id	sid	tid	token	lemma	pos
alkej-10	1	1	dr	dr	PROPN
alkej-10	1	2	nabil	nabil	PROPN
alkej-10	1	3	hassan-1	hassan-1	PROPN
alkej-10	1	4	dr.nabil	dr.nabil	PROPN
alkej-10	1	5	hassan	hassan	PROPN
alkej-10	1	6	hadi	hadi	PROPN
alkej-10	1	7	/	/	SYM
alkej-10	1	8	al	al	PROPN
alkej-10	1	9	-	-	PUNCT
alkej-10	1	10	khwarizmi	khwarizmi	PROPN
alkej-10	1	11	engineering	engineering	NOUN
alkej-10	1	12	journal	journal	PROPN
alkej-10	1	13	,	,	PUNCT
alkej-10	1	14	vol.1	vol.1	PROPN
alkej-10	1	15	,	,	PUNCT
alkej-10	1	16	no	no	INTJ
alkej-10	1	17	.	.	PUNCT
alkej-10	2	1	2,pp	2,pp	NUM
alkej-10	2	2	41	41	NUM
alkej-10	2	3	-	-	SYM
alkej-10	2	4	51	51	NUM
alkej-10	2	5	(	(	PUNCT
alkej-10	2	6	2005	2005	NUM
alkej-10	2	7	)	)	PUNCT
alkej-10	2	8	41	41	NUM
alkej-10	2	9	al	al	PROPN
alkej-10	2	10	-	-	PUNCT
alkej-10	2	11	khwarizmi	khwarizmi	PROPN
alkej-10	2	12	engineering	engineering	PROPN
alkej-10	2	13	journal	journal	PROPN
alkej-10	2	14	al	al	PROPN
alkej-10	2	15	-	-	PUNCT
alkej-10	2	16	khwarizmi	khwarizmi	PROPN
alkej-10	2	17	engineering	engineering	NOUN
alkej-10	2	18	journal	journal	PROPN
alkej-10	2	19	,	,	PUNCT
alkej-10	2	20	vol.1	vol.1	PROPN
alkej-10	2	21	,	,	PUNCT
alkej-10	2	22	no.2,pp	no.2,pp	ADV
alkej-10	2	23	41	41	NUM
alkej-10	2	24	-	-	SYM
alkej-10	2	25	51	51	NUM
alkej-10	2	26	,	,	PUNCT
alkej-10	2	27	(	(	PUNCT
alkej-10	2	28	2005	2005	NUM
alkej-10	2	29	)	)	PUNCT
alkej-10	2	30	fuzzy	fuzzy	ADJ
alkej-10	2	31	control	control	NOUN
alkej-10	2	32	of	of	ADP
alkej-10	2	33	mobile	mobile	ADJ
alkej-10	2	34	robot	robot	NOUN
alkej-10	2	35	in	in	ADP
alkej-10	2	36	slippery	slippery	ADJ
alkej-10	2	37	environment	environment	NOUN
alkej-10	2	38	dr.nabil	dr.nabil	PROPN
alkej-10	2	39	hassan	hassan	PROPN
alkej-10	2	40	hadi	hadi	PROPN
alkej-10	2	41	mechanical	mechanical	PROPN
alkej-10	2	42	engineering	engineering	PROPN
alkej-10	2	43	department/	department/	NUM
alkej-10	2	44	college	college	NOUN
alkej-10	2	45	of	of	ADP
alkej-10	2	46	engineering/	engineering/	NUM
alkej-10	2	47	university	university	NOUN
alkej-10	2	48	of	of	ADP
alkej-10	2	49	baghdad	baghdad	PROPN
alkej-10	2	50	(	(	PUNCT
alkej-10	2	51	received	receive	VERB
alkej-10	2	52	20	20	NUM
alkej-10	2	53	april	april	PROPN
alkej-10	2	54	2005	2005	NUM
alkej-10	2	55	;	;	PUNCT
alkej-10	2	56	accepted	accept	VERB
alkej-10	2	57	2	2	NUM
alkej-10	2	58	october	october	NOUN
alkej-10	2	59	2005	2005	NUM
alkej-10	2	60	)	)	PUNCT
alkej-10	3	1	abstract	abstract	NOUN
alkej-10	3	2	:	:	PUNCT
alkej-10	3	3	the	the	DET
alkej-10	3	4	problem	problem	NOUN
alkej-10	3	5	of	of	ADP
alkej-10	3	6	independent	independent	ADJ
alkej-10	3	7	motion	motion	NOUN
alkej-10	3	8	control	control	NOUN
alkej-10	3	9	of	of	ADP
alkej-10	3	10	mobile	mobile	ADJ
alkej-10	3	11	robot	robot	NOUN
alkej-10	3	12	(	(	PUNCT
alkej-10	3	13	мr	мr	NOUN
alkej-10	3	14	)	)	PUNCT
alkej-10	3	15	in	in	ADP
alkej-10	3	16	conditions	condition	NOUN
alkej-10	3	17	when	when	SCONJ
alkej-10	3	18	unforeseen	unforeseen	ADJ
alkej-10	3	19	changes	change	NOUN
alkej-10	3	20	of	of	ADP
alkej-10	3	21	conditions	condition	NOUN
alkej-10	3	22	of	of	ADP
alkej-10	3	23	interaction	interaction	NOUN
alkej-10	3	24	of	of	ADP
alkej-10	3	25	wheels	wheel	NOUN
alkej-10	3	26	with	with	ADP
alkej-10	3	27	a	a	DET
alkej-10	3	28	surface	surface	NOUN
alkej-10	3	29	are	be	AUX
alkej-10	3	30	considered	consider	VERB
alkej-10	3	31	.	.	PUNCT
alkej-10	4	1	an	an	DET
alkej-10	4	2	example	example	NOUN
alkej-10	4	3	of	of	ADP
alkej-10	4	4	such	such	ADJ
alkej-10	4	5	changes	change	NOUN
alkej-10	4	6	can	can	AUX
alkej-10	4	7	be	be	AUX
alkej-10	4	8	sudden	sudden	ADJ
alkej-10	4	9	entrance	entrance	NOUN
alkej-10	4	10	мr	мr	ADP
alkej-10	4	11	a	a	DET
alkej-10	4	12	slippery	slippery	ADJ
alkej-10	4	13	surface	surface	NOUN
alkej-10	4	14	.	.	PUNCT
alkej-10	5	1	the	the	DET
alkej-10	5	2	deployment	deployment	NOUN
alkej-10	5	3	of	of	ADP
alkej-10	5	4	an	an	DET
alkej-10	5	5	autonomous	autonomous	ADJ
alkej-10	5	6	unmanned	unmanned	ADJ
alkej-10	5	7	ground	ground	NOUN
alkej-10	5	8	vehicle	vehicle	NOUN
alkej-10	5	9	for	for	ADP
alkej-10	5	10	field	field	NOUN
alkej-10	5	11	applications	application	NOUN
alkej-10	5	12	provides	provide	VERB
alkej-10	5	13	the	the	DET
alkej-10	5	14	means	mean	NOUN
alkej-10	5	15	by	by	ADP
alkej-10	5	16	which	which	PRON
alkej-10	5	17	the	the	DET
alkej-10	5	18	risk	risk	NOUN
alkej-10	5	19	to	to	ADP
alkej-10	5	20	personnel	personnel	NOUN
alkej-10	5	21	can	can	AUX
alkej-10	5	22	be	be	AUX
alkej-10	5	23	minimized	minimize	VERB
alkej-10	5	24	and	and	CCONJ
alkej-10	5	25	operational	operational	ADJ
alkej-10	5	26	capabilities	capability	NOUN
alkej-10	5	27	improved	improve	VERB
alkej-10	5	28	.	.	PUNCT
alkej-10	6	1	in	in	ADP
alkej-10	6	2	rough	rough	ADJ
alkej-10	6	3	terrain	terrain	NOUN
alkej-10	6	4	,	,	PUNCT
alkej-10	6	5	it	it	PRON
alkej-10	6	6	is	be	AUX
alkej-10	6	7	critical	critical	ADJ
alkej-10	6	8	for	for	SCONJ
alkej-10	6	9	mobile	mobile	ADJ
alkej-10	6	10	robots	robot	NOUN
alkej-10	6	11	to	to	PART
alkej-10	6	12	maintain	maintain	VERB
alkej-10	6	13	good	good	ADJ
alkej-10	6	14	wheel	wheel	PROPN
alkej-10	6	15	traction	traction	PROPN
alkej-10	6	16	.	.	PUNCT
alkej-10	7	1	wheel	wheel	NOUN
alkej-10	7	2	slip	slip	NOUN
alkej-10	7	3	could	could	AUX
alkej-10	7	4	cause	cause	VERB
alkej-10	7	5	the	the	DET
alkej-10	7	6	rover	rover	NOUN
alkej-10	7	7	to	to	PART
alkej-10	7	8	lose	lose	VERB
alkej-10	7	9	control	control	NOUN
alkej-10	7	10	and	and	CCONJ
alkej-10	7	11	become	become	VERB
alkej-10	7	12	trapped	trapped	ADJ
alkej-10	7	13	.	.	PUNCT
alkej-10	8	1	this	this	DET
alkej-10	8	2	paper	paper	NOUN
alkej-10	8	3	describes	describe	VERB
alkej-10	8	4	the	the	DET
alkej-10	8	5	application	application	NOUN
alkej-10	8	6	of	of	ADP
alkej-10	8	7	fuzzy	fuzzy	ADJ
alkej-10	8	8	control	control	NOUN
alkej-10	8	9	to	to	ADP
alkej-10	8	10	a	a	DET
alkej-10	8	11	feedback	feedback	NOUN
alkej-10	8	12	system	system	NOUN
alkej-10	8	13	within	within	ADP
alkej-10	8	14	slippery	slippery	ADJ
alkej-10	8	15	environment	environment	NOUN
alkej-10	8	16	.	.	PUNCT
alkej-10	9	1	the	the	DET
alkej-10	9	2	study	study	NOUN
alkej-10	9	3	is	be	AUX
alkej-10	9	4	conducted	conduct	VERB
alkej-10	9	5	on	on	ADP
alkej-10	9	6	an	an	DET
alkej-10	9	7	example	example	NOUN
alkej-10	9	8	of	of	ADP
alkej-10	9	9	мr	мr	X
alkej-10	9	10	with	with	ADP
alkej-10	9	11	two	two	NUM
alkej-10	9	12	driving	drive	VERB
alkej-10	9	13	wheels	wheel	NOUN
alkej-10	9	14	.	.	PUNCT
alkej-10	10	1	keywords	keyword	NOUN
alkej-10	10	2	:	:	PUNCT
alkej-10	10	3	mobile	mobile	ADJ
alkej-10	10	4	robot	robot	NOUN
alkej-10	10	5	,	,	PUNCT
alkej-10	10	6	fuzzy	fuzzy	ADJ
alkej-10	10	7	control	control	NOUN
alkej-10	10	8	,	,	PUNCT
alkej-10	10	9	wheel	wheel	NOUN
alkej-10	10	10	-	-	PUNCT
alkej-10	10	11	ground	ground	NOUN
alkej-10	10	12	contact	contact	NOUN
alkej-10	10	13	modeling	modeling	NOUN
alkej-10	10	14	,	,	PUNCT
alkej-10	10	15	dynamic	dynamic	ADJ
alkej-10	10	16	model	model	NOUN
alkej-10	10	17	1	1	NUM
alkej-10	10	18	.	.	PUNCT
alkej-10	10	19	introduction	introduction	NOUN
alkej-10	10	20	the	the	DET
alkej-10	10	21	classical	classical	ADJ
alkej-10	10	22	control	control	NOUN
alkej-10	10	23	theory	theory	NOUN
alkej-10	10	24	which	which	PRON
alkej-10	10	25	relies	rely	VERB
alkej-10	10	26	on	on	ADP
alkej-10	10	27	the	the	DET
alkej-10	10	28	mathematical	mathematical	ADJ
alkej-10	10	29	model	model	NOUN
alkej-10	10	30	of	of	ADP
alkej-10	10	31	the	the	DET
alkej-10	10	32	underlying	underlie	VERB
alkej-10	10	33	system	system	NOUN
alkej-10	10	34	has	have	AUX
alkej-10	10	35	been	be	AUX
alkej-10	10	36	successfully	successfully	ADV
alkej-10	10	37	applied	apply	VERB
alkej-10	10	38	to	to	ADP
alkej-10	10	39	the	the	DET
alkej-10	10	40	control	control	NOUN
alkej-10	10	41	of	of	ADP
alkej-10	10	42	a	a	DET
alkej-10	10	43	large	large	ADJ
alkej-10	10	44	variety	variety	NOUN
alkej-10	10	45	of	of	ADP
alkej-10	10	46	simple	simple	ADJ
alkej-10	10	47	,	,	PUNCT
alkej-10	10	48	non	non	ADJ
alkej-10	10	49	-	-	ADJ
alkej-10	10	50	linear	linear	ADJ
alkej-10	10	51	processes	process	NOUN
alkej-10	10	52	.	.	PUNCT
alkej-10	11	1	however	however	ADV
alkej-10	11	2	,	,	PUNCT
alkej-10	11	3	it	it	PRON
alkej-10	11	4	has	have	AUX
alkej-10	11	5	not	not	PART
alkej-10	11	6	been	be	AUX
alkej-10	11	7	as	as	ADV
alkej-10	11	8	widely	widely	ADV
alkej-10	11	9	used	use	VERB
alkej-10	11	10	with	with	ADP
alkej-10	11	11	complicated	complicated	ADJ
alkej-10	11	12	,	,	PUNCT
alkej-10	11	13	nonlinear	nonlinear	ADJ
alkej-10	11	14	,	,	PUNCT
alkej-10	11	15	time	time	NOUN
alkej-10	11	16	varying	vary	VERB
alkej-10	11	17	systems	system	NOUN
alkej-10	11	18	or	or	CCONJ
alkej-10	11	19	with	with	ADP
alkej-10	11	20	processes	process	NOUN
alkej-10	11	21	suffering	suffer	VERB
alkej-10	11	22	from	from	ADP
alkej-10	11	23	noisy	noisy	ADJ
alkej-10	11	24	measurements	measurement	NOUN
alkej-10	11	25	.	.	PUNCT
alkej-10	12	1	the	the	DET
alkej-10	12	2	main	main	ADJ
alkej-10	12	3	idea	idea	NOUN
alkej-10	12	4	of	of	ADP
alkej-10	12	5	fuzzy	fuzzy	ADJ
alkej-10	12	6	control	control	NOUN
alkej-10	12	7	is	be	AUX
alkej-10	12	8	to	to	PART
alkej-10	12	9	build	build	VERB
alkej-10	12	10	a	a	DET
alkej-10	12	11	model	model	NOUN
alkej-10	12	12	of	of	ADP
alkej-10	12	13	an	an	DET
alkej-10	12	14	expert	expert	NOUN
alkej-10	12	15	operator	operator	NOUN
alkej-10	12	16	who	who	PRON
alkej-10	12	17	is	be	AUX
alkej-10	12	18	capable	capable	ADJ
alkej-10	12	19	of	of	ADP
alkej-10	12	20	controlling	control	VERB
alkej-10	12	21	the	the	DET
alkej-10	12	22	plant	plant	NOUN
alkej-10	12	23	without	without	ADP
alkej-10	12	24	thinking	think	VERB
alkej-10	12	25	in	in	ADP
alkej-10	12	26	terms	term	NOUN
alkej-10	12	27	of	of	ADP
alkej-10	12	28	a	a	DET
alkej-10	12	29	mathematical	mathematical	ADJ
alkej-10	12	30	model	model	NOUN
alkej-10	12	31	.	.	PUNCT
alkej-10	13	1	the	the	DET
alkej-10	13	2	problem	problem	NOUN
alkej-10	13	3	of	of	ADP
alkej-10	13	4	independent	independent	ADJ
alkej-10	13	5	motion	motion	NOUN
alkej-10	13	6	control	control	NOUN
alkej-10	13	7	of	of	ADP
alkej-10	13	8	mobile	mobile	ADJ
alkej-10	13	9	robot	robot	NOUN
alkej-10	13	10	(	(	PUNCT
alkej-10	13	11	мr	мr	NOUN
alkej-10	13	12	)	)	PUNCT
alkej-10	13	13	in	in	ADP
alkej-10	13	14	conditions	condition	NOUN
alkej-10	13	15	when	when	SCONJ
alkej-10	13	16	unforeseen	unforeseen	ADJ
alkej-10	13	17	changes	change	NOUN
alkej-10	13	18	of	of	ADP
alkej-10	13	19	conditions	condition	NOUN
alkej-10	13	20	of	of	ADP
alkej-10	13	21	interaction	interaction	NOUN
alkej-10	13	22	of	of	ADP
alkej-10	13	23	wheels	wheel	NOUN
alkej-10	13	24	with	with	ADP
alkej-10	13	25	a	a	DET
alkej-10	13	26	surface	surface	NOUN
alkej-10	13	27	are	be	AUX
alkej-10	13	28	considered	consider	VERB
alkej-10	13	29	.	.	PUNCT
alkej-10	14	1	an	an	DET
alkej-10	14	2	example	example	NOUN
alkej-10	14	3	of	of	ADP
alkej-10	14	4	such	such	ADJ
alkej-10	14	5	changes	change	NOUN
alkej-10	14	6	can	can	AUX
alkej-10	14	7	be	be	AUX
alkej-10	14	8	sudden	sudden	ADJ
alkej-10	14	9	entrance	entrance	NOUN
alkej-10	14	10	мr	мr	ADP
alkej-10	14	11	a	a	DET
alkej-10	14	12	slippery	slippery	ADJ
alkej-10	14	13	surface	surface	NOUN
alkej-10	14	14	.	.	PUNCT
alkej-10	15	1	mobile	mobile	ADJ
alkej-10	15	2	robots	robot	NOUN
alkej-10	15	3	are	be	AUX
alkej-10	15	4	increasingly	increasingly	ADV
alkej-10	15	5	being	be	AUX
alkej-10	15	6	developed	develop	VERB
alkej-10	15	7	for	for	ADP
alkej-10	15	8	high	high	ADJ
alkej-10	15	9	-	-	PUNCT
alkej-10	15	10	risk	risk	NOUN
alkej-10	15	11	missions	mission	NOUN
alkej-10	15	12	in	in	ADP
alkej-10	15	13	rough	rough	ADJ
alkej-10	15	14	terrain	terrain	NOUN
alkej-10	15	15	environments	environment	NOUN
alkej-10	15	16	.	.	PUNCT
alkej-10	16	1	one	one	NUM
alkej-10	16	2	successful	successful	ADJ
alkej-10	16	3	example	example	NOUN
alkej-10	16	4	is	be	AUX
alkej-10	16	5	the	the	DET
alkej-10	16	6	nasa	nasa	PROPN
alkej-10	16	7	/	/	SYM
alkej-10	16	8	jpl	jpl	PROPN
alkej-10	16	9	sojourner	sojourner	NOUN
alkej-10	16	10	martian	martian	ADJ
alkej-10	16	11	rover[1	rover[1	PROPN
alkej-10	16	12	]	]	PUNCT
alkej-10	16	13	.	.	PUNCT
alkej-10	17	1	other	other	ADJ
alkej-10	17	2	examples	example	NOUN
alkej-10	17	3	of	of	ADP
alkej-10	17	4	rough	rough	ADJ
alkej-10	17	5	terrain	terrain	NOUN
alkej-10	17	6	applications	application	NOUN
alkej-10	17	7	for	for	ADP
alkej-10	17	8	robotics	robotic	NOUN
alkej-10	17	9	systems	system	NOUN
alkej-10	17	10	can	can	AUX
alkej-10	17	11	be	be	AUX
alkej-10	17	12	found	find	VERB
alkej-10	17	13	in	in	ADP
alkej-10	17	14	the	the	DET
alkej-10	17	15	forestry	forestry	NOUN
alkej-10	17	16	and	and	CCONJ
alkej-10	17	17	mining	mining	NOUN
alkej-10	17	18	industgyries	industgyrie	NOUN
alkej-10	17	19	,	,	PUNCT
alkej-10	17	20	and	and	CCONJ
alkej-10	17	21	in	in	ADP
alkej-10	17	22	hazardous	hazardous	ADJ
alkej-10	17	23	material	material	NOUN
alkej-10	17	24	handling	handling	NOUN
alkej-10	17	25	applications	application	NOUN
alkej-10	17	26	,	,	PUNCT
alkej-10	17	27	such	such	ADJ
alkej-10	17	28	as	as	ADP
alkej-10	17	29	the	the	DET
alkej-10	17	30	chernobyl	chernobyl	PROPN
alkej-10	17	31	disaster	disaster	NOUN
alkej-10	17	32	site	site	NOUN
alkej-10	17	33	cleanup[2	cleanup[2	PROPN
alkej-10	17	34	]	]	PUNCT
alkej-10	17	35	.	.	PUNCT
alkej-10	18	1	in	in	ADP
alkej-10	18	2	fuzzy	fuzzy	ADJ
alkej-10	18	3	logic	logic	NOUN
alkej-10	18	4	(	(	PUNCT
alkej-10	18	5	fl	fl	NOUN
alkej-10	18	6	)	)	PUNCT
alkej-10	18	7	control	control	NOUN
alkej-10	19	1	[	[	X
alkej-10	19	2	3,4	3,4	NUM
alkej-10	19	3	]	]	PUNCT
alkej-10	19	4	,	,	PUNCT
alkej-10	19	5	pdtype	pdtype	NOUN
alkej-10	19	6	and	and	CCONJ
alkej-10	19	7	pi	pi	NOUN
alkej-10	19	8	-	-	PUNCT
alkej-10	19	9	type	type	NOUN
alkej-10	19	10	fl	fl	NOUN
alkej-10	19	11	controllers	controller	NOUN
alkej-10	19	12	are	be	AUX
alkej-10	19	13	the	the	DET
alkej-10	19	14	bestknown	bestknown	NOUN
alkej-10	19	15	counterparts	counterpart	NOUN
alkej-10	19	16	of	of	ADP
alkej-10	19	17	the	the	DET
alkej-10	19	18	pid	pid	NOUN
alkej-10	19	19	controller	controller	NOUN
alkej-10	19	20	.	.	PUNCT
alkej-10	20	1	they	they	PRON
alkej-10	20	2	are	be	AUX
alkej-10	20	3	used	use	VERB
alkej-10	20	4	to	to	PART
alkej-10	20	5	achieve	achieve	VERB
alkej-10	20	6	better	well	ADJ
alkej-10	20	7	performance	performance	NOUN
alkej-10	20	8	with	with	ADP
alkej-10	20	9	nonlinear	nonlinear	ADJ
alkej-10	20	10	processes	process	NOUN
alkej-10	20	11	.	.	PUNCT
alkej-10	21	1	good	good	ADJ
alkej-10	21	2	experiences	experience	NOUN
alkej-10	21	3	have	have	AUX
alkej-10	21	4	been	be	AUX
alkej-10	21	5	obtained	obtain	VERB
alkej-10	21	6	especially	especially	ADV
alkej-10	21	7	with	with	ADP
alkej-10	21	8	the	the	DET
alkej-10	21	9	pdtype	pdtype	NOUN
alkej-10	21	10	fl	fl	PROPN
alkej-10	21	11	controllers	controller	NOUN
alkej-10	21	12	in	in	ADP
alkej-10	21	13	servo	servo	NOUN
alkej-10	21	14	applications	application	NOUN
alkej-10	21	15	[	[	X
alkej-10	21	16	5,6	5,6	NUM
alkej-10	21	17	]	]	PUNCT
alkej-10	21	18	.	.	PUNCT
alkej-10	22	1	future	future	ADJ
alkej-10	22	2	planetary	planetary	ADJ
alkej-10	22	3	missions	mission	NOUN
alkej-10	22	4	will	will	AUX
alkej-10	22	5	require	require	VERB
alkej-10	22	6	mobile	mobile	ADJ
alkej-10	22	7	robots	robot	NOUN
alkej-10	22	8	to	to	PART
alkej-10	22	9	perform	perform	VERB
alkej-10	22	10	difficult	difficult	ADJ
alkej-10	22	11	tasks	task	NOUN
alkej-10	22	12	in	in	ADP
alkej-10	22	13	more	more	ADV
alkej-10	22	14	challenging	challenging	ADJ
alkej-10	22	15	terrain	terrain	NOUN
alkej-10	22	16	.	.	PUNCT
alkej-10	23	1	in	in	ADP
alkej-10	23	2	addition	addition	NOUN
alkej-10	23	3	to	to	ADP
alkej-10	23	4	the	the	DET
alkej-10	23	5	importance	importance	NOUN
alkej-10	23	6	of	of	ADP
alkej-10	23	7	the	the	DET
alkej-10	23	8	perception	perception	NOUN
alkej-10	23	9	system	system	NOUN
alkej-10	23	10	,	,	PUNCT
alkej-10	23	11	mainly	mainly	ADV
alkej-10	23	12	visual	visual	ADJ
alkej-10	23	13	guidance	guidance	NOUN
alkej-10	23	14	,	,	PUNCT
alkej-10	23	15	motion	motion	NOUN
alkej-10	23	16	planning	planning	NOUN
alkej-10	23	17	is	be	AUX
alkej-10	23	18	a	a	DET
alkej-10	23	19	key	key	ADJ
alkej-10	23	20	function	function	NOUN
alkej-10	23	21	in	in	ADP
alkej-10	23	22	preparing	prepare	VERB
alkej-10	23	23	locomotion	locomotion	NOUN
alkej-10	23	24	tasks	task	NOUN
alkej-10	23	25	and	and	CCONJ
alkej-10	23	26	enhancing	enhance	VERB
alkej-10	23	27	the	the	DET
alkej-10	23	28	capability	capability	NOUN
alkej-10	23	29	of	of	ADP
alkej-10	23	30	the	the	DET
alkej-10	23	31	autonomous	autonomous	ADJ
alkej-10	23	32	vehicle	vehicle	NOUN
alkej-10	23	33	to	to	PART
alkej-10	23	34	move	move	VERB
alkej-10	23	35	safely	safely	ADV
alkej-10	23	36	toward	toward	ADP
alkej-10	23	37	its	its	PRON
alkej-10	23	38	target	target	NOUN
alkej-10	23	39	position	position	NOUN
alkej-10	23	40	.	.	PUNCT
alkej-10	24	1	the	the	DET
alkej-10	24	2	response	response	NOUN
alkej-10	24	3	of	of	ADP
alkej-10	24	4	the	the	DET
alkej-10	24	5	vehicle	vehicle	NOUN
alkej-10	24	6	when	when	SCONJ
alkej-10	24	7	evolving	evolve	VERB
alkej-10	24	8	in	in	ADP
alkej-10	24	9	an	an	DET
alkej-10	24	10	unstructured	unstructured	ADJ
alkej-10	24	11	or	or	CCONJ
alkej-10	24	12	partially	partially	ADV
alkej-10	24	13	structured	structure	VERB
alkej-10	24	14	outdoor	outdoor	ADJ
alkej-10	24	15	environment	environment	NOUN
alkej-10	24	16	depends	depend	VERB
alkej-10	24	17	on	on	ADP
alkej-10	24	18	the	the	DET
alkej-10	24	19	combination	combination	NOUN
alkej-10	24	20	of	of	ADP
alkej-10	24	21	several	several	ADJ
alkej-10	24	22	geometric	geometric	ADJ
alkej-10	24	23	and	and	CCONJ
alkej-10	24	24	physical	physical	ADJ
alkej-10	24	25	criteria	criterion	NOUN
alkej-10	24	26	.	.	PUNCT
alkej-10	25	1	these	these	PRON
alkej-10	25	2	include	include	VERB
alkej-10	25	3	the	the	DET
alkej-10	25	4	mechanical	mechanical	ADJ
alkej-10	25	5	structure	structure	NOUN
alkej-10	25	6	of	of	ADP
alkej-10	25	7	the	the	DET
alkej-10	25	8	vehicle	vehicle	NOUN
alkej-10	25	9	,	,	PUNCT
alkej-10	25	10	the	the	DET
alkej-10	25	11	geometric	geometric	ADJ
alkej-10	25	12	and	and	CCONJ
alkej-10	25	13	physical	physical	ADJ
alkej-10	25	14	dr.nabil	dr.nabil	PROPN
alkej-10	25	15	hassan	hassan	PROPN
alkej-10	25	16	hadi	hadi	PROPN
alkej-10	25	17	/	/	SYM
alkej-10	25	18	al	al	PROPN
alkej-10	25	19	-	-	PUNCT
alkej-10	25	20	khwarizmi	khwarizmi	PROPN
alkej-10	25	21	engineering	engineering	NOUN
alkej-10	25	22	journal	journal	PROPN
alkej-10	25	23	,	,	PUNCT
alkej-10	25	24	vol.1	vol.1	PROPN
alkej-10	25	25	,	,	PUNCT
alkej-10	25	26	no	no	INTJ
alkej-10	25	27	.	.	PUNCT
alkej-10	26	1	2,pp	2,pp	NUM
alkej-10	26	2	41	41	NUM
alkej-10	26	3	-	-	SYM
alkej-10	26	4	51	51	NUM
alkej-10	26	5	(	(	PUNCT
alkej-10	26	6	2005	2005	NUM
alkej-10	26	7	)	)	PUNCT
alkej-10	26	8	42	42	NUM
alkej-10	26	9	features	feature	NOUN
alkej-10	26	10	of	of	ADP
alkej-10	26	11	the	the	DET
alkej-10	26	12	terrain	terrain	NOUN
alkej-10	26	13	,	,	PUNCT
alkej-10	26	14	wheel	wheel	NOUN
alkej-10	26	15	ground	ground	NOUN
alkej-10	26	16	interactions	interaction	NOUN
alkej-10	26	17	,	,	PUNCT
alkej-10	26	18	characteristics	characteristic	NOUN
alkej-10	26	19	of	of	ADP
alkej-10	26	20	the	the	DET
alkej-10	26	21	received	receive	VERB
alkej-10	26	22	commands	command	NOUN
alkej-10	26	23	and	and	CCONJ
alkej-10	26	24	the	the	DET
alkej-10	26	25	applied	apply	VERB
alkej-10	26	26	motion	motion	NOUN
alkej-10	26	27	control	control	NOUN
alkej-10	26	28	law[7	law[7	PROPN
alkej-10	26	29	]	]	PUNCT
alkej-10	26	30	.	.	PUNCT
alkej-10	27	1	in	in	ADP
alkej-10	27	2	most	most	ADJ
alkej-10	27	3	cases	case	NOUN
alkej-10	27	4	,	,	PUNCT
alkej-10	27	5	base	base	NOUN
alkej-10	27	6	control	control	NOUN
alkej-10	27	7	which	which	PRON
alkej-10	27	8	is	be	AUX
alkej-10	27	9	intended	intend	VERB
alkej-10	27	10	for	for	ADP
alkej-10	27	11	normal	normal	ADJ
alkej-10	27	12	modes	mode	NOUN
alkej-10	27	13	of	of	ADP
alkej-10	27	14	interaction	interaction	NOUN
alkej-10	27	15	of	of	ADP
alkej-10	27	16	wheels	wheel	NOUN
alkej-10	27	17	with	with	ADP
alkej-10	27	18	a	a	DET
alkej-10	27	19	surface	surface	NOUN
alkej-10	27	20	,	,	PUNCT
alkej-10	27	21	in	in	ADP
alkej-10	27	22	such	such	ADJ
alkej-10	27	23	situation	situation	NOUN
alkej-10	27	24	is	be	AUX
alkej-10	27	25	not	not	PART
alkej-10	27	26	capable	capable	ADJ
alkej-10	27	27	to	to	PART
alkej-10	27	28	keep	keep	VERB
alkej-10	27	29	мr	мr	X
alkej-10	27	30	on	on	ADP
alkej-10	27	31	a	a	DET
alkej-10	27	32	program	program	NOUN
alkej-10	27	33	trajectory	trajectory	NOUN
alkej-10	27	34	.	.	PUNCT
alkej-10	28	1	in	in	ADP
alkej-10	28	2	work	work	NOUN
alkej-10	28	3	[	[	X
alkej-10	28	4	8	8	X
alkej-10	28	5	]	]	PUNCT
alkej-10	28	6	the	the	DET
alkej-10	28	7	structure	structure	NOUN
alkej-10	28	8	of	of	ADP
alkej-10	28	9	a	a	DET
alkej-10	28	10	control	control	NOUN
alkej-10	28	11	system	system	NOUN
alkej-10	28	12	was	be	AUX
alkej-10	28	13	proved	prove	VERB
alkej-10	28	14	and	and	CCONJ
alkej-10	28	15	the	the	DET
alkej-10	28	16	base	base	NOUN
alkej-10	28	17	logical	logical	ADJ
alkej-10	28	18	algorithms	algorithm	NOUN
alkej-10	28	19	allowing	allow	VERB
alkej-10	28	20	effectively	effectively	ADV
alkej-10	28	21	to	to	PART
alkej-10	28	22	operate	operate	VERB
alkej-10	28	23	by	by	ADP
alkej-10	28	24	moving	move	VERB
alkej-10	28	25	the	the	DET
alkej-10	28	26	мr	мr	NOUN
alkej-10	28	27	on	on	ADP
alkej-10	28	28	a	a	DET
alkej-10	28	29	program	program	NOUN
alkej-10	28	30	trajectory	trajectory	NOUN
alkej-10	28	31	under	under	ADP
alkej-10	28	32	enough	enough	ADJ
alkej-10	28	33	good	good	ADJ
alkej-10	28	34	conditions	condition	NOUN
alkej-10	28	35	of	of	ADP
alkej-10	28	36	coupling	coupling	NOUN
alkej-10	28	37	of	of	ADP
alkej-10	28	38	wheels	wheel	NOUN
alkej-10	28	39	with	with	ADP
alkej-10	28	40	a	a	DET
alkej-10	28	41	surface	surface	NOUN
alkej-10	28	42	.	.	PUNCT
alkej-10	29	1	in	in	ADP
alkej-10	29	2	work	work	NOUN
alkej-10	29	3	[	[	X
alkej-10	29	4	9	9	NUM
alkej-10	29	5	]	]	SYM
alkej-10	29	6	base	base	NOUN
alkej-10	29	7	algorithm	algorithm	NOUN
alkej-10	29	8	was	be	AUX
alkej-10	29	9	added	add	VERB
alkej-10	29	10	with	with	ADP
alkej-10	29	11	the	the	DET
alkej-10	29	12	logic	logic	NOUN
alkej-10	29	13	blocks	block	NOUN
alkej-10	29	14	intended	intend	VERB
alkej-10	29	15	for	for	ADP
alkej-10	29	16	correction	correction	NOUN
alkej-10	29	17	of	of	ADP
alkej-10	29	18	control	control	NOUN
alkej-10	29	19	at	at	ADP
alkej-10	29	20	deterioration	deterioration	NOUN
alkej-10	29	21	of	of	ADP
alkej-10	29	22	conditions	condition	NOUN
alkej-10	29	23	of	of	ADP
alkej-10	29	24	coupling	coupling	NOUN
alkej-10	29	25	of	of	ADP
alkej-10	29	26	wheels	wheel	NOUN
alkej-10	29	27	with	with	ADP
alkej-10	29	28	a	a	DET
alkej-10	29	29	surface	surface	NOUN
alkej-10	29	30	.	.	PUNCT
alkej-10	30	1	it	it	PRON
alkej-10	30	2	was	be	AUX
alkej-10	30	3	shown	show	VERB
alkej-10	30	4	,	,	PUNCT
alkej-10	30	5	that	that	SCONJ
alkej-10	30	6	even	even	ADV
alkej-10	30	7	under	under	ADP
alkej-10	30	8	very	very	ADV
alkej-10	30	9	bad	bad	ADJ
alkej-10	30	10	conditions	condition	NOUN
alkej-10	30	11	of	of	ADP
alkej-10	30	12	coupling	coupling	NOUN
alkej-10	30	13	(	(	PUNCT
alkej-10	30	14	for	for	ADP
alkej-10	30	15	example	example	NOUN
alkej-10	30	16	,	,	PUNCT
alkej-10	30	17	the	the	DET
alkej-10	30	18	movement	movement	NOUN
alkej-10	30	19	of	of	ADP
alkej-10	30	20	мr	мr	PROPN
alkej-10	30	21	on	on	ADP
alkej-10	30	22	a	a	DET
alkej-10	30	23	slippery	slippery	ADJ
alkej-10	30	24	surface	surface	NOUN
alkej-10	30	25	)	)	PUNCT
alkej-10	30	26	,	,	PUNCT
alkej-10	30	27	correction	correction	NOUN
alkej-10	30	28	of	of	ADP
alkej-10	30	29	control	control	NOUN
alkej-10	30	30	allows	allow	VERB
alkej-10	30	31	to	to	PART
alkej-10	30	32	keep	keep	VERB
alkej-10	30	33	мr	мr	X
alkej-10	30	34	on	on	ADP
alkej-10	30	35	a	a	DET
alkej-10	30	36	program	program	NOUN
alkej-10	30	37	trajectory	trajectory	NOUN
alkej-10	30	38	.	.	PUNCT
alkej-10	31	1	two	two	NUM
alkej-10	31	2	circumstances	circumstance	NOUN
alkej-10	31	3	are	be	AUX
alkej-10	31	4	important	important	ADJ
alkej-10	31	5	:	:	PUNCT
alkej-10	31	6	a	a	DET
alkej-10	31	7	choice	choice	NOUN
alkej-10	31	8	of	of	ADP
alkej-10	31	9	adjusting	adjust	VERB
alkej-10	31	10	control	control	NOUN
alkej-10	31	11	and	and	CCONJ
alkej-10	31	12	diagnostics	diagnostic	NOUN
alkej-10	31	13	of	of	ADP
alkej-10	31	14	occurrence	occurrence	NOUN
alkej-10	31	15	slippery	slippery	PROPN
alkej-10	31	16	.	.	PUNCT
alkej-10	32	1	today	today	NOUN
alkej-10	32	2	,	,	PUNCT
alkej-10	32	3	fuzzy	fuzzy	ADJ
alkej-10	32	4	logic	logic	NOUN
alkej-10	32	5	has	have	AUX
alkej-10	32	6	been	be	AUX
alkej-10	32	7	widely	widely	ADV
alkej-10	32	8	used	use	VERB
alkej-10	32	9	in	in	ADP
alkej-10	32	10	automotive	automotive	ADJ
alkej-10	32	11	control	control	NOUN
alkej-10	32	12	applications	application	NOUN
alkej-10	32	13	and	and	CCONJ
alkej-10	32	14	has	have	AUX
alkej-10	32	15	transformed	transform	VERB
alkej-10	32	16	many	many	ADJ
alkej-10	32	17	commercial	commercial	ADJ
alkej-10	32	18	product	product	NOUN
alkej-10	32	19	markets	market	NOUN
alkej-10	32	20	in	in	ADP
alkej-10	32	21	japan	japan	PROPN
alkej-10	32	22	and	and	CCONJ
alkej-10	32	23	germany	germany	PROPN
alkej-10	32	24	.	.	PUNCT
alkej-10	33	1	many	many	ADJ
alkej-10	33	2	experts	expert	NOUN
alkej-10	33	3	predict	predict	VERB
alkej-10	33	4	that	that	SCONJ
alkej-10	33	5	fuzzy	fuzzy	ADJ
alkej-10	33	6	technology	technology	NOUN
alkej-10	33	7	is	be	AUX
alkej-10	33	8	on	on	ADP
alkej-10	33	9	its	its	PRON
alkej-10	33	10	way	way	NOUN
alkej-10	33	11	to	to	ADP
alkej-10	33	12	becoming	become	VERB
alkej-10	33	13	a	a	DET
alkej-10	33	14	multibillion	multibillion	NOUN
alkej-10	33	15	-	-	PUNCT
alkej-10	33	16	dollar	dollar	NOUN
alkej-10	33	17	industry	industry	NOUN
alkej-10	33	18	.	.	PUNCT
alkej-10	34	1	the	the	DET
alkej-10	34	2	main	main	ADJ
alkej-10	34	3	idea	idea	NOUN
alkej-10	34	4	behind	behind	ADP
alkej-10	34	5	fuzzy	fuzzy	ADJ
alkej-10	34	6	control	control	NOUN
alkej-10	34	7	is	be	AUX
alkej-10	34	8	to	to	PART
alkej-10	34	9	model	model	VERB
alkej-10	34	10	an	an	DET
alkej-10	34	11	expert	expert	NOUN
alkej-10	34	12	operator	operator	NOUN
alkej-10	34	13	who	who	PRON
alkej-10	34	14	is	be	AUX
alkej-10	34	15	able	able	ADJ
alkej-10	34	16	to	to	PART
alkej-10	34	17	control	control	VERB
alkej-10	34	18	the	the	DET
alkej-10	34	19	process	process	NOUN
alkej-10	34	20	,	,	PUNCT
alkej-10	34	21	instead	instead	ADV
alkej-10	34	22	of	of	ADP
alkej-10	34	23	using	use	VERB
alkej-10	34	24	a	a	DET
alkej-10	34	25	mathematical	mathematical	ADJ
alkej-10	34	26	formalization	formalization	NOUN
alkej-10	34	27	of	of	ADP
alkej-10	34	28	the	the	DET
alkej-10	34	29	process	process	NOUN
alkej-10	34	30	as	as	ADP
alkej-10	34	31	in	in	ADP
alkej-10	34	32	modern	modern	ADJ
alkej-10	34	33	control	control	NOUN
alkej-10	34	34	theory	theory	NOUN
alkej-10	34	35	.	.	PUNCT
alkej-10	35	1	although	although	SCONJ
alkej-10	35	2	there	there	PRON
alkej-10	35	3	are	be	VERB
alkej-10	35	4	many	many	ADJ
alkej-10	35	5	practical	practical	ADJ
alkej-10	35	6	successes	success	NOUN
alkej-10	35	7	,	,	PUNCT
alkej-10	35	8	fuzzy	fuzzy	ADJ
alkej-10	35	9	control	control	NOUN
alkej-10	35	10	has	have	AUX
alkej-10	35	11	not	not	PART
alkej-10	35	12	been	be	AUX
alkej-10	35	13	viewed	view	VERB
alkej-10	35	14	as	as	ADP
alkej-10	35	15	a	a	DET
alkej-10	35	16	rigorous	rigorous	ADJ
alkej-10	35	17	science	science	NOUN
alkej-10	35	18	due	due	ADP
alkej-10	35	19	to	to	ADP
alkej-10	35	20	a	a	DET
alkej-10	35	21	lack	lack	NOUN
alkej-10	35	22	of	of	ADP
alkej-10	35	23	formal	formal	ADJ
alkej-10	35	24	synthesis	synthesis	NOUN
alkej-10	35	25	techniques	technique	NOUN
alkej-10	35	26	.	.	PUNCT
alkej-10	36	1	fuzzy	fuzzy	ADJ
alkej-10	36	2	control	control	NOUN
alkej-10	36	3	should	should	AUX
alkej-10	36	4	be	be	AUX
alkej-10	36	5	useful	useful	ADJ
alkej-10	36	6	when	when	SCONJ
alkej-10	36	7	a	a	DET
alkej-10	36	8	workable	workable	ADJ
alkej-10	36	9	mathematical	mathematical	ADJ
alkej-10	36	10	model	model	NOUN
alkej-10	36	11	for	for	ADP
alkej-10	36	12	a	a	DET
alkej-10	36	13	plant	plant	NOUN
alkej-10	36	14	is	be	AUX
alkej-10	36	15	very	very	ADV
alkej-10	36	16	difficult	difficult	ADJ
alkej-10	36	17	or	or	CCONJ
alkej-10	36	18	impossible	impossible	ADJ
alkej-10	36	19	to	to	PART
alkej-10	36	20	derive	derive	VERB
alkej-10	36	21	or	or	CCONJ
alkej-10	36	22	the	the	DET
alkej-10	36	23	mathematical	mathematical	ADJ
alkej-10	36	24	model	model	NOUN
alkej-10	36	25	is	be	AUX
alkej-10	36	26	complex	complex	ADJ
alkej-10	36	27	and	and	CCONJ
alkej-10	36	28	computing	compute	VERB
alkej-10	36	29	it	it	PRON
alkej-10	36	30	in	in	ADP
alkej-10	36	31	real	real	ADJ
alkej-10	36	32	time	time	NOUN
alkej-10	36	33	would	would	AUX
alkej-10	36	34	require	require	VERB
alkej-10	36	35	expensive	expensive	ADJ
alkej-10	36	36	processors	processor	NOUN
alkej-10	36	37	.	.	PUNCT
alkej-10	37	1	this	this	DET
alkej-10	37	2	paper	paper	NOUN
alkej-10	37	3	describes	describe	VERB
alkej-10	37	4	the	the	DET
alkej-10	37	5	application	application	NOUN
alkej-10	37	6	of	of	ADP
alkej-10	37	7	fuzzy	fuzzy	ADJ
alkej-10	37	8	control	control	NOUN
alkej-10	37	9	to	to	ADP
alkej-10	37	10	a	a	DET
alkej-10	37	11	feedback	feedback	NOUN
alkej-10	37	12	system	system	NOUN
alkej-10	37	13	within	within	ADP
alkej-10	37	14	slippery	slippery	ADJ
alkej-10	37	15	environment	environment	NOUN
alkej-10	37	16	where	where	SCONJ
alkej-10	37	17	the	the	DET
alkej-10	37	18	basic	basic	ADJ
alkej-10	37	19	attention	attention	NOUN
alkej-10	37	20	is	be	AUX
alkej-10	37	21	given	give	VERB
alkej-10	37	22	to	to	ADP
alkej-10	37	23	a	a	DET
alkej-10	37	24	problem	problem	NOUN
alkej-10	37	25	of	of	ADP
alkej-10	37	26	diagnostics	diagnostic	NOUN
alkej-10	37	27	.	.	PUNCT
alkej-10	38	1	study	study	NOUN
alkej-10	38	2	is	be	AUX
alkej-10	38	3	conducted	conduct	VERB
alkej-10	38	4	on	on	ADP
alkej-10	38	5	example	example	NOUN
alkej-10	38	6	of	of	ADP
alkej-10	38	7	мr	мr	X
alkej-10	38	8	with	with	ADP
alkej-10	38	9	two	two	NUM
alkej-10	38	10	driving	drive	VERB
alkej-10	38	11	wheels	wheel	NOUN
alkej-10	38	12	.	.	PUNCT
alkej-10	39	1	2	2	NUM
alkej-10	39	2	.	.	X
alkej-10	39	3	wheel	wheel	NOUN
alkej-10	39	4	-	-	PUNCT
alkej-10	39	5	ground	ground	NOUN
alkej-10	39	6	contact	contact	NOUN
alkej-10	39	7	model	model	NOUN
alkej-10	39	8	numerous	numerous	ADJ
alkej-10	39	9	approaches	approach	NOUN
alkej-10	39	10	to	to	PART
alkej-10	39	11	wheelground	wheelground	NOUN
alkej-10	39	12	modeling	modeling	NOUN
alkej-10	39	13	are	be	AUX
alkej-10	39	14	documented	document	VERB
alkej-10	39	15	in	in	ADP
alkej-10	39	16	the	the	DET
alkej-10	39	17	literature	literature	NOUN
alkej-10	39	18	.	.	PUNCT
alkej-10	40	1	simple	simple	ADJ
alkej-10	40	2	one	one	NOUN
alkej-10	40	3	is	be	AUX
alkej-10	40	4	adopted	adopt	VERB
alkej-10	40	5	here	here	ADV
alkej-10	40	6	to	to	PART
alkej-10	40	7	describe	describe	VERB
alkej-10	40	8	tire	tire	NOUN
alkej-10	40	9	forces	force	NOUN
alkej-10	40	10	in	in	ADP
alkej-10	40	11	the	the	DET
alkej-10	40	12	vertical	vertical	ADJ
alkej-10	40	13	(	(	PUNCT
alkej-10	40	14	i.e.	i.e.	X
alkej-10	40	15	,	,	PUNCT
alkej-10	40	16	normal	normal	ADJ
alkej-10	40	17	to	to	ADP
alkej-10	40	18	the	the	DET
alkej-10	40	19	road	road	NOUN
alkej-10	40	20	surface	surface	NOUN
alkej-10	40	21	)	)	PUNCT
alkej-10	40	22	and	and	CCONJ
alkej-10	40	23	longitudinal	longitudinal	ADJ
alkej-10	40	24	(	(	PUNCT
alkej-10	40	25	in	in	ADP
alkej-10	40	26	the	the	DET
alkej-10	40	27	tire	tire	NOUN
alkej-10	40	28	plane	plane	NOUN
alkej-10	40	29	,	,	PUNCT
alkej-10	40	30	tangent	tangent	NOUN
alkej-10	40	31	to	to	ADP
alkej-10	40	32	the	the	DET
alkej-10	40	33	road	road	NOUN
alkej-10	40	34	surface	surface	NOUN
alkej-10	40	35	)	)	PUNCT
alkej-10	40	36	directions	direction	NOUN
alkej-10	40	37	.	.	PUNCT
alkej-10	41	1	in	in	ADP
alkej-10	41	2	development	development	NOUN
alkej-10	41	3	of	of	ADP
alkej-10	41	4	the	the	DET
alkej-10	41	5	model	model	NOUN
alkej-10	41	6	of	of	ADP
alkej-10	41	7	wheel	wheel	NOUN
alkej-10	41	8	we	we	PRON
alkej-10	41	9	shall	shall	AUX
alkej-10	41	10	take	take	VERB
alkej-10	41	11	into	into	ADP
alkej-10	41	12	account	account	NOUN
alkej-10	41	13	two	two	NUM
alkej-10	41	14	main	main	ADJ
alkej-10	41	15	effects[9	effects[9	NOUN
alkej-10	41	16	]	]	PUNCT
alkej-10	41	17	:	:	PUNCT
alkej-10	41	18	effect	effect	NOUN
alkej-10	41	19	of	of	ADP
alkej-10	41	20	pseudo	pseudo	NOUN
alkej-10	41	21	-	-	ADJ
alkej-10	41	22	sliding	sliding	ADJ
alkej-10	41	23	,	,	PUNCT
alkej-10	41	24	type	type	NOUN
alkej-10	41	25	creep	creep	NOUN
alkej-10	41	26	and	and	CCONJ
alkej-10	41	27	withdrawal	withdrawal	NOUN
alkej-10	41	28	which	which	PRON
alkej-10	41	29	are	be	AUX
alkej-10	41	30	coherent	coherent	ADJ
alkej-10	41	31	with	with	ADP
alkej-10	41	32	deformation	deformation	NOUN
alkej-10	41	33	of	of	ADP
alkej-10	41	34	periphery	periphery	NOUN
alkej-10	41	35	of	of	ADP
alkej-10	41	36	a	a	DET
alkej-10	41	37	wheel	wheel	NOUN
alkej-10	42	1	[	[	X
alkej-10	42	2	10	10	NUM
alkej-10	42	3	]	]	PUNCT
alkej-10	42	4	,	,	PUNCT
alkej-10	42	5	and	and	CCONJ
alkej-10	42	6	also	also	ADV
alkej-10	42	7	the	the	DET
alkej-10	42	8	effect	effect	NOUN
alkej-10	42	9	of	of	ADP
alkej-10	42	10	full	full	ADJ
alkej-10	42	11	slip	slip	NOUN
alkej-10	42	12	condition	condition	NOUN
alkej-10	42	13	type	type	NOUN
alkej-10	42	14	and	and	CCONJ
alkej-10	42	15	the	the	DET
alkej-10	42	16	lateral	lateral	ADJ
alkej-10	42	17	drift	drift	NOUN
alkej-10	42	18	for	for	ADP
alkej-10	42	19	which	which	DET
alkej-10	42	20	deformation	deformation	NOUN
alkej-10	42	21	of	of	ADP
alkej-10	42	22	periphery	periphery	NOUN
alkej-10	42	23	of	of	ADP
alkej-10	42	24	a	a	DET
alkej-10	42	25	wheel	wheel	NOUN
alkej-10	42	26	is	be	AUX
alkej-10	42	27	the	the	DET
alkej-10	42	28	minor	minor	ADJ
alkej-10	42	29	factor	factor	NOUN
alkej-10	42	30	.	.	PUNCT
alkej-10	43	1	in	in	ADP
alkej-10	43	2	both	both	DET
alkej-10	43	3	cases	case	NOUN
alkej-10	43	4	there	there	PRON
alkej-10	43	5	is	be	VERB
alkej-10	43	6	an	an	DET
alkej-10	43	7	infringement	infringement	NOUN
alkej-10	43	8	of	of	ADP
alkej-10	43	9	the	the	DET
alkej-10	43	10	connections	connection	NOUN
alkej-10	43	11	describing	describe	VERB
alkej-10	43	12	ideal	ideal	ADJ
alkej-10	43	13	contact	contact	NOUN
alkej-10	43	14	of	of	ADP
alkej-10	43	15	a	a	DET
alkej-10	43	16	wheel	wheel	NOUN
alkej-10	43	17	with	with	ADP
alkej-10	43	18	a	a	DET
alkej-10	43	19	surface	surface	NOUN
alkej-10	43	20	.	.	PUNCT
alkej-10	44	1	however	however	ADV
alkej-10	44	2	,	,	PUNCT
alkej-10	44	3	at	at	ADP
alkej-10	44	4	pseudosliding	pseudoslide	VERB
alkej-10	44	5	a	a	DET
alkej-10	44	6	deviation	deviation	NOUN
alkej-10	44	7	of	of	ADP
alkej-10	44	8	parameters	parameter	NOUN
alkej-10	44	9	of	of	ADP
alkej-10	44	10	movement	movement	NOUN
alkej-10	44	11	in	in	ADP
alkej-10	44	12	comparison	comparison	NOUN
alkej-10	44	13	with	with	ADP
alkej-10	44	14	infringement	infringement	NOUN
alkej-10	44	15	as	as	SCONJ
alkej-10	44	16	a	a	DET
alkej-10	44	17	case	case	NOUN
alkej-10	44	18	are	be	AUX
alkej-10	44	19	considered	consider	VERB
alkej-10	44	20	small	small	ADJ
alkej-10	44	21	,	,	PUNCT
alkej-10	44	22	and	and	CCONJ
alkej-10	44	23	at	at	ADP
alkej-10	44	24	full	full	ADJ
alkej-10	44	25	slipping	slip	VERB
alkej-10	44	26	unlimited	unlimited	ADJ
alkej-10	44	27	deviations	deviation	NOUN
alkej-10	44	28	basically	basically	ADV
alkej-10	44	29	are	be	AUX
alkej-10	44	30	possible	possible	ADJ
alkej-10	44	31	.	.	PUNCT
alkej-10	45	1	the	the	DET
alkej-10	45	2	control	control	NOUN
alkej-10	45	3	problems	problem	NOUN
alkej-10	45	4	of	of	ADP
alkej-10	45	5	rolling	rolling	ADJ
alkej-10	45	6	wheels	wheel	NOUN
alkej-10	45	7	model	model	NOUN
alkej-10	45	8	of	of	ADP
alkej-10	45	9	мr	мr	X
alkej-10	45	10	for	for	ADP
alkej-10	45	11	cases	case	NOUN
alkej-10	45	12	of	of	ADP
alkej-10	45	13	pseudosliding	pseudoslide	VERB
alkej-10	45	14	were	be	AUX
alkej-10	45	15	considered	consider	VERB
alkej-10	45	16	by	by	ADP
alkej-10	45	17	many	many	ADJ
alkej-10	45	18	authors	author	NOUN
alkej-10	45	19	[	[	X
alkej-10	45	20	11,12,13	11,12,13	NUM
alkej-10	45	21	]	]	PUNCT
alkej-10	45	22	usually	usually	ADV
alkej-10	45	23	pseudo	pseudo	NOUN
alkej-10	45	24	-	-	ADJ
alkej-10	45	25	sliding	sliding	NOUN
alkej-10	45	26	is	be	AUX
alkej-10	45	27	considered	consider	VERB
alkej-10	45	28	in	in	ADP
alkej-10	45	29	the	the	DET
alkej-10	45	30	assumption	assumption	NOUN
alkej-10	45	31	of	of	ADP
alkej-10	45	32	independence	independence	NOUN
alkej-10	45	33	creep	creep	NOUN
alkej-10	45	34	and	and	CCONJ
alkej-10	45	35	withdrawal	withdrawal	NOUN
alkej-10	45	36	[	[	X
alkej-10	45	37	14	14	NUM
alkej-10	45	38	]	]	PUNCT
alkej-10	45	39	.	.	PUNCT
alkej-10	46	1	the	the	DET
alkej-10	46	2	model	model	NOUN
alkej-10	46	3	of	of	ADP
alkej-10	46	4	a	a	DET
alkej-10	46	5	wheel	wheel	NOUN
alkej-10	46	6	at	at	ADP
alkej-10	46	7	full	full	ADJ
alkej-10	46	8	slipping	slipping	NOUN
alkej-10	46	9	when	when	SCONJ
alkej-10	46	10	deformation	deformation	NOUN
alkej-10	46	11	of	of	ADP
alkej-10	46	12	periphery	periphery	NOUN
alkej-10	46	13	of	of	ADP
alkej-10	46	14	a	a	DET
alkej-10	46	15	wheel	wheel	NOUN
alkej-10	46	16	can	can	AUX
alkej-10	46	17	be	be	AUX
alkej-10	46	18	neglected	neglect	VERB
alkej-10	46	19	,	,	PUNCT
alkej-10	46	20	is	be	AUX
alkej-10	46	21	presented	present	VERB
alkej-10	46	22	in	in	ADP
alkej-10	46	23	work	work	NOUN
alkej-10	46	24	[	[	X
alkej-10	46	25	9	9	NUM
alkej-10	46	26	]	]	PUNCT
alkej-10	46	27	.	.	PUNCT
alkej-10	47	1	in	in	ADP
alkej-10	47	2	[	[	X
alkej-10	47	3	15	15	NUM
alkej-10	47	4	]	]	X
alkej-10	47	5	the	the	DET
alkej-10	47	6	wheel	wheel	NOUN
alkej-10	47	7	is	be	AUX
alkej-10	47	8	considered	consider	VERB
alkej-10	47	9	as	as	ADP
alkej-10	47	10	a	a	DET
alkej-10	47	11	thin	thin	ADJ
alkej-10	47	12	hard	hard	ADJ
alkej-10	47	13	disk	disk	NOUN
alkej-10	47	14	,	,	PUNCT
alkej-10	47	15	and	and	CCONJ
alkej-10	47	16	interaction	interaction	NOUN
alkej-10	47	17	in	in	ADP
alkej-10	47	18	a	a	DET
alkej-10	47	19	point	point	NOUN
alkej-10	47	20	of	of	ADP
alkej-10	47	21	contact	contact	NOUN
alkej-10	47	22	of	of	ADP
alkej-10	47	23	a	a	DET
alkej-10	47	24	wheel	wheel	NOUN
alkej-10	47	25	with	with	ADP
alkej-10	47	26	a	a	DET
alkej-10	47	27	surface	surface	NOUN
alkej-10	47	28	is	be	AUX
alkej-10	47	29	described	describe	VERB
alkej-10	47	30	by	by	ADP
alkej-10	47	31	model	model	NOUN
alkej-10	47	32	of	of	ADP
alkej-10	47	33	friction	friction	NOUN
alkej-10	47	34	with	with	ADP
alkej-10	47	35	a	a	DET
alkej-10	47	36	falling	fall	VERB
alkej-10	47	37	site	site	NOUN
alkej-10	47	38	of	of	ADP
alkej-10	47	39	the	the	DET
alkej-10	47	40	characteristic	characteristic	NOUN
alkej-10	47	41	,	,	PUNCT
alkej-10	47	42	such	such	ADJ
alkej-10	47	43	as	as	ADP
alkej-10	47	44	creep	creep	NOUN
alkej-10	47	45	-	-	PUNCT
alkej-10	47	46	effect	effect	NOUN
alkej-10	47	47	.	.	PUNCT
alkej-10	48	1	thus	thus	ADV
alkej-10	48	2	longitudinal	longitudinal	ADJ
alkej-10	48	3	and	and	CCONJ
alkej-10	48	4	wheels	wheel	NOUN
alkej-10	48	5	cross	cross	VERB
alkej-10	48	6	slipping	slip	VERB
alkej-10	48	7	interference	interference	NOUN
alkej-10	48	8	is	be	AUX
alkej-10	48	9	taken	take	VERB
alkej-10	48	10	into	into	ADP
alkej-10	48	11	account	account	NOUN
alkej-10	48	12	.	.	PUNCT
alkej-10	49	1	in	in	ADP
alkej-10	49	2	work	work	NOUN
alkej-10	49	3	[	[	X
alkej-10	49	4	9	9	NUM
alkej-10	49	5	]	]	X
alkej-10	49	6	standard	standard	ADJ
alkej-10	49	7	coordination	coordination	NOUN
alkej-10	49	8	was	be	AUX
alkej-10	49	9	used	use	VERB
alkej-10	49	10	for	for	ADP
alkej-10	49	11	the	the	DET
alkej-10	49	12	model	model	NOUN
alkej-10	49	13	of	of	ADP
alkej-10	49	14	a	a	DET
alkej-10	49	15	wheel	wheel	NOUN
alkej-10	49	16	at	at	ADP
alkej-10	49	17	pseudo	pseudo	NOUN
alkej-10	49	18	-	-	PUNCT
alkej-10	49	19	sliding	slide	VERB
alkej-10	49	20	and	and	CCONJ
alkej-10	49	21	model	model	NOUN
alkej-10	49	22	for	for	ADP
alkej-10	49	23	a	a	DET
alkej-10	49	24	wheel	wheel	NOUN
alkej-10	49	25	at	at	ADP
alkej-10	49	26	full	full	ADJ
alkej-10	49	27	slipping	slip	VERB
alkej-10	49	28	conditions	condition	NOUN
alkej-10	49	29	.	.	PUNCT
alkej-10	50	1	this	this	DET
alkej-10	50	2	problem	problem	NOUN
alkej-10	50	3	is	be	AUX
alkej-10	50	4	offered	offer	VERB
alkej-10	50	5	to	to	PART
alkej-10	50	6	be	be	AUX
alkej-10	50	7	solved	solve	VERB
alkej-10	50	8	within	within	ADP
alkej-10	50	9	the	the	DET
alkej-10	50	10	framework	framework	NOUN
alkej-10	50	11	of	of	ADP
alkej-10	50	12	rolling	rolling	ADJ
alkej-10	50	13	wheel	wheel	NOUN
alkej-10	50	14	model	model	NOUN
alkej-10	50	15	algorithmic	algorithmic	ADJ
alkej-10	50	16	,	,	PUNCT
alkej-10	50	17	providing	provide	VERB
alkej-10	50	18	a	a	DET
alkej-10	50	19	continuity	continuity	NOUN
alkej-10	50	20	of	of	ADP
alkej-10	50	21	change	change	NOUN
alkej-10	50	22	of	of	ADP
alkej-10	50	23	the	the	DET
alkej-10	50	24	force	force	NOUN
alkej-10	50	25	characteristic	characteristic	ADJ
alkej-10	50	26	in	in	ADP
alkej-10	50	27	a	a	DET
alkej-10	50	28	point	point	NOUN
alkej-10	50	29	of	of	ADP
alkej-10	50	30	contact	contact	NOUN
alkej-10	50	31	of	of	ADP
alkej-10	50	32	the	the	DET
alkej-10	50	33	wheel	wheel	NOUN
alkej-10	50	34	with	with	ADP
alkej-10	50	35	a	a	DET
alkej-10	50	36	surface	surface	NOUN
alkej-10	50	37	.	.	PUNCT
alkej-10	51	1	the	the	DET
alkej-10	51	2	friction	friction	NOUN
alkej-10	51	3	force	force	NOUN
alkej-10	51	4	r	r	NOUN
alkej-10	51	5	(	(	PUNCT
alkej-10	51	6	with	with	ADP
alkej-10	51	7	components	component	NOUN
alkej-10	51	8	r1	r1	PROPN
alkej-10	51	9	in	in	ADP
alkej-10	51	10	1i	1i	NOUN
alkej-10	51	11	direction	direction	NOUN
alkej-10	51	12	and	and	CCONJ
alkej-10	51	13	r2	r2	PROPN
alkej-10	51	14	in	in	ADP
alkej-10	51	15	2i	2i	NUM
alkej-10	51	16	direction	direction	NOUN
alkej-10	51	17	,	,	PUNCT
alkej-10	51	18	figure	figure	NOUN
alkej-10	51	19	1	1	NUM
alkej-10	51	20	)	)	PUNCT
alkej-10	51	21	parallel	parallel	NOUN
alkej-10	51	22	to	to	ADP
alkej-10	51	23	the	the	DET
alkej-10	51	24	road	road	NOUN
alkej-10	51	25	surface	surface	NOUN
alkej-10	51	26	is[9	is[9	NOUN
alkej-10	51	27	]	]	PUNCT
alkej-10	51	28	dr.nabil	dr.nabil	PROPN
alkej-10	51	29	hassan	hassan	PROPN
alkej-10	51	30	hadi	hadi	PROPN
alkej-10	51	31	/	/	SYM
alkej-10	51	32	al	al	PROPN
alkej-10	51	33	-	-	PUNCT
alkej-10	51	34	khwarizmi	khwarizmi	PROPN
alkej-10	51	35	engineering	engineering	NOUN
alkej-10	51	36	journal	journal	PROPN
alkej-10	51	37	,	,	PUNCT
alkej-10	51	38	vol.1	vol.1	PROPN
alkej-10	51	39	,	,	PUNCT
alkej-10	51	40	no	no	INTJ
alkej-10	51	41	.	.	PUNCT
alkej-10	52	1	2,pp	2,pp	NUM
alkej-10	52	2	41	41	NUM
alkej-10	52	3	-	-	SYM
alkej-10	52	4	51	51	NUM
alkej-10	52	5	(	(	PUNCT
alkej-10	52	6	2005	2005	NUM
alkej-10	52	7	)	)	PUNCT
alkej-10	52	8	43	43	NUM
alkej-10	52	9	2211	2211	NUM
alkej-10	52	10	irirr	irirr	NOUN
alkej-10	53	1	+	+	NOUN
alkej-10	53	2	=	=	X
alkej-10	53	3	(	(	PUNCT
alkej-10	53	4	)	)	PUNCT
alkej-10	53	5	(	(	PUNCT
alkej-10	53	6	)	)	PUNCT
alkej-10	53	7			NOUN
alkej-10	53	8			VERB
alkej-10	53	9			PUNCT
alkej-10	54	1			PROPN
alkej-10	54	2			PROPN
alkej-10	54	3			NOUN
alkej-10	54	4			NOUN
alkej-10	54	5			VERB
alkej-10	54	6	−−=	−−=	NOUN
alkej-10	54	7			NOUN
alkej-10	54	8			VERB
alkej-10	54	9			PUNCT
alkej-10	55	1			PROPN
alkej-10	55	2			PROPN
alkej-10	55	3			NOUN
alkej-10	55	4			NOUN
alkej-10	55	5			VERB
alkej-10	55	6			NOUN
alkej-10	55	7			ADP
alkej-10	55	8			PROPN
alkej-10	55	9	>	>	X
alkej-10	55	10	<	<	X
alkej-10	55	11	−−=	−−=	PROPN
alkej-10	55	12	1	1	NUM
alkej-10	55	13	2	2	NUM
alkej-10	55	14	2	2	NUM
alkej-10	55	15	2	2	NUM
alkej-10	55	16	2	2	NUM
alkej-10	55	17	111	111	NUM
alkej-10	55	18	11	11	NUM
alkej-10	55	19	1	1	NUM
alkej-10	55	20	1	1	NUM
alkej-10	55	21	1	1	NUM
alkej-10	55	22	,	,	PUNCT
alkej-10	55	23	min	min	NOUN
alkej-10	55	24	,	,	PUNCT
alkej-10	55	25	,	,	PUNCT
alkej-10	55	26	,	,	PUNCT
alkej-10	55	27	min	min	PROPN
alkej-10	55	28	v	v	NOUN
alkej-10	55	29	v	v	ADP
alkej-10	55	30	c	c	NOUN
alkej-10	55	31	v	v	ADP
alkej-10	55	32	v	v	NUM
alkej-10	55	33	vnr	vnr	NOUN
alkej-10	55	34	rvvv	rvvv	NOUN
alkej-10	55	35	rvrv	rvrv	VERB
alkej-10	55	36	c	c	PROPN
alkej-10	55	37	v	v	ADP
alkej-10	55	38	v	v	NUM
alkej-10	55	39	vnr	vnr	NOUN
alkej-10	55	40	s	s	PROPN
alkej-10	55	41	s	s	NOUN
alkej-10	55	42	s	s	PROPN
alkej-10	55	43	ws	ws	PROPN
alkej-10	55	44	wws	wws	PROPN
alkej-10	55	45	s	s	PROPN
alkej-10	55	46	s	s	PROPN
alkej-10	55	47	s	s	PROPN
alkej-10	55	48	µ	µ	X
alkej-10	55	49	ω	ω	X
alkej-10	55	50	ωω	ωω	X
alkej-10	55	51	µ	µ	X
alkej-10	55	52	(	(	PUNCT
alkej-10	55	53	1	1	NUM
alkej-10	55	54	)	)	PUNCT
alkej-10	55	55	2211	2211	NUM
alkej-10	55	56	ivivv	ivivv	VERB
alkej-10	55	57	ss	ss	ADP
alkej-10	56	1	+	+	PROPN
alkej-10	56	2	=	=	PROPN
alkej-10	56	3	s	s	PART
alkej-10	56	4	ws	ws	PROPN
alkej-10	56	5	rvv	rvv	PROPN
alkej-10	56	6	ω+=	ω+=	PROPN
alkej-10	56	7	11	11	NUM
alkej-10	56	8	,	,	PUNCT
alkej-10	56	9	22	22	NUM
alkej-10	56	10	svv	svv	VERB
alkej-10	56	11	=	=	PUNCT
alkej-10	56	12	where	where	SCONJ
alkej-10	56	13	n	n	DET
alkej-10	56	14	normal	normal	ADJ
alkej-10	56	15	reaction	reaction	NOUN
alkej-10	56	16	;	;	PUNCT
alkej-10	56	17	(	(	PUNCT
alkej-10	56	18	)	)	PUNCT
alkej-10	56	19	svµ	svµ	NOUN
alkej-10	56	20	factor	factor	NOUN
alkej-10	56	21	of	of	ADP
alkej-10	56	22	a	a	DET
alkej-10	56	23	sliding	slide	VERB
alkej-10	56	24	friction	friction	NOUN
alkej-10	56	25	with	with	ADP
alkej-10	56	26	the	the	DET
alkej-10	56	27	account	account	NOUN
alkej-10	56	28	of	of	ADP
alkej-10	56	29	creep	creep	PROPN
alkej-10	56	30	effect	effect	NOUN
alkej-10	56	31	;	;	PUNCT
alkej-10	56	32	−sv	−sv	PROPN
alkej-10	56	33	a	a	DET
alkej-10	56	34	vector	vector	NOUN
alkej-10	56	35	of	of	ADP
alkej-10	56	36	speed	speed	NOUN
alkej-10	56	37	of	of	ADP
alkej-10	56	38	sliding	slide	VERB
alkej-10	56	39	of	of	ADP
alkej-10	56	40	a	a	DET
alkej-10	56	41	wheel	wheel	NOUN
alkej-10	56	42	in	in	ADP
alkej-10	56	43	a	a	DET
alkej-10	56	44	point	point	NOUN
alkej-10	56	45	of	of	ADP
alkej-10	56	46	contact	contact	NOUN
alkej-10	56	47	;	;	PUNCT
alkej-10	56	48	1v	1v	NUM
alkej-10	56	49	,	,	PUNCT
alkej-10	56	50	2v	2v	PROPN
alkej-10	56	51	are	be	AUX
alkej-10	56	52	the	the	DET
alkej-10	56	53	longitudinal	longitudinal	ADJ
alkej-10	56	54	and	and	CCONJ
alkej-10	56	55	cross	cross	NOUN
alkej-10	56	56	speeds	speed	NOUN
alkej-10	56	57	of	of	ADP
alkej-10	56	58	the	the	DET
alkej-10	56	59	centre	centre	NOUN
alkej-10	56	60	of	of	ADP
alkej-10	56	61	a	a	DET
alkej-10	56	62	wheel	wheel	NOUN
alkej-10	56	63	;	;	PUNCT
alkej-10	56	64	ω	ω	NUM
alkej-10	56	65	angular	angular	ADJ
alkej-10	56	66	speed	speed	NOUN
alkej-10	56	67	of	of	ADP
alkej-10	56	68	a	a	DET
alkej-10	56	69	wheel	wheel	NOUN
alkej-10	56	70	;	;	PUNCT
alkej-10	56	71	wr	wr	PROPN
alkej-10	56	72	radius	radius	NOUN
alkej-10	56	73	of	of	ADP
alkej-10	56	74	a	a	DET
alkej-10	56	75	wheel	wheel	NOUN
alkej-10	56	76	;	;	PUNCT
alkej-10	56	77	1c	1c	NUM
alkej-10	56	78	and	and	CCONJ
alkej-10	56	79	2c	2c	NUM
alkej-10	56	80	factors	factor	NOUN
alkej-10	56	81	of	of	ADP
alkej-10	56	82	resistance	resistance	NOUN
alkej-10	56	83	creep	creep	NOUN
alkej-10	56	84	and	and	CCONJ
alkej-10	56	85	to	to	AUX
alkej-10	56	86	withdrawal	withdrawal	VERB
alkej-10	56	87	.	.	PUNCT
alkej-10	57	1	algorithmic	algorithmic	ADJ
alkej-10	57	2	model	model	NOUN
alkej-10	57	3	(	(	PUNCT
alkej-10	57	4	1	1	X
alkej-10	57	5	)	)	PUNCT
alkej-10	57	6	expresses	express	VERB
alkej-10	57	7	the	the	DET
alkej-10	57	8	dependence	dependence	NOUN
alkej-10	57	9	of	of	ADP
alkej-10	57	10	horizontal	horizontal	ADJ
alkej-10	57	11	reaction	reaction	NOUN
alkej-10	57	12	on	on	ADP
alkej-10	57	13	three	three	NUM
alkej-10	57	14	independent	independent	ADJ
alkej-10	57	15	parameters	parameter	NOUN
alkej-10	57	16	of	of	ADP
alkej-10	57	17	movement	movement	NOUN
alkej-10	57	18	of	of	ADP
alkej-10	57	19	a	a	DET
alkej-10	57	20	wheel	wheel	NOUN
alkej-10	57	21	(	(	PUNCT
alkej-10	57	22	)	)	PUNCT
alkej-10	57	23	21	21	NUM
alkej-10	57	24	,	,	PUNCT
alkej-10	57	25	,	,	PUNCT
alkej-10	57	26	vvrr	vvrr	NOUN
alkej-10	57	27	ω=	ω=	X
alkej-10	57	28	.	.	PUNCT
alkej-10	58	1	integration	integration	NOUN
alkej-10	58	2	of	of	ADP
alkej-10	58	3	eq.(1	eq.(1	ADJ
alkej-10	58	4	)	)	PUNCT
alkej-10	58	5	is	be	AUX
alkej-10	58	6	carried	carry	VERB
alkej-10	58	7	out	out	ADP
alkej-10	58	8	with	with	ADP
alkej-10	58	9	suitable	suitable	ADJ
alkej-10	58	10	time	time	NOUN
alkej-10	58	11	step	step	NOUN
alkej-10	58	12	,	,	PUNCT
alkej-10	58	13	providing	provide	VERB
alkej-10	58	14	a	a	DET
alkej-10	58	15	continuity	continuity	NOUN
alkej-10	58	16	of	of	ADP
alkej-10	58	17	transition	transition	NOUN
alkej-10	58	18	from	from	ADP
alkej-10	58	19	the	the	DET
alkej-10	58	20	description	description	NOUN
alkej-10	58	21	of	of	ADP
alkej-10	58	22	pseudo	pseudo	NOUN
alkej-10	58	23	-	-	NOUN
alkej-10	58	24	sliding	slide	VERB
alkej-10	58	25	to	to	ADP
alkej-10	58	26	the	the	DET
alkej-10	58	27	description	description	NOUN
alkej-10	58	28	full	full	ADJ
alkej-10	58	29	slipping	slipping	NOUN
alkej-10	58	30	.	.	PUNCT
alkej-10	59	1	3	3	X
alkej-10	59	2	.	.	X
alkej-10	59	3	dynamics	dynamic	NOUN
alkej-10	59	4	model	model	NOUN
alkej-10	59	5	of	of	ADP
alkej-10	59	6	мr	мr	ADP
alkej-10	59	7	the	the	DET
alkej-10	59	8	dynamic	dynamic	ADJ
alkej-10	59	9	model	model	NOUN
alkej-10	59	10	is	be	AUX
alkej-10	59	11	obtained	obtain	VERB
alkej-10	59	12	from	from	ADP
alkej-10	59	13	the	the	DET
alkej-10	59	14	kinematics	kinematics	NOUN
alkej-10	59	15	model	model	NOUN
alkej-10	59	16	by	by	ADP
alkej-10	59	17	adding	add	VERB
alkej-10	59	18	dynamics	dynamic	NOUN
alkej-10	59	19	properties	property	NOUN
alkej-10	59	20	to	to	ADP
alkej-10	59	21	the	the	DET
alkej-10	59	22	robot	robot	NOUN
alkej-10	59	23	model	model	NOUN
alkej-10	59	24	such	such	ADJ
alkej-10	59	25	as	as	ADP
alkej-10	59	26	mass	mass	NOUN
alkej-10	59	27	,	,	PUNCT
alkej-10	59	28	inertia	inertia	NOUN
alkej-10	59	29	moments	moment	NOUN
alkej-10	59	30	,	,	PUNCT
alkej-10	59	31	friction	friction	NOUN
alkej-10	59	32	as	as	ADV
alkej-10	59	33	well	well	ADV
alkej-10	59	34	as	as	ADP
alkej-10	59	35	by	by	ADP
alkej-10	59	36	extending	extend	VERB
alkej-10	59	37	the	the	DET
alkej-10	59	38	virtual	virtual	ADJ
alkej-10	59	39	environment	environment	NOUN
alkej-10	59	40	with	with	ADP
alkej-10	59	41	gravitation	gravitation	NOUN
alkej-10	59	42	field	field	NOUN
alkej-10	59	43	and	and	CCONJ
alkej-10	59	44	ground	ground	NOUN
alkej-10	59	45	contact	contact	NOUN
alkej-10	59	46	forces	force	NOUN
alkej-10	59	47	.	.	PUNCT
alkej-10	60	1	kinematic	kinematic	ADJ
alkej-10	60	2	and	and	CCONJ
alkej-10	60	3	drive	drive	VERB
alkej-10	60	4	motor	motor	NOUN
alkej-10	60	5	circuits	circuit	NOUN
alkej-10	60	6	of	of	ADP
alkej-10	60	7	the	the	DET
alkej-10	60	8	мr	мr	NOUN
alkej-10	60	9	are	be	AUX
alkej-10	60	10	shown	show	VERB
alkej-10	60	11	in	in	ADP
alkej-10	60	12	figure	figure	NOUN
alkej-10	60	13	1	1	NUM
alkej-10	60	14	.	.	PUNCT
alkej-10	61	1	τ	τ	PROPN
alkej-10	61	2	ωr	ωr	PROPN
alkej-10	61	3	r	r	PROPN
alkej-10	61	4	,	,	PUNCT
alkej-10	61	5	ϕ	ϕ	PROPN
alkej-10	61	6	rr	rr	PROPN
alkej-10	61	7	1	1	NUM
alkej-10	61	8	vr	vr	PROPN
alkej-10	61	9	1	1	NUM
alkej-10	61	10	rr	rr	NOUN
alkej-10	61	11	2	2	NUM
alkej-10	61	12	vr	vr	PROPN
alkej-10	61	13	2	2	NUM
alkej-10	61	14	ω	ω	PROPN
alkej-10	61	15	с	с	PROPN
alkej-10	61	16	v1	v1	PROPN
alkej-10	61	17	v2	v2	PROPN
alkej-10	61	18	v	v	ADP
alkej-10	61	19	y	y	PROPN
alkej-10	61	20	x	x	PROPN
alkej-10	61	21	i2	i2	PROPN
alkej-10	61	22	i1	i1	PROPN
alkej-10	61	23	rl	rl	ADP
alkej-10	61	24	1	1	NUM
alkej-10	61	25	rl	rl	ADP
alkej-10	61	26	2	2	NUM
alkej-10	61	27	vl	vl	PROPN
alkej-10	61	28	2	2	NUM
alkej-10	61	29	a	a	DET
alkej-10	61	30	τ	τ	X
alkej-10	61	31	ωl	ωl	ADP
alkej-10	61	32	l	l	NOUN
alkej-10	61	33	,	,	PUNCT
alkej-10	61	34	vl	vl	PROPN
alkej-10	61	35	1	1	NUM
alkej-10	61	36	l	l	NOUN
alkej-10	61	37	fig.1	fig.1	PROPN
alkej-10	61	38	kinematic	kinematic	NOUN
alkej-10	61	39	and	and	CCONJ
alkej-10	61	40	drive	drive	VERB
alkej-10	61	41	motor	motor	NOUN
alkej-10	61	42	circuits	circuit	NOUN
alkej-10	61	43	of	of	ADP
alkej-10	61	44	мr	мr	ADP
alkej-10	61	45	dr.nabil	dr.nabil	PROPN
alkej-10	61	46	hassan	hassan	PROPN
alkej-10	61	47	hadi	hadi	PROPN
alkej-10	61	48	/	/	SYM
alkej-10	61	49	al	al	PROPN
alkej-10	61	50	-	-	PUNCT
alkej-10	61	51	khwarizmi	khwarizmi	PROPN
alkej-10	61	52	engineering	engineering	NOUN
alkej-10	61	53	journal	journal	PROPN
alkej-10	61	54	,	,	PUNCT
alkej-10	61	55	vol.1	vol.1	PROPN
alkej-10	61	56	,	,	PUNCT
alkej-10	61	57	no	no	INTJ
alkej-10	61	58	.	.	PUNCT
alkej-10	62	1	2,pp	2,pp	NUM
alkej-10	62	2	41	41	NUM
alkej-10	62	3	-	-	SYM
alkej-10	62	4	51	51	NUM
alkej-10	62	5	(	(	PUNCT
alkej-10	62	6	2005	2005	NUM
alkej-10	62	7	)	)	PUNCT
alkej-10	62	8	44	44	NUM
alkej-10	62	9	the	the	DET
alkej-10	62	10	dynamics	dynamic	NOUN
alkej-10	62	11	model	model	NOUN
alkej-10	62	12	of	of	ADP
alkej-10	62	13	мr	мr	X
alkej-10	62	14	with	with	ADP
alkej-10	62	15	the	the	DET
alkej-10	62	16	use	use	NOUN
alkej-10	62	17	of	of	ADP
alkej-10	62	18	slipping	slip	VERB
alkej-10	62	19	model	model	NOUN
alkej-10	62	20	algorithmic	algorithmic	ADJ
alkej-10	62	21	(	(	PUNCT
alkej-10	62	22	1	1	NUM
alkej-10	62	23	)	)	PUNCT
alkej-10	62	24	is[9	is[9	NOUN
alkej-10	62	25	]	]	PUNCT
alkej-10	62	26	(	(	PUNCT
alkej-10	62	27	)	)	PUNCT
alkej-10	62	28	(	(	PUNCT
alkej-10	62	29	)	)	PUNCT
alkej-10	62	30	lll	lll	PROPN
alkej-10	63	1	w	w	PROPN
alkej-10	63	2	ll	ll	PROPN
alkej-10	63	3	l	l	PROPN
alkej-10	63	4	w	w	NOUN
alkej-10	63	5	rrr	rrr	PROPN
alkej-10	63	6	w	w	PROPN
alkej-10	63	7	rr	rr	PROPN
alkej-10	63	8	r	r	NOUN
alkej-10	63	9	w	w	NOUN
alkej-10	63	10	lrlr	lrlr	NOUN
alkej-10	63	11	lr	lr	X
alkej-10	63	12	lr	lr	PROPN
alkej-10	63	13	hdurrj	hdurrj	PROPN
alkej-10	63	14	hdurrj	hdurrj	PROPN
alkej-10	63	15	rrarrlj	rrarrlj	NOUN
alkej-10	63	16	vvyvmrrvm	vvyvmrrvm	ADV
alkej-10	63	17	vvxvmrrvm	vvxvmrrvm	VERB
alkej-10	63	18	ωττω	ωττω	PROPN
alkej-10	63	19	ωττω	ωττω	PROPN
alkej-10	63	20	ϕ	ϕ	PROPN
alkej-10	63	21	ϕϕ	ϕϕ	PROPN
alkej-10	63	22	ϕϕ	ϕϕ	PROPN
alkej-10	63	23	−=−=	−=−=	PROPN
alkej-10	63	24	−=−=	−=−=	PROPN
alkej-10	63	25	ω=++−=ω	ω=++−=ω	NOUN
alkej-10	63	26	−=ω−+=	−=ω−+=	X
alkej-10	63	27	+	+	NOUN
alkej-10	63	28	=	=	ADJ
alkej-10	63	29	ω++=	ω++=	ADJ
alkej-10	63	30	•	•	NUM
alkej-10	63	31	•	•	NUM
alkej-10	63	32	••	••	NOUN
alkej-10	63	33	••	••	NOUN
alkej-10	63	34	••	••	NOUN
alkej-10	63	35	,	,	PUNCT
alkej-10	63	36	,	,	PUNCT
alkej-10	63	37	,	,	PUNCT
alkej-10	63	38	cossin	cossin	NOUN
alkej-10	63	39	,	,	PUNCT
alkej-10	63	40	sincos	sincos	PROPN
alkej-10	63	41	,	,	PUNCT
alkej-10	63	42	1	1	NUM
alkej-10	63	43	1	1	NUM
alkej-10	63	44	2211	2211	NUM
alkej-10	63	45	211222	211222	NUM
alkej-10	63	46	212111	212111	NUM
alkej-10	63	47	(	(	PUNCT
alkej-10	63	48	2	2	NUM
alkej-10	63	49	)	)	PUNCT
alkej-10	63	50	(	(	PUNCT
alkej-10	63	51	)	)	PUNCT
alkej-10	63	52	(	(	PUNCT
alkej-10	63	53	)	)	PUNCT
alkej-10	63	54	(	(	PUNCT
alkej-10	63	55	)	)	PUNCT
alkej-10	63	56	(	(	PUNCT
alkej-10	63	57	)	)	PUNCT
alkej-10	63	58	rrrrrrr	rrrrrrr	NOUN
alkej-10	63	59	lllllll	lllllll	PROPN
alkej-10	63	60	vvririrr	vvririrr	PROPN
alkej-10	63	61	vvririrr	vvririrr	ADJ
alkej-10	63	62	21211	21211	NUM
alkej-10	63	63	212211	212211	NUM
alkej-10	63	64	,	,	PUNCT
alkej-10	63	65	,	,	PUNCT
alkej-10	63	66	,	,	PUNCT
alkej-10	63	67	,	,	PUNCT
alkej-10	63	68	ω	ω	PROPN
alkej-10	63	69	ω	ω	PUNCT
alkej-10	64	1	=	=	PUNCT
alkej-10	64	2	+	+	NOUN
alkej-10	64	3	=	=	SYM
alkej-10	64	4	=	=	ADJ
alkej-10	64	5	+	+	NOUN
alkej-10	64	6	=	=	SYM
alkej-10	64	7	2	2	NUM
alkej-10	64	8	,	,	PUNCT
alkej-10	64	9	,	,	PUNCT
alkej-10	64	10	,	,	PUNCT
alkej-10	64	11	2221111	2221111	NUM
alkej-10	64	12	ω+==ω−=ω+=	ω+==ω−=ω+=	X
alkej-10	64	13	avvvlvvlvv	avvvlvvlvv	VERB
alkej-10	64	14	lrlr	lrlr	NOUN
alkej-10	64	15	where	where	SCONJ
alkej-10	64	16	jm	jm	PROPN
alkej-10	64	17	,	,	PUNCT
alkej-10	64	18	weight	weight	NOUN
alkej-10	64	19	and	and	CCONJ
alkej-10	64	20	the	the	DET
alkej-10	64	21	moment	moment	NOUN
alkej-10	64	22	of	of	ADP
alkej-10	64	23	inertia	inertia	NOUN
alkej-10	64	24	мr	мr	ADP
alkej-10	64	25	;	;	PUNCT
alkej-10	64	26	wj	wj	X
alkej-10	64	27	the	the	DET
alkej-10	64	28	moment	moment	NOUN
alkej-10	64	29	of	of	ADP
alkej-10	64	30	inertia	inertia	NOUN
alkej-10	64	31	of	of	ADP
alkej-10	64	32	a	a	DET
alkej-10	64	33	wheel	wheel	NOUN
alkej-10	64	34	;	;	PUNCT
alkej-10	64	35	rl	rl	VERB
alkej-10	64	36	ττ	ττ	NOUN
alkej-10	64	37	,	,	PUNCT
alkej-10	64	38	the	the	DET
alkej-10	64	39	moments	moment	NOUN
alkej-10	64	40	,	,	PUNCT
alkej-10	64	41	developed	develop	VERB
alkej-10	64	42	by	by	ADP
alkej-10	64	43	the	the	DET
alkej-10	64	44	drives	drive	NOUN
alkej-10	64	45	of	of	ADP
alkej-10	64	46	the	the	DET
alkej-10	64	47	left	left	ADJ
alkej-10	64	48	and	and	CCONJ
alkej-10	64	49	right	right	ADJ
alkej-10	64	50	wheel	wheel	NOUN
alkej-10	64	51	;	;	PUNCT
alkej-10	64	52	rl	rl	X
alkej-10	64	53	uu	uu	INTJ
alkej-10	64	54	,	,	PUNCT
alkej-10	64	55	the	the	DET
alkej-10	64	56	controls	control	NOUN
alkej-10	64	57	acting	act	VERB
alkej-10	64	58	on	on	ADP
alkej-10	64	59	drives	drive	NOUN
alkej-10	64	60	;	;	PUNCT
alkej-10	64	61	hd	hd	NOUN
alkej-10	64	62	,	,	PUNCT
alkej-10	64	63	parameters	parameter	NOUN
alkej-10	64	64	of	of	ADP
alkej-10	64	65	drives	drive	NOUN
alkej-10	64	66	.	.	PUNCT
alkej-10	65	1	4	4	X
alkej-10	65	2	.	.	X
alkej-10	65	3	fuzzy	fuzzy	ADJ
alkej-10	65	4	control	control	VERB
alkej-10	65	5	an	an	DET
alkej-10	65	6	alternative	alternative	ADJ
alkej-10	65	7	approach	approach	NOUN
alkej-10	65	8	to	to	ADP
alkej-10	65	9	the	the	DET
alkej-10	65	10	control	control	NOUN
alkej-10	65	11	of	of	ADP
alkej-10	65	12	any	any	DET
alkej-10	65	13	processes	process	NOUN
alkej-10	65	14	is	be	AUX
alkej-10	65	15	to	to	PART
alkej-10	65	16	investigate	investigate	VERB
alkej-10	65	17	the	the	DET
alkej-10	65	18	control	control	NOUN
alkej-10	65	19	strategies	strategy	NOUN
alkej-10	65	20	employed	employ	VERB
alkej-10	65	21	by	by	ADP
alkej-10	65	22	the	the	DET
alkej-10	65	23	human	human	ADJ
alkej-10	65	24	operator	operator	NOUN
alkej-10	65	25	.	.	PUNCT
alkej-10	66	1	an	an	DET
alkej-10	66	2	operator	operator	NOUN
alkej-10	66	3	usually	usually	ADV
alkej-10	66	4	expresses	express	VERB
alkej-10	66	5	his	his	PRON
alkej-10	66	6	control	control	NOUN
alkej-10	66	7	strategy	strategy	NOUN
alkej-10	66	8	linguistically	linguistically	ADV
alkej-10	66	9	as	as	ADP
alkej-10	66	10	a	a	DET
alkej-10	66	11	set	set	NOUN
alkej-10	66	12	of	of	ADP
alkej-10	66	13	heuristic	heuristic	ADJ
alkej-10	66	14	decisions	decision	NOUN
alkej-10	66	15	.	.	PUNCT
alkej-10	67	1	the	the	DET
alkej-10	67	2	fuzzy	fuzzy	ADJ
alkej-10	67	3	logic	logic	NOUN
alkej-10	67	4	provides	provide	VERB
alkej-10	67	5	the	the	DET
alkej-10	67	6	means	mean	NOUN
alkej-10	67	7	of	of	ADP
alkej-10	67	8	expressing	express	VERB
alkej-10	67	9	linguistic	linguistic	ADJ
alkej-10	67	10	rules	rule	NOUN
alkej-10	67	11	in	in	ADP
alkej-10	67	12	a	a	DET
alkej-10	67	13	form	form	NOUN
alkej-10	67	14	suitable	suitable	ADJ
alkej-10	67	15	for	for	ADP
alkej-10	67	16	computer	computer	NOUN
alkej-10	67	17	implementation	implementation	NOUN
alkej-10	67	18	.	.	PUNCT
alkej-10	68	1	in	in	ADP
alkej-10	68	2	this	this	DET
alkej-10	68	3	section	section	NOUN
alkej-10	68	4	,	,	PUNCT
alkej-10	68	5	the	the	DET
alkej-10	68	6	design	design	NOUN
alkej-10	68	7	and	and	CCONJ
alkej-10	68	8	implementation	implementation	NOUN
alkej-10	68	9	of	of	ADP
alkej-10	68	10	a	a	DET
alkej-10	68	11	fuzzy	fuzzy	ADJ
alkej-10	68	12	controller	controller	NOUN
alkej-10	68	13	for	for	ADP
alkej-10	68	14	the	the	DET
alkej-10	68	15	mobile	mobile	ADJ
alkej-10	68	16	robot	robot	NOUN
alkej-10	68	17	in	in	ADP
alkej-10	68	18	slippery	slippery	ADJ
alkej-10	68	19	environment	environment	NOUN
alkej-10	68	20	is	be	AUX
alkej-10	68	21	presented	present	VERB
alkej-10	68	22	.	.	PUNCT
alkej-10	69	1	zadeh	zadeh	NOUN
alkej-10	70	1	[	[	X
alkej-10	70	2	16	16	NUM
alkej-10	70	3	]	]	PUNCT
alkej-10	70	4	expanded	expand	VERB
alkej-10	70	5	the	the	DET
alkej-10	70	6	concept	concept	NOUN
alkej-10	70	7	of	of	ADP
alkej-10	70	8	the	the	DET
alkej-10	70	9	traditional	traditional	ADJ
alkej-10	70	10	boolean	boolean	ADJ
alkej-10	70	11	logic	logic	NOUN
alkej-10	70	12	set	set	VERB
alkej-10	70	13	to	to	ADP
alkej-10	70	14	that	that	PRON
alkej-10	70	15	of	of	ADP
alkej-10	70	16	a	a	DET
alkej-10	70	17	fuzzy	fuzzy	ADJ
alkej-10	70	18	set	set	NOUN
alkej-10	70	19	.	.	PUNCT
alkej-10	71	1	he	he	PRON
alkej-10	71	2	stated	state	VERB
alkej-10	71	3	that	that	SCONJ
alkej-10	71	4	a	a	DET
alkej-10	71	5	fuzzy	fuzzy	ADJ
alkej-10	71	6	set	set	NOUN
alkej-10	71	7	is	be	AUX
alkej-10	71	8	a	a	DET
alkej-10	71	9	class	class	NOUN
alkej-10	71	10	of	of	ADP
alkej-10	71	11	objects	object	NOUN
alkej-10	71	12	with	with	ADP
alkej-10	71	13	a	a	DET
alkej-10	71	14	continuum	continuum	NOUN
alkej-10	71	15	of	of	ADP
alkej-10	71	16	grades	grade	NOUN
alkej-10	71	17	of	of	ADP
alkej-10	71	18	membership	membership	NOUN
alkej-10	71	19	.	.	PUNCT
alkej-10	72	1	fuzzy	fuzzy	ADJ
alkej-10	72	2	logic	logic	NOUN
alkej-10	72	3	is	be	AUX
alkej-10	72	4	based	base	VERB
alkej-10	72	5	on	on	ADP
alkej-10	72	6	fuzzy	fuzzy	ADJ
alkej-10	72	7	set	set	NOUN
alkej-10	72	8	theory	theory	NOUN
alkej-10	72	9	and	and	CCONJ
alkej-10	72	10	provides	provide	VERB
alkej-10	72	11	means	mean	NOUN
alkej-10	72	12	for	for	ADP
alkej-10	72	13	representing	represent	VERB
alkej-10	72	14	partial	partial	ADJ
alkej-10	72	15	belief	belief	NOUN
alkej-10	72	16	situations	situation	NOUN
alkej-10	72	17	.	.	PUNCT
alkej-10	73	1	it	it	PRON
alkej-10	73	2	is	be	AUX
alkej-10	73	3	a	a	DET
alkej-10	73	4	generalization	generalization	NOUN
alkej-10	73	5	of	of	ADP
alkej-10	73	6	a	a	DET
alkej-10	73	7	conventional	conventional	ADJ
alkej-10	73	8	boolean	boolean	ADJ
alkej-10	73	9	logic	logic	NOUN
alkej-10	73	10	.	.	PUNCT
alkej-10	74	1	it	it	PRON
alkej-10	74	2	defines	define	VERB
alkej-10	74	3	the	the	DET
alkej-10	74	4	union	union	NOUN
alkej-10	74	5	,	,	PUNCT
alkej-10	74	6	intersection	intersection	NOUN
alkej-10	74	7	,	,	PUNCT
alkej-10	74	8	etc	etc	X
alkej-10	74	9	.	.	X
alkej-10	74	10	operations	operation	NOUN
alkej-10	74	11	of	of	ADP
alkej-10	74	12	fuzzy	fuzzy	ADJ
alkej-10	74	13	sets	set	NOUN
alkej-10	74	14	in	in	ADP
alkej-10	74	15	a	a	DET
alkej-10	74	16	similar	similar	ADJ
alkej-10	74	17	way	way	NOUN
alkej-10	74	18	to	to	ADP
alkej-10	74	19	boolean	boolean	ADJ
alkej-10	74	20	logic	logic	NOUN
alkej-10	74	21	and	and	CCONJ
alkej-10	74	22	classic	classic	ADJ
alkej-10	74	23	set	set	NOUN
alkej-10	74	24	theory	theory	NOUN
alkej-10	74	25	.	.	PUNCT
alkej-10	75	1	in	in	ADP
alkej-10	75	2	problems	problem	NOUN
alkej-10	75	3	involving	involve	VERB
alkej-10	75	4	signal	signal	NOUN
alkej-10	75	5	processing	processing	NOUN
alkej-10	75	6	,	,	PUNCT
alkej-10	75	7	the	the	DET
alkej-10	75	8	signal	signal	NOUN
alkej-10	75	9	is	be	AUX
alkej-10	75	10	usually	usually	ADV
alkej-10	75	11	transformed	transform	VERB
alkej-10	75	12	to	to	ADP
alkej-10	75	13	the	the	DET
alkej-10	75	14	frequency	frequency	NOUN
alkej-10	75	15	domain	domain	NOUN
alkej-10	75	16	,	,	PUNCT
alkej-10	75	17	processed	process	VERB
alkej-10	75	18	and	and	CCONJ
alkej-10	75	19	then	then	ADV
alkej-10	75	20	transformed	transform	VERB
alkej-10	75	21	back	back	ADV
alkej-10	75	22	to	to	ADP
alkej-10	75	23	the	the	DET
alkej-10	75	24	time	time	NOUN
alkej-10	75	25	domain	domain	NOUN
alkej-10	75	26	.	.	PUNCT
alkej-10	76	1	this	this	PRON
alkej-10	76	2	allows	allow	VERB
alkej-10	76	3	the	the	DET
alkej-10	76	4	use	use	NOUN
alkej-10	76	5	of	of	ADP
alkej-10	76	6	processing	processing	NOUN
alkej-10	76	7	techniques	technique	NOUN
alkej-10	76	8	which	which	PRON
alkej-10	76	9	would	would	AUX
alkej-10	76	10	otherwise	otherwise	ADV
alkej-10	76	11	be	be	AUX
alkej-10	76	12	too	too	ADV
alkej-10	76	13	complicated	complicated	ADJ
alkej-10	76	14	in	in	ADP
alkej-10	76	15	the	the	DET
alkej-10	76	16	time	time	NOUN
alkej-10	76	17	domain	domain	NOUN
alkej-10	76	18	.	.	PUNCT
alkej-10	77	1	similarly	similarly	ADV
alkej-10	77	2	,	,	PUNCT
alkej-10	77	3	fuzzy	fuzzy	ADJ
alkej-10	77	4	control	control	NOUN
alkej-10	77	5	system	system	NOUN
alkej-10	77	6	design	design	NOUN
alkej-10	77	7	(	(	PUNCT
alkej-10	77	8	see	see	VERB
alkej-10	77	9	fig.2	fig.2	PROPN
alkej-10	77	10	)	)	PUNCT
alkej-10	77	11	,	,	PUNCT
alkej-10	77	12	consists	consist	VERB
alkej-10	77	13	of	of	ADP
alkej-10	77	14	a	a	DET
alkej-10	77	15	fuzzification	fuzzification	NOUN
alkej-10	77	16	step	step	NOUN
alkej-10	77	17	,	,	PUNCT
alkej-10	77	18	fuzzy	fuzzy	ADJ
alkej-10	77	19	inference	inference	NOUN
alkej-10	77	20	and	and	CCONJ
alkej-10	77	21	a	a	DET
alkej-10	77	22	defuzzification	defuzzification	NOUN
alkej-10	77	23	step	step	NOUN
alkej-10	77	24	.	.	PUNCT
alkej-10	78	1	fuzzification	fuzzification	NOUN
alkej-10	78	2	involves	involve	VERB
alkej-10	78	3	transforming	transform	VERB
alkej-10	78	4	inputs	input	NOUN
alkej-10	78	5	from	from	ADP
alkej-10	78	6	crisp	crisp	ADJ
alkej-10	78	7	values	value	NOUN
alkej-10	78	8	to	to	ADP
alkej-10	78	9	fuzzy	fuzzy	ADJ
alkej-10	78	10	variables	variable	NOUN
alkej-10	78	11	.	.	PUNCT
alkej-10	79	1	fuzzy	fuzzy	ADJ
alkej-10	79	2	inference	inference	NOUN
alkej-10	79	3	is	be	AUX
alkej-10	79	4	the	the	DET
alkej-10	79	5	process	process	NOUN
alkej-10	79	6	of	of	ADP
alkej-10	79	7	applying	apply	VERB
alkej-10	79	8	fuzzy	fuzzy	ADJ
alkej-10	79	9	rules	rule	NOUN
alkej-10	79	10	to	to	ADP
alkej-10	79	11	the	the	DET
alkej-10	79	12	fuzzified	fuzzified	ADJ
alkej-10	79	13	input	input	NOUN
alkej-10	79	14	values	value	NOUN
alkej-10	79	15	and	and	CCONJ
alkej-10	79	16	calculating	calculate	VERB
alkej-10	79	17	the	the	DET
alkej-10	79	18	fuzzy	fuzzy	ADJ
alkej-10	79	19	outputs	output	NOUN
alkej-10	79	20	.	.	PUNCT
alkej-10	80	1	in	in	ADP
alkej-10	80	2	the	the	DET
alkej-10	80	3	last	last	ADJ
alkej-10	80	4	step	step	NOUN
alkej-10	80	5	,	,	PUNCT
alkej-10	80	6	a	a	DET
alkej-10	80	7	defuzzifier	defuzzifier	NOUN
alkej-10	80	8	transforms	transform	VERB
alkej-10	80	9	the	the	DET
alkej-10	80	10	fuzzy	fuzzy	ADJ
alkej-10	80	11	outputs	output	NOUN
alkej-10	80	12	back	back	ADV
alkej-10	80	13	to	to	ADP
alkej-10	80	14	the	the	DET
alkej-10	80	15	crisp	crisp	ADJ
alkej-10	80	16	values	value	NOUN
alkej-10	80	17	.	.	PUNCT
alkej-10	81	1	figure	figure	NOUN
alkej-10	81	2	3	3	NUM
alkej-10	81	3	shows	show	VERB
alkej-10	81	4	the	the	DET
alkej-10	81	5	configuration	configuration	NOUN
alkej-10	81	6	of	of	ADP
alkej-10	81	7	a	a	DET
alkej-10	81	8	pid	pid	NOUN
alkej-10	81	9	type	type	NOUN
alkej-10	81	10	fuzzy	fuzzy	ADJ
alkej-10	81	11	controller	controller	NOUN
alkej-10	81	12	of	of	ADP
alkej-10	81	13	the	the	DET
alkej-10	81	14	form	form	NOUN
alkej-10	81	15	.	.	PUNCT
alkej-10	82	1	∫++=	∫++=	PROPN
alkej-10	82	2	t	t	PROPN
alkej-10	82	3	idp	idp	PROPN
alkej-10	82	4	dttekekeku	dttekekeku	PROPN
alkej-10	82	5	0	0	NUM
alkej-10	82	6	)	)	PUNCT
alkej-10	82	7	(	(	PUNCT
alkej-10	82	8	&	&	CCONJ
alkej-10	82	9	(	(	PUNCT
alkej-10	82	10	3	3	NUM
alkej-10	82	11	)	)	PUNCT
alkej-10	82	12	where	where	SCONJ
alkej-10	82	13	pk	pk	NOUN
alkej-10	82	14	,	,	PUNCT
alkej-10	82	15	dk	dk	PROPN
alkej-10	82	16	and	and	CCONJ
alkej-10	82	17	ik	ik	PROPN
alkej-10	82	18	are	be	AUX
alkej-10	82	19	the	the	DET
alkej-10	82	20	proportional	proportional	ADJ
alkej-10	82	21	,	,	PUNCT
alkej-10	82	22	integral	integral	ADJ
alkej-10	82	23	and	and	CCONJ
alkej-10	82	24	derivative	derivative	ADJ
alkej-10	82	25	gains	gain	NOUN
alkej-10	82	26	,	,	PUNCT
alkej-10	82	27	respectively	respectively	ADV
alkej-10	82	28	,	,	PUNCT
alkej-10	82	29	u	u	PROPN
alkej-10	82	30	and	and	CCONJ
alkej-10	82	31	e	e	NOUN
alkej-10	82	32	are	be	AUX
alkej-10	82	33	the	the	DET
alkej-10	82	34	control	control	NOUN
alkej-10	82	35	signal	signal	NOUN
alkej-10	82	36	and	and	CCONJ
alkej-10	82	37	the	the	DET
alkej-10	82	38	error	error	NOUN
alkej-10	82	39	between	between	ADP
alkej-10	82	40	the	the	DET
alkej-10	82	41	reference	reference	NOUN
alkej-10	82	42	signal	signal	NOUN
alkej-10	82	43	and	and	CCONJ
alkej-10	82	44	the	the	DET
alkej-10	82	45	plant	plant	NOUN
alkej-10	82	46	output	output	NOUN
alkej-10	82	47	.	.	PUNCT
alkej-10	83	1	dr.nabil	dr.nabil	PROPN
alkej-10	83	2	hassan	hassan	PROPN
alkej-10	83	3	hadi	hadi	PROPN
alkej-10	83	4	/	/	SYM
alkej-10	83	5	al	al	PROPN
alkej-10	83	6	-	-	PUNCT
alkej-10	83	7	khwarizmi	khwarizmi	PROPN
alkej-10	83	8	engineering	engineering	NOUN
alkej-10	83	9	journal	journal	PROPN
alkej-10	83	10	,	,	PUNCT
alkej-10	83	11	vol.1	vol.1	PROPN
alkej-10	83	12	,	,	PUNCT
alkej-10	83	13	no	no	INTJ
alkej-10	83	14	.	.	PUNCT
alkej-10	84	1	2,pp	2,pp	NUM
alkej-10	84	2	41	41	NUM
alkej-10	84	3	-	-	SYM
alkej-10	84	4	51	51	NUM
alkej-10	84	5	(	(	PUNCT
alkej-10	84	6	2005	2005	NUM
alkej-10	84	7	)	)	PUNCT
alkej-10	84	8	45	45	NUM
alkej-10	84	9	fig.٢.	fig.٢.	ADJ
alkej-10	84	10	fuzzy	fuzzy	ADJ
alkej-10	84	11	logic	logic	NOUN
alkej-10	84	12	controller	controller	NOUN
alkej-10	84	13	architecture	architecture	NOUN
alkej-10	84	14	fig.٣	fig.٣	VERB
alkej-10	84	15	pid	pid	NOUN
alkej-10	84	16	type	type	NOUN
alkej-10	84	17	fuzzy	fuzzy	ADJ
alkej-10	84	18	logic	logic	NOUN
alkej-10	84	19	.	.	PUNCT
alkej-10	85	1	imagine	imagine	VERB
alkej-10	85	2	that	that	SCONJ
alkej-10	85	3	you	you	PRON
alkej-10	85	4	are	be	AUX
alkej-10	85	5	the	the	DET
alkej-10	85	6	operator	operator	NOUN
alkej-10	85	7	who	who	PRON
alkej-10	85	8	is	be	AUX
alkej-10	85	9	trying	try	VERB
alkej-10	85	10	to	to	PART
alkej-10	85	11	maintain	maintain	VERB
alkej-10	85	12	programmed	program	VERB
alkej-10	85	13	trajectory	trajectory	NOUN
alkej-10	85	14	by	by	ADP
alkej-10	85	15	varying	vary	VERB
alkej-10	85	16	the	the	DET
alkej-10	85	17	controls	control	NOUN
alkej-10	85	18	acting	act	VERB
alkej-10	85	19	on	on	ADP
alkej-10	85	20	drive	drive	ADJ
alkej-10	85	21	motors	motor	NOUN
alkej-10	85	22	,	,	PUNCT
alkej-10	85	23	you	you	PRON
alkej-10	85	24	will	will	AUX
alkej-10	85	25	come	come	VERB
alkej-10	85	26	up	up	ADP
alkej-10	85	27	with	with	ADP
alkej-10	85	28	some	some	DET
alkej-10	85	29	control	control	NOUN
alkej-10	85	30	rules	rule	VERB
alkej-10	85	31	similar	similar	ADJ
alkej-10	85	32	to	to	ADP
alkej-10	85	33	what	what	PRON
alkej-10	85	34	follows	follow	VERB
alkej-10	85	35	to	to	PART
alkej-10	85	36	drive	drive	VERB
alkej-10	85	37	the	the	DET
alkej-10	85	38	mobile	mobile	ADJ
alkej-10	85	39	robot	robot	NOUN
alkej-10	85	40	.	.	PUNCT
alkej-10	86	1	if	if	SCONJ
alkej-10	86	2	e	e	PROPN
alkej-10	86	3	is	be	AUX
alkej-10	86	4	and	and	CCONJ
alkej-10	86	5	∆	∆	PROPN
alkej-10	86	6	e	e	NOUN
alkej-10	86	7	is	be	AUX
alkej-10	86	8	and	and	CCONJ
alkej-10	86	9	2∆	2∆	NUM
alkej-10	86	10	e	e	NOUN
alkej-10	86	11	is	be	AUX
alkej-10	86	12	then	then	ADV
alkej-10	86	13	∆	∆	PROPN
alkej-10	86	14	u	u	NOUN
alkej-10	86	15	is	be	AUX
alkej-10	86	16	(	(	PUNCT
alkej-10	86	17	4	4	NUM
alkej-10	86	18	)	)	PUNCT
alkej-10	86	19	each	each	DET
alkej-10	86	20	rule	rule	NOUN
alkej-10	86	21	takes	take	VERB
alkej-10	86	22	three	three	NUM
alkej-10	86	23	inputs	input	NOUN
alkej-10	86	24	and	and	CCONJ
alkej-10	86	25	produces	produce	VERB
alkej-10	86	26	one	one	NUM
alkej-10	86	27	output	output	NOUN
alkej-10	86	28	,	,	PUNCT
alkej-10	86	29	control	control	NOUN
alkej-10	86	30	action	action	NOUN
alkej-10	86	31	for	for	ADP
alkej-10	86	32	the	the	DET
alkej-10	86	33	left	left	ADJ
alkej-10	86	34	and	and	CCONJ
alkej-10	86	35	right	right	ADJ
alkej-10	86	36	drives	drive	NOUN
alkej-10	86	37	.	.	PUNCT
alkej-10	87	1	5	5	X
alkej-10	87	2	.	.	X
alkej-10	87	3	slipping	slip	VERB
alkej-10	87	4	diagnostics	diagnostic	NOUN
alkej-10	87	5	the	the	DET
alkej-10	87	6	control	control	NOUN
alkej-10	87	7	system	system	NOUN
alkej-10	87	8	structure	structure	NOUN
alkej-10	87	9	for	for	ADP
alkej-10	87	10	мr	мr	X
alkej-10	87	11	with	with	ADP
alkej-10	87	12	various	various	ADJ
alkej-10	87	13	chassis	chassis	NOUN
alkej-10	87	14	configurations	configuration	NOUN
alkej-10	87	15	are	be	AUX
alkej-10	87	16	described	describe	VERB
alkej-10	87	17	in	in	ADP
alkej-10	87	18	detail	detail	NOUN
alkej-10	87	19	in	in	ADP
alkej-10	87	20	works	work	NOUN
alkej-10	87	21	[	[	X
alkej-10	87	22	4,5	4,5	NUM
alkej-10	87	23	]	]	PUNCT
alkej-10	87	24	.	.	PUNCT
alkej-10	88	1	it	it	PRON
alkej-10	88	2	includes	include	VERB
alkej-10	88	3	the	the	DET
alkej-10	88	4	block	block	NOUN
alkej-10	88	5	of	of	ADP
alkej-10	88	6	base	base	NOUN
alkej-10	88	7	control	control	NOUN
alkej-10	88	8	providing	provide	VERB
alkej-10	88	9	improvement	improvement	NOUN
alkej-10	88	10	of	of	ADP
alkej-10	88	11	a	a	DET
alkej-10	88	12	program	program	NOUN
alkej-10	88	13	trajectory	trajectory	NOUN
alkej-10	88	14	in	in	ADP
alkej-10	88	15	the	the	DET
alkej-10	88	16	assumption	assumption	NOUN
alkej-10	88	17	of	of	ADP
alkej-10	88	18	absence	absence	NOUN
alkej-10	88	19	full	full	ADJ
alkej-10	88	20	slipping	slipping	NOUN
alkej-10	88	21	and	and	CCONJ
alkej-10	88	22	the	the	DET
alkej-10	88	23	block	block	NOUN
alkej-10	88	24	of	of	ADP
alkej-10	88	25	suppression	suppression	NOUN
alkej-10	88	26	of	of	ADP
alkej-10	88	27	sliding	slide	VERB
alkej-10	88	28	which	which	PRON
alkej-10	88	29	in	in	ADP
alkej-10	88	30	case	case	NOUN
alkej-10	88	31	of	of	ADP
alkej-10	88	32	occurrence	occurrence	NOUN
alkej-10	88	33	slipping	slip	VERB
alkej-10	88	34	corrects	correct	NOUN
alkej-10	88	35	or	or	CCONJ
alkej-10	88	36	completely	completely	ADV
alkej-10	88	37	changes	change	VERB
alkej-10	88	38	base	base	NOUN
alkej-10	88	39	control	control	NOUN
alkej-10	88	40	so	so	SCONJ
alkej-10	88	41	that	that	SCONJ
alkej-10	88	42	whenever	whenever	SCONJ
alkej-10	88	43	possible	possible	ADJ
alkej-10	88	44	is	be	AUX
alkej-10	88	45	fast	fast	ADJ
alkej-10	88	46	to	to	PART
alkej-10	88	47	restore	restore	VERB
alkej-10	88	48	the	the	DET
alkej-10	88	49	normal	normal	ADJ
alkej-10	88	50	coupling	coupling	NOUN
alkej-10	88	51	wheels	wheel	NOUN
alkej-10	88	52	with	with	ADP
alkej-10	88	53	a	a	DET
alkej-10	88	54	surface	surface	NOUN
alkej-10	88	55	.	.	PUNCT
alkej-10	89	1	the	the	DET
alkej-10	89	2	information	information	NOUN
alkej-10	89	3	of	of	ADP
alkej-10	89	4	occurrence	occurrence	NOUN
alkej-10	89	5	is	be	AUX
alkej-10	89	6	necessary	necessary	ADJ
alkej-10	89	7	for	for	ADP
alkej-10	89	8	algorithms	algorithm	NOUN
alkej-10	89	9	of	of	ADP
alkej-10	89	10	correction	correction	NOUN
alkej-10	89	11	of	of	ADP
alkej-10	89	12	base	base	NOUN
alkej-10	89	13	slipping	slipping	NOUN
alkej-10	89	14	control	control	NOUN
alkej-10	89	15	and	and	CCONJ
alkej-10	89	16	,	,	PUNCT
alkej-10	89	17	whenever	whenever	SCONJ
alkej-10	89	18	possible	possible	ADJ
alkej-10	89	19	,	,	PUNCT
alkej-10	89	20	the	the	DET
alkej-10	89	21	information	information	NOUN
alkej-10	89	22	on	on	ADP
alkej-10	89	23	type	type	NOUN
alkej-10	89	24	slipping	slipping	NOUN
alkej-10	89	25	.	.	PUNCT
alkej-10	90	1	thus	thus	ADV
alkej-10	90	2	,	,	PUNCT
alkej-10	90	3	the	the	DET
alkej-10	90	4	system	system	NOUN
alkej-10	90	5	of	of	ADP
alkej-10	90	6	diagnostics	diagnostic	NOUN
alkej-10	90	7	which	which	PRON
alkej-10	90	8	should	should	AUX
alkej-10	90	9	establish	establish	VERB
alkej-10	90	10	the	the	DET
alkej-10	90	11	fact	fact	NOUN
alkej-10	90	12	of	of	ADP
alkej-10	90	13	occurrence	occurrence	NOUN
alkej-10	90	14	slipping	slip	VERB
alkej-10	90	15	and	and	CCONJ
alkej-10	90	16	classify	classify	VERB
alkej-10	90	17	its	its	PRON
alkej-10	90	18	type	type	NOUN
alkej-10	90	19	will	will	AUX
alkej-10	90	20	be	be	AUX
alkej-10	90	21	necessary.the	necessary.the	DET
alkej-10	90	22	system	system	NOUN
alkej-10	90	23	of	of	ADP
alkej-10	90	24	diagnostics	diagnostic	NOUN
alkej-10	90	25	assumes	assume	VERB
alkej-10	90	26	to	to	PART
alkej-10	90	27	install	install	VERB
alkej-10	90	28	on	on	ADP
alkej-10	90	29	a	a	DET
alkej-10	90	30	mr	mr	PROPN
alkej-10	90	31	accelerometers	accelerometer	NOUN
alkej-10	90	32	,	,	PUNCT
alkej-10	90	33	the	the	DET
alkej-10	90	34	position	position	NOUN
alkej-10	90	35	and	and	CCONJ
alkej-10	90	36	orientation	orientation	NOUN
alkej-10	90	37	of	of	ADP
alkej-10	90	38	which	which	PRON
alkej-10	90	39	axes	axis	NOUN
alkej-10	90	40	of	of	ADP
alkej-10	90	41	sensitivity	sensitivity	NOUN
alkej-10	90	42	,	,	PUNCT
alkej-10	90	43	depend	depend	VERB
alkej-10	90	44	on	on	ADP
alkej-10	90	45	the	the	DET
alkej-10	90	46	mr	mr	PROPN
alkej-10	90	47	layout	layout	PROPN
alkej-10	90	48	.	.	PUNCT
alkej-10	91	1	the	the	DET
alkej-10	91	2	system	system	NOUN
alkej-10	91	3	consists	consist	VERB
alkej-10	91	4	of	of	ADP
alkej-10	91	5	several	several	ADJ
alkej-10	91	6	channels	channel	NOUN
alkej-10	91	7	depend	depend	VERB
alkej-10	91	8	on	on	ADP
alkej-10	91	9	the	the	DET
alkej-10	91	10	number	number	NOUN
alkej-10	91	11	of	of	ADP
alkej-10	91	12	accelerometers	accelerometer	NOUN
alkej-10	91	13	dr.nabil	dr.nabil	PROPN
alkej-10	91	14	hassan	hassan	PROPN
alkej-10	91	15	hadi	hadi	PROPN
alkej-10	91	16	/	/	SYM
alkej-10	91	17	al	al	PROPN
alkej-10	91	18	-	-	PUNCT
alkej-10	91	19	khwarizmi	khwarizmi	PROPN
alkej-10	91	20	engineering	engineering	NOUN
alkej-10	91	21	journal	journal	PROPN
alkej-10	91	22	,	,	PUNCT
alkej-10	91	23	vol.1	vol.1	PROPN
alkej-10	91	24	,	,	PUNCT
alkej-10	91	25	no	no	INTJ
alkej-10	91	26	.	.	PUNCT
alkej-10	92	1	2,pp	2,pp	NUM
alkej-10	92	2	41	41	NUM
alkej-10	92	3	-	-	SYM
alkej-10	92	4	51	51	NUM
alkej-10	92	5	(	(	PUNCT
alkej-10	92	6	2005	2005	NUM
alkej-10	92	7	)	)	PUNCT
alkej-10	92	8	46	46	NUM
alkej-10	92	9	used	use	VERB
alkej-10	92	10	.	.	PUNCT
alkej-10	93	1	accelerometers	accelerometer	NOUN
alkej-10	93	2	are	be	AUX
alkej-10	93	3	designed	design	VERB
alkej-10	93	4	to	to	PART
alkej-10	93	5	measure	measure	VERB
alkej-10	93	6	the	the	DET
alkej-10	93	7	angular	angular	ADJ
alkej-10	93	8	speeds	speed	NOUN
alkej-10	93	9	of	of	ADP
alkej-10	93	10	wheels	wheel	NOUN
alkej-10	93	11	in	in	ADP
alkej-10	93	12	the	the	DET
alkej-10	93	13	assumption	assumption	NOUN
alkej-10	93	14	of	of	ADP
alkej-10	93	15	absence	absence	NOUN
alkej-10	93	16	slipping	slip	VERB
alkej-10	93	17	and	and	CCONJ
alkej-10	93	18	then	then	ADV
alkej-10	93	19	compared	compare	VERB
alkej-10	93	20	to	to	ADP
alkej-10	93	21	the	the	DET
alkej-10	93	22	appropriate	appropriate	ADJ
alkej-10	93	23	programmed	program	VERB
alkej-10	93	24	acceleration	acceleration	NOUN
alkej-10	93	25	.	.	PUNCT
alkej-10	94	1	if	if	SCONJ
alkej-10	94	2	movement	movement	NOUN
alkej-10	94	3	of	of	ADP
alkej-10	94	4	mr	mr	PROPN
alkej-10	94	5	occurs	occur	VERB
alkej-10	94	6	without	without	ADP
alkej-10	94	7	slipping	slip	VERB
alkej-10	94	8	signals	signal	NOUN
alkej-10	94	9	differences	difference	NOUN
alkej-10	94	10	(	(	PUNCT
alkej-10	94	11	errors	error	NOUN
alkej-10	94	12	)	)	PUNCT
alkej-10	94	13	are	be	AUX
alkej-10	94	14	close	close	ADJ
alkej-10	94	15	to	to	ADP
alkej-10	94	16	zero	zero	NUM
alkej-10	94	17	.	.	PUNCT
alkej-10	95	1	acceptable	acceptable	ADJ
alkej-10	95	2	signals	signal	NOUN
alkej-10	95	3	differences	difference	NOUN
alkej-10	95	4	of	of	ADP
alkej-10	95	5	allowable	allowable	ADJ
alkej-10	95	6	levels	level	NOUN
alkej-10	95	7	are	be	AUX
alkej-10	95	8	fixed	fix	VERB
alkej-10	95	9	by	by	ADP
alkej-10	95	10	threshold	threshold	NOUN
alkej-10	95	11	devices	device	NOUN
alkej-10	95	12	.	.	PUNCT
alkej-10	96	1	after	after	ADP
alkej-10	96	2	filtering	filter	VERB
alkej-10	96	3	the	the	DET
alkej-10	96	4	information	information	NOUN
alkej-10	96	5	from	from	ADP
alkej-10	96	6	the	the	DET
alkej-10	96	7	block	block	NOUN
alkej-10	96	8	of	of	ADP
alkej-10	96	9	diagnostics	diagnostic	NOUN
alkej-10	96	10	,	,	PUNCT
alkej-10	96	11	the	the	DET
alkej-10	96	12	possibility	possibility	NOUN
alkej-10	96	13	of	of	ADP
alkej-10	96	14	occurrence	occurrence	NOUN
alkej-10	96	15	slip	slip	NOUN
alkej-10	96	16	and	and	CCONJ
alkej-10	96	17	its	its	PRON
alkej-10	96	18	type	type	NOUN
alkej-10	96	19	are	be	AUX
alkej-10	96	20	determined	determine	VERB
alkej-10	96	21	automatically	automatically	ADV
alkej-10	96	22	.	.	PUNCT
alkej-10	97	1	6	6	X
alkej-10	97	2	.	.	X
alkej-10	97	3	results	result	NOUN
alkej-10	97	4	of	of	ADP
alkej-10	97	5	modelling	model	VERB
alkej-10	97	6	the	the	DET
alkej-10	97	7	dynamics	dynamic	NOUN
alkej-10	97	8	behavior	behavior	NOUN
alkej-10	97	9	of	of	ADP
alkej-10	97	10	mr	mr	PROPN
alkej-10	97	11	eq(2	eq(2	PROPN
alkej-10	97	12	)	)	PUNCT
alkej-10	97	13	when	when	SCONJ
alkej-10	97	14	moving	move	VERB
alkej-10	97	15	on	on	ADP
alkej-10	97	16	a	a	DET
alkej-10	97	17	circle	circle	NOUN
alkej-10	97	18	of	of	ADP
alkej-10	97	19	radius	radius	NOUN
alkej-10	97	20	dρ	dρ	PROPN
alkej-10	97	21	with	with	ADP
alkej-10	97	22	constant	constant	ADJ
alkej-10	97	23	speed	speed	NOUN
alkej-10	97	24	dv	dv	PROPN
alkej-10	97	25	will	will	AUX
alkej-10	97	26	studied	study	VERB
alkej-10	97	27	.	.	PUNCT
alkej-10	98	1	where	where	SCONJ
alkej-10	98	2	illustrating	illustrate	VERB
alkej-10	98	3	,	,	PUNCT
alkej-10	98	4	the	the	DET
alkej-10	98	5	behavior	behavior	NOUN
alkej-10	98	6	of	of	ADP
alkej-10	98	7	the	the	DET
alkej-10	98	8	system	system	NOUN
alkej-10	98	9	of	of	ADP
alkej-10	98	10	diagnostics	diagnostic	NOUN
alkej-10	98	11	for	for	ADP
alkej-10	98	12	the	the	DET
alkej-10	98	13	elementary	elementary	ADJ
alkej-10	98	14	case	case	NOUN
alkej-10	98	15	when	when	SCONJ
alkej-10	98	16	fuzzy	fuzzy	ADJ
alkej-10	98	17	base	base	NOUN
alkej-10	98	18	control	control	NOUN
alkej-10	98	19	uses	use	VERB
alkej-10	98	20	only	only	ADV
alkej-10	98	21	a	a	DET
alkej-10	98	22	proportional	proportional	ADJ
alkej-10	98	23	regulator	regulator	NOUN
alkej-10	98	24	of	of	ADP
alkej-10	98	25	speed	speed	NOUN
alkej-10	98	26	(	(	PUNCT
alkej-10	98	27	)	)	PUNCT
alkej-10	98	28	(	(	PUNCT
alkej-10	98	29	)	)	PUNCT
alkej-10	98	30	(	(	PUNCT
alkej-10	98	31	)	)	PUNCT
alkej-10	98	32	(	(	PUNCT
alkej-10	98	33	)	)	PUNCT
alkej-10	98	34	2	2	NUM
alkej-10	98	35	rv̂	rv̂	PROPN
alkej-10	98	36	,	,	PUNCT
alkej-10	98	37	2	2	NUM
alkej-10	98	38	ˆkvv̂k	ˆkvv̂k	NOUN
alkej-10	98	39	,	,	PUNCT
alkej-10	98	40	h	h	NOUN
alkej-10	99	1	d	d	X
alkej-10	99	2	1u	1u	NUM
alkej-10	99	3	w	w	PROPN
alkej-10	99	4	lrdd	lrdd	NOUN
alkej-10	99	5	vllll	vllll	NOUN
alkej-10	99	6	ω+ω	ω+ω	NUM
alkej-10	99	7	=	=	SYM
alkej-10	99	8	ω−ω−−−	ω−ω−−−	NUM
alkej-10	99	9	=	=	SYM
alkej-10	99	10	τω+τ=	τω+τ=	NUM
alkej-10	99	11	ω	ω	NOUN
alkej-10	99	12	(	(	PUNCT
alkej-10	99	13	5	5	NUM
alkej-10	99	14	)	)	PUNCT
alkej-10	99	15	(	(	PUNCT
alkej-10	99	16	)	)	PUNCT
alkej-10	99	17	(	(	PUNCT
alkej-10	99	18	)	)	PUNCT
alkej-10	99	19	(	(	PUNCT
alkej-10	99	20	)	)	PUNCT
alkej-10	99	21	(	(	PUNCT
alkej-10	99	22	)	)	PUNCT
alkej-10	99	23	l2	l2	PROPN
alkej-10	99	24	rˆ	rˆ	NOUN
alkej-10	99	25	,	,	PUNCT
alkej-10	99	26	2	2	NUM
alkej-10	99	27	ˆkvv̂k	ˆkvv̂k	NOUN
alkej-10	99	28	,	,	PUNCT
alkej-10	99	29	h	h	NOUN
alkej-10	100	1	d	d	X
alkej-10	100	2	1u	1u	NUM
alkej-10	100	3	w	w	PROPN
alkej-10	100	4	lrdd	lrdd	NOUN
alkej-10	100	5	vrrrr	vrrrr	NOUN
alkej-10	100	6	ω−ω	ω−ω	NUM
alkej-10	100	7	=	=	NOUN
alkej-10	100	8	ω	ω	NOUN
alkej-10	100	9	ω−ω+−−	ω−ω+−−	X
alkej-10	100	10	=	=	NOUN
alkej-10	100	11	τω+τ=	τω+τ=	NUM
alkej-10	100	12	ω	ω	NUM
alkej-10	100	13	where	where	SCONJ
alkej-10	100	14	ωk	ωk	X
alkej-10	100	15	,	,	PUNCT
alkej-10	100	16	kv	kv	PROPN
alkej-10	100	17	factors	factor	NOUN
alkej-10	100	18	of	of	ADP
alkej-10	100	19	strengthening	strengthening	NOUN
alkej-10	100	20	;	;	PUNCT
alkej-10	100	21	ddd	ddd	NOUN
alkej-10	100	22	v	v	NUM
alkej-10	100	23	ρ	ρ	PROPN
alkej-10	100	24	=	=	PROPN
alkej-10	100	25	ω	ω	PROPN
alkej-10	100	26	program	program	NOUN
alkej-10	100	27	angular	angular	ADJ
alkej-10	100	28	speed	speed	NOUN
alkej-10	100	29	.	.	PUNCT
alkej-10	101	1	in	in	ADP
alkej-10	101	2	the	the	DET
alkej-10	101	3	considered	considered	ADJ
alkej-10	101	4	example	example	NOUN
alkej-10	101	5	,	,	PUNCT
alkej-10	101	6	two	two	NUM
alkej-10	101	7	accelerometers	accelerometer	NOUN
alkej-10	101	8	where	where	SCONJ
alkej-10	101	9	suggested	suggest	VERB
alkej-10	101	10	to	to	PART
alkej-10	101	11	use	use	VERB
alkej-10	101	12	with	with	ADP
alkej-10	101	13	mutually	mutually	ADV
alkej-10	101	14	perpendicular	perpendicular	ADJ
alkej-10	101	15	axes	axis	NOUN
alkej-10	101	16	of	of	ADP
alkej-10	101	17	sensitivity	sensitivity	NOUN
alkej-10	101	18	placed	place	VERB
alkej-10	101	19	at	at	ADP
alkej-10	101	20	the	the	DET
alkej-10	101	21	centre	centre	NOUN
alkej-10	101	22	of	of	ADP
alkej-10	101	23	weights	weight	NOUN
alkej-10	101	24	on	on	ADP
alkej-10	101	25	longitudinal	longitudinal	ADJ
alkej-10	101	26	and	and	CCONJ
alkej-10	101	27	cross	cross	ADJ
alkej-10	101	28	axes	axis	NOUN
alkej-10	101	29	of	of	ADP
alkej-10	101	30	mr	mr	PROPN
alkej-10	101	31	.	.	PROPN
alkej-10	101	32	measured	measure	VERB
alkej-10	101	33	signals	signal	NOUN
alkej-10	101	34	from	from	ADP
alkej-10	101	35	accelerometers	accelerometer	NOUN
alkej-10	101	36	,	,	PUNCT
alkej-10	101	37	calculated	calculate	VERB
alkej-10	101	38	in	in	ADP
alkej-10	101	39	the	the	DET
alkej-10	101	40	assumption	assumption	NOUN
alkej-10	101	41	of	of	ADP
alkej-10	101	42	absence	absence	NOUN
alkej-10	101	43	slipping	slip	VERB
alkej-10	101	44	,	,	PUNCT
alkej-10	101	45	and	and	CCONJ
alkej-10	101	46	look	look	VERB
alkej-10	101	47	like	like	ADP
alkej-10	101	48	displacement	displacement	NOUN
alkej-10	101	49	of	of	ADP
alkej-10	101	50	the	the	DET
alkej-10	101	51	centre	centre	NOUN
alkej-10	101	52	of	of	ADP
alkej-10	101	53	weights	weight	NOUN
alkej-10	101	54	(	(	PUNCT
alkej-10	101	55	)	)	PUNCT
alkej-10	101	56	(	(	PUNCT
alkej-10	101	57	)	)	PUNCT
alkej-10	101	58	(	(	PUNCT
alkej-10	101	59	)	)	PUNCT
alkej-10	102	1	l	l	NOUN
alkej-10	102	2	r	r	NOUN
alkej-10	102	3	e	e	NOUN
alkej-10	102	4	r	r	NOUN
alkej-10	102	5	e	e	NOUN
alkej-10	102	6	w	w	NOUN
alkej-10	102	7	lrlr	lrlr	NOUN
alkej-10	102	8	v	v	ADP
alkej-10	102	9	w	w	NOUN
alkej-10	102	10	lr	lr	PROPN
alkej-10	102	11	4	4	NUM
alkej-10	102	12	ˆ	ˆ	NOUN
alkej-10	102	13	,	,	PUNCT
alkej-10	102	14	2	2	NUM
alkej-10	102	15	ˆˆ	ˆˆ	NOUN
alkej-10	102	16	ˆ	ˆ	PROPN
alkej-10	102	17	2ωωωωωω	2ωωωωωω	NUM
alkej-10	102	18	+	+	NOUN
alkej-10	102	19	−	−	NOUN
alkej-10	102	20	=	=	SYM
alkej-10	102	21	+	+	NUM
alkej-10	102	22	=	=	PROPN
alkej-10	102	23	ω	ω	PROPN
alkej-10	102	24	&	&	CCONJ
alkej-10	102	25	&	&	CCONJ
alkej-10	102	26	(	(	PUNCT
alkej-10	102	27	6	6	NUM
alkej-10	102	28	)	)	PUNCT
alkej-10	102	29	the	the	DET
alkej-10	102	30	fuzzy	fuzzy	ADJ
alkej-10	102	31	logic	logic	NOUN
alkej-10	102	32	block	block	NOUN
alkej-10	102	33	of	of	ADP
alkej-10	102	34	a	a	DET
alkej-10	102	35	system	system	NOUN
alkej-10	102	36	of	of	ADP
alkej-10	102	37	diagnostics	diagnostic	NOUN
alkej-10	102	38	forms	form	VERB
alkej-10	102	39	a	a	DET
alkej-10	102	40	target	target	NOUN
alkej-10	102	41	signal	signal	NOUN
alkej-10	102	42	from	from	ADP
alkej-10	102	43	threshold	threshold	NOUN
alkej-10	102	44	devices	device	NOUN
alkej-10	102	45	of	of	ADP
alkej-10	102	46	each	each	PRON
alkej-10	102	47	of	of	ADP
alkej-10	102	48	channels	channel	NOUN
alkej-10	102	49	.	.	PUNCT
alkej-10	103	1	such	such	ADJ
alkej-10	103	2	simplified	simplified	ADJ
alkej-10	103	3	procedure	procedure	NOUN
alkej-10	103	4	quickly	quickly	ADV
alkej-10	103	5	allows	allow	VERB
alkej-10	103	6	to	to	PART
alkej-10	103	7	determine	determine	VERB
alkej-10	103	8	the	the	DET
alkej-10	103	9	fact	fact	NOUN
alkej-10	103	10	of	of	ADP
alkej-10	103	11	occurrence	occurrence	NOUN
alkej-10	103	12	slipping	slipping	NOUN
alkej-10	103	13	,	,	PUNCT
alkej-10	103	14	but	but	CCONJ
alkej-10	103	15	does	do	AUX
alkej-10	103	16	not	not	PART
alkej-10	103	17	allow	allow	VERB
alkej-10	103	18	to	to	PART
alkej-10	103	19	classify	classify	VERB
alkej-10	103	20	its	its	PRON
alkej-10	103	21	type	type	NOUN
alkej-10	103	22	.	.	PUNCT
alkej-10	104	1	at	at	ADP
alkej-10	104	2	the	the	DET
alkej-10	104	3	beginning	beginning	NOUN
alkej-10	104	4	of	of	ADP
alkej-10	104	5	slipping	slip	VERB
alkej-10	104	6	(	(	PUNCT
alkej-10	104	7	occurrence	occurrence	NOUN
alkej-10	104	8	of	of	ADP
alkej-10	104	9	slip	slip	NOUN
alkej-10	104	10	)	)	PUNCT
alkej-10	104	11	the	the	DET
alkej-10	104	12	block	block	NOUN
alkej-10	104	13	of	of	ADP
alkej-10	104	14	suppression	suppression	NOUN
alkej-10	104	15	of	of	ADP
alkej-10	104	16	sliding	slide	VERB
alkej-10	104	17	in	in	ADP
alkej-10	104	18	coordination	coordination	NOUN
alkej-10	104	19	reduces	reduce	VERB
alkej-10	104	20	the	the	DET
alkej-10	104	21	program	program	NOUN
alkej-10	104	22	linear	linear	ADJ
alkej-10	104	23	and	and	CCONJ
alkej-10	104	24	angular	angular	ADJ
alkej-10	104	25	speeds	speed	NOUN
alkej-10	104	26	acting	act	VERB
alkej-10	104	27	on	on	ADP
alkej-10	104	28	a	a	DET
alkej-10	104	29	regulator	regulator	NOUN
alkej-10	104	30	of	of	ADP
alkej-10	104	31	speed	speed	NOUN
alkej-10	104	32	(	(	PUNCT
alkej-10	104	33	5	5	NUM
alkej-10	104	34	)	)	PUNCT
alkej-10	104	35	.	.	PUNCT
alkej-10	105	1	the	the	DET
alkej-10	105	2	following	follow	VERB
alkej-10	105	3	situation	situation	NOUN
alkej-10	105	4	was	be	AUX
alkej-10	105	5	modelled	model	VERB
alkej-10	105	6	.	.	PUNCT
alkej-10	106	1	within	within	ADP
alkej-10	106	2	first	first	ADJ
alkej-10	106	3	55	55	NUM
alkej-10	106	4	seconds	second	NOUN
alkej-10	106	5	mr	mr	PROPN
alkej-10	106	6	moved	move	VERB
alkej-10	106	7	on	on	ADP
alkej-10	106	8	a	a	DET
alkej-10	106	9	circle	circle	NOUN
alkej-10	106	10	in	in	ADP
alkej-10	106	11	conditions	condition	NOUN
alkej-10	106	12	of	of	ADP
alkej-10	106	13	good	good	ADJ
alkej-10	106	14	coupling	coupling	NOUN
alkej-10	106	15	wheels	wheel	NOUN
alkej-10	106	16	with	with	ADP
alkej-10	106	17	a	a	DET
alkej-10	106	18	surface	surface	NOUN
alkej-10	106	19	.	.	PUNCT
alkej-10	107	1	further	far	ADV
alkej-10	107	2	these	these	DET
alkej-10	107	3	conditions	condition	NOUN
alkej-10	107	4	have	have	AUX
alkej-10	107	5	changed	change	VERB
alkej-10	107	6	to	to	ADP
alkej-10	107	7	the	the	DET
alkej-10	107	8	worse	bad	ADJ
alkej-10	107	9	,	,	PUNCT
alkej-10	107	10	i.e.	i.e.	X
alkej-10	107	11	sudden	sudden	ADJ
alkej-10	107	12	entrance	entrance	NOUN
alkej-10	107	13	a	a	DET
alkej-10	107	14	slippery	slippery	ADJ
alkej-10	107	15	surface	surface	NOUN
alkej-10	107	16	was	be	AUX
alkej-10	107	17	modelled	model	VERB
alkej-10	107	18	.	.	PUNCT
alkej-10	108	1	figure4	figure4	ADJ
alkej-10	108	2	illustrates	illustrate	VERB
alkej-10	108	3	process	process	NOUN
alkej-10	108	4	of	of	ADP
alkej-10	108	5	mr	mr	PROPN
alkej-10	108	6	movement	movement	PROPN
alkej-10	108	7	with	with	ADP
alkej-10	108	8	a	a	DET
alkej-10	108	9	control	control	NOUN
alkej-10	108	10	system	system	NOUN
alkej-10	108	11	in	in	ADP
alkej-10	108	12	which	which	PRON
alkej-10	108	13	the	the	DET
alkej-10	108	14	system	system	NOUN
alkej-10	108	15	of	of	ADP
alkej-10	108	16	diagnostics	diagnostic	NOUN
alkej-10	108	17	of	of	ADP
alkej-10	108	18	suppression	suppression	NOUN
alkej-10	108	19	of	of	ADP
alkej-10	108	20	sliding	sliding	NOUN
alkej-10	108	21	does	do	AUX
alkej-10	108	22	not	not	PART
alkej-10	108	23	work	work	VERB
alkej-10	108	24	.	.	PUNCT
alkej-10	109	1	in	in	ADP
alkej-10	109	2	figure4a	figure4a	PROPN
alkej-10	109	3	,	,	PUNCT
alkej-10	109	4	the	the	DET
alkej-10	109	5	trajectory	trajectory	NOUN
alkej-10	109	6	of	of	ADP
alkej-10	109	7	movement	movement	NOUN
alkej-10	109	8	of	of	ADP
alkej-10	109	9	mr	mr	PROPN
alkej-10	109	10	is	be	AUX
alkej-10	109	11	given	give	VERB
alkej-10	109	12	.	.	PUNCT
alkej-10	110	1	it	it	PRON
alkej-10	110	2	is	be	AUX
alkej-10	110	3	visible	visible	ADJ
alkej-10	110	4	,	,	PUNCT
alkej-10	110	5	that	that	SCONJ
alkej-10	110	6	at	at	ADP
alkej-10	110	7	deterioration	deterioration	NOUN
alkej-10	110	8	of	of	ADP
alkej-10	110	9	conditions	condition	NOUN
alkej-10	110	10	of	of	ADP
alkej-10	110	11	mr	mr	PROPN
alkej-10	110	12	leave	leave	VERB
alkej-10	110	13	its	its	PRON
alkej-10	110	14	trajectory	trajectory	NOUN
alkej-10	110	15	and	and	CCONJ
alkej-10	110	16	move	move	VERB
alkej-10	110	17	with	with	ADP
alkej-10	110	18	new	new	ADJ
alkej-10	110	19	trajectory	trajectory	NOUN
alkej-10	110	20	of	of	ADP
alkej-10	110	21	smaller	small	ADJ
alkej-10	110	22	radius	radius	NOUN
alkej-10	110	23	circle	circle	NOUN
alkej-10	110	24	.	.	PUNCT
alkej-10	111	1	in	in	ADP
alkej-10	111	2	figure4b	figure4b	PROPN
alkej-10	111	3	,	,	PUNCT
alkej-10	111	4	the	the	DET
alkej-10	111	5	longitudinal	longitudinal	ADJ
alkej-10	111	6	velocity	velocity	NOUN
alkej-10	111	7	of	of	ADP
alkej-10	111	8	the	the	DET
alkej-10	111	9	mr	mr	PROPN
alkej-10	111	10	.	.	PROPN
alkej-10	112	1	it	it	PRON
alkej-10	112	2	is	be	AUX
alkej-10	112	3	visible	visible	ADJ
alkej-10	112	4	,	,	PUNCT
alkej-10	112	5	that	that	SCONJ
alkej-10	112	6	it	it	PRON
alkej-10	112	7	precisely	precisely	ADV
alkej-10	112	8	reflects	reflect	VERB
alkej-10	112	9	the	the	DET
alkej-10	112	10	fact	fact	NOUN
alkej-10	112	11	of	of	ADP
alkej-10	112	12	occurrence	occurrence	NOUN
alkej-10	112	13	slipping	slip	VERB
alkej-10	112	14	and	and	CCONJ
alkej-10	112	15	fully	fully	ADV
alkej-10	112	16	complies	comply	VERB
alkej-10	112	17	with	with	ADP
alkej-10	112	18	diagrams	diagram	NOUN
alkej-10	112	19	of	of	ADP
alkej-10	112	20	right	right	NOUN
alkej-10	112	21	and	and	CCONJ
alkej-10	112	22	left	leave	VERB
alkej-10	112	23	wheel	wheel	NOUN
alkej-10	112	24	speeds	speed	NOUN
alkej-10	112	25	and	and	CCONJ
alkej-10	112	26	the	the	DET
alkej-10	112	27	trajectory	trajectory	NOUN
alkej-10	112	28	of	of	ADP
alkej-10	112	29	the	the	DET
alkej-10	112	30	mr(fig	mr(fig	NOUN
alkej-10	112	31	.	.	PUNCT
alkej-10	113	1	4,c	4,c	PROPN
alkej-10	113	2	and	and	CCONJ
alkej-10	113	3	d	d	NOUN
alkej-10	113	4	)	)	PUNCT
alkej-10	113	5	.	.	PUNCT
alkej-10	114	1	dr.nabil	dr.nabil	PROPN
alkej-10	114	2	hassan	hassan	PROPN
alkej-10	114	3	hadi	hadi	PROPN
alkej-10	114	4	/	/	SYM
alkej-10	114	5	al	al	PROPN
alkej-10	114	6	-	-	PUNCT
alkej-10	114	7	khwarizmi	khwarizmi	PROPN
alkej-10	114	8	engineering	engineering	NOUN
alkej-10	114	9	journal	journal	PROPN
alkej-10	114	10	,	,	PUNCT
alkej-10	114	11	vol.1	vol.1	PROPN
alkej-10	114	12	,	,	PUNCT
alkej-10	114	13	no	no	INTJ
alkej-10	114	14	.	.	PUNCT
alkej-10	115	1	2,pp	2,pp	NUM
alkej-10	115	2	41	41	NUM
alkej-10	115	3	-	-	SYM
alkej-10	115	4	51	51	NUM
alkej-10	115	5	(	(	PUNCT
alkej-10	115	6	2005	2005	NUM
alkej-10	115	7	)	)	PUNCT
alkej-10	116	1	47	47	NUM
alkej-10	116	2	-2	-2	INTJ
alkej-10	116	3	-1	-1	SYM
alkej-10	116	4	0	0	NUM
alkej-10	117	1	1	1	NUM
alkej-10	117	2	2	2	NUM
alkej-10	117	3	3	3	NUM
alkej-10	117	4	4	4	NUM
alkej-10	117	5	0	0	NUM
alkej-10	117	6	1	1	NUM
alkej-10	117	7	2	2	NUM
alkej-10	117	8	3	3	NUM
alkej-10	117	9	4	4	NUM
alkej-10	117	10	5	5	NUM
alkej-10	117	11	6	6	NUM
alkej-10	117	12	7	7	NUM
alkej-10	117	13	x	x	NOUN
alkej-10	117	14	,	,	PUNCT
alkej-10	117	15	m	m	PROPN
alkej-10	117	16	y	y	PROPN
alkej-10	117	17	,	,	PUNCT
alkej-10	117	18	m	m	VERB
alkej-10	117	19	0	0	NUM
alkej-10	117	20	20	20	NUM
alkej-10	117	21	40	40	NUM
alkej-10	117	22	60	60	NUM
alkej-10	117	23	80	80	NUM
alkej-10	117	24	100	100	NUM
alkej-10	117	25	120	120	NUM
alkej-10	117	26	140	140	NUM
alkej-10	117	27	160	160	NUM
alkej-10	117	28	180	180	NUM
alkej-10	117	29	0	0	NUM
alkej-10	117	30	0.02	0.02	NUM
alkej-10	117	31	0.04	0.04	NUM
alkej-10	117	32	0.06	0.06	NUM
alkej-10	117	33	0.08	0.08	NUM
alkej-10	117	34	0.1	0.1	NUM
alkej-10	117	35	0.12	0.12	NUM
alkej-10	117	36	0.14	0.14	NUM
alkej-10	117	37	0.16	0.16	NUM
alkej-10	117	38	0.18	0.18	NUM
alkej-10	117	39	time	time	NOUN
alkej-10	117	40	,	,	PUNCT
alkej-10	117	41	s	s	VERB
alkej-10	117	42	ve	ve	VERB
alkej-10	117	43	lo	lo	PROPN
alkej-10	117	44	ci	ci	PROPN
alkej-10	118	1	ty	ty	INTJ
alkej-10	118	2	,	,	PUNCT
alkej-10	118	3	m	m	INTJ
alkej-10	118	4	/s	/s	PUNCT
alkej-10	118	5	(	(	PUNCT
alkej-10	118	6	a	a	NOUN
alkej-10	118	7	)	)	PUNCT
alkej-10	118	8	(	(	PUNCT
alkej-10	118	9	b	b	NOUN
alkej-10	118	10	)	)	PUNCT
alkej-10	118	11	0	0	NUM
alkej-10	118	12	20	20	NUM
alkej-10	118	13	40	40	NUM
alkej-10	118	14	60	60	NUM
alkej-10	118	15	80	80	NUM
alkej-10	118	16	100	100	NUM
alkej-10	118	17	120	120	NUM
alkej-10	118	18	140	140	NUM
alkej-10	118	19	160	160	NUM
alkej-10	118	20	180	180	NUM
alkej-10	118	21	0	0	NUM
alkej-10	118	22	0.05	0.05	NUM
alkej-10	118	23	0.1	0.1	NUM
alkej-10	118	24	0.15	0.15	NUM
alkej-10	118	25	0.2	0.2	NUM
alkej-10	118	26	0.25	0.25	NUM
alkej-10	118	27	0.3	0.3	NUM
alkej-10	118	28	0.35	0.35	NUM
alkej-10	118	29	time	time	NOUN
alkej-10	118	30	,	,	PUNCT
alkej-10	118	31	s	s	VERB
alkej-10	118	32	an	an	DET
alkej-10	118	33	gu	gu	NOUN
alkej-10	118	34	la	la	NOUN
alkej-10	118	35	r	r	NOUN
alkej-10	118	36	v	v	NUM
alkej-10	118	37	el	el	PROPN
alkej-10	118	38	oc	oc	PROPN
alkej-10	118	39	ity	ity	PROPN
alkej-10	118	40	ra	ra	PROPN
alkej-10	118	41	d/	d/	NOUN
alkej-10	118	42	s	s	PART
alkej-10	118	43	0	0	NUM
alkej-10	118	44	20	20	NUM
alkej-10	118	45	40	40	NUM
alkej-10	118	46	60	60	NUM
alkej-10	118	47	80	80	NUM
alkej-10	118	48	100	100	NUM
alkej-10	118	49	120	120	NUM
alkej-10	118	50	140	140	NUM
alkej-10	118	51	160	160	NUM
alkej-10	118	52	180	180	NUM
alkej-10	118	53	0	0	NUM
alkej-10	118	54	0.05	0.05	NUM
alkej-10	118	55	0.1	0.1	NUM
alkej-10	118	56	0.15	0.15	NUM
alkej-10	118	57	0.2	0.2	NUM
alkej-10	118	58	0.25	0.25	NUM
alkej-10	118	59	0.3	0.3	NUM
alkej-10	118	60	0.35	0.35	NUM
alkej-10	118	61	0.4	0.4	NUM
alkej-10	118	62	time	time	NOUN
alkej-10	118	63	,	,	PUNCT
alkej-10	118	64	s	s	VERB
alkej-10	118	65	ve	ve	VERB
alkej-10	118	66	lo	lo	PROPN
alkej-10	118	67	ci	ci	NOUN
alkej-10	119	1	ty	ty	INTJ
alkej-10	119	2	v	v	ADP
alkej-10	119	3	r	r	NOUN
alkej-10	119	4	a	a	DET
alkej-10	119	5	nd	nd	NOUN
alkej-10	119	6	v	v	NOUN
alkej-10	119	7	l	l	NOUN
alkej-10	119	8	,	,	PUNCT
alkej-10	119	9	m	m	INTJ
alkej-10	119	10	/s	/s	PUNCT
alkej-10	120	1	(	(	PUNCT
alkej-10	120	2	c	c	X
alkej-10	120	3	)	)	PUNCT
alkej-10	120	4	(	(	PUNCT
alkej-10	120	5	d	d	X
alkej-10	120	6	)	)	PUNCT
alkej-10	120	7	fig	fig	NOUN
alkej-10	120	8	.	.	PUNCT
alkej-10	121	1	٤.	٤.	X
alkej-10	121	2	movement	movement	NOUN
alkej-10	121	3	mr	mr	PROPN
alkej-10	121	4	with	with	ADP
alkej-10	121	5	the	the	DET
alkej-10	121	6	switched	switch	VERB
alkej-10	121	7	off	off	ADP
alkej-10	121	8	system	system	NOUN
alkej-10	121	9	of	of	ADP
alkej-10	121	10	slip	slip	NOUN
alkej-10	121	11	diagnostics	diagnostic	NOUN
alkej-10	121	12	fig.5	fig.5	NOUN
alkej-10	121	13	illustrates	illustrate	VERB
alkej-10	121	14	the	the	DET
alkej-10	121	15	process	process	NOUN
alkej-10	121	16	of	of	ADP
alkej-10	121	17	mr	mr	PROPN
alkej-10	121	18	movement	movement	PROPN
alkej-10	121	19	with	with	ADP
alkej-10	121	20	switching	switch	VERB
alkej-10	121	21	on	on	ADP
alkej-10	121	22	the	the	DET
alkej-10	121	23	system	system	NOUN
alkej-10	121	24	of	of	ADP
alkej-10	121	25	diagnostics	diagnostic	NOUN
alkej-10	121	26	and	and	CCONJ
alkej-10	121	27	the	the	DET
alkej-10	121	28	block	block	NOUN
alkej-10	121	29	of	of	ADP
alkej-10	121	30	suppression	suppression	NOUN
alkej-10	121	31	of	of	ADP
alkej-10	121	32	sliding	slide	VERB
alkej-10	121	33	.	.	PUNCT
alkej-10	122	1	under	under	ADP
alkej-10	122	2	same	same	ADJ
alkej-10	122	3	conditions	condition	NOUN
alkej-10	122	4	,	,	PUNCT
alkej-10	122	5	it	it	PRON
alkej-10	122	6	is	be	AUX
alkej-10	122	7	shown	show	VERB
alkej-10	122	8	that	that	SCONJ
alkej-10	122	9	the	the	DET
alkej-10	122	10	trajectory	trajectory	NOUN
alkej-10	122	11	of	of	ADP
alkej-10	122	12	motion	motion	NOUN
alkej-10	122	13	is	be	AUX
alkej-10	122	14	not	not	PART
alkej-10	122	15	broken	break	VERB
alkej-10	122	16	.	.	PUNCT
alkej-10	123	1	because	because	SCONJ
alkej-10	123	2	of	of	ADP
alkej-10	123	3	inertia	inertia	NOUN
alkej-10	123	4	,	,	PUNCT
alkej-10	123	5	within	within	ADP
alkej-10	123	6	several	several	ADJ
alkej-10	123	7	seconds	second	NOUN
alkej-10	123	8	,	,	PUNCT
alkej-10	123	9	mr	mr	PROPN
alkej-10	123	10	goes	go	VERB
alkej-10	123	11	with	with	ADP
alkej-10	123	12	allowable	allowable	ADJ
alkej-10	123	13	slipping	slipping	NOUN
alkej-10	123	14	,	,	PUNCT
alkej-10	123	15	then	then	ADV
alkej-10	123	16	again	again	ADV
alkej-10	123	17	starts	start	VERB
alkej-10	123	18	to	to	PART
alkej-10	123	19	move	move	VERB
alkej-10	123	20	without	without	ADP
alkej-10	123	21	slipping	slip	VERB
alkej-10	123	22	on	on	ADP
alkej-10	123	23	a	a	DET
alkej-10	123	24	circle	circle	NOUN
alkej-10	123	25	of	of	ADP
alkej-10	123	26	the	the	DET
alkej-10	123	27	given	give	VERB
alkej-10	123	28	radius	radius	NOUN
alkej-10	123	29	dρ	dρ	NOUN
alkej-10	123	30	,	,	PUNCT
alkej-10	123	31	but	but	CCONJ
alkej-10	123	32	with	with	ADP
alkej-10	123	33	smaller	small	ADJ
alkej-10	123	34	speed	speed	NOUN
alkej-10	123	35	which	which	DET
alkej-10	123	36	size	size	NOUN
alkej-10	123	37	is	be	AUX
alkej-10	123	38	set	set	VERB
alkej-10	123	39	by	by	ADP
alkej-10	123	40	the	the	DET
alkej-10	123	41	block	block	NOUN
alkej-10	123	42	of	of	ADP
alkej-10	123	43	suppression	suppression	NOUN
alkej-10	123	44	of	of	ADP
alkej-10	123	45	sliding	slide	VERB
alkej-10	123	46	.	.	PUNCT
alkej-10	124	1	from	from	ADP
alkej-10	124	2	diagrams	diagram	NOUN
alkej-10	124	3	it	it	PRON
alkej-10	124	4	is	be	AUX
alkej-10	124	5	visible	visible	ADJ
alkej-10	124	6	,	,	PUNCT
alkej-10	124	7	that	that	SCONJ
alkej-10	124	8	the	the	DET
alkej-10	124	9	logic	logic	NOUN
alkej-10	124	10	signal	signal	NOUN
alkej-10	124	11	on	on	ADP
alkej-10	124	12	an	an	DET
alkej-10	124	13	output	output	NOUN
alkej-10	124	14	of	of	ADP
alkej-10	124	15	a	a	DET
alkej-10	124	16	system	system	NOUN
alkej-10	124	17	of	of	ADP
alkej-10	124	18	diagnostics	diagnostic	NOUN
alkej-10	124	19	(	(	PUNCT
alkej-10	124	20	figure5f	figure5f	NOUN
alkej-10	124	21	)	)	PUNCT
alkej-10	124	22	fully	fully	ADV
alkej-10	124	23	complies	comply	VERB
alkej-10	124	24	with	with	ADP
alkej-10	124	25	the	the	DET
alkej-10	124	26	movement	movement	NOUN
alkej-10	124	27	described	describe	VERB
alkej-10	124	28	above	above	ADV
alkej-10	124	29	(	(	PUNCT
alkej-10	124	30	see	see	VERB
alkej-10	124	31	fig	fig	NOUN
alkej-10	124	32	5,b	5,b	NOUN
alkej-10	124	33	,	,	PUNCT
alkej-10	124	34	c	c	X
alkej-10	124	35	,	,	PUNCT
alkej-10	124	36	d	d	NOUN
alkej-10	124	37	and	and	CCONJ
alkej-10	124	38	e	e	NOUN
alkej-10	124	39	)	)	PUNCT
alkej-10	124	40	.	.	PUNCT
alkej-10	125	1	dr.nabil	dr.nabil	PROPN
alkej-10	125	2	hassan	hassan	PROPN
alkej-10	125	3	hadi	hadi	PROPN
alkej-10	125	4	/	/	SYM
alkej-10	125	5	al	al	PROPN
alkej-10	125	6	-	-	PUNCT
alkej-10	125	7	khwarizmi	khwarizmi	PROPN
alkej-10	125	8	engineering	engineering	NOUN
alkej-10	125	9	journal	journal	PROPN
alkej-10	125	10	,	,	PUNCT
alkej-10	125	11	vol.1	vol.1	PROPN
alkej-10	125	12	,	,	PUNCT
alkej-10	125	13	no	no	INTJ
alkej-10	125	14	.	.	PUNCT
alkej-10	126	1	2,pp	2,pp	NUM
alkej-10	126	2	41	41	NUM
alkej-10	126	3	-	-	SYM
alkej-10	126	4	51	51	NUM
alkej-10	126	5	(	(	PUNCT
alkej-10	126	6	2005	2005	NUM
alkej-10	126	7	)	)	PUNCT
alkej-10	126	8	48	48	NUM
alkej-10	126	9	-3	-3	NUM
alkej-10	126	10	-2	-2	INTJ
alkej-10	126	11	-1	-1	SYM
alkej-10	126	12	0	0	NUM
alkej-10	126	13	1	1	NUM
alkej-10	126	14	2	2	NUM
alkej-10	126	15	3	3	NUM
alkej-10	126	16	-2	-2	NOUN
alkej-10	126	17	-1	-1	NOUN
alkej-10	126	18	0	0	NUM
alkej-10	127	1	1	1	NUM
alkej-10	127	2	2	2	NUM
alkej-10	127	3	3	3	NUM
alkej-10	127	4	4	4	NUM
alkej-10	127	5	x	x	NOUN
alkej-10	127	6	,	,	PUNCT
alkej-10	127	7	m	m	VERB
alkej-10	127	8	y	y	PROPN
alkej-10	127	9	,	,	PUNCT
alkej-10	127	10	m	m	VERB
alkej-10	127	11	0	0	NUM
alkej-10	127	12	20	20	NUM
alkej-10	127	13	40	40	NUM
alkej-10	127	14	60	60	NUM
alkej-10	127	15	80	80	NUM
alkej-10	127	16	100	100	NUM
alkej-10	127	17	120	120	NUM
alkej-10	127	18	140	140	NUM
alkej-10	127	19	160	160	NUM
alkej-10	127	20	180	180	NUM
alkej-10	127	21	0	0	NUM
alkej-10	127	22	1	1	NUM
alkej-10	127	23	2	2	NUM
alkej-10	127	24	3	3	NUM
alkej-10	127	25	4	4	NUM
alkej-10	127	26	5	5	NUM
alkej-10	127	27	6	6	NUM
alkej-10	127	28	7	7	NUM
alkej-10	127	29	8	8	NUM
alkej-10	127	30	9	9	NUM
alkej-10	127	31	10	10	NUM
alkej-10	127	32	time	time	NOUN
alkej-10	127	33	,	,	PUNCT
alkej-10	127	34	s	s	VERB
alkej-10	127	35	sl	sl	NOUN
alkej-10	127	36	ip	ip	NOUN
alkej-10	127	37	o	o	NOUN
alkej-10	127	38	cc	cc	X
alkej-10	127	39	ur	ur	INTJ
alkej-10	127	40	an	an	DET
alkej-10	127	41	ce	ce	PROPN
alkej-10	127	42	(	(	PUNCT
alkej-10	127	43	a	a	NOUN
alkej-10	127	44	)	)	PUNCT
alkej-10	127	45	(	(	PUNCT
alkej-10	127	46	b	b	NOUN
alkej-10	127	47	)	)	PUNCT
alkej-10	127	48	0	0	NUM
alkej-10	127	49	20	20	NUM
alkej-10	127	50	40	40	NUM
alkej-10	127	51	60	60	NUM
alkej-10	127	52	80	80	NUM
alkej-10	127	53	100	100	NUM
alkej-10	127	54	120	120	NUM
alkej-10	127	55	140	140	NUM
alkej-10	127	56	160	160	NUM
alkej-10	127	57	180	180	NUM
alkej-10	127	58	0	0	NUM
alkej-10	127	59	0.05	0.05	NUM
alkej-10	127	60	0.1	0.1	NUM
alkej-10	127	61	0.15	0.15	NUM
alkej-10	127	62	0.2	0.2	NUM
alkej-10	127	63	0.25	0.25	NUM
alkej-10	127	64	time	time	NOUN
alkej-10	127	65	,	,	PUNCT
alkej-10	127	66	s	s	VERB
alkej-10	127	67	ve	ve	VERB
alkej-10	127	68	lo	lo	PROPN
alkej-10	127	69	ci	ci	NOUN
alkej-10	128	1	ty	ty	INTJ
alkej-10	128	2	v	v	ADP
alkej-10	128	3	1	1	NUM
alkej-10	128	4	,	,	PUNCT
alkej-10	128	5	m	m	VERB
alkej-10	128	6	/s	/s	NOUN
alkej-10	128	7	0	0	NUM
alkej-10	128	8	20	20	NUM
alkej-10	128	9	40	40	NUM
alkej-10	128	10	60	60	NUM
alkej-10	128	11	80	80	NUM
alkej-10	128	12	100	100	NUM
alkej-10	128	13	120	120	NUM
alkej-10	128	14	140	140	NUM
alkej-10	128	15	160	160	NUM
alkej-10	128	16	180	180	NUM
alkej-10	128	17	0	0	NUM
alkej-10	128	18	0.02	0.02	NUM
alkej-10	128	19	0.04	0.04	NUM
alkej-10	128	20	0.06	0.06	NUM
alkej-10	128	21	0.08	0.08	NUM
alkej-10	128	22	0.1	0.1	NUM
alkej-10	128	23	0.12	0.12	NUM
alkej-10	128	24	0.14	0.14	NUM
alkej-10	128	25	time	time	NOUN
alkej-10	128	26	,	,	PUNCT
alkej-10	128	27	s	s	VERB
alkej-10	128	28	an	an	DET
alkej-10	128	29	gu	gu	NOUN
alkej-10	128	30	la	la	NOUN
alkej-10	128	31	r	r	NOUN
alkej-10	128	32	v	v	NUM
alkej-10	128	33	el	el	PROPN
alkej-10	128	34	oc	oc	PROPN
alkej-10	128	35	ity	ity	PROPN
alkej-10	128	36	,	,	PUNCT
alkej-10	128	37	r	r	NOUN
alkej-10	128	38	ad	ad	NOUN
alkej-10	128	39	/s	/s	PUNCT
alkej-10	128	40	(	(	PUNCT
alkej-10	128	41	c	c	NOUN
alkej-10	128	42	)	)	PUNCT
alkej-10	128	43	(	(	PUNCT
alkej-10	128	44	d	d	X
alkej-10	128	45	)	)	PUNCT
alkej-10	128	46	dr.nabil	dr.nabil	PROPN
alkej-10	128	47	hassan	hassan	PROPN
alkej-10	128	48	hadi	hadi	PROPN
alkej-10	128	49	/	/	SYM
alkej-10	128	50	al	al	PROPN
alkej-10	128	51	-	-	PUNCT
alkej-10	128	52	khwarizmi	khwarizmi	PROPN
alkej-10	128	53	engineering	engineering	NOUN
alkej-10	128	54	journal	journal	PROPN
alkej-10	128	55	,	,	PUNCT
alkej-10	128	56	vol.1	vol.1	PROPN
alkej-10	128	57	,	,	PUNCT
alkej-10	128	58	no	no	INTJ
alkej-10	128	59	.	.	PUNCT
alkej-10	129	1	2,pp	2,pp	NUM
alkej-10	129	2	41	41	NUM
alkej-10	129	3	-	-	SYM
alkej-10	129	4	51	51	NUM
alkej-10	129	5	(	(	PUNCT
alkej-10	129	6	2005	2005	NUM
alkej-10	129	7	)	)	PUNCT
alkej-10	129	8	49	49	NUM
alkej-10	129	9	0	0	NUM
alkej-10	129	10	20	20	NUM
alkej-10	129	11	40	40	NUM
alkej-10	129	12	60	60	NUM
alkej-10	129	13	80	80	NUM
alkej-10	129	14	100	100	NUM
alkej-10	129	15	120	120	NUM
alkej-10	129	16	140	140	NUM
alkej-10	129	17	160	160	NUM
alkej-10	129	18	180	180	NUM
alkej-10	129	19	0	0	NUM
alkej-10	129	20	0.05	0.05	NUM
alkej-10	129	21	0.1	0.1	NUM
alkej-10	129	22	0.15	0.15	NUM
alkej-10	129	23	0.2	0.2	NUM
alkej-10	129	24	0.25	0.25	NUM
alkej-10	129	25	0.3	0.3	NUM
alkej-10	129	26	0.35	0.35	NUM
alkej-10	129	27	0.4	0.4	NUM
alkej-10	129	28	time	time	NOUN
alkej-10	129	29	,	,	PUNCT
alkej-10	129	30	s	s	VERB
alkej-10	129	31	ve	ve	VERB
alkej-10	129	32	lo	lo	PROPN
alkej-10	129	33	ci	ci	NOUN
alkej-10	130	1	ty	ty	INTJ
alkej-10	130	2	v	v	ADP
alkej-10	130	3	r	r	NOUN
alkej-10	130	4	a	a	DET
alkej-10	130	5	nd	nd	NOUN
alkej-10	130	6	v	v	NOUN
alkej-10	130	7	l	l	NOUN
alkej-10	130	8	,	,	PUNCT
alkej-10	130	9	m	m	VERB
alkej-10	130	10	/s	/s	NOUN
alkej-10	130	11	0	0	NUM
alkej-10	130	12	20	20	NUM
alkej-10	130	13	40	40	NUM
alkej-10	130	14	60	60	NUM
alkej-10	130	15	80	80	NUM
alkej-10	130	16	100	100	NUM
alkej-10	130	17	120	120	NUM
alkej-10	130	18	140	140	NUM
alkej-10	130	19	160	160	NUM
alkej-10	130	20	180	180	NUM
alkej-10	130	21	-2	-2	NOUN
alkej-10	130	22	0	0	NUM
alkej-10	130	23	2	2	NUM
alkej-10	130	24	4	4	NUM
alkej-10	130	25	6	6	NUM
alkej-10	130	26	8	8	NUM
alkej-10	130	27	10	10	NUM
alkej-10	130	28	12	12	NUM
alkej-10	130	29	14	14	NUM
alkej-10	130	30	16	16	NUM
alkej-10	130	31	time	time	NOUN
alkej-10	130	32	,	,	PUNCT
alkej-10	130	33	s	s	VERB
alkej-10	130	34	co	co	VERB
alkej-10	130	35	nt	not	PART
alkej-10	130	36	ro	ro	NOUN
alkej-10	131	1	l	l	NOUN
alkej-10	131	2	r	r	NOUN
alkej-10	131	3	ig	ig	INTJ
alkej-10	131	4	ht	ht	INTJ
alkej-10	131	5	a	a	PRON
alkej-10	131	6	nd	nd	INTJ
alkej-10	131	7	le	le	X
alkej-10	131	8	ft	ft	PROPN
alkej-10	131	9	dr	dr	PROPN
alkej-10	131	10	iv	iv	PROPN
alkej-10	131	11	e	e	PROPN
alkej-10	131	12	si	si	X
alkej-10	131	13	gn	gn	PROPN
alkej-10	131	14	al	al	PROPN
alkej-10	131	15	s	s	PROPN
alkej-10	131	16	(	(	PUNCT
alkej-10	131	17	e	e	NOUN
alkej-10	131	18	)	)	PUNCT
alkej-10	131	19	(	(	PUNCT
alkej-10	131	20	f	f	X
alkej-10	131	21	)	)	PUNCT
alkej-10	131	22	fig	fig	NOUN
alkej-10	131	23	.	.	PUNCT
alkej-10	132	1	٥.	٥.	PRON
alkej-10	132	2	mr	mr	PROPN
alkej-10	132	3	movement	movement	PROPN
alkej-10	132	4	with	with	ADP
alkej-10	132	5	the	the	DET
alkej-10	132	6	included	include	VERB
alkej-10	132	7	system	system	NOUN
alkej-10	132	8	of	of	ADP
alkej-10	132	9	slip	slip	NOUN
alkej-10	132	10	diagnostics	diagnostic	NOUN
alkej-10	132	11	7	7	NUM
alkej-10	132	12	.	.	PUNCT
alkej-10	132	13	conclusions	conclusion	NOUN
alkej-10	132	14	in	in	ADP
alkej-10	132	15	this	this	DET
alkej-10	132	16	paper	paper	NOUN
alkej-10	132	17	modelling	modelling	NOUN
alkej-10	132	18	problems	problem	NOUN
alkej-10	132	19	of	of	ADP
alkej-10	132	20	control	control	NOUN
alkej-10	132	21	for	for	ADP
alkej-10	132	22	mr	mr	PROPN
alkej-10	132	23	with	with	ADP
alkej-10	132	24	pid	pid	NOUN
alkej-10	132	25	fuzzy	fuzzy	ADJ
alkej-10	132	26	logic	logic	NOUN
alkej-10	132	27	control	control	NOUN
alkej-10	132	28	system	system	NOUN
alkej-10	132	29	,	,	PUNCT
alkej-10	132	30	and	and	CCONJ
alkej-10	132	31	algorithm	algorithm	NOUN
alkej-10	132	32	of	of	ADP
alkej-10	132	33	sliding	slide	VERB
alkej-10	132	34	suppression	suppression	NOUN
alkej-10	132	35	is	be	AUX
alkej-10	132	36	developed	develop	VERB
alkej-10	132	37	.	.	PUNCT
alkej-10	133	1	it	it	PRON
alkej-10	133	2	allows	allow	VERB
alkej-10	133	3	to	to	PART
alkej-10	133	4	carry	carry	VERB
alkej-10	133	5	out	out	ADP
alkej-10	133	6	researches	research	NOUN
alkej-10	133	7	on	on	ADP
alkej-10	133	8	features	feature	NOUN
alkej-10	133	9	of	of	ADP
alkej-10	133	10	dynamics	dynamic	NOUN
alkej-10	133	11	of	of	ADP
alkej-10	133	12	mr	mr	PROPN
alkej-10	133	13	with	with	ADP
alkej-10	133	14	various	various	ADJ
alkej-10	133	15	configurations	configuration	NOUN
alkej-10	133	16	.	.	PUNCT
alkej-10	134	1	an	an	DET
alkej-10	134	2	overall	overall	ADJ
alkej-10	134	3	performance	performance	NOUN
alkej-10	134	4	of	of	ADP
alkej-10	134	5	a	a	DET
alkej-10	134	6	control	control	NOUN
alkej-10	134	7	system	system	NOUN
alkej-10	134	8	is	be	AUX
alkej-10	134	9	studied	study	VERB
alkej-10	134	10	.	.	PUNCT
alkej-10	135	1	the	the	DET
alkej-10	135	2	study	study	NOUN
alkej-10	135	3	has	have	AUX
alkej-10	135	4	identified	identify	VERB
alkej-10	135	5	some	some	PRON
alkej-10	135	6	of	of	ADP
alkej-10	135	7	the	the	DET
alkej-10	135	8	potential	potential	ADJ
alkej-10	135	9	benefits	benefit	NOUN
alkej-10	135	10	of	of	ADP
alkej-10	135	11	using	use	VERB
alkej-10	135	12	fuzzy	fuzzy	ADJ
alkej-10	135	13	logic	logic	NOUN
alkej-10	135	14	controllers	controller	NOUN
alkej-10	135	15	.	.	PUNCT
alkej-10	136	1	in	in	ADP
alkej-10	136	2	comparison	comparison	NOUN
alkej-10	136	3	with	with	ADP
alkej-10	136	4	the	the	DET
alkej-10	136	5	modern	modern	ADJ
alkej-10	136	6	control	control	NOUN
alkej-10	136	7	theory	theory	NOUN
alkej-10	136	8	,	,	PUNCT
alkej-10	136	9	fuzzy	fuzzy	ADJ
alkej-10	136	10	logic	logic	NOUN
alkej-10	136	11	is	be	AUX
alkej-10	136	12	simpler	simple	ADJ
alkej-10	136	13	to	to	PART
alkej-10	136	14	implement	implement	VERB
alkej-10	136	15	as	as	SCONJ
alkej-10	136	16	it	it	PRON
alkej-10	136	17	eliminates	eliminate	VERB
alkej-10	136	18	the	the	DET
alkej-10	136	19	complicated	complicated	ADJ
alkej-10	136	20	mathematics	mathematic	NOUN
alkej-10	136	21	of	of	ADP
alkej-10	136	22	the	the	DET
alkej-10	136	23	modelling	modelling	NOUN
alkej-10	136	24	process	process	NOUN
alkej-10	136	25	and	and	CCONJ
alkej-10	136	26	uses	use	VERB
alkej-10	136	27	a	a	DET
alkej-10	136	28	set	set	NOUN
alkej-10	136	29	of	of	ADP
alkej-10	136	30	control	control	NOUN
alkej-10	136	31	rules	rule	NOUN
alkej-10	136	32	instead	instead	ADV
alkej-10	136	33	.	.	PUNCT
alkej-10	137	1	fuzzy	fuzzy	ADJ
alkej-10	137	2	control	control	NOUN
alkej-10	137	3	is	be	AUX
alkej-10	137	4	also	also	ADV
alkej-10	137	5	more	more	ADV
alkej-10	137	6	robust	robust	ADJ
alkej-10	137	7	to	to	ADP
alkej-10	137	8	parameter	parameter	NOUN
alkej-10	137	9	variations	variation	NOUN
alkej-10	137	10	.	.	PUNCT
alkej-10	138	1	there	there	PRON
alkej-10	138	2	are	be	VERB
alkej-10	138	3	numerous	numerous	ADJ
alkej-10	138	4	accelerator	accelerator	ADJ
alkej-10	138	5	control	control	NOUN
alkej-10	138	6	problems	problem	NOUN
alkej-10	138	7	which	which	PRON
alkej-10	138	8	involve	involve	VERB
alkej-10	138	9	phenomena	phenomenon	NOUN
alkej-10	138	10	that	that	PRON
alkej-10	138	11	are	be	AUX
alkej-10	138	12	not	not	PART
alkej-10	138	13	amenable	amenable	ADJ
alkej-10	138	14	to	to	ADP
alkej-10	138	15	simple	simple	ADJ
alkej-10	138	16	mathematical	mathematical	ADJ
alkej-10	138	17	modeling	modeling	NOUN
alkej-10	138	18	.	.	PUNCT
alkej-10	139	1	there	there	PRON
alkej-10	139	2	is	be	VERB
alkej-10	139	3	also	also	ADV
alkej-10	139	4	a	a	DET
alkej-10	139	5	class	class	NOUN
alkej-10	139	6	of	of	ADP
alkej-10	139	7	problems	problem	NOUN
alkej-10	139	8	that	that	PRON
alkej-10	139	9	are	be	AUX
alkej-10	139	10	simple	simple	ADJ
alkej-10	139	11	in	in	ADP
alkej-10	139	12	nature	nature	NOUN
alkej-10	139	13	but	but	CCONJ
alkej-10	139	14	are	be	AUX
alkej-10	139	15	difficult	difficult	ADJ
alkej-10	139	16	to	to	PART
alkej-10	139	17	codify	codify	VERB
alkej-10	139	18	for	for	ADP
alkej-10	139	19	algorithmic	algorithmic	ADJ
alkej-10	139	20	control	control	NOUN
alkej-10	139	21	.	.	PUNCT
alkej-10	140	1	the	the	DET
alkej-10	140	2	study	study	NOUN
alkej-10	140	3	allow	allow	VERB
alkej-10	140	4	further	further	ADJ
alkej-10	140	5	researches	research	NOUN
alkej-10	140	6	by	by	ADP
alkej-10	140	7	changing	change	VERB
alkej-10	140	8	the	the	DET
alkej-10	140	9	characteristics	characteristic	NOUN
alkej-10	140	10	and	and	CCONJ
alkej-10	140	11	parameters	parameter	NOUN
alkej-10	140	12	of	of	ADP
alkej-10	140	13	mr	mr	PROPN
alkej-10	140	14	,	,	PUNCT
alkej-10	140	15	the	the	DET
alkej-10	140	16	control	control	NOUN
alkej-10	140	17	system	system	NOUN
alkej-10	140	18	and	and	CCONJ
alkej-10	140	19	conditions	condition	NOUN
alkej-10	140	20	of	of	ADP
alkej-10	140	21	interaction	interaction	NOUN
alkej-10	140	22	of	of	ADP
alkej-10	140	23	wheels	wheel	NOUN
alkej-10	140	24	with	with	ADP
alkej-10	140	25	a	a	DET
alkej-10	140	26	surface	surface	NOUN
alkej-10	140	27	.	.	PUNCT
alkej-10	141	1	also	also	ADV
alkej-10	141	2	a	a	DET
alkej-10	141	3	convenient	convenient	ADJ
alkej-10	141	4	graphic	graphic	ADJ
alkej-10	141	5	interface	interface	NOUN
alkej-10	141	6	,	,	PUNCT
alkej-10	141	7	will	will	AUX
alkej-10	141	8	allow	allow	VERB
alkej-10	141	9	to	to	PART
alkej-10	141	10	analyze	analyze	VERB
alkej-10	141	11	the	the	DET
alkej-10	141	12	diagrams	diagram	NOUN
alkej-10	141	13	of	of	ADP
alkej-10	141	14	processes	process	NOUN
alkej-10	141	15	and	and	CCONJ
alkej-10	141	16	to	to	PART
alkej-10	141	17	deduce	deduce	VERB
alkej-10	141	18	animation	animation	NOUN
alkej-10	141	19	image	image	NOUN
alkej-10	141	20	of	of	ADP
alkej-10	141	21	mr	mr	PROPN
alkej-10	141	22	during	during	ADP
alkej-10	141	23	movement	movement	NOUN
alkej-10	141	24	.	.	PUNCT
alkej-10	142	1	for	for	SCONJ
alkej-10	142	2	mr	mr	PROPN
alkej-10	142	3	with	with	ADP
alkej-10	142	4	two	two	NUM
alkej-10	142	5	-	-	PUNCT
alkej-10	142	6	wheeled	wheel	VERB
alkej-10	142	7	configuration	configuration	NOUN
alkej-10	142	8	the	the	DET
alkej-10	142	9	system	system	NOUN
alkej-10	142	10	of	of	ADP
alkej-10	142	11	diagnostics	diagnostic	NOUN
alkej-10	142	12	carried	carry	VERB
alkej-10	142	13	out	out	ADP
alkej-10	142	14	the	the	DET
alkej-10	142	15	functions	function	NOUN
alkej-10	142	16	only	only	ADV
alkej-10	142	17	on	on	ADP
alkej-10	142	18	an	an	DET
alkej-10	142	19	establishment	establishment	NOUN
alkej-10	142	20	of	of	ADP
alkej-10	142	21	the	the	DET
alkej-10	142	22	fact	fact	NOUN
alkej-10	142	23	of	of	ADP
alkej-10	142	24	occurrence	occurrence	NOUN
alkej-10	142	25	slipping	slipping	NOUN
alkej-10	142	26	.	.	PUNCT
alkej-10	143	1	authentic	authentic	ADJ
alkej-10	143	2	classification	classification	NOUN
alkej-10	143	3	the	the	DET
alkej-10	143	4	slipping	slip	VERB
alkej-10	143	5	types	type	NOUN
alkej-10	143	6	was	be	AUX
alkej-10	143	7	not	not	PART
alkej-10	143	8	possible	possible	ADJ
alkej-10	143	9	because	because	SCONJ
alkej-10	143	10	of	of	ADP
alkej-10	143	11	complexity	complexity	NOUN
alkej-10	143	12	of	of	ADP
alkej-10	143	13	dynamics	dynamic	NOUN
alkej-10	143	14	movement	movement	NOUN
alkej-10	143	15	of	of	ADP
alkej-10	143	16	mr	mr	PROPN
alkej-10	143	17	at	at	ADP
alkej-10	143	18	the	the	DET
alkej-10	143	19	conditions	condition	NOUN
alkej-10	143	20	of	of	ADP
alkej-10	143	21	slipping	slip	VERB
alkej-10	143	22	.	.	PUNCT
alkej-10	144	1	despite	despite	SCONJ
alkej-10	144	2	of	of	ADP
alkej-10	144	3	it	it	PRON
alkej-10	144	4	,	,	PUNCT
alkej-10	144	5	even	even	ADV
alkej-10	144	6	the	the	DET
alkej-10	144	7	establishment	establishment	NOUN
alkej-10	144	8	of	of	ADP
alkej-10	144	9	the	the	DET
alkej-10	144	10	slip	slip	NOUN
alkej-10	144	11	occurance	occurance	VERB
alkej-10	144	12	the	the	DET
alkej-10	144	13	control	control	NOUN
alkej-10	144	14	system	system	NOUN
alkej-10	144	15	allowes	allowes	ADJ
alkej-10	144	16	to	to	PART
alkej-10	144	17	correct	correct	VERB
alkej-10	144	18	the	the	DET
alkej-10	144	19	state	state	NOUN
alkej-10	144	20	and	and	CCONJ
alkej-10	144	21	it	it	PRON
alkej-10	144	22	is	be	AUX
alkej-10	144	23	reliable	reliable	ADJ
alkej-10	144	24	to	to	PART
alkej-10	144	25	keep	keep	VERB
alkej-10	144	26	mr	mr	PROPN
alkej-10	144	27	near	near	ADV
alkej-10	144	28	to	to	ADP
alkej-10	144	29	the	the	DET
alkej-10	144	30	programmed	program	VERB
alkej-10	144	31	trajectory	trajectory	NOUN
alkej-10	144	32	.	.	PUNCT
alkej-10	145	1	for	for	SCONJ
alkej-10	145	2	mr	mr	PROPN
alkej-10	145	3	with	with	ADP
alkej-10	145	4	the	the	DET
alkej-10	145	5	increase	increase	NOUN
alkej-10	145	6	of	of	ADP
alkej-10	145	7	number	number	NOUN
alkej-10	145	8	of	of	ADP
alkej-10	145	9	accelerometer	accelerometer	NOUN
alkej-10	145	10	appeared	appear	VERB
alkej-10	145	11	possible	possible	ADJ
alkej-10	145	12	not	not	PART
alkej-10	145	13	only	only	ADV
alkej-10	145	14	to	to	PART
alkej-10	145	15	establish	establish	VERB
alkej-10	145	16	the	the	DET
alkej-10	145	17	fact	fact	NOUN
alkej-10	145	18	of	of	ADP
alkej-10	145	19	occurrence	occurrence	NOUN
alkej-10	145	20	slipping	slipping	NOUN
alkej-10	145	21	,	,	PUNCT
alkej-10	145	22	but	but	CCONJ
alkej-10	145	23	also	also	ADV
alkej-10	145	24	to	to	PART
alkej-10	145	25	allocate	allocate	VERB
alkej-10	145	26	the	the	DET
alkej-10	145	27	basic	basic	ADJ
alkej-10	145	28	types	type	NOUN
alkej-10	145	29	slipping	slip	VERB
alkej-10	145	30	.	.	PUNCT
alkej-10	146	1	it	it	PRON
alkej-10	146	2	has	have	AUX
alkej-10	146	3	allowed	allow	VERB
alkej-10	146	4	to	to	PART
alkej-10	146	5	enter	enter	VERB
alkej-10	146	6	more	more	ADV
alkej-10	146	7	effective	effective	ADJ
alkej-10	146	8	correction	correction	NOUN
alkej-10	146	9	of	of	ADP
alkej-10	146	10	base	base	NOUN
alkej-10	146	11	control	control	NOUN
alkej-10	146	12	and	and	CCONJ
alkej-10	146	13	to	to	PART
alkej-10	146	14	increase	increase	VERB
alkej-10	146	15	quality	quality	NOUN
alkej-10	146	16	of	of	ADP
alkej-10	146	17	improvement	improvement	NOUN
alkej-10	146	18	of	of	ADP
alkej-10	146	19	a	a	DET
alkej-10	146	20	program	program	NOUN
alkej-10	146	21	trajectory	trajectory	NOUN
alkej-10	146	22	.	.	PUNCT
alkej-10	147	1	8	8	NUM
alkej-10	147	2	.	.	PUNCT
alkej-10	147	3	references	reference	NOUN
alkej-10	147	4	[	[	X
alkej-10	147	5	1	1	NUM
alkej-10	147	6	]	]	PUNCT
alkej-10	147	7	golombek	golombek	NOUN
alkej-10	147	8	,	,	PUNCT
alkej-10	147	9	m.	m.	PROPN
alkej-10	147	10	p.	p.	PROPN
alkej-10	147	11	,	,	PUNCT
alkej-10	147	12	1998	1998	NUM
alkej-10	147	13	,	,	PUNCT
alkej-10	147	14	“	"	PUNCT
alkej-10	147	15	mars	mars	PROPN
alkej-10	147	16	pathfinder	pathfinder	NOUN
alkej-10	147	17	mission	mission	NOUN
alkej-10	147	18	and	and	CCONJ
alkej-10	147	19	science	science	NOUN
alkej-10	147	20	results	result	NOUN
alkej-10	147	21	,	,	PUNCT
alkej-10	147	22	”	"	PUNCT
alkej-10	147	23	proceedings	proceeding	NOUN
alkej-10	147	24	of	of	ADP
alkej-10	147	25	the	the	DET
alkej-10	147	26	29th	29th	ADJ
alkej-10	147	27	lunar	lunar	ADJ
alkej-10	147	28	and	and	CCONJ
alkej-10	147	29	planetary	planetary	ADJ
alkej-10	147	30	science	science	NOUN
alkej-10	147	31	conference	conference	NOUN
alkej-10	147	32	.	.	PUNCT
alkej-10	148	1	[	[	X
alkej-10	148	2	2	2	NUM
alkej-10	148	3	]	]	PUNCT
alkej-10	148	4	gonthier	gonthier	NOUN
alkej-10	148	5	,	,	PUNCT
alkej-10	148	6	y.	y.	PROPN
alkej-10	148	7	and	and	CCONJ
alkej-10	148	8	papadopoulos	papadopoulos	PROPN
alkej-10	148	9	,	,	PUNCT
alkej-10	148	10	e.	e.	PROPN
alkej-10	148	11	,	,	PUNCT
alkej-10	148	12	“	"	PUNCT
alkej-10	148	13	on	on	ADP
alkej-10	148	14	the	the	DET
alkej-10	148	15	development	development	NOUN
alkej-10	148	16	of	of	ADP
alkej-10	148	17	a	a	DET
alkej-10	148	18	real	real	ADJ
alkej-10	148	19	-	-	PUNCT
alkej-10	148	20	time	time	NOUN
alkej-10	148	21	simulator	simulator	NOUN
alkej-10	148	22	for	for	ADP
alkej-10	148	23	an	an	DET
alkej-10	148	24	electro	electro	ADJ
alkej-10	148	25	-	-	PUNCT
alkej-10	148	26	hydroulic	hydroulic	NOUN
alkej-10	148	27	forestry	forestry	NOUN
alkej-10	148	28	machine	machine	NOUN
alkej-10	148	29	,	,	PUNCT
alkej-10	148	30	”	"	PUNCT
alkej-10	148	31	1998	1998	NUM
alkej-10	148	32	,	,	PUNCT
alkej-10	148	33	proceedings	proceeding	NOUN
alkej-10	148	34	of	of	ADP
alkej-10	148	35	ieee	ieee	PROPN
alkej-10	148	36	international	international	ADJ
alkej-10	148	37	coference	coference	NOUN
alkej-10	148	38	on	on	ADP
alkej-10	148	39	robotics	robotic	NOUN
alkej-10	148	40	and	and	CCONJ
alkej-10	148	41	automation	automation	NOUN
alkej-10	148	42	.	.	PUNCT
alkej-10	149	1	[	[	X
alkej-10	149	2	3	3	X
alkej-10	149	3	]	]	X
alkej-10	149	4	c.	c.	PROPN
alkej-10	149	5	c.	c.	PROPN
alkej-10	149	6	lee	lee	PROPN
alkej-10	149	7	,	,	PUNCT
alkej-10	149	8	“	"	PUNCT
alkej-10	149	9	fuzzy	fuzzy	ADJ
alkej-10	149	10	logic	logic	NOUN
alkej-10	149	11	in	in	ADP
alkej-10	149	12	control	control	NOUN
alkej-10	149	13	systems	system	NOUN
alkej-10	149	14	:	:	PUNCT
alkej-10	149	15	fuzzy	fuzzy	ADJ
alkej-10	149	16	logic	logic	NOUN
alkej-10	149	17	controller	controller	NOUN
alkej-10	149	18	—	—	PUNCT
alkej-10	149	19	part	part	PROPN
alkej-10	149	20	ii	ii	PROPN
alkej-10	149	21	,	,	PUNCT
alkej-10	149	22	”	"	PUNCT
alkej-10	149	23	ieee	ieee	NOUN
alkej-10	149	24	trans	trans	PROPN
alkej-10	149	25	.	.	PUNCT
alkej-10	150	1	syst	syst	PROPN
alkej-10	150	2	.	.	PUNCT
alkej-10	151	1	man	man	PROPN
alkej-10	151	2	cybern	cybern	PROPN
alkej-10	151	3	.	.	PUNCT
alkej-10	152	1	,	,	PUNCT
alkej-10	152	2	vol	vol	NOUN
alkej-10	152	3	.	.	PROPN
alkej-10	152	4	20	20	NUM
alkej-10	152	5	,	,	PUNCT
alkej-10	152	6	no	no	INTJ
alkej-10	152	7	.	.	NOUN
alkej-10	152	8	2	2	NUM
alkej-10	152	9	,	,	PUNCT
alkej-10	152	10	pp	pp	ADJ
alkej-10	152	11	.	.	PUNCT
alkej-10	153	1	419	419	NUM
alkej-10	153	2	-	-	SYM
alkej-10	153	3	435	435	NUM
alkej-10	153	4	,	,	PUNCT
alkej-10	153	5	1990	1990	NUM
alkej-10	153	6	.	.	PUNCT
alkej-10	154	1	[	[	X
alkej-10	154	2	4	4	X
alkej-10	154	3	]	]	X
alkej-10	154	4	d.	d.	NOUN
alkej-10	154	5	driankov	driankov	PROPN
alkej-10	154	6	,	,	PUNCT
alkej-10	154	7	h.	h.	PROPN
alkej-10	154	8	hellendoorn	hellendoorn	PROPN
alkej-10	154	9	and	and	CCONJ
alkej-10	154	10	m.	m.	NOUN
alkej-10	154	11	reinfrank	reinfrank	NOUN
alkej-10	154	12	,	,	PUNCT
alkej-10	154	13	”	"	PUNCT
alkej-10	154	14	an	an	DET
alkej-10	154	15	introduction	introduction	NOUN
alkej-10	154	16	to	to	ADP
alkej-10	154	17	fuzzy	fuzzy	ADJ
alkej-10	154	18	control	control	NOUN
alkej-10	154	19	,	,	PUNCT
alkej-10	154	20	”	"	PUNCT
alkej-10	154	21	new	new	PROPN
alkej-10	154	22	york	york	PROPN
alkej-10	154	23	:	:	PUNCT
alkej-10	154	24	springer	springer	NOUN
alkej-10	154	25	-	-	PUNCT
alkej-10	154	26	verlag	verlag	PROPN
alkej-10	154	27	,	,	PUNCT
alkej-10	154	28	1993	1993	NUM
alkej-10	154	29	.	.	PUNCT
alkej-10	155	1	dr.nabil	dr.nabil	PROPN
alkej-10	155	2	hassan	hassan	PROPN
alkej-10	155	3	hadi	hadi	PROPN
alkej-10	155	4	/	/	SYM
alkej-10	155	5	al	al	PROPN
alkej-10	155	6	-	-	PUNCT
alkej-10	155	7	khwarizmi	khwarizmi	PROPN
alkej-10	155	8	engineering	engineering	NOUN
alkej-10	155	9	journal	journal	PROPN
alkej-10	155	10	,	,	PUNCT
alkej-10	155	11	vol.1	vol.1	PROPN
alkej-10	155	12	,	,	PUNCT
alkej-10	155	13	no	no	INTJ
alkej-10	155	14	.	.	PUNCT
alkej-10	156	1	2,pp	2,pp	NUM
alkej-10	156	2	41	41	NUM
alkej-10	156	3	-	-	SYM
alkej-10	156	4	51	51	NUM
alkej-10	156	5	(	(	PUNCT
alkej-10	156	6	2005	2005	NUM
alkej-10	156	7	)	)	PUNCT
alkej-10	156	8	50	50	NUM
alkej-10	157	1	[	[	SYM
alkej-10	157	2	5	5	X
alkej-10	157	3	]	]	PUNCT
alkej-10	157	4	j.	j.	PROPN
alkej-10	157	5	franssila	franssila	PROPN
alkej-10	157	6	and	and	CCONJ
alkej-10	157	7	h.	h.	PROPN
alkej-10	157	8	n.	n.	PROPN
alkej-10	157	9	koivo	koivo	PROPN
alkej-10	157	10	,	,	PUNCT
alkej-10	157	11	“	"	PUNCT
alkej-10	157	12	fuzzy	fuzzy	ADJ
alkej-10	157	13	control	control	NOUN
alkej-10	157	14	of	of	ADP
alkej-10	157	15	an	an	DET
alkej-10	157	16	industrial	industrial	ADJ
alkej-10	157	17	robot	robot	NOUN
alkej-10	157	18	in	in	ADP
alkej-10	157	19	transputer	transputer	NOUN
alkej-10	157	20	environment	environment	NOUN
alkej-10	157	21	,	,	PUNCT
alkej-10	157	22	”	"	PUNCT
alkej-10	157	23	ieee	ieee	NOUN
alkej-10	157	24	int	int	NOUN
alkej-10	157	25	.	.	PUNCT
alkej-10	158	1	conf	conf	PROPN
alkej-10	158	2	.	.	PUNCT
alkej-10	159	1	on	on	ADP
alkej-10	159	2	industrial	industrial	ADJ
alkej-10	159	3	electronics	electronic	NOUN
alkej-10	159	4	,	,	PUNCT
alkej-10	159	5	control	control	NOUN
alkej-10	159	6	,	,	PUNCT
alkej-10	159	7	instrumentation	instrumentation	NOUN
alkej-10	159	8	and	and	CCONJ
alkej-10	159	9	automation	automation	NOUN
alkej-10	159	10	,	,	PUNCT
alkej-10	159	11	san	san	PROPN
alkej-10	159	12	diego	diego	PROPN
alkej-10	159	13	,	,	PUNCT
alkej-10	159	14	1992	1992	NUM
alkej-10	159	15	,	,	PUNCT
alkej-10	159	16	pp	pp	ADV
alkej-10	159	17	.	.	PUNCT
alkej-10	160	1	624	624	NUM
alkej-10	160	2	-	-	SYM
alkej-10	160	3	629	629	NUM
alkej-10	160	4	.	.	PUNCT
alkej-10	161	1	[	[	X
alkej-10	161	2	6	6	NUM
alkej-10	161	3	]	]	PUNCT
alkej-10	161	4	a.	a.	NOUN
alkej-10	161	5	makkonen	makkonen	PROPN
alkej-10	161	6	and	and	CCONJ
alkej-10	161	7	h.	h.	PROPN
alkej-10	161	8	n.	n.	PROPN
alkej-10	161	9	koivo	koivo	PROPN
alkej-10	161	10	,	,	PUNCT
alkej-10	161	11	“	"	PUNCT
alkej-10	161	12	fuzzy	fuzzy	ADJ
alkej-10	161	13	control	control	NOUN
alkej-10	161	14	of	of	ADP
alkej-10	161	15	a	a	DET
alkej-10	161	16	nonlinear	nonlinear	ADJ
alkej-10	161	17	servomotor	servomotor	NOUN
alkej-10	161	18	model	model	NOUN
alkej-10	161	19	,	,	PUNCT
alkej-10	161	20	”	"	PUNCT
alkej-10	161	21	3rd	3rd	ADJ
alkej-10	161	22	int	int	NOUN
alkej-10	161	23	.	.	PUNCT
alkej-10	162	1	workshop	workshop	NOUN
alkej-10	162	2	on	on	ADP
alkej-10	162	3	advanced	advanced	ADJ
alkej-10	162	4	motion	motion	NOUN
alkej-10	162	5	control	control	NOUN
alkej-10	162	6	,	,	PUNCT
alkej-10	162	7	berkley	berkley	NOUN
alkej-10	162	8	,	,	PUNCT
alkej-10	162	9	ca	ca	PROPN
alkej-10	162	10	,	,	PUNCT
alkej-10	162	11	usa	usa	PROPN
alkej-10	162	12	,	,	PUNCT
alkej-10	162	13	march	march	PROPN
alkej-10	162	14	20.23	20.23	NUM
alkej-10	162	15	,	,	PUNCT
alkej-10	162	16	1994	1994	NUM
alkej-10	162	17	.	.	PUNCT
alkej-10	163	1	pp	pp	ADJ
alkej-10	163	2	.	.	PUNCT
alkej-10	164	1	833	833	NUM
alkej-10	164	2	-	-	SYM
alkej-10	164	3	841	841	NUM
alkej-10	164	4	.	.	PUNCT
alkej-10	165	1	[	[	X
alkej-10	165	2	7	7	X
alkej-10	165	3	]	]	X
alkej-10	165	4	m.	m.	NOUN
alkej-10	165	5	cherif	cherif	PROPN
alkej-10	165	6	and	and	CCONJ
alkej-10	165	7	ch	ch	NOUN
alkej-10	165	8	.	.	PUNCT
alkej-10	165	9	laugier	laugier	NOUN
alkej-10	165	10	,	,	PUNCT
alkej-10	165	11	“	"	PUNCT
alkej-10	165	12	motion	motion	NOUN
alkej-10	165	13	planning	planning	NOUN
alkej-10	165	14	of	of	ADP
alkej-10	165	15	autonomous	autonomous	ADJ
alkej-10	165	16	off	off	ADJ
alkej-10	165	17	-	-	PUNCT
alkej-10	165	18	road	road	NOUN
alkej-10	165	19	vehicles	vehicle	NOUN
alkej-10	165	20	under	under	ADP
alkej-10	165	21	physical	physical	ADJ
alkej-10	165	22	interaction	interaction	NOUN
alkej-10	165	23	constraints	constraint	NOUN
alkej-10	165	24	,	,	PUNCT
alkej-10	165	25	”	"	PUNCT
alkej-10	165	26	in	in	ADP
alkej-10	165	27	proc	proc	NOUN
alkej-10	165	28	.	.	PUNCT
alkej-10	166	1	of	of	ADP
alkej-10	166	2	the	the	DET
alkej-10	166	3	ieee	ieee	NOUN
alkej-10	166	4	int	int	NOUN
alkej-10	166	5	.	.	PUNCT
alkej-10	166	6	conf	conf	PROPN
alkej-10	166	7	.	.	PUNCT
alkej-10	167	1	on	on	ADP
alkej-10	167	2	robotics	robotic	NOUN
alkej-10	167	3	and	and	CCONJ
alkej-10	167	4	autonomous	autonomous	ADJ
alkej-10	167	5	,	,	PUNCT
alkej-10	167	6	nagoya	nagoya	PROPN
alkej-10	167	7	(	(	PUNCT
alkej-10	167	8	jp	jp	NOUN
alkej-10	167	9	)	)	PUNCT
alkej-10	167	10	,	,	PUNCT
alkej-10	167	11	may	may	PROPN
alkej-10	167	12	1995	1995	NUM
alkej-10	167	13	.	.	PUNCT
alkej-10	168	1	[	[	X
alkej-10	168	2	8	8	NUM
alkej-10	168	3	]	]	X
alkej-10	168	4	burdakov	burdakov	PROPN
alkej-10	168	5	s.f	s.f	PROPN
alkej-10	168	6	.	.	PROPN
alkej-10	168	7	,	,	PUNCT
alkej-10	168	8	stel'makov	stel'makov	PROPN
alkej-10	168	9	r.e	r.e	PROPN
alkej-10	168	10	.	.	PROPN
alkej-10	168	11	,	,	PUNCT
alkej-10	168	12	shtainle	shtainle	NOUN
alkej-10	168	13	s.v	s.v	PROPN
alkej-10	168	14	.	.	PROPN
alkej-10	168	15	,	,	PUNCT
alkej-10	168	16	“	"	PUNCT
alkej-10	168	17	synthes	synthe	NOUN
alkej-10	168	18	of	of	ADP
alkej-10	168	19	trajectories	trajectory	NOUN
alkej-10	168	20	and	and	CCONJ
alkej-10	168	21	control	control	NOUN
alkej-10	168	22	of	of	ADP
alkej-10	168	23	mobile	mobile	ADJ
alkej-10	168	24	robots	robot	NOUN
alkej-10	168	25	in	in	ADP
alkej-10	168	26	conditions	condition	NOUN
alkej-10	168	27	of	of	ADP
alkej-10	168	28	uncertainty	uncertainty	NOUN
alkej-10	168	29	,	,	PUNCT
alkej-10	168	30	“	"	PUNCT
alkej-10	168	31	materials	material	NOUN
alkej-10	168	32	of	of	ADP
alkej-10	168	33	8	8	NUM
alkej-10	168	34	-	-	PUNCT
alkej-10	168	35	th	th	VERB
alkej-10	168	36	ntk	ntk	NOUN
alkej-10	168	37	«	«	PUNCT
alkej-10	168	38	extreme	extreme	ADJ
alkej-10	168	39	robotics	robotic	NOUN
alkej-10	168	40	»	»	NOUN
alkej-10	168	41	.	.	PUNCT
alkej-10	169	1	spb	spb	PROPN
alkej-10	169	2	.	.	PUNCT
alkej-10	169	3	:	:	PUNCT
alkej-10	170	1	spbgtu	spbgtu	ADJ
alkej-10	170	2	.	.	PUNCT
alkej-10	171	1	1997	1997	NUM
alkej-10	171	2	.	.	PUNCT
alkej-10	172	1	with	with	ADP
alkej-10	172	2	.	.	PUNCT
alkej-10	172	3	198	198	NUM
alkej-10	172	4	-	-	SYM
alkej-10	172	5	209	209	NUM
alkej-10	172	6	.	.	PUNCT
alkej-10	173	1	[	[	X
alkej-10	173	2	9	9	NUM
alkej-10	173	3	]	]	X
alkej-10	173	4	burdakov	burdakov	PROPN
alkej-10	173	5	s.f	s.f	PROPN
alkej-10	173	6	.	.	PROPN
alkej-10	173	7	,	,	PUNCT
alkej-10	173	8	stel'makov	stel'makov	PROPN
alkej-10	173	9	r.e	r.e	PROPN
alkej-10	173	10	.	.	PROPN
alkej-10	173	11	,	,	PUNCT
alkej-10	173	12	”	"	PUNCT
alkej-10	173	13	logic	logic	NOUN
alkej-10	173	14	-	-	PUNCT
alkej-10	173	15	linguistic	linguistic	ADJ
alkej-10	173	16	control	control	NOUN
alkej-10	173	17	of	of	ADP
alkej-10	173	18	movement	movement	NOUN
alkej-10	173	19	of	of	ADP
alkej-10	173	20	the	the	DET
alkej-10	173	21	independent	independent	ADJ
alkej-10	173	22	mobile	mobile	ADJ
alkej-10	173	23	robot	robot	NOUN
alkej-10	173	24	in	in	ADP
alkej-10	173	25	slipping	slip	VERB
alkej-10	173	26	conditions	condition	NOUN
alkej-10	173	27	,	,	PUNCT
alkej-10	173	28	”	"	PUNCT
alkej-10	173	29	materials	material	NOUN
alkej-10	173	30	of	of	ADP
alkej-10	173	31	9	9	NUM
alkej-10	173	32	-	-	PUNCT
alkej-10	173	33	th	th	VERB
alkej-10	173	34	ntk	ntk	NOUN
alkej-10	173	35	«	«	PUNCT
alkej-10	173	36	extreme	extreme	ADJ
alkej-10	173	37	robotics	robotic	NOUN
alkej-10	173	38	»	»	NOUN
alkej-10	173	39	.	.	PUNCT
alkej-10	174	1	spb	spb	PROPN
alkej-10	174	2	.	.	PUNCT
alkej-10	174	3	:	:	PUNCT
alkej-10	175	1	spbgtu	spbgtu	ADJ
alkej-10	175	2	.	.	PUNCT
alkej-10	176	1	1998	1998	NUM
alkej-10	176	2	.	.	PUNCT
alkej-10	177	1	c.	c.	NOUN
alkej-10	177	2	210	210	NUM
alkej-10	177	3	-	-	SYM
alkej-10	177	4	217	217	NUM
alkej-10	177	5	.	.	PUNCT
alkej-10	178	1	[	[	X
alkej-10	178	2	10	10	NUM
alkej-10	178	3	]	]	X
alkej-10	178	4	levin	levin	PROPN
alkej-10	178	5	m.a	m.a	PROPN
alkej-10	178	6	.	.	PROPN
alkej-10	178	7	,	,	PUNCT
alkej-10	178	8	fufayev	fufayev	PROPN
alkej-10	178	9	n.a	n.a	PROPN
alkej-10	178	10	.	.	PROPN
alkej-10	178	11	,	,	PUNCT
alkej-10	178	12	“	"	PUNCT
alkej-10	178	13	rolling	roll	VERB
alkej-10	178	14	of	of	ADP
alkej-10	178	15	a	a	DET
alkej-10	178	16	deformable	deformable	ADJ
alkej-10	178	17	wheel	wheel	NOUN
alkej-10	178	18	,	,	PUNCT
alkej-10	178	19	”	"	PUNCT
alkej-10	178	20	m.	m.	NOUN
alkej-10	178	21	science	science	NOUN
alkej-10	178	22	,	,	PUNCT
alkej-10	178	23	1989	1989	NUM
alkej-10	178	24	.	.	PUNCT
alkej-10	179	1	[	[	X
alkej-10	179	2	11	11	NUM
alkej-10	179	3	]	]	X
alkej-10	179	4	drakunov	drakunov	PROPN
alkej-10	179	5	s.	s.	PROPN
alkej-10	179	6	,	,	PUNCT
alkej-10	179	7	ozguner	ozgun	ADJ
alkej-10	179	8	u.	u.	PROPN
alkej-10	179	9	,	,	PUNCT
alkej-10	179	10	dix	dix	PROPN
alkej-10	179	11	p.	p.	PROPN
alkej-10	179	12	,	,	PUNCT
alkej-10	179	13	“	"	PUNCT
alkej-10	179	14	ashrafi	ashrafi	PROPN
alkej-10	179	15	b.	b.	PROPN
alkej-10	179	16	abs	ab	NOUN
alkej-10	179	17	control	control	NOUN
alkej-10	179	18	using	use	VERB
alkej-10	179	19	optimum	optimum	ADJ
alkej-10	179	20	search	search	NOUN
alkej-10	179	21	via	via	ADP
alkej-10	179	22	sliding	slide	VERB
alkej-10	179	23	modes	mode	NOUN
alkej-10	179	24	,	,	PUNCT
alkej-10	179	25	”	"	PUNCT
alkej-10	179	26	ieee	ieee	NOUN
alkej-10	179	27	transactions	transaction	NOUN
alkej-10	179	28	on	on	ADP
alkej-10	179	29	control	control	NOUN
alkej-10	179	30	systems	system	NOUN
alkej-10	179	31	technology	technology	NOUN
alkej-10	179	32	.	.	PUNCT
alkej-10	180	1	1995	1995	NUM
alkej-10	180	2	.	.	PUNCT
alkej-10	181	1	vol	vol	NOUN
alkej-10	181	2	.	.	PROPN
alkej-10	182	1	3	3	NUM
alkej-10	182	2	.	.	NOUN
alkej-10	182	3	1	1	NUM
alkej-10	182	4	,	,	PUNCT
alkej-10	182	5	pp	pp	ADJ
alkej-10	182	6	.	.	PUNCT
alkej-10	183	1	79	79	NUM
alkej-10	183	2	-	-	SYM
alkej-10	183	3	85	85	NUM
alkej-10	183	4	.	.	PUNCT
alkej-10	184	1	[	[	X
alkej-10	184	2	12	12	NUM
alkej-10	184	3	]	]	X
alkej-10	184	4	freund	freund	PROPN
alkej-10	184	5	e.	e.	PROPN
alkej-10	184	6	,	,	PUNCT
alkej-10	184	7	mayr	mayr	PROPN
alkej-10	184	8	r.	r.	PROPN
alkej-10	184	9	“	"	PUNCT
alkej-10	184	10	nonlinear	nonlinear	ADJ
alkej-10	184	11	path	path	NOUN
alkej-10	184	12	control	control	NOUN
alkej-10	184	13	in	in	ADP
alkej-10	184	14	automated	automate	VERB
alkej-10	184	15	vehicle	vehicle	NOUN
alkej-10	184	16	guidance	guidance	NOUN
alkej-10	184	17	,	,	PUNCT
alkej-10	184	18	”	"	PUNCT
alkej-10	184	19	ieee	ieee	NOUN
alkej-10	184	20	transactions	transaction	NOUN
alkej-10	184	21	on	on	ADP
alkej-10	184	22	robotics	robotic	NOUN
alkej-10	184	23	and	and	CCONJ
alkej-10	184	24	automation	automation	NOUN
alkej-10	184	25	.	.	PUNCT
alkej-10	185	1	1997	1997	NUM
alkej-10	185	2	.	.	PUNCT
alkej-10	186	1	vol	vol	NOUN
alkej-10	186	2	.	.	PROPN
alkej-10	187	1	13	13	NUM
alkej-10	187	2	.	.	NOUN
alkej-10	187	3	1	1	NUM
alkej-10	187	4	,	,	PUNCT
alkej-10	187	5	pp	pp	ADJ
alkej-10	187	6	.	.	PUNCT
alkej-10	188	1	49	49	NUM
alkej-10	188	2	-	-	SYM
alkej-10	188	3	60	60	NUM
alkej-10	188	4	.	.	PUNCT
alkej-10	189	1	[	[	X
alkej-10	189	2	13	13	NUM
alkej-10	189	3	]	]	PUNCT
alkej-10	189	4	ackermann	ackermann	PROPN
alkej-10	189	5	j.	j.	PROPN
alkej-10	189	6	yaw	yaw	PROPN
alkej-10	189	7	“	"	PUNCT
alkej-10	189	8	disturbance	disturbance	NOUN
alkej-10	189	9	attenuation	attenuation	NOUN
alkej-10	189	10	by	by	ADP
alkej-10	189	11	robust	robust	ADJ
alkej-10	189	12	decoupling	decoupling	NOUN
alkej-10	189	13	of	of	ADP
alkej-10	189	14	car	car	NOUN
alkej-10	189	15	steering	steering	NOUN
alkej-10	189	16	,	,	PUNCT
alkej-10	189	17	”	"	PUNCT
alkej-10	189	18	13th	13th	NOUN
alkej-10	189	19	triennial	triennial	ADJ
alkej-10	189	20	world	world	NOUN
alkej-10	189	21	congress	congress	PROPN
alkej-10	189	22	,	,	PUNCT
alkej-10	189	23	san	san	PROPN
alkej-10	189	24	francisco	francisco	PROPN
alkej-10	189	25	,	,	PUNCT
alkej-10	189	26	usa	usa	PROPN
alkej-10	189	27	,	,	PUNCT
alkej-10	189	28	1996	1996	NUM
alkej-10	189	29	.	.	PUNCT
alkej-10	190	1	[	[	X
alkej-10	190	2	14	14	NUM
alkej-10	190	3	]	]	PUNCT
alkej-10	190	4	bakker	bakker	PROPN
alkej-10	190	5	e.t	e.t	PROPN
alkej-10	190	6	.	.	PROPN
alkej-10	190	7	,	,	PUNCT
alkej-10	190	8	pacejka	pacejka	PROPN
alkej-10	190	9	h.b	h.b	PROPN
alkej-10	190	10	.	.	PROPN
alkej-10	190	11	,	,	PUNCT
alkej-10	190	12	and	and	CCONJ
alkej-10	190	13	linder	linder	PROPN
alkej-10	190	14	l.	l.	PROPN
alkej-10	190	15	“	"	PUNCT
alkej-10	190	16	a	a	DET
alkej-10	190	17	new	new	ADJ
alkej-10	190	18	tire	tire	NOUN
alkej-10	190	19	model	model	NOUN
alkej-10	190	20	with	with	ADP
alkej-10	190	21	an	an	DET
alkej-10	190	22	application	application	NOUN
alkej-10	190	23	in	in	ADP
alkej-10	190	24	vehicle	vehicle	NOUN
alkej-10	190	25	dynamic	dynamic	ADJ
alkej-10	190	26	studies	study	NOUN
alkej-10	190	27	,	,	PUNCT
alkej-10	190	28	”	"	PUNCT
alkej-10	190	29	sae	sae	PROPN
alkej-10	190	30	technical	technical	PROPN
alkej-10	190	31	paper	paper	PROPN
alkej-10	190	32	no	no	INTJ
alkej-10	190	33	.	.	PROPN
alkej-10	190	34	870421	870421	NUM
alkej-10	190	35	.	.	PUNCT
alkej-10	191	1	1982	1982	NUM
alkej-10	191	2	.	.	PUNCT
alkej-10	192	1	[	[	X
alkej-10	192	2	15	15	NUM
alkej-10	192	3	]	]	X
alkej-10	192	4	canudas	canudas	PROPN
alkej-10	192	5	de	de	PROPN
alkej-10	192	6	wit	wit	PROPN
alkej-10	192	7	c.	c.	PROPN
alkej-10	192	8	,	,	PUNCT
alkej-10	192	9	olsson	olsson	PROPN
alkej-10	192	10	h.	h.	PROPN
alkej-10	192	11	,	,	PUNCT
alkej-10	192	12	astrom	astrom	PROPN
alkej-10	192	13	k.j	k.j	PROPN
alkej-10	192	14	.	.	PROPN
alkej-10	192	15	,	,	PUNCT
alkej-10	192	16	lischinsky	lischinsky	ADJ
alkej-10	192	17	p.	p.	NOUN
alkej-10	192	18	“	"	PUNCT
alkej-10	192	19	a	a	DET
alkej-10	192	20	new	new	ADJ
alkej-10	192	21	model	model	NOUN
alkej-10	192	22	for	for	ADP
alkej-10	192	23	control	control	NOUN
alkej-10	192	24	of	of	ADP
alkej-10	192	25	systems	system	NOUN
alkej-10	192	26	with	with	ADP
alkej-10	192	27	friction	friction	NOUN
alkej-10	192	28	,	,	PUNCT
alkej-10	192	29	”	"	PUNCT
alkej-10	192	30	ieee	ieee	NOUN
alkej-10	192	31	transactions	transaction	NOUN
alkej-10	192	32	on	on	ADP
alkej-10	192	33	automatic	automatic	ADJ
alkej-10	192	34	control	control	NOUN
alkej-10	192	35	,	,	PUNCT
alkej-10	192	36	vol	vol	NOUN
alkej-10	192	37	.	.	PROPN
alkej-10	192	38	40	40	NUM
alkej-10	192	39	,	,	PUNCT
alkej-10	192	40	no	no	INTJ
alkej-10	192	41	.	.	NOUN
alkej-10	192	42	3	3	NUM
alkej-10	192	43	,	,	PUNCT
alkej-10	192	44	march	march	PROPN
alkej-10	192	45	1995	1995	NUM
alkej-10	192	46	.	.	PUNCT
alkej-10	193	1	[	[	X
alkej-10	193	2	16	16	NUM
alkej-10	193	3	]	]	X
alkej-10	193	4	l.	l.	PROPN
alkej-10	193	5	zadeh	zadeh	PROPN
alkej-10	193	6	,	,	PUNCT
alkej-10	193	7	"	"	PUNCT
alkej-10	193	8	fuzzy	fuzzy	ADJ
alkej-10	193	9	sets	set	NOUN
alkej-10	193	10	,	,	PUNCT
alkej-10	193	11	"	"	PUNCT
alkej-10	193	12	in	in	ADP
alkej-10	193	13	selected	select	VERB
alkej-10	193	14	papers	paper	NOUN
alkej-10	193	15	by	by	ADP
alkej-10	193	16	l.	l.	PROPN
alkej-10	193	17	a.	a.	PROPN
alkej-10	193	18	zadeh	zadeh	PROPN
alkej-10	193	19	.	.	PUNCT
alkej-10	194	1	dr.nabil	dr.nabil	PROPN
alkej-10	194	2	hassan	hassan	PROPN
alkej-10	194	3	hadi	hadi	PROPN
alkej-10	194	4	/	/	SYM
alkej-10	194	5	al	al	PROPN
alkej-10	194	6	-	-	PUNCT
alkej-10	194	7	khwarizmi	khwarizmi	PROPN
alkej-10	194	8	engineering	engineering	NOUN
alkej-10	194	9	journal	journal	PROPN
alkej-10	194	10	,	,	PUNCT
alkej-10	194	11	vol.1	vol.1	PROPN
alkej-10	194	12	,	,	PUNCT
alkej-10	194	13	no	no	INTJ
alkej-10	194	14	.	.	PUNCT
alkej-10	195	1	2,pp	2,pp	NUM
alkej-10	195	2	41	41	NUM
alkej-10	195	3	-	-	SYM
alkej-10	195	4	51	51	NUM
alkej-10	195	5	(	(	PUNCT
alkej-10	195	6	2005	2005	NUM
alkej-10	195	7	)	)	PUNCT
alkej-10	195	8	51	51	NUM
alkej-10	195	9	السیطرة	السیطرة	NOUN
alkej-10	195	10	على	على	PROPN
alkej-10	195	11	ألیھ	ألیھ	PROPN
alkej-10	195	12	باستخدام	باستخدام	NOUN
alkej-10	195	13	المنطق	المنطق	VERB
alkej-10	195	14	المبھم	المبھم	NOUN
alkej-10	195	15	في	في	DET
alkej-10	195	16	محیط	محیط	NOUN
alkej-10	195	17	زلق	زلق	PROPN
alkej-10	195	18	نبیل	نبیل	PROPN
alkej-10	195	19	حسن	حسن	PROPN
alkej-10	195	20	ھادي	ھادي	NOUN
alkej-10	195	21	.	.	PUNCT
alkej-10	196	1	د	د	PRON
alkej-10	196	2	كلیة	كلیة	PROPN
alkej-10	196	3	الھندسة	الھندسة	NOUN
alkej-10	196	4	/	/	SYM
alkej-10	196	5	قسم	قسم	PROPN
alkej-10	196	6	المیكانیك	المیكانیك	PROPN
alkej-10	196	7	:	:	PUNCT
alkej-10	196	8	الخالصة	الخالصة	PROPN
alkej-10	196	9	متنقلة	متنقلة	NOUN
alkej-10	196	10	عند	عند	PROPN
alkej-10	196	11	تعرضها	تعرضها	VERB
alkej-10	196	12	إلى	إلى	PROPN
alkej-10	196	13	حاله	حاله	PROPN
alkej-10	196	14	مفاجئه	مفاجئه	PROPN
alkej-10	196	15	في	في	SCONJ
alkej-10	196	16	على	على	NOUN
alkej-10	196	17	الحركة	الحركة	NOUN
alkej-10	196	18	الذاتية	الذاتية	PROPN
alkej-10	196	19	ألليه	ألليه	PROPN
alkej-10	196	20	fuzzy	fuzzy	ADJ
alkej-10	196	21	logicالسيطرة	logicالسيطرة	PROPN
alkej-10	196	22	باستخدام	باستخدام	NOUN
alkej-10	196	23	المنطق	المنطق	VERB
alkej-10	196	24	المبهم	المبهم	ADJ
alkej-10	196	25	مثال	مثال	PROPN
alkej-10	196	26	على	على	NOUN
alkej-10	196	27	ذلك	ذلك	NOUN
alkej-10	196	28	هو	هو	PROPN
alkej-10	196	29	دخول	دخول	NOUN
alkej-10	196	30	المفاجىء	المفاجىء	ADV
alkej-10	196	31	لالليه	لالليه	PROPN
alkej-10	196	32	.	.	PUNCT
alkej-10	197	1	ثها	ثها	PRON
alkej-10	197	2	في	في	ADP
alkej-10	197	3	هذه	هذه	PROPN
alkej-10	197	4	الدراسةتم	الدراسةتم	PROPN
alkej-10	197	5	بح	بح	PROPN
alkej-10	197	6	,	,	PUNCT
alkej-10	197	7	الظروف	الظروف	NOUN
alkej-10	197	8	ألتفاعليه	ألتفاعليه	AUX
alkej-10	197	9	بين	بين	AUX
alkej-10	197	10	العجالت	العجالت	ADV
alkej-10	197	11	والسطح	والسطح	VERB
alkej-10	197	12	مثل	مثل	PROPN
alkej-10	197	13	هذه	هذه	PROPN
alkej-10	197	14	اآلليات	اآلليات	PROPN
alkej-10	197	15	تكون	تكون	VERB
alkej-10	197	16	مهمة	مهمة	NOUN
alkej-10	197	17	في	في	ADP
alkej-10	197	18	المحيط	المحيط	NOUN
alkej-10	197	19	الذي	الذي	PROPN
alkej-10	197	20	يكون	يكون	PROPN
alkej-10	197	21	فيه	فيه	VERB
alkej-10	197	22	تواجد	تواجد	PROPN
alkej-10	197	23	األشخاص	األشخاص	PROPN
alkej-10	197	24	خطرا	خطرا	PROPN
alkej-10	197	25	وبالتالي	وبالتالي	PROPN
alkej-10	197	26	يكون	يكون	VERB
alkej-10	197	27	من	من	DET
alkej-10	197	28	المهم	المهم	NOUN
alkej-10	197	29	.	.	PUNCT
alkej-10	198	1	منطقه	منطقه	ADJ
alkej-10	198	2	زلقه	زلقه	ADJ
alkej-10	198	3	twoذات	twoذات	PROPN
alkej-10	198	4	عجلتي	عجلتي	NOUN
alkej-10	198	5	قياده	قياده	PROPN
alkej-10	199	1	في	في	VERB
alkej-10	199	2	هذا	هذا	NOUN
alkej-10	199	3	البحث	البحث	PROPN
alkej-10	199	4	تم	تم	NOUN
alkej-10	200	1	بناء	بناء	PROPN
alkej-10	200	2	ومحاكاة	ومحاكاة	PROPN
alkej-10	200	3	النموذج	النموذج	PROPN
alkej-10	200	4	الديناميكي	الديناميكي	PROPN
alkej-10	200	5	ألليه	ألليه	PROPN
alkej-10	200	6	.اآللياتعلى	.اآللياتعلى	PRON
alkej-10	200	7	هذه	هذه	PROPN
alkej-10	200	8	السيطرةجدا	السيطرةجدا	PROPN
alkej-10	200	9	wheels	wheel	VERB
alkej-10	200	10	driver	driver	NOUN
alkej-10	200	11	باستخدام	باستخدام	NOUN
alkej-10	200	12	المنطق	المنطق	VERB
alkej-10	200	13	المبهم	المبهم	PROPN
alkej-10	200	14	وكذلك	وكذلك	PROPN
alkej-10	200	15	تم	تم	PROPN
alkej-10	200	16	تصميم	تصميم	PROPN
alkej-10	200	17	نظام	نظام	PROPN
alkej-10	200	18	السيطرة	السيطرة	PROPN
alkej-10	200	19	االليه	االليه	PROPN
alkej-10	200	20	لهذه	لهذه	PROPN
alkej-10	200	21	االليهfuzzy	االليهfuzzy	PROPN
alkej-10	200	22	logic	logic	NOUN
alkej-10	200	23	,	,	PUNCT
alkej-10	200	24	حيث	حيث	NOUN
alkej-10	200	25	تم	تم	NOUN
alkej-10	200	26	.	.	PUNCT
alkej-10	201	1	تطبيقه	تطبيقه	PROPN
alkej-10	201	2	على	على	PROPN
alkej-10	201	3	اليه	اليه	PROPN
alkej-10	201	4	تسير	تسير	PROPN
alkej-10	202	1	في	في	DET
alkej-10	202	2	مسار	مسار	PROPN
alkej-10	202	3	دائري	دائري	PROPN
alkej-10	202	4	زلق	زلق	PROPN
alkej-10	202	5	وتمكنت	وتمكنت	PROPN
alkej-10	202	6	من	من	PRON
alkej-10	202	7	الحفاظ	الحفاظ	VERB
alkej-10	202	8	على	على	NOUN
alkej-10	202	9	هذا	هذا	NOUN
alkej-10	202	10	المسار	المسار	NOUN