id	sid	tid	token	lemma	pos
alkej-154	1	1	عبد	عبد	ADJ
alkej-154	1	2	السلام	السلام	NOUN
alkej-154	1	3	وغيث	وغيث	PROPN
alkej-154	1	4	al	al	PROPN
alkej-154	1	5	-	-	PUNCT
alkej-154	1	6	khwarizmi	khwarizmi	PROPN
alkej-154	1	7	engineering	engineering	PROPN
alkej-154	1	8	journal	journal	PROPN
alkej-154	1	9	al	al	PROPN
alkej-154	1	10	-	-	PUNCT
alkej-154	1	11	khwarizmi	khwarizmi	PROPN
alkej-154	1	12	engineering	engineering	NOUN
alkej-154	1	13	journal	journal	PROPN
alkej-154	1	14	,	,	PUNCT
alkej-154	1	15	vol	vol	NOUN
alkej-154	1	16	.	.	PROPN
alkej-154	1	17	9	9	NUM
alkej-154	1	18	,	,	PUNCT
alkej-154	1	19	no	no	INTJ
alkej-154	1	20	.	.	NOUN
alkej-154	1	21	1	1	NUM
alkej-154	1	22	,	,	PUNCT
alkej-154	1	23	p.p	p.p	NOUN
alkej-154	1	24	.	.	NOUN
alkej-154	1	25	9	9	NUM
alkej-154	1	26	-	-	SYM
alkej-154	1	27	18	18	NUM
alkej-154	1	28	(	(	PUNCT
alkej-154	1	29	2013	2013	NUM
alkej-154	1	30	)	)	PUNCT
alkej-154	1	31	design	design	NOUN
alkej-154	1	32	of	of	ADP
alkej-154	1	33	robotic	robotic	ADJ
alkej-154	1	34	arm	arm	NOUN
alkej-154	1	35	control	control	NOUN
alkej-154	1	36	system	system	NOUN
alkej-154	1	37	mimics	mimic	VERB
alkej-154	1	38	human	human	ADJ
alkej-154	1	39	arm	arm	NOUN
alkej-154	1	40	motion	motion	NOUN
alkej-154	1	41	a.	a.	NOUN
alkej-154	1	42	salam	salam	PROPN
alkej-154	1	43	al	al	PROPN
alkej-154	1	44	-	-	PUNCT
alkej-154	1	45	ammri	ammri	PROPN
alkej-154	1	46	*	*	PUNCT
alkej-154	1	47	ghaith	ghaith	PROPN
alkej-154	1	48	.a	.a	PROPN
alkej-154	2	1	.taki	.taki	PUNCT
alkej-154	2	2	*	*	PUNCT
alkej-154	2	3	*	*	PUNCT
alkej-154	2	4	*	*	PUNCT
alkej-154	2	5	,	,	PUNCT
alkej-154	2	6	*	*	PUNCT
alkej-154	2	7	*	*	NOUN
alkej-154	2	8	department	department	NOUN
alkej-154	2	9	of	of	ADP
alkej-154	2	10	mechatronics	mechatronic	NOUN
alkej-154	2	11	engineering/	engineering/	NUM
alkej-154	2	12	al	al	PROPN
alkej-154	2	13	-	-	PUNCT
alkej-154	2	14	khawarizmi	khawarizmi	PROPN
alkej-154	2	15	college	college	PROPN
alkej-154	2	16	of	of	ADP
alkej-154	2	17	engineering/	engineering/	NUM
alkej-154	2	18	university	university	NOUN
alkej-154	2	19	of	of	ADP
alkej-154	2	20	baghdad	baghdad	PROPN
alkej-154	2	21	*	*	PUNCT
alkej-154	2	22	email	email	NOUN
alkej-154	2	23	:	:	PUNCT
alkej-154	3	1	asalamalammri@yahoo.com	asalamalammri@yahoo.com	X
alkej-154	4	1	*	*	PUNCT
alkej-154	4	2	*	*	NOUN
alkej-154	4	3	email	email	NOUN
alkej-154	4	4	:	:	PUNCT
alkej-154	4	5	ghaith.taki@gmail.com	ghaith.taki@gmail.com	X
alkej-154	4	6	(	(	PUNCT
alkej-154	4	7	received	receive	VERB
alkej-154	4	8	14	14	NUM
alkej-154	4	9	may	may	PROPN
alkej-154	4	10	2012	2012	NUM
alkej-154	4	11	;	;	PUNCT
alkej-154	4	12	accepted	accept	VERB
alkej-154	4	13	6	6	NUM
alkej-154	4	14	november	november	PROPN
alkej-154	4	15	2012	2012	NUM
alkej-154	4	16	)	)	PUNCT
alkej-154	4	17	abstract	abstract	ADP
alkej-154	4	18	this	this	DET
alkej-154	4	19	paper	paper	NOUN
alkej-154	4	20	presents	present	VERB
alkej-154	4	21	a	a	DET
alkej-154	4	22	control	control	NOUN
alkej-154	4	23	system	system	NOUN
alkej-154	4	24	to	to	PART
alkej-154	4	25	make	make	VERB
alkej-154	4	26	the	the	DET
alkej-154	4	27	robotic	robotic	ADJ
alkej-154	4	28	hand	hand	NOUN
alkej-154	4	29	mimic	mimic	ADJ
alkej-154	4	30	human	human	ADJ
alkej-154	4	31	hand	hand	NOUN
alkej-154	4	32	motion	motion	NOUN
alkej-154	4	33	in	in	ADP
alkej-154	4	34	real	real	ADJ
alkej-154	4	35	time	time	NOUN
alkej-154	4	36	and	and	CCONJ
alkej-154	4	37	offline	offline	ADJ
alkej-154	4	38	mode	mode	NOUN
alkej-154	4	39	.	.	PUNCT
alkej-154	5	1	the	the	DET
alkej-154	5	2	human	human	ADJ
alkej-154	5	3	hand	hand	NOUN
alkej-154	5	4	tracking	tracking	NOUN
alkej-154	5	5	system	system	NOUN
alkej-154	5	6	is	be	AUX
alkej-154	5	7	a	a	DET
alkej-154	5	8	wearable	wearable	ADJ
alkej-154	5	9	sensing	sense	VERB
alkej-154	5	10	arm	arm	NOUN
alkej-154	5	11	(	(	PUNCT
alkej-154	5	12	potentiometers	potentiometer	NOUN
alkej-154	5	13	)	)	PUNCT
alkej-154	5	14	used	use	VERB
alkej-154	5	15	to	to	PART
alkej-154	5	16	determine	determine	VERB
alkej-154	5	17	the	the	DET
alkej-154	5	18	position	position	NOUN
alkej-154	5	19	in	in	ADP
alkej-154	5	20	space	space	NOUN
alkej-154	5	21	and	and	CCONJ
alkej-154	5	22	to	to	PART
alkej-154	5	23	sense	sense	VERB
alkej-154	5	24	the	the	DET
alkej-154	5	25	grasping	grasp	VERB
alkej-154	5	26	task	task	NOUN
alkej-154	5	27	of	of	ADP
alkej-154	5	28	human	human	ADJ
alkej-154	5	29	hand	hand	NOUN
alkej-154	5	30	.	.	PUNCT
alkej-154	6	1	the	the	DET
alkej-154	6	2	maskable	maskable	ADJ
alkej-154	6	3	sensing	sense	VERB
alkej-154	6	4	arm	arm	NOUN
alkej-154	6	5	was	be	AUX
alkej-154	6	6	designed	design	VERB
alkej-154	6	7	with	with	ADP
alkej-154	6	8	same	same	ADJ
alkej-154	6	9	geometrical	geometrical	ADJ
alkej-154	6	10	arrangement	arrangement	NOUN
alkej-154	6	11	of	of	ADP
alkej-154	6	12	robotic	robotic	ADJ
alkej-154	6	13	hand	hand	NOUN
alkej-154	6	14	that	that	PRON
alkej-154	6	15	needs	need	VERB
alkej-154	6	16	to	to	PART
alkej-154	6	17	be	be	AUX
alkej-154	6	18	controlled	control	VERB
alkej-154	6	19	.	.	PUNCT
alkej-154	7	1	the	the	DET
alkej-154	7	2	control	control	NOUN
alkej-154	7	3	software	software	NOUN
alkej-154	7	4	of	of	ADP
alkej-154	7	5	a	a	DET
alkej-154	7	6	robot	robot	NOUN
alkej-154	7	7	was	be	AUX
alkej-154	7	8	implemented	implement	VERB
alkej-154	7	9	using	use	VERB
alkej-154	7	10	visual	visual	ADJ
alkej-154	7	11	basic	basic	ADJ
alkej-154	7	12	and	and	CCONJ
alkej-154	7	13	supported	support	VERB
alkej-154	7	14	with	with	ADP
alkej-154	7	15	graphical	graphical	ADJ
alkej-154	7	16	user	user	NOUN
alkej-154	7	17	interface	interface	NOUN
alkej-154	7	18	(	(	PUNCT
alkej-154	7	19	gui	gui	NOUN
alkej-154	7	20	)	)	PUNCT
alkej-154	7	21	.	.	PUNCT
alkej-154	8	1	the	the	DET
alkej-154	8	2	control	control	NOUN
alkej-154	8	3	algorithm	algorithm	NOUN
alkej-154	8	4	depends	depend	VERB
alkej-154	8	5	on	on	ADP
alkej-154	8	6	joint	joint	NOUN
alkej-154	8	7	to	to	ADP
alkej-154	8	8	joint	joint	ADJ
alkej-154	8	9	mapping	mapping	NOUN
alkej-154	8	10	method	method	NOUN
alkej-154	8	11	to	to	PART
alkej-154	8	12	match	match	VERB
alkej-154	8	13	between	between	ADP
alkej-154	8	14	the	the	DET
alkej-154	8	15	motions	motion	NOUN
alkej-154	8	16	at	at	ADP
alkej-154	8	17	each	each	DET
alkej-154	8	18	joint	joint	NOUN
alkej-154	8	19	of	of	ADP
alkej-154	8	20	portable	portable	ADJ
alkej-154	8	21	sensing	sense	VERB
alkej-154	8	22	arm	arm	NOUN
alkej-154	8	23	with	with	ADP
alkej-154	8	24	corresponding	corresponding	ADJ
alkej-154	8	25	joint	joint	NOUN
alkej-154	8	26	of	of	ADP
alkej-154	8	27	a	a	DET
alkej-154	8	28	robot	robot	NOUN
alkej-154	8	29	in	in	ADP
alkej-154	8	30	order	order	NOUN
alkej-154	8	31	to	to	PART
alkej-154	8	32	make	make	VERB
alkej-154	8	33	the	the	DET
alkej-154	8	34	robot	robot	NOUN
alkej-154	8	35	mimic	mimic	VERB
alkej-154	8	36	the	the	DET
alkej-154	8	37	motion	motion	NOUN
alkej-154	8	38	.	.	PUNCT
alkej-154	9	1	keywords	keyword	NOUN
alkej-154	9	2	:	:	PUNCT
alkej-154	9	3	robotic	robotic	ADJ
alkej-154	9	4	arm	arm	NOUN
alkej-154	9	5	,	,	PUNCT
alkej-154	9	6	control	control	NOUN
alkej-154	9	7	,	,	PUNCT
alkej-154	9	8	human	human	ADJ
alkej-154	9	9	hand	hand	NOUN
alkej-154	9	10	tracking	tracking	NOUN
alkej-154	9	11	.	.	PUNCT
alkej-154	10	1	1	1	X
alkej-154	10	2	.	.	X
alkej-154	10	3	introduction	introduction	NOUN
alkej-154	10	4	teleporting	teleporting	NOUN
alkej-154	10	5	of	of	ADP
alkej-154	10	6	a	a	DET
alkej-154	10	7	robot	robot	NOUN
alkej-154	10	8	through	through	ADP
alkej-154	10	9	human	human	ADJ
alkej-154	10	10	hand	hand	NOUN
alkej-154	10	11	motion	motion	NOUN
alkej-154	10	12	plays	play	VERB
alkej-154	10	13	an	an	DET
alkej-154	10	14	important	important	ADJ
alkej-154	10	15	role	role	NOUN
alkej-154	10	16	in	in	ADP
alkej-154	10	17	many	many	ADJ
alkej-154	10	18	fields	field	NOUN
alkej-154	10	19	such	such	ADJ
alkej-154	10	20	as	as	ADP
alkej-154	10	21	medicine	medicine	NOUN
alkej-154	10	22	,	,	PUNCT
alkej-154	10	23	space	space	NOUN
alkej-154	10	24	exploration	exploration	NOUN
alkej-154	10	25	,	,	PUNCT
alkej-154	10	26	military	military	NOUN
alkej-154	10	27	,	,	PUNCT
alkej-154	10	28	nuclear	nuclear	ADJ
alkej-154	10	29	environment	environment	NOUN
alkej-154	10	30	,	,	PUNCT
alkej-154	10	31	construction	construction	NOUN
alkej-154	10	32	and	and	CCONJ
alkej-154	10	33	many	many	ADJ
alkej-154	10	34	other	other	ADJ
alkej-154	10	35	fields	field	NOUN
alkej-154	10	36	.	.	PUNCT
alkej-154	11	1	a	a	DET
alkej-154	11	2	large	large	ADJ
alkej-154	11	3	number	number	NOUN
alkej-154	11	4	of	of	ADP
alkej-154	11	5	interfaces	interface	NOUN
alkej-154	11	6	concerning	concern	VERB
alkej-154	11	7	robot	robot	NOUN
alkej-154	11	8	control	control	NOUN
alkej-154	11	9	using	use	VERB
alkej-154	11	10	hand	hand	NOUN
alkej-154	11	11	motion	motion	NOUN
alkej-154	11	12	such	such	ADJ
alkej-154	11	13	as	as	ADP
alkej-154	11	14	vision	vision	NOUN
alkej-154	11	15	based	base	VERB
alkej-154	11	16	system	system	NOUN
alkej-154	11	17	by	by	ADP
alkej-154	11	18	tracking	track	VERB
alkej-154	11	19	markers	marker	NOUN
alkej-154	11	20	placed	place	VERB
alkej-154	11	21	at	at	ADP
alkej-154	11	22	a	a	DET
alkej-154	11	23	dorsal	dorsal	NOUN
alkej-154	11	24	side	side	NOUN
alkej-154	11	25	of	of	ADP
alkej-154	11	26	human	human	ADJ
alkej-154	11	27	hand	hand	NOUN
alkej-154	11	28	using	use	VERB
alkej-154	11	29	cameras	camera	NOUN
alkej-154	11	30	to	to	PART
alkej-154	11	31	estimate	estimate	VERB
alkej-154	11	32	the	the	DET
alkej-154	11	33	3d	3d	NUM
alkej-154	11	34	position	position	NOUN
alkej-154	11	35	of	of	ADP
alkej-154	11	36	hand	hand	NOUN
alkej-154	11	37	to	to	PART
alkej-154	11	38	control	control	VERB
alkej-154	11	39	the	the	DET
alkej-154	11	40	robot	robot	NOUN
alkej-154	11	41	were	be	AUX
alkej-154	11	42	proposed	propose	VERB
alkej-154	11	43	[	[	PUNCT
alkej-154	11	44	1	1	NUM
alkej-154	11	45	,	,	PUNCT
alkej-154	11	46	2	2	NUM
alkej-154	11	47	]	]	PUNCT
alkej-154	11	48	.	.	PUNCT
alkej-154	12	1	emg	emg	NOUN
alkej-154	12	2	(	(	PUNCT
alkej-154	12	3	electromyography	electromyography	NOUN
alkej-154	12	4	)	)	PUNCT
alkej-154	12	5	signals	signal	NOUN
alkej-154	12	6	which	which	PRON
alkej-154	12	7	are	be	AUX
alkej-154	12	8	measured	measure	VERB
alkej-154	12	9	using	use	VERB
alkej-154	12	10	non	non	ADJ
alkej-154	12	11	-	-	ADJ
alkej-154	12	12	invasive	invasive	ADJ
alkej-154	12	13	electrodes	electrode	NOUN
alkej-154	12	14	are	be	AUX
alkej-154	12	15	placed	place	VERB
alkej-154	12	16	at	at	ADP
alkej-154	12	17	specific	specific	ADJ
alkej-154	12	18	locations	location	NOUN
alkej-154	12	19	of	of	ADP
alkej-154	12	20	human	human	ADJ
alkej-154	12	21	arm	arm	NOUN
alkej-154	12	22	and	and	CCONJ
alkej-154	12	23	represent	represent	VERB
alkej-154	12	24	the	the	DET
alkej-154	12	25	activity	activity	NOUN
alkej-154	12	26	of	of	ADP
alkej-154	12	27	human	human	ADJ
alkej-154	12	28	arm	arm	NOUN
alkej-154	12	29	muscles	muscle	NOUN
alkej-154	12	30	due	due	ADP
alkej-154	12	31	to	to	ADP
alkej-154	12	32	motion	motion	NOUN
alkej-154	12	33	to	to	PART
alkej-154	12	34	drive	drive	VERB
alkej-154	12	35	the	the	DET
alkej-154	12	36	robot	robot	NOUN
alkej-154	12	37	[	[	X
alkej-154	12	38	3	3	NUM
alkej-154	12	39	]	]	PUNCT
alkej-154	12	40	.	.	PUNCT
alkej-154	13	1	micro	micro	ADJ
alkej-154	13	2	-	-	ADJ
alkej-154	13	3	electro	electro	ADJ
alkej-154	13	4	-	-	PUNCT
alkej-154	13	5	mechanical	mechanical	ADJ
alkej-154	13	6	systems	system	NOUN
alkej-154	13	7	(	(	PUNCT
alkej-154	13	8	mems	mem	NOUN
alkej-154	13	9	)	)	PUNCT
alkej-154	13	10	was	be	AUX
alkej-154	13	11	used	use	VERB
alkej-154	13	12	to	to	PART
alkej-154	13	13	estimate	estimate	VERB
alkej-154	13	14	the	the	DET
alkej-154	13	15	3d	3d	NUM
alkej-154	13	16	position	position	NOUN
alkej-154	13	17	and	and	CCONJ
alkej-154	13	18	orientation	orientation	NOUN
alkej-154	13	19	of	of	ADP
alkej-154	13	20	human	human	ADJ
alkej-154	13	21	hand	hand	NOUN
alkej-154	13	22	by	by	ADP
alkej-154	13	23	integrating	integrate	VERB
alkej-154	13	24	inertial	inertial	ADJ
alkej-154	13	25	sensors	sensor	NOUN
alkej-154	13	26	such	such	ADJ
alkej-154	13	27	as	as	ADP
alkej-154	13	28	gyroscope	gyroscope	NOUN
alkej-154	13	29	,	,	PUNCT
alkej-154	13	30	accelerometer	accelerometer	NOUN
alkej-154	13	31	and	and	CCONJ
alkej-154	13	32	magnetometer	magnetometer	NOUN
alkej-154	13	33	[	[	X
alkej-154	13	34	4	4	NUM
alkej-154	13	35	]	]	PUNCT
alkej-154	13	36	.	.	PUNCT
alkej-154	14	1	electromechanical	electromechanical	ADJ
alkej-154	14	2	devices	device	NOUN
alkej-154	14	3	(	(	PUNCT
alkej-154	14	4	potentiometer	potentiometer	NOUN
alkej-154	14	5	and	and	CCONJ
alkej-154	14	6	metal	metal	NOUN
alkej-154	14	7	parts	part	NOUN
alkej-154	14	8	)	)	PUNCT
alkej-154	14	9	,	,	PUNCT
alkej-154	14	10	are	be	AUX
alkej-154	14	11	worn	wear	VERB
alkej-154	14	12	by	by	ADP
alkej-154	14	13	the	the	DET
alkej-154	14	14	operator	operator	NOUN
alkej-154	14	15	arm	arm	NOUN
alkej-154	14	16	to	to	PART
alkej-154	14	17	sense	sense	VERB
alkej-154	14	18	the	the	DET
alkej-154	14	19	motion	motion	NOUN
alkej-154	14	20	of	of	ADP
alkej-154	14	21	arm	arm	NOUN
alkej-154	14	22	[	[	X
alkej-154	14	23	5	5	NUM
alkej-154	14	24	]	]	PUNCT
alkej-154	14	25	.	.	PUNCT
alkej-154	15	1	this	this	DET
alkej-154	15	2	paper	paper	NOUN
alkej-154	15	3	presents	present	VERB
alkej-154	15	4	a	a	DET
alkej-154	15	5	method	method	NOUN
alkej-154	15	6	to	to	PART
alkej-154	15	7	control	control	VERB
alkej-154	15	8	the	the	DET
alkej-154	15	9	robot	robot	NOUN
alkej-154	15	10	motion	motion	NOUN
alkej-154	15	11	using	use	VERB
alkej-154	15	12	a	a	DET
alkej-154	15	13	built	build	VERB
alkej-154	15	14	sensing	sense	VERB
alkej-154	15	15	arm	arm	NOUN
alkej-154	15	16	that	that	PRON
alkej-154	15	17	can	can	AUX
alkej-154	15	18	be	be	AUX
alkej-154	15	19	gripped	grip	VERB
alkej-154	15	20	by	by	ADP
alkej-154	15	21	human	human	ADJ
alkej-154	15	22	hand	hand	NOUN
alkej-154	15	23	to	to	PART
alkej-154	15	24	determine	determine	VERB
alkej-154	15	25	the	the	DET
alkej-154	15	26	position	position	NOUN
alkej-154	15	27	and	and	CCONJ
alkej-154	15	28	orientation	orientation	NOUN
alkej-154	15	29	of	of	ADP
alkej-154	15	30	human	human	ADJ
alkej-154	15	31	hand	hand	NOUN
alkej-154	15	32	and	and	CCONJ
alkej-154	15	33	to	to	PART
alkej-154	15	34	sense	sense	VERB
alkej-154	15	35	the	the	DET
alkej-154	15	36	grasping	grasp	VERB
alkej-154	15	37	task	task	NOUN
alkej-154	15	38	performed	perform	VERB
alkej-154	15	39	by	by	ADP
alkej-154	15	40	human	human	ADJ
alkej-154	15	41	hand	hand	NOUN
alkej-154	15	42	finger	finger	NOUN
alkej-154	15	43	.	.	PUNCT
alkej-154	16	1	2	2	X
alkej-154	16	2	.	.	X
alkej-154	16	3	the	the	DET
alkej-154	16	4	experimental	experimental	ADJ
alkej-154	16	5	work	work	NOUN
alkej-154	16	6	the	the	DET
alkej-154	16	7	system	system	NOUN
alkej-154	16	8	consists	consist	VERB
alkej-154	16	9	of	of	ADP
alkej-154	16	10	four	four	NUM
alkej-154	16	11	parts	part	NOUN
alkej-154	16	12	:	:	PUNCT
alkej-154	16	13	sensing	sense	VERB
alkej-154	16	14	arm	arm	NOUN
alkej-154	16	15	,	,	PUNCT
alkej-154	16	16	interface	interface	NOUN
alkej-154	16	17	circuit	circuit	NOUN
alkej-154	16	18	,	,	PUNCT
alkej-154	16	19	robotic	robotic	ADJ
alkej-154	16	20	arm	arm	NOUN
alkej-154	16	21	and	and	CCONJ
alkej-154	16	22	control	control	NOUN
alkej-154	16	23	software	software	NOUN
alkej-154	16	24	,	,	PUNCT
alkej-154	16	25	fig.1	fig.1	PROPN
alkej-154	16	26	.	.	PUNCT
alkej-154	16	27	a.	a.	NOUN
alkej-154	16	28	sensing	sense	VERB
alkej-154	16	29	arm	arm	NOUN
alkej-154	16	30	a	a	DET
alkej-154	16	31	wearable	wearable	ADJ
alkej-154	16	32	arm	arm	NOUN
alkej-154	16	33	fig.2	fig.2	PROPN
alkej-154	16	34	,	,	PUNCT
alkej-154	16	35	is	be	AUX
alkej-154	16	36	used	use	VERB
alkej-154	16	37	to	to	PART
alkej-154	16	38	measure	measure	VERB
alkej-154	16	39	the	the	DET
alkej-154	16	40	3d	3d	NUM
alkej-154	16	41	position	position	NOUN
alkej-154	16	42	of	of	ADP
alkej-154	16	43	human	human	ADJ
alkej-154	16	44	hand	hand	NOUN
alkej-154	16	45	(	(	PUNCT
alkej-154	16	46	within	within	ADP
alkej-154	16	47	the	the	DET
alkej-154	16	48	workspace	workspace	NOUN
alkej-154	16	49	of	of	ADP
alkej-154	16	50	sensing	sense	VERB
alkej-154	16	51	arm	arm	NOUN
alkej-154	16	52	)	)	PUNCT
alkej-154	16	53	,	,	PUNCT
alkej-154	16	54	and	and	CCONJ
alkej-154	16	55	to	to	PART
alkej-154	16	56	sense	sense	VERB
alkej-154	16	57	the	the	DET
alkej-154	16	58	grasping	grasping	NOUN
alkej-154	16	59	of	of	ADP
alkej-154	16	60	a	a	DET
alkej-154	16	61	hand	hand	NOUN
alkej-154	16	62	finger	finger	NOUN
alkej-154	16	63	.	.	PUNCT
alkej-154	17	1	the	the	DET
alkej-154	17	2	sensing	sense	VERB
alkej-154	17	3	arm	arm	NOUN
alkej-154	17	4	has	have	VERB
alkej-154	17	5	the	the	DET
alkej-154	17	6	same	same	ADJ
alkej-154	17	7	degrees	degree	NOUN
alkej-154	17	8	of	of	ADP
alkej-154	17	9	freedom	freedom	NOUN
alkej-154	17	10	dof	dof	NOUN
alkej-154	17	11	of	of	ADP
alkej-154	17	12	robotic	robotic	ADJ
alkej-154	17	13	arm	arm	NOUN
alkej-154	17	14	,	,	PUNCT
alkej-154	17	15	which	which	PRON
alkej-154	17	16	is	be	AUX
alkej-154	17	17	4	4	NUM
alkej-154	17	18	dof	dof	NOUN
alkej-154	17	19	that	that	PRON
alkej-154	17	20	needs	need	VERB
alkej-154	17	21	to	to	PART
alkej-154	17	22	be	be	AUX
alkej-154	17	23	controlled	control	VERB
alkej-154	17	24	.	.	PUNCT
alkej-154	18	1	it	it	PRON
alkej-154	18	2	was	be	AUX
alkej-154	18	3	made	make	VERB
alkej-154	18	4	from	from	ADP
alkej-154	18	5	four	four	NUM
alkej-154	18	6	metal	metal	NOUN
alkej-154	18	7	parts	part	NOUN
alkej-154	18	8	and	and	CCONJ
alkej-154	18	9	four	four	NUM
alkej-154	18	10	potentiometers	potentiometer	NOUN
alkej-154	18	11	(	(	PUNCT
alkej-154	18	12	1	1	NUM
alkej-154	18	13	m	m	NOUN
alkej-154	18	14	ω	ω	NOUN
alkej-154	18	15	)	)	PUNCT
alkej-154	18	16	sensing	sense	VERB
alkej-154	18	17	arm	arm	NOUN
alkej-154	18	18	joints	joint	NOUN
alkej-154	18	19	,	,	PUNCT
alkej-154	18	20	base	base	NOUN
alkej-154	18	21	,	,	PUNCT
alkej-154	18	22	shoulder	shoulder	NOUN
alkej-154	18	23	,	,	PUNCT
alkej-154	18	24	elbow	elbow	NOUN
alkej-154	18	25	,	,	PUNCT
alkej-154	18	26	wrist	wrist	NOUN
alkej-154	18	27	,	,	PUNCT
alkej-154	18	28	and	and	CCONJ
alkej-154	18	29	push	push	NOUN
alkej-154	18	30	-	-	PUNCT
alkej-154	18	31	button	button	NOUN
alkej-154	18	32	switch	switch	NOUN
alkej-154	18	33	for	for	ADP
alkej-154	18	34	finger	finger	NOUN
alkej-154	18	35	joint	joint	NOUN
alkej-154	18	36	.	.	PUNCT
alkej-154	19	1	mailto:asalamalammri@yahoo.com	mailto:asalamalammri@yahoo.com	X
alkej-154	19	2	mailto:ghaith.taki@gmail.com	mailto:ghaith.taki@gmail.com	X
alkej-154	20	1	a.	a.	PROPN
alkej-154	20	2	salam	salam	PROPN
alkej-154	20	3	al	al	PROPN
alkej-154	20	4	-	-	PROPN
alkej-154	20	5	ammri	ammri	PROPN
alkej-154	20	6	al	al	PROPN
alkej-154	20	7	-	-	PUNCT
alkej-154	20	8	khwarizmi	khwarizmi	PROPN
alkej-154	20	9	engineering	engineering	NOUN
alkej-154	20	10	journal	journal	PROPN
alkej-154	20	11	,	,	PUNCT
alkej-154	20	12	vol	vol	NOUN
alkej-154	20	13	.	.	PROPN
alkej-154	20	14	9	9	NUM
alkej-154	20	15	,	,	PUNCT
alkej-154	20	16	no	no	INTJ
alkej-154	20	17	.	.	NOUN
alkej-154	20	18	1	1	NUM
alkej-154	20	19	,	,	PUNCT
alkej-154	20	20	p.p	p.p	NOUN
alkej-154	20	21	.	.	NOUN
alkej-154	20	22	9	9	NUM
alkej-154	20	23	-	-	SYM
alkej-154	20	24	18	18	NUM
alkej-154	20	25	(	(	PUNCT
alkej-154	20	26	2013	2013	NUM
alkej-154	20	27	)	)	PUNCT
alkej-154	20	28	10	10	NUM
alkej-154	20	29	the	the	DET
alkej-154	20	30	principle	principle	NOUN
alkej-154	20	31	of	of	ADP
alkej-154	20	32	operation	operation	NOUN
alkej-154	20	33	of	of	ADP
alkej-154	20	34	each	each	DET
alkej-154	20	35	sensing	sense	VERB
alkej-154	20	36	arm	arm	NOUN
alkej-154	20	37	joint	joint	NOUN
alkej-154	20	38	(	(	PUNCT
alkej-154	20	39	except	except	SCONJ
alkej-154	20	40	finger	finger	NOUN
alkej-154	20	41	joint	joint	NOUN
alkej-154	20	42	)	)	PUNCT
alkej-154	20	43	depends	depend	VERB
alkej-154	20	44	on	on	ADP
alkej-154	20	45	the	the	DET
alkej-154	20	46	voltage	voltage	NOUN
alkej-154	20	47	divider	divider	NOUN
alkej-154	20	48	.	.	PUNCT
alkej-154	21	1	so	so	ADV
alkej-154	21	2	,	,	PUNCT
alkej-154	21	3	when	when	SCONJ
alkej-154	21	4	the	the	DET
alkej-154	21	5	operator	operator	NOUN
alkej-154	21	6	mask	mask	VERB
alkej-154	21	7	the	the	DET
alkej-154	21	8	sensing	sense	VERB
alkej-154	21	9	arm	arm	NOUN
alkej-154	21	10	and	and	CCONJ
alkej-154	21	11	move	move	VERB
alkej-154	21	12	his	his	PRON
alkej-154	21	13	hand	hand	NOUN
alkej-154	21	14	,	,	PUNCT
alkej-154	21	15	this	this	DET
alkej-154	21	16	motion	motion	NOUN
alkej-154	21	17	will	will	AUX
alkej-154	21	18	make	make	VERB
alkej-154	21	19	each	each	DET
alkej-154	21	20	joint	joint	NOUN
alkej-154	21	21	(	(	PUNCT
alkej-154	21	22	except	except	SCONJ
alkej-154	21	23	finger	finger	NOUN
alkej-154	21	24	joint	joint	NOUN
alkej-154	21	25	)	)	PUNCT
alkej-154	21	26	rotate	rotate	VERB
alkej-154	21	27	with	with	ADP
alkej-154	21	28	a	a	DET
alkej-154	21	29	specific	specific	ADJ
alkej-154	21	30	motion	motion	NOUN
alkej-154	21	31	.	.	PUNCT
alkej-154	22	1	therefore	therefore	ADV
alkej-154	22	2	,	,	PUNCT
alkej-154	22	3	the	the	DET
alkej-154	22	4	resistance	resistance	NOUN
alkej-154	22	5	of	of	ADP
alkej-154	22	6	each	each	DET
alkej-154	22	7	joint	joint	ADJ
alkej-154	22	8	varies	varie	NOUN
alkej-154	22	9	,	,	PUNCT
alkej-154	22	10	so	so	ADV
alkej-154	22	11	,	,	PUNCT
alkej-154	22	12	the	the	DET
alkej-154	22	13	output	output	NOUN
alkej-154	22	14	voltage	voltage	NOUN
alkej-154	22	15	of	of	ADP
alkej-154	22	16	each	each	DET
alkej-154	22	17	potentiometer	potentiometer	NOUN
alkej-154	22	18	will	will	AUX
alkej-154	22	19	change	change	VERB
alkej-154	22	20	according	accord	VERB
alkej-154	22	21	to	to	ADP
alkej-154	22	22	the	the	DET
alkej-154	22	23	voltage	voltage	NOUN
alkej-154	22	24	divider	divid	ADJ
alkej-154	22	25	principle	principle	NOUN
alkej-154	22	26	and	and	CCONJ
alkej-154	22	27	represents	represent	VERB
alkej-154	22	28	the	the	DET
alkej-154	22	29	measuring	measuring	NOUN
alkej-154	22	30	of	of	ADP
alkej-154	22	31	joint	joint	ADJ
alkej-154	22	32	rotation	rotation	NOUN
alkej-154	22	33	.	.	PUNCT
alkej-154	23	1	finger	finger	NOUN
alkej-154	23	2	joint	joint	NOUN
alkej-154	23	3	was	be	AUX
alkej-154	23	4	implemented	implement	VERB
alkej-154	23	5	using	use	VERB
alkej-154	23	6	a	a	DET
alkej-154	23	7	push	push	VERB
alkej-154	23	8	-	-	PUNCT
alkej-154	23	9	bottom	bottom	NOUN
alkej-154	23	10	switch	switch	NOUN
alkej-154	23	11	which	which	PRON
alkej-154	23	12	is	be	AUX
alkej-154	23	13	connected	connect	VERB
alkej-154	23	14	with	with	ADP
alkej-154	23	15	the	the	DET
alkej-154	23	16	ground	ground	NOUN
alkej-154	23	17	.	.	PUNCT
alkej-154	24	1	fig	fig	NOUN
alkej-154	24	2	.	.	PUNCT
alkej-154	25	1	1	1	X
alkej-154	25	2	.	.	X
alkej-154	25	3	control	control	NOUN
alkej-154	25	4	system	system	PROPN
alkej-154	25	5	block	block	NOUN
alkej-154	25	6	diagram	diagram	NOUN
alkej-154	25	7	.	.	PUNCT
alkej-154	26	1	fig	fig	NOUN
alkej-154	26	2	.	.	PUNCT
alkej-154	27	1	2	2	X
alkej-154	27	2	.	.	X
alkej-154	27	3	sensing	sense	VERB
alkej-154	27	4	arm	arm	PROPN
alkej-154	27	5	b.	b.	PROPN
alkej-154	27	6	interface	interface	PROPN
alkej-154	27	7	circuit	circuit	NOUN
alkej-154	27	8	the	the	DET
alkej-154	27	9	analog	analog	ADJ
alkej-154	27	10	voltage	voltage	NOUN
alkej-154	27	11	of	of	ADP
alkej-154	27	12	each	each	DET
alkej-154	27	13	sensing	sense	VERB
alkej-154	27	14	arm	arm	NOUN
alkej-154	27	15	joint	joint	NOUN
alkej-154	27	16	(	(	PUNCT
alkej-154	27	17	potentiometer	potentiometer	NOUN
alkej-154	27	18	)	)	PUNCT
alkej-154	27	19	must	must	AUX
alkej-154	27	20	be	be	AUX
alkej-154	27	21	converted	convert	VERB
alkej-154	27	22	to	to	ADP
alkej-154	27	23	the	the	DET
alkej-154	27	24	digital	digital	ADJ
alkej-154	27	25	form	form	NOUN
alkej-154	27	26	before	before	ADP
alkej-154	27	27	sending	send	VERB
alkej-154	27	28	them	they	PRON
alkej-154	27	29	to	to	ADP
alkej-154	27	30	the	the	DET
alkej-154	27	31	computer	computer	NOUN
alkej-154	27	32	via	via	ADP
alkej-154	27	33	parallel	parallel	ADJ
alkej-154	27	34	port	port	NOUN
alkej-154	27	35	.	.	PUNCT
alkej-154	28	1	therefore	therefore	ADV
alkej-154	28	2	,	,	PUNCT
alkej-154	28	3	the	the	DET
alkej-154	28	4	interface	interface	NOUN
alkej-154	28	5	circuit	circuit	NOUN
alkej-154	28	6	,	,	PUNCT
alkej-154	28	7	fig.3	fig.3	PROPN
alkej-154	28	8	,	,	PUNCT
alkej-154	28	9	consists	consist	VERB
alkej-154	28	10	of	of	ADP
alkej-154	28	11	four	four	NUM
alkej-154	28	12	adc	adc	NOUN
alkej-154	28	13	ic	ic	X
alkej-154	28	14	’s	’s	PART
alkej-154	28	15	(	(	PUNCT
alkej-154	28	16	0804lcn	0804lcn	NOUN
alkej-154	28	17	)	)	PUNCT
alkej-154	29	1	[	[	X
alkej-154	29	2	6	6	NUM
alkej-154	29	3	]	]	PUNCT
alkej-154	29	4	,	,	PUNCT
alkej-154	29	5	one	one	NUM
alkej-154	29	6	for	for	ADP
alkej-154	29	7	each	each	DET
alkej-154	29	8	sensing	sense	VERB
alkej-154	29	9	arm	arm	NOUN
alkej-154	29	10	(	(	PUNCT
alkej-154	29	11	except	except	SCONJ
alkej-154	29	12	finger	finger	NOUN
alkej-154	29	13	joint	joint	NOUN
alkej-154	29	14	)	)	PUNCT
alkej-154	29	15	joint	joint	NOUN
alkej-154	29	16	.	.	PUNCT
alkej-154	30	1	additionally	additionally	ADV
alkej-154	30	2	,	,	PUNCT
alkej-154	30	3	four	four	NUM
alkej-154	30	4	buffer	buffer	NOUN
alkej-154	30	5	ic	ic	PRON
alkej-154	30	6	’s	’s	PART
alkej-154	30	7	(	(	PUNCT
alkej-154	30	8	74ls245	74ls245	PROPN
alkej-154	30	9	)	)	PUNCT
alkej-154	31	1	[	[	X
alkej-154	31	2	7	7	NUM
alkej-154	31	3	]	]	PUNCT
alkej-154	31	4	are	be	AUX
alkej-154	31	5	used	use	VERB
alkej-154	31	6	to	to	PART
alkej-154	31	7	protect	protect	VERB
alkej-154	31	8	the	the	DET
alkej-154	31	9	computer	computer	NOUN
alkej-154	31	10	from	from	ADP
alkej-154	31	11	any	any	DET
alkej-154	31	12	harmful	harmful	ADJ
alkej-154	31	13	signals	signal	NOUN
alkej-154	31	14	.	.	PUNCT
alkej-154	32	1	the	the	DET
alkej-154	32	2	finger	finger	NOUN
alkej-154	32	3	joint	joint	NOUN
alkej-154	32	4	of	of	ADP
alkej-154	32	5	sensing	sense	VERB
alkej-154	32	6	arm	arm	NOUN
alkej-154	32	7	is	be	AUX
alkej-154	32	8	connected	connect	VERB
alkej-154	32	9	directly	directly	ADV
alkej-154	32	10	to	to	ADP
alkej-154	32	11	the	the	DET
alkej-154	32	12	parallel	parallel	ADJ
alkej-154	32	13	port	port	NOUN
alkej-154	32	14	without	without	ADP
alkej-154	32	15	using	use	VERB
alkej-154	32	16	adc	adc	PROPN
alkej-154	32	17	and	and	CCONJ
alkej-154	32	18	buffer	buffer	VERB
alkej-154	32	19	ic	ic	PROPN
alkej-154	32	20	.	.	PUNCT
alkej-154	33	1	the	the	DET
alkej-154	33	2	analog	analog	ADJ
alkej-154	33	3	voltage	voltage	NOUN
alkej-154	33	4	of	of	ADP
alkej-154	33	5	sensing	sense	VERB
alkej-154	33	6	arm	arm	NOUN
alkej-154	33	7	base	base	NOUN
alkej-154	33	8	joint	joint	NOUN
alkej-154	33	9	is	be	AUX
alkej-154	33	10	converted	convert	VERB
alkej-154	33	11	to	to	ADP
alkej-154	33	12	the	the	DET
alkej-154	33	13	digital	digital	ADJ
alkej-154	33	14	voltages	voltage	NOUN
alkej-154	33	15	of	of	ADP
alkej-154	33	16	4	4	NUM
alkej-154	33	17	-	-	PUNCT
alkej-154	33	18	bits	bit	NOUN
alkej-154	33	19	and	and	CCONJ
alkej-154	33	20	are	be	AUX
alkej-154	33	21	sent	send	VERB
alkej-154	33	22	via	via	ADP
alkej-154	33	23	pin(2),pin(3),pin(4),pin(5	pin(2),pin(3),pin(4),pin(5	NOUN
alkej-154	33	24	)	)	PUNCT
alkej-154	33	25	of	of	ADP
alkej-154	33	26	parallel	parallel	ADJ
alkej-154	33	27	port	port	NOUN
alkej-154	33	28	.	.	PUNCT
alkej-154	34	1	the	the	DET
alkej-154	34	2	analog	analog	ADJ
alkej-154	34	3	voltage	voltage	NOUN
alkej-154	34	4	of	of	ADP
alkej-154	34	5	sensing	sense	VERB
alkej-154	34	6	arm	arm	NOUN
alkej-154	34	7	shoulder	shoulder	NOUN
alkej-154	34	8	joint	joint	NOUN
alkej-154	34	9	is	be	AUX
alkej-154	34	10	converted	convert	VERB
alkej-154	34	11	to	to	ADP
alkej-154	34	12	the	the	DET
alkej-154	34	13	digital	digital	ADJ
alkej-154	34	14	voltages	voltage	NOUN
alkej-154	34	15	of	of	ADP
alkej-154	34	16	3	3	NUM
alkej-154	34	17	-	-	PUNCT
alkej-154	34	18	bits	bit	NOUN
alkej-154	34	19	and	and	CCONJ
alkej-154	34	20	are	be	AUX
alkej-154	34	21	sent	send	VERB
alkej-154	34	22	via	via	ADP
alkej-154	34	23	pin	pin	NOUN
alkej-154	34	24	(	(	PUNCT
alkej-154	34	25	6	6	NUM
alkej-154	34	26	)	)	PUNCT
alkej-154	34	27	,	,	PUNCT
alkej-154	34	28	pin	pin	NOUN
alkej-154	34	29	(	(	PUNCT
alkej-154	34	30	7	7	NUM
alkej-154	34	31	)	)	PUNCT
alkej-154	34	32	,	,	PUNCT
alkej-154	34	33	pin	pin	NOUN
alkej-154	34	34	(	(	PUNCT
alkej-154	34	35	8)	8)	NUM
alkej-154	34	36	of	of	ADP
alkej-154	34	37	parallel	parallel	ADJ
alkej-154	34	38	port	port	NOUN
alkej-154	34	39	.	.	PUNCT
alkej-154	35	1	the	the	DET
alkej-154	35	2	analog	analog	ADJ
alkej-154	35	3	voltage	voltage	NOUN
alkej-154	35	4	of	of	ADP
alkej-154	35	5	sensing	sense	VERB
alkej-154	35	6	arm	arm	NOUN
alkej-154	35	7	elbow	elbow	NOUN
alkej-154	35	8	joint	joint	NOUN
alkej-154	35	9	is	be	AUX
alkej-154	35	10	converted	convert	VERB
alkej-154	35	11	to	to	ADP
alkej-154	35	12	the	the	DET
alkej-154	35	13	digital	digital	ADJ
alkej-154	35	14	voltages	voltage	NOUN
alkej-154	35	15	of	of	ADP
alkej-154	35	16	3	3	NUM
alkej-154	35	17	-	-	PUNCT
alkej-154	35	18	bits	bit	NOUN
alkej-154	35	19	and	and	CCONJ
alkej-154	35	20	are	be	AUX
alkej-154	35	21	sent	send	VERB
alkej-154	35	22	via	via	ADP
alkej-154	35	23	pin	pin	NOUN
alkej-154	35	24	(	(	PUNCT
alkej-154	35	25	15	15	NUM
alkej-154	35	26	)	)	PUNCT
alkej-154	35	27	,	,	PUNCT
alkej-154	35	28	pin	pin	NOUN
alkej-154	35	29	(	(	PUNCT
alkej-154	35	30	13	13	NUM
alkej-154	35	31	)	)	PUNCT
alkej-154	35	32	,	,	PUNCT
alkej-154	35	33	pin	pin	NOUN
alkej-154	35	34	(	(	PUNCT
alkej-154	35	35	12	12	NUM
alkej-154	35	36	)	)	PUNCT
alkej-154	35	37	of	of	ADP
alkej-154	35	38	parallel	parallel	ADJ
alkej-154	35	39	port	port	NOUN
alkej-154	35	40	.	.	PUNCT
alkej-154	36	1	the	the	DET
alkej-154	36	2	analog	analog	ADJ
alkej-154	36	3	voltage	voltage	NOUN
alkej-154	36	4	of	of	ADP
alkej-154	36	5	sensing	sense	VERB
alkej-154	36	6	arm	arm	NOUN
alkej-154	36	7	wrist	wrist	NOUN
alkej-154	36	8	joint	joint	NOUN
alkej-154	36	9	is	be	AUX
alkej-154	36	10	converted	convert	VERB
alkej-154	36	11	to	to	ADP
alkej-154	36	12	the	the	DET
alkej-154	36	13	digital	digital	ADJ
alkej-154	36	14	voltages	voltage	NOUN
alkej-154	36	15	of	of	ADP
alkej-154	36	16	2	2	NUM
alkej-154	36	17	-	-	PUNCT
alkej-154	36	18	bits	bit	NOUN
alkej-154	36	19	and	and	CCONJ
alkej-154	36	20	are	be	AUX
alkej-154	36	21	sent	send	VERB
alkej-154	36	22	via	via	ADP
alkej-154	36	23	pin	pin	NOUN
alkej-154	36	24	(	(	PUNCT
alkej-154	36	25	10	10	NUM
alkej-154	36	26	)	)	PUNCT
alkej-154	36	27	,	,	PUNCT
alkej-154	36	28	pin	pin	NOUN
alkej-154	36	29	(	(	PUNCT
alkej-154	36	30	11	11	NUM
alkej-154	36	31	)	)	PUNCT
alkej-154	36	32	of	of	ADP
alkej-154	36	33	parallel	parallel	ADJ
alkej-154	36	34	port	port	NOUN
alkej-154	36	35	.	.	PUNCT
alkej-154	37	1	while	while	SCONJ
alkej-154	37	2	,	,	PUNCT
alkej-154	37	3	the	the	DET
alkej-154	37	4	push	push	NOUN
alkej-154	37	5	-	-	PUNCT
alkej-154	37	6	button	button	NOUN
alkej-154	37	7	switch	switch	NOUN
alkej-154	37	8	of	of	ADP
alkej-154	37	9	a	a	DET
alkej-154	37	10	finger	finger	NOUN
alkej-154	37	11	joint	joint	NOUN
alkej-154	37	12	of	of	ADP
alkej-154	37	13	sensing	sense	VERB
alkej-154	37	14	arm	arm	NOUN
alkej-154	37	15	is	be	AUX
alkej-154	37	16	connected	connect	VERB
alkej-154	37	17	between	between	ADP
alkej-154	37	18	the	the	DET
alkej-154	37	19	ground	ground	NOUN
alkej-154	37	20	and	and	CCONJ
alkej-154	37	21	pin	pin	NOUN
alkej-154	37	22	(	(	PUNCT
alkej-154	37	23	9	9	NUM
alkej-154	37	24	)	)	PUNCT
alkej-154	37	25	of	of	ADP
alkej-154	37	26	parallel	parallel	ADJ
alkej-154	37	27	port	port	NOUN
alkej-154	37	28	.	.	PUNCT
alkej-154	38	1	the	the	DET
alkej-154	38	2	leds	led	NOUN
alkej-154	38	3	are	be	AUX
alkej-154	38	4	used	use	VERB
alkej-154	38	5	as	as	ADP
alkej-154	38	6	an	an	DET
alkej-154	38	7	indicator	indicator	NOUN
alkej-154	38	8	to	to	PART
alkej-154	38	9	simplify	simplify	VERB
alkej-154	38	10	a	a	DET
alkej-154	38	11	programming	programming	NOUN
alkej-154	38	12	task	task	NOUN
alkej-154	38	13	.	.	PUNCT
alkej-154	39	1	computer	computer	NOUN
alkej-154	39	2	visual	visual	ADJ
alkej-154	39	3	basic	basic	ADJ
alkej-154	39	4	software	software	NOUN
alkej-154	39	5	joint	joint	ADJ
alkej-154	39	6	to	to	ADP
alkej-154	39	7	joint	joint	ADJ
alkej-154	39	8	motion	motion	NOUN
alkej-154	39	9	mapping	mapping	NOUN
alkej-154	39	10	o	o	NOUN
alkej-154	39	11	,	,	PUNCT
alkej-154	39	12	robotic	robotic	ADJ
alkej-154	39	13	arm	arm	NOUN
alkej-154	39	14	sensing	sense	VERB
alkej-154	39	15	arm	arm	NOUN
alkej-154	39	16	(	(	PUNCT
alkej-154	39	17	potentiometers	potentiometer	NOUN
alkej-154	39	18	)	)	PUNCT
alkej-154	39	19	interface	interface	NOUN
alkej-154	39	20	circuit	circuit	NOUN
alkej-154	39	21	(	(	PUNCT
alkej-154	39	22	adc	adc	PROPN
alkej-154	39	23	ic	ic	X
alkej-154	39	24	’s	’s	ADV
alkej-154	39	25	,	,	PUNCT
alkej-154	39	26	buffer	buffer	VERB
alkej-154	39	27	ic	ic	PRON
alkej-154	39	28	’s	’s	PART
alkej-154	39	29	)	)	PUNCT
alkej-154	39	30	parallel	parallel	ADJ
alkej-154	39	31	port	port	NOUN
alkej-154	39	32	a.	a.	NOUN
alkej-154	39	33	salam	salam	PROPN
alkej-154	39	34	al	al	PROPN
alkej-154	39	35	-	-	PROPN
alkej-154	39	36	ammri	ammri	PROPN
alkej-154	39	37	al	al	PROPN
alkej-154	39	38	-	-	PUNCT
alkej-154	39	39	khwarizmi	khwarizmi	PROPN
alkej-154	39	40	engineering	engineering	NOUN
alkej-154	39	41	journal	journal	PROPN
alkej-154	39	42	,	,	PUNCT
alkej-154	39	43	vol	vol	NOUN
alkej-154	39	44	.	.	PROPN
alkej-154	40	1	9	9	NUM
alkej-154	40	2	,	,	PUNCT
alkej-154	40	3	no	no	INTJ
alkej-154	40	4	.	.	NOUN
alkej-154	40	5	1	1	NUM
alkej-154	40	6	,	,	PUNCT
alkej-154	40	7	p.p	p.p	NOUN
alkej-154	40	8	.	.	NOUN
alkej-154	40	9	9	9	NUM
alkej-154	40	10	-	-	SYM
alkej-154	40	11	18	18	NUM
alkej-154	40	12	(	(	PUNCT
alkej-154	40	13	2013	2013	NUM
alkej-154	40	14	)	)	PUNCT
alkej-154	40	15	11	11	NUM
alkej-154	40	16	fig	fig	NOUN
alkej-154	40	17	.	.	PUNCT
alkej-154	41	1	3	3	X
alkej-154	41	2	.	.	X
alkej-154	41	3	interface	interface	NOUN
alkej-154	41	4	circuit	circuit	PROPN
alkej-154	41	5	c.	c.	PROPN
alkej-154	41	6	robotic	robotic	PROPN
alkej-154	41	7	arm	arm	NOUN
alkej-154	41	8	the	the	DET
alkej-154	41	9	phantomx	phantomx	PROPN
alkej-154	41	10	pincher	pincher	PROPN
alkej-154	41	11	ax-12	ax-12	ADP
alkej-154	41	12	robot	robot	NOUN
alkej-154	41	13	arm	arm	NOUN
alkej-154	41	14	,	,	PUNCT
alkej-154	41	15	fig.4&5	fig.4&5	ADJ
alkej-154	41	16	,	,	PUNCT
alkej-154	41	17	consists	consist	VERB
alkej-154	41	18	of	of	ADP
alkej-154	41	19	four	four	NUM
alkej-154	41	20	joints	joint	NOUN
alkej-154	41	21	plus	plus	CCONJ
alkej-154	41	22	a	a	DET
alkej-154	41	23	gripper	gripper	NOUN
alkej-154	41	24	.	.	PUNCT
alkej-154	42	1	there	there	PRON
alkej-154	42	2	are	be	VERB
alkej-154	42	3	seven	seven	NUM
alkej-154	42	4	servo	servo	NOUN
alkej-154	42	5	motors	motor	NOUN
alkej-154	42	6	(	(	PUNCT
alkej-154	42	7	ax-12	ax-12	ADP
alkej-154	42	8	dynamixel	dynamixel	PROPN
alkej-154	42	9	)	)	PUNCT
alkej-154	42	10	used	use	VERB
alkej-154	42	11	to	to	PART
alkej-154	42	12	actuate	actuate	VERB
alkej-154	42	13	robot	robot	NOUN
alkej-154	42	14	joints	joint	NOUN
alkej-154	42	15	;	;	PUNCT
alkej-154	42	16	one	one	NUM
alkej-154	42	17	servo	servo	NOUN
alkej-154	42	18	for	for	ADP
alkej-154	42	19	base	base	NOUN
alkej-154	42	20	joint	joint	NOUN
alkej-154	42	21	,	,	PUNCT
alkej-154	42	22	two	two	NUM
alkej-154	42	23	servos	servo	NOUN
alkej-154	42	24	for	for	ADP
alkej-154	42	25	shoulder	shoulder	NOUN
alkej-154	42	26	joint	joint	NOUN
alkej-154	42	27	,	,	PUNCT
alkej-154	42	28	two	two	NUM
alkej-154	42	29	servos	servo	NOUN
alkej-154	42	30	for	for	ADP
alkej-154	42	31	elbow	elbow	NOUN
alkej-154	42	32	joint	joint	NOUN
alkej-154	42	33	,	,	PUNCT
alkej-154	42	34	one	one	NUM
alkej-154	42	35	servo	servo	NOUN
alkej-154	42	36	is	be	AUX
alkej-154	42	37	for	for	ADP
alkej-154	42	38	wrist	wrist	NOUN
alkej-154	42	39	joint	joint	NOUN
alkej-154	42	40	and	and	CCONJ
alkej-154	42	41	one	one	NUM
alkej-154	42	42	servo	servo	NOUN
alkej-154	42	43	for	for	ADP
alkej-154	42	44	gripper	gripper	NOUN
alkej-154	42	45	joint	joint	NOUN
alkej-154	42	46	.	.	PUNCT
alkej-154	43	1	each	each	DET
alkej-154	43	2	servo	servo	NOUN
alkej-154	43	3	motor	motor	NOUN
alkej-154	43	4	has	have	VERB
alkej-154	43	5	its	its	PRON
alkej-154	43	6	own	own	ADJ
alkej-154	43	7	i	i	NOUN
alkej-154	43	8	d	d	NOUN
alkej-154	43	9	number	number	NOUN
alkej-154	43	10	and	and	CCONJ
alkej-154	43	11	can	can	AUX
alkej-154	43	12	rotate	rotate	VERB
alkej-154	43	13	(	(	PUNCT
alkej-154	43	14	300	300	NUM
alkej-154	43	15	°	°	NOUN
alkej-154	43	16	through	through	ADP
alkej-154	43	17	1024	1024	NUM
alkej-154	43	18	steps	step	NOUN
alkej-154	43	19	)	)	PUNCT
alkej-154	43	20	.	.	PUNCT
alkej-154	44	1	the	the	DET
alkej-154	44	2	robot	robot	NOUN
alkej-154	44	3	is	be	AUX
alkej-154	44	4	supported	support	VERB
alkej-154	44	5	with	with	ADP
alkej-154	44	6	usb2dynamixel	usb2dynamixel	PROPN
alkej-154	44	7	interface	interface	NOUN
alkej-154	44	8	circuit	circuit	NOUN
alkej-154	44	9	to	to	PART
alkej-154	44	10	connect	connect	VERB
alkej-154	44	11	the	the	DET
alkej-154	44	12	robot	robot	NOUN
alkej-154	44	13	with	with	ADP
alkej-154	44	14	computer	computer	NOUN
alkej-154	44	15	through	through	ADP
alkej-154	44	16	usb	usb	NOUN
alkej-154	44	17	port	port	NOUN
alkej-154	44	18	,	,	PUNCT
alkej-154	44	19	additionally	additionally	ADV
alkej-154	44	20	,	,	PUNCT
alkej-154	44	21	it	it	PRON
alkej-154	44	22	is	be	AUX
alkej-154	44	23	supported	support	VERB
alkej-154	44	24	with	with	ADP
alkej-154	44	25	sdk	sdk	PROPN
alkej-154	44	26	software	software	NOUN
alkej-154	44	27	to	to	PART
alkej-154	44	28	use	use	VERB
alkej-154	44	29	it	it	PRON
alkej-154	44	30	with	with	ADP
alkej-154	44	31	different	different	ADJ
alkej-154	44	32	programs	program	NOUN
alkej-154	44	33	such	such	ADJ
alkej-154	44	34	as	as	ADP
alkej-154	44	35	matlab	matlab	PROPN
alkej-154	44	36	,	,	PUNCT
alkej-154	44	37	visual	visual	ADJ
alkej-154	44	38	basic	basic	NOUN
alkej-154	44	39	,	,	PUNCT
alkej-154	44	40	labview	labview	NOUN
alkej-154	44	41	,	,	PUNCT
alkej-154	44	42	etc	etc	X
alkej-154	44	43	.	.	X
alkej-154	44	44	fig	fig	NOUN
alkej-154	44	45	.	.	PUNCT
alkej-154	45	1	4	4	X
alkej-154	45	2	.	.	X
alkej-154	45	3	robotic	robotic	ADJ
alkej-154	45	4	arm	arm	NOUN
alkej-154	45	5	fig	fig	NOUN
alkej-154	45	6	.	.	PUNCT
alkej-154	46	1	5	5	NUM
alkej-154	46	2	.	.	NUM
alkej-154	46	3	ax-12	ax-12	VERB
alkej-154	46	4	dynamixels	dynamixel	NOUN
alkej-154	46	5	network	network	PROPN
alkej-154	46	6	d.	d.	PROPN
alkej-154	46	7	control	control	PROPN
alkej-154	46	8	software	software	VERB
alkej-154	46	9	the	the	DET
alkej-154	46	10	control	control	NOUN
alkej-154	46	11	algorithm	algorithm	NOUN
alkej-154	46	12	of	of	ADP
alkej-154	46	13	a	a	DET
alkej-154	46	14	robot	robot	NOUN
alkej-154	46	15	reads	read	VERB
alkej-154	46	16	the	the	DET
alkej-154	46	17	decimal	decimal	ADJ
alkej-154	46	18	value	value	NOUN
alkej-154	46	19	of	of	ADP
alkej-154	46	20	status	status	NOUN
alkej-154	46	21	and	and	CCONJ
alkej-154	46	22	data	datum	NOUN
alkej-154	46	23	bus	bus	NOUN
alkej-154	46	24	of	of	ADP
alkej-154	46	25	parallel	parallel	ADJ
alkej-154	46	26	port	port	NOUN
alkej-154	46	27	and	and	CCONJ
alkej-154	46	28	extracts	extract	NOUN
alkej-154	46	29	the	the	DET
alkej-154	46	30	binary	binary	ADJ
alkej-154	46	31	value	value	NOUN
alkej-154	46	32	of	of	ADP
alkej-154	46	33	pin(2,3,4,5	pin(2,3,4,5	NOUN
alkej-154	46	34	)	)	PUNCT
alkej-154	46	35	,	,	PUNCT
alkej-154	46	36	pin(6,7,8	pin(6,7,8	NOUN
alkej-154	46	37	)	)	PUNCT
alkej-154	46	38	,	,	PUNCT
alkej-154	46	39	pin(9	pin(9	ADJ
alkej-154	46	40	)	)	PUNCT
alkej-154	46	41	pin(9	pin(9	NOUN
alkej-154	46	42	,	,	PUNCT
alkej-154	46	43	pin(10,11	pin(10,11	PROPN
alkej-154	46	44	)	)	PUNCT
alkej-154	46	45	and	and	CCONJ
alkej-154	46	46	pin(15,13,12	pin(15,13,12	VERB
alkej-154	46	47	)	)	PUNCT
alkej-154	46	48	.	.	PUNCT
alkej-154	47	1	the	the	DET
alkej-154	47	2	control	control	NOUN
alkej-154	47	3	algorithm	algorithm	PROPN
alkej-154	47	4	uses	use	VERB
alkej-154	47	5	(	(	PUNCT
alkej-154	47	6	if	if	SCONJ
alkej-154	47	7	.	.	PUNCT
alkej-154	47	8	.else	.else	ADJ
alkej-154	47	9	)	)	PUNCT
alkej-154	47	10	instructions	instruction	NOUN
alkej-154	47	11	to	to	PART
alkej-154	47	12	match	match	VERB
alkej-154	47	13	between	between	ADP
alkej-154	47	14	the	the	DET
alkej-154	47	15	digital	digital	ADJ
alkej-154	47	16	values	value	NOUN
alkej-154	47	17	of	of	ADP
alkej-154	47	18	sensing	sense	VERB
alkej-154	47	19	arm	arm	NOUN
alkej-154	47	20	joints	joint	NOUN
alkej-154	47	21	with	with	ADP
alkej-154	47	22	corresponding	corresponding	ADJ
alkej-154	47	23	joint	joint	NOUN
alkej-154	47	24	's	's	PART
alkej-154	47	25	motion	motion	NOUN
alkej-154	47	26	of	of	ADP
alkej-154	47	27	a	a	DET
alkej-154	47	28	robot	robot	NOUN
alkej-154	47	29	in	in	ADP
alkej-154	47	30	a	a	DET
alkej-154	47	31	manner	manner	NOUN
alkej-154	47	32	to	to	PART
alkej-154	47	33	make	make	VERB
alkej-154	47	34	the	the	DET
alkej-154	47	35	robot	robot	NOUN
alkej-154	47	36	mimic	mimic	VERB
alkej-154	47	37	the	the	DET
alkej-154	47	38	motion	motion	NOUN
alkej-154	47	39	of	of	ADP
alkej-154	47	40	sensing	sense	VERB
alkej-154	47	41	arm	arm	NOUN
alkej-154	47	42	.	.	PUNCT
alkej-154	48	1	for	for	ADP
alkej-154	48	2	example	example	NOUN
alkej-154	48	3	,	,	PUNCT
alkej-154	48	4	when	when	SCONJ
alkej-154	48	5	the	the	DET
alkej-154	48	6	base	base	NOUN
alkej-154	48	7	joint	joint	NOUN
alkej-154	48	8	of	of	ADP
alkej-154	48	9	sensing	sense	VERB
alkej-154	48	10	arm	arm	NOUN
alkej-154	48	11	rotates	rotate	NOUN
alkej-154	48	12	(	(	PUNCT
alkej-154	48	13	90º	90º	NUM
alkej-154	48	14	)	)	PUNCT
alkej-154	48	15	,	,	PUNCT
alkej-154	48	16	the	the	DET
alkej-154	48	17	base	base	NOUN
alkej-154	48	18	joint	joint	NOUN
alkej-154	48	19	of	of	ADP
alkej-154	48	20	a	a	DET
alkej-154	48	21	robot	robot	NOUN
alkej-154	48	22	also	also	ADV
alkej-154	48	23	rotates	rotate	VERB
alkej-154	48	24	(	(	PUNCT
alkej-154	48	25	90	90	NUM
alkej-154	48	26	°	°	NUM
alkej-154	48	27	)	)	PUNCT
alkej-154	48	28	to	to	PART
alkej-154	48	29	mimic	mimic	VERB
alkej-154	48	30	this	this	DET
alkej-154	48	31	motion	motion	NOUN
alkej-154	48	32	,	,	PUNCT
alkej-154	48	33	and	and	CCONJ
alkej-154	48	34	when	when	SCONJ
alkej-154	48	35	the	the	DET
alkej-154	48	36	operator	operator	NOUN
alkej-154	48	37	pushes	push	VERB
alkej-154	48	38	the	the	DET
alkej-154	48	39	switch	switch	NOUN
alkej-154	48	40	of	of	ADP
alkej-154	48	41	a	a	DET
alkej-154	48	42	finger	finger	NOUN
alkej-154	48	43	joint	joint	NOUN
alkej-154	48	44	of	of	ADP
alkej-154	48	45	sensing	sense	VERB
alkej-154	48	46	arm	arm	NOUN
alkej-154	48	47	,	,	PUNCT
alkej-154	48	48	the	the	DET
alkej-154	48	49	robot	robot	NOUN
alkej-154	48	50	’s	’s	PART
alkej-154	48	51	two	two	NUM
alkej-154	48	52	fingers	finger	NOUN
alkej-154	48	53	are	be	AUX
alkej-154	48	54	closed	close	VERB
alkej-154	48	55	to	to	PART
alkej-154	48	56	perform	perform	VERB
alkej-154	48	57	the	the	DET
alkej-154	48	58	grasping	grasp	VERB
alkej-154	48	59	task	task	NOUN
alkej-154	48	60	.	.	PUNCT
alkej-154	49	1	the	the	DET
alkej-154	49	2	software	software	NOUN
alkej-154	49	3	was	be	AUX
alkej-154	49	4	supported	support	VERB
alkej-154	49	5	with	with	ADP
alkej-154	49	6	offline	offline	ADJ
alkej-154	49	7	control	control	NOUN
alkej-154	49	8	to	to	PART
alkej-154	49	9	repeat	repeat	VERB
alkej-154	49	10	the	the	DET
alkej-154	49	11	motions	motion	NOUN
alkej-154	49	12	of	of	ADP
alkej-154	49	13	a	a	DET
alkej-154	49	14	robot	robot	NOUN
alkej-154	49	15	(	(	PUNCT
alkej-154	49	16	during	during	ADP
alkej-154	49	17	the	the	DET
alkej-154	49	18	real	real	ADJ
alkej-154	49	19	time	time	NOUN
alkej-154	49	20	control	control	PROPN
alkej-154	49	21	)	)	PUNCT
alkej-154	49	22	,	,	PUNCT
alkej-154	49	23	fig.6	fig.6	PROPN
alkej-154	49	24	.	.	PUNCT
alkej-154	50	1	a.	a.	PROPN
alkej-154	50	2	salam	salam	PROPN
alkej-154	50	3	al	al	PROPN
alkej-154	50	4	-	-	PUNCT
alkej-154	50	5	ammri	ammri	PROPN
alkej-154	50	6	al	al	PROPN
alkej-154	50	7	-	-	PUNCT
alkej-154	50	8	khwarizmi	khwarizmi	PROPN
alkej-154	50	9	engineering	engineering	NOUN
alkej-154	50	10	journal	journal	PROPN
alkej-154	50	11	,	,	PUNCT
alkej-154	50	12	vol	vol	NOUN
alkej-154	50	13	.	.	PROPN
alkej-154	50	14	9	9	NUM
alkej-154	50	15	,	,	PUNCT
alkej-154	50	16	no	no	INTJ
alkej-154	50	17	.	.	NOUN
alkej-154	50	18	1	1	NUM
alkej-154	50	19	,	,	PUNCT
alkej-154	50	20	p.p	p.p	NOUN
alkej-154	50	21	.	.	NOUN
alkej-154	50	22	9	9	NUM
alkej-154	50	23	-	-	SYM
alkej-154	50	24	18	18	NUM
alkej-154	50	25	(	(	PUNCT
alkej-154	50	26	2013	2013	NUM
alkej-154	50	27	)	)	PUNCT
alkej-154	50	28	12	12	NUM
alkej-154	50	29	fig	fig	NOUN
alkej-154	50	30	.	.	PUNCT
alkej-154	51	1	6	6	NUM
alkej-154	51	2	.	.	X
alkej-154	51	3	(	(	PUNCT
alkej-154	51	4	gui	gui	NOUN
alkej-154	51	5	)	)	PUNCT
alkej-154	51	6	of	of	ADP
alkej-154	51	7	control	control	NOUN
alkej-154	51	8	software	software	NOUN
alkej-154	51	9	.	.	PUNCT
alkej-154	52	1	3	3	X
alkej-154	52	2	.	.	X
alkej-154	52	3	results	result	NOUN
alkej-154	52	4	when	when	SCONJ
alkej-154	52	5	the	the	DET
alkej-154	52	6	sensing	sense	VERB
alkej-154	52	7	base	base	NOUN
alkej-154	52	8	joint	joint	ADJ
alkej-154	52	9	rotates	rotate	NOUN
alkej-154	52	10	(	(	PUNCT
alkej-154	52	11	cw	cw	NOUN
alkej-154	52	12	)	)	PUNCT
alkej-154	52	13	with	with	ADP
alkej-154	52	14	angle	angle	NOUN
alkej-154	52	15	(	(	PUNCT
alkej-154	52	16	-90º	-90º	INTJ
alkej-154	52	17	)	)	PUNCT
alkej-154	52	18	with	with	ADP
alkej-154	52	19	respect	respect	NOUN
alkej-154	52	20	to	to	ADP
alkej-154	52	21	the	the	DET
alkej-154	52	22	reference	reference	NOUN
alkej-154	52	23	point	point	NOUN
alkej-154	52	24	,	,	PUNCT
alkej-154	52	25	the	the	DET
alkej-154	52	26	digital	digital	ADJ
alkej-154	52	27	output	output	NOUN
alkej-154	52	28	of	of	ADP
alkej-154	52	29	this	this	DET
alkej-154	52	30	motion	motion	NOUN
alkej-154	52	31	is	be	AUX
alkej-154	52	32	(	(	PUNCT
alkej-154	52	33	1111b	1111b	NOUN
alkej-154	52	34	)	)	PUNCT
alkej-154	52	35	.	.	PUNCT
alkej-154	53	1	in	in	ADP
alkej-154	53	2	the	the	DET
alkej-154	53	3	same	same	ADJ
alkej-154	53	4	manner	manner	NOUN
alkej-154	53	5	,	,	PUNCT
alkej-154	53	6	when	when	SCONJ
alkej-154	53	7	sensing	sense	VERB
alkej-154	53	8	arm	arm	NOUN
alkej-154	53	9	rotates	rotate	NOUN
alkej-154	53	10	(	(	PUNCT
alkej-154	53	11	ccw	ccw	NOUN
alkej-154	53	12	)	)	PUNCT
alkej-154	53	13	with	with	ADP
alkej-154	53	14	angle	angle	NOUN
alkej-154	53	15	(	(	PUNCT
alkej-154	53	16	90º	90º	NUM
alkej-154	53	17	)	)	PUNCT
alkej-154	53	18	with	with	ADP
alkej-154	53	19	respect	respect	NOUN
alkej-154	53	20	to	to	ADP
alkej-154	53	21	the	the	DET
alkej-154	53	22	reference	reference	NOUN
alkej-154	53	23	point	point	NOUN
alkej-154	53	24	,	,	PUNCT
alkej-154	53	25	the	the	DET
alkej-154	53	26	digital	digital	ADJ
alkej-154	53	27	output	output	NOUN
alkej-154	53	28	of	of	ADP
alkej-154	53	29	this	this	DET
alkej-154	53	30	motion	motion	NOUN
alkej-154	53	31	is	be	AUX
alkej-154	53	32	(	(	PUNCT
alkej-154	53	33	0001b).calculating	0001b).calculate	VERB
alkej-154	53	34	the	the	DET
alkej-154	53	35	step	step	NOUN
alkej-154	53	36	of	of	ADP
alkej-154	53	37	rotation	rotation	NOUN
alkej-154	53	38	for	for	ADP
alkej-154	53	39	each	each	DET
alkej-154	53	40	digital	digital	ADJ
alkej-154	53	41	output	output	NOUN
alkej-154	53	42	within	within	ADP
alkej-154	53	43	(	(	PUNCT
alkej-154	53	44	0111	0111	NUM
alkej-154	53	45	b	b	PROPN
alkej-154	53	46	to	to	ADP
alkej-154	53	47	1111	1111	NUM
alkej-154	53	48	b	b	NOUN
alkej-154	53	49	)	)	PUNCT
alkej-154	53	50	is	be	AUX
alkej-154	53	51	shown	show	VERB
alkej-154	53	52	in	in	ADP
alkej-154	53	53	table	table	NOUN
alkej-154	53	54	1,and	1,and	NUM
alkej-154	53	55	fig.7	fig.7	ADJ
alkej-154	53	56	&	&	CCONJ
alkej-154	53	57	8	8	NUM
alkej-154	53	58	:	:	PUNCT
alkej-154	53	59	өs=	өs=	NOUN
alkej-154	53	60	°	°	PUNCT
alkej-154	53	61	°	°	PUNCT
alkej-154	53	62	=	=	PUNCT
alkej-154	54	1	11.25	11.25	NUM
alkej-154	54	2	°	°	NOUN
alkej-154	54	3	,	,	PUNCT
alkej-154	54	4	and	and	CCONJ
alkej-154	54	5	өr=	өr=	NOUN
alkej-154	54	6	=	=	PROPN
alkej-154	54	7	~39	~39	ADP
alkej-154	54	8	step	step	NOUN
alkej-154	54	9	(	(	PUNCT
alkej-154	54	10	for	for	ADP
alkej-154	54	11	robot	robot	NOUN
alkej-154	54	12	)	)	PUNCT
alkej-154	54	13	and	and	CCONJ
alkej-154	54	14	to	to	PART
alkej-154	54	15	calculate	calculate	VERB
alkej-154	54	16	the	the	DET
alkej-154	54	17	step	step	NOUN
alkej-154	54	18	of	of	ADP
alkej-154	54	19	rotation	rotation	NOUN
alkej-154	54	20	for	for	ADP
alkej-154	54	21	each	each	DET
alkej-154	54	22	digital	digital	ADJ
alkej-154	54	23	output	output	NOUN
alkej-154	54	24	within	within	ADP
alkej-154	54	25	(	(	PUNCT
alkej-154	54	26	0111	0111	NUM
alkej-154	54	27	b	b	NOUN
alkej-154	54	28	to	to	ADP
alkej-154	54	29	0001	0001	NUM
alkej-154	54	30	b	b	NUM
alkej-154	54	31	):	):	PUNCT
alkej-154	54	32	өs=	өs=	NOUN
alkej-154	54	33	°	°	ADP
alkej-154	54	34	°	°	PUNCT
alkej-154	54	35	=	=	PUNCT
alkej-154	54	36	15	15	NUM
alkej-154	54	37	°	°	NUM
alkej-154	54	38	,	,	PUNCT
alkej-154	54	39	and	and	CCONJ
alkej-154	54	40	өr=	өr=	NOUN
alkej-154	54	41	=	=	SYM
alkej-154	54	42	51	51	NUM
alkej-154	54	43	step	step	NOUN
alkej-154	54	44	(	(	PUNCT
alkej-154	54	45	for	for	ADP
alkej-154	54	46	robot	robot	NOUN
alkej-154	54	47	)	)	PUNCT
alkej-154	54	48	.	.	PUNCT
alkej-154	55	1	table	table	NOUN
alkej-154	55	2	1	1	NUM
alkej-154	55	3	,	,	PUNCT
alkej-154	55	4	sensing	sense	VERB
alkej-154	55	5	arm	arm	NOUN
alkej-154	55	6	and	and	CCONJ
alkej-154	55	7	robot	robot	NOUN
alkej-154	55	8	base	base	NOUN
alkej-154	55	9	joint	joint	ADJ
alkej-154	55	10	motion	motion	NOUN
alkej-154	55	11	.	.	PUNCT
alkej-154	56	1	ө	ө	NOUN
alkej-154	56	2	sensing	sense	VERB
alkej-154	56	3	base	base	NOUN
alkej-154	56	4	digital	digital	ADJ
alkej-154	56	5	output	output	NOUN
alkej-154	56	6	sensing	sense	VERB
alkej-154	56	7	base	base	NOUN
alkej-154	56	8	rotation	rotation	NOUN
alkej-154	56	9	angle	angle	NOUN
alkej-154	56	10	robot	robot	NOUN
alkej-154	56	11	base	base	PROPN
alkej-154	56	12	motion	motion	NOUN
alkej-154	56	13	ө1	ө1	NOUN
alkej-154	56	14	0111	0111	NUM
alkej-154	57	1	b	b	PROPN
alkej-154	57	2	0	0	NUM
alkej-154	57	3	°	°	NUM
alkej-154	57	4	512+(0	512+(0	NOUN
alkej-154	57	5	*	*	SYM
alkej-154	57	6	51)=512	51)=512	NOUN
alkej-154	57	7	ө2	ө2	ADJ
alkej-154	57	8	0110	0110	NUM
alkej-154	57	9	b	b	NOUN
alkej-154	57	10	15	15	NUM
alkej-154	57	11	°	°	NUM
alkej-154	57	12	512+(1	512+(1	NOUN
alkej-154	57	13	*	*	PUNCT
alkej-154	57	14	51)=563	51)=563	NOUN
alkej-154	57	15	ө3	ө3	NOUN
alkej-154	57	16	0101	0101	NUM
alkej-154	57	17	b	b	ADP
alkej-154	57	18	30	30	NUM
alkej-154	57	19	°	°	NUM
alkej-154	57	20	512+(2	512+(2	NUM
alkej-154	57	21	*	*	PUNCT
alkej-154	57	22	51)=614	51)=614	NOUN
alkej-154	57	23	ө4	ө4	NOUN
alkej-154	57	24	0100	0100	NUM
alkej-154	57	25	b	b	X
alkej-154	57	26	45	45	NUM
alkej-154	57	27	°	°	NUM
alkej-154	57	28	512+(3	512+(3	NOUN
alkej-154	57	29	*	*	SYM
alkej-154	57	30	51)=665	51)=665	NOUN
alkej-154	57	31	ө5	ө5	ADV
alkej-154	57	32	0011	0011	NUM
alkej-154	57	33	b	b	X
alkej-154	57	34	60	60	NUM
alkej-154	57	35	°	°	NOUN
alkej-154	57	36	512+(4	512+(4	NUM
alkej-154	57	37	*	*	NOUN
alkej-154	57	38	51)=716	51)=716	NUM
alkej-154	57	39	ө6	ө6	NOUN
alkej-154	57	40	0010	0010	NUM
alkej-154	57	41	b	b	PROPN
alkej-154	57	42	75	75	NUM
alkej-154	57	43	°	°	NUM
alkej-154	57	44	512+(5	512+(5	NOUN
alkej-154	57	45	*	*	NOUN
alkej-154	57	46	51)=767	51)=767	PROPN
alkej-154	57	47	ө7	ө7	X
alkej-154	57	48	0001	0001	NUM
alkej-154	57	49	b	b	PROPN
alkej-154	57	50	90	90	NUM
alkej-154	57	51	°	°	NOUN
alkej-154	57	52	512+(6	512+(6	NUM
alkej-154	57	53	*	*	SYM
alkej-154	57	54	51)=~820	51)=~820	NUM
alkej-154	57	55	ө8	ө8	NOUN
alkej-154	57	56	0000	0000	NUM
alkej-154	57	57	b	b	PROPN
alkej-154	57	58	105	105	NUM
alkej-154	57	59	°	°	NOUN
alkej-154	57	60	512+(7	512+(7	NUM
alkej-154	57	61	*	*	PUNCT
alkej-154	57	62	51)=869	51)=869	NOUN
alkej-154	57	63	ө9	ө9	NOUN
alkej-154	57	64	1000	1000	NUM
alkej-154	57	65	b	b	X
alkej-154	58	1	-11.25	-11.25	PROPN
alkej-154	58	2	°	°	PROPN
alkej-154	58	3	512-(1	512-(1	NUM
alkej-154	58	4	*	*	NOUN
alkej-154	58	5	39)=473	39)=473	NUM
alkej-154	58	6	ө10	ө10	NOUN
alkej-154	58	7	1001	1001	NUM
alkej-154	58	8	b	b	PROPN
alkej-154	59	1	-22.5	-22.5	NUM
alkej-154	59	2	°	°	ADP
alkej-154	59	3	512-(2	512-(2	NUM
alkej-154	59	4	*	*	NUM
alkej-154	59	5	39)=434	39)=434	NOUN
alkej-154	59	6	ө11	ө11	PRON
alkej-154	59	7	1010	1010	NUM
alkej-154	59	8	b	b	PROPN
alkej-154	60	1	-33.75	-33.75	PROPN
alkej-154	60	2	°	°	ADP
alkej-154	61	1	512-(3	512-(3	NUM
alkej-154	61	2	*	*	NOUN
alkej-154	61	3	39)=395	39)=395	NOUN
alkej-154	61	4	ө12	ө12	VERB
alkej-154	61	5	1011	1011	NUM
alkej-154	61	6	b	b	NOUN
alkej-154	61	7	-45	-45	PROPN
alkej-154	61	8	°	°	PRON
alkej-154	62	1	512-(4	512-(4	NUM
alkej-154	62	2	*	*	NOUN
alkej-154	62	3	39)=356	39)=356	NOUN
alkej-154	62	4	ө13	ө13	VERB
alkej-154	62	5	1100	1100	NUM
alkej-154	62	6	b	b	PROPN
alkej-154	63	1	-56.25	-56.25	PROPN
alkej-154	63	2	°	°	ADP
alkej-154	63	3	512-(5	512-(5	NUM
alkej-154	63	4	*	*	NOUN
alkej-154	63	5	39)=317	39)=317	ADJ
alkej-154	63	6	ө14	ө14	PROPN
alkej-154	63	7	1101	1101	NUM
alkej-154	63	8	b	b	PROPN
alkej-154	63	9	-67.5	-67.5	PROPN
alkej-154	63	10	°	°	PROPN
alkej-154	63	11	512-(6	512-(6	NUM
alkej-154	63	12	*	*	SYM
alkej-154	63	13	39)=278	39)=278	PROPN
alkej-154	63	14	ө15	ө15	NOUN
alkej-154	63	15	1110	1110	PROPN
alkej-154	63	16	b	b	PROPN
alkej-154	63	17	-78.75	-78.75	PROPN
alkej-154	63	18	°	°	VERB
alkej-154	63	19	512-(7	512-(7	NUM
alkej-154	63	20	*	*	SYM
alkej-154	63	21	39)=239	39)=239	PROPN
alkej-154	63	22	ө16	ө16	PROPN
alkej-154	63	23	1111	1111	PROPN
alkej-154	63	24	b	b	PROPN
alkej-154	63	25	-90	-90	PUNCT
alkej-154	63	26	°	°	ADP
alkej-154	63	27	512-(8	512-(8	NUM
alkej-154	63	28	*	*	NUM
alkej-154	63	29	39)=204	39)=204	NOUN
alkej-154	63	30	a.	a.	NOUN
alkej-154	63	31	salam	salam	PROPN
alkej-154	63	32	al	al	PROPN
alkej-154	63	33	-	-	PROPN
alkej-154	63	34	ammri	ammri	PROPN
alkej-154	63	35	al	al	PROPN
alkej-154	63	36	-	-	PUNCT
alkej-154	63	37	khwarizmi	khwarizmi	PROPN
alkej-154	63	38	engineering	engineering	NOUN
alkej-154	63	39	journal	journal	PROPN
alkej-154	63	40	,	,	PUNCT
alkej-154	63	41	vol	vol	NOUN
alkej-154	63	42	.	.	PROPN
alkej-154	63	43	9	9	NUM
alkej-154	63	44	,	,	PUNCT
alkej-154	63	45	no	no	INTJ
alkej-154	63	46	.	.	NOUN
alkej-154	63	47	1	1	NUM
alkej-154	63	48	,	,	PUNCT
alkej-154	63	49	p.p	p.p	NOUN
alkej-154	63	50	.	.	NOUN
alkej-154	63	51	9	9	NUM
alkej-154	63	52	-	-	SYM
alkej-154	63	53	18	18	NUM
alkej-154	63	54	(	(	PUNCT
alkej-154	63	55	2013	2013	NUM
alkej-154	63	56	)	)	PUNCT
alkej-154	63	57	13	13	NUM
alkej-154	63	58	fig	fig	NOUN
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alkej-154	64	1	7	7	X
alkej-154	64	2	.	.	X
alkej-154	64	3	range	range	NOUN
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alkej-154	64	5	sensing	sense	VERB
alkej-154	64	6	arm	arm	NOUN
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alkej-154	64	8	robot	robot	NOUN
alkej-154	64	9	base	base	NOUN
alkej-154	64	10	joint	joint	ADJ
alkej-154	64	11	motion	motion	NOUN
alkej-154	64	12	.	.	PUNCT
alkej-154	65	1	fig	fig	NOUN
alkej-154	65	2	.	.	PUNCT
alkej-154	66	1	8	8	X
alkej-154	66	2	.	.	X
alkej-154	66	3	sensing	sense	VERB
alkej-154	66	4	arm	arm	NOUN
alkej-154	66	5	and	and	CCONJ
alkej-154	66	6	robot	robot	NOUN
alkej-154	66	7	base	base	NOUN
alkej-154	66	8	angles	angle	NOUN
alkej-154	66	9	.	.	PUNCT
alkej-154	67	1	for	for	ADP
alkej-154	67	2	shoulder	shoulder	NOUN
alkej-154	67	3	joint	joint	NOUN
alkej-154	67	4	,	,	PUNCT
alkej-154	67	5	the	the	DET
alkej-154	67	6	digital	digital	ADJ
alkej-154	67	7	value	value	NOUN
alkej-154	67	8	(	(	PUNCT
alkej-154	67	9	001	001	NUM
alkej-154	67	10	)	)	PUNCT
alkej-154	67	11	was	be	AUX
alkej-154	67	12	chosen	choose	VERB
alkej-154	67	13	as	as	ADP
alkej-154	67	14	a	a	DET
alkej-154	67	15	reference	reference	NOUN
alkej-154	67	16	point	point	NOUN
alkej-154	67	17	,	,	PUNCT
alkej-154	67	18	so	so	ADV
alkej-154	67	19	,	,	PUNCT
alkej-154	67	20	the	the	DET
alkej-154	67	21	rotation	rotation	NOUN
alkej-154	67	22	angle	angle	NOUN
alkej-154	67	23	for	for	ADP
alkej-154	67	24	this	this	DET
alkej-154	67	25	position	position	NOUN
alkej-154	67	26	is	be	AUX
alkej-154	67	27	considered	consider	VERB
alkej-154	67	28	(	(	PUNCT
alkej-154	67	29	0	0	NUM
alkej-154	67	30	°	°	NUM
alkej-154	67	31	)	)	PUNCT
alkej-154	67	32	.	.	PUNCT
alkej-154	68	1	now	now	ADV
alkej-154	68	2	,	,	PUNCT
alkej-154	68	3	to	to	PART
alkej-154	68	4	rotate	rotate	VERB
alkej-154	68	5	down	down	ADP
alkej-154	68	6	with	with	ADP
alkej-154	68	7	rotation	rotation	NOUN
alkej-154	68	8	angle	angle	NOUN
alkej-154	68	9	(	(	PUNCT
alkej-154	68	10	-90º	-90º	ADJ
alkej-154	68	11	)	)	PUNCT
alkej-154	68	12	,	,	PUNCT
alkej-154	68	13	the	the	DET
alkej-154	68	14	digital	digital	ADJ
alkej-154	68	15	output	output	NOUN
alkej-154	68	16	of	of	ADP
alkej-154	68	17	sensing	sense	VERB
alkej-154	68	18	shoulder	shoulder	NOUN
alkej-154	68	19	will	will	AUX
alkej-154	68	20	be	be	AUX
alkej-154	68	21	(	(	PUNCT
alkej-154	68	22	101	101	NUM
alkej-154	68	23	)	)	PUNCT
alkej-154	68	24	.	.	PUNCT
alkej-154	69	1	to	to	PART
alkej-154	69	2	calculate	calculate	VERB
alkej-154	69	3	the	the	DET
alkej-154	69	4	rotation	rotation	NOUN
alkej-154	69	5	angles	angle	VERB
alkej-154	69	6	within	within	ADP
alkej-154	69	7	(	(	PUNCT
alkej-154	69	8	111	111	NUM
alkej-154	69	9	000	000	NUM
alkej-154	69	10	)	)	PUNCT
alkej-154	69	11	)	)	PUNCT
alkej-154	69	12	,	,	PUNCT
alkej-154	69	13	table	table	NOUN
alkej-154	69	14	2	2	NUM
alkej-154	69	15	and	and	CCONJ
alkej-154	69	16	fig.9	fig.9	PROPN
alkej-154	69	17	&	&	CCONJ
alkej-154	69	18	10	10	NUM
alkej-154	69	19	:	:	PUNCT
alkej-154	69	20	өs=	өs=	NOUN
alkej-154	69	21	°	°	PUNCT
alkej-154	69	22	°	°	PUNCT
alkej-154	70	1	=	=	PUNCT
alkej-154	70	2	22.5	22.5	NUM
alkej-154	70	3	°	°	NOUN
alkej-154	70	4	and	and	CCONJ
alkej-154	70	5	өr=	өr=	NOUN
alkej-154	70	6	=	=	NOUN
alkej-154	70	7	67	67	NUM
alkej-154	70	8	step	step	NOUN
alkej-154	70	9	(	(	PUNCT
alkej-154	70	10	for	for	ADP
alkej-154	70	11	robot	robot	NOUN
alkej-154	70	12	)	)	PUNCT
alkej-154	70	13	.	.	PUNCT
alkej-154	71	1	table	table	NOUN
alkej-154	71	2	2	2	NUM
alkej-154	71	3	,	,	PUNCT
alkej-154	71	4	sensing	sense	VERB
alkej-154	71	5	arm	arm	NOUN
alkej-154	71	6	shoulder	shoulder	NOUN
alkej-154	71	7	joint	joint	ADJ
alkej-154	71	8	motion	motion	NOUN
alkej-154	71	9	.	.	PUNCT
alkej-154	72	1	ө	ө	NOUN
alkej-154	72	2	sensing	sense	VERB
alkej-154	72	3	shoulder	shoulder	NOUN
alkej-154	72	4	digital	digital	ADJ
alkej-154	72	5	output	output	NOUN
alkej-154	72	6	sensing	sense	VERB
alkej-154	72	7	shoulder	shoulder	NOUN
alkej-154	72	8	rotation	rotation	NOUN
alkej-154	72	9	angle	angle	NOUN
alkej-154	72	10	=	=	PUNCT
alkej-154	72	11	−	−	PROPN
alkej-154	72	12	.	.	PUNCT
alkej-154	72	13	,	,	PUNCT
alkej-154	73	1	=	=	PRON
alkej-154	73	2	,	,	PUNCT
alkej-154	73	3	,	,	PUNCT
alkej-154	73	4	robot	robot	NOUN
alkej-154	73	5	shoulder	shoulder	NOUN
alkej-154	73	6	motion	motion	NOUN
alkej-154	73	7	+	+	X
alkej-154	73	8	,	,	PUNCT
alkej-154	73	9	=	=	SYM
alkej-154	73	10	−	−	PROPN
alkej-154	73	11	,	,	PUNCT
alkej-154	73	12	,	,	PUNCT
alkej-154	73	13	1	1	NUM
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alkej-154	73	19	*	*	SYM
alkej-154	73	20	67)=445	67)=445	NOUN
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alkej-154	73	27	67)=512	67)=512	PROPN
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alkej-154	73	30	b	b	SYM
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alkej-154	73	33	*	*	NOUN
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alkej-154	73	37	b	b	NOUN
alkej-154	73	38	-45º	-45º	ADJ
alkej-154	73	39	512+(2	512+(2	NUM
alkej-154	73	40	*	*	NOUN
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alkej-154	73	44	b	b	NUM
alkej-154	73	45	-67.5º	-67.5º	NOUN
alkej-154	73	46	512+(3	512+(3	NOUN
alkej-154	73	47	*	*	PUNCT
alkej-154	73	48	67)=713	67)=713	NOUN
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alkej-154	73	51	b	b	NOUN
alkej-154	73	52	-90º	-90º	NUM
alkej-154	73	53	512+(4	512+(4	NUM
alkej-154	73	54	*	*	NOUN
alkej-154	73	55	67)=780	67)=780	NOUN
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alkej-154	73	58	b	b	PROPN
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alkej-154	73	60	512+(5	512+(5	NUM
alkej-154	73	61	*	*	NOUN
alkej-154	73	62	67)=847	67)=847	NOUN
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alkej-154	73	67	512+(6	512+(6	NUM
alkej-154	73	68	*	*	NUM
alkej-154	73	69	67)=914	67)=914	NOUN
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alkej-154	73	85	ө2	ө2	ADJ
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alkej-154	73	87	ө1	ө1	NOUN
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alkej-154	73	89	ө5	ө5	PROPN
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alkej-154	74	1	50	50	NUM
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alkej-154	74	4	-150	-150	NUM
alkej-154	74	5	-100	-100	PROPN
alkej-154	74	6	-50	-50	PUNCT
alkej-154	74	7	0	0	NUM
alkej-154	74	8	50	50	NUM
alkej-154	74	9	100	100	NUM
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alkej-154	74	21	al	al	PROPN
alkej-154	74	22	-	-	PUNCT
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alkej-154	74	26	,	,	PUNCT
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alkej-154	74	30	,	,	PUNCT
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alkej-154	74	33	1	1	NUM
alkej-154	74	34	,	,	PUNCT
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alkej-154	74	36	.	.	NOUN
alkej-154	74	37	9	9	NUM
alkej-154	74	38	-	-	SYM
alkej-154	74	39	18	18	NUM
alkej-154	74	40	(	(	PUNCT
alkej-154	74	41	2013	2013	NUM
alkej-154	74	42	)	)	PUNCT
alkej-154	74	43	14	14	NUM
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alkej-154	74	45	.	.	PUNCT
alkej-154	75	1	9	9	X
alkej-154	75	2	.	.	X
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alkej-154	75	8	robot	robot	NOUN
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alkej-154	75	12	.	.	PUNCT
alkej-154	76	1	fig.10.sensing	fig.10.sense	VERB
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alkej-154	76	4	robot	robot	NOUN
alkej-154	76	5	shoulder	shoulder	NOUN
alkej-154	76	6	angles	angle	NOUN
alkej-154	76	7	.	.	PUNCT
alkej-154	77	1	there	there	PRON
alkej-154	77	2	are	be	VERB
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alkej-154	77	10	elbow	elbow	VERB
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alkej-154	77	12	(	(	PUNCT
alkej-154	77	13	000	000	NUM
alkej-154	77	14	to	to	ADP
alkej-154	77	15	111	111	NUM
alkej-154	77	16	)	)	PUNCT
alkej-154	77	17	.	.	PUNCT
alkej-154	78	1	the	the	DET
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alkej-154	78	4	(	(	PUNCT
alkej-154	78	5	001	001	NUM
alkej-154	78	6	)	)	PUNCT
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alkej-154	78	10	a	a	DET
alkej-154	78	11	reference	reference	NOUN
alkej-154	78	12	point	point	NOUN
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alkej-154	78	17	(	(	PUNCT
alkej-154	78	18	0	0	NUM
alkej-154	78	19	°	°	NUM
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alkej-154	78	26	up	up	ADP
alkej-154	78	27	with	with	ADP
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alkej-154	78	29	(	(	PUNCT
alkej-154	78	30	90º	90º	NUM
alkej-154	78	31	)	)	PUNCT
alkej-154	78	32	,	,	PUNCT
alkej-154	78	33	the	the	DET
alkej-154	78	34	digital	digital	ADJ
alkej-154	78	35	output	output	NOUN
alkej-154	78	36	is	be	AUX
alkej-154	78	37	(	(	PUNCT
alkej-154	78	38	101),table	101),table	ADJ
alkej-154	78	39	3	3	NUM
alkej-154	78	40	and	and	CCONJ
alkej-154	78	41	fig	fig	NOUN
alkej-154	78	42	.11	.11	NUM
alkej-154	78	43	&	&	CCONJ
alkej-154	78	44	12	12	NUM
alkej-154	78	45	.	.	PUNCT
alkej-154	79	1	өs=	өs=	NOUN
alkej-154	79	2	°	°	PUNCT
alkej-154	79	3	°	°	PUNCT
alkej-154	80	1	=	=	PUNCT
alkej-154	81	1	22.5	22.5	NUM
alkej-154	81	2	°	°	NOUN
alkej-154	81	3	and	and	CCONJ
alkej-154	81	4	өr	өr	NOUN
alkej-154	81	5	=	=	SYM
alkej-154	81	6	=	=	SYM
alkej-154	81	7	77	77	NUM
alkej-154	81	8	step	step	NOUN
alkej-154	81	9	(	(	PUNCT
alkej-154	81	10	for	for	ADP
alkej-154	81	11	robot	robot	NOUN
alkej-154	81	12	)	)	PUNCT
alkej-154	81	13	.	.	PUNCT
alkej-154	82	1	table	table	NOUN
alkej-154	82	2	3	3	NUM
alkej-154	82	3	,	,	PUNCT
alkej-154	82	4	sensing	sense	VERB
alkej-154	82	5	arm	arm	NOUN
alkej-154	82	6	and	and	CCONJ
alkej-154	82	7	robot	robot	NOUN
alkej-154	82	8	elbow	elbow	VERB
alkej-154	82	9	joint	joint	ADJ
alkej-154	82	10	motion	motion	NOUN
alkej-154	82	11	.	.	PUNCT
alkej-154	83	1	-120	-120	PROPN
alkej-154	83	2	-100	-100	PROPN
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alkej-154	83	4	-60	-60	PROPN
alkej-154	83	5	-40	-40	PROPN
alkej-154	83	6	-20	-20	NUM
alkej-154	83	7	0	0	NUM
alkej-154	83	8	20	20	NUM
alkej-154	83	9	40	40	NUM
alkej-154	83	10	-150	-150	NUM
alkej-154	83	11	-100	-100	PROPN
alkej-154	83	12	-50	-50	PUNCT
alkej-154	83	13	0	0	NUM
alkej-154	83	14	50	50	NUM
alkej-154	83	15	robot	robot	NOUN
alkej-154	83	16	shoulder	shoulder	NOUN
alkej-154	83	17	angle	angle	NOUN
alkej-154	83	18	sensing	sense	VERB
alkej-154	83	19	shoulder	shoulder	NOUN
alkej-154	83	20	angle	angle	NOUN
alkej-154	83	21	ө	ө	PROPN
alkej-154	83	22	sensing	sensing	NOUN
alkej-154	83	23	elbow	elbow	VERB
alkej-154	83	24	digital	digital	ADJ
alkej-154	83	25	output	output	NOUN
alkej-154	83	26	=	=	PUNCT
alkej-154	83	27	−	−	PROPN
alkej-154	83	28	.	.	PUNCT
alkej-154	84	1	,	,	PUNCT
alkej-154	84	2	=	=	PRON
alkej-154	84	3	,	,	PUNCT
alkej-154	84	4	,	,	PUNCT
alkej-154	84	5	sensing	sense	VERB
alkej-154	84	6	elbow	elbow	NOUN
alkej-154	84	7	rotation	rotation	NOUN
alkej-154	84	8	angle	angle	NOUN
alkej-154	84	9	−	−	PROPN
alkej-154	84	10	,	,	PUNCT
alkej-154	84	11	=	=	NOUN
alkej-154	84	12	,	,	PUNCT
alkej-154	84	13	−	−	PROPN
alkej-154	84	14	,	,	PUNCT
alkej-154	84	15	−	−	PROPN
alkej-154	84	16	robot	robot	NOUN
alkej-154	84	17	wrist	wrist	NOUN
alkej-154	84	18	motion	motion	NOUN
alkej-154	84	19	ө1	ө1	PROPN
alkej-154	84	20	111	111	NUM
alkej-154	84	21	135	135	NUM
alkej-154	84	22	°	°	NOUN
alkej-154	84	23	512-(6	512-(6	NUM
alkej-154	84	24	*	*	SYM
alkej-154	84	25	77)=50	77)=50	NOUN
alkej-154	84	26	ө2	ө2	ADV
alkej-154	84	27	110	110	NUM
alkej-154	84	28	112.5	112.5	NUM
alkej-154	84	29	°	°	NOUN
alkej-154	84	30	512-(5	512-(5	NUM
alkej-154	84	31	*	*	NOUN
alkej-154	84	32	77)=127	77)=127	NOUN
alkej-154	84	33	ө3	ө3	ADJ
alkej-154	84	34	101	101	NUM
alkej-154	84	35	90	90	NUM
alkej-154	84	36	°	°	NOUN
alkej-154	85	1	512-(4	512-(4	NUM
alkej-154	85	2	*	*	SYM
alkej-154	85	3	77)=204	77)=204	NOUN
alkej-154	85	4	ө4	ө4	NOUN
alkej-154	85	5	100	100	NUM
alkej-154	85	6	67.5	67.5	NUM
alkej-154	85	7	°	°	NOUN
alkej-154	85	8	512-(3	512-(3	NUM
alkej-154	85	9	*	*	SYM
alkej-154	85	10	77)=281	77)=281	NOUN
alkej-154	85	11	ө5	ө5	ADV
alkej-154	85	12	011	011	NUM
alkej-154	85	13	45	45	NUM
alkej-154	85	14	°	°	NOUN
alkej-154	85	15	512-(2	512-(2	NUM
alkej-154	85	16	*	*	NOUN
alkej-154	85	17	77)=358	77)=358	NOUN
alkej-154	85	18	ө6	ө6	NOUN
alkej-154	85	19	010	010	NUM
alkej-154	85	20	22.5	22.5	NUM
alkej-154	85	21	°	°	NOUN
alkej-154	86	1	512-(1	512-(1	NUM
alkej-154	86	2	*	*	SYM
alkej-154	86	3	77)=435	77)=435	ADJ
alkej-154	86	4	ө7	ө7	ADJ
alkej-154	86	5	001	001	NUM
alkej-154	86	6	0	0	NUM
alkej-154	86	7	°	°	NUM
alkej-154	86	8	512+(0	512+(0	NOUN
alkej-154	86	9	*	*	SYM
alkej-154	86	10	77)=512	77)=512	NOUN
alkej-154	86	11	ө8	ө8	NOUN
alkej-154	86	12	000	000	NUM
alkej-154	86	13	-22.5	-22.5	NUM
alkej-154	86	14	°	°	NOUN
alkej-154	86	15	512+(1	512+(1	NOUN
alkej-154	86	16	*	*	PUNCT
alkej-154	86	17	77)=589	77)=589	NUM
alkej-154	86	18	θ2	θ2	PROPN
alkej-154	86	19	θ3	θ3	PROPN
alkej-154	86	20	θ1	θ1	PROPN
alkej-154	86	21	θ4	θ4	NOUN
alkej-154	86	22	θ5	θ5	PROPN
alkej-154	86	23	θ6	θ6	PROPN
alkej-154	87	1	θ7	θ7	NOUN
alkej-154	87	2	θ8	θ8	PROPN
alkej-154	87	3	step	step	VERB
alkej-154	87	4	512	512	NUM
alkej-154	87	5	step	step	NOUN
alkej-154	87	6	780	780	NUM
alkej-154	87	7	a.	a.	NOUN
alkej-154	87	8	salam	salam	PROPN
alkej-154	87	9	al	al	PROPN
alkej-154	87	10	-	-	PUNCT
alkej-154	87	11	ammri	ammri	PROPN
alkej-154	87	12	al	al	PROPN
alkej-154	87	13	-	-	PUNCT
alkej-154	87	14	khwarizmi	khwarizmi	PROPN
alkej-154	87	15	engineering	engineering	NOUN
alkej-154	87	16	journal	journal	PROPN
alkej-154	87	17	,	,	PUNCT
alkej-154	87	18	vol	vol	NOUN
alkej-154	87	19	.	.	PROPN
alkej-154	88	1	9	9	NUM
alkej-154	88	2	,	,	PUNCT
alkej-154	88	3	no	no	INTJ
alkej-154	88	4	.	.	NOUN
alkej-154	88	5	1	1	NUM
alkej-154	88	6	,	,	PUNCT
alkej-154	88	7	p.p	p.p	NOUN
alkej-154	88	8	.	.	NOUN
alkej-154	88	9	9	9	NUM
alkej-154	88	10	-	-	SYM
alkej-154	88	11	18	18	NUM
alkej-154	88	12	(	(	PUNCT
alkej-154	88	13	2013	2013	NUM
alkej-154	88	14	)	)	PUNCT
alkej-154	88	15	15	15	NUM
alkej-154	88	16	fig	fig	NOUN
alkej-154	88	17	.	.	PUNCT
alkej-154	89	1	11	11	NUM
alkej-154	89	2	.	.	PUNCT
alkej-154	90	1	range	range	NOUN
alkej-154	90	2	of	of	ADP
alkej-154	90	3	sensing	sense	VERB
alkej-154	90	4	arm	arm	NOUN
alkej-154	90	5	and	and	CCONJ
alkej-154	90	6	robot	robot	NOUN
alkej-154	90	7	elbow	elbow	VERB
alkej-154	90	8	joint	joint	ADJ
alkej-154	90	9	motion	motion	NOUN
alkej-154	90	10	.	.	PUNCT
alkej-154	91	1	for	for	ADP
alkej-154	91	2	wrist	wrist	NOUN
alkej-154	91	3	joint	joint	NOUN
alkej-154	91	4	,	,	PUNCT
alkej-154	91	5	there	there	PRON
alkej-154	91	6	are	be	VERB
alkej-154	91	7	four	four	NUM
alkej-154	91	8	digital	digital	ADJ
alkej-154	91	9	outputs	output	NOUN
alkej-154	91	10	(	(	PUNCT
alkej-154	91	11	00b	00b	PROPN
alkej-154	91	12	to	to	ADP
alkej-154	91	13	11b	11b	NOUN
alkej-154	91	14	)	)	PUNCT
alkej-154	91	15	.	.	PUNCT
alkej-154	92	1	the	the	DET
alkej-154	92	2	digital	digital	ADJ
alkej-154	92	3	value	value	NOUN
alkej-154	92	4	(	(	PUNCT
alkej-154	92	5	10b	10b	NOUN
alkej-154	92	6	)	)	PUNCT
alkej-154	92	7	was	be	AUX
alkej-154	92	8	chosen	choose	VERB
alkej-154	92	9	as	as	ADP
alkej-154	92	10	a	a	DET
alkej-154	92	11	reference	reference	NOUN
alkej-154	92	12	point	point	NOUN
alkej-154	92	13	,	,	PUNCT
alkej-154	92	14	below	below	ADV
alkej-154	92	15	are	be	AUX
alkej-154	92	16	the	the	DET
alkej-154	92	17	results	result	NOUN
alkej-154	92	18	of	of	ADP
alkej-154	92	19	motion	motion	NOUN
alkej-154	92	20	,	,	PUNCT
alkej-154	92	21	table	table	NOUN
alkej-154	92	22	4	4	NUM
alkej-154	92	23	&	&	CCONJ
alkej-154	92	24	5	5	NUM
alkej-154	92	25	and	and	CCONJ
alkej-154	92	26	fig	fig	NOUN
alkej-154	92	27	12	12	NUM
alkej-154	92	28	&	&	CCONJ
alkej-154	92	29	13	13	NUM
alkej-154	92	30	:	:	PUNCT
alkej-154	92	31	table	table	NOUN
alkej-154	92	32	4	4	NUM
alkej-154	92	33	,	,	PUNCT
alkej-154	92	34	sensing	sense	VERB
alkej-154	92	35	arm	arm	NOUN
alkej-154	92	36	and	and	CCONJ
alkej-154	92	37	robot	robot	NOUN
alkej-154	92	38	wrist	wrist	NOUN
alkej-154	92	39	joint	joint	ADJ
alkej-154	92	40	motion	motion	NOUN
alkej-154	92	41	.	.	PUNCT
alkej-154	93	1	table	table	NOUN
alkej-154	93	2	5	5	NUM
alkej-154	93	3	,	,	PUNCT
alkej-154	93	4	sensing	sense	VERB
alkej-154	93	5	arm	arm	NOUN
alkej-154	93	6	and	and	CCONJ
alkej-154	93	7	robot	robot	NOUN
alkej-154	93	8	two	two	NUM
alkej-154	93	9	fingers	finger	NOUN
alkej-154	93	10	.	.	PUNCT
alkej-154	94	1	sensing	sense	VERB
alkej-154	94	2	switch	switch	NOUN
alkej-154	94	3	robot	robot	NOUN
alkej-154	94	4	fingers	finger	NOUN
alkej-154	94	5	motion	motion	NOUN
alkej-154	94	6	robot	robot	NOUN
alkej-154	94	7	fingers	finger	NOUN
alkej-154	94	8	status	status	PROPN
alkej-154	94	9	pressed	press	VERB
alkej-154	94	10	(	(	PUNCT
alkej-154	94	11	0b	0b	NOUN
alkej-154	94	12	)	)	PUNCT
alkej-154	94	13	700	700	NUM
alkej-154	94	14	close	close	ADV
alkej-154	94	15	released	release	VERB
alkej-154	94	16	(	(	PUNCT
alkej-154	94	17	1b	1b	NUM
alkej-154	94	18	)	)	PUNCT
alkej-154	94	19	600	600	NUM
alkej-154	94	20	open	open	ADJ
alkej-154	94	21	ө	ө	NOUN
alkej-154	94	22	sensing	sense	VERB
alkej-154	94	23	wrist	wrist	NOUN
alkej-154	94	24	digital	digital	ADJ
alkej-154	94	25	output	output	NOUN
alkej-154	94	26	sensing	sense	VERB
alkej-154	94	27	wrist	wrist	NOUN
alkej-154	94	28	rotation	rotation	NOUN
alkej-154	94	29	angle	angle	NOUN
alkej-154	94	30	robot	robot	NOUN
alkej-154	94	31	wrist	wrist	NOUN
alkej-154	94	32	motion	motion	NOUN
alkej-154	94	33	ө1	ө1	PROPN
alkej-154	94	34	10	10	NUM
alkej-154	94	35	b	b	NOUN
alkej-154	94	36	0	0	NUM
alkej-154	94	37	°	°	NOUN
alkej-154	94	38	512	512	NUM
alkej-154	95	1	ө2	ө2	ADJ
alkej-154	95	2	11	11	NUM
alkej-154	95	3	b	b	NOUN
alkej-154	95	4	-45	-45	PUNCT
alkej-154	95	5	°	°	NOUN
alkej-154	95	6	666	666	NUM
alkej-154	95	7	ө3	ө3	ADJ
alkej-154	95	8	01	01	NUM
alkej-154	95	9	b	b	SYM
alkej-154	95	10	45	45	NUM
alkej-154	95	11	°	°	NOUN
alkej-154	95	12	358	358	NUM
alkej-154	95	13	ө4	ө4	NOUN
alkej-154	95	14	00	00	PUNCT
alkej-154	95	15	b	b	SYM
alkej-154	95	16	90	90	NUM
alkej-154	95	17	°	°	NOUN
alkej-154	95	18	204	204	NUM
alkej-154	95	19	θ7	θ7	NOUN
alkej-154	95	20	θ	θ	PROPN
alkej-154	95	21	6	6	NUM
alkej-154	95	22	θ5	θ5	NOUN
alkej-154	95	23	θ4	θ4	PROPN
alkej-154	95	24	θ1	θ1	PROPN
alkej-154	95	25	θ2	θ2	PROPN
alkej-154	95	26	θ	θ	PROPN
alkej-154	95	27	3	3	NUM
alkej-154	95	28	θ8	θ8	NOUN
alkej-154	95	29	step	step	VERB
alkej-154	95	30	512	512	NUM
alkej-154	95	31	step	step	NOUN
alkej-154	95	32	204	204	NUM
alkej-154	95	33	a.	a.	NOUN
alkej-154	95	34	salam	salam	PROPN
alkej-154	95	35	al	al	PROPN
alkej-154	95	36	-	-	PUNCT
alkej-154	95	37	ammri	ammri	PROPN
alkej-154	95	38	al	al	PROPN
alkej-154	95	39	-	-	PUNCT
alkej-154	95	40	khwarizmi	khwarizmi	PROPN
alkej-154	95	41	engineering	engineering	NOUN
alkej-154	95	42	journal	journal	PROPN
alkej-154	95	43	,	,	PUNCT
alkej-154	95	44	vol	vol	NOUN
alkej-154	95	45	.	.	PROPN
alkej-154	96	1	9	9	NUM
alkej-154	96	2	,	,	PUNCT
alkej-154	96	3	no	no	INTJ
alkej-154	96	4	.	.	NOUN
alkej-154	96	5	1	1	NUM
alkej-154	96	6	,	,	PUNCT
alkej-154	96	7	p.p	p.p	NOUN
alkej-154	96	8	.	.	NOUN
alkej-154	96	9	9	9	NUM
alkej-154	96	10	-	-	SYM
alkej-154	96	11	18	18	NUM
alkej-154	96	12	(	(	PUNCT
alkej-154	96	13	2013	2013	NUM
alkej-154	96	14	)	)	PUNCT
alkej-154	96	15	16	16	NUM
alkej-154	96	16	fig	fig	NOUN
alkej-154	96	17	.	.	PUNCT
alkej-154	97	1	12	12	NUM
alkej-154	97	2	.	.	PUNCT
alkej-154	98	1	range	range	NOUN
alkej-154	98	2	of	of	ADP
alkej-154	98	3	sensing	sense	VERB
alkej-154	98	4	arm	arm	NOUN
alkej-154	98	5	and	and	CCONJ
alkej-154	98	6	robot	robot	NOUN
alkej-154	98	7	wrist	wrist	NOUN
alkej-154	98	8	joint	joint	ADJ
alkej-154	98	9	motion	motion	NOUN
alkej-154	98	10	fig	fig	NOUN
alkej-154	98	11	.	.	PUNCT
alkej-154	99	1	13.sensing	13.sense	VERB
alkej-154	99	2	arm	arm	NOUN
alkej-154	99	3	and	and	CCONJ
alkej-154	99	4	robot	robot	NOUN
alkej-154	99	5	wrist	wrist	NOUN
alkej-154	99	6	angles	angle	NOUN
alkej-154	99	7	.	.	PUNCT
alkej-154	100	1	4	4	X
alkej-154	100	2	.	.	X
alkej-154	100	3	conclusion	conclusion	NOUN
alkej-154	100	4	this	this	DET
alkej-154	100	5	paper	paper	NOUN
alkej-154	100	6	presents	present	VERB
alkej-154	100	7	a	a	DET
alkej-154	100	8	real	real	ADJ
alkej-154	100	9	time	time	NOUN
alkej-154	100	10	and	and	CCONJ
alkej-154	100	11	offline	offline	ADJ
alkej-154	100	12	(	(	PUNCT
alkej-154	100	13	teaching	teaching	NOUN
alkej-154	100	14	)	)	PUNCT
alkej-154	100	15	control	control	NOUN
alkej-154	100	16	of	of	ADP
alkej-154	100	17	robotic	robotic	ADJ
alkej-154	100	18	hand	hand	NOUN
alkej-154	100	19	.	.	PUNCT
alkej-154	101	1	the	the	DET
alkej-154	101	2	control	control	NOUN
alkej-154	101	3	system	system	NOUN
alkej-154	101	4	depends	depend	VERB
alkej-154	101	5	on	on	ADP
alkej-154	101	6	(	(	PUNCT
alkej-154	101	7	if	if	SCONJ
alkej-154	101	8	.	.	PUNCT
alkej-154	101	9	else	else	ADV
alkej-154	101	10	)	)	PUNCT
alkej-154	101	11	,	,	PUNCT
alkej-154	101	12	instruction	instruction	NOUN
alkej-154	101	13	to	to	PART
alkej-154	101	14	map	map	VERB
alkej-154	101	15	directly	directly	ADV
alkej-154	101	16	between	between	ADP
alkej-154	101	17	sensing	sense	VERB
alkej-154	101	18	arm	arm	NOUN
alkej-154	101	19	and	and	CCONJ
alkej-154	101	20	robot	robot	NOUN
alkej-154	101	21	joints	joint	NOUN
alkej-154	101	22	,	,	PUNCT
alkej-154	101	23	fig.14	fig.14	NOUN
alkej-154	101	24	.	.	PUNCT
alkej-154	102	1	the	the	DET
alkej-154	102	2	system	system	NOUN
alkej-154	102	3	achieved	achieve	VERB
alkej-154	102	4	a	a	DET
alkej-154	102	5	good	good	ADJ
alkej-154	102	6	response	response	NOUN
alkej-154	102	7	time	time	NOUN
alkej-154	102	8	of	of	ADP
alkej-154	102	9	robot	robot	NOUN
alkej-154	102	10	control	control	NOUN
alkej-154	102	11	(	(	PUNCT
alkej-154	102	12	~	~	SYM
alkej-154	102	13	1	1	NUM
alkej-154	102	14	second	second	ADJ
alkej-154	102	15	)	)	PUNCT
alkej-154	102	16	and	and	CCONJ
alkej-154	102	17	high	high	ADJ
alkej-154	102	18	repeatability	repeatability	NOUN
alkej-154	102	19	.	.	PUNCT
alkej-154	103	1	the	the	DET
alkej-154	103	2	dimensions	dimension	NOUN
alkej-154	103	3	were	be	AUX
alkej-154	103	4	chosen	choose	VERB
alkej-154	103	5	to	to	PART
alkej-154	103	6	cope	cope	VERB
alkej-154	103	7	with	with	ADP
alkej-154	103	8	geometrical	geometrical	ADJ
alkej-154	103	9	dimensions	dimension	NOUN
alkej-154	103	10	of	of	ADP
alkej-154	103	11	a	a	DET
alkej-154	103	12	real	real	ADJ
alkej-154	103	13	robot	robot	NOUN
alkej-154	103	14	because	because	SCONJ
alkej-154	103	15	they	they	PRON
alkej-154	103	16	affect	affect	VERB
alkej-154	103	17	on	on	ADP
alkej-154	103	18	the	the	DET
alkej-154	103	19	results	result	NOUN
alkej-154	103	20	of	of	ADP
alkej-154	103	21	motion	motion	NOUN
alkej-154	103	22	.	.	PUNCT
alkej-154	104	1	the	the	DET
alkej-154	104	2	type	type	NOUN
alkej-154	104	3	of	of	ADP
alkej-154	104	4	potentiometer	potentiometer	NOUN
alkej-154	104	5	affects	affect	VERB
alkej-154	104	6	on	on	ADP
alkej-154	104	7	the	the	DET
alkej-154	104	8	analog	analog	NOUN
alkej-154	104	9	to	to	ADP
alkej-154	104	10	digital	digital	ADJ
alkej-154	104	11	conversion	conversion	NOUN
alkej-154	104	12	performance	performance	NOUN
alkej-154	104	13	through	through	ADP
alkej-154	104	14	the	the	DET
alkej-154	104	15	noise	noise	NOUN
alkej-154	104	16	that	that	PRON
alkej-154	104	17	may	may	AUX
alkej-154	104	18	occur	occur	VERB
alkej-154	104	19	due	due	ADP
alkej-154	104	20	to	to	ADP
alkej-154	104	21	bad	bad	ADJ
alkej-154	104	22	manufacturing	manufacturing	NOUN
alkej-154	104	23	of	of	ADP
alkej-154	104	24	a	a	DET
alkej-154	104	25	potentiometer	potentiometer	NOUN
alkej-154	104	26	.	.	PUNCT
alkej-154	105	1	-100	-100	ADP
alkej-154	105	2	-80	-80	PUNCT
alkej-154	105	3	-60	-60	PROPN
alkej-154	105	4	-40	-40	PROPN
alkej-154	105	5	-20	-20	NUM
alkej-154	105	6	0	0	NUM
alkej-154	105	7	20	20	NUM
alkej-154	105	8	40	40	NUM
alkej-154	105	9	60	60	NUM
alkej-154	105	10	-100	-100	PROPN
alkej-154	105	11	-50	-50	PUNCT
alkej-154	105	12	0	0	NUM
alkej-154	105	13	50	50	NUM
alkej-154	105	14	100	100	NUM
alkej-154	105	15	robot	robot	NOUN
alkej-154	105	16	wrist	wrist	NOUN
alkej-154	105	17	angles	angle	VERB
alkej-154	105	18	sensing	sense	VERB
alkej-154	105	19	wrist	wrist	NOUN
alkej-154	105	20	angles	angle	VERB
alkej-154	105	21	ө	ө	NOUN
alkej-154	105	22	3	3	NUM
alkej-154	105	23	ө	ө	NOUN
alkej-154	105	24	2	2	NUM
alkej-154	105	25	ө	ө	NOUN
alkej-154	105	26	4	4	NUM
alkej-154	105	27	ө	ө	NOUN
alkej-154	105	28	1	1	NUM
alkej-154	105	29	step	step	NOUN
alkej-154	105	30	204	204	NUM
alkej-154	105	31	step	step	NOUN
alkej-154	105	32	512	512	NUM
alkej-154	105	33	a.	a.	NOUN
alkej-154	105	34	salam	salam	PROPN
alkej-154	105	35	al	al	PROPN
alkej-154	105	36	-	-	PROPN
alkej-154	105	37	ammri	ammri	PROPN
alkej-154	105	38	al	al	PROPN
alkej-154	105	39	-	-	PUNCT
alkej-154	105	40	khwarizmi	khwarizmi	PROPN
alkej-154	105	41	engineering	engineering	NOUN
alkej-154	105	42	journal	journal	PROPN
alkej-154	105	43	,	,	PUNCT
alkej-154	105	44	vol	vol	NOUN
alkej-154	105	45	.	.	PROPN
alkej-154	105	46	9	9	NUM
alkej-154	105	47	,	,	PUNCT
alkej-154	105	48	no	no	INTJ
alkej-154	105	49	.	.	NOUN
alkej-154	105	50	1	1	NUM
alkej-154	105	51	,	,	PUNCT
alkej-154	105	52	p.p	p.p	NOUN
alkej-154	105	53	.	.	NOUN
alkej-154	105	54	9	9	NUM
alkej-154	105	55	-	-	SYM
alkej-154	105	56	18	18	NUM
alkej-154	105	57	(	(	PUNCT
alkej-154	105	58	2013	2013	NUM
alkej-154	105	59	)	)	PUNCT
alkej-154	105	60	17	17	NUM
alkej-154	105	61	fig	fig	NOUN
alkej-154	105	62	.	.	PUNCT
alkej-154	106	1	14.samples	14.samples	NUM
alkej-154	106	2	of	of	ADP
alkej-154	106	3	robot	robot	NOUN
alkej-154	106	4	motion	motion	NOUN
alkej-154	106	5	.	.	PUNCT
alkej-154	107	1	5	5	X
alkej-154	107	2	.	.	NUM
alkej-154	107	3	references	reference	NOUN
alkej-154	107	4	[	[	X
alkej-154	107	5	1	1	NUM
alkej-154	107	6	]	]	X
alkej-154	107	7	jonathan	jonathan	PROPN
alkej-154	107	8	and	and	CCONJ
alkej-154	107	9	siddharth	siddharth	PROPN
alkej-154	107	10	,	,	PUNCT
alkej-154	107	11	”	"	PUNCT
alkej-154	107	12	teleportation	teleportation	NOUN
alkej-154	107	13	of	of	ADP
alkej-154	107	14	a	a	DET
alkej-154	107	15	robot	robot	NOUN
alkej-154	107	16	manipulator	manipulator	NOUN
alkej-154	107	17	using	use	VERB
alkej-154	107	18	a	a	DET
alkej-154	107	19	visionbased	visionbase	VERB
alkej-154	107	20	human	human	ADJ
alkej-154	107	21	–	–	PUNCT
alkej-154	107	22	robot	robot	NOUN
alkej-154	107	23	interface	interface	NOUN
alkej-154	107	24	”	"	PUNCT
alkej-154	107	25	,	,	PUNCT
alkej-154	107	26	ieee	ieee	NOUN
alkej-154	107	27	transaction	transaction	NOUN
alkej-154	107	28	on	on	ADP
alkej-154	107	29	industrial	industrial	ADJ
alkej-154	107	30	electronics	electronic	NOUN
alkej-154	107	31	,	,	PUNCT
alkej-154	107	32	vol.52	vol.52	NOUN
alkej-154	107	33	,	,	PUNCT
alkej-154	107	34	no.5	no.5	PROPN
alkej-154	107	35	,	,	PUNCT
alkej-154	107	36	2005	2005	NUM
alkej-154	107	37	.	.	PUNCT
alkej-154	108	1	[	[	X
alkej-154	108	2	2	2	X
alkej-154	108	3	]	]	PUNCT
alkej-154	108	4	chris	chris	PROPN
alkej-154	108	5	yu	yu	PROPN
alkej-154	108	6	-	-	PROPN
alkej-154	108	7	liang	liang	PROPN
alkej-154	108	8	liu	liu	PROPN
alkej-154	108	9	,	,	PUNCT
alkej-154	108	10	”	"	PUNCT
alkej-154	108	11	three	three	NUM
alkej-154	108	12	-	-	PUNCT
alkej-154	108	13	dimensional	dimensional	ADJ
alkej-154	108	14	hand	hand	NOUN
alkej-154	108	15	tracking	tracking	NOUN
alkej-154	108	16	and	and	CCONJ
alkej-154	108	17	surface	surface	NOUN
alkej-154	108	18	–	–	PUNCT
alkej-154	108	19	geometry	geometry	NOUN
alkej-154	108	20	measurement	measurement	NOUN
alkej-154	108	21	for	for	ADP
alkej-154	108	22	a	a	DET
alkej-154	108	23	robot	robot	NOUN
alkej-154	108	24	-	-	PUNCT
alkej-154	108	25	vision	vision	NOUN
alkej-154	108	26	system	system	NOUN
alkej-154	108	27	”	"	PUNCT
alkej-154	108	28	,	,	PUNCT
alkej-154	108	29	university	university	NOUN
alkej-154	108	30	of	of	ADP
alkej-154	108	31	waterloo	waterloo	PROPN
alkej-154	108	32	canada,2008	canada,2008	PROPN
alkej-154	109	1	[	[	X
alkej-154	109	2	3	3	NUM
alkej-154	109	3	]	]	X
alkej-154	109	4	jorn	jorn	PROPN
alkej-154	109	5	and	and	CCONJ
alkej-154	109	6	patrick	patrick	PROPN
alkej-154	109	7	,	,	PUNCT
alkej-154	109	8	“	"	PUNCT
alkej-154	109	9	emg	emg	NOUN
alkej-154	109	10	-	-	PUNCT
alkej-154	109	11	based	base	VERB
alkej-154	109	12	teleportation	teleportation	NOUN
alkej-154	109	13	and	and	CCONJ
alkej-154	109	14	manipulation	manipulation	NOUN
alkej-154	109	15	with	with	ADP
alkej-154	109	16	the	the	DET
alkej-154	109	17	dlr	dlr	PROPN
alkej-154	109	18	lwr	lwr	PROPN
alkej-154	109	19	-	-	PROPN
alkej-154	109	20	iii	iii	PROPN
alkej-154	109	21	“	"	PUNCT
alkej-154	109	22	,	,	PUNCT
alkej-154	109	23	ieee	ieee	NOUN
alkej-154	109	24	/	/	SYM
alkej-154	109	25	rsj	rsj	NOUN
alkej-154	109	26	international	international	ADJ
alkej-154	109	27	conference	conference	NOUN
alkej-154	109	28	on	on	ADP
alkej-154	109	29	intelligent	intelligent	ADJ
alkej-154	109	30	robots	robot	NOUN
alkej-154	109	31	and	and	CCONJ
alkej-154	109	32	systems,2011	systems,2011	ADJ
alkej-154	109	33	[	[	X
alkej-154	109	34	4	4	NUM
alkej-154	109	35	]	]	X
alkej-154	109	36	farrukh	farrukh	PROPN
alkej-154	109	37	iqbal	iqbal	PROPN
alkej-154	109	38	sheikh	sheikh	PROPN
alkej-154	109	39	,	,	PUNCT
alkej-154	109	40	“	"	PUNCT
alkej-154	109	41	real	real	ADJ
alkej-154	109	42	-	-	PUNCT
alkej-154	109	43	time	time	NOUN
alkej-154	109	44	human	human	ADJ
alkej-154	109	45	arm	arm	NOUN
alkej-154	109	46	motion	motion	NOUN
alkej-154	109	47	translation	translation	NOUN
alkej-154	109	48	for	for	ADP
alkej-154	109	49	the	the	DET
alkej-154	109	50	workpartner	workpartn	ADJ
alkej-154	109	51	robot	robot	NOUN
alkej-154	109	52	“	"	PUNCT
alkej-154	109	53	,	,	PUNCT
alkej-154	109	54	helsinki	helsinki	PROPN
alkej-154	109	55	university	university	PROPN
alkej-154	109	56	of	of	ADP
alkej-154	109	57	technology,2008	technology,2008	NOUN
alkej-154	109	58	[	[	X
alkej-154	109	59	5	5	NUM
alkej-154	109	60	]	]	X
alkej-154	109	61	gupta	gupta	NOUN
alkej-154	109	62	and	and	CCONJ
alkej-154	109	63	demidenko	demidenko	NOUN
alkej-154	109	64	,	,	PUNCT
alkej-154	109	65	“	"	PUNCT
alkej-154	109	66	master	master	NOUN
alkej-154	109	67	-	-	PUNCT
alkej-154	109	68	slave	slave	NOUN
alkej-154	109	69	control	control	NOUN
alkej-154	109	70	of	of	ADP
alkej-154	109	71	a	a	DET
alkej-154	109	72	teleported	teleport	VERB
alkej-154	109	73	anthropomorphic	anthropomorphic	ADJ
alkej-154	109	74	robotic	robotic	ADJ
alkej-154	109	75	arm	arm	NOUN
alkej-154	109	76	with	with	ADP
alkej-154	109	77	gripper	gripper	NOUN
alkej-154	109	78	forces	force	NOUN
alkej-154	109	79	sensing	sense	VERB
alkej-154	109	80	“	"	PUNCT
alkej-154	109	81	,	,	PUNCT
alkej-154	109	82	imtc,2005	imtc,2005	VERB
alkej-154	109	83	[	[	X
alkej-154	109	84	6	6	NUM
alkej-154	109	85	]	]	PUNCT
alkej-154	109	86	“	"	PUNCT
alkej-154	109	87	adc0804	adc0804	NOUN
alkej-154	109	88	lcn	lcn	PROPN
alkej-154	109	89	data	data	PROPN
alkej-154	109	90	sheet	sheet	NOUN
alkej-154	109	91	”	"	PUNCT
alkej-154	110	1	[	[	X
alkej-154	110	2	7	7	NUM
alkej-154	110	3	]	]	X
alkej-154	110	4	“	"	PUNCT
alkej-154	110	5	74ls245	74ls245	NUM
alkej-154	110	6	data	data	NOUN
alkej-154	110	7	sheet	sheet	NOUN
alkej-154	110	8	“	"	PUNCT
alkej-154	110	9	)	)	PUNCT
alkej-154	110	10	2013	2013	NUM
alkej-154	110	11	(	(	PUNCT
alkej-154	110	12	918	918	NUM
alkej-154	110	13	،	،	NOUN
alkej-154	110	14	صفحة	صفحة	PROPN
alkej-154	110	15	1	1	NUM
alkej-154	110	16	،	،	NOUN
alkej-154	110	17	العدد9مجلة	العدد9مجلة	NOUN
alkej-154	110	18	الخوارزمي	الخوارزمي	VERB
alkej-154	110	19	الھندسیة	الھندسیة	PROPN
alkej-154	110	20	المجلدعبد	المجلدعبد	PROPN
alkej-154	110	21	السالم	السالم	PROPN
alkej-154	110	22	عبد	عبد	PROPN
alkej-154	110	23	العباس	العباس	VERB
alkej-154	110	24	العامري	العامري	PROPN
alkej-154	110	25	18	18	NUM
alkej-154	110	26	ذراع	ذراع	NOUN
alkej-154	110	27	االنسان	االنسان	NOUN
alkej-154	110	28	حركة	حركة	VERB
alkej-154	110	29	حاكي	حاكي	PROPN
alkej-154	110	30	یانسان	یانسان	VERB
alkej-154	110	31	الي	الي	NOUN
alkej-154	110	32	ذراع	ذراع	NOUN
alkej-154	110	33	لتصمیم	لتصمیم	PROPN
alkej-154	110	34	نظام	نظام	NOUN
alkej-154	110	35	تحكم	تحكم	VERB
alkej-154	110	36	*	*	PROPN
alkej-154	110	37	*	*	PUNCT
alkej-154	110	38	غیث	غیث	ADJ
alkej-154	110	39	عبد	عبد	PROPN
alkej-154	110	40	الودود	الودود	PROPN
alkej-154	110	41	تقي	تقي	ADV
alkej-154	110	42	*	*	PUNCT
alkej-154	110	43	السالم	السالم	VERB
alkej-154	110	44	عبد	عبد	PROPN
alkej-154	110	45	العباس	العباس	VERB
alkej-154	110	46	العامريعبد	العامريعبد	PROPN
alkej-154	110	47	جامعة	جامعة	NOUN
alkej-154	110	48	بغداد/	بغداد/	NUM
alkej-154	110	49	كلیة	كلیة	NOUN
alkej-154	110	50	الھندسة	الھندسة	NOUN
alkej-154	110	51	الخوارزمي/	الخوارزمي/	NUM
alkej-154	110	52	قسم	قسم	NOUN
alkej-154	110	53	ھندسة	ھندسة	NOUN
alkej-154	110	54	المیكاترونكس	المیكاترونكس	NOUN
alkej-154	110	55	*	*	PROPN
alkej-154	110	56	*	*	NOUN
alkej-154	110	57	،	،	X
alkej-154	110	58	*	*	PUNCT
alkej-154	111	1	asalamalammri@yahoo.com	asalamalammri@yahoo.com	X
alkej-154	112	1	:	:	PUNCT
alkej-154	112	2	البرید	البرید	VERB
alkej-154	112	3	االلكتروني	االلكتروني	NOUN
alkej-154	112	4	*	*	PUNCT
alkej-154	112	5	ghaith.taki@gmail.com	ghaith.taki@gmail.com	NOUN
alkej-154	112	6	:	:	PUNCT
alkej-154	112	7	البرید	البرید	VERB
alkej-154	112	8	االلكتروني	االلكتروني	PROPN
alkej-154	112	9	*	*	PUNCT
alkej-154	112	10	*	*	PROPN
alkej-154	112	11	الخالصة	الخالصة	PROPN
alkej-154	112	12	متابعةنظام	متابعةنظام	ADJ
alkej-154	112	13	اللقد	اللقد	PROPN
alkej-154	112	14	تم	تم	NOUN
alkej-154	112	15	تصمیم	تصمیم	PROPN
alkej-154	112	16	وبناء	وبناء	PROPN
alkej-154	112	17	.غیر	.غیر	PROPN
alkej-154	113	1	متصلالالوضع	متصلالالوضع	PROPN
alkej-154	113	2	بالوقت	بالوقت	PROPN
alkej-154	113	3	الحقیقي	الحقیقي	PROPN
alkej-154	113	4	وحركة	وحركة	PROPN
alkej-154	113	5	ذراع	ذراع	NOUN
alkej-154	113	6	اإلنسان	اإلنسان	NOUN
alkej-154	113	7	لمحاكاة	لمحاكاة	X
alkej-154	113	8	،	،	PROPN
alkej-154	113	9	ذراع	ذراع	NOUN
alkej-154	113	10	إنسان	إنسان	NOUN
alkej-154	113	11	آليلنظام	آليلنظام	ADJ
alkej-154	113	12	تحكم	تحكم	NOUN
alkej-154	113	13	البحث	البحث	PROPN
alkej-154	113	14	ھذا	ھذا	PROPN
alkej-154	113	15	رضعی	رضعی	PROPN
alkej-154	113	16	التحسس	التحسس	AUX
alkej-154	113	17	نظام	نظام	PROPN
alkej-154	113	18	تصمیم	تصمیم	AUX
alkej-154	113	19	لقد	لقد	PROPN
alkej-154	113	20	استند	استند	VERB
alkej-154	113	21	في	في	X
alkej-154	113	22	.	.	PUNCT
alkej-154	114	1	االلتقاط	االلتقاط	PROPN
alkej-154	114	2	لید	لید	PROPN
alkej-154	114	3	اإلنسانالمسك	اإلنسانالمسك	PROPN
alkej-154	114	4	وعملیة	وعملیة	PROPN
alkej-154	114	5	كذلك	كذلك	PROPN
alkej-154	114	6	لحركة	لحركة	PROPN
alkej-154	114	7	ید	ید	ADP
alkej-154	114	8	االنسان	االنسان	NOUN
alkej-154	114	9	من	من	PRON
alkej-154	114	10	خالل	خالل	PROPN
alkej-154	114	11	نظام	نظام	ADJ
alkej-154	114	12	تحسس	تحسس	VERB
alkej-154	114	13	لتحدید	لتحدید	PROPN
alkej-154	114	14	الموقع	الموقع	PROPN
alkej-154	114	15	واالتجاه	واالتجاه	PROPN
alkej-154	114	16	في	في	DET
alkej-154	114	17	الفضاء	الفضاء	NOUN
alkej-154	115	1	و	و	PRON
alkej-154	115	2	واجھة	واجھة	PROPN
alkej-154	115	3	بفیجوال	بفیجوال	ADJ
alkej-154	115	4	بیسك	بیسك	PROPN
alkej-154	115	5	بواسطة	بواسطة	ADJ
alkej-154	115	6	برنامج	برنامج	NOUN
alkej-154	115	7	ألُنِفذت	ألُنِفذت	NUM
alkej-154	115	8	خوارزمیة	خوارزمیة	PROPN
alkej-154	115	9	التحكم	التحكم	NOUN
alkej-154	115	10	بذراع	بذراع	VERB
alkej-154	115	11	اإلنسان	اإلنسان	NOUN
alkej-154	115	12	اآللي	اآللي	NOUN
alkej-154	115	13	.المراد	.المراد	NUM
alkej-154	115	14	السیطرة	السیطرة	PROPN
alkej-154	115	15	علیھا	علیھا	PROPN
alkej-154	115	16	متابعة	متابعة	NOUN
alkej-154	115	17	حركة	حركة	NOUN
alkej-154	115	18	ذراع	ذراع	NOUN
alkej-154	115	19	اإلنسانلالھندسي	اإلنسانلالھندسي	NOUN
alkej-154	115	20	الھیكل	الھیكل	VERB
alkej-154	115	21	على	على	NOUN
alkej-154	115	22	وذراع	وذراع	NOUN
alkej-154	115	23	االنسان	االنسان	NOUN
alkej-154	115	24	لیتم	لیتم	PROPN
alkej-154	115	25	محاكاتھا	محاكاتھا	PROPN
alkej-154	115	26	ذراع	ذراع	NOUN
alkej-154	115	27	التحسس	التحسس	PROPN
alkej-154	115	28	كل	كل	PROPN
alkej-154	115	29	مفصل	مفصل	PROPN
alkej-154	115	30	للمطابقة	للمطابقة	PROPN
alkej-154	115	31	حركة	حركة	PROPN
alkej-154	115	32	اعتمدت	اعتمدت	VERB
alkej-154	115	33	خوارزمیة	خوارزمیة	PROPN
alkej-154	115	34	السیطرة	السیطرة	PROPN
alkej-154	115	35	على	على	PROPN
alkej-154	115	36	طریقة	طریقة	PROPN
alkej-154	115	37	خارطة	خارطة	VERB
alkej-154	115	38	مفصل	مفصل	NOUN
alkej-154	115	39	لمفصل	لمفصل	PROPN
alkej-154	115	40	.	.	PUNCT
alkej-154	116	1	رسومیة	رسومیة	PROPN
alkej-154	116	2	للمستخدم	للمستخدم	PROPN
alkej-154	116	3	.	.	PUNCT
alkej-154	117	1	ذراع	ذراع	NOUN
alkej-154	117	2	اإلنسان	اإلنسان	NOUN
alkej-154	117	3	من	من	ADP
alkej-154	117	4	قبل	قبل	PROPN
alkej-154	117	5	mailto:asalamalammri@yahoo.com	mailto:asalamalammri@yahoo.com	PROPN
alkej-154	117	6	mailto:ghaith.taki@gmail.com	mailto:ghaith.taki@gmail.com	X