id	sid	tid	token	lemma	pos
ijassa-1005	1	1	adv	adv	PROPN
ijassa-1005	1	2	syst	syst	PROPN
ijassa-1005	1	3	sci	sci	PROPN
ijassa-1005	1	4	appl	appl	PROPN
ijassa-1005	1	5	2020	2020	NUM
ijassa-1005	1	6	;	;	PUNCT
ijassa-1005	1	7	04	04	NUM
ijassa-1005	1	8	;	;	PUNCT
ijassa-1005	1	9	105	105	NUM
ijassa-1005	1	10	-	-	SYM
ijassa-1005	1	11	112	112	NUM
ijassa-1005	1	12	published	publish	VERB
ijassa-1005	1	13	online	online	ADV
ijassa-1005	1	14	at	at	ADP
ijassa-1005	1	15	https://ijassa.ipu.ru	https://ijassa.ipu.ru	ADJ
ijassa-1005	1	16	.	.	PUNCT
ijassa-1005	2	1	automation	automation	NOUN
ijassa-1005	2	2	of	of	ADP
ijassa-1005	2	3	cluster	cluster	NOUN
ijassa-1005	2	4	large	large	ADJ
ijassa-1005	2	5	-	-	PUNCT
ijassa-1005	2	6	scale	scale	NOUN
ijassa-1005	2	7	production	production	NOUN
ijassa-1005	2	8	systems	system	NOUN
ijassa-1005	2	9	valentin	valentin	PROPN
ijassa-1005	2	10	chadeev1	chadeev1	PROPN
ijassa-1005	2	11	,	,	PUNCT
ijassa-1005	2	12	natalya	natalya	PROPN
ijassa-1005	2	13	aristova1	aristova1	PROPN
ijassa-1005	2	14	*	*	PROPN
ijassa-1005	2	15	1	1	NUM
ijassa-1005	2	16	)	)	PUNCT
ijassa-1005	2	17	v.a	v.a	PROPN
ijassa-1005	2	18	.	.	PROPN
ijassa-1005	2	19	trapeznikov	trapeznikov	PROPN
ijassa-1005	2	20	institute	institute	PROPN
ijassa-1005	2	21	of	of	ADP
ijassa-1005	2	22	control	control	PROPN
ijassa-1005	2	23	sciences	sciences	PROPN
ijassa-1005	2	24	,	,	PUNCT
ijassa-1005	2	25	russian	russian	ADJ
ijassa-1005	2	26	academy	academy	PROPN
ijassa-1005	2	27	of	of	ADP
ijassa-1005	2	28	sciences	sciences	PROPN
ijassa-1005	2	29	,	,	PUNCT
ijassa-1005	2	30	moscow	moscow	PROPN
ijassa-1005	2	31	,	,	PUNCT
ijassa-1005	2	32	russia	russia	PROPN
ijassa-1005	2	33	e	e	NOUN
ijassa-1005	2	34	-	-	NOUN
ijassa-1005	2	35	mail	mail	NOUN
ijassa-1005	2	36	:	:	PUNCT
ijassa-1005	2	37	avtprom@ipu.ru	avtprom@ipu.ru	X
ijassa-1005	3	1	abstract	abstract	NOUN
ijassa-1005	3	2	:	:	PUNCT
ijassa-1005	3	3	the	the	DET
ijassa-1005	3	4	paper	paper	NOUN
ijassa-1005	3	5	covers	cover	VERB
ijassa-1005	3	6	the	the	DET
ijassa-1005	3	7	рroduction	рroduction	NOUN
ijassa-1005	3	8	of	of	ADP
ijassa-1005	3	9	capital	capital	NOUN
ijassa-1005	3	10	goods	good	NOUN
ijassa-1005	3	11	of	of	ADP
ijassa-1005	3	12	various	various	ADJ
ijassa-1005	3	13	types	type	NOUN
ijassa-1005	3	14	of	of	ADP
ijassa-1005	3	15	industrial	industrial	ADJ
ijassa-1005	3	16	robots	robot	NOUN
ijassa-1005	3	17	in	in	ADP
ijassa-1005	3	18	the	the	DET
ijassa-1005	3	19	context	context	NOUN
ijassa-1005	3	20	of	of	ADP
ijassa-1005	3	21	industrial	industrial	ADJ
ijassa-1005	3	22	clusters	cluster	NOUN
ijassa-1005	3	23	.	.	PUNCT
ijassa-1005	4	1	it	it	PRON
ijassa-1005	4	2	uses	use	VERB
ijassa-1005	4	3	a	a	DET
ijassa-1005	4	4	model	model	NOUN
ijassa-1005	4	5	of	of	ADP
ijassa-1005	4	6	production	production	NOUN
ijassa-1005	4	7	,	,	PUNCT
ijassa-1005	4	8	invariant	invariant	ADJ
ijassa-1005	4	9	with	with	ADP
ijassa-1005	4	10	the	the	DET
ijassa-1005	4	11	types	type	NOUN
ijassa-1005	4	12	of	of	ADP
ijassa-1005	4	13	technological	technological	ADJ
ijassa-1005	4	14	operations	operation	NOUN
ijassa-1005	4	15	(	(	PUNCT
ijassa-1005	4	16	tos	tos	NOUN
ijassa-1005	4	17	)	)	PUNCT
ijassa-1005	4	18	.	.	PUNCT
ijassa-1005	5	1	the	the	DET
ijassa-1005	5	2	paper	paper	NOUN
ijassa-1005	5	3	examines	examine	VERB
ijassa-1005	5	4	algorithms	algorithm	NOUN
ijassa-1005	5	5	for	for	ADP
ijassa-1005	5	6	three	three	NUM
ijassa-1005	5	7	automation	automation	NOUN
ijassa-1005	5	8	options	option	NOUN
ijassa-1005	5	9	:	:	PUNCT
ijassa-1005	5	10	full	full	ADJ
ijassa-1005	5	11	рroduction	рroduction	NOUN
ijassa-1005	5	12	of	of	ADP
ijassa-1005	5	13	capital	capital	NOUN
ijassa-1005	5	14	goods	good	NOUN
ijassa-1005	5	15	,	,	PUNCT
ijassa-1005	5	16	partial	partial	ADJ
ijassa-1005	5	17	рroduction	рroduction	NOUN
ijassa-1005	5	18	of	of	ADP
ijassa-1005	5	19	capital	capital	NOUN
ijassa-1005	5	20	goods	good	NOUN
ijassa-1005	5	21	,	,	PUNCT
ijassa-1005	5	22	use	use	NOUN
ijassa-1005	5	23	of	of	ADP
ijassa-1005	5	24	robots	robot	NOUN
ijassa-1005	5	25	purchased	purchase	VERB
ijassa-1005	5	26	outside	outside	ADP
ijassa-1005	5	27	the	the	DET
ijassa-1005	5	28	cluster	cluster	NOUN
ijassa-1005	5	29	.	.	PUNCT
ijassa-1005	6	1	keywords	keyword	NOUN
ijassa-1005	6	2	:	:	PUNCT
ijassa-1005	6	3	the	the	DET
ijassa-1005	6	4	рroduction	рroduction	NOUN
ijassa-1005	6	5	of	of	ADP
ijassa-1005	6	6	capital	capital	NOUN
ijassa-1005	6	7	goods	good	NOUN
ijassa-1005	6	8	,	,	PUNCT
ijassa-1005	6	9	industrial	industrial	ADJ
ijassa-1005	6	10	robots	robot	NOUN
ijassa-1005	6	11	,	,	PUNCT
ijassa-1005	6	12	level	level	NOUN
ijassa-1005	6	13	of	of	ADP
ijassa-1005	6	14	automation	automation	NOUN
ijassa-1005	6	15	,	,	PUNCT
ijassa-1005	6	16	technological	technological	ADJ
ijassa-1005	6	17	operation	operation	NOUN
ijassa-1005	6	18	,	,	PUNCT
ijassa-1005	6	19	operation	operation	NOUN
ijassa-1005	6	20	performance	performance	NOUN
ijassa-1005	6	21	time	time	NOUN
ijassa-1005	6	22	,	,	PUNCT
ijassa-1005	6	23	production	production	NOUN
ijassa-1005	6	24	theory	theory	NOUN
ijassa-1005	6	25	invariant	invariant	VERB
ijassa-1005	6	26	with	with	ADP
ijassa-1005	6	27	the	the	DET
ijassa-1005	6	28	types	type	NOUN
ijassa-1005	6	29	of	of	ADP
ijassa-1005	6	30	technological	technological	ADJ
ijassa-1005	6	31	operations	operation	NOUN
ijassa-1005	6	32	,	,	PUNCT
ijassa-1005	6	33	cost	cost	NOUN
ijassa-1005	6	34	dynamics	dynamic	NOUN
ijassa-1005	6	35	1	1	NUM
ijassa-1005	6	36	.	.	PUNCT
ijassa-1005	7	1	introduction	introduction	NOUN
ijassa-1005	7	2	today	today	NOUN
ijassa-1005	7	3	,	,	PUNCT
ijassa-1005	7	4	active	active	ADJ
ijassa-1005	7	5	research	research	NOUN
ijassa-1005	7	6	is	be	AUX
ijassa-1005	7	7	being	be	AUX
ijassa-1005	7	8	carried	carry	VERB
ijassa-1005	7	9	out	out	ADP
ijassa-1005	7	10	in	in	ADP
ijassa-1005	7	11	russia	russia	PROPN
ijassa-1005	7	12	to	to	PART
ijassa-1005	7	13	build	build	VERB
ijassa-1005	7	14	cluster	cluster	NOUN
ijassa-1005	7	15	models	model	NOUN
ijassa-1005	7	16	in	in	ADP
ijassa-1005	7	17	different	different	ADJ
ijassa-1005	7	18	areas	area	NOUN
ijassa-1005	7	19	of	of	ADP
ijassa-1005	7	20	the	the	DET
ijassa-1005	7	21	economy	economy	NOUN
ijassa-1005	7	22	,	,	PUNCT
ijassa-1005	7	23	in	in	ADP
ijassa-1005	7	24	different	different	ADJ
ijassa-1005	7	25	geographical	geographical	ADJ
ijassa-1005	7	26	regions	region	NOUN
ijassa-1005	7	27	,	,	PUNCT
ijassa-1005	7	28	as	as	ADV
ijassa-1005	7	29	well	well	ADV
ijassa-1005	7	30	as	as	ADP
ijassa-1005	7	31	for	for	ADP
ijassa-1005	7	32	the	the	DET
ijassa-1005	7	33	purpose	purpose	NOUN
ijassa-1005	7	34	of	of	ADP
ijassa-1005	7	35	determining	determine	VERB
ijassa-1005	7	36	the	the	DET
ijassa-1005	7	37	structure	structure	NOUN
ijassa-1005	7	38	,	,	PUNCT
ijassa-1005	7	39	components	component	NOUN
ijassa-1005	7	40	and	and	CCONJ
ijassa-1005	7	41	growth	growth	NOUN
ijassa-1005	7	42	potential	potential	NOUN
ijassa-1005	7	43	.	.	PUNCT
ijassa-1005	8	1	the	the	DET
ijassa-1005	8	2	main	main	ADJ
ijassa-1005	8	3	purpose	purpose	NOUN
ijassa-1005	8	4	of	of	ADP
ijassa-1005	8	5	the	the	DET
ijassa-1005	8	6	cluster	cluster	NOUN
ijassa-1005	8	7	policy	policy	NOUN
ijassa-1005	8	8	is	be	AUX
ijassa-1005	8	9	to	to	PART
ijassa-1005	8	10	ensure	ensure	VERB
ijassa-1005	8	11	high	high	ADJ
ijassa-1005	8	12	rates	rate	NOUN
ijassa-1005	8	13	of	of	ADP
ijassa-1005	8	14	economic	economic	ADJ
ijassa-1005	8	15	growth	growth	NOUN
ijassa-1005	8	16	and	and	CCONJ
ijassa-1005	8	17	economic	economic	ADJ
ijassa-1005	8	18	diversification	diversification	NOUN
ijassa-1005	8	19	by	by	ADP
ijassa-1005	8	20	improving	improve	VERB
ijassa-1005	8	21	the	the	DET
ijassa-1005	8	22	competitiveness	competitiveness	NOUN
ijassa-1005	8	23	of	of	ADP
ijassa-1005	8	24	enterprises	enterprise	NOUN
ijassa-1005	8	25	,	,	PUNCT
ijassa-1005	8	26	suppliers	supplier	NOUN
ijassa-1005	8	27	of	of	ADP
ijassa-1005	8	28	equipment	equipment	NOUN
ijassa-1005	8	29	,	,	PUNCT
ijassa-1005	8	30	components	component	NOUN
ijassa-1005	8	31	,	,	PUNCT
ijassa-1005	8	32	specialized	specialized	ADJ
ijassa-1005	8	33	production	production	NOUN
ijassa-1005	8	34	and	and	CCONJ
ijassa-1005	8	35	after	after	ADP
ijassa-1005	8	36	-	-	PUNCT
ijassa-1005	8	37	sales	sale	NOUN
ijassa-1005	8	38	services	service	NOUN
ijassa-1005	8	39	of	of	ADP
ijassa-1005	8	40	research	research	NOUN
ijassa-1005	8	41	and	and	CCONJ
ijassa-1005	8	42	educational	educational	ADJ
ijassa-1005	8	43	organizations	organization	NOUN
ijassa-1005	8	44	that	that	PRON
ijassa-1005	8	45	form	form	VERB
ijassa-1005	8	46	territorial	territorial	ADJ
ijassa-1005	8	47	production	production	NOUN
ijassa-1005	8	48	clusters	cluster	NOUN
ijassa-1005	8	49	[	[	X
ijassa-1005	8	50	1	1	NUM
ijassa-1005	8	51	]	]	PUNCT
ijassa-1005	8	52	.	.	PUNCT
ijassa-1005	9	1	an	an	DET
ijassa-1005	9	2	economic	economic	ADJ
ijassa-1005	9	3	cluster	cluster	NOUN
ijassa-1005	9	4	is	be	AUX
ijassa-1005	9	5	a	a	DET
ijassa-1005	9	6	geographically	geographically	ADV
ijassa-1005	9	7	concentrated	concentrate	VERB
ijassa-1005	9	8	group	group	NOUN
ijassa-1005	9	9	of	of	ADP
ijassa-1005	9	10	interconnected	interconnected	ADJ
ijassa-1005	9	11	companies	company	NOUN
ijassa-1005	9	12	,	,	PUNCT
ijassa-1005	9	13	specialised	specialised	ADJ
ijassa-1005	9	14	suppliers	supplier	NOUN
ijassa-1005	9	15	,	,	PUNCT
ijassa-1005	9	16	service	service	NOUN
ijassa-1005	9	17	providers	provider	NOUN
ijassa-1005	9	18	,	,	PUNCT
ijassa-1005	9	19	firms	firm	NOUN
ijassa-1005	9	20	in	in	ADP
ijassa-1005	9	21	their	their	PRON
ijassa-1005	9	22	respective	respective	ADJ
ijassa-1005	9	23	industries	industry	NOUN
ijassa-1005	9	24	and	and	CCONJ
ijassa-1005	9	25	related	related	ADJ
ijassa-1005	9	26	organisations	organisation	NOUN
ijassa-1005	9	27	(	(	PUNCT
ijassa-1005	9	28	e.g.	e.g.	ADV
ijassa-1005	9	29	universities	university	NOUN
ijassa-1005	9	30	,	,	PUNCT
ijassa-1005	9	31	standardisation	standardisation	NOUN
ijassa-1005	9	32	agencies	agency	NOUN
ijassa-1005	9	33	and	and	CCONJ
ijassa-1005	9	34	trade	trade	NOUN
ijassa-1005	9	35	unions	union	NOUN
ijassa-1005	9	36	)	)	PUNCT
ijassa-1005	9	37	in	in	ADP
ijassa-1005	9	38	certain	certain	ADJ
ijassa-1005	9	39	areas	area	NOUN
ijassa-1005	9	40	that	that	PRON
ijassa-1005	9	41	compete	compete	VERB
ijassa-1005	9	42	but	but	CCONJ
ijassa-1005	9	43	also	also	ADV
ijassa-1005	9	44	work	work	VERB
ijassa-1005	9	45	together	together	ADV
ijassa-1005	9	46	"	"	PUNCT
ijassa-1005	10	1	[	[	X
ijassa-1005	10	2	2	2	NUM
ijassa-1005	10	3	]	]	PUNCT
ijassa-1005	10	4	.	.	PUNCT
ijassa-1005	11	1	according	accord	VERB
ijassa-1005	11	2	to	to	ADP
ijassa-1005	11	3	m.	m.	NOUN
ijassa-1005	11	4	porter	porter	NOUN
ijassa-1005	11	5	,	,	PUNCT
ijassa-1005	11	6	the	the	DET
ijassa-1005	11	7	competitiveness	competitiveness	NOUN
ijassa-1005	11	8	of	of	ADP
ijassa-1005	11	9	a	a	DET
ijassa-1005	11	10	region	region	NOUN
ijassa-1005	11	11	or	or	CCONJ
ijassa-1005	11	12	a	a	DET
ijassa-1005	11	13	country	country	NOUN
ijassa-1005	11	14	should	should	AUX
ijassa-1005	11	15	be	be	AUX
ijassa-1005	11	16	considered	consider	VERB
ijassa-1005	11	17	in	in	ADP
ijassa-1005	11	18	terms	term	NOUN
ijassa-1005	11	19	of	of	ADP
ijassa-1005	11	20	the	the	DET
ijassa-1005	11	21	competitiveness	competitiveness	NOUN
ijassa-1005	11	22	of	of	ADP
ijassa-1005	11	23	clusters	cluster	NOUN
ijassa-1005	11	24	associations	association	NOUN
ijassa-1005	11	25	of	of	ADP
ijassa-1005	11	26	organisations	organisation	NOUN
ijassa-1005	11	27	and	and	CCONJ
ijassa-1005	11	28	enterprises	enterprise	NOUN
ijassa-1005	11	29	in	in	ADP
ijassa-1005	11	30	various	various	ADJ
ijassa-1005	11	31	industries	industry	NOUN
ijassa-1005	11	32	that	that	PRON
ijassa-1005	11	33	are	be	AUX
ijassa-1005	11	34	able	able	ADJ
ijassa-1005	11	35	to	to	PART
ijassa-1005	11	36	use	use	VERB
ijassa-1005	11	37	internal	internal	ADJ
ijassa-1005	11	38	resources	resource	NOUN
ijassa-1005	11	39	effectively	effectively	ADV
ijassa-1005	11	40	.	.	PUNCT
ijassa-1005	12	1	a	a	DET
ijassa-1005	12	2	cluster	cluster	NOUN
ijassa-1005	12	3	takes	take	VERB
ijassa-1005	12	4	into	into	ADP
ijassa-1005	12	5	account	account	NOUN
ijassa-1005	12	6	the	the	DET
ijassa-1005	12	7	market	market	NOUN
ijassa-1005	12	8	mechanism	mechanism	NOUN
ijassa-1005	12	9	as	as	ADV
ijassa-1005	12	10	much	much	ADV
ijassa-1005	12	11	as	as	ADP
ijassa-1005	12	12	possible	possible	ADJ
ijassa-1005	12	13	and	and	CCONJ
ijassa-1005	12	14	is	be	AUX
ijassa-1005	12	15	a	a	DET
ijassa-1005	12	16	flexible	flexible	ADJ
ijassa-1005	12	17	form	form	NOUN
ijassa-1005	12	18	of	of	ADP
ijassa-1005	12	19	organisation	organisation	NOUN
ijassa-1005	12	20	[	[	X
ijassa-1005	12	21	3	3	NUM
ijassa-1005	12	22	]	]	PUNCT
ijassa-1005	12	23	.	.	PUNCT
ijassa-1005	13	1	this	this	PRON
ijassa-1005	13	2	is	be	AUX
ijassa-1005	13	3	its	its	PRON
ijassa-1005	13	4	main	main	ADJ
ijassa-1005	13	5	difference	difference	NOUN
ijassa-1005	13	6	from	from	ADP
ijassa-1005	13	7	the	the	DET
ijassa-1005	13	8	territorial	territorial	ADJ
ijassa-1005	13	9	and	and	CCONJ
ijassa-1005	13	10	industrial	industrial	ADJ
ijassa-1005	13	11	complex	complex	NOUN
ijassa-1005	13	12	and	and	CCONJ
ijassa-1005	13	13	the	the	DET
ijassa-1005	13	14	sectoral	sectoral	ADJ
ijassa-1005	13	15	approach	approach	NOUN
ijassa-1005	13	16	.	.	PUNCT
ijassa-1005	14	1	as	as	ADP
ijassa-1005	14	2	an	an	DET
ijassa-1005	14	3	example	example	NOUN
ijassa-1005	14	4	of	of	ADP
ijassa-1005	14	5	a	a	DET
ijassa-1005	14	6	modern	modern	ADJ
ijassa-1005	14	7	cluster	cluster	NOUN
ijassa-1005	14	8	established	establish	VERB
ijassa-1005	14	9	in	in	ADP
ijassa-1005	14	10	the	the	DET
ijassa-1005	14	11	russian	russian	PROPN
ijassa-1005	14	12	federation	federation	PROPN
ijassa-1005	14	13	,	,	PUNCT
ijassa-1005	14	14	we	we	PRON
ijassa-1005	14	15	should	should	AUX
ijassa-1005	14	16	mention	mention	VERB
ijassa-1005	14	17	the	the	DET
ijassa-1005	14	18	petrochemical	petrochemical	NOUN
ijassa-1005	14	19	enterprises	enterprise	NOUN
ijassa-1005	14	20	cluster	cluster	NOUN
ijassa-1005	14	21	of	of	ADP
ijassa-1005	14	22	the	the	DET
ijassa-1005	14	23	republic	republic	NOUN
ijassa-1005	14	24	of	of	ADP
ijassa-1005	14	25	tatarstan	tatarstan	PROPN
ijassa-1005	14	26	[	[	X
ijassa-1005	14	27	4	4	NUM
ijassa-1005	14	28	]	]	PUNCT
ijassa-1005	14	29	.	.	PUNCT
ijassa-1005	15	1	to	to	PART
ijassa-1005	15	2	describe	describe	VERB
ijassa-1005	15	3	any	any	DET
ijassa-1005	15	4	production	production	NOUN
ijassa-1005	15	5	system	system	NOUN
ijassa-1005	15	6	within	within	ADP
ijassa-1005	15	7	a	a	DET
ijassa-1005	15	8	cluster	cluster	NOUN
ijassa-1005	15	9	,	,	PUNCT
ijassa-1005	15	10	it	it	PRON
ijassa-1005	15	11	is	be	AUX
ijassa-1005	15	12	necessary	necessary	ADJ
ijassa-1005	15	13	to	to	PART
ijassa-1005	15	14	have	have	VERB
ijassa-1005	15	15	:	:	PUNCT
ijassa-1005	15	16	a	a	DET
ijassa-1005	15	17	list	list	NOUN
ijassa-1005	15	18	of	of	ADP
ijassa-1005	15	19	all	all	DET
ijassa-1005	15	20	manufactured	manufacture	VERB
ijassa-1005	15	21	products	product	NOUN
ijassa-1005	15	22	(	(	PUNCT
ijassa-1005	15	23	including	include	VERB
ijassa-1005	15	24	robots	robot	NOUN
ijassa-1005	15	25	)	)	PUNCT
ijassa-1005	15	26	;	;	PUNCT
ijassa-1005	15	27	a	a	DET
ijassa-1005	15	28	description	description	NOUN
ijassa-1005	15	29	of	of	ADP
ijassa-1005	15	30	the	the	DET
ijassa-1005	15	31	production	production	NOUN
ijassa-1005	15	32	procedure	procedure	NOUN
ijassa-1005	15	33	for	for	ADP
ijassa-1005	15	34	each	each	DET
ijassa-1005	15	35	type	type	NOUN
ijassa-1005	15	36	of	of	ADP
ijassa-1005	15	37	product	product	NOUN
ijassa-1005	15	38	;	;	PUNCT
ijassa-1005	15	39	a	a	DET
ijassa-1005	15	40	description	description	NOUN
ijassa-1005	15	41	of	of	ADP
ijassa-1005	15	42	the	the	DET
ijassa-1005	15	43	production	production	NOUN
ijassa-1005	15	44	procedure	procedure	NOUN
ijassa-1005	15	45	for	for	ADP
ijassa-1005	15	46	each	each	DET
ijassa-1005	15	47	type	type	NOUN
ijassa-1005	15	48	of	of	ADP
ijassa-1005	15	49	robot	robot	NOUN
ijassa-1005	15	50	;	;	PUNCT
ijassa-1005	15	51	specifications	specification	NOUN
ijassa-1005	15	52	of	of	ADP
ijassa-1005	15	53	robots	robot	NOUN
ijassa-1005	15	54	as	as	ADP
ijassa-1005	15	55	production	production	NOUN
ijassa-1005	15	56	elements	element	NOUN
ijassa-1005	15	57	;	;	PUNCT
ijassa-1005	15	58	a	a	DET
ijassa-1005	15	59	list	list	NOUN
ijassa-1005	15	60	and	and	CCONJ
ijassa-1005	15	61	specifications	specification	NOUN
ijassa-1005	15	62	of	of	ADP
ijassa-1005	15	63	all	all	DET
ijassa-1005	15	64	types	type	NOUN
ijassa-1005	15	65	of	of	ADP
ijassa-1005	15	66	technological	technological	ADJ
ijassa-1005	15	67	operations	operation	NOUN
ijassa-1005	15	68	(	(	PUNCT
ijassa-1005	15	69	tos	tos	NOUN
ijassa-1005	15	70	)	)	PUNCT
ijassa-1005	15	71	required	require	VERB
ijassa-1005	15	72	to	to	PART
ijassa-1005	15	73	produce	produce	VERB
ijassa-1005	15	74	all	all	DET
ijassa-1005	15	75	types	type	NOUN
ijassa-1005	15	76	of	of	ADP
ijassa-1005	15	77	products	product	NOUN
ijassa-1005	15	78	and	and	CCONJ
ijassa-1005	15	79	robots	robot	NOUN
ijassa-1005	15	80	;	;	PUNCT
ijassa-1005	15	81	the	the	DET
ijassa-1005	15	82	total	total	ADJ
ijassa-1005	15	83	number	number	NOUN
ijassa-1005	15	84	of	of	ADP
ijassa-1005	15	85	people	people	NOUN
ijassa-1005	15	86	involved	involve	VERB
ijassa-1005	15	87	in	in	ADP
ijassa-1005	15	88	the	the	DET
ijassa-1005	15	89	production	production	NOUN
ijassa-1005	15	90	process	process	NOUN
ijassa-1005	15	91	.	.	PUNCT
ijassa-1005	16	1	the	the	DET
ijassa-1005	16	2	paper	paper	NOUN
ijassa-1005	16	3	's	's	PART
ijassa-1005	16	4	objective	objective	NOUN
ijassa-1005	16	5	:	:	PUNCT
ijassa-1005	16	6	using	use	VERB
ijassa-1005	16	7	the	the	DET
ijassa-1005	16	8	above	above	ADJ
ijassa-1005	16	9	data	datum	NOUN
ijassa-1005	16	10	,	,	PUNCT
ijassa-1005	16	11	to	to	PART
ijassa-1005	16	12	calculate	calculate	VERB
ijassa-1005	16	13	a	a	DET
ijassa-1005	16	14	production	production	NOUN
ijassa-1005	16	15	automation	automation	NOUN
ijassa-1005	16	16	scheme	scheme	NOUN
ijassa-1005	16	17	within	within	ADP
ijassa-1005	16	18	a	a	DET
ijassa-1005	16	19	cluster	cluster	NOUN
ijassa-1005	16	20	where	where	SCONJ
ijassa-1005	16	21	human	human	ADJ
ijassa-1005	16	22	costs	cost	NOUN
ijassa-1005	16	23	are	be	AUX
ijassa-1005	16	24	minimal	minimal	ADJ
ijassa-1005	16	25	.	.	PUNCT
ijassa-1005	17	1	*	*	PUNCT
ijassa-1005	17	2	corresponding	correspond	VERB
ijassa-1005	17	3	author	author	NOUN
ijassa-1005	17	4	:	:	PUNCT
ijassa-1005	17	5	avtprom@ipu.ru	avtprom@ipu.ru	PROPN
ijassa-1005	17	6	106	106	NUM
ijassa-1005	17	7	v.	v.	ADP
ijassa-1005	17	8	chadeev	chadeev	PROPN
ijassa-1005	17	9	,	,	PUNCT
ijassa-1005	17	10	n.	n.	PROPN
ijassa-1005	17	11	aristova	aristova	VERB
ijassa-1005	17	12	copyright	copyright	PROPN
ijassa-1005	17	13	©	©	PROPN
ijassa-1005	17	14	2020	2020	NUM
ijassa-1005	17	15	assa	assa	NOUN
ijassa-1005	17	16	.	.	PUNCT
ijassa-1005	18	1	adv	adv	PROPN
ijassa-1005	18	2	.	.	PUNCT
ijassa-1005	19	1	in	in	ADP
ijassa-1005	19	2	systems	system	NOUN
ijassa-1005	19	3	science	science	NOUN
ijassa-1005	19	4	and	and	CCONJ
ijassa-1005	19	5	appl	appl	NOUN
ijassa-1005	19	6	.	.	PUNCT
ijassa-1005	20	1	(	(	PUNCT
ijassa-1005	20	2	2020	2020	NUM
ijassa-1005	20	3	)	)	PUNCT
ijassa-1005	20	4	2	2	NUM
ijassa-1005	20	5	.	.	PUNCT
ijassa-1005	21	1	parameters	parameter	NOUN
ijassa-1005	21	2	of	of	ADP
ijassa-1005	21	3	the	the	DET
ijassa-1005	21	4	products	product	NOUN
ijassa-1005	21	5	and	and	CCONJ
ijassa-1005	21	6	robots	robot	NOUN
ijassa-1005	21	7	of	of	ADP
ijassa-1005	21	8	the	the	DET
ijassa-1005	21	9	cluster	cluster	NOUN
ijassa-1005	21	10	system	system	NOUN
ijassa-1005	21	11	parameters	parameter	NOUN
ijassa-1005	21	12	of	of	ADP
ijassa-1005	21	13	the	the	DET
ijassa-1005	21	14	products	product	NOUN
ijassa-1005	21	15	to	to	PART
ijassa-1005	21	16	be	be	AUX
ijassa-1005	21	17	manufactured	manufacture	VERB
ijassa-1005	21	18	within	within	ADP
ijassa-1005	21	19	the	the	DET
ijassa-1005	21	20	system	system	NOUN
ijassa-1005	21	21	are	be	AUX
ijassa-1005	21	22	determined	determine	VERB
ijassa-1005	21	23	by	by	ADP
ijassa-1005	21	24	the	the	DET
ijassa-1005	21	25	following	follow	VERB
ijassa-1005	21	26	matrices	matrix	NOUN
ijassa-1005	21	27	[	[	X
ijassa-1005	21	28	5	5	NUM
ijassa-1005	21	29	]	]	NOUN
ijassa-1005	21	30	:	:	PUNCT
ijassa-1005	21	31	ijnn	ijnn	PROPN
ijassa-1005	21	32	=	=	SYM
ijassa-1005	21	33	,	,	PUNCT
ijassa-1005	21	34	of	of	ADP
ijassa-1005	21	35	size	size	NOUN
ijassa-1005	21	36	ms	ms	NOUN
ijassa-1005	21	37	,	,	PUNCT
ijassa-1005	21	38	knn	knn	PROPN
ijassa-1005	21	39	=	=	PRON
ijassa-1005	21	40	,	,	PUNCT
ijassa-1005	21	41	of	of	ADP
ijassa-1005	21	42	size	size	NOUN
ijassa-1005	21	43	1s	1s	NUM
ijassa-1005	21	44	,	,	PUNCT
ijassa-1005	21	45	kdd	kdd	PROPN
ijassa-1005	21	46	=	=	PROPN
ijassa-1005	21	47	,	,	PUNCT
ijassa-1005	21	48	of	of	ADP
ijassa-1005	21	49	size	size	NOUN
ijassa-1005	21	50	1s	1s	NUM
ijassa-1005	21	51	,	,	PUNCT
ijassa-1005	21	52	where	where	SCONJ
ijassa-1005	21	53	nij	nij	PROPN
ijassa-1005	21	54	is	be	AUX
ijassa-1005	21	55	the	the	DET
ijassa-1005	21	56	number	number	NOUN
ijassa-1005	21	57	of	of	ADP
ijassa-1005	21	58	i	i	NOUN
ijassa-1005	21	59	-	-	PUNCT
ijassa-1005	21	60	type	type	NOUN
ijassa-1005	21	61	tos	tos	NOUN
ijassa-1005	21	62	that	that	PRON
ijassa-1005	21	63	is	be	AUX
ijassa-1005	21	64	needed	need	VERB
ijassa-1005	21	65	to	to	PART
ijassa-1005	21	66	manufacture	manufacture	VERB
ijassa-1005	21	67	one	one	NUM
ijassa-1005	21	68	k	k	ADJ
ijassa-1005	21	69	-	-	PUNCT
ijassa-1005	21	70	type	type	NOUN
ijassa-1005	21	71	product	product	NOUN
ijassa-1005	21	72	,	,	PUNCT
ijassa-1005	21	73	s	s	VERB
ijassa-1005	21	74	is	be	AUX
ijassa-1005	21	75	the	the	DET
ijassa-1005	21	76	number	number	NOUN
ijassa-1005	21	77	of	of	ADP
ijassa-1005	21	78	types	type	NOUN
ijassa-1005	21	79	of	of	ADP
ijassa-1005	21	80	products	product	NOUN
ijassa-1005	21	81	,	,	PUNCT
ijassa-1005	21	82	nk	nk	PROPN
ijassa-1005	21	83	is	be	AUX
ijassa-1005	21	84	the	the	DET
ijassa-1005	21	85	number	number	NOUN
ijassa-1005	21	86	of	of	ADP
ijassa-1005	21	87	k	k	ADJ
ijassa-1005	21	88	-	-	PUNCT
ijassa-1005	21	89	type	type	NOUN
ijassa-1005	21	90	products	product	NOUN
ijassa-1005	21	91	to	to	PART
ijassa-1005	21	92	be	be	AUX
ijassa-1005	21	93	manufactured	manufacture	VERB
ijassa-1005	21	94	,	,	PUNCT
ijassa-1005	21	95	dk	dk	PROPN
ijassa-1005	21	96	is	be	AUX
ijassa-1005	21	97	the	the	DET
ijassa-1005	21	98	cost	cost	NOUN
ijassa-1005	21	99	of	of	ADP
ijassa-1005	21	100	purchased	purchase	VERB
ijassa-1005	21	101	products	product	NOUN
ijassa-1005	21	102	needed	need	VERB
ijassa-1005	21	103	to	to	PART
ijassa-1005	21	104	manufacture	manufacture	VERB
ijassa-1005	21	105	one	one	NUM
ijassa-1005	21	106	k	k	ADJ
ijassa-1005	21	107	-	-	PUNCT
ijassa-1005	21	108	type	type	NOUN
ijassa-1005	21	109	product	product	NOUN
ijassa-1005	21	110	.	.	PUNCT
ijassa-1005	22	1	parameters	parameter	NOUN
ijassa-1005	22	2	of	of	ADP
ijassa-1005	22	3	the	the	DET
ijassa-1005	22	4	robots	robot	NOUN
ijassa-1005	22	5	are	be	AUX
ijassa-1005	22	6	determined	determine	VERB
ijassa-1005	22	7	by	by	ADP
ijassa-1005	22	8	the	the	DET
ijassa-1005	22	9	following	follow	VERB
ijassa-1005	22	10	matrices	matrix	NOUN
ijassa-1005	22	11	[	[	X
ijassa-1005	22	12	5	5	NUM
ijassa-1005	22	13	]	]	SYM
ijassa-1005	22	14	:	:	PUNCT
ijassa-1005	22	15	ijbb	ijbb	NOUN
ijassa-1005	22	16	=	=	PROPN
ijassa-1005	22	17	of	of	ADP
ijassa-1005	22	18	size	size	NOUN
ijassa-1005	22	19	mf	mf	NOUN
ijassa-1005	22	20	,	,	PUNCT
ijassa-1005	22	21	where	where	SCONJ
ijassa-1005	22	22	bji	bji	PROPN
ijassa-1005	22	23	is	be	AUX
ijassa-1005	22	24	the	the	DET
ijassa-1005	22	25	time	time	NOUN
ijassa-1005	22	26	during	during	ADP
ijassa-1005	22	27	which	which	PRON
ijassa-1005	22	28	i	i	PRON
ijassa-1005	22	29	-	-	PUNCT
ijassa-1005	22	30	type	type	NOUN
ijassa-1005	22	31	tos	tos	NOUN
ijassa-1005	22	32	are	be	AUX
ijassa-1005	22	33	performed	perform	VERB
ijassa-1005	22	34	by	by	ADP
ijassa-1005	22	35	a	a	DET
ijassa-1005	22	36	j	j	PROPN
ijassa-1005	22	37	-	-	PUNCT
ijassa-1005	22	38	type	type	NOUN
ijassa-1005	22	39	robot	robot	NOUN
ijassa-1005	22	40	,	,	PUNCT
ijassa-1005	22	41	f	f	PROPN
ijassa-1005	22	42	is	be	AUX
ijassa-1005	22	43	the	the	DET
ijassa-1005	22	44	total	total	ADJ
ijassa-1005	22	45	number	number	NOUN
ijassa-1005	22	46	of	of	ADP
ijassa-1005	22	47	types	type	NOUN
ijassa-1005	22	48	of	of	ADP
ijassa-1005	22	49	robots	robot	NOUN
ijassa-1005	22	50	used	use	VERB
ijassa-1005	22	51	in	in	ADP
ijassa-1005	22	52	production	production	NOUN
ijassa-1005	22	53	,	,	PUNCT
ijassa-1005	22	54	m	m	VERB
ijassa-1005	22	55	is	be	AUX
ijassa-1005	22	56	the	the	DET
ijassa-1005	22	57	number	number	NOUN
ijassa-1005	22	58	of	of	ADP
ijassa-1005	22	59	types	type	NOUN
ijassa-1005	22	60	of	of	ADP
ijassa-1005	22	61	tos	to	NOUN
ijassa-1005	22	62	needed	need	VERB
ijassa-1005	22	63	to	to	PART
ijassa-1005	22	64	manufacture	manufacture	VERB
ijassa-1005	22	65	a	a	DET
ijassa-1005	22	66	product	product	NOUN
ijassa-1005	22	67	,	,	PUNCT
ijassa-1005	22	68	ijhh	ijhh	ADJ
ijassa-1005	22	69	=	=	NOUN
ijassa-1005	22	70	of	of	ADP
ijassa-1005	22	71	size	size	NOUN
ijassa-1005	22	72	mf	mf	NOUN
ijassa-1005	22	73	,	,	PUNCT
ijassa-1005	22	74	where	where	SCONJ
ijassa-1005	22	75	hij	hij	NOUN
ijassa-1005	22	76	is	be	AUX
ijassa-1005	22	77	the	the	DET
ijassa-1005	22	78	number	number	NOUN
ijassa-1005	22	79	of	of	ADP
ijassa-1005	22	80	i	i	NOUN
ijassa-1005	22	81	-	-	PUNCT
ijassa-1005	22	82	type	type	NOUN
ijassa-1005	22	83	tos	tos	NOUN
ijassa-1005	22	84	needed	need	VERB
ijassa-1005	22	85	to	to	PART
ijassa-1005	22	86	manufacture	manufacture	VERB
ijassa-1005	22	87	one	one	NUM
ijassa-1005	22	88	j	j	NOUN
ijassa-1005	22	89	-	-	PUNCT
ijassa-1005	22	90	type	type	NOUN
ijassa-1005	22	91	robot	robot	NOUN
ijassa-1005	22	92	.	.	PUNCT
ijassa-1005	23	1	the	the	DET
ijassa-1005	23	2	service	service	NOUN
ijassa-1005	23	3	life	life	NOUN
ijassa-1005	23	4	of	of	ADP
ijassa-1005	23	5	robots	robot	NOUN
ijassa-1005	23	6	t	t	PROPN
ijassa-1005	23	7	,	,	PUNCT
ijassa-1005	23	8	the	the	DET
ijassa-1005	23	9	cost	cost	NOUN
ijassa-1005	23	10	of	of	ADP
ijassa-1005	23	11	robots	robot	NOUN
ijassa-1005	23	12	c	c	PROPN
ijassa-1005	23	13	and	and	CCONJ
ijassa-1005	23	14	the	the	DET
ijassa-1005	23	15	cost	cost	NOUN
ijassa-1005	23	16	of	of	ADP
ijassa-1005	23	17	the	the	DET
ijassa-1005	23	18	working	working	NOUN
ijassa-1005	23	19	time	time	NOUN
ijassa-1005	23	20	unit	unit	NOUN
ijassa-1005	23	21	of	of	ADP
ijassa-1005	23	22	robots	robot	NOUN
ijassa-1005	23	23			X
ijassa-1005	23	24	are	be	AUX
ijassa-1005	23	25	input	input	VERB
ijassa-1005	23	26	by	by	ADP
ijassa-1005	23	27	the	the	DET
ijassa-1005	23	28	following	follow	VERB
ijassa-1005	23	29	matrices	matrix	NOUN
ijassa-1005	23	30	,	,	PUNCT
ijassa-1005	23	31	where	where	SCONJ
ijassa-1005	23	32	j	j	NOUN
ijassa-1005	23	33	-	-	PUNCT
ijassa-1005	23	34	index	index	NOUN
ijassa-1005	23	35	stands	stand	VERB
ijassa-1005	23	36	for	for	ADP
ijassa-1005	23	37	the	the	DET
ijassa-1005	23	38	type	type	NOUN
ijassa-1005	23	39	of	of	ADP
ijassa-1005	23	40	robot	robot	NOUN
ijassa-1005	23	41	:	:	PUNCT
ijassa-1005	24	1	jtt	jtt	PROPN
ijassa-1005	24	2	=	=	PUNCT
ijassa-1005	24	3	,	,	PUNCT
ijassa-1005	24	4	of	of	ADP
ijassa-1005	24	5	size	size	NOUN
ijassa-1005	24	6	1f	1f	PROPN
ijassa-1005	24	7	,	,	PUNCT
ijassa-1005	24	8	jcc	jcc	PROPN
ijassa-1005	24	9	=	=	PUNCT
ijassa-1005	24	10	,	,	PUNCT
ijassa-1005	24	11	j	j	PROPN
ijassa-1005	24	12	=	=	PUNCT
ijassa-1005	24	13	.	.	PUNCT
ijassa-1005	25	1	production	production	NOUN
ijassa-1005	25	2	capacities	capacity	NOUN
ijassa-1005	25	3	of	of	ADP
ijassa-1005	25	4	people	people	NOUN
ijassa-1005	25	5	are	be	AUX
ijassa-1005	25	6	contained	contain	VERB
ijassa-1005	25	7	in	in	ADP
ijassa-1005	25	8	the	the	DET
ijassa-1005	25	9	matrix	matrix	NOUN
ijassa-1005	25	10	[	[	X
ijassa-1005	25	11	5	5	NUM
ijassa-1005	25	12	]	]	PUNCT
ijassa-1005	25	13	:	:	PUNCT
ijassa-1005	25	14	igg	igg	PROPN
ijassa-1005	25	15	=	=	PUNCT
ijassa-1005	25	16	,	,	PUNCT
ijassa-1005	25	17	of	of	ADP
ijassa-1005	25	18	size	size	NOUN
ijassa-1005	25	19	1m	1m	NUM
ijassa-1005	25	20	,	,	PUNCT
ijassa-1005	25	21	where	where	SCONJ
ijassa-1005	25	22	gi	gi	PRON
ijassa-1005	25	23	is	be	AUX
ijassa-1005	25	24	the	the	DET
ijassa-1005	25	25	time	time	NOUN
ijassa-1005	25	26	needed	need	VERB
ijassa-1005	25	27	for	for	SCONJ
ijassa-1005	25	28	a	a	DET
ijassa-1005	25	29	person	person	NOUN
ijassa-1005	25	30	to	to	PART
ijassa-1005	25	31	perform	perform	VERB
ijassa-1005	25	32	an	an	DET
ijassa-1005	25	33	i	i	NOUN
ijassa-1005	25	34	-	-	PUNCT
ijassa-1005	25	35	type	type	NOUN
ijassa-1005	25	36	to	to	ADP
ijassa-1005	25	37	.	.	PUNCT
ijassa-1005	26	1	to	to	PART
ijassa-1005	26	2	shorten	shorten	VERB
ijassa-1005	26	3	the	the	DET
ijassa-1005	26	4	formulae	formulae	NOUN
ijassa-1005	26	5	in	in	ADP
ijassa-1005	26	6	some	some	DET
ijassa-1005	26	7	places	place	NOUN
ijassa-1005	26	8	we	we	PRON
ijassa-1005	26	9	will	will	AUX
ijassa-1005	26	10	regard	regard	VERB
ijassa-1005	26	11	a	a	DET
ijassa-1005	26	12	person	person	NOUN
ijassa-1005	26	13	as	as	ADP
ijassa-1005	26	14	a	a	DET
ijassa-1005	26	15	0	0	NUM
ijassa-1005	26	16	-	-	PUNCT
ijassa-1005	26	17	type	type	NOUN
ijassa-1005	26	18	robot	robot	NOUN
ijassa-1005	26	19	—	—	PUNCT
ijassa-1005	26	20	the	the	DET
ijassa-1005	26	21	element	element	NOUN
ijassa-1005	26	22	ibb	ibb	NOUN
ijassa-1005	26	23	00	00	PUNCT
ijassa-1005	27	1	=	=	SYM
ijassa-1005	27	2	,	,	PUNCT
ijassa-1005	27	3	of	of	ADP
ijassa-1005	27	4	size	size	NOUN
ijassa-1005	27	5	1m	1m	NUM
ijassa-1005	27	6	,	,	PUNCT
ijassa-1005	27	7	of	of	ADP
ijassa-1005	27	8	the	the	DET
ijassa-1005	27	9	matrix	matrix	NOUN
ijassa-1005	27	10	ijbb	ijbb	NOUN
ijassa-1005	27	11	=	=	X
ijassa-1005	27	12	.	.	PUNCT
ijassa-1005	28	1	a	a	DET
ijassa-1005	28	2	person	person	NOUN
ijassa-1005	28	3	's	's	PART
ijassa-1005	28	4	working	working	NOUN
ijassa-1005	28	5	time	time	NOUN
ijassa-1005	28	6	t0(t	t0(t	NOUN
ijassa-1005	28	7	)	)	PUNCT
ijassa-1005	28	8	will	will	AUX
ijassa-1005	28	9	be	be	AUX
ijassa-1005	28	10	an	an	DET
ijassa-1005	28	11	aggregate	aggregate	NOUN
ijassa-1005	28	12	of	of	ADP
ijassa-1005	28	13	the	the	DET
ijassa-1005	28	14	person	person	NOUN
ijassa-1005	28	15	's	's	PART
ijassa-1005	28	16	working	working	NOUN
ijassa-1005	28	17	time	time	NOUN
ijassa-1005	28	18	while	while	SCONJ
ijassa-1005	28	19	working	work	VERB
ijassa-1005	28	20	at	at	ADP
ijassa-1005	28	21	the	the	DET
ijassa-1005	28	22	station	station	NOUN
ijassa-1005	28	23	t	t	NOUN
ijassa-1005	28	24	(	(	PUNCT
ijassa-1005	28	25	for	for	ADP
ijassa-1005	28	26	a	a	DET
ijassa-1005	28	27	year	year	NOUN
ijassa-1005	28	28	,	,	PUNCT
ijassa-1005	28	29	for	for	ADP
ijassa-1005	28	30	instance	instance	NOUN
ijassa-1005	28	31	)	)	PUNCT
ijassa-1005	28	32	.	.	PUNCT
ijassa-1005	29	1	3	3	X
ijassa-1005	29	2	.	.	X
ijassa-1005	29	3	automation	automation	NOUN
ijassa-1005	29	4	matrix	matrix	NOUN
ijassa-1005	29	5	the	the	DET
ijassa-1005	29	6	planning	planning	NOUN
ijassa-1005	29	7	of	of	ADP
ijassa-1005	29	8	automation	automation	NOUN
ijassa-1005	29	9	of	of	ADP
ijassa-1005	29	10	autonomous	autonomous	ADJ
ijassa-1005	29	11	production	production	NOUN
ijassa-1005	29	12	is	be	AUX
ijassa-1005	29	13	aimed	aim	VERB
ijassa-1005	29	14	to	to	PART
ijassa-1005	29	15	distribute	distribute	VERB
ijassa-1005	29	16	the	the	DET
ijassa-1005	29	17	operations	operation	NOUN
ijassa-1005	29	18	between	between	ADP
ijassa-1005	29	19	people	people	NOUN
ijassa-1005	29	20	and	and	CCONJ
ijassa-1005	29	21	robots	robot	NOUN
ijassa-1005	29	22	,	,	PUNCT
ijassa-1005	29	23	so	so	SCONJ
ijassa-1005	29	24	that	that	SCONJ
ijassa-1005	29	25	people	people	NOUN
ijassa-1005	29	26	could	could	AUX
ijassa-1005	29	27	save	save	VERB
ijassa-1005	29	28	on	on	ADP
ijassa-1005	29	29	costs	cost	NOUN
ijassa-1005	29	30	as	as	ADV
ijassa-1005	29	31	much	much	ADV
ijassa-1005	29	32	as	as	ADP
ijassa-1005	29	33	possible	possible	ADJ
ijassa-1005	29	34	.	.	PUNCT
ijassa-1005	30	1	this	this	PRON
ijassa-1005	30	2	requires	require	VERB
ijassa-1005	30	3	the	the	DET
ijassa-1005	30	4	use	use	NOUN
ijassa-1005	30	5	of	of	ADP
ijassa-1005	30	6	an	an	DET
ijassa-1005	30	7	automation	automation	NOUN
ijassa-1005	30	8	matrix	matrix	NOUN
ijassa-1005	30	9	as	as	ADP
ijassa-1005	30	10	a	a	DET
ijassa-1005	30	11	management	management	NOUN
ijassa-1005	30	12	tool	tool	NOUN
ijassa-1005	30	13	:	:	PUNCT
ijassa-1005	30	14	ji=	ji=	NOUN
ijassa-1005	30	15	of	of	ADP
ijassa-1005	30	16	size	size	NOUN
ijassa-1005	30	17	mf	mf	NOUN
ijassa-1005	30	18	,	,	PUNCT
ijassa-1005	30	19	where	where	SCONJ
ijassa-1005	30	20	αij	αij	NOUN
ijassa-1005	30	21	is	be	AUX
ijassa-1005	30	22	the	the	DET
ijassa-1005	30	23	level	level	NOUN
ijassa-1005	30	24	of	of	ADP
ijassa-1005	30	25	automation	automation	NOUN
ijassa-1005	30	26	of	of	ADP
ijassa-1005	30	27	i	i	NOUN
ijassa-1005	30	28	-	-	PUNCT
ijassa-1005	30	29	type	type	NOUN
ijassa-1005	30	30	tos	tos	NOUN
ijassa-1005	30	31	performed	perform	VERB
ijassa-1005	30	32	by	by	ADP
ijassa-1005	30	33	a	a	DET
ijassa-1005	30	34	j	j	PROPN
ijassa-1005	30	35	-	-	PUNCT
ijassa-1005	30	36	type	type	NOUN
ijassa-1005	30	37	robot	robot	NOUN
ijassa-1005	30	38	.	.	PUNCT
ijassa-1005	31	1	the	the	DET
ijassa-1005	31	2	level	level	NOUN
ijassa-1005	31	3	of	of	ADP
ijassa-1005	31	4	automation	automation	NOUN
ijassa-1005	31	5	must	must	AUX
ijassa-1005	31	6	meet	meet	VERB
ijassa-1005	31	7	the	the	DET
ijassa-1005	31	8	following	following	ADJ
ijassa-1005	31	9	conditions	condition	NOUN
ijassa-1005	31	10	:	:	PUNCT
ijassa-1005	31	11	10	10	NUM
ijassa-1005	31	12			NOUN
ijassa-1005	31	13	ji	ji	NOUN
ijassa-1005	31	14	;	;	PUNCT
ijassa-1005	31	15	mi	mi	PROPN
ijassa-1005	31	16	,	,	PUNCT
ijassa-1005	31	17	...	...	PUNCT
ijassa-1005	31	18	,	,	PUNCT
ijassa-1005	31	19	2,1=	2,1=	NUM
ijassa-1005	31	20	;	;	PUNCT
ijassa-1005	31	21	mj	mj	PROPN
ijassa-1005	31	22	,	,	PUNCT
ijassa-1005	31	23	...	...	PUNCT
ijassa-1005	31	24	,	,	PUNCT
ijassa-1005	31	25	1,0=	1,0=	NUM
ijassa-1005	31	26	.	.	PUNCT
ijassa-1005	32	1	if	if	SCONJ
ijassa-1005	32	2	all	all	DET
ijassa-1005	32	3	i	i	NOUN
ijassa-1005	32	4	-	-	PUNCT
ijassa-1005	32	5	type	type	NOUN
ijassa-1005	32	6	technological	technological	ADJ
ijassa-1005	32	7	operations	operation	NOUN
ijassa-1005	32	8	are	be	AUX
ijassa-1005	32	9	performed	perform	VERB
ijassa-1005	32	10	by	by	ADP
ijassa-1005	32	11	an	an	DET
ijassa-1005	32	12	automaton	automaton	NOUN
ijassa-1005	32	13	then	then	ADV
ijassa-1005	32	14	the	the	DET
ijassa-1005	32	15	level	level	NOUN
ijassa-1005	32	16	of	of	ADP
ijassa-1005	32	17	automation	automation	NOUN
ijassa-1005	32	18	αi	αi	PART
ijassa-1005	32	19	=	=	SYM
ijassa-1005	32	20	1	1	NUM
ijassa-1005	32	21	,	,	PUNCT
ijassa-1005	32	22	and	and	CCONJ
ijassa-1005	32	23	if	if	SCONJ
ijassa-1005	32	24	by	by	ADP
ijassa-1005	32	25	a	a	DET
ijassa-1005	32	26	person	person	NOUN
ijassa-1005	32	27	αi	αi	X
ijassa-1005	32	28	=	=	SYM
ijassa-1005	33	1	0	0	X
ijassa-1005	33	2	.	.	PUNCT
ijassa-1005	34	1	if	if	SCONJ
ijassa-1005	34	2	a	a	DET
ijassa-1005	34	3	particular	particular	ADJ
ijassa-1005	34	4	type	type	NOUN
ijassa-1005	34	5	of	of	ADP
ijassa-1005	34	6	tos	tos	NOUN
ijassa-1005	34	7	is	be	AUX
ijassa-1005	34	8	to	to	PART
ijassa-1005	34	9	be	be	AUX
ijassa-1005	34	10	performed	perform	VERB
ijassa-1005	34	11	while	while	SCONJ
ijassa-1005	34	12	manufacturing	manufacture	VERB
ijassa-1005	34	13	a	a	DET
ijassa-1005	34	14	product	product	NOUN
ijassa-1005	34	15	,	,	PUNCT
ijassa-1005	34	16	it	it	PRON
ijassa-1005	34	17	must	must	AUX
ijassa-1005	34	18	be	be	AUX
ijassa-1005	34	19	done	do	VERB
ijassa-1005	34	20	by	by	ADP
ijassa-1005	34	21	either	either	CCONJ
ijassa-1005	34	22	a	a	DET
ijassa-1005	34	23	person	person	NOUN
ijassa-1005	34	24	or	or	CCONJ
ijassa-1005	34	25	one	one	NUM
ijassa-1005	34	26	of	of	ADP
ijassa-1005	34	27	the	the	DET
ijassa-1005	34	28	types	type	NOUN
ijassa-1005	34	29	of	of	ADP
ijassa-1005	34	30	robots	robot	NOUN
ijassa-1005	34	31	.	.	PUNCT
ijassa-1005	35	1	if	if	SCONJ
ijassa-1005	35	2	this	this	DET
ijassa-1005	35	3	condition	condition	NOUN
ijassa-1005	35	4	is	be	AUX
ijassa-1005	35	5	not	not	PART
ijassa-1005	35	6	met	meet	VERB
ijassa-1005	35	7	,	,	PUNCT
ijassa-1005	35	8	the	the	DET
ijassa-1005	35	9	assembly	assembly	NOUN
ijassa-1005	35	10	of	of	ADP
ijassa-1005	35	11	the	the	DET
ijassa-1005	35	12	product	product	NOUN
ijassa-1005	35	13	will	will	AUX
ijassa-1005	35	14	not	not	PART
ijassa-1005	35	15	be	be	AUX
ijassa-1005	35	16	completed	complete	VERB
ijassa-1005	35	17	and	and	CCONJ
ijassa-1005	35	18	,	,	PUNCT
ijassa-1005	35	19	as	as	ADP
ijassa-1005	35	20	a	a	DET
ijassa-1005	35	21	result	result	NOUN
ijassa-1005	35	22	,	,	PUNCT
ijassa-1005	35	23	the	the	DET
ijassa-1005	35	24	product	product	NOUN
ijassa-1005	35	25	will	will	AUX
ijassa-1005	35	26	not	not	PART
ijassa-1005	35	27	be	be	AUX
ijassa-1005	35	28	manufactured	manufacture	VERB
ijassa-1005	35	29	,	,	PUNCT
ijassa-1005	35	30	but	but	CCONJ
ijassa-1005	35	31	will	will	AUX
ijassa-1005	35	32	be	be	AUX
ijassa-1005	35	33	rejected	reject	VERB
ijassa-1005	35	34	.	.	PUNCT
ijassa-1005	36	1	product	product	NOUN
ijassa-1005	36	2	manufacture	manufacture	VERB
ijassa-1005	36	3	cost	cost	NOUN
ijassa-1005	36	4	с(а	с(а	NOUN
ijassa-1005	36	5	)	)	PUNCT
ijassa-1005	36	6	is	be	AUX
ijassa-1005	36	7	a	a	DET
ijassa-1005	36	8	function	function	NOUN
ijassa-1005	36	9	of	of	ADP
ijassa-1005	36	10	the	the	DET
ijassa-1005	36	11	automation	automation	NOUN
ijassa-1005	36	12	matrix	matrix	NOUN
ijassa-1005	36	13	.	.	PUNCT
ijassa-1005	37	1	the	the	DET
ijassa-1005	37	2	optimal	optimal	ADJ
ijassa-1005	37	3	automation	automation	NOUN
ijassa-1005	37	4	matrix	matrix	NOUN
ijassa-1005	37	5	a	a	PRON
ijassa-1005	37	6	that	that	PRON
ijassa-1005	37	7	minimizes	minimize	VERB
ijassa-1005	37	8	the	the	DET
ijassa-1005	37	9	production	production	NOUN
ijassa-1005	37	10	cost	cost	NOUN
ijassa-1005	37	11	contains	contain	VERB
ijassa-1005	37	12	only	only	ADV
ijassa-1005	37	13	0	0	NUM
ijassa-1005	37	14	and	and	CCONJ
ijassa-1005	37	15	1	1	NUM
ijassa-1005	37	16	.	.	NOUN
ijassa-1005	37	17	4	4	NUM
ijassa-1005	37	18	.	.	X
ijassa-1005	37	19	robot	robot	NOUN
ijassa-1005	37	20	cost	cost	NOUN
ijassa-1005	37	21	calculation	calculation	NOUN
ijassa-1005	37	22	cost	cost	NOUN
ijassa-1005	37	23	of	of	ADP
ijassa-1005	37	24	robot	robot	NOUN
ijassa-1005	37	25	automated	automate	VERB
ijassa-1005	37	26	manufacture	manufacture	NOUN
ijassa-1005	37	27	by	by	ADP
ijassa-1005	37	28	a	a	DET
ijassa-1005	37	29	system	system	NOUN
ijassa-1005	37	30	of	of	ADP
ijassa-1005	37	31	robots	robot	NOUN
ijassa-1005	37	32	with	with	ADP
ijassa-1005	37	33	the	the	DET
ijassa-1005	37	34	use	use	NOUN
ijassa-1005	37	35	of	of	ADP
ijassa-1005	37	36	automation	automation	NOUN
ijassa-1005	37	37	matrix	matrix	NOUN
ijassa-1005	37	38	a	a	PRON
ijassa-1005	37	39	is	be	AUX
ijassa-1005	37	40	calculated	calculate	VERB
ijassa-1005	37	41	according	accord	VERB
ijassa-1005	37	42	to	to	ADP
ijassa-1005	37	43	the	the	DET
ijassa-1005	37	44	formula	formula	NOUN
ijassa-1005	38	1	[	[	X
ijassa-1005	38	2	5	5	NUM
ijassa-1005	38	3	]	]	PUNCT
ijassa-1005	38	4	:	:	PUNCT
ijassa-1005	38	5	0	0	NUM
ijassa-1005	38	6	0	0	NUM
ijassa-1005	38	7	0	0	NUM
ijassa-1005	38	8	1	1	NUM
ijassa-1005	38	9	1	1	NUM
ijassa-1005	38	10	1	1	NUM
ijassa-1005	38	11	1	1	NUM
ijassa-1005	38	12	1	1	NUM
ijassa-1005	38	13	1	1	NUM
ijassa-1005	38	14	(	(	PUNCT
ijassa-1005	38	15	)	)	PUNCT
ijassa-1005	38	16	m	m	VERB
ijassa-1005	38	17	m	m	VERB
ijassa-1005	38	18	m	m	VERB
ijassa-1005	38	19	k	k	ADJ
ijassa-1005	39	1	i	i	PRON
ijassa-1005	40	1	i	i	PRON
ijassa-1005	40	2	ki	ki	INTJ
ijassa-1005	41	1	i	i	PRON
ijassa-1005	42	1	i	i	PRON
ijassa-1005	42	2	ki	ki	INTJ
ijassa-1005	43	1	fi	fi	INTJ
ijassa-1005	43	2	fi	fi	INTJ
ijassa-1005	44	1	f	f	INTJ
ijassa-1005	44	2	ki	ki	PROPN
ijassa-1005	45	1	i	i	PRON
ijassa-1005	45	2	i	i	INTJ
ijassa-1005	46	1	i	i	VERB
ijassa-1005	46	2	c	c	VERB
ijassa-1005	47	1	b	b	PROPN
ijassa-1005	47	2	h	h	NOUN
ijassa-1005	48	1	b	b	PROPN
ijassa-1005	48	2	h	h	NOUN
ijassa-1005	48	3	b	b	NOUN
ijassa-1005	49	1	h	h	X
ijassa-1005	49	2			X
ijassa-1005	49	3			X
ijassa-1005	49	4			NOUN
ijassa-1005	49	5			X
ijassa-1005	49	6			NOUN
ijassa-1005	49	7			X
ijassa-1005	49	8	=	=	NOUN
ijassa-1005	49	9	=	=	SYM
ijassa-1005	49	10	=	=	PUNCT
ijassa-1005	49	11	=	=	PUNCT
ijassa-1005	50	1	+	+	PUNCT
ijassa-1005	50	2	+	+	CCONJ
ijassa-1005	50	3	+	+	X
ijassa-1005	50	4			X
ijassa-1005	50	5			X
ijassa-1005	50	6			X
ijassa-1005	50	7	,	,	PUNCT
ijassa-1005	50	8	(	(	PUNCT
ijassa-1005	50	9	4.1	4.1	NUM
ijassa-1005	50	10	)	)	PUNCT
ijassa-1005	50	11	automation	automation	NOUN
ijassa-1005	50	12	of	of	ADP
ijassa-1005	50	13	cluster	cluster	NOUN
ijassa-1005	50	14	large	large	ADJ
ijassa-1005	50	15	-	-	PUNCT
ijassa-1005	50	16	scale	scale	NOUN
ijassa-1005	50	17	production	production	NOUN
ijassa-1005	50	18	systems	system	NOUN
ijassa-1005	50	19	107	107	NUM
ijassa-1005	50	20	copyright	copyright	NOUN
ijassa-1005	50	21	©	©	PROPN
ijassa-1005	50	22	2020	2020	NUM
ijassa-1005	50	23	assa	assa	NOUN
ijassa-1005	50	24	.	.	PUNCT
ijassa-1005	51	1	adv	adv	PROPN
ijassa-1005	51	2	.	.	PUNCT
ijassa-1005	52	1	in	in	ADP
ijassa-1005	52	2	systems	system	NOUN
ijassa-1005	52	3	science	science	NOUN
ijassa-1005	52	4	and	and	CCONJ
ijassa-1005	52	5	appl	appl	NOUN
ijassa-1005	52	6	.	.	PUNCT
ijassa-1005	53	1	(	(	PUNCT
ijassa-1005	53	2	2020	2020	NUM
ijassa-1005	53	3	)	)	PUNCT
ijassa-1005	53	4	where	where	SCONJ
ijassa-1005	53	5	m	m	NOUN
ijassa-1005	53	6	is	be	AUX
ijassa-1005	53	7	the	the	DET
ijassa-1005	53	8	number	number	NOUN
ijassa-1005	53	9	of	of	ADP
ijassa-1005	53	10	types	type	NOUN
ijassa-1005	53	11	of	of	ADP
ijassa-1005	53	12	tos	tos	NOUN
ijassa-1005	53	13	required	require	VERB
ijassa-1005	53	14	to	to	PART
ijassa-1005	53	15	manufacture	manufacture	VERB
ijassa-1005	53	16	a	a	DET
ijassa-1005	53	17	product	product	NOUN
ijassa-1005	53	18	,	,	PUNCT
ijassa-1005	53	19	bij	bij	NOUN
ijassa-1005	53	20	is	be	AUX
ijassa-1005	53	21	the	the	DET
ijassa-1005	53	22	time	time	NOUN
ijassa-1005	53	23	needed	need	VERB
ijassa-1005	53	24	for	for	ADP
ijassa-1005	53	25	a	a	DET
ijassa-1005	53	26	j	j	NOUN
ijassa-1005	53	27	-	-	PUNCT
ijassa-1005	53	28	type	type	NOUN
ijassa-1005	53	29	automaton	automaton	NOUN
ijassa-1005	53	30	to	to	PART
ijassa-1005	53	31	perform	perform	VERB
ijassa-1005	53	32	i	i	PRON
ijassa-1005	53	33	-	-	PUNCT
ijassa-1005	53	34	type	type	NOUN
ijassa-1005	53	35	tos	tos	NOUN
ijassa-1005	53	36	,	,	PUNCT
ijassa-1005	53	37	j	j	NOUN
ijassa-1005	53	38	is	be	AUX
ijassa-1005	53	39	the	the	DET
ijassa-1005	53	40	cost	cost	NOUN
ijassa-1005	53	41	of	of	ADP
ijassa-1005	53	42	the	the	DET
ijassa-1005	53	43	working	working	NOUN
ijassa-1005	53	44	time	time	NOUN
ijassa-1005	53	45	unit	unit	NOUN
ijassa-1005	53	46	of	of	ADP
ijassa-1005	53	47	a	a	DET
ijassa-1005	53	48	j	j	NOUN
ijassa-1005	53	49	-	-	PUNCT
ijassa-1005	53	50	type	type	NOUN
ijassa-1005	53	51	automaton	automaton	NOUN
ijassa-1005	53	52	,	,	PUNCT
ijassa-1005	53	53	gi	gi	NOUN
ijassa-1005	53	54	=	=	NOUN
ijassa-1005	53	55	b0i	b0i	NOUN
ijassa-1005	53	56	is	be	AUX
ijassa-1005	53	57	the	the	DET
ijassa-1005	53	58	time	time	NOUN
ijassa-1005	53	59	that	that	PRON
ijassa-1005	53	60	a	a	DET
ijassa-1005	53	61	person	person	NOUN
ijassa-1005	53	62	needs	need	VERB
ijassa-1005	53	63	to	to	PART
ijassa-1005	53	64	perform	perform	VERB
ijassa-1005	53	65	i	i	PRON
ijassa-1005	53	66	-	-	PUNCT
ijassa-1005	53	67	type	type	NOUN
ijassa-1005	53	68	tos	tos	NOUN
ijassa-1005	53	69	,	,	PUNCT
ijassa-1005	53	70	f	f	PROPN
ijassa-1005	53	71	is	be	AUX
ijassa-1005	53	72	the	the	DET
ijassa-1005	53	73	total	total	ADJ
ijassa-1005	53	74	number	number	NOUN
ijassa-1005	53	75	of	of	ADP
ijassa-1005	53	76	the	the	DET
ijassa-1005	53	77	types	type	NOUN
ijassa-1005	53	78	of	of	ADP
ijassa-1005	53	79	robots	robot	NOUN
ijassa-1005	53	80	available	available	ADJ
ijassa-1005	53	81	for	for	ADP
ijassa-1005	53	82	automation	automation	NOUN
ijassa-1005	53	83	,	,	PUNCT
ijassa-1005	53	84	hij	hij	PROPN
ijassa-1005	53	85	is	be	AUX
ijassa-1005	53	86	the	the	DET
ijassa-1005	53	87	number	number	NOUN
ijassa-1005	53	88	of	of	ADP
ijassa-1005	53	89	identical	identical	ADJ
ijassa-1005	53	90	itype	itype	NOUN
ijassa-1005	53	91	tos	to	NOUN
ijassa-1005	53	92	needed	need	VERB
ijassa-1005	53	93	to	to	PART
ijassa-1005	53	94	manufacture	manufacture	VERB
ijassa-1005	53	95	a	a	DET
ijassa-1005	53	96	product	product	NOUN
ijassa-1005	53	97	ck(	ck(	PROPN
ijassa-1005	53	98	)	)	PUNCT
ijassa-1005	53	99	.	.	PUNCT
ijassa-1005	54	1	the	the	DET
ijassa-1005	54	2	first	first	ADJ
ijassa-1005	54	3	amount	amount	NOUN
ijassa-1005	54	4	stands	stand	VERB
ijassa-1005	54	5	for	for	ADP
ijassa-1005	54	6	the	the	DET
ijassa-1005	54	7	human	human	ADJ
ijassa-1005	54	8	costs	cost	NOUN
ijassa-1005	54	9	,	,	PUNCT
ijassa-1005	54	10	the	the	DET
ijassa-1005	54	11	second	second	ADJ
ijassa-1005	54	12	amount	amount	NOUN
ijassa-1005	54	13	stands	stand	VERB
ijassa-1005	54	14	for	for	ADP
ijassa-1005	54	15	the	the	DET
ijassa-1005	54	16	first	first	ADJ
ijassa-1005	54	17	-	-	PUNCT
ijassa-1005	54	18	type	type	NOUN
ijassa-1005	54	19	robot	robot	NOUN
ijassa-1005	54	20	costs	cost	NOUN
ijassa-1005	54	21	and	and	CCONJ
ijassa-1005	54	22	the	the	DET
ijassa-1005	54	23	last	last	ADJ
ijassa-1005	54	24	amount	amount	NOUN
ijassa-1005	54	25	stands	stand	VERB
ijassa-1005	54	26	for	for	ADP
ijassa-1005	54	27	the	the	DET
ijassa-1005	54	28	f	f	NOUN
ijassa-1005	54	29	-	-	PUNCT
ijassa-1005	54	30	type	type	NOUN
ijassa-1005	54	31	robot	robot	NOUN
ijassa-1005	54	32	costs	cost	NOUN
ijassa-1005	54	33	.	.	PUNCT
ijassa-1005	55	1	5	5	X
ijassa-1005	55	2	.	.	X
ijassa-1005	55	3	dynamic	dynamic	ADJ
ijassa-1005	55	4	equations	equation	NOUN
ijassa-1005	55	5	for	for	ADP
ijassa-1005	55	6	the	the	DET
ijassa-1005	55	7	cost	cost	NOUN
ijassa-1005	55	8	of	of	ADP
ijassa-1005	55	9	a	a	DET
ijassa-1005	55	10	рroduction	рroduction	NOUN
ijassa-1005	55	11	of	of	ADP
ijassa-1005	55	12	capital	capital	NOUN
ijassa-1005	55	13	goods	good	NOUN
ijassa-1005	55	14	initial	initial	ADJ
ijassa-1005	55	15	data	datum	NOUN
ijassa-1005	55	16	required	require	VERB
ijassa-1005	55	17	for	for	ADP
ijassa-1005	55	18	the	the	DET
ijassa-1005	55	19	calculations	calculation	NOUN
ijassa-1005	55	20	should	should	AUX
ijassa-1005	55	21	contain	contain	VERB
ijassa-1005	55	22	information	information	NOUN
ijassa-1005	55	23	on	on	ADP
ijassa-1005	55	24	the	the	DET
ijassa-1005	55	25	robots	robot	NOUN
ijassa-1005	55	26	that	that	PRON
ijassa-1005	55	27	will	will	AUX
ijassa-1005	55	28	be	be	AUX
ijassa-1005	55	29	used	use	VERB
ijassa-1005	55	30	in	in	ADP
ijassa-1005	55	31	the	the	DET
ijassa-1005	55	32	cluster	cluster	NOUN
ijassa-1005	55	33	,	,	PUNCT
ijassa-1005	55	34	on	on	ADP
ijassa-1005	55	35	the	the	DET
ijassa-1005	55	36	technology	technology	NOUN
ijassa-1005	55	37	of	of	ADP
ijassa-1005	55	38	their	their	PRON
ijassa-1005	55	39	production	production	NOUN
ijassa-1005	55	40	and	and	CCONJ
ijassa-1005	55	41	on	on	ADP
ijassa-1005	55	42	the	the	DET
ijassa-1005	55	43	available	available	ADJ
ijassa-1005	55	44	means	mean	NOUN
ijassa-1005	55	45	that	that	PRON
ijassa-1005	55	46	will	will	AUX
ijassa-1005	55	47	make	make	VERB
ijassa-1005	55	48	their	their	PRON
ijassa-1005	55	49	production	production	NOUN
ijassa-1005	55	50	automated	automate	VERB
ijassa-1005	55	51	.	.	PUNCT
ijassa-1005	56	1	cost	cost	NOUN
ijassa-1005	56	2	of	of	ADP
ijassa-1005	56	3	manufacturing	manufacture	VERB
ijassa-1005	56	4	a	a	DET
ijassa-1005	56	5	robot	robot	NOUN
ijassa-1005	56	6	in	in	ADP
ijassa-1005	56	7	case	case	NOUN
ijassa-1005	56	8	of	of	ADP
ijassa-1005	56	9	automated	automate	VERB
ijassa-1005	56	10	production	production	NOUN
ijassa-1005	56	11	consists	consist	VERB
ijassa-1005	56	12	of	of	ADP
ijassa-1005	56	13	three	three	NUM
ijassa-1005	56	14	components	component	NOUN
ijassa-1005	56	15	:	:	PUNCT
ijassa-1005	56	16	(	(	PUNCT
ijassa-1005	56	17	)	)	PUNCT
ijassa-1005	56	18	(	(	PUNCT
ijassa-1005	56	19	)	)	PUNCT
ijassa-1005	57	1	c	c	PROPN
ijassa-1005	57	2	b	b	PROPN
ijassa-1005	58	1	d	d	PROPN
ijassa-1005	58	2	g	g	PROPN
ijassa-1005	58	3			NOUN
ijassa-1005	58	4	=	=	ADJ
ijassa-1005	58	5	+	+	X
ijassa-1005	58	6	+	+	CCONJ
ijassa-1005	58	7	,	,	PUNCT
ijassa-1005	58	8	(	(	PUNCT
ijassa-1005	58	9	5.1	5.1	NUM
ijassa-1005	58	10	)	)	PUNCT
ijassa-1005	58	11	where	where	SCONJ
ijassa-1005	58	12	g(	g(	NOUN
ijassa-1005	58	13	)	)	PUNCT
ijassa-1005	58	14	is	be	AUX
ijassa-1005	58	15	the	the	DET
ijassa-1005	58	16	direct	direct	ADJ
ijassa-1005	58	17	cost	cost	NOUN
ijassa-1005	58	18	of	of	ADP
ijassa-1005	58	19	a	a	DET
ijassa-1005	58	20	person	person	NOUN
ijassa-1005	58	21	to	to	PART
ijassa-1005	58	22	assemble	assemble	VERB
ijassa-1005	58	23	the	the	DET
ijassa-1005	58	24	robot	robot	NOUN
ijassa-1005	58	25	,	,	PUNCT
ijassa-1005	58	26	d	d	PROPN
ijassa-1005	58	27	is	be	AUX
ijassa-1005	58	28	the	the	DET
ijassa-1005	58	29	cost	cost	NOUN
ijassa-1005	58	30	of	of	ADP
ijassa-1005	58	31	purchased	purchase	VERB
ijassa-1005	58	32	parts	part	NOUN
ijassa-1005	58	33	,	,	PUNCT
ijassa-1005	58	34	b(	b(	PROPN
ijassa-1005	58	35	)	)	PUNCT
ijassa-1005	58	36	is	be	AUX
ijassa-1005	58	37	the	the	DET
ijassa-1005	58	38	cost	cost	NOUN
ijassa-1005	58	39	of	of	ADP
ijassa-1005	58	40	robot	robot	NOUN
ijassa-1005	58	41	time	time	NOUN
ijassa-1005	58	42	,	,	PUNCT
ijassa-1005	58	43			NUM
ijassa-1005	58	44	is	be	AUX
ijassa-1005	58	45	the	the	DET
ijassa-1005	58	46	level	level	NOUN
ijassa-1005	58	47	of	of	ADP
ijassa-1005	58	48	production	production	NOUN
ijassa-1005	58	49	automation	automation	NOUN
ijassa-1005	58	50	,	,	PUNCT
ijassa-1005	58	51	which	which	PRON
ijassa-1005	58	52	is	be	AUX
ijassa-1005	58	53	a	a	DET
ijassa-1005	58	54	vector	vector	NOUN
ijassa-1005	58	55	whose	whose	DET
ijassa-1005	58	56	components	component	NOUN
ijassa-1005	58	57	are	be	AUX
ijassa-1005	58	58	the	the	DET
ijassa-1005	58	59	level	level	NOUN
ijassa-1005	58	60	of	of	ADP
ijassa-1005	58	61	automation	automation	NOUN
ijassa-1005	58	62	of	of	ADP
ijassa-1005	58	63	each	each	DET
ijassa-1005	58	64	specific	specific	ADJ
ijassa-1005	58	65	type	type	NOUN
ijassa-1005	58	66	of	of	ADP
ijassa-1005	58	67	technological	technological	ADJ
ijassa-1005	58	68	operations	operation	NOUN
ijassa-1005	58	69	,	,	PUNCT
ijassa-1005	58	70			X
ijassa-1005	58	71	is	be	AUX
ijassa-1005	58	72	the	the	DET
ijassa-1005	58	73	cost	cost	NOUN
ijassa-1005	58	74	of	of	ADP
ijassa-1005	58	75	the	the	DET
ijassa-1005	58	76	working	working	NOUN
ijassa-1005	58	77	time	time	NOUN
ijassa-1005	58	78	unit	unit	NOUN
ijassa-1005	58	79	of	of	ADP
ijassa-1005	58	80	the	the	DET
ijassa-1005	58	81	robot	robot	NOUN
ijassa-1005	58	82	involved	involve	VERB
ijassa-1005	58	83	in	in	ADP
ijassa-1005	58	84	the	the	DET
ijassa-1005	58	85	manufacture	manufacture	NOUN
ijassa-1005	58	86	of	of	ADP
ijassa-1005	58	87	the	the	DET
ijassa-1005	58	88	robot	robot	NOUN
ijassa-1005	58	89	.	.	PUNCT
ijassa-1005	59	1	let	let	VERB
ijassa-1005	59	2	's	us	PRON
ijassa-1005	59	3	define	define	VERB
ijassa-1005	59	4	the	the	DET
ijassa-1005	59	5	cost	cost	NOUN
ijassa-1005	59	6	of	of	ADP
ijassa-1005	59	7	the	the	DET
ijassa-1005	59	8	robot	robot	NOUN
ijassa-1005	59	9	's	's	PART
ijassa-1005	59	10	working	working	NOUN
ijassa-1005	59	11	time	time	NOUN
ijassa-1005	59	12	unit	unit	NOUN
ijassa-1005	59	13	as	as	ADP
ijassa-1005	59	14	the	the	DET
ijassa-1005	59	15	ratio	ratio	NOUN
ijassa-1005	59	16	of	of	ADP
ijassa-1005	59	17	its	its	PRON
ijassa-1005	59	18	cost	cost	NOUN
ijassa-1005	59	19	c	c	NOUN
ijassa-1005	59	20	to	to	ADP
ijassa-1005	59	21	the	the	DET
ijassa-1005	59	22	robot	robot	NOUN
ijassa-1005	59	23	's	's	PART
ijassa-1005	59	24	lifetime	lifetime	NOUN
ijassa-1005	59	25	(	(	PUNCT
ijassa-1005	59	26	service	service	NOUN
ijassa-1005	59	27	time	time	NOUN
ijassa-1005	59	28	)	)	PUNCT
ijassa-1005	60	1	t	t	PROPN
ijassa-1005	60	2	:	:	PUNCT
ijassa-1005	60	3	/c	/c	PUNCT
ijassa-1005	61	1	t	t	PUNCT
ijassa-1005	61	2	=	=	PUNCT
ijassa-1005	61	3	.	.	PUNCT
ijassa-1005	62	1	(	(	PUNCT
ijassa-1005	62	2	5.2	5.2	NUM
ijassa-1005	62	3	)	)	PUNCT
ijassa-1005	62	4	given	give	VERB
ijassa-1005	62	5	(	(	PUNCT
ijassa-1005	62	6	5.3	5.3	NUM
ijassa-1005	62	7	)	)	PUNCT
ijassa-1005	62	8	,	,	PUNCT
ijassa-1005	62	9	let	let	VERB
ijassa-1005	62	10	's	us	PRON
ijassa-1005	62	11	rewrite	rewrite	VERB
ijassa-1005	62	12	(	(	PUNCT
ijassa-1005	62	13	5.2	5.2	NUM
ijassa-1005	62	14	)	)	PUNCT
ijassa-1005	62	15	as	as	SCONJ
ijassa-1005	62	16	follows	follow	VERB
ijassa-1005	62	17	:	:	PUNCT
ijassa-1005	62	18	(	(	PUNCT
ijassa-1005	62	19	)	)	PUNCT
ijassa-1005	62	20	/	/	SYM
ijassa-1005	62	21	(	(	PUNCT
ijassa-1005	62	22	)	)	PUNCT
ijassa-1005	62	23	c	c	NOUN
ijassa-1005	62	24	сb	сb	PROPN
ijassa-1005	62	25	t	t	PROPN
ijassa-1005	62	26	d	d	NOUN
ijassa-1005	62	27	g	g	NOUN
ijassa-1005	62	28	=	=	PROPN
ijassa-1005	63	1	+	+	X
ijassa-1005	63	2	+	+	X
ijassa-1005	63	3	.	.	PUNCT
ijassa-1005	64	1	(	(	PUNCT
ijassa-1005	64	2	5.3	5.3	NUM
ijassa-1005	64	3	)	)	PUNCT
ijassa-1005	64	4	equation	equation	NOUN
ijassa-1005	64	5	(	(	PUNCT
ijassa-1005	64	6	5.3	5.3	NUM
ijassa-1005	64	7	)	)	PUNCT
ijassa-1005	64	8	describes	describe	VERB
ijassa-1005	64	9	the	the	DET
ijassa-1005	64	10	process	process	NOUN
ijassa-1005	64	11	of	of	ADP
ijassa-1005	64	12	manufacturing	manufacture	VERB
ijassa-1005	64	13	a	a	DET
ijassa-1005	64	14	robot	robot	NOUN
ijassa-1005	64	15	by	by	ADP
ijassa-1005	64	16	a	a	DET
ijassa-1005	64	17	person	person	NOUN
ijassa-1005	64	18	and	and	CCONJ
ijassa-1005	64	19	a	a	DET
ijassa-1005	64	20	robot	robot	NOUN
ijassa-1005	64	21	of	of	ADP
ijassa-1005	64	22	the	the	DET
ijassa-1005	64	23	previous	previous	ADJ
ijassa-1005	64	24	generation	generation	NOUN
ijassa-1005	64	25	.	.	PUNCT
ijassa-1005	65	1	the	the	DET
ijassa-1005	65	2	parameters	parameter	NOUN
ijassa-1005	65	3	of	of	ADP
ijassa-1005	65	4	the	the	DET
ijassa-1005	65	5	manufacturing	manufacturing	NOUN
ijassa-1005	65	6	robot	robot	NOUN
ijassa-1005	65	7	may	may	AUX
ijassa-1005	65	8	differ	differ	VERB
ijassa-1005	65	9	from	from	ADP
ijassa-1005	65	10	those	those	PRON
ijassa-1005	65	11	of	of	ADP
ijassa-1005	65	12	the	the	DET
ijassa-1005	65	13	manufactured	manufactured	ADJ
ijassa-1005	65	14	one	one	NUM
ijassa-1005	65	15	.	.	PUNCT
ijassa-1005	66	1	to	to	PART
ijassa-1005	66	2	take	take	VERB
ijassa-1005	66	3	this	this	PRON
ijassa-1005	66	4	into	into	ADP
ijassa-1005	66	5	account	account	NOUN
ijassa-1005	66	6	,	,	PUNCT
ijassa-1005	66	7	let	let	VERB
ijassa-1005	66	8	's	us	PRON
ijassa-1005	66	9	rewrite	rewrite	VERB
ijassa-1005	66	10	(	(	PUNCT
ijassa-1005	66	11	5.3	5.3	NUM
ijassa-1005	66	12	)	)	PUNCT
ijassa-1005	66	13	as	as	SCONJ
ijassa-1005	66	14	follows	follow	VERB
ijassa-1005	66	15	:	:	PUNCT
ijassa-1005	66	16	(	(	PUNCT
ijassa-1005	66	17	)	)	PUNCT
ijassa-1005	66	18	(	(	PUNCT
ijassa-1005	66	19	1	1	X
ijassa-1005	66	20	)	)	PUNCT
ijassa-1005	66	21	(	(	PUNCT
ijassa-1005	66	22	)	)	PUNCT
ijassa-1005	66	23	/	/	SYM
ijassa-1005	66	24	(	(	PUNCT
ijassa-1005	66	25	)	)	PUNCT
ijassa-1005	66	26	c	c	PROPN
ijassa-1005	66	27	n	n	PROPN
ijassa-1005	66	28	с	с	PROPN
ijassa-1005	66	29	n	n	PROPN
ijassa-1005	66	30	b	b	PROPN
ijassa-1005	66	31	t	t	PROPN
ijassa-1005	66	32	d	d	NOUN
ijassa-1005	66	33	g	g	NOUN
ijassa-1005	66	34	=	=	ADJ
ijassa-1005	66	35	−	−	PROPN
ijassa-1005	67	1	+	+	CCONJ
ijassa-1005	67	2	+	+	CCONJ
ijassa-1005	67	3	,	,	PUNCT
ijassa-1005	67	4	(	(	PUNCT
ijassa-1005	67	5	5.4	5.4	NUM
ijassa-1005	67	6	)	)	PUNCT
ijassa-1005	67	7	where	where	SCONJ
ijassa-1005	67	8	c(n	c(n	NOUN
ijassa-1005	67	9	)	)	PUNCT
ijassa-1005	67	10	is	be	AUX
ijassa-1005	67	11	the	the	DET
ijassa-1005	67	12	cost	cost	NOUN
ijassa-1005	67	13	of	of	ADP
ijassa-1005	67	14	the	the	DET
ijassa-1005	67	15	robot	robot	NOUN
ijassa-1005	67	16	of	of	ADP
ijassa-1005	67	17	the	the	DET
ijassa-1005	67	18	n	n	CCONJ
ijassa-1005	67	19	-	-	PUNCT
ijassa-1005	67	20	th	th	VERB
ijassa-1005	67	21	generation	generation	NOUN
ijassa-1005	67	22	,	,	PUNCT
ijassa-1005	67	23	c(n-1	c(n-1	PROPN
ijassa-1005	67	24	)	)	PUNCT
ijassa-1005	67	25	is	be	AUX
ijassa-1005	67	26	the	the	DET
ijassa-1005	67	27	cost	cost	NOUN
ijassa-1005	67	28	of	of	ADP
ijassa-1005	67	29	the	the	DET
ijassa-1005	67	30	robot	robot	NOUN
ijassa-1005	67	31	of	of	ADP
ijassa-1005	67	32	the	the	DET
ijassa-1005	67	33	(	(	PUNCT
ijassa-1005	67	34	n-1)-th	n-1)-th	ADJ
ijassa-1005	67	35	generation	generation	NOUN
ijassa-1005	67	36	.	.	PUNCT
ijassa-1005	68	1	the	the	DET
ijassa-1005	68	2	solution	solution	NOUN
ijassa-1005	68	3	of	of	ADP
ijassa-1005	68	4	the	the	DET
ijassa-1005	68	5	difference	difference	NOUN
ijassa-1005	68	6	equation	equation	NOUN
ijassa-1005	68	7	(	(	PUNCT
ijassa-1005	68	8	5	5	X
ijassa-1005	68	9	)	)	PUNCT
ijassa-1005	68	10	looks	look	VERB
ijassa-1005	68	11	like	like	ADP
ijassa-1005	68	12	(	(	PUNCT
ijassa-1005	68	13	assuming	assume	VERB
ijassa-1005	68	14	that	that	SCONJ
ijassa-1005	68	15	the	the	DET
ijassa-1005	68	16	automation	automation	NOUN
ijassa-1005	68	17	vector	vector	NOUN
ijassa-1005	68	18			PROPN
ijassa-1005	68	19	is	be	AUX
ijassa-1005	68	20	constant	constant	ADJ
ijassa-1005	68	21	)	)	PUNCT
ijassa-1005	68	22	:	:	PUNCT
ijassa-1005	68	23	(	(	PUNCT
ijassa-1005	68	24	)	)	PUNCT
ijassa-1005	68	25	(	(	PUNCT
ijassa-1005	68	26	)	)	PUNCT
ijassa-1005	68	27	1	1	NUM
ijassa-1005	68	28	/	/	SYM
ijassa-1005	68	29	(	(	PUNCT
ijassa-1005	68	30	)	)	PUNCT
ijassa-1005	68	31	(	(	PUNCT
ijassa-1005	68	32	0	0	NUM
ijassa-1005	68	33	)	)	PUNCT
ijassa-1005	68	34	/	/	SYM
ijassa-1005	68	35	1	1	NUM
ijassa-1005	68	36	/	/	SYM
ijassa-1005	68	37	n	n	PROPN
ijassa-1005	68	38	nb	nb	INTJ
ijassa-1005	68	39	tg	tg	PROPN
ijassa-1005	69	1	d	d	PROPN
ijassa-1005	69	2	с	с	PROPN
ijassa-1005	69	3	n	n	PROPN
ijassa-1005	69	4	с	с	PROPN
ijassa-1005	69	5	b	b	PROPN
ijassa-1005	69	6	t	t	PROPN
ijassa-1005	69	7	t	t	PROPN
ijassa-1005	69	8	b	b	PROPN
ijassa-1005	69	9	t	t	PROPN
ijassa-1005	69	10	−+	−+	NOUN
ijassa-1005	69	11	=	=	PUNCT
ijassa-1005	70	1			PROPN
ijassa-1005	70	2	+	+	CCONJ
ijassa-1005	70	3	−	−	PROPN
ijassa-1005	70	4	,	,	PUNCT
ijassa-1005	70	5	(	(	PUNCT
ijassa-1005	70	6	5.5	5.5	NUM
ijassa-1005	70	7	)	)	PUNCT
ijassa-1005	70	8	automation	automation	NOUN
ijassa-1005	70	9	of	of	ADP
ijassa-1005	70	10	robot	robot	NOUN
ijassa-1005	70	11	production	production	NOUN
ijassa-1005	70	12	with	with	ADP
ijassa-1005	70	13	the	the	DET
ijassa-1005	70	14	help	help	NOUN
ijassa-1005	70	15	of	of	ADP
ijassa-1005	70	16	robots	robot	NOUN
ijassa-1005	70	17	is	be	AUX
ijassa-1005	70	18	only	only	ADV
ijassa-1005	70	19	feasible	feasible	ADJ
ijassa-1005	70	20	if	if	SCONJ
ijassa-1005	70	21	the	the	DET
ijassa-1005	70	22	cost	cost	NOUN
ijassa-1005	70	23	of	of	ADP
ijassa-1005	70	24	the	the	DET
ijassa-1005	70	25	manufacturing	manufacturing	NOUN
ijassa-1005	70	26	robot	robot	NOUN
ijassa-1005	70	27	b(	b(	PROPN
ijassa-1005	70	28	)	)	PUNCT
ijassa-1005	70	29	is	be	AUX
ijassa-1005	70	30	less	less	ADJ
ijassa-1005	70	31	than	than	ADP
ijassa-1005	70	32	its	its	PRON
ijassa-1005	70	33	service	service	NOUN
ijassa-1005	70	34	life	life	NOUN
ijassa-1005	70	35	t.	t.	NOUN
ijassa-1005	70	36	in	in	ADP
ijassa-1005	70	37	this	this	DET
ijassa-1005	70	38	case	case	NOUN
ijassa-1005	70	39	,	,	PUNCT
ijassa-1005	70	40	the	the	DET
ijassa-1005	70	41	ratios	ratio	NOUN
ijassa-1005	70	42	included	include	VERB
ijassa-1005	70	43	in	in	ADP
ijassa-1005	70	44	the	the	DET
ijassa-1005	70	45	equation	equation	NOUN
ijassa-1005	70	46	b()/t	b()/t	PUNCT
ijassa-1005	70	47	<	<	X
ijassa-1005	70	48	1	1	NUM
ijassa-1005	70	49	,	,	PUNCT
ijassa-1005	70	50	and	and	CCONJ
ijassa-1005	70	51	the	the	DET
ijassa-1005	70	52	asymptotic	asymptotic	ADJ
ijassa-1005	70	53	solution	solution	NOUN
ijassa-1005	70	54	will	will	AUX
ijassa-1005	70	55	be	be	AUX
ijassa-1005	70	56	equal	equal	ADJ
ijassa-1005	70	57	to	to	ADP
ijassa-1005	70	58	:	:	PUNCT
ijassa-1005	70	59	(	(	PUNCT
ijassa-1005	70	60	)	)	PUNCT
ijassa-1005	70	61	g	g	PROPN
ijassa-1005	70	62	d	d	PROPN
ijassa-1005	70	63	с	с	PROPN
ijassa-1005	70	64	t	t	PROPN
ijassa-1005	70	65	b	b	PROPN
ijassa-1005	70	66	+	+	CCONJ
ijassa-1005	70	67			NOUN
ijassa-1005	70	68	=	=	SYM
ijassa-1005	70	69	−	−	PROPN
ijassa-1005	70	70	.	.	PUNCT
ijassa-1005	71	1	(	(	PUNCT
ijassa-1005	71	2	5.6	5.6	NUM
ijassa-1005	71	3	)	)	PUNCT
ijassa-1005	71	4	provided	provide	VERB
ijassa-1005	71	5	that	that	SCONJ
ijassa-1005	71	6	b()/t<1	b()/t<1	NOUN
ijassa-1005	71	7	,	,	PUNCT
ijassa-1005	71	8	this	this	DET
ijassa-1005	71	9	solution	solution	NOUN
ijassa-1005	71	10	does	do	AUX
ijassa-1005	71	11	not	not	PART
ijassa-1005	71	12	depend	depend	VERB
ijassa-1005	71	13	on	on	ADP
ijassa-1005	71	14	the	the	DET
ijassa-1005	71	15	initial	initial	ADJ
ijassa-1005	71	16	conditions	condition	NOUN
ijassa-1005	71	17	,	,	PUNCT
ijassa-1005	71	18	but	but	CCONJ
ijassa-1005	71	19	only	only	ADV
ijassa-1005	71	20	on	on	ADP
ijassa-1005	71	21	the	the	DET
ijassa-1005	71	22	automation	automation	NOUN
ijassa-1005	71	23	vector	vector	NOUN
ijassa-1005	71	24	.	.	NOUN
ijassa-1005	71	25	costs	cost	NOUN
ijassa-1005	71	26	of	of	ADP
ijassa-1005	71	27	the	the	DET
ijassa-1005	71	28	person	person	NOUN
ijassa-1005	71	29	g(	g(	NOUN
ijassa-1005	71	30	)	)	PUNCT
ijassa-1005	71	31	and	and	CCONJ
ijassa-1005	71	32	the	the	DET
ijassa-1005	71	33	robot	robot	NOUN
ijassa-1005	71	34	b(	b(	VERB
ijassa-1005	71	35	)	)	PUNCT
ijassa-1005	71	36	in	in	ADP
ijassa-1005	71	37	(	(	PUNCT
ijassa-1005	71	38	5.1	5.1	NUM
ijassa-1005	71	39	)	)	PUNCT
ijassa-1005	71	40	are	be	AUX
ijassa-1005	71	41	described	describe	VERB
ijassa-1005	71	42	by	by	ADP
ijassa-1005	71	43	the	the	DET
ijassa-1005	71	44	formulae	formulae	NOUN
ijassa-1005	71	45	:	:	PUNCT
ijassa-1005	71	46	108	108	NUM
ijassa-1005	71	47	v.	v.	ADP
ijassa-1005	71	48	chadeev	chadeev	PROPN
ijassa-1005	71	49	,	,	PUNCT
ijassa-1005	71	50	n.	n.	PROPN
ijassa-1005	71	51	aristova	aristova	VERB
ijassa-1005	72	1	copyright	copyright	PROPN
ijassa-1005	72	2	©	©	PROPN
ijassa-1005	72	3	2020	2020	NUM
ijassa-1005	72	4	assa	assa	NOUN
ijassa-1005	72	5	.	.	PUNCT
ijassa-1005	73	1	adv	adv	PROPN
ijassa-1005	73	2	.	.	PUNCT
ijassa-1005	74	1	in	in	ADP
ijassa-1005	74	2	systems	system	NOUN
ijassa-1005	74	3	science	science	NOUN
ijassa-1005	74	4	and	and	CCONJ
ijassa-1005	74	5	appl	appl	NOUN
ijassa-1005	74	6	.	.	PUNCT
ijassa-1005	75	1	(	(	PUNCT
ijassa-1005	75	2	2020	2020	NUM
ijassa-1005	75	3	)	)	PUNCT
ijassa-1005	75	4	1	1	NUM
ijassa-1005	75	5	(	(	PUNCT
ijassa-1005	75	6	)	)	PUNCT
ijassa-1005	75	7	(	(	PUNCT
ijassa-1005	75	8	1	1	X
ijassa-1005	75	9	)	)	PUNCT
ijassa-1005	75	10	m	m	VERB
ijassa-1005	75	11	i	i	INTJ
ijassa-1005	76	1	i	i	PRON
ijassa-1005	76	2	i	i	PRON
ijassa-1005	77	1	i	i	PRON
ijassa-1005	78	1	g	g	VERB
ijassa-1005	78	2	g	g	PROPN
ijassa-1005	78	3	h	h	VERB
ijassa-1005	78	4			X
ijassa-1005	78	5	=	=	SYM
ijassa-1005	78	6	=	=	SYM
ijassa-1005	78	7	−	−	NOUN
ijassa-1005	78	8	,	,	PUNCT
ijassa-1005	78	9	1	1	NUM
ijassa-1005	78	10	(	(	PUNCT
ijassa-1005	78	11	)	)	PUNCT
ijassa-1005	79	1	m	m	VERB
ijassa-1005	79	2	i	i	INTJ
ijassa-1005	80	1	i	i	PRON
ijassa-1005	81	1	i	i	PRON
ijassa-1005	82	1	i	i	VERB
ijassa-1005	83	1	b	b	NOUN
ijassa-1005	83	2	b	b	NOUN
ijassa-1005	83	3	h	h	X
ijassa-1005	83	4			X
ijassa-1005	83	5	=	=	SYM
ijassa-1005	83	6	=	=	NOUN
ijassa-1005	83	7			X
ijassa-1005	83	8	.	.	PUNCT
ijassa-1005	84	1	(	(	PUNCT
ijassa-1005	84	2	5.7	5.7	NUM
ijassa-1005	84	3	)	)	PUNCT
ijassa-1005	84	4	where	where	SCONJ
ijassa-1005	84	5	m	m	NOUN
ijassa-1005	84	6	is	be	AUX
ijassa-1005	84	7	the	the	DET
ijassa-1005	84	8	number	number	NOUN
ijassa-1005	84	9	of	of	ADP
ijassa-1005	84	10	types	type	NOUN
ijassa-1005	84	11	of	of	ADP
ijassa-1005	84	12	tos	tos	NOUN
ijassa-1005	84	13	required	require	VERB
ijassa-1005	84	14	to	to	PART
ijassa-1005	84	15	manufacture	manufacture	VERB
ijassa-1005	84	16	a	a	DET
ijassa-1005	84	17	robot	robot	NOUN
ijassa-1005	84	18	.	.	PUNCT
ijassa-1005	85	1	this	this	DET
ijassa-1005	85	2	index	index	NOUN
ijassa-1005	85	3	in	in	ADP
ijassa-1005	85	4	the	the	DET
ijassa-1005	85	5	sums	sum	NOUN
ijassa-1005	85	6	will	will	AUX
ijassa-1005	85	7	be	be	AUX
ijassa-1005	85	8	omitted	omit	VERB
ijassa-1005	85	9	,	,	PUNCT
ijassa-1005	85	10	assuming	assume	VERB
ijassa-1005	85	11	,	,	PUNCT
ijassa-1005	85	12	however	however	ADV
ijassa-1005	85	13	,	,	PUNCT
ijassa-1005	85	14	that	that	SCONJ
ijassa-1005	85	15	the	the	DET
ijassa-1005	85	16	summation	summation	NOUN
ijassa-1005	85	17	is	be	AUX
ijassa-1005	85	18	done	do	VERB
ijassa-1005	85	19	for	for	ADP
ijassa-1005	85	20	all	all	DET
ijassa-1005	85	21	types	type	NOUN
ijassa-1005	85	22	of	of	ADP
ijassa-1005	85	23	operations	operation	NOUN
ijassa-1005	85	24	,	,	PUNCT
ijassa-1005	85	25	both	both	PRON
ijassa-1005	85	26	automated	automate	VERB
ijassa-1005	85	27	and	and	CCONJ
ijassa-1005	85	28	manual	manual	NOUN
ijassa-1005	85	29	,	,	PUNCT
ijassa-1005	85	30	gi	gi	X
ijassa-1005	85	31	is	be	AUX
ijassa-1005	85	32	the	the	DET
ijassa-1005	85	33	time	time	NOUN
ijassa-1005	85	34	needed	need	VERB
ijassa-1005	85	35	for	for	SCONJ
ijassa-1005	85	36	a	a	DET
ijassa-1005	85	37	person	person	NOUN
ijassa-1005	85	38	to	to	PART
ijassa-1005	85	39	perform	perform	VERB
ijassa-1005	85	40	an	an	DET
ijassa-1005	85	41	itype	itype	NOUN
ijassa-1005	85	42	to	to	ADP
ijassa-1005	85	43	,	,	PUNCT
ijassa-1005	85	44	bi	bi	NOUN
ijassa-1005	85	45	is	be	AUX
ijassa-1005	85	46	the	the	DET
ijassa-1005	85	47	time	time	NOUN
ijassa-1005	85	48	needed	need	VERB
ijassa-1005	85	49	for	for	SCONJ
ijassa-1005	85	50	a	a	DET
ijassa-1005	85	51	robot	robot	NOUN
ijassa-1005	85	52	to	to	PART
ijassa-1005	85	53	perform	perform	VERB
ijassa-1005	85	54	an	an	DET
ijassa-1005	85	55	i	i	NOUN
ijassa-1005	85	56	-	-	PUNCT
ijassa-1005	85	57	type	type	NOUN
ijassa-1005	85	58	to	to	ADP
ijassa-1005	85	59	,	,	PUNCT
ijassa-1005	85	60	hi	hi	INTJ
ijassa-1005	85	61	is	be	AUX
ijassa-1005	85	62	the	the	DET
ijassa-1005	85	63	number	number	NOUN
ijassa-1005	85	64	of	of	ADP
ijassa-1005	85	65	identical	identical	ADJ
ijassa-1005	85	66	i	i	NOUN
ijassa-1005	85	67	-	-	PUNCT
ijassa-1005	85	68	type	type	NOUN
ijassa-1005	85	69	tos	tos	NOUN
ijassa-1005	85	70	needed	need	VERB
ijassa-1005	85	71	to	to	PART
ijassa-1005	85	72	manufacture	manufacture	VERB
ijassa-1005	85	73	a	a	DET
ijassa-1005	85	74	robot	robot	NOUN
ijassa-1005	85	75	,	,	PUNCT
ijassa-1005	85	76	i	i	PRON
ijassa-1005	85	77	is	be	AUX
ijassa-1005	85	78	the	the	DET
ijassa-1005	85	79	level	level	NOUN
ijassa-1005	85	80	of	of	ADP
ijassa-1005	85	81	automation	automation	NOUN
ijassa-1005	85	82	of	of	ADP
ijassa-1005	85	83	the	the	DET
ijassa-1005	85	84	i	i	NOUN
ijassa-1005	85	85	-	-	PUNCT
ijassa-1005	85	86	type	type	NOUN
ijassa-1005	85	87	to	to	ADP
ijassa-1005	85	88	,	,	PUNCT
ijassa-1005	85	89	and	and	CCONJ
ijassa-1005	85	90	the	the	DET
ijassa-1005	85	91	vector	vector	NOUN
ijassa-1005	85	92			NOUN
ijassa-1005	85	93	,	,	PUNCT
ijassa-1005	85	94	determines	determine	VERB
ijassa-1005	85	95	the	the	DET
ijassa-1005	85	96	production	production	NOUN
ijassa-1005	85	97	automation	automation	NOUN
ijassa-1005	85	98	scheme	scheme	NOUN
ijassa-1005	85	99	.	.	PUNCT
ijassa-1005	86	1	6	6	X
ijassa-1005	86	2	.	.	X
ijassa-1005	86	3	cooperation	cooperation	NOUN
ijassa-1005	86	4	of	of	ADP
ijassa-1005	86	5	plants	plant	NOUN
ijassa-1005	86	6	plant	plant	VERB
ijassa-1005	86	7	no	no	NOUN
ijassa-1005	86	8	.	.	NOUN
ijassa-1005	86	9	1	1	NUM
ijassa-1005	86	10	manufactures	manufacture	NOUN
ijassa-1005	86	11	robots	robot	NOUN
ijassa-1005	86	12	of	of	ADP
ijassa-1005	86	13	the	the	DET
ijassa-1005	86	14	n	n	CCONJ
ijassa-1005	86	15	-	-	PUNCT
ijassa-1005	86	16	th	th	NOUN
ijassa-1005	86	17	generation	generation	NOUN
ijassa-1005	86	18	r(n	r(n	PROPN
ijassa-1005	86	19	)	)	PUNCT
ijassa-1005	86	20	,	,	PUNCT
ijassa-1005	86	21	using	use	VERB
ijassa-1005	86	22	structurally	structurally	ADV
ijassa-1005	86	23	similar	similar	ADJ
ijassa-1005	86	24	robots	robot	NOUN
ijassa-1005	86	25	of	of	ADP
ijassa-1005	86	26	the	the	DET
ijassa-1005	86	27	previous	previous	ADJ
ijassa-1005	86	28	generation	generation	NOUN
ijassa-1005	86	29	r(n-1	r(n-1	NOUN
ijassa-1005	86	30	)	)	PUNCT
ijassa-1005	86	31	to	to	PART
ijassa-1005	86	32	make	make	VERB
ijassa-1005	86	33	their	their	PRON
ijassa-1005	86	34	production	production	NOUN
ijassa-1005	86	35	automated	automate	VERB
ijassa-1005	86	36	.	.	PUNCT
ijassa-1005	87	1	plant	plant	NOUN
ijassa-1005	87	2	no	no	NOUN
ijassa-1005	87	3	.	.	NOUN
ijassa-1005	87	4	2	2	NUM
ijassa-1005	87	5	manufactures	manufacture	NOUN
ijassa-1005	87	6	hydraulic	hydraulic	ADJ
ijassa-1005	87	7	drives	drive	NOUN
ijassa-1005	87	8	m(0	m(0	PROPN
ijassa-1005	87	9	)	)	PUNCT
ijassa-1005	87	10	.	.	PUNCT
ijassa-1005	88	1	let	let	VERB
ijassa-1005	88	2	's	us	PRON
ijassa-1005	88	3	consider	consider	VERB
ijassa-1005	88	4	cooperation	cooperation	NOUN
ijassa-1005	88	5	of	of	ADP
ijassa-1005	88	6	plants	plant	NOUN
ijassa-1005	88	7	when	when	SCONJ
ijassa-1005	88	8	the	the	DET
ijassa-1005	88	9	robot	robot	NOUN
ijassa-1005	88	10	plant	plant	NOUN
ijassa-1005	88	11	sells	sell	VERB
ijassa-1005	88	12	its	its	PRON
ijassa-1005	88	13	products	product	NOUN
ijassa-1005	88	14	to	to	ADP
ijassa-1005	88	15	the	the	DET
ijassa-1005	88	16	hydraulic	hydraulic	ADJ
ijassa-1005	88	17	drive	drive	NOUN
ijassa-1005	88	18	plant	plant	NOUN
ijassa-1005	88	19	to	to	PART
ijassa-1005	88	20	make	make	VERB
ijassa-1005	88	21	its	its	PRON
ijassa-1005	88	22	production	production	NOUN
ijassa-1005	88	23	automated	automate	VERB
ijassa-1005	88	24	,	,	PUNCT
ijassa-1005	88	25	and	and	CCONJ
ijassa-1005	88	26	the	the	DET
ijassa-1005	88	27	hydraulic	hydraulic	ADJ
ijassa-1005	88	28	drive	drive	NOUN
ijassa-1005	88	29	plant	plant	NOUN
ijassa-1005	88	30	reduces	reduce	VERB
ijassa-1005	88	31	the	the	DET
ijassa-1005	88	32	price	price	NOUN
ijassa-1005	88	33	for	for	ADP
ijassa-1005	88	34	its	its	PRON
ijassa-1005	88	35	products	product	NOUN
ijassa-1005	88	36	purchased	purchase	VERB
ijassa-1005	88	37	by	by	ADP
ijassa-1005	88	38	the	the	DET
ijassa-1005	88	39	robot	robot	NOUN
ijassa-1005	88	40	plant	plant	NOUN
ijassa-1005	88	41	(	(	PUNCT
ijassa-1005	88	42	fig	fig	NOUN
ijassa-1005	88	43	.	.	PUNCT
ijassa-1005	89	1	6.1	6.1	NUM
ijassa-1005	89	2	)	)	PUNCT
ijassa-1005	89	3	.	.	PUNCT
ijassa-1005	90	1	fig	fig	NOUN
ijassa-1005	90	2	.	.	PUNCT
ijassa-1005	91	1	6.1	6.1	NUM
ijassa-1005	91	2	.	.	PUNCT
ijassa-1005	91	3	scheme	scheme	NOUN
ijassa-1005	91	4	of	of	ADP
ijassa-1005	91	5	cooperation	cooperation	NOUN
ijassa-1005	91	6	between	between	ADP
ijassa-1005	91	7	plants	plant	NOUN
ijassa-1005	91	8	.	.	PUNCT
ijassa-1005	92	1	on	on	ADP
ijassa-1005	92	2	the	the	DET
ijassa-1005	92	3	scheme	scheme	NOUN
ijassa-1005	92	4	m(n	m(n	NOUN
ijassa-1005	92	5	)	)	PUNCT
ijassa-1005	92	6	hydraulic	hydraulic	ADJ
ijassa-1005	92	7	drive	drive	NOUN
ijassa-1005	92	8	of	of	ADP
ijassa-1005	92	9	the	the	DET
ijassa-1005	92	10	n	n	CCONJ
ijassa-1005	92	11	-	-	PUNCT
ijassa-1005	92	12	th	th	VERB
ijassa-1005	92	13	generation	generation	NOUN
ijassa-1005	92	14	;	;	PUNCT
ijassa-1005	92	15	r(n	r(n	PROPN
ijassa-1005	92	16	)	)	PUNCT
ijassa-1005	92	17	robot	robot	NOUN
ijassa-1005	92	18	of	of	ADP
ijassa-1005	92	19	the	the	DET
ijassa-1005	92	20	n	n	CCONJ
ijassa-1005	92	21	-	-	PUNCT
ijassa-1005	92	22	th	th	VERB
ijassa-1005	92	23	generation	generation	NOUN
ijassa-1005	92	24	.	.	PUNCT
ijassa-1005	93	1	in	in	ADP
ijassa-1005	93	2	the	the	DET
ijassa-1005	93	3	figure	figure	NOUN
ijassa-1005	93	4	,	,	PUNCT
ijassa-1005	93	5	the	the	DET
ijassa-1005	93	6	upper	upper	ADJ
ijassa-1005	93	7	line	line	NOUN
ijassa-1005	93	8	produces	produce	VERB
ijassa-1005	93	9	generations	generation	NOUN
ijassa-1005	93	10	of	of	ADP
ijassa-1005	93	11	hydraulic	hydraulic	ADJ
ijassa-1005	93	12	drives	drive	NOUN
ijassa-1005	93	13	;	;	PUNCT
ijassa-1005	93	14	the	the	DET
ijassa-1005	93	15	lower	low	ADJ
ijassa-1005	93	16	line	line	NOUN
ijassa-1005	93	17	produces	produce	VERB
ijassa-1005	93	18	robots	robot	NOUN
ijassa-1005	93	19	.	.	PUNCT
ijassa-1005	94	1	cost	cost	NOUN
ijassa-1005	94	2	of	of	ADP
ijassa-1005	94	3	automated	automate	VERB
ijassa-1005	94	4	manufacture	manufacture	NOUN
ijassa-1005	94	5	of	of	ADP
ijassa-1005	94	6	the	the	DET
ijassa-1005	94	7	robot	robot	NOUN
ijassa-1005	94	8	is	be	AUX
ijassa-1005	94	9	calculated	calculate	VERB
ijassa-1005	94	10	according	accord	VERB
ijassa-1005	94	11	to	to	ADP
ijassa-1005	94	12	the	the	DET
ijassa-1005	94	13	formulae	formulae	NOUN
ijassa-1005	94	14	(	(	PUNCT
ijassa-1005	94	15	5.5	5.5	NUM
ijassa-1005	94	16	)	)	PUNCT
ijassa-1005	94	17	and	and	CCONJ
ijassa-1005	94	18	(	(	PUNCT
ijassa-1005	94	19	6.1	6.1	NUM
ijassa-1005	94	20	)	)	PUNCT
ijassa-1005	94	21	.	.	PUNCT
ijassa-1005	95	1	the	the	DET
ijassa-1005	95	2	whole	whole	ADJ
ijassa-1005	95	3	system	system	NOUN
ijassa-1005	95	4	of	of	ADP
ijassa-1005	95	5	cooperation	cooperation	NOUN
ijassa-1005	95	6	of	of	ADP
ijassa-1005	95	7	plants	plant	NOUN
ijassa-1005	95	8	without	without	ADP
ijassa-1005	95	9	automation	automation	NOUN
ijassa-1005	95	10	of	of	ADP
ijassa-1005	95	11	hydraulic	hydraulic	ADJ
ijassa-1005	95	12	drives	drive	NOUN
ijassa-1005	95	13	production	production	NOUN
ijassa-1005	95	14	will	will	AUX
ijassa-1005	95	15	be	be	AUX
ijassa-1005	95	16	described	describe	VERB
ijassa-1005	95	17	by	by	ADP
ijassa-1005	95	18	a	a	DET
ijassa-1005	95	19	system	system	NOUN
ijassa-1005	95	20	of	of	ADP
ijassa-1005	95	21	equations	equation	NOUN
ijassa-1005	95	22	:	:	PUNCT
ijassa-1005	95	23	(	(	PUNCT
ijassa-1005	95	24	)	)	PUNCT
ijassa-1005	95	25	(	(	PUNCT
ijassa-1005	95	26	1	1	X
ijassa-1005	95	27	)	)	PUNCT
ijassa-1005	95	28	(	(	PUNCT
ijassa-1005	95	29	)	)	PUNCT
ijassa-1005	95	30	/	/	SYM
ijassa-1005	95	31	(	(	PUNCT
ijassa-1005	95	32	)	)	PUNCT
ijassa-1005	95	33	r	r	NOUN
ijassa-1005	95	34	fc	fc	PROPN
ijassa-1005	95	35	n	n	PROPN
ijassa-1005	95	36	c	c	PROPN
ijassa-1005	95	37	n	n	PROPN
ijassa-1005	95	38	b	b	PROPN
ijassa-1005	95	39	t	t	NOUN
ijassa-1005	95	40	g	g	NOUN
ijassa-1005	96	1	d	d	NOUN
ijassa-1005	96	2	d	d	ADV
ijassa-1005	96	3	=	=	ADJ
ijassa-1005	96	4	−	−	PROPN
ijassa-1005	97	1	+	+	CCONJ
ijassa-1005	97	2	+	+	CCONJ
ijassa-1005	97	3	+	+	CCONJ
ijassa-1005	97	4	,	,	PUNCT
ijassa-1005	97	5	(	(	PUNCT
ijassa-1005	97	6	6.1	6.1	NUM
ijassa-1005	97	7	)	)	PUNCT
ijassa-1005	97	8	(	(	PUNCT
ijassa-1005	97	9	)	)	PUNCT
ijassa-1005	97	10	(	(	PUNCT
ijassa-1005	97	11	0	0	NUM
ijassa-1005	97	12	)	)	PUNCT
ijassa-1005	97	13	(	(	PUNCT
ijassa-1005	97	14	0	0	NUM
ijassa-1005	97	15	)	)	PUNCT
ijassa-1005	97	16	(	(	PUNCT
ijassa-1005	97	17	0)f	0)f	NOUN
ijassa-1005	97	18	f	f	PROPN
ijassa-1005	98	1	ff	ff	INTJ
ijassa-1005	98	2	n	n	CCONJ
ijassa-1005	98	3	g	g	PROPN
ijassa-1005	98	4	b	b	PROPN
ijassa-1005	99	1	d	d	PROPN
ijassa-1005	99	2	f	f	PROPN
ijassa-1005	99	3	=	=	PROPN
ijassa-1005	99	4	=	=	SYM
ijassa-1005	100	1	+	+	PUNCT
ijassa-1005	100	2	=	=	SYM
ijassa-1005	101	1	+	+	CCONJ
ijassa-1005	101	2			PROPN
ijassa-1005	101	3	,	,	PUNCT
ijassa-1005	101	4	(	(	PUNCT
ijassa-1005	101	5	6.2	6.2	NUM
ijassa-1005	101	6	)	)	PUNCT
ijassa-1005	101	7	(	(	PUNCT
ijassa-1005	101	8	)	)	PUNCT
ijassa-1005	101	9	(	(	PUNCT
ijassa-1005	101	10	1	1	X
ijassa-1005	101	11	)	)	PUNCT
ijassa-1005	101	12	i	i	PRON
ijassa-1005	102	1	i	i	PRON
ijassa-1005	102	2	ig	ig	VERB
ijassa-1005	102	3	g	g	PROPN
ijassa-1005	102	4	h	h	VERB
ijassa-1005	102	5	=	=	ADJ
ijassa-1005	102	6	−	−	NOUN
ijassa-1005	102	7	,	,	PUNCT
ijassa-1005	102	8	(	(	PUNCT
ijassa-1005	102	9	)	)	PUNCT
ijassa-1005	103	1	i	i	PRON
ijassa-1005	103	2	i	i	PRON
ijassa-1005	103	3	ib	ib	VERB
ijassa-1005	103	4	b	b	NOUN
ijassa-1005	103	5	h	h	NOUN
ijassa-1005	103	6	=	=	INTJ
ijassa-1005	103	7	,	,	PUNCT
ijassa-1005	103	8	(	(	PUNCT
ijassa-1005	103	9	6.3	6.3	NUM
ijassa-1005	103	10	)	)	PUNCT
ijassa-1005	103	11	(	(	PUNCT
ijassa-1005	103	12	0)f	0)f	NUM
ijassa-1005	103	13	i	i	PRON
ijassa-1005	103	14	ig	ig	VERB
ijassa-1005	103	15	g	g	NOUN
ijassa-1005	103	16	n	n	ADV
ijassa-1005	103	17	=	=	PUNCT
ijassa-1005	103	18	=	=	NOUN
ijassa-1005	103	19			X
ijassa-1005	103	20	,	,	PUNCT
ijassa-1005	103	21	(	(	PUNCT
ijassa-1005	103	22	0	0	NUM
ijassa-1005	103	23	)	)	PUNCT
ijassa-1005	103	24	0fb	0fb	NOUN
ijassa-1005	103	25			X
ijassa-1005	103	26	=	=	SYM
ijassa-1005	103	27	=	=	PUNCT
ijassa-1005	103	28	.	.	PUNCT
ijassa-1005	104	1	(	(	PUNCT
ijassa-1005	104	2	6.4	6.4	NUM
ijassa-1005	104	3	)	)	PUNCT
ijassa-1005	104	4	where	where	SCONJ
ijassa-1005	104	5	c(n	c(n	PROPN
ijassa-1005	104	6	)	)	PUNCT
ijassa-1005	104	7	is	be	AUX
ijassa-1005	104	8	the	the	DET
ijassa-1005	104	9	cost	cost	NOUN
ijassa-1005	104	10	of	of	ADP
ijassa-1005	104	11	the	the	DET
ijassa-1005	104	12	robot	robot	NOUN
ijassa-1005	104	13	of	of	ADP
ijassa-1005	104	14	the	the	DET
ijassa-1005	104	15	n	n	CCONJ
ijassa-1005	104	16	-	-	PUNCT
ijassa-1005	104	17	th	th	NOUN
ijassa-1005	104	18	generation	generation	NOUN
ijassa-1005	104	19	,	,	PUNCT
ijassa-1005	104	20	gi	gi	X
ijassa-1005	104	21	is	be	AUX
ijassa-1005	104	22	the	the	DET
ijassa-1005	104	23	time	time	NOUN
ijassa-1005	104	24	needed	need	VERB
ijassa-1005	104	25	for	for	SCONJ
ijassa-1005	104	26	a	a	DET
ijassa-1005	104	27	person	person	NOUN
ijassa-1005	104	28	to	to	PART
ijassa-1005	104	29	perform	perform	VERB
ijassa-1005	104	30	an	an	DET
ijassa-1005	104	31	i	i	NOUN
ijassa-1005	104	32	-	-	PUNCT
ijassa-1005	104	33	type	type	NOUN
ijassa-1005	104	34	to	to	ADP
ijassa-1005	104	35	,	,	PUNCT
ijassa-1005	104	36	hi	hi	INTJ
ijassa-1005	104	37	is	be	AUX
ijassa-1005	104	38	the	the	DET
ijassa-1005	104	39	number	number	NOUN
ijassa-1005	104	40	of	of	ADP
ijassa-1005	104	41	i	i	NOUN
ijassa-1005	104	42	-	-	PUNCT
ijassa-1005	104	43	type	type	NOUN
ijassa-1005	104	44	tos	tos	NOUN
ijassa-1005	104	45	needed	need	VERB
ijassa-1005	104	46	to	to	PART
ijassa-1005	104	47	manufacture	manufacture	VERB
ijassa-1005	104	48	a	a	DET
ijassa-1005	104	49	robot	robot	NOUN
ijassa-1005	104	50	,	,	PUNCT
ijassa-1005	104	51	ni	ni	PROPN
ijassa-1005	104	52	is	be	AUX
ijassa-1005	104	53	the	the	DET
ijassa-1005	104	54	number	number	NOUN
ijassa-1005	104	55	of	of	ADP
ijassa-1005	104	56	i	i	NOUN
ijassa-1005	104	57	-	-	PUNCT
ijassa-1005	104	58	type	type	NOUN
ijassa-1005	104	59	tos	tos	NOUN
ijassa-1005	104	60	needed	need	VERB
ijassa-1005	104	61	to	to	PART
ijassa-1005	104	62	manufacture	manufacture	VERB
ijassa-1005	104	63	a	a	DET
ijassa-1005	104	64	hydraulic	hydraulic	ADJ
ijassa-1005	104	65	drive	drive	NOUN
ijassa-1005	104	66	,	,	PUNCT
ijassa-1005	104	67	bi	bi	NOUN
ijassa-1005	104	68	is	be	AUX
ijassa-1005	104	69	the	the	DET
ijassa-1005	104	70	time	time	NOUN
ijassa-1005	104	71	needed	need	VERB
ijassa-1005	104	72	for	for	SCONJ
ijassa-1005	104	73	a	a	DET
ijassa-1005	104	74	robot	robot	NOUN
ijassa-1005	104	75	to	to	PART
ijassa-1005	104	76	perform	perform	VERB
ijassa-1005	104	77	an	an	DET
ijassa-1005	104	78	i	i	NOUN
ijassa-1005	104	79	-	-	PUNCT
ijassa-1005	104	80	type	type	NOUN
ijassa-1005	104	81	to	to	ADP
ijassa-1005	104	82	,	,	PUNCT
ijassa-1005	104	83	dr	dr	PROPN
ijassa-1005	104	84	is	be	AUX
ijassa-1005	104	85	the	the	DET
ijassa-1005	104	86	cost	cost	NOUN
ijassa-1005	104	87	of	of	ADP
ijassa-1005	104	88	purchased	purchase	VERB
ijassa-1005	104	89	parts	part	NOUN
ijassa-1005	104	90	needed	need	VERB
ijassa-1005	104	91	to	to	PART
ijassa-1005	104	92	manufacture	manufacture	VERB
ijassa-1005	104	93	a	a	DET
ijassa-1005	104	94	robot	robot	NOUN
ijassa-1005	104	95	,	,	PUNCT
ijassa-1005	104	96	df	df	PROPN
ijassa-1005	104	97	is	be	AUX
ijassa-1005	104	98	the	the	DET
ijassa-1005	104	99	cost	cost	NOUN
ijassa-1005	104	100	of	of	ADP
ijassa-1005	104	101	purchased	purchase	VERB
ijassa-1005	104	102	parts	part	NOUN
ijassa-1005	104	103	needed	need	VERB
ijassa-1005	104	104	to	to	PART
ijassa-1005	104	105	manufacture	manufacture	VERB
ijassa-1005	104	106	a	a	DET
ijassa-1005	104	107	hydraulic	hydraulic	ADJ
ijassa-1005	104	108	drive	drive	NOUN
ijassa-1005	104	109	,	,	PUNCT
ijassa-1005	104	110	f(0	f(0	NOUN
ijassa-1005	104	111	)	)	PUNCT
ijassa-1005	104	112	is	be	AUX
ijassa-1005	104	113	the	the	DET
ijassa-1005	104	114	cost	cost	NOUN
ijassa-1005	104	115	of	of	ADP
ijassa-1005	104	116	purchased	purchase	VERB
ijassa-1005	104	117	hydraulic	hydraulic	ADJ
ijassa-1005	104	118	drives	drive	NOUN
ijassa-1005	104	119	that	that	PRON
ijassa-1005	104	120	have	have	AUX
ijassa-1005	104	121	been	be	AUX
ijassa-1005	104	122	manually	manually	ADV
ijassa-1005	104	123	assembled	assemble	VERB
ijassa-1005	104	124	.	.	PUNCT
ijassa-1005	105	1	m(0	m(0	NOUN
ijassa-1005	105	2	)	)	PUNCT
ijassa-1005	105	3	m(1	m(1	NOUN
ijassa-1005	105	4	)	)	PUNCT
ijassa-1005	105	5	m(n	m(n	NOUN
ijassa-1005	105	6	)	)	PUNCT
ijassa-1005	105	7	.	.	PUNCT
ijassa-1005	105	8	.	.	PUNCT
ijassa-1005	105	9	.	.	PUNCT
ijassa-1005	106	1	m(n+1	m(n+1	X
ijassa-1005	106	2	)	)	PUNCT
ijassa-1005	106	3	r(0	r(0	PROPN
ijassa-1005	106	4	)	)	PUNCT
ijassa-1005	106	5	r(1	r(1	PROPN
ijassa-1005	106	6	)	)	PUNCT
ijassa-1005	107	1	r(n	r(n	PROPN
ijassa-1005	107	2	)	)	PUNCT
ijassa-1005	107	3	r(n+1	r(n+1	NUM
ijassa-1005	107	4	)	)	PUNCT
ijassa-1005	107	5	.	.	PUNCT
ijassa-1005	107	6	.	.	PUNCT
ijassa-1005	108	1	.	.	PUNCT
ijassa-1005	109	1	automation	automation	NOUN
ijassa-1005	109	2	of	of	ADP
ijassa-1005	109	3	cluster	cluster	NOUN
ijassa-1005	109	4	large	large	ADJ
ijassa-1005	109	5	-	-	PUNCT
ijassa-1005	109	6	scale	scale	NOUN
ijassa-1005	109	7	production	production	NOUN
ijassa-1005	109	8	systems	system	NOUN
ijassa-1005	109	9	109	109	NUM
ijassa-1005	109	10	copyright	copyright	NOUN
ijassa-1005	109	11	©	©	PROPN
ijassa-1005	109	12	2020	2020	NUM
ijassa-1005	109	13	assa	assa	NOUN
ijassa-1005	109	14	.	.	PUNCT
ijassa-1005	110	1	adv	adv	PROPN
ijassa-1005	110	2	.	.	PUNCT
ijassa-1005	111	1	in	in	ADP
ijassa-1005	111	2	systems	system	NOUN
ijassa-1005	111	3	science	science	NOUN
ijassa-1005	111	4	and	and	CCONJ
ijassa-1005	111	5	appl	appl	NOUN
ijassa-1005	111	6	.	.	PUNCT
ijassa-1005	112	1	(	(	PUNCT
ijassa-1005	112	2	2020	2020	NUM
ijassa-1005	112	3	)	)	PUNCT
ijassa-1005	112	4	7	7	NUM
ijassa-1005	112	5	.	.	PUNCT
ijassa-1005	112	6	initial	initial	ADJ
ijassa-1005	112	7	data	datum	NOUN
ijassa-1005	112	8	for	for	ADP
ijassa-1005	112	9	modeling	modeling	NOUN
ijassa-1005	112	10	let	let	VERB
ijassa-1005	112	11	's	us	PRON
ijassa-1005	112	12	consider	consider	VERB
ijassa-1005	112	13	how	how	SCONJ
ijassa-1005	112	14	the	the	DET
ijassa-1005	112	15	cost	cost	NOUN
ijassa-1005	112	16	of	of	ADP
ijassa-1005	112	17	robots	robot	NOUN
ijassa-1005	112	18	changes	change	VERB
ijassa-1005	112	19	across	across	ADP
ijassa-1005	112	20	generations	generation	NOUN
ijassa-1005	112	21	.	.	PUNCT
ijassa-1005	113	1	we	we	PRON
ijassa-1005	113	2	will	will	AUX
ijassa-1005	113	3	assume	assume	VERB
ijassa-1005	113	4	that	that	SCONJ
ijassa-1005	113	5	manufacturing	manufacture	VERB
ijassa-1005	113	6	a	a	DET
ijassa-1005	113	7	robot	robot	NOUN
ijassa-1005	113	8	requires	require	VERB
ijassa-1005	113	9	purchased	purchase	VERB
ijassa-1005	113	10	parts	part	NOUN
ijassa-1005	113	11	and	and	CCONJ
ijassa-1005	113	12	the	the	DET
ijassa-1005	113	13	performance	performance	NOUN
ijassa-1005	113	14	of	of	ADP
ijassa-1005	113	15	four	four	NUM
ijassa-1005	113	16	types	type	NOUN
ijassa-1005	113	17	of	of	ADP
ijassa-1005	113	18	technological	technological	ADJ
ijassa-1005	113	19	operations	operation	NOUN
ijassa-1005	113	20	(	(	PUNCT
ijassa-1005	113	21	tos	tos	NOUN
ijassa-1005	113	22	)	)	PUNCT
ijassa-1005	113	23	.	.	PUNCT
ijassa-1005	114	1	initial	initial	ADJ
ijassa-1005	114	2	data	datum	NOUN
ijassa-1005	114	3	.	.	PUNCT
ijassa-1005	115	1	the	the	DET
ijassa-1005	115	2	robot	robot	NOUN
ijassa-1005	115	3	's	's	PART
ijassa-1005	115	4	lifetime	lifetime	NOUN
ijassa-1005	115	5	t	t	NOUN
ijassa-1005	115	6	=	=	SYM
ijassa-1005	115	7	1000	1000	NUM
ijassa-1005	115	8	.	.	PUNCT
ijassa-1005	116	1	the	the	DET
ijassa-1005	116	2	time	time	NOUN
ijassa-1005	116	3	needed	need	VERB
ijassa-1005	116	4	for	for	SCONJ
ijassa-1005	116	5	a	a	DET
ijassa-1005	116	6	person	person	NOUN
ijassa-1005	116	7	to	to	PART
ijassa-1005	116	8	perform	perform	VERB
ijassa-1005	116	9	tos	to	NOUN
ijassa-1005	116	10	:	:	PUNCT
ijassa-1005	116	11	g1=4	g1=4	PROPN
ijassa-1005	116	12	,	,	PUNCT
ijassa-1005	116	13	g2=3	g2=3	NOUN
ijassa-1005	116	14	,	,	PUNCT
ijassa-1005	116	15	g3=3	g3=3	PROPN
ijassa-1005	116	16	,	,	PUNCT
ijassa-1005	116	17	g4=23	g4=23	PROPN
ijassa-1005	116	18	.	.	PUNCT
ijassa-1005	117	1	the	the	DET
ijassa-1005	117	2	time	time	NOUN
ijassa-1005	117	3	needed	need	VERB
ijassa-1005	117	4	for	for	SCONJ
ijassa-1005	117	5	a	a	DET
ijassa-1005	117	6	robot	robot	NOUN
ijassa-1005	117	7	to	to	PART
ijassa-1005	117	8	perform	perform	VERB
ijassa-1005	117	9	tos	to	NOUN
ijassa-1005	117	10	:	:	PUNCT
ijassa-1005	117	11	b1=5	b1=5	PROPN
ijassa-1005	117	12	,	,	PUNCT
ijassa-1005	117	13	b2=12	b2=12	PROPN
ijassa-1005	117	14	,	,	PUNCT
ijassa-1005	117	15	b3=240	b3=240	NOUN
ijassa-1005	117	16	,	,	PUNCT
ijassa-1005	117	17	b4=4	b4=4	PROPN
ijassa-1005	117	18	.	.	PUNCT
ijassa-1005	118	1	the	the	DET
ijassa-1005	118	2	number	number	NOUN
ijassa-1005	118	3	of	of	ADP
ijassa-1005	118	4	identical	identical	ADJ
ijassa-1005	118	5	tos	tos	NOUN
ijassa-1005	118	6	when	when	SCONJ
ijassa-1005	118	7	manufacturing	manufacture	VERB
ijassa-1005	118	8	a	a	DET
ijassa-1005	118	9	hydraulic	hydraulic	ADJ
ijassa-1005	118	10	drive	drive	NOUN
ijassa-1005	118	11	:	:	PUNCT
ijassa-1005	118	12	n1	n1	ADJ
ijassa-1005	118	13	=	=	SYM
ijassa-1005	118	14	n2	n2	NOUN
ijassa-1005	118	15	=	=	NOUN
ijassa-1005	118	16	n3=4	n3=4	PROPN
ijassa-1005	118	17	,	,	PUNCT
ijassa-1005	118	18	n4=6	n4=6	PROPN
ijassa-1005	118	19	.	.	PUNCT
ijassa-1005	119	1	the	the	DET
ijassa-1005	119	2	number	number	NOUN
ijassa-1005	119	3	of	of	ADP
ijassa-1005	119	4	identical	identical	ADJ
ijassa-1005	119	5	tos	tos	NOUN
ijassa-1005	119	6	when	when	SCONJ
ijassa-1005	119	7	manufacturing	manufacture	VERB
ijassa-1005	119	8	a	a	DET
ijassa-1005	119	9	robot	robot	NOUN
ijassa-1005	119	10	:	:	PUNCT
ijassa-1005	119	11	h1=12	h1=12	PROPN
ijassa-1005	119	12	,	,	PUNCT
ijassa-1005	119	13	h2=20	h2=20	NOUN
ijassa-1005	119	14	,	,	PUNCT
ijassa-1005	119	15	h3=10	h3=10	PROPN
ijassa-1005	119	16	,	,	PUNCT
ijassa-1005	119	17	h4=8	h4=8	PROPN
ijassa-1005	119	18	.	.	PUNCT
ijassa-1005	120	1	the	the	DET
ijassa-1005	120	2	cost	cost	NOUN
ijassa-1005	120	3	of	of	ADP
ijassa-1005	120	4	purchased	purchase	VERB
ijassa-1005	120	5	parts	part	NOUN
ijassa-1005	120	6	for	for	ADP
ijassa-1005	120	7	hydraulic	hydraulic	ADJ
ijassa-1005	120	8	drives	drive	NOUN
ijassa-1005	120	9	for	for	ADP
ijassa-1005	120	10	all	all	DET
ijassa-1005	120	11	tos	to	NOUN
ijassa-1005	120	12	df=10	df=10	PROPN
ijassa-1005	120	13	,	,	PUNCT
ijassa-1005	120	14	the	the	DET
ijassa-1005	120	15	cost	cost	NOUN
ijassa-1005	120	16	of	of	ADP
ijassa-1005	120	17	purchased	purchase	VERB
ijassa-1005	120	18	parts	part	NOUN
ijassa-1005	120	19	for	for	ADP
ijassa-1005	120	20	robots	robot	NOUN
ijassa-1005	120	21	for	for	ADP
ijassa-1005	120	22	all	all	DET
ijassa-1005	120	23	tos	tos	NOUN
ijassa-1005	120	24	dr	dr	PROPN
ijassa-1005	120	25	=	=	PROPN
ijassa-1005	120	26	80	80	NUM
ijassa-1005	120	27	.	.	PUNCT
ijassa-1005	121	1	the	the	DET
ijassa-1005	121	2	cost	cost	NOUN
ijassa-1005	121	3	of	of	ADP
ijassa-1005	121	4	the	the	DET
ijassa-1005	121	5	working	working	NOUN
ijassa-1005	121	6	time	time	NOUN
ijassa-1005	121	7	unit	unit	NOUN
ijassa-1005	121	8	of	of	ADP
ijassa-1005	121	9	each	each	DET
ijassa-1005	121	10	robot	robot	NOUN
ijassa-1005	121	11	λ(0)=0.86	λ(0)=0.86	PROPN
ijassa-1005	121	12	.	.	PUNCT
ijassa-1005	122	1	first	first	ADV
ijassa-1005	122	2	,	,	PUNCT
ijassa-1005	122	3	we	we	PRON
ijassa-1005	122	4	will	will	AUX
ijassa-1005	122	5	calculate	calculate	VERB
ijassa-1005	122	6	the	the	DET
ijassa-1005	122	7	cost	cost	NOUN
ijassa-1005	122	8	of	of	ADP
ijassa-1005	122	9	the	the	DET
ijassa-1005	122	10	manual	manual	ADJ
ijassa-1005	122	11	assembly	assembly	NOUN
ijassa-1005	122	12	of	of	ADP
ijassa-1005	122	13	a	a	DET
ijassa-1005	122	14	hydraulic	hydraulic	ADJ
ijassa-1005	122	15	drive	drive	NOUN
ijassa-1005	122	16	.	.	PUNCT
ijassa-1005	123	1	using	use	VERB
ijassa-1005	123	2	(	(	PUNCT
ijassa-1005	123	3	6.2	6.2	NUM
ijassa-1005	123	4	)	)	PUNCT
ijassa-1005	123	5	and	and	CCONJ
ijassa-1005	123	6	(	(	PUNCT
ijassa-1005	123	7	6.4	6.4	NUM
ijassa-1005	123	8	)	)	PUNCT
ijassa-1005	123	9	,	,	PUNCT
ijassa-1005	123	10	we	we	PRON
ijassa-1005	123	11	will	will	AUX
ijassa-1005	123	12	get	get	VERB
ijassa-1005	123	13	4	4	NUM
ijassa-1005	123	14	1	1	NUM
ijassa-1005	123	15	(	(	PUNCT
ijassa-1005	123	16	0	0	NUM
ijassa-1005	123	17	)	)	PUNCT
ijassa-1005	124	1	i	i	PRON
ijassa-1005	125	1	i	i	PRON
ijassa-1005	125	2	f	f	VERB
ijassa-1005	126	1	i	i	PRON
ijassa-1005	126	2	f	f	PROPN
ijassa-1005	126	3	g	g	PROPN
ijassa-1005	126	4	n	n	PROPN
ijassa-1005	126	5	d	d	NOUN
ijassa-1005	126	6	=	=	SYM
ijassa-1005	127	1	=	=	PUNCT
ijassa-1005	127	2	+	+	NOUN
ijassa-1005	127	3			X
ijassa-1005	127	4	.	.	PUNCT
ijassa-1005	128	1	(	(	PUNCT
ijassa-1005	128	2	7.1	7.1	NUM
ijassa-1005	128	3	)	)	PUNCT
ijassa-1005	128	4	using	use	VERB
ijassa-1005	128	5	the	the	DET
ijassa-1005	128	6	initial	initial	ADJ
ijassa-1005	128	7	data	datum	NOUN
ijassa-1005	128	8	,	,	PUNCT
ijassa-1005	128	9	we	we	PRON
ijassa-1005	128	10	will	will	AUX
ijassa-1005	128	11	get	get	VERB
ijassa-1005	128	12	(	(	PUNCT
ijassa-1005	128	13	0	0	NUM
ijassa-1005	128	14	)	)	PUNCT
ijassa-1005	128	15	218f	218f	NUM
ijassa-1005	129	1	=	=	PUNCT
ijassa-1005	129	2	.	.	PUNCT
ijassa-1005	130	1	to	to	PART
ijassa-1005	130	2	calculate	calculate	VERB
ijassa-1005	130	3	the	the	DET
ijassa-1005	130	4	cost	cost	NOUN
ijassa-1005	130	5	of	of	ADP
ijassa-1005	130	6	the	the	DET
ijassa-1005	130	7	manual	manual	ADJ
ijassa-1005	130	8	assembly	assembly	NOUN
ijassa-1005	130	9	of	of	ADP
ijassa-1005	130	10	a	a	DET
ijassa-1005	130	11	robot	robot	NOUN
ijassa-1005	130	12	,	,	PUNCT
ijassa-1005	130	13	using	use	VERB
ijassa-1005	130	14	(	(	PUNCT
ijassa-1005	130	15	6.1	6.1	NUM
ijassa-1005	130	16	)	)	PUNCT
ijassa-1005	130	17	and	and	CCONJ
ijassa-1005	130	18	(	(	PUNCT
ijassa-1005	130	19	6.3	6.3	NUM
ijassa-1005	130	20	)	)	PUNCT
ijassa-1005	130	21	,	,	PUNCT
ijassa-1005	130	22	we	we	PRON
ijassa-1005	130	23	will	will	AUX
ijassa-1005	130	24	get	get	VERB
ijassa-1005	130	25	the	the	DET
ijassa-1005	130	26	formula	formula	NOUN
ijassa-1005	130	27	4	4	NUM
ijassa-1005	130	28	1	1	NUM
ijassa-1005	130	29	(	(	PUNCT
ijassa-1005	130	30	0	0	NUM
ijassa-1005	130	31	)	)	PUNCT
ijassa-1005	130	32	(	(	PUNCT
ijassa-1005	130	33	0)i	0)i	NUM
ijassa-1005	131	1	i	i	PRON
ijassa-1005	131	2	r	r	VERB
ijassa-1005	131	3	i	i	PRON
ijassa-1005	131	4	с	с	NOUN
ijassa-1005	131	5	g	g	NOUN
ijassa-1005	131	6	h	h	PROPN
ijassa-1005	132	1	d	d	X
ijassa-1005	132	2	f	f	X
ijassa-1005	132	3	=	=	PUNCT
ijassa-1005	133	1	=	=	PUNCT
ijassa-1005	134	1	+	+	PUNCT
ijassa-1005	134	2	+	+	ADJ
ijassa-1005	134	3			X
ijassa-1005	134	4	.	.	PUNCT
ijassa-1005	135	1	(	(	PUNCT
ijassa-1005	135	2	7.2	7.2	NUM
ijassa-1005	135	3	)	)	PUNCT
ijassa-1005	135	4	using	use	VERB
ijassa-1005	135	5	the	the	DET
ijassa-1005	135	6	initial	initial	ADJ
ijassa-1005	135	7	data	datum	NOUN
ijassa-1005	135	8	and	and	CCONJ
ijassa-1005	135	9	(	(	PUNCT
ijassa-1005	135	10	8.1	8.1	NUM
ijassa-1005	135	11	)	)	PUNCT
ijassa-1005	135	12	,	,	PUNCT
ijassa-1005	135	13	we	we	PRON
ijassa-1005	135	14	will	will	AUX
ijassa-1005	135	15	finally	finally	ADV
ijassa-1005	135	16	get	get	VERB
ijassa-1005	135	17	:	:	PUNCT
ijassa-1005	135	18	c(0)=860	c(0)=860	X
ijassa-1005	135	19	.	.	PUNCT
ijassa-1005	136	1	the	the	DET
ijassa-1005	136	2	cost	cost	NOUN
ijassa-1005	136	3	of	of	ADP
ijassa-1005	136	4	the	the	DET
ijassa-1005	136	5	robot	robot	NOUN
ijassa-1005	136	6	's	's	PART
ijassa-1005	136	7	working	working	NOUN
ijassa-1005	136	8	time	time	NOUN
ijassa-1005	136	9	will	will	AUX
ijassa-1005	136	10	therefore	therefore	ADV
ijassa-1005	136	11	be	be	AUX
ijassa-1005	136	12	equal	equal	ADJ
ijassa-1005	136	13	to	to	ADP
ijassa-1005	136	14	λ(0)=0.86	λ(0)=0.86	PROPN
ijassa-1005	136	15	.	.	PROPN
ijassa-1005	136	16	8	8	NUM
ijassa-1005	136	17	.	.	PUNCT
ijassa-1005	137	1	robot	robot	NOUN
ijassa-1005	137	2	cost	cost	NOUN
ijassa-1005	137	3	dynamics	dynamic	NOUN
ijassa-1005	137	4	from	from	ADP
ijassa-1005	137	5	generation	generation	NOUN
ijassa-1005	137	6	to	to	PART
ijassa-1005	137	7	generation	generation	VERB
ijassa-1005	137	8	the	the	DET
ijassa-1005	137	9	change	change	NOUN
ijassa-1005	137	10	in	in	ADP
ijassa-1005	137	11	the	the	DET
ijassa-1005	137	12	robot	robot	NOUN
ijassa-1005	137	13	's	's	PART
ijassa-1005	137	14	cost	cost	NOUN
ijassa-1005	137	15	from	from	ADP
ijassa-1005	137	16	generation	generation	NOUN
ijassa-1005	137	17	to	to	ADP
ijassa-1005	137	18	generation	generation	NOUN
ijassa-1005	137	19	at	at	ADP
ijassa-1005	137	20	a	a	DET
ijassa-1005	137	21	fixed	fix	VERB
ijassa-1005	137	22	cost	cost	NOUN
ijassa-1005	137	23	of	of	ADP
ijassa-1005	137	24	purchased	purchase	VERB
ijassa-1005	137	25	hydraulic	hydraulic	ADJ
ijassa-1005	137	26	drives	drive	NOUN
ijassa-1005	137	27	is	be	AUX
ijassa-1005	137	28	based	base	VERB
ijassa-1005	137	29	on	on	ADP
ijassa-1005	137	30	the	the	DET
ijassa-1005	137	31	following	follow	VERB
ijassa-1005	137	32	equation	equation	NOUN
ijassa-1005	137	33	(	(	PUNCT
ijassa-1005	137	34	)	)	PUNCT
ijassa-1005	137	35	(	(	PUNCT
ijassa-1005	137	36	1	1	X
ijassa-1005	137	37	)	)	PUNCT
ijassa-1005	137	38	(	(	PUNCT
ijassa-1005	137	39	)	)	PUNCT
ijassa-1005	137	40	(	(	PUNCT
ijassa-1005	137	41	)	)	PUNCT
ijassa-1005	137	42	(	(	PUNCT
ijassa-1005	137	43	0)rc	0)rc	NUM
ijassa-1005	137	44	n	n	CCONJ
ijassa-1005	137	45	n	n	PRON
ijassa-1005	137	46	b	b	PROPN
ijassa-1005	137	47	g	g	PROPN
ijassa-1005	137	48	d	d	PROPN
ijassa-1005	137	49	f	f	PROPN
ijassa-1005	137	50			NOUN
ijassa-1005	137	51	=	=	ADJ
ijassa-1005	137	52	−	−	PROPN
ijassa-1005	137	53	+	+	CCONJ
ijassa-1005	137	54	+	+	X
ijassa-1005	137	55	+	+	X
ijassa-1005	137	56	.	.	PUNCT
ijassa-1005	138	1	(	(	PUNCT
ijassa-1005	138	2	8.1	8.1	NUM
ijassa-1005	138	3	)	)	PUNCT
ijassa-1005	138	4	to	to	PART
ijassa-1005	138	5	solve	solve	VERB
ijassa-1005	138	6	this	this	DET
ijassa-1005	138	7	equation	equation	NOUN
ijassa-1005	138	8	,	,	PUNCT
ijassa-1005	138	9	it	it	PRON
ijassa-1005	138	10	is	be	AUX
ijassa-1005	138	11	first	first	ADV
ijassa-1005	138	12	necessary	necessary	ADJ
ijassa-1005	138	13	to	to	PART
ijassa-1005	138	14	determine	determine	VERB
ijassa-1005	138	15	the	the	DET
ijassa-1005	138	16	optimal	optimal	ADJ
ijassa-1005	138	17	automation	automation	NOUN
ijassa-1005	138	18	vector	vector	NOUN
ijassa-1005	138	19	(1	(1	ADV
ijassa-1005	138	20	,	,	PUNCT
ijassa-1005	138	21	2	2	PROPN
ijassa-1005	138	22	,	,	PUNCT
ijassa-1005	138	23	3	3	NOUN
ijassa-1005	138	24	,	,	PUNCT
ijassa-1005	138	25	4	4	NOUN
ijassa-1005	138	26	)	)	PUNCT
ijassa-1005	138	27	which	which	PRON
ijassa-1005	138	28	would	would	AUX
ijassa-1005	138	29	allow	allow	VERB
ijassa-1005	138	30	getting	get	VERB
ijassa-1005	138	31	the	the	DET
ijassa-1005	138	32	minimum	minimum	ADJ
ijassa-1005	138	33	cost	cost	NOUN
ijassa-1005	138	34	of	of	ADP
ijassa-1005	138	35	the	the	DET
ijassa-1005	138	36	robot	robot	NOUN
ijassa-1005	138	37	.	.	PUNCT
ijassa-1005	139	1	for	for	ADP
ijassa-1005	139	2	this	this	DET
ijassa-1005	139	3	purpose	purpose	NOUN
ijassa-1005	139	4	,	,	PUNCT
ijassa-1005	139	5	we	we	PRON
ijassa-1005	139	6	will	will	AUX
ijassa-1005	139	7	make	make	VERB
ijassa-1005	139	8	table	table	NOUN
ijassa-1005	139	9	8.1	8.1	NUM
ijassa-1005	139	10	to	to	PART
ijassa-1005	139	11	determine	determine	VERB
ijassa-1005	139	12	the	the	DET
ijassa-1005	139	13	optimal	optimal	ADJ
ijassa-1005	139	14	automation	automation	NOUN
ijassa-1005	139	15	vector	vector	NOUN
ijassa-1005	139	16	for	for	ADP
ijassa-1005	139	17	production	production	NOUN
ijassa-1005	139	18	of	of	ADP
ijassa-1005	139	19	the	the	DET
ijassa-1005	139	20	1st	1st	ADJ
ijassa-1005	139	21	generation	generation	NOUN
ijassa-1005	139	22	robots	robot	NOUN
ijassa-1005	139	23	,	,	PUNCT
ijassa-1005	139	24	using	use	VERB
ijassa-1005	139	25	the	the	DET
ijassa-1005	139	26	0	0	NUM
ijassa-1005	139	27	-	-	PUNCT
ijassa-1005	139	28	th	th	VERB
ijassa-1005	139	29	generation	generation	NOUN
ijassa-1005	139	30	robots	robot	NOUN
ijassa-1005	139	31	.	.	PUNCT
ijassa-1005	140	1	table	table	NOUN
ijassa-1005	140	2	8.1	8.1	NUM
ijassa-1005	140	3	.	.	PUNCT
ijassa-1005	141	1	the	the	DET
ijassa-1005	141	2	automation	automation	NOUN
ijassa-1005	141	3	vector	vector	NOUN
ijassa-1005	141	4	for	for	ADP
ijassa-1005	141	5	production	production	NOUN
ijassa-1005	141	6	of	of	ADP
ijassa-1005	141	7	the	the	DET
ijassa-1005	141	8	1st	1st	ADJ
ijassa-1005	141	9	generation	generation	NOUN
ijassa-1005	141	10	robots	robot	NOUN
ijassa-1005	141	11	а	а	PROPN
ijassa-1005	141	12	b	b	PROPN
ijassa-1005	141	13	c	c	PROPN
ijassa-1005	141	14	d	d	PROPN
ijassa-1005	141	15	e	e	X
ijassa-1005	141	16	f	f	PROPN
ijassa-1005	141	17	g	g	PROPN
ijassa-1005	141	18	h	h	PROPN
ijassa-1005	141	19	j	j	PROPN
ijassa-1005	142	1	i	i	PROPN
ijassa-1005	142	2	z(1	z(1	PROPN
ijassa-1005	142	3	)	)	PUNCT
ijassa-1005	142	4	и	и	PROPN
ijassa-1005	142	5	(1	(1	X
ijassa-1005	142	6	)	)	PUNCT
ijassa-1005	142	7	с(1)=z(1)*h+f(0)+	с(1)=z(1)*h+f(0)+	NOUN
ijassa-1005	142	8	dr	dr	PROPN
ijassa-1005	142	9	то	то	ADV
ijassa-1005	142	10	g	g	PROPN
ijassa-1005	142	11	b	b	PROPN
ijassa-1005	142	12	λ(0)b	λ(0)b	PROPN
ijassa-1005	142	13	z(1	z(1	PROPN
ijassa-1005	142	14	)	)	PUNCT
ijassa-1005	142	15	(1	(1	NOUN
ijassa-1005	142	16	)	)	PUNCT
ijassa-1005	142	17	h	h	NOUN
ijassa-1005	142	18	f(0	f(0	NOUN
ijassa-1005	142	19	)	)	PUNCT
ijassa-1005	142	20	dr	dr	PROPN
ijassa-1005	142	21	1	1	NUM
ijassa-1005	142	22	4	4	NUM
ijassa-1005	142	23	5	5	NUM
ijassa-1005	142	24	4,3	4,3	NUM
ijassa-1005	142	25	4	4	NUM
ijassa-1005	142	26	0	0	NUM
ijassa-1005	142	27	12	12	NUM
ijassa-1005	142	28	26	26	NUM
ijassa-1005	142	29	80	80	NUM
ijassa-1005	142	30	154	154	NUM
ijassa-1005	142	31	2	2	NUM
ijassa-1005	142	32	3	3	NUM
ijassa-1005	142	33	12	12	NUM
ijassa-1005	142	34	10,32	10,32	NUM
ijassa-1005	142	35	3	3	NUM
ijassa-1005	142	36	0	0	NUM
ijassa-1005	142	37	20	20	NUM
ijassa-1005	142	38	22	22	NUM
ijassa-1005	142	39	80	80	NUM
ijassa-1005	142	40	162	162	NUM
ijassa-1005	142	41	3	3	NUM
ijassa-1005	142	42	3	3	NUM
ijassa-1005	142	43	240	240	NUM
ijassa-1005	142	44	206,4	206,4	NUM
ijassa-1005	142	45	3	3	NUM
ijassa-1005	142	46	0	0	NUM
ijassa-1005	142	47	10	10	NUM
ijassa-1005	142	48	22	22	NUM
ijassa-1005	142	49	80	80	NUM
ijassa-1005	142	50	132	132	NUM
ijassa-1005	142	51	4	4	NUM
ijassa-1005	142	52	23	23	NUM
ijassa-1005	142	53	4	4	NUM
ijassa-1005	142	54	3,44	3,44	NOUN
ijassa-1005	142	55	3,44	3,44	NUM
ijassa-1005	142	56	1	1	NUM
ijassa-1005	142	57	8	8	NUM
ijassa-1005	142	58	148	148	NUM
ijassa-1005	142	59	80	80	NUM
ijassa-1005	142	60	255,52	255,52	NUM
ijassa-1005	142	61	c(1	c(1	NOUN
ijassa-1005	142	62	)	)	PUNCT
ijassa-1005	142	63	703,52	703,52	PROPN
ijassa-1005	142	64	λ(1	λ(1	PROPN
ijassa-1005	142	65	)	)	PUNCT
ijassa-1005	142	66	255,52	255,52	NUM
ijassa-1005	142	67	first	first	ADV
ijassa-1005	142	68	,	,	PUNCT
ijassa-1005	142	69	we	we	PRON
ijassa-1005	142	70	will	will	AUX
ijassa-1005	142	71	calculate	calculate	VERB
ijassa-1005	142	72	the	the	DET
ijassa-1005	142	73	cost	cost	NOUN
ijassa-1005	142	74	of	of	ADP
ijassa-1005	142	75	performing	perform	VERB
ijassa-1005	142	76	tos	tos	NOUN
ijassa-1005	142	77	by	by	ADP
ijassa-1005	142	78	a	a	DET
ijassa-1005	142	79	robot	robot	NOUN
ijassa-1005	142	80	(	(	PUNCT
ijassa-1005	142	81	column	column	NOUN
ijassa-1005	142	82	d	d	PROPN
ijassa-1005	142	83	)	)	PUNCT
ijassa-1005	142	84	.	.	PUNCT
ijassa-1005	143	1	then	then	ADV
ijassa-1005	143	2	,	,	PUNCT
ijassa-1005	143	3	from	from	ADP
ijassa-1005	143	4	columns	column	NOUN
ijassa-1005	143	5	d	d	PROPN
ijassa-1005	143	6	and	and	CCONJ
ijassa-1005	143	7	b	b	NOUN
ijassa-1005	143	8	we	we	PRON
ijassa-1005	143	9	will	will	AUX
ijassa-1005	143	10	select	select	VERB
ijassa-1005	143	11	the	the	DET
ijassa-1005	143	12	minimum	minimum	ADJ
ijassa-1005	143	13	cost	cost	NOUN
ijassa-1005	143	14	of	of	ADP
ijassa-1005	143	15	performing	perform	VERB
ijassa-1005	143	16	tos	tos	NOUN
ijassa-1005	143	17	by	by	ADP
ijassa-1005	143	18	a	a	DET
ijassa-1005	143	19	person	person	NOUN
ijassa-1005	143	20	or	or	CCONJ
ijassa-1005	143	21	a	a	DET
ijassa-1005	143	22	robot	robot	NOUN
ijassa-1005	143	23	and	and	CCONJ
ijassa-1005	143	24	draw	draw	VERB
ijassa-1005	143	25	a	a	DET
ijassa-1005	143	26	vector	vector	NOUN
ijassa-1005	143	27	z(1	z(1	PROPN
ijassa-1005	143	28	)	)	PUNCT
ijassa-1005	143	29	of	of	ADP
ijassa-1005	143	30	minimum	minimum	ADJ
ijassa-1005	143	31	values	value	NOUN
ijassa-1005	143	32	and	and	CCONJ
ijassa-1005	143	33	the	the	DET
ijassa-1005	143	34	corresponding	correspond	VERB
ijassa-1005	143	35	vector	vector	NOUN
ijassa-1005	143	36	(1	(1	NOUN
ijassa-1005	143	37	)	)	PUNCT
ijassa-1005	143	38	.	.	PUNCT
ijassa-1005	144	1	the	the	DET
ijassa-1005	144	2	cost	cost	NOUN
ijassa-1005	144	3	of	of	ADP
ijassa-1005	144	4	any	any	PRON
ijassa-1005	144	5	(	(	PUNCT
ijassa-1005	144	6	e.g.	e.g.	ADV
ijassa-1005	144	7	the	the	DET
ijassa-1005	144	8	n	n	CCONJ
ijassa-1005	144	9	-	-	PUNCT
ijassa-1005	144	10	th	th	NOUN
ijassa-1005	144	11	)	)	PUNCT
ijassa-1005	144	12	generation	generation	NOUN
ijassa-1005	144	13	robots	robot	NOUN
ijassa-1005	144	14	will	will	AUX
ijassa-1005	144	15	be	be	AUX
ijassa-1005	144	16	calculated	calculate	VERB
ijassa-1005	144	17	according	accord	VERB
ijassa-1005	144	18	to	to	ADP
ijassa-1005	144	19	(	(	PUNCT
ijassa-1005	144	20	8.1	8.1	NUM
ijassa-1005	144	21	)	)	PUNCT
ijassa-1005	144	22	,	,	PUNCT
ijassa-1005	144	23	but	but	CCONJ
ijassa-1005	144	24	each	each	DET
ijassa-1005	144	25	time	time	NOUN
ijassa-1005	144	26	λ(n1	λ(n1	PROPN
ijassa-1005	144	27	)	)	PUNCT
ijassa-1005	144	28	and	and	CCONJ
ijassa-1005	144	29	z(n	z(n	NOUN
ijassa-1005	144	30	)	)	PUNCT
ijassa-1005	144	31	must	must	AUX
ijassa-1005	144	32	be	be	AUX
ijassa-1005	144	33	determined	determine	VERB
ijassa-1005	144	34	beforehand	beforehand	ADV
ijassa-1005	144	35	.	.	PUNCT
ijassa-1005	145	1	after	after	ADP
ijassa-1005	145	2	that	that	PRON
ijassa-1005	145	3	,	,	PUNCT
ijassa-1005	145	4	we	we	PRON
ijassa-1005	145	5	will	will	AUX
ijassa-1005	145	6	calculate	calculate	VERB
ijassa-1005	145	7	the	the	DET
ijassa-1005	145	8	cost	cost	NOUN
ijassa-1005	145	9	of	of	ADP
ijassa-1005	145	10	the	the	DET
ijassa-1005	145	11	110	110	NUM
ijassa-1005	145	12	v.	v.	ADP
ijassa-1005	145	13	chadeev	chadeev	PROPN
ijassa-1005	145	14	,	,	PUNCT
ijassa-1005	145	15	n.	n.	PROPN
ijassa-1005	145	16	aristova	aristova	VERB
ijassa-1005	145	17	copyright	copyright	PROPN
ijassa-1005	145	18	©	©	PROPN
ijassa-1005	145	19	2020	2020	NUM
ijassa-1005	145	20	assa	assa	NOUN
ijassa-1005	145	21	.	.	PUNCT
ijassa-1005	146	1	adv	adv	PROPN
ijassa-1005	146	2	.	.	PUNCT
ijassa-1005	147	1	in	in	ADP
ijassa-1005	147	2	systems	system	NOUN
ijassa-1005	147	3	science	science	NOUN
ijassa-1005	147	4	and	and	CCONJ
ijassa-1005	147	5	appl	appl	NOUN
ijassa-1005	147	6	.	.	PUNCT
ijassa-1005	148	1	(	(	PUNCT
ijassa-1005	148	2	2020	2020	NUM
ijassa-1005	148	3	)	)	PUNCT
ijassa-1005	148	4	manual	manual	ADJ
ijassa-1005	148	5	assembly	assembly	NOUN
ijassa-1005	148	6	of	of	ADP
ijassa-1005	148	7	a	a	DET
ijassa-1005	148	8	hydraulic	hydraulic	ADJ
ijassa-1005	148	9	drive	drive	NOUN
ijassa-1005	148	10	(	(	PUNCT
ijassa-1005	148	11	column	column	NOUN
ijassa-1005	148	12	h	h	PROPN
ijassa-1005	148	13	)	)	PUNCT
ijassa-1005	148	14	.	.	PUNCT
ijassa-1005	149	1	the	the	DET
ijassa-1005	149	2	cost	cost	NOUN
ijassa-1005	149	3	of	of	ADP
ijassa-1005	149	4	a	a	DET
ijassa-1005	149	5	robot	robot	NOUN
ijassa-1005	149	6	will	will	AUX
ijassa-1005	149	7	be	be	AUX
ijassa-1005	149	8	calculated	calculate	VERB
ijassa-1005	149	9	in	in	ADP
ijassa-1005	149	10	column	column	NOUN
ijassa-1005	149	11	i.	i.	PROPN
ijassa-1005	149	12	making	make	VERB
ijassa-1005	149	13	such	such	ADJ
ijassa-1005	149	14	calculations	calculation	NOUN
ijassa-1005	149	15	for	for	ADP
ijassa-1005	149	16	the	the	DET
ijassa-1005	149	17	next	next	ADJ
ijassa-1005	149	18	generations	generation	NOUN
ijassa-1005	149	19	,	,	PUNCT
ijassa-1005	149	20	we	we	PRON
ijassa-1005	149	21	will	will	AUX
ijassa-1005	149	22	see	see	VERB
ijassa-1005	149	23	robot	robot	NOUN
ijassa-1005	149	24	cost	cost	NOUN
ijassa-1005	149	25	dynamics	dynamic	NOUN
ijassa-1005	149	26	at	at	ADP
ijassa-1005	149	27	a	a	DET
ijassa-1005	149	28	fixed	fix	VERB
ijassa-1005	149	29	cost	cost	NOUN
ijassa-1005	149	30	of	of	ADP
ijassa-1005	149	31	purchased	purchase	VERB
ijassa-1005	149	32	hydraulic	hydraulic	ADJ
ijassa-1005	149	33	drives	drive	NOUN
ijassa-1005	149	34	.	.	PUNCT
ijassa-1005	150	1	the	the	DET
ijassa-1005	150	2	results	result	NOUN
ijassa-1005	150	3	are	be	AUX
ijassa-1005	150	4	given	give	VERB
ijassa-1005	150	5	in	in	ADP
ijassa-1005	150	6	table	table	NOUN
ijassa-1005	150	7	8.2	8.2	NUM
ijassa-1005	150	8	.	.	PUNCT
ijassa-1005	150	9	table	table	NOUN
ijassa-1005	150	10	8.2	8.2	NUM
ijassa-1005	150	11	.	.	PUNCT
ijassa-1005	151	1	the	the	DET
ijassa-1005	151	2	robot	robot	NOUN
ijassa-1005	151	3	cost	cost	NOUN
ijassa-1005	151	4	dynamics	dynamic	NOUN
ijassa-1005	151	5	at	at	ADP
ijassa-1005	151	6	a	a	DET
ijassa-1005	151	7	fixed	fix	VERB
ijassa-1005	151	8	cost	cost	NOUN
ijassa-1005	151	9	of	of	ADP
ijassa-1005	151	10	purchased	purchase	VERB
ijassa-1005	151	11	hydraulic	hydraulic	ADJ
ijassa-1005	151	12	drives	drive	NOUN
ijassa-1005	151	13	generation	generation	NOUN
ijassa-1005	151	14	number	number	NOUN
ijassa-1005	151	15	n	n	NOUN
ijassa-1005	151	16	0	0	NUM
ijassa-1005	151	17	1	1	NUM
ijassa-1005	151	18	2	2	NUM
ijassa-1005	151	19	3	3	NUM
ijassa-1005	151	20	4	4	NUM
ijassa-1005	151	21	c(n	c(n	NOUN
ijassa-1005	151	22	)	)	PUNCT
ijassa-1005	151	23	860	860	NUM
ijassa-1005	151	24	704	704	NUM
ijassa-1005	151	25	693	693	NUM
ijassa-1005	151	26	692	692	NUM
ijassa-1005	151	27	692	692	NUM
ijassa-1005	151	28	λ	λ	NOUN
ijassa-1005	151	29	(	(	PUNCT
ijassa-1005	151	30	n	n	CCONJ
ijassa-1005	151	31	)	)	PUNCT
ijassa-1005	151	32	0,860	0,860	NUM
ijassa-1005	151	33	0,704	0,704	NUM
ijassa-1005	151	34	0,693	0,693	NUM
ijassa-1005	151	35	0,692	0,692	NUM
ijassa-1005	151	36	0,692	0,692	NUM
ijassa-1005	151	37	let	let	VERB
ijassa-1005	151	38	's	us	PRON
ijassa-1005	151	39	consider	consider	VERB
ijassa-1005	151	40	the	the	DET
ijassa-1005	151	41	automated	automate	VERB
ijassa-1005	151	42	production	production	NOUN
ijassa-1005	151	43	of	of	ADP
ijassa-1005	151	44	hydraulic	hydraulic	ADJ
ijassa-1005	151	45	drives	drive	NOUN
ijassa-1005	151	46	with	with	ADP
ijassa-1005	151	47	the	the	DET
ijassa-1005	151	48	help	help	NOUN
ijassa-1005	151	49	of	of	ADP
ijassa-1005	151	50	the	the	DET
ijassa-1005	151	51	0	0	NUM
ijassa-1005	151	52	-	-	PUNCT
ijassa-1005	151	53	th	th	NOUN
ijassa-1005	151	54	generation	generation	NOUN
ijassa-1005	151	55	robots	robot	NOUN
ijassa-1005	151	56	.	.	PUNCT
ijassa-1005	152	1	using	use	VERB
ijassa-1005	152	2	(	(	PUNCT
ijassa-1005	152	3	6.2	6.2	NUM
ijassa-1005	152	4	)	)	PUNCT
ijassa-1005	152	5	and	and	CCONJ
ijassa-1005	152	6	(	(	PUNCT
ijassa-1005	152	7	6.4	6.4	NUM
ijassa-1005	152	8	)	)	PUNCT
ijassa-1005	152	9	,	,	PUNCT
ijassa-1005	152	10	we	we	PRON
ijassa-1005	152	11	will	will	AUX
ijassa-1005	152	12	get	get	VERB
ijassa-1005	152	13	:	:	PUNCT
ijassa-1005	152	14	(	(	PUNCT
ijassa-1005	152	15	1	1	X
ijassa-1005	152	16	)	)	PUNCT
ijassa-1005	152	17	(	(	PUNCT
ijassa-1005	152	18	1	1	X
ijassa-1005	152	19	)	)	PUNCT
ijassa-1005	152	20	(	(	PUNCT
ijassa-1005	152	21	0)i	0)i	NUM
ijassa-1005	153	1	i	i	PRON
ijassa-1005	154	1	i	i	PRON
ijassa-1005	155	1	i	i	PRON
ijassa-1005	156	1	i	i	PRON
ijassa-1005	157	1	i	i	PRON
ijassa-1005	157	2	ff	ff	VERB
ijassa-1005	157	3	g	g	PROPN
ijassa-1005	158	1	n	n	ADP
ijassa-1005	158	2	b	b	PROPN
ijassa-1005	158	3	n	n	CCONJ
ijassa-1005	158	4	d	d	ADV
ijassa-1005	158	5			ADJ
ijassa-1005	158	6	=	=	ADJ
ijassa-1005	158	7	−	−	PROPN
ijassa-1005	159	1	+	+	CCONJ
ijassa-1005	159	2	+	+	ADJ
ijassa-1005	159	3			X
ijassa-1005	159	4			X
ijassa-1005	159	5	.	.	PUNCT
ijassa-1005	160	1	(	(	PUNCT
ijassa-1005	160	2	8.2	8.2	NUM
ijassa-1005	160	3	)	)	PUNCT
ijassa-1005	160	4	since	since	SCONJ
ijassa-1005	160	5	the	the	DET
ijassa-1005	160	6	types	type	NOUN
ijassa-1005	160	7	of	of	ADP
ijassa-1005	160	8	tos	tos	NOUN
ijassa-1005	160	9	used	use	VERB
ijassa-1005	160	10	to	to	PART
ijassa-1005	160	11	make	make	VERB
ijassa-1005	160	12	the	the	DET
ijassa-1005	160	13	production	production	NOUN
ijassa-1005	160	14	of	of	ADP
ijassa-1005	160	15	both	both	DET
ijassa-1005	160	16	robots	robot	NOUN
ijassa-1005	160	17	and	and	CCONJ
ijassa-1005	160	18	hydraulic	hydraulic	ADJ
ijassa-1005	160	19	drives	drive	NOUN
ijassa-1005	160	20	automated	automate	VERB
ijassa-1005	160	21	are	be	AUX
ijassa-1005	160	22	the	the	DET
ijassa-1005	160	23	same	same	ADJ
ijassa-1005	160	24	,	,	PUNCT
ijassa-1005	160	25	so	so	ADV
ijassa-1005	160	26	are	be	AUX
ijassa-1005	160	27	the	the	DET
ijassa-1005	160	28	automation	automation	NOUN
ijassa-1005	160	29	schemes	scheme	NOUN
ijassa-1005	160	30	.	.	PUNCT
ijassa-1005	161	1	therefore	therefore	ADV
ijassa-1005	161	2	,	,	PUNCT
ijassa-1005	161	3	using	use	VERB
ijassa-1005	161	4	the	the	DET
ijassa-1005	161	5	initial	initial	ADJ
ijassa-1005	161	6	data	datum	NOUN
ijassa-1005	161	7	,	,	PUNCT
ijassa-1005	161	8	we	we	PRON
ijassa-1005	161	9	will	will	AUX
ijassa-1005	161	10	calculate	calculate	VERB
ijassa-1005	161	11	the	the	DET
ijassa-1005	161	12	cost	cost	NOUN
ijassa-1005	161	13	of	of	ADP
ijassa-1005	161	14	the	the	DET
ijassa-1005	161	15	1st	1st	ADJ
ijassa-1005	161	16	generation	generation	NOUN
ijassa-1005	161	17	hydraulic	hydraulic	ADJ
ijassa-1005	161	18	drive	drive	NOUN
ijassa-1005	161	19	(	(	PUNCT
ijassa-1005	161	20	table	table	NOUN
ijassa-1005	161	21	8.3	8.3	NUM
ijassa-1005	161	22	)	)	PUNCT
ijassa-1005	161	23	.	.	PUNCT
ijassa-1005	162	1	table	table	NOUN
ijassa-1005	162	2	8.3	8.3	NUM
ijassa-1005	162	3	.	.	PUNCT
ijassa-1005	163	1	the	the	DET
ijassa-1005	163	2	cost	cost	NOUN
ijassa-1005	163	3	of	of	ADP
ijassa-1005	163	4	the	the	DET
ijassa-1005	163	5	1st	1st	ADJ
ijassa-1005	163	6	generation	generation	NOUN
ijassa-1005	163	7	hydraulic	hydraulic	ADJ
ijassa-1005	163	8	drive	drive	NOUN
ijassa-1005	163	9	то	то	ADP
ijassa-1005	163	10	z(1	z(1	PROPN
ijassa-1005	163	11	)	)	PUNCT
ijassa-1005	163	12	(1	(1	NOUN
ijassa-1005	163	13	)	)	PUNCT
ijassa-1005	163	14	n	n	CCONJ
ijassa-1005	163	15	df	df	NOUN
ijassa-1005	163	16	f(1)=z*n+df	f(1)=z*n+df	NOUN
ijassa-1005	163	17	1	1	NUM
ijassa-1005	163	18	4	4	NUM
ijassa-1005	163	19	0	0	NUM
ijassa-1005	163	20	4	4	NUM
ijassa-1005	163	21	10	10	NUM
ijassa-1005	163	22	26	26	NUM
ijassa-1005	163	23	2	2	NUM
ijassa-1005	163	24	3	3	NUM
ijassa-1005	163	25	0	0	NUM
ijassa-1005	163	26	4	4	NUM
ijassa-1005	163	27	10	10	NUM
ijassa-1005	163	28	22	22	NUM
ijassa-1005	163	29	3	3	NUM
ijassa-1005	163	30	3	3	NUM
ijassa-1005	163	31	0	0	NUM
ijassa-1005	163	32	4	4	NUM
ijassa-1005	163	33	10	10	NUM
ijassa-1005	163	34	22	22	NUM
ijassa-1005	163	35	4	4	NUM
ijassa-1005	163	36	3,44	3,44	NUM
ijassa-1005	163	37	1	1	NUM
ijassa-1005	163	38	6	6	NUM
ijassa-1005	163	39	10	10	NUM
ijassa-1005	163	40	30,64	30,64	NUM
ijassa-1005	163	41	f(1	f(1	PROPN
ijassa-1005	163	42	)	)	PUNCT
ijassa-1005	163	43	100,64	100,64	NUM
ijassa-1005	163	44	9	9	NUM
ijassa-1005	163	45	.	.	PUNCT
ijassa-1005	164	1	exchange	exchange	NOUN
ijassa-1005	164	2	strategy	strategy	NOUN
ijassa-1005	164	3	between	between	ADP
ijassa-1005	164	4	plants	plant	NOUN
ijassa-1005	164	5	plant	plant	VERB
ijassa-1005	164	6	no	no	NOUN
ijassa-1005	164	7	.	.	NOUN
ijassa-1005	164	8	2	2	NUM
ijassa-1005	164	9	has	have	AUX
ijassa-1005	164	10	decided	decide	VERB
ijassa-1005	164	11	to	to	PART
ijassa-1005	164	12	make	make	VERB
ijassa-1005	164	13	the	the	DET
ijassa-1005	164	14	production	production	NOUN
ijassa-1005	164	15	of	of	ADP
ijassa-1005	164	16	hydraulic	hydraulic	ADJ
ijassa-1005	164	17	drives	drive	NOUN
ijassa-1005	164	18	cheaper	cheap	ADJ
ijassa-1005	164	19	by	by	ADP
ijassa-1005	164	20	automating	automate	VERB
ijassa-1005	164	21	their	their	PRON
ijassa-1005	164	22	production	production	NOUN
ijassa-1005	164	23	with	with	ADP
ijassa-1005	164	24	the	the	DET
ijassa-1005	164	25	help	help	NOUN
ijassa-1005	164	26	of	of	ADP
ijassa-1005	164	27	robots	robot	NOUN
ijassa-1005	164	28	manufactured	manufacture	VERB
ijassa-1005	164	29	by	by	ADP
ijassa-1005	164	30	plant	plant	NOUN
ijassa-1005	164	31	no	no	NOUN
ijassa-1005	164	32	.	.	NOUN
ijassa-1005	165	1	1	1	X
ijassa-1005	165	2	.	.	X
ijassa-1005	165	3	in	in	ADP
ijassa-1005	165	4	general	general	ADJ
ijassa-1005	165	5	,	,	PUNCT
ijassa-1005	165	6	the	the	DET
ijassa-1005	165	7	automation	automation	NOUN
ijassa-1005	165	8	of	of	ADP
ijassa-1005	165	9	hydraulic	hydraulic	ADJ
ijassa-1005	165	10	drive	drive	NOUN
ijassa-1005	165	11	production	production	NOUN
ijassa-1005	165	12	can	can	AUX
ijassa-1005	165	13	be	be	AUX
ijassa-1005	165	14	either	either	CCONJ
ijassa-1005	165	15	beneficial	beneficial	ADJ
ijassa-1005	165	16	or	or	CCONJ
ijassa-1005	165	17	not	not	PART
ijassa-1005	165	18	.	.	PUNCT
ijassa-1005	166	1	it	it	PRON
ijassa-1005	166	2	all	all	PRON
ijassa-1005	166	3	depends	depend	VERB
ijassa-1005	166	4	on	on	ADP
ijassa-1005	166	5	the	the	DET
ijassa-1005	166	6	capacities	capacity	NOUN
ijassa-1005	166	7	of	of	ADP
ijassa-1005	166	8	robots	robot	NOUN
ijassa-1005	166	9	and	and	CCONJ
ijassa-1005	166	10	their	their	PRON
ijassa-1005	166	11	cost	cost	NOUN
ijassa-1005	166	12	.	.	PUNCT
ijassa-1005	167	1	let	let	VERB
ijassa-1005	167	2	's	us	PRON
ijassa-1005	167	3	consider	consider	VERB
ijassa-1005	167	4	a	a	DET
ijassa-1005	167	5	case	case	NOUN
ijassa-1005	167	6	when	when	SCONJ
ijassa-1005	167	7	automation	automation	NOUN
ijassa-1005	167	8	has	have	AUX
ijassa-1005	167	9	led	lead	VERB
ijassa-1005	167	10	to	to	ADP
ijassa-1005	167	11	a	a	DET
ijassa-1005	167	12	decrease	decrease	NOUN
ijassa-1005	167	13	in	in	ADP
ijassa-1005	167	14	the	the	DET
ijassa-1005	167	15	cost	cost	NOUN
ijassa-1005	167	16	of	of	ADP
ijassa-1005	167	17	hydraulic	hydraulic	ADJ
ijassa-1005	167	18	drives	drive	NOUN
ijassa-1005	167	19	:	:	PUNCT
ijassa-1005	167	20	f(0)>f(1	f(0)>f(1	NOUN
ijassa-1005	167	21	)	)	PUNCT
ijassa-1005	167	22	.	.	PUNCT
ijassa-1005	168	1	in	in	ADP
ijassa-1005	168	2	the	the	DET
ijassa-1005	168	3	next	next	ADJ
ijassa-1005	168	4	generation	generation	NOUN
ijassa-1005	168	5	,	,	PUNCT
ijassa-1005	168	6	plant	plant	VERB
ijassa-1005	168	7	no	no	NOUN
ijassa-1005	168	8	.	.	NOUN
ijassa-1005	168	9	1	1	NUM
ijassa-1005	168	10	,	,	PUNCT
ijassa-1005	168	11	using	use	VERB
ijassa-1005	168	12	cheaper	cheap	ADJ
ijassa-1005	168	13	hydraulic	hydraulic	ADJ
ijassa-1005	168	14	drives	drive	NOUN
ijassa-1005	168	15	,	,	PUNCT
ijassa-1005	168	16	will	will	AUX
ijassa-1005	168	17	reduce	reduce	VERB
ijassa-1005	168	18	the	the	DET
ijassa-1005	168	19	cost	cost	NOUN
ijassa-1005	168	20	of	of	ADP
ijassa-1005	168	21	manufacturing	manufacturing	NOUN
ijassa-1005	168	22	robots	robot	NOUN
ijassa-1005	168	23	:	:	PUNCT
ijassa-1005	168	24	the	the	DET
ijassa-1005	168	25	cost	cost	NOUN
ijassa-1005	168	26	of	of	ADP
ijassa-1005	168	27	a	a	DET
ijassa-1005	168	28	robot	robot	NOUN
ijassa-1005	168	29	with	with	ADP
ijassa-1005	168	30	cheaper	cheap	ADJ
ijassa-1005	168	31	hydraulic	hydraulic	ADJ
ijassa-1005	168	32	drives	drive	NOUN
ijassa-1005	168	33	will	will	AUX
ijassa-1005	168	34	be	be	AUX
ijassa-1005	168	35	reduced	reduce	VERB
ijassa-1005	168	36	by	by	ADP
ijassa-1005	168	37	the	the	DET
ijassa-1005	168	38	amount	amount	NOUN
ijassa-1005	168	39	of	of	ADP
ijassa-1005	168	40	reduction	reduction	NOUN
ijassa-1005	168	41	in	in	ADP
ijassa-1005	168	42	the	the	DET
ijassa-1005	168	43	cost	cost	NOUN
ijassa-1005	168	44	of	of	ADP
ijassa-1005	168	45	hydraulic	hydraulic	ADJ
ijassa-1005	168	46	drives	drive	NOUN
ijassa-1005	168	47	and	and	CCONJ
ijassa-1005	168	48	will	will	AUX
ijassa-1005	168	49	be	be	AUX
ijassa-1005	168	50	equal	equal	ADJ
ijassa-1005	168	51	to	to	ADP
ijassa-1005	168	52	c(1)<c(0	c(1)<c(0	NUM
ijassa-1005	168	53	)	)	PUNCT
ijassa-1005	168	54	.	.	PUNCT
ijassa-1005	169	1	accordingly	accordingly	ADV
ijassa-1005	169	2	,	,	PUNCT
ijassa-1005	169	3	the	the	DET
ijassa-1005	169	4	cost	cost	NOUN
ijassa-1005	169	5	of	of	ADP
ijassa-1005	169	6	the	the	DET
ijassa-1005	169	7	working	working	NOUN
ijassa-1005	169	8	time	time	NOUN
ijassa-1005	169	9	unit	unit	NOUN
ijassa-1005	169	10	of	of	ADP
ijassa-1005	169	11	the	the	DET
ijassa-1005	169	12	next	next	ADJ
ijassa-1005	169	13	generation	generation	NOUN
ijassa-1005	169	14	robot	robot	NOUN
ijassa-1005	169	15	is	be	AUX
ijassa-1005	169	16	(1	(1	NOUN
ijassa-1005	169	17	)	)	PUNCT
ijassa-1005	169	18	=	=	SYM
ijassa-1005	169	19	c(1)/t	c(1)/t	PROPN
ijassa-1005	169	20	,	,	PUNCT
ijassa-1005	169	21	which	which	PRON
ijassa-1005	169	22	is	be	AUX
ijassa-1005	169	23	less	less	ADJ
ijassa-1005	169	24	than	than	ADP
ijassa-1005	169	25	(0	(0	ADJ
ijassa-1005	169	26	)	)	PUNCT
ijassa-1005	169	27	.	.	PUNCT
ijassa-1005	170	1	we	we	PRON
ijassa-1005	170	2	should	should	AUX
ijassa-1005	170	3	keep	keep	VERB
ijassa-1005	170	4	in	in	ADP
ijassa-1005	170	5	mind	mind	NOUN
ijassa-1005	170	6	that	that	SCONJ
ijassa-1005	170	7	there	there	PRON
ijassa-1005	170	8	is	be	VERB
ijassa-1005	170	9	no	no	DET
ijassa-1005	170	10	change	change	NOUN
ijassa-1005	170	11	in	in	ADP
ijassa-1005	170	12	the	the	DET
ijassa-1005	170	13	product	product	NOUN
ijassa-1005	170	14	design	design	NOUN
ijassa-1005	170	15	when	when	SCONJ
ijassa-1005	170	16	the	the	DET
ijassa-1005	170	17	production	production	NOUN
ijassa-1005	170	18	gets	get	AUX
ijassa-1005	170	19	automated	automate	VERB
ijassa-1005	170	20	.	.	PUNCT
ijassa-1005	171	1	plant	plant	NOUN
ijassa-1005	171	2	no	no	NOUN
ijassa-1005	171	3	.	.	NOUN
ijassa-1005	171	4	2	2	NUM
ijassa-1005	171	5	always	always	ADV
ijassa-1005	171	6	produces	produce	VERB
ijassa-1005	171	7	the	the	DET
ijassa-1005	171	8	same	same	ADJ
ijassa-1005	171	9	hydraulic	hydraulic	ADJ
ijassa-1005	171	10	drive	drive	NOUN
ijassa-1005	171	11	design	design	NOUN
ijassa-1005	171	12	,	,	PUNCT
ijassa-1005	171	13	plant	plant	NOUN
ijassa-1005	171	14	no	no	NOUN
ijassa-1005	171	15	.	.	NOUN
ijassa-1005	171	16	1	1	NUM
ijassa-1005	171	17	always	always	ADV
ijassa-1005	171	18	produces	produce	VERB
ijassa-1005	171	19	the	the	DET
ijassa-1005	171	20	same	same	ADJ
ijassa-1005	171	21	robot	robot	NOUN
ijassa-1005	171	22	model	model	NOUN
ijassa-1005	171	23	.	.	PUNCT
ijassa-1005	172	1	the	the	DET
ijassa-1005	172	2	hydrodrives	hydrodrive	NOUN
ijassa-1005	172	3	of	of	ADP
ijassa-1005	172	4	different	different	ADJ
ijassa-1005	172	5	generations	generation	NOUN
ijassa-1005	172	6	m(0	m(0	PROPN
ijassa-1005	172	7	)	)	PUNCT
ijassa-1005	172	8	,	,	PUNCT
ijassa-1005	172	9	m(1	m(1	PROPN
ijassa-1005	172	10	)	)	PUNCT
ijassa-1005	172	11	,	,	PUNCT
ijassa-1005	172	12	m(2	m(2	PROPN
ijassa-1005	172	13	)	)	PUNCT
ijassa-1005	172	14	do	do	AUX
ijassa-1005	172	15	not	not	PART
ijassa-1005	172	16	differ	differ	VERB
ijassa-1005	172	17	from	from	ADP
ijassa-1005	172	18	each	each	DET
ijassa-1005	172	19	other	other	ADJ
ijassa-1005	172	20	structurally	structurally	ADV
ijassa-1005	172	21	they	they	PRON
ijassa-1005	172	22	are	be	AUX
ijassa-1005	172	23	twins	twin	NOUN
ijassa-1005	172	24	.	.	PUNCT
ijassa-1005	173	1	similarly	similarly	ADV
ijassa-1005	173	2	,	,	PUNCT
ijassa-1005	173	3	the	the	DET
ijassa-1005	173	4	models	model	NOUN
ijassa-1005	173	5	of	of	ADP
ijassa-1005	173	6	robots	robot	NOUN
ijassa-1005	173	7	of	of	ADP
ijassa-1005	173	8	different	different	ADJ
ijassa-1005	173	9	generations	generation	NOUN
ijassa-1005	173	10	r(0	r(0	PROPN
ijassa-1005	173	11	)	)	PUNCT
ijassa-1005	173	12	,	,	PUNCT
ijassa-1005	173	13	r(1	r(1	PROPN
ijassa-1005	173	14	)	)	PUNCT
ijassa-1005	173	15	,	,	PUNCT
ijassa-1005	173	16	r(2	r(2	PROPN
ijassa-1005	173	17	)	)	PUNCT
ijassa-1005	173	18	transferred	transfer	VERB
ijassa-1005	173	19	to	to	ADP
ijassa-1005	173	20	the	the	DET
ijassa-1005	173	21	hydraulic	hydraulic	ADJ
ijassa-1005	173	22	drive	drive	NOUN
ijassa-1005	173	23	plant	plant	NOUN
ijassa-1005	173	24	do	do	AUX
ijassa-1005	173	25	not	not	PART
ijassa-1005	173	26	structurally	structurally	ADV
ijassa-1005	173	27	differ	differ	VERB
ijassa-1005	173	28	from	from	ADP
ijassa-1005	173	29	each	each	DET
ijassa-1005	173	30	other	other	ADJ
ijassa-1005	173	31	they	they	PRON
ijassa-1005	173	32	are	be	AUX
ijassa-1005	173	33	also	also	ADV
ijassa-1005	173	34	twins	twin	NOUN
ijassa-1005	173	35	.	.	PUNCT
ijassa-1005	174	1	symbiosis	symbiosis	NOUN
ijassa-1005	174	2	between	between	ADP
ijassa-1005	174	3	the	the	DET
ijassa-1005	174	4	two	two	NUM
ijassa-1005	174	5	plants	plant	NOUN
ijassa-1005	174	6	leads	lead	VERB
ijassa-1005	174	7	to	to	ADP
ijassa-1005	174	8	a	a	DET
ijassa-1005	174	9	successive	successive	ADJ
ijassa-1005	174	10	reduction	reduction	NOUN
ijassa-1005	174	11	in	in	ADP
ijassa-1005	174	12	the	the	DET
ijassa-1005	174	13	cost	cost	NOUN
ijassa-1005	174	14	of	of	ADP
ijassa-1005	174	15	both	both	DET
ijassa-1005	174	16	hydraulic	hydraulic	ADJ
ijassa-1005	174	17	drives	drive	NOUN
ijassa-1005	174	18	and	and	CCONJ
ijassa-1005	174	19	robots	robot	NOUN
ijassa-1005	174	20	.	.	PUNCT
ijassa-1005	175	1	the	the	DET
ijassa-1005	175	2	design	design	NOUN
ijassa-1005	175	3	does	do	AUX
ijassa-1005	175	4	not	not	PART
ijassa-1005	175	5	change	change	VERB
ijassa-1005	175	6	and	and	CCONJ
ijassa-1005	175	7	the	the	DET
ijassa-1005	175	8	cost	cost	NOUN
ijassa-1005	175	9	is	be	AUX
ijassa-1005	175	10	reduced	reduce	VERB
ijassa-1005	175	11	!	!	PUNCT
ijassa-1005	176	1	we	we	PRON
ijassa-1005	176	2	should	should	AUX
ijassa-1005	176	3	note	note	VERB
ijassa-1005	176	4	that	that	SCONJ
ijassa-1005	176	5	it	it	PRON
ijassa-1005	176	6	involves	involve	VERB
ijassa-1005	176	7	a	a	DET
ijassa-1005	176	8	change	change	NOUN
ijassa-1005	176	9	of	of	ADP
ijassa-1005	176	10	generations	generation	NOUN
ijassa-1005	176	11	.	.	PUNCT
ijassa-1005	177	1	if	if	SCONJ
ijassa-1005	177	2	plant	plant	VERB
ijassa-1005	177	3	no	no	NOUN
ijassa-1005	177	4	.	.	NOUN
ijassa-1005	177	5	2	2	NUM
ijassa-1005	177	6	has	have	AUX
ijassa-1005	177	7	produced	produce	VERB
ijassa-1005	177	8	a	a	DET
ijassa-1005	177	9	new	new	ADJ
ijassa-1005	177	10	(	(	PUNCT
ijassa-1005	177	11	e.g.	e.g.	ADV
ijassa-1005	177	12	n	n	CCONJ
ijassa-1005	177	13	-	-	PUNCT
ijassa-1005	177	14	th	th	VERB
ijassa-1005	177	15	)	)	PUNCT
ijassa-1005	177	16	generation	generation	NOUN
ijassa-1005	177	17	robot	robot	NOUN
ijassa-1005	177	18	,	,	PUNCT
ijassa-1005	177	19	and	and	CCONJ
ijassa-1005	177	20	plant	plant	VERB
ijassa-1005	177	21	no	no	NOUN
ijassa-1005	177	22	.	.	NOUN
ijassa-1005	177	23	1	1	NUM
ijassa-1005	177	24	is	be	AUX
ijassa-1005	177	25	still	still	ADV
ijassa-1005	177	26	using	use	VERB
ijassa-1005	177	27	the	the	DET
ijassa-1005	177	28	(	(	PUNCT
ijassa-1005	177	29	n-1)-th	n-1)-th	ADJ
ijassa-1005	177	30	generation	generation	NOUN
ijassa-1005	177	31	robot	robot	NOUN
ijassa-1005	177	32	whose	whose	DET
ijassa-1005	177	33	lifetime	lifetime	NOUN
ijassa-1005	177	34	is	be	AUX
ijassa-1005	177	35	not	not	PART
ijassa-1005	177	36	over	over	ADV
ijassa-1005	177	37	yet	yet	ADV
ijassa-1005	177	38	,	,	PUNCT
ijassa-1005	177	39	it	it	PRON
ijassa-1005	177	40	makes	make	VERB
ijassa-1005	177	41	no	no	DET
ijassa-1005	177	42	sense	sense	NOUN
ijassa-1005	177	43	to	to	PART
ijassa-1005	177	44	change	change	VERB
ijassa-1005	177	45	it	it	PRON
ijassa-1005	177	46	.	.	PUNCT
ijassa-1005	178	1	but	but	CCONJ
ijassa-1005	178	2	when	when	SCONJ
ijassa-1005	178	3	the	the	DET
ijassa-1005	178	4	(	(	PUNCT
ijassa-1005	178	5	n-1)-th	n-1)-th	ADJ
ijassa-1005	178	6	generation	generation	NOUN
ijassa-1005	178	7	robot	robot	NOUN
ijassa-1005	178	8	dies	die	VERB
ijassa-1005	178	9	,	,	PUNCT
ijassa-1005	178	10	it	it	PRON
ijassa-1005	178	11	should	should	AUX
ijassa-1005	178	12	be	be	AUX
ijassa-1005	178	13	replaced	replace	VERB
ijassa-1005	178	14	with	with	ADP
ijassa-1005	178	15	a	a	DET
ijassa-1005	178	16	cheaper	cheap	ADJ
ijassa-1005	178	17	robot	robot	NOUN
ijassa-1005	178	18	of	of	ADP
ijassa-1005	178	19	the	the	DET
ijassa-1005	178	20	n	n	CCONJ
ijassa-1005	178	21	-	-	PUNCT
ijassa-1005	178	22	th	th	NOUN
ijassa-1005	178	23	generation	generation	NOUN
ijassa-1005	178	24	.	.	PUNCT
ijassa-1005	179	1	thus	thus	ADV
ijassa-1005	179	2	,	,	PUNCT
ijassa-1005	179	3	the	the	DET
ijassa-1005	179	4	evolution	evolution	NOUN
ijassa-1005	179	5	rate	rate	NOUN
ijassa-1005	179	6	of	of	ADP
ijassa-1005	179	7	a	a	DET
ijassa-1005	179	8	production	production	NOUN
ijassa-1005	179	9	automation	automation	NOUN
ijassa-1005	179	10	system	system	NOUN
ijassa-1005	179	11	depends	depend	VERB
ijassa-1005	179	12	on	on	ADP
ijassa-1005	179	13	the	the	DET
ijassa-1005	179	14	lifetime	lifetime	NOUN
ijassa-1005	179	15	of	of	ADP
ijassa-1005	179	16	the	the	DET
ijassa-1005	179	17	robot	robot	NOUN
ijassa-1005	179	18	:	:	PUNCT
ijassa-1005	179	19	the	the	PRON
ijassa-1005	179	20	shorter	short	ADJ
ijassa-1005	179	21	the	the	DET
ijassa-1005	179	22	lifetime	lifetime	NOUN
ijassa-1005	179	23	of	of	ADP
ijassa-1005	179	24	the	the	DET
ijassa-1005	179	25	robot	robot	NOUN
ijassa-1005	179	26	is	be	AUX
ijassa-1005	179	27	,	,	PUNCT
ijassa-1005	179	28	the	the	PRON
ijassa-1005	179	29	faster	fast	ADV
ijassa-1005	179	30	the	the	DET
ijassa-1005	179	31	evolution	evolution	NOUN
ijassa-1005	179	32	can	can	AUX
ijassa-1005	179	33	be	be	AUX
ijassa-1005	179	34	.	.	PUNCT
ijassa-1005	180	1	there	there	PRON
ijassa-1005	180	2	is	be	VERB
ijassa-1005	180	3	a	a	DET
ijassa-1005	180	4	gradual	gradual	ADJ
ijassa-1005	180	5	displacement	displacement	NOUN
ijassa-1005	180	6	of	of	ADP
ijassa-1005	180	7	people	people	NOUN
ijassa-1005	180	8	by	by	ADP
ijassa-1005	180	9	cheap	cheap	ADJ
ijassa-1005	180	10	robots	robot	NOUN
ijassa-1005	180	11	from	from	ADP
ijassa-1005	180	12	the	the	DET
ijassa-1005	180	13	production	production	NOUN
ijassa-1005	180	14	sector	sector	NOUN
ijassa-1005	180	15	.	.	PUNCT
ijassa-1005	181	1	that	that	PRON
ijassa-1005	181	2	's	be	AUX
ijassa-1005	181	3	what	what	PRON
ijassa-1005	181	4	automation	automation	NOUN
ijassa-1005	181	5	is	be	AUX
ijassa-1005	181	6	all	all	ADV
ijassa-1005	181	7	about	about	ADP
ijassa-1005	181	8	.	.	PUNCT
ijassa-1005	182	1	automation	automation	NOUN
ijassa-1005	182	2	of	of	ADP
ijassa-1005	182	3	cluster	cluster	NOUN
ijassa-1005	182	4	large	large	ADJ
ijassa-1005	182	5	-	-	PUNCT
ijassa-1005	182	6	scale	scale	NOUN
ijassa-1005	182	7	production	production	NOUN
ijassa-1005	182	8	systems	system	NOUN
ijassa-1005	182	9	111	111	NUM
ijassa-1005	182	10	copyright	copyright	NOUN
ijassa-1005	182	11	©	©	PROPN
ijassa-1005	182	12	2020	2020	NUM
ijassa-1005	182	13	assa	assa	NOUN
ijassa-1005	182	14	.	.	PUNCT
ijassa-1005	183	1	adv	adv	PROPN
ijassa-1005	183	2	.	.	PUNCT
ijassa-1005	184	1	in	in	ADP
ijassa-1005	184	2	systems	system	NOUN
ijassa-1005	184	3	science	science	NOUN
ijassa-1005	184	4	and	and	CCONJ
ijassa-1005	184	5	appl	appl	NOUN
ijassa-1005	184	6	.	.	PUNCT
ijassa-1005	185	1	(	(	PUNCT
ijassa-1005	185	2	2020	2020	NUM
ijassa-1005	185	3	)	)	PUNCT
ijassa-1005	185	4	10	10	NUM
ijassa-1005	185	5	.	.	PUNCT
ijassa-1005	186	1	cost	cost	NOUN
ijassa-1005	186	2	dynamics	dynamic	NOUN
ijassa-1005	186	3	let	let	VERB
ijassa-1005	186	4	's	us	PRON
ijassa-1005	186	5	examine	examine	VERB
ijassa-1005	186	6	the	the	DET
ijassa-1005	186	7	dynamics	dynamic	NOUN
ijassa-1005	186	8	of	of	ADP
ijassa-1005	186	9	hydraulic	hydraulic	ADJ
ijassa-1005	186	10	drives	drive	NOUN
ijassa-1005	186	11	cost	cost	VERB
ijassa-1005	186	12	and	and	CCONJ
ijassa-1005	186	13	the	the	DET
ijassa-1005	186	14	robot	robot	NOUN
ijassa-1005	186	15	's	's	PART
ijassa-1005	186	16	working	working	NOUN
ijassa-1005	186	17	time	time	NOUN
ijassa-1005	186	18	unit	unit	NOUN
ijassa-1005	186	19	cost	cost	NOUN
ijassa-1005	186	20	in	in	ADP
ijassa-1005	186	21	the	the	DET
ijassa-1005	186	22	process	process	NOUN
ijassa-1005	186	23	of	of	ADP
ijassa-1005	186	24	production	production	NOUN
ijassa-1005	186	25	automation	automation	NOUN
ijassa-1005	186	26	and	and	CCONJ
ijassa-1005	186	27	a	a	DET
ijassa-1005	186	28	change	change	NOUN
ijassa-1005	186	29	of	of	ADP
ijassa-1005	186	30	robot	robot	NOUN
ijassa-1005	186	31	generations	generation	NOUN
ijassa-1005	186	32	.	.	PUNCT
ijassa-1005	187	1	the	the	DET
ijassa-1005	187	2	initial	initial	ADJ
ijassa-1005	187	3	data	datum	NOUN
ijassa-1005	187	4	for	for	ADP
ijassa-1005	187	5	the	the	DET
ijassa-1005	187	6	calculations	calculation	NOUN
ijassa-1005	187	7	are	be	AUX
ijassa-1005	187	8	given	give	VERB
ijassa-1005	187	9	above	above	ADV
ijassa-1005	187	10	.	.	PUNCT
ijassa-1005	188	1	we	we	PRON
ijassa-1005	188	2	have	have	AUX
ijassa-1005	188	3	calculated	calculate	VERB
ijassa-1005	188	4	the	the	DET
ijassa-1005	188	5	cost	cost	NOUN
ijassa-1005	188	6	of	of	ADP
ijassa-1005	188	7	hydraulic	hydraulic	ADJ
ijassa-1005	188	8	drives	drive	NOUN
ijassa-1005	188	9	and	and	CCONJ
ijassa-1005	188	10	the	the	DET
ijassa-1005	188	11	0	0	NUM
ijassa-1005	188	12	-	-	PUNCT
ijassa-1005	188	13	th	th	NOUN
ijassa-1005	188	14	generation	generation	NOUN
ijassa-1005	188	15	robots	robot	NOUN
ijassa-1005	188	16	:	:	PUNCT
ijassa-1005	188	17	c(0)=860	c(0)=860	NOUN
ijassa-1005	188	18	;	;	PUNCT
ijassa-1005	188	19	f(0)=218	f(0)=218	NUM
ijassa-1005	188	20	;	;	PUNCT
ijassa-1005	188	21	λ(0)=0.860	λ(0)=0.860	NOUN
ijassa-1005	188	22	.	.	PUNCT
ijassa-1005	188	23	difference	difference	NOUN
ijassa-1005	188	24	equations	equation	NOUN
ijassa-1005	188	25	(	(	PUNCT
ijassa-1005	188	26	8.1	8.1	NUM
ijassa-1005	188	27	)	)	PUNCT
ijassa-1005	188	28	and	and	CCONJ
ijassa-1005	188	29	(	(	PUNCT
ijassa-1005	188	30	8.2	8.2	NUM
ijassa-1005	188	31	)	)	PUNCT
ijassa-1005	188	32	allow	allow	VERB
ijassa-1005	188	33	calculating	calculate	VERB
ijassa-1005	188	34	future	future	ADJ
ijassa-1005	188	35	values	value	NOUN
ijassa-1005	188	36	of	of	ADP
ijassa-1005	188	37	the	the	DET
ijassa-1005	188	38	robot	robot	NOUN
ijassa-1005	188	39	cost	cost	NOUN
ijassa-1005	188	40	on	on	ADP
ijassa-1005	188	41	the	the	DET
ijassa-1005	188	42	basis	basis	NOUN
ijassa-1005	188	43	of	of	ADP
ijassa-1005	188	44	the	the	DET
ijassa-1005	188	45	parameters	parameter	NOUN
ijassa-1005	188	46	of	of	ADP
ijassa-1005	188	47	the	the	DET
ijassa-1005	188	48	previous	previous	ADJ
ijassa-1005	188	49	generation	generation	NOUN
ijassa-1005	188	50	,	,	PUNCT
ijassa-1005	188	51	i.e.	i.e.	X
ijassa-1005	188	52	the	the	DET
ijassa-1005	188	53	cost	cost	NOUN
ijassa-1005	188	54	of	of	ADP
ijassa-1005	188	55	the	the	DET
ijassa-1005	188	56	(	(	PUNCT
ijassa-1005	188	57	n+1	n+1	NOUN
ijassa-1005	188	58	)	)	PUNCT
ijassa-1005	188	59	generation	generation	NOUN
ijassa-1005	188	60	robots	robot	NOUN
ijassa-1005	188	61	(	(	PUNCT
ijassa-1005	188	62	table	table	NOUN
ijassa-1005	188	63	10.1	10.1	NUM
ijassa-1005	188	64	)	)	PUNCT
ijassa-1005	188	65	.	.	PUNCT
ijassa-1005	189	1	table	table	NOUN
ijassa-1005	189	2	10.1	10.1	NUM
ijassa-1005	189	3	.	.	PUNCT
ijassa-1005	190	1	the	the	DET
ijassa-1005	190	2	cost	cost	NOUN
ijassa-1005	190	3	of	of	ADP
ijassa-1005	190	4	the	the	DET
ijassa-1005	190	5	1st	1st	ADJ
ijassa-1005	190	6	generation	generation	NOUN
ijassa-1005	190	7	hydraulic	hydraulic	ADJ
ijassa-1005	190	8	drive	drive	NOUN
ijassa-1005	190	9	то	то	NOUN
ijassa-1005	190	10	calculate	calculate	NOUN
ijassa-1005	190	11	z(n+1	z(n+1	NUM
ijassa-1005	190	12	)	)	PUNCT
ijassa-1005	190	13	and	and	CCONJ
ijassa-1005	190	14	(n+1	(n+1	NOUN
ijassa-1005	190	15	)	)	PUNCT
ijassa-1005	190	16	calculate	calculate	VERB
ijassa-1005	190	17	the	the	DET
ijassa-1005	190	18	cost	cost	NOUN
ijassa-1005	190	19	of	of	ADP
ijassa-1005	190	20	the	the	DET
ijassa-1005	190	21	robots	robot	NOUN
ijassa-1005	190	22	c(n+1	c(n+1	VERB
ijassa-1005	190	23	)	)	PUNCT
ijassa-1005	190	24	g	g	PROPN
ijassa-1005	190	25	b	b	PROPN
ijassa-1005	190	26	λ(n	λ(n	PROPN
ijassa-1005	190	27	)	)	PUNCT
ijassa-1005	190	28	b	b	PROPN
ijassa-1005	190	29	z(n+1	z(n+1	NOUN
ijassa-1005	190	30	)	)	PUNCT
ijassa-1005	190	31			NOUN
ijassa-1005	190	32	(	(	PUNCT
ijassa-1005	190	33	1	1	NUM
ijassa-1005	190	34	)	)	PUNCT
ijassa-1005	190	35	h	h	NOUN
ijassa-1005	190	36	f(n	f(n	PROPN
ijassa-1005	190	37	)	)	PUNCT
ijassa-1005	190	38	dr	dr	PROPN
ijassa-1005	190	39	c(n+1	c(n+1	PROPN
ijassa-1005	190	40	)	)	PUNCT
ijassa-1005	190	41	1	1	NUM
ijassa-1005	190	42	4	4	NUM
ijassa-1005	190	43	5	5	NUM
ijassa-1005	190	44	4,3	4,3	NUM
ijassa-1005	190	45	4	4	NUM
ijassa-1005	190	46	0	0	NUM
ijassa-1005	190	47	12	12	NUM
ijassa-1005	190	48	26	26	NUM
ijassa-1005	190	49	80	80	NUM
ijassa-1005	190	50	154	154	NUM
ijassa-1005	190	51	2	2	NUM
ijassa-1005	190	52	3	3	NUM
ijassa-1005	190	53	12	12	NUM
ijassa-1005	190	54	10,32	10,32	NUM
ijassa-1005	190	55	3	3	NUM
ijassa-1005	190	56	0	0	NUM
ijassa-1005	190	57	20	20	NUM
ijassa-1005	190	58	22	22	NUM
ijassa-1005	190	59	80	80	NUM
ijassa-1005	190	60	162	162	NUM
ijassa-1005	190	61	3	3	NUM
ijassa-1005	190	62	3	3	NUM
ijassa-1005	190	63	240	240	NUM
ijassa-1005	190	64	206,4	206,4	NUM
ijassa-1005	190	65	3	3	NUM
ijassa-1005	190	66	0	0	NUM
ijassa-1005	190	67	10	10	NUM
ijassa-1005	190	68	22	22	NUM
ijassa-1005	190	69	80	80	NUM
ijassa-1005	190	70	132	132	NUM
ijassa-1005	190	71	4	4	NUM
ijassa-1005	190	72	23	23	NUM
ijassa-1005	190	73	4	4	NUM
ijassa-1005	190	74	3,44	3,44	NOUN
ijassa-1005	190	75	3,44	3,44	NUM
ijassa-1005	190	76	1	1	NUM
ijassa-1005	190	77	8	8	NUM
ijassa-1005	190	78	148	148	NUM
ijassa-1005	190	79	80	80	NUM
ijassa-1005	190	80	255,52	255,52	NUM
ijassa-1005	190	81	c(n+1	c(n+1	NOUN
ijassa-1005	190	82	)	)	PUNCT
ijassa-1005	190	83	703,52	703,52	PROPN
ijassa-1005	190	84	t	t	PROPN
ijassa-1005	190	85	1000	1000	NUM
ijassa-1005	190	86	λ(n+1	λ(n+1	NUM
ijassa-1005	190	87	)	)	PUNCT
ijassa-1005	190	88	0,70352	0,70352	NOUN
ijassa-1005	191	1	the	the	DET
ijassa-1005	191	2	modeling	modeling	NOUN
ijassa-1005	191	3	results	result	NOUN
ijassa-1005	191	4	are	be	AUX
ijassa-1005	191	5	shown	show	VERB
ijassa-1005	191	6	in	in	ADP
ijassa-1005	191	7	fig	fig	NOUN
ijassa-1005	191	8	.	.	PUNCT
ijassa-1005	192	1	10.1	10.1	NUM
ijassa-1005	192	2	.	.	PUNCT
ijassa-1005	192	3	fig	fig	NOUN
ijassa-1005	192	4	.	.	PUNCT
ijassa-1005	193	1	10.1	10.1	NUM
ijassa-1005	193	2	shows	show	VERB
ijassa-1005	193	3	a	a	DET
ijassa-1005	193	4	significant	significant	ADJ
ijassa-1005	193	5	reduction	reduction	NOUN
ijassa-1005	193	6	in	in	ADP
ijassa-1005	193	7	the	the	DET
ijassa-1005	193	8	cost	cost	NOUN
ijassa-1005	193	9	of	of	ADP
ijassa-1005	193	10	рroduction	рroduction	NOUN
ijassa-1005	193	11	of	of	ADP
ijassa-1005	193	12	capital	capital	NOUN
ijassa-1005	193	13	goods	good	NOUN
ijassa-1005	193	14	.	.	PUNCT
ijassa-1005	194	1	fig	fig	NOUN
ijassa-1005	194	2	.	.	PUNCT
ijassa-1005	195	1	10.1	10.1	NUM
ijassa-1005	195	2	.	.	PUNCT
ijassa-1005	196	1	cost	cost	NOUN
ijassa-1005	196	2	dynamics	dynamic	NOUN
ijassa-1005	196	3	.	.	PUNCT
ijassa-1005	197	1	the	the	DET
ijassa-1005	197	2	dashed	dash	VERB
ijassa-1005	197	3	line	line	NOUN
ijassa-1005	197	4	shows	show	VERB
ijassa-1005	197	5	the	the	DET
ijassa-1005	197	6	change	change	NOUN
ijassa-1005	197	7	in	in	ADP
ijassa-1005	197	8	the	the	DET
ijassa-1005	197	9	cost	cost	NOUN
ijassa-1005	197	10	of	of	ADP
ijassa-1005	197	11	a	a	DET
ijassa-1005	197	12	рroduction	рroduction	NOUN
ijassa-1005	197	13	of	of	ADP
ijassa-1005	197	14	capital	capital	NOUN
ijassa-1005	197	15	goods	good	NOUN
ijassa-1005	197	16	without	without	ADP
ijassa-1005	197	17	a	a	DET
ijassa-1005	197	18	component	component	NOUN
ijassa-1005	197	19	supplier	supplier	NOUN
ijassa-1005	197	20	's	's	PART
ijassa-1005	197	21	cooperation	cooperation	NOUN
ijassa-1005	197	22	,	,	PUNCT
ijassa-1005	197	23	the	the	DET
ijassa-1005	197	24	thick	thick	ADJ
ijassa-1005	197	25	line	line	NOUN
ijassa-1005	197	26	—	—	PUNCT
ijassa-1005	197	27	with	with	ADP
ijassa-1005	197	28	a	a	DET
ijassa-1005	197	29	supplier	supplier	NOUN
ijassa-1005	197	30	's	's	PART
ijassa-1005	197	31	cooperation	cooperation	NOUN
ijassa-1005	197	32	references	reference	NOUN
ijassa-1005	197	33	1	1	NUM
ijassa-1005	197	34	.	.	PUNCT
ijassa-1005	197	35	oskanyan	oskanyan	PROPN
ijassa-1005	197	36	,	,	PUNCT
ijassa-1005	197	37	a.a	a.a	PROPN
ijassa-1005	197	38	.	.	PROPN
ijassa-1005	197	39	(	(	PUNCT
ijassa-1005	197	40	2014	2014	NUM
ijassa-1005	197	41	)	)	PUNCT
ijassa-1005	197	42	.	.	PUNCT
ijassa-1005	198	1	a	a	DET
ijassa-1005	198	2	cluster	cluster	NOUN
ijassa-1005	198	3	as	as	ADP
ijassa-1005	198	4	an	an	DET
ijassa-1005	198	5	organizational	organizational	ADJ
ijassa-1005	198	6	form	form	NOUN
ijassa-1005	198	7	of	of	ADP
ijassa-1005	198	8	ensuring	ensure	VERB
ijassa-1005	198	9	innovation	innovation	NOUN
ijassa-1005	198	10	competitiveness	competitiveness	NOUN
ijassa-1005	198	11	of	of	ADP
ijassa-1005	198	12	the	the	DET
ijassa-1005	198	13	region	region	NOUN
ijassa-1005	198	14	.	.	PUNCT
ijassa-1005	199	1	peculiarities	peculiarity	NOUN
ijassa-1005	199	2	of	of	ADP
ijassa-1005	199	3	state	state	NOUN
ijassa-1005	199	4	regulation	regulation	NOUN
ijassa-1005	199	5	of	of	ADP
ijassa-1005	199	6	foreign	foreign	ADJ
ijassa-1005	199	7	trade	trade	NOUN
ijassa-1005	199	8	activities	activity	NOUN
ijassa-1005	199	9	under	under	ADP
ijassa-1005	199	10	present	present	ADJ
ijassa-1005	199	11	-	-	PUNCT
ijassa-1005	199	12	day	day	NOUN
ijassa-1005	199	13	conditions	condition	NOUN
ijassa-1005	199	14	.	.	PUNCT
ijassa-1005	200	1	proc	proc	NOUN
ijassa-1005	200	2	.	.	PUNCT
ijassa-1005	201	1	of	of	ADP
ijassa-1005	201	2	the	the	DET
ijassa-1005	201	3	research	research	NOUN
ijassa-1005	201	4	-	-	PUNCT
ijassa-1005	201	5	to	to	ADP
ijassa-1005	201	6	-	-	PUNCT
ijassa-1005	201	7	practice	practice	NOUN
ijassa-1005	201	8	conference	conference	NOUN
ijassa-1005	201	9	.	.	PUNCT
ijassa-1005	202	1	rostov	rostov	PROPN
ijassa-1005	202	2	-	-	PUNCT
ijassa-1005	202	3	ondon	ondon	PROPN
ijassa-1005	202	4	.	.	PUNCT
ijassa-1005	203	1	the	the	DET
ijassa-1005	203	2	russian	russian	ADJ
ijassa-1005	203	3	customs	customs	PROPN
ijassa-1005	203	4	academy	academy	PROPN
ijassa-1005	203	5	.	.	PUNCT
ijassa-1005	204	1	rostov	rostov	PROPN
ijassa-1005	204	2	branch	branch	PROPN
ijassa-1005	204	3	.	.	PUNCT
ijassa-1005	205	1	157	157	NUM
ijassa-1005	205	2	-	-	SYM
ijassa-1005	205	3	167	167	NUM
ijassa-1005	205	4	.	.	PUNCT
ijassa-1005	206	1	[	[	X
ijassa-1005	206	2	in	in	ADP
ijassa-1005	206	3	russian	russian	PROPN
ijassa-1005	206	4	]	]	PUNCT
ijassa-1005	206	5	.	.	PUNCT
ijassa-1005	207	1	2	2	X
ijassa-1005	207	2	.	.	X
ijassa-1005	207	3	porter	porter	NOUN
ijassa-1005	207	4	,	,	PUNCT
ijassa-1005	207	5	michael	michael	PROPN
ijassa-1005	207	6	e.	e.	PROPN
ijassa-1005	207	7	(	(	PUNCT
ijassa-1005	207	8	1998	1998	NUM
ijassa-1005	207	9	)	)	PUNCT
ijassa-1005	207	10	.	.	PUNCT
ijassa-1005	208	1	on	on	ADP
ijassa-1005	208	2	competition	competition	NOUN
ijassa-1005	208	3	.	.	PUNCT
ijassa-1005	209	1	boston	boston	PROPN
ijassa-1005	209	2	:	:	PUNCT
ijassa-1005	209	3	harvard	harvard	PROPN
ijassa-1005	209	4	business	business	PROPN
ijassa-1005	209	5	school	school	PROPN
ijassa-1005	209	6	press	press	NOUN
ijassa-1005	209	7	.	.	PUNCT
ijassa-1005	210	1	3	3	X
ijassa-1005	210	2	.	.	X
ijassa-1005	210	3	lizunov	lizunov	PROPN
ijassa-1005	210	4	,	,	PUNCT
ijassa-1005	210	5	v.v	v.v	PROPN
ijassa-1005	210	6	.	.	PROPN
ijassa-1005	210	7	(	(	PUNCT
ijassa-1005	210	8	2016	2016	NUM
ijassa-1005	210	9	)	)	PUNCT
ijassa-1005	210	10	.	.	PUNCT
ijassa-1005	211	1	production	production	NOUN
ijassa-1005	211	2	clusters	cluster	NOUN
ijassa-1005	211	3	as	as	ADP
ijassa-1005	211	4	a	a	DET
ijassa-1005	211	5	key	key	ADJ
ijassa-1005	211	6	element	element	NOUN
ijassa-1005	211	7	of	of	ADP
ijassa-1005	211	8	regional	regional	ADJ
ijassa-1005	211	9	social	social	ADJ
ijassa-1005	211	10	and	and	CCONJ
ijassa-1005	211	11	economic	economic	ADJ
ijassa-1005	211	12	system	system	NOUN
ijassa-1005	211	13	.	.	PUNCT
ijassa-1005	212	1	specification	specification	NOUN
ijassa-1005	212	2	of	of	ADP
ijassa-1005	212	3	regional	regional	ADJ
ijassa-1005	212	4	industrial	industrial	ADJ
ijassa-1005	212	5	policy	policy	NOUN
ijassa-1005	212	6	using	use	VERB
ijassa-1005	212	7	elements	element	NOUN
ijassa-1005	212	8	of	of	ADP
ijassa-1005	212	9	cluster	cluster	NOUN
ijassa-1005	212	10	approach	approach	NOUN
ijassa-1005	212	11	(	(	PUNCT
ijassa-1005	212	12	on	on	ADP
ijassa-1005	212	13	materials	material	NOUN
ijassa-1005	212	14	of	of	ADP
ijassa-1005	212	15	omsk	omsk	PROPN
ijassa-1005	212	16	region	region	PROPN
ijassa-1005	212	17	)	)	PUNCT
ijassa-1005	212	18	.	.	PUNCT
ijassa-1005	213	1	novosibirsk	novosibirsk	PROPN
ijassa-1005	213	2	.164	.164	NUM
ijassa-1005	213	3	-	-	PUNCT
ijassa-1005	213	4	202	202	NUM
ijassa-1005	213	5	.	.	PUNCT
ijassa-1005	214	1	[	[	X
ijassa-1005	214	2	in	in	ADP
ijassa-1005	214	3	russian	russian	PROPN
ijassa-1005	214	4	]	]	PUNCT
ijassa-1005	214	5	.	.	PUNCT
ijassa-1005	215	1	112	112	NUM
ijassa-1005	215	2	v.	v.	ADP
ijassa-1005	215	3	chadeev	chadeev	PROPN
ijassa-1005	215	4	,	,	PUNCT
ijassa-1005	215	5	n.	n.	PROPN
ijassa-1005	215	6	aristova	aristova	VERB
ijassa-1005	215	7	copyright	copyright	PROPN
ijassa-1005	215	8	©	©	PROPN
ijassa-1005	215	9	2020	2020	NUM
ijassa-1005	215	10	assa	assa	NOUN
ijassa-1005	215	11	.	.	PUNCT
ijassa-1005	216	1	adv	adv	PROPN
ijassa-1005	216	2	.	.	PUNCT
ijassa-1005	217	1	in	in	ADP
ijassa-1005	217	2	systems	system	NOUN
ijassa-1005	217	3	science	science	NOUN
ijassa-1005	217	4	and	and	CCONJ
ijassa-1005	217	5	appl	appl	NOUN
ijassa-1005	217	6	.	.	PUNCT
ijassa-1005	218	1	(	(	PUNCT
ijassa-1005	218	2	2020	2020	NUM
ijassa-1005	218	3	)	)	PUNCT
ijassa-1005	218	4	4	4	NUM
ijassa-1005	218	5	.	.	X
ijassa-1005	219	1	lubnina	lubnina	PROPN
ijassa-1005	219	2	,	,	PUNCT
ijassa-1005	219	3	l.a	l.a	PROPN
ijassa-1005	219	4	.	.	PROPN
ijassa-1005	219	5	,	,	PUNCT
ijassa-1005	219	6	galimulina	galimulina	PROPN
ijassa-1005	219	7	,	,	PUNCT
ijassa-1005	219	8	f.f	f.f	PROPN
ijassa-1005	219	9	.	.	PROPN
ijassa-1005	219	10	,	,	PUNCT
ijassa-1005	219	11	bronskaya	bronskaya	PROPN
ijassa-1005	219	12	,	,	PUNCT
ijassa-1005	219	13	v.v	v.v	PROPN
ijassa-1005	219	14	.	.	PROPN
ijassa-1005	219	15	,	,	PUNCT
ijassa-1005	219	16	aminova	aminova	PROPN
ijassa-1005	219	17	,	,	PUNCT
ijassa-1005	219	18	g.a	g.a	PROPN
ijassa-1005	219	19	.	.	PROPN
ijassa-1005	219	20	(	(	PUNCT
ijassa-1005	219	21	2020	2020	NUM
ijassa-1005	219	22	)	)	PUNCT
ijassa-1005	219	23	.	.	PUNCT
ijassa-1005	220	1	on	on	ADP
ijassa-1005	220	2	the	the	DET
ijassa-1005	220	3	development	development	NOUN
ijassa-1005	220	4	of	of	ADP
ijassa-1005	220	5	petrochemical	petrochemical	NOUN
ijassa-1005	220	6	clusters	cluster	NOUN
ijassa-1005	220	7	.	.	PUNCT
ijassa-1005	221	1	a	a	DET
ijassa-1005	221	2	case	case	NOUN
ijassa-1005	221	3	study	study	NOUN
ijassa-1005	221	4	of	of	ADP
ijassa-1005	221	5	tatarstan	tatarstan	PROPN
ijassa-1005	221	6	republic	republic	PROPN
ijassa-1005	221	7	.	.	PUNCT
ijassa-1005	222	1	automation	automation	NOUN
ijassa-1005	222	2	in	in	ADP
ijassa-1005	222	3	industry	industry	NOUN
ijassa-1005	222	4	.	.	PUNCT
ijassa-1005	223	1	1	1	NUM
ijassa-1005	223	2	.	.	X
ijassa-1005	223	3	47	47	NUM
ijassa-1005	223	4	-	-	SYM
ijassa-1005	223	5	50	50	NUM
ijassa-1005	223	6	.	.	PUNCT
ijassa-1005	224	1	[	[	X
ijassa-1005	224	2	in	in	ADP
ijassa-1005	224	3	russian	russian	PROPN
ijassa-1005	224	4	]	]	PUNCT
ijassa-1005	224	5	.	.	PUNCT
ijassa-1005	225	1	5	5	X
ijassa-1005	225	2	.	.	X
ijassa-1005	225	3	chadeev	chadeev	PROPN
ijassa-1005	225	4	,	,	PUNCT
ijassa-1005	225	5	v.м	v.м	PROPN
ijassa-1005	225	6	.	.	PROPN
ijassa-1005	225	7	,	,	PUNCT
ijassa-1005	225	8	aristova	aristova	PROPN
ijassa-1005	225	9	,	,	PUNCT
ijassa-1005	225	10	n.i	n.i	PROPN
ijassa-1005	225	11	.	.	PROPN
ijassa-1005	225	12	(	(	PUNCT
ijassa-1005	225	13	2019	2019	NUM
ijassa-1005	225	14	)	)	PUNCT
ijassa-1005	225	15	.	.	PUNCT
ijassa-1005	226	1	automation	automation	NOUN
ijassa-1005	226	2	of	of	ADP
ijassa-1005	226	3	autonomous	autonomous	ADJ
ijassa-1005	226	4	largescale	largescale	NOUN
ijassa-1005	226	5	production	production	NOUN
ijassa-1005	226	6	systems	system	NOUN
ijassa-1005	226	7	.	.	PUNCT
ijassa-1005	227	1	proc	proc	PROPN
ijassa-1005	227	2	.	.	PUNCT
ijassa-1005	228	1	of	of	ADP
ijassa-1005	228	2	the	the	DET
ijassa-1005	228	3	12	12	NUM
ijassa-1005	228	4	international	international	ADJ
ijassa-1005	228	5	conference	conference	NOUN
ijassa-1005	228	6	"	"	PUNCT
ijassa-1005	228	7	management	management	NOUN
ijassa-1005	228	8	of	of	ADP
ijassa-1005	228	9	largescale	largescale	NOUN
ijassa-1005	228	10	system	system	NOUN
ijassa-1005	228	11	development	development	NOUN
ijassa-1005	228	12	"	"	PUNCT
ijassa-1005	228	13	(	(	PUNCT
ijassa-1005	228	14	mlsd2019	mlsd2019	PROPN
ijassa-1005	228	15	)	)	PUNCT
ijassa-1005	228	16	.	.	PUNCT
ijassa-1005	229	1	ieee	ieee	PROPN
ijassa-1005	229	2	.	.	PUNCT
ijassa-1005	230	1	1	1	NUM
ijassa-1005	230	2	-	-	SYM
ijassa-1005	230	3	4	4	NUM
ijassa-1005	230	4	.	.	NOUN
ijassa-1005	230	5	1	1	NUM
ijassa-1005	230	6	.	.	X
ijassa-1005	230	7	introduction	introduction	NOUN
ijassa-1005	230	8	2	2	NUM
ijassa-1005	230	9	.	.	PUNCT
ijassa-1005	231	1	parameters	parameter	NOUN
ijassa-1005	231	2	of	of	ADP
ijassa-1005	231	3	the	the	DET
ijassa-1005	231	4	products	product	NOUN
ijassa-1005	231	5	and	and	CCONJ
ijassa-1005	231	6	robots	robot	NOUN
ijassa-1005	231	7	of	of	ADP
ijassa-1005	231	8	the	the	DET
ijassa-1005	231	9	cluster	cluster	NOUN
ijassa-1005	231	10	system	system	NOUN
ijassa-1005	231	11	3	3	NUM
ijassa-1005	231	12	.	.	PUNCT
ijassa-1005	231	13	automation	automation	NOUN
ijassa-1005	231	14	matrix	matrix	NOUN
ijassa-1005	231	15	4	4	NUM
ijassa-1005	231	16	.	.	PUNCT
ijassa-1005	231	17	robot	robot	NOUN
ijassa-1005	231	18	cost	cost	NOUN
ijassa-1005	231	19	calculation	calculation	NOUN
ijassa-1005	231	20	5	5	NUM
ijassa-1005	231	21	.	.	PUNCT
ijassa-1005	231	22	dynamic	dynamic	ADJ
ijassa-1005	231	23	equations	equation	NOUN
ijassa-1005	231	24	for	for	ADP
ijassa-1005	231	25	the	the	DET
ijassa-1005	231	26	cost	cost	NOUN
ijassa-1005	231	27	of	of	ADP
ijassa-1005	231	28	a	a	DET
ijassa-1005	231	29	рroduction	рroduction	NOUN
ijassa-1005	231	30	of	of	ADP
ijassa-1005	231	31	capital	capital	NOUN
ijassa-1005	231	32	goods	good	NOUN
ijassa-1005	231	33	6	6	NUM
ijassa-1005	231	34	.	.	PUNCT
ijassa-1005	232	1	cooperation	cooperation	NOUN
ijassa-1005	232	2	of	of	ADP
ijassa-1005	232	3	plants	plant	NOUN
ijassa-1005	232	4	7	7	NUM
ijassa-1005	232	5	.	.	PUNCT
ijassa-1005	232	6	initial	initial	ADJ
ijassa-1005	232	7	data	datum	NOUN
ijassa-1005	232	8	for	for	ADP
ijassa-1005	232	9	modeling	modeling	NOUN
ijassa-1005	232	10	8	8	NUM
ijassa-1005	232	11	.	.	PUNCT
ijassa-1005	233	1	robot	robot	NOUN
ijassa-1005	233	2	cost	cost	NOUN
ijassa-1005	233	3	dynamics	dynamic	NOUN
ijassa-1005	233	4	from	from	ADP
ijassa-1005	233	5	generation	generation	NOUN
ijassa-1005	233	6	to	to	ADP
ijassa-1005	233	7	generation	generation	NOUN
ijassa-1005	233	8	9	9	NUM
ijassa-1005	233	9	.	.	PUNCT
ijassa-1005	234	1	exchange	exchange	NOUN
ijassa-1005	234	2	strategy	strategy	NOUN
ijassa-1005	234	3	between	between	ADP
ijassa-1005	234	4	plants	plant	NOUN
ijassa-1005	234	5	10	10	NUM
ijassa-1005	234	6	.	.	PUNCT
ijassa-1005	235	1	cost	cost	NOUN
ijassa-1005	235	2	dynamics	dynamic	NOUN