id	sid	tid	token	lemma	pos
alkej-283	1	1	45	45	NUM
alkej-283	1	2	-	-	SYM
alkej-283	1	3	60	60	NUM
alkej-283	1	4	al	al	PROPN
alkej-283	1	5	-	-	PUNCT
alkej-283	1	6	khwarizmi	khwarizmi	PROPN
alkej-283	1	7	engineering	engineering	NOUN
alkej-283	1	8	journal	journal	PROPN
alkej-283	1	9	,	,	PUNCT
alkej-283	1	10	vol	vol	NOUN
alkej-283	1	11	.	.	PROPN
alkej-283	1	12	12	12	NUM
alkej-283	1	13	,	,	PUNCT
alkej-283	1	14	no	no	INTJ
alkej-283	1	15	.	.	NOUN
alkej-283	1	16	1	1	NUM
alkej-283	1	17	,	,	PUNCT
alkej-283	1	18	p.p	p.p	PROPN
alkej-283	1	19	.	.	PROPN
alkej-283	1	20	design	design	NOUN
alkej-283	1	21	of	of	ADP
alkej-283	1	22	a	a	DET
alkej-283	1	23	kinematic	kinematic	ADJ
alkej-283	1	24	neural	neural	ADJ
alkej-283	1	25	enhanced	enhance	VERB
alkej-283	1	26	hybrid	hybrid	ADJ
alkej-283	1	27	firefly	firefly	NOUN
alkej-283	1	28	nizar	nizar	PROPN
alkej-283	1	29	hadi	hadi	PROPN
alkej-283	1	30	abbas	abbas	PROPN
alkej-283	1	31	*	*	PUNCT
alkej-283	1	32	,	,	PUNCT
alkej-283	1	33	*	*	PUNCT
alkej-283	1	34	*	*	NOUN
alkej-283	1	35	department	department	NOUN
alkej-283	1	36	of	of	ADP
alkej-283	1	37	electrical	electrical	ADJ
alkej-283	1	38	(	(	PUNCT
alkej-283	1	39	received	receive	VERB
alkej-283	1	40	abstract	abstract	ADV
alkej-283	1	41	the	the	DET
alkej-283	1	42	paper	paper	NOUN
alkej-283	1	43	present	present	ADJ
alkej-283	1	44	design	design	NOUN
alkej-283	1	45	of	of	ADP
alkej-283	1	46	a	a	DET
alkej-283	1	47	control	control	NOUN
alkej-283	1	48	structure	structure	NOUN
alkej-283	1	49	that	that	PRON
alkej-283	1	50	enables	enable	VERB
alkej-283	1	51	integration	integration	NOUN
alkej-283	1	52	of	of	ADP
alkej-283	1	53	a	a	DET
alkej-283	1	54	kinematic	kinematic	ADJ
alkej-283	1	55	neural	neural	ADJ
alkej-283	1	56	controller	controller	NOUN
alkej-283	1	57	for	for	ADP
alkej-283	1	58	trajectory	trajectory	NOUN
alkej-283	1	59	tracking	tracking	NOUN
alkej-283	1	60	of	of	ADP
alkej-283	1	61	a	a	DET
alkej-283	1	62	nonholonomic	nonholonomic	ADJ
alkej-283	1	63	differential	differential	NOUN
alkej-283	1	64	two	two	NUM
alkej-283	1	65	wheeled	wheel	VERB
alkej-283	1	66	mobile	mobile	ADJ
alkej-283	1	67	robot	robot	NOUN
alkej-283	1	68	,	,	PUNCT
alkej-283	1	69	controller	controller	NOUN
alkej-283	1	70	to	to	PART
alkej-283	1	71	direct	direct	VERB
alkej-283	1	72	a	a	DET
alkej-283	1	73	national	national	ADJ
alkej-283	1	74	instrument	instrument	PROPN
alkej-283	1	75	mobile	mobile	PROPN
alkej-283	1	76	robot	robot	NOUN
alkej-283	1	77	(	(	PUNCT
alkej-283	1	78	ni	ni	PROPN
alkej-283	1	79	mobile	mobile	PROPN
alkej-283	1	80	robot	robot	NOUN
alkej-283	1	81	)	)	PUNCT
alkej-283	1	82	.	.	PUNCT
alkej-283	2	1	the	the	DET
alkej-283	2	2	controller	controller	NOUN
alkej-283	2	3	is	be	AUX
alkej-283	2	4	to	to	PART
alkej-283	2	5	make	make	VERB
alkej-283	2	6	the	the	DET
alkej-283	2	7	actual	actual	ADJ
alkej-283	2	8	velocity	velocity	NOUN
alkej-283	2	9	of	of	ADP
alkej-283	2	10	the	the	DET
alkej-283	2	11	wheeled	wheel	VERB
alkej-283	2	12	mobile	mobile	ADJ
alkej-283	2	13	robot	robot	NOUN
alkej-283	2	14	close	close	VERB
alkej-283	2	15	the	the	DET
alkej-283	2	16	required	required	ADJ
alkej-283	2	17	velocity	velocity	NOUN
alkej-283	2	18	by	by	ADP
alkej-283	2	19	guarantees	guarantee	NOUN
alkej-283	2	20	that	that	SCONJ
alkej-283	2	21	the	the	DET
alkej-283	2	22	trajectory	trajectory	NOUN
alkej-283	2	23	tracking	tracking	NOUN
alkej-283	2	24	mean	mean	NOUN
alkej-283	2	25	squire	squire	NOUN
alkej-283	2	26	error	error	NOUN
alkej-283	2	27	converges	converge	NOUN
alkej-283	2	28	at	at	ADP
alkej-283	2	29	minimum	minimum	ADJ
alkej-283	2	30	tracking	tracking	NOUN
alkej-283	2	31	error	error	NOUN
alkej-283	2	32	.	.	PUNCT
alkej-283	3	1	the	the	DET
alkej-283	3	2	proposed	propose	VERB
alkej-283	3	3	tracking	tracking	NOUN
alkej-283	3	4	control	control	NOUN
alkej-283	3	5	system	system	NOUN
alkej-283	3	6	consists	consist	VERB
alkej-283	3	7	of	of	ADP
alkej-283	3	8	two	two	NUM
alkej-283	3	9	layers	layer	NOUN
alkej-283	3	10	;	;	PUNCT
alkej-283	3	11	the	the	DET
alkej-283	3	12	first	first	ADJ
alkej-283	3	13	layer	layer	NOUN
alkej-283	3	14	is	be	AUX
alkej-283	3	15	a	a	DET
alkej-283	3	16	multi	multi	ADJ
alkej-283	3	17	-	-	ADJ
alkej-283	3	18	layer	layer	ADJ
alkej-283	3	19	perceptron	perceptron	PROPN
alkej-283	3	20	neural	neural	ADJ
alkej-283	3	21	network	network	NOUN
alkej-283	3	22	system	system	NOUN
alkej-283	3	23	that	that	PRON
alkej-283	3	24	controls	control	VERB
alkej-283	3	25	layer	layer	NOUN
alkej-283	3	26	is	be	AUX
alkej-283	3	27	an	an	DET
alkej-283	3	28	optimization	optimization	NOUN
alkej-283	3	29	layer	layer	NOUN
alkej-283	3	30	,	,	PUNCT
alkej-283	3	31	which	which	PRON
alkej-283	3	32	is	be	AUX
alkej-283	3	33	implemented	implement	VERB
alkej-283	3	34	colony	colony	NOUN
alkej-283	3	35	(	(	PUNCT
alkej-283	3	36	cfa	cfa	PROPN
alkej-283	3	37	-	-	PUNCT
alkej-283	3	38	abc	abc	PROPN
alkej-283	3	39	)	)	PUNCT
alkej-283	3	40	to	to	PART
alkej-283	3	41	tune	tune	VERB
alkej-283	3	42	the	the	DET
alkej-283	3	43	controller	controller	NOUN
alkej-283	3	44	's	's	PART
alkej-283	3	45	optimization	optimization	NOUN
alkej-283	3	46	algorithm	algorithm	NOUN
alkej-283	3	47	is	be	AUX
alkej-283	3	48	verified	verify	VERB
alkej-283	3	49	by	by	ADP
alkej-283	3	50	various	various	ADJ
alkej-283	3	51	benchmark	benchmark	NOUN
alkej-283	3	52	functions	function	NOUN
alkej-283	3	53	cfa	cfa	PROPN
alkej-283	3	54	and	and	CCONJ
alkej-283	3	55	(	(	PUNCT
alkej-283	3	56	cfa	cfa	PROPN
alkej-283	3	57	-	-	PUNCT
alkej-283	3	58	abc	abc	PROPN
alkej-283	3	59	)	)	PUNCT
alkej-283	3	60	are	be	AUX
alkej-283	3	61	better	well	ADJ
alkej-283	3	62	than	than	ADP
alkej-283	3	63	the	the	DET
alkej-283	3	64	original	original	ADJ
alkej-283	3	65	effectiveness	effectiveness	NOUN
alkej-283	3	66	of	of	ADP
alkej-283	3	67	the	the	DET
alkej-283	3	68	proposed	propose	VERB
alkej-283	3	69	algorithm	algorithm	NOUN
alkej-283	3	70	tracking	tracking	NOUN
alkej-283	3	71	results	result	NOUN
alkej-283	3	72	with	with	ADP
alkej-283	3	73	two	two	NUM
alkej-283	3	74	reference	reference	NOUN
alkej-283	3	75	trajectories	trajectory	NOUN
alkej-283	3	76	(	(	PUNCT
alkej-283	3	77	circular	circular	ADJ
alkej-283	3	78	and	and	CCONJ
alkej-283	3	79	keywords	keyword	NOUN
alkej-283	3	80	:	:	PUNCT
alkej-283	3	81	mobile	mobile	ADJ
alkej-283	3	82	robot	robot	NOUN
alkej-283	3	83	,	,	PUNCT
alkej-283	3	84	trajectory	trajectory	NOUN
alkej-283	3	85	tracking	tracking	NOUN
alkej-283	3	86	,	,	PUNCT
alkej-283	3	87	algorithm	algorithm	NOUN
alkej-283	3	88	,	,	PUNCT
alkej-283	3	89	artificial	artificial	ADJ
alkej-283	3	90	bee	bee	NOUN
alkej-283	3	91	colony	colony	NOUN
alkej-283	3	92	algorithm	algorithm	NOUN
alkej-283	3	93	.	.	PUNCT
alkej-283	4	1	1	1	X
alkej-283	4	2	.	.	X
alkej-283	4	3	introduction	introduction	NOUN
alkej-283	4	4	in	in	ADP
alkej-283	4	5	recent	recent	ADJ
alkej-283	4	6	years	year	NOUN
alkej-283	4	7	a	a	DET
alkej-283	4	8	plethora	plethora	NOUN
alkej-283	4	9	of	of	ADP
alkej-283	4	10	research	research	NOUN
alkej-283	4	11	has	have	AUX
alkej-283	4	12	been	be	AUX
alkej-283	4	13	carried	carry	VERB
alkej-283	4	14	out	out	ADP
alkej-283	4	15	on	on	ADP
alkej-283	4	16	the	the	DET
alkej-283	4	17	control	control	NOUN
alkej-283	4	18	problem	problem	NOUN
alkej-283	4	19	of	of	ADP
alkej-283	4	20	the	the	DET
alkej-283	4	21	mobile	mobile	ADJ
alkej-283	4	22	robotic	robotic	ADJ
alkej-283	4	23	systems	system	NOUN
alkej-283	4	24	.	.	PUNCT
alkej-283	5	1	this	this	PRON
alkej-283	5	2	is	be	AUX
alkej-283	5	3	mainly	mainly	ADV
alkej-283	5	4	due	due	ADJ
alkej-283	5	5	to	to	ADP
alkej-283	5	6	the	the	DET
alkej-283	5	7	growing	grow	VERB
alkej-283	5	8	application	application	NOUN
alkej-283	5	9	of	of	ADP
alkej-283	5	10	these	these	DET
alkej-283	5	11	systems	system	NOUN
alkej-283	5	12	both	both	CCONJ
alkej-283	5	13	in	in	ADP
alkej-283	5	14	industrial	industrial	ADJ
alkej-283	5	15	and	and	CCONJ
alkej-283	5	16	service	service	NOUN
alkej-283	5	17	environments	environment	NOUN
alkej-283	5	18	[	[	X
alkej-283	5	19	1].intelligent	1].intelligent	NUM
alkej-283	5	20	wheeled	wheel	VERB
alkej-283	5	21	mobile	mobile	ADJ
alkej-283	5	22	robots	robot	NOUN
alkej-283	5	23	are	be	AUX
alkej-283	5	24	the	the	DET
alkej-283	5	25	subject	subject	NOUN
alkej-283	5	26	of	of	ADP
alkej-283	5	27	the	the	DET
alkej-283	5	28	technical	technical	ADJ
alkej-283	5	29	interest	interest	NOUN
alkej-283	5	30	arising	arise	VERB
alkej-283	5	31	from	from	ADP
alkej-283	5	32	possibility	possibility	NOUN
alkej-283	5	33	of	of	ADP
alkej-283	5	34	practical	practical	ADJ
alkej-283	5	35	application	application	NOUN
alkej-283	5	36	in	in	ADP
alkej-283	5	37	:	:	PUNCT
alkej-283	5	38	manufacturing	manufacturing	NOUN
alkej-283	5	39	,	,	PUNCT
alkej-283	5	40	civil	civil	ADJ
alkej-283	5	41	engineering	engineering	NOUN
alkej-283	5	42	,	,	PUNCT
alkej-283	5	43	transportation	transportation	NOUN
alkej-283	5	44	,	,	PUNCT
alkej-283	5	45	agriculture	agriculture	NOUN
alkej-283	5	46	,	,	PUNCT
alkej-283	5	47	space	space	NOUN
alkej-283	5	48	exploration	exploration	NOUN
alkej-283	5	49	,	,	PUNCT
alkej-283	5	50	deep	deep	ADJ
alkej-283	5	51	sea	sea	NOUN
alkej-283	5	52	penetration	penetration	NOUN
alkej-283	5	53	,	,	PUNCT
alkej-283	5	54	help	help	NOUN
alkej-283	5	55	for	for	ADP
alkej-283	5	56	disable	disable	NOUN
alkej-283	5	57	,	,	PUNCT
alkej-283	5	58	medical	medical	ADJ
alkej-283	5	59	surgery	surgery	NOUN
alkej-283	5	60	and	and	CCONJ
alkej-283	5	61	in	in	ADP
alkej-283	5	62	the	the	DET
alkej-283	5	63	other	other	ADJ
alkej-283	5	64	sectors	sector	NOUN
alkej-283	5	65	of	of	ADP
alkej-283	5	66	science	science	NOUN
alkej-283	5	67	and	and	CCONJ
alkej-283	5	68	technology	technology	NOUN
alkej-283	5	69	[	[	X
alkej-283	5	70	2	2	NUM
alkej-283	5	71	]	]	PUNCT
alkej-283	5	72	.	.	PUNCT
alkej-283	6	1	the	the	DET
alkej-283	6	2	pathing	pathing	NOUN
alkej-283	6	3	control	control	NOUN
alkej-283	6	4	problems	problem	NOUN
alkej-283	6	5	of	of	ADP
alkej-283	6	6	a	a	DET
alkej-283	6	7	nonholonomic	nonholonomic	ADJ
alkej-283	6	8	wheeled	wheel	VERB
alkej-283	6	9	mobile	mobile	ADJ
alkej-283	6	10	robots	robot	NOUN
alkej-283	6	11	have	have	AUX
alkej-283	6	12	attracted	attract	VERB
alkej-283	6	13	considerable	considerable	ADJ
alkej-283	6	14	attention	attention	NOUN
alkej-283	6	15	,	,	PUNCT
alkej-283	6	16	there	there	PRON
alkej-283	6	17	are	be	VERB
alkej-283	6	18	two	two	NUM
alkej-283	6	19	obvious	obvious	ADJ
alkej-283	6	20	approaches	approach	NOUN
alkej-283	6	21	tracking	track	VERB
alkej-283	6	22	control	control	NOUN
alkej-283	6	23	problems	problem	NOUN
alkej-283	6	24	:	:	PUNCT
alkej-283	6	25	trajectory	trajectory	NOUN
alkej-283	6	26	tracking	tracking	NOUN
alkej-283	6	27	and	and	CCONJ
alkej-283	6	28	path	path	NOUN
alkej-283	6	29	planning	planning	NOUN
alkej-283	6	30	proposed	propose	VERB
alkej-283	6	31	a	a	DET
alkej-283	6	32	method	method	NOUN
alkej-283	6	33	to	to	PART
alkej-283	6	34	design	design	VERB
alkej-283	6	35	a	a	DET
alkej-283	6	36	trajectory	trajectory	NOUN
alkej-283	6	37	khwarizmi	khwarizmi	PROPN
alkej-283	6	38	engineering	engineering	PROPN
alkej-283	6	39	journal	journal	PROPN
alkej-283	6	40	,	,	PUNCT
alkej-283	6	41	vol	vol	NOUN
alkej-283	6	42	.	.	PROPN
alkej-283	6	43	12	12	NUM
alkej-283	6	44	,	,	PUNCT
alkej-283	6	45	no	no	INTJ
alkej-283	6	46	.	.	NOUN
alkej-283	6	47	1	1	NUM
alkej-283	6	48	,	,	PUNCT
alkej-283	6	49	p.p	p.p	PROPN
alkej-283	6	50	.	.	PROPN
alkej-283	6	51	4560	4560	NUM
alkej-283	6	52	(	(	PUNCT
alkej-283	6	53	2016	2016	NUM
alkej-283	6	54	)	)	PUNCT
alkej-283	6	55	kinematic	kinematic	ADJ
alkej-283	6	56	neural	neural	ADJ
alkej-283	6	57	controller	controller	NOUN
alkej-283	6	58	for	for	ADP
alkej-283	6	59	mobile	mobile	ADJ
alkej-283	6	60	robots	robot	NOUN
alkej-283	6	61	based	base	VERB
alkej-283	6	62	on	on	ADP
alkej-283	6	63	enhanced	enhanced	ADJ
alkej-283	6	64	hybrid	hybrid	ADJ
alkej-283	6	65	firefly	firefly	NOUN
alkej-283	6	66	-	-	PUNCT
alkej-283	6	67	artificial	artificial	ADJ
alkej-283	6	68	bee	bee	NOUN
alkej-283	6	69	colony	colony	NOUN
alkej-283	6	70	algorithm	algorithm	NOUN
alkej-283	6	71	abbas	abbas	PROPN
alkej-283	6	72	*	*	X
alkej-283	7	1	basma	basma	PROPN
alkej-283	7	2	jumia	jumia	PROPN
alkej-283	7	3	saleh	saleh	PROPN
alkej-283	7	4	*	*	PUNCT
alkej-283	7	5	*	*	PUNCT
alkej-283	7	6	electrical	electrical	ADJ
alkej-283	7	7	engineering	engineering	NOUN
alkej-283	7	8	/	/	SYM
alkej-283	7	9	college	college	NOUN
alkej-283	7	10	of	of	ADP
alkej-283	7	11	engineering/	engineering/	NUM
alkej-283	7	12	university	university	NOUN
alkej-283	7	13	of	of	ADP
alkej-283	7	14	baghdad	baghdad	PROPN
alkej-283	7	15	*	*	PUNCT
alkej-283	7	16	email	email	NOUN
alkej-283	7	17	:	:	PUNCT
alkej-283	8	1	drnizaralmsaodi@gmail.com	drnizaralmsaodi@gmail.com	X
alkej-283	8	2	*	*	PUNCT
alkej-283	8	3	*	*	NOUN
alkej-283	8	4	email	email	NOUN
alkej-283	8	5	:	:	PUNCT
alkej-283	8	6	eng.basmaj@gmail.com	eng.basmaj@gmail.com	PROPN
alkej-283	8	7	(	(	PUNCT
alkej-283	8	8	received	receive	VERB
alkej-283	8	9	6	6	NUM
alkej-283	8	10	april	april	PROPN
alkej-283	8	11	2015	2015	NUM
alkej-283	8	12	;	;	PUNCT
alkej-283	8	13	accepted	accept	VERB
alkej-283	8	14	21	21	NUM
alkej-283	8	15	october	october	PROPN
alkej-283	8	16	2015	2015	NUM
alkej-283	8	17	)	)	PUNCT
alkej-283	8	18	the	the	DET
alkej-283	8	19	paper	paper	NOUN
alkej-283	8	20	present	present	ADJ
alkej-283	8	21	design	design	NOUN
alkej-283	8	22	of	of	ADP
alkej-283	8	23	a	a	DET
alkej-283	8	24	control	control	NOUN
alkej-283	8	25	structure	structure	NOUN
alkej-283	8	26	that	that	PRON
alkej-283	8	27	enables	enable	VERB
alkej-283	8	28	integration	integration	NOUN
alkej-283	8	29	of	of	ADP
alkej-283	8	30	a	a	DET
alkej-283	8	31	kinematic	kinematic	ADJ
alkej-283	8	32	neural	neural	ADJ
alkej-283	8	33	controller	controller	NOUN
alkej-283	8	34	for	for	ADP
alkej-283	8	35	of	of	ADP
alkej-283	8	36	a	a	DET
alkej-283	8	37	nonholonomic	nonholonomic	ADJ
alkej-283	8	38	differential	differential	NOUN
alkej-283	8	39	two	two	NUM
alkej-283	8	40	wheeled	wheel	VERB
alkej-283	8	41	mobile	mobile	NOUN
alkej-283	8	42	robot	robot	NOUN
alkej-283	8	43	,	,	PUNCT
alkej-283	8	44	then	then	ADV
alkej-283	8	45	proposes	propose	VERB
alkej-283	8	46	a	a	DET
alkej-283	8	47	kinematic	kinematic	ADJ
alkej-283	8	48	neural	neural	NOUN
alkej-283	8	49	direct	direct	VERB
alkej-283	8	50	a	a	DET
alkej-283	8	51	national	national	ADJ
alkej-283	8	52	instrument	instrument	PROPN
alkej-283	8	53	mobile	mobile	PROPN
alkej-283	8	54	robot	robot	NOUN
alkej-283	8	55	(	(	PUNCT
alkej-283	8	56	ni	ni	PROPN
alkej-283	8	57	mobile	mobile	PROPN
alkej-283	8	58	robot	robot	NOUN
alkej-283	8	59	)	)	PUNCT
alkej-283	8	60	.	.	PUNCT
alkej-283	9	1	the	the	DET
alkej-283	9	2	controller	controller	NOUN
alkej-283	9	3	is	be	AUX
alkej-283	9	4	to	to	PART
alkej-283	9	5	make	make	VERB
alkej-283	9	6	the	the	DET
alkej-283	9	7	actual	actual	ADJ
alkej-283	9	8	velocity	velocity	NOUN
alkej-283	9	9	of	of	ADP
alkej-283	9	10	the	the	DET
alkej-283	9	11	wheeled	wheel	VERB
alkej-283	9	12	mobile	mobile	ADJ
alkej-283	9	13	robot	robot	NOUN
alkej-283	9	14	close	close	VERB
alkej-283	9	15	the	the	DET
alkej-283	9	16	required	required	ADJ
alkej-283	9	17	velocity	velocity	NOUN
alkej-283	9	18	by	by	ADP
alkej-283	9	19	guarantees	guarantee	NOUN
alkej-283	9	20	that	that	SCONJ
alkej-283	9	21	the	the	DET
alkej-283	9	22	trajectory	trajectory	NOUN
alkej-283	9	23	tracking	tracking	NOUN
alkej-283	9	24	mean	mean	NOUN
alkej-283	9	25	squire	squire	NOUN
alkej-283	9	26	error	error	NOUN
alkej-283	9	27	.	.	PUNCT
alkej-283	10	1	the	the	DET
alkej-283	10	2	proposed	propose	VERB
alkej-283	10	3	tracking	tracking	NOUN
alkej-283	10	4	control	control	NOUN
alkej-283	10	5	system	system	NOUN
alkej-283	10	6	consists	consist	VERB
alkej-283	10	7	of	of	ADP
alkej-283	10	8	two	two	NUM
alkej-283	10	9	layers	layer	NOUN
alkej-283	10	10	;	;	PUNCT
alkej-283	10	11	the	the	DET
alkej-283	10	12	first	first	ADJ
alkej-283	10	13	layer	layer	NOUN
alkej-283	10	14	is	be	AUX
alkej-283	10	15	a	a	DET
alkej-283	10	16	layer	layer	NOUN
alkej-283	10	17	perceptron	perceptron	PROPN
alkej-283	10	18	neural	neural	ADJ
alkej-283	10	19	network	network	NOUN
alkej-283	10	20	system	system	NOUN
alkej-283	10	21	that	that	PRON
alkej-283	10	22	controls	control	VERB
alkej-283	10	23	the	the	DET
alkej-283	10	24	mobile	mobile	ADJ
alkej-283	10	25	robot	robot	NOUN
alkej-283	10	26	to	to	PART
alkej-283	10	27	track	track	VERB
alkej-283	10	28	the	the	DET
alkej-283	10	29	required	require	VERB
alkej-283	10	30	path	path	NOUN
alkej-283	10	31	,	,	PUNCT
alkej-283	10	32	the	the	DET
alkej-283	10	33	second	second	ADJ
alkej-283	10	34	layer	layer	NOUN
alkej-283	10	35	is	be	AUX
alkej-283	10	36	an	an	DET
alkej-283	10	37	optimization	optimization	NOUN
alkej-283	10	38	layer	layer	NOUN
alkej-283	10	39	,	,	PUNCT
alkej-283	10	40	which	which	PRON
alkej-283	10	41	is	be	AUX
alkej-283	10	42	implemented	implement	VERB
alkej-283	10	43	based	base	VERB
alkej-283	10	44	on	on	ADP
alkej-283	10	45	hybrid	hybrid	ADJ
alkej-283	10	46	crossoved	crossove	VERB
alkej-283	10	47	firefly	firefly	NOUN
alkej-283	10	48	algorithm	algorithm	NOUN
alkej-283	10	49	with	with	ADP
alkej-283	10	50	artificial	artificial	ADJ
alkej-283	10	51	bee	bee	PROPN
alkej-283	10	52	controller	controller	NOUN
alkej-283	10	53	's	's	PART
alkej-283	10	54	parameters	parameter	NOUN
alkej-283	10	55	to	to	PART
alkej-283	10	56	achieve	achieve	VERB
alkej-283	10	57	the	the	DET
alkej-283	10	58	optimal	optimal	ADJ
alkej-283	10	59	path	path	NOUN
alkej-283	10	60	.	.	PUNCT
alkej-283	11	1	the	the	DET
alkej-283	11	2	performance	performance	NOUN
alkej-283	11	3	of	of	ADP
alkej-283	11	4	the	the	DET
alkej-283	11	5	hybrid	hybrid	NOUN
alkej-283	11	6	s	s	AUX
alkej-283	11	7	verified	verify	VERB
alkej-283	11	8	by	by	ADP
alkej-283	11	9	various	various	ADJ
alkej-283	11	10	benchmark	benchmark	NOUN
alkej-283	11	11	functions	function	NOUN
alkej-283	11	12	.	.	PUNCT
alkej-283	12	1	the	the	DET
alkej-283	12	2	simulation	simulation	NOUN
alkej-283	12	3	results	result	NOUN
alkej-283	12	4	show	show	VERB
alkej-283	12	5	that	that	SCONJ
alkej-283	12	6	abc	abc	PROPN
alkej-283	12	7	)	)	PUNCT
alkej-283	12	8	are	be	AUX
alkej-283	12	9	better	well	ADJ
alkej-283	12	10	than	than	ADP
alkej-283	12	11	the	the	DET
alkej-283	12	12	original	original	ADJ
alkej-283	12	13	firefly	firefly	NOUN
alkej-283	12	14	algorithm	algorithm	NOUN
alkej-283	12	15	.	.	PUNCT
alkej-283	13	1	a	a	DET
alkej-283	13	2	simulation	simulation	NOUN
alkej-283	13	3	example	example	NOUN
alkej-283	13	4	is	be	AUX
alkej-283	13	5	given	give	VERB
alkej-283	13	6	to	to	PART
alkej-283	13	7	indicate	indicate	VERB
alkej-283	13	8	the	the	DET
alkej-283	13	9	algorithm	algorithm	NOUN
alkej-283	13	10	,	,	PUNCT
alkej-283	13	11	the	the	DET
alkej-283	13	12	results	result	NOUN
alkej-283	13	13	have	have	AUX
alkej-283	13	14	been	be	AUX
alkej-283	13	15	done	do	VERB
alkej-283	13	16	using	use	VERB
alkej-283	13	17	matlab	matlab	PROPN
alkej-283	13	18	(	(	PUNCT
alkej-283	13	19	r2013b	r2013b	NOUN
alkej-283	13	20	)	)	PUNCT
alkej-283	13	21	,	,	PUNCT
alkej-283	13	22	tracking	track	VERB
alkej-283	13	23	results	result	NOUN
alkej-283	13	24	with	with	ADP
alkej-283	13	25	two	two	NUM
alkej-283	13	26	reference	reference	NOUN
alkej-283	13	27	trajectories	trajectory	NOUN
alkej-283	13	28	(	(	PUNCT
alkej-283	13	29	circular	circular	ADJ
alkej-283	13	30	and	and	CCONJ
alkej-283	13	31	lemniscates	lemniscate	NOUN
alkej-283	13	32	)	)	PUNCT
alkej-283	13	33	are	be	AUX
alkej-283	13	34	presented	present	VERB
alkej-283	13	35	.	.	PUNCT
alkej-283	14	1	mobile	mobile	ADJ
alkej-283	14	2	robot	robot	NOUN
alkej-283	14	3	,	,	PUNCT
alkej-283	14	4	trajectory	trajectory	NOUN
alkej-283	14	5	tracking	tracking	NOUN
alkej-283	14	6	,	,	PUNCT
alkej-283	14	7	neural	neural	ADJ
alkej-283	14	8	networks	network	NOUN
alkej-283	14	9	,	,	PUNCT
alkej-283	14	10	kinematic	kinematic	ADJ
alkej-283	14	11	controller	controller	NOUN
alkej-283	14	12	,	,	PUNCT
alkej-283	14	13	national	national	ADJ
alkej-283	14	14	instrument	instrument	NOUN
alkej-283	14	15	,	,	PUNCT
alkej-283	14	16	firefly	firefly	NOUN
alkej-283	14	17	algorithm	algorithm	NOUN
alkej-283	14	18	,	,	PUNCT
alkej-283	14	19	artificial	artificial	ADJ
alkej-283	14	20	bee	bee	NOUN
alkej-283	14	21	colony	colony	NOUN
alkej-283	14	22	algorithm	algorithm	NOUN
alkej-283	14	23	.	.	PUNCT
alkej-283	15	1	in	in	ADP
alkej-283	15	2	recent	recent	ADJ
alkej-283	15	3	years	year	NOUN
alkej-283	15	4	a	a	DET
alkej-283	15	5	plethora	plethora	NOUN
alkej-283	15	6	of	of	ADP
alkej-283	15	7	research	research	NOUN
alkej-283	15	8	has	have	AUX
alkej-283	15	9	been	be	AUX
alkej-283	15	10	on	on	ADP
alkej-283	15	11	the	the	DET
alkej-283	15	12	control	control	NOUN
alkej-283	15	13	problem	problem	NOUN
alkej-283	15	14	of	of	ADP
alkej-283	15	15	the	the	DET
alkej-283	15	16	mobile	mobile	ADJ
alkej-283	15	17	robotic	robotic	ADJ
alkej-283	15	18	systems	system	NOUN
alkej-283	15	19	.	.	PUNCT
alkej-283	16	1	this	this	PRON
alkej-283	16	2	is	be	AUX
alkej-283	16	3	mainly	mainly	ADV
alkej-283	16	4	due	due	ADJ
alkej-283	16	5	to	to	ADP
alkej-283	16	6	the	the	DET
alkej-283	16	7	growing	grow	VERB
alkej-283	16	8	application	application	NOUN
alkej-283	16	9	of	of	ADP
alkej-283	16	10	these	these	DET
alkej-283	16	11	systems	system	NOUN
alkej-283	16	12	both	both	CCONJ
alkej-283	16	13	in	in	ADP
alkej-283	16	14	industrial	industrial	ADJ
alkej-283	16	15	and	and	CCONJ
alkej-283	16	16	intelligent	intelligent	ADJ
alkej-283	16	17	wheeled	wheel	VERB
alkej-283	16	18	mobile	mobile	ADJ
alkej-283	16	19	robots	robot	NOUN
alkej-283	16	20	are	be	AUX
alkej-283	16	21	the	the	DET
alkej-283	16	22	subject	subject	NOUN
alkej-283	16	23	of	of	ADP
alkej-283	16	24	the	the	DET
alkej-283	16	25	technical	technical	ADJ
alkej-283	16	26	ossibility	ossibility	NOUN
alkej-283	16	27	of	of	ADP
alkej-283	16	28	practical	practical	ADJ
alkej-283	16	29	civil	civil	ADJ
alkej-283	16	30	engineering	engineering	NOUN
alkej-283	16	31	,	,	PUNCT
alkej-283	16	32	transportation	transportation	NOUN
alkej-283	16	33	,	,	PUNCT
alkej-283	16	34	agriculture	agriculture	NOUN
alkej-283	16	35	,	,	PUNCT
alkej-283	16	36	space	space	NOUN
alkej-283	16	37	exploration	exploration	NOUN
alkej-283	16	38	,	,	PUNCT
alkej-283	16	39	deep	deep	ADJ
alkej-283	16	40	sea	sea	NOUN
alkej-283	16	41	penetration	penetration	NOUN
alkej-283	16	42	,	,	PUNCT
alkej-283	16	43	help	help	NOUN
alkej-283	16	44	for	for	ADP
alkej-283	16	45	disable	disable	NOUN
alkej-283	16	46	,	,	PUNCT
alkej-283	16	47	medical	medical	ADJ
alkej-283	16	48	surgery	surgery	NOUN
alkej-283	16	49	and	and	CCONJ
alkej-283	16	50	in	in	ADP
alkej-283	16	51	the	the	DET
alkej-283	16	52	other	other	ADJ
alkej-283	16	53	sectors	sector	NOUN
alkej-283	16	54	of	of	ADP
alkej-283	16	55	science	science	NOUN
alkej-283	16	56	and	and	CCONJ
alkej-283	16	57	the	the	DET
alkej-283	16	58	pathing	pathing	NOUN
alkej-283	16	59	control	control	NOUN
alkej-283	16	60	problems	problem	NOUN
alkej-283	16	61	of	of	ADP
alkej-283	16	62	a	a	DET
alkej-283	16	63	wheeled	wheel	VERB
alkej-283	16	64	mobile	mobile	ADJ
alkej-283	16	65	robots	robot	NOUN
alkej-283	16	66	have	have	VERB
alkej-283	16	67	considerable	considerable	ADJ
alkej-283	16	68	attention	attention	NOUN
alkej-283	16	69	,	,	PUNCT
alkej-283	16	70	there	there	PRON
alkej-283	16	71	are	be	VERB
alkej-283	16	72	two	two	NUM
alkej-283	16	73	control	control	NOUN
alkej-283	16	74	problems	problem	NOUN
alkej-283	16	75	:	:	PUNCT
alkej-283	16	76	and	and	CCONJ
alkej-283	16	77	path	path	NOUN
alkej-283	16	78	planning	planning	NOUN
alkej-283	16	79	.	.	PUNCT
alkej-283	17	1	kanayama	kanayama	NOUN
alkej-283	17	2	to	to	PART
alkej-283	17	3	design	design	VERB
alkej-283	17	4	a	a	DET
alkej-283	17	5	trajectory	trajectory	NOUN
alkej-283	17	6	tracking	track	VERB
alkej-283	17	7	controller	controller	NOUN
alkej-283	17	8	that	that	PRON
alkej-283	17	9	meet	meet	VERB
alkej-283	17	10	a	a	DET
alkej-283	17	11	specific	specific	ADJ
alkej-283	17	12	requirements	requirement	NOUN
alkej-283	17	13	.	.	PUNCT
alkej-283	18	1	therefore	therefore	ADV
alkej-283	18	2	,	,	PUNCT
alkej-283	18	3	for	for	ADP
alkej-283	18	4	the	the	DET
alkej-283	18	5	trajectory	trajectory	NOUN
alkej-283	18	6	kinematic	kinematic	ADJ
alkej-283	18	7	model	model	NOUN
alkej-283	18	8	are	be	AUX
alkej-283	18	9	suggested	suggest	VERB
alkej-283	18	10	to	to	PART
alkej-283	18	11	close	close	VERB
alkej-283	18	12	the	the	DET
alkej-283	18	13	target	target	NOUN
alkej-283	18	14	control	control	NOUN
alkej-283	18	15	objective	objective	NOUN
alkej-283	18	16	[	[	X
alkej-283	18	17	3	3	NUM
alkej-283	18	18	]	]	PUNCT
alkej-283	18	19	.	.	PUNCT
alkej-283	19	1	various	various	ADJ
alkej-283	19	2	control	control	NOUN
alkej-283	19	3	systems	system	NOUN
alkej-283	19	4	have	have	AUX
alkej-283	19	5	been	be	AUX
alkej-283	19	6	in	in	ADP
alkej-283	19	7	order	order	NOUN
alkej-283	19	8	to	to	PART
alkej-283	19	9	serve	serve	VERB
alkej-283	19	10	as	as	ADP
alkej-283	19	11	a	a	DET
alkej-283	19	12	robust	robust	ADJ
alkej-283	19	13	con	con	PROPN
alkej-283	19	14	mobile	mobile	PROPN
alkej-283	19	15	robot	robot	NOUN
alkej-283	19	16	systems	system	NOUN
alkej-283	19	17	.	.	PUNCT
alkej-283	20	1	the	the	DET
alkej-283	20	2	control	control	NOUN
alkej-283	20	3	algorithm	algorithm	NOUN
alkej-283	20	4	of	of	ADP
alkej-283	20	5	any	any	DET
alkej-283	20	6	mobile	mobile	ADJ
alkej-283	20	7	robot	robot	NOUN
alkej-283	20	8	depends	depend	VERB
alkej-283	20	9	either	either	CCONJ
alkej-283	20	10	on	on	ADP
alkej-283	20	11	the	the	DET
alkej-283	20	12	dynamic	dynamic	ADJ
alkej-283	20	13	model	model	NOUN
alkej-283	20	14	or	or	CCONJ
alkej-283	20	15	the	the	DET
alkej-283	20	16	kinematic	kinematic	ADJ
alkej-283	20	17	model	model	NOUN
alkej-283	20	18	of	of	ADP
alkej-283	20	19	the	the	DET
alkej-283	20	20	mobile	mobile	ADJ
alkej-283	20	21	robot	robot	NOUN
alkej-283	20	22	this	this	DET
alkej-283	20	23	research	research	NOUN
alkej-283	20	24	depends	depend	VERB
alkej-283	20	25	on	on	ADP
alkej-283	20	26	kinematic	kinematic	ADJ
alkej-283	20	27	controller	controller	NOUN
alkej-283	20	28	,	,	PUNCT
alkej-283	20	29	the	the	DET
alkej-283	20	30	main	main	ADJ
alkej-283	20	31	purpose	purpose	NOUN
alkej-283	20	32	of	of	ADP
alkej-283	20	33	the	the	DET
alkej-283	20	34	kinematic	kinematic	ADJ
alkej-283	20	35	controller	controller	NOUN
alkej-283	20	36	is	be	AUX
alkej-283	20	37	to	to	AUX
alkej-283	20	38	out	out	ADP
alkej-283	20	39	a	a	DET
alkej-283	20	40	near	near	ADJ
alkej-283	20	41	-	-	PUNCT
alkej-283	20	42	optimum	optimum	NOUN
alkej-283	20	43	velocity	velocity	NOUN
alkej-283	20	44	for	for	ADP
alkej-283	20	45	the	the	DET
alkej-283	20	46	mobile	mobile	ADJ
alkej-283	20	47	robot	robot	NOUN
alkej-283	20	48	in	in	ADP
alkej-283	20	49	order	order	NOUN
alkej-283	20	50	to	to	PART
alkej-283	20	51	reduce	reduce	VERB
alkej-283	20	52	the	the	DET
alkej-283	20	53	error	error	NOUN
alkej-283	20	54	between	between	ADP
alkej-283	20	55	the	the	DET
alkej-283	20	56	path	path	NOUN
alkej-283	20	57	and	and	CCONJ
alkej-283	20	58	the	the	DET
alkej-283	20	59	reference	reference	NOUN
alkej-283	20	60	path	path	NOUN
alkej-283	20	61	of	of	ADP
alkej-283	20	62	the	the	DET
alkej-283	20	63	mobile	mobile	ADJ
alkej-283	20	64	robot	robot	NOUN
alkej-283	20	65	system	system	NOUN
alkej-283	20	66	[	[	X
alkej-283	20	67	4	4	NUM
alkej-283	20	68	]	]	PUNCT
alkej-283	20	69	.	.	PUNCT
alkej-283	21	1	this	this	DET
alkej-283	21	2	paper	paper	NOUN
alkej-283	21	3	deal	deal	NOUN
alkej-283	21	4	with	with	ADP
alkej-283	21	5	the	the	DET
alkej-283	21	6	use	use	NOUN
alkej-283	21	7	of	of	ADP
alkej-283	21	8	the	the	DET
alkej-283	21	9	neural	neural	ADJ
alkej-283	21	10	networks	network	NOUN
alkej-283	21	11	(	(	PUNCT
alkej-283	21	12	anns	anns	NOUN
alkej-283	21	13	)	)	PUNCT
alkej-283	21	14	learning	learning	NOUN
alkej-283	21	15	and	and	CCONJ
alkej-283	21	16	adaptation	adaptation	NOUN
alkej-283	21	17	capabilities	capability	NOUN
alkej-283	21	18	one	one	NUM
alkej-283	21	19	of	of	ADP
alkej-283	21	20	the	the	DET
alkej-283	21	21	almost	almost	ADV
alkej-283	21	22	popular	popular	ADJ
alkej-283	21	23	intelligent	intelligent	ADJ
alkej-283	21	24	techniques	technique	NOUN
alkej-283	21	25	generally	generally	ADV
alkej-283	21	26	applied	apply	VERB
alkej-283	21	27	in	in	ADP
alkej-283	21	28	engineering	engineering	NOUN
alkej-283	21	29	for	for	ADP
alkej-283	21	30	al	al	PROPN
alkej-283	21	31	-	-	PUNCT
alkej-283	21	32	khwarizmi	khwarizmi	PROPN
alkej-283	21	33	engineering	engineering	NOUN
alkej-283	21	34	journal	journal	PROPN
alkej-283	21	35	(	(	PUNCT
alkej-283	21	36	2016	2016	NUM
alkej-283	21	37	)	)	PUNCT
alkej-283	21	38	robots	robot	NOUN
alkej-283	21	39	based	base	VERB
alkej-283	21	40	on	on	ADP
alkej-283	21	41	algorithm	algorithm	NOUN
alkej-283	21	42	saleh	saleh	NOUN
alkej-283	21	43	*	*	PUNCT
alkej-283	21	44	*	*	PROPN
alkej-283	21	45	university	university	PROPN
alkej-283	21	46	of	of	ADP
alkej-283	21	47	baghdad	baghdad	PROPN
alkej-283	21	48	the	the	DET
alkej-283	21	49	paper	paper	NOUN
alkej-283	21	50	present	present	ADJ
alkej-283	21	51	design	design	NOUN
alkej-283	21	52	of	of	ADP
alkej-283	21	53	a	a	DET
alkej-283	21	54	control	control	NOUN
alkej-283	21	55	structure	structure	NOUN
alkej-283	21	56	that	that	PRON
alkej-283	21	57	enables	enable	VERB
alkej-283	21	58	integration	integration	NOUN
alkej-283	21	59	of	of	ADP
alkej-283	21	60	a	a	DET
alkej-283	21	61	kinematic	kinematic	ADJ
alkej-283	21	62	neural	neural	ADJ
alkej-283	21	63	controller	controller	NOUN
alkej-283	21	64	for	for	ADP
alkej-283	21	65	then	then	ADV
alkej-283	21	66	proposes	propose	VERB
alkej-283	21	67	a	a	DET
alkej-283	21	68	kinematic	kinematic	ADJ
alkej-283	21	69	neural	neural	NOUN
alkej-283	21	70	direct	direct	VERB
alkej-283	21	71	a	a	DET
alkej-283	21	72	national	national	ADJ
alkej-283	21	73	instrument	instrument	PROPN
alkej-283	21	74	mobile	mobile	PROPN
alkej-283	21	75	robot	robot	NOUN
alkej-283	21	76	(	(	PUNCT
alkej-283	21	77	ni	ni	PROPN
alkej-283	21	78	mobile	mobile	PROPN
alkej-283	21	79	robot	robot	NOUN
alkej-283	21	80	)	)	PUNCT
alkej-283	21	81	.	.	PUNCT
alkej-283	22	1	the	the	DET
alkej-283	22	2	controller	controller	NOUN
alkej-283	22	3	is	be	AUX
alkej-283	22	4	to	to	PART
alkej-283	22	5	make	make	VERB
alkej-283	22	6	the	the	DET
alkej-283	22	7	actual	actual	ADJ
alkej-283	22	8	velocity	velocity	NOUN
alkej-283	22	9	of	of	ADP
alkej-283	22	10	the	the	DET
alkej-283	22	11	wheeled	wheel	VERB
alkej-283	22	12	mobile	mobile	ADJ
alkej-283	22	13	robot	robot	NOUN
alkej-283	22	14	close	close	VERB
alkej-283	22	15	the	the	DET
alkej-283	22	16	required	required	ADJ
alkej-283	22	17	velocity	velocity	NOUN
alkej-283	22	18	by	by	ADP
alkej-283	22	19	guarantees	guarantee	NOUN
alkej-283	22	20	that	that	SCONJ
alkej-283	22	21	the	the	DET
alkej-283	22	22	trajectory	trajectory	NOUN
alkej-283	22	23	tracking	tracking	NOUN
alkej-283	22	24	mean	mean	NOUN
alkej-283	22	25	squire	squire	NOUN
alkej-283	22	26	error	error	NOUN
alkej-283	22	27	.	.	PUNCT
alkej-283	23	1	the	the	DET
alkej-283	23	2	proposed	propose	VERB
alkej-283	23	3	tracking	tracking	NOUN
alkej-283	23	4	control	control	NOUN
alkej-283	23	5	system	system	NOUN
alkej-283	23	6	consists	consist	VERB
alkej-283	23	7	of	of	ADP
alkej-283	23	8	two	two	NUM
alkej-283	23	9	layers	layer	NOUN
alkej-283	23	10	;	;	PUNCT
alkej-283	23	11	the	the	DET
alkej-283	23	12	first	first	ADJ
alkej-283	23	13	layer	layer	NOUN
alkej-283	23	14	is	be	AUX
alkej-283	23	15	a	a	DET
alkej-283	23	16	required	required	ADJ
alkej-283	23	17	path	path	NOUN
alkej-283	23	18	,	,	PUNCT
alkej-283	23	19	the	the	DET
alkej-283	23	20	second	second	ADJ
alkej-283	23	21	firefly	firefly	NOUN
alkej-283	23	22	algorithm	algorithm	NOUN
alkej-283	23	23	with	with	ADP
alkej-283	23	24	artificial	artificial	ADJ
alkej-283	23	25	bee	bee	NOUN
alkej-283	23	26	the	the	DET
alkej-283	23	27	optimal	optimal	ADJ
alkej-283	23	28	path	path	NOUN
alkej-283	23	29	.	.	PUNCT
alkej-283	24	1	the	the	DET
alkej-283	24	2	performance	performance	NOUN
alkej-283	24	3	of	of	ADP
alkej-283	24	4	the	the	DET
alkej-283	24	5	hybrid	hybrid	ADJ
alkej-283	24	6	n	n	NUM
alkej-283	24	7	results	result	NOUN
alkej-283	24	8	show	show	VERB
alkej-283	24	9	that	that	SCONJ
alkej-283	24	10	the	the	DET
alkej-283	24	11	utilizing	utilizing	NOUN
alkej-283	24	12	of	of	ADP
alkej-283	24	13	.	.	PUNCT
alkej-283	25	1	a	a	DET
alkej-283	25	2	simulation	simulation	NOUN
alkej-283	25	3	example	example	NOUN
alkej-283	25	4	is	be	AUX
alkej-283	25	5	given	give	VERB
alkej-283	25	6	to	to	PART
alkej-283	25	7	indicate	indicate	VERB
alkej-283	25	8	the	the	DET
alkej-283	25	9	(	(	PUNCT
alkej-283	25	10	r2013b	r2013b	NOUN
alkej-283	25	11	)	)	PUNCT
alkej-283	25	12	,	,	PUNCT
alkej-283	25	13	and	and	CCONJ
alkej-283	25	14	all	all	DET
alkej-283	25	15	trajectory	trajectory	NOUN
alkej-283	25	16	neural	neural	ADJ
alkej-283	25	17	networks	network	NOUN
alkej-283	25	18	,	,	PUNCT
alkej-283	25	19	kinematic	kinematic	ADJ
alkej-283	25	20	controller	controller	NOUN
alkej-283	25	21	,	,	PUNCT
alkej-283	25	22	national	national	ADJ
alkej-283	25	23	instrument	instrument	NOUN
alkej-283	25	24	,	,	PUNCT
alkej-283	25	25	firefly	firefly	NOUN
alkej-283	25	26	controller	controller	NOUN
alkej-283	25	27	that	that	PRON
alkej-283	25	28	meet	meet	VERB
alkej-283	25	29	a	a	DET
alkej-283	25	30	specific	specific	ADJ
alkej-283	25	31	requirements	requirement	NOUN
alkej-283	25	32	.	.	PUNCT
alkej-283	26	1	therefore	therefore	ADV
alkej-283	26	2	,	,	PUNCT
alkej-283	26	3	for	for	ADP
alkej-283	26	4	the	the	DET
alkej-283	26	5	trajectory	trajectory	NOUN
alkej-283	26	6	tracking	tracking	NOUN
alkej-283	26	7	problem	problem	NOUN
alkej-283	26	8	the	the	DET
alkej-283	26	9	kinematic	kinematic	ADJ
alkej-283	26	10	model	model	NOUN
alkej-283	26	11	are	be	AUX
alkej-283	26	12	suggested	suggest	VERB
alkej-283	26	13	to	to	PART
alkej-283	26	14	close	close	VERB
alkej-283	26	15	the	the	DET
alkej-283	26	16	target	target	NOUN
alkej-283	26	17	various	various	ADJ
alkej-283	26	18	control	control	NOUN
alkej-283	26	19	systems	system	NOUN
alkej-283	26	20	have	have	AUX
alkej-283	26	21	been	be	AUX
alkej-283	26	22	enhanced	enhance	VERB
alkej-283	26	23	a	a	DET
alkej-283	26	24	robust	robust	ADJ
alkej-283	26	25	control	control	NOUN
alkej-283	26	26	rule	rule	NOUN
alkej-283	26	27	for	for	ADP
alkej-283	26	28	mobile	mobile	NOUN
alkej-283	26	29	robot	robot	NOUN
alkej-283	26	30	systems	system	NOUN
alkej-283	26	31	.	.	PUNCT
alkej-283	27	1	the	the	DET
alkej-283	27	2	control	control	NOUN
alkej-283	27	3	algorithm	algorithm	NOUN
alkej-283	27	4	of	of	ADP
alkej-283	27	5	any	any	DET
alkej-283	27	6	mobile	mobile	ADJ
alkej-283	27	7	robot	robot	NOUN
alkej-283	27	8	depends	depend	VERB
alkej-283	27	9	either	either	CCONJ
alkej-283	27	10	on	on	ADP
alkej-283	27	11	the	the	DET
alkej-283	27	12	dynamic	dynamic	ADJ
alkej-283	27	13	matic	matic	ADJ
alkej-283	27	14	model	model	NOUN
alkej-283	27	15	of	of	ADP
alkej-283	27	16	the	the	DET
alkej-283	27	17	mobile	mobile	NOUN
alkej-283	27	18	robot	robot	NOUN
alkej-283	27	19	.	.	PUNCT
alkej-283	28	1	depends	depend	VERB
alkej-283	28	2	on	on	ADP
alkej-283	28	3	kinematic	kinematic	ADJ
alkej-283	28	4	controller	controller	NOUN
alkej-283	28	5	,	,	PUNCT
alkej-283	28	6	the	the	DET
alkej-283	28	7	purpose	purpose	NOUN
alkej-283	28	8	of	of	ADP
alkej-283	28	9	the	the	DET
alkej-283	28	10	kinematic	kinematic	ADJ
alkej-283	28	11	controller	controller	NOUN
alkej-283	28	12	is	be	AUX
alkej-283	28	13	to	to	PART
alkej-283	28	14	find	find	VERB
alkej-283	28	15	velocity	velocity	NOUN
alkej-283	28	16	for	for	ADP
alkej-283	28	17	the	the	DET
alkej-283	28	18	mobile	mobile	ADJ
alkej-283	28	19	robot	robot	NOUN
alkej-283	28	20	in	in	ADP
alkej-283	28	21	order	order	NOUN
alkej-283	28	22	to	to	PART
alkej-283	28	23	reduce	reduce	VERB
alkej-283	28	24	the	the	DET
alkej-283	28	25	error	error	NOUN
alkej-283	28	26	between	between	ADP
alkej-283	28	27	the	the	DET
alkej-283	28	28	required	required	ADJ
alkej-283	28	29	path	path	NOUN
alkej-283	28	30	and	and	CCONJ
alkej-283	28	31	the	the	DET
alkej-283	28	32	reference	reference	NOUN
alkej-283	28	33	path	path	NOUN
alkej-283	28	34	of	of	ADP
alkej-283	28	35	the	the	DET
alkej-283	28	36	mobile	mobile	ADJ
alkej-283	28	37	robot	robot	NOUN
alkej-283	28	38	this	this	DET
alkej-283	28	39	paper	paper	NOUN
alkej-283	28	40	deal	deal	NOUN
alkej-283	28	41	with	with	ADP
alkej-283	28	42	the	the	DET
alkej-283	28	43	use	use	NOUN
alkej-283	28	44	of	of	ADP
alkej-283	28	45	the	the	DET
alkej-283	28	46	artificial	artificial	ADJ
alkej-283	28	47	(	(	PUNCT
alkej-283	28	48	anns	anns	PROPN
alkej-283	28	49	)	)	PUNCT
alkej-283	28	50	because	because	SCONJ
alkej-283	28	51	of	of	ADP
alkej-283	28	52	their	their	PRON
alkej-283	28	53	ing	ing	ADJ
alkej-283	28	54	and	and	CCONJ
alkej-283	28	55	adaptation	adaptation	NOUN
alkej-283	28	56	capabilities	capability	NOUN
alkej-283	28	57	.	.	PUNCT
alkej-283	29	1	anns	ann	NOUN
alkej-283	29	2	are	be	AUX
alkej-283	29	3	popular	popular	ADJ
alkej-283	29	4	intelligent	intelligent	ADJ
alkej-283	29	5	techniques	technique	NOUN
alkej-283	29	6	applied	apply	VERB
alkej-283	29	7	in	in	ADP
alkej-283	29	8	engineering	engineering	NOUN
alkej-283	29	9	for	for	ADP
alkej-283	29	10	systems	system	NOUN
alkej-283	29	11	nizar	nizar	PROPN
alkej-283	29	12	hadi	hadi	PROPN
alkej-283	29	13	abbas	abbas	PROPN
alkej-283	29	14	al	al	PROPN
alkej-283	29	15	-	-	PUNCT
alkej-283	29	16	khwarizmi	khwarizmi	PROPN
alkej-283	29	17	engineering	engineering	NOUN
alkej-283	29	18	journal	journal	PROPN
alkej-283	29	19	,	,	PUNCT
alkej-283	29	20	vol	vol	NOUN
alkej-283	29	21	.	.	PROPN
alkej-283	30	1	12	12	NUM
alkej-283	30	2	,	,	PUNCT
alkej-283	30	3	no	no	INTJ
alkej-283	30	4	.	.	NOUN
alkej-283	30	5	1	1	NUM
alkej-283	30	6	,	,	PUNCT
alkej-283	30	7	p.p	p.p	PROPN
alkej-283	30	8	.	.	PROPN
alkej-283	30	9	4560	4560	NUM
alkej-283	30	10	(	(	PUNCT
alkej-283	30	11	2016	2016	NUM
alkej-283	30	12	)	)	PUNCT
alkej-283	30	13	46	46	NUM
alkej-283	30	14	which	which	PRON
alkej-283	30	15	are	be	AUX
alkej-283	30	16	time	time	NOUN
alkej-283	30	17	variant	variant	NOUN
alkej-283	30	18	.	.	PUNCT
alkej-283	31	1	additionally	additionally	ADV
alkej-283	31	2	,	,	PUNCT
alkej-283	31	3	their	their	PRON
alkej-283	31	4	ability	ability	NOUN
alkej-283	31	5	to	to	PART
alkej-283	31	6	learn	learn	VERB
alkej-283	31	7	complex	complex	ADJ
alkej-283	31	8	input	input	NOUN
alkej-283	31	9	-	-	PUNCT
alkej-283	31	10	output	output	NOUN
alkej-283	31	11	mapping	mapping	NOUN
alkej-283	31	12	,	,	PUNCT
alkej-283	31	13	without	without	ADP
alkej-283	31	14	detailed	detailed	ADJ
alkej-283	31	15	analytical	analytical	ADJ
alkej-283	31	16	model	model	NOUN
alkej-283	31	17	,	,	PUNCT
alkej-283	31	18	approximation	approximation	NOUN
alkej-283	31	19	of	of	ADP
alkej-283	31	20	nonlinear	nonlinear	ADJ
alkej-283	31	21	function	function	NOUN
alkej-283	31	22	and	and	CCONJ
alkej-283	31	23	robustness	robustness	NOUN
alkej-283	31	24	for	for	ADP
alkej-283	31	25	noise	noise	NOUN
alkej-283	31	26	environment	environment	NOUN
alkej-283	31	27	make	make	VERB
alkej-283	31	28	them	they	PRON
alkej-283	31	29	an	an	DET
alkej-283	31	30	ideal	ideal	ADJ
alkej-283	31	31	choice	choice	NOUN
alkej-283	31	32	for	for	ADP
alkej-283	31	33	real	real	ADJ
alkej-283	31	34	implementations	implementation	NOUN
alkej-283	31	35	[	[	X
alkej-283	31	36	5	5	NUM
alkej-283	31	37	]	]	PUNCT
alkej-283	31	38	.	.	PUNCT
alkej-283	32	1	furthermore	furthermore	ADV
alkej-283	32	2	,	,	PUNCT
alkej-283	32	3	its	its	PRON
alkej-283	32	4	lateral	lateral	ADJ
alkej-283	32	5	structure	structure	NOUN
alkej-283	32	6	makes	make	VERB
alkej-283	32	7	the	the	DET
alkej-283	32	8	neural	neural	ADJ
alkej-283	32	9	network	network	NOUN
alkej-283	32	10	achievement	achievement	NOUN
alkej-283	32	11	rapid	rapid	ADJ
alkej-283	32	12	than	than	ADP
alkej-283	32	13	the	the	DET
alkej-283	32	14	achievement	achievement	NOUN
alkej-283	32	15	of	of	ADP
alkej-283	32	16	other	other	ADJ
alkej-283	32	17	classical	classical	ADJ
alkej-283	32	18	artificial	artificial	ADJ
alkej-283	32	19	intelligence	intelligence	NOUN
alkej-283	32	20	techniques	technique	NOUN
alkej-283	32	21	such	such	ADJ
alkej-283	32	22	as	as	ADP
alkej-283	32	23	a	a	DET
alkej-283	32	24	genetic	genetic	ADJ
alkej-283	32	25	algorithm	algorithm	NOUN
alkej-283	32	26	.	.	PUNCT
alkej-283	33	1	in	in	ADP
alkej-283	33	2	engineering	engineering	NOUN
alkej-283	33	3	problems	problem	NOUN
alkej-283	33	4	,	,	PUNCT
alkej-283	33	5	the	the	DET
alkej-283	33	6	optimization	optimization	NOUN
alkej-283	33	7	is	be	AUX
alkej-283	33	8	to	to	PART
alkej-283	33	9	find	find	VERB
alkej-283	33	10	out	out	ADP
alkej-283	33	11	a	a	DET
alkej-283	33	12	solution	solution	NOUN
alkej-283	33	13	that	that	PRON
alkej-283	33	14	can	can	AUX
alkej-283	33	15	maximize	maximize	VERB
alkej-283	33	16	or	or	CCONJ
alkej-283	33	17	minimize	minimize	VERB
alkej-283	33	18	an	an	DET
alkej-283	33	19	objective	objective	ADJ
alkej-283	33	20	function	function	NOUN
alkej-283	33	21	.	.	PUNCT
alkej-283	34	1	nowadays	nowadays	ADV
alkej-283	34	2	,	,	PUNCT
alkej-283	34	3	stochastic	stochastic	ADJ
alkej-283	34	4	method	method	NOUN
alkej-283	34	5	is	be	AUX
alkej-283	34	6	more	more	ADV
alkej-283	34	7	often	often	ADV
alkej-283	34	8	used	use	VERB
alkej-283	34	9	to	to	PART
alkej-283	34	10	deal	deal	VERB
alkej-283	34	11	with	with	ADP
alkej-283	34	12	optimization	optimization	NOUN
alkej-283	34	13	problems	problem	NOUN
alkej-283	34	14	[	[	X
alkej-283	34	15	6	6	NUM
alkej-283	34	16	]	]	PUNCT
alkej-283	34	17	.	.	PUNCT
alkej-283	35	1	though	though	SCONJ
alkej-283	35	2	there	there	PRON
alkej-283	35	3	are	be	VERB
alkej-283	35	4	several	several	ADJ
alkej-283	35	5	ways	way	NOUN
alkej-283	35	6	to	to	PART
alkej-283	35	7	organize	organize	VERB
alkej-283	35	8	them	they	PRON
alkej-283	35	9	,	,	PUNCT
alkej-283	35	10	a	a	DET
alkej-283	35	11	simple	simple	ADJ
alkej-283	35	12	one	one	NOUN
alkej-283	35	13	is	be	AUX
alkej-283	35	14	used	use	VERB
alkej-283	35	15	to	to	PART
alkej-283	35	16	divide	divide	VERB
alkej-283	35	17	them	they	PRON
alkej-283	35	18	into	into	ADP
alkej-283	35	19	two	two	NUM
alkej-283	35	20	groups	group	NOUN
alkej-283	35	21	conforming	conform	VERB
alkej-283	35	22	to	to	ADP
alkej-283	35	23	their	their	PRON
alkej-283	35	24	nature	nature	NOUN
alkej-283	35	25	:	:	PUNCT
alkej-283	35	26	deterministic	deterministic	ADJ
alkej-283	35	27	and	and	CCONJ
alkej-283	35	28	stochastic	stochastic	ADJ
alkej-283	35	29	.	.	PUNCT
alkej-283	36	1	deterministic	deterministic	ADJ
alkej-283	36	2	algorithms	algorithm	NOUN
alkej-283	36	3	can	can	AUX
alkej-283	36	4	bring	bring	VERB
alkej-283	36	5	the	the	DET
alkej-283	36	6	same	same	ADJ
alkej-283	36	7	solutions	solution	NOUN
alkej-283	36	8	if	if	SCONJ
alkej-283	36	9	the	the	DET
alkej-283	36	10	initial	initial	ADJ
alkej-283	36	11	conditions	condition	NOUN
alkej-283	36	12	are	be	AUX
alkej-283	36	13	unaffected	unaffected	ADJ
alkej-283	36	14	,	,	PUNCT
alkej-283	36	15	because	because	SCONJ
alkej-283	36	16	they	they	PRON
alkej-283	36	17	always	always	ADV
alkej-283	36	18	follow	follow	VERB
alkej-283	36	19	the	the	DET
alkej-283	36	20	accurate	accurate	ADJ
alkej-283	36	21	move	move	NOUN
alkej-283	36	22	.	.	PUNCT
alkej-283	37	1	however	however	ADV
alkej-283	37	2	,	,	PUNCT
alkej-283	37	3	disregard	disregard	NOUN
alkej-283	37	4	of	of	ADP
alkej-283	37	5	the	the	DET
alkej-283	37	6	initial	initial	ADJ
alkej-283	37	7	values	value	NOUN
alkej-283	37	8	.	.	PUNCT
alkej-283	38	1	stochastic	stochastic	ADJ
alkej-283	38	2	ones	one	NOUN
alkej-283	38	3	are	be	AUX
alkej-283	38	4	based	base	VERB
alkej-283	38	5	on	on	ADP
alkej-283	38	6	convinced	convinced	ADJ
alkej-283	38	7	stochastic	stochastic	ADJ
alkej-283	38	8	distribution	distribution	NOUN
alkej-283	38	9	;	;	PUNCT
alkej-283	38	10	therefore	therefore	ADV
alkej-283	38	11	they	they	PRON
alkej-283	38	12	generally	generally	ADV
alkej-283	38	13	generate	generate	VERB
alkej-283	38	14	many	many	ADJ
alkej-283	38	15	solutions	solution	NOUN
alkej-283	38	16	.	.	PUNCT
alkej-283	39	1	in	in	ADP
alkej-283	39	2	fact	fact	NOUN
alkej-283	39	3	,	,	PUNCT
alkej-283	39	4	both	both	PRON
alkej-283	39	5	of	of	ADP
alkej-283	39	6	them	they	PRON
alkej-283	39	7	can	can	AUX
alkej-283	39	8	find	find	VERB
alkej-283	39	9	satisfactory	satisfactory	ADJ
alkej-283	39	10	solutions	solution	NOUN
alkej-283	39	11	after	after	ADP
alkej-283	39	12	some	some	DET
alkej-283	39	13	generations	generation	NOUN
alkej-283	39	14	.	.	PUNCT
alkej-283	40	1	recently	recently	ADV
alkej-283	40	2	,	,	PUNCT
alkej-283	40	3	nature	nature	NOUN
alkej-283	40	4	-	-	PUNCT
alkej-283	40	5	inspired	inspire	VERB
alkej-283	40	6	algorithms	algorithm	NOUN
alkej-283	40	7	are	be	AUX
alkej-283	40	8	prove	prove	VERB
alkej-283	40	9	its	its	PRON
alkej-283	40	10	capability	capability	NOUN
alkej-283	40	11	in	in	ADP
alkej-283	40	12	solving	solve	VERB
alkej-283	40	13	numerical	numerical	ADJ
alkej-283	40	14	optimization	optimization	NOUN
alkej-283	40	15	problems	problem	NOUN
alkej-283	40	16	more	more	ADV
alkej-283	40	17	comfortably	comfortably	ADV
alkej-283	40	18	.	.	PUNCT
alkej-283	41	1	these	these	DET
alkej-283	41	2	metaheuristic	metaheuristic	ADJ
alkej-283	41	3	ways	way	NOUN
alkej-283	41	4	are	be	AUX
alkej-283	41	5	developed	develop	VERB
alkej-283	41	6	to	to	PART
alkej-283	41	7	solve	solve	VERB
alkej-283	41	8	difficult	difficult	ADJ
alkej-283	41	9	problems	problem	NOUN
alkej-283	41	10	,	,	PUNCT
alkej-283	41	11	such	such	ADJ
alkej-283	41	12	permutation	permutation	NOUN
alkej-283	41	13	flow	flow	NOUN
alkej-283	41	14	shop	shop	NOUN
alkej-283	41	15	scheduling	scheduling	NOUN
alkej-283	41	16	[	[	X
alkej-283	41	17	7	7	NUM
alkej-283	41	18	]	]	NUM
alkej-283	41	19	,	,	PUNCT
alkej-283	41	20	reliability	reliability	NOUN
alkej-283	41	21	,	,	PUNCT
alkej-283	41	22	high	high	ADJ
alkej-283	41	23	-	-	PUNCT
alkej-283	41	24	dimensional	dimensional	ADJ
alkej-283	41	25	function	function	NOUN
alkej-283	41	26	optimization	optimization	NOUN
alkej-283	41	27	,	,	PUNCT
alkej-283	41	28	and	and	CCONJ
alkej-283	41	29	other	other	ADJ
alkej-283	41	30	engineering	engineering	NOUN
alkej-283	41	31	problems	problem	NOUN
alkej-283	41	32	.nowadays	.nowadays	PUNCT
alkej-283	41	33	,	,	PUNCT
alkej-283	41	34	many	many	ADJ
alkej-283	41	35	other	other	ADJ
alkej-283	41	36	metaheuristic	metaheuristic	ADJ
alkej-283	41	37	methods	method	NOUN
alkej-283	41	38	have	have	AUX
alkej-283	41	39	occurred	occur	VERB
alkej-283	41	40	,	,	PUNCT
alkej-283	41	41	like	like	ADP
alkej-283	41	42	ant	ant	ADJ
alkej-283	41	43	colony	colony	NOUN
alkej-283	41	44	optimization	optimization	NOUN
alkej-283	41	45	(	(	PUNCT
alkej-283	41	46	aco	aco	PROPN
alkej-283	41	47	)	)	PUNCT
alkej-283	41	48	,	,	PUNCT
alkej-283	41	49	harmony	harmony	NOUN
alkej-283	41	50	search	search	NOUN
alkej-283	41	51	(	(	PUNCT
alkej-283	41	52	hs	hs	X
alkej-283	41	53	)	)	PUNCT
alkej-283	41	54	,	,	PUNCT
alkej-283	41	55	particle	particle	NOUN
alkej-283	41	56	swarm	swarm	NOUN
alkej-283	41	57	optimization	optimization	NOUN
alkej-283	41	58	(	(	PUNCT
alkej-283	41	59	pso	pso	NOUN
alkej-283	41	60	)	)	PUNCT
alkej-283	41	61	,	,	PUNCT
alkej-283	41	62	firefly	firefly	NOUN
alkej-283	41	63	algorithm	algorithm	NOUN
alkej-283	41	64	(	(	PUNCT
alkej-283	41	65	fa	fa	NOUN
alkej-283	41	66	)	)	PUNCT
alkej-283	41	67	,	,	PUNCT
alkej-283	41	68	and	and	CCONJ
alkej-283	41	69	artificial	artificial	ADJ
alkej-283	41	70	bee	bee	NOUN
alkej-283	41	71	colony	colony	NOUN
alkej-283	41	72	(	(	PUNCT
alkej-283	41	73	abc	abc	PROPN
alkej-283	41	74	)	)	PUNCT
alkej-283	42	1	[	[	X
alkej-283	42	2	8	8	NUM
alkej-283	42	3	]	]	SYM
alkej-283	42	4	.	.	PUNCT
alkej-283	42	5	2	2	X
alkej-283	42	6	.	.	X
alkej-283	42	7	kinematic	kinematic	ADJ
alkej-283	42	8	model	model	NOUN
alkej-283	42	9	of	of	ADP
alkej-283	42	10	differential	differential	ADJ
alkej-283	42	11	wheeled	wheel	VERB
alkej-283	42	12	mobile	mobile	ADJ
alkej-283	42	13	robot	robot	NOUN
alkej-283	42	14	the	the	DET
alkej-283	42	15	aim	aim	NOUN
alkej-283	42	16	of	of	ADP
alkej-283	42	17	the	the	DET
alkej-283	42	18	wheeled	wheel	VERB
alkej-283	42	19	mobile	mobile	PROPN
alkej-283	42	20	robot	robot	NOUN
alkej-283	42	21	kinematic	kinematic	PROPN
alkej-283	42	22	model	model	NOUN
alkej-283	42	23	is	be	AUX
alkej-283	42	24	to	to	PART
alkej-283	42	25	find	find	VERB
alkej-283	42	26	the	the	DET
alkej-283	42	27	mobile	mobile	ADJ
alkej-283	42	28	robot	robot	NOUN
alkej-283	42	29	velocity	velocity	NOUN
alkej-283	42	30	in	in	ADP
alkej-283	42	31	the	the	DET
alkej-283	42	32	inertial	inertial	ADJ
alkej-283	42	33	body	body	NOUN
alkej-283	42	34	as	as	ADP
alkej-283	42	35	a	a	DET
alkej-283	42	36	function	function	NOUN
alkej-283	42	37	of	of	ADP
alkej-283	42	38	the	the	DET
alkej-283	42	39	wheels	wheel	NOUN
alkej-283	42	40	velocities	velocity	NOUN
alkej-283	42	41	and	and	CCONJ
alkej-283	42	42	the	the	DET
alkej-283	42	43	configuration	configuration	NOUN
alkej-283	42	44	coordinates	coordinate	NOUN
alkej-283	42	45	of	of	ADP
alkej-283	42	46	the	the	DET
alkej-283	42	47	robot	robot	NOUN
alkej-283	42	48	.	.	PUNCT
alkej-283	43	1	i.e.	i.e.	X
alkej-283	43	2	authorized	authorize	VERB
alkej-283	43	3	the	the	DET
alkej-283	43	4	robot	robot	NOUN
alkej-283	43	5	speed	speed	NOUN
alkej-283	43	6	�	�	PROPN
alkej-283	43	7	�	�	PROPN
alkej-283	43	8	=	=	SYM
alkej-283	43	9	[	[	PUNCT
alkej-283	43	10	�	�	PROPN
alkej-283	43	11	�	�	PROPN
alkej-283	43	12	�	�	PROPN
alkej-283	43	13	�	�	PROPN
alkej-283	43	14	�	�	PROPN
alkej-283	43	15	�	�	PROPN
alkej-283	43	16	]	]	PUNCT
alkej-283	43	17	as	as	ADP
alkej-283	43	18	a	a	DET
alkej-283	43	19	function	function	NOUN
alkej-283	43	20	of	of	ADP
alkej-283	43	21	the	the	DET
alkej-283	43	22	wheel	wheel	ADJ
alkej-283	43	23	translational	translational	ADJ
alkej-283	43	24	velocities	velocity	NOUN
alkej-283	43	25	�	�	PROPN
alkej-283	43	26	�	�	PROPN
alkej-283	43	27	�	�	PROPN
alkej-283	43	28	and	and	CCONJ
alkej-283	43	29	�	�	PROPN
alkej-283	43	30	�	�	PROPN
alkej-283	43	31	.	.	PUNCT
alkej-283	44	1	the	the	DET
alkej-283	44	2	mobile	mobile	PROPN
alkej-283	44	3	robot	robot	NOUN
alkej-283	44	4	kinematics	kinematic	NOUN
alkej-283	44	5	commonly	commonly	ADV
alkej-283	44	6	has	have	VERB
alkej-283	44	7	two	two	NUM
alkej-283	44	8	main	main	ADJ
alkej-283	44	9	analyses	analysis	NOUN
alkej-283	44	10	,	,	PUNCT
alkej-283	44	11	forward	forward	ADJ
alkej-283	44	12	kinematics	kinematic	NOUN
alkej-283	44	13	and	and	CCONJ
alkej-283	44	14	feedback	feedback	NOUN
alkej-283	44	15	kinematics	kinematic	NOUN
alkej-283	45	1	[	[	X
alkej-283	45	2	10	10	NUM
alkej-283	45	3	]	]	X
alkej-283	45	4	:	:	PUNCT
alkej-283	45	5	•	•	NUM
alkej-283	45	6	forward	forward	ADJ
alkej-283	45	7	mobile	mobile	NOUN
alkej-283	45	8	robot	robot	NOUN
alkej-283	45	9	kinematics	kinematic	NOUN
alkej-283	45	10	:	:	PUNCT
alkej-283	45	11	�	�	PROPN
alkej-283	45	12	�	�	PROPN
alkej-283	45	13	�	�	PROPN
alkej-283	45	14	=	=	SYM
alkej-283	45	15	�	�	PROPN
alkej-283	45	16	�	�	PROPN
alkej-283	45	17	�	�	PROPN
alkej-283	45	18	�	�	PROPN
alkej-283	45	19	�	�	PROPN
alkej-283	45	20	�	�	PROPN
alkej-283	45	21	�	�	PROPN
alkej-283	45	22	�	�	PROPN
alkej-283	45	23	=	=	SYM
alkej-283	45	24	�	�	PROPN
alkej-283	45	25	�	�	PROPN
alkej-283	45	26	�	�	PROPN
alkej-283	45	27	�	�	PROPN
alkej-283	45	28	�	�	PROPN
alkej-283	45	29	,	,	PUNCT
alkej-283	45	30	�	�	PROPN
alkej-283	45	31	�	�	PROPN
alkej-283	45	32	�	�	PROPN
alkej-283	45	33	…	…	PUNCT
alkej-283	45	34	(	(	PUNCT
alkej-283	45	35	1	1	NUM
alkej-283	45	36	)	)	PUNCT
alkej-283	45	37	•	•	NUM
alkej-283	45	38	feedback	feedback	NOUN
alkej-283	45	39	mobile	mobile	NOUN
alkej-283	45	40	robot	robot	NOUN
alkej-283	45	41	kinematics	kinematic	NOUN
alkej-283	45	42	:	:	PUNCT
alkej-283	45	43	�	�	PROPN
alkej-283	45	44	�	�	PROPN
alkej-283	45	45	�	�	PROPN
alkej-283	45	46	�	�	PROPN
alkej-283	45	47	�	�	PROPN
alkej-283	45	48	�	�	PROPN
alkej-283	45	49	�	�	PROPN
alkej-283	45	50	=	=	SYM
alkej-283	45	51	�	�	PROPN
alkej-283	45	52	�	�	PROPN
alkej-283	45	53	�	�	PROPN
alkej-283	45	54	�	�	PROPN
alkej-283	45	55	,	,	PUNCT
alkej-283	45	56	�	�	PROPN
alkej-283	45	57	�	�	PROPN
alkej-283	45	58	,	,	PUNCT
alkej-283	45	59	�	�	PROPN
alkej-283	45	60	�	�	PROPN
alkej-283	45	61	�	�	PROPN
alkej-283	45	62	…	…	PUNCT
alkej-283	45	63	(	(	PUNCT
alkej-283	45	64	2	2	NUM
alkej-283	45	65	)	)	PUNCT
alkej-283	45	66	the	the	DET
alkej-283	45	67	graphic	graphic	NOUN
alkej-283	45	68	of	of	ADP
alkej-283	45	69	the	the	DET
alkej-283	45	70	differential	differential	ADJ
alkej-283	45	71	wheeled	wheel	VERB
alkej-283	45	72	mobile	mobile	ADJ
alkej-283	45	73	robot	robot	NOUN
alkej-283	45	74	model	model	NOUN
alkej-283	45	75	shown	show	VERB
alkej-283	45	76	in	in	ADP
alkej-283	45	77	fig	fig	NOUN
alkej-283	45	78	.	.	PUNCT
alkej-283	46	1	1	1	NUM
alkej-283	46	2	,	,	PUNCT
alkej-283	46	3	consists	consist	VERB
alkej-283	46	4	of	of	ADP
alkej-283	46	5	a	a	DET
alkej-283	46	6	cart	cart	NOUN
alkej-283	46	7	with	with	ADP
alkej-283	46	8	two	two	NUM
alkej-283	46	9	standard	standard	ADJ
alkej-283	46	10	wheels	wheel	NOUN
alkej-283	46	11	for	for	ADP
alkej-283	46	12	motion	motion	NOUN
alkej-283	46	13	on	on	ADP
alkej-283	46	14	the	the	DET
alkej-283	46	15	same	same	ADJ
alkej-283	46	16	axis	axis	NOUN
alkej-283	46	17	and	and	CCONJ
alkej-283	46	18	castor	castor	NOUN
alkej-283	46	19	wheel	wheel	NOUN
alkej-283	46	20	in	in	ADP
alkej-283	46	21	the	the	DET
alkej-283	46	22	front	front	NOUN
alkej-283	46	23	of	of	ADP
alkej-283	46	24	cart	cart	NOUN
alkej-283	46	25	for	for	ADP
alkej-283	46	26	stability	stability	NOUN
alkej-283	46	27	.	.	PUNCT
alkej-283	47	1	the	the	DET
alkej-283	47	2	castor	castor	NOUN
alkej-283	47	3	wheel	wheel	NOUN
alkej-283	47	4	carries	carry	VERB
alkej-283	47	5	the	the	DET
alkej-283	47	6	mechanical	mechanical	ADJ
alkej-283	47	7	format	format	NOUN
alkej-283	47	8	and	and	CCONJ
alkej-283	47	9	keeps	keep	VERB
alkej-283	47	10	the	the	DET
alkej-283	47	11	robot	robot	NOUN
alkej-283	47	12	more	more	ADV
alkej-283	47	13	stable	stable	ADJ
alkej-283	47	14	[	[	X
alkej-283	47	15	8	8	NUM
alkej-283	47	16	]	]	PUNCT
alkej-283	47	17	.	.	PUNCT
alkej-283	48	1	suppose	suppose	VERB
alkej-283	48	2	a	a	DET
alkej-283	48	3	differential	differential	ADJ
alkej-283	48	4	wheeled	wheel	VERB
alkej-283	48	5	mobile	mobile	ADJ
alkej-283	48	6	robot	robot	NOUN
alkej-283	48	7	structure	structure	NOUN
alkej-283	48	8	which	which	PRON
alkej-283	48	9	has	have	VERB
alkej-283	48	10	two	two	NUM
alkej-283	48	11	wheels	wheel	NOUN
alkej-283	48	12	with	with	ADP
alkej-283	48	13	the	the	DET
alkej-283	48	14	radius	radius	NOUN
alkej-283	48	15	of	of	ADP
alkej-283	48	16	�	�	PROPN
alkej-283	48	17	�	�	PROPN
alkej-283	48	18	based	base	VERB
alkej-283	48	19	with	with	ADP
alkej-283	48	20	a	a	DET
alkej-283	48	21	length	length	NOUN
alkej-283	48	22	�	�	NOUN
alkej-283	48	23	1/2	1/2	NUM
alkej-283	48	24	from	from	ADP
alkej-283	48	25	the	the	DET
alkej-283	48	26	mobile	mobile	ADJ
alkej-283	48	27	robot	robot	NOUN
alkej-283	48	28	center	center	NOUN
alkej-283	48	29	:	:	PUNCT
alkej-283	49	1	fig.1	fig.1	X
alkej-283	49	2	.	.	PUNCT
alkej-283	50	1	the	the	DET
alkej-283	50	2	differential	differential	ADJ
alkej-283	50	3	drive	drive	PROPN
alkej-283	50	4	mobile	mobile	PROPN
alkej-283	50	5	robot	robot	NOUN
alkej-283	50	6	model	model	NOUN
alkej-283	50	7	.	.	PUNCT
alkej-283	51	1	at	at	ADP
alkej-283	51	2	each	each	DET
alkej-283	51	3	instant	instant	NOUN
alkej-283	51	4	in	in	ADP
alkej-283	51	5	time	time	NOUN
alkej-283	51	6	,	,	PUNCT
alkej-283	51	7	the	the	DET
alkej-283	51	8	left	left	ADJ
alkej-283	51	9	and	and	CCONJ
alkej-283	51	10	right	right	ADJ
alkej-283	51	11	wheels	wheel	NOUN
alkej-283	51	12	follow	follow	VERB
alkej-283	51	13	a	a	DET
alkej-283	51	14	path	path	NOUN
alkej-283	51	15	as	as	ADP
alkej-283	51	16	a	a	DET
alkej-283	51	17	show	show	NOUN
alkej-283	51	18	in	in	ADP
alkej-283	51	19	fig	fig	NOUN
alkej-283	51	20	.	.	PUNCT
alkej-283	52	1	2.7	2.7	NUM
alkej-283	52	2	that	that	PRON
alkej-283	52	3	moves	move	VERB
alkej-283	52	4	around	around	ADP
alkej-283	52	5	the	the	DET
alkej-283	52	6	instantaneous	instantaneous	ADJ
alkej-283	52	7	center	center	NOUN
alkej-283	52	8	of	of	ADP
alkej-283	52	9	curvature	curvature	NOUN
alkej-283	52	10	mobile	mobile	ADJ
alkej-283	52	11	robot	robot	NOUN
alkej-283	52	12	(	(	PUNCT
alkej-283	52	13	iccm	iccm	PROPN
alkej-283	52	14	)	)	PUNCT
alkej-283	52	15	with	with	ADP
alkej-283	52	16	the	the	DET
alkej-283	52	17	same	same	ADJ
alkej-283	52	18	angular	angular	ADJ
alkej-283	52	19	rate	rate	NOUN
alkej-283	53	1	[	[	X
alkej-283	53	2	9	9	NUM
alkej-283	53	3	]	]	PUNCT
alkej-283	53	4	.	.	PUNCT
alkej-283	54	1	fig	fig	NOUN
alkej-283	54	2	.	.	PUNCT
alkej-283	55	1	2	2	X
alkej-283	55	2	.	.	X
alkej-283	55	3	the	the	DET
alkej-283	55	4	instantaneous	instantaneous	ADJ
alkej-283	55	5	center	center	NOUN
alkej-283	55	6	of	of	ADP
alkej-283	55	7	curvature	curvature	NOUN
alkej-283	55	8	mobile	mobile	ADJ
alkej-283	55	9	robot	robot	NOUN
alkej-283	55	10	.	.	PUNCT
alkej-283	56	1	x	x	X
alkej-283	56	2	-	-	ADJ
alkej-283	56	3	axis	axis	ADJ
alkej-283	56	4	y	y	NOUN
alkej-283	56	5	-	-	PUNCT
alkej-283	56	6	axis	axis	NOUN
alkej-283	56	7	x	x	SYM
alkej-283	56	8	y	y	PROPN
alkej-283	56	9	2	2	NUM
alkej-283	56	10	�	�	PROPN
alkej-283	56	11	l1	l1	PROPN
alkej-283	56	12	c	c	PROPN
alkej-283	56	13	θ	θ	PROPN
alkej-283	56	14	nizar	nizar	PROPN
alkej-283	56	15	hadi	hadi	PROPN
alkej-283	56	16	abbas	abbas	PROPN
alkej-283	56	17	al	al	PROPN
alkej-283	56	18	-	-	PUNCT
alkej-283	56	19	khwarizmi	khwarizmi	PROPN
alkej-283	56	20	engineering	engineering	NOUN
alkej-283	56	21	journal	journal	PROPN
alkej-283	56	22	,	,	PUNCT
alkej-283	56	23	vol	vol	NOUN
alkej-283	56	24	.	.	PROPN
alkej-283	56	25	12	12	NUM
alkej-283	56	26	,	,	PUNCT
alkej-283	56	27	no	no	INTJ
alkej-283	56	28	.	.	NOUN
alkej-283	56	29	1	1	NUM
alkej-283	56	30	,	,	PUNCT
alkej-283	56	31	p.p	p.p	PROPN
alkej-283	56	32	.	.	PROPN
alkej-283	56	33	4560	4560	NUM
alkej-283	56	34	(	(	PUNCT
alkej-283	56	35	2016	2016	NUM
alkej-283	56	36	)	)	PUNCT
alkej-283	56	37	47	47	NUM
alkej-283	56	38	ω	ω	NUM
alkej-283	56	39	�	�	PROPN
alkej-283	56	40	�	�	PROPN
alkej-283	56	41	=	=	PUNCT
alkej-283	56	42	!	!	PUNCT
alkej-283	56	43	"	"	PUNCT
alkej-283	56	44	�	�	PROPN
alkej-283	56	45	#	#	NOUN
alkej-283	56	46	�	�	NOUN
alkej-283	56	47	!	!	PUNCT
alkej-283	56	48	#	#	NOUN
alkej-283	56	49	…	…	PUNCT
alkej-283	56	50	(	(	PUNCT
alkej-283	56	51	3	3	NUM
alkej-283	56	52	)	)	PUNCT
alkej-283	56	53	thus	thus	ADV
alkej-283	56	54	:	:	PUNCT
alkej-283	56	55	$	$	SYM
alkej-283	56	56	�	�	PROPN
alkej-283	56	57	�	�	PROPN
alkej-283	56	58	=	=	SYM
alkej-283	56	59	ω	ω	PROPN
alkej-283	56	60	�	�	PROPN
alkej-283	56	61	�	�	PROPN
alkej-283	56	62	�	�	PROPN
alkej-283	56	63	%	%	PROPN
alkej-283	56	64	�	�	PROPN
alkej-283	56	65	�	�	PROPN
alkej-283	56	66	…	…	PUNCT
alkej-283	56	67	(	(	PUNCT
alkej-283	56	68	4	4	NUM
alkej-283	56	69	)	)	PUNCT
alkej-283	56	70	$	$	SYM
alkej-283	56	71	�	�	PROPN
alkej-283	56	72	�	�	PROPN
alkej-283	56	73	=	=	PROPN
alkej-283	56	74	&	&	CCONJ
alkej-283	56	75	rc	rc	PROPN
alkej-283	56	76	�	�	PROPN
alkej-283	56	77	�	�	PROPN
alkej-283	56	78	+	+	CCONJ
alkej-283	56	79	*	*	PUNCT
alkej-283	56	80	+	+	NUM
alkej-283	56	81	,	,	PUNCT
alkej-283	56	82	ω	ω	PROPN
alkej-283	56	83	�	�	PROPN
alkej-283	56	84	�	�	PROPN
alkej-283	56	85	…	…	PUNCT
alkej-283	56	86	(	(	PUNCT
alkej-283	56	87	5	5	NUM
alkej-283	56	88	)	)	PUNCT
alkej-283	56	89	$	$	SYM
alkej-283	56	90	�	�	PROPN
alkej-283	56	91	�	�	PROPN
alkej-283	56	92	�	�	PROPN
alkej-283	56	93	=	=	SYM
alkej-283	56	94	�	�	PROPN
alkej-283	56	95	rc	rc	PROPN
alkej-283	56	96	�	�	PROPN
alkej-283	56	97	�	�	PROPN
alkej-283	56	98	−	−	ADP
alkej-283	56	99	*	*	PUNCT
alkej-283	56	100	+	+	PROPN
alkej-283	56	101	�	�	PROPN
alkej-283	56	102	ω	ω	NUM
alkej-283	56	103	�	�	PROPN
alkej-283	56	104	�	�	PROPN
alkej-283	56	105	…	…	PUNCT
alkej-283	56	106	(	(	PUNCT
alkej-283	56	107	6	6	NUM
alkej-283	56	108	)	)	PUNCT
alkej-283	56	109	after	after	ADP
alkej-283	56	110	solving	solve	VERB
alkej-283	56	111	equations	equation	NOUN
alkej-283	56	112	2.3	2.3	NUM
alkej-283	56	113	and	and	CCONJ
alkej-283	56	114	2.4	2.4	NUM
alkej-283	56	115	,	,	PUNCT
alkej-283	56	116	then	then	ADV
alkej-283	56	117	find	find	VERB
alkej-283	56	118	the	the	DET
alkej-283	56	119	instantaneous	instantaneous	ADJ
alkej-283	56	120	center	center	NOUN
alkej-283	56	121	of	of	ADP
alkej-283	56	122	curvature	curvature	NOUN
alkej-283	56	123	mobile	mobile	ADJ
alkej-283	56	124	robot	robot	NOUN
alkej-283	56	125	(	(	PUNCT
alkej-283	56	126	iccm	iccm	NOUN
alkej-283	56	127	)	)	PUNCT
alkej-283	56	128	trajectory	trajectory	NOUN
alkej-283	56	129	relative	relative	ADJ
alkej-283	56	130	to	to	ADP
alkej-283	56	131	the	the	DET
alkej-283	56	132	mid	mid	ADJ
alkej-283	56	133	-	-	ADJ
alkej-283	56	134	point	point	ADJ
alkej-283	56	135	axis	axis	NOUN
alkej-283	56	136	(	(	PUNCT
alkej-283	56	137	c	c	NOUN
alkej-283	56	138	)	)	PUNCT
alkej-283	56	139	is	be	AUX
alkej-283	56	140	given	give	VERB
alkej-283	56	141	as	as	ADP
alkej-283	56	142	equation	equation	NOUN
alkej-283	56	143	2.5	2.5	NUM
alkej-283	57	1	[	[	X
alkej-283	57	2	9	9	NUM
alkej-283	57	3	]	]	PUNCT
alkej-283	57	4	.	.	PUNCT
alkej-283	58	1	�	�	PROPN
alkej-283	58	2	%	%	PROPN
alkej-283	58	3	�	�	PROPN
alkej-283	58	4	�	�	PROPN
alkej-283	58	5	=	=	PUNCT
alkej-283	58	6	*	*	PUNCT
alkej-283	58	7	�	�	PROPN
alkej-283	58	8	./	./	PROPN
alkej-283	58	9	�	�	PROPN
alkej-283	58	10	#	#	SYM
alkej-283	58	11	�	�	PROPN
alkej-283	58	12	0.1	0.1	NUM
alkej-283	58	13	�	�	PROPN
alkej-283	58	14	#	#	SYM
alkej-283	58	15	�	�	NOUN
alkej-283	58	16	�	�	PROPN
alkej-283	58	17	+	+	SYM
alkej-283	58	18	�	�	PROPN
alkej-283	58	19	./	./	PROPN
alkej-283	58	20	�	�	PROPN
alkej-283	58	21	#	#	SYM
alkej-283	58	22	�	�	PROPN
alkej-283	58	23	2.1	2.1	NUM
alkej-283	58	24	�	�	NOUN
alkej-283	58	25	#	#	SYM
alkej-283	58	26	�	�	NOUN
alkej-283	58	27	�	�	NOUN
alkej-283	58	28	…	…	PUNCT
alkej-283	58	29	(	(	PUNCT
alkej-283	58	30	7	7	NUM
alkej-283	58	31	)	)	PUNCT
alkej-283	58	32	the	the	DET
alkej-283	58	33	angular	angular	ADJ
alkej-283	58	34	velocity	velocity	NOUN
alkej-283	58	35	of	of	ADP
alkej-283	58	36	the	the	DET
alkej-283	58	37	mobile	mobile	ADJ
alkej-283	58	38	robot	robot	NOUN
alkej-283	58	39	is	be	AUX
alkej-283	58	40	[	[	X
alkej-283	58	41	11	11	NUM
alkej-283	58	42	]	]	SYM
alkej-283	58	43	:	:	PUNCT
alkej-283	58	44	ω	ω	NUM
alkej-283	58	45	�	�	PROPN
alkej-283	58	46	�	�	PROPN
alkej-283	58	47	=	=	SYM
alkej-283	58	48	�	�	PROPN
alkej-283	58	49	./	./	PROPN
alkej-283	58	50	�	�	PROPN
alkej-283	58	51	#	#	SYM
alkej-283	58	52	�	�	PROPN
alkej-283	58	53	2.1	2.1	NUM
alkej-283	58	54	�	�	NOUN
alkej-283	58	55	#	#	SYM
alkej-283	58	56	�	�	NOUN
alkej-283	58	57	�	�	PROPN
alkej-283	58	58	*	*	PUNCT
alkej-283	58	59	…	…	PUNCT
alkej-283	58	60	(	(	PUNCT
alkej-283	58	61	8)	8)	NUM
alkej-283	58	62	and	and	CCONJ
alkej-283	58	63	the	the	DET
alkej-283	58	64	linear	linear	ADJ
alkej-283	58	65	velocity	velocity	NOUN
alkej-283	58	66	of	of	ADP
alkej-283	58	67	the	the	DET
alkej-283	58	68	mobile	mobile	ADJ
alkej-283	58	69	robot	robot	NOUN
alkej-283	58	70	is	be	AUX
alkej-283	58	71	[	[	X
alkej-283	58	72	11	11	NUM
alkej-283	58	73	]	]	SYM
alkej-283	58	74	:	:	PUNCT
alkej-283	58	75	$	$	SYM
alkej-283	58	76	�	�	PROPN
alkej-283	58	77	�	�	PROPN
alkej-283	58	78	=	=	SYM
alkej-283	58	79	�	�	PROPN
alkej-283	58	80	./	./	PROPN
alkej-283	58	81	�	�	PROPN
alkej-283	58	82	#	#	SYM
alkej-283	58	83	�	�	PROPN
alkej-283	58	84	0.1	0.1	NUM
alkej-283	58	85	�	�	PROPN
alkej-283	58	86	#	#	SYM
alkej-283	58	87	�	�	NOUN
alkej-283	58	88	�	�	PROPN
alkej-283	58	89	+	+	NUM
alkej-283	58	90	…	…	PUNCT
alkej-283	58	91	(	(	PUNCT
alkej-283	58	92	9	9	NUM
alkej-283	58	93	)	)	PUNCT
alkej-283	58	94	it	it	PRON
alkej-283	58	95	is	be	AUX
alkej-283	58	96	simulated	simulate	VERB
alkej-283	58	97	that	that	SCONJ
alkej-283	58	98	the	the	DET
alkej-283	58	99	wheeled	wheel	VERB
alkej-283	58	100	mobile	mobile	ADJ
alkej-283	58	101	robot	robot	NOUN
alkej-283	58	102	below	below	ADP
alkej-283	58	103	the	the	DET
alkej-283	58	104	nonholonomic	nonholonomic	ADJ
alkej-283	58	105	constraint	constraint	NOUN
alkej-283	58	106	,	,	PUNCT
alkej-283	58	107	which	which	PRON
alkej-283	58	108	is	be	AUX
alkej-283	58	109	ideal	ideal	ADJ
alkej-283	58	110	rolling	roll	VERB
alkej-283	58	111	no	no	DET
alkej-283	58	112	skidding	skidding	NOUN
alkej-283	58	113	[	[	X
alkej-283	58	114	11	11	NUM
alkej-283	58	115	]	]	PUNCT
alkej-283	58	116	,	,	PUNCT
alkej-283	58	117	as	as	SCONJ
alkej-283	58	118	shown	show	VERB
alkej-283	58	119	in	in	ADP
alkej-283	58	120	(	(	PUNCT
alkej-283	58	121	2	2	NUM
alkej-283	58	122	):	):	PUNCT
alkej-283	58	123	−	−	PROPN
alkej-283	58	124	�	�	PROPN
alkej-283	58	125	�	�	PROPN
alkej-283	58	126	(	(	PUNCT
alkej-283	58	127	�	�	PROPN
alkej-283	58	128	345	345	NUM
alkej-283	58	129	�	�	PROPN
alkej-283	58	130	(	(	PUNCT
alkej-283	58	131	)	)	PUNCT
alkej-283	58	132	+	+	CCONJ
alkej-283	58	133	�	�	PROPN
alkej-283	58	134	�	�	PROPN
alkej-283	58	135	(	(	PUNCT
alkej-283	58	136	�	�	PROPN
alkej-283	58	137	%	%	NOUN
alkej-283	58	138	63	63	NUM
alkej-283	58	139	�	�	PROPN
alkej-283	58	140	(	(	PUNCT
alkej-283	58	141	)	)	PUNCT
alkej-283	59	1	=	=	SYM
alkej-283	59	2	0	0	NUM
alkej-283	59	3	…	…	PUNCT
alkej-283	59	4	(	(	PUNCT
alkej-283	59	5	10	10	NUM
alkej-283	59	6	)	)	PUNCT
alkej-283	59	7	the	the	DET
alkej-283	59	8	kinematics	kinematics	NOUN
alkej-283	59	9	equations	equation	NOUN
alkej-283	59	10	of	of	ADP
alkej-283	59	11	differential	differential	ADJ
alkej-283	59	12	wheeled	wheel	VERB
alkej-283	59	13	mobile	mobile	ADJ
alkej-283	59	14	robot	robot	NOUN
alkej-283	59	15	is	be	AUX
alkej-283	59	16	represented	represent	VERB
alkej-283	59	17	as	as	SCONJ
alkej-283	59	18	follows	follow	VERB
alkej-283	59	19	[	[	X
alkej-283	59	20	11	11	NUM
alkej-283	59	21	]	]	SYM
alkej-283	59	22	:	:	PUNCT
alkej-283	59	23	�	�	PROPN
alkej-283	59	24	�	�	PROPN
alkej-283	59	25	�	�	PROPN
alkej-283	59	26	�	�	PROPN
alkej-283	59	27	=	=	PUNCT
alkej-283	59	28	$	$	SYM
alkej-283	59	29	�	�	PROPN
alkej-283	59	30	�	�	PROPN
alkej-283	59	31	cos	cos	PROPN
alkej-283	59	32	�	�	PROPN
alkej-283	59	33	�	�	PROPN
alkej-283	59	34	�	�	PROPN
alkej-283	59	35	…	…	SYM
alkej-283	59	36	�	�	PROPN
alkej-283	59	37	11	11	NUM
alkej-283	59	38	�	�	PROPN
alkej-283	59	39	�	�	PROPN
alkej-283	59	40	�	�	PROPN
alkej-283	59	41	�	�	PROPN
alkej-283	59	42	�	�	PROPN
alkej-283	59	43	=	=	PUNCT
alkej-283	59	44	$	$	SYM
alkej-283	59	45	�	�	PROPN
alkej-283	59	46	�	�	PROPN
alkej-283	59	47	sin	sin	PROPN
alkej-283	59	48	�	�	PROPN
alkej-283	59	49	�	�	PROPN
alkej-283	59	50	�	�	PROPN
alkej-283	59	51	...	...	PUNCT
alkej-283	59	52	(	(	PUNCT
alkej-283	59	53	12	12	NUM
alkej-283	59	54	)	)	PUNCT
alkej-283	59	55	�	�	PROPN
alkej-283	59	56	�	�	PROPN
alkej-283	59	57	�	�	PROPN
alkej-283	59	58	�	�	PROPN
alkej-283	59	59	=	=	SYM
alkej-283	59	60	ω	ω	PROPN
alkej-283	59	61	�	�	PROPN
alkej-283	59	62	�	�	PROPN
alkej-283	59	63	…	…	SYM
alkej-283	59	64	�	�	PROPN
alkej-283	59	65	13	13	NUM
alkej-283	59	66	�	�	PROPN
alkej-283	59	67	in	in	ADP
alkej-283	59	68	order	order	NOUN
alkej-283	59	69	to	to	PART
alkej-283	59	70	obtain	obtain	VERB
alkej-283	59	71	the	the	DET
alkej-283	59	72	position	position	NOUN
alkej-283	59	73	and	and	CCONJ
alkej-283	59	74	orientation	orientation	NOUN
alkej-283	59	75	of	of	ADP
alkej-283	59	76	the	the	DET
alkej-283	59	77	wheeled	wheel	VERB
alkej-283	59	78	mobile	mobile	ADJ
alkej-283	59	79	robot	robot	NOUN
alkej-283	59	80	,	,	PUNCT
alkej-283	59	81	it	it	PRON
alkej-283	59	82	is	be	AUX
alkej-283	59	83	required	require	VERB
alkej-283	59	84	to	to	PART
alkej-283	59	85	integrate	integrate	VERB
alkej-283	59	86	equation	equation	NOUN
alkej-283	59	87	as	as	SCONJ
alkej-283	59	88	showed	show	VERB
alkej-283	59	89	below	below	ADP
alkej-283	59	90	[	[	X
alkej-283	59	91	12	12	NUM
alkej-283	59	92	]	]	X
alkej-283	59	93	:	:	PUNCT
alkej-283	59	94	�	�	PROPN
alkej-283	59	95	�	�	PROPN
alkej-283	59	96	�	�	PROPN
alkej-283	59	97	=	=	SYM
alkej-283	59	98	�	�	PROPN
alkej-283	59	99	=	=	PROPN
alkej-283	60	1	=	=	PROPN
alkej-283	60	2	+	+	CCONJ
alkej-283	60	3	>	>	SYM
alkej-283	60	4	$	$	SYM
alkej-283	60	5	�	�	PROPN
alkej-283	60	6	�	�	PROPN
alkej-283	60	7	cos	cos	PROPN
alkej-283	60	8	�	�	PROPN
alkej-283	60	9	�	�	PROPN
alkej-283	60	10	�	�	PROPN
alkej-283	60	11	?	?	PUNCT
alkej-283	61	1	#	#	NOUN
alkej-283	61	2	=	=	SYM
alkej-283	61	3	…	…	PUNCT
alkej-283	61	4	(	(	PUNCT
alkej-283	61	5	14	14	NUM
alkej-283	61	6	)	)	PUNCT
alkej-283	61	7	�	�	PROPN
alkej-283	61	8	�	�	PROPN
alkej-283	61	9	�	�	PROPN
alkej-283	61	10	=	=	SYM
alkej-283	61	11	�	�	PROPN
alkej-283	61	12	=	=	PROPN
alkej-283	61	13	=	=	PROPN
alkej-283	61	14	+	+	CCONJ
alkej-283	61	15	>	>	SYM
alkej-283	61	16	$	$	SYM
alkej-283	61	17	�	�	PROPN
alkej-283	61	18	�	�	PROPN
alkej-283	61	19	sin	sin	PROPN
alkej-283	61	20	�	�	PROPN
alkej-283	61	21	�	�	PROPN
alkej-283	61	22	�	�	PROPN
alkej-283	61	23	?	?	PUNCT
alkej-283	62	1	#	#	NOUN
alkej-283	62	2	=	=	SYM
alkej-283	62	3	…	…	PUNCT
alkej-283	62	4	(	(	PUNCT
alkej-283	62	5	15	15	NUM
alkej-283	62	6	)	)	PUNCT
alkej-283	62	7	�	�	PROPN
alkej-283	62	8	�	�	PROPN
alkej-283	62	9	�	�	PROPN
alkej-283	62	10	=	=	SYM
alkej-283	62	11	�	�	PROPN
alkej-283	62	12	=	=	PROPN
alkej-283	62	13	=	=	PROPN
alkej-283	62	14	+	+	CCONJ
alkej-283	62	15	>	>	X
alkej-283	62	16	ω	ω	NUM
alkej-283	62	17	�	�	PROPN
alkej-283	62	18	�	�	PROPN
alkej-283	62	19	?	?	PUNCT
alkej-283	63	1	#	#	NOUN
alkej-283	63	2	=	=	SYM
alkej-283	63	3	…	…	PUNCT
alkej-283	63	4	(	(	PUNCT
alkej-283	63	5	16	16	NUM
alkej-283	63	6	)	)	PUNCT
alkej-283	63	7	in	in	ADP
alkej-283	63	8	the	the	DET
alkej-283	63	9	computer	computer	NOUN
alkej-283	63	10	simulation	simulation	NOUN
alkej-283	63	11	,	,	PUNCT
alkej-283	63	12	the	the	DET
alkej-283	63	13	form	form	NOUN
alkej-283	63	14	of	of	ADP
alkej-283	63	15	the	the	DET
alkej-283	63	16	pose	pose	NOUN
alkej-283	63	17	(	(	PUNCT
alkej-283	63	18	position	position	NOUN
alkej-283	63	19	/	/	SYM
alkej-283	63	20	orientation	orientation	NOUN
alkej-283	63	21	)	)	PUNCT
alkej-283	63	22	equations	equation	NOUN
alkej-283	63	23	as	as	ADP
alkej-283	63	24	follows[11	follows[11	PROPN
alkej-283	63	25	]	]	PUNCT
alkej-283	63	26	:	:	PUNCT
alkej-283	63	27	�	�	PROPN
alkej-283	63	28	�	�	PROPN
alkej-283	63	29	�	�	PROPN
alkej-283	63	30	�	�	PROPN
alkej-283	63	31	�	�	PROPN
alkej-283	63	32	=	=	PUNCT
alkej-283	63	33	0.5[$	0.5[$	NOUN
alkej-283	63	34	�	�	PROPN
alkej-283	63	35	�	�	PROPN
alkej-283	63	36	�	�	PROPN
alkej-283	63	37	�	�	PROPN
alkej-283	63	38	+	+	CCONJ
alkej-283	63	39	$	$	SYM
alkej-283	63	40	�	�	PROPN
alkej-283	63	41	�	�	NOUN
alkej-283	63	42	�	�	PROPN
alkej-283	63	43	]	]	NOUN
alkej-283	63	44	%	%	NOUN
alkej-283	63	45	63	63	NUM
alkej-283	63	46	�	�	PROPN
alkej-283	63	47	�	�	PROPN
alkej-283	63	48	�	�	PROPN
alkej-283	63	49	�	�	PROPN
alkej-283	63	50	∆d	∆d	PROPN
alkej-283	63	51	+	+	PROPN
alkej-283	63	52	�	�	PROPN
alkej-283	63	53	�	�	PROPN
alkej-283	63	54	�	�	PROPN
alkej-283	63	55	−	−	PROPN
alkej-283	63	56	1	1	NUM
alkej-283	63	57	�	�	PROPN
alkej-283	63	58	…	…	PUNCT
alkej-283	63	59	(	(	PUNCT
alkej-283	63	60	17	17	NUM
alkej-283	63	61	)	)	PUNCT
alkej-283	63	62	�	�	PROPN
alkej-283	63	63	�	�	PROPN
alkej-283	63	64	�	�	PROPN
alkej-283	63	65	�	�	PROPN
alkej-283	63	66	�	�	PROPN
alkej-283	63	67	=	=	PUNCT
alkej-283	63	68	0.5[$	0.5[$	NOUN
alkej-283	63	69	�	�	PROPN
alkej-283	63	70	�	�	PROPN
alkej-283	63	71	�	�	PROPN
alkej-283	63	72	�	�	PROPN
alkej-283	63	73	+	+	CCONJ
alkej-283	63	74	$	$	SYM
alkej-283	63	75	�	�	PROPN
alkej-283	63	76	�	�	NOUN
alkej-283	63	77	�	�	PROPN
alkej-283	63	78	]	]	NUM
alkej-283	63	79	345	345	NUM
alkej-283	63	80	�	�	PROPN
alkej-283	63	81	�	�	PROPN
alkej-283	63	82	�	�	PROPN
alkej-283	63	83	�	�	PROPN
alkej-283	63	84	∆d	∆d	PROPN
alkej-283	63	85	+	+	PROPN
alkej-283	63	86	�	�	PROPN
alkej-283	63	87	�	�	PROPN
alkej-283	63	88	�	�	PROPN
alkej-283	63	89	−	−	PROPN
alkej-283	63	90	1	1	NUM
alkej-283	63	91	�	�	PROPN
alkej-283	63	92	…	…	PUNCT
alkej-283	63	93	(	(	PUNCT
alkej-283	63	94	18	18	NUM
alkej-283	63	95	)	)	PUNCT
alkej-283	63	96	�	�	PROPN
alkej-283	63	97	�	�	PROPN
alkej-283	63	98	�	�	PROPN
alkej-283	63	99	�	�	PROPN
alkej-283	63	100	�	�	PROPN
alkej-283	63	101	=	=	SYM
alkej-283	63	102	1	1	NUM
alkej-283	63	103	�	�	PROPN
alkej-283	63	104	�	�	PROPN
alkej-283	63	105	[	[	PUNCT
alkej-283	63	106	$	$	SYM
alkej-283	63	107	�	�	PROPN
alkej-283	63	108	�	�	PROPN
alkej-283	63	109	�	�	PROPN
alkej-283	63	110	�	�	PROPN
alkej-283	63	111	+	+	CCONJ
alkej-283	63	112	$	$	SYM
alkej-283	63	113	�	�	PROPN
alkej-283	63	114	�	�	NOUN
alkej-283	63	115	�	�	PROPN
alkej-283	63	116	]	]	SYM
alkej-283	63	117	∆d	∆d	PROPN
alkej-283	63	118	+	+	SYM
alkej-283	63	119	�	�	PROPN
alkej-283	63	120	�	�	PROPN
alkej-283	63	121	�	�	PROPN
alkej-283	63	122	−	−	PROPN
alkej-283	63	123	1	1	NUM
alkej-283	63	124	�	�	PROPN
alkej-283	63	125	…	…	PUNCT
alkej-283	63	126	(	(	PUNCT
alkej-283	63	127	19	19	NUM
alkej-283	63	128	)	)	PUNCT
alkej-283	63	129	where	where	SCONJ
alkej-283	63	130	�	�	PROPN
alkej-283	63	131	�	�	PROPN
alkej-283	63	132	�	�	PROPN
alkej-283	63	133	�	�	PROPN
alkej-283	63	134	�	�	PROPN
alkej-283	63	135	,	,	PUNCT
alkej-283	63	136	�	�	PROPN
alkej-283	63	137	�	�	PROPN
alkej-283	63	138	�	�	PROPN
alkej-283	63	139	�	�	PROPN
alkej-283	63	140	�	�	PROPN
alkej-283	63	141	,	,	PUNCT
alkej-283	63	142	�	�	PROPN
alkej-283	63	143	�	�	PROPN
alkej-283	63	144	�	�	PROPN
alkej-283	63	145	�	�	PROPN
alkej-283	63	146	�	�	PROPN
alkej-283	63	147	are	be	AUX
alkej-283	63	148	the	the	DET
alkej-283	63	149	elements	element	NOUN
alkej-283	63	150	of	of	ADP
alkej-283	63	151	the	the	DET
alkej-283	63	152	pose	pose	NOUN
alkej-283	63	153	(	(	PUNCT
alkej-283	63	154	position	position	NOUN
alkej-283	63	155	/	/	SYM
alkej-283	63	156	orientation	orientation	NOUN
alkej-283	63	157	)	)	PUNCT
alkej-283	63	158	at	at	ADP
alkej-283	63	159	l	l	NOUN
alkej-283	63	160	and	and	CCONJ
alkej-283	63	161	∆	∆	PROPN
alkej-283	63	162	.	.	PUNCT
alkej-283	64	1	3	3	X
alkej-283	64	2	.	.	X
alkej-283	64	3	the	the	DET
alkej-283	64	4	trajectory	trajectory	NOUN
alkej-283	64	5	tracking	track	VERB
alkej-283	64	6	controller	controller	NOUN
alkej-283	64	7	the	the	DET
alkej-283	64	8	suggested	suggest	VERB
alkej-283	64	9	building	building	NOUN
alkej-283	64	10	of	of	ADP
alkej-283	64	11	the	the	DET
alkej-283	64	12	nonlinear	nonlinear	ADJ
alkej-283	64	13	kinematic	kinematic	ADJ
alkej-283	64	14	neural	neural	ADJ
alkej-283	64	15	controller	controller	NOUN
alkej-283	64	16	may	may	AUX
alkej-283	64	17	be	be	AUX
alkej-283	64	18	addicted	addict	VERB
alkej-283	64	19	in	in	ADP
alkej-283	64	20	the	the	DET
alkej-283	64	21	style	style	NOUN
alkej-283	64	22	of	of	ADP
alkej-283	64	23	block	block	NOUN
alkej-283	64	24	diagram	diagram	NOUN
alkej-283	64	25	,	,	PUNCT
alkej-283	64	26	as	as	SCONJ
alkej-283	64	27	shown	show	VERB
alkej-283	64	28	in	in	ADP
alkej-283	64	29	fig	fig	NOUN
alkej-283	64	30	.	.	PUNCT
alkej-283	65	1	3	3	X
alkej-283	65	2	.	.	X
alkej-283	66	1	the	the	DET
alkej-283	66	2	access	access	NOUN
alkej-283	66	3	to	to	PART
alkej-283	66	4	control	control	VERB
alkej-283	66	5	the	the	DET
alkej-283	66	6	wheeled	wheel	VERB
alkej-283	66	7	mobile	mobile	ADJ
alkej-283	66	8	robot	robot	NOUN
alkej-283	66	9	build	build	VERB
alkej-283	66	10	upon	upon	SCONJ
alkej-283	66	11	the	the	DET
alkej-283	66	12	accessible	accessible	ADJ
alkej-283	66	13	information	information	NOUN
alkej-283	66	14	of	of	ADP
alkej-283	66	15	the	the	DET
alkej-283	66	16	unknown	unknown	ADJ
alkej-283	66	17	nonlinear	nonlinear	ADJ
alkej-283	66	18	system	system	NOUN
alkej-283	66	19	and	and	CCONJ
alkej-283	66	20	also	also	ADV
alkej-283	66	21	be	be	AUX
alkej-283	66	22	known	know	VERB
alkej-283	66	23	by	by	ADP
alkej-283	66	24	the	the	DET
alkej-283	66	25	inputoutput	inputoutput	NOUN
alkej-283	66	26	information	information	NOUN
alkej-283	66	27	and	and	CCONJ
alkej-283	66	28	the	the	DET
alkej-283	66	29	control	control	NOUN
alkej-283	66	30	design	design	NOUN
alkej-283	66	31	.	.	PUNCT
alkej-283	67	1	the	the	DET
alkej-283	67	2	hybrid	hybrid	ADJ
alkej-283	67	3	crossoved	crossove	VERB
alkej-283	67	4	firefly	firefly	NOUN
alkej-283	67	5	with	with	ADP
alkej-283	67	6	artificial	artificial	ADJ
alkej-283	67	7	bee	bee	NOUN
alkej-283	67	8	colony	colony	NOUN
alkej-283	67	9	(	(	PUNCT
alkej-283	67	10	cfa	cfa	PROPN
alkej-283	67	11	-	-	PUNCT
alkej-283	67	12	abc	abc	PROPN
alkej-283	67	13	)	)	PUNCT
alkej-283	67	14	optimization	optimization	NOUN
alkej-283	67	15	will	will	AUX
alkej-283	67	16	produce	produce	VERB
alkej-283	67	17	the	the	DET
alkej-283	67	18	optimal	optimal	ADJ
alkej-283	67	19	parameter	parameter	NOUN
alkej-283	67	20	for	for	ADP
alkej-283	67	21	the	the	DET
alkej-283	67	22	kinematic	kinematic	ADJ
alkej-283	67	23	neural	neural	ADJ
alkej-283	67	24	controller	controller	NOUN
alkej-283	67	25	to	to	PART
alkej-283	67	26	get	get	VERB
alkej-283	67	27	best	good	ADJ
alkej-283	67	28	velocity	velocity	NOUN
alkej-283	67	29	control	control	NOUN
alkej-283	67	30	signal	signal	NOUN
alkej-283	67	31	that	that	PRON
alkej-283	67	32	will	will	AUX
alkej-283	67	33	minimize	minimize	VERB
alkej-283	67	34	the	the	DET
alkej-283	67	35	pathing	pathing	NOUN
alkej-283	67	36	error	error	NOUN
alkej-283	67	37	of	of	ADP
alkej-283	67	38	the	the	DET
alkej-283	67	39	mobile	mobile	NOUN
alkej-283	67	40	robot	robot	NOUN
alkej-283	67	41	.	.	PUNCT
alkej-283	68	1	the	the	DET
alkej-283	68	2	feedback	feedback	NOUN
alkej-283	68	3	kinematic	kinematic	ADJ
alkej-283	68	4	controller	controller	NOUN
alkej-283	68	5	is	be	AUX
alkej-283	68	6	vital	vital	ADJ
alkej-283	68	7	to	to	PART
alkej-283	68	8	keep	keep	VERB
alkej-283	68	9	the	the	DET
alkej-283	68	10	trajectory	trajectory	NOUN
alkej-283	68	11	pathing	pathing	NOUN
alkej-283	68	12	error	error	NOUN
alkej-283	68	13	of	of	ADP
alkej-283	68	14	the	the	DET
alkej-283	68	15	wheeled	wheel	VERB
alkej-283	68	16	mobile	mobile	ADJ
alkej-283	68	17	robot	robot	NOUN
alkej-283	68	18	system	system	NOUN
alkej-283	68	19	when	when	SCONJ
alkej-283	68	20	the	the	DET
alkej-283	68	21	path	path	NOUN
alkej-283	68	22	of	of	ADP
alkej-283	68	23	the	the	DET
alkej-283	68	24	robot	robot	NOUN
alkej-283	68	25	obtained	obtain	VERB
alkej-283	68	26	from	from	ADP
alkej-283	68	27	the	the	DET
alkej-283	68	28	required	require	VERB
alkej-283	68	29	trajectory	trajectory	NOUN
alkej-283	68	30	event	event	NOUN
alkej-283	68	31	transient	transient	PROPN
alkej-283	68	32	state	state	NOUN
alkej-283	68	33	.	.	PUNCT
alkej-283	69	1	the	the	DET
alkej-283	69	2	exploration	exploration	NOUN
alkej-283	69	3	of	of	ADP
alkej-283	69	4	the	the	DET
alkej-283	69	5	wheeled	wheel	VERB
alkej-283	69	6	mobile	mobile	ADJ
alkej-283	69	7	robot	robot	NOUN
alkej-283	69	8	starts	start	VERB
alkej-283	69	9	with	with	ADP
alkej-283	69	10	generating	generate	VERB
alkej-283	69	11	the	the	DET
alkej-283	69	12	desired	desire	VERB
alkej-283	69	13	trajectory	trajectory	NOUN
alkej-283	69	14	where	where	SCONJ
alkej-283	69	15	�	�	PROPN
alkej-283	69	16	e	e	NOUN
alkej-283	69	17	=	=	SYM
alkej-283	69	18	[	[	X
alkej-283	69	19	�	�	X
alkej-283	69	20	e	e	PROPN
alkej-283	69	21	,	,	PUNCT
alkej-283	69	22	�	�	PROPN
alkej-283	69	23	e	e	PROPN
alkej-283	69	24	,	,	PUNCT
alkej-283	69	25	�	�	PROPN
alkej-283	69	26	e	e	NOUN
alkej-283	69	27	]	]	X
alkej-283	69	28	is	be	AUX
alkej-283	69	29	the	the	DET
alkej-283	69	30	desired	desire	VERB
alkej-283	69	31	pose	pose	NOUN
alkej-283	69	32	(	(	PUNCT
alkej-283	69	33	position/	position/	NUM
alkej-283	69	34	orientation	orientation	NOUN
alkej-283	69	35	)	)	PUNCT
alkej-283	69	36	of	of	ADP
alkej-283	69	37	the	the	DET
alkej-283	69	38	wheeled	wheel	VERB
alkej-283	69	39	mobile	mobile	ADJ
alkej-283	69	40	robot	robot	NOUN
alkej-283	69	41	[	[	X
alkej-283	69	42	11	11	NUM
alkej-283	69	43	]	]	PUNCT
alkej-283	69	44	.	.	PUNCT
alkej-283	70	1	this	this	PRON
alkej-283	70	2	desired	desire	VERB
alkej-283	70	3	pose	pose	NOUN
alkej-283	70	4	(	(	PUNCT
alkej-283	70	5	position/	position/	NUM
alkej-283	70	6	orientation	orientation	NOUN
alkej-283	70	7	)	)	PUNCT
alkej-283	70	8	is	be	AUX
alkej-283	70	9	used	use	VERB
alkej-283	70	10	by	by	ADP
alkej-283	70	11	the	the	DET
alkej-283	70	12	feedback	feedback	NOUN
alkej-283	70	13	kinematic	kinematic	NOUN
alkej-283	70	14	of	of	ADP
alkej-283	70	15	the	the	DET
alkej-283	70	16	wheeled	wheel	VERB
alkej-283	70	17	mobile	mobile	ADJ
alkej-283	70	18	robot	robot	NOUN
alkej-283	70	19	to	to	PART
alkej-283	70	20	produce	produce	VERB
alkej-283	70	21	the	the	DET
alkej-283	70	22	needed	need	VERB
alkej-283	70	23	linear	linear	ADJ
alkej-283	70	24	and	and	CCONJ
alkej-283	70	25	angular	angular	ADJ
alkej-283	70	26	velocities	velocity	NOUN
alkej-283	70	27	for	for	ADP
alkej-283	70	28	the	the	DET
alkej-283	70	29	described	describe	VERB
alkej-283	70	30	trajectory	trajectory	NOUN
alkej-283	70	31	with	with	ADP
alkej-283	70	32	the	the	DET
alkej-283	70	33	needed	need	VERB
alkej-283	70	34	orientation	orientation	NOUN
alkej-283	70	35	.	.	PUNCT
alkej-283	71	1	the	the	DET
alkej-283	71	2	error	error	NOUN
alkej-283	71	3	vector	vector	NOUN
alkej-283	71	4	is	be	AUX
alkej-283	71	5	then	then	ADV
alkej-283	71	6	mathematical	mathematical	ADJ
alkej-283	71	7	calculation	calculation	NOUN
alkej-283	71	8	by	by	ADP
alkej-283	71	9	examining	examine	VERB
alkej-283	71	10	the	the	DET
alkej-283	71	11	desired	desire	VERB
alkej-283	71	12	pose	pose	NOUN
alkej-283	71	13	(	(	PUNCT
alkej-283	71	14	position/	position/	NUM
alkej-283	71	15	orientation	orientation	NOUN
alkej-283	71	16	)	)	PUNCT
alkej-283	71	17	of	of	ADP
alkej-283	71	18	the	the	DET
alkej-283	71	19	wheeled	wheel	VERB
alkej-283	71	20	mobile	mobile	NOUN
alkej-283	71	21	with	with	ADP
alkej-283	71	22	the	the	DET
alkej-283	71	23	real	real	ADJ
alkej-283	71	24	pose	pose	NOUN
alkej-283	71	25	of	of	ADP
alkej-283	71	26	robot	robot	NOUN
alkej-283	71	27	structure	structure	NOUN
alkej-283	71	28	by	by	ADP
alkej-283	71	29	using	use	VERB
alkej-283	71	30	the	the	DET
alkej-283	71	31	rotational	rotational	ADJ
alkej-283	71	32	matrix	matrix	NOUN
alkej-283	71	33	.	.	PUNCT
alkej-283	72	1	this	this	DET
alkej-283	72	2	error	error	NOUN
alkej-283	72	3	signal	signal	NOUN
alkej-283	72	4	is	be	AUX
alkej-283	72	5	then	then	ADV
alkej-283	72	6	used	use	VERB
alkej-283	72	7	by	by	ADP
alkej-283	72	8	the	the	DET
alkej-283	72	9	controller	controller	NOUN
alkej-283	72	10	to	to	PART
alkej-283	72	11	generate	generate	VERB
alkej-283	72	12	a	a	DET
alkej-283	72	13	control	control	NOUN
alkej-283	72	14	action	action	NOUN
alkej-283	72	15	to	to	PART
alkej-283	72	16	obligate	obligate	VERB
alkej-283	72	17	the	the	DET
alkej-283	72	18	wheeled	wheel	VERB
alkej-283	72	19	mobile	mobile	ADJ
alkej-283	72	20	robot	robot	NOUN
alkej-283	72	21	to	to	PART
alkej-283	72	22	follow	follow	VERB
alkej-283	72	23	the	the	DET
alkej-283	72	24	desired	desire	VERB
alkej-283	72	25	path	path	NOUN
alkej-283	73	1	[	[	X
alkej-283	73	2	11,12	11,12	NOUN
alkej-283	73	3	]	]	PUNCT
alkej-283	73	4	.	.	PUNCT
alkej-283	74	1	the	the	DET
alkej-283	74	2	kinematic	kinematic	ADJ
alkej-283	74	3	illustrative	illustrative	NOUN
alkej-283	74	4	of	of	ADP
alkej-283	74	5	the	the	DET
alkej-283	74	6	wheeled	wheel	VERB
alkej-283	74	7	mobile	mobile	ADJ
alkej-283	74	8	robot	robot	NOUN
alkej-283	74	9	can	can	AUX
alkej-283	74	10	be	be	AUX
alkej-283	74	11	written	write	VERB
alkej-283	74	12	in	in	ADP
alkej-283	74	13	the	the	DET
alkej-283	74	14	model	model	NOUN
alkej-283	74	15	:	:	PUNCT
alkej-283	74	16	f	f	X
alkej-283	74	17	�	�	PROPN
alkej-283	74	18	�	�	PROPN
alkej-283	74	19	�	�	PROPN
alkej-283	74	20	�	�	PROPN
alkej-283	74	21	�	�	PROPN
alkej-283	74	22	�	�	PROPN
alkej-283	74	23	�	�	PROPN
alkej-283	74	24	�	�	PROPN
alkej-283	74	25	�	�	PROPN
alkej-283	74	26	�	�	PROPN
alkej-283	74	27	�	�	PROPN
alkej-283	74	28	�	�	PROPN
alkej-283	74	29	g=	g=	PROPN
alkej-283	74	30	�	�	PROPN
alkej-283	74	31	cos	cos	PROPN
alkej-283	74	32	�	�	PROPN
alkej-283	74	33	�	�	PROPN
alkej-283	74	34	�	�	PROPN
alkej-283	74	35	�	�	PROPN
alkej-283	74	36	�	�	PROPN
alkej-283	74	37	0sin	0sin	PROPN
alkej-283	74	38	�	�	PROPN
alkej-283	74	39	�	�	PROPN
alkej-283	74	40	�	�	PROPN
alkej-283	74	41	�	�	PROPN
alkej-283	74	42	�	�	PROPN
alkej-283	74	43	00	00	NUM
alkej-283	74	44	1	1	NUM
alkej-283	74	45	�	�	PROPN
alkej-283	74	46	h	h	NOUN
alkej-283	74	47	$	$	SYM
alkej-283	74	48	ωi	ωi	NUM
alkej-283	74	49	...	...	PUNCT
alkej-283	74	50	(	(	PUNCT
alkej-283	74	51	20	20	X
alkej-283	74	52	)	)	PUNCT
alkej-283	74	53	let	let	VERB
alkej-283	74	54	�	�	PROPN
alkej-283	74	55	�	�	PROPN
alkej-283	74	56	e	e	PROPN
alkej-283	74	57	,	,	PUNCT
alkej-283	74	58	�	�	PROPN
alkej-283	74	59	e	e	NOUN
alkej-283	74	60	�	�	PROPN
alkej-283	74	61	is	be	AUX
alkej-283	74	62	the	the	DET
alkej-283	74	63	desired	desire	VERB
alkej-283	74	64	position	position	NOUN
alkej-283	74	65	of	of	ADP
alkej-283	74	66	the	the	DET
alkej-283	74	67	wheeled	wheel	VERB
alkej-283	74	68	mobile	mobile	ADJ
alkej-283	74	69	robot	robot	NOUN
alkej-283	74	70	,	,	PUNCT
alkej-283	74	71	and	and	CCONJ
alkej-283	74	72	�	�	PROPN
alkej-283	74	73	e	e	NOUN
alkej-283	74	74	is	be	AUX
alkej-283	74	75	the	the	DET
alkej-283	74	76	desired	desire	VERB
alkej-283	74	77	orientation	orientation	NOUN
alkej-283	74	78	of	of	ADP
alkej-283	74	79	the	the	DET
alkej-283	74	80	wheeled	wheel	VERB
alkej-283	74	81	mobile	mobile	ADJ
alkej-283	74	82	robot	robot	NOUN
alkej-283	74	83	,	,	PUNCT
alkej-283	74	84	so	so	SCONJ
alkej-283	74	85	that	that	SCONJ
alkej-283	74	86	the	the	DET
alkej-283	74	87	desired	desire	VERB
alkej-283	74	88	posture	posture	NOUN
alkej-283	74	89	vector	vector	NOUN
alkej-283	74	90	is	be	AUX
alkej-283	74	91	�	�	NOUN
alkej-283	74	92	e	e	NOUN
alkej-283	74	93	=	=	SYM
alkej-283	75	1	[	[	X
alkej-283	75	2	�	�	PROPN
alkej-283	75	3	e	e	NOUN
alkej-283	75	4	,	,	PUNCT
alkej-283	75	5	�	�	PROPN
alkej-283	75	6	e	e	PROPN
alkej-283	75	7	,	,	PUNCT
alkej-283	75	8	�	�	PROPN
alkej-283	75	9	e	e	NOUN
alkej-283	75	10	]	]	PUNCT
alkej-283	75	11	.	.	PUNCT
alkej-283	76	1	the	the	DET
alkej-283	76	2	real	real	ADJ
alkej-283	76	3	position	position	NOUN
alkej-283	76	4	of	of	ADP
alkej-283	76	5	the	the	DET
alkej-283	76	6	wheeled	wheel	VERB
alkej-283	76	7	mobile	mobile	ADJ
alkej-283	76	8	robot	robot	NOUN
alkej-283	76	9	is	be	AUX
alkej-283	76	10	pretended	pretend	VERB
alkej-283	76	11	to	to	PART
alkej-283	76	12	be	be	AUX
alkej-283	76	13	�	�	PROPN
alkej-283	76	14	�	�	PROPN
alkej-283	76	15	,	,	PUNCT
alkej-283	76	16	�	�	PROPN
alkej-283	76	17	�	�	PROPN
alkej-283	76	18	and	and	CCONJ
alkej-283	76	19	the	the	DET
alkej-283	76	20	real	real	ADJ
alkej-283	76	21	orientation	orientation	NOUN
alkej-283	76	22	of	of	ADP
alkej-283	76	23	the	the	DET
alkej-283	76	24	wheeled	wheel	VERB
alkej-283	76	25	mobile	mobile	ADJ
alkej-283	76	26	robot	robot	NOUN
alkej-283	76	27	is	be	AUX
alkej-283	76	28	assumed	assume	VERB
alkej-283	76	29	to	to	PART
alkej-283	76	30	be	be	AUX
alkej-283	76	31	�	�	PROPN
alkej-283	76	32	,	,	PUNCT
alkej-283	76	33	so	so	SCONJ
alkej-283	76	34	that	that	SCONJ
alkej-283	76	35	the	the	DET
alkej-283	76	36	real	real	ADJ
alkej-283	76	37	posture	posture	NOUN
alkej-283	76	38	of	of	ADP
alkej-283	76	39	the	the	DET
alkej-283	76	40	mobile	mobile	ADJ
alkej-283	76	41	robot	robot	NOUN
alkej-283	76	42	is	be	AUX
alkej-283	76	43	�	�	X
alkej-283	76	44	�	�	PROPN
alkej-283	76	45	=	=	SYM
alkej-283	77	1	[	[	X
alkej-283	77	2	�	�	PROPN
alkej-283	77	3	,	,	PUNCT
alkej-283	77	4	�	�	PROPN
alkej-283	77	5	,	,	PUNCT
alkej-283	77	6	�	�	PROPN
alkej-283	77	7	]	]	PUNCT
alkej-283	77	8	.	.	PUNCT
alkej-283	78	1	then	then	ADV
alkej-283	78	2	the	the	DET
alkej-283	78	3	error	error	NOUN
alkej-283	78	4	j	j	NOUN
alkej-283	78	5	=	=	PUNCT
alkej-283	79	1	[	[	X
alkej-283	79	2	j	j	PROPN
alkej-283	79	3	�	�	PROPN
alkej-283	79	4	,	,	PUNCT
alkej-283	79	5	j	j	PROPN
alkej-283	79	6	�	�	PROPN
alkej-283	79	7	,	,	PUNCT
alkej-283	79	8	j	j	PROPN
alkej-283	79	9	�	�	PROPN
alkej-283	79	10	]	]	PUNCT
alkej-283	79	11	can	can	AUX
alkej-283	79	12	be	be	AUX
alkej-283	79	13	calculated	calculate	VERB
alkej-283	79	14	in	in	ADP
alkej-283	79	15	the	the	DET
alkej-283	79	16	global	global	ADJ
alkej-283	79	17	modal	modal	NOUN
alkej-283	79	18	:	:	PUNCT
alkej-283	79	19	nizar	nizar	PROPN
alkej-283	79	20	hadi	hadi	PROPN
alkej-283	79	21	abbas	abbas	PROPN
alkej-283	79	22	al	al	PROPN
alkej-283	79	23	-	-	PUNCT
alkej-283	79	24	khwarizmi	khwarizmi	PROPN
alkej-283	79	25	engineering	engineering	NOUN
alkej-283	79	26	journal	journal	PROPN
alkej-283	79	27	,	,	PUNCT
alkej-283	79	28	vol	vol	NOUN
alkej-283	79	29	.	.	PROPN
alkej-283	79	30	12	12	NUM
alkej-283	79	31	,	,	PUNCT
alkej-283	79	32	no	no	INTJ
alkej-283	79	33	.	.	NOUN
alkej-283	79	34	1	1	NUM
alkej-283	79	35	,	,	PUNCT
alkej-283	79	36	p.p	p.p	PROPN
alkej-283	79	37	.	.	PROPN
alkej-283	79	38	4560	4560	NUM
alkej-283	79	39	(	(	PUNCT
alkej-283	79	40	2016	2016	NUM
alkej-283	79	41	)	)	PUNCT
alkej-283	79	42	48	48	NUM
alkej-283	79	43	kj	kj	PROPN
alkej-283	79	44	�	�	PROPN
alkej-283	79	45	j	j	PROPN
alkej-283	79	46	�	�	PROPN
alkej-283	79	47	j	j	PROPN
alkej-283	79	48	�	�	PROPN
alkej-283	79	49	l	l	NOUN
alkej-283	79	50	=	=	SYM
alkej-283	79	51	�	�	PROPN
alkej-283	79	52	�	�	PROPN
alkej-283	79	53	e	e	PROPN
alkej-283	79	54	−	−	PROPN
alkej-283	79	55	�	�	PROPN
alkej-283	79	56	�	�	PROPN
alkej-283	79	57	e	e	PROPN
alkej-283	79	58	−	−	PROPN
alkej-283	79	59	�	�	PROPN
alkej-283	79	60	�	�	PROPN
alkej-283	79	61	e	e	PROPN
alkej-283	79	62	−	−	PROPN
alkej-283	79	63	�	�	PROPN
alkej-283	79	64	�	�	PROPN
alkej-283	79	65	…	…	PUNCT
alkej-283	79	66	(	(	PUNCT
alkej-283	79	67	21	21	NUM
alkej-283	79	68	)	)	PUNCT
alkej-283	79	69	the	the	DET
alkej-283	79	70	error	error	NOUN
alkej-283	79	71	vector	vector	NOUN
alkej-283	79	72	e	e	NOUN
alkej-283	79	73	needs	need	VERB
alkej-283	79	74	to	to	PART
alkej-283	79	75	be	be	AUX
alkej-283	79	76	transformation	transformation	NOUN
alkej-283	79	77	into	into	ADP
alkej-283	79	78	the	the	DET
alkej-283	79	79	wheeled	wheel	VERB
alkej-283	79	80	mobile	mobile	ADJ
alkej-283	79	81	robot	robot	NOUN
alkej-283	79	82	modal	modal	NOUN
alkej-283	79	83	by	by	ADP
alkej-283	79	84	using	use	VERB
alkej-283	79	85	the	the	DET
alkej-283	79	86	rotation	rotation	NOUN
alkej-283	79	87	matrix	matrix	NOUN
alkej-283	79	88	ŗ	ŗ	NOUN
alkej-283	80	1	[	[	X
alkej-283	80	2	11	11	NUM
alkej-283	80	3	]	]	PUNCT
alkej-283	80	4	:	:	PUNCT
alkej-283	80	5	the	the	DET
alkej-283	80	6	kinematic	kinematic	ADJ
alkej-283	80	7	neural	neural	ADJ
alkej-283	80	8	controller	controller	NOUN
alkej-283	80	9	consists	consist	VERB
alkej-283	80	10	of	of	ADP
alkej-283	80	11	two	two	NUM
alkej-283	80	12	layer	layer	NOUN
alkej-283	80	13	:	:	PUNCT
alkej-283	80	14	neural	neural	ADJ
alkej-283	80	15	network	network	NOUN
alkej-283	80	16	topology	topology	NOUN
alkej-283	80	17	and	and	CCONJ
alkej-283	80	18	optimization	optimization	NOUN
alkej-283	80	19	algorithms	algorithm	NOUN
alkej-283	80	20	.	.	PUNCT
alkej-283	81	1	3.1	3.1	NUM
alkej-283	81	2	the	the	DET
alkej-283	81	3	first	first	ADJ
alkej-283	81	4	layer	layer	NOUN
alkej-283	81	5	:	:	PUNCT
alkej-283	81	6	neural	neural	ADJ
alkej-283	81	7	network	network	NOUN
alkej-283	81	8	topology	topology	NOUN
alkej-283	81	9	the	the	DET
alkej-283	81	10	neural	neural	ADJ
alkej-283	81	11	network	network	NOUN
alkej-283	81	12	is	be	AUX
alkej-283	81	13	an	an	DET
alkej-283	81	14	arithmetical	arithmetical	ADJ
alkej-283	81	15	model	model	NOUN
alkej-283	81	16	inspired	inspire	VERB
alkej-283	81	17	by	by	ADP
alkej-283	81	18	biological	biological	ADJ
alkej-283	81	19	neural	neural	ADJ
alkej-283	81	20	networks	network	NOUN
alkej-283	81	21	.	.	PUNCT
alkej-283	82	1	a	a	DET
alkej-283	82	2	neural	neural	ADJ
alkej-283	82	3	network	network	NOUN
alkej-283	82	4	made	make	VERB
alkej-283	82	5	up	up	ADP
alkej-283	82	6	of	of	ADP
alkej-283	82	7	an	an	DET
alkej-283	82	8	interconnected	interconnected	ADJ
alkej-283	82	9	collection	collection	NOUN
alkej-283	82	10	of	of	ADP
alkej-283	82	11	neurons	neuron	NOUN
alkej-283	82	12	,	,	PUNCT
alkej-283	82	13	and	and	CCONJ
alkej-283	82	14	it	it	PRON
alkej-283	82	15	progresses	progress	VERB
alkej-283	82	16	information	information	NOUN
alkej-283	82	17	using	use	VERB
alkej-283	82	18	a	a	DET
alkej-283	82	19	connectionist	connectionist	ADJ
alkej-283	82	20	way	way	NOUN
alkej-283	82	21	to	to	PART
alkej-283	82	22	computation	computation	VERB
alkej-283	82	23	.	.	PUNCT
alkej-283	83	1	the	the	DET
alkej-283	83	2	solution	solution	NOUN
alkej-283	83	3	of	of	ADP
alkej-283	83	4	problem	problem	NOUN
alkej-283	83	5	of	of	ADP
alkej-283	83	6	control	control	NOUN
alkej-283	83	7	wheeled	wheel	VERB
alkej-283	83	8	mobile	mobile	ADJ
alkej-283	83	9	robot	robot	NOUN
alkej-283	83	10	requires	require	VERB
alkej-283	83	11	application	application	NOUN
alkej-283	83	12	of	of	ADP
alkej-283	83	13	complex	complex	ADJ
alkej-283	83	14	methods	method	NOUN
alkej-283	83	15	.	.	PUNCT
alkej-283	84	1	because	because	SCONJ
alkej-283	84	2	of	of	ADP
alkej-283	84	3	lack	lack	NOUN
alkej-283	84	4	of	of	ADP
alkej-283	84	5	a	a	DET
alkej-283	84	6	systematic	systematic	ADJ
alkej-283	84	7	approach	approach	NOUN
alkej-283	84	8	to	to	ADP
alkej-283	84	9	analysis	analysis	NOUN
alkej-283	84	10	and	and	CCONJ
alkej-283	84	11	synthesis	synthesis	NOUN
alkej-283	84	12	of	of	ADP
alkej-283	84	13	control	control	NOUN
alkej-283	84	14	of	of	ADP
alkej-283	84	15	nonlinear	nonlinear	ADJ
alkej-283	84	16	systems	system	NOUN
alkej-283	84	17	so	so	ADV
alkej-283	84	18	far	far	ADV
alkej-283	84	19	,	,	PUNCT
alkej-283	84	20	the	the	DET
alkej-283	84	21	artificial	artificial	ADJ
alkej-283	84	22	neural	neural	ADJ
alkej-283	84	23	networks	network	NOUN
alkej-283	84	24	became	become	VERB
alkej-283	84	25	an	an	DET
alkej-283	84	26	attractive	attractive	ADJ
alkej-283	84	27	tool	tool	NOUN
alkej-283	84	28	used	use	VERB
alkej-283	84	29	in	in	ADP
alkej-283	84	30	theory	theory	NOUN
alkej-283	84	31	of	of	ADP
alkej-283	84	32	nonlinear	nonlinear	ADJ
alkej-283	84	33	systems	system	NOUN
alkej-283	84	34	.	.	PUNCT
alkej-283	85	1	multilayer	multilayer	PROPN
alkej-283	85	2	perceptron	perceptron	PROPN
alkej-283	85	3	(	(	PUNCT
alkej-283	85	4	mlp	mlp	NOUN
alkej-283	85	5	)	)	PUNCT
alkej-283	85	6	neural	neural	ADJ
alkej-283	85	7	networks	network	NOUN
alkej-283	85	8	owe	owe	VERB
alkej-283	85	9	their	their	PRON
alkej-283	85	10	popularity	popularity	NOUN
alkej-283	85	11	to	to	ADP
alkej-283	85	12	properties	property	NOUN
alkej-283	85	13	like	like	ADP
alkej-283	85	14	:	:	PUNCT
alkej-283	85	15	possibility	possibility	NOUN
alkej-283	85	16	of	of	ADP
alkej-283	85	17	approxi	approxi	NOUN
alkej-283	85	18	jm	jm	PROPN
alkej-283	85	19	=	=	PUNCT
alkej-283	85	20	ŗ	ŗ	PROPN
alkej-283	85	21	∗	∗	X
alkej-283	85	22	j	j	PROPN
alkej-283	85	23	kj	kj	PROPN
alkej-283	85	24	�	�	PROPN
alkej-283	85	25	mj	mj	PROPN
alkej-283	85	26	�	�	PROPN
alkej-283	85	27	mj	mj	PROPN
alkej-283	85	28	�	�	PROPN
alkej-283	85	29	ml	ml	PROPN
alkej-283	85	30	=	=	PROPN
alkej-283	85	31	f	f	PROPN
alkej-283	85	32	cos	cos	PROPN
alkej-283	85	33	�	�	PROPN
alkej-283	85	34	�	�	PROPN
alkej-283	85	35	�	�	PROPN
alkej-283	85	36	�	�	PROPN
alkej-283	85	37	�	�	PROPN
alkej-283	85	38	sin	sin	PROPN
alkej-283	85	39	�	�	PROPN
alkej-283	85	40	�	�	PROPN
alkej-283	85	41	�	�	PROPN
alkej-283	85	42	�	�	PROPN
alkej-283	85	43	�	�	PROPN
alkej-283	85	44	0−	0−	NUM
alkej-283	85	45	sin	sin	PROPN
alkej-283	85	46	�	�	PROPN
alkej-283	85	47	�	�	PROPN
alkej-283	85	48	�	�	PROPN
alkej-283	85	49	�	�	PROPN
alkej-283	85	50	�	�	PROPN
alkej-283	85	51	cos	cos	PROPN
alkej-283	85	52	�	�	PROPN
alkej-283	85	53	�	�	PROPN
alkej-283	85	54	�	�	PROPN
alkej-283	85	55	�	�	PROPN
alkej-283	85	56	�	�	PROPN
alkej-283	85	57	00	00	NUM
alkej-283	85	58	0	0	NUM
alkej-283	85	59	1	1	NUM
alkej-283	85	60	g	g	PROPN
alkej-283	85	61	k	k	PROPN
alkej-283	85	62	j	j	PROPN
alkej-283	85	63	�	�	PROPN
alkej-283	85	64	j	j	PROPN
alkej-283	85	65	�	�	PROPN
alkej-283	85	66	j	j	PROPN
alkej-283	85	67	�	�	PROPN
alkej-283	85	68	l	l	NOUN
alkej-283	85	69	…	…	PUNCT
alkej-283	85	70	(	(	PUNCT
alkej-283	85	71	22	22	NUM
alkej-283	85	72	)	)	PUNCT
alkej-283	85	73	the	the	DET
alkej-283	85	74	error	error	NOUN
alkej-283	85	75	vector	vector	NOUN
alkej-283	85	76	em	em	PRON
alkej-283	85	77	is	be	AUX
alkej-283	85	78	augment	augment	NOUN
alkej-283	85	79	into	into	ADP
alkej-283	85	80	the	the	DET
alkej-283	85	81	controller	controller	NOUN
alkej-283	85	82	and	and	CCONJ
alkej-283	85	83	at	at	ADP
alkej-283	85	84	another	another	DET
alkej-283	85	85	time	time	NOUN
alkej-283	85	86	it	it	PRON
alkej-283	85	87	is	be	AUX
alkej-283	85	88	the	the	DET
alkej-283	85	89	accountability	accountability	NOUN
alkej-283	85	90	of	of	ADP
alkej-283	85	91	the	the	DET
alkej-283	85	92	controller	controller	NOUN
alkej-283	85	93	to	to	PART
alkej-283	85	94	generate	generate	VERB
alkej-283	85	95	the	the	DET
alkej-283	85	96	desired	desire	VERB
alkej-283	85	97	linear	linear	NOUN
alkej-283	85	98	and	and	CCONJ
alkej-283	85	99	angular	angular	ADJ
alkej-283	85	100	velocities	velocity	NOUN
alkej-283	85	101	to	to	PART
alkej-283	85	102	minimize	minimize	VERB
alkej-283	85	103	the	the	DET
alkej-283	85	104	error	error	NOUN
alkej-283	85	105	[	[	X
alkej-283	85	106	12	12	NUM
alkej-283	85	107	]	]	PUNCT
alkej-283	85	108	.	.	PUNCT
alkej-283	86	1	-mation	-mation	NOUN
alkej-283	86	2	of	of	ADP
alkej-283	86	3	arbitrary	arbitrary	ADJ
alkej-283	86	4	nonlinear	nonlinear	ADJ
alkej-283	86	5	mappings	mapping	NOUN
alkej-283	86	6	,	,	PUNCT
alkej-283	86	7	and	and	CCONJ
alkej-283	86	8	ability	ability	NOUN
alkej-283	86	9	of	of	ADP
alkej-283	86	10	learning	learning	NOUN
alkej-283	86	11	and	and	CCONJ
alkej-283	86	12	adaptation	adaptation	NOUN
alkej-283	86	13	[	[	X
alkej-283	86	14	13	13	NUM
alkej-283	86	15	,	,	PUNCT
alkej-283	86	16	14	14	NUM
alkej-283	86	17	]	]	PUNCT
alkej-283	86	18	.	.	PUNCT
alkej-283	87	1	let	let	VERB
alkej-283	87	2	as	as	SCONJ
alkej-283	87	3	consider	consider	VERB
alkej-283	87	4	multi	multi	ADJ
alkej-283	87	5	-	-	ADJ
alkej-283	87	6	layer	layer	ADJ
alkej-283	87	7	perceptron	perceptron	NOUN
alkej-283	87	8	(	(	PUNCT
alkej-283	87	9	mlp	mlp	NOUN
alkej-283	87	10	)	)	PUNCT
alkej-283	87	11	neural	neural	ADJ
alkej-283	87	12	networks	network	NOUN
alkej-283	87	13	shown	show	VERB
alkej-283	87	14	in	in	ADP
alkej-283	87	15	fig.4	fig.4	PROPN
alkej-283	87	16	.	.	PUNCT
alkej-283	88	1	the	the	DET
alkej-283	88	2	number	number	NOUN
alkej-283	88	3	of	of	ADP
alkej-283	88	4	the	the	DET
alkej-283	88	5	hidden	hide	VERB
alkej-283	88	6	layer	layer	NOUN
alkej-283	88	7	nodes	node	NOUN
alkej-283	88	8	can	can	AUX
alkej-283	88	9	be	be	AUX
alkej-283	88	10	changed	change	VERB
alkej-283	88	11	based	base	VERB
alkej-283	88	12	on	on	ADP
alkej-283	88	13	the	the	DET
alkej-283	88	14	required	require	VERB
alkej-283	88	15	efficiency	efficiency	NOUN
alkej-283	88	16	of	of	ADP
alkej-283	88	17	the	the	DET
alkej-283	88	18	mlp	mlp	PROPN
alkej-283	88	19	neural	neural	ADJ
alkej-283	88	20	network	network	NOUN
alkej-283	88	21	.	.	PUNCT
alkej-283	89	1	the	the	DET
alkej-283	89	2	acceptable	acceptable	ADJ
alkej-283	89	3	number	number	NOUN
alkej-283	89	4	of	of	ADP
alkej-283	89	5	hidden	hide	VERB
alkej-283	89	6	layer	layer	NOUN
alkej-283	89	7	nodes	node	NOUN
alkej-283	89	8	in	in	ADP
alkej-283	89	9	the	the	DET
alkej-283	89	10	beginning	beginning	NOUN
alkej-283	89	11	can	can	AUX
alkej-283	89	12	be	be	AUX
alkej-283	89	13	taken	take	VERB
alkej-283	89	14	equal	equal	ADJ
alkej-283	89	15	to	to	ADP
alkej-283	89	16	(	(	PUNCT
alkej-283	89	17	2m+1	2m+1	PROPN
alkej-283	89	18	)	)	PUNCT
alkej-283	89	19	from	from	ADP
alkej-283	89	20	[	[	X
alkej-283	89	21	12	12	NUM
alkej-283	89	22	]	]	PUNCT
alkej-283	89	23	.	.	PUNCT
alkej-283	90	1	the	the	DET
alkej-283	90	2	outturn	outturn	NOUN
alkej-283	90	3	of	of	ADP
alkej-283	90	4	the	the	DET
alkej-283	90	5	mlp	mlp	PROPN
alkej-283	90	6	neural	neural	ADJ
alkej-283	90	7	network	network	NOUN
alkej-283	90	8	is	be	AUX
alkej-283	90	9	considering	consider	VERB
alkej-283	90	10	as	as	ADP
alkej-283	90	11	follow	follow	VERB
alkej-283	90	12	:	:	PUNCT
alkej-283	90	13	$	$	SYM
alkej-283	90	14	�	�	PROPN
alkej-283	90	15	�	�	NOUN
alkej-283	90	16	�	�	PROPN
alkej-283	90	17	−	−	PROPN
alkej-283	90	18	1	1	NUM
alkej-283	90	19	�	�	PROPN
alkej-283	90	20	,	,	PUNCT
alkej-283	90	21	$	$	SYM
alkej-283	90	22	�	�	PROPN
alkej-283	90	23	�	�	PROPN
alkej-283	90	24	−	−	PROPN
alkej-283	90	25	1	1	NUM
alkej-283	90	26	�	�	PROPN
alkej-283	90	27	=	=	SYM
alkej-283	90	28	∑	∑	PUNCT
alkej-283	90	29	ℎ5dr	ℎ5dr	PROPN
alkej-283	90	30	∗	∗	PROPN
alkej-283	90	31	stuvuwx	stuvuwx	PROPN
alkej-283	90	32	*	*	PUNCT
alkej-283	90	33	−	−	PROPN
alkej-283	90	34	yz2	yz2	ADJ
alkej-283	90	35	…	…	PUNCT
alkej-283	90	36	(	(	PUNCT
alkej-283	90	37	23	23	NUM
alkej-283	90	38	)	)	PUNCT
alkej-283	90	39	where	where	SCONJ
alkej-283	90	40	hntj	hntj	NOUN
alkej-283	90	41	is	be	AUX
alkej-283	90	42	the	the	DET
alkej-283	90	43	output	output	NOUN
alkej-283	90	44	of	of	ADP
alkej-283	90	45	the	the	DET
alkej-283	90	46	hidden	hide	VERB
alkej-283	90	47	layer	layer	NOUN
alkej-283	90	48	node	node	PROPN
alkej-283	90	49	j	j	PROPN
alkej-283	90	50	and	and	CCONJ
alkej-283	90	51	is	be	AUX
alkej-283	90	52	being	be	AUX
alkej-283	90	53	considerate	considerate	ADJ
alkej-283	90	54	as	as	ADP
alkej-283	90	55	:	:	PUNCT
alkej-283	90	56	ℎ5dr	ℎ5dr	X
alkej-283	90	57	=	=	PUNCT
alkej-283	91	1	[	[	X
alkej-283	91	2	�	�	NOUN
alkej-283	91	3	?	?	NOUN
alkej-283	91	4	r	r	NOUN
alkej-283	91	5	�	�	NOUN
alkej-283	91	6	…	…	PUNCT
alkej-283	91	7	(	(	PUNCT
alkej-283	91	8	24	24	NUM
alkej-283	91	9	)	)	PUNCT
alkej-283	91	10	where	where	SCONJ
alkej-283	91	11	:	:	PUNCT
alkej-283	91	12	?	?	PUNCT
alkej-283	92	1	r	r	X
alkej-283	92	2	=	=	SYM
alkej-283	92	3	∑	∑	PUNCT
alkej-283	92	4	45\]d4v^^x	45\]d4v^^x	X
alkej-283	92	5	*	*	NOUN
alkej-283	92	6	∗	∗	PROPN
alkej-283	92	7	$	$	SYM
alkej-283	92	8	u^	u^	PROPN
alkej-283	92	9	−yr1	−yr1	INTJ
alkej-283	92	10	…	…	PUNCT
alkej-283	92	11	(	(	PUNCT
alkej-283	92	12	25	25	NUM
alkej-283	92	13	)	)	PUNCT
alkej-283	92	14	the	the	DET
alkej-283	92	15	outputs	output	NOUN
alkej-283	92	16	of	of	ADP
alkej-283	92	17	the	the	DET
alkej-283	92	18	mlp	mlp	PROPN
alkej-283	92	19	neural	neural	ADJ
alkej-283	92	20	networks	network	NOUN
alkej-283	92	21	that	that	PRON
alkej-283	92	22	can	can	AUX
alkej-283	92	23	be	be	AUX
alkej-283	92	24	reached	reach	VERB
alkej-283	92	25	from	from	ADP
alkej-283	92	26	the	the	DET
alkej-283	92	27	activation	activation	NOUN
alkej-283	92	28	function	function	NOUN
alkej-283	92	29	,	,	PUNCT
alkej-283	92	30	which	which	PRON
alkej-283	92	31	is	be	AUX
alkej-283	92	32	bipolar	bipolar	ADJ
alkej-283	92	33	sigmoid	sigmoid	NOUN
alkej-283	92	34	function	function	NOUN
alkej-283	92	35	is	be	AUX
alkej-283	92	36	as	as	SCONJ
alkej-283	92	37	follows	follow	VERB
alkej-283	92	38	:	:	PUNCT
alkej-283	93	1	[	[	X
alkej-283	93	2	�	�	NOUN
alkej-283	93	3	?	?	SYM
alkej-283	93	4	r	r	NOUN
alkej-283	93	5	�	�	NOUN
alkej-283	93	6	=	=	PUNCT
alkej-283	93	7	+	+	PROPN
alkej-283	93	8	*	*	ADJ
alkej-283	93	9	0_`j	0_`j	ADJ
alkej-283	93	10	-1	-1	PUNCT
alkej-283	93	11	…	…	PUNCT
alkej-283	93	12	(	(	PUNCT
alkej-283	93	13	26	26	NUM
alkej-283	93	14	)	)	PUNCT
alkej-283	93	15	the	the	DET
alkej-283	93	16	neural	neural	ADJ
alkej-283	93	17	network	network	NOUN
alkej-283	93	18	weights	weight	NOUN
alkej-283	93	19	(	(	PUNCT
alkej-283	93	20	control	control	NOUN
alkej-283	93	21	parameter	parameter	NOUN
alkej-283	93	22	)	)	PUNCT
alkej-283	93	23	vj	vj	PROPN
alkej-283	93	24	,	,	PUNCT
alkej-283	93	25	wkj	wkj	PROPN
alkej-283	93	26	,	,	PUNCT
alkej-283	93	27	yr1	yr1	PROPN
alkej-283	93	28	and	and	CCONJ
alkej-283	93	29	yz2	yz2	PROPN
alkej-283	93	30	are	be	AUX
alkej-283	93	31	adapted	adapt	VERB
alkej-283	93	32	using	use	VERB
alkej-283	93	33	optimization	optimization	NOUN
alkej-283	93	34	algorithms	algorithm	NOUN
alkej-283	93	35	,	,	PUNCT
alkej-283	93	36	describe	describe	VERB
alkej-283	93	37	as	as	ADP
alkej-283	93	38	the	the	DET
alkej-283	93	39	next	next	ADJ
alkej-283	93	40	section	section	NOUN
alkej-283	93	41	[	[	X
alkej-283	93	42	11	11	NUM
alkej-283	93	43	]	]	PUNCT
alkej-283	93	44	.	.	PUNCT
alkej-283	94	1	3.2	3.2	NUM
alkej-283	94	2	the	the	DET
alkej-283	94	3	second	second	ADJ
alkej-283	94	4	layer	layer	NOUN
alkej-283	94	5	:	:	PUNCT
alkej-283	94	6	optimization	optimization	NOUN
alkej-283	94	7	algorithm	algorithm	NOUN
alkej-283	94	8	3.2.1	3.2.1	NUM
alkej-283	94	9	firefly	firefly	NOUN
alkej-283	94	10	algorithm	algorithm	NOUN
alkej-283	94	11	now	now	ADV
alkej-283	94	12	delineated	delineate	VERB
alkej-283	94	13	the	the	DET
alkej-283	94	14	primary	primary	ADJ
alkej-283	94	15	parts	part	NOUN
alkej-283	94	16	of	of	ADP
alkej-283	94	17	the	the	DET
alkej-283	94	18	firefly	firefly	NOUN
alkej-283	94	19	algorithm	algorithm	NOUN
alkej-283	94	20	developed	develop	VERB
alkej-283	94	21	by	by	ADP
alkej-283	94	22	xin	xin	PROPN
alkej-283	94	23	-	-	PROPN
alkej-283	94	24	she	she	PRON
alkej-283	94	25	yang	yang	PROPN
alkej-283	94	26	at	at	ADP
alkej-283	94	27	cambridge	cambridge	PROPN
alkej-283	94	28	university	university	PROPN
alkej-283	94	29	[	[	X
alkej-283	94	30	8	8	NUM
alkej-283	94	31	]	]	PUNCT
alkej-283	94	32	is	be	AUX
alkej-283	94	33	briefly	briefly	ADV
alkej-283	94	34	described	describe	VERB
alkej-283	94	35	.	.	PUNCT
alkej-283	95	1	the	the	DET
alkej-283	95	2	fa	fa	PROPN
alkej-283	95	3	is	be	AUX
alkej-283	95	4	inspired	inspire	VERB
alkej-283	95	5	from	from	ADP
alkej-283	95	6	the	the	DET
alkej-283	95	7	flash	flash	NOUN
alkej-283	95	8	model	model	NOUN
alkej-283	95	9	and	and	CCONJ
alkej-283	95	10	features	feature	NOUN
alkej-283	95	11	of	of	ADP
alkej-283	95	12	fireflies	firefly	NOUN
alkej-283	95	13	.	.	PUNCT
alkej-283	96	1	in	in	ADP
alkej-283	96	2	order	order	NOUN
alkej-283	96	3	to	to	ADP
alkej-283	96	4	describing	describe	VERB
alkej-283	96	5	the	the	DET
alkej-283	96	6	algorithm	algorithm	NOUN
alkej-283	96	7	in	in	ADP
alkej-283	96	8	the	the	DET
alkej-283	96	9	simple	simple	ADJ
alkej-283	96	10	manner	manner	NOUN
alkej-283	96	11	the	the	DET
alkej-283	96	12	following	follow	VERB
alkej-283	96	13	three	three	NUM
alkej-283	96	14	idealised	idealised	ADJ
alkej-283	96	15	rules	rule	NOUN
alkej-283	96	16	are	be	AUX
alkej-283	96	17	used	use	VERB
alkej-283	96	18	:	:	PUNCT
alkej-283	96	19	1	1	X
alkej-283	96	20	)	)	PUNCT
alkej-283	96	21	whole	whole	ADJ
alkej-283	96	22	fireflies	firefly	NOUN
alkej-283	96	23	are	be	AUX
alkej-283	96	24	unisex	unisex	NOUN
alkej-283	96	25	so	so	SCONJ
alkej-283	96	26	that	that	SCONJ
alkej-283	96	27	each	each	DET
alkej-283	96	28	firefly	firefly	NOUN
alkej-283	96	29	will	will	AUX
alkej-283	96	30	be	be	AUX
alkej-283	96	31	appealed	appeal	VERB
alkej-283	96	32	to	to	ADP
alkej-283	96	33	other	other	ADJ
alkej-283	96	34	fireflies	firefly	NOUN
alkej-283	96	35	careless	careless	ADJ
alkej-283	96	36	of	of	ADP
alkej-283	96	37	their	their	PRON
alkej-283	96	38	sex	sex	NOUN
alkej-283	96	39	.	.	NOUN
alkej-283	97	1	2	2	NUM
alkej-283	97	2	)	)	PUNCT
alkej-283	97	3	appealingness	appealingness	NOUN
alkej-283	97	4	is	be	AUX
alkej-283	97	5	relative	relative	ADJ
alkej-283	97	6	to	to	ADP
alkej-283	97	7	their	their	PRON
alkej-283	97	8	luminousness	luminousness	NOUN
alkej-283	97	9	,	,	PUNCT
alkej-283	97	10	thus	thus	ADV
alkej-283	97	11	for	for	ADP
alkej-283	97	12	any	any	DET
alkej-283	97	13	two	two	NUM
alkej-283	97	14	blinking	blink	VERB
alkej-283	97	15	fireflies	firefly	NOUN
alkej-283	97	16	,	,	PUNCT
alkej-283	97	17	the	the	DET
alkej-283	97	18	less	less	ADV
alkej-283	97	19	shinier	shiny	ADJ
alkej-283	97	20	one	one	PRON
alkej-283	97	21	will	will	AUX
alkej-283	97	22	move	move	VERB
alkej-283	97	23	towards	towards	ADP
alkej-283	97	24	the	the	DET
alkej-283	97	25	shinier	shiny	ADJ
alkej-283	97	26	one	one	NOUN
alkej-283	97	27	.	.	PUNCT
alkej-283	98	1	the	the	DET
alkej-283	98	2	appealingness	appealingness	NOUN
alkej-283	98	3	is	be	AUX
alkej-283	98	4	relative	relative	ADJ
alkej-283	98	5	to	to	ADP
alkej-283	98	6	the	the	DET
alkej-283	98	7	luminousness	luminousness	NOUN
alkej-283	98	8	and	and	CCONJ
alkej-283	98	9	they	they	PRON
alkej-283	98	10	both	both	DET
alkej-283	98	11	reduction	reduction	NOUN
alkej-283	98	12	as	as	ADP
alkej-283	98	13	their	their	PRON
alkej-283	98	14	distance	distance	NOUN
alkej-283	98	15	increments	increment	NOUN
alkej-283	98	16	.	.	PUNCT
alkej-283	99	1	if	if	SCONJ
alkej-283	99	2	there	there	PRON
alkej-283	99	3	is	be	VERB
alkej-283	99	4	no	no	DET
alkej-283	99	5	shinier	shiny	ADJ
alkej-283	99	6	one	one	NUM
alkej-283	99	7	than	than	ADP
alkej-283	99	8	a	a	DET
alkej-283	99	9	appropriate	appropriate	ADJ
alkej-283	99	10	firefly	firefly	NOUN
alkej-283	99	11	,	,	PUNCT
alkej-283	99	12	it	it	PRON
alkej-283	99	13	will	will	AUX
alkej-283	99	14	be	be	AUX
alkej-283	99	15	motion	motion	NOUN
alkej-283	99	16	randomly	randomly	ADV
alkej-283	99	17	.	.	PUNCT
alkej-283	100	1	3	3	X
alkej-283	100	2	)	)	PUNCT
alkej-283	100	3	the	the	DET
alkej-283	100	4	luminousness	luminousness	NOUN
alkej-283	100	5	of	of	ADP
alkej-283	100	6	a	a	DET
alkej-283	100	7	firefly	firefly	NOUN
alkej-283	100	8	is	be	AUX
alkej-283	100	9	determined	determine	VERB
alkej-283	100	10	by	by	ADP
alkej-283	100	11	the	the	DET
alkej-283	100	12	mural	mural	NOUN
alkej-283	100	13	of	of	ADP
alkej-283	100	14	the	the	DET
alkej-283	100	15	objective	objective	ADJ
alkej-283	100	16	function	function	NOUN
alkej-283	100	17	.	.	PUNCT
alkej-283	101	1	in	in	ADP
alkej-283	101	2	the	the	DET
alkej-283	101	3	firefly	firefly	NOUN
alkej-283	101	4	algorithm	algorithm	NOUN
alkej-283	101	5	,	,	PUNCT
alkej-283	101	6	there	there	PRON
alkej-283	101	7	are	be	VERB
alkej-283	101	8	two	two	NUM
alkej-283	101	9	significant	significant	ADJ
alkej-283	101	10	events	event	NOUN
alkej-283	101	11	:	:	PUNCT
alkej-283	101	12	the	the	DET
alkej-283	101	13	fluctuation	fluctuation	NOUN
alkej-283	101	14	of	of	ADP
alkej-283	101	15	flash	flash	NOUN
alkej-283	101	16	intensity	intensity	NOUN
alkej-283	101	17	and	and	CCONJ
alkej-283	101	18	creation	creation	NOUN
alkej-283	101	19	of	of	ADP
alkej-283	101	20	the	the	DET
alkej-283	101	21	luminousness	luminousness	NOUN
alkej-283	101	22	.	.	PUNCT
alkej-283	102	1	for	for	ADP
alkej-283	102	2	easiness	easiness	NOUN
alkej-283	102	3	,	,	PUNCT
alkej-283	102	4	the	the	DET
alkej-283	102	5	luminousness	luminousness	NOUN
alkej-283	102	6	of	of	ADP
alkej-283	102	7	a	a	DET
alkej-283	102	8	firefly	firefly	NOUN
alkej-283	102	9	was	be	AUX
alkej-283	102	10	determined	determine	VERB
alkej-283	102	11	by	by	ADP
alkej-283	102	12	its	its	PRON
alkej-283	102	13	shininess	shininess	NOUN
alkej-283	102	14	which	which	PRON
alkej-283	102	15	in	in	ADP
alkej-283	102	16	movement	movement	NOUN
alkej-283	102	17	is	be	AUX
alkej-283	102	18	related	relate	VERB
alkej-283	102	19	with	with	ADP
alkej-283	102	20	the	the	DET
alkej-283	102	21	objective	objective	ADJ
alkej-283	102	22	function	function	NOUN
alkej-283	102	23	.	.	PUNCT
alkej-283	103	1	in	in	ADP
alkej-283	103	2	the	the	DET
alkej-283	103	3	clear	clear	ADJ
alkej-283	103	4	form	form	NOUN
alkej-283	103	5	,	,	PUNCT
alkej-283	103	6	the	the	DET
alkej-283	103	7	flash	flash	NOUN
alkej-283	103	8	intensity	intensity	NOUN
alkej-283	103	9	[	[	X
alkej-283	103	10	�	�	NOUN
alkej-283	103	11	aa	aa	ADJ
alkej-283	103	12	�	�	PROPN
alkej-283	103	13	changes	change	NOUN
alkej-283	103	14	consorting	consort	VERB
alkej-283	103	15	to	to	ADP
alkej-283	103	16	the	the	DET
alkej-283	103	17	reverse	reverse	ADJ
alkej-283	103	18	square	square	PROPN
alkej-283	103	19	law([	law([	PROPN
alkej-283	103	20	�	�	PROPN
alkej-283	103	21	aa	aa	NOUN
alkej-283	103	22	�	�	PROPN
alkej-283	103	23	=	=	SYM
alkej-283	103	24	bceed	bceed	PROPN
alkej-283	103	25	�	�	PROPN
alkej-283	104	1	[	[	X
alkej-283	104	2	8	8	NUM
alkej-283	104	3	]	]	PUNCT
alkej-283	104	4	.	.	PUNCT
alkej-283	105	1	for	for	ADP
alkej-283	105	2	a	a	DET
alkej-283	105	3	given	give	VERB
alkej-283	105	4	modal	modal	NOUN
alkej-283	105	5	with	with	ADP
alkej-283	105	6	a	a	DET
alkej-283	105	7	fixated	fixated	ADJ
alkej-283	105	8	flash	flash	NOUN
alkej-283	105	9	absorption	absorption	NOUN
alkej-283	105	10	coefficient	coefficient	NOUN
alkej-283	105	11	e	e	NOUN
alkej-283	105	12	,	,	PUNCT
alkej-283	105	13	the	the	DET
alkej-283	105	14	flash	flash	NOUN
alkej-283	105	15	intensity	intensity	NOUN
alkej-283	105	16	[	[	PUNCT
alkej-283	105	17	changes	change	NOUN
alkej-283	105	18	with	with	ADP
alkej-283	105	19	the	the	DET
alkej-283	105	20	distance	distance	NOUN
alkej-283	105	21	rr	rr	NOUN
alkej-283	106	1	[	[	X
alkej-283	106	2	22	22	NUM
alkej-283	106	3	]	]	PUNCT
alkej-283	106	4	,	,	PUNCT
alkej-283	106	5	that	that	ADV
alkej-283	106	6	is	be	AUX
alkej-283	106	7	[	[	PUNCT
alkej-283	106	8	=	=	SYM
alkej-283	106	9	[	[	X
alkej-283	106	10	=	=	X
alkej-283	106	11	j2fee	j2fee	NOUN
alkej-283	106	12	…	…	PUNCT
alkej-283	106	13	(	(	PUNCT
alkej-283	106	14	27	27	NUM
alkej-283	106	15	)	)	PUNCT
alkej-283	106	16	nizar	nizar	PROPN
alkej-283	106	17	hadi	hadi	PROPN
alkej-283	106	18	abbas	abbas	PROPN
alkej-283	106	19	al	al	PROPN
alkej-283	106	20	-	-	PUNCT
alkej-283	106	21	khwarizmi	khwarizmi	PROPN
alkej-283	106	22	engineering	engineering	NOUN
alkej-283	106	23	journal	journal	PROPN
alkej-283	106	24	,	,	PUNCT
alkej-283	106	25	vol	vol	NOUN
alkej-283	106	26	.	.	PROPN
alkej-283	106	27	12	12	NUM
alkej-283	106	28	,	,	PUNCT
alkej-283	106	29	no	no	INTJ
alkej-283	106	30	.	.	NOUN
alkej-283	106	31	1	1	NUM
alkej-283	106	32	,	,	PUNCT
alkej-283	106	33	p.p	p.p	PROPN
alkej-283	106	34	.	.	PROPN
alkej-283	106	35	4560	4560	NUM
alkej-283	106	36	(	(	PUNCT
alkej-283	106	37	2016	2016	NUM
alkej-283	106	38	)	)	PUNCT
alkej-283	106	39	49	49	NUM
alkej-283	106	40	as	as	ADP
alkej-283	106	41	a	a	DET
alkej-283	106	42	firefly	firefly	NOUN
alkej-283	106	43	's	's	PART
alkej-283	106	44	luminousness	luminousness	NOUN
alkej-283	106	45	is	be	AUX
alkej-283	106	46	relative	relative	ADJ
alkej-283	106	47	to	to	ADP
alkej-283	106	48	the	the	DET
alkej-283	106	49	flash	flash	NOUN
alkej-283	106	50	intensity	intensity	NOUN
alkej-283	106	51	seen	see	VERB
alkej-283	106	52	by	by	ADP
alkej-283	106	53	neighboring	neighboring	NOUN
alkej-283	106	54	fireflies	firefly	NOUN
alkej-283	106	55	,	,	PUNCT
alkej-283	106	56	the	the	DET
alkej-283	106	57	luminousness	luminousness	PROPN
alkej-283	106	58	g	g	PROPN
alkej-283	106	59	�	�	PROPN
alkej-283	106	60	of	of	ADP
alkej-283	106	61	a	a	DET
alkej-283	106	62	firefly	firefly	NOUN
alkej-283	106	63	was	be	AUX
alkej-283	106	64	specified	specify	VERB
alkej-283	106	65	by	by	ADP
alkej-283	106	66	[	[	X
alkej-283	106	67	8	8	NUM
alkej-283	106	68	]	]	PUNCT
alkej-283	106	69	:	:	PUNCT
alkej-283	106	70	g	g	PROPN
alkej-283	106	71	�	�	PROPN
alkej-283	106	72	=	=	SYM
alkej-283	106	73	g	g	NOUN
alkej-283	106	74	�	�	PROPN
alkej-283	106	75	=j2feed	=j2feed	NOUN
alkej-283	106	76	…	…	SYM
alkej-283	106	77	�	�	PROPN
alkej-283	106	78	28	28	NUM
alkej-283	106	79	�	�	PROPN
alkej-283	106	80	the	the	DET
alkej-283	106	81	distance	distance	NOUN
alkej-283	106	82	between	between	ADP
alkej-283	106	83	any	any	DET
alkej-283	106	84	two	two	NUM
alkej-283	106	85	fireflies	firefly	NOUN
alkej-283	106	86	41	41	NUM
alkej-283	106	87	and	and	CCONJ
alkej-283	106	88	r1	r1	PROPN
alkej-283	106	89	at	at	ADP
alkej-283	106	90	�	�	NOUN
alkej-283	106	91	i^	i^	NOUN
alkej-283	106	92	*	*	PUNCT
alkej-283	106	93	and	and	CCONJ
alkej-283	106	94	�	�	PROPN
alkej-283	106	95	iu	iu	NOUN
alkej-283	106	96	*	*	NOUN
alkej-283	106	97	,	,	PUNCT
alkej-283	106	98	specifically	specifically	ADV
alkej-283	106	99	,	,	PUNCT
alkej-283	106	100	is	be	AUX
alkej-283	106	101	the	the	DET
alkej-283	106	102	cartesian	cartesian	ADJ
alkej-283	106	103	form	form	NOUN
alkej-283	106	104	[	[	X
alkej-283	106	105	22	22	NUM
alkej-283	106	106	]	]	X
alkej-283	106	107	:	:	PUNCT
alkej-283	106	108	a41r1	a41r1	PROPN
alkej-283	106	109	=	=	SYM
alkej-283	106	110	j	j	PROPN
alkej-283	106	111	�	�	PROPN
alkej-283	106	112	i^	i^	VERB
alkej-283	106	113	*	*	PUNCT
alkej-283	106	114	−	−	PROPN
alkej-283	106	115	�	�	PROPN
alkej-283	106	116	iu*j	iu*j	NOUN
alkej-283	106	117	=	=	SYM
alkej-283	106	118	k∑	k∑	PROPN
alkej-283	106	119	�	�	PROPN
alkej-283	106	120	�	�	PROPN
alkej-283	106	121	i^*,l	i^*,l	PROPN
alkej-283	106	122	−	−	PROPN
alkej-283	106	123	�	�	PROPN
alkej-283	106	124	iu*,l	iu*,l	PROPN
alkej-283	106	125	�	�	PROPN
alkej-283	106	126	+!lx	+!lx	PROPN
alkej-283	106	127	*	*	PUNCT
alkej-283	106	128	…	…	PUNCT
alkej-283	106	129	(	(	PUNCT
alkej-283	106	130	29	29	NUM
alkej-283	106	131	)	)	PUNCT
alkej-283	106	132	where	where	SCONJ
alkej-283	106	133	�	�	NOUN
alkej-283	106	134	i^,l	i^,l	NOUN
alkej-283	106	135	is	be	AUX
alkej-283	106	136	the	the	DET
alkej-283	106	137	mth	mth	NOUN
alkej-283	106	138	component	component	NOUN
alkej-283	106	139	of	of	ADP
alkej-283	106	140	the	the	DET
alkej-283	106	141	relating	relate	VERB
alkej-283	106	142	coordinate	coordinate	NOUN
alkej-283	106	143	�	�	NOUN
alkej-283	106	144	i^	i^	NOUN
alkej-283	106	145	of	of	ADP
alkej-283	106	146	ith	ith	PROPN
alkej-283	106	147	firefly	firefly	NOUN
alkej-283	106	148	,	,	PUNCT
alkej-283	106	149	in	in	ADP
alkej-283	106	150	the	the	DET
alkej-283	106	151	2	2	NUM
alkej-283	106	152	-	-	PUNCT
alkej-283	106	153	d	d	NOUN
alkej-283	106	154	case	case	NOUN
alkej-283	106	155	as	as	SCONJ
alkej-283	106	156	shown	show	VERB
alkej-283	106	157	in	in	ADP
alkej-283	106	158	eq	eq	ADP
alkej-283	106	159	.	.	PUNCT
alkej-283	107	1	(	(	PUNCT
alkej-283	107	2	30	30	NUM
alkej-283	107	3	)	)	PUNCT
alkej-283	107	4	,	,	PUNCT
alkej-283	107	5	from	from	ADP
alkej-283	107	6	[	[	X
alkej-283	107	7	22	22	NUM
alkej-283	107	8	]	]	X
alkej-283	107	9	:	:	PUNCT
alkej-283	107	10	aa41r1	aa41r1	PROPN
alkej-283	107	11	=	=	SYM
alkej-283	107	12	k	k	X
alkej-283	107	13	�	�	PROPN
alkej-283	107	14	�	�	NOUN
alkej-283	107	15	i^	i^	NOUN
alkej-283	107	16	*	*	PUNCT
alkej-283	107	17	−	−	PROPN
alkej-283	107	18	�	�	PROPN
alkej-283	107	19	iu*	iu*	NOUN
alkej-283	107	20	�	�	PROPN
alkej-283	107	21	+	+	CCONJ
alkej-283	107	22	+	+	NUM
alkej-283	107	23	�	�	PROPN
alkej-283	107	24	�	�	NOUN
alkej-283	107	25	i^	i^	NOUN
alkej-283	107	26	*	*	PUNCT
alkej-283	107	27	−	−	NUM
alkej-283	107	28	�	�	PROPN
alkej-283	107	29	iu*	iu*	NOUN
alkej-283	107	30	�	�	PROPN
alkej-283	107	31	+	+	CCONJ
alkej-283	107	32	…	…	PUNCT
alkej-283	107	33	�	�	PROPN
alkej-283	107	34	30	30	NUM
alkej-283	107	35	�	�	NOUN
alkej-283	107	36	the	the	DET
alkej-283	107	37	motion	motion	NOUN
alkej-283	107	38	of	of	ADP
alkej-283	107	39	a	a	DET
alkej-283	107	40	firefly	firefly	NOUN
alkej-283	107	41	41	41	NUM
alkej-283	107	42	is	be	AUX
alkej-283	107	43	appealed	appeal	VERB
alkej-283	107	44	to	to	ADP
alkej-283	107	45	another	another	DET
alkej-283	107	46	more	more	ADV
alkej-283	107	47	shinier	shiny	ADJ
alkej-283	107	48	(	(	PUNCT
alkej-283	107	49	brighter	bright	ADJ
alkej-283	107	50	)	)	PUNCT
alkej-283	107	51	firefty	firefty	ADJ
alkej-283	107	52	j1	j1	PROPN
alkej-283	107	53	by	by	ADP
alkej-283	107	54	[	[	X
alkej-283	107	55	22	22	NUM
alkej-283	107	56	]	]	PUNCT
alkej-283	107	57	:	:	PUNCT
alkej-283	108	1	xlp	xlp	PROPN
alkej-283	108	2	*	*	PUNCT
alkej-283	108	3	=	=	PUNCT
alkej-283	109	1	xlp	xlp	PROPN
alkej-283	109	2	*	*	X
alkej-283	109	3	+	+	PUNCT
alkej-283	109	4	βl	βl	PROPN
alkej-283	109	5	=	=	NOUN
alkej-283	109	6	e2tuuvwd	e2tuuvwd	PROPN
alkej-283	109	7	�	�	NOUN
alkej-283	109	8	xlx	xlx	PROPN
alkej-283	109	9	*	*	PUNCT
alkej-283	109	10	−	−	PROPN
alkej-283	109	11	xlp	xlp	PROPN
alkej-283	109	12	*	*	PROPN
alkej-283	109	13	�	�	PROPN
alkej-283	109	14	+	+	CCONJ
alkej-283	109	15	α1	α1	PROPN
alkej-283	109	16	�	�	PROPN
alkej-283	109	17	rand	rand	PROPN
alkej-283	109	18	−	−	PROPN
alkej-283	109	19	0.5	0.5	NUM
alkej-283	109	20	�	�	PROPN
alkej-283	109	21	…	…	PUNCT
alkej-283	109	22	(	(	PUNCT
alkej-283	109	23	31	31	NUM
alkej-283	109	24	)	)	PUNCT
alkej-283	109	25	where	where	SCONJ
alkej-283	109	26	the	the	DET
alkej-283	109	27	second	second	ADJ
alkej-283	109	28	term	term	NOUN
alkej-283	109	29	is	be	AUX
alkej-283	109	30	due	due	ADJ
alkej-283	109	31	to	to	ADP
alkej-283	109	32	the	the	DET
alkej-283	109	33	attractive	attractive	ADJ
alkej-283	109	34	feature	feature	NOUN
alkej-283	109	35	.	.	PUNCT
alkej-283	110	1	the	the	DET
alkej-283	110	2	third	third	ADJ
alkej-283	110	3	part	part	NOUN
alkej-283	110	4	is	be	AUX
alkej-283	110	5	randomisation	randomisation	NOUN
alkej-283	110	6	with	with	ADP
alkej-283	110	7	a	a	DET
alkej-283	110	8	hold	hold	NOUN
alkej-283	110	9	parameter	parameter	NOUN
alkej-283	110	10	}	}	PUNCT
alkej-283	110	11	1	1	NUM
alkej-283	110	12	,	,	PUNCT
alkej-283	110	13	which	which	PRON
alkej-283	110	14	makes	make	VERB
alkej-283	110	15	the	the	DET
alkej-283	110	16	investigation	investigation	NOUN
alkej-283	110	17	of	of	ADP
alkej-283	110	18	the	the	DET
alkej-283	110	19	search	search	NOUN
alkej-283	110	20	distance	distance	NOUN
alkej-283	110	21	more	more	ADV
alkej-283	110	22	effective	effective	ADJ
alkej-283	110	23	[	[	X
alkej-283	110	24	15	15	NUM
alkej-283	110	25	]	]	X
alkej-283	110	26	,	,	PUNCT
alkej-283	110	27	after	after	ADP
alkej-283	110	28	few	few	ADJ
alkej-283	110	29	imitations	imitation	NOUN
alkej-283	110	30	,	,	PUNCT
alkej-283	110	31	use	use	VERB
alkej-283	110	32	g=	g=	NOUN
alkej-283	110	33	=	=	NOUN
alkej-283	110	34	1	1	NUM
alkej-283	110	35	,	,	PUNCT
alkej-283	110	36	}	}	PUNCT
alkej-283	110	37	11	11	NUM
alkej-283	110	38	∈	∈	NOUN
alkej-283	110	39	[	[	X
alkej-283	110	40	0,1],e	0,1],e	NUM
alkej-283	110	41	=	=	SYM
alkej-283	110	42	1,,for	1,,for	NUM
alkej-283	110	43	most	most	ADJ
alkej-283	110	44	operation	operation	NOUN
alkej-283	110	45	.	.	PUNCT
alkej-283	111	1	3.2.2	3.2.2	NUM
alkej-283	111	2	crossover	crossover	ADP
alkej-283	111	3	firefly	firefly	NOUN
alkej-283	111	4	algorithm	algorithm	NOUN
alkej-283	111	5	(	(	PUNCT
alkej-283	111	6	cfa	cfa	NOUN
alkej-283	111	7	)	)	PUNCT
alkej-283	111	8	in	in	ADP
alkej-283	111	9	standard	standard	ADJ
alkej-283	111	10	firefly	firefly	NOUN
alkej-283	111	11	,	,	PUNCT
alkej-283	111	12	if	if	SCONJ
alkej-283	111	13	there	there	PRON
alkej-283	111	14	no	no	PRON
alkej-283	111	15	brighter	bright	ADJ
alkej-283	111	16	one	one	NUM
alkej-283	111	17	than	than	ADP
alkej-283	111	18	a	a	DET
alkej-283	111	19	particular	particular	ADJ
alkej-283	111	20	firefly	firefly	NOUN
alkej-283	111	21	,	,	PUNCT
alkej-283	111	22	the	the	DET
alkej-283	111	23	fireflies	firefly	NOUN
alkej-283	111	24	will	will	AUX
alkej-283	111	25	move	move	VERB
alkej-283	111	26	randomly	randomly	ADV
alkej-283	111	27	,	,	PUNCT
alkej-283	111	28	and	and	CCONJ
alkej-283	111	29	by	by	ADP
alkej-283	111	30	using	use	VERB
alkej-283	111	31	flat	flat	ADJ
alkej-283	111	32	crossover	crossover	NOUN
alkej-283	111	33	algorithms	algorithm	VERB
alkej-283	111	34	the	the	DET
alkej-283	111	35	updating	update	VERB
alkej-283	111	36	mechanism	mechanism	NOUN
alkej-283	111	37	at	at	ADP
alkej-283	111	38	each	each	DET
alkej-283	111	39	iteration	iteration	NOUN
alkej-283	111	40	by	by	ADP
alkej-283	111	41	the	the	DET
alkej-283	111	42	coefficient	coefficient	NOUN
alkej-283	111	43	delta	delta	NOUN
alkej-283	111	44	is	be	AUX
alkej-283	111	45	a	a	DET
alkej-283	111	46	uniform	uniform	NOUN
alkej-283	111	47	distributed	distribute	VERB
alkej-283	111	48	random	random	ADJ
alkej-283	111	49	variable	variable	NOUN
alkej-283	111	50	within	within	ADP
alkej-283	111	51	optional	optional	ADJ
alkej-283	111	52	interval	interval	NOUN
alkej-283	111	53	[	[	X
alkej-283	111	54	0,1	0,1	NUM
alkej-283	111	55	]	]	PUNCT
alkej-283	111	56	.	.	PUNCT
alkej-283	112	1	the	the	DET
alkej-283	112	2	flat	flat	ADJ
alkej-283	112	3	crossover	crossover	NOUN
alkej-283	112	4	coefficient	coefficient	NOUN
alkej-283	112	5	(	(	PUNCT
alkej-283	112	6	alpha	alpha	NOUN
alkej-283	112	7	)	)	PUNCT
alkej-283	112	8	is	be	AUX
alkej-283	112	9	defined	define	VERB
alkej-283	112	10	as	as	SCONJ
alkej-283	112	11	follows	follow	VERB
alkej-283	112	12	:	:	PUNCT
alkej-283	112	13	�	�	PROPN
alkej-283	112	14	i\ℎ	i\ℎ	SYM
alkej-283	112	15	�	�	PROPN
alkej-283	112	16	=	=	SYM
alkej-283	112	17	�	�	PROPN
alkej-283	112	18	?	?	PUNCT
alkej-283	112	19	jid	jid	PROPN
alkej-283	112	20	�	�	PROPN
alkej-283	112	21	�	�	PROPN
alkej-283	112	22	∗	∗	PROPN
alkej-283	112	23	�	�	PROPN
alkej-283	112	24	�	�	PROPN
alkej-283	112	25	i\ℎ	i\ℎ	PROPN
alkej-283	112	26	�	�	PROPN
alkej-283	112	27	^	^	SYM
alkej-283	112	28	�	�	PROPN
alkej-283	112	29	_e	_e	PROPN
alkej-283	112	30	�	�	PROPN
alkej-283	112	31	�	�	PROPN
alkej-283	112	32	^	^	SYM
alkej-283	112	33	�	�	PROPN
alkej-283	112	34	�	�	PROPN
alkej-283	112	35	�	�	PROPN
alkej-283	112	36	…	…	SYM
alkej-283	112	37	�	�	PROPN
alkej-283	112	38	32	32	NUM
alkej-283	112	39	�	�	PROPN
alkej-283	112	40	where	where	SCONJ
alkej-283	112	41	alpha	alpha	NOUN
alkej-283	112	42	changing	change	VERB
alkej-283	112	43	at	at	ADP
alkej-283	112	44	each	each	DET
alkej-283	112	45	iteration	iteration	NOUN
alkej-283	112	46	.	.	PUNCT
alkej-283	113	1	and	and	CCONJ
alkej-283	113	2	the	the	DET
alkej-283	113	3	flat	flat	ADJ
alkej-283	113	4	crossover	crossover	NOUN
alkej-283	113	5	operate	operate	VERB
alkej-283	113	6	based	base	VERB
alkej-283	113	7	on	on	ADP
alkej-283	113	8	the	the	DET
alkej-283	113	9	following	follow	VERB
alkej-283	113	10	equation	equation	NOUN
alkej-283	113	11	:	:	PUNCT
alkej-283	114	1	�	�	PROPN
alkej-283	114	2	i^*=	i^*=	NOUN
alkej-283	114	3	�	�	PROPN
alkej-283	114	4	�	�	PROPN
alkej-283	114	5	i\ℎ	i\ℎ	PROPN
alkej-283	114	6	�	�	PROPN
alkej-283	114	7	�	�	PROPN
alkej-283	114	8	∗	∗	NOUN
alkej-283	114	9	�	�	PROPN
alkej-283	114	10	iu	iu	ADP
alkej-283	114	11	*	*	PROPN
alkej-283	114	12	+	+	X
alkej-283	114	13	�	�	PROPN
alkej-283	114	14	1	1	NUM
alkej-283	114	15	−	−	PROPN
alkej-283	114	16	�	�	PROPN
alkej-283	114	17	i\ℎ	i\ℎ	PROPN
alkej-283	114	18	�	�	PROPN
alkej-283	114	19	�	�	PROPN
alkej-283	114	20	∗	∗	NOUN
alkej-283	114	21	�	�	PROPN
alkej-283	114	22	ir1	ir1	PROPN
alkej-283	114	23	…	…	PUNCT
alkej-283	114	24	�	�	PROPN
alkej-283	114	25	33	33	NUM
alkej-283	114	26	�	�	PROPN
alkej-283	114	27	instead	instead	ADV
alkej-283	114	28	of	of	ADP
alkej-283	114	29	fireflies	firefly	NOUN
alkej-283	114	30	move	move	VERB
alkej-283	114	31	randomly	randomly	ADV
alkej-283	114	32	using	use	VERB
alkej-283	114	33	the	the	DET
alkej-283	114	34	possibility	possibility	NOUN
alkej-283	114	35	of	of	ADP
alkej-283	114	36	crossover	crossover	NOUN
alkej-283	114	37	,	,	PUNCT
alkej-283	114	38	then	then	ADV
alkej-283	114	39	the	the	DET
alkej-283	114	40	candidates	candidate	NOUN
alkej-283	114	41	for	for	ADP
alkej-283	114	42	the	the	DET
alkej-283	114	43	best	good	ADJ
alkej-283	114	44	solution	solution	NOUN
alkej-283	114	45	are	be	AUX
alkej-283	114	46	increasing	increase	VERB
alkej-283	114	47	.	.	PUNCT
alkej-283	115	1	on	on	ADP
alkej-283	115	2	the	the	DET
alkej-283	115	3	other	other	ADJ
alkej-283	115	4	hand	hand	NOUN
alkej-283	115	5	,	,	PUNCT
alkej-283	115	6	fa	fa	X
alkej-283	115	7	become	become	VERB
alkej-283	115	8	needs	need	VERB
alkej-283	115	9	less	less	ADJ
alkej-283	115	10	time	time	NOUN
alkej-283	115	11	to	to	PART
alkej-283	115	12	search	search	VERB
alkej-283	115	13	for	for	ADP
alkej-283	115	14	the	the	DET
alkej-283	115	15	best	good	ADJ
alkej-283	115	16	solution	solution	NOUN
alkej-283	115	17	and	and	CCONJ
alkej-283	115	18	its	its	PRON
alkej-283	115	19	performance	performance	NOUN
alkej-283	115	20	significantly	significantly	ADV
alkej-283	115	21	developments	development	VERB
alkej-283	115	22	with	with	ADP
alkej-283	115	23	the	the	DET
alkej-283	115	24	increases	increase	NOUN
alkej-283	115	25	the	the	DET
alkej-283	115	26	population	population	NOUN
alkej-283	115	27	size	size	NOUN
alkej-283	115	28	because	because	SCONJ
alkej-283	115	29	of	of	ADP
alkej-283	115	30	decreasing	decrease	VERB
alkej-283	115	31	the	the	DET
alkej-283	115	32	randomness	randomness	NOUN
alkej-283	115	33	.	.	PUNCT
alkej-283	116	1	3.2.3	3.2.3	NUM
alkej-283	116	2	artificial	artificial	ADJ
alkej-283	116	3	bee	bee	NOUN
alkej-283	116	4	colony(abc)algorithm	colony(abc)algorithm	PROPN
alkej-283	116	5	artificial	artificial	PROPN
alkej-283	116	6	bee	bee	PROPN
alkej-283	116	7	colony	colony	NOUN
alkej-283	116	8	(	(	PUNCT
alkej-283	116	9	abc	abc	PROPN
alkej-283	116	10	)	)	PUNCT
alkej-283	116	11	algorithm	algorithm	PROPN
alkej-283	116	12	invented	invent	VERB
alkej-283	116	13	by	by	ADP
alkej-283	116	14	d.	d.	PROPN
alkej-283	116	15	karaboga	karaboga	PROPN
alkej-283	117	1	[	[	X
alkej-283	117	2	20	20	NUM
alkej-283	117	3	]	]	PUNCT
alkej-283	117	4	is	be	AUX
alkej-283	117	5	a	a	DET
alkej-283	117	6	relatively	relatively	ADV
alkej-283	117	7	new	new	ADJ
alkej-283	117	8	population	population	NOUN
alkej-283	117	9	-	-	PUNCT
alkej-283	117	10	based	base	VERB
alkej-283	117	11	algorithm	algorithm	NOUN
alkej-283	117	12	;	;	PUNCT
alkej-283	117	13	it	it	PRON
alkej-283	117	14	is	be	AUX
alkej-283	117	15	a	a	DET
alkej-283	117	16	nature	nature	NOUN
alkej-283	117	17	-	-	PUNCT
alkej-283	117	18	inspired	inspire	VERB
alkej-283	117	19	metaheuristic	metaheuristic	ADJ
alkej-283	117	20	algorithm	algorithm	NOUN
alkej-283	117	21	,	,	PUNCT
alkej-283	117	22	which	which	PRON
alkej-283	117	23	inspire	inspire	VERB
alkej-283	117	24	the	the	DET
alkej-283	117	25	foraging	forage	VERB
alkej-283	117	26	action	action	NOUN
alkej-283	117	27	of	of	ADP
alkej-283	117	28	bees	bee	NOUN
alkej-283	117	29	.	.	PUNCT
alkej-283	118	1	abc	abc	PROPN
alkej-283	118	2	as	as	ADP
alkej-283	118	3	a	a	DET
alkej-283	118	4	stochastic	stochastic	ADJ
alkej-283	118	5	performance	performance	NOUN
alkej-283	118	6	is	be	AUX
alkej-283	118	7	clear	clear	ADJ
alkej-283	118	8	to	to	ADP
alkej-283	118	9	employment	employment	NOUN
alkej-283	118	10	,	,	PUNCT
alkej-283	118	11	and	and	CCONJ
alkej-283	118	12	could	could	AUX
alkej-283	118	13	easily	easily	ADV
alkej-283	118	14	be	be	AUX
alkej-283	118	15	modified	modify	VERB
alkej-283	118	16	and	and	CCONJ
alkej-283	118	17	hybridized	hybridize	VERB
alkej-283	118	18	with	with	ADP
alkej-283	118	19	other	other	ADJ
alkej-283	118	20	metaheuristic	metaheuristic	ADJ
alkej-283	118	21	algorithms	algorithm	NOUN
alkej-283	118	22	[	[	X
alkej-283	118	23	16	16	NUM
alkej-283	118	24	]	]	PUNCT
alkej-283	118	25	.	.	PUNCT
alkej-283	119	1	in	in	ADP
alkej-283	119	2	real	real	ADJ
alkej-283	119	3	colonies	colony	NOUN
alkej-283	119	4	,	,	PUNCT
alkej-283	119	5	including	include	VERB
alkej-283	119	6	bees	bee	NOUN
alkej-283	119	7	,	,	PUNCT
alkej-283	119	8	some	some	DET
alkej-283	119	9	tasks	task	NOUN
alkej-283	119	10	are	be	AUX
alkej-283	119	11	performed	perform	VERB
alkej-283	119	12	by	by	ADP
alkej-283	119	13	specified	specify	VERB
alkej-283	119	14	individuals	individual	NOUN
alkej-283	119	15	.	.	PUNCT
alkej-283	120	1	these	these	DET
alkej-283	120	2	specified	specify	VERB
alkej-283	120	3	bees	bee	NOUN
alkej-283	120	4	try	try	VERB
alkej-283	120	5	to	to	PART
alkej-283	120	6	expand	expand	VERB
alkej-283	120	7	the	the	DET
alkej-283	120	8	nectar	nectar	NOUN
alkej-283	120	9	quantity	quantity	NOUN
alkej-283	120	10	stored	store	VERB
alkej-283	120	11	in	in	ADP
alkej-283	120	12	the	the	DET
alkej-283	120	13	hive	hive	NOUN
alkej-283	120	14	using	use	VERB
alkej-283	120	15	efficient	efficient	ADJ
alkej-283	120	16	organization	organization	NOUN
alkej-283	120	17	.	.	PUNCT
alkej-283	121	1	the	the	DET
alkej-283	121	2	abc	abc	PROPN
alkej-283	121	3	algorithm	algorithm	PROPN
alkej-283	121	4	simulation	simulation	NOUN
alkej-283	121	5	represented	represent	VERB
alkej-283	121	6	by	by	ADP
alkej-283	121	7	three	three	NUM
alkej-283	121	8	kinds	kind	NOUN
alkej-283	121	9	of	of	ADP
alkej-283	121	10	bees	bee	NOUN
alkej-283	121	11	:	:	PUNCT
alkej-283	121	12	employed	employ	VERB
alkej-283	121	13	bees	bee	NOUN
alkej-283	121	14	,	,	PUNCT
alkej-283	121	15	onlooker	onlooker	NOUN
alkej-283	121	16	bees	bee	NOUN
alkej-283	121	17	and	and	CCONJ
alkej-283	121	18	scout	scout	NOUN
alkej-283	121	19	bees	bee	NOUN
alkej-283	121	20	.	.	PUNCT
alkej-283	122	1	divided	divide	VERB
alkej-283	122	2	of	of	ADP
alkej-283	122	3	the	the	DET
alkej-283	122	4	colony	colony	NOUN
alkej-283	122	5	includes	include	VERB
alkej-283	122	6	of	of	ADP
alkej-283	122	7	employed	employ	VERB
alkej-283	122	8	bees	bee	NOUN
alkej-283	122	9	,	,	PUNCT
alkej-283	122	10	and	and	CCONJ
alkej-283	122	11	the	the	DET
alkej-283	122	12	other	other	ADJ
alkej-283	122	13	half	half	NOUN
alkej-283	122	14	made	make	VERB
alkej-283	122	15	up	up	ADP
alkej-283	122	16	of	of	ADP
alkej-283	122	17	onlooker	onlooker	NOUN
alkej-283	122	18	bees	bee	NOUN
alkej-283	122	19	.	.	PUNCT
alkej-283	123	1	more	more	ADJ
alkej-283	123	2	bees	bee	NOUN
alkej-283	123	3	should	should	AUX
alkej-283	123	4	send	send	VERB
alkej-283	123	5	to	to	ADP
alkej-283	123	6	highquality	highquality	NOUN
alkej-283	123	7	sources	source	NOUN
alkej-283	123	8	,	,	PUNCT
alkej-283	123	9	and	and	CCONJ
alkej-283	123	10	fewer	few	ADJ
alkej-283	123	11	bees	bee	NOUN
alkej-283	123	12	should	should	AUX
alkej-283	123	13	be	be	AUX
alkej-283	123	14	sent	send	VERB
alkej-283	123	15	to	to	ADP
alkej-283	123	16	low	low	ADJ
alkej-283	123	17	-	-	PUNCT
alkej-283	123	18	quality	quality	NOUN
alkej-283	123	19	sources	source	NOUN
alkej-283	123	20	or	or	CCONJ
alkej-283	123	21	even	even	ADV
alkej-283	123	22	deserted	deserted	ADJ
alkej-283	123	23	.	.	PUNCT
alkej-283	124	1	at	at	ADP
alkej-283	124	2	the	the	DET
alkej-283	124	3	starting	starting	NOUN
alkej-283	124	4	,	,	PUNCT
alkej-283	124	5	the	the	DET
alkej-283	124	6	colony	colony	NOUN
alkej-283	124	7	sends	send	VERB
alkej-283	124	8	employed	employ	VERB
alkej-283	124	9	bees	bee	NOUN
alkej-283	124	10	to	to	ADP
alkej-283	124	11	productive	productive	ADJ
alkej-283	124	12	flower	flower	NOUN
alkej-283	124	13	patches	patch	NOUN
alkej-283	124	14	.	.	PUNCT
alkej-283	125	1	these	these	DET
alkej-283	125	2	bees	bee	NOUN
alkej-283	125	3	catch	catch	VERB
alkej-283	125	4	flower	flower	NOUN
alkej-283	125	5	's	's	PART
alkej-283	125	6	nectar	nectar	NOUN
alkej-283	125	7	and	and	CCONJ
alkej-283	125	8	take	take	VERB
alkej-283	125	9	them	they	PRON
alkej-283	125	10	to	to	ADP
alkej-283	125	11	the	the	DET
alkej-283	125	12	hive	hive	NOUN
alkej-283	125	13	.	.	PUNCT
alkej-283	126	1	when	when	SCONJ
alkej-283	126	2	they	they	PRON
alkej-283	126	3	return	return	VERB
alkej-283	126	4	to	to	ADP
alkej-283	126	5	the	the	DET
alkej-283	126	6	hive	hive	NOUN
alkej-283	126	7	,	,	PUNCT
alkej-283	126	8	empty	empty	VERB
alkej-283	126	9	their	their	PRON
alkej-283	126	10	nectar	nectar	NOUN
alkej-283	126	11	and	and	CCONJ
alkej-283	126	12	go	go	VERB
alkej-283	126	13	to	to	ADP
alkej-283	126	14	a	a	DET
alkej-283	126	15	desired	desire	VERB
alkej-283	126	16	area	area	NOUN
alkej-283	126	17	in	in	ADP
alkej-283	126	18	the	the	DET
alkej-283	126	19	hive	hive	NOUN
alkej-283	126	20	called	call	VERB
alkej-283	126	21	‘	'	PUNCT
alkej-283	126	22	dance	dance	NOUN
alkej-283	126	23	floor	floor	NOUN
alkej-283	126	24	’	'	PUNCT
alkej-283	126	25	to	to	PART
alkej-283	126	26	share	share	VERB
alkej-283	126	27	their	their	PRON
alkej-283	126	28	data	datum	NOUN
alkej-283	126	29	with	with	ADP
alkej-283	126	30	other	other	ADJ
alkej-283	126	31	bees	bee	NOUN
alkej-283	126	32	.	.	PUNCT
alkej-283	127	1	the	the	DET
alkej-283	127	2	connections	connection	NOUN
alkej-283	127	3	is	be	AUX
alkej-283	127	4	executed	execute	VERB
alkej-283	127	5	by	by	ADP
alkej-283	127	6	a	a	DET
alkej-283	127	7	especial	especial	ADJ
alkej-283	127	8	dance	dance	NOUN
alkej-283	127	9	.	.	PUNCT
alkej-283	128	1	if	if	SCONJ
alkej-283	128	2	the	the	DET
alkej-283	128	3	place	place	NOUN
alkej-283	128	4	visited	visit	VERB
alkej-283	128	5	by	by	ADP
alkej-283	128	6	an	an	DET
alkej-283	128	7	employee	employee	NOUN
alkej-283	128	8	is	be	AUX
alkej-283	128	9	adjacent	adjacent	ADJ
alkej-283	128	10	,	,	PUNCT
alkej-283	128	11	it	it	PRON
alkej-283	128	12	executes	execute	VERB
alkej-283	128	13	"	"	PUNCT
alkej-283	128	14	round	round	ADJ
alkej-283	128	15	dances	dance	NOUN
alkej-283	128	16	"	"	PUNCT
alkej-283	128	17	in	in	ADP
alkej-283	128	18	the	the	DET
alkej-283	128	19	hive	hive	NOUN
alkej-283	128	20	,	,	PUNCT
alkej-283	128	21	and	and	CCONJ
alkej-283	128	22	if	if	SCONJ
alkej-283	128	23	not	not	PART
alkej-283	128	24	,	,	PUNCT
alkej-283	128	25	the	the	DET
alkej-283	128	26	bee	bee	NOUN
alkej-283	128	27	executes	execute	VERB
alkej-283	128	28	a	a	DET
alkej-283	128	29	"	"	PUNCT
alkej-283	128	30	waggle	waggle	NOUN
alkej-283	128	31	dance	dance	NOUN
alkej-283	128	32	"	"	PUNCT
alkej-283	128	33	.	.	PUNCT
alkej-283	129	1	round	round	ADJ
alkej-283	129	2	dance	dance	NOUN
alkej-283	129	3	include	include	VERB
alkej-283	129	4	data	datum	NOUN
alkej-283	129	5	about	about	ADP
alkej-283	129	6	the	the	DET
alkej-283	129	7	nectar	nectar	NOUN
alkej-283	129	8	quality	quality	NOUN
alkej-283	129	9	of	of	ADP
alkej-283	129	10	a	a	DET
alkej-283	129	11	visited	visit	VERB
alkej-283	129	12	flower	flower	NOUN
alkej-283	129	13	patches	patch	NOUN
alkej-283	129	14	so	so	SCONJ
alkej-283	129	15	the	the	DET
alkej-283	129	16	other	other	ADJ
alkej-283	129	17	bees	bee	NOUN
alkej-283	129	18	can	can	AUX
alkej-283	129	19	discovery	discovery	VERB
alkej-283	129	20	its	its	PRON
alkej-283	129	21	position	position	NOUN
alkej-283	129	22	by	by	ADP
alkej-283	129	23	their	their	PRON
alkej-283	129	24	smelling	smell	VERB
alkej-283	129	25	sense	sense	NOUN
alkej-283	129	26	when	when	SCONJ
alkej-283	129	27	they	they	PRON
alkej-283	129	28	escape	escape	VERB
alkej-283	129	29	of	of	ADP
alkej-283	129	30	the	the	DET
alkej-283	129	31	hive	hive	NOUN
alkej-283	129	32	.	.	PUNCT
alkej-283	130	1	waggle	waggle	NOUN
alkej-283	130	2	dance	dance	NOUN
alkej-283	130	3	carries	carry	VERB
alkej-283	130	4	three	three	NUM
alkej-283	130	5	parts	part	NOUN
alkej-283	130	6	of	of	ADP
alkej-283	130	7	information	information	NOUN
alkej-283	130	8	about	about	ADP
alkej-283	130	9	the	the	DET
alkej-283	130	10	flower	flower	NOUN
alkej-283	130	11	patch	patch	NOUN
alkej-283	130	12	:	:	PUNCT
alkej-283	130	13	its	its	PRON
alkej-283	130	14	guidance	guidance	NOUN
alkej-283	130	15	with	with	ADP
alkej-283	130	16	regard	regard	NOUN
alkej-283	130	17	to	to	ADP
alkej-283	130	18	sun	sun	NOUN
alkej-283	130	19	,	,	PUNCT
alkej-283	130	20	its	its	PRON
alkej-283	130	21	length	length	NOUN
alkej-283	130	22	from	from	ADP
alkej-283	130	23	the	the	DET
alkej-283	130	24	colony	colony	NOUN
alkej-283	130	25	,	,	PUNCT
alkej-283	130	26	and	and	CCONJ
alkej-283	130	27	the	the	DET
alkej-283	130	28	nectar	nectar	NOUN
alkej-283	130	29	quantity	quantity	NOUN
alkej-283	130	30	[	[	X
alkej-283	130	31	17	17	NUM
alkej-283	130	32	]	]	PUNCT
alkej-283	130	33	.	.	PUNCT
alkej-283	131	1	onlooker	onlooker	NOUN
alkej-283	131	2	bees	bee	NOUN
alkej-283	131	3	lookout	lookout	VERB
alkej-283	131	4	the	the	DET
alkej-283	131	5	dances	dance	NOUN
alkej-283	131	6	in	in	ADP
alkej-283	131	7	the	the	DET
alkej-283	131	8	hive	hive	NOUN
alkej-283	131	9	and	and	CCONJ
alkej-283	131	10	select	select	VERB
alkej-283	131	11	the	the	DET
alkej-283	131	12	good	good	ADJ
alkej-283	131	13	flower	flower	NOUN
alkej-283	131	14	patches	patch	NOUN
alkej-283	131	15	to	to	PART
alkej-283	131	16	go	go	VERB
alkej-283	131	17	for	for	ADP
alkej-283	131	18	.	.	PUNCT
alkej-283	132	1	indeed	indeed	ADV
alkej-283	132	2	,	,	PUNCT
alkej-283	132	3	flower	flower	NOUN
alkej-283	132	4	patches	patch	NOUN
alkej-283	132	5	which	which	PRON
alkej-283	132	6	have	have	VERB
alkej-283	132	7	greater	great	ADJ
alkej-283	132	8	qualities	quality	NOUN
alkej-283	132	9	appeal	appeal	VERB
alkej-283	132	10	more	more	ADJ
alkej-283	132	11	bees	bee	NOUN
alkej-283	132	12	than	than	ADP
alkej-283	132	13	smaller	small	ADJ
alkej-283	132	14	quality	quality	NOUN
alkej-283	132	15	flower	flower	NOUN
alkej-283	132	16	patches	patch	NOUN
alkej-283	132	17	.	.	PUNCT
alkej-283	133	1	employed	employ	VERB
alkej-283	133	2	bees	bee	NOUN
alkej-283	133	3	that	that	PRON
alkej-283	133	4	their	their	PRON
alkej-283	133	5	travelled	travel	VERB
alkej-283	133	6	to	to	ADP
alkej-283	133	7	place	place	NOUN
alkej-283	133	8	is	be	AUX
alkej-283	133	9	abandoned	abandon	VERB
alkej-283	133	10	through	through	ADP
alkej-283	133	11	low	low	ADJ
alkej-283	133	12	quality	quality	NOUN
alkej-283	133	13	have	have	VERB
alkej-283	133	14	two	two	NUM
alkej-283	133	15	choices	choice	NOUN
alkej-283	133	16	:	:	PUNCT
alkej-283	133	17	start	start	VERB
alkej-283	133	18	the	the	DET
alkej-283	133	19	dance	dance	NOUN
alkej-283	133	20	floor	floor	NOUN
alkej-283	133	21	and	and	CCONJ
alkej-283	133	22	watch	watch	VERB
alkej-283	133	23	dances	dance	NOUN
alkej-283	133	24	of	of	ADP
alkej-283	133	25	other	other	ADJ
alkej-283	133	26	bees	bee	NOUN
alkej-283	133	27	then	then	ADV
alkej-283	133	28	go	go	VERB
alkej-283	133	29	to	to	ADP
alkej-283	133	30	a	a	DET
alkej-283	133	31	flower	flower	NOUN
alkej-283	133	32	patch	patch	NOUN
alkej-283	133	33	as	as	ADP
alkej-283	133	34	an	an	DET
alkej-283	133	35	onlooker	onlooker	NOUN
alkej-283	133	36	bee	bee	NOUN
alkej-283	133	37	,	,	PUNCT
alkej-283	133	38	or	or	CCONJ
alkej-283	133	39	it	it	PRON
alkej-283	133	40	search	search	VERB
alkej-283	133	41	about	about	ADP
alkej-283	133	42	the	the	DET
alkej-283	133	43	hive	hive	NOUN
alkej-283	133	44	automatically	automatically	ADV
alkej-283	133	45	as	as	ADP
alkej-283	133	46	a	a	DET
alkej-283	133	47	scout	scout	NOUN
alkej-283	133	48	bee	bee	NOUN
alkej-283	133	49	for	for	ADP
alkej-283	133	50	a	a	DET
alkej-283	133	51	new	new	ADJ
alkej-283	133	52	food	food	NOUN
alkej-283	133	53	source	source	NOUN
alkej-283	133	54	due	due	ADP
alkej-283	133	55	to	to	ADP
alkej-283	133	56	few	few	ADJ
alkej-283	133	57	inner	inner	ADJ
alkej-283	133	58	inspiration	inspiration	NOUN
alkej-283	133	59	or	or	CCONJ
alkej-283	133	60	potential	potential	ADJ
alkej-283	133	61	outer	outer	ADJ
alkej-283	133	62	hint	hint	NOUN
alkej-283	134	1	[	[	X
alkej-283	134	2	18	18	NUM
alkej-283	134	3	]	]	PUNCT
alkej-283	134	4	.	.	PUNCT
alkej-283	135	1	nizar	nizar	PROPN
alkej-283	135	2	hadi	hadi	PROPN
alkej-283	135	3	abbas	abbas	PROPN
alkej-283	135	4	al	al	PROPN
alkej-283	135	5	-	-	PUNCT
alkej-283	135	6	khwarizmi	khwarizmi	PROPN
alkej-283	135	7	engineering	engineering	NOUN
alkej-283	135	8	journal	journal	PROPN
alkej-283	135	9	,	,	PUNCT
alkej-283	135	10	vol	vol	NOUN
alkej-283	135	11	.	.	PROPN
alkej-283	135	12	12	12	NUM
alkej-283	135	13	,	,	PUNCT
alkej-283	135	14	no	no	INTJ
alkej-283	135	15	.	.	NOUN
alkej-283	135	16	1	1	NUM
alkej-283	135	17	,	,	PUNCT
alkej-283	135	18	p.p	p.p	PROPN
alkej-283	135	19	.	.	PROPN
alkej-283	135	20	4560	4560	NUM
alkej-283	135	21	(	(	PUNCT
alkej-283	135	22	2016	2016	NUM
alkej-283	135	23	)	)	PUNCT
alkej-283	135	24	50	50	NUM
alkej-283	135	25	abc	abc	PROPN
alkej-283	135	26	algorithm	algorithm	NOUN
alkej-283	135	27	can	can	AUX
alkej-283	135	28	be	be	AUX
alkej-283	135	29	summarized	summarize	VERB
alkej-283	135	30	as	as	ADP
alkej-283	135	31	in	in	ADP
alkej-283	135	32	the	the	DET
alkej-283	135	33	following	follow	VERB
alkej-283	135	34	subsections	subsection	NOUN
alkej-283	135	35	[	[	X
alkej-283	135	36	18	18	NUM
alkej-283	135	37	]	]	X
alkej-283	135	38	:	:	PUNCT
alkej-283	135	39	3.2.3.1	3.2.3.1	NUM
alkej-283	135	40	population	population	NOUN
alkej-283	135	41	initialization	initialization	NOUN
alkej-283	135	42	a	a	DET
alkej-283	135	43	population	population	NOUN
alkej-283	135	44	of	of	ADP
alkej-283	135	45	fm1	fm1	PROPN
alkej-283	135	46	individuals	individual	NOUN
alkej-283	135	47	is	be	AUX
alkej-283	135	48	produced	produce	VERB
alkej-283	135	49	randomly	randomly	ADV
alkej-283	135	50	,	,	PUNCT
alkej-283	135	51	which	which	PRON
alkej-283	135	52	is	be	AUX
alkej-283	135	53	equalise	equalise	NOUN
alkej-283	135	54	to	to	ADP
alkej-283	135	55	the	the	DET
alkej-283	135	56	number	number	NOUN
alkej-283	135	57	of	of	ADP
alkej-283	135	58	food	food	NOUN
alkej-283	135	59	sources	source	NOUN
alkej-283	135	60	.	.	PUNCT
alkej-283	136	1	each	each	DET
alkej-283	136	2	solution	solution	NOUN
alkej-283	136	3	�	�	VERB
alkej-283	136	4	i^*(i1	i^*(i1	NOUN
alkej-283	136	5	=	=	SYM
alkej-283	136	6	1	1	NUM
alkej-283	136	7	,	,	PUNCT
alkej-283	136	8	2	2	NUM
alkej-283	136	9	…	…	PUNCT
alkej-283	136	10	[	[	X
alkej-283	136	11	�	�	NOUN
alkej-283	136	12	1	1	NUM
alkej-283	136	13	)	)	PUNCT
alkej-283	136	14	describing	describe	VERB
alkej-283	136	15	an	an	DET
alkej-283	136	16	individual	individual	NOUN
alkej-283	136	17	is	be	AUX
alkej-283	136	18	a	a	DET
alkej-283	136	19	d1	d1	NOUN
alkej-283	136	20	-	-	PUNCT
alkej-283	136	21	dimensional	dimensional	ADJ
alkej-283	136	22	vector	vector	NOUN
alkej-283	136	23	.	.	PUNCT
alkej-283	137	1	hither	hith	ADJ
alkej-283	137	2	.	.	PUNCT
alkej-283	138	1	each	each	DET
alkej-283	138	2	solution	solution	NOUN
alkej-283	138	3	can	can	AUX
alkej-283	138	4	be	be	AUX
alkej-283	138	5	produced	produce	VERB
alkej-283	138	6	by	by	ADP
alkej-283	138	7	eq	eq	PROPN
alkej-283	138	8	.	.	PUNCT
alkej-283	139	1	(	(	PUNCT
alkej-283	139	2	34	34	NUM
alkej-283	139	3	)	)	PUNCT
alkej-283	140	1	[	[	X
alkej-283	140	2	19	19	NUM
alkej-283	140	3	]	]	X
alkej-283	140	4	:	:	PUNCT
alkej-283	140	5	�	�	PROPN
alkej-283	140	6	i^*u	i^*u	PROPN
alkej-283	140	7	*	*	PROPN
alkej-283	140	8	=	=	SYM
alkej-283	140	9	�	�	PROPN
alkej-283	140	10	iu*v^	iu*v^	PROPN
alkej-283	140	11	�	�	PROPN
alkej-283	140	12	+	+	PROPN
alkej-283	140	13	�	�	PROPN
alkej-283	140	14	�	�	PROPN
alkej-283	140	15	iu*v	iu*v	PROPN
alkej-283	140	16	�	�	PROPN
alkej-283	140	17	�	�	PROPN
alkej-283	140	18	-	-	PUNCT
alkej-283	140	19	�	�	PROPN
alkej-283	140	20	iu*v^	iu*v^	PROPN
alkej-283	140	21	�	�	PROPN
alkej-283	140	22	�	�	PROPN
alkej-283	140	23	.	.	PUNCT
alkej-283	141	1	a	a	DET
alkej-283	141	2	�	�	PROPN
alkej-283	141	3	5?	5?	NUM
alkej-283	141	4	�	�	NOUN
alkej-283	141	5	0,1	0,1	NUM
alkej-283	141	6	�	�	NOUN
alkej-283	141	7	…	…	PUNCT
alkej-283	141	8	(	(	PUNCT
alkej-283	141	9	34	34	NUM
alkej-283	141	10	)	)	PUNCT
alkej-283	141	11	where	where	SCONJ
alkej-283	141	12	41	41	NUM
alkej-283	141	13	�	�	NOUN
alkej-283	141	14	=	=	SYM
alkej-283	141	15	1,2	1,2	NUM
alkej-283	141	16	,	,	PUNCT
alkej-283	141	17	……	……	NOUN
alkej-283	141	18	,	,	PUNCT
alkej-283	141	19	[	[	X
alkej-283	141	20	�	�	NOUN
alkej-283	141	21	1	1	NUM
alkej-283	141	22	,	,	PUNCT
alkej-283	141	23	r1	r1	PROPN
alkej-283	141	24	�	�	PROPN
alkej-283	141	25	=	=	SYM
alkej-283	141	26	1,2	1,2	NUM
alkej-283	141	27	,	,	PUNCT
alkej-283	141	28	…	…	PUNCT
alkej-283	141	29	.	.	PUNCT
alkej-283	141	30	.	.	PUNCT
alkej-283	142	1	,	,	PUNCT
alkej-283	142	2	�	�	PROPN
alkej-283	142	3	1	1	NUM
alkej-283	142	4	.	.	PUNCT
alkej-283	143	1	next	next	ADV
alkej-283	143	2	,	,	PUNCT
alkej-283	143	3	the	the	DET
alkej-283	143	4	fitness	fitness	NOUN
alkej-283	143	5	of	of	ADP
alkej-283	143	6	each	each	DET
alkej-283	143	7	food	food	NOUN
alkej-283	143	8	source	source	NOUN
alkej-283	143	9	is	be	AUX
alkej-283	143	10	evaluated	evaluate	VERB
alkej-283	143	11	by	by	ADP
alkej-283	143	12	�	�	PROPN
alkej-283	143	13	4d5j33	4d5j33	NUM
alkej-283	143	14	41	41	NUM
alkej-283	143	15	=	=	SYM
alkej-283	143	16	�	�	PROPN
alkej-283	143	17	*	*	PUNCT
alkej-283	143	18	*	*	PROPN
alkej-283	143	19	0	0	NUM
alkej-283	143	20	�	�	X
alkej-283	143	21	^	^	SYM
alkej-283	143	22	*	*	PROPN
alkej-283	143	23	4	4	NUM
alkej-283	143	24	�	�	PROPN
alkej-283	143	25	�	�	PROPN
alkej-283	143	26	41	41	NUM
alkej-283	143	27	≥	≥	NOUN
alkej-283	143	28	01	01	NUM
alkej-283	144	1	+	+	CCONJ
alkej-283	144	2	|	|	NUM
alkej-283	144	3	�	�	DET
alkej-283	144	4	41|	41|	NUM
alkej-283	144	5	4	4	NUM
alkej-283	144	6	�	�	PROPN
alkej-283	144	7	�	�	PROPN
alkej-283	144	8	41	41	NUM
alkej-283	144	9	<	<	SYM
alkej-283	144	10	0	0	NUM
alkej-283	144	11	�	�	PROPN
alkej-283	144	12	…	…	PUNCT
alkej-283	144	13	(	(	PUNCT
alkej-283	144	14	35	35	NUM
alkej-283	144	15	)	)	PUNCT
alkej-283	144	16	3.2.3.2	3.2.3.2	NUM
alkej-283	144	17	employed	employ	VERB
alkej-283	144	18	bee	bee	NOUN
alkej-283	144	19	stage	stage	NOUN
alkej-283	144	20	at	at	ADP
alkej-283	144	21	this	this	DET
alkej-283	144	22	stage	stage	NOUN
alkej-283	144	23	,	,	PUNCT
alkej-283	144	24	a	a	DET
alkej-283	144	25	new	new	ADJ
alkej-283	144	26	nominee	nominee	NOUN
alkej-283	144	27	solution	solution	NOUN
alkej-283	144	28	�	�	NOUN
alkej-283	144	29	i^*u	i^*u	NOUN
alkej-283	144	30	*	*	NOUN
alkej-283	144	31	is	be	AUX
alkej-283	144	32	produced	produce	VERB
alkej-283	144	33	for	for	ADP
alkej-283	144	34	the	the	DET
alkej-283	144	35	employed	employ	VERB
alkej-283	144	36	bee	bee	NOUN
alkej-283	144	37	of	of	ADP
alkej-283	144	38	food	food	NOUN
alkej-283	144	39	source	source	NOUN
alkej-283	144	40	�	�	PROPN
alkej-283	144	41	i^	i^	NOUN
alkej-283	144	42	*	*	PUNCT
alkej-283	144	43	(	(	PUNCT
alkej-283	144	44	only	only	ADV
alkej-283	144	45	one	one	NUM
alkej-283	144	46	parameter	parameter	NOUN
alkej-283	144	47	of	of	ADP
alkej-283	144	48	the	the	DET
alkej-283	144	49	solution	solution	NOUN
alkej-283	144	50	is	be	AUX
alkej-283	144	51	updated	update	VERB
alkej-283	144	52	by	by	ADP
alkej-283	144	53	using	use	VERB
alkej-283	144	54	eq	eq	ADP
alkej-283	144	55	.	.	PUNCT
alkej-283	145	1	(	(	PUNCT
alkej-283	145	2	35	35	NUM
alkej-283	145	3	)	)	PUNCT
alkej-283	145	4	:	:	PUNCT
alkej-283	145	5	�	�	PROPN
alkej-283	145	6	i^*u	i^*u	PROPN
alkej-283	145	7	*	*	PROPN
alkej-283	145	8	=	=	SYM
alkej-283	145	9	�	�	PROPN
alkej-283	145	10	i^*u	i^*u	NOUN
alkej-283	145	11	*	*	ADJ
alkej-283	145	12	+	+	NUM
alkej-283	145	13	∅^*u	∅^*u	NOUN
alkej-283	145	14	*	*	NOUN
alkej-283	145	15	.	.	PUNCT
alkej-283	146	1	�	�	PROPN
alkej-283	146	2	�	�	PROPN
alkej-283	146	3	i^*u	i^*u	PROPN
alkej-283	146	4	*	*	NOUN
alkej-283	146	5	−	−	PROPN
alkej-283	146	6	�	�	PROPN
alkej-283	146	7	it*u	it*u	NOUN
alkej-283	146	8	*	*	PROPN
alkej-283	146	9	�	�	PROPN
alkej-283	146	10	…	…	PUNCT
alkej-283	146	11	(	(	PUNCT
alkej-283	146	12	36	36	NUM
alkej-283	146	13	)	)	PUNCT
alkej-283	146	14	where	where	SCONJ
alkej-283	146	15	z1	z1	PROPN
alkej-283	146	16	∈	∈	PROPN
alkej-283	147	1	[	[	X
alkej-283	147	2	1	1	NUM
alkej-283	147	3	…	…	PUNCT
alkej-283	147	4	.	.	PUNCT
alkej-283	148	1	[	[	X
alkej-283	148	2	�	�	NOUN
alkej-283	148	3	1]	1]	NUM
alkej-283	148	4	�	�	NOUN
alkej-283	148	5	5	5	NUM
alkej-283	148	6	?	?	PUNCT
alkej-283	148	7	r1	r1	PROPN
alkej-283	148	8	∈	∈	PROPN
alkej-283	149	1	[	[	X
alkej-283	149	2	1	1	NUM
alkej-283	149	3	…	…	NUM
alkej-283	149	4	.	.	PUNCT
alkej-283	149	5	.	.	PUNCT
alkej-283	150	1	�	�	PROPN
alkej-283	150	2	1]are	1]are	VERB
alkej-283	150	3	arbitrary	arbitrary	ADJ
alkej-283	150	4	numbers	number	NOUN
alkej-283	150	5	,	,	PUNCT
alkej-283	150	6	and	and	CCONJ
alkej-283	150	7	z1	z1	PROPN
alkej-283	150	8	has	have	VERB
alkej-283	150	9	to	to	PART
alkej-283	150	10	be	be	AUX
alkej-283	150	11	other	other	ADJ
alkej-283	150	12	from	from	ADP
alkej-283	150	13	41	41	NUM
alkej-283	150	14	,	,	PUNCT
alkej-283	150	15	∅^*u	∅^*u	NOUN
alkej-283	150	16	*	*	NOUN
alkej-283	150	17	.	.	PUNCT
alkej-283	151	1	after	after	ADP
alkej-283	151	2	creating	create	VERB
alkej-283	151	3	a	a	DET
alkej-283	151	4	new	new	ADJ
alkej-283	151	5	food	food	NOUN
alkej-283	151	6	source	source	NOUN
alkej-283	151	7	�	�	PROPN
alkej-283	151	8	i^u	i^u	NOUN
alkej-283	151	9	,	,	PUNCT
alkej-283	151	10	it	it	PRON
alkej-283	151	11	will	will	AUX
alkej-283	151	12	be	be	AUX
alkej-283	151	13	evaluated	evaluate	VERB
alkej-283	151	14	and	and	CCONJ
alkej-283	151	15	compared	compare	VERB
alkej-283	151	16	with	with	ADP
alkej-283	151	17	�	�	NOUN
alkej-283	151	18	i^*u	i^*u	NOUN
alkej-283	151	19	*	*	NOUN
alkej-283	151	20	immediately	immediately	ADV
alkej-283	151	21	.	.	PUNCT
alkej-283	152	1	then	then	ADV
alkej-283	152	2	a	a	DET
alkej-283	152	3	greedy	greedy	ADJ
alkej-283	152	4	selection	selection	NOUN
alkej-283	152	5	action	action	NOUN
alkej-283	152	6	is	be	AUX
alkej-283	152	7	applied	apply	VERB
alkej-283	152	8	by	by	ADP
alkej-283	152	9	comparing	compare	VERB
alkej-283	152	10	the	the	DET
alkej-283	152	11	fitness	fitness	NOUN
alkej-283	152	12	of	of	ADP
alkej-283	152	13	both	both	DET
alkej-283	152	14	solutions	solution	NOUN
alkej-283	152	15	produced	produce	VERB
alkej-283	152	16	via	via	ADP
alkej-283	152	17	eq	eq	PROPN
alkej-283	152	18	.	.	PUNCT
alkej-283	153	1	(	(	PUNCT
alkej-283	153	2	35	35	NUM
alkej-283	153	3	)	)	PUNCT
alkej-283	153	4	.	.	PUNCT
alkej-283	154	1	if	if	SCONJ
alkej-283	154	2	the	the	DET
alkej-283	154	3	fitness	fitness	NOUN
alkej-283	154	4	of	of	ADP
alkej-283	154	5	solution	solution	NOUN
alkej-283	154	6	�	�	PROPN
alkej-283	154	7	i^*u	i^*u	NOUN
alkej-283	154	8	*	*	NOUN
alkej-283	154	9	is	be	AUX
alkej-283	154	10	more	more	ADV
alkej-283	154	11	well	well	ADV
alkej-283	154	12	than	than	ADP
alkej-283	154	13	or	or	CCONJ
alkej-283	154	14	equal	equal	ADJ
alkej-283	154	15	to	to	ADP
alkej-283	154	16	that	that	PRON
alkej-283	154	17	of	of	ADP
alkej-283	154	18	the	the	DET
alkej-283	154	19	solution	solution	NOUN
alkej-283	154	20	�	�	NOUN
alkej-283	154	21	i^*u	i^*u	NOUN
alkej-283	154	22	*	*	NOUN
alkej-283	154	23	,	,	PUNCT
alkej-283	154	24	,	,	PUNCT
alkej-283	154	25	�	�	PROPN
alkej-283	154	26	i^*u	i^*u	NOUN
alkej-283	154	27	*	*	PROPN
alkej-283	154	28	will	will	AUX
alkej-283	154	29	be	be	AUX
alkej-283	154	30	replaced	replace	VERB
alkej-283	154	31	with	with	ADP
alkej-283	154	32	�	�	NOUN
alkej-283	154	33	i^*u	i^*u	NOUN
alkej-283	154	34	*	*	PROPN
alkej-283	154	35	and	and	CCONJ
alkej-283	154	36	the	the	DET
alkej-283	154	37	individual	individual	ADJ
alkej-283	154	38	�	�	PROPN
alkej-283	154	39	i^*u*will	i^*u*will	PROPN
alkej-283	154	40	become	become	VERB
alkej-283	154	41	a	a	DET
alkej-283	154	42	new	new	ADJ
alkej-283	154	43	member	member	NOUN
alkej-283	154	44	of	of	ADP
alkej-283	154	45	the	the	DET
alkej-283	154	46	population	population	NOUN
alkej-283	154	47	and	and	CCONJ
alkej-283	154	48	�	�	PROPN
alkej-283	154	49	�	�	PROPN
alkej-283	154	50	6]5di^*	6]5di^*	NUM
alkej-283	154	51	�	�	PROPN
alkej-283	154	52	is	be	AUX
alkej-283	154	53	reset	reset	ADJ
alkej-283	154	54	.	.	PUNCT
alkej-283	155	1	otherwise	otherwise	ADV
alkej-283	155	2	,	,	PUNCT
alkej-283	155	3	food	food	NOUN
alkej-283	155	4	source	source	NOUN
alkej-283	155	5	�	�	PROPN
alkej-283	155	6	i^*u	i^*u	NOUN
alkej-283	155	7	*	*	NOUN
alkej-283	155	8	is	be	AUX
alkej-283	155	9	kept	keep	VERB
alkej-283	155	10	unchanged	unchanged	ADJ
alkej-283	155	11	and	and	CCONJ
alkej-283	155	12	�	�	PROPN
alkej-283	155	13	�	�	PROPN
alkej-283	155	14	6]5di^*	6]5di^*	NUM
alkej-283	155	15	�	�	PROPN
alkej-283	155	16	is	be	AUX
alkej-283	155	17	increased	increase	VERB
alkej-283	155	18	by	by	ADP
alkej-283	155	19	1	1	NUM
alkej-283	155	20	.	.	PUNCT
alkej-283	156	1	3.2.3.3	3.2.3.3	NUM
alkej-283	156	2	onlooker	onlooker	NOUN
alkej-283	156	3	bee	bee	NOUN
alkej-283	156	4	stage	stage	NOUN
alkej-283	156	5	later	later	ADV
alkej-283	156	6	all	all	DET
alkej-283	156	7	employed	employ	VERB
alkej-283	156	8	bees	bee	NOUN
alkej-283	156	9	completed	complete	VERB
alkej-283	156	10	the	the	DET
alkej-283	156	11	looking	looking	NOUN
alkej-283	156	12	for	for	ADP
alkej-283	156	13	operation	operation	NOUN
alkej-283	156	14	;	;	PUNCT
alkej-283	156	15	each	each	DET
alkej-283	156	16	onlooker	onlooker	NOUN
alkej-283	156	17	bee	bee	PROPN
alkej-283	156	18	chooses	choose	VERB
alkej-283	156	19	an	an	DET
alkej-283	156	20	employed	employ	VERB
alkej-283	156	21	bee	bee	NOUN
alkej-283	156	22	to	to	PART
alkej-283	156	23	improve	improve	VERB
alkej-283	156	24	its	its	PRON
alkej-283	156	25	solution	solution	NOUN
alkej-283	156	26	with	with	ADP
alkej-283	156	27	a	a	DET
alkej-283	156	28	probability	probability	NOUN
alkej-283	156	29	value	value	NOUN
alkej-283	156	30	,	,	PUNCT
alkej-283	156	31	which	which	PRON
alkej-283	156	32	is	be	AUX
alkej-283	156	33	calculated	calculate	VERB
alkej-283	156	34	by	by	ADP
alkej-283	156	35	roulette	roulette	NOUN
alkej-283	156	36	wheel	wheel	NOUN
alkej-283	156	37	using	use	VERB
alkej-283	156	38	eq	eq	ADP
alkej-283	156	39	.	.	PUNCT
alkej-283	157	1	(	(	PUNCT
alkej-283	157	2	37	37	NUM
alkej-283	157	3	)	)	PUNCT
alkej-283	157	4	.	.	PUNCT
alkej-283	158	1	\41	\41	ADV
alkej-283	158	2	=	=	SYM
alkej-283	158	3	�	�	PROPN
alkej-283	158	4	^	^	SYM
alkej-283	158	5	�	�	PROPN
alkej-283	158	6	�	�	PROPN
alkej-283	158	7	_	_	PROPN
alkej-283	158	8	�	�	PROPN
alkej-283	158	9	�	�	PROPN
alkej-283	158	10	^*∑	^*∑	PROPN
alkej-283	158	11	�	�	PROPN
alkej-283	158	12	^	^	SYM
alkej-283	158	13	�	�	PROPN
alkej-283	158	14	�	�	PROPN
alkej-283	158	15	_	_	NOUN
alkej-283	158	16	�	�	NOUN
alkej-283	158	17	�	�	PROPN
alkej-283	158	18	^	^	SYM
alkej-283	158	19	*	*	PROPN
alkej-283	158	20	�	�	PROPN
alkej-283	158	21	�	�	PROPN
alkej-283	158	22	�	�	PROPN
alkej-283	158	23	�	�	PROPN
alkej-283	158	24	�	�	PROPN
alkej-283	158	25	�	�	PROPN
alkej-283	158	26	�	�	PROPN
alkej-283	158	27	...	...	PUNCT
alkej-283	158	28	(	(	PUNCT
alkej-283	158	29	37	37	NUM
alkej-283	158	30	)	)	PUNCT
alkej-283	158	31	where	where	SCONJ
alkej-283	158	32	�	�	NOUN
alkej-283	158	33	4d5j33	4d5j33	NUM
alkej-283	158	34	41	41	NUM
alkej-283	158	35	,	,	PUNCT
alkej-283	158	36	which	which	PRON
alkej-283	158	37	is	be	AUX
alkej-283	158	38	correlative	correlative	ADJ
alkej-283	158	39	to	to	ADP
alkej-283	158	40	the	the	DET
alkej-283	158	41	nectar	nectar	NOUN
alkej-283	158	42	quantity	quantity	NOUN
alkej-283	158	43	of	of	ADP
alkej-283	158	44	that	that	DET
alkej-283	158	45	food	food	NOUN
alkej-283	158	46	source	source	NOUN
alkej-283	158	47	.	.	PUNCT
alkej-283	159	1	apparently	apparently	ADV
alkej-283	159	2	,	,	PUNCT
alkej-283	159	3	the	the	PRON
alkej-283	159	4	greater	great	ADJ
alkej-283	159	5	the	the	DET
alkej-283	159	6	41	41	NUM
alkej-283	159	7	,	,	PUNCT
alkej-283	159	8	the	the	DET
alkej-283	159	9	extra	extra	ADJ
alkej-283	159	10	the	the	DET
alkej-283	159	11	probability	probability	NOUN
alkej-283	159	12	of	of	ADP
alkej-283	159	13	selecting	select	VERB
alkej-283	159	14	the	the	DET
alkej-283	159	15	41dℎ	41dℎ	ADJ
alkej-283	159	16	food	food	NOUN
alkej-283	159	17	source	source	NOUN
alkej-283	159	18	is	be	AUX
alkej-283	159	19	.	.	PUNCT
alkej-283	160	1	in	in	ADP
alkej-283	160	2	the	the	DET
alkej-283	160	3	onlooker	onlooker	NOUN
alkej-283	160	4	bees	bee	NOUN
alkej-283	160	5	'	'	PART
alkej-283	160	6	stage	stage	NOUN
alkej-283	160	7	,	,	PUNCT
alkej-283	160	8	an	an	DET
alkej-283	160	9	artificial	artificial	ADJ
alkej-283	160	10	onlooker	onlooker	NOUN
alkej-283	160	11	bee	bee	NOUN
alkej-283	160	12	chooses	choose	VERB
alkej-283	160	13	its	its	PRON
alkej-283	160	14	food	food	NOUN
alkej-283	160	15	source	source	NOUN
alkej-283	160	16	determined	determine	VERB
alkej-283	160	17	by	by	ADP
alkej-283	160	18	the	the	DET
alkej-283	160	19	above	above	ADJ
alkej-283	160	20	observed	observe	VERB
alkej-283	160	21	probability	probability	NOUN
alkej-283	160	22	value	value	NOUN
alkej-283	160	23	.	.	PUNCT
alkej-283	161	1	thereafter	thereafter	ADV
alkej-283	161	2	,	,	PUNCT
alkej-283	161	3	a	a	DET
alkej-283	161	4	food	food	NOUN
alkej-283	161	5	source	source	NOUN
alkej-283	161	6	for	for	ADP
alkej-283	161	7	an	an	DET
alkej-283	161	8	onlooker	onlooker	NOUN
alkej-283	161	9	bee	bee	NOUN
alkej-283	161	10	is	be	AUX
alkej-283	161	11	selected	select	VERB
alkej-283	161	12	,	,	PUNCT
alkej-283	161	13	a	a	DET
alkej-283	161	14	new	new	ADJ
alkej-283	161	15	region	region	NOUN
alkej-283	161	16	source	source	NOUN
alkej-283	161	17	is	be	AUX
alkej-283	161	18	determined	determine	VERB
alkej-283	161	19	according	accord	VERB
alkej-283	161	20	to	to	ADP
alkej-283	161	21	the	the	DET
alkej-283	161	22	eq	eq	NOUN
alkej-283	161	23	.	.	PUNCT
alkej-283	162	1	(	(	PUNCT
alkej-283	162	2	36	36	NUM
alkej-283	162	3	)	)	PUNCT
alkej-283	162	4	and	and	CCONJ
alkej-283	162	5	its	its	PRON
alkej-283	162	6	fitness	fitness	NOUN
alkej-283	162	7	value	value	NOUN
alkej-283	162	8	is	be	AUX
alkej-283	162	9	integrated	integrate	VERB
alkej-283	162	10	.	.	PUNCT
alkej-283	163	1	just	just	ADV
alkej-283	163	2	as	as	ADP
alkej-283	163	3	in	in	ADP
alkej-283	163	4	the	the	DET
alkej-283	163	5	employed	employ	VERB
alkej-283	163	6	bees	bee	NOUN
alkej-283	163	7	stage	stage	NOUN
alkej-283	163	8	,	,	PUNCT
alkej-283	163	9	a	a	DET
alkej-283	163	10	greedy	greedy	ADJ
alkej-283	163	11	selection	selection	NOUN
alkej-283	163	12	is	be	AUX
alkej-283	163	13	given	give	VERB
alkej-283	163	14	.	.	PUNCT
alkej-283	164	1	3.2.3.4	3.2.3.4	NUM
alkej-283	164	2	scout	scout	PROPN
alkej-283	164	3	bee	bee	PROPN
alkej-283	164	4	stage	stage	VERB
alkej-283	164	5	the	the	DET
alkej-283	164	6	abandonment	abandonment	PROPN
alkej-283	164	7	counter	counter	PROPN
alkej-283	164	8	�	�	PROPN
alkej-283	164	9	�	�	PROPN
alkej-283	164	10	6]5di^	6]5di^	PROPN
alkej-283	164	11	*	*	SYM
alkej-283	164	12	�	�	PROPN
alkej-283	164	13	of	of	ADP
alkej-283	164	14	all	all	DET
alkej-283	164	15	employed	employ	VERB
alkej-283	164	16	bees	bee	NOUN
alkej-283	164	17	are	be	AUX
alkej-283	164	18	tested	test	VERB
alkej-283	164	19	with	with	ADP
alkej-283	164	20	a	a	DET
alkej-283	164	21	preset	preset	ADJ
alkej-283	164	22	number	number	NOUN
alkej-283	164	23	of	of	ADP
alkej-283	164	24	trials	trial	NOUN
alkej-283	164	25	,	,	PUNCT
alkej-283	164	26	called	call	VERB
alkej-283	164	27	limit1	limit1	ADV
alkej-283	164	28	.	.	PUNCT
alkej-283	165	1	the	the	DET
alkej-283	165	2	employed	employ	VERB
alkej-283	165	3	bee	bee	NOUN
alkej-283	165	4	,	,	PUNCT
alkej-283	165	5	which	which	PRON
alkej-283	165	6	can	can	AUX
alkej-283	165	7	not	not	PART
alkej-283	165	8	improve	improve	VERB
alkej-283	165	9	self	self	NOUN
alkej-283	165	10	-	-	PUNCT
alkej-283	165	11	solution	solution	NOUN
alkej-283	165	12	until	until	ADP
alkej-283	165	13	the	the	DET
alkej-283	165	14	abandonment	abandonment	PROPN
alkej-283	165	15	counter	counter	PROPN
alkej-283	165	16	contacts	contact	NOUN
alkej-283	165	17	to	to	ADP
alkej-283	165	18	the	the	DET
alkej-283	165	19	limit1	limit1	NOUN
alkej-283	165	20	,	,	PUNCT
alkej-283	165	21	becomes	become	VERB
alkej-283	165	22	scout	scout	NOUN
alkej-283	165	23	bee	bee	NOUN
alkej-283	165	24	.	.	PUNCT
alkej-283	166	1	then	then	ADV
alkej-283	166	2	a	a	DET
alkej-283	166	3	new	new	ADJ
alkej-283	166	4	solution	solution	NOUN
alkej-283	166	5	is	be	AUX
alkej-283	166	6	calculated	calculate	VERB
alkej-283	166	7	for	for	ADP
alkej-283	166	8	the	the	DET
alkej-283	166	9	scout	scout	NOUN
alkej-283	166	10	bee	bee	NOUN
alkej-283	166	11	by	by	ADP
alkej-283	166	12	using	use	VERB
alkej-283	166	13	eq	eq	ADP
alkej-283	166	14	.	.	PUNCT
alkej-283	167	1	(	(	PUNCT
alkej-283	167	2	35	35	NUM
alkej-283	167	3	)	)	PUNCT
alkej-283	167	4	and	and	CCONJ
alkej-283	167	5	the	the	DET
alkej-283	167	6	abandonment	abandonment	NOUN
alkej-283	167	7	counter	counter	NOUN
alkej-283	167	8	is	be	AUX
alkej-283	167	9	reset	reset	ADJ
alkej-283	167	10	.	.	PUNCT
alkej-283	168	1	the	the	DET
alkej-283	168	2	scout	scout	PROPN
alkej-283	168	3	bee	bee	PROPN
alkej-283	168	4	,	,	PUNCT
alkej-283	168	5	which	which	PRON
alkej-283	168	6	a	a	DET
alkej-283	168	7	solution	solution	NOUN
alkej-283	168	8	was	be	AUX
alkej-283	168	9	produced	produce	VERB
alkej-283	168	10	for	for	ADP
alkej-283	168	11	itself	itself	PRON
alkej-283	168	12	,	,	PUNCT
alkej-283	168	13	becomes	become	VERB
alkej-283	168	14	the	the	DET
alkej-283	168	15	employed	employ	VERB
alkej-283	168	16	bee	bee	NOUN
alkej-283	168	17	.	.	PUNCT
alkej-283	169	1	therefore	therefore	ADV
alkej-283	169	2	,	,	PUNCT
alkej-283	169	3	scout	scout	NOUN
alkej-283	169	4	bees	bee	NOUN
alkej-283	169	5	in	in	ADP
alkej-283	169	6	abc	abc	PROPN
alkej-283	169	7	prevent	prevent	VERB
alkej-283	169	8	stagnation	stagnation	NOUN
alkej-283	169	9	of	of	ADP
alkej-283	169	10	employed	employ	VERB
alkej-283	169	11	bee	bee	NOUN
alkej-283	169	12	population	population	NOUN
alkej-283	169	13	.	.	PUNCT
alkej-283	170	1	3.2.4	3.2.4	NUM
alkej-283	170	2	crossoved	crossove	VERB
alkej-283	170	3	firefly	firefly	NOUN
alkej-283	170	4	-artificial	-artificial	PROPN
alkej-283	170	5	bee	bee	PROPN
alkej-283	170	6	colony	colony	NOUN
alkej-283	170	7	(	(	PUNCT
alkej-283	170	8	cfa	cfa	PROPN
alkej-283	170	9	-	-	PUNCT
alkej-283	170	10	abc	abc	PROPN
alkej-283	170	11	)	)	PUNCT
alkej-283	170	12	algorithm	algorithm	NOUN
alkej-283	170	13	the	the	DET
alkej-283	170	14	meta	meta	ADJ
alkej-283	170	15	-	-	PUNCT
alkej-283	170	16	heuristic	heuristic	ADJ
alkej-283	170	17	methods	method	NOUN
alkej-283	170	18	are	be	AUX
alkej-283	170	19	more	more	ADV
alkej-283	170	20	powerful	powerful	ADJ
alkej-283	170	21	for	for	ADP
alkej-283	170	22	the	the	DET
alkej-283	170	23	search	search	NOUN
alkej-283	170	24	of	of	ADP
alkej-283	170	25	global	global	ADJ
alkej-283	170	26	solution	solution	NOUN
alkej-283	170	27	for	for	ADP
alkej-283	170	28	complicated	complicated	ADJ
alkej-283	170	29	problems	problem	NOUN
alkej-283	170	30	and	and	CCONJ
alkej-283	170	31	it	it	PRON
alkej-283	170	32	is	be	AUX
alkej-283	170	33	better	well	ADJ
alkej-283	170	34	than	than	ADP
alkej-283	170	35	deterministic	deterministic	ADJ
alkej-283	170	36	algorithm	algorithm	NOUN
alkej-283	170	37	.	.	PUNCT
alkej-283	171	1	though	though	SCONJ
alkej-283	171	2	their	their	PRON
alkej-283	171	3	disadvantage	disadvantage	NOUN
alkej-283	171	4	,	,	PUNCT
alkej-283	171	5	e.g.	e.g.	ADV
alkej-283	171	6	,	,	PUNCT
alkej-283	171	7	the	the	DET
alkej-283	171	8	time	time	NOUN
alkej-283	171	9	of	of	ADP
alkej-283	171	10	convergence	convergence	NOUN
alkej-283	171	11	which	which	PRON
alkej-283	171	12	is	be	AUX
alkej-283	171	13	due	due	ADJ
alkej-283	171	14	the	the	DET
alkej-283	171	15	high	high	ADJ
alkej-283	171	16	number	number	NOUN
alkej-283	171	17	of	of	ADP
alkej-283	171	18	the	the	DET
alkej-283	171	19	population	population	NOUN
alkej-283	171	20	size	size	NOUN
alkej-283	171	21	and	and	CCONJ
alkej-283	171	22	repetition	repetition	NOUN
alkej-283	171	23	,	,	PUNCT
alkej-283	171	24	and	and	CCONJ
alkej-283	171	25	in	in	ADP
alkej-283	171	26	order	order	NOUN
alkej-283	171	27	to	to	PART
alkej-283	171	28	deal	deal	VERB
alkej-283	171	29	with	with	ADP
alkej-283	171	30	this	this	DET
alkej-283	171	31	problem	problem	NOUN
alkej-283	171	32	two	two	NUM
alkej-283	171	33	metaheuristic	metaheuristic	ADJ
alkej-283	171	34	methods	method	NOUN
alkej-283	171	35	are	be	AUX
alkej-283	171	36	joined	join	VERB
alkej-283	171	37	,	,	PUNCT
alkej-283	171	38	the	the	DET
alkej-283	171	39	crossoved	crossove	VERB
alkej-283	171	40	firefly	firefly	NOUN
alkej-283	171	41	and	and	CCONJ
alkej-283	171	42	the	the	DET
alkej-283	171	43	artificial	artificial	ADJ
alkej-283	171	44	bee	bee	NOUN
alkej-283	171	45	colony	colony	NOUN
alkej-283	171	46	algorithm	algorithm	NOUN
alkej-283	171	47	with	with	ADP
alkej-283	171	48	a	a	DET
alkej-283	171	49	lesser	less	ADJ
alkej-283	171	50	symbol	symbol	NOUN
alkej-283	171	51	of	of	ADP
alkej-283	171	52	bees	bee	NOUN
alkej-283	171	53	and	and	CCONJ
alkej-283	171	54	fireflies	firefly	NOUN
alkej-283	171	55	as	as	ADP
alkej-283	171	56	possible	possible	ADJ
alkej-283	171	57	.	.	PUNCT
alkej-283	172	1	this	this	DET
alkej-283	172	2	paper	paper	NOUN
alkej-283	172	3	introduce	introduce	VERB
alkej-283	172	4	a	a	DET
alkej-283	172	5	hybrid	hybrid	ADJ
alkej-283	172	6	design	design	NOUN
alkej-283	172	7	which	which	PRON
alkej-283	172	8	has	have	VERB
alkej-283	172	9	two	two	NUM
alkej-283	172	10	search	search	NOUN
alkej-283	172	11	steps	step	NOUN
alkej-283	172	12	.	.	PUNCT
alkej-283	173	1	the	the	DET
alkej-283	173	2	first	first	ADJ
alkej-283	173	3	step	step	NOUN
alkej-283	173	4	is	be	AUX
alkej-283	173	5	a	a	DET
alkej-283	173	6	search	search	NOUN
alkej-283	173	7	by	by	ADP
alkej-283	173	8	crossoved	crossove	VERB
alkej-283	173	9	firefly	firefly	NOUN
alkej-283	173	10	algorithm	algorithm	NOUN
alkej-283	173	11	(	(	PUNCT
alkej-283	173	12	cfa	cfa	NOUN
alkej-283	173	13	)	)	PUNCT
alkej-283	173	14	and	and	CCONJ
alkej-283	173	15	second	second	ADJ
alkej-283	173	16	step	step	NOUN
alkej-283	173	17	is	be	AUX
alkej-283	173	18	searching	search	VERB
alkej-283	173	19	by	by	ADP
alkej-283	173	20	artificial	artificial	ADJ
alkej-283	173	21	bee	bee	NOUN
alkej-283	173	22	colony	colony	NOUN
alkej-283	173	23	algorithm	algorithm	NOUN
alkej-283	173	24	(	(	PUNCT
alkej-283	173	25	abc	abc	PROPN
alkej-283	173	26	)	)	PUNCT
alkej-283	174	1	[	[	X
alkej-283	174	2	22	22	NUM
alkej-283	174	3	]	]	PUNCT
alkej-283	174	4	.	.	PUNCT
alkej-283	175	1	nizar	nizar	PROPN
alkej-283	175	2	hadi	hadi	PROPN
alkej-283	175	3	abbas	abbas	PROPN
alkej-283	175	4	al	al	PROPN
alkej-283	175	5	-	-	PUNCT
alkej-283	175	6	khwarizmi	khwarizmi	PROPN
alkej-283	175	7	engineering	engineering	NOUN
alkej-283	175	8	journal	journal	PROPN
alkej-283	175	9	,	,	PUNCT
alkej-283	175	10	vol	vol	NOUN
alkej-283	175	11	.	.	PROPN
alkej-283	175	12	12	12	NUM
alkej-283	175	13	,	,	PUNCT
alkej-283	175	14	no	no	INTJ
alkej-283	175	15	.	.	NOUN
alkej-283	175	16	1	1	NUM
alkej-283	175	17	,	,	PUNCT
alkej-283	175	18	p.p	p.p	PROPN
alkej-283	175	19	.	.	PROPN
alkej-283	175	20	4560	4560	NUM
alkej-283	175	21	(	(	PUNCT
alkej-283	175	22	2016	2016	NUM
alkej-283	175	23	)	)	PUNCT
alkej-283	175	24	51	51	NUM
alkej-283	175	25	fig	fig	NOUN
alkej-283	175	26	.	.	PUNCT
alkej-283	176	1	3	3	NUM
alkej-283	176	2	:	:	PUNCT
alkej-283	176	3	structure	structure	NOUN
alkej-283	176	4	of	of	ADP
alkej-283	176	5	the	the	DET
alkej-283	176	6	kinematic	kinematic	ADJ
alkej-283	176	7	neural	neural	ADJ
alkej-283	176	8	controller	controller	NOUN
alkej-283	176	9	.	.	PUNCT
alkej-283	177	1	fig	fig	NOUN
alkej-283	177	2	.	.	PUNCT
alkej-283	178	1	4.the	4.the	DET
alkej-283	178	2	structure	structure	NOUN
alkej-283	178	3	of	of	ADP
alkej-283	178	4	multi	multi	ADJ
alkej-283	178	5	-	-	ADJ
alkej-283	178	6	layer	layer	ADJ
alkej-283	178	7	perceptron	perceptron	NOUN
alkej-283	178	8	(	(	PUNCT
alkej-283	178	9	mlp	mlp	NOUN
alkej-283	178	10	)	)	PUNCT
alkej-283	178	11	neural	neural	ADJ
alkej-283	178	12	networks	network	NOUN
alkej-283	178	13	.	.	PUNCT
alkej-283	179	1	the	the	DET
alkej-283	179	2	summarization	summarization	NOUN
alkej-283	179	3	of	of	ADP
alkej-283	179	4	the	the	DET
alkej-283	179	5	computation	computation	NOUN
alkej-283	179	6	procedure	procedure	NOUN
alkej-283	179	7	of	of	ADP
alkej-283	179	8	hybrid	hybrid	NOUN
alkej-283	179	9	method	method	NOUN
alkej-283	179	10	is	be	AUX
alkej-283	179	11	described	describe	VERB
alkej-283	179	12	by	by	ADP
alkej-283	179	13	the	the	DET
alkej-283	179	14	pseudo	pseudo	NOUN
alkej-283	179	15	code	code	NOUN
alkej-283	179	16	below[22	below[22	NOUN
alkej-283	179	17	]	]	X
alkej-283	179	18	:	:	PUNCT
alkej-283	180	1	step1	step1	NOUN
alkej-283	180	2	:	:	PUNCT
alkej-283	180	3	initial	initial	ADJ
alkej-283	180	4	pop	pop	NOUN
alkej-283	180	5	of	of	ADP
alkej-283	180	6	fireflies	firefly	NOUN
alkej-283	180	7	xlp	xlp	PROPN
alkej-283	180	8	*	*	PROPN
alkej-283	180	9	,	,	PUNCT
alkej-283	180	10	i1	i1	PROPN
alkej-283	180	11	=	=	PUNCT
alkej-283	180	12	1,2	1,2	NUM
alkej-283	180	13	,	,	PUNCT
alkej-283	180	14	…	…	PUNCT
alkej-283	180	15	…	…	PUNCT
alkej-283	180	16	,	,	PUNCT
alkej-283	180	17	s.	s.	PROPN
alkej-283	180	18	step	step	VERB
alkej-283	180	19	2	2	NUM
alkej-283	180	20	:	:	PUNCT
alkej-283	180	21	evaluate	evaluate	VERB
alkej-283	180	22	objective	objective	ADJ
alkej-283	180	23	function	function	NOUN
alkej-283	180	24	f	f	PROPN
alkej-283	180	25	�	�	PROPN
alkej-283	180	26	xp	xp	PROPN
alkej-283	180	27	*	*	PROPN
alkej-283	180	28	�	�	PROPN
alkej-283	180	29	for	for	ADP
alkej-283	180	30	each	each	DET
alkej-283	180	31	firefly	firefly	NOUN
alkej-283	180	32	.	.	PUNCT
alkej-283	181	1	step	step	NOUN
alkej-283	181	2	3	3	NUM
alkej-283	181	3	:	:	PUNCT
alkej-283	181	4	set	set	VERB
alkej-283	181	5	flash	flash	NOUN
alkej-283	181	6	absorption	absorption	NOUN
alkej-283	181	7	coefficient	coefficient	NOUN
alkej-283	181	8	γ	γ	X
alkej-283	181	9	,	,	PUNCT
alkej-283	181	10	βl=,α1	βl=,α1	NUM
alkej-283	181	11	.	.	PUNCT
alkej-283	182	1	step	step	NOUN
alkej-283	182	2	4	4	NUM
alkej-283	182	3	:	:	PUNCT
alkej-283	182	4	flash	flash	NOUN
alkej-283	182	5	intensity	intensity	NOUN
alkej-283	182	6	fp	fp	X
alkej-283	182	7	*	*	PROPN
alkej-283	182	8	at	at	ADP
alkej-283	182	9	xlp	xlp	PROPN
alkej-283	182	10	*	*	PUNCT
alkej-283	182	11	is	be	AUX
alkej-283	182	12	calculated	calculate	VERB
alkej-283	182	13	by	by	ADP
alkej-283	182	14	f	f	PROPN
alkej-283	182	15	�	�	PROPN
alkej-283	182	16	xlp*	xlp*	PROPN
alkej-283	182	17	�	�	PROPN
alkej-283	182	18	.	.	PUNCT
alkej-283	183	1	step	step	NOUN
alkej-283	183	2	5	5	NUM
alkej-283	183	3	:	:	PUNCT
alkej-283	183	4	while	while	SCONJ
alkej-283	183	5	t	t	PROPN
alkej-283	183	6	<	<	X
alkej-283	183	7	max	max	PROPN
alkej-283	183	8	iteration	iteration	NOUN
alkej-283	183	9	.	.	PUNCT
alkej-283	184	1	step	step	NOUN
alkej-283	184	2	6	6	NUM
alkej-283	184	3	:	:	PUNCT
alkej-283	184	4	calculate	calculate	VERB
alkej-283	184	5	the	the	DET
alkej-283	184	6	value	value	NOUN
alkej-283	184	7	of	of	ADP
alkej-283	184	8	alpha	alpha	NOUN
alkej-283	184	9	by	by	ADP
alkej-283	184	10	eq	eq	PROPN
alkej-283	184	11	.	.	PUNCT
alkej-283	185	1	(	(	PUNCT
alkej-283	185	2	32	32	NUM
alkej-283	185	3	)	)	PUNCT
alkej-283	185	4	step	step	NOUN
alkej-283	185	5	7	7	NUM
alkej-283	185	6	:	:	PUNCT
alkej-283	185	7	for	for	ADP
alkej-283	185	8	i1=1	i1=1	PROPN
alkej-283	185	9	:	:	PUNCT
alkej-283	186	1	s	s	X
alkej-283	186	2	for	for	ADP
alkej-283	186	3	all	all	PRON
alkej-283	186	4	s	s	PART
alkej-283	186	5	fireflies	firefly	NOUN
alkej-283	186	6	.	.	PUNCT
alkej-283	187	1	for	for	ADP
alkej-283	187	2	j1=1	j1=1	PROPN
alkej-283	187	3	:	:	PUNCT
alkej-283	187	4	s	s	X
alkej-283	187	5	for	for	ADP
alkej-283	187	6	all	all	PRON
alkej-283	187	7	s	s	PART
alkej-283	187	8	fireflies	firefly	NOUN
alkej-283	187	9	.	.	PUNCT
alkej-283	188	1	step	step	NOUN
alkej-283	188	2	8	8	NUM
alkej-283	188	3	:	:	PUNCT
alkej-283	188	4	if	if	SCONJ
alkej-283	188	5	(	(	PUNCT
alkej-283	188	6	fx	fx	PROPN
alkej-283	188	7	*	*	PUNCT
alkej-283	188	8	>	>	X
alkej-283	188	9	fp	fp	PROPN
alkej-283	188	10	*	*	PROPN
alkej-283	188	11	�	�	PROPN
alkej-283	188	12	movement	movement	PROPN
alkej-283	188	13	all	all	DET
alkej-283	188	14	firefly	firefly	PROPN
alkej-283	188	15	i1	i1	PROPN
alkej-283	188	16	towards	towards	ADP
alkej-283	188	17	j1	j1	PROPN
alkej-283	188	18	(	(	PUNCT
alkej-283	188	19	ddimension	ddimension	NOUN
alkej-283	188	20	)	)	PUNCT
alkej-283	188	21	by	by	ADP
alkej-283	188	22	eq	eq	PROPN
alkej-283	188	23	.	.	PUNCT
alkej-283	189	1	(	(	PUNCT
alkej-283	189	2	31	31	NUM
alkej-283	189	3	)	)	PUNCT
alkej-283	189	4	concording	concord	VERB
alkej-283	189	5	to	to	ADP
alkej-283	189	6	the	the	DET
alkej-283	189	7	luminousness	luminousness	NOUN
alkej-283	189	8	between	between	ADP
alkej-283	189	9	i1	i1	PROPN
alkej-283	189	10	and	and	CCONJ
alkej-283	189	11	j1	j1	PROPN
alkej-283	189	12	can	can	AUX
alkej-283	189	13	be	be	AUX
alkej-283	189	14	determined	determine	VERB
alkej-283	189	15	by	by	ADP
alkej-283	189	16	eq	eq	PROPN
alkej-283	189	17	.	.	PUNCT
alkej-283	190	1	(	(	PUNCT
alkej-283	190	2	30	30	NUM
alkej-283	190	3	)	)	PUNCT
alkej-283	190	4	step	step	NOUN
alkej-283	190	5	9	9	NUM
alkej-283	190	6	:	:	PUNCT
alkej-283	190	7	else	else	ADJ
alkej-283	190	8	movement	movement	PROPN
alkej-283	190	9	all	all	DET
alkej-283	190	10	fireflies	firefly	NOUN
alkej-283	190	11	by	by	ADP
alkej-283	190	12	eq	eq	PROPN
alkej-283	190	13	.	.	PUNCT
alkej-283	191	1	(	(	PUNCT
alkej-283	191	2	33	33	NUM
alkej-283	191	3	)	)	PUNCT
alkej-283	191	4	.	.	PUNCT
alkej-283	192	1	step	step	NOUN
alkej-283	192	2	10	10	NUM
alkej-283	192	3	:	:	PUNCT
alkej-283	192	4	end	end	VERB
alkej-283	192	5	if	if	SCONJ
alkej-283	192	6	.	.	PUNCT
alkej-283	193	1	step	step	NOUN
alkej-283	193	2	11	11	NUM
alkej-283	193	3	:	:	PUNCT
alkej-283	193	4	valuate	valuate	VERB
alkej-283	193	5	the	the	DET
alkej-283	193	6	new	new	ADJ
alkej-283	193	7	fireflies	firefly	NOUN
alkej-283	193	8	and	and	CCONJ
alkej-283	193	9	update	update	VERB
alkej-283	193	10	flash	flash	NOUN
alkej-283	193	11	intensities	intensity	NOUN
alkej-283	193	12	.	.	PUNCT
alkej-283	194	1	step	step	NOUN
alkej-283	194	2	12	12	NUM
alkej-283	194	3	:	:	PUNCT
alkej-283	194	4	end	end	VERB
alkej-283	194	5	for	for	ADP
alkej-283	194	6	j	j	PROPN
alkej-283	194	7	,	,	PUNCT
alkej-283	194	8	end	end	VERB
alkej-283	194	9	for	for	ADP
alkej-283	194	10	i1	i1	PROPN
alkej-283	194	11	step	step	NOUN
alkej-283	194	12	13	13	NUM
alkej-283	194	13	:	:	PUNCT
alkej-283	194	14	order	order	VERB
alkej-283	194	15	the	the	DET
alkej-283	194	16	fireflies	firefly	NOUN
alkej-283	194	17	and	and	CCONJ
alkej-283	194	18	find	find	VERB
alkej-283	194	19	the	the	DET
alkej-283	194	20	best	good	ADJ
alkej-283	194	21	.	.	PUNCT
alkej-283	195	1	step	step	NOUN
alkej-283	195	2	14	14	NUM
alkej-283	195	3	:	:	PUNCT
alkej-283	195	4	end	end	VERB
alkej-283	195	5	while	while	NOUN
alkej-283	195	6	.	.	PUNCT
alkej-283	196	1	nizar	nizar	PROPN
alkej-283	196	2	hadi	hadi	PROPN
alkej-283	196	3	abbas	abbas	PROPN
alkej-283	196	4	al	al	PROPN
alkej-283	196	5	-	-	PUNCT
alkej-283	196	6	khwarizmi	khwarizmi	PROPN
alkej-283	196	7	engineering	engineering	NOUN
alkej-283	196	8	journal	journal	PROPN
alkej-283	196	9	,	,	PUNCT
alkej-283	196	10	vol	vol	NOUN
alkej-283	196	11	.	.	PROPN
alkej-283	196	12	12	12	NUM
alkej-283	196	13	,	,	PUNCT
alkej-283	196	14	no	no	INTJ
alkej-283	196	15	.	.	NOUN
alkej-283	196	16	1	1	NUM
alkej-283	196	17	,	,	PUNCT
alkej-283	196	18	p.p	p.p	PROPN
alkej-283	196	19	.	.	PROPN
alkej-283	196	20	4560	4560	NUM
alkej-283	196	21	(	(	PUNCT
alkej-283	196	22	2016	2016	NUM
alkej-283	196	23	)	)	PUNCT
alkej-283	196	24	52	52	NUM
alkej-283	196	25	the	the	DET
alkej-283	196	26	best	good	ADJ
alkej-283	196	27	solution	solution	NOUN
alkej-283	196	28	found	find	VERB
alkej-283	196	29	by	by	ADP
alkej-283	196	30	cfa	cfa	PROPN
alkej-283	196	31	are	be	AUX
alkej-283	196	32	regarded	regard	VERB
alkej-283	196	33	as	as	ADP
alkej-283	196	34	initial	initial	ADJ
alkej-283	196	35	point	point	NOUN
alkej-283	196	36	for	for	ADP
alkej-283	196	37	abc	abc	PROPN
alkej-283	196	38	.	.	PUNCT
alkej-283	197	1	step	step	NOUN
alkej-283	197	2	15	15	NUM
alkej-283	197	3	:	:	PUNCT
alkej-283	197	4	evaluate	evaluate	VERB
alkej-283	197	5	the	the	DET
alkej-283	197	6	fitness	fitness	NOUN
alkej-283	197	7	function	function	NOUN
alkej-283	197	8	for	for	ADP
alkej-283	197	9	each	each	DET
alkej-283	197	10	employed	employ	VERB
alkej-283	197	11	bees	bee	NOUN
alkej-283	197	12	by	by	ADP
alkej-283	197	13	eq	eq	PROPN
alkej-283	197	14	.	.	PUNCT
alkej-283	198	1	(	(	PUNCT
alkej-283	198	2	35	35	NUM
alkej-283	198	3	)	)	PUNCT
alkej-283	198	4	.	.	PUNCT
alkej-283	199	1	step	step	NOUN
alkej-283	199	2	16	16	NUM
alkej-283	199	3	:	:	PUNCT
alkej-283	199	4	while	while	SCONJ
alkej-283	199	5	(	(	PUNCT
alkej-283	199	6	termination	termination	NOUN
alkej-283	199	7	criterion	criterion	NOUN
alkej-283	199	8	not	not	PART
alkej-283	199	9	satisfied	satisfied	ADJ
alkej-283	199	10	)	)	PUNCT
alkej-283	199	11	.	.	PUNCT
alkej-283	200	1	employed	employ	VERB
alkej-283	200	2	bees	bee	NOUN
alkej-283	200	3	stage	stage	VERB
alkej-283	200	4	step	step	NOUN
alkej-283	200	5	17	17	NUM
alkej-283	200	6	:	:	PUNCT
alkej-283	200	7	for	for	ADP
alkej-283	200	8	each	each	DET
alkej-283	200	9	employed	employ	VERB
alkej-283	200	10	bee	bee	NOUN
alkej-283	200	11	.	.	PUNCT
alkej-283	201	1	create	create	VERB
alkej-283	201	2	new	new	ADJ
alkej-283	201	3	food	food	NOUN
alkej-283	201	4	source	source	NOUN
alkej-283	201	5	positions	position	NOUN
alkej-283	201	6	by	by	ADP
alkej-283	201	7	eq	eq	PROPN
alkej-283	201	8	.	.	PUNCT
alkej-283	202	1	(	(	PUNCT
alkej-283	202	2	36	36	NUM
alkej-283	202	3	)	)	PUNCT
alkej-283	202	4	.	.	PUNCT
alkej-283	203	1	use	use	VERB
alkej-283	203	2	greedy	greedy	ADJ
alkej-283	203	3	selection	selection	NOUN
alkej-283	203	4	mechanism	mechanism	NOUN
alkej-283	203	5	.	.	PUNCT
alkej-283	204	1	step	step	NOUN
alkej-283	204	2	18	18	NUM
alkej-283	204	3	:	:	PUNCT
alkej-283	204	4	end	end	VERB
alkej-283	204	5	for	for	ADP
alkej-283	204	6	.	.	PUNCT
alkej-283	205	1	calculate	calculate	VERB
alkej-283	205	2	the	the	DET
alkej-283	205	3	probability	probability	NOUN
alkej-283	205	4	plp	plp	NOUN
alkej-283	205	5	*	*	VERB
alkej-283	205	6	values	value	NOUN
alkej-283	205	7	for	for	ADP
alkej-283	205	8	the	the	DET
alkej-283	205	9	solution	solution	NOUN
alkej-283	205	10	xlp*x	xlp*x	PROPN
alkej-283	205	11	*	*	PUNCT
alkej-283	205	12	by	by	ADP
alkej-283	205	13	the	the	DET
alkej-283	205	14	eq	eq	PROPN
alkej-283	205	15	.	.	PROPN
alkej-283	205	16	�	�	PROPN
alkej-283	205	17	37	37	NUM
alkej-283	205	18	�	�	PROPN
alkej-283	205	19	.	.	PUNCT
alkej-283	205	20	onlooker	onlooker	NOUN
alkej-283	205	21	bees	bee	NOUN
alkej-283	205	22	stage	stage	VERB
alkej-283	205	23	.	.	PUNCT
alkej-283	206	1	step	step	NOUN
alkej-283	206	2	19	19	NUM
alkej-283	206	3	:	:	PUNCT
alkej-283	206	4	for	for	ADP
alkej-283	206	5	each	each	DET
alkej-283	206	6	onlooker	onlooker	NOUN
alkej-283	206	7	bee	bee	NOUN
alkej-283	206	8	.	.	PUNCT
alkej-283	206	9	chooses	choose	VERB
alkej-283	206	10	a	a	DET
alkej-283	206	11	food	food	NOUN
alkej-283	206	12	source	source	NOUN
alkej-283	206	13	xlp*x	xlp*x	PROPN
alkej-283	206	14	*	*	VERB
alkej-283	206	15	depending	depend	VERB
alkej-283	206	16	on	on	ADP
alkej-283	206	17	create	create	VERB
alkej-283	206	18	new	new	ADJ
alkej-283	206	19	food	food	NOUN
alkej-283	206	20	source	source	NOUN
alkej-283	206	21	positions	position	NOUN
alkej-283	206	22	by	by	ADP
alkej-283	206	23	eq	eq	PROPN
alkej-283	206	24	.	.	PUNCT
alkej-283	207	1	(	(	PUNCT
alkej-283	207	2	36	36	NUM
alkej-283	207	3	)	)	PUNCT
alkej-283	207	4	.	.	PUNCT
alkej-283	208	1	use	use	VERB
alkej-283	208	2	greedy	greedy	ADJ
alkej-283	208	3	selection	selection	NOUN
alkej-283	208	4	mechanism	mechanism	NOUN
alkej-283	208	5	.	.	PUNCT
alkej-283	209	1	step	step	NOUN
alkej-283	209	2	20	20	NUM
alkej-283	209	3	:	:	PUNCT
alkej-283	209	4	end	end	VERB
alkej-283	209	5	for	for	ADP
alkej-283	209	6	.	.	PUNCT
alkej-283	210	1	scout	scout	PROPN
alkej-283	210	2	bee	bee	PROPN
alkej-283	210	3	stage	stage	NOUN
alkej-283	210	4	.	.	PUNCT
alkej-283	211	1	if	if	SCONJ
alkej-283	211	2	there	there	PRON
alkej-283	211	3	is	be	VERB
alkej-283	211	4	the	the	DET
alkej-283	211	5	employed	employ	VERB
alkej-283	211	6	bee	bee	NOUN
alkej-283	211	7	becomes	become	VERB
alkej-283	211	8	scout	scout	NOUN
alkej-283	211	9	then	then	ADV
alkej-283	211	10	change	change	VERB
alkej-283	211	11	it	it	PRON
alkej-283	211	12	with	with	ADP
alkej-283	211	13	new	new	ADJ
alkej-283	211	14	random	random	ADJ
alkej-283	211	15	source	source	NOUN
alkej-283	211	16	solutions	solution	NOUN
alkej-283	211	17	by	by	ADP
alkej-283	211	18	eq.(34	eq.(34	NOUN
alkej-283	211	19	)	)	PUNCT
alkej-283	211	20	.	.	PUNCT
alkej-283	212	1	3.2.5	3.2.5	NUM
alkej-283	212	2	results	result	NOUN
alkej-283	212	3	of	of	ADP
alkej-283	212	4	optimization	optimization	NOUN
alkej-283	212	5	algorithms	algorithm	VERB
alkej-283	212	6	the	the	DET
alkej-283	212	7	results	result	NOUN
alkej-283	212	8	of	of	ADP
alkej-283	212	9	optimization	optimization	NOUN
alkej-283	212	10	algorithms	algorithm	NOUN
alkej-283	212	11	are	be	AUX
alkej-283	212	12	showing	show	VERB
alkej-283	212	13	in	in	ADP
alkej-283	212	14	the	the	DET
alkej-283	212	15	next	next	ADJ
alkej-283	212	16	section	section	NOUN
alkej-283	212	17	after	after	ADP
alkej-283	212	18	appling	apple	VERB
alkej-283	212	19	on	on	ADP
alkej-283	212	20	the	the	DET
alkej-283	212	21	benchmarks	benchmark	NOUN
alkej-283	212	22	function	function	VERB
alkej-283	212	23	for	for	ADP
alkej-283	212	24	minimization	minimization	NOUN
alkej-283	212	25	,	,	PUNCT
alkej-283	212	26	when	when	SCONJ
alkej-283	212	27	the	the	DET
alkej-283	212	28	benchmarks	benchmark	NOUN
alkej-283	212	29	are	be	AUX
alkej-283	212	30	the	the	DET
alkej-283	212	31	test	test	NOUN
alkej-283	212	32	function	function	NOUN
alkej-283	212	33	.	.	PUNCT
alkej-283	213	1	table	table	NOUN
alkej-283	213	2	1	1	NUM
alkej-283	213	3	,	,	PUNCT
alkej-283	213	4	the	the	DET
alkej-283	213	5	optimization	optimization	NOUN
alkej-283	213	6	results	result	VERB
alkej-283	213	7	.	.	PUNCT
alkej-283	214	1	cfa	cfa	PROPN
alkej-283	214	2	-	-	PUNCT
alkej-283	214	3	abc	abc	PROPN
alkej-283	214	4	cfa	cfa	PROPN
alkej-283	214	5	fa	fa	PROPN
alkej-283	214	6	bench	bench	PROPN
alkej-283	214	7	function	function	VERB
alkej-283	214	8	603.734	603.734	NUM
alkej-283	214	9	743.1403	743.1403	NUM
alkej-283	214	10	1.0086e+003	1.0086e+003	NUM
alkej-283	214	11	f1	f1	PROPN
alkej-283	214	12	936272	936272	NUM
alkej-283	214	13	3.6879e+005	3.6879e+005	NUM
alkej-283	214	14	1.1321e+006	1.1321e+006	NUM
alkej-283	214	15	f2	f2	PROPN
alkej-283	214	16	2462.28	2462.28	NUM
alkej-283	214	17	1.2057e+003	1.2057e+003	NUM
alkej-283	214	18	1.6745e+003	1.6745e+003	NUM
alkej-283	214	19	f3	f3	NOUN
alkej-283	214	20	8.7319e007	8.7319e007	NUM
alkej-283	214	21	1.0803	1.0803	NUM
alkej-283	214	22	1.1776	1.1776	NUM
alkej-283	214	23	f4	f4	ADP
alkej-283	214	24	0.0138406	0.0138406	NUM
alkej-283	214	25	8.85986	8.85986	NUM
alkej-283	214	26	10.1603	10.1603	NUM
alkej-283	214	27	f5	f5	NOUN
alkej-283	214	28	table	table	NOUN
alkej-283	214	29	2	2	NUM
alkej-283	214	30	,	,	PUNCT
alkej-283	214	31	standard	standard	ADJ
alkej-283	214	32	benchmark	benchmark	NOUN
alkej-283	214	33	functions	function	NOUN
alkej-283	214	34	.	.	PUNCT
alkej-283	215	1	function	function	VERB
alkej-283	215	2	no	no	INTJ
alkej-283	215	3	.	.	PUNCT
alkej-283	216	1	¤\ℎjaj	¤\ℎjaj	NOUN
alkej-283	216	2	=	=	SYM
alkej-283	216	3	¥	¥	PROPN
alkej-283	216	4	�	�	PROPN
alkej-283	216	5	+	+	NOUN
alkej-283	216	6	̂	̂	X
alkej-283	216	7	�	�	NOUN
alkej-283	216	8	^x	^x	PROPN
alkej-283	216	9	*	*	PROPN
alkej-283	216	10	f1	f1	PROPN
alkej-283	216	11	�	�	PROPN
alkej-283	216	12	63j5	63j5	NUM
alkej-283	216	13	¦	¦	NOUN
alkej-283	216	14	a6%ℎ	a6%ℎ	NOUN
alkej-283	216	15	=	=	SYM
alkej-283	216	16	¥	¥	NUM
alkej-283	216	17	�	�	PROPN
alkej-283	216	18	100	100	NUM
alkej-283	216	19	�	�	PROPN
alkej-283	216	20	�	�	NOUN
alkej-283	216	21	^0	^0	NOUN
alkej-283	216	22	*	*	NOUN
alkej-283	216	23	−	−	PROPN
alkej-283	216	24	�	�	PROPN
alkej-283	216	25	+	+	NOUN
alkej-283	216	26	̂	̂	PROPN
alkej-283	216	27	�	�	PROPN
alkej-283	216	28	+	+	NOUN
alkej-283	216	29	�	�	PROPN
alkej-283	216	30	2	2	NUM
alkej-283	216	31	*	*	SYM
alkej-283	216	32	^x*+	^x*+	X
alkej-283	216	33	�	�	PROPN
alkej-283	216	34	�	�	PROPN
alkej-283	216	35	^	^	PUNCT
alkej-283	216	36	−	−	PROPN
alkej-283	216	37	1	1	NUM
alkej-283	216	38	�	�	PROPN
alkej-283	216	39	+	+	NUM
alkej-283	216	40	�	�	PROPN
alkej-283	216	41	f2	f2	PROPN
alkej-283	216	42	�	�	PROPN
alkej-283	216	43	�	�	PROPN
alkej-283	216	44	3da4§45	3da4§45	PROPN
alkej-283	216	45	=	=	SYM
alkej-283	216	46	¥	¥	PROPN
alkej-283	216	47	�	�	PROPN
alkej-283	216	48	�	�	PROPN
alkej-283	216	49	+	+	NOUN
alkej-283	216	50	̂	̂	VERB
alkej-283	216	51	−	−	PROPN
alkej-283	216	52	10	10	NUM
alkej-283	216	53	cos	cos	PROPN
alkej-283	216	54	�	�	PROPN
alkej-283	216	55	2¨	2¨	NUM
alkej-283	216	56	�	�	PROPN
alkej-283	216	57	^	^	SYM
alkej-283	216	58	�	�	PROPN
alkej-283	216	59	�	�	PROPN
alkej-283	216	60	^x*+	^x*+	PUNCT
alkej-283	216	61	10	10	NUM
alkej-283	216	62	�	�	PROPN
alkej-283	216	63	f3	f3	PROPN
alkej-283	216	64	©	©	PROPN
alkej-283	216	65	a4js	a4j	NOUN
alkej-283	216	66	�	�	NOUN
alkej-283	216	67	5z	5z	NOUN
alkej-283	216	68	=	=	SYM
alkej-283	216	69	¥	¥	NUM
alkej-283	216	70	�	�	PROPN
alkej-283	216	71	�	�	PROPN
alkej-283	216	72	+	+	PROPN
alkej-283	216	73	̂	̂	PROPN
alkej-283	216	74	4000	4000	NUM
alkej-283	216	75	�	�	PROPN
alkej-283	216	76	�	�	PROPN
alkej-283	216	77	^x*−	^x*−	NUM
alkej-283	216	78	«	«	PUNCT
alkej-283	216	79	cos	cos	PROPN
alkej-283	216	80	¬	¬	PROPN
alkej-283	216	81	�	�	PROPN
alkej-283	216	82	^√4	^√4	NOUN
alkej-283	216	83	®	®	NOUN
alkej-283	216	84	+	+	X
alkej-283	216	85	1	1	NUM
alkej-283	216	86	�	�	PROPN
alkej-283	216	87	^x	^x	NUM
alkej-283	216	88	*	*	PROPN
alkej-283	216	89	f4	f4	PROPN
alkej-283	216	90	�	�	PROPN
alkej-283	216	91	%	%	NOUN
alkej-283	216	92	zij	zij	PROPN
alkej-283	216	93	�	�	PROPN
alkej-283	216	94	=	=	PROPN
alkej-283	216	95	20	20	NUM
alkej-283	217	1	+	+	NUM
alkej-283	217	2	j	j	PROPN
alkej-283	217	3	−	−	PROPN
alkej-283	217	4	20	20	NUM
alkej-283	217	5	∗	∗	NOUN
alkej-283	217	6	j	j	PROPN
alkej-283	218	1	k	k	PROPN
alkej-283	218	2	*	*	PROPN
alkej-283	218	3	�	�	PROPN
alkej-283	218	4	∑	∑	PUNCT
alkej-283	218	5	�	�	PROPN
alkej-283	218	6	�	�	PROPN
alkej-283	218	7	d	d	PROPN
alkej-283	218	8	�	�	PROPN
alkej-283	218	9	̄	̄	PROPN
alkej-283	218	10	�	�	PROPN
alkej-283	218	11	�	�	PROPN
alkej-283	218	12	°	°	PROPN
alkej-283	218	13	±.d	±.d	NOUN
alkej-283	218	14	−	−	PROPN
alkej-283	218	15	j*	j*	NOUN
alkej-283	218	16	�	�	PROPN
alkej-283	218	17	∑	∑	PROPN
alkej-283	218	18	²³	²³	NUM
alkej-283	218	19	´	´	PROPN
alkej-283	218	20	�	�	PROPN
alkej-283	218	21	+	+	NOUN
alkej-283	218	22	µ	µ	NOUN
alkej-283	218	23	�	�	PROPN
alkej-283	218	24	�	�	PROPN
alkej-283	218	25	�	�	PROPN
alkej-283	218	26	�	�	PROPN
alkej-283	218	27	̄	̄	PROPN
alkej-283	218	28	�	�	PROPN
alkej-283	218	29	�	�	PROPN
alkej-283	218	30	f5	f5	PROPN
alkej-283	218	31	4	4	NUM
alkej-283	218	32	.	.	PUNCT
alkej-283	218	33	kinematic	kinematic	ADJ
alkej-283	218	34	neural	neural	ADJ
alkej-283	218	35	controller	controller	NOUN
alkej-283	218	36	design	design	NOUN
alkej-283	218	37	based	base	VERB
alkej-283	218	38	on	on	ADP
alkej-283	218	39	hybrid	hybrid	ADJ
alkej-283	218	40	cfa	cfa	PROPN
alkej-283	218	41	-	-	PUNCT
alkej-283	218	42	abc	abc	PROPN
alkej-283	218	43	algorithm	algorithm	PROPN
alkej-283	218	44	this	this	DET
alkej-283	218	45	paper	paper	NOUN
alkej-283	218	46	introduce	introduce	VERB
alkej-283	218	47	a	a	DET
alkej-283	218	48	cfa	cfa	NOUN
alkej-283	218	49	-	-	PUNCT
alkej-283	218	50	abc	abc	PROPN
alkej-283	218	51	for	for	ADP
alkej-283	218	52	searching	search	VERB
alkej-283	218	53	the	the	DET
alkej-283	218	54	optimal	optimal	ADJ
alkej-283	218	55	controller	controller	NOUN
alkej-283	218	56	parameters	parameter	NOUN
alkej-283	218	57	.the	.the	VERB
alkej-283	219	1	searching	search	VERB
alkej-283	219	2	procedures	procedure	NOUN
alkej-283	219	3	of	of	ADP
alkej-283	219	4	proposed	propose	VERB
alkej-283	219	5	method	method	NOUN
alkej-283	219	6	shown	show	VERB
alkej-283	219	7	as	as	ADP
alkej-283	219	8	below	below	ADV
alkej-283	219	9	:	:	PUNCT
alkej-283	219	10	1	1	X
alkej-283	219	11	.	.	X
alkej-283	219	12	initial	initial	ADJ
alkej-283	219	13	searching	searching	NOUN
alkej-283	219	14	weights	weight	NOUN
alkej-283	219	15	(	(	PUNCT
alkej-283	219	16	$	$	SYM
alkej-283	219	17	u=̂	u=̂	NOUN
alkej-283	219	18	,	,	PUNCT
alkej-283	219	19	¶tu=	¶tu=	NUM
alkej-283	219	20	,	,	PUNCT
alkej-283	219	21	yu*=	yu*=	PROPN
alkej-283	219	22	,	,	PUNCT
alkej-283	219	23	yt+=	yt+=	PROPN
alkej-283	219	24	�	�	PROPN
alkej-283	219	25	of	of	ADP
alkej-283	219	26	each	each	DET
alkej-283	219	27	firefly	firefly	NOUN
alkej-283	219	28	are	be	AUX
alkej-283	219	29	created	create	VERB
alkej-283	219	30	randomly	randomly	ADV
alkej-283	219	31	with	with	ADP
alkej-283	219	32	in	in	ADP
alkej-283	219	33	the	the	DET
alkej-283	219	34	determined	determined	ADJ
alkej-283	219	35	range	range	NOUN
alkej-283	219	36	.	.	PUNCT
alkej-283	220	1	note	note	VERB
alkej-283	220	2	that	that	SCONJ
alkej-283	220	3	the	the	DET
alkej-283	220	4	dimension	dimension	NOUN
alkej-283	220	5	of	of	ADP
alkej-283	220	6	search	search	NOUN
alkej-283	220	7	space	space	NOUN
alkej-283	220	8	consists	consist	VERB
alkej-283	220	9	of	of	ADP
alkej-283	220	10	all	all	DET
alkej-283	220	11	the	the	DET
alkej-283	220	12	control	control	NOUN
alkej-283	220	13	parameters	parameter	NOUN
alkej-283	220	14	needed	need	VERB
alkej-283	220	15	in	in	ADP
alkej-283	220	16	the	the	DET
alkej-283	220	17	kinematic	kinematic	ADJ
alkej-283	220	18	neural	neural	ADJ
alkej-283	220	19	controller	controller	NOUN
alkej-283	220	20	as	as	SCONJ
alkej-283	220	21	shown	show	VERB
alkej-283	220	22	in	in	ADP
alkej-283	220	23	figure	figure	NOUN
alkej-283	220	24	(	(	PUNCT
alkej-283	220	25	2	2	NUM
alkej-283	220	26	)	)	PUNCT
alkej-283	220	27	.	.	PUNCT
alkej-283	221	1	2	2	X
alkej-283	221	2	.	.	X
alkej-283	221	3	the	the	DET
alkej-283	221	4	objective	objective	ADJ
alkej-283	221	5	function	function	NOUN
alkej-283	221	6	is	be	AUX
alkej-283	221	7	calculated	calculate	VERB
alkej-283	221	8	for	for	ADP
alkej-283	221	9	each	each	DET
alkej-283	221	10	firefly	firefly	NOUN
alkej-283	221	11	by	by	ADP
alkej-283	221	12	the	the	DET
alkej-283	221	13	mean	mean	ADJ
alkej-283	221	14	square	square	ADJ
alkej-283	221	15	error	error	NOUN
alkej-283	221	16	function	function	NOUN
alkej-283	221	17	as	as	ADP
alkej-283	221	18	equation	equation	NOUN
alkej-283	221	19	[	[	X
alkej-283	221	20	1	1	NUM
alkej-283	221	21	]	]	X
alkej-283	221	22	:	:	PUNCT
alkej-283	221	23	(	(	PUNCT
alkej-283	221	24	mse)=	mse)=	NOUN
alkej-283	221	25	*	*	PUNCT
alkej-283	221	26	+	+	CCONJ
alkej-283	221	27	∑	∑	PROPN
alkej-283	221	28	�	�	PROPN
alkej-283	221	29	�	�	PROPN
alkej-283	221	30	e	e	NOUN
alkej-283	221	31	�	�	PROPN
alkej-283	221	32	�	�	PROPN
alkej-283	221	33	�	�	PROPN
alkej-283	221	34	·	·	SYM
alkej-283	221	35	−	−	PROPN
alkej-283	221	36	�	�	PROPN
alkej-283	221	37	�	�	PROPN
alkej-283	221	38	�	�	PROPN
alkej-283	221	39	�	�	PROPN
alkej-283	221	40	·	·	SYM
alkej-283	221	41	�	�	PROPN
alkej-283	221	42	+	+	CCONJ
alkej-283	221	43	+	+	NUM
alkej-283	221	44	�	�	PROPN
alkej-283	221	45	�	�	PROPN
alkej-283	221	46	e	e	NOUN
alkej-283	221	47	�	�	PROPN
alkej-283	221	48	�	�	PROPN
alkej-283	221	49	�	�	PROPN
alkej-283	221	50	·	·	SYM
alkej-283	221	51	−·	−·	NOUN
alkej-283	221	52	�	�	PROPN
alkej-283	221	53	··x*	··x*	PROPN
alkej-283	221	54	�	�	PROPN
alkej-283	221	55	�	�	PROPN
alkej-283	221	56	�	�	PROPN
alkej-283	221	57	�	�	PROPN
alkej-283	221	58	·	·	SYM
alkej-283	221	59	�	�	PROPN
alkej-283	221	60	+	+	CCONJ
alkej-283	221	61	+	+	NUM
alkej-283	221	62	�	�	PROPN
alkej-283	221	63	�	�	PROPN
alkej-283	221	64	e	e	NOUN
alkej-283	221	65	�	�	PROPN
alkej-283	221	66	�	�	PROPN
alkej-283	221	67	�	�	PROPN
alkej-283	221	68	·	·	SYM
alkej-283	221	69	−	−	PROPN
alkej-283	221	70	�	�	PROPN
alkej-283	221	71	�	�	PROPN
alkej-283	221	72	�	�	PROPN
alkej-283	221	73	�	�	PROPN
alkej-283	221	74	·	·	SYM
alkej-283	221	75	�	�	PROPN
alkej-283	221	76	+	+	NUM
alkej-283	221	77	…	…	PUNCT
alkej-283	221	78	�	�	PROPN
alkej-283	221	79	38	38	NUM
alkej-283	221	80	�	�	PROPN
alkej-283	221	81	3	3	NUM
alkej-283	221	82	.	.	NUM
alkej-283	221	83	applied	apply	VERB
alkej-283	221	84	step3	step3	PROPN
alkej-283	221	85	to	to	PART
alkej-283	221	86	step	step	VERB
alkej-283	221	87	13	13	NUM
alkej-283	221	88	from	from	ADP
alkej-283	221	89	the	the	DET
alkej-283	221	90	pseudo	pseudo	NOUN
alkej-283	221	91	code	code	NOUN
alkej-283	221	92	of	of	ADP
alkej-283	221	93	(	(	PUNCT
alkej-283	221	94	cfa	cfa	PROPN
alkej-283	221	95	-	-	PUNCT
alkej-283	221	96	abc	abc	PROPN
alkej-283	221	97	)	)	PUNCT
alkej-283	221	98	to	to	PART
alkej-283	221	99	find	find	VERB
alkej-283	221	100	the	the	DET
alkej-283	221	101	best	good	ADJ
alkej-283	221	102	weight	weight	NOUN
alkej-283	221	103	with	with	ADP
alkej-283	221	104	minimizing	minimize	VERB
alkej-283	221	105	trajectory	trajectory	NOUN
alkej-283	221	106	tracking	tracking	NOUN
alkej-283	221	107	error	error	NOUN
alkej-283	221	108	.	.	PUNCT
alkej-283	222	1	4	4	X
alkej-283	222	2	.	.	X
alkej-283	222	3	the	the	DET
alkej-283	222	4	best	good	ADJ
alkej-283	222	5	weight	weight	NOUN
alkej-283	222	6	are	be	AUX
alkej-283	222	7	regarded	regard	VERB
alkej-283	222	8	as	as	ADP
alkej-283	222	9	initial	initial	ADJ
alkej-283	222	10	point	point	NOUN
alkej-283	222	11	for	for	ADP
alkej-283	222	12	abc	abc	PROPN
alkej-283	222	13	.	.	PUNCT
alkej-283	223	1	5	5	NUM
alkej-283	223	2	.	.	PUNCT
alkej-283	223	3	the	the	DET
alkej-283	223	4	objective	objective	ADJ
alkej-283	223	5	function	function	NOUN
alkej-283	223	6	is	be	AUX
alkej-283	223	7	calculated	calculate	VERB
alkej-283	223	8	for	for	ADP
alkej-283	223	9	each	each	DET
alkej-283	223	10	bee	bee	NOUN
alkej-283	223	11	by	by	ADP
alkej-283	223	12	the	the	DET
alkej-283	223	13	mean	mean	ADJ
alkej-283	223	14	square	square	ADJ
alkej-283	223	15	error	error	NOUN
alkej-283	223	16	function	function	NOUN
alkej-283	223	17	as	as	ADP
alkej-283	223	18	equation	equation	NOUN
alkej-283	223	19	(	(	PUNCT
alkej-283	223	20	38	38	NUM
alkej-283	223	21	)	)	PUNCT
alkej-283	223	22	.	.	PUNCT
alkej-283	224	1	nizar	nizar	PROPN
alkej-283	224	2	hadi	hadi	PROPN
alkej-283	224	3	abbas	abbas	PROPN
alkej-283	224	4	al	al	PROPN
alkej-283	224	5	-	-	PUNCT
alkej-283	224	6	khwarizmi	khwarizmi	PROPN
alkej-283	224	7	engineering	engineering	NOUN
alkej-283	224	8	journal	journal	PROPN
alkej-283	224	9	,	,	PUNCT
alkej-283	224	10	vol	vol	NOUN
alkej-283	224	11	.	.	PROPN
alkej-283	224	12	12	12	NUM
alkej-283	224	13	,	,	PUNCT
alkej-283	224	14	no	no	INTJ
alkej-283	224	15	.	.	NOUN
alkej-283	224	16	1	1	NUM
alkej-283	224	17	,	,	PUNCT
alkej-283	224	18	p.p	p.p	PROPN
alkej-283	224	19	.	.	PROPN
alkej-283	224	20	4560	4560	NUM
alkej-283	224	21	(	(	PUNCT
alkej-283	224	22	2016	2016	NUM
alkej-283	224	23	)	)	PUNCT
alkej-283	224	24	53	53	NUM
alkej-283	224	25	6	6	NUM
alkej-283	224	26	.	.	PUNCT
alkej-283	224	27	applied	apply	VERB
alkej-283	224	28	step14	step14	NOUN
alkej-283	224	29	to	to	PART
alkej-283	224	30	step	step	VERB
alkej-283	224	31	19	19	NUM
alkej-283	224	32	from	from	ADP
alkej-283	224	33	the	the	DET
alkej-283	224	34	pseudo	pseudo	NOUN
alkej-283	224	35	code	code	NOUN
alkej-283	224	36	of	of	ADP
alkej-283	224	37	(	(	PUNCT
alkej-283	224	38	cfa	cfa	PROPN
alkej-283	224	39	-	-	PUNCT
alkej-283	224	40	abc	abc	PROPN
alkej-283	224	41	)	)	PUNCT
alkej-283	224	42	to	to	PART
alkej-283	224	43	find	find	VERB
alkej-283	224	44	the	the	DET
alkej-283	224	45	optimal	optimal	ADJ
alkej-283	224	46	weight	weight	NOUN
alkej-283	224	47	.	.	PUNCT
alkej-283	225	1	7	7	X
alkej-283	225	2	.	.	X
alkej-283	225	3	if	if	SCONJ
alkej-283	225	4	the	the	DET
alkej-283	225	5	iteration	iteration	NOUN
alkej-283	225	6	number	number	NOUN
alkej-283	225	7	arrive	arrive	NOUN
alkej-283	225	8	at	at	ADP
alkej-283	225	9	maximum	maximum	ADJ
alkej-283	225	10	,	,	PUNCT
alkej-283	225	11	then	then	ADV
alkej-283	225	12	exit	exit	NOUN
alkej-283	225	13	,	,	PUNCT
alkej-283	225	14	else	else	ADV
alkej-283	225	15	,	,	PUNCT
alkej-283	225	16	go	go	VERB
alkej-283	225	17	to	to	ADP
alkej-283	225	18	(	(	PUNCT
alkej-283	225	19	2	2	NUM
alkej-283	225	20	)	)	PUNCT
alkej-283	225	21	.	.	PUNCT
alkej-283	226	1	5	5	X
alkej-283	226	2	.	.	X
alkej-283	226	3	simulation	simulation	NOUN
alkej-283	226	4	results	result	VERB
alkej-283	226	5	the	the	DET
alkej-283	226	6	aim	aim	NOUN
alkej-283	226	7	of	of	ADP
alkej-283	226	8	the	the	DET
alkej-283	226	9	simulations	simulation	NOUN
alkej-283	226	10	is	be	AUX
alkej-283	226	11	to	to	PART
alkej-283	226	12	examine	examine	VERB
alkej-283	226	13	the	the	DET
alkej-283	226	14	effectiveness	effectiveness	NOUN
alkej-283	226	15	and	and	CCONJ
alkej-283	226	16	performance	performance	NOUN
alkej-283	226	17	of	of	ADP
alkej-283	226	18	the	the	DET
alkej-283	226	19	proposed	propose	VERB
alkej-283	226	20	kinematic	kinematic	ADJ
alkej-283	226	21	neural	neural	ADJ
alkej-283	226	22	controller	controller	NOUN
alkej-283	226	23	based	base	VERB
alkej-283	226	24	on	on	ADP
alkej-283	226	25	(	(	PUNCT
alkej-283	226	26	cfa	cfa	PROPN
alkej-283	226	27	-	-	PUNCT
alkej-283	226	28	abc	abc	PROPN
alkej-283	226	29	)	)	PUNCT
alkej-283	226	30	optimization	optimization	NOUN
alkej-283	226	31	algorithm	algorithm	NOUN
alkej-283	226	32	to	to	ADP
alkej-283	226	33	the	the	DET
alkej-283	226	34	wheeled	wheel	VERB
alkej-283	226	35	mobile	mobile	ADJ
alkej-283	226	36	robot	robot	NOUN
alkej-283	226	37	by	by	ADP
alkej-283	226	38	using	use	VERB
alkej-283	226	39	matlab	matlab	PROPN
alkej-283	226	40	programming	programming	NOUN
alkej-283	226	41	environment	environment	NOUN
alkej-283	226	42	.	.	PUNCT
alkej-283	227	1	the	the	DET
alkej-283	227	2	resulting	result	VERB
alkej-283	227	3	wheeled	wheel	VERB
alkej-283	227	4	mobile	mobile	ADJ
alkej-283	227	5	robot	robot	NOUN
alkej-283	227	6	trajectory	trajectory	NOUN
alkej-283	227	7	tracking	tracking	NOUN
alkej-283	227	8	,	,	PUNCT
alkej-283	227	9	get	get	VERB
alkej-283	227	10	by	by	ADP
alkej-283	227	11	the	the	DET
alkej-283	227	12	proposed	propose	VERB
alkej-283	227	13	kinematic	kinematic	ADJ
alkej-283	227	14	neural	neural	ADJ
alkej-283	227	15	controller	controller	NOUN
alkej-283	227	16	is	be	AUX
alkej-283	227	17	containing	contain	VERB
alkej-283	227	18	trajectory	trajectory	NOUN
alkej-283	227	19	tracking	tracking	NOUN
alkej-283	227	20	,	,	PUNCT
alkej-283	227	21	tracking	tracking	NOUN
alkej-283	227	22	error	error	NOUN
alkej-283	227	23	,	,	PUNCT
alkej-283	227	24	and	and	CCONJ
alkej-283	227	25	linear	linear	ADJ
alkej-283	227	26	and	and	CCONJ
alkej-283	227	27	angular	angular	ADJ
alkej-283	227	28	velocity	velocity	NOUN
alkej-283	227	29	of	of	ADP
alkej-283	227	30	mobile	mobile	ADJ
alkej-283	227	31	robot	robot	NOUN
alkej-283	227	32	,	,	PUNCT
alkej-283	227	33	linear	linear	ADJ
alkej-283	227	34	velocity	velocity	NOUN
alkej-283	227	35	of	of	ADP
alkej-283	227	36	right	right	NOUN
alkej-283	227	37	and	and	CCONJ
alkej-283	227	38	left	leave	VERB
alkej-283	227	39	wheel	wheel	NOUN
alkej-283	227	40	and	and	CCONJ
alkej-283	227	41	the	the	DET
alkej-283	227	42	mean	mean	ADJ
alkej-283	227	43	square	square	NOUN
alkej-283	227	44	error	error	NOUN
alkej-283	227	45	.	.	PUNCT
alkej-283	228	1	these	these	DET
alkej-283	228	2	simulation	simulation	NOUN
alkej-283	228	3	are	be	AUX
alkej-283	228	4	performed	perform	VERB
alkej-283	228	5	with	with	ADP
alkej-283	228	6	the	the	DET
alkej-283	228	7	parameters	parameter	NOUN
alkej-283	228	8	setting	set	VERB
alkej-283	228	9	illustrated	illustrate	VERB
alkej-283	228	10	in	in	ADP
alkej-283	228	11	table	table	NOUN
alkej-283	228	12	4	4	NUM
alkej-283	228	13	.	.	PUNCT
alkej-283	228	14	table	table	NOUN
alkej-283	228	15	3	3	NUM
alkej-283	228	16	,	,	PUNCT
alkej-283	228	17	simulation	simulation	NOUN
alkej-283	228	18	parameters	parameter	NOUN
alkej-283	228	19	setting	set	VERB
alkej-283	228	20	.	.	PUNCT
alkej-283	229	1	parameter	parameter	NOUN
alkej-283	229	2	setting	set	VERB
alkej-283	229	3	the	the	DET
alkej-283	229	4	number	number	NOUN
alkej-283	229	5	of	of	ADP
alkej-283	229	6	fireflies	firefly	NOUN
alkej-283	229	7	20	20	NUM
alkej-283	229	8	the	the	DET
alkej-283	229	9	number	number	NOUN
alkej-283	229	10	of	of	ADP
alkej-283	229	11	bees	bee	NOUN
alkej-283	229	12	20	20	NUM
alkej-283	229	13	the	the	DET
alkej-283	229	14	length	length	NOUN
alkej-283	229	15	of	of	ADP
alkej-283	229	16	ni	ni	NOUN
alkej-283	229	17	-	-	NOUN
alkej-283	229	18	robot	robot	NOUN
alkej-283	229	19	0.36	0.36	NUM
alkej-283	229	20	m	m	VERB
alkej-283	229	21	the	the	DET
alkej-283	229	22	radius	radius	NOUN
alkej-283	229	23	of	of	ADP
alkej-283	229	24	ni	ni	ADJ
alkej-283	229	25	-	-	PUNCT
alkej-283	229	26	robot	robot	NOUN
alkej-283	229	27	ra=0.05	ra=0.05	NOUN
alkej-283	229	28	the	the	DET
alkej-283	229	29	period	period	NOUN
alkej-283	229	30	time	time	NOUN
alkej-283	229	31	0.5	0.5	NUM
alkej-283	229	32	sec	sec	PROPN
alkej-283	229	33	iteration	iteration	NOUN
alkej-283	229	34	of	of	ADP
alkej-283	229	35	cfa	cfa	PROPN
alkej-283	229	36	100	100	NUM
alkej-283	229	37	iteration	iteration	NOUN
alkej-283	229	38	of	of	ADP
alkej-283	229	39	abc	abc	PROPN
alkej-283	229	40	100	100	NUM
alkej-283	229	41	required	require	VERB
alkej-283	229	42	linear	linear	ADJ
alkej-283	229	43	velocity	velocity	NOUN
alkej-283	229	44	0.1	0.1	NUM
alkej-283	229	45	m	m	PROPN
alkej-283	229	46	/	/	SYM
alkej-283	229	47	sec	sec	PROPN
alkej-283	229	48	required	require	VERB
alkej-283	229	49	angular	angular	ADJ
alkej-283	229	50	velocity	velocity	NOUN
alkej-283	229	51	0.1	0.1	NUM
alkej-283	229	52	rad	rad	PROPN
alkej-283	229	53	/	/	SYM
alkej-283	229	54	sec	sec	PROPN
alkej-283	229	55	case	case	NOUN
alkej-283	229	56	study1	study1	NOUN
alkej-283	229	57	:	:	PUNCT
alkej-283	229	58	the	the	DET
alkej-283	229	59	required	require	VERB
alkej-283	229	60	circular	circular	ADJ
alkej-283	229	61	trajectory	trajectory	NOUN
alkej-283	229	62	,	,	PUNCT
alkej-283	229	63	can	can	AUX
alkej-283	229	64	be	be	AUX
alkej-283	229	65	explained	explain	VERB
alkej-283	229	66	by	by	ADP
alkej-283	229	67	the	the	DET
alkej-283	229	68	next	next	ADJ
alkej-283	229	69	equations	equation	NOUN
alkej-283	229	70	:	:	PUNCT
alkej-283	229	71	�	�	PROPN
alkej-283	229	72	e	e	PROPN
alkej-283	229	73	�	�	PROPN
alkej-283	229	74	�	�	PROPN
alkej-283	229	75	=	=	SYM
alkej-283	229	76	cos	cos	PROPN
alkej-283	229	77	&	&	CCONJ
alkej-283	229	78	10	10	NUM
alkej-283	229	79	,	,	PUNCT
alkej-283	229	80	�	�	PROPN
alkej-283	229	81	e	e	NOUN
alkej-283	229	82	�	�	PROPN
alkej-283	229	83	�	�	PROPN
alkej-283	229	84	=	=	SYM
alkej-283	229	85	sin	sin	NOUN
alkej-283	229	86	&	&	CCONJ
alkej-283	229	87	10	10	NUM
alkej-283	229	88	,	,	PUNCT
alkej-283	229	89	�	�	PROPN
alkej-283	229	90	e	e	NOUN
alkej-283	229	91	�	�	PROPN
alkej-283	229	92	�	�	PROPN
alkej-283	229	93	=	=	PROPN
alkej-283	230	1	2̈	2̈	NUM
alkej-283	230	2	+	+	NUM
alkej-283	230	3	10	10	NUM
alkej-283	230	4	the	the	DET
alkej-283	230	5	wheeled	wheel	VERB
alkej-283	230	6	mobile	mobile	ADJ
alkej-283	230	7	robot	robot	NOUN
alkej-283	230	8	model	model	NOUN
alkej-283	230	9	starts	start	VERB
alkej-283	230	10	from	from	ADP
alkej-283	230	11	the	the	DET
alkej-283	230	12	initial	initial	ADJ
alkej-283	230	13	pose	pose	NOUN
alkej-283	230	14	(	(	PUNCT
alkej-283	230	15	position/	position/	NUM
alkej-283	230	16	orientation	orientation	NOUN
alkej-283	230	17	)	)	PUNCT
alkej-283	230	18	,	,	PUNCT
alkej-283	230	19	�	�	PROPN
alkej-283	230	20	�	�	X
alkej-283	230	21	=	=	SYM
alkej-283	230	22	=	=	PUNCT
alkej-283	231	1	[	[	X
alkej-283	231	2	1.1,−0.5	1.1,−0.5	NUM
alkej-283	231	3	,	,	PUNCT
alkej-283	231	4	\42	\42	PROPN
alkej-283	231	5	]	]	PUNCT
alkej-283	231	6	while	while	SCONJ
alkej-283	231	7	the	the	DET
alkej-283	231	8	real	real	ADJ
alkej-283	231	9	initial	initial	ADJ
alkej-283	231	10	pose	pose	NOUN
alkej-283	231	11	(	(	PUNCT
alkej-283	231	12	position/	position/	NUM
alkej-283	231	13	orientation	orientation	NOUN
alkej-283	231	14	)	)	PUNCT
alkej-283	231	15	of	of	ADP
alkej-283	231	16	the	the	DET
alkej-283	231	17	mobile	mobile	PROPN
alkej-283	231	18	robot	robot	NOUN
alkej-283	231	19	�	�	PROPN
alkej-283	231	20	e	e	NOUN
alkej-283	231	21	=[	=[	NOUN
alkej-283	231	22	0.9,0.05,1.62	0.9,0.05,1.62	NOUN
alkej-283	231	23	]	]	X
alkej-283	231	24	,	,	PUNCT
alkej-283	231	25	circular	circular	ADJ
alkej-283	231	26	trajectory	trajectory	NOUN
alkej-283	231	27	tracking	track	VERB
alkej-283	231	28	simulation	simulation	NOUN
alkej-283	231	29	of	of	ADP
alkej-283	231	30	the	the	DET
alkej-283	231	31	ni	ni	PROPN
alkej-283	231	32	mobile	mobile	PROPN
alkej-283	231	33	robot	robot	NOUN
alkej-283	231	34	is	be	AUX
alkej-283	231	35	shown	show	VERB
alkej-283	231	36	in	in	ADP
alkej-283	231	37	fig	fig	NOUN
alkej-283	231	38	.	.	PUNCT
alkej-283	232	1	(	(	PUNCT
alkej-283	232	2	1a	1a	NUM
alkej-283	232	3	)	)	PUNCT
alkej-283	232	4	.	.	PUNCT
alkej-283	233	1	it	it	PRON
alkej-283	233	2	's	be	AUX
alkej-283	233	3	so	so	ADV
alkej-283	233	4	clear	clear	ADJ
alkej-283	233	5	that	that	SCONJ
alkej-283	233	6	great	great	ADJ
alkej-283	233	7	tracking	tracking	NOUN
alkej-283	233	8	performance	performance	NOUN
alkej-283	233	9	that	that	PRON
alkej-283	233	10	achieved	achieve	VERB
alkej-283	233	11	by	by	ADP
alkej-283	233	12	the	the	DET
alkej-283	233	13	proposed	propose	VERB
alkej-283	233	14	controller	controller	NOUN
alkej-283	233	15	based	base	VERB
alkej-283	233	16	on	on	ADP
alkej-283	233	17	optimization	optimization	NOUN
alkej-283	233	18	,	,	PUNCT
alkej-283	233	19	because	because	SCONJ
alkej-283	233	20	of	of	ADP
alkej-283	233	21	eliminating	eliminate	VERB
alkej-283	233	22	the	the	DET
alkej-283	233	23	error	error	NOUN
alkej-283	233	24	with	with	ADP
alkej-283	233	25	fast	fast	ADJ
alkej-283	233	26	convergence	convergence	NOUN
alkej-283	233	27	.	.	PUNCT
alkej-283	234	1	case	case	NOUN
alkej-283	234	2	study2	study2	NOUN
alkej-283	234	3	:	:	PUNCT
alkej-283	234	4	the	the	DET
alkej-283	234	5	required	require	VERB
alkej-283	234	6	lemniscates	lemniscate	NOUN
alkej-283	234	7	trajectory	trajectory	NOUN
alkej-283	234	8	,	,	PUNCT
alkej-283	234	9	can	can	AUX
alkej-283	234	10	be	be	AUX
alkej-283	234	11	explained	explain	VERB
alkej-283	234	12	by	by	ADP
alkej-283	234	13	the	the	DET
alkej-283	234	14	next	next	ADJ
alkej-283	234	15	equations	equation	NOUN
alkej-283	234	16	:	:	PUNCT
alkej-283	234	17	�	�	PROPN
alkej-283	234	18	e	e	PROPN
alkej-283	234	19	�	�	PROPN
alkej-283	234	20	�	�	PROPN
alkej-283	234	21	=	=	PROPN
alkej-283	235	1	0.75	0.75	NUM
alkej-283	235	2	+	+	CCONJ
alkej-283	235	3	0.75	0.75	NUM
alkej-283	235	4	∗	∗	NOUN
alkej-283	235	5	sin	sin	NOUN
alkej-283	235	6	¬2¨	¬2¨	PROPN
alkej-283	235	7	50	50	NUM
alkej-283	235	8	®	®	NOUN
alkej-283	235	9	�	�	PROPN
alkej-283	235	10	e	e	PROPN
alkej-283	235	11	�	�	PROPN
alkej-283	235	12	�	�	PROPN
alkej-283	235	13	=	=	PUNCT
alkej-283	235	14	sin	sin	NOUN
alkej-283	235	15	¬4¨	¬4¨	PROPN
alkej-283	235	16	50	50	NUM
alkej-283	235	17	®	®	NOUN
alkej-283	235	18	�	�	PROPN
alkej-283	235	19	e	e	PROPN
alkej-283	235	20	�	�	PROPN
alkej-283	235	21	�	�	PROPN
alkej-283	235	22	=	=	SYM
alkej-283	235	23	2	2	NUM
alkej-283	235	24	d	d	NOUN
alkej-283	235	25	�	�	PROPN
alkej-283	235	26	52	52	NUM
alkej-283	235	27	*	*	SYM
alkej-283	235	28	�	�	PROPN
alkej-283	235	29	∆	∆	PROPN
alkej-283	235	30	�	�	PROPN
alkej-283	235	31	e	e	PROPN
alkej-283	235	32	�	�	PROPN
alkej-283	235	33	�	�	PROPN
alkej-283	235	34	k	k	PROPN
alkej-283	235	35	�	�	PROPN
alkej-283	235	36	∆	∆	PROPN
alkej-283	235	37	�	�	PROPN
alkej-283	235	38	e	e	PROPN
alkej-283	235	39	�	�	PROPN
alkej-283	235	40	�	�	PROPN
alkej-283	235	41	�	�	PROPN
alkej-283	235	42	+	+	CCONJ
alkej-283	235	43	−	−	PROPN
alkej-283	235	44	�	�	PROPN
alkej-283	235	45	∆	∆	PROPN
alkej-283	235	46	�	�	PROPN
alkej-283	235	47	e	e	PROPN
alkej-283	235	48	�	�	PROPN
alkej-283	235	49	�	�	PROPN
alkej-283	235	50	�	�	PROPN
alkej-283	235	51	+	+	CCONJ
alkej-283	235	52	+	+	CCONJ
alkej-283	235	53	∆	∆	PROPN
alkej-283	235	54	�	�	PROPN
alkej-283	235	55	e	e	NOUN
alkej-283	235	56	�	�	PROPN
alkej-283	235	57	�	�	PROPN
alkej-283	235	58	the	the	DET
alkej-283	235	59	wheeled	wheel	VERB
alkej-283	235	60	mobile	mobile	PROPN
alkej-283	235	61	robot	robot	NOUN
alkej-283	235	62	model	model	NOUN
alkej-283	235	63	begins	begin	VERB
alkej-283	235	64	from	from	ADP
alkej-283	235	65	the	the	DET
alkej-283	235	66	initial	initial	ADJ
alkej-283	235	67	pose	pose	NOUN
alkej-283	235	68	(	(	PUNCT
alkej-283	235	69	position/	position/	NUM
alkej-283	235	70	orientation	orientation	NOUN
alkej-283	235	71	)	)	PUNCT
alkej-283	235	72	,	,	PUNCT
alkej-283	235	73	�	�	PROPN
alkej-283	235	74	�	�	X
alkej-283	235	75	=	=	SYM
alkej-283	235	76	=	=	PUNCT
alkej-283	236	1	[	[	X
alkej-283	236	2	0.7,−0.02	0.7,−0.02	X
alkej-283	236	3	,	,	PUNCT
alkej-283	236	4	\42	\42	PROPN
alkej-283	236	5	]	]	PUNCT
alkej-283	236	6	while	while	SCONJ
alkej-283	236	7	the	the	DET
alkej-283	236	8	real	real	ADJ
alkej-283	236	9	initial	initial	ADJ
alkej-283	236	10	pose	pose	NOUN
alkej-283	236	11	(	(	PUNCT
alkej-283	236	12	position/	position/	NUM
alkej-283	236	13	orientation	orientation	NOUN
alkej-283	236	14	)	)	PUNCT
alkej-283	236	15	of	of	ADP
alkej-283	236	16	the	the	DET
alkej-283	236	17	mobile	mobile	PROPN
alkej-283	236	18	robot	robot	NOUN
alkej-283	236	19	�	�	PROPN
alkej-283	236	20	e	e	NOUN
alkej-283	236	21	=[	=[	NOUN
alkej-283	236	22	0.79,0.12,1.21	0.79,0.12,1.21	NOUN
alkej-283	236	23	]	]	PUNCT
alkej-283	236	24	,	,	PUNCT
alkej-283	236	25	lemniscates	lemniscate	VERB
alkej-283	236	26	trajectory	trajectory	NOUN
alkej-283	236	27	tracking	tracking	NOUN
alkej-283	236	28	simulation	simulation	NOUN
alkej-283	236	29	of	of	ADP
alkej-283	236	30	the	the	DET
alkej-283	236	31	ni	ni	PROPN
alkej-283	236	32	mobile	mobile	PROPN
alkej-283	236	33	robot	robot	NOUN
alkej-283	236	34	is	be	AUX
alkej-283	236	35	view	view	NOUN
alkej-283	236	36	in	in	ADP
alkej-283	236	37	fig	fig	NOUN
alkej-283	236	38	.	.	PUNCT
alkej-283	237	1	(	(	PUNCT
alkej-283	237	2	1b	1b	NUM
alkej-283	237	3	)	)	PUNCT
alkej-283	237	4	.	.	PUNCT
alkej-283	238	1	the	the	DET
alkej-283	238	2	initial	initial	ADJ
alkej-283	238	3	values	value	NOUN
alkej-283	238	4	of	of	ADP
alkej-283	238	5	learning	learn	VERB
alkej-283	238	6	rate	rate	NOUN
alkej-283	238	7	and	and	CCONJ
alkej-283	238	8	weights	weight	NOUN
alkej-283	238	9	are	be	AUX
alkej-283	238	10	tuned	tune	VERB
alkej-283	238	11	such	such	DET
alkej-283	238	12	a	a	DET
alkej-283	238	13	way	way	NOUN
alkej-283	238	14	that	that	PRON
alkej-283	238	15	it	it	PRON
alkej-283	238	16	provides	provide	VERB
alkej-283	238	17	better	well	ADJ
alkej-283	238	18	performance	performance	NOUN
alkej-283	238	19	.	.	PUNCT
alkej-283	239	1	•	•	NUM
alkej-283	239	2	the	the	DET
alkej-283	239	3	simulation	simulation	NOUN
alkej-283	239	4	results	result	NOUN
alkej-283	239	5	explained	explain	VERB
alkej-283	239	6	the	the	DET
alkej-283	239	7	effectualness	effectualness	NOUN
alkej-283	239	8	of	of	ADP
alkej-283	239	9	the	the	DET
alkej-283	239	10	suggested	suggest	VERB
alkej-283	239	11	kinematic	kinematic	ADJ
alkej-283	239	12	neural	neural	ADJ
alkej-283	239	13	controller	controller	NOUN
alkej-283	239	14	based	base	VERB
alkej-283	239	15	on	on	ADP
alkej-283	239	16	(	(	PUNCT
alkej-283	239	17	cfa	cfa	PROPN
alkej-283	239	18	-	-	PUNCT
alkej-283	239	19	abc	abc	PROPN
alkej-283	239	20	)	)	PUNCT
alkej-283	239	21	technique	technique	NOUN
alkej-283	239	22	by	by	ADP
alkej-283	239	23	displaying	display	VERB
alkej-283	239	24	its	its	PRON
alkej-283	239	25	ability	ability	NOUN
alkej-283	239	26	to	to	PART
alkej-283	239	27	produce	produce	VERB
alkej-283	239	28	limited	limited	ADJ
alkej-283	239	29	smooth	smooth	ADJ
alkej-283	239	30	values	value	NOUN
alkej-283	239	31	of	of	ADP
alkej-283	239	32	the	the	DET
alkej-283	239	33	control	control	NOUN
alkej-283	239	34	velocities	velocity	NOUN
alkej-283	239	35	for	for	ADP
alkej-283	239	36	right	right	ADJ
alkej-283	239	37	and	and	CCONJ
alkej-283	239	38	left	leave	VERB
alkej-283	239	39	wheels	wheel	NOUN
alkej-283	239	40	outside	outside	ADP
alkej-283	239	41	sudden	sudden	ADJ
alkej-283	239	42	spikes	spike	NOUN
alkej-283	239	43	.as	.as	PUNCT
alkej-283	240	1	a	a	DET
alkej-283	240	2	result	result	NOUN
alkej-283	240	3	showing	show	VERB
alkej-283	240	4	in	in	ADP
alkej-283	240	5	fig	fig	NOUN
alkej-283	240	6	.	.	PUNCT
alkej-283	241	1	(	(	PUNCT
alkej-283	241	2	2a	2a	NUM
alkej-283	241	3	)	)	PUNCT
alkej-283	241	4	,	,	PUNCT
alkej-283	241	5	fig	fig	NOUN
alkej-283	241	6	.	.	PUNCT
alkej-283	242	1	(	(	PUNCT
alkej-283	242	2	2b	2b	NUM
alkej-283	242	3	)	)	PUNCT
alkej-283	242	4	.	.	PUNCT
alkej-283	243	1	•	•	NUM
alkej-283	243	2	fig	fig	NOUN
alkej-283	243	3	.	.	PUNCT
alkej-283	244	1	(	(	PUNCT
alkej-283	244	2	3a	3a	NUM
alkej-283	244	3	)	)	PUNCT
alkej-283	244	4	,	,	PUNCT
alkej-283	244	5	fig	fig	NOUN
alkej-283	244	6	.	.	PUNCT
alkej-283	245	1	(	(	PUNCT
alkej-283	245	2	3b	3b	NUM
alkej-283	245	3	)	)	PUNCT
alkej-283	245	4	indicate	indicate	VERB
alkej-283	245	5	the	the	DET
alkej-283	245	6	convergence	convergence	NOUN
alkej-283	245	7	of	of	ADP
alkej-283	245	8	the	the	DET
alkej-283	245	9	pose	pose	NOUN
alkej-283	245	10	path	path	NOUN
alkej-283	245	11	and	and	CCONJ
alkej-283	245	12	orientation	orientation	NOUN
alkej-283	245	13	errors	error	NOUN
alkej-283	245	14	for	for	ADP
alkej-283	245	15	the	the	DET
alkej-283	245	16	robot	robot	NOUN
alkej-283	245	17	model	model	PROPN
alkej-283	245	18	motion	motion	PROPN
alkej-283	245	19	mse	mse	PROPN
alkej-283	245	20	(	(	PUNCT
alkej-283	245	21	ex	ex	PROPN
alkej-283	245	22	,	,	PUNCT
alkej-283	245	23	ey	ey	PROPN
alkej-283	245	24	,	,	PUNCT
alkej-283	245	25	eθ	eθ	NOUN
alkej-283	245	26	)	)	PUNCT
alkej-283	245	27	equal	equal	ADJ
alkej-283	245	28	(	(	PUNCT
alkej-283	245	29	0.027,0.012,0.0031	0.027,0.012,0.0031	NOUN
alkej-283	245	30	)	)	PUNCT
alkej-283	245	31	for	for	ADP
alkej-283	245	32	case	case	NOUN
alkej-283	245	33	study1	study1	NOUN
alkej-283	245	34	and	and	CCONJ
alkej-283	245	35	mse(ex	mse(ex	NOUN
alkej-283	245	36	,	,	PUNCT
alkej-283	245	37	ey	ey	NOUN
alkej-283	245	38	,	,	PUNCT
alkej-283	245	39	eθ	eθ	NOUN
alkej-283	245	40	)	)	PUNCT
alkej-283	245	41	equal	equal	ADJ
alkej-283	245	42	(	(	PUNCT
alkej-283	245	43	±0.005,0.0072	±0.005,0.0072	NOUN
alkej-283	245	44	,	,	PUNCT
alkej-283	245	45	-0.02	-0.02	NUM
alkej-283	245	46	)	)	PUNCT
alkej-283	245	47	for	for	ADP
alkej-283	245	48	case	case	NOUN
alkej-283	245	49	study2	study2	PROPN
alkej-283	245	50	.	.	PUNCT
alkej-283	246	1	•	•	NUM
alkej-283	246	2	the	the	DET
alkej-283	246	3	performance	performance	NOUN
alkej-283	246	4	index	index	NOUN
alkej-283	246	5	mse	mse	NOUN
alkej-283	246	6	for	for	ADP
alkej-283	246	7	pose	pose	NOUN
alkej-283	246	8	path	path	NOUN
alkej-283	246	9	and	and	CCONJ
alkej-283	246	10	orientation	orientation	NOUN
alkej-283	246	11	errors	error	NOUN
alkej-283	246	12	for	for	ADP
alkej-283	246	13	the	the	DET
alkej-283	246	14	mobile	mobile	ADJ
alkej-283	246	15	robot	robot	NOUN
alkej-283	246	16	model	model	NOUN
alkej-283	246	17	motion	motion	NOUN
alkej-283	246	18	for	for	ADP
alkej-283	246	19	100	100	NUM
alkej-283	246	20	iterations	iteration	NOUN
alkej-283	246	21	are	be	AUX
alkej-283	246	22	shown	show	VERB
alkej-283	246	23	in	in	ADP
alkej-283	246	24	fig	fig	NOUN
alkej-283	246	25	.	.	PUNCT
alkej-283	247	1	(	(	PUNCT
alkej-283	247	2	4a	4a	NUM
alkej-283	247	3	)	)	PUNCT
alkej-283	247	4	is	be	AUX
alkej-283	247	5	(	(	PUNCT
alkej-283	247	6	0.0063	0.0063	NUM
alkej-283	247	7	)	)	PUNCT
alkej-283	247	8	and	and	CCONJ
alkej-283	247	9	fig	fig	NOUN
alkej-283	247	10	.	.	PUNCT
alkej-283	248	1	(	(	PUNCT
alkej-283	248	2	4b	4b	PROPN
alkej-283	248	3	)	)	PUNCT
alkej-283	248	4	is	be	AUX
alkej-283	248	5	(	(	PUNCT
alkej-283	248	6	0.0066	0.0066	NUM
alkej-283	248	7	)	)	PUNCT
alkej-283	248	8	.	.	PUNCT
alkej-283	249	1	•	•	NUM
alkej-283	249	2	fig	fig	NOUN
alkej-283	249	3	.	.	PUNCT
alkej-283	250	1	(	(	PUNCT
alkej-283	250	2	5a	5a	NUM
alkej-283	250	3	)	)	PUNCT
alkej-283	250	4	demonstrates	demonstrate	VERB
alkej-283	250	5	the	the	DET
alkej-283	250	6	mean	mean	ADJ
alkej-283	250	7	linear	linear	ADJ
alkej-283	250	8	velocity	velocity	NOUN
alkej-283	250	9	(	(	PUNCT
alkej-283	250	10	0.02	0.02	NUM
alkej-283	250	11	m	m	PROPN
alkej-283	250	12	/	/	SYM
alkej-283	250	13	s	s	NOUN
alkej-283	250	14	)	)	PUNCT
alkej-283	250	15	and	and	CCONJ
alkej-283	250	16	the	the	DET
alkej-283	250	17	maximum	maximum	ADJ
alkej-283	250	18	peak	peak	NOUN
alkej-283	250	19	of	of	ADP
alkej-283	250	20	the	the	DET
alkej-283	250	21	angular	angular	ADJ
alkej-283	250	22	velocity	velocity	NOUN
alkej-283	250	23	(	(	PUNCT
alkej-283	250	24	0.005	0.005	NUM
alkej-283	250	25	rad	rad	PROPN
alkej-283	250	26	/	/	SYM
alkej-283	250	27	s	s	NOUN
alkej-283	250	28	)	)	PUNCT
alkej-283	250	29	of	of	ADP
alkej-283	250	30	the	the	DET
alkej-283	250	31	ni	ni	PROPN
alkej-283	250	32	mobile	mobile	PROPN
alkej-283	250	33	robot	robot	PROPN
alkej-283	250	34	>	>	X
alkej-283	250	35	•	•	NUM
alkej-283	250	36	fig	fig	NOUN
alkej-283	250	37	.	.	PUNCT
alkej-283	251	1	(	(	PUNCT
alkej-283	251	2	5b	5b	NUM
alkej-283	251	3	)	)	PUNCT
alkej-283	251	4	demonstrates	demonstrate	VERB
alkej-283	251	5	the	the	DET
alkej-283	251	6	mean	mean	ADJ
alkej-283	251	7	linear	linear	ADJ
alkej-283	251	8	velocity	velocity	NOUN
alkej-283	251	9	(	(	PUNCT
alkej-283	251	10	0.055	0.055	NUM
alkej-283	251	11	m	m	PROPN
alkej-283	251	12	/	/	SYM
alkej-283	251	13	s	s	PROPN
alkej-283	251	14	)	)	PUNCT
alkej-283	251	15	and	and	CCONJ
alkej-283	251	16	the	the	DET
alkej-283	251	17	maximum	maximum	ADJ
alkej-283	251	18	peak	peak	NOUN
alkej-283	251	19	of	of	ADP
alkej-283	251	20	the	the	DET
alkej-283	251	21	angular	angular	ADJ
alkej-283	251	22	velocity	velocity	NOUN
alkej-283	251	23	(	(	PUNCT
alkej-283	251	24	±0.027rad	±0.027rad	PROPN
alkej-283	251	25	/	/	SYM
alkej-283	251	26	s	s	NOUN
alkej-283	251	27	)	)	PUNCT
alkej-283	251	28	of	of	ADP
alkej-283	251	29	the	the	DET
alkej-283	251	30	ni	ni	PROPN
alkej-283	251	31	mobile	mobile	PROPN
alkej-283	251	32	robot	robot	NOUN
alkej-283	251	33	.	.	PUNCT
alkej-283	252	1	•	•	NOUN
alkej-283	252	2	the	the	DET
alkej-283	252	3	performance	performance	NOUN
alkej-283	252	4	described	describe	VERB
alkej-283	252	5	in	in	ADP
alkej-283	252	6	fig	fig	NOUN
alkej-283	252	7	.	.	PUNCT
alkej-283	253	1	6a	6a	NOUN
alkej-283	253	2	,	,	PUNCT
alkej-283	253	3	fig.6b	fig.6b	NOUN
alkej-283	253	4	,	,	PUNCT
alkej-283	253	5	fig	fig	NOUN
alkej-283	253	6	.	.	PUNCT
alkej-283	254	1	(	(	PUNCT
alkej-283	254	2	7a	7a	NUM
alkej-283	254	3	)	)	PUNCT
alkej-283	254	4	,	,	PUNCT
alkej-283	254	5	fig	fig	NOUN
alkej-283	254	6	.	.	PUNCT
alkej-283	255	1	(	(	PUNCT
alkej-283	255	2	7b	7b	NUM
alkej-283	255	3	)	)	PUNCT
alkej-283	255	4	,	,	PUNCT
alkej-283	255	5	fig	fig	NOUN
alkej-283	255	6	.	.	PUNCT
alkej-283	256	1	(	(	PUNCT
alkej-283	256	2	8a	8a	NUM
alkej-283	256	3	)	)	PUNCT
alkej-283	256	4	and	and	CCONJ
alkej-283	256	5	fig	fig	NOUN
alkej-283	256	6	.	.	PUNCT
alkej-283	257	1	(	(	PUNCT
alkej-283	257	2	8b	8b	NUM
alkej-283	257	3	)	)	PUNCT
alkej-283	257	4	verify	verify	VERB
alkej-283	257	5	the	the	DET
alkej-283	257	6	effectiveness	effectiveness	NOUN
alkej-283	257	7	of	of	ADP
alkej-283	257	8	the	the	DET
alkej-283	257	9	proposed	propose	VERB
alkej-283	257	10	control	control	NOUN
alkej-283	257	11	algorithm	algorithm	NOUN
alkej-283	257	12	based	base	VERB
alkej-283	257	13	on	on	ADP
alkej-283	257	14	(	(	PUNCT
alkej-283	257	15	cfa	cfa	PROPN
alkej-283	257	16	-	-	PUNCT
alkej-283	257	17	abc	abc	PROPN
alkej-283	257	18	)	)	PUNCT
alkej-283	257	19	algorithm	algorithm	NOUN
alkej-283	257	20	is	be	AUX
alkej-283	257	21	nizar	nizar	ADJ
alkej-283	257	22	hadi	hadi	PROPN
alkej-283	257	23	abbas	abbas	PROPN
alkej-283	257	24	al	al	PROPN
alkej-283	257	25	-	-	PUNCT
alkej-283	257	26	khwarizmi	khwarizmi	PROPN
alkej-283	257	27	engineering	engineering	NOUN
alkej-283	257	28	journal	journal	PROPN
alkej-283	257	29	,	,	PUNCT
alkej-283	257	30	vol	vol	NOUN
alkej-283	257	31	.	.	PROPN
alkej-283	257	32	12	12	NUM
alkej-283	257	33	,	,	PUNCT
alkej-283	257	34	no	no	INTJ
alkej-283	257	35	.	.	NOUN
alkej-283	257	36	1	1	NUM
alkej-283	257	37	,	,	PUNCT
alkej-283	257	38	p.p	p.p	PROPN
alkej-283	257	39	.	.	PROPN
alkej-283	257	40	4560	4560	NUM
alkej-283	257	41	(	(	PUNCT
alkej-283	257	42	2016	2016	NUM
alkej-283	257	43	)	)	PUNCT
alkej-283	257	44	54	54	NUM
alkej-283	257	45	clear	clear	ADJ
alkej-283	257	46	by	by	ADP
alkej-283	257	47	viewing	view	VERB
alkej-283	257	48	the	the	DET
alkej-283	257	49	convergence	convergence	NOUN
alkej-283	257	50	of	of	ADP
alkej-283	257	51	the	the	DET
alkej-283	257	52	pose	pose	NOUN
alkej-283	257	53	error	error	NOUN
alkej-283	257	54	(	(	PUNCT
alkej-283	257	55	position	position	NOUN
alkej-283	257	56	/	/	SYM
alkej-283	257	57	orientation	orientation	NOUN
alkej-283	257	58	)	)	PUNCT
alkej-283	257	59	for	for	ADP
alkej-283	257	60	the	the	DET
alkej-283	257	61	wheeled	wheel	VERB
alkej-283	257	62	mobile	mobile	ADJ
alkej-283	257	63	robot	robot	NOUN
alkej-283	257	64	with	with	ADP
alkej-283	257	65	small	small	ADJ
alkej-283	257	66	error	error	NOUN
alkej-283	257	67	.	.	PUNCT
alkej-283	258	1	fig	fig	NOUN
alkej-283	258	2	.	.	PUNCT
alkej-283	259	1	(	(	PUNCT
alkej-283	259	2	1a	1a	NUM
alkej-283	259	3	)	)	PUNCT
alkej-283	259	4	.	.	PUNCT
alkej-283	260	1	actual	actual	ADJ
alkej-283	260	2	trajectory	trajectory	NOUN
alkej-283	260	3	of	of	ADP
alkej-283	260	4	mobile	mobile	NOUN
alkej-283	260	5	robot	robot	NOUN
alkej-283	260	6	and	and	CCONJ
alkej-283	260	7	desired	desire	VERB
alkej-283	260	8	circular	circular	ADJ
alkej-283	260	9	trajectory	trajectory	NOUN
alkej-283	260	10	tracking	tracking	NOUN
alkej-283	260	11	.	.	PUNCT
alkej-283	261	1	fig	fig	NOUN
alkej-283	261	2	.	.	PUNCT
alkej-283	262	1	(	(	PUNCT
alkej-283	262	2	1b	1b	NUM
alkej-283	262	3	)	)	PUNCT
alkej-283	262	4	.	.	PUNCT
alkej-283	263	1	actual	actual	ADJ
alkej-283	263	2	trajectory	trajectory	NOUN
alkej-283	263	3	of	of	ADP
alkej-283	263	4	mobile	mobile	NOUN
alkej-283	263	5	robot	robot	NOUN
alkej-283	263	6	and	and	CCONJ
alkej-283	263	7	desired	desire	VERB
alkej-283	263	8	lemniscates	lemniscate	NOUN
alkej-283	263	9	trajectory	trajectory	NOUN
alkej-283	263	10	tracking	tracking	NOUN
alkej-283	263	11	.	.	PUNCT
alkej-283	264	1	fig	fig	NOUN
alkej-283	264	2	.	.	PUNCT
alkej-283	265	1	(	(	PUNCT
alkej-283	265	2	2a	2a	NUM
alkej-283	265	3	)	)	PUNCT
alkej-283	265	4	.	.	PUNCT
alkej-283	266	1	the	the	DET
alkej-283	266	2	right	right	NOUN
alkej-283	266	3	and	and	CCONJ
alkej-283	266	4	left	leave	VERB
alkej-283	266	5	wheel	wheel	NOUN
alkej-283	266	6	velocity	velocity	NOUN
alkej-283	266	7	.	.	PUNCT
alkej-283	267	1	fig	fig	NOUN
alkej-283	267	2	.	.	PUNCT
alkej-283	268	1	(	(	PUNCT
alkej-283	268	2	3a	3a	NUM
alkej-283	268	3	)	)	PUNCT
alkej-283	268	4	.	.	PUNCT
alkej-283	269	1	trajectory	trajectory	NOUN
alkej-283	269	2	tracking	tracking	NOUN
alkej-283	269	3	error	error	NOUN
alkej-283	269	4	.	.	PUNCT
alkej-283	270	1	fig	fig	NOUN
alkej-283	270	2	.	.	PUNCT
alkej-283	271	1	(	(	PUNCT
alkej-283	271	2	4a	4a	NUM
alkej-283	271	3	)	)	PUNCT
alkej-283	271	4	.	.	PUNCT
alkej-283	272	1	the	the	DET
alkej-283	272	2	performance	performance	NOUN
alkej-283	272	3	index	index	NOUN
alkej-283	272	4	(	(	PUNCT
alkej-283	272	5	mse	mse	PROPN
alkej-283	272	6	)	)	PUNCT
alkej-283	272	7	.	.	PUNCT
alkej-283	273	1	fig	fig	NOUN
alkej-283	273	2	.	.	PUNCT
alkej-283	274	1	(	(	PUNCT
alkej-283	274	2	5a	5a	NUM
alkej-283	274	3	)	)	PUNCT
alkej-283	274	4	.	.	PUNCT
alkej-283	275	1	the	the	DET
alkej-283	275	2	linear	linear	ADJ
alkej-283	275	3	and	and	CCONJ
alkej-283	275	4	angular	angular	ADJ
alkej-283	275	5	velocity	velocity	NOUN
alkej-283	275	6	.	.	PUNCT
alkej-283	276	1	-1.5	-1.5	NOUN
alkej-283	276	2	-1	-1	PUNCT
alkej-283	277	1	-0.5	-0.5	X
alkej-283	277	2	0	0	NUM
alkej-283	277	3	0.5	0.5	NUM
alkej-283	277	4	1	1	NUM
alkej-283	277	5	1.5	1.5	NUM
alkej-283	277	6	-1	-1	SYM
alkej-283	277	7	-0.5	-0.5	X
alkej-283	277	8	0	0	NUM
alkej-283	277	9	0.5	0.5	NUM
alkej-283	277	10	1	1	NUM
alkej-283	277	11	1.5	1.5	NUM
alkej-283	277	12	x	x	NOUN
alkej-283	277	13	-	-	PUNCT
alkej-283	277	14	coordinate(meters	coordinate(meter	NOUN
alkej-283	277	15	)	)	PUNCT
alkej-283	277	16	yco	yco	NOUN
alkej-283	277	17	or	or	CCONJ
alkej-283	277	18	di	di	VERB
alkej-283	277	19	na	na	X
alkej-283	277	20	te	te	PROPN
alkej-283	277	21	(	(	PUNCT
alkej-283	277	22	m	m	VERB
alkej-283	277	23	et	et	NOUN
alkej-283	277	24	er	er	INTJ
alkej-283	277	25	s	s	PROPN
alkej-283	277	26	)	)	PUNCT
alkej-283	277	27	desired	desire	VERB
alkej-283	277	28	trajectory	trajectory	NOUN
alkej-283	277	29	actual	actual	ADJ
alkej-283	277	30	mobile	mobile	NOUN
alkej-283	277	31	robot	robot	NOUN
alkej-283	277	32	trajectory	trajectory	NOUN
alkej-283	277	33	0	0	NUM
alkej-283	277	34	0.5	0.5	NUM
alkej-283	277	35	1	1	NUM
alkej-283	277	36	1.5	1.5	NUM
alkej-283	277	37	-1.5	-1.5	NUM
alkej-283	277	38	-1	-1	PUNCT
alkej-283	277	39	-0.5	-0.5	X
alkej-283	277	40	0	0	NUM
alkej-283	277	41	0.5	0.5	NUM
alkej-283	277	42	1	1	NUM
alkej-283	277	43	1.5	1.5	NUM
alkej-283	277	44	x	x	NOUN
alkej-283	277	45	-	-	PUNCT
alkej-283	277	46	coordinate(meters	coordinate(meter	NOUN
alkej-283	277	47	)	)	PUNCT
alkej-283	277	48	yco	yco	NOUN
alkej-283	277	49	or	or	CCONJ
alkej-283	277	50	di	di	VERB
alkej-283	277	51	na	na	X
alkej-283	277	52	te	te	PROPN
alkej-283	277	53	(	(	PUNCT
alkej-283	277	54	m	m	VERB
alkej-283	277	55	et	et	NOUN
alkej-283	277	56	er	er	INTJ
alkej-283	277	57	s	s	PROPN
alkej-283	277	58	)	)	PUNCT
alkej-283	277	59	desired	desire	VERB
alkej-283	277	60	trajectory	trajectory	NOUN
alkej-283	277	61	actual	actual	ADJ
alkej-283	277	62	robot	robot	NOUN
alkej-283	277	63	trajectory	trajectory	NOUN
alkej-283	277	64	0	0	NUM
alkej-283	277	65	20	20	NUM
alkej-283	277	66	40	40	NUM
alkej-283	277	67	60	60	NUM
alkej-283	277	68	80	80	NUM
alkej-283	277	69	100	100	NUM
alkej-283	277	70	120	120	NUM
alkej-283	277	71	0	0	NUM
alkej-283	277	72	0.05	0.05	NUM
alkej-283	277	73	0.1	0.1	NUM
alkej-283	277	74	0.15	0.15	NUM
alkej-283	277	75	0.2	0.2	NUM
alkej-283	277	76	0.25	0.25	NUM
alkej-283	277	77	0.3	0.3	NUM
alkej-283	277	78	0.35	0.35	NUM
alkej-283	277	79	0.4	0.4	NUM
alkej-283	277	80	0.45	0.45	NUM
alkej-283	277	81	0.5	0.5	NUM
alkej-283	277	82	sampling	sample	VERB
alkej-283	277	83	time=0.5	time=0.5	NUM
alkej-283	277	84	sec	sec	PROPN
alkej-283	277	85	w	w	NOUN
alkej-283	277	86	he	he	PRON
alkej-283	277	87	el	el	PROPN
alkej-283	278	1	v	v	INTJ
alkej-283	278	2	el	el	PROPN
alkej-283	278	3	oc	oc	VERB
alkej-283	278	4	it	it	PRON
alkej-283	278	5	y	y	PROPN
alkej-283	278	6	of	of	ADP
alkej-283	278	7	r	r	NOUN
alkej-283	278	8	ig	ig	PROPN
alkej-283	279	1	ht	ht	INTJ
alkej-283	279	2	a	a	DET
alkej-283	279	3	nd	nd	NOUN
alkej-283	279	4	l	l	NOUN
alkej-283	279	5	ef	ef	PROPN
alkej-283	279	6	t	t	PROPN
alkej-283	279	7	(	(	PUNCT
alkej-283	279	8	m	m	PROPN
alkej-283	279	9	/s	/s	NOUN
alkej-283	279	10	ec	ec	PROPN
alkej-283	279	11	)	)	PUNCT
alkej-283	280	1	the	the	DET
alkej-283	280	2	velocity	velocity	NOUN
alkej-283	280	3	of	of	ADP
alkej-283	280	4	the	the	DET
alkej-283	280	5	right	right	ADJ
alkej-283	280	6	wheel	wheel	NOUN
alkej-283	280	7	the	the	DET
alkej-283	280	8	velocity	velocity	NOUN
alkej-283	280	9	of	of	ADP
alkej-283	280	10	the	the	DET
alkej-283	280	11	left	left	ADJ
alkej-283	280	12	wheel	wheel	NOUN
alkej-283	280	13	20	20	NUM
alkej-283	280	14	40	40	NUM
alkej-283	280	15	60	60	NUM
alkej-283	280	16	80	80	NUM
alkej-283	280	17	100	100	NUM
alkej-283	280	18	120	120	NUM
alkej-283	280	19	-0.1	-0.1	NOUN
alkej-283	280	20	0	0	NUM
alkej-283	280	21	0.1	0.1	NUM
alkej-283	280	22	0.2	0.2	NUM
alkej-283	280	23	0.3	0.3	NUM
alkej-283	280	24	0.4	0.4	NUM
alkej-283	280	25	0.5	0.5	NUM
alkej-283	280	26	0.6	0.6	NUM
alkej-283	280	27	sampling	sample	VERB
alkej-283	280	28	time=0.5	time=0.5	NUM
alkej-283	280	29	sec	sec	PROPN
alkej-283	280	30	e	e	PROPN
alkej-283	280	31	rr	rr	NOUN
alkej-283	280	32	or	or	CCONJ
alkej-283	280	33	(	(	PUNCT
alkej-283	280	34	m	m	PROPN
alkej-283	280	35	)	)	PUNCT
alkej-283	280	36	ex	ex	X
alkej-283	280	37	ey	ey	PRON
alkej-283	280	38	etheta	etheta	NOUN
alkej-283	280	39	10	10	NUM
alkej-283	280	40	20	20	NUM
alkej-283	280	41	30	30	NUM
alkej-283	280	42	40	40	NUM
alkej-283	280	43	50	50	NUM
alkej-283	280	44	60	60	NUM
alkej-283	280	45	70	70	NUM
alkej-283	280	46	80	80	NUM
alkej-283	280	47	90	90	NUM
alkej-283	280	48	100	100	NUM
alkej-283	280	49	6.34	6.34	NUM
alkej-283	280	50	6.36	6.36	NUM
alkej-283	280	51	6.38	6.38	NUM
alkej-283	280	52	6.4	6.4	NUM
alkej-283	280	53	6.42	6.42	NUM
alkej-283	280	54	6.44	6.44	NUM
alkej-283	280	55	6.46	6.46	NUM
alkej-283	280	56	x	x	SYM
alkej-283	280	57	10	10	NUM
alkej-283	280	58	-3	-3	NOUN
alkej-283	280	59	number	number	NOUN
alkej-283	280	60	of	of	ADP
alkej-283	280	61	iteration	iteration	NOUN
alkej-283	280	62	p	p	X
alkej-283	281	1	er	er	INTJ
alkej-283	281	2	fo	fo	INTJ
alkej-283	281	3	rm	rm	PROPN
alkej-283	281	4	an	an	DET
alkej-283	281	5	ce	ce	PROPN
alkej-283	282	1	i	i	PRON
alkej-283	282	2	nd	nd	ADV
alkej-283	282	3	ex	ex	X
alkej-283	282	4	(	(	PUNCT
alkej-283	282	5	m	m	PROPN
alkej-283	282	6	se	se	X
alkej-283	282	7	)	)	PUNCT
alkej-283	282	8	mse	mse	PROPN
alkej-283	282	9	20	20	NUM
alkej-283	282	10	40	40	NUM
alkej-283	282	11	60	60	NUM
alkej-283	282	12	80	80	NUM
alkej-283	282	13	100	100	NUM
alkej-283	283	1	120	120	NUM
alkej-283	283	2	0	0	NUM
alkej-283	283	3	0.01	0.01	NUM
alkej-283	283	4	0.02	0.02	NUM
alkej-283	283	5	0.03	0.03	NUM
alkej-283	283	6	0.04	0.04	NUM
alkej-283	283	7	0.05	0.05	NUM
alkej-283	283	8	0.06	0.06	NUM
alkej-283	283	9	0.07	0.07	NUM
alkej-283	283	10	0.08	0.08	NUM
alkej-283	283	11	0.09	0.09	NUM
alkej-283	283	12	sampling	sample	VERB
alkej-283	283	13	time=0.5	time=0.5	NUM
alkej-283	283	14	sec	sec	PROPN
alkej-283	283	15	l	l	NOUN
alkej-283	283	16	in	in	ADP
alkej-283	283	17	ea	ea	NOUN
alkej-283	283	18	r	r	NOUN
alkej-283	283	19	v	v	NUM
alkej-283	283	20	el	el	INTJ
alkej-283	283	21	oc	oc	VERB
alkej-283	283	22	it	it	PRON
alkej-283	283	23	y	y	INTJ
alkej-283	283	24	(	(	PUNCT
alkej-283	283	25	m	m	PROPN
alkej-283	283	26	/s	/s	NOUN
alkej-283	283	27	ec	ec	PROPN
alkej-283	283	28	)	)	PUNCT
alkej-283	284	1	a	a	DET
alkej-283	284	2	nd	nd	INTJ
alkej-283	284	3	a	a	DET
alkej-283	284	4	ng	ng	PROPN
alkej-283	284	5	ul	ul	PROPN
alkej-283	284	6	ar	ar	PROPN
alkej-283	284	7	v	v	PROPN
alkej-283	284	8	el	el	PROPN
alkej-283	284	9	oc	oc	VERB
alkej-283	284	10	it	it	PRON
alkej-283	285	1	y	y	INTJ
alkej-283	286	1	(	(	PUNCT
alkej-283	286	2	r	r	NOUN
alkej-283	286	3	ad	ad	NOUN
alkej-283	286	4	/s	/s	X
alkej-283	286	5	ec	ec	PROPN
alkej-283	286	6	)	)	PUNCT
alkej-283	287	1	the	the	DET
alkej-283	287	2	linear	linear	ADJ
alkej-283	287	3	velocity	velocity	NOUN
alkej-283	287	4	the	the	DET
alkej-283	287	5	angular	angular	ADJ
alkej-283	287	6	velocity	velocity	NOUN
alkej-283	287	7	nizar	nizar	PROPN
alkej-283	287	8	hadi	hadi	PROPN
alkej-283	287	9	abbas	abbas	PROPN
alkej-283	287	10	al	al	PROPN
alkej-283	287	11	-	-	PUNCT
alkej-283	287	12	khwarizmi	khwarizmi	PROPN
alkej-283	287	13	engineering	engineering	NOUN
alkej-283	287	14	journal	journal	PROPN
alkej-283	287	15	,	,	PUNCT
alkej-283	287	16	vol	vol	NOUN
alkej-283	287	17	.	.	PROPN
alkej-283	287	18	12	12	NUM
alkej-283	287	19	,	,	PUNCT
alkej-283	287	20	no	no	INTJ
alkej-283	287	21	.	.	NOUN
alkej-283	287	22	1	1	NUM
alkej-283	287	23	,	,	PUNCT
alkej-283	287	24	p.p	p.p	PROPN
alkej-283	287	25	.	.	PROPN
alkej-283	287	26	4560	4560	NUM
alkej-283	287	27	(	(	PUNCT
alkej-283	287	28	2016	2016	NUM
alkej-283	287	29	)	)	PUNCT
alkej-283	287	30	55	55	NUM
alkej-283	287	31	fig	fig	NOUN
alkej-283	287	32	.	.	PUNCT
alkej-283	288	1	(	(	PUNCT
alkej-283	288	2	6a	6a	NOUN
alkej-283	288	3	)	)	PUNCT
alkej-283	288	4	.	.	PUNCT
alkej-283	289	1	desired	desire	VERB
alkej-283	289	2	orientation	orientation	NOUN
alkej-283	289	3	and	and	CCONJ
alkej-283	289	4	actual	actual	ADJ
alkej-283	289	5	mobile	mobile	ADJ
alkej-283	289	6	robot	robot	NOUN
alkej-283	289	7	orientation	orientation	NOUN
alkej-283	289	8	.	.	PUNCT
alkej-283	290	1	fig	fig	NOUN
alkej-283	290	2	.	.	PUNCT
alkej-283	291	1	(	(	PUNCT
alkej-283	291	2	7a	7a	NUM
alkej-283	291	3	)	)	PUNCT
alkej-283	291	4	.	.	PUNCT
alkej-283	292	1	position	position	NOUN
alkej-283	292	2	tracking	tracking	NOUN
alkej-283	292	3	in	in	ADP
alkej-283	292	4	xcoordinate	xcoordinate	PROPN
alkej-283	292	5	.	.	PUNCT
alkej-283	293	1	fig	fig	NOUN
alkej-283	293	2	.	.	PUNCT
alkej-283	294	1	(	(	PUNCT
alkej-283	294	2	8a	8a	NUM
alkej-283	294	3	)	)	PUNCT
alkej-283	294	4	.	.	PUNCT
alkej-283	295	1	position	position	NOUN
alkej-283	295	2	tracking	tracking	NOUN
alkej-283	295	3	in	in	ADP
alkej-283	295	4	ycoordinate	ycoordinate	PROPN
alkej-283	295	5	.	.	PUNCT
alkej-283	295	6	fig	fig	PROPN
alkej-283	295	7	.	.	PUNCT
alkej-283	296	1	(	(	PUNCT
alkej-283	296	2	2b	2b	NUM
alkej-283	296	3	):	):	PUNCT
alkej-283	296	4	the	the	DET
alkej-283	296	5	right	right	NOUN
alkej-283	296	6	and	and	CCONJ
alkej-283	296	7	left	leave	VERB
alkej-283	296	8	wheel	wheel	NOUN
alkej-283	296	9	velocity	velocity	NOUN
alkej-283	296	10	.	.	PUNCT
alkej-283	297	1	fig	fig	NOUN
alkej-283	297	2	.	.	PUNCT
alkej-283	298	1	(	(	PUNCT
alkej-283	298	2	3b	3b	NUM
alkej-283	298	3	)	)	PUNCT
alkej-283	298	4	.	.	PUNCT
alkej-283	299	1	trajectory	trajectory	NOUN
alkej-283	299	2	tracking	tracking	NOUN
alkej-283	299	3	error	error	NOUN
alkej-283	299	4	.	.	PUNCT
alkej-283	300	1	fig	fig	NOUN
alkej-283	300	2	.	.	PUNCT
alkej-283	301	1	(	(	PUNCT
alkej-283	301	2	4b	4b	PROPN
alkej-283	301	3	):	):	PUNCT
alkej-283	301	4	the	the	DET
alkej-283	301	5	performance	performance	NOUN
alkej-283	301	6	index	index	NOUN
alkej-283	301	7	(	(	PUNCT
alkej-283	301	8	mse	mse	PROPN
alkej-283	301	9	)	)	PUNCT
alkej-283	301	10	.	.	PUNCT
alkej-283	302	1	20	20	NUM
alkej-283	302	2	40	40	NUM
alkej-283	302	3	60	60	NUM
alkej-283	302	4	80	80	NUM
alkej-283	302	5	100	100	NUM
alkej-283	302	6	120	120	NUM
alkej-283	302	7	1	1	NUM
alkej-283	302	8	2	2	NUM
alkej-283	302	9	3	3	NUM
alkej-283	302	10	4	4	NUM
alkej-283	302	11	5	5	NUM
alkej-283	302	12	6	6	NUM
alkej-283	302	13	7	7	NUM
alkej-283	302	14	8	8	NUM
alkej-283	302	15	9	9	NUM
alkej-283	302	16	sampling	sample	VERB
alkej-283	302	17	time=0.5	time=0.5	NOUN
alkej-283	302	18	sec	sec	PROPN
alkej-283	302	19	o	o	NOUN
alkej-283	302	20	ri	ri	NOUN
alkej-283	302	21	en	en	X
alkej-283	302	22	ta	ta	X
alkej-283	302	23	ti	ti	X
alkej-283	302	24	on	on	ADP
alkej-283	302	25	(	(	PUNCT
alkej-283	302	26	ra	ra	PROPN
alkej-283	302	27	d	d	PROPN
alkej-283	302	28	)	)	PUNCT
alkej-283	302	29	desired	desire	VERB
alkej-283	302	30	orientation	orientation	NOUN
alkej-283	302	31	actual	actual	ADJ
alkej-283	302	32	robot	robot	NOUN
alkej-283	302	33	orientation	orientation	NOUN
alkej-283	302	34	20	20	NUM
alkej-283	302	35	40	40	NUM
alkej-283	302	36	60	60	NUM
alkej-283	302	37	80	80	NUM
alkej-283	302	38	100	100	NUM
alkej-283	302	39	120	120	NUM
alkej-283	302	40	-1.5	-1.5	NUM
alkej-283	302	41	-1	-1	PUNCT
alkej-283	302	42	-0.5	-0.5	X
alkej-283	302	43	0	0	NUM
alkej-283	302	44	0.5	0.5	NUM
alkej-283	302	45	1	1	NUM
alkej-283	302	46	1.5	1.5	NUM
alkej-283	302	47	sampling	sample	VERB
alkej-283	302	48	time=0.5	time=0.5	NUM
alkej-283	302	49	sec	sec	PROPN
alkej-283	302	50	x	x	SYM
alkej-283	302	51	-c	-c	PUNCT
alkej-283	302	52	oo	oo	INTJ
alkej-283	302	53	rd	rd	NOUN
alkej-283	302	54	in	in	ADV
alkej-283	302	55	at	at	ADP
alkej-283	302	56	e	e	PROPN
alkej-283	302	57	(	(	PUNCT
alkej-283	302	58	m	m	PROPN
alkej-283	302	59	)	)	PUNCT
alkej-283	302	60	desired	desire	VERB
alkej-283	302	61	x	x	ADJ
alkej-283	302	62	-	-	ADJ
alkej-283	302	63	coordinate	coordinate	ADJ
alkej-283	302	64	actual	actual	ADJ
alkej-283	302	65	robot	robot	NOUN
alkej-283	302	66	x	x	NOUN
alkej-283	302	67	-	-	VERB
alkej-283	302	68	coordinate	coordinate	NOUN
alkej-283	302	69	20	20	NUM
alkej-283	302	70	40	40	NUM
alkej-283	302	71	60	60	NUM
alkej-283	302	72	80	80	NUM
alkej-283	302	73	100	100	NUM
alkej-283	302	74	120	120	NUM
alkej-283	302	75	-1.5	-1.5	NUM
alkej-283	302	76	-1	-1	PUNCT
alkej-283	302	77	-0.5	-0.5	X
alkej-283	302	78	0	0	NUM
alkej-283	302	79	0.5	0.5	NUM
alkej-283	302	80	1	1	NUM
alkej-283	302	81	1.5	1.5	NUM
alkej-283	302	82	sampling	sample	VERB
alkej-283	302	83	time=0.5	time=0.5	NUM
alkej-283	302	84	sec	sec	PROPN
alkej-283	302	85	y	y	PROPN
alkej-283	302	86	-c	-c	NUM
alkej-283	302	87	oo	oo	INTJ
alkej-283	302	88	rd	rd	NOUN
alkej-283	302	89	in	in	ADV
alkej-283	302	90	at	at	ADP
alkej-283	302	91	e	e	PROPN
alkej-283	302	92	(	(	PUNCT
alkej-283	302	93	m	m	PROPN
alkej-283	302	94	)	)	PUNCT
alkej-283	302	95	desired	desire	VERB
alkej-283	302	96	y	y	ADJ
alkej-283	302	97	-	-	PUNCT
alkej-283	302	98	coordinate	coordinate	NOUN
alkej-283	302	99	actual	actual	ADJ
alkej-283	302	100	robot	robot	NOUN
alkej-283	302	101	y	y	NOUN
alkej-283	302	102	-	-	PUNCT
alkej-283	302	103	coordinate	coordinate	NOUN
alkej-283	302	104	10	10	NUM
alkej-283	302	105	20	20	NUM
alkej-283	302	106	30	30	NUM
alkej-283	302	107	40	40	NUM
alkej-283	303	1	50	50	NUM
alkej-283	303	2	60	60	NUM
alkej-283	303	3	70	70	NUM
alkej-283	303	4	80	80	NUM
alkej-283	303	5	90	90	NUM
alkej-283	303	6	100	100	NUM
alkej-283	303	7	-0.1	-0.1	NOUN
alkej-283	303	8	0	0	NUM
alkej-283	303	9	0.1	0.1	NUM
alkej-283	303	10	0.2	0.2	NUM
alkej-283	303	11	0.3	0.3	NUM
alkej-283	303	12	0.4	0.4	NUM
alkej-283	303	13	0.5	0.5	NUM
alkej-283	303	14	0.6	0.6	NUM
alkej-283	303	15	0.7	0.7	NUM
alkej-283	303	16	sampling	sample	VERB
alkej-283	303	17	time=0.5	time=0.5	NUM
alkej-283	303	18	sec	sec	PROPN
alkej-283	303	19	w	w	NOUN
alkej-283	303	20	he	he	PRON
alkej-283	303	21	el	el	PROPN
alkej-283	303	22	v	v	INTJ
alkej-283	303	23	el	el	PROPN
alkej-283	303	24	oc	oc	VERB
alkej-283	303	25	it	it	PRON
alkej-283	303	26	y	y	PROPN
alkej-283	303	27	of	of	ADP
alkej-283	303	28	r	r	NOUN
alkej-283	303	29	ig	ig	PROPN
alkej-283	304	1	ht	ht	INTJ
alkej-283	304	2	a	a	DET
alkej-283	304	3	nd	nd	NOUN
alkej-283	304	4	l	l	NOUN
alkej-283	304	5	ef	ef	PROPN
alkej-283	304	6	t	t	PROPN
alkej-283	304	7	(	(	PUNCT
alkej-283	304	8	m	m	PROPN
alkej-283	304	9	/s	/s	NOUN
alkej-283	304	10	ec	ec	PROPN
alkej-283	304	11	)	)	PUNCT
alkej-283	305	1	the	the	DET
alkej-283	305	2	velocity	velocity	NOUN
alkej-283	305	3	of	of	ADP
alkej-283	305	4	the	the	DET
alkej-283	305	5	right	right	ADJ
alkej-283	305	6	wheel	wheel	NOUN
alkej-283	305	7	the	the	DET
alkej-283	305	8	velocity	velocity	NOUN
alkej-283	305	9	of	of	ADP
alkej-283	305	10	the	the	DET
alkej-283	305	11	left	left	ADJ
alkej-283	305	12	wheel	wheel	NOUN
alkej-283	305	13	10	10	NUM
alkej-283	305	14	20	20	NUM
alkej-283	305	15	30	30	NUM
alkej-283	305	16	40	40	NUM
alkej-283	305	17	50	50	NUM
alkej-283	305	18	60	60	NUM
alkej-283	305	19	70	70	NUM
alkej-283	305	20	80	80	NUM
alkej-283	305	21	90	90	NUM
alkej-283	305	22	-1.5	-1.5	NUM
alkej-283	305	23	-1	-1	PUNCT
alkej-283	305	24	-0.5	-0.5	X
alkej-283	305	25	0	0	NUM
alkej-283	305	26	0.5	0.5	NUM
alkej-283	305	27	sampling	sample	VERB
alkej-283	305	28	time=0.5	time=0.5	NOUN
alkej-283	305	29	sec	sec	PROPN
alkej-283	305	30	e	e	PROPN
alkej-283	305	31	rr	rr	NOUN
alkej-283	305	32	or	or	CCONJ
alkej-283	305	33	(	(	PUNCT
alkej-283	305	34	m	m	PROPN
alkej-283	305	35	)	)	PUNCT
alkej-283	305	36	ex	ex	X
alkej-283	306	1	ey	ey	PRON
alkej-283	306	2	etheta	etheta	NOUN
alkej-283	306	3	10	10	NUM
alkej-283	306	4	20	20	NUM
alkej-283	306	5	30	30	NUM
alkej-283	306	6	40	40	NUM
alkej-283	306	7	50	50	NUM
alkej-283	306	8	60	60	NUM
alkej-283	306	9	70	70	NUM
alkej-283	306	10	80	80	NUM
alkej-283	306	11	90	90	NUM
alkej-283	306	12	100	100	NUM
alkej-283	306	13	6.8342	6.8342	NUM
alkej-283	306	14	6.8343	6.8343	NUM
alkej-283	306	15	6.8343	6.8343	NUM
alkej-283	307	1	6.8343	6.8343	NUM
alkej-283	307	2	6.8343	6.8343	NUM
alkej-283	307	3	6.8343	6.8343	NUM
alkej-283	307	4	6.8343	6.8343	NUM
alkej-283	307	5	6.8343	6.8343	NUM
alkej-283	307	6	x	x	SYM
alkej-283	307	7	10	10	NUM
alkej-283	307	8	-3	-3	PUNCT
alkej-283	307	9	number	number	NOUN
alkej-283	307	10	of	of	ADP
alkej-283	307	11	iteration	iteration	NOUN
alkej-283	307	12	p	p	X
alkej-283	308	1	er	er	INTJ
alkej-283	308	2	fo	fo	INTJ
alkej-283	308	3	rm	rm	PROPN
alkej-283	308	4	an	an	DET
alkej-283	308	5	ce	ce	PROPN
alkej-283	309	1	i	i	PRON
alkej-283	309	2	nd	nd	VERB
alkej-283	309	3	ex	ex	X
alkej-283	309	4	(	(	PUNCT
alkej-283	309	5	m	m	PROPN
alkej-283	309	6	se	se	ADJ
alkej-283	309	7	)	)	PUNCT
alkej-283	309	8	mse	mse	PROPN
alkej-283	309	9	nizar	nizar	PROPN
alkej-283	309	10	hadi	hadi	PROPN
alkej-283	309	11	abbas	abbas	PROPN
alkej-283	309	12	al	al	PROPN
alkej-283	309	13	-	-	PUNCT
alkej-283	309	14	khwarizmi	khwarizmi	PROPN
alkej-283	309	15	engineering	engineering	NOUN
alkej-283	309	16	journal	journal	PROPN
alkej-283	309	17	,	,	PUNCT
alkej-283	309	18	vol	vol	NOUN
alkej-283	309	19	.	.	PROPN
alkej-283	309	20	12	12	NUM
alkej-283	309	21	,	,	PUNCT
alkej-283	309	22	no	no	INTJ
alkej-283	309	23	.	.	NOUN
alkej-283	309	24	1	1	NUM
alkej-283	309	25	,	,	PUNCT
alkej-283	309	26	p.p	p.p	PROPN
alkej-283	309	27	.	.	PROPN
alkej-283	309	28	4560	4560	NUM
alkej-283	309	29	(	(	PUNCT
alkej-283	309	30	2016	2016	NUM
alkej-283	309	31	)	)	PUNCT
alkej-283	309	32	56	56	NUM
alkej-283	309	33	fig	fig	NOUN
alkej-283	309	34	.	.	PUNCT
alkej-283	310	1	(	(	PUNCT
alkej-283	310	2	5b	5b	NUM
alkej-283	310	3	):	):	PUNCT
alkej-283	310	4	the	the	DET
alkej-283	310	5	linear	linear	ADJ
alkej-283	310	6	and	and	CCONJ
alkej-283	310	7	angular	angular	ADJ
alkej-283	310	8	velocity	velocity	NOUN
alkej-283	310	9	.	.	PUNCT
alkej-283	311	1	fig	fig	NOUN
alkej-283	311	2	.	.	PUNCT
alkej-283	312	1	(	(	PUNCT
alkej-283	312	2	6b	6b	NOUN
alkej-283	312	3	)	)	PUNCT
alkej-283	312	4	.	.	PUNCT
alkej-283	313	1	desired	desire	VERB
alkej-283	313	2	orientation	orientation	NOUN
alkej-283	313	3	and	and	CCONJ
alkej-283	313	4	actual	actual	ADJ
alkej-283	313	5	mobile	mobile	ADJ
alkej-283	313	6	robot	robot	NOUN
alkej-283	313	7	orientation	orientation	NOUN
alkej-283	313	8	.	.	PUNCT
alkej-283	314	1	fig	fig	NOUN
alkej-283	314	2	.	.	PUNCT
alkej-283	315	1	(	(	PUNCT
alkej-283	315	2	7b	7b	NOUN
alkej-283	315	3	):	):	PUNCT
alkej-283	315	4	position	position	NOUN
alkej-283	315	5	tracking	tracking	NOUN
alkej-283	315	6	in	in	ADP
alkej-283	315	7	xcoordinate	xcoordinate	PROPN
alkej-283	315	8	.	.	PUNCT
alkej-283	316	1	fig	fig	NOUN
alkej-283	316	2	.	.	PUNCT
alkej-283	317	1	(	(	PUNCT
alkej-283	317	2	8b	8b	NUM
alkej-283	317	3	)	)	PUNCT
alkej-283	317	4	.	.	PUNCT
alkej-283	318	1	position	position	NOUN
alkej-283	318	2	tracking	tracking	NOUN
alkej-283	318	3	in	in	ADP
alkej-283	318	4	ycoordinate	ycoordinate	NOUN
alkej-283	318	5	.	.	PROPN
alkej-283	319	1	6	6	NUM
alkej-283	319	2	.	.	X
alkej-283	319	3	conclusion	conclusion	NOUN
alkej-283	319	4	in	in	ADP
alkej-283	319	5	this	this	DET
alkej-283	319	6	paper	paper	NOUN
alkej-283	319	7	,	,	PUNCT
alkej-283	319	8	an	an	DET
alkej-283	319	9	enhanced	enhanced	ADJ
alkej-283	319	10	firefly	firefly	NOUN
alkej-283	319	11	algorithm	algorithm	NOUN
alkej-283	319	12	called	call	VERB
alkej-283	319	13	crossover	crossover	ADP
alkej-283	319	14	firefly	firefly	NOUN
alkej-283	319	15	algorithm	algorithm	NOUN
alkej-283	319	16	(	(	PUNCT
alkej-283	319	17	cfa	cfa	PROPN
alkej-283	319	18	)	)	PUNCT
alkej-283	319	19	and	and	CCONJ
alkej-283	319	20	hybrid	hybrid	NOUN
alkej-283	319	21	with	with	ADP
alkej-283	319	22	artificial	artificial	ADJ
alkej-283	319	23	bee	bee	NOUN
alkej-283	319	24	colony	colony	NOUN
alkej-283	319	25	(	(	PUNCT
alkej-283	319	26	abc	abc	PROPN
alkej-283	319	27	)	)	PUNCT
alkej-283	319	28	are	be	AUX
alkej-283	319	29	proposed	propose	VERB
alkej-283	319	30	.	.	PUNCT
alkej-283	320	1	these	these	DET
alkej-283	320	2	algorithms	algorithm	NOUN
alkej-283	320	3	are	be	AUX
alkej-283	320	4	utilized	utilize	VERB
alkej-283	320	5	to	to	PART
alkej-283	320	6	enhance	enhance	VERB
alkej-283	320	7	the	the	DET
alkej-283	320	8	optimization	optimization	NOUN
alkej-283	320	9	solution	solution	NOUN
alkej-283	320	10	value	value	NOUN
alkej-283	320	11	by	by	ADP
alkej-283	320	12	shortening	shorten	VERB
alkej-283	320	13	the	the	DET
alkej-283	320	14	randomness	randomness	NOUN
alkej-283	320	15	step	step	NOUN
alkej-283	320	16	by	by	ADP
alkej-283	320	17	step	step	NOUN
alkej-283	320	18	.	.	PUNCT
alkej-283	321	1	the	the	DET
alkej-283	321	2	simulation	simulation	NOUN
alkej-283	321	3	results	result	VERB
alkej-283	321	4	for	for	ADP
alkej-283	321	5	finding	find	VERB
alkej-283	321	6	the	the	DET
alkej-283	321	7	global	global	ADJ
alkej-283	321	8	optima	optima	NOUN
alkej-283	321	9	of	of	ADP
alkej-283	321	10	diverse	diverse	ADJ
alkej-283	321	11	test	test	NOUN
alkej-283	321	12	functions	function	NOUN
alkej-283	321	13	are	be	AUX
alkej-283	321	14	used	use	VERB
alkej-283	321	15	to	to	PART
alkej-283	321	16	verify	verify	VERB
alkej-283	321	17	the	the	DET
alkej-283	321	18	functioning	functioning	NOUN
alkej-283	321	19	of	of	ADP
alkej-283	321	20	the	the	DET
alkej-283	321	21	suggested	suggest	VERB
alkej-283	321	22	optimization	optimization	NOUN
alkej-283	321	23	algorithms	algorithm	NOUN
alkej-283	321	24	.	.	PUNCT
alkej-283	322	1	moreover	moreover	ADV
alkej-283	322	2	,	,	PUNCT
alkej-283	322	3	the	the	DET
alkej-283	322	4	research	research	NOUN
alkej-283	322	5	has	have	AUX
alkej-283	322	6	presented	present	VERB
alkej-283	322	7	an	an	DET
alkej-283	322	8	optimal	optimal	ADJ
alkej-283	322	9	kinematic	kinematic	ADJ
alkej-283	322	10	neural	neural	ADJ
alkej-283	322	11	controller	controller	NOUN
alkej-283	322	12	based	base	VERB
alkej-283	322	13	on	on	ADP
alkej-283	322	14	(	(	PUNCT
alkej-283	322	15	cfa	cfa	PROPN
alkej-283	322	16	-	-	PUNCT
alkej-283	322	17	abc	abc	PROPN
alkej-283	322	18	)	)	PUNCT
alkej-283	322	19	algorithm	algorithm	NOUN
alkej-283	322	20	for	for	ADP
alkej-283	322	21	two	two	NUM
alkej-283	322	22	-	-	PUNCT
alkej-283	322	23	wheeled	wheel	VERB
alkej-283	322	24	differential	differential	ADJ
alkej-283	322	25	mobile	mobile	NOUN
alkej-283	322	26	robots	robot	NOUN
alkej-283	322	27	to	to	PART
alkej-283	322	28	achieve	achieve	VERB
alkej-283	322	29	both	both	DET
alkej-283	322	30	trajectory	trajectory	NOUN
alkej-283	322	31	tracking	tracking	NOUN
alkej-283	322	32	and	and	CCONJ
alkej-283	322	33	stabilization	stabilization	NOUN
alkej-283	322	34	based	base	VERB
alkej-283	322	35	on	on	ADP
alkej-283	322	36	the	the	DET
alkej-283	322	37	kinematic	kinematic	ADJ
alkej-283	322	38	model	model	NOUN
alkej-283	322	39	.	.	PUNCT
alkej-283	323	1	it	it	PRON
alkej-283	323	2	has	have	AUX
alkej-283	323	3	been	be	AUX
alkej-283	323	4	built	build	VERB
alkej-283	323	5	and	and	CCONJ
alkej-283	323	6	tested	test	VERB
alkej-283	323	7	using	use	VERB
alkej-283	323	8	matlab	matlab	PROPN
alkej-283	323	9	(	(	PUNCT
alkej-283	323	10	r2013b	r2013b	NOUN
alkej-283	323	11	)	)	PUNCT
alkej-283	323	12	environment	environment	NOUN
alkej-283	323	13	applied	apply	VERB
alkej-283	323	14	on	on	ADP
alkej-283	323	15	national	national	ADJ
alkej-283	323	16	instrument	instrument	PROPN
alkej-283	323	17	mobile	mobile	PROPN
alkej-283	323	18	robot	robot	NOUN
alkej-283	323	19	(	(	PUNCT
alkej-283	323	20	ni	ni	PROPN
alkej-283	323	21	mobile	mobile	PROPN
alkej-283	323	22	robot	robot	NOUN
alkej-283	323	23	)	)	PUNCT
alkej-283	323	24	.	.	PUNCT
alkej-283	324	1	the	the	DET
alkej-283	324	2	main	main	ADJ
alkej-283	324	3	result	result	NOUN
alkej-283	324	4	shows	show	VERB
alkej-283	324	5	that	that	SCONJ
alkej-283	324	6	the	the	DET
alkej-283	324	7	proposed	propose	VERB
alkej-283	324	8	control	control	NOUN
alkej-283	324	9	gets	get	VERB
alkej-283	324	10	stability	stability	NOUN
alkej-283	324	11	in	in	ADP
alkej-283	324	12	the	the	DET
alkej-283	324	13	position	position	NOUN
alkej-283	324	14	errors	error	NOUN
alkej-283	324	15	and	and	CCONJ
alkej-283	324	16	good	good	ADJ
alkej-283	324	17	follow	follow	NOUN
alkej-283	324	18	of	of	ADP
alkej-283	324	19	the	the	DET
alkej-283	324	20	trajectory	trajectory	NOUN
alkej-283	324	21	tracking	tracking	NOUN
alkej-283	324	22	without	without	ADP
alkej-283	324	23	perturbations	perturbation	NOUN
alkej-283	324	24	,	,	PUNCT
alkej-283	324	25	such	such	ADJ
alkej-283	324	26	that	that	SCONJ
alkej-283	324	27	the	the	DET
alkej-283	324	28	mobile	mobile	NOUN
alkej-283	324	29	robot	robot	NOUN
alkej-283	324	30	follows	follow	VERB
alkej-283	324	31	a	a	DET
alkej-283	324	32	desired	desire	VERB
alkej-283	324	33	path	path	NOUN
alkej-283	324	34	trajectory	trajectory	NOUN
alkej-283	324	35	with	with	ADP
alkej-283	324	36	minimize	minimize	VERB
alkej-283	324	37	error	error	NOUN
alkej-283	324	38	.	.	PUNCT
alkej-283	325	1	additionally	additionally	ADV
alkej-283	325	2	,	,	PUNCT
alkej-283	325	3	the	the	DET
alkej-283	325	4	simulation	simulation	NOUN
alkej-283	325	5	results	result	NOUN
alkej-283	325	6	show	show	VERB
alkej-283	325	7	clearly	clearly	ADV
alkej-283	325	8	the	the	DET
alkej-283	325	9	ability	ability	NOUN
alkej-283	325	10	of	of	ADP
alkej-283	325	11	reworking	reworking	NOUN
alkej-283	325	12	and	and	CCONJ
alkej-283	325	13	robustness	robustness	NOUN
alkej-283	325	14	of	of	ADP
alkej-283	325	15	the	the	DET
alkej-283	325	16	suggested	suggest	VERB
alkej-283	325	17	kinematic	kinematic	ADJ
alkej-283	325	18	neural	neural	ADJ
alkej-283	325	19	controller	controller	NOUN
alkej-283	325	20	that	that	PRON
alkej-283	325	21	based	base	VERB
alkej-283	325	22	on	on	ADP
alkej-283	325	23	(	(	PUNCT
alkej-283	325	24	cfa	cfa	PROPN
alkej-283	325	25	-	-	PUNCT
alkej-283	325	26	abc	abc	PROPN
alkej-283	325	27	)	)	PUNCT
alkej-283	325	28	learning	learn	VERB
alkej-283	325	29	technique	technique	NOUN
alkej-283	325	30	,	,	PUNCT
alkej-283	325	31	which	which	PRON
alkej-283	325	32	has	have	VERB
alkej-283	325	33	wonderful	wonderful	ADJ
alkej-283	325	34	position	position	NOUN
alkej-283	325	35	trajectory	trajectory	NOUN
alkej-283	325	36	tracking	tracking	NOUN
alkej-283	325	37	achievement	achievement	NOUN
alkej-283	325	38	and	and	CCONJ
alkej-283	325	39	it	it	PRON
alkej-283	325	40	has	have	VERB
alkej-283	325	41	the	the	DET
alkej-283	325	42	ability	ability	NOUN
alkej-283	325	43	of	of	ADP
alkej-283	325	44	producing	produce	VERB
alkej-283	325	45	smooth	smooth	ADJ
alkej-283	325	46	and	and	CCONJ
alkej-283	325	47	acceptable	acceptable	ADJ
alkej-283	325	48	linear	linear	NOUN
alkej-283	325	49	and	and	CCONJ
alkej-283	325	50	angular	angular	ADJ
alkej-283	325	51	velocity	velocity	NOUN
alkej-283	325	52	.	.	PUNCT
alkej-283	326	1	the	the	DET
alkej-283	326	2	suggested	suggest	VERB
alkej-283	326	3	controller	controller	NOUN
alkej-283	326	4	has	have	AUX
alkej-283	326	5	explained	explain	VERB
alkej-283	326	6	the	the	DET
alkej-283	326	7	ability	ability	NOUN
alkej-283	326	8	of	of	ADP
alkej-283	326	9	tracking	track	VERB
alkej-283	326	10	continuous	continuous	ADJ
alkej-283	326	11	gradients	gradient	NOUN
alkej-283	326	12	required	require	VERB
alkej-283	326	13	trajectory	trajectory	NOUN
alkej-283	326	14	and	and	CCONJ
alkej-283	326	15	effectively	effectively	ADV
alkej-283	326	16	reducing	reduce	VERB
alkej-283	326	17	the	the	DET
alkej-283	326	18	tracking	tracking	NOUN
alkej-283	326	19	errors	error	NOUN
alkej-283	326	20	of	of	ADP
alkej-283	326	21	the	the	DET
alkej-283	326	22	wheeled	wheel	VERB
alkej-283	326	23	mobile	mobile	PROPN
alkej-283	326	24	robot	robot	NOUN
alkej-283	326	25	model	model	NOUN
alkej-283	326	26	with	with	ADP
alkej-283	326	27	mse	mse	NOUN
alkej-283	326	28	of	of	ADP
alkej-283	326	29	a	a	DET
alkej-283	326	30	circular	circular	ADJ
alkej-283	326	31	trajectory	trajectory	NOUN
alkej-283	326	32	is	be	AUX
alkej-283	326	33	(	(	PUNCT
alkej-283	326	34	0.0063	0.0063	NUM
alkej-283	326	35	)	)	PUNCT
alkej-283	326	36	and	and	CCONJ
alkej-283	326	37	10	10	NUM
alkej-283	326	38	20	20	NUM
alkej-283	326	39	30	30	NUM
alkej-283	326	40	40	40	NUM
alkej-283	326	41	50	50	NUM
alkej-283	326	42	60	60	NUM
alkej-283	326	43	70	70	NUM
alkej-283	326	44	80	80	NUM
alkej-283	326	45	90	90	NUM
alkej-283	326	46	-0.04	-0.04	NUM
alkej-283	326	47	-0.02	-0.02	NUM
alkej-283	326	48	0	0	NUM
alkej-283	326	49	0.02	0.02	NUM
alkej-283	326	50	0.04	0.04	NUM
alkej-283	326	51	0.06	0.06	NUM
alkej-283	326	52	0.08	0.08	NUM
alkej-283	326	53	0.1	0.1	NUM
alkej-283	326	54	0.12	0.12	NUM
alkej-283	326	55	0.14	0.14	NUM
alkej-283	326	56	sampling	sample	VERB
alkej-283	326	57	time=0.5	time=0.5	NUM
alkej-283	326	58	sec	sec	PROPN
alkej-283	326	59	l	l	NOUN
alkej-283	326	60	in	in	ADP
alkej-283	326	61	ea	ea	NOUN
alkej-283	327	1	r	r	NOUN
alkej-283	327	2	v	v	NUM
alkej-283	328	1	el	el	INTJ
alkej-283	328	2	oc	oc	VERB
alkej-283	328	3	it	it	PRON
alkej-283	328	4	y	y	INTJ
alkej-283	328	5	(	(	PUNCT
alkej-283	328	6	m	m	PROPN
alkej-283	328	7	/s	/s	NOUN
alkej-283	328	8	ec	ec	PROPN
alkej-283	328	9	)	)	PUNCT
alkej-283	329	1	an	an	DET
alkej-283	329	2	d	d	NOUN
alkej-283	329	3	a	a	DET
alkej-283	329	4	ng	ng	PROPN
alkej-283	329	5	ul	ul	INTJ
alkej-283	329	6	ar	ar	PROPN
alkej-283	329	7	v	v	PROPN
alkej-283	329	8	el	el	PROPN
alkej-283	329	9	oc	oc	VERB
alkej-283	329	10	it	it	PRON
alkej-283	330	1	y	y	INTJ
alkej-283	330	2	(	(	PUNCT
alkej-283	330	3	r	r	NOUN
alkej-283	330	4	ad	ad	NOUN
alkej-283	330	5	/s	/s	X
alkej-283	330	6	ec	ec	PROPN
alkej-283	330	7	)	)	PUNCT
alkej-283	331	1	the	the	DET
alkej-283	331	2	linear	linear	ADJ
alkej-283	331	3	velocity	velocity	NOUN
alkej-283	331	4	the	the	DET
alkej-283	331	5	angular	angular	ADJ
alkej-283	331	6	velocity	velocity	NOUN
alkej-283	331	7	10	10	NUM
alkej-283	331	8	20	20	NUM
alkej-283	331	9	30	30	NUM
alkej-283	331	10	40	40	NUM
alkej-283	331	11	50	50	NUM
alkej-283	331	12	60	60	NUM
alkej-283	331	13	70	70	NUM
alkej-283	331	14	80	80	NUM
alkej-283	331	15	90	90	NUM
alkej-283	331	16	100	100	NUM
alkej-283	331	17	-5	-5	ADJ
alkej-283	331	18	-4	-4	INTJ
alkej-283	331	19	-3	-3	INTJ
alkej-283	331	20	-2	-2	INTJ
alkej-283	332	1	-1	-1	SYM
alkej-283	332	2	0	0	NUM
alkej-283	332	3	1	1	NUM
alkej-283	332	4	2	2	NUM
alkej-283	332	5	3	3	NUM
alkej-283	332	6	sampling	sample	VERB
alkej-283	332	7	time=0.5	time=0.5	NOUN
alkej-283	332	8	sec	sec	PROPN
alkej-283	332	9	o	o	NOUN
alkej-283	332	10	ri	ri	NOUN
alkej-283	332	11	en	en	X
alkej-283	332	12	ta	ta	X
alkej-283	332	13	ti	ti	X
alkej-283	332	14	on	on	ADP
alkej-283	332	15	(	(	PUNCT
alkej-283	332	16	ra	ra	PROPN
alkej-283	332	17	d	d	PROPN
alkej-283	332	18	)	)	PUNCT
alkej-283	332	19	desired	desire	VERB
alkej-283	332	20	orientation	orientation	NOUN
alkej-283	332	21	actual	actual	ADJ
alkej-283	332	22	robot	robot	NOUN
alkej-283	332	23	orientation	orientation	NOUN
alkej-283	332	24	0	0	NUM
alkej-283	332	25	20	20	NUM
alkej-283	332	26	40	40	NUM
alkej-283	332	27	60	60	NUM
alkej-283	332	28	80	80	NUM
alkej-283	332	29	100	100	NUM
alkej-283	332	30	0	0	NUM
alkej-283	332	31	0.2	0.2	NUM
alkej-283	332	32	0.4	0.4	NUM
alkej-283	332	33	0.6	0.6	NUM
alkej-283	332	34	0.8	0.8	NUM
alkej-283	332	35	1	1	NUM
alkej-283	332	36	1.2	1.2	NUM
alkej-283	332	37	1.4	1.4	NUM
alkej-283	332	38	1.6	1.6	NUM
alkej-283	332	39	1.8	1.8	NUM
alkej-283	332	40	sampling	sample	VERB
alkej-283	332	41	time=0.5	time=0.5	NUM
alkej-283	332	42	sec	sec	PROPN
alkej-283	332	43	x	x	SYM
alkej-283	332	44	-c	-c	PUNCT
alkej-283	332	45	oo	oo	INTJ
alkej-283	332	46	rd	rd	NOUN
alkej-283	332	47	in	in	ADV
alkej-283	332	48	at	at	ADP
alkej-283	332	49	e	e	PROPN
alkej-283	332	50	(	(	PUNCT
alkej-283	332	51	m	m	PROPN
alkej-283	332	52	)	)	PUNCT
alkej-283	332	53	desired	desire	VERB
alkej-283	332	54	x	x	ADJ
alkej-283	332	55	-	-	ADJ
alkej-283	332	56	coordinate	coordinate	ADJ
alkej-283	332	57	actual	actual	ADJ
alkej-283	332	58	robot	robot	NOUN
alkej-283	332	59	x	x	NOUN
alkej-283	332	60	-	-	VERB
alkej-283	332	61	coordinate	coordinate	NOUN
alkej-283	332	62	10	10	NUM
alkej-283	332	63	20	20	NUM
alkej-283	332	64	30	30	NUM
alkej-283	332	65	40	40	NUM
alkej-283	332	66	50	50	NUM
alkej-283	332	67	60	60	NUM
alkej-283	332	68	70	70	NUM
alkej-283	332	69	80	80	NUM
alkej-283	332	70	90	90	NUM
alkej-283	332	71	100	100	NUM
alkej-283	332	72	-1.5	-1.5	NUM
alkej-283	332	73	-1	-1	PUNCT
alkej-283	332	74	-0.5	-0.5	X
alkej-283	332	75	0	0	NUM
alkej-283	332	76	0.5	0.5	NUM
alkej-283	332	77	1	1	NUM
alkej-283	332	78	1.5	1.5	NUM
alkej-283	332	79	sampling	sample	VERB
alkej-283	332	80	time=0.5	time=0.5	NUM
alkej-283	332	81	sec	sec	PROPN
alkej-283	332	82	y	y	PROPN
alkej-283	332	83	-c	-c	NUM
alkej-283	332	84	oo	oo	INTJ
alkej-283	332	85	rd	rd	NOUN
alkej-283	332	86	in	in	ADV
alkej-283	332	87	at	at	ADP
alkej-283	332	88	e	e	PROPN
alkej-283	332	89	(	(	PUNCT
alkej-283	332	90	m	m	PROPN
alkej-283	332	91	)	)	PUNCT
alkej-283	332	92	desired	desire	VERB
alkej-283	332	93	y	y	ADJ
alkej-283	332	94	-	-	PUNCT
alkej-283	332	95	coordinate	coordinate	NOUN
alkej-283	332	96	actual	actual	ADJ
alkej-283	332	97	robot	robot	NOUN
alkej-283	332	98	y	y	NOUN
alkej-283	332	99	-	-	PUNCT
alkej-283	332	100	coordinate	coordinate	NOUN
alkej-283	332	101	nizar	nizar	NOUN
alkej-283	332	102	hadi	hadi	PROPN
alkej-283	332	103	abbas	abbas	PROPN
alkej-283	332	104	al	al	PROPN
alkej-283	332	105	-	-	PUNCT
alkej-283	332	106	khwarizmi	khwarizmi	PROPN
alkej-283	332	107	engineering	engineering	NOUN
alkej-283	332	108	journal	journal	PROPN
alkej-283	332	109	,	,	PUNCT
alkej-283	332	110	vol	vol	NOUN
alkej-283	332	111	.	.	PROPN
alkej-283	332	112	12	12	NUM
alkej-283	332	113	,	,	PUNCT
alkej-283	332	114	no	no	INTJ
alkej-283	332	115	.	.	NOUN
alkej-283	332	116	1	1	NUM
alkej-283	332	117	,	,	PUNCT
alkej-283	332	118	p.p	p.p	PROPN
alkej-283	332	119	.	.	PROPN
alkej-283	332	120	4560	4560	NUM
alkej-283	332	121	(	(	PUNCT
alkej-283	332	122	2016	2016	NUM
alkej-283	332	123	)	)	PUNCT
alkej-283	332	124	57	57	NUM
alkej-283	332	125	�	�	NOUN
alkej-283	332	126	¤	¤	NOUN
alkej-283	332	127	»	»	PUNCT
alkej-283	332	128	of	of	ADP
alkej-283	332	129	the	the	DET
alkej-283	332	130	lemniscates	lemniscate	NOUN
alkej-283	332	131	trajectory	trajectory	NOUN
alkej-283	332	132	is	be	AUX
alkej-283	332	133	(	(	PUNCT
alkej-283	332	134	0.0066	0.0066	NUM
alkej-283	332	135	)	)	PUNCT
alkej-283	332	136	after	after	ADP
alkej-283	332	137	100	100	NUM
alkej-283	332	138	iterations	iteration	NOUN
alkej-283	332	139	,	,	PUNCT
alkej-283	332	140	better	well	ADV
alkej-283	332	141	then	then	ADV
alkej-283	332	142	mse	mse	VERB
alkej-283	332	143	in	in	ADP
alkej-283	332	144	[	[	X
alkej-283	332	145	21]and[11	21]and[11	NUM
alkej-283	332	146	]	]	PUNCT
alkej-283	332	147	.	.	PUNCT
alkej-283	333	1	list	list	NOUN
alkej-283	333	2	of	of	ADP
alkej-283	333	3	symbols	symbol	NOUN
alkej-283	333	4	symbol	symbol	NOUN
alkej-283	333	5	definition	definition	NOUN
alkej-283	333	6	alpha	alpha	NOUN
alkej-283	333	7	the	the	DET
alkej-283	333	8	flat	flat	ADJ
alkej-283	333	9	crossover	crossover	NOUN
alkej-283	333	10	coefficient	coefficient	NOUN
alkej-283	333	11	yr	yr	NOUN
alkej-283	333	12	the	the	DET
alkej-283	333	13	weight	weight	NOUN
alkej-283	333	14	between	between	ADP
alkej-283	333	15	the	the	DET
alkej-283	333	16	bias	bias	NOUN
alkej-283	333	17	and	and	CCONJ
alkej-283	333	18	hidden	hide	VERB
alkej-283	333	19	(	(	PUNCT
alkej-283	333	20	j	j	NOUN
alkej-283	333	21	)	)	PUNCT
alkej-283	333	22	.	.	PUNCT
alkej-283	334	1	yzthe	yzthe	DET
alkej-283	334	2	weight	weight	NOUN
alkej-283	334	3	between	between	ADP
alkej-283	334	4	the	the	DET
alkej-283	334	5	bias	bias	NOUN
alkej-283	334	6	and	and	CCONJ
alkej-283	334	7	output	output	NOUN
alkej-283	334	8	(	(	PUNCT
alkej-283	334	9	k	k	NOUN
alkej-283	334	10	)	)	PUNCT
alkej-283	334	11	.	.	PUNCT
alkej-283	335	1	c	c	NOUN
alkej-283	336	1	the	the	DET
alkej-283	336	2	mobile	mobile	PROPN
alkej-283	336	3	robot	robot	NOUN
alkej-283	336	4	center	center	NOUN
alkej-283	336	5	(	(	PUNCT
alkej-283	336	6	meter	meter	NOUN
alkej-283	336	7	)	)	PUNCT
alkej-283	336	8	.	.	PUNCT
alkej-283	337	1	�	�	PROPN
alkej-283	337	2	6]5di^	6]5di^	PROPN
alkej-283	337	3	*	*	SYM
alkej-283	337	4	�	�	PROPN
alkej-283	337	5	the	the	DET
alkej-283	337	6	abandonment	abandonment	PROPN
alkej-283	337	7	counter	counter	NOUN
alkej-283	337	8	of	of	ADP
alkej-283	337	9	the	the	DET
alkej-283	337	10	employed	employ	VERB
alkej-283	337	11	bee	bee	NOUN
alkej-283	337	12	.	.	PUNCT
alkej-283	338	1	d1	d1	VERB
alkej-283	338	2	the	the	DET
alkej-283	338	3	dimensional	dimensional	ADJ
alkej-283	338	4	vector	vector	NOUN
alkej-283	338	5	of	of	ADP
alkej-283	338	6	abc	abc	PROPN
alkej-283	338	7	.	.	PUNCT
alkej-283	338	8	?	?	PUNCT
alkej-283	339	1	jid	jid	PROPN
alkej-283	339	2	�	�	PROPN
alkej-283	339	3	parameter	parameter	PROPN
alkej-283	339	4	to	to	PART
alkej-283	339	5	reduce	reduce	VERB
alkej-283	339	6	the	the	DET
alkej-283	339	7	randomness	randomness	NOUN
alkej-283	339	8	.	.	PUNCT
alkej-283	340	1	e	e	X
alkej-283	340	2	the	the	DET
alkej-283	340	3	error	error	NOUN
alkej-283	340	4	vector	vector	NOUN
alkej-283	340	5	.	.	PUNCT
alkej-283	341	1	[	[	PUNCT
alkej-283	341	2	the	the	DET
alkej-283	341	3	flash	flash	NOUN
alkej-283	341	4	intensity	intensity	NOUN
alkej-283	341	5	.	.	PUNCT
alkej-283	342	1	[=	[=	X
alkej-283	342	2	the	the	DET
alkej-283	342	3	standard	standard	ADJ
alkej-283	342	4	flash	flash	NOUN
alkej-283	342	5	intensity	intensity	NOUN
alkej-283	342	6	.	.	PUNCT
alkej-283	343	1	�	�	PROPN
alkej-283	343	2	41	41	NUM
alkej-283	343	3	the	the	DET
alkej-283	343	4	fitness	fitness	NOUN
alkej-283	343	5	value	value	NOUN
alkej-283	343	6	of	of	ADP
alkej-283	343	7	the	the	DET
alkej-283	343	8	solutionr	solutionr	NOUN
alkej-283	343	9	.	.	PUNCT
alkej-283	344	1	�	�	X
alkej-283	344	2	4d5j33	4d5j33	NUM
alkej-283	344	3	4	4	NUM
alkej-283	344	4	the	the	DET
alkej-283	344	5	fitness	fitness	NOUN
alkej-283	344	6	of	of	ADP
alkej-283	344	7	each	each	DET
alkej-283	344	8	food	food	NOUN
alkej-283	344	9	source	source	NOUN
alkej-283	344	10	.	.	PUNCT
alkej-283	345	1	fm1	fm1	PROPN
alkej-283	345	2	a	a	DET
alkej-283	345	3	population	population	NOUN
alkej-283	345	4	of	of	ADP
alkej-283	345	5	abc	abc	PROPN
alkej-283	345	6	produce	produce	VERB
alkej-283	345	7	randomly	randomly	ADV
alkej-283	345	8	.	.	PUNCT
alkej-283	346	1	[	[	X
alkej-283	346	2	�	�	X
alkej-283	346	3	the	the	DET
alkej-283	346	4	intensity	intensity	NOUN
alkej-283	346	5	at	at	ADP
alkej-283	346	6	the	the	DET
alkej-283	346	7	beginning	beginning	NOUN
alkej-283	346	8	.	.	PUNCT
alkej-283	347	1	hntj	hntj	VERB
alkej-283	347	2	the	the	DET
alkej-283	347	3	output	output	NOUN
alkej-283	347	4	of	of	ADP
alkej-283	347	5	the	the	DET
alkej-283	347	6	hidden	hide	VERB
alkej-283	347	7	layer	layer	NOUN
alkej-283	347	8	node	node	PROPN
alkej-283	347	9	j.	j.	PROPN
alkej-283	347	10	iccm	iccm	VERB
alkej-283	347	11	the	the	DET
alkej-283	347	12	instantaneous	instantaneous	ADJ
alkej-283	347	13	center	center	NOUN
alkej-283	347	14	of	of	ADP
alkej-283	347	15	curvature	curvature	NOUN
alkej-283	347	16	mobile	mobile	ADJ
alkej-283	347	17	robot	robot	NOUN
alkej-283	347	18	.	.	PUNCT
alkej-283	348	1	45\]d4	45\]d4	NUM
alkej-283	348	2	(	(	PUNCT
alkej-283	348	3	exm(l),exm(l-1),	exm(l),exm(l-1),	PROPN
alkej-283	348	4	…	…	SYM
alkej-283	348	5	vl	vl	X
alkej-283	348	6	(	(	PUNCT
alkej-283	348	7	l-1	l-1	NUM
alkej-283	348	8	)	)	PUNCT
alkej-283	348	9	)	)	PUNCT
alkej-283	348	10	.	.	PUNCT
alkej-283	349	1	l	l	NOUN
alkej-283	349	2	measure	measure	NOUN
alkej-283	349	3	of	of	ADP
alkej-283	349	4	the	the	DET
alkej-283	349	5	running	running	NOUN
alkej-283	349	6	step	step	NOUN
alkej-283	349	7	.	.	PUNCT
alkej-283	350	1	l1	l1	PROPN
alkej-283	350	2	the	the	DET
alkej-283	350	3	length	length	NOUN
alkej-283	350	4	between	between	ADP
alkej-283	350	5	each	each	DET
alkej-283	350	6	wheel	wheel	NOUN
alkej-283	350	7	and	and	CCONJ
alkej-283	350	8	the	the	DET
alkej-283	350	9	robot	robot	NOUN
alkej-283	350	10	axis	axis	NOUN
alkej-283	350	11	of	of	ADP
alkej-283	350	12	symmetry	symmetry	NOUN
alkej-283	350	13	in	in	ADP
alkej-283	350	14	yguidance	yguidance	NOUN
alkej-283	350	15	(	(	PUNCT
alkej-283	350	16	m	m	NOUN
alkej-283	350	17	)	)	PUNCT
alkej-283	350	18	.	.	PUNCT
alkej-283	351	1	m	m	VERB
alkej-283	351	2	the	the	DET
alkej-283	351	3	number	number	NOUN
alkej-283	351	4	of	of	ADP
alkej-283	351	5	input	input	NOUN
alkej-283	351	6	of	of	ADP
alkej-283	351	7	neural	neural	ADJ
alkej-283	351	8	network	network	NOUN
alkej-283	351	9	.	.	PUNCT
alkej-283	352	1	m4	m4	VERB
alkej-283	352	2	the	the	DET
alkej-283	352	3	number	number	NOUN
alkej-283	352	4	of	of	ADP
alkej-283	352	5	input	input	NOUN
alkej-283	352	6	layer	layer	NOUN
alkej-283	352	7	nodes	node	NOUN
alkej-283	352	8	.	.	PUNCT
alkej-283	353	1	mr	mr	PROPN
alkej-283	353	2	the	the	DET
alkej-283	353	3	number	number	NOUN
alkej-283	353	4	of	of	ADP
alkej-283	353	5	hidden	hide	VERB
alkej-283	353	6	layer	layer	NOUN
alkej-283	353	7	nodes	node	NOUN
alkej-283	353	8	.	.	PUNCT
alkej-283	354	1	mzthe	mzthe	ADJ
alkej-283	354	2	number	number	NOUN
alkej-283	354	3	of	of	ADP
alkej-283	354	4	output	output	NOUN
alkej-283	354	5	layer	layer	NOUN
alkej-283	354	6	nodes	node	NOUN
alkej-283	354	7	.	.	PUNCT
alkej-283	355	1	pop	pop	NOUN
alkej-283	355	2	number	number	NOUN
alkej-283	355	3	of	of	ADP
alkej-283	355	4	individuals	individual	NOUN
alkej-283	355	5	.	.	PUNCT
alkej-283	356	1	�	�	PROPN
alkej-283	356	2	the	the	DET
alkej-283	356	3	radius	radius	NOUN
alkej-283	356	4	of	of	ADP
alkej-283	356	5	each	each	DET
alkej-283	356	6	wheel	wheel	NOUN
alkej-283	356	7	(	(	PUNCT
alkej-283	356	8	rad	rad	NOUN
alkej-283	356	9	)	)	PUNCT
alkej-283	356	10	.	.	PUNCT
alkej-283	357	1	rr	rr	VERB
alkej-283	357	2	the	the	DET
alkej-283	357	3	distance	distance	NOUN
alkej-283	357	4	between	between	ADP
alkej-283	357	5	any	any	DET
alkej-283	357	6	two	two	NUM
alkej-283	357	7	fireflies	firefly	NOUN
alkej-283	357	8	.	.	PUNCT
alkej-283	358	1	a	a	DET
alkej-283	358	2	�	�	NOUN
alkej-283	358	3	5?the	5?the	PRON
alkej-283	358	4	random	random	ADJ
alkej-283	358	5	number	number	NOUN
alkej-283	358	6	generator	generator	NOUN
alkej-283	358	7	uniformly	uniformly	ADV
alkej-283	358	8	distributed	distribute	VERB
alkej-283	358	9	in	in	ADP
alkej-283	358	10	[	[	X
alkej-283	358	11	0	0	NUM
alkej-283	358	12	,	,	PUNCT
alkej-283	358	13	1	1	NUM
alkej-283	358	14	]	]	PUNCT
alkej-283	358	15	.	.	PUNCT
alkej-283	359	1	v	v	ADP
alkej-283	359	2	the	the	DET
alkej-283	359	3	translational	translational	ADJ
alkej-283	359	4	velocity	velocity	NOUN
alkej-283	359	5	of	of	ADP
alkej-283	359	6	the	the	DET
alkej-283	359	7	robot	robot	NOUN
alkej-283	359	8	(	(	PUNCT
alkej-283	359	9	meter	meter	NOUN
alkej-283	359	10	/	/	SYM
alkej-283	359	11	second	second	NOUN
alkej-283	359	12	)	)	PUNCT
alkej-283	359	13	.	.	PUNCT
alkej-283	360	1	�	�	PROPN
alkej-283	360	2	i^*u	i^*u	PROPN
alkej-283	360	3	*	*	PROPN
alkej-283	360	4	a	a	DET
alkej-283	360	5	new	new	ADJ
alkej-283	360	6	nominee	nominee	NOUN
alkej-283	360	7	solution	solution	NOUN
alkej-283	360	8	of	of	ADP
alkej-283	360	9	abc	abc	PROPN
alkej-283	360	10	.	.	PUNCT
alkej-283	361	1	$	$	PUNCT
alkej-283	361	2	r4	r4	VERB
alkej-283	361	3	the	the	DET
alkej-283	361	4	weight	weight	NOUN
alkej-283	361	5	between	between	ADP
alkej-283	361	6	input	input	NOUN
alkej-283	361	7	(	(	PUNCT
alkej-283	361	8	i	i	NOUN
alkej-283	361	9	)	)	PUNCT
alkej-283	361	10	and	and	CCONJ
alkej-283	361	11	output	output	NOUN
alkej-283	361	12	(	(	PUNCT
alkej-283	361	13	j	j	NOUN
alkej-283	361	14	)	)	PUNCT
alkej-283	361	15	.	.	PUNCT
alkej-283	362	1	$	$	SYM
alkej-283	362	2	the	the	DET
alkej-283	362	3	linear	linear	ADJ
alkej-283	362	4	left	leave	VERB
alkej-283	362	5	wheel	wheel	NOUN
alkej-283	362	6	speed	speed	NOUN
alkej-283	362	7	(	(	PUNCT
alkej-283	362	8	meter	meter	NOUN
alkej-283	362	9	/	/	SYM
alkej-283	362	10	second	second	NOUN
alkej-283	362	11	)	)	PUNCT
alkej-283	362	12	.	.	PUNCT
alkej-283	363	1	$	$	SYM
alkej-283	363	2	�	�	PROPN
alkej-283	363	3	the	the	DET
alkej-283	363	4	linear	linear	ADJ
alkej-283	363	5	right	right	ADJ
alkej-283	363	6	wheel	wheel	NOUN
alkej-283	363	7	speed	speed	NOUN
alkej-283	363	8	(	(	PUNCT
alkej-283	363	9	meter	meter	NOUN
alkej-283	363	10	/	/	SYM
alkej-283	363	11	second	second	NOUN
alkej-283	363	12	)	)	PUNCT
alkej-283	363	13	.	.	PUNCT
alkej-283	364	1	¶zrthe	¶zrthe	DET
alkej-283	364	2	weight	weight	NOUN
alkej-283	364	3	between	between	ADP
alkej-283	364	4	the	the	DET
alkej-283	364	5	hidden	hide	VERB
alkej-283	364	6	(	(	PUNCT
alkej-283	364	7	j	j	NOUN
alkej-283	364	8	)	)	PUNCT
alkej-283	364	9	and	and	CCONJ
alkej-283	364	10	output	output	NOUN
alkej-283	364	11	(	(	PUNCT
alkej-283	364	12	k	k	NOUN
alkej-283	364	13	)	)	PUNCT
alkej-283	364	14	.	.	PUNCT
alkej-283	365	1	�	�	X
alkej-283	366	1	=	=	SYM
alkej-283	366	2	=	=	PROPN
alkej-283	366	3	,	,	PUNCT
alkej-283	366	4	�	�	X
alkej-283	366	5	=	=	SYM
alkej-283	366	6	=	=	PROPN
alkej-283	366	7	,	,	PUNCT
alkej-283	366	8	�	�	NOUN
alkej-283	366	9	=	=	SYM
alkej-283	366	10	=	=	PROPN
alkej-283	366	11	�	�	PROPN
alkej-283	366	12	the	the	DET
alkej-283	366	13	initial	initial	ADJ
alkej-283	366	14	pose	pose	NOUN
alkej-283	366	15	(	(	PUNCT
alkej-283	366	16	position	position	NOUN
alkej-283	366	17	/	/	SYM
alkej-283	366	18	orientation	orientation	NOUN
alkej-283	366	19	)	)	PUNCT
alkej-283	366	20	of	of	ADP
alkej-283	366	21	the	the	DET
alkej-283	366	22	robot	robot	NOUN
alkej-283	366	23	.	.	PUNCT
alkej-283	366	24	�	�	PROPN
alkej-283	366	25	�	�	PROPN
alkej-283	366	26	,	,	PUNCT
alkej-283	366	27	�	�	PROPN
alkej-283	366	28	,	,	PUNCT
alkej-283	366	29	�	�	PROPN
alkej-283	366	30	�	�	PROPN
alkej-283	366	31	the	the	DET
alkej-283	366	32	actual	actual	ADJ
alkej-283	366	33	pose	pose	NOUN
alkej-283	366	34	(	(	PUNCT
alkej-283	366	35	position	position	NOUN
alkej-283	366	36	/	/	SYM
alkej-283	366	37	orientation	orientation	NOUN
alkej-283	366	38	)	)	PUNCT
alkej-283	366	39	of	of	ADP
alkej-283	366	40	the	the	DET
alkej-283	366	41	robot	robot	NOUN
alkej-283	366	42	.	.	PUNCT
alkej-283	367	1	(	(	PUNCT
alkej-283	367	2	�	�	PROPN
alkej-283	367	3	e	e	PROPN
alkej-283	367	4	,	,	PUNCT
alkej-283	367	5	�	�	PROPN
alkej-283	367	6	e	e	PROPN
alkej-283	367	7	,	,	PUNCT
alkej-283	367	8	�	�	PROPN
alkej-283	367	9	e	e	NOUN
alkej-283	367	10	�	�	PROPN
alkej-283	367	11	the	the	DET
alkej-283	367	12	desired	desire	VERB
alkej-283	367	13	pose	pose	NOUN
alkej-283	367	14	(	(	PUNCT
alkej-283	367	15	position	position	NOUN
alkej-283	367	16	/	/	SYM
alkej-283	367	17	orientation	orientation	NOUN
alkej-283	367	18	)	)	PUNCT
alkej-283	367	19	of	of	ADP
alkej-283	367	20	the	the	DET
alkej-283	367	21	robot	robot	NOUN
alkej-283	367	22	.	.	PUNCT
alkej-283	368	1	�	�	PROPN
alkej-283	368	2	i^*u	i^*u	NOUN
alkej-283	368	3	*	*	NOUN
alkej-283	368	4	solution	solution	NOUN
alkej-283	368	5	produced	produce	VERB
alkej-283	368	6	from	from	ADP
alkej-283	368	7	abc	abc	PROPN
alkej-283	368	8	.	.	PUNCT
alkej-283	368	9	�	�	PROPN
alkej-283	368	10	iu*v^	iu*v^	PROPN
alkej-283	368	11	�	�	PROPN
alkej-283	368	12	,	,	PUNCT
alkej-283	368	13	�	�	PROPN
alkej-283	368	14	iu*v	iu*v	X
alkej-283	368	15	�	�	NOUN
alkej-283	368	16	�	�	PROPN
alkej-283	368	17	the	the	DET
alkej-283	368	18	lower	low	ADJ
alkej-283	368	19	boundary	boundary	ADJ
alkej-283	368	20	and	and	CCONJ
alkej-283	368	21	upper	upper	ADJ
alkej-283	368	22	boundary	boundary	NOUN
alkej-283	368	23	of	of	ADP
alkej-283	368	24	the	the	DET
alkej-283	368	25	parameter	parameter	NOUN
alkej-283	368	26	j1	j1	PROPN
alkej-283	368	27	.	.	PUNCT
alkej-283	369	1	fm1	fm1	PROPN
alkej-283	369	2	a	a	DET
alkej-283	369	3	population	population	NOUN
alkej-283	369	4	of	of	ADP
alkej-283	369	5	abc	abc	PROPN
alkej-283	369	6	produce	produce	VERB
alkej-283	369	7	randomly	randomly	ADV
alkej-283	369	8	.	.	PUNCT
alkej-283	370	1	[	[	X
alkej-283	370	2	�	�	X
alkej-283	370	3	the	the	DET
alkej-283	370	4	intensity	intensity	NOUN
alkej-283	370	5	at	at	ADP
alkej-283	370	6	the	the	DET
alkej-283	370	7	beginning	beginning	NOUN
alkej-283	370	8	.	.	PUNCT
alkej-283	371	1	hntj	hntj	VERB
alkej-283	371	2	the	the	DET
alkej-283	371	3	output	output	NOUN
alkej-283	371	4	of	of	ADP
alkej-283	371	5	the	the	DET
alkej-283	371	6	hidden	hide	VERB
alkej-283	371	7	layer	layer	NOUN
alkej-283	371	8	node	node	PROPN
alkej-283	371	9	j.	j.	PROPN
alkej-283	371	10	iccm	iccm	VERB
alkej-283	371	11	the	the	DET
alkej-283	371	12	instantaneous	instantaneous	ADJ
alkej-283	371	13	center	center	NOUN
alkej-283	371	14	of	of	ADP
alkej-283	371	15	curvature	curvature	NOUN
alkej-283	371	16	mobile	mobile	ADJ
alkej-283	371	17	robot	robot	NOUN
alkej-283	371	18	.	.	PUNCT
alkej-283	372	1	45\]d4	45\]d4	NUM
alkej-283	372	2	(	(	PUNCT
alkej-283	372	3	exm(l),exm(l-1),	exm(l),exm(l-1),	PROPN
alkej-283	372	4	…	…	SYM
alkej-283	372	5	vl	vl	X
alkej-283	372	6	(	(	PUNCT
alkej-283	372	7	l-1	l-1	NUM
alkej-283	372	8	)	)	PUNCT
alkej-283	372	9	)	)	PUNCT
alkej-283	372	10	.	.	PUNCT
alkej-283	373	1	l	l	NOUN
alkej-283	373	2	measure	measure	NOUN
alkej-283	373	3	of	of	ADP
alkej-283	373	4	the	the	DET
alkej-283	373	5	running	running	NOUN
alkej-283	373	6	step	step	NOUN
alkej-283	373	7	.	.	PUNCT
alkej-283	374	1	l1	l1	PROPN
alkej-283	374	2	the	the	DET
alkej-283	374	3	length	length	NOUN
alkej-283	374	4	between	between	ADP
alkej-283	374	5	each	each	DET
alkej-283	374	6	wheel	wheel	NOUN
alkej-283	374	7	and	and	CCONJ
alkej-283	374	8	the	the	DET
alkej-283	374	9	robot	robot	NOUN
alkej-283	374	10	axis	axis	NOUN
alkej-283	374	11	of	of	ADP
alkej-283	374	12	symmetry	symmetry	NOUN
alkej-283	374	13	in	in	ADP
alkej-283	374	14	yguidance(m	yguidance(m	PROPN
alkej-283	374	15	)	)	PUNCT
alkej-283	374	16	.	.	PUNCT
alkej-283	375	1	m	m	VERB
alkej-283	375	2	the	the	DET
alkej-283	375	3	number	number	NOUN
alkej-283	375	4	of	of	ADP
alkej-283	375	5	input	input	NOUN
alkej-283	375	6	of	of	ADP
alkej-283	375	7	neural	neural	ADJ
alkej-283	375	8	network	network	NOUN
alkej-283	375	9	.	.	PUNCT
alkej-283	376	1	m4	m4	VERB
alkej-283	376	2	the	the	DET
alkej-283	376	3	number	number	NOUN
alkej-283	376	4	of	of	ADP
alkej-283	376	5	input	input	NOUN
alkej-283	376	6	layer	layer	NOUN
alkej-283	376	7	nodes	node	NOUN
alkej-283	376	8	.	.	PUNCT
alkej-283	377	1	mr	mr	PROPN
alkej-283	377	2	the	the	DET
alkej-283	377	3	number	number	NOUN
alkej-283	377	4	of	of	ADP
alkej-283	377	5	hidden	hide	VERB
alkej-283	377	6	layer	layer	NOUN
alkej-283	377	7	nodes	node	NOUN
alkej-283	377	8	.	.	PUNCT
alkej-283	378	1	}	}	PUNCT
alkej-283	378	2	1	1	NUM
alkej-283	378	3	the	the	DET
alkej-283	378	4	randomization	randomization	NOUN
alkej-283	378	5	parameter	parameter	NOUN
alkej-283	378	6	.	.	PUNCT
alkej-283	379	1	g	g	NOUN
alkej-283	379	2	�	�	PROPN
alkej-283	379	3	=	=	SYM
alkej-283	379	4	the	the	DET
alkej-283	379	5	luminousness	luminousness	NOUN
alkej-283	379	6	at	at	ADP
alkej-283	379	7	rr=0	rr=0	PROPN
alkej-283	379	8	.	.	PUNCT
alkej-283	380	1	g	g	PROPN
alkej-283	380	2	�	�	PROPN
alkej-283	380	3	the	the	DET
alkej-283	380	4	luminousness	luminousness	NOUN
alkej-283	380	5	of	of	ADP
alkej-283	380	6	firefly	firefly	PROPN
alkej-283	380	7	.	.	PUNCT
alkej-283	381	1	�	�	PROPN
alkej-283	381	2	�	�	PROPN
alkej-283	381	3	the	the	DET
alkej-283	381	4	angular	angular	ADJ
alkej-283	381	5	left	leave	VERB
alkej-283	381	6	wheel	wheel	NOUN
alkej-283	381	7	speed	speed	NOUN
alkej-283	381	8	(	(	PUNCT
alkej-283	381	9	rad	rad	NOUN
alkej-283	381	10	/	/	SYM
alkej-283	381	11	second	second	ADJ
alkej-283	381	12	)	)	PUNCT
alkej-283	381	13	.	.	PUNCT
alkej-283	382	1	nizar	nizar	PROPN
alkej-283	382	2	hadi	hadi	PROPN
alkej-283	382	3	abbas	abbas	PROPN
alkej-283	382	4	al	al	PROPN
alkej-283	382	5	-	-	PUNCT
alkej-283	382	6	khwarizmi	khwarizmi	PROPN
alkej-283	382	7	engineering	engineering	NOUN
alkej-283	382	8	journal	journal	PROPN
alkej-283	382	9	,	,	PUNCT
alkej-283	382	10	vol	vol	NOUN
alkej-283	382	11	.	.	PROPN
alkej-283	382	12	12	12	NUM
alkej-283	382	13	,	,	PUNCT
alkej-283	382	14	no	no	INTJ
alkej-283	382	15	.	.	NOUN
alkej-283	382	16	1	1	NUM
alkej-283	382	17	,	,	PUNCT
alkej-283	382	18	p.p	p.p	PROPN
alkej-283	382	19	.	.	PROPN
alkej-283	382	20	4560	4560	NUM
alkej-283	382	21	(	(	PUNCT
alkej-283	382	22	2016	2016	NUM
alkej-283	382	23	)	)	PUNCT
alkej-283	382	24	58	58	NUM
alkej-283	382	25	�	�	PROPN
alkej-283	382	26	�	�	PROPN
alkej-283	382	27	�	�	PROPN
alkej-283	382	28	the	the	DET
alkej-283	382	29	angular	angular	ADJ
alkej-283	382	30	right	right	ADJ
alkej-283	382	31	wheel	wheel	NOUN
alkej-283	382	32	speed	speed	NOUN
alkej-283	382	33	(	(	PUNCT
alkej-283	382	34	rad	rad	NOUN
alkej-283	382	35	/	/	SYM
alkej-283	382	36	second	second	ADJ
alkej-283	382	37	)	)	PUNCT
alkej-283	382	38	.	.	PUNCT
alkej-283	383	1	e	e	X
alkej-283	383	2	the	the	DET
alkej-283	383	3	fixed	fix	VERB
alkej-283	383	4	flash	flash	NOUN
alkej-283	383	5	absorption	absorption	NOUN
alkej-283	383	6	coefficient	coefficient	NOUN
alkej-283	383	7	.	.	PUNCT
alkej-283	384	1	∆	∆	PROPN
alkej-283	385	1	the	the	DET
alkej-283	385	2	interval	interval	NOUN
alkej-283	385	3	between	between	ADP
alkej-283	385	4	two	two	NUM
alkej-283	385	5	sampling	sampling	NOUN
alkej-283	385	6	times	time	NOUN
alkej-283	385	7	.	.	PUNCT
alkej-283	386	1	ω	ω	NOUN
alkej-283	386	2	the	the	DET
alkej-283	386	3	rotational	rotational	ADJ
alkej-283	386	4	velocity	velocity	NOUN
alkej-283	386	5	of	of	ADP
alkej-283	386	6	the	the	DET
alkej-283	386	7	robot	robot	NOUN
alkej-283	386	8	(	(	PUNCT
alkej-283	386	9	rad	rad	NOUN
alkej-283	386	10	/	/	SYM
alkej-283	386	11	second	second	ADJ
alkej-283	386	12	)	)	PUNCT
alkej-283	386	13	.	.	PUNCT
alkej-283	387	1	∅	∅	NOUN
alkej-283	387	2	a	a	DET
alkej-283	387	3	random	random	ADJ
alkej-283	387	4	real	real	ADJ
alkej-283	387	5	number	number	NOUN
alkej-283	387	6	in	in	ADP
alkej-283	387	7	the	the	DET
alkej-283	387	8	interval	interval	NOUN
alkej-283	387	9	of	of	ADP
alkej-283	387	10	[	[	X
alkej-283	387	11	−1	−1	NOUN
alkej-283	387	12	,	,	PUNCT
alkej-283	387	13	1	1	NUM
alkej-283	387	14	]	]	PUNCT
alkej-283	387	15	.	.	PUNCT
alkej-283	388	1	ŗ	ŗ	NOUN
alkej-283	388	2	the	the	DET
alkej-283	388	3	rotation	rotation	NOUN
alkej-283	388	4	matrix	matrix	NOUN
alkej-283	388	5	.	.	PUNCT
alkej-283	389	1	7	7	X
alkej-283	389	2	.	.	NUM
alkej-283	389	3	references	reference	NOUN
alkej-283	389	4	[	[	X
alkej-283	389	5	1	1	NUM
alkej-283	389	6	]	]	X
alkej-283	389	7	g.	g.	PROPN
alkej-283	389	8	artus	artus	PROPN
alkej-283	389	9	,	,	PUNCT
alkej-283	389	10	p.	p.	PROPN
alkej-283	389	11	morin	morin	NOUN
alkej-283	389	12	,	,	PUNCT
alkej-283	389	13	and	and	CCONJ
alkej-283	389	14	c.	c.	PROPN
alkej-283	389	15	samson	samson	PROPN
alkej-283	389	16	,	,	PUNCT
alkej-283	389	17	tracking	tracking	NOUN
alkej-283	389	18	of	of	ADP
alkej-283	389	19	an	an	DET
alkej-283	389	20	omnidirectional	omnidirectional	ADJ
alkej-283	389	21	target	target	NOUN
alkej-283	389	22	with	with	ADP
alkej-283	389	23	a	a	DET
alkej-283	389	24	nonholonomic	nonholonomic	ADJ
alkej-283	389	25	mobile	mobile	ADJ
alkej-283	389	26	robot	robot	NOUN
alkej-283	389	27	,	,	PUNCT
alkej-283	389	28	in	in	ADP
alkej-283	389	29	proc	proc	NOUN
alkej-283	389	30	.	.	PUNCT
alkej-283	390	1	ieee	ieee	NOUN
alkej-283	390	2	conf	conf	NOUN
alkej-283	390	3	.	.	PUNCT
alkej-283	391	1	adv	adv	PROPN
alkej-283	391	2	.	.	PUNCT
alkej-283	391	3	robot	robot	PROPN
alkej-283	391	4	.	.	PUNCT
alkej-283	392	1	(	(	PUNCT
alkej-283	392	2	icar	icar	ADJ
alkej-283	392	3	)	)	PUNCT
alkej-283	392	4	,	,	PUNCT
alkej-283	392	5	2003	2003	NUM
alkej-283	392	6	,	,	PUNCT
alkej-283	392	7	pp	pp	ADJ
alkej-283	392	8	.	.	PUNCT
alkej-283	393	1	1468	1468	NUM
alkej-283	393	2	–	–	PUNCT
alkej-283	393	3	1473	1473	NUM
alkej-283	393	4	.	.	PUNCT
alkej-283	394	1	[	[	X
alkej-283	394	2	2	2	NUM
alkej-283	394	3	]	]	PUNCT
alkej-283	394	4	k.	k.	PROPN
alkej-283	394	5	seo	seo	PROPN
alkej-283	394	6	,	,	PUNCT
alkej-283	394	7	and	and	CCONJ
alkej-283	394	8	j.	j.	PROPN
alkej-283	394	9	s.	s.	PROPN
alkej-283	394	10	lee	lee	PROPN
alkej-283	394	11	,	,	PUNCT
alkej-283	394	12	kinematic	kinematic	ADJ
alkej-283	394	13	pathfollowing	pathfollowe	VERB
alkej-283	394	14	control	control	NOUN
alkej-283	394	15	of	of	ADP
alkej-283	394	16	mobile	mobile	ADJ
alkej-283	394	17	robot	robot	NOUN
alkej-283	394	18	under	under	ADP
alkej-283	394	19	bounded	bound	VERB
alkej-283	394	20	angular	angular	ADJ
alkej-283	394	21	velocity	velocity	NOUN
alkej-283	394	22	error	error	NOUN
alkej-283	394	23	,	,	PUNCT
alkej-283	394	24	advanced	advanced	ADJ
alkej-283	394	25	robotics	robotic	NOUN
alkej-283	394	26	vol	vol	NOUN
alkej-283	394	27	.	.	PROPN
alkej-283	395	1	20	20	NUM
alkej-283	395	2	,	,	PUNCT
alkej-283	395	3	no	no	INTJ
alkej-283	395	4	.	.	NOUN
alkej-283	395	5	1	1	NUM
alkej-283	395	6	,	,	PUNCT
alkej-283	395	7	pp	pp	ADJ
alkej-283	395	8	.	.	PUNCT
alkej-283	396	1	1	1	NUM
alkej-283	396	2	-	-	SYM
alkej-283	396	3	23	23	NUM
alkej-283	396	4	,	,	PUNCT
alkej-283	396	5	2006	2006	NUM
alkej-283	396	6	.	.	PUNCT
alkej-283	397	1	[	[	X
alkej-283	397	2	3	3	X
alkej-283	397	3	]	]	X
alkej-283	397	4	y.	y.	NOUN
alkej-283	397	5	kanayama	kanayama	PROPN
alkej-283	397	6	,	,	PUNCT
alkej-283	397	7	y.	y.	PROPN
alkej-283	397	8	kimura	kimura	PROPN
alkej-283	397	9	,	,	PUNCT
alkej-283	397	10	f.	f.	PROPN
alkej-283	397	11	miyazaki	miyazaki	PROPN
alkej-283	397	12	,	,	PUNCT
alkej-283	397	13	and	and	CCONJ
alkej-283	397	14	t.	t.	PROPN
alkej-283	397	15	noguchi	noguchi	PROPN
alkej-283	397	16	,	,	PUNCT
alkej-283	397	17	a	a	DET
alkej-283	397	18	stable	stable	ADJ
alkej-283	397	19	tracking	tracking	NOUN
alkej-283	397	20	control	control	NOUN
alkej-283	397	21	method	method	NOUN
alkej-283	397	22	for	for	ADP
alkej-283	397	23	an	an	DET
alkej-283	397	24	autonomous	autonomous	ADJ
alkej-283	397	25	mobile	mobile	ADJ
alkej-283	397	26	robot	robot	NOUN
alkej-283	397	27	,	,	PUNCT
alkej-283	397	28	in	in	ADP
alkej-283	397	29	proc	proc	NOUN
alkej-283	397	30	.	.	PUNCT
alkej-283	398	1	ieee	ieee	PROPN
alkej-283	398	2	int	int	PROPN
alkej-283	398	3	.	.	PUNCT
alkej-283	399	1	conf	conf	PROPN
alkej-283	399	2	.	.	PUNCT
alkej-283	400	1	robot	robot	NOUN
alkej-283	400	2	.	.	PUNCT
alkej-283	401	1	autom	autom	PROPN
alkej-283	401	2	.	.	PUNCT
alkej-283	402	1	cincinnati	cincinnati	PROPN
alkej-283	402	2	,	,	PUNCT
alkej-283	402	3	oh	oh	INTJ
alkej-283	402	4	,	,	PUNCT
alkej-283	402	5	vol	vol	NOUN
alkej-283	402	6	.	.	PROPN
alkej-283	402	7	1	1	NUM
alkej-283	402	8	,	,	PUNCT
alkej-283	402	9	pp.384	pp.384	NOUN
alkej-283	402	10	-	-	PUNCT
alkej-283	402	11	389	389	NUM
alkej-283	402	12	,	,	PUNCT
alkej-283	402	13	1990	1990	NUM
alkej-283	402	14	.	.	PUNCT
alkej-283	403	1	[	[	X
alkej-283	403	2	4	4	NUM
alkej-283	403	3	]	]	X
alkej-283	403	4	o.	o.	NOUN
alkej-283	403	5	mohareri	mohareri	PROPN
alkej-283	403	6	,	,	PUNCT
alkej-283	403	7	r.	r.	PROPN
alkej-283	403	8	dhaouadi	dhaouadi	PROPN
alkej-283	403	9	,	,	PUNCT
alkej-283	403	10	and	and	CCONJ
alkej-283	403	11	a.	a.	PROPN
alkej-283	403	12	b.	b.	PROPN
alkej-283	403	13	rad	rad	PROPN
alkej-283	403	14	,	,	PUNCT
alkej-283	403	15	indirect	indirect	ADJ
alkej-283	403	16	adaptive	adaptive	ADJ
alkej-283	403	17	tracking	tracking	NOUN
alkej-283	403	18	control	control	NOUN
alkej-283	403	19	of	of	ADP
alkej-283	403	20	a	a	DET
alkej-283	403	21	nonholonomic	nonholonomic	ADJ
alkej-283	403	22	mobile	mobile	ADJ
alkej-283	403	23	robot	robot	NOUN
alkej-283	403	24	via	via	ADP
alkej-283	403	25	neural	neural	ADJ
alkej-283	403	26	networks	network	NOUN
alkej-283	403	27	,	,	PUNCT
alkej-283	403	28	neurocomputing	neurocomputing	NOUN
alkej-283	403	29	,	,	PUNCT
alkej-283	403	30	vol	vol	NOUN
alkej-283	403	31	.	.	PROPN
alkej-283	403	32	88	88	NUM
alkej-283	403	33	,	,	PUNCT
alkej-283	403	34	pp	pp	ADJ
alkej-283	403	35	.	.	PUNCT
alkej-283	404	1	54	54	NUM
alkej-283	404	2	–	–	PUNCT
alkej-283	404	3	66	66	NUM
alkej-283	404	4	,	,	PUNCT
alkej-283	404	5	2012	2012	NUM
alkej-283	404	6	.	.	PUNCT
alkej-283	405	1	[	[	X
alkej-283	405	2	5	5	NUM
alkej-283	405	3	]	]	PUNCT
alkej-283	405	4	i.	i.	PROPN
alkej-283	405	5	kav	kav	PROPN
alkej-283	405	6	,	,	PUNCT
alkej-283	405	7	intelligent	intelligent	ADJ
alkej-283	405	8	control	control	NOUN
alkej-283	405	9	schemes	scheme	NOUN
alkej-283	405	10	for	for	ADP
alkej-283	405	11	nonlinear	nonlinear	ADJ
alkej-283	405	12	system	system	NOUN
alkej-283	405	13	,	,	PUNCT
alkej-283	405	14	ph.d	ph.d	PROPN
alkej-283	405	15	thesis	thesis	NOUN
alkej-283	405	16	,	,	PUNCT
alkej-283	405	17	indian	indian	PROPN
alkej-283	405	18	institute	institute	PROPN
alkej-283	405	19	of	of	ADP
alkej-283	405	20	technology	technology	PROPN
alkej-283	405	21	,	,	PUNCT
alkej-283	405	22	kanpur	kanpur	PROPN
alkej-283	405	23	,	,	PUNCT
alkej-283	405	24	india	india	PROPN
alkej-283	405	25	,	,	PUNCT
alkej-283	405	26	2008	2008	NUM
alkej-283	405	27	.	.	PUNCT
alkej-283	406	1	[	[	X
alkej-283	406	2	6	6	NUM
alkej-283	406	3	]	]	PUNCT
alkej-283	406	4	g.	g.	PROPN
alkej-283	406	5	wang	wang	PROPN
alkej-283	406	6	and	and	CCONJ
alkej-283	406	7	l.	l.	PROPN
alkej-283	406	8	guo	guo	PROPN
alkej-283	406	9	,	,	PUNCT
alkej-283	406	10	a	a	DET
alkej-283	406	11	novel	novel	ADJ
alkej-283	406	12	hybrid	hybrid	ADJ
alkej-283	406	13	bat	bat	NOUN
alkej-283	406	14	algorithm	algorithm	NOUN
alkej-283	406	15	with	with	ADP
alkej-283	406	16	harmony	harmony	NOUN
alkej-283	406	17	search	search	NOUN
alkej-283	406	18	for	for	ADP
alkej-283	406	19	global	global	ADJ
alkej-283	406	20	numerical	numerical	PROPN
alkej-283	406	21	optimization	optimization	PROPN
alkej-283	406	22	,	,	PUNCT
alkej-283	406	23	journal	journal	NOUN
alkej-283	406	24	of	of	ADP
alkej-283	406	25	applied	apply	VERB
alkej-283	406	26	mathematics	mathematic	NOUN
alkej-283	406	27	,	,	PUNCT
alkej-283	406	28	vol	vol	NOUN
alkej-283	406	29	.	.	PROPN
alkej-283	406	30	2013	2013	NUM
alkej-283	406	31	,	,	PUNCT
alkej-283	406	32	21	21	NUM
alkej-283	406	33	pages	page	NOUN
alkej-283	406	34	,	,	PUNCT
alkej-283	406	35	2013	2013	NUM
alkej-283	406	36	.	.	PUNCT
alkej-283	407	1	[	[	X
alkej-283	407	2	7	7	X
alkej-283	407	3	]	]	PUNCT
alkej-283	407	4	x.	x.	NOUN
alkej-283	407	5	li	li	PROPN
alkej-283	407	6	and	and	CCONJ
alkej-283	407	7	m.	m.	PROPN
alkej-283	407	8	yin	yin	PROPN
alkej-283	407	9	,	,	PUNCT
alkej-283	407	10	an	an	DET
alkej-283	407	11	opposition	opposition	NOUN
alkej-283	407	12	-	-	PUNCT
alkej-283	407	13	based	base	VERB
alkej-283	407	14	differential	differential	ADJ
alkej-283	407	15	evolution	evolution	NOUN
alkej-283	407	16	algorithm	algorithm	NOUN
alkej-283	407	17	for	for	ADP
alkej-283	407	18	permutation	permutation	NOUN
alkej-283	407	19	flow	flow	NOUN
alkej-283	407	20	shop	shop	NOUN
alkej-283	407	21	scheduling	scheduling	NOUN
alkej-283	407	22	based	base	VERB
alkej-283	407	23	on	on	ADP
alkej-283	407	24	diversity	diversity	NOUN
alkej-283	407	25	measure	measure	NOUN
alkej-283	407	26	,	,	PUNCT
alkej-283	407	27	advances	advance	NOUN
alkej-283	407	28	in	in	ADP
alkej-283	407	29	engineering	engineering	NOUN
alkej-283	407	30	software	software	NOUN
alkej-283	407	31	,	,	PUNCT
alkej-283	407	32	vol	vol	NOUN
alkej-283	407	33	.	.	PROPN
alkej-283	407	34	55	55	NUM
alkej-283	407	35	,	,	PUNCT
alkej-283	407	36	pp	pp	ADJ
alkej-283	407	37	.	.	PUNCT
alkej-283	408	1	10–31	10–31	NUM
alkej-283	408	2	,	,	PUNCT
alkej-283	408	3	2013	2013	NUM
alkej-283	408	4	.	.	PUNCT
alkej-283	409	1	[	[	X
alkej-283	409	2	8	8	NUM
alkej-283	409	3	]	]	PUNCT
alkej-283	409	4	x.-s	x.-s	PROPN
alkej-283	409	5	.	.	PUNCT
alkej-283	409	6	yang	yang	PROPN
alkej-283	409	7	,	,	PUNCT
alkej-283	409	8	z.	z.	PROPN
alkej-283	409	9	cui	cui	PROPN
alkej-283	409	10	,	,	PUNCT
alkej-283	409	11	r.	r.	PROPN
alkej-283	409	12	xiao	xiao	PROPN
alkej-283	409	13	,	,	PUNCT
alkej-283	409	14	a.	a.	PROPN
alkej-283	409	15	h.	h.	PROPN
alkej-283	409	16	gandomi	gandomi	PROPN
alkej-283	409	17	,	,	PUNCT
alkej-283	409	18	and	and	CCONJ
alkej-283	409	19	m.	m.	NOUN
alkej-283	409	20	karamanoglu	karamanoglu	PROPN
alkej-283	409	21	,	,	PUNCT
alkej-283	409	22	swarm	swarm	NOUN
alkej-283	409	23	intelligence	intelligence	NOUN
alkej-283	409	24	and	and	CCONJ
alkej-283	409	25	bio	bio	ADJ
alkej-283	409	26	-	-	PUNCT
alkej-283	409	27	inspired	inspire	VERB
alkej-283	409	28	computation	computation	NOUN
alkej-283	409	29	,	,	PUNCT
alkej-283	409	30	elsevier	elsevier	PROPN
alkej-283	409	31	,	,	PUNCT
alkej-283	409	32	waltham	waltham	PROPN
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alkej-283	409	34	mass	mass	PROPN
alkej-283	409	35	,	,	PUNCT
alkej-283	409	36	usa	usa	PROPN
alkej-283	409	37	,	,	PUNCT
alkej-283	409	38	2013	2013	NUM
alkej-283	409	39	.	.	PUNCT
alkej-283	410	1	[	[	X
alkej-283	410	2	9	9	NUM
alkej-283	410	3	]	]	PUNCT
alkej-283	410	4	a.	a.	NOUN
alkej-283	410	5	al	al	PROPN
alkej-283	410	6	-	-	PUNCT
alkej-283	410	7	araji	araji	NOUN
alkej-283	410	8	,	,	PUNCT
alkej-283	410	9	design	design	NOUN
alkej-283	410	10	of	of	ADP
alkej-283	410	11	a	a	DET
alkej-283	410	12	cognitive	cognitive	ADJ
alkej-283	410	13	neural	neural	ADJ
alkej-283	410	14	predictive	predictive	ADJ
alkej-283	410	15	controller	controller	NOUN
alkej-283	410	16	for	for	ADP
alkej-283	410	17	mobile	mobile	NOUN
alkej-283	410	18	robot	robot	NOUN
alkej-283	410	19	,	,	PUNCT
alkej-283	410	20	brunel	brunel	PROPN
alkej-283	410	21	university	university	PROPN
alkej-283	410	22	,	,	PUNCT
alkej-283	410	23	united	united	ADJ
alkej-283	410	24	kingdom	kingdom	PROPN
alkej-283	410	25	,	,	PUNCT
alkej-283	410	26	2012	2012	NUM
alkej-283	410	27	.	.	PUNCT
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alkej-283	411	2	10	10	NUM
alkej-283	411	3	]	]	X
alkej-283	411	4	j.	j.	PROPN
alkej-283	411	5	ye	ye	PROPN
alkej-283	411	6	,	,	PUNCT
alkej-283	411	7	adaptive	adaptive	ADJ
alkej-283	411	8	control	control	NOUN
alkej-283	411	9	of	of	ADP
alkej-283	411	10	nonlinear	nonlinear	ADJ
alkej-283	411	11	pidbased	pidbase	VERB
alkej-283	411	12	analogue	analogue	NOUN
alkej-283	411	13	neural	neural	ADJ
alkej-283	411	14	network	network	NOUN
alkej-283	411	15	for	for	ADP
alkej-283	411	16	a	a	DET
alkej-283	411	17	nonholonomic	nonholonomic	ADJ
alkej-283	411	18	mobile	mobile	ADJ
alkej-283	411	19	robot	robot	NOUN
alkej-283	411	20	,	,	PUNCT
alkej-283	411	21	neurocompting	neurocompte	VERB
alkej-283	411	22	,	,	PUNCT
alkej-283	411	23	vol	vol	NOUN
alkej-283	411	24	.	.	PROPN
alkej-283	411	25	71	71	NUM
alkej-283	411	26	,	,	PUNCT
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alkej-283	411	28	.	.	PUNCT
alkej-283	412	1	1561	1561	NUM
alkej-283	412	2	-	-	SYM
alkej-283	412	3	1565	1565	NUM
alkej-283	412	4	,	,	PUNCT
alkej-283	412	5	2008	2008	NUM
alkej-283	412	6	.	.	PUNCT
alkej-283	413	1	[	[	X
alkej-283	413	2	11	11	NUM
alkej-283	413	3	]	]	PUNCT
alkej-283	413	4	a.	a.	PROPN
alkej-283	413	5	al	al	PROPN
alkej-283	413	6	-	-	PUNCT
alkej-283	413	7	araji	araji	NOUN
alkej-283	413	8	,	,	PUNCT
alkej-283	413	9	a	a	DET
alkej-283	413	10	comparative	comparative	ADJ
alkej-283	413	11	study	study	NOUN
alkej-283	413	12	of	of	ADP
alkej-283	413	13	various	various	ADJ
alkej-283	413	14	intelligent	intelligent	ADJ
alkej-283	413	15	algorithms	algorithm	NOUN
alkej-283	413	16	based	base	VERB
alkej-283	413	17	nonlinear	nonlinear	PROPN
alkej-283	413	18	pid	pid	PROPN
alkej-283	413	19	neural	neural	ADJ
alkej-283	413	20	trajectory	trajectory	NOUN
alkej-283	413	21	tracking	track	VERB
alkej-283	413	22	controller	controller	NOUN
alkej-283	413	23	for	for	ADP
alkej-283	413	24	the	the	DET
alkej-283	413	25	differential	differential	ADJ
alkej-283	413	26	wheeled	wheel	VERB
alkej-283	413	27	mobile	mobile	PROPN
alkej-283	413	28	robot	robot	NOUN
alkej-283	413	29	model	model	NOUN
alkej-283	413	30	,	,	PUNCT
alkej-283	413	31	journal	journal	NOUN
alkej-283	413	32	of	of	ADP
alkej-283	413	33	engineering	engineering	NOUN
alkej-283	413	34	,	,	PUNCT
alkej-283	413	35	vol	vol	NOUN
alkej-283	413	36	.	.	PROPN
alkej-283	413	37	20	20	NUM
alkej-283	413	38	,	,	PUNCT
alkej-283	413	39	may	may	AUX
alkej-283	413	40	2014	2014	NUM
alkej-283	413	41	.	.	PUNCT
alkej-283	414	1	[	[	X
alkej-283	414	2	12	12	NUM
alkej-283	414	3	]	]	PUNCT
alkej-283	414	4	z.	z.	PROPN
alkej-283	414	5	yousif	yousif	PROPN
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alkej-283	414	7	j.	j.	PROPN
alkej-283	414	8	hedley	hedley	PROPN
alkej-283	414	9	,	,	PUNCT
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alkej-283	414	18	neural	neural	ADJ
alkej-283	414	19	kinematic	kinematic	ADJ
alkej-283	414	20	controller	controller	NOUN
alkej-283	414	21	for	for	ADP
alkej-283	414	22	a	a	DET
alkej-283	414	23	national	national	ADJ
alkej-283	414	24	instrument	instrument	PROPN
alkej-283	414	25	mobile	mobile	PROPN
alkej-283	414	26	robot	robot	NOUN
alkej-283	414	27	system	system	NOUN
alkej-283	414	28	,	,	PUNCT
alkej-283	414	29	ieee	ieee	PROPN
alkej-283	414	30	international	international	ADJ
alkej-283	414	31	conference	conference	NOUN
alkej-283	414	32	on	on	ADP
alkej-283	414	33	control	control	NOUN
alkej-283	414	34	system	system	NOUN
alkej-283	414	35	,	,	PUNCT
alkej-283	414	36	computing	computing	NOUN
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alkej-283	414	39	,	,	PUNCT
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alkej-283	414	41	25	25	NUM
alkej-283	414	42	nov	nov	PROPN
alkej-283	414	43	.	.	PROPN
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alkej-283	414	45	,	,	PUNCT
alkej-283	414	46	penang	penang	PROPN
alkej-283	414	47	,	,	PUNCT
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alkej-283	414	49	.	.	PUNCT
alkej-283	415	1	[	[	X
alkej-283	415	2	13	13	NUM
alkej-283	415	3	]	]	PUNCT
alkej-283	415	4	r.	r.	PROPN
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alkej-283	415	8	f.	f.	PROPN
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alkej-283	415	11	,	,	PUNCT
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alkej-283	415	13	of	of	ADP
alkej-283	415	14	a	a	DET
alkej-283	415	15	nonholonomic	nonholonomic	ADJ
alkej-283	415	16	mobile	mobile	ADJ
alkej-283	415	17	robot	robot	NOUN
alkej-283	415	18	using	use	VERB
alkej-283	415	19	neural	neural	ADJ
alkej-283	415	20	networks	network	NOUN
alkej-283	415	21	,	,	PUNCT
alkej-283	415	22	ieee	ieee	NOUN
alkej-283	415	23	trans	trans	PROPN
alkej-283	415	24	.	.	PUNCT
alkej-283	416	1	neural	neural	ADJ
alkej-283	416	2	networks	network	NOUN
alkej-283	416	3	,	,	PUNCT
alkej-283	416	4	pp	pp	ADJ
alkej-283	416	5	.	.	PUNCT
alkej-283	417	1	589	589	NUM
alkej-283	417	2	-	-	SYM
alkej-283	417	3	600	600	NUM
alkej-283	417	4	,	,	PUNCT
alkej-283	417	5	1998	1998	NUM
alkej-283	417	6	.	.	PUNCT
alkej-283	418	1	[	[	X
alkej-283	418	2	14	14	NUM
alkej-283	418	3	]	]	X
alkej-283	418	4	f.	f.	PROPN
alkej-283	418	5	l.	l.	PROPN
alkej-283	418	6	lewis	lewis	PROPN
alkej-283	418	7	,	,	PUNCT
alkej-283	418	8	k.	k.	PROPN
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alkej-283	418	10	,	,	PUNCT
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alkej-283	418	12	a.	a.	NOUN
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alkej-283	418	14	,	,	PUNCT
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alkej-283	418	16	net	net	ADJ
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alkej-283	418	18	controller	controller	NOUN
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alkej-283	418	22	performance	performance	NOUN
alkej-283	418	23	,	,	PUNCT
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alkej-283	418	25	transaction	transaction	NOUN
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alkej-283	418	27	neural	neural	ADJ
alkej-283	418	28	networks	network	NOUN
alkej-283	418	29	,	,	PUNCT
alkej-283	418	30	vol	vol	NOUN
alkej-283	418	31	.	.	PROPN
alkej-283	418	32	6	6	NUM
alkej-283	418	33	,	,	PUNCT
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alkej-283	418	36	3	3	NUM
alkej-283	418	37	,	,	PUNCT
alkej-283	418	38	pp	pp	ADJ
alkej-283	418	39	.	.	PUNCT
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alkej-283	419	2	-	-	SYM
alkej-283	419	3	715	715	NUM
alkej-283	419	4	,	,	PUNCT
alkej-283	419	5	1995	1995	NUM
alkej-283	419	6	.	.	PUNCT
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alkej-283	420	2	15	15	NUM
alkej-283	420	3	]	]	PUNCT
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alkej-283	420	17	o.	o.	PROPN
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alkej-283	420	19	-	-	PUNCT
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alkej-283	421	1	lncs	lncs	PROPN
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alkej-283	421	13	2009	2009	NUM
alkej-283	421	14	.	.	PUNCT
alkej-283	422	1	[	[	X
alkej-283	422	2	16	16	NUM
alkej-283	422	3	]	]	PUNCT
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alkej-283	422	32	:	:	PUNCT
alkej-283	422	33	a	a	DET
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alkej-283	422	43	,	,	PUNCT
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alkej-283	422	45	.	.	PROPN
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alkej-283	422	47	,	,	PUNCT
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alkej-283	422	53	-	-	SYM
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alkej-283	423	1	[	[	X
alkej-283	423	2	17	17	NUM
alkej-283	423	3	]	]	PUNCT
alkej-283	423	4	m.	m.	PROPN
alkej-283	423	5	h.	h.	PROPN
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alkej-283	423	7	,	,	PUNCT
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alkej-283	423	9	m.	m.	PROPN
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alkej-283	423	14	colony	colony	NOUN
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alkej-283	423	27	fifth	fifth	ADJ
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alkej-283	423	29	conference	conference	NOUN
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alkej-283	423	31	soft	soft	ADJ
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alkej-283	423	42	,	,	PUNCT
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alkej-283	423	44	and	and	CCONJ
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alkej-283	423	46	(	(	PUNCT
alkej-283	423	47	icsccw	icsccw	PROPN
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alkej-283	423	61	,	,	PUNCT
alkej-283	423	62	2	2	NUM
alkej-283	423	63	-	-	SYM
alkej-283	423	64	4	4	NUM
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alkej-283	423	66	.	.	PROPN
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alkej-283	423	68	.	.	PUNCT
alkej-283	424	1	[	[	X
alkej-283	424	2	18	18	NUM
alkej-283	424	3	]	]	X
alkej-283	424	4	w.	w.	PROPN
alkej-283	424	5	xiang	xiang	PROPN
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alkej-283	424	7	s.	s.	PROPN
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alkej-283	424	16	bee	bee	NOUN
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alkej-283	429	130	ت	ت	PRON
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alkej-283	430	26	�	�	PROPN
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alkej-283	430	29	�	�	PROPN
alkej-283	430	30	�	�	PROPN
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alkej-283	432	1	*	*	PUNCT
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alkej-283	432	10	�	�	PROPN
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alkej-283	432	12	ا	ا	X
alkej-283	432	13	�	�	PROPN
alkej-283	432	14	�	�	PROPN
alkej-283	432	15	0/	0/	NUM
alkej-283	432	16	eng.basmaj@gmail.com	eng.basmaj@gmail.com	NOUN
alkej-283	432	17	:	:	PUNCT
alkej-283	432	18	ا	ا	X
alkej-283	432	19	�	�	PROPN
alkej-283	432	20	�	�	NOUN
alkej-283	432	21	0/	0/	NUM
alkej-283	432	22	�	�	PROPN
alkej-283	432	23	ا.	ا.	PROPN
alkej-283	432	24	�	�	PROPN
alkej-283	432	25	�	�	PROPN
alkej-283	432	26	-	-	PUNCT
alkej-283	432	27	�	�	NOUN
alkej-283	432	28	و+	و+	X
alkej-283	432	29	*	*	NOUN
alkej-283	432	30	*	*	PUNCT
alkej-283	432	31	*	*	PUNCT
alkej-283	432	32	ا	ا	X
alkej-283	432	33	�	�	NOUN
alkej-283	432	34	�	�	SYM
alkej-283	432	35	$	$	SYM
alkej-283	432	36	�	�	PROPN
alkej-283	432	37	&	&	CCONJ
alkej-283	432	38	!	!	PUNCT
alkej-283	432	39	�	�	PROPN
alkej-283	432	40	:	:	PUNCT
alkej-283	432	41	�	�	PROPN
alkej-283	432	42	e	e	NOUN
alkej-283	432	43	�	�	PROPN
alkej-283	432	44	'f-	'f-	PRON
alkej-283	432	45	�	�	PROPN
alkej-283	432	46	*	*	PUNCT
alkej-283	432	47	08	08	NUM
alkej-283	432	48	>	>	PUNCT
alkej-283	432	49	*	*	PUNCT
alkej-283	432	50	$	$	SYM
alkej-283	432	51	�	�	X
alkej-283	432	52	g	g	NOUN
alkej-283	432	53	*	*	PUNCT
alkej-283	432	54	#	#	PROPN
alkej-283	432	55	&	&	CCONJ
alkej-283	432	56	�	�	PROPN
alkej-283	432	57	�	�	PROPN
alkej-283	432	58	9	9	NUM
alkej-283	432	59	ا	ا	PRON
alkej-283	432	60	>	>	X
alkej-283	432	61	�	�	PROPN
alkej-283	432	62	*	*	PUNCT
alkej-283	432	63	ا	ا	PROPN
alkej-283	432	64	�	�	PROPN
alkej-283	432	65	7-	7-	NOUN
alkej-283	432	66	�	�	NOUN
alkej-283	432	67	6ك	6ك	NUM
alkej-283	432	68	ا	ا	PRON
alkej-283	432	69	�	�	PROPN
alkej-283	432	70	07	07	NUM
alkej-283	432	71	�	�	PROPN
alkej-283	432	72	c	c	NOUN
alkej-283	432	73	#	#	SYM
alkej-283	432	74	>	>	X
alkej-283	432	75	*	*	PUNCT
alkej-283	432	76	أ	أ	PROPN
alkej-283	432	77	�	�	PROPN
alkej-283	432	78	�	�	NOUN
alkej-283	432	79	س	س	SYM
alkej-283	432	80	�	�	PROPN
alkej-283	432	81	--0@	--0@	PROPN
alkej-283	432	82	&	&	CCONJ
alkej-283	432	83	!	!	PUNCT
alkej-283	432	84	�	�	PROPN
alkej-283	432	85	ر	ر	PART
alkej-283	432	86	<	<	X
alkej-283	432	87	=	=	NOUN
alkej-283	432	88	#	#	SYM
alkej-283	432	89	�	�	PROPN
alkej-283	432	90	ا>+!	ا>+!	PROPN
alkej-283	432	91	�	�	PROPN
alkej-283	432	92	ن	ن	NOUN
alkej-283	432	93	ا	ا	PROPN
alkej-283	432	94	&	&	CCONJ
alkej-283	432	95	!	!	PUNCT
alkej-283	432	96	�	�	PROPN
alkej-283	432	97	:	:	PUNCT
alkej-283	432	98	�	�	PROPN
alkej-283	432	99	�	�	PROPN
alkej-283	432	100	7	7	NUM
alkej-283	432	101	�	�	PROPN
alkej-283	432	102	789	789	NUM
alkej-283	432	103	،	،	NOUN
alkej-283	432	104	ا	ا	SYM
alkej-283	432	105	�	�	PROPN
alkej-283	432	106	560	560	NUM
alkej-283	432	107	/4	/4	NOUN
alkej-283	432	108	�	�	PROPN
alkej-283	432	109	م	م	NOUN
alkej-283	432	110	ھ1ا	ھ1ا	PUNCT
alkej-283	432	111	ا	ا	VERB
alkej-283	432	112	�	�	PROPN
alkej-283	432	113	(	(	PUNCT
alkej-283	432	114	�	�	PROPN
alkej-283	432	115	/	/	SYM
alkej-283	432	116	�	�	PROPN
alkej-283	432	117	&	&	CCONJ
alkej-283	432	118	l	l	PROPN
alkej-283	432	119	ا	ا	X
alkej-283	432	120	�	�	PROPN
alkej-283	432	121	7	7	NUM
alkej-283	432	122	!	!	PUNCT
alkej-283	432	123	�	�	PROPN
alkej-283	432	124	:	:	PUNCT
alkej-283	432	125	�	�	PROPN
alkej-283	432	126	ھ	ھ	ADP
alkej-283	432	127	*	*	PROPN
alkej-283	432	128	o/	o/	PROPN
alkej-283	432	129	�	�	PROPN
alkej-283	432	130	49	49	NUM
alkej-283	432	131	ا	ا	SYM
alkej-283	432	132	�	�	PROPN
alkej-283	432	133	!	!	PUNCT
alkej-283	432	134	�	�	PROPN
alkej-283	432	135	<	<	X
alkej-283	432	136	�	�	PROPN
alkej-283	432	137	ا	ا	SYM
alkej-283	432	138	�	�	PROPN
alkej-283	432	139	n	n	CCONJ
alkej-283	432	140	�	�	PROPN
alkej-283	432	141	�	�	PROPN
alkej-283	432	142	�	�	PROPN
alkej-283	432	143	4	4	NUM
alkej-283	432	144	�	�	PROPN
alkej-283	432	145	46+!	46+!	NUM
alkej-283	432	146	�	�	PROPN
alkej-283	432	147	ن	ن	X
alkej-283	432	148	ا	ا	X
alkej-283	432	149	>	>	X
alkej-283	432	150	�	�	PROPN
alkej-283	432	151	*	*	PROPN
alkej-283	432	152	ا"	ا"	PROPN
alkej-283	432	153	�	�	PROPN
alkej-283	432	154	ب	ب	PROPN
alkej-283	432	155	&	&	CCONJ
alkej-283	432	156	�	�	PROPN
alkej-283	432	157	،	،	PROPN
alkej-283	432	158	national	national	PROPN
alkej-283	432	159	instrumentا	instrumentا	PROPN
alkej-283	432	160	�	�	PROPN
alkej-283	432	161	87	87	NUM
alkej-283	432	162	�	�	PROPN
alkej-283	432	163	�	�	PROPN
alkej-283	432	164	j	j	PROPN
alkej-283	432	165	k0	k0	PROPN
alkej-283	432	166	"	"	PUNCT
alkej-283	432	167	l	l	PROPN
alkej-283	432	168	&	&	CCONJ
alkej-283	432	169	@$	@$	PROPN
alkej-283	432	170	�	�	PROPN
alkej-283	432	171	ا	ا	SYM
alkej-283	432	172	�	�	PROPN
alkej-283	432	173	�	�	NOUN
alkej-283	432	174	و	و	PRON
alkej-283	432	175	�	�	PROPN
alkej-283	432	176	fت	fت	ADJ
alkej-283	432	177	ا	ا	PROPN
alkej-283	432	178	�	�	PROPN
alkej-283	432	179	f767ل	f767ل	PROPN
alkej-283	432	180	�	�	PROPN
alkej-283	432	181	�	�	PROPN
alkej-283	432	182	�	�	PROPN
alkej-283	432	183	f#:7ا	f#:7ا	NOUN
alkej-283	432	184	�	�	PROPN
alkej-283	432	185	!	!	PUNCT
alkej-283	432	186	�	�	PROPN
alkej-283	432	187	<	<	X
alkej-283	432	188	�	�	PROPN
alkej-283	432	189	ا	ا	SYM
alkej-283	432	190	�	�	PROPN
alkej-283	432	191	l	l	PROPN
alkej-283	432	192	&	&	CCONJ
alkej-283	432	193	نf	نf	PROPN
alkej-283	432	194	�	�	PROPN
alkej-283	432	195	/	/	SYM
alkej-283	432	196	�	�	PROPN
alkej-283	432	197	p8ا	p8ا	NOUN
alkej-283	432	198	�	�	PROPN
alkej-283	432	199	cا"	cا"	NOUN
alkej-283	432	200	�	�	PROPN
alkej-283	432	201	ب	ب	SYM
alkej-283	432	202	ا	ا	PRON
alkej-283	432	203	�	�	PROPN
alkej-283	432	204	�	�	PROPN
alkej-283	432	205	:	:	PUNCT
alkej-283	432	206	qل	qل	PROPN
alkej-283	432	207	ا	ا	PROPN
alkej-283	432	208	�	�	PROPN
alkej-283	432	209	�	�	PROPN
alkej-283	432	210	4	4	NUM
alkej-283	432	211	�	�	NOUN
alkej-283	432	212	ار	ار	NOUN
alkej-283	432	213	&	&	CCONJ
alkej-283	432	214	%	%	PROPN
alkej-283	432	215	&	&	CCONJ
alkej-283	432	216	k%=	k%=	PROPN
alkej-283	432	217	.l	.l	PROPN
alkej-283	432	218	�	�	PROPN
alkej-283	432	219	-40ط	-40ط	PROPN
alkej-283	432	220	l	l	PROPN
alkej-283	432	221	&	&	CCONJ
alkej-283	432	222	نf	نf	PROPN
alkej-283	432	223	�	�	PROPN
alkej-283	432	224	-/	-/	PROPN
alkej-283	432	225	560ھ1ا	560ھ1ا	NUM
alkej-283	432	226	ا	ا	SYM
alkej-283	432	227	�	�	PROPN
alkej-283	432	228	*	*	SYM
alkej-283	432	229	s	s	PART
alkej-283	432	230	ھ	ھ	PROPN
alkej-283	432	231	*	*	PUNCT
alkej-283	432	232	:	:	PUNCT
alkej-283	432	233	ا	ا	X
alkej-283	432	234	�	�	PROPN
alkej-283	432	235	7	7	NUM
alkej-283	432	236	!	!	PUNCT
alkej-283	432	237	�	�	PROPN
alkej-283	432	238	:	:	PUNCT
alkej-283	432	239	�	�	PROPN
alkej-283	432	240	ا	ا	SYM
alkej-283	432	241	�	�	PROPN
alkej-283	432	242	47-	47-	SYM
alkej-283	432	243	�	�	PROPN
alkej-283	432	244	ح	ح	NUM
alkej-283	432	245	cا	cا	PROPN
alkej-283	432	246	�	�	NOUN
alkej-283	432	247	:	:	SYM
alkej-283	432	248	�	�	PROPN
alkej-283	432	249	40	40	NUM
alkej-283	432	250	ا	ا	NUM
alkej-283	432	251	.	.	PUNCT
alkej-283	433	1	و	و	PRON
alkej-283	433	2	�	�	PROPN
alkej-283	433	3	�	�	PROPN
alkej-283	433	4	د	د	PROPN
alkej-283	433	5	ا	ا	PROPN
alkej-283	433	6	�	�	PROPN
alkej-283	433	7	:	:	PUNCT
alkej-283	433	8	�	�	PROPN
alkej-283	433	9	40ت	40ت	PROPN
alkej-283	433	10	�	�	PROPN
alkej-283	433	11	--0@	--0@	PROPN
alkej-283	433	12	ا	ا	SYM
alkej-283	433	13	�	�	PROPN
alkej-283	433	14	7!	7!	NOUN
alkej-283	433	15	�	�	NOUN
alkej-283	433	16	ر	ر	NOUN
alkej-283	433	17	ا	ا	SYM
alkej-283	433	18	�	�	NOUN
alkej-283	433	19	f#:7ب	f#:7ب	NOUN
alkej-283	433	20	و	و	PRON
alkej-283	433	21	ا	ا	SYM
alkej-283	433	22	�	�	PROPN
alkej-283	433	23	:	:	PUNCT
alkej-283	433	24	�	�	PROPN
alkej-283	433	25	40	40	NUM
alkej-283	433	26	ا	ا	SYM
alkej-283	433	27	�	�	PROPN
alkej-283	433	28	�	�	PROPN
alkej-283	433	29	x+	x+	PROPN
alkej-283	433	30	�	�	PROPN
alkej-283	433	31	�	�	PROPN
alkej-283	433	32	ھ	ھ	ADP
alkej-283	433	33	*	*	PUNCT
alkej-283	433	34	ط	ط	PROPN
alkej-283	433	35	�	�	PROPN
alkej-283	433	36	40	40	NUM
alkej-283	433	37	ا	ا	SYM
alkej-283	433	38	�	�	PROPN
alkej-283	433	39	fqارز	fqارز	PROPN
alkej-283	433	40	&	&	CCONJ
alkej-283	433	41	�	�	PROPN
alkej-283	433	42	�	�	PROPN
alkej-283	433	43	ا.&x	ا.&x	NOUN
alkej-283	433	44	#	#	NOUN
alkej-283	433	45	�	�	PROPN
alkej-283	433	46	�	�	PROPN
alkej-283	433	47	وا	وا	NOUN
alkej-283	433	48	�	�	PROPN
alkej-283	433	49	-	-	PUNCT
alkej-283	433	50	*	*	PROPN
alkej-283	433	51	fv	fv	PROPN
alkej-283	433	52	k7w9ارز	k7w9ارز	PROPN
alkej-283	433	53	&	&	CCONJ
alkej-283	433	54	�	�	PROPN
alkej-283	433	55	�	�	PROPN
alkej-283	433	56	ھ=	ھ=	PROPN
alkej-283	433	57	�	�	PROPN
alkej-283	433	58	�	�	PROPN
alkej-283	433	59	�	�	PROPN
alkej-283	433	60	&	&	CCONJ
alkej-283	433	61	6!%-	6!%-	PROPN
alkej-283	433	62	&	&	CCONJ
alkej-283	433	63	�	�	PROPN
alkej-283	433	64	�	�	PROPN
alkej-283	433	65	0	0	NUM
alkej-283	433	66	<	<	NOUN
alkej-283	433	67	�	�	PROPN
alkej-283	433	68	�	�	PROPN
alkej-283	433	69	08j	08j	NOUN
alkej-283	433	70	م	م	PROPN
alkej-283	433	71	�	�	PROPN
alkej-283	433	72	y+	y+	SYM
alkej-283	433	73	�	�	PROPN
alkej-283	433	74	�	�	PROPN
alkej-283	433	75	�	�	PROPN
alkej-283	433	76	م	م	PART
alkej-283	433	77	.وھ	.وھ	PROPN
alkej-283	433	78	*	*	PROPN
alkej-283	433	79	&	&	CCONJ
alkej-283	433	80	�	�	PROPN
alkej-283	433	81	fv	fv	PROPN
alkej-283	433	82	l	l	PROPN
alkej-283	433	83	&	&	CCONJ
alkej-283	433	84	�	�	PROPN
alkej-283	433	85	+	+	PROPN
alkej-283	433	86	fارز	fارز	ADJ
alkej-283	433	87	&	&	CCONJ
alkej-283	433	88	�	�	PROPN
alkej-283	433	89	�	�	PROPN
alkej-283	433	90	ا	ا	SYM
alkej-283	433	91	�	�	PROPN
alkej-283	433	92	�	�	PROPN
alkej-283	433	93	�	�	PROPN
alkej-283	433	94	<	<	NOUN
alkej-283	433	95	�	�	PROPN
alkej-283	433	96	q-!9و	q-!9و	PUNCT
alkej-283	433	97	k6	k6	PROPN
alkej-283	433	98	�	�	PROPN
alkej-283	433	99	ا	ا	VERB
alkej-283	433	100	�	�	PROPN
alkej-283	433	101	�	�	PROPN
alkej-283	433	102	�	�	PROPN
alkej-283	433	103	#	#	SYM
alkej-283	433	104	v	v	ADP
alkej-283	433	105	�	�	PROPN
alkej-283	433	106	�	�	PROPN
alkej-283	433	107	&	&	CCONJ
alkej-283	433	108	ارزfvو	ارزfvو	PROPN
alkej-283	433	109	�	�	PROPN
alkej-283	433	110	z	z	PROPN
alkej-283	433	111	�	�	PROPN
alkej-283	433	112	[7ت	[7ت	X
alkej-283	433	113	ا	ا	ADJ
alkej-283	433	114	�	�	PROPN
alkej-283	433	115	kx&<ل	kx&<ل	NOUN
alkej-283	433	116	�	�	PROPN
alkej-283	433	117	#	#	SYM
alkej-283	433	118	7!	7!	NOUN
alkej-283	433	119	�	�	NOUN
alkej-283	433	120	ر	ر	PRON
alkej-283	433	121	اf\f7	اf\f7	PROPN
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alkej-283	433	123	�	�	PROPN
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alkej-283	433	125	�	�	PROPN
alkej-283	433	126	وا	وا	NOUN
alkej-283	433	127	�	�	PROPN
alkej-283	433	128	#	#	VERB
alkej-283	433	129	�	�	PROPN
alkej-283	433	130	�	�	PROPN
alkej-283	433	131	"	"	PUNCT
alkej-283	433	132	k]s[ل	k]s[ل	NOUN
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alkej-283	434	4	أv	أv	PROPN
alkej-283	434	5	l	l	PROPN
alkej-283	434	6	&	&	CCONJ
alkej-283	434	7	�	�	PROPN
alkej-283	434	8	ام	ام	PROPN
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alkej-283	434	11	+	+	PROPN
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alkej-283	435	3	�	�	NOUN
alkej-283	435	4	�	�	NOUN
alkej-283	435	5	_	_	PRON
alkej-283	435	6	ا	ا	SYM
alkej-283	435	7	�	�	PROPN
alkej-283	435	8	�	�	PROPN
alkej-283	435	9	67$	67$	NUM
alkej-283	435	10	�	�	PROPN
alkej-283	435	11	ةq-	ةq-	SYM
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alkej-283	435	14	�	�	NOUN
alkej-283	435	15	ار	ار	NOUN
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alkej-283	435	18	�	�	PROPN
alkej-283	435	19	و	و	PRON
alkej-283	435	20	�	�	PROPN
alkej-283	435	21	`"k	`"k	PUNCT
alkej-283	435	22	"	"	PUNCT
alkej-283	435	23	�	�	PROPN
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alkej-283	435	25	7	7	NUM
alkej-283	435	26	وa79	وa79	PROPN
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alkej-283	435	28	�	�	PROPN
alkej-283	435	29	�	�	PROPN
alkej-283	435	30	67$	67$	NUM
alkej-283	435	31	�	�	PROPN
alkej-283	435	32	ة	ة	PRON
alkej-283	435	33	�	�	PROPN
alkej-283	435	34	`	`	PUNCT
alkej-283	435	35	&	&	CCONJ
alkej-283	435	36	cل	cل	PROPN
alkej-283	435	37	ا	ا	PROPN
alkej-283	435	38	�	�	PROPN
alkej-283	435	39	f\f	f\f	PROPN
alkej-283	435	40	�	�	PROPN
alkej-283	435	41	�	�	PROPN
alkej-283	435	42	�	�	PROPN
alkej-283	435	43	�	�	PROPN
alkej-283	435	44	7	7	NUM
alkej-283	435	45	�	�	PROPN
alkej-283	435	46	9ء	9ء	NOUN
alkej-283	435	47	�	�	PROPN
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