id	sid	eid	entity	type
alkej-361	1	1	al-khwarizmi	ORG
alkej-361	1	2	al-khwarizmi engineering journal	ORG
alkej-361	1	3	13	CARDINAL
alkej-361	1	4	3	CARDINAL
alkej-361	1	5	2737	CARDINAL
alkej-361	1	6	2017	CARDINAL
alkej-361	1	7	ahmed t. sadiq* firas a. raheem	PERSON
alkej-361	2	1	f. abbas	PERSON
alkej-361	4	1	university of technology **department	ORG
alkej-361	4	2	6	CARDINAL
alkej-361	4	3	7 february 2017	DATE
alkej-361	9	1	2	CARDINAL
alkej-361	16	1	1	CARDINAL
alkej-361	16	2	three	CARDINAL
alkej-361	18	1	1,2	CARDINAL
alkej-361	19	1	3	CARDINAL
alkej-361	21	1	cartesian	NORP
alkej-361	22	1	cartesian	NORP
alkej-361	22	2	4	CARDINAL
alkej-361	24	1	3	CARDINAL
alkej-361	27	1	ahmed t. sadiq al-khwarizmi	PERSON
alkej-361	28	1	13	CARDINAL
alkej-361	28	2	3	CARDINAL
alkej-361	28	3	2737	CARDINAL
alkej-361	28	4	2017	CARDINAL
alkej-361	28	5	28	CARDINAL
alkej-361	29	1	3	CARDINAL
alkej-361	29	2	5	CARDINAL
alkej-361	31	1	5	CARDINAL
alkej-361	32	1	two	CARDINAL
alkej-361	32	2	2d	DATE
alkej-361	33	1	2	CARDINAL
alkej-361	35	1	guo et al	PERSON
alkej-361	36	1	6	CARDINAL
alkej-361	38	1	rokbani	PERSON
alkej-361	40	1	kim	PERSON
alkej-361	40	2	lee	PERSON
alkej-361	41	1	nsc	ORG
alkej-361	42	1	nsc	ORG
alkej-361	43	1	3	CARDINAL
alkej-361	43	2	kinematics	ORG
alkej-361	43	3	two	CARDINAL
alkej-361	44	1	two	CARDINAL
alkej-361	44	2	one	CARDINAL
alkej-361	44	3	second	ORDINAL
alkej-361	46	1	9	CARDINAL
alkej-361	46	2	10	CARDINAL
alkej-361	47	1	2	CARDINAL
alkej-361	47	2	cartesian	NORP
alkej-361	47	3	11	CARDINAL
alkej-361	47	4	12	CARDINAL
alkej-361	48	1	fig	ORG
alkej-361	49	1	1	CARDINAL
alkej-361	51	1	11	CARDINAL
alkej-361	51	2	12	DATE
alkej-361	51	3	13	CARDINAL
alkej-361	53	1	1.	CARDINAL
alkej-361	53	2	two	CARDINAL
alkej-361	54	1	1	CARDINAL
alkej-361	54	2	2	CARDINAL
alkej-361	54	3	two	CARDINAL
alkej-361	55	1	3	CARDINAL
alkej-361	56	1	first	ORDINAL
alkej-361	56	2	second	ORDINAL
alkej-361	56	3	11	CARDINAL
alkej-361	56	4	12	DATE
alkej-361	56	5	13	CARDINAL
alkej-361	57	1	13	CARDINAL
alkej-361	57	2	14	DATE
alkej-361	57	3	15	CARDINAL
alkej-361	58	1	first	ORDINAL
alkej-361	59	1	ahmed t. sadiq al-khwarizmi	PERSON
alkej-361	59	2	13	CARDINAL
alkej-361	59	3	3	CARDINAL
alkej-361	59	4	2737	CARDINAL
alkej-361	59	5	2017	CARDINAL
alkej-361	59	6	29 4	DATE
alkej-361	60	1	free cartesian	PERSON
alkej-361	63	1	1	CARDINAL
alkej-361	65	1	1	CARDINAL
alkej-361	65	2	two	CARDINAL
alkej-361	66	1	1	CARDINAL
alkej-361	66	2	2 -90	QUANTITY
alkej-361	67	1	polygon	ORG
alkej-361	68	1	polygon obstacle	ORG
alkej-361	69	1	three	CARDINAL
alkej-361	69	2	cartesian	NORP
alkej-361	70	1	first	ORDINAL
alkej-361	70	2	two	CARDINAL
alkej-361	71	1	2	CARDINAL
alkej-361	72	1	second	ORDINAL
alkej-361	72	2	one	CARDINAL
alkej-361	72	3	one	CARDINAL
alkej-361	73	1	third	ORDINAL
alkej-361	73	2	two	CARDINAL
alkej-361	74	1	fig	ORG
alkej-361	75	1	2.	CARDINAL
alkej-361	75	2	two	CARDINAL
alkej-361	76	1	three	CARDINAL
alkej-361	76	2	first	ORDINAL
alkej-361	76	3	second	ORDINAL
alkej-361	76	4	third	ORDINAL
alkej-361	77	1	at least one	CARDINAL
alkej-361	79	1	5	CARDINAL
alkej-361	80	1	16	CARDINAL
alkej-361	80	2	17	CARDINAL
alkej-361	82	1	16	CARDINAL
alkej-361	82	2	17	CARDINAL
alkej-361	84	1	ahmed t. sadiq al-khwarizmi	PERSON
alkej-361	84	2	13	CARDINAL
alkej-361	84	3	3	CARDINAL
alkej-361	84	4	2737	CARDINAL
alkej-361	84	5	2017	CARDINAL
alkej-361	84	6	30	CARDINAL
alkej-361	88	1	10,2-	TIME
alkej-361	90	1	17	CARDINAL
alkej-361	90	2	18	DATE
alkej-361	90	3	19	CARDINAL
alkej-361	91	1	first	ORDINAL
alkej-361	96	1	5	CARDINAL
alkej-361	96	2	2	CARDINAL
alkej-361	96	3	17	CARDINAL
alkej-361	97	1	5	CARDINAL
alkej-361	104	1	5	CARDINAL
alkej-361	105	1	8	CARDINAL
alkej-361	105	2	8	CARDINAL
alkej-361	105	3	8	CARDINAL
alkej-361	105	4	10,2-	TIME
alkej-361	108	1	9	CARDINAL
alkej-361	108	2	9	CARDINAL
alkej-361	108	3	1	CARDINAL
alkej-361	108	4	5	CARDINAL
alkej-361	108	5	5	CARDINAL
alkej-361	108	6	0.9	CARDINAL
alkej-361	108	7	5:-=	CARDINAL
alkej-361	108	8	0.4	CARDINAL
alkej-361	108	9	2	CARDINAL
alkej-361	108	10	17	CARDINAL
alkej-361	108	11	5	CARDINAL
alkej-361	108	12	5	CARDINAL
alkej-361	108	13	ab	GPE
alkej-361	111	1	2	CARDINAL
alkej-361	111	2	20	DATE
alkej-361	111	3	17	DATE
alkej-361	111	4	18	CARDINAL
alkej-361	112	1	6	CARDINAL
alkej-361	114	1	one	CARDINAL
alkej-361	116	1	eight	CARDINAL
alkej-361	119	1	8)	CARDINAL
alkej-361	120	1	3 +	DATE
alkej-361	120	2	3	CARDINAL
alkej-361	121	1	21	CARDINAL
alkej-361	122	1	7	CARDINAL
alkej-361	124	1	zero	CARDINAL
alkej-361	124	2	eight	CARDINAL
alkej-361	125	1	5	CARDINAL
alkej-361	126	1	eight	CARDINAL
alkej-361	126	2	10,2-	TIME
alkej-361	127	1	9	CARDINAL
alkej-361	128	1	ahmed t. sadiq al-khwarizmi	PERSON
alkej-361	128	2	13	CARDINAL
alkej-361	128	3	3	CARDINAL
alkej-361	128	4	2737	CARDINAL
alkej-361	128	5	2017	CARDINAL
alkej-361	128	6	31	CARDINAL
alkej-361	129	1	9	CARDINAL
alkej-361	129	2	9	CARDINAL
alkej-361	130	1	only one	CARDINAL
alkej-361	133	1	eight	CARDINAL
alkej-361	135	1	cost=∑ x	PERSON
alkej-361	135	2	10	CARDINAL
alkej-361	136	1	more than one	CARDINAL
alkej-361	138	1	3	CARDINAL
alkej-361	139	1	8	CARDINAL
alkej-361	140	1	2z 2	CARDINAL
alkej-361	142	1	fifth	ORDINAL
alkej-361	142	2	first	ORDINAL
alkej-361	142	3	fourth	ORDINAL
alkej-361	142	4	second	ORDINAL
alkej-361	142	5	third	ORDINAL
alkej-361	143	1	six	CARDINAL
alkej-361	143	2	14	CARDINAL
alkej-361	145	1	11	CARDINAL
alkej-361	145	2	2	CARDINAL
alkej-361	145	3	12	CARDINAL
alkej-361	145	4	2	CARDINAL
alkej-361	145	5	13	CARDINAL
alkej-361	145	6	2	CARDINAL
alkej-361	145	7	14	CARDINAL
alkej-361	146	1	2z	CARDINAL
alkej-361	146	2	\u	PRODUCT
alkej-361	146	3	15	CARDINAL
alkej-361	146	4	2z	CARDINAL
alkej-361	147	1	16	CARDINAL
alkej-361	147	2	2z	CARDINAL
alkej-361	147	3	17	CARDINAL
alkej-361	147	4	\u	PRODUCT
alkej-361	147	5	ju	GPE
alkej-361	147	6	14	CARDINAL
alkej-361	148	1	11	CARDINAL
alkej-361	149	1	18	CARDINAL
alkej-361	149	2	+ 4a^t	TIME
alkej-361	150	1	2	CARDINAL
alkej-361	150	2	+ 6a]t	DATE
alkej-361	150	3	+ 12a^t	DATE
alkej-361	150	4	+ 20a_t	CARDINAL
alkej-361	154	1	22	CARDINAL
alkej-361	154	2	2	CARDINAL
alkej-361	155	1	23	CARDINAL
alkej-361	156	1	14	CARDINAL
alkej-361	156	2	18	DATE
alkej-361	156	3	19	DATE
alkej-361	156	4	20	DATE
alkej-361	157	1	\u	PRODUCT
alkej-361	158	1	9	CARDINAL
alkej-361	159	1	ahmed t. sadiq al-khwarizmi	PERSON
alkej-361	159	2	13	CARDINAL
alkej-361	159	3	3	CARDINAL
alkej-361	159	4	2737	CARDINAL
alkej-361	159	5	2017	CARDINAL
alkej-361	159	6	32	DATE
alkej-361	159	7	zero	CARDINAL
alkej-361	159	8	eight	CARDINAL
alkej-361	160	1	max	PERSON
alkej-361	163	1	3.	CARDINAL
alkej-361	164	1	link1	ORG
alkej-361	164	2	2	CARDINAL
alkej-361	164	3	25 cm	QUANTITY
alkej-361	165	1	1	CARDINAL
alkej-361	165	2	2	DATE
alkej-361	165	3	3	DATE
alkej-361	165	4	4	CARDINAL
alkej-361	166	1	3	CARDINAL
alkej-361	166	2	4	CARDINAL
alkej-361	167	1	3	CARDINAL
alkej-361	167	2	4	CARDINAL
alkej-361	168	1	5	CARDINAL
alkej-361	170	1	4.	CARDINAL
alkej-361	170	2	two	CARDINAL
alkej-361	170	3	two	CARDINAL
alkej-361	171	1	ahmed t. sadiq al-khwarizmi	PERSON
alkej-361	171	2	13	CARDINAL
alkej-361	171	3	3	CARDINAL
alkej-361	171	4	2737	CARDINAL
alkej-361	171	5	2017	CARDINAL
alkej-361	171	6	33	CARDINAL
alkej-361	172	1	5	CARDINAL
alkej-361	172	2	two	CARDINAL
alkej-361	173	1	4	CARDINAL
alkej-361	173	2	5	DATE
alkej-361	173	3	5 cm	QUANTITY
alkej-361	175	1	0	CARDINAL
alkej-361	175	2	8	CARDINAL
alkej-361	175	3	3	CARDINAL
alkej-361	175	4	8	CARDINAL
alkej-361	175	5	1	CARDINAL
alkej-361	175	6	5	CARDINAL
alkej-361	175	7	0.4	CARDINAL
alkej-361	175	8	max	PERSON
alkej-361	175	9	300	CARDINAL
alkej-361	176	1	one	CARDINAL
alkej-361	178	1	40	CARDINAL
alkej-361	178	2	10	DATE
alkej-361	178	3	92.6232	CARDINAL
alkej-361	178	4	78s	DATE
alkej-361	178	5	6	CARDINAL
alkej-361	179	1	7	CARDINAL
alkej-361	179	2	2	CARDINAL
alkej-361	179	3	0	CARDINAL
alkej-361	179	4	sec	ORG
alkej-361	179	5	2z	CARDINAL
alkej-361	180	1	10	CARDINAL
alkej-361	180	2	sec	ORG
alkej-361	180	3	8)	CARDINAL
alkej-361	180	4	link1	ORG
alkej-361	180	5	link2	ORG
alkej-361	181	1	two	CARDINAL
alkej-361	183	1	6	CARDINAL
alkej-361	186	1	two	CARDINAL
alkej-361	187	1	7	CARDINAL
alkej-361	188	1	two	CARDINAL
alkej-361	190	1	8	CARDINAL
alkej-361	190	2	two	CARDINAL
alkej-361	191	1	ahmed t. sadiq al-khwarizmi	PERSON
alkej-361	191	2	13	CARDINAL
alkej-361	191	3	3	CARDINAL
alkej-361	191	4	2737	CARDINAL
alkej-361	191	5	2017	CARDINAL
alkej-361	191	6	34	CARDINAL
alkej-361	191	7	9	CARDINAL
alkej-361	191	8	10	DATE
alkej-361	191	9	11	DATE
alkej-361	191	10	12	CARDINAL
alkej-361	191	11	1	CARDINAL
alkej-361	191	12	first	ORDINAL
alkej-361	191	13	2of	CARDINAL
alkej-361	191	14	second	ORDINAL
alkej-361	191	15	10s	DATE
alkej-361	191	16	1 2	CARDINAL
alkej-361	192	1	two	CARDINAL
alkej-361	193	1	9	CARDINAL
alkej-361	194	1	1 2	CARDINAL
alkej-361	194	2	5	CARDINAL
alkej-361	194	3	two	CARDINAL
alkej-361	195	1	10	CARDINAL
alkej-361	197	1	1 2	CARDINAL
alkej-361	197	2	-4 -3.5 -3 -2.5	PERSON
alkej-361	199	1	two	CARDINAL
alkej-361	201	1	11	CARDINAL
alkej-361	202	1	1	CARDINAL
alkej-361	203	1	1 2	CARDINAL
alkej-361	203	2	0.5	CARDINAL
alkej-361	203	3	3	CARDINAL
alkej-361	203	4	two	CARDINAL
alkej-361	204	1	12	CARDINAL
alkej-361	205	1	2	CARDINAL
alkej-361	207	1	30	CARDINAL
alkej-361	207	2	15	CARDINAL
alkej-361	207	3	45	DATE
alkej-361	207	4	82.8733	CARDINAL
alkej-361	207	5	49s	DATE
alkej-361	207	6	13	CARDINAL
alkej-361	207	7	15	DATE
alkej-361	207	8	14	CARDINAL
alkej-361	210	1	two	CARDINAL
alkej-361	212	1	13	CARDINAL
alkej-361	214	1	two	CARDINAL
alkej-361	216	1	14	CARDINAL
alkej-361	218	1	ahmed t. sadiq al-khwarizmi	PERSON
alkej-361	218	2	13	CARDINAL
alkej-361	218	3	3	CARDINAL
alkej-361	218	4	2737	CARDINAL
alkej-361	218	5	2017	CARDINAL
alkej-361	218	6	two	CARDINAL
alkej-361	220	1	15	CARDINAL
alkej-361	220	2	two	CARDINAL
alkej-361	220	3	1	CARDINAL
alkej-361	220	4	kink2	GPE
alkej-361	221	1	16	CARDINAL
alkej-361	221	2	17	DATE
alkej-361	221	3	18	DATE
alkej-361	221	4	19	CARDINAL
alkej-361	221	5	1	CARDINAL
alkej-361	221	6	first	ORDINAL
alkej-361	221	7	2of	CARDINAL
alkej-361	221	8	second	ORDINAL
alkej-361	221	9	10s	DATE
alkej-361	221	10	1 2	CARDINAL
alkej-361	221	11	5	CARDINAL
alkej-361	221	12	two	CARDINAL
alkej-361	222	1	16	CARDINAL
alkej-361	224	1	1 2	CARDINAL
alkej-361	224	2	two	CARDINAL
alkej-361	225	1	17	CARDINAL
alkej-361	227	1	1 2	CARDINAL
alkej-361	227	2	two	CARDINAL
alkej-361	228	1	2.5	CARDINAL
alkej-361	229	1	18	CARDINAL
alkej-361	230	1	1	CARDINAL
alkej-361	231	1	1 2	CARDINAL
alkej-361	231	2	two	CARDINAL
alkej-361	232	1	19	CARDINAL
alkej-361	233	1	2	CARDINAL
alkej-361	234	1	10	CARDINAL
alkej-361	238	1	8)	CARDINAL
alkej-361	238	2	9	CARDINAL
alkej-361	240	1	ahmed t. sadiq al-khwarizmi	PERSON
alkej-361	240	2	13	CARDINAL
alkej-361	240	3	3	CARDINAL
alkej-361	240	4	2737	CARDINAL
alkej-361	240	5	2017	CARDINAL
alkej-361	240	6	36	CARDINAL
alkej-361	240	7	6	CARDINAL
alkej-361	240	8	two	CARDINAL
alkej-361	242	1	2	CARDINAL
alkej-361	243	1	2	CARDINAL
alkej-361	245	1	64.65 63.5	CARDINAL
alkej-361	245	2	less than 4	CARDINAL
alkej-361	245	3	more than 4	CARDINAL
alkej-361	246	1	11	CARDINAL
alkej-361	247	1	1	CARDINAL
alkej-361	247	2	kelly r.	PERSON
alkej-361	247	3	loria a.	PERSON
alkej-361	247	4	2005	DATE
alkej-361	247	5	heidelberg	GPE
alkej-361	247	6	new york	GPE
alkej-361	247	7	hong kong	GPE
alkej-361	247	8	london	GPE
alkej-361	247	9	milan	GPE
alkej-361	247	10	paris	GPE
alkej-361	247	11	tokyo	GPE
alkej-361	248	1	2	CARDINAL
alkej-361	248	2	islam	ORG
alkej-361	248	3	2014	DATE
alkej-361	248	4	icmiee	GPE
alkej-361	248	5	bangladesh	GPE
alkej-361	249	1	3	CARDINAL
alkej-361	249	2	ahmed t. sadiq	PERSON
alkej-361	250	1	a. h. h.(2013),"swarm	PERSON
alkej-361	250	2	iraq	GPE
alkej-361	251	1	4	CARDINAL
alkej-361	251	2	a. a.	PERSON
alkej-361	251	3	2007),"optimal	CARDINAL
alkej-361	252	1	2.	CARDINAL
alkej-361	253	1	5	CARDINAL
alkej-361	253	2	shahab a.	PERSON
alkej-361	253	3	m. usman rafique	PERSON
alkej-361	253	4	m. umer khan	PERSON
alkej-361	253	5	2015	DATE
alkej-361	254	1	3	CARDINAL
alkej-361	255	1	6	CARDINAL
alkej-361	255	2	chao	PERSON
alkej-361	255	3	liu	PERSON
alkej-361	255	4	2012	DATE
alkej-361	255	5	three	CARDINAL
alkej-361	255	6	no.1	ORG
alkej-361	256	1	1-20	CARDINAL
alkej-361	257	1	7	CARDINAL
alkej-361	257	2	2013	DATE
alkej-361	257	3	64	CARDINAL
alkej-361	258	1	8	CARDINAL
alkej-361	258	2	kim	PERSON
alkej-361	258	3	lee	PERSON
alkej-361	258	4	2015	DATE
alkej-361	259	1	9	CARDINAL
alkej-361	259	2	craig	PERSON
alkej-361	259	3	j. j.	PERSON
alkej-361	259	4	1989	DATE
alkej-361	259	5	addison-wesley	ORG
alkej-361	260	1	10	CARDINAL
alkej-361	260	2	2011	DATE
alkej-361	260	3	no.4	LOC
alkej-361	261	1	11	CARDINAL
alkej-361	261	2	2006	DATE
alkej-361	262	1	12	CARDINAL
alkej-361	262	2	richard m.	PERSON
alkej-361	262	3	zexiang li	PERSON
alkej-361	262	4	s. shankar	PERSON
alkej-361	263	1	13	CARDINAL
alkej-361	263	2	m. o’malley	PERSON
alkej-361	263	3	2011	DATE
alkej-361	263	4	no.4	LOC
alkej-361	264	1	14	CARDINAL
alkej-361	264	2	w. spong	PERSON
alkej-361	264	3	seth hutchi nson	PERSON
alkej-361	264	4	m. vidyasagar	PERSON
alkej-361	264	5	2005	DATE
alkej-361	264	6	control,1st ed	PERSON
alkej-361	264	7	wiley	PERSON
alkej-361	265	1	15	CARDINAL
alkej-361	265	2	carl d. iii crane	PERSON
alkej-361	266	1	joseph duffy	PERSON
alkej-361	266	2	2009	DATE
alkej-361	266	3	cambridge university press	ORG
alkej-361	267	1	16	CARDINAL
alkej-361	267	2	ahmadzadeh s.	PERSON
alkej-361	267	3	ghanavati m.	PERSON
alkej-361	267	4	2012	DATE
alkej-361	268	1	2	CARDINAL
alkej-361	269	1	32	CARDINAL
alkej-361	270	1	17	CARDINAL
alkej-361	270	2	2007	DATE
alkej-361	270	3	computer science & applications	ORG
alkej-361	270	4	4	CARDINAL
alkej-361	270	5	3	CARDINAL
alkej-361	271	1	95	CARDINAL
alkej-361	272	1	18	CARDINAL
alkej-361	272	2	sanjay sarma o v	PERSON
alkej-361	272	3	deepak jayaraj	PERSON
alkej-361	272	4	2012	DATE
alkej-361	272	5	60	CARDINAL
alkej-361	273	1	19	CARDINAL
alkej-361	273	2	xin chen	PERSON
alkej-361	273	3	yangmin li	PERSON
alkej-361	273	4	2006	DATE
alkej-361	274	1	20	CARDINAL
alkej-361	274	2	y. zhao	PERSON
alkej-361	274	3	2009	DATE
alkej-361	274	4	1704-1708	CARDINAL
alkej-361	275	1	21	CARDINAL
alkej-361	275	2	nosrati m.	PERSON
alkej-361	275	3	karimi r.	PERSON
alkej-361	275	4	hasanvand h.	ORG
alkej-361	275	5	2012	DATE
alkej-361	275	6	2	CARDINAL
alkej-361	275	7	no.4.	GPE
alkej-361	275	8	2017	DATE
alkej-361	275	9	27	CARDINAL
alkej-361	275	10	3د	CARDINAL
alkej-361	275	11	الهندسية المجلم احمد	PERSON
alkej-361	275	12	37	CARDINAL
alkej-361	275	13	إعتماداً	PRODUCT
alkej-361	275	14	سرب الطيور المعدلة	PERSON
alkej-361	275	15	نور	DATE
alkej-361	275	16	الجامعة	PERSON
alkej-361	276	1	الجامعة	PERSON
alkej-361	277	1	السيطرة	ORG
alkej-361	277	2	الخالصة	GPE
alkej-361	277	3	بالغ	GPE
alkej-361	278	1	إيجاد المساراالمثلوحظي	ORG
alkej-361	281	1	البحث،الحركة،	ORG
alkej-361	281	2	المسافة	PERSON
alkej-361	281	3	القيود	ORG
alkej-361	281	4	الكينماتيكية للذراع	PERSON
alkej-361	282	1	، المسافة اإلقليدية ومعادلة *dمن	PERSON
alkej-361	282	2	يضم جميع قيم المفاصل بضمانة	PERSON
alkej-361	283	1	الحركة،درجات	GPE
alkej-361	283	2	واقتراحللحصول على المسافة	PERSON
alkej-361	284	1	ومعادلة المسافة اإلقليدية	PERSON
alkej-361	285	1	المتعددة الحدود	PERSON
alkej-361	286	1	خوارزمية وفي	ORG
alkej-361	286	2	بيئات	GPE
alkej-361	287	1	المسار	PERSON
alkej-361	287	2	األمثلتبحث	GPE
alkej-361	287	3	المعدلة السربمحددة	PERSON
alkej-361	288	1	ووفقا للنتائج المستخلصة، فأن خوارزمية	ORG