id	sid	tid	token	lemma	pos
app01-9504	1	1	acta	acta	PROPN
app01-9504	1	2	polytechnica	polytechnica	PROPN
app01-9504	1	3	ctu	ctu	NOUN
app01-9504	1	4	proceedings	proceeding	NOUN
app01-9504	1	5	https://doi.org/10.14311/app.2023.43.0117	https://doi.org/10.14311/app.2023.43.0117	PROPN
app01-9504	1	6	acta	acta	PROPN
app01-9504	1	7	polytechnica	polytechnica	PROPN
app01-9504	1	8	ctu	ctu	NOUN
app01-9504	1	9	proceedings	proceeding	NOUN
app01-9504	1	10	43:117–125	43:117–125	PROPN
app01-9504	1	11	,	,	PUNCT
app01-9504	1	12	2023	2023	NUM
app01-9504	1	13	©	©	ADP
app01-9504	1	14	2023	2023	NUM
app01-9504	1	15	the	the	DET
app01-9504	1	16	author(s	author(s	NOUN
app01-9504	1	17	)	)	PUNCT
app01-9504	1	18	.	.	PUNCT
app01-9504	2	1	licensed	license	VERB
app01-9504	2	2	under	under	ADP
app01-9504	2	3	a	a	DET
app01-9504	2	4	cc	cc	NOUN
app01-9504	2	5	-	-	PUNCT
app01-9504	2	6	by	by	ADP
app01-9504	2	7	4.0	4.0	NUM
app01-9504	2	8	licence	licence	NOUN
app01-9504	2	9	published	publish	VERB
app01-9504	2	10	by	by	ADP
app01-9504	2	11	the	the	DET
app01-9504	2	12	czech	czech	PROPN
app01-9504	2	13	technical	technical	PROPN
app01-9504	2	14	university	university	PROPN
app01-9504	2	15	in	in	ADP
app01-9504	2	16	prague	prague	PROPN
app01-9504	2	17	cooperation	cooperation	NOUN
app01-9504	2	18	of	of	ADP
app01-9504	2	19	active	active	ADJ
app01-9504	2	20	steering	steering	NOUN
app01-9504	2	21	control	control	NOUN
app01-9504	2	22	of	of	ADP
app01-9504	2	23	wheelsets	wheelset	NOUN
app01-9504	2	24	with	with	ADP
app01-9504	2	25	subsystems	subsystem	NOUN
app01-9504	2	26	of	of	ADP
app01-9504	2	27	an	an	DET
app01-9504	2	28	autonomous	autonomous	ADJ
app01-9504	2	29	urban	urban	ADJ
app01-9504	2	30	rail	rail	NOUN
app01-9504	2	31	vehicle	vehicle	NOUN
app01-9504	2	32	jan	jan	PROPN
app01-9504	2	33	vrba	vrba	PROPN
app01-9504	2	34	czech	czech	PROPN
app01-9504	2	35	technical	technical	PROPN
app01-9504	2	36	university	university	PROPN
app01-9504	2	37	in	in	ADP
app01-9504	2	38	prague	prague	PROPN
app01-9504	2	39	,	,	PUNCT
app01-9504	2	40	faculty	faculty	NOUN
app01-9504	2	41	of	of	ADP
app01-9504	2	42	mechanical	mechanical	ADJ
app01-9504	2	43	engineering	engineering	NOUN
app01-9504	2	44	,	,	PUNCT
app01-9504	2	45	department	department	NOUN
app01-9504	2	46	of	of	ADP
app01-9504	2	47	automotive	automotive	ADJ
app01-9504	2	48	,	,	PUNCT
app01-9504	2	49	combustion	combustion	NOUN
app01-9504	2	50	engines	engine	NOUN
app01-9504	2	51	and	and	CCONJ
app01-9504	2	52	railway	railway	NOUN
app01-9504	2	53	engineering	engineering	NOUN
app01-9504	2	54	,	,	PUNCT
app01-9504	2	55	technická	technická	NOUN
app01-9504	2	56	4	4	NUM
app01-9504	2	57	,	,	PUNCT
app01-9504	2	58	160	160	NUM
app01-9504	2	59	07	07	NUM
app01-9504	2	60	prague	prague	NOUN
app01-9504	2	61	,	,	PUNCT
app01-9504	2	62	czech	czech	PROPN
app01-9504	2	63	republic	republic	NOUN
app01-9504	2	64	correspondence	correspondence	NOUN
app01-9504	2	65	:	:	PUNCT
app01-9504	2	66	vrba@fs.cvut.cz	vrba@fs.cvut.cz	NOUN
app01-9504	2	67	abstract	abstract	NOUN
app01-9504	2	68	.	.	PUNCT
app01-9504	3	1	the	the	DET
app01-9504	3	2	paper	paper	NOUN
app01-9504	3	3	presents	present	VERB
app01-9504	3	4	the	the	DET
app01-9504	3	5	motivations	motivation	NOUN
app01-9504	3	6	for	for	ADP
app01-9504	3	7	the	the	DET
app01-9504	3	8	application	application	NOUN
app01-9504	3	9	of	of	ADP
app01-9504	3	10	actively	actively	ADV
app01-9504	3	11	controlled	control	VERB
app01-9504	3	12	elements	element	NOUN
app01-9504	3	13	in	in	ADP
app01-9504	3	14	the	the	DET
app01-9504	3	15	running	run	VERB
app01-9504	3	16	gear	gear	NOUN
app01-9504	3	17	of	of	ADP
app01-9504	3	18	a	a	DET
app01-9504	3	19	rail	rail	NOUN
app01-9504	3	20	vehicle	vehicle	NOUN
app01-9504	3	21	and	and	CCONJ
app01-9504	3	22	the	the	DET
app01-9504	3	23	challenges	challenge	NOUN
app01-9504	3	24	that	that	PRON
app01-9504	3	25	need	need	VERB
app01-9504	3	26	to	to	PART
app01-9504	3	27	be	be	AUX
app01-9504	3	28	addressed	address	VERB
app01-9504	3	29	before	before	ADP
app01-9504	3	30	deploying	deploy	VERB
app01-9504	3	31	vehicles	vehicle	NOUN
app01-9504	3	32	with	with	ADP
app01-9504	3	33	actively	actively	ADV
app01-9504	3	34	controlled	control	VERB
app01-9504	3	35	elements	element	NOUN
app01-9504	3	36	in	in	ADP
app01-9504	3	37	real	real	ADJ
app01-9504	3	38	operation	operation	NOUN
app01-9504	3	39	.	.	PUNCT
app01-9504	4	1	furthermore	furthermore	ADV
app01-9504	4	2	,	,	PUNCT
app01-9504	4	3	the	the	DET
app01-9504	4	4	paper	paper	NOUN
app01-9504	4	5	presents	present	VERB
app01-9504	4	6	the	the	DET
app01-9504	4	7	design	design	NOUN
app01-9504	4	8	of	of	ADP
app01-9504	4	9	an	an	DET
app01-9504	4	10	active	active	ADJ
app01-9504	4	11	element	element	NOUN
app01-9504	4	12	concept	concept	NOUN
app01-9504	4	13	and	and	CCONJ
app01-9504	4	14	its	its	PRON
app01-9504	4	15	control	control	NOUN
app01-9504	4	16	for	for	ADP
app01-9504	4	17	steering	steer	VERB
app01-9504	4	18	the	the	DET
app01-9504	4	19	axles	axle	NOUN
app01-9504	4	20	of	of	ADP
app01-9504	4	21	an	an	DET
app01-9504	4	22	urban	urban	ADJ
app01-9504	4	23	rail	rail	NOUN
app01-9504	4	24	vehicle	vehicle	NOUN
app01-9504	4	25	to	to	PART
app01-9504	4	26	improve	improve	VERB
app01-9504	4	27	the	the	DET
app01-9504	4	28	vehicle	vehicle	NOUN
app01-9504	4	29	’s	’s	PART
app01-9504	4	30	passage	passage	NOUN
app01-9504	4	31	through	through	ADP
app01-9504	4	32	small	small	ADJ
app01-9504	4	33	radius	radius	NOUN
app01-9504	4	34	curves	curve	NOUN
app01-9504	4	35	.	.	PUNCT
app01-9504	5	1	the	the	DET
app01-9504	5	2	design	design	NOUN
app01-9504	5	3	takes	take	VERB
app01-9504	5	4	into	into	ADP
app01-9504	5	5	account	account	NOUN
app01-9504	5	6	the	the	DET
app01-9504	5	7	fundamental	fundamental	ADJ
app01-9504	5	8	issues	issue	NOUN
app01-9504	5	9	of	of	ADP
app01-9504	5	10	cost	cost	NOUN
app01-9504	5	11	and	and	CCONJ
app01-9504	5	12	safety	safety	NOUN
app01-9504	5	13	of	of	ADP
app01-9504	5	14	the	the	DET
app01-9504	5	15	application	application	NOUN
app01-9504	5	16	of	of	ADP
app01-9504	5	17	active	active	ADJ
app01-9504	5	18	elements	element	NOUN
app01-9504	5	19	,	,	PUNCT
app01-9504	5	20	which	which	PRON
app01-9504	5	21	are	be	AUX
app01-9504	5	22	addressed	address	VERB
app01-9504	5	23	in	in	ADP
app01-9504	5	24	the	the	DET
app01-9504	5	25	presented	present	VERB
app01-9504	5	26	control	control	NOUN
app01-9504	5	27	design	design	NOUN
app01-9504	5	28	by	by	ADP
app01-9504	5	29	using	use	VERB
app01-9504	5	30	data	datum	NOUN
app01-9504	5	31	from	from	ADP
app01-9504	5	32	autonomous	autonomous	ADJ
app01-9504	5	33	driving	driving	NOUN
app01-9504	5	34	subsystems	subsystem	NOUN
app01-9504	5	35	such	such	ADJ
app01-9504	5	36	as	as	ADP
app01-9504	5	37	the	the	DET
app01-9504	5	38	environmental	environmental	ADJ
app01-9504	5	39	database	database	NOUN
app01-9504	5	40	or	or	CCONJ
app01-9504	5	41	the	the	DET
app01-9504	5	42	anti	anti	ADJ
app01-9504	5	43	-	-	ADJ
app01-9504	5	44	collision	collision	ADJ
app01-9504	5	45	system	system	NOUN
app01-9504	5	46	.	.	PUNCT
app01-9504	6	1	keywords	keyword	NOUN
app01-9504	6	2	:	:	PUNCT
app01-9504	6	3	active	active	ADJ
app01-9504	6	4	element	element	NOUN
app01-9504	6	5	,	,	PUNCT
app01-9504	6	6	actuator	actuator	NOUN
app01-9504	6	7	,	,	PUNCT
app01-9504	6	8	rolling	roll	VERB
app01-9504	6	9	stock	stock	NOUN
app01-9504	6	10	,	,	PUNCT
app01-9504	6	11	autonomous	autonomous	ADJ
app01-9504	6	12	driving	driving	NOUN
app01-9504	6	13	,	,	PUNCT
app01-9504	6	14	tram	tram	PROPN
app01-9504	6	15	,	,	PUNCT
app01-9504	6	16	running	running	NOUN
app01-9504	6	17	gear	gear	NOUN
app01-9504	6	18	.	.	PUNCT
app01-9504	7	1	1	1	X
app01-9504	7	2	.	.	X
app01-9504	7	3	introduction	introduction	NOUN
app01-9504	7	4	routes	route	NOUN
app01-9504	7	5	for	for	ADP
app01-9504	7	6	urban	urban	ADJ
app01-9504	7	7	rolling	rolling	ADJ
app01-9504	7	8	stock	stock	NOUN
app01-9504	7	9	,	,	PUNCT
app01-9504	7	10	especially	especially	ADV
app01-9504	7	11	trams	tram	NOUN
app01-9504	7	12	,	,	PUNCT
app01-9504	7	13	usually	usually	ADV
app01-9504	7	14	run	run	VERB
app01-9504	7	15	through	through	ADP
app01-9504	7	16	city	city	NOUN
app01-9504	7	17	centers	center	NOUN
app01-9504	7	18	,	,	PUNCT
app01-9504	7	19	where	where	SCONJ
app01-9504	7	20	directional	directional	ADJ
app01-9504	7	21	curves	curve	NOUN
app01-9504	7	22	with	with	ADP
app01-9504	7	23	very	very	ADV
app01-9504	7	24	small	small	ADJ
app01-9504	7	25	radii	radius	NOUN
app01-9504	7	26	(	(	PUNCT
app01-9504	7	27	less	less	ADJ
app01-9504	7	28	than	than	ADP
app01-9504	7	29	25	25	NUM
app01-9504	7	30	meters	meter	NOUN
app01-9504	7	31	)	)	PUNCT
app01-9504	7	32	are	be	AUX
app01-9504	7	33	often	often	ADV
app01-9504	7	34	used	use	VERB
app01-9504	7	35	for	for	ADP
app01-9504	7	36	historical	historical	ADJ
app01-9504	7	37	reasons	reason	NOUN
app01-9504	7	38	.	.	PUNCT
app01-9504	8	1	curves	curve	NOUN
app01-9504	8	2	with	with	ADP
app01-9504	8	3	even	even	ADV
app01-9504	8	4	smaller	small	ADJ
app01-9504	8	5	radii	radius	NOUN
app01-9504	8	6	(	(	PUNCT
app01-9504	8	7	around	around	ADV
app01-9504	8	8	15	15	NUM
app01-9504	8	9	meters	meter	NOUN
app01-9504	8	10	)	)	PUNCT
app01-9504	8	11	can	can	AUX
app01-9504	8	12	often	often	ADV
app01-9504	8	13	be	be	AUX
app01-9504	8	14	found	find	VERB
app01-9504	8	15	in	in	ADP
app01-9504	8	16	depots	depot	NOUN
app01-9504	8	17	,	,	PUNCT
app01-9504	8	18	see	see	VERB
app01-9504	8	19	example	example	NOUN
app01-9504	8	20	in	in	ADP
app01-9504	8	21	figure	figure	NOUN
app01-9504	8	22	1	1	NUM
app01-9504	8	23	.	.	PUNCT
app01-9504	9	1	when	when	SCONJ
app01-9504	9	2	a	a	DET
app01-9504	9	3	vehicle	vehicle	NOUN
app01-9504	9	4	passes	pass	VERB
app01-9504	9	5	through	through	ADP
app01-9504	9	6	such	such	DET
app01-9504	9	7	a	a	DET
app01-9504	9	8	small	small	ADJ
app01-9504	9	9	curve	curve	NOUN
app01-9504	9	10	,	,	PUNCT
app01-9504	9	11	the	the	DET
app01-9504	9	12	lateral	lateral	ADJ
app01-9504	9	13	clearance	clearance	NOUN
app01-9504	9	14	of	of	ADP
app01-9504	9	15	the	the	DET
app01-9504	9	16	wheelsets	wheelset	NOUN
app01-9504	9	17	in	in	ADP
app01-9504	9	18	the	the	DET
app01-9504	9	19	track	track	NOUN
app01-9504	9	20	is	be	AUX
app01-9504	9	21	exhausted	exhaust	VERB
app01-9504	9	22	and	and	CCONJ
app01-9504	9	23	large	large	ADJ
app01-9504	9	24	slip	slip	NOUN
app01-9504	9	25	forces	force	NOUN
app01-9504	9	26	are	be	AUX
app01-9504	9	27	generated	generate	VERB
app01-9504	9	28	at	at	ADP
app01-9504	9	29	the	the	DET
app01-9504	9	30	wheel	wheel	NOUN
app01-9504	9	31	-	-	PUNCT
app01-9504	9	32	rail	rail	NOUN
app01-9504	9	33	contact	contact	NOUN
app01-9504	9	34	.	.	PUNCT
app01-9504	10	1	these	these	DET
app01-9504	10	2	longitudinal	longitudinal	ADJ
app01-9504	10	3	and	and	CCONJ
app01-9504	10	4	transverse	transverse	NOUN
app01-9504	10	5	forces	force	NOUN
app01-9504	10	6	lead	lead	VERB
app01-9504	10	7	to	to	ADP
app01-9504	10	8	undesirable	undesirable	ADJ
app01-9504	10	9	phenomena	phenomenon	NOUN
app01-9504	10	10	in	in	ADP
app01-9504	10	11	the	the	DET
app01-9504	10	12	form	form	NOUN
app01-9504	10	13	of	of	ADP
app01-9504	10	14	high	high	ADJ
app01-9504	10	15	wheel	wheel	NOUN
app01-9504	10	16	and	and	CCONJ
app01-9504	10	17	rail	rail	NOUN
app01-9504	10	18	wear	wear	NOUN
app01-9504	10	19	and	and	CCONJ
app01-9504	10	20	noise	noise	NOUN
app01-9504	10	21	and	and	CCONJ
app01-9504	10	22	vibration	vibration	NOUN
app01-9504	10	23	emissions	emission	NOUN
app01-9504	10	24	.	.	PUNCT
app01-9504	11	1	the	the	DET
app01-9504	11	2	wear	wear	NOUN
app01-9504	11	3	of	of	ADP
app01-9504	11	4	wheels	wheel	NOUN
app01-9504	11	5	and	and	CCONJ
app01-9504	11	6	rails	rail	VERB
app01-9504	11	7	results	result	NOUN
app01-9504	11	8	in	in	ADP
app01-9504	11	9	high	high	ADJ
app01-9504	11	10	costs	cost	NOUN
app01-9504	11	11	for	for	ADP
app01-9504	11	12	both	both	CCONJ
app01-9504	11	13	the	the	DET
app01-9504	11	14	infrastructure	infrastructure	NOUN
app01-9504	11	15	manager	manager	NOUN
app01-9504	11	16	and	and	CCONJ
app01-9504	11	17	the	the	DET
app01-9504	11	18	vehicle	vehicle	NOUN
app01-9504	11	19	operator	operator	NOUN
app01-9504	11	20	,	,	PUNCT
app01-9504	11	21	who	who	PRON
app01-9504	11	22	has	have	VERB
app01-9504	11	23	to	to	PART
app01-9504	11	24	arrange	arrange	VERB
app01-9504	11	25	for	for	ADP
app01-9504	11	26	machining	machining	NOUN
app01-9504	11	27	of	of	ADP
app01-9504	11	28	the	the	DET
app01-9504	11	29	worn	worn	ADJ
app01-9504	11	30	wheel	wheel	NOUN
app01-9504	11	31	profile	profile	NOUN
app01-9504	11	32	and	and	CCONJ
app01-9504	11	33	subsequent	subsequent	ADJ
app01-9504	11	34	replacement	replacement	NOUN
app01-9504	11	35	of	of	ADP
app01-9504	11	36	the	the	DET
app01-9504	11	37	wheel	wheel	PROPN
app01-9504	11	38	tyre	tyre	PROPN
app01-9504	11	39	.	.	PUNCT
app01-9504	12	1	wheel	wheel	PROPN
app01-9504	12	2	reprofiling	reprofiling	PROPN
app01-9504	12	3	,	,	PUNCT
app01-9504	12	4	which	which	PRON
app01-9504	12	5	has	have	VERB
app01-9504	12	6	to	to	PART
app01-9504	12	7	be	be	AUX
app01-9504	12	8	carried	carry	VERB
app01-9504	12	9	out	out	ADP
app01-9504	12	10	regularly	regularly	ADV
app01-9504	12	11	due	due	ADP
app01-9504	12	12	to	to	ADP
app01-9504	12	13	the	the	DET
app01-9504	12	14	wear	wear	NOUN
app01-9504	12	15	of	of	ADP
app01-9504	12	16	the	the	DET
app01-9504	12	17	wheel	wheel	NOUN
app01-9504	12	18	profile	profile	NOUN
app01-9504	12	19	,	,	PUNCT
app01-9504	12	20	and	and	CCONJ
app01-9504	12	21	the	the	DET
app01-9504	12	22	subsequent	subsequent	ADJ
app01-9504	12	23	replacement	replacement	NOUN
app01-9504	12	24	of	of	ADP
app01-9504	12	25	the	the	DET
app01-9504	12	26	wheel	wheel	NOUN
app01-9504	12	27	tyre	tyre	PROPN
app01-9504	12	28	are	be	AUX
app01-9504	12	29	the	the	DET
app01-9504	12	30	largest	large	ADJ
app01-9504	12	31	maintenance	maintenance	NOUN
app01-9504	12	32	costs	cost	NOUN
app01-9504	12	33	for	for	ADP
app01-9504	12	34	tram	tram	PROPN
app01-9504	12	35	vehicles	vehicle	NOUN
app01-9504	12	36	and	and	CCONJ
app01-9504	12	37	thus	thus	ADV
app01-9504	12	38	contribute	contribute	VERB
app01-9504	12	39	substantially	substantially	ADV
app01-9504	12	40	to	to	ADP
app01-9504	12	41	the	the	DET
app01-9504	12	42	service	service	NOUN
app01-9504	12	43	component	component	NOUN
app01-9504	12	44	of	of	ADP
app01-9504	12	45	the	the	DET
app01-9504	12	46	lcc	lcc	PROPN
app01-9504	12	47	(	(	PUNCT
app01-9504	12	48	life	life	NOUN
app01-9504	12	49	cycle	cycle	NOUN
app01-9504	12	50	cost	cost	NOUN
app01-9504	12	51	)	)	PUNCT
app01-9504	12	52	.	.	PUNCT
app01-9504	13	1	improving	improve	VERB
app01-9504	13	2	the	the	DET
app01-9504	13	3	passage	passage	NOUN
app01-9504	13	4	of	of	ADP
app01-9504	13	5	trams	tram	NOUN
app01-9504	13	6	through	through	ADP
app01-9504	13	7	small	small	ADJ
app01-9504	13	8	radius	radius	NOUN
app01-9504	13	9	directional	directional	ADJ
app01-9504	13	10	curves	curve	NOUN
app01-9504	13	11	has	have	AUX
app01-9504	13	12	been	be	AUX
app01-9504	13	13	the	the	DET
app01-9504	13	14	focus	focus	NOUN
app01-9504	13	15	of	of	ADP
app01-9504	13	16	much	much	ADJ
app01-9504	13	17	attention	attention	NOUN
app01-9504	13	18	from	from	ADP
app01-9504	13	19	researchers	researcher	NOUN
app01-9504	13	20	and	and	CCONJ
app01-9504	13	21	vehicle	vehicle	NOUN
app01-9504	13	22	designers	designer	NOUN
app01-9504	13	23	around	around	ADP
app01-9504	13	24	the	the	DET
app01-9504	13	25	world	world	NOUN
app01-9504	13	26	for	for	ADP
app01-9504	13	27	many	many	ADJ
app01-9504	13	28	decades	decade	NOUN
app01-9504	13	29	.	.	PUNCT
app01-9504	14	1	improvement	improvement	NOUN
app01-9504	14	2	of	of	ADP
app01-9504	14	3	smallradius	smallradius	ADJ
app01-9504	14	4	curve	curve	NOUN
app01-9504	14	5	passage	passage	NOUN
app01-9504	14	6	of	of	ADP
app01-9504	14	7	tram	tram	PROPN
app01-9504	14	8	vehicles	vehicle	NOUN
app01-9504	14	9	can	can	AUX
app01-9504	14	10	be	be	AUX
app01-9504	14	11	achieved	achieve	VERB
app01-9504	14	12	by	by	ADP
app01-9504	14	13	only	only	ADV
app01-9504	14	14	mechanical	mechanical	ADJ
app01-9504	14	15	solutions	solution	NOUN
app01-9504	14	16	in	in	ADP
app01-9504	14	17	the	the	DET
app01-9504	14	18	form	form	NOUN
app01-9504	14	19	of	of	ADP
app01-9504	14	20	optimisation	optimisation	NOUN
app01-9504	14	21	of	of	ADP
app01-9504	14	22	the	the	DET
app01-9504	14	23	rolling	rolling	ADJ
app01-9504	14	24	stock	stock	NOUN
app01-9504	14	25	running	running	NOUN
app01-9504	14	26	gear	gear	NOUN
app01-9504	14	27	,	,	PUNCT
app01-9504	14	28	for	for	ADP
app01-9504	14	29	example	example	NOUN
app01-9504	14	30	longitudinal	longitudinal	ADJ
app01-9504	14	31	stiffness	stiffness	NOUN
app01-9504	14	32	and	and	CCONJ
app01-9504	14	33	primary	primary	ADJ
app01-9504	14	34	suspension	suspension	NOUN
app01-9504	14	35	design	design	NOUN
app01-9504	14	36	,	,	PUNCT
app01-9504	14	37	use	use	NOUN
app01-9504	14	38	of	of	ADP
app01-9504	14	39	pivot	pivot	NOUN
app01-9504	14	40	bogies	bogie	NOUN
app01-9504	14	41	,	,	PUNCT
app01-9504	14	42	lubrication	lubrication	NOUN
app01-9504	14	43	of	of	ADP
app01-9504	14	44	the	the	DET
app01-9504	14	45	flanges	flange	NOUN
app01-9504	14	46	or	or	CCONJ
app01-9504	14	47	the	the	DET
app01-9504	14	48	articulated	articulated	ADJ
app01-9504	14	49	tram	tram	PROPN
app01-9504	14	50	vehicle	vehicle	NOUN
app01-9504	14	51	concept	concept	NOUN
app01-9504	14	52	itself	itself	PRON
app01-9504	14	53	.	.	PUNCT
app01-9504	15	1	another	another	DET
app01-9504	15	2	possible	possible	ADJ
app01-9504	15	3	purely	purely	ADV
app01-9504	15	4	mechanical	mechanical	ADJ
app01-9504	15	5	solution	solution	NOUN
app01-9504	15	6	to	to	PART
app01-9504	15	7	improve	improve	VERB
app01-9504	15	8	the	the	DET
app01-9504	15	9	passage	passage	NOUN
app01-9504	15	10	through	through	ADP
app01-9504	15	11	the	the	DET
app01-9504	15	12	curve	curve	NOUN
app01-9504	15	13	is	be	AUX
app01-9504	15	14	the	the	DET
app01-9504	15	15	use	use	NOUN
app01-9504	15	16	of	of	ADP
app01-9504	15	17	wheelset	wheelset	NOUN
app01-9504	15	18	with	with	ADP
app01-9504	15	19	indepenfigure	indepenfigure	NOUN
app01-9504	15	20	1	1	NUM
app01-9504	15	21	.	.	PUNCT
app01-9504	15	22	demonstration	demonstration	NOUN
app01-9504	15	23	of	of	ADP
app01-9504	15	24	high	high	ADJ
app01-9504	15	25	wear	wear	NOUN
app01-9504	15	26	of	of	ADP
app01-9504	15	27	rails	rail	NOUN
app01-9504	15	28	and	and	CCONJ
app01-9504	15	29	turned	turn	VERB
app01-9504	15	30	material	material	NOUN
app01-9504	15	31	from	from	ADP
app01-9504	15	32	vehicle	vehicle	NOUN
app01-9504	15	33	wheels	wheel	NOUN
app01-9504	15	34	in	in	ADP
app01-9504	15	35	tram	tram	PROPN
app01-9504	15	36	depot	depot	NOUN
app01-9504	16	1	[	[	X
app01-9504	16	2	1	1	NUM
app01-9504	16	3	]	]	PUNCT
app01-9504	16	4	.	.	PUNCT
app01-9504	17	1	dently	dently	ADV
app01-9504	17	2	rotating	rotate	VERB
app01-9504	17	3	wheels	wheel	NOUN
app01-9504	17	4	(	(	PUNCT
app01-9504	17	5	irws	irws	NOUN
app01-9504	17	6	)	)	PUNCT
app01-9504	17	7	,	,	PUNCT
app01-9504	17	8	whereby	whereby	SCONJ
app01-9504	17	9	the	the	DET
app01-9504	17	10	torsional	torsional	ADJ
app01-9504	17	11	link	link	NOUN
app01-9504	17	12	between	between	ADP
app01-9504	17	13	the	the	DET
app01-9504	17	14	individual	individual	ADJ
app01-9504	17	15	wheels	wheel	NOUN
app01-9504	17	16	of	of	ADP
app01-9504	17	17	the	the	DET
app01-9504	17	18	wheelset	wheelset	NOUN
app01-9504	17	19	is	be	AUX
app01-9504	17	20	unbound	unbound	NOUN
app01-9504	17	21	compared	compare	VERB
app01-9504	17	22	to	to	ADP
app01-9504	17	23	conventional	conventional	ADJ
app01-9504	17	24	wheelsets	wheelset	NOUN
app01-9504	17	25	,	,	PUNCT
app01-9504	17	26	see	see	VERB
app01-9504	17	27	figure	figure	NOUN
app01-9504	17	28	2	2	NUM
app01-9504	17	29	.	.	PUNCT
app01-9504	18	1	this	this	DET
app01-9504	18	2	solution	solution	NOUN
app01-9504	18	3	allows	allow	VERB
app01-9504	18	4	the	the	DET
app01-9504	18	5	wheels	wheel	NOUN
app01-9504	18	6	to	to	PART
app01-9504	18	7	rotate	rotate	VERB
app01-9504	18	8	at	at	ADP
app01-9504	18	9	different	different	ADJ
app01-9504	18	10	angular	angular	ADJ
app01-9504	18	11	speeds	speed	NOUN
app01-9504	18	12	and	and	CCONJ
app01-9504	18	13	deals	deal	NOUN
app01-9504	18	14	to	to	ADP
app01-9504	18	15	minimisation	minimisation	NOUN
app01-9504	18	16	of	of	ADP
app01-9504	18	17	longitudinal	longitudinal	ADJ
app01-9504	18	18	slip	slip	NOUN
app01-9504	18	19	forces	force	NOUN
app01-9504	18	20	.	.	PUNCT
app01-9504	19	1	the	the	DET
app01-9504	19	2	use	use	NOUN
app01-9504	19	3	of	of	ADP
app01-9504	19	4	independently	independently	ADV
app01-9504	19	5	rotating	rotate	VERB
app01-9504	19	6	wheels	wheel	NOUN
app01-9504	19	7	(	(	PUNCT
app01-9504	19	8	irws	irws	NOUN
app01-9504	19	9	)	)	PUNCT
app01-9504	19	10	is	be	AUX
app01-9504	19	11	only	only	ADV
app01-9504	19	12	widespread	widespread	ADJ
app01-9504	19	13	in	in	ADP
app01-9504	19	14	tram	tram	PROPN
app01-9504	19	15	vehicles	vehicle	NOUN
app01-9504	19	16	,	,	PUNCT
app01-9504	19	17	because	because	SCONJ
app01-9504	19	18	of	of	ADP
app01-9504	19	19	the	the	DET
app01-9504	19	20	ability	ability	NOUN
app01-9504	19	21	to	to	PART
app01-9504	19	22	pass	pass	VERB
app01-9504	19	23	through	through	ADP
app01-9504	19	24	curves	curve	NOUN
app01-9504	19	25	of	of	ADP
app01-9504	19	26	very	very	ADV
app01-9504	19	27	small	small	ADJ
app01-9504	19	28	radii	radius	NOUN
app01-9504	19	29	and	and	CCONJ
app01-9504	19	30	also	also	ADV
app01-9504	19	31	because	because	SCONJ
app01-9504	19	32	of	of	ADP
app01-9504	19	33	the	the	DET
app01-9504	19	34	possibility	possibility	NOUN
app01-9504	19	35	to	to	PART
app01-9504	19	36	achieve	achieve	VERB
app01-9504	19	37	a	a	DET
app01-9504	19	38	fully	fully	ADV
app01-9504	19	39	low	low	ADJ
app01-9504	19	40	-	-	PUNCT
app01-9504	19	41	floor	floor	NOUN
app01-9504	19	42	vehicle	vehicle	NOUN
app01-9504	19	43	without	without	ADP
app01-9504	19	44	ramps	ramp	NOUN
app01-9504	19	45	or	or	CCONJ
app01-9504	19	46	steps	step	NOUN
app01-9504	19	47	over	over	ADP
app01-9504	19	48	the	the	DET
app01-9504	19	49	bogies	bogie	NOUN
app01-9504	19	50	.	.	PUNCT
app01-9504	20	1	the	the	DET
app01-9504	20	2	use	use	NOUN
app01-9504	20	3	of	of	ADP
app01-9504	20	4	irws	irws	NOUN
app01-9504	20	5	has	have	VERB
app01-9504	20	6	a	a	DET
app01-9504	20	7	great	great	ADJ
app01-9504	20	8	advantage	advantage	NOUN
app01-9504	20	9	in	in	ADP
app01-9504	20	10	the	the	DET
app01-9504	20	11	design	design	NOUN
app01-9504	20	12	of	of	ADP
app01-9504	20	13	low	low	ADJ
app01-9504	20	14	-	-	PUNCT
app01-9504	20	15	floor	floor	NOUN
app01-9504	20	16	vehicles	vehicle	NOUN
app01-9504	20	17	passing	pass	VERB
app01-9504	20	18	small	small	ADJ
app01-9504	20	19	radius	radius	NOUN
app01-9504	20	20	curves	curve	NOUN
app01-9504	20	21	,	,	PUNCT
app01-9504	20	22	but	but	CCONJ
app01-9504	20	23	on	on	ADP
app01-9504	20	24	the	the	DET
app01-9504	20	25	other	other	ADJ
app01-9504	20	26	hand	hand	NOUN
app01-9504	20	27	,	,	PUNCT
app01-9504	20	28	vehicles	vehicle	VERB
app01-9504	20	29	117	117	NUM
app01-9504	20	30	https://doi.org/10.14311/app.2023.43.0117	https://doi.org/10.14311/app.2023.43.0117	PROPN
app01-9504	20	31	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
app01-9504	20	32	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
app01-9504	20	33	jan	jan	PROPN
app01-9504	20	34	vrba	vrba	PROPN
app01-9504	20	35	acta	acta	PROPN
app01-9504	20	36	polytechnica	polytechnica	PROPN
app01-9504	20	37	ctu	ctu	PROPN
app01-9504	20	38	proceedings	proceeding	NOUN
app01-9504	20	39	figure	figure	VERB
app01-9504	20	40	2	2	NUM
app01-9504	20	41	.	.	PUNCT
app01-9504	20	42	tram	tram	PROPN
app01-9504	20	43	wheelset	wheelset	VERB
app01-9504	20	44	with	with	ADP
app01-9504	20	45	independently	independently	ADV
app01-9504	20	46	rotating	rotate	VERB
app01-9504	20	47	wheels	wheel	NOUN
app01-9504	20	48	[	[	X
app01-9504	20	49	3	3	NUM
app01-9504	20	50	]	]	PUNCT
app01-9504	20	51	.	.	PUNCT
app01-9504	21	1	with	with	ADP
app01-9504	21	2	irws	irws	NOUN
app01-9504	21	3	have	have	VERB
app01-9504	21	4	poorer	poor	ADJ
app01-9504	21	5	running	running	NOUN
app01-9504	21	6	characteristics	characteristic	NOUN
app01-9504	21	7	on	on	ADP
app01-9504	21	8	the	the	DET
app01-9504	21	9	straight	straight	ADJ
app01-9504	21	10	line	line	NOUN
app01-9504	22	1	[	[	X
app01-9504	22	2	2	2	NUM
app01-9504	22	3	]	]	PUNCT
app01-9504	22	4	and	and	CCONJ
app01-9504	22	5	at	at	ADP
app01-9504	22	6	higher	high	ADJ
app01-9504	22	7	speeds	speed	NOUN
app01-9504	22	8	.	.	PUNCT
app01-9504	23	1	the	the	DET
app01-9504	23	2	lack	lack	NOUN
app01-9504	23	3	of	of	ADP
app01-9504	23	4	torsional	torsional	ADJ
app01-9504	23	5	coupling	coupling	NOUN
app01-9504	23	6	between	between	ADP
app01-9504	23	7	the	the	DET
app01-9504	23	8	wheels	wheel	NOUN
app01-9504	23	9	prevents	prevent	VERB
app01-9504	23	10	the	the	DET
app01-9504	23	11	irws	irws	NOUN
app01-9504	23	12	wheelsets	wheelset	NOUN
app01-9504	23	13	from	from	ADP
app01-9504	23	14	performing	perform	VERB
app01-9504	23	15	the	the	DET
app01-9504	23	16	sinusoidal	sinusoidal	ADJ
app01-9504	23	17	motion	motion	NOUN
app01-9504	23	18	that	that	PRON
app01-9504	23	19	conventional	conventional	ADJ
app01-9504	23	20	wheelsets	wheelset	NOUN
app01-9504	23	21	perform	perform	VERB
app01-9504	23	22	,	,	PUNCT
app01-9504	23	23	which	which	PRON
app01-9504	23	24	ensures	ensure	VERB
app01-9504	23	25	more	more	ADV
app01-9504	23	26	even	even	ADV
app01-9504	23	27	wear	wear	VERB
app01-9504	23	28	on	on	ADP
app01-9504	23	29	the	the	DET
app01-9504	23	30	wheel	wheel	NOUN
app01-9504	23	31	surface	surface	NOUN
app01-9504	23	32	.	.	PUNCT
app01-9504	24	1	due	due	ADP
app01-9504	24	2	to	to	ADP
app01-9504	24	3	the	the	DET
app01-9504	24	4	long	long	ADJ
app01-9504	24	5	development	development	NOUN
app01-9504	24	6	in	in	ADP
app01-9504	24	7	the	the	DET
app01-9504	24	8	mechanical	mechanical	ADJ
app01-9504	24	9	parts	part	NOUN
app01-9504	24	10	of	of	ADP
app01-9504	24	11	rolling	roll	VERB
app01-9504	24	12	stock	stock	NOUN
app01-9504	24	13	running	running	NOUN
app01-9504	24	14	gear	gear	NOUN
app01-9504	24	15	,	,	PUNCT
app01-9504	24	16	a	a	DET
app01-9504	24	17	major	major	ADJ
app01-9504	24	18	advance	advance	NOUN
app01-9504	24	19	in	in	ADP
app01-9504	24	20	the	the	DET
app01-9504	24	21	improvement	improvement	NOUN
app01-9504	24	22	of	of	ADP
app01-9504	24	23	sharp	sharp	ADJ
app01-9504	24	24	curve	curve	NOUN
app01-9504	24	25	negotiating	negotiating	NOUN
app01-9504	24	26	can	can	AUX
app01-9504	24	27	no	no	ADV
app01-9504	24	28	longer	long	ADV
app01-9504	24	29	be	be	AUX
app01-9504	24	30	expected	expect	VERB
app01-9504	24	31	.	.	PUNCT
app01-9504	25	1	for	for	ADP
app01-9504	25	2	this	this	DET
app01-9504	25	3	reason	reason	NOUN
app01-9504	25	4	,	,	PUNCT
app01-9504	25	5	a	a	DET
app01-9504	25	6	great	great	ADJ
app01-9504	25	7	deal	deal	NOUN
app01-9504	25	8	of	of	ADP
app01-9504	25	9	interest	interest	NOUN
app01-9504	25	10	and	and	CCONJ
app01-9504	25	11	research	research	NOUN
app01-9504	25	12	capacity	capacity	NOUN
app01-9504	25	13	has	have	AUX
app01-9504	25	14	been	be	AUX
app01-9504	25	15	devoted	devote	VERB
app01-9504	25	16	in	in	ADP
app01-9504	25	17	recent	recent	ADJ
app01-9504	25	18	decades	decade	NOUN
app01-9504	25	19	to	to	ADP
app01-9504	25	20	the	the	DET
app01-9504	25	21	use	use	NOUN
app01-9504	25	22	of	of	ADP
app01-9504	25	23	actively	actively	ADV
app01-9504	25	24	controlled	control	VERB
app01-9504	25	25	elements	element	NOUN
app01-9504	25	26	in	in	ADP
app01-9504	25	27	rolling	roll	VERB
app01-9504	25	28	stock	stock	NOUN
app01-9504	25	29	running	running	NOUN
app01-9504	25	30	gear	gear	NOUN
app01-9504	25	31	.	.	PUNCT
app01-9504	26	1	the	the	DET
app01-9504	26	2	first	first	ADJ
app01-9504	26	3	active	active	ADJ
app01-9504	26	4	elements	element	NOUN
app01-9504	26	5	in	in	ADP
app01-9504	26	6	locomotive	locomotive	ADJ
app01-9504	26	7	running	running	NOUN
app01-9504	26	8	gear	gear	NOUN
app01-9504	26	9	were	be	AUX
app01-9504	26	10	already	already	ADV
app01-9504	26	11	used	use	VERB
app01-9504	26	12	in	in	ADP
app01-9504	26	13	the	the	DET
app01-9504	26	14	1950s	1950	NOUN
app01-9504	26	15	to	to	PART
app01-9504	26	16	achieve	achieve	VERB
app01-9504	26	17	a	a	DET
app01-9504	26	18	mechanical	mechanical	ADJ
app01-9504	26	19	optimum	optimum	NOUN
app01-9504	26	20	.	.	PUNCT
app01-9504	27	1	however	however	ADV
app01-9504	27	2	,	,	PUNCT
app01-9504	27	3	the	the	DET
app01-9504	27	4	rapidly	rapidly	ADV
app01-9504	27	5	developing	develop	VERB
app01-9504	27	6	fields	field	NOUN
app01-9504	27	7	of	of	ADP
app01-9504	27	8	electrical	electrical	ADJ
app01-9504	27	9	engineering	engineering	NOUN
app01-9504	27	10	,	,	PUNCT
app01-9504	27	11	sensorics	sensoric	NOUN
app01-9504	27	12	or	or	CCONJ
app01-9504	27	13	controllers	controller	NOUN
app01-9504	27	14	in	in	ADP
app01-9504	27	15	the	the	DET
app01-9504	27	16	last	last	ADJ
app01-9504	27	17	decades	decade	NOUN
app01-9504	27	18	allow	allow	VERB
app01-9504	27	19	the	the	DET
app01-9504	27	20	use	use	NOUN
app01-9504	27	21	of	of	ADP
app01-9504	27	22	active	active	ADJ
app01-9504	27	23	elements	element	NOUN
app01-9504	27	24	on	on	ADP
app01-9504	27	25	a	a	DET
app01-9504	27	26	much	much	ADV
app01-9504	27	27	wider	wide	ADJ
app01-9504	27	28	scale	scale	NOUN
app01-9504	27	29	and	and	CCONJ
app01-9504	27	30	thus	thus	ADV
app01-9504	27	31	support	support	VERB
app01-9504	27	32	the	the	DET
app01-9504	27	33	quest	quest	NOUN
app01-9504	27	34	for	for	ADP
app01-9504	27	35	faster	fast	ADJ
app01-9504	27	36	,	,	PUNCT
app01-9504	27	37	more	more	ADV
app01-9504	27	38	comfortable	comfortable	ADJ
app01-9504	27	39	,	,	PUNCT
app01-9504	27	40	more	more	ADV
app01-9504	27	41	economical	economical	ADJ
app01-9504	27	42	and	and	CCONJ
app01-9504	27	43	ultimately	ultimately	ADV
app01-9504	27	44	safer	safe	ADJ
app01-9504	27	45	rolling	rolling	NOUN
app01-9504	27	46	stock	stock	NOUN
app01-9504	27	47	(	(	PUNCT
app01-9504	27	48	hereafter	hereafter	ADV
app01-9504	27	49	referred	refer	VERB
app01-9504	27	50	to	to	ADP
app01-9504	27	51	as	as	ADP
app01-9504	27	52	rs	rs	ADJ
app01-9504	27	53	)	)	PUNCT
app01-9504	27	54	.	.	PUNCT
app01-9504	28	1	however	however	ADV
app01-9504	28	2	,	,	PUNCT
app01-9504	28	3	despite	despite	SCONJ
app01-9504	28	4	several	several	ADJ
app01-9504	28	5	decades	decade	NOUN
app01-9504	28	6	of	of	ADP
app01-9504	28	7	research	research	NOUN
app01-9504	28	8	and	and	CCONJ
app01-9504	28	9	development	development	NOUN
app01-9504	28	10	in	in	ADP
app01-9504	28	11	the	the	DET
app01-9504	28	12	field	field	NOUN
app01-9504	28	13	of	of	ADP
app01-9504	28	14	active	active	ADJ
app01-9504	28	15	elements	element	NOUN
app01-9504	28	16	applied	apply	VERB
app01-9504	28	17	to	to	ADP
app01-9504	28	18	rolling	roll	VERB
app01-9504	28	19	stock	stock	NOUN
app01-9504	28	20	running	running	NOUN
app01-9504	28	21	gear	gear	NOUN
app01-9504	28	22	,	,	PUNCT
app01-9504	28	23	it	it	PRON
app01-9504	28	24	is	be	AUX
app01-9504	28	25	not	not	PART
app01-9504	28	26	possible	possible	ADJ
app01-9504	28	27	to	to	PART
app01-9504	28	28	claim	claim	VERB
app01-9504	28	29	that	that	SCONJ
app01-9504	28	30	their	their	PRON
app01-9504	28	31	use	use	NOUN
app01-9504	28	32	in	in	ADP
app01-9504	28	33	new	new	ADJ
app01-9504	28	34	rolling	rolling	ADJ
app01-9504	28	35	stock	stock	NOUN
app01-9504	28	36	running	running	NOUN
app01-9504	28	37	gear	gear	NOUN
app01-9504	28	38	is	be	AUX
app01-9504	28	39	more	more	ADV
app01-9504	28	40	widespread	widespread	ADJ
app01-9504	28	41	.	.	PUNCT
app01-9504	29	1	the	the	DET
app01-9504	29	2	second	second	ADJ
app01-9504	29	3	significant	significant	ADJ
app01-9504	29	4	development	development	NOUN
app01-9504	29	5	trend	trend	NOUN
app01-9504	29	6	in	in	ADP
app01-9504	29	7	rail	rail	NOUN
app01-9504	29	8	transport	transport	NOUN
app01-9504	29	9	,	,	PUNCT
app01-9504	29	10	and	and	CCONJ
app01-9504	29	11	again	again	ADV
app01-9504	29	12	especially	especially	ADV
app01-9504	29	13	in	in	ADP
app01-9504	29	14	urban	urban	ADJ
app01-9504	29	15	rs	rs	NOUN
app01-9504	29	16	,	,	PUNCT
app01-9504	29	17	is	be	AUX
app01-9504	29	18	the	the	DET
app01-9504	29	19	development	development	NOUN
app01-9504	29	20	of	of	ADP
app01-9504	29	21	autonomous	autonomous	ADJ
app01-9504	29	22	vehicles	vehicle	NOUN
app01-9504	29	23	and	and	CCONJ
app01-9504	29	24	their	their	PRON
app01-9504	29	25	gradual	gradual	ADJ
app01-9504	29	26	deployment	deployment	NOUN
app01-9504	29	27	in	in	ADP
app01-9504	29	28	operation	operation	NOUN
app01-9504	29	29	.	.	PUNCT
app01-9504	30	1	currently	currently	ADV
app01-9504	30	2	,	,	PUNCT
app01-9504	30	3	fully	fully	ADV
app01-9504	30	4	autonomous	autonomous	ADJ
app01-9504	30	5	metro	metro	NOUN
app01-9504	30	6	vehicles	vehicle	NOUN
app01-9504	30	7	are	be	AUX
app01-9504	30	8	already	already	ADV
app01-9504	30	9	routinely	routinely	ADV
app01-9504	30	10	deployed	deploy	VERB
app01-9504	30	11	.	.	PUNCT
app01-9504	31	1	moreover	moreover	ADV
app01-9504	31	2	,	,	PUNCT
app01-9504	31	3	partial	partial	ADJ
app01-9504	31	4	systems	system	NOUN
app01-9504	31	5	leading	lead	VERB
app01-9504	31	6	to	to	ADP
app01-9504	31	7	future	future	ADJ
app01-9504	31	8	fully	fully	ADV
app01-9504	31	9	autonomous	autonomous	ADJ
app01-9504	31	10	driving	driving	NOUN
app01-9504	31	11	for	for	ADP
app01-9504	31	12	trams	tram	NOUN
app01-9504	31	13	are	be	AUX
app01-9504	31	14	developed	develop	VERB
app01-9504	31	15	and	and	CCONJ
app01-9504	31	16	tested	test	VERB
app01-9504	31	17	in	in	ADP
app01-9504	31	18	operation	operation	NOUN
app01-9504	31	19	.	.	PUNCT
app01-9504	32	1	an	an	DET
app01-9504	32	2	example	example	NOUN
app01-9504	32	3	of	of	ADP
app01-9504	32	4	such	such	DET
app01-9504	32	5	a	a	DET
app01-9504	32	6	subsystem	subsystem	NOUN
app01-9504	32	7	for	for	ADP
app01-9504	32	8	autonomous	autonomous	ADJ
app01-9504	32	9	tram	tram	PROPN
app01-9504	32	10	driving	driving	NOUN
app01-9504	32	11	is	be	AUX
app01-9504	32	12	the	the	DET
app01-9504	32	13	deployment	deployment	NOUN
app01-9504	32	14	of	of	ADP
app01-9504	32	15	an	an	DET
app01-9504	32	16	anti	anti	ADJ
app01-9504	32	17	-	-	ADJ
app01-9504	32	18	collision	collision	ADJ
app01-9504	32	19	system	system	NOUN
app01-9504	32	20	(	(	PUNCT
app01-9504	32	21	acs	acs	PROPN
app01-9504	32	22	)	)	PUNCT
app01-9504	32	23	on	on	ADP
app01-9504	32	24	current	current	ADJ
app01-9504	32	25	tram	tram	PROPN
app01-9504	32	26	vehicles	vehicle	NOUN
app01-9504	32	27	to	to	PART
app01-9504	32	28	improve	improve	VERB
app01-9504	32	29	operational	operational	ADJ
app01-9504	32	30	safety	safety	NOUN
app01-9504	32	31	.	.	PUNCT
app01-9504	33	1	a	a	DET
app01-9504	33	2	number	number	NOUN
app01-9504	33	3	of	of	ADP
app01-9504	33	4	synergies	synergy	NOUN
app01-9504	33	5	can	can	AUX
app01-9504	33	6	be	be	AUX
app01-9504	33	7	found	find	VERB
app01-9504	33	8	between	between	ADP
app01-9504	33	9	these	these	DET
app01-9504	33	10	two	two	NUM
app01-9504	33	11	development	development	NOUN
app01-9504	33	12	trends	trend	NOUN
app01-9504	33	13	,	,	PUNCT
app01-9504	33	14	both	both	CCONJ
app01-9504	33	15	in	in	ADP
app01-9504	33	16	terms	term	NOUN
app01-9504	33	17	of	of	ADP
app01-9504	33	18	the	the	DET
app01-9504	33	19	interconnection	interconnection	NOUN
app01-9504	33	20	of	of	ADP
app01-9504	33	21	the	the	DET
app01-9504	33	22	vehicle	vehicle	NOUN
app01-9504	33	23	control	control	NOUN
app01-9504	33	24	itself	itself	PRON
app01-9504	33	25	and	and	CCONJ
app01-9504	33	26	therefore	therefore	ADV
app01-9504	33	27	the	the	DET
app01-9504	33	28	active	active	ADJ
app01-9504	33	29	elements	element	NOUN
app01-9504	33	30	,	,	PUNCT
app01-9504	33	31	and	and	CCONJ
app01-9504	33	32	in	in	ADP
app01-9504	33	33	terms	term	NOUN
app01-9504	33	34	of	of	ADP
app01-9504	33	35	the	the	DET
app01-9504	33	36	sensors	sensor	NOUN
app01-9504	33	37	that	that	PRON
app01-9504	33	38	provide	provide	VERB
app01-9504	33	39	the	the	DET
app01-9504	33	40	input	input	NOUN
app01-9504	33	41	variables	variable	NOUN
app01-9504	33	42	for	for	ADP
app01-9504	33	43	the	the	DET
app01-9504	33	44	control	control	NOUN
app01-9504	33	45	algorithm	algorithm	NOUN
app01-9504	33	46	of	of	ADP
app01-9504	33	47	the	the	DET
app01-9504	33	48	active	active	ADJ
app01-9504	33	49	element	element	NOUN
app01-9504	33	50	in	in	ADP
app01-9504	33	51	the	the	DET
app01-9504	33	52	running	running	NOUN
app01-9504	33	53	gear	gear	NOUN
app01-9504	33	54	and	and	CCONJ
app01-9504	33	55	the	the	DET
app01-9504	33	56	vehicle	vehicle	NOUN
app01-9504	33	57	as	as	ADP
app01-9504	33	58	a	a	DET
app01-9504	33	59	whole	whole	NOUN
app01-9504	33	60	.	.	PUNCT
app01-9504	34	1	the	the	DET
app01-9504	34	2	aim	aim	NOUN
app01-9504	34	3	of	of	ADP
app01-9504	34	4	the	the	DET
app01-9504	34	5	article	article	NOUN
app01-9504	34	6	is	be	AUX
app01-9504	34	7	to	to	PART
app01-9504	34	8	briefly	briefly	ADV
app01-9504	34	9	introduce	introduce	VERB
app01-9504	34	10	the	the	DET
app01-9504	34	11	figure	figure	NOUN
app01-9504	34	12	3	3	X
app01-9504	34	13	.	.	PUNCT
app01-9504	34	14	electro	electro	NOUN
app01-9504	34	15	-	-	PUNCT
app01-9504	34	16	hydraulic	hydraulic	NOUN
app01-9504	34	17	actuator	actuator	NOUN
app01-9504	34	18	.	.	PUNCT
app01-9504	35	1	reader	reader	NOUN
app01-9504	35	2	to	to	ADP
app01-9504	35	3	the	the	DET
app01-9504	35	4	possibilities	possibility	NOUN
app01-9504	35	5	of	of	ADP
app01-9504	35	6	using	use	VERB
app01-9504	35	7	active	active	ADJ
app01-9504	35	8	elements	element	NOUN
app01-9504	35	9	in	in	ADP
app01-9504	35	10	the	the	DET
app01-9504	35	11	rs	rs	ADJ
app01-9504	35	12	running	running	NOUN
app01-9504	35	13	gear	gear	NOUN
app01-9504	35	14	.	.	PUNCT
app01-9504	36	1	the	the	DET
app01-9504	36	2	paper	paper	NOUN
app01-9504	36	3	also	also	ADV
app01-9504	36	4	describes	describe	VERB
app01-9504	36	5	the	the	DET
app01-9504	36	6	proposed	propose	VERB
app01-9504	36	7	concept	concept	NOUN
app01-9504	36	8	of	of	ADP
app01-9504	36	9	an	an	DET
app01-9504	36	10	active	active	ADJ
app01-9504	36	11	element	element	NOUN
app01-9504	36	12	in	in	ADP
app01-9504	36	13	the	the	DET
app01-9504	36	14	tram	tram	PROPN
app01-9504	36	15	vehicle	vehicle	NOUN
app01-9504	36	16	running	running	NOUN
app01-9504	36	17	gear	gear	NOUN
app01-9504	36	18	for	for	ADP
app01-9504	36	19	the	the	DET
app01-9504	36	20	purpose	purpose	NOUN
app01-9504	36	21	of	of	ADP
app01-9504	36	22	turning	turn	VERB
app01-9504	36	23	the	the	DET
app01-9504	36	24	wheelset	wheelset	NOUN
app01-9504	36	25	into	into	ADP
app01-9504	36	26	a	a	DET
app01-9504	36	27	curve	curve	NOUN
app01-9504	36	28	and	and	CCONJ
app01-9504	36	29	its	its	PRON
app01-9504	36	30	control	control	NOUN
app01-9504	36	31	.	.	PUNCT
app01-9504	37	1	the	the	DET
app01-9504	37	2	proposed	propose	VERB
app01-9504	37	3	concept	concept	NOUN
app01-9504	37	4	emphasizes	emphasize	VERB
app01-9504	37	5	on	on	ADP
app01-9504	37	6	trying	try	VERB
app01-9504	37	7	to	to	PART
app01-9504	37	8	solve	solve	VERB
app01-9504	37	9	some	some	DET
app01-9504	37	10	basic	basic	ADJ
app01-9504	37	11	issues	issue	NOUN
app01-9504	37	12	of	of	ADP
app01-9504	37	13	the	the	DET
app01-9504	37	14	application	application	NOUN
app01-9504	37	15	of	of	ADP
app01-9504	37	16	active	active	ADJ
app01-9504	37	17	elements	element	NOUN
app01-9504	37	18	in	in	ADP
app01-9504	37	19	the	the	DET
app01-9504	37	20	rs	rs	ADJ
app01-9504	37	21	running	running	NOUN
app01-9504	37	22	gear	gear	NOUN
app01-9504	37	23	,	,	PUNCT
app01-9504	37	24	such	such	ADJ
app01-9504	37	25	as	as	ADP
app01-9504	37	26	cost	cost	NOUN
app01-9504	37	27	or	or	CCONJ
app01-9504	37	28	safety	safety	NOUN
app01-9504	37	29	,	,	PUNCT
app01-9504	37	30	by	by	ADP
app01-9504	37	31	linking	link	VERB
app01-9504	37	32	the	the	DET
app01-9504	37	33	control	control	NOUN
app01-9504	37	34	of	of	ADP
app01-9504	37	35	the	the	DET
app01-9504	37	36	active	active	ADJ
app01-9504	37	37	element	element	NOUN
app01-9504	37	38	with	with	ADP
app01-9504	37	39	the	the	DET
app01-9504	37	40	sub	sub	NOUN
app01-9504	37	41	-	-	NOUN
app01-9504	37	42	systems	system	NOUN
app01-9504	37	43	of	of	ADP
app01-9504	37	44	the	the	DET
app01-9504	37	45	autonomous	autonomous	ADJ
app01-9504	37	46	control	control	NOUN
app01-9504	37	47	of	of	ADP
app01-9504	37	48	the	the	DET
app01-9504	37	49	tram	tram	PROPN
app01-9504	37	50	vehicle	vehicle	NOUN
app01-9504	37	51	.	.	PUNCT
app01-9504	38	1	this	this	DET
app01-9504	38	2	linking	linking	NOUN
app01-9504	38	3	can	can	AUX
app01-9504	38	4	lead	lead	VERB
app01-9504	38	5	to	to	ADP
app01-9504	38	6	a	a	DET
app01-9504	38	7	reduction	reduction	NOUN
app01-9504	38	8	in	in	ADP
app01-9504	38	9	the	the	DET
app01-9504	38	10	cost	cost	NOUN
app01-9504	38	11	of	of	ADP
app01-9504	38	12	the	the	DET
app01-9504	38	13	active	active	ADJ
app01-9504	38	14	element	element	NOUN
app01-9504	38	15	application	application	NOUN
app01-9504	38	16	due	due	ADP
app01-9504	38	17	to	to	ADP
app01-9504	38	18	the	the	DET
app01-9504	38	19	use	use	NOUN
app01-9504	38	20	of	of	ADP
app01-9504	38	21	sensors	sensor	NOUN
app01-9504	38	22	that	that	PRON
app01-9504	38	23	are	be	AUX
app01-9504	38	24	primarily	primarily	ADV
app01-9504	38	25	placed	place	VERB
app01-9504	38	26	on	on	ADP
app01-9504	38	27	the	the	DET
app01-9504	38	28	vehicle	vehicle	NOUN
app01-9504	38	29	for	for	ADP
app01-9504	38	30	other	other	ADJ
app01-9504	38	31	purposes	purpose	NOUN
app01-9504	38	32	,	,	PUNCT
app01-9504	38	33	and	and	CCONJ
app01-9504	38	34	to	to	ADP
app01-9504	38	35	an	an	DET
app01-9504	38	36	increase	increase	NOUN
app01-9504	38	37	the	the	DET
app01-9504	38	38	safety	safety	NOUN
app01-9504	38	39	of	of	ADP
app01-9504	38	40	the	the	DET
app01-9504	38	41	control	control	NOUN
app01-9504	38	42	by	by	ADP
app01-9504	38	43	verifying	verify	VERB
app01-9504	38	44	the	the	DET
app01-9504	38	45	input	input	NOUN
app01-9504	38	46	variables	variable	NOUN
app01-9504	38	47	by	by	ADP
app01-9504	38	48	two	two	NUM
app01-9504	38	49	independent	independent	ADJ
app01-9504	38	50	sources	source	NOUN
app01-9504	38	51	.	.	PUNCT
app01-9504	39	1	2	2	X
app01-9504	39	2	.	.	X
app01-9504	39	3	active	active	ADJ
app01-9504	39	4	elements	element	NOUN
app01-9504	39	5	in	in	ADP
app01-9504	39	6	rs	rs	ADJ
app01-9504	39	7	running	running	NOUN
app01-9504	39	8	gear	gear	NOUN
app01-9504	39	9	the	the	DET
app01-9504	39	10	active	active	ADJ
app01-9504	39	11	element	element	NOUN
app01-9504	39	12	(	(	PUNCT
app01-9504	39	13	actuator	actuator	NOUN
app01-9504	39	14	)	)	PUNCT
app01-9504	39	15	is	be	AUX
app01-9504	39	16	a	a	DET
app01-9504	39	17	force	force	NOUN
app01-9504	39	18	element	element	NOUN
app01-9504	39	19	used	use	VERB
app01-9504	39	20	in	in	ADP
app01-9504	39	21	the	the	DET
app01-9504	39	22	construction	construction	NOUN
app01-9504	39	23	of	of	ADP
app01-9504	39	24	the	the	DET
app01-9504	39	25	rolling	rolling	ADJ
app01-9504	39	26	stock	stock	NOUN
app01-9504	39	27	,	,	PUNCT
app01-9504	39	28	with	with	ADP
app01-9504	39	29	the	the	DET
app01-9504	39	30	help	help	NOUN
app01-9504	39	31	of	of	ADP
app01-9504	39	32	which	which	PRON
app01-9504	39	33	we	we	PRON
app01-9504	39	34	can	can	AUX
app01-9504	39	35	actively	actively	ADV
app01-9504	39	36	influence	influence	VERB
app01-9504	39	37	the	the	DET
app01-9504	39	38	driving	driving	NOUN
app01-9504	39	39	and	and	CCONJ
app01-9504	39	40	force	force	NOUN
app01-9504	39	41	effects	effect	NOUN
app01-9504	39	42	of	of	ADP
app01-9504	39	43	the	the	DET
app01-9504	39	44	rolling	rolling	ADJ
app01-9504	39	45	stock	stock	NOUN
app01-9504	39	46	in	in	ADP
app01-9504	39	47	interaction	interaction	NOUN
app01-9504	39	48	with	with	ADP
app01-9504	39	49	the	the	DET
app01-9504	39	50	track	track	NOUN
app01-9504	39	51	.	.	PUNCT
app01-9504	40	1	an	an	DET
app01-9504	40	2	example	example	NOUN
app01-9504	40	3	of	of	ADP
app01-9504	40	4	an	an	DET
app01-9504	40	5	electro	electro	NOUN
app01-9504	40	6	-	-	PUNCT
app01-9504	40	7	hydraulic	hydraulic	NOUN
app01-9504	40	8	actuator	actuator	NOUN
app01-9504	40	9	is	be	AUX
app01-9504	40	10	shown	show	VERB
app01-9504	40	11	in	in	ADP
app01-9504	40	12	figure	figure	NOUN
app01-9504	40	13	3	3	NUM
app01-9504	40	14	.	.	NOUN
app01-9504	40	15	2.1	2.1	NUM
app01-9504	40	16	.	.	PUNCT
app01-9504	41	1	the	the	DET
app01-9504	41	2	collision	collision	PROPN
app01-9504	41	3	scenario	scenario	NOUN
app01-9504	41	4	:	:	PUNCT
app01-9504	41	5	the	the	DET
app01-9504	41	6	frontal	frontal	ADJ
app01-9504	41	7	impact	impact	NOUN
app01-9504	41	8	of	of	ADP
app01-9504	41	9	two	two	NUM
app01-9504	41	10	identical	identical	ADJ
app01-9504	41	11	trams	tram	NOUN
app01-9504	41	12	the	the	DET
app01-9504	41	13	classification	classification	NOUN
app01-9504	41	14	of	of	ADP
app01-9504	41	15	the	the	DET
app01-9504	41	16	use	use	NOUN
app01-9504	41	17	of	of	ADP
app01-9504	41	18	active	active	ADJ
app01-9504	41	19	elements	element	NOUN
app01-9504	41	20	can	can	AUX
app01-9504	41	21	best	well	ADV
app01-9504	41	22	be	be	AUX
app01-9504	41	23	made	make	VERB
app01-9504	41	24	according	accord	VERB
app01-9504	41	25	to	to	ADP
app01-9504	41	26	their	their	PRON
app01-9504	41	27	location	location	NOUN
app01-9504	41	28	in	in	ADP
app01-9504	41	29	the	the	DET
app01-9504	41	30	running	run	VERB
app01-9504	41	31	gear	gear	NOUN
app01-9504	41	32	of	of	ADP
app01-9504	41	33	the	the	DET
app01-9504	41	34	rolling	rolling	ADJ
app01-9504	41	35	stock	stock	NOUN
app01-9504	41	36	into	into	ADP
app01-9504	41	37	active	active	ADJ
app01-9504	41	38	elements	element	NOUN
app01-9504	41	39	used	use	VERB
app01-9504	41	40	in	in	ADP
app01-9504	41	41	secondary	secondary	ADJ
app01-9504	41	42	suspension	suspension	NOUN
app01-9504	41	43	and	and	CCONJ
app01-9504	41	44	in	in	ADP
app01-9504	41	45	primary	primary	ADJ
app01-9504	41	46	suspension	suspension	NOUN
app01-9504	41	47	.	.	PUNCT
app01-9504	42	1	as	as	ADP
app01-9504	42	2	a	a	DET
app01-9504	42	3	special	special	ADJ
app01-9504	42	4	subcategory	subcategory	NOUN
app01-9504	42	5	of	of	ADP
app01-9504	42	6	elements	element	NOUN
app01-9504	42	7	in	in	ADP
app01-9504	42	8	secondary	secondary	ADJ
app01-9504	42	9	suspension	suspension	NOUN
app01-9504	42	10	,	,	PUNCT
app01-9504	42	11	it	it	PRON
app01-9504	42	12	is	be	AUX
app01-9504	42	13	possible	possible	ADJ
app01-9504	42	14	to	to	PART
app01-9504	42	15	classify	classify	VERB
app01-9504	42	16	active	active	ADJ
app01-9504	42	17	elements	element	NOUN
app01-9504	42	18	used	use	VERB
app01-9504	42	19	to	to	PART
app01-9504	42	20	tilt	tilt	VERB
app01-9504	42	21	the	the	DET
app01-9504	42	22	carbody	carbody	NOUN
app01-9504	42	23	or	or	CCONJ
app01-9504	42	24	the	the	DET
app01-9504	42	25	concept	concept	NOUN
app01-9504	42	26	of	of	ADP
app01-9504	42	27	placing	place	VERB
app01-9504	42	28	active	active	ADJ
app01-9504	42	29	elements	element	NOUN
app01-9504	42	30	between	between	ADP
app01-9504	42	31	the	the	DET
app01-9504	42	32	carbodies	carbodie	NOUN
app01-9504	42	33	of	of	ADP
app01-9504	42	34	a	a	DET
app01-9504	42	35	multiple	multiple	ADJ
app01-9504	42	36	unit	unit	NOUN
app01-9504	42	37	train	train	NOUN
app01-9504	42	38	or	or	CCONJ
app01-9504	42	39	articulated	articulated	ADJ
app01-9504	42	40	tram	tram	NOUN
app01-9504	42	41	in	in	ADP
app01-9504	42	42	the	the	DET
app01-9504	42	43	vertical	vertical	ADJ
app01-9504	42	44	or	or	CCONJ
app01-9504	42	45	lateral	lateral	ADJ
app01-9504	42	46	direction	direction	NOUN
app01-9504	42	47	.	.	PUNCT
app01-9504	43	1	2.1.1	2.1.1	X
app01-9504	43	2	.	.	PUNCT
app01-9504	43	3	classification	classification	NOUN
app01-9504	43	4	by	by	ADP
app01-9504	43	5	purpose	purpose	NOUN
app01-9504	43	6	of	of	ADP
app01-9504	43	7	use	use	NOUN
app01-9504	43	8	a	a	DET
app01-9504	43	9	different	different	ADJ
app01-9504	43	10	approach	approach	NOUN
app01-9504	43	11	to	to	ADP
app01-9504	43	12	the	the	DET
app01-9504	43	13	classification	classification	NOUN
app01-9504	43	14	of	of	ADP
app01-9504	43	15	active	active	ADJ
app01-9504	43	16	elements	element	NOUN
app01-9504	43	17	is	be	AUX
app01-9504	43	18	presented	present	VERB
app01-9504	43	19	by	by	ADP
app01-9504	43	20	stichel	stichel	PROPN
app01-9504	43	21	et	et	PROPN
app01-9504	43	22	al	al	PROPN
app01-9504	43	23	.	.	PUNCT
app01-9504	44	1	[	[	X
app01-9504	44	2	4	4	X
app01-9504	44	3	]	]	PUNCT
app01-9504	44	4	according	accord	VERB
app01-9504	44	5	to	to	ADP
app01-9504	44	6	the	the	DET
app01-9504	44	7	purpose	purpose	NOUN
app01-9504	44	8	of	of	ADP
app01-9504	44	9	their	their	PRON
app01-9504	44	10	use	use	NOUN
app01-9504	44	11	.	.	PUNCT
app01-9504	45	1	thus	thus	ADV
app01-9504	45	2	,	,	PUNCT
app01-9504	45	3	active	active	ADJ
app01-9504	45	4	elements	element	NOUN
app01-9504	45	5	can	can	AUX
app01-9504	45	6	be	be	AUX
app01-9504	45	7	divided	divide	VERB
app01-9504	45	8	into	into	ADP
app01-9504	45	9	four	four	NUM
app01-9504	45	10	categories	category	NOUN
app01-9504	45	11	:	:	PUNCT
app01-9504	45	12	•	•	NUM
app01-9504	45	13	active	active	ADJ
app01-9504	45	14	elements	element	NOUN
app01-9504	45	15	isolating	isolate	VERB
app01-9504	45	16	the	the	DET
app01-9504	45	17	vehicle	vehicle	NOUN
app01-9504	45	18	body	body	NOUN
app01-9504	45	19	from	from	ADP
app01-9504	45	20	track	track	NOUN
app01-9504	45	21	irregularities	irregularity	NOUN
app01-9504	45	22	(	(	PUNCT
app01-9504	45	23	increasing	increase	VERB
app01-9504	45	24	ride	ride	NOUN
app01-9504	45	25	comfort	comfort	NOUN
app01-9504	45	26	)	)	PUNCT
app01-9504	45	27	,	,	PUNCT
app01-9504	45	28	118	118	NUM
app01-9504	45	29	vol	vol	NOUN
app01-9504	45	30	.	.	PUNCT
app01-9504	46	1	43/2023	43/2023	NUM
app01-9504	47	1	cooperation	cooperation	NOUN
app01-9504	47	2	of	of	ADP
app01-9504	47	3	active	active	ADJ
app01-9504	47	4	steering	steering	NOUN
app01-9504	47	5	control	control	NOUN
app01-9504	47	6	of	of	ADP
app01-9504	47	7	wheelsets	wheelset	NOUN
app01-9504	47	8	•	•	ADV
app01-9504	47	9	active	active	ADJ
app01-9504	47	10	elements	element	NOUN
app01-9504	47	11	controlling	control	VERB
app01-9504	47	12	the	the	DET
app01-9504	47	13	bogie	bogie	NOUN
app01-9504	47	14	kinematics	kinematic	NOUN
app01-9504	47	15	(	(	PUNCT
app01-9504	47	16	ensuring	ensure	VERB
app01-9504	47	17	the	the	DET
app01-9504	47	18	driving	drive	VERB
app01-9504	47	19	stability	stability	NOUN
app01-9504	47	20	)	)	PUNCT
app01-9504	47	21	,	,	PUNCT
app01-9504	47	22	•	•	ADP
app01-9504	47	23	active	active	ADJ
app01-9504	47	24	elements	element	NOUN
app01-9504	47	25	steering	steer	VERB
app01-9504	47	26	and	and	CCONJ
app01-9504	47	27	guiding	guide	VERB
app01-9504	47	28	the	the	DET
app01-9504	47	29	wheelset	wheelset	PROPN
app01-9504	47	30	(	(	PUNCT
app01-9504	47	31	radial	radial	ADJ
app01-9504	47	32	positioning	positioning	NOUN
app01-9504	47	33	of	of	ADP
app01-9504	47	34	the	the	DET
app01-9504	47	35	wheelset	wheelset	NOUN
app01-9504	47	36	)	)	PUNCT
app01-9504	47	37	,	,	PUNCT
app01-9504	47	38	•	•	ADP
app01-9504	47	39	active	active	ADJ
app01-9504	47	40	elements	element	NOUN
app01-9504	47	41	for	for	ADP
app01-9504	47	42	other	other	ADJ
app01-9504	47	43	special	special	ADJ
app01-9504	47	44	purposes	purpose	NOUN
app01-9504	47	45	(	(	PUNCT
app01-9504	47	46	tilting	tilting	NOUN
app01-9504	47	47	of	of	ADP
app01-9504	47	48	the	the	DET
app01-9504	47	49	carbody	carbody	NOUN
app01-9504	47	50	,	,	PUNCT
app01-9504	47	51	more	more	ADV
app01-9504	47	52	even	even	ADV
app01-9504	47	53	loading	loading	NOUN
app01-9504	47	54	of	of	ADP
app01-9504	47	55	the	the	DET
app01-9504	47	56	bogies	bogie	NOUN
app01-9504	47	57	,	,	PUNCT
app01-9504	47	58	leveling	leveling	NOUN
app01-9504	47	59	of	of	ADP
app01-9504	47	60	the	the	DET
app01-9504	47	61	floor	floor	NOUN
app01-9504	47	62	height	height	NOUN
app01-9504	47	63	in	in	ADP
app01-9504	47	64	relation	relation	NOUN
app01-9504	47	65	to	to	ADP
app01-9504	47	66	the	the	DET
app01-9504	47	67	platform	platform	NOUN
app01-9504	47	68	,	,	PUNCT
app01-9504	47	69	...	...	PUNCT
app01-9504	47	70	)	)	PUNCT
app01-9504	47	71	.	.	PUNCT
app01-9504	48	1	2.1.2	2.1.2	X
app01-9504	48	2	.	.	X
app01-9504	48	3	classification	classification	NOUN
app01-9504	48	4	by	by	ADP
app01-9504	48	5	source	source	NOUN
app01-9504	48	6	of	of	ADP
app01-9504	48	7	force	force	NOUN
app01-9504	48	8	actuators	actuator	NOUN
app01-9504	48	9	can	can	AUX
app01-9504	48	10	also	also	ADV
app01-9504	48	11	be	be	AUX
app01-9504	48	12	divided	divide	VERB
app01-9504	48	13	into	into	ADP
app01-9504	48	14	pneumatic	pneumatic	ADJ
app01-9504	48	15	,	,	PUNCT
app01-9504	48	16	hydraulic	hydraulic	ADJ
app01-9504	48	17	,	,	PUNCT
app01-9504	48	18	electro	electro	NOUN
app01-9504	48	19	-	-	PUNCT
app01-9504	48	20	hydraulic	hydraulic	ADJ
app01-9504	48	21	or	or	CCONJ
app01-9504	48	22	electric	electric	ADJ
app01-9504	48	23	actuators	actuator	NOUN
app01-9504	48	24	in	in	ADP
app01-9504	48	25	terms	term	NOUN
app01-9504	48	26	of	of	ADP
app01-9504	48	27	the	the	DET
app01-9504	48	28	initial	initial	ADJ
app01-9504	48	29	source	source	NOUN
app01-9504	48	30	of	of	ADP
app01-9504	48	31	force	force	NOUN
app01-9504	48	32	they	they	PRON
app01-9504	48	33	exert	exert	VERB
app01-9504	48	34	.	.	PUNCT
app01-9504	49	1	information	information	NOUN
app01-9504	49	2	regarding	regard	VERB
app01-9504	49	3	their	their	PRON
app01-9504	49	4	characteristics	characteristic	NOUN
app01-9504	49	5	or	or	CCONJ
app01-9504	49	6	technical	technical	ADJ
app01-9504	49	7	maturity	maturity	NOUN
app01-9504	49	8	can	can	AUX
app01-9504	49	9	be	be	AUX
app01-9504	49	10	advantageously	advantageously	ADV
app01-9504	49	11	drawn	draw	VERB
app01-9504	49	12	from	from	ADP
app01-9504	49	13	the	the	DET
app01-9504	49	14	field	field	NOUN
app01-9504	49	15	of	of	ADP
app01-9504	49	16	civil	civil	ADJ
app01-9504	49	17	aviation	aviation	NOUN
app01-9504	49	18	,	,	PUNCT
app01-9504	49	19	where	where	SCONJ
app01-9504	49	20	the	the	DET
app01-9504	49	21	use	use	NOUN
app01-9504	49	22	of	of	ADP
app01-9504	49	23	actuators	actuator	NOUN
app01-9504	49	24	is	be	AUX
app01-9504	49	25	much	much	ADV
app01-9504	49	26	more	more	ADV
app01-9504	49	27	widespread	widespread	ADJ
app01-9504	49	28	and	and	CCONJ
app01-9504	49	29	where	where	SCONJ
app01-9504	49	30	the	the	DET
app01-9504	49	31	use	use	NOUN
app01-9504	49	32	of	of	ADP
app01-9504	49	33	hydraulic	hydraulic	ADJ
app01-9504	49	34	and	and	CCONJ
app01-9504	49	35	electrohydraulic	electrohydraulic	NOUN
app01-9504	49	36	actuators	actuator	NOUN
app01-9504	49	37	is	be	AUX
app01-9504	49	38	still	still	ADV
app01-9504	49	39	predominant	predominant	ADJ
app01-9504	49	40	.	.	PUNCT
app01-9504	50	1	however	however	ADV
app01-9504	50	2	,	,	PUNCT
app01-9504	50	3	the	the	DET
app01-9504	50	4	electro	electro	ADJ
app01-9504	50	5	-	-	PUNCT
app01-9504	50	6	mechanical	mechanical	ADJ
app01-9504	50	7	actuator	actuator	NOUN
app01-9504	50	8	is	be	AUX
app01-9504	50	9	increasingly	increasingly	ADV
app01-9504	50	10	being	be	AUX
app01-9504	50	11	used	use	VERB
app01-9504	50	12	because	because	SCONJ
app01-9504	50	13	of	of	ADP
app01-9504	50	14	its	its	PRON
app01-9504	50	15	good	good	ADJ
app01-9504	50	16	characteristics	characteristic	NOUN
app01-9504	50	17	[	[	X
app01-9504	50	18	5	5	NUM
app01-9504	50	19	]	]	PUNCT
app01-9504	50	20	.	.	PUNCT
app01-9504	51	1	hydraulic	hydraulic	ADJ
app01-9504	51	2	actuators	actuator	NOUN
app01-9504	51	3	are	be	AUX
app01-9504	51	4	very	very	ADV
app01-9504	51	5	often	often	ADV
app01-9504	51	6	used	use	VERB
app01-9504	51	7	in	in	ADP
app01-9504	51	8	aviation	aviation	NOUN
app01-9504	51	9	due	due	ADP
app01-9504	51	10	to	to	ADP
app01-9504	51	11	their	their	PRON
app01-9504	51	12	technical	technical	ADJ
app01-9504	51	13	maturity	maturity	NOUN
app01-9504	51	14	,	,	PUNCT
app01-9504	51	15	high	high	ADJ
app01-9504	51	16	power	power	NOUN
app01-9504	51	17	density	density	NOUN
app01-9504	51	18	or	or	CCONJ
app01-9504	51	19	good	good	ADJ
app01-9504	51	20	safety	safety	NOUN
app01-9504	51	21	in	in	ADP
app01-9504	51	22	case	case	NOUN
app01-9504	51	23	of	of	ADP
app01-9504	51	24	failure	failure	NOUN
app01-9504	51	25	.	.	PUNCT
app01-9504	52	1	usually	usually	ADV
app01-9504	52	2	,	,	PUNCT
app01-9504	52	3	actuators	actuator	NOUN
app01-9504	52	4	are	be	AUX
app01-9504	52	5	powered	power	VERB
app01-9504	52	6	from	from	ADP
app01-9504	52	7	one	one	NUM
app01-9504	52	8	central	central	ADJ
app01-9504	52	9	pump	pump	NOUN
app01-9504	52	10	producing	produce	VERB
app01-9504	52	11	a	a	DET
app01-9504	52	12	constant	constant	ADJ
app01-9504	52	13	oil	oil	NOUN
app01-9504	52	14	pressure	pressure	NOUN
app01-9504	52	15	and	and	CCONJ
app01-9504	52	16	controlling	control	VERB
app01-9504	52	17	the	the	DET
app01-9504	52	18	oil	oil	NOUN
app01-9504	52	19	flow	flow	NOUN
app01-9504	52	20	by	by	ADP
app01-9504	52	21	means	mean	NOUN
app01-9504	52	22	of	of	ADP
app01-9504	52	23	servo	servo	NOUN
app01-9504	52	24	valves	valve	NOUN
app01-9504	52	25	(	(	PUNCT
app01-9504	52	26	the	the	DET
app01-9504	52	27	so	so	ADV
app01-9504	52	28	-	-	PUNCT
app01-9504	52	29	called	call	VERB
app01-9504	52	30	“	"	PUNCT
app01-9504	52	31	fly	fly	NOUN
app01-9504	52	32	by	by	ADP
app01-9504	52	33	wire	wire	NOUN
app01-9504	52	34	”	"	PUNCT
app01-9504	52	35	concept	concept	NOUN
app01-9504	52	36	)	)	PUNCT
app01-9504	53	1	[	[	X
app01-9504	53	2	5	5	NUM
app01-9504	53	3	]	]	PUNCT
app01-9504	53	4	.	.	PUNCT
app01-9504	54	1	another	another	DET
app01-9504	54	2	frequently	frequently	ADV
app01-9504	54	3	used	use	VERB
app01-9504	54	4	actuators	actuator	NOUN
app01-9504	54	5	are	be	AUX
app01-9504	54	6	electrohydraulic	electrohydraulic	NOUN
app01-9504	54	7	actuators	actuator	NOUN
app01-9504	54	8	,	,	PUNCT
app01-9504	54	9	which	which	PRON
app01-9504	54	10	operate	operate	VERB
app01-9504	54	11	according	accord	VERB
app01-9504	54	12	to	to	ADP
app01-9504	54	13	the	the	DET
app01-9504	54	14	“	"	PUNCT
app01-9504	54	15	power	power	NOUN
app01-9504	54	16	by	by	ADP
app01-9504	54	17	wire	wire	NOUN
app01-9504	54	18	”	"	PUNCT
app01-9504	54	19	concept	concept	NOUN
app01-9504	54	20	,	,	PUNCT
app01-9504	54	21	where	where	SCONJ
app01-9504	54	22	each	each	DET
app01-9504	54	23	actuator	actuator	NOUN
app01-9504	54	24	has	have	VERB
app01-9504	54	25	its	its	PRON
app01-9504	54	26	own	own	ADJ
app01-9504	54	27	servo	servo	NOUN
app01-9504	54	28	motor	motor	NOUN
app01-9504	54	29	controlling	control	VERB
app01-9504	54	30	a	a	DET
app01-9504	54	31	pump	pump	NOUN
app01-9504	54	32	that	that	PRON
app01-9504	54	33	produces	produce	VERB
app01-9504	54	34	pressure	pressure	NOUN
app01-9504	54	35	and	and	CCONJ
app01-9504	54	36	fluid	fluid	ADJ
app01-9504	54	37	flow	flow	NOUN
app01-9504	54	38	according	accord	VERB
app01-9504	54	39	to	to	ADP
app01-9504	54	40	the	the	DET
app01-9504	54	41	current	current	ADJ
app01-9504	54	42	need	need	NOUN
app01-9504	54	43	.	.	PUNCT
app01-9504	55	1	this	this	DET
app01-9504	55	2	solution	solution	NOUN
app01-9504	55	3	brings	bring	VERB
app01-9504	55	4	weight	weight	NOUN
app01-9504	55	5	reduction	reduction	NOUN
app01-9504	55	6	as	as	SCONJ
app01-9504	55	7	it	it	PRON
app01-9504	55	8	eliminates	eliminate	VERB
app01-9504	55	9	the	the	DET
app01-9504	55	10	need	need	NOUN
app01-9504	55	11	for	for	ADP
app01-9504	55	12	manifolds	manifold	NOUN
app01-9504	55	13	,	,	PUNCT
app01-9504	55	14	oil	oil	NOUN
app01-9504	55	15	reservoirs	reservoir	NOUN
app01-9504	55	16	or	or	CCONJ
app01-9504	55	17	valves	valve	NOUN
app01-9504	55	18	[	[	X
app01-9504	55	19	5	5	NUM
app01-9504	55	20	]	]	PUNCT
app01-9504	55	21	.	.	PUNCT
app01-9504	56	1	the	the	DET
app01-9504	56	2	electro	electro	ADJ
app01-9504	56	3	-	-	PUNCT
app01-9504	56	4	mechanical	mechanical	ADJ
app01-9504	56	5	actuator	actuator	NOUN
app01-9504	56	6	is	be	AUX
app01-9504	56	7	the	the	DET
app01-9504	56	8	least	least	ADJ
app01-9504	56	9	technically	technically	ADV
app01-9504	56	10	proven	prove	VERB
app01-9504	56	11	,	,	PUNCT
app01-9504	56	12	but	but	CCONJ
app01-9504	56	13	very	very	ADV
app01-9504	56	14	promising	promising	ADJ
app01-9504	56	15	for	for	ADP
app01-9504	56	16	future	future	ADJ
app01-9504	56	17	use	use	NOUN
app01-9504	56	18	.	.	PUNCT
app01-9504	57	1	this	this	DET
app01-9504	57	2	type	type	NOUN
app01-9504	57	3	of	of	ADP
app01-9504	57	4	actuator	actuator	NOUN
app01-9504	57	5	is	be	AUX
app01-9504	57	6	the	the	DET
app01-9504	57	7	best	well	ADV
app01-9504	57	8	controllable	controllable	ADJ
app01-9504	57	9	,	,	PUNCT
app01-9504	57	10	lightest	light	ADJ
app01-9504	57	11	,	,	PUNCT
app01-9504	57	12	least	least	ADV
app01-9504	57	13	demanding	demand	VERB
app01-9504	57	14	for	for	ADP
app01-9504	57	15	maintenance	maintenance	NOUN
app01-9504	57	16	,	,	PUNCT
app01-9504	57	17	but	but	CCONJ
app01-9504	57	18	it	it	PRON
app01-9504	57	19	can	can	AUX
app01-9504	57	20	cause	cause	VERB
app01-9504	57	21	mechanical	mechanical	ADJ
app01-9504	57	22	jamming	jamming	NOUN
app01-9504	57	23	if	if	SCONJ
app01-9504	57	24	the	the	DET
app01-9504	57	25	ball	ball	NOUN
app01-9504	57	26	screw	screw	VERB
app01-9504	57	27	malfunctions	malfunction	NOUN
app01-9504	57	28	.	.	PUNCT
app01-9504	58	1	this	this	DET
app01-9504	58	2	type	type	NOUN
app01-9504	58	3	of	of	ADP
app01-9504	58	4	actuator	actuator	NOUN
app01-9504	58	5	is	be	AUX
app01-9504	58	6	used	use	VERB
app01-9504	58	7	,	,	PUNCT
app01-9504	58	8	for	for	ADP
app01-9504	58	9	example	example	NOUN
app01-9504	58	10	,	,	PUNCT
app01-9504	58	11	in	in	ADP
app01-9504	58	12	electrical	electrical	ADJ
app01-9504	58	13	multiple	multiple	ADJ
app01-9504	58	14	units	unit	NOUN
app01-9504	58	15	for	for	ADP
app01-9504	58	16	carbody	carbody	NOUN
app01-9504	58	17	tilting	tilting	NOUN
app01-9504	59	1	[	[	X
app01-9504	59	2	5	5	NUM
app01-9504	59	3	]	]	PUNCT
app01-9504	59	4	.	.	PUNCT
app01-9504	60	1	the	the	DET
app01-9504	60	2	actuators	actuator	NOUN
app01-9504	60	3	presented	present	VERB
app01-9504	60	4	are	be	AUX
app01-9504	60	5	applied	apply	VERB
app01-9504	60	6	as	as	ADP
app01-9504	60	7	linear	linear	PROPN
app01-9504	60	8	actuators	actuator	NOUN
app01-9504	60	9	and	and	CCONJ
app01-9504	60	10	thus	thus	ADV
app01-9504	60	11	influence	influence	VERB
app01-9504	60	12	the	the	DET
app01-9504	60	13	behaviour	behaviour	NOUN
app01-9504	60	14	of	of	ADP
app01-9504	60	15	the	the	DET
app01-9504	60	16	vehicle	vehicle	NOUN
app01-9504	60	17	on	on	ADP
app01-9504	60	18	the	the	DET
app01-9504	60	19	track	track	NOUN
app01-9504	60	20	by	by	ADP
app01-9504	60	21	means	mean	NOUN
app01-9504	60	22	of	of	ADP
app01-9504	60	23	their	their	PRON
app01-9504	60	24	extension	extension	NOUN
app01-9504	60	25	.	.	PUNCT
app01-9504	61	1	a	a	DET
app01-9504	61	2	different	different	ADJ
app01-9504	61	3	approach	approach	NOUN
app01-9504	61	4	is	be	AUX
app01-9504	61	5	the	the	DET
app01-9504	61	6	torque	torque	NOUN
app01-9504	61	7	control	control	NOUN
app01-9504	61	8	of	of	ADP
app01-9504	61	9	traction	traction	PROPN
app01-9504	61	10	motors	motor	NOUN
app01-9504	61	11	that	that	PRON
app01-9504	61	12	drive	drive	VERB
app01-9504	61	13	independently	independently	ADV
app01-9504	61	14	rotating	rotate	VERB
app01-9504	61	15	wheels	wheel	NOUN
app01-9504	61	16	.	.	PUNCT
app01-9504	62	1	each	each	DET
app01-9504	62	2	traction	traction	NOUN
app01-9504	62	3	motor	motor	NOUN
app01-9504	62	4	is	be	AUX
app01-9504	62	5	thus	thus	ADV
app01-9504	62	6	individually	individually	ADV
app01-9504	62	7	controlled	control	VERB
app01-9504	62	8	by	by	ADP
app01-9504	62	9	its	its	PRON
app01-9504	62	10	own	own	ADJ
app01-9504	62	11	traction	traction	NOUN
app01-9504	62	12	converter	converter	NOUN
app01-9504	62	13	and	and	CCONJ
app01-9504	62	14	when	when	SCONJ
app01-9504	62	15	passing	pass	VERB
app01-9504	62	16	through	through	ADP
app01-9504	62	17	small	small	ADJ
app01-9504	62	18	radius	radius	NOUN
app01-9504	62	19	curves	curve	NOUN
app01-9504	62	20	,	,	PUNCT
app01-9504	62	21	the	the	DET
app01-9504	62	22	angular	angular	ADJ
app01-9504	62	23	velocity	velocity	NOUN
app01-9504	62	24	of	of	ADP
app01-9504	62	25	the	the	DET
app01-9504	62	26	outer	outer	ADJ
app01-9504	62	27	wheels	wheel	NOUN
app01-9504	62	28	is	be	AUX
app01-9504	62	29	increased	increase	VERB
app01-9504	62	30	in	in	ADP
app01-9504	62	31	the	the	DET
app01-9504	62	32	case	case	NOUN
app01-9504	62	33	of	of	ADP
app01-9504	62	34	irws	irws	ADJ
app01-9504	62	35	wheelsets	wheelset	NOUN
app01-9504	62	36	.	.	PUNCT
app01-9504	63	1	moreover	moreover	ADV
app01-9504	63	2	,	,	PUNCT
app01-9504	63	3	the	the	DET
app01-9504	63	4	wheels	wheel	NOUN
app01-9504	63	5	may	may	AUX
app01-9504	63	6	be	be	AUX
app01-9504	63	7	also	also	ADV
app01-9504	63	8	braked	brake	VERB
app01-9504	63	9	on	on	ADP
app01-9504	63	10	the	the	DET
app01-9504	63	11	inside	inside	NOUN
app01-9504	63	12	of	of	ADP
app01-9504	63	13	the	the	DET
app01-9504	63	14	curve	curve	NOUN
app01-9504	63	15	.	.	PUNCT
app01-9504	64	1	this	this	PRON
app01-9504	64	2	has	have	VERB
app01-9504	64	3	the	the	DET
app01-9504	64	4	effect	effect	NOUN
app01-9504	64	5	of	of	ADP
app01-9504	64	6	ensuring	ensure	VERB
app01-9504	64	7	the	the	DET
app01-9504	64	8	necessary	necessary	ADJ
app01-9504	64	9	difference	difference	NOUN
app01-9504	64	10	in	in	ADP
app01-9504	64	11	rolling	rolling	ADJ
app01-9504	64	12	distance	distance	NOUN
app01-9504	64	13	between	between	ADP
app01-9504	64	14	the	the	DET
app01-9504	64	15	inner	inner	ADJ
app01-9504	64	16	and	and	CCONJ
app01-9504	64	17	outer	outer	ADJ
app01-9504	64	18	wheels	wheel	NOUN
app01-9504	64	19	and	and	CCONJ
app01-9504	64	20	thus	thus	ADV
app01-9504	64	21	improving	improve	VERB
app01-9504	64	22	the	the	DET
app01-9504	64	23	passage	passage	NOUN
app01-9504	64	24	of	of	ADP
app01-9504	64	25	the	the	DET
app01-9504	64	26	rolling	rolling	ADJ
app01-9504	64	27	stock	stock	NOUN
app01-9504	64	28	through	through	ADP
app01-9504	64	29	the	the	DET
app01-9504	64	30	curve	curve	NOUN
app01-9504	64	31	.	.	PUNCT
app01-9504	65	1	in	in	ADP
app01-9504	65	2	this	this	DET
app01-9504	65	3	case	case	NOUN
app01-9504	65	4	,	,	PUNCT
app01-9504	65	5	the	the	DET
app01-9504	65	6	traction	traction	NOUN
app01-9504	65	7	motor	motor	NOUN
app01-9504	65	8	can	can	AUX
app01-9504	65	9	therefore	therefore	ADV
app01-9504	65	10	be	be	AUX
app01-9504	65	11	considered	consider	VERB
app01-9504	65	12	as	as	ADP
app01-9504	65	13	the	the	DET
app01-9504	65	14	active	active	ADJ
app01-9504	65	15	element	element	NOUN
app01-9504	65	16	.	.	PUNCT
app01-9504	66	1	2.1.3	2.1.3	X
app01-9504	66	2	.	.	PUNCT
app01-9504	66	3	classification	classification	NOUN
app01-9504	66	4	according	accord	VERB
app01-9504	66	5	to	to	ADP
app01-9504	66	6	the	the	DET
app01-9504	66	7	input	input	NOUN
app01-9504	66	8	variable	variable	NOUN
app01-9504	66	9	of	of	ADP
app01-9504	66	10	the	the	DET
app01-9504	66	11	active	active	ADJ
app01-9504	66	12	element	element	NOUN
app01-9504	66	13	control	control	NOUN
app01-9504	66	14	in	in	ADP
app01-9504	66	15	the	the	DET
app01-9504	66	16	past	past	ADJ
app01-9504	66	17	years	year	NOUN
app01-9504	66	18	,	,	PUNCT
app01-9504	66	19	many	many	ADJ
app01-9504	66	20	control	control	NOUN
app01-9504	66	21	algorithms	algorithm	NOUN
app01-9504	66	22	have	have	AUX
app01-9504	66	23	been	be	AUX
app01-9504	66	24	developed	develop	VERB
app01-9504	66	25	and	and	CCONJ
app01-9504	66	26	described	describe	VERB
app01-9504	66	27	in	in	ADP
app01-9504	66	28	the	the	DET
app01-9504	66	29	literature	literature	NOUN
app01-9504	66	30	,	,	PUNCT
app01-9504	66	31	which	which	PRON
app01-9504	66	32	control	control	VERB
app01-9504	66	33	individual	individual	ADJ
app01-9504	66	34	actuators	actuator	NOUN
app01-9504	66	35	in	in	ADP
app01-9504	66	36	the	the	DET
app01-9504	66	37	rolling	rolling	ADJ
app01-9504	66	38	stock	stock	NOUN
app01-9504	66	39	running	running	NOUN
app01-9504	66	40	gear	gear	NOUN
app01-9504	66	41	and	and	CCONJ
app01-9504	66	42	thus	thus	ADV
app01-9504	66	43	control	control	VERB
app01-9504	66	44	the	the	DET
app01-9504	66	45	steering	steering	NOUN
app01-9504	66	46	of	of	ADP
app01-9504	66	47	the	the	DET
app01-9504	66	48	wheelset	wheelset	NOUN
app01-9504	66	49	into	into	ADP
app01-9504	66	50	a	a	DET
app01-9504	66	51	curve	curve	NOUN
app01-9504	66	52	,	,	PUNCT
app01-9504	66	53	or	or	CCONJ
app01-9504	66	54	control	control	VERB
app01-9504	66	55	individual	individual	ADJ
app01-9504	66	56	traction	traction	PROPN
app01-9504	66	57	motors	motor	NOUN
app01-9504	66	58	driving	drive	VERB
app01-9504	66	59	the	the	DET
app01-9504	66	60	irws	irws	NOUN
app01-9504	66	61	.	.	PUNCT
app01-9504	67	1	in	in	ADP
app01-9504	67	2	particular	particular	ADJ
app01-9504	67	3	,	,	PUNCT
app01-9504	67	4	two	two	NUM
app01-9504	67	5	categories	category	NOUN
app01-9504	67	6	of	of	ADP
app01-9504	67	7	control	control	NOUN
app01-9504	67	8	method	method	NOUN
app01-9504	67	9	can	can	AUX
app01-9504	67	10	be	be	AUX
app01-9504	67	11	defined	define	VERB
app01-9504	67	12	in	in	ADP
app01-9504	67	13	terms	term	NOUN
app01-9504	67	14	of	of	ADP
app01-9504	67	15	the	the	DET
app01-9504	67	16	variables	variable	NOUN
app01-9504	67	17	entering	enter	VERB
app01-9504	67	18	the	the	DET
app01-9504	67	19	control	control	NOUN
app01-9504	67	20	algorithm	algorithm	NOUN
app01-9504	67	21	.	.	PUNCT
app01-9504	68	1	the	the	DET
app01-9504	68	2	first	first	ADJ
app01-9504	68	3	method	method	NOUN
app01-9504	68	4	of	of	ADP
app01-9504	68	5	active	active	ADJ
app01-9504	68	6	element	element	NOUN
app01-9504	68	7	controlling	control	VERB
app01-9504	68	8	is	be	AUX
app01-9504	68	9	the	the	DET
app01-9504	68	10	feedback	feedback	NOUN
app01-9504	68	11	control	control	NOUN
app01-9504	68	12	based	base	VERB
app01-9504	68	13	on	on	ADP
app01-9504	68	14	the	the	DET
app01-9504	68	15	knowledge	knowledge	NOUN
app01-9504	68	16	of	of	ADP
app01-9504	68	17	the	the	DET
app01-9504	68	18	lateral	lateral	ADJ
app01-9504	68	19	position	position	NOUN
app01-9504	68	20	of	of	ADP
app01-9504	68	21	the	the	DET
app01-9504	68	22	wheelset	wheelset	NOUN
app01-9504	68	23	in	in	ADP
app01-9504	68	24	the	the	DET
app01-9504	68	25	track	track	NOUN
app01-9504	68	26	.	.	PUNCT
app01-9504	69	1	this	this	DET
app01-9504	69	2	method	method	NOUN
app01-9504	69	3	was	be	AUX
app01-9504	69	4	introduced	introduce	VERB
app01-9504	69	5	in	in	ADP
app01-9504	69	6	the	the	DET
app01-9504	69	7	works	work	NOUN
app01-9504	69	8	of	of	ADP
app01-9504	69	9	,	,	PUNCT
app01-9504	69	10	for	for	ADP
app01-9504	69	11	example	example	NOUN
app01-9504	69	12	,	,	PUNCT
app01-9504	69	13	lu	lu	PROPN
app01-9504	69	14	et	et	PROPN
app01-9504	69	15	al	al	PROPN
app01-9504	69	16	.	.	PUNCT
app01-9504	70	1	[	[	X
app01-9504	70	2	6	6	NUM
app01-9504	70	3	]	]	PUNCT
app01-9504	70	4	,	,	PUNCT
app01-9504	70	5	oh	oh	INTJ
app01-9504	70	6	et	et	NOUN
app01-9504	70	7	al	al	PROPN
app01-9504	70	8	.	.	PUNCT
app01-9504	71	1	[	[	X
app01-9504	71	2	7	7	X
app01-9504	71	3	]	]	PUNCT
app01-9504	71	4	or	or	CCONJ
app01-9504	71	5	ahn	ahn	PROPN
app01-9504	71	6	et	et	PROPN
app01-9504	71	7	al	al	PROPN
app01-9504	71	8	.	.	PUNCT
app01-9504	72	1	[	[	X
app01-9504	72	2	8	8	NUM
app01-9504	72	3	]	]	PUNCT
app01-9504	72	4	.	.	PUNCT
app01-9504	73	1	however	however	ADV
app01-9504	73	2	,	,	PUNCT
app01-9504	73	3	this	this	DET
app01-9504	73	4	control	control	NOUN
app01-9504	73	5	method	method	NOUN
app01-9504	73	6	is	be	AUX
app01-9504	73	7	very	very	ADV
app01-9504	73	8	problematic	problematic	ADJ
app01-9504	73	9	for	for	ADP
app01-9504	73	10	practical	practical	ADJ
app01-9504	73	11	application	application	NOUN
app01-9504	73	12	on	on	ADP
app01-9504	73	13	real	real	ADJ
app01-9504	73	14	rolling	rolling	ADJ
app01-9504	73	15	stock	stock	NOUN
app01-9504	73	16	,	,	PUNCT
app01-9504	73	17	since	since	SCONJ
app01-9504	73	18	the	the	DET
app01-9504	73	19	measurement	measurement	NOUN
app01-9504	73	20	of	of	ADP
app01-9504	73	21	the	the	DET
app01-9504	73	22	lateral	lateral	ADJ
app01-9504	73	23	deflection	deflection	NOUN
app01-9504	73	24	of	of	ADP
app01-9504	73	25	a	a	DET
app01-9504	73	26	wheelset	wheelset	NOUN
app01-9504	73	27	is	be	AUX
app01-9504	73	28	very	very	ADV
app01-9504	73	29	difficult	difficult	ADJ
app01-9504	73	30	to	to	PART
app01-9504	73	31	perform	perform	VERB
app01-9504	73	32	in	in	ADP
app01-9504	73	33	an	an	DET
app01-9504	73	34	operationally	operationally	ADV
app01-9504	73	35	demanding	demanding	ADJ
app01-9504	73	36	environment	environment	NOUN
app01-9504	73	37	such	such	ADJ
app01-9504	73	38	as	as	ADP
app01-9504	73	39	a	a	DET
app01-9504	73	40	rs	rs	ADJ
app01-9504	73	41	running	running	NOUN
app01-9504	73	42	gear	gear	NOUN
app01-9504	73	43	.	.	PUNCT
app01-9504	74	1	hyundai	hyundai	PROPN
app01-9504	74	2	rottem	rottem	NOUN
app01-9504	74	3	applied	apply	VERB
app01-9504	74	4	this	this	DET
app01-9504	74	5	method	method	NOUN
app01-9504	74	6	of	of	ADP
app01-9504	74	7	active	active	ADJ
app01-9504	74	8	torque	torque	NOUN
app01-9504	74	9	control	control	NOUN
app01-9504	74	10	of	of	ADP
app01-9504	74	11	the	the	DET
app01-9504	74	12	irws	irws	NOUN
app01-9504	74	13	to	to	ADP
app01-9504	74	14	a	a	DET
app01-9504	74	15	test	test	NOUN
app01-9504	74	16	tram	tram	NOUN
app01-9504	74	17	vehicle	vehicle	NOUN
app01-9504	74	18	,	,	PUNCT
app01-9504	74	19	and	and	CCONJ
app01-9504	74	20	a	a	DET
app01-9504	74	21	reduction	reduction	NOUN
app01-9504	74	22	of	of	ADP
app01-9504	74	23	up	up	ADP
app01-9504	74	24	to	to	PART
app01-9504	74	25	30	30	NUM
app01-9504	74	26	%	%	NOUN
app01-9504	74	27	in	in	ADP
app01-9504	74	28	lateral	lateral	ADJ
app01-9504	74	29	wheel	wheel	NOUN
app01-9504	74	30	-	-	PUNCT
app01-9504	74	31	rail	rail	NOUN
app01-9504	74	32	contact	contact	NOUN
app01-9504	74	33	forces	force	NOUN
app01-9504	74	34	was	be	AUX
app01-9504	74	35	achieved	achieve	VERB
app01-9504	74	36	when	when	SCONJ
app01-9504	74	37	the	the	DET
app01-9504	74	38	vehicle	vehicle	NOUN
app01-9504	74	39	was	be	AUX
app01-9504	74	40	driven	drive	VERB
app01-9504	74	41	on	on	ADP
app01-9504	74	42	a	a	DET
app01-9504	74	43	test	test	NOUN
app01-9504	74	44	track	track	NOUN
app01-9504	75	1	[	[	X
app01-9504	75	2	9	9	NUM
app01-9504	75	3	]	]	PUNCT
app01-9504	75	4	.	.	PUNCT
app01-9504	76	1	the	the	DET
app01-9504	76	2	method	method	NOUN
app01-9504	76	3	of	of	ADP
app01-9504	76	4	controlling	control	VERB
app01-9504	76	5	the	the	DET
app01-9504	76	6	active	active	ADJ
app01-9504	76	7	steering	steering	NOUN
app01-9504	76	8	of	of	ADP
app01-9504	76	9	the	the	DET
app01-9504	76	10	wheelset	wheelset	NOUN
app01-9504	76	11	based	base	VERB
app01-9504	76	12	on	on	ADP
app01-9504	76	13	the	the	DET
app01-9504	76	14	radius	radius	NOUN
app01-9504	76	15	of	of	ADP
app01-9504	76	16	the	the	DET
app01-9504	76	17	currently	currently	ADV
app01-9504	76	18	negotiating	negotiate	VERB
app01-9504	76	19	curve	curve	NOUN
app01-9504	76	20	seems	seem	VERB
app01-9504	76	21	to	to	PART
app01-9504	76	22	be	be	AUX
app01-9504	76	23	much	much	ADV
app01-9504	76	24	more	more	ADV
app01-9504	76	25	applicable	applicable	ADJ
app01-9504	76	26	.	.	PUNCT
app01-9504	77	1	the	the	DET
app01-9504	77	2	radius	radius	NOUN
app01-9504	77	3	of	of	ADP
app01-9504	77	4	the	the	DET
app01-9504	77	5	curve	curve	NOUN
app01-9504	77	6	can	can	AUX
app01-9504	77	7	be	be	AUX
app01-9504	77	8	sensed	sense	VERB
app01-9504	77	9	by	by	ADP
app01-9504	77	10	sensors	sensor	NOUN
app01-9504	77	11	on	on	ADP
app01-9504	77	12	the	the	DET
app01-9504	77	13	vehicle	vehicle	NOUN
app01-9504	77	14	(	(	PUNCT
app01-9504	77	15	automatic	automatic	ADJ
app01-9504	77	16	rail	rail	NOUN
app01-9504	77	17	curvature	curvature	NOUN
app01-9504	77	18	detection	detection	NOUN
app01-9504	77	19	from	from	ADP
app01-9504	77	20	lidar	lidar	NOUN
app01-9504	77	21	or	or	CCONJ
app01-9504	77	22	camera	camera	NOUN
app01-9504	77	23	sensed	sense	VERB
app01-9504	77	24	data	datum	NOUN
app01-9504	77	25	)	)	PUNCT
app01-9504	77	26	,	,	PUNCT
app01-9504	77	27	or	or	CCONJ
app01-9504	77	28	the	the	DET
app01-9504	77	29	information	information	NOUN
app01-9504	77	30	can	can	AUX
app01-9504	77	31	be	be	AUX
app01-9504	77	32	retrieved	retrieve	VERB
app01-9504	77	33	from	from	ADP
app01-9504	77	34	a	a	DET
app01-9504	77	35	track	track	NOUN
app01-9504	77	36	database	database	NOUN
app01-9504	77	37	on	on	ADP
app01-9504	77	38	the	the	DET
app01-9504	77	39	vehicle	vehicle	NOUN
app01-9504	77	40	based	base	VERB
app01-9504	77	41	on	on	ADP
app01-9504	77	42	the	the	DET
app01-9504	77	43	current	current	ADJ
app01-9504	77	44	position	position	NOUN
app01-9504	77	45	of	of	ADP
app01-9504	77	46	the	the	DET
app01-9504	77	47	vehicle	vehicle	NOUN
app01-9504	77	48	on	on	ADP
app01-9504	77	49	the	the	DET
app01-9504	77	50	track	track	NOUN
app01-9504	77	51	.	.	PUNCT
app01-9504	78	1	this	this	DET
app01-9504	78	2	input	input	NOUN
app01-9504	78	3	variable	variable	NOUN
app01-9504	78	4	has	have	AUX
app01-9504	78	5	been	be	AUX
app01-9504	78	6	used	use	VERB
app01-9504	78	7	to	to	PART
app01-9504	78	8	control	control	VERB
app01-9504	78	9	actuators	actuator	NOUN
app01-9504	78	10	by	by	ADP
app01-9504	78	11	authors	author	NOUN
app01-9504	78	12	such	such	ADJ
app01-9504	78	13	as	as	ADP
app01-9504	78	14	hur	hur	PROPN
app01-9504	78	15	et	et	PROPN
app01-9504	78	16	al	al	PROPN
app01-9504	78	17	.	.	PUNCT
app01-9504	79	1	[	[	X
app01-9504	79	2	10	10	NUM
app01-9504	79	3	]	]	PUNCT
app01-9504	79	4	,	,	PUNCT
app01-9504	79	5	stichel	stichel	PROPN
app01-9504	79	6	et	et	PROPN
app01-9504	79	7	al	al	PROPN
app01-9504	79	8	.	.	PUNCT
app01-9504	80	1	[	[	X
app01-9504	80	2	11	11	NUM
app01-9504	80	3	]	]	PUNCT
app01-9504	80	4	,	,	PUNCT
app01-9504	80	5	and	and	CCONJ
app01-9504	80	6	for	for	ADP
app01-9504	80	7	active	active	ADJ
app01-9504	80	8	control	control	NOUN
app01-9504	80	9	of	of	ADP
app01-9504	80	10	irws	irws	NOUN
app01-9504	80	11	by	by	ADP
app01-9504	80	12	čapek	čapek	NOUN
app01-9504	80	13	[	[	X
app01-9504	80	14	2	2	NUM
app01-9504	80	15	]	]	PUNCT
app01-9504	80	16	.	.	PUNCT
app01-9504	81	1	a	a	DET
app01-9504	81	2	commercial	commercial	ADJ
app01-9504	81	3	application	application	NOUN
app01-9504	81	4	of	of	ADP
app01-9504	81	5	active	active	ADJ
app01-9504	81	6	wheelset	wheelset	NOUN
app01-9504	81	7	steering	steering	NOUN
app01-9504	81	8	designed	design	VERB
app01-9504	81	9	in	in	ADP
app01-9504	81	10	this	this	DET
app01-9504	81	11	way	way	NOUN
app01-9504	81	12	was	be	AUX
app01-9504	81	13	presented	present	VERB
app01-9504	81	14	by	by	ADP
app01-9504	81	15	crrc	crrc	PROPN
app01-9504	81	16	on	on	ADP
app01-9504	81	17	cetrovo	cetrovo	PROPN
app01-9504	81	18	metro	metro	PROPN
app01-9504	81	19	vehicles	vehicle	NOUN
app01-9504	81	20	.	.	PUNCT
app01-9504	82	1	the	the	DET
app01-9504	82	2	steering	steering	NOUN
app01-9504	82	3	of	of	ADP
app01-9504	82	4	the	the	DET
app01-9504	82	5	wheelsets	wheelset	NOUN
app01-9504	82	6	is	be	AUX
app01-9504	82	7	performed	perform	VERB
app01-9504	82	8	by	by	ADP
app01-9504	82	9	electro	electro	ADJ
app01-9504	82	10	-	-	PUNCT
app01-9504	82	11	hydraulic	hydraulic	ADJ
app01-9504	82	12	servo	servo	NOUN
app01-9504	82	13	actuators	actuator	NOUN
app01-9504	82	14	.	.	PUNCT
app01-9504	83	1	first	first	ADJ
app01-9504	83	2	tests	test	NOUN
app01-9504	83	3	in	in	ADP
app01-9504	83	4	operation	operation	NOUN
app01-9504	83	5	show	show	VERB
app01-9504	83	6	a	a	DET
app01-9504	83	7	significant	significant	ADJ
app01-9504	83	8	reduction	reduction	NOUN
app01-9504	83	9	of	of	ADP
app01-9504	83	10	the	the	DET
app01-9504	83	11	steering	steering	NOUN
app01-9504	83	12	forces	force	NOUN
app01-9504	83	13	in	in	ADP
app01-9504	83	14	wheel	wheel	NOUN
app01-9504	83	15	-	-	PUNCT
app01-9504	83	16	rail	rail	NOUN
app01-9504	83	17	contact	contact	NOUN
app01-9504	83	18	and	and	CCONJ
app01-9504	83	19	also	also	ADV
app01-9504	83	20	a	a	DET
app01-9504	83	21	reduction	reduction	NOUN
app01-9504	83	22	of	of	ADP
app01-9504	83	23	noise	noise	NOUN
app01-9504	83	24	emissions	emission	NOUN
app01-9504	83	25	[	[	X
app01-9504	83	26	4	4	NUM
app01-9504	83	27	,	,	PUNCT
app01-9504	83	28	12	12	NUM
app01-9504	83	29	]	]	PUNCT
app01-9504	83	30	.	.	PUNCT
app01-9504	84	1	2.2	2.2	NUM
app01-9504	84	2	.	.	PUNCT
app01-9504	85	1	active	active	ADJ
app01-9504	85	2	element	element	NOUN
app01-9504	85	3	application	application	NOUN
app01-9504	85	4	into	into	ADP
app01-9504	85	5	rs	rs	ADJ
app01-9504	85	6	running	running	NOUN
app01-9504	85	7	gear	gear	NOUN
app01-9504	85	8	the	the	DET
app01-9504	85	9	positive	positive	ADJ
app01-9504	85	10	effect	effect	NOUN
app01-9504	85	11	of	of	ADP
app01-9504	85	12	properly	properly	ADV
app01-9504	85	13	selected	select	VERB
app01-9504	85	14	and	and	CCONJ
app01-9504	85	15	controlled	control	VERB
app01-9504	85	16	active	active	ADJ
app01-9504	85	17	elements	element	NOUN
app01-9504	85	18	in	in	ADP
app01-9504	85	19	the	the	DET
app01-9504	85	20	running	run	VERB
app01-9504	85	21	gear	gear	NOUN
app01-9504	85	22	of	of	ADP
app01-9504	85	23	a	a	DET
app01-9504	85	24	rolling	rolling	ADJ
app01-9504	85	25	stock	stock	NOUN
app01-9504	85	26	on	on	ADP
app01-9504	85	27	the	the	DET
app01-9504	85	28	reduction	reduction	NOUN
app01-9504	85	29	of	of	ADP
app01-9504	85	30	wear	wear	NOUN
app01-9504	85	31	of	of	ADP
app01-9504	85	32	wheels	wheel	NOUN
app01-9504	85	33	and	and	CCONJ
app01-9504	85	34	rails	rail	NOUN
app01-9504	85	35	,	,	PUNCT
app01-9504	85	36	noise	noise	NOUN
app01-9504	85	37	and	and	CCONJ
app01-9504	85	38	vibration	vibration	NOUN
app01-9504	85	39	emissions	emission	NOUN
app01-9504	85	40	when	when	SCONJ
app01-9504	85	41	passing	pass	VERB
app01-9504	85	42	small	small	ADJ
app01-9504	85	43	radius	radius	NOUN
app01-9504	85	44	curves	curve	NOUN
app01-9504	85	45	,	,	PUNCT
app01-9504	85	46	increase	increase	NOUN
app01-9504	85	47	in	in	ADP
app01-9504	85	48	driving	drive	VERB
app01-9504	85	49	comfort	comfort	NOUN
app01-9504	85	50	or	or	CCONJ
app01-9504	85	51	increase	increase	VERB
app01-9504	85	52	in	in	ADP
app01-9504	85	53	maximum	maximum	ADJ
app01-9504	85	54	vehicle	vehicle	NOUN
app01-9504	85	55	speed	speed	NOUN
app01-9504	85	56	can	can	AUX
app01-9504	85	57	be	be	AUX
app01-9504	85	58	considered	consider	VERB
app01-9504	85	59	sufficiently	sufficiently	ADV
app01-9504	85	60	proven	prove	VERB
app01-9504	85	61	.	.	PUNCT
app01-9504	86	1	nevertheless	nevertheless	ADV
app01-9504	86	2	,	,	PUNCT
app01-9504	86	3	a	a	DET
app01-9504	86	4	wider	wide	ADJ
app01-9504	86	5	expansion	expansion	NOUN
app01-9504	86	6	of	of	ADP
app01-9504	86	7	active	active	ADJ
app01-9504	86	8	elements	element	NOUN
app01-9504	86	9	into	into	ADP
app01-9504	86	10	the	the	DET
app01-9504	86	11	running	run	VERB
app01-9504	86	12	gear	gear	NOUN
app01-9504	86	13	of	of	ADP
app01-9504	86	14	rolling	roll	VERB
app01-9504	86	15	stock	stock	NOUN
app01-9504	86	16	has	have	AUX
app01-9504	86	17	not	not	PART
app01-9504	86	18	yet	yet	ADV
app01-9504	86	19	taken	take	VERB
app01-9504	86	20	place	place	NOUN
app01-9504	86	21	.	.	PUNCT
app01-9504	87	1	exceptions	exception	NOUN
app01-9504	87	2	are	be	AUX
app01-9504	87	3	,	,	PUNCT
app01-9504	87	4	for	for	ADP
app01-9504	87	5	example	example	NOUN
app01-9504	87	6	,	,	PUNCT
app01-9504	87	7	some	some	DET
app01-9504	87	8	pendolino	pendolino	PROPN
app01-9504	87	9	electric	electric	ADJ
app01-9504	87	10	multiple	multiple	ADJ
app01-9504	87	11	units	unit	NOUN
app01-9504	87	12	with	with	ADP
app01-9504	87	13	active	active	ADJ
app01-9504	87	14	tilting	tilting	NOUN
app01-9504	87	15	of	of	ADP
app01-9504	87	16	the	the	DET
app01-9504	87	17	carbody	carbody	NOUN
app01-9504	87	18	in	in	ADP
app01-9504	87	19	order	order	NOUN
app01-9504	87	20	to	to	PART
app01-9504	87	21	reduce	reduce	VERB
app01-9504	87	22	the	the	DET
app01-9504	87	23	lateral	lateral	ADJ
app01-9504	87	24	forces	force	NOUN
app01-9504	87	25	acting	act	VERB
app01-9504	87	26	on	on	ADP
app01-9504	87	27	the	the	DET
app01-9504	87	28	passenger	passenger	NOUN
app01-9504	87	29	when	when	SCONJ
app01-9504	87	30	passing	pass	VERB
app01-9504	87	31	through	through	ADP
app01-9504	87	32	a	a	DET
app01-9504	87	33	curve	curve	NOUN
app01-9504	87	34	,	,	PUNCT
app01-9504	87	35	or	or	CCONJ
app01-9504	87	36	an	an	DET
app01-9504	87	37	active	active	ADJ
app01-9504	87	38	element	element	NOUN
app01-9504	87	39	placed	place	VERB
app01-9504	87	40	instead	instead	ADV
app01-9504	87	41	of	of	ADP
app01-9504	87	42	a	a	DET
app01-9504	87	43	yaw	yaw	NOUN
app01-9504	87	44	damper	damper	NOUN
app01-9504	87	45	in	in	ADP
app01-9504	87	46	the	the	DET
app01-9504	87	47	119	119	NUM
app01-9504	87	48	jan	jan	PROPN
app01-9504	87	49	vrba	vrba	NOUN
app01-9504	87	50	acta	acta	PROPN
app01-9504	87	51	polytechnica	polytechnica	PROPN
app01-9504	87	52	ctu	ctu	NOUN
app01-9504	87	53	proceedings	proceeding	NOUN
app01-9504	87	54	secondary	secondary	ADJ
app01-9504	87	55	suspension	suspension	NOUN
app01-9504	87	56	of	of	ADP
app01-9504	87	57	vectron	vectron	ADJ
app01-9504	87	58	locomotives	locomotive	NOUN
app01-9504	87	59	in	in	ADP
app01-9504	87	60	order	order	NOUN
app01-9504	87	61	to	to	PART
app01-9504	87	62	actively	actively	ADV
app01-9504	87	63	steer	steer	VERB
app01-9504	87	64	the	the	DET
app01-9504	87	65	bogie	bogie	NOUN
app01-9504	87	66	when	when	SCONJ
app01-9504	87	67	passing	pass	VERB
app01-9504	87	68	through	through	ADP
app01-9504	87	69	a	a	DET
app01-9504	87	70	curve	curve	NOUN
app01-9504	87	71	[	[	X
app01-9504	87	72	13	13	NUM
app01-9504	87	73	]	]	PUNCT
app01-9504	87	74	.	.	PUNCT
app01-9504	88	1	the	the	DET
app01-9504	88	2	author	author	NOUN
app01-9504	88	3	of	of	ADP
app01-9504	88	4	the	the	DET
app01-9504	88	5	paper	paper	NOUN
app01-9504	88	6	discusse	discusse	NOUN
app01-9504	88	7	in	in	ADP
app01-9504	88	8	detail	detail	NOUN
app01-9504	88	9	the	the	DET
app01-9504	88	10	research	research	NOUN
app01-9504	88	11	on	on	ADP
app01-9504	88	12	the	the	DET
app01-9504	88	13	use	use	NOUN
app01-9504	88	14	of	of	ADP
app01-9504	88	15	active	active	ADJ
app01-9504	88	16	elements	element	NOUN
app01-9504	88	17	in	in	ADP
app01-9504	88	18	rs	rs	ADJ
app01-9504	88	19	running	running	NOUN
app01-9504	88	20	gear	gear	NOUN
app01-9504	88	21	in	in	ADP
app01-9504	88	22	[	[	X
app01-9504	88	23	14	14	NUM
app01-9504	88	24	]	]	PUNCT
app01-9504	88	25	.	.	PUNCT
app01-9504	89	1	from	from	ADP
app01-9504	89	2	the	the	DET
app01-9504	89	3	conducted	conduct	VERB
app01-9504	89	4	research	research	NOUN
app01-9504	89	5	it	it	PRON
app01-9504	89	6	is	be	AUX
app01-9504	89	7	evident	evident	ADJ
app01-9504	89	8	that	that	SCONJ
app01-9504	89	9	the	the	DET
app01-9504	89	10	most	most	ADJ
app01-9504	89	11	attention	attention	NOUN
app01-9504	89	12	is	be	AUX
app01-9504	89	13	paid	pay	VERB
app01-9504	89	14	to	to	ADP
app01-9504	89	15	active	active	ADJ
app01-9504	89	16	elements	element	NOUN
app01-9504	89	17	improving	improve	VERB
app01-9504	89	18	the	the	DET
app01-9504	89	19	vehicle	vehicle	NOUN
app01-9504	89	20	’s	’s	PART
app01-9504	89	21	passage	passage	NOUN
app01-9504	89	22	through	through	ADP
app01-9504	89	23	the	the	DET
app01-9504	89	24	curve	curve	NOUN
app01-9504	89	25	and	and	CCONJ
app01-9504	89	26	in	in	ADP
app01-9504	89	27	particular	particular	ADJ
app01-9504	89	28	to	to	ADP
app01-9504	89	29	active	active	ADJ
app01-9504	89	30	elements	element	NOUN
app01-9504	89	31	located	locate	VERB
app01-9504	89	32	within	within	ADP
app01-9504	89	33	the	the	DET
app01-9504	89	34	primary	primary	ADJ
app01-9504	89	35	sus	sus	NOUN
app01-9504	89	36	-	-	PUNCT
app01-9504	89	37	pension	pension	NOUN
app01-9504	89	38	and	and	CCONJ
app01-9504	89	39	actively	actively	ADV
app01-9504	89	40	controlled	control	VERB
app01-9504	89	41	irws	irws	NOUN
app01-9504	89	42	.	.	PUNCT
app01-9504	90	1	the	the	DET
app01-9504	90	2	wider	wide	ADJ
app01-9504	90	3	spread	spread	NOUN
app01-9504	90	4	of	of	ADP
app01-9504	90	5	active	active	ADJ
app01-9504	90	6	elements	element	NOUN
app01-9504	90	7	in	in	ADP
app01-9504	90	8	the	the	DET
app01-9504	90	9	rs	rs	ADJ
app01-9504	90	10	running	running	NOUN
app01-9504	90	11	gear	gear	NOUN
app01-9504	90	12	is	be	AUX
app01-9504	90	13	hindered	hinder	VERB
app01-9504	90	14	by	by	ADP
app01-9504	90	15	unresolved	unresolved	ADJ
app01-9504	90	16	issues	issue	NOUN
app01-9504	90	17	,	,	PUNCT
app01-9504	90	18	including	include	VERB
app01-9504	90	19	in	in	ADP
app01-9504	90	20	particular	particular	ADJ
app01-9504	90	21	the	the	DET
app01-9504	90	22	question	question	NOUN
app01-9504	90	23	of	of	ADP
app01-9504	90	24	safety	safety	NOUN
app01-9504	90	25	of	of	ADP
app01-9504	90	26	their	their	PRON
app01-9504	90	27	use	use	NOUN
app01-9504	90	28	in	in	ADP
app01-9504	90	29	normal	normal	ADJ
app01-9504	90	30	operation	operation	NOUN
app01-9504	90	31	,	,	PUNCT
app01-9504	90	32	cost	cost	NOUN
app01-9504	90	33	or	or	CCONJ
app01-9504	90	34	maintenance	maintenance	NOUN
app01-9504	90	35	requirements	requirement	NOUN
app01-9504	90	36	.	.	PUNCT
app01-9504	91	1	another	another	DET
app01-9504	91	2	relatively	relatively	ADV
app01-9504	91	3	unresolved	unresolved	ADJ
app01-9504	91	4	issue	issue	NOUN
app01-9504	91	5	may	may	AUX
app01-9504	91	6	be	be	AUX
app01-9504	91	7	the	the	DET
app01-9504	91	8	relative	relative	ADJ
app01-9504	91	9	movements	movement	NOUN
app01-9504	91	10	of	of	ADP
app01-9504	91	11	the	the	DET
app01-9504	91	12	wheelset	wheelset	NOUN
app01-9504	91	13	and	and	CCONJ
app01-9504	91	14	the	the	DET
app01-9504	91	15	drive	drive	NOUN
app01-9504	91	16	or	or	CCONJ
app01-9504	91	17	brakes	brake	NOUN
app01-9504	91	18	.	.	PUNCT
app01-9504	92	1	unresolved	unresolved	ADJ
app01-9504	92	2	issues	issue	NOUN
app01-9504	92	3	for	for	ADP
app01-9504	92	4	actively	actively	ADV
app01-9504	92	5	controlled	control	VERB
app01-9504	92	6	independently	independently	ADV
app01-9504	92	7	rotating	rotate	VERB
app01-9504	92	8	wheels	wheel	NOUN
app01-9504	92	9	are	be	AUX
app01-9504	92	10	primarily	primarily	ADV
app01-9504	92	11	the	the	DET
app01-9504	92	12	magnitude	magnitude	NOUN
app01-9504	92	13	of	of	ADP
app01-9504	92	14	the	the	DET
app01-9504	92	15	needed	need	VERB
app01-9504	92	16	steering	steering	NOUN
app01-9504	92	17	torque	torque	NOUN
app01-9504	92	18	when	when	SCONJ
app01-9504	92	19	passing	pass	VERB
app01-9504	92	20	a	a	DET
app01-9504	92	21	small	small	ADJ
app01-9504	92	22	radius	radius	NOUN
app01-9504	92	23	curve	curve	NOUN
app01-9504	92	24	[	[	X
app01-9504	92	25	2	2	NUM
app01-9504	92	26	]	]	PUNCT
app01-9504	92	27	,	,	PUNCT
app01-9504	92	28	the	the	DET
app01-9504	92	29	cost	cost	NOUN
app01-9504	92	30	and	and	CCONJ
app01-9504	92	31	number	number	NOUN
app01-9504	92	32	of	of	ADP
app01-9504	92	33	traction	traction	NOUN
app01-9504	92	34	converters	converter	NOUN
app01-9504	92	35	,	,	PUNCT
app01-9504	92	36	or	or	CCONJ
app01-9504	92	37	finding	find	VERB
app01-9504	92	38	the	the	DET
app01-9504	92	39	right	right	ADJ
app01-9504	92	40	steering	steering	NOUN
app01-9504	92	41	algorithm	algorithm	NOUN
app01-9504	92	42	to	to	PART
app01-9504	92	43	avoid	avoid	VERB
app01-9504	92	44	wheel	wheel	NOUN
app01-9504	92	45	climbing	climbing	NOUN
app01-9504	92	46	on	on	ADP
app01-9504	92	47	the	the	DET
app01-9504	92	48	flange	flange	NOUN
app01-9504	92	49	during	during	ADP
app01-9504	92	50	track	track	NOUN
app01-9504	92	51	irregularities	irregularity	NOUN
app01-9504	92	52	or	or	CCONJ
app01-9504	92	53	at	at	ADP
app01-9504	92	54	curve	curve	NOUN
app01-9504	92	55	transition	transition	NOUN
app01-9504	92	56	.	.	PUNCT
app01-9504	93	1	3	3	X
app01-9504	93	2	.	.	X
app01-9504	93	3	autonomous	autonomous	ADJ
app01-9504	93	4	driving	driving	NOUN
app01-9504	93	5	systems	system	NOUN
app01-9504	93	6	in	in	ADP
app01-9504	93	7	general	general	ADJ
app01-9504	93	8	,	,	PUNCT
app01-9504	93	9	rail	rail	NOUN
app01-9504	93	10	vehicles	vehicle	NOUN
app01-9504	93	11	have	have	VERB
app01-9504	93	12	a	a	DET
app01-9504	93	13	significant	significant	ADJ
app01-9504	93	14	advantage	advantage	NOUN
app01-9504	93	15	over	over	ADP
app01-9504	93	16	road	road	NOUN
app01-9504	93	17	vehicles	vehicle	NOUN
app01-9504	93	18	in	in	ADP
app01-9504	93	19	terms	term	NOUN
app01-9504	93	20	of	of	ADP
app01-9504	93	21	autonomous	autonomous	ADJ
app01-9504	93	22	driving	driving	NOUN
app01-9504	93	23	in	in	ADP
app01-9504	93	24	terms	term	NOUN
app01-9504	93	25	of	of	ADP
app01-9504	93	26	directional	directional	ADJ
app01-9504	93	27	guidance	guidance	NOUN
app01-9504	93	28	in	in	ADP
app01-9504	93	29	the	the	DET
app01-9504	93	30	track	track	NOUN
app01-9504	93	31	and	and	CCONJ
app01-9504	93	32	thus	thus	ADV
app01-9504	93	33	have	have	VERB
app01-9504	93	34	one	one	NUM
app01-9504	93	35	less	less	ADJ
app01-9504	93	36	degree	degree	NOUN
app01-9504	93	37	of	of	ADP
app01-9504	93	38	freedom	freedom	NOUN
app01-9504	93	39	.	.	PUNCT
app01-9504	94	1	as	as	SCONJ
app01-9504	94	2	mentioned	mention	VERB
app01-9504	94	3	in	in	ADP
app01-9504	94	4	the	the	DET
app01-9504	94	5	introduction	introduction	NOUN
app01-9504	94	6	,	,	PUNCT
app01-9504	94	7	autonomous	autonomous	ADJ
app01-9504	94	8	driving	driving	NOUN
app01-9504	94	9	,	,	PUNCT
app01-9504	94	10	particularly	particularly	ADV
app01-9504	94	11	of	of	ADP
app01-9504	94	12	metro	metro	NOUN
app01-9504	94	13	vehicles	vehicle	NOUN
app01-9504	94	14	or	or	CCONJ
app01-9504	94	15	similar	similar	ADJ
app01-9504	94	16	transport	transport	NOUN
app01-9504	94	17	systems	system	NOUN
app01-9504	94	18	,	,	PUNCT
app01-9504	94	19	is	be	AUX
app01-9504	94	20	a	a	DET
app01-9504	94	21	commonly	commonly	ADV
app01-9504	94	22	deployed	deploy	VERB
app01-9504	94	23	technology	technology	NOUN
app01-9504	94	24	.	.	PUNCT
app01-9504	95	1	autonomously	autonomously	ADV
app01-9504	95	2	controlled	control	VERB
app01-9504	95	3	trains	train	NOUN
app01-9504	95	4	are	be	AUX
app01-9504	95	5	also	also	ADV
app01-9504	95	6	being	be	AUX
app01-9504	95	7	tested	test	VERB
app01-9504	95	8	and	and	CCONJ
app01-9504	95	9	the	the	DET
app01-9504	95	10	implementation	implementation	NOUN
app01-9504	95	11	of	of	ADP
app01-9504	95	12	etcs	etcs	NOUN
app01-9504	95	13	on	on	ADP
app01-9504	95	14	european	european	ADJ
app01-9504	95	15	railways	railway	NOUN
app01-9504	95	16	can	can	AUX
app01-9504	95	17	also	also	ADV
app01-9504	95	18	be	be	AUX
app01-9504	95	19	seen	see	VERB
app01-9504	95	20	as	as	ADP
app01-9504	95	21	a	a	DET
app01-9504	95	22	major	major	ADJ
app01-9504	95	23	step	step	NOUN
app01-9504	95	24	towards	towards	ADP
app01-9504	95	25	autonomy	autonomy	NOUN
app01-9504	95	26	.	.	PUNCT
app01-9504	96	1	certain	certain	ADJ
app01-9504	96	2	uniqueness	uniqueness	NOUN
app01-9504	96	3	of	of	ADP
app01-9504	96	4	trams	tram	NOUN
app01-9504	96	5	compared	compare	VERB
app01-9504	96	6	to	to	ADP
app01-9504	96	7	road	road	NOUN
app01-9504	96	8	vehicles	vehicle	NOUN
app01-9504	96	9	,	,	PUNCT
app01-9504	96	10	but	but	CCONJ
app01-9504	96	11	also	also	ADV
app01-9504	96	12	compared	compare	VERB
app01-9504	96	13	to	to	ADP
app01-9504	96	14	other	other	ADJ
app01-9504	96	15	types	type	NOUN
app01-9504	96	16	of	of	ADP
app01-9504	96	17	rolling	roll	VERB
app01-9504	96	18	stocks	stock	NOUN
app01-9504	96	19	,	,	PUNCT
app01-9504	96	20	leads	lead	VERB
app01-9504	96	21	to	to	ADP
app01-9504	96	22	the	the	DET
app01-9504	96	23	need	need	NOUN
app01-9504	96	24	for	for	ADP
app01-9504	96	25	specific	specific	ADJ
app01-9504	96	26	development	development	NOUN
app01-9504	96	27	of	of	ADP
app01-9504	96	28	some	some	DET
app01-9504	96	29	autonomous	autonomous	ADJ
app01-9504	96	30	driving	driving	NOUN
app01-9504	96	31	subsystems	subsystem	NOUN
app01-9504	96	32	.	.	PUNCT
app01-9504	97	1	these	these	DET
app01-9504	97	2	specific	specific	ADJ
app01-9504	97	3	systems	system	NOUN
app01-9504	97	4	are	be	AUX
app01-9504	97	5	mainly	mainly	ADV
app01-9504	97	6	the	the	DET
app01-9504	97	7	anti	anti	ADJ
app01-9504	97	8	-	-	ADJ
app01-9504	97	9	collision	collision	ADJ
app01-9504	97	10	system	system	NOUN
app01-9504	97	11	(	(	PUNCT
app01-9504	97	12	acs	acs	PROPN
app01-9504	97	13	)	)	PUNCT
app01-9504	97	14	and	and	CCONJ
app01-9504	97	15	the	the	DET
app01-9504	97	16	track	track	NOUN
app01-9504	97	17	map	map	NOUN
app01-9504	97	18	information	information	NOUN
app01-9504	97	19	database	database	NOUN
app01-9504	97	20	.	.	PUNCT
app01-9504	98	1	due	due	ADP
app01-9504	98	2	to	to	ADP
app01-9504	98	3	the	the	DET
app01-9504	98	4	operation	operation	NOUN
app01-9504	98	5	of	of	ADP
app01-9504	98	6	trams	tram	NOUN
app01-9504	98	7	in	in	ADP
app01-9504	98	8	urban	urban	ADJ
app01-9504	98	9	areas	area	NOUN
app01-9504	98	10	,	,	PUNCT
app01-9504	98	11	the	the	DET
app01-9504	98	12	issue	issue	NOUN
app01-9504	98	13	of	of	ADP
app01-9504	98	14	sufficiently	sufficiently	ADV
app01-9504	98	15	accurate	accurate	ADJ
app01-9504	98	16	vehicle	vehicle	NOUN
app01-9504	98	17	localisation	localisation	NOUN
app01-9504	98	18	on	on	ADP
app01-9504	98	19	the	the	DET
app01-9504	98	20	track	track	NOUN
app01-9504	98	21	must	must	AUX
app01-9504	98	22	also	also	ADV
app01-9504	98	23	be	be	AUX
app01-9504	98	24	taken	take	VERB
app01-9504	98	25	into	into	ADP
app01-9504	98	26	account	account	NOUN
app01-9504	98	27	.	.	PUNCT
app01-9504	99	1	for	for	ADP
app01-9504	99	2	the	the	DET
app01-9504	99	3	other	other	ADJ
app01-9504	99	4	sub	sub	NOUN
app01-9504	99	5	-	-	NOUN
app01-9504	99	6	systems	system	NOUN
app01-9504	99	7	of	of	ADP
app01-9504	99	8	autonomous	autonomous	ADJ
app01-9504	99	9	driving	driving	NOUN
app01-9504	99	10	,	,	PUNCT
app01-9504	99	11	it	it	PRON
app01-9504	99	12	can	can	AUX
app01-9504	99	13	be	be	AUX
app01-9504	99	14	assumed	assume	VERB
app01-9504	99	15	that	that	SCONJ
app01-9504	99	16	it	it	PRON
app01-9504	99	17	will	will	AUX
app01-9504	99	18	be	be	AUX
app01-9504	99	19	possible	possible	ADJ
app01-9504	99	20	to	to	PART
app01-9504	99	21	adopt	adopt	VERB
app01-9504	99	22	them	they	PRON
app01-9504	99	23	for	for	ADP
app01-9504	99	24	autonomous	autonomous	ADJ
app01-9504	99	25	tram	tram	PROPN
app01-9504	99	26	vehicles	vehicle	NOUN
app01-9504	99	27	from	from	ADP
app01-9504	99	28	other	other	ADJ
app01-9504	99	29	rs	r	NOUN
app01-9504	99	30	.	.	PUNCT
app01-9504	100	1	acs	acs	PROPN
app01-9504	100	2	is	be	AUX
app01-9504	100	3	mainly	mainly	ADV
app01-9504	100	4	used	use	VERB
app01-9504	100	5	on	on	ADP
app01-9504	100	6	tram	tram	PROPN
app01-9504	100	7	vehicles	vehicle	NOUN
app01-9504	100	8	on	on	ADP
app01-9504	100	9	the	the	DET
app01-9504	100	10	german	german	ADJ
app01-9504	100	11	market	market	NOUN
app01-9504	100	12	,	,	PUNCT
app01-9504	100	13	but	but	CCONJ
app01-9504	100	14	is	be	AUX
app01-9504	100	15	gradually	gradually	ADV
app01-9504	100	16	becoming	become	VERB
app01-9504	100	17	a	a	DET
app01-9504	100	18	part	part	NOUN
app01-9504	100	19	of	of	ADP
app01-9504	100	20	domestic	domestic	ADJ
app01-9504	100	21	vehicles	vehicle	NOUN
app01-9504	100	22	as	as	ADV
app01-9504	100	23	well	well	ADV
app01-9504	100	24	.	.	PUNCT
app01-9504	101	1	the	the	DET
app01-9504	101	2	system	system	NOUN
app01-9504	101	3	’s	’s	PART
app01-9504	101	4	task	task	NOUN
app01-9504	101	5	is	be	AUX
app01-9504	101	6	to	to	PART
app01-9504	101	7	detect	detect	VERB
app01-9504	101	8	an	an	DET
app01-9504	101	9	obstacle	obstacle	NOUN
app01-9504	101	10	in	in	ADP
app01-9504	101	11	the	the	DET
app01-9504	101	12	vehicle	vehicle	NOUN
app01-9504	101	13	’s	’s	PART
app01-9504	101	14	passage	passage	NOUN
app01-9504	101	15	profile	profile	NOUN
app01-9504	101	16	(	(	PUNCT
app01-9504	101	17	by	by	ADP
app01-9504	101	18	using	use	VERB
app01-9504	101	19	a	a	DET
app01-9504	101	20	camera	camera	NOUN
app01-9504	101	21	,	,	PUNCT
app01-9504	101	22	radar	radar	NOUN
app01-9504	101	23	,	,	PUNCT
app01-9504	101	24	lidar	lidar	NOUN
app01-9504	101	25	,	,	PUNCT
app01-9504	101	26	etc	etc	X
app01-9504	101	27	.	.	X
app01-9504	101	28	)	)	PUNCT
app01-9504	101	29	,	,	PUNCT
app01-9504	101	30	to	to	PART
app01-9504	101	31	alert	alert	VERB
app01-9504	101	32	the	the	DET
app01-9504	101	33	driver	driver	NOUN
app01-9504	101	34	with	with	ADP
app01-9504	101	35	a	a	DET
app01-9504	101	36	light	light	ADJ
app01-9504	101	37	or	or	CCONJ
app01-9504	101	38	sound	sound	NOUN
app01-9504	101	39	signal	signal	NOUN
app01-9504	101	40	and	and	CCONJ
app01-9504	101	41	,	,	PUNCT
app01-9504	101	42	if	if	SCONJ
app01-9504	101	43	necessary	necessary	ADJ
app01-9504	101	44	,	,	PUNCT
app01-9504	101	45	to	to	PART
app01-9504	101	46	directly	directly	ADV
app01-9504	101	47	intervene	intervene	VERB
app01-9504	101	48	in	in	ADP
app01-9504	101	49	the	the	DET
app01-9504	101	50	driving	driving	NOUN
app01-9504	101	51	of	of	ADP
app01-9504	101	52	the	the	DET
app01-9504	101	53	vehicle	vehicle	NOUN
app01-9504	101	54	.	.	PUNCT
app01-9504	102	1	anti	anti	ADJ
app01-9504	102	2	-	-	ADJ
app01-9504	102	3	collision	collision	ADJ
app01-9504	102	4	systems	system	NOUN
app01-9504	102	5	developed	develop	VERB
app01-9504	102	6	at	at	ADP
app01-9504	102	7	the	the	DET
app01-9504	102	8	same	same	ADJ
app01-9504	102	9	time	time	NOUN
app01-9504	102	10	often	often	ADV
app01-9504	102	11	work	work	VERB
app01-9504	102	12	on	on	ADP
app01-9504	102	13	inputs	input	NOUN
app01-9504	102	14	from	from	ADP
app01-9504	102	15	lidar	lidar	NOUN
app01-9504	102	16	and	and	CCONJ
app01-9504	102	17	cameras	camera	NOUN
app01-9504	102	18	,	,	PUNCT
app01-9504	102	19	supplemented	supplement	VERB
app01-9504	102	20	by	by	ADP
app01-9504	102	21	an	an	DET
app01-9504	102	22	imu	imu	NOUN
app01-9504	102	23	unit	unit	NOUN
app01-9504	102	24	that	that	PRON
app01-9504	102	25	records	record	VERB
app01-9504	102	26	vehicle	vehicle	NOUN
app01-9504	102	27	movements	movement	NOUN
app01-9504	102	28	.	.	PUNCT
app01-9504	103	1	lidar	lidar	NOUN
app01-9504	103	2	data	data	PROPN
app01-9504	103	3	is	be	AUX
app01-9504	103	4	usually	usually	ADV
app01-9504	103	5	used	use	VERB
app01-9504	103	6	for	for	ADP
app01-9504	103	7	obstacle	obstacle	NOUN
app01-9504	103	8	detection	detection	NOUN
app01-9504	103	9	and	and	CCONJ
app01-9504	103	10	camera	camera	NOUN
app01-9504	103	11	figure	figure	NOUN
app01-9504	103	12	4	4	NUM
app01-9504	103	13	.	.	X
app01-9504	103	14	hd	hd	NOUN
app01-9504	103	15	map	map	NOUN
app01-9504	103	16	of	of	ADP
app01-9504	103	17	the	the	DET
app01-9504	103	18	railway	railway	NOUN
app01-9504	103	19	track	track	NOUN
app01-9504	103	20	[	[	X
app01-9504	103	21	17	17	NUM
app01-9504	103	22	]	]	PUNCT
app01-9504	103	23	.	.	PUNCT
app01-9504	104	1	data	datum	NOUN
app01-9504	104	2	is	be	AUX
app01-9504	104	3	used	use	VERB
app01-9504	104	4	for	for	ADP
app01-9504	104	5	obstacle	obstacle	NOUN
app01-9504	104	6	type	type	NOUN
app01-9504	104	7	recognition	recognition	NOUN
app01-9504	104	8	by	by	ADP
app01-9504	104	9	image	image	NOUN
app01-9504	104	10	processing	processing	NOUN
app01-9504	104	11	[	[	X
app01-9504	104	12	15	15	NUM
app01-9504	104	13	]	]	PUNCT
app01-9504	104	14	.	.	PUNCT
app01-9504	105	1	the	the	DET
app01-9504	105	2	environment	environment	NOUN
app01-9504	105	3	database	database	NOUN
app01-9504	105	4	contains	contain	VERB
app01-9504	105	5	a	a	DET
app01-9504	105	6	static	static	ADJ
app01-9504	105	7	map	map	NOUN
app01-9504	105	8	database	database	NOUN
app01-9504	105	9	and	and	CCONJ
app01-9504	105	10	thus	thus	ADV
app01-9504	105	11	provides	provide	VERB
app01-9504	105	12	the	the	DET
app01-9504	105	13	vehicle	vehicle	NOUN
app01-9504	105	14	information	information	NOUN
app01-9504	105	15	about	about	ADP
app01-9504	105	16	,	,	PUNCT
app01-9504	105	17	among	among	ADP
app01-9504	105	18	other	other	ADJ
app01-9504	105	19	things	thing	NOUN
app01-9504	105	20	,	,	PUNCT
app01-9504	105	21	the	the	DET
app01-9504	105	22	vertical	vertical	ADJ
app01-9504	105	23	and	and	CCONJ
app01-9504	105	24	horizontal	horizontal	ADJ
app01-9504	105	25	profile	profile	NOUN
app01-9504	105	26	of	of	ADP
app01-9504	105	27	the	the	DET
app01-9504	105	28	track	track	NOUN
app01-9504	105	29	,	,	PUNCT
app01-9504	105	30	the	the	DET
app01-9504	105	31	track	track	NOUN
app01-9504	105	32	surroundings	surrounding	NOUN
app01-9504	105	33	or	or	CCONJ
app01-9504	105	34	the	the	DET
app01-9504	105	35	infrastructure	infrastructure	NOUN
app01-9504	105	36	along	along	ADP
app01-9504	105	37	the	the	DET
app01-9504	105	38	track	track	NOUN
app01-9504	105	39	.	.	PUNCT
app01-9504	106	1	the	the	DET
app01-9504	106	2	second	second	ADJ
app01-9504	106	3	part	part	NOUN
app01-9504	106	4	of	of	ADP
app01-9504	106	5	the	the	DET
app01-9504	106	6	vehicle	vehicle	NOUN
app01-9504	106	7	environment	environment	NOUN
app01-9504	106	8	database	database	NOUN
app01-9504	106	9	can	can	AUX
app01-9504	106	10	be	be	AUX
app01-9504	106	11	described	describe	VERB
app01-9504	106	12	as	as	ADP
app01-9504	106	13	dynamic	dynamic	ADJ
app01-9504	106	14	,	,	PUNCT
app01-9504	106	15	as	as	SCONJ
app01-9504	106	16	it	it	PRON
app01-9504	106	17	is	be	AUX
app01-9504	106	18	modified	modify	VERB
app01-9504	106	19	in	in	ADP
app01-9504	106	20	real	real	ADJ
app01-9504	106	21	time	time	NOUN
app01-9504	106	22	based	base	VERB
app01-9504	106	23	on	on	ADP
app01-9504	106	24	data	datum	NOUN
app01-9504	106	25	from	from	ADP
app01-9504	106	26	other	other	ADJ
app01-9504	106	27	vehicles	vehicle	NOUN
app01-9504	106	28	in	in	ADP
app01-9504	106	29	the	the	DET
app01-9504	106	30	system	system	NOUN
app01-9504	106	31	,	,	PUNCT
app01-9504	106	32	dispatching	dispatching	NOUN
app01-9504	106	33	,	,	PUNCT
app01-9504	106	34	etc	etc	X
app01-9504	106	35	.	.	X
app01-9504	107	1	today	today	NOUN
app01-9504	107	2	,	,	PUNCT
app01-9504	107	3	localization	localization	NOUN
app01-9504	107	4	is	be	AUX
app01-9504	107	5	often	often	ADV
app01-9504	107	6	solved	solve	VERB
app01-9504	107	7	by	by	ADP
app01-9504	107	8	rfid	rfid	NOUN
app01-9504	107	9	and	and	CCONJ
app01-9504	107	10	odometry	odometry	NOUN
app01-9504	107	11	technology	technology	NOUN
app01-9504	107	12	for	for	ADP
app01-9504	107	13	tram	tram	PROPN
app01-9504	107	14	vehicles	vehicle	NOUN
app01-9504	107	15	.	.	PUNCT
app01-9504	108	1	however	however	ADV
app01-9504	108	2	,	,	PUNCT
app01-9504	108	3	for	for	ADP
app01-9504	108	4	the	the	DET
app01-9504	108	5	use	use	NOUN
app01-9504	108	6	of	of	ADP
app01-9504	108	7	autonomous	autonomous	ADJ
app01-9504	108	8	vehicle	vehicle	NOUN
app01-9504	108	9	localization	localization	NOUN
app01-9504	108	10	,	,	PUNCT
app01-9504	108	11	the	the	DET
app01-9504	108	12	technology	technology	NOUN
app01-9504	108	13	of	of	ADP
app01-9504	108	14	combining	combine	VERB
app01-9504	108	15	gnss	gnss	NOUN
app01-9504	108	16	with	with	ADP
app01-9504	108	17	odometry	odometry	NOUN
app01-9504	108	18	and	and	CCONJ
app01-9504	108	19	imu	imu	NOUN
app01-9504	108	20	unit	unit	NOUN
app01-9504	108	21	seems	seem	VERB
app01-9504	108	22	to	to	PART
app01-9504	108	23	be	be	AUX
app01-9504	108	24	more	more	ADV
app01-9504	108	25	suitable	suitable	ADJ
app01-9504	108	26	.	.	PUNCT
app01-9504	109	1	by	by	ADP
app01-9504	109	2	combining	combine	VERB
app01-9504	109	3	these	these	DET
app01-9504	109	4	signals	signal	NOUN
app01-9504	109	5	,	,	PUNCT
app01-9504	109	6	a	a	DET
app01-9504	109	7	relatively	relatively	ADV
app01-9504	109	8	very	very	ADV
app01-9504	109	9	accurate	accurate	ADJ
app01-9504	109	10	vehicle	vehicle	NOUN
app01-9504	109	11	location	location	NOUN
app01-9504	109	12	can	can	AUX
app01-9504	109	13	be	be	AUX
app01-9504	109	14	achieved	achieve	VERB
app01-9504	109	15	even	even	ADV
app01-9504	109	16	in	in	ADP
app01-9504	109	17	built	build	VERB
app01-9504	109	18	-	-	PUNCT
app01-9504	109	19	up	up	ADP
app01-9504	109	20	urban	urban	ADJ
app01-9504	109	21	areas	area	NOUN
app01-9504	109	22	within	within	ADP
app01-9504	109	23	centimetres	centimetre	NOUN
app01-9504	109	24	[	[	X
app01-9504	109	25	16	16	NUM
app01-9504	109	26	]	]	PUNCT
app01-9504	109	27	.	.	PUNCT
app01-9504	110	1	another	another	DET
app01-9504	110	2	recently	recently	ADV
app01-9504	110	3	much	much	ADV
app01-9504	110	4	discussed	discuss	VERB
app01-9504	110	5	solution	solution	NOUN
app01-9504	110	6	is	be	AUX
app01-9504	110	7	the	the	DET
app01-9504	110	8	use	use	NOUN
app01-9504	110	9	of	of	ADP
app01-9504	110	10	hd	hd	NOUN
app01-9504	110	11	map	map	NOUN
app01-9504	110	12	technology	technology	NOUN
app01-9504	110	13	,	,	PUNCT
app01-9504	110	14	where	where	SCONJ
app01-9504	110	15	the	the	DET
app01-9504	110	16	surroundings	surrounding	NOUN
app01-9504	110	17	of	of	ADP
app01-9504	110	18	the	the	DET
app01-9504	110	19	tram	tram	PROPN
app01-9504	110	20	line	line	NOUN
app01-9504	110	21	are	be	AUX
app01-9504	110	22	first	first	ADV
app01-9504	110	23	scanned	scan	VERB
app01-9504	110	24	and	and	CCONJ
app01-9504	110	25	stored	store	VERB
app01-9504	110	26	in	in	ADP
app01-9504	110	27	the	the	DET
app01-9504	110	28	vehicle	vehicle	NOUN
app01-9504	110	29	environment	environment	NOUN
app01-9504	110	30	database	database	NOUN
app01-9504	110	31	.	.	PUNCT
app01-9504	111	1	the	the	DET
app01-9504	111	2	vehicle	vehicle	NOUN
app01-9504	111	3	then	then	ADV
app01-9504	111	4	scans	scan	VERB
app01-9504	111	5	its	its	PRON
app01-9504	111	6	surroundings	surrounding	NOUN
app01-9504	111	7	while	while	SCONJ
app01-9504	111	8	driving	drive	VERB
app01-9504	111	9	and	and	CCONJ
app01-9504	111	10	determines	determine	VERB
app01-9504	111	11	its	its	PRON
app01-9504	111	12	location	location	NOUN
app01-9504	111	13	based	base	VERB
app01-9504	111	14	on	on	ADP
app01-9504	111	15	matching	match	VERB
app01-9504	111	16	with	with	ADP
app01-9504	111	17	the	the	DET
app01-9504	111	18	same	same	ADJ
app01-9504	111	19	objects	object	NOUN
app01-9504	111	20	in	in	ADP
app01-9504	111	21	the	the	DET
app01-9504	111	22	database	database	NOUN
app01-9504	111	23	.	.	PUNCT
app01-9504	112	1	this	this	DET
app01-9504	112	2	method	method	NOUN
app01-9504	112	3	is	be	AUX
app01-9504	112	4	particularly	particularly	ADV
app01-9504	112	5	suitable	suitable	ADJ
app01-9504	112	6	for	for	ADP
app01-9504	112	7	urban	urban	ADJ
app01-9504	112	8	environments	environment	NOUN
app01-9504	112	9	,	,	PUNCT
app01-9504	112	10	which	which	PRON
app01-9504	112	11	are	be	AUX
app01-9504	112	12	diverse	diverse	ADJ
app01-9504	112	13	in	in	ADP
app01-9504	112	14	terms	term	NOUN
app01-9504	112	15	of	of	ADP
app01-9504	112	16	objects	object	NOUN
app01-9504	112	17	and	and	CCONJ
app01-9504	112	18	also	also	ADV
app01-9504	112	19	have	have	VERB
app01-9504	112	20	the	the	DET
app01-9504	112	21	risk	risk	NOUN
app01-9504	112	22	of	of	ADP
app01-9504	112	23	poorer	poor	ADJ
app01-9504	112	24	gnss	gnss	NOUN
app01-9504	112	25	signal	signal	NOUN
app01-9504	112	26	reception	reception	NOUN
app01-9504	112	27	.	.	PUNCT
app01-9504	113	1	this	this	DET
app01-9504	113	2	method	method	NOUN
app01-9504	113	3	can	can	AUX
app01-9504	113	4	thus	thus	ADV
app01-9504	113	5	refine	refine	VERB
app01-9504	113	6	positioning	positioning	NOUN
app01-9504	113	7	to	to	ADP
app01-9504	113	8	gnss	gnss	NOUN
app01-9504	113	9	[	[	X
app01-9504	113	10	17	17	NUM
app01-9504	113	11	]	]	PUNCT
app01-9504	113	12	.	.	PUNCT
app01-9504	114	1	this	this	DET
app01-9504	114	2	method	method	NOUN
app01-9504	114	3	of	of	ADP
app01-9504	114	4	localization	localization	NOUN
app01-9504	114	5	can	can	AUX
app01-9504	114	6	be	be	AUX
app01-9504	114	7	advantageously	advantageously	ADV
app01-9504	114	8	used	use	VERB
app01-9504	114	9	for	for	ADP
app01-9504	114	10	vehicles	vehicle	NOUN
app01-9504	114	11	with	with	ADP
app01-9504	114	12	an	an	DET
app01-9504	114	13	anti	anti	ADJ
app01-9504	114	14	-	-	ADJ
app01-9504	114	15	collision	collision	ADJ
app01-9504	114	16	system	system	NOUN
app01-9504	114	17	based	base	VERB
app01-9504	114	18	on	on	ADP
app01-9504	114	19	lidar	lidar	NOUN
app01-9504	114	20	data	datum	NOUN
app01-9504	114	21	,	,	PUNCT
app01-9504	114	22	as	as	SCONJ
app01-9504	114	23	the	the	DET
app01-9504	114	24	same	same	ADJ
app01-9504	114	25	sensors	sensor	NOUN
app01-9504	114	26	can	can	AUX
app01-9504	114	27	be	be	AUX
app01-9504	114	28	used	use	VERB
app01-9504	114	29	for	for	ADP
app01-9504	114	30	obstacle	obstacle	NOUN
app01-9504	114	31	detection	detection	NOUN
app01-9504	114	32	and	and	CCONJ
app01-9504	114	33	localization	localization	NOUN
app01-9504	114	34	.	.	PUNCT
app01-9504	115	1	a	a	DET
app01-9504	115	2	sample	sample	NOUN
app01-9504	115	3	hd	hd	NOUN
app01-9504	115	4	map	map	NOUN
app01-9504	115	5	of	of	ADP
app01-9504	115	6	the	the	DET
app01-9504	115	7	railway	railway	NOUN
app01-9504	115	8	track	track	NOUN
app01-9504	115	9	is	be	AUX
app01-9504	115	10	shown	show	VERB
app01-9504	115	11	in	in	ADP
app01-9504	115	12	figure	figure	NOUN
app01-9504	115	13	4	4	NUM
app01-9504	115	14	.	.	NOUN
app01-9504	115	15	4	4	NUM
app01-9504	115	16	.	.	X
app01-9504	115	17	conceptual	conceptual	ADJ
app01-9504	115	18	design	design	NOUN
app01-9504	115	19	of	of	ADP
app01-9504	115	20	active	active	ADJ
app01-9504	115	21	wheelset	wheelset	NOUN
app01-9504	115	22	steering	steering	NOUN
app01-9504	115	23	control	control	NOUN
app01-9504	115	24	as	as	SCONJ
app01-9504	115	25	already	already	ADV
app01-9504	115	26	mentioned	mention	VERB
app01-9504	115	27	in	in	ADP
app01-9504	115	28	section	section	NOUN
app01-9504	115	29	2.2	2.2	NUM
app01-9504	115	30	,	,	PUNCT
app01-9504	115	31	the	the	DET
app01-9504	115	32	use	use	NOUN
app01-9504	115	33	of	of	ADP
app01-9504	115	34	active	active	ADJ
app01-9504	115	35	elements	element	NOUN
app01-9504	115	36	is	be	AUX
app01-9504	115	37	hindered	hinder	VERB
app01-9504	115	38	by	by	ADP
app01-9504	115	39	the	the	DET
app01-9504	115	40	issues	issue	NOUN
app01-9504	115	41	of	of	ADP
app01-9504	115	42	price	price	NOUN
app01-9504	115	43	,	,	PUNCT
app01-9504	115	44	reliability	reliability	NOUN
app01-9504	115	45	and	and	CCONJ
app01-9504	115	46	,	,	PUNCT
app01-9504	115	47	last	last	ADJ
app01-9504	115	48	but	but	CCONJ
app01-9504	115	49	not	not	PART
app01-9504	115	50	least	least	ADJ
app01-9504	115	51	,	,	PUNCT
app01-9504	115	52	the	the	DET
app01-9504	115	53	safety	safety	NOUN
app01-9504	115	54	of	of	ADP
app01-9504	115	55	their	their	PRON
app01-9504	115	56	application	application	NOUN
app01-9504	115	57	.	.	PUNCT
app01-9504	116	1	these	these	DET
app01-9504	116	2	key	key	ADJ
app01-9504	116	3	factors	factor	NOUN
app01-9504	116	4	have	have	AUX
app01-9504	116	5	been	be	AUX
app01-9504	116	6	taken	take	VERB
app01-9504	116	7	into	into	ADP
app01-9504	116	8	account	account	NOUN
app01-9504	116	9	in	in	ADP
app01-9504	116	10	the	the	DET
app01-9504	116	11	design	design	NOUN
app01-9504	116	12	of	of	ADP
app01-9504	116	13	the	the	DET
app01-9504	116	14	control	control	NOUN
app01-9504	116	15	concept	concept	NOUN
app01-9504	116	16	for	for	ADP
app01-9504	116	17	active	active	ADJ
app01-9504	116	18	elements	element	NOUN
app01-9504	116	19	in	in	ADP
app01-9504	116	20	tramway	tramway	NOUN
app01-9504	116	21	running	running	NOUN
app01-9504	116	22	gear	gear	NOUN
app01-9504	116	23	for	for	ADP
app01-9504	116	24	the	the	DET
app01-9504	116	25	purpose	purpose	NOUN
app01-9504	116	26	of	of	ADP
app01-9504	116	27	steering	steer	VERB
app01-9504	116	28	individual	individual	ADJ
app01-9504	116	29	wheelsets	wheelset	NOUN
app01-9504	116	30	into	into	ADP
app01-9504	116	31	a	a	DET
app01-9504	116	32	curve	curve	NOUN
app01-9504	116	33	.	.	PUNCT
app01-9504	117	1	when	when	SCONJ
app01-9504	117	2	travelling	travel	VERB
app01-9504	117	3	on	on	ADP
app01-9504	117	4	a	a	DET
app01-9504	117	5	straight	straight	ADJ
app01-9504	117	6	track	track	NOUN
app01-9504	117	7	,	,	PUNCT
app01-9504	117	8	the	the	DET
app01-9504	117	9	actuator	actuator	NOUN
app01-9504	117	10	in	in	ADP
app01-9504	117	11	its	its	PRON
app01-9504	117	12	nominal	nominal	ADJ
app01-9504	117	13	position	position	NOUN
app01-9504	117	14	120	120	NUM
app01-9504	117	15	vol	vol	NOUN
app01-9504	117	16	.	.	PUNCT
app01-9504	118	1	43/2023	43/2023	NUM
app01-9504	119	1	cooperation	cooperation	NOUN
app01-9504	119	2	of	of	ADP
app01-9504	119	3	active	active	ADJ
app01-9504	119	4	steering	steering	NOUN
app01-9504	119	5	control	control	NOUN
app01-9504	119	6	of	of	ADP
app01-9504	119	7	wheelsets	wheelset	NOUN
app01-9504	119	8	will	will	AUX
app01-9504	119	9	be	be	AUX
app01-9504	119	10	used	use	VERB
app01-9504	119	11	to	to	PART
app01-9504	119	12	transfer	transfer	VERB
app01-9504	119	13	the	the	DET
app01-9504	119	14	traction	traction	NOUN
app01-9504	119	15	and	and	CCONJ
app01-9504	119	16	braking	brake	VERB
app01-9504	119	17	forces	force	NOUN
app01-9504	119	18	from	from	ADP
app01-9504	119	19	the	the	DET
app01-9504	119	20	wheelsets	wheelset	NOUN
app01-9504	119	21	to	to	ADP
app01-9504	119	22	the	the	DET
app01-9504	119	23	bogie	bogie	NOUN
app01-9504	119	24	frame	frame	NOUN
app01-9504	119	25	.	.	PUNCT
app01-9504	120	1	the	the	DET
app01-9504	120	2	design	design	NOUN
app01-9504	120	3	is	be	AUX
app01-9504	120	4	based	base	VERB
app01-9504	120	5	on	on	ADP
app01-9504	120	6	the	the	DET
app01-9504	120	7	assumption	assumption	NOUN
app01-9504	120	8	that	that	SCONJ
app01-9504	120	9	the	the	DET
app01-9504	120	10	active	active	ADJ
app01-9504	120	11	elements	element	NOUN
app01-9504	120	12	will	will	AUX
app01-9504	120	13	be	be	AUX
app01-9504	120	14	applied	apply	VERB
app01-9504	120	15	to	to	ADP
app01-9504	120	16	the	the	DET
app01-9504	120	17	running	run	VERB
app01-9504	120	18	gear	gear	NOUN
app01-9504	120	19	of	of	ADP
app01-9504	120	20	a	a	DET
app01-9504	120	21	tram	tram	PROPN
app01-9504	120	22	vehicle	vehicle	NOUN
app01-9504	120	23	equipped	equip	VERB
app01-9504	120	24	with	with	ADP
app01-9504	120	25	an	an	DET
app01-9504	120	26	anti	anti	ADJ
app01-9504	120	27	-	-	ADJ
app01-9504	120	28	collision	collision	ADJ
app01-9504	120	29	system	system	NOUN
app01-9504	120	30	operating	operate	VERB
app01-9504	120	31	on	on	ADP
app01-9504	120	32	the	the	DET
app01-9504	120	33	basis	basis	NOUN
app01-9504	120	34	of	of	ADP
app01-9504	120	35	object	object	NOUN
app01-9504	120	36	detection	detection	NOUN
app01-9504	120	37	in	in	ADP
app01-9504	120	38	the	the	DET
app01-9504	120	39	vehicle	vehicle	NOUN
app01-9504	120	40	’s	’s	PART
app01-9504	120	41	running	running	NOUN
app01-9504	120	42	profile	profile	NOUN
app01-9504	120	43	.	.	PUNCT
app01-9504	121	1	for	for	ADP
app01-9504	121	2	obstacle	obstacle	NOUN
app01-9504	121	3	detection	detection	NOUN
app01-9504	121	4	,	,	PUNCT
app01-9504	121	5	it	it	PRON
app01-9504	121	6	is	be	AUX
app01-9504	121	7	assumed	assume	VERB
app01-9504	121	8	to	to	PART
app01-9504	121	9	use	use	VERB
app01-9504	121	10	one	one	NUM
app01-9504	121	11	or	or	CCONJ
app01-9504	121	12	more	more	ADJ
app01-9504	121	13	lidars	lidar	NOUN
app01-9504	121	14	mounted	mount	VERB
app01-9504	121	15	on	on	ADP
app01-9504	121	16	the	the	DET
app01-9504	121	17	front	front	NOUN
app01-9504	121	18	of	of	ADP
app01-9504	121	19	the	the	DET
app01-9504	121	20	vehicle	vehicle	NOUN
app01-9504	121	21	in	in	ADP
app01-9504	121	22	combination	combination	NOUN
app01-9504	121	23	with	with	ADP
app01-9504	121	24	an	an	DET
app01-9504	121	25	imu	imu	NOUN
app01-9504	121	26	unit	unit	NOUN
app01-9504	121	27	mounted	mount	VERB
app01-9504	121	28	on	on	ADP
app01-9504	121	29	the	the	DET
app01-9504	121	30	same	same	ADJ
app01-9504	121	31	part	part	NOUN
app01-9504	121	32	of	of	ADP
app01-9504	121	33	the	the	DET
app01-9504	121	34	vehicle	vehicle	NOUN
app01-9504	121	35	.	.	PUNCT
app01-9504	122	1	in	in	ADP
app01-9504	122	2	addition	addition	NOUN
app01-9504	122	3	to	to	PART
app01-9504	122	4	obstacle	obstacle	VERB
app01-9504	122	5	detection	detection	NOUN
app01-9504	122	6	,	,	PUNCT
app01-9504	122	7	the	the	DET
app01-9504	122	8	lidar	lidar	NOUN
app01-9504	122	9	data	datum	NOUN
app01-9504	122	10	will	will	AUX
app01-9504	122	11	also	also	ADV
app01-9504	122	12	be	be	AUX
app01-9504	122	13	processed	process	VERB
app01-9504	122	14	to	to	PART
app01-9504	122	15	make	make	VERB
app01-9504	122	16	the	the	DET
app01-9504	122	17	position	position	NOUN
app01-9504	122	18	of	of	ADP
app01-9504	122	19	the	the	DET
app01-9504	122	20	vehicle	vehicle	NOUN
app01-9504	122	21	on	on	ADP
app01-9504	122	22	the	the	DET
app01-9504	122	23	track	track	NOUN
app01-9504	122	24	from	from	ADP
app01-9504	122	25	gnss	gnss	NOUN
app01-9504	122	26	more	more	ADV
app01-9504	122	27	accurate	accurate	ADJ
app01-9504	122	28	by	by	ADP
app01-9504	122	29	automatically	automatically	ADV
app01-9504	122	30	searching	search	VERB
app01-9504	122	31	for	for	ADP
app01-9504	122	32	matches	match	NOUN
app01-9504	122	33	between	between	ADP
app01-9504	122	34	the	the	DET
app01-9504	122	35	imaged	image	VERB
app01-9504	122	36	surroundings	surrounding	NOUN
app01-9504	122	37	and	and	CCONJ
app01-9504	122	38	the	the	DET
app01-9504	122	39	surroundings	surrounding	NOUN
app01-9504	122	40	stored	store	VERB
app01-9504	122	41	in	in	ADP
app01-9504	122	42	the	the	DET
app01-9504	122	43	hd	hd	NOUN
app01-9504	122	44	map	map	NOUN
app01-9504	122	45	in	in	ADP
app01-9504	122	46	the	the	DET
app01-9504	122	47	track	track	NOUN
app01-9504	122	48	database	database	NOUN
app01-9504	122	49	.	.	PUNCT
app01-9504	123	1	based	base	VERB
app01-9504	123	2	on	on	ADP
app01-9504	123	3	the	the	DET
app01-9504	123	4	found	find	VERB
app01-9504	123	5	matches	match	NOUN
app01-9504	123	6	,	,	PUNCT
app01-9504	123	7	the	the	DET
app01-9504	123	8	distance	distance	NOUN
app01-9504	123	9	of	of	ADP
app01-9504	123	10	the	the	DET
app01-9504	123	11	vehicle	vehicle	NOUN
app01-9504	123	12	from	from	ADP
app01-9504	123	13	objects	object	NOUN
app01-9504	123	14	,	,	PUNCT
app01-9504	123	15	buildings	building	NOUN
app01-9504	123	16	,	,	PUNCT
app01-9504	123	17	etc	etc	X
app01-9504	123	18	.	.	X
app01-9504	123	19	will	will	AUX
app01-9504	123	20	be	be	AUX
app01-9504	123	21	evaluated	evaluate	VERB
app01-9504	123	22	and	and	CCONJ
app01-9504	123	23	thus	thus	ADV
app01-9504	123	24	the	the	DET
app01-9504	123	25	position	position	NOUN
app01-9504	123	26	of	of	ADP
app01-9504	123	27	the	the	DET
app01-9504	123	28	vehicle	vehicle	NOUN
app01-9504	123	29	on	on	ADP
app01-9504	123	30	the	the	DET
app01-9504	123	31	tram	tram	PROPN
app01-9504	123	32	line	line	NOUN
app01-9504	123	33	will	will	AUX
app01-9504	123	34	be	be	AUX
app01-9504	123	35	determined	determine	VERB
app01-9504	123	36	unambiguously	unambiguously	ADV
app01-9504	123	37	and	and	CCONJ
app01-9504	123	38	accurately	accurately	ADV
app01-9504	123	39	enough	enough	ADV
app01-9504	123	40	.	.	PUNCT
app01-9504	124	1	4.1	4.1	NUM
app01-9504	124	2	.	.	PUNCT
app01-9504	124	3	location	location	NOUN
app01-9504	124	4	and	and	CCONJ
app01-9504	124	5	type	type	NOUN
app01-9504	124	6	of	of	ADP
app01-9504	124	7	active	active	ADJ
app01-9504	124	8	element	element	NOUN
app01-9504	124	9	for	for	ADP
app01-9504	124	10	the	the	DET
app01-9504	124	11	design	design	NOUN
app01-9504	124	12	of	of	ADP
app01-9504	124	13	the	the	DET
app01-9504	124	14	active	active	ADJ
app01-9504	124	15	element	element	NOUN
app01-9504	124	16	control	control	NOUN
app01-9504	124	17	and	and	CCONJ
app01-9504	124	18	its	its	PRON
app01-9504	124	19	application	application	NOUN
app01-9504	124	20	,	,	PUNCT
app01-9504	124	21	an	an	DET
app01-9504	124	22	active	active	ADJ
app01-9504	124	23	element	element	NOUN
app01-9504	124	24	is	be	AUX
app01-9504	124	25	considered	consider	VERB
app01-9504	124	26	on	on	ADP
app01-9504	124	27	each	each	DET
app01-9504	124	28	side	side	NOUN
app01-9504	124	29	of	of	ADP
app01-9504	124	30	the	the	DET
app01-9504	124	31	wheelset	wheelset	NOUN
app01-9504	124	32	located	locate	VERB
app01-9504	124	33	within	within	ADP
app01-9504	124	34	the	the	DET
app01-9504	124	35	primary	primary	ADJ
app01-9504	124	36	suspension	suspension	NOUN
app01-9504	124	37	with	with	ADP
app01-9504	124	38	the	the	DET
app01-9504	124	39	function	function	NOUN
app01-9504	124	40	of	of	ADP
app01-9504	124	41	steering	steer	VERB
app01-9504	124	42	the	the	DET
app01-9504	124	43	wheelset	wheelset	NOUN
app01-9504	124	44	into	into	ADP
app01-9504	124	45	a	a	DET
app01-9504	124	46	curve	curve	NOUN
app01-9504	124	47	and	and	CCONJ
app01-9504	124	48	transferring	transfer	VERB
app01-9504	124	49	the	the	DET
app01-9504	124	50	driving	driving	NOUN
app01-9504	124	51	and	and	CCONJ
app01-9504	124	52	braking	brake	VERB
app01-9504	124	53	forces	force	NOUN
app01-9504	124	54	.	.	PUNCT
app01-9504	125	1	in	in	ADP
app01-9504	125	2	parallel	parallel	NOUN
app01-9504	125	3	with	with	ADP
app01-9504	125	4	the	the	DET
app01-9504	125	5	active	active	ADJ
app01-9504	125	6	element	element	NOUN
app01-9504	125	7	,	,	PUNCT
app01-9504	125	8	a	a	DET
app01-9504	125	9	passive	passive	ADJ
app01-9504	125	10	primary	primary	ADJ
app01-9504	125	11	longitudinal	longitudinal	ADJ
app01-9504	125	12	suspension	suspension	NOUN
app01-9504	125	13	is	be	AUX
app01-9504	125	14	considered	consider	VERB
app01-9504	125	15	.	.	PUNCT
app01-9504	126	1	this	this	DET
app01-9504	126	2	solution	solution	NOUN
app01-9504	126	3	increases	increase	VERB
app01-9504	126	4	the	the	DET
app01-9504	126	5	requirement	requirement	NOUN
app01-9504	126	6	for	for	ADP
app01-9504	126	7	the	the	DET
app01-9504	126	8	force	force	NOUN
app01-9504	126	9	exerted	exert	VERB
app01-9504	126	10	by	by	ADP
app01-9504	126	11	the	the	DET
app01-9504	126	12	actuator	actuator	NOUN
app01-9504	126	13	and	and	CCONJ
app01-9504	126	14	thus	thus	ADV
app01-9504	126	15	increases	increase	VERB
app01-9504	126	16	its	its	PRON
app01-9504	126	17	weight	weight	NOUN
app01-9504	126	18	and	and	CCONJ
app01-9504	126	19	dimensions	dimension	NOUN
app01-9504	126	20	,	,	PUNCT
app01-9504	126	21	which	which	PRON
app01-9504	126	22	makes	make	VERB
app01-9504	126	23	it	it	PRON
app01-9504	126	24	more	more	ADV
app01-9504	126	25	difficult	difficult	ADJ
app01-9504	126	26	to	to	PART
app01-9504	126	27	incorporate	incorporate	VERB
app01-9504	126	28	the	the	DET
app01-9504	126	29	active	active	ADJ
app01-9504	126	30	element	element	NOUN
app01-9504	126	31	into	into	ADP
app01-9504	126	32	the	the	DET
app01-9504	126	33	running	running	NOUN
app01-9504	126	34	gear	gear	NOUN
app01-9504	126	35	,	,	PUNCT
app01-9504	126	36	but	but	CCONJ
app01-9504	126	37	the	the	DET
app01-9504	126	38	main	main	ADJ
app01-9504	126	39	advantage	advantage	NOUN
app01-9504	126	40	is	be	AUX
app01-9504	126	41	to	to	PART
app01-9504	126	42	ensure	ensure	VERB
app01-9504	126	43	safe	safe	ADJ
app01-9504	126	44	driving	driving	NOUN
app01-9504	126	45	of	of	ADP
app01-9504	126	46	the	the	DET
app01-9504	126	47	vehicle	vehicle	NOUN
app01-9504	126	48	in	in	ADP
app01-9504	126	49	the	the	DET
app01-9504	126	50	event	event	NOUN
app01-9504	126	51	of	of	ADP
app01-9504	126	52	a	a	DET
app01-9504	126	53	failure	failure	NOUN
app01-9504	126	54	or	or	CCONJ
app01-9504	126	55	deliberate	deliberate	ADJ
app01-9504	126	56	removal	removal	NOUN
app01-9504	126	57	of	of	ADP
app01-9504	126	58	the	the	DET
app01-9504	126	59	active	active	ADJ
app01-9504	126	60	element	element	NOUN
app01-9504	126	61	from	from	ADP
app01-9504	126	62	service	service	NOUN
app01-9504	126	63	.	.	PUNCT
app01-9504	127	1	in	in	ADP
app01-9504	127	2	the	the	DET
app01-9504	127	3	event	event	NOUN
app01-9504	127	4	of	of	ADP
app01-9504	127	5	a	a	DET
app01-9504	127	6	failure	failure	NOUN
app01-9504	127	7	of	of	ADP
app01-9504	127	8	the	the	DET
app01-9504	127	9	active	active	ADJ
app01-9504	127	10	element	element	NOUN
app01-9504	127	11	or	or	CCONJ
app01-9504	127	12	its	its	PRON
app01-9504	127	13	control	control	NOUN
app01-9504	127	14	,	,	PUNCT
app01-9504	127	15	it	it	PRON
app01-9504	127	16	is	be	AUX
app01-9504	127	17	thus	thus	ADV
app01-9504	127	18	considered	consider	VERB
app01-9504	127	19	that	that	SCONJ
app01-9504	127	20	the	the	DET
app01-9504	127	21	vehicle	vehicle	NOUN
app01-9504	127	22	will	will	AUX
app01-9504	127	23	be	be	AUX
app01-9504	127	24	able	able	ADJ
app01-9504	127	25	to	to	PART
app01-9504	127	26	reach	reach	VERB
app01-9504	127	27	the	the	DET
app01-9504	127	28	currently	currently	ADV
app01-9504	127	29	serviced	service	VERB
app01-9504	127	30	line	line	NOUN
app01-9504	127	31	at	at	ADP
app01-9504	127	32	a	a	DET
app01-9504	127	33	reduced	reduced	ADJ
app01-9504	127	34	speed	speed	NOUN
app01-9504	127	35	and	and	CCONJ
app01-9504	127	36	then	then	ADV
app01-9504	127	37	leave	leave	VERB
app01-9504	127	38	for	for	ADP
app01-9504	127	39	a	a	DET
app01-9504	127	40	service	service	NOUN
app01-9504	127	41	operation	operation	NOUN
app01-9504	127	42	in	in	ADP
app01-9504	127	43	the	the	DET
app01-9504	127	44	depot	depot	NOUN
app01-9504	127	45	.	.	PUNCT
app01-9504	128	1	fu	fu	PROPN
app01-9504	128	2	and	and	CCONJ
app01-9504	128	3	bruni	bruni	PROPN
app01-9504	129	1	[	[	X
app01-9504	129	2	5	5	NUM
app01-9504	129	3	]	]	PUNCT
app01-9504	129	4	discussed	discuss	VERB
app01-9504	129	5	in	in	ADP
app01-9504	129	6	detail	detail	NOUN
app01-9504	129	7	the	the	DET
app01-9504	129	8	comparison	comparison	NOUN
app01-9504	129	9	of	of	ADP
app01-9504	129	10	dif	dif	ADJ
app01-9504	129	11	-	-	PUNCT
app01-9504	129	12	ferent	ferent	NOUN
app01-9504	129	13	concepts	concept	NOUN
app01-9504	129	14	of	of	ADP
app01-9504	129	15	placement	placement	NOUN
app01-9504	129	16	and	and	CCONJ
app01-9504	129	17	types	type	NOUN
app01-9504	129	18	of	of	ADP
app01-9504	129	19	active	active	ADJ
app01-9504	129	20	elements	element	NOUN
app01-9504	129	21	in	in	ADP
app01-9504	129	22	the	the	DET
app01-9504	129	23	primary	primary	ADJ
app01-9504	129	24	suspension	suspension	NOUN
app01-9504	129	25	of	of	ADP
app01-9504	129	26	the	the	DET
app01-9504	129	27	rs	rs	NOUN
app01-9504	129	28	from	from	ADP
app01-9504	129	29	the	the	DET
app01-9504	129	30	safety	safety	NOUN
app01-9504	129	31	point	point	NOUN
app01-9504	129	32	of	of	ADP
app01-9504	129	33	view	view	NOUN
app01-9504	129	34	.	.	PUNCT
app01-9504	130	1	their	their	PRON
app01-9504	130	2	suggestion	suggestion	NOUN
app01-9504	130	3	of	of	ADP
app01-9504	130	4	the	the	DET
app01-9504	130	5	most	most	ADV
app01-9504	130	6	suitable	suitable	ADJ
app01-9504	130	7	solution	solution	NOUN
app01-9504	130	8	is	be	AUX
app01-9504	130	9	shown	show	VERB
app01-9504	130	10	in	in	ADP
app01-9504	130	11	figure	figure	NOUN
app01-9504	130	12	5	5	NUM
app01-9504	130	13	on	on	ADP
app01-9504	130	14	the	the	DET
app01-9504	130	15	right	right	NOUN
app01-9504	130	16	and	and	CCONJ
app01-9504	130	17	represents	represent	VERB
app01-9504	130	18	a	a	DET
app01-9504	130	19	variant	variant	NOUN
app01-9504	130	20	where	where	SCONJ
app01-9504	130	21	each	each	DET
app01-9504	130	22	actuator	actuator	NOUN
app01-9504	130	23	is	be	AUX
app01-9504	130	24	duplicated	duplicate	VERB
app01-9504	130	25	by	by	ADP
app01-9504	130	26	a	a	DET
app01-9504	130	27	different	different	ADJ
app01-9504	130	28	type	type	NOUN
app01-9504	130	29	of	of	ADP
app01-9504	130	30	actuator	actuator	NOUN
app01-9504	130	31	in	in	ADP
app01-9504	130	32	case	case	NOUN
app01-9504	130	33	of	of	ADP
app01-9504	130	34	failure	failure	NOUN
app01-9504	130	35	.	.	PUNCT
app01-9504	131	1	hydraulic	hydraulic	ADJ
app01-9504	131	2	and	and	CCONJ
app01-9504	131	3	electro	electro	ADJ
app01-9504	131	4	-	-	PUNCT
app01-9504	131	5	hydraulic	hydraulic	NOUN
app01-9504	131	6	actuators	actuator	NOUN
app01-9504	131	7	are	be	AUX
app01-9504	131	8	used	use	VERB
app01-9504	131	9	.	.	PUNCT
app01-9504	132	1	although	although	SCONJ
app01-9504	132	2	this	this	DET
app01-9504	132	3	solution	solution	NOUN
app01-9504	132	4	appears	appear	VERB
app01-9504	132	5	to	to	PART
app01-9504	132	6	be	be	AUX
app01-9504	132	7	the	the	DET
app01-9504	132	8	safest	safe	ADJ
app01-9504	132	9	,	,	PUNCT
app01-9504	132	10	it	it	PRON
app01-9504	132	11	is	be	AUX
app01-9504	132	12	doubtful	doubtful	ADJ
app01-9504	132	13	whether	whether	SCONJ
app01-9504	132	14	it	it	PRON
app01-9504	132	15	can	can	AUX
app01-9504	132	16	be	be	AUX
app01-9504	132	17	applied	apply	VERB
app01-9504	132	18	to	to	ADP
app01-9504	132	19	the	the	DET
app01-9504	132	20	running	run	VERB
app01-9504	132	21	gear	gear	NOUN
app01-9504	132	22	of	of	ADP
app01-9504	132	23	conventional	conventional	ADJ
app01-9504	132	24	rs	rs	NOUN
app01-9504	132	25	,	,	PUNCT
app01-9504	132	26	let	let	VERB
app01-9504	132	27	alone	alone	ADJ
app01-9504	132	28	trams	tram	NOUN
app01-9504	132	29	,	,	PUNCT
app01-9504	132	30	where	where	SCONJ
app01-9504	132	31	the	the	DET
app01-9504	132	32	problems	problem	NOUN
app01-9504	132	33	of	of	ADP
app01-9504	132	34	incorporating	incorporate	VERB
app01-9504	132	35	new	new	ADJ
app01-9504	132	36	elements	element	NOUN
app01-9504	132	37	are	be	AUX
app01-9504	132	38	compounded	compound	VERB
app01-9504	132	39	by	by	ADP
app01-9504	132	40	the	the	DET
app01-9504	132	41	low	low	ADJ
app01-9504	132	42	floor	floor	NOUN
app01-9504	132	43	level	level	NOUN
app01-9504	132	44	.	.	PUNCT
app01-9504	133	1	apart	apart	ADV
app01-9504	133	2	from	from	ADP
app01-9504	133	3	the	the	DET
app01-9504	133	4	large	large	ADJ
app01-9504	133	5	installation	installation	NOUN
app01-9504	133	6	dimensions	dimension	NOUN
app01-9504	133	7	,	,	PUNCT
app01-9504	133	8	the	the	DET
app01-9504	133	9	high	high	ADJ
app01-9504	133	10	cost	cost	NOUN
app01-9504	133	11	of	of	ADP
app01-9504	133	12	the	the	DET
app01-9504	133	13	application	application	NOUN
app01-9504	133	14	and	and	CCONJ
app01-9504	133	15	the	the	DET
app01-9504	133	16	complicated	complicated	ADJ
app01-9504	133	17	and	and	CCONJ
app01-9504	133	18	demanding	demand	VERB
app01-9504	133	19	servicing	servicing	NOUN
app01-9504	133	20	of	of	ADP
app01-9504	133	21	two	two	NUM
app01-9504	133	22	different	different	ADJ
app01-9504	133	23	types	type	NOUN
app01-9504	133	24	and	and	CCONJ
app01-9504	133	25	twice	twice	ADV
app01-9504	133	26	as	as	ADV
app01-9504	133	27	many	many	ADJ
app01-9504	133	28	actuators	actuator	NOUN
app01-9504	133	29	can	can	AUX
app01-9504	133	30	be	be	AUX
app01-9504	133	31	expected	expect	VERB
app01-9504	133	32	.	.	PUNCT
app01-9504	134	1	the	the	DET
app01-9504	134	2	parameters	parameter	NOUN
app01-9504	134	3	of	of	ADP
app01-9504	134	4	the	the	DET
app01-9504	134	5	selected	select	VERB
app01-9504	134	6	actuator	actuator	NOUN
app01-9504	134	7	type	type	NOUN
app01-9504	134	8	will	will	AUX
app01-9504	134	9	also	also	ADV
app01-9504	134	10	enter	enter	VERB
app01-9504	134	11	the	the	DET
app01-9504	134	12	active	active	ADJ
app01-9504	134	13	element	element	NOUN
app01-9504	134	14	control	control	NOUN
app01-9504	134	15	algorithm	algorithm	NOUN
app01-9504	134	16	.	.	PUNCT
app01-9504	135	1	based	base	VERB
app01-9504	135	2	(	(	PUNCT
app01-9504	135	3	a	a	NOUN
app01-9504	135	4	)	)	PUNCT
app01-9504	135	5	.	.	PUNCT
app01-9504	136	1	(	(	PUNCT
app01-9504	136	2	b	b	X
app01-9504	136	3	)	)	PUNCT
app01-9504	136	4	.	.	PUNCT
app01-9504	137	1	figure	figure	NOUN
app01-9504	137	2	5	5	NUM
app01-9504	137	3	.	.	PUNCT
app01-9504	138	1	the	the	DET
app01-9504	138	2	considered	consider	VERB
app01-9504	138	3	concept	concept	NOUN
app01-9504	138	4	of	of	ADP
app01-9504	138	5	placing	place	VERB
app01-9504	138	6	active	active	ADJ
app01-9504	138	7	elements	element	NOUN
app01-9504	138	8	in	in	ADP
app01-9504	138	9	the	the	DET
app01-9504	138	10	tram	tram	PROPN
app01-9504	138	11	bogie	bogie	NOUN
app01-9504	138	12	(	(	PUNCT
app01-9504	138	13	a	a	NOUN
app01-9504	138	14	)	)	PUNCT
app01-9504	138	15	,	,	PUNCT
app01-9504	138	16	the	the	DET
app01-9504	138	17	concept	concept	NOUN
app01-9504	138	18	evaluated	evaluate	VERB
app01-9504	138	19	as	as	ADP
app01-9504	138	20	the	the	DET
app01-9504	138	21	safest	safe	ADJ
app01-9504	138	22	according	accord	VERB
app01-9504	138	23	to	to	ADP
app01-9504	138	24	[	[	X
app01-9504	138	25	5	5	NUM
app01-9504	138	26	]	]	PUNCT
app01-9504	138	27	(	(	PUNCT
app01-9504	138	28	b	b	NOUN
app01-9504	138	29	)	)	PUNCT
app01-9504	138	30	.	.	PUNCT
app01-9504	139	1	figure	figure	VERB
app01-9504	139	2	6	6	NUM
app01-9504	139	3	.	.	PUNCT
app01-9504	139	4	solution	solution	NOUN
app01-9504	139	5	of	of	ADP
app01-9504	139	6	electro	electro	ADJ
app01-9504	139	7	-	-	PUNCT
app01-9504	139	8	hydraulic	hydraulic	NOUN
app01-9504	139	9	actuator	actuator	NOUN
app01-9504	139	10	with	with	ADP
app01-9504	139	11	fail	fail	ADJ
app01-9504	139	12	-	-	PUNCT
app01-9504	139	13	safe	safe	ADJ
app01-9504	139	14	hydraulic	hydraulic	ADJ
app01-9504	139	15	circuit	circuit	NOUN
app01-9504	140	1	[	[	X
app01-9504	140	2	18	18	NUM
app01-9504	140	3	]	]	PUNCT
app01-9504	140	4	.	.	PUNCT
app01-9504	141	1	on	on	ADP
app01-9504	141	2	the	the	DET
app01-9504	141	3	actuator	actuator	NOUN
app01-9504	141	4	characteristics	characteristic	NOUN
app01-9504	141	5	described	describe	VERB
app01-9504	141	6	in	in	ADP
app01-9504	141	7	section	section	NOUN
app01-9504	141	8	2.1.2	2.1.2	NUM
app01-9504	141	9	,	,	PUNCT
app01-9504	141	10	an	an	DET
app01-9504	141	11	electro	electro	NOUN
app01-9504	141	12	-	-	PUNCT
app01-9504	141	13	hydraulic	hydraulic	NOUN
app01-9504	141	14	actuator	actuator	NOUN
app01-9504	141	15	can	can	AUX
app01-9504	141	16	be	be	AUX
app01-9504	141	17	tentatively	tentatively	ADV
app01-9504	141	18	considered	consider	VERB
app01-9504	141	19	.	.	PUNCT
app01-9504	142	1	this	this	PRON
app01-9504	142	2	appears	appear	VERB
app01-9504	142	3	to	to	PART
app01-9504	142	4	be	be	AUX
app01-9504	142	5	a	a	DET
app01-9504	142	6	compromise	compromise	NOUN
app01-9504	142	7	between	between	ADP
app01-9504	142	8	simplicity	simplicity	NOUN
app01-9504	142	9	of	of	ADP
app01-9504	142	10	control	control	NOUN
app01-9504	142	11	,	,	PUNCT
app01-9504	142	12	installation	installation	NOUN
app01-9504	142	13	dimensions	dimension	NOUN
app01-9504	142	14	,	,	PUNCT
app01-9504	142	15	maintenance	maintenance	NOUN
app01-9504	142	16	requirements	requirement	NOUN
app01-9504	142	17	and	and	CCONJ
app01-9504	142	18	the	the	DET
app01-9504	142	19	ability	ability	NOUN
app01-9504	142	20	to	to	PART
app01-9504	142	21	ensure	ensure	VERB
app01-9504	142	22	safe	safe	ADJ
app01-9504	142	23	operation	operation	NOUN
app01-9504	142	24	of	of	ADP
app01-9504	142	25	the	the	DET
app01-9504	142	26	actuator	actuator	NOUN
app01-9504	142	27	.	.	PUNCT
app01-9504	143	1	although	although	SCONJ
app01-9504	143	2	the	the	DET
app01-9504	143	3	electromechanical	electromechanical	ADJ
app01-9504	143	4	actuator	actuator	NOUN
app01-9504	143	5	has	have	VERB
app01-9504	143	6	the	the	DET
app01-9504	143	7	above	above	ADJ
app01-9504	143	8	mentioned	mention	VERB
app01-9504	143	9	characteristics	characteristic	NOUN
app01-9504	143	10	better	well	ADV
app01-9504	143	11	,	,	PUNCT
app01-9504	143	12	it	it	PRON
app01-9504	143	13	may	may	AUX
app01-9504	143	14	cause	cause	VERB
app01-9504	143	15	mechanical	mechanical	ADJ
app01-9504	143	16	jamming	jamming	NOUN
app01-9504	143	17	if	if	SCONJ
app01-9504	143	18	the	the	DET
app01-9504	143	19	ball	ball	NOUN
app01-9504	143	20	screw	screw	VERB
app01-9504	143	21	malfunctions	malfunction	NOUN
app01-9504	143	22	,	,	PUNCT
app01-9504	143	23	which	which	PRON
app01-9504	143	24	will	will	AUX
app01-9504	143	25	make	make	VERB
app01-9504	143	26	further	further	ADJ
app01-9504	143	27	operation	operation	NOUN
app01-9504	143	28	of	of	ADP
app01-9504	143	29	the	the	DET
app01-9504	143	30	vehicle	vehicle	NOUN
app01-9504	143	31	impossible	impossible	ADJ
app01-9504	143	32	.	.	PUNCT
app01-9504	144	1	this	this	PRON
app01-9504	144	2	is	be	AUX
app01-9504	144	3	unacceptable	unacceptable	ADJ
app01-9504	144	4	in	in	ADP
app01-9504	144	5	a	a	DET
app01-9504	144	6	tramway	tramway	NOUN
app01-9504	144	7	system	system	NOUN
app01-9504	144	8	,	,	PUNCT
app01-9504	144	9	as	as	SCONJ
app01-9504	144	10	the	the	DET
app01-9504	144	11	inability	inability	NOUN
app01-9504	144	12	to	to	PART
app01-9504	144	13	operate	operate	VERB
app01-9504	144	14	one	one	NUM
app01-9504	144	15	vehicle	vehicle	NOUN
app01-9504	144	16	can	can	AUX
app01-9504	144	17	block	block	VERB
app01-9504	144	18	the	the	DET
app01-9504	144	19	entire	entire	ADJ
app01-9504	144	20	transport	transport	NOUN
app01-9504	144	21	system	system	NOUN
app01-9504	144	22	.	.	PUNCT
app01-9504	145	1	on	on	ADP
app01-9504	145	2	the	the	DET
app01-9504	145	3	other	other	ADJ
app01-9504	145	4	hand	hand	NOUN
app01-9504	145	5	,	,	PUNCT
app01-9504	145	6	a	a	DET
app01-9504	145	7	safety	safety	NOUN
app01-9504	145	8	circuit	circuit	NOUN
app01-9504	145	9	can	can	AUX
app01-9504	145	10	be	be	AUX
app01-9504	145	11	added	add	VERB
app01-9504	145	12	to	to	ADP
app01-9504	145	13	the	the	DET
app01-9504	145	14	elec	elec	NOUN
app01-9504	145	15	-	-	PUNCT
app01-9504	145	16	tro	tro	NOUN
app01-9504	145	17	-	-	ADJ
app01-9504	145	18	hydraulic	hydraulic	ADJ
app01-9504	145	19	actuator	actuator	NOUN
app01-9504	145	20	to	to	PART
app01-9504	145	21	ensure	ensure	VERB
app01-9504	145	22	that	that	SCONJ
app01-9504	145	23	the	the	DET
app01-9504	145	24	actuator	actuator	NOUN
app01-9504	145	25	is	be	AUX
app01-9504	145	26	taken	take	VERB
app01-9504	145	27	out	out	ADP
app01-9504	145	28	of	of	ADP
app01-9504	145	29	operation	operation	NOUN
app01-9504	145	30	if	if	SCONJ
app01-9504	145	31	necessary	necessary	ADJ
app01-9504	145	32	.	.	PUNCT
app01-9504	146	1	the	the	DET
app01-9504	146	2	design	design	NOUN
app01-9504	146	3	of	of	ADP
app01-9504	146	4	an	an	DET
app01-9504	146	5	electro	electro	NOUN
app01-9504	146	6	-	-	PUNCT
app01-9504	146	7	hydraulic	hydraulic	NOUN
app01-9504	146	8	actuator	actuator	NOUN
app01-9504	146	9	with	with	ADP
app01-9504	146	10	a	a	DET
app01-9504	146	11	fail	fail	ADJ
app01-9504	146	12	-	-	PUNCT
app01-9504	146	13	safe	safe	ADJ
app01-9504	146	14	function	function	NOUN
app01-9504	146	15	has	have	AUX
app01-9504	146	16	been	be	AUX
app01-9504	146	17	addressed	address	VERB
app01-9504	146	18	by	by	ADP
app01-9504	146	19	umehara	umehara	PROPN
app01-9504	146	20	et	et	PROPN
app01-9504	146	21	al	al	PROPN
app01-9504	146	22	.	.	PUNCT
app01-9504	147	1	[	[	X
app01-9504	147	2	18	18	NUM
app01-9504	147	3	]	]	PUNCT
app01-9504	147	4	,	,	PUNCT
app01-9504	147	5	see	see	VERB
app01-9504	147	6	figure	figure	NOUN
app01-9504	147	7	6	6	NUM
app01-9504	147	8	.	.	NOUN
app01-9504	147	9	4.2	4.2	NUM
app01-9504	147	10	.	.	PUNCT
app01-9504	148	1	active	active	ADJ
app01-9504	148	2	element	element	NOUN
app01-9504	148	3	control	control	NOUN
app01-9504	148	4	4.2.1	4.2.1	NUM
app01-9504	148	5	.	.	PUNCT
app01-9504	149	1	input	input	NOUN
app01-9504	149	2	variables	variable	NOUN
app01-9504	149	3	into	into	ADP
app01-9504	149	4	active	active	ADJ
app01-9504	149	5	element	element	NOUN
app01-9504	149	6	control	control	NOUN
app01-9504	149	7	in	in	ADP
app01-9504	149	8	terms	term	NOUN
app01-9504	149	9	of	of	ADP
app01-9504	149	10	the	the	DET
app01-9504	149	11	cost	cost	NOUN
app01-9504	149	12	of	of	ADP
app01-9504	149	13	the	the	DET
app01-9504	149	14	active	active	ADJ
app01-9504	149	15	element	element	NOUN
app01-9504	149	16	application	application	NOUN
app01-9504	149	17	,	,	PUNCT
app01-9504	149	18	a	a	DET
app01-9504	149	19	large	large	ADJ
app01-9504	149	20	part	part	NOUN
app01-9504	149	21	of	of	ADP
app01-9504	149	22	the	the	DET
app01-9504	149	23	cost	cost	NOUN
app01-9504	149	24	can	can	AUX
app01-9504	149	25	be	be	AUX
app01-9504	149	26	attributed	attribute	VERB
app01-9504	149	27	to	to	ADP
app01-9504	149	28	the	the	DET
app01-9504	149	29	sensors	sensor	NOUN
app01-9504	149	30	that	that	PRON
app01-9504	149	31	need	need	VERB
app01-9504	149	32	to	to	PART
app01-9504	149	33	be	be	AUX
app01-9504	149	34	fitted	fit	VERB
app01-9504	149	35	to	to	ADP
app01-9504	149	36	the	the	DET
app01-9504	149	37	vehicle	vehicle	NOUN
app01-9504	149	38	to	to	PART
app01-9504	149	39	obtain	obtain	VERB
app01-9504	149	40	the	the	DET
app01-9504	149	41	input	input	NOUN
app01-9504	149	42	variables	variable	NOUN
app01-9504	149	43	needed	need	VERB
app01-9504	149	44	for	for	ADP
app01-9504	149	45	the	the	DET
app01-9504	149	46	active	active	ADJ
app01-9504	149	47	element	element	NOUN
app01-9504	149	48	control	control	NOUN
app01-9504	149	49	algorithm	algorithm	NOUN
app01-9504	149	50	.	.	PUNCT
app01-9504	150	1	similarly	similarly	ADV
app01-9504	150	2	,	,	PUNCT
app01-9504	150	3	the	the	DET
app01-9504	150	4	issue	issue	NOUN
app01-9504	150	5	of	of	ADP
app01-9504	150	6	safety	safety	NOUN
app01-9504	150	7	is	be	AUX
app01-9504	150	8	largely	largely	ADV
app01-9504	150	9	linked	link	VERB
app01-9504	150	10	to	to	ADP
app01-9504	150	11	the	the	DET
app01-9504	150	12	correct	correct	ADJ
app01-9504	150	13	sensing	sensing	NOUN
app01-9504	150	14	of	of	ADP
app01-9504	150	15	input	input	NOUN
app01-9504	150	16	quantities	quantity	NOUN
app01-9504	150	17	.	.	PUNCT
app01-9504	151	1	algorithms	algorithm	NOUN
app01-9504	151	2	based	base	VERB
app01-9504	151	3	on	on	ADP
app01-9504	151	4	the	the	DET
app01-9504	151	5	measurement	measurement	NOUN
app01-9504	151	6	of	of	ADP
app01-9504	151	7	the	the	DET
app01-9504	151	8	lateral	lateral	ADJ
app01-9504	151	9	121	121	NUM
app01-9504	151	10	jan	jan	PROPN
app01-9504	151	11	vrba	vrba	NOUN
app01-9504	151	12	acta	acta	PROPN
app01-9504	151	13	polytechnica	polytechnica	PROPN
app01-9504	151	14	ctu	ctu	NOUN
app01-9504	151	15	proceedings	proceeding	NOUN
app01-9504	151	16	position	position	NOUN
app01-9504	151	17	of	of	ADP
app01-9504	151	18	the	the	DET
app01-9504	151	19	wheelset	wheelset	NOUN
app01-9504	151	20	in	in	ADP
app01-9504	151	21	the	the	DET
app01-9504	151	22	track	track	NOUN
app01-9504	151	23	are	be	AUX
app01-9504	151	24	difficult	difficult	ADJ
app01-9504	151	25	to	to	PART
app01-9504	151	26	apply	apply	VERB
app01-9504	151	27	in	in	ADP
app01-9504	151	28	practice	practice	NOUN
app01-9504	151	29	,	,	PUNCT
app01-9504	151	30	due	due	ADP
app01-9504	151	31	to	to	ADP
app01-9504	151	32	the	the	DET
app01-9504	151	33	near	near	ADJ
app01-9504	151	34	impossibility	impossibility	NOUN
app01-9504	151	35	of	of	ADP
app01-9504	151	36	reliably	reliably	ADV
app01-9504	151	37	measuring	measure	VERB
app01-9504	151	38	this	this	DET
app01-9504	151	39	quantity	quantity	NOUN
app01-9504	151	40	in	in	ADP
app01-9504	151	41	such	such	DET
app01-9504	151	42	a	a	DET
app01-9504	151	43	demanding	demanding	ADJ
app01-9504	151	44	urban	urban	ADJ
app01-9504	151	45	tram	tram	PROPN
app01-9504	151	46	operation	operation	NOUN
app01-9504	151	47	environment	environment	PROPN
app01-9504	151	48	.	.	PUNCT
app01-9504	152	1	for	for	ADP
app01-9504	152	2	this	this	DET
app01-9504	152	3	reason	reason	NOUN
app01-9504	152	4	,	,	PUNCT
app01-9504	152	5	the	the	DET
app01-9504	152	6	control	control	NOUN
app01-9504	152	7	design	design	NOUN
app01-9504	152	8	of	of	ADP
app01-9504	152	9	the	the	DET
app01-9504	152	10	active	active	ADJ
app01-9504	152	11	element	element	NOUN
app01-9504	152	12	is	be	AUX
app01-9504	152	13	performed	perform	VERB
app01-9504	152	14	only	only	ADV
app01-9504	152	15	with	with	ADP
app01-9504	152	16	input	input	NOUN
app01-9504	152	17	quantities	quantity	NOUN
app01-9504	152	18	that	that	PRON
app01-9504	152	19	can	can	AUX
app01-9504	152	20	be	be	AUX
app01-9504	152	21	obtained	obtain	VERB
app01-9504	152	22	from	from	ADP
app01-9504	152	23	the	the	DET
app01-9504	152	24	track	track	NOUN
app01-9504	152	25	environment	environment	NOUN
app01-9504	152	26	database	database	NOUN
app01-9504	152	27	,	,	PUNCT
app01-9504	152	28	i.e.	i.e.	X
app01-9504	152	29	the	the	DET
app01-9504	152	30	current	current	ADJ
app01-9504	152	31	radius	radius	NOUN
app01-9504	152	32	of	of	ADP
app01-9504	152	33	the	the	DET
app01-9504	152	34	passing	pass	VERB
app01-9504	152	35	curve	curve	NOUN
app01-9504	152	36	,	,	PUNCT
app01-9504	152	37	or	or	CCONJ
app01-9504	152	38	with	with	ADP
app01-9504	152	39	quantities	quantity	NOUN
app01-9504	152	40	that	that	PRON
app01-9504	152	41	are	be	AUX
app01-9504	152	42	already	already	ADV
app01-9504	152	43	sensed	sense	VERB
app01-9504	152	44	on	on	ADP
app01-9504	152	45	the	the	DET
app01-9504	152	46	current	current	ADJ
app01-9504	152	47	conventional	conventional	ADJ
app01-9504	152	48	vehicles	vehicle	NOUN
app01-9504	152	49	–	–	PUNCT
app01-9504	152	50	the	the	DET
app01-9504	152	51	vehicle	vehicle	NOUN
app01-9504	152	52	speed	speed	NOUN
app01-9504	152	53	.	.	PUNCT
app01-9504	153	1	vehicle	vehicle	NOUN
app01-9504	153	2	speed	speed	NOUN
app01-9504	153	3	is	be	AUX
app01-9504	153	4	a	a	DET
app01-9504	153	5	quantity	quantity	NOUN
app01-9504	153	6	that	that	PRON
app01-9504	153	7	is	be	AUX
app01-9504	153	8	normally	normally	ADV
app01-9504	153	9	sensed	sense	VERB
app01-9504	153	10	with	with	ADP
app01-9504	153	11	sufficient	sufficient	ADJ
app01-9504	153	12	accuracy	accuracy	NOUN
app01-9504	153	13	already	already	ADV
app01-9504	153	14	on	on	ADP
app01-9504	153	15	current	current	ADJ
app01-9504	153	16	vehicles	vehicle	NOUN
app01-9504	153	17	and	and	CCONJ
app01-9504	153	18	thus	thus	ADV
app01-9504	153	19	there	there	PRON
app01-9504	153	20	is	be	VERB
app01-9504	153	21	no	no	DET
app01-9504	153	22	need	need	NOUN
app01-9504	153	23	to	to	PART
app01-9504	153	24	install	install	VERB
app01-9504	153	25	additional	additional	ADJ
app01-9504	153	26	sensors	sensor	NOUN
app01-9504	153	27	.	.	PUNCT
app01-9504	154	1	the	the	DET
app01-9504	154	2	radius	radius	NOUN
app01-9504	154	3	of	of	ADP
app01-9504	154	4	curve	curve	NOUN
app01-9504	154	5	will	will	AUX
app01-9504	154	6	be	be	AUX
app01-9504	154	7	obtained	obtain	VERB
app01-9504	154	8	from	from	ADP
app01-9504	154	9	the	the	DET
app01-9504	154	10	track	track	NOUN
app01-9504	154	11	environment	environment	NOUN
app01-9504	154	12	database	database	NOUN
app01-9504	154	13	based	base	VERB
app01-9504	154	14	on	on	ADP
app01-9504	154	15	the	the	DET
app01-9504	154	16	vehicle	vehicle	NOUN
app01-9504	154	17	position	position	NOUN
app01-9504	154	18	,	,	PUNCT
app01-9504	154	19	which	which	PRON
app01-9504	154	20	will	will	AUX
app01-9504	154	21	be	be	AUX
app01-9504	154	22	obtained	obtain	VERB
app01-9504	154	23	using	use	VERB
app01-9504	154	24	hd	hd	NOUN
app01-9504	154	25	mapping	mapping	NOUN
app01-9504	154	26	and	and	CCONJ
app01-9504	154	27	gnss	gnss	NOUN
app01-9504	154	28	.	.	PUNCT
app01-9504	155	1	thus	thus	ADV
app01-9504	155	2	,	,	PUNCT
app01-9504	155	3	the	the	DET
app01-9504	155	4	same	same	ADJ
app01-9504	155	5	sensors	sensor	NOUN
app01-9504	155	6	located	locate	VERB
app01-9504	155	7	at	at	ADP
app01-9504	155	8	the	the	DET
app01-9504	155	9	front	front	NOUN
app01-9504	155	10	of	of	ADP
app01-9504	155	11	the	the	DET
app01-9504	155	12	vehicle	vehicle	NOUN
app01-9504	155	13	for	for	ADP
app01-9504	155	14	the	the	DET
app01-9504	155	15	acs	ac	NOUN
app01-9504	155	16	are	be	AUX
app01-9504	155	17	used	use	VERB
app01-9504	155	18	to	to	PART
app01-9504	155	19	locate	locate	VERB
app01-9504	155	20	the	the	DET
app01-9504	155	21	vehicle	vehicle	NOUN
app01-9504	155	22	and	and	CCONJ
app01-9504	155	23	there	there	PRON
app01-9504	155	24	is	be	VERB
app01-9504	155	25	no	no	DET
app01-9504	155	26	need	need	NOUN
app01-9504	155	27	to	to	PART
app01-9504	155	28	use	use	VERB
app01-9504	155	29	additional	additional	ADJ
app01-9504	155	30	sensors	sensor	NOUN
app01-9504	155	31	to	to	PART
app01-9504	155	32	obtain	obtain	VERB
app01-9504	155	33	input	input	NOUN
app01-9504	155	34	variables	variable	NOUN
app01-9504	155	35	for	for	ADP
app01-9504	155	36	controlling	control	VERB
app01-9504	155	37	the	the	DET
app01-9504	155	38	active	active	ADJ
app01-9504	155	39	element	element	NOUN
app01-9504	155	40	.	.	PUNCT
app01-9504	156	1	the	the	DET
app01-9504	156	2	design	design	NOUN
app01-9504	156	3	also	also	ADV
app01-9504	156	4	assumes	assume	VERB
app01-9504	156	5	that	that	SCONJ
app01-9504	156	6	other	other	ADJ
app01-9504	156	7	parameters	parameter	NOUN
app01-9504	156	8	of	of	ADP
app01-9504	156	9	the	the	DET
app01-9504	156	10	track	track	NOUN
app01-9504	156	11	,	,	PUNCT
app01-9504	156	12	obtained	obtain	VERB
app01-9504	156	13	from	from	ADP
app01-9504	156	14	the	the	DET
app01-9504	156	15	environmental	environmental	ADJ
app01-9504	156	16	database	database	NOUN
app01-9504	156	17	,	,	PUNCT
app01-9504	156	18	could	could	AUX
app01-9504	156	19	be	be	AUX
app01-9504	156	20	input	input	NOUN
app01-9504	156	21	to	to	ADP
app01-9504	156	22	the	the	DET
app01-9504	156	23	control	control	NOUN
app01-9504	156	24	algorithm	algorithm	NOUN
app01-9504	156	25	of	of	ADP
app01-9504	156	26	the	the	DET
app01-9504	156	27	active	active	ADJ
app01-9504	156	28	element	element	NOUN
app01-9504	156	29	.	.	PUNCT
app01-9504	157	1	in	in	ADP
app01-9504	157	2	particular	particular	ADJ
app01-9504	157	3	,	,	PUNCT
app01-9504	157	4	the	the	DET
app01-9504	157	5	track	track	NOUN
app01-9504	157	6	lateral	lateral	ADJ
app01-9504	157	7	clearance	clearance	NOUN
app01-9504	157	8	,	,	PUNCT
app01-9504	157	9	track	track	NOUN
app01-9504	157	10	gauge	gauge	NOUN
app01-9504	157	11	(	(	PUNCT
app01-9504	157	12	in	in	ADP
app01-9504	157	13	small	small	ADJ
app01-9504	157	14	radius	radius	NOUN
app01-9504	157	15	curves	curve	NOUN
app01-9504	157	16	these	these	DET
app01-9504	157	17	parameters	parameter	NOUN
app01-9504	157	18	are	be	AUX
app01-9504	157	19	often	often	ADV
app01-9504	157	20	extended	extend	VERB
app01-9504	157	21	)	)	PUNCT
app01-9504	157	22	,	,	PUNCT
app01-9504	157	23	superelevation	superelevation	NOUN
app01-9504	157	24	or	or	CCONJ
app01-9504	157	25	track	track	VERB
app01-9504	157	26	quality	quality	NOUN
app01-9504	157	27	(	(	PUNCT
app01-9504	157	28	influence	influence	NOUN
app01-9504	157	29	of	of	ADP
app01-9504	157	30	vertical	vertical	ADJ
app01-9504	157	31	and	and	CCONJ
app01-9504	157	32	lateral	lateral	ADJ
app01-9504	157	33	irregularities	irregularity	NOUN
app01-9504	157	34	)	)	PUNCT
app01-9504	157	35	.	.	PUNCT
app01-9504	158	1	based	base	VERB
app01-9504	158	2	on	on	ADP
app01-9504	158	3	this	this	DET
app01-9504	158	4	information	information	NOUN
app01-9504	158	5	,	,	PUNCT
app01-9504	158	6	the	the	DET
app01-9504	158	7	steering	steering	NOUN
app01-9504	158	8	of	of	ADP
app01-9504	158	9	the	the	DET
app01-9504	158	10	wheelsets	wheelset	NOUN
app01-9504	158	11	will	will	AUX
app01-9504	158	12	be	be	AUX
app01-9504	158	13	controlled	control	VERB
app01-9504	158	14	and	and	CCONJ
app01-9504	158	15	the	the	DET
app01-9504	158	16	vehicle	vehicle	NOUN
app01-9504	158	17	speed	speed	NOUN
app01-9504	158	18	will	will	AUX
app01-9504	158	19	be	be	AUX
app01-9504	158	20	regulated	regulate	VERB
app01-9504	158	21	.	.	PUNCT
app01-9504	159	1	in	in	ADP
app01-9504	159	2	order	order	NOUN
app01-9504	159	3	to	to	PART
app01-9504	159	4	obtain	obtain	VERB
app01-9504	159	5	such	such	ADJ
app01-9504	159	6	detailed	detailed	ADJ
app01-9504	159	7	information	information	NOUN
app01-9504	159	8	about	about	ADP
app01-9504	159	9	the	the	DET
app01-9504	159	10	infrastructure	infrastructure	NOUN
app01-9504	159	11	,	,	PUNCT
app01-9504	159	12	it	it	PRON
app01-9504	159	13	is	be	AUX
app01-9504	159	14	necessary	necessary	ADJ
app01-9504	159	15	to	to	PART
app01-9504	159	16	find	find	VERB
app01-9504	159	17	a	a	DET
app01-9504	159	18	tool	tool	NOUN
app01-9504	159	19	that	that	PRON
app01-9504	159	20	is	be	AUX
app01-9504	159	21	able	able	ADJ
app01-9504	159	22	to	to	PART
app01-9504	159	23	map	map	VERB
app01-9504	159	24	the	the	DET
app01-9504	159	25	track	track	NOUN
app01-9504	159	26	and	and	CCONJ
app01-9504	159	27	its	its	PRON
app01-9504	159	28	surroundings	surrounding	NOUN
app01-9504	159	29	in	in	ADP
app01-9504	159	30	sufficient	sufficient	ADJ
app01-9504	159	31	detail	detail	NOUN
app01-9504	159	32	.	.	PUNCT
app01-9504	160	1	4.2.2	4.2.2	X
app01-9504	160	2	.	.	PUNCT
app01-9504	160	3	basic	basic	ADJ
app01-9504	160	4	active	active	ADJ
app01-9504	160	5	element	element	NOUN
app01-9504	160	6	control	control	NOUN
app01-9504	160	7	relations	relation	NOUN
app01-9504	160	8	as	as	ADP
app01-9504	160	9	input	input	NOUN
app01-9504	160	10	variables	variable	NOUN
app01-9504	160	11	to	to	ADP
app01-9504	160	12	the	the	DET
app01-9504	160	13	control	control	NOUN
app01-9504	160	14	of	of	ADP
app01-9504	160	15	the	the	DET
app01-9504	160	16	active	active	ADJ
app01-9504	160	17	element	element	NOUN
app01-9504	160	18	,	,	PUNCT
app01-9504	160	19	the	the	DET
app01-9504	160	20	easily	easily	ADV
app01-9504	160	21	obtainable	obtainable	ADJ
app01-9504	160	22	variables	variable	NOUN
app01-9504	160	23	of	of	ADP
app01-9504	160	24	the	the	DET
app01-9504	160	25	instantaneous	instantaneous	ADJ
app01-9504	160	26	vehicle	vehicle	NOUN
app01-9504	160	27	speed	speed	NOUN
app01-9504	160	28	and	and	CCONJ
app01-9504	160	29	the	the	DET
app01-9504	160	30	radius	radius	NOUN
app01-9504	160	31	of	of	ADP
app01-9504	160	32	the	the	DET
app01-9504	160	33	directional	directional	ADJ
app01-9504	160	34	curve	curve	NOUN
app01-9504	160	35	r	r	NOUN
app01-9504	160	36	will	will	AUX
app01-9504	160	37	be	be	AUX
app01-9504	160	38	input	input	VERB
app01-9504	160	39	.	.	PUNCT
app01-9504	161	1	in	in	ADP
app01-9504	161	2	the	the	DET
app01-9504	161	3	next	next	ADJ
app01-9504	161	4	phase	phase	NOUN
app01-9504	161	5	of	of	ADP
app01-9504	161	6	development	development	NOUN
app01-9504	161	7	of	of	ADP
app01-9504	161	8	the	the	DET
app01-9504	161	9	control	control	NOUN
app01-9504	161	10	algorithm	algorithm	NOUN
app01-9504	161	11	,	,	PUNCT
app01-9504	161	12	the	the	DET
app01-9504	161	13	plan	plan	NOUN
app01-9504	161	14	is	be	AUX
app01-9504	161	15	to	to	PART
app01-9504	161	16	include	include	VERB
app01-9504	161	17	information	information	NOUN
app01-9504	161	18	about	about	ADP
app01-9504	161	19	the	the	DET
app01-9504	161	20	gauge	gauge	NOUN
app01-9504	161	21	g	g	NOUN
app01-9504	161	22	or	or	CCONJ
app01-9504	161	23	clearance	clearance	NOUN
app01-9504	161	24	in	in	ADP
app01-9504	161	25	the	the	DET
app01-9504	161	26	track	track	NOUN
app01-9504	161	27	σ	σ	NOUN
app01-9504	161	28	in	in	ADP
app01-9504	161	29	the	the	DET
app01-9504	161	30	control	control	NOUN
app01-9504	161	31	of	of	ADP
app01-9504	161	32	the	the	DET
app01-9504	161	33	active	active	ADJ
app01-9504	161	34	element	element	NOUN
app01-9504	161	35	.	.	PUNCT
app01-9504	162	1	the	the	DET
app01-9504	162	2	optimal	optimal	ADJ
app01-9504	162	3	displacement	displacement	NOUN
app01-9504	162	4	of	of	ADP
app01-9504	162	5	the	the	DET
app01-9504	162	6	actuator	actuator	NOUN
app01-9504	162	7	∆l	∆l	PROPN
app01-9504	162	8	can	can	AUX
app01-9504	162	9	then	then	ADV
app01-9504	162	10	be	be	AUX
app01-9504	162	11	expressed	express	VERB
app01-9504	162	12	as	as	ADP
app01-9504	162	13	:	:	PUNCT
app01-9504	162	14	∆l	∆l	PROPN
app01-9504	162	15	=	=	PROPN
app01-9504	162	16	a	a	PRON
app01-9504	162	17	·	·	PUNCT
app01-9504	162	18	b	b	SYM
app01-9504	162	19	r	r	NOUN
app01-9504	162	20	+	+	CCONJ
app01-9504	162	21	f(g	f(g	PROPN
app01-9504	162	22	,	,	PUNCT
app01-9504	162	23	σ	σ	PROPN
app01-9504	162	24	)	)	PUNCT
app01-9504	162	25	,	,	PUNCT
app01-9504	162	26	(	(	PUNCT
app01-9504	162	27	1	1	X
app01-9504	162	28	)	)	PUNCT
app01-9504	162	29	where	where	SCONJ
app01-9504	162	30	2b	2b	NUM
app01-9504	162	31	is	be	AUX
app01-9504	162	32	the	the	DET
app01-9504	162	33	wheelbase	wheelbase	NOUN
app01-9504	162	34	of	of	ADP
app01-9504	162	35	the	the	DET
app01-9504	162	36	bogie	bogie	NOUN
app01-9504	162	37	and	and	CCONJ
app01-9504	162	38	2a	2a	NUM
app01-9504	162	39	is	be	AUX
app01-9504	162	40	the	the	DET
app01-9504	162	41	lateral	lateral	ADJ
app01-9504	162	42	distance	distance	NOUN
app01-9504	162	43	of	of	ADP
app01-9504	162	44	the	the	DET
app01-9504	162	45	actuators	actuator	NOUN
app01-9504	162	46	steering	steer	VERB
app01-9504	162	47	the	the	DET
app01-9504	162	48	wheelsets	wheelset	NOUN
app01-9504	162	49	,	,	PUNCT
app01-9504	162	50	see	see	VERB
app01-9504	162	51	figure	figure	NOUN
app01-9504	162	52	7	7	NUM
app01-9504	163	1	[	[	X
app01-9504	163	2	5	5	NUM
app01-9504	163	3	]	]	PUNCT
app01-9504	163	4	.	.	PUNCT
app01-9504	164	1	based	base	VERB
app01-9504	164	2	on	on	ADP
app01-9504	164	3	the	the	DET
app01-9504	164	4	optimal	optimal	ADJ
app01-9504	164	5	actuator	actuator	NOUN
app01-9504	164	6	extension	extension	NOUN
app01-9504	164	7	,	,	PUNCT
app01-9504	164	8	the	the	DET
app01-9504	164	9	required	require	VERB
app01-9504	164	10	actuator	actuator	NOUN
app01-9504	164	11	force	force	NOUN
app01-9504	164	12	can	can	AUX
app01-9504	164	13	be	be	AUX
app01-9504	164	14	expressed	express	VERB
app01-9504	164	15	as	as	ADP
app01-9504	164	16	:	:	PUNCT
app01-9504	164	17	f	f	X
app01-9504	164	18	=	=	PRON
app01-9504	164	19	(	(	PUNCT
app01-9504	164	20	kx	kx	PROPN
app01-9504	164	21	·	·	PUNCT
app01-9504	164	22	∆l	∆l	PROPN
app01-9504	164	23	+	+	CCONJ
app01-9504	164	24	ft_dv	ft_dv	PROPN
app01-9504	164	25	2	2	NUM
app01-9504	164	26	)	)	PUNCT
app01-9504	164	27	·	·	PUNCT
app01-9504	165	1	k	k	X
app01-9504	165	2	.	.	PUNCT
app01-9504	166	1	(	(	PUNCT
app01-9504	166	2	2	2	X
app01-9504	166	3	)	)	PUNCT
app01-9504	166	4	the	the	DET
app01-9504	166	5	actuator	actuator	NOUN
app01-9504	166	6	must	must	AUX
app01-9504	166	7	be	be	AUX
app01-9504	166	8	dimensioned	dimension	VERB
app01-9504	166	9	based	base	VERB
app01-9504	166	10	on	on	ADP
app01-9504	166	11	the	the	DET
app01-9504	166	12	requirement	requirement	NOUN
app01-9504	166	13	for	for	ADP
app01-9504	166	14	the	the	DET
app01-9504	166	15	actuator	actuator	NOUN
app01-9504	166	16	displacement	displacement	PROPN
app01-9504	166	17	∆l	∆l	PROPN
app01-9504	166	18	,	,	PUNCT
app01-9504	166	19	the	the	DET
app01-9504	166	20	longitudinal	longitudinal	ADJ
app01-9504	166	21	stiffness	stiffness	NOUN
app01-9504	166	22	of	of	ADP
app01-9504	166	23	the	the	DET
app01-9504	166	24	primary	primary	ADJ
app01-9504	166	25	suspension	suspension	NOUN
app01-9504	166	26	kx	kx	PROPN
app01-9504	166	27	and	and	CCONJ
app01-9504	166	28	figure	figure	VERB
app01-9504	166	29	7	7	NUM
app01-9504	166	30	.	.	PUNCT
app01-9504	166	31	bogie	bogie	NOUN
app01-9504	166	32	with	with	ADP
app01-9504	166	33	actively	actively	ADV
app01-9504	166	34	steering	steer	VERB
app01-9504	166	35	wheelsets	wheelset	NOUN
app01-9504	166	36	passaging	passage	VERB
app01-9504	166	37	through	through	ADP
app01-9504	166	38	a	a	DET
app01-9504	166	39	curve	curve	NOUN
app01-9504	166	40	[	[	X
app01-9504	166	41	5	5	NUM
app01-9504	166	42	]	]	PUNCT
app01-9504	166	43	.	.	PUNCT
app01-9504	167	1	then	then	ADV
app01-9504	167	2	the	the	DET
app01-9504	167	3	transfer	transfer	NOUN
app01-9504	167	4	of	of	ADP
app01-9504	167	5	the	the	DET
app01-9504	167	6	maximum	maximum	ADJ
app01-9504	167	7	traction	traction	PROPN
app01-9504	167	8	force	force	NOUN
app01-9504	167	9	of	of	ADP
app01-9504	167	10	the	the	DET
app01-9504	167	11	vehicle	vehicle	NOUN
app01-9504	167	12	to	to	ADP
app01-9504	167	13	each	each	DET
app01-9504	167	14	driven	drive	VERB
app01-9504	167	15	wheelset	wheelset	PROPN
app01-9504	167	16	ft_dv	ft_dv	PROPN
app01-9504	167	17	,	,	PUNCT
app01-9504	167	18	which	which	PRON
app01-9504	167	19	will	will	AUX
app01-9504	167	20	be	be	AUX
app01-9504	167	21	transferred	transfer	VERB
app01-9504	167	22	from	from	ADP
app01-9504	167	23	the	the	DET
app01-9504	167	24	wheelset	wheelset	NOUN
app01-9504	167	25	to	to	ADP
app01-9504	167	26	the	the	DET
app01-9504	167	27	bogie	bogie	NOUN
app01-9504	167	28	frame	frame	NOUN
app01-9504	167	29	via	via	ADP
app01-9504	167	30	the	the	DET
app01-9504	167	31	actuators	actuator	NOUN
app01-9504	167	32	.	.	PUNCT
app01-9504	168	1	the	the	DET
app01-9504	168	2	coefficient	coefficient	NOUN
app01-9504	168	3	k	k	PROPN
app01-9504	168	4	can	can	AUX
app01-9504	168	5	be	be	AUX
app01-9504	168	6	seen	see	VERB
app01-9504	168	7	as	as	ADP
app01-9504	168	8	a	a	DET
app01-9504	168	9	safety	safety	NOUN
app01-9504	168	10	coefficient	coefficient	NOUN
app01-9504	168	11	,	,	PUNCT
app01-9504	168	12	the	the	DET
app01-9504	168	13	value	value	NOUN
app01-9504	168	14	of	of	ADP
app01-9504	168	15	which	which	PRON
app01-9504	168	16	will	will	AUX
app01-9504	168	17	be	be	AUX
app01-9504	168	18	further	far	ADV
app01-9504	168	19	investigated	investigate	VERB
app01-9504	168	20	to	to	PART
app01-9504	168	21	guarantee	guarantee	VERB
app01-9504	168	22	safe	safe	ADJ
app01-9504	168	23	steering	steering	NOUN
app01-9504	168	24	of	of	ADP
app01-9504	168	25	the	the	DET
app01-9504	168	26	wheelset	wheelset	NOUN
app01-9504	168	27	in	in	ADP
app01-9504	168	28	any	any	DET
app01-9504	168	29	operating	operate	VERB
app01-9504	168	30	situation	situation	NOUN
app01-9504	168	31	(	(	PUNCT
app01-9504	168	32	empty	empty	ADJ
app01-9504	168	33	/	/	SYM
app01-9504	168	34	fully	fully	ADV
app01-9504	168	35	loaded	load	VERB
app01-9504	168	36	vehicle	vehicle	NOUN
app01-9504	168	37	,	,	PUNCT
app01-9504	168	38	high	high	ADJ
app01-9504	168	39	/	/	SYM
app01-9504	168	40	low	low	ADJ
app01-9504	168	41	coefficient	coefficient	NOUN
app01-9504	168	42	of	of	ADP
app01-9504	168	43	adhesion	adhesion	NOUN
app01-9504	168	44	,	,	PUNCT
app01-9504	168	45	etc	etc	X
app01-9504	168	46	.	.	X
app01-9504	168	47	)	)	PUNCT
app01-9504	168	48	,	,	PUNCT
app01-9504	168	49	but	but	CCONJ
app01-9504	168	50	at	at	ADP
app01-9504	168	51	the	the	DET
app01-9504	168	52	same	same	ADJ
app01-9504	168	53	time	time	NOUN
app01-9504	168	54	not	not	PART
app01-9504	168	55	over	over	ADV
app01-9504	168	56	-	-	PUNCT
app01-9504	168	57	dimensioning	dimension	VERB
app01-9504	168	58	the	the	DET
app01-9504	168	59	actuator	actuator	NOUN
app01-9504	168	60	.	.	PUNCT
app01-9504	169	1	oversizing	oversize	VERB
app01-9504	169	2	the	the	DET
app01-9504	169	3	actuator	actuator	NOUN
app01-9504	169	4	leads	lead	VERB
app01-9504	169	5	to	to	ADP
app01-9504	169	6	an	an	DET
app01-9504	169	7	increase	increase	NOUN
app01-9504	169	8	in	in	ADP
app01-9504	169	9	its	its	PRON
app01-9504	169	10	size	size	NOUN
app01-9504	169	11	and	and	CCONJ
app01-9504	169	12	weight	weight	NOUN
app01-9504	169	13	,	,	PUNCT
app01-9504	169	14	making	make	VERB
app01-9504	169	15	it	it	PRON
app01-9504	169	16	even	even	ADV
app01-9504	169	17	more	more	ADV
app01-9504	169	18	difficult	difficult	ADJ
app01-9504	169	19	to	to	PART
app01-9504	169	20	place	place	VERB
app01-9504	169	21	the	the	DET
app01-9504	169	22	actuator	actuator	NOUN
app01-9504	169	23	into	into	ADP
app01-9504	169	24	the	the	DET
app01-9504	169	25	vehicle	vehicle	NOUN
app01-9504	169	26	running	running	NOUN
app01-9504	169	27	gear	gear	NOUN
app01-9504	169	28	.	.	PUNCT
app01-9504	170	1	due	due	ADP
app01-9504	170	2	to	to	ADP
app01-9504	170	3	the	the	DET
app01-9504	170	4	positioning	positioning	NOUN
app01-9504	170	5	of	of	ADP
app01-9504	170	6	the	the	DET
app01-9504	170	7	acs	acs	PROPN
app01-9504	170	8	sensor	sensor	NOUN
app01-9504	170	9	on	on	ADP
app01-9504	170	10	the	the	DET
app01-9504	170	11	front	front	NOUN
app01-9504	170	12	of	of	ADP
app01-9504	170	13	the	the	DET
app01-9504	170	14	vehicle	vehicle	NOUN
app01-9504	170	15	,	,	PUNCT
app01-9504	170	16	the	the	DET
app01-9504	170	17	individual	individual	ADJ
app01-9504	170	18	wheelsets	wheelset	NOUN
app01-9504	170	19	will	will	AUX
app01-9504	170	20	need	need	VERB
app01-9504	170	21	to	to	PART
app01-9504	170	22	be	be	AUX
app01-9504	170	23	steered	steer	VERB
app01-9504	170	24	with	with	ADP
app01-9504	170	25	a	a	DET
app01-9504	170	26	delay	delay	NOUN
app01-9504	170	27	depending	depend	VERB
app01-9504	170	28	on	on	ADP
app01-9504	170	29	the	the	DET
app01-9504	170	30	vehicle	vehicle	NOUN
app01-9504	170	31	speed	speed	NOUN
app01-9504	170	32	and	and	CCONJ
app01-9504	170	33	vehicle	vehicle	NOUN
app01-9504	170	34	dimensions	dimension	NOUN
app01-9504	170	35	(	(	PUNCT
app01-9504	170	36	vehicle	vehicle	NOUN
app01-9504	170	37	front	front	ADJ
app01-9504	170	38	length	length	NOUN
app01-9504	170	39	,	,	PUNCT
app01-9504	170	40	bogie	bogie	NOUN
app01-9504	170	41	axle	axle	NOUN
app01-9504	170	42	and	and	CCONJ
app01-9504	170	43	wheelbase	wheelbase	ADJ
app01-9504	170	44	distances	distance	NOUN
app01-9504	170	45	,	,	PUNCT
app01-9504	170	46	length	length	NOUN
app01-9504	170	47	of	of	ADP
app01-9504	170	48	individual	individual	ADJ
app01-9504	170	49	articles	article	NOUN
app01-9504	170	50	)	)	PUNCT
app01-9504	170	51	.	.	PUNCT
app01-9504	171	1	the	the	DET
app01-9504	171	2	extension	extension	NOUN
app01-9504	171	3	speed	speed	NOUN
app01-9504	171	4	and	and	CCONJ
app01-9504	171	5	other	other	ADJ
app01-9504	171	6	actuator	actuator	NOUN
app01-9504	171	7	parameters	parameter	NOUN
app01-9504	171	8	will	will	AUX
app01-9504	171	9	also	also	ADV
app01-9504	171	10	have	have	VERB
app01-9504	171	11	an	an	DET
app01-9504	171	12	influence	influence	NOUN
app01-9504	171	13	and	and	CCONJ
app01-9504	171	14	will	will	AUX
app01-9504	171	15	be	be	AUX
app01-9504	171	16	included	include	VERB
app01-9504	171	17	in	in	ADP
app01-9504	171	18	the	the	DET
app01-9504	171	19	control	control	NOUN
app01-9504	171	20	algorithm	algorithm	NOUN
app01-9504	171	21	.	.	PUNCT
app01-9504	172	1	at	at	ADP
app01-9504	172	2	the	the	DET
app01-9504	172	3	current	current	ADJ
app01-9504	172	4	design	design	NOUN
app01-9504	172	5	stage	stage	NOUN
app01-9504	172	6	,	,	PUNCT
app01-9504	172	7	the	the	DET
app01-9504	172	8	control	control	NOUN
app01-9504	172	9	is	be	AUX
app01-9504	172	10	intended	intend	VERB
app01-9504	172	11	to	to	PART
app01-9504	172	12	be	be	AUX
app01-9504	172	13	forward	forward	ADV
app01-9504	172	14	,	,	PUNCT
app01-9504	172	15	which	which	PRON
app01-9504	172	16	appears	appear	VERB
app01-9504	172	17	to	to	PART
app01-9504	172	18	be	be	AUX
app01-9504	172	19	a	a	DET
app01-9504	172	20	suitable	suitable	ADJ
app01-9504	172	21	solution	solution	NOUN
app01-9504	172	22	for	for	ADP
app01-9504	172	23	this	this	DET
app01-9504	172	24	task	task	NOUN
app01-9504	172	25	.	.	PUNCT
app01-9504	173	1	it	it	PRON
app01-9504	173	2	has	have	VERB
app01-9504	173	3	the	the	DET
app01-9504	173	4	advantage	advantage	NOUN
app01-9504	173	5	of	of	ADP
app01-9504	173	6	being	be	AUX
app01-9504	173	7	able	able	ADJ
app01-9504	173	8	to	to	PART
app01-9504	173	9	better	well	ADV
app01-9504	173	10	adapt	adapt	VERB
app01-9504	173	11	to	to	ADP
app01-9504	173	12	different	different	ADJ
app01-9504	173	13	boundary	boundary	ADJ
app01-9504	173	14	conditions	condition	NOUN
app01-9504	173	15	that	that	PRON
app01-9504	173	16	may	may	AUX
app01-9504	173	17	occur	occur	VERB
app01-9504	173	18	during	during	ADP
app01-9504	173	19	operation	operation	NOUN
app01-9504	173	20	[	[	X
app01-9504	173	21	11	11	NUM
app01-9504	173	22	]	]	PUNCT
app01-9504	173	23	.	.	PUNCT
app01-9504	174	1	the	the	DET
app01-9504	174	2	detailed	detailed	ADJ
app01-9504	174	3	design	design	NOUN
app01-9504	174	4	of	of	ADP
app01-9504	174	5	the	the	DET
app01-9504	174	6	active	active	ADJ
app01-9504	174	7	element	element	NOUN
app01-9504	174	8	control	control	NOUN
app01-9504	174	9	will	will	AUX
app01-9504	174	10	be	be	AUX
app01-9504	174	11	developed	develop	VERB
app01-9504	174	12	in	in	ADP
app01-9504	174	13	the	the	DET
app01-9504	174	14	next	next	ADJ
app01-9504	174	15	phase	phase	NOUN
app01-9504	174	16	of	of	ADP
app01-9504	174	17	the	the	DET
app01-9504	174	18	research	research	NOUN
app01-9504	174	19	.	.	PUNCT
app01-9504	175	1	4.3	4.3	NUM
app01-9504	175	2	.	.	PUNCT
app01-9504	175	3	safety	safety	NOUN
app01-9504	175	4	issues	issue	NOUN
app01-9504	175	5	of	of	ADP
app01-9504	175	6	active	active	ADJ
app01-9504	175	7	element	element	NOUN
app01-9504	175	8	application	application	NOUN
app01-9504	175	9	and	and	CCONJ
app01-9504	175	10	its	its	PRON
app01-9504	175	11	control	control	NOUN
app01-9504	175	12	for	for	ADP
app01-9504	175	13	the	the	DET
app01-9504	175	14	evaluation	evaluation	NOUN
app01-9504	175	15	of	of	ADP
app01-9504	175	16	system	system	NOUN
app01-9504	175	17	fault	fault	NOUN
app01-9504	175	18	tolerance	tolerance	NOUN
app01-9504	175	19	,	,	PUNCT
app01-9504	175	20	inspiration	inspiration	NOUN
app01-9504	175	21	can	can	AUX
app01-9504	175	22	be	be	AUX
app01-9504	175	23	drawn	draw	VERB
app01-9504	175	24	from	from	ADP
app01-9504	175	25	the	the	DET
app01-9504	175	26	aerospace	aerospace	NOUN
app01-9504	175	27	industry	industry	NOUN
app01-9504	175	28	,	,	PUNCT
app01-9504	175	29	which	which	PRON
app01-9504	175	30	is	be	AUX
app01-9504	175	31	significantly	significantly	ADV
app01-9504	175	32	further	far	ADV
app01-9504	175	33	along	along	ADV
app01-9504	175	34	in	in	ADP
app01-9504	175	35	this	this	DET
app01-9504	175	36	field	field	NOUN
app01-9504	175	37	.	.	PUNCT
app01-9504	176	1	comparisons	comparison	NOUN
app01-9504	176	2	in	in	ADP
app01-9504	176	3	terms	term	NOUN
app01-9504	176	4	of	of	ADP
app01-9504	176	5	risk	risk	NOUN
app01-9504	176	6	priority	priority	NOUN
app01-9504	176	7	number	number	NOUN
app01-9504	176	8	and	and	CCONJ
app01-9504	176	9	based	base	VERB
app01-9504	176	10	on	on	ADP
app01-9504	176	11	the	the	DET
app01-9504	176	12	proposed	propose	VERB
app01-9504	176	13	methodology	methodology	NOUN
app01-9504	177	1	[	[	X
app01-9504	177	2	5	5	NUM
app01-9504	177	3	]	]	PUNCT
app01-9504	177	4	of	of	ADP
app01-9504	177	5	how	how	SCONJ
app01-9504	177	6	to	to	PART
app01-9504	177	7	assess	assess	VERB
app01-9504	177	8	fault	fault	NOUN
app01-9504	177	9	tolerance	tolerance	NOUN
app01-9504	177	10	122	122	NUM
app01-9504	177	11	vol	vol	NOUN
app01-9504	177	12	.	.	PUNCT
app01-9504	178	1	43/2023	43/2023	NUM
app01-9504	179	1	cooperation	cooperation	NOUN
app01-9504	179	2	of	of	ADP
app01-9504	179	3	active	active	ADJ
app01-9504	179	4	steering	steering	NOUN
app01-9504	179	5	control	control	NOUN
app01-9504	179	6	of	of	ADP
app01-9504	179	7	wheelsets	wheelset	NOUN
app01-9504	179	8	can	can	AUX
app01-9504	179	9	be	be	AUX
app01-9504	179	10	used	use	VERB
app01-9504	179	11	.	.	PUNCT
app01-9504	180	1	the	the	DET
app01-9504	180	2	risk	risk	NOUN
app01-9504	180	3	priority	priority	NOUN
app01-9504	180	4	number	number	NOUN
app01-9504	180	5	is	be	AUX
app01-9504	180	6	determined	determine	VERB
app01-9504	180	7	based	base	VERB
app01-9504	180	8	on	on	ADP
app01-9504	180	9	two	two	NUM
app01-9504	180	10	main	main	ADJ
app01-9504	180	11	criteria	criterion	NOUN
app01-9504	180	12	,	,	PUNCT
app01-9504	180	13	the	the	DET
app01-9504	180	14	severity	severity	NOUN
app01-9504	180	15	of	of	ADP
app01-9504	180	16	the	the	DET
app01-9504	180	17	failure	failure	NOUN
app01-9504	180	18	in	in	ADP
app01-9504	180	19	terms	term	NOUN
app01-9504	180	20	of	of	ADP
app01-9504	180	21	economic	economic	ADJ
app01-9504	180	22	loss	loss	NOUN
app01-9504	180	23	or	or	CCONJ
app01-9504	180	24	personal	personal	ADJ
app01-9504	180	25	injury	injury	NOUN
app01-9504	180	26	and	and	CCONJ
app01-9504	180	27	the	the	DET
app01-9504	180	28	probability	probability	NOUN
app01-9504	180	29	of	of	ADP
app01-9504	180	30	failure	failure	NOUN
app01-9504	180	31	.	.	PUNCT
app01-9504	181	1	a	a	DET
app01-9504	181	2	third	third	ADJ
app01-9504	181	3	additional	additional	ADJ
app01-9504	181	4	criterion	criterion	NOUN
app01-9504	181	5	may	may	AUX
app01-9504	181	6	be	be	AUX
app01-9504	181	7	the	the	DET
app01-9504	181	8	ability	ability	NOUN
app01-9504	181	9	to	to	PART
app01-9504	181	10	detect	detect	VERB
app01-9504	181	11	a	a	DET
app01-9504	181	12	failure	failure	NOUN
app01-9504	181	13	using	use	VERB
app01-9504	181	14	a	a	DET
app01-9504	181	15	monitoring	monitoring	NOUN
app01-9504	181	16	system	system	NOUN
app01-9504	181	17	.	.	PUNCT
app01-9504	182	1	from	from	ADP
app01-9504	182	2	the	the	DET
app01-9504	182	3	point	point	NOUN
app01-9504	182	4	of	of	ADP
app01-9504	182	5	view	view	NOUN
app01-9504	182	6	of	of	ADP
app01-9504	182	7	the	the	DET
app01-9504	182	8	safety	safety	NOUN
app01-9504	182	9	of	of	ADP
app01-9504	182	10	vehicle	vehicle	NOUN
app01-9504	182	11	operation	operation	NOUN
app01-9504	182	12	,	,	PUNCT
app01-9504	182	13	the	the	DET
app01-9504	182	14	following	follow	VERB
app01-9504	182	15	factors	factor	NOUN
app01-9504	182	16	and	and	CCONJ
app01-9504	182	17	operating	operating	NOUN
app01-9504	182	18	situations	situation	NOUN
app01-9504	182	19	appear	appear	VERB
app01-9504	182	20	to	to	PART
app01-9504	182	21	be	be	AUX
app01-9504	182	22	particularly	particularly	ADV
app01-9504	182	23	problematic	problematic	ADJ
app01-9504	182	24	:	:	PUNCT
app01-9504	182	25	•	•	NUM
app01-9504	182	26	correctness	correctness	NOUN
app01-9504	182	27	of	of	ADP
app01-9504	182	28	control	control	NOUN
app01-9504	182	29	input	input	NOUN
app01-9504	182	30	information	information	NOUN
app01-9504	182	31	(	(	PUNCT
app01-9504	182	32	sensors	sensor	NOUN
app01-9504	182	33	)	)	PUNCT
app01-9504	182	34	,	,	PUNCT
app01-9504	182	35	•	•	NUM
app01-9504	182	36	actuator	actuator	NOUN
app01-9504	182	37	malfunction	malfunction	NOUN
app01-9504	182	38	status	status	NOUN
app01-9504	182	39	:	:	PUNCT
app01-9504	182	40	▷	▷	ADJ
app01-9504	182	41	inactive	inactive	ADJ
app01-9504	182	42	actuator	actuator	NOUN
app01-9504	182	43	,	,	PUNCT
app01-9504	182	44	▷	▷	ADJ
app01-9504	182	45	actuator	actuator	NOUN
app01-9504	182	46	stuck	stick	VERB
app01-9504	182	47	in	in	ADP
app01-9504	182	48	utmost	utmost	ADJ
app01-9504	182	49	position	position	NOUN
app01-9504	182	50	.	.	PUNCT
app01-9504	183	1	•	•	NUM
app01-9504	183	2	control	control	NOUN
app01-9504	183	3	algorithm	algorithm	NOUN
app01-9504	183	4	error	error	NOUN
app01-9504	183	5	:	:	PUNCT
app01-9504	183	6	▷	▷	ADJ
app01-9504	183	7	maximum	maximum	ADJ
app01-9504	183	8	extension	extension	NOUN
app01-9504	183	9	of	of	ADP
app01-9504	183	10	both	both	PRON
app01-9504	183	11	wheelset	wheelset	VERB
app01-9504	183	12	ac	ac	NOUN
app01-9504	183	13	-	-	NOUN
app01-9504	183	14	tuators	tuator	NOUN
app01-9504	183	15	in	in	ADP
app01-9504	183	16	the	the	DET
app01-9504	183	17	opposite	opposite	ADJ
app01-9504	183	18	direction	direction	NOUN
app01-9504	183	19	,	,	PUNCT
app01-9504	183	20	▷	▷	ADV
app01-9504	183	21	extending	extend	VERB
app01-9504	183	22	only	only	ADV
app01-9504	183	23	one	one	NUM
app01-9504	183	24	wheelset	wheelset	ADJ
app01-9504	183	25	actuator	actuator	NOUN
app01-9504	183	26	in	in	ADP
app01-9504	183	27	the	the	DET
app01-9504	183	28	opposite	opposite	ADJ
app01-9504	183	29	direction	direction	NOUN
app01-9504	183	30	.	.	PUNCT
app01-9504	184	1	all	all	DET
app01-9504	184	2	these	these	DET
app01-9504	184	3	states	state	NOUN
app01-9504	184	4	need	need	VERB
app01-9504	184	5	to	to	PART
app01-9504	184	6	be	be	AUX
app01-9504	184	7	considered	consider	VERB
app01-9504	184	8	in	in	ADP
app01-9504	184	9	the	the	DET
app01-9504	184	10	design	design	NOUN
app01-9504	184	11	of	of	ADP
app01-9504	184	12	the	the	DET
app01-9504	184	13	active	active	ADJ
app01-9504	184	14	element	element	NOUN
app01-9504	184	15	,	,	PUNCT
app01-9504	184	16	its	its	PRON
app01-9504	184	17	control	control	NOUN
app01-9504	184	18	and	and	CCONJ
app01-9504	184	19	the	the	DET
app01-9504	184	20	whole	whole	ADJ
app01-9504	184	21	vehicle	vehicle	NOUN
app01-9504	184	22	and	and	CCONJ
app01-9504	184	23	then	then	ADV
app01-9504	184	24	the	the	DET
app01-9504	184	25	system	system	NOUN
app01-9504	184	26	needs	need	VERB
app01-9504	184	27	to	to	PART
app01-9504	184	28	be	be	AUX
app01-9504	184	29	evaluated	evaluate	VERB
app01-9504	184	30	using	use	VERB
app01-9504	184	31	,	,	PUNCT
app01-9504	184	32	for	for	ADP
app01-9504	184	33	example	example	NOUN
app01-9504	184	34	,	,	PUNCT
app01-9504	184	35	the	the	DET
app01-9504	184	36	methodology	methodology	NOUN
app01-9504	184	37	mentioned	mention	VERB
app01-9504	184	38	above	above	ADV
app01-9504	184	39	.	.	PUNCT
app01-9504	185	1	as	as	ADP
app01-9504	185	2	in	in	ADP
app01-9504	185	3	aviation	aviation	NOUN
app01-9504	185	4	,	,	PUNCT
app01-9504	185	5	in	in	ADP
app01-9504	185	6	the	the	DET
app01-9504	185	7	case	case	NOUN
app01-9504	185	8	of	of	ADP
app01-9504	185	9	the	the	DET
app01-9504	185	10	design	design	NOUN
app01-9504	185	11	of	of	ADP
app01-9504	185	12	the	the	DET
app01-9504	185	13	control	control	NOUN
app01-9504	185	14	of	of	ADP
app01-9504	185	15	an	an	DET
app01-9504	185	16	active	active	ADJ
app01-9504	185	17	element	element	NOUN
app01-9504	185	18	,	,	PUNCT
app01-9504	185	19	it	it	PRON
app01-9504	185	20	would	would	AUX
app01-9504	185	21	be	be	AUX
app01-9504	185	22	advisable	advisable	ADJ
app01-9504	185	23	to	to	PART
app01-9504	185	24	obtain	obtain	VERB
app01-9504	185	25	the	the	DET
app01-9504	185	26	key	key	ADJ
app01-9504	185	27	variables	variable	NOUN
app01-9504	185	28	entering	enter	VERB
app01-9504	185	29	its	its	PRON
app01-9504	185	30	control	control	NOUN
app01-9504	185	31	from	from	ADP
app01-9504	185	32	two	two	NUM
app01-9504	185	33	sources	source	NOUN
app01-9504	185	34	.	.	PUNCT
app01-9504	186	1	the	the	DET
app01-9504	186	2	correctness	correctness	NOUN
app01-9504	186	3	of	of	ADP
app01-9504	186	4	the	the	DET
app01-9504	186	5	main	main	ADJ
app01-9504	186	6	input	input	NOUN
app01-9504	186	7	information	information	NOUN
app01-9504	186	8	of	of	ADP
app01-9504	186	9	the	the	DET
app01-9504	186	10	control	control	NOUN
app01-9504	186	11	algorithm	algorithm	NOUN
app01-9504	186	12	,	,	PUNCT
app01-9504	186	13	i.e.	i.e.	X
app01-9504	186	14	the	the	DET
app01-9504	186	15	curve	curve	NOUN
app01-9504	186	16	radius	radius	NOUN
app01-9504	186	17	,	,	PUNCT
app01-9504	186	18	will	will	AUX
app01-9504	186	19	thus	thus	ADV
app01-9504	186	20	be	be	AUX
app01-9504	186	21	verified	verify	VERB
app01-9504	186	22	by	by	ADP
app01-9504	186	23	comparing	compare	VERB
app01-9504	186	24	the	the	DET
app01-9504	186	25	value	value	NOUN
app01-9504	186	26	stored	store	VERB
app01-9504	186	27	in	in	ADP
app01-9504	186	28	the	the	DET
app01-9504	186	29	vehicle	vehicle	NOUN
app01-9504	186	30	environment	environment	NOUN
app01-9504	186	31	database	database	NOUN
app01-9504	186	32	based	base	VERB
app01-9504	186	33	on	on	ADP
app01-9504	186	34	the	the	DET
app01-9504	186	35	knowledge	knowledge	NOUN
app01-9504	186	36	of	of	ADP
app01-9504	186	37	the	the	DET
app01-9504	186	38	vehicle	vehicle	NOUN
app01-9504	186	39	position	position	NOUN
app01-9504	186	40	with	with	ADP
app01-9504	186	41	the	the	DET
app01-9504	186	42	measured	measure	VERB
app01-9504	186	43	and	and	CCONJ
app01-9504	186	44	automatically	automatically	ADV
app01-9504	186	45	evaluated	evaluate	VERB
app01-9504	186	46	value	value	NOUN
app01-9504	186	47	using	use	VERB
app01-9504	186	48	sensors	sensor	NOUN
app01-9504	186	49	placed	place	VERB
app01-9504	186	50	on	on	ADP
app01-9504	186	51	the	the	DET
app01-9504	186	52	front	front	NOUN
app01-9504	186	53	of	of	ADP
app01-9504	186	54	the	the	DET
app01-9504	186	55	vehicle	vehicle	NOUN
app01-9504	186	56	primarily	primarily	ADV
app01-9504	186	57	for	for	ADP
app01-9504	186	58	the	the	DET
app01-9504	186	59	purpose	purpose	NOUN
app01-9504	186	60	of	of	ADP
app01-9504	186	61	obstacle	obstacle	NOUN
app01-9504	186	62	detection	detection	NOUN
app01-9504	186	63	.	.	PUNCT
app01-9504	187	1	this	this	DET
app01-9504	187	2	mechanism	mechanism	NOUN
app01-9504	187	3	should	should	AUX
app01-9504	187	4	prevent	prevent	VERB
app01-9504	187	5	the	the	DET
app01-9504	187	6	vehicle	vehicle	NOUN
app01-9504	187	7	from	from	ADP
app01-9504	187	8	derailing	derail	VERB
app01-9504	187	9	due	due	ADP
app01-9504	187	10	to	to	ADP
app01-9504	187	11	a	a	DET
app01-9504	187	12	bad	bad	ADJ
app01-9504	187	13	steering	steering	NOUN
app01-9504	187	14	input	input	NOUN
app01-9504	187	15	variable	variable	NOUN
app01-9504	187	16	.	.	PUNCT
app01-9504	188	1	if	if	SCONJ
app01-9504	188	2	these	these	DET
app01-9504	188	3	two	two	NUM
app01-9504	188	4	values	value	NOUN
app01-9504	188	5	differ	differ	VERB
app01-9504	188	6	,	,	PUNCT
app01-9504	188	7	the	the	DET
app01-9504	188	8	active	active	ADJ
app01-9504	188	9	element	element	NOUN
app01-9504	188	10	will	will	AUX
app01-9504	188	11	be	be	AUX
app01-9504	188	12	set	set	VERB
app01-9504	188	13	to	to	ADP
app01-9504	188	14	the	the	DET
app01-9504	188	15	nominal	nominal	ADJ
app01-9504	188	16	position	position	NOUN
app01-9504	188	17	and	and	CCONJ
app01-9504	188	18	the	the	DET
app01-9504	188	19	vehicle	vehicle	NOUN
app01-9504	188	20	will	will	AUX
app01-9504	188	21	drive	drive	VERB
app01-9504	188	22	through	through	ADP
app01-9504	188	23	the	the	DET
app01-9504	188	24	curve	curve	NOUN
app01-9504	188	25	at	at	ADP
app01-9504	188	26	a	a	DET
app01-9504	188	27	reduced	reduced	ADJ
app01-9504	188	28	speed	speed	NOUN
app01-9504	188	29	.	.	PUNCT
app01-9504	189	1	the	the	DET
app01-9504	189	2	leading	leading	NOUN
app01-9504	189	3	of	of	ADP
app01-9504	189	4	the	the	DET
app01-9504	189	5	wheelset	wheelset	NOUN
app01-9504	189	6	shall	shall	AUX
app01-9504	189	7	be	be	AUX
app01-9504	189	8	still	still	ADV
app01-9504	189	9	provided	provide	VERB
app01-9504	189	10	by	by	ADP
app01-9504	189	11	a	a	DET
app01-9504	189	12	active	active	ADJ
app01-9504	189	13	element	element	NOUN
app01-9504	189	14	,	,	PUNCT
app01-9504	189	15	which	which	PRON
app01-9504	189	16	,	,	PUNCT
app01-9504	189	17	however	however	ADV
app01-9504	189	18	,	,	PUNCT
app01-9504	189	19	will	will	AUX
app01-9504	189	20	not	not	PART
app01-9504	189	21	steer	steer	VERB
app01-9504	189	22	the	the	DET
app01-9504	189	23	wheelset	wheelset	NOUN
app01-9504	189	24	.	.	PUNCT
app01-9504	190	1	in	in	ADP
app01-9504	190	2	the	the	DET
app01-9504	190	3	event	event	NOUN
app01-9504	190	4	of	of	ADP
app01-9504	190	5	a	a	DET
app01-9504	190	6	failure	failure	NOUN
app01-9504	190	7	of	of	ADP
app01-9504	190	8	the	the	DET
app01-9504	190	9	active	active	ADJ
app01-9504	190	10	element	element	NOUN
app01-9504	190	11	or	or	CCONJ
app01-9504	190	12	its	its	PRON
app01-9504	190	13	control	control	NOUN
app01-9504	190	14	,	,	PUNCT
app01-9504	190	15	the	the	DET
app01-9504	190	16	actuator	actuator	NOUN
app01-9504	190	17	is	be	AUX
app01-9504	190	18	disabled	disabled	ADJ
app01-9504	190	19	using	use	VERB
app01-9504	190	20	the	the	DET
app01-9504	190	21	fail	fail	ADJ
app01-9504	190	22	safe	safe	ADJ
app01-9504	190	23	function	function	NOUN
app01-9504	190	24	.	.	PUNCT
app01-9504	191	1	the	the	DET
app01-9504	191	2	leading	leading	NOUN
app01-9504	191	3	of	of	ADP
app01-9504	191	4	the	the	DET
app01-9504	191	5	wheelset	wheelset	NOUN
app01-9504	191	6	is	be	AUX
app01-9504	191	7	shall	shall	AUX
app01-9504	191	8	be	be	AUX
app01-9504	191	9	provided	provide	VERB
app01-9504	191	10	only	only	ADV
app01-9504	191	11	by	by	ADP
app01-9504	191	12	a	a	DET
app01-9504	191	13	passive	passive	ADJ
app01-9504	191	14	primary	primary	ADJ
app01-9504	191	15	suspension	suspension	NOUN
app01-9504	191	16	designed	design	VERB
app01-9504	191	17	with	with	ADP
app01-9504	191	18	a	a	DET
app01-9504	191	19	longitudinal	longitudinal	ADJ
app01-9504	191	20	stiffness	stiffness	NOUN
app01-9504	191	21	that	that	PRON
app01-9504	191	22	allows	allow	VERB
app01-9504	191	23	the	the	DET
app01-9504	191	24	vehicle	vehicle	NOUN
app01-9504	191	25	to	to	PART
app01-9504	191	26	pass	pass	VERB
app01-9504	191	27	safely	safely	ADV
app01-9504	191	28	through	through	ADP
app01-9504	191	29	the	the	DET
app01-9504	191	30	curve	curve	NOUN
app01-9504	191	31	with	with	ADP
app01-9504	191	32	the	the	DET
app01-9504	191	33	smallest	small	ADJ
app01-9504	191	34	radius	radius	NOUN
app01-9504	191	35	at	at	ADP
app01-9504	191	36	a	a	DET
app01-9504	191	37	low	low	ADJ
app01-9504	191	38	speed	speed	NOUN
app01-9504	191	39	defined	define	VERB
app01-9504	191	40	by	by	ADP
app01-9504	191	41	the	the	DET
app01-9504	191	42	derailment	derailment	PROPN
app01-9504	191	43	safety	safety	NOUN
app01-9504	191	44	calculation	calculation	NOUN
app01-9504	191	45	.	.	PUNCT
app01-9504	192	1	the	the	DET
app01-9504	192	2	longitudinal	longitudinal	ADJ
app01-9504	192	3	stiffness	stiffness	NOUN
app01-9504	192	4	of	of	ADP
app01-9504	192	5	the	the	DET
app01-9504	192	6	passive	passive	ADJ
app01-9504	192	7	primary	primary	ADJ
app01-9504	192	8	suspension	suspension	NOUN
app01-9504	192	9	shall	shall	AUX
app01-9504	192	10	be	be	AUX
app01-9504	192	11	designed	design	VERB
app01-9504	192	12	sufficiently	sufficiently	ADV
app01-9504	192	13	large	large	ADJ
app01-9504	192	14	to	to	PART
app01-9504	192	15	allow	allow	VERB
app01-9504	192	16	a	a	DET
app01-9504	192	17	vehicle	vehicle	NOUN
app01-9504	192	18	with	with	ADP
app01-9504	192	19	a	a	DET
app01-9504	192	20	disabled	disabled	ADJ
app01-9504	192	21	active	active	ADJ
app01-9504	192	22	element	element	NOUN
app01-9504	192	23	to	to	PART
app01-9504	192	24	complete	complete	VERB
app01-9504	192	25	its	its	PRON
app01-9504	192	26	service	service	NOUN
app01-9504	192	27	on	on	ADP
app01-9504	192	28	the	the	DET
app01-9504	192	29	line	line	NOUN
app01-9504	192	30	(	(	PUNCT
app01-9504	192	31	albeit	albeit	SCONJ
app01-9504	192	32	at	at	ADP
app01-9504	192	33	reduced	reduced	ADJ
app01-9504	192	34	speed	speed	NOUN
app01-9504	192	35	and	and	CCONJ
app01-9504	192	36	with	with	ADP
app01-9504	192	37	accumulated	accumulate	VERB
app01-9504	192	38	delay	delay	NOUN
app01-9504	192	39	)	)	PUNCT
app01-9504	192	40	and	and	CCONJ
app01-9504	192	41	to	to	PART
app01-9504	192	42	depart	depart	VERB
app01-9504	192	43	to	to	ADP
app01-9504	192	44	the	the	DET
app01-9504	192	45	depot	depot	NOUN
app01-9504	192	46	.	.	PUNCT
app01-9504	193	1	at	at	ADP
app01-9504	193	2	the	the	DET
app01-9504	193	3	same	same	ADJ
app01-9504	193	4	time	time	NOUN
app01-9504	193	5	,	,	PUNCT
app01-9504	193	6	however	however	ADV
app01-9504	193	7	,	,	PUNCT
app01-9504	193	8	it	it	PRON
app01-9504	193	9	must	must	AUX
app01-9504	193	10	be	be	AUX
app01-9504	193	11	taken	take	VERB
app01-9504	193	12	into	into	ADP
app01-9504	193	13	account	account	NOUN
app01-9504	193	14	that	that	SCONJ
app01-9504	193	15	the	the	PRON
app01-9504	193	16	higher	high	ADJ
app01-9504	193	17	the	the	DET
app01-9504	193	18	longitudinal	longitudinal	ADJ
app01-9504	193	19	stiffness	stiffness	NOUN
app01-9504	193	20	of	of	ADP
app01-9504	193	21	the	the	DET
app01-9504	193	22	primary	primary	ADJ
app01-9504	193	23	suspension	suspension	NOUN
app01-9504	193	24	,	,	PUNCT
app01-9504	193	25	the	the	PRON
app01-9504	193	26	greater	great	ADJ
app01-9504	193	27	the	the	DET
app01-9504	193	28	force	force	NOUN
app01-9504	193	29	the	the	DET
app01-9504	193	30	actuator	actuator	NOUN
app01-9504	193	31	must	must	AUX
app01-9504	193	32	exert	exert	VERB
app01-9504	193	33	in	in	ADP
app01-9504	193	34	normal	normal	ADJ
app01-9504	193	35	operation	operation	NOUN
app01-9504	193	36	to	to	PART
app01-9504	193	37	overcome	overcome	VERB
app01-9504	193	38	this	this	DET
app01-9504	193	39	stiffness	stiffness	NOUN
app01-9504	193	40	when	when	SCONJ
app01-9504	193	41	turning	turn	VERB
app01-9504	193	42	the	the	DET
app01-9504	193	43	wheelset	wheelset	NOUN
app01-9504	193	44	into	into	ADP
app01-9504	193	45	a	a	DET
app01-9504	193	46	curve	curve	NOUN
app01-9504	193	47	.	.	PUNCT
app01-9504	194	1	an	an	DET
app01-9504	194	2	increase	increase	NOUN
app01-9504	194	3	in	in	ADP
app01-9504	194	4	the	the	DET
app01-9504	194	5	required	require	VERB
app01-9504	194	6	actuator	actuator	NOUN
app01-9504	194	7	force	force	NOUN
app01-9504	194	8	leads	lead	VERB
app01-9504	194	9	to	to	ADP
app01-9504	194	10	an	an	DET
app01-9504	194	11	increase	increase	NOUN
app01-9504	194	12	in	in	ADP
app01-9504	194	13	actuator	actuator	NOUN
app01-9504	194	14	mass	mass	NOUN
app01-9504	194	15	and	and	CCONJ
app01-9504	194	16	volume	volume	NOUN
app01-9504	194	17	and	and	CCONJ
app01-9504	194	18	is	be	AUX
app01-9504	194	19	therefore	therefore	ADV
app01-9504	194	20	undesirable	undesirable	ADJ
app01-9504	194	21	.	.	PUNCT
app01-9504	195	1	thus	thus	ADV
app01-9504	195	2	,	,	PUNCT
app01-9504	195	3	the	the	DET
app01-9504	195	4	longitudinal	longitudinal	ADJ
app01-9504	195	5	stiffness	stiffness	NOUN
app01-9504	195	6	of	of	ADP
app01-9504	195	7	the	the	DET
app01-9504	195	8	primary	primary	ADJ
app01-9504	195	9	sus	sus	NOUN
app01-9504	195	10	-	-	PUNCT
app01-9504	195	11	pension	pension	NOUN
app01-9504	195	12	must	must	AUX
app01-9504	195	13	be	be	AUX
app01-9504	195	14	very	very	ADV
app01-9504	195	15	carefully	carefully	ADV
app01-9504	195	16	tuned	tune	VERB
app01-9504	195	17	to	to	PART
app01-9504	195	18	compromise	compromise	VERB
app01-9504	195	19	the	the	DET
app01-9504	195	20	two	two	NUM
app01-9504	195	21	described	describe	VERB
app01-9504	195	22	conflicting	conflicting	ADJ
app01-9504	195	23	requirements	requirement	NOUN
app01-9504	195	24	.	.	PUNCT
app01-9504	196	1	5	5	X
app01-9504	196	2	.	.	X
app01-9504	196	3	conclusion	conclusion	NOUN
app01-9504	196	4	in	in	ADP
app01-9504	196	5	this	this	DET
app01-9504	196	6	paper	paper	NOUN
app01-9504	196	7	,	,	PUNCT
app01-9504	196	8	the	the	DET
app01-9504	196	9	design	design	NOUN
app01-9504	196	10	of	of	ADP
app01-9504	196	11	the	the	DET
app01-9504	196	12	concept	concept	NOUN
app01-9504	196	13	of	of	ADP
app01-9504	196	14	controlling	control	VERB
app01-9504	196	15	the	the	DET
app01-9504	196	16	active	active	ADJ
app01-9504	196	17	element	element	NOUN
app01-9504	196	18	in	in	ADP
app01-9504	196	19	the	the	DET
app01-9504	196	20	tram	tram	PROPN
app01-9504	196	21	vehicle	vehicle	NOUN
app01-9504	196	22	running	running	NOUN
app01-9504	196	23	gear	gear	NOUN
app01-9504	196	24	in	in	SCONJ
app01-9504	196	25	order	order	NOUN
app01-9504	196	26	to	to	PART
app01-9504	196	27	actively	actively	ADV
app01-9504	196	28	steer	steer	VERB
app01-9504	196	29	the	the	DET
app01-9504	196	30	wheelset	wheelset	NOUN
app01-9504	196	31	into	into	ADP
app01-9504	196	32	a	a	DET
app01-9504	196	33	curve	curve	NOUN
app01-9504	196	34	is	be	AUX
app01-9504	196	35	presented	present	VERB
app01-9504	196	36	.	.	PUNCT
app01-9504	197	1	the	the	DET
app01-9504	197	2	aim	aim	NOUN
app01-9504	197	3	of	of	ADP
app01-9504	197	4	this	this	DET
app01-9504	197	5	application	application	NOUN
app01-9504	197	6	is	be	AUX
app01-9504	197	7	to	to	PART
app01-9504	197	8	reduce	reduce	VERB
app01-9504	197	9	the	the	DET
app01-9504	197	10	longitudinal	longitudinal	ADJ
app01-9504	197	11	and	and	CCONJ
app01-9504	197	12	lateral	lateral	ADJ
app01-9504	197	13	slip	slip	NOUN
app01-9504	197	14	forces	force	NOUN
app01-9504	197	15	at	at	ADP
app01-9504	197	16	the	the	DET
app01-9504	197	17	wheel	wheel	NOUN
app01-9504	197	18	-	-	PUNCT
app01-9504	197	19	rail	rail	NOUN
app01-9504	197	20	contact	contact	NOUN
app01-9504	197	21	when	when	SCONJ
app01-9504	197	22	passing	pass	VERB
app01-9504	197	23	small	small	ADJ
app01-9504	197	24	radius	radius	NOUN
app01-9504	197	25	curves	curve	NOUN
app01-9504	197	26	,	,	PUNCT
app01-9504	197	27	thereby	thereby	ADV
app01-9504	197	28	reducing	reduce	VERB
app01-9504	197	29	wheel	wheel	NOUN
app01-9504	197	30	and	and	CCONJ
app01-9504	197	31	rail	rail	NOUN
app01-9504	197	32	wear	wear	NOUN
app01-9504	197	33	and	and	CCONJ
app01-9504	197	34	noise	noise	NOUN
app01-9504	197	35	and	and	CCONJ
app01-9504	197	36	vibration	vibration	NOUN
app01-9504	197	37	emissions	emission	NOUN
app01-9504	197	38	.	.	PUNCT
app01-9504	198	1	the	the	DET
app01-9504	198	2	proposal	proposal	NOUN
app01-9504	198	3	attempts	attempt	VERB
app01-9504	198	4	to	to	PART
app01-9504	198	5	reflect	reflect	VERB
app01-9504	198	6	the	the	DET
app01-9504	198	7	problems	problem	NOUN
app01-9504	198	8	that	that	PRON
app01-9504	198	9	have	have	AUX
app01-9504	198	10	so	so	ADV
app01-9504	198	11	far	far	ADV
app01-9504	198	12	discouraged	discourage	VERB
app01-9504	198	13	the	the	DET
app01-9504	198	14	wider	wide	ADJ
app01-9504	198	15	application	application	NOUN
app01-9504	198	16	of	of	ADP
app01-9504	198	17	active	active	ADJ
app01-9504	198	18	elements	element	NOUN
app01-9504	198	19	in	in	ADP
app01-9504	198	20	rolling	roll	VERB
app01-9504	198	21	stock	stock	NOUN
app01-9504	198	22	running	running	NOUN
app01-9504	198	23	gear	gear	NOUN
app01-9504	198	24	and	and	CCONJ
app01-9504	198	25	outlines	outline	VERB
app01-9504	198	26	possible	possible	ADJ
app01-9504	198	27	solutions	solution	NOUN
app01-9504	198	28	that	that	PRON
app01-9504	198	29	will	will	AUX
app01-9504	198	30	be	be	AUX
app01-9504	198	31	further	far	ADV
app01-9504	198	32	addressed	address	VERB
app01-9504	198	33	by	by	ADP
app01-9504	198	34	the	the	DET
app01-9504	198	35	author	author	NOUN
app01-9504	198	36	.	.	PUNCT
app01-9504	199	1	for	for	ADP
app01-9504	199	2	the	the	DET
app01-9504	199	3	control	control	NOUN
app01-9504	199	4	of	of	ADP
app01-9504	199	5	active	active	ADJ
app01-9504	199	6	elements	element	NOUN
app01-9504	199	7	,	,	PUNCT
app01-9504	199	8	it	it	PRON
app01-9504	199	9	is	be	AUX
app01-9504	199	10	proposed	propose	VERB
app01-9504	199	11	to	to	PART
app01-9504	199	12	use	use	VERB
app01-9504	199	13	the	the	DET
app01-9504	199	14	subsystems	subsystem	NOUN
app01-9504	199	15	of	of	ADP
app01-9504	199	16	autonomous	autonomous	ADJ
app01-9504	199	17	vehicles	vehicle	NOUN
app01-9504	199	18	that	that	PRON
app01-9504	199	19	are	be	AUX
app01-9504	199	20	currently	currently	ADV
app01-9504	199	21	already	already	ADV
app01-9504	199	22	installed	instal	VERB
app01-9504	199	23	on	on	ADP
app01-9504	199	24	vehicles	vehicle	NOUN
app01-9504	199	25	or	or	CCONJ
app01-9504	199	26	can	can	AUX
app01-9504	199	27	be	be	AUX
app01-9504	199	28	expected	expect	VERB
app01-9504	199	29	to	to	PART
app01-9504	199	30	be	be	AUX
app01-9504	199	31	installed	instal	VERB
app01-9504	199	32	on	on	ADP
app01-9504	199	33	vehicles	vehicle	NOUN
app01-9504	199	34	in	in	ADP
app01-9504	199	35	the	the	DET
app01-9504	199	36	near	near	ADJ
app01-9504	199	37	future	future	NOUN
app01-9504	199	38	.	.	PUNCT
app01-9504	200	1	these	these	DET
app01-9504	200	2	systems	system	NOUN
app01-9504	200	3	are	be	AUX
app01-9504	200	4	in	in	ADP
app01-9504	200	5	particular	particular	ADJ
app01-9504	200	6	an	an	DET
app01-9504	200	7	anti	anti	ADJ
app01-9504	200	8	-	-	ADJ
app01-9504	200	9	collision	collision	ADJ
app01-9504	200	10	system	system	NOUN
app01-9504	200	11	,	,	PUNCT
app01-9504	200	12	vehicle	vehicle	NOUN
app01-9504	200	13	position	position	NOUN
app01-9504	200	14	detection	detection	NOUN
app01-9504	200	15	using	use	VERB
app01-9504	200	16	hd	hd	NOUN
app01-9504	200	17	maps	map	NOUN
app01-9504	200	18	or	or	CCONJ
app01-9504	200	19	the	the	DET
app01-9504	200	20	use	use	NOUN
app01-9504	200	21	of	of	ADP
app01-9504	200	22	an	an	DET
app01-9504	200	23	environmental	environmental	ADJ
app01-9504	200	24	database	database	NOUN
app01-9504	200	25	.	.	PUNCT
app01-9504	201	1	by	by	ADP
app01-9504	201	2	exploiting	exploit	VERB
app01-9504	201	3	these	these	DET
app01-9504	201	4	synergies	synergy	NOUN
app01-9504	201	5	,	,	PUNCT
app01-9504	201	6	the	the	DET
app01-9504	201	7	cost	cost	NOUN
app01-9504	201	8	of	of	ADP
app01-9504	201	9	controlling	control	VERB
app01-9504	201	10	the	the	DET
app01-9504	201	11	active	active	ADJ
app01-9504	201	12	elements	element	NOUN
app01-9504	201	13	is	be	AUX
app01-9504	201	14	reduced	reduce	VERB
app01-9504	201	15	,	,	PUNCT
app01-9504	201	16	as	as	SCONJ
app01-9504	201	17	there	there	PRON
app01-9504	201	18	is	be	VERB
app01-9504	201	19	no	no	DET
app01-9504	201	20	need	need	NOUN
app01-9504	201	21	for	for	ADP
app01-9504	201	22	expensive	expensive	ADJ
app01-9504	201	23	sensors	sensor	NOUN
app01-9504	201	24	to	to	PART
app01-9504	201	25	measure	measure	VERB
app01-9504	201	26	the	the	DET
app01-9504	201	27	input	input	NOUN
app01-9504	201	28	variables	variable	NOUN
app01-9504	201	29	,	,	PUNCT
app01-9504	201	30	and	and	CCONJ
app01-9504	201	31	the	the	DET
app01-9504	201	32	security	security	NOUN
app01-9504	201	33	of	of	ADP
app01-9504	201	34	their	their	PRON
app01-9504	201	35	use	use	NOUN
app01-9504	201	36	is	be	AUX
app01-9504	201	37	also	also	ADV
app01-9504	201	38	increased	increase	VERB
app01-9504	201	39	,	,	PUNCT
app01-9504	201	40	as	as	SCONJ
app01-9504	201	41	the	the	DET
app01-9504	201	42	input	input	NOUN
app01-9504	201	43	information	information	NOUN
app01-9504	201	44	is	be	AUX
app01-9504	201	45	verified	verify	VERB
app01-9504	201	46	from	from	ADP
app01-9504	201	47	two	two	NUM
app01-9504	201	48	different	different	ADJ
app01-9504	201	49	sources	source	NOUN
app01-9504	201	50	.	.	PUNCT
app01-9504	202	1	the	the	DET
app01-9504	202	2	aim	aim	NOUN
app01-9504	202	3	is	be	AUX
app01-9504	202	4	also	also	ADV
app01-9504	202	5	to	to	PART
app01-9504	202	6	further	far	ADV
app01-9504	202	7	supplement	supplement	VERB
app01-9504	202	8	the	the	DET
app01-9504	202	9	forward	forward	ADJ
app01-9504	202	10	control	control	NOUN
app01-9504	202	11	of	of	ADP
app01-9504	202	12	the	the	DET
app01-9504	202	13	active	active	ADJ
app01-9504	202	14	element	element	NOUN
app01-9504	202	15	with	with	ADP
app01-9504	202	16	additional	additional	ADJ
app01-9504	202	17	track	track	NOUN
app01-9504	202	18	parameters	parameter	NOUN
app01-9504	202	19	that	that	PRON
app01-9504	202	20	are	be	AUX
app01-9504	202	21	stored	store	VERB
app01-9504	202	22	in	in	ADP
app01-9504	202	23	a	a	DET
app01-9504	202	24	detailed	detailed	ADJ
app01-9504	202	25	environmental	environmental	ADJ
app01-9504	202	26	data	data	NOUN
app01-9504	202	27	-	-	PUNCT
app01-9504	202	28	base	base	NOUN
app01-9504	202	29	and	and	CCONJ
app01-9504	202	30	have	have	VERB
app01-9504	202	31	an	an	DET
app01-9504	202	32	impact	impact	NOUN
app01-9504	202	33	on	on	ADP
app01-9504	202	34	the	the	DET
app01-9504	202	35	vehicle	vehicle	NOUN
app01-9504	202	36	’s	’s	PART
app01-9504	202	37	passage	passage	NOUN
app01-9504	202	38	through	through	ADP
app01-9504	202	39	the	the	DET
app01-9504	202	40	curve	curve	NOUN
app01-9504	202	41	.	.	PUNCT
app01-9504	203	1	the	the	DET
app01-9504	203	2	article	article	NOUN
app01-9504	203	3	deals	deal	VERB
app01-9504	203	4	with	with	ADP
app01-9504	203	5	the	the	DET
app01-9504	203	6	active	active	ADJ
app01-9504	203	7	steering	steering	NOUN
app01-9504	203	8	of	of	ADP
app01-9504	203	9	wheelsets	wheelset	NOUN
app01-9504	203	10	using	use	VERB
app01-9504	203	11	actuators	actuator	NOUN
app01-9504	203	12	located	locate	VERB
app01-9504	203	13	in	in	ADP
app01-9504	203	14	the	the	DET
app01-9504	203	15	primary	primary	ADJ
app01-9504	203	16	suspension	suspension	NOUN
app01-9504	203	17	of	of	ADP
app01-9504	203	18	double	double	ADJ
app01-9504	203	19	-	-	PUNCT
app01-9504	203	20	axle	axle	NOUN
app01-9504	203	21	bogies	bogie	NOUN
app01-9504	203	22	of	of	ADP
app01-9504	203	23	the	the	DET
app01-9504	203	24	classic	classic	ADJ
app01-9504	203	25	concept	concept	NOUN
app01-9504	203	26	of	of	ADP
app01-9504	203	27	modern	modern	ADJ
app01-9504	203	28	articulated	articulated	ADJ
app01-9504	203	29	trams	tram	NOUN
app01-9504	203	30	.	.	PUNCT
app01-9504	204	1	however	however	ADV
app01-9504	204	2	,	,	PUNCT
app01-9504	204	3	it	it	PRON
app01-9504	204	4	can	can	AUX
app01-9504	204	5	be	be	AUX
app01-9504	204	6	assumed	assume	VERB
app01-9504	204	7	that	that	SCONJ
app01-9504	204	8	future	future	ADJ
app01-9504	204	9	advances	advance	NOUN
app01-9504	204	10	,	,	PUNCT
app01-9504	204	11	in	in	ADP
app01-9504	204	12	particular	particular	ADJ
app01-9504	204	13	the	the	DET
app01-9504	204	14	reduction	reduction	NOUN
app01-9504	204	15	of	of	ADP
app01-9504	204	16	the	the	DET
app01-9504	204	17	weight	weight	NOUN
app01-9504	204	18	of	of	ADP
app01-9504	204	19	the	the	DET
app01-9504	204	20	electric	electric	ADJ
app01-9504	204	21	equipment	equipment	NOUN
app01-9504	204	22	and	and	CCONJ
app01-9504	204	23	the	the	DET
app01-9504	204	24	mechanical	mechanical	ADJ
app01-9504	204	25	parts	part	NOUN
app01-9504	204	26	of	of	ADP
app01-9504	204	27	the	the	DET
app01-9504	204	28	vehicle	vehicle	NOUN
app01-9504	204	29	or	or	CCONJ
app01-9504	204	30	the	the	DET
app01-9504	204	31	autonomous	autonomous	ADJ
app01-9504	204	32	driving	driving	NOUN
app01-9504	204	33	will	will	AUX
app01-9504	204	34	change	change	VERB
app01-9504	204	35	the	the	DET
app01-9504	204	36	trend	trend	NOUN
app01-9504	204	37	in	in	ADP
app01-9504	204	38	the	the	DET
app01-9504	204	39	production	production	NOUN
app01-9504	204	40	of	of	ADP
app01-9504	204	41	tram	tram	PROPN
app01-9504	204	42	vehicles	vehicle	NOUN
app01-9504	204	43	and	and	CCONJ
app01-9504	204	44	will	will	AUX
app01-9504	204	45	allow	allow	VERB
app01-9504	204	46	the	the	DET
app01-9504	204	47	creation	creation	NOUN
app01-9504	204	48	of	of	ADP
app01-9504	204	49	a	a	DET
app01-9504	204	50	light	light	ADJ
app01-9504	204	51	double	double	ADJ
app01-9504	204	52	-	-	PUNCT
app01-9504	204	53	axle	axle	NOUN
app01-9504	204	54	autonomous	autonomous	ADJ
app01-9504	204	55	tram	tram	PROPN
app01-9504	204	56	,	,	PUNCT
app01-9504	204	57	where	where	SCONJ
app01-9504	204	58	the	the	DET
app01-9504	204	59	actuator	actuator	NOUN
app01-9504	204	60	will	will	AUX
app01-9504	204	61	have	have	VERB
app01-9504	204	62	the	the	DET
app01-9504	204	63	function	function	NOUN
app01-9504	204	64	of	of	ADP
app01-9504	204	65	steering	steer	VERB
app01-9504	204	66	the	the	DET
app01-9504	204	67	single	single	ADJ
app01-9504	204	68	-	-	PUNCT
app01-9504	204	69	axle	axle	NOUN
app01-9504	204	70	bogies	bogie	NOUN
app01-9504	204	71	when	when	SCONJ
app01-9504	204	72	passing	pass	VERB
app01-9504	204	73	through	through	ADP
app01-9504	204	74	a	a	DET
app01-9504	204	75	curve	curve	NOUN
app01-9504	204	76	,	,	PUNCT
app01-9504	204	77	and	and	CCONJ
app01-9504	204	78	on	on	ADP
app01-9504	204	79	the	the	DET
app01-9504	204	80	contrary	contrary	NOUN
app01-9504	204	81	,	,	PUNCT
app01-9504	204	82	stabilizing	stabilize	VERB
app01-9504	204	83	the	the	DET
app01-9504	204	84	bogies	bogie	NOUN
app01-9504	204	85	when	when	SCONJ
app01-9504	204	86	driving	drive	VERB
app01-9504	204	87	on	on	ADP
app01-9504	204	88	a	a	DET
app01-9504	204	89	straight	straight	ADJ
app01-9504	204	90	line	line	NOUN
app01-9504	204	91	.	.	PUNCT
app01-9504	205	1	an	an	DET
app01-9504	205	2	example	example	NOUN
app01-9504	205	3	of	of	ADP
app01-9504	205	4	such	such	DET
app01-9504	205	5	a	a	DET
app01-9504	205	6	vehicle	vehicle	NOUN
app01-9504	205	7	concept	concept	NOUN
app01-9504	205	8	is	be	AUX
app01-9504	205	9	shown	show	VERB
app01-9504	205	10	in	in	ADP
app01-9504	205	11	figure	figure	NOUN
app01-9504	205	12	8	8	NUM
app01-9504	205	13	.	.	PUNCT
app01-9504	206	1	in	in	ADP
app01-9504	206	2	such	such	DET
app01-9504	206	3	a	a	DET
app01-9504	206	4	case	case	NOUN
app01-9504	206	5	,	,	PUNCT
app01-9504	206	6	the	the	DET
app01-9504	206	7	design	design	NOUN
app01-9504	206	8	of	of	ADP
app01-9504	206	9	the	the	DET
app01-9504	206	10	positioning	positioning	NOUN
app01-9504	206	11	of	of	ADP
app01-9504	206	12	the	the	DET
app01-9504	206	13	element	element	NOUN
app01-9504	206	14	,	,	PUNCT
app01-9504	206	15	which	which	PRON
app01-9504	206	16	would	would	AUX
app01-9504	206	17	probably	probably	ADV
app01-9504	206	18	be	be	AUX
app01-9504	206	19	placed	place	VERB
app01-9504	206	20	between	between	ADP
app01-9504	206	21	the	the	DET
app01-9504	206	22	bottom	bottom	NOUN
app01-9504	206	23	of	of	ADP
app01-9504	206	24	the	the	DET
app01-9504	206	25	vehicle	vehicle	NOUN
app01-9504	206	26	carbody	carbody	NOUN
app01-9504	206	27	and	and	CCONJ
app01-9504	206	28	the	the	DET
app01-9504	206	29	bolster	bolster	NOUN
app01-9504	206	30	or	or	CCONJ
app01-9504	206	31	frame	frame	NOUN
app01-9504	206	32	of	of	ADP
app01-9504	206	33	the	the	DET
app01-9504	206	34	single	single	ADJ
app01-9504	206	35	-	-	PUNCT
app01-9504	206	36	axle	axle	NOUN
app01-9504	206	37	bogie	bogie	NOUN
app01-9504	206	38	,	,	PUNCT
app01-9504	206	39	and	and	CCONJ
app01-9504	206	40	the	the	DET
app01-9504	206	41	control	control	NOUN
app01-9504	206	42	algorithm	algorithm	NOUN
app01-9504	206	43	would	would	AUX
app01-9504	206	44	change	change	VERB
app01-9504	206	45	,	,	PUNCT
app01-9504	206	46	but	but	CCONJ
app01-9504	206	47	the	the	DET
app01-9504	206	48	main	main	ADJ
app01-9504	206	49	ideas	idea	NOUN
app01-9504	206	50	outlined	outline	VERB
app01-9504	206	51	in	in	ADP
app01-9504	206	52	the	the	DET
app01-9504	206	53	paper	paper	NOUN
app01-9504	206	54	remain	remain	VERB
app01-9504	206	55	valid	valid	ADJ
app01-9504	206	56	.	.	PUNCT
app01-9504	207	1	inspiration	inspiration	NOUN
app01-9504	207	2	for	for	ADP
app01-9504	207	3	the	the	DET
app01-9504	207	4	design	design	NOUN
app01-9504	207	5	of	of	ADP
app01-9504	207	6	a	a	DET
app01-9504	207	7	similar	similar	ADJ
app01-9504	207	8	running	running	NOUN
app01-9504	207	9	gear	gear	NOUN
app01-9504	207	10	can	can	AUX
app01-9504	207	11	be	be	AUX
app01-9504	207	12	drawn	draw	VERB
app01-9504	207	13	from	from	ADP
app01-9504	207	14	the	the	DET
app01-9504	207	15	solution	solution	NOUN
app01-9504	207	16	applied	apply	VERB
app01-9504	207	17	to	to	ADP
app01-9504	207	18	the	the	DET
app01-9504	207	19	cobra	cobra	NOUN
app01-9504	207	20	trams	tram	NOUN
app01-9504	207	21	,	,	PUNCT
app01-9504	207	22	see	see	VERB
app01-9504	207	23	figure	figure	NOUN
app01-9504	207	24	9	9	NUM
app01-9504	207	25	.	.	PUNCT
app01-9504	208	1	in	in	ADP
app01-9504	208	2	further	further	ADJ
app01-9504	208	3	research	research	NOUN
app01-9504	208	4	,	,	PUNCT
app01-9504	208	5	the	the	DET
app01-9504	208	6	author	author	NOUN
app01-9504	208	7	wants	want	VERB
app01-9504	208	8	to	to	PART
app01-9504	208	9	focus	focus	VERB
app01-9504	208	10	on	on	ADP
app01-9504	208	11	creating	create	VERB
app01-9504	208	12	mbs	mb	NOUN
app01-9504	208	13	models	model	NOUN
app01-9504	208	14	of	of	ADP
app01-9504	208	15	articulated	articulated	ADJ
app01-9504	208	16	trams	tram	NOUN
app01-9504	208	17	of	of	ADP
app01-9504	208	18	different	different	ADJ
app01-9504	208	19	123	123	NUM
app01-9504	208	20	jan	jan	PROPN
app01-9504	208	21	vrba	vrba	NOUN
app01-9504	208	22	acta	acta	PROPN
app01-9504	208	23	polytechnica	polytechnica	PROPN
app01-9504	208	24	ctu	ctu	PROPN
app01-9504	208	25	proceedings	proceeding	NOUN
app01-9504	208	26	figure	figure	VERB
app01-9504	208	27	8	8	NUM
app01-9504	208	28	.	.	PUNCT
app01-9504	208	29	possible	possible	ADJ
app01-9504	208	30	solution	solution	NOUN
app01-9504	208	31	for	for	ADP
app01-9504	208	32	a	a	DET
app01-9504	208	33	two	two	NUM
app01-9504	208	34	-	-	PUNCT
app01-9504	208	35	axle	axle	NOUN
app01-9504	208	36	autonomous	autonomous	PROPN
app01-9504	208	37	tram	tram	PROPN
app01-9504	208	38	presented	present	VERB
app01-9504	208	39	by	by	ADP
app01-9504	208	40	the	the	DET
app01-9504	208	41	company	company	NOUN
app01-9504	208	42	škoda	škoda	PROPN
app01-9504	209	1	[	[	X
app01-9504	209	2	19	19	NUM
app01-9504	209	3	]	]	PUNCT
app01-9504	209	4	.	.	PUNCT
app01-9504	210	1	figure	figure	NOUN
app01-9504	210	2	9	9	NUM
app01-9504	210	3	.	.	PUNCT
app01-9504	211	1	running	run	VERB
app01-9504	211	2	gear	gear	NOUN
app01-9504	211	3	of	of	ADP
app01-9504	211	4	cobra	cobra	PROPN
app01-9504	211	5	tram	tram	PROPN
app01-9504	212	1	[	[	X
app01-9504	212	2	20	20	NUM
app01-9504	212	3	]	]	PUNCT
app01-9504	212	4	.	.	PUNCT
app01-9504	213	1	concepts	concept	NOUN
app01-9504	213	2	in	in	ADP
app01-9504	213	3	the	the	DET
app01-9504	213	4	environment	environment	NOUN
app01-9504	213	5	of	of	ADP
app01-9504	213	6	suitable	suitable	ADJ
app01-9504	213	7	mbs	mb	NOUN
app01-9504	213	8	software	software	NOUN
app01-9504	213	9	.	.	PUNCT
app01-9504	214	1	the	the	DET
app01-9504	214	2	next	next	ADJ
app01-9504	214	3	step	step	NOUN
app01-9504	214	4	will	will	AUX
app01-9504	214	5	be	be	AUX
app01-9504	214	6	to	to	PART
app01-9504	214	7	create	create	VERB
app01-9504	214	8	a	a	DET
app01-9504	214	9	detailed	detailed	ADJ
app01-9504	214	10	control	control	NOUN
app01-9504	214	11	algorithm	algorithm	NOUN
app01-9504	214	12	for	for	ADP
app01-9504	214	13	the	the	DET
app01-9504	214	14	active	active	ADJ
app01-9504	214	15	elements	element	NOUN
app01-9504	214	16	in	in	ADP
app01-9504	214	17	matlab	matlab	PROPN
app01-9504	214	18	simulink	simulink	PROPN
app01-9504	214	19	and	and	CCONJ
app01-9504	214	20	then	then	ADV
app01-9504	214	21	link	link	VERB
app01-9504	214	22	these	these	DET
app01-9504	214	23	two	two	NUM
app01-9504	214	24	models	model	NOUN
app01-9504	214	25	.	.	PUNCT
app01-9504	215	1	by	by	ADP
app01-9504	215	2	cosimulation	cosimulation	NOUN
app01-9504	215	3	,	,	PUNCT
app01-9504	215	4	it	it	PRON
app01-9504	215	5	is	be	AUX
app01-9504	215	6	possible	possible	ADJ
app01-9504	215	7	to	to	PART
app01-9504	215	8	link	link	VERB
app01-9504	215	9	the	the	DET
app01-9504	215	10	control	control	NOUN
app01-9504	215	11	of	of	ADP
app01-9504	215	12	the	the	DET
app01-9504	215	13	active	active	ADJ
app01-9504	215	14	element	element	NOUN
app01-9504	215	15	to	to	ADP
app01-9504	215	16	the	the	DET
app01-9504	215	17	vehicle	vehicle	NOUN
app01-9504	215	18	model	model	NOUN
app01-9504	215	19	and	and	CCONJ
app01-9504	215	20	to	to	PART
app01-9504	215	21	demonstrate	demonstrate	VERB
app01-9504	215	22	the	the	DET
app01-9504	215	23	advantages	advantage	NOUN
app01-9504	215	24	of	of	ADP
app01-9504	215	25	such	such	DET
app01-9504	215	26	a	a	DET
app01-9504	215	27	solution	solution	NOUN
app01-9504	215	28	by	by	ADP
app01-9504	215	29	simulating	simulate	VERB
app01-9504	215	30	the	the	DET
app01-9504	215	31	driving	driving	NOUN
app01-9504	215	32	of	of	ADP
app01-9504	215	33	a	a	DET
app01-9504	215	34	vehicle	vehicle	NOUN
app01-9504	215	35	with	with	ADP
app01-9504	215	36	a	a	DET
app01-9504	215	37	controlled	control	VERB
app01-9504	215	38	active	active	ADJ
app01-9504	215	39	element	element	NOUN
app01-9504	215	40	,	,	PUNCT
app01-9504	215	41	to	to	PART
app01-9504	215	42	compare	compare	VERB
app01-9504	215	43	the	the	DET
app01-9504	215	44	lateral	lateral	ADJ
app01-9504	215	45	forces	force	NOUN
app01-9504	215	46	and	and	CCONJ
app01-9504	215	47	wear	wear	VERB
app01-9504	215	48	during	during	ADP
app01-9504	215	49	the	the	DET
app01-9504	215	50	passaging	passage	VERB
app01-9504	215	51	the	the	DET
app01-9504	215	52	reference	reference	NOUN
app01-9504	215	53	track	track	NOUN
app01-9504	215	54	of	of	ADP
app01-9504	215	55	vehicle	vehicle	NOUN
app01-9504	215	56	with	with	ADP
app01-9504	215	57	passive	passive	ADJ
app01-9504	215	58	and	and	CCONJ
app01-9504	215	59	active	active	ADJ
app01-9504	215	60	suspension	suspension	NOUN
app01-9504	215	61	,	,	PUNCT
app01-9504	215	62	or	or	CCONJ
app01-9504	215	63	to	to	PART
app01-9504	215	64	simulate	simulate	VERB
app01-9504	215	65	failure	failure	NOUN
app01-9504	215	66	conditions	condition	NOUN
app01-9504	215	67	and	and	CCONJ
app01-9504	215	68	evaluate	evaluate	VERB
app01-9504	215	69	their	their	PRON
app01-9504	215	70	criticality	criticality	NOUN
app01-9504	215	71	.	.	PUNCT
app01-9504	216	1	in	in	ADP
app01-9504	216	2	the	the	DET
app01-9504	216	3	next	next	ADJ
app01-9504	216	4	phase	phase	NOUN
app01-9504	216	5	,	,	PUNCT
app01-9504	216	6	the	the	DET
app01-9504	216	7	failure	failure	NOUN
app01-9504	216	8	states	state	NOUN
app01-9504	216	9	of	of	ADP
app01-9504	216	10	the	the	DET
app01-9504	216	11	actuator	actuator	NOUN
app01-9504	216	12	and	and	CCONJ
app01-9504	216	13	its	its	PRON
app01-9504	216	14	control	control	NOUN
app01-9504	216	15	will	will	AUX
app01-9504	216	16	be	be	AUX
app01-9504	216	17	simulated	simulate	VERB
app01-9504	216	18	by	by	ADP
app01-9504	216	19	means	mean	NOUN
app01-9504	216	20	of	of	ADP
app01-9504	216	21	cosimulation	cosimulation	NOUN
app01-9504	216	22	and	and	CCONJ
app01-9504	216	23	the	the	DET
app01-9504	216	24	safety	safety	NOUN
app01-9504	216	25	of	of	ADP
app01-9504	216	26	the	the	DET
app01-9504	216	27	presented	present	VERB
app01-9504	216	28	design	design	NOUN
app01-9504	216	29	will	will	AUX
app01-9504	216	30	be	be	AUX
app01-9504	216	31	assessed	assess	VERB
app01-9504	216	32	.	.	PUNCT
app01-9504	217	1	the	the	DET
app01-9504	217	2	final	final	ADJ
app01-9504	217	3	goal	goal	NOUN
app01-9504	217	4	of	of	ADP
app01-9504	217	5	the	the	DET
app01-9504	217	6	research	research	NOUN
app01-9504	217	7	is	be	AUX
app01-9504	217	8	to	to	PART
app01-9504	217	9	test	test	VERB
app01-9504	217	10	the	the	DET
app01-9504	217	11	active	active	ADJ
app01-9504	217	12	wheelset	wheelset	NOUN
app01-9504	217	13	steering	steering	NOUN
app01-9504	217	14	design	design	NOUN
app01-9504	217	15	on	on	ADP
app01-9504	217	16	an	an	DET
app01-9504	217	17	experimental	experimental	ADJ
app01-9504	217	18	roller	roller	NOUN
app01-9504	217	19	rig	rig	NOUN
app01-9504	217	20	.	.	PUNCT
app01-9504	218	1	list	list	NOUN
app01-9504	218	2	of	of	ADP
app01-9504	218	3	symbols	symbol	NOUN
app01-9504	218	4	a	a	DET
app01-9504	218	5	half	half	NOUN
app01-9504	218	6	of	of	ADP
app01-9504	218	7	the	the	DET
app01-9504	218	8	bogie	bogie	NOUN
app01-9504	218	9	wheelbase	wheelbase	NOUN
app01-9504	218	10	[	[	X
app01-9504	218	11	mm	mm	X
app01-9504	218	12	]	]	X
app01-9504	218	13	b	b	SYM
app01-9504	218	14	half	half	DET
app01-9504	218	15	the	the	DET
app01-9504	218	16	lateral	lateral	ADJ
app01-9504	218	17	distance	distance	NOUN
app01-9504	218	18	of	of	ADP
app01-9504	218	19	the	the	DET
app01-9504	218	20	actuators	actuator	NOUN
app01-9504	218	21	[	[	X
app01-9504	218	22	mm	mm	X
app01-9504	218	23	]	]	X
app01-9504	218	24	g	g	PROPN
app01-9504	218	25	track	track	NOUN
app01-9504	218	26	gauge	gauge	NOUN
app01-9504	219	1	[	[	X
app01-9504	219	2	mm	mm	X
app01-9504	219	3	]	]	X
app01-9504	219	4	f	f	PROPN
app01-9504	219	5	actuator	actuator	NOUN
app01-9504	219	6	force	force	NOUN
app01-9504	219	7	required	require	VERB
app01-9504	219	8	[	[	X
app01-9504	219	9	n	n	CCONJ
app01-9504	219	10	]	]	X
app01-9504	219	11	ft_dv	ft_dv	NOUN
app01-9504	219	12	traction	traction	NOUN
app01-9504	219	13	force	force	NOUN
app01-9504	219	14	transmitted	transmit	VERB
app01-9504	219	15	by	by	ADP
app01-9504	219	16	one	one	NUM
app01-9504	219	17	wheelset	wheelset	NOUN
app01-9504	219	18	[	[	X
app01-9504	219	19	n	n	X
app01-9504	219	20	]	]	X
app01-9504	219	21	kx	kx	PROPN
app01-9504	219	22	longitudinal	longitudinal	ADJ
app01-9504	219	23	stiffness	stiffness	NOUN
app01-9504	219	24	of	of	ADP
app01-9504	219	25	the	the	DET
app01-9504	219	26	prim	prim	ADJ
app01-9504	219	27	.	.	PUNCT
app01-9504	220	1	suspension	suspension	NOUN
app01-9504	220	2	[	[	X
app01-9504	220	3	n·m−1	n·m−1	NOUN
app01-9504	220	4	]	]	X
app01-9504	220	5	∆l	∆l	PROPN
app01-9504	220	6	required	require	VERB
app01-9504	220	7	actuator	actuator	NOUN
app01-9504	220	8	extension	extension	NOUN
app01-9504	220	9	[	[	X
app01-9504	220	10	m	m	X
app01-9504	220	11	]	]	X
app01-9504	220	12	acknowledgements	acknowledgement	NOUN
app01-9504	220	13	the	the	DET
app01-9504	220	14	research	research	NOUN
app01-9504	220	15	was	be	AUX
app01-9504	220	16	supported	support	VERB
app01-9504	220	17	by	by	ADP
app01-9504	220	18	sgs21/112	sgs21/112	PROPN
app01-9504	220	19	/	/	SYM
app01-9504	220	20	ohk2/2t/12	ohk2/2t/12	PROPN
app01-9504	220	21	.	.	PUNCT
app01-9504	221	1	references	reference	NOUN
app01-9504	221	2	[	[	X
app01-9504	221	3	1	1	NUM
app01-9504	221	4	]	]	X
app01-9504	221	5	f.	f.	PROPN
app01-9504	221	6	fritz	fritz	PROPN
app01-9504	221	7	.	.	PUNCT
app01-9504	222	1	spurführung	spurführung	PROPN
app01-9504	222	2	in	in	ADP
app01-9504	222	3	engen	engen	PROPN
app01-9504	222	4	gleisbögen	gleisbögen	PROPN
app01-9504	222	5	.	.	PUNCT
app01-9504	223	1	der	der	PROPN
app01-9504	223	2	nahverkehr	nahverkehr	NOUN
app01-9504	223	3	3(2):52–61	3(2):52–61	NUM
app01-9504	223	4	,	,	PUNCT
app01-9504	223	5	1985	1985	NUM
app01-9504	223	6	.	.	PUNCT
app01-9504	224	1	[	[	X
app01-9504	224	2	2	2	X
app01-9504	224	3	]	]	PUNCT
app01-9504	224	4	j.	j.	PROPN
app01-9504	224	5	čapek	čapek	PROPN
app01-9504	224	6	.	.	PUNCT
app01-9504	225	1	optimalizace	optimalizace	PROPN
app01-9504	225	2	jízdních	jízdních	PROPN
app01-9504	225	3	vlastností	vlastností	PROPN
app01-9504	225	4	nízkopodlažních	nízkopodlažních	PROPN
app01-9504	225	5	tramvají	tramvají	PROPN
app01-9504	225	6	.	.	PUNCT
app01-9504	226	1	dissertation	dissertation	NOUN
app01-9504	226	2	thesis	thesis	NOUN
app01-9504	226	3	.	.	PUNCT
app01-9504	227	1	fme	fme	PROPN
app01-9504	227	2	ctu	ctu	NOUN
app01-9504	227	3	in	in	ADP
app01-9504	227	4	prague	prague	PROPN
app01-9504	227	5	,	,	PUNCT
app01-9504	227	6	2013	2013	NUM
app01-9504	227	7	.	.	PUNCT
app01-9504	228	1	[	[	X
app01-9504	228	2	3	3	NUM
app01-9504	228	3	]	]	X
app01-9504	228	4	ghh	ghh	NOUN
app01-9504	228	5	–	–	PUNCT
app01-9504	228	6	bonatrans	bonatran	NOUN
app01-9504	228	7	.	.	PUNCT
app01-9504	229	1	tram	tram	PROPN
app01-9504	229	2	wheelset	wheelset	VERB
app01-9504	229	3	with	with	ADP
app01-9504	229	4	independent	independent	ADJ
app01-9504	229	5	wheel	wheel	NOUN
app01-9504	229	6	axle	axle	NOUN
app01-9504	229	7	.	.	PUNCT
app01-9504	230	1	[	[	X
app01-9504	230	2	2022	2022	NUM
app01-9504	230	3	-	-	SYM
app01-9504	230	4	04	04	NUM
app01-9504	230	5	-	-	PUNCT
app01-9504	230	6	06	06	NUM
app01-9504	230	7	]	]	PUNCT
app01-9504	230	8	,	,	PUNCT
app01-9504	230	9	https://www.ghh-bonatrans.com/en/products-andservices/wheelset/.	https://www.ghh-bonatrans.com/en/products-andservices/wheelset/.	PROPN
app01-9504	231	1	[	[	X
app01-9504	231	2	4	4	NUM
app01-9504	231	3	]	]	X
app01-9504	231	4	b.	b.	PROPN
app01-9504	231	5	fu	fu	PROPN
app01-9504	231	6	,	,	PUNCT
app01-9504	231	7	r.	r.	PROPN
app01-9504	231	8	l.	l.	PROPN
app01-9504	231	9	giossi	giossi	PROPN
app01-9504	231	10	,	,	PUNCT
app01-9504	231	11	r.	r.	PROPN
app01-9504	231	12	persson	persson	PROPN
app01-9504	231	13	,	,	PUNCT
app01-9504	231	14	et	et	PROPN
app01-9504	231	15	al	al	PROPN
app01-9504	231	16	.	.	PUNCT
app01-9504	232	1	active	active	ADJ
app01-9504	232	2	suspension	suspension	NOUN
app01-9504	232	3	in	in	ADP
app01-9504	232	4	railway	railway	NOUN
app01-9504	232	5	vehicles	vehicle	NOUN
app01-9504	232	6	:	:	PUNCT
app01-9504	232	7	a	a	DET
app01-9504	232	8	literature	literature	NOUN
app01-9504	232	9	survey	survey	NOUN
app01-9504	232	10	.	.	PUNCT
app01-9504	233	1	railway	railway	NOUN
app01-9504	233	2	engineering	engineering	NOUN
app01-9504	233	3	science	science	NOUN
app01-9504	233	4	28:3–35	28:3–35	NUM
app01-9504	233	5	,	,	PUNCT
app01-9504	233	6	2020	2020	NUM
app01-9504	233	7	.	.	PUNCT
app01-9504	234	1	https://doi.org/10.1007/s40534-020-00207-w	https://doi.org/10.1007/s40534-020-00207-w	VERB
app01-9504	235	1	[	[	X
app01-9504	235	2	5	5	X
app01-9504	235	3	]	]	PUNCT
app01-9504	235	4	b.	b.	PROPN
app01-9504	235	5	fu	fu	PROPN
app01-9504	235	6	,	,	PUNCT
app01-9504	235	7	s.	s.	PROPN
app01-9504	235	8	bruni	bruni	PROPN
app01-9504	235	9	.	.	PUNCT
app01-9504	236	1	fault	fault	NOUN
app01-9504	236	2	-	-	PUNCT
app01-9504	236	3	tolerant	tolerant	ADJ
app01-9504	236	4	design	design	NOUN
app01-9504	236	5	and	and	CCONJ
app01-9504	236	6	evaluation	evaluation	NOUN
app01-9504	236	7	for	for	ADP
app01-9504	236	8	a	a	DET
app01-9504	236	9	railway	railway	NOUN
app01-9504	236	10	bogie	bogie	NOUN
app01-9504	236	11	active	active	ADJ
app01-9504	236	12	steering	steering	NOUN
app01-9504	236	13	system	system	NOUN
app01-9504	236	14	.	.	PUNCT
app01-9504	237	1	vehicle	vehicle	NOUN
app01-9504	237	2	system	system	NOUN
app01-9504	237	3	dynamics	dynamic	VERB
app01-9504	237	4	60(3):810–834	60(3):810–834	PROPN
app01-9504	237	5	,	,	PUNCT
app01-9504	237	6	2022	2022	NUM
app01-9504	237	7	.	.	PUNCT
app01-9504	237	8	https://doi.org/10.1080/00423114.2020.1838563	https://doi.org/10.1080/00423114.2020.1838563	PROPN
app01-9504	238	1	[	[	X
app01-9504	238	2	6	6	NUM
app01-9504	238	3	]	]	PUNCT
app01-9504	238	4	z.-g	z.-g	PROPN
app01-9504	238	5	.	.	PUNCT
app01-9504	239	1	lu	lu	PROPN
app01-9504	239	2	,	,	PUNCT
app01-9504	239	3	z.	z.	PROPN
app01-9504	239	4	yang	yang	PROPN
app01-9504	239	5	,	,	PUNCT
app01-9504	239	6	q.	q.	PROPN
app01-9504	239	7	huang	huang	PROPN
app01-9504	239	8	,	,	PUNCT
app01-9504	239	9	x.-c	x.-c	PROPN
app01-9504	239	10	.	.	PUNCT
app01-9504	240	1	wang	wang	PROPN
app01-9504	240	2	.	.	PUNCT
app01-9504	241	1	robust	robust	ADJ
app01-9504	241	2	active	active	ADJ
app01-9504	241	3	guidance	guidance	NOUN
app01-9504	241	4	control	control	NOUN
app01-9504	241	5	using	use	VERB
app01-9504	241	6	the	the	DET
app01-9504	241	7	µ-synthesis	µ-synthesis	NOUN
app01-9504	241	8	method	method	NOUN
app01-9504	241	9	for	for	ADP
app01-9504	241	10	a	a	DET
app01-9504	241	11	tramcar	tramcar	NOUN
app01-9504	241	12	with	with	ADP
app01-9504	241	13	independently	independently	ADV
app01-9504	241	14	rotating	rotate	VERB
app01-9504	241	15	wheelsets	wheelset	NOUN
app01-9504	241	16	.	.	PUNCT
app01-9504	242	1	proceedings	proceeding	NOUN
app01-9504	242	2	of	of	ADP
app01-9504	242	3	the	the	DET
app01-9504	242	4	institution	institution	NOUN
app01-9504	242	5	of	of	ADP
app01-9504	242	6	mechanical	mechanical	ADJ
app01-9504	242	7	engineers	engineer	NOUN
app01-9504	242	8	,	,	PUNCT
app01-9504	242	9	part	part	NOUN
app01-9504	242	10	f	f	NOUN
app01-9504	242	11	:	:	PUNCT
app01-9504	242	12	journal	journal	NOUN
app01-9504	242	13	of	of	ADP
app01-9504	242	14	rail	rail	NOUN
app01-9504	242	15	and	and	CCONJ
app01-9504	242	16	rapid	rapid	ADJ
app01-9504	242	17	transit	transit	NOUN
app01-9504	242	18	233(1):33–48	233(1):33–48	NUM
app01-9504	242	19	,	,	PUNCT
app01-9504	242	20	2019	2019	NUM
app01-9504	242	21	.	.	PUNCT
app01-9504	243	1	https://doi.org/10.1177/0954409718777374	https://doi.org/10.1177/0954409718777374	X
app01-9504	244	1	[	[	X
app01-9504	244	2	7	7	X
app01-9504	244	3	]	]	X
app01-9504	244	4	y.	y.	PROPN
app01-9504	244	5	j.	j.	PROPN
app01-9504	245	1	oh	oh	INTJ
app01-9504	245	2	,	,	PUNCT
app01-9504	245	3	j.-k	j.-k	PROPN
app01-9504	245	4	.	.	PUNCT
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app01-9504	247	9	-	-	PUNCT
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app01-9504	247	11	-	-	PUNCT
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app01-9504	247	13	simulation	simulation	NOUN
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app01-9504	247	15	active	active	ADJ
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app01-9504	247	17	of	of	ADP
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app01-9504	247	19	with	with	ADP
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app01-9504	247	21	rotating	rotate	VERB
app01-9504	247	22	wheels	wheel	NOUN
app01-9504	247	23	.	.	PUNCT
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app01-9504	248	2	access	access	NOUN
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app01-9504	248	4	,	,	PUNCT
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app01-9504	248	6	.	.	PUNCT
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app01-9504	250	6	the	the	DET
app01-9504	250	7	lateral	lateral	ADJ
app01-9504	250	8	displacement	displacement	NOUN
app01-9504	250	9	restoring	restore	VERB
app01-9504	250	10	force	force	NOUN
app01-9504	250	11	of	of	ADP
app01-9504	250	12	irws	irws	NOUN
app01-9504	250	13	for	for	ADP
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app01-9504	251	2	of	of	ADP
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app01-9504	251	8	,	,	PUNCT
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app01-9504	251	10	.	.	PUNCT
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app01-9504	252	4	]	]	PUNCT
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app01-9504	254	9	.	.	PUNCT
app01-9504	255	1	[	[	X
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app01-9504	255	3	-	-	SYM
app01-9504	255	4	02	02	NUM
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app01-9504	255	11	-	-	PUNCT
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app01-9504	255	13	-	-	PUNCT
app01-9504	255	14	lrvs	lrvs	NOUN
app01-9504	255	15	-	-	PUNCT
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app01-9504	255	17	-	-	PUNCT
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app01-9504	255	21	-	-	PUNCT
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app01-9504	256	5	active	active	ADJ
app01-9504	256	6	steering	steering	NOUN
app01-9504	256	7	bogie	bogie	NOUN
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app01-9504	259	8	-	-	PUNCT
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app01-9504	259	17	approach	approach	NOUN
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app01-9504	281	16	.	.	PUNCT
app01-9504	282	1	in	in	ADP
app01-9504	282	2	-	-	PUNCT
app01-9504	282	3	car	car	NOUN
app01-9504	282	4	positioning	positioning	NOUN
app01-9504	282	5	and	and	CCONJ
app01-9504	282	6	navigation	navigation	NOUN
app01-9504	282	7	technologies	technology	NOUN
app01-9504	282	8	–	–	PUNCT
app01-9504	282	9	a	a	DET
app01-9504	282	10	survey	survey	NOUN
app01-9504	282	11	.	.	PUNCT
app01-9504	283	1	ieee	ieee	NOUN
app01-9504	283	2	transactions	transaction	NOUN
app01-9504	283	3	on	on	ADP
app01-9504	283	4	intelligent	intelligent	ADJ
app01-9504	283	5	transportation	transportation	NOUN
app01-9504	283	6	systems	system	NOUN
app01-9504	283	7	10(1):4–21	10(1):4–21	NUM
app01-9504	283	8	,	,	PUNCT
app01-9504	283	9	2009	2009	NUM
app01-9504	283	10	.	.	PUNCT
app01-9504	284	1	https://doi.org/10.1109/tits.2008.2011712	https://doi.org/10.1109/tits.2008.2011712	VERB
app01-9504	285	1	[	[	X
app01-9504	285	2	17	17	NUM
app01-9504	285	3	]	]	X
app01-9504	285	4	y.	y.	PROPN
app01-9504	285	5	wang	wang	PROPN
app01-9504	285	6	,	,	PUNCT
app01-9504	285	7	y.	y.	PROPN
app01-9504	285	8	lou	lou	PROPN
app01-9504	285	9	,	,	PUNCT
app01-9504	285	10	y.	y.	PROPN
app01-9504	285	11	zhang	zhang	PROPN
app01-9504	285	12	,	,	PUNCT
app01-9504	285	13	et	et	PROPN
app01-9504	285	14	al	al	PROPN
app01-9504	285	15	.	.	PROPN
app01-9504	285	16	raillomer	raillomer	NOUN
app01-9504	285	17	:	:	PUNCT
app01-9504	285	18	rail	rail	NOUN
app01-9504	285	19	vehicle	vehicle	NOUN
app01-9504	285	20	localization	localization	NOUN
app01-9504	285	21	and	and	CCONJ
app01-9504	285	22	mapping	mapping	NOUN
app01-9504	285	23	with	with	ADP
app01-9504	285	24	lidar	lidar	NOUN
app01-9504	285	25	-	-	PUNCT
app01-9504	285	26	imu	imu	VERB
app01-9504	285	27	-	-	PUNCT
app01-9504	285	28	odometer	odometer	NOUN
app01-9504	285	29	-	-	PUNCT
app01-9504	285	30	gnss	gnss	NOUN
app01-9504	285	31	data	datum	NOUN
app01-9504	285	32	fusion	fusion	NOUN
app01-9504	285	33	.	.	PUNCT
app01-9504	286	1	[	[	X
app01-9504	286	2	2022	2022	NUM
app01-9504	286	3	-	-	SYM
app01-9504	286	4	02	02	NUM
app01-9504	286	5	-	-	NUM
app01-9504	286	6	17	17	NUM
app01-9504	286	7	]	]	PUNCT
app01-9504	286	8	.	.	PUNCT
app01-9504	287	1	arxiv:2111.15043	arxiv:2111.15043	PROPN
app01-9504	288	1	[	[	X
app01-9504	288	2	18	18	NUM
app01-9504	288	3	]	]	X
app01-9504	288	4	y.	y.	PROPN
app01-9504	288	5	umehara	umehara	PROPN
app01-9504	288	6	,	,	PUNCT
app01-9504	288	7	s.	s.	PROPN
app01-9504	288	8	kamoshita	kamoshita	PROPN
app01-9504	288	9	,	,	PUNCT
app01-9504	288	10	k.	k.	PROPN
app01-9504	288	11	ishiguri	ishiguri	PROPN
app01-9504	288	12	,	,	PUNCT
app01-9504	288	13	y.	y.	PROPN
app01-9504	288	14	yamanaga	yamanaga	PROPN
app01-9504	288	15	.	.	PUNCT
app01-9504	289	1	development	development	NOUN
app01-9504	289	2	of	of	ADP
app01-9504	289	3	electro	electro	ADJ
app01-9504	289	4	-	-	PUNCT
app01-9504	289	5	hydraulic	hydraulic	NOUN
app01-9504	289	6	actuator	actuator	NOUN
app01-9504	289	7	with	with	ADP
app01-9504	289	8	fail	fail	ADJ
app01-9504	289	9	-	-	PUNCT
app01-9504	289	10	safe	safe	ADJ
app01-9504	289	11	function	function	NOUN
app01-9504	289	12	for	for	ADP
app01-9504	289	13	steering	steering	NOUN
app01-9504	289	14	system	system	NOUN
app01-9504	289	15	.	.	PUNCT
app01-9504	290	1	quarterly	quarterly	ADJ
app01-9504	290	2	report	report	NOUN
app01-9504	290	3	of	of	ADP
app01-9504	290	4	rtri	rtri	ADJ
app01-9504	290	5	55(3):131–137	55(3):131–137	NUM
app01-9504	290	6	,	,	PUNCT
app01-9504	290	7	2014	2014	NUM
app01-9504	290	8	.	.	PUNCT
app01-9504	291	1	https://doi.org/10.2219/rtriqr.55.131	https://doi.org/10.2219/rtriqr.55.131	X
app01-9504	292	1	[	[	X
app01-9504	292	2	19	19	NUM
app01-9504	292	3	]	]	PUNCT
app01-9504	292	4	skoda.cz	skoda.cz	NOUN
app01-9504	292	5	.	.	PUNCT
app01-9504	292	6	technologie	technologie	VERB
app01-9504	292	7	a	a	DET
app01-9504	292	8	design	design	NOUN
app01-9504	292	9	.	.	PUNCT
app01-9504	293	1	[	[	X
app01-9504	293	2	2022	2022	NUM
app01-9504	293	3	-	-	SYM
app01-9504	293	4	03	03	NUM
app01-9504	293	5	-	-	SYM
app01-9504	293	6	30	30	NUM
app01-9504	293	7	]	]	PUNCT
app01-9504	293	8	,	,	PUNCT
app01-9504	293	9	https	https	NOUN
app01-9504	293	10	:	:	PUNCT
app01-9504	293	11	//www.skoda.cz	//www.skoda.cz	NOUN
app01-9504	293	12	/	/	SYM
app01-9504	293	13	stranka	stranka	NOUN
app01-9504	293	14	/	/	SYM
app01-9504	293	15	technologie	technologie	NOUN
app01-9504	293	16	-	-	PUNCT
app01-9504	293	17	a	a	DET
app01-9504	293	18	-	-	PUNCT
app01-9504	293	19	design	design	NOUN
app01-9504	293	20	.	.	PUNCT
app01-9504	294	1	[	[	X
app01-9504	294	2	20	20	NUM
app01-9504	294	3	]	]	PUNCT
app01-9504	294	4	m.	m.	NOUN
app01-9504	294	5	kummer	kummer	PROPN
app01-9504	294	6	,	,	PUNCT
app01-9504	294	7	s.	s.	PROPN
app01-9504	294	8	krause	krause	PROPN
app01-9504	294	9	.	.	PUNCT
app01-9504	295	1	“	"	PUNCT
app01-9504	295	2	cobra	cobra	NOUN
app01-9504	295	3	”	"	PUNCT
app01-9504	295	4	–	–	PUNCT
app01-9504	295	5	ein	ein	PROPN
app01-9504	295	6	neues	neues	PROPN
app01-9504	295	7	konzept	konzept	PROPN
app01-9504	295	8	für	für	PROPN
app01-9504	295	9	niederflur	niederflur	NOUN
app01-9504	295	10	-	-	PUNCT
app01-9504	295	11	straßenbahnfahrzeuge	straßenbahnfahrzeuge	NOUN
app01-9504	295	12	.	.	PUNCT
app01-9504	296	1	schweiz	schweiz	PROPN
app01-9504	296	2	eisenbahn	eisenbahn	NOUN
app01-9504	296	3	revue	revue	PROPN
app01-9504	296	4	4:174–183	4:174–183	PROPN
app01-9504	296	5	,	,	PUNCT
app01-9504	296	6	1993	1993	NUM
app01-9504	296	7	.	.	PUNCT
app01-9504	297	1	125	125	NUM
app01-9504	297	2	https://doi.org/10.1109/tits.2008.2011712	https://doi.org/10.1109/tits.2008.2011712	PROPN
app01-9504	297	3	https://arxiv.org/abs/2111.15043	https://arxiv.org/abs/2111.15043	NOUN
app01-9504	297	4	https://doi.org/10.2219/rtriqr.55.131	https://doi.org/10.2219/rtriqr.55.131	PROPN
app01-9504	297	5	https://www.skoda.cz/stranka/technologie-a-design	https://www.skoda.cz/stranka/technologie-a-design	PROPN
app01-9504	297	6	https://www.skoda.cz/stranka/technologie-a-design	https://www.skoda.cz/stranka/technologie-a-design	PROPN
app01-9504	297	7	acta	acta	PROPN
app01-9504	297	8	polytechnica	polytechnica	PROPN
app01-9504	297	9	ctu	ctu	NOUN
app01-9504	297	10	proceedings	proceeding	NOUN
app01-9504	297	11	43:117–125	43:117–125	PROPN
app01-9504	297	12	,	,	PUNCT
app01-9504	297	13	2023	2023	NUM
app01-9504	297	14	1	1	NUM
app01-9504	297	15	introduction	introduction	NOUN
app01-9504	297	16	2	2	NUM
app01-9504	297	17	active	active	ADJ
app01-9504	297	18	elements	element	NOUN
app01-9504	297	19	in	in	ADP
app01-9504	297	20	rs	rs	ADJ
app01-9504	297	21	running	running	NOUN
app01-9504	297	22	gear	gear	NOUN
app01-9504	297	23	2.1	2.1	NUM
app01-9504	297	24	the	the	DET
app01-9504	297	25	collision	collision	NOUN
app01-9504	297	26	scenario	scenario	NOUN
app01-9504	297	27	:	:	PUNCT
app01-9504	297	28	the	the	DET
app01-9504	297	29	frontal	frontal	ADJ
app01-9504	297	30	impact	impact	NOUN
app01-9504	297	31	of	of	ADP
app01-9504	297	32	two	two	NUM
app01-9504	297	33	identical	identical	ADJ
app01-9504	297	34	trams	tram	NOUN
app01-9504	297	35	2.1.1	2.1.1	NUM
app01-9504	297	36	classification	classification	NOUN
app01-9504	297	37	by	by	ADP
app01-9504	297	38	purpose	purpose	NOUN
app01-9504	297	39	of	of	ADP
app01-9504	297	40	use	use	NOUN
app01-9504	297	41	2.1.2	2.1.2	NUM
app01-9504	297	42	classification	classification	NOUN
app01-9504	297	43	by	by	ADP
app01-9504	297	44	source	source	NOUN
app01-9504	297	45	of	of	ADP
app01-9504	297	46	force	force	NOUN
app01-9504	297	47	2.1.3	2.1.3	NUM
app01-9504	297	48	classification	classification	NOUN
app01-9504	297	49	according	accord	VERB
app01-9504	297	50	to	to	ADP
app01-9504	297	51	the	the	DET
app01-9504	297	52	input	input	NOUN
app01-9504	297	53	variable	variable	NOUN
app01-9504	297	54	of	of	ADP
app01-9504	297	55	the	the	DET
app01-9504	297	56	active	active	ADJ
app01-9504	297	57	element	element	NOUN
app01-9504	297	58	control	control	NOUN
app01-9504	297	59	2.2	2.2	NUM
app01-9504	297	60	active	active	ADJ
app01-9504	297	61	element	element	NOUN
app01-9504	297	62	application	application	NOUN
app01-9504	297	63	into	into	ADP
app01-9504	297	64	rs	rs	ADJ
app01-9504	297	65	running	running	NOUN
app01-9504	297	66	gear	gear	NOUN
app01-9504	297	67	3	3	NUM
app01-9504	297	68	autonomous	autonomous	ADJ
app01-9504	297	69	driving	drive	VERB
app01-9504	297	70	systems	system	NOUN
app01-9504	297	71	4	4	NUM
app01-9504	297	72	conceptual	conceptual	ADJ
app01-9504	297	73	design	design	NOUN
app01-9504	297	74	of	of	ADP
app01-9504	297	75	active	active	ADJ
app01-9504	297	76	wheelset	wheelset	NOUN
app01-9504	297	77	steering	steering	NOUN
app01-9504	297	78	control	control	VERB
app01-9504	297	79	4.1	4.1	NUM
app01-9504	297	80	location	location	NOUN
app01-9504	297	81	and	and	CCONJ
app01-9504	297	82	type	type	NOUN
app01-9504	297	83	of	of	ADP
app01-9504	297	84	active	active	ADJ
app01-9504	297	85	element	element	NOUN
app01-9504	297	86	4.2	4.2	NUM
app01-9504	297	87	active	active	ADJ
app01-9504	297	88	element	element	NOUN
app01-9504	297	89	control	control	NOUN
app01-9504	297	90	4.2.1	4.2.1	NUM
app01-9504	297	91	input	input	NOUN
app01-9504	297	92	variables	variable	NOUN
app01-9504	297	93	into	into	ADP
app01-9504	297	94	active	active	ADJ
app01-9504	297	95	element	element	NOUN
app01-9504	297	96	control	control	NOUN
app01-9504	297	97	4.2.2	4.2.2	NUM
app01-9504	297	98	basic	basic	ADJ
app01-9504	297	99	active	active	ADJ
app01-9504	297	100	element	element	NOUN
app01-9504	297	101	control	control	NOUN
app01-9504	297	102	relations	relation	NOUN
app01-9504	297	103	4.3	4.3	NUM
app01-9504	297	104	safety	safety	NOUN
app01-9504	297	105	issues	issue	NOUN
app01-9504	297	106	of	of	ADP
app01-9504	297	107	active	active	ADJ
app01-9504	297	108	element	element	NOUN
app01-9504	297	109	application	application	NOUN
app01-9504	297	110	and	and	CCONJ
app01-9504	297	111	its	its	PRON
app01-9504	297	112	control	control	NOUN
app01-9504	297	113	5	5	NUM
app01-9504	297	114	conclusion	conclusion	NOUN
app01-9504	297	115	list	list	NOUN
app01-9504	297	116	of	of	ADP
app01-9504	297	117	symbols	symbol	NOUN
app01-9504	297	118	acknowledgements	acknowledgement	NOUN
app01-9504	297	119	references	reference	NOUN