id	sid	eid	entity	type
aiti-2520	2	1	4	CARDINAL
aiti-2520	2	2	2	CARDINAL
aiti-2520	2	3	2019	DATE
aiti-2520	3	1	84-93	CARDINAL
aiti-2520	3	2	kang kim	PERSON
aiti-2520	3	3	sam	PERSON
aiti-2520	3	4	korea	GPE
aiti-2520	3	5	ocean university	ORG
aiti-2520	3	6	busan	GPE
aiti-2520	3	7	korea	GPE
aiti-2520	3	8	03	CARDINAL
aiti-2520	3	9	may 2018	DATE
aiti-2520	3	10	05 august 2018	DATE
aiti-2520	3	11	24	CARDINAL
aiti-2520	3	12	october 2018	DATE
aiti-2520	3	13	utv	ORG
aiti-2520	4	1	utv	ORG
aiti-2520	4	2	utv	ORG
aiti-2520	5	1	utv	ORG
aiti-2520	8	1	utv	ORG
aiti-2520	9	1	utv	ORG
aiti-2520	11	1	utv	ORG
aiti-2520	12	1	gyro(rlg	ORG
aiti-2520	12	2	1	CARDINAL
aiti-2520	14	1	1	CARDINAL
aiti-2520	16	1	1	CARDINAL
aiti-2520	17	1	3	CARDINAL
aiti-2520	18	1	one	CARDINAL
aiti-2520	19	1	fig	ORG
aiti-2520	20	1	1	CARDINAL
aiti-2520	22	1	4	CARDINAL
aiti-2520	22	2	2	CARDINAL
aiti-2520	22	3	2019	DATE
aiti-2520	23	1	84-93 85	PERCENT
aiti-2520	25	1	4	CARDINAL
aiti-2520	26	1	7	CARDINAL
aiti-2520	28	1	8	CARDINAL
aiti-2520	29	1	9	CARDINAL
aiti-2520	29	2	marg	PERSON
aiti-2520	30	1	10	CARDINAL
aiti-2520	30	2	rov	ORG
aiti-2520	31	1	utv	ORG
aiti-2520	32	1	rlg	ORG
aiti-2520	33	1	utv	ORG
aiti-2520	34	1	utv	ORG
aiti-2520	36	1	section 2	LAW
aiti-2520	36	2	utv	ORG
aiti-2520	36	3	section 3	LAW
aiti-2520	36	4	rlg	ORG
aiti-2520	37	1	section 4	LAW
aiti-2520	38	1	section 5	LAW
aiti-2520	39	1	2	CARDINAL
aiti-2520	39	2	utv	ORG
aiti-2520	40	1	utv	ORG
aiti-2520	41	1	2(a	CARDINAL
aiti-2520	43	1	1200mm	QUANTITY
aiti-2520	43	2	700mm	QUANTITY
aiti-2520	43	3	800mm	QUANTITY
aiti-2520	44	1	two	CARDINAL
aiti-2520	45	1	utv	ORG
aiti-2520	46	1	utv	ORG
aiti-2520	48	1	about 80kg	QUANTITY
aiti-2520	49	1	utv	ORG
aiti-2520	50	1	utv	ORG
aiti-2520	51	1	utv	ORG
aiti-2520	51	2	utv	ORG
aiti-2520	52	1	2	CARDINAL
aiti-2520	52	2	4	CARDINAL
aiti-2520	52	3	2	CARDINAL
aiti-2520	52	4	2019	DATE
aiti-2520	53	1	84-93 86	PERCENT
aiti-2520	53	2	utv	ORG
aiti-2520	53	3	rlg	ORG
aiti-2520	55	1	3.1	CARDINAL
aiti-2520	55	2	rlg	ORG
aiti-2520	56	1	rlg	ORG
aiti-2520	59	1	3	CARDINAL
aiti-2520	60	1	3	CARDINAL
aiti-2520	61	1	3	CARDINAL
aiti-2520	62	1	rlg	ORG
aiti-2520	62	2	euler	PERSON
aiti-2520	63	1	10-11	CARDINAL
aiti-2520	67	1	3.2	CARDINAL
aiti-2520	67	2	rlg	CARDINAL
aiti-2520	69	1	fig	ORG
aiti-2520	70	1	4	CARDINAL
aiti-2520	71	1	fig	ORG
aiti-2520	72	1	4	CARDINAL
aiti-2520	72	2	4	CARDINAL
aiti-2520	72	3	2	CARDINAL
aiti-2520	72	4	2019	DATE
aiti-2520	73	1	84	CARDINAL
aiti-2520	74	1	4	CARDINAL
aiti-2520	77	1	fig.	DATE
aiti-2520	78	1	5	CARDINAL
aiti-2520	78	2	0.088°	QUANTITY
aiti-2520	78	3	arm-m4 series	PRODUCT
aiti-2520	79	1	fig.	DATE
aiti-2520	80	1	5	CARDINAL
aiti-2520	81	1	6	CARDINAL
aiti-2520	82	1	5	CARDINAL
aiti-2520	83	1	6	CARDINAL
aiti-2520	84	1	7	CARDINAL
aiti-2520	89	1	4	CARDINAL
aiti-2520	89	2	2	CARDINAL
aiti-2520	89	3	2019	DATE
aiti-2520	90	1	84-93 88	PERCENT
aiti-2520	90	2	0.1°	QUANTITY
aiti-2520	90	3	0.3°	QUANTITY
aiti-2520	92	1	7(b	CARDINAL
aiti-2520	92	2	0°-20°	QUANTITY
aiti-2520	92	3	2.4°	QUANTITY
aiti-2520	93	1	10	CARDINAL
aiti-2520	96	1	rlg	ORG
aiti-2520	99	1	euler	PERSON
aiti-2520	99	2	fig.	DATE
aiti-2520	100	1	8	CARDINAL
aiti-2520	101	1	about 1.5 degrees	QUANTITY
aiti-2520	101	2	euler	PERSON
aiti-2520	101	3	about 10 minutes	TIME
aiti-2520	102	1	fig	PERSON
aiti-2520	103	1	8	CARDINAL
aiti-2520	103	2	rlg	CARDINAL
aiti-2520	104	1	rlg	CARDINAL
aiti-2520	108	1	euler	PERSON
aiti-2520	109	1	1	CARDINAL
aiti-2520	110	1	12	CARDINAL
aiti-2520	111	1	1	CARDINAL
aiti-2520	111	2	tan cos tan	PERSON
aiti-2520	111	3	tan cos	PERSON
aiti-2520	111	4	0 cos sin cos	ORG
aiti-2520	111	5	0	CARDINAL
aiti-2520	111	6	sec	ORG
aiti-2520	111	7	sec	ORG
aiti-2520	111	8	sec	ORG
aiti-2520	111	9	sec	ORG
aiti-2520	112	1	 	PERSON
aiti-2520	112	2	 	PERSON
aiti-2520	112	3	 	PERSON
aiti-2520	112	4	 	PERSON
aiti-2520	112	5		PERSON
aiti-2520	112	6	 	PERSON
aiti-2520	112	7	 	PERSON
aiti-2520	112	8	 	PERSON
aiti-2520	112	9		PERSON
aiti-2520	112	10		PERSON
aiti-2520	112	11		PERSON
aiti-2520	112	12	 	WORK_OF_ART
aiti-2520	112	13	 	PERSON
aiti-2520	112	14	 	PERSON
aiti-2520	112	15	1	CARDINAL
aiti-2520	113	1	1	CARDINAL
aiti-2520	113	2	jacobian	NORP
aiti-2520	114	1	2	CARDINAL
aiti-2520	115	1	1 1 1 2 2cos	QUANTITY
aiti-2520	115	2	sec	ORG
aiti-2520	115	3	sec	ORG
aiti-2520	115	4	0	CARDINAL
aiti-2520	115	5	sin cos	ORG
aiti-2520	116	1	sec	ORG
aiti-2520	116	2	sec	ORG
aiti-2520	116	3	sec	ORG
aiti-2520	116	4	cos sec	GPE
aiti-2520	116	5	0	CARDINAL
aiti-2520	119	1	 	PERSON
aiti-2520	119	2	 	PERSON
aiti-2520	119	3	 	PERSON
aiti-2520	119	4	 	PERSON
aiti-2520	119	5	 	PERSON
aiti-2520	119	6	 	PERSON
aiti-2520	119	7		DATE
aiti-2520	119	8		PERSON
aiti-2520	119	9		ORG
aiti-2520	119	10	2	CARDINAL
aiti-2520	120	1	2	CARDINAL
aiti-2520	121	1	3	CARDINAL
aiti-2520	122	1	4	CARDINAL
aiti-2520	122	2	2	CARDINAL
aiti-2520	122	3	2019	DATE
aiti-2520	123	1	84-93 89	PERCENT
aiti-2520	124	1	3	CARDINAL
aiti-2520	125	1	3	CARDINAL
aiti-2520	127	1	4	CARDINAL
aiti-2520	128	1	  	PERSON
aiti-2520	128	2		PERSON
aiti-2520	128	3		ORG
aiti-2520	128	4		PERSON
aiti-2520	128	5		ORG
aiti-2520	128	6	 	PERSON
aiti-2520	128	7	 	PERSON
aiti-2520	128	8	4	CARDINAL
aiti-2520	128	9	about 1 1sin	DATE
aiti-2520	129	1	mag kg g  	PERSON
aiti-2520	130	1	 	GPE
aiti-2520	130	2		GPE
aiti-2520	131	1		GPE
aiti-2520	132	1	1	CARDINAL
aiti-2520	134	1	mag mag k	PERSON
aiti-2520	135	1	5	CARDINAL
aiti-2520	135	2	4	CARDINAL
aiti-2520	137	1	5	CARDINAL
aiti-2520	138	1	first	ORDINAL
aiti-2520	139	1	rlg	ORG
aiti-2520	141	1	6	CARDINAL
aiti-2520	141	2	three	CARDINAL
aiti-2520	143	1	6	CARDINAL
aiti-2520	144	1	1	CARDINAL
aiti-2520	144	2	0	CARDINAL
aiti-2520	144	3	1	CARDINAL
aiti-2520	144	4	0	CARDINAL
aiti-2520	146	1		DATE
aiti-2520	146	2	 	PERSON
aiti-2520	146	3	6	CARDINAL
aiti-2520	147	1	6	CARDINAL
aiti-2520	147	2	jacobian	NORP
aiti-2520	148	1	rlg	CARDINAL
aiti-2520	150	1	eqs	ORG
aiti-2520	151	1	1)-(6	CARDINAL
aiti-2520	152	1	4	CARDINAL
aiti-2520	152	2	4.1	CARDINAL
aiti-2520	154	1	100	CARDINAL
aiti-2520	154	2	12	CARDINAL
aiti-2520	154	3	6400	CARDINAL
aiti-2520	154	4	about 21 minutes	TIME
aiti-2520	156	1	9	CARDINAL
aiti-2520	157	1	fig.	DATE
aiti-2520	158	1	9	CARDINAL
aiti-2520	158	2	three	CARDINAL
aiti-2520	158	3	rlg	ORG
aiti-2520	158	4	euler	PERSON
aiti-2520	159	1	about 2.4° to 3.7°	QUANTITY
aiti-2520	159	2	about 20 minutes	TIME
aiti-2520	161	1	0.3°	QUANTITY
aiti-2520	161	2	1.2°	CARDINAL
aiti-2520	161	3	rlg	PRODUCT
aiti-2520	164	1	5	CARDINAL
aiti-2520	164	2	4	CARDINAL
aiti-2520	164	3	2	CARDINAL
aiti-2520	164	4	2019	DATE
aiti-2520	165	1	84-93 90	CARDINAL
aiti-2520	165	2	about 500,000	CARDINAL
aiti-2520	165	3	about 83 minutes	TIME
aiti-2520	165	4	100hz	ORG
aiti-2520	167	1	10-11	CARDINAL
aiti-2520	168	1	fig	ORG
aiti-2520	169	1	9	CARDINAL
aiti-2520	169	2	fig	GPE
aiti-2520	170	1	10	CARDINAL
aiti-2520	170	2	more than about 12°	CARDINAL
aiti-2520	170	3	about -30°	QUANTITY
aiti-2520	170	4	about 83 minutes	TIME
aiti-2520	171	1	fig	PERSON
aiti-2520	172	1	11	CARDINAL
aiti-2520	174	1	6° to 7°	QUANTITY
aiti-2520	174	2	about 83 minutes	TIME
aiti-2520	175	1	fig	PERSON
aiti-2520	176	1	10	CARDINAL
aiti-2520	177	1	11	CARDINAL
aiti-2520	178	1	12	CARDINAL
aiti-2520	179	1	10-11	CARDINAL
aiti-2520	180	1	fig.	DATE
aiti-2520	181	1	12	CARDINAL
aiti-2520	181	2	4	CARDINAL
aiti-2520	181	3	2	CARDINAL
aiti-2520	181	4	2019	DATE
aiti-2520	182	1	84	CARDINAL
aiti-2520	184	1	12	CARDINAL
aiti-2520	186	1	10-11	CARDINAL
aiti-2520	186	2	about 83 minutes	TIME
aiti-2520	187	1	fig	PERSON
aiti-2520	188	1	12	CARDINAL
aiti-2520	188	2	4.2	CARDINAL
aiti-2520	189	1	utv	ORG
aiti-2520	191	1	13	CARDINAL
aiti-2520	192	1	fig	ORG
aiti-2520	193	1	13	CARDINAL
aiti-2520	194	1	14	CARDINAL
aiti-2520	195	1	15	CARDINAL
aiti-2520	195	2	4	CARDINAL
aiti-2520	195	3	2	CARDINAL
aiti-2520	195	4	2019	DATE
aiti-2520	196	1	84-93 92	QUANTITY
aiti-2520	196	2	utv	ORG
aiti-2520	197	1	utv	ORG
aiti-2520	203	1	14	CARDINAL
aiti-2520	205	1	15	CARDINAL
aiti-2520	206	1	15	CARDINAL
aiti-2520	208	1	10-minute	TIME
aiti-2520	210	1	approximately 2°	QUANTITY
aiti-2520	212	1	about 0.02° to	CARDINAL
aiti-2520	213	1	5	CARDINAL
aiti-2520	213	2	rlg	ORG
aiti-2520	214	1	utv	ORG
aiti-2520	215	1	rlg	CARDINAL
aiti-2520	217	1	more than 12°	CARDINAL
aiti-2520	217	2	about 83 minutes	TIME
aiti-2520	218	1	more than 6° to 8°	TIME
aiti-2520	219	1	about 0.2° to 0.4°	TIME
aiti-2520	219	2	1 hour	TIME
aiti-2520	222	1	about 0.02°	CARDINAL
aiti-2520	222	2	0.4°	CARDINAL
aiti-2520	222	3	approximately 100	CARDINAL
aiti-2520	223	1	korea	GPE
aiti-2520	223	2	nrf-2016r1a2b4011875	GPE
aiti-2520	223	3	south korea	GPE
aiti-2520	223	4	the ministry of oceans and fisheries	ORG
aiti-2520	223	5	mof	ORG
aiti-2520	225	1	1	CARDINAL
aiti-2520	225	2	t. s. kim	PERSON
aiti-2520	225	3	i. s. jang	PERSON
aiti-2520	225	4	c. j. shin	PERSON
aiti-2520	225	5	m. k. lee	PERSON
aiti-2520	225	6	14th	ORDINAL
aiti-2520	225	7	2014	DATE
aiti-2520	225	8	1657-1661	CARDINAL
aiti-2520	226	1	2	CARDINAL
aiti-2520	226	2	c. h. kim	PERSON
aiti-2520	226	3	t. s. kim	PERSON
aiti-2520	226	4	m. k. lee	PERSON
aiti-2520	226	5	36	CARDINAL
aiti-2520	226	6	10	CARDINAL
aiti-2520	226	7	865-871	CARDINAL
aiti-2520	226	8	2012	DATE
aiti-2520	227	1	4	CARDINAL
aiti-2520	227	2	2	CARDINAL
aiti-2520	227	3	2019	DATE
aiti-2520	228	1	84	CARDINAL
aiti-2520	229	1	3	CARDINAL
aiti-2520	229	2	j. lee	PERSON
aiti-2520	229	3	s. m. hong	PERSON
aiti-2520	229	4	h. s. choi	PERSON
aiti-2520	229	5	j. y. kim	PERSON
aiti-2520	229	6	29	CARDINAL
aiti-2520	229	7	5	CARDINAL
aiti-2520	230	1	386-391	CARDINAL
aiti-2520	230	2	2015	DATE
aiti-2520	231	1	4	CARDINAL
aiti-2520	231	2	j. h. kim	PERSON
aiti-2520	231	3	h. g. min	PERSON
aiti-2520	231	4	j. d. cho	PERSON
aiti-2520	231	5	j. h. jang	PERSON
aiti-2520	231	6	s. h. kwon	PERSON
aiti-2520	231	7	e. t. jeung	PERSON
aiti-2520	231	8	world academy of science	ORG
aiti-2520	231	9	60	CARDINAL
aiti-2520	232	1	1541-1544	DATE
aiti-2520	232	2	2009	DATE
aiti-2520	233	1	5	CARDINAL
aiti-2520	233	2	d. jung	PERSON
aiti-2520	233	3	2007	DATE
aiti-2520	233	4	may 2007	DATE
aiti-2520	234	1	2763	CARDINAL
aiti-2520	235	1	6	CARDINAL
aiti-2520	235	2	y. c. lai	PERSON
aiti-2520	235	3	s. s. jan	PERSON
aiti-2520	235	4	f. b. hsiao	PERSON
aiti-2520	235	5	three	CARDINAL
aiti-2520	235	6	10	CARDINAL
aiti-2520	235	7	4	CARDINAL
aiti-2520	236	1	2472-2491	CARDINAL
aiti-2520	236	2	2010	DATE
aiti-2520	237	1	7	CARDINAL
aiti-2520	237	2	r. c. hayward	PERSON
aiti-2520	237	3	j. d. powell	PERSON
aiti-2520	238	1	1998	DATE
aiti-2520	238	2	january 1998	DATE
aiti-2520	239	1	518-525	CARDINAL
aiti-2520	240	1	8	CARDINAL
aiti-2520	240	2	w. qin	PERSON
aiti-2520	240	3	w. yuan	PERSON
aiti-2520	240	4	h. chang	PERSON
aiti-2520	240	5	l. xue	PERSON
aiti-2520	241	1	2009 4th	DATE
aiti-2520	241	2	january 2009	DATE
aiti-2520	241	3	1026-1030	CARDINAL
aiti-2520	242	1	9	CARDINAL
aiti-2520	242	2	j. l. marins	PERSON
aiti-2520	242	3	x. yun	PERSON
aiti-2520	242	4	e. r. bachmann	PERSON
aiti-2520	242	5	r. b. mcghee	PERSON
aiti-2520	242	6	m. j. zyda	PERSON
aiti-2520	242	7	marg	PERSON
aiti-2520	242	8	2001	DATE
aiti-2520	242	9	november 2001	DATE
aiti-2520	242	10	4	CARDINAL
aiti-2520	243	1	2003-2011	DATE
aiti-2520	244	1	10	CARDINAL
aiti-2520	244	2	d. w. jung	PERSON
aiti-2520	244	3	s. m. hong	PERSON
aiti-2520	244	4	j. h. lee	PERSON
aiti-2520	244	5	h. j. cho	PERSON
aiti-2520	244	6	h. s. choi	PERSON
aiti-2520	244	7	m. t. vu	PERSON
aiti-2520	244	8	2018	DATE
aiti-2520	244	9	9	CARDINAL
aiti-2520	245	1	17	CARDINAL
aiti-2520	246	1	11	CARDINAL
aiti-2520	246	2	h. s. yu	PERSON
aiti-2520	246	3	c. j. kim	PERSON
aiti-2520	246	4	c. k. song	PERSON
aiti-2520	246	5	h. w. park	PERSON
aiti-2520	246	6	korean	NORP
aiti-2520	247	1	1983-1988	DATE
aiti-2520	247	2	2012	DATE
aiti-2520	248	1	12	CARDINAL
aiti-2520	248	2	h. s. yu	PERSON
aiti-2520	248	3	s. w. choi	PERSON
aiti-2520	248	4	s. j. lee	PERSON
aiti-2520	248	5	journal of institute of control robotics	ORG
aiti-2520	249	1	468-473	CARDINAL
aiti-2520	249	2	2014	DATE
aiti-2520	250	1	13	CARDINAL
aiti-2520	250	2	t. h. chung	PERSON
aiti-2520	250	3	k. w. song	PERSON
aiti-2520	250	4	b. j. chang	PERSON
aiti-2520	250	5	journal of institute of control	ORG
aiti-2520	250	6	1991	DATE
aiti-2520	251	1	142	CARDINAL
aiti-2520	253	1	taeti	GPE
aiti-2520	253	2	taiwan	GPE
aiti-2520	254	1	https://creativecommons.org/licenses/by-nc/4.0/	ORG