id	sid	eid	entity	type
alkej-442	1	1	microsoft	ORG
alkej-442	1	2	\335\321\307\323	PERSON
alkej-442	1	3	al-khwarizmi	ORG
alkej-442	1	4	al-khwarizmi engineering journal	ORG
alkej-442	1	5	13	CARDINAL
alkej-442	1	6	4	CARDINAL
alkej-442	1	7	124136	DATE
alkej-442	1	8	2017	CARDINAL
alkej-442	1	9	firas a. raheem* asmaa a. hussain*	PERSON
alkej-442	2	1	60124@uotechnology.edu.iq	CARDINAL
alkej-442	2	2	asmaa.alshawi@yahoo.com	ORG
alkej-442	2	3	25	CARDINAL
alkej-442	2	4	october 2016	DATE
alkej-442	2	5	7	CARDINAL
alkej-442	2	6	march 2017	DATE
alkej-442	4	1	two	CARDINAL
alkej-442	5	1	more than two	CARDINAL
alkej-442	7	1	intel	ORG
alkej-442	9	1	1.	CARDINAL
alkej-442	9	2	the last decades	DATE
alkej-442	10	1	1	CARDINAL
alkej-442	14	1	2	CARDINAL
alkej-442	17	1	first	ORDINAL
alkej-442	17	2	3	CARDINAL
alkej-442	19	1	today	DATE
alkej-442	19	2	47	CARDINAL
alkej-442	20	1	cartesian	NORP
alkej-442	24	1	firas a. raheem al-khwarizmi	PERSON
alkej-442	24	2	13	CARDINAL
alkej-442	24	3	4	CARDINAL
alkej-442	24	4	124136	DATE
alkej-442	24	5	2017	CARDINAL
alkej-442	24	6	125	CARDINAL
alkej-442	25	1	8	CARDINAL
alkej-442	26	1	9	CARDINAL
alkej-442	27	1	one	CARDINAL
alkej-442	28	1	first	ORDINAL
alkej-442	29	1	10	CARDINAL
alkej-442	30	1	11	CARDINAL
alkej-442	31	1	two	CARDINAL
alkej-442	32	1	2	CARDINAL
alkej-442	33	1	two	CARDINAL
alkej-442	33	2	second	ORDINAL
alkej-442	34	1	4	CARDINAL
alkej-442	35	1	1	CARDINAL
alkej-442	35	2	3	CARDINAL
alkej-442	36	1	two	CARDINAL
alkej-442	36	2	12	CARDINAL
alkej-442	37	1	two	CARDINAL
alkej-442	38	1	2	CARDINAL
alkej-442	39	1	12	CARDINAL
alkej-442	41	1	2r	CARDINAL
alkej-442	42	1	1	CARDINAL
alkej-442	43	1	topologically	ORG
alkej-442	43	2	12	CARDINAL
alkej-442	45	1	2.1	CARDINAL
alkej-442	48	1	1	CARDINAL
alkej-442	48	2	first	ORDINAL
alkej-442	48	3	first	ORDINAL
alkej-442	48	4	#� $%& '	MONEY
alkej-442	48	5	$%	PERCENT
alkej-442	49	1	0./	DATE
alkej-442	49	2	#	CARDINAL
alkej-442	49	3	first	ORDINAL
alkej-442	49	4	firas a. raheem al-khwarizmi	PERSON
alkej-442	49	5	13	CARDINAL
alkej-442	49	6	4	CARDINAL
alkej-442	49	7	124136	DATE
alkej-442	49	8	2017	CARDINAL
alkej-442	49	9	126	CARDINAL
alkej-442	49	10	2ᶿ	CARDINAL
alkej-442	49	11	first	ORDINAL
alkej-442	49	12	1ᶿ	CARDINAL
alkej-442	50	1	2	CARDINAL
alkej-442	50	2	first	ORDINAL
alkej-442	52	1	2	CARDINAL
alkej-442	52	2	first	ORDINAL
alkej-442	53	1	first	ORDINAL
alkej-442	54	1	2.	CARDINAL
alkej-442	54	2	second	ORDINAL
alkej-442	54	3	second	ORDINAL
alkej-442	54	4	7	CARDINAL
alkej-442	54	5	8	CARDINAL
alkej-442	55	1	@a	ORG
alkej-442	57	1	l7	GPE
alkej-442	57	2	8	CARDINAL
alkej-442	57	3	7	CARDINAL
alkej-442	58	1	3	CARDINAL
alkej-442	59	1	3	CARDINAL
alkej-442	59	2	second	ORDINAL
alkej-442	60	1	first	ORDINAL
alkej-442	60	2	second	ORDINAL
alkej-442	61	1	2.2	CARDINAL
alkej-442	62	1	two	CARDINAL
alkej-442	63	1	two	CARDINAL
alkej-442	64	1	1	CARDINAL
alkej-442	64	2	first	ORDINAL
alkej-442	65	1	4	CARDINAL
alkej-442	65	2	first	ORDINAL
alkej-442	65	3	first	ORDINAL
alkej-442	65	4	#p�	MONEY
alkej-442	66	1	#	CARDINAL
alkej-442	66	2	1	CARDINAL
alkej-442	66	3	2	CARDINAL
alkej-442	67	1	first	ORDINAL
alkej-442	67	2	12 s'	CARDINAL
alkej-442	67	3	first	ORDINAL
alkej-442	67	4	s'=v	LANGUAGE
alkej-442	67	5	2	CARDINAL
alkej-442	68	1	first	ORDINAL
alkej-442	69	1	1	CARDINAL
alkej-442	69	2	second	ORDINAL
alkej-442	69	3	second	ORDINAL
alkej-442	70	1	5	CARDINAL
alkej-442	70	2	6	DATE
alkej-442	70	3	7	DATE
alkej-442	70	4	8	DATE
alkej-442	70	5	9	CARDINAL
alkej-442	70	6	second	ORDINAL
alkej-442	71	1	firas a. raheem al-khwarizmi	PERSON
alkej-442	71	2	13	CARDINAL
alkej-442	71	3	4	CARDINAL
alkej-442	71	4	124136	DATE
alkej-442	71	5	2017	CARDINAL
alkej-442	71	6	127	CARDINAL
alkej-442	72	1	5	CARDINAL
alkej-442	72	2	second	ORDINAL
alkej-442	74	1	5	CARDINAL
alkej-442	74	2	second	ORDINAL
alkej-442	75	1	two	CARDINAL
alkej-442	75	2	first	ORDINAL
alkej-442	75	3	second	ORDINAL
alkej-442	75	4	x\.x	PERSON
alkej-442	75	5	xz[.x> yz[.y	WORK_OF_ART
alkej-442	75	6	14	CARDINAL
alkej-442	75	7	13	CARDINAL
alkej-442	75	8	14	DATE
alkej-442	75	9	13	CARDINAL
alkej-442	75	10	first	ORDINAL
alkej-442	75	11	14	CARDINAL
alkej-442	76	1	2.3	CARDINAL
alkej-442	77	1	two	CARDINAL
alkej-442	77	2	polygon	ORG
alkej-442	78	1	three	CARDINAL
alkej-442	78	2	four	CARDINAL
alkej-442	78	3	13	CARDINAL
alkej-442	80	1	2.4	CARDINAL
alkej-442	81	1	first	ORDINAL
alkej-442	81	2	second	ORDINAL
alkej-442	81	3	first	ORDINAL
alkej-442	82	1	15	CARDINAL
alkej-442	82	2	second	ORDINAL
alkej-442	85	1	16	CARDINAL
alkej-442	87	1	∗ cos�#	ORG
alkej-442	90	1	0.1	CARDINAL
alkej-442	90	2	0.2	DATE
alkej-442	91	1	0.1	CARDINAL
alkej-442	91	2	0.1	CARDINAL
alkej-442	92	1	1	CARDINAL
alkej-442	92	2	2	DATE
alkej-442	93	1	22	CARDINAL
alkej-442	95	1	cy	ORG
alkej-442	95	2	cx	ORG
alkej-442	96	1	6	CARDINAL
alkej-442	97	1	3	CARDINAL
alkej-442	100	1	h(n	PERSON
alkej-442	101	1	9	CARDINAL
alkej-442	104	1	23	CARDINAL
alkej-442	104	2	firas a. raheem	PERSON
alkej-442	105	1	al-khwarizmi	PERSON
alkej-442	105	2	13	CARDINAL
alkej-442	105	3	4	CARDINAL
alkej-442	105	4	124136	DATE
alkej-442	105	5	2017	CARDINAL
alkej-442	105	6	128	CARDINAL
alkej-442	106	1	two	CARDINAL
alkej-442	106	2	o_list	ORG
alkej-442	106	3	c_list	NORP
alkej-442	108	1	c_list	NORP
alkej-442	108	2	o_list	NORP
alkej-442	114	1	o_list	NORP
alkej-442	116	1	o_list	GPE
alkej-442	117	1	fig	PERSON
alkej-442	118	1	7	CARDINAL
alkej-442	119	1	4	CARDINAL
alkej-442	119	2	section 4.1	LAW
alkej-442	119	3	4.2	CARDINAL
alkej-442	120	1	4.1	CARDINAL
alkej-442	121	1	first	ORDINAL
alkej-442	122	1	9	CARDINAL
alkej-442	122	2	second	ORDINAL
alkej-442	123	1	8	CARDINAL
alkej-442	124	1	10	CARDINAL
alkej-442	125	1	2	CARDINAL
alkej-442	125	2	1ө	CARDINAL
alkej-442	126	1	8	CARDINAL
alkej-442	126	2	second	ORDINAL
alkej-442	126	3	cartesian	GPE
alkej-442	128	1	firas a. raheem al-khwarizmi	PERSON
alkej-442	128	2	13	CARDINAL
alkej-442	128	3	4	CARDINAL
alkej-442	128	4	124136	DATE
alkej-442	128	5	2017	CARDINAL
alkej-442	128	6	129	CARDINAL
alkej-442	129	1	2	CARDINAL
alkej-442	129	2	1ө	CARDINAL
alkej-442	130	1	9	CARDINAL
alkej-442	130	2	first	ORDINAL
alkej-442	132	1	2	CARDINAL
alkej-442	132	2	1ө	CARDINAL
alkej-442	133	1	10	CARDINAL
alkej-442	134	1	second	ORDINAL
alkej-442	136	1	fig.	DATE
alkej-442	137	1	11	CARDINAL
alkej-442	138	1	2	CARDINAL
alkej-442	138	2	1ө	CARDINAL
alkej-442	139	1	11	CARDINAL
alkej-442	140	1	second	ORDINAL
alkej-442	142	1	firas a. raheem al-khwarizmi	PERSON
alkej-442	142	2	13	CARDINAL
alkej-442	142	3	4	CARDINAL
alkej-442	142	4	124136	DATE
alkej-442	142	5	2017	CARDINAL
alkej-442	142	6	130	CARDINAL
alkej-442	142	7	section 2.2 and	LAW
alkej-442	142	8	2.3	CARDINAL
alkej-442	145	1	12	CARDINAL
alkej-442	146	1	2	CARDINAL
alkej-442	146	2	1ө	CARDINAL
alkej-442	147	1	12	CARDINAL
alkej-442	150	1	2	CARDINAL
alkej-442	150	2	1ө	CARDINAL
alkej-442	151	1	13	CARDINAL
alkej-442	152	1	cartesian	GPE
alkej-442	155	1	14	CARDINAL
alkej-442	156	1	cartesian	GPE
alkej-442	158	1	firas a. raheem al-khwarizmi	PERSON
alkej-442	158	2	13	CARDINAL
alkej-442	158	3	4	CARDINAL
alkej-442	158	4	124136	DATE
alkej-442	158	5	2017	CARDINAL
alkej-442	158	6	131	CARDINAL
alkej-442	159	1	2	CARDINAL
alkej-442	159	2	1ө	CARDINAL
alkej-442	160	1	15	CARDINAL
alkej-442	161	1	cartesian	GPE
alkej-442	163	1	12-15	CARDINAL
alkej-442	164	1	cartesian	NORP
alkej-442	164	2	first	ORDINAL
alkej-442	167	1	fig	ORG
alkej-442	168	1	16	CARDINAL
alkej-442	168	2	two	CARDINAL
alkej-442	169	1	first	ORDINAL
alkej-442	169	2	first	ORDINAL
alkej-442	169	3	#	CARDINAL
alkej-442	170	1	second	ORDINAL
alkej-442	170	2	second	ORDINAL
alkej-442	171	1	2	CARDINAL
alkej-442	171	2	1ө	CARDINAL
alkej-442	172	1	16	CARDINAL
alkej-442	173	1	cartesian	GPE
alkej-442	176	1	cartesian wspace	ORG
alkej-442	177	1	1	CARDINAL
alkej-442	177	2	two	CARDINAL
alkej-442	177	3	cartesian	GPE
alkej-442	179	1	kp(deg	PERSON
alkej-442	180	1	0.5808 0.2111	MONEY
alkej-442	180	2	first	ORDINAL
alkej-442	180	3	0.5	CARDINAL
alkej-442	180	4	0.5	CARDINAL
alkej-442	180	5	0.3	CARDINAL
alkej-442	181	1	17	CARDINAL
alkej-442	182	1	two	CARDINAL
alkej-442	182	2	second	ORDINAL
alkej-442	183	1	firas a. raheem al-khwarizmi	PERSON
alkej-442	183	2	13	CARDINAL
alkej-442	183	3	4	CARDINAL
alkej-442	183	4	124136	DATE
alkej-442	183	5	2017	CARDINAL
alkej-442	183	6	132	CARDINAL
alkej-442	184	1	17	CARDINAL
alkej-442	187	1	4.2	CARDINAL
alkej-442	187	2	two	CARDINAL
alkej-442	188	1	first	ORDINAL
alkej-442	189	1	second	ORDINAL
alkej-442	190	1	first	ORDINAL
alkej-442	190	2	second	ORDINAL
alkej-442	191	1	fig	ORG
alkej-442	192	1	18	CARDINAL
alkej-442	193	1	cartesian w	PERSON
alkej-442	193	2	first	ORDINAL
alkej-442	195	1	19	CARDINAL
alkej-442	195	2	first	ORDINAL
alkej-442	196	1	2	CARDINAL
alkej-442	196	2	1ө	CARDINAL
alkej-442	197	1	20	CARDINAL
alkej-442	198	1	first	ORDINAL
alkej-442	200	1	21	CARDINAL
alkej-442	201	1	first	ORDINAL
alkej-442	202	1	firas a. raheem al-khwarizmi	PERSON
alkej-442	202	2	13	CARDINAL
alkej-442	202	3	4	CARDINAL
alkej-442	202	4	124136	DATE
alkej-442	202	5	2017	CARDINAL
alkej-442	202	6	133	CARDINAL
alkej-442	203	1	22	CARDINAL
alkej-442	203	2	two	CARDINAL
alkej-442	203	3	first	ORDINAL
alkej-442	205	1	23	CARDINAL
alkej-442	206	1	cartesian w	PERSON
alkej-442	206	2	second	ORDINAL
alkej-442	208	1	2	CARDINAL
alkej-442	208	2	1ө	CARDINAL
alkej-442	209	1	24	CARDINAL
alkej-442	210	1	second	ORDINAL
alkej-442	211	1	2	CARDINAL
alkej-442	211	2	1ө	CARDINAL
alkej-442	212	1	25	CARDINAL
alkej-442	213	1	second	ORDINAL
alkej-442	215	1	26	CARDINAL
alkej-442	216	1	second	ORDINAL
alkej-442	218	1	27	CARDINAL
alkej-442	218	2	two	CARDINAL
alkej-442	218	3	second	ORDINAL
alkej-442	219	1	firas a. raheem al-khwarizmi	PERSON
alkej-442	219	2	13	CARDINAL
alkej-442	219	3	4	CARDINAL
alkej-442	219	4	124136	DATE
alkej-442	219	5	2017	CARDINAL
alkej-442	219	6	134	CARDINAL
alkej-442	222	1	cartesian	NORP
alkej-442	222	2	two	CARDINAL
alkej-442	223	1	fig.27	CARDINAL
alkej-442	226	1	28	CARDINAL
alkej-442	227	1	29	CARDINAL
alkej-442	227	2	2	CARDINAL
alkej-442	228	1	28	CARDINAL
alkej-442	229	1	first	ORDINAL
alkej-442	229	2	second	ORDINAL
alkej-442	229	3	first	ORDINAL
alkej-442	230	1	#	CARDINAL
alkej-442	230	2	1	CARDINAL
alkej-442	230	3	1	CARDINAL
alkej-442	230	4	2	CARDINAL
alkej-442	231	1	2	CARDINAL
alkej-442	232	1	29	CARDINAL
alkej-442	233	1	first	ORDINAL
alkej-442	233	2	second	ORDINAL
alkej-442	233	3	first	ORDINAL
alkej-442	234	1	2	CARDINAL
alkej-442	235	1	30	CARDINAL
alkej-442	236	1	first	ORDINAL
alkej-442	236	2	second	ORDINAL
alkej-442	236	3	second	ORDINAL
alkej-442	237	1	2	CARDINAL
alkej-442	239	1	first	ORDINAL
alkej-442	239	2	second	ORDINAL
alkej-442	239	3	second	ORDINAL
alkej-442	240	1	30	CARDINAL
alkej-442	241	1	first	ORDINAL
alkej-442	242	1	second	ORDINAL
alkej-442	242	2	first	ORDINAL
alkej-442	243	1	firas a. raheem al-khwarizmi	PERSON
alkej-442	243	2	13	CARDINAL
alkej-442	243	3	4	CARDINAL
alkej-442	243	4	124136	DATE
alkej-442	243	5	2017	CARDINAL
alkej-442	243	6	135 5	CARDINAL
alkej-442	244	1	2r	CARDINAL
alkej-442	245	1	first	ORDINAL
alkej-442	245	2	second	ORDINAL
alkej-442	250	1	intel	ORG
alkej-442	253	1	6	CARDINAL
alkej-442	253	2	1	CARDINAL
alkej-442	253	3	jia pan	PERSON
alkej-442	253	4	dinesh mancha	PERSON
alkej-442	253	5	engineering sciences press	ORG
alkej-442	253	6	2015	DATE
alkej-442	254	1	2	CARDINAL
alkej-442	254	2	benjamin wah	PERSON
alkej-442	254	3	wiley	ORG
alkej-442	254	4	2008	DATE
alkej-442	255	1	3	CARDINAL
alkej-442	255	2	t. lozanopérez	GPE
alkej-442	255	3	washington	GPE
alkej-442	255	4	dc	GPE
alkej-442	255	5	1983	DATE
alkej-442	256	1	4	CARDINAL
alkej-442	256	2	kasper althoefer	PERSON
alkej-442	256	3	king's college london	ORG
alkej-442	256	4	university of london, 1996	ORG
alkej-442	257	1	5	CARDINAL
alkej-442	257	2	wyatt s. newman	PERSON
alkej-442	257	3	michael s. branicky	PERSON
alkej-442	257	4	the international journal of robotics	ORG
alkej-442	257	5	1991	DATE
alkej-442	258	1	6	CARDINAL
alkej-442	258	2	serdar küçük	PERSON
alkej-442	258	3	janeza trdine	PERSON
alkej-442	258	4	9	CARDINAL
alkej-442	258	5	51000	CARDINAL
alkej-442	258	6	croatia	GPE
alkej-442	258	7	2012	DATE
alkej-442	259	1	7	CARDINAL
alkej-442	259	2	[yan yan	PERSON
alkej-442	259	3	baltimore	GPE
alkej-442	259	4	maryland	GPE
alkej-442	259	5	2014	DATE
alkej-442	260	1	8	CARDINAL
alkej-442	260	2	s. m. masudur	PERSON
alkej-442	260	3	rahman al-arif	PERSON
alkej-442	260	4	a. h. m. iftekharul ferdous	PERSON
alkej-442	260	5	hassan nijami	PERSON
alkej-442	260	6	0975	DATE
alkej-442	260	7	8887	DATE
alkej-442	260	8	39	CARDINAL
alkej-442	260	9	no.5	ORG
alkej-442	260	10	february 2012	DATE
alkej-442	261	1	9	CARDINAL
alkej-442	261	2	hyun kim	PERSON
alkej-442	261	3	texas a&m university	ORG
alkej-442	261	4	may 2008	DATE
alkej-442	262	1	10	CARDINAL
alkej-442	262	2	suraya binti	PERSON
alkej-442	262	3	abu bakar	PERSON
alkej-442	262	4	university of malaya	ORG
alkej-442	262	5	kuala lumpur	GPE
alkej-442	262	6	october 2010	DATE
alkej-442	263	1	11	CARDINAL
alkej-442	263	2	steven bell	PERSON
alkej-442	263	3	90691022	DATE
alkej-442	263	4	oklahoma christian university	ORG
alkej-442	263	5	19 march 2010	DATE
alkej-442	264	1	12	CARDINAL
alkej-442	264	2	f. c. park	PERSON
alkej-442	264	3	k. m. lynch	PERSON
alkej-442	264	4	2015	DATE
alkej-442	265	1	13	CARDINAL
alkej-442	265	2	ethan d. bloch	PERSON
alkej-442	265	3	2015	DATE
alkej-442	265	4	2017	CARDINAL
alkej-442	265	5	124	CARDINAL
alkej-442	265	6	4د	CARDINAL
alkej-442	265	7	الهندسية المجلم	PERSON
alkej-442	266	1	136	CARDINAL
alkej-442	267	1	اللطيف حسين	PERSON
alkej-442	267	2	هندسة السيطرة	ORG
alkej-442	267	3	االلكتروني	PERSON
alkej-442	267	4	الخالصة وسهولة	FAC
alkej-442	268	1	امانc	LANGUAGE
alkej-442	271	1	بنية	PERSON
alkej-442	271	2	الذراع، والتي	PERSON
alkej-442	271	3	احتماالت	PERSON
alkej-442	272	1	أجزاء الروبوت والعوائق المحيطة به	PERSON
alkej-442	273	1	بنية وخارطة	ORG
alkej-442	274	1	إليجاد	NORP
alkej-442	274	2	المخمن،	GPE
alkej-442	275	1	نتائج خارطة	PERSON
alkej-442	276	1	ية	CARDINAL
alkej-442	276	2	الحصول	GPE
alkej-442	276	3	الخارطة الكلية	ORG
alkej-442	276	4	intel	ORG
alkej-442	276	5	3120	CARDINAL
alkej-442	276	6	برنامجاستم الحصول	PERSON