id	sid	tid	token	lemma	pos
alkej-116	1	1	microsoft	microsoft	PROPN
alkej-116	1	2	word	word	PROPN
alkej-116	1	3	\323\332\317	\323\332\317	VERB
alkej-116	1	4	\322\333\341\346\34177	\322\333\341\346\34177	PROPN
alkej-116	1	5	-	-	PUNCT
alkej-116	1	6	89	89	NUM
alkej-116	1	7	)	)	PUNCT
alkej-116	1	8	al	al	PROPN
alkej-116	1	9	-	-	PUNCT
alkej-116	1	10	khwarizmi	khwarizmi	PROPN
alkej-116	1	11	engineering	engineering	PROPN
alkej-116	1	12	journal	journal	PROPN
alkej-116	1	13	al	al	PROPN
alkej-116	1	14	-	-	PUNCT
alkej-116	1	15	khwarizmi	khwarizmi	PROPN
alkej-116	1	16	engineering	engineering	NOUN
alkej-116	1	17	journal	journal	PROPN
alkej-116	1	18	,	,	PUNCT
alkej-116	1	19	vol	vol	NOUN
alkej-116	1	20	.	.	PROPN
alkej-116	1	21	14	14	NUM
alkej-116	1	22	,	,	PUNCT
alkej-116	1	23	no	no	INTJ
alkej-116	1	24	.	.	NOUN
alkej-116	1	25	1	1	NUM
alkej-116	1	26	,	,	PUNCT
alkej-116	1	27	march	march	PROPN
alkej-116	1	28	,	,	PUNCT
alkej-116	1	29	(	(	PUNCT
alkej-116	1	30	2018	2018	NUM
alkej-116	1	31	)	)	PUNCT
alkej-116	2	1	p.p	p.p	PROPN
alkej-116	2	2	.	.	PROPN
alkej-116	2	3	77	77	NUM
alkej-116	2	4	-	-	SYM
alkej-116	2	5	89	89	NUM
alkej-116	2	6	creating	create	VERB
alkej-116	2	7	through	through	ADP
alkej-116	2	8	points	point	NOUN
alkej-116	2	9	in	in	ADP
alkej-116	2	10	linear	linear	ADJ
alkej-116	2	11	function	function	NOUN
alkej-116	2	12	with	with	ADP
alkej-116	2	13	parabolic	parabolic	ADJ
alkej-116	2	14	blends	blend	NOUN
alkej-116	2	15	path	path	NOUN
alkej-116	2	16	by	by	ADP
alkej-116	2	17	optimization	optimization	NOUN
alkej-116	2	18	method	method	NOUN
alkej-116	2	19	saad	saad	PROPN
alkej-116	2	20	zaghlul	zaghlul	PROPN
alkej-116	2	21	saeed	saeed	PROPN
alkej-116	2	22	al	al	PROPN
alkej-116	2	23	-	-	PUNCT
alkej-116	2	24	khayyt	khayyt	PROPN
alkej-116	2	25	department	department	PROPN
alkej-116	2	26	of	of	ADP
alkej-116	2	27	mechatronics	mechatronics	PROPN
alkej-116	2	28	/	/	SYM
alkej-116	2	29	college	college	NOUN
alkej-116	2	30	of	of	ADP
alkej-116	2	31	engineering/	engineering/	NUM
alkej-116	2	32	mosul	mosul	PROPN
alkej-116	2	33	university/	university/	NUM
alkej-116	2	34	iraq	iraq	PROPN
alkej-116	2	35	email	email	NOUN
alkej-116	2	36	:	:	PUNCT
alkej-116	2	37	alkhyaat@yahoo.com	alkhyaat@yahoo.com	X
alkej-116	2	38	(	(	PUNCT
alkej-116	2	39	received	receive	VERB
alkej-116	2	40	8	8	NUM
alkej-116	2	41	may	may	PROPN
alkej-116	2	42	2017	2017	NUM
alkej-116	2	43	;	;	PUNCT
alkej-116	2	44	accepted	accept	VERB
alkej-116	2	45	9	9	NUM
alkej-116	2	46	october	october	NOUN
alkej-116	2	47	2017	2017	NUM
alkej-116	2	48	)	)	PUNCT
alkej-116	2	49	https://doi.org/10.22153/kej.2018.10.005	https://doi.org/10.22153/kej.2018.10.005	PROPN
alkej-116	3	1	abstract	abstract	ADJ
alkej-116	3	2	the	the	DET
alkej-116	3	3	linear	linear	ADJ
alkej-116	3	4	segment	segment	NOUN
alkej-116	3	5	with	with	ADP
alkej-116	3	6	parabolic	parabolic	ADJ
alkej-116	3	7	blend	blend	NOUN
alkej-116	3	8	(	(	PUNCT
alkej-116	3	9	lspb	lspb	NOUN
alkej-116	3	10	)	)	PUNCT
alkej-116	3	11	trajectory	trajectory	NOUN
alkej-116	3	12	deviates	deviate	VERB
alkej-116	3	13	from	from	ADP
alkej-116	3	14	the	the	DET
alkej-116	3	15	specified	specified	ADJ
alkej-116	3	16	waypoints	waypoint	NOUN
alkej-116	3	17	.	.	PUNCT
alkej-116	4	1	it	it	PRON
alkej-116	4	2	is	be	AUX
alkej-116	4	3	restricted	restrict	VERB
alkej-116	4	4	to	to	ADP
alkej-116	4	5	that	that	SCONJ
alkej-116	4	6	the	the	DET
alkej-116	4	7	acceleration	acceleration	NOUN
alkej-116	4	8	must	must	AUX
alkej-116	4	9	be	be	AUX
alkej-116	4	10	sufficiently	sufficiently	ADV
alkej-116	4	11	high	high	ADJ
alkej-116	4	12	.	.	PUNCT
alkej-116	5	1	in	in	ADP
alkej-116	5	2	this	this	DET
alkej-116	5	3	work	work	NOUN
alkej-116	5	4	,	,	PUNCT
alkej-116	5	5	it	it	PRON
alkej-116	5	6	is	be	AUX
alkej-116	5	7	proposed	propose	VERB
alkej-116	5	8	to	to	PART
alkej-116	5	9	engage	engage	VERB
alkej-116	5	10	modified	modified	ADJ
alkej-116	5	11	lspb	lspb	NOUN
alkej-116	5	12	trajectory	trajectory	NOUN
alkej-116	5	13	with	with	ADP
alkej-116	5	14	particle	particle	NOUN
alkej-116	5	15	swarm	swarm	NOUN
alkej-116	5	16	optimization	optimization	NOUN
alkej-116	5	17	(	(	PUNCT
alkej-116	5	18	pso	pso	NOUN
alkej-116	5	19	)	)	PUNCT
alkej-116	5	20	so	so	SCONJ
alkej-116	5	21	as	as	SCONJ
alkej-116	5	22	to	to	PART
alkej-116	5	23	create	create	VERB
alkej-116	5	24	through	through	ADP
alkej-116	5	25	points	point	NOUN
alkej-116	5	26	on	on	ADP
alkej-116	5	27	the	the	DET
alkej-116	5	28	trajectory	trajectory	NOUN
alkej-116	5	29	.	.	PUNCT
alkej-116	6	1	the	the	DET
alkej-116	6	2	assumption	assumption	NOUN
alkej-116	6	3	of	of	ADP
alkej-116	6	4	normal	normal	ADJ
alkej-116	6	5	lspb	lspb	NOUN
alkej-116	6	6	method	method	NOUN
alkej-116	6	7	that	that	PRON
alkej-116	6	8	parabolic	parabolic	ADJ
alkej-116	6	9	part	part	NOUN
alkej-116	6	10	is	be	AUX
alkej-116	6	11	centered	center	VERB
alkej-116	6	12	in	in	ADP
alkej-116	6	13	time	time	NOUN
alkej-116	6	14	around	around	ADP
alkej-116	6	15	waypoints	waypoint	NOUN
alkej-116	6	16	is	be	AUX
alkej-116	6	17	replaced	replace	VERB
alkej-116	6	18	by	by	ADP
alkej-116	6	19	proposed	propose	VERB
alkej-116	6	20	coefficients	coefficient	NOUN
alkej-116	6	21	for	for	ADP
alkej-116	6	22	calculating	calculate	VERB
alkej-116	6	23	the	the	DET
alkej-116	6	24	time	time	NOUN
alkej-116	6	25	duration	duration	NOUN
alkej-116	6	26	of	of	ADP
alkej-116	6	27	the	the	DET
alkej-116	6	28	linear	linear	ADJ
alkej-116	6	29	part	part	NOUN
alkej-116	6	30	.	.	PUNCT
alkej-116	7	1	these	these	DET
alkej-116	7	2	coefficients	coefficient	NOUN
alkej-116	7	3	are	be	AUX
alkej-116	7	4	functions	function	NOUN
alkej-116	7	5	of	of	ADP
alkej-116	7	6	velocities	velocity	NOUN
alkej-116	7	7	between	between	ADP
alkej-116	7	8	through	through	ADP
alkej-116	7	9	points	point	NOUN
alkej-116	7	10	.	.	PUNCT
alkej-116	8	1	the	the	DET
alkej-116	8	2	velocities	velocity	NOUN
alkej-116	8	3	are	be	AUX
alkej-116	8	4	obtained	obtain	VERB
alkej-116	8	5	by	by	ADP
alkej-116	8	6	pso	pso	NOUN
alkej-116	8	7	so	so	SCONJ
alkej-116	8	8	as	as	SCONJ
alkej-116	8	9	to	to	PART
alkej-116	8	10	force	force	VERB
alkej-116	8	11	the	the	DET
alkej-116	8	12	lspb	lspb	NOUN
alkej-116	8	13	trajectory	trajectory	NOUN
alkej-116	8	14	passing	pass	VERB
alkej-116	8	15	exactly	exactly	ADV
alkej-116	8	16	through	through	ADP
alkej-116	8	17	the	the	DET
alkej-116	8	18	specified	specified	ADJ
alkej-116	8	19	path	path	NOUN
alkej-116	8	20	points	point	NOUN
alkej-116	8	21	.	.	PUNCT
alkej-116	9	1	also	also	ADV
alkej-116	9	2	,	,	PUNCT
alkej-116	9	3	relations	relation	NOUN
alkej-116	9	4	for	for	ADP
alkej-116	9	5	velocity	velocity	NOUN
alkej-116	9	6	correction	correction	NOUN
alkej-116	9	7	and	and	CCONJ
alkej-116	9	8	exact	exact	ADJ
alkej-116	9	9	velocity	velocity	NOUN
alkej-116	9	10	solution	solution	NOUN
alkej-116	9	11	are	be	AUX
alkej-116	9	12	derived	derive	VERB
alkej-116	9	13	.	.	PUNCT
alkej-116	10	1	simulation	simulation	NOUN
alkej-116	10	2	results	result	NOUN
alkej-116	10	3	show	show	VERB
alkej-116	10	4	that	that	SCONJ
alkej-116	10	5	the	the	DET
alkej-116	10	6	engagement	engagement	NOUN
alkej-116	10	7	of	of	ADP
alkej-116	10	8	modified	modify	VERB
alkej-116	10	9	lspb	lspb	NOUN
alkej-116	10	10	trajectory	trajectory	NOUN
alkej-116	10	11	with	with	ADP
alkej-116	10	12	pso	pso	NOUN
alkej-116	10	13	to	to	PART
alkej-116	10	14	work	work	VERB
alkej-116	10	15	well	well	ADV
alkej-116	10	16	on	on	ADP
alkej-116	10	17	the	the	DET
alkej-116	10	18	tested	test	VERB
alkej-116	10	19	cases	case	NOUN
alkej-116	10	20	.	.	PUNCT
alkej-116	11	1	this	this	DET
alkej-116	11	2	proposed	propose	VERB
alkej-116	11	3	method	method	NOUN
alkej-116	11	4	is	be	AUX
alkej-116	11	5	very	very	ADV
alkej-116	11	6	simple	simple	ADJ
alkej-116	11	7	which	which	PRON
alkej-116	11	8	can	can	AUX
alkej-116	11	9	be	be	AUX
alkej-116	11	10	used	use	VERB
alkej-116	11	11	for	for	ADP
alkej-116	11	12	on	on	ADP
alkej-116	11	13	-	-	PUNCT
alkej-116	11	14	line	line	NOUN
alkej-116	11	15	path	path	NOUN
alkej-116	11	16	planning	planning	NOUN
alkej-116	11	17	,	,	PUNCT
alkej-116	11	18	and	and	CCONJ
alkej-116	11	19	not	not	PART
alkej-116	11	20	necessarily	necessarily	ADV
alkej-116	11	21	to	to	PART
alkej-116	11	22	use	use	VERB
alkej-116	11	23	high	high	ADJ
alkej-116	11	24	acceleration	acceleration	NOUN
alkej-116	11	25	magnitude	magnitude	NOUN
alkej-116	11	26	.	.	PUNCT
alkej-116	12	1	keywords	keyword	NOUN
alkej-116	12	2	:	:	PUNCT
alkej-116	12	3	adaptive	adaptive	ADJ
alkej-116	12	4	inertia	inertia	NOUN
alkej-116	12	5	weight	weight	NOUN
alkej-116	12	6	,	,	PUNCT
alkej-116	12	7	linear	linear	ADJ
alkej-116	12	8	segment	segment	NOUN
alkej-116	12	9	with	with	ADP
alkej-116	12	10	parabolic	parabolic	ADJ
alkej-116	12	11	blend	blend	NOUN
alkej-116	12	12	,	,	PUNCT
alkej-116	12	13	particle	particle	NOUN
alkej-116	12	14	swarm	swarm	NOUN
alkej-116	12	15	optimization	optimization	NOUN
alkej-116	12	16	,	,	PUNCT
alkej-116	12	17	robot	robot	NOUN
alkej-116	12	18	manipulator	manipulator	NOUN
alkej-116	12	19	,	,	PUNCT
alkej-116	12	20	through	through	ADP
alkej-116	12	21	point	point	NOUN
alkej-116	12	22	,	,	PUNCT
alkej-116	12	23	trajectory	trajectory	NOUN
alkej-116	12	24	generation	generation	NOUN
alkej-116	12	25	.	.	PUNCT
alkej-116	13	1	1	1	X
alkej-116	13	2	.	.	X
alkej-116	13	3	introduction	introduction	NOUN
alkej-116	13	4	straight	straight	ADJ
alkej-116	13	5	line	line	NOUN
alkej-116	13	6	segments	segment	NOUN
alkej-116	13	7	is	be	AUX
alkej-116	13	8	the	the	DET
alkej-116	13	9	output	output	NOUN
alkej-116	13	10	from	from	ADP
alkej-116	13	11	motion	motion	NOUN
alkej-116	13	12	planners	planner	NOUN
alkej-116	13	13	.	.	PUNCT
alkej-116	14	1	this	this	DET
alkej-116	14	2	path	path	NOUN
alkej-116	14	3	has	have	VERB
alkej-116	14	4	velocity	velocity	NOUN
alkej-116	14	5	discontinuity	discontinuity	NOUN
alkej-116	14	6	at	at	ADP
alkej-116	14	7	waypoints	waypoint	NOUN
alkej-116	14	8	.	.	PUNCT
alkej-116	15	1	to	to	PART
alkej-116	15	2	achieve	achieve	VERB
alkej-116	15	3	an	an	DET
alkej-116	15	4	efficient	efficient	ADJ
alkej-116	15	5	execution	execution	NOUN
alkej-116	15	6	on	on	ADP
alkej-116	15	7	the	the	DET
alkej-116	15	8	robot	robot	NOUN
alkej-116	15	9	,	,	PUNCT
alkej-116	15	10	blends	blend	NOUN
alkej-116	15	11	are	be	AUX
alkej-116	15	12	added	add	VERB
alkej-116	15	13	to	to	PART
alkej-116	15	14	ensure	ensure	VERB
alkej-116	15	15	a	a	DET
alkej-116	15	16	smooth	smooth	ADJ
alkej-116	15	17	transition	transition	NOUN
alkej-116	15	18	between	between	ADP
alkej-116	15	19	segments	segment	NOUN
alkej-116	15	20	[	[	X
alkej-116	15	21	1	1	NUM
alkej-116	15	22	]	]	PUNCT
alkej-116	15	23	.	.	PUNCT
alkej-116	16	1	a	a	DET
alkej-116	16	2	common	common	ADJ
alkej-116	16	3	trajectory	trajectory	NOUN
alkej-116	16	4	for	for	ADP
alkej-116	16	5	industrial	industrial	ADJ
alkej-116	16	6	robots	robot	NOUN
alkej-116	16	7	is	be	AUX
alkej-116	16	8	the	the	DET
alkej-116	16	9	linear	linear	ADJ
alkej-116	16	10	segment	segment	NOUN
alkej-116	16	11	with	with	ADP
alkej-116	16	12	parabolic	parabolic	ADJ
alkej-116	16	13	blend	blend	NOUN
alkej-116	16	14	(	(	PUNCT
alkej-116	16	15	lspb	lspb	NOUN
alkej-116	16	16	)	)	PUNCT
alkej-116	17	1	[	[	X
alkej-116	17	2	2	2	NUM
alkej-116	17	3	,	,	PUNCT
alkej-116	17	4	3	3	NUM
alkej-116	17	5	]	]	PUNCT
alkej-116	17	6	.	.	PUNCT
alkej-116	18	1	the	the	DET
alkej-116	18	2	lspb	lspb	NOUN
alkej-116	18	3	needs	need	VERB
alkej-116	18	4	only	only	ADV
alkej-116	18	5	the	the	DET
alkej-116	18	6	initial	initial	ADJ
alkej-116	18	7	and	and	CCONJ
alkej-116	18	8	final	final	ADJ
alkej-116	18	9	joint	joint	ADJ
alkej-116	18	10	angles	angle	NOUN
alkej-116	18	11	,	,	PUNCT
alkej-116	18	12	traveling	travel	VERB
alkej-116	18	13	time	time	NOUN
alkej-116	18	14	,	,	PUNCT
alkej-116	18	15	and	and	CCONJ
alkej-116	18	16	either	either	CCONJ
alkej-116	18	17	angular	angular	ADJ
alkej-116	18	18	acceleration	acceleration	NOUN
alkej-116	18	19	or	or	CCONJ
alkej-116	18	20	angular	angular	ADJ
alkej-116	18	21	velocity	velocity	NOUN
alkej-116	18	22	.	.	PUNCT
alkej-116	19	1	numerous	numerous	ADJ
alkej-116	19	2	methods	method	NOUN
alkej-116	19	3	and	and	CCONJ
alkej-116	19	4	algorithms	algorithm	NOUN
alkej-116	19	5	have	have	AUX
alkej-116	19	6	been	be	AUX
alkej-116	19	7	established	establish	VERB
alkej-116	19	8	which	which	PRON
alkej-116	19	9	generate	generate	VERB
alkej-116	19	10	such	such	ADJ
alkej-116	19	11	trajectories	trajectory	NOUN
alkej-116	19	12	with	with	ADP
alkej-116	19	13	velocity	velocity	NOUN
alkej-116	19	14	,	,	PUNCT
alkej-116	19	15	acceleration	acceleration	NOUN
alkej-116	19	16	,	,	PUNCT
alkej-116	19	17	and	and	CCONJ
alkej-116	19	18	jerk	jerk	NOUN
alkej-116	19	19	limitations	limitation	NOUN
alkej-116	19	20	[	[	X
alkej-116	19	21	4	4	NUM
alkej-116	19	22	,	,	PUNCT
alkej-116	19	23	5	5	NUM
alkej-116	19	24	]	]	PUNCT
alkej-116	19	25	.	.	PUNCT
alkej-116	20	1	in	in	ADP
alkej-116	20	2	lspb	lspb	NOUN
alkej-116	20	3	,	,	PUNCT
alkej-116	20	4	it	it	PRON
alkej-116	20	5	is	be	AUX
alkej-116	20	6	required	require	VERB
alkej-116	20	7	to	to	PART
alkej-116	20	8	use	use	VERB
alkej-116	20	9	high	high	ADJ
alkej-116	20	10	acceleration	acceleration	NOUN
alkej-116	20	11	's	's	PART
alkej-116	20	12	magnitude	magnitude	NOUN
alkej-116	20	13	to	to	PART
alkej-116	20	14	be	be	AUX
alkej-116	20	15	quite	quite	ADV
alkej-116	20	16	close	close	ADJ
alkej-116	20	17	to	to	ADP
alkej-116	20	18	the	the	DET
alkej-116	20	19	desired	desire	VERB
alkej-116	20	20	waypoint	waypoint	NOUN
alkej-116	20	21	.	.	PUNCT
alkej-116	21	1	time	time	NOUN
alkej-116	21	2	-	-	PUNCT
alkej-116	21	3	optimal	optimal	ADJ
alkej-116	21	4	solution	solution	NOUN
alkej-116	21	5	for	for	ADP
alkej-116	21	6	time	time	NOUN
alkej-116	21	7	durations	duration	NOUN
alkej-116	21	8	of	of	ADP
alkej-116	21	9	lspb	lspb	NOUN
alkej-116	21	10	so	so	SCONJ
alkej-116	21	11	as	as	SCONJ
alkej-116	21	12	to	to	PART
alkej-116	21	13	satisfy	satisfy	VERB
alkej-116	21	14	the	the	DET
alkej-116	21	15	constraints	constraint	NOUN
alkej-116	21	16	velocity	velocity	NOUN
alkej-116	21	17	and	and	CCONJ
alkej-116	21	18	acceleration	acceleration	NOUN
alkej-116	21	19	is	be	AUX
alkej-116	21	20	presented	present	VERB
alkej-116	21	21	in	in	ADP
alkej-116	21	22	[	[	X
alkej-116	21	23	6	6	NUM
alkej-116	21	24	]	]	PUNCT
alkej-116	21	25	.	.	PUNCT
alkej-116	22	1	this	this	PRON
alkej-116	22	2	requires	require	VERB
alkej-116	22	3	calculation	calculation	NOUN
alkej-116	22	4	a	a	DET
alkej-116	22	5	factor	factor	NOUN
alkej-116	22	6	for	for	ADP
alkej-116	22	7	velocity	velocity	NOUN
alkej-116	22	8	reduction	reduction	NOUN
alkej-116	22	9	of	of	ADP
alkej-116	22	10	two	two	NUM
alkej-116	22	11	neighboring	neighboring	ADJ
alkej-116	22	12	linear	linear	ADJ
alkej-116	22	13	segments	segment	NOUN
alkej-116	22	14	in	in	ADP
alkej-116	22	15	order	order	NOUN
alkej-116	22	16	to	to	PART
alkej-116	22	17	prevent	prevent	VERB
alkej-116	22	18	overlapping	overlapping	NOUN
alkej-116	22	19	of	of	ADP
alkej-116	22	20	blend	blend	NOUN
alkej-116	22	21	phases	phase	NOUN
alkej-116	22	22	.	.	PUNCT
alkej-116	23	1	yet	yet	ADV
alkej-116	23	2	,	,	PUNCT
alkej-116	23	3	this	this	DET
alkej-116	23	4	ethomd	ethomd	NOUN
alkej-116	23	5	can	can	AUX
alkej-116	23	6	lead	lead	VERB
alkej-116	23	7	to	to	ADP
alkej-116	23	8	very	very	ADV
alkej-116	23	9	slow	slow	ADJ
alkej-116	23	10	trajectories	trajectory	NOUN
alkej-116	23	11	[	[	X
alkej-116	23	12	7	7	NUM
alkej-116	23	13	]	]	PUNCT
alkej-116	23	14	.	.	PUNCT
alkej-116	24	1	rymansaib	rymansaib	PROPN
alkej-116	24	2	et	et	PROPN
alkej-116	24	3	al	al	PROPN
alkej-116	24	4	.	.	PROPN
alkej-116	24	5	used	use	VERB
alkej-116	24	6	a	a	DET
alkej-116	24	7	series	series	NOUN
alkej-116	24	8	of	of	ADP
alkej-116	24	9	time	time	NOUN
alkej-116	24	10	-	-	PUNCT
alkej-116	24	11	delayed	delay	VERB
alkej-116	24	12	third	third	ADJ
alkej-116	24	13	-	-	PUNCT
alkej-116	24	14	order	order	NOUN
alkej-116	24	15	exponential	exponential	ADJ
alkej-116	24	16	function	function	NOUN
alkej-116	24	17	to	to	PART
alkej-116	24	18	generate	generate	VERB
alkej-116	24	19	an	an	DET
alkej-116	24	20	approximation	approximation	NOUN
alkej-116	24	21	to	to	ADP
alkej-116	24	22	the	the	DET
alkej-116	24	23	trapezoidal	trapezoidal	ADJ
alkej-116	24	24	velocity	velocity	NOUN
alkej-116	24	25	profile	profile	NOUN
alkej-116	24	26	of	of	ADP
alkej-116	24	27	lspb	lspb	NOUN
alkej-116	25	1	[	[	X
alkej-116	25	2	8	8	NUM
alkej-116	25	3	]	]	PUNCT
alkej-116	25	4	.	.	PUNCT
alkej-116	26	1	the	the	DET
alkej-116	26	2	motion	motion	NOUN
alkej-116	26	3	duration	duration	NOUN
alkej-116	26	4	is	be	AUX
alkej-116	26	5	affected	affect	VERB
alkej-116	26	6	by	by	ADP
alkej-116	26	7	high	high	ADJ
alkej-116	26	8	blending	blending	NOUN
alkej-116	26	9	percentage	percentage	NOUN
alkej-116	26	10	as	as	ADV
alkej-116	26	11	well	well	ADV
alkej-116	26	12	as	as	ADP
alkej-116	26	13	the	the	DET
alkej-116	26	14	corresponding	corresponding	ADJ
alkej-116	26	15	accuracy	accuracy	NOUN
alkej-116	26	16	at	at	ADP
alkej-116	26	17	waypoints	waypoint	NOUN
alkej-116	26	18	.	.	PUNCT
alkej-116	27	1	a	a	DET
alkej-116	27	2	new	new	ADJ
alkej-116	27	3	technique	technique	NOUN
alkej-116	27	4	"	"	PUNCT
alkej-116	27	5	envelope	envelope	NOUN
alkej-116	27	6	of	of	ADP
alkej-116	27	7	tangents	tangent	NOUN
alkej-116	27	8	planning	planning	NOUN
alkej-116	27	9	"	"	PUNCT
alkej-116	27	10	had	have	AUX
alkej-116	27	11	been	be	AUX
alkej-116	27	12	developed	develop	VERB
alkej-116	27	13	so	so	ADV
alkej-116	27	14	as	as	SCONJ
alkej-116	27	15	to	to	PART
alkej-116	27	16	generate	generate	VERB
alkej-116	27	17	trajectory	trajectory	NOUN
alkej-116	27	18	that	that	PRON
alkej-116	27	19	reaches	reach	VERB
alkej-116	27	20	waypoints	waypoint	NOUN
alkej-116	27	21	in	in	ADP
alkej-116	27	22	specified	specified	ADJ
alkej-116	27	23	moments	moment	NOUN
alkej-116	27	24	of	of	ADP
alkej-116	27	25	time	time	NOUN
alkej-116	27	26	[	[	X
alkej-116	27	27	9	9	NUM
alkej-116	27	28	]	]	PUNCT
alkej-116	27	29	.	.	PUNCT
alkej-116	28	1	this	this	PRON
alkej-116	28	2	is	be	AUX
alkej-116	28	3	achieved	achieve	VERB
alkej-116	28	4	by	by	ADP
alkej-116	28	5	assigning	assign	VERB
alkej-116	28	6	positions	position	NOUN
alkej-116	28	7	and	and	CCONJ
alkej-116	28	8	tangential	tangential	ADJ
alkej-116	28	9	velocities	velocity	NOUN
alkej-116	28	10	that	that	PRON
alkej-116	28	11	the	the	DET
alkej-116	28	12	joints	joint	NOUN
alkej-116	28	13	must	must	AUX
alkej-116	28	14	have	have	VERB
alkej-116	28	15	when	when	SCONJ
alkej-116	28	16	the	the	DET
alkej-116	28	17	end	end	NOUN
alkej-116	28	18	-	-	PUNCT
alkej-116	28	19	effector	effector	NOUN
alkej-116	28	20	passes	pass	VERB
alkej-116	28	21	through	through	ADP
alkej-116	28	22	each	each	PRON
alkej-116	28	23	of	of	ADP
alkej-116	28	24	those	those	DET
alkej-116	28	25	waypoints	waypoint	NOUN
alkej-116	28	26	.	.	PUNCT
alkej-116	29	1	additionally	additionally	ADV
alkej-116	29	2	,	,	PUNCT
alkej-116	29	3	the	the	DET
alkej-116	29	4	online	online	ADJ
alkej-116	29	5	trajectory	trajectory	NOUN
alkej-116	29	6	generation	generation	NOUN
alkej-116	29	7	algorithm	algorithm	NOUN
alkej-116	29	8	was	be	AUX
alkej-116	29	9	combined	combine	VERB
alkej-116	29	10	with	with	ADP
alkej-116	29	11	the	the	DET
alkej-116	29	12	reflexxes	reflexxes	PROPN
alkej-116	29	13	libraries	library	NOUN
alkej-116	29	14	to	to	PART
alkej-116	29	15	make	make	VERB
alkej-116	29	16	the	the	DET
alkej-116	29	17	trajectory	trajectory	NOUN
alkej-116	29	18	reaches	reach	VERB
alkej-116	29	19	waypoint	waypoint	NOUN
alkej-116	29	20	with	with	ADP
alkej-116	29	21	continuous	continuous	ADJ
alkej-116	29	22	acceleration	acceleration	NOUN
alkej-116	29	23	and	and	CCONJ
alkej-116	29	24	jerk	jerk	NOUN
alkej-116	29	25	[	[	X
alkej-116	29	26	10	10	NUM
alkej-116	29	27	,	,	PUNCT
alkej-116	29	28	11	11	NUM
alkej-116	29	29	]	]	PUNCT
alkej-116	29	30	.	.	PUNCT
alkej-116	30	1	saad	saad	PROPN
alkej-116	30	2	zaghlul	zaghlul	PROPN
alkej-116	30	3	saeed	saeed	PROPN
alkej-116	30	4	al	al	PROPN
alkej-116	30	5	-	-	PUNCT
alkej-116	30	6	khwarizmi	khwarizmi	PROPN
alkej-116	30	7	engineering	engineering	NOUN
alkej-116	30	8	journal	journal	PROPN
alkej-116	30	9	,	,	PUNCT
alkej-116	30	10	vol	vol	NOUN
alkej-116	30	11	.	.	PROPN
alkej-116	30	12	14	14	NUM
alkej-116	30	13	,	,	PUNCT
alkej-116	30	14	no	no	INTJ
alkej-116	30	15	.	.	NOUN
alkej-116	30	16	1	1	NUM
alkej-116	30	17	,	,	PUNCT
alkej-116	30	18	p.p	p.p	PROPN
alkej-116	30	19	.	.	NOUN
alkej-116	30	20	7789	7789	NUM
alkej-116	30	21	(	(	PUNCT
alkej-116	30	22	2018	2018	NUM
alkej-116	30	23	)	)	PUNCT
alkej-116	30	24	78	78	NUM
alkej-116	30	25	new	new	ADJ
alkej-116	30	26	path	path	NOUN
alkej-116	30	27	planning	planning	NOUN
alkej-116	30	28	algorithm	algorithm	NOUN
alkej-116	30	29	was	be	AUX
alkej-116	30	30	developed	develop	VERB
alkej-116	30	31	for	for	ADP
alkej-116	30	32	the	the	DET
alkej-116	30	33	control	control	NOUN
alkej-116	30	34	of	of	ADP
alkej-116	30	35	an	an	DET
alkej-116	30	36	xy	xy	PROPN
alkej-116	30	37	-motion	-motion	PROPN
alkej-116	30	38	stage	stage	NOUN
alkej-116	30	39	using	use	VERB
alkej-116	30	40	lspb	lspb	NOUN
alkej-116	30	41	and	and	CCONJ
alkej-116	30	42	minimum	minimum	ADJ
alkej-116	30	43	time	time	NOUN
alkej-116	30	44	trajectory	trajectory	NOUN
alkej-116	30	45	for	for	ADP
alkej-116	30	46	an	an	DET
alkej-116	30	47	aerosol	aerosol	NOUN
alkej-116	30	48	printing	printing	NOUN
alkej-116	30	49	system	system	NOUN
alkej-116	30	50	[	[	X
alkej-116	30	51	12	12	NUM
alkej-116	30	52	]	]	PUNCT
alkej-116	30	53	.	.	PUNCT
alkej-116	31	1	the	the	DET
alkej-116	31	2	algorithm	algorithm	NOUN
alkej-116	31	3	calculates	calculate	VERB
alkej-116	31	4	blend	blend	NOUN
alkej-116	31	5	times	time	NOUN
alkej-116	31	6	and	and	CCONJ
alkej-116	31	7	constant	constant	ADJ
alkej-116	31	8	velocity	velocity	NOUN
alkej-116	31	9	based	base	VERB
alkej-116	31	10	on	on	ADP
alkej-116	31	11	given	give	VERB
alkej-116	31	12	trajectory	trajectory	NOUN
alkej-116	31	13	conditions	condition	NOUN
alkej-116	31	14	.	.	PUNCT
alkej-116	32	1	but	but	CCONJ
alkej-116	32	2	large	large	ADJ
alkej-116	32	3	error	error	NOUN
alkej-116	32	4	in	in	ADP
alkej-116	32	5	speed	speed	NOUN
alkej-116	32	6	appeared	appear	VERB
alkej-116	32	7	for	for	ADP
alkej-116	32	8	acute	acute	ADJ
alkej-116	32	9	angle	angle	NOUN
alkej-116	32	10	trajectory	trajectory	NOUN
alkej-116	32	11	.	.	PUNCT
alkej-116	33	1	this	this	DET
alkej-116	33	2	problem	problem	NOUN
alkej-116	33	3	can	can	AUX
alkej-116	33	4	be	be	AUX
alkej-116	33	5	considered	consider	VERB
alkej-116	33	6	as	as	ADP
alkej-116	33	7	multi	multi	ADJ
alkej-116	33	8	-	-	ADJ
alkej-116	33	9	segment	segment	ADJ
alkej-116	33	10	trajectories	trajectory	NOUN
alkej-116	33	11	without	without	ADP
alkej-116	33	12	stopping	stop	VERB
alkej-116	33	13	at	at	ADP
alkej-116	33	14	waypoints	waypoint	NOUN
alkej-116	33	15	.	.	PUNCT
alkej-116	34	1	weber	weber	PROPN
alkej-116	34	2	et	et	PROPN
alkej-116	34	3	al	al	PROPN
alkej-116	34	4	.	.	PROPN
alkej-116	34	5	used	use	VERB
alkej-116	34	6	the	the	DET
alkej-116	34	7	tool	tool	NOUN
alkej-116	34	8	corde	corde	X
alkej-116	34	9	(	(	PUNCT
alkej-116	34	10	corner	corner	NOUN
alkej-116	34	11	drive	drive	VERB
alkej-116	34	12	with	with	ADP
alkej-116	34	13	defined	define	VERB
alkej-116	34	14	speed	speed	NOUN
alkej-116	34	15	)	)	PUNCT
alkej-116	34	16	to	to	PART
alkej-116	34	17	visualize	visualize	VERB
alkej-116	34	18	the	the	DET
alkej-116	34	19	characteristic	characteristic	NOUN
alkej-116	34	20	of	of	ADP
alkej-116	34	21	the	the	DET
alkej-116	34	22	distance	distance	NOUN
alkej-116	34	23	to	to	ADP
alkej-116	34	24	the	the	DET
alkej-116	34	25	corner	corner	NOUN
alkej-116	34	26	depending	depend	VERB
alkej-116	34	27	on	on	ADP
alkej-116	34	28	the	the	DET
alkej-116	34	29	speed	speed	NOUN
alkej-116	34	30	deviation	deviation	NOUN
alkej-116	34	31	for	for	ADP
alkej-116	34	32	transition	transition	NOUN
alkej-116	34	33	between	between	ADP
alkej-116	34	34	path	path	NOUN
alkej-116	34	35	segments	segment	NOUN
alkej-116	34	36	[	[	X
alkej-116	34	37	13	13	NUM
alkej-116	34	38	]	]	PUNCT
alkej-116	34	39	.	.	PUNCT
alkej-116	35	1	but	but	CCONJ
alkej-116	35	2	the	the	DET
alkej-116	35	3	absolute	absolute	ADJ
alkej-116	35	4	maximum	maximum	ADJ
alkej-116	35	5	acceleration	acceleration	NOUN
alkej-116	35	6	is	be	AUX
alkej-116	35	7	difficult	difficult	ADJ
alkej-116	35	8	to	to	PART
alkej-116	35	9	obtain	obtain	VERB
alkej-116	35	10	as	as	ADP
alkej-116	35	11	a	a	DET
alkej-116	35	12	realistic	realistic	ADJ
alkej-116	35	13	value	value	NOUN
alkej-116	35	14	which	which	PRON
alkej-116	35	15	is	be	AUX
alkej-116	35	16	the	the	DET
alkej-116	35	17	sole	sole	ADJ
alkej-116	35	18	characteristic	characteristic	ADJ
alkej-116	35	19	value	value	NOUN
alkej-116	35	20	.	.	PUNCT
alkej-116	36	1	this	this	DET
alkej-116	36	2	results	result	VERB
alkej-116	36	3	in	in	ADP
alkej-116	36	4	a	a	DET
alkej-116	36	5	loss	loss	NOUN
alkej-116	36	6	on	on	ADP
alkej-116	36	7	performance	performance	NOUN
alkej-116	36	8	for	for	ADP
alkej-116	36	9	many	many	ADJ
alkej-116	36	10	transition	transition	NOUN
alkej-116	36	11	points	point	NOUN
alkej-116	36	12	.	.	PUNCT
alkej-116	37	1	classic	classic	ADJ
alkej-116	37	2	optimization	optimization	NOUN
alkej-116	37	3	approaches	approach	NOUN
alkej-116	37	4	suffer	suffer	VERB
alkej-116	37	5	from	from	ADP
alkej-116	37	6	many	many	ADJ
alkej-116	37	7	drawbacks	drawback	NOUN
alkej-116	37	8	,	,	PUNCT
alkej-116	37	9	such	such	ADJ
alkej-116	37	10	as	as	ADP
alkej-116	37	11	high	high	ADJ
alkej-116	37	12	time	time	NOUN
alkej-116	37	13	complexity	complexity	NOUN
alkej-116	37	14	in	in	ADP
alkej-116	37	15	high	high	ADJ
alkej-116	37	16	dimensions	dimension	NOUN
alkej-116	37	17	and	and	CCONJ
alkej-116	37	18	trapping	trap	VERB
alkej-116	37	19	in	in	ADP
alkej-116	37	20	local	local	ADJ
alkej-116	37	21	minima	minima	NOUN
alkej-116	37	22	,	,	PUNCT
alkej-116	37	23	which	which	PRON
alkej-116	37	24	make	make	VERB
alkej-116	37	25	them	they	PRON
alkej-116	37	26	inefficient	inefficient	ADJ
alkej-116	37	27	in	in	ADP
alkej-116	37	28	practice	practice	NOUN
alkej-116	37	29	.	.	PUNCT
alkej-116	38	1	modern	modern	ADJ
alkej-116	38	2	or	or	CCONJ
alkej-116	38	3	nontraditional	nontraditional	ADJ
alkej-116	38	4	optimization	optimization	NOUN
alkej-116	38	5	methods	method	NOUN
alkej-116	38	6	such	such	ADJ
alkej-116	38	7	as	as	ADP
alkej-116	38	8	genetic	genetic	ADJ
alkej-116	38	9	algorithm	algorithm	NOUN
alkej-116	38	10	and	and	CCONJ
alkej-116	38	11	swarm	swarm	NOUN
alkej-116	38	12	intelligence	intelligence	NOUN
alkej-116	38	13	are	be	AUX
alkej-116	38	14	widely	widely	ADV
alkej-116	38	15	used	use	VERB
alkej-116	38	16	in	in	ADP
alkej-116	38	17	path	path	NOUN
alkej-116	38	18	planning	planning	NOUN
alkej-116	38	19	problems	problem	NOUN
alkej-116	38	20	[	[	X
alkej-116	38	21	14	14	NUM
alkej-116	38	22	-	-	SYM
alkej-116	38	23	16	16	NUM
alkej-116	38	24	]	]	PUNCT
alkej-116	38	25	.	.	PUNCT
alkej-116	39	1	particle	particle	NOUN
alkej-116	39	2	swarm	swarm	NOUN
alkej-116	39	3	optimization	optimization	NOUN
alkej-116	39	4	(	(	PUNCT
alkej-116	39	5	pso	pso	NOUN
alkej-116	39	6	)	)	PUNCT
alkej-116	39	7	is	be	AUX
alkej-116	39	8	simple	simple	ADJ
alkej-116	39	9	and	and	CCONJ
alkej-116	39	10	fast	fast	ADJ
alkej-116	39	11	because	because	SCONJ
alkej-116	39	12	it	it	PRON
alkej-116	39	13	has	have	VERB
alkej-116	39	14	few	few	ADJ
alkej-116	39	15	parameters	parameter	NOUN
alkej-116	39	16	to	to	PART
alkej-116	39	17	be	be	AUX
alkej-116	39	18	adjusted	adjust	VERB
alkej-116	39	19	[	[	X
alkej-116	39	20	17	17	NUM
alkej-116	39	21	]	]	PUNCT
alkej-116	39	22	.	.	PUNCT
alkej-116	40	1	in	in	ADP
alkej-116	40	2	the	the	DET
alkej-116	40	3	above	above	ADJ
alkej-116	40	4	mentioned	mention	VERB
alkej-116	40	5	works	work	NOUN
alkej-116	40	6	,	,	PUNCT
alkej-116	40	7	the	the	DET
alkej-116	40	8	suggested	suggest	VERB
alkej-116	40	9	methods	method	NOUN
alkej-116	40	10	have	have	VERB
alkej-116	40	11	limitations	limitation	NOUN
alkej-116	40	12	and	and	CCONJ
alkej-116	40	13	use	use	VERB
alkej-116	40	14	the	the	DET
alkej-116	40	15	same	same	ADJ
alkej-116	40	16	basic	basic	ADJ
alkej-116	40	17	equations	equation	NOUN
alkej-116	40	18	of	of	ADP
alkej-116	40	19	lspb	lspb	NOUN
alkej-116	40	20	.	.	PUNCT
alkej-116	41	1	the	the	DET
alkej-116	41	2	lspb	lspb	PROPN
alkej-116	41	3	trajectory	trajectory	NOUN
alkej-116	41	4	still	still	ADV
alkej-116	41	5	deviates	deviate	VERB
alkej-116	41	6	from	from	ADP
alkej-116	41	7	the	the	DET
alkej-116	41	8	specified	specified	ADJ
alkej-116	41	9	waypoints	waypoint	NOUN
alkej-116	41	10	.	.	PUNCT
alkej-116	42	1	in	in	ADP
alkej-116	42	2	this	this	DET
alkej-116	42	3	work	work	NOUN
alkej-116	42	4	,	,	PUNCT
alkej-116	42	5	the	the	DET
alkej-116	42	6	lspb	lspb	NOUN
alkej-116	42	7	trajectory	trajectory	NOUN
alkej-116	42	8	is	be	AUX
alkej-116	42	9	modified	modify	VERB
alkej-116	42	10	and	and	CCONJ
alkej-116	42	11	engaged	engage	VERB
alkej-116	42	12	with	with	ADP
alkej-116	42	13	pso	pso	NOUN
alkej-116	42	14	.	.	PUNCT
alkej-116	43	1	the	the	DET
alkej-116	43	2	novelty	novelty	NOUN
alkej-116	43	3	in	in	ADP
alkej-116	43	4	this	this	DET
alkej-116	43	5	work	work	NOUN
alkej-116	43	6	is	be	AUX
alkej-116	43	7	to	to	PART
alkej-116	43	8	modify	modify	VERB
alkej-116	43	9	lspb	lspb	NOUN
alkej-116	43	10	trajectory	trajectory	NOUN
alkej-116	43	11	using	use	VERB
alkej-116	43	12	two	two	NUM
alkej-116	43	13	coefficients	coefficient	NOUN
alkej-116	43	14	for	for	ADP
alkej-116	43	15	calculating	calculate	VERB
alkej-116	43	16	the	the	DET
alkej-116	43	17	time	time	NOUN
alkej-116	43	18	duration	duration	NOUN
alkej-116	43	19	of	of	ADP
alkej-116	43	20	the	the	DET
alkej-116	43	21	linear	linear	ADJ
alkej-116	43	22	part	part	NOUN
alkej-116	43	23	in	in	ADP
alkej-116	43	24	lspb	lspb	NOUN
alkej-116	43	25	trajectory	trajectory	NOUN
alkej-116	43	26	.	.	PUNCT
alkej-116	44	1	these	these	DET
alkej-116	44	2	coefficients	coefficient	NOUN
alkej-116	44	3	are	be	AUX
alkej-116	44	4	functions	function	NOUN
alkej-116	44	5	of	of	ADP
alkej-116	44	6	velocities	velocity	NOUN
alkej-116	44	7	between	between	ADP
alkej-116	44	8	through	through	ADP
alkej-116	44	9	points	point	NOUN
alkej-116	44	10	.	.	PUNCT
alkej-116	45	1	the	the	DET
alkej-116	45	2	velocities	velocity	NOUN
alkej-116	45	3	are	be	AUX
alkej-116	45	4	obtained	obtain	VERB
alkej-116	45	5	by	by	ADP
alkej-116	45	6	pso	pso	NOUN
alkej-116	45	7	to	to	PART
alkej-116	45	8	force	force	VERB
alkej-116	45	9	the	the	DET
alkej-116	45	10	lspb	lspb	NOUN
alkej-116	45	11	trajectory	trajectory	NOUN
alkej-116	45	12	passing	pass	VERB
alkej-116	45	13	exactly	exactly	ADV
alkej-116	45	14	through	through	ADP
alkej-116	45	15	the	the	DET
alkej-116	45	16	specified	specified	ADJ
alkej-116	45	17	path	path	NOUN
alkej-116	45	18	points	point	NOUN
alkej-116	45	19	.	.	PUNCT
alkej-116	46	1	also	also	ADV
alkej-116	46	2	,	,	PUNCT
alkej-116	46	3	relations	relation	NOUN
alkej-116	46	4	for	for	ADP
alkej-116	46	5	velocity	velocity	NOUN
alkej-116	46	6	correction	correction	NOUN
alkej-116	46	7	and	and	CCONJ
alkej-116	46	8	exact	exact	ADJ
alkej-116	46	9	velocity	velocity	NOUN
alkej-116	46	10	solution	solution	NOUN
alkej-116	46	11	are	be	AUX
alkej-116	46	12	derived	derive	VERB
alkej-116	46	13	.	.	PUNCT
alkej-116	47	1	2	2	X
alkej-116	47	2	.	.	X
alkej-116	47	3	multisegment	multisegment	PROPN
alkej-116	47	4	linear	linear	PROPN
alkej-116	47	5	path	path	NOUN
alkej-116	47	6	with	with	ADP
alkej-116	47	7	blends	blend	NOUN
alkej-116	47	8	for	for	ADP
alkej-116	47	9	the	the	DET
alkej-116	47	10	case	case	NOUN
alkej-116	47	11	in	in	ADP
alkej-116	47	12	which	which	PRON
alkej-116	47	13	there	there	PRON
alkej-116	47	14	are	be	VERB
alkej-116	47	15	many	many	ADJ
alkej-116	47	16	waypoints	waypoint	NOUN
alkej-116	47	17	,	,	PUNCT
alkej-116	47	18	linear	linear	ADJ
alkej-116	47	19	segments	segment	NOUN
alkej-116	47	20	with	with	ADP
alkej-116	47	21	parabolic	parabolic	ADJ
alkej-116	47	22	blends	blend	NOUN
alkej-116	47	23	are	be	AUX
alkej-116	47	24	considered	consider	VERB
alkej-116	47	25	.	.	PUNCT
alkej-116	48	1	in	in	ADP
alkej-116	48	2	lspb	lspb	NOUN
alkej-116	48	3	,	,	PUNCT
alkej-116	48	4	the	the	DET
alkej-116	48	5	segment	segment	NOUN
alkej-116	48	6	is	be	AUX
alkej-116	48	7	divided	divide	VERB
alkej-116	48	8	into	into	ADP
alkej-116	48	9	three	three	NUM
alkej-116	48	10	parts	part	NOUN
alkej-116	48	11	:	:	PUNCT
alkej-116	48	12	parabolic	parabolic	ADJ
alkej-116	48	13	,	,	PUNCT
alkej-116	48	14	linear	linear	ADJ
alkej-116	48	15	,	,	PUNCT
alkej-116	48	16	and	and	CCONJ
alkej-116	48	17	parabolic	parabolic	ADJ
alkej-116	48	18	;	;	PUNCT
alkej-116	48	19	respectively	respectively	ADV
alkej-116	48	20	(	(	PUNCT
alkej-116	48	21	fig.1	fig.1	PROPN
alkej-116	48	22	)	)	PUNCT
alkej-116	48	23	.	.	PUNCT
alkej-116	49	1	considering	consider	VERB
alkej-116	49	2	the	the	DET
alkej-116	49	3	path	path	NOUN
alkej-116	49	4	waypoints	waypoint	NOUN
alkej-116	49	5	which	which	PRON
alkej-116	49	6	are	be	AUX
alkej-116	49	7	j	j	PROPN
alkej-116	49	8	,	,	PUNCT
alkej-116	49	9	k	k	PROPN
alkej-116	49	10	,	,	PUNCT
alkej-116	49	11	and	and	CCONJ
alkej-116	49	12	1	1	X
alkej-116	49	13	.	.	X
alkej-116	49	14	the	the	DET
alkej-116	49	15	time	time	NOUN
alkej-116	49	16	duration	duration	NOUN
alkej-116	49	17	for	for	ADP
alkej-116	49	18	blend	blend	NOUN
alkej-116	49	19	region	region	NOUN
alkej-116	49	20	of	of	ADP
alkej-116	49	21	point	point	NOUN
alkej-116	49	22	k	k	PROPN
alkej-116	49	23	is	be	AUX
alkej-116	49	24	tk	tk	PROPN
alkej-116	49	25	.	.	PUNCT
alkej-116	50	1	the	the	DET
alkej-116	50	2	time	time	NOUN
alkej-116	50	3	duration	duration	NOUN
alkej-116	50	4	for	for	ADP
alkej-116	50	5	linear	linear	ADJ
alkej-116	50	6	part	part	NOUN
alkej-116	50	7	between	between	ADP
alkej-116	50	8	points	point	NOUN
alkej-116	50	9	j	j	PROPN
alkej-116	50	10	and	and	CCONJ
alkej-116	50	11	k	k	PROPN
alkej-116	50	12	is	be	AUX
alkej-116	50	13	tjk	tjk	PROPN
alkej-116	50	14	.	.	PUNCT
alkej-116	51	1	the	the	DET
alkej-116	51	2	time	time	NOUN
alkej-116	51	3	duration	duration	NOUN
alkej-116	51	4	of	of	ADP
alkej-116	51	5	the	the	DET
alkej-116	51	6	segment	segment	NOUN
alkej-116	51	7	which	which	PRON
alkej-116	51	8	connects	connect	VERB
alkej-116	51	9	points	point	NOUN
alkej-116	51	10	j	j	PROPN
alkej-116	51	11	and	and	CCONJ
alkej-116	51	12	k	k	PROPN
alkej-116	51	13	is	be	AUX
alkej-116	51	14	tdjk	tdjk	ADJ
alkej-116	51	15	.	.	PUNCT
alkej-116	52	1	according	accord	VERB
alkej-116	52	2	to	to	ADP
alkej-116	52	3	fig	fig	NOUN
alkej-116	52	4	.	.	PUNCT
alkej-116	53	1	1	1	NUM
alkej-116	53	2	,	,	PUNCT
alkej-116	53	3	the	the	DET
alkej-116	53	4	linear	linear	ADJ
alkej-116	53	5	velocity	velocity	NOUN
alkej-116	53	6	between	between	ADP
alkej-116	53	7	points	point	NOUN
alkej-116	53	8	j	j	PROPN
alkej-116	53	9	and	and	CCONJ
alkej-116	53	10	k	k	PROPN
alkej-116	53	11	is	be	AUX
alkej-116	53	12	jkθ	jkθ	PROPN
alkej-116	53	13	&	&	CCONJ
alkej-116	53	14	,	,	PUNCT
alkej-116	53	15	the	the	DET
alkej-116	53	16	acceleration	acceleration	NOUN
alkej-116	53	17	at	at	ADP
alkej-116	53	18	point	point	NOUN
alkej-116	53	19	k	k	PROPN
alkej-116	53	20	is	be	AUX
alkej-116	53	21	kθ	kθ	PROPN
alkej-116	53	22	&	&	CCONJ
alkej-116	53	23	&	&	CCONJ
alkej-116	53	24	,	,	PUNCT
alkej-116	53	25	and	and	CCONJ
alkej-116	53	26	the	the	DET
alkej-116	53	27	path	path	NOUN
alkej-116	53	28	point	point	NOUN
alkej-116	53	29	position	position	NOUN
alkej-116	53	30	is	be	AUX
alkej-116	53	31	kθ	kθ	NOUN
alkej-116	53	32	.	.	PUNCT
alkej-116	54	1	the	the	DET
alkej-116	54	2	blend	blend	PROPN
alkej-116	54	3	times	times	PROPN
alkej-116	54	4	tk	tk	PROPN
alkej-116	54	5	is	be	AUX
alkej-116	54	6	computed	compute	VERB
alkej-116	54	7	from	from	ADP
alkej-116	54	8	the	the	DET
alkej-116	54	9	given	give	VERB
alkej-116	54	10	:	:	PUNCT
alkej-116	54	11	path	path	NOUN
alkej-116	54	12	points	point	NOUN
alkej-116	54	13	kθ	kθ	PROPN
alkej-116	54	14	,	,	PUNCT
alkej-116	54	15	desired	desire	VERB
alkej-116	54	16	time	time	NOUN
alkej-116	54	17	durations	duration	NOUN
alkej-116	54	18	tdjk	tdjk	NOUN
alkej-116	54	19	,	,	PUNCT
alkej-116	54	20	and	and	CCONJ
alkej-116	54	21	the	the	DET
alkej-116	54	22	magnitude	magnitude	NOUN
alkej-116	54	23	of	of	ADP
alkej-116	54	24	acceleration	acceleration	PROPN
alkej-116	54	25	kθ	kθ	PROPN
alkej-116	54	26	&	&	CCONJ
alkej-116	54	27	&	&	CCONJ
alkej-116	54	28	.	.	PUNCT
alkej-116	55	1	for	for	ADP
alkej-116	55	2	interior	interior	ADJ
alkej-116	55	3	path	path	NOUN
alkej-116	55	4	points	point	NOUN
alkej-116	55	5	,	,	PUNCT
alkej-116	55	6	this	this	PRON
alkej-116	55	7	follows	follow	VERB
alkej-116	55	8	simply	simply	ADV
alkej-116	55	9	the	the	DET
alkej-116	55	10	equations	equation	NOUN
alkej-116	56	1	[	[	X
alkej-116	56	2	2	2	NUM
alkej-116	56	3	]	]	PUNCT
alkej-116	56	4	:	:	PUNCT
alkej-116	56	5	djk	djk	PROPN
alkej-116	56	6	jk	jk	PROPN
alkej-116	56	7	jk	jk	PROPN
alkej-116	56	8	t	t	PROPN
alkej-116	56	9	θθ	θθ	NUM
alkej-116	56	10	θ	θ	NOUN
alkej-116	56	11	−	−	PROPN
alkej-116	56	12	=	=	SYM
alkej-116	56	13	&	&	CCONJ
alkej-116	56	14	…	…	PUNCT
alkej-116	56	15	(	(	PUNCT
alkej-116	56	16	1.a	1.a	NUM
alkej-116	56	17	)	)	PUNCT
alkej-116	56	18	kjkklk	kjkklk	NOUN
alkej-116	56	19	sgn	sgn	NOUN
alkej-116	56	20	θθθθ	θθθθ	PROPN
alkej-116	56	21	&	&	CCONJ
alkej-116	56	22	&	&	PROPN
alkej-116	56	23	&	&	PROPN
alkej-116	56	24	&	&	PROPN
alkej-116	56	25	&	&	PROPN
alkej-116	56	26	&	&	CCONJ
alkej-116	56	27	)	)	PUNCT
alkej-116	56	28	(	(	PUNCT
alkej-116	56	29	−=	−=	X
alkej-116	56	30	…	…	PUNCT
alkej-116	56	31	(	(	PUNCT
alkej-116	56	32	1.b	1.b	NUM
alkej-116	56	33	)	)	PUNCT
alkej-116	56	34	k	k	NOUN
alkej-116	57	1	jkkl	jkkl	PROPN
alkej-116	57	2	kt	kt	PROPN
alkej-116	57	3	θ	θ	PROPN
alkej-116	57	4	θθ	θθ	PROPN
alkej-116	57	5	&	&	PROPN
alkej-116	57	6	&	&	CCONJ
alkej-116	57	7	&	&	PROPN
alkej-116	57	8	&	&	CCONJ
alkej-116	57	9	−	−	PROPN
alkej-116	57	10	=	=	SYM
alkej-116	57	11	…	…	PUNCT
alkej-116	57	12	(	(	PUNCT
alkej-116	57	13	1.c	1.c	NUM
alkej-116	57	14	)	)	PUNCT
alkej-116	57	15	kjdjkjk	kjdjkjk	PROPN
alkej-116	57	16	tttt	tttt	NOUN
alkej-116	57	17	2	2	NUM
alkej-116	57	18	1	1	NUM
alkej-116	57	19	2	2	NUM
alkej-116	57	20	1	1	NUM
alkej-116	57	21	−−=	−−=	NOUN
alkej-116	57	22	…	…	PUNCT
alkej-116	57	23	(	(	PUNCT
alkej-116	57	24	1.d	1.d	NUM
alkej-116	57	25	)	)	PUNCT
alkej-116	57	26	where	where	SCONJ
alkej-116	57	27	sgn	sgn	NOUN
alkej-116	57	28	(	(	PUNCT
alkej-116	57	29	)	)	PUNCT
alkej-116	57	30	returns	return	VERB
alkej-116	57	31	the	the	DET
alkej-116	57	32	sign	sign	NOUN
alkej-116	57	33	of	of	ADP
alkej-116	57	34	the	the	DET
alkej-116	57	35	value	value	NOUN
alkej-116	57	36	in	in	ADP
alkej-116	57	37	the	the	DET
alkej-116	57	38	brake	brake	NOUN
alkej-116	57	39	.	.	PUNCT
alkej-116	58	1	in	in	ADP
alkej-116	58	2	the	the	DET
alkej-116	58	3	first	first	ADJ
alkej-116	58	4	and	and	CCONJ
alkej-116	58	5	last	last	ADJ
alkej-116	58	6	segments	segment	NOUN
alkej-116	58	7	there	there	PRON
alkej-116	58	8	is	be	VERB
alkej-116	58	9	an	an	DET
alkej-116	58	10	entire	entire	ADJ
alkej-116	58	11	blend	blend	NOUN
alkej-116	58	12	region	region	NOUN
alkej-116	58	13	at	at	ADP
alkej-116	58	14	one	one	NUM
alkej-116	58	15	end	end	NOUN
alkej-116	58	16	of	of	ADP
alkej-116	58	17	the	the	DET
alkej-116	58	18	segment	segment	NOUN
alkej-116	58	19	.	.	PUNCT
alkej-116	59	1	for	for	ADP
alkej-116	59	2	the	the	DET
alkej-116	59	3	first	first	ADJ
alkej-116	59	4	segment	segment	NOUN
alkej-116	59	5	[	[	X
alkej-116	59	6	2	2	NUM
alkej-116	59	7	]	]	NUM
alkej-116	59	8	:	:	PUNCT
alkej-116	59	9	1121	1121	NUM
alkej-116	59	10	)	)	PUNCT
alkej-116	59	11	(	(	PUNCT
alkej-116	59	12	θθθθ	θθθθ	PROPN
alkej-116	59	13	&	&	CCONJ
alkej-116	59	14	&	&	PROPN
alkej-116	59	15	&	&	PROPN
alkej-116	59	16	&	&	CCONJ
alkej-116	59	17	−=	−=	VERB
alkej-116	59	18	sgn	sgn	NOUN
alkej-116	59	19	…	…	PUNCT
alkej-116	59	20	(	(	PUNCT
alkej-116	59	21	2.a	2.a	NUM
alkej-116	59	22	)	)	PUNCT
alkej-116	59	23	1	1	NUM
alkej-116	59	24	122	122	NUM
alkej-116	59	25	12121	12121	NUM
alkej-116	59	26	)	)	PUNCT
alkej-116	59	27	(	(	PUNCT
alkej-116	59	28	2	2	NUM
alkej-116	59	29	θ	θ	PROPN
alkej-116	59	30	θθ	θθ	ADP
alkej-116	59	31	&	&	PROPN
alkej-116	59	32	&	&	CCONJ
alkej-116	59	33	−	−	PROPN
alkej-116	59	34	−−=	−−=	PROPN
alkej-116	59	35	dd	dd	PROPN
alkej-116	59	36	ttt	ttt	PROPN
alkej-116	59	37	…	…	PUNCT
alkej-116	59	38	(	(	PUNCT
alkej-116	59	39	2.b	2.b	NUM
alkej-116	59	40	)	)	PUNCT
alkej-116	59	41	112	112	NUM
alkej-116	59	42	12	12	NUM
alkej-116	59	43	12	12	NUM
alkej-116	59	44	2	2	NUM
alkej-116	59	45	1	1	NUM
alkej-116	59	46	tt	tt	NOUN
alkej-116	60	1	d	d	NOUN
alkej-116	60	2	−	−	NOUN
alkej-116	61	1	−	−	PROPN
alkej-116	61	2	=	=	SYM
alkej-116	61	3	θθ	θθ	NUM
alkej-116	61	4	θ	θ	PROPN
alkej-116	61	5	&	&	CCONJ
alkej-116	61	6	…	…	PUNCT
alkej-116	61	7	(	(	PUNCT
alkej-116	61	8	2.c	2.c	NUM
alkej-116	61	9	)	)	PUNCT
alkej-116	61	10	211212	211212	NUM
alkej-116	61	11	2	2	NUM
alkej-116	61	12	1	1	NUM
alkej-116	61	13	tttt	tttt	NOUN
alkej-116	61	14	d	d	X
alkej-116	61	15	−−=	−−=	PROPN
alkej-116	61	16	…	…	PUNCT
alkej-116	61	17	(	(	PUNCT
alkej-116	61	18	2.d	2.d	NUM
alkej-116	61	19	)	)	PUNCT
alkej-116	61	20	djkt	djkt	NOUN
alkej-116	61	21	dijt	dijt	NOUN
alkej-116	61	22	kt	kt	PROPN
alkej-116	62	1	klθ&=slopejkθ&=slope	klθ&=slopejkθ&=slope	PROPN
alkej-116	62	2	jkt	jkt	PROPN
alkej-116	62	3	θ	θ	PROPN
alkej-116	62	4	iθ	iθ	NOUN
alkej-116	62	5	iθ	iθ	ADV
alkej-116	62	6	jθ	jθ	ADV
alkej-116	62	7	kθ	kθ	PROPN
alkej-116	62	8	lθ	lθ	ADP
alkej-116	63	1	t	t	PROPN
alkej-116	63	2	j	j	PROPN
alkej-116	64	1	i	i	PRON
alkej-116	64	2	l	l	PROPN
alkej-116	64	3	k	k	X
alkej-116	64	4	fig	fig	NOUN
alkej-116	64	5	.	.	PUNCT
alkej-116	65	1	1	1	X
alkej-116	65	2	.	.	X
alkej-116	65	3	multisegment	multisegment	PROPN
alkej-116	65	4	linear	linear	PROPN
alkej-116	65	5	path	path	NOUN
alkej-116	65	6	with	with	ADP
alkej-116	65	7	blends	blend	NOUN
alkej-116	65	8	[	[	X
alkej-116	66	1	2	2	NUM
alkej-116	66	2	]	]	PUNCT
alkej-116	66	3	likewise	likewise	ADV
alkej-116	66	4	,	,	PUNCT
alkej-116	66	5	for	for	ADP
alkej-116	66	6	the	the	DET
alkej-116	66	7	last	last	ADJ
alkej-116	66	8	segment	segment	NOUN
alkej-116	66	9	(	(	PUNCT
alkej-116	66	10	the	the	DET
alkej-116	66	11	one	one	NUM
alkej-116	66	12	connecting	connect	VERB
alkej-116	66	13	points	point	NOUN
alkej-116	66	14	n-1	n-1	NOUN
alkej-116	66	15	and	and	CCONJ
alkej-116	66	16	n	n	CCONJ
alkej-116	66	17	)	)	PUNCT
alkej-116	66	18	,	,	PUNCT
alkej-116	66	19	which	which	PRON
alkej-116	66	20	leads	lead	VERB
alkej-116	66	21	to	to	ADP
alkej-116	66	22	the	the	DET
alkej-116	66	23	solution	solution	NOUN
alkej-116	66	24	:	:	PUNCT
alkej-116	66	25	nnnn	nnnn	PROPN
alkej-116	66	26	sgn	sgn	PROPN
alkej-116	66	27	θθθθ	θθθθ	PROPN
alkej-116	66	28	&	&	CCONJ
alkej-116	66	29	&	&	PROPN
alkej-116	66	30	&	&	PROPN
alkej-116	66	31	&	&	CCONJ
alkej-116	66	32	)	)	PUNCT
alkej-116	66	33	(	(	PUNCT
alkej-116	66	34	1	1	NUM
alkej-116	66	35	−=	−=	NOUN
alkej-116	66	36	−	−	NOUN
alkej-116	66	37	…	…	PUNCT
alkej-116	66	38	(	(	PUNCT
alkej-116	66	39	3.a	3.a	NUM
alkej-116	66	40	)	)	PUNCT
alkej-116	66	41	saad	saad	PROPN
alkej-116	66	42	zaghlul	zaghlul	PROPN
alkej-116	66	43	saeed	saeed	PROPN
alkej-116	66	44	al	al	PROPN
alkej-116	66	45	-	-	PUNCT
alkej-116	66	46	khwarizmi	khwarizmi	PROPN
alkej-116	66	47	engineering	engineering	NOUN
alkej-116	66	48	journal	journal	PROPN
alkej-116	66	49	,	,	PUNCT
alkej-116	66	50	vol	vol	NOUN
alkej-116	66	51	.	.	PROPN
alkej-116	66	52	14	14	NUM
alkej-116	66	53	,	,	PUNCT
alkej-116	66	54	no	no	INTJ
alkej-116	66	55	.	.	NOUN
alkej-116	66	56	1	1	NUM
alkej-116	66	57	,	,	PUNCT
alkej-116	66	58	p.p	p.p	PROPN
alkej-116	66	59	.	.	NOUN
alkej-116	66	60	7789	7789	NUM
alkej-116	66	61	(	(	PUNCT
alkej-116	66	62	2018	2018	NUM
alkej-116	66	63	)	)	PUNCT
alkej-116	66	64	79	79	NUM
alkej-116	66	65	n	n	CCONJ
alkej-116	66	66	nn	nn	INTJ
alkej-116	66	67	nndnndn	nndnndn	PROPN
alkej-116	66	68	ttt	ttt	PROPN
alkej-116	66	69	θ	θ	PROPN
alkej-116	66	70	θθ	θθ	PROPN
alkej-116	66	71	&	&	PROPN
alkej-116	66	72	&	&	CCONJ
alkej-116	66	73	)	)	PUNCT
alkej-116	66	74	(	(	PUNCT
alkej-116	66	75	2	2	NUM
alkej-116	66	76	12	12	NUM
alkej-116	66	77	)	)	PUNCT
alkej-116	66	78	1()1	1()1	NUM
alkej-116	66	79	(	(	PUNCT
alkej-116	66	80	−	−	PROPN
alkej-116	66	81	−−	−−	NOUN
alkej-116	66	82	−	−	VERB
alkej-116	66	83	+	+	NOUN
alkej-116	66	84	−=	−=	NOUN
alkej-116	66	85	…	…	PUNCT
alkej-116	66	86	(	(	PUNCT
alkej-116	66	87	3.b	3.b	NUM
alkej-116	66	88	)	)	PUNCT
alkej-116	66	89	nnnd	nnnd	PROPN
alkej-116	66	90	nn	nn	PROPN
alkej-116	66	91	nn	nn	PROPN
alkej-116	66	92	tt	tt	PROPN
alkej-116	66	93	2	2	NUM
alkej-116	66	94	1	1	NUM
alkej-116	66	95	)	)	PUNCT
alkej-116	66	96	1	1	NUM
alkej-116	66	97	(	(	PUNCT
alkej-116	66	98	1	1	NUM
alkej-116	66	99	)	)	SYM
alkej-116	66	100	1	1	NUM
alkej-116	66	101	(	(	PUNCT
alkej-116	66	102	−	−	PROPN
alkej-116	66	103	−	−	PROPN
alkej-116	66	104	=	=	SYM
alkej-116	67	1	−	−	PROPN
alkej-116	67	2	−	−	PROPN
alkej-116	67	3	−	−	PROPN
alkej-116	67	4	θθ	θθ	NUM
alkej-116	67	5	θ	θ	PROPN
alkej-116	67	6	&	&	CCONJ
alkej-116	67	7	…	…	PUNCT
alkej-116	67	8	(	(	PUNCT
alkej-116	67	9	3.c	3.c	NUM
alkej-116	67	10	)	)	PUNCT
alkej-116	67	11	1)1()1	1)1()1	NUM
alkej-116	67	12	(	(	PUNCT
alkej-116	67	13	2	2	NUM
alkej-116	67	14	1	1	NUM
alkej-116	67	15	−−−	−−−	NUM
alkej-116	68	1	−−=	−−=	PROPN
alkej-116	68	2	nnnndnn	nnnndnn	NOUN
alkej-116	68	3	tttt	tttt	INTJ
alkej-116	68	4	…	…	PUNCT
alkej-116	68	5	(	(	PUNCT
alkej-116	68	6	3.d	3.d	NUM
alkej-116	68	7	)	)	PUNCT
alkej-116	68	8	in	in	ADP
alkej-116	68	9	these	these	DET
alkej-116	68	10	linear	linear	ADJ
alkej-116	68	11	-	-	PUNCT
alkej-116	68	12	parabolic	parabolic	ADJ
alkej-116	68	13	-	-	PUNCT
alkej-116	68	14	blend	blend	NOUN
alkej-116	68	15	splines	spline	NOUN
alkej-116	68	16	,	,	PUNCT
alkej-116	68	17	when	when	SCONJ
alkej-116	68	18	acceleration	acceleration	NOUN
alkej-116	68	19	capability	capability	NOUN
alkej-116	68	20	is	be	AUX
alkej-116	68	21	sufficiently	sufficiently	ADV
alkej-116	68	22	high	high	ADJ
alkej-116	68	23	,	,	PUNCT
alkej-116	68	24	the	the	DET
alkej-116	68	25	paths	path	NOUN
alkej-116	68	26	will	will	AUX
alkej-116	68	27	come	come	VERB
alkej-116	68	28	quite	quite	ADV
alkej-116	68	29	close	close	ADJ
alkej-116	68	30	to	to	ADP
alkej-116	68	31	the	the	DET
alkej-116	68	32	desired	desire	VERB
alkej-116	68	33	waypoint	waypoint	NOUN
alkej-116	68	34	.	.	PUNCT
alkej-116	69	1	the	the	DET
alkej-116	69	2	manipulator	manipulator	NOUN
alkej-116	69	3	must	must	AUX
alkej-116	69	4	come	come	VERB
alkej-116	69	5	to	to	ADP
alkej-116	69	6	a	a	DET
alkej-116	69	7	complete	complete	ADJ
alkej-116	69	8	stop	stop	NOUN
alkej-116	69	9	if	if	SCONJ
alkej-116	69	10	it	it	PRON
alkej-116	69	11	is	be	AUX
alkej-116	69	12	desired	desire	VERB
alkej-116	69	13	to	to	PART
alkej-116	69	14	pass	pass	VERB
alkej-116	69	15	exactly	exactly	ADV
alkej-116	69	16	through	through	ADP
alkej-116	69	17	a	a	DET
alkej-116	69	18	waypoint	waypoint	NOUN
alkej-116	69	19	.	.	PUNCT
alkej-116	70	1	the	the	DET
alkej-116	70	2	term	term	NOUN
alkej-116	70	3	"	"	PUNCT
alkej-116	70	4	through	through	ADP
alkej-116	70	5	point	point	NOUN
alkej-116	70	6	"	"	PUNCT
alkej-116	70	7	,	,	PUNCT
alkej-116	70	8	as	as	SCONJ
alkej-116	70	9	it	it	PRON
alkej-116	70	10	was	be	AUX
alkej-116	70	11	mentioned	mention	VERB
alkej-116	70	12	in	in	ADP
alkej-116	70	13	[	[	X
alkej-116	70	14	2	2	NUM
alkej-116	70	15	]	]	PUNCT
alkej-116	70	16	,	,	PUNCT
alkej-116	70	17	will	will	AUX
alkej-116	70	18	be	be	AUX
alkej-116	70	19	used	use	VERB
alkej-116	70	20	in	in	ADP
alkej-116	70	21	the	the	DET
alkej-116	70	22	next	next	ADJ
alkej-116	70	23	sections	section	NOUN
alkej-116	70	24	to	to	PART
alkej-116	70	25	specify	specify	VERB
alkej-116	70	26	a	a	DET
alkej-116	70	27	path	path	NOUN
alkej-116	70	28	point	point	NOUN
alkej-116	70	29	through	through	ADP
alkej-116	70	30	which	which	PRON
alkej-116	70	31	the	the	DET
alkej-116	70	32	manipulator	manipulator	NOUN
alkej-116	70	33	is	be	AUX
alkej-116	70	34	forced	force	VERB
alkej-116	70	35	to	to	PART
alkej-116	70	36	pass	pass	VERB
alkej-116	70	37	exactly	exactly	ADV
alkej-116	70	38	.	.	PUNCT
alkej-116	71	1	3	3	X
alkej-116	71	2	.	.	X
alkej-116	71	3	problem	problem	NOUN
alkej-116	71	4	definition	definition	NOUN
alkej-116	71	5	in	in	ADP
alkej-116	71	6	the	the	DET
alkej-116	71	7	previous	previous	ADJ
alkej-116	71	8	section	section	NOUN
alkej-116	71	9	,	,	PUNCT
alkej-116	71	10	the	the	DET
alkej-116	71	11	lspb	lspb	NOUN
alkej-116	71	12	trajectory	trajectory	NOUN
alkej-116	71	13	is	be	AUX
alkej-116	71	14	constrained	constrain	VERB
alkej-116	71	15	to	to	ADP
alkej-116	71	16	the	the	DET
alkej-116	71	17	following	following	NOUN
alkej-116	71	18	[	[	X
alkej-116	71	19	6	6	NUM
alkej-116	71	20	]	]	SYM
alkej-116	71	21	:	:	PUNCT
alkej-116	71	22	1	1	NUM
alkej-116	71	23	-	-	PUNCT
alkej-116	71	24	the	the	DET
alkej-116	71	25	velocity	velocity	NOUN
alkej-116	71	26	at	at	ADP
alkej-116	71	27	the	the	DET
alkej-116	71	28	first	first	ADJ
alkej-116	71	29	and	and	CCONJ
alkej-116	71	30	last	last	ADJ
alkej-116	71	31	through	through	ADP
alkej-116	71	32	point	point	NOUN
alkej-116	71	33	must	must	AUX
alkej-116	71	34	be	be	AUX
alkej-116	71	35	zero	zero	NUM
alkej-116	71	36	.	.	PUNCT
alkej-116	72	1	2	2	NUM
alkej-116	72	2	-	-	NUM
alkej-116	72	3	the	the	DET
alkej-116	72	4	velocity	velocity	NOUN
alkej-116	72	5	and	and	CCONJ
alkej-116	72	6	acceleration	acceleration	NOUN
alkej-116	72	7	of	of	ADP
alkej-116	72	8	the	the	DET
alkej-116	72	9	trajectory	trajectory	NOUN
alkej-116	72	10	must	must	AUX
alkej-116	72	11	be	be	AUX
alkej-116	72	12	:	:	PUNCT
alkej-116	72	13	maxmax	maxmax	ADJ
alkej-116	72	14	)	)	PUNCT
alkej-116	72	15	(	(	PUNCT
alkej-116	72	16	)	)	PUNCT
alkej-116	72	17	(	(	PUNCT
alkej-116	72	18	θθθθ	θθθθ	PROPN
alkej-116	72	19	&	&	CCONJ
alkej-116	72	20	&	&	PROPN
alkej-116	72	21	&	&	PROPN
alkej-116	72	22	&	&	PROPN
alkej-116	72	23	&	&	PROPN
alkej-116	72	24	&	&	CCONJ
alkej-116	72	25	≤∧≤	≤∧≤	PROPN
alkej-116	72	26	tt	tt	PROPN
alkej-116	72	27	.	.	PUNCT
alkej-116	73	1	the	the	DET
alkej-116	73	2	limitations	limitation	NOUN
alkej-116	73	3	of	of	ADP
alkej-116	73	4	this	this	DET
alkej-116	73	5	algorithm	algorithm	NOUN
alkej-116	73	6	are	be	AUX
alkej-116	73	7	:	:	PUNCT
alkej-116	73	8	1	1	NUM
alkej-116	73	9	-	-	PUNCT
alkej-116	73	10	sufficiently	sufficiently	ADV
alkej-116	73	11	large	large	ADJ
alkej-116	73	12	acceleration	acceleration	NOUN
alkej-116	73	13	is	be	AUX
alkej-116	73	14	required	require	VERB
alkej-116	73	15	so	so	SCONJ
alkej-116	73	16	as	as	SCONJ
alkej-116	73	17	to	to	PART
alkej-116	73	18	obtain	obtain	VERB
alkej-116	73	19	linear	linear	ADJ
alkej-116	73	20	portion	portion	NOUN
alkej-116	73	21	in	in	ADP
alkej-116	73	22	the	the	DET
alkej-116	73	23	segment	segment	NOUN
alkej-116	73	24	.	.	PUNCT
alkej-116	74	1	2	2	NUM
alkej-116	74	2	-	-	NUM
alkej-116	74	3	the	the	DET
alkej-116	74	4	manipulator	manipulator	NOUN
alkej-116	74	5	's	's	PART
alkej-116	74	6	velocity	velocity	NOUN
alkej-116	74	7	must	must	AUX
alkej-116	74	8	be	be	AUX
alkej-116	74	9	zero	zero	NUM
alkej-116	74	10	so	so	SCONJ
alkej-116	74	11	as	as	SCONJ
alkej-116	74	12	to	to	PART
alkej-116	74	13	pass	pass	VERB
alkej-116	74	14	into	into	ADP
alkej-116	74	15	waypoints	waypoint	NOUN
alkej-116	74	16	.	.	PUNCT
alkej-116	75	1	3the	3the	DET
alkej-116	75	2	system	system	NOUN
alkej-116	75	3	should	should	AUX
alkej-116	75	4	generate	generate	VERB
alkej-116	75	5	two	two	NUM
alkej-116	75	6	pseudo	pseudo	NOUN
alkej-116	75	7	points	point	NOUN
alkej-116	75	8	so	so	SCONJ
alkej-116	75	9	as	as	SCONJ
alkej-116	75	10	to	to	PART
alkej-116	75	11	make	make	VERB
alkej-116	75	12	the	the	DET
alkej-116	75	13	manipulator	manipulator	NOUN
alkej-116	75	14	passes	pass	VERB
alkej-116	75	15	exactly	exactly	ADV
alkej-116	75	16	through	through	ADP
alkej-116	75	17	a	a	DET
alkej-116	75	18	path	path	NOUN
alkej-116	75	19	point	point	NOUN
alkej-116	75	20	without	without	ADP
alkej-116	75	21	stopping	stop	VERB
alkej-116	75	22	.	.	PUNCT
alkej-116	76	1	4	4	NUM
alkej-116	76	2	-	-	NUM
alkej-116	76	3	the	the	DET
alkej-116	76	4	parabolic	parabolic	ADJ
alkej-116	76	5	portion	portion	NOUN
alkej-116	76	6	is	be	AUX
alkej-116	76	7	assumed	assume	VERB
alkej-116	76	8	to	to	PART
alkej-116	76	9	be	be	AUX
alkej-116	76	10	centered	center	VERB
alkej-116	76	11	equally	equally	ADV
alkej-116	76	12	in	in	ADP
alkej-116	76	13	time	time	NOUN
alkej-116	76	14	about	about	ADP
alkej-116	76	15	through	through	ADP
alkej-116	76	16	point	point	NOUN
alkej-116	76	17	.	.	PUNCT
alkej-116	77	1	this	this	DET
alkej-116	77	2	later	later	ADJ
alkej-116	77	3	assumption	assumption	NOUN
alkej-116	77	4	makes	make	VERB
alkej-116	77	5	the	the	DET
alkej-116	77	6	apex	apex	NOUN
alkej-116	77	7	of	of	ADP
alkej-116	77	8	parabolic	parabolic	ADJ
alkej-116	77	9	part	part	NOUN
alkej-116	77	10	to	to	PART
alkej-116	77	11	be	be	AUX
alkej-116	77	12	shifted	shift	VERB
alkej-116	77	13	away	away	ADV
alkej-116	77	14	from	from	ADP
alkej-116	77	15	through	through	ADP
alkej-116	77	16	point	point	NOUN
alkej-116	77	17	as	as	SCONJ
alkej-116	77	18	shown	show	VERB
alkej-116	77	19	in	in	ADP
alkej-116	77	20	fig	fig	NOUN
alkej-116	77	21	.	.	PUNCT
alkej-116	78	1	2	2	X
alkej-116	78	2	.	.	X
alkej-116	78	3	for	for	ADP
alkej-116	78	4	interior	interior	ADJ
alkej-116	78	5	path	path	NOUN
alkej-116	78	6	point	point	NOUN
alkej-116	78	7	(	(	PUNCT
alkej-116	78	8	equation	equation	NOUN
alkej-116	78	9	(	(	PUNCT
alkej-116	78	10	1	1	NUM
alkej-116	78	11	)	)	PUNCT
alkej-116	78	12	)	)	PUNCT
alkej-116	78	13	,	,	PUNCT
alkej-116	78	14	the	the	DET
alkej-116	78	15	apex	apex	NOUN
alkej-116	78	16	of	of	ADP
alkej-116	78	17	the	the	DET
alkej-116	78	18	parabolic	parabolic	ADJ
alkej-116	78	19	portion	portion	NOUN
alkej-116	78	20	is	be	AUX
alkej-116	78	21	not	not	PART
alkej-116	78	22	equally	equally	ADV
alkej-116	78	23	centered	center	VERB
alkej-116	78	24	in	in	ADP
alkej-116	78	25	time	time	NOUN
alkej-116	78	26	about	about	ADP
alkej-116	78	27	waypoint	waypoint	NOUN
alkej-116	78	28	.	.	PUNCT
alkej-116	79	1	this	this	PRON
alkej-116	79	2	can	can	AUX
alkej-116	79	3	be	be	AUX
alkej-116	79	4	easily	easily	ADV
alkej-116	79	5	proved	prove	VERB
alkej-116	79	6	using	use	VERB
alkej-116	79	7	the	the	DET
alkej-116	79	8	kinematic	kinematic	ADJ
alkej-116	79	9	equations	equation	NOUN
alkej-116	79	10	for	for	ADP
alkej-116	79	11	lspb	lspb	NOUN
alkej-116	79	12	trajectory	trajectory	NOUN
alkej-116	79	13	as	as	SCONJ
alkej-116	79	14	presented	present	VERB
alkej-116	79	15	below	below	ADV
alkej-116	79	16	.	.	PUNCT
alkej-116	80	1	1θ	1θ	PROPN
alkej-116	80	2	&	&	CCONJ
alkej-116	80	3	2θ	2θ	NUM
alkej-116	80	4	&	&	CCONJ
alkej-116	80	5	0	0	NUM
alkej-116	80	6	=	=	SYM
alkej-116	80	7	θ	θ	PROPN
alkej-116	80	8	&	&	CCONJ
alkej-116	80	9	fig	fig	NOUN
alkej-116	80	10	.	.	PUNCT
alkej-116	81	1	2	2	X
alkej-116	81	2	.	.	X
alkej-116	81	3	trajectory	trajectory	NOUN
alkej-116	81	4	of	of	ADP
alkej-116	81	5	parabolic	parabolic	ADJ
alkej-116	81	6	part	part	NOUN
alkej-116	81	7	.	.	PUNCT
alkej-116	82	1	proof	proof	NOUN
alkej-116	82	2	1	1	NUM
alkej-116	82	3	:	:	PUNCT
alkej-116	82	4	,	,	PUNCT
alkej-116	82	5	0and,0,0given	0and,0,0given	NUM
alkej-116	82	6	21	21	NUM
alkej-116	82	7	<	<	X
alkej-116	82	8	<	<	X
alkej-116	82	9	>	>	X
alkej-116	82	10	θθθ	θθθ	PROPN
alkej-116	82	11	&	&	CCONJ
alkej-116	82	12	&	&	PROPN
alkej-116	82	13	&	&	PROPN
alkej-116	82	14	&	&	CCONJ
alkej-116	82	15	the	the	DET
alkej-116	82	16	velocities	velocity	NOUN
alkej-116	82	17	at	at	ADP
alkej-116	82	18	the	the	DET
alkej-116	82	19	parabolic	parabolic	ADJ
alkej-116	82	20	path	path	NOUN
alkej-116	82	21	for	for	ADP
alkej-116	82	22	constant	constant	ADJ
alkej-116	82	23	acceleration	acceleration	NOUN
alkej-116	82	24	are	be	AUX
alkej-116	82	25	:	:	PUNCT
alkej-116	82	26	abtθθθ	abtθθθ	PROPN
alkej-116	82	27	&	&	CCONJ
alkej-116	82	28	&	&	PROPN
alkej-116	82	29	&	&	PROPN
alkej-116	82	30	&	&	CCONJ
alkej-116	82	31	−=−	−=−	NUM
alkej-116	82	32	12	12	NUM
alkej-116	82	33	…	…	PUNCT
alkej-116	82	34	(	(	PUNCT
alkej-116	82	35	4.a	4.a	NOUN
alkej-116	82	36	)	)	PUNCT
alkej-116	82	37	atθθθ	atθθθ	PROPN
alkej-116	82	38	&	&	CCONJ
alkej-116	82	39	&	&	PROPN
alkej-116	82	40	&	&	PROPN
alkej-116	82	41	&	&	CCONJ
alkej-116	82	42	−=	−=	X
alkej-116	82	43	1	1	NUM
alkej-116	82	44	…	…	PUNCT
alkej-116	82	45	(	(	PUNCT
alkej-116	82	46	4.b	4.b	NUM
alkej-116	82	47	)	)	PUNCT
alkej-116	82	48	btθθθ	btθθθ	PROPN
alkej-116	82	49	&	&	CCONJ
alkej-116	82	50	&	&	CCONJ
alkej-116	82	51	&	&	PROPN
alkej-116	82	52	&	&	CCONJ
alkej-116	82	53	−=−	−=−	NUM
alkej-116	82	54	2	2	NUM
alkej-116	82	55	…	…	PUNCT
alkej-116	82	56	(	(	PUNCT
alkej-116	82	57	4.c	4.c	NUM
alkej-116	82	58	)	)	PUNCT
alkej-116	82	59	where	where	SCONJ
alkej-116	82	60	21	21	NUM
alkej-116	82	61	and	and	CCONJ
alkej-116	82	62	,	,	PUNCT
alkej-116	82	63	,	,	PUNCT
alkej-116	82	64	θθθ	θθθ	PROPN
alkej-116	82	65	&	&	CCONJ
alkej-116	82	66	&	&	PROPN
alkej-116	82	67	&	&	CCONJ
alkej-116	82	68	are	be	AUX
alkej-116	82	69	the	the	DET
alkej-116	82	70	velocities	velocity	NOUN
alkej-116	82	71	of	of	ADP
alkej-116	82	72	previous	previous	ADJ
alkej-116	82	73	segment	segment	NOUN
alkej-116	82	74	,	,	PUNCT
alkej-116	82	75	apex	apex	NOUN
alkej-116	82	76	point	point	NOUN
alkej-116	82	77	,	,	PUNCT
alkej-116	82	78	and	and	CCONJ
alkej-116	82	79	next	next	ADJ
alkej-116	82	80	segment	segment	NOUN
alkej-116	82	81	;	;	PUNCT
alkej-116	82	82	respectively	respectively	ADV
alkej-116	82	83	.	.	PUNCT
alkej-116	83	1	but	but	CCONJ
alkej-116	83	2	when	when	SCONJ
alkej-116	83	3	the	the	DET
alkej-116	83	4	trajectory	trajectory	NOUN
alkej-116	83	5	changes	change	VERB
alkej-116	83	6	its	its	PRON
alkej-116	83	7	direction	direction	NOUN
alkej-116	83	8	,	,	PUNCT
alkej-116	83	9	the	the	DET
alkej-116	83	10	apex	apex	NOUN
alkej-116	83	11	point	point	NOUN
alkej-116	83	12	's	's	PART
alkej-116	83	13	velocity	velocity	NOUN
alkej-116	83	14	becomes	become	VERB
alkej-116	83	15	zero	zero	NUM
alkej-116	83	16	.	.	PUNCT
alkej-116	84	1	the	the	DET
alkej-116	84	2	above	above	ADJ
alkej-116	84	3	equations	equation	NOUN
alkej-116	84	4	of	of	ADP
alkej-116	84	5	velocities	velocity	NOUN
alkej-116	84	6	are	be	AUX
alkej-116	84	7	solved	solve	VERB
alkej-116	84	8	for	for	ADP
alkej-116	84	9	unknown	unknown	ADJ
alkej-116	84	10	time	time	NOUN
alkej-116	84	11	durations	duration	NOUN
alkej-116	84	12	as	as	ADP
alkej-116	84	13	:	:	PUNCT
alkej-116	84	14	θθ	θθ	PROPN
alkej-116	84	15	&	&	CCONJ
alkej-116	84	16	&	&	CCONJ
alkej-116	84	17	&	&	CCONJ
alkej-116	84	18	/1	/1	PROPN
alkej-116	84	19	=	=	NOUN
alkej-116	84	20	at	at	ADP
alkej-116	84	21	…	…	PUNCT
alkej-116	84	22	(	(	PUNCT
alkej-116	84	23	5.a	5.a	NUM
alkej-116	84	24	)	)	PUNCT
alkej-116	84	25	θθ	θθ	PROPN
alkej-116	84	26	&	&	CCONJ
alkej-116	84	27	&	&	CCONJ
alkej-116	84	28	&	&	CCONJ
alkej-116	84	29	/2	/2	PROPN
alkej-116	84	30	=	=	NOUN
alkej-116	84	31	bt	bt	NOUN
alkej-116	84	32	…	…	PUNCT
alkej-116	84	33	(	(	PUNCT
alkej-116	84	34	5.b	5.b	NUM
alkej-116	84	35	)	)	PUNCT
alkej-116	84	36	ba	ba	NOUN
alkej-116	84	37	tt	tt	PROPN
alkej-116	84	38	≠∴	≠∴	PROPN
alkej-116	84	39	…	…	PUNCT
alkej-116	84	40	(	(	PUNCT
alkej-116	84	41	5.c	5.c	NUM
alkej-116	84	42	)	)	PUNCT
alkej-116	84	43	therefore	therefore	ADV
alkej-116	84	44	the	the	DET
alkej-116	84	45	apex	apex	NOUN
alkej-116	84	46	of	of	ADP
alkej-116	84	47	parabolic	parabolic	ADJ
alkej-116	84	48	path	path	NOUN
alkej-116	84	49	is	be	AUX
alkej-116	84	50	not	not	PART
alkej-116	84	51	exactly	exactly	ADV
alkej-116	84	52	placed	place	VERB
alkej-116	84	53	under	under	ADP
alkej-116	84	54	a	a	DET
alkej-116	84	55	waypoint	waypoint	NOUN
alkej-116	84	56	unless	unless	SCONJ
alkej-116	84	57	21	21	NUM
alkej-116	84	58	θθ	θθ	NUM
alkej-116	84	59	&	&	CCONJ
alkej-116	84	60	&	&	CCONJ
alkej-116	84	61	=	=	PROPN
alkej-116	84	62	in	in	ADP
alkej-116	84	63	magnitude	magnitude	NOUN
alkej-116	84	64	.	.	PUNCT
alkej-116	85	1	4	4	X
alkej-116	85	2	.	.	NUM
alkej-116	85	3	proposed	propose	VERB
alkej-116	85	4	method	method	NOUN
alkej-116	85	5	the	the	DET
alkej-116	85	6	assumption	assumption	NOUN
alkej-116	85	7	of	of	ADP
alkej-116	85	8	normal	normal	ADJ
alkej-116	85	9	lspb	lspb	NOUN
alkej-116	85	10	that	that	SCONJ
alkej-116	85	11	parabolic	parabolic	ADJ
alkej-116	85	12	portion	portion	NOUN
alkej-116	85	13	is	be	AUX
alkej-116	85	14	centered	center	VERB
alkej-116	85	15	in	in	ADP
alkej-116	85	16	time	time	NOUN
alkej-116	85	17	around	around	ADP
alkej-116	85	18	waypoints	waypoint	NOUN
alkej-116	85	19	is	be	AUX
alkej-116	85	20	replaced	replace	VERB
alkej-116	85	21	in	in	ADP
alkej-116	85	22	this	this	DET
alkej-116	85	23	work	work	NOUN
alkej-116	85	24	by	by	ADP
alkej-116	85	25	proposed	propose	VERB
alkej-116	85	26	coefficients	coefficient	NOUN
alkej-116	85	27	which	which	PRON
alkej-116	85	28	are	be	AUX
alkej-116	85	29	functions	function	NOUN
alkej-116	85	30	of	of	ADP
alkej-116	85	31	velocities	velocity	NOUN
alkej-116	85	32	between	between	ADP
alkej-116	85	33	through	through	ADP
alkej-116	85	34	points	point	NOUN
alkej-116	85	35	.	.	PUNCT
alkej-116	86	1	from	from	ADP
alkej-116	86	2	equations	equation	NOUN
alkej-116	86	3	(	(	PUNCT
alkej-116	86	4	4	4	NUM
alkej-116	86	5	and	and	CCONJ
alkej-116	86	6	5	5	NUM
alkej-116	86	7	)	)	PUNCT
alkej-116	86	8	,	,	PUNCT
alkej-116	86	9	the	the	DET
alkej-116	86	10	time	time	NOUN
alkej-116	86	11	durations	duration	NOUN
alkej-116	86	12	on	on	ADP
alkej-116	86	13	the	the	DET
alkej-116	86	14	parabolic	parabolic	NOUN
alkej-116	86	15	blend	blend	NOUN
alkej-116	86	16	around	around	ADV
alkej-116	86	17	through	through	ADP
alkej-116	86	18	point	point	NOUN
alkej-116	86	19	are	be	AUX
alkej-116	86	20	obtained	obtain	VERB
alkej-116	86	21	as	as	ADP
alkej-116	86	22	:	:	PUNCT
alkej-116	86	23	θθθ	θθθ	PROPN
alkej-116	86	24	θθ	θθ	PROPN
alkej-116	86	25	&	&	CCONJ
alkej-116	86	26	&	&	CCONJ
alkej-116	86	27	&	&	PROPN
alkej-116	86	28	&	&	CCONJ
alkej-116	86	29	&	&	PROPN
alkej-116	86	30	&	&	PROPN
alkej-116	86	31	&	&	CCONJ
alkej-116	86	32	/	/	PUNCT
alkej-116	86	33	)	)	PUNCT
alkej-116	86	34	(	(	PUNCT
alkej-116	86	35	/	/	SYM
alkej-116	86	36	/	/	SYM
alkej-116	86	37	21	21	NUM
alkej-116	86	38	1	1	NUM
alkej-116	86	39	+	+	CCONJ
alkej-116	86	40	=	=	VERB
alkej-116	86	41	aba	aba	PROPN
alkej-116	86	42	tt	tt	PROPN
alkej-116	86	43	)	)	PUNCT
alkej-116	86	44	(	(	PUNCT
alkej-116	86	45	/	/	SYM
alkej-116	86	46	21	21	NUM
alkej-116	86	47	1	1	NUM
alkej-116	86	48	θθ	θθ	NUM
alkej-116	86	49	θ	θ	PROPN
alkej-116	86	50	&	&	CCONJ
alkej-116	86	51	&	&	CCONJ
alkej-116	86	52	&	&	CCONJ
alkej-116	86	53	+	+	PROPN
alkej-116	87	1	=	=	VERB
alkej-116	87	2	aba	aba	X
alkej-116	87	3	tt	tt	X
alkej-116	87	4	…	…	PUNCT
alkej-116	87	5	(	(	PUNCT
alkej-116	87	6	6.a	6.a	NUM
alkej-116	87	7	)	)	PUNCT
alkej-116	87	8	saad	saad	PROPN
alkej-116	87	9	zaghlul	zaghlul	PROPN
alkej-116	87	10	saeed	saeed	PROPN
alkej-116	87	11	al	al	PROPN
alkej-116	87	12	-	-	PUNCT
alkej-116	87	13	khwarizmi	khwarizmi	PROPN
alkej-116	87	14	engineering	engineering	NOUN
alkej-116	87	15	journal	journal	PROPN
alkej-116	87	16	,	,	PUNCT
alkej-116	87	17	vol	vol	NOUN
alkej-116	87	18	.	.	PROPN
alkej-116	87	19	14	14	NUM
alkej-116	87	20	,	,	PUNCT
alkej-116	87	21	no	no	INTJ
alkej-116	87	22	.	.	NOUN
alkej-116	87	23	1	1	NUM
alkej-116	87	24	,	,	PUNCT
alkej-116	87	25	p.p	p.p	PROPN
alkej-116	87	26	.	.	NOUN
alkej-116	87	27	7789	7789	NUM
alkej-116	87	28	(	(	PUNCT
alkej-116	87	29	2018	2018	NUM
alkej-116	87	30	)	)	PUNCT
alkej-116	87	31	80	80	NUM
alkej-116	87	32	)	)	PUNCT
alkej-116	87	33	(	(	PUNCT
alkej-116	87	34	/	/	SYM
alkej-116	87	35	21	21	NUM
alkej-116	87	36	2	2	NUM
alkej-116	87	37	θθ	θθ	NUM
alkej-116	87	38	θ	θ	PROPN
alkej-116	87	39	&	&	CCONJ
alkej-116	87	40	&	&	CCONJ
alkej-116	87	41	&	&	CCONJ
alkej-116	87	42	+	+	CCONJ
alkej-116	87	43	=	=	ADJ
alkej-116	87	44	abb	abb	ADJ
alkej-116	87	45	tt	tt	PROPN
alkej-116	87	46	…	…	PUNCT
alkej-116	87	47	(	(	PUNCT
alkej-116	87	48	6.b	6.b	NUM
alkej-116	87	49	)	)	PUNCT
alkej-116	87	50	from	from	ADP
alkej-116	87	51	equation	equation	NOUN
alkej-116	87	52	(	(	PUNCT
alkej-116	87	53	6	6	NUM
alkej-116	87	54	)	)	PUNCT
alkej-116	87	55	,	,	PUNCT
alkej-116	87	56	now	now	ADV
alkej-116	87	57	two	two	NUM
alkej-116	87	58	coefficients	coefficient	NOUN
alkej-116	87	59	(	(	PUNCT
alkej-116	87	60	αj	αj	NOUN
alkej-116	87	61	&	&	CCONJ
alkej-116	87	62	αk	αk	PROPN
alkej-116	87	63	)	)	PUNCT
alkej-116	87	64	are	be	AUX
alkej-116	87	65	obtained	obtain	VERB
alkej-116	87	66	for	for	ADP
alkej-116	87	67	calculating	calculate	VERB
alkej-116	87	68	the	the	DET
alkej-116	87	69	time	time	NOUN
alkej-116	87	70	duration	duration	NOUN
alkej-116	87	71	of	of	ADP
alkej-116	87	72	the	the	DET
alkej-116	87	73	linear	linear	ADJ
alkej-116	87	74	portion	portion	NOUN
alkej-116	87	75	of	of	ADP
alkej-116	87	76	the	the	DET
alkej-116	87	77	trajectory	trajectory	NOUN
alkej-116	87	78	.	.	PUNCT
alkej-116	88	1	these	these	DET
alkej-116	88	2	coefficients	coefficient	NOUN
alkej-116	88	3	are	be	AUX
alkej-116	88	4	obtained	obtain	VERB
alkej-116	88	5	from	from	ADP
alkej-116	88	6	the	the	DET
alkej-116	88	7	lspb	lspb	NOUN
alkej-116	88	8	kinematic	kinematic	NOUN
alkej-116	88	9	equations	equation	NOUN
alkej-116	88	10	.	.	PUNCT
alkej-116	89	1	two	two	NUM
alkej-116	89	2	coefficients	coefficient	NOUN
alkej-116	89	3	are	be	AUX
alkej-116	89	4	used	use	VERB
alkej-116	89	5	to	to	PART
alkej-116	89	6	calculate	calculate	VERB
alkej-116	89	7	the	the	DET
alkej-116	89	8	time	time	NOUN
alkej-116	89	9	's	's	PART
alkej-116	89	10	duration	duration	NOUN
alkej-116	89	11	of	of	ADP
alkej-116	89	12	the	the	DET
alkej-116	89	13	parabolic	parabolic	ADJ
alkej-116	89	14	portions	portion	NOUN
alkej-116	89	15	in	in	ADP
alkej-116	89	16	the	the	DET
alkej-116	89	17	segment	segment	NOUN
alkej-116	89	18	's	's	PART
alkej-116	89	19	time	time	NOUN
alkej-116	89	20	duration	duration	NOUN
alkej-116	89	21	(	(	PUNCT
alkej-116	89	22	tdjk	tdjk	NOUN
alkej-116	89	23	)	)	PUNCT
alkej-116	89	24	.	.	PUNCT
alkej-116	90	1	given	give	VERB
alkej-116	90	2	through	through	ADP
alkej-116	90	3	points	point	NOUN
alkej-116	90	4	(	(	PUNCT
alkej-116	90	5	joint	joint	NOUN
alkej-116	90	6	's	's	PART
alkej-116	90	7	angles	angle	NOUN
alkej-116	90	8	)	)	PUNCT
alkej-116	90	9	,	,	PUNCT
alkej-116	90	10	time	time	NOUN
alkej-116	90	11	durations	duration	NOUN
alkej-116	90	12	,	,	PUNCT
alkej-116	90	13	and	and	CCONJ
alkej-116	90	14	assuming	assume	VERB
alkej-116	90	15	accelerations	acceleration	NOUN
alkej-116	90	16	for	for	ADP
alkej-116	90	17	all	all	ADV
alkej-116	90	18	through	through	ADP
alkej-116	90	19	points	point	NOUN
alkej-116	90	20	,	,	PUNCT
alkej-116	90	21	the	the	DET
alkej-116	90	22	modified	modify	VERB
alkej-116	90	23	lspb	lspb	NOUN
alkej-116	90	24	equations	equation	NOUN
alkej-116	90	25	are	be	AUX
alkej-116	90	26	as	as	ADV
alkej-116	90	27	below	below	ADV
alkej-116	90	28	:	:	PUNCT
alkej-116	90	29	modified	modify	VERB
alkej-116	90	30	mid	mid	ADJ
alkej-116	90	31	segments	segment	NOUN
alkej-116	90	32	kjkklk	kjkklk	VERB
alkej-116	90	33	θ	θ	PROPN
alkej-116	90	34	/	/	SYM
alkej-116	90	35	θθt	θθt	NOUN
alkej-116	90	36	&	&	CCONJ
alkej-116	90	37	&	&	CCONJ
alkej-116	90	38	&	&	PROPN
alkej-116	90	39	&	&	CCONJ
alkej-116	90	40	)	)	PUNCT
alkej-116	90	41	(	(	PUNCT
alkej-116	90	42	−=	−=	X
alkej-116	90	43	…	…	PUNCT
alkej-116	90	44	(	(	PUNCT
alkej-116	90	45	7.a	7.a	X
alkej-116	90	46	)	)	PUNCT
alkej-116	90	47	kkjjdjkjk	kkjjdjkjk	NOUN
alkej-116	90	48	tαtαtt	tαtαtt	VERB
alkej-116	90	49	−−=	−−=	PROPN
alkej-116	90	50	…	…	PUNCT
alkej-116	90	51	(	(	PUNCT
alkej-116	90	52	7.b	7.b	NUM
alkej-116	90	53	)	)	PUNCT
alkej-116	90	54	)	)	PUNCT
alkej-116	91	1	(	(	PUNCT
alkej-116	91	2	jkijjkj	jkijjkj	PROPN
alkej-116	91	3	θθ	θθ	PROPN
alkej-116	91	4	/	/	SYM
alkej-116	91	5	θα	θα	NOUN
alkej-116	91	6	&	&	CCONJ
alkej-116	91	7	&	&	CCONJ
alkej-116	91	8	&	&	CCONJ
alkej-116	91	9	+	+	PROPN
alkej-116	91	10	=	=	PROPN
alkej-116	91	11	…	…	PUNCT
alkej-116	91	12	(	(	PUNCT
alkej-116	91	13	7.c	7.c	NUM
alkej-116	91	14	)	)	PUNCT
alkej-116	91	15	)	)	PUNCT
alkej-116	92	1	(	(	PUNCT
alkej-116	92	2	kljkjkk	kljkjkk	PROPN
alkej-116	92	3	θθ	θθ	NOUN
alkej-116	92	4	/	/	SYM
alkej-116	92	5	θα	θα	NOUN
alkej-116	92	6	&	&	CCONJ
alkej-116	92	7	&	&	CCONJ
alkej-116	92	8	&	&	CCONJ
alkej-116	92	9	+	+	PROPN
alkej-116	92	10	=	=	PROPN
alkej-116	92	11	…	…	PUNCT
alkej-116	92	12	(	(	PUNCT
alkej-116	92	13	7.d	7.d	NOUN
alkej-116	92	14	)	)	PUNCT
alkej-116	92	15	modified	modify	VERB
alkej-116	92	16	first	first	ADJ
alkej-116	92	17	segment	segment	NOUN
alkej-116	92	18	1121	1121	NUM
alkej-116	92	19	θ	θ	PROPN
alkej-116	92	20	/	/	SYM
alkej-116	92	21	θt	θt	PROPN
alkej-116	92	22	&	&	CCONJ
alkej-116	92	23	&	&	CCONJ
alkej-116	92	24	&	&	CCONJ
alkej-116	92	25	=	=	SYM
alkej-116	92	26	…	…	PUNCT
alkej-116	92	27	(	(	PUNCT
alkej-116	92	28	8.a	8.a	NUM
alkej-116	92	29	)	)	PUNCT
alkej-116	92	30	2211212	2211212	NUM
alkej-116	92	31	tαttt	tαttt	NOUN
alkej-116	92	32	kd	kd	PROPN
alkej-116	92	33	=	=	NOUN
alkej-116	92	34	−−=	−−=	PRON
alkej-116	92	35	…	…	PUNCT
alkej-116	92	36	(	(	PUNCT
alkej-116	92	37	8.b	8.b	NUM
alkej-116	92	38	)	)	PUNCT
alkej-116	92	39	)	)	PUNCT
alkej-116	93	1	(	(	PUNCT
alkej-116	93	2	2312122	2312122	NUM
alkej-116	93	3	θθ	θθ	NOUN
alkej-116	93	4	/	/	SYM
alkej-116	93	5	θα	θα	NOUN
alkej-116	93	6	&	&	CCONJ
alkej-116	93	7	&	&	CCONJ
alkej-116	93	8	&	&	CCONJ
alkej-116	93	9	+	+	PROPN
alkej-116	93	10	=	=	PROPN
alkej-116	93	11	…	…	PUNCT
alkej-116	93	12	(	(	PUNCT
alkej-116	93	13	8.c	8.c	NUM
alkej-116	93	14	)	)	PUNCT
alkej-116	93	15	modified	modify	VERB
alkej-116	93	16	last	last	ADJ
alkej-116	93	17	segment	segment	NOUN
alkej-116	93	18	n)n(n	n)n(n	NOUN
alkej-116	93	19	-	-	PUNCT
alkej-116	93	20	n	n	PRON
alkej-116	93	21	θ	θ	PROPN
alkej-116	93	22	/	/	SYM
alkej-116	93	23	θt	θt	PROPN
alkej-116	93	24	&	&	CCONJ
alkej-116	93	25	&	&	PROPN
alkej-116	93	26	&	&	CCONJ
alkej-116	93	27	1−=	1−=	NUM
alkej-116	93	28	…	…	PUNCT
alkej-116	93	29	(	(	PUNCT
alkej-116	93	30	9.a	9.a	NUM
alkej-116	93	31	)	)	PUNCT
alkej-116	93	32	nnnjnndnnttαtt	nnnjnndnnttαtt	VERB
alkej-116	93	33	−−=	−−=	PROPN
alkej-116	93	34	−−=−	−−=−	PROPN
alkej-116	93	35	11)1()1	11)1()1	NUM
alkej-116	93	36	(	(	PUNCT
alkej-116	93	37	…	…	PUNCT
alkej-116	93	38	(	(	PUNCT
alkej-116	93	39	9.b	9.b	NUM
alkej-116	93	40	)	)	PUNCT
alkej-116	93	41	)	)	PUNCT
alkej-116	94	1	(	(	PUNCT
alkej-116	94	2	)	)	PUNCT
alkej-116	94	3	1()1)(2()1(1	1()1)(2()1(1	NUM
alkej-116	94	4	nnn	nnn	NOUN
alkej-116	94	5	-	-	PUNCT
alkej-116	94	6	n	n	CCONJ
alkej-116	94	7	-	-	PUNCT
alkej-116	94	8	nnnθθ	nnnθθ	NOUN
alkej-116	94	9	/	/	SYM
alkej-116	94	10	θα	θα	NOUN
alkej-116	94	11	−−	−−	NOUN
alkej-116	94	12	+	+	NOUN
alkej-116	94	13	=	=	PROPN
alkej-116	94	14	&	&	CCONJ
alkej-116	94	15	&	&	CCONJ
alkej-116	94	16	&	&	CCONJ
alkej-116	94	17	…	…	PUNCT
alkej-116	94	18	(	(	PUNCT
alkej-116	94	19	9.c	9.c	NUM
alkej-116	94	20	)	)	PUNCT
alkej-116	94	21	by	by	ADP
alkej-116	94	22	using	use	VERB
alkej-116	94	23	these	these	DET
alkej-116	94	24	coefficients	coefficient	NOUN
alkej-116	94	25	,	,	PUNCT
alkej-116	94	26	the	the	DET
alkej-116	94	27	apex	apex	NOUN
alkej-116	94	28	of	of	ADP
alkej-116	94	29	parabolic	parabolic	PROPN
alkej-116	94	30	portion	portion	NOUN
alkej-116	94	31	is	be	AUX
alkej-116	94	32	positioned	position	VERB
alkej-116	94	33	exactly	exactly	ADV
alkej-116	94	34	under	under	ADP
alkej-116	94	35	the	the	DET
alkej-116	94	36	through	through	ADP
alkej-116	94	37	point	point	NOUN
alkej-116	94	38	.	.	PUNCT
alkej-116	95	1	although	although	SCONJ
alkej-116	95	2	the	the	DET
alkej-116	95	3	apex	apex	NOUN
alkej-116	95	4	of	of	ADP
alkej-116	95	5	parabolic	parabolic	ADJ
alkej-116	95	6	part	part	NOUN
alkej-116	95	7	is	be	AUX
alkej-116	95	8	now	now	ADV
alkej-116	95	9	positioned	position	VERB
alkej-116	95	10	exactly	exactly	ADV
alkej-116	95	11	under	under	ADP
alkej-116	95	12	through	through	ADP
alkej-116	95	13	point	point	NOUN
alkej-116	95	14	,	,	PUNCT
alkej-116	95	15	but	but	CCONJ
alkej-116	95	16	it	it	PRON
alkej-116	95	17	stills	still	VERB
alkej-116	95	18	not	not	PART
alkej-116	95	19	passing	pass	VERB
alkej-116	95	20	through	through	ADP
alkej-116	95	21	it	it	PRON
alkej-116	95	22	.	.	PUNCT
alkej-116	96	1	this	this	PRON
alkej-116	96	2	is	be	AUX
alkej-116	96	3	because	because	SCONJ
alkej-116	96	4	of	of	ADP
alkej-116	96	5	replacing	replace	VERB
alkej-116	96	6	a	a	DET
alkej-116	96	7	linear	linear	ADJ
alkej-116	96	8	part	part	NOUN
alkej-116	96	9	region	region	NOUN
alkej-116	96	10	of	of	ADP
alkej-116	96	11	the	the	DET
alkej-116	96	12	segment	segment	NOUN
alkej-116	96	13	by	by	ADP
alkej-116	96	14	parabolic	parabolic	ADJ
alkej-116	96	15	part	part	NOUN
alkej-116	96	16	.	.	PUNCT
alkej-116	97	1	this	this	PRON
alkej-116	97	2	can	can	AUX
alkej-116	97	3	be	be	AUX
alkej-116	97	4	proved	prove	VERB
alkej-116	97	5	as	as	ADP
alkej-116	97	6	below	below	ADV
alkej-116	97	7	.	.	PUNCT
alkej-116	98	1	proof	proof	NOUN
alkej-116	98	2	2	2	NUM
alkej-116	98	3	:	:	PUNCT
alkej-116	98	4	the	the	DET
alkej-116	98	5	position	position	NOUN
alkej-116	98	6	for	for	ADP
alkej-116	98	7	linear	linear	ADJ
alkej-116	98	8	part	part	NOUN
alkej-116	98	9	with	with	ADP
alkej-116	98	10	constant	constant	ADJ
alkej-116	98	11	velocity	velocity	NOUN
alkej-116	98	12	during	during	ADP
alkej-116	98	13	a	a	DET
alkej-116	98	14	time	time	NOUN
alkej-116	98	15	t	t	NOUN
alkej-116	98	16	is	be	AUX
alkej-116	98	17	t	t	PROPN
alkej-116	98	18	θ	θ	PROPN
alkej-116	98	19	ll	ll	NOUN
alkej-116	98	20	⋅=	⋅=	PROPN
alkej-116	98	21	θ	θ	PROPN
alkej-116	98	22	&	&	CCONJ
alkej-116	98	23	…	…	PUNCT
alkej-116	98	24	(	(	PUNCT
alkej-116	98	25	10	10	NUM
alkej-116	98	26	)	)	PUNCT
alkej-116	98	27	and	and	CCONJ
alkej-116	98	28	that	that	SCONJ
alkej-116	98	29	for	for	ADP
alkej-116	98	30	parabolic	parabolic	ADJ
alkej-116	98	31	part	part	NOUN
alkej-116	98	32	with	with	ADP
alkej-116	98	33	constant	constant	ADJ
alkej-116	98	34	acceleration	acceleration	NOUN
alkej-116	98	35	in	in	ADP
alkej-116	98	36	the	the	DET
alkej-116	98	37	same	same	ADJ
alkej-116	98	38	time	time	NOUN
alkej-116	98	39	duration	duration	NOUN
alkej-116	98	40	is	be	AUX
alkej-116	98	41	:	:	PUNCT
alkej-116	98	42	2	2	NUM
alkej-116	98	43	2	2	NUM
alkej-116	98	44	1	1	NUM
alkej-116	98	45	tθt	tθt	NOUN
alkej-116	98	46	θ	θ	PROPN
alkej-116	98	47	lp	lp	PROPN
alkej-116	98	48	&	&	CCONJ
alkej-116	98	49	&	&	PROPN
alkej-116	98	50	&	&	CCONJ
alkej-116	98	51	−⋅=	−⋅=	PROPN
alkej-116	98	52	θ	θ	PROPN
alkej-116	98	53	…	…	PUNCT
alkej-116	98	54	(	(	PUNCT
alkej-116	98	55	11	11	NUM
alkej-116	98	56	)	)	PUNCT
alkej-116	98	57	the	the	DET
alkej-116	98	58	difference	difference	NOUN
alkej-116	98	59	(	(	PUNCT
alkej-116	98	60	δθ	δθ	NOUN
alkej-116	98	61	)	)	PUNCT
alkej-116	98	62	between	between	ADP
alkej-116	98	63	these	these	DET
alkej-116	98	64	parts	part	NOUN
alkej-116	98	65	is	be	AUX
alkej-116	98	66	:	:	PUNCT
alkej-116	99	1	lp	lp	ADJ
alkej-116	99	2	θθθ	θθθ	NOUN
alkej-116	100	1	−=∆	−=∆	PRON
alkej-116	100	2	…	…	PUNCT
alkej-116	100	3	(	(	PUNCT
alkej-116	100	4	12	12	NUM
alkej-116	100	5	)	)	PUNCT
alkej-116	100	6	substituting	substitute	VERB
alkej-116	100	7	equations	equation	NOUN
alkej-116	100	8	(	(	PUNCT
alkej-116	100	9	10	10	NUM
alkej-116	100	10	)	)	PUNCT
alkej-116	100	11	and	and	CCONJ
alkej-116	100	12	(	(	PUNCT
alkej-116	100	13	11	11	NUM
alkej-116	100	14	)	)	PUNCT
alkej-116	100	15	into	into	ADP
alkej-116	100	16	equation	equation	NOUN
alkej-116	100	17	(	(	PUNCT
alkej-116	100	18	12	12	NUM
alkej-116	100	19	)	)	PUNCT
alkej-116	100	20	gives	give	VERB
alkej-116	100	21	:	:	PUNCT
alkej-116	100	22	ttθtθ	ttθtθ	PROPN
alkej-116	100	23	ll	ll	AUX
alkej-116	100	24	⋅−−⋅=∆	⋅−−⋅=∆	NOUN
alkej-116	100	25	θθ	θθ	ADP
alkej-116	100	26	&	&	PROPN
alkej-116	100	27	&	&	CCONJ
alkej-116	100	28	&	&	PROPN
alkej-116	100	29	&	&	CCONJ
alkej-116	100	30	2	2	NUM
alkej-116	100	31	2	2	NUM
alkej-116	100	32	1	1	NUM
alkej-116	100	33	2	2	NUM
alkej-116	100	34	2	2	NUM
alkej-116	100	35	1	1	NUM
alkej-116	100	36	tθθ	tθθ	NOUN
alkej-116	100	37	&	&	CCONJ
alkej-116	100	38	&	&	CCONJ
alkej-116	100	39	−=∆	−=∆	PRON
alkej-116	100	40	…	…	PUNCT
alkej-116	100	41	(	(	PUNCT
alkej-116	100	42	13	13	NUM
alkej-116	100	43	)	)	PUNCT
alkej-116	100	44	which	which	PRON
alkej-116	100	45	means	mean	VERB
alkej-116	100	46	this	this	DET
alkej-116	100	47	displacement	displacement	NOUN
alkej-116	100	48	of	of	ADP
alkej-116	100	49	parabolic	parabolic	ADJ
alkej-116	100	50	part	part	NOUN
alkej-116	100	51	is	be	AUX
alkej-116	100	52	less	less	ADJ
alkej-116	100	53	than	than	ADP
alkej-116	100	54	that	that	PRON
alkej-116	100	55	of	of	ADP
alkej-116	100	56	linear	linear	ADJ
alkej-116	100	57	part	part	NOUN
alkej-116	100	58	for	for	ADP
alkej-116	100	59	same	same	ADJ
alkej-116	100	60	time	time	NOUN
alkej-116	100	61	duration	duration	NOUN
alkej-116	100	62	.	.	PUNCT
alkej-116	101	1	this	this	DET
alkej-116	101	2	problem	problem	NOUN
alkej-116	101	3	can	can	AUX
alkej-116	101	4	be	be	AUX
alkej-116	101	5	solved	solve	VERB
alkej-116	101	6	by	by	ADP
alkej-116	101	7	increasing	increase	VERB
alkej-116	101	8	the	the	DET
alkej-116	101	9	velocity	velocity	NOUN
alkej-116	101	10	between	between	ADP
alkej-116	101	11	through	through	ADP
alkej-116	101	12	points	point	NOUN
alkej-116	101	13	in	in	ADP
alkej-116	101	14	presence	presence	NOUN
alkej-116	101	15	of	of	ADP
alkej-116	101	16	acceleration	acceleration	NOUN
alkej-116	101	17	limits	limit	NOUN
alkej-116	101	18	.	.	PUNCT
alkej-116	102	1	the	the	DET
alkej-116	102	2	problem	problem	NOUN
alkej-116	102	3	of	of	ADP
alkej-116	102	4	finding	find	VERB
alkej-116	102	5	the	the	DET
alkej-116	102	6	velocities	velocity	NOUN
alkej-116	102	7	'	'	PART
alkej-116	102	8	value	value	NOUN
alkej-116	102	9	can	can	AUX
alkej-116	102	10	be	be	AUX
alkej-116	102	11	solved	solve	VERB
alkej-116	102	12	by	by	ADP
alkej-116	102	13	optimization	optimization	NOUN
alkej-116	102	14	methods	method	NOUN
alkej-116	102	15	such	such	ADJ
alkej-116	102	16	as	as	ADP
alkej-116	102	17	pso	pso	NOUN
alkej-116	102	18	.	.	PUNCT
alkej-116	103	1	4.1	4.1	NUM
alkej-116	103	2	.	.	PUNCT
alkej-116	103	3	velocity	velocity	NOUN
alkej-116	103	4	correction	correction	NOUN
alkej-116	103	5	in	in	ADP
alkej-116	103	6	the	the	DET
alkej-116	103	7	above	above	ADJ
alkej-116	103	8	modified	modified	ADJ
alkej-116	103	9	lspb	lspb	NOUN
alkej-116	103	10	,	,	PUNCT
alkej-116	103	11	the	the	DET
alkej-116	103	12	initial	initial	ADJ
alkej-116	103	13	velocities	velocity	NOUN
alkej-116	103	14	are	be	AUX
alkej-116	103	15	obtained	obtain	VERB
alkej-116	103	16	from	from	ADP
alkej-116	103	17	equation	equation	NOUN
alkej-116	103	18	(	(	PUNCT
alkej-116	103	19	1	1	NUM
alkej-116	103	20	)	)	PUNCT
alkej-116	103	21	.	.	PUNCT
alkej-116	104	1	but	but	CCONJ
alkej-116	104	2	from	from	ADP
alkej-116	104	3	proof	proof	NOUN
alkej-116	104	4	2	2	NUM
alkej-116	104	5	,	,	PUNCT
alkej-116	104	6	there	there	PRON
alkej-116	104	7	is	be	VERB
alkej-116	104	8	an	an	DET
alkej-116	104	9	error	error	NOUN
alkej-116	104	10	due	due	ADP
alkej-116	104	11	to	to	ADP
alkej-116	104	12	the	the	DET
alkej-116	104	13	parabolic	parabolic	ADJ
alkej-116	104	14	part	part	NOUN
alkej-116	104	15	(	(	PUNCT
alkej-116	104	16	equation	equation	NOUN
alkej-116	104	17	(	(	PUNCT
alkej-116	104	18	13	13	NUM
alkej-116	104	19	)	)	PUNCT
alkej-116	104	20	)	)	PUNCT
alkej-116	104	21	.	.	PUNCT
alkej-116	105	1	therefore	therefore	ADV
alkej-116	105	2	,	,	PUNCT
alkej-116	105	3	these	these	DET
alkej-116	105	4	velocities	velocity	NOUN
alkej-116	105	5	can	can	AUX
alkej-116	105	6	be	be	AUX
alkej-116	105	7	corrected	correct	VERB
alkej-116	105	8	by	by	ADP
alkej-116	105	9	adding	add	VERB
alkej-116	105	10	the	the	DET
alkej-116	105	11	change	change	NOUN
alkej-116	105	12	of	of	ADP
alkej-116	105	13	velocity	velocity	NOUN
alkej-116	105	14	(	(	PUNCT
alkej-116	105	15	equation	equation	NOUN
alkej-116	105	16	(	(	PUNCT
alkej-116	105	17	14.b	14.b	NUM
alkej-116	105	18	)	)	PUNCT
alkej-116	105	19	)	)	PUNCT
alkej-116	105	20	based	base	VERB
alkej-116	105	21	on	on	ADP
alkej-116	105	22	the	the	DET
alkej-116	105	23	error	error	NOUN
alkej-116	105	24	of	of	ADP
alkej-116	105	25	the	the	DET
alkej-116	105	26	parabolic	parabolic	ADJ
alkej-116	105	27	parts	part	NOUN
alkej-116	105	28	as	as	ADP
alkej-116	105	29	:	:	PUNCT
alkej-116	105	30	jkjkjk	jkjkjk	PROPN
alkej-116	105	31	θθθ	θθθ	PROPN
alkej-116	105	32	&	&	CCONJ
alkej-116	105	33	&	&	CCONJ
alkej-116	105	34	&	&	CCONJ
alkej-116	105	35	∆+=corrected	∆+=correcte	VERB
alkej-116	105	36	)	)	PUNCT
alkej-116	105	37	(	(	PUNCT
alkej-116	105	38	…	…	PUNCT
alkej-116	105	39	(	(	PUNCT
alkej-116	105	40	14.a	14.a	NUM
alkej-116	105	41	)	)	PUNCT
alkej-116	105	42	jkjkjkjk	jkjkjkjk	PROPN
alkej-116	105	43	tsgn	tsgn	PROPN
alkej-116	105	44	/	/	PUNCT
alkej-116	105	45	)	)	PUNCT
alkej-116	105	46	(	(	PUNCT
alkej-116	105	47	θθθ	θθθ	X
alkej-116	105	48	∆=∆	∆=∆	X
alkej-116	105	49	&	&	CCONJ
alkej-116	105	50	&	&	CCONJ
alkej-116	105	51	…	…	PUNCT
alkej-116	105	52	(	(	PUNCT
alkej-116	105	53	14.b	14.b	NUM
alkej-116	105	54	)	)	PUNCT
alkej-116	105	55	)	)	PUNCT
alkej-116	105	56	)	)	PUNCT
alkej-116	105	57	2	2	NUM
alkej-116	105	58	1	1	NUM
alkej-116	105	59	(	(	PUNCT
alkej-116	105	60	)	)	PUNCT
alkej-116	105	61	2	2	NUM
alkej-116	105	62	1	1	NUM
alkej-116	105	63	(	(	PUNCT
alkej-116	105	64	(	(	PUNCT
alkej-116	105	65	2	2	NUM
alkej-116	105	66	1	1	NUM
alkej-116	105	67	22	22	NUM
alkej-116	105	68	kkjjjk	kkjjjk	NOUN
alkej-116	105	69	tt	tt	PROPN
alkej-116	105	70	⋅+⋅=∆	⋅+⋅=∆	PROPN
alkej-116	105	71	θθθ	θθθ	PROPN
alkej-116	105	72	&	&	CCONJ
alkej-116	105	73	&	&	CCONJ
alkej-116	105	74	&	&	PROPN
alkej-116	105	75	&	&	CCONJ
alkej-116	105	76	…	…	PUNCT
alkej-116	105	77	(	(	PUNCT
alkej-116	105	78	14.c	14.c	NUM
alkej-116	105	79	)	)	PUNCT
alkej-116	105	80	in	in	ADP
alkej-116	105	81	the	the	DET
alkej-116	105	82	above	above	ADJ
alkej-116	105	83	equation	equation	NOUN
alkej-116	105	84	,	,	PUNCT
alkej-116	105	85	half	half	NOUN
alkej-116	105	86	of	of	ADP
alkej-116	105	87	the	the	DET
alkej-116	105	88	blend	blend	NOUN
alkej-116	105	89	durations	duration	NOUN
alkej-116	105	90	(	(	PUNCT
alkej-116	105	91	tj	tj	NOUN
alkej-116	105	92	and	and	CCONJ
alkej-116	105	93	tk	tk	PROPN
alkej-116	105	94	)	)	PUNCT
alkej-116	105	95	are	be	AUX
alkej-116	105	96	accepted	accept	VERB
alkej-116	105	97	as	as	ADP
alkej-116	105	98	an	an	DET
alkej-116	105	99	approximated	approximated	ADJ
alkej-116	105	100	value	value	NOUN
alkej-116	105	101	.	.	PUNCT
alkej-116	106	1	this	this	DET
alkej-116	106	2	corrected	correct	VERB
alkej-116	106	3	velocity	velocity	NOUN
alkej-116	106	4	is	be	AUX
alkej-116	106	5	used	use	VERB
alkej-116	106	6	as	as	ADP
alkej-116	106	7	initial	initial	ADJ
alkej-116	106	8	velocity	velocity	NOUN
alkej-116	106	9	to	to	PART
alkej-116	106	10	begin	begin	VERB
alkej-116	106	11	the	the	DET
alkej-116	106	12	optimization	optimization	NOUN
alkej-116	106	13	process	process	NOUN
alkej-116	106	14	.	.	PUNCT
alkej-116	107	1	4.2	4.2	NUM
alkej-116	107	2	exact	exact	ADJ
alkej-116	107	3	solution	solution	NOUN
alkej-116	107	4	of	of	ADP
alkej-116	107	5	velocity	velocity	NOUN
alkej-116	107	6	the	the	DET
alkej-116	107	7	lspb	lspb	NOUN
alkej-116	107	8	offers	offer	VERB
alkej-116	107	9	exact	exact	ADJ
alkej-116	107	10	solution	solution	NOUN
alkej-116	107	11	of	of	ADP
alkej-116	107	12	velocity	velocity	NOUN
alkej-116	107	13	for	for	ADP
alkej-116	107	14	path	path	NOUN
alkej-116	107	15	segment	segment	NOUN
alkej-116	107	16	when	when	SCONJ
alkej-116	107	17	there	there	PRON
alkej-116	107	18	is	be	VERB
alkej-116	107	19	acceleration	acceleration	NOUN
alkej-116	107	20	from	from	ADP
alkej-116	107	21	zero	zero	NUM
alkej-116	107	22	velocity	velocity	NOUN
alkej-116	107	23	to	to	PART
alkej-116	107	24	linear	linear	VERB
alkej-116	107	25	velocity	velocity	NOUN
alkej-116	107	26	and	and	CCONJ
alkej-116	107	27	deceleration	deceleration	NOUN
alkej-116	107	28	to	to	ADP
alkej-116	107	29	zero	zero	NUM
alkej-116	107	30	velocity	velocity	NOUN
alkej-116	107	31	.	.	PUNCT
alkej-116	108	1	for	for	ADP
alkej-116	108	2	example	example	NOUN
alkej-116	108	3	,	,	PUNCT
alkej-116	108	4	the	the	DET
alkej-116	108	5	first	first	ADJ
alkej-116	108	6	and	and	CCONJ
alkej-116	108	7	second	second	ADJ
alkej-116	108	8	segments	segment	NOUN
alkej-116	108	9	(	(	PUNCT
alkej-116	108	10	ij	ij	INTJ
alkej-116	108	11	and	and	CCONJ
alkej-116	108	12	jk	jk	PROPN
alkej-116	108	13	)	)	PUNCT
alkej-116	108	14	or	or	CCONJ
alkej-116	108	15	the	the	DET
alkej-116	108	16	second	second	ADJ
alkej-116	108	17	and	and	CCONJ
alkej-116	108	18	third	third	ADJ
alkej-116	108	19	segments	segment	NOUN
alkej-116	108	20	(	(	PUNCT
alkej-116	108	21	jk	jk	PROPN
alkej-116	108	22	and	and	CCONJ
alkej-116	108	23	kl	kl	VERB
alkej-116	108	24	)	)	PUNCT
alkej-116	108	25	have	have	VERB
alkej-116	108	26	such	such	ADJ
alkej-116	108	27	situation	situation	NOUN
alkej-116	108	28	(	(	PUNCT
alkej-116	108	29	fig.1	fig.1	PROPN
alkej-116	108	30	)	)	PUNCT
alkej-116	108	31	.	.	PUNCT
alkej-116	109	1	the	the	DET
alkej-116	109	2	second	second	ADJ
alkej-116	109	3	and	and	CCONJ
alkej-116	109	4	third	third	ADJ
alkej-116	109	5	segments	segment	NOUN
alkej-116	109	6	are	be	AUX
alkej-116	109	7	considered	consider	VERB
alkej-116	109	8	to	to	PART
alkej-116	109	9	derive	derive	VERB
alkej-116	109	10	a	a	DET
alkej-116	109	11	general	general	ADJ
alkej-116	109	12	solution	solution	NOUN
alkej-116	109	13	.	.	PUNCT
alkej-116	110	1	let	let	VERB
alkej-116	110	2	ts	ts	VERB
alkej-116	110	3	,	,	PUNCT
alkej-116	110	4	tl	tl	PROPN
alkej-116	110	5	,	,	PUNCT
alkej-116	110	6	and	and	CCONJ
alkej-116	110	7	te	te	PROPN
alkej-116	110	8	are	be	AUX
alkej-116	110	9	times	time	NOUN
alkej-116	110	10	'	'	PART
alkej-116	110	11	duration	duration	NOUN
alkej-116	110	12	for	for	ADP
alkej-116	110	13	first	first	ADJ
alkej-116	110	14	parabolic	parabolic	ADJ
alkej-116	110	15	part	part	NOUN
alkej-116	110	16	,	,	PUNCT
alkej-116	110	17	linear	linear	ADJ
alkej-116	110	18	part	part	NOUN
alkej-116	110	19	,	,	PUNCT
alkej-116	110	20	and	and	CCONJ
alkej-116	110	21	last	last	ADJ
alkej-116	110	22	parabolic	parabolic	ADJ
alkej-116	110	23	part	part	NOUN
alkej-116	110	24	for	for	ADP
alkej-116	110	25	the	the	DET
alkej-116	110	26	path	path	NOUN
alkej-116	110	27	from	from	ADP
alkej-116	110	28	through	through	ADP
alkej-116	110	29	point	point	NOUN
alkej-116	110	30	j	j	PROPN
alkej-116	110	31	to	to	PART
alkej-116	110	32	through	through	ADP
alkej-116	110	33	point	point	NOUN
alkej-116	110	34	k.	k.	PROPN
alkej-116	111	1	the	the	DET
alkej-116	111	2	total	total	ADJ
alkej-116	111	3	displacement	displacement	NOUN
alkej-116	111	4	is	be	AUX
alkej-116	111	5	the	the	DET
alkej-116	111	6	summation	summation	NOUN
alkej-116	111	7	of	of	ADP
alkej-116	111	8	these	these	DET
alkej-116	111	9	three	three	NUM
alkej-116	111	10	parts	part	NOUN
alkej-116	111	11	as	as	ADP
alkej-116	111	12	below	below	ADV
alkej-116	111	13	:	:	PUNCT
alkej-116	111	14	2/2/	2/2/	PROPN
alkej-116	111	15	22	22	NUM
alkej-116	111	16	eklexactsjjk	eklexactsjjk	NOUN
alkej-116	111	17	ttt	ttt	PROPN
alkej-116	111	18	θθθθθ	θθθθθ	PROPN
alkej-116	111	19	&	&	CCONJ
alkej-116	111	20	&	&	PROPN
alkej-116	111	21	&	&	PROPN
alkej-116	111	22	&	&	PROPN
alkej-116	111	23	&	&	CCONJ
alkej-116	111	24	+	+	PROPN
alkej-116	111	25	+	+	PROPN
alkej-116	111	26	=	=	ADJ
alkej-116	111	27	−	−	NOUN
alkej-116	111	28	…	…	PUNCT
alkej-116	111	29	(	(	PUNCT
alkej-116	111	30	15.a	15.a	NUM
alkej-116	111	31	)	)	PUNCT
alkej-116	111	32	esdjkl	esdjkl	NOUN
alkej-116	111	33	tttt	tttt	NOUN
alkej-116	111	34	−−=	−−=	INTJ
alkej-116	111	35	…	…	PUNCT
alkej-116	111	36	(	(	PUNCT
alkej-116	111	37	15.b	15.b	NUM
alkej-116	111	38	)	)	PUNCT
alkej-116	111	39	jexactst	jexactst	VERB
alkej-116	111	40	θθ	θθ	PROPN
alkej-116	111	41	&	&	CCONJ
alkej-116	111	42	&	&	PROPN
alkej-116	111	43	&	&	CCONJ
alkej-116	111	44	/=	/=	PROPN
alkej-116	111	45	…	…	PUNCT
alkej-116	111	46	(	(	PUNCT
alkej-116	111	47	15.c	15.c	NUM
alkej-116	111	48	)	)	PUNCT
alkej-116	111	49	kexactet	kexactet	PROPN
alkej-116	111	50	θθ	θθ	PROPN
alkej-116	111	51	&	&	CCONJ
alkej-116	111	52	&	&	PROPN
alkej-116	111	53	&	&	CCONJ
alkej-116	111	54	/=	/=	PROPN
alkej-116	111	55	…	…	PUNCT
alkej-116	111	56	(	(	PUNCT
alkej-116	111	57	15.d	15.d	NUM
alkej-116	111	58	)	)	PUNCT
alkej-116	111	59	saad	saad	PROPN
alkej-116	111	60	zaghlul	zaghlul	PROPN
alkej-116	111	61	saeed	saeed	PROPN
alkej-116	111	62	al	al	PROPN
alkej-116	111	63	-	-	PUNCT
alkej-116	111	64	khwarizmi	khwarizmi	PROPN
alkej-116	111	65	engineering	engineering	NOUN
alkej-116	111	66	journal	journal	PROPN
alkej-116	111	67	,	,	PUNCT
alkej-116	111	68	vol	vol	NOUN
alkej-116	111	69	.	.	PROPN
alkej-116	111	70	14	14	NUM
alkej-116	111	71	,	,	PUNCT
alkej-116	111	72	no	no	INTJ
alkej-116	111	73	.	.	NOUN
alkej-116	111	74	1	1	NUM
alkej-116	111	75	,	,	PUNCT
alkej-116	111	76	p.p	p.p	PROPN
alkej-116	111	77	.	.	NOUN
alkej-116	111	78	7789	7789	NUM
alkej-116	111	79	(	(	PUNCT
alkej-116	111	80	2018	2018	NUM
alkej-116	111	81	)	)	PUNCT
alkej-116	111	82	81	81	NUM
alkej-116	111	83	solving	solve	VERB
alkej-116	111	84	the	the	DET
alkej-116	111	85	above	above	ADJ
alkej-116	111	86	quadratic	quadratic	ADJ
alkej-116	111	87	equation	equation	NOUN
alkej-116	111	88	(	(	PUNCT
alkej-116	111	89	equation	equation	NOUN
alkej-116	111	90	(	(	PUNCT
alkej-116	111	91	15.a	15.a	NUM
alkej-116	111	92	)	)	PUNCT
alkej-116	111	93	)	)	PUNCT
alkej-116	111	94	for	for	ADP
alkej-116	111	95	the	the	DET
alkej-116	111	96	exact	exact	ADJ
alkej-116	111	97	velocity	velocity	NOUN
alkej-116	111	98	to	to	PART
alkej-116	111	99	obtain	obtain	VERB
alkej-116	111	100	:	:	PUNCT
alkej-116	111	101	⋅	⋅	NUM
alkej-116	111	102	⋅+	⋅+	X
alkej-116	111	103	⋅+⋅−−−+	⋅+⋅−−−+	PROPN
alkej-116	111	104	=	=	PUNCT
alkej-116	111	105	)	)	PUNCT
alkej-116	111	106	/	/	SYM
alkej-116	111	107	(	(	PUNCT
alkej-116	111	108	)	)	PUNCT
alkej-116	111	109	(	(	PUNCT
alkej-116	111	110	)	)	PUNCT
alkej-116	111	111	/()(22	/()(22	NOUN
alkej-116	111	112	kjkj	kjkj	VERB
alkej-116	111	113	kjkjjkdjkdjk	kjkjjkdjkdjk	PROPN
alkej-116	111	114	exact	exact	PROPN
alkej-116	111	115	tt	tt	PROPN
alkej-116	111	116	θθθθ	θθθθ	PROPN
alkej-116	111	117	θθθθθθ	θθθθθθ	PROPN
alkej-116	111	118	θ	θ	PROPN
alkej-116	111	119	&	&	CCONJ
alkej-116	111	120	&	&	PROPN
alkej-116	111	121	&	&	PROPN
alkej-116	111	122	&	&	PROPN
alkej-116	111	123	&	&	PROPN
alkej-116	111	124	&	&	PROPN
alkej-116	111	125	&	&	PROPN
alkej-116	111	126	&	&	CCONJ
alkej-116	111	127	&	&	PROPN
alkej-116	111	128	&	&	PROPN
alkej-116	111	129	&	&	PROPN
alkej-116	111	130	&	&	PROPN
alkej-116	111	131	&	&	PROPN
alkej-116	111	132	&	&	PROPN
alkej-116	111	133	&	&	PROPN
alkej-116	111	134	&	&	CCONJ
alkej-116	111	135	&	&	CCONJ
alkej-116	111	136	)	)	PUNCT
alkej-116	111	137	(	(	PUNCT
alkej-116	111	138	jksgn	jksgn	NOUN
alkej-116	111	139	θθ	θθ	ADV
alkej-116	111	140	−	−	PROPN
alkej-116	111	141	…	…	PUNCT
alkej-116	111	142	(	(	PUNCT
alkej-116	111	143	16	16	NUM
alkej-116	111	144	)	)	PUNCT
alkej-116	111	145	in	in	ADP
alkej-116	111	146	the	the	DET
alkej-116	111	147	above	above	ADJ
alkej-116	111	148	derivation	derivation	NOUN
alkej-116	111	149	,	,	PUNCT
alkej-116	111	150	absolute	absolute	ADJ
alkej-116	111	151	values	value	NOUN
alkej-116	111	152	are	be	AUX
alkej-116	111	153	used	use	VERB
alkej-116	111	154	to	to	PART
alkej-116	111	155	prevent	prevent	VERB
alkej-116	111	156	sign	sign	NOUN
alkej-116	111	157	confusion	confusion	NOUN
alkej-116	111	158	.	.	PUNCT
alkej-116	112	1	the	the	DET
alkej-116	112	2	sign	sign	NOUN
alkej-116	112	3	of	of	ADP
alkej-116	112	4	velocity	velocity	NOUN
alkej-116	112	5	is	be	AUX
alkej-116	112	6	introduced	introduce	VERB
alkej-116	112	7	after	after	ADP
alkej-116	112	8	solving	solve	VERB
alkej-116	112	9	the	the	DET
alkej-116	112	10	quadratic	quadratic	ADJ
alkej-116	112	11	equation	equation	NOUN
alkej-116	112	12	.	.	PUNCT
alkej-116	113	1	4.3	4.3	NUM
alkej-116	113	2	.	.	PUNCT
alkej-116	113	3	steps	step	NOUN
alkej-116	113	4	of	of	ADP
alkej-116	113	5	proposed	propose	VERB
alkej-116	113	6	method	method	NOUN
alkej-116	113	7	the	the	DET
alkej-116	113	8	proposed	propose	VERB
alkej-116	113	9	modified	modify	VERB
alkej-116	113	10	lspb	lspb	NOUN
alkej-116	113	11	is	be	AUX
alkej-116	113	12	presented	present	VERB
alkej-116	113	13	here	here	ADV
alkej-116	113	14	which	which	PRON
alkej-116	113	15	overcomes	overcome	VERB
alkej-116	113	16	the	the	DET
alkej-116	113	17	limitations	limitation	NOUN
alkej-116	113	18	of	of	ADP
alkej-116	113	19	the	the	DET
alkej-116	113	20	normal	normal	ADJ
alkej-116	113	21	lspb	lspb	NOUN
alkej-116	113	22	.	.	PUNCT
alkej-116	114	1	it	it	PRON
alkej-116	114	2	provides	provide	VERB
alkej-116	114	3	logic	logic	ADJ
alkej-116	114	4	sequence	sequence	NOUN
alkej-116	114	5	for	for	ADP
alkej-116	114	6	computer	computer	NOUN
alkej-116	114	7	programming	programming	NOUN
alkej-116	114	8	to	to	PART
alkej-116	114	9	generate	generate	VERB
alkej-116	114	10	through	through	ADP
alkej-116	114	11	points	point	NOUN
alkej-116	114	12	:	:	PUNCT
alkej-116	114	13	step	step	NOUN
alkej-116	114	14	1	1	NUM
alkej-116	114	15	:	:	PUNCT
alkej-116	114	16	calculate	calculate	NOUN
alkej-116	114	17	velocities	velocity	NOUN
alkej-116	114	18	and	and	CCONJ
alkej-116	114	19	accelerations	acceleration	NOUN
alkej-116	114	20	according	accord	VERB
alkej-116	114	21	to	to	ADP
alkej-116	114	22	equation	equation	NOUN
alkej-116	114	23	(	(	PUNCT
alkej-116	114	24	1	1	NUM
alkej-116	114	25	)	)	PUNCT
alkej-116	114	26	.	.	PUNCT
alkej-116	115	1	step	step	NOUN
alkej-116	115	2	2	2	NUM
alkej-116	115	3	:	:	PUNCT
alkej-116	115	4	use	use	VERB
alkej-116	115	5	equation	equation	NOUN
alkej-116	115	6	(	(	PUNCT
alkej-116	115	7	16	16	NUM
alkej-116	115	8	)	)	PUNCT
alkej-116	115	9	to	to	PART
alkej-116	115	10	solve	solve	VERB
alkej-116	115	11	for	for	ADP
alkej-116	115	12	exact	exact	ADJ
alkej-116	115	13	velocity	velocity	NOUN
alkej-116	115	14	if	if	SCONJ
alkej-116	115	15	there	there	PRON
alkej-116	115	16	is	be	VERB
alkej-116	115	17	a	a	DET
alkej-116	115	18	change	change	NOUN
alkej-116	115	19	in	in	ADP
alkej-116	115	20	velocity	velocity	NOUN
alkej-116	115	21	direction	direction	NOUN
alkej-116	115	22	between	between	ADP
alkej-116	115	23	two	two	NUM
alkej-116	115	24	following	follow	VERB
alkej-116	115	25	through	through	ADP
alkej-116	115	26	points	point	NOUN
alkej-116	115	27	.	.	PUNCT
alkej-116	116	1	step	step	NOUN
alkej-116	116	2	3	3	NUM
alkej-116	116	3	:	:	PUNCT
alkej-116	116	4	obtain	obtain	VERB
alkej-116	116	5	the	the	DET
alkej-116	116	6	time	time	NOUN
alkej-116	116	7	durations	duration	NOUN
alkej-116	116	8	for	for	ADP
alkej-116	116	9	the	the	DET
alkej-116	116	10	trajectory	trajectory	NOUN
alkej-116	116	11	using	use	VERB
alkej-116	116	12	equations	equation	NOUN
alkej-116	116	13	(	(	PUNCT
alkej-116	116	14	7	7	NUM
alkej-116	116	15	-	-	SYM
alkej-116	116	16	9	9	NUM
alkej-116	116	17	)	)	PUNCT
alkej-116	116	18	.	.	PUNCT
alkej-116	117	1	step	step	NOUN
alkej-116	117	2	4	4	NUM
alkej-116	117	3	:	:	PUNCT
alkej-116	117	4	apply	apply	VERB
alkej-116	117	5	velocity	velocity	NOUN
alkej-116	117	6	correction	correction	NOUN
alkej-116	117	7	using	use	VERB
alkej-116	117	8	equation	equation	NOUN
alkej-116	117	9	(	(	PUNCT
alkej-116	117	10	14	14	NUM
alkej-116	117	11	)	)	PUNCT
alkej-116	117	12	to	to	ADP
alkej-116	117	13	all	all	DET
alkej-116	117	14	calculated	calculate	VERB
alkej-116	117	15	velocities	velocity	NOUN
alkej-116	117	16	at	at	ADP
alkej-116	117	17	step	step	NOUN
alkej-116	117	18	1	1	NUM
alkej-116	117	19	except	except	SCONJ
alkej-116	117	20	that	that	PRON
alkej-116	117	21	obtained	obtain	VERB
alkej-116	117	22	at	at	ADP
alkej-116	117	23	step	step	NOUN
alkej-116	117	24	2	2	NUM
alkej-116	117	25	.	.	PUNCT
alkej-116	117	26	step	step	NOUN
alkej-116	117	27	5	5	NUM
alkej-116	117	28	:	:	PUNCT
alkej-116	117	29	use	use	VERB
alkej-116	117	30	these	these	DET
alkej-116	117	31	velocities	velocity	NOUN
alkej-116	117	32	as	as	ADP
alkej-116	117	33	initial	initial	ADJ
alkej-116	117	34	solution	solution	NOUN
alkej-116	117	35	for	for	ADP
alkej-116	117	36	the	the	DET
alkej-116	117	37	optimization	optimization	NOUN
alkej-116	117	38	process	process	NOUN
alkej-116	117	39	.	.	PUNCT
alkej-116	118	1	this	this	DET
alkej-116	118	2	algorithm	algorithm	NOUN
alkej-116	118	3	can	can	AUX
alkej-116	118	4	be	be	AUX
alkej-116	118	5	easily	easily	ADV
alkej-116	118	6	converted	convert	VERB
alkej-116	118	7	into	into	ADP
alkej-116	118	8	computer	computer	NOUN
alkej-116	118	9	program	program	NOUN
alkej-116	118	10	to	to	PART
alkej-116	118	11	perform	perform	VERB
alkej-116	118	12	optimization	optimization	NOUN
alkej-116	118	13	process	process	NOUN
alkej-116	118	14	(	(	PUNCT
alkej-116	118	15	fig	fig	NOUN
alkej-116	118	16	.	.	PUNCT
alkej-116	119	1	3	3	NUM
alkej-116	119	2	)	)	PUNCT
alkej-116	119	3	.	.	PUNCT
alkej-116	120	1	the	the	DET
alkej-116	120	2	velocities	velocity	NOUN
alkej-116	120	3	are	be	AUX
alkej-116	120	4	obtained	obtain	VERB
alkej-116	120	5	from	from	ADP
alkej-116	120	6	optimization	optimization	NOUN
alkej-116	120	7	process	process	NOUN
alkej-116	120	8	so	so	SCONJ
alkej-116	120	9	as	as	SCONJ
alkej-116	120	10	to	to	PART
alkej-116	120	11	force	force	VERB
alkej-116	120	12	the	the	DET
alkej-116	120	13	lspb	lspb	NOUN
alkej-116	120	14	trajectory	trajectory	NOUN
alkej-116	120	15	passing	pass	VERB
alkej-116	120	16	exactly	exactly	ADV
alkej-116	120	17	through	through	ADP
alkej-116	120	18	specified	specify	VERB
alkej-116	120	19	path	path	NOUN
alkej-116	120	20	points	point	NOUN
alkej-116	120	21	.	.	PUNCT
alkej-116	121	1	nnn	nnn	PROPN
alkej-116	121	2	tttt	tttt	PROPN
alkej-116	121	3	1121	1121	NUM
alkej-116	121	4	...	...	PUNCT
alkej-116	121	5	,	,	PUNCT
alkej-116	121	6	,	,	PUNCT
alkej-116	121	7	,	,	PUNCT
alkej-116	121	8	...	...	PUNCT
alkej-116	121	9	,	,	PUNCT
alkej-116	121	10	,	,	PUNCT
alkej-116	121	11	calculate	calculate	NOUN
alkej-116	121	12	−	−	PROPN
alkej-116	121	13	(	(	PUNCT
alkej-116	121	14	16)eq.fromfor	16)eq.fromfor	PROPN
alkej-116	121	15	1+iiθ	1+iiθ	NUM
alkej-116	121	16	&	&	CCONJ
alkej-116	121	17	nnndn	nnndn	PROPN
alkej-116	121	18	tt	tt	PROPN
alkej-116	121	19	θθθθ	θθθθ	PROPN
alkej-116	121	20	&	&	CCONJ
alkej-116	121	21	&	&	PROPN
alkej-116	121	22	&	&	PROPN
alkej-116	121	23	&	&	CCONJ
alkej-116	121	24	...	...	PUNCT
alkej-116	121	25	,	,	PUNCT
alkej-116	121	26	,	,	PUNCT
alkej-116	121	27	,	,	PUNCT
alkej-116	121	28	...	...	PUNCT
alkej-116	121	29	,	,	PUNCT
alkej-116	121	30	,	,	PUNCT
alkej-116	121	31	,	,	PUNCT
alkej-116	121	32	...	...	PUNCT
alkej-116	121	33	,	,	PUNCT
alkej-116	121	34	,	,	PUNCT
alkej-116	121	35	11121	11121	NUM
alkej-116	121	36	−	−	PROPN
alkej-116	121	37	nnn	nnn	PROPN
alkej-116	121	38	θθθθ	θθθθ	PROPN
alkej-116	121	39	&	&	CCONJ
alkej-116	121	40	&	&	PROPN
alkej-116	121	41	&	&	PROPN
alkej-116	121	42	&	&	PROPN
alkej-116	121	43	&	&	PROPN
alkej-116	121	44	&	&	CCONJ
alkej-116	121	45	...	...	PUNCT
alkej-116	121	46	,	,	PUNCT
alkej-116	121	47	,	,	PUNCT
alkej-116	121	48	,	,	PUNCT
alkej-116	121	49	...	...	PUNCT
alkej-116	121	50	,	,	PUNCT
alkej-116	121	51	,	,	PUNCT
alkej-116	121	52	calculate	calculate	VERB
alkej-116	121	53	1112	1112	NUM
alkej-116	121	54	−	−	PROPN
alkej-116	122	1	(	(	PUNCT
alkej-116	122	2	14)eq.fromfor	14)eq.fromfor	PROPN
alkej-116	122	3	1+iiθ	1+iiθ	NOUN
alkej-116	122	4	&	&	CCONJ
alkej-116	122	5	fig	fig	NOUN
alkej-116	122	6	.	.	PUNCT
alkej-116	123	1	3	3	X
alkej-116	123	2	.	.	X
alkej-116	123	3	algorithm	algorithm	PROPN
alkej-116	123	4	flowchart	flowchart	PROPN
alkej-116	123	5	for	for	ADP
alkej-116	123	6	proposed	propose	VERB
alkej-116	123	7	modified	modified	ADJ
alkej-116	123	8	lspb	lspb	NOUN
alkej-116	123	9	trajectory	trajectory	NOUN
alkej-116	123	10	.	.	PUNCT
alkej-116	124	1	5	5	X
alkej-116	124	2	.	.	X
alkej-116	124	3	particle	particle	NOUN
alkej-116	124	4	swarm	swarm	NOUN
alkej-116	124	5	optimization	optimization	NOUN
alkej-116	124	6	recently	recently	ADV
alkej-116	124	7	,	,	PUNCT
alkej-116	124	8	modern	modern	ADJ
alkej-116	124	9	or	or	CCONJ
alkej-116	124	10	nontraditional	nontraditional	ADJ
alkej-116	124	11	methods	method	NOUN
alkej-116	124	12	of	of	ADP
alkej-116	124	13	optimization	optimization	NOUN
alkej-116	124	14	are	be	AUX
alkej-116	124	15	widely	widely	ADV
alkej-116	124	16	used	use	VERB
alkej-116	124	17	for	for	ADP
alkej-116	124	18	solving	solve	VERB
alkej-116	124	19	different	different	ADJ
alkej-116	124	20	optimization	optimization	NOUN
alkej-116	124	21	problems	problem	NOUN
alkej-116	124	22	.	.	PUNCT
alkej-116	125	1	edward	edward	PROPN
alkej-116	125	2	and	and	CCONJ
alkej-116	125	3	kennedy	kennedy	PROPN
alkej-116	125	4	formulated	formulated	ADJ
alkej-116	125	5	pso	pso	NOUN
alkej-116	125	6	in	in	ADP
alkej-116	125	7	1995	1995	NUM
alkej-116	125	8	.	.	PUNCT
alkej-116	126	1	the	the	DET
alkej-116	126	2	process	process	NOUN
alkej-116	126	3	was	be	AUX
alkej-116	126	4	inspired	inspire	VERB
alkej-116	126	5	by	by	ADP
alkej-116	126	6	the	the	DET
alkej-116	126	7	social	social	ADJ
alkej-116	126	8	behavior	behavior	NOUN
alkej-116	126	9	of	of	ADP
alkej-116	126	10	animals	animal	NOUN
alkej-116	126	11	,	,	PUNCT
alkej-116	126	12	such	such	ADJ
alkej-116	126	13	as	as	ADP
alkej-116	126	14	bird	bird	NOUN
alkej-116	126	15	flocking	flocking	NOUN
alkej-116	126	16	or	or	CCONJ
alkej-116	126	17	fish	fish	NOUN
alkej-116	126	18	schooling	schooling	NOUN
alkej-116	126	19	.	.	PUNCT
alkej-116	127	1	each	each	DET
alkej-116	127	2	particle	particle	NOUN
alkej-116	127	3	has	have	VERB
alkej-116	127	4	two	two	NUM
alkej-116	127	5	characteristics	characteristic	NOUN
alkej-116	127	6	which	which	PRON
alkej-116	127	7	are	be	AUX
alkej-116	127	8	:	:	PUNCT
alkej-116	127	9	a	a	DET
alkej-116	127	10	position	position	NOUN
alkej-116	127	11	and	and	CCONJ
alkej-116	127	12	a	a	DET
alkej-116	127	13	velocity	velocity	NOUN
alkej-116	127	14	.	.	PUNCT
alkej-116	128	1	it	it	PRON
alkej-116	128	2	must	must	AUX
alkej-116	128	3	remember	remember	VERB
alkej-116	128	4	the	the	DET
alkej-116	128	5	best	good	ADJ
alkej-116	128	6	position	position	NOUN
alkej-116	128	7	in	in	ADP
alkej-116	128	8	terms	term	NOUN
alkej-116	128	9	of	of	ADP
alkej-116	128	10	objective	objective	ADJ
alkej-116	128	11	function	function	NOUN
alkej-116	128	12	value	value	NOUN
alkej-116	128	13	.	.	PUNCT
alkej-116	129	1	the	the	DET
alkej-116	129	2	particles	particle	NOUN
alkej-116	129	3	adjust	adjust	VERB
alkej-116	129	4	their	their	PRON
alkej-116	129	5	individual	individual	ADJ
alkej-116	129	6	positions	position	NOUN
alkej-116	129	7	and	and	CCONJ
alkej-116	129	8	velocities	velocity	NOUN
alkej-116	129	9	by	by	ADP
alkej-116	129	10	sharing	share	VERB
alkej-116	129	11	the	the	DET
alkej-116	129	12	received	receive	VERB
alkej-116	129	13	information	information	NOUN
alkej-116	129	14	of	of	ADP
alkej-116	129	15	the	the	DET
alkej-116	129	16	best	good	ADJ
alkej-116	129	17	position	position	NOUN
alkej-116	129	18	[	[	X
alkej-116	129	19	18	18	NUM
alkej-116	129	20	]	]	X
alkej-116	129	21	:	:	PUNCT
alkej-116	129	22	saad	saad	PROPN
alkej-116	129	23	zaghlul	zaghlul	PROPN
alkej-116	129	24	saeed	saeed	PROPN
alkej-116	129	25	al	al	PROPN
alkej-116	129	26	-	-	PUNCT
alkej-116	129	27	khwarizmi	khwarizmi	PROPN
alkej-116	129	28	engineering	engineering	NOUN
alkej-116	129	29	journal	journal	PROPN
alkej-116	129	30	,	,	PUNCT
alkej-116	129	31	vol	vol	NOUN
alkej-116	129	32	.	.	PROPN
alkej-116	129	33	14	14	NUM
alkej-116	129	34	,	,	PUNCT
alkej-116	129	35	no	no	INTJ
alkej-116	129	36	.	.	NOUN
alkej-116	129	37	1	1	NUM
alkej-116	129	38	,	,	PUNCT
alkej-116	129	39	p.p	p.p	PROPN
alkej-116	129	40	.	.	NOUN
alkej-116	129	41	7789	7789	NUM
alkej-116	129	42	(	(	PUNCT
alkej-116	129	43	2018	2018	NUM
alkej-116	129	44	)	)	PUNCT
alkej-116	129	45	82	82	NUM
alkej-116	129	46	22	22	NUM
alkej-116	129	47	old	old	ADJ
alkej-116	129	48	,	,	PUNCT
alkej-116	129	49	bestlocal	bestlocal	ADJ
alkej-116	129	50	,	,	PUNCT
alkej-116	129	51	11	11	NUM
alkej-116	129	52	old	old	ADJ
alkej-116	129	53	,	,	PUNCT
alkej-116	129	54	new	new	ADJ
alkej-116	129	55	,	,	PUNCT
alkej-116	129	56	rγ)(rγ	rγ)(rγ	PUNCT
alkej-116	129	57	×+−××+=	×+−××+=	ADP
alkej-116	129	58	jijijiji	jijijiji	PROPN
alkej-116	129	59	w	w	ADP
alkej-116	129	60	ppvv	ppvv	NOUN
alkej-116	129	61	)	)	PUNCT
alkej-116	129	62	(	(	PUNCT
alkej-116	129	63	old	old	ADJ
alkej-116	129	64	,	,	PUNCT
alkej-116	129	65	bestglobal	bestglobal	NOUN
alkej-116	129	66	,	,	PUNCT
alkej-116	129	67	jiji	jiji	PROPN
alkej-116	129	68	pp	pp	ADP
alkej-116	129	69	−×	−×	NOUN
alkej-116	129	70	…	…	PUNCT
alkej-116	129	71	(	(	PUNCT
alkej-116	129	72	17.a	17.a	NUM
alkej-116	129	73	)	)	PUNCT
alkej-116	129	74	new	new	ADJ
alkej-116	129	75	,	,	PUNCT
alkej-116	129	76	old	old	ADJ
alkej-116	129	77	,	,	PUNCT
alkej-116	129	78	new	new	ADJ
alkej-116	129	79	,	,	PUNCT
alkej-116	129	80	jijiji	jijiji	NOUN
alkej-116	129	81	vpp	vpp	NOUN
alkej-116	129	82	+	+	PROPN
alkej-116	129	83	=	=	SYM
alkej-116	129	84	…	…	PUNCT
alkej-116	129	85	(	(	PUNCT
alkej-116	129	86	17.b	17.b	NUM
alkej-116	129	87	)	)	PUNCT
alkej-116	129	88	where	where	SCONJ
alkej-116	129	89	v	v	NOUN
alkej-116	129	90	is	be	AUX
alkej-116	129	91	particle	particle	NOUN
alkej-116	129	92	's	's	PART
alkej-116	129	93	velocity	velocity	NOUN
alkej-116	129	94	,	,	PUNCT
alkej-116	129	95	w	w	NOUN
alkej-116	129	96	is	be	AUX
alkej-116	129	97	inertia	inertia	NOUN
alkej-116	129	98	weight	weight	NOUN
alkej-116	129	99	,	,	PUNCT
alkej-116	129	100	p	p	PROPN
alkej-116	129	101	is	be	AUX
alkej-116	129	102	particle	particle	NOUN
alkej-116	129	103	position	position	NOUN
alkej-116	129	104	or	or	CCONJ
alkej-116	129	105	variable	variable	NOUN
alkej-116	129	106	,	,	PUNCT
alkej-116	129	107	r1	r1	PROPN
alkej-116	129	108	and	and	CCONJ
alkej-116	129	109	r2	r2	PROPN
alkej-116	129	110	are	be	AUX
alkej-116	129	111	uniform	uniform	NOUN
alkej-116	129	112	distributed	distribute	VERB
alkej-116	129	113	random	random	ADJ
alkej-116	129	114	numbers	number	NOUN
alkej-116	129	115	,	,	PUNCT
alkej-116	129	116	plocal	plocal	ADJ
alkej-116	129	117	best	good	ADJ
alkej-116	129	118	is	be	AUX
alkej-116	129	119	best	good	ADJ
alkej-116	129	120	local	local	ADJ
alkej-116	129	121	postion	postion	NOUN
alkej-116	129	122	,	,	PUNCT
alkej-116	129	123	pglobal	pglobal	ADJ
alkej-116	129	124	best	good	ADJ
alkej-116	129	125	is	be	AUX
alkej-116	129	126	best	good	ADJ
alkej-116	129	127	global	global	ADJ
alkej-116	129	128	position	position	NOUN
alkej-116	129	129	,	,	PUNCT
alkej-116	129	130	i	i	PRON
alkej-116	129	131	is	be	AUX
alkej-116	129	132	particle	particle	NOUN
alkej-116	129	133	index	index	NOUN
alkej-116	129	134	,	,	PUNCT
alkej-116	129	135	j	j	PROPN
alkej-116	129	136	is	be	AUX
alkej-116	129	137	dimension	dimension	NOUN
alkej-116	129	138	of	of	ADP
alkej-116	129	139	variable	variable	NOUN
alkej-116	129	140	,	,	PUNCT
alkej-116	129	141	γ1	γ1	PROPN
alkej-116	129	142	is	be	AUX
alkej-116	129	143	individual	individual	ADJ
alkej-116	129	144	learning	learning	NOUN
alkej-116	129	145	rate	rate	NOUN
alkej-116	129	146	,	,	PUNCT
alkej-116	129	147	γ2	γ2	PROPN
alkej-116	129	148	is	be	AUX
alkej-116	129	149	group	group	NOUN
alkej-116	129	150	learning	learning	NOUN
alkej-116	129	151	rate	rate	NOUN
alkej-116	129	152	.	.	PUNCT
alkej-116	130	1	premature	premature	ADJ
alkej-116	130	2	and	and	CCONJ
alkej-116	130	3	local	local	ADJ
alkej-116	130	4	optimum	optimum	ADJ
alkej-116	130	5	convergence	convergence	NOUN
alkej-116	130	6	are	be	AUX
alkej-116	130	7	the	the	DET
alkej-116	130	8	disadvantages	disadvantage	NOUN
alkej-116	130	9	of	of	ADP
alkej-116	130	10	traditional	traditional	ADJ
alkej-116	130	11	pso	pso	NOUN
alkej-116	130	12	.	.	PUNCT
alkej-116	131	1	modifications	modification	NOUN
alkej-116	131	2	to	to	ADP
alkej-116	131	3	pso	pso	NOUN
alkej-116	131	4	were	be	AUX
alkej-116	131	5	applied	apply	VERB
alkej-116	131	6	so	so	ADV
alkej-116	131	7	as	as	SCONJ
alkej-116	131	8	not	not	PART
alkej-116	131	9	to	to	PART
alkej-116	131	10	skip	skip	VERB
alkej-116	131	11	the	the	DET
alkej-116	131	12	optimal	optimal	ADJ
alkej-116	131	13	solution	solution	NOUN
alkej-116	131	14	[	[	X
alkej-116	131	15	19	19	NUM
alkej-116	131	16	]	]	PUNCT
alkej-116	131	17	.	.	PUNCT
alkej-116	132	1	these	these	DET
alkej-116	132	2	modifications	modification	NOUN
alkej-116	132	3	are	be	AUX
alkej-116	132	4	happened	happen	VERB
alkej-116	132	5	either	either	CCONJ
alkej-116	132	6	on	on	ADP
alkej-116	132	7	basic	basic	ADJ
alkej-116	132	8	components	component	NOUN
alkej-116	132	9	or	or	CCONJ
alkej-116	132	10	on	on	ADP
alkej-116	132	11	swarms	swarm	NOUN
alkej-116	132	12	itself	itself	PRON
alkej-116	132	13	.	.	PUNCT
alkej-116	133	1	modifications	modification	NOUN
alkej-116	133	2	on	on	ADP
alkej-116	133	3	basic	basic	ADJ
alkej-116	133	4	components	component	NOUN
alkej-116	133	5	of	of	ADP
alkej-116	133	6	pso	pso	NOUN
alkej-116	133	7	are	be	AUX
alkej-116	133	8	:	:	PUNCT
alkej-116	133	9	inertia	inertia	VERB
alkej-116	133	10	weight	weight	NOUN
alkej-116	133	11	[	[	X
alkej-116	133	12	20	20	NUM
alkej-116	133	13	,	,	PUNCT
alkej-116	133	14	21	21	NUM
alkej-116	133	15	]	]	PUNCT
alkej-116	133	16	,	,	PUNCT
alkej-116	133	17	velocity	velocity	NOUN
alkej-116	133	18	constriction	constriction	NOUN
alkej-116	133	19	[	[	X
alkej-116	133	20	22	22	NUM
alkej-116	133	21	,	,	PUNCT
alkej-116	133	22	23	23	NUM
alkej-116	133	23	]	]	PUNCT
alkej-116	133	24	,	,	PUNCT
alkej-116	133	25	and	and	CCONJ
alkej-116	133	26	velocity	velocity	NOUN
alkej-116	133	27	clamping	clamp	VERB
alkej-116	133	28	[	[	X
alkej-116	133	29	24	24	NUM
alkej-116	133	30	]	]	PUNCT
alkej-116	133	31	.	.	PUNCT
alkej-116	134	1	five	five	NUM
alkej-116	134	2	basic	basic	ADJ
alkej-116	134	3	benchmark	benchmark	NOUN
alkej-116	134	4	optimization	optimization	NOUN
alkej-116	134	5	functions	function	NOUN
alkej-116	134	6	had	have	AUX
alkej-116	134	7	been	be	AUX
alkej-116	134	8	tested	test	VERB
alkej-116	134	9	by	by	ADP
alkej-116	134	10	using	use	VERB
alkej-116	134	11	fifteen	fifteen	NUM
alkej-116	134	12	different	different	ADJ
alkej-116	134	13	inertia	inertia	NOUN
alkej-116	134	14	weight	weight	NOUN
alkej-116	134	15	variants	variant	NOUN
alkej-116	134	16	in	in	ADP
alkej-116	134	17	[	[	X
alkej-116	134	18	25	25	NUM
alkej-116	134	19	]	]	PUNCT
alkej-116	134	20	.	.	PUNCT
alkej-116	135	1	they	they	PRON
alkej-116	135	2	concluded	conclude	VERB
alkej-116	135	3	that	that	SCONJ
alkej-116	135	4	chaotic	chaotic	ADJ
alkej-116	135	5	inertia	inertia	NOUN
alkej-116	135	6	weight	weight	NOUN
alkej-116	135	7	improves	improve	VERB
alkej-116	135	8	the	the	DET
alkej-116	135	9	accuracy	accuracy	NOUN
alkej-116	135	10	of	of	ADP
alkej-116	135	11	the	the	DET
alkej-116	135	12	solution	solution	NOUN
alkej-116	135	13	.	.	PUNCT
alkej-116	136	1	modifications	modification	NOUN
alkej-116	136	2	on	on	ADP
alkej-116	136	3	the	the	DET
alkej-116	136	4	swarms	swarm	NOUN
alkej-116	136	5	itself	itself	PRON
alkej-116	136	6	are	be	AUX
alkej-116	136	7	:	:	PUNCT
alkej-116	136	8	insertions	insertion	NOUN
alkej-116	136	9	new	new	ADJ
alkej-116	136	10	swarms	swarm	NOUN
alkej-116	136	11	[	[	X
alkej-116	136	12	26	26	NUM
alkej-116	136	13	,	,	PUNCT
alkej-116	136	14	27	27	NUM
alkej-116	136	15	]	]	PUNCT
alkej-116	136	16	,	,	PUNCT
alkej-116	136	17	mutation	mutation	NOUN
alkej-116	136	18	[	[	X
alkej-116	136	19	28	28	NUM
alkej-116	136	20	]	]	PUNCT
alkej-116	136	21	,	,	PUNCT
alkej-116	136	22	and	and	CCONJ
alkej-116	136	23	swarm	swarm	NOUN
alkej-116	136	24	initiation	initiation	NOUN
alkej-116	136	25	[	[	X
alkej-116	136	26	29	29	NUM
alkej-116	136	27	]	]	PUNCT
alkej-116	136	28	.	.	PUNCT
alkej-116	137	1	these	these	DET
alkej-116	137	2	modifications	modification	NOUN
alkej-116	137	3	can	can	AUX
alkej-116	137	4	increase	increase	VERB
alkej-116	137	5	the	the	DET
alkej-116	137	6	search	search	NOUN
alkej-116	137	7	diversity	diversity	NOUN
alkej-116	137	8	.	.	PUNCT
alkej-116	138	1	applying	apply	VERB
alkej-116	138	2	multiple	multiple	ADJ
alkej-116	138	3	modifications	modification	NOUN
alkej-116	138	4	on	on	ADP
alkej-116	138	5	the	the	DET
alkej-116	138	6	basic	basic	ADJ
alkej-116	138	7	components	component	NOUN
alkej-116	138	8	of	of	ADP
alkej-116	138	9	pso	pso	NOUN
alkej-116	138	10	and	and	CCONJ
alkej-116	138	11	swarms	swarm	NOUN
alkej-116	138	12	was	be	AUX
alkej-116	138	13	suggested	suggest	VERB
alkej-116	138	14	as	as	ADP
alkej-116	138	15	future	future	ADJ
alkej-116	138	16	work	work	NOUN
alkej-116	138	17	in	in	ADP
alkej-116	138	18	[	[	X
alkej-116	138	19	30	30	NUM
alkej-116	138	20	]	]	PUNCT
alkej-116	138	21	.	.	PUNCT
alkej-116	139	1	an	an	DET
alkej-116	139	2	improved	improve	VERB
alkej-116	139	3	chaotic	chaotic	ADJ
alkej-116	139	4	pso	pso	NOUN
alkej-116	139	5	algorithm	algorithm	NOUN
alkej-116	139	6	based	base	VERB
alkej-116	139	7	on	on	ADP
alkej-116	139	8	adaptive	adaptive	ADJ
alkej-116	139	9	inertia	inertia	NOUN
alkej-116	139	10	weight	weight	NOUN
alkej-116	139	11	(	(	PUNCT
alkej-116	139	12	aiwcpso	aiwcpso	NOUN
alkej-116	139	13	)	)	PUNCT
alkej-116	139	14	was	be	AUX
alkej-116	139	15	proposed	propose	VERB
alkej-116	139	16	in	in	ADP
alkej-116	139	17	[	[	X
alkej-116	139	18	31	31	NUM
alkej-116	139	19	]	]	PUNCT
alkej-116	139	20	.	.	PUNCT
alkej-116	140	1	initially	initially	ADV
alkej-116	140	2	,	,	PUNCT
alkej-116	140	3	the	the	DET
alkej-116	140	4	positions	position	NOUN
alkej-116	140	5	and	and	CCONJ
alkej-116	140	6	velocities	velocity	NOUN
alkej-116	140	7	of	of	ADP
alkej-116	140	8	the	the	DET
alkej-116	140	9	population	population	NOUN
alkej-116	140	10	are	be	AUX
alkej-116	140	11	generated	generate	VERB
alkej-116	140	12	by	by	ADP
alkej-116	140	13	using	use	VERB
alkej-116	140	14	chaotic	chaotic	ADJ
alkej-116	140	15	mapping	mapping	NOUN
alkej-116	140	16	.	.	PUNCT
alkej-116	141	1	the	the	DET
alkej-116	141	2	inertia	inertia	NOUN
alkej-116	141	3	weight	weight	NOUN
alkej-116	141	4	is	be	AUX
alkej-116	141	5	adjusted	adjust	VERB
alkej-116	141	6	according	accord	VERB
alkej-116	141	7	to	to	ADP
alkej-116	141	8	the	the	DET
alkej-116	141	9	values	value	NOUN
alkej-116	141	10	of	of	ADP
alkej-116	141	11	:	:	PUNCT
alkej-116	141	12	iterative	iterative	ADJ
alkej-116	141	13	number	number	NOUN
alkej-116	141	14	,	,	PUNCT
alkej-116	141	15	aggregation	aggregation	NOUN
alkej-116	141	16	degree	degree	NOUN
alkej-116	141	17	factor	factor	NOUN
alkej-116	141	18	,	,	PUNCT
alkej-116	141	19	and	and	CCONJ
alkej-116	141	20	improved	improve	VERB
alkej-116	141	21	evolution	evolution	NOUN
alkej-116	141	22	speed	speed	NOUN
alkej-116	141	23	parameter	parameter	NOUN
alkej-116	141	24	.	.	PUNCT
alkej-116	142	1	aiwcpso	aiwcpso	ADJ
alkej-116	142	2	algorithm	algorithm	NOUN
alkej-116	142	3	with	with	ADP
alkej-116	142	4	chaotic	chaotic	ADJ
alkej-116	142	5	swarm	swarm	NOUN
alkej-116	142	6	initiation	initiation	NOUN
alkej-116	142	7	and	and	CCONJ
alkej-116	142	8	swarm	swarm	NOUN
alkej-116	142	9	injection	injection	NOUN
alkej-116	142	10	were	be	AUX
alkej-116	142	11	used	use	VERB
alkej-116	142	12	in	in	ADP
alkej-116	142	13	[	[	X
alkej-116	142	14	32	32	NUM
alkej-116	142	15	]	]	PUNCT
alkej-116	142	16	.	.	PUNCT
alkej-116	143	1	this	this	PRON
alkej-116	143	2	combines	combine	VERB
alkej-116	143	3	modifications	modification	NOUN
alkej-116	143	4	to	to	ADP
alkej-116	143	5	basic	basic	ADJ
alkej-116	143	6	components	component	NOUN
alkej-116	143	7	of	of	ADP
alkej-116	143	8	pso	pso	NOUN
alkej-116	143	9	and	and	CCONJ
alkej-116	143	10	swarms	swarm	NOUN
alkej-116	143	11	.	.	PUNCT
alkej-116	144	1	in	in	ADP
alkej-116	144	2	this	this	DET
alkej-116	144	3	work	work	NOUN
alkej-116	144	4	,	,	PUNCT
alkej-116	144	5	improved	improve	VERB
alkej-116	144	6	chaotic	chaotic	ADJ
alkej-116	144	7	pso	pso	NOUN
alkej-116	144	8	algorithm	algorithm	NOUN
alkej-116	144	9	based	base	VERB
alkej-116	144	10	on	on	ADP
alkej-116	144	11	adaptive	adaptive	ADJ
alkej-116	144	12	inertia	inertia	NOUN
alkej-116	144	13	weight	weight	NOUN
alkej-116	144	14	(	(	PUNCT
alkej-116	144	15	aiwcpso	aiwcpso	NOUN
alkej-116	144	16	)	)	PUNCT
alkej-116	144	17	is	be	AUX
alkej-116	144	18	used	use	VERB
alkej-116	144	19	.	.	PUNCT
alkej-116	145	1	also	also	ADV
alkej-116	145	2	velocity	velocity	NOUN
alkej-116	145	3	constriction	constriction	NOUN
alkej-116	145	4	factor	factor	NOUN
alkej-116	145	5	,	,	PUNCT
alkej-116	145	6	λ	λ	PROPN
alkej-116	145	7	,	,	PUNCT
alkej-116	145	8	is	be	AUX
alkej-116	145	9	included	include	VERB
alkej-116	145	10	(	(	PUNCT
alkej-116	145	11	equation	equation	NOUN
alkej-116	145	12	(	(	PUNCT
alkej-116	145	13	18	18	NUM
alkej-116	145	14	)	)	PUNCT
alkej-116	145	15	)	)	PUNCT
alkej-116	145	16	.	.	PUNCT
alkej-116	146	1	new	new	ADJ
alkej-116	146	2	,	,	PUNCT
alkej-116	146	3	old	old	ADJ
alkej-116	146	4	,	,	PUNCT
alkej-116	146	5	new	new	ADJ
alkej-116	146	6	,	,	PUNCT
alkej-116	146	7	jijiji	jijiji	PROPN
alkej-116	146	8	vpp	vpp	PROPN
alkej-116	146	9	λ+=	λ+=	PROPN
alkej-116	146	10	…	…	PUNCT
alkej-116	146	11	(	(	PUNCT
alkej-116	146	12	18	18	NUM
alkej-116	146	13	)	)	PUNCT
alkej-116	146	14	steps	step	NOUN
alkej-116	146	15	of	of	ADP
alkej-116	146	16	aiwcpso	aiwcpso	ADJ
alkej-116	146	17	algorithm	algorithm	NOUN
alkej-116	146	18	step	step	NOUN
alkej-116	146	19	1	1	NUM
alkej-116	146	20	:	:	PUNCT
alkej-116	146	21	cubic	cubic	ADJ
alkej-116	146	22	mapping	mapping	NOUN
alkej-116	146	23	(	(	PUNCT
alkej-116	146	24	equation	equation	NOUN
alkej-116	146	25	(	(	PUNCT
alkej-116	146	26	19	19	NUM
alkej-116	146	27	)	)	PUNCT
alkej-116	146	28	)	)	PUNCT
alkej-116	146	29	is	be	AUX
alkej-116	146	30	used	use	VERB
alkej-116	146	31	to	to	PART
alkej-116	146	32	generate	generate	VERB
alkej-116	146	33	double	double	ADJ
alkej-116	146	34	or	or	CCONJ
alkej-116	146	35	triple	triple	ADJ
alkej-116	146	36	swarm	swarm	NOUN
alkej-116	146	37	size	size	NOUN
alkej-116	146	38	as	as	ADP
alkej-116	146	39	chaotic	chaotic	ADJ
alkej-116	146	40	initialization	initialization	NOUN
alkej-116	146	41	.	.	PUNCT
alkej-116	147	1	the	the	DET
alkej-116	147	2	cubic	cubic	ADJ
alkej-116	147	3	mapping	mapping	NOUN
alkej-116	147	4	is	be	AUX
alkej-116	147	5	described	describe	VERB
alkej-116	147	6	as	as	ADP
alkej-116	147	7	following	follow	VERB
alkej-116	147	8	:	:	PUNCT
alkej-116	147	9			NOUN
alkej-116	147	10			X
alkej-116	147	11			PROPN
alkej-116	147	12	<	<	X
alkej-116	147	13	<	<	X
alkej-116	147	14	−	−	PROPN
alkej-116	147	15	−=+	−=+	NOUN
alkej-116	147	16	11	11	NUM
alkej-116	147	17	34	34	NUM
alkej-116	147	18	0	0	NUM
alkej-116	147	19	3	3	NUM
alkej-116	147	20	1	1	NUM
alkej-116	147	21	p	p	NOUN
alkej-116	147	22	ppp	ppp	PROPN
alkej-116	147	23	nnn	nnn	NOUN
alkej-116	147	24	…	…	PUNCT
alkej-116	147	25	(	(	PUNCT
alkej-116	147	26	19	19	NUM
alkej-116	147	27	)	)	PUNCT
alkej-116	147	28	where	where	SCONJ
alkej-116	147	29	p0	p0	NOUN
alkej-116	147	30	is	be	AUX
alkej-116	147	31	a	a	DET
alkej-116	147	32	random	random	ADJ
alkej-116	147	33	number	number	NOUN
alkej-116	147	34	substituted	substitute	VERB
alkej-116	147	35	as	as	ADP
alkej-116	147	36	initial	initial	ADJ
alkej-116	147	37	value	value	NOUN
alkej-116	147	38	.	.	PUNCT
alkej-116	148	1	these	these	DET
alkej-116	148	2	swarms	swarm	NOUN
alkej-116	148	3	are	be	AUX
alkej-116	148	4	tested	test	VERB
alkej-116	148	5	so	so	SCONJ
alkej-116	148	6	as	as	SCONJ
alkej-116	148	7	to	to	PART
alkej-116	148	8	select	select	VERB
alkej-116	148	9	those	those	PRON
alkej-116	148	10	of	of	ADP
alkej-116	148	11	best	good	ADJ
alkej-116	148	12	fitness	fitness	NOUN
alkej-116	148	13	as	as	ADP
alkej-116	148	14	initial	initial	ADJ
alkej-116	148	15	solution	solution	NOUN
alkej-116	148	16	to	to	ADP
alkej-116	148	17	particle	particle	NOUN
alkej-116	148	18	position	position	NOUN
alkej-116	148	19	.	.	PUNCT
alkej-116	149	1	then	then	ADV
alkej-116	149	2	this	this	DET
alkej-116	149	3	initial	initial	ADJ
alkej-116	149	4	solution	solution	NOUN
alkej-116	149	5	is	be	AUX
alkej-116	149	6	mapped	map	VERB
alkej-116	149	7	to	to	ADP
alkej-116	149	8	the	the	DET
alkej-116	149	9	search	search	NOUN
alkej-116	149	10	space	space	NOUN
alkej-116	149	11	range	range	NOUN
alkej-116	149	12	.	.	PUNCT
alkej-116	150	1	step	step	NOUN
alkej-116	150	2	2	2	NUM
alkej-116	150	3	:	:	PUNCT
alkej-116	150	4	chaotic	chaotic	ADJ
alkej-116	150	5	initialization	initialization	NOUN
alkej-116	150	6	is	be	AUX
alkej-116	150	7	also	also	ADV
alkej-116	150	8	applied	apply	VERB
alkej-116	150	9	to	to	PART
alkej-116	150	10	generate	generate	VERB
alkej-116	150	11	n	n	PRON
alkej-116	150	12	initial	initial	ADJ
alkej-116	150	13	velocities	velocity	NOUN
alkej-116	150	14	by	by	ADP
alkej-116	150	15	cubic	cubic	ADJ
alkej-116	150	16	mapping	mapping	NOUN
alkej-116	150	17	(	(	PUNCT
alkej-116	150	18	equation	equation	NOUN
alkej-116	150	19	(	(	PUNCT
alkej-116	150	20	19	19	NUM
alkej-116	150	21	)	)	PUNCT
alkej-116	150	22	)	)	PUNCT
alkej-116	150	23	.	.	PUNCT
alkej-116	151	1	step	step	NOUN
alkej-116	151	2	3	3	NUM
alkej-116	151	3	:	:	PUNCT
alkej-116	151	4	the	the	DET
alkej-116	151	5	inertia	inertia	NOUN
alkej-116	151	6	weight	weight	NOUN
alkej-116	151	7	is	be	AUX
alkej-116	151	8	updated	update	VERB
alkej-116	151	9	by	by	ADP
alkej-116	151	10	the	the	DET
alkej-116	151	11	equations	equation	NOUN
alkej-116	151	12	below	below	ADV
alkej-116	151	13	for	for	ADP
alkej-116	151	14	a	a	DET
alkej-116	151	15	single	single	ADJ
alkej-116	151	16	particle	particle	NOUN
alkej-116	151	17	:	:	PUNCT
alkej-116	151	18	(	(	PUNCT
alkej-116	151	19	)	)	PUNCT
alkej-116	151	20	(	(	PUNCT
alkej-116	151	21	)	)	PUNCT
alkej-116	151	22	adfesf	adfesf	NOUN
alkej-116	151	23	i	i	PRON
alkej-116	151	24	ie	ie	X
alkej-116	151	25	iter	iter	NOUN
alkej-116	151	26	iter	iter	NOUN
alkej-116	151	27	wwww	wwww	PROPN
alkej-116	151	28	βα	βα	PROPN
alkej-116	152	1	−−−−=	−−−−=	PROPN
alkej-116	152	2	max	max	PROPN
alkej-116	152	3	minmaxmax	minmaxmax	PROPN
alkej-116	152	4	…	…	PUNCT
alkej-116	152	5	(	(	PUNCT
alkej-116	152	6	20.a	20.a	NUM
alkej-116	152	7	)	)	PUNCT
alkej-116	152	8	)	)	PUNCT
alkej-116	152	9	(	(	PUNCT
alkej-116	152	10	)	)	PUNCT
alkej-116	152	11	(	(	PUNCT
alkej-116	152	12	)	)	PUNCT
alkej-116	152	13	]	]	X
alkej-116	152	14	(	(	PUNCT
alkej-116	152	15	)	)	PUNCT
alkej-116	152	16	(	(	PUNCT
alkej-116	152	17	[	[	PUNCT
alkej-116	152	18	1	1	NUM
alkej-116	152	19	1	1	NUM
alkej-116	152	20	−	−	NOUN
alkej-116	152	21	−	−	PROPN
alkej-116	152	22	+	+	CCONJ
alkej-116	152	23	−	−	PROPN
alkej-116	153	1	=	=	SYM
alkej-116	153	2	k	k	NOUN
alkej-116	154	1	i	i	PRON
alkej-116	154	2	k	k	INTJ
alkej-116	155	1	i	i	PRON
alkej-116	155	2	k	k	INTJ
alkej-116	156	1	i	i	PRON
alkej-116	156	2	k	k	PROPN
alkej-116	157	1	i	i	PRON
alkej-116	157	2	i	i	PRON
alkej-116	157	3	pbestfabspbestfabs	pbestfabspbestfab	VERB
alkej-116	157	4	pbestfpbestfabs	pbestfpbestfab	NOUN
alkej-116	157	5	esf	esf	NOUN
alkej-116	157	6	…	…	PUNCT
alkej-116	157	7	(	(	PUNCT
alkej-116	157	8	20.b	20.b	NUM
alkej-116	157	9	)	)	PUNCT
alkej-116	157	10	)	)	PUNCT
alkej-116	158	1	]	]	PUNCT
alkej-116	158	2	,	,	PUNCT
alkej-116	158	3	(	(	PUNCT
alkej-116	158	4	[	[	X
alkej-116	158	5	max	max	NOUN
alkej-116	158	6	)	)	PUNCT
alkej-116	159	1	]	]	PUNCT
alkej-116	159	2	,	,	PUNCT
alkej-116	159	3	(	(	PUNCT
alkej-116	159	4	[	[	X
alkej-116	159	5	min	min	X
alkej-116	159	6	k	k	PROPN
alkej-116	159	7	avg	avg	PROPN
alkej-116	159	8	k	k	PROPN
alkej-116	160	1	best	good	ADJ
alkej-116	160	2	k	k	PROPN
alkej-116	160	3	avg	avg	PROPN
alkej-116	160	4	k	k	PROPN
alkej-116	160	5	best	good	ADJ
alkej-116	160	6	ffabs	ffab	NOUN
alkej-116	160	7	ffabs	ffab	NOUN
alkej-116	160	8	adf	adf	NOUN
alkej-116	160	9	=	=	SYM
alkej-116	160	10	…	…	PUNCT
alkej-116	160	11	(	(	PUNCT
alkej-116	160	12	20.c	20.c	NUM
alkej-116	160	13	)	)	PUNCT
alkej-116	160	14	where	where	SCONJ
alkej-116	160	15	k	k	PROPN
alkej-116	160	16	is	be	AUX
alkej-116	160	17	the	the	DET
alkej-116	160	18	current	current	ADJ
alkej-116	160	19	iteration	iteration	NOUN
alkej-116	160	20	value	value	NOUN
alkej-116	160	21	.	.	PUNCT
alkej-116	161	1	wmax	wmax	PROPN
alkej-116	161	2	and	and	CCONJ
alkej-116	161	3	wmin	wmin	VERB
alkej-116	161	4	are	be	AUX
alkej-116	161	5	maximum	maximum	ADJ
alkej-116	161	6	and	and	CCONJ
alkej-116	161	7	minimum	minimum	ADJ
alkej-116	161	8	values	value	NOUN
alkej-116	161	9	of	of	ADP
alkej-116	161	10	inertia	inertia	NOUN
alkej-116	161	11	weight	weight	NOUN
alkej-116	161	12	;	;	PUNCT
alkej-116	161	13	respectively	respectively	ADV
alkej-116	161	14	.	.	PUNCT
alkej-116	162	1	iter	iter	NOUN
alkej-116	162	2	is	be	AUX
alkej-116	162	3	the	the	DET
alkej-116	162	4	current	current	ADJ
alkej-116	162	5	iteration	iteration	NOUN
alkej-116	162	6	number	number	NOUN
alkej-116	162	7	and	and	CCONJ
alkej-116	162	8	itermax	itermax	NOUN
alkej-116	162	9	is	be	AUX
alkej-116	162	10	the	the	DET
alkej-116	162	11	maximum	maximum	ADJ
alkej-116	162	12	number	number	NOUN
alkej-116	162	13	of	of	ADP
alkej-116	162	14	iteration	iteration	NOUN
alkej-116	162	15	.	.	PUNCT
alkej-116	163	1	the	the	DET
alkej-116	163	2	value	value	NOUN
alkej-116	163	3	α	α	NOUN
alkej-116	163	4	and	and	CCONJ
alkej-116	163	5	β	β	PROPN
alkej-116	163	6	has	have	VERB
alkej-116	163	7	the	the	DET
alkej-116	163	8	range	range	NOUN
alkej-116	163	9	[	[	X
alkej-116	163	10	0,1	0,1	NUM
alkej-116	163	11	]	]	PUNCT
alkej-116	163	12	.	.	PUNCT
alkej-116	164	1	esfi	esfi	PROPN
alkej-116	164	2	is	be	AUX
alkej-116	164	3	the	the	DET
alkej-116	164	4	improved	improved	ADJ
alkej-116	164	5	evolution	evolution	NOUN
alkej-116	164	6	speed	speed	NOUN
alkej-116	164	7	parameter	parameter	NOUN
alkej-116	164	8	of	of	ADP
alkej-116	164	9	particle	particle	NOUN
alkej-116	164	10	i	i	PRON
alkej-116	164	11	(	(	PUNCT
alkej-116	164	12	i	i	NOUN
alkej-116	164	13	=	=	NOUN
alkej-116	164	14	1	1	NUM
alkej-116	164	15	,	,	PUNCT
alkej-116	164	16	2	2	NUM
alkej-116	164	17	,	,	PUNCT
alkej-116	164	18	...	...	PUNCT
alkej-116	164	19	,	,	PUNCT
alkej-116	164	20	n	n	CCONJ
alkej-116	164	21	)	)	PUNCT
alkej-116	164	22	,	,	PUNCT
alkej-116	164	23	adf	adf	PROPN
alkej-116	164	24	is	be	AUX
alkej-116	164	25	the	the	DET
alkej-116	164	26	aggregation	aggregation	NOUN
alkej-116	164	27	degree	degree	NOUN
alkej-116	164	28	factor	factor	NOUN
alkej-116	164	29	of	of	ADP
alkej-116	164	30	swarm	swarm	NOUN
alkej-116	164	31	,	,	PUNCT
alkej-116	164	32	f	f	PROPN
alkej-116	164	33	(	(	PUNCT
alkej-116	164	34	pbesti	pbesti	PROPN
alkej-116	164	35	k	k	X
alkej-116	164	36	)	)	PUNCT
alkej-116	164	37	is	be	AUX
alkej-116	164	38	the	the	DET
alkej-116	164	39	best	good	ADJ
alkej-116	164	40	fitness	fitness	NOUN
alkej-116	164	41	value	value	NOUN
alkej-116	164	42	of	of	ADP
alkej-116	164	43	particle	particle	NOUN
alkej-116	164	44	i	i	PRON
alkej-116	164	45	at	at	ADP
alkej-116	164	46	the	the	DET
alkej-116	164	47	kth	kth	PROPN
alkej-116	164	48	iteration	iteration	NOUN
alkej-116	164	49	,	,	PUNCT
alkej-116	164	50	fbest	fb	ADJ
alkej-116	164	51	is	be	AUX
alkej-116	164	52	the	the	DET
alkej-116	164	53	best	good	ADJ
alkej-116	164	54	fitness	fitness	NOUN
alkej-116	164	55	obtained	obtain	VERB
alkej-116	164	56	from	from	ADP
alkej-116	164	57	all	all	DET
alkej-116	164	58	particles	particle	NOUN
alkej-116	164	59	,	,	PUNCT
alkej-116	164	60	favg	favg	NOUN
alkej-116	164	61	is	be	AUX
alkej-116	164	62	the	the	DET
alkej-116	164	63	mean	mean	ADJ
alkej-116	164	64	fitness	fitness	NOUN
alkej-116	164	65	of	of	ADP
alkej-116	164	66	all	all	DET
alkej-116	164	67	particles	particle	NOUN
alkej-116	164	68	in	in	ADP
alkej-116	164	69	the	the	DET
alkej-116	164	70	swarm	swarm	NOUN
alkej-116	164	71	at	at	ADP
alkej-116	164	72	the	the	DET
alkej-116	164	73	same	same	ADJ
alkej-116	164	74	iteration	iteration	NOUN
alkej-116	164	75	.	.	PUNCT
alkej-116	165	1	step	step	NOUN
alkej-116	165	2	4	4	NUM
alkej-116	165	3	:	:	PUNCT
alkej-116	165	4	the	the	DET
alkej-116	165	5	variance	variance	NOUN
alkej-116	165	6	(	(	PUNCT
alkej-116	165	7	σ	σ	NOUN
alkej-116	165	8	)	)	PUNCT
alkej-116	165	9	is	be	AUX
alkej-116	165	10	calculated	calculate	VERB
alkej-116	165	11	for	for	ADP
alkej-116	165	12	the	the	DET
alkej-116	165	13	population	population	NOUN
alkej-116	165	14	's	's	PART
alkej-116	165	15	fitness	fitness	NOUN
alkej-116	165	16	(	(	PUNCT
alkej-116	165	17	equation	equation	NOUN
alkej-116	165	18	(	(	PUNCT
alkej-116	165	19	21	21	NUM
alkej-116	165	20	)	)	PUNCT
alkej-116	165	21	)	)	PUNCT
alkej-116	165	22	.	.	PUNCT
alkej-116	166	1	when	when	SCONJ
alkej-116	166	2	variance	variance	NOUN
alkej-116	166	3	is	be	AUX
alkej-116	166	4	less	less	ADJ
alkej-116	166	5	than	than	ADP
alkej-116	166	6	threshold	threshold	NOUN
alkej-116	166	7	value	value	NOUN
alkej-116	166	8	and	and	CCONJ
alkej-116	166	9	the	the	DET
alkej-116	166	10	optimal	optimal	ADJ
alkej-116	166	11	fitness	fitness	NOUN
alkej-116	166	12	of	of	ADP
alkej-116	166	13	current	current	ADJ
alkej-116	166	14	iteration	iteration	NOUN
alkej-116	166	15	is	be	AUX
alkej-116	166	16	worse	bad	ADJ
alkej-116	166	17	than	than	ADP
alkej-116	166	18	the	the	DET
alkej-116	166	19	desired	desire	VERB
alkej-116	166	20	fitness	fitness	NOUN
alkej-116	166	21	value	value	NOUN
alkej-116	166	22	,	,	PUNCT
alkej-116	166	23	chaotic	chaotic	ADJ
alkej-116	166	24	disturbance	disturbance	NOUN
alkej-116	166	25	is	be	AUX
alkej-116	166	26	applied	apply	VERB
alkej-116	166	27	.	.	PUNCT
alkej-116	167	1	∑	∑	PUNCT
alkej-116	168	1	=	=	SYM
alkej-116	168	2	−	−	PROPN
alkej-116	169	1	−	−	PROPN
alkej-116	169	2	=	=	SYM
alkej-116	170	1	n	n	PROPN
alkej-116	171	1	i	i	PRON
alkej-116	171	2	k	k	PROPN
alkej-116	171	3	avg	avg	PROPN
alkej-116	172	1	k	k	PROPN
alkej-116	173	1	i	i	PRON
alkej-116	173	2	k	k	PROPN
alkej-116	173	3	avg	avg	PROPN
alkej-116	174	1	k	k	PROPN
alkej-116	174	2	i	i	PRON
alkej-116	174	3	fxfabs	fxfab	VERB
alkej-116	174	4	fxf	fxf	ADJ
alkej-116	174	5	1	1	NUM
alkej-116	174	6	22	22	NUM
alkej-116	174	7	)	)	PUNCT
alkej-116	175	1	]	]	X
alkej-116	175	2	1]],)([[[maxmax	1]],)([[[maxmax	NUM
alkej-116	175	3	)	)	PUNCT
alkej-116	175	4	(	(	PUNCT
alkej-116	175	5	(	(	PUNCT
alkej-116	175	6	σ	σ	NOUN
alkej-116	175	7	…	…	PUNCT
alkej-116	175	8	(	(	PUNCT
alkej-116	175	9	21	21	NUM
alkej-116	175	10	)	)	PUNCT
alkej-116	175	11	where	where	SCONJ
alkej-116	175	12	f	f	X
alkej-116	175	13	(	(	PUNCT
alkej-116	175	14	xi	xi	PROPN
alkej-116	175	15	)	)	PUNCT
alkej-116	175	16	is	be	AUX
alkej-116	175	17	fitness	fitness	NOUN
alkej-116	175	18	values	value	NOUN
alkej-116	175	19	of	of	ADP
alkej-116	175	20	particle	particle	NOUN
alkej-116	175	21	i.	i.	PROPN
alkej-116	175	22	step	step	NOUN
alkej-116	175	23	5	5	NUM
alkej-116	175	24	:	:	PUNCT
alkej-116	175	25	chaotic	chaotic	ADJ
alkej-116	175	26	disturbance	disturbance	NOUN
alkej-116	175	27	strategy	strategy	NOUN
alkej-116	175	28	:	:	PUNCT
alkej-116	175	29	cubic	cubic	ADJ
alkej-116	175	30	mapping	mapping	NOUN
alkej-116	175	31	(	(	PUNCT
alkej-116	175	32	equation	equation	NOUN
alkej-116	175	33	(	(	PUNCT
alkej-116	175	34	19	19	NUM
alkej-116	175	35	)	)	PUNCT
alkej-116	175	36	)	)	PUNCT
alkej-116	175	37	is	be	AUX
alkej-116	175	38	used	use	VERB
alkej-116	175	39	to	to	PART
alkej-116	175	40	generate	generate	VERB
alkej-116	175	41	chaotic	chaotic	ADJ
alkej-116	175	42	vector	vector	NOUN
alkej-116	175	43	oij	oij	NOUN
alkej-116	175	44	(	(	PUNCT
alkej-116	175	45	i	i	NOUN
alkej-116	175	46	=	=	NOUN
alkej-116	175	47	1	1	NUM
alkej-116	175	48	,	,	PUNCT
alkej-116	175	49	2	2	NUM
alkej-116	175	50	,	,	PUNCT
alkej-116	175	51	...	...	PUNCT
alkej-116	175	52	,	,	PUNCT
alkej-116	175	53	n	n	CCONJ
alkej-116	175	54	;	;	PUNCT
alkej-116	175	55	j	j	PROPN
alkej-116	175	56	=	=	SYM
alkej-116	175	57	1,2	1,2	NUM
alkej-116	175	58	,	,	PUNCT
alkej-116	175	59	...	...	PUNCT
alkej-116	175	60	,	,	PUNCT
alkej-116	175	61	j	j	PROPN
alkej-116	175	62	)	)	PUNCT
alkej-116	175	63	,	,	PUNCT
alkej-116	175	64	where	where	SCONJ
alkej-116	175	65	o0j	o0j	PRON
alkej-116	175	66	is	be	AUX
alkej-116	175	67	(	(	PUNCT
alkej-116	175	68	-1,1	-1,1	NOUN
alkej-116	175	69	)	)	PUNCT
alkej-116	175	70	of	of	ADP
alkej-116	175	71	random	random	ADJ
alkej-116	175	72	numbers	number	NOUN
alkej-116	175	73	,	,	PUNCT
alkej-116	175	74	and	and	CCONJ
alkej-116	175	75	the	the	DET
alkej-116	175	76	component	component	NOUN
alkej-116	175	77	of	of	ADP
alkej-116	175	78	this	this	DET
alkej-116	175	79	vector	vector	NOUN
alkej-116	175	80	is	be	AUX
alkej-116	175	81	loaded	load	VERB
alkej-116	175	82	to	to	ADP
alkej-116	175	83	the	the	DET
alkej-116	175	84	range	range	NOUN
alkej-116	175	85	of	of	ADP
alkej-116	175	86	chaotic	chaotic	ADJ
alkej-116	175	87	disturbance	disturbance	NOUN
alkej-116	175	88	of	of	ADP
alkej-116	175	89	[	[	X
alkej-116	175	90	−γj	−γj	PROPN
alkej-116	175	91	,	,	PUNCT
alkej-116	175	92	γj	γj	ADP
alkej-116	175	93	]	]	X
alkej-116	175	94	(	(	PUNCT
alkej-116	175	95	j=1	j=1	NOUN
alkej-116	175	96	,	,	PUNCT
alkej-116	175	97	2	2	NUM
alkej-116	175	98	,	,	PUNCT
alkej-116	175	99	...	...	PUNCT
alkej-116	175	100	,	,	PUNCT
alkej-116	175	101	j	j	PROPN
alkej-116	175	102	)	)	PUNCT
alkej-116	175	103	.	.	PUNCT
alkej-116	176	1	then	then	ADV
alkej-116	176	2	chaotic	chaotic	ADJ
alkej-116	176	3	disturbance	disturbance	NOUN
alkej-116	176	4	variation	variation	NOUN
alkej-116	176	5	is	be	AUX
alkej-116	176	6	δpi	δpi	NOUN
alkej-116	176	7	=	=	SYM
alkej-116	176	8	(	(	PUNCT
alkej-116	176	9	γ1	γ1	PROPN
alkej-116	176	10	oi1	oi1	PROPN
alkej-116	176	11	,	,	PUNCT
alkej-116	176	12	γ2	γ2	PROPN
alkej-116	176	13	oi2	oi2	NOUN
alkej-116	176	14	,	,	PUNCT
alkej-116	176	15	...	...	PUNCT
alkej-116	176	16	,	,	PUNCT
alkej-116	176	17	γj	γj	ADP
alkej-116	176	18	oij	oij	NUM
alkej-116	176	19	)	)	PUNCT
alkej-116	176	20	.	.	PUNCT
alkej-116	177	1	the	the	DET
alkej-116	177	2	position	position	NOUN
alkej-116	177	3	updated	update	VERB
alkej-116	177	4	of	of	ADP
alkej-116	177	5	particle	particle	NOUN
alkej-116	177	6	after	after	ADP
alkej-116	177	7	adding	add	VERB
alkej-116	177	8	the	the	DET
alkej-116	177	9	chaotic	chaotic	ADJ
alkej-116	177	10	disturbance	disturbance	NOUN
alkej-116	177	11	variation	variation	NOUN
alkej-116	177	12	is	be	AUX
alkej-116	177	13	given	give	VERB
alkej-116	177	14	by	by	ADP
alkej-116	177	15	:	:	PUNCT
alkej-116	177	16	pbij	pbij	PROPN
alkej-116	177	17	(	(	PUNCT
alkej-116	177	18	k	k	PROPN
alkej-116	177	19	+1	+1	PROPN
alkej-116	177	20	)	)	PUNCT
alkej-116	178	1	=	=	X
alkej-116	178	2	pij	pij	NOUN
alkej-116	178	3	(	(	PUNCT
alkej-116	178	4	k	k	NOUN
alkej-116	178	5	)	)	PUNCT
alkej-116	179	1	+	+	CCONJ
alkej-116	179	2	vij	vij	PROPN
alkej-116	179	3	(	(	PUNCT
alkej-116	179	4	k	k	NOUN
alkej-116	179	5	)	)	PUNCT
alkej-116	179	6	+	+	CCONJ
alkej-116	179	7	δpij	δpij	ADJ
alkej-116	179	8	.	.	PUNCT
alkej-116	180	1	finally	finally	ADV
alkej-116	180	2	,	,	PUNCT
alkej-116	180	3	comparison	comparison	NOUN
alkej-116	180	4	is	be	AUX
alkej-116	180	5	made	make	VERB
alkej-116	180	6	between	between	ADP
alkej-116	180	7	the	the	DET
alkej-116	180	8	fitness	fitness	NOUN
alkej-116	180	9	values	value	NOUN
alkej-116	180	10	of	of	ADP
alkej-116	180	11	f(pbi	f(pbi	PROPN
alkej-116	180	12	(	(	PUNCT
alkej-116	180	13	k	k	PROPN
alkej-116	180	14	+1	+1	PROPN
alkej-116	180	15	)	)	PUNCT
alkej-116	180	16	)	)	PUNCT
alkej-116	181	1	and	and	CCONJ
alkej-116	181	2	f	f	PROPN
alkej-116	181	3	(	(	PUNCT
alkej-116	181	4	pi	pi	NOUN
alkej-116	181	5	(	(	PUNCT
alkej-116	181	6	k	k	PROPN
alkej-116	181	7	+1	+1	PROPN
alkej-116	181	8	)	)	PUNCT
alkej-116	181	9	)	)	PUNCT
alkej-116	181	10	.	.	PUNCT
alkej-116	182	1	if	if	SCONJ
alkej-116	182	2	f(pbi	f(pbi	X
alkej-116	182	3	(	(	PUNCT
alkej-116	182	4	k	k	PROPN
alkej-116	182	5	+1	+1	PROPN
alkej-116	182	6	)	)	PUNCT
alkej-116	182	7	)	)	PUNCT
alkej-116	182	8	is	be	AUX
alkej-116	182	9	saad	saad	PROPN
alkej-116	182	10	zaghlul	zaghlul	PROPN
alkej-116	182	11	saeed	saeed	PROPN
alkej-116	182	12	al	al	PROPN
alkej-116	182	13	-	-	PUNCT
alkej-116	182	14	khwarizmi	khwarizmi	PROPN
alkej-116	182	15	engineering	engineering	NOUN
alkej-116	182	16	journal	journal	PROPN
alkej-116	182	17	,	,	PUNCT
alkej-116	182	18	vol	vol	NOUN
alkej-116	182	19	.	.	PROPN
alkej-116	182	20	14	14	NUM
alkej-116	182	21	,	,	PUNCT
alkej-116	182	22	no	no	INTJ
alkej-116	182	23	.	.	NOUN
alkej-116	182	24	1	1	NUM
alkej-116	182	25	,	,	PUNCT
alkej-116	182	26	p.p	p.p	PROPN
alkej-116	182	27	.	.	NOUN
alkej-116	182	28	7789	7789	NUM
alkej-116	182	29	(	(	PUNCT
alkej-116	182	30	2018	2018	NUM
alkej-116	182	31	)	)	PUNCT
alkej-116	182	32	83	83	NUM
alkej-116	182	33	better	well	ADJ
alkej-116	182	34	than	than	ADP
alkej-116	182	35	f(pi	f(pi	NUM
alkej-116	182	36	(	(	PUNCT
alkej-116	182	37	k	k	PROPN
alkej-116	182	38	+1	+1	PROPN
alkej-116	182	39	)	)	PUNCT
alkej-116	182	40	)	)	PUNCT
alkej-116	182	41	,	,	PUNCT
alkej-116	182	42	then	then	ADV
alkej-116	182	43	pi	pi	PROPN
alkej-116	182	44	(	(	PUNCT
alkej-116	182	45	k	k	PROPN
alkej-116	182	46	+1	+1	PROPN
alkej-116	182	47	)	)	PUNCT
alkej-116	182	48	is	be	AUX
alkej-116	182	49	updated	update	VERB
alkej-116	182	50	by	by	ADP
alkej-116	182	51	pbi	pbi	PROPN
alkej-116	182	52	(	(	PUNCT
alkej-116	182	53	k	k	PROPN
alkej-116	182	54	+1	+1	PROPN
alkej-116	182	55	)	)	PUNCT
alkej-116	182	56	.	.	PUNCT
alkej-116	183	1	note	note	NOUN
alkej-116	183	2	:	:	PUNCT
alkej-116	183	3	j	j	PROPN
alkej-116	183	4	is	be	AUX
alkej-116	183	5	the	the	DET
alkej-116	183	6	variable	variable	NOUN
alkej-116	183	7	's	's	PART
alkej-116	183	8	dimension	dimension	NOUN
alkej-116	183	9	of	of	ADP
alkej-116	183	10	particle	particle	NOUN
alkej-116	183	11	i.	i.	NOUN
alkej-116	183	12	for	for	ADP
alkej-116	183	13	more	more	ADJ
alkej-116	183	14	details	detail	NOUN
alkej-116	183	15	about	about	ADP
alkej-116	183	16	aiwcpso	aiwcpso	ADJ
alkej-116	183	17	algorithm	algorithm	NOUN
alkej-116	183	18	see	see	VERB
alkej-116	183	19	[	[	X
alkej-116	183	20	31	31	NUM
alkej-116	183	21	]	]	SYM
alkej-116	183	22	.	.	PUNCT
alkej-116	184	1	6	6	X
alkej-116	184	2	.	.	X
alkej-116	184	3	simulation	simulation	NOUN
alkej-116	184	4	results	result	VERB
alkej-116	184	5	simulations	simulation	NOUN
alkej-116	184	6	are	be	AUX
alkej-116	184	7	presented	present	VERB
alkej-116	184	8	to	to	PART
alkej-116	184	9	validate	validate	VERB
alkej-116	184	10	the	the	DET
alkej-116	184	11	proposed	propose	VERB
alkej-116	184	12	method	method	NOUN
alkej-116	184	13	.	.	PUNCT
alkej-116	185	1	these	these	DET
alkej-116	185	2	simulations	simulation	NOUN
alkej-116	185	3	are	be	AUX
alkej-116	185	4	implemented	implement	VERB
alkej-116	185	5	in	in	ADP
alkej-116	185	6	matlab7	matlab7	PROPN
alkej-116	185	7	on	on	ADP
alkej-116	185	8	pentium	pentium	ADJ
alkej-116	185	9	4	4	NUM
alkej-116	185	10	pc	pc	NOUN
alkej-116	185	11	processor	processor	NOUN
alkej-116	185	12	(	(	PUNCT
alkej-116	185	13	intel	intel	PROPN
alkej-116	185	14	(	(	PUNCT
alkej-116	185	15	r	r	NOUN
alkej-116	185	16	)	)	PUNCT
alkej-116	185	17	core	core	NOUN
alkej-116	185	18	(	(	PUNCT
alkej-116	185	19	tm	tm	NOUN
alkej-116	185	20	)	)	PUNCT
alkej-116	185	21	i5	i5	PROPN
alkej-116	185	22	-	-	PUNCT
alkej-116	185	23	2450	2450	NUM
alkej-116	185	24	m	m	NOUN
alkej-116	185	25	cpu	cpu	NOUN
alkej-116	185	26	@	@	ADP
alkej-116	185	27	2.50	2.50	NUM
alkej-116	185	28	ghz	ghz	NOUN
alkej-116	185	29	)	)	PUNCT
alkej-116	185	30	.	.	PUNCT
alkej-116	186	1	the	the	DET
alkej-116	186	2	parameters	parameter	NOUN
alkej-116	186	3	of	of	ADP
alkej-116	186	4	pso	pso	NOUN
alkej-116	186	5	are	be	AUX
alkej-116	186	6	set	set	VERB
alkej-116	186	7	as	as	SCONJ
alkej-116	186	8	follows	follow	VERB
alkej-116	186	9	:	:	PUNCT
alkej-116	186	10	γ1=2.05	γ1=2.05	NOUN
alkej-116	186	11	;	;	PUNCT
alkej-116	186	12	γ2=2.05	γ2=2.05	NOUN
alkej-116	186	13	;	;	PUNCT
alkej-116	186	14	λ=0.7298	λ=0.7298	X
alkej-116	187	1	[	[	X
alkej-116	187	2	22	22	NUM
alkej-116	187	3	]	]	X
alkej-116	187	4	;	;	PUNCT
alkej-116	187	5	n=	n=	ADJ
alkej-116	187	6	40	40	NUM
alkej-116	187	7	;	;	PUNCT
alkej-116	187	8	itermax=	itermax=	NUM
alkej-116	187	9	30	30	NUM
alkej-116	187	10	;	;	PUNCT
alkej-116	187	11	wmax=0.09	wmax=0.09	VERB
alkej-116	187	12	,	,	PUNCT
alkej-116	187	13	wmin=	wmin=	NUM
alkej-116	187	14	0.05	0.05	NUM
alkej-116	187	15	;	;	PUNCT
alkej-116	187	16	α=0.99	α=0.99	NOUN
alkej-116	187	17	;	;	PUNCT
alkej-116	187	18	β=0.01	β=0.01	NOUN
alkej-116	187	19	;	;	PUNCT
alkej-116	187	20	γ=10	γ=10	VERB
alkej-116	187	21	-	-	PUNCT
alkej-116	187	22	4	4	NUM
alkej-116	187	23	;	;	PUNCT
alkej-116	187	24	threshold	threshold	NOUN
alkej-116	187	25	value=	value=	PROPN
alkej-116	187	26	10	10	NUM
alkej-116	187	27	-	-	SYM
alkej-116	187	28	5	5	NUM
alkej-116	187	29	;	;	PUNCT
alkej-116	187	30	desired	desire	VERB
alkej-116	187	31	fitness	fitness	NOUN
alkej-116	187	32	value	value	NOUN
alkej-116	187	33	=	=	NOUN
alkej-116	187	34	10	10	NUM
alkej-116	187	35	-	-	SYM
alkej-116	187	36	12	12	NUM
alkej-116	187	37	.	.	PUNCT
alkej-116	188	1	the	the	DET
alkej-116	188	2	objective	objective	ADJ
alkej-116	188	3	function	function	NOUN
alkej-116	188	4	to	to	PART
alkej-116	188	5	be	be	AUX
alkej-116	188	6	minimized	minimize	VERB
alkej-116	188	7	has	have	VERB
alkej-116	188	8	the	the	DET
alkej-116	188	9	form	form	NOUN
alkej-116	188	10	:	:	PUNCT
alkej-116	188	11	∑	∑	PUNCT
alkej-116	188	12	=	=	PUNCT
alkej-116	188	13	=	=	PUNCT
alkej-116	189	1	np	np	INTJ
alkej-116	189	2	i	i	PRON
alkej-116	189	3	ie	ie	X
alkej-116	189	4	2	2	NUM
alkej-116	189	5	2fitness	2fitness	NUM
alkej-116	189	6	…	…	PUNCT
alkej-116	189	7	(	(	PUNCT
alkej-116	189	8	22	22	NUM
alkej-116	189	9	)	)	PUNCT
alkej-116	189	10	where	where	SCONJ
alkej-116	189	11	e	e	NOUN
alkej-116	189	12	is	be	AUX
alkej-116	189	13	the	the	DET
alkej-116	189	14	error	error	NOUN
alkej-116	189	15	at	at	ADP
alkej-116	189	16	through	through	ADP
alkej-116	189	17	point	point	NOUN
alkej-116	189	18	,	,	PUNCT
alkej-116	189	19	np	np	INTJ
alkej-116	189	20	is	be	AUX
alkej-116	189	21	total	total	ADJ
alkej-116	189	22	number	number	NOUN
alkej-116	189	23	of	of	ADP
alkej-116	189	24	through	through	ADP
alkej-116	189	25	points	point	NOUN
alkej-116	189	26	.	.	PUNCT
alkej-116	190	1	the	the	DET
alkej-116	190	2	error	error	NOUN
alkej-116	190	3	at	at	ADP
alkej-116	190	4	through	through	ADP
alkej-116	190	5	point	point	NOUN
alkej-116	190	6	1	1	NUM
alkej-116	190	7	is	be	AUX
alkej-116	190	8	always	always	ADV
alkej-116	190	9	zero	zero	NUM
alkej-116	190	10	because	because	SCONJ
alkej-116	190	11	it	it	PRON
alkej-116	190	12	is	be	AUX
alkej-116	190	13	starting	start	VERB
alkej-116	190	14	point	point	NOUN
alkej-116	190	15	.	.	PUNCT
alkej-116	191	1	considering	consider	VERB
alkej-116	191	2	a	a	DET
alkej-116	191	3	single	single	ADJ
alkej-116	191	4	joint	joint	NOUN
alkej-116	191	5	:	:	PUNCT
alkej-116	191	6	through	through	ADP
alkej-116	191	7	points	point	NOUN
alkej-116	191	8	of	of	ADP
alkej-116	191	9	the	the	DET
alkej-116	191	10	path	path	NOUN
alkej-116	191	11	in	in	ADP
alkej-116	191	12	degrees	degree	NOUN
alkej-116	191	13	:	:	PUNCT
alkej-116	191	14	10	10	NUM
alkej-116	191	15	,	,	PUNCT
alkej-116	191	16	35	35	NUM
alkej-116	191	17	,	,	PUNCT
alkej-116	191	18	25	25	NUM
alkej-116	191	19	,	,	PUNCT
alkej-116	191	20	10	10	NUM
alkej-116	191	21	.	.	PUNCT
alkej-116	192	1	the	the	DET
alkej-116	192	2	time	time	NOUN
alkej-116	192	3	durations	duration	NOUN
alkej-116	192	4	of	of	ADP
alkej-116	192	5	the	the	DET
alkej-116	192	6	segments	segment	NOUN
alkej-116	192	7	are	be	AUX
alkej-116	192	8	:	:	PUNCT
alkej-116	192	9	2	2	NUM
alkej-116	192	10	,	,	PUNCT
alkej-116	192	11	1	1	NUM
alkej-116	192	12	,	,	PUNCT
alkej-116	192	13	3	3	NUM
alkej-116	192	14	seconds	second	NOUN
alkej-116	192	15	;	;	PUNCT
alkej-116	192	16	respectively	respectively	ADV
alkej-116	192	17	.	.	PUNCT
alkej-116	193	1	the	the	DET
alkej-116	193	2	acceleration	acceleration	NOUN
alkej-116	193	3	at	at	ADP
alkej-116	193	4	blend	blend	NOUN
alkej-116	193	5	points	point	NOUN
alkej-116	193	6	is	be	AUX
alkej-116	193	7	50	50	NUM
alkej-116	193	8	degrees	degree	NOUN
alkej-116	193	9	/	/	SYM
alkej-116	193	10	second2	second2	NOUN
alkej-116	193	11	.	.	PUNCT
alkej-116	194	1	although	although	SCONJ
alkej-116	194	2	different	different	ADJ
alkej-116	194	3	accelerations	acceleration	NOUN
alkej-116	194	4	at	at	ADP
alkej-116	194	5	different	different	ADJ
alkej-116	194	6	through	through	ADP
alkej-116	194	7	points	point	NOUN
alkej-116	194	8	can	can	AUX
alkej-116	194	9	be	be	AUX
alkej-116	194	10	used	use	VERB
alkej-116	194	11	.	.	PUNCT
alkej-116	195	1	at	at	ADP
alkej-116	195	2	first	first	ADV
alkej-116	195	3	,	,	PUNCT
alkej-116	195	4	the	the	DET
alkej-116	195	5	trajectories	trajectory	NOUN
alkej-116	195	6	of	of	ADP
alkej-116	195	7	normal	normal	ADJ
alkej-116	195	8	lspb	lspb	NOUN
alkej-116	195	9	(	(	PUNCT
alkej-116	195	10	equations	equation	NOUN
alkej-116	195	11	(	(	PUNCT
alkej-116	195	12	1	1	NUM
alkej-116	195	13	-	-	SYM
alkej-116	195	14	3	3	NUM
alkej-116	195	15	)	)	PUNCT
alkej-116	195	16	)	)	PUNCT
alkej-116	195	17	and	and	CCONJ
alkej-116	195	18	modified	modify	VERB
alkej-116	195	19	lspb	lspb	NOUN
alkej-116	195	20	(	(	PUNCT
alkej-116	195	21	equations	equation	NOUN
alkej-116	195	22	(	(	PUNCT
alkej-116	195	23	7	7	NUM
alkej-116	195	24	-	-	SYM
alkej-116	195	25	9	9	NUM
alkej-116	195	26	)	)	PUNCT
alkej-116	195	27	)	)	PUNCT
alkej-116	195	28	are	be	AUX
alkej-116	195	29	compared	compare	VERB
alkej-116	195	30	(	(	PUNCT
alkej-116	195	31	fig	fig	NOUN
alkej-116	195	32	.	.	PUNCT
alkej-116	195	33	4	4	NUM
alkej-116	195	34	)	)	PUNCT
alkej-116	195	35	.	.	PUNCT
alkej-116	196	1	the	the	DET
alkej-116	196	2	normal	normal	ADJ
alkej-116	196	3	lspb	lspb	NOUN
alkej-116	196	4	trajectory	trajectory	NOUN
alkej-116	196	5	is	be	AUX
alkej-116	196	6	shifted	shift	VERB
alkej-116	196	7	while	while	SCONJ
alkej-116	196	8	the	the	DET
alkej-116	196	9	modified	modified	NOUN
alkej-116	196	10	is	be	AUX
alkej-116	196	11	equally	equally	ADV
alkej-116	196	12	spaced	space	VERB
alkej-116	196	13	about	about	ADP
alkej-116	196	14	through	through	ADP
alkej-116	196	15	points	point	NOUN
alkej-116	196	16	.	.	PUNCT
alkej-116	197	1	a	a	DET
alkej-116	197	2	comparison	comparison	NOUN
alkej-116	197	3	of	of	ADP
alkej-116	197	4	linear	linear	ADJ
alkej-116	197	5	part	part	NOUN
alkej-116	197	6	velocities	velocity	NOUN
alkej-116	197	7	is	be	AUX
alkej-116	197	8	presented	present	VERB
alkej-116	197	9	in	in	ADP
alkej-116	197	10	table	table	NOUN
alkej-116	197	11	1	1	NUM
alkej-116	197	12	for	for	ADP
alkej-116	197	13	50	50	NUM
alkej-116	197	14	degrees	degree	NOUN
alkej-116	197	15	/	/	SYM
alkej-116	197	16	second2	second2	NOUN
alkej-116	197	17	acceleration	acceleration	NOUN
alkej-116	197	18	between	between	ADP
alkej-116	197	19	normal	normal	ADJ
alkej-116	197	20	lspb	lspb	NOUN
alkej-116	197	21	,	,	PUNCT
alkej-116	197	22	modified	modify	VERB
alkej-116	197	23	lspb	lspb	NOUN
alkej-116	197	24	with	with	ADP
alkej-116	197	25	velocity	velocity	NOUN
alkej-116	197	26	correction	correction	NOUN
alkej-116	197	27	,	,	PUNCT
alkej-116	197	28	and	and	CCONJ
alkej-116	197	29	optimum	optimum	ADJ
alkej-116	197	30	modified	modify	VERB
alkej-116	197	31	lspb	lspb	NOUN
alkej-116	197	32	(	(	PUNCT
alkej-116	197	33	section	section	NOUN
alkej-116	197	34	4.3	4.3	NUM
alkej-116	197	35	)	)	PUNCT
alkej-116	197	36	.	.	PUNCT
alkej-116	198	1	it	it	PRON
alkej-116	198	2	is	be	AUX
alkej-116	198	3	clear	clear	ADJ
alkej-116	198	4	that	that	SCONJ
alkej-116	198	5	modified	modify	VERB
alkej-116	198	6	lspb	lspb	NOUN
alkej-116	198	7	with	with	ADP
alkej-116	198	8	velocity	velocity	NOUN
alkej-116	198	9	correction	correction	NOUN
alkej-116	198	10	is	be	AUX
alkej-116	198	11	better	well	ADJ
alkej-116	198	12	choice	choice	NOUN
alkej-116	198	13	as	as	ADP
alkej-116	198	14	initial	initial	ADJ
alkej-116	198	15	velocity	velocity	NOUN
alkej-116	198	16	to	to	PART
alkej-116	198	17	begin	begin	VERB
alkej-116	198	18	the	the	DET
alkej-116	198	19	optimization	optimization	NOUN
alkej-116	198	20	process	process	NOUN
alkej-116	198	21	.	.	PUNCT
alkej-116	199	1	a	a	DET
alkej-116	199	2	range	range	NOUN
alkej-116	199	3	between	between	ADP
alkej-116	199	4	0.9	0.9	NUM
alkej-116	199	5	to	to	ADP
alkej-116	199	6	1.2	1.2	NUM
alkej-116	199	7	of	of	ADP
alkej-116	199	8	these	these	DET
alkej-116	199	9	later	later	ADV
alkej-116	199	10	calculated	calculate	VERB
alkej-116	199	11	velocities	velocity	NOUN
alkej-116	199	12	is	be	AUX
alkej-116	199	13	used	use	VERB
alkej-116	199	14	as	as	ADP
alkej-116	199	15	initial	initial	ADJ
alkej-116	199	16	value	value	NOUN
alkej-116	199	17	for	for	ADP
alkej-116	199	18	the	the	DET
alkej-116	199	19	optimization	optimization	NOUN
alkej-116	199	20	.	.	PUNCT
alkej-116	200	1	this	this	PRON
alkej-116	200	2	will	will	AUX
alkej-116	200	3	reduce	reduce	VERB
alkej-116	200	4	the	the	DET
alkej-116	200	5	number	number	NOUN
alkej-116	200	6	of	of	ADP
alkej-116	200	7	iterations	iteration	NOUN
alkej-116	200	8	to	to	PART
alkej-116	200	9	reach	reach	VERB
alkej-116	200	10	optimum	optimum	ADJ
alkej-116	200	11	solution	solution	NOUN
alkej-116	200	12	.	.	PUNCT
alkej-116	201	1	pso	pso	NOUN
alkej-116	201	2	is	be	AUX
alkej-116	201	3	used	use	VERB
alkej-116	201	4	to	to	PART
alkej-116	201	5	generate	generate	VERB
alkej-116	201	6	optimal	optimal	ADJ
alkej-116	201	7	linear	linear	ADJ
alkej-116	201	8	velocities	velocity	NOUN
alkej-116	201	9	for	for	ADP
alkej-116	201	10	the	the	DET
alkej-116	201	11	linear	linear	ADJ
alkej-116	201	12	parts	part	NOUN
alkej-116	201	13	.	.	PUNCT
alkej-116	202	1	in	in	ADP
alkej-116	202	2	fact	fact	NOUN
alkej-116	202	3	,	,	PUNCT
alkej-116	202	4	that	that	SCONJ
alkej-116	202	5	increasing	increase	VERB
alkej-116	202	6	the	the	DET
alkej-116	202	7	velocities	velocity	NOUN
alkej-116	202	8	of	of	ADP
alkej-116	202	9	the	the	DET
alkej-116	202	10	linear	linear	ADJ
alkej-116	202	11	portions	portion	NOUN
alkej-116	202	12	will	will	AUX
alkej-116	202	13	compensate	compensate	VERB
alkej-116	202	14	the	the	DET
alkej-116	202	15	error	error	NOUN
alkej-116	202	16	resulted	result	VERB
alkej-116	202	17	from	from	ADP
alkej-116	202	18	inserting	insert	VERB
alkej-116	202	19	parabolic	parabolic	ADJ
alkej-116	202	20	region	region	NOUN
alkej-116	202	21	in	in	ADP
alkej-116	202	22	the	the	DET
alkej-116	202	23	path	path	NOUN
alkej-116	202	24	between	between	ADP
alkej-116	202	25	two	two	NUM
alkej-116	202	26	neighboring	neighbor	VERB
alkej-116	202	27	through	through	ADP
alkej-116	202	28	points	point	NOUN
alkej-116	202	29	.	.	PUNCT
alkej-116	203	1	figure	figure	NOUN
alkej-116	203	2	5	5	NUM
alkej-116	203	3	shows	show	VERB
alkej-116	203	4	comparison	comparison	NOUN
alkej-116	203	5	between	between	ADP
alkej-116	203	6	the	the	DET
alkej-116	203	7	normal	normal	ADJ
alkej-116	203	8	and	and	CCONJ
alkej-116	203	9	modified	modify	VERB
alkej-116	203	10	lspb	lspb	NOUN
alkej-116	203	11	trajectories	trajectory	NOUN
alkej-116	203	12	using	use	VERB
alkej-116	203	13	pso	pso	NOUN
alkej-116	203	14	method	method	NOUN
alkej-116	203	15	.	.	PUNCT
alkej-116	204	1	the	the	DET
alkej-116	204	2	normal	normal	ADJ
alkej-116	204	3	lspb	lspb	NOUN
alkej-116	204	4	trajectory	trajectory	NOUN
alkej-116	204	5	deviates	deviate	VERB
alkej-116	204	6	from	from	ADP
alkej-116	204	7	the	the	DET
alkej-116	204	8	through	through	ADP
alkej-116	204	9	points	point	NOUN
alkej-116	204	10	,	,	PUNCT
alkej-116	204	11	while	while	SCONJ
alkej-116	204	12	the	the	DET
alkej-116	204	13	engagement	engagement	NOUN
alkej-116	204	14	of	of	ADP
alkej-116	204	15	modified	modify	VERB
alkej-116	204	16	lspb	lspb	NOUN
alkej-116	204	17	with	with	ADP
alkej-116	204	18	pso	pso	NOUN
alkej-116	204	19	(	(	PUNCT
alkej-116	204	20	proposed	propose	VERB
alkej-116	204	21	method	method	NOUN
alkej-116	204	22	in	in	ADP
alkej-116	204	23	section	section	NOUN
alkej-116	204	24	4.3	4.3	NUM
alkej-116	204	25	)	)	PUNCT
alkej-116	204	26	passes	pass	VERB
alkej-116	204	27	into	into	ADP
alkej-116	204	28	them	they	PRON
alkej-116	204	29	.	.	PUNCT
alkej-116	205	1	in	in	ADP
alkej-116	205	2	the	the	DET
alkej-116	205	3	normal	normal	ADJ
alkej-116	205	4	lspb	lspb	NOUN
alkej-116	205	5	method	method	NOUN
alkej-116	205	6	,	,	PUNCT
alkej-116	205	7	it	it	PRON
alkej-116	205	8	is	be	AUX
alkej-116	205	9	restricted	restrict	VERB
alkej-116	205	10	to	to	PART
alkej-116	205	11	use	use	VERB
alkej-116	205	12	acceleration	acceleration	NOUN
alkej-116	205	13	's	's	PART
alkej-116	205	14	value	value	NOUN
alkej-116	205	15	higher	high	ADJ
alkej-116	205	16	than	than	ADP
alkej-116	205	17	40	40	NUM
alkej-116	205	18	degrees	degree	NOUN
alkej-116	205	19	/	/	SYM
alkej-116	205	20	second2	second2	NOUN
alkej-116	206	1	[	[	X
alkej-116	206	2	2	2	NUM
alkej-116	206	3	]	]	PUNCT
alkej-116	206	4	.	.	PUNCT
alkej-116	207	1	figure	figure	NOUN
alkej-116	207	2	6	6	NUM
alkej-116	207	3	shows	show	VERB
alkej-116	207	4	results	result	NOUN
alkej-116	207	5	of	of	ADP
alkej-116	207	6	proposed	propose	VERB
alkej-116	207	7	method	method	NOUN
alkej-116	207	8	for	for	ADP
alkej-116	207	9	the	the	DET
alkej-116	207	10	two	two	NUM
alkej-116	207	11	acceleration	acceleration	NOUN
alkej-116	207	12	values	value	NOUN
alkej-116	207	13	using	use	VERB
alkej-116	207	14	pso	pso	NOUN
alkej-116	207	15	.	.	PUNCT
alkej-116	208	1	the	the	DET
alkej-116	208	2	results	result	NOUN
alkej-116	208	3	of	of	ADP
alkej-116	208	4	comparison	comparison	NOUN
alkej-116	208	5	are	be	AUX
alkej-116	208	6	presented	present	VERB
alkej-116	208	7	in	in	ADP
alkej-116	208	8	table	table	NOUN
alkej-116	208	9	2	2	NUM
alkej-116	208	10	for	for	ADP
alkej-116	208	11	different	different	ADJ
alkej-116	208	12	acceleration	acceleration	NOUN
alkej-116	208	13	values	value	NOUN
alkej-116	208	14	.	.	PUNCT
alkej-116	209	1	acceleration	acceleration	NOUN
alkej-116	209	2	values	value	NOUN
alkej-116	209	3	are	be	AUX
alkej-116	209	4	:	:	PUNCT
alkej-116	209	5	30	30	NUM
alkej-116	209	6	,	,	PUNCT
alkej-116	209	7	50	50	NUM
alkej-116	209	8	,	,	PUNCT
alkej-116	209	9	70	70	NUM
alkej-116	209	10	degrees	degree	NOUN
alkej-116	209	11	/	/	SYM
alkej-116	209	12	second2	second2	NOUN
alkej-116	209	13	.	.	PUNCT
alkej-116	210	1	fig	fig	NOUN
alkej-116	210	2	.	.	PUNCT
alkej-116	211	1	4	4	X
alkej-116	211	2	.	.	X
alkej-116	211	3	trajectories	trajectory	NOUN
alkej-116	211	4	of	of	ADP
alkej-116	211	5	normal	normal	ADJ
alkej-116	211	6	and	and	CCONJ
alkej-116	211	7	modified	modify	VERB
alkej-116	211	8	lspb	lspb	NOUN
alkej-116	211	9	table	table	NOUN
alkej-116	211	10	1	1	NUM
alkej-116	211	11	,	,	PUNCT
alkej-116	211	12	comparision	comparision	NOUN
alkej-116	211	13	of	of	ADP
alkej-116	211	14	linear	linear	ADJ
alkej-116	211	15	velocities	velocity	NOUN
alkej-116	211	16	.	.	PUNCT
alkej-116	212	1	method	method	NOUN
alkej-116	212	2	velocity	velocity	NOUN
alkej-116	212	3	normal	normal	ADJ
alkej-116	212	4	lspb	lspb	NOUN
alkej-116	212	5	(	(	PUNCT
alkej-116	212	6	eqs.1	eqs.1	NOUN
alkej-116	212	7	-	-	PUNCT
alkej-116	212	8	3	3	NUM
alkej-116	212	9	)	)	PUNCT
alkej-116	212	10	modified	modify	VERB
alkej-116	212	11	lspb	lspb	NOUN
alkej-116	212	12	&	&	CCONJ
alkej-116	212	13	velocity	velocity	PROPN
alkej-116	212	14	correction	correction	NOUN
alkej-116	212	15	(	(	PUNCT
alkej-116	212	16	eqs	eqs	X
alkej-116	212	17	.	.	PROPN
alkej-116	212	18	7	7	NUM
alkej-116	212	19	-	-	NUM
alkej-116	212	20	9&14	9&14	NUM
alkej-116	212	21	)	)	PUNCT
alkej-116	212	22	modified	modify	VERB
alkej-116	212	23	lspb	lspb	NOUN
alkej-116	212	24	&	&	CCONJ
alkej-116	212	25	pso	pso	PROPN
alkej-116	212	26	(	(	PUNCT
alkej-116	212	27	eqs	eqs	X
alkej-116	212	28	.	.	PROPN
alkej-116	212	29	7	7	NUM
alkej-116	212	30	-	-	SYM
alkej-116	212	31	9	9	NUM
alkej-116	212	32	)	)	PUNCT
alkej-116	212	33	&	&	CCONJ
alkej-116	212	34	(	(	PUNCT
alkej-116	212	35	eqs	eqs	X
alkej-116	212	36	.	.	PROPN
alkej-116	212	37	14	14	NUM
alkej-116	212	38	,	,	PUNCT
alkej-116	212	39	1624	1624	NUM
alkej-116	212	40	)	)	PUNCT
alkej-116	212	41	12θ	12θ	PROPN
alkej-116	212	42	&	&	CCONJ
alkej-116	212	43	(	(	PUNCT
alkej-116	212	44	deg	deg	PROPN
alkej-116	212	45	/	/	SYM
alkej-116	212	46	sec	sec	PROPN
alkej-116	212	47	)	)	PUNCT
alkej-116	212	48	13.3975	13.3975	NUM
alkej-116	212	49	14.3854	14.3854	NUM
alkej-116	212	50	14.6446	14.6446	NUM
alkej-116	212	51	23θ	23θ	NOUN
alkej-116	212	52	&	&	CCONJ
alkej-116	212	53	(	(	PUNCT
alkej-116	212	54	deg	deg	PROPN
alkej-116	212	55	/	/	SYM
alkej-116	212	56	sec	sec	PROPN
alkej-116	212	57	)	)	PUNCT
alkej-116	212	58	-10.0000	-10.0000	NUM
alkej-116	212	59	-11.8111	-11.8111	SYM
alkej-116	212	60	-11.5306	-11.5306	PUNCT
alkej-116	212	61	34θ	34θ	PROPN
alkej-116	212	62	&	&	CCONJ
alkej-116	212	63	(	(	PUNCT
alkej-116	212	64	deg	deg	PROPN
alkej-116	212	65	/	/	SYM
alkej-116	212	66	sec	sec	PROPN
alkej-116	212	67	)	)	PUNCT
alkej-116	212	68	-5.0862	-5.0862	NOUN
alkej-116	212	69	-5.1090	-5.1090	PROPN
alkej-116	212	70	-5.0728	-5.0728	NOUN
alkej-116	212	71	t1	t1	PROPN
alkej-116	212	72	(	(	PUNCT
alkej-116	212	73	sec	sec	PROPN
alkej-116	212	74	)	)	PUNCT
alkej-116	212	75	0.2679	0.2679	NUM
alkej-116	212	76	0.2877	0.2877	NUM
alkej-116	212	77	0.2929	0.2929	NUM
alkej-116	212	78	the	the	DET
alkej-116	212	79	error	error	NOUN
alkej-116	212	80	at	at	ADP
alkej-116	212	81	through	through	ADP
alkej-116	212	82	points	point	NOUN
alkej-116	212	83	is	be	AUX
alkej-116	212	84	reduced	reduce	VERB
alkej-116	212	85	for	for	ADP
alkej-116	212	86	the	the	DET
alkej-116	212	87	cases	case	NOUN
alkej-116	212	88	of	of	ADP
alkej-116	212	89	proposed	propose	VERB
alkej-116	212	90	method	method	NOUN
alkej-116	212	91	.	.	PUNCT
alkej-116	213	1	the	the	DET
alkej-116	213	2	error	error	NOUN
alkej-116	213	3	at	at	ADP
alkej-116	213	4	point	point	NOUN
alkej-116	213	5	2	2	NUM
alkej-116	213	6	is	be	AUX
alkej-116	213	7	zero	zero	NUM
alkej-116	213	8	because	because	SCONJ
alkej-116	213	9	of	of	ADP
alkej-116	213	10	using	use	VERB
alkej-116	213	11	the	the	DET
alkej-116	213	12	exact	exact	ADJ
alkej-116	213	13	velocity	velocity	NOUN
alkej-116	213	14	solution	solution	NOUN
alkej-116	213	15	(	(	PUNCT
alkej-116	213	16	equation	equation	NOUN
alkej-116	213	17	(	(	PUNCT
alkej-116	213	18	16	16	NUM
alkej-116	213	19	)	)	PUNCT
alkej-116	213	20	)	)	PUNCT
alkej-116	213	21	.	.	PUNCT
alkej-116	214	1	the	the	DET
alkej-116	214	2	error	error	NOUN
alkej-116	214	3	at	at	ADP
alkej-116	214	4	point	point	NOUN
alkej-116	214	5	3	3	NUM
alkej-116	214	6	is	be	AUX
alkej-116	214	7	0.2916∙1012	0.2916∙1012	NUM
alkej-116	214	8	,	,	PUNCT
alkej-116	214	9	0.3588∙10	0.3588∙10	NOUN
alkej-116	214	10	-	-	SYM
alkej-116	214	11	12	12	NUM
alkej-116	214	12	,	,	PUNCT
alkej-116	214	13	and	and	CCONJ
alkej-116	214	14	0.0107∙10	0.0107∙10	PROPN
alkej-116	214	15	-	-	PUNCT
alkej-116	214	16	12	12	NUM
alkej-116	214	17	degree	degree	NOUN
alkej-116	214	18	for	for	ADP
alkej-116	214	19	accelerations	acceleration	NOUN
alkej-116	214	20	30	30	NUM
alkej-116	214	21	,	,	PUNCT
alkej-116	214	22	50	50	NUM
alkej-116	214	23	,	,	PUNCT
alkej-116	214	24	and	and	CCONJ
alkej-116	214	25	70	70	NUM
alkej-116	214	26	degrees	degree	NOUN
alkej-116	214	27	/	/	SYM
alkej-116	214	28	second2	second2	NOUN
alkej-116	214	29	;	;	PUNCT
alkej-116	214	30	respectively	respectively	ADV
alkej-116	214	31	.	.	PUNCT
alkej-116	215	1	optimal	optimal	ADJ
alkej-116	215	2	velocities	velocity	NOUN
alkej-116	215	3	'	'	PART
alkej-116	215	4	value	value	NOUN
alkej-116	215	5	are	be	AUX
alkej-116	215	6	presented	present	VERB
alkej-116	215	7	in	in	ADP
alkej-116	215	8	table	table	NOUN
alkej-116	215	9	3	3	NUM
alkej-116	215	10	.	.	NOUN
alkej-116	215	11	0	0	NUM
alkej-116	215	12	1	1	NUM
alkej-116	215	13	2	2	NUM
alkej-116	215	14	3	3	NUM
alkej-116	215	15	4	4	NUM
alkej-116	215	16	5	5	NUM
alkej-116	215	17	6	6	NUM
alkej-116	215	18	10	10	NUM
alkej-116	215	19	15	15	NUM
alkej-116	215	20	20	20	NUM
alkej-116	215	21	25	25	NUM
alkej-116	215	22	30	30	NUM
alkej-116	215	23	35	35	NUM
alkej-116	215	24	40	40	NUM
alkej-116	215	25	time	time	NOUN
alkej-116	215	26	(	(	PUNCT
alkej-116	215	27	sec	sec	PROPN
alkej-116	215	28	)	)	PUNCT
alkej-116	216	1	p	p	X
alkej-116	217	1	o	o	NOUN
alkej-116	217	2	si	si	X
alkej-116	217	3	ti	ti	X
alkej-116	217	4	o	o	NOUN
alkej-116	217	5	n	n	PROPN
alkej-116	217	6	(	(	PUNCT
alkej-116	217	7	d	d	X
alkej-116	217	8	eg	eg	X
alkej-116	217	9	re	re	NOUN
alkej-116	217	10	e	e	NOUN
alkej-116	217	11	)	)	PUNCT
alkej-116	217	12	through	through	ADP
alkej-116	217	13	point	point	NOUN
alkej-116	217	14	normal	normal	ADJ
alkej-116	217	15	modified	modify	VERB
alkej-116	217	16	1.8	1.8	NUM
alkej-116	217	17	1.9	1.9	NUM
alkej-116	217	18	2	2	NUM
alkej-116	217	19	2.1	2.1	NUM
alkej-116	217	20	2.2	2.2	NUM
alkej-116	217	21	2.3	2.3	NUM
alkej-116	217	22	33	33	NUM
alkej-116	217	23	34	34	NUM
alkej-116	217	24	35	35	NUM
alkej-116	217	25	saad	saad	PROPN
alkej-116	217	26	zaghlul	zaghlul	PROPN
alkej-116	217	27	saeed	saeed	PROPN
alkej-116	217	28	al	al	PROPN
alkej-116	217	29	-	-	PUNCT
alkej-116	217	30	khwarizmi	khwarizmi	PROPN
alkej-116	217	31	engineering	engineering	NOUN
alkej-116	217	32	journal	journal	PROPN
alkej-116	217	33	,	,	PUNCT
alkej-116	217	34	vol	vol	NOUN
alkej-116	217	35	.	.	PROPN
alkej-116	218	1	14	14	NUM
alkej-116	218	2	,	,	PUNCT
alkej-116	218	3	no	no	INTJ
alkej-116	218	4	.	.	NOUN
alkej-116	218	5	1	1	NUM
alkej-116	218	6	,	,	PUNCT
alkej-116	218	7	p.p	p.p	PROPN
alkej-116	218	8	.	.	NOUN
alkej-116	218	9	7789	7789	NUM
alkej-116	218	10	(	(	PUNCT
alkej-116	218	11	2018	2018	NUM
alkej-116	218	12	)	)	PUNCT
alkej-116	218	13	84	84	NUM
alkej-116	218	14	table	table	NOUN
alkej-116	218	15	2	2	NUM
alkej-116	218	16	,	,	PUNCT
alkej-116	218	17	comparison	comparison	NOUN
alkej-116	218	18	of	of	ADP
alkej-116	218	19	error	error	NOUN
alkej-116	218	20	at	at	ADP
alkej-116	218	21	through	through	ADP
alkej-116	218	22	points	point	NOUN
alkej-116	218	23	between	between	ADP
alkej-116	218	24	normal	normal	ADJ
alkej-116	218	25	and	and	CCONJ
alkej-116	218	26	modified	modify	VERB
alkej-116	218	27	lspb	lspb	NOUN
alkej-116	218	28	using	use	VERB
alkej-116	218	29	pso	pso	NOUN
alkej-116	218	30	.	.	PUNCT
alkej-116	219	1	case	case	NOUN
alkej-116	219	2	acceleration	acceleration	NOUN
alkej-116	219	3	(	(	PUNCT
alkej-116	219	4	deg	deg	NOUN
alkej-116	219	5	/	/	SYM
alkej-116	219	6	sec2	sec2	PROPN
alkej-116	219	7	)	)	PUNCT
alkej-116	219	8	e2	e2	PROPN
alkej-116	219	9	(	(	PUNCT
alkej-116	219	10	deg	deg	PROPN
alkej-116	219	11	)	)	PUNCT
alkej-116	219	12	e3	e3	PROPN
alkej-116	219	13	(	(	PUNCT
alkej-116	219	14	deg	deg	NOUN
alkej-116	219	15	)	)	PUNCT
alkej-116	219	16	e4	e4	PROPN
alkej-116	219	17	(	(	PUNCT
alkej-116	219	18	deg	deg	ADJ
alkej-116	219	19	)	)	PUNCT
alkej-116	219	20	normal	normal	ADJ
alkej-116	219	21	lspb	lspb	NOUN
alkej-116	219	22	(	(	PUNCT
alkej-116	219	23	eqs.1	eqs.1	NOUN
alkej-116	219	24	-	-	PUNCT
alkej-116	219	25	3	3	NUM
alkej-116	219	26	)	)	PUNCT
alkej-116	219	27	&	&	CCONJ
alkej-116	219	28	pso	pso	PROPN
alkej-116	219	29	(	(	PUNCT
alkej-116	219	30	eqs	eqs	PROPN
alkej-116	219	31	.	.	PROPN
alkej-116	219	32	17	17	NUM
alkej-116	219	33	-	-	SYM
alkej-116	219	34	22	22	NUM
alkej-116	219	35	)	)	PUNCT
alkej-116	219	36	30	30	NUM
alkej-116	219	37	0.7919	0.7919	NUM
alkej-116	219	38	0.9480	0.9480	NUM
alkej-116	219	39	0.6877	0.6877	NUM
alkej-116	219	40	50	50	NUM
alkej-116	219	41	0.3785	0.3785	NUM
alkej-116	219	42	0.5844	0.5844	NUM
alkej-116	219	43	0.5021	0.5021	NUM
alkej-116	219	44	70	70	NUM
alkej-116	219	45	0.2539	0.2539	NUM
alkej-116	219	46	0.4010	0.4010	NUM
alkej-116	219	47	0.3431	0.3431	NUM
alkej-116	219	48	proposed	propose	VERB
alkej-116	219	49	method	method	NOUN
alkej-116	219	50	(	(	PUNCT
alkej-116	219	51	eqs	eqs	X
alkej-116	219	52	.	.	PROPN
alkej-116	219	53	7	7	NUM
alkej-116	219	54	-	-	SYM
alkej-116	219	55	9	9	NUM
alkej-116	219	56	&	&	CCONJ
alkej-116	219	57	eqs	eqs	PROPN
alkej-116	219	58	.	.	PROPN
alkej-116	219	59	14	14	NUM
alkej-116	219	60	,	,	PUNCT
alkej-116	219	61	16	16	NUM
alkej-116	219	62	-	-	SYM
alkej-116	219	63	24	24	NUM
alkej-116	219	64	)	)	PUNCT
alkej-116	219	65	30	30	NUM
alkej-116	220	1	0.0003∙10	0.0003∙10	NUM
alkej-116	220	2	-	-	PUNCT
alkej-116	220	3	12	12	NUM
alkej-116	220	4	0.2916∙10	0.2916∙10	NUM
alkej-116	220	5	-	-	SYM
alkej-116	220	6	12	12	NUM
alkej-116	220	7	0.3038∙10	0.3038∙10	PROPN
alkej-116	220	8	-	-	PUNCT
alkej-116	220	9	12	12	NUM
alkej-116	220	10	50	50	NUM
alkej-116	220	11	0.0002∙10	0.0002∙10	PROPN
alkej-116	220	12	-	-	SYM
alkej-116	220	13	12	12	NUM
alkej-116	220	14	0.3588∙10	0.3588∙10	NUM
alkej-116	220	15	-	-	SYM
alkej-116	220	16	12	12	NUM
alkej-116	220	17	0.5524∙10	0.5524∙10	PROPN
alkej-116	220	18	-	-	SYM
alkej-116	220	19	12	12	NUM
alkej-116	220	20	70	70	NUM
alkej-116	220	21	0.0001∙10	0.0001∙10	NUM
alkej-116	220	22	-	-	PUNCT
alkej-116	220	23	12	12	NUM
alkej-116	220	24	0.0107∙10	0.0107∙10	PROPN
alkej-116	220	25	-	-	PUNCT
alkej-116	220	26	12	12	NUM
alkej-116	220	27	0.5240∙10	0.5240∙10	NUM
alkej-116	220	28	-	-	SYM
alkej-116	220	29	12	12	NUM
alkej-116	220	30	fig	fig	NOUN
alkej-116	220	31	.	.	PUNCT
alkej-116	221	1	5	5	NUM
alkej-116	221	2	.	.	X
alkej-116	221	3	comparison	comparison	NOUN
alkej-116	221	4	between	between	ADP
alkej-116	221	5	normal	normal	ADJ
alkej-116	221	6	and	and	CCONJ
alkej-116	221	7	modified	modify	VERB
alkej-116	221	8	lspb	lspb	NOUN
alkej-116	221	9	trajectory	trajectory	NOUN
alkej-116	221	10	using	use	VERB
alkej-116	221	11	pso	pso	NOUN
alkej-116	221	12	.	.	PUNCT
alkej-116	222	1	0	0	NUM
alkej-116	223	1	1	1	NUM
alkej-116	223	2	2	2	NUM
alkej-116	223	3	3	3	NUM
alkej-116	223	4	4	4	NUM
alkej-116	223	5	5	5	NUM
alkej-116	223	6	6	6	NUM
alkej-116	223	7	10	10	NUM
alkej-116	223	8	15	15	NUM
alkej-116	223	9	20	20	NUM
alkej-116	223	10	25	25	NUM
alkej-116	223	11	30	30	NUM
alkej-116	223	12	35	35	NUM
alkej-116	223	13	40	40	NUM
alkej-116	223	14	time	time	NOUN
alkej-116	223	15	(	(	PUNCT
alkej-116	223	16	sec	sec	PROPN
alkej-116	223	17	)	)	PUNCT
alkej-116	223	18	p	p	X
alkej-116	223	19	o	o	NOUN
alkej-116	223	20	si	si	X
alkej-116	223	21	ti	ti	X
alkej-116	223	22	o	o	NOUN
alkej-116	223	23	n	n	PROPN
alkej-116	223	24	(	(	PUNCT
alkej-116	223	25	d	d	X
alkej-116	223	26	e	e	X
alkej-116	223	27	g	g	NOUN
alkej-116	223	28	re	re	X
alkej-116	223	29	e	e	NOUN
alkej-116	223	30	)	)	PUNCT
alkej-116	223	31	through	through	ADP
alkej-116	223	32	point	point	NOUN
alkej-116	223	33	acceleration=50	acceleration=50	ADJ
alkej-116	223	34	acceleration=30	acceleration=30	PROPN
alkej-116	223	35	fig	fig	PROPN
alkej-116	223	36	.	.	PUNCT
alkej-116	224	1	6	6	X
alkej-116	224	2	.	.	PUNCT
alkej-116	225	1	trajectories	trajectory	NOUN
alkej-116	225	2	obtained	obtain	VERB
alkej-116	225	3	by	by	ADP
alkej-116	225	4	proposed	propose	VERB
alkej-116	225	5	method	method	NOUN
alkej-116	225	6	.	.	PUNCT
alkej-116	225	7	table	table	NOUN
alkej-116	225	8	3	3	NUM
alkej-116	225	9	,	,	PUNCT
alkej-116	225	10	optimal	optimal	ADJ
alkej-116	225	11	values	value	NOUN
alkej-116	225	12	obtained	obtain	VERB
alkej-116	225	13	by	by	ADP
alkej-116	225	14	proposed	propose	VERB
alkej-116	225	15	method	method	NOUN
alkej-116	225	16	.	.	PUNCT
alkej-116	226	1	variable	variable	ADJ
alkej-116	226	2	acceleration	acceleration	NOUN
alkej-116	226	3	(	(	PUNCT
alkej-116	226	4	deg	deg	NOUN
alkej-116	226	5	/	/	SYM
alkej-116	226	6	sec2	sec2	PROPN
alkej-116	226	7	)	)	PUNCT
alkej-116	226	8	30	30	NUM
alkej-116	226	9	50	50	NUM
alkej-116	226	10	70	70	NUM
alkej-116	226	11	12θ	12θ	PROPN
alkej-116	226	12	&	&	CCONJ
alkej-116	226	13	(	(	PUNCT
alkej-116	226	14	deg	deg	PROPN
alkej-116	226	15	/	/	SYM
alkej-116	226	16	sec	sec	PROPN
alkej-116	226	17	)	)	PUNCT
alkej-116	226	18	17.7526	17.7526	NUM
alkej-116	226	19	14.6446	14.6446	NUM
alkej-116	226	20	13.8751	13.8751	NUM
alkej-116	226	21	23θ	23θ	NOUN
alkej-116	226	22	&	&	CCONJ
alkej-116	226	23	(	(	PUNCT
alkej-116	226	24	deg	deg	PROPN
alkej-116	226	25	/	/	SYM
alkej-116	226	26	sec	sec	PROPN
alkej-116	226	27	)	)	PUNCT
alkej-116	226	28	-13.9218	-13.9218	NUM
alkej-116	226	29	-11.5307	-11.5307	NUM
alkej-116	226	30	-10.9786	-10.9786	NUM
alkej-116	226	31	34θ	34θ	PROPN
alkej-116	226	32	&	&	CCONJ
alkej-116	226	33	deg	deg	PROPN
alkej-116	226	34	/	/	SYM
alkej-116	226	35	sec	sec	PROPN
alkej-116	226	36	)	)	PUNCT
alkej-116	226	37	-5.1142	-5.1142	ADJ
alkej-116	226	38	-5.0728	-5.0728	NOUN
alkej-116	226	39	-5.0525	-5.0525	PROPN
alkej-116	227	1	t1	t1	PROPN
alkej-116	227	2	(	(	PUNCT
alkej-116	227	3	sec	sec	PROPN
alkej-116	227	4	)	)	PUNCT
alkej-116	227	5	0.5918	0.5918	NUM
alkej-116	227	6	0.2929	0.2929	NUM
alkej-116	227	7	0.1982	0.1982	NUM
alkej-116	227	8	the	the	DET
alkej-116	227	9	run	run	NOUN
alkej-116	227	10	execution	execution	NOUN
alkej-116	227	11	time	time	NOUN
alkej-116	227	12	is	be	AUX
alkej-116	227	13	found	find	VERB
alkej-116	227	14	to	to	PART
alkej-116	227	15	be	be	AUX
alkej-116	227	16	about	about	ADV
alkej-116	227	17	5.4	5.4	NUM
alkej-116	227	18	%	%	NOUN
alkej-116	227	19	of	of	ADP
alkej-116	227	20	the	the	DET
alkej-116	227	21	first	first	ADJ
alkej-116	227	22	parabolic	parabolic	ADJ
alkej-116	227	23	portion	portion	NOUN
alkej-116	227	24	(	(	PUNCT
alkej-116	227	25	0.2929	0.2929	NUM
alkej-116	227	26	seconds	second	NOUN
alkej-116	227	27	)	)	PUNCT
alkej-116	227	28	for	for	ADP
alkej-116	227	29	the	the	DET
alkej-116	227	30	50	50	NUM
alkej-116	227	31	degrees	degree	NOUN
alkej-116	227	32	/	/	SYM
alkej-116	227	33	second2	second2	NOUN
alkej-116	227	34	acceleration	acceleration	NOUN
alkej-116	227	35	.	.	PUNCT
alkej-116	228	1	this	this	DET
alkej-116	228	2	value	value	NOUN
alkej-116	228	3	is	be	AUX
alkej-116	228	4	enough	enough	ADJ
alkej-116	228	5	to	to	PART
alkej-116	228	6	generate	generate	VERB
alkej-116	228	7	trajectory	trajectory	NOUN
alkej-116	228	8	of	of	ADP
alkej-116	228	9	desired	desire	VERB
alkej-116	228	10	path	path	NOUN
alkej-116	228	11	by	by	ADP
alkej-116	228	12	using	use	VERB
alkej-116	228	13	the	the	DET
alkej-116	228	14	algorithm	algorithm	NOUN
alkej-116	228	15	of	of	ADP
alkej-116	228	16	the	the	DET
alkej-116	228	17	proposed	propose	VERB
alkej-116	228	18	method	method	NOUN
alkej-116	228	19	for	for	ADP
alkej-116	228	20	on	on	ADP
alkej-116	228	21	-	-	PUNCT
alkej-116	228	22	line	line	NOUN
alkej-116	228	23	path	path	NOUN
alkej-116	228	24	planning	planning	NOUN
alkej-116	228	25	.	.	PUNCT
alkej-116	229	1	point	point	NOUN
alkej-116	229	2	to	to	PART
alkej-116	229	3	point	point	VERB
alkej-116	229	4	position	position	NOUN
alkej-116	229	5	trajectory	trajectory	NOUN
alkej-116	229	6	is	be	AUX
alkej-116	229	7	simulated	simulate	VERB
alkej-116	229	8	for	for	ADP
alkej-116	229	9	two	two	NUM
alkej-116	229	10	-	-	PUNCT
alkej-116	229	11	link	link	NOUN
alkej-116	229	12	planar	planar	ADJ
alkej-116	229	13	robot	robot	NOUN
alkej-116	229	14	manipulator	manipulator	NOUN
alkej-116	229	15	(	(	PUNCT
alkej-116	229	16	fig	fig	NOUN
alkej-116	229	17	.	.	PUNCT
alkej-116	230	1	7	7	NUM
alkej-116	230	2	)	)	PUNCT
alkej-116	230	3	.	.	PUNCT
alkej-116	231	1	it	it	PRON
alkej-116	231	2	has	have	VERB
alkej-116	231	3	revolute	revolute	ADJ
alkej-116	231	4	joints	joint	NOUN
alkej-116	231	5	.	.	PUNCT
alkej-116	232	1	the	the	DET
alkej-116	232	2	masses	masse	NOUN
alkej-116	232	3	m1	m1	PROPN
alkej-116	232	4	and	and	CCONJ
alkej-116	232	5	m2	m2	PROPN
alkej-116	232	6	are	be	AUX
alkej-116	232	7	assumed	assume	VERB
alkej-116	232	8	to	to	PART
alkej-116	232	9	be	be	AUX
alkej-116	232	10	concentrated	concentrate	VERB
alkej-116	232	11	at	at	ADP
alkej-116	232	12	the	the	DET
alkej-116	232	13	distal	distal	ADJ
alkej-116	232	14	end	end	NOUN
alkej-116	232	15	of	of	ADP
alkej-116	232	16	the	the	DET
alkej-116	232	17	links	link	NOUN
alkej-116	232	18	which	which	PRON
alkej-116	232	19	have	have	VERB
alkej-116	232	20	the	the	DET
alkej-116	232	21	lengths	length	NOUN
alkej-116	232	22	l1	l1	PROPN
alkej-116	232	23	and	and	CCONJ
alkej-116	232	24	l2	l2	NOUN
alkej-116	232	25	;	;	PUNCT
alkej-116	232	26	respectively	respectively	ADV
alkej-116	232	27	.	.	PUNCT
alkej-116	233	1	the	the	DET
alkej-116	233	2	robot	robot	NOUN
alkej-116	233	3	starts	start	VERB
alkej-116	233	4	at	at	ADP
alkej-116	233	5	point	point	NOUN
alkej-116	233	6	(	(	PUNCT
alkej-116	233	7	2.95	2.95	NUM
alkej-116	233	8	,	,	PUNCT
alkej-116	233	9	0.05	0.05	NUM
alkej-116	233	10	)	)	PUNCT
alkej-116	233	11	and	and	CCONJ
alkej-116	233	12	passes	pass	VERB
alkej-116	233	13	through	through	ADP
alkej-116	233	14	points	point	NOUN
alkej-116	233	15	(	(	PUNCT
alkej-116	233	16	2.45	2.45	NUM
alkej-116	233	17	,	,	PUNCT
alkej-116	233	18	0.05	0.05	NUM
alkej-116	233	19	)	)	PUNCT
alkej-116	233	20	and	and	CCONJ
alkej-116	233	21	(	(	PUNCT
alkej-116	233	22	2.7	2.7	NUM
alkej-116	233	23	,	,	PUNCT
alkej-116	233	24	0.30	0.30	NUM
alkej-116	233	25	)	)	PUNCT
alkej-116	233	26	.	.	PUNCT
alkej-116	234	1	then	then	ADV
alkej-116	234	2	it	it	PRON
alkej-116	234	3	stops	stop	VERB
alkej-116	234	4	at	at	ADP
alkej-116	234	5	point	point	NOUN
alkej-116	234	6	(	(	PUNCT
alkej-116	234	7	2.95	2.95	NUM
alkej-116	234	8	,	,	PUNCT
alkej-116	234	9	0.05	0.05	NUM
alkej-116	234	10	)	)	PUNCT
alkej-116	234	11	.	.	PUNCT
alkej-116	235	1	all	all	DET
alkej-116	235	2	coordinates	coordinate	NOUN
alkej-116	235	3	are	be	AUX
alkej-116	235	4	in	in	ADP
alkej-116	235	5	meters	meter	NOUN
alkej-116	235	6	.	.	PUNCT
alkej-116	236	1	the	the	DET
alkej-116	236	2	time	time	NOUN
alkej-116	236	3	durations	duration	NOUN
alkej-116	236	4	are	be	AUX
alkej-116	236	5	:	:	PUNCT
alkej-116	236	6	4	4	NUM
alkej-116	236	7	,	,	PUNCT
alkej-116	236	8	3	3	NUM
alkej-116	236	9	,	,	PUNCT
alkej-116	236	10	3	3	NUM
alkej-116	236	11	seconds	second	NOUN
alkej-116	236	12	.	.	PUNCT
alkej-116	237	1	the	the	DET
alkej-116	237	2	robot	robot	NOUN
alkej-116	237	3	dynamic	dynamic	ADJ
alkej-116	237	4	equation	equation	NOUN
alkej-116	237	5	and	and	CCONJ
alkej-116	237	6	controller	controller	NOUN
alkej-116	237	7	are	be	AUX
alkej-116	237	8	taken	take	VERB
alkej-116	237	9	from	from	ADP
alkej-116	237	10	early	early	ADJ
alkej-116	237	11	published	publish	VERB
alkej-116	237	12	paper	paper	NOUN
alkej-116	237	13	[	[	X
alkej-116	237	14	33	33	NUM
alkej-116	237	15	]	]	PUNCT
alkej-116	237	16	.	.	PUNCT
alkej-116	238	1	the	the	PRON
alkej-116	238	2	desired	desire	VERB
alkej-116	238	3	through	through	ADP
alkej-116	238	4	points	point	NOUN
alkej-116	238	5	in	in	ADP
alkej-116	238	6	joint	joint	ADJ
alkej-116	238	7	space	space	NOUN
alkej-116	238	8	are	be	AUX
alkej-116	238	9	obtained	obtain	VERB
alkej-116	238	10	by	by	ADP
alkej-116	238	11	solving	solve	VERB
alkej-116	238	12	the	the	DET
alkej-116	238	13	inverse	inverse	NOUN
alkej-116	238	14	kinematics	kinematic	NOUN
alkej-116	238	15	equations	equation	NOUN
alkej-116	239	1	[	[	X
alkej-116	239	2	2	2	NUM
alkej-116	239	3	]	]	PUNCT
alkej-116	239	4	.	.	PUNCT
alkej-116	240	1	the	the	DET
alkej-116	240	2	trajectory	trajectory	NOUN
alkej-116	240	3	for	for	ADP
alkej-116	240	4	the	the	DET
alkej-116	240	5	two	two	NUM
alkej-116	240	6	joints	joint	NOUN
alkej-116	240	7	is	be	AUX
alkej-116	240	8	generated	generate	VERB
alkej-116	240	9	by	by	ADP
alkej-116	240	10	using	use	VERB
alkej-116	240	11	the	the	DET
alkej-116	240	12	proposed	propose	VERB
alkej-116	240	13	method	method	NOUN
alkej-116	240	14	(	(	PUNCT
alkej-116	240	15	fig.8	fig.8	PROPN
alkej-116	240	16	)	)	PUNCT
alkej-116	240	17	.	.	PUNCT
alkej-116	241	1	0	0	NUM
alkej-116	242	1	1	1	NUM
alkej-116	242	2	2	2	NUM
alkej-116	242	3	3	3	NUM
alkej-116	242	4	4	4	NUM
alkej-116	242	5	5	5	NUM
alkej-116	242	6	6	6	NUM
alkej-116	242	7	6	6	NUM
alkej-116	242	8	12	12	NUM
alkej-116	242	9	18	18	NUM
alkej-116	242	10	24	24	NUM
alkej-116	242	11	30	30	NUM
alkej-116	242	12	36	36	NUM
alkej-116	242	13	time	time	NOUN
alkej-116	242	14	(	(	PUNCT
alkej-116	242	15	sec	sec	PROPN
alkej-116	242	16	)	)	PUNCT
alkej-116	242	17	p	p	X
alkej-116	243	1	o	o	NOUN
alkej-116	243	2	si	si	X
alkej-116	243	3	ti	ti	X
alkej-116	243	4	o	o	NOUN
alkej-116	243	5	n	n	PROPN
alkej-116	243	6	(	(	PUNCT
alkej-116	243	7	d	d	X
alkej-116	243	8	eg	eg	X
alkej-116	243	9	re	re	NOUN
alkej-116	243	10	e	e	NOUN
alkej-116	243	11	)	)	PUNCT
alkej-116	243	12	throug	throug	NOUN
alkej-116	243	13	point	point	VERB
alkej-116	243	14	normal	normal	ADJ
alkej-116	243	15	proposed	propose	VERB
alkej-116	243	16	1.8	1.8	NUM
alkej-116	243	17	2	2	NUM
alkej-116	243	18	2.2	2.2	NUM
alkej-116	243	19	2.4	2.4	NUM
alkej-116	243	20	32.5	32.5	NUM
alkej-116	243	21	33	33	NUM
alkej-116	243	22	33.5	33.5	NUM
alkej-116	243	23	34	34	NUM
alkej-116	243	24	34.5	34.5	NUM
alkej-116	243	25	35	35	NUM
alkej-116	243	26	35.5	35.5	NUM
alkej-116	243	27	saad	saad	NOUN
alkej-116	243	28	zaghlul	zaghlul	PROPN
alkej-116	243	29	saeed	saeed	PROPN
alkej-116	243	30	al	al	PROPN
alkej-116	243	31	-	-	PUNCT
alkej-116	243	32	khwarizmi	khwarizmi	PROPN
alkej-116	243	33	engineering	engineering	NOUN
alkej-116	243	34	journal	journal	PROPN
alkej-116	243	35	,	,	PUNCT
alkej-116	243	36	vol	vol	NOUN
alkej-116	243	37	.	.	PROPN
alkej-116	243	38	14	14	NUM
alkej-116	243	39	,	,	PUNCT
alkej-116	243	40	no	no	INTJ
alkej-116	243	41	.	.	NOUN
alkej-116	243	42	1	1	NUM
alkej-116	243	43	,	,	PUNCT
alkej-116	243	44	p.p	p.p	PROPN
alkej-116	243	45	.	.	NOUN
alkej-116	243	46	7789	7789	NUM
alkej-116	243	47	(	(	PUNCT
alkej-116	243	48	2018	2018	NUM
alkej-116	243	49	)	)	PUNCT
alkej-116	243	50	85	85	NUM
alkej-116	243	51	fig	fig	NOUN
alkej-116	243	52	.	.	PUNCT
alkej-116	244	1	7	7	X
alkej-116	244	2	.	.	X
alkej-116	244	3	planar	planar	ADJ
alkej-116	244	4	robot	robot	NOUN
alkej-116	244	5	arm	arm	NOUN
alkej-116	244	6	with	with	ADP
alkej-116	244	7	two	two	NUM
alkej-116	244	8	links	link	NOUN
alkej-116	244	9	[	[	X
alkej-116	244	10	2	2	NUM
alkej-116	244	11	]	]	SYM
alkej-116	244	12	0	0	NUM
alkej-116	244	13	2	2	NUM
alkej-116	244	14	4	4	NUM
alkej-116	244	15	6	6	NUM
alkej-116	244	16	8	8	NUM
alkej-116	244	17	10	10	NUM
alkej-116	244	18	-60	-60	SYM
alkej-116	244	19	-40	-40	PROPN
alkej-116	244	20	-20	-20	NUM
alkej-116	244	21	0	0	NUM
alkej-116	244	22	20	20	NUM
alkej-116	244	23	40	40	NUM
alkej-116	244	24	60	60	NUM
alkej-116	244	25	time	time	NOUN
alkej-116	244	26	(	(	PUNCT
alkej-116	244	27	sec	sec	PROPN
alkej-116	244	28	)	)	PUNCT
alkej-116	245	1	p	p	X
alkej-116	245	2	o	o	NOUN
alkej-116	245	3	si	si	X
alkej-116	245	4	ti	ti	X
alkej-116	245	5	o	o	NOUN
alkej-116	245	6	n	n	PROPN
alkej-116	245	7	(	(	PUNCT
alkej-116	245	8	d	d	X
alkej-116	245	9	e	e	X
alkej-116	245	10	g	g	NOUN
alkej-116	245	11	re	re	X
alkej-116	245	12	e	e	NOUN
alkej-116	245	13	)	)	PUNCT
alkej-116	245	14	joint	joint	ADJ
alkej-116	245	15	1	1	NUM
alkej-116	245	16	joint	joint	ADJ
alkej-116	245	17	2	2	NUM
alkej-116	245	18	fig	fig	NOUN
alkej-116	245	19	.	.	PUNCT
alkej-116	246	1	8	8	NUM
alkej-116	246	2	.	.	X
alkej-116	246	3	two	two	NUM
alkej-116	246	4	-	-	PUNCT
alkej-116	246	5	link	link	NOUN
alkej-116	246	6	joint	joint	NOUN
alkej-116	246	7	's	's	PART
alkej-116	246	8	desired	desire	VERB
alkej-116	246	9	trajectory	trajectory	NOUN
alkej-116	246	10	obtained	obtain	VERB
alkej-116	246	11	by	by	ADP
alkej-116	246	12	proposed	propose	VERB
alkej-116	246	13	method	method	NOUN
alkej-116	246	14	.	.	PUNCT
alkej-116	247	1	the	the	DET
alkej-116	247	2	cartesian	cartesian	ADJ
alkej-116	247	3	trajectory	trajectory	NOUN
alkej-116	247	4	of	of	ADP
alkej-116	247	5	the	the	DET
alkej-116	247	6	two	two	NUM
alkej-116	247	7	-	-	PUNCT
alkej-116	247	8	link	link	NOUN
alkej-116	247	9	manipulator	manipulator	NOUN
alkej-116	247	10	is	be	AUX
alkej-116	247	11	presented	present	VERB
alkej-116	247	12	in	in	ADP
alkej-116	247	13	fig	fig	NOUN
alkej-116	247	14	.	.	PUNCT
alkej-116	248	1	9	9	X
alkej-116	248	2	.	.	X
alkej-116	249	1	the	the	DET
alkej-116	249	2	errors	error	NOUN
alkej-116	249	3	in	in	ADP
alkej-116	249	4	the	the	DET
alkej-116	249	5	cartesian	cartesian	ADJ
alkej-116	249	6	space	space	NOUN
alkej-116	249	7	are	be	AUX
alkej-116	249	8	:	:	PUNCT
alkej-116	249	9	0.5722∙10	0.5722∙10	ADJ
alkej-116	249	10	-	-	SYM
alkej-116	249	11	5	5	NUM
alkej-116	249	12	,	,	PUNCT
alkej-116	249	13	0.4180∙10	0.4180∙10	PROPN
alkej-116	249	14	-	-	SYM
alkej-116	249	15	5	5	NUM
alkej-116	249	16	,	,	PUNCT
alkej-116	249	17	0.4365∙10	0.4365∙10	NUM
alkej-116	249	18	-	-	SYM
alkej-116	249	19	5	5	NUM
alkej-116	249	20	,	,	PUNCT
alkej-116	249	21	and	and	CCONJ
alkej-116	249	22	0.2551∙10	0.2551∙10	PROPN
alkej-116	249	23	-	-	PUNCT
alkej-116	249	24	5	5	NUM
alkej-116	249	25	in	in	ADP
alkej-116	249	26	meters	meter	NOUN
alkej-116	249	27	for	for	ADP
alkej-116	249	28	these	these	PRON
alkej-116	249	29	through	through	ADP
alkej-116	249	30	points	point	NOUN
alkej-116	249	31	.	.	PUNCT
alkej-116	250	1	the	the	DET
alkej-116	250	2	error	error	NOUN
alkej-116	250	3	at	at	ADP
alkej-116	250	4	the	the	DET
alkej-116	250	5	starting	starting	NOUN
alkej-116	250	6	point	point	NOUN
alkej-116	250	7	is	be	AUX
alkej-116	250	8	not	not	PART
alkej-116	250	9	zero	zero	NUM
alkej-116	250	10	because	because	SCONJ
alkej-116	250	11	of	of	ADP
alkej-116	250	12	the	the	DET
alkej-116	250	13	used	use	VERB
alkej-116	250	14	controller	controller	NOUN
alkej-116	250	15	which	which	PRON
alkej-116	250	16	is	be	AUX
alkej-116	250	17	learning	learn	VERB
alkej-116	250	18	on	on	ADP
alkej-116	250	19	-	-	PUNCT
alkej-116	250	20	line	line	NOUN
alkej-116	250	21	.	.	PUNCT
alkej-116	251	1	the	the	DET
alkej-116	251	2	error	error	NOUN
alkej-116	251	3	at	at	ADP
alkej-116	251	4	through	through	ADP
alkej-116	251	5	points	point	NOUN
alkej-116	251	6	is	be	AUX
alkej-116	251	7	presented	present	VERB
alkej-116	251	8	in	in	ADP
alkej-116	251	9	table	table	NOUN
alkej-116	251	10	4	4	NUM
alkej-116	251	11	.	.	PUNCT
alkej-116	252	1	finally	finally	ADV
alkej-116	252	2	,	,	PUNCT
alkej-116	252	3	a	a	DET
alkej-116	252	4	comparison	comparison	NOUN
alkej-116	252	5	of	of	ADP
alkej-116	252	6	results	result	NOUN
alkej-116	252	7	is	be	AUX
alkej-116	252	8	presented	present	VERB
alkej-116	252	9	for	for	ADP
alkej-116	252	10	path	path	NOUN
alkej-116	252	11	of	of	ADP
alkej-116	252	12	acute	acute	ADJ
alkej-116	252	13	angles	angle	NOUN
alkej-116	252	14	from	from	ADP
alkej-116	252	15	[	[	X
alkej-116	252	16	12	12	NUM
alkej-116	252	17	]	]	PUNCT
alkej-116	252	18	.	.	PUNCT
alkej-116	253	1	the	the	DET
alkej-116	253	2	pattern	pattern	NOUN
alkej-116	253	3	contains	contain	VERB
alkej-116	253	4	14	14	NUM
alkej-116	253	5	line	line	NOUN
alkej-116	253	6	segments	segment	NOUN
alkej-116	253	7	,	,	PUNCT
alkej-116	253	8	and	and	CCONJ
alkej-116	253	9	beginning	begin	VERB
alkej-116	253	10	at	at	ADP
alkej-116	253	11	the	the	DET
alkej-116	253	12	origin	origin	NOUN
alkej-116	253	13	.	.	PUNCT
alkej-116	254	1	the	the	DET
alkej-116	254	2	segments	segment	NOUN
alkej-116	254	3	form	form	VERB
alkej-116	254	4	angles	angle	NOUN
alkej-116	254	5	starting	start	VERB
alkej-116	254	6	at	at	ADP
alkej-116	254	7	125	125	NUM
alkej-116	254	8	°	°	NUM
alkej-116	254	9	and	and	CCONJ
alkej-116	254	10	decrease	decrease	VERB
alkej-116	254	11	linearly	linearly	ADV
alkej-116	254	12	to	to	ADP
alkej-116	254	13	5	5	NUM
alkej-116	254	14	°	°	NOUN
alkej-116	254	15	.	.	PUNCT
alkej-116	255	1	the	the	DET
alkej-116	255	2	peak	peak	NOUN
alkej-116	255	3	velocity	velocity	NOUN
alkej-116	255	4	error	error	NOUN
alkej-116	255	5	shown	show	VERB
alkej-116	255	6	in	in	ADP
alkej-116	255	7	fig	fig	NOUN
alkej-116	255	8	.	.	PUNCT
alkej-116	256	1	10	10	NUM
alkej-116	256	2	increases	increase	NOUN
alkej-116	256	3	as	as	ADP
alkej-116	256	4	angle	angle	NOUN
alkej-116	256	5	decreases	decrease	NOUN
alkej-116	256	6	.	.	PUNCT
alkej-116	257	1	for	for	ADP
alkej-116	257	2	example	example	NOUN
alkej-116	257	3	,	,	PUNCT
alkej-116	257	4	a	a	DET
alkej-116	257	5	complete	complete	ADJ
alkej-116	257	6	change	change	NOUN
alkej-116	257	7	in	in	ADP
alkej-116	257	8	direction	direction	NOUN
alkej-116	257	9	or	or	CCONJ
alkej-116	257	10	a	a	DET
alkej-116	257	11	0	0	NUM
alkej-116	257	12	°	°	PROPN
alkej-116	257	13	angle	angle	NOUN
alkej-116	257	14	results	result	NOUN
alkej-116	257	15	in	in	ADP
alkej-116	257	16	a	a	DET
alkej-116	257	17	100	100	NUM
alkej-116	257	18	%	%	NOUN
alkej-116	257	19	error	error	NOUN
alkej-116	257	20	according	accord	VERB
alkej-116	257	21	to	to	ADP
alkej-116	257	22	the	the	DET
alkej-116	257	23	method	method	NOUN
alkej-116	257	24	of	of	ADP
alkej-116	257	25	[	[	X
alkej-116	257	26	12	12	NUM
alkej-116	257	27	]	]	X
alkej-116	257	28	;	;	PUNCT
alkej-116	257	29	while	while	SCONJ
alkej-116	257	30	the	the	DET
alkej-116	257	31	error	error	NOUN
alkej-116	257	32	is	be	AUX
alkej-116	257	33	no	no	PRON
alkej-116	257	34	more	more	ADV
alkej-116	257	35	21	21	NUM
alkej-116	257	36	%	%	NOUN
alkej-116	257	37	by	by	ADP
alkej-116	257	38	using	use	VERB
alkej-116	257	39	the	the	DET
alkej-116	257	40	proposed	propose	VERB
alkej-116	257	41	method	method	NOUN
alkej-116	257	42	in	in	ADP
alkej-116	257	43	this	this	DET
alkej-116	257	44	work	work	NOUN
alkej-116	257	45	.	.	PUNCT
alkej-116	258	1	in	in	ADP
alkej-116	258	2	lspb	lspb	NOUN
alkej-116	258	3	,	,	PUNCT
alkej-116	258	4	the	the	DET
alkej-116	258	5	trajectory	trajectory	NOUN
alkej-116	258	6	deviates	deviate	VERB
alkej-116	258	7	slightly	slightly	ADV
alkej-116	258	8	from	from	ADP
alkej-116	258	9	the	the	DET
alkej-116	258	10	straight	straight	ADJ
alkej-116	258	11	path	path	NOUN
alkej-116	258	12	.	.	PUNCT
alkej-116	259	1	this	this	DET
alkej-116	259	2	deviation	deviation	NOUN
alkej-116	259	3	is	be	AUX
alkej-116	259	4	increased	increase	VERB
alkej-116	259	5	as	as	SCONJ
alkej-116	259	6	the	the	DET
alkej-116	259	7	angle	angle	NOUN
alkej-116	259	8	formed	form	VERB
alkej-116	259	9	by	by	ADP
alkej-116	259	10	two	two	NUM
alkej-116	259	11	segments	segment	NOUN
alkej-116	259	12	is	be	AUX
alkej-116	259	13	decreased	decrease	VERB
alkej-116	259	14	(	(	PUNCT
alkej-116	259	15	fig	fig	NOUN
alkej-116	259	16	.	.	PUNCT
alkej-116	260	1	11	11	NUM
alkej-116	260	2	)	)	PUNCT
alkej-116	260	3	.	.	PUNCT
alkej-116	261	1	table	table	NOUN
alkej-116	261	2	4	4	NUM
alkej-116	261	3	,	,	PUNCT
alkej-116	261	4	error	error	NOUN
alkej-116	261	5	at	at	ADP
alkej-116	261	6	through	through	ADP
alkej-116	261	7	points	point	NOUN
alkej-116	261	8	for	for	ADP
alkej-116	261	9	point	point	NOUN
alkej-116	261	10	to	to	PART
alkej-116	261	11	point	point	VERB
alkej-116	261	12	trajectory	trajectory	NOUN
alkej-116	261	13	using	use	VERB
alkej-116	261	14	the	the	DET
alkej-116	261	15	proposed	propose	VERB
alkej-116	261	16	method	method	NOUN
alkej-116	261	17	link	link	NOUN
alkej-116	261	18	error	error	NOUN
alkej-116	261	19	(	(	PUNCT
alkej-116	261	20	deg	deg	NOUN
alkej-116	261	21	)	)	PUNCT
alkej-116	261	22	e2	e2	PROPN
alkej-116	261	23	e3	e3	PROPN
alkej-116	261	24	e4	e4	PROPN
alkej-116	261	25	1	1	NUM
alkej-116	261	26	0.0071∙10	0.0071∙10	PROPN
alkej-116	261	27	-	-	PUNCT
alkej-116	261	28	12	12	NUM
alkej-116	261	29	0.2061∙10	0.2061∙10	NUM
alkej-116	261	30	-	-	SYM
alkej-116	261	31	12	12	NUM
alkej-116	261	32	0.1474∙10	0.1474∙10	NUM
alkej-116	261	33	-	-	SYM
alkej-116	261	34	12	12	NUM
alkej-116	261	35	2	2	NUM
alkej-116	261	36	0.0284∙10	0.0284∙10	NOUN
alkej-116	261	37	-	-	SYM
alkej-116	261	38	12	12	NUM
alkej-116	261	39	0.1137∙10	0.1137∙10	PROPN
alkej-116	261	40	-	-	SYM
alkej-116	261	41	12	12	NUM
alkej-116	261	42	0.0675∙10	0.0675∙10	PROPN
alkej-116	261	43	-	-	PROPN
alkej-116	261	44	12	12	NUM
alkej-116	261	45	2.4	2.4	NUM
alkej-116	261	46	2.5	2.5	NUM
alkej-116	261	47	2.6	2.6	NUM
alkej-116	261	48	2.7	2.7	NUM
alkej-116	261	49	2.8	2.8	NUM
alkej-116	261	50	2.9	2.9	NUM
alkej-116	261	51	3	3	NUM
alkej-116	261	52	0.05	0.05	NUM
alkej-116	261	53	0.1	0.1	NUM
alkej-116	261	54	0.15	0.15	NUM
alkej-116	261	55	0.2	0.2	NUM
alkej-116	261	56	0.25	0.25	NUM
alkej-116	261	57	0.3	0.3	NUM
alkej-116	261	58	0.35	0.35	NUM
alkej-116	261	59	x	x	SYM
alkej-116	261	60	(	(	PUNCT
alkej-116	261	61	m	m	NOUN
alkej-116	261	62	)	)	PUNCT
alkej-116	261	63	y	y	PROPN
alkej-116	261	64	(	(	PUNCT
alkej-116	261	65	m	m	PROPN
alkej-116	261	66	)	)	PUNCT
alkej-116	261	67	actual	actual	ADJ
alkej-116	261	68	trajectory	trajectory	NOUN
alkej-116	261	69	through	through	ADP
alkej-116	261	70	point	point	NOUN
alkej-116	261	71	fig	fig	NOUN
alkej-116	261	72	.	.	PUNCT
alkej-116	262	1	9	9	NUM
alkej-116	262	2	.	.	X
alkej-116	262	3	two	two	NUM
alkej-116	262	4	-	-	PUNCT
alkej-116	262	5	link	link	NOUN
alkej-116	262	6	cartesian	cartesian	ADJ
alkej-116	262	7	path	path	NOUN
alkej-116	262	8	obtained	obtain	VERB
alkej-116	262	9	by	by	ADP
alkej-116	262	10	proposed	propose	VERB
alkej-116	262	11	method	method	NOUN
alkej-116	262	12	.	.	PUNCT
alkej-116	263	1	0	0	NUM
alkej-116	263	2	5	5	NUM
alkej-116	263	3	10	10	NUM
alkej-116	263	4	15	15	NUM
alkej-116	263	5	20	20	NUM
alkej-116	263	6	25	25	NUM
alkej-116	263	7	30	30	NUM
alkej-116	263	8	0	0	NUM
alkej-116	263	9	20	20	NUM
alkej-116	263	10	40	40	NUM
alkej-116	263	11	60	60	NUM
alkej-116	263	12	80	80	NUM
alkej-116	263	13	100	100	NUM
alkej-116	263	14	time	time	NOUN
alkej-116	263	15	(	(	PUNCT
alkej-116	263	16	sec	sec	PROPN
alkej-116	263	17	)	)	PUNCT
alkej-116	263	18	s	s	PART
alkej-116	263	19	p	p	X
alkej-116	263	20	ee	ee	PROPN
alkej-116	263	21	d	d	PROPN
alkej-116	263	22	e	e	PROPN
alkej-116	263	23	rr	rr	NOUN
alkej-116	263	24	o	o	NOUN
alkej-116	263	25	r	r	NOUN
alkej-116	263	26	(	(	PUNCT
alkej-116	263	27	%	%	NOUN
alkej-116	263	28	)	)	PUNCT
alkej-116	263	29	reference	reference	NOUN
alkej-116	263	30	[	[	X
alkej-116	263	31	12	12	NUM
alkej-116	263	32	]	]	PUNCT
alkej-116	263	33	proposed	propose	VERB
alkej-116	263	34	method	method	PROPN
alkej-116	263	35	fig	fig	NOUN
alkej-116	263	36	.	.	PUNCT
alkej-116	264	1	10	10	NUM
alkej-116	264	2	.	.	PUNCT
alkej-116	265	1	comparison	comparison	NOUN
alkej-116	265	2	of	of	ADP
alkej-116	265	3	speed	speed	NOUN
alkej-116	265	4	error	error	NOUN
alkej-116	265	5	resulting	result	VERB
alkej-116	265	6	from	from	ADP
alkej-116	265	7	decreasing	decrease	VERB
alkej-116	265	8	segment	segment	NOUN
alkej-116	265	9	angle	angle	NOUN
alkej-116	265	10	saad	saad	PROPN
alkej-116	265	11	zaghlul	zaghlul	PROPN
alkej-116	265	12	saeed	saeed	PROPN
alkej-116	265	13	al	al	PROPN
alkej-116	265	14	-	-	PUNCT
alkej-116	265	15	khwarizmi	khwarizmi	PROPN
alkej-116	265	16	engineering	engineering	NOUN
alkej-116	265	17	journal	journal	PROPN
alkej-116	265	18	,	,	PUNCT
alkej-116	265	19	vol	vol	NOUN
alkej-116	265	20	.	.	PROPN
alkej-116	265	21	14	14	NUM
alkej-116	265	22	,	,	PUNCT
alkej-116	265	23	no	no	INTJ
alkej-116	265	24	.	.	NOUN
alkej-116	265	25	1	1	NUM
alkej-116	265	26	,	,	PUNCT
alkej-116	265	27	p.p	p.p	PROPN
alkej-116	265	28	.	.	NOUN
alkej-116	265	29	7789	7789	NUM
alkej-116	265	30	(	(	PUNCT
alkej-116	265	31	2018	2018	NUM
alkej-116	265	32	)	)	PUNCT
alkej-116	265	33	86	86	NUM
alkej-116	265	34	0	0	NUM
alkej-116	265	35	5	5	NUM
alkej-116	265	36	10	10	NUM
alkej-116	265	37	15	15	NUM
alkej-116	265	38	20	20	NUM
alkej-116	265	39	25	25	NUM
alkej-116	265	40	30	30	NUM
alkej-116	265	41	0	0	NUM
alkej-116	265	42	2	2	NUM
alkej-116	265	43	4	4	NUM
alkej-116	265	44	6	6	NUM
alkej-116	265	45	time	time	NOUN
alkej-116	265	46	(	(	PUNCT
alkej-116	265	47	sec	sec	PROPN
alkej-116	265	48	)	)	PUNCT
alkej-116	265	49	y	y	PROPN
alkej-116	265	50	(	(	PUNCT
alkej-116	265	51	m	m	VERB
alkej-116	265	52	m	m	VERB
alkej-116	265	53	)	)	PUNCT
alkej-116	265	54	desired	desire	VERB
alkej-116	265	55	trajectory	trajectory	NOUN
alkej-116	265	56	proposed	propose	VERB
alkej-116	265	57	method	method	NOUN
alkej-116	265	58	fig	fig	NOUN
alkej-116	265	59	.	.	PUNCT
alkej-116	266	1	11	11	NUM
alkej-116	266	2	.	.	X
alkej-116	267	1	trajectory	trajectory	NOUN
alkej-116	267	2	of	of	ADP
alkej-116	267	3	y	y	NOUN
alkej-116	267	4	-	-	NOUN
alkej-116	267	5	component	component	NOUN
alkej-116	267	6	with	with	ADP
alkej-116	267	7	decreasing	decrease	VERB
alkej-116	267	8	segment	segment	NOUN
alkej-116	267	9	angles	angle	NOUN
alkej-116	267	10	.	.	PUNCT
alkej-116	268	1	7	7	X
alkej-116	268	2	.	.	X
alkej-116	268	3	conclusions	conclusion	NOUN
alkej-116	268	4	the	the	DET
alkej-116	268	5	normal	normal	ADJ
alkej-116	268	6	lspb	lspb	NOUN
alkej-116	268	7	is	be	AUX
alkej-116	268	8	restricted	restrict	VERB
alkej-116	268	9	to	to	ADP
alkej-116	268	10	that	that	SCONJ
alkej-116	268	11	the	the	DET
alkej-116	268	12	acceleration	acceleration	NOUN
alkej-116	268	13	must	must	AUX
alkej-116	268	14	be	be	AUX
alkej-116	268	15	sufficiently	sufficiently	ADV
alkej-116	268	16	high	high	ADJ
alkej-116	268	17	.	.	PUNCT
alkej-116	269	1	in	in	ADP
alkej-116	269	2	this	this	DET
alkej-116	269	3	work	work	NOUN
alkej-116	269	4	,	,	PUNCT
alkej-116	269	5	modified	modify	VERB
alkej-116	269	6	lspb	lspb	NOUN
alkej-116	269	7	is	be	AUX
alkej-116	269	8	engaged	engage	VERB
alkej-116	269	9	with	with	ADP
alkej-116	269	10	pso	pso	NOUN
alkej-116	269	11	for	for	ADP
alkej-116	269	12	generating	generate	VERB
alkej-116	269	13	smooth	smooth	ADJ
alkej-116	269	14	valid	valid	ADJ
alkej-116	269	15	trajectories	trajectory	NOUN
alkej-116	269	16	that	that	PRON
alkej-116	269	17	passes	pass	VERB
alkej-116	269	18	through	through	ADP
alkej-116	269	19	specified	specified	ADJ
alkej-116	269	20	path	path	NOUN
alkej-116	269	21	points	point	NOUN
alkej-116	269	22	while	while	SCONJ
alkej-116	269	23	satisfying	satisfy	VERB
alkej-116	269	24	velocity	velocity	NOUN
alkej-116	269	25	and	and	CCONJ
alkej-116	269	26	acceleration	acceleration	NOUN
alkej-116	269	27	constraints	constraint	NOUN
alkej-116	269	28	of	of	ADP
alkej-116	269	29	physical	physical	ADJ
alkej-116	269	30	mechanical	mechanical	ADJ
alkej-116	269	31	robot	robot	NOUN
alkej-116	269	32	manipulator	manipulator	NOUN
alkej-116	269	33	.	.	PUNCT
alkej-116	270	1	increasing	increase	VERB
alkej-116	270	2	the	the	DET
alkej-116	270	3	velocity	velocity	NOUN
alkej-116	270	4	of	of	ADP
alkej-116	270	5	linear	linear	ADJ
alkej-116	270	6	portions	portion	NOUN
alkej-116	270	7	compensates	compensate	VERB
alkej-116	270	8	the	the	DET
alkej-116	270	9	error	error	NOUN
alkej-116	270	10	due	due	ADP
alkej-116	270	11	to	to	ADP
alkej-116	270	12	inserting	insert	VERB
alkej-116	270	13	parabolic	parabolic	ADJ
alkej-116	270	14	part	part	NOUN
alkej-116	270	15	.	.	PUNCT
alkej-116	271	1	velocity	velocity	NOUN
alkej-116	271	2	correction	correction	NOUN
alkej-116	271	3	is	be	AUX
alkej-116	271	4	used	use	VERB
alkej-116	271	5	to	to	PART
alkej-116	271	6	obtain	obtain	VERB
alkej-116	271	7	close	close	ADJ
alkej-116	271	8	values	value	NOUN
alkej-116	271	9	to	to	ADP
alkej-116	271	10	the	the	DET
alkej-116	271	11	optimal	optimal	ADJ
alkej-116	271	12	solution	solution	NOUN
alkej-116	271	13	.	.	PUNCT
alkej-116	272	1	this	this	PRON
alkej-116	272	2	reduces	reduce	VERB
alkej-116	272	3	the	the	DET
alkej-116	272	4	number	number	NOUN
alkej-116	272	5	of	of	ADP
alkej-116	272	6	iterations	iteration	NOUN
alkej-116	272	7	to	to	PART
alkej-116	272	8	obtain	obtain	VERB
alkej-116	272	9	the	the	DET
alkej-116	272	10	optimum	optimum	ADJ
alkej-116	272	11	solution	solution	NOUN
alkej-116	272	12	.	.	PUNCT
alkej-116	273	1	also	also	ADV
alkej-116	273	2	,	,	PUNCT
alkej-116	273	3	exact	exact	ADJ
alkej-116	273	4	solution	solution	NOUN
alkej-116	273	5	of	of	ADP
alkej-116	273	6	velocity	velocity	NOUN
alkej-116	273	7	can	can	AUX
alkej-116	273	8	be	be	AUX
alkej-116	273	9	used	use	VERB
alkej-116	273	10	for	for	ADP
alkej-116	273	11	lspb	lspb	NOUN
alkej-116	273	12	path	path	NOUN
alkej-116	273	13	segment	segment	NOUN
alkej-116	273	14	when	when	SCONJ
alkej-116	273	15	there	there	PRON
alkej-116	273	16	is	be	VERB
alkej-116	273	17	acceleration	acceleration	NOUN
alkej-116	273	18	from	from	ADP
alkej-116	273	19	zero	zero	NUM
alkej-116	273	20	velocity	velocity	NOUN
alkej-116	273	21	to	to	PART
alkej-116	273	22	linear	linear	VERB
alkej-116	273	23	velocity	velocity	NOUN
alkej-116	273	24	and	and	CCONJ
alkej-116	273	25	deceleration	deceleration	NOUN
alkej-116	273	26	to	to	ADP
alkej-116	273	27	zero	zero	NUM
alkej-116	273	28	velocity	velocity	NOUN
alkej-116	273	29	.	.	PUNCT
alkej-116	274	1	simulation	simulation	NOUN
alkej-116	274	2	results	result	NOUN
alkej-116	274	3	show	show	VERB
alkej-116	274	4	that	that	SCONJ
alkej-116	274	5	the	the	DET
alkej-116	274	6	proposed	propose	VERB
alkej-116	274	7	method	method	NOUN
alkej-116	274	8	to	to	PART
alkej-116	274	9	work	work	VERB
alkej-116	274	10	well	well	ADV
alkej-116	274	11	on	on	ADP
alkej-116	274	12	the	the	DET
alkej-116	274	13	tested	test	VERB
alkej-116	274	14	cases	case	NOUN
alkej-116	274	15	.	.	PUNCT
alkej-116	275	1	the	the	DET
alkej-116	275	2	error	error	NOUN
alkej-116	275	3	at	at	ADP
alkej-116	275	4	through	through	ADP
alkej-116	275	5	points	point	NOUN
alkej-116	275	6	is	be	AUX
alkej-116	275	7	almost	almost	ADV
alkej-116	275	8	zero	zero	NUM
alkej-116	275	9	.	.	PUNCT
alkej-116	276	1	advantages	advantage	NOUN
alkej-116	276	2	of	of	ADP
alkej-116	276	3	the	the	DET
alkej-116	276	4	modified	modify	VERB
alkej-116	276	5	lspb	lspb	NOUN
alkej-116	276	6	algorithm	algorithm	NOUN
alkej-116	276	7	are	be	AUX
alkej-116	276	8	:	:	PUNCT
alkej-116	276	9	through	through	ADP
alkej-116	276	10	points	point	NOUN
alkej-116	276	11	can	can	AUX
alkej-116	276	12	be	be	AUX
alkej-116	276	13	created	create	VERB
alkej-116	276	14	,	,	PUNCT
alkej-116	276	15	easily	easily	ADV
alkej-116	276	16	engaged	engage	VERB
alkej-116	276	17	with	with	ADP
alkej-116	276	18	optimization	optimization	NOUN
alkej-116	276	19	method	method	NOUN
alkej-116	276	20	,	,	PUNCT
alkej-116	276	21	very	very	ADV
alkej-116	276	22	simple	simple	ADJ
alkej-116	276	23	which	which	PRON
alkej-116	276	24	can	can	AUX
alkej-116	276	25	be	be	AUX
alkej-116	276	26	used	use	VERB
alkej-116	276	27	for	for	ADP
alkej-116	276	28	online	online	ADJ
alkej-116	276	29	path	path	NOUN
alkej-116	276	30	planning	planning	NOUN
alkej-116	276	31	,	,	PUNCT
alkej-116	276	32	and	and	CCONJ
alkej-116	276	33	not	not	PART
alkej-116	276	34	necessarily	necessarily	ADV
alkej-116	276	35	to	to	PART
alkej-116	276	36	use	use	VERB
alkej-116	276	37	high	high	ADJ
alkej-116	276	38	acceleration	acceleration	NOUN
alkej-116	276	39	's	's	PART
alkej-116	276	40	magnitude	magnitude	NOUN
alkej-116	276	41	.	.	PUNCT
alkej-116	277	1	the	the	DET
alkej-116	277	2	proposed	propose	VERB
alkej-116	277	3	method	method	NOUN
alkej-116	277	4	in	in	ADP
alkej-116	277	5	this	this	DET
alkej-116	277	6	work	work	NOUN
alkej-116	277	7	has	have	VERB
alkej-116	277	8	no	no	DET
alkej-116	277	9	chance	chance	NOUN
alkej-116	277	10	to	to	PART
alkej-116	277	11	fail	fail	VERB
alkej-116	277	12	to	to	PART
alkej-116	277	13	create	create	VERB
alkej-116	277	14	through	through	ADP
alkej-116	277	15	points	point	NOUN
alkej-116	277	16	within	within	ADP
alkej-116	277	17	a	a	DET
alkej-116	277	18	reasonable	reasonable	ADJ
alkej-116	277	19	number	number	NOUN
alkej-116	277	20	of	of	ADP
alkej-116	277	21	iterations	iteration	NOUN
alkej-116	277	22	.	.	PUNCT
alkej-116	278	1	8	8	X
alkej-116	278	2	.	.	PUNCT
alkej-116	278	3	references	reference	NOUN
alkej-116	278	4	[	[	X
alkej-116	278	5	1	1	NUM
alkej-116	278	6	]	]	X
alkej-116	278	7	ellekilde	ellekilde	NOUN
alkej-116	278	8	,	,	PUNCT
alkej-116	278	9	l.	l.	PROPN
alkej-116	278	10	p.	p.	PROPN
alkej-116	278	11	and	and	CCONJ
alkej-116	278	12	petersen	petersen	PROPN
alkej-116	278	13	,	,	PUNCT
alkej-116	278	14	h.	h.	PROPN
alkej-116	278	15	g.	g.	PROPN
alkej-116	278	16	(	(	PUNCT
alkej-116	278	17	2013	2013	NUM
alkej-116	278	18	)	)	PUNCT
alkej-116	278	19	.	.	PUNCT
alkej-116	279	1	motion	motion	NOUN
alkej-116	279	2	planning	plan	VERB
alkej-116	279	3	efficient	efficient	ADJ
alkej-116	279	4	trajectories	trajectory	NOUN
alkej-116	279	5	for	for	ADP
alkej-116	279	6	industrial	industrial	ADJ
alkej-116	279	7	bin	bin	NOUN
alkej-116	279	8	-	-	PUNCT
alkej-116	279	9	picking	picking	NOUN
alkej-116	279	10	.	.	PUNCT
alkej-116	280	1	international	international	ADJ
alkej-116	280	2	journal	journal	PROPN
alkej-116	280	3	of	of	ADP
alkej-116	280	4	robotics	robotic	NOUN
alkej-116	280	5	research	research	NOUN
alkej-116	280	6	,	,	PUNCT
alkej-116	280	7	32(9	32(9	NUM
alkej-116	280	8	-	-	SYM
alkej-116	280	9	10	10	NUM
alkej-116	280	10	):	):	PUNCT
alkej-116	280	11	991	991	NUM
alkej-116	280	12	-	-	SYM
alkej-116	280	13	1004	1004	NUM
alkej-116	280	14	.	.	PUNCT
alkej-116	281	1	[	[	X
alkej-116	281	2	2	2	NUM
alkej-116	281	3	]	]	PUNCT
alkej-116	281	4	craige	craige	NOUN
alkej-116	281	5	,	,	PUNCT
alkej-116	281	6	j.	j.	PROPN
alkej-116	281	7	j.	j.	PROPN
alkej-116	281	8	(	(	PUNCT
alkej-116	281	9	2005	2005	NUM
alkej-116	281	10	)	)	PUNCT
alkej-116	281	11	.	.	PUNCT
alkej-116	282	1	introduction	introduction	NOUN
alkej-116	282	2	to	to	ADP
alkej-116	282	3	robotics	robotic	NOUN
alkej-116	282	4	:	:	PUNCT
alkej-116	282	5	mechanics	mechanic	NOUN
alkej-116	282	6	and	and	CCONJ
alkej-116	282	7	control	control	NOUN
alkej-116	282	8	.	.	PUNCT
alkej-116	283	1	new	new	PROPN
alkej-116	283	2	jersey	jersey	PROPN
alkej-116	283	3	.	.	PUNCT
alkej-116	284	1	person	person	NOUN
alkej-116	284	2	prentice	prentice	NOUN
alkej-116	284	3	-	-	PUNCT
alkej-116	284	4	hell	hell	PROPN
alkej-116	284	5	,	,	PUNCT
alkej-116	284	6	inc	inc	PROPN
alkej-116	284	7	.	.	PUNCT
alkej-116	285	1	[	[	X
alkej-116	285	2	3	3	NUM
alkej-116	285	3	]	]	X
alkej-116	285	4	siciliano	siciliano	PROPN
alkej-116	285	5	,	,	PUNCT
alkej-116	285	6	b.	b.	PROPN
alkej-116	285	7	,	,	PUNCT
alkej-116	285	8	sciavicco	sciavicco	PROPN
alkej-116	285	9	,	,	PUNCT
alkej-116	285	10	l.	l.	PROPN
alkej-116	285	11	,	,	PUNCT
alkej-116	285	12	villani	villani	PROPN
alkej-116	285	13	,	,	PUNCT
alkej-116	285	14	l.	l.	PROPN
alkej-116	285	15	and	and	CCONJ
alkej-116	285	16	oriolo	oriolo	PROPN
alkej-116	285	17	,	,	PUNCT
alkej-116	285	18	g.	g.	PROPN
alkej-116	285	19	(	(	PUNCT
alkej-116	285	20	2009	2009	NUM
alkej-116	285	21	)	)	PUNCT
alkej-116	285	22	.	.	PUNCT
alkej-116	286	1	robotics	robotic	NOUN
alkej-116	286	2	:	:	PUNCT
alkej-116	286	3	modelling	modelling	NOUN
alkej-116	286	4	,	,	PUNCT
alkej-116	286	5	planning	planning	NOUN
alkej-116	286	6	and	and	CCONJ
alkej-116	286	7	control	control	NOUN
alkej-116	286	8	.	.	PUNCT
alkej-116	287	1	london	london	PROPN
alkej-116	287	2	.	.	PUNCT
alkej-116	287	3	springerverlag	springerverlag	PROPN
alkej-116	287	4	:	:	PUNCT
alkej-116	287	5	pp.168	pp.168	NOUN
alkej-116	287	6	.	.	PUNCT
alkej-116	288	1	[	[	X
alkej-116	288	2	4	4	NUM
alkej-116	288	3	]	]	X
alkej-116	288	4	ata	ata	X
alkej-116	288	5	,	,	PUNCT
alkej-116	288	6	a.	a.	NOUN
alkej-116	288	7	a.	a.	PROPN
alkej-116	288	8	and	and	CCONJ
alkej-116	288	9	sa'adah	sa'adah	PROPN
alkej-116	288	10	,	,	PUNCT
alkej-116	288	11	m.	m.	NOUN
alkej-116	288	12	y.	y.	PROPN
alkej-116	288	13	(	(	PUNCT
alkej-116	288	14	2006	2006	NUM
alkej-116	288	15	)	)	PUNCT
alkej-116	288	16	.	.	PUNCT
alkej-116	289	1	december	december	PROPN
alkej-116	289	2	8	8	NUM
alkej-116	289	3	.	.	PUNCT
alkej-116	289	4	soft	soft	ADJ
alkej-116	289	5	motion	motion	NOUN
alkej-116	289	6	trajectory	trajectory	NOUN
alkej-116	289	7	for	for	ADP
alkej-116	289	8	planar	planar	ADJ
alkej-116	289	9	redundant	redundant	ADJ
alkej-116	289	10	manipulator	manipulator	NOUN
alkej-116	289	11	.	.	PUNCT
alkej-116	290	1	9th	9th	ADJ
alkej-116	290	2	international	international	ADJ
alkej-116	290	3	conference	conference	NOUN
alkej-116	290	4	on	on	ADP
alkej-116	290	5	control	control	NOUN
alkej-116	290	6	,	,	PUNCT
alkej-116	290	7	automation	automation	NOUN
alkej-116	290	8	,	,	PUNCT
alkej-116	290	9	robotics	robotic	NOUN
alkej-116	290	10	and	and	CCONJ
alkej-116	290	11	vision	vision	NOUN
alkej-116	290	12	.	.	PUNCT
alkej-116	291	1	singapore	singapore	PROPN
alkej-116	291	2	.	.	PUNCT
alkej-116	292	1	[	[	X
alkej-116	292	2	5	5	NUM
alkej-116	292	3	]	]	PUNCT
alkej-116	292	4	xianhua	xianhua	PROPN
alkej-116	292	5	,	,	PUNCT
alkej-116	292	6	l.	l.	PROPN
alkej-116	292	7	,	,	PUNCT
alkej-116	292	8	shili	shili	NOUN
alkej-116	292	9	,	,	PUNCT
alkej-116	292	10	t.	t.	PROPN
alkej-116	292	11	,	,	PUNCT
alkej-116	292	12	xiaowei	xiaowei	PROPN
alkej-116	292	13	,	,	PUNCT
alkej-116	292	14	f.	f.	PROPN
alkej-116	292	15	and	and	CCONJ
alkej-116	292	16	hailiang	hailiang	PROPN
alkej-116	292	17	,	,	PUNCT
alkej-116	292	18	r.	r.	PROPN
alkej-116	292	19	(	(	PUNCT
alkej-116	292	20	2009	2009	NUM
alkej-116	292	21	)	)	PUNCT
alkej-116	292	22	.	.	PUNCT
alkej-116	293	1	december	december	PROPN
alkej-116	293	2	19	19	NUM
alkej-116	293	3	-	-	SYM
alkej-116	293	4	20	20	NUM
alkej-116	293	5	.	.	PUNCT
alkej-116	294	1	lspb	lspb	NOUN
alkej-116	294	2	trajectory	trajectory	NOUN
alkej-116	294	3	planning	planning	NOUN
alkej-116	294	4	:	:	PUNCT
alkej-116	294	5	design	design	NOUN
alkej-116	294	6	for	for	ADP
alkej-116	294	7	the	the	DET
alkej-116	294	8	modular	modular	ADJ
alkej-116	294	9	robot	robot	NOUN
alkej-116	294	10	arm	arm	NOUN
alkej-116	294	11	applications	application	NOUN
alkej-116	294	12	.	.	PUNCT
alkej-116	295	1	ieee	ieee	PROPN
alkej-116	295	2	international	international	PROPN
alkej-116	295	3	conference	conference	NOUN
alkej-116	295	4	on	on	ADP
alkej-116	295	5	information	information	NOUN
alkej-116	295	6	engineering	engineering	NOUN
alkej-116	295	7	and	and	CCONJ
alkej-116	295	8	computer	computer	NOUN
alkej-116	295	9	science	science	NOUN
alkej-116	295	10	.	.	PUNCT
alkej-116	296	1	wuhan	wuhan	PROPN
alkej-116	296	2	.	.	PUNCT
alkej-116	297	1	doi	doi	PROPN
alkej-116	297	2	:	:	PUNCT
alkej-116	297	3	10.1109	10.1109	NUM
alkej-116	297	4	/	/	SYM
alkej-116	297	5	iciecs	iciec	NOUN
alkej-116	297	6	.	.	PUNCT
alkej-116	298	1	2009.5365861:1	2009.5365861:1	NUM
alkej-116	298	2	-	-	SYM
alkej-116	298	3	4	4	NUM
alkej-116	298	4	.	.	PUNCT
alkej-116	299	1	[	[	X
alkej-116	299	2	6	6	NUM
alkej-116	299	3	]	]	SYM
alkej-116	299	4	kunz	kunz	NOUN
alkej-116	299	5	,	,	PUNCT
alkej-116	299	6	t.	t.	NOUN
alkej-116	299	7	and	and	CCONJ
alkej-116	299	8	stilman	stilman	NOUN
alkej-116	299	9	,	,	PUNCT
alkej-116	299	10	m.	m.	NOUN
alkej-116	299	11	(	(	PUNCT
alkej-116	299	12	2011	2011	NUM
alkej-116	299	13	)	)	PUNCT
alkej-116	299	14	.	.	PUNCT
alkej-116	300	1	turning	turn	VERB
alkej-116	300	2	paths	path	NOUN
alkej-116	300	3	into	into	ADP
alkej-116	300	4	trajectories	trajectory	NOUN
alkej-116	300	5	using	use	VERB
alkej-116	300	6	parabolic	parabolic	ADJ
alkej-116	300	7	blends	blend	NOUN
alkej-116	300	8	.	.	PUNCT
alkej-116	301	1	gt	gt	NOUN
alkej-116	301	2	-	-	PUNCT
alkej-116	301	3	golem-2011	golem-2011	NOUN
alkej-116	301	4	-	-	PUNCT
alkej-116	301	5	006	006	NUM
alkej-116	301	6	.	.	PUNCT
alkej-116	302	1	georgia	georgia	PROPN
alkej-116	302	2	institute	institute	PROPN
alkej-116	302	3	of	of	ADP
alkej-116	302	4	technology	technology	PROPN
alkej-116	302	5	.	.	PUNCT
alkej-116	303	1	[	[	X
alkej-116	303	2	7	7	NUM
alkej-116	303	3	]	]	SYM
alkej-116	303	4	kunz	kunz	NOUN
alkej-116	303	5	,	,	PUNCT
alkej-116	303	6	t.	t.	NOUN
alkej-116	303	7	and	and	CCONJ
alkej-116	303	8	stilman	stilman	NOUN
alkej-116	303	9	,	,	PUNCT
alkej-116	303	10	m.	m.	NOUN
alkej-116	303	11	(	(	PUNCT
alkej-116	303	12	2012	2012	NUM
alkej-116	303	13	)	)	PUNCT
alkej-116	303	14	.	.	PUNCT
alkej-116	304	1	timeoptimal	timeoptimal	ADJ
alkej-116	304	2	trajectory	trajectory	NOUN
alkej-116	304	3	generation	generation	NOUN
alkej-116	304	4	for	for	ADP
alkej-116	304	5	path	path	NOUN
alkej-116	304	6	following	follow	VERB
alkej-116	304	7	with	with	ADP
alkej-116	304	8	bounded	bounded	ADJ
alkej-116	304	9	acceleration	acceleration	NOUN
alkej-116	304	10	and	and	CCONJ
alkej-116	304	11	velocity	velocity	NOUN
alkej-116	304	12	.	.	PUNCT
alkej-116	305	1	proceedings	proceeding	NOUN
alkej-116	305	2	of	of	ADP
alkej-116	305	3	robotics	robotic	NOUN
alkej-116	305	4	:	:	PUNCT
alkej-116	305	5	science	science	NOUN
alkej-116	305	6	and	and	CCONJ
alkej-116	305	7	systems	system	NOUN
alkej-116	305	8	.	.	PUNCT
alkej-116	306	1	sydney	sydney	PROPN
alkej-116	306	2	,	,	PUNCT
alkej-116	306	3	austria	austria	PROPN
alkej-116	306	4	.	.	PUNCT
alkej-116	306	5	doi	doi	PROPN
alkej-116	306	6	:	:	PUNCT
alkej-116	306	7	10.15607	10.15607	NUM
alkej-116	306	8	/	/	SYM
alkej-116	306	9	rss.2012.viii.027	rss.2012.viii.027	NOUN
alkej-116	306	10	:	:	PUNCT
alkej-116	306	11	9	9	NUM
alkej-116	306	12	-	-	SYM
alkej-116	306	13	13	13	NUM
alkej-116	306	14	.	.	PUNCT
alkej-116	307	1	[	[	X
alkej-116	307	2	8	8	NUM
alkej-116	307	3	]	]	SYM
alkej-116	307	4	rymansaib	rymansaib	NOUN
alkej-116	307	5	,	,	PUNCT
alkej-116	307	6	z.	z.	PROPN
alkej-116	307	7	,	,	PUNCT
alkej-116	307	8	iravani	iravani	NOUN
alkej-116	307	9	,	,	PUNCT
alkej-116	307	10	p.	p.	NOUN
alkej-116	307	11	and	and	CCONJ
alkej-116	307	12	sahinkaya	sahinkaya	PROPN
alkej-116	307	13	,	,	PUNCT
alkej-116	307	14	m.n	m.n	PROPN
alkej-116	307	15	.	.	PROPN
alkej-116	307	16	(	(	PUNCT
alkej-116	307	17	2013	2013	NUM
alkej-116	307	18	)	)	PUNCT
alkej-116	307	19	.	.	PUNCT
alkej-116	308	1	july	july	PROPN
alkej-116	308	2	9	9	NUM
alkej-116	308	3	-	-	SYM
alkej-116	308	4	12	12	NUM
alkej-116	308	5	.	.	PUNCT
alkej-116	309	1	exponential	exponential	ADJ
alkej-116	309	2	trajectory	trajectory	NOUN
alkej-116	309	3	generation	generation	NOUN
alkej-116	309	4	for	for	ADP
alkej-116	309	5	point	point	NOUN
alkej-116	309	6	to	to	PART
alkej-116	309	7	point	point	VERB
alkej-116	309	8	motions	motion	NOUN
alkej-116	309	9	.	.	PUNCT
alkej-116	310	1	ieee	ieee	PROPN
alkej-116	310	2	/	/	SYM
alkej-116	310	3	asme	asme	PROPN
alkej-116	310	4	international	international	PROPN
alkej-116	310	5	conference	conference	PROPN
alkej-116	310	6	on	on	ADP
alkej-116	310	7	advanced	advanced	ADJ
alkej-116	310	8	intelligent	intelligent	ADJ
alkej-116	310	9	mechatronics	mechatronic	NOUN
alkej-116	310	10	,	,	PUNCT
alkej-116	310	11	wollongong	wollongong	PROPN
alkej-116	310	12	-	-	PUNCT
alkej-116	310	13	australia	australia	PROPN
alkej-116	310	14	,	,	PUNCT
alkej-116	310	15	pp.906	pp.906	PROPN
alkej-116	310	16	-	-	PUNCT
alkej-116	310	17	911	911	NUM
alkej-116	310	18	.	.	PUNCT
alkej-116	311	1	[	[	X
alkej-116	311	2	9	9	NUM
alkej-116	311	3	]	]	SYM
alkej-116	311	4	rossi	rossi	ADJ
alkej-116	311	5	,	,	PUNCT
alkej-116	311	6	c.	c.	PROPN
alkej-116	311	7	and	and	CCONJ
alkej-116	311	8	savino	savino	PROPN
alkej-116	311	9	,	,	PUNCT
alkej-116	311	10	s.	s.	PROPN
alkej-116	311	11	(	(	PUNCT
alkej-116	311	12	2013	2013	NUM
alkej-116	311	13	)	)	PUNCT
alkej-116	311	14	.	.	PUNCT
alkej-116	312	1	robot	robot	NOUN
alkej-116	312	2	trajectory	trajectory	NOUN
alkej-116	312	3	planning	planning	NOUN
alkej-116	312	4	by	by	ADP
alkej-116	312	5	assigning	assign	VERB
alkej-116	312	6	positions	position	NOUN
alkej-116	312	7	and	and	CCONJ
alkej-116	312	8	tangential	tangential	ADJ
alkej-116	312	9	velocities	velocity	NOUN
alkej-116	312	10	.	.	PUNCT
alkej-116	313	1	elsever	elsever	NOUN
alkej-116	313	2	:	:	PUNCT
alkej-116	313	3	robotics	robotic	NOUN
alkej-116	313	4	and	and	CCONJ
alkej-116	313	5	computer	computer	NOUN
alkej-116	313	6	-	-	PUNCT
alkej-116	313	7	integrated	integrate	VERB
alkej-116	313	8	manufacturing	manufacturing	NOUN
alkej-116	313	9	.	.	PUNCT
alkej-116	314	1	29	29	NUM
alkej-116	314	2	:	:	SYM
alkej-116	314	3	139156	139156	NUM
alkej-116	314	4	.	.	PUNCT
alkej-116	315	1	[	[	X
alkej-116	315	2	10	10	NUM
alkej-116	315	3	]	]	X
alkej-116	315	4	kröger	kröger	NOUN
alkej-116	315	5	,	,	PUNCT
alkej-116	315	6	t.	t.	PROPN
alkej-116	315	7	and	and	CCONJ
alkej-116	315	8	wahl	wahl	PROPN
alkej-116	315	9	,	,	PUNCT
alkej-116	315	10	f.	f.	PROPN
alkej-116	315	11	m.	m.	PROPN
alkej-116	315	12	(	(	PUNCT
alkej-116	315	13	2010	2010	NUM
alkej-116	315	14	)	)	PUNCT
alkej-116	315	15	.	.	PUNCT
alkej-116	316	1	online	online	ADJ
alkej-116	316	2	trajectory	trajectory	NOUN
alkej-116	316	3	generation	generation	NOUN
alkej-116	316	4	:	:	PUNCT
alkej-116	316	5	basic	basic	ADJ
alkej-116	316	6	concepts	concept	NOUN
alkej-116	316	7	for	for	ADP
alkej-116	316	8	instantaneous	instantaneous	ADJ
alkej-116	316	9	reactions	reaction	NOUN
alkej-116	316	10	to	to	ADP
alkej-116	316	11	unforeseen	unforeseen	ADJ
alkej-116	316	12	events	event	NOUN
alkej-116	316	13	.	.	PUNCT
alkej-116	317	1	ieee	ieee	NOUN
alkej-116	317	2	transactions	transaction	NOUN
alkej-116	317	3	on	on	ADP
alkej-116	317	4	robotics	robotic	NOUN
alkej-116	317	5	,	,	PUNCT
alkej-116	317	6	6(1	6(1	NUM
alkej-116	317	7	):	):	PUNCT
alkej-116	317	8	94	94	NUM
alkej-116	317	9	-	-	SYM
alkej-116	317	10	111	111	NUM
alkej-116	317	11	.	.	PUNCT
alkej-116	318	1	[	[	X
alkej-116	318	2	11	11	NUM
alkej-116	318	3	]	]	SYM
alkej-116	318	4	kröger	kröger	NOUN
alkej-116	318	5	,	,	PUNCT
alkej-116	318	6	t.	t.	PROPN
alkej-116	318	7	(	(	PUNCT
alkej-116	318	8	2012	2012	NUM
alkej-116	318	9	)	)	PUNCT
alkej-116	318	10	.	.	PUNCT
alkej-116	319	1	may	may	AUX
alkej-116	319	2	14	14	NUM
alkej-116	319	3	-	-	SYM
alkej-116	319	4	18	18	NUM
alkej-116	319	5	.	.	PUNCT
alkej-116	320	1	on	on	ADP
alkej-116	320	2	-	-	PUNCT
alkej-116	320	3	line	line	NOUN
alkej-116	320	4	trajectory	trajectory	NOUN
alkej-116	320	5	generation	generation	NOUN
alkej-116	320	6	:	:	PUNCT
alkej-116	320	7	nonconstant	nonconstant	ADJ
alkej-116	320	8	motion	motion	NOUN
alkej-116	320	9	constraints	constraint	NOUN
alkej-116	320	10	.	.	PUNCT
alkej-116	321	1	international	international	ADJ
alkej-116	321	2	conference	conference	NOUN
alkej-116	321	3	on	on	ADP
alkej-116	321	4	robotics	robotic	NOUN
alkej-116	321	5	and	and	CCONJ
alkej-116	321	6	automation	automation	NOUN
alkej-116	321	7	,	,	PUNCT
alkej-116	321	8	river	river	NOUN
alkej-116	321	9	center	center	NOUN
alkej-116	321	10	,	,	PUNCT
alkej-116	321	11	saint	saint	PROPN
alkej-116	321	12	paul	paul	PROPN
alkej-116	321	13	,	,	PUNCT
alkej-116	321	14	minnesota	minnesota	PROPN
alkej-116	321	15	,	,	PUNCT
alkej-116	321	16	usa	usa	PROPN
alkej-116	321	17	.	.	PROPN
alkej-116	321	18	doi	doi	PROPN
alkej-116	321	19	:	:	PUNCT
alkej-116	321	20	10.1109	10.1109	NUM
alkej-116	321	21	/	/	SYM
alkej-116	321	22	icra	icra	NOUN
alkej-116	321	23	.	.	PUNCT
alkej-116	322	1	2012.6225186	2012.6225186	ADJ
alkej-116	322	2	:	:	PUNCT
alkej-116	322	3	2048	2048	NUM
alkej-116	322	4	-	-	SYM
alkej-116	322	5	2054	2054	NUM
alkej-116	322	6	.	.	PUNCT
alkej-116	323	1	[	[	X
alkej-116	323	2	12	12	NUM
alkej-116	323	3	]	]	X
alkej-116	323	4	thompson	thompson	PROPN
alkej-116	323	5	,	,	PUNCT
alkej-116	323	6	b.	b.	PROPN
alkej-116	323	7	and	and	CCONJ
alkej-116	323	8	yoon	yoon	PROPN
alkej-116	323	9	,	,	PUNCT
alkej-116	323	10	h.-s	h.-s	PROPN
alkej-116	323	11	.	.	PUNCT
alkej-116	324	1	(	(	PUNCT
alkej-116	324	2	2014	2014	NUM
alkej-116	324	3	)	)	PUNCT
alkej-116	324	4	.	.	PUNCT
alkej-116	325	1	efficient	efficient	ADJ
alkej-116	325	2	path	path	NOUN
alkej-116	325	3	planning	planning	NOUN
alkej-116	325	4	algorithm	algorithm	NOUN
alkej-116	325	5	for	for	ADP
alkej-116	325	6	additive	additive	ADJ
alkej-116	325	7	manufacturing	manufacturing	NOUN
alkej-116	325	8	systems	system	NOUN
alkej-116	325	9	.	.	PUNCT
alkej-116	326	1	ieee	ieee	NOUN
alkej-116	326	2	transactions	transaction	NOUN
alkej-116	326	3	on	on	ADP
alkej-116	326	4	components	component	NOUN
alkej-116	326	5	,	,	PUNCT
alkej-116	326	6	packaging	packaging	NOUN
alkej-116	326	7	and	and	CCONJ
alkej-116	326	8	saad	saad	PROPN
alkej-116	326	9	zaghlul	zaghlul	PROPN
alkej-116	326	10	saeed	saeed	PROPN
alkej-116	326	11	al	al	PROPN
alkej-116	326	12	-	-	PUNCT
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alkej-116	326	15	journal	journal	PROPN
alkej-116	326	16	,	,	PUNCT
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alkej-116	326	18	.	.	PROPN
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alkej-116	326	20	,	,	PUNCT
alkej-116	326	21	no	no	INTJ
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alkej-116	326	23	1	1	NUM
alkej-116	326	24	,	,	PUNCT
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alkej-116	326	30	)	)	PUNCT
alkej-116	326	31	87	87	NUM
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alkej-116	326	33	technology	technology	NOUN
alkej-116	326	34	,	,	PUNCT
alkej-116	326	35	4(9	4(9	NUM
alkej-116	326	36	):	):	PUNCT
alkej-116	326	37	1555	1555	NUM
alkej-116	326	38	-	-	SYM
alkej-116	326	39	1563	1563	NUM
alkej-116	326	40	,	,	PUNCT
alkej-116	326	41	doi	doi	NOUN
alkej-116	326	42	:	:	PUNCT
alkej-116	326	43	10.1109	10.1109	NUM
alkej-116	326	44	/	/	SYM
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alkej-116	326	46	[	[	X
alkej-116	326	47	13	13	NUM
alkej-116	326	48	]	]	SYM
alkej-116	326	49	weber	weber	PROPN
alkej-116	326	50	,	,	PUNCT
alkej-116	326	51	w.	w.	PROPN
alkej-116	326	52	,	,	PUNCT
alkej-116	326	53	könig	könig	PROPN
alkej-116	326	54	,	,	PUNCT
alkej-116	326	55	a.	a.	PROPN
alkej-116	326	56	,	,	PUNCT
alkej-116	326	57	nodem	nodem	PROPN
alkej-116	326	58	,	,	PUNCT
alkej-116	326	59	d.	d.	PROPN
alkej-116	326	60	x.	x.	PROPN
alkej-116	326	61	,	,	PUNCT
alkej-116	326	62	darmstadt	darmstadt	PROPN
alkej-116	326	63	,	,	PUNCT
alkej-116	326	64	h.	h.	PROPN
alkej-116	326	65	(	(	PUNCT
alkej-116	326	66	2016	2016	NUM
alkej-116	326	67	)	)	PUNCT
alkej-116	326	68	.	.	PUNCT
alkej-116	327	1	june	june	PROPN
alkej-116	327	2	21	21	NUM
alkej-116	327	3	–	–	PUNCT
alkej-116	327	4	22	22	NUM
alkej-116	327	5	,	,	PUNCT
alkej-116	327	6	2016	2016	NUM
alkej-116	327	7	.	.	PUNCT
alkej-116	328	1	user	user	NOUN
alkej-116	328	2	-	-	PUNCT
alkej-116	328	3	defined	define	VERB
alkej-116	328	4	transition	transition	NOUN
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alkej-116	328	6	path	path	NOUN
alkej-116	328	7	segments	segment	NOUN
alkej-116	328	8	in	in	ADP
alkej-116	328	9	terms	term	NOUN
alkej-116	328	10	of	of	ADP
alkej-116	328	11	tolerances	tolerance	NOUN
alkej-116	328	12	in	in	ADP
alkej-116	328	13	speed	speed	NOUN
alkej-116	328	14	and	and	CCONJ
alkej-116	328	15	position	position	NOUN
alkej-116	328	16	deviation	deviation	NOUN
alkej-116	328	17	.	.	PUNCT
alkej-116	329	1	proceedings	proceeding	NOUN
alkej-116	329	2	of	of	ADP
alkej-116	329	3	isr	isr	PROPN
alkej-116	329	4	2016	2016	NUM
alkej-116	329	5	,	,	PUNCT
alkej-116	329	6	47st	47st	ADJ
alkej-116	329	7	international	international	ADJ
alkej-116	329	8	symposium	symposium	NOUN
alkej-116	329	9	on	on	ADP
alkej-116	329	10	robotics	robotic	NOUN
alkej-116	329	11	,	,	PUNCT
alkej-116	329	12	munich	munich	PROPN
alkej-116	329	13	-	-	PUNCT
alkej-116	329	14	germany	germany	PROPN
alkej-116	329	15	,	,	PUNCT
alkej-116	329	16	pp.187	pp.187	NOUN
alkej-116	329	17	-	-	PUNCT
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alkej-116	329	19	.	.	PUNCT
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alkej-116	330	5	,	,	PUNCT
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alkej-116	330	9	,	,	PUNCT
alkej-116	330	10	d.	d.	PROPN
alkej-116	330	11	(	(	PUNCT
alkej-116	330	12	2010	2010	NUM
alkej-116	330	13	)	)	PUNCT
alkej-116	330	14	.	.	PUNCT
alkej-116	331	1	multi	multi	ADJ
alkej-116	331	2	-	-	ADJ
alkej-116	331	3	objective	objective	ADJ
alkej-116	331	4	psoand	psoand	PROPN
alkej-116	331	5	npso	npso	NOUN
alkej-116	331	6	-	-	PUNCT
alkej-116	331	7	based	base	VERB
alkej-116	331	8	algorithms	algorithm	NOUN
alkej-116	331	9	for	for	ADP
alkej-116	331	10	robot	robot	NOUN
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alkej-116	331	12	planning	planning	NOUN
alkej-116	331	13	.	.	PUNCT
alkej-116	332	1	advances	advance	NOUN
alkej-116	332	2	in	in	ADP
alkej-116	332	3	electrical	electrical	ADJ
alkej-116	332	4	and	and	CCONJ
alkej-116	332	5	computer	computer	NOUN
alkej-116	332	6	engineering	engineering	NOUN
alkej-116	332	7	,	,	PUNCT
alkej-116	332	8	10(4	10(4	NUM
alkej-116	332	9	):	):	PUNCT
alkej-116	332	10	69	69	NUM
alkej-116	332	11	-	-	SYM
alkej-116	332	12	76	76	NUM
alkej-116	332	13	.	.	PUNCT
alkej-116	333	1	[	[	X
alkej-116	333	2	15	15	NUM
alkej-116	333	3	]	]	X
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alkej-116	333	5	,	,	PUNCT
alkej-116	333	6	w.	w.	PROPN
alkej-116	333	7	p.	p.	PROPN
alkej-116	333	8	,	,	PUNCT
alkej-116	333	9	cardiel1	cardiel1	PROPN
alkej-116	333	10	,	,	PUNCT
alkej-116	333	11	e.	e.	PROPN
alkej-116	333	12	b.	b.	PROPN
alkej-116	333	13	,	,	PUNCT
alkej-116	333	14	campos	campos	PROPN
alkej-116	333	15	,	,	PUNCT
alkej-116	333	16	i.	i.	PROPN
alkej-116	333	17	j.	j.	PROPN
alkej-116	333	18	and	and	CCONJ
alkej-116	333	19	paz1	paz1	PROPN
alkej-116	333	20	,	,	PUNCT
alkej-116	333	21	a.	a.	PROPN
alkej-116	333	22	r.	r.	PROPN
alkej-116	333	23	(	(	PUNCT
alkej-116	333	24	2010	2010	NUM
alkej-116	333	25	)	)	PUNCT
alkej-116	333	26	.	.	PUNCT
alkej-116	334	1	september	september	PROPN
alkej-116	334	2	8	8	NUM
alkej-116	334	3	-	-	SYM
alkej-116	334	4	10	10	NUM
alkej-116	334	5	.	.	PUNCT
alkej-116	335	1	mechanical	mechanical	ADJ
alkej-116	335	2	energy	energy	NOUN
alkej-116	335	3	optimization	optimization	NOUN
alkej-116	335	4	in	in	ADP
alkej-116	335	5	trajectory	trajectory	NOUN
alkej-116	335	6	planning	planning	NOUN
alkej-116	335	7	for	for	ADP
alkej-116	335	8	six	six	NUM
alkej-116	335	9	dof	dof	NOUN
alkej-116	335	10	robot	robot	NOUN
alkej-116	335	11	manipulators	manipulator	NOUN
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alkej-116	335	13	on	on	ADP
alkej-116	335	14	eighth	eighth	ADJ
alkej-116	335	15	-	-	PUNCT
alkej-116	335	16	degree	degree	NOUN
alkej-116	335	17	polynomial	polynomial	ADJ
alkej-116	335	18	functions	function	NOUN
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alkej-116	335	20	a	a	DET
alkej-116	335	21	genetic	genetic	ADJ
alkej-116	335	22	algorithm	algorithm	NOUN
alkej-116	335	23	.	.	PUNCT
alkej-116	336	1	7th	7th	ADJ
alkej-116	336	2	international	international	ADJ
alkej-116	336	3	conference	conference	NOUN
alkej-116	336	4	on	on	ADP
alkej-116	336	5	electrical	electrical	ADJ
alkej-116	336	6	engineering	engineering	NOUN
alkej-116	336	7	,	,	PUNCT
alkej-116	336	8	computing	compute	VERB
alkej-116	336	9	science	science	NOUN
alkej-116	336	10	and	and	CCONJ
alkej-116	336	11	automatic	automatic	ADJ
alkej-116	336	12	control	control	NOUN
alkej-116	336	13	.	.	PUNCT
alkej-116	337	1	méxico	méxico	PROPN
alkej-116	337	2	:	:	PUNCT
alkej-116	337	3	446	446	NUM
alkej-116	337	4	–	–	PUNCT
alkej-116	337	5	451	451	NUM
alkej-116	337	6	.	.	PUNCT
alkej-116	338	1	[	[	X
alkej-116	338	2	16	16	NUM
alkej-116	338	3	]	]	X
alkej-116	338	4	gong	gong	PROPN
alkej-116	338	5	,	,	PUNCT
alkej-116	338	6	d.	d.	PROPN
alkej-116	338	7	,	,	PUNCT
alkej-116	338	8	lu	lu	PROPN
alkej-116	338	9	,	,	PUNCT
alkej-116	338	10	l.	l.	PROPN
alkej-116	338	11	and	and	CCONJ
alkej-116	338	12	li	li	PROPN
alkej-116	338	13	,	,	PUNCT
alkej-116	338	14	m.	m.	NOUN
alkej-116	338	15	(	(	PUNCT
alkej-116	338	16	2009	2009	NUM
alkej-116	338	17	)	)	PUNCT
alkej-116	338	18	.	.	PUNCT
alkej-116	339	1	may	may	AUX
alkej-116	339	2	1821	1821	NUM
alkej-116	339	3	.	.	PUNCT
alkej-116	340	1	robot	robot	NOUN
alkej-116	340	2	path	path	PROPN
alkej-116	340	3	planning	planning	NOUN
alkej-116	340	4	in	in	ADP
alkej-116	340	5	uncertain	uncertain	ADJ
alkej-116	340	6	environments	environment	NOUN
alkej-116	340	7	based	base	VERB
alkej-116	340	8	on	on	ADP
alkej-116	340	9	particle	particle	NOUN
alkej-116	340	10	swarm	swarm	NOUN
alkej-116	340	11	optimization	optimization	NOUN
alkej-116	340	12	.	.	PUNCT
alkej-116	341	1	ieee	ieee	PROPN
alkej-116	341	2	congress	congress	PROPN
alkej-116	341	3	on	on	ADP
alkej-116	341	4	evolutionary	evolutionary	ADJ
alkej-116	341	5	computation	computation	NOUN
alkej-116	341	6	.	.	PUNCT
alkej-116	342	1	trondheim	trondheim	PROPN
alkej-116	342	2	.	.	PUNCT
alkej-116	343	1	doi:10.1109	doi:10.1109	PROPN
alkej-116	343	2	/	/	SYM
alkej-116	344	1	cec.2009.4983204	cec.2009.4983204	NUM
alkej-116	344	2	:	:	PUNCT
alkej-116	344	3	21272134	21272134	NUM
alkej-116	344	4	.	.	PUNCT
alkej-116	345	1	[	[	X
alkej-116	345	2	17	17	NUM
alkej-116	345	3	]	]	X
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alkej-116	345	5	,	,	PUNCT
alkej-116	345	6	m.	m.	NOUN
alkej-116	345	7	e.	e.	PROPN
alkej-116	345	8	h.	h.	PROPN
alkej-116	345	9	and	and	CCONJ
alkej-116	345	10	chipperfield	chipperfield	PROPN
alkej-116	345	11	,	,	PUNCT
alkej-116	345	12	a.	a.	PROPN
alkej-116	345	13	j.	j.	PROPN
alkej-116	345	14	(	(	PUNCT
alkej-116	345	15	2010	2010	NUM
alkej-116	345	16	)	)	PUNCT
alkej-116	345	17	.	.	PUNCT
alkej-116	346	1	simplifying	simplify	VERB
alkej-116	346	2	particle	particle	NOUN
alkej-116	346	3	swarm	swarm	NOUN
alkej-116	346	4	optimization	optimization	NOUN
alkej-116	346	5	.	.	PUNCT
alkej-116	347	1	applied	apply	VERB
alkej-116	347	2	soft	soft	ADJ
alkej-116	347	3	computing	computing	NOUN
alkej-116	347	4	,	,	PUNCT
alkej-116	347	5	10(2	10(2	NUM
alkej-116	347	6	):	):	PUNCT
alkej-116	347	7	618	618	NUM
alkej-116	347	8	-	-	SYM
alkej-116	347	9	628	628	NUM
alkej-116	347	10	.	.	PUNCT
alkej-116	348	1	[	[	X
alkej-116	348	2	18	18	NUM
alkej-116	348	3	]	]	SYM
alkej-116	348	4	rao	rao	PROPN
alkej-116	348	5	,	,	PUNCT
alkej-116	348	6	s.	s.	PROPN
alkej-116	348	7	s.	s.	PROPN
alkej-116	348	8	(	(	PUNCT
alkej-116	348	9	2009	2009	NUM
alkej-116	348	10	)	)	PUNCT
alkej-116	348	11	.	.	PUNCT
alkej-116	349	1	engineering	engineering	NOUN
alkej-116	349	2	optimization	optimization	NOUN
alkej-116	349	3	theory	theory	NOUN
alkej-116	349	4	and	and	CCONJ
alkej-116	349	5	practice	practice	NOUN
alkej-116	349	6	.	.	PUNCT
alkej-116	350	1	new	new	PROPN
alkej-116	350	2	jersey	jersey	PROPN
alkej-116	350	3	.	.	PUNCT
alkej-116	351	1	john	john	PROPN
alkej-116	351	2	wiley	wiley	PROPN
alkej-116	351	3	&	&	CCONJ
alkej-116	351	4	sons	sons	PROPN
alkej-116	351	5	,	,	PUNCT
alkej-116	351	6	inc	inc	PROPN
alkej-116	351	7	.	.	PROPN
alkej-116	351	8	:	:	PUNCT
alkej-116	351	9	4th	4th	ADJ
alkej-116	351	10	edition	edition	NOUN
alkej-116	351	11	,	,	PUNCT
alkej-116	351	12	pp	pp	PROPN
alkej-116	351	13	.	.	PUNCT
alkej-116	351	14	708	708	NUM
alkej-116	351	15	.	.	PUNCT
alkej-116	352	1	[	[	X
alkej-116	352	2	19	19	NUM
alkej-116	352	3	]	]	PUNCT
alkej-116	352	4	chavan	chavan	PROPN
alkej-116	352	5	,	,	PUNCT
alkej-116	352	6	s.d	s.d	PROPN
alkej-116	352	7	.	.	PROPN
alkej-116	352	8	and	and	CCONJ
alkej-116	352	9	adgokar	adgokar	PROPN
alkej-116	352	10	,	,	PUNCT
alkej-116	352	11	n.p	n.p	PROPN
alkej-116	352	12	.	.	PROPN
alkej-116	352	13	(	(	PUNCT
alkej-116	352	14	2015	2015	NUM
alkej-116	352	15	)	)	PUNCT
alkej-116	352	16	.	.	PUNCT
alkej-116	353	1	an	an	DET
alkej-116	353	2	overview	overview	NOUN
alkej-116	353	3	on	on	ADP
alkej-116	353	4	particle	particle	NOUN
alkej-116	353	5	swarm	swarm	NOUN
alkej-116	353	6	optimization	optimization	NOUN
alkej-116	353	7	:	:	PUNCT
alkej-116	353	8	basic	basic	ADJ
alkej-116	353	9	concepts	concept	NOUN
alkej-116	353	10	and	and	CCONJ
alkej-116	353	11	modified	modified	ADJ
alkej-116	353	12	variants	variant	NOUN
alkej-116	353	13	.	.	PUNCT
alkej-116	354	1	international	international	ADJ
alkej-116	354	2	journal	journal	PROPN
alkej-116	354	3	of	of	ADP
alkej-116	354	4	science	science	NOUN
alkej-116	354	5	and	and	CCONJ
alkej-116	354	6	research	research	NOUN
alkej-116	354	7	,	,	PUNCT
alkej-116	354	8	4(5	4(5	NUM
alkej-116	354	9	):	):	PUNCT
alkej-116	354	10	255	255	NUM
alkej-116	354	11	-	-	SYM
alkej-116	354	12	260	260	NUM
alkej-116	354	13	.	.	PUNCT
alkej-116	355	1	[	[	X
alkej-116	355	2	20	20	NUM
alkej-116	355	3	]	]	PUNCT
alkej-116	355	4	alfi	alfi	NOUN
alkej-116	355	5	,	,	PUNCT
alkej-116	355	6	a.	a.	NOUN
alkej-116	355	7	(	(	PUNCT
alkej-116	355	8	2012	2012	NUM
alkej-116	355	9	)	)	PUNCT
alkej-116	355	10	.	.	PUNCT
alkej-116	356	1	particle	particle	NOUN
alkej-116	356	2	swarm	swarm	NOUN
alkej-116	356	3	optimization	optimization	NOUN
alkej-116	356	4	algorithm	algorithm	NOUN
alkej-116	356	5	with	with	ADP
alkej-116	356	6	dynamic	dynamic	ADJ
alkej-116	356	7	inertia	inertia	NOUN
alkej-116	356	8	weight	weight	NOUN
alkej-116	356	9	for	for	ADP
alkej-116	356	10	on	on	ADP
alkej-116	356	11	-	-	PUNCT
alkej-116	356	12	line	line	NOUN
alkej-116	356	13	parameter	parameter	NOUN
alkej-116	356	14	identification	identification	NOUN
alkej-116	356	15	applied	apply	VERB
alkej-116	356	16	to	to	ADP
alkej-116	356	17	lorenz	lorenz	PROPN
alkej-116	356	18	chaotic	chaotic	ADJ
alkej-116	356	19	system	system	NOUN
alkej-116	356	20	.	.	PUNCT
alkej-116	357	1	international	international	ADJ
alkej-116	357	2	journal	journal	NOUN
alkej-116	357	3	of	of	ADP
alkej-116	357	4	innovative	innovative	ADJ
alkej-116	357	5	computing	computing	NOUN
alkej-116	357	6	,	,	PUNCT
alkej-116	357	7	information	information	NOUN
alkej-116	357	8	and	and	CCONJ
alkej-116	357	9	control	control	NOUN
alkej-116	357	10	,	,	PUNCT
alkej-116	357	11	8(2):1191	8(2):1191	NUM
alkej-116	357	12	-	-	SYM
alkej-116	357	13	1203	1203	NUM
alkej-116	357	14	.	.	PUNCT
alkej-116	358	1	[	[	X
alkej-116	358	2	21	21	NUM
alkej-116	358	3	]	]	SYM
alkej-116	358	4	djoewahir	djoewahir	NOUN
alkej-116	358	5	,	,	PUNCT
alkej-116	358	6	a.	a.	PROPN
alkej-116	358	7	,	,	PUNCT
alkej-116	358	8	kanya	kanya	PROPN
alkej-116	358	9	,	,	PUNCT
alkej-116	358	10	t.	t.	PROPN
alkej-116	358	11	and	and	CCONJ
alkej-116	358	12	shenglin	shenglin	PROPN
alkej-116	358	13	,	,	PUNCT
alkej-116	358	14	m.	m.	NOUN
alkej-116	358	15	(	(	PUNCT
alkej-116	358	16	2012	2012	NUM
alkej-116	358	17	)	)	PUNCT
alkej-116	358	18	.	.	PUNCT
alkej-116	359	1	a	a	DET
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alkej-116	359	3	particle	particle	NOUN
alkej-116	359	4	swarm	swarm	NOUN
alkej-116	359	5	optimization	optimization	NOUN
alkej-116	359	6	with	with	ADP
alkej-116	359	7	nonlinear	nonlinear	ADJ
alkej-116	359	8	decreasing	decrease	VERB
alkej-116	359	9	inertia	inertia	NOUN
alkej-116	359	10	weight	weight	NOUN
alkej-116	359	11	based	base	VERB
alkej-116	359	12	pid	pid	NOUN
alkej-116	359	13	controller	controller	NOUN
alkej-116	359	14	for	for	ADP
alkej-116	359	15	ultrasonic	ultrasonic	ADJ
alkej-116	359	16	motor	motor	NOUN
alkej-116	359	17	.	.	PUNCT
alkej-116	360	1	international	international	ADJ
alkej-116	360	2	journal	journal	PROPN
alkej-116	360	3	of	of	ADP
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alkej-116	360	5	and	and	CCONJ
alkej-116	360	6	technology	technology	NOUN
alkej-116	360	7	,	,	PUNCT
alkej-116	360	8	3(3	3(3	NUM
alkej-116	360	9	):	):	PUNCT
alkej-116	360	10	198	198	NUM
alkej-116	360	11	-	-	SYM
alkej-116	360	12	201	201	NUM
alkej-116	360	13	.	.	PUNCT
alkej-116	361	1	[	[	X
alkej-116	361	2	22	22	NUM
alkej-116	361	3	]	]	X
alkej-116	361	4	tian	tian	PROPN
alkej-116	361	5	,	,	PUNCT
alkej-116	361	6	d.	d.	PROPN
alkej-116	361	7	(	(	PUNCT
alkej-116	361	8	2013	2013	NUM
alkej-116	361	9	)	)	PUNCT
alkej-116	361	10	.	.	PUNCT
alkej-116	362	1	a	a	DET
alkej-116	362	2	review	review	NOUN
alkej-116	362	3	of	of	ADP
alkej-116	362	4	convergence	convergence	NOUN
alkej-116	362	5	analysis	analysis	NOUN
alkej-116	362	6	of	of	ADP
alkej-116	362	7	particle	particle	NOUN
alkej-116	362	8	swarm	swarm	NOUN
alkej-116	362	9	optimization	optimization	NOUN
alkej-116	362	10	,	,	PUNCT
alkej-116	362	11	international	international	ADJ
alkej-116	362	12	journal	journal	NOUN
alkej-116	362	13	of	of	ADP
alkej-116	362	14	grid	grid	NOUN
alkej-116	362	15	and	and	CCONJ
alkej-116	362	16	distributed	distributed	ADJ
alkej-116	362	17	computing	computing	NOUN
alkej-116	362	18	,	,	PUNCT
alkej-116	362	19	6(6	6(6	NUM
alkej-116	362	20	):	):	PUNCT
alkej-116	362	21	117	117	NUM
alkej-116	362	22	-	-	SYM
alkej-116	362	23	128	128	NUM
alkej-116	362	24	.	.	PUNCT
alkej-116	363	1	[	[	X
alkej-116	363	2	23	23	NUM
alkej-116	363	3	]	]	X
alkej-116	363	4	malwiya	malwiya	NOUN
alkej-116	363	5	,	,	PUNCT
alkej-116	363	6	r.	r.	PROPN
alkej-116	363	7	and	and	CCONJ
alkej-116	363	8	rai	rai	PROPN
alkej-116	363	9	,	,	PUNCT
alkej-116	363	10	v.	v.	PROPN
alkej-116	363	11	(	(	PUNCT
alkej-116	363	12	2015	2015	NUM
alkej-116	363	13	)	)	PUNCT
alkej-116	363	14	.	.	PUNCT
alkej-116	364	1	optimal	optimal	ADJ
alkej-116	364	2	speed	speed	NOUN
alkej-116	364	3	controlling	controlling	NOUN
alkej-116	364	4	of	of	ADP
alkej-116	364	5	induction	induction	NOUN
alkej-116	364	6	motor	motor	NOUN
alkej-116	364	7	using	use	VERB
alkej-116	364	8	new	new	ADJ
alkej-116	364	9	pso	pso	NOUN
alkej-116	364	10	.	.	PUNCT
alkej-116	365	1	international	international	ADJ
alkej-116	365	2	journal	journal	PROPN
alkej-116	365	3	of	of	ADP
alkej-116	365	4	advanced	advanced	ADJ
alkej-116	365	5	technology	technology	NOUN
alkej-116	365	6	&	&	CCONJ
alkej-116	365	7	engineering	engineering	PROPN
alkej-116	365	8	research	research	NOUN
alkej-116	365	9	,	,	PUNCT
alkej-116	365	10	5(2	5(2	NUM
alkej-116	365	11	):	):	PUNCT
alkej-116	365	12	39	39	NUM
alkej-116	365	13	-	-	SYM
alkej-116	365	14	43	43	NUM
alkej-116	365	15	.	.	PUNCT
alkej-116	366	1	[	[	X
alkej-116	366	2	24	24	NUM
alkej-116	366	3	]	]	X
alkej-116	366	4	ibrahim	ibrahim	PROPN
alkej-116	366	5	,	,	PUNCT
alkej-116	366	6	n.m.a	n.m.a	NOUN
alkej-116	366	7	.	.	PROPN
alkej-116	366	8	,	,	PUNCT
alkej-116	366	9	atti	atti	PROPN
alkej-116	366	10	,	,	PUNCT
alkej-116	366	11	h.e.m	h.e.m	PROPN
alkej-116	366	12	.	.	PROPN
alkej-116	366	13	,	,	PUNCT
alkej-116	366	14	talaat	talaat	ADJ
alkej-116	366	15	,	,	PUNCT
alkej-116	366	16	h.e.a	h.e.a	ADJ
alkej-116	366	17	.	.	PUNCT
alkej-116	366	18	and	and	CCONJ
alkej-116	366	19	alaboudy	alaboudy	PROPN
alkej-116	366	20	,	,	PUNCT
alkej-116	366	21	a.h	a.h	PROPN
alkej-116	366	22	.	.	PROPN
alkej-116	366	23	k.	k.	PROPN
alkej-116	366	24	(	(	PUNCT
alkej-116	366	25	2015	2015	NUM
alkej-116	366	26	)	)	PUNCT
alkej-116	366	27	.	.	PUNCT
alkej-116	367	1	modified	modify	VERB
alkej-116	367	2	particle	particle	NOUN
alkej-116	367	3	swarm	swarm	NOUN
alkej-116	367	4	optimization	optimization	NOUN
alkej-116	367	5	based	base	VERB
alkej-116	367	6	proportional	proportional	ADJ
alkej-116	367	7	-	-	PUNCT
alkej-116	367	8	derivative	derivative	ADJ
alkej-116	367	9	power	power	NOUN
alkej-116	367	10	system	system	NOUN
alkej-116	367	11	stabilizer	stabilizer	NOUN
alkej-116	367	12	.	.	PUNCT
alkej-116	368	1	international	international	ADJ
alkej-116	368	2	journal	journal	NOUN
alkej-116	368	3	of	of	ADP
alkej-116	368	4	intelligent	intelligent	ADJ
alkej-116	368	5	systems	system	NOUN
alkej-116	368	6	and	and	CCONJ
alkej-116	368	7	applications	application	NOUN
alkej-116	368	8	.	.	PUNCT
alkej-116	369	1	doi	doi	NOUN
alkej-116	369	2	:	:	PUNCT
alkej-116	369	3	10.5815	10.5815	NUM
alkej-116	369	4	/	/	SYM
alkej-116	369	5	ijisa	ijisa	NOUN
alkej-116	369	6	.	.	PUNCT
alkej-116	370	1	2015	2015	NUM
alkej-116	370	2	.	.	PUNCT
alkej-116	371	1	03.08	03.08	NUM
alkej-116	371	2	:	:	PUNCT
alkej-116	371	3	62	62	NUM
alkej-116	371	4	-	-	SYM
alkej-116	371	5	76	76	NUM
alkej-116	371	6	.	.	PUNCT
alkej-116	372	1	[	[	X
alkej-116	372	2	25	25	NUM
alkej-116	372	3	]	]	X
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alkej-116	372	5	,	,	PUNCT
alkej-116	372	6	j.c	j.c	PROPN
alkej-116	372	7	.	.	PROPN
alkej-116	372	8	,	,	PUNCT
alkej-116	372	9	singh	singh	PROPN
alkej-116	372	10	,	,	PUNCT
alkej-116	372	11	p.	p.	PROPN
alkej-116	372	12	k.	k.	PROPN
alkej-116	372	13	,	,	PUNCT
alkej-116	372	14	saraswat	saraswat	PROPN
alkej-116	372	15	,	,	PUNCT
alkej-116	372	16	m.	m.	NOUN
alkej-116	372	17	,	,	PUNCT
alkej-116	372	18	verma	verma	PROPN
alkej-116	372	19	,	,	PUNCT
alkej-116	372	20	a.	a.	PROPN
alkej-116	372	21	,	,	PUNCT
alkej-116	372	22	jadon	jadon	PROPN
alkej-116	372	23	,	,	PUNCT
alkej-116	372	24	s.	s.	PROPN
alkej-116	372	25	s.	s.	PROPN
alkej-116	372	26	and	and	CCONJ
alkej-116	372	27	abraham	abraham	PROPN
alkej-116	372	28	,	,	PUNCT
alkej-116	372	29	a.	a.	NOUN
alkej-116	372	30	(	(	PUNCT
alkej-116	372	31	2011	2011	NUM
alkej-116	372	32	)	)	PUNCT
alkej-116	372	33	.	.	PUNCT
alkej-116	373	1	october	october	PROPN
alkej-116	373	2	19	19	NUM
alkej-116	373	3	-	-	SYM
alkej-116	373	4	21	21	NUM
alkej-116	373	5	.	.	PUNCT
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alkej-116	374	2	weight	weight	NOUN
alkej-116	374	3	strategies	strategy	NOUN
alkej-116	374	4	in	in	ADP
alkej-116	374	5	particle	particle	NOUN
alkej-116	374	6	swarm	swarm	NOUN
alkej-116	374	7	optimization	optimization	NOUN
alkej-116	374	8	.	.	PUNCT
alkej-116	375	1	ieee	ieee	PROPN
alkej-116	375	2	3rd	3rd	PROPN
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alkej-116	375	4	congress	congress	PROPN
alkej-116	375	5	on	on	ADP
alkej-116	375	6	nature	nature	NOUN
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alkej-116	375	8	biologically	biologically	ADV
alkej-116	375	9	inspired	inspire	VERB
alkej-116	375	10	computing	computing	NOUN
alkej-116	375	11	.	.	PUNCT
alkej-116	376	1	salamanca	salamanca	PROPN
alkej-116	376	2	.	.	PUNCT
alkej-116	377	1	doi	doi	PROPN
alkej-116	377	2	:	:	PUNCT
alkej-116	377	3	10.1109	10.1109	NUM
alkej-116	377	4	/	/	SYM
alkej-116	377	5	nabic	nabic	ADJ
alkej-116	377	6	.	.	PUNCT
alkej-116	378	1	2011	2011	NUM
alkej-116	378	2	.	.	PUNCT
alkej-116	379	1	6089659	6089659	NUM
alkej-116	379	2	:	:	PUNCT
alkej-116	380	1	633640	633640	NUM
alkej-116	380	2	.	.	PUNCT
alkej-116	381	1	[	[	X
alkej-116	381	2	26	26	NUM
alkej-116	381	3	]	]	SYM
alkej-116	381	4	yang	yang	PROPN
alkej-116	381	5	,	,	PUNCT
alkej-116	381	6	c.	c.	PROPN
alkej-116	381	7	h.	h.	PROPN
alkej-116	381	8	,	,	PUNCT
alkej-116	381	9	tsai	tsai	PROPN
alkej-116	381	10	,	,	PUNCT
alkej-116	381	11	s.	s.	PROPN
alkej-116	381	12	w.	w.	PROPN
alkej-116	381	13	,	,	PUNCT
alkej-116	381	14	chuang	chuang	PROPN
alkej-116	381	15	,	,	PUNCT
alkej-116	381	16	l.	l.	PROPN
alkej-116	381	17	y.	y.	PROPN
alkej-116	381	18	and	and	CCONJ
alkej-116	381	19	yang	yang	PROPN
alkej-116	381	20	,	,	PUNCT
alkej-116	381	21	c.	c.	PROPN
alkej-116	381	22	h.	h.	PROPN
alkej-116	381	23	(	(	PUNCT
alkej-116	381	24	2011	2011	NUM
alkej-116	381	25	)	)	PUNCT
alkej-116	381	26	.	.	PUNCT
alkej-116	382	1	a	a	DET
alkej-116	382	2	modified	modify	VERB
alkej-116	382	3	particle	particle	NOUN
alkej-116	382	4	swarm	swarm	NOUN
alkej-116	382	5	optimization	optimization	NOUN
alkej-116	382	6	for	for	ADP
alkej-116	382	7	global	global	ADJ
alkej-116	382	8	optimization	optimization	NOUN
alkej-116	382	9	.	.	PUNCT
alkej-116	383	1	international	international	ADJ
alkej-116	383	2	journal	journal	NOUN
alkej-116	383	3	of	of	ADP
alkej-116	383	4	advancements	advancement	NOUN
alkej-116	383	5	in	in	ADP
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alkej-116	383	7	technology	technology	NOUN
alkej-116	383	8	,	,	PUNCT
alkej-116	383	9	3(7	3(7	NUM
alkej-116	383	10	):	):	PUNCT
alkej-116	383	11	169	169	NUM
alkej-116	383	12	-	-	SYM
alkej-116	383	13	189	189	NUM
alkej-116	383	14	.	.	PUNCT
alkej-116	384	1	[	[	X
alkej-116	384	2	27	27	NUM
alkej-116	384	3	]	]	PUNCT
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alkej-116	384	5	,	,	PUNCT
alkej-116	384	6	s.	s.	PROPN
alkej-116	384	7	m.	m.	PROPN
alkej-116	384	8	,	,	PUNCT
alkej-116	384	9	sarker	sarker	PROPN
alkej-116	384	10	,	,	PUNCT
alkej-116	384	11	r.	r.	PROPN
alkej-116	384	12	a.	a.	PROPN
alkej-116	384	13	and	and	CCONJ
alkej-116	384	14	montes	montes	PROPN
alkej-116	384	15	,	,	PUNCT
alkej-116	384	16	e.	e.	PROPN
alkej-116	384	17	m.	m.	PROPN
alkej-116	384	18	(	(	PUNCT
alkej-116	384	19	2013	2013	NUM
alkej-116	384	20	)	)	PUNCT
alkej-116	384	21	.	.	PUNCT
alkej-116	385	1	june	june	PROPN
alkej-116	385	2	20	20	NUM
alkej-116	385	3	-	-	SYM
alkej-116	385	4	23	23	NUM
alkej-116	385	5	.	.	PUNCT
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alkej-116	385	7	swarm	swarm	NOUN
alkej-116	385	8	optimizer	optimizer	NOUN
alkej-116	385	9	for	for	ADP
alkej-116	385	10	constrained	constrain	VERB
alkej-116	385	11	optimization	optimization	NOUN
alkej-116	385	12	.	.	PUNCT
alkej-116	386	1	ieee	ieee	PROPN
alkej-116	386	2	congress	congress	PROPN
alkej-116	386	3	on	on	ADP
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alkej-116	386	5	computation	computation	NOUN
alkej-116	386	6	.	.	PUNCT
alkej-116	387	1	cancun	cancun	PROPN
alkej-116	387	2	-	-	PUNCT
alkej-116	387	3	mexico	mexico	PROPN
alkej-116	387	4	.	.	PUNCT
alkej-116	388	1	doi	doi	NOUN
alkej-116	388	2	:	:	PUNCT
alkej-116	388	3	10.1109	10.1109	NUM
alkej-116	388	4	/	/	SYM
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alkej-116	388	6	:	:	PUNCT
alkej-116	388	7	2703	2703	NUM
alkej-116	388	8	-	-	SYM
alkej-116	388	9	2711	2711	NUM
alkej-116	388	10	.	.	PUNCT
alkej-116	389	1	[	[	X
alkej-116	389	2	28	28	NUM
alkej-116	389	3	]	]	X
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alkej-116	389	5	,	,	PUNCT
alkej-116	389	6	c.	c.	PROPN
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alkej-116	389	9	,	,	PUNCT
alkej-116	389	10	b.	b.	PROPN
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alkej-116	389	12	2014	2014	NUM
alkej-116	389	13	)	)	PUNCT
alkej-116	389	14	.	.	PUNCT
alkej-116	390	1	a	a	DET
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alkej-116	390	3	particle	particle	NOUN
alkej-116	390	4	swarm	swarm	NOUN
alkej-116	390	5	optimization	optimization	NOUN
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alkej-116	390	7	mutation	mutation	NOUN
alkej-116	390	8	and	and	CCONJ
alkej-116	390	9	reposition	reposition	NOUN
alkej-116	390	10	.	.	PUNCT
alkej-116	391	1	international	international	ADJ
alkej-116	391	2	journal	journal	NOUN
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alkej-116	391	4	innovative	innovative	ADJ
alkej-116	391	5	computing	computing	NOUN
alkej-116	391	6	,	,	PUNCT
alkej-116	391	7	information	information	NOUN
alkej-116	391	8	and	and	CCONJ
alkej-116	391	9	control	control	NOUN
alkej-116	391	10	,	,	PUNCT
alkej-116	391	11	10(6	10(6	ADV
alkej-116	391	12	):	):	PUNCT
alkej-116	391	13	2127	2127	NUM
alkej-116	391	14	-	-	SYM
alkej-116	391	15	2142	2142	NUM
alkej-116	391	16	.	.	PUNCT
alkej-116	392	1	[	[	X
alkej-116	392	2	29	29	NUM
alkej-116	392	3	]	]	X
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alkej-116	392	5	,	,	PUNCT
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alkej-116	392	8	2015	2015	NUM
alkej-116	392	9	)	)	PUNCT
alkej-116	392	10	.	.	PUNCT
alkej-116	393	1	particle	particle	NOUN
alkej-116	393	2	swarm	swarm	NOUN
alkej-116	393	3	optimization	optimization	NOUN
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alkej-116	393	6	maps	map	NOUN
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alkej-116	393	8	gaussian	gaussian	ADJ
alkej-116	393	9	mutation	mutation	NOUN
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alkej-116	393	13	.	.	PUNCT
alkej-116	394	1	international	international	ADJ
alkej-116	394	2	journal	journal	PROPN
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alkej-116	394	4	grid	grid	NOUN
alkej-116	394	5	and	and	CCONJ
alkej-116	394	6	distributed	distributed	ADJ
alkej-116	394	7	computing	computing	NOUN
alkej-116	394	8	,	,	PUNCT
alkej-116	394	9	8(4	8(4	NUM
alkej-116	394	10	):	):	PUNCT
alkej-116	394	11	123	123	NUM
alkej-116	394	12	-	-	SYM
alkej-116	394	13	134	134	NUM
alkej-116	394	14	.	.	PUNCT
alkej-116	395	1	[	[	X
alkej-116	395	2	30	30	NUM
alkej-116	395	3	]	]	X
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alkej-116	395	5	,	,	PUNCT
alkej-116	395	6	r.a	r.a	PROPN
alkej-116	395	7	.	.	PROPN
alkej-116	395	8	,	,	PUNCT
alkej-116	395	9	tharwat	tharwat	VERB
alkej-116	395	10	,	,	PUNCT
alkej-116	395	11	a.a	a.a	PROPN
alkej-116	395	12	.	.	PROPN
alkej-116	395	13	,	,	PUNCT
alkej-116	395	14	el	el	PROPN
alkej-116	395	15	-	-	PUNCT
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alkej-116	395	17	,	,	PUNCT
alkej-116	395	18	e.	e.	PROPN
alkej-116	395	19	and	and	CCONJ
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alkej-116	395	21	,	,	PUNCT
alkej-116	395	22	b.i	b.i	PROPN
alkej-116	395	23	.	.	PROPN
alkej-116	395	24	(	(	PUNCT
alkej-116	395	25	2015	2015	NUM
alkej-116	395	26	)	)	PUNCT
alkej-116	395	27	.	.	PUNCT
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alkej-116	396	4	swarm	swarm	NOUN
alkej-116	396	5	optimization	optimization	NOUN
alkej-116	396	6	techniques	technique	NOUN
alkej-116	396	7	and	and	CCONJ
alkej-116	396	8	its	its	PRON
alkej-116	396	9	application	application	NOUN
alkej-116	396	10	on	on	ADP
alkej-116	396	11	stock	stock	NOUN
alkej-116	396	12	market	market	NOUN
alkej-116	396	13	:	:	PUNCT
alkej-116	396	14	a	a	DET
alkej-116	396	15	survey	survey	NOUN
alkej-116	396	16	.	.	PUNCT
alkej-116	397	1	international	international	ADJ
alkej-116	397	2	journal	journal	NOUN
alkej-116	397	3	of	of	ADP
alkej-116	397	4	advanced	advanced	ADJ
alkej-116	397	5	computer	computer	NOUN
alkej-116	397	6	science	science	NOUN
alkej-116	397	7	and	and	CCONJ
alkej-116	397	8	applications	application	NOUN
alkej-116	397	9	,	,	PUNCT
alkej-116	397	10	6(3	6(3	NUM
alkej-116	397	11	):	):	PUNCT
alkej-116	397	12	99	99	NUM
alkej-116	397	13	-	-	SYM
alkej-116	397	14	108	108	NUM
alkej-116	397	15	.	.	PUNCT
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alkej-116	398	2	31	31	NUM
alkej-116	398	3	]	]	SYM
alkej-116	398	4	li	li	PROPN
alkej-116	398	5	,	,	PUNCT
alkej-116	398	6	j.	j.	PROPN
alkej-116	398	7	,	,	PUNCT
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alkej-116	398	9	,	,	PUNCT
alkej-116	398	10	y.	y.	PROPN
alkej-116	398	11	,	,	PUNCT
alkej-116	398	12	and	and	CCONJ
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alkej-116	398	14	,	,	PUNCT
alkej-116	398	15	k.	k.	PROPN
alkej-116	398	16	(	(	PUNCT
alkej-116	398	17	2014	2014	NUM
alkej-116	398	18	)	)	PUNCT
alkej-116	398	19	.	.	PUNCT
alkej-116	399	1	may	may	AUX
alkej-116	399	2	31	31	NUM
alkej-116	399	3	-	-	SYM
alkej-116	399	4	june	june	PROPN
alkej-116	399	5	2	2	NUM
alkej-116	399	6	.	.	PUNCT
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alkej-116	399	8	particle	particle	NOUN
alkej-116	399	9	swarm	swarm	NOUN
alkej-116	399	10	optimization	optimization	NOUN
alkej-116	399	11	algorithm	algorithm	NOUN
alkej-116	399	12	based	base	VERB
alkej-116	399	13	on	on	ADP
alkej-116	399	14	adaptive	adaptive	ADJ
alkej-116	399	15	inertia	inertia	NOUN
alkej-116	399	16	weight	weight	NOUN
alkej-116	399	17	.	.	PUNCT
alkej-116	400	1	26th	26th	ADJ
alkej-116	400	2	chinese	chinese	ADJ
alkej-116	400	3	control	control	NOUN
alkej-116	400	4	and	and	CCONJ
alkej-116	400	5	decision	decision	NOUN
alkej-116	400	6	conference	conference	NOUN
alkej-116	400	7	.	.	PUNCT
alkej-116	401	1	changsha	changsha	PROPN
alkej-116	401	2	.	.	PUNCT
alkej-116	402	1	doi	doi	PROPN
alkej-116	402	2	:	:	PUNCT
alkej-116	402	3	10.1109	10.1109	NUM
alkej-116	402	4	/ccdc	/ccdc	NOUN
alkej-116	402	5	.	.	PUNCT
alkej-116	403	1	2014	2014	NUM
alkej-116	403	2	.	.	PUNCT
alkej-116	404	1	6852369	6852369	NUM
alkej-116	404	2	:	:	PUNCT
alkej-116	405	1	1310	1310	NUM
alkej-116	405	2	-	-	SYM
alkej-116	405	3	1315	1315	NUM
alkej-116	405	4	.	.	PUNCT
alkej-116	406	1	saad	saad	PROPN
alkej-116	406	2	zaghlul	zaghlul	PROPN
alkej-116	406	3	saeed	saeed	PROPN
alkej-116	406	4	al	al	PROPN
alkej-116	406	5	-	-	PUNCT
alkej-116	406	6	khwarizmi	khwarizmi	PROPN
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alkej-116	406	9	,	,	PUNCT
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alkej-116	406	11	.	.	PROPN
alkej-116	406	12	14	14	NUM
alkej-116	406	13	,	,	PUNCT
alkej-116	406	14	no	no	INTJ
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alkej-116	406	16	1	1	NUM
alkej-116	406	17	,	,	PUNCT
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alkej-116	406	20	7789	7789	NUM
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alkej-116	406	22	2018	2018	NUM
alkej-116	406	23	)	)	PUNCT
alkej-116	406	24	88	88	NUM
alkej-116	407	1	[	[	SYM
alkej-116	407	2	32	32	NUM
alkej-116	407	3	]	]	X
alkej-116	407	4	al	al	PROPN
alkej-116	407	5	-	-	PUNCT
alkej-116	407	6	khayyt	khayyt	PROPN
alkej-116	407	7	,	,	PUNCT
alkej-116	407	8	s.	s.	PROPN
alkej-116	407	9	z.	z.	PROPN
alkej-116	407	10	s.	s.	PROPN
alkej-116	407	11	,	,	PUNCT
alkej-116	407	12	m.	m.	PROPN
alkej-116	407	13	a.	a.	PROPN
alkej-116	407	14	abdilatef	abdilatef	PROPN
alkej-116	407	15	,	,	PUNCT
alkej-116	407	16	z.	z.	PROPN
alkej-116	407	17	m.	m.	PROPN
alkej-116	407	18	yosif	yosif	PROPN
alkej-116	407	19	(	(	PUNCT
alkej-116	407	20	2016	2016	NUM
alkej-116	407	21	)	)	PUNCT
alkej-116	407	22	.	.	PUNCT
alkej-116	408	1	visual	visual	ADJ
alkej-116	408	2	tracking	tracking	NOUN
alkej-116	408	3	enhancement	enhancement	NOUN
alkej-116	408	4	of	of	ADP
alkej-116	408	5	object	object	NOUN
alkej-116	408	6	on	on	ADP
alkej-116	408	7	circular	circular	ADJ
alkej-116	408	8	path	path	NOUN
alkej-116	408	9	based	base	VERB
alkej-116	408	10	on	on	ADP
alkej-116	408	11	tuned	tune	VERB
alkej-116	408	12	kalman	kalman	NOUN
alkej-116	408	13	filter	filter	NOUN
alkej-116	408	14	by	by	ADP
alkej-116	408	15	particle	particle	NOUN
alkej-116	408	16	swarm	swarm	NOUN
alkej-116	408	17	optimization	optimization	NOUN
alkej-116	408	18	.	.	PUNCT
alkej-116	409	1	international	international	ADJ
alkej-116	409	2	journal	journal	PROPN
alkej-116	409	3	of	of	ADP
alkej-116	409	4	computer	computer	NOUN
alkej-116	409	5	applications	application	NOUN
alkej-116	409	6	.	.	PUNCT
alkej-116	410	1	146(4	146(4	NUM
alkej-116	410	2	):	):	PUNCT
alkej-116	410	3	43	43	NUM
alkej-116	410	4	-	-	SYM
alkej-116	410	5	50	50	NUM
alkej-116	410	6	.	.	PUNCT
alkej-116	411	1	[	[	X
alkej-116	411	2	33	33	NUM
alkej-116	411	3	]	]	X
alkej-116	411	4	al	al	PROPN
alkej-116	411	5	-	-	PUNCT
alkej-116	411	6	khayyt	khayyt	PROPN
alkej-116	411	7	,	,	PUNCT
alkej-116	411	8	s.	s.	PROPN
alkej-116	411	9	z.	z.	PROPN
alkej-116	411	10	s.	s.	PROPN
alkej-116	411	11	(	(	PUNCT
alkej-116	411	12	2013	2013	NUM
alkej-116	411	13	)	)	PUNCT
alkej-116	411	14	.	.	PUNCT
alkej-116	412	1	tuning	tune	VERB
alkej-116	412	2	pid	pid	NOUN
alkej-116	412	3	controller	controller	NOUN
alkej-116	412	4	by	by	ADP
alkej-116	412	5	neural	neural	ADJ
alkej-116	412	6	network	network	NOUN
alkej-116	412	7	for	for	ADP
alkej-116	412	8	robot	robot	NOUN
alkej-116	412	9	manipulator	manipulator	NOUN
alkej-116	412	10	trajectory	trajectory	NOUN
alkej-116	412	11	tracking	tracking	NOUN
alkej-116	412	12	.	.	PUNCT
alkej-116	413	1	alkhwarizmi	alkhwarizmi	PROPN
alkej-116	413	2	engineering	engineering	PROPN
alkej-116	413	3	journal	journal	PROPN
alkej-116	413	4	,	,	PUNCT
alkej-116	413	5	8(2	8(2	NUM
alkej-116	413	6	):	):	PUNCT
alkej-116	413	7	19	19	NUM
alkej-116	413	8	-	-	SYM
alkej-116	413	9	28	28	NUM
alkej-116	413	10	.	.	PUNCT
alkej-116	413	11	)	)	PUNCT
alkej-116	413	12	2018	2018	NUM
alkej-116	413	13	(	(	PUNCT
alkej-116	413	14	-89	-89	SYM
alkej-116	413	15	77	77	NUM
alkej-116	413	16	،	،	NOUN
alkej-116	413	17	صفحة1د	صفحة1د	PROPN
alkej-116	413	18	،	،	PROPN
alkej-116	413	19	العد14دزمي	العد14دزمي	PROPN
alkej-116	413	20	الهندسية	الهندسية	PROPN
alkej-116	413	21	المجلجلة	المجلجلة	PROPN
alkej-116	413	22	الخوارم	الخوارم	PROPN
alkej-116	413	23	سعد	سعد	PROPN
alkej-116	413	24	زغلول	زغلول	PROPN
alkej-116	413	25	سعيد	سعيد	NOUN
alkej-116	413	26	89	89	NUM
alkej-116	413	27	َخْلق	َخْلق	NOUN
alkej-116	413	28	نقاِط	نقاِط	NOUN
alkej-116	413	29	بينية	بينية	NOUN
alkej-116	413	30	في	في	ADP
alkej-116	413	31	الدالة	الدالة	NOUN
alkej-116	413	32	الخطيِة	الخطيِة	PROPN
alkej-116	413	33	المندمجة	المندمجة	PROPN
alkej-116	414	1	مع	مع	INTJ
alkej-116	414	2	مسار	مسار	PROPN
alkej-116	414	3	القطع	القطع	PROPN
alkej-116	414	4	المكافىِء	المكافىِء	PROPN
alkej-116	414	5	بطريقِة	بطريقِة	PROPN
alkej-116	414	6	تحقيِق	تحقيِق	PROPN
alkej-116	414	7	األمثلية	األمثلية	PROPN
alkej-116	414	8	الخياط	الخياط	VERB
alkej-116	414	9	سعد	سعد	ADJ
alkej-116	414	10	زغلول	زغلول	PROPN
alkej-116	414	11	سعيد	سعيد	ADJ
alkej-116	414	12	جامعة	جامعة	PROPN
alkej-116	414	13	الموصل	الموصل	NOUN
alkej-116	414	14	/	/	SYM
alkej-116	414	15	كلية	كلية	NOUN
alkej-116	414	16	الهندسة	الهندسة	NOUN
alkej-116	414	17	/	/	PUNCT
alkej-116	415	1	قسم	قسم	PROPN
alkej-116	415	2	الميكاترونكس	الميكاترونكس	PROPN
alkej-116	415	3	alkhyaat@yahoo.comالبريد	alkhyaat@yahoo.comالبريد	PROPN
alkej-116	415	4	األلكتروني	األلكتروني	PROPN
alkej-116	415	5	:	:	PUNCT
alkej-116	415	6	الخالصة	الخالصة	PROPN
alkej-116	415	7	كفاية	كفاية	PROPN
alkej-116	415	8	.	.	PUNCT
alkej-116	416	1	من	من	DET
alkej-116	416	2	مسار	مسار	PROPN
alkej-116	416	3	القطعة	القطعة	NOUN
alkej-116	416	4	الخطية	الخطية	NOUN
alkej-116	416	5	المندمجة	المندمجة	PROPN
alkej-116	417	1	مع	مع	INTJ
alkej-116	417	2	مسار	مسار	PROPN
alkej-116	417	3	القطع	القطع	PROPN
alkej-116	417	4	المكافئ	المكافئ	PROPN
alkej-116	417	5	ينحرف	ينحرف	PROPN
alkej-116	417	6	عن	عن	PROPN
alkej-116	417	7	المسار	المسار	NOUN
alkej-116	417	8	المخطط	المخطط	VERB
alkej-116	417	9	و	و	PRON
alkej-116	417	10	هو	هو	X
alkej-116	417	11	مقيد	مقيد	PROPN
alkej-116	417	12	بقيمة	بقيمة	PROPN
alkej-116	417	13	تعجيل	تعجيل	VERB
alkej-116	417	14	يجب	يجب	PROPN
alkej-116	417	15	ان	ان	AUX
alkej-116	417	16	تكون	تكون	VERB
alkej-116	417	17	كبيرة	كبيرة	PROPN
alkej-116	417	18	بما	بما	PROPN
alkej-116	418	1	فيه	فيه	PROPN
alkej-116	418	2	الأن	الأن	PROPN
alkej-116	418	3	موجودة	موجودة	PROPN
alkej-116	418	4	حاليا	حاليا	PROPN
alkej-116	418	5	حول	حول	PROPN
alkej-116	418	6	الموضوع	الموضوع	PROPN
alkej-116	418	7	غير	غير	PROPN
alkej-116	418	8	قابل	قابل	PROPN
alkej-116	418	9	للتطبيق	للتطبيق	PROPN
alkej-116	418	10	مباشرة	مباشرة	PROPN
alkej-116	418	11	على	على	PROPN
alkej-116	418	12	ناحية	ناحية	PROPN
alkej-116	418	13	أخرى	أخرى	PROPN
alkej-116	418	14	،	،	PROPN
alkej-116	418	15	التعامل	التعامل	PROPN
alkej-116	418	16	مع	مع	PROPN
alkej-116	418	17	مسار	مسار	PROPN
alkej-116	418	18	القطعة	القطعة	NOUN
alkej-116	418	19	الخطية	الخطية	NOUN
alkej-116	418	20	المندمجة	المندمجة	PROPN
alkej-116	418	21	مع	مع	INTJ
alkej-116	418	22	مسار	مسار	PROPN
alkej-116	418	23	القطع	القطع	PROPN
alkej-116	418	24	المكافئ	المكافئ	NOUN
alkej-116	418	25	في	في	PRON
alkej-116	418	26	المقاالت	المقاالت	ADV
alkej-116	418	27	ال	ال	ADP
alkej-116	418	28	السرب	السرب	VERB
alkej-116	418	29	لتوليد	لتوليد	NOUN
alkej-116	418	30	نقاط	نقاط	PROPN
alkej-116	418	31	المسارات	المسارات	VERB
alkej-116	418	32	الحركية	الحركية	PROPN
alkej-116	418	33	.	.	PUNCT
alkej-116	419	1	في	في	PRON
alkej-116	419	2	هذا	هذا	PROPN
alkej-116	419	3	العمل	العمل	PROPN
alkej-116	419	4	،	،	PROPN
alkej-116	419	5	اقترح	اقترح	PROPN
alkej-116	419	6	تعديل	تعديل	PROPN
alkej-116	419	7	على	على	NOUN
alkej-116	419	8	مسار	مسار	PROPN
alkej-116	419	9	القطعة	القطعة	NOUN
alkej-116	419	10	الخطية	الخطية	NOUN
alkej-116	419	11	المندمجة	المندمجة	PROPN
alkej-116	420	1	مع	مع	INTJ
alkej-116	420	2	مسار	مسار	PROPN
alkej-116	420	3	القطع	القطع	PROPN
alkej-116	420	4	المكافئ	المكافئ	NOUN
alkej-116	420	5	و	و	PRON
alkej-116	420	6	تم	تم	NOUN
alkej-116	420	7	تعشيقه	تعشيقه	NOUN
alkej-116	420	8	مع	مع	PROPN
alkej-116	420	9	أمثلة	أمثلة	VERB
alkej-116	420	10	جسيم	جسيم	PROPN
alkej-116	420	11	لمتساوي	لمتساوي	PROPN
alkej-116	420	12	لزمن	لزمن	PROPN
alkej-116	420	13	مسار	مسار	PROPN
alkej-116	420	14	القطع	القطع	PROPN
alkej-116	420	15	المكافئ	المكافئ	PROPN
alkej-116	420	16	حول	حول	VERB
alkej-116	420	17	نقطة	نقطة	PROPN
alkej-116	420	18	المسار	المسار	PROPN
alkej-116	420	19	،	،	PROPN
alkej-116	420	20	استبدلت	استبدلت	PROPN
alkej-116	420	21	بمعامالت	بمعامالت	PROPN
alkej-116	420	22	مقترحة	مقترحة	PROPN
alkej-116	420	23	لحساب	لحساب	PROPN
alkej-116	420	24	عبر	عبر	ADJ
alkej-116	420	25	المسار	المسار	NOUN
alkej-116	420	26	.	.	PUNCT
alkej-116	421	1	أن	أن	ADP
alkej-116	421	2	الطرق	الطرق	NOUN
alkej-116	421	3	السابقة	السابقة	PROPN
alkej-116	421	4	التي	التي	PROPN
alkej-116	421	5	تعتمد	تعتمد	PROPN
alkej-116	421	6	على	على	PROPN
alkej-116	421	7	فرضية	فرضية	PROPN
alkej-116	421	8	التوزيع	التوزيع	PROPN
alkej-116	421	9	ا	ا	X
alkej-116	421	10	قطع	قطع	NOUN
alkej-116	421	11	المكافئ	المكافئ	NOUN
alkej-116	421	12	المطور	المطور	NOUN
alkej-116	421	13	الفترة	الفترة	NOUN
alkej-116	421	14	الزمنية	الزمنية	PROPN
alkej-116	421	15	لمسار	لمسار	ADJ
alkej-116	421	16	القطعة	القطعة	ADJ
alkej-116	421	17	الخطية	الخطية	NOUN
alkej-116	421	18	.	.	PUNCT
alkej-116	422	1	هذه	هذه	PROPN
alkej-116	422	2	المعامالت	المعامالت	PROPN
alkej-116	422	3	هي	هي	PROPN
alkej-116	422	4	دوال	دوال	PROPN
alkej-116	422	5	من	من	PRON
alkej-116	422	6	السرع	السرع	NOUN
alkej-116	422	7	بين	بين	PROPN
alkej-116	422	8	نقاط	نقاط	PROPN
alkej-116	422	9	المسار	المسار	NOUN
alkej-116	422	10	.	.	PUNCT
alkej-116	423	1	أن	أن	PRON
alkej-116	423	2	مسار	مسار	NUM
alkej-116	423	3	القطعة	القطعة	NOUN
alkej-116	423	4	الخطية	الخطية	NOUN
alkej-116	423	5	المندمجة	المندمجة	PROPN
alkej-116	424	1	مع	مع	INTJ
alkej-116	424	2	مسار	مسار	PROPN
alkej-116	424	3	ال	ال	ADP
alkej-116	424	4	لمسار	لمسار	PROPN
alkej-116	424	5	التي	التي	PROPN
alkej-116	424	6	تستحصل	تستحصل	PROPN
alkej-116	424	7	بطريقة	بطريقة	NOUN
alkej-116	424	8	امثلية	امثلية	VERB
alkej-116	424	9	جسيم	جسيم	PROPN
alkej-116	424	10	السرب	السرب	VERB
alkej-116	424	11	إلجبار	إلجبار	PROPN
alkej-116	424	12	مدبر	مدبر	PROPN
alkej-116	424	13	الروبوت	الروبوت	PROPN
alkej-116	424	14	على	على	PROPN
alkej-116	424	15	المرور	المرور	PROPN
alkej-116	424	16	خالل	خالل	PROPN
alkej-116	424	17	نقاط	نقاط	PROPN
alkej-116	424	18	المسار	المسار	PROPN
alkej-116	424	19	المحددة	المحددة	VERB
alkej-116	424	20	أخذا	أخذا	PROPN
alkej-116	424	21	بنظر	بنظر	PROPN
alkej-116	424	22	يستخدم	يستخدم	PROPN
alkej-116	424	23	السرع	السرع	NOUN
alkej-116	425	1	بين	بين	ADV
alkej-116	425	2	نقاط	نقاط	PROPN
alkej-116	425	3	ا	ا	PROPN
alkej-116	426	1	نتائج	نتائج	PROPN
alkej-116	426	2	المحاكاة	المحاكاة	PROPN
alkej-116	426	3	العددية	العددية	PROPN
alkej-116	426	4	السرعة	السرعة	PROPN
alkej-116	426	5	و	و	PRON
alkej-116	426	6	معادالت	معادالت	ADJ
alkej-116	426	7	لحساب	لحساب	NOUN
alkej-116	426	8	السرعة	السرعة	PROPN
alkej-116	426	9	الفعلية	الفعلية	PROPN
alkej-116	426	10	.	.	PUNCT
alkej-116	427	1	حكذلك	حكذلك	PROPN
alkej-116	427	2	تم	تم	PROPN
alkej-116	427	3	اشتقاق	اشتقاق	PROPN
alkej-116	427	4	عالقات	عالقات	PROPN
alkej-116	427	5	لتصحياالعتبار	لتصحياالعتبار	PROPN
alkej-116	427	6	تقيدي	تقيدي	PROPN
alkej-116	427	7	السرعة	السرعة	VERB
alkej-116	427	8	و	و	PRON
alkej-116	427	9	التعجيل	التعجيل	PROPN
alkej-116	427	10	للروبوت	للروبوت	PROPN
alkej-116	427	11	المستعمل	المستعمل	PROPN
alkej-116	427	12	.	.	PUNCT
alkej-116	428	1	المقترحة	المقترحة	PROPN
alkej-116	428	2	هذه	هذه	PROPN
alkej-116	428	3	الطريقة	الطريقة	VERB
alkej-116	428	4	وان	وان	NOUN
alkej-116	428	5	يعمل	يعمل	NOUN
alkej-116	428	6	بشكل	بشكل	NOUN
alkej-116	428	7	جيد	جيد	VERB
alkej-116	428	8	في	في	ADP
alkej-116	428	9	االختبارات	االختبارات	PROPN
alkej-116	428	10	.	.	PUNCT
alkej-116	429	1	مع	مع	PRON
alkej-116	429	2	أمثلة	أمثلة	VERB
alkej-116	429	3	جسيم	جسيم	PROPN
alkej-116	429	4	الحشد	الحشد	PROPN
alkej-116	429	5	المسار	المسار	PROPN
alkej-116	429	6	الخطي	الخطي	PROPN
alkej-116	429	7	المندمج	المندمج	PROPN
alkej-116	429	8	مع	مع	ADP
alkej-116	429	9	مسار	مسار	PROPN
alkej-116	429	10	القطع	القطع	PROPN
alkej-116	429	11	المكافئ	المكافئ	NOUN
alkej-116	429	12	المطور	المطور	NOUN
alkej-116	429	13	تعشيق	تعشيق	VERB
alkej-116	429	14	ان	ان	ADP
alkej-116	429	15	أظهرت	أظهرت	PROPN
alkej-116	429	16	بسيطة	بسيطة	PROPN
alkej-116	429	17	جدا	جدا	PROPN
alkej-116	429	18	و	و	PRON
alkej-116	429	19	يمكن	يمكن	VERB
alkej-116	429	20	ان	ان	ADP
alkej-116	430	1	تستعمل	تستعمل	ADJ
alkej-116	430	2	لتخطيط	لتخطيط	ADJ
alkej-116	430	3	المسار	المسار	NOUN
alkej-116	430	4	مباشرة	مباشرة	PROPN
alkej-116	430	5	و	و	PRON
alkej-116	430	6	غير	غير	NOUN
alkej-116	430	7	ضروري	ضروري	VERB
alkej-116	430	8	فيها	فيها	PROPN
alkej-116	430	9	استخدام	استخدام	PROPN
alkej-116	430	10	قيمة	قيمة	PROPN
alkej-116	430	11	تعجيل	تعجيل	PROPN
alkej-116	430	12	كبيرة	كبيرة	NOUN
alkej-116	430	13	.	.	PUNCT