id	sid	tid	token	lemma	pos
ijassa-753	1	1	adv	adv	PROPN
ijassa-753	1	2	syst	syst	PROPN
ijassa-753	1	3	sci	sci	PROPN
ijassa-753	1	4	appl	appl	PROPN
ijassa-753	1	5	2019	2019	NUM
ijassa-753	1	6	;	;	PUNCT
ijassa-753	1	7	03	03	NUM
ijassa-753	1	8	;	;	PUNCT
ijassa-753	1	9	1	1	NUM
ijassa-753	1	10	-	-	SYM
ijassa-753	1	11	10	10	NUM
ijassa-753	1	12	published	publish	VERB
ijassa-753	1	13	online	online	ADV
ijassa-753	1	14	at	at	ADP
ijassa-753	1	15	http://ijassa.ipu.ru/index.php/ijassa/article/view/753	http://ijassa.ipu.ru/index.php/ijassa/article/view/753	PROPN
ijassa-753	1	16	test	test	NOUN
ijassa-753	1	17	bench	bench	NOUN
ijassa-753	1	18	algorithms	algorithm	NOUN
ijassa-753	1	19	for	for	ADP
ijassa-753	1	20	catamaran	catamaran	NOUN
ijassa-753	1	21	roll	roll	NOUN
ijassa-753	1	22	simulation	simulation	NOUN
ijassa-753	1	23	ivan	ivan	PROPN
ijassa-753	1	24	lipko	lipko	PROPN
ijassa-753	1	25	*	*	PROPN
ijassa-753	1	26	sevastopol	sevastopol	PROPN
ijassa-753	1	27	state	state	PROPN
ijassa-753	1	28	university	university	PROPN
ijassa-753	1	29	,	,	PUNCT
ijassa-753	1	30	sevastopol	sevastopol	PROPN
ijassa-753	1	31	,	,	PUNCT
ijassa-753	1	32	russia	russia	PROPN
ijassa-753	1	33	e	e	NOUN
ijassa-753	1	34	-	-	NOUN
ijassa-753	1	35	mail	mail	NOUN
ijassa-753	1	36	:	:	PUNCT
ijassa-753	1	37	ivanlipko@yandex.ru	ivanlipko@yandex.ru	VERB
ijassa-753	1	38	received	receive	VERB
ijassa-753	1	39	may	may	PROPN
ijassa-753	1	40	28	28	NUM
ijassa-753	1	41	,	,	PUNCT
ijassa-753	1	42	2019	2019	NUM
ijassa-753	1	43	;	;	PUNCT
ijassa-753	1	44	revised	revise	VERB
ijassa-753	1	45	august	august	PROPN
ijassa-753	1	46	21	21	NUM
ijassa-753	1	47	,	,	PUNCT
ijassa-753	1	48	2019	2019	NUM
ijassa-753	1	49	;	;	PUNCT
ijassa-753	1	50	published	publish	VERB
ijassa-753	1	51	october	october	PROPN
ijassa-753	1	52	1	1	NUM
ijassa-753	1	53	,	,	PUNCT
ijassa-753	1	54	2019	2019	NUM
ijassa-753	1	55	abstract	abstract	NOUN
ijassa-753	1	56	:	:	PUNCT
ijassa-753	1	57	creation	creation	NOUN
ijassa-753	1	58	of	of	ADP
ijassa-753	1	59	catamaran	catamaran	NOUN
ijassa-753	1	60	seaworthiness	seaworthiness	NOUN
ijassa-753	1	61	system	system	NOUN
ijassa-753	1	62	requires	require	VERB
ijassa-753	1	63	two	two	NUM
ijassa-753	1	64	stages	stage	NOUN
ijassa-753	1	65	:	:	PUNCT
ijassa-753	1	66	computer	computer	NOUN
ijassa-753	1	67	simulation	simulation	NOUN
ijassa-753	1	68	of	of	ADP
ijassa-753	1	69	models	model	NOUN
ijassa-753	1	70	and	and	CCONJ
ijassa-753	1	71	prototyping	prototyping	NOUN
ijassa-753	1	72	of	of	ADP
ijassa-753	1	73	software	software	NOUN
ijassa-753	1	74	and	and	CCONJ
ijassa-753	1	75	hardware	hardware	NOUN
ijassa-753	1	76	.	.	PUNCT
ijassa-753	2	1	to	to	PART
ijassa-753	2	2	implement	implement	VERB
ijassa-753	2	3	second	second	ADJ
ijassa-753	2	4	stage	stage	NOUN
ijassa-753	2	5	we	we	PRON
ijassa-753	2	6	made	make	VERB
ijassa-753	2	7	test	test	NOUN
ijassa-753	2	8	bench	bench	NOUN
ijassa-753	2	9	to	to	PART
ijassa-753	2	10	perform	perform	VERB
ijassa-753	2	11	catamaran	catamaran	NOUN
ijassa-753	2	12	roll	roll	NOUN
ijassa-753	2	13	simulation	simulation	NOUN
ijassa-753	2	14	,	,	PUNCT
ijassa-753	2	15	computation	computation	NOUN
ijassa-753	2	16	and	and	CCONJ
ijassa-753	2	17	collecting	collect	VERB
ijassa-753	2	18	experiment	experiment	NOUN
ijassa-753	2	19	data	datum	NOUN
ijassa-753	2	20	.	.	PUNCT
ijassa-753	3	1	possibility	possibility	NOUN
ijassa-753	3	2	of	of	ADP
ijassa-753	3	3	making	make	VERB
ijassa-753	3	4	computations	computation	NOUN
ijassa-753	3	5	like	like	ADP
ijassa-753	3	6	on	on	ADP
ijassa-753	3	7	real	real	ADJ
ijassa-753	3	8	onboard	onboard	NOUN
ijassa-753	3	9	vessel	vessel	NOUN
ijassa-753	3	10	deck	deck	NOUN
ijassa-753	3	11	is	be	AUX
ijassa-753	3	12	required	require	VERB
ijassa-753	3	13	.	.	PUNCT
ijassa-753	4	1	thus	thus	ADV
ijassa-753	4	2	test	test	NOUN
ijassa-753	4	3	bench	bench	NOUN
ijassa-753	4	4	consists	consist	VERB
ijassa-753	4	5	of	of	ADP
ijassa-753	4	6	a	a	DET
ijassa-753	4	7	stewart	stewart	NOUN
ijassa-753	4	8	platform	platform	NOUN
ijassa-753	4	9	with	with	ADP
ijassa-753	4	10	microcontrollers	microcontroller	NOUN
ijassa-753	4	11	and	and	CCONJ
ijassa-753	4	12	computer	computer	NOUN
ijassa-753	4	13	connected	connect	VERB
ijassa-753	4	14	to	to	ADP
ijassa-753	4	15	them	they	PRON
ijassa-753	4	16	.	.	PUNCT
ijassa-753	5	1	first	first	ADV
ijassa-753	5	2	performs	perform	VERB
ijassa-753	5	3	catamaran	catamaran	NOUN
ijassa-753	5	4	deck	deck	NOUN
ijassa-753	5	5	roll	roll	NOUN
ijassa-753	5	6	and	and	CCONJ
ijassa-753	5	7	second	second	ADJ
ijassa-753	5	8	performs	perform	VERB
ijassa-753	5	9	calculations	calculation	NOUN
ijassa-753	5	10	.	.	PUNCT
ijassa-753	6	1	3	3	NUM
ijassa-753	6	2	-	-	PUNCT
ijassa-753	6	3	dof	dof	NOUN
ijassa-753	6	4	sensor	sensor	NOUN
ijassa-753	6	5	mounted	mount	VERB
ijassa-753	6	6	on	on	ADP
ijassa-753	6	7	movable	movable	ADJ
ijassa-753	6	8	plate	plate	NOUN
ijassa-753	6	9	of	of	ADP
ijassa-753	6	10	platform	platform	NOUN
ijassa-753	6	11	gives	give	VERB
ijassa-753	6	12	us	we	PRON
ijassa-753	6	13	roll	roll	NOUN
ijassa-753	6	14	and	and	CCONJ
ijassa-753	6	15	pitch	pitch	NOUN
ijassa-753	6	16	measurements	measurement	NOUN
ijassa-753	6	17	.	.	PUNCT
ijassa-753	7	1	using	use	VERB
ijassa-753	7	2	transfer	transfer	NOUN
ijassa-753	7	3	function	function	NOUN
ijassa-753	7	4	approximation	approximation	NOUN
ijassa-753	7	5	of	of	ADP
ijassa-753	7	6	pierson	pierson	PROPN
ijassa-753	7	7	-	-	PUNCT
ijassa-753	7	8	moskowitz	moskowitz	PROPN
ijassa-753	7	9	spectrum	spectrum	NOUN
ijassa-753	7	10	and	and	CCONJ
ijassa-753	7	11	runge	runge	NOUN
ijassa-753	7	12	-	-	PUNCT
ijassa-753	7	13	kutta	kutta	NOUN
ijassa-753	7	14	4	4	NUM
ijassa-753	7	15	-	-	PUNCT
ijassa-753	7	16	order	order	NOUN
ijassa-753	7	17	method	method	NOUN
ijassa-753	7	18	with	with	ADP
ijassa-753	7	19	constant	constant	ADJ
ijassa-753	7	20	step	step	NOUN
ijassa-753	7	21	size	size	NOUN
ijassa-753	7	22	we	we	PRON
ijassa-753	7	23	developed	develop	VERB
ijassa-753	7	24	algorithms	algorithm	NOUN
ijassa-753	7	25	for	for	ADP
ijassa-753	7	26	sea	sea	NOUN
ijassa-753	7	27	-	-	PUNCT
ijassa-753	7	28	wave	wave	NOUN
ijassa-753	7	29	simulation	simulation	NOUN
ijassa-753	7	30	,	,	PUNCT
ijassa-753	7	31	roll	roll	NOUN
ijassa-753	7	32	generation	generation	NOUN
ijassa-753	7	33	,	,	PUNCT
ijassa-753	7	34	data	datum	NOUN
ijassa-753	7	35	filtering	filtering	NOUN
ijassa-753	7	36	and	and	CCONJ
ijassa-753	7	37	common	common	ADJ
ijassa-753	7	38	calculations	calculation	NOUN
ijassa-753	7	39	.	.	PUNCT
ijassa-753	8	1	we	we	PRON
ijassa-753	8	2	made	make	VERB
ijassa-753	8	3	a	a	DET
ijassa-753	8	4	set	set	NOUN
ijassa-753	8	5	of	of	ADP
ijassa-753	8	6	command	command	NOUN
ijassa-753	8	7	-	-	PUNCT
ijassa-753	8	8	line	line	NOUN
ijassa-753	8	9	software	software	NOUN
ijassa-753	8	10	based	base	VERB
ijassa-753	8	11	on	on	ADP
ijassa-753	8	12	these	these	DET
ijassa-753	8	13	algorithms	algorithm	NOUN
ijassa-753	8	14	.	.	PUNCT
ijassa-753	9	1	utilizing	utilize	VERB
ijassa-753	9	2	all	all	DET
ijassa-753	9	3	possibilities	possibility	NOUN
ijassa-753	9	4	of	of	ADP
ijassa-753	9	5	test	test	NOUN
ijassa-753	9	6	bench	bench	NOUN
ijassa-753	9	7	allows	allow	VERB
ijassa-753	9	8	us	we	PRON
ijassa-753	9	9	to	to	PART
ijassa-753	9	10	collect	collect	VERB
ijassa-753	9	11	statistics	statistic	NOUN
ijassa-753	9	12	and	and	CCONJ
ijassa-753	9	13	compare	compare	VERB
ijassa-753	9	14	recorded	recorded	ADJ
ijassa-753	9	15	data	datum	NOUN
ijassa-753	9	16	.	.	PUNCT
ijassa-753	10	1	keywords	keyword	NOUN
ijassa-753	10	2	:	:	PUNCT
ijassa-753	10	3	stewart	stewart	PROPN
ijassa-753	10	4	platform	platform	PROPN
ijassa-753	10	5	,	,	PUNCT
ijassa-753	10	6	catamaran	catamaran	NOUN
ijassa-753	10	7	roll	roll	NOUN
ijassa-753	10	8	,	,	PUNCT
ijassa-753	10	9	test	test	NOUN
ijassa-753	10	10	bench	bench	NOUN
ijassa-753	10	11	,	,	PUNCT
ijassa-753	10	12	simulation	simulation	NOUN
ijassa-753	10	13	,	,	PUNCT
ijassa-753	10	14	motion	motion	NOUN
ijassa-753	10	15	platform	platform	NOUN
ijassa-753	10	16	.	.	PUNCT
ijassa-753	11	1	1	1	X
ijassa-753	11	2	.	.	X
ijassa-753	11	3	introduction	introduction	NOUN
ijassa-753	11	4	this	this	DET
ijassa-753	11	5	article	article	NOUN
ijassa-753	11	6	is	be	AUX
ijassa-753	11	7	devoted	devote	VERB
ijassa-753	11	8	to	to	ADP
ijassa-753	11	9	developing	develop	VERB
ijassa-753	11	10	of	of	ADP
ijassa-753	11	11	algorithms	algorithm	NOUN
ijassa-753	11	12	for	for	ADP
ijassa-753	11	13	test	test	NOUN
ijassa-753	11	14	bench	bench	NOUN
ijassa-753	11	15	.	.	PUNCT
ijassa-753	12	1	test	test	NOUN
ijassa-753	12	2	benches	bench	NOUN
ijassa-753	12	3	are	be	AUX
ijassa-753	12	4	complex	complex	ADJ
ijassa-753	12	5	devices	device	NOUN
ijassa-753	12	6	which	which	PRON
ijassa-753	12	7	consist	consist	VERB
ijassa-753	12	8	of	of	ADP
ijassa-753	12	9	several	several	ADJ
ijassa-753	12	10	parts	part	NOUN
ijassa-753	12	11	and	and	CCONJ
ijassa-753	12	12	designed	design	VERB
ijassa-753	12	13	to	to	PART
ijassa-753	12	14	test	test	VERB
ijassa-753	12	15	any	any	DET
ijassa-753	12	16	electronic	electronic	ADJ
ijassa-753	12	17	devices	device	NOUN
ijassa-753	12	18	or	or	CCONJ
ijassa-753	12	19	software	software	NOUN
ijassa-753	12	20	in	in	ADP
ijassa-753	12	21	natural	natural	ADJ
ijassa-753	12	22	environment	environment	NOUN
ijassa-753	12	23	.	.	PUNCT
ijassa-753	13	1	in	in	ADP
ijassa-753	13	2	comparison	comparison	NOUN
ijassa-753	13	3	with	with	ADP
ijassa-753	13	4	numerical	numerical	PROPN
ijassa-753	13	5	simulation	simulation	PROPN
ijassa-753	13	6	researcher	researcher	NOUN
ijassa-753	13	7	has	have	VERB
ijassa-753	13	8	conditions	condition	NOUN
ijassa-753	13	9	when	when	SCONJ
ijassa-753	13	10	his	his	PRON
ijassa-753	13	11	theoretical	theoretical	ADJ
ijassa-753	13	12	models	model	NOUN
ijassa-753	13	13	are	be	AUX
ijassa-753	13	14	not	not	PART
ijassa-753	13	15	limited	limit	VERB
ijassa-753	13	16	by	by	ADP
ijassa-753	13	17	math	math	NOUN
ijassa-753	13	18	representation	representation	NOUN
ijassa-753	13	19	of	of	ADP
ijassa-753	13	20	real	real	ADJ
ijassa-753	13	21	world	world	NOUN
ijassa-753	13	22	.	.	PUNCT
ijassa-753	14	1	the	the	DET
ijassa-753	14	2	industrial	industrial	ADJ
ijassa-753	14	3	scope	scope	NOUN
ijassa-753	14	4	application	application	NOUN
ijassa-753	14	5	of	of	ADP
ijassa-753	14	6	the	the	DET
ijassa-753	14	7	test	test	NOUN
ijassa-753	14	8	bench	bench	NOUN
ijassa-753	14	9	is	be	AUX
ijassa-753	14	10	the	the	DET
ijassa-753	14	11	testing	testing	NOUN
ijassa-753	14	12	of	of	ADP
ijassa-753	14	13	electronic	electronic	ADJ
ijassa-753	14	14	devices	device	NOUN
ijassa-753	14	15	for	for	ADP
ijassa-753	14	16	catamarans	catamaran	NOUN
ijassa-753	14	17	.	.	PUNCT
ijassa-753	15	1	simulation	simulation	NOUN
ijassa-753	15	2	is	be	AUX
ijassa-753	15	3	a	a	DET
ijassa-753	15	4	one	one	NUM
ijassa-753	15	5	of	of	ADP
ijassa-753	15	6	important	important	ADJ
ijassa-753	15	7	steps	step	NOUN
ijassa-753	15	8	in	in	ADP
ijassa-753	15	9	developing	develop	VERB
ijassa-753	15	10	any	any	DET
ijassa-753	15	11	electronic	electronic	ADJ
ijassa-753	15	12	devices	device	NOUN
ijassa-753	15	13	and	and	CCONJ
ijassa-753	15	14	systems	system	NOUN
ijassa-753	15	15	.	.	PUNCT
ijassa-753	16	1	at	at	ADP
ijassa-753	16	2	first	first	ADJ
ijassa-753	16	3	one	one	NUM
ijassa-753	16	4	performs	perform	VERB
ijassa-753	16	5	a	a	DET
ijassa-753	16	6	numerical	numerical	ADJ
ijassa-753	16	7	simulation	simulation	NOUN
ijassa-753	16	8	.	.	PUNCT
ijassa-753	17	1	the	the	DET
ijassa-753	17	2	goal	goal	NOUN
ijassa-753	17	3	of	of	ADP
ijassa-753	17	4	this	this	DET
ijassa-753	17	5	step	step	NOUN
ijassa-753	17	6	is	be	AUX
ijassa-753	17	7	research	research	NOUN
ijassa-753	17	8	of	of	ADP
ijassa-753	17	9	the	the	DET
ijassa-753	17	10	system	system	NOUN
ijassa-753	17	11	,	,	PUNCT
ijassa-753	17	12	synthesis	synthesis	NOUN
ijassa-753	17	13	of	of	ADP
ijassa-753	17	14	controls	control	NOUN
ijassa-753	17	15	and	and	CCONJ
ijassa-753	17	16	algorithms	algorithm	NOUN
ijassa-753	17	17	.	.	PUNCT
ijassa-753	18	1	at	at	ADP
ijassa-753	18	2	second	second	ADJ
ijassa-753	18	3	one	one	NUM
ijassa-753	18	4	performs	perform	VERB
ijassa-753	18	5	a	a	DET
ijassa-753	18	6	hardware	hardware	NOUN
ijassa-753	18	7	testing	testing	NOUN
ijassa-753	18	8	on	on	ADP
ijassa-753	18	9	conditions	condition	NOUN
ijassa-753	18	10	close	close	ADJ
ijassa-753	18	11	to	to	ADP
ijassa-753	18	12	real	real	ADJ
ijassa-753	18	13	.	.	PUNCT
ijassa-753	19	1	the	the	DET
ijassa-753	19	2	goal	goal	NOUN
ijassa-753	19	3	of	of	ADP
ijassa-753	19	4	this	this	DET
ijassa-753	19	5	step	step	NOUN
ijassa-753	19	6	is	be	AUX
ijassa-753	19	7	proof	proof	NOUN
ijassa-753	19	8	of	of	ADP
ijassa-753	19	9	theoretical	theoretical	ADJ
ijassa-753	19	10	results	result	NOUN
ijassa-753	19	11	.	.	PUNCT
ijassa-753	20	1	then	then	ADV
ijassa-753	20	2	engineers	engineer	NOUN
ijassa-753	20	3	carry	carry	VERB
ijassa-753	20	4	out	out	ADP
ijassa-753	20	5	onboard	onboard	ADP
ijassa-753	20	6	experiments	experiment	NOUN
ijassa-753	20	7	.	.	PUNCT
ijassa-753	21	1	and	and	CCONJ
ijassa-753	21	2	final	final	ADJ
ijassa-753	21	3	is	be	AUX
ijassa-753	21	4	exploitation	exploitation	NOUN
ijassa-753	21	5	.	.	PUNCT
ijassa-753	22	1	the	the	DET
ijassa-753	22	2	test	test	NOUN
ijassa-753	22	3	bench	bench	NOUN
ijassa-753	22	4	we	we	PRON
ijassa-753	22	5	discuss	discuss	VERB
ijassa-753	22	6	aims	aim	NOUN
ijassa-753	22	7	at	at	ADP
ijassa-753	22	8	the	the	DET
ijassa-753	22	9	simulation	simulation	NOUN
ijassa-753	22	10	of	of	ADP
ijassa-753	22	11	the	the	DET
ijassa-753	22	12	catamaran	catamaran	NOUN
ijassa-753	22	13	roll	roll	NOUN
ijassa-753	22	14	and	and	CCONJ
ijassa-753	22	15	to	to	PART
ijassa-753	22	16	test	test	VERB
ijassa-753	22	17	and	and	CCONJ
ijassa-753	22	18	to	to	PART
ijassa-753	22	19	debug	debug	VERB
ijassa-753	22	20	onboard	onboard	ADP
ijassa-753	22	21	measurement	measurement	NOUN
ijassa-753	22	22	systems	system	NOUN
ijassa-753	22	23	like	like	ADP
ijassa-753	22	24	on	on	ADP
ijassa-753	22	25	real	real	ADJ
ijassa-753	22	26	environmental	environmental	ADJ
ijassa-753	22	27	conditions	condition	NOUN
ijassa-753	22	28	and	and	CCONJ
ijassa-753	22	29	collect	collect	VERB
ijassa-753	22	30	data	datum	NOUN
ijassa-753	22	31	to	to	PART
ijassa-753	22	32	verify	verify	VERB
ijassa-753	22	33	theoretical	theoretical	ADJ
ijassa-753	22	34	results	result	NOUN
ijassa-753	22	35	.	.	PUNCT
ijassa-753	23	1	it	it	PRON
ijassa-753	23	2	is	be	AUX
ijassa-753	23	3	known	know	VERB
ijassa-753	23	4	that	that	SCONJ
ijassa-753	23	5	in	in	ADP
ijassa-753	23	6	vessel	vessel	NOUN
ijassa-753	23	7	researching	researching	NOUN
ijassa-753	23	8	and	and	CCONJ
ijassa-753	23	9	simulation	simulation	NOUN
ijassa-753	23	10	procedures	procedure	NOUN
ijassa-753	23	11	researches	research	VERB
ijassa-753	23	12	use	use	VERB
ijassa-753	23	13	wave	wave	NOUN
ijassa-753	23	14	generation	generation	NOUN
ijassa-753	23	15	pool	pool	NOUN
ijassa-753	24	1	[	[	X
ijassa-753	24	2	6	6	NUM
ijassa-753	24	3	]	]	PUNCT
ijassa-753	24	4	.	.	PUNCT
ijassa-753	25	1	in	in	ADP
ijassa-753	25	2	this	this	DET
ijassa-753	25	3	pool	pool	NOUN
ijassa-753	25	4	a	a	DET
ijassa-753	25	5	small	small	ADJ
ijassa-753	25	6	prototype	prototype	NOUN
ijassa-753	25	7	of	of	ADP
ijassa-753	25	8	real	real	ADJ
ijassa-753	25	9	vessel	vessel	NOUN
ijassa-753	25	10	is	be	AUX
ijassa-753	25	11	swinging	swinge	VERB
ijassa-753	25	12	in	in	ADP
ijassa-753	25	13	the	the	DET
ijassa-753	25	14	water	water	NOUN
ijassa-753	25	15	.	.	PUNCT
ijassa-753	26	1	special	special	ADJ
ijassa-753	26	2	wave	wave	NOUN
ijassa-753	26	3	generator	generator	NOUN
ijassa-753	26	4	creates	create	VERB
ijassa-753	26	5	waves	wave	NOUN
ijassa-753	26	6	similar	similar	ADJ
ijassa-753	26	7	to	to	ADP
ijassa-753	26	8	a	a	DET
ijassa-753	26	9	real	real	ADJ
ijassa-753	26	10	sea	sea	NOUN
ijassa-753	26	11	.	.	PUNCT
ijassa-753	27	1	researcher	researcher	NOUN
ijassa-753	27	2	watches	watch	VERB
ijassa-753	27	3	on	on	ADP
ijassa-753	27	4	vessel	vessel	NOUN
ijassa-753	27	5	position	position	NOUN
ijassa-753	27	6	,	,	PUNCT
ijassa-753	27	7	roll	roll	NOUN
ijassa-753	27	8	angles	angle	NOUN
ijassa-753	27	9	,	,	PUNCT
ijassa-753	27	10	etc	etc	X
ijassa-753	27	11	.	.	X
ijassa-753	28	1	this	this	DET
ijassa-753	28	2	method	method	NOUN
ijassa-753	28	3	is	be	AUX
ijassa-753	28	4	very	very	ADV
ijassa-753	28	5	good	good	ADJ
ijassa-753	28	6	to	to	PART
ijassa-753	28	7	research	research	VERB
ijassa-753	28	8	vessel	vessel	NOUN
ijassa-753	28	9	seaworthiness	seaworthiness	NOUN
ijassa-753	28	10	but	but	CCONJ
ijassa-753	28	11	has	have	VERB
ijassa-753	28	12	several	several	ADJ
ijassa-753	28	13	restrictions	restriction	NOUN
ijassa-753	28	14	:	:	PUNCT
ijassa-753	28	15	difficult	difficult	ADJ
ijassa-753	28	16	to	to	PART
ijassa-753	28	17	repeat	repeat	VERB
ijassa-753	28	18	conditions	condition	NOUN
ijassa-753	28	19	of	of	ADP
ijassa-753	28	20	experiment	experiment	NOUN
ijassa-753	28	21	,	,	PUNCT
ijassa-753	28	22	require	require	VERB
ijassa-753	28	23	special	special	ADJ
ijassa-753	28	24	laboratory	laboratory	NOUN
ijassa-753	28	25	with	with	ADP
ijassa-753	28	26	expensive	expensive	ADJ
ijassa-753	28	27	equipment	equipment	NOUN
ijassa-753	28	28	.	.	PUNCT
ijassa-753	29	1	in	in	ADP
ijassa-753	29	2	our	our	PRON
ijassa-753	29	3	case	case	NOUN
ijassa-753	29	4	,	,	PUNCT
ijassa-753	29	5	we	we	PRON
ijassa-753	29	6	need	need	VERB
ijassa-753	29	7	to	to	PART
ijassa-753	29	8	reproduce	reproduce	VERB
ijassa-753	29	9	vessel	vessel	NOUN
ijassa-753	29	10	roll	roll	NOUN
ijassa-753	29	11	as	as	ADV
ijassa-753	29	12	many	many	ADJ
ijassa-753	29	13	times	time	NOUN
ijassa-753	29	14	as	as	ADP
ijassa-753	29	15	possible	possible	ADJ
ijassa-753	29	16	in	in	ADP
ijassa-753	29	17	a	a	DET
ijassa-753	29	18	limited	limited	ADJ
ijassa-753	29	19	time	time	NOUN
ijassa-753	29	20	.	.	PUNCT
ijassa-753	30	1	mathematical	mathematical	ADJ
ijassa-753	30	2	descriptions	description	NOUN
ijassa-753	30	3	of	of	ADP
ijassa-753	30	4	the	the	DET
ijassa-753	30	5	real	real	ADJ
ijassa-753	30	6	sea	sea	NOUN
ijassa-753	30	7	disturbances	disturbance	NOUN
ijassa-753	30	8	and	and	CCONJ
ijassa-753	30	9	catamaran	catamaran	NOUN
ijassa-753	30	10	are	be	AUX
ijassa-753	30	11	considered	consider	VERB
ijassa-753	30	12	sufficient	sufficient	ADJ
ijassa-753	30	13	.	.	PUNCT
ijassa-753	31	1	that	that	PRON
ijassa-753	31	2	is	be	AUX
ijassa-753	31	3	why	why	SCONJ
ijassa-753	31	4	we	we	PRON
ijassa-753	31	5	develop	develop	VERB
ijassa-753	31	6	test	test	NOUN
ijassa-753	31	7	bench	bench	NOUN
ijassa-753	31	8	instead	instead	ADV
ijassa-753	31	9	of	of	ADP
ijassa-753	31	10	using	use	VERB
ijassa-753	31	11	the	the	DET
ijassa-753	31	12	special	special	ADJ
ijassa-753	31	13	pool	pool	NOUN
ijassa-753	31	14	.	.	PUNCT
ijassa-753	32	1	usually	usually	ADV
ijassa-753	32	2	the	the	DET
ijassa-753	32	3	necessary	necessary	ADJ
ijassa-753	32	4	algorithms	algorithm	NOUN
ijassa-753	32	5	for	for	ADP
ijassa-753	32	6	the	the	DET
ijassa-753	32	7	bench	bench	NOUN
ijassa-753	32	8	include	include	VERB
ijassa-753	32	9	methods	method	NOUN
ijassa-753	32	10	to	to	PART
ijassa-753	32	11	prepare	prepare	VERB
ijassa-753	32	12	,	,	PUNCT
ijassa-753	32	13	to	to	PART
ijassa-753	32	14	conduct	conduct	VERB
ijassa-753	32	15	experiments	experiment	NOUN
ijassa-753	32	16	and	and	CCONJ
ijassa-753	32	17	to	to	PART
ijassa-753	32	18	collect	collect	VERB
ijassa-753	32	19	the	the	DET
ijassa-753	32	20	results	result	NOUN
ijassa-753	32	21	.	.	PUNCT
ijassa-753	33	1	preparation	preparation	NOUN
ijassa-753	33	2	of	of	ADP
ijassa-753	33	3	experiment	experiment	NOUN
ijassa-753	33	4	includes	include	VERB
ijassa-753	33	5	a	a	DET
ijassa-753	33	6	generation	generation	NOUN
ijassa-753	33	7	of	of	ADP
ijassa-753	33	8	theoretical	theoretical	ADJ
ijassa-753	33	9	path	path	NOUN
ijassa-753	33	10	of	of	ADP
ijassa-753	33	11	events	event	NOUN
ijassa-753	33	12	which	which	PRON
ijassa-753	33	13	must	must	AUX
ijassa-753	33	14	be	be	AUX
ijassa-753	33	15	registered	register	VERB
ijassa-753	33	16	.	.	PUNCT
ijassa-753	34	1	conduction	conduction	NOUN
ijassa-753	34	2	and	and	CCONJ
ijassa-753	34	3	collection	collection	NOUN
ijassa-753	34	4	include	include	VERB
ijassa-753	34	5	a	a	DET
ijassa-753	34	6	control	control	NOUN
ijassa-753	34	7	of	of	ADP
ijassa-753	34	8	all	all	DET
ijassa-753	34	9	actions	action	NOUN
ijassa-753	34	10	executed	execute	VERB
ijassa-753	34	11	by	by	ADP
ijassa-753	34	12	test	test	NOUN
ijassa-753	34	13	bench	bench	NOUN
ijassa-753	34	14	,	,	PUNCT
ijassa-753	34	15	registration	registration	NOUN
ijassa-753	34	16	and	and	CCONJ
ijassa-753	34	17	saving	saving	NOUN
ijassa-753	34	18	of	of	ADP
ijassa-753	34	19	a	a	DET
ijassa-753	34	20	data	data	NOUN
ijassa-753	34	21	.	.	PUNCT
ijassa-753	35	1	in	in	ADP
ijassa-753	35	2	our	our	PRON
ijassa-753	35	3	case	case	NOUN
ijassa-753	35	4	there	there	ADV
ijassa-753	35	5	*	*	PUNCT
ijassa-753	35	6	corresponding	correspond	VERB
ijassa-753	35	7	author	author	NOUN
ijassa-753	35	8	:	:	PUNCT
ijassa-753	35	9	ivanlipko@yandex.ru	ivanlipko@yandex.ru	VERB
ijassa-753	35	10	mailto:ivanlipko@yandex.ru	mailto:ivanlipko@yandex.ru	VERB
ijassa-753	35	11	2	2	NUM
ijassa-753	35	12	i.	i.	NOUN
ijassa-753	35	13	lipko	lipko	PROPN
ijassa-753	35	14	copyright	copyright	NOUN
ijassa-753	35	15	©	©	PROPN
ijassa-753	35	16	2019	2019	NUM
ijassa-753	35	17	assa	assa	PROPN
ijassa-753	35	18	adv	adv	PROPN
ijassa-753	35	19	.	.	PUNCT
ijassa-753	36	1	in	in	ADP
ijassa-753	36	2	systems	system	NOUN
ijassa-753	36	3	science	science	NOUN
ijassa-753	36	4	and	and	CCONJ
ijassa-753	36	5	appl	appl	NOUN
ijassa-753	36	6	.	.	PUNCT
ijassa-753	37	1	(	(	PUNCT
ijassa-753	37	2	2019	2019	NUM
ijassa-753	37	3	)	)	PUNCT
ijassa-753	37	4	are	be	AUX
ijassa-753	37	5	respectively	respectively	ADV
ijassa-753	37	6	:	:	PUNCT
ijassa-753	37	7	trajectory	trajectory	NOUN
ijassa-753	37	8	generation	generation	NOUN
ijassa-753	37	9	of	of	ADP
ijassa-753	37	10	catamaran	catamaran	NOUN
ijassa-753	37	11	roll	roll	NOUN
ijassa-753	37	12	,	,	PUNCT
ijassa-753	37	13	filtering	filter	VERB
ijassa-753	37	14	the	the	DET
ijassa-753	37	15	data	datum	NOUN
ijassa-753	37	16	,	,	PUNCT
ijassa-753	37	17	collecting	collect	VERB
ijassa-753	37	18	data	datum	NOUN
ijassa-753	37	19	to	to	ADP
ijassa-753	37	20	files	file	NOUN
ijassa-753	37	21	.	.	PUNCT
ijassa-753	38	1	the	the	DET
ijassa-753	38	2	test	test	NOUN
ijassa-753	38	3	bench	bench	NOUN
ijassa-753	38	4	consists	consist	VERB
ijassa-753	38	5	of	of	ADP
ijassa-753	38	6	the	the	DET
ijassa-753	38	7	stewart	stewart	PROPN
ijassa-753	38	8	platform	platform	PROPN
ijassa-753	38	9	with	with	ADP
ijassa-753	38	10	bottom	bottom	ADJ
ijassa-753	38	11	fixed	fix	VERB
ijassa-753	38	12	part	part	NOUN
ijassa-753	38	13	and	and	CCONJ
ijassa-753	38	14	top	top	ADJ
ijassa-753	38	15	mobile	mobile	ADJ
ijassa-753	38	16	part	part	NOUN
ijassa-753	38	17	which	which	PRON
ijassa-753	38	18	corresponds	correspond	VERB
ijassa-753	38	19	to	to	ADP
ijassa-753	38	20	vessel	vessel	NOUN
ijassa-753	38	21	deck	deck	NOUN
ijassa-753	38	22	and	and	CCONJ
ijassa-753	38	23	pc	pc	NOUN
ijassa-753	38	24	-	-	PUNCT
ijassa-753	38	25	based	base	VERB
ijassa-753	38	26	operator	operator	NOUN
ijassa-753	38	27	workspace	workspace	NOUN
ijassa-753	38	28	and	and	CCONJ
ijassa-753	38	29	microcontrollers	microcontroller	NOUN
ijassa-753	38	30	.	.	PUNCT
ijassa-753	39	1	there	there	PRON
ijassa-753	39	2	are	be	VERB
ijassa-753	39	3	known	know	VERB
ijassa-753	39	4	several	several	ADJ
ijassa-753	39	5	examples	example	NOUN
ijassa-753	39	6	of	of	ADP
ijassa-753	39	7	stewart	stewart	PROPN
ijassa-753	39	8	platform	platform	PROPN
ijassa-753	39	9	[	[	X
ijassa-753	39	10	15	15	NUM
ijassa-753	39	11	]	]	PUNCT
ijassa-753	39	12	usage	usage	NOUN
ijassa-753	39	13	to	to	PART
ijassa-753	39	14	simulate	simulate	VERB
ijassa-753	39	15	roll	roll	NOUN
ijassa-753	39	16	of	of	ADP
ijassa-753	39	17	vessels	vessel	NOUN
ijassa-753	39	18	and	and	CCONJ
ijassa-753	39	19	sea	sea	NOUN
ijassa-753	39	20	-	-	PUNCT
ijassa-753	39	21	offshore	offshore	ADJ
ijassa-753	39	22	construction	construction	NOUN
ijassa-753	39	23	under	under	ADP
ijassa-753	39	24	sea	sea	NOUN
ijassa-753	39	25	disturbances	disturbance	NOUN
ijassa-753	39	26	[	[	X
ijassa-753	39	27	13	13	NUM
ijassa-753	39	28	]	]	PUNCT
ijassa-753	39	29	.	.	PUNCT
ijassa-753	40	1	some	some	PRON
ijassa-753	40	2	of	of	ADP
ijassa-753	40	3	them	they	PRON
ijassa-753	40	4	use	use	VERB
ijassa-753	40	5	two	two	NUM
ijassa-753	40	6	merged	merged	ADJ
ijassa-753	40	7	platforms	platform	NOUN
ijassa-753	40	8	to	to	PART
ijassa-753	40	9	simulate	simulate	VERB
ijassa-753	40	10	sea	sea	NOUN
ijassa-753	40	11	-	-	PUNCT
ijassa-753	40	12	waves	wave	NOUN
ijassa-753	40	13	(	(	PUNCT
ijassa-753	40	14	bottom	bottom	ADJ
ijassa-753	40	15	platform	platform	NOUN
ijassa-753	40	16	)	)	PUNCT
ijassa-753	40	17	and	and	CCONJ
ijassa-753	40	18	vessel	vessel	NOUN
ijassa-753	40	19	deck	deck	NOUN
ijassa-753	40	20	(	(	PUNCT
ijassa-753	40	21	top	top	ADJ
ijassa-753	40	22	platform	platform	NOUN
ijassa-753	40	23	)	)	PUNCT
ijassa-753	41	1	[	[	X
ijassa-753	41	2	9	9	NUM
ijassa-753	41	3	]	]	PUNCT
ijassa-753	41	4	.	.	PUNCT
ijassa-753	42	1	the	the	DET
ijassa-753	42	2	same	same	ADJ
ijassa-753	42	3	situation	situation	NOUN
ijassa-753	42	4	is	be	AUX
ijassa-753	42	5	in	in	ADP
ijassa-753	42	6	the	the	DET
ijassa-753	42	7	other	other	ADJ
ijassa-753	42	8	fields	field	NOUN
ijassa-753	42	9	:	:	PUNCT
ijassa-753	42	10	automobile	automobile	NOUN
ijassa-753	42	11	[	[	X
ijassa-753	42	12	1	1	NUM
ijassa-753	42	13	,	,	PUNCT
ijassa-753	42	14	8	8	NUM
ijassa-753	42	15	,	,	PUNCT
ijassa-753	42	16	14	14	NUM
ijassa-753	42	17	]	]	PUNCT
ijassa-753	42	18	,	,	PUNCT
ijassa-753	42	19	aircraft	aircraft	NOUN
ijassa-753	42	20	and	and	CCONJ
ijassa-753	42	21	helicopters	helicopter	NOUN
ijassa-753	42	22	[	[	X
ijassa-753	42	23	16	16	NUM
ijassa-753	42	24	]	]	PUNCT
ijassa-753	42	25	,	,	PUNCT
ijassa-753	42	26	where	where	SCONJ
ijassa-753	42	27	simulators	simulator	NOUN
ijassa-753	42	28	are	be	AUX
ijassa-753	42	29	used	use	VERB
ijassa-753	42	30	to	to	PART
ijassa-753	42	31	train	train	VERB
ijassa-753	42	32	machine	machine	NOUN
ijassa-753	42	33	operators	operator	NOUN
ijassa-753	42	34	or	or	CCONJ
ijassa-753	42	35	to	to	ADP
ijassa-753	42	36	test	test	NOUN
ijassa-753	42	37	devices	device	NOUN
ijassa-753	42	38	.	.	PUNCT
ijassa-753	43	1	to	to	PART
ijassa-753	43	2	move	move	VERB
ijassa-753	43	3	mobile	mobile	ADJ
ijassa-753	43	4	part	part	NOUN
ijassa-753	43	5	of	of	ADP
ijassa-753	43	6	the	the	DET
ijassa-753	43	7	platform	platform	NOUN
ijassa-753	43	8	most	most	ADJ
ijassa-753	43	9	of	of	ADP
ijassa-753	43	10	them	they	PRON
ijassa-753	43	11	use	use	VERB
ijassa-753	43	12	linear	linear	ADJ
ijassa-753	43	13	actuators	actuator	NOUN
ijassa-753	43	14	such	such	ADJ
ijassa-753	43	15	as	as	ADP
ijassa-753	43	16	hydraulic	hydraulic	NOUN
ijassa-753	43	17	,	,	PUNCT
ijassa-753	43	18	electro	electro	NOUN
ijassa-753	43	19	-	-	PUNCT
ijassa-753	43	20	mechanic	mechanic	ADJ
ijassa-753	43	21	or	or	CCONJ
ijassa-753	43	22	pneumatic	pneumatic	ADJ
ijassa-753	43	23	.	.	PUNCT
ijassa-753	44	1	these	these	DET
ijassa-753	44	2	actuators	actuator	NOUN
ijassa-753	44	3	have	have	VERB
ijassa-753	44	4	many	many	ADJ
ijassa-753	44	5	advantages	advantage	NOUN
ijassa-753	44	6	,	,	PUNCT
ijassa-753	44	7	but	but	CCONJ
ijassa-753	44	8	very	very	ADV
ijassa-753	44	9	expensive	expensive	ADJ
ijassa-753	44	10	.	.	PUNCT
ijassa-753	45	1	in	in	ADP
ijassa-753	45	2	contrast	contrast	NOUN
ijassa-753	45	3	to	to	ADP
ijassa-753	45	4	them	they	PRON
ijassa-753	45	5	we	we	PRON
ijassa-753	45	6	use	use	VERB
ijassa-753	45	7	rotated	rotate	VERB
ijassa-753	45	8	step	step	NOUN
ijassa-753	45	9	motors	motor	NOUN
ijassa-753	45	10	which	which	PRON
ijassa-753	45	11	less	less	ADV
ijassa-753	45	12	expensive	expensive	ADJ
ijassa-753	45	13	.	.	PUNCT
ijassa-753	46	1	we	we	PRON
ijassa-753	46	2	have	have	VERB
ijassa-753	46	3	several	several	ADJ
ijassa-753	46	4	conceptual	conceptual	ADJ
ijassa-753	46	5	requirements	requirement	NOUN
ijassa-753	46	6	for	for	ADP
ijassa-753	46	7	test	test	NOUN
ijassa-753	46	8	bench	bench	NOUN
ijassa-753	46	9	and	and	CCONJ
ijassa-753	46	10	operator	operator	NOUN
ijassa-753	46	11	workspace	workspace	NOUN
ijassa-753	46	12	:	:	PUNCT
ijassa-753	47	1	1	1	X
ijassa-753	47	2	.	.	X
ijassa-753	47	3	simple	simple	ADJ
ijassa-753	47	4	intuitive	intuitive	ADJ
ijassa-753	47	5	inputs	input	NOUN
ijassa-753	47	6	and	and	CCONJ
ijassa-753	47	7	outputs	output	NOUN
ijassa-753	47	8	.	.	PUNCT
ijassa-753	48	1	there	there	PRON
ijassa-753	48	2	are	be	VERB
ijassa-753	48	3	many	many	ADJ
ijassa-753	48	4	situations	situation	NOUN
ijassa-753	48	5	when	when	SCONJ
ijassa-753	48	6	one	one	PRON
ijassa-753	48	7	requires	require	VERB
ijassa-753	48	8	interpreting	interpret	VERB
ijassa-753	48	9	results	result	NOUN
ijassa-753	48	10	according	accord	VERB
ijassa-753	48	11	to	to	ADP
ijassa-753	48	12	reality	reality	NOUN
ijassa-753	48	13	:	:	PUNCT
ijassa-753	48	14	real	real	ADJ
ijassa-753	48	15	vessel	vessel	NOUN
ijassa-753	48	16	has	have	VERB
ijassa-753	48	17	horizontal	horizontal	ADJ
ijassa-753	48	18	velocity	velocity	NOUN
ijassa-753	48	19	,	,	PUNCT
ijassa-753	48	20	vessel	vessel	NOUN
ijassa-753	48	21	hull	hull	NOUN
ijassa-753	48	22	is	be	AUX
ijassa-753	48	23	influenced	influence	VERB
ijassa-753	48	24	by	by	ADP
ijassa-753	48	25	wind	wind	NOUN
ijassa-753	48	26	and	and	CCONJ
ijassa-753	48	27	sea	sea	NOUN
ijassa-753	48	28	waves	wave	NOUN
ijassa-753	48	29	which	which	PRON
ijassa-753	48	30	have	have	VERB
ijassa-753	48	31	an	an	DET
ijassa-753	48	32	angle	angle	NOUN
ijassa-753	48	33	to	to	ADP
ijassa-753	48	34	vessel	vessel	NOUN
ijassa-753	48	35	direction	direction	NOUN
ijassa-753	48	36	,	,	PUNCT
ijassa-753	48	37	wind	wind	NOUN
ijassa-753	48	38	velocity	velocity	NOUN
ijassa-753	48	39	,	,	PUNCT
ijassa-753	48	40	etc	etc	X
ijassa-753	48	41	.	.	X
ijassa-753	49	1	therefore	therefore	ADV
ijassa-753	49	2	appropriate	appropriate	ADJ
ijassa-753	49	3	mathematical	mathematical	ADJ
ijassa-753	49	4	models	model	NOUN
ijassa-753	49	5	of	of	ADP
ijassa-753	49	6	catamaran	catamaran	NOUN
ijassa-753	49	7	and	and	CCONJ
ijassa-753	49	8	external	external	ADJ
ijassa-753	49	9	disturbances	disturbance	NOUN
ijassa-753	49	10	are	be	AUX
ijassa-753	49	11	required	require	VERB
ijassa-753	49	12	.	.	PUNCT
ijassa-753	50	1	2	2	X
ijassa-753	50	2	.	.	X
ijassa-753	50	3	repeat	repeat	NOUN
ijassa-753	50	4	experiment	experiment	NOUN
ijassa-753	50	5	as	as	ADV
ijassa-753	50	6	many	many	ADJ
ijassa-753	50	7	times	time	NOUN
ijassa-753	50	8	as	as	ADP
ijassa-753	50	9	one	one	NUM
ijassa-753	50	10	needs	need	NOUN
ijassa-753	50	11	.	.	PUNCT
ijassa-753	51	1	ideal	ideal	ADJ
ijassa-753	51	2	actions	action	NOUN
ijassa-753	51	3	sequence	sequence	NOUN
ijassa-753	51	4	is	be	AUX
ijassa-753	51	5	a	a	DET
ijassa-753	51	6	loop	loop	NOUN
ijassa-753	51	7	:	:	PUNCT
ijassa-753	51	8	set	set	ADJ
ijassa-753	51	9	input	input	NOUN
ijassa-753	51	10	,	,	PUNCT
ijassa-753	51	11	run	run	VERB
ijassa-753	51	12	experiment	experiment	NOUN
ijassa-753	51	13	,	,	PUNCT
ijassa-753	51	14	collect	collect	NOUN
ijassa-753	51	15	,	,	PUNCT
ijassa-753	51	16	show	show	VERB
ijassa-753	51	17	and	and	CCONJ
ijassa-753	51	18	explore	explore	VERB
ijassa-753	51	19	data	datum	NOUN
ijassa-753	51	20	,	,	PUNCT
ijassa-753	51	21	export	export	NOUN
ijassa-753	51	22	data	datum	NOUN
ijassa-753	51	23	to	to	ADP
ijassa-753	51	24	other	other	ADJ
ijassa-753	51	25	applications	application	NOUN
ijassa-753	51	26	.	.	PUNCT
ijassa-753	52	1	e.g.	e.g.	ADV
ijassa-753	52	2	we	we	PRON
ijassa-753	52	3	developed	develop	VERB
ijassa-753	52	4	several	several	ADJ
ijassa-753	52	5	predictive	predictive	ADJ
ijassa-753	52	6	algorithms	algorithm	NOUN
ijassa-753	52	7	[	[	X
ijassa-753	52	8	2	2	NUM
ijassa-753	52	9	,	,	PUNCT
ijassa-753	52	10	3	3	NUM
ijassa-753	52	11	,	,	PUNCT
ijassa-753	52	12	12	12	NUM
ijassa-753	52	13	]	]	PUNCT
ijassa-753	52	14	which	which	PRON
ijassa-753	52	15	must	must	AUX
ijassa-753	52	16	be	be	AUX
ijassa-753	52	17	tested	test	VERB
ijassa-753	52	18	on	on	ADP
ijassa-753	52	19	the	the	DET
ijassa-753	52	20	real	real	ADJ
ijassa-753	52	21	applications	application	NOUN
ijassa-753	52	22	.	.	PUNCT
ijassa-753	53	1	repeating	repeat	VERB
ijassa-753	53	2	of	of	ADP
ijassa-753	53	3	experiments	experiment	NOUN
ijassa-753	53	4	allows	allow	VERB
ijassa-753	53	5	us	we	PRON
ijassa-753	53	6	to	to	PART
ijassa-753	53	7	verify	verify	VERB
ijassa-753	53	8	the	the	DET
ijassa-753	53	9	quality	quality	NOUN
ijassa-753	53	10	of	of	ADP
ijassa-753	53	11	the	the	DET
ijassa-753	53	12	algorithms	algorithm	NOUN
ijassa-753	53	13	.	.	PUNCT
ijassa-753	54	1	3	3	X
ijassa-753	54	2	.	.	X
ijassa-753	54	3	test	test	NOUN
ijassa-753	54	4	bench	bench	NOUN
ijassa-753	54	5	must	must	AUX
ijassa-753	54	6	support	support	VERB
ijassa-753	54	7	mounting	mount	VERB
ijassa-753	54	8	of	of	ADP
ijassa-753	54	9	any	any	DET
ijassa-753	54	10	available	available	ADJ
ijassa-753	54	11	microelectronic	microelectronic	NOUN
ijassa-753	54	12	or	or	CCONJ
ijassa-753	54	13	other	other	ADJ
ijassa-753	54	14	sensors	sensor	NOUN
ijassa-753	54	15	.	.	PUNCT
ijassa-753	55	1	due	due	ADP
ijassa-753	55	2	to	to	ADP
ijassa-753	55	3	these	these	DET
ijassa-753	55	4	requirements	requirement	NOUN
ijassa-753	55	5	the	the	DET
ijassa-753	55	6	key	key	ADJ
ijassa-753	55	7	development	development	NOUN
ijassa-753	55	8	points	point	NOUN
ijassa-753	55	9	are	be	AUX
ijassa-753	55	10	:	:	PUNCT
ijassa-753	55	11	1	1	X
ijassa-753	55	12	.	.	X
ijassa-753	55	13	compute	compute	NOUN
ijassa-753	55	14	trajectory	trajectory	NOUN
ijassa-753	55	15	of	of	ADP
ijassa-753	55	16	catamaran	catamaran	NOUN
ijassa-753	55	17	roll	roll	NOUN
ijassa-753	55	18	on	on	ADP
ijassa-753	55	19	a	a	DET
ijassa-753	55	20	microcontroller	microcontroller	NOUN
ijassa-753	55	21	or	or	CCONJ
ijassa-753	55	22	a	a	DET
ijassa-753	55	23	pc	pc	NOUN
ijassa-753	55	24	.	.	PUNCT
ijassa-753	56	1	so	so	ADV
ijassa-753	56	2	we	we	PRON
ijassa-753	56	3	use	use	VERB
ijassa-753	56	4	linear	linear	NOUN
ijassa-753	56	5	models	model	NOUN
ijassa-753	56	6	when	when	SCONJ
ijassa-753	56	7	it	it	PRON
ijassa-753	56	8	possible	possible	ADJ
ijassa-753	56	9	.	.	PUNCT
ijassa-753	57	1	2	2	X
ijassa-753	57	2	.	.	X
ijassa-753	57	3	reproduce	reproduce	VERB
ijassa-753	57	4	catamaran	catamaran	NOUN
ijassa-753	57	5	roll	roll	NOUN
ijassa-753	57	6	trajectory	trajectory	NOUN
ijassa-753	57	7	by	by	ADP
ijassa-753	57	8	stewart	stewart	PROPN
ijassa-753	57	9	platform	platform	NOUN
ijassa-753	57	10	.	.	PUNCT
ijassa-753	58	1	3	3	X
ijassa-753	58	2	.	.	X
ijassa-753	58	3	collect	collect	VERB
ijassa-753	58	4	angle	angle	NOUN
ijassa-753	58	5	and	and	CCONJ
ijassa-753	58	6	velocity	velocity	NOUN
ijassa-753	58	7	data	datum	NOUN
ijassa-753	58	8	from	from	ADP
ijassa-753	58	9	sensors	sensor	NOUN
ijassa-753	58	10	mounted	mount	VERB
ijassa-753	58	11	on	on	ADP
ijassa-753	58	12	mobile	mobile	ADJ
ijassa-753	58	13	part	part	NOUN
ijassa-753	58	14	of	of	ADP
ijassa-753	58	15	platform	platform	NOUN
ijassa-753	58	16	.	.	PUNCT
ijassa-753	59	1	using	use	VERB
ijassa-753	59	2	these	these	DET
ijassa-753	59	3	measurements	measurement	NOUN
ijassa-753	59	4	estimate	estimate	VERB
ijassa-753	59	5	full	full	ADJ
ijassa-753	59	6	state	state	NOUN
ijassa-753	59	7	vector	vector	NOUN
ijassa-753	59	8	and	and	CCONJ
ijassa-753	59	9	produce	produce	VERB
ijassa-753	59	10	special	special	ADJ
ijassa-753	59	11	-	-	PUNCT
ijassa-753	59	12	task	task	NOUN
ijassa-753	59	13	computations	computation	NOUN
ijassa-753	59	14	(	(	PUNCT
ijassa-753	59	15	e.g.	e.g.	ADV
ijassa-753	59	16	stability	stability	NOUN
ijassa-753	59	17	,	,	PUNCT
ijassa-753	59	18	overpitch	overpitch	VERB
ijassa-753	59	19	probability	probability	NOUN
ijassa-753	59	20	,	,	PUNCT
ijassa-753	59	21	seaworthiness	seaworthiness	NOUN
ijassa-753	59	22	,	,	PUNCT
ijassa-753	59	23	etc	etc	X
ijassa-753	59	24	.	.	X
ijassa-753	59	25	)	)	PUNCT
ijassa-753	59	26	.	.	PUNCT
ijassa-753	60	1	the	the	DET
ijassa-753	60	2	paper	paper	NOUN
ijassa-753	60	3	is	be	AUX
ijassa-753	60	4	organized	organize	VERB
ijassa-753	60	5	as	as	ADP
ijassa-753	60	6	follow	follow	NOUN
ijassa-753	60	7	.	.	PUNCT
ijassa-753	61	1	test	test	NOUN
ijassa-753	61	2	bench	bench	NOUN
ijassa-753	61	3	based	base	VERB
ijassa-753	61	4	on	on	ADP
ijassa-753	61	5	the	the	DET
ijassa-753	61	6	stewart	stewart	PROPN
ijassa-753	61	7	platform	platform	NOUN
ijassa-753	61	8	is	be	AUX
ijassa-753	61	9	briefly	briefly	ADV
ijassa-753	61	10	described	describe	VERB
ijassa-753	61	11	in	in	ADP
ijassa-753	61	12	section	section	NOUN
ijassa-753	61	13	2	2	NUM
ijassa-753	61	14	,	,	PUNCT
ijassa-753	61	15	where	where	SCONJ
ijassa-753	61	16	block	block	NOUN
ijassa-753	61	17	diagram	diagram	NOUN
ijassa-753	61	18	of	of	ADP
ijassa-753	61	19	its	its	PRON
ijassa-753	61	20	construction	construction	NOUN
ijassa-753	61	21	is	be	AUX
ijassa-753	61	22	discussed	discuss	VERB
ijassa-753	61	23	.	.	PUNCT
ijassa-753	62	1	the	the	DET
ijassa-753	62	2	mathematical	mathematical	ADJ
ijassa-753	62	3	models	model	NOUN
ijassa-753	62	4	of	of	ADP
ijassa-753	62	5	simulated	simulated	ADJ
ijassa-753	62	6	catamaran	catamaran	NOUN
ijassa-753	62	7	,	,	PUNCT
ijassa-753	62	8	sea	sea	NOUN
ijassa-753	62	9	-	-	PUNCT
ijassa-753	62	10	wave	wave	NOUN
ijassa-753	62	11	disturbances	disturbance	NOUN
ijassa-753	62	12	and	and	CCONJ
ijassa-753	62	13	state	state	NOUN
ijassa-753	62	14	observation	observation	NOUN
ijassa-753	62	15	are	be	AUX
ijassa-753	62	16	presented	present	VERB
ijassa-753	62	17	in	in	ADP
ijassa-753	62	18	section	section	NOUN
ijassa-753	62	19	3	3	NUM
ijassa-753	62	20	.	.	PUNCT
ijassa-753	62	21	results	result	NOUN
ijassa-753	62	22	of	of	ADP
ijassa-753	62	23	simulation	simulation	NOUN
ijassa-753	62	24	and	and	CCONJ
ijassa-753	62	25	experimental	experimental	ADJ
ijassa-753	62	26	study	study	NOUN
ijassa-753	62	27	are	be	AUX
ijassa-753	62	28	given	give	VERB
ijassa-753	62	29	in	in	ADP
ijassa-753	62	30	section	section	NOUN
ijassa-753	62	31	4	4	NUM
ijassa-753	62	32	.	.	PUNCT
ijassa-753	62	33	concluding	conclude	VERB
ijassa-753	62	34	remarks	remark	NOUN
ijassa-753	62	35	and	and	CCONJ
ijassa-753	62	36	the	the	DET
ijassa-753	62	37	future	future	ADJ
ijassa-753	62	38	work	work	NOUN
ijassa-753	62	39	intentions	intention	NOUN
ijassa-753	62	40	are	be	AUX
ijassa-753	62	41	presented	present	VERB
ijassa-753	62	42	in	in	ADP
ijassa-753	62	43	the	the	DET
ijassa-753	62	44	last	last	ADJ
ijassa-753	62	45	section	section	NOUN
ijassa-753	62	46	.	.	PUNCT
ijassa-753	63	1	2	2	X
ijassa-753	63	2	.	.	X
ijassa-753	63	3	construction	construction	NOUN
ijassa-753	63	4	this	this	DET
ijassa-753	63	5	section	section	NOUN
ijassa-753	63	6	will	will	AUX
ijassa-753	63	7	describe	describe	VERB
ijassa-753	63	8	a	a	DET
ijassa-753	63	9	bench	bench	NOUN
ijassa-753	63	10	construction	construction	NOUN
ijassa-753	63	11	and	and	CCONJ
ijassa-753	63	12	its	its	PRON
ijassa-753	63	13	function	function	NOUN
ijassa-753	63	14	diagram	diagram	NOUN
ijassa-753	63	15	.	.	PUNCT
ijassa-753	64	1	test	test	NOUN
ijassa-753	64	2	bench	bench	NOUN
ijassa-753	64	3	(	(	PUNCT
ijassa-753	64	4	fig	fig	NOUN
ijassa-753	64	5	.	.	PUNCT
ijassa-753	64	6	2.1	2.1	NUM
ijassa-753	64	7	)	)	PUNCT
ijassa-753	64	8	is	be	AUX
ijassa-753	64	9	designed	design	VERB
ijassa-753	64	10	for	for	ADP
ijassa-753	64	11	debugging	debugging	NOUN
ijassa-753	64	12	of	of	ADP
ijassa-753	64	13	predictive	predictive	ADJ
ijassa-753	64	14	algorithms	algorithm	NOUN
ijassa-753	64	15	of	of	ADP
ijassa-753	64	16	catamaran	catamaran	NOUN
ijassa-753	64	17	roll	roll	NOUN
ijassa-753	64	18	based	base	VERB
ijassa-753	64	19	on	on	ADP
ijassa-753	64	20	large	large	ADJ
ijassa-753	64	21	deviation	deviation	NOUN
ijassa-753	64	22	theory	theory	NOUN
ijassa-753	64	23	.	.	PUNCT
ijassa-753	65	1	physically	physically	ADV
ijassa-753	65	2	it	it	PRON
ijassa-753	65	3	consists	consist	VERB
ijassa-753	65	4	of	of	ADP
ijassa-753	65	5	stewart	stewart	PROPN
ijassa-753	65	6	platform	platform	NOUN
ijassa-753	65	7	and	and	CCONJ
ijassa-753	65	8	pc	pc	NOUN
ijassa-753	65	9	connected	connect	VERB
ijassa-753	65	10	to	to	ADP
ijassa-753	65	11	microcontroller	microcontroller	NOUN
ijassa-753	65	12	which	which	PRON
ijassa-753	65	13	drives	drive	VERB
ijassa-753	65	14	motors	motor	NOUN
ijassa-753	65	15	(	(	PUNCT
ijassa-753	65	16	fig	fig	NOUN
ijassa-753	65	17	.	.	PUNCT
ijassa-753	66	1	2.2	2.2	NUM
ijassa-753	66	2	)	)	PUNCT
ijassa-753	66	3	.	.	PUNCT
ijassa-753	67	1	at	at	ADP
ijassa-753	67	2	the	the	DET
ijassa-753	67	3	same	same	ADJ
ijassa-753	67	4	time	time	NOUN
ijassa-753	67	5	there	there	PRON
ijassa-753	67	6	are	be	VERB
ijassa-753	67	7	two	two	NUM
ijassa-753	67	8	logical	logical	ADJ
ijassa-753	67	9	parts	part	NOUN
ijassa-753	67	10	which	which	PRON
ijassa-753	67	11	allow	allow	VERB
ijassa-753	67	12	to	to	PART
ijassa-753	67	13	reproduce	reproduce	VERB
ijassa-753	67	14	catamaran	catamaran	NOUN
ijassa-753	67	15	roll	roll	NOUN
ijassa-753	67	16	and	and	CCONJ
ijassa-753	67	17	to	to	PART
ijassa-753	67	18	collect	collect	VERB
ijassa-753	67	19	and	and	CCONJ
ijassa-753	67	20	to	to	PART
ijassa-753	67	21	process	process	VERB
ijassa-753	67	22	data	datum	NOUN
ijassa-753	67	23	from	from	ADP
ijassa-753	67	24	the	the	DET
ijassa-753	67	25	sensors	sensor	NOUN
ijassa-753	67	26	.	.	PUNCT
ijassa-753	68	1	the	the	DET
ijassa-753	68	2	first	first	ADJ
ijassa-753	68	3	part	part	NOUN
ijassa-753	68	4	is	be	AUX
ijassa-753	68	5	the	the	DET
ijassa-753	68	6	stewart	stewart	PROPN
ijassa-753	68	7	platform	platform	NOUN
ijassa-753	68	8	that	that	PRON
ijassa-753	68	9	reproduces	reproduce	VERB
ijassa-753	68	10	the	the	DET
ijassa-753	68	11	movement	movement	NOUN
ijassa-753	68	12	of	of	ADP
ijassa-753	68	13	the	the	DET
ijassa-753	68	14	ship	ship	NOUN
ijassa-753	68	15	deck	deck	NOUN
ijassa-753	68	16	disturbed	disturb	VERB
ijassa-753	68	17	by	by	ADP
ijassa-753	68	18	sea	sea	NOUN
ijassa-753	68	19	wave	wave	NOUN
ijassa-753	68	20	.	.	PUNCT
ijassa-753	69	1	the	the	DET
ijassa-753	69	2	bottom	bottom	ADJ
ijassa-753	69	3	part	part	NOUN
ijassa-753	69	4	of	of	ADP
ijassa-753	69	5	platform	platform	NOUN
ijassa-753	69	6	is	be	AUX
ijassa-753	69	7	fixed	fix	VERB
ijassa-753	69	8	and	and	CCONJ
ijassa-753	69	9	top	top	ADJ
ijassa-753	69	10	part	part	NOUN
ijassa-753	69	11	is	be	AUX
ijassa-753	69	12	movable	movable	ADJ
ijassa-753	69	13	.	.	PUNCT
ijassa-753	70	1	this	this	DET
ijassa-753	70	2	version	version	NOUN
ijassa-753	70	3	of	of	ADP
ijassa-753	70	4	stewart	stewart	PROPN
ijassa-753	70	5	platform	platform	PROPN
ijassa-753	70	6	uses	use	VERB
ijassa-753	70	7	rotated	rotate	VERB
ijassa-753	70	8	step	step	NOUN
ijassa-753	70	9	motors	motor	NOUN
ijassa-753	70	10	and	and	CCONJ
ijassa-753	70	11	legs	leg	NOUN
ijassa-753	70	12	connecting	connect	VERB
ijassa-753	70	13	bottom	bottom	NOUN
ijassa-753	70	14	and	and	CCONJ
ijassa-753	70	15	top	top	ADJ
ijassa-753	70	16	parts	part	NOUN
ijassa-753	70	17	of	of	ADP
ijassa-753	70	18	the	the	DET
ijassa-753	70	19	platform	platform	NOUN
ijassa-753	70	20	(	(	PUNCT
ijassa-753	70	21	details	detail	NOUN
ijassa-753	70	22	in	in	ADP
ijassa-753	70	23	[	[	X
ijassa-753	70	24	4	4	NUM
ijassa-753	70	25	]	]	NUM
ijassa-753	70	26	)	)	PUNCT
ijassa-753	70	27	.	.	PUNCT
ijassa-753	71	1	ball	ball	NOUN
ijassa-753	71	2	joints	joint	NOUN
ijassa-753	71	3	in	in	ADP
ijassa-753	71	4	the	the	DET
ijassa-753	71	5	sole	sole	NOUN
ijassa-753	71	6	of	of	ADP
ijassa-753	71	7	the	the	DET
ijassa-753	71	8	legs	leg	NOUN
ijassa-753	71	9	are	be	AUX
ijassa-753	71	10	a	a	DET
ijassa-753	71	11	weakness	weakness	NOUN
ijassa-753	71	12	of	of	ADP
ijassa-753	71	13	this	this	DET
ijassa-753	71	14	construction	construction	NOUN
ijassa-753	71	15	because	because	SCONJ
ijassa-753	71	16	it	it	PRON
ijassa-753	71	17	leads	lead	VERB
ijassa-753	71	18	to	to	ADP
ijassa-753	71	19	small	small	ADJ
ijassa-753	71	20	rattling	rattle	VERB
ijassa-753	71	21	in	in	ADP
ijassa-753	71	22	motion	motion	NOUN
ijassa-753	71	23	.	.	PUNCT
ijassa-753	72	1	noise	noise	NOUN
ijassa-753	72	2	is	be	AUX
ijassa-753	72	3	not	not	PART
ijassa-753	72	4	visible	visible	ADJ
ijassa-753	72	5	by	by	ADP
ijassa-753	72	6	eyes	eye	NOUN
ijassa-753	72	7	but	but	CCONJ
ijassa-753	72	8	noticeable	noticeable	ADJ
ijassa-753	72	9	by	by	ADP
ijassa-753	72	10	sensor	sensor	NOUN
ijassa-753	72	11	.	.	PUNCT
ijassa-753	73	1	to	to	PART
ijassa-753	73	2	reduce	reduce	VERB
ijassa-753	73	3	this	this	DET
ijassa-753	73	4	noise	noise	NOUN
ijassa-753	73	5	we	we	PRON
ijassa-753	73	6	use	use	VERB
ijassa-753	73	7	ballast	ballast	ADJ
ijassa-753	73	8	weight	weight	NOUN
ijassa-753	73	9	on	on	ADP
ijassa-753	73	10	top	top	ADJ
ijassa-753	73	11	surface	surface	NOUN
ijassa-753	73	12	.	.	PUNCT
ijassa-753	74	1	motivation	motivation	NOUN
ijassa-753	74	2	of	of	ADP
ijassa-753	74	3	use	use	NOUN
ijassa-753	74	4	it	it	PRON
ijassa-753	74	5	is	be	AUX
ijassa-753	74	6	cheap	cheap	ADJ
ijassa-753	74	7	cost	cost	NOUN
ijassa-753	74	8	and	and	CCONJ
ijassa-753	74	9	availability	availability	NOUN
ijassa-753	74	10	,	,	PUNCT
ijassa-753	74	11	simple	simple	ADJ
ijassa-753	74	12	control	control	NOUN
ijassa-753	74	13	.	.	PUNCT
ijassa-753	75	1	the	the	DET
ijassa-753	75	2	pitching	pitching	NOUN
ijassa-753	75	3	trajectories	trajectory	NOUN
ijassa-753	75	4	are	be	AUX
ijassa-753	75	5	generated	generate	VERB
ijassa-753	75	6	on	on	ADP
ijassa-753	75	7	the	the	DET
ijassa-753	75	8	computer	computer	NOUN
ijassa-753	75	9	and	and	CCONJ
ijassa-753	75	10	converted	convert	VERB
ijassa-753	75	11	into	into	ADP
ijassa-753	75	12	data	datum	NOUN
ijassa-753	75	13	for	for	ADP
ijassa-753	75	14	the	the	DET
ijassa-753	75	15	microcontroller	microcontroller	NOUN
ijassa-753	75	16	which	which	PRON
ijassa-753	75	17	controls	control	VERB
ijassa-753	75	18	platform	platform	NOUN
ijassa-753	75	19	motors	motor	NOUN
ijassa-753	75	20	.	.	PUNCT
ijassa-753	76	1	test	test	NOUN
ijassa-753	76	2	bench	bench	NOUN
ijassa-753	76	3	algorithms	algorithm	NOUN
ijassa-753	76	4	for	for	ADP
ijassa-753	76	5	catamaran	catamaran	NOUN
ijassa-753	76	6	roll	roll	NOUN
ijassa-753	76	7	simulation	simulation	NOUN
ijassa-753	76	8	3	3	NUM
ijassa-753	76	9	copyright	copyright	NOUN
ijassa-753	76	10	©	©	PROPN
ijassa-753	76	11	2019	2019	NUM
ijassa-753	76	12	assa	assa	PROPN
ijassa-753	76	13	adv	adv	PROPN
ijassa-753	76	14	.	.	PUNCT
ijassa-753	77	1	in	in	ADP
ijassa-753	77	2	systems	system	NOUN
ijassa-753	77	3	science	science	NOUN
ijassa-753	77	4	and	and	CCONJ
ijassa-753	77	5	appl	appl	NOUN
ijassa-753	77	6	.	.	PUNCT
ijassa-753	78	1	(	(	PUNCT
ijassa-753	78	2	2019	2019	NUM
ijassa-753	78	3	)	)	PUNCT
ijassa-753	78	4	fig	fig	NOUN
ijassa-753	78	5	.	.	PUNCT
ijassa-753	79	1	2.1.test	2.1.test	NUM
ijassa-753	79	2	bench	bench	VERB
ijassa-753	79	3	the	the	DET
ijassa-753	79	4	second	second	ADJ
ijassa-753	79	5	part	part	NOUN
ijassa-753	79	6	(	(	PUNCT
ijassa-753	79	7	blocks	block	NOUN
ijassa-753	79	8	“	"	PUNCT
ijassa-753	79	9	sensor	sensor	NOUN
ijassa-753	79	10	”	"	PUNCT
ijassa-753	79	11	,	,	PUNCT
ijassa-753	79	12	“	"	PUNCT
ijassa-753	79	13	filter	filter	NOUN
ijassa-753	79	14	and	and	CCONJ
ijassa-753	79	15	estimate	estimate	NOUN
ijassa-753	79	16	”	"	PUNCT
ijassa-753	79	17	,	,	PUNCT
ijassa-753	79	18	“	"	PUNCT
ijassa-753	79	19	general	general	ADJ
ijassa-753	79	20	computations	computation	NOUN
ijassa-753	79	21	”	"	PUNCT
ijassa-753	79	22	)	)	PUNCT
ijassa-753	79	23	is	be	AUX
ijassa-753	79	24	a	a	DET
ijassa-753	79	25	prototype	prototype	NOUN
ijassa-753	79	26	of	of	ADP
ijassa-753	79	27	device	device	NOUN
ijassa-753	79	28	for	for	ADP
ijassa-753	79	29	reading	read	VERB
ijassa-753	79	30	the	the	DET
ijassa-753	79	31	roll	roll	NOUN
ijassa-753	79	32	data	datum	NOUN
ijassa-753	79	33	and	and	CCONJ
ijassa-753	79	34	calculating	calculate	VERB
ijassa-753	79	35	probability	probability	NOUN
ijassa-753	79	36	estimates	estimate	NOUN
ijassa-753	79	37	.	.	PUNCT
ijassa-753	80	1	roll	roll	NOUN
ijassa-753	80	2	data	datum	NOUN
ijassa-753	80	3	(	(	PUNCT
ijassa-753	80	4	roll	roll	NOUN
ijassa-753	80	5	angle	angle	NOUN
ijassa-753	80	6	and	and	CCONJ
ijassa-753	80	7	velocity	velocity	NOUN
ijassa-753	80	8	,	,	PUNCT
ijassa-753	80	9	pitch	pitch	NOUN
ijassa-753	80	10	angle	angle	NOUN
ijassa-753	80	11	and	and	CCONJ
ijassa-753	80	12	velocity	velocity	NOUN
ijassa-753	80	13	)	)	PUNCT
ijassa-753	80	14	are	be	AUX
ijassa-753	80	15	taken	take	VERB
ijassa-753	80	16	by	by	ADP
ijassa-753	80	17	a	a	DET
ijassa-753	80	18	sensor	sensor	NOUN
ijassa-753	80	19	mounted	mount	VERB
ijassa-753	80	20	on	on	ADP
ijassa-753	80	21	the	the	DET
ijassa-753	80	22	movable	movable	ADJ
ijassa-753	80	23	surface	surface	NOUN
ijassa-753	80	24	of	of	ADP
ijassa-753	80	25	platform	platform	NOUN
ijassa-753	80	26	and	and	CCONJ
ijassa-753	80	27	transmitted	transmit	VERB
ijassa-753	80	28	to	to	ADP
ijassa-753	80	29	the	the	DET
ijassa-753	80	30	computer	computer	NOUN
ijassa-753	80	31	where	where	SCONJ
ijassa-753	80	32	calculations	calculation	NOUN
ijassa-753	80	33	are	be	AUX
ijassa-753	80	34	made	make	VERB
ijassa-753	80	35	and	and	CCONJ
ijassa-753	80	36	displayed	display	VERB
ijassa-753	80	37	on	on	ADP
ijassa-753	80	38	the	the	DET
ijassa-753	80	39	screen	screen	NOUN
ijassa-753	80	40	:	:	PUNCT
ijassa-753	80	41	current	current	ADJ
ijassa-753	80	42	state	state	NOUN
ijassa-753	80	43	of	of	ADP
ijassa-753	80	44	the	the	DET
ijassa-753	80	45	vessel	vessel	NOUN
ijassa-753	80	46	,	,	PUNCT
ijassa-753	80	47	estimates	estimate	NOUN
ijassa-753	80	48	of	of	ADP
ijassa-753	80	49	the	the	DET
ijassa-753	80	50	probability	probability	NOUN
ijassa-753	80	51	of	of	ADP
ijassa-753	80	52	large	large	ADJ
ijassa-753	80	53	deviations	deviation	NOUN
ijassa-753	80	54	.	.	PUNCT
ijassa-753	81	1	the	the	DET
ijassa-753	81	2	blocks	block	NOUN
ijassa-753	81	3	described	describe	VERB
ijassa-753	81	4	above	above	ADV
ijassa-753	81	5	are	be	AUX
ijassa-753	81	6	modules	module	NOUN
ijassa-753	81	7	of	of	ADP
ijassa-753	81	8	developed	develop	VERB
ijassa-753	81	9	programs	program	NOUN
ijassa-753	81	10	and	and	CCONJ
ijassa-753	81	11	perform	perform	VERB
ijassa-753	81	12	certain	certain	ADJ
ijassa-753	81	13	tasks	task	NOUN
ijassa-753	81	14	.	.	PUNCT
ijassa-753	82	1	all	all	DET
ijassa-753	82	2	programs	program	NOUN
ijassa-753	82	3	(	(	PUNCT
ijassa-753	82	4	unless	unless	SCONJ
ijassa-753	82	5	otherwise	otherwise	ADV
ijassa-753	82	6	written	write	VERB
ijassa-753	82	7	)	)	PUNCT
ijassa-753	82	8	are	be	AUX
ijassa-753	82	9	written	write	VERB
ijassa-753	82	10	in	in	ADP
ijassa-753	82	11	c++	c++	NOUN
ijassa-753	82	12	in	in	ADP
ijassa-753	82	13	the	the	DET
ijassa-753	82	14	qt	qt	NOUN
ijassa-753	82	15	creator	creator	NOUN
ijassa-753	82	16	and	and	CCONJ
ijassa-753	82	17	executed	execute	VERB
ijassa-753	82	18	under	under	ADP
ijassa-753	82	19	the	the	DET
ijassa-753	82	20	console	console	NOUN
ijassa-753	82	21	environment	environment	NOUN
ijassa-753	82	22	.	.	PUNCT
ijassa-753	83	1	console	console	NOUN
ijassa-753	83	2	usage	usage	NOUN
ijassa-753	83	3	is	be	AUX
ijassa-753	83	4	convenient	convenient	ADJ
ijassa-753	83	5	for	for	ADP
ijassa-753	83	6	creating	create	VERB
ijassa-753	83	7	a	a	DET
ijassa-753	83	8	test	test	NOUN
ijassa-753	83	9	bench	bench	NOUN
ijassa-753	83	10	user	user	NOUN
ijassa-753	83	11	interface	interface	NOUN
ijassa-753	83	12	application	application	NOUN
ijassa-753	83	13	.	.	PUNCT
ijassa-753	84	1	block	block	NOUN
ijassa-753	84	2	“	"	PUNCT
ijassa-753	84	3	roll	roll	NOUN
ijassa-753	84	4	generation	generation	NOUN
ijassa-753	84	5	”	"	PUNCT
ijassa-753	84	6	.	.	PUNCT
ijassa-753	85	1	the	the	DET
ijassa-753	85	2	pitching	pitching	NOUN
ijassa-753	85	3	trajectory	trajectory	NOUN
ijassa-753	85	4	generator	generator	NOUN
ijassa-753	85	5	is	be	AUX
ijassa-753	85	6	program	program	NOUN
ijassa-753	85	7	designed	design	VERB
ijassa-753	85	8	to	to	PART
ijassa-753	85	9	create	create	VERB
ijassa-753	85	10	trajectories	trajectory	NOUN
ijassa-753	85	11	of	of	ADP
ijassa-753	85	12	the	the	DET
ijassa-753	85	13	catamaran	catamaran	NOUN
ijassa-753	85	14	that	that	PRON
ijassa-753	85	15	the	the	DET
ijassa-753	85	16	platform	platform	NOUN
ijassa-753	85	17	will	will	AUX
ijassa-753	85	18	reproduce	reproduce	VERB
ijassa-753	85	19	.	.	PUNCT
ijassa-753	86	1	the	the	DET
ijassa-753	86	2	program	program	NOUN
ijassa-753	86	3	started	start	VERB
ijassa-753	86	4	using	use	VERB
ijassa-753	86	5	command	command	NOUN
ijassa-753	86	6	line	line	NOUN
ijassa-753	86	7	parameters	parameter	NOUN
ijassa-753	86	8	or	or	CCONJ
ijassa-753	86	9	a	a	DET
ijassa-753	86	10	special	special	ADJ
ijassa-753	86	11	configuration	configuration	NOUN
ijassa-753	86	12	file	file	NOUN
ijassa-753	86	13	.	.	PUNCT
ijassa-753	87	1	the	the	DET
ijassa-753	87	2	parameters	parameter	NOUN
ijassa-753	87	3	include	include	VERB
ijassa-753	87	4	initial	initial	ADJ
ijassa-753	87	5	state	state	NOUN
ijassa-753	87	6	of	of	ADP
ijassa-753	87	7	the	the	DET
ijassa-753	87	8	catamaran	catamaran	NOUN
ijassa-753	87	9	,	,	PUNCT
ijassa-753	87	10	seed	seed	NOUN
ijassa-753	87	11	-	-	PUNCT
ijassa-753	87	12	number	number	NOUN
ijassa-753	87	13	for	for	ADP
ijassa-753	87	14	the	the	DET
ijassa-753	87	15	random	random	ADJ
ijassa-753	87	16	number	number	NOUN
ijassa-753	87	17	generator	generator	NOUN
ijassa-753	87	18	,	,	PUNCT
ijassa-753	87	19	service	service	NOUN
ijassa-753	87	20	flags	flag	NOUN
ijassa-753	87	21	.	.	PUNCT
ijassa-753	88	1	as	as	ADP
ijassa-753	88	2	a	a	DET
ijassa-753	88	3	result	result	NOUN
ijassa-753	88	4	the	the	DET
ijassa-753	88	5	program	program	NOUN
ijassa-753	88	6	creates	create	VERB
ijassa-753	88	7	a	a	DET
ijassa-753	88	8	csv	csv	VERB
ijassa-753	88	9	-	-	NOUN
ijassa-753	88	10	file	file	NOUN
ijassa-753	88	11	containing	contain	VERB
ijassa-753	88	12	in	in	ADP
ijassa-753	88	13	each	each	DET
ijassa-753	88	14	line	line	NOUN
ijassa-753	88	15	the	the	DET
ijassa-753	88	16	time	time	NOUN
ijassa-753	88	17	countdown	countdown	NOUN
ijassa-753	88	18	and	and	CCONJ
ijassa-753	88	19	the	the	DET
ijassa-753	88	20	current	current	ADJ
ijassa-753	88	21	catamaran	catamaran	NOUN
ijassa-753	88	22	state	state	NOUN
ijassa-753	88	23	:	:	PUNCT
ijassa-753	88	24	angle	angle	NOUN
ijassa-753	88	25	and	and	CCONJ
ijassa-753	88	26	velocity	velocity	NOUN
ijassa-753	88	27	of	of	ADP
ijassa-753	88	28	roll	roll	NOUN
ijassa-753	88	29	,	,	PUNCT
ijassa-753	88	30	level	level	NOUN
ijassa-753	88	31	of	of	ADP
ijassa-753	88	32	heave	heave	NOUN
ijassa-753	88	33	,	,	PUNCT
ijassa-753	88	34	angle	angle	NOUN
ijassa-753	88	35	and	and	CCONJ
ijassa-753	88	36	velocity	velocity	NOUN
ijassa-753	88	37	of	of	ADP
ijassa-753	88	38	pitch	pitch	NOUN
ijassa-753	88	39	.	.	PUNCT
ijassa-753	89	1	to	to	PART
ijassa-753	89	2	generate	generate	VERB
ijassa-753	89	3	trajectories	trajectory	NOUN
ijassa-753	89	4	we	we	PRON
ijassa-753	89	5	use	use	VERB
ijassa-753	89	6	4	4	NUM
ijassa-753	89	7	-	-	PUNCT
ijassa-753	89	8	order	order	NOUN
ijassa-753	89	9	runge	runge	NOUN
ijassa-753	89	10	-	-	PUNCT
ijassa-753	89	11	kutta	kutta	NOUN
ijassa-753	89	12	integration	integration	NOUN
ijassa-753	89	13	method	method	NOUN
ijassa-753	89	14	with	with	ADP
ijassa-753	89	15	a	a	DET
ijassa-753	89	16	discrete	discrete	ADJ
ijassa-753	89	17	step	step	NOUN
ijassa-753	89	18	.	.	PUNCT
ijassa-753	90	1	the	the	DET
ijassa-753	90	2	system	system	NOUN
ijassa-753	90	3	of	of	ADP
ijassa-753	90	4	differential	differential	ADJ
ijassa-753	90	5	equations	equation	NOUN
ijassa-753	90	6	describing	describe	VERB
ijassa-753	90	7	the	the	DET
ijassa-753	90	8	catamaran	catamaran	NOUN
ijassa-753	90	9	under	under	ADP
ijassa-753	90	10	the	the	DET
ijassa-753	90	11	influence	influence	NOUN
ijassa-753	90	12	of	of	ADP
ijassa-753	90	13	wind	wind	NOUN
ijassa-753	90	14	-	-	PUNCT
ijassa-753	90	15	wave	wave	NOUN
ijassa-753	90	16	disturbances	disturbance	NOUN
ijassa-753	90	17	discussed	discuss	VERB
ijassa-753	90	18	in	in	ADP
ijassa-753	90	19	section	section	NOUN
ijassa-753	90	20	3.2	3.2	NUM
ijassa-753	90	21	.	.	PUNCT
ijassa-753	91	1	block	block	NOUN
ijassa-753	91	2	“	"	PUNCT
ijassa-753	91	3	motor	motor	NOUN
ijassa-753	91	4	calculation	calculation	NOUN
ijassa-753	91	5	”	"	PUNCT
ijassa-753	91	6	.	.	PUNCT
ijassa-753	92	1	this	this	DET
ijassa-753	92	2	block	block	NOUN
ijassa-753	92	3	solves	solve	VERB
ijassa-753	92	4	inverse	inverse	NOUN
ijassa-753	92	5	kinematics	kinematic	NOUN
ijassa-753	92	6	problem	problem	NOUN
ijassa-753	92	7	and	and	CCONJ
ijassa-753	92	8	translates	translate	VERB
ijassa-753	92	9	roll	roll	VERB
ijassa-753	92	10	trajectory	trajectory	NOUN
ijassa-753	92	11	motion	motion	NOUN
ijassa-753	92	12	to	to	ADP
ijassa-753	92	13	the	the	DET
ijassa-753	92	14	motors	motors	PROPN
ijassa-753	92	15	control	control	PROPN
ijassa-753	92	16	signals	signal	NOUN
ijassa-753	92	17	of	of	ADP
ijassa-753	92	18	the	the	DET
ijassa-753	92	19	stewart	stewart	PROPN
ijassa-753	92	20	platform	platform	NOUN
ijassa-753	92	21	.	.	PUNCT
ijassa-753	93	1	csv	csv	VERB
ijassa-753	93	2	file	file	NOUN
ijassa-753	93	3	with	with	ADP
ijassa-753	93	4	trajectory	trajectory	NOUN
ijassa-753	93	5	from	from	ADP
ijassa-753	93	6	previous	previous	ADJ
ijassa-753	93	7	block	block	NOUN
ijassa-753	93	8	is	be	AUX
ijassa-753	93	9	an	an	DET
ijassa-753	93	10	input	input	NOUN
ijassa-753	93	11	of	of	ADP
ijassa-753	93	12	the	the	DET
ijassa-753	93	13	program	program	NOUN
ijassa-753	93	14	(	(	PUNCT
ijassa-753	93	15	written	write	VERB
ijassa-753	93	16	in	in	ADP
ijassa-753	93	17	c	c	NOUN
ijassa-753	93	18	#	#	NOUN
ijassa-753	93	19	)	)	PUNCT
ijassa-753	93	20	.	.	PUNCT
ijassa-753	94	1	output	output	NOUN
ijassa-753	94	2	of	of	ADP
ijassa-753	94	3	this	this	DET
ijassa-753	94	4	block	block	NOUN
ijassa-753	94	5	is	be	AUX
ijassa-753	94	6	csv	csv	VERB
ijassa-753	94	7	file	file	NOUN
ijassa-753	94	8	with	with	ADP
ijassa-753	94	9	lines	line	NOUN
ijassa-753	94	10	which	which	PRON
ijassa-753	94	11	contain	contain	VERB
ijassa-753	94	12	the	the	DET
ijassa-753	94	13	angles	angle	NOUN
ijassa-753	94	14	of	of	ADP
ijassa-753	94	15	platform	platform	NOUN
ijassa-753	94	16	motors	motor	NOUN
ijassa-753	94	17	.	.	PUNCT
ijassa-753	95	1	a	a	DET
ijassa-753	95	2	special	special	ADJ
ijassa-753	95	3	program	program	NOUN
ijassa-753	95	4	implements	implement	VERB
ijassa-753	95	5	the	the	DET
ijassa-753	95	6	execution	execution	NOUN
ijassa-753	95	7	of	of	ADP
ijassa-753	95	8	platform	platform	NOUN
ijassa-753	95	9	movements	movement	NOUN
ijassa-753	95	10	[	[	X
ijassa-753	95	11	4	4	NUM
ijassa-753	95	12	]	]	PUNCT
ijassa-753	95	13	.	.	PUNCT
ijassa-753	96	1	block	block	NOUN
ijassa-753	96	2	“	"	PUNCT
ijassa-753	96	3	filter	filter	NOUN
ijassa-753	96	4	and	and	CCONJ
ijassa-753	96	5	estimate	estimate	NOUN
ijassa-753	96	6	”	"	PUNCT
ijassa-753	96	7	.	.	PUNCT
ijassa-753	97	1	this	this	DET
ijassa-753	97	2	block	block	NOUN
ijassa-753	97	3	performs	perform	VERB
ijassa-753	97	4	data	datum	NOUN
ijassa-753	97	5	reading	reading	NOUN
ijassa-753	97	6	and	and	CCONJ
ijassa-753	97	7	restoring	restore	VERB
ijassa-753	97	8	the	the	DET
ijassa-753	97	9	state	state	NOUN
ijassa-753	97	10	of	of	ADP
ijassa-753	97	11	catamaran	catamaran	NOUN
ijassa-753	97	12	.	.	PUNCT
ijassa-753	98	1	3dof	3dof	NOUN
ijassa-753	98	2	-	-	PUNCT
ijassa-753	98	3	sensor	sensor	NOUN
ijassa-753	98	4	(	(	PUNCT
ijassa-753	98	5	mpu6050	mpu6050	NOUN
ijassa-753	98	6	)	)	PUNCT
ijassa-753	98	7	and	and	CCONJ
ijassa-753	98	8	microcontroller	microcontroller	NOUN
ijassa-753	98	9	nucleo	nucleo	NOUN
ijassa-753	98	10	-	-	PUNCT
ijassa-753	98	11	f401re	f401re	NOUN
ijassa-753	98	12	are	be	AUX
ijassa-753	98	13	used	use	VERB
ijassa-753	98	14	for	for	ADP
ijassa-753	98	15	reading	read	VERB
ijassa-753	98	16	angles	angle	NOUN
ijassa-753	98	17	and	and	CCONJ
ijassa-753	98	18	their	their	PRON
ijassa-753	98	19	velocities	velocity	NOUN
ijassa-753	98	20	.	.	PUNCT
ijassa-753	99	1	the	the	DET
ijassa-753	99	2	values	value	NOUN
ijassa-753	99	3	of	of	ADP
ijassa-753	99	4	the	the	DET
ijassa-753	99	5	observable	observable	ADJ
ijassa-753	99	6	state	state	NOUN
ijassa-753	99	7	vector	vector	NOUN
ijassa-753	99	8	are	be	AUX
ijassa-753	99	9	passed	pass	VERB
ijassa-753	99	10	to	to	ADP
ijassa-753	99	11	the	the	DET
ijassa-753	99	12	input	input	NOUN
ijassa-753	99	13	of	of	ADP
ijassa-753	99	14	the	the	DET
ijassa-753	99	15	filter	filter	NOUN
ijassa-753	99	16	and	and	CCONJ
ijassa-753	99	17	recovery	recovery	NOUN
ijassa-753	99	18	module	module	NOUN
ijassa-753	99	19	.	.	PUNCT
ijassa-753	100	1	filtration	filtration	NOUN
ijassa-753	100	2	and	and	CCONJ
ijassa-753	100	3	estimation	estimation	NOUN
ijassa-753	100	4	of	of	ADP
ijassa-753	100	5	the	the	DET
ijassa-753	100	6	full	full	ADJ
ijassa-753	100	7	state	state	NOUN
ijassa-753	100	8	vector	vector	NOUN
ijassa-753	100	9	is	be	AUX
ijassa-753	100	10	performed	perform	VERB
ijassa-753	100	11	in	in	ADP
ijassa-753	100	12	accordance	accordance	NOUN
ijassa-753	100	13	with	with	ADP
ijassa-753	100	14	the	the	DET
ijassa-753	100	15	section	section	NOUN
ijassa-753	100	16	3.3	3.3	NUM
ijassa-753	100	17	.	.	PUNCT
ijassa-753	101	1	the	the	DET
ijassa-753	101	2	restored	restore	VERB
ijassa-753	101	3	full	full	ADJ
ijassa-753	101	4	state	state	NOUN
ijassa-753	101	5	vector	vector	NOUN
ijassa-753	101	6	is	be	AUX
ijassa-753	101	7	saved	save	VERB
ijassa-753	101	8	to	to	ADP
ijassa-753	101	9	a	a	DET
ijassa-753	101	10	file	file	NOUN
ijassa-753	101	11	and	and	CCONJ
ijassa-753	101	12	passed	pass	VERB
ijassa-753	101	13	into	into	ADP
ijassa-753	101	14	next	next	ADJ
ijassa-753	101	15	block	block	NOUN
ijassa-753	101	16	.	.	PUNCT
ijassa-753	102	1	4	4	NUM
ijassa-753	102	2	i.	i.	NOUN
ijassa-753	102	3	lipko	lipko	PROPN
ijassa-753	102	4	copyright	copyright	NOUN
ijassa-753	102	5	©	©	PROPN
ijassa-753	102	6	2019	2019	NUM
ijassa-753	102	7	assa	assa	PROPN
ijassa-753	102	8	adv	adv	PROPN
ijassa-753	102	9	.	.	PUNCT
ijassa-753	103	1	in	in	ADP
ijassa-753	103	2	systems	system	NOUN
ijassa-753	103	3	science	science	NOUN
ijassa-753	103	4	and	and	CCONJ
ijassa-753	103	5	appl	appl	NOUN
ijassa-753	103	6	.	.	PUNCT
ijassa-753	104	1	(	(	PUNCT
ijassa-753	104	2	2019	2019	NUM
ijassa-753	104	3	)	)	PUNCT
ijassa-753	104	4	fig	fig	NOUN
ijassa-753	104	5	.	.	PUNCT
ijassa-753	105	1	2.2	2.2	NUM
ijassa-753	105	2	.	.	PUNCT
ijassa-753	105	3	block	block	NOUN
ijassa-753	105	4	diagram	diagram	NOUN
ijassa-753	105	5	block	block	NOUN
ijassa-753	105	6	“	"	PUNCT
ijassa-753	105	7	general	general	ADJ
ijassa-753	105	8	computations	computation	NOUN
ijassa-753	105	9	”	"	PUNCT
ijassa-753	105	10	.	.	PUNCT
ijassa-753	106	1	this	this	DET
ijassa-753	106	2	block	block	NOUN
ijassa-753	106	3	implements	implement	VERB
ijassa-753	106	4	the	the	DET
ijassa-753	106	5	predictive	predictive	ADJ
ijassa-753	106	6	algorithms	algorithm	NOUN
ijassa-753	106	7	which	which	PRON
ijassa-753	106	8	necessary	necessary	ADJ
ijassa-753	106	9	for	for	ADP
ijassa-753	106	10	other	other	ADJ
ijassa-753	106	11	research	research	NOUN
ijassa-753	106	12	.	.	PUNCT
ijassa-753	107	1	input	input	NOUN
ijassa-753	107	2	of	of	ADP
ijassa-753	107	3	the	the	DET
ijassa-753	107	4	block	block	NOUN
ijassa-753	107	5	is	be	AUX
ijassa-753	107	6	full	full	ADJ
ijassa-753	107	7	state	state	NOUN
ijassa-753	107	8	estimates	estimate	NOUN
ijassa-753	107	9	the	the	DET
ijassa-753	107	10	resulting	result	VERB
ijassa-753	107	11	vector	vector	NOUN
ijassa-753	107	12	is	be	AUX
ijassa-753	107	13	a	a	DET
ijassa-753	107	14	task	task	NOUN
ijassa-753	107	15	-	-	PUNCT
ijassa-753	107	16	special	special	ADJ
ijassa-753	107	17	data	datum	NOUN
ijassa-753	107	18	displayed	display	VERB
ijassa-753	107	19	and	and	CCONJ
ijassa-753	107	20	saved	save	VERB
ijassa-753	107	21	to	to	ADP
ijassa-753	107	22	a	a	DET
ijassa-753	107	23	file	file	NOUN
ijassa-753	107	24	.	.	PUNCT
ijassa-753	108	1	3	3	X
ijassa-753	108	2	.	.	X
ijassa-753	108	3	algorithms	algorithm	NOUN
ijassa-753	108	4	this	this	DET
ijassa-753	108	5	section	section	NOUN
ijassa-753	108	6	describes	describe	VERB
ijassa-753	108	7	the	the	DET
ijassa-753	108	8	mathematical	mathematical	ADJ
ijassa-753	108	9	model	model	NOUN
ijassa-753	108	10	of	of	ADP
ijassa-753	108	11	the	the	DET
ijassa-753	108	12	simulated	simulate	VERB
ijassa-753	108	13	catamaran	catamaran	NOUN
ijassa-753	108	14	and	and	CCONJ
ijassa-753	108	15	its	its	PRON
ijassa-753	108	16	control	control	NOUN
ijassa-753	108	17	system	system	NOUN
ijassa-753	108	18	aimed	aim	VERB
ijassa-753	108	19	to	to	PART
ijassa-753	108	20	reduce	reduce	VERB
ijassa-753	108	21	the	the	DET
ijassa-753	108	22	amplitude	amplitude	NOUN
ijassa-753	108	23	of	of	ADP
ijassa-753	108	24	the	the	DET
ijassa-753	108	25	roll	roll	NOUN
ijassa-753	108	26	and	and	CCONJ
ijassa-753	108	27	the	the	DET
ijassa-753	108	28	angle	angle	NOUN
ijassa-753	108	29	of	of	ADP
ijassa-753	108	30	the	the	DET
ijassa-753	108	31	roll	roll	NOUN
ijassa-753	108	32	;	;	PUNCT
ijassa-753	108	33	the	the	DET
ijassa-753	108	34	mathematical	mathematical	ADJ
ijassa-753	108	35	description	description	NOUN
ijassa-753	108	36	of	of	ADP
ijassa-753	108	37	the	the	DET
ijassa-753	108	38	wind	wind	NOUN
ijassa-753	108	39	-	-	PUNCT
ijassa-753	108	40	wave	wave	NOUN
ijassa-753	108	41	disturbances	disturbance	NOUN
ijassa-753	108	42	acting	act	VERB
ijassa-753	108	43	on	on	ADP
ijassa-753	108	44	the	the	DET
ijassa-753	108	45	catamaran	catamaran	NOUN
ijassa-753	108	46	,	,	PUNCT
ijassa-753	108	47	used	use	VERB
ijassa-753	108	48	in	in	ADP
ijassa-753	108	49	the	the	DET
ijassa-753	108	50	generation	generation	NOUN
ijassa-753	108	51	of	of	ADP
ijassa-753	108	52	the	the	DET
ijassa-753	108	53	trajectory	trajectory	NOUN
ijassa-753	108	54	of	of	ADP
ijassa-753	108	55	the	the	DET
ijassa-753	108	56	catamaran	catamaran	NOUN
ijassa-753	108	57	and	and	CCONJ
ijassa-753	108	58	the	the	DET
ijassa-753	108	59	estimation	estimation	NOUN
ijassa-753	108	60	of	of	ADP
ijassa-753	108	61	state	state	NOUN
ijassa-753	108	62	vector	vector	NOUN
ijassa-753	108	63	.	.	PROPN
ijassa-753	108	64	3.1	3.1	NUM
ijassa-753	108	65	.	.	PUNCT
ijassa-753	108	66	catamaran	catamaran	NOUN
ijassa-753	108	67	model	model	NOUN
ijassa-753	108	68	the	the	DET
ijassa-753	108	69	catamaran	catamaran	NOUN
ijassa-753	108	70	is	be	AUX
ijassa-753	108	71	a	a	DET
ijassa-753	108	72	vessel	vessel	NOUN
ijassa-753	108	73	with	with	ADP
ijassa-753	108	74	two	two	NUM
ijassa-753	108	75	identical	identical	ADJ
ijassa-753	108	76	symmetrical	symmetrical	ADJ
ijassa-753	108	77	hulls	hull	NOUN
ijassa-753	108	78	connected	connect	VERB
ijassa-753	108	79	by	by	ADP
ijassa-753	108	80	a	a	DET
ijassa-753	108	81	deck	deck	NOUN
ijassa-753	108	82	[	[	X
ijassa-753	108	83	11	11	NUM
ijassa-753	108	84	]	]	PUNCT
ijassa-753	108	85	.	.	PUNCT
ijassa-753	109	1	to	to	PART
ijassa-753	109	2	reduce	reduce	VERB
ijassa-753	109	3	pitching	pitching	NOUN
ijassa-753	109	4	of	of	ADP
ijassa-753	109	5	the	the	DET
ijassa-753	109	6	boat	boat	NOUN
ijassa-753	109	7	it	it	PRON
ijassa-753	109	8	have	have	VERB
ijassa-753	109	9	t	t	NOUN
ijassa-753	109	10	-	-	PUNCT
ijassa-753	109	11	foil	foil	NOUN
ijassa-753	109	12	and	and	CCONJ
ijassa-753	109	13	thruster	thruster	NOUN
ijassa-753	109	14	flaps	flap	NOUN
ijassa-753	109	15	,	,	PUNCT
ijassa-753	109	16	which	which	PRON
ijassa-753	109	17	create	create	VERB
ijassa-753	109	18	a	a	DET
ijassa-753	109	19	forces	force	NOUN
ijassa-753	109	20	(	(	PUNCT
ijassa-753	109	21	𝐹𝑇	𝐹𝑇	PROPN
ijassa-753	109	22	and	and	CCONJ
ijassa-753	109	23	𝐹𝐹	𝐹𝐹	NOUN
ijassa-753	109	24	respectively	respectively	ADV
ijassa-753	109	25	)	)	PUNCT
ijassa-753	109	26	and	and	CCONJ
ijassa-753	109	27	moments	moment	NOUN
ijassa-753	109	28	(	(	PUNCT
ijassa-753	109	29	𝑀𝑇	𝑀𝑇	PROPN
ijassa-753	109	30	and	and	CCONJ
ijassa-753	109	31	𝑀𝐹	𝑀𝐹	PROPN
ijassa-753	109	32	,	,	PUNCT
ijassa-753	109	33	respectively	respectively	ADV
ijassa-753	109	34	)	)	PUNCT
ijassa-753	109	35	.	.	PUNCT
ijassa-753	110	1	the	the	DET
ijassa-753	110	2	main	main	ADJ
ijassa-753	110	3	dimensions	dimension	NOUN
ijassa-753	110	4	of	of	ADP
ijassa-753	110	5	the	the	DET
ijassa-753	110	6	catamaran	catamaran	NOUN
ijassa-753	110	7	are	be	AUX
ijassa-753	110	8	presented	present	VERB
ijassa-753	110	9	in	in	ADP
ijassa-753	110	10	table	table	NOUN
ijassa-753	110	11	3.1	3.1	NUM
ijassa-753	110	12	,	,	PUNCT
ijassa-753	110	13	block	block	NOUN
ijassa-753	110	14	diagram	diagram	NOUN
ijassa-753	110	15	on	on	ADP
ijassa-753	110	16	fig	fig	NOUN
ijassa-753	110	17	3.1	3.1	NUM
ijassa-753	110	18	.	.	PUNCT
ijassa-753	110	19	table	table	NOUN
ijassa-753	110	20	3.1	3.1	NUM
ijassa-753	110	21	the	the	DET
ijassa-753	110	22	catamaran	catamaran	NOUN
ijassa-753	110	23	dimensions	dimension	NOUN
ijassa-753	110	24	name	name	NOUN
ijassa-753	110	25	value	value	NOUN
ijassa-753	110	26	length	length	NOUN
ijassa-753	110	27	,	,	PUNCT
ijassa-753	110	28	m	m	VERB
ijassa-753	110	29	90	90	NUM
ijassa-753	110	30	width	width	NOUN
ijassa-753	110	31	,	,	PUNCT
ijassa-753	110	32	m	m	VERB
ijassa-753	110	33	25.96	25.96	NUM
ijassa-753	110	34	draught	draught	NOUN
ijassa-753	110	35	,	,	PUNCT
ijassa-753	110	36	m	m	PROPN
ijassa-753	110	37	2.6	2.6	NUM
ijassa-753	110	38	displacement	displacement	NOUN
ijassa-753	110	39	,	,	PUNCT
ijassa-753	110	40	t	t	PROPN
ijassa-753	110	41	734.54	734.54	NUM
ijassa-753	110	42	in	in	ADP
ijassa-753	110	43	general	general	ADJ
ijassa-753	110	44	there	there	PRON
ijassa-753	110	45	is	be	VERB
ijassa-753	110	46	a	a	DET
ijassa-753	110	47	relationship	relationship	NOUN
ijassa-753	110	48	between	between	ADP
ijassa-753	110	49	all	all	DET
ijassa-753	110	50	types	type	NOUN
ijassa-753	110	51	of	of	ADP
ijassa-753	110	52	ship	ship	NOUN
ijassa-753	110	53	pitching	pitch	VERB
ijassa-753	110	54	in	in	ADP
ijassa-753	110	55	the	the	DET
ijassa-753	110	56	motion	motion	NOUN
ijassa-753	110	57	model	model	NOUN
ijassa-753	111	1	[	[	X
ijassa-753	111	2	7	7	NUM
ijassa-753	111	3	]	]	PUNCT
ijassa-753	111	4	.	.	PUNCT
ijassa-753	112	1	in	in	ADP
ijassa-753	112	2	this	this	DET
ijassa-753	112	3	case	case	NOUN
ijassa-753	112	4	we	we	PRON
ijassa-753	112	5	are	be	AUX
ijassa-753	112	6	interested	interested	ADJ
ijassa-753	112	7	in	in	ADP
ijassa-753	112	8	roll	roll	NOUN
ijassa-753	112	9	,	,	PUNCT
ijassa-753	112	10	pitch	pitch	NOUN
ijassa-753	112	11	angles	angle	NOUN
ijassa-753	112	12	and	and	CCONJ
ijassa-753	112	13	heave	heave	VERB
ijassa-753	112	14	of	of	ADP
ijassa-753	112	15	the	the	DET
ijassa-753	112	16	catamaran	catamaran	NOUN
ijassa-753	112	17	.	.	PUNCT
ijassa-753	113	1	the	the	DET
ijassa-753	113	2	space	space	NOUN
ijassa-753	113	3	-	-	PUNCT
ijassa-753	113	4	state	state	NOUN
ijassa-753	113	5	equations	equation	NOUN
ijassa-753	113	6	for	for	ADP
ijassa-753	113	7	the	the	DET
ijassa-753	113	8	catamaran	catamaran	NOUN
ijassa-753	113	9	will	will	AUX
ijassa-753	113	10	be	be	AUX
ijassa-753	113	11	as	as	SCONJ
ijassa-753	113	12	follows	follow	VERB
ijassa-753	113	13	:	:	PUNCT
ijassa-753	113	14	{	{	PUNCT
ijassa-753	113	15	�	�	NOUN
ijassa-753	113	16	̇	̇	NOUN
ijassa-753	114	1	�	�	PROPN
ijassa-753	114	2	=	=	PUNCT
ijassa-753	114	3	𝐴𝑥	𝐴𝑥	NOUN
ijassa-753	114	4	+	+	CCONJ
ijassa-753	114	5	𝐵(𝑢	𝐵(𝑢	PUNCT
ijassa-753	114	6	+	+	NUM
ijassa-753	114	7	𝑤	𝑤	X
ijassa-753	114	8	)	)	PUNCT
ijassa-753	114	9	𝑦	𝑦	NOUN
ijassa-753	114	10	=	=	SYM
ijassa-753	115	1	𝐶𝑥	𝐶𝑥	ADV
ijassa-753	115	2	,	,	PUNCT
ijassa-753	115	3	(	(	PUNCT
ijassa-753	115	4	3	3	X
ijassa-753	115	5	)	)	PUNCT
ijassa-753	115	6	stewart	stewart	NOUN
ijassa-753	115	7	platform	platform	PROPN
ijassa-753	115	8	roll	roll	NOUN
ijassa-753	115	9	generation	generation	NOUN
ijassa-753	115	10	motors	motors	PROPN
ijassa-753	115	11	sea	sea	PROPN
ijassa-753	115	12	state	state	PROPN
ijassa-753	115	13	path	path	NOUN
ijassa-753	115	14	computer	computer	NOUN
ijassa-753	115	15	sensor	sensor	NOUN
ijassa-753	115	16	motor	motor	NOUN
ijassa-753	115	17	calculation	calculation	NOUN
ijassa-753	115	18	motor	motor	NOUN
ijassa-753	115	19	angles	angle	VERB
ijassa-753	115	20	filter	filter	NOUN
ijassa-753	115	21	and	and	CCONJ
ijassa-753	115	22	estimate	estimate	VERB
ijassa-753	115	23	general	general	ADJ
ijassa-753	115	24	computations	computation	NOUN
ijassa-753	115	25	roll	roll	VERB
ijassa-753	115	26	,	,	PUNCT
ijassa-753	115	27	pitch	pitch	NOUN
ijassa-753	115	28	state	state	NOUN
ijassa-753	115	29	vector	vector	NOUN
ijassa-753	115	30	results	result	NOUN
ijassa-753	115	31	test	test	NOUN
ijassa-753	115	32	bench	bench	NOUN
ijassa-753	115	33	algorithms	algorithm	NOUN
ijassa-753	115	34	for	for	ADP
ijassa-753	115	35	catamaran	catamaran	NOUN
ijassa-753	115	36	roll	roll	NOUN
ijassa-753	115	37	simulation	simulation	NOUN
ijassa-753	115	38	5	5	NUM
ijassa-753	115	39	copyright	copyright	NOUN
ijassa-753	115	40	©	©	PROPN
ijassa-753	115	41	2019	2019	NUM
ijassa-753	115	42	assa	assa	PROPN
ijassa-753	115	43	adv	adv	PROPN
ijassa-753	115	44	.	.	PUNCT
ijassa-753	116	1	in	in	ADP
ijassa-753	116	2	systems	system	NOUN
ijassa-753	116	3	science	science	NOUN
ijassa-753	116	4	and	and	CCONJ
ijassa-753	116	5	appl	appl	NOUN
ijassa-753	116	6	.	.	PUNCT
ijassa-753	117	1	(	(	PUNCT
ijassa-753	117	2	2019	2019	NUM
ijassa-753	117	3	)	)	PUNCT
ijassa-753	117	4	fig	fig	NOUN
ijassa-753	117	5	.	.	PUNCT
ijassa-753	118	1	3.1.catamaran	3.1.catamaran	NUM
ijassa-753	118	2	controller	controller	NOUN
ijassa-753	118	3	and	and	CCONJ
ijassa-753	118	4	signals	signal	NOUN
ijassa-753	118	5	where	where	SCONJ
ijassa-753	118	6	𝑥	𝑥	NOUN
ijassa-753	118	7	=	=	PUNCT
ijassa-753	119	1	[	[	X
ijassa-753	119	2	η̇	η̇	PROPN
ijassa-753	119	3	,	,	PUNCT
ijassa-753	119	4	ζ̇	ζ̇	PROPN
ijassa-753	119	5	,	,	PUNCT
ijassa-753	119	6	η	η	PROPN
ijassa-753	119	7	,	,	PUNCT
ijassa-753	119	8	ζ	ζ	NOUN
ijassa-753	119	9	,	,	PUNCT
ijassa-753	119	10	θ̇	θ̇	X
ijassa-753	119	11	,	,	PUNCT
ijassa-753	119	12	θ	θ	X
ijassa-753	119	13	]	]	PUNCT
ijassa-753	119	14	is	be	AUX
ijassa-753	119	15	state	state	NOUN
ijassa-753	119	16	vector	vector	NOUN
ijassa-753	119	17	including	include	VERB
ijassa-753	119	18	heave	heave	NOUN
ijassa-753	119	19	velocity	velocity	NOUN
ijassa-753	119	20	,	,	PUNCT
ijassa-753	119	21	pitch	pitch	NOUN
ijassa-753	119	22	velocity	velocity	NOUN
ijassa-753	119	23	,	,	PUNCT
ijassa-753	119	24	heave	heave	VERB
ijassa-753	119	25	,	,	PUNCT
ijassa-753	119	26	pitch	pitch	NOUN
ijassa-753	119	27	,	,	PUNCT
ijassa-753	119	28	roll	roll	NOUN
ijassa-753	119	29	velocity	velocity	NOUN
ijassa-753	119	30	,	,	PUNCT
ijassa-753	119	31	roll	roll	NOUN
ijassa-753	119	32	;	;	PUNCT
ijassa-753	119	33	𝑢	𝑢	X
ijassa-753	119	34	=	=	SYM
ijassa-753	119	35	[	[	PUNCT
ijassa-753	119	36	𝐹𝑇	𝐹𝑇	PROPN
ijassa-753	119	37	+	+	CCONJ
ijassa-753	119	38	𝐹𝐹	𝐹𝐹	PROPN
ijassa-753	119	39	𝑀𝑇	𝑀𝑇	PROPN
ijassa-753	119	40	+	+	CCONJ
ijassa-753	119	41	𝑀𝐹	𝑀𝐹	PROPN
ijassa-753	119	42	]	]	PUNCT
ijassa-753	119	43	is	be	AUX
ijassa-753	119	44	control	control	NOUN
ijassa-753	119	45	vector	vector	NOUN
ijassa-753	119	46	including	include	VERB
ijassa-753	119	47	forces	force	NOUN
ijassa-753	119	48	and	and	CCONJ
ijassa-753	119	49	moments	moment	NOUN
ijassa-753	119	50	of	of	ADP
ijassa-753	119	51	actuators	actuator	NOUN
ijassa-753	119	52	;	;	PUNCT
ijassa-753	119	53	𝑤	𝑤	X
ijassa-753	119	54	=	=	PUNCT
ijassa-753	120	1	[	[	PUNCT
ijassa-753	120	2	𝐹𝑤	𝐹𝑤	PROPN
ijassa-753	120	3	𝑀𝑤	𝑀𝑤	PROPN
ijassa-753	120	4	]	]	PUNCT
ijassa-753	120	5	is	be	AUX
ijassa-753	120	6	wind	wind	NOUN
ijassa-753	120	7	-	-	PUNCT
ijassa-753	120	8	wave	wave	NOUN
ijassa-753	120	9	disturbances	disturbance	NOUN
ijassa-753	120	10	including	include	VERB
ijassa-753	120	11	forces	force	NOUN
ijassa-753	120	12	and	and	CCONJ
ijassa-753	120	13	moments	moment	NOUN
ijassa-753	120	14	acting	act	VERB
ijassa-753	120	15	on	on	ADP
ijassa-753	120	16	vessel	vessel	NOUN
ijassa-753	120	17	hull	hull	NOUN
ijassa-753	120	18	;	;	PUNCT
ijassa-753	120	19	state	state	NOUN
ijassa-753	120	20	and	and	CCONJ
ijassa-753	120	21	input	input	NOUN
ijassa-753	120	22	matrices	matrix	NOUN
ijassa-753	120	23	are	be	AUX
ijassa-753	120	24	:	:	PUNCT
ijassa-753	120	25	a	a	PRON
ijassa-753	120	26	=	=	PUNCT
ijassa-753	120	27	[	[	PUNCT
ijassa-753	120	28	−0.9073	−0.9073	X
ijassa-753	120	29	−25.1097	−25.1097	PROPN
ijassa-753	120	30	−14.1503	−14.1503	PROPN
ijassa-753	120	31	−17.4945	−17.4945	PROPN
ijassa-753	121	1	0.001	0.001	NUM
ijassa-753	121	2	0	0	NUM
ijassa-753	121	3	0.0514	0.0514	NUM
ijassa-753	121	4	−0.503	−0.503	ADP
ijassa-753	121	5	0.2442	0.2442	NUM
ijassa-753	121	6	−12.4	−12.4	NUM
ijassa-753	121	7	0.001	0.001	NUM
ijassa-753	121	8	0	0	NUM
ijassa-753	121	9	1	1	NUM
ijassa-753	121	10	0	0	NUM
ijassa-753	121	11	0	0	NUM
ijassa-753	121	12	0	0	NUM
ijassa-753	121	13	0	0	NUM
ijassa-753	121	14	0	0	NUM
ijassa-753	121	15	0	0	NUM
ijassa-753	121	16	1	1	NUM
ijassa-753	121	17	0	0	NUM
ijassa-753	121	18	0	0	NUM
ijassa-753	121	19	0	0	NUM
ijassa-753	121	20	0	0	NUM
ijassa-753	121	21	0.001	0.001	NUM
ijassa-753	121	22	0.001	0.001	NUM
ijassa-753	121	23	−0.01	−0.01	PRON
ijassa-753	122	1	−0.01	−0.01	ADP
ijassa-753	122	2	−5	−5	ADP
ijassa-753	122	3	−15	−15	NOUN
ijassa-753	122	4	0	0	NUM
ijassa-753	122	5	0	0	NUM
ijassa-753	122	6	0	0	NUM
ijassa-753	122	7	0	0	NUM
ijassa-753	122	8	1	1	NUM
ijassa-753	122	9	0	0	NUM
ijassa-753	122	10	]	]	PUNCT
ijassa-753	122	11	,	,	PUNCT
ijassa-753	122	12	𝐵	𝐵	NOUN
ijassa-753	122	13	=	=	PUNCT
ijassa-753	122	14	[	[	PUNCT
ijassa-753	122	15	0.0082	0.0082	NUM
ijassa-753	122	16	0.0000083	0.0000083	NUM
ijassa-753	122	17	−0.00016	−0.00016	PROPN
ijassa-753	122	18	0.000017	0.000017	NUM
ijassa-753	122	19	0	0	NUM
ijassa-753	122	20	0	0	NUM
ijassa-753	122	21	0	0	NUM
ijassa-753	122	22	0	0	NUM
ijassa-753	122	23	0.002	0.002	NUM
ijassa-753	122	24	0.0000083	0.0000083	NUM
ijassa-753	122	25	0	0	NUM
ijassa-753	122	26	0	0	NUM
ijassa-753	122	27	]	]	PUNCT
ijassa-753	122	28	,	,	PUNCT
ijassa-753	122	29	and	and	CCONJ
ijassa-753	122	30	output	output	NOUN
ijassa-753	122	31	matrix	matrix	NOUN
ijassa-753	122	32	is	be	AUX
ijassa-753	122	33	𝐶	𝐶	PROPN
ijassa-753	122	34	=	=	PRON
ijassa-753	122	35	[	[	PUNCT
ijassa-753	122	36	1	1	NUM
ijassa-753	122	37	0	0	NUM
ijassa-753	122	38	0	0	NUM
ijassa-753	122	39	0	0	NUM
ijassa-753	122	40	0	0	NUM
ijassa-753	122	41	0	0	NUM
ijassa-753	122	42	0	0	NUM
ijassa-753	122	43	1	1	NUM
ijassa-753	122	44	0	0	NUM
ijassa-753	122	45	0	0	NUM
ijassa-753	122	46	0	0	NUM
ijassa-753	122	47	0	0	NUM
ijassa-753	122	48	0	0	NUM
ijassa-753	122	49	0	0	NUM
ijassa-753	122	50	0	0	NUM
ijassa-753	122	51	0	0	NUM
ijassa-753	122	52	1	1	NUM
ijassa-753	122	53	0	0	NUM
ijassa-753	122	54	0	0	NUM
ijassa-753	122	55	0	0	NUM
ijassa-753	122	56	0	0	NUM
ijassa-753	122	57	0	0	NUM
ijassa-753	122	58	0	0	NUM
ijassa-753	122	59	1	1	NUM
ijassa-753	122	60	]	]	PUNCT
ijassa-753	122	61	.	.	PUNCT
ijassa-753	123	1	for	for	ADP
ijassa-753	123	2	simulation	simulation	NOUN
ijassa-753	123	3	and	and	CCONJ
ijassa-753	123	4	path	path	NOUN
ijassa-753	123	5	generation	generation	NOUN
ijassa-753	123	6	matrix	matrix	NOUN
ijassa-753	123	7	𝐶	𝐶	PROPN
ijassa-753	123	8	is	be	AUX
ijassa-753	123	9	identity	identity	NOUN
ijassa-753	123	10	matrix	matrix	NOUN
ijassa-753	123	11	,	,	PUNCT
ijassa-753	123	12	but	but	CCONJ
ijassa-753	123	13	in	in	ADP
ijassa-753	123	14	real	real	ADJ
ijassa-753	123	15	situation	situation	NOUN
ijassa-753	123	16	measuring	measure	VERB
ijassa-753	123	17	a	a	DET
ijassa-753	123	18	heave	heave	NOUN
ijassa-753	123	19	is	be	AUX
ijassa-753	123	20	very	very	ADV
ijassa-753	123	21	difficult	difficult	ADJ
ijassa-753	123	22	task	task	NOUN
ijassa-753	123	23	.	.	PUNCT
ijassa-753	124	1	we	we	PRON
ijassa-753	124	2	have	have	VERB
ijassa-753	124	3	actuators	actuator	NOUN
ijassa-753	124	4	that	that	PRON
ijassa-753	124	5	will	will	AUX
ijassa-753	124	6	be	be	AUX
ijassa-753	124	7	controlled	control	VERB
ijassa-753	124	8	by	by	ADP
ijassa-753	124	9	feedback	feedback	NOUN
ijassa-753	124	10	controller	controller	NOUN
ijassa-753	124	11	.	.	PUNCT
ijassa-753	125	1	in	in	ADP
ijassa-753	125	2	this	this	DET
ijassa-753	125	3	article	article	NOUN
ijassa-753	125	4	we	we	PRON
ijassa-753	125	5	use	use	VERB
ijassa-753	125	6	lqregulator	lqregulator	NOUN
ijassa-753	125	7	which	which	PRON
ijassa-753	125	8	will	will	AUX
ijassa-753	125	9	reduce	reduce	VERB
ijassa-753	125	10	pitching	pitch	VERB
ijassa-753	125	11	amplitudes	amplitude	NOUN
ijassa-753	125	12	.	.	PUNCT
ijassa-753	126	1	so	so	ADV
ijassa-753	126	2	matrices	matrix	NOUN
ijassa-753	126	3	𝐴	𝐴	PROPN
ijassa-753	126	4	,	,	PUNCT
ijassa-753	126	5	𝐵	𝐵	PROPN
ijassa-753	126	6	,	,	PUNCT
ijassa-753	126	7	𝐶	𝐶	PROPN
ijassa-753	126	8	are	be	AUX
ijassa-753	126	9	suitable	suitable	ADJ
ijassa-753	126	10	to	to	PART
ijassa-753	126	11	make	make	VERB
ijassa-753	126	12	controller	controller	NOUN
ijassa-753	126	13	with	with	ADP
ijassa-753	126	14	feedback	feedback	NOUN
ijassa-753	126	15	matrix	matrix	NOUN
ijassa-753	126	16	𝐾	𝐾	NOUN
ijassa-753	126	17	=	=	PRON
ijassa-753	127	1	[	[	PUNCT
ijassa-753	127	2	59.3026	59.3026	NUM
ijassa-753	127	3	26.6427	26.6427	NUM
ijassa-753	127	4	18336.7	18336.7	NUM
ijassa-753	127	5	2006.9	2006.9	NUM
ijassa-753	127	6	−1807.6	−1807.6	PROPN
ijassa-753	127	7	−2950.1	−2950.1	PROPN
ijassa-753	127	8	−1.2133	−1.2133	PROPN
ijassa-753	127	9	2.5576	2.5576	NUM
ijassa-753	127	10	14.2237	14.2237	NUM
ijassa-753	127	11	−2.8566	−2.8566	ADP
ijassa-753	127	12	2.1435	2.1435	NUM
ijassa-753	127	13	93.5241	93.5241	NUM
ijassa-753	127	14	]	]	PUNCT
ijassa-753	127	15	and	and	CCONJ
ijassa-753	127	16	control	control	VERB
ijassa-753	127	17	𝑢	𝑢	NOUN
ijassa-753	127	18	=	=	PUNCT
ijassa-753	127	19	−𝐾𝑥.	−𝐾𝑥.	X
ijassa-753	127	20	as	as	ADP
ijassa-753	127	21	a	a	DET
ijassa-753	127	22	result	result	NOUN
ijassa-753	127	23	we	we	PRON
ijassa-753	127	24	have	have	VERB
ijassa-753	127	25	a	a	DET
ijassa-753	127	26	closed	closed	ADJ
ijassa-753	127	27	-	-	PUNCT
ijassa-753	127	28	loop	loop	NOUN
ijassa-753	127	29	system	system	NOUN
ijassa-753	127	30	{	{	PUNCT
ijassa-753	127	31	�	�	NOUN
ijassa-753	127	32	̇	̇	PROPN
ijassa-753	127	33	�	�	PROPN
ijassa-753	127	34	=	=	SYM
ijassa-753	127	35	(	(	PUNCT
ijassa-753	127	36	𝐴	𝐴	PROPN
ijassa-753	127	37	−	−	PROPN
ijassa-753	127	38	𝐵𝐾)𝑥	𝐵𝐾)𝑥	NOUN
ijassa-753	128	1	+	+	X
ijassa-753	129	1	𝐵𝑤	𝐵𝑤	PROPN
ijassa-753	129	2	𝑦	𝑦	NOUN
ijassa-753	129	3	=	=	PUNCT
ijassa-753	129	4	𝐶𝑥	𝐶𝑥	PROPN
ijassa-753	129	5	.	.	PUNCT
ijassa-753	130	1	(	(	PUNCT
ijassa-753	130	2	4	4	X
ijassa-753	130	3	)	)	PUNCT
ijassa-753	130	4	equation	equation	NOUN
ijassa-753	130	5	(	(	PUNCT
ijassa-753	130	6	4	4	X
ijassa-753	130	7	)	)	PUNCT
ijassa-753	130	8	is	be	AUX
ijassa-753	130	9	integrated	integrate	VERB
ijassa-753	130	10	via	via	ADP
ijassa-753	130	11	4	4	NUM
ijassa-753	130	12	-	-	PUNCT
ijassa-753	130	13	order	order	NOUN
ijassa-753	130	14	runge	runge	NOUN
ijassa-753	130	15	-	-	PUNCT
ijassa-753	130	16	kutta	kutta	NOUN
ijassa-753	130	17	method	method	NOUN
ijassa-753	130	18	with	with	ADP
ijassa-753	130	19	constant	constant	ADJ
ijassa-753	130	20	step	step	NOUN
ijassa-753	130	21	size	size	NOUN
ijassa-753	130	22	0.01	0.01	NUM
ijassa-753	130	23	.	.	PUNCT
ijassa-753	131	1	wind	wind	NOUN
ijassa-753	131	2	-	-	PUNCT
ijassa-753	131	3	wave	wave	NOUN
ijassa-753	131	4	disturbances	disturbance	NOUN
ijassa-753	131	5	𝑤	𝑤	VERB
ijassa-753	131	6	is	be	AUX
ijassa-753	131	7	input	input	NOUN
ijassa-753	131	8	of	of	ADP
ijassa-753	131	9	the	the	DET
ijassa-753	131	10	system	system	NOUN
ijassa-753	131	11	.	.	PUNCT
ijassa-753	132	1	sea	sea	NOUN
ijassa-753	132	2	-	-	PUNCT
ijassa-753	132	3	wind	wind	NOUN
ijassa-753	132	4	forces	force	NOUN
ijassa-753	132	5	and	and	CCONJ
ijassa-753	132	6	moments	moment	NOUN
ijassa-753	132	7	controller	controller	NOUN
ijassa-753	132	8	catamaran	catamaran	NOUN
ijassa-753	132	9	actuators	actuator	NOUN
ijassa-753	132	10	t	t	NOUN
ijassa-753	132	11	-	-	PUNCT
ijassa-753	132	12	foil	foil	NOUN
ijassa-753	132	13	signal	signal	NOUN
ijassa-753	132	14	flaps	flap	NOUN
ijassa-753	132	15	signal	signal	VERB
ijassa-753	132	16	x	x	SYM
ijassa-753	132	17	moments	moment	NOUN
ijassa-753	132	18	forces	force	NOUN
ijassa-753	132	19	forces	force	VERB
ijassa-753	132	20	moments	moment	NOUN
ijassa-753	132	21	6	6	NUM
ijassa-753	132	22	i.	i.	NOUN
ijassa-753	132	23	lipko	lipko	PROPN
ijassa-753	132	24	copyright	copyright	NOUN
ijassa-753	132	25	©	©	PROPN
ijassa-753	132	26	2019	2019	NUM
ijassa-753	132	27	assa	assa	PROPN
ijassa-753	132	28	adv	adv	PROPN
ijassa-753	132	29	.	.	PUNCT
ijassa-753	133	1	in	in	ADP
ijassa-753	133	2	systems	system	NOUN
ijassa-753	133	3	science	science	NOUN
ijassa-753	133	4	and	and	CCONJ
ijassa-753	133	5	appl	appl	NOUN
ijassa-753	133	6	.	.	PUNCT
ijassa-753	134	1	(	(	PUNCT
ijassa-753	134	2	2019	2019	NUM
ijassa-753	134	3	)	)	PUNCT
ijassa-753	134	4	3.2	3.2	NUM
ijassa-753	134	5	.	.	PUNCT
ijassa-753	135	1	wave	wave	NOUN
ijassa-753	135	2	-	-	PUNCT
ijassa-753	135	3	wind	wind	NOUN
ijassa-753	135	4	disturbances	disturbance	NOUN
ijassa-753	135	5	to	to	PART
ijassa-753	135	6	describe	describe	VERB
ijassa-753	135	7	sea	sea	NOUN
ijassa-753	135	8	-	-	PUNCT
ijassa-753	135	9	wind	wind	NOUN
ijassa-753	135	10	disturbances	disturbance	NOUN
ijassa-753	135	11	we	we	PRON
ijassa-753	135	12	use	use	VERB
ijassa-753	135	13	pierson	pierson	PROPN
ijassa-753	135	14	-	-	PUNCT
ijassa-753	135	15	moskowitz	moskowitz	PROPN
ijassa-753	135	16	spectrum	spectrum	NOUN
ijassa-753	135	17	in	in	ADP
ijassa-753	135	18	common	common	ADJ
ijassa-753	135	19	form	form	NOUN
ijassa-753	135	20	𝑆(ω	𝑆(ω	NUM
ijassa-753	135	21	)	)	PUNCT
ijassa-753	135	22	=	=	SYM
ijassa-753	136	1	8.1	8.1	NUM
ijassa-753	136	2	∙	∙	PROPN
ijassa-753	136	3	10−39.82	10−39.82	NUM
ijassa-753	137	1	∙	∙	PUNCT
ijassa-753	137	2	ω−5	ω−5	NUM
ijassa-753	137	3	∙	∙	PROPN
ijassa-753	137	4	exp	exp	NOUN
ijassa-753	137	5	(	(	PUNCT
ijassa-753	137	6	−0.74	−0.74	ADP
ijassa-753	137	7	∙	∙	PROPN
ijassa-753	137	8	0.92	0.92	NUM
ijassa-753	137	9	∙	∙	PROPN
ijassa-753	137	10	ω−4	ω−4	PROPN
ijassa-753	137	11	)	)	PUNCT
ijassa-753	137	12	.	.	PUNCT
ijassa-753	138	1	above	above	ADP
ijassa-753	138	2	numbers	number	NOUN
ijassa-753	138	3	and	and	CCONJ
ijassa-753	138	4	parameters	parameter	NOUN
ijassa-753	138	5	corresponds	correspond	VERB
ijassa-753	138	6	to	to	ADP
ijassa-753	138	7	sea	sea	NOUN
ijassa-753	138	8	state	state	NOUN
ijassa-753	138	9	with	with	ADP
ijassa-753	138	10	2.14	2.14	NUM
ijassa-753	138	11	m	m	NOUN
ijassa-753	138	12	significant	significant	ADJ
ijassa-753	138	13	wave	wave	NOUN
ijassa-753	138	14	height	height	NOUN
ijassa-753	138	15	and	and	CCONJ
ijassa-753	138	16	10	10	NUM
ijassa-753	138	17	m	m	NOUN
ijassa-753	138	18	/	/	SYM
ijassa-753	138	19	s	s	PART
ijassa-753	138	20	wind	wind	NOUN
ijassa-753	138	21	velocity	velocity	NOUN
ijassa-753	138	22	[	[	X
ijassa-753	138	23	5	5	NUM
ijassa-753	138	24	]	]	PUNCT
ijassa-753	138	25	.	.	PUNCT
ijassa-753	139	1	pitching	pitch	VERB
ijassa-753	139	2	of	of	ADP
ijassa-753	139	3	the	the	DET
ijassa-753	139	4	catamaran	catamaran	NOUN
ijassa-753	139	5	arises	arise	VERB
ijassa-753	139	6	as	as	ADP
ijassa-753	139	7	a	a	DET
ijassa-753	139	8	result	result	NOUN
ijassa-753	139	9	of	of	ADP
ijassa-753	139	10	the	the	DET
ijassa-753	139	11	external	external	ADJ
ijassa-753	139	12	forces	force	NOUN
ijassa-753	139	13	and	and	CCONJ
ijassa-753	139	14	moments	moment	NOUN
ijassa-753	139	15	actions	action	NOUN
ijassa-753	139	16	created	create	VERB
ijassa-753	139	17	by	by	ADP
ijassa-753	139	18	sea	sea	NOUN
ijassa-753	139	19	waves	wave	NOUN
ijassa-753	139	20	.	.	PUNCT
ijassa-753	140	1	the	the	DET
ijassa-753	140	2	simulation	simulation	NOUN
ijassa-753	140	3	of	of	ADP
ijassa-753	140	4	these	these	DET
ijassa-753	140	5	forces	force	NOUN
ijassa-753	140	6	and	and	CCONJ
ijassa-753	140	7	moments	moment	NOUN
ijassa-753	140	8	is	be	AUX
ijassa-753	140	9	obtained	obtain	VERB
ijassa-753	140	10	by	by	ADP
ijassa-753	140	11	using	use	VERB
ijassa-753	140	12	two	two	NUM
ijassa-753	140	13	transfer	transfer	NOUN
ijassa-753	140	14	functions	function	NOUN
ijassa-753	140	15	(	(	PUNCT
ijassa-753	140	16	see	see	VERB
ijassa-753	140	17	fig	fig	NOUN
ijassa-753	140	18	.	.	PUNCT
ijassa-753	141	1	3.2	3.2	NUM
ijassa-753	141	2	)	)	PUNCT
ijassa-753	141	3	.	.	PUNCT
ijassa-753	142	1	transfer	transfer	NOUN
ijassa-753	142	2	functions	function	NOUN
ijassa-753	142	3	are	be	AUX
ijassa-753	142	4	the	the	DET
ijassa-753	142	5	linear	linear	ADJ
ijassa-753	142	6	approximations	approximation	NOUN
ijassa-753	142	7	of	of	ADP
ijassa-753	142	8	the	the	DET
ijassa-753	142	9	corresponding	corresponding	ADJ
ijassa-753	142	10	nonlinear	nonlinear	ADJ
ijassa-753	142	11	relations	relation	NOUN
ijassa-753	142	12	(	(	PUNCT
ijassa-753	142	13	e.g.	e.g.	ADV
ijassa-753	142	14	spectrum	spectrum	VERB
ijassa-753	142	15	in	in	ADP
ijassa-753	142	16	fig	fig	NOUN
ijassa-753	142	17	.	.	PUNCT
ijassa-753	143	1	3.3	3.3	NUM
ijassa-753	143	2	)	)	PUNCT
ijassa-753	143	3	.	.	PUNCT
ijassa-753	144	1	first	first	ADV
ijassa-753	144	2	,	,	PUNCT
ijassa-753	144	3	white	white	ADJ
ijassa-753	144	4	noise	noise	NOUN
ijassa-753	144	5	is	be	AUX
ijassa-753	144	6	applied	apply	VERB
ijassa-753	144	7	to	to	ADP
ijassa-753	144	8	the	the	DET
ijassa-753	144	9	input	input	NOUN
ijassa-753	144	10	of	of	ADP
ijassa-753	144	11	the	the	DET
ijassa-753	144	12	pierson	pierson	PROPN
ijassa-753	144	13	-	-	PUNCT
ijassa-753	144	14	moskowitz	moskowitz	PROPN
ijassa-753	144	15	spectrum	spectrum	PROPN
ijassa-753	144	16	linear	linear	PROPN
ijassa-753	144	17	approximation	approximation	NOUN
ijassa-753	144	18	block	block	NOUN
ijassa-753	144	19	and	and	CCONJ
ijassa-753	144	20	then	then	ADV
ijassa-753	144	21	to	to	ADP
ijassa-753	144	22	the	the	DET
ijassa-753	144	23	block	block	NOUN
ijassa-753	144	24	of	of	ADP
ijassa-753	144	25	linear	linear	ADJ
ijassa-753	144	26	approximation	approximation	NOUN
ijassa-753	144	27	of	of	ADP
ijassa-753	144	28	forces	force	NOUN
ijassa-753	144	29	and	and	CCONJ
ijassa-753	144	30	moments	moment	NOUN
ijassa-753	144	31	.	.	PUNCT
ijassa-753	145	1	pierson	pierson	PROPN
ijassa-753	145	2	-	-	PUNCT
ijassa-753	145	3	moskowitz	moskowitz	PROPN
ijassa-753	145	4	spectrum	spectrum	NOUN
ijassa-753	145	5	linearized	linearize	VERB
ijassa-753	145	6	by	by	ADP
ijassa-753	145	7	2	2	NUM
ijassa-753	145	8	-	-	PUNCT
ijassa-753	145	9	order	order	NOUN
ijassa-753	145	10	transfer	transfer	NOUN
ijassa-753	145	11	function	function	NOUN
ijassa-753	146	1	[	[	X
ijassa-753	146	2	5	5	NUM
ijassa-753	146	3	]	]	PUNCT
ijassa-753	146	4	has	have	AUX
ijassa-753	146	5	form	form	VERB
ijassa-753	146	6	𝐻𝑃𝑀(𝑠	𝐻𝑃𝑀(𝑠	NOUN
ijassa-753	146	7	)	)	PUNCT
ijassa-753	146	8	=	=	PUNCT
ijassa-753	147	1	𝐾ω𝑠	𝐾ω𝑠	NUM
ijassa-753	147	2	𝑠2	𝑠2	NOUN
ijassa-753	147	3	+	+	PROPN
ijassa-753	147	4	2λω0𝑠+ω0	2λω0𝑠+ω0	NUM
ijassa-753	147	5	2	2	NUM
ijassa-753	147	6	,	,	PUNCT
ijassa-753	147	7	where𝐾𝜔	where𝐾𝜔	ADJ
ijassa-753	147	8	=	=	SYM
ijassa-753	147	9	2λω0σ	2λω0σ	PROPN
ijassa-753	147	10	is	be	AUX
ijassa-753	147	11	amplifier	amplifier	ADJ
ijassa-753	147	12	constant	constant	ADJ
ijassa-753	147	13	,	,	PUNCT
ijassa-753	147	14	σ2	σ2	PROPN
ijassa-753	147	15	=	=	SYM
ijassa-753	147	16	max	max	PROPN
ijassa-753	147	17	0	0	NUM
ijassa-753	147	18	<	<	X
ijassa-753	147	19	ω<∞	ω<∞	PROPN
ijassa-753	147	20	𝑆(ω	𝑆(ω	NUM
ijassa-753	147	21	)	)	PUNCT
ijassa-753	147	22	is	be	AUX
ijassa-753	147	23	wave	wave	NOUN
ijassa-753	147	24	disturbance	disturbance	NOUN
ijassa-753	147	25	intensity	intensity	NOUN
ijassa-753	147	26	constant	constant	ADJ
ijassa-753	147	27	,	,	PUNCT
ijassa-753	147	28	σ	σ	PROPN
ijassa-753	147	29	is	be	AUX
ijassa-753	147	30	damping	damp	VERB
ijassa-753	147	31	factor	factor	NOUN
ijassa-753	147	32	,	,	PUNCT
ijassa-753	147	33	ω0	ω0	PROPN
ijassa-753	147	34	is	be	AUX
ijassa-753	147	35	dominating	dominate	VERB
ijassa-753	147	36	wave	wave	NOUN
ijassa-753	147	37	frequency	frequency	NOUN
ijassa-753	147	38	.	.	PUNCT
ijassa-753	148	1	damping	damp	VERB
ijassa-753	148	2	factor	factor	NOUN
ijassa-753	148	3	𝜎	𝜎	NOUN
ijassa-753	148	4	is	be	AUX
ijassa-753	148	5	calculated	calculate	VERB
ijassa-753	148	6	using	use	VERB
ijassa-753	148	7	nonlinear	nonlinear	ADJ
ijassa-753	148	8	least	least	ADJ
ijassa-753	148	9	square	square	ADJ
ijassa-753	148	10	method	method	NOUN
ijassa-753	148	11	.	.	PUNCT
ijassa-753	149	1	fig	fig	NOUN
ijassa-753	149	2	.	.	PUNCT
ijassa-753	150	1	3.2.sea	3.2.sea	NUM
ijassa-753	150	2	-	-	PUNCT
ijassa-753	150	3	wind	wind	NOUN
ijassa-753	150	4	forces	force	NOUN
ijassa-753	150	5	and	and	CCONJ
ijassa-753	150	6	moments	moment	NOUN
ijassa-753	150	7	generation	generation	NOUN
ijassa-753	150	8	fig	fig	NOUN
ijassa-753	150	9	.	.	PUNCT
ijassa-753	151	1	3.3	3.3	NUM
ijassa-753	151	2	.	.	PUNCT
ijassa-753	152	1	pierson	pierson	PROPN
ijassa-753	152	2	-	-	PUNCT
ijassa-753	152	3	moskowitz	moskowitz	PROPN
ijassa-753	152	4	(	(	PUNCT
ijassa-753	152	5	pm	pm	PROPN
ijassa-753	152	6	)	)	PUNCT
ijassa-753	152	7	spectrum	spectrum	NOUN
ijassa-753	152	8	(	(	PUNCT
ijassa-753	152	9	dashed	dash	VERB
ijassa-753	152	10	)	)	PUNCT
ijassa-753	152	11	and	and	CCONJ
ijassa-753	152	12	linear	linear	ADJ
ijassa-753	152	13	approximation	approximation	NOUN
ijassa-753	152	14	(	(	PUNCT
ijassa-753	152	15	solid	solid	ADJ
ijassa-753	152	16	)	)	PUNCT
ijassa-753	152	17	block	block	NOUN
ijassa-753	152	18	“	"	PUNCT
ijassa-753	152	19	linear	linear	ADJ
ijassa-753	152	20	approximation	approximation	NOUN
ijassa-753	152	21	of	of	ADP
ijassa-753	152	22	forces	force	NOUN
ijassa-753	152	23	and	and	CCONJ
ijassa-753	152	24	moments	moment	NOUN
ijassa-753	152	25	”	"	PUNCT
ijassa-753	152	26	approximates	approximate	NOUN
ijassa-753	152	27	“	"	PUNCT
ijassa-753	152	28	wave	wave	NOUN
ijassa-753	152	29	to	to	PART
ijassa-753	152	30	force	force	VERB
ijassa-753	152	31	”	"	PUNCT
ijassa-753	152	32	function	function	NOUN
ijassa-753	152	33	by	by	ADP
ijassa-753	152	34	constant	constant	ADJ
ijassa-753	152	35	𝐾𝑓.	𝐾𝑓.	PROPN
ijassa-753	153	1	it	it	PRON
ijassa-753	153	2	is	be	AUX
ijassa-753	153	3	tuned	tune	VERB
ijassa-753	153	4	so	so	SCONJ
ijassa-753	153	5	that	that	SCONJ
ijassa-753	153	6	the	the	DET
ijassa-753	153	7	amplitude	amplitude	NOUN
ijassa-753	153	8	of	of	ADP
ijassa-753	153	9	roll	roll	NOUN
ijassa-753	153	10	catamaran	catamaran	NOUN
ijassa-753	153	11	satisfies	satisfie	NOUN
ijassa-753	153	12	sea	sea	NOUN
ijassa-753	153	13	state	state	NOUN
ijassa-753	153	14	statistics	statistic	NOUN
ijassa-753	154	1	[	[	X
ijassa-753	154	2	5	5	NUM
ijassa-753	154	3	]	]	PUNCT
ijassa-753	154	4	.	.	PUNCT
ijassa-753	155	1	resulting	result	VERB
ijassa-753	155	2	signal	signal	NOUN
ijassa-753	155	3	is	be	AUX
ijassa-753	155	4	an	an	DET
ijassa-753	155	5	input	input	NOUN
ijassa-753	155	6	𝑤	𝑤	ADP
ijassa-753	155	7	to	to	PART
ijassa-753	155	8	system	system	NOUN
ijassa-753	155	9	(	(	PUNCT
ijassa-753	155	10	4	4	NUM
ijassa-753	155	11	)	)	PUNCT
ijassa-753	155	12	.	.	PUNCT
ijassa-753	156	1	3.3	3.3	NUM
ijassa-753	156	2	.	.	PUNCT
ijassa-753	157	1	state	state	NOUN
ijassa-753	157	2	estimation	estimation	NOUN
ijassa-753	157	3	in	in	ADP
ijassa-753	157	4	this	this	DET
ijassa-753	157	5	section	section	NOUN
ijassa-753	157	6	we	we	PRON
ijassa-753	157	7	describe	describe	VERB
ijassa-753	157	8	in	in	ADP
ijassa-753	157	9	short	short	ADJ
ijassa-753	157	10	about	about	ADP
ijassa-753	157	11	filtering	filter	VERB
ijassa-753	157	12	the	the	DET
ijassa-753	157	13	data	datum	NOUN
ijassa-753	157	14	from	from	ADP
ijassa-753	157	15	sensor	sensor	NOUN
ijassa-753	157	16	.	.	PUNCT
ijassa-753	158	1	to	to	PART
ijassa-753	158	2	do	do	VERB
ijassa-753	158	3	this	this	PRON
ijassa-753	158	4	we	we	PRON
ijassa-753	158	5	use	use	VERB
ijassa-753	158	6	kalman	kalman	NOUN
ijassa-753	158	7	filter	filter	NOUN
ijassa-753	158	8	which	which	PRON
ijassa-753	158	9	performs	perform	VERB
ijassa-753	158	10	data	datum	NOUN
ijassa-753	158	11	filtering	filtering	NOUN
ijassa-753	158	12	and	and	CCONJ
ijassa-753	158	13	estimation	estimation	NOUN
ijassa-753	158	14	of	of	ADP
ijassa-753	158	15	full	full	ADJ
ijassa-753	158	16	state	state	NOUN
ijassa-753	158	17	vector	vector	NOUN
ijassa-753	158	18	.	.	PUNCT
ijassa-753	159	1	remind	remind	VERB
ijassa-753	159	2	that	that	SCONJ
ijassa-753	159	3	from	from	ADP
ijassa-753	159	4	sensor	sensor	NOUN
ijassa-753	159	5	we	we	PRON
ijassa-753	159	6	receive	receive	VERB
ijassa-753	159	7	only	only	ADV
ijassa-753	159	8	roll	roll	NOUN
ijassa-753	159	9	,	,	PUNCT
ijassa-753	159	10	pitch	pitch	NOUN
ijassa-753	159	11	and	and	CCONJ
ijassa-753	159	12	their	their	PRON
ijassa-753	159	13	velocities	velocity	NOUN
ijassa-753	159	14	and	and	CCONJ
ijassa-753	159	15	we	we	PRON
ijassa-753	159	16	also	also	ADV
ijassa-753	159	17	need	need	VERB
ijassa-753	159	18	to	to	PART
ijassa-753	159	19	know	know	VERB
ijassa-753	159	20	heave	heave	VERB
ijassa-753	159	21	and	and	CCONJ
ijassa-753	159	22	heave	heave	VERB
ijassa-753	159	23	velocity	velocity	NOUN
ijassa-753	159	24	.	.	PUNCT
ijassa-753	160	1	linear	linear	ADJ
ijassa-753	160	2	approximation	approximation	NOUN
ijassa-753	160	3	of	of	ADP
ijassa-753	160	4	spectrum	spectrum	NOUN
ijassa-753	160	5	white	white	PROPN
ijassa-753	160	6	noise	noise	PROPN
ijassa-753	160	7	linear	linear	PROPN
ijassa-753	160	8	approximation	approximation	NOUN
ijassa-753	160	9	of	of	ADP
ijassa-753	160	10	forces	force	NOUN
ijassa-753	160	11	and	and	CCONJ
ijassa-753	160	12	moments	moment	NOUN
ijassa-753	160	13	sea	sea	NOUN
ijassa-753	160	14	state	state	NOUN
ijassa-753	160	15	,	,	PUNCT
ijassa-753	160	16	spectrum	spectrum	NOUN
ijassa-753	160	17	wave	wave	NOUN
ijassa-753	160	18	amplitude	amplitude	NOUN
ijassa-753	160	19	forces	force	NOUN
ijassa-753	160	20	,	,	PUNCT
ijassa-753	160	21	moments	moment	NOUN
ijassa-753	161	1	p	p	NOUN
ijassa-753	161	2	o	o	INTJ
ijassa-753	161	3	w	w	NOUN
ijassa-753	161	4	er	er	INTJ
ijassa-753	161	5	,	,	PUNCT
ijassa-753	161	6	ra	ra	PROPN
ijassa-753	161	7	d	d	PROPN
ijassa-753	161	8	/s	/s	NOUN
ijassa-753	161	9	frequency	frequency	NOUN
ijassa-753	161	10	,	,	PUNCT
ijassa-753	161	11	rad	rad	PROPN
ijassa-753	161	12	/	/	SYM
ijassa-753	161	13	s	s	PART
ijassa-753	161	14	test	test	NOUN
ijassa-753	161	15	bench	bench	NOUN
ijassa-753	161	16	algorithms	algorithm	NOUN
ijassa-753	161	17	for	for	ADP
ijassa-753	161	18	catamaran	catamaran	NOUN
ijassa-753	161	19	roll	roll	NOUN
ijassa-753	161	20	simulation	simulation	NOUN
ijassa-753	161	21	7	7	NUM
ijassa-753	161	22	copyright	copyright	NOUN
ijassa-753	161	23	©	©	PROPN
ijassa-753	161	24	2019	2019	NUM
ijassa-753	161	25	assa	assa	PROPN
ijassa-753	161	26	adv	adv	PROPN
ijassa-753	161	27	.	.	PUNCT
ijassa-753	162	1	in	in	ADP
ijassa-753	162	2	systems	system	NOUN
ijassa-753	162	3	science	science	NOUN
ijassa-753	162	4	and	and	CCONJ
ijassa-753	162	5	appl	appl	NOUN
ijassa-753	162	6	.	.	PUNCT
ijassa-753	163	1	(	(	PUNCT
ijassa-753	163	2	2019	2019	NUM
ijassa-753	163	3	)	)	PUNCT
ijassa-753	163	4	to	to	ADP
ijassa-753	163	5	programming	programming	NOUN
ijassa-753	163	6	filter	filter	NOUN
ijassa-753	163	7	we	we	PRON
ijassa-753	163	8	need	need	VERB
ijassa-753	163	9	to	to	PART
ijassa-753	163	10	discretize	discretize	VERB
ijassa-753	163	11	object	object	NOUN
ijassa-753	163	12	system	system	NOUN
ijassa-753	163	13	(	(	PUNCT
ijassa-753	163	14	4	4	NUM
ijassa-753	163	15	)	)	PUNCT
ijassa-753	163	16	and	and	CCONJ
ijassa-753	163	17	made	make	VERB
ijassa-753	163	18	discrete	discrete	ADJ
ijassa-753	163	19	version	version	NOUN
ijassa-753	163	20	of	of	ADP
ijassa-753	163	21	kalman	kalman	PROPN
ijassa-753	163	22	filter	filter	PROPN
ijassa-753	163	23	so	so	ADV
ijassa-753	163	24	called	call	VERB
ijassa-753	163	25	“	"	PUNCT
ijassa-753	163	26	delayed	delayed	ADJ
ijassa-753	163	27	estimator	estimator	NOUN
ijassa-753	163	28	”	"	PUNCT
ijassa-753	164	1	[	[	X
ijassa-753	164	2	10	10	NUM
ijassa-753	164	3	]	]	PUNCT
ijassa-753	164	4	.	.	PUNCT
ijassa-753	164	5	delayed	delay	VERB
ijassa-753	164	6	estimator	estimator	NOUN
ijassa-753	164	7	is	be	AUX
ijassa-753	164	8	very	very	ADV
ijassa-753	164	9	simple	simple	ADJ
ijassa-753	164	10	to	to	ADP
ijassa-753	164	11	programming	programming	NOUN
ijassa-753	164	12	,	,	PUNCT
ijassa-753	164	13	but	but	CCONJ
ijassa-753	164	14	it	it	PRON
ijassa-753	164	15	is	be	AUX
ijassa-753	164	16	enough	enough	ADJ
ijassa-753	164	17	to	to	PART
ijassa-753	164	18	get	get	VERB
ijassa-753	164	19	sufficient	sufficient	ADJ
ijassa-753	164	20	quality	quality	NOUN
ijassa-753	164	21	:	:	PUNCT
ijassa-753	164	22	�	�	PROPN
ijassa-753	164	23	̂	̂	NOUN
ijassa-753	164	24	�	�	NOUN
ijassa-753	164	25	𝑛+1,𝑛	𝑛+1,𝑛	NOUN
ijassa-753	164	26	=	=	PUNCT
ijassa-753	164	27	(	(	PUNCT
ijassa-753	164	28	𝐴𝑒	𝐴𝑒	PROPN
ijassa-753	164	29	−	−	PROPN
ijassa-753	164	30	𝐿𝑒𝐶𝑒)	𝐿𝑒𝐶𝑒)	PROPN
ijassa-753	164	31	�	�	PROPN
ijassa-753	164	32	̂	̂	NOUN
ijassa-753	164	33	�	�	NOUN
ijassa-753	164	34	𝑛,𝑛+1	𝑛,𝑛+1	NOUN
ijassa-753	164	35	+	+	X
ijassa-753	165	1	[	[	X
ijassa-753	165	2	𝐵𝑒	𝐵𝑒	PROPN
ijassa-753	165	3	−	−	PROPN
ijassa-753	165	4	𝐿𝑒𝐷𝑒	𝐿𝑒𝐷𝑒	PROPN
ijassa-753	165	5	𝐿𝑒	𝐿𝑒	PROPN
ijassa-753	165	6	]	]	X
ijassa-753	165	7	∙	∙	PUNCT
ijassa-753	166	1	[	[	X
ijassa-753	166	2	𝑂4,1	𝑂4,1	NOUN
ijassa-753	166	3	𝑦𝑟𝑎𝑤]𝑇	𝑦𝑟𝑎𝑤]𝑇	VERB
ijassa-753	166	4	,	,	PUNCT
ijassa-753	166	5	[	[	PUNCT
ijassa-753	166	6	�	�	PROPN
ijassa-753	166	7	̂	̂	SYM
ijassa-753	166	8	�	�	PROPN
ijassa-753	166	9	𝑛,𝑛−1	𝑛,𝑛−1	PROPN
ijassa-753	166	10	�	�	PROPN
ijassa-753	166	11	̂	̂	NOUN
ijassa-753	166	12	�	�	NOUN
ijassa-753	166	13	𝑛,𝑛−1	𝑛,𝑛−1	NOUN
ijassa-753	166	14	]	]	X
ijassa-753	166	15	=	=	PUNCT
ijassa-753	167	1	[	[	PUNCT
ijassa-753	167	2	𝐶𝑒	𝐶𝑒	PROPN
ijassa-753	167	3	𝐼6	𝐼6	NOUN
ijassa-753	167	4	]	]	PUNCT
ijassa-753	167	5	�	�	PROPN
ijassa-753	167	6	̂	̂	VERB
ijassa-753	167	7	�	�	NOUN
ijassa-753	167	8	𝑛,𝑛−1	𝑛,𝑛−1	NOUN
ijassa-753	167	9	+	+	CCONJ
ijassa-753	167	10	[	[	PUNCT
ijassa-753	167	11	𝐷𝑒	𝐷𝑒	PROPN
ijassa-753	167	12	𝑂10,4	𝑂10,4	PROPN
ijassa-753	167	13	𝑂6,4	𝑂6,4	PROPN
ijassa-753	167	14	𝑂6,4	𝑂6,4	PROPN
ijassa-753	167	15	]	]	X
ijassa-753	168	1	∙	∙	PUNCT
ijassa-753	168	2	[	[	X
ijassa-753	168	3	𝑂4,1	𝑂4,1	NOUN
ijassa-753	168	4	𝑦𝑟𝑎𝑤]𝑇	𝑦𝑟𝑎𝑤]𝑇	VERB
ijassa-753	168	5	,	,	PUNCT
ijassa-753	168	6	where	where	SCONJ
ijassa-753	168	7	�	�	PROPN
ijassa-753	168	8	̂	̂	SYM
ijassa-753	168	9	�	�	PROPN
ijassa-753	168	10	𝑛,𝑛−1	𝑛,𝑛−1	NOUN
ijassa-753	168	11	is	be	AUX
ijassa-753	168	12	catamaran	catamaran	NOUN
ijassa-753	168	13	state	state	NOUN
ijassa-753	168	14	estimate	estimate	NOUN
ijassa-753	168	15	,	,	PUNCT
ijassa-753	168	16	�	�	PROPN
ijassa-753	168	17	̂	̂	SYM
ijassa-753	168	18	�	�	PROPN
ijassa-753	168	19	𝑛,𝑛−1	𝑛,𝑛−1	NOUN
ijassa-753	168	20	is	be	AUX
ijassa-753	168	21	catamaran	catamaran	NOUN
ijassa-753	168	22	output	output	NOUN
ijassa-753	168	23	estimate	estimate	NOUN
ijassa-753	168	24	,	,	PUNCT
ijassa-753	168	25	𝑦𝑟𝑎𝑤	𝑦𝑟𝑎𝑤	PROPN
ijassa-753	168	26	is	be	AUX
ijassa-753	168	27	raw	raw	ADJ
ijassa-753	168	28	sensor	sensor	NOUN
ijassa-753	168	29	data	data	NOUN
ijassa-753	168	30	vector	vector	NOUN
ijassa-753	168	31	.	.	PUNCT
ijassa-753	169	1	matrices	matrice	VERB
ijassa-753	169	2	𝐴𝑒	𝐴𝑒	PROPN
ijassa-753	169	3	,	,	PUNCT
ijassa-753	169	4	𝐵𝑒	𝐵𝑒	PROPN
ijassa-753	169	5	,	,	PUNCT
ijassa-753	169	6	𝐿𝑒	𝐿𝑒	PROPN
ijassa-753	169	7	,	,	PUNCT
ijassa-753	169	8	𝐷𝑒	𝐷𝑒	PROPN
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ijassa-753	169	10	the	the	DET
ijassa-753	169	11	following	follow	VERB
ijassa-753	169	12	:	:	PUNCT
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ijassa-753	170	2	=	=	SYM
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ijassa-753	170	43	=	=	PUNCT
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ijassa-753	170	50	0.5716	0.5716	NUM
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ijassa-753	171	6	0.0026	0.0026	NUM
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ijassa-753	171	8	−0.0004	−0.0004	PROPN
ijassa-753	171	9	0.0007	0.0007	NUM
ijassa-753	171	10	0.0001	0.0001	NUM
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ijassa-753	171	17	,	,	PUNCT
ijassa-753	171	18	𝐶𝑒	𝐶𝑒	PROPN
ijassa-753	171	19	=	=	PUNCT
ijassa-753	172	1	[	[	PUNCT
ijassa-753	172	2	[	[	PUNCT
ijassa-753	172	3	𝐼2	𝐼2	NOUN
ijassa-753	172	4	02,4	02,4	NOUN
ijassa-753	172	5	02,4	02,4	NOUN
ijassa-753	172	6	𝐼2	𝐼2	NOUN
ijassa-753	172	7	]	]	PUNCT
ijassa-753	172	8	𝐼6	𝐼6	NOUN
ijassa-753	172	9	]	]	X
ijassa-753	172	10	,	,	PUNCT
ijassa-753	172	11	𝐷𝑒	𝐷𝑒	PROPN
ijassa-753	172	12	=	=	SYM
ijassa-753	172	13	𝑂10,4	𝑂10,4	PROPN
ijassa-753	172	14	,	,	PUNCT
ijassa-753	172	15	𝐿𝑒	𝐿𝑒	PROPN
ijassa-753	172	16	=	=	PRON
ijassa-753	172	17	[	[	PUNCT
ijassa-753	172	18	0.0597	0.0597	NUM
ijassa-753	172	19	0.0857	0.0857	NUM
ijassa-753	172	20	0.0001	0.0001	NUM
ijassa-753	172	21	0.0003	0.0003	NUM
ijassa-753	172	22	−0.0674	−0.0674	NUM
ijassa-753	172	23	0.5716	0.5716	NUM
ijassa-753	172	24	0.0026	0.0026	NUM
ijassa-753	172	25	0.0359	0.0359	NUM
ijassa-753	172	26	−0.0077	−0.0077	PUNCT
ijassa-753	172	27	−0.0980	−0.0980	X
ijassa-753	172	28	−0.0004	−0.0004	PROPN
ijassa-753	172	29	−0.0067	−0.0067	X
ijassa-753	172	30	0.1209	0.1209	NUM
ijassa-753	172	31	0.7826	0.7826	NUM
ijassa-753	172	32	0.0026	0.0026	NUM
ijassa-753	172	33	0.0231	0.0231	NUM
ijassa-753	172	34	−0.0004	−0.0004	PROPN
ijassa-753	172	35	0.0007	0.0007	NUM
ijassa-753	172	36	0.0001	0.0001	NUM
ijassa-753	172	37	0.0003	0.0003	NUM
ijassa-753	172	38	−0.0013	−0.0013	X
ijassa-753	172	39	−0.0229	−0.0229	X
ijassa-753	172	40	−0.0002	−0.0002	NUM
ijassa-753	172	41	0.0004	0.0004	NUM
ijassa-753	172	42	]	]	PUNCT
ijassa-753	172	43	.	.	PUNCT
ijassa-753	173	1	matrices	matrix	NOUN
ijassa-753	173	2	above	above	ADV
ijassa-753	173	3	include	include	VERB
ijassa-753	173	4	𝐼𝑛	𝐼𝑛	PROPN
ijassa-753	173	5	that	that	PRON
ijassa-753	173	6	is	be	AUX
ijassa-753	173	7	identity	identity	NOUN
ijassa-753	173	8	matrix	matrix	NOUN
ijassa-753	173	9	with	with	ADP
ijassa-753	173	10	size	size	NOUN
ijassa-753	173	11	n	n	CCONJ
ijassa-753	173	12	x	x	SYM
ijassa-753	173	13	n	n	CCONJ
ijassa-753	173	14	;	;	PUNCT
ijassa-753	173	15	𝑂𝑛,𝑚	𝑂𝑛,𝑚	PROPN
ijassa-753	173	16	is	be	AUX
ijassa-753	173	17	zero	zero	NUM
ijassa-753	173	18	matrix	matrix	NOUN
ijassa-753	173	19	with	with	ADP
ijassa-753	173	20	n	n	NOUN
ijassa-753	173	21	rows	row	NOUN
ijassa-753	173	22	and	and	CCONJ
ijassa-753	173	23	m	m	NOUN
ijassa-753	173	24	columns	column	NOUN
ijassa-753	173	25	;	;	PUNCT
ijassa-753	173	26	and	and	CCONJ
ijassa-753	173	27	computed	compute	VERB
ijassa-753	173	28	via	via	ADP
ijassa-753	173	29	kalman	kalman	NOUN
ijassa-753	173	30	filter	filter	NOUN
ijassa-753	173	31	synthesis	synthesis	NOUN
ijassa-753	173	32	procedure	procedure	NOUN
ijassa-753	173	33	with	with	ADP
ijassa-753	173	34	parameters	parameter	NOUN
ijassa-753	173	35	𝑄	𝑄	PROPN
ijassa-753	173	36	=	=	PUNCT
ijassa-753	173	37	𝐸(𝑤𝑤𝑇	𝐸(𝑤𝑤𝑇	NOUN
ijassa-753	173	38	)	)	PUNCT
ijassa-753	173	39	=	=	PUNCT
ijassa-753	173	40	𝐼2	𝐼2	ADP
ijassa-753	173	41	∙	∙	PROPN
ijassa-753	173	42	107	107	NUM
ijassa-753	173	43	,	,	PUNCT
ijassa-753	173	44	𝑅	𝑅	PROPN
ijassa-753	173	45	=	=	PUNCT
ijassa-753	173	46	𝐸(ζζ𝑇	𝐸(ζζ𝑇	PROPN
ijassa-753	173	47	)	)	PUNCT
ijassa-753	173	48	=	=	PUNCT
ijassa-753	173	49	𝐼4	𝐼4	NOUN
ijassa-753	173	50	∙	∙	PROPN
ijassa-753	173	51	10−1	10−1	NUM
ijassa-753	173	52	,	,	PUNCT
ijassa-753	173	53	𝑁	𝑁	PROPN
ijassa-753	173	54	=	=	PUNCT
ijassa-753	173	55	𝐸(𝑤ζ𝑇	𝐸(𝑤ζ𝑇	NOUN
ijassa-753	173	56	)	)	PUNCT
ijassa-753	174	1	=	=	SYM
ijassa-753	174	2	𝑂2,4	𝑂2,4	PROPN
ijassa-753	174	3	,	,	PUNCT
ijassa-753	174	4	where	where	SCONJ
ijassa-753	174	5	ζ	ζ	NOUN
ijassa-753	174	6	is	be	AUX
ijassa-753	174	7	measurement	measurement	NOUN
ijassa-753	174	8	noise	noise	NOUN
ijassa-753	174	9	.	.	PUNCT
ijassa-753	175	1	4	4	X
ijassa-753	175	2	.	.	X
ijassa-753	175	3	results	result	NOUN
ijassa-753	175	4	,	,	PUNCT
ijassa-753	175	5	experiments	experiment	NOUN
ijassa-753	175	6	in	in	ADP
ijassa-753	175	7	this	this	DET
ijassa-753	175	8	section	section	NOUN
ijassa-753	175	9	we	we	PRON
ijassa-753	175	10	show	show	VERB
ijassa-753	175	11	several	several	ADJ
ijassa-753	175	12	examples	example	NOUN
ijassa-753	175	13	of	of	ADP
ijassa-753	175	14	test	test	NOUN
ijassa-753	175	15	bench	bench	NOUN
ijassa-753	175	16	experiments	experiment	NOUN
ijassa-753	175	17	.	.	PUNCT
ijassa-753	176	1	to	to	PART
ijassa-753	176	2	make	make	VERB
ijassa-753	176	3	sure	sure	ADJ
ijassa-753	176	4	in	in	ADP
ijassa-753	176	5	quality	quality	NOUN
ijassa-753	176	6	of	of	ADP
ijassa-753	176	7	results	result	NOUN
ijassa-753	176	8	we	we	PRON
ijassa-753	176	9	perform	perform	VERB
ijassa-753	176	10	experiments	experiment	NOUN
ijassa-753	176	11	in	in	ADP
ijassa-753	176	12	range	range	NOUN
ijassa-753	176	13	of	of	ADP
ijassa-753	176	14	input	input	NOUN
ijassa-753	176	15	parameters	parameter	NOUN
ijassa-753	176	16	.	.	PUNCT
ijassa-753	177	1	here	here	ADV
ijassa-753	177	2	some	some	PRON
ijassa-753	177	3	of	of	ADP
ijassa-753	177	4	them	they	PRON
ijassa-753	177	5	.	.	PUNCT
ijassa-753	178	1	all	all	DET
ijassa-753	178	2	test	test	NOUN
ijassa-753	178	3	bench	bench	NOUN
ijassa-753	178	4	experiments	experiment	NOUN
ijassa-753	178	5	are	be	AUX
ijassa-753	178	6	configured	configure	VERB
ijassa-753	178	7	for	for	ADP
ijassa-753	178	8	better	well	ADJ
ijassa-753	178	9	compare	compare	NOUN
ijassa-753	178	10	and	and	CCONJ
ijassa-753	178	11	interpretation	interpretation	NOUN
ijassa-753	178	12	via	via	ADP
ijassa-753	178	13	natural	natural	ADJ
ijassa-753	178	14	parameters	parameter	NOUN
ijassa-753	178	15	:	:	PUNCT
ijassa-753	178	16	wind	wind	NOUN
ijassa-753	178	17	velocity	velocity	NOUN
ijassa-753	178	18	,	,	PUNCT
ijassa-753	178	19	relative	relative	ADJ
ijassa-753	178	20	bearing	bearing	NOUN
ijassa-753	178	21	,	,	PUNCT
ijassa-753	178	22	initial	initial	ADJ
ijassa-753	178	23	state	state	NOUN
ijassa-753	178	24	vector	vector	NOUN
ijassa-753	178	25	of	of	ADP
ijassa-753	178	26	catamaran	catamaran	NOUN
ijassa-753	178	27	and	and	CCONJ
ijassa-753	178	28	seed	seed	NOUN
ijassa-753	178	29	-	-	PUNCT
ijassa-753	178	30	number	number	NOUN
ijassa-753	178	31	.	.	PUNCT
ijassa-753	179	1	fig	fig	NOUN
ijassa-753	179	2	.	.	PUNCT
ijassa-753	180	1	4.1	4.1	NUM
ijassa-753	180	2	and	and	CCONJ
ijassa-753	180	3	fig	fig	NOUN
ijassa-753	180	4	.	.	PUNCT
ijassa-753	181	1	4.2	4.2	NUM
ijassa-753	181	2	show	show	VERB
ijassa-753	181	3	examples	example	NOUN
ijassa-753	181	4	where	where	SCONJ
ijassa-753	181	5	test	test	NOUN
ijassa-753	181	6	bench	bench	NOUN
ijassa-753	181	7	filter	filter	NOUN
ijassa-753	181	8	outputs	output	NOUN
ijassa-753	181	9	are	be	AUX
ijassa-753	181	10	compared	compare	VERB
ijassa-753	181	11	with	with	ADP
ijassa-753	181	12	numeric	numeric	ADJ
ijassa-753	181	13	simulation	simulation	NOUN
ijassa-753	181	14	results	result	NOUN
ijassa-753	181	15	.	.	PUNCT
ijassa-753	182	1	raw	raw	ADJ
ijassa-753	182	2	data	datum	NOUN
ijassa-753	182	3	from	from	ADP
ijassa-753	182	4	sensors	sensor	NOUN
ijassa-753	182	5	were	be	AUX
ijassa-753	182	6	scaled	scale	VERB
ijassa-753	182	7	and	and	CCONJ
ijassa-753	182	8	filtered	filter	VERB
ijassa-753	182	9	.	.	PUNCT
ijassa-753	183	1	the	the	DET
ijassa-753	183	2	test	test	NOUN
ijassa-753	183	3	bench	bench	NOUN
ijassa-753	183	4	reproduces	reproduce	NOUN
ijassa-753	183	5	catamaran	catamaran	NOUN
ijassa-753	183	6	roll	roll	NOUN
ijassa-753	183	7	with	with	ADP
ijassa-753	183	8	satisfactory	satisfactory	ADJ
ijassa-753	183	9	quality	quality	NOUN
ijassa-753	183	10	for	for	ADP
ijassa-753	183	11	our	our	PRON
ijassa-753	183	12	applications	application	NOUN
ijassa-753	183	13	.	.	PUNCT
ijassa-753	184	1	the	the	DET
ijassa-753	184	2	initial	initial	ADJ
ijassa-753	184	3	state	state	NOUN
ijassa-753	184	4	vector	vector	NOUN
ijassa-753	184	5	of	of	ADP
ijassa-753	184	6	catamaran	catamaran	NOUN
ijassa-753	184	7	is	be	AUX
ijassa-753	184	8	equal	equal	ADJ
ijassa-753	184	9	to	to	ADP
ijassa-753	184	10	zero	zero	NUM
ijassa-753	184	11	in	in	ADP
ijassa-753	184	12	next	next	ADJ
ijassa-753	184	13	examples	example	NOUN
ijassa-753	184	14	.	.	PUNCT
ijassa-753	185	1	8	8	NUM
ijassa-753	185	2	i.	i.	NOUN
ijassa-753	185	3	lipko	lipko	PROPN
ijassa-753	185	4	copyright	copyright	NOUN
ijassa-753	185	5	©	©	PROPN
ijassa-753	185	6	2019	2019	NUM
ijassa-753	185	7	assa	assa	PROPN
ijassa-753	185	8	adv	adv	PROPN
ijassa-753	185	9	.	.	PUNCT
ijassa-753	186	1	in	in	ADP
ijassa-753	186	2	systems	system	NOUN
ijassa-753	186	3	science	science	NOUN
ijassa-753	186	4	and	and	CCONJ
ijassa-753	186	5	appl	appl	NOUN
ijassa-753	186	6	.	.	PUNCT
ijassa-753	187	1	(	(	PUNCT
ijassa-753	187	2	2019	2019	NUM
ijassa-753	187	3	)	)	PUNCT
ijassa-753	187	4	fig	fig	NOUN
ijassa-753	187	5	.	.	PUNCT
ijassa-753	188	1	4.1.errors	4.1.errors	NUM
ijassa-753	188	2	in	in	ADP
ijassa-753	188	3	catamaran	catamaran	NOUN
ijassa-753	188	4	roll	roll	NOUN
ijassa-753	188	5	(	(	PUNCT
ijassa-753	188	6	top	top	NOUN
ijassa-753	188	7	)	)	PUNCT
ijassa-753	188	8	and	and	CCONJ
ijassa-753	188	9	pitch	pitch	NOUN
ijassa-753	188	10	(	(	PUNCT
ijassa-753	188	11	bottom	bottom	NOUN
ijassa-753	188	12	)	)	PUNCT
ijassa-753	188	13	between	between	ADP
ijassa-753	188	14	simulated	simulated	ADJ
ijassa-753	188	15	and	and	CCONJ
ijassa-753	188	16	experimental	experimental	ADJ
ijassa-753	188	17	angles	angle	NOUN
ijassa-753	188	18	corresponding	correspond	VERB
ijassa-753	188	19	to	to	ADP
ijassa-753	188	20	a	a	DET
ijassa-753	188	21	)	)	PUNCT
ijassa-753	188	22	wind	wind	NOUN
ijassa-753	188	23	13.45	13.45	NUM
ijassa-753	188	24	m	m	PROPN
ijassa-753	188	25	/	/	SYM
ijassa-753	188	26	s	s	PROPN
ijassa-753	188	27	,	,	PUNCT
ijassa-753	188	28	seed	seed	NOUN
ijassa-753	188	29	-	-	PUNCT
ijassa-753	188	30	number	number	NOUN
ijassa-753	188	31	11622	11622	NUM
ijassa-753	188	32	;	;	PUNCT
ijassa-753	188	33	b	b	X
ijassa-753	188	34	)	)	PUNCT
ijassa-753	188	35	wind	wind	NOUN
ijassa-753	188	36	13.23	13.23	NUM
ijassa-753	188	37	m	m	PROPN
ijassa-753	188	38	/	/	SYM
ijassa-753	188	39	s	s	PROPN
ijassa-753	188	40	,	,	PUNCT
ijassa-753	188	41	seed	seed	NOUN
ijassa-753	188	42	-	-	PUNCT
ijassa-753	188	43	number	number	NOUN
ijassa-753	188	44	5	5	NUM
ijassa-753	188	45	;	;	PUNCT
ijassa-753	188	46	c	c	X
ijassa-753	188	47	)	)	PUNCT
ijassa-753	188	48	wind	wind	VERB
ijassa-753	188	49	12.96	12.96	NUM
ijassa-753	188	50	m	m	PROPN
ijassa-753	188	51	/	/	SYM
ijassa-753	188	52	s	s	PROPN
ijassa-753	188	53	,	,	PUNCT
ijassa-753	188	54	seed	seed	NOUN
ijassa-753	188	55	-	-	PUNCT
ijassa-753	188	56	number	number	NOUN
ijassa-753	188	57	25	25	NUM
ijassa-753	188	58	a	a	DET
ijassa-753	188	59	)	)	PUNCT
ijassa-753	188	60	b	b	NOUN
ijassa-753	188	61	)	)	PUNCT
ijassa-753	188	62	c	c	NOUN
ijassa-753	188	63	)	)	PUNCT
ijassa-753	188	64	fig	fig	NOUN
ijassa-753	188	65	.	.	PUNCT
ijassa-753	189	1	4.2.test	4.2.test	NUM
ijassa-753	189	2	bench	bench	NOUN
ijassa-753	189	3	and	and	CCONJ
ijassa-753	189	4	runge	runge	NOUN
ijassa-753	189	5	-	-	PUNCT
ijassa-753	189	6	kutta	kutta	NOUN
ijassa-753	189	7	outputs	output	NOUN
ijassa-753	189	8	a	a	PRON
ijassa-753	189	9	)	)	PUNCT
ijassa-753	189	10	wind	wind	NOUN
ijassa-753	189	11	13.45	13.45	NUM
ijassa-753	189	12	m	m	PROPN
ijassa-753	189	13	/	/	SYM
ijassa-753	189	14	s	s	PROPN
ijassa-753	189	15	,	,	PUNCT
ijassa-753	189	16	seed	seed	NOUN
ijassa-753	189	17	-	-	PUNCT
ijassa-753	189	18	number	number	NOUN
ijassa-753	189	19	11622	11622	NUM
ijassa-753	189	20	;	;	PUNCT
ijassa-753	189	21	b	b	X
ijassa-753	189	22	)	)	PUNCT
ijassa-753	189	23	wind	wind	NOUN
ijassa-753	189	24	13.23	13.23	NUM
ijassa-753	189	25	m	m	PROPN
ijassa-753	189	26	/	/	SYM
ijassa-753	189	27	s	s	PROPN
ijassa-753	189	28	,	,	PUNCT
ijassa-753	189	29	seed	seed	NOUN
ijassa-753	189	30	-	-	PUNCT
ijassa-753	189	31	number	number	NOUN
ijassa-753	189	32	5	5	NUM
ijassa-753	189	33	;	;	PUNCT
ijassa-753	189	34	c	c	X
ijassa-753	189	35	)	)	PUNCT
ijassa-753	189	36	wind	wind	VERB
ijassa-753	189	37	12.96	12.96	NUM
ijassa-753	189	38	m	m	PROPN
ijassa-753	189	39	/	/	SYM
ijassa-753	189	40	s	s	PROPN
ijassa-753	189	41	,	,	PUNCT
ijassa-753	189	42	seed	seed	NOUN
ijassa-753	189	43	-	-	PUNCT
ijassa-753	189	44	number	number	NOUN
ijassa-753	189	45	25	25	NUM
ijassa-753	189	46	test	test	NOUN
ijassa-753	189	47	bench	bench	NOUN
ijassa-753	189	48	algorithms	algorithm	NOUN
ijassa-753	189	49	for	for	ADP
ijassa-753	189	50	catamaran	catamaran	NOUN
ijassa-753	189	51	roll	roll	NOUN
ijassa-753	189	52	simulation	simulation	NOUN
ijassa-753	189	53	9	9	NUM
ijassa-753	189	54	copyright	copyright	NOUN
ijassa-753	189	55	©	©	PROPN
ijassa-753	189	56	2019	2019	NUM
ijassa-753	189	57	assa	assa	PROPN
ijassa-753	189	58	adv	adv	PROPN
ijassa-753	189	59	.	.	PUNCT
ijassa-753	190	1	in	in	ADP
ijassa-753	190	2	systems	system	NOUN
ijassa-753	190	3	science	science	NOUN
ijassa-753	190	4	and	and	CCONJ
ijassa-753	190	5	appl	appl	NOUN
ijassa-753	190	6	.	.	PUNCT
ijassa-753	191	1	(	(	PUNCT
ijassa-753	191	2	2019	2019	NUM
ijassa-753	191	3	)	)	PUNCT
ijassa-753	191	4	experiment	experiment	NOUN
ijassa-753	191	5	data	datum	NOUN
ijassa-753	191	6	in	in	ADP
ijassa-753	191	7	fig	fig	NOUN
ijassa-753	191	8	.	.	PUNCT
ijassa-753	192	1	4.1	4.1	NUM
ijassa-753	192	2	and	and	CCONJ
ijassa-753	192	3	4.2	4.2	NUM
ijassa-753	192	4	have	have	VERB
ijassa-753	192	5	some	some	DET
ijassa-753	192	6	rattling	rattle	VERB
ijassa-753	192	7	and	and	CCONJ
ijassa-753	192	8	noise	noise	NOUN
ijassa-753	192	9	influenced	influence	VERB
ijassa-753	192	10	by	by	ADP
ijassa-753	192	11	ball	ball	NOUN
ijassa-753	192	12	joints	joint	NOUN
ijassa-753	192	13	in	in	ADP
ijassa-753	192	14	the	the	DET
ijassa-753	192	15	sole	sole	NOUN
ijassa-753	192	16	of	of	ADP
ijassa-753	192	17	the	the	DET
ijassa-753	192	18	legs	leg	NOUN
ijassa-753	192	19	connecting	connect	VERB
ijassa-753	192	20	the	the	DET
ijassa-753	192	21	bottom	bottom	NOUN
ijassa-753	192	22	and	and	CCONJ
ijassa-753	192	23	the	the	DET
ijassa-753	192	24	top	top	ADJ
ijassa-753	192	25	parts	part	NOUN
ijassa-753	192	26	of	of	ADP
ijassa-753	192	27	platform	platform	NOUN
ijassa-753	192	28	.	.	PUNCT
ijassa-753	193	1	paths	path	NOUN
ijassa-753	193	2	from	from	ADP
ijassa-753	193	3	these	these	DET
ijassa-753	193	4	figures	figure	NOUN
ijassa-753	193	5	can	can	AUX
ijassa-753	193	6	be	be	AUX
ijassa-753	193	7	associated	associate	VERB
ijassa-753	193	8	via	via	ADP
ijassa-753	193	9	indices	index	NOUN
ijassa-753	193	10	“	"	PUNCT
ijassa-753	193	11	a	a	DET
ijassa-753	193	12	”	"	PUNCT
ijassa-753	193	13	,	,	PUNCT
ijassa-753	193	14	“	"	PUNCT
ijassa-753	193	15	b	b	X
ijassa-753	193	16	”	"	PUNCT
ijassa-753	193	17	,	,	PUNCT
ijassa-753	193	18	“	"	PUNCT
ijassa-753	193	19	c	c	NOUN
ijassa-753	193	20	”	"	PUNCT
ijassa-753	193	21	.	.	PUNCT
ijassa-753	194	1	5	5	X
ijassa-753	194	2	.	.	X
ijassa-753	194	3	conclusion	conclusion	VERB
ijassa-753	194	4	the	the	DET
ijassa-753	194	5	algorithms	algorithm	NOUN
ijassa-753	194	6	for	for	ADP
ijassa-753	194	7	reproducing	reproduce	VERB
ijassa-753	194	8	a	a	DET
ijassa-753	194	9	catamaran	catamaran	NOUN
ijassa-753	194	10	roll	roll	NOUN
ijassa-753	194	11	on	on	ADP
ijassa-753	194	12	test	test	NOUN
ijassa-753	194	13	bench	bench	NOUN
ijassa-753	194	14	are	be	AUX
ijassa-753	194	15	developed	develop	VERB
ijassa-753	194	16	.	.	PUNCT
ijassa-753	195	1	for	for	ADP
ijassa-753	195	2	better	well	ADJ
ijassa-753	195	3	interpretation	interpretation	NOUN
ijassa-753	195	4	of	of	ADP
ijassa-753	195	5	results	result	NOUN
ijassa-753	195	6	inputs	input	NOUN
ijassa-753	195	7	of	of	ADP
ijassa-753	195	8	algorithms	algorithm	NOUN
ijassa-753	195	9	have	have	VERB
ijassa-753	195	10	nature	nature	NOUN
ijassa-753	195	11	-	-	PUNCT
ijassa-753	195	12	like	like	ADJ
ijassa-753	195	13	parameters	parameter	NOUN
ijassa-753	195	14	:	:	PUNCT
ijassa-753	195	15	wind	wind	NOUN
ijassa-753	195	16	velocity	velocity	NOUN
ijassa-753	195	17	,	,	PUNCT
ijassa-753	195	18	direction	direction	NOUN
ijassa-753	195	19	,	,	PUNCT
ijassa-753	195	20	catamaran	catamaran	NOUN
ijassa-753	195	21	initial	initial	ADJ
ijassa-753	195	22	state	state	NOUN
ijassa-753	195	23	and	and	CCONJ
ijassa-753	195	24	other	other	ADJ
ijassa-753	195	25	.	.	PUNCT
ijassa-753	196	1	mathematical	mathematical	ADJ
ijassa-753	196	2	models	model	NOUN
ijassa-753	196	3	of	of	ADP
ijassa-753	196	4	algorithms	algorithm	NOUN
ijassa-753	196	5	include	include	VERB
ijassa-753	196	6	the	the	DET
ijassa-753	196	7	catamaran	catamaran	NOUN
ijassa-753	196	8	and	and	CCONJ
ijassa-753	196	9	sea	sea	NOUN
ijassa-753	196	10	-	-	PUNCT
ijassa-753	196	11	wave	wave	NOUN
ijassa-753	196	12	disturbances	disturbance	NOUN
ijassa-753	196	13	.	.	PUNCT
ijassa-753	197	1	full	full	ADJ
ijassa-753	197	2	state	state	NOUN
ijassa-753	197	3	of	of	ADP
ijassa-753	197	4	catamaran	catamaran	NOUN
ijassa-753	197	5	is	be	AUX
ijassa-753	197	6	estimated	estimate	VERB
ijassa-753	197	7	by	by	ADP
ijassa-753	197	8	kalman	kalman	PROPN
ijassa-753	197	9	filter	filter	PROPN
ijassa-753	197	10	.	.	PUNCT
ijassa-753	198	1	to	to	PART
ijassa-753	198	2	improve	improve	VERB
ijassa-753	198	3	estimating	estimate	VERB
ijassa-753	198	4	one	one	PRON
ijassa-753	198	5	should	should	AUX
ijassa-753	198	6	use	use	VERB
ijassa-753	198	7	another	another	DET
ijassa-753	198	8	filter	filter	NOUN
ijassa-753	198	9	,	,	PUNCT
ijassa-753	198	10	e.g.	e.g.	ADV
ijassa-753	198	11	extended	extend	VERB
ijassa-753	198	12	kalman	kalman	NOUN
ijassa-753	198	13	filter	filter	NOUN
ijassa-753	198	14	the	the	DET
ijassa-753	198	15	test	test	NOUN
ijassa-753	198	16	bench	bench	NOUN
ijassa-753	198	17	for	for	ADP
ijassa-753	198	18	reproducing	reproduce	VERB
ijassa-753	198	19	a	a	DET
ijassa-753	198	20	catamaran	catamaran	NOUN
ijassa-753	198	21	roll	roll	NOUN
ijassa-753	198	22	includes	include	VERB
ijassa-753	198	23	the	the	DET
ijassa-753	198	24	stewart	stewart	PROPN
ijassa-753	198	25	platform	platform	NOUN
ijassa-753	198	26	,	,	PUNCT
ijassa-753	198	27	sensors	sensor	NOUN
ijassa-753	198	28	,	,	PUNCT
ijassa-753	198	29	microcontrollers	microcontroller	NOUN
ijassa-753	198	30	and	and	CCONJ
ijassa-753	198	31	pc	pc	NOUN
ijassa-753	198	32	.	.	PUNCT
ijassa-753	199	1	the	the	DET
ijassa-753	199	2	top	top	ADJ
ijassa-753	199	3	part	part	NOUN
ijassa-753	199	4	of	of	ADP
ijassa-753	199	5	the	the	DET
ijassa-753	199	6	platform	platform	NOUN
ijassa-753	199	7	moves	move	NOUN
ijassa-753	199	8	like	like	ADP
ijassa-753	199	9	a	a	DET
ijassa-753	199	10	catamaran	catamaran	NOUN
ijassa-753	199	11	deck	deck	NOUN
ijassa-753	199	12	and	and	CCONJ
ijassa-753	199	13	results	result	NOUN
ijassa-753	199	14	of	of	ADP
ijassa-753	199	15	experiments	experiment	NOUN
ijassa-753	199	16	are	be	AUX
ijassa-753	199	17	collected	collect	VERB
ijassa-753	199	18	by	by	ADP
ijassa-753	199	19	sensors	sensor	NOUN
ijassa-753	199	20	.	.	PUNCT
ijassa-753	200	1	thus	thus	ADV
ijassa-753	200	2	,	,	PUNCT
ijassa-753	200	3	it	it	PRON
ijassa-753	200	4	turns	turn	VERB
ijassa-753	200	5	out	out	ADP
ijassa-753	200	6	to	to	PART
ijassa-753	200	7	reproduce	reproduce	VERB
ijassa-753	200	8	the	the	DET
ijassa-753	200	9	same	same	ADJ
ijassa-753	200	10	oscillations	oscillation	NOUN
ijassa-753	200	11	of	of	ADP
ijassa-753	200	12	the	the	DET
ijassa-753	200	13	catamaran	catamaran	NOUN
ijassa-753	200	14	and	and	CCONJ
ijassa-753	200	15	to	to	PART
ijassa-753	200	16	debug	debug	VERB
ijassa-753	200	17	device	device	NOUN
ijassa-753	200	18	prototypes	prototype	NOUN
ijassa-753	200	19	that	that	PRON
ijassa-753	200	20	will	will	AUX
ijassa-753	200	21	be	be	AUX
ijassa-753	200	22	installed	instal	VERB
ijassa-753	200	23	on	on	ADP
ijassa-753	200	24	the	the	DET
ijassa-753	200	25	real	real	ADJ
ijassa-753	200	26	vessel	vessel	NOUN
ijassa-753	200	27	.	.	PUNCT
ijassa-753	201	1	software	software	NOUN
ijassa-753	201	2	for	for	ADP
ijassa-753	201	3	test	test	NOUN
ijassa-753	201	4	bench	bench	NOUN
ijassa-753	201	5	has	have	AUX
ijassa-753	201	6	been	be	AUX
ijassa-753	201	7	developed	develop	VERB
ijassa-753	201	8	based	base	VERB
ijassa-753	201	9	on	on	ADP
ijassa-753	201	10	these	these	DET
ijassa-753	201	11	algorithms	algorithm	NOUN
ijassa-753	201	12	.	.	PUNCT
ijassa-753	202	1	it	it	PRON
ijassa-753	202	2	helps	help	VERB
ijassa-753	202	3	to	to	PART
ijassa-753	202	4	create	create	VERB
ijassa-753	202	5	the	the	DET
ijassa-753	202	6	trajectories	trajectory	NOUN
ijassa-753	202	7	of	of	ADP
ijassa-753	202	8	the	the	DET
ijassa-753	202	9	catamaran	catamaran	NOUN
ijassa-753	202	10	deck	deck	NOUN
ijassa-753	202	11	roll	roll	NOUN
ijassa-753	202	12	,	,	PUNCT
ijassa-753	202	13	to	to	PART
ijassa-753	202	14	filter	filter	NOUN
ijassa-753	202	15	data	datum	NOUN
ijassa-753	202	16	obtained	obtain	VERB
ijassa-753	202	17	from	from	ADP
ijassa-753	202	18	the	the	DET
ijassa-753	202	19	sensors	sensor	NOUN
ijassa-753	202	20	,	,	PUNCT
ijassa-753	202	21	and	and	CCONJ
ijassa-753	202	22	to	to	PART
ijassa-753	202	23	estimate	estimate	VERB
ijassa-753	202	24	the	the	DET
ijassa-753	202	25	full	full	ADJ
ijassa-753	202	26	state	state	NOUN
ijassa-753	202	27	vector	vector	NOUN
ijassa-753	202	28	of	of	ADP
ijassa-753	202	29	the	the	DET
ijassa-753	202	30	catamaran	catamaran	NOUN
ijassa-753	202	31	.	.	PUNCT
ijassa-753	203	1	these	these	DET
ijassa-753	203	2	developments	development	NOUN
ijassa-753	203	3	can	can	AUX
ijassa-753	203	4	also	also	ADV
ijassa-753	203	5	be	be	AUX
ijassa-753	203	6	used	use	VERB
ijassa-753	203	7	in	in	ADP
ijassa-753	203	8	any	any	DET
ijassa-753	203	9	other	other	ADJ
ijassa-753	203	10	similar	similar	ADJ
ijassa-753	203	11	area	area	NOUN
ijassa-753	203	12	where	where	SCONJ
ijassa-753	203	13	it	it	PRON
ijassa-753	203	14	is	be	AUX
ijassa-753	203	15	necessary	necessary	ADJ
ijassa-753	203	16	to	to	PART
ijassa-753	203	17	accurately	accurately	ADV
ijassa-753	203	18	reproduce	reproduce	VERB
ijassa-753	203	19	the	the	DET
ijassa-753	203	20	specified	specified	ADJ
ijassa-753	203	21	motion	motion	NOUN
ijassa-753	203	22	of	of	ADP
ijassa-753	203	23	the	the	DET
ijassa-753	203	24	object	object	NOUN
ijassa-753	203	25	,	,	PUNCT
ijassa-753	203	26	for	for	ADP
ijassa-753	203	27	example	example	NOUN
ijassa-753	203	28	,	,	PUNCT
ijassa-753	203	29	any	any	DET
ijassa-753	203	30	other	other	ADJ
ijassa-753	203	31	vessels	vessel	NOUN
ijassa-753	203	32	,	,	PUNCT
ijassa-753	203	33	submarines	submarine	NOUN
ijassa-753	203	34	or	or	CCONJ
ijassa-753	203	35	aircraft	aircraft	NOUN
ijassa-753	203	36	.	.	PUNCT
ijassa-753	204	1	acknowledgements	acknowledgement	NOUN
ijassa-753	204	2	studies	study	NOUN
ijassa-753	204	3	were	be	AUX
ijassa-753	204	4	supported	support	VERB
ijassa-753	204	5	by	by	ADP
ijassa-753	204	6	the	the	DET
ijassa-753	204	7	ministry	ministry	PROPN
ijassa-753	204	8	of	of	ADP
ijassa-753	204	9	science	science	PROPN
ijassa-753	204	10	and	and	CCONJ
ijassa-753	204	11	higher	high	ADJ
ijassa-753	204	12	education	education	NOUN
ijassa-753	204	13	of	of	ADP
ijassa-753	204	14	russian	russian	PROPN
ijassa-753	204	15	federation	federation	PROPN
ijassa-753	204	16	(	(	PUNCT
ijassa-753	204	17	project	project	NOUN
ijassa-753	204	18	rfmefi57817x0259	rfmefi57817x0259	NOUN
ijassa-753	204	19	)	)	PUNCT
ijassa-753	204	20	mechanic	mechanic	NOUN
ijassa-753	204	21	and	and	CCONJ
ijassa-753	204	22	electro	electro	ADJ
ijassa-753	204	23	-	-	PUNCT
ijassa-753	204	24	mechanic	mechanic	ADJ
ijassa-753	204	25	components	component	NOUN
ijassa-753	204	26	were	be	AUX
ijassa-753	204	27	assembled	assemble	VERB
ijassa-753	204	28	by	by	ADP
ijassa-753	204	29	osadchenko	osadchenko	ADJ
ijassa-753	204	30	a.e	a.e	PROPN
ijassa-753	204	31	.	.	PROPN
ijassa-753	204	32	and	and	CCONJ
ijassa-753	205	1	lazarev	lazarev	PROPN
ijassa-753	205	2	v.b	v.b	PROPN
ijassa-753	205	3	.	.	PUNCT
ijassa-753	206	1	we	we	PRON
ijassa-753	206	2	would	would	AUX
ijassa-753	206	3	also	also	ADV
ijassa-753	206	4	like	like	VERB
ijassa-753	206	5	to	to	PART
ijassa-753	206	6	show	show	VERB
ijassa-753	206	7	our	our	PRON
ijassa-753	206	8	gratitude	gratitude	NOUN
ijassa-753	206	9	to	to	ADP
ijassa-753	206	10	the	the	DET
ijassa-753	206	11	reviewer	reviewer	NOUN
ijassa-753	206	12	for	for	ADP
ijassa-753	206	13	his	his	PRON
ijassa-753	206	14	useful	useful	ADJ
ijassa-753	206	15	insights	insight	NOUN
ijassa-753	206	16	and	and	CCONJ
ijassa-753	206	17	for	for	ADP
ijassa-753	206	18	comments	comment	NOUN
ijassa-753	206	19	on	on	ADP
ijassa-753	206	20	an	an	DET
ijassa-753	206	21	earlier	early	ADJ
ijassa-753	206	22	version	version	NOUN
ijassa-753	206	23	of	of	ADP
ijassa-753	206	24	the	the	DET
ijassa-753	206	25	manuscript	manuscript	NOUN
ijassa-753	206	26	.	.	PUNCT
ijassa-753	207	1	references	reference	NOUN
ijassa-753	207	2	1	1	NUM
ijassa-753	207	3	.	.	PUNCT
ijassa-753	207	4	andrievsky	andrievsky	PROPN
ijassa-753	207	5	,	,	PUNCT
ijassa-753	207	6	b.	b.	PROPN
ijassa-753	207	7	et	et	PROPN
ijassa-753	207	8	al	al	PROPN
ijassa-753	207	9	.	.	PROPN
ijassa-753	208	1	(	(	PUNCT
ijassa-753	208	2	2014	2014	NUM
ijassa-753	208	3	)	)	PUNCT
ijassa-753	208	4	.	.	PUNCT
ijassa-753	209	1	control	control	NOUN
ijassa-753	209	2	of	of	ADP
ijassa-753	209	3	pneumatically	pneumatically	ADV
ijassa-753	209	4	actuated	actuate	VERB
ijassa-753	209	5	6	6	NUM
ijassa-753	209	6	-	-	PUNCT
ijassa-753	209	7	dof	dof	NOUN
ijassa-753	209	8	stewart	stewart	NOUN
ijassa-753	209	9	platform	platform	NOUN
ijassa-753	209	10	for	for	ADP
ijassa-753	209	11	driving	drive	VERB
ijassa-753	209	12	simulator	simulator	NOUN
ijassa-753	209	13	,	,	PUNCT
ijassa-753	209	14	2014	2014	NUM
ijassa-753	209	15	19th	19th	ADJ
ijassa-753	209	16	international	international	ADJ
ijassa-753	209	17	conference	conference	NOUN
ijassa-753	209	18	on	on	ADP
ijassa-753	209	19	methods	method	NOUN
ijassa-753	209	20	and	and	CCONJ
ijassa-753	209	21	models	model	NOUN
ijassa-753	209	22	in	in	ADP
ijassa-753	209	23	automation	automation	NOUN
ijassa-753	209	24	and	and	CCONJ
ijassa-753	209	25	robotics	robotic	NOUN
ijassa-753	209	26	(	(	PUNCT
ijassa-753	209	27	mmar	mmar	NOUN
ijassa-753	209	28	)	)	PUNCT
ijassa-753	209	29	,	,	PUNCT
ijassa-753	209	30	miedzyzdroje	miedzyzdroje	NOUN
ijassa-753	209	31	,	,	PUNCT
ijassa-753	209	32	663	663	NUM
ijassa-753	209	33	-	-	SYM
ijassa-753	209	34	668	668	NUM
ijassa-753	209	35	,	,	PUNCT
ijassa-753	209	36	doi	doi	NOUN
ijassa-753	209	37	:	:	PUNCT
ijassa-753	209	38	10.1109	10.1109	NUM
ijassa-753	209	39	/	/	SYM
ijassa-753	209	40	mmar.2014.6957433	mmar.2014.6957433	NOUN
ijassa-753	209	41	.	.	PUNCT
ijassa-753	210	1	2	2	X
ijassa-753	210	2	.	.	X
ijassa-753	210	3	dubovik	dubovik	NOUN
ijassa-753	210	4	,	,	PUNCT
ijassa-753	210	5	s.	s.	PROPN
ijassa-753	210	6	a.	a.	PROPN
ijassa-753	210	7	&	&	CCONJ
ijassa-753	210	8	kabanov	kabanov	PROPN
ijassa-753	210	9	,	,	PUNCT
ijassa-753	210	10	a.	a.	NOUN
ijassa-753	210	11	a.	a.	PROPN
ijassa-753	210	12	(	(	PUNCT
ijassa-753	210	13	2017	2017	NUM
ijassa-753	210	14	)	)	PUNCT
ijassa-753	210	15	.	.	PUNCT
ijassa-753	211	1	quasipotentials	quasipotential	NOUN
ijassa-753	211	2	in	in	ADP
ijassa-753	211	3	synthesis	synthesis	NOUN
ijassa-753	211	4	of	of	ADP
ijassa-753	211	5	control	control	NOUN
ijassa-753	211	6	systems	system	NOUN
ijassa-753	211	7	based	base	VERB
ijassa-753	211	8	on	on	ADP
ijassa-753	211	9	knowledge	knowledge	NOUN
ijassa-753	211	10	.	.	PUNCT
ijassa-753	212	1	proceedings	proceeding	NOUN
ijassa-753	212	2	of	of	ADP
ijassa-753	212	3	international	international	ADJ
ijassa-753	212	4	conference	conference	NOUN
ijassa-753	212	5	on	on	ADP
ijassa-753	212	6	industrial	industrial	ADJ
ijassa-753	212	7	engineering	engineering	NOUN
ijassa-753	212	8	,	,	PUNCT
ijassa-753	212	9	applications	application	NOUN
ijassa-753	212	10	and	and	CCONJ
ijassa-753	212	11	manufacturing	manufacturing	NOUN
ijassa-753	212	12	(	(	PUNCT
ijassa-753	212	13	icieam	icieam	NOUN
ijassa-753	212	14	)	)	PUNCT
ijassa-753	212	15	,	,	PUNCT
ijassa-753	212	16	st	st	PROPN
ijassa-753	212	17	.	.	PROPN
ijassa-753	212	18	petersburg	petersburg	PROPN
ijassa-753	212	19	,	,	PUNCT
ijassa-753	212	20	1	1	NUM
ijassa-753	212	21	-	-	SYM
ijassa-753	212	22	4	4	NUM
ijassa-753	212	23	.	.	PUNCT
ijassa-753	212	24	doi	doi	NOUN
ijassa-753	212	25	:	:	PUNCT
ijassa-753	212	26	10.1109	10.1109	NUM
ijassa-753	212	27	/	/	SYM
ijassa-753	212	28	icieam.2017.8076123	icieam.2017.8076123	NOUN
ijassa-753	212	29	.	.	PUNCT
ijassa-753	213	1	3	3	X
ijassa-753	213	2	.	.	X
ijassa-753	213	3	dubovik	dubovik	NOUN
ijassa-753	213	4	,	,	PUNCT
ijassa-753	213	5	s.	s.	PROPN
ijassa-753	213	6	a.	a.	PROPN
ijassa-753	213	7	&	&	CCONJ
ijassa-753	213	8	kabanov	kabanov	PROPN
ijassa-753	213	9	,	,	PUNCT
ijassa-753	213	10	a.	a.	NOUN
ijassa-753	213	11	a.	a.	PROPN
ijassa-753	213	12	(	(	PUNCT
ijassa-753	213	13	2019	2019	NUM
ijassa-753	213	14	)	)	PUNCT
ijassa-753	213	15	.	.	PUNCT
ijassa-753	214	1	funkcional'no	funkcional'no	PROPN
ijassa-753	214	2	ustojchivye	ustojchivye	PROPN
ijassa-753	214	3	sistemy	sistemy	PROPN
ijassa-753	214	4	upravleniya	upravleniya	NOUN
ijassa-753	214	5	:	:	PUNCT
ijassa-753	215	1	asimptoticheskie	asimptoticheskie	ADJ
ijassa-753	215	2	metody	metody	ADJ
ijassa-753	215	3	sinteza	sinteza	PROPN
ijassa-753	215	4	[	[	X
ijassa-753	215	5	functionally	functionally	ADV
ijassa-753	215	6	stable	stable	ADJ
ijassa-753	215	7	control	control	NOUN
ijassa-753	215	8	systems	system	NOUN
ijassa-753	215	9	:	:	PUNCT
ijassa-753	215	10	asymptotic	asymptotic	ADJ
ijassa-753	215	11	methods	method	NOUN
ijassa-753	215	12	of	of	ADP
ijassa-753	215	13	synthesis].moscow	synthesis].moscow	NOUN
ijassa-753	215	14	,	,	PUNCT
ijassa-753	215	15	infra	infra	NOUN
ijassa-753	215	16	-	-	PUNCT
ijassa-753	215	17	m	m	PRON
ijassa-753	215	18	,	,	PUNCT
ijassa-753	216	1	[	[	X
ijassa-753	216	2	in	in	ADP
ijassa-753	216	3	russian	russian	PROPN
ijassa-753	216	4	]	]	PUNCT
ijassa-753	216	5	.	.	PUNCT
ijassa-753	217	1	doi	doi	NOUN
ijassa-753	217	2	:	:	PUNCT
ijassa-753	217	3	10.12737	10.12737	NUM
ijassa-753	217	4	/	/	SYM
ijassa-753	217	5	monography_5b446a985cf9a5.11626044	monography_5b446a985cf9a5.11626044	NOUN
ijassa-753	217	6	.	.	PUNCT
ijassa-753	218	1	4	4	X
ijassa-753	218	2	.	.	X
ijassa-753	218	3	dubovik	dubovik	NOUN
ijassa-753	218	4	,	,	PUNCT
ijassa-753	218	5	s.	s.	PROPN
ijassa-753	218	6	a.	a.	PROPN
ijassa-753	218	7	,	,	PUNCT
ijassa-753	218	8	kabanov	kabanov	PROPN
ijassa-753	218	9	,	,	PUNCT
ijassa-753	218	10	a.	a.	PROPN
ijassa-753	218	11	a.	a.	PROPN
ijassa-753	218	12	&	&	CCONJ
ijassa-753	218	13	lipko	lipko	PROPN
ijassa-753	218	14	,	,	PUNCT
ijassa-753	218	15	i.u	i.u	PROPN
ijassa-753	218	16	.	.	PROPN
ijassa-753	218	17	(	(	PUNCT
ijassa-753	218	18	2017	2017	NUM
ijassa-753	218	19	)	)	PUNCT
ijassa-753	218	20	.	.	PUNCT
ijassa-753	219	1	sistema	sistema	PROPN
ijassa-753	219	2	kontrolya	kontrolya	PROPN
ijassa-753	219	3	krena	krena	PROPN
ijassa-753	219	4	sudna	sudna	PROPN
ijassa-753	219	5	na	na	NOUN
ijassa-753	219	6	baze	baze	NOUN
ijassa-753	219	7	analiza	analiza	NOUN
ijassa-753	219	8	bolshih	bolshih	PROPN
ijassa-753	219	9	ukloneniy	ukloneniy	ADJ
ijassa-753	219	10	[	[	X
ijassa-753	219	11	control	control	NOUN
ijassa-753	219	12	system	system	NOUN
ijassa-753	219	13	of	of	ADP
ijassa-753	219	14	vessel	vessel	NOUN
ijassa-753	219	15	roll	roll	NOUN
ijassa-753	219	16	,	,	PUNCT
ijassa-753	219	17	based	base	VERB
ijassa-753	219	18	on	on	ADP
ijassa-753	219	19	large	large	ADJ
ijassa-753	219	20	deviations	deviation	NOUN
ijassa-753	219	21	analysis	analysis	NOUN
ijassa-753	219	22	]	]	PUNCT
ijassa-753	219	23	.	.	PUNCT
ijassa-753	220	1	перспективные	перспективные	ADJ
ijassa-753	220	2	системы	системы	PROPN
ijassa-753	220	3	и	и	PROPN
ijassa-753	220	4	задачи	задачи	NOUN
ijassa-753	220	5	управления	управления	NOUN
ijassa-753	220	6	,	,	PUNCT
ijassa-753	220	7	south	south	PROPN
ijassa-753	220	8	federal	federal	PROPN
ijassa-753	220	9	university	university	PROPN
ijassa-753	220	10	,	,	PUNCT
ijassa-753	220	11	rostovon	rostovon	PROPN
ijassa-753	220	12	-	-	PUNCT
ijassa-753	220	13	don	don	ADJ
ijassa-753	220	14	,	,	PUNCT
ijassa-753	220	15	196	196	NUM
ijassa-753	220	16	-	-	SYM
ijassa-753	220	17	209	209	NUM
ijassa-753	220	18	,	,	PUNCT
ijassa-753	220	19	[	[	X
ijassa-753	220	20	in	in	ADP
ijassa-753	220	21	russian	russian	PROPN
ijassa-753	220	22	]	]	PUNCT
ijassa-753	220	23	.	.	PUNCT
ijassa-753	221	1	5	5	X
ijassa-753	221	2	.	.	X
ijassa-753	221	3	fossen	fossen	VERB
ijassa-753	221	4	,	,	PUNCT
ijassa-753	221	5	t.	t.	PROPN
ijassa-753	221	6	i.	i.	PROPN
ijassa-753	221	7	(	(	PUNCT
ijassa-753	221	8	2011	2011	NUM
ijassa-753	221	9	)	)	PUNCT
ijassa-753	221	10	.	.	PUNCT
ijassa-753	222	1	handbook	handbook	NOUN
ijassa-753	222	2	of	of	ADP
ijassa-753	222	3	marine	marine	PROPN
ijassa-753	222	4	craft	craft	NOUN
ijassa-753	222	5	hydrodynamics	hydrodynamic	NOUN
ijassa-753	222	6	and	and	CCONJ
ijassa-753	222	7	motion	motion	NOUN
ijassa-753	222	8	control	control	NOUN
ijassa-753	222	9	.	.	PUNCT
ijassa-753	223	1	jhon	jhon	PROPN
ijassa-753	223	2	wiley	wiley	PROPN
ijassa-753	223	3	&	&	CCONJ
ijassa-753	223	4	sons	son	NOUN
ijassa-753	223	5	,	,	PUNCT
ijassa-753	223	6	isbn	isbn	ADJ
ijassa-753	223	7	978	978	NUM
ijassa-753	223	8	-	-	SYM
ijassa-753	223	9	1	1	NUM
ijassa-753	223	10	-	-	NUM
ijassa-753	223	11	119	119	NUM
ijassa-753	223	12	-	-	PUNCT
ijassa-753	223	13	99149	99149	NUM
ijassa-753	223	14	-	-	SYM
ijassa-753	223	15	6	6	NUM
ijassa-753	223	16	.	.	NOUN
ijassa-753	223	17	10	10	NUM
ijassa-753	223	18	i.	i.	PROPN
ijassa-753	223	19	lipko	lipko	PROPN
ijassa-753	223	20	copyright	copyright	NOUN
ijassa-753	223	21	©	©	PROPN
ijassa-753	223	22	2019	2019	NUM
ijassa-753	223	23	assa	assa	PROPN
ijassa-753	223	24	adv	adv	PROPN
ijassa-753	223	25	.	.	PUNCT
ijassa-753	224	1	in	in	ADP
ijassa-753	224	2	systems	system	NOUN
ijassa-753	224	3	science	science	NOUN
ijassa-753	224	4	and	and	CCONJ
ijassa-753	224	5	appl	appl	NOUN
ijassa-753	224	6	.	.	PUNCT
ijassa-753	225	1	(	(	PUNCT
ijassa-753	225	2	2019	2019	NUM
ijassa-753	225	3	)	)	PUNCT
ijassa-753	225	4	6	6	NUM
ijassa-753	225	5	.	.	X
ijassa-753	226	1	hassani	hassani	PROPN
ijassa-753	226	2	,	,	PUNCT
ijassa-753	226	3	v.	v.	ADV
ijassa-753	226	4	,	,	PUNCT
ijassa-753	226	5	alterskjær	alterskjær	NOUN
ijassa-753	226	6	,	,	PUNCT
ijassa-753	226	7	s.	s.	PROPN
ijassa-753	226	8	a.	a.	PROPN
ijassa-753	226	9	,	,	PUNCT
ijassa-753	226	10	fathi	fathi	PROPN
ijassa-753	226	11	,	,	PUNCT
ijassa-753	226	12	d.	d.	PROPN
ijassa-753	226	13	,	,	PUNCT
ijassa-753	226	14	selvik	selvik	PROPN
ijassa-753	226	15	,	,	PUNCT
ijassa-753	226	16	o.	o.	PROPN
ijassa-753	226	17	&	&	CCONJ
ijassa-753	226	18	sæther	sæther	PROPN
ijassa-753	226	19	,	,	PUNCT
ijassa-753	226	20	l.	l.	PROPN
ijassa-753	226	21	o.	o.	PROPN
ijassa-753	226	22	(	(	PUNCT
ijassa-753	226	23	2014	2014	NUM
ijassa-753	226	24	)	)	PUNCT
ijassa-753	226	25	.	.	PUNCT
ijassa-753	227	1	experimental	experimental	ADJ
ijassa-753	227	2	results	result	NOUN
ijassa-753	227	3	on	on	ADP
ijassa-753	227	4	motion	motion	NOUN
ijassa-753	227	5	regulation	regulation	NOUN
ijassa-753	227	6	in	in	ADP
ijassa-753	227	7	high	high	ADJ
ijassa-753	227	8	speed	speed	NOUN
ijassa-753	227	9	marine	marine	ADJ
ijassa-753	227	10	vessels	vessel	NOUN
ijassa-753	227	11	,	,	PUNCT
ijassa-753	227	12	22nd	22nd	NOUN
ijassa-753	227	13	mediterranean	mediterranean	PROPN
ijassa-753	227	14	conference	conference	PROPN
ijassa-753	227	15	on	on	ADP
ijassa-753	227	16	control	control	NOUN
ijassa-753	227	17	and	and	CCONJ
ijassa-753	227	18	automation	automation	NOUN
ijassa-753	227	19	,	,	PUNCT
ijassa-753	227	20	palermo	palermo	NOUN
ijassa-753	227	21	,	,	PUNCT
ijassa-753	227	22	487	487	NUM
ijassa-753	227	23	-	-	SYM
ijassa-753	227	24	492	492	NUM
ijassa-753	227	25	,	,	PUNCT
ijassa-753	227	26	doi	doi	NOUN
ijassa-753	227	27	:	:	PUNCT
ijassa-753	227	28	10.1109	10.1109	NUM
ijassa-753	227	29	/	/	SYM
ijassa-753	227	30	med.2014.6961420	med.2014.6961420	NOUN
ijassa-753	227	31	.	.	NOUN
ijassa-753	228	1	7	7	X
ijassa-753	228	2	.	.	X
ijassa-753	228	3	kramar	kramar	PROPN
ijassa-753	228	4	,	,	PUNCT
ijassa-753	228	5	v.	v.	PROPN
ijassa-753	228	6	(	(	PUNCT
ijassa-753	228	7	2018	2018	NUM
ijassa-753	228	8	)	)	PUNCT
ijassa-753	228	9	.	.	PUNCT
ijassa-753	229	1	the	the	DET
ijassa-753	229	2	construction	construction	NOUN
ijassa-753	229	3	principle	principle	NOUN
ijassa-753	229	4	and	and	CCONJ
ijassa-753	229	5	system	system	NOUN
ijassa-753	229	6	architecture	architecture	NOUN
ijassa-753	229	7	of	of	ADP
ijassa-753	229	8	the	the	DET
ijassa-753	229	9	automatic	automatic	ADJ
ijassa-753	229	10	hold	hold	NOUN
ijassa-753	229	11	system	system	NOUN
ijassa-753	229	12	of	of	ADP
ijassa-753	229	13	an	an	DET
ijassa-753	229	14	unmanned	unmanned	ADJ
ijassa-753	229	15	vessel	vessel	NOUN
ijassa-753	229	16	.	.	PUNCT
ijassa-753	230	1	2018	2018	NUM
ijassa-753	230	2	international	international	ADJ
ijassa-753	230	3	multi	multi	NOUN
ijassa-753	230	4	-	-	NOUN
ijassa-753	230	5	conference	conference	NOUN
ijassa-753	230	6	on	on	ADP
ijassa-753	230	7	industrial	industrial	ADJ
ijassa-753	230	8	engineering	engineering	NOUN
ijassa-753	230	9	and	and	CCONJ
ijassa-753	230	10	modern	modern	ADJ
ijassa-753	230	11	technologies	technology	NOUN
ijassa-753	230	12	(	(	PUNCT
ijassa-753	230	13	fareastcon	fareastcon	NOUN
ijassa-753	230	14	)	)	PUNCT
ijassa-753	230	15	,	,	PUNCT
ijassa-753	230	16	vladivostok	vladivostok	NOUN
ijassa-753	230	17	,	,	PUNCT
ijassa-753	230	18	1	1	NUM
ijassa-753	230	19	-	-	SYM
ijassa-753	230	20	4	4	NUM
ijassa-753	230	21	,	,	PUNCT
ijassa-753	230	22	doi	doi	NOUN
ijassa-753	230	23	:	:	PUNCT
ijassa-753	230	24	10.1109	10.1109	NUM
ijassa-753	230	25	/	/	SYM
ijassa-753	230	26	fareastcon.2018.8602791	fareastcon.2018.8602791	NOUN
ijassa-753	230	27	.	.	NOUN
ijassa-753	230	28	8	8	NUM
ijassa-753	230	29	.	.	X
ijassa-753	231	1	krasnov	krasnov	PROPN
ijassa-753	231	2	,	,	PUNCT
ijassa-753	231	3	e.	e.	PROPN
ijassa-753	231	4	i.	i.	PROPN
ijassa-753	231	5	,	,	PUNCT
ijassa-753	231	6	mikhaylov	mikhaylov	PROPN
ijassa-753	231	7	v.	v.	CCONJ
ijassa-753	231	8	v.	v.	PROPN
ijassa-753	231	9	,	,	PUNCT
ijassa-753	231	10	sergeev	sergeev	PROPN
ijassa-753	231	11	,	,	PUNCT
ijassa-753	231	12	s.	s.	PROPN
ijassa-753	231	13	l.	l.	PROPN
ijassa-753	231	14	&	&	CCONJ
ijassa-753	231	15	stuchenkov	stuchenkov	PROPN
ijassa-753	231	16	,	,	PUNCT
ijassa-753	231	17	a.	a.	PROPN
ijassa-753	231	18	b.	b.	PROPN
ijassa-753	231	19	(	(	PUNCT
ijassa-753	231	20	2015	2015	NUM
ijassa-753	231	21	)	)	PUNCT
ijassa-753	231	22	.	.	PUNCT
ijassa-753	232	1	development	development	NOUN
ijassa-753	232	2	of	of	ADP
ijassa-753	232	3	a	a	DET
ijassa-753	232	4	motion	motion	NOUN
ijassa-753	232	5	system	system	NOUN
ijassa-753	232	6	for	for	ADP
ijassa-753	232	7	a	a	DET
ijassa-753	232	8	training	training	NOUN
ijassa-753	232	9	simulator	simulator	NOUN
ijassa-753	232	10	based	base	VERB
ijassa-753	232	11	on	on	ADP
ijassa-753	232	12	stewart	stewart	PROPN
ijassa-753	232	13	platform	platform	PROPN
ijassa-753	232	14	,	,	PUNCT
ijassa-753	232	15	international	international	ADJ
ijassa-753	232	16	conference	conference	NOUN
ijassa-753	232	17	"	"	PUNCT
ijassa-753	232	18	stability	stability	NOUN
ijassa-753	232	19	and	and	CCONJ
ijassa-753	232	20	control	control	NOUN
ijassa-753	232	21	processes	process	NOUN
ijassa-753	232	22	"	"	PUNCT
ijassa-753	232	23	in	in	ADP
ijassa-753	232	24	memory	memory	NOUN
ijassa-753	232	25	of	of	ADP
ijassa-753	232	26	v.i	v.i	PROPN
ijassa-753	232	27	.	.	PROPN
ijassa-753	232	28	zubov	zubov	PROPN
ijassa-753	232	29	(	(	PUNCT
ijassa-753	232	30	scp	scp	PROPN
ijassa-753	232	31	)	)	PUNCT
ijassa-753	232	32	,	,	PUNCT
ijassa-753	232	33	st	st	PROPN
ijassa-753	232	34	.	.	PROPN
ijassa-753	232	35	petersburg	petersburg	PROPN
ijassa-753	232	36	,	,	PUNCT
ijassa-753	232	37	99	99	NUM
ijassa-753	232	38	-	-	SYM
ijassa-753	232	39	101	101	NUM
ijassa-753	232	40	,	,	PUNCT
ijassa-753	232	41	doi	doi	NOUN
ijassa-753	232	42	:	:	PUNCT
ijassa-753	232	43	10.1109	10.1109	NUM
ijassa-753	232	44	/	/	SYM
ijassa-753	232	45	scp.2015.7342074	scp.2015.7342074	NOUN
ijassa-753	232	46	.	.	NOUN
ijassa-753	232	47	9	9	NUM
ijassa-753	232	48	.	.	X
ijassa-753	232	49	lebrón	lebrón	PROPN
ijassa-753	232	50	,	,	PUNCT
ijassa-753	232	51	r.	r.	PROPN
ijassa-753	232	52	,	,	PUNCT
ijassa-753	232	53	valente	valente	PROPN
ijassa-753	232	54	,	,	PUNCT
ijassa-753	232	55	v.	v.	ADV
ijassa-753	232	56	,	,	PUNCT
ijassa-753	232	57	sobczyk	sobczyk	NOUN
ijassa-753	232	58	,	,	PUNCT
ijassa-753	232	59	m.	m.	NOUN
ijassa-753	232	60	&	&	CCONJ
ijassa-753	232	61	perondi	perondi	PROPN
ijassa-753	232	62	,	,	PUNCT
ijassa-753	232	63	e.	e.	PROPN
ijassa-753	232	64	(	(	PUNCT
ijassa-753	232	65	2016	2016	NUM
ijassa-753	232	66	)	)	PUNCT
ijassa-753	232	67	.	.	PUNCT
ijassa-753	233	1	control	control	NOUN
ijassa-753	233	2	of	of	ADP
ijassa-753	233	3	an	an	DET
ijassa-753	233	4	electrohydraulic	electrohydraulic	NOUN
ijassa-753	233	5	stewart	stewart	NOUN
ijassa-753	233	6	platform	platform	NOUN
ijassa-753	233	7	manipulator	manipulator	NOUN
ijassa-753	233	8	as	as	ADP
ijassa-753	233	9	vessels	vessel	NOUN
ijassa-753	233	10	motion	motion	NOUN
ijassa-753	233	11	simulator	simulator	NOUN
ijassa-753	233	12	,	,	PUNCT
ijassa-753	233	13	9th	9th	ADJ
ijassa-753	233	14	fpni	fpni	PROPN
ijassa-753	233	15	ph.d	ph.d	PROPN
ijassa-753	233	16	.	.	PUNCT
ijassa-753	234	1	symposium	symposium	NOUN
ijassa-753	234	2	on	on	ADP
ijassa-753	234	3	fluid	fluid	ADJ
ijassa-753	234	4	power	power	NOUN
ijassa-753	234	5	,	,	PUNCT
ijassa-753	234	6	v001t01a033	v001t01a033	VERB
ijassa-753	234	7	.	.	PUNCT
ijassa-753	235	1	doi	doi	NOUN
ijassa-753	235	2	:	:	PUNCT
ijassa-753	235	3	10.1115	10.1115	NUM
ijassa-753	235	4	/	/	SYM
ijassa-753	235	5	fpni2016	fpni2016	PROPN
ijassa-753	235	6	-	-	PUNCT
ijassa-753	235	7	1553	1553	NUM
ijassa-753	235	8	.	.	PUNCT
ijassa-753	236	1	10	10	NUM
ijassa-753	236	2	.	.	X
ijassa-753	236	3	lewis	lewis	PROPN
ijassa-753	236	4	,	,	PUNCT
ijassa-753	236	5	f.	f.	PROPN
ijassa-753	236	6	l.	l.	PROPN
ijassa-753	236	7	,	,	PUNCT
ijassa-753	236	8	xie	xie	PROPN
ijassa-753	236	9	,	,	PUNCT
ijassa-753	236	10	l.	l.	PROPN
ijassa-753	236	11	&	&	CCONJ
ijassa-753	236	12	popa	popa	PROPN
ijassa-753	236	13	,	,	PUNCT
ijassa-753	236	14	d.	d.	PROPN
ijassa-753	236	15	(	(	PUNCT
ijassa-753	236	16	2017	2017	NUM
ijassa-753	236	17	)	)	PUNCT
ijassa-753	236	18	.	.	PUNCT
ijassa-753	237	1	optimal	optimal	ADJ
ijassa-753	237	2	and	and	CCONJ
ijassa-753	237	3	robust	robust	ADJ
ijassa-753	237	4	estimation	estimation	NOUN
ijassa-753	237	5	:	:	PUNCT
ijassa-753	237	6	with	with	ADP
ijassa-753	237	7	an	an	DET
ijassa-753	237	8	introduction	introduction	NOUN
ijassa-753	237	9	to	to	ADP
ijassa-753	237	10	stochastic	stochastic	ADJ
ijassa-753	237	11	control	control	NOUN
ijassa-753	237	12	theory	theory	NOUN
ijassa-753	237	13	,	,	PUNCT
ijassa-753	237	14	second	second	ADJ
ijassa-753	237	15	edition	edition	NOUN
ijassa-753	237	16	.	.	PUNCT
ijassa-753	238	1	crc	crc	PROPN
ijassa-753	238	2	press	press	PROPN
ijassa-753	238	3	.	.	PUNCT
ijassa-753	239	1	isbn	isbn	ADJ
ijassa-753	239	2	:	:	PUNCT
ijassa-753	239	3	9780849390081	9780849390081	NUM
ijassa-753	239	4	.	.	PUNCT
ijassa-753	240	1	11	11	NUM
ijassa-753	240	2	.	.	X
ijassa-753	241	1	liang	liang	PROPN
ijassa-753	241	2	,	,	PUNCT
ijassa-753	241	3	l.	l.	PROPN
ijassa-753	241	4	,	,	PUNCT
ijassa-753	241	5	yuan	yuan	PROPN
ijassa-753	241	6	j.	j.	PROPN
ijassa-753	241	7	&	&	CCONJ
ijassa-753	241	8	zhang	zhang	PROPN
ijassa-753	241	9	,	,	PUNCT
ijassa-753	241	10	s.	s.	PROPN
ijassa-753	241	11	(	(	PUNCT
ijassa-753	241	12	2016	2016	NUM
ijassa-753	241	13	)	)	PUNCT
ijassa-753	241	14	.	.	PUNCT
ijassa-753	242	1	application	application	NOUN
ijassa-753	242	2	of	of	ADP
ijassa-753	242	3	model	model	NOUN
ijassa-753	242	4	predictive	predictive	PROPN
ijassa-753	242	5	control	control	NOUN
ijassa-753	242	6	technique	technique	NOUN
ijassa-753	242	7	for	for	ADP
ijassa-753	242	8	wave	wave	NOUN
ijassa-753	242	9	piercing	pierce	VERB
ijassa-753	242	10	catamarans	catamarans	PROPN
ijassa-753	242	11	ride	ride	NOUN
ijassa-753	242	12	control	control	NOUN
ijassa-753	242	13	system	system	NOUN
ijassa-753	242	14	,	,	PUNCT
ijassa-753	242	15	2016	2016	NUM
ijassa-753	242	16	ieee	ieee	NOUN
ijassa-753	242	17	international	international	ADJ
ijassa-753	242	18	conference	conference	NOUN
ijassa-753	242	19	on	on	ADP
ijassa-753	242	20	mechatronics	mechatronic	NOUN
ijassa-753	242	21	and	and	CCONJ
ijassa-753	242	22	automation	automation	NOUN
ijassa-753	242	23	,	,	PUNCT
ijassa-753	242	24	harbin	harbin	NOUN
ijassa-753	242	25	,	,	PUNCT
ijassa-753	242	26	726	726	NUM
ijassa-753	242	27	-	-	SYM
ijassa-753	242	28	731	731	NUM
ijassa-753	242	29	,	,	PUNCT
ijassa-753	242	30	doi	doi	NOUN
ijassa-753	242	31	:	:	PUNCT
ijassa-753	242	32	10.1109	10.1109	NUM
ijassa-753	242	33	/	/	SYM
ijassa-753	242	34	icma.2016.7558652	icma.2016.7558652	PROPN
ijassa-753	242	35	.	.	PUNCT
ijassa-753	243	1	12	12	NUM
ijassa-753	243	2	.	.	PUNCT
ijassa-753	243	3	lipko	lipko	PROPN
ijassa-753	243	4	,	,	PUNCT
ijassa-753	243	5	i.	i.	PROPN
ijassa-753	243	6	u.	u.	PROPN
ijassa-753	243	7	(	(	PUNCT
ijassa-753	243	8	2018	2018	NUM
ijassa-753	243	9	)	)	PUNCT
ijassa-753	243	10	.	.	PUNCT
ijassa-753	244	1	forecasting	forecasting	NOUN
ijassa-753	244	2	of	of	ADP
ijassa-753	244	3	catamaran	catamaran	NOUN
ijassa-753	244	4	roll	roll	NOUN
ijassa-753	244	5	threshold	threshold	NOUN
ijassa-753	244	6	exceeding.2018	exceeding.2018	ADP
ijassa-753	244	7	international	international	ADJ
ijassa-753	244	8	russian	russian	ADJ
ijassa-753	244	9	automation	automation	NOUN
ijassa-753	244	10	conference	conference	NOUN
ijassa-753	244	11	(	(	PUNCT
ijassa-753	244	12	rusautocon	rusautocon	NOUN
ijassa-753	244	13	)	)	PUNCT
ijassa-753	244	14	,	,	PUNCT
ijassa-753	244	15	9	9	NUM
ijassa-753	244	16	-	-	SYM
ijassa-753	244	17	16	16	NUM
ijassa-753	244	18	sept	sept	PROPN
ijassa-753	244	19	.	.	PROPN
ijassa-753	244	20	2018	2018	NUM
ijassa-753	244	21	,	,	PUNCT
ijassa-753	244	22	sochi	sochi	PROPN
ijassa-753	244	23	,	,	PUNCT
ijassa-753	244	24	russia	russia	PROPN
ijassa-753	244	25	,	,	PUNCT
ijassa-753	244	26	ieee	ieee	NOUN
ijassa-753	244	27	,	,	PUNCT
ijassa-753	244	28	isbn	isbn	ADJ
ijassa-753	244	29	:	:	PUNCT
ijassa-753	244	30	978	978	NUM
ijassa-753	244	31	-	-	SYM
ijassa-753	244	32	1	1	NUM
ijassa-753	244	33	-	-	PUNCT
ijassa-753	244	34	5386	5386	NUM
ijassa-753	244	35	-	-	PUNCT
ijassa-753	244	36	4938	4938	NUM
ijassa-753	244	37	-	-	PUNCT
ijassa-753	244	38	1	1	NUM
ijassa-753	244	39	,	,	PUNCT
ijassa-753	244	40	doi	doi	NOUN
ijassa-753	244	41	:	:	PUNCT
ijassa-753	244	42	10.1109	10.1109	NUM
ijassa-753	244	43	/	/	SYM
ijassa-753	244	44	rusautocon.2018.8501764	rusautocon.2018.8501764	NOUN
ijassa-753	244	45	.	.	PUNCT
ijassa-753	245	1	13	13	NUM
ijassa-753	245	2	.	.	PUNCT
ijassa-753	245	3	rekdalsbakken	rekdalsbakken	VERB
ijassa-753	245	4	,	,	PUNCT
ijassa-753	245	5	w.	w.	PROPN
ijassa-753	245	6	(	(	PUNCT
ijassa-753	245	7	2006	2006	NUM
ijassa-753	245	8	)	)	PUNCT
ijassa-753	245	9	.	.	PUNCT
ijassa-753	246	1	design	design	NOUN
ijassa-753	246	2	and	and	CCONJ
ijassa-753	246	3	application	application	NOUN
ijassa-753	246	4	of	of	ADP
ijassa-753	246	5	a	a	DET
ijassa-753	246	6	motion	motion	NOUN
ijassa-753	246	7	platform	platform	NOUN
ijassa-753	246	8	for	for	ADP
ijassa-753	246	9	a	a	DET
ijassa-753	246	10	high	high	ADJ
ijassa-753	246	11	-	-	PUNCT
ijassa-753	246	12	speed	speed	NOUN
ijassa-753	246	13	craft	craft	NOUN
ijassa-753	246	14	simulator	simulator	NOUN
ijassa-753	246	15	,	,	PUNCT
ijassa-753	246	16	ieee	ieee	PROPN
ijassa-753	246	17	international	international	ADJ
ijassa-753	246	18	conference	conference	NOUN
ijassa-753	246	19	on	on	ADP
ijassa-753	246	20	mechatronics	mechatronic	NOUN
ijassa-753	246	21	,	,	PUNCT
ijassa-753	246	22	budapest	budapest	NOUN
ijassa-753	246	23	,	,	PUNCT
ijassa-753	246	24	38-43.doi	38-43.doi	NUM
ijassa-753	246	25	:	:	PUNCT
ijassa-753	246	26	10.1109	10.1109	NUM
ijassa-753	246	27	/	/	SYM
ijassa-753	246	28	icmech.2006.252493	icmech.2006.252493	NOUN
ijassa-753	246	29	.	.	PUNCT
ijassa-753	247	1	14	14	NUM
ijassa-753	247	2	.	.	X
ijassa-753	248	1	shiong	shiong	PROPN
ijassa-753	248	2	,	,	PUNCT
ijassa-753	248	3	c.	c.	PROPN
ijassa-753	248	4	y.	y.	PROPN
ijassa-753	248	5	,	,	PUNCT
ijassa-753	248	6	jalil	jalil	PROPN
ijassa-753	248	7	,	,	PUNCT
ijassa-753	248	8	m.	m.	PROPN
ijassa-753	248	9	k.	k.	PROPN
ijassa-753	248	10	a.	a.	PROPN
ijassa-753	248	11	&	&	CCONJ
ijassa-753	248	12	hussein	hussein	PROPN
ijassa-753	248	13	m.	m.	PROPN
ijassa-753	248	14	(	(	PUNCT
ijassa-753	248	15	2009	2009	NUM
ijassa-753	248	16	)	)	PUNCT
ijassa-753	248	17	.	.	PUNCT
ijassa-753	249	1	motion	motion	NOUN
ijassa-753	249	2	visualization	visualization	NOUN
ijassa-753	249	3	and	and	CCONJ
ijassa-753	249	4	control	control	NOUN
ijassa-753	249	5	of	of	ADP
ijassa-753	249	6	a	a	DET
ijassa-753	249	7	driving	drive	VERB
ijassa-753	249	8	simulator	simulator	NOUN
ijassa-753	249	9	motion	motion	NOUN
ijassa-753	249	10	platform	platform	NOUN
ijassa-753	249	11	,	,	PUNCT
ijassa-753	249	12	2009	2009	NUM
ijassa-753	249	13	6th	6th	ADJ
ijassa-753	249	14	international	international	ADJ
ijassa-753	249	15	symposium	symposium	NOUN
ijassa-753	249	16	on	on	ADP
ijassa-753	249	17	mechatronics	mechatronic	NOUN
ijassa-753	249	18	and	and	CCONJ
ijassa-753	249	19	its	its	PRON
ijassa-753	249	20	applications	application	NOUN
ijassa-753	249	21	,	,	PUNCT
ijassa-753	249	22	sharjah	sharjah	NOUN
ijassa-753	249	23	,	,	PUNCT
ijassa-753	249	24	1	1	NUM
ijassa-753	249	25	-	-	SYM
ijassa-753	249	26	5	5	NUM
ijassa-753	249	27	.	.	PUNCT
ijassa-753	249	28	doi	doi	NOUN
ijassa-753	249	29	:	:	PUNCT
ijassa-753	249	30	10.1109	10.1109	NUM
ijassa-753	249	31	/	/	SYM
ijassa-753	249	32	isma.2009.5164839	isma.2009.5164839	PROPN
ijassa-753	249	33	15	15	NUM
ijassa-753	249	34	.	.	PUNCT
ijassa-753	250	1	stewart	stewart	PROPN
ijassa-753	250	2	,	,	PUNCT
ijassa-753	250	3	d.	d.	PROPN
ijassa-753	250	4	(	(	PUNCT
ijassa-753	250	5	1965	1965	NUM
ijassa-753	250	6	-	-	SYM
ijassa-753	250	7	66).a	66).a	NUM
ijassa-753	250	8	platform	platform	NOUN
ijassa-753	250	9	with	with	ADP
ijassa-753	250	10	six	six	NUM
ijassa-753	250	11	degrees	degree	NOUN
ijassa-753	250	12	of	of	ADP
ijassa-753	250	13	freedom	freedom	NOUN
ijassa-753	250	14	,	,	PUNCT
ijassa-753	250	15	proceedings	proceeding	NOUN
ijassa-753	250	16	of	of	ADP
ijassa-753	250	17	the	the	DET
ijassa-753	250	18	institution	institution	NOUN
ijassa-753	250	19	of	of	ADP
ijassa-753	250	20	mechanical	mechanical	ADJ
ijassa-753	250	21	engineers	engineer	NOUN
ijassa-753	250	22	,	,	PUNCT
ijassa-753	250	23	vol	vol	NOUN
ijassa-753	250	24	.	.	PROPN
ijassa-753	250	25	180	180	NUM
ijassa-753	250	26	,	,	PUNCT
ijassa-753	250	27	371	371	NUM
ijassa-753	250	28	-	-	SYM
ijassa-753	250	29	378	378	NUM
ijassa-753	250	30	.	.	PUNCT
ijassa-753	250	31	16	16	NUM
ijassa-753	250	32	.	.	PUNCT
ijassa-753	251	1	villacís	villacís	PROPN
ijassa-753	251	2	,	,	PUNCT
ijassa-753	251	3	c.	c.	PROPN
ijassa-753	251	4	et	et	PROPN
ijassa-753	251	5	al	al	PROPN
ijassa-753	251	6	.	.	PROPN
ijassa-753	252	1	(	(	PUNCT
ijassa-753	252	2	2017	2017	NUM
ijassa-753	252	3	)	)	PUNCT
ijassa-753	252	4	.	.	PUNCT
ijassa-753	253	1	real	real	ADJ
ijassa-753	253	2	-	-	PUNCT
ijassa-753	253	3	time	time	NOUN
ijassa-753	253	4	flight	flight	NOUN
ijassa-753	253	5	simulator	simulator	NOUN
ijassa-753	253	6	construction	construction	NOUN
ijassa-753	253	7	with	with	ADP
ijassa-753	253	8	a	a	DET
ijassa-753	253	9	network	network	NOUN
ijassa-753	253	10	for	for	ADP
ijassa-753	253	11	training	training	NOUN
ijassa-753	253	12	pilots	pilot	NOUN
ijassa-753	253	13	using	use	VERB
ijassa-753	253	14	mechatronics	mechatronic	NOUN
ijassa-753	253	15	and	and	CCONJ
ijassa-753	253	16	cyber	cyber	NOUN
ijassa-753	253	17	-	-	PUNCT
ijassa-753	253	18	physical	physical	ADJ
ijassa-753	253	19	system	system	NOUN
ijassa-753	253	20	approaches	approach	NOUN
ijassa-753	253	21	,	,	PUNCT
ijassa-753	253	22	2017	2017	NUM
ijassa-753	253	23	ieee	ieee	NOUN
ijassa-753	253	24	international	international	ADJ
ijassa-753	253	25	conference	conference	NOUN
ijassa-753	253	26	on	on	ADP
ijassa-753	253	27	power	power	NOUN
ijassa-753	253	28	,	,	PUNCT
ijassa-753	253	29	control	control	NOUN
ijassa-753	253	30	,	,	PUNCT
ijassa-753	253	31	signals	signal	NOUN
ijassa-753	253	32	and	and	CCONJ
ijassa-753	253	33	instrumentation	instrumentation	NOUN
ijassa-753	253	34	engineering	engineering	NOUN
ijassa-753	253	35	(	(	PUNCT
ijassa-753	253	36	icpcsi	icpcsi	PROPN
ijassa-753	253	37	)	)	PUNCT
ijassa-753	253	38	,	,	PUNCT
ijassa-753	253	39	chennai	chennai	NOUN
ijassa-753	253	40	,	,	PUNCT
ijassa-753	253	41	238	238	NUM
ijassa-753	253	42	-	-	SYM
ijassa-753	253	43	247	247	NUM
ijassa-753	253	44	,	,	PUNCT
ijassa-753	253	45	doi	doi	NOUN
ijassa-753	253	46	:	:	PUNCT
ijassa-753	253	47	10.1109	10.1109	NUM
ijassa-753	253	48	/	/	SYM
ijassa-753	253	49	icpcsi.2017.8392169	icpcsi.2017.8392169	NOUN
ijassa-753	253	50	.	.	PUNCT