id	sid	eid	entity	type
alkej-616	1	1	١	CARDINAL
alkej-616	1	2	bahaa	PERSON
alkej-616	1	3	kazem samer yahya hadi mechatronics	PERSON
alkej-616	1	4	al-kwarizmi college of engineering	ORG
alkej-616	1	5	baghdad	GPE
alkej-616	1	6	iraq	GPE
alkej-616	1	7	university of technology	ORG
alkej-616	1	8	iraq	GPE
alkej-616	1	9	1٣	CARDINAL
alkej-616	1	10	june 200٦	DATE
alkej-616	1	11	19	CARDINAL
alkej-616	1	12	2006	DATE
alkej-616	2	1	network ann	PERSON
alkej-616	3	1	three	CARDINAL
alkej-616	9	1	1	CARDINAL
alkej-616	10	1	two	CARDINAL
alkej-616	13	1	2	CARDINAL
alkej-616	18	1	3	CARDINAL
alkej-616	19	1	alkhwarizmi engineering journal alkhwarizmi engineering journal	ORG
alkej-616	19	2	3	CARDINAL
alkej-616	19	3	no.1	ORG
alkej-616	19	4	1-11	CARDINAL
alkej-616	19	5	2007	DATE
alkej-616	19	6	bahaa	PERSON
alkej-616	19	7	vol.3	ORG
alkej-616	19	8	no.1	ORG
alkej-616	19	9	1-11	CARDINAL
alkej-616	19	10	2007	DATE
alkej-616	19	11	٢	GPE
alkej-616	20	1	more than six	CARDINAL
alkej-616	22	1	4	CARDINAL
alkej-616	24	1	one	CARDINAL
alkej-616	27	1	5	CARDINAL
alkej-616	29	1	cartesian	NORP
alkej-616	30	1	c. kapoor	PERSON
alkej-616	31	1	6	CARDINAL
alkej-616	35	1	f. m. asi	PERSON
alkej-616	36	1	three	CARDINAL
alkej-616	36	2	four	CARDINAL
alkej-616	40	1	j. somlo	PERSON
alkej-616	40	2	a. sokolov	PERSON
alkej-616	41	1	8	CARDINAL
alkej-616	43	1	1	CARDINAL
alkej-616	43	2	2	CARDINAL
alkej-616	43	3	3	CARDINAL
alkej-616	43	4	4.optimal	CARDINAL
alkej-616	45	1	s. yue	PERSON
alkej-616	45	2	d. henrich	PERSON
alkej-616	46	1	9	CARDINAL
alkej-616	52	1	j. de lope	ORG
alkej-616	52	2	t. zarraonandia	ORG
alkej-616	52	3	d. maravall	ORG
alkej-616	53	1	10	CARDINAL
alkej-616	54	1	bahaa	PERSON
alkej-616	54	2	vol.3	ORG
alkej-616	54	3	no.1	ORG
alkej-616	54	4	1-11	CARDINAL
alkej-616	54	5	2007	DATE
alkej-616	54	6	٣	CARDINAL
alkej-616	56	1	one foot	QUANTITY
alkej-616	59	1	1	CARDINAL
alkej-616	62	1	one	CARDINAL
alkej-616	64	1	9	CARDINAL
alkej-616	64	2	aitiaitiaitiaiaitx	PERSON
alkej-616	64	3	43322101	DATE
alkej-616	65	1	1	CARDINAL
alkej-616	65	2	2	CARDINAL
alkej-616	67	1	3	CARDINAL
alkej-616	67	2	ia	GPE
alkej-616	67	3	443322101	DATE
alkej-616	68	1	4	CARDINAL
alkej-616	68	2	5	CARDINAL
alkej-616	68	3	ia	GPE
alkej-616	69	1	ia	GPE
alkej-616	69	2	ia	GPE
alkej-616	69	3	ia	GPE
alkej-616	69	4	3442332211	DATE
alkej-616	70	1	6	CARDINAL
alkej-616	70	2	22=&&	ORG
alkej-616	72	1	five	CARDINAL
alkej-616	72	2	xa ii	PERSON
alkej-616	73	1	1	CARDINAL
alkej-616	73	2	10	CARDINAL
alkej-616	73	3	ixit ixi xit	PERSON
alkej-616	73	4	3/23 4114	DATE
alkej-616	74	1		PERSON
alkej-616	74	2		ORG
alkej-616	75	1	11	CARDINAL
alkej-616	76	1		PERSON
alkej-616	76	2		ORG
alkej-616	78	1	−+ = &&& &	ORG
alkej-616	78	2	12	CARDINAL
alkej-616	79	1	tia itia	PERSON
alkej-616	79	2	ia ixi	PERSON
alkej-616	79	3	241236221	DATE
alkej-616	79	4	13	CARDINAL
alkej-616	79	5	5544 322101	DATE
alkej-616	81	1	14	CARDINAL
alkej-616	82	1	15	CARDINAL
alkej-616	82	2	5544 3322101	DATE
alkej-616	83	1	16	CARDINAL
alkej-616	83	2	bixi 0=&	ORG
alkej-616	83	3	17	CARDINAL
alkej-616	83	4	455344 2332211	DATE
alkej-616	84	1	18	CARDINAL
alkej-616	84	2	22=&&	ORG
alkej-616	84	3	19	CARDINAL
alkej-616	84	4	bahaa	PERSON
alkej-616	84	5	vol.3	ORG
alkej-616	84	6	no.1	ORG
alkej-616	84	7	1-11	CARDINAL
alkej-616	84	8	2007	DATE
alkej-616	85	1	٤	GPE
alkej-616	85	2	35202412 36221	DATE
alkej-616	86	1	20	CARDINAL
alkej-616	86	2	six	CARDINAL
alkej-616	86	3	six	CARDINAL
alkej-616	87	1	21	CARDINAL
alkej-616	87	2	1	CARDINAL
alkej-616	87	3	22	CARDINAL
alkej-616	87	4	2/2	CARDINAL
alkej-616	87	5	xibi &&	ORG
alkej-616	87	6	23	CARDINAL
alkej-616	89	1	xixi	ORG
alkej-616	89	2	32/	CARDINAL
alkej-616	90	1		PERSON
alkej-616	90	2		ORG
alkej-616	91	1		PERSON
alkej-616	91	2		ORG
alkej-616	92	1	 && && & &	ORG
alkej-616	92	2	24	CARDINAL
alkej-616	97	1	42/ 2 12	DATE
alkej-616	98	1		PERSON
alkej-616	98	2		ORG
alkej-616	102	1	− = && && & &	ORG
alkej-616	102	2	25	CARDINAL
alkej-616	105	1	xixi	ORG
alkej-616	107	1		PERSON
alkej-616	107	2		ORG
alkej-616	108	1		PERSON
alkej-616	108	2		ORG
alkej-616	108	3	− −+ = && && & &	ORG
alkej-616	108	4	26	CARDINAL
alkej-616	108	5	two	CARDINAL
alkej-616	108	6	11	CARDINAL
alkej-616	108	7	1	CARDINAL
alkej-616	108	8	cartesian	NORP
alkej-616	109	1	2	CARDINAL
alkej-616	110	1	three degrees	QUANTITY
alkej-616	111	1	three	CARDINAL
alkej-616	112	1	first	ORDINAL
alkej-616	113	1	second	ORDINAL
alkej-616	114	1	two	CARDINAL
alkej-616	114	2	three	CARDINAL
alkej-616	115	1	nineteen	CARDINAL
alkej-616	115	2	two	CARDINAL
alkej-616	115	3	ten	CARDINAL
alkej-616	115	4	first	ORDINAL
alkej-616	115	5	twenty five	CARDINAL
alkej-616	115	6	second	ORDINAL
alkej-616	115	7	three	CARDINAL
alkej-616	115	8	third	ORDINAL
alkej-616	117	1	three	CARDINAL
alkej-616	118	1	one	CARDINAL
alkej-616	119	1	first	ORDINAL
alkej-616	119	2	second	ORDINAL
alkej-616	119	3	third	ORDINAL
alkej-616	121	1	three	CARDINAL
alkej-616	121	2	the end of second	DATE
alkej-616	121	3	21	CARDINAL
alkej-616	121	4	12	CARDINAL
alkej-616	121	5	27	CARDINAL
alkej-616	121	6	lldydx	PERSON
alkej-616	121	7	2 2	PERCENT
alkej-616	121	8	2	CARDINAL
alkej-616	121	9	28	CARDINAL
alkej-616	122	1	cll sl dx	ORG
alkej-616	122	2	221	CARDINAL
alkej-616	123	1	11 +	CARDINAL
alkej-616	123	2	29	CARDINAL
alkej-616	123	3	q3=	CARDINAL
alkej-616	123	4	θ1+θ2+θ3	ORG
alkej-616	123	5	30	CARDINAL
alkej-616	123	6	bahaa	PERSON
alkej-616	123	7	vol.3	ORG
alkej-616	123	8	no.1	ORG
alkej-616	123	9	1-11	CARDINAL
alkej-616	123	10	2007	DATE
alkej-616	123	11	0 1 2 3	QUANTITY
alkej-616	123	12	0.5 1 1.5 2	QUANTITY
alkej-616	123	13	di na te	PERSON
alkej-616	123	14	ge	ORG
alkej-616	124	1	0 1 2 3	QUANTITY
alkej-616	124	2	0.5 1 1.5 2	QUANTITY
alkej-616	124	3	di na te	PERSON
alkej-616	124	4	ge	ORG
alkej-616	125	1	dx & dy	ORG
alkej-616	125	2	the end of the second	DATE
alkej-616	126	1	two	CARDINAL
alkej-616	126	2	q3	ORG
alkej-616	126	3	q3	ORG
alkej-616	126	4	three	CARDINAL
alkej-616	127	1	-2.2	PERSON
alkej-616	127	2	4.6	CARDINAL
alkej-616	127	3	2	CARDINAL
alkej-616	128	1	fig	PERSON
alkej-616	129	1	2	CARDINAL
alkej-616	129	2	x=-2.2	ORG
alkej-616	129	3	two	CARDINAL
alkej-616	130	1	19	CARDINAL
alkej-616	130	2	two	CARDINAL
alkej-616	130	3	37	CARDINAL
alkej-616	131	1	19	CARDINAL
alkej-616	132	1	37	CARDINAL
alkej-616	132	2	2	CARDINAL
alkej-616	137	1	ynn	PERSON
alkej-616	138	1	1	CARDINAL
alkej-616	138	2	two	CARDINAL
alkej-616	138	3	θ2(deg	ORG
alkej-616	138	4	19 49.6488	CARDINAL
alkej-616	138	5	118.0402	CARDINAL
alkej-616	138	6	37 50.0103	CARDINAL
alkej-616	138	7	4.6	CARDINAL
alkej-616	139	1	4.5770	CARDINAL
alkej-616	139	2	2	CARDINAL
alkej-616	140	1	θ2(deg	ORG
alkej-616	140	2	19	CARDINAL
alkej-616	140	3	116.3237	CARDINAL
alkej-616	140	4	37	CARDINAL
alkej-616	140	5	117.4577	CARDINAL
alkej-616	141	1	4.6	CARDINAL
alkej-616	141	2	4.6415	CARDINAL
alkej-616	141	3	0.049 1 -2.2 4.6	QUANTITY
alkej-616	141	4	4.5703 0.030 3	CARDINAL
alkej-616	141	5	first	ORDINAL
alkej-616	141	6	19	CARDINAL
alkej-616	141	7	two	CARDINAL
alkej-616	141	8	n.n.	GPE
alkej-616	141	9	x=-3	ORG
alkej-616	141	10	y=-5	GPE
alkej-616	141	11	y=2	GPE
alkej-616	141	12	ax=0	GPE
alkej-616	141	13	first	ORDINAL
alkej-616	141	14	2 second	DATE
alkej-616	141	15	3	CARDINAL
alkej-616	141	16	first	ORDINAL
alkej-616	141	17	second	ORDINAL
alkej-616	142	1	first	ORDINAL
alkej-616	143	1		PERSON
alkej-616	143	2	22	CARDINAL
alkej-616	143	3	bahaa	PERSON
alkej-616	143	4	vol.3	ORG
alkej-616	143	5	no.1	ORG
alkej-616	143	6	1-11	CARDINAL
alkej-616	143	7	2007	DATE
alkej-616	143	8	٦	CARDINAL
alkej-616	143	9	0 1 2 3 4 5	QUANTITY
alkej-616	143	10	0 1 2 x(m	QUANTITY
alkej-616	143	11	3	CARDINAL
alkej-616	144	1	3	CARDINAL
alkej-616	144	2	4	DATE
alkej-616	145	1	4	CARDINAL
alkej-616	145	2	first	ORDINAL
alkej-616	145	3	5	CARDINAL
alkej-616	146	1	5	CARDINAL
alkej-616	146	2	second	ORDINAL
alkej-616	146	3	6	CARDINAL
alkej-616	147	1	6	CARDINAL
alkej-616	147	2	first	ORDINAL
alkej-616	147	3	7	DATE
alkej-616	148	1	7	CARDINAL
alkej-616	148	2	θ1	ORG
alkej-616	148	3	θ2 & θ3 versus time	ORG
alkej-616	149	1	x(unit	GPE
alkej-616	151	1	θ2(deg	PERSON
alkej-616	151	2	θ1(deg	GPE
alkej-616	151	3	x(unit	DATE
alkej-616	151	4	bahaa	PERSON
alkej-616	151	5	vol.3	ORG
alkej-616	151	6	no.1	ORG
alkej-616	151	7	1-11	CARDINAL
alkej-616	151	8	2007	DATE
alkej-616	152	1	8	CARDINAL
alkej-616	153	1	three	CARDINAL
alkej-616	153	2	9	CARDINAL
alkej-616	154	1	fig	PERSON
alkej-616	155	1	9	CARDINAL
alkej-616	157	1	forty	CARDINAL
alkej-616	157	2	10	CARDINAL
alkej-616	158	1	1 1.5 2	QUANTITY
alkej-616	158	2	0.4 0.5 0.6 0.7	QUANTITY
alkej-616	158	3	r(m	ORG
alkej-616	158	4	fig.10	CARDINAL
alkej-616	158	5	second	ORDINAL
alkej-616	158	6	37	CARDINAL
alkej-616	158	7	two	CARDINAL
alkej-616	158	8	n.n.	GPE
alkej-616	158	9	x=-3	ORG
alkej-616	158	10	y=-5	GPE
alkej-616	158	11	y=2	GPE
alkej-616	158	12	ax=0	GPE
alkej-616	158	13	y=-2	GPE
alkej-616	158	14	first	ORDINAL
alkej-616	158	15	2 second	DATE
alkej-616	158	16	3 second	TIME
alkej-616	159	1	first	ORDINAL
alkej-616	159	2	11	CARDINAL
alkej-616	159	3	0	CARDINAL
alkej-616	160	1	100 150	CARDINAL
alkej-616	161	1	11	CARDINAL
alkej-616	162	1	θ1	ORG
alkej-616	162	2	θ2 & θ3 versus time	ORG
alkej-616	162	3	12	CARDINAL
alkej-616	163	1	0 1 2 3 4 5	QUANTITY
alkej-616	163	2	0 1 2 3 x(m	QUANTITY
alkej-616	164	1	12	CARDINAL
alkej-616	165	1	θ2(deg	ORG
alkej-616	165	2	θ3(deg	GPE
alkej-616	165	3	y(unit	GPE
alkej-616	165	4	x(unit	GPE
alkej-616	165	5	bahaa	PERSON
alkej-616	165	6	vol.3	ORG
alkej-616	165	7	no.1	ORG
alkej-616	165	8	1-11	CARDINAL
alkej-616	165	9	2007	DATE
alkej-616	165	10	13	CARDINAL
alkej-616	165	11	14	CARDINAL
alkej-616	167	1	13	CARDINAL
alkej-616	168	1	0.05 0.1 0.15 0.2	MONEY
alkej-616	168	2	0.4	CARDINAL
alkej-616	168	3	14	DATE
alkej-616	169	1	two	CARDINAL
alkej-616	169	2	15	CARDINAL
alkej-616	170	1	37	CARDINAL
alkej-616	171	1	0.5 1 1.5 2	QUANTITY
alkej-616	173	1	θ2 & θ3 versus time	ORG
alkej-616	174	1	16	CARDINAL
alkej-616	175	1	0 1 2 3 4 5	QUANTITY
alkej-616	175	2	0 1 2 x(unit) y(unit	DATE
alkej-616	175	3	x(unit	DATE
alkej-616	175	4	r(unit	ORG
alkej-616	176	1	θ2(deg	PERSON
alkej-616	176	2	bahaa	PERSON
alkej-616	176	3	vol.3	ORG
alkej-616	176	4	no.1	ORG
alkej-616	176	5	1-11	CARDINAL
alkej-616	176	6	2007	DATE
alkej-616	176	7	٩ -4 -3	PERSON
alkej-616	178	1	0 1 2 3 4 5	QUANTITY
alkej-616	178	2	0 1 2 3 x(unit	QUANTITY
alkej-616	178	3	un	ORG
alkej-616	179	1	17	CARDINAL
alkej-616	180	1	0.05 0.1 0.15 0.2	MONEY
alkej-616	180	2	0.3 0.35	CARDINAL
alkej-616	181	1	18	CARDINAL
alkej-616	183	1	19	CARDINAL
alkej-616	183	2	θ2 & θ3	ORG
alkej-616	184	1	only one	CARDINAL
alkej-616	187	1	0 1 2 3 4 5	QUANTITY
alkej-616	189	1	-4 -3	PERSON
alkej-616	191	1	0 1 2 3 x(unit	QUANTITY
alkej-616	192	1	un	ORG
alkej-616	193	1	21	CARDINAL
alkej-616	196	1	0 1 2 3 4 5	QUANTITY
alkej-616	198	1	-4 -3	PERSON
alkej-616	200	1	0 1 2 x(unit) y(unit	DATE
alkej-616	200	2	θ2(deg	GPE
alkej-616	200	3	bahaa	PERSON
alkej-616	200	4	vol.3	ORG
alkej-616	200	5	no.1	ORG
alkej-616	200	6	1-11	CARDINAL
alkej-616	200	7	2007	DATE
alkej-616	200	8	١٠	CARDINAL
alkej-616	200	9	0.05 0.1 0.15 0.2 0.25	MONEY
alkej-616	202	1	22	CARDINAL
alkej-616	203	1	one	CARDINAL
alkej-616	206	1	1	CARDINAL
alkej-616	206	2	john j. craig	PERSON
alkej-616	208	1	2	CARDINAL
alkej-616	208	2	w. spong	PERSON
alkej-616	208	3	m. vidyasagar	PERSON
alkej-616	208	4	john wiley	PERSON
alkej-616	208	5	1989	DATE
alkej-616	209	1	3	CARDINAL
alkej-616	209	2	7	CARDINAL
alkej-616	209	3	prentice-hall	ORG
alkej-616	209	4	1985	DATE
alkej-616	210	1	4	CARDINAL
alkej-616	210	2	s.c.	GPE
alkej-616	210	3	iversen	GPE
alkej-616	210	4	e.k.	GPE
alkej-616	210	5	knutti	PERSON
alkej-616	210	6	d.f.	GPE
alkej-616	210	7	johnson	PERSON
alkej-616	210	8	r.t.	GPE
alkej-616	210	9	k.b.	PERSON
alkej-616	210	10	utah	GPE
alkej-616	211	1	san francisco	GPE
alkej-616	212	1	1520-1532	DATE
alkej-616	212	2	april 7-10, 1986	DATE
alkej-616	213	1	5	CARDINAL
alkej-616	213	2	e. s. conkur	PERSON
alkej-616	213	3	ph.d	ORG
alkej-616	214	1	university of bristol	ORG
alkej-616	214	2	september 1997	DATE
alkej-616	215	1	6	CARDINAL
alkej-616	215	2	chetan kapoor	PERSON
alkej-616	215	3	delbert	PERSON
alkej-616	215	4	the university of texas	ORG
alkej-616	215	5	austin	GPE
alkej-616	215	6	jjprc	GPE
alkej-616	215	7	1.206	CARDINAL
alkej-616	215	8	austin	GPE
alkej-616	215	9	texas	GPE
alkej-616	215	10	78712-1100, 1990	DATE
alkej-616	216	1	7	CARDINAL
alkej-616	216	2	farshid magami asi	ORG
alkej-616	217	1	villanova university	ORG
alkej-616	217	2	august 1998	DATE
alkej-616	218	1	8] j.somlo	DATE
alkej-616	219	1	budabist	ORG
alkej-616	219	2	university of technology and economics	ORG
alkej-616	219	3	2002	DATE
alkej-616	220	1	9	CARDINAL
alkej-616	220	2	shigang yue	PERSON
alkej-616	220	3	dominik henrich	PERSON
alkej-616	220	4	d-67653 kaiserslautern	PERSON
alkej-616	220	5	germany	GPE
alkej-616	220	6	2001	DATE
alkej-616	221	1	10	CARDINAL
alkej-616	221	2	javier de lope	PERSON
alkej-616	221	3	telmo zarraonandia	PERSON
alkej-616	221	4	rafaela gonzalez-careaga	PERSON
alkej-616	221	5	dario maravall	PERSON
alkej-616	221	6	university of dr	ORG
alkej-616	221	7	bahaa	PERSON
alkej-616	221	8	vol.3	ORG
alkej-616	221	9	no.1	ORG
alkej-616	221	10	1-11	CARDINAL
alkej-616	221	11	2007	DATE
alkej-616	221	12	١١	CARDINAL
alkej-616	221	13	politecnica de madrid	ORG
alkej-616	221	14	de montegancedo	PERSON
alkej-616	221	15	28660	CARDINAL
alkej-616	221	16	madrid	GPE
alkej-616	221	17	spain	GPE
alkej-616	221	18	2004	DATE
alkej-616	222	1	11	CARDINAL
alkej-616	222	2	jack m. zurada	PERSON
alkej-616	222	3	jaico publishing house, 1996	ORG
alkej-616	223	1	الحل العكسي	PERSON
alkej-616	223	2	انسان	GPE
alkej-616	224	1	الشبكات العصبیة الدكتور	NORP
alkej-616	224	2	ابراھیم كاظم	PERSON
alkej-616	224	3	سامر یحیى ھادي	PERSON
alkej-616	225	1	الجامعة	PERSON
alkej-616	225	2	جامعة بغداد	ORG
alkej-616	225	3	الخالصة	GPE
alkej-616	225	4	استخدمت	GPE
alkej-616	225	5	العص بیھ	ORG
alkej-616	225	6	واحد مرغوب بھ)one	ORG
alkej-616	227	1	kinematics(إلیج	ORG
alkej-616	228	1	مزدوج	ORG
alkej-616	229	1	د)three	CARDINAL
alkej-616	230	1	مزالمستخدمة	GPE
alkej-616	233	1	أظھرت	ORG
alkej-616	233	2	ھذا	ORG
alkej-616	236	1	method)(إن	NORP
alkej-616	236	2	إیجاد المسار	PERSON
alkej-616	237	1	على الدقةtraining	PERSON
alkej-616	237	2	دراسة	PERSON