id	sid	eid	entity	type
alkej-551	1	1	microsoft	ORG
alkej-551	1	2	108	CARDINAL
alkej-551	1	3	al-khwarizmi	PERSON
alkej-551	1	4	al-khwarizmi engineering journal	ORG
alkej-551	1	5	15	CARDINAL
alkej-551	1	6	2, june	DATE
alkej-551	1	7	2019	DATE
alkej-551	1	8	108123	DATE
alkej-551	1	9	two	CARDINAL
alkej-551	1	10	firas a. raheem	PERSON
alkej-551	2	1	i. hameed** *	PERSON
alkej-551	2	2	60124@uotechnology.edu.iq	CARDINAL
alkej-551	2	3	61126@uotechnology.edu.iq	CARDINAL
alkej-551	2	4	29	CARDINAL
alkej-551	2	5	november 2018	DATE
alkej-551	2	6	14 january 2019	DATE
alkej-551	13	1	two	CARDINAL
alkej-551	15	1	two	CARDINAL
alkej-551	16	1	1	CARDINAL
alkej-551	17	1	one	CARDINAL
alkej-551	18	1	first	ORDINAL
alkej-551	20	1	1	CARDINAL
alkej-551	23	1	sea firas a. raheem al-khwarizmi	PERSON
alkej-551	24	1	15	CARDINAL
alkej-551	24	2	2	CARDINAL
alkej-551	24	3	108123	DATE
alkej-551	24	4	2019	CARDINAL
alkej-551	24	5	109	CARDINAL
alkej-551	28	1	2	CARDINAL
alkej-551	29	1	three	CARDINAL
alkej-551	31	1	second	ORDINAL
alkej-551	35	1	3	CARDINAL
alkej-551	37	1	2	CARDINAL
alkej-551	38	1	anthony stentz	PERSON
alkej-551	38	2	4	CARDINAL
alkej-551	39	1	enric cervera	PERSON
alkej-551	40	1	5	CARDINAL
alkej-551	46	1	6	CARDINAL
alkej-551	51	1	7	CARDINAL
alkej-551	52	1	cartesian	NORP
alkej-551	54	1	one	CARDINAL
alkej-551	57	1	al-khwarizmi	PERSON
alkej-551	57	2	15	CARDINAL
alkej-551	57	3	2	CARDINAL
alkej-551	57	4	108123	DATE
alkej-551	57	5	2019	CARDINAL
alkej-551	57	6	110	CARDINAL
alkej-551	57	7	8	CARDINAL
alkej-551	59	1	9	CARDINAL
alkej-551	61	1	•	CARDINAL
alkej-551	62	1	•	CARDINAL
alkej-551	62	2	two	CARDINAL
alkej-551	64	1	3.	CARDINAL
alkej-551	64	2	two	CARDINAL
alkej-551	65	1	two	CARDINAL
alkej-551	65	2	first	ORDINAL
alkej-551	65	3	10	CARDINAL
alkej-551	66	1	second	ORDINAL
alkej-551	66	2	many decades	DATE
alkej-551	69	1	cartesian	NORP
alkej-551	70	1	cartesian	NORP
alkej-551	72	1	cartesian	NORP
alkej-551	72	2	11	CARDINAL
alkej-551	73	1	1	CARDINAL
alkej-551	73	2	2	CARDINAL
alkej-551	75	1	fig	ORG
alkej-551	76	1	1	CARDINAL
alkej-551	76	2	two degrees	QUANTITY
alkej-551	77	1	2	CARDINAL
alkej-551	77	2	2	CARDINAL
alkej-551	77	3	cartesian	NORP
alkej-551	78	1	2	CARDINAL
alkej-551	80	1	3	CARDINAL
alkej-551	80	2	4	CARDINAL
alkej-551	81	1	11	CARDINAL
alkej-551	82	1	two	CARDINAL
alkej-551	83	1	5	CARDINAL
alkej-551	84	1	345 6	CARDINAL
alkej-551	84	2	783 6	CARDINAL
alkej-551	84	3	first	ORDINAL
alkej-551	84	4	second	ORDINAL
alkej-551	85	1	4	CARDINAL
alkej-551	85	2	free cartesian	PERSON
alkej-551	86	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	86	2	15	CARDINAL
alkej-551	86	3	2	CARDINAL
alkej-551	86	4	108123	DATE
alkej-551	86	5	2019	CARDINAL
alkej-551	86	6	fcs	GPE
alkej-551	89	1	two	CARDINAL
alkej-551	89	2	1	CARDINAL
alkej-551	90	1	1	CARDINAL
alkej-551	90	2	two	CARDINAL
alkej-551	91	1	1	CARDINAL
alkej-551	91	2	2 -90	QUANTITY
alkej-551	91	3	fcs	GPE
alkej-551	93	1	four	CARDINAL
alkej-551	94	1	first	ORDINAL
alkej-551	94	2	second	ORDINAL
alkej-551	94	3	third	ORDINAL
alkej-551	94	4	2	CARDINAL
alkej-551	95	1	one	CARDINAL
alkej-551	95	2	two	CARDINAL
alkej-551	95	3	12	CARDINAL
alkej-551	97	1	2	CARDINAL
alkej-551	97	2	two	CARDINAL
alkej-551	98	1	three	CARDINAL
alkej-551	98	2	first	ORDINAL
alkej-551	98	3	one	CARDINAL
alkej-551	98	4	second	ORDINAL
alkej-551	98	5	third	ORDINAL
alkej-551	99	1	12	CARDINAL
alkej-551	100	1	5	CARDINAL
alkej-551	110	1	13	CARDINAL
alkej-551	111	1	6	CARDINAL
alkej-551	112	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	112	2	15	CARDINAL
alkej-551	112	3	2	CARDINAL
alkej-551	112	4	108123	DATE
alkej-551	112	5	2019	CARDINAL
alkej-551	112	6	112	CARDINAL
alkej-551	114	1	14-15	CARDINAL
alkej-551	115	1	9	CARDINAL
alkej-551	118	1	4	CARDINAL
alkej-551	118	2	0	CARDINAL
alkej-551	118	3	1	CARDINAL
alkej-551	118	4	16	CARDINAL
alkej-551	120	1	0.1 ≤ m ≤ 1.0	QUANTITY
alkej-551	121	1	16	CARDINAL
alkej-551	122	1	three	CARDINAL
alkej-551	122	2	1	CARDINAL
alkej-551	123	1	2	CARDINAL
alkej-551	124	1	3	CARDINAL
alkej-551	125	1	7	CARDINAL
alkej-551	128	1	firstly	ORDINAL
alkej-551	128	2	8	CARDINAL
alkej-551	132	1	10	CARDINAL
alkej-551	132	2	11	CARDINAL
alkej-551	132	3	0.01	CARDINAL
alkej-551	132	4	sec	ORG
alkej-551	134	1	3	CARDINAL
alkej-551	135	1	first	ORDINAL
alkej-551	135	2	1	CARDINAL
alkej-551	140	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	140	2	15	CARDINAL
alkej-551	140	3	2	CARDINAL
alkej-551	140	4	108123	DATE
alkej-551	140	5	2019	CARDINAL
alkej-551	140	6	113	CARDINAL
alkej-551	143	1	4	CARDINAL
alkej-551	145	1	12	CARDINAL
alkej-551	147	1	3	CARDINAL
alkej-551	149	1	4	CARDINAL
alkej-551	151	1	8	CARDINAL
alkej-551	151	2	first	ORDINAL
alkej-551	151	3	two	CARDINAL
alkej-551	152	1	first	ORDINAL
alkej-551	152	2	second	ORDINAL
alkej-551	152	3	the half	CARDINAL
alkej-551	152	4	360 degrees	QUANTITY
alkej-551	153	1	5	CARDINAL
alkej-551	153	2	four	CARDINAL
alkej-551	153	3	two	CARDINAL
alkej-551	153	4	6	CARDINAL
alkej-551	153	5	6.a	CARDINAL
alkej-551	153	6	6.b	CARDINAL
alkej-551	153	7	6.c	CARDINAL
alkej-551	154	1	fcs	GPE
alkej-551	156	1	fcs	GPE
alkej-551	156	2	2	CARDINAL
alkej-551	156	3	two	CARDINAL
alkej-551	157	1	7	CARDINAL
alkej-551	158	1	3.2846 cm	QUANTITY
alkej-551	158	2	2	CARDINAL
alkej-551	159	1	9	CARDINAL
alkej-551	160	1	10	CARDINAL
alkej-551	160	2	11	CARDINAL
alkej-551	161	1	fig	ORG
alkej-551	162	1	5	CARDINAL
alkej-551	163	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	163	2	15	CARDINAL
alkej-551	163	3	2	CARDINAL
alkej-551	163	4	108123	DATE
alkej-551	163	5	2019	CARDINAL
alkej-551	163	6	114	CARDINAL
alkej-551	164	1	6	CARDINAL
alkej-551	164	2	fcs	GPE
alkej-551	165	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	165	2	15	CARDINAL
alkej-551	165	3	2	CARDINAL
alkej-551	165	4	108123	DATE
alkej-551	165	5	2019	CARDINAL
alkej-551	165	6	115	CARDINAL
alkej-551	166	1	7	CARDINAL
alkej-551	166	2	two	CARDINAL
alkej-551	168	1	8	CARDINAL
alkej-551	170	1	50	CARDINAL
alkej-551	170	2	59.5	CARDINAL
alkej-551	170	3	o	DATE
alkej-551	170	4	firas a. raheem al-khwarizmi	PERSON
alkej-551	170	5	15	CARDINAL
alkej-551	170	6	2	CARDINAL
alkej-551	170	7	108123	DATE
alkej-551	170	8	2019	CARDINAL
alkej-551	170	9	116	CARDINAL
alkej-551	171	1	two	CARDINAL
alkej-551	173	1	10	CARDINAL
alkej-551	174	1	first	ORDINAL
alkej-551	174	2	second	ORDINAL
alkej-551	174	3	two	CARDINAL
alkej-551	175	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	175	2	15	CARDINAL
alkej-551	175	3	2	CARDINAL
alkej-551	175	4	108123	DATE
alkej-551	175	5	2019	CARDINAL
alkej-551	175	6	117	CARDINAL
alkej-551	176	1	11	CARDINAL
alkej-551	177	1	first	ORDINAL
alkej-551	177	2	second	ORDINAL
alkej-551	177	3	two	CARDINAL
alkej-551	178	1	8.2	CARDINAL
alkej-551	178	2	second	ORDINAL
alkej-551	178	3	second	ORDINAL
alkej-551	178	4	six	CARDINAL
alkej-551	178	5	first	ORDINAL
alkej-551	179	1	5	CARDINAL
alkej-551	180	1	12	CARDINAL
alkej-551	180	2	12.a	CARDINAL
alkej-551	180	3	12.b	CARDINAL
alkej-551	180	4	12.c	CARDINAL
alkej-551	180	5	fcs	GPE
alkej-551	182	1	fcs	GPE
alkej-551	182	2	2	CARDINAL
alkej-551	182	3	two	CARDINAL
alkej-551	183	1	13	CARDINAL
alkej-551	184	1	14	CARDINAL
alkej-551	184	2	2.4413 cm	QUANTITY
alkej-551	184	3	2	CARDINAL
alkej-551	185	1	15	CARDINAL
alkej-551	186	1	16	CARDINAL
alkej-551	186	2	17	CARDINAL
alkej-551	187	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	187	2	15	CARDINAL
alkej-551	187	3	2	CARDINAL
alkej-551	187	4	108123	DATE
alkej-551	187	5	2019	CARDINAL
alkej-551	187	6	118	CARDINAL
alkej-551	188	1	12	CARDINAL
alkej-551	189	1	fcs	GPE
alkej-551	190	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	190	2	15	CARDINAL
alkej-551	190	3	2	CARDINAL
alkej-551	190	4	108123	DATE
alkej-551	190	5	2019	CARDINAL
alkej-551	190	6	119	CARDINAL
alkej-551	191	1	13	CARDINAL
alkej-551	192	1	two	CARDINAL
alkej-551	192	2	second	ORDINAL
alkej-551	193	1	14	CARDINAL
alkej-551	194	1	second	ORDINAL
alkej-551	196	1	64.1 64.15	CARDINAL
alkej-551	196	2	64.25	CARDINAL
alkej-551	196	3	64.3 64.35	CARDINAL
alkej-551	196	4	o	DATE
alkej-551	196	5	firas a. raheem al-khwarizmi	PERSON
alkej-551	196	6	15	CARDINAL
alkej-551	196	7	2	CARDINAL
alkej-551	196	8	108123	DATE
alkej-551	196	9	2019	CARDINAL
alkej-551	196	10	120	CARDINAL
alkej-551	197	1	15	CARDINAL
alkej-551	198	1	two	CARDINAL
alkej-551	198	2	second	ORDINAL
alkej-551	199	1	fig	ORG
alkej-551	200	1	16	CARDINAL
alkej-551	201	1	first	ORDINAL
alkej-551	201	2	second	ORDINAL
alkej-551	201	3	two	CARDINAL
alkej-551	201	4	second	ORDINAL
alkej-551	202	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	202	2	15	CARDINAL
alkej-551	202	3	2	CARDINAL
alkej-551	202	4	108123	DATE
alkej-551	202	5	2019	CARDINAL
alkej-551	202	6	121	CARDINAL
alkej-551	203	1	17	CARDINAL
alkej-551	204	1	first	ORDINAL
alkej-551	204	2	second	ORDINAL
alkej-551	204	3	two	CARDINAL
alkej-551	204	4	second	ORDINAL
alkej-551	205	1	first	ORDINAL
alkej-551	205	2	first	ORDINAL
alkej-551	205	3	second	ORDINAL
alkej-551	206	1	2	CARDINAL
alkej-551	208	1	2	CARDINAL
alkej-551	208	2	17	CARDINAL
alkej-551	210	1	2	CARDINAL
alkej-551	211	1	1 2	CARDINAL
alkej-551	211	2	4 6	CARDINAL
alkej-551	211	3	62.1421 cm 66.5685 cm	QUANTITY
alkej-551	211	4	58.8575 cm 64.1272 cm	QUANTITY
alkej-551	212	1	two	CARDINAL
alkej-551	216	1	10	CARDINAL
alkej-551	216	2	1	CARDINAL
alkej-551	216	3	h. miao	PERSON
alkej-551	217	1	tian	PERSON
alkej-551	217	2	y.m. feng	PERSON
alkej-551	217	3	queensland university of technology	ORG
alkej-551	217	4	2014	DATE
alkej-551	218	1	2	CARDINAL
alkej-551	218	2	f. a. raheem	PERSON
alkej-551	218	3	m. m. bader	PERSON
alkej-551	218	4	american scientific research journal	ORG
alkej-551	218	5	37	DATE
alkej-551	218	6	316	CARDINAL
alkej-551	218	7	2017	DATE
alkej-551	219	1	3	CARDINAL
alkej-551	219	2	kikuo fujimura	PERSON
alkej-551	219	3	springer-verlag tokyo	ORG
alkej-551	219	4	1991	DATE
alkej-551	221	1	4	CARDINAL
alkej-551	221	2	a. stentz	PERSON
alkej-551	222	1	montreal	GPE
alkej-551	222	2	20	CARDINAL
alkej-551	222	3	august 1995	DATE
alkej-551	222	4	1652	CARDINAL
alkej-551	223	1	5	CARDINAL
alkej-551	223	2	enric cervera	PERSON
alkej-551	224	1	spain	GPE
alkej-551	224	2	1997	DATE
alkej-551	225	1	6	CARDINAL
alkej-551	225	2	z. shiller	PERSON
alkej-551	225	3	f. large	PERSON
alkej-551	225	4	s. sekhavat	PERSON
alkej-551	225	5	university of california	ORG
alkej-551	225	6	robotics & automation	ORG
alkej-551	225	7	seoul	GPE
alkej-551	225	8	korea	GPE
alkej-551	226	1	21	CARDINAL
alkej-551	227	1	7	CARDINAL
alkej-551	227	2	r. s. m. asghari	PERSON
alkej-551	227	3	o. a. tabataba	PERSON
alkej-551	227	4	mecs	ORG
alkej-551	227	5	april 2015	DATE
alkej-551	228	1	8	CARDINAL
alkej-551	228	2	hamburg	GPE
alkej-551	228	3	28	CARDINAL
alkej-551	228	4	october 2015	DATE
alkej-551	229	1	firas a. raheem al-khwarizmi	PERSON
alkej-551	229	2	15	CARDINAL
alkej-551	229	3	2	CARDINAL
alkej-551	229	4	108123	DATE
alkej-551	229	5	2019	CARDINAL
alkej-551	229	6	122	CARDINAL
alkej-551	230	1	9	CARDINAL
alkej-551	230	2	a. vemula	PERSON
alkej-551	230	3	carnegie mellon university	ORG
alkej-551	230	4	pittsburgh	GPE
alkej-551	231	1	july	DATE
alkej-551	231	2	2017	CARDINAL
alkej-551	232	1	10	CARDINAL
alkej-551	232	2	w. spong	PERSON
alkej-551	232	3	seth hutchinson	PERSON
alkej-551	232	4	m. vidyasagar	PERSON
alkej-551	232	5	united states of america	ORG
alkej-551	232	6	first	ORDINAL
alkej-551	232	7	wiley, hoboken	ORG
alkej-551	232	8	2006	DATE
alkej-551	233	1	11	CARDINAL
alkej-551	233	2	john j. craig	PERSON
alkej-551	233	3	united states of america	ORG
alkej-551	233	4	pearson prentice hall pearson education, inc.	ORG
alkej-551	233	5	nj	GPE
alkej-551	233	6	2005	DATE
alkej-551	234	1	12	CARDINAL
alkej-551	234	2	a. t. sadiq	PERSON
alkej-551	234	3	f. a. raheem	PERSON
alkej-551	234	4	n. a. f. abbas	PERSON
alkej-551	234	5	2dof	CARDINAL
alkej-551	234	6	first	ORDINAL
alkej-551	236	1	eng	GPE
alkej-551	240	1	13	CARDINAL
alkej-551	240	2	a. t. sadiq	PERSON
alkej-551	240	3	f. a. raheem	PERSON
alkej-551	240	4	n. a. f. abbas	PERSON
alkej-551	240	5	al-khwarizmi engineering journal	ORG
alkej-551	240	6	13	CARDINAL
alkej-551	240	7	3	CARDINAL
alkej-551	240	8	2737	CARDINAL
alkej-551	240	9	2017	DATE
alkej-551	241	1	14	CARDINAL
alkej-551	241	2	p. boonyaritdachochai	PERSON
alkej-551	242	1	2010	DATE
alkej-551	243	1	15	CARDINAL
alkej-551	243	2	r.	NORP
alkej-551	243	3	kennedy	PERSON
alkej-551	243	4	j.	PERSON
alkej-551	243	5	blackwell	ORG
alkej-551	244	1	1	CARDINAL
alkej-551	244	2	33	CARDINAL
alkej-551	245	1	16	CARDINAL
alkej-551	245	2	k. t. chaturvedi	PERSON
alkej-551	246	1	31	DATE
alkej-551	247	1	249257	DATE
alkej-551	247	2	2009	DATE
alkej-551	248	1	17	CARDINAL
alkej-551	248	2	j.j.	PERSON
alkej-551	248	3	wu	PERSON
alkej-551	248	4	w.b.	GPE
alkej-551	248	5	shen	GPE
alkej-551	248	6	j.r.	GPE
alkej-551	248	7	x.n.	PERSON
alkej-551	250	1	2014	DATE
alkej-551	250	2	2019	DATE
alkej-551	250	3	108123،	DATE
alkej-551	250	4	2د	CARDINAL
alkej-551	250	5	العد15دالخوارزمي	NORP
alkej-551	250	6	الهندسية المجلجلة م امنية ابراهيم	ORG
alkej-551	250	7	123 باالعتماد على	QUANTITY
alkej-551	250	8	اتخطيط	FAC
alkej-551	250	9	هندسة السيطرة	ORG
alkej-551	250	10	60124@uotechnology.edu.iq	CARDINAL
alkej-551	250	11	61126@uotechnology.edu.iq	CARDINAL
alkej-551	250	12	الخالصة	GPE
alkej-551	250	13	الرئيسية للروبوتات واذرع	ORG
alkej-551	250	14	عنان ايجاد حل للمسار	ORG
alkej-551	250	15	المسار	PERSON
alkej-551	251	1	البيئات	CARDINAL
alkej-551	251	2	العوائق المتحركة	ORG
alkej-551	251	3	يتطلع اليها العالم اليوم	ORG
alkej-551	253	1	الحادة	FAC
alkej-551	253	2	المش فضالً	PERSON
alkej-551	253	3	عنمشكلة	PERSON
alkej-551	253	4	ويحتاج إلى	PERSON
alkej-551	254	1	تخطيط المسار	PERSON
alkej-551	254	2	التغلب	ORG
alkej-551	254	3	الم	ORG
alkej-551	255	1	على الجزء	PERSON
alkej-551	255	2	تخطيط الحركة	ORG
alkej-551	255	3	الحصول على حل المسار	PERSON
alkej-551	256	1	الميزة الرئيسة	FAC
alkej-551	257	1	المعروفة	PERSON
alkej-551	261	1	اللجوء الى خوارومية ، والتي	PERSON
alkej-551	261	2	الناجمة	GPE
alkej-551	262	1	psoللحصول على	PERSON
alkej-551	262	2	اقصر	GPE
alkej-551	262	3	ومن	ORG
alkej-551	262	4	dحيث	PERSON
alkej-551	262	5	تخطيط المسار	PERSON
alkej-551	262	6	التحسين	ORG
alkej-551	262	7	ية	CARDINAL
alkej-551	262	8	المقترحة	ORG
alkej-551	262	9	حالة اكثر صعوبة	PERSON
alkej-551	263	1	درجات الحرية mobile	ORG
alkej-551	263	2	بوضوح المسار	PRODUCT
alkej-551	265	1	كما ان نتائج المحاكاة	PERSON
alkej-551	266	1	124	CARDINAL