id	sid	tid	token	lemma	pos
aiti-4142	1	1	advances	advance	NOUN
aiti-4142	1	2	in	in	ADP
aiti-4142	1	3	technology	technology	NOUN
aiti-4142	1	4	innovation	innovation	NOUN
aiti-4142	1	5	,	,	PUNCT
aiti-4142	1	6	vol	vol	NOUN
aiti-4142	1	7	.	.	PROPN
aiti-4142	1	8	5	5	NUM
aiti-4142	1	9	,	,	PUNCT
aiti-4142	1	10	no	no	INTJ
aiti-4142	1	11	.	.	NOUN
aiti-4142	1	12	3	3	NUM
aiti-4142	1	13	,	,	PUNCT
aiti-4142	1	14	2020	2020	NUM
aiti-4142	1	15	,	,	PUNCT
aiti-4142	1	16	pp	pp	ADJ
aiti-4142	1	17	.	.	PUNCT
aiti-4142	2	1	135	135	NUM
aiti-4142	2	2	-	-	SYM
aiti-4142	2	3	146	146	NUM
aiti-4142	2	4	robust	robust	ADJ
aiti-4142	2	5	adaptive	adaptive	ADJ
aiti-4142	2	6	depth	depth	NOUN
aiti-4142	2	7	control	control	NOUN
aiti-4142	2	8	of	of	ADP
aiti-4142	2	9	hybrid	hybrid	ADJ
aiti-4142	2	10	underwater	underwater	ADJ
aiti-4142	2	11	glider	glider	NOUN
aiti-4142	2	12	in	in	ADP
aiti-4142	2	13	vertical	vertical	ADJ
aiti-4142	2	14	plane	plane	NOUN
aiti-4142	2	15	ngoc	ngoc	PROPN
aiti-4142	2	16	-	-	PUNCT
aiti-4142	2	17	duc	duc	PROPN
aiti-4142	2	18	nguyen	nguyen	PROPN
aiti-4142	2	19	1	1	NUM
aiti-4142	2	20	,	,	PUNCT
aiti-4142	2	21	hyeung	hyeung	NOUN
aiti-4142	2	22	-	-	PUNCT
aiti-4142	2	23	sik	sik	NOUN
aiti-4142	2	24	choi	choi	NOUN
aiti-4142	2	25	2	2	NUM
aiti-4142	2	26	,	,	PUNCT
aiti-4142	2	27	*	*	PUNCT
aiti-4142	2	28	,	,	PUNCT
aiti-4142	2	29	han	han	PROPN
aiti-4142	2	30	-	-	PUNCT
aiti-4142	2	31	sol	sol	NOUN
aiti-4142	2	32	jin	jin	NOUN
aiti-4142	2	33	2	2	NUM
aiti-4142	2	34	,	,	PUNCT
aiti-4142	2	35	jiafeng	jiafeng	NOUN
aiti-4142	2	36	huang	huang	PROPN
aiti-4142	2	37	2	2	NUM
aiti-4142	2	38	,	,	PUNCT
aiti-4142	2	39	jae	jae	PROPN
aiti-4142	2	40	-	-	PUNCT
aiti-4142	2	41	heon	heon	PROPN
aiti-4142	2	42	lee	lee	PROPN
aiti-4142	2	43	2	2	NUM
aiti-4142	2	44	1	1	NUM
aiti-4142	2	45	department	department	NOUN
aiti-4142	2	46	of	of	ADP
aiti-4142	2	47	electrical	electrical	ADJ
aiti-4142	2	48	and	and	CCONJ
aiti-4142	2	49	information	information	NOUN
aiti-4142	2	50	engineering	engineering	NOUN
aiti-4142	2	51	,	,	PUNCT
aiti-4142	2	52	seoul	seoul	PROPN
aiti-4142	2	53	national	national	PROPN
aiti-4142	2	54	university	university	PROPN
aiti-4142	2	55	of	of	ADP
aiti-4142	2	56	science	science	NOUN
aiti-4142	2	57	and	and	CCONJ
aiti-4142	2	58	technology	technology	NOUN
aiti-4142	2	59	,	,	PUNCT
aiti-4142	2	60	seoul	seoul	PROPN
aiti-4142	2	61	,	,	PUNCT
aiti-4142	2	62	korea	korea	PROPN
aiti-4142	2	63	2	2	NUM
aiti-4142	2	64	department	department	NOUN
aiti-4142	2	65	of	of	ADP
aiti-4142	2	66	mechanical	mechanical	ADJ
aiti-4142	2	67	engineering	engineering	PROPN
aiti-4142	2	68	,	,	PUNCT
aiti-4142	2	69	korea	korea	PROPN
aiti-4142	2	70	maritime	maritime	NOUN
aiti-4142	2	71	and	and	CCONJ
aiti-4142	2	72	ocean	ocean	PROPN
aiti-4142	2	73	university	university	PROPN
aiti-4142	2	74	,	,	PUNCT
aiti-4142	2	75	busan	busan	PROPN
aiti-4142	2	76	,	,	PUNCT
aiti-4142	2	77	korea	korea	PROPN
aiti-4142	2	78	received	receive	VERB
aiti-4142	2	79	25	25	NUM
aiti-4142	2	80	december	december	PROPN
aiti-4142	2	81	2019	2019	NUM
aiti-4142	2	82	;	;	PUNCT
aiti-4142	2	83	received	receive	VERB
aiti-4142	2	84	in	in	ADP
aiti-4142	2	85	revised	revise	VERB
aiti-4142	2	86	form	form	NOUN
aiti-4142	2	87	22	22	NUM
aiti-4142	2	88	march	march	NOUN
aiti-4142	2	89	2020	2020	NUM
aiti-4142	2	90	;	;	PUNCT
aiti-4142	2	91	accepted	accept	VERB
aiti-4142	2	92	09	09	NUM
aiti-4142	2	93	june	june	PROPN
aiti-4142	2	94	2020	2020	NUM
aiti-4142	2	95	doi	doi	NOUN
aiti-4142	2	96	:	:	PUNCT
aiti-4142	2	97	https://doi.org/10.46604/aiti.2020.4142	https://doi.org/10.46604/aiti.2020.4142	PROPN
aiti-4142	2	98	abstract	abstract	ADJ
aiti-4142	2	99	hybrid	hybrid	ADJ
aiti-4142	2	100	underwater	underwater	ADJ
aiti-4142	2	101	glider	glider	NOUN
aiti-4142	2	102	(	(	PUNCT
aiti-4142	2	103	hug	hug	NOUN
aiti-4142	2	104	)	)	PUNCT
aiti-4142	2	105	is	be	AUX
aiti-4142	2	106	an	an	DET
aiti-4142	2	107	advanced	advanced	ADJ
aiti-4142	2	108	autonomous	autonomous	ADJ
aiti-4142	2	109	underwater	underwater	ADJ
aiti-4142	2	110	vehicle	vehicle	NOUN
aiti-4142	2	111	with	with	ADP
aiti-4142	2	112	propellers	propeller	NOUN
aiti-4142	2	113	capable	capable	ADJ
aiti-4142	2	114	of	of	ADP
aiti-4142	2	115	sustainable	sustainable	ADJ
aiti-4142	2	116	operations	operation	NOUN
aiti-4142	2	117	for	for	ADP
aiti-4142	2	118	many	many	ADJ
aiti-4142	2	119	months	month	NOUN
aiti-4142	2	120	.	.	PUNCT
aiti-4142	3	1	under	under	ADP
aiti-4142	3	2	the	the	DET
aiti-4142	3	3	underwater	underwater	ADJ
aiti-4142	3	4	disturbances	disturbance	NOUN
aiti-4142	3	5	and	and	CCONJ
aiti-4142	3	6	parameter	parameter	NOUN
aiti-4142	3	7	uncertainties	uncertainty	NOUN
aiti-4142	3	8	,	,	PUNCT
aiti-4142	3	9	it	it	PRON
aiti-4142	3	10	is	be	AUX
aiti-4142	3	11	difficult	difficult	ADJ
aiti-4142	3	12	that	that	SCONJ
aiti-4142	3	13	the	the	DET
aiti-4142	3	14	hug	hug	NOUN
aiti-4142	3	15	coordinates	coordinate	VERB
aiti-4142	3	16	with	with	ADP
aiti-4142	3	17	the	the	DET
aiti-4142	3	18	desired	desire	VERB
aiti-4142	3	19	depth	depth	NOUN
aiti-4142	3	20	in	in	ADP
aiti-4142	3	21	a	a	DET
aiti-4142	3	22	robust	robust	ADJ
aiti-4142	3	23	manner	manner	NOUN
aiti-4142	3	24	.	.	PUNCT
aiti-4142	4	1	in	in	ADP
aiti-4142	4	2	this	this	DET
aiti-4142	4	3	study	study	NOUN
aiti-4142	4	4	,	,	PUNCT
aiti-4142	4	5	a	a	DET
aiti-4142	4	6	robust	robust	ADJ
aiti-4142	4	7	adaptive	adaptive	ADJ
aiti-4142	4	8	control	control	NOUN
aiti-4142	4	9	algorithm	algorithm	NOUN
aiti-4142	4	10	for	for	ADP
aiti-4142	4	11	the	the	DET
aiti-4142	4	12	hug	hug	NOUN
aiti-4142	4	13	is	be	AUX
aiti-4142	4	14	proposed	propose	VERB
aiti-4142	4	15	.	.	PUNCT
aiti-4142	5	1	in	in	ADP
aiti-4142	5	2	the	the	DET
aiti-4142	5	3	descend	descend	NOUN
aiti-4142	5	4	and	and	CCONJ
aiti-4142	5	5	ascend	ascend	VERB
aiti-4142	5	6	periods	period	NOUN
aiti-4142	5	7	,	,	PUNCT
aiti-4142	5	8	the	the	DET
aiti-4142	5	9	pitch	pitch	NOUN
aiti-4142	5	10	control	control	NOUN
aiti-4142	5	11	is	be	AUX
aiti-4142	5	12	designed	design	VERB
aiti-4142	5	13	using	use	VERB
aiti-4142	5	14	backstepping	backstepping	NOUN
aiti-4142	5	15	technique	technique	NOUN
aiti-4142	5	16	and	and	CCONJ
aiti-4142	5	17	direct	direct	ADJ
aiti-4142	5	18	adaptive	adaptive	ADJ
aiti-4142	5	19	control	control	NOUN
aiti-4142	5	20	.	.	PUNCT
aiti-4142	6	1	when	when	SCONJ
aiti-4142	6	2	the	the	DET
aiti-4142	6	3	vehicle	vehicle	NOUN
aiti-4142	6	4	approaches	approach	VERB
aiti-4142	6	5	the	the	DET
aiti-4142	6	6	target	target	NOUN
aiti-4142	6	7	depth	depth	NOUN
aiti-4142	6	8	,	,	PUNCT
aiti-4142	6	9	the	the	DET
aiti-4142	6	10	surge	surge	NOUN
aiti-4142	6	11	speed	speed	NOUN
aiti-4142	6	12	control	control	NOUN
aiti-4142	6	13	using	use	VERB
aiti-4142	6	14	adaptive	adaptive	ADJ
aiti-4142	6	15	control	control	NOUN
aiti-4142	6	16	combined	combine	VERB
aiti-4142	6	17	with	with	ADP
aiti-4142	6	18	the	the	DET
aiti-4142	6	19	pitch	pitch	NOUN
aiti-4142	6	20	control	control	NOUN
aiti-4142	6	21	is	be	AUX
aiti-4142	6	22	used	use	VERB
aiti-4142	6	23	to	to	PART
aiti-4142	6	24	keep	keep	VERB
aiti-4142	6	25	the	the	DET
aiti-4142	6	26	vehicle	vehicle	NOUN
aiti-4142	6	27	at	at	ADP
aiti-4142	6	28	the	the	DET
aiti-4142	6	29	desired	desire	VERB
aiti-4142	6	30	depth	depth	NOUN
aiti-4142	6	31	with	with	ADP
aiti-4142	6	32	a	a	DET
aiti-4142	6	33	constant	constant	ADJ
aiti-4142	6	34	cruising	cruise	VERB
aiti-4142	6	35	speed	speed	NOUN
aiti-4142	6	36	in	in	ADP
aiti-4142	6	37	the	the	DET
aiti-4142	6	38	presence	presence	NOUN
aiti-4142	6	39	of	of	ADP
aiti-4142	6	40	the	the	DET
aiti-4142	6	41	disturbances	disturbance	NOUN
aiti-4142	6	42	.	.	PUNCT
aiti-4142	7	1	the	the	DET
aiti-4142	7	2	stability	stability	NOUN
aiti-4142	7	3	of	of	ADP
aiti-4142	7	4	the	the	DET
aiti-4142	7	5	proposed	propose	VERB
aiti-4142	7	6	controller	controller	NOUN
aiti-4142	7	7	is	be	AUX
aiti-4142	7	8	verified	verify	VERB
aiti-4142	7	9	by	by	ADP
aiti-4142	7	10	using	use	VERB
aiti-4142	7	11	the	the	DET
aiti-4142	7	12	lyapunov	lyapunov	NOUN
aiti-4142	7	13	theorem	theorem	NOUN
aiti-4142	7	14	.	.	PUNCT
aiti-4142	8	1	finally	finally	ADV
aiti-4142	8	2	,	,	PUNCT
aiti-4142	8	3	the	the	DET
aiti-4142	8	4	computer	computer	NOUN
aiti-4142	8	5	simulation	simulation	NOUN
aiti-4142	8	6	using	use	VERB
aiti-4142	8	7	the	the	DET
aiti-4142	8	8	numerical	numerical	ADJ
aiti-4142	8	9	method	method	NOUN
aiti-4142	8	10	is	be	AUX
aiti-4142	8	11	conducted	conduct	VERB
aiti-4142	8	12	to	to	PART
aiti-4142	8	13	show	show	VERB
aiti-4142	8	14	the	the	DET
aiti-4142	8	15	effectiveness	effectiveness	NOUN
aiti-4142	8	16	of	of	ADP
aiti-4142	8	17	the	the	DET
aiti-4142	8	18	proposed	propose	VERB
aiti-4142	8	19	controller	controller	NOUN
aiti-4142	8	20	for	for	ADP
aiti-4142	8	21	a	a	DET
aiti-4142	8	22	hybrid	hybrid	ADJ
aiti-4142	8	23	underwater	underwater	ADJ
aiti-4142	8	24	glider	glider	NOUN
aiti-4142	8	25	system	system	NOUN
aiti-4142	8	26	.	.	PUNCT
aiti-4142	9	1	keywords	keyword	NOUN
aiti-4142	9	2	:	:	PUNCT
aiti-4142	9	3	nonlinear	nonlinear	ADJ
aiti-4142	9	4	robust	robust	ADJ
aiti-4142	9	5	adaptive	adaptive	ADJ
aiti-4142	9	6	control	control	NOUN
aiti-4142	9	7	,	,	PUNCT
aiti-4142	9	8	depth	depth	NOUN
aiti-4142	9	9	control	control	NOUN
aiti-4142	9	10	,	,	PUNCT
aiti-4142	9	11	hybrid	hybrid	ADJ
aiti-4142	9	12	underwater	underwater	ADJ
aiti-4142	9	13	glider	glider	NOUN
aiti-4142	9	14	,	,	PUNCT
aiti-4142	9	15	buoyancy	buoyancy	NOUN
aiti-4142	9	16	engine	engine	NOUN
aiti-4142	9	17	1	1	NUM
aiti-4142	9	18	.	.	PUNCT
aiti-4142	10	1	introduction	introduction	NOUN
aiti-4142	10	2	underwater	underwater	NOUN
aiti-4142	10	3	glider	glider	NOUN
aiti-4142	10	4	(	(	PUNCT
aiti-4142	10	5	ug	ug	NOUN
aiti-4142	10	6	)	)	PUNCT
aiti-4142	10	7	is	be	AUX
aiti-4142	10	8	the	the	DET
aiti-4142	10	9	new	new	ADJ
aiti-4142	10	10	type	type	NOUN
aiti-4142	10	11	of	of	ADP
aiti-4142	10	12	autonomous	autonomous	ADJ
aiti-4142	10	13	underwater	underwater	ADJ
aiti-4142	10	14	vehicle	vehicle	NOUN
aiti-4142	10	15	(	(	PUNCT
aiti-4142	10	16	auv	auv	PROPN
aiti-4142	10	17	)	)	PUNCT
aiti-4142	10	18	.	.	PUNCT
aiti-4142	11	1	ug	ug	ADP
aiti-4142	11	2	has	have	VERB
aiti-4142	11	3	some	some	DET
aiti-4142	11	4	advantages	advantage	NOUN
aiti-4142	11	5	over	over	ADP
aiti-4142	11	6	the	the	DET
aiti-4142	11	7	conventional	conventional	ADJ
aiti-4142	11	8	auv	auv	PROPN
aiti-4142	11	9	.	.	PUNCT
aiti-4142	12	1	the	the	DET
aiti-4142	12	2	first	first	ADJ
aiti-4142	12	3	innovation	innovation	NOUN
aiti-4142	12	4	is	be	AUX
aiti-4142	12	5	that	that	SCONJ
aiti-4142	12	6	it	it	PRON
aiti-4142	12	7	can	can	AUX
aiti-4142	12	8	use	use	VERB
aiti-4142	12	9	low	low	ADJ
aiti-4142	12	10	energy	energy	NOUN
aiti-4142	12	11	to	to	PART
aiti-4142	12	12	survey	survey	VERB
aiti-4142	12	13	the	the	DET
aiti-4142	12	14	large	large	ADJ
aiti-4142	12	15	area	area	NOUN
aiti-4142	12	16	of	of	ADP
aiti-4142	12	17	ocean	ocean	NOUN
aiti-4142	12	18	and	and	CCONJ
aiti-4142	12	19	another	another	DET
aiti-4142	12	20	feature	feature	NOUN
aiti-4142	12	21	is	be	AUX
aiti-4142	12	22	that	that	SCONJ
aiti-4142	12	23	it	it	PRON
aiti-4142	12	24	can	can	AUX
aiti-4142	12	25	glide	glide	VERB
aiti-4142	12	26	extremely	extremely	ADV
aiti-4142	12	27	quietly	quietly	ADV
aiti-4142	12	28	under	under	ADP
aiti-4142	12	29	the	the	DET
aiti-4142	12	30	ocean	ocean	NOUN
aiti-4142	12	31	.	.	PUNCT
aiti-4142	13	1	therefore	therefore	ADV
aiti-4142	13	2	,	,	PUNCT
aiti-4142	13	3	there	there	PRON
aiti-4142	13	4	are	be	VERB
aiti-4142	13	5	many	many	ADJ
aiti-4142	13	6	researches	research	NOUN
aiti-4142	13	7	on	on	ADP
aiti-4142	13	8	this	this	DET
aiti-4142	13	9	vehicle	vehicle	NOUN
aiti-4142	13	10	not	not	PART
aiti-4142	13	11	only	only	ADV
aiti-4142	13	12	in	in	ADP
aiti-4142	13	13	oceanography	oceanography	NOUN
aiti-4142	13	14	but	but	CCONJ
aiti-4142	13	15	also	also	ADV
aiti-4142	13	16	in	in	ADP
aiti-4142	13	17	military	military	ADJ
aiti-4142	13	18	purposes	purpose	NOUN
aiti-4142	13	19	.	.	PUNCT
aiti-4142	14	1	in	in	ADP
aiti-4142	14	2	[	[	X
aiti-4142	14	3	1	1	NUM
aiti-4142	14	4	]	]	PUNCT
aiti-4142	14	5	,	,	PUNCT
aiti-4142	14	6	a	a	DET
aiti-4142	14	7	stable	stable	ADJ
aiti-4142	14	8	gliding	glide	VERB
aiti-4142	14	9	condition	condition	NOUN
aiti-4142	14	10	was	be	AUX
aiti-4142	14	11	derived	derive	VERB
aiti-4142	14	12	and	and	CCONJ
aiti-4142	14	13	an	an	DET
aiti-4142	14	14	lqr	lqr	NOUN
aiti-4142	14	15	controller	controller	NOUN
aiti-4142	14	16	was	be	AUX
aiti-4142	14	17	designed	design	VERB
aiti-4142	14	18	for	for	ADP
aiti-4142	14	19	a	a	DET
aiti-4142	14	20	sawtooth	sawtooth	ADJ
aiti-4142	14	21	depth	depth	NOUN
aiti-4142	14	22	of	of	ADP
aiti-4142	14	23	ug	ug	ADP
aiti-4142	14	24	using	use	VERB
aiti-4142	14	25	the	the	DET
aiti-4142	14	26	equilibrium	equilibrium	NOUN
aiti-4142	14	27	point	point	NOUN
aiti-4142	14	28	in	in	ADP
aiti-4142	14	29	the	the	DET
aiti-4142	14	30	stable	stable	ADJ
aiti-4142	14	31	condition	condition	NOUN
aiti-4142	14	32	.	.	PUNCT
aiti-4142	15	1	a	a	DET
aiti-4142	15	2	model	model	NOUN
aiti-4142	15	3	predictive	predictive	ADJ
aiti-4142	15	4	control	control	NOUN
aiti-4142	15	5	was	be	AUX
aiti-4142	15	6	developed	develop	VERB
aiti-4142	15	7	in	in	ADP
aiti-4142	15	8	[	[	X
aiti-4142	15	9	2	2	NUM
aiti-4142	15	10	]	]	PUNCT
aiti-4142	15	11	for	for	SCONJ
aiti-4142	15	12	ug	ug	PART
aiti-4142	15	13	to	to	PART
aiti-4142	15	14	compensate	compensate	VERB
aiti-4142	15	15	for	for	ADP
aiti-4142	15	16	the	the	DET
aiti-4142	15	17	drift	drift	NOUN
aiti-4142	15	18	due	due	ADP
aiti-4142	15	19	to	to	ADP
aiti-4142	15	20	external	external	ADJ
aiti-4142	15	21	disturbances	disturbance	NOUN
aiti-4142	15	22	.	.	PUNCT
aiti-4142	16	1	in	in	ADP
aiti-4142	16	2	[	[	X
aiti-4142	16	3	2	2	NUM
aiti-4142	16	4	]	]	PUNCT
aiti-4142	16	5	,	,	PUNCT
aiti-4142	16	6	the	the	DET
aiti-4142	16	7	simulation	simulation	NOUN
aiti-4142	16	8	and	and	CCONJ
aiti-4142	16	9	experiment	experiment	NOUN
aiti-4142	16	10	studies	study	NOUN
aiti-4142	16	11	were	be	AUX
aiti-4142	16	12	carried	carry	VERB
aiti-4142	16	13	out	out	ADP
aiti-4142	16	14	to	to	PART
aiti-4142	16	15	find	find	VERB
aiti-4142	16	16	the	the	DET
aiti-4142	16	17	optimal	optimal	ADJ
aiti-4142	16	18	pitch	pitch	NOUN
aiti-4142	16	19	angle	angle	NOUN
aiti-4142	16	20	in	in	ADP
aiti-4142	16	21	gliding	glide	VERB
aiti-4142	16	22	motion	motion	NOUN
aiti-4142	16	23	for	for	ADP
aiti-4142	16	24	the	the	DET
aiti-4142	16	25	maximum	maximum	ADJ
aiti-4142	16	26	speed	speed	NOUN
aiti-4142	16	27	.	.	PUNCT
aiti-4142	17	1	in	in	ADP
aiti-4142	17	2	[	[	X
aiti-4142	17	3	4	4	NUM
aiti-4142	17	4	]	]	PUNCT
aiti-4142	17	5	,	,	PUNCT
aiti-4142	17	6	an	an	DET
aiti-4142	17	7	energy	energy	NOUN
aiti-4142	17	8	optimal	optimal	ADJ
aiti-4142	17	9	depth	depth	NOUN
aiti-4142	17	10	controller	controller	NOUN
aiti-4142	17	11	was	be	AUX
aiti-4142	17	12	developed	develop	VERB
aiti-4142	17	13	for	for	ADP
aiti-4142	17	14	a	a	DET
aiti-4142	17	15	long	long	ADJ
aiti-4142	17	16	-	-	PUNCT
aiti-4142	17	17	range	range	NOUN
aiti-4142	17	18	autonomous	autonomous	ADJ
aiti-4142	17	19	underwater	underwater	ADJ
aiti-4142	17	20	vehicle	vehicle	NOUN
aiti-4142	17	21	with	with	ADP
aiti-4142	17	22	applications	application	NOUN
aiti-4142	17	23	to	to	AUX
aiti-4142	17	24	hybrid	hybrid	NOUN
aiti-4142	17	25	ug	ug	ADP
aiti-4142	17	26	during	during	ADP
aiti-4142	17	27	the	the	DET
aiti-4142	17	28	level	level	NOUN
aiti-4142	17	29	flight	flight	NOUN
aiti-4142	17	30	.	.	PUNCT
aiti-4142	18	1	a	a	DET
aiti-4142	18	2	robust	robust	ADJ
aiti-4142	18	3	integral	integral	ADJ
aiti-4142	18	4	sliding	slide	VERB
aiti-4142	18	5	mode	mode	NOUN
aiti-4142	18	6	with	with	ADP
aiti-4142	18	7	a	a	DET
aiti-4142	18	8	super	super	ADJ
aiti-4142	18	9	-	-	ADJ
aiti-4142	18	10	twisting	twisting	ADJ
aiti-4142	18	11	algorithm	algorithm	NOUN
aiti-4142	18	12	was	be	AUX
aiti-4142	18	13	proposed	propose	VERB
aiti-4142	18	14	in	in	ADP
aiti-4142	18	15	[	[	X
aiti-4142	18	16	5	5	NUM
aiti-4142	18	17	]	]	PUNCT
aiti-4142	18	18	for	for	ADP
aiti-4142	18	19	the	the	DET
aiti-4142	18	20	trajectory	trajectory	NOUN
aiti-4142	18	21	tracking	tracking	NOUN
aiti-4142	18	22	problem	problem	NOUN
aiti-4142	18	23	of	of	ADP
aiti-4142	18	24	autonomous	autonomous	ADJ
aiti-4142	18	25	ug	ug	X
aiti-4142	18	26	with	with	ADP
aiti-4142	18	27	environmental	environmental	ADJ
aiti-4142	18	28	disturbances	disturbance	NOUN
aiti-4142	18	29	.	.	PUNCT
aiti-4142	19	1	in	in	ADP
aiti-4142	19	2	[	[	X
aiti-4142	19	3	6	6	NUM
aiti-4142	19	4	]	]	PUNCT
aiti-4142	19	5	,	,	PUNCT
aiti-4142	19	6	the	the	DET
aiti-4142	19	7	optimal	optimal	ADJ
aiti-4142	19	8	control	control	NOUN
aiti-4142	19	9	of	of	ADP
aiti-4142	19	10	an	an	DET
aiti-4142	19	11	ug	ug	ADP
aiti-4142	19	12	vehicle	vehicle	NOUN
aiti-4142	19	13	was	be	AUX
aiti-4142	19	14	proposed	propose	VERB
aiti-4142	19	15	using	use	VERB
aiti-4142	19	16	linear	linear	ADJ
aiti-4142	19	17	quadratic	quadratic	ADJ
aiti-4142	19	18	regulator	regulator	NOUN
aiti-4142	19	19	strategy	strategy	NOUN
aiti-4142	19	20	.	.	PUNCT
aiti-4142	20	1	a	a	DET
aiti-4142	20	2	new	new	ADJ
aiti-4142	20	3	optimal	optimal	ADJ
aiti-4142	20	4	three	three	NUM
aiti-4142	20	5	-	-	PUNCT
aiti-4142	20	6	dimensional	dimensional	ADJ
aiti-4142	20	7	path	path	NOUN
aiti-4142	20	8	planning	planning	NOUN
aiti-4142	20	9	method	method	NOUN
aiti-4142	20	10	was	be	AUX
aiti-4142	20	11	developed	develop	VERB
aiti-4142	20	12	in	in	ADP
aiti-4142	20	13	[	[	X
aiti-4142	20	14	7	7	NUM
aiti-4142	20	15	]	]	PUNCT
aiti-4142	20	16	for	for	ADP
aiti-4142	20	17	the	the	DET
aiti-4142	20	18	minimum	minimum	ADJ
aiti-4142	20	19	energy	energy	NOUN
aiti-4142	20	20	consumption	consumption	NOUN
aiti-4142	20	21	for	for	ADP
aiti-4142	20	22	ugs	ug	NOUN
aiti-4142	20	23	.	.	PUNCT
aiti-4142	21	1	in	in	ADP
aiti-4142	21	2	[	[	X
aiti-4142	21	3	8	8	NUM
aiti-4142	21	4	]	]	PUNCT
aiti-4142	21	5	,	,	PUNCT
aiti-4142	21	6	a	a	DET
aiti-4142	21	7	self	self	NOUN
aiti-4142	21	8	-	-	PUNCT
aiti-4142	21	9	searching	search	VERB
aiti-4142	21	10	optimal	optimal	ADJ
aiti-4142	21	11	control	control	NOUN
aiti-4142	21	12	was	be	AUX
aiti-4142	21	13	proposed	propose	VERB
aiti-4142	21	14	for	for	ADP
aiti-4142	21	15	pitch	pitch	NOUN
aiti-4142	21	16	-	-	PUNCT
aiti-4142	21	17	keeping	keep	VERB
aiti-4142	21	18	control	control	NOUN
aiti-4142	21	19	of	of	ADP
aiti-4142	21	20	ug	ug	ADP
aiti-4142	21	21	during	during	ADP
aiti-4142	21	22	descent	descent	NOUN
aiti-4142	21	23	and	and	CCONJ
aiti-4142	21	24	ascent	ascent	NOUN
aiti-4142	21	25	under	under	ADP
aiti-4142	21	26	ocean	ocean	NOUN
aiti-4142	21	27	currents	current	NOUN
aiti-4142	21	28	and	and	CCONJ
aiti-4142	21	29	noise	noise	NOUN
aiti-4142	21	30	disturbances	disturbance	NOUN
aiti-4142	21	31	.	.	PUNCT
aiti-4142	22	1	a	a	DET
aiti-4142	22	2	novel	novel	ADJ
aiti-4142	22	3	control	control	NOUN
aiti-4142	22	4	algorithm	algorithm	NOUN
aiti-4142	22	5	was	be	AUX
aiti-4142	22	6	presented	present	VERB
aiti-4142	22	7	in	in	ADP
aiti-4142	22	8	[	[	X
aiti-4142	22	9	9	9	NUM
aiti-4142	22	10	]	]	PUNCT
aiti-4142	22	11	using	use	VERB
aiti-4142	22	12	reinforcement	reinforcement	NOUN
aiti-4142	22	13	learning	learning	NOUN
aiti-4142	22	14	with	with	ADP
aiti-4142	22	15	active	active	ADJ
aiti-4142	22	16	disturbance	disturbance	NOUN
aiti-4142	22	17	rejection	rejection	NOUN
aiti-4142	22	18	control	control	NOUN
aiti-4142	22	19	(	(	PUNCT
aiti-4142	22	20	adrc	adrc	NOUN
aiti-4142	22	21	)	)	PUNCT
aiti-4142	22	22	and	and	CCONJ
aiti-4142	22	23	it	it	PRON
aiti-4142	22	24	was	be	AUX
aiti-4142	22	25	compared	compare	VERB
aiti-4142	22	26	with	with	ADP
aiti-4142	22	27	the	the	DET
aiti-4142	22	28	classical	classical	ADJ
aiti-4142	22	29	adrc	adrc	NOUN
aiti-4142	22	30	by	by	ADP
aiti-4142	22	31	simulation	simulation	NOUN
aiti-4142	22	32	of	of	ADP
aiti-4142	22	33	ouc	ouc	PROPN
aiti-4142	22	34	-	-	PUNCT
aiti-4142	22	35	iii	iii	NOUN
aiti-4142	22	36	glider	glider	NOUN
aiti-4142	22	37	.	.	PUNCT
aiti-4142	23	1	in	in	ADP
aiti-4142	23	2	[	[	X
aiti-4142	23	3	10	10	NUM
aiti-4142	23	4	]	]	PUNCT
aiti-4142	23	5	,	,	PUNCT
aiti-4142	23	6	a	a	DET
aiti-4142	23	7	new	new	ADJ
aiti-4142	23	8	hybrid	hybrid	ADJ
aiti-4142	23	9	heading	head	VERB
aiti-4142	23	10	tracking	track	VERB
aiti-4142	23	11	control	control	NOUN
aiti-4142	23	12	algorithm	algorithm	NOUN
aiti-4142	23	13	was	be	AUX
aiti-4142	23	14	proposed	propose	VERB
aiti-4142	23	15	using	use	VERB
aiti-4142	23	16	adaptive	adaptive	ADJ
aiti-4142	23	17	fuzzy	fuzzy	ADJ
aiti-4142	23	18	incremental	incremental	ADJ
aiti-4142	23	19	pid	pid	NOUN
aiti-4142	23	20	and	and	CCONJ
aiti-4142	23	21	anti	anti	ADJ
aiti-4142	23	22	-	-	ADJ
aiti-4142	23	23	windup	windup	ADJ
aiti-4142	23	24	compensator	compensator	NOUN
aiti-4142	23	25	to	to	PART
aiti-4142	23	26	improve	improve	VERB
aiti-4142	23	27	the	the	DET
aiti-4142	23	28	heading	head	VERB
aiti-4142	23	29	control	control	NOUN
aiti-4142	23	30	of	of	ADP
aiti-4142	23	31	ugs	ugs	PROPN
aiti-4142	23	32	.	.	PUNCT
aiti-4142	24	1	a	a	DET
aiti-4142	24	2	dynamic	dynamic	ADJ
aiti-4142	24	3	surface	surface	NOUN
aiti-4142	24	4	decoupling	decouple	VERB
aiti-4142	24	5	control	control	NOUN
aiti-4142	24	6	algorithm	algorithm	NOUN
aiti-4142	24	7	using	use	VERB
aiti-4142	24	8	*	*	PUNCT
aiti-4142	24	9	corresponding	correspond	VERB
aiti-4142	24	10	author	author	NOUN
aiti-4142	24	11	.	.	PUNCT
aiti-4142	25	1	e	e	X
aiti-4142	25	2	-	-	NOUN
aiti-4142	25	3	mail	mail	NOUN
aiti-4142	25	4	address	address	NOUN
aiti-4142	25	5	:	:	PUNCT
aiti-4142	25	6	hchoi@kmou.ac.kr	hchoi@kmou.ac.kr	ADJ
aiti-4142	25	7	tel	tel	PROPN
aiti-4142	25	8	.	.	PUNCT
aiti-4142	25	9	:	:	PUNCT
aiti-4142	26	1	+8210	+8210	PROPN
aiti-4142	26	2	-	-	PUNCT
aiti-4142	26	3	5581	5581	NUM
aiti-4142	26	4	-	-	PUNCT
aiti-4142	26	5	2971	2971	NUM
aiti-4142	26	6	advances	advance	NOUN
aiti-4142	26	7	in	in	ADP
aiti-4142	26	8	technology	technology	NOUN
aiti-4142	26	9	innovation	innovation	NOUN
aiti-4142	26	10	,	,	PUNCT
aiti-4142	26	11	vol	vol	NOUN
aiti-4142	26	12	.	.	PROPN
aiti-4142	26	13	5	5	NUM
aiti-4142	26	14	,	,	PUNCT
aiti-4142	26	15	no	no	INTJ
aiti-4142	26	16	.	.	NOUN
aiti-4142	26	17	3	3	NUM
aiti-4142	26	18	,	,	PUNCT
aiti-4142	26	19	2020	2020	NUM
aiti-4142	26	20	,	,	PUNCT
aiti-4142	26	21	pp	pp	ADJ
aiti-4142	26	22	.	.	PUNCT
aiti-4142	27	1	135	135	NUM
aiti-4142	27	2	-	-	SYM
aiti-4142	27	3	146	146	NUM
aiti-4142	27	4	136	136	NUM
aiti-4142	27	5	adrc	adrc	PRON
aiti-4142	27	6	was	be	AUX
aiti-4142	27	7	proposed	propose	VERB
aiti-4142	27	8	in	in	ADP
aiti-4142	27	9	[	[	X
aiti-4142	27	10	11	11	NUM
aiti-4142	27	11	]	]	PUNCT
aiti-4142	27	12	and	and	CCONJ
aiti-4142	27	13	sea	sea	NOUN
aiti-4142	27	14	trial	trial	NOUN
aiti-4142	27	15	results	result	NOUN
aiti-4142	27	16	also	also	ADV
aiti-4142	27	17	were	be	AUX
aiti-4142	27	18	presented	present	VERB
aiti-4142	27	19	here	here	ADV
aiti-4142	27	20	with	with	ADP
aiti-4142	27	21	some	some	DET
aiti-4142	27	22	improvements	improvement	NOUN
aiti-4142	27	23	in	in	ADP
aiti-4142	27	24	overshoot	overshoot	NOUN
aiti-4142	27	25	and	and	CCONJ
aiti-4142	27	26	settling	settling	NOUN
aiti-4142	27	27	time	time	NOUN
aiti-4142	27	28	.	.	PUNCT
aiti-4142	28	1	in	in	ADP
aiti-4142	28	2	[	[	X
aiti-4142	28	3	12	12	NUM
aiti-4142	28	4	]	]	PUNCT
aiti-4142	28	5	,	,	PUNCT
aiti-4142	28	6	an	an	DET
aiti-4142	28	7	lqr	lqr	NOUN
aiti-4142	28	8	controller	controller	NOUN
aiti-4142	28	9	to	to	PART
aiti-4142	28	10	maintain	maintain	VERB
aiti-4142	28	11	the	the	DET
aiti-4142	28	12	sawtooth	sawtooth	ADJ
aiti-4142	28	13	vertical	vertical	ADJ
aiti-4142	28	14	movement	movement	NOUN
aiti-4142	28	15	in	in	ADP
aiti-4142	28	16	the	the	DET
aiti-4142	28	17	gliding	glide	VERB
aiti-4142	28	18	motion	motion	NOUN
aiti-4142	28	19	of	of	ADP
aiti-4142	28	20	ug	ug	ADV
aiti-4142	28	21	was	be	AUX
aiti-4142	28	22	presented	present	VERB
aiti-4142	28	23	with	with	ADP
aiti-4142	28	24	the	the	DET
aiti-4142	28	25	reduced	reduce	VERB
aiti-4142	28	26	order	order	NOUN
aiti-4142	28	27	luenberger	luenberg	ADJ
aiti-4142	28	28	observer	observer	NOUN
aiti-4142	28	29	for	for	ADP
aiti-4142	28	30	estimating	estimate	VERB
aiti-4142	28	31	the	the	DET
aiti-4142	28	32	gravity	gravity	NOUN
aiti-4142	28	33	center	center	NOUN
aiti-4142	28	34	and	and	CCONJ
aiti-4142	28	35	buoyancy	buoyancy	NOUN
aiti-4142	28	36	mass	mass	NOUN
aiti-4142	28	37	.	.	PUNCT
aiti-4142	29	1	in	in	ADP
aiti-4142	29	2	[	[	X
aiti-4142	29	3	13	13	NUM
aiti-4142	29	4	]	]	PUNCT
aiti-4142	29	5	,	,	PUNCT
aiti-4142	29	6	to	to	PART
aiti-4142	29	7	realize	realize	VERB
aiti-4142	29	8	the	the	DET
aiti-4142	29	9	precise	precise	ADJ
aiti-4142	29	10	navigation	navigation	NOUN
aiti-4142	29	11	for	for	ADP
aiti-4142	29	12	the	the	DET
aiti-4142	29	13	developed	develop	VERB
aiti-4142	29	14	hybrid	hybrid	NOUN
aiti-4142	29	15	ug	ug	ADP
aiti-4142	29	16	,	,	PUNCT
aiti-4142	29	17	an	an	DET
aiti-4142	29	18	attitude	attitude	NOUN
aiti-4142	29	19	reference	reference	NOUN
aiti-4142	29	20	system	system	NOUN
aiti-4142	29	21	was	be	AUX
aiti-4142	29	22	composed	compose	VERB
aiti-4142	29	23	of	of	ADP
aiti-4142	29	24	a	a	DET
aiti-4142	29	25	ring	ring	NOUN
aiti-4142	29	26	laser	laser	NOUN
aiti-4142	29	27	gyroscope	gyroscope	NOUN
aiti-4142	29	28	and	and	CCONJ
aiti-4142	29	29	a	a	DET
aiti-4142	29	30	geomagnetic	geomagnetic	ADJ
aiti-4142	29	31	sensor	sensor	NOUN
aiti-4142	29	32	was	be	AUX
aiti-4142	29	33	presented	present	VERB
aiti-4142	29	34	applying	apply	VERB
aiti-4142	29	35	extended	extend	VERB
aiti-4142	29	36	kalman	kalman	NOUN
aiti-4142	29	37	filter	filter	NOUN
aiti-4142	29	38	algorithm	algorithm	NOUN
aiti-4142	29	39	.	.	PUNCT
aiti-4142	30	1	in	in	ADP
aiti-4142	30	2	addition	addition	NOUN
aiti-4142	30	3	,	,	PUNCT
aiti-4142	30	4	a	a	DET
aiti-4142	30	5	ray	ray	NOUN
aiti-4142	30	6	-	-	PUNCT
aiti-4142	30	7	type	type	NOUN
aiti-4142	30	8	shape	shape	NOUN
aiti-4142	30	9	underwater	underwater	NOUN
aiti-4142	30	10	glider	glider	NOUN
aiti-4142	30	11	with	with	ADP
aiti-4142	30	12	robust	robust	ADJ
aiti-4142	30	13	adaptive	adaptive	ADJ
aiti-4142	30	14	heading	heading	NOUN
aiti-4142	30	15	control	control	NOUN
aiti-4142	30	16	using	use	VERB
aiti-4142	30	17	propellers	propeller	NOUN
aiti-4142	30	18	was	be	AUX
aiti-4142	30	19	developed	develop	VERB
aiti-4142	30	20	and	and	CCONJ
aiti-4142	30	21	tested	test	VERB
aiti-4142	30	22	in	in	ADP
aiti-4142	30	23	the	the	DET
aiti-4142	30	24	sea	sea	NOUN
aiti-4142	30	25	trials	trial	NOUN
aiti-4142	30	26	[	[	X
aiti-4142	30	27	14	14	NUM
aiti-4142	30	28	]	]	PUNCT
aiti-4142	30	29	.	.	PUNCT
aiti-4142	31	1	among	among	ADP
aiti-4142	31	2	those	those	DET
aiti-4142	31	3	gliders	glider	NOUN
aiti-4142	31	4	,	,	PUNCT
aiti-4142	31	5	the	the	DET
aiti-4142	31	6	depth	depth	NOUN
aiti-4142	31	7	control	control	NOUN
aiti-4142	31	8	problem	problem	NOUN
aiti-4142	31	9	is	be	AUX
aiti-4142	31	10	still	still	ADV
aiti-4142	31	11	a	a	DET
aiti-4142	31	12	challenging	challenging	ADJ
aiti-4142	31	13	problem	problem	NOUN
aiti-4142	31	14	.	.	PUNCT
aiti-4142	32	1	the	the	DET
aiti-4142	32	2	purpose	purpose	NOUN
aiti-4142	32	3	of	of	ADP
aiti-4142	32	4	this	this	DET
aiti-4142	32	5	study	study	NOUN
aiti-4142	32	6	aims	aim	VERB
aiti-4142	32	7	at	at	ADP
aiti-4142	32	8	the	the	DET
aiti-4142	32	9	depth	depth	NOUN
aiti-4142	32	10	control	control	NOUN
aiti-4142	32	11	of	of	ADP
aiti-4142	32	12	the	the	DET
aiti-4142	32	13	hug	hug	NOUN
aiti-4142	32	14	using	use	VERB
aiti-4142	32	15	a	a	DET
aiti-4142	32	16	combination	combination	NOUN
aiti-4142	32	17	of	of	ADP
aiti-4142	32	18	the	the	DET
aiti-4142	32	19	pitch	pitch	NOUN
aiti-4142	32	20	and	and	CCONJ
aiti-4142	32	21	speed	speed	NOUN
aiti-4142	32	22	controls	control	NOUN
aiti-4142	32	23	,	,	PUNCT
aiti-4142	32	24	robust	robust	ADJ
aiti-4142	32	25	to	to	ADP
aiti-4142	32	26	disturbances	disturbance	NOUN
aiti-4142	32	27	will	will	AUX
aiti-4142	32	28	be	be	AUX
aiti-4142	32	29	designed	design	VERB
aiti-4142	32	30	.	.	PUNCT
aiti-4142	33	1	in	in	ADP
aiti-4142	33	2	this	this	DET
aiti-4142	33	3	research	research	NOUN
aiti-4142	33	4	,	,	PUNCT
aiti-4142	33	5	to	to	PART
aiti-4142	33	6	contribute	contribute	VERB
aiti-4142	33	7	to	to	ADP
aiti-4142	33	8	the	the	DET
aiti-4142	33	9	control	control	NOUN
aiti-4142	33	10	design	design	NOUN
aiti-4142	33	11	of	of	ADP
aiti-4142	33	12	the	the	DET
aiti-4142	33	13	torpedo	torpedo	NOUN
aiti-4142	33	14	-	-	PUNCT
aiti-4142	33	15	shaped	shape	VERB
aiti-4142	33	16	hybrid	hybrid	ADJ
aiti-4142	33	17	underwater	underwater	ADJ
aiti-4142	33	18	glider	glider	NOUN
aiti-4142	33	19	(	(	PUNCT
aiti-4142	33	20	hug	hug	NOUN
aiti-4142	33	21	)	)	PUNCT
aiti-4142	33	22	with	with	ADP
aiti-4142	33	23	buoyancy	buoyancy	NOUN
aiti-4142	33	24	engine	engine	NOUN
aiti-4142	33	25	and	and	CCONJ
aiti-4142	33	26	propeller	propeller	NOUN
aiti-4142	33	27	,	,	PUNCT
aiti-4142	33	28	the	the	DET
aiti-4142	33	29	adaptive	adaptive	ADJ
aiti-4142	33	30	robust	robust	ADJ
aiti-4142	33	31	depth	depth	NOUN
aiti-4142	33	32	control	control	NOUN
aiti-4142	33	33	is	be	AUX
aiti-4142	33	34	proposed	propose	VERB
aiti-4142	33	35	for	for	ADP
aiti-4142	33	36	depth	depth	NOUN
aiti-4142	33	37	keeping	keep	VERB
aiti-4142	33	38	control	control	NOUN
aiti-4142	33	39	against	against	ADP
aiti-4142	33	40	unknown	unknown	ADJ
aiti-4142	33	41	parameters	parameter	NOUN
aiti-4142	33	42	and	and	CCONJ
aiti-4142	33	43	environmental	environmental	ADJ
aiti-4142	33	44	disturbances	disturbance	NOUN
aiti-4142	33	45	.	.	PUNCT
aiti-4142	34	1	this	this	DET
aiti-4142	34	2	controller	controller	NOUN
aiti-4142	34	3	is	be	AUX
aiti-4142	34	4	designed	design	VERB
aiti-4142	34	5	based	base	VERB
aiti-4142	34	6	on	on	ADP
aiti-4142	34	7	the	the	DET
aiti-4142	34	8	lyapunov	lyapunov	ADJ
aiti-4142	34	9	stability	stability	NOUN
aiti-4142	34	10	theorem	theorem	VERB
aiti-4142	34	11	and	and	CCONJ
aiti-4142	34	12	the	the	DET
aiti-4142	34	13	backstepping	backstepping	NOUN
aiti-4142	34	14	technique	technique	NOUN
aiti-4142	34	15	for	for	ADP
aiti-4142	34	16	underactuated	underactuated	ADJ
aiti-4142	34	17	dynamics	dynamic	NOUN
aiti-4142	34	18	like	like	ADP
aiti-4142	34	19	hug	hug	PRON
aiti-4142	34	20	.	.	PUNCT
aiti-4142	35	1	the	the	DET
aiti-4142	35	2	hydrodynamic	hydrodynamic	ADJ
aiti-4142	35	3	coefficients	coefficient	NOUN
aiti-4142	35	4	of	of	ADP
aiti-4142	35	5	this	this	DET
aiti-4142	35	6	vehicle	vehicle	NOUN
aiti-4142	35	7	were	be	AUX
aiti-4142	35	8	obtained	obtain	VERB
aiti-4142	35	9	from	from	ADP
aiti-4142	35	10	[	[	X
aiti-4142	35	11	15	15	NUM
aiti-4142	35	12	]	]	PUNCT
aiti-4142	35	13	due	due	ADP
aiti-4142	35	14	to	to	ADP
aiti-4142	35	15	the	the	DET
aiti-4142	35	16	similar	similar	ADJ
aiti-4142	35	17	torpedo	torpedo	NOUN
aiti-4142	35	18	shape	shape	NOUN
aiti-4142	35	19	and	and	CCONJ
aiti-4142	35	20	similar	similar	ADJ
aiti-4142	35	21	design	design	NOUN
aiti-4142	35	22	dimension	dimension	NOUN
aiti-4142	35	23	.	.	PUNCT
aiti-4142	36	1	the	the	DET
aiti-4142	36	2	heave	heave	PROPN
aiti-4142	36	3	motion	motion	NOUN
aiti-4142	36	4	is	be	AUX
aiti-4142	36	5	controlled	control	VERB
aiti-4142	36	6	through	through	ADP
aiti-4142	36	7	pitch	pitch	NOUN
aiti-4142	36	8	control	control	NOUN
aiti-4142	36	9	and	and	CCONJ
aiti-4142	36	10	speed	speed	NOUN
aiti-4142	36	11	control	control	NOUN
aiti-4142	36	12	with	with	ADP
aiti-4142	36	13	the	the	DET
aiti-4142	36	14	line	line	NOUN
aiti-4142	36	15	-	-	PUNCT
aiti-4142	36	16	of	of	ADP
aiti-4142	36	17	-	-	PUNCT
aiti-4142	36	18	sight	sight	NOUN
aiti-4142	36	19	guidance	guidance	NOUN
aiti-4142	36	20	law	law	NOUN
aiti-4142	36	21	.	.	PUNCT
aiti-4142	37	1	to	to	PART
aiti-4142	37	2	see	see	VERB
aiti-4142	37	3	the	the	DET
aiti-4142	37	4	effectiveness	effectiveness	NOUN
aiti-4142	37	5	of	of	ADP
aiti-4142	37	6	this	this	DET
aiti-4142	37	7	proposed	propose	VERB
aiti-4142	37	8	controller	controller	NOUN
aiti-4142	37	9	for	for	ADP
aiti-4142	37	10	depth	depth	NOUN
aiti-4142	37	11	keeping	keeping	NOUN
aiti-4142	37	12	control	control	NOUN
aiti-4142	37	13	,	,	PUNCT
aiti-4142	37	14	the	the	DET
aiti-4142	37	15	computer	computer	NOUN
aiti-4142	37	16	simulation	simulation	NOUN
aiti-4142	37	17	using	use	VERB
aiti-4142	37	18	matlab	matlab	PROPN
aiti-4142	37	19	is	be	AUX
aiti-4142	37	20	performed	perform	VERB
aiti-4142	37	21	and	and	CCONJ
aiti-4142	37	22	the	the	DET
aiti-4142	37	23	stable	stable	ADJ
aiti-4142	37	24	performance	performance	NOUN
aiti-4142	37	25	is	be	AUX
aiti-4142	37	26	guaranteed	guarantee	VERB
aiti-4142	37	27	.	.	PUNCT
aiti-4142	38	1	2	2	X
aiti-4142	38	2	.	.	X
aiti-4142	38	3	vertical	vertical	ADJ
aiti-4142	38	4	model	model	NOUN
aiti-4142	38	5	of	of	ADP
aiti-4142	38	6	hybrid	hybrid	ADJ
aiti-4142	38	7	underwater	underwater	ADJ
aiti-4142	38	8	glider	glider	NOUN
aiti-4142	38	9	:	:	PUNCT
aiti-4142	38	10	:	:	PUNCT
aiti-4142	38	11	surge	surge	NOUN
aiti-4142	38	12	roll	roll	NOUN
aiti-4142	38	13	u	u	PROPN
aiti-4142	38	14	p	p	PROPN
aiti-4142	38	15	kx	kx	PROPN
aiti-4142	38	16	z	z	PROPN
aiti-4142	38	17	n	n	PROPN
aiti-4142	38	18	m	m	VERB
aiti-4142	38	19	y	y	NOUN
aiti-4142	38	20	:	:	PUNCT
aiti-4142	38	21	:	:	PUNCT
aiti-4142	38	22	sway	sway	VERB
aiti-4142	38	23	pitch	pitch	NOUN
aiti-4142	38	24	v	v	INTJ
aiti-4142	38	25	q	q	NOUN
aiti-4142	38	26	:	:	PUNCT
aiti-4142	38	27	:	:	PUNCT
aiti-4142	38	28	heave	heave	VERB
aiti-4142	38	29	yaw	yaw	NOUN
aiti-4142	38	30	w	w	NOUN
aiti-4142	38	31	r	r	NOUN
aiti-4142	38	32	body	body	NOUN
aiti-4142	38	33	-	-	PUNCT
aiti-4142	38	34	fixed	fix	VERB
aiti-4142	38	35	coordinate	coordinate	NOUN
aiti-4142	38	36	system	system	NOUN
aiti-4142	38	37	north	north	NOUN
aiti-4142	38	38	-	-	PUNCT
aiti-4142	38	39	east	east	NOUN
aiti-4142	38	40	-	-	PUNCT
aiti-4142	38	41	down	down	ADP
aiti-4142	38	42	coordinate	coordinate	NOUN
aiti-4142	38	43	system	system	NOUN
aiti-4142	38	44			NOUN
aiti-4142	38	45			NOUN
aiti-4142	38	46			NOUN
aiti-4142	38	47	0y	0y	NUM
aiti-4142	38	48	o	o	NOUN
aiti-4142	38	49	0x	0x	NOUN
aiti-4142	38	50	0z	0z	NUM
aiti-4142	38	51	e	e	NOUN
aiti-4142	38	52	x	x	PUNCT
aiti-4142	38	53	y	y	PROPN
aiti-4142	38	54	z	z	PROPN
aiti-4142	38	55	(	(	PUNCT
aiti-4142	38	56	a	a	PRON
aiti-4142	38	57	)	)	PUNCT
aiti-4142	38	58	earth	earth	NOUN
aiti-4142	38	59	-	-	PUNCT
aiti-4142	38	60	fixed	fix	VERB
aiti-4142	38	61	and	and	CCONJ
aiti-4142	38	62	body	body	NOUN
aiti-4142	38	63	-	-	PUNCT
aiti-4142	38	64	fixed	fix	VERB
aiti-4142	38	65	coordinate	coordinate	NOUN
aiti-4142	38	66	system	system	NOUN
aiti-4142	38	67	(	(	PUNCT
aiti-4142	38	68	b	b	NOUN
aiti-4142	38	69	)	)	PUNCT
aiti-4142	38	70	developed	develop	VERB
aiti-4142	38	71	hug	hug	NOUN
aiti-4142	38	72	in	in	ADP
aiti-4142	38	73	the	the	DET
aiti-4142	38	74	field	field	NOUN
aiti-4142	38	75	test	test	NOUN
aiti-4142	38	76	fig	fig	NOUN
aiti-4142	38	77	.	.	PUNCT
aiti-4142	39	1	1	1	NUM
aiti-4142	39	2	hybrid	hybrid	ADJ
aiti-4142	39	3	underwater	underwater	ADJ
aiti-4142	39	4	glider	glider	NOUN
aiti-4142	39	5	to	to	PART
aiti-4142	39	6	find	find	VERB
aiti-4142	39	7	the	the	DET
aiti-4142	39	8	position	position	NOUN
aiti-4142	39	9	of	of	ADP
aiti-4142	39	10	the	the	DET
aiti-4142	39	11	ug	ug	NOUN
aiti-4142	39	12	;	;	PUNCT
aiti-4142	39	13	first	first	ADV
aiti-4142	39	14	,	,	PUNCT
aiti-4142	39	15	the	the	DET
aiti-4142	39	16	relationship	relationship	NOUN
aiti-4142	39	17	between	between	ADP
aiti-4142	39	18	the	the	DET
aiti-4142	39	19	body	body	NOUN
aiti-4142	39	20	-	-	PUNCT
aiti-4142	39	21	fixed	fix	VERB
aiti-4142	39	22	coordinate	coordinate	NOUN
aiti-4142	39	23	and	and	CCONJ
aiti-4142	39	24	earth	earth	NOUN
aiti-4142	39	25	-	-	PUNCT
aiti-4142	39	26	fixed	fix	VERB
aiti-4142	39	27	coordinate	coordinate	NOUN
aiti-4142	39	28	is	be	AUX
aiti-4142	39	29	expressed	express	VERB
aiti-4142	39	30	using	use	VERB
aiti-4142	39	31	the	the	DET
aiti-4142	39	32	angle	angle	NOUN
aiti-4142	39	33	of	of	ADP
aiti-4142	39	34	the	the	DET
aiti-4142	39	35	hull	hull	NOUN
aiti-4142	39	36	and	and	CCONJ
aiti-4142	39	37	the	the	DET
aiti-4142	39	38	acceleration	acceleration	NOUN
aiti-4142	39	39	as	as	ADP
aiti-4142	39	40	in	in	ADP
aiti-4142	39	41	fig.1	fig.1	PROPN
aiti-4142	39	42	.	.	PUNCT
aiti-4142	40	1	for	for	ADP
aiti-4142	40	2	this	this	PRON
aiti-4142	40	3	,	,	PUNCT
aiti-4142	40	4	heading	head	VERB
aiti-4142	40	5	and	and	CCONJ
aiti-4142	40	6	attitude	attitude	NOUN
aiti-4142	40	7	sensors	sensor	NOUN
aiti-4142	40	8	are	be	AUX
aiti-4142	40	9	in	in	ADP
aiti-4142	40	10	the	the	DET
aiti-4142	40	11	glider	glider	NOUN
aiti-4142	41	1	[	[	X
aiti-4142	41	2	16	16	NUM
aiti-4142	41	3	]	]	PUNCT
aiti-4142	41	4	.	.	PUNCT
aiti-4142	42	1	the	the	DET
aiti-4142	42	2	vertical	vertical	ADJ
aiti-4142	42	3	dynamics	dynamic	NOUN
aiti-4142	42	4	of	of	ADP
aiti-4142	42	5	hug	hug	PRON
aiti-4142	42	6	can	can	AUX
aiti-4142	42	7	be	be	AUX
aiti-4142	42	8	expressed	express	VERB
aiti-4142	42	9	in	in	ADP
aiti-4142	42	10	the	the	DET
aiti-4142	42	11	kinematic	kinematic	ADJ
aiti-4142	42	12	and	and	CCONJ
aiti-4142	42	13	kinetic	kinetic	ADJ
aiti-4142	42	14	model	model	NOUN
aiti-4142	42	15	as	as	ADP
aiti-4142	42	16	eq	eq	PROPN
aiti-4142	42	17	.	.	PUNCT
aiti-4142	43	1	(	(	PUNCT
aiti-4142	43	2	1	1	X
aiti-4142	43	3	)	)	PUNCT
aiti-4142	44	1	[	[	X
aiti-4142	44	2	17	17	NUM
aiti-4142	44	3	]	]	PUNCT
aiti-4142	44	4	.	.	PUNCT
aiti-4142	45	1	(	(	PUNCT
aiti-4142	45	2	)	)	PUNCT
aiti-4142	45	3	(	(	PUNCT
aiti-4142	45	4	)	)	PUNCT
aiti-4142	45	5	(	(	PUNCT
aiti-4142	45	6	)	)	PUNCT
aiti-4142	45	7			PROPN
aiti-4142	45	8			ADV
aiti-4142	45	9			PUNCT
aiti-4142	45	10			PROPN
aiti-4142	45	11			PROPN
aiti-4142	45	12			PROPN
aiti-4142	45	13	t	t	PROPN
aiti-4142	45	14	e	e	PROPN
aiti-4142	45	15	jv	jv	PROPN
aiti-4142	45	16	m	m	PROPN
aiti-4142	45	17	c	c	NOUN
aiti-4142	45	18	v	v	ADP
aiti-4142	45	19	d	d	PROPN
aiti-4142	45	20	v	v	NOUN
aiti-4142	45	21	v	v	ADP
aiti-4142	45	22	g	g	PROPN
aiti-4142	45	23	j	j	PROPN
aiti-4142	45	24			NUM
aiti-4142	45	25			PROPN
aiti-4142	45	26			NOUN
aiti-4142	45	27			PUNCT
aiti-4142	45	28			NOUN
aiti-4142	45	29			NOUN
aiti-4142	45	30	(	(	PUNCT
aiti-4142	45	31	1	1	NUM
aiti-4142	45	32	)	)	PUNCT
aiti-4142	45	33	where	where	SCONJ
aiti-4142	45	34	𝜂	𝜂	NOUN
aiti-4142	45	35	=	=	PUNCT
aiti-4142	46	1	[	[	X
aiti-4142	46	2	𝑥	𝑥	X
aiti-4142	46	3	𝑧	𝑧	VERB
aiti-4142	46	4	𝜃]𝑇	𝜃]𝑇	NOUN
aiti-4142	46	5	is	be	AUX
aiti-4142	46	6	the	the	DET
aiti-4142	46	7	position	position	NOUN
aiti-4142	46	8	and	and	CCONJ
aiti-4142	46	9	orientation	orientation	NOUN
aiti-4142	46	10	of	of	ADP
aiti-4142	46	11	the	the	DET
aiti-4142	46	12	vehicle	vehicle	NOUN
aiti-4142	46	13	in	in	ADP
aiti-4142	46	14	inertial	inertial	ADJ
aiti-4142	46	15	frame	frame	NOUN
aiti-4142	46	16	𝐸𝑥𝑦𝑧	𝐸𝑥𝑦𝑧	PROPN
aiti-4142	46	17	in	in	ADP
aiti-4142	46	18	fig	fig	NOUN
aiti-4142	46	19	.	.	PUNCT
aiti-4142	47	1	1	1	NUM
aiti-4142	47	2	;	;	PUNCT
aiti-4142	47	3	𝜈	𝜈	X
aiti-4142	47	4	=	=	X
aiti-4142	48	1	[	[	X
aiti-4142	48	2	𝑢	𝑢	PART
aiti-4142	48	3	𝑤	𝑤	ADP
aiti-4142	48	4	𝑞]𝑇	𝑞]𝑇	NOUN
aiti-4142	48	5	is	be	AUX
aiti-4142	48	6	the	the	DET
aiti-4142	48	7	translation	translation	NOUN
aiti-4142	48	8	and	and	CCONJ
aiti-4142	48	9	angular	angular	ADJ
aiti-4142	48	10	velocity	velocity	NOUN
aiti-4142	48	11	in	in	ADP
aiti-4142	48	12	the	the	DET
aiti-4142	48	13	body	body	NOUN
aiti-4142	48	14	-	-	PUNCT
aiti-4142	48	15	fixed	fix	VERB
aiti-4142	48	16	frame	frame	NOUN
aiti-4142	48	17	𝑂𝑋0𝑌0𝑍0	𝑂𝑋0𝑌0𝑍0	NOUN
aiti-4142	48	18	in	in	ADP
aiti-4142	48	19	fig	fig	NOUN
aiti-4142	48	20	.	.	PUNCT
aiti-4142	49	1	1	1	NUM
aiti-4142	49	2	;	;	PUNCT
aiti-4142	49	3	𝐽	𝐽	PROPN
aiti-4142	49	4	is	be	AUX
aiti-4142	49	5	jacobian	jacobian	ADJ
aiti-4142	49	6	matrix	matrix	NOUN
aiti-4142	49	7	;	;	PUNCT
aiti-4142	50	1	𝑀	𝑀	PROPN
aiti-4142	50	2	=	=	SYM
aiti-4142	50	3	𝑀𝑅𝐵	𝑀𝑅𝐵	PROPN
aiti-4142	50	4	+	+	CCONJ
aiti-4142	50	5	𝑀𝐴	𝑀𝐴	PROPN
aiti-4142	50	6	is	be	AUX
aiti-4142	50	7	the	the	DET
aiti-4142	50	8	inertia	inertia	NOUN
aiti-4142	50	9	matrix	matrix	NOUN
aiti-4142	50	10	;	;	PUNCT
aiti-4142	50	11	𝐶(𝜈	𝐶(𝜈	X
aiti-4142	50	12	)	)	PUNCT
aiti-4142	50	13	=	=	SYM
aiti-4142	50	14	𝐶𝑅𝐵(𝜈	𝐶𝑅𝐵(𝜈	PROPN
aiti-4142	50	15	)	)	PUNCT
aiti-4142	50	16	+	+	NUM
aiti-4142	50	17	𝐶𝐴(𝜈	𝐶𝐴(𝜈	NOUN
aiti-4142	50	18	)	)	PUNCT
aiti-4142	50	19	is	be	AUX
aiti-4142	50	20	the	the	DET
aiti-4142	50	21	coriolis	coriolis	PROPN
aiti-4142	50	22	and	and	CCONJ
aiti-4142	50	23	centripetal	centripetal	ADJ
aiti-4142	50	24	matrix	matrix	NOUN
aiti-4142	50	25	;	;	PUNCT
aiti-4142	50	26	𝐷(𝜈	𝐷(𝜈	X
aiti-4142	50	27	)	)	PUNCT
aiti-4142	50	28	is	be	AUX
aiti-4142	50	29	hydrodynamic	hydrodynamic	ADJ
aiti-4142	50	30	damping	damp	VERB
aiti-4142	50	31	matrix	matrix	NOUN
aiti-4142	50	32	;	;	PUNCT
aiti-4142	50	33	𝑔(𝜂	𝑔(𝜂	PROPN
aiti-4142	50	34	)	)	PUNCT
aiti-4142	50	35	is	be	AUX
aiti-4142	50	36	the	the	DET
aiti-4142	50	37	gravitational	gravitational	ADJ
aiti-4142	50	38	matrix	matrix	NOUN
aiti-4142	50	39	;	;	PUNCT
aiti-4142	50	40	𝜏	𝜏	NOUN
aiti-4142	50	41	is	be	AUX
aiti-4142	50	42	the	the	DET
aiti-4142	50	43	external	external	ADJ
aiti-4142	50	44	forces	force	NOUN
aiti-4142	50	45	and	and	CCONJ
aiti-4142	50	46	moments	moment	NOUN
aiti-4142	50	47	;	;	PUNCT
aiti-4142	50	48	𝑔0(𝜂	𝑔0(𝜂	X
aiti-4142	50	49	)	)	PUNCT
aiti-4142	50	50	is	be	AUX
aiti-4142	50	51	the	the	DET
aiti-4142	50	52	ballast	ballast	NOUN
aiti-4142	50	53	forces	force	NOUN
aiti-4142	50	54	and	and	CCONJ
aiti-4142	50	55	moments	moment	NOUN
aiti-4142	50	56	which	which	PRON
aiti-4142	50	57	are	be	AUX
aiti-4142	50	58	generated	generate	VERB
aiti-4142	50	59	by	by	ADP
aiti-4142	50	60	buoyancy	buoyancy	NOUN
aiti-4142	50	61	engine	engine	NOUN
aiti-4142	50	62	in	in	ADP
aiti-4142	50	63	the	the	DET
aiti-4142	50	64	hybrid	hybrid	ADJ
aiti-4142	50	65	underwater	underwater	ADJ
aiti-4142	50	66	glider	glider	NOUN
aiti-4142	50	67	(	(	PUNCT
aiti-4142	50	68	hug	hug	NOUN
aiti-4142	50	69	)	)	PUNCT
aiti-4142	50	70	;	;	PUNCT
aiti-4142	50	71	𝜏𝑒	𝜏𝑒	NOUN
aiti-4142	50	72	is	be	AUX
aiti-4142	50	73	the	the	DET
aiti-4142	50	74	environment	environment	NOUN
aiti-4142	50	75	disturbances	disturbance	NOUN
aiti-4142	50	76	.	.	PUNCT
aiti-4142	51	1	to	to	PART
aiti-4142	51	2	obtain	obtain	VERB
aiti-4142	51	3	the	the	DET
aiti-4142	51	4	detail	detail	NOUN
aiti-4142	51	5	dynamic	dynamic	ADJ
aiti-4142	51	6	,	,	PUNCT
aiti-4142	51	7	one	one	PRON
aiti-4142	51	8	can	can	AUX
aiti-4142	51	9	expand	expand	VERB
aiti-4142	51	10	eq	eq	ADP
aiti-4142	51	11	.	.	PUNCT
aiti-4142	52	1	(	(	PUNCT
aiti-4142	52	2	1	1	X
aiti-4142	52	3	)	)	PUNCT
aiti-4142	52	4	into	into	ADP
aiti-4142	52	5	eq	eq	NOUN
aiti-4142	52	6	.	.	PUNCT
aiti-4142	53	1	(	(	PUNCT
aiti-4142	53	2	2	2	NUM
aiti-4142	53	3	)	)	PUNCT
aiti-4142	53	4	,	,	PUNCT
aiti-4142	53	5	while	while	SCONJ
aiti-4142	53	6	the	the	DET
aiti-4142	53	7	dynamic	dynamic	ADJ
aiti-4142	53	8	coefficients	coefficient	NOUN
aiti-4142	53	9	are	be	AUX
aiti-4142	53	10	obtained	obtain	VERB
aiti-4142	53	11	from	from	ADP
aiti-4142	53	12	the	the	DET
aiti-4142	53	13	remus	remus	PROPN
aiti-4142	53	14	auv	auv	PROPN
aiti-4142	53	15	model	model	NOUN
aiti-4142	54	1	[	[	X
aiti-4142	54	2	15	15	NUM
aiti-4142	54	3	]	]	PUNCT
aiti-4142	54	4	which	which	PRON
aiti-4142	54	5	has	have	VERB
aiti-4142	54	6	the	the	DET
aiti-4142	54	7	same	same	ADJ
aiti-4142	54	8	hull	hull	NOUN
aiti-4142	54	9	dimension	dimension	NOUN
aiti-4142	54	10	as	as	ADP
aiti-4142	54	11	the	the	DET
aiti-4142	54	12	developed	develop	VERB
aiti-4142	54	13	hug	hug	NOUN
aiti-4142	54	14	.	.	PUNCT
aiti-4142	54	15	advances	advance	NOUN
aiti-4142	54	16	in	in	ADP
aiti-4142	54	17	technology	technology	NOUN
aiti-4142	54	18	innovation	innovation	NOUN
aiti-4142	54	19	,	,	PUNCT
aiti-4142	54	20	vol	vol	NOUN
aiti-4142	54	21	.	.	PROPN
aiti-4142	54	22	5	5	NUM
aiti-4142	54	23	,	,	PUNCT
aiti-4142	54	24	no	no	INTJ
aiti-4142	54	25	.	.	NOUN
aiti-4142	54	26	3	3	NUM
aiti-4142	54	27	,	,	PUNCT
aiti-4142	54	28	2020	2020	NUM
aiti-4142	54	29	,	,	PUNCT
aiti-4142	54	30	pp	pp	ADJ
aiti-4142	54	31	.	.	PUNCT
aiti-4142	55	1	135	135	NUM
aiti-4142	55	2	-	-	SYM
aiti-4142	55	3	146	146	NUM
aiti-4142	55	4	137	137	NUM
aiti-4142	55	5			NOUN
aiti-4142	55	6			SYM
aiti-4142	55	7			NOUN
aiti-4142	55	8			PROPN
aiti-4142	55	9	22	22	NUM
aiti-4142	56	1	|	|	ADV
aiti-4142	56	2	|	|	ADV
aiti-4142	56	3	2	2	NUM
aiti-4142	56	4	cos	cos	X
aiti-4142	56	5	sin	sin	NOUN
aiti-4142	56	6	sin	sin	NOUN
aiti-4142	56	7	cos	cos	PROPN
aiti-4142	57	1	|	|	ADV
aiti-4142	57	2	|	|	ADV
aiti-4142	57	3	(	(	PUNCT
aiti-4142	57	4	)	)	PUNCT
aiti-4142	57	5	sin	sin	NOUN
aiti-4142	57	6	sin	sin	NOUN
aiti-4142	57	7	q	q	PUNCT
aiti-4142	57	8	u	u	PRON
aiti-4142	57	9	euu	euu	VERB
aiti-4142	57	10	g	g	PROPN
aiti-4142	57	11	g	g	PROPN
aiti-4142	57	12	w	w	PROPN
aiti-4142	57	13	wuu	wuu	PROPN
aiti-4142	57	14	w	w	PROPN
aiti-4142	57	15	g	g	PROPN
aiti-4142	57	16	gq	gq	PROPN
aiti-4142	57	17	q	q	NOUN
aiti-4142	57	18	x	x	PUNCT
aiti-4142	57	19	u	u	NOUN
aiti-4142	57	20	v	v	ADP
aiti-4142	57	21	z	z	PROPN
aiti-4142	57	22	u	u	NOUN
aiti-4142	57	23	v	v	ADJ
aiti-4142	57	24	q	q	X
aiti-4142	57	25	u	u	NOUN
aiti-4142	57	26	mz	mz	PROPN
aiti-4142	57	27	q	q	PROPN
aiti-4142	57	28	mx	mx	PROPN
aiti-4142	57	29	q	q	PROPN
aiti-4142	57	30	mwq	mwq	PROPN
aiti-4142	57	31	z	z	PROPN
aiti-4142	57	32	wq	wq	PROPN
aiti-4142	58	1	z	z	NOUN
aiti-4142	58	2	x	x	PUNCT
aiti-4142	58	3	u	u	NOUN
aiti-4142	58	4	u	u	PROPN
aiti-4142	58	5	w	w	PROPN
aiti-4142	58	6	b	b	PROPN
aiti-4142	58	7	m	m	VERB
aiti-4142	58	8	z	z	NOUN
aiti-4142	58	9	q	q	NOUN
aiti-4142	58	10	m	m	NOUN
aiti-4142	58	11	x	x	X
aiti-4142	58	12	w	w	PROPN
aiti-4142	58	13	mx	mx	PROPN
aiti-4142	58	14	z	z	PROPN
aiti-4142	58	15	q	q	PROPN
aiti-4142	59	1	mz	mz	PROPN
aiti-4142	59	2	q	q	PROPN
aiti-4142	59	3	muq	muq	NOUN
aiti-4142	59	4	x	x	NOUN
aiti-4142	59	5			NOUN
aiti-4142	59	6			NOUN
aiti-4142	59	7			X
aiti-4142	59	8			PROPN
aiti-4142	59	9			PROPN
aiti-4142	59	10			PROPN
aiti-4142	59	11			PROPN
aiti-4142	59	12			PROPN
aiti-4142	59	13			PROPN
aiti-4142	59	14			PROPN
aiti-4142	59	15			PROPN
aiti-4142	59	16			PROPN
aiti-4142	59	17			ADV
aiti-4142	59	18			PROPN
aiti-4142	59	19			PUNCT
aiti-4142	59	20			PROPN
aiti-4142	59	21			PROPN
aiti-4142	59	22			ADV
aiti-4142	59	23			PROPN
aiti-4142	59	24			PUNCT
aiti-4142	59	25			PUNCT
aiti-4142	59	26			PUNCT
aiti-4142	59	27			PROPN
aiti-4142	59	28			PROPN
aiti-4142	59	29			PUNCT
aiti-4142	59	30			PUNCT
aiti-4142	59	31			PROPN
aiti-4142	59	32			PROPN
aiti-4142	59	33			PROPN
aiti-4142	59	34			PROPN
aiti-4142	59	35			ADV
aiti-4142	59	36			PUNCT
aiti-4142	59	37			PUNCT
aiti-4142	59	38			NOUN
aiti-4142	59	39			NOUN
aiti-4142	59	40			SYM
aiti-4142	59	41			NOUN
aiti-4142	59	42			SYM
aiti-4142	59	43			NOUN
aiti-4142	59	44			PUNCT
aiti-4142	60	1	|	|	ADV
aiti-4142	61	1	|	|	ADV
aiti-4142	61	2	|	|	ADV
aiti-4142	61	3	|	|	ADV
aiti-4142	61	4	cos|	cos|	VERB
aiti-4142	61	5	|	|	ADV
aiti-4142	61	6	(	(	PUNCT
aiti-4142	61	7	)	)	PUNCT
aiti-4142	61	8	cos	cos	ADP
aiti-4142	61	9	|	|	ADV
aiti-4142	61	10	|	|	ADV
aiti-4142	61	11	(	(	PUNCT
aiti-4142	61	12	)	)	PUNCT
aiti-4142	61	13	sin	sin	NOUN
aiti-4142	61	14	(	(	PUNCT
aiti-4142	61	15	)	)	PUNCT
aiti-4142	62	1	cos	cos	PROPN
aiti-4142	62	2	eww	eww	PROPN
aiti-4142	62	3	yy	yy	INTJ
aiti-4142	62	4	q	q	PROPN
aiti-4142	62	5	u	u	X
aiti-4142	62	6	ww	ww	PROPN
aiti-4142	62	7	g	g	PROPN
aiti-4142	62	8	w	w	PROPN
aiti-4142	62	9	w	w	PROPN
aiti-4142	62	10	q	q	X
aiti-4142	62	11	u	u	NOUN
aiti-4142	62	12	qq	qq	X
aiti-4142	62	13	g	g	PROPN
aiti-4142	62	14	g	g	PROPN
aiti-4142	62	15	q	q	PROPN
aiti-4142	62	16	eqb	eqb	PROPN
aiti-4142	62	17	b	b	PROPN
aiti-4142	62	18	gi	gi	NOUN
aiti-4142	62	19	m	m	PROPN
aiti-4142	62	20	uq	uq	PROPN
aiti-4142	62	21	z	z	PROPN
aiti-4142	62	22	w	w	PROPN
aiti-4142	62	23	w	w	PROPN
aiti-4142	62	24	w	w	PROPN
aiti-4142	62	25	b	b	PROPN
aiti-4142	62	26	q	q	X
aiti-4142	62	27	mz	mz	PROPN
aiti-4142	62	28	u	u	PROPN
aiti-4142	62	29	qw	qw	X
aiti-4142	62	30	w	w	PROPN
aiti-4142	62	31	qu	qu	PROPN
aiti-4142	62	32	m	m	PROPN
aiti-4142	62	33	w	w	PROPN
aiti-4142	62	34	z	z	PROPN
aiti-4142	62	35	wu	wu	PROPN
aiti-4142	62	36	z	z	PROPN
aiti-4142	62	37	qu	qu	PROPN
aiti-4142	62	38	x	x	PROPN
aiti-4142	62	39	uw	uw	PROPN
aiti-4142	62	40	m	m	PROPN
aiti-4142	62	41	q	q	PROPN
aiti-4142	62	42	q	q	PROPN
aiti-4142	62	43	z	z	PROPN
aiti-4142	62	44	w	w	PROPN
aiti-4142	62	45	z	z	PROPN
aiti-4142	62	46	b	b	PROPN
aiti-4142	62	47	x	x	SYM
aiti-4142	62	48	w	w	PROPN
aiti-4142	62	49	x	x	SYM
aiti-4142	62	50	b	b	PROPN
aiti-4142	62	51	mx	mx	PROPN
aiti-4142	62	52			PROPN
aiti-4142	62	53			PROPN
aiti-4142	62	54			PROPN
aiti-4142	62	55			PROPN
aiti-4142	62	56			X
aiti-4142	63	1			PROPN
aiti-4142	63	2			PROPN
aiti-4142	63	3			PROPN
aiti-4142	63	4			PROPN
aiti-4142	63	5			PUNCT
aiti-4142	63	6			PUNCT
aiti-4142	63	7			PUNCT
aiti-4142	63	8			PROPN
aiti-4142	63	9			ADV
aiti-4142	63	10			PROPN
aiti-4142	63	11			PUNCT
aiti-4142	63	12			PUNCT
aiti-4142	63	13			PROPN
aiti-4142	63	14			PROPN
aiti-4142	63	15			PROPN
aiti-4142	63	16			PUNCT
aiti-4142	63	17			PUNCT
aiti-4142	63	18			PROPN
aiti-4142	63	19			PROPN
aiti-4142	63	20			PROPN
aiti-4142	63	21			PROPN
aiti-4142	63	22			PUNCT
aiti-4142	63	23			X
aiti-4142	63	24	(	(	PUNCT
aiti-4142	63	25	2	2	NUM
aiti-4142	63	26	)	)	PUNCT
aiti-4142	63	27	as	as	ADP
aiti-4142	63	28	this	this	DET
aiti-4142	63	29	time	time	NOUN
aiti-4142	63	30	,	,	PUNCT
aiti-4142	63	31	𝑋	𝑋	PROPN
aiti-4142	63	32	�	�	PROPN
aiti-4142	63	33	̇	̇	PROPN
aiti-4142	63	34	�	�	PROPN
aiti-4142	63	35	,	,	PUNCT
aiti-4142	63	36	𝑍	𝑍	PROPN
aiti-4142	63	37	�	�	PROPN
aiti-4142	63	38	̇	̇	NOUN
aiti-4142	63	39	�	�	PROPN
aiti-4142	63	40	,	,	PUNCT
aiti-4142	63	41	and	and	CCONJ
aiti-4142	63	42	𝑀	𝑀	PROPN
aiti-4142	63	43	�	�	PROPN
aiti-4142	63	44	̇	̇	PROPN
aiti-4142	63	45	�	�	PROPN
aiti-4142	63	46	are	be	AUX
aiti-4142	63	47	the	the	DET
aiti-4142	63	48	added	add	VERB
aiti-4142	63	49	mass	mass	NOUN
aiti-4142	63	50	coefficients	coefficient	NOUN
aiti-4142	63	51	;	;	PUNCT
aiti-4142	64	1	𝑋𝑢	𝑋𝑢	PROPN
aiti-4142	64	2	,	,	PUNCT
aiti-4142	64	3	𝑍𝑤	𝑍𝑤	PROPN
aiti-4142	64	4	,	,	PUNCT
aiti-4142	64	5	and	and	CCONJ
aiti-4142	64	6	𝑀𝑞	𝑀𝑞	PROPN
aiti-4142	64	7	are	be	AUX
aiti-4142	64	8	linear	linear	ADJ
aiti-4142	64	9	damping	damp	VERB
aiti-4142	64	10	coefficients	coefficient	NOUN
aiti-4142	64	11	;	;	PUNCT
aiti-4142	64	12	𝑋|𝑢|𝑢	𝑋|𝑢|𝑢	PROPN
aiti-4142	64	13	,	,	PUNCT
aiti-4142	64	14	𝑍|𝑤|𝑤	𝑍|𝑤|𝑤	PROPN
aiti-4142	64	15	,	,	PUNCT
aiti-4142	64	16	and	and	CCONJ
aiti-4142	64	17	𝑀|𝑞|𝑞	𝑀|𝑞|𝑞	NOUN
aiti-4142	64	18	are	be	AUX
aiti-4142	64	19	nonlinear	nonlinear	ADJ
aiti-4142	64	20	damping	damp	VERB
aiti-4142	64	21	coefficients	coefficient	NOUN
aiti-4142	64	22	;	;	PUNCT
aiti-4142	64	23	𝑊	𝑊	PROPN
aiti-4142	64	24	and	and	CCONJ
aiti-4142	64	25	𝐵	𝐵	NOUN
aiti-4142	64	26	are	be	AUX
aiti-4142	64	27	the	the	DET
aiti-4142	64	28	weight	weight	NOUN
aiti-4142	64	29	and	and	CCONJ
aiti-4142	64	30	buoyancy	buoyancy	NOUN
aiti-4142	64	31	force	force	NOUN
aiti-4142	64	32	respectively	respectively	ADV
aiti-4142	64	33	in	in	ADP
aiti-4142	64	34	the	the	DET
aiti-4142	64	35	neutral	neutral	ADJ
aiti-4142	64	36	buoyancy	buoyancy	NOUN
aiti-4142	64	37	condition	condition	NOUN
aiti-4142	64	38	;	;	PUNCT
aiti-4142	64	39	𝑥𝑔	𝑥𝑔	PROPN
aiti-4142	64	40	and	and	CCONJ
aiti-4142	64	41	𝑧𝑔	𝑧𝑔	NOUN
aiti-4142	64	42	are	be	AUX
aiti-4142	64	43	coordinates	coordinate	NOUN
aiti-4142	64	44	of	of	ADP
aiti-4142	64	45	gravity	gravity	NOUN
aiti-4142	64	46	center	center	NOUN
aiti-4142	64	47	in	in	ADP
aiti-4142	64	48	the	the	DET
aiti-4142	64	49	body	body	NOUN
aiti-4142	64	50	-	-	PUNCT
aiti-4142	64	51	fixed	fix	VERB
aiti-4142	64	52	frame	frame	NOUN
aiti-4142	64	53	;	;	PUNCT
aiti-4142	64	54	𝑥𝑏	𝑥𝑏	ADV
aiti-4142	64	55	and	and	CCONJ
aiti-4142	64	56	𝑧𝑏	𝑧𝑏	PROPN
aiti-4142	64	57	are	be	AUX
aiti-4142	64	58	coordinates	coordinate	NOUN
aiti-4142	64	59	of	of	ADP
aiti-4142	64	60	buoyancy	buoyancy	ADJ
aiti-4142	64	61	center	center	NOUN
aiti-4142	64	62	in	in	ADP
aiti-4142	64	63	the	the	DET
aiti-4142	64	64	body	body	NOUN
aiti-4142	64	65	-	-	PUNCT
aiti-4142	64	66	fixed	fix	VERB
aiti-4142	64	67	frame	frame	NOUN
aiti-4142	64	68	;	;	PUNCT
aiti-4142	64	69	𝜏𝑤	𝜏𝑤	ADV
aiti-4142	64	70	is	be	AUX
aiti-4142	64	71	the	the	DET
aiti-4142	64	72	control	control	NOUN
aiti-4142	64	73	force	force	NOUN
aiti-4142	64	74	from	from	ADP
aiti-4142	64	75	buoyancy	buoyancy	NOUN
aiti-4142	64	76	engine	engine	NOUN
aiti-4142	64	77	;	;	PUNCT
aiti-4142	64	78	𝑚	𝑚	PROPN
aiti-4142	64	79	and	and	CCONJ
aiti-4142	64	80	𝐼𝑦𝑦	𝐼𝑦𝑦	PROPN
aiti-4142	64	81	are	be	AUX
aiti-4142	64	82	the	the	DET
aiti-4142	64	83	vehicle	vehicle	NOUN
aiti-4142	64	84	mass	mass	NOUN
aiti-4142	64	85	and	and	CCONJ
aiti-4142	64	86	the	the	DET
aiti-4142	64	87	y	y	ADJ
aiti-4142	64	88	-	-	PUNCT
aiti-4142	64	89	axis	axis	NOUN
aiti-4142	64	90	inertia	inertia	NOUN
aiti-4142	64	91	;	;	PUNCT
aiti-4142	64	92	𝜏𝑞	𝜏𝑞	X
aiti-4142	64	93	is	be	AUX
aiti-4142	64	94	the	the	DET
aiti-4142	64	95	control	control	NOUN
aiti-4142	64	96	moment	moment	NOUN
aiti-4142	64	97	from	from	ADP
aiti-4142	64	98	mass	mass	NOUN
aiti-4142	64	99	-	-	PUNCT
aiti-4142	64	100	shifter	shifter	NOUN
aiti-4142	64	101	;	;	PUNCT
aiti-4142	64	102	𝜏𝑤	𝜏𝑤	ADV
aiti-4142	64	103	is	be	AUX
aiti-4142	64	104	the	the	DET
aiti-4142	64	105	buoyancy	buoyancy	NOUN
aiti-4142	64	106	force	force	NOUN
aiti-4142	64	107	generated	generate	VERB
aiti-4142	64	108	by	by	ADP
aiti-4142	64	109	the	the	DET
aiti-4142	64	110	pump	pump	NOUN
aiti-4142	64	111	inside	inside	ADP
aiti-4142	64	112	hug	hug	NOUN
aiti-4142	64	113	body	body	NOUN
aiti-4142	64	114	;	;	PUNCT
aiti-4142	64	115	𝜏𝑢	𝜏𝑢	PRON
aiti-4142	64	116	is	be	AUX
aiti-4142	64	117	the	the	DET
aiti-4142	64	118	thruster	thruster	NOUN
aiti-4142	64	119	force	force	NOUN
aiti-4142	64	120	;	;	PUNCT
aiti-4142	64	121	𝜏𝑒𝑢	𝜏𝑒𝑢	NOUN
aiti-4142	64	122	,	,	PUNCT
aiti-4142	64	123	𝜏𝑒𝑤	𝜏𝑒𝑤	NOUN
aiti-4142	64	124	,	,	PUNCT
aiti-4142	64	125	and	and	CCONJ
aiti-4142	64	126	𝜏𝑒𝑞	𝜏𝑒𝑞	PROPN
aiti-4142	64	127	are	be	AUX
aiti-4142	64	128	disturbances	disturbance	NOUN
aiti-4142	64	129	from	from	ADP
aiti-4142	64	130	ocean	ocean	NOUN
aiti-4142	64	131	currents	current	NOUN
aiti-4142	64	132	and	and	CCONJ
aiti-4142	64	133	wave	wave	NOUN
aiti-4142	64	134	and	and	CCONJ
aiti-4142	64	135	[	[	X
aiti-4142	64	136	𝜏𝑒𝑢	𝜏𝑒𝑢	X
aiti-4142	64	137	𝜏𝑒𝑤	𝜏𝑒𝑤	NOUN
aiti-4142	64	138	𝜏𝑒𝑞]𝑇	𝜏𝑒𝑞]𝑇	NOUN
aiti-4142	64	139	=	=	PUNCT
aiti-4142	64	140	𝐽𝑇𝜏𝑒.	𝐽𝑇𝜏𝑒.	VERB
aiti-4142	64	141	m	m	VERB
aiti-4142	64	142	g	g	PROPN
aiti-4142	64	143	2	2	NUM
aiti-4142	64	144	c	c	NOUN
aiti-4142	64	145	r	r	NOUN
aiti-4142	64	146			NOUN
aiti-4142	64	147	bu	bu	ADV
aiti-4142	64	148	sealed	seal	VERB
aiti-4142	64	149	at	at	ADP
aiti-4142	64	150	atmosphere	atmosphere	NOUN
aiti-4142	64	151	pressure	pressure	NOUN
aiti-4142	64	152	,	,	PUNCT
aiti-4142	64	153	1atmsealed	1atmsealed	NUM
aiti-4142	64	154	at	at	ADP
aiti-4142	64	155	atmosphere	atmosphere	NOUN
aiti-4142	64	156	pressure	pressure	NOUN
aiti-4142	64	157	,	,	PUNCT
aiti-4142	64	158	1atm	1atm	NUM
aiti-4142	64	159	o	o	NOUN
aiti-4142	64	160	-	-	PUNCT
aiti-4142	64	161	ringo	ringo	PROPN
aiti-4142	64	162	-	-	PUNCT
aiti-4142	64	163	ring	ring	NOUN
aiti-4142	64	164	seawaterseawater	seawaterseawater	NOUN
aiti-4142	64	165	motor	motor	NOUN
aiti-4142	64	166	and	and	CCONJ
aiti-4142	64	167	gearmotor	gearmotor	NOUN
aiti-4142	64	168	and	and	CCONJ
aiti-4142	64	169	gear	gear	PROPN
aiti-4142	64	170	ball	ball	NOUN
aiti-4142	64	171	-	-	PUNCT
aiti-4142	64	172	screwball	screwball	NOUN
aiti-4142	64	173	-	-	PUNCT
aiti-4142	64	174	screw	screw	NOUN
aiti-4142	64	175	fig	fig	NOUN
aiti-4142	64	176	.	.	PUNCT
aiti-4142	65	1	2	2	NUM
aiti-4142	65	2	buoyancy	buoyancy	NOUN
aiti-4142	65	3	engine	engine	NOUN
aiti-4142	65	4	diagram	diagram	NOUN
aiti-4142	65	5	in	in	ADP
aiti-4142	65	6	this	this	DET
aiti-4142	65	7	hug	hug	NOUN
aiti-4142	65	8	system	system	NOUN
aiti-4142	65	9	,	,	PUNCT
aiti-4142	65	10	the	the	DET
aiti-4142	65	11	buoyancy	buoyancy	NOUN
aiti-4142	65	12	engine	engine	NOUN
aiti-4142	65	13	will	will	AUX
aiti-4142	65	14	let	let	VERB
aiti-4142	65	15	the	the	DET
aiti-4142	65	16	water	water	NOUN
aiti-4142	65	17	in	in	ADP
aiti-4142	65	18	or	or	CCONJ
aiti-4142	65	19	out	out	ADV
aiti-4142	65	20	by	by	ADP
aiti-4142	65	21	moving	move	VERB
aiti-4142	65	22	piston	piston	NOUN
aiti-4142	65	23	along	along	ADP
aiti-4142	65	24	the	the	DET
aiti-4142	65	25	cylinder	cylinder	NOUN
aiti-4142	65	26	as	as	SCONJ
aiti-4142	65	27	revealed	reveal	VERB
aiti-4142	65	28	in	in	ADP
aiti-4142	65	29	fig	fig	NOUN
aiti-4142	65	30	.	.	PUNCT
aiti-4142	66	1	2	2	NUM
aiti-4142	66	2	.	.	X
aiti-4142	66	3	during	during	ADP
aiti-4142	66	4	this	this	DET
aiti-4142	66	5	process	process	NOUN
aiti-4142	66	6	,	,	PUNCT
aiti-4142	66	7	the	the	DET
aiti-4142	66	8	volume	volume	NOUN
aiti-4142	66	9	of	of	ADP
aiti-4142	66	10	this	this	DET
aiti-4142	66	11	vehicle	vehicle	NOUN
aiti-4142	66	12	will	will	AUX
aiti-4142	66	13	decrease	decrease	VERB
aiti-4142	66	14	or	or	CCONJ
aiti-4142	66	15	increase	increase	VERB
aiti-4142	66	16	according	accord	VERB
aiti-4142	66	17	to	to	ADP
aiti-4142	66	18	the	the	DET
aiti-4142	66	19	position	position	NOUN
aiti-4142	66	20	of	of	ADP
aiti-4142	66	21	the	the	DET
aiti-4142	66	22	piston	piston	NOUN
aiti-4142	66	23	.	.	PUNCT
aiti-4142	67	1	if	if	SCONJ
aiti-4142	67	2	the	the	DET
aiti-4142	67	3	weight	weight	NOUN
aiti-4142	67	4	is	be	AUX
aiti-4142	67	5	equal	equal	ADJ
aiti-4142	67	6	to	to	ADP
aiti-4142	67	7	the	the	DET
aiti-4142	67	8	buoyancy	buoyancy	NOUN
aiti-4142	67	9	force	force	NOUN
aiti-4142	67	10	in	in	ADP
aiti-4142	67	11	the	the	DET
aiti-4142	67	12	neutral	neutral	ADJ
aiti-4142	67	13	condition	condition	NOUN
aiti-4142	67	14	,	,	PUNCT
aiti-4142	67	15	this	this	DET
aiti-4142	67	16	glider	glider	NOUN
aiti-4142	67	17	descends	descend	VERB
aiti-4142	67	18	when	when	SCONJ
aiti-4142	67	19	its	its	PRON
aiti-4142	67	20	volume	volume	NOUN
aiti-4142	67	21	is	be	AUX
aiti-4142	67	22	reduced	reduce	VERB
aiti-4142	67	23	and	and	CCONJ
aiti-4142	67	24	ascends	ascend	NOUN
aiti-4142	67	25	toward	toward	ADP
aiti-4142	67	26	the	the	DET
aiti-4142	67	27	water	water	NOUN
aiti-4142	67	28	surface	surface	NOUN
aiti-4142	67	29	when	when	SCONJ
aiti-4142	67	30	its	its	PRON
aiti-4142	67	31	volume	volume	NOUN
aiti-4142	67	32	is	be	AUX
aiti-4142	67	33	increased	increase	VERB
aiti-4142	67	34	.	.	PUNCT
aiti-4142	68	1	in	in	ADP
aiti-4142	68	2	order	order	NOUN
aiti-4142	68	3	to	to	PART
aiti-4142	68	4	specify	specify	VERB
aiti-4142	68	5	the	the	DET
aiti-4142	68	6	force	force	NOUN
aiti-4142	68	7	that	that	SCONJ
aiti-4142	68	8	this	this	DET
aiti-4142	68	9	buoyancy	buoyancy	NOUN
aiti-4142	68	10	engine	engine	NOUN
aiti-4142	68	11	can	can	AUX
aiti-4142	68	12	produce	produce	VERB
aiti-4142	68	13	,	,	PUNCT
aiti-4142	68	14	the	the	DET
aiti-4142	68	15	travel	travel	NOUN
aiti-4142	68	16	distance	distance	NOUN
aiti-4142	68	17	of	of	ADP
aiti-4142	68	18	the	the	DET
aiti-4142	68	19	piston	piston	NOUN
aiti-4142	68	20	and	and	CCONJ
aiti-4142	68	21	the	the	DET
aiti-4142	68	22	radius	radius	NOUN
aiti-4142	68	23	of	of	ADP
aiti-4142	68	24	cylinder	cylinder	NOUN
aiti-4142	68	25	should	should	AUX
aiti-4142	68	26	be	be	AUX
aiti-4142	68	27	defined	define	VERB
aiti-4142	68	28	.	.	PUNCT
aiti-4142	69	1	the	the	DET
aiti-4142	69	2	buoyancy	buoyancy	NOUN
aiti-4142	69	3	force	force	NOUN
aiti-4142	69	4	is	be	AUX
aiti-4142	69	5	equal	equal	ADJ
aiti-4142	69	6	to	to	ADP
aiti-4142	69	7	the	the	DET
aiti-4142	69	8	weight	weight	NOUN
aiti-4142	69	9	of	of	ADP
aiti-4142	69	10	seawater	seawater	NOUN
aiti-4142	69	11	going	go	VERB
aiti-4142	69	12	in	in	ADP
aiti-4142	69	13	or	or	CCONJ
aiti-4142	69	14	out	out	ADV
aiti-4142	69	15	and	and	CCONJ
aiti-4142	69	16	it	it	PRON
aiti-4142	69	17	is	be	AUX
aiti-4142	69	18	indicated	indicate	VERB
aiti-4142	69	19	in	in	ADP
aiti-4142	69	20	eq	eq	ADP
aiti-4142	69	21	.	.	PUNCT
aiti-4142	70	1	(	(	PUNCT
aiti-4142	70	2	3	3	NUM
aiti-4142	70	3	)	)	PUNCT
aiti-4142	70	4	.	.	PUNCT
aiti-4142	71	1	as	as	ADP
aiti-4142	71	2	this	this	DET
aiti-4142	71	3	point	point	NOUN
aiti-4142	71	4	,	,	PUNCT
aiti-4142	71	5	in	in	ADP
aiti-4142	71	6	fig	fig	NOUN
aiti-4142	71	7	.	.	PUNCT
aiti-4142	72	1	2	2	NUM
aiti-4142	72	2	,	,	PUNCT
aiti-4142	72	3	𝑢𝑏	𝑢𝑏	ADV
aiti-4142	72	4	is	be	AUX
aiti-4142	72	5	the	the	DET
aiti-4142	72	6	position	position	NOUN
aiti-4142	72	7	of	of	ADP
aiti-4142	72	8	piston	piston	NOUN
aiti-4142	72	9	;	;	PUNCT
aiti-4142	73	1	𝑅𝑐	𝑅𝑐	PROPN
aiti-4142	73	2	is	be	AUX
aiti-4142	73	3	the	the	DET
aiti-4142	73	4	radius	radius	NOUN
aiti-4142	73	5	of	of	ADP
aiti-4142	73	6	the	the	DET
aiti-4142	73	7	cylinder	cylinder	NOUN
aiti-4142	73	8	;	;	PUNCT
aiti-4142	73	9	𝜌	𝜌	X
aiti-4142	73	10	is	be	AUX
aiti-4142	73	11	the	the	DET
aiti-4142	73	12	density	density	NOUN
aiti-4142	73	13	of	of	ADP
aiti-4142	73	14	seawater	seawater	NOUN
aiti-4142	73	15	;	;	PUNCT
aiti-4142	73	16	𝑔	𝑔	PROPN
aiti-4142	73	17	is	be	AUX
aiti-4142	73	18	the	the	DET
aiti-4142	73	19	gravitational	gravitational	ADJ
aiti-4142	73	20	acceleration	acceleration	NOUN
aiti-4142	73	21	.	.	PUNCT
aiti-4142	74	1	during	during	ADP
aiti-4142	74	2	the	the	DET
aiti-4142	74	3	operation	operation	NOUN
aiti-4142	74	4	of	of	ADP
aiti-4142	74	5	the	the	DET
aiti-4142	74	6	buoyancy	buoyancy	NOUN
aiti-4142	74	7	engine	engine	NOUN
aiti-4142	74	8	,	,	PUNCT
aiti-4142	74	9	the	the	DET
aiti-4142	74	10	center	center	NOUN
aiti-4142	74	11	of	of	ADP
aiti-4142	74	12	the	the	DET
aiti-4142	74	13	buoyancy	buoyancy	NOUN
aiti-4142	74	14	is	be	AUX
aiti-4142	74	15	shifted	shift	VERB
aiti-4142	74	16	along	along	ADP
aiti-4142	74	17	the	the	DET
aiti-4142	74	18	𝑂𝑥0	𝑂𝑥0	NOUN
aiti-4142	74	19	axis	axis	NOUN
aiti-4142	74	20	by	by	ADP
aiti-4142	74	21	eq	eq	PROPN
aiti-4142	74	22	.	.	PUNCT
aiti-4142	75	1	(	(	PUNCT
aiti-4142	75	2	4	4	NUM
aiti-4142	75	3	)	)	PUNCT
aiti-4142	75	4	.	.	PUNCT
aiti-4142	76	1	2	2	NUM
aiti-4142	76	2	w	w	PROPN
aiti-4142	76	3	b	b	PROPN
aiti-4142	76	4	cu	cu	PROPN
aiti-4142	76	5	r	r	PROPN
aiti-4142	76	6	g	g	PROPN
aiti-4142	76	7			NOUN
aiti-4142	76	8			NOUN
aiti-4142	76	9	(	(	PUNCT
aiti-4142	76	10	3	3	NUM
aiti-4142	76	11	)	)	SYM
aiti-4142	76	12	2	2	NUM
aiti-4142	76	13	2	2	NUM
aiti-4142	76	14	(	(	PUNCT
aiti-4142	76	15	)	)	PUNCT
aiti-4142	76	16	2	2	NUM
aiti-4142	76	17	b	b	X
aiti-4142	76	18	c	c	PROPN
aiti-4142	76	19	b	b	PROPN
aiti-4142	76	20	p	p	X
aiti-4142	76	21	b	b	PROPN
aiti-4142	76	22	c	c	PROPN
aiti-4142	76	23	b	b	PROPN
aiti-4142	76	24	nb	nb	NUM
aiti-4142	76	25	u	u	NOUN
aiti-4142	76	26	r	r	NOUN
aiti-4142	76	27	u	u	NOUN
aiti-4142	76	28	x	x	X
aiti-4142	76	29	x	x	SYM
aiti-4142	76	30	r	r	NOUN
aiti-4142	76	31	u	u	NOUN
aiti-4142	76	32	v	v	ADP
aiti-4142	76	33			PROPN
aiti-4142	76	34			ADJ
aiti-4142	76	35			PRON
aiti-4142	76	36			NOUN
aiti-4142	76	37			X
aiti-4142	76	38	(	(	PUNCT
aiti-4142	76	39	4	4	NUM
aiti-4142	76	40	)	)	PUNCT
aiti-4142	76	41	where	where	SCONJ
aiti-4142	76	42	,	,	PUNCT
aiti-4142	76	43	𝑋𝑝	𝑋𝑝	PROPN
aiti-4142	76	44	is	be	AUX
aiti-4142	76	45	the	the	DET
aiti-4142	76	46	position	position	NOUN
aiti-4142	76	47	of	of	ADP
aiti-4142	76	48	the	the	DET
aiti-4142	76	49	piston	piston	NOUN
aiti-4142	76	50	in	in	ADP
aiti-4142	76	51	the	the	DET
aiti-4142	76	52	neutral	neutral	ADJ
aiti-4142	76	53	position	position	NOUN
aiti-4142	76	54	along	along	ADP
aiti-4142	76	55	the	the	DET
aiti-4142	76	56	𝑂𝑥0	𝑂𝑥0	NOUN
aiti-4142	76	57	axis	axis	NOUN
aiti-4142	76	58	in	in	ADP
aiti-4142	76	59	the	the	DET
aiti-4142	76	60	body	body	NOUN
aiti-4142	76	61	-	-	PUNCT
aiti-4142	76	62	fixed	fix	VERB
aiti-4142	76	63	frame	frame	NOUN
aiti-4142	76	64	;	;	PUNCT
aiti-4142	76	65	𝑉𝑛𝑏	𝑉𝑛𝑏	PROPN
aiti-4142	76	66	is	be	AUX
aiti-4142	76	67	the	the	DET
aiti-4142	76	68	volume	volume	NOUN
aiti-4142	76	69	of	of	ADP
aiti-4142	76	70	the	the	DET
aiti-4142	76	71	vehicle	vehicle	NOUN
aiti-4142	76	72	in	in	ADP
aiti-4142	76	73	the	the	DET
aiti-4142	76	74	neutral	neutral	ADJ
aiti-4142	76	75	condition	condition	NOUN
aiti-4142	76	76	of	of	ADP
aiti-4142	76	77	the	the	DET
aiti-4142	76	78	buoyancy	buoyancy	NOUN
aiti-4142	76	79	engine	engine	NOUN
aiti-4142	76	80	.	.	PUNCT
aiti-4142	77	1	the	the	DET
aiti-4142	77	2	movable	movable	ADJ
aiti-4142	77	3	mass	mass	NOUN
aiti-4142	77	4	in	in	ADP
aiti-4142	77	5	fig	fig	NOUN
aiti-4142	77	6	.	.	PUNCT
aiti-4142	78	1	3	3	NUM
aiti-4142	78	2	can	can	AUX
aiti-4142	78	3	move	move	VERB
aiti-4142	78	4	along	along	ADP
aiti-4142	78	5	the	the	DET
aiti-4142	78	6	ox0	ox0	NOUN
aiti-4142	78	7	axis	axis	NOUN
aiti-4142	78	8	;	;	PUNCT
aiti-4142	78	9	therefore	therefore	ADV
aiti-4142	78	10	,	,	PUNCT
aiti-4142	78	11	the	the	DET
aiti-4142	78	12	center	center	NOUN
aiti-4142	78	13	of	of	ADP
aiti-4142	78	14	gravity	gravity	NOUN
aiti-4142	78	15	in	in	ADP
aiti-4142	78	16	this	this	DET
aiti-4142	78	17	axis	axis	NOUN
aiti-4142	78	18	𝑥𝑔	𝑥𝑔	PROPN
aiti-4142	78	19	can	can	AUX
aiti-4142	78	20	be	be	AUX
aiti-4142	78	21	defined	define	VERB
aiti-4142	78	22	as	as	ADP
aiti-4142	78	23	:	:	PUNCT
aiti-4142	78	24	stat	stat	PROPN
aiti-4142	78	25	stat	stat	PROPN
aiti-4142	78	26	m	m	PROPN
aiti-4142	78	27	m	m	VERB
aiti-4142	78	28	g	g	NOUN
aiti-4142	78	29	m	m	PROPN
aiti-4142	78	30	x	x	NOUN
aiti-4142	78	31	m	m	VERB
aiti-4142	78	32	u	u	NOUN
aiti-4142	78	33	x	x	VERB
aiti-4142	78	34	m	m	VERB
aiti-4142	78	35			ADJ
aiti-4142	78	36			NUM
aiti-4142	78	37	(	(	PUNCT
aiti-4142	78	38	5	5	NUM
aiti-4142	78	39	)	)	PUNCT
aiti-4142	78	40	advances	advance	NOUN
aiti-4142	78	41	in	in	ADP
aiti-4142	78	42	technology	technology	NOUN
aiti-4142	78	43	innovation	innovation	NOUN
aiti-4142	78	44	,	,	PUNCT
aiti-4142	78	45	vol	vol	NOUN
aiti-4142	78	46	.	.	PROPN
aiti-4142	78	47	5	5	NUM
aiti-4142	78	48	,	,	PUNCT
aiti-4142	78	49	no	no	INTJ
aiti-4142	78	50	.	.	NOUN
aiti-4142	78	51	3	3	NUM
aiti-4142	78	52	,	,	PUNCT
aiti-4142	78	53	2020	2020	NUM
aiti-4142	78	54	,	,	PUNCT
aiti-4142	78	55	pp	pp	ADJ
aiti-4142	78	56	.	.	PUNCT
aiti-4142	79	1	135	135	NUM
aiti-4142	79	2	-	-	SYM
aiti-4142	79	3	146	146	NUM
aiti-4142	79	4	138	138	NUM
aiti-4142	79	5	where	where	SCONJ
aiti-4142	79	6	,	,	PUNCT
aiti-4142	79	7	𝑚𝑠𝑡𝑎𝑡	𝑚𝑠𝑡𝑎𝑡	NOUN
aiti-4142	79	8	=	=	PUNCT
aiti-4142	79	9	𝑚	𝑚	PROPN
aiti-4142	79	10	−	−	PROPN
aiti-4142	79	11	𝑚𝑚	𝑚𝑚	ADP
aiti-4142	79	12	is	be	AUX
aiti-4142	79	13	the	the	DET
aiti-4142	79	14	static	static	ADJ
aiti-4142	79	15	mass	mass	NOUN
aiti-4142	79	16	;	;	PUNCT
aiti-4142	79	17	𝑚𝑚	𝑚𝑚	SCONJ
aiti-4142	79	18	is	be	AUX
aiti-4142	79	19	the	the	DET
aiti-4142	79	20	weight	weight	NOUN
aiti-4142	79	21	of	of	ADP
aiti-4142	79	22	the	the	DET
aiti-4142	79	23	movable	movable	ADJ
aiti-4142	79	24	mass	mass	NOUN
aiti-4142	79	25	;	;	PUNCT
aiti-4142	79	26	𝑢𝑚	𝑢𝑚	NOUN
aiti-4142	79	27	is	be	AUX
aiti-4142	79	28	the	the	DET
aiti-4142	79	29	position	position	NOUN
aiti-4142	79	30	of	of	ADP
aiti-4142	79	31	the	the	DET
aiti-4142	79	32	moving	move	VERB
aiti-4142	79	33	mass	mass	NOUN
aiti-4142	79	34	;	;	PUNCT
aiti-4142	79	35	𝑥𝑠𝑡𝑎𝑡	𝑥𝑠𝑡𝑎𝑡	NOUN
aiti-4142	79	36	is	be	AUX
aiti-4142	79	37	the	the	DET
aiti-4142	79	38	position	position	NOUN
aiti-4142	79	39	of	of	ADP
aiti-4142	79	40	the	the	DET
aiti-4142	79	41	static	static	ADJ
aiti-4142	79	42	mass	mass	NOUN
aiti-4142	79	43	and	and	CCONJ
aiti-4142	79	44	it	it	PRON
aiti-4142	79	45	is	be	AUX
aiti-4142	79	46	assumed	assume	VERB
aiti-4142	79	47	to	to	PART
aiti-4142	79	48	be	be	AUX
aiti-4142	79	49	very	very	ADV
aiti-4142	79	50	small	small	ADJ
aiti-4142	79	51	because	because	SCONJ
aiti-4142	79	52	the	the	DET
aiti-4142	79	53	origin	origin	NOUN
aiti-4142	79	54	of	of	ADP
aiti-4142	79	55	body	body	NOUN
aiti-4142	79	56	-	-	PUNCT
aiti-4142	79	57	fixed	fix	VERB
aiti-4142	79	58	frame	frame	NOUN
aiti-4142	79	59	is	be	AUX
aiti-4142	79	60	located	locate	VERB
aiti-4142	79	61	near	near	ADP
aiti-4142	79	62	to	to	ADP
aiti-4142	79	63	the	the	DET
aiti-4142	79	64	center	center	NOUN
aiti-4142	79	65	of	of	ADP
aiti-4142	79	66	gravity	gravity	NOUN
aiti-4142	79	67	.	.	PUNCT
aiti-4142	80	1	furthermore	furthermore	ADV
aiti-4142	80	2	,	,	PUNCT
aiti-4142	80	3	𝑥𝑔	𝑥𝑔	PROPN
aiti-4142	80	4	can	can	AUX
aiti-4142	80	5	be	be	AUX
aiti-4142	80	6	approximated	approximate	VERB
aiti-4142	80	7	as	as	ADP
aiti-4142	80	8	:	:	PUNCT
aiti-4142	80	9	.	.	PUNCT
aiti-4142	81	1	m	m	VERB
aiti-4142	82	1	g	g	PROPN
aiti-4142	82	2	m	m	NOUN
aiti-4142	82	3	m	m	VERB
aiti-4142	82	4	x	x	X
aiti-4142	82	5	u	u	NOUN
aiti-4142	82	6	m	m	NOUN
aiti-4142	82	7			X
aiti-4142	82	8	(	(	PUNCT
aiti-4142	82	9	6	6	NUM
aiti-4142	82	10	)	)	PUNCT
aiti-4142	82	11	the	the	DET
aiti-4142	82	12	moment	moment	NOUN
aiti-4142	82	13	produced	produce	VERB
aiti-4142	82	14	from	from	ADP
aiti-4142	82	15	the	the	DET
aiti-4142	82	16	mass	mass	NOUN
aiti-4142	82	17	-	-	PUNCT
aiti-4142	82	18	shifter	shifter	NOUN
aiti-4142	82	19	can	can	AUX
aiti-4142	82	20	be	be	AUX
aiti-4142	82	21	computed	compute	VERB
aiti-4142	82	22	by	by	ADP
aiti-4142	82	23	the	the	DET
aiti-4142	82	24	product	product	NOUN
aiti-4142	82	25	of	of	ADP
aiti-4142	82	26	the	the	DET
aiti-4142	82	27	net	net	ADJ
aiti-4142	82	28	buoyancy	buoyancy	NOUN
aiti-4142	82	29	force	force	NOUN
aiti-4142	82	30	and	and	CCONJ
aiti-4142	82	31	the	the	DET
aiti-4142	82	32	location	location	NOUN
aiti-4142	82	33	of	of	ADP
aiti-4142	82	34	the	the	DET
aiti-4142	82	35	center	center	NOUN
aiti-4142	82	36	of	of	ADP
aiti-4142	82	37	gravity	gravity	NOUN
aiti-4142	82	38	as	as	SCONJ
aiti-4142	82	39	found	find	VERB
aiti-4142	82	40	in	in	ADP
aiti-4142	82	41	eq	eq	ADP
aiti-4142	82	42	.	.	PUNCT
aiti-4142	83	1	(	(	PUNCT
aiti-4142	83	2	7	7	NUM
aiti-4142	83	3	)	)	PUNCT
aiti-4142	83	4	.	.	PUNCT
aiti-4142	84	1	in	in	ADP
aiti-4142	84	2	addition	addition	NOUN
aiti-4142	84	3	,	,	PUNCT
aiti-4142	84	4	the	the	DET
aiti-4142	84	5	moment	moment	NOUN
aiti-4142	84	6	of	of	ADP
aiti-4142	84	7	inertia	inertia	NOUN
aiti-4142	84	8	is	be	AUX
aiti-4142	84	9	also	also	ADV
aiti-4142	84	10	changed	change	VERB
aiti-4142	84	11	because	because	SCONJ
aiti-4142	84	12	of	of	ADP
aiti-4142	84	13	the	the	DET
aiti-4142	84	14	change	change	NOUN
aiti-4142	84	15	in	in	ADP
aiti-4142	84	16	mass	mass	ADJ
aiti-4142	84	17	distribution	distribution	NOUN
aiti-4142	84	18	following	follow	VERB
aiti-4142	84	19	eq	eq	ADP
aiti-4142	84	20	.	.	PUNCT
aiti-4142	85	1	(	(	PUNCT
aiti-4142	85	2	8)	8)	NUM
aiti-4142	85	3	.	.	PUNCT
aiti-4142	86	1	𝐼𝑛𝑦	𝐼𝑛𝑦	NOUN
aiti-4142	86	2	is	be	AUX
aiti-4142	86	3	the	the	DET
aiti-4142	86	4	moment	moment	NOUN
aiti-4142	86	5	of	of	ADP
aiti-4142	86	6	inertia	inertia	NOUN
aiti-4142	86	7	in	in	ADP
aiti-4142	86	8	the	the	DET
aiti-4142	86	9	neutral	neutral	ADJ
aiti-4142	86	10	condition	condition	NOUN
aiti-4142	86	11	of	of	ADP
aiti-4142	86	12	moving	move	VERB
aiti-4142	86	13	mass	mass	NOUN
aiti-4142	86	14	.	.	PUNCT
aiti-4142	87	1	m	m	VERB
aiti-4142	87	2	q	q	X
aiti-4142	88	1	g	g	PROPN
aiti-4142	88	2	m	m	NOUN
aiti-4142	88	3	m	m	VERB
aiti-4142	88	4	wx	wx	PROPN
aiti-4142	88	5	w	w	PROPN
aiti-4142	88	6	u	u	PROPN
aiti-4142	88	7	m	m	VERB
aiti-4142	88	8			NOUN
aiti-4142	88	9			ADJ
aiti-4142	88	10			NOUN
aiti-4142	88	11	(	(	PUNCT
aiti-4142	88	12	7	7	NUM
aiti-4142	88	13	)	)	SYM
aiti-4142	88	14	2	2	NUM
aiti-4142	88	15	(	(	PUNCT
aiti-4142	88	16	)	)	PUNCT
aiti-4142	88	17	yy	yy	PROPN
aiti-4142	88	18	ny	ny	PROPN
aiti-4142	88	19	m	m	PROPN
aiti-4142	88	20	m	m	VERB
aiti-4142	88	21	mi	mi	NOUN
aiti-4142	89	1	i	i	PRON
aiti-4142	89	2	m	m	VERB
aiti-4142	89	3	u	u	NOUN
aiti-4142	89	4	sgn	sgn	NOUN
aiti-4142	89	5	u	u	X
aiti-4142	89	6	(	(	PUNCT
aiti-4142	89	7	8)	8)	NUM
aiti-4142	89	8	m	m	NOUN
aiti-4142	89	9	g	g	NOUN
aiti-4142	89	10	moving	move	VERB
aiti-4142	89	11	massmoving	massmove	VERB
aiti-4142	89	12	mass	mass	ADJ
aiti-4142	89	13	mu	mu	PROPN
aiti-4142	89	14	motor	motor	PROPN
aiti-4142	89	15	and	and	CCONJ
aiti-4142	89	16	gearmotor	gearmotor	NOUN
aiti-4142	89	17	and	and	CCONJ
aiti-4142	89	18	gear	gear	PROPN
aiti-4142	89	19	ball	ball	NOUN
aiti-4142	89	20	-	-	PUNCT
aiti-4142	89	21	screwball	screwball	NOUN
aiti-4142	89	22	-	-	PUNCT
aiti-4142	89	23	screw	screw	NOUN
aiti-4142	89	24	fig	fig	NOUN
aiti-4142	89	25	.	.	PUNCT
aiti-4142	90	1	3	3	NUM
aiti-4142	90	2	mass	mass	NOUN
aiti-4142	90	3	shifter	shifter	NOUN
aiti-4142	90	4	diagram	diagram	NOUN
aiti-4142	90	5	3	3	NUM
aiti-4142	90	6	.	.	PUNCT
aiti-4142	90	7	depth	depth	NOUN
aiti-4142	90	8	control	control	NOUN
aiti-4142	90	9	3.1	3.1	NUM
aiti-4142	90	10	.	.	PUNCT
aiti-4142	90	11	pitch	pitch	NOUN
aiti-4142	90	12	control	control	VERB
aiti-4142	90	13	the	the	DET
aiti-4142	90	14	pitch	pitch	NOUN
aiti-4142	90	15	angle	angle	NOUN
aiti-4142	90	16	in	in	ADP
aiti-4142	90	17	the	the	DET
aiti-4142	90	18	proposed	propose	VERB
aiti-4142	90	19	design	design	NOUN
aiti-4142	90	20	of	of	ADP
aiti-4142	90	21	the	the	DET
aiti-4142	90	22	hug	hug	NOUN
aiti-4142	90	23	is	be	AUX
aiti-4142	90	24	changed	change	VERB
aiti-4142	90	25	by	by	ADP
aiti-4142	90	26	controlling	control	VERB
aiti-4142	90	27	the	the	DET
aiti-4142	90	28	moving	move	VERB
aiti-4142	90	29	mass	mass	ADJ
aiti-4142	90	30	position	position	NOUN
aiti-4142	90	31	and	and	CCONJ
aiti-4142	90	32	the	the	DET
aiti-4142	90	33	pitch	pitch	NOUN
aiti-4142	90	34	angle	angle	NOUN
aiti-4142	90	35	dynamics	dynamic	NOUN
aiti-4142	90	36	can	can	AUX
aiti-4142	90	37	be	be	AUX
aiti-4142	90	38	described	describe	VERB
aiti-4142	90	39	as	as	ADP
aiti-4142	90	40	eq	eq	ADP
aiti-4142	90	41	.	.	PUNCT
aiti-4142	91	1	(	(	PUNCT
aiti-4142	91	2	9	9	NUM
aiti-4142	91	3	)	)	PUNCT
aiti-4142	91	4	,	,	PUNCT
aiti-4142	91	5	which	which	PRON
aiti-4142	91	6	are	be	AUX
aiti-4142	91	7	from	from	ADP
aiti-4142	91	8	eq	eq	PROPN
aiti-4142	91	9	.	.	PUNCT
aiti-4142	92	1	(	(	PUNCT
aiti-4142	92	2	2	2	NUM
aiti-4142	92	3	)	)	PUNCT
aiti-4142	92	4	.	.	PUNCT
aiti-4142	93	1			NOUN
aiti-4142	93	2	33	33	ADV
aiti-4142	93	3	2	2	NUM
aiti-4142	93	4	system	system	NOUN
aiti-4142	93	5	1	1	NUM
aiti-4142	93	6	:	:	PUNCT
aiti-4142	93	7	system	system	NOUN
aiti-4142	93	8	2	2	NUM
aiti-4142	93	9	:	:	PUNCT
aiti-4142	93	10	,	,	PUNCT
aiti-4142	93	11	,	,	PUNCT
aiti-4142	93	12	q	q	PROPN
aiti-4142	93	13	eq	eq	NOUN
aiti-4142	93	14	q	q	PROPN
aiti-4142	93	15	m	m	PROPN
aiti-4142	93	16	q	q	NOUN
aiti-4142	93	17	f	f	X
aiti-4142	93	18			X
aiti-4142	93	19			PROPN
aiti-4142	93	20			PROPN
aiti-4142	94	1			AUX
aiti-4142	94	2			NOUN
aiti-4142	94	3			NOUN
aiti-4142	94	4			PROPN
aiti-4142	94	5			PROPN
aiti-4142	94	6			ADV
aiti-4142	94	7			X
aiti-4142	94	8	(	(	PUNCT
aiti-4142	94	9	9	9	NUM
aiti-4142	94	10	)	)	PUNCT
aiti-4142	94	11	where	where	SCONJ
aiti-4142	94	12	33	33	NUM
aiti-4142	94	13			NOUN
aiti-4142	94	14	qym	qym	ADV
aiti-4142	94	15	i	i	PRON
aiti-4142	94	16	m	m	VERB
aiti-4142	94	17	(	(	PUNCT
aiti-4142	94	18	10	10	NUM
aiti-4142	94	19	)	)	SYM
aiti-4142	94	20	2	2	NUM
aiti-4142	94	21	(	(	PUNCT
aiti-4142	94	22	)	)	PUNCT
aiti-4142	94	23	(	(	PUNCT
aiti-4142	94	24	)	)	PUNCT
aiti-4142	94	25	(	(	PUNCT
aiti-4142	94	26	)	)	PUNCT
aiti-4142	94	27	sin	sin	NOUN
aiti-4142	94	28	(	(	PUNCT
aiti-4142	94	29	)	)	PUNCT
aiti-4142	94	30	cos	cos	NOUN
aiti-4142	94	31			ADV
aiti-4142	94	32			PUNCT
aiti-4142	94	33			PROPN
aiti-4142	94	34			VERB
aiti-4142	94	35			PROPN
aiti-4142	94	36			PROPN
aiti-4142	94	37			PUNCT
aiti-4142	94	38			PUNCT
aiti-4142	94	39			PROPN
aiti-4142	94	40			PROPN
aiti-4142	94	41			PROPN
aiti-4142	94	42	g	g	NOUN
aiti-4142	94	43	g	g	PROPN
aiti-4142	94	44	w	w	PROPN
aiti-4142	94	45	w	w	PROPN
aiti-4142	94	46	q	q	PROPN
aiti-4142	94	47	u	u	NOUN
aiti-4142	94	48	g	g	PROPN
aiti-4142	94	49	b	b	PROPN
aiti-4142	94	50	g	g	PROPN
aiti-4142	94	51	bq	bq	PROPN
aiti-4142	94	52	q	q	PROPN
aiti-4142	95	1	f	f	NOUN
aiti-4142	95	2	mz	mz	PROPN
aiti-4142	95	3	u	u	PROPN
aiti-4142	95	4	qw	qw	X
aiti-4142	95	5	mx	mx	PROPN
aiti-4142	95	6	w	w	PROPN
aiti-4142	95	7	qu	qu	PROPN
aiti-4142	95	8	m	m	PROPN
aiti-4142	95	9	w	w	PROPN
aiti-4142	95	10	z	z	PROPN
aiti-4142	95	11	wu	wu	PROPN
aiti-4142	95	12	z	z	PROPN
aiti-4142	95	13	qu	qu	PROPN
aiti-4142	95	14	x	x	PROPN
aiti-4142	95	15	uw	uw	PROPN
aiti-4142	95	16	m	m	PROPN
aiti-4142	95	17	q	q	PROPN
aiti-4142	95	18	q	q	PROPN
aiti-4142	95	19	z	z	PROPN
aiti-4142	95	20	w	w	PROPN
aiti-4142	95	21	z	z	PROPN
aiti-4142	95	22	b	b	PROPN
aiti-4142	95	23	x	x	SYM
aiti-4142	95	24	w	w	NOUN
aiti-4142	95	25	x	x	X
aiti-4142	95	26	b	b	NOUN
aiti-4142	95	27			PROPN
aiti-4142	95	28	(	(	PUNCT
aiti-4142	95	29	11	11	NUM
aiti-4142	95	30	)	)	PUNCT
aiti-4142	95	31	in	in	ADP
aiti-4142	95	32	this	this	DET
aiti-4142	95	33	system	system	NOUN
aiti-4142	95	34	,	,	PUNCT
aiti-4142	95	35	the	the	DET
aiti-4142	95	36	buoyancy	buoyancy	NOUN
aiti-4142	95	37	force	force	NOUN
aiti-4142	95	38	is	be	AUX
aiti-4142	95	39	only	only	ADV
aiti-4142	95	40	controlled	control	VERB
aiti-4142	95	41	by	by	ADP
aiti-4142	95	42	on	on	ADP
aiti-4142	95	43	and	and	CCONJ
aiti-4142	95	44	off	off	ADP
aiti-4142	95	45	mode	mode	NOUN
aiti-4142	95	46	for	for	ADP
aiti-4142	95	47	descending	descend	VERB
aiti-4142	95	48	and	and	CCONJ
aiti-4142	95	49	ascending	ascend	VERB
aiti-4142	95	50	.	.	PUNCT
aiti-4142	96	1	therefore	therefore	ADV
aiti-4142	96	2	,	,	PUNCT
aiti-4142	96	3	the	the	DET
aiti-4142	96	4	moment	moment	NOUN
aiti-4142	96	5	produced	produce	VERB
aiti-4142	96	6	by	by	ADP
aiti-4142	96	7	moving	move	VERB
aiti-4142	96	8	mass	mass	NOUN
aiti-4142	96	9	is	be	AUX
aiti-4142	96	10	used	use	VERB
aiti-4142	96	11	and	and	CCONJ
aiti-4142	96	12	designed	design	VERB
aiti-4142	96	13	using	use	VERB
aiti-4142	96	14	the	the	DET
aiti-4142	96	15	adaptive	adaptive	ADJ
aiti-4142	96	16	backstepping	backstepping	NOUN
aiti-4142	96	17	technique	technique	NOUN
aiti-4142	96	18	for	for	ADP
aiti-4142	96	19	the	the	DET
aiti-4142	96	20	vertical	vertical	ADJ
aiti-4142	96	21	dynamics	dynamic	NOUN
aiti-4142	96	22	.	.	PUNCT
aiti-4142	97	1	two	two	NUM
aiti-4142	97	2	differential	differential	ADJ
aiti-4142	97	3	equations	equation	NOUN
aiti-4142	97	4	in	in	ADP
aiti-4142	97	5	eq	eq	PROPN
aiti-4142	97	6	.	.	PUNCT
aiti-4142	98	1	(	(	PUNCT
aiti-4142	98	2	9	9	X
aiti-4142	98	3	)	)	PUNCT
aiti-4142	98	4	are	be	AUX
aiti-4142	98	5	considered	consider	VERB
aiti-4142	98	6	as	as	ADP
aiti-4142	98	7	two	two	NUM
aiti-4142	98	8	subsystems	subsystem	NOUN
aiti-4142	98	9	for	for	ADP
aiti-4142	98	10	the	the	DET
aiti-4142	98	11	backstepping	backstepping	NOUN
aiti-4142	98	12	control	control	NOUN
aiti-4142	98	13	.	.	PUNCT
aiti-4142	99	1	for	for	ADP
aiti-4142	99	2	one	one	NUM
aiti-4142	99	3	equation	equation	NOUN
aiti-4142	99	4	,	,	PUNCT
aiti-4142	99	5	the	the	DET
aiti-4142	99	6	virtual	virtual	ADJ
aiti-4142	99	7	control	control	NOUN
aiti-4142	99	8	law	law	NOUN
aiti-4142	99	9	is	be	AUX
aiti-4142	99	10	set	set	VERB
aiti-4142	99	11	for	for	ADP
aiti-4142	99	12	𝑞𝑑	𝑞𝑑	INTJ
aiti-4142	99	13	so	so	SCONJ
aiti-4142	99	14	that	that	SCONJ
aiti-4142	99	15	𝜃	𝜃	X
aiti-4142	99	16	→	→	SYM
aiti-4142	99	17	𝜃𝑑	𝜃𝑑	ADP
aiti-4142	99	18	as	as	ADP
aiti-4142	99	19	𝑡	𝑡	PROPN
aiti-4142	99	20	→	→	SYM
aiti-4142	99	21	∞	∞	PROPN
aiti-4142	99	22	,	,	PUNCT
aiti-4142	99	23	and	and	CCONJ
aiti-4142	99	24	then	then	ADV
aiti-4142	99	25	the	the	DET
aiti-4142	99	26	control	control	NOUN
aiti-4142	99	27	moment	moment	NOUN
aiti-4142	99	28	𝜏𝑞	𝜏𝑞	NOUN
aiti-4142	99	29	is	be	AUX
aiti-4142	99	30	designed	design	VERB
aiti-4142	99	31	for	for	ADP
aiti-4142	99	32	controlling	control	VERB
aiti-4142	99	33	𝑞	𝑞	X
aiti-4142	99	34	→	→	PUNCT
aiti-4142	99	35	𝑞𝑑	𝑞𝑑	INTJ
aiti-4142	99	36	as	as	SCONJ
aiti-4142	99	37	𝑡	𝑡	PROPN
aiti-4142	99	38	→	→	SYM
aiti-4142	99	39	∞.	∞.	PROPN
aiti-4142	99	40	the	the	DET
aiti-4142	99	41	errors	error	NOUN
aiti-4142	99	42	of	of	ADP
aiti-4142	99	43	system	system	NOUN
aiti-4142	99	44	1	1	NUM
aiti-4142	99	45	and	and	CCONJ
aiti-4142	99	46	2	2	NUM
aiti-4142	99	47	are	be	AUX
aiti-4142	99	48	defined	define	VERB
aiti-4142	99	49	in	in	ADP
aiti-4142	99	50	:	:	PUNCT
aiti-4142	99	51	1	1	NUM
aiti-4142	99	52	2	2	NUM
aiti-4142	99	53	d	d	NOUN
aiti-4142	99	54	d	d	X
aiti-4142	99	55	e	e	X
aiti-4142	99	56	e	e	NOUN
aiti-4142	99	57	q	q	X
aiti-4142	99	58	q	q	X
aiti-4142	99	59			X
aiti-4142	99	60			ADJ
aiti-4142	99	61			NUM
aiti-4142	99	62			PROPN
aiti-4142	99	63			PROPN
aiti-4142	99	64			PROPN
aiti-4142	99	65			PROPN
aiti-4142	99	66			NOUN
aiti-4142	99	67	(	(	PUNCT
aiti-4142	99	68	12	12	NUM
aiti-4142	99	69	)	)	PUNCT
aiti-4142	99	70	error	error	NOUN
aiti-4142	99	71	dynamics	dynamic	NOUN
aiti-4142	99	72	of	of	ADP
aiti-4142	99	73	the	the	DET
aiti-4142	99	74	pitch	pitch	NOUN
aiti-4142	99	75	dynamics	dynamic	NOUN
aiti-4142	99	76	are	be	AUX
aiti-4142	99	77	defined	define	VERB
aiti-4142	99	78	as	as	ADP
aiti-4142	99	79	below	below	ADV
aiti-4142	99	80	:	:	PUNCT
aiti-4142	99	81	1	1	NUM
aiti-4142	99	82	2d	2d	NUM
aiti-4142	99	83	d	d	X
aiti-4142	99	84	d	d	X
aiti-4142	99	85	de	de	PROPN
aiti-4142	99	86	q	q	PROPN
aiti-4142	99	87	e	e	X
aiti-4142	99	88	q	q	VERB
aiti-4142	99	89			PROPN
aiti-4142	99	90			PROPN
aiti-4142	99	91			PROPN
aiti-4142	99	92			PROPN
aiti-4142	99	93			PROPN
aiti-4142	99	94			PROPN
aiti-4142	99	95			PROPN
aiti-4142	99	96			PROPN
aiti-4142	99	97			X
aiti-4142	99	98	(	(	PUNCT
aiti-4142	99	99	13	13	NUM
aiti-4142	99	100	)	)	PUNCT
aiti-4142	99	101	advances	advance	NOUN
aiti-4142	99	102	in	in	ADP
aiti-4142	99	103	technology	technology	NOUN
aiti-4142	99	104	innovation	innovation	NOUN
aiti-4142	99	105	,	,	PUNCT
aiti-4142	99	106	vol	vol	NOUN
aiti-4142	99	107	.	.	PROPN
aiti-4142	100	1	5	5	NUM
aiti-4142	100	2	,	,	PUNCT
aiti-4142	100	3	no	no	INTJ
aiti-4142	100	4	.	.	NOUN
aiti-4142	100	5	3	3	NUM
aiti-4142	100	6	,	,	PUNCT
aiti-4142	100	7	2020	2020	NUM
aiti-4142	100	8	,	,	PUNCT
aiti-4142	100	9	pp	pp	ADJ
aiti-4142	100	10	.	.	PUNCT
aiti-4142	101	1	135	135	NUM
aiti-4142	101	2	-	-	SYM
aiti-4142	101	3	146	146	NUM
aiti-4142	101	4	139	139	NUM
aiti-4142	101	5	the	the	DET
aiti-4142	101	6	error	error	NOUN
aiti-4142	101	7	dynamics	dynamic	NOUN
aiti-4142	101	8	in	in	ADP
aiti-4142	101	9	eq	eq	ADP
aiti-4142	101	10	.	.	PUNCT
aiti-4142	102	1	(	(	PUNCT
aiti-4142	102	2	13	13	NUM
aiti-4142	102	3	)	)	PUNCT
aiti-4142	102	4	can	can	AUX
aiti-4142	102	5	be	be	AUX
aiti-4142	102	6	stabilized	stabilize	VERB
aiti-4142	102	7	by	by	ADP
aiti-4142	102	8	designing	design	VERB
aiti-4142	102	9	𝑞𝑑	𝑞𝑑	VERB
aiti-4142	102	10	=	=	PUNCT
aiti-4142	102	11	�	�	PROPN
aiti-4142	102	12	̇	̇	PROPN
aiti-4142	102	13	�	�	PROPN
aiti-4142	102	14	𝑑	𝑑	PROPN
aiti-4142	102	15	−	−	PROPN
aiti-4142	102	16	𝑘1𝑒1	𝑘1𝑒1	NOUN
aiti-4142	102	17	with	with	ADP
aiti-4142	102	18	the	the	DET
aiti-4142	102	19	positive	positive	ADJ
aiti-4142	102	20	control	control	NOUN
aiti-4142	102	21	gain	gain	NOUN
aiti-4142	102	22	,	,	PUNCT
aiti-4142	102	23	𝑘1	𝑘1	PROPN
aiti-4142	102	24	.	.	PUNCT
aiti-4142	103	1	then	then	ADV
aiti-4142	103	2	,	,	PUNCT
aiti-4142	103	3	the	the	DET
aiti-4142	103	4	error	error	NOUN
aiti-4142	103	5	dynamics	dynamic	NOUN
aiti-4142	103	6	of	of	ADP
aiti-4142	103	7	system	system	NOUN
aiti-4142	103	8	1	1	NUM
aiti-4142	103	9	can	can	AUX
aiti-4142	103	10	be	be	AUX
aiti-4142	103	11	obtained	obtain	VERB
aiti-4142	103	12	as	as	ADP
aiti-4142	103	13	:	:	SYM
aiti-4142	103	14	1	1	NUM
aiti-4142	103	15	1	1	NUM
aiti-4142	103	16	1	1	NUM
aiti-4142	103	17	2e	2e	NOUN
aiti-4142	103	18	k	k	PROPN
aiti-4142	103	19	e	e	PROPN
aiti-4142	103	20	e	e	PROPN
aiti-4142	103	21			X
aiti-4142	103	22	(	(	PUNCT
aiti-4142	103	23	14	14	NUM
aiti-4142	103	24	)	)	PUNCT
aiti-4142	103	25	derivative	derivative	NOUN
aiti-4142	103	26	of	of	ADP
aiti-4142	103	27	the	the	DET
aiti-4142	103	28	virtual	virtual	ADJ
aiti-4142	103	29	control	control	NOUN
aiti-4142	103	30	is	be	AUX
aiti-4142	103	31	:	:	PUNCT
aiti-4142	103	32	2	2	NUM
aiti-4142	103	33	1	1	NUM
aiti-4142	103	34	1	1	NUM
aiti-4142	103	35	1	1	NUM
aiti-4142	103	36	2d	2d	NUM
aiti-4142	103	37	dq	dq	ADP
aiti-4142	104	1	k	k	PROPN
aiti-4142	104	2	e	e	PROPN
aiti-4142	104	3	k	k	PROPN
aiti-4142	104	4	e	e	PROPN
aiti-4142	104	5			X
aiti-4142	104	6			PROPN
aiti-4142	104	7	(	(	PUNCT
aiti-4142	104	8	15	15	NUM
aiti-4142	104	9	)	)	PUNCT
aiti-4142	104	10	error	error	NOUN
aiti-4142	104	11	dynamics	dynamic	NOUN
aiti-4142	104	12	of	of	ADP
aiti-4142	104	13	the	the	DET
aiti-4142	104	14	subsystem	subsystem	NOUN
aiti-4142	104	15	2	2	NUM
aiti-4142	104	16	is	be	AUX
aiti-4142	104	17	obtained	obtain	VERB
aiti-4142	104	18	as	as	ADP
aiti-4142	104	19	:	:	PUNCT
aiti-4142	104	20	33	33	NUM
aiti-4142	104	21	33	33	NUM
aiti-4142	104	22	33	33	NUM
aiti-4142	104	23	2	2	NUM
aiti-4142	104	24	332	332	NUM
aiti-4142	105	1	d	d	NOUN
aiti-4142	105	2	q	q	X
aiti-4142	105	3	eqd	eqd	PROPN
aiti-4142	105	4	m	m	VERB
aiti-4142	105	5	qm	qm	PROPN
aiti-4142	105	6	e	e	NOUN
aiti-4142	105	7	m	m	PROPN
aiti-4142	105	8	q	q	NOUN
aiti-4142	105	9	m	m	VERB
aiti-4142	105	10	q	q	NOUN
aiti-4142	105	11	f	f	X
aiti-4142	105	12			PROPN
aiti-4142	105	13			NUM
aiti-4142	105	14			ADJ
aiti-4142	105	15			ADJ
aiti-4142	105	16			PROPN
aiti-4142	105	17			NUM
aiti-4142	105	18	(	(	PUNCT
aiti-4142	105	19	16	16	NUM
aiti-4142	105	20	)	)	PUNCT
aiti-4142	105	21	using	use	VERB
aiti-4142	105	22	the	the	DET
aiti-4142	105	23	sliding	slide	VERB
aiti-4142	105	24	mode	mode	NOUN
aiti-4142	105	25	control	control	NOUN
aiti-4142	105	26	technique	technique	NOUN
aiti-4142	105	27	for	for	ADP
aiti-4142	105	28	finding	find	VERB
aiti-4142	105	29	the	the	DET
aiti-4142	105	30	control	control	NOUN
aiti-4142	105	31	law	law	NOUN
aiti-4142	105	32	for	for	ADP
aiti-4142	105	33	pitch	pitch	NOUN
aiti-4142	105	34	control	control	NOUN
aiti-4142	105	35	,	,	PUNCT
aiti-4142	105	36	one	one	PRON
aiti-4142	105	37	can	can	AUX
aiti-4142	105	38	choose	choose	VERB
aiti-4142	105	39	the	the	DET
aiti-4142	105	40	lyapunov	lyapunov	ADJ
aiti-4142	105	41	function	function	NOUN
aiti-4142	105	42	for	for	ADP
aiti-4142	105	43	this	this	DET
aiti-4142	105	44	system	system	NOUN
aiti-4142	105	45	as	as	ADP
aiti-4142	105	46	below	below	ADV
aiti-4142	105	47	:	:	PUNCT
aiti-4142	105	48	2	2	NUM
aiti-4142	105	49	2	2	NUM
aiti-4142	105	50	1	1	NUM
aiti-4142	105	51	2	2	NUM
aiti-4142	105	52	1	1	NUM
aiti-4142	105	53	33	33	NUM
aiti-4142	105	54	2	2	NUM
aiti-4142	105	55	2	2	NUM
aiti-4142	105	56	2	2	NUM
aiti-4142	105	57	2	2	NUM
aiti-4142	105	58	1	1	NUM
aiti-4142	105	59	1	1	NUM
aiti-4142	105	60	1	1	NUM
aiti-4142	105	61	2	2	NUM
aiti-4142	105	62	2	2	NUM
aiti-4142	105	63	2	2	NUM
aiti-4142	105	64	v	v	NOUN
aiti-4142	105	65	e	e	X
aiti-4142	105	66	m	m	NOUN
aiti-4142	105	67	e	e	NOUN
aiti-4142	105	68	a	a	DET
aiti-4142	105	69	p	p	X
aiti-4142	105	70	a	a	PROPN
aiti-4142	105	71			PUNCT
aiti-4142	105	72			X
aiti-4142	105	73	(	(	PUNCT
aiti-4142	105	74	17	17	NUM
aiti-4142	105	75	)	)	PUNCT
aiti-4142	105	76	where	where	SCONJ
aiti-4142	105	77	𝑌2𝑎2	𝑌2𝑎2	NOUN
aiti-4142	105	78	=	=	PROPN
aiti-4142	105	79	−𝑓2	−𝑓2	ADJ
aiti-4142	105	80	+	+	NUM
aiti-4142	105	81	𝑚33	𝑚33	NOUN
aiti-4142	105	82	�	�	NOUN
aiti-4142	105	83	̇	̇	NOUN
aiti-4142	105	84	�	�	PROPN
aiti-4142	105	85	𝑑	𝑑	NOUN
aiti-4142	105	86	;	;	PUNCT
aiti-4142	105	87	𝑃2	𝑃2	ADJ
aiti-4142	105	88	=	=	PUNCT
aiti-4142	105	89	𝐼9×9	𝐼9×9	PROPN
aiti-4142	105	90	is	be	AUX
aiti-4142	105	91	the	the	DET
aiti-4142	105	92	identity	identity	NOUN
aiti-4142	105	93	matrix	matrix	NOUN
aiti-4142	105	94	;	;	PUNCT
aiti-4142	105	95	�	�	PROPN
aiti-4142	105	96	̃	̃	PROPN
aiti-4142	105	97	�	�	NOUN
aiti-4142	105	98	2	2	NUM
aiti-4142	105	99	=	=	SYM
aiti-4142	105	100	�	�	PROPN
aiti-4142	105	101	̂	̂	NOUN
aiti-4142	105	102	�	�	NOUN
aiti-4142	105	103	2	2	NUM
aiti-4142	105	104	−	−	NOUN
aiti-4142	105	105	𝑎2	𝑎2	NOUN
aiti-4142	105	106	;	;	PUNCT
aiti-4142	105	107	𝑌2	𝑌2	X
aiti-4142	105	108	=	=	PUNCT
aiti-4142	106	1	[	[	PUNCT
aiti-4142	106	2	�	�	PROPN
aiti-4142	106	3	̇	̇	PROPN
aiti-4142	106	4	�	�	PROPN
aiti-4142	106	5	�	�	PROPN
aiti-4142	106	6	̇	̇	PROPN
aiti-4142	106	7	�	�	PROPN
aiti-4142	106	8	𝑞𝑢	𝑞𝑢	ADP
aiti-4142	106	9	𝑤𝑢	𝑤𝑢	PROPN
aiti-4142	106	10	𝑞𝑤	𝑞𝑤	NOUN
aiti-4142	106	11	|𝑞|𝑞	|𝑞|𝑞	PROPN
aiti-4142	106	12	𝑠𝑖𝑛𝜃	𝑠𝑖𝑛𝜃	ADJ
aiti-4142	106	13	𝑐𝑜𝑠𝜃	𝑐𝑜𝑠𝜃	PROPN
aiti-4142	106	14	�	�	PROPN
aiti-4142	106	15	̇	̇	PROPN
aiti-4142	106	16	�	�	PROPN
aiti-4142	106	17	𝑑	𝑑	PART
aiti-4142	106	18	]	]	X
aiti-4142	106	19	is	be	AUX
aiti-4142	106	20	the	the	DET
aiti-4142	106	21	regressive	regressive	ADJ
aiti-4142	106	22	vector	vector	NOUN
aiti-4142	106	23	for	for	ADP
aiti-4142	106	24	updating	update	VERB
aiti-4142	106	25	the	the	DET
aiti-4142	106	26	parameter	parameter	NOUN
aiti-4142	106	27	vector	vector	NOUN
aiti-4142	106	28	𝑎2	𝑎2	NOUN
aiti-4142	106	29	defined	define	VERB
aiti-4142	106	30	as	as	ADP
aiti-4142	106	31	:	:	PUNCT
aiti-4142	106	32	32	32	NUM
aiti-4142	106	33	3	3	NUM
aiti-4142	106	34	[	[	PUNCT
aiti-4142	106	35	(	(	PUNCT
aiti-4142	106	36	)	)	PUNCT
aiti-4142	106	37	(	(	PUNCT
aiti-4142	106	38	)	)	PUNCT
aiti-4142	106	39	(	(	PUNCT
aiti-4142	106	40	)	)	PUNCT
aiti-4142	106	41	(	(	PUNCT
aiti-4142	106	42	)	)	PUNCT
aiti-4142	106	43	(	(	PUNCT
aiti-4142	106	44	)	)	PUNCT
aiti-4142	107	1	]	]	X
aiti-4142	107	2			PROPN
aiti-4142	107	3			PROPN
aiti-4142	107	4			PROPN
aiti-4142	107	5			PROPN
aiti-4142	107	6			PUNCT
aiti-4142	107	7			PROPN
aiti-4142	107	8			PROPN
aiti-4142	107	9			PROPN
aiti-4142	107	10			PROPN
aiti-4142	107	11			PROPN
aiti-4142	107	12			PROPN
aiti-4142	107	13			PROPN
aiti-4142	107	14	t	t	PROPN
aiti-4142	107	15	g	g	PROPN
aiti-4142	107	16	g	g	PROPN
aiti-4142	107	17	w	w	PROPN
aiti-4142	107	18	g	g	PROPN
aiti-4142	107	19	q	q	PROPN
aiti-4142	107	20	u	u	PROPN
aiti-4142	107	21	w	w	NOUN
aiti-4142	107	22	g	g	PROPN
aiti-4142	107	23	g	g	PROPN
aiti-4142	107	24	b	b	PROPN
aiti-4142	107	25	g	g	PROPN
aiti-4142	107	26	bq	bq	PROPN
aiti-4142	107	27	q	q	PROPN
aiti-4142	108	1	a	a	DET
aiti-4142	108	2	mz	mz	PROPN
aiti-4142	108	3	mx	mx	PROPN
aiti-4142	108	4	m	m	PROPN
aiti-4142	108	5	mx	mx	PROPN
aiti-4142	108	6	z	z	PROPN
aiti-4142	108	7	x	x	PROPN
aiti-4142	109	1	z	z	PUNCT
aiti-4142	109	2	mz	mz	PROPN
aiti-4142	109	3	m	m	PROPN
aiti-4142	109	4	z	z	PROPN
aiti-4142	109	5	w	w	PROPN
aiti-4142	109	6	z	z	PROPN
aiti-4142	109	7	b	b	PROPN
aiti-4142	109	8	x	x	SYM
aiti-4142	109	9	w	w	PROPN
aiti-4142	109	10	x	x	PROPN
aiti-4142	109	11	b	b	X
aiti-4142	109	12	m	m	PROPN
aiti-4142	109	13	(	(	PUNCT
aiti-4142	109	14	18	18	NUM
aiti-4142	109	15	)	)	PUNCT
aiti-4142	109	16	the	the	DET
aiti-4142	109	17	derivative	derivative	NOUN
aiti-4142	109	18	of	of	ADP
aiti-4142	109	19	the	the	DET
aiti-4142	109	20	above	above	ADJ
aiti-4142	109	21	lyapunov	lyapunov	NOUN
aiti-4142	109	22	function	function	NOUN
aiti-4142	109	23	is	be	AUX
aiti-4142	109	24	expanded	expand	VERB
aiti-4142	109	25	in	in	ADP
aiti-4142	109	26	eq	eq	ADP
aiti-4142	109	27	.	.	PUNCT
aiti-4142	110	1	(	(	PUNCT
aiti-4142	110	2	19	19	NUM
aiti-4142	110	3	)	)	PUNCT
aiti-4142	110	4	.	.	PUNCT
aiti-4142	111	1	to	to	PART
aiti-4142	111	2	stabilize	stabilize	VERB
aiti-4142	111	3	the	the	DET
aiti-4142	111	4	dynamics	dynamic	NOUN
aiti-4142	111	5	in	in	ADP
aiti-4142	111	6	this	this	DET
aiti-4142	111	7	equation	equation	NOUN
aiti-4142	111	8	,	,	PUNCT
aiti-4142	111	9	the	the	DET
aiti-4142	111	10	control	control	NOUN
aiti-4142	111	11	input	input	NOUN
aiti-4142	111	12	is	be	AUX
aiti-4142	111	13	designed	design	VERB
aiti-4142	111	14	as	as	ADP
aiti-4142	111	15	eq	eq	ADP
aiti-4142	111	16	.	.	PUNCT
aiti-4142	112	1	(	(	PUNCT
aiti-4142	112	2	20	20	NUM
aiti-4142	112	3	)	)	PUNCT
aiti-4142	112	4	with	with	ADP
aiti-4142	112	5	the	the	DET
aiti-4142	112	6	saturation	saturation	NOUN
aiti-4142	112	7	function	function	NOUN
aiti-4142	112	8	in	in	ADP
aiti-4142	112	9	the	the	DET
aiti-4142	112	10	switching	switching	NOUN
aiti-4142	112	11	control	control	NOUN
aiti-4142	112	12	.	.	PUNCT
aiti-4142	113	1	2	2	NUM
aiti-4142	113	2	1	1	NUM
aiti-4142	113	3	2	2	NUM
aiti-4142	113	4	1	1	NUM
aiti-4142	113	5	1	1	NUM
aiti-4142	113	6	1	1	NUM
aiti-4142	113	7	2	2	NUM
aiti-4142	113	8	2	2	NUM
aiti-4142	113	9	2	2	NUM
aiti-4142	113	10	2	2	NUM
aiti-4142	113	11	2	2	NUM
aiti-4142	113	12	2ˆ	2ˆ	NOUN
aiti-4142	113	13	(	(	PUNCT
aiti-4142	113	14	)	)	PUNCT
aiti-4142	113	15	t	t	PROPN
aiti-4142	113	16	q	q	PROPN
aiti-4142	113	17	eqv	eqv	NOUN
aiti-4142	113	18	k	k	PROPN
aiti-4142	113	19	e	e	X
aiti-4142	113	20	e	e	X
aiti-4142	113	21	e	e	X
aiti-4142	113	22	e	e	X
aiti-4142	113	23	y	y	PROPN
aiti-4142	113	24	a	a	DET
aiti-4142	113	25	a	a	DET
aiti-4142	113	26	p	p	X
aiti-4142	113	27	a	a	PROPN
aiti-4142	113	28			NOUN
aiti-4142	113	29			PROPN
aiti-4142	113	30			PUNCT
aiti-4142	113	31			VERB
aiti-4142	113	32			PROPN
aiti-4142	113	33			ADV
aiti-4142	113	34			CCONJ
aiti-4142	113	35			X
aiti-4142	113	36	(	(	PUNCT
aiti-4142	113	37	19	19	NUM
aiti-4142	113	38	)	)	SYM
aiti-4142	113	39	2	2	NUM
aiti-4142	113	40	2	2	NUM
aiti-4142	113	41	2	2	NUM
aiti-4142	113	42	2	2	NUM
aiti-4142	113	43	2	2	NUM
aiti-4142	113	44	1	1	NUM
aiti-4142	113	45	2	2	NUM
aiti-4142	113	46	2	2	NUM
aiti-4142	113	47	ˆ	ˆ	NOUN
aiti-4142	113	48	ˆ	ˆ	ADV
aiti-4142	113	49	(	(	PUNCT
aiti-4142	113	50	)	)	PUNCT
aiti-4142	113	51	q	q	NOUN
aiti-4142	113	52	eq	eq	NOUN
aiti-4142	113	53	e	e	PROPN
aiti-4142	113	54	y	y	PROPN
aiti-4142	113	55	a	a	DET
aiti-4142	113	56	k	k	X
aiti-4142	113	57	e	e	PROPN
aiti-4142	113	58	e	e	PROPN
aiti-4142	113	59	k	k	PROPN
aiti-4142	113	60	sat	sat	PROPN
aiti-4142	113	61			PROPN
aiti-4142	113	62			PROPN
aiti-4142	113	63			PROPN
aiti-4142	113	64			PROPN
aiti-4142	113	65			PROPN
aiti-4142	113	66			NOUN
aiti-4142	113	67	(	(	PUNCT
aiti-4142	113	68	20	20	NUM
aiti-4142	113	69	)	)	PUNCT
aiti-4142	113	70	substituting	substitute	VERB
aiti-4142	113	71	the	the	DET
aiti-4142	113	72	control	control	NOUN
aiti-4142	113	73	law	law	NOUN
aiti-4142	113	74	(	(	PUNCT
aiti-4142	113	75	20	20	NUM
aiti-4142	113	76	)	)	PUNCT
aiti-4142	113	77	into	into	ADP
aiti-4142	113	78	the	the	DET
aiti-4142	113	79	first	first	ADJ
aiti-4142	113	80	derivative	derivative	NOUN
aiti-4142	113	81	of	of	ADP
aiti-4142	113	82	the	the	DET
aiti-4142	113	83	lyapunov	lyapunov	ADJ
aiti-4142	113	84	function	function	NOUN
aiti-4142	113	85	(	(	PUNCT
aiti-4142	113	86	19	19	NUM
aiti-4142	113	87	)	)	PUNCT
aiti-4142	113	88	will	will	AUX
aiti-4142	113	89	result	result	VERB
aiti-4142	113	90	to	to	ADP
aiti-4142	113	91	:	:	PUNCT
aiti-4142	113	92	2	2	NUM
aiti-4142	113	93	2	2	NUM
aiti-4142	113	94	12	12	NUM
aiti-4142	113	95	2	2	NUM
aiti-4142	113	96	1	1	NUM
aiti-4142	113	97	1	1	NUM
aiti-4142	113	98	2	2	NUM
aiti-4142	113	99	2	2	NUM
aiti-4142	113	100	2	2	NUM
aiti-4142	113	101	2	2	NUM
aiti-4142	113	102	2	2	NUM
aiti-4142	113	103	2	2	NUM
aiti-4142	113	104	2	2	NUM
aiti-4142	113	105	2	2	NUM
aiti-4142	113	106	2	2	NUM
aiti-4142	113	107	2	2	NUM
aiti-4142	113	108	2	2	NUM
aiti-4142	113	109	2	2	NUM
aiti-4142	113	110	ˆ	ˆ	NOUN
aiti-4142	113	111	ˆ	ˆ	PROPN
aiti-4142	113	112	(	(	PUNCT
aiti-4142	113	113	)	)	PUNCT
aiti-4142	113	114	(	(	PUNCT
aiti-4142	113	115	)	)	PUNCT
aiti-4142	113	116	eq	eq	NOUN
aiti-4142	113	117	eq	eq	PROPN
aiti-4142	113	118	e	e	PROPN
aiti-4142	113	119	v	v	PROPN
aiti-4142	113	120	k	k	PROPN
aiti-4142	113	121	e	e	PROPN
aiti-4142	113	122	k	k	PROPN
aiti-4142	113	123	e	e	PROPN
aiti-4142	113	124	k	k	PROPN
aiti-4142	113	125	e	e	PROPN
aiti-4142	113	126	sat	sit	VERB
aiti-4142	113	127	e	e	X
aiti-4142	113	128	e	e	X
aiti-4142	113	129	y	y	PROPN
aiti-4142	113	130	a	a	DET
aiti-4142	113	131	a	a	DET
aiti-4142	113	132	p	p	X
aiti-4142	113	133	a	a	NOUN
aiti-4142	113	134			NOUN
aiti-4142	113	135			NOUN
aiti-4142	113	136			VERB
aiti-4142	113	137			PROPN
aiti-4142	113	138			PROPN
aiti-4142	113	139			PROPN
aiti-4142	113	140			PUNCT
aiti-4142	113	141			PROPN
aiti-4142	113	142			PUNCT
aiti-4142	113	143			X
aiti-4142	113	144	(	(	PUNCT
aiti-4142	113	145	21	21	NUM
aiti-4142	113	146	)	)	PUNCT
aiti-4142	113	147	by	by	ADP
aiti-4142	113	148	choosing	choose	VERB
aiti-4142	113	149	the	the	DET
aiti-4142	113	150	adaption	adaption	NOUN
aiti-4142	113	151	law	law	NOUN
aiti-4142	113	152	as	as	ADP
aiti-4142	113	153	�	�	NOUN
aiti-4142	113	154	̇̂	̇̂	PART
aiti-4142	113	155	�	�	PROPN
aiti-4142	113	156	=	=	PUNCT
aiti-4142	113	157	−𝑃2𝑌2	−𝑃2𝑌2	NUM
aiti-4142	113	158	𝑇𝑒2	𝑇𝑒2	NOUN
aiti-4142	113	159	,	,	PUNCT
aiti-4142	113	160	the	the	DET
aiti-4142	113	161	derivative	derivative	NOUN
aiti-4142	113	162	of	of	ADP
aiti-4142	113	163	𝑉2can	𝑉2can	PROPN
aiti-4142	113	164	be	be	AUX
aiti-4142	113	165	derived	derive	VERB
aiti-4142	113	166	as	as	ADP
aiti-4142	113	167	:	:	SYM
aiti-4142	113	168	2	2	NUM
aiti-4142	113	169	2	2	NUM
aiti-4142	113	170	2	2	NUM
aiti-4142	113	171	2	2	NUM
aiti-4142	113	172	1	1	NUM
aiti-4142	113	173	1	1	NUM
aiti-4142	113	174	2	2	NUM
aiti-4142	113	175	2	2	NUM
aiti-4142	113	176	2	2	NUM
aiti-4142	113	177	2	2	NUM
aiti-4142	113	178	2	2	NUM
aiti-4142	113	179	2	2	NUM
aiti-4142	113	180	ˆ	ˆ	NOUN
aiti-4142	113	181	(	(	PUNCT
aiti-4142	113	182	)	)	PUNCT
aiti-4142	113	183	(	(	PUNCT
aiti-4142	113	184	)	)	PUNCT
aiti-4142	113	185	eq	eq	NOUN
aiti-4142	114	1	eq	eq	PROPN
aiti-4142	114	2	e	e	PROPN
aiti-4142	114	3	v	v	PROPN
aiti-4142	114	4	k	k	PROPN
aiti-4142	114	5	e	e	PROPN
aiti-4142	114	6	k	k	PROPN
aiti-4142	114	7	e	e	PROPN
aiti-4142	114	8	k	k	PROPN
aiti-4142	114	9	e	e	PROPN
aiti-4142	114	10	sat	sit	VERB
aiti-4142	114	11	e	e	ADP
aiti-4142	114	12			NOUN
aiti-4142	114	13			NOUN
aiti-4142	114	14			PROPN
aiti-4142	114	15			VERB
aiti-4142	114	16			PROPN
aiti-4142	114	17			ADV
aiti-4142	114	18			NOUN
aiti-4142	114	19	(	(	PUNCT
aiti-4142	114	20	22	22	NUM
aiti-4142	114	21	)	)	PUNCT
aiti-4142	114	22	it	it	PRON
aiti-4142	114	23	is	be	AUX
aiti-4142	114	24	observed	observe	VERB
aiti-4142	114	25	that	that	SCONJ
aiti-4142	114	26	if	if	SCONJ
aiti-4142	114	27	𝑘2∆	𝑘2∆	PROPN
aiti-4142	114	28	>	>	X
aiti-4142	115	1	𝐹𝑒𝑞	𝐹𝑒𝑞	PROPN
aiti-4142	115	2	and	and	CCONJ
aiti-4142	115	3	|𝜏𝑒𝑞	|𝜏𝑒𝑞	ADJ
aiti-4142	115	4	−	−	PROPN
aiti-4142	115	5	�	�	PROPN
aiti-4142	115	6	̂	̂	NOUN
aiti-4142	115	7	�	�	NOUN
aiti-4142	115	8	𝑒𝑞|	𝑒𝑞|	NOUN
aiti-4142	115	9	≤	≤	NOUN
aiti-4142	115	10	𝐹𝑒𝑞	𝐹𝑒𝑞	PROPN
aiti-4142	115	11	,	,	PUNCT
aiti-4142	115	12	then	then	ADV
aiti-4142	115	13	�	�	PROPN
aiti-4142	115	14	̇	̇	PROPN
aiti-4142	115	15	�	�	PROPN
aiti-4142	115	16	2	2	NUM
aiti-4142	115	17	≤	≤	NUM
aiti-4142	115	18	−𝑘1𝑒1	−𝑘1𝑒1	ADP
aiti-4142	115	19	2	2	NUM
aiti-4142	115	20	−	−	NOUN
aiti-4142	116	1	𝑘2𝑒2	𝑘2𝑒2	NUM
aiti-4142	116	2	2	2	NUM
aiti-4142	116	3	≤	≤	NUM
aiti-4142	116	4	0	0	NUM
aiti-4142	116	5	.	.	PUNCT
aiti-4142	117	1	here	here	ADV
aiti-4142	117	2	,	,	PUNCT
aiti-4142	117	3	𝐹𝑒𝑞	𝐹𝑒𝑞	PROPN
aiti-4142	117	4	is	be	AUX
aiti-4142	117	5	defined	define	VERB
aiti-4142	117	6	relating	relate	VERB
aiti-4142	117	7	with	with	ADP
aiti-4142	117	8	the	the	DET
aiti-4142	117	9	environmental	environmental	ADJ
aiti-4142	117	10	condition	condition	NOUN
aiti-4142	117	11	.	.	PUNCT
aiti-4142	118	1	following	follow	VERB
aiti-4142	118	2	the	the	DET
aiti-4142	118	3	direct	direct	ADJ
aiti-4142	118	4	lyapunov	lyapunov	NOUN
aiti-4142	118	5	method	method	NOUN
aiti-4142	118	6	for	for	ADP
aiti-4142	118	7	v2	v2	PROPN
aiti-4142	118	8	,	,	PUNCT
aiti-4142	118	9	the	the	DET
aiti-4142	118	10	control	control	NOUN
aiti-4142	118	11	law	law	NOUN
aiti-4142	118	12	(	(	PUNCT
aiti-4142	118	13	20	20	NUM
aiti-4142	118	14	)	)	PUNCT
aiti-4142	118	15	is	be	AUX
aiti-4142	118	16	proved	prove	VERB
aiti-4142	118	17	to	to	PART
aiti-4142	118	18	be	be	AUX
aiti-4142	118	19	globally	globally	ADV
aiti-4142	118	20	asymptotically	asymptotically	ADV
aiti-4142	118	21	stable	stable	ADJ
aiti-4142	118	22	(	(	PUNCT
aiti-4142	118	23	gas	gas	NOUN
aiti-4142	118	24	)	)	PUNCT
aiti-4142	118	25	.	.	PUNCT
aiti-4142	119	1	3.2	3.2	NUM
aiti-4142	119	2	.	.	PUNCT
aiti-4142	120	1	speed	speed	NOUN
aiti-4142	120	2	control	control	NOUN
aiti-4142	120	3	the	the	DET
aiti-4142	120	4	vehicle	vehicle	NOUN
aiti-4142	120	5	speed	speed	NOUN
aiti-4142	120	6	will	will	AUX
aiti-4142	120	7	be	be	AUX
aiti-4142	120	8	controlled	control	VERB
aiti-4142	120	9	by	by	ADP
aiti-4142	120	10	thruster	thruster	NOUN
aiti-4142	120	11	attached	attach	VERB
aiti-4142	120	12	at	at	ADP
aiti-4142	120	13	the	the	DET
aiti-4142	120	14	tail	tail	NOUN
aiti-4142	120	15	of	of	ADP
aiti-4142	120	16	hug	hug	PRON
aiti-4142	120	17	.	.	PUNCT
aiti-4142	121	1	the	the	DET
aiti-4142	121	2	speed	speed	NOUN
aiti-4142	121	3	dynamics	dynamic	NOUN
aiti-4142	121	4	will	will	AUX
aiti-4142	121	5	be	be	AUX
aiti-4142	121	6	investigated	investigate	VERB
aiti-4142	121	7	to	to	PART
aiti-4142	121	8	carry	carry	VERB
aiti-4142	121	9	out	out	ADP
aiti-4142	121	10	the	the	DET
aiti-4142	121	11	speed	speed	NOUN
aiti-4142	121	12	controller	controller	NOUN
aiti-4142	121	13	.	.	PUNCT
aiti-4142	122	1	the	the	DET
aiti-4142	122	2	system	system	NOUN
aiti-4142	122	3	3	3	NUM
aiti-4142	122	4	is	be	AUX
aiti-4142	122	5	defined	define	VERB
aiti-4142	122	6	as	as	ADP
aiti-4142	122	7	eq	eq	ADP
aiti-4142	122	8	.	.	PUNCT
aiti-4142	123	1	(	(	PUNCT
aiti-4142	123	2	23	23	NUM
aiti-4142	123	3	)	)	PUNCT
aiti-4142	123	4	which	which	PRON
aiti-4142	123	5	is	be	AUX
aiti-4142	123	6	the	the	DET
aiti-4142	123	7	4th	4th	ADJ
aiti-4142	123	8	equation	equation	NOUN
aiti-4142	123	9	in	in	ADP
aiti-4142	123	10	eq	eq	ADP
aiti-4142	123	11	.	.	PUNCT
aiti-4142	124	1	(	(	PUNCT
aiti-4142	124	2	2	2	NUM
aiti-4142	124	3	)	)	PUNCT
aiti-4142	124	4	.	.	PUNCT
aiti-4142	125	1	advances	advance	NOUN
aiti-4142	125	2	in	in	ADP
aiti-4142	125	3	technology	technology	NOUN
aiti-4142	125	4	innovation	innovation	NOUN
aiti-4142	125	5	,	,	PUNCT
aiti-4142	125	6	vol	vol	NOUN
aiti-4142	125	7	.	.	PROPN
aiti-4142	125	8	5	5	NUM
aiti-4142	125	9	,	,	PUNCT
aiti-4142	125	10	no	no	INTJ
aiti-4142	125	11	.	.	NOUN
aiti-4142	125	12	3	3	NUM
aiti-4142	125	13	,	,	PUNCT
aiti-4142	125	14	2020	2020	NUM
aiti-4142	125	15	,	,	PUNCT
aiti-4142	125	16	pp	pp	ADJ
aiti-4142	125	17	.	.	PUNCT
aiti-4142	126	1	135	135	NUM
aiti-4142	126	2	-	-	SYM
aiti-4142	126	3	146	146	NUM
aiti-4142	126	4	140	140	NUM
aiti-4142	126	5			NOUN
aiti-4142	126	6	311system	311system	NOUN
aiti-4142	126	7	3	3	NUM
aiti-4142	126	8	:	:	PUNCT
aiti-4142	126	9	,	,	PUNCT
aiti-4142	126	10	,	,	PUNCT
aiti-4142	126	11	sinw	sinw	NOUN
aiti-4142	126	12	u	u	PROPN
aiti-4142	126	13	eum	eum	PROPN
aiti-4142	126	14	u	u	NOUN
aiti-4142	126	15	f	f	PROPN
aiti-4142	126	16			PROPN
aiti-4142	126	17			NOUN
aiti-4142	126	18			PUNCT
aiti-4142	126	19			PROPN
aiti-4142	126	20			PROPN
aiti-4142	126	21			PROPN
aiti-4142	126	22			VERB
aiti-4142	126	23			X
aiti-4142	126	24			PUNCT
aiti-4142	126	25			X
aiti-4142	126	26	(	(	PUNCT
aiti-4142	126	27	23	23	NUM
aiti-4142	126	28	)	)	PUNCT
aiti-4142	126	29	where	where	SCONJ
aiti-4142	126	30	11	11	NUM
aiti-4142	126	31			NOUN
aiti-4142	126	32	um	um	INTJ
aiti-4142	126	33	m	m	VERB
aiti-4142	126	34	x	x	X
aiti-4142	126	35	(	(	PUNCT
aiti-4142	126	36	24	24	NUM
aiti-4142	126	37	)	)	SYM
aiti-4142	126	38	2	2	NUM
aiti-4142	126	39	3	3	NUM
aiti-4142	126	40	(	(	PUNCT
aiti-4142	126	41	)	)	PUNCT
aiti-4142	126	42	(	(	PUNCT
aiti-4142	126	43	)	)	PUNCT
aiti-4142	126	44	(	(	PUNCT
aiti-4142	126	45	)	)	PUNCT
aiti-4142	126	46	sin	sin	PROPN
aiti-4142	126	47			ADV
aiti-4142	126	48			PUNCT
aiti-4142	126	49			PROPN
aiti-4142	126	50			PROPN
aiti-4142	126	51			PUNCT
aiti-4142	126	52			PROPN
aiti-4142	126	53	g	g	NOUN
aiti-4142	126	54	g	g	PROPN
aiti-4142	126	55	q	q	PROPN
aiti-4142	126	56	w	w	PROPN
aiti-4142	126	57	u	u	X
aiti-4142	126	58	u	u	NOUN
aiti-4142	126	59	f	f	PROPN
aiti-4142	126	60	mz	mz	PROPN
aiti-4142	126	61	q	q	PROPN
aiti-4142	126	62	mx	mx	PROPN
aiti-4142	126	63	z	z	PROPN
aiti-4142	126	64	q	q	PROPN
aiti-4142	126	65	m	m	VERB
aiti-4142	126	66	z	z	NOUN
aiti-4142	126	67	wq	wq	NOUN
aiti-4142	126	68	x	x	SYM
aiti-4142	126	69	u	u	NOUN
aiti-4142	126	70	u	u	PROPN
aiti-4142	126	71	w	w	PROPN
aiti-4142	126	72	b	b	PROPN
aiti-4142	126	73			X
aiti-4142	126	74	(	(	PUNCT
aiti-4142	126	75	25	25	NUM
aiti-4142	126	76	)	)	PUNCT
aiti-4142	126	77	the	the	DET
aiti-4142	126	78	speed	speed	NOUN
aiti-4142	126	79	error	error	NOUN
aiti-4142	126	80	is	be	AUX
aiti-4142	126	81	defined	define	VERB
aiti-4142	126	82	as	as	ADP
aiti-4142	126	83	:	:	PUNCT
aiti-4142	126	84	3	3	NUM
aiti-4142	126	85	de	de	X
aiti-4142	126	86	u	u	NOUN
aiti-4142	126	87	u	u	X
aiti-4142	126	88			PROPN
aiti-4142	126	89	(	(	PUNCT
aiti-4142	126	90	26	26	NUM
aiti-4142	126	91	)	)	PUNCT
aiti-4142	126	92	and	and	CCONJ
aiti-4142	126	93	the	the	DET
aiti-4142	126	94	speed	speed	NOUN
aiti-4142	126	95	error	error	NOUN
aiti-4142	126	96	dynamics	dynamic	NOUN
aiti-4142	126	97	can	can	AUX
aiti-4142	126	98	be	be	AUX
aiti-4142	126	99	formulated	formulate	VERB
aiti-4142	126	100	as	as	ADP
aiti-4142	126	101	:	:	PUNCT
aiti-4142	126	102	11	11	NUM
aiti-4142	126	103	3	3	NUM
aiti-4142	126	104	11	11	NUM
aiti-4142	126	105	3	3	NUM
aiti-4142	126	106	11sinw	11sinw	NUM
aiti-4142	126	107	ud	ud	INTJ
aiti-4142	127	1	dm	dm	PROPN
aiti-4142	127	2	e	e	NOUN
aiti-4142	127	3	m	m	VERB
aiti-4142	127	4	u	u	NOUN
aiti-4142	127	5	u	u	NOUN
aiti-4142	127	6	f	f	PROPN
aiti-4142	127	7	m	m	VERB
aiti-4142	127	8	u	u	ADJ
aiti-4142	127	9			PUNCT
aiti-4142	127	10			VERB
aiti-4142	127	11			PROPN
aiti-4142	127	12			PROPN
aiti-4142	127	13			PUNCT
aiti-4142	127	14			PUNCT
aiti-4142	127	15			X
aiti-4142	127	16	(	(	PUNCT
aiti-4142	127	17	27	27	NUM
aiti-4142	127	18	)	)	PUNCT
aiti-4142	127	19	the	the	DET
aiti-4142	127	20	lyapunov	lyapunov	ADJ
aiti-4142	127	21	candidate	candidate	NOUN
aiti-4142	127	22	can	can	AUX
aiti-4142	127	23	be	be	AUX
aiti-4142	127	24	designed	design	VERB
aiti-4142	127	25	as	as	ADP
aiti-4142	127	26	:	:	SYM
aiti-4142	127	27	2	2	NUM
aiti-4142	127	28	1	1	NUM
aiti-4142	127	29	3	3	NUM
aiti-4142	127	30	11	11	NUM
aiti-4142	127	31	3	3	NUM
aiti-4142	127	32	3	3	NUM
aiti-4142	127	33	3	3	NUM
aiti-4142	127	34	3	3	NUM
aiti-4142	127	35	1	1	NUM
aiti-4142	127	36	1	1	NUM
aiti-4142	127	37	2	2	NUM
aiti-4142	127	38	2	2	NUM
aiti-4142	127	39	tv	tv	NOUN
aiti-4142	128	1	m	m	NOUN
aiti-4142	128	2	e	e	NOUN
aiti-4142	128	3	a	a	DET
aiti-4142	128	4	p	p	X
aiti-4142	128	5	a	a	PROPN
aiti-4142	128	6			X
aiti-4142	128	7	(	(	PUNCT
aiti-4142	128	8	28	28	NUM
aiti-4142	128	9	)	)	PUNCT
aiti-4142	128	10	where	where	SCONJ
aiti-4142	128	11	113	113	NUM
aiti-4142	128	12	[	[	PUNCT
aiti-4142	128	13	(	(	PUNCT
aiti-4142	128	14	)	)	PUNCT
aiti-4142	128	15	(	(	PUNCT
aiti-4142	128	16	)	)	PUNCT
aiti-4142	128	17	(	(	PUNCT
aiti-4142	128	18	)	)	PUNCT
aiti-4142	128	19	]	]	X
aiti-4142	128	20			PROPN
aiti-4142	128	21			PROPN
aiti-4142	128	22			VERB
aiti-4142	128	23			PROPN
aiti-4142	128	24			CCONJ
aiti-4142	128	25			PROPN
aiti-4142	128	26			PROPN
aiti-4142	128	27			PROPN
aiti-4142	128	28	t	t	PROPN
aiti-4142	128	29	g	g	PROPN
aiti-4142	128	30	g	g	PROPN
aiti-4142	128	31	q	q	PROPN
aiti-4142	128	32	w	w	PROPN
aiti-4142	128	33	wu	wu	PROPN
aiti-4142	128	34	u	u	PROPN
aiti-4142	128	35	a	a	DET
aiti-4142	128	36	mz	mz	PROPN
aiti-4142	128	37	mx	mx	PROPN
aiti-4142	129	1	z	z	PROPN
aiti-4142	129	2	m	m	VERB
aiti-4142	129	3	z	z	NOUN
aiti-4142	129	4	x	x	SYM
aiti-4142	129	5	b	b	X
aiti-4142	129	6	w	w	PROPN
aiti-4142	129	7	m	m	PROPN
aiti-4142	129	8	(	(	PUNCT
aiti-4142	129	9	29	29	NUM
aiti-4142	129	10	)	)	PUNCT
aiti-4142	129	11	3	3	NUM
aiti-4142	129	12	3	3	NUM
aiti-4142	129	13	3ˆ	3ˆ	NUM
aiti-4142	129	14	a	a	ADV
aiti-4142	129	15	a	a	DET
aiti-4142	129	16	a	a	DET
aiti-4142	129	17	(	(	PUNCT
aiti-4142	129	18	30	30	NUM
aiti-4142	129	19	)	)	PUNCT
aiti-4142	129	20	furthermore	furthermore	ADV
aiti-4142	129	21	,	,	PUNCT
aiti-4142	129	22	its	its	PRON
aiti-4142	129	23	derivative	derivative	NOUN
aiti-4142	129	24	is	be	AUX
aiti-4142	129	25	formulated	formulate	VERB
aiti-4142	129	26	as	as	ADP
aiti-4142	129	27	eq	eq	ADP
aiti-4142	129	28	.	.	PUNCT
aiti-4142	130	1	(	(	PUNCT
aiti-4142	130	2	31	31	NUM
aiti-4142	130	3	)	)	PUNCT
aiti-4142	130	4	using	use	VERB
aiti-4142	130	5	the	the	DET
aiti-4142	130	6	dynamics	dynamic	NOUN
aiti-4142	130	7	in	in	ADP
aiti-4142	130	8	eq	eq	ADP
aiti-4142	130	9	.	.	PUNCT
aiti-4142	131	1	(	(	PUNCT
aiti-4142	131	2	27	27	NUM
aiti-4142	131	3	)	)	PUNCT
aiti-4142	131	4	.	.	PUNCT
aiti-4142	132	1	1	1	NUM
aiti-4142	132	2	3	3	NUM
aiti-4142	132	3	3	3	NUM
aiti-4142	132	4	3	3	NUM
aiti-4142	132	5	3	3	NUM
aiti-4142	132	6	3	3	NUM
aiti-4142	132	7	3	3	NUM
aiti-4142	132	8	3	3	NUM
aiti-4142	132	9	(	(	PUNCT
aiti-4142	132	10	)	)	PUNCT
aiti-4142	132	11	u	u	NOUN
aiti-4142	132	12	euv	euv	X
aiti-4142	132	13	e	e	X
aiti-4142	132	14	y	y	PROPN
aiti-4142	132	15	a	a	DET
aiti-4142	132	16	a	a	DET
aiti-4142	132	17	p	p	X
aiti-4142	132	18	a	a	NOUN
aiti-4142	132	19			NOUN
aiti-4142	132	20			ADJ
aiti-4142	132	21			PROPN
aiti-4142	132	22			PUNCT
aiti-4142	132	23			CCONJ
aiti-4142	132	24			X
aiti-4142	132	25	(	(	PUNCT
aiti-4142	132	26	31	31	NUM
aiti-4142	132	27	)	)	PUNCT
aiti-4142	132	28	where	where	SCONJ
aiti-4142	132	29	𝑌3	𝑌3	PROPN
aiti-4142	133	1	=	=	PUNCT
aiti-4142	133	2	[	[	PUNCT
aiti-4142	133	3	�	�	NOUN
aiti-4142	133	4	̇	̇	VERB
aiti-4142	133	5	�	�	PROPN
aiti-4142	133	6	𝑞2	𝑞2	NOUN
aiti-4142	133	7	𝑤𝑞	𝑤𝑞	ADP
aiti-4142	133	8	|𝑢|𝑢	|𝑢|𝑢	PRON
aiti-4142	133	9	𝑠𝑖𝑛𝜃	𝑠𝑖𝑛𝜃	NOUN
aiti-4142	133	10	�	�	PROPN
aiti-4142	133	11	̇	̇	PROPN
aiti-4142	133	12	�	�	PROPN
aiti-4142	133	13	𝑑	𝑑	PART
aiti-4142	133	14	]	]	X
aiti-4142	133	15	.	.	PUNCT
aiti-4142	134	1	the	the	DET
aiti-4142	134	2	speed	speed	NOUN
aiti-4142	134	3	control	control	NOUN
aiti-4142	134	4	law	law	NOUN
aiti-4142	134	5	can	can	AUX
aiti-4142	134	6	be	be	AUX
aiti-4142	134	7	designed	design	VERB
aiti-4142	134	8	as	as	ADP
aiti-4142	134	9	:	:	PUNCT
aiti-4142	134	10	3	3	NUM
aiti-4142	134	11	3	3	NUM
aiti-4142	134	12	3	3	NUM
aiti-4142	134	13	3	3	NUM
aiti-4142	134	14	3	3	NUM
aiti-4142	134	15	3	3	NUM
aiti-4142	134	16	3	3	NUM
aiti-4142	134	17	ˆ	ˆ	NOUN
aiti-4142	134	18	ˆ	ˆ	ADV
aiti-4142	134	19	(	(	PUNCT
aiti-4142	134	20	)	)	PUNCT
aiti-4142	134	21	u	u	PROPN
aiti-4142	134	22	eua	eua	PROPN
aiti-4142	134	23	e	e	PROPN
aiti-4142	134	24	y	y	PROPN
aiti-4142	134	25	k	k	PROPN
aiti-4142	134	26	e	e	PROPN
aiti-4142	134	27	k	k	PROPN
aiti-4142	134	28	sat	sat	PROPN
aiti-4142	134	29			PROPN
aiti-4142	134	30			PROPN
aiti-4142	134	31			PROPN
aiti-4142	134	32			PROPN
aiti-4142	134	33			PROPN
aiti-4142	134	34	(	(	PUNCT
aiti-4142	134	35	32	32	NUM
aiti-4142	134	36	)	)	PUNCT
aiti-4142	134	37	applying	apply	VERB
aiti-4142	134	38	this	this	DET
aiti-4142	134	39	control	control	NOUN
aiti-4142	134	40	law	law	NOUN
aiti-4142	134	41	into	into	ADP
aiti-4142	134	42	(	(	PUNCT
aiti-4142	134	43	31	31	NUM
aiti-4142	134	44	)	)	PUNCT
aiti-4142	134	45	yields	yield	NOUN
aiti-4142	134	46	:	:	PUNCT
aiti-4142	134	47	2	2	NUM
aiti-4142	134	48	13	13	NUM
aiti-4142	134	49	3	3	NUM
aiti-4142	134	50	3	3	NUM
aiti-4142	134	51	3	3	NUM
aiti-4142	134	52	3	3	NUM
aiti-4142	134	53	3	3	NUM
aiti-4142	134	54	3	3	NUM
aiti-4142	134	55	3	3	NUM
aiti-4142	134	56	3	3	NUM
aiti-4142	134	57	3	3	NUM
aiti-4142	134	58	3	3	NUM
aiti-4142	134	59	3	3	NUM
aiti-4142	134	60	3	3	NUM
aiti-4142	134	61	ˆ	ˆ	NOUN
aiti-4142	134	62	ˆ	ˆ	PROPN
aiti-4142	134	63	(	(	PUNCT
aiti-4142	134	64	)	)	PUNCT
aiti-4142	134	65	(	(	PUNCT
aiti-4142	134	66	)	)	PUNCT
aiti-4142	134	67	t	t	PROPN
aiti-4142	134	68	eu	eu	PROPN
aiti-4142	134	69	eu	eu	PROPN
aiti-4142	134	70	e	e	PROPN
aiti-4142	134	71	v	v	PROPN
aiti-4142	134	72	k	k	PROPN
aiti-4142	134	73	e	e	PROPN
aiti-4142	134	74	k	k	PROPN
aiti-4142	134	75	sat	sit	VERB
aiti-4142	134	76	e	e	X
aiti-4142	134	77	e	e	X
aiti-4142	134	78	e	e	X
aiti-4142	134	79	y	y	PROPN
aiti-4142	134	80	a	a	DET
aiti-4142	134	81	a	a	DET
aiti-4142	134	82	p	p	X
aiti-4142	134	83	a	a	NOUN
aiti-4142	134	84			NOUN
aiti-4142	134	85			NOUN
aiti-4142	134	86			VERB
aiti-4142	134	87			PROPN
aiti-4142	134	88			PROPN
aiti-4142	134	89			PUNCT
aiti-4142	134	90			PROPN
aiti-4142	134	91			PUNCT
aiti-4142	134	92			X
aiti-4142	134	93	(	(	PUNCT
aiti-4142	134	94	33	33	NUM
aiti-4142	134	95	)	)	PUNCT
aiti-4142	134	96	the	the	DET
aiti-4142	134	97	last	last	ADJ
aiti-4142	134	98	two	two	NUM
aiti-4142	134	99	term	term	NOUN
aiti-4142	134	100	in	in	ADP
aiti-4142	134	101	eq	eq	ADP
aiti-4142	134	102	.	.	PUNCT
aiti-4142	135	1	(	(	PUNCT
aiti-4142	135	2	25	25	NUM
aiti-4142	135	3	)	)	PUNCT
aiti-4142	135	4	can	can	AUX
aiti-4142	135	5	be	be	AUX
aiti-4142	135	6	eliminated	eliminate	VERB
aiti-4142	135	7	by	by	ADP
aiti-4142	135	8	choosing	choose	VERB
aiti-4142	135	9	�	�	PROPN
aiti-4142	135	10	̇̂	̇̂	PART
aiti-4142	135	11	�	�	NOUN
aiti-4142	135	12	3	3	NUM
aiti-4142	135	13	=	=	SYM
aiti-4142	135	14	−𝑃3𝑌3	−𝑃3𝑌3	NUM
aiti-4142	135	15	𝑇𝑒3	𝑇𝑒3	VERB
aiti-4142	135	16	,	,	PUNCT
aiti-4142	135	17	then	then	ADV
aiti-4142	135	18	�	�	PROPN
aiti-4142	135	19	̇	̇	PROPN
aiti-4142	135	20	�	�	SYM
aiti-4142	135	21	3	3	NUM
aiti-4142	135	22	can	can	AUX
aiti-4142	135	23	be	be	AUX
aiti-4142	135	24	reformulated	reformulate	VERB
aiti-4142	135	25	as	as	ADP
aiti-4142	135	26	:	:	SYM
aiti-4142	135	27	2	2	NUM
aiti-4142	135	28	3	3	NUM
aiti-4142	135	29	3	3	NUM
aiti-4142	135	30	3	3	NUM
aiti-4142	135	31	3	3	NUM
aiti-4142	135	32	3	3	NUM
aiti-4142	135	33	3	3	NUM
aiti-4142	135	34	3	3	NUM
aiti-4142	135	35	3	3	NUM
aiti-4142	135	36	ˆ	ˆ	NOUN
aiti-4142	135	37	(	(	PUNCT
aiti-4142	135	38	)	)	PUNCT
aiti-4142	135	39	(	(	PUNCT
aiti-4142	135	40	)	)	PUNCT
aiti-4142	135	41	eu	eu	PROPN
aiti-4142	135	42	eu	eu	PROPN
aiti-4142	135	43	e	e	PROPN
aiti-4142	135	44	v	v	AUX
aiti-4142	135	45	k	k	PROPN
aiti-4142	135	46	e	e	PROPN
aiti-4142	135	47	k	k	PROPN
aiti-4142	135	48	sat	sit	VERB
aiti-4142	135	49	e	e	X
aiti-4142	135	50	e	e	NOUN
aiti-4142	135	51			NOUN
aiti-4142	135	52			NOUN
aiti-4142	135	53			PROPN
aiti-4142	135	54			PROPN
aiti-4142	135	55			ADV
aiti-4142	135	56			NOUN
aiti-4142	135	57	(	(	PUNCT
aiti-4142	135	58	34	34	NUM
aiti-4142	135	59	)	)	PUNCT
aiti-4142	135	60	if	if	SCONJ
aiti-4142	135	61	the	the	DET
aiti-4142	135	62	control	control	NOUN
aiti-4142	135	63	gain	gain	VERB
aiti-4142	135	64	𝑘3δ	𝑘3δ	PROPN
aiti-4142	135	65	is	be	AUX
aiti-4142	135	66	chosen	choose	VERB
aiti-4142	135	67	as	as	ADP
aiti-4142	135	68	:	:	PUNCT
aiti-4142	135	69	3	3	NUM
aiti-4142	136	1	|	|	ADV
aiti-4142	136	2	|ˆeu	|ˆeu	PROPN
aiti-4142	136	3	euk	euk	PROPN
aiti-4142	136	4			NOUN
aiti-4142	136	5			ADV
aiti-4142	136	6			VERB
aiti-4142	136	7			PROPN
aiti-4142	136	8	(	(	PUNCT
aiti-4142	136	9	35	35	NUM
aiti-4142	136	10	)	)	PUNCT
aiti-4142	136	11	then	then	ADV
aiti-4142	136	12	,	,	PUNCT
aiti-4142	136	13	the	the	DET
aiti-4142	136	14	derivative	derivative	NOUN
aiti-4142	136	15	of	of	ADP
aiti-4142	136	16	the	the	DET
aiti-4142	136	17	lyapunov	lyapunov	NOUN
aiti-4142	136	18	function	function	NOUN
aiti-4142	136	19	𝑉3	𝑉3	NOUN
aiti-4142	136	20	is	be	AUX
aiti-4142	136	21	negative	negative	ADJ
aiti-4142	136	22	definite	definite	ADJ
aiti-4142	136	23	as	as	ADP
aiti-4142	136	24	:	:	PUNCT
aiti-4142	136	25	advances	advance	NOUN
aiti-4142	136	26	in	in	ADP
aiti-4142	136	27	technology	technology	NOUN
aiti-4142	136	28	innovation	innovation	NOUN
aiti-4142	136	29	,	,	PUNCT
aiti-4142	136	30	vol	vol	NOUN
aiti-4142	136	31	.	.	PROPN
aiti-4142	136	32	5	5	NUM
aiti-4142	136	33	,	,	PUNCT
aiti-4142	136	34	no	no	INTJ
aiti-4142	136	35	.	.	NOUN
aiti-4142	136	36	3	3	NUM
aiti-4142	136	37	,	,	PUNCT
aiti-4142	136	38	2020	2020	NUM
aiti-4142	136	39	,	,	PUNCT
aiti-4142	136	40	pp	pp	ADJ
aiti-4142	136	41	.	.	PUNCT
aiti-4142	137	1	135	135	NUM
aiti-4142	137	2	-	-	SYM
aiti-4142	137	3	146	146	NUM
aiti-4142	137	4	141	141	NUM
aiti-4142	137	5	2	2	NUM
aiti-4142	137	6	3	3	NUM
aiti-4142	137	7	3	3	NUM
aiti-4142	137	8	3	3	NUM
aiti-4142	137	9	3	3	NUM
aiti-4142	137	10	3	3	NUM
aiti-4142	137	11	3	3	NUM
aiti-4142	137	12	2	2	NUM
aiti-4142	137	13	3	3	NUM
aiti-4142	137	14	3	3	NUM
aiti-4142	137	15	ˆ	ˆ	PROPN
aiti-4142	137	16	(	(	PUNCT
aiti-4142	137	17	n.d	n.d	PROPN
aiti-4142	137	18	)	)	PUNCT
aiti-4142	137	19	eu	eu	PROPN
aiti-4142	137	20	euv	euv	PROPN
aiti-4142	138	1	k	k	PROPN
aiti-4142	138	2	e	e	PROPN
aiti-4142	138	3	k	k	PROPN
aiti-4142	138	4	e	e	PROPN
aiti-4142	138	5	e	e	AUX
aiti-4142	138	6	k	k	PROPN
aiti-4142	138	7	e	e	PROPN
aiti-4142	138	8			PROPN
aiti-4142	138	9			PROPN
aiti-4142	138	10			PROPN
aiti-4142	138	11			PART
aiti-4142	138	12			PROPN
aiti-4142	138	13			NOUN
aiti-4142	138	14	(	(	PUNCT
aiti-4142	138	15	36	36	NUM
aiti-4142	138	16	)	)	PUNCT
aiti-4142	138	17	this	this	DET
aiti-4142	138	18	control	control	NOUN
aiti-4142	138	19	law	law	NOUN
aiti-4142	138	20	is	be	AUX
aiti-4142	138	21	proved	prove	VERB
aiti-4142	138	22	to	to	PART
aiti-4142	138	23	be	be	AUX
aiti-4142	138	24	gas	gas	NOUN
aiti-4142	138	25	using	use	VERB
aiti-4142	138	26	lyapunov	lyapunov	NOUN
aiti-4142	138	27	function	function	VERB
aiti-4142	138	28	𝑉3	𝑉3	NOUN
aiti-4142	138	29	as	as	SCONJ
aiti-4142	138	30	shown	show	VERB
aiti-4142	138	31	in	in	ADP
aiti-4142	138	32	eq	eq	ADP
aiti-4142	138	33	.	.	PUNCT
aiti-4142	139	1	(	(	PUNCT
aiti-4142	139	2	28	28	NUM
aiti-4142	139	3	)	)	PUNCT
aiti-4142	139	4	.	.	PUNCT
aiti-4142	140	1	3.3	3.3	NUM
aiti-4142	140	2	.	.	PUNCT
aiti-4142	141	1	los	los	NOUN
aiti-4142	141	2	depth	depth	NOUN
aiti-4142	141	3	-	-	PUNCT
aiti-4142	141	4	keeping	keep	VERB
aiti-4142	141	5	guidance	guidance	NOUN
aiti-4142	141	6	for	for	ADP
aiti-4142	141	7	navigation	navigation	NOUN
aiti-4142	141	8	of	of	ADP
aiti-4142	141	9	the	the	DET
aiti-4142	141	10	hug	hug	NOUN
aiti-4142	141	11	,	,	PUNCT
aiti-4142	141	12	a	a	DET
aiti-4142	141	13	line	line	NOUN
aiti-4142	141	14	of	of	ADP
aiti-4142	141	15	sight	sight	NOUN
aiti-4142	141	16	(	(	PUNCT
aiti-4142	141	17	l.o.s	l.o.s	ADJ
aiti-4142	141	18	)	)	PUNCT
aiti-4142	141	19	method	method	NOUN
aiti-4142	141	20	based	base	VERB
aiti-4142	141	21	on	on	ADP
aiti-4142	141	22	the	the	DET
aiti-4142	141	23	calculated	calculate	VERB
aiti-4142	141	24	heading	head	VERB
aiti-4142	141	25	angle	angle	NOUN
aiti-4142	141	26	was	be	AUX
aiti-4142	141	27	used	use	VERB
aiti-4142	141	28	[	[	PUNCT
aiti-4142	141	29	18	18	NUM
aiti-4142	141	30	]	]	PUNCT
aiti-4142	141	31	.	.	PUNCT
aiti-4142	142	1	the	the	DET
aiti-4142	142	2	line	line	NOUN
aiti-4142	142	3	-	-	PUNCT
aiti-4142	142	4	of	of	ADP
aiti-4142	142	5	-	-	PUNCT
aiti-4142	142	6	sight	sight	NOUN
aiti-4142	142	7	(	(	PUNCT
aiti-4142	142	8	los	los	PROPN
aiti-4142	142	9	)	)	PUNCT
aiti-4142	142	10	guidance	guidance	NOUN
aiti-4142	142	11	in	in	ADP
aiti-4142	142	12	fig	fig	NOUN
aiti-4142	142	13	.	.	PUNCT
aiti-4142	143	1	4	4	NUM
aiti-4142	143	2	is	be	AUX
aiti-4142	143	3	applied	apply	VERB
aiti-4142	143	4	for	for	ADP
aiti-4142	143	5	path	path	NOUN
aiti-4142	143	6	following	follow	VERB
aiti-4142	143	7	control	control	NOUN
aiti-4142	143	8	for	for	ADP
aiti-4142	143	9	the	the	DET
aiti-4142	143	10	vertical	vertical	ADJ
aiti-4142	143	11	plane	plane	NOUN
aiti-4142	143	12	.	.	PUNCT
aiti-4142	144	1	it	it	PRON
aiti-4142	144	2	is	be	AUX
aiti-4142	144	3	assumed	assume	VERB
aiti-4142	144	4	that	that	SCONJ
aiti-4142	144	5	the	the	DET
aiti-4142	144	6	position	position	NOUN
aiti-4142	144	7	information	information	NOUN
aiti-4142	144	8	of	of	ADP
aiti-4142	144	9	the	the	DET
aiti-4142	144	10	hug	hug	NOUN
aiti-4142	144	11	is	be	AUX
aiti-4142	144	12	available	available	ADJ
aiti-4142	144	13	from	from	ADP
aiti-4142	144	14	the	the	DET
aiti-4142	144	15	inertial	inertial	ADJ
aiti-4142	144	16	navigation	navigation	NOUN
aiti-4142	144	17	system	system	NOUN
aiti-4142	144	18	.	.	PUNCT
aiti-4142	145	1	then	then	ADV
aiti-4142	145	2	,	,	PUNCT
aiti-4142	145	3	a	a	DET
aiti-4142	145	4	two	two	NUM
aiti-4142	145	5	-	-	PUNCT
aiti-4142	145	6	dimensional	dimensional	ADJ
aiti-4142	145	7	los	los	NOUN
aiti-4142	145	8	guidance	guidance	NOUN
aiti-4142	145	9	is	be	AUX
aiti-4142	145	10	constructed	construct	VERB
aiti-4142	145	11	to	to	PART
aiti-4142	145	12	apply	apply	VERB
aiti-4142	145	13	the	the	DET
aiti-4142	145	14	desired	desire	VERB
aiti-4142	145	15	pitch	pitch	NOUN
aiti-4142	145	16	angle	angle	NOUN
aiti-4142	145	17	𝜃𝑑	𝜃𝑑	ADP
aiti-4142	145	18	to	to	ADP
aiti-4142	145	19	the	the	DET
aiti-4142	145	20	controller	controller	NOUN
aiti-4142	145	21	.	.	PUNCT
aiti-4142	146	1	the	the	DET
aiti-4142	146	2	way	way	NOUN
aiti-4142	146	3	-	-	PUNCT
aiti-4142	146	4	point	point	NOUN
aiti-4142	146	5	in	in	ADP
aiti-4142	146	6	the	the	DET
aiti-4142	146	7	los	los	PROPN
aiti-4142	146	8	guidance	guidance	NOUN
aiti-4142	146	9	is	be	AUX
aiti-4142	146	10	given	give	VERB
aiti-4142	146	11	by	by	ADP
aiti-4142	146	12	the	the	DET
aiti-4142	146	13	operator	operator	NOUN
aiti-4142	146	14	and	and	CCONJ
aiti-4142	146	15	it	it	PRON
aiti-4142	146	16	contains	contain	VERB
aiti-4142	146	17	2	2	NUM
aiti-4142	146	18	components	component	NOUN
aiti-4142	146	19	,	,	PUNCT
aiti-4142	146	20	𝑥𝑘	𝑥𝑘	NOUN
aiti-4142	146	21	and	and	CCONJ
aiti-4142	146	22	𝑧𝑘.	𝑧𝑘.	VERB
aiti-4142	146	23	the	the	DET
aiti-4142	146	24	path	path	NOUN
aiti-4142	146	25	variables	variable	NOUN
aiti-4142	146	26	by	by	ADP
aiti-4142	146	27	the	the	DET
aiti-4142	146	28	previous	previous	ADJ
aiti-4142	146	29	waypoint	waypoint	NOUN
aiti-4142	146	30	and	and	CCONJ
aiti-4142	146	31	the	the	DET
aiti-4142	146	32	current	current	ADJ
aiti-4142	146	33	waypoint	waypoint	NOUN
aiti-4142	146	34	are	be	AUX
aiti-4142	146	35	defined	define	VERB
aiti-4142	146	36	by	by	ADP
aiti-4142	146	37	𝑥𝑘	𝑥𝑘	NOUN
aiti-4142	146	38	,	,	PUNCT
aiti-4142	146	39	𝑧𝑘	𝑧𝑘	PROPN
aiti-4142	146	40	,	,	PUNCT
aiti-4142	146	41	𝑥𝑘−1	𝑥𝑘−1	PROPN
aiti-4142	146	42	and	and	CCONJ
aiti-4142	146	43	𝑧𝑘−1	𝑧𝑘−1	PROPN
aiti-4142	146	44	.	.	PUNCT
aiti-4142	147	1	by	by	ADP
aiti-4142	147	2	solving	solve	VERB
aiti-4142	147	3	eqs	eqs	PROPN
aiti-4142	147	4	.	.	PUNCT
aiti-4142	148	1	(	(	PUNCT
aiti-4142	148	2	37)-(38	37)-(38	NOUN
aiti-4142	148	3	)	)	PUNCT
aiti-4142	148	4	for	for	ADP
aiti-4142	148	5	the	the	DET
aiti-4142	148	6	virtual	virtual	ADJ
aiti-4142	148	7	los	los	PROPN
aiti-4142	148	8	point	point	NOUN
aiti-4142	148	9	(	(	PUNCT
aiti-4142	148	10	𝑥𝑙𝑜𝑠	𝑥𝑙𝑜𝑠	NOUN
aiti-4142	148	11	,	,	PUNCT
aiti-4142	148	12	𝑧𝑙𝑜𝑠	𝑧𝑙𝑜𝑠	NOUN
aiti-4142	148	13	)	)	PUNCT
aiti-4142	148	14	,	,	PUNCT
aiti-4142	148	15	the	the	DET
aiti-4142	148	16	desired	desire	VERB
aiti-4142	148	17	pitch	pitch	NOUN
aiti-4142	148	18	angle	angle	NOUN
aiti-4142	148	19	can	can	AUX
aiti-4142	148	20	be	be	AUX
aiti-4142	148	21	computed	compute	VERB
aiti-4142	148	22	by	by	ADP
aiti-4142	148	23	eq	eq	PROPN
aiti-4142	148	24	.	.	PUNCT
aiti-4142	149	1	(	(	PUNCT
aiti-4142	149	2	39	39	NUM
aiti-4142	149	3	)	)	PUNCT
aiti-4142	149	4	.	.	PUNCT
aiti-4142	150	1	𝐿𝑝𝑝	𝐿𝑝𝑝	PROPN
aiti-4142	150	2	is	be	AUX
aiti-4142	150	3	the	the	DET
aiti-4142	150	4	length	length	NOUN
aiti-4142	150	5	of	of	ADP
aiti-4142	150	6	the	the	DET
aiti-4142	150	7	vehicle	vehicle	NOUN
aiti-4142	150	8	;	;	PUNCT
aiti-4142	150	9	𝑛	𝑛	PRON
aiti-4142	150	10	is	be	AUX
aiti-4142	150	11	the	the	DET
aiti-4142	150	12	positive	positive	ADJ
aiti-4142	150	13	gain	gain	NOUN
aiti-4142	150	14	that	that	PRON
aiti-4142	150	15	combines	combine	VERB
aiti-4142	150	16	with	with	ADP
aiti-4142	150	17	𝐿𝑝𝑝	𝐿𝑝𝑝	PROPN
aiti-4142	150	18	to	to	PART
aiti-4142	150	19	define	define	VERB
aiti-4142	150	20	the	the	DET
aiti-4142	150	21	los	los	PROPN
aiti-4142	150	22	radius	radius	NOUN
aiti-4142	150	23	.	.	PUNCT
aiti-4142	151	1	2	2	NUM
aiti-4142	151	2	2	2	NUM
aiti-4142	151	3	2	2	NUM
aiti-4142	151	4	(	(	PUNCT
aiti-4142	151	5	)	)	PUNCT
aiti-4142	151	6	(	(	PUNCT
aiti-4142	151	7	)	)	PUNCT
aiti-4142	151	8	(	(	PUNCT
aiti-4142	151	9	)	)	PUNCT
aiti-4142	151	10	pplos	pplos	PROPN
aiti-4142	151	11	losz	losz	PROPN
aiti-4142	151	12	z	z	PROPN
aiti-4142	151	13	x	x	PUNCT
aiti-4142	151	14	x	x	X
aiti-4142	151	15	nl	nl	X
aiti-4142	151	16			X
aiti-4142	151	17			PROPN
aiti-4142	151	18			PROPN
aiti-4142	151	19	(	(	PUNCT
aiti-4142	151	20	37	37	NUM
aiti-4142	151	21	)	)	SYM
aiti-4142	151	22	1	1	NUM
aiti-4142	151	23	1	1	NUM
aiti-4142	151	24	1	1	NUM
aiti-4142	151	25	1	1	NUM
aiti-4142	152	1	los	los	PROPN
aiti-4142	152	2	k	k	PROPN
aiti-4142	152	3	k	k	PROPN
aiti-4142	152	4	k	k	PROPN
aiti-4142	153	1	los	los	PROPN
aiti-4142	153	2	k	k	PROPN
aiti-4142	154	1	k	k	PROPN
aiti-4142	154	2	k	k	PROPN
aiti-4142	155	1	z	z	PROPN
aiti-4142	155	2	z	z	NOUN
aiti-4142	156	1	z	z	NOUN
aiti-4142	156	2	z	z	NOUN
aiti-4142	157	1	x	x	PUNCT
aiti-4142	157	2	x	x	PUNCT
aiti-4142	157	3	x	x	PUNCT
aiti-4142	157	4	x	x	SYM
aiti-4142	157	5			PROPN
aiti-4142	157	6			PROPN
aiti-4142	157	7			PROPN
aiti-4142	157	8			PROPN
aiti-4142	157	9			PROPN
aiti-4142	157	10			PROPN
aiti-4142	157	11			PROPN
aiti-4142	157	12			PROPN
aiti-4142	157	13			PROPN
aiti-4142	157	14	(	(	PUNCT
aiti-4142	157	15	38	38	NUM
aiti-4142	157	16	)	)	PUNCT
aiti-4142	157	17	arctan	arctan	PROPN
aiti-4142	157	18			NOUN
aiti-4142	157	19			PROPN
aiti-4142	157	20			PROPN
aiti-4142	157	21			PROPN
aiti-4142	157	22			PROPN
aiti-4142	157	23			PROPN
aiti-4142	157	24			VERB
aiti-4142	157	25			PRON
aiti-4142	157	26			NOUN
aiti-4142	157	27	los	los	PROPN
aiti-4142	157	28	d	d	PROPN
aiti-4142	157	29	los	los	PROPN
aiti-4142	157	30	z	z	PROPN
aiti-4142	157	31	z	z	NOUN
aiti-4142	157	32	x	x	PUNCT
aiti-4142	157	33	x	x	PUNCT
aiti-4142	157	34			X
aiti-4142	157	35	(	(	PUNCT
aiti-4142	157	36	39	39	NUM
aiti-4142	157	37	)	)	PUNCT
aiti-4142	157	38	robust	robust	ADJ
aiti-4142	157	39	adaptive	adaptive	ADJ
aiti-4142	157	40	control	control	NOUN
aiti-4142	157	41	huglos	huglos	PROPN
aiti-4142	157	42	disturbance	disturbance	NOUN
aiti-4142	157	43	,	,	PUNCT
aiti-4142	158	1	d	d	PROPN
aiti-4142	158	2	d	d	X
aiti-4142	158	3	x	x	X
aiti-4142	158	4	z	z	NOUN
aiti-4142	158	5	d	d	X
aiti-4142	158	6			X
aiti-4142	158	7			PROPN
aiti-4142	158	8	,	,	PUNCT
aiti-4142	158	9	,	,	PUNCT
aiti-4142	158	10	x	x	X
aiti-4142	158	11	z	z	PUNCT
aiti-4142	158	12			X
aiti-4142	158	13	e	e	PROPN
aiti-4142	158	14	,	,	PUNCT
aiti-4142	158	15	,	,	PUNCT
aiti-4142	158	16	u	u	PROPN
aiti-4142	158	17	w	w	PROPN
aiti-4142	158	18	q	q	NOUN
aiti-4142	158	19	parameter	parameter	NOUN
aiti-4142	158	20	adaptation	adaptation	NOUN
aiti-4142	158	21	d	d	X
aiti-4142	158	22	u	u	NOUN
aiti-4142	158	23	fig	fig	NOUN
aiti-4142	158	24	.	.	PUNCT
aiti-4142	159	1	4	4	NUM
aiti-4142	159	2	algorithm	algorithm	NOUN
aiti-4142	159	3	of	of	ADP
aiti-4142	159	4	depth	depth	NOUN
aiti-4142	159	5	control	control	NOUN
aiti-4142	159	6	for	for	ADP
aiti-4142	159	7	the	the	DET
aiti-4142	159	8	energy	energy	NOUN
aiti-4142	159	9	efficient	efficient	ADJ
aiti-4142	159	10	operation	operation	NOUN
aiti-4142	159	11	,	,	PUNCT
aiti-4142	159	12	hug	hug	PRON
aiti-4142	159	13	will	will	AUX
aiti-4142	159	14	glide	glide	VERB
aiti-4142	159	15	down	down	ADP
aiti-4142	159	16	by	by	ADP
aiti-4142	159	17	only	only	ADV
aiti-4142	159	18	using	use	VERB
aiti-4142	159	19	the	the	DET
aiti-4142	159	20	buoyancy	buoyancy	NOUN
aiti-4142	159	21	engine	engine	NOUN
aiti-4142	159	22	and	and	CCONJ
aiti-4142	159	23	mass	mass	NOUN
aiti-4142	159	24	shifter	shifter	NOUN
aiti-4142	159	25	.	.	PUNCT
aiti-4142	160	1	when	when	SCONJ
aiti-4142	160	2	it	it	PRON
aiti-4142	160	3	reaches	reach	VERB
aiti-4142	160	4	the	the	DET
aiti-4142	160	5	desired	desire	VERB
aiti-4142	160	6	depth	depth	NOUN
aiti-4142	160	7	,	,	PUNCT
aiti-4142	160	8	the	the	DET
aiti-4142	160	9	depth	depth	NOUN
aiti-4142	160	10	control	control	NOUN
aiti-4142	160	11	is	be	AUX
aiti-4142	160	12	applied	apply	VERB
aiti-4142	160	13	to	to	PART
aiti-4142	160	14	keep	keep	VERB
aiti-4142	160	15	it	it	PRON
aiti-4142	160	16	at	at	ADP
aiti-4142	160	17	the	the	DET
aiti-4142	160	18	desired	desire	VERB
aiti-4142	160	19	depth	depth	NOUN
aiti-4142	160	20	.	.	PUNCT
aiti-4142	161	1	the	the	DET
aiti-4142	161	2	adaptation	adaptation	NOUN
aiti-4142	161	3	law	law	NOUN
aiti-4142	161	4	is	be	AUX
aiti-4142	161	5	used	use	VERB
aiti-4142	161	6	to	to	PART
aiti-4142	161	7	estimate	estimate	VERB
aiti-4142	161	8	the	the	DET
aiti-4142	161	9	nonlinear	nonlinear	ADJ
aiti-4142	161	10	unknown	unknown	ADJ
aiti-4142	161	11	term	term	NOUN
aiti-4142	161	12	in	in	ADP
aiti-4142	161	13	the	the	DET
aiti-4142	161	14	pitch	pitch	NOUN
aiti-4142	161	15	and	and	CCONJ
aiti-4142	161	16	surge	surge	NOUN
aiti-4142	161	17	dynamics	dynamic	NOUN
aiti-4142	161	18	.	.	PUNCT
aiti-4142	162	1	the	the	DET
aiti-4142	162	2	estimation	estimation	NOUN
aiti-4142	162	3	algorithm	algorithm	NOUN
aiti-4142	162	4	for	for	ADP
aiti-4142	162	5	the	the	DET
aiti-4142	162	6	unknown	unknown	ADJ
aiti-4142	162	7	parameters	parameter	NOUN
aiti-4142	162	8	is	be	AUX
aiti-4142	162	9	used	use	VERB
aiti-4142	162	10	in	in	ADP
aiti-4142	162	11	the	the	DET
aiti-4142	162	12	control	control	NOUN
aiti-4142	162	13	action	action	NOUN
aiti-4142	162	14	while	while	SCONJ
aiti-4142	162	15	stabilizing	stabilize	VERB
aiti-4142	162	16	the	the	DET
aiti-4142	162	17	dynamics	dynamic	NOUN
aiti-4142	162	18	.	.	PUNCT
aiti-4142	163	1	furthermore	furthermore	ADV
aiti-4142	163	2	,	,	PUNCT
aiti-4142	163	3	the	the	DET
aiti-4142	163	4	sliding	slide	VERB
aiti-4142	163	5	mode	mode	NOUN
aiti-4142	163	6	control	control	NOUN
aiti-4142	163	7	is	be	AUX
aiti-4142	163	8	used	use	VERB
aiti-4142	163	9	to	to	PART
aiti-4142	163	10	deal	deal	VERB
aiti-4142	163	11	with	with	ADP
aiti-4142	163	12	the	the	DET
aiti-4142	163	13	environmental	environmental	ADJ
aiti-4142	163	14	disturbances	disturbance	NOUN
aiti-4142	163	15	from	from	ADP
aiti-4142	163	16	currents	current	NOUN
aiti-4142	163	17	and	and	CCONJ
aiti-4142	163	18	waves	wave	NOUN
aiti-4142	163	19	.	.	PUNCT
aiti-4142	164	1	in	in	ADP
aiti-4142	164	2	the	the	DET
aiti-4142	164	3	following	follow	VERB
aiti-4142	164	4	section	section	NOUN
aiti-4142	164	5	,	,	PUNCT
aiti-4142	164	6	the	the	DET
aiti-4142	164	7	simulation	simulation	NOUN
aiti-4142	164	8	of	of	ADP
aiti-4142	164	9	the	the	DET
aiti-4142	164	10	diving	diving	ADJ
aiti-4142	164	11	,	,	PUNCT
aiti-4142	164	12	depth	depth	NOUN
aiti-4142	164	13	-	-	PUNCT
aiti-4142	164	14	keeping	keeping	NOUN
aiti-4142	164	15	and	and	CCONJ
aiti-4142	164	16	redurfacing	redurfacing	NOUN
aiti-4142	164	17	are	be	AUX
aiti-4142	164	18	presented	present	VERB
aiti-4142	164	19	.	.	PUNCT
aiti-4142	165	1	4	4	X
aiti-4142	165	2	.	.	X
aiti-4142	165	3	simulation	simulation	NOUN
aiti-4142	165	4	and	and	CCONJ
aiti-4142	165	5	discussion	discussion	NOUN
aiti-4142	165	6	in	in	ADP
aiti-4142	165	7	order	order	NOUN
aiti-4142	165	8	to	to	PART
aiti-4142	165	9	validate	validate	VERB
aiti-4142	165	10	the	the	DET
aiti-4142	165	11	good	good	ADJ
aiti-4142	165	12	performance	performance	NOUN
aiti-4142	165	13	of	of	ADP
aiti-4142	165	14	the	the	DET
aiti-4142	165	15	proposed	propose	VERB
aiti-4142	165	16	depth	depth	NOUN
aiti-4142	165	17	control	control	NOUN
aiti-4142	165	18	,	,	PUNCT
aiti-4142	165	19	the	the	DET
aiti-4142	165	20	simulation	simulation	NOUN
aiti-4142	165	21	of	of	ADP
aiti-4142	165	22	heaving	heaving	NOUN
aiti-4142	165	23	motion	motion	NOUN
aiti-4142	165	24	control	control	NOUN
aiti-4142	165	25	of	of	ADP
aiti-4142	165	26	the	the	DET
aiti-4142	165	27	hug	hug	NOUN
aiti-4142	165	28	is	be	AUX
aiti-4142	165	29	presented	present	VERB
aiti-4142	165	30	using	use	VERB
aiti-4142	165	31	the	the	DET
aiti-4142	165	32	matlab	matlab	NOUN
aiti-4142	165	33	with	with	ADP
aiti-4142	165	34	the	the	DET
aiti-4142	165	35	vehicle	vehicle	NOUN
aiti-4142	165	36	parameters	parameter	NOUN
aiti-4142	165	37	which	which	PRON
aiti-4142	165	38	is	be	AUX
aiti-4142	165	39	presented	present	VERB
aiti-4142	165	40	in	in	ADP
aiti-4142	165	41	table	table	NOUN
aiti-4142	165	42	1	1	NUM
aiti-4142	165	43	.	.	PUNCT
aiti-4142	166	1	the	the	DET
aiti-4142	166	2	descending	descend	VERB
aiti-4142	166	3	and	and	CCONJ
aiti-4142	166	4	ascending	ascend	VERB
aiti-4142	166	5	motion	motion	NOUN
aiti-4142	166	6	is	be	AUX
aiti-4142	166	7	actuated	actuate	VERB
aiti-4142	166	8	by	by	ADP
aiti-4142	166	9	only	only	ADV
aiti-4142	166	10	buoyancy	buoyancy	NOUN
aiti-4142	166	11	engine	engine	NOUN
aiti-4142	166	12	and	and	CCONJ
aiti-4142	166	13	mass	mass	NOUN
aiti-4142	166	14	shifter	shifter	NOUN
aiti-4142	166	15	.	.	PUNCT
aiti-4142	167	1	when	when	SCONJ
aiti-4142	167	2	the	the	DET
aiti-4142	167	3	hug	hug	NOUN
aiti-4142	167	4	goes	go	VERB
aiti-4142	167	5	down	down	ADV
aiti-4142	167	6	close	close	ADV
aiti-4142	167	7	to	to	ADP
aiti-4142	167	8	the	the	DET
aiti-4142	167	9	desired	desire	VERB
aiti-4142	167	10	depth	depth	NOUN
aiti-4142	167	11	,	,	PUNCT
aiti-4142	167	12	the	the	DET
aiti-4142	167	13	buoyancy	buoyancy	NOUN
aiti-4142	167	14	engine	engine	NOUN
aiti-4142	167	15	is	be	AUX
aiti-4142	167	16	controlled	control	VERB
aiti-4142	167	17	to	to	PART
aiti-4142	167	18	stay	stay	VERB
aiti-4142	167	19	in	in	ADP
aiti-4142	167	20	the	the	DET
aiti-4142	167	21	neutral	neutral	ADJ
aiti-4142	167	22	buoyant	buoyant	ADJ
aiti-4142	167	23	condition	condition	NOUN
aiti-4142	167	24	or	or	CCONJ
aiti-4142	167	25	zero	zero	NUM
aiti-4142	167	26	net	net	ADJ
aiti-4142	167	27	buoyancy	buoyancy	NOUN
aiti-4142	167	28	.	.	PUNCT
aiti-4142	168	1	the	the	DET
aiti-4142	168	2	thruster	thruster	NOUN
aiti-4142	168	3	and	and	CCONJ
aiti-4142	168	4	mass	mass	NOUN
aiti-4142	168	5	shifter	shifter	NOUN
aiti-4142	168	6	are	be	AUX
aiti-4142	168	7	used	use	VERB
aiti-4142	168	8	to	to	PART
aiti-4142	168	9	drive	drive	VERB
aiti-4142	168	10	the	the	DET
aiti-4142	168	11	vehicle	vehicle	NOUN
aiti-4142	168	12	along	along	ADP
aiti-4142	168	13	the	the	DET
aiti-4142	168	14	desired	desire	VERB
aiti-4142	168	15	depth	depth	NOUN
aiti-4142	168	16	with	with	ADP
aiti-4142	168	17	the	the	DET
aiti-4142	168	18	designed	design	VERB
aiti-4142	168	19	speed	speed	NOUN
aiti-4142	168	20	.	.	PUNCT
aiti-4142	169	1	in	in	ADP
aiti-4142	169	2	this	this	DET
aiti-4142	169	3	simulation	simulation	NOUN
aiti-4142	169	4	,	,	PUNCT
aiti-4142	169	5	the	the	DET
aiti-4142	169	6	desired	desire	VERB
aiti-4142	169	7	depth	depth	NOUN
aiti-4142	169	8	is	be	AUX
aiti-4142	169	9	200	200	NUM
aiti-4142	169	10	m	m	NOUN
aiti-4142	169	11	advances	advance	NOUN
aiti-4142	169	12	in	in	ADP
aiti-4142	169	13	technology	technology	NOUN
aiti-4142	169	14	innovation	innovation	NOUN
aiti-4142	169	15	,	,	PUNCT
aiti-4142	169	16	vol	vol	NOUN
aiti-4142	169	17	.	.	PROPN
aiti-4142	169	18	5	5	NUM
aiti-4142	169	19	,	,	PUNCT
aiti-4142	169	20	no	no	INTJ
aiti-4142	169	21	.	.	NOUN
aiti-4142	169	22	3	3	NUM
aiti-4142	169	23	,	,	PUNCT
aiti-4142	169	24	2020	2020	NUM
aiti-4142	169	25	,	,	PUNCT
aiti-4142	169	26	pp	pp	ADJ
aiti-4142	169	27	.	.	PUNCT
aiti-4142	170	1	135	135	NUM
aiti-4142	170	2	-	-	SYM
aiti-4142	170	3	146	146	NUM
aiti-4142	170	4	142	142	NUM
aiti-4142	170	5	(	(	PUNCT
aiti-4142	170	6	1	1	NUM
aiti-4142	170	7	2	2	NUM
aiti-4142	170	8	200	200	NUM
aiti-4142	170	9	z	z	PROPN
aiti-4142	170	10	z	z	NOUN
aiti-4142	170	11	m	m	VERB
aiti-4142	170	12	)	)	PUNCT
aiti-4142	170	13	,	,	PUNCT
aiti-4142	170	14	the	the	DET
aiti-4142	170	15	length	length	NOUN
aiti-4142	170	16	of	of	ADP
aiti-4142	170	17	trajectory	trajectory	NOUN
aiti-4142	170	18	distance	distance	NOUN
aiti-4142	170	19	is	be	AUX
aiti-4142	170	20	300	300	NUM
aiti-4142	170	21	m	m	NOUN
aiti-4142	170	22	,	,	PUNCT
aiti-4142	170	23	the	the	DET
aiti-4142	170	24	desired	desire	VERB
aiti-4142	170	25	speed	speed	NOUN
aiti-4142	170	26	is	be	AUX
aiti-4142	170	27	2	2	NUM
aiti-4142	170	28	knots	knot	NOUN
aiti-4142	170	29	(	(	PUNCT
aiti-4142	170	30	1	1	NUM
aiti-4142	170	31	/du	/du	NOUN
aiti-4142	170	32	m	m	NOUN
aiti-4142	170	33	s	s	NOUN
aiti-4142	170	34	)	)	PUNCT
aiti-4142	170	35	.	.	PUNCT
aiti-4142	171	1	also	also	ADV
aiti-4142	171	2	,	,	PUNCT
aiti-4142	171	3	environmental	environmental	ADJ
aiti-4142	171	4	distrubances	distrubance	NOUN
aiti-4142	171	5	are	be	AUX
aiti-4142	171	6	chosen	choose	VERB
aiti-4142	171	7	as	as	ADP
aiti-4142	171	8	the	the	DET
aiti-4142	171	9	sine	sine	ADJ
aiti-4142	171	10	function	function	NOUN
aiti-4142	171	11	with	with	ADP
aiti-4142	171	12	the	the	DET
aiti-4142	171	13	magnitude	magnitude	NOUN
aiti-4142	171	14	of	of	ADP
aiti-4142	171	15	2n	2n	NUM
aiti-4142	171	16	,	,	PUNCT
aiti-4142	171	17	-1n	-1n	PROPN
aiti-4142	171	18	and	and	CCONJ
aiti-4142	171	19	2	2	NUM
aiti-4142	171	20	nm	nm	PRON
aiti-4142	171	21	(	(	PUNCT
aiti-4142	171	22			ADJ
aiti-4142	171	23	|	|	NOUN
aiti-4142	171	24	|	|	ADV
aiti-4142	171	25	2	2	NUM
aiti-4142	171	26	1	1	NUM
aiti-4142	171	27	2	2	NUM
aiti-4142	171	28	t	t	NOUN
aiti-4142	171	29	e	e	PROPN
aiti-4142	171	30			PROPN
aiti-4142	171	31			NOUN
aiti-4142	171	32	)	)	PUNCT
aiti-4142	171	33	for	for	ADP
aiti-4142	171	34	𝐸𝑥	𝐸𝑥	PROPN
aiti-4142	171	35	,	,	PUNCT
aiti-4142	171	36	𝐸𝑧	𝐸𝑧	PROPN
aiti-4142	171	37	and	and	CCONJ
aiti-4142	171	38	𝐸𝑦	𝐸𝑦	PROPN
aiti-4142	171	39	axes	axis	NOUN
aiti-4142	171	40	respectively	respectively	ADV
aiti-4142	171	41	.	.	PUNCT
aiti-4142	172	1	table	table	NOUN
aiti-4142	172	2	1	1	NUM
aiti-4142	172	3	vehicle	vehicle	NOUN
aiti-4142	172	4	parameters	parameter	NOUN
aiti-4142	172	5	parameters	parameter	NOUN
aiti-4142	172	6	value	value	NOUN
aiti-4142	172	7	parameters	parameter	NOUN
aiti-4142	172	8	value	value	NOUN
aiti-4142	172	9	parameters	parameter	NOUN
aiti-4142	172	10	value	value	VERB
aiti-4142	172	11	m	m	VERB
aiti-4142	172	12	70	70	NUM
aiti-4142	172	13	kg	kg	ADP
aiti-4142	172	14	𝑋	𝑋	PROPN
aiti-4142	172	15	�	�	PROPN
aiti-4142	172	16	̇	̇	PROPN
aiti-4142	172	17	�	�	PROPN
aiti-4142	172	18	−9.3	−9.3	PROPN
aiti-4142	172	19	×	×	NOUN
aiti-4142	172	20	10−1	10−1	NUM
aiti-4142	172	21	kg	kg	NOUN
aiti-4142	172	22	𝑍|𝑤|𝑤	𝑍|𝑤|𝑤	PROPN
aiti-4142	173	1	−1.31	−1.31	ADP
aiti-4142	173	2	×	×	PROPN
aiti-4142	173	3	102kg	102kg	NOUN
aiti-4142	173	4	/	/	SYM
aiti-4142	173	5	m	m	PROPN
aiti-4142	173	6	𝐼𝑦𝑦	𝐼𝑦𝑦	PROPN
aiti-4142	173	7	1.29kgm2	1.29kgm2	NUM
aiti-4142	173	8	𝑍	𝑍	PROPN
aiti-4142	173	9	�	�	PROPN
aiti-4142	173	10	̇	̇	NOUN
aiti-4142	173	11	�	�	PROPN
aiti-4142	173	12	−3.55	−3.55	ADP
aiti-4142	173	13	×	×	NOUN
aiti-4142	173	14	101	101	NUM
aiti-4142	173	15	kg	kg	NOUN
aiti-4142	173	16	𝑀	𝑀	PROPN
aiti-4142	173	17	�	�	PROPN
aiti-4142	173	18	̇	̇	PROPN
aiti-4142	173	19	�	�	PROPN
aiti-4142	173	20	−4.88kgm2	−4.88kgm2	PROPN
aiti-4142	173	21	/	/	SYM
aiti-4142	173	22	rad	rad	NOUN
aiti-4142	173	23	𝑚𝑚	𝑚𝑚	ADP
aiti-4142	173	24	1.5	1.5	NUM
aiti-4142	173	25	kg	kg	NOUN
aiti-4142	173	26	𝑍	𝑍	PROPN
aiti-4142	173	27	�	�	PROPN
aiti-4142	173	28	̇	̇	PROPN
aiti-4142	173	29	�	�	PROPN
aiti-4142	173	30	−1.93kgm	−1.93kgm	NOUN
aiti-4142	173	31	/	/	SYM
aiti-4142	173	32	rad	rad	PROPN
aiti-4142	173	33	𝑀	𝑀	PROPN
aiti-4142	173	34	�	�	PROPN
aiti-4142	173	35	̇	̇	PROPN
aiti-4142	174	1	�	�	PROPN
aiti-4142	174	2	−1.93kgm	−1.93kgm	NOUN
aiti-4142	174	3	𝑊	𝑊	PROPN
aiti-4142	174	4	−	−	PROPN
aiti-4142	174	5	𝐵	𝐵	PROPN
aiti-4142	174	6	±0.7	±0.7	PROPN
aiti-4142	174	7	kg	kg	PROPN
aiti-4142	174	8	𝑋|𝑢|𝑢	𝑋|𝑢|𝑢	PROPN
aiti-4142	174	9	−3.9kg	−3.9kg	PROPN
aiti-4142	174	10	/	/	SYM
aiti-4142	174	11	m	m	NOUN
aiti-4142	174	12	𝑀|𝑞|𝑞	𝑀|𝑞|𝑞	NOUN
aiti-4142	174	13	−1.88	−1.88	PRON
aiti-4142	174	14	×	×	NOUN
aiti-4142	174	15	102kgm2	102kgm2	NUM
aiti-4142	174	16	/	/	SYM
aiti-4142	174	17	rad2	rad2	NOUN
aiti-4142	174	18	the	the	DET
aiti-4142	174	19	hug	hug	NOUN
aiti-4142	174	20	dives	dive	VERB
aiti-4142	174	21	with	with	ADP
aiti-4142	174	22	−30	−30	NOUN
aiti-4142	174	23	°	°	CCONJ
aiti-4142	174	24	pitch	pitch	NOUN
aiti-4142	174	25	angle	angle	NOUN
aiti-4142	174	26	to	to	ADP
aiti-4142	174	27	the	the	DET
aiti-4142	174	28	depth	depth	NOUN
aiti-4142	174	29	of	of	ADP
aiti-4142	174	30	200	200	NUM
aiti-4142	174	31	m	m	NOUN
aiti-4142	174	32	,	,	PUNCT
aiti-4142	174	33	then	then	ADV
aiti-4142	174	34	it	it	PRON
aiti-4142	174	35	will	will	AUX
aiti-4142	174	36	use	use	VERB
aiti-4142	174	37	the	the	DET
aiti-4142	174	38	thruster	thruster	NOUN
aiti-4142	174	39	to	to	PART
aiti-4142	174	40	keep	keep	VERB
aiti-4142	174	41	at	at	ADP
aiti-4142	174	42	the	the	DET
aiti-4142	174	43	constant	constant	ADJ
aiti-4142	174	44	depth	depth	NOUN
aiti-4142	174	45	,	,	PUNCT
aiti-4142	174	46	and	and	CCONJ
aiti-4142	174	47	after	after	ADP
aiti-4142	174	48	moving	move	VERB
aiti-4142	174	49	300	300	NUM
aiti-4142	174	50	m	m	NOUN
aiti-4142	174	51	at	at	ADP
aiti-4142	174	52	the	the	DET
aiti-4142	174	53	desired	desire	VERB
aiti-4142	174	54	depth	depth	NOUN
aiti-4142	174	55	it	it	PRON
aiti-4142	174	56	will	will	AUX
aiti-4142	174	57	ascends	ascend	VERB
aiti-4142	174	58	with	with	ADP
aiti-4142	174	59	a	a	DET
aiti-4142	174	60	positive	positive	ADJ
aiti-4142	174	61	pitch	pitch	NOUN
aiti-4142	174	62	angle	angle	NOUN
aiti-4142	174	63	of	of	ADP
aiti-4142	174	64	30	30	NUM
aiti-4142	174	65	°	°	NOUN
aiti-4142	174	66	(	(	PUNCT
aiti-4142	174	67	30d	30d	NUM
aiti-4142	174	68	)	)	PUNCT
aiti-4142	174	69	.	.	PUNCT
aiti-4142	175	1	fig	fig	NOUN
aiti-4142	175	2	.	.	PUNCT
aiti-4142	176	1	5	5	NUM
aiti-4142	176	2	is	be	AUX
aiti-4142	176	3	indicated	indicate	VERB
aiti-4142	176	4	that	that	SCONJ
aiti-4142	176	5	hug	hug	PRON
aiti-4142	176	6	glides	glide	VERB
aiti-4142	176	7	down	down	ADP
aiti-4142	176	8	with	with	ADP
aiti-4142	176	9	the	the	DET
aiti-4142	176	10	small	small	ADJ
aiti-4142	176	11	oscillation	oscillation	NOUN
aiti-4142	176	12	due	due	ADP
aiti-4142	176	13	to	to	ADP
aiti-4142	176	14	the	the	DET
aiti-4142	176	15	environment	environment	NOUN
aiti-4142	176	16	effects	effect	NOUN
aiti-4142	176	17	.	.	PUNCT
aiti-4142	177	1	this	this	DET
aiti-4142	177	2	phenomenon	phenomenon	NOUN
aiti-4142	177	3	can	can	AUX
aiti-4142	177	4	be	be	AUX
aiti-4142	177	5	observed	observe	VERB
aiti-4142	177	6	in	in	ADP
aiti-4142	177	7	the	the	DET
aiti-4142	177	8	pitch	pitch	NOUN
aiti-4142	177	9	tracking	tracking	NOUN
aiti-4142	177	10	control	control	NOUN
aiti-4142	177	11	in	in	ADP
aiti-4142	177	12	fig	fig	NOUN
aiti-4142	177	13	.	.	PUNCT
aiti-4142	178	1	6	6	NUM
aiti-4142	178	2	.	.	X
aiti-4142	179	1	at	at	ADP
aiti-4142	179	2	the	the	DET
aiti-4142	179	3	desired	desire	VERB
aiti-4142	179	4	depth	depth	NOUN
aiti-4142	179	5	,	,	PUNCT
aiti-4142	179	6	the	the	DET
aiti-4142	179	7	output	output	NOUN
aiti-4142	179	8	of	of	ADP
aiti-4142	179	9	los	los	PROPN
aiti-4142	179	10	guidance	guidance	NOUN
aiti-4142	179	11	is	be	AUX
aiti-4142	179	12	seen	see	VERB
aiti-4142	179	13	as	as	ADP
aiti-4142	179	14	the	the	DET
aiti-4142	179	15	wave	wave	NOUN
aiti-4142	179	16	form	form	NOUN
aiti-4142	179	17	because	because	SCONJ
aiti-4142	179	18	of	of	ADP
aiti-4142	179	19	the	the	DET
aiti-4142	179	20	sine	sine	ADJ
aiti-4142	179	21	function	function	NOUN
aiti-4142	179	22	of	of	ADP
aiti-4142	179	23	the	the	DET
aiti-4142	179	24	disturbances	disturbance	NOUN
aiti-4142	179	25	.	.	PUNCT
aiti-4142	180	1	it	it	PRON
aiti-4142	180	2	shows	show	VERB
aiti-4142	180	3	that	that	SCONJ
aiti-4142	180	4	the	the	DET
aiti-4142	180	5	control	control	NOUN
aiti-4142	180	6	law	law	NOUN
aiti-4142	180	7	drives	drive	VERB
aiti-4142	180	8	the	the	DET
aiti-4142	180	9	hug	hug	NOUN
aiti-4142	180	10	to	to	PART
aiti-4142	180	11	track	track	VERB
aiti-4142	180	12	the	the	DET
aiti-4142	180	13	path	path	NOUN
aiti-4142	180	14	of	of	ADP
aiti-4142	180	15	los	los	PROPN
aiti-4142	180	16	guidance	guidance	NOUN
aiti-4142	180	17	very	very	ADV
aiti-4142	180	18	well	well	ADV
aiti-4142	180	19	in	in	ADP
aiti-4142	180	20	the	the	DET
aiti-4142	180	21	presence	presence	NOUN
aiti-4142	180	22	of	of	ADP
aiti-4142	180	23	disturbances	disturbance	NOUN
aiti-4142	180	24	.	.	PUNCT
aiti-4142	181	1	fig	fig	NOUN
aiti-4142	181	2	.	.	PUNCT
aiti-4142	182	1	5	5	NUM
aiti-4142	182	2	trajectory	trajectory	NOUN
aiti-4142	182	3	of	of	ADP
aiti-4142	182	4	hug	hug	NOUN
aiti-4142	182	5	with	with	ADP
aiti-4142	182	6	environmental	environmental	ADJ
aiti-4142	182	7	disturbances	disturbance	NOUN
aiti-4142	182	8	(	(	PUNCT
aiti-4142	182	9	a	a	X
aiti-4142	182	10	)	)	PUNCT
aiti-4142	182	11	longitudinal	longitudinal	ADJ
aiti-4142	182	12	coordinate	coordinate	NOUN
aiti-4142	182	13	(	(	PUNCT
aiti-4142	182	14	b	b	NOUN
aiti-4142	182	15	)	)	PUNCT
aiti-4142	182	16	depth	depth	NOUN
aiti-4142	182	17	(	(	PUNCT
aiti-4142	182	18	c	c	NOUN
aiti-4142	182	19	)	)	PUNCT
aiti-4142	182	20	heading	head	VERB
aiti-4142	182	21	performance	performance	NOUN
aiti-4142	182	22	in	in	ADP
aiti-4142	182	23	depth	depth	NOUN
aiti-4142	182	24	control	control	NOUN
aiti-4142	182	25	fig	fig	NOUN
aiti-4142	182	26	.	.	PUNCT
aiti-4142	183	1	6	6	NUM
aiti-4142	183	2	the	the	DET
aiti-4142	183	3	position	position	NOUN
aiti-4142	183	4	and	and	CCONJ
aiti-4142	183	5	orientation	orientation	NOUN
aiti-4142	183	6	of	of	ADP
aiti-4142	183	7	hug	hug	NOUN
aiti-4142	183	8	advances	advance	NOUN
aiti-4142	183	9	in	in	ADP
aiti-4142	183	10	technology	technology	NOUN
aiti-4142	183	11	innovation	innovation	NOUN
aiti-4142	183	12	,	,	PUNCT
aiti-4142	183	13	vol	vol	NOUN
aiti-4142	183	14	.	.	PROPN
aiti-4142	184	1	5	5	NUM
aiti-4142	184	2	,	,	PUNCT
aiti-4142	184	3	no	no	INTJ
aiti-4142	184	4	.	.	NOUN
aiti-4142	184	5	3	3	NUM
aiti-4142	184	6	,	,	PUNCT
aiti-4142	184	7	2020	2020	NUM
aiti-4142	184	8	,	,	PUNCT
aiti-4142	184	9	pp	pp	ADJ
aiti-4142	184	10	.	.	PUNCT
aiti-4142	185	1	135	135	NUM
aiti-4142	185	2	-	-	SYM
aiti-4142	185	3	146	146	NUM
aiti-4142	185	4	143	143	NUM
aiti-4142	185	5	fig	fig	NOUN
aiti-4142	185	6	.	.	PUNCT
aiti-4142	186	1	7	7	NUM
aiti-4142	186	2	is	be	AUX
aiti-4142	186	3	described	describe	VERB
aiti-4142	186	4	velocities	velocity	NOUN
aiti-4142	186	5	of	of	ADP
aiti-4142	186	6	the	the	DET
aiti-4142	186	7	vehicle	vehicle	NOUN
aiti-4142	186	8	in	in	ADP
aiti-4142	186	9	the	the	DET
aiti-4142	186	10	body	body	NOUN
aiti-4142	186	11	-	-	PUNCT
aiti-4142	186	12	fixed	fix	VERB
aiti-4142	186	13	coordinates	coordinate	NOUN
aiti-4142	186	14	.	.	PUNCT
aiti-4142	187	1	the	the	DET
aiti-4142	187	2	speed	speed	NOUN
aiti-4142	187	3	control	control	NOUN
aiti-4142	187	4	results	result	NOUN
aiti-4142	187	5	are	be	AUX
aiti-4142	187	6	presented	present	VERB
aiti-4142	187	7	for	for	ADP
aiti-4142	187	8	the	the	DET
aiti-4142	187	9	surge	surge	NOUN
aiti-4142	187	10	velocity	velocity	NOUN
aiti-4142	187	11	𝑢	𝑢	NOUN
aiti-4142	187	12	with	with	ADP
aiti-4142	187	13	the	the	DET
aiti-4142	187	14	desired	desire	VERB
aiti-4142	187	15	speed	speed	NOUN
aiti-4142	187	16	is	be	AUX
aiti-4142	187	17	1	1	NUM
aiti-4142	187	18	m	m	NOUN
aiti-4142	187	19	/	/	SYM
aiti-4142	187	20	s.	s.	PROPN
aiti-4142	188	1	it	it	PRON
aiti-4142	188	2	is	be	AUX
aiti-4142	188	3	noted	note	VERB
aiti-4142	188	4	that	that	SCONJ
aiti-4142	188	5	the	the	DET
aiti-4142	188	6	speed	speed	NOUN
aiti-4142	188	7	control	control	NOUN
aiti-4142	188	8	is	be	AUX
aiti-4142	188	9	only	only	ADV
aiti-4142	188	10	used	use	VERB
aiti-4142	188	11	in	in	ADP
aiti-4142	188	12	the	the	DET
aiti-4142	188	13	cruise	cruise	NOUN
aiti-4142	188	14	period	period	NOUN
aiti-4142	188	15	.	.	PUNCT
aiti-4142	189	1	the	the	DET
aiti-4142	189	2	robust	robust	ADJ
aiti-4142	189	3	adaptive	adaptive	ADJ
aiti-4142	189	4	speed	speed	NOUN
aiti-4142	189	5	control	control	NOUN
aiti-4142	189	6	shows	show	VERB
aiti-4142	189	7	good	good	ADJ
aiti-4142	189	8	tracking	tracking	NOUN
aiti-4142	189	9	performance	performance	NOUN
aiti-4142	189	10	along	along	ADP
aiti-4142	189	11	the	the	DET
aiti-4142	189	12	desired	desire	VERB
aiti-4142	189	13	trajectory	trajectory	NOUN
aiti-4142	189	14	under	under	ADP
aiti-4142	189	15	the	the	DET
aiti-4142	189	16	bounded	bounded	ADJ
aiti-4142	189	17	disturbances	disturbance	NOUN
aiti-4142	189	18	.	.	PUNCT
aiti-4142	190	1	additionally	additionally	ADV
aiti-4142	190	2	,	,	PUNCT
aiti-4142	190	3	the	the	DET
aiti-4142	190	4	control	control	NOUN
aiti-4142	190	5	force	force	NOUN
aiti-4142	190	6	and	and	CCONJ
aiti-4142	190	7	torque	torque	NOUN
aiti-4142	190	8	for	for	ADP
aiti-4142	190	9	the	the	DET
aiti-4142	190	10	depth	depth	NOUN
aiti-4142	190	11	control	control	NOUN
aiti-4142	190	12	are	be	AUX
aiti-4142	190	13	simulated	simulate	VERB
aiti-4142	190	14	in	in	ADP
aiti-4142	190	15	fig	fig	NOUN
aiti-4142	190	16	.	.	PUNCT
aiti-4142	191	1	8	8	NUM
aiti-4142	191	2	.	.	PUNCT
aiti-4142	192	1	the	the	DET
aiti-4142	192	2	control	control	NOUN
aiti-4142	192	3	force	force	NOUN
aiti-4142	192	4	of	of	ADP
aiti-4142	192	5	the	the	DET
aiti-4142	192	6	buoyancy	buoyancy	NOUN
aiti-4142	192	7	engine	engine	NOUN
aiti-4142	192	8	is	be	AUX
aiti-4142	192	9	limited	limit	VERB
aiti-4142	192	10	in	in	ADP
aiti-4142	192	11	the	the	DET
aiti-4142	192	12	range	range	NOUN
aiti-4142	192	13	from	from	ADP
aiti-4142	192	14	-2	-2	INTJ
aiti-4142	192	15	n	n	CCONJ
aiti-4142	192	16	to	to	ADP
aiti-4142	192	17	2	2	NUM
aiti-4142	192	18	n.	n.	NOUN
aiti-4142	192	19	the	the	DET
aiti-4142	192	20	range	range	NOUN
aiti-4142	192	21	of	of	ADP
aiti-4142	192	22	the	the	DET
aiti-4142	192	23	pitching	pitching	NOUN
aiti-4142	192	24	torque	torque	NOUN
aiti-4142	192	25	generated	generate	VERB
aiti-4142	192	26	by	by	ADP
aiti-4142	192	27	mass	mass	ADJ
aiti-4142	192	28	shifter	shifter	NOUN
aiti-4142	192	29	is	be	AUX
aiti-4142	192	30	in	in	ADP
aiti-4142	192	31	the	the	DET
aiti-4142	192	32	range	range	NOUN
aiti-4142	192	33	from	from	ADP
aiti-4142	192	34	-20	-20	NUM
aiti-4142	192	35	nm	nm	NOUN
aiti-4142	192	36	to	to	ADP
aiti-4142	192	37	20	20	NUM
aiti-4142	192	38	nm	nm	NOUN
aiti-4142	192	39	.	.	PUNCT
aiti-4142	193	1	(	(	PUNCT
aiti-4142	193	2	a	a	X
aiti-4142	193	3	)	)	PUNCT
aiti-4142	193	4	speed	speed	NOUN
aiti-4142	193	5	control	control	NOUN
aiti-4142	193	6	performance	performance	NOUN
aiti-4142	193	7	(	(	PUNCT
aiti-4142	193	8	b	b	NOUN
aiti-4142	193	9	)	)	PUNCT
aiti-4142	193	10	sway	sway	NOUN
aiti-4142	193	11	velocity	velocity	NOUN
aiti-4142	193	12	(	(	PUNCT
aiti-4142	193	13	c	c	NOUN
aiti-4142	193	14	)	)	PUNCT
aiti-4142	193	15	pitch	pitch	NOUN
aiti-4142	193	16	velocity	velocity	NOUN
aiti-4142	193	17	fig	fig	NOUN
aiti-4142	193	18	.	.	PUNCT
aiti-4142	194	1	7	7	NUM
aiti-4142	194	2	velocities	velocity	NOUN
aiti-4142	194	3	of	of	ADP
aiti-4142	194	4	the	the	DET
aiti-4142	194	5	hug	hug	NOUN
aiti-4142	194	6	in	in	ADP
aiti-4142	194	7	the	the	DET
aiti-4142	194	8	body	body	NOUN
aiti-4142	194	9	-	-	PUNCT
aiti-4142	194	10	fixed	fix	VERB
aiti-4142	194	11	coordinates	coordinate	NOUN
aiti-4142	194	12	(	(	PUNCT
aiti-4142	194	13	a	a	X
aiti-4142	194	14	)	)	PUNCT
aiti-4142	194	15	net	net	ADJ
aiti-4142	194	16	buoynacy	buoynacy	NOUN
aiti-4142	194	17	force	force	NOUN
aiti-4142	194	18	(	(	PUNCT
aiti-4142	194	19	b	b	NOUN
aiti-4142	194	20	)	)	PUNCT
aiti-4142	194	21	moment	moment	NOUN
aiti-4142	194	22	induced	induce	VERB
aiti-4142	194	23	by	by	ADP
aiti-4142	194	24	moving	move	VERB
aiti-4142	194	25	mass	mass	NOUN
aiti-4142	194	26	(	(	PUNCT
aiti-4142	194	27	c	c	NOUN
aiti-4142	194	28	)	)	PUNCT
aiti-4142	194	29	thruster	thruster	NOUN
aiti-4142	194	30	force	force	NOUN
aiti-4142	194	31	during	during	ADP
aiti-4142	194	32	the	the	DET
aiti-4142	194	33	depth	depth	NOUN
aiti-4142	194	34	control	control	NOUN
aiti-4142	194	35	fig	fig	NOUN
aiti-4142	194	36	.	.	PUNCT
aiti-4142	194	37	8	8	NUM
aiti-4142	194	38	force	force	NOUN
aiti-4142	194	39	and	and	CCONJ
aiti-4142	194	40	moment	moment	NOUN
aiti-4142	194	41	from	from	ADP
aiti-4142	194	42	the	the	DET
aiti-4142	194	43	robust	robust	ADJ
aiti-4142	194	44	adaptive	adaptive	ADJ
aiti-4142	194	45	controller	controller	NOUN
aiti-4142	194	46	as	as	SCONJ
aiti-4142	194	47	stated	state	VERB
aiti-4142	194	48	above	above	ADV
aiti-4142	194	49	,	,	PUNCT
aiti-4142	194	50	the	the	DET
aiti-4142	194	51	stability	stability	NOUN
aiti-4142	194	52	proof	proof	NOUN
aiti-4142	194	53	is	be	AUX
aiti-4142	194	54	revealed	reveal	VERB
aiti-4142	194	55	that	that	SCONJ
aiti-4142	194	56	the	the	DET
aiti-4142	194	57	errors	error	NOUN
aiti-4142	194	58	are	be	AUX
aiti-4142	194	59	bounded	bound	VERB
aiti-4142	194	60	in	in	ADP
aiti-4142	194	61	fig	fig	NOUN
aiti-4142	194	62	.	.	PUNCT
aiti-4142	195	1	9	9	X
aiti-4142	195	2	.	.	X
aiti-4142	195	3	𝑒1	𝑒1	NOUN
aiti-4142	195	4	and	and	CCONJ
aiti-4142	195	5	𝑒2	𝑒2	NOUN
aiti-4142	195	6	are	be	AUX
aiti-4142	195	7	from	from	ADP
aiti-4142	195	8	pitching	pitch	VERB
aiti-4142	195	9	control	control	NOUN
aiti-4142	195	10	system	system	NOUN
aiti-4142	195	11	,	,	PUNCT
aiti-4142	195	12	and	and	CCONJ
aiti-4142	195	13	they	they	PRON
aiti-4142	195	14	show	show	VERB
aiti-4142	195	15	good	good	ADJ
aiti-4142	195	16	convergence	convergence	NOUN
aiti-4142	195	17	performance	performance	NOUN
aiti-4142	195	18	,	,	PUNCT
aiti-4142	195	19	even	even	ADV
aiti-4142	195	20	though	though	SCONJ
aiti-4142	195	21	the	the	DET
aiti-4142	195	22	desired	desire	VERB
aiti-4142	195	23	angle	angle	NOUN
aiti-4142	195	24	changes	change	NOUN
aiti-4142	195	25	due	due	ADJ
aiti-4142	195	26	to	to	ADP
aiti-4142	195	27	the	the	DET
aiti-4142	195	28	los	los	PROPN
aiti-4142	195	29	guidance	guidance	NOUN
aiti-4142	195	30	and	and	CCONJ
aiti-4142	195	31	external	external	ADJ
aiti-4142	195	32	disturbance	disturbance	NOUN
aiti-4142	195	33	effects	effect	NOUN
aiti-4142	195	34	.	.	PUNCT
aiti-4142	196	1	especially	especially	ADV
aiti-4142	196	2	,	,	PUNCT
aiti-4142	196	3	during	during	ADP
aiti-4142	196	4	the	the	DET
aiti-4142	196	5	transition	transition	NOUN
aiti-4142	196	6	period	period	NOUN
aiti-4142	196	7	from	from	ADP
aiti-4142	196	8	gliding	glide	VERB
aiti-4142	196	9	to	to	ADP
aiti-4142	196	10	cruising	cruise	VERB
aiti-4142	196	11	or	or	CCONJ
aiti-4142	196	12	vice	vice	NOUN
aiti-4142	196	13	versa	versa	ADV
aiti-4142	196	14	,	,	PUNCT
aiti-4142	196	15	𝑒1	𝑒1	NOUN
aiti-4142	196	16	and	and	CCONJ
aiti-4142	196	17	𝑒2	𝑒2	PROPN
aiti-4142	196	18	can	can	AUX
aiti-4142	196	19	quickly	quickly	ADV
aiti-4142	196	20	converge	converge	VERB
aiti-4142	196	21	near	near	ADV
aiti-4142	196	22	to	to	ADP
aiti-4142	196	23	zero	zero	NUM
aiti-4142	196	24	in	in	ADP
aiti-4142	196	25	fig	fig	NOUN
aiti-4142	196	26	.	.	PUNCT
aiti-4142	197	1	9	9	X
aiti-4142	197	2	.	.	X
aiti-4142	198	1	for	for	ADP
aiti-4142	198	2	speed	speed	NOUN
aiti-4142	198	3	control	control	NOUN
aiti-4142	198	4	,	,	PUNCT
aiti-4142	198	5	the	the	DET
aiti-4142	198	6	convergence	convergence	NOUN
aiti-4142	198	7	only	only	ADV
aiti-4142	198	8	appears	appear	VERB
aiti-4142	198	9	in	in	ADP
aiti-4142	198	10	the	the	DET
aiti-4142	198	11	cruising	cruise	VERB
aiti-4142	198	12	mode	mode	NOUN
aiti-4142	198	13	while	while	SCONJ
aiti-4142	198	14	keeping	keep	VERB
aiti-4142	198	15	the	the	DET
aiti-4142	198	16	advances	advance	NOUN
aiti-4142	198	17	in	in	ADP
aiti-4142	198	18	technology	technology	NOUN
aiti-4142	198	19	innovation	innovation	NOUN
aiti-4142	198	20	,	,	PUNCT
aiti-4142	198	21	vol	vol	NOUN
aiti-4142	198	22	.	.	PROPN
aiti-4142	198	23	5	5	NUM
aiti-4142	198	24	,	,	PUNCT
aiti-4142	198	25	no	no	INTJ
aiti-4142	198	26	.	.	NOUN
aiti-4142	198	27	3	3	NUM
aiti-4142	198	28	,	,	PUNCT
aiti-4142	198	29	2020	2020	NUM
aiti-4142	198	30	,	,	PUNCT
aiti-4142	198	31	pp	pp	ADJ
aiti-4142	198	32	.	.	PUNCT
aiti-4142	199	1	135	135	NUM
aiti-4142	199	2	-	-	SYM
aiti-4142	199	3	146	146	NUM
aiti-4142	199	4	144	144	NUM
aiti-4142	199	5	(	(	PUNCT
aiti-4142	199	6	a	a	PRON
aiti-4142	199	7	)	)	PUNCT
aiti-4142	199	8	pitch	pitch	NOUN
aiti-4142	199	9	angle	angle	NOUN
aiti-4142	199	10	error	error	NOUN
aiti-4142	199	11	(	(	PUNCT
aiti-4142	199	12	𝑒1	𝑒1	NOUN
aiti-4142	199	13	is	be	AUX
aiti-4142	199	14	pitch	pitch	NOUN
aiti-4142	199	15	angle	angle	NOUN
aiti-4142	199	16	error	error	NOUN
aiti-4142	199	17	)	)	PUNCT
aiti-4142	199	18	(	(	PUNCT
aiti-4142	199	19	b	b	X
aiti-4142	199	20	)	)	PUNCT
aiti-4142	199	21	virtual	virtual	ADJ
aiti-4142	199	22	control	control	NOUN
aiti-4142	199	23	error	error	NOUN
aiti-4142	199	24	(	(	PUNCT
aiti-4142	199	25	𝑒2	𝑒2	PROPN
aiti-4142	199	26	is	be	AUX
aiti-4142	199	27	the	the	DET
aiti-4142	199	28	virtual	virtual	ADJ
aiti-4142	199	29	control	control	NOUN
aiti-4142	199	30	error	error	NOUN
aiti-4142	199	31	)	)	PUNCT
aiti-4142	199	32	(	(	PUNCT
aiti-4142	199	33	c	c	X
aiti-4142	199	34	)	)	PUNCT
aiti-4142	199	35	speed	speed	NOUN
aiti-4142	199	36	control	control	NOUN
aiti-4142	199	37	error	error	NOUN
aiti-4142	199	38	in	in	ADP
aiti-4142	199	39	the	the	DET
aiti-4142	199	40	desired	desire	VERB
aiti-4142	199	41	depth	depth	NOUN
aiti-4142	199	42	(	(	PUNCT
aiti-4142	199	43	𝑒3	𝑒3	NOUN
aiti-4142	199	44	is	be	AUX
aiti-4142	199	45	the	the	DET
aiti-4142	199	46	speed	speed	NOUN
aiti-4142	199	47	control	control	NOUN
aiti-4142	199	48	error	error	NOUN
aiti-4142	199	49	)	)	PUNCT
aiti-4142	199	50	fig	fig	NOUN
aiti-4142	199	51	.	.	PUNCT
aiti-4142	200	1	9	9	NUM
aiti-4142	200	2	the	the	DET
aiti-4142	200	3	tracking	track	VERB
aiti-4142	200	4	errors	error	NOUN
aiti-4142	200	5	from	from	ADP
aiti-4142	200	6	3	3	NUM
aiti-4142	200	7	sub	sub	NOUN
aiti-4142	200	8	-	-	NOUN
aiti-4142	200	9	controller	controller	NOUN
aiti-4142	200	10	in	in	ADP
aiti-4142	200	11	crusing	cruse	VERB
aiti-4142	200	12	period	period	NOUN
aiti-4142	200	13	hug	hug	NOUN
aiti-4142	200	14	to	to	ADP
aiti-4142	200	15	the	the	DET
aiti-4142	200	16	desired	desire	VERB
aiti-4142	200	17	depth	depth	NOUN
aiti-4142	200	18	of	of	ADP
aiti-4142	200	19	200	200	NUM
aiti-4142	200	20	m.	m.	NOUN
aiti-4142	200	21	in	in	ADP
aiti-4142	200	22	the	the	DET
aiti-4142	200	23	desired	desire	VERB
aiti-4142	200	24	depth	depth	NOUN
aiti-4142	200	25	,	,	PUNCT
aiti-4142	200	26	the	the	DET
aiti-4142	200	27	speed	speed	NOUN
aiti-4142	200	28	of	of	ADP
aiti-4142	200	29	the	the	DET
aiti-4142	200	30	vehicle	vehicle	NOUN
aiti-4142	200	31	is	be	AUX
aiti-4142	200	32	controlled	control	VERB
aiti-4142	200	33	at	at	ADP
aiti-4142	200	34	a	a	DET
aiti-4142	200	35	constant	constant	ADJ
aiti-4142	200	36	value	value	NOUN
aiti-4142	200	37	of	of	ADP
aiti-4142	200	38	1	1	NUM
aiti-4142	200	39	m	m	NOUN
aiti-4142	200	40	/	/	SYM
aiti-4142	200	41	s	s	PART
aiti-4142	200	42	or	or	CCONJ
aiti-4142	200	43	2	2	NUM
aiti-4142	200	44	knots	knot	NOUN
aiti-4142	200	45	.	.	PUNCT
aiti-4142	201	1	at	at	ADP
aiti-4142	201	2	the	the	DET
aiti-4142	201	3	same	same	ADJ
aiti-4142	201	4	time	time	NOUN
aiti-4142	201	5	,	,	PUNCT
aiti-4142	201	6	the	the	DET
aiti-4142	201	7	error	error	NOUN
aiti-4142	201	8	converges	converge	VERB
aiti-4142	201	9	quickly	quickly	ADV
aiti-4142	201	10	close	close	ADV
aiti-4142	201	11	to	to	ADP
aiti-4142	201	12	zero	zero	NUM
aiti-4142	201	13	in	in	ADP
aiti-4142	201	14	fig	fig	NOUN
aiti-4142	201	15	.	.	PUNCT
aiti-4142	202	1	9	9	X
aiti-4142	202	2	.	.	X
aiti-4142	202	3	fig	fig	NOUN
aiti-4142	202	4	.	.	PUNCT
aiti-4142	203	1	10	10	NUM
aiti-4142	203	2	the	the	DET
aiti-4142	203	3	parameter	parameter	NOUN
aiti-4142	203	4	adaptation	adaptation	NOUN
aiti-4142	203	5	of	of	ADP
aiti-4142	203	6	vector	vector	PROPN
aiti-4142	203	7	�	�	PROPN
aiti-4142	203	8	̂	̂	VERB
aiti-4142	203	9	�	�	NOUN
aiti-4142	203	10	2	2	NUM
aiti-4142	203	11	fig	fig	NOUN
aiti-4142	203	12	.	.	PUNCT
aiti-4142	204	1	11	11	NUM
aiti-4142	205	1	the	the	DET
aiti-4142	205	2	parameter	parameter	NOUN
aiti-4142	205	3	adaptation	adaptation	NOUN
aiti-4142	205	4	of	of	ADP
aiti-4142	205	5	vector	vector	PROPN
aiti-4142	205	6	�	�	PROPN
aiti-4142	205	7	̂	̂	NOUN
aiti-4142	205	8	�	�	NOUN
aiti-4142	205	9	3	3	NUM
aiti-4142	205	10	two	two	NUM
aiti-4142	205	11	main	main	ADJ
aiti-4142	205	12	adaptation	adaptation	NOUN
aiti-4142	205	13	processes	process	NOUN
aiti-4142	205	14	are	be	AUX
aiti-4142	205	15	indicated	indicate	VERB
aiti-4142	205	16	in	in	ADP
aiti-4142	205	17	fig	fig	NOUN
aiti-4142	205	18	.	.	PUNCT
aiti-4142	206	1	10	10	NUM
aiti-4142	206	2	for	for	ADP
aiti-4142	206	3	vector	vector	NOUN
aiti-4142	206	4	𝑎2	𝑎2	NOUN
aiti-4142	206	5	and	and	CCONJ
aiti-4142	206	6	𝑎3	𝑎3	PROPN
aiti-4142	206	7	respectively	respectively	ADV
aiti-4142	206	8	.	.	PUNCT
aiti-4142	207	1	there	there	PRON
aiti-4142	207	2	are	be	VERB
aiti-4142	207	3	9	9	NUM
aiti-4142	207	4	parameters	parameter	NOUN
aiti-4142	207	5	in	in	ADP
aiti-4142	207	6	vector	vector	NOUN
aiti-4142	207	7	𝑎2	𝑎2	PROPN
aiti-4142	207	8	(	(	PUNCT
aiti-4142	207	9	18	18	NUM
aiti-4142	207	10	)	)	PUNCT
aiti-4142	207	11	and	and	CCONJ
aiti-4142	207	12	6	6	NUM
aiti-4142	207	13	parameters	parameter	NOUN
aiti-4142	207	14	in	in	ADP
aiti-4142	207	15	vector	vector	NOUN
aiti-4142	207	16	𝑎3	𝑎3	PROPN
aiti-4142	207	17	(	(	PUNCT
aiti-4142	207	18	29	29	NUM
aiti-4142	207	19	)	)	PUNCT
aiti-4142	207	20	.	.	PUNCT
aiti-4142	208	1	parameters	parameter	NOUN
aiti-4142	208	2	7	7	NUM
aiti-4142	208	3	and	and	CCONJ
aiti-4142	208	4	8	8	NUM
aiti-4142	208	5	of	of	ADP
aiti-4142	208	6	vector	vector	NOUN
aiti-4142	208	7	𝑎2	𝑎2	NOUN
aiti-4142	208	8	in	in	ADP
aiti-4142	208	9	fig	fig	NOUN
aiti-4142	208	10	.	.	PUNCT
aiti-4142	209	1	10	10	NUM
aiti-4142	209	2	are	be	AUX
aiti-4142	209	3	sensitive	sensitive	ADJ
aiti-4142	209	4	to	to	ADP
aiti-4142	209	5	the	the	DET
aiti-4142	209	6	external	external	ADJ
aiti-4142	209	7	disturbances	disturbance	NOUN
aiti-4142	209	8	with	with	ADP
aiti-4142	209	9	the	the	DET
aiti-4142	209	10	wave	wave	NOUN
aiti-4142	209	11	curve	curve	NOUN
aiti-4142	209	12	updating	updating	NOUN
aiti-4142	209	13	process	process	NOUN
aiti-4142	209	14	.	.	PUNCT
aiti-4142	210	1	these	these	DET
aiti-4142	210	2	parameters	parameter	NOUN
aiti-4142	210	3	are	be	AUX
aiti-4142	210	4	defiend	defiend	VERB
aiti-4142	210	5	as	as	ADP
aiti-4142	210	6	–	–	PUNCT
aiti-4142	210	7	(	(	PUNCT
aiti-4142	210	8	zgwzbb	zgwzbb	NOUN
aiti-4142	210	9	)	)	PUNCT
aiti-4142	210	10	and	and	CCONJ
aiti-4142	210	11	(	(	PUNCT
aiti-4142	210	12	xgwxbb	xgwxbb	PROPN
aiti-4142	210	13	)	)	PUNCT
aiti-4142	210	14	respectively	respectively	ADV
aiti-4142	210	15	in	in	ADP
aiti-4142	210	16	advances	advance	NOUN
aiti-4142	210	17	in	in	ADP
aiti-4142	210	18	technology	technology	NOUN
aiti-4142	210	19	innovation	innovation	NOUN
aiti-4142	210	20	,	,	PUNCT
aiti-4142	210	21	vol	vol	NOUN
aiti-4142	210	22	.	.	PROPN
aiti-4142	211	1	5	5	NUM
aiti-4142	211	2	,	,	PUNCT
aiti-4142	211	3	no	no	INTJ
aiti-4142	211	4	.	.	NOUN
aiti-4142	211	5	3	3	NUM
aiti-4142	211	6	,	,	PUNCT
aiti-4142	211	7	2020	2020	NUM
aiti-4142	211	8	,	,	PUNCT
aiti-4142	211	9	pp	pp	ADJ
aiti-4142	211	10	.	.	PUNCT
aiti-4142	212	1	135	135	NUM
aiti-4142	212	2	-	-	SYM
aiti-4142	212	3	146	146	NUM
aiti-4142	212	4	145	145	NUM
aiti-4142	212	5	(	(	PUNCT
aiti-4142	212	6	18	18	NUM
aiti-4142	212	7	)	)	PUNCT
aiti-4142	212	8	.	.	PUNCT
aiti-4142	213	1	these	these	DET
aiti-4142	213	2	terms	term	NOUN
aiti-4142	213	3	are	be	AUX
aiti-4142	213	4	from	from	ADP
aiti-4142	213	5	the	the	DET
aiti-4142	213	6	restoring	restore	VERB
aiti-4142	213	7	moment	moment	NOUN
aiti-4142	213	8	due	due	ADP
aiti-4142	213	9	to	to	ADP
aiti-4142	213	10	the	the	DET
aiti-4142	213	11	change	change	NOUN
aiti-4142	213	12	of	of	ADP
aiti-4142	213	13	the	the	DET
aiti-4142	213	14	gravity	gravity	NOUN
aiti-4142	213	15	center	center	NOUN
aiti-4142	213	16	and	and	CCONJ
aiti-4142	213	17	buoyancy	buoyancy	NOUN
aiti-4142	213	18	center	center	NOUN
aiti-4142	213	19	.	.	PUNCT
aiti-4142	214	1	in	in	ADP
aiti-4142	214	2	addition	addition	NOUN
aiti-4142	214	3	,	,	PUNCT
aiti-4142	214	4	in	in	ADP
aiti-4142	214	5	vector	vector	PROPN
aiti-4142	214	6	𝑎3	𝑎3	PROPN
aiti-4142	214	7	,	,	PUNCT
aiti-4142	214	8	there	there	PRON
aiti-4142	214	9	is	be	VERB
aiti-4142	214	10	one	one	NUM
aiti-4142	214	11	parameter	parameter	NOUN
aiti-4142	214	12	that	that	PRON
aiti-4142	214	13	proportionally	proportionally	ADV
aiti-4142	214	14	adapts	adapt	VERB
aiti-4142	214	15	to	to	ADP
aiti-4142	214	16	the	the	DET
aiti-4142	214	17	change	change	NOUN
aiti-4142	214	18	of	of	ADP
aiti-4142	214	19	disturbances	disturbance	NOUN
aiti-4142	214	20	,	,	PUNCT
aiti-4142	214	21	which	which	PRON
aiti-4142	214	22	is	be	AUX
aiti-4142	214	23	parameter	parameter	NOUN
aiti-4142	214	24	4	4	NUM
aiti-4142	214	25	defined	define	VERB
aiti-4142	214	26	as	as	ADP
aiti-4142	214	27	𝑋|𝑢|𝑢	𝑋|𝑢|𝑢	PROPN
aiti-4142	214	28	in	in	ADP
aiti-4142	214	29	the	the	DET
aiti-4142	214	30	damping	damp	VERB
aiti-4142	214	31	force	force	NOUN
aiti-4142	214	32	in	in	ADP
aiti-4142	214	33	the	the	DET
aiti-4142	214	34	system	system	NOUN
aiti-4142	214	35	3	3	X
aiti-4142	214	36	.	.	PUNCT
aiti-4142	215	1	this	this	DET
aiti-4142	215	2	phenomenon	phenomenon	NOUN
aiti-4142	215	3	is	be	AUX
aiti-4142	215	4	shown	show	VERB
aiti-4142	215	5	in	in	ADP
aiti-4142	215	6	fig	fig	NOUN
aiti-4142	215	7	.	.	PUNCT
aiti-4142	216	1	11	11	NUM
aiti-4142	216	2	,	,	PUNCT
aiti-4142	216	3	parameter	parameter	NOUN
aiti-4142	216	4	4	4	NUM
aiti-4142	216	5	shows	show	VERB
aiti-4142	216	6	the	the	DET
aiti-4142	216	7	waving	wave	VERB
aiti-4142	216	8	curve	curve	NOUN
aiti-4142	216	9	in	in	ADP
aiti-4142	216	10	the	the	DET
aiti-4142	216	11	speed	speed	NOUN
aiti-4142	216	12	control	control	NOUN
aiti-4142	216	13	.	.	PUNCT
aiti-4142	217	1	5	5	X
aiti-4142	217	2	.	.	X
aiti-4142	217	3	conclusions	conclusion	NOUN
aiti-4142	217	4	in	in	ADP
aiti-4142	217	5	this	this	DET
aiti-4142	217	6	study	study	NOUN
aiti-4142	217	7	,	,	PUNCT
aiti-4142	217	8	the	the	DET
aiti-4142	217	9	depth	depth	NOUN
aiti-4142	217	10	control	control	NOUN
aiti-4142	217	11	for	for	ADP
aiti-4142	217	12	nonlinear	nonlinear	ADJ
aiti-4142	217	13	vertical	vertical	ADJ
aiti-4142	217	14	dynamics	dynamic	NOUN
aiti-4142	217	15	of	of	ADP
aiti-4142	217	16	the	the	DET
aiti-4142	217	17	hybrid	hybrid	ADJ
aiti-4142	217	18	underwater	underwater	ADJ
aiti-4142	217	19	glider	glider	NOUN
aiti-4142	217	20	was	be	AUX
aiti-4142	217	21	proposed	propose	VERB
aiti-4142	217	22	and	and	CCONJ
aiti-4142	217	23	its	its	PRON
aiti-4142	217	24	performance	performance	NOUN
aiti-4142	217	25	was	be	AUX
aiti-4142	217	26	validated	validate	VERB
aiti-4142	217	27	through	through	ADP
aiti-4142	217	28	simulations	simulation	NOUN
aiti-4142	217	29	.	.	PUNCT
aiti-4142	218	1	the	the	DET
aiti-4142	218	2	robust	robust	ADJ
aiti-4142	218	3	adaptive	adaptive	ADJ
aiti-4142	218	4	control	control	NOUN
aiti-4142	218	5	law	law	NOUN
aiti-4142	218	6	has	have	AUX
aiti-4142	218	7	presented	present	VERB
aiti-4142	218	8	the	the	DET
aiti-4142	218	9	stable	stable	ADJ
aiti-4142	218	10	performance	performance	NOUN
aiti-4142	218	11	against	against	ADP
aiti-4142	218	12	the	the	DET
aiti-4142	218	13	parameter	parameter	NOUN
aiti-4142	218	14	change	change	NOUN
aiti-4142	218	15	and	and	CCONJ
aiti-4142	218	16	external	external	ADJ
aiti-4142	218	17	disturbance	disturbance	NOUN
aiti-4142	218	18	.	.	PUNCT
aiti-4142	219	1	it	it	PRON
aiti-4142	219	2	is	be	AUX
aiti-4142	219	3	guaranteed	guarantee	VERB
aiti-4142	219	4	that	that	SCONJ
aiti-4142	219	5	the	the	DET
aiti-4142	219	6	error	error	NOUN
aiti-4142	219	7	is	be	AUX
aiti-4142	219	8	close	close	ADJ
aiti-4142	219	9	to	to	ADP
aiti-4142	219	10	zero	zero	NUM
aiti-4142	219	11	as	as	SCONJ
aiti-4142	219	12	the	the	DET
aiti-4142	219	13	time	time	NOUN
aiti-4142	219	14	go	go	VERB
aiti-4142	219	15	to	to	PART
aiti-4142	219	16	infinite	infinite	VERB
aiti-4142	219	17	.	.	PUNCT
aiti-4142	220	1	according	accord	VERB
aiti-4142	220	2	to	to	ADP
aiti-4142	220	3	the	the	DET
aiti-4142	220	4	direct	direct	ADJ
aiti-4142	220	5	lyapunov	lyapunov	NOUN
aiti-4142	220	6	method	method	NOUN
aiti-4142	220	7	,	,	PUNCT
aiti-4142	220	8	the	the	DET
aiti-4142	220	9	stability	stability	NOUN
aiti-4142	220	10	of	of	ADP
aiti-4142	220	11	this	this	DET
aiti-4142	220	12	control	control	NOUN
aiti-4142	220	13	law	law	NOUN
aiti-4142	220	14	has	have	AUX
aiti-4142	220	15	been	be	AUX
aiti-4142	220	16	established	establish	VERB
aiti-4142	220	17	and	and	CCONJ
aiti-4142	220	18	proved	prove	VERB
aiti-4142	220	19	.	.	PUNCT
aiti-4142	221	1	the	the	DET
aiti-4142	221	2	depth	depth	NOUN
aiti-4142	221	3	control	control	NOUN
aiti-4142	221	4	algorithm	algorithm	NOUN
aiti-4142	221	5	uses	use	VERB
aiti-4142	221	6	the	the	DET
aiti-4142	221	7	los	los	PROPN
aiti-4142	221	8	guidance	guidance	NOUN
aiti-4142	221	9	law	law	NOUN
aiti-4142	221	10	for	for	ADP
aiti-4142	221	11	keeping	keep	VERB
aiti-4142	221	12	the	the	DET
aiti-4142	221	13	hug	hug	NOUN
aiti-4142	221	14	to	to	ADP
aiti-4142	221	15	the	the	DET
aiti-4142	221	16	desired	desire	VERB
aiti-4142	221	17	depth	depth	NOUN
aiti-4142	221	18	.	.	PUNCT
aiti-4142	222	1	the	the	DET
aiti-4142	222	2	computer	computer	NOUN
aiti-4142	222	3	simulation	simulation	NOUN
aiti-4142	222	4	using	use	VERB
aiti-4142	222	5	matlab	matlab	PROPN
aiti-4142	222	6	was	be	AUX
aiti-4142	222	7	performed	perform	VERB
aiti-4142	222	8	to	to	PART
aiti-4142	222	9	verify	verify	VERB
aiti-4142	222	10	the	the	DET
aiti-4142	222	11	good	good	ADJ
aiti-4142	222	12	and	and	CCONJ
aiti-4142	222	13	stable	stable	ADJ
aiti-4142	222	14	performance	performance	NOUN
aiti-4142	222	15	of	of	ADP
aiti-4142	222	16	depth	depth	NOUN
aiti-4142	222	17	keeping	keeping	NOUN
aiti-4142	222	18	control	control	NOUN
aiti-4142	222	19	using	use	VERB
aiti-4142	222	20	the	the	DET
aiti-4142	222	21	proposed	propose	VERB
aiti-4142	222	22	control	control	NOUN
aiti-4142	222	23	algorithm	algorithm	NOUN
aiti-4142	222	24	.	.	PUNCT
aiti-4142	223	1	in	in	ADP
aiti-4142	223	2	the	the	DET
aiti-4142	223	3	future	future	ADJ
aiti-4142	223	4	research	research	NOUN
aiti-4142	223	5	,	,	PUNCT
aiti-4142	223	6	this	this	DET
aiti-4142	223	7	algorithm	algorithm	NOUN
aiti-4142	223	8	will	will	AUX
aiti-4142	223	9	be	be	AUX
aiti-4142	223	10	implemented	implement	VERB
aiti-4142	223	11	in	in	ADP
aiti-4142	223	12	the	the	DET
aiti-4142	223	13	developed	develop	VERB
aiti-4142	223	14	hug	hug	NOUN
aiti-4142	223	15	at	at	ADP
aiti-4142	223	16	the	the	DET
aiti-4142	223	17	laboratory	laboratory	NOUN
aiti-4142	223	18	and	and	CCONJ
aiti-4142	223	19	,	,	PUNCT
aiti-4142	223	20	the	the	DET
aiti-4142	223	21	water	water	NOUN
aiti-4142	223	22	tank	tank	NOUN
aiti-4142	223	23	and	and	CCONJ
aiti-4142	223	24	sea	sea	NOUN
aiti-4142	223	25	trials	trial	NOUN
aiti-4142	223	26	of	of	ADP
aiti-4142	223	27	the	the	DET
aiti-4142	223	28	hug	hug	NOUN
aiti-4142	223	29	employing	employ	VERB
aiti-4142	223	30	the	the	DET
aiti-4142	223	31	proposed	propose	VERB
aiti-4142	223	32	depth	depth	NOUN
aiti-4142	223	33	control	control	NOUN
aiti-4142	223	34	will	will	AUX
aiti-4142	223	35	be	be	AUX
aiti-4142	223	36	carried	carry	VERB
aiti-4142	223	37	out	out	ADP
aiti-4142	223	38	.	.	PUNCT
aiti-4142	224	1	acknowledgement	acknowledgement	NOUN
aiti-4142	224	2	this	this	DET
aiti-4142	224	3	study	study	NOUN
aiti-4142	224	4	is	be	AUX
aiti-4142	224	5	part	part	NOUN
aiti-4142	224	6	of	of	ADP
aiti-4142	224	7	a	a	DET
aiti-4142	224	8	project	project	NOUN
aiti-4142	224	9	supported	support	VERB
aiti-4142	224	10	by	by	ADP
aiti-4142	224	11	the	the	DET
aiti-4142	224	12	civil	civil	ADJ
aiti-4142	224	13	-	-	PUNCT
aiti-4142	224	14	military	military	NOUN
aiti-4142	224	15	dual	dual	ADJ
aiti-4142	224	16	-	-	PUNCT
aiti-4142	224	17	use	use	NOUN
aiti-4142	224	18	technology	technology	NOUN
aiti-4142	224	19	“	"	PUNCT
aiti-4142	224	20	data	data	NOUN
aiti-4142	224	21	collection	collection	NOUN
aiti-4142	224	22	system	system	NOUN
aiti-4142	224	23	with	with	ADP
aiti-4142	224	24	underwater	underwater	ADJ
aiti-4142	224	25	glider	glider	NOUN
aiti-4142	224	26	”	"	PUNCT
aiti-4142	224	27	(	(	PUNCT
aiti-4142	224	28	grant	grant	VERB
aiti-4142	224	29	no	no	NOUN
aiti-4142	224	30	.	.	NOUN
aiti-4142	224	31	19	19	NUM
aiti-4142	224	32	-	-	PUNCT
aiti-4142	224	33	sn	sn	NOUN
aiti-4142	224	34	-	-	PUNCT
aiti-4142	224	35	mu-01	mu-01	NOUN
aiti-4142	224	36	)	)	PUNCT
aiti-4142	224	37	and	and	CCONJ
aiti-4142	224	38	a	a	DET
aiti-4142	224	39	government	government	NOUN
aiti-4142	224	40	project	project	NOUN
aiti-4142	224	41	entitled	entitle	VERB
aiti-4142	224	42	“	"	PUNCT
aiti-4142	224	43	development	development	NOUN
aiti-4142	224	44	of	of	ADP
aiti-4142	224	45	hybrid	hybrid	ADJ
aiti-4142	224	46	underwater	underwater	ADJ
aiti-4142	224	47	drone	drone	NOUN
aiti-4142	224	48	for	for	ADP
aiti-4142	224	49	accurate	accurate	ADJ
aiti-4142	224	50	inspection	inspection	NOUN
aiti-4142	224	51	of	of	ADP
aiti-4142	224	52	the	the	DET
aiti-4142	224	53	underwater	underwater	ADJ
aiti-4142	224	54	pipeline	pipeline	NOUN
aiti-4142	224	55	and	and	CCONJ
aiti-4142	224	56	cable	cable	NOUN
aiti-4142	224	57	”	"	PUNCT
aiti-4142	224	58	.	.	PUNCT
aiti-4142	225	1	conflicts	conflict	NOUN
aiti-4142	225	2	of	of	ADP
aiti-4142	225	3	interest	interest	NOUN
aiti-4142	225	4	the	the	DET
aiti-4142	225	5	authors	author	NOUN
aiti-4142	225	6	declare	declare	VERB
aiti-4142	225	7	no	no	DET
aiti-4142	225	8	conflict	conflict	NOUN
aiti-4142	225	9	of	of	ADP
aiti-4142	225	10	interest	interest	NOUN
aiti-4142	225	11	references	reference	NOUN
aiti-4142	225	12	[	[	X
aiti-4142	225	13	1	1	NUM
aiti-4142	225	14	]	]	PUNCT
aiti-4142	225	15	m.	m.	NOUN
aiti-4142	225	16	g.	g.	PROPN
aiti-4142	225	17	joo	joo	PROPN
aiti-4142	225	18	and	and	CCONJ
aiti-4142	225	19	z.	z.	PROPN
aiti-4142	225	20	qu	qu	PROPN
aiti-4142	225	21	,	,	PUNCT
aiti-4142	225	22	“	"	PUNCT
aiti-4142	225	23	an	an	DET
aiti-4142	225	24	autonomous	autonomous	ADJ
aiti-4142	225	25	underwater	underwater	ADJ
aiti-4142	225	26	vehicle	vehicle	NOUN
aiti-4142	225	27	as	as	ADP
aiti-4142	225	28	an	an	DET
aiti-4142	225	29	underwater	underwater	ADJ
aiti-4142	225	30	glider	glider	NOUN
aiti-4142	225	31	and	and	CCONJ
aiti-4142	225	32	its	its	PRON
aiti-4142	225	33	depth	depth	NOUN
aiti-4142	225	34	control	control	NOUN
aiti-4142	225	35	,	,	PUNCT
aiti-4142	225	36	”	"	PUNCT
aiti-4142	225	37	international	international	ADJ
aiti-4142	225	38	journal	journal	NOUN
aiti-4142	225	39	of	of	ADP
aiti-4142	225	40	control	control	NOUN
aiti-4142	225	41	,	,	PUNCT
aiti-4142	225	42	automation	automation	NOUN
aiti-4142	225	43	and	and	CCONJ
aiti-4142	225	44	systems	system	NOUN
aiti-4142	225	45	,	,	PUNCT
aiti-4142	225	46	vol	vol	NOUN
aiti-4142	225	47	.	.	PROPN
aiti-4142	225	48	13	13	NUM
aiti-4142	225	49	,	,	PUNCT
aiti-4142	225	50	no	no	INTJ
aiti-4142	225	51	.	.	NOUN
aiti-4142	225	52	5	5	NUM
aiti-4142	225	53	,	,	PUNCT
aiti-4142	225	54	pp	pp	ADJ
aiti-4142	225	55	.	.	PUNCT
aiti-4142	225	56	1212	1212	NUM
aiti-4142	225	57	-	-	SYM
aiti-4142	225	58	1220	1220	NUM
aiti-4142	225	59	,	,	PUNCT
aiti-4142	225	60	july	july	PROPN
aiti-4142	225	61	2015	2015	NUM
aiti-4142	225	62	.	.	PUNCT
aiti-4142	226	1	[	[	X
aiti-4142	226	2	2	2	NUM
aiti-4142	226	3	]	]	PUNCT
aiti-4142	226	4	i.	i.	PROPN
aiti-4142	226	5	abraham	abraham	PROPN
aiti-4142	226	6	and	and	CCONJ
aiti-4142	226	7	j.	j.	PROPN
aiti-4142	226	8	yi	yi	PROPN
aiti-4142	226	9	,	,	PUNCT
aiti-4142	226	10	“	"	PUNCT
aiti-4142	226	11	model	model	NOUN
aiti-4142	226	12	predictive	predictive	ADJ
aiti-4142	226	13	control	control	NOUN
aiti-4142	226	14	of	of	ADP
aiti-4142	226	15	buoyancy	buoyancy	NOUN
aiti-4142	226	16	propelled	propel	VERB
aiti-4142	226	17	autonomous	autonomous	ADJ
aiti-4142	226	18	underwater	underwater	ADJ
aiti-4142	226	19	glider	glider	NOUN
aiti-4142	226	20	,	,	PUNCT
aiti-4142	226	21	”	"	PUNCT
aiti-4142	226	22	proc	proc	NOUN
aiti-4142	226	23	.	.	PUNCT
aiti-4142	227	1	of	of	ADP
aiti-4142	227	2	the	the	DET
aiti-4142	227	3	american	american	PROPN
aiti-4142	227	4	control	control	PROPN
aiti-4142	227	5	conference	conference	PROPN
aiti-4142	227	6	,	,	PUNCT
aiti-4142	227	7	july	july	PROPN
aiti-4142	227	8	2015	2015	NUM
aiti-4142	227	9	,	,	PUNCT
aiti-4142	227	10	pp	pp	ADJ
aiti-4142	227	11	.	.	PUNCT
aiti-4142	227	12	1181	1181	NUM
aiti-4142	227	13	-	-	SYM
aiti-4142	227	14	1186	1186	NUM
aiti-4142	228	1	.	.	PUNCT
aiti-4142	229	1	[	[	X
aiti-4142	229	2	3	3	X
aiti-4142	229	3	]	]	PUNCT
aiti-4142	229	4	s.	s.	PROPN
aiti-4142	229	5	k.	k.	PROPN
aiti-4142	229	6	jeong	jeong	PROPN
aiti-4142	229	7	,	,	PUNCT
aiti-4142	229	8	h.	h.	PROPN
aiti-4142	229	9	s.	s.	PROPN
aiti-4142	229	10	choi	choi	PROPN
aiti-4142	229	11	,	,	PUNCT
aiti-4142	229	12	j.	j.	PROPN
aiti-4142	229	13	h.	h.	PROPN
aiti-4142	229	14	bae	bae	PROPN
aiti-4142	229	15	,	,	PUNCT
aiti-4142	229	16	s.	s.	PROPN
aiti-4142	229	17	s.	s.	PROPN
aiti-4142	229	18	you	you	PRON
aiti-4142	229	19	,	,	PUNCT
aiti-4142	229	20	h.	h.	PROPN
aiti-4142	229	21	s.	s.	PROPN
aiti-4142	229	22	kang	kang	PROPN
aiti-4142	229	23	,	,	PUNCT
aiti-4142	229	24	s.	s.	PROPN
aiti-4142	229	25	j.	j.	PROPN
aiti-4142	229	26	lee	lee	PROPN
aiti-4142	229	27	,	,	PUNCT
aiti-4142	229	28	et	et	PROPN
aiti-4142	229	29	al	al	PROPN
aiti-4142	229	30	.	.	PROPN
aiti-4142	229	31	,	,	PUNCT
aiti-4142	229	32	“	"	PUNCT
aiti-4142	229	33	design	design	NOUN
aiti-4142	229	34	and	and	CCONJ
aiti-4142	229	35	control	control	NOUN
aiti-4142	229	36	of	of	ADP
aiti-4142	229	37	high	high	ADJ
aiti-4142	229	38	speed	speed	NOUN
aiti-4142	229	39	unmanned	unmanned	ADJ
aiti-4142	229	40	underwater	underwater	ADJ
aiti-4142	229	41	glider	glider	NOUN
aiti-4142	229	42	,	,	PUNCT
aiti-4142	229	43	”	"	PUNCT
aiti-4142	229	44	international	international	ADJ
aiti-4142	229	45	journal	journal	NOUN
aiti-4142	229	46	of	of	ADP
aiti-4142	229	47	precision	precision	NOUN
aiti-4142	229	48	engineering	engineering	NOUN
aiti-4142	229	49	and	and	CCONJ
aiti-4142	229	50	manufacturing	manufacturing	NOUN
aiti-4142	229	51	-	-	PUNCT
aiti-4142	229	52	green	green	ADJ
aiti-4142	229	53	technology	technology	NOUN
aiti-4142	229	54	,	,	PUNCT
aiti-4142	229	55	vol	vol	NOUN
aiti-4142	229	56	.	.	PROPN
aiti-4142	230	1	3	3	NUM
aiti-4142	230	2	,	,	PUNCT
aiti-4142	230	3	no	no	INTJ
aiti-4142	230	4	.	.	NOUN
aiti-4142	230	5	3	3	NUM
aiti-4142	230	6	,	,	PUNCT
aiti-4142	230	7	pp	pp	ADJ
aiti-4142	230	8	.	.	PUNCT
aiti-4142	231	1	273	273	NUM
aiti-4142	231	2	-	-	SYM
aiti-4142	231	3	279	279	NUM
aiti-4142	231	4	,	,	PUNCT
aiti-4142	231	5	july	july	PROPN
aiti-4142	231	6	2016	2016	NUM
aiti-4142	231	7	.	.	PUNCT
aiti-4142	232	1	[	[	X
aiti-4142	232	2	4	4	NUM
aiti-4142	232	3	]	]	X
aiti-4142	232	4	b.	b.	PROPN
aiti-4142	232	5	claus	claus	PROPN
aiti-4142	232	6	and	and	CCONJ
aiti-4142	232	7	r.	r.	PROPN
aiti-4142	232	8	bachmayer	bachmayer	PROPN
aiti-4142	232	9	,	,	PUNCT
aiti-4142	232	10	“	"	PUNCT
aiti-4142	232	11	energy	energy	NOUN
aiti-4142	232	12	optimal	optimal	ADJ
aiti-4142	232	13	depth	depth	NOUN
aiti-4142	232	14	control	control	NOUN
aiti-4142	232	15	for	for	ADP
aiti-4142	232	16	long	long	ADJ
aiti-4142	232	17	range	range	NOUN
aiti-4142	232	18	underwater	underwater	ADJ
aiti-4142	232	19	vehicles	vehicle	NOUN
aiti-4142	232	20	with	with	ADP
aiti-4142	232	21	applications	application	NOUN
aiti-4142	232	22	to	to	ADP
aiti-4142	232	23	a	a	DET
aiti-4142	232	24	hybrid	hybrid	ADJ
aiti-4142	232	25	underwater	underwater	ADJ
aiti-4142	232	26	glider	glider	NOUN
aiti-4142	232	27	,	,	PUNCT
aiti-4142	232	28	”	"	PUNCT
aiti-4142	232	29	autonomous	autonomous	ADJ
aiti-4142	232	30	robots	robot	NOUN
aiti-4142	232	31	,	,	PUNCT
aiti-4142	232	32	vol	vol	NOUN
aiti-4142	232	33	.	.	PROPN
aiti-4142	232	34	40	40	NUM
aiti-4142	232	35	,	,	PUNCT
aiti-4142	232	36	no	no	INTJ
aiti-4142	232	37	.	.	NOUN
aiti-4142	232	38	7	7	NUM
aiti-4142	232	39	,	,	PUNCT
aiti-4142	232	40	pp	pp	ADJ
aiti-4142	232	41	.	.	PUNCT
aiti-4142	232	42	1307	1307	NUM
aiti-4142	232	43	-	-	SYM
aiti-4142	232	44	1320	1320	NUM
aiti-4142	232	45	,	,	PUNCT
aiti-4142	232	46	february	february	PROPN
aiti-4142	232	47	2016	2016	NUM
aiti-4142	232	48	.	.	PUNCT
aiti-4142	233	1	[	[	X
aiti-4142	233	2	5	5	NUM
aiti-4142	233	3	]	]	PUNCT
aiti-4142	233	4	m.	m.	NOUN
aiti-4142	233	5	mat	mat	PROPN
aiti-4142	233	6	-	-	PUNCT
aiti-4142	233	7	noh	noh	PROPN
aiti-4142	233	8	,	,	PUNCT
aiti-4142	233	9	m.	m.	PROPN
aiti-4142	233	10	r.	r.	PROPN
aiti-4142	233	11	arshad	arshad	PROPN
aiti-4142	233	12	,	,	PUNCT
aiti-4142	233	13	and	and	CCONJ
aiti-4142	233	14	r.	r.	PROPN
aiti-4142	233	15	mohd	mohd	PROPN
aiti-4142	233	16	-	-	PUNCT
aiti-4142	233	17	mokhtar	mokhtar	PROPN
aiti-4142	233	18	,	,	PUNCT
aiti-4142	233	19	“	"	PUNCT
aiti-4142	233	20	nonlinear	nonlinear	ADJ
aiti-4142	233	21	control	control	NOUN
aiti-4142	233	22	of	of	ADP
aiti-4142	233	23	autonomous	autonomous	ADJ
aiti-4142	233	24	underwater	underwater	ADJ
aiti-4142	233	25	glider	glider	NOUN
aiti-4142	233	26	based	base	VERB
aiti-4142	233	27	on	on	ADP
aiti-4142	233	28	super	super	ADJ
aiti-4142	233	29	-	-	ADJ
aiti-4142	233	30	twisting	twisting	ADJ
aiti-4142	233	31	sliding	slide	VERB
aiti-4142	233	32	mode	mode	NOUN
aiti-4142	233	33	control	control	NOUN
aiti-4142	233	34	(	(	PUNCT
aiti-4142	233	35	stsmc	stsmc	NOUN
aiti-4142	233	36	)	)	PUNCT
aiti-4142	233	37	,	,	PUNCT
aiti-4142	233	38	”	"	PUNCT
aiti-4142	233	39	7th	7th	ADJ
aiti-4142	233	40	ieee	ieee	PROPN
aiti-4142	233	41	international	international	ADJ
aiti-4142	233	42	conference	conference	NOUN
aiti-4142	233	43	on	on	ADP
aiti-4142	233	44	system	system	NOUN
aiti-4142	233	45	engineering	engineering	NOUN
aiti-4142	233	46	and	and	CCONJ
aiti-4142	233	47	technology	technology	NOUN
aiti-4142	233	48	,	,	PUNCT
aiti-4142	233	49	october	october	PROPN
aiti-4142	233	50	2017	2017	NUM
aiti-4142	233	51	,	,	PUNCT
aiti-4142	233	52	pp	pp	ADJ
aiti-4142	233	53	.	.	PUNCT
aiti-4142	234	1	71	71	NUM
aiti-4142	234	2	-	-	SYM
aiti-4142	234	3	76	76	NUM
aiti-4142	234	4	.	.	PUNCT
aiti-4142	235	1	[	[	X
aiti-4142	235	2	6	6	NUM
aiti-4142	235	3	]	]	PUNCT
aiti-4142	235	4	r.	r.	PROPN
aiti-4142	235	5	d.	d.	PROPN
aiti-4142	235	6	s.	s.	PROPN
aiti-4142	235	7	tchilian	tchilian	PROPN
aiti-4142	235	8	,	,	PUNCT
aiti-4142	235	9	e.	e.	PROPN
aiti-4142	235	10	rafikova	rafikova	PROPN
aiti-4142	235	11	,	,	PUNCT
aiti-4142	235	12	s.	s.	PROPN
aiti-4142	235	13	a.	a.	PROPN
aiti-4142	235	14	gafurov	gafurov	PROPN
aiti-4142	235	15	,	,	PUNCT
aiti-4142	235	16	and	and	CCONJ
aiti-4142	235	17	m.	m.	NOUN
aiti-4142	235	18	rafikov	rafikov	PROPN
aiti-4142	235	19	,	,	PUNCT
aiti-4142	235	20	“	"	PUNCT
aiti-4142	235	21	optimal	optimal	ADJ
aiti-4142	235	22	control	control	NOUN
aiti-4142	235	23	of	of	ADP
aiti-4142	235	24	an	an	DET
aiti-4142	235	25	underwater	underwater	ADJ
aiti-4142	235	26	glider	glider	NOUN
aiti-4142	235	27	vehicle	vehicle	NOUN
aiti-4142	235	28	,	,	PUNCT
aiti-4142	235	29	”	"	PUNCT
aiti-4142	235	30	procedia	procedia	NOUN
aiti-4142	235	31	engineering	engineering	NOUN
aiti-4142	235	32	,	,	PUNCT
aiti-4142	235	33	vol	vol	NOUN
aiti-4142	235	34	.	.	PROPN
aiti-4142	235	35	176	176	NUM
aiti-4142	235	36	,	,	PUNCT
aiti-4142	235	37	pp	pp	ADJ
aiti-4142	235	38	.	.	PUNCT
aiti-4142	236	1	732	732	NUM
aiti-4142	236	2	-	-	SYM
aiti-4142	236	3	740	740	NUM
aiti-4142	236	4	,	,	PUNCT
aiti-4142	236	5	2017	2017	NUM
aiti-4142	236	6	.	.	PUNCT
aiti-4142	237	1	[	[	X
aiti-4142	237	2	7	7	X
aiti-4142	237	3	]	]	X
aiti-4142	237	4	y.	y.	PROPN
aiti-4142	237	5	liu	liu	PROPN
aiti-4142	237	6	,	,	PUNCT
aiti-4142	237	7	j.	j.	PROPN
aiti-4142	237	8	ma	ma	PROPN
aiti-4142	237	9	,	,	PUNCT
aiti-4142	237	10	n.	n.	PROPN
aiti-4142	237	11	ma	ma	PROPN
aiti-4142	237	12	,	,	PUNCT
aiti-4142	237	13	and	and	CCONJ
aiti-4142	237	14	g.	g.	PROPN
aiti-4142	237	15	zhang	zhang	PROPN
aiti-4142	237	16	,	,	PUNCT
aiti-4142	237	17	“	"	PUNCT
aiti-4142	237	18	path	path	NOUN
aiti-4142	237	19	planning	planning	NOUN
aiti-4142	237	20	for	for	ADP
aiti-4142	237	21	underwater	underwater	ADJ
aiti-4142	237	22	glider	glider	NOUN
aiti-4142	237	23	under	under	ADP
aiti-4142	237	24	control	control	NOUN
aiti-4142	237	25	constraint	constraint	NOUN
aiti-4142	237	26	,	,	PUNCT
aiti-4142	237	27	”	"	PUNCT
aiti-4142	237	28	advances	advance	NOUN
aiti-4142	237	29	in	in	ADP
aiti-4142	237	30	mechanical	mechanical	ADJ
aiti-4142	237	31	engineering	engineering	NOUN
aiti-4142	237	32	,	,	PUNCT
aiti-4142	237	33	vol	vol	NOUN
aiti-4142	237	34	.	.	PROPN
aiti-4142	237	35	9	9	NUM
aiti-4142	237	36	,	,	PUNCT
aiti-4142	237	37	no	no	INTJ
aiti-4142	237	38	.	.	NOUN
aiti-4142	237	39	8	8	NUM
aiti-4142	237	40	,	,	PUNCT
aiti-4142	237	41	pp	pp	ADJ
aiti-4142	237	42	.	.	PUNCT
aiti-4142	238	1	1	1	NUM
aiti-4142	238	2	-	-	SYM
aiti-4142	238	3	9	9	NUM
aiti-4142	238	4	,	,	PUNCT
aiti-4142	238	5	august	august	PROPN
aiti-4142	238	6	2017	2017	NUM
aiti-4142	238	7	.	.	PUNCT
aiti-4142	239	1	[	[	X
aiti-4142	239	2	8	8	NUM
aiti-4142	239	3	]	]	PUNCT
aiti-4142	239	4	z.	z.	PROPN
aiti-4142	239	5	huang	huang	PROPN
aiti-4142	239	6	,	,	PUNCT
aiti-4142	239	7	h.	h.	PROPN
aiti-4142	239	8	zheng	zheng	PROPN
aiti-4142	239	9	,	,	PUNCT
aiti-4142	239	10	s.	s.	PROPN
aiti-4142	239	11	wang	wang	PROPN
aiti-4142	239	12	,	,	PUNCT
aiti-4142	239	13	y.	y.	PROPN
aiti-4142	239	14	liu	liu	PROPN
aiti-4142	239	15	,	,	PUNCT
aiti-4142	239	16	j.	j.	PROPN
aiti-4142	239	17	ma	ma	PROPN
aiti-4142	239	18	,	,	PUNCT
aiti-4142	239	19	and	and	CCONJ
aiti-4142	239	20	y.	y.	PROPN
aiti-4142	239	21	liu	liu	PROPN
aiti-4142	239	22	,	,	PUNCT
aiti-4142	239	23	“	"	PUNCT
aiti-4142	239	24	a	a	DET
aiti-4142	239	25	self	self	NOUN
aiti-4142	239	26	-	-	PUNCT
aiti-4142	239	27	searching	search	VERB
aiti-4142	239	28	optimal	optimal	ADJ
aiti-4142	239	29	adrc	adrc	NOUN
aiti-4142	239	30	for	for	ADP
aiti-4142	239	31	the	the	DET
aiti-4142	239	32	pitch	pitch	NOUN
aiti-4142	239	33	angle	angle	NOUN
aiti-4142	239	34	control	control	NOUN
aiti-4142	239	35	of	of	ADP
aiti-4142	239	36	an	an	DET
aiti-4142	239	37	underwater	underwater	ADJ
aiti-4142	239	38	thermal	thermal	ADJ
aiti-4142	239	39	glider	glider	NOUN
aiti-4142	239	40	in	in	ADP
aiti-4142	239	41	the	the	DET
aiti-4142	239	42	vertical	vertical	ADJ
aiti-4142	239	43	plane	plane	NOUN
aiti-4142	239	44	motion	motion	NOUN
aiti-4142	239	45	,	,	PUNCT
aiti-4142	239	46	”	"	PUNCT
aiti-4142	239	47	ocean	ocean	NOUN
aiti-4142	239	48	engineering	engineering	NOUN
aiti-4142	239	49	,	,	PUNCT
aiti-4142	239	50	vol	vol	NOUN
aiti-4142	239	51	.	.	PROPN
aiti-4142	239	52	159	159	NUM
aiti-4142	239	53	,	,	PUNCT
aiti-4142	239	54	pp	pp	ADJ
aiti-4142	239	55	.	.	PUNCT
aiti-4142	240	1	98	98	NUM
aiti-4142	240	2	-	-	SYM
aiti-4142	240	3	111	111	NUM
aiti-4142	240	4	,	,	PUNCT
aiti-4142	240	5	july	july	PROPN
aiti-4142	240	6	2018	2018	NUM
aiti-4142	240	7	.	.	PUNCT
aiti-4142	241	1	[	[	X
aiti-4142	241	2	9	9	NUM
aiti-4142	241	3	]	]	PUNCT
aiti-4142	241	4	z.	z.	PROPN
aiti-4142	241	5	q.	q.	PROPN
aiti-4142	241	6	su	su	PROPN
aiti-4142	241	7	,	,	PUNCT
aiti-4142	241	8	m.	m.	NOUN
aiti-4142	241	9	zhou	zhou	PROPN
aiti-4142	241	10	,	,	PUNCT
aiti-4142	241	11	f.	f.	PROPN
aiti-4142	241	12	f.	f.	PROPN
aiti-4142	241	13	han	han	PROPN
aiti-4142	241	14	,	,	PUNCT
aiti-4142	241	15	y.	y.	PROPN
aiti-4142	241	16	w.	w.	PROPN
aiti-4142	241	17	zhu	zhu	PROPN
aiti-4142	241	18	,	,	PUNCT
aiti-4142	241	19	d.	d.	PROPN
aiti-4142	241	20	l.	l.	PROPN
aiti-4142	241	21	song	song	PROPN
aiti-4142	241	22	,	,	PUNCT
aiti-4142	241	23	and	and	CCONJ
aiti-4142	241	24	t.	t.	PROPN
aiti-4142	241	25	t.	t.	PROPN
aiti-4142	241	26	guo	guo	PROPN
aiti-4142	241	27	,	,	PUNCT
aiti-4142	241	28	“	"	PUNCT
aiti-4142	241	29	attitude	attitude	NOUN
aiti-4142	241	30	control	control	NOUN
aiti-4142	241	31	of	of	ADP
aiti-4142	241	32	underwater	underwater	ADJ
aiti-4142	241	33	glider	glider	NOUN
aiti-4142	241	34	combined	combine	VERB
aiti-4142	241	35	reinforcement	reinforcement	NOUN
aiti-4142	241	36	learning	learning	NOUN
aiti-4142	241	37	with	with	ADP
aiti-4142	241	38	active	active	ADJ
aiti-4142	241	39	disturbance	disturbance	NOUN
aiti-4142	241	40	rejection	rejection	NOUN
aiti-4142	241	41	control	control	NOUN
aiti-4142	241	42	,	,	PUNCT
aiti-4142	241	43	”	"	PUNCT
aiti-4142	241	44	journal	journal	NOUN
aiti-4142	241	45	of	of	ADP
aiti-4142	241	46	marine	marine	PROPN
aiti-4142	241	47	science	science	NOUN
aiti-4142	241	48	and	and	CCONJ
aiti-4142	241	49	technology	technology	NOUN
aiti-4142	241	50	,	,	PUNCT
aiti-4142	241	51	vol	vol	NOUN
aiti-4142	241	52	.	.	PROPN
aiti-4142	241	53	24	24	NUM
aiti-4142	241	54	,	,	PUNCT
aiti-4142	241	55	no	no	INTJ
aiti-4142	241	56	.	.	NOUN
aiti-4142	241	57	3	3	NUM
aiti-4142	241	58	,	,	PUNCT
aiti-4142	241	59	pp	pp	ADJ
aiti-4142	241	60	.	.	PUNCT
aiti-4142	242	1	686	686	NUM
aiti-4142	242	2	-	-	SYM
aiti-4142	242	3	704	704	NUM
aiti-4142	242	4	,	,	PUNCT
aiti-4142	242	5	2019	2019	NUM
aiti-4142	242	6	.	.	PUNCT
aiti-4142	243	1	advances	advance	NOUN
aiti-4142	243	2	in	in	ADP
aiti-4142	243	3	technology	technology	NOUN
aiti-4142	243	4	innovation	innovation	NOUN
aiti-4142	243	5	,	,	PUNCT
aiti-4142	243	6	vol	vol	NOUN
aiti-4142	243	7	.	.	PROPN
aiti-4142	243	8	5	5	NUM
aiti-4142	243	9	,	,	PUNCT
aiti-4142	243	10	no	no	INTJ
aiti-4142	243	11	.	.	NOUN
aiti-4142	243	12	3	3	NUM
aiti-4142	243	13	,	,	PUNCT
aiti-4142	243	14	2020	2020	NUM
aiti-4142	243	15	,	,	PUNCT
aiti-4142	243	16	pp	pp	ADJ
aiti-4142	243	17	.	.	PUNCT
aiti-4142	244	1	135	135	NUM
aiti-4142	244	2	-	-	SYM
aiti-4142	244	3	146	146	NUM
aiti-4142	244	4	146	146	NUM
aiti-4142	244	5	[	[	X
aiti-4142	244	6	10	10	NUM
aiti-4142	244	7	]	]	X
aiti-4142	244	8	h.	h.	PROPN
aiti-4142	244	9	sang	sing	VERB
aiti-4142	244	10	,	,	PUNCT
aiti-4142	244	11	y.	y.	PROPN
aiti-4142	244	12	zhou	zhou	PROPN
aiti-4142	244	13	,	,	PUNCT
aiti-4142	244	14	x.	x.	PROPN
aiti-4142	244	15	sun	sun	PROPN
aiti-4142	244	16	,	,	PUNCT
aiti-4142	244	17	and	and	CCONJ
aiti-4142	244	18	s.	s.	PROPN
aiti-4142	244	19	yang	yang	PROPN
aiti-4142	244	20	,	,	PUNCT
aiti-4142	244	21	“	"	PUNCT
aiti-4142	244	22	heading	head	VERB
aiti-4142	244	23	tracking	track	VERB
aiti-4142	244	24	control	control	NOUN
aiti-4142	244	25	with	with	ADP
aiti-4142	244	26	an	an	DET
aiti-4142	244	27	adaptive	adaptive	ADJ
aiti-4142	244	28	hybrid	hybrid	NOUN
aiti-4142	244	29	control	control	NOUN
aiti-4142	244	30	for	for	ADP
aiti-4142	244	31	under	under	ADP
aiti-4142	244	32	actuated	actuate	VERB
aiti-4142	244	33	underwater	underwater	ADJ
aiti-4142	244	34	glider	glider	NOUN
aiti-4142	244	35	,	,	PUNCT
aiti-4142	244	36	”	"	PUNCT
aiti-4142	244	37	isa	isa	NOUN
aiti-4142	244	38	transactions	transaction	NOUN
aiti-4142	244	39	,	,	PUNCT
aiti-4142	244	40	vol	vol	NOUN
aiti-4142	244	41	.	.	PROPN
aiti-4142	244	42	80	80	NUM
aiti-4142	244	43	,	,	PUNCT
aiti-4142	244	44	no	no	INTJ
aiti-4142	244	45	.	.	NOUN
aiti-4142	244	46	10	10	NUM
aiti-4142	244	47	,	,	PUNCT
aiti-4142	244	48	pp	pp	ADJ
aiti-4142	244	49	.	.	PUNCT
aiti-4142	245	1	554	554	NUM
aiti-4142	245	2	-	-	SYM
aiti-4142	245	3	563	563	NUM
aiti-4142	245	4	,	,	PUNCT
aiti-4142	245	5	july	july	PROPN
aiti-4142	245	6	2018	2018	NUM
aiti-4142	245	7	.	.	PUNCT
aiti-4142	246	1	[	[	X
aiti-4142	246	2	11	11	NUM
aiti-4142	246	3	]	]	PUNCT
aiti-4142	246	4	d.	d.	PROPN
aiti-4142	246	5	song	song	PROPN
aiti-4142	246	6	,	,	PUNCT
aiti-4142	246	7	t.	t.	PROPN
aiti-4142	246	8	guo	guo	PROPN
aiti-4142	246	9	,	,	PUNCT
aiti-4142	246	10	w.	w.	PROPN
aiti-4142	246	11	sun	sun	PROPN
aiti-4142	246	12	,	,	PUNCT
aiti-4142	246	13	q.	q.	PROPN
aiti-4142	246	14	jiang	jiang	PROPN
aiti-4142	246	15	,	,	PUNCT
aiti-4142	246	16	and	and	CCONJ
aiti-4142	246	17	h.	h.	PROPN
aiti-4142	246	18	yang	yang	PROPN
aiti-4142	246	19	,	,	PUNCT
aiti-4142	246	20	“	"	PUNCT
aiti-4142	246	21	using	use	VERB
aiti-4142	246	22	an	an	DET
aiti-4142	246	23	active	active	ADJ
aiti-4142	246	24	disturbance	disturbance	NOUN
aiti-4142	246	25	rejection	rejection	NOUN
aiti-4142	246	26	decoupling	decouple	VERB
aiti-4142	246	27	control	control	NOUN
aiti-4142	246	28	algorithm	algorithm	NOUN
aiti-4142	246	29	to	to	PART
aiti-4142	246	30	improve	improve	VERB
aiti-4142	246	31	operational	operational	ADJ
aiti-4142	246	32	performance	performance	NOUN
aiti-4142	246	33	for	for	ADP
aiti-4142	246	34	underwater	underwater	ADJ
aiti-4142	246	35	glider	glider	NOUN
aiti-4142	246	36	applications	application	NOUN
aiti-4142	246	37	,	,	PUNCT
aiti-4142	246	38	”	"	PUNCT
aiti-4142	246	39	journal	journal	NOUN
aiti-4142	246	40	of	of	ADP
aiti-4142	246	41	coastal	coastal	ADJ
aiti-4142	246	42	research	research	NOUN
aiti-4142	246	43	,	,	PUNCT
aiti-4142	246	44	vol	vol	NOUN
aiti-4142	246	45	.	.	PROPN
aiti-4142	246	46	34	34	NUM
aiti-4142	246	47	,	,	PUNCT
aiti-4142	246	48	no	no	INTJ
aiti-4142	246	49	.	.	NOUN
aiti-4142	246	50	3	3	NUM
aiti-4142	246	51	,	,	PUNCT
aiti-4142	246	52	p.	p.	NOUN
aiti-4142	246	53	724	724	NUM
aiti-4142	246	54	,	,	PUNCT
aiti-4142	246	55	may	may	PROPN
aiti-4142	246	56	2018	2018	NUM
aiti-4142	246	57	.	.	PUNCT
aiti-4142	247	1	[	[	X
aiti-4142	247	2	12	12	NUM
aiti-4142	247	3	]	]	PUNCT
aiti-4142	247	4	m.	m.	NOUN
aiti-4142	247	5	g.	g.	PROPN
aiti-4142	247	6	joo	joo	PROPN
aiti-4142	247	7	,	,	PUNCT
aiti-4142	247	8	“	"	PUNCT
aiti-4142	247	9	a	a	DET
aiti-4142	247	10	controller	controller	NOUN
aiti-4142	247	11	comprising	comprise	VERB
aiti-4142	247	12	tail	tail	NOUN
aiti-4142	247	13	wing	wing	NOUN
aiti-4142	247	14	control	control	NOUN
aiti-4142	247	15	of	of	ADP
aiti-4142	247	16	a	a	DET
aiti-4142	247	17	hybrid	hybrid	ADJ
aiti-4142	247	18	autonomous	autonomous	ADJ
aiti-4142	247	19	underwater	underwater	ADJ
aiti-4142	247	20	vehicle	vehicle	NOUN
aiti-4142	247	21	for	for	ADP
aiti-4142	247	22	use	use	NOUN
aiti-4142	247	23	as	as	ADP
aiti-4142	247	24	an	an	DET
aiti-4142	247	25	underwater	underwater	ADJ
aiti-4142	247	26	glider	glider	NOUN
aiti-4142	247	27	,	,	PUNCT
aiti-4142	247	28	”	"	PUNCT
aiti-4142	247	29	international	international	ADJ
aiti-4142	247	30	journal	journal	NOUN
aiti-4142	247	31	of	of	ADP
aiti-4142	247	32	naval	naval	ADJ
aiti-4142	247	33	architecture	architecture	NOUN
aiti-4142	247	34	and	and	CCONJ
aiti-4142	247	35	ocean	ocean	NOUN
aiti-4142	247	36	engineering	engineering	NOUN
aiti-4142	247	37	,	,	PUNCT
aiti-4142	247	38	vol	vol	NOUN
aiti-4142	247	39	.	.	PROPN
aiti-4142	247	40	11	11	NUM
aiti-4142	247	41	,	,	PUNCT
aiti-4142	247	42	no	no	INTJ
aiti-4142	247	43	.	.	NOUN
aiti-4142	247	44	2	2	NUM
aiti-4142	247	45	,	,	PUNCT
aiti-4142	247	46	pp	pp	ADJ
aiti-4142	247	47	.	.	PUNCT
aiti-4142	247	48	865	865	NUM
aiti-4142	247	49	-	-	SYM
aiti-4142	247	50	874	874	NUM
aiti-4142	247	51	,	,	PUNCT
aiti-4142	247	52	july	july	PROPN
aiti-4142	247	53	2019	2019	NUM
aiti-4142	247	54	.	.	PUNCT
aiti-4142	248	1	[	[	X
aiti-4142	248	2	13	13	NUM
aiti-4142	248	3	]	]	PUNCT
aiti-4142	248	4	s.	s.	PROPN
aiti-4142	248	5	k.	k.	PROPN
aiti-4142	248	6	jeong	jeong	PROPN
aiti-4142	248	7	,	,	PUNCT
aiti-4142	248	8	h.	h.	PROPN
aiti-4142	248	9	s.	s.	PROPN
aiti-4142	248	10	choi	choi	PROPN
aiti-4142	248	11	,	,	PUNCT
aiti-4142	248	12	j.	j.	PROPN
aiti-4142	248	13	il	il	PROPN
aiti-4142	248	14	kang	kang	PROPN
aiti-4142	248	15	,	,	PUNCT
aiti-4142	248	16	j.	j.	PROPN
aiti-4142	248	17	y.	y.	PROPN
aiti-4142	248	18	oh	oh	INTJ
aiti-4142	248	19	,	,	PUNCT
aiti-4142	248	20	s.	s.	PROPN
aiti-4142	248	21	k.	k.	PROPN
aiti-4142	248	22	kim	kim	PROPN
aiti-4142	248	23	,	,	PUNCT
aiti-4142	248	24	and	and	CCONJ
aiti-4142	248	25	t.	t.	PROPN
aiti-4142	248	26	q.	q.	PROPN
aiti-4142	248	27	m.	m.	PROPN
aiti-4142	248	28	nhat	nhat	PROPN
aiti-4142	248	29	,	,	PUNCT
aiti-4142	248	30	“	"	PUNCT
aiti-4142	248	31	design	design	NOUN
aiti-4142	248	32	and	and	CCONJ
aiti-4142	248	33	control	control	NOUN
aiti-4142	248	34	of	of	ADP
aiti-4142	248	35	navigation	navigation	NOUN
aiti-4142	248	36	system	system	NOUN
aiti-4142	248	37	for	for	ADP
aiti-4142	248	38	hybrid	hybrid	ADJ
aiti-4142	248	39	underwater	underwater	ADJ
aiti-4142	248	40	glider	glider	NOUN
aiti-4142	248	41	,	,	PUNCT
aiti-4142	248	42	”	"	PUNCT
aiti-4142	248	43	journal	journal	NOUN
aiti-4142	248	44	of	of	ADP
aiti-4142	248	45	intelligent	intelligent	ADJ
aiti-4142	248	46	and	and	CCONJ
aiti-4142	248	47	fuzzy	fuzzy	ADJ
aiti-4142	248	48	systems	system	NOUN
aiti-4142	248	49	,	,	PUNCT
aiti-4142	248	50	vol	vol	NOUN
aiti-4142	248	51	.	.	PROPN
aiti-4142	249	1	36	36	NUM
aiti-4142	249	2	,	,	PUNCT
aiti-4142	249	3	no	no	INTJ
aiti-4142	249	4	.	.	NOUN
aiti-4142	249	5	2	2	NUM
aiti-4142	249	6	,	,	PUNCT
aiti-4142	249	7	pp	pp	ADJ
aiti-4142	249	8	.	.	PUNCT
aiti-4142	250	1	1057	1057	NUM
aiti-4142	250	2	-	-	SYM
aiti-4142	250	3	1072	1072	NUM
aiti-4142	250	4	,	,	PUNCT
aiti-4142	250	5	march	march	PROPN
aiti-4142	250	6	2019	2019	NUM
aiti-4142	250	7	.	.	PUNCT
aiti-4142	251	1	[	[	X
aiti-4142	251	2	14	14	NUM
aiti-4142	251	3	]	]	X
aiti-4142	251	4	n.	n.	PROPN
aiti-4142	251	5	d.	d.	PROPN
aiti-4142	251	6	nguyen	nguyen	PROPN
aiti-4142	251	7	,	,	PUNCT
aiti-4142	251	8	h.	h.	PROPN
aiti-4142	251	9	s.	s.	PROPN
aiti-4142	251	10	choi	choi	PROPN
aiti-4142	251	11	,	,	PUNCT
aiti-4142	251	12	and	and	CCONJ
aiti-4142	251	13	s.	s.	PROPN
aiti-4142	251	14	w.	w.	PROPN
aiti-4142	251	15	lee	lee	PROPN
aiti-4142	251	16	,	,	PUNCT
aiti-4142	251	17	“	"	PUNCT
aiti-4142	251	18	robust	robust	ADJ
aiti-4142	251	19	adaptive	adaptive	ADJ
aiti-4142	251	20	heading	heading	NOUN
aiti-4142	251	21	control	control	NOUN
aiti-4142	251	22	for	for	ADP
aiti-4142	251	23	a	a	DET
aiti-4142	251	24	ray	ray	NOUN
aiti-4142	251	25	-	-	PUNCT
aiti-4142	251	26	type	type	NOUN
aiti-4142	251	27	hybrid	hybrid	ADJ
aiti-4142	251	28	underwater	underwater	ADJ
aiti-4142	251	29	glider	glider	NOUN
aiti-4142	251	30	with	with	ADP
aiti-4142	251	31	propellers	propeller	NOUN
aiti-4142	251	32	,	,	PUNCT
aiti-4142	251	33	”	"	PUNCT
aiti-4142	251	34	journal	journal	NOUN
aiti-4142	251	35	of	of	ADP
aiti-4142	251	36	marine	marine	PROPN
aiti-4142	251	37	science	science	NOUN
aiti-4142	251	38	and	and	CCONJ
aiti-4142	251	39	engineering	engineering	NOUN
aiti-4142	251	40	,	,	PUNCT
aiti-4142	251	41	vol	vol	NOUN
aiti-4142	251	42	.	.	PROPN
aiti-4142	251	43	7	7	NUM
aiti-4142	251	44	,	,	PUNCT
aiti-4142	251	45	no	no	INTJ
aiti-4142	251	46	.	.	NOUN
aiti-4142	251	47	10	10	NUM
aiti-4142	251	48	,	,	PUNCT
aiti-4142	251	49	october	october	PROPN
aiti-4142	251	50	2019	2019	NUM
aiti-4142	251	51	.	.	PUNCT
aiti-4142	252	1	[	[	X
aiti-4142	252	2	15	15	X
aiti-4142	252	3	]	]	X
aiti-4142	252	4	t.	t.	PROPN
aiti-4142	252	5	t.	t.	PROPN
aiti-4142	252	6	j.	j.	PROPN
aiti-4142	252	7	prestero	prestero	PROPN
aiti-4142	252	8	,	,	PUNCT
aiti-4142	252	9	“	"	PUNCT
aiti-4142	252	10	verification	verification	NOUN
aiti-4142	252	11	of	of	ADP
aiti-4142	252	12	a	a	DET
aiti-4142	252	13	six	six	NUM
aiti-4142	252	14	-	-	PUNCT
aiti-4142	252	15	degree	degree	NOUN
aiti-4142	252	16	of	of	ADP
aiti-4142	252	17	freedom	freedom	NOUN
aiti-4142	252	18	simulation	simulation	NOUN
aiti-4142	252	19	model	model	NOUN
aiti-4142	252	20	,	,	PUNCT
aiti-4142	252	21	”	"	PUNCT
aiti-4142	252	22	phd	phd	NOUN
aiti-4142	252	23	thesis	thesis	NOUN
aiti-4142	252	24	,	,	PUNCT
aiti-4142	252	25	dept	dept	NOUN
aiti-4142	252	26	.	.	PUNCT
aiti-4142	253	1	mechanical	mechanical	ADJ
aiti-4142	253	2	engineering	engineering	NOUN
aiti-4142	253	3	,	,	PUNCT
aiti-4142	253	4	university	university	PROPN
aiti-4142	253	5	of	of	ADP
aiti-4142	253	6	california	california	PROPN
aiti-4142	253	7	at	at	ADP
aiti-4142	253	8	davis	davis	PROPN
aiti-4142	253	9	,	,	PUNCT
aiti-4142	253	10	2001	2001	NUM
aiti-4142	253	11	.	.	PUNCT
aiti-4142	254	1	[	[	X
aiti-4142	254	2	16	16	NUM
aiti-4142	254	3	]	]	X
aiti-4142	254	4	d.	d.	PROPN
aiti-4142	254	5	h.	h.	PROPN
aiti-4142	254	6	ji	ji	PROPN
aiti-4142	254	7	,	,	PUNCT
aiti-4142	254	8	h.	h.	PROPN
aiti-4142	254	9	s.	s.	PROPN
aiti-4142	254	10	cho	cho	PROPN
aiti-4142	254	11	,	,	PUNCT
aiti-4142	254	12	s.	s.	PROPN
aiti-4142	254	13	k.	k.	PROPN
aiti-4142	254	14	jeong	jeong	PROPN
aiti-4142	254	15	,	,	PUNCT
aiti-4142	254	16	j.	j.	PROPN
aiti-4142	254	17	y.	y.	PROPN
aiti-4142	254	18	oh	oh	INTJ
aiti-4142	254	19	,	,	PUNCT
aiti-4142	254	20	s.	s.	PROPN
aiti-4142	254	21	k.	k.	PROPN
aiti-4142	254	22	kim	kim	PROPN
aiti-4142	254	23	,	,	PUNCT
aiti-4142	254	24	and	and	CCONJ
aiti-4142	254	25	s.	s.	PROPN
aiti-4142	254	26	s.	s.	PROPN
aiti-4142	254	27	you	you	PRON
aiti-4142	254	28	,	,	PUNCT
aiti-4142	254	29	“	"	PUNCT
aiti-4142	254	30	a	a	DET
aiti-4142	254	31	study	study	NOUN
aiti-4142	254	32	on	on	ADP
aiti-4142	254	33	heading	head	VERB
aiti-4142	254	34	and	and	CCONJ
aiti-4142	254	35	attitude	attitude	NOUN
aiti-4142	254	36	estimation	estimation	NOUN
aiti-4142	254	37	of	of	ADP
aiti-4142	254	38	underwater	underwater	ADJ
aiti-4142	254	39	track	track	NOUN
aiti-4142	254	40	vehicle	vehicle	NOUN
aiti-4142	254	41	,	,	PUNCT
aiti-4142	254	42	”	"	PUNCT
aiti-4142	254	43	advances	advance	NOUN
aiti-4142	254	44	in	in	ADP
aiti-4142	254	45	technology	technology	NOUN
aiti-4142	254	46	innovation	innovation	NOUN
aiti-4142	254	47	,	,	PUNCT
aiti-4142	254	48	vol	vol	NOUN
aiti-4142	254	49	.	.	PROPN
aiti-4142	255	1	4	4	NUM
aiti-4142	255	2	,	,	PUNCT
aiti-4142	255	3	no	no	INTJ
aiti-4142	255	4	.	.	NOUN
aiti-4142	255	5	2	2	NUM
aiti-4142	255	6	,	,	PUNCT
aiti-4142	255	7	pp	pp	ADJ
aiti-4142	255	8	.	.	PUNCT
aiti-4142	256	1	84	84	NUM
aiti-4142	256	2	-	-	SYM
aiti-4142	256	3	93	93	NUM
aiti-4142	256	4	,	,	PUNCT
aiti-4142	256	5	april	april	PROPN
aiti-4142	256	6	2019	2019	NUM
aiti-4142	256	7	.	.	PUNCT
aiti-4142	257	1	[	[	X
aiti-4142	257	2	17	17	NUM
aiti-4142	257	3	]	]	X
aiti-4142	257	4	handbook	handbook	NOUN
aiti-4142	257	5	of	of	ADP
aiti-4142	257	6	marine	marine	ADJ
aiti-4142	257	7	craft	craft	NOUN
aiti-4142	257	8	hydrodynamics	hydrodynamic	NOUN
aiti-4142	257	9	and	and	CCONJ
aiti-4142	257	10	motion	motion	NOUN
aiti-4142	257	11	control	control	NOUN
aiti-4142	257	12	,	,	PUNCT
aiti-4142	257	13	john	john	PROPN
aiti-4142	257	14	wiley	wiley	PROPN
aiti-4142	257	15	&	&	CCONJ
aiti-4142	257	16	sons	son	NOUN
aiti-4142	257	17	,	,	PUNCT
aiti-4142	257	18	2011	2011	NUM
aiti-4142	257	19	.	.	PUNCT
aiti-4142	258	1	[	[	X
aiti-4142	258	2	18	18	NUM
aiti-4142	258	3	]	]	X
aiti-4142	258	4	d.	d.	PROPN
aiti-4142	258	5	jung	jung	PROPN
aiti-4142	258	6	,	,	PUNCT
aiti-4142	258	7	s.	s.	PROPN
aiti-4142	258	8	hong	hong	PROPN
aiti-4142	258	9	,	,	PUNCT
aiti-4142	258	10	j.	j.	PROPN
aiti-4142	258	11	lee	lee	PROPN
aiti-4142	258	12	,	,	PUNCT
aiti-4142	258	13	h.	h.	PROPN
aiti-4142	258	14	cho	cho	PROPN
aiti-4142	258	15	,	,	PUNCT
aiti-4142	258	16	h.	h.	PROPN
aiti-4142	258	17	choi	choi	PROPN
aiti-4142	258	18	,	,	PUNCT
aiti-4142	258	19	and	and	CCONJ
aiti-4142	258	20	m.	m.	NOUN
aiti-4142	258	21	vu	vu	PROPN
aiti-4142	258	22	,	,	PUNCT
aiti-4142	258	23	“	"	PUNCT
aiti-4142	258	24	a	a	DET
aiti-4142	258	25	study	study	NOUN
aiti-4142	258	26	on	on	ADP
aiti-4142	258	27	unmanned	unmanned	ADJ
aiti-4142	258	28	surface	surface	NOUN
aiti-4142	258	29	vehicle	vehicle	NOUN
aiti-4142	258	30	combined	combine	VERB
aiti-4142	258	31	with	with	ADP
aiti-4142	258	32	remotely	remotely	ADV
aiti-4142	258	33	operated	operate	VERB
aiti-4142	258	34	vehicle	vehicle	NOUN
aiti-4142	258	35	system	system	NOUN
aiti-4142	258	36	,	,	PUNCT
aiti-4142	258	37	”	"	PUNCT
aiti-4142	258	38	proceedings	proceeding	NOUN
aiti-4142	258	39	of	of	ADP
aiti-4142	258	40	engineering	engineering	NOUN
aiti-4142	258	41	and	and	CCONJ
aiti-4142	258	42	technology	technology	NOUN
aiti-4142	258	43	innovation	innovation	NOUN
aiti-4142	258	44	,	,	PUNCT
aiti-4142	258	45	2018	2018	NUM
aiti-4142	258	46	,	,	PUNCT
aiti-4142	258	47	vol	vol	NOUN
aiti-4142	258	48	.	.	NOUN
aiti-4142	258	49	9	9	NUM
aiti-4142	258	50	,	,	PUNCT
aiti-4142	258	51	no	no	INTJ
aiti-4142	258	52	.	.	NOUN
aiti-4142	258	53	7	7	NUM
aiti-4142	258	54	,	,	PUNCT
aiti-4142	258	55	pp	pp	ADJ
aiti-4142	258	56	.	.	PUNCT
aiti-4142	259	1	17	17	NUM
aiti-4142	259	2	-	-	SYM
aiti-4142	259	3	24	24	NUM
aiti-4142	259	4	,	,	PUNCT
aiti-4142	259	5	july	july	PROPN
aiti-4142	259	6	2018	2018	NUM
aiti-4142	259	7	.	.	PUNCT
aiti-4142	260	1	copyright	copyright	NOUN
aiti-4142	260	2	©	©	PROPN
aiti-4142	260	3	by	by	ADP
aiti-4142	260	4	the	the	DET
aiti-4142	260	5	authors	author	NOUN
aiti-4142	260	6	.	.	PUNCT
aiti-4142	261	1	licensee	licensee	PROPN
aiti-4142	261	2	taeti	taeti	PROPN
aiti-4142	261	3	,	,	PUNCT
aiti-4142	261	4	taiwan	taiwan	PROPN
aiti-4142	261	5	.	.	PUNCT
aiti-4142	262	1	this	this	DET
aiti-4142	262	2	article	article	NOUN
aiti-4142	262	3	is	be	AUX
aiti-4142	262	4	an	an	DET
aiti-4142	262	5	open	open	ADJ
aiti-4142	262	6	access	access	NOUN
aiti-4142	262	7	article	article	NOUN
aiti-4142	262	8	distributed	distribute	VERB
aiti-4142	262	9	under	under	ADP
aiti-4142	262	10	the	the	DET
aiti-4142	262	11	terms	term	NOUN
aiti-4142	262	12	and	and	CCONJ
aiti-4142	262	13	conditions	condition	NOUN
aiti-4142	262	14	of	of	ADP
aiti-4142	262	15	the	the	DET
aiti-4142	262	16	creative	creative	ADJ
aiti-4142	262	17	commons	common	NOUN
aiti-4142	262	18	attribution	attribution	NOUN
aiti-4142	262	19	(	(	PUNCT
aiti-4142	262	20	cc	cc	NOUN
aiti-4142	262	21	by	by	ADP
aiti-4142	262	22	-	-	PUNCT
aiti-4142	262	23	nc	nc	NOUN
aiti-4142	262	24	)	)	PUNCT
aiti-4142	262	25	license	license	NOUN
aiti-4142	262	26	(	(	PUNCT
aiti-4142	262	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-4142	262	28	)	)	PUNCT
aiti-4142	262	29	.	.	PUNCT