app01-5092	151	9	line	line	NOUN
app01-5092	151	10	,	,	PUNCT
app01-5092	151	11	while	while	SCONJ
app01-5092	151	12	the	the	DET
app01-5092	151	13	measurement	measurement	NOUN
app01-5092	151	14	points	point	NOUN
app01-5092	151	15	are	be	AUX
app01-5092	151	16	the	the	DET
app01-5092	151	17	red	red	ADJ
app01-5092	151	18	dots	dot	NOUN
app01-5092	151	19	.	.	PUNCT
app01-5092	152	1	of	of	ADP
app01-5092	152	2	the	the	DET
app01-5092	152	3	simulation	simulation	NOUN
app01-5092	152	4	and	and	CCONJ
app01-5092	152	5	measurement	measurement	NOUN
app01-5092	152	6	results	result	NOUN
app01-5092	152	7	could	could	AUX
app01-5092	152	8	be	be	AUX
app01-5092	152	9	done	do	VERB
app01-5092	152	10	with	with	ADP
app01-5092	152	11	the	the	DET
app01-5092	152	12	evaluation	evaluation	NOUN
app01-5092	152	13	of	of	ADP
app01-5092	152	14	optitrack	optitrack	NOUN
app01-5092	152	15	measurements	measurement	NOUN
app01-5092	152	16	,	,	PUNCT
app01-5092	152	17	which	which	PRON
app01-5092	152	18	is	be	AUX
app01-5092	152	19	the	the	DET
app01-5092	152	20	task	task	NOUN
app01-5092	152	21	of	of	ADP
app01-5092	152	22	the	the	DET
app01-5092	152	23	future	future	ADJ
app01-5092	152	24	work	work	NOUN
app01-5092	152	25	.	.	PUNCT
app01-5092	153	1	7	7	X
app01-5092	153	2	.	.	X
app01-5092	153	3	conclusions	conclusion	NOUN
app01-5092	153	4	a	a	DET
app01-5092	153	5	simplified	simplified	ADJ
app01-5092	153	6	mechanical	mechanical	ADJ
app01-5092	153	7	model	model	NOUN
app01-5092	153	8	of	of	ADP
app01-5092	153	9	two	two	NUM
app01-5092	153	10	-	-	PUNCT
app01-5092	153	11	wheeled	wheel	VERB
app01-5092	153	12	rocking	rock	VERB
app01-5092	153	13	suitcases	suitcase	NOUN
app01-5092	153	14	was	be	AUX
app01-5092	153	15	constructed	construct	VERB
app01-5092	153	16	.	.	PUNCT
app01-5092	154	1	a	a	DET
app01-5092	154	2	summary	summary	NOUN
app01-5092	154	3	about	about	ADP
app01-5092	154	4	the	the	DET
app01-5092	154	5	equations	equation	NOUN
app01-5092	154	6	of	of	ADP
app01-5092	154	7	motion	motion	NOUN
app01-5092	154	8	of	of	ADP
app01-5092	154	9	the	the	DET
app01-5092	154	10	four	four	NUM
app01-5092	154	11	different	different	ADJ
app01-5092	154	12	motion	motion	NOUN
app01-5092	154	13	states	state	NOUN
app01-5092	154	14	were	be	AUX
app01-5092	154	15	given	give	VERB
app01-5092	154	16	,	,	PUNCT
app01-5092	154	17	and	and	CCONJ
app01-5092	154	18	also	also	ADV
app01-5092	154	19	a	a	DET
app01-5092	154	20	simple	simple	ADJ
app01-5092	154	21	impact	impact	NOUN
app01-5092	154	22	model	model	NOUN
app01-5092	154	23	was	be	AUX
app01-5092	154	24	presented	present	VERB
app01-5092	154	25	.	.	PUNCT
app01-5092	155	1	through	through	ADP
app01-5092	155	2	numerical	numerical	ADJ
app01-5092	155	3	simulations	simulation	NOUN
app01-5092	155	4	important	important	ADJ
app01-5092	155	5	information	information	NOUN
app01-5092	155	6	about	about	ADP
app01-5092	155	7	the	the	DET
app01-5092	155	8	non	non	ADJ
app01-5092	155	9	-	-	ADJ
app01-5092	155	10	linear	linear	ADJ
app01-5092	155	11	behaviour	behaviour	NOUN
app01-5092	155	12	of	of	ADP
app01-5092	155	13	the	the	DET
app01-5092	155	14	suitcase	suitcase	NOUN
app01-5092	155	15	was	be	AUX
app01-5092	155	16	identified	identify	VERB
app01-5092	155	17	.	.	PUNCT
app01-5092	156	1	an	an	DET
app01-5092	156	2	experimental	experimental	ADJ
app01-5092	156	3	rig	rig	NOUN
app01-5092	156	4	was	be	AUX
app01-5092	156	5	shown	show	VERB
app01-5092	156	6	by	by	ADP
app01-5092	156	7	which	which	PRON
app01-5092	156	8	the	the	DET
app01-5092	156	9	numerical	numerical	ADJ
app01-5092	156	10	results	result	NOUN
app01-5092	156	11	were	be	AUX
app01-5092	156	12	partly	partly	ADV
app01-5092	156	13	validated	validate	VERB
app01-5092	156	14	,	,	PUNCT
app01-5092	156	15	namely	namely	ADV
app01-5092	156	16	,	,	PUNCT
app01-5092	156	17	it	it	PRON
app01-5092	156	18	was	be	AUX
app01-5092	156	19	shown	show	VERB
app01-5092	156	20	that	that	SCONJ
app01-5092	156	21	the	the	DET
app01-5092	156	22	simulation	simulation	NOUN
app01-5092	156	23	results	result	NOUN
app01-5092	156	24	are	be	AUX
app01-5092	156	25	qualitatively	qualitatively	ADV
app01-5092	156	26	correct	correct	ADJ
app01-5092	156	27	.	.	PUNCT
app01-5092	157	1	further	further	ADJ
app01-5092	157	2	research	research	NOUN
app01-5092	157	3	on	on	ADP
app01-5092	157	4	the	the	DET
app01-5092	157	5	mechanical	mechanical	ADJ
app01-5092	157	6	model	model	NOUN
app01-5092	157	7	and	and	CCONJ
app01-5092	157	8	on	on	ADP
app01-5092	157	9	the	the	DET
app01-5092	157	10	experiment	experiment	NOUN
app01-5092	157	11	can	can	AUX
app01-5092	157	12	provide	provide	VERB
app01-5092	157	13	basic	basic	ADJ
app01-5092	157	14	rules	rule	NOUN
app01-5092	157	15	that	that	PRON
app01-5092	157	16	can	can	AUX
app01-5092	157	17	help	help	VERB
app01-5092	157	18	the	the	DET
app01-5092	157	19	design	design	NOUN
app01-5092	157	20	of	of	ADP
app01-5092	157	21	suitcases	suitcase	NOUN
app01-5092	157	22	having	have	VERB
app01-5092	157	23	better	well	ADJ
app01-5092	157	24	stability	stability	NOUN
app01-5092	157	25	properties	property	NOUN
app01-5092	157	26	.	.	PUNCT
app01-5092	158	1	8	8	X
app01-5092	158	2	.	.	X
app01-5092	158	3	acknowledgements	acknowledgement	VERB
app01-5092	158	4	the	the	DET
app01-5092	158	5	publication	publication	NOUN
app01-5092	158	6	of	of	ADP
app01-5092	158	7	the	the	DET
app01-5092	158	8	work	work	NOUN
app01-5092	158	9	reported	report	VERB
app01-5092	158	10	herein	herein	NOUN
app01-5092	158	11	has	have	AUX
app01-5092	158	12	been	be	AUX
app01-5092	158	13	supported	support	VERB
app01-5092	158	14	by	by	ADP
app01-5092	158	15	etdb	etdb	NOUN
app01-5092	158	16	at	at	ADP
app01-5092	158	17	bme	bme	NOUN
app01-5092	158	18	.	.	PUNCT
app01-5092	159	1	the	the	DET
app01-5092	159	2	authors	author	NOUN
app01-5092	159	3	thank	thank	VERB
app01-5092	159	4	laszlo	laszlo	ADJ
app01-5092	159	5	bencsik	bencsik	NOUN
app01-5092	159	6	for	for	ADP
app01-5092	159	7	his	his	PRON
app01-5092	159	8	contribution	contribution	NOUN
app01-5092	159	9	in	in	ADP
app01-5092	159	10	the	the	DET
app01-5092	159	11	use	use	NOUN
app01-5092	159	12	of	of	ADP
app01-5092	159	13	the	the	DET
app01-5092	159	14	optitrack	optitrack	NOUN
app01-5092	159	15	measurement	measurement	NOUN
app01-5092	159	16	system	system	NOUN
app01-5092	159	17	.	.	PUNCT
app01-5092	160	1	references	reference	NOUN
app01-5092	160	2	[	[	X
app01-5092	160	3	1	1	NUM
app01-5092	160	4	]	]	PUNCT
app01-5092	160	5	facchini	facchini	PROPN
app01-5092	160	6	,	,	PUNCT
app01-5092	160	7	g.	g.	PROPN
app01-5092	160	8	,	,	PUNCT
app01-5092	160	9	sekimoto	sekimoto	NOUN
app01-5092	160	10	,	,	PUNCT
app01-5092	160	11	k.	k.	PROPN
app01-5092	160	12	,	,	PUNCT
app01-5092	160	13	courrech	courrech	NOUN
app01-5092	160	14	du	du	PROPN
app01-5092	160	15	pont	pont	PROPN
app01-5092	160	16	,	,	PUNCT
app01-5092	160	17	s.	s.	PROPN
app01-5092	160	18	:	:	PUNCT
app01-5092	160	19	the	the	DET
app01-5092	160	20	rolling	rolling	ADJ
app01-5092	160	21	suitcase	suitcase	NOUN
app01-5092	160	22	instability	instability	NOUN
app01-5092	160	23	:	:	PUNCT
app01-5092	160	24	a	a	DET
app01-5092	160	25	coupling	coupling	NOUN
app01-5092	160	26	between	between	ADP
app01-5092	160	27	translation	translation	NOUN
app01-5092	160	28	and	and	CCONJ
app01-5092	160	29	rotation	rotation	NOUN
app01-5092	160	30	.	.	PUNCT
app01-5092	161	1	in	in	ADP
app01-5092	161	2	:	:	PUNCT
app01-5092	161	3	royal	royal	ADJ
app01-5092	161	4	society	society	NOUN
app01-5092	161	5	,	,	PUNCT
app01-5092	161	6	473(2202	473(2202	NOUN
app01-5092	161	7	)	)	PUNCT
app01-5092	161	8	.	.	PUNCT
app01-5092	162	1	2017	2017	NUM
app01-5092	162	2	.	.	PUNCT
app01-5092	163	1	[	[	X
app01-5092	163	2	2	2	NUM
app01-5092	163	3	]	]	SYM
app01-5092	163	4	suherman	suherman	NOUN
app01-5092	163	5	,	,	PUNCT
app01-5092	163	6	s.	s.	PROPN
app01-5092	163	7	,	,	PUNCT
app01-5092	163	8	plaut	plaut	PROPN
app01-5092	163	9	,	,	PUNCT
app01-5092	163	10	r.h	r.h	PROPN
app01-5092	163	11	.	.	PROPN
app01-5092	163	12	,	,	PUNCT
app01-5092	163	13	watson	watson	PROPN
app01-5092	163	14	,	,	PUNCT
app01-5092	163	15	l.t	l.t	PROPN
app01-5092	163	16	.	.	PROPN
app01-5092	163	17	,	,	PUNCT
app01-5092	163	18	thompson	thompson	PROPN
app01-5092	163	19	,	,	PUNCT
app01-5092	163	20	s.	s.	PROPN
app01-5092	163	21	:	:	PUNCT
app01-5092	163	22	effect	effect	NOUN
app01-5092	163	23	of	of	ADP
app01-5092	163	24	human	human	ADJ
app01-5092	163	25	response	response	NOUN
app01-5092	163	26	time	time	NOUN
app01-5092	163	27	on	on	ADP
app01-5092	163	28	rocking	rock	VERB
app01-5092	163	29	instability	instability	NOUN
app01-5092	163	30	of	of	ADP
app01-5092	163	31	a	a	DET
app01-5092	163	32	two	two	NUM
app01-5092	163	33	-	-	PUNCT
app01-5092	163	34	wheeled	wheel	VERB
app01-5092	163	35	suitcase	suitcase	NOUN
app01-5092	163	36	.	.	PUNCT
app01-5092	164	1	in	in	ADP
app01-5092	164	2	:	:	PUNCT
app01-5092	164	3	journal	journal	NOUN
app01-5092	164	4	of	of	ADP
app01-5092	164	5	sound	sound	NOUN
app01-5092	164	6	and	and	CCONJ
app01-5092	164	7	vibration	vibration	NOUN
app01-5092	164	8	,	,	PUNCT
app01-5092	164	9	207	207	NUM
app01-5092	164	10	(	(	PUNCT
app01-5092	164	11	5	5	NUM
app01-5092	164	12	)	)	PUNCT
app01-5092	164	13	.	.	PUNCT
app01-5092	164	14	1997	1997	NUM
app01-5092	164	15	.	.	PUNCT
app01-5092	165	1	617–625	617–625	NUM
app01-5092	165	2	.	.	PUNCT
app01-5092	166	1	p.	p.	NOUN
app01-5092	167	1	[	[	X
app01-5092	167	2	3	3	X
app01-5092	167	3	]	]	PUNCT
app01-5092	167	4	o’reilly	o’reilly	ADV
app01-5092	167	5	,	,	PUNCT
app01-5092	167	6	o.	o.	NOUN
app01-5092	167	7	m.	m.	NOUN
app01-5092	167	8	and	and	CCONJ
app01-5092	167	9	varadi	varadi	NOUN
app01-5092	167	10	,	,	PUNCT
app01-5092	167	11	p.	p.	PROPN
app01-5092	167	12	c.	c.	PROPN
app01-5092	167	13	:	:	PUNCT
app01-5092	167	14	a	a	DET
app01-5092	167	15	travelers	traveler	NOUN
app01-5092	167	16	woes	woe	VERB
app01-5092	167	17	:	:	PUNCT
app01-5092	167	18	some	some	DET
app01-5092	167	19	perspectives	perspective	NOUN
app01-5092	167	20	from	from	ADP
app01-5092	167	21	dynamical	dynamical	ADJ
app01-5092	167	22	systems	system	NOUN
app01-5092	167	23	,	,	PUNCT
app01-5092	167	24	iutam	iutam	VERB
app01-5092	167	25	symposium	symposium	NOUN
app01-5092	167	26	on	on	ADP
app01-5092	167	27	new	new	ADJ
app01-5092	167	28	applications	application	NOUN
app01-5092	167	29	of	of	ADP
app01-5092	167	30	nonlinear	nonlinear	ADJ
app01-5092	167	31	and	and	CCONJ
app01-5092	167	32	chaotic	chaotic	ADJ
app01-5092	167	33	dynamics	dynamic	NOUN
app01-5092	167	34	in	in	ADP
app01-5092	167	35	mechanics	mechanic	NOUN
app01-5092	167	36	(	(	PUNCT
app01-5092	167	37	ed.:f	ed.:f	PROPN
app01-5092	167	38	.	.	PUNCT
app01-5092	168	1	c.	c.	PROPN
app01-5092	168	2	moon	moon	PROPN
app01-5092	168	3	)	)	PUNCT
app01-5092	168	4	,	,	PUNCT
app01-5092	168	5	kluwer	kluwer	PROPN
app01-5092	168	6	ac	ac	PROPN
app01-5092	168	7	.	.	PROPN
app01-5092	168	8	publ	publ	PROPN
app01-5092	168	9	.	.	PUNCT
app01-5092	168	10	,	,	PUNCT
app01-5092	168	11	dordrecht	dordrecht	PROPN
app01-5092	168	12	,	,	PUNCT
app01-5092	168	13	pp	pp	ADV
app01-5092	168	14	.	.	PUNCT
app01-5092	169	1	397–406	397–406	NUM
app01-5092	169	2	.	.	PUNCT
app01-5092	169	3	1999	1999	NUM
app01-5092	169	4	.	.	PUNCT
app01-5092	170	1	[	[	X
app01-5092	170	2	4	4	NUM
app01-5092	170	3	]	]	X
app01-5092	170	4	plaut	plaut	PROPN
app01-5092	170	5	,	,	PUNCT
app01-5092	170	6	r.	r.	PROPN
app01-5092	170	7	h.	h.	PROPN
app01-5092	170	8	:	:	PUNCT
app01-5092	170	9	rocking	rock	VERB
app01-5092	170	10	instability	instability	NOUN
app01-5092	170	11	of	of	ADP
app01-5092	170	12	a	a	DET
app01-5092	170	13	pulled	pull	VERB
app01-5092	170	14	suitcase	suitcase	NOUN
app01-5092	170	15	with	with	ADP
app01-5092	170	16	two	two	NUM
app01-5092	170	17	wheels	wheel	NOUN
app01-5092	170	18	,	,	PUNCT
app01-5092	170	19	acta	acta	PROPN
app01-5092	170	20	mechanica	mechanica	PROPN
app01-5092	170	21	117	117	NUM
app01-5092	170	22	,	,	PUNCT
app01-5092	170	23	165–179	165–179	NUM
app01-5092	170	24	.	.	PUNCT
app01-5092	170	25	1996	1996	NUM
app01-5092	170	26	.	.	PUNCT
app01-5092	171	1	[	[	X
app01-5092	171	2	5	5	NUM
app01-5092	171	3	]	]	SYM
app01-5092	171	4	troger	troger	NOUN
app01-5092	171	5	,	,	PUNCT
app01-5092	171	6	h.	h.	PROPN
app01-5092	171	7	and	and	CCONJ
app01-5092	171	8	zeman	zeman	PROPN
app01-5092	171	9	,	,	PUNCT
app01-5092	171	10	k.	k.	PROPN
app01-5092	171	11	:	:	PUNCT
app01-5092	171	12	a	a	DET
app01-5092	171	13	nonlinear	nonlinear	ADJ
app01-5092	171	14	-	-	PUNCT
app01-5092	171	15	analysis	analysis	NOUN
app01-5092	171	16	of	of	ADP
app01-5092	171	17	the	the	DET
app01-5092	171	18	generic	generic	ADJ
app01-5092	171	19	types	type	NOUN
app01-5092	171	20	of	of	ADP
app01-5092	171	21	loss	loss	NOUN
app01-5092	171	22	of	of	ADP
app01-5092	171	23	stability	stability	NOUN
app01-5092	171	24	of	of	ADP
app01-5092	171	25	the	the	DET
app01-5092	171	26	steady	steady	ADJ
app01-5092	171	27	-	-	PUNCT
app01-5092	171	28	state	state	NOUN
app01-5092	171	29	motion	motion	NOUN
app01-5092	171	30	of	of	ADP
app01-5092	171	31	a	a	DET
app01-5092	171	32	tractor	tractor	NOUN
app01-5092	171	33	-	-	PUNCT
app01-5092	171	34	semitrailer	semitrailer	NOUN
app01-5092	171	35	,	,	PUNCT
app01-5092	171	36	vehicle	vehicle	NOUN
app01-5092	171	37	system	system	NOUN
app01-5092	171	38	dynamics	dynamic	NOUN
app01-5092	171	39	13(4	13(4	NUM
app01-5092	171	40	)	)	PUNCT
app01-5092	171	41	,	,	PUNCT
app01-5092	171	42	161–172	161–172	NUM
app01-5092	171	43	.	.	PUNCT
app01-5092	171	44	1984	1984	NUM
app01-5092	171	45	.	.	PUNCT
app01-5092	172	1	[	[	X
app01-5092	172	2	6	6	NUM
app01-5092	172	3	]	]	PUNCT
app01-5092	172	4	stepan	stepan	PROPN
app01-5092	172	5	,	,	PUNCT
app01-5092	172	6	g.	g.	PROPN
app01-5092	172	7	:	:	PUNCT
app01-5092	172	8	delay	delay	NOUN
app01-5092	172	9	,	,	PUNCT
app01-5092	172	10	nonlinear	nonlinear	ADJ
app01-5092	172	11	oscillations	oscillation	NOUN
app01-5092	172	12	and	and	CCONJ
app01-5092	172	13	shimmying	shimmy	VERB
app01-5092	172	14	wheels	wheel	NOUN
app01-5092	172	15	.	.	PUNCT
app01-5092	173	1	in	in	ADP
app01-5092	173	2	:	:	PUNCT
app01-5092	173	3	proceedings	proceeding	NOUN
app01-5092	173	4	of	of	ADP
app01-5092	173	5	symposium	symposium	NOUN
app01-5092	173	6	chaos	chaos	NOUN
app01-5092	173	7	,	,	PUNCT
app01-5092	173	8	kluwer	kluwer	PROPN
app01-5092	173	9	ac	ac	PROPN
app01-5092	173	10	.	.	PROPN
app01-5092	173	11	publ	publ	PROPN
app01-5092	173	12	.	.	PUNCT
app01-5092	173	13	,	,	PUNCT
app01-5092	173	14	dordrecht	dordrecht	PROPN
app01-5092	173	15	,	,	PUNCT
app01-5092	173	16	pp	pp	ADP
app01-5092	173	17	.	.	PUNCT
app01-5092	174	1	373–386	373–386	NUM
app01-5092	174	2	.	.	PUNCT
app01-5092	175	1	1997	1997	NUM
app01-5092	175	2	.	.	PUNCT
app01-5092	176	1	65	65	NUM
app01-5092	176	2	acta	acta	PROPN
app01-5092	176	3	polytechnica	polytechnica	PROPN
app01-5092	176	4	ctu	ctu	NOUN
app01-5092	176	5	proceedings	proceeding	NOUN
app01-5092	176	6	18:61–65	18:61–65	NUM
app01-5092	176	7	,	,	PUNCT
app01-5092	176	8	2018	2018	NUM
app01-5092	176	9	1	1	NUM
app01-5092	176	10	introduction	introduction	NOUN
app01-5092	176	11	2	2	NUM
app01-5092	176	12	mechanical	mechanical	ADJ
app01-5092	176	13	model	model	NOUN
app01-5092	176	14	3	3	NUM
app01-5092	176	15	motion	motion	NOUN
app01-5092	176	16	states	state	VERB
app01-5092	176	17	4	4	NUM
app01-5092	176	18	numerical	numerical	ADJ
app01-5092	176	19	simulations	simulation	NOUN
app01-5092	176	20	5	5	NUM
app01-5092	176	21	measurements	measurement	NOUN
app01-5092	176	22	6	6	NUM
app01-5092	176	23	comparison	comparison	NOUN
app01-5092	176	24	7	7	NUM
app01-5092	176	25	conclusions	conclusion	NOUN
app01-5092	176	26	8	8	NUM
app01-5092	176	27	acknowledgements	acknowledgement	NOUN
app01-5092	176	28	references	reference	NOUN